OKMC Nov11 * SG169 * Dive index * Mission links * Dive 239 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  169 HD_B  0.010078 PITCH_ADJ_GAIN  0.0070000002 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  239 HEADING  50 ROLL_MIN  220 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3795 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2630 ALTIM_PING_DELTA  0
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2500 ALTIM_FREQUENCY  13
D_ABORT  1020 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  7
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  110 SM_CC  425 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  4 N_FILEKB  4 R_PORT_OVSHOOT  -10 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  -10 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  330 INT_PRESSURE_YINT  -1.1
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  3 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  163 VBD_MIN  435 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
T_DIVE  320 UPLOAD_DIVES_MAX  -1 C_VBD  2979 DEVICE3  35
T_MISSION  360 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  3 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -9 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -11022.521 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 AH0_24V  150 PHONE_DEVICE  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -8 RAFOS_HIT_WINDOW  3600 MINV_10V  9.5 XPDR_DEVICE  24
MAX_BUOY  225 PITCH_MIN  146 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3945 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2010 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043354053
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -76.737366 SEABIRD_T_H  0.0006253231
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000115925 SEABIRD_T_I  2.3840643e-05
MASS  51570 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.5685486e-06
NAV_MODE  0 PITCH_GAIN  40 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.9554796
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1274287
KALMAN_USE  2 PITCH_AD_RATE  165 COMPASS_USE  0 SEABIRD_C_I  -0.0019472764
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00023438112

Pre-dive calculations and measurements:
GPS1  251211,064406,2320.263,12354.388,40,1.1,40,-3.3 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2327.108,12403.313
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.228,0.143
_SM_DEPTHo  1.19 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -63.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  251211,065238,2320.167,12354.296,13,1.7,13,-3.3 MHEAD_RNG_PITCHd_Wd  53.3,20000,-15.1,-10.312
SPEED_LIMITS  0.179,0.315 D_GRID  3956

Post-dive calculations and measurements:
FINISH  0.3,1.011550 _10V_AH  10.1,32.637
SM_CCo  15595,0.00,0.000,0,0,638,574.25 FG_AHR_24Vo  0.000
SM_GC  1.01,5.32,0.20,0.00,0.021,0.057,0.000,124,2681,638,-5.78,-0.11,574.25,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2312.13,12348.56,251211,020252 MEM  330480
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  90329,1358
HUMID  42.28 CAP_FILE_SIZE  166547,0
INTERNAL_PRESSURE  9.47658 CFSIZE  260165632,200945664
TCM_TEMP  24.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
XPDR_PINGS  0 GPS  251211,111400,2319.381,12355.930,38,1.4,38,-3.3
_24V_AH  23.1,51.200

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1623188.08 SBE_CT92124510.66
Roll_motor11877211.95 AA43301783331359.77
VBD_pump_during_apogee714117119338.73 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010372.72 nil000.00
Iridium_during_connect46160170.39 nil000.00
Iridium_during_xfer3052231573.06 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS14507.14
TT8317919635.90
LPSleep89942198.96
TT8_Active75519151.07
TT8_Sampling2800391125.84
TT8_CF835145162.52
TT8_Kalman000.00
Analog_circuits209712254.20
GPS_charging000.00
Compass229215347.26
RAFOS000.00
Transponder050.03

Guidance and control:
st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
18 -0.65 -219.0 0.0 0.0 0 111 0.00 0.00 -90.35 0.000 2 0.000 0.000 117 2698 3139 0 0 0 0 0 0 28.83 28.83 28.83
114 -0.65 -219.0 3.7 -7.8 16 138 6.85 0.00 -13.90 0.000 6 0.232 0.000 1792 2698 3876 0 0 0 0 0 0 25.21 28.83 26.48
442 -0.49 -219.0 166.3 -46.5 80 449 0.17 2.22 0.00 0.000 4 0.181 0.024 1853 1172 3876 0 0 0 0 0 0 25.79 26.22 28.83
534 -0.54 -219.0 186.4 -8.6 97 540 0.00 2.25 0.00 0.000 6 0.000 0.040 1842 2655 3876 0 0 0 0 0 0 28.83 26.16 28.83
843 -0.49 -219.0 246.6 -18.5 136 847 0.00 1.77 0.00 0.000 4 0.000 0.047 1834 3815 3876 0 0 0 0 0 0 28.83 26.17 28.83
897 -0.45 -219.0 255.8 -18.1 141 904 0.00 1.83 0.00 0.000 6 0.000 0.023 1834 2557 3876 0 0 0 0 0 0 28.83 26.41 28.83
1206 -0.41 -219.0 310.3 -17.4 172 1211 0.12 2.00 0.00 0.000 4 0.146 0.044 1866 3819 3876 0 0 0 0 0 0 26.25 26.20 28.83
1239 -0.39 -219.0 316.6 -18.3 175 1242 0.00 1.83 0.00 0.000 6 0.000 0.024 1866 2560 3876 0 0 0 0 0 0 28.83 26.46 28.83
1551 -0.41 -219.0 352.1 -8.9 206 1559 0.00 1.98 0.00 0.000 4 0.000 0.044 1858 3815 3876 0 0 0 0 0 0 28.83 26.23 28.83
1592 -0.45 -219.0 355.5 -8.1 210 1596 0.00 1.80 0.00 0.000 6 0.000 0.024 1857 2561 3875 0 0 0 0 0 0 28.83 26.48 28.83
1904 -0.48 -219.0 379.0 -7.1 241 1905 0.00 0.00 0.00 0.000 6 0.000 0.000 1857 2556 3875 0 0 0 0 0 0 28.83 28.83 28.83
2206 -0.50 -219.0 400.5 -7.8 271 2215 0.00 1.98 0.00 0.000 4 0.000 0.044 1849 3815 3873 0 0 0 0 0 0 28.83 26.25 28.83
2238 -0.54 -219.0 403.0 -7.4 274 2246 0.00 1.80 0.00 0.000 6 0.000 0.024 1849 2557 3872 0 0 0 0 0 0 28.83 26.48 28.83
2550 -0.56 -219.0 428.0 -8.5 305 2556 0.00 0.00 0.00 0.000 6 0.000 0.000 1849 2556 3871 0 0 0 0 0 0 28.83 28.83 28.83
2859 -0.58 -219.0 453.4 -8.3 336 2868 0.00 1.98 0.00 0.000 4 0.000 0.044 1841 3827 3869 0 0 0 0 0 0 28.83 26.24 28.83
2911 -0.63 -219.0 457.8 -7.8 341 2920 0.10 1.83 0.00 0.000 6 0.096 0.024 1770 2555 3869 0 0 0 0 0 0 26.35 26.48 28.83
3220 -0.59 -219.0 516.0 -20.7 372 3230 0.12 1.98 0.00 0.000 4 0.142 0.025 1813 1174 3867 0 0 0 0 0 0 26.29 26.36 28.83
3235 -0.54 -219.0 517.7 -20.8 373 3243 0.12 2.22 0.00 0.000 6 0.133 0.038 1841 2655 3867 0 0 0 0 0 0 26.10 26.27 28.83
3543 -0.57 -219.0 554.4 -11.2 404 3546 0.00 1.75 0.00 0.000 4 0.000 0.046 1833 3815 3866 0 0 0 0 0 0 28.83 26.21 28.83
3584 -0.60 -219.0 559.0 -11.4 408 3588 0.00 1.83 0.00 0.000 6 0.000 0.024 1833 2554 3865 0 0 0 0 0 0 28.83 26.48 28.83
3896 -0.62 -219.0 591.9 -9.8 439 3897 0.00 0.00 0.00 0.000 6 0.000 0.000 1833 2554 3863 0 0 0 0 0 0 28.83 28.83 28.83
4207 -0.65 -219.0 618.2 -7.8 459 4212 0.00 1.95 0.00 0.000 4 0.000 0.046 1824 3818 3860 0 0 0 0 0 0 28.83 26.18 28.83
4246 -0.68 -219.0 621.0 -7.4 461 4250 0.08 1.83 0.00 0.000 6 0.048 0.025 1742 2560 3860 0 0 0 0 0 0 26.32 26.46 28.83
4568 -0.62 -219.0 673.8 -16.6 477 4574 0.20 2.03 0.00 0.000 4 0.137 0.027 1808 1173 3858 0 0 0 0 0 0 26.06 26.30 28.83
4592 -0.58 -219.0 676.6 -16.0 478 4596 0.00 2.25 0.00 0.000 6 0.000 0.043 1798 2651 3858 0 0 0 0 0 0 28.83 26.19 28.83
4905 -0.58 -219.0 702.5 -8.4 494 4909 0.00 1.77 0.00 0.000 4 0.000 0.049 1791 3821 3856 0 0 0 0 0 0 28.83 26.14 28.83
4967 -0.58 -219.0 707.7 -8.5 497 4974 0.12 1.83 0.00 0.000 6 0.117 0.026 1831 2556 3854 0 0 0 0 0 0 26.19 26.43 28.83
5288 -0.61 -219.0 726.3 -5.8 513 5289 0.00 0.00 0.00 0.000 6 0.000 0.000 1831 2556 3852 0 0 0 0 0 0 28.83 28.83 28.83
5589 -0.64 -219.0 745.7 -7.0 528 5594 0.00 1.95 0.00 0.000 4 0.000 0.046 1822 3822 3850 0 0 0 0 0 0 28.83 26.13 28.83
5621 -0.67 -219.0 747.1 -7.0 529 5628 0.00 1.83 0.00 0.000 6 0.000 0.026 1821 2555 3849 0 0 0 0 0 0 28.83 26.43 28.83
5927 -0.69 -219.0 770.5 -7.1 545 5933 0.00 2.03 0.00 0.000 4 0.000 0.029 1821 1173 3848 0 0 0 0 0 0 28.83 26.26 28.83
5956 -0.71 -219.0 771.9 -7.2 546 5960 0.00 2.25 0.00 0.000 6 0.000 0.040 1813 2654 3848 0 0 0 0 0 0 28.83 26.17 28.83
6262 -0.72 -219.0 797.2 -8.3 561 6267 0.10 1.83 0.00 0.000 4 0.091 0.048 1737 3828 3846 0 0 0 0 0 0 26.58 26.07 28.83
6287 -0.72 -219.0 799.6 -8.9 562 6291 0.12 1.85 0.00 0.000 6 0.142 0.025 1772 2569 3845 0 0 0 0 0 0 26.07 26.39 28.83
6605 -0.71 -219.0 839.9 -12.3 578 6611 0.00 1.98 0.00 0.000 4 0.000 0.048 1764 3833 3844 0 0 0 0 0 0 28.83 26.07 28.83
6632 -0.69 -219.0 842.3 -12.3 579 6636 0.00 1.83 0.00 0.000 6 0.000 0.026 1763 2562 3844 0 0 0 0 0 0 28.83 26.39 28.83
6940 -0.67 -219.0 883.4 -13.0 594 6942 0.10 0.00 0.00 0.000 6 0.158 0.000 1791 2560 3842 0 0 0 0 0 0 26.38 28.83 28.83
7240 -0.67 -219.0 914.2 -10.2 609 7245 0.00 1.95 0.00 0.000 4 0.000 0.049 1782 3811 3840 0 0 0 0 0 0 28.83 26.02 28.83
7269 -0.67 -219.0 916.5 -10.2 610 7273 0.00 1.83 0.00 0.000 6 0.000 0.026 1782 2561 3840 0 0 0 0 0 0 28.83 26.37 28.83
7575 -0.67 -219.0 950.0 -10.7 625 7576 0.00 0.00 0.00 0.000 6 0.000 0.000 1783 2558 3838 0 0 0 0 0 0 28.83 28.83 28.83
7874 -0.67 -219.0 981.7 -10.6 640 7879 0.00 1.95 0.00 0.000 4 0.000 0.048 1773 3811 3837 0 0 0 0 0 0 28.83 26.00 28.83
7914 -0.67 -219.0 986.1 -10.7 642 7917 0.00 1.83 0.00 0.000 6 0.000 0.027 1773 2572 3836 0 0 0 0 0 0 28.83 26.35 28.83
7953 end dive: TARGET_DEPTH_EXCEEDED
state 7953 begin apogee
7959 -0.20 0.0 990.5 -10.9 644 8157 0.50 0.15 190.10 1.171 6 0.099 0.076 1946 2547 2974 0 0 0 0 0 0 25.75 24.68 23.66
8158 end apogee: CONTROL_FINISHED_OK
state 8158 begin climb
8160 0.65 219.0 1000.4 0.0 654 8378 0.73 2.47 208.62 1.172 4 0.044 0.037 2239 1075 2076 0 0 0 0 0 0 24.84 24.14 23.08
8450 0.57 219.0 967.6 19.9 668 8458 0.17 2.33 0.00 0.000 6 0.164 0.039 2195 2530 2056 0 0 0 0 0 0 24.77 25.03 28.83
8759 0.52 219.0 907.9 18.4 684 8764 0.00 2.00 0.00 0.000 4 0.000 0.050 2195 3812 2052 0 0 0 0 0 0 28.83 25.82 28.83
8831 0.45 219.0 895.5 19.9 687 8839 0.17 2.05 0.00 0.000 6 0.177 0.032 2160 2466 2050 0 0 0 0 0 0 25.58 25.97 28.83
9138 0.42 219.0 844.5 15.1 703 9139 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2465 2048 0 0 0 0 0 0 28.83 28.83 28.83
9438 0.39 219.0 802.3 13.5 718 9444 0.00 2.10 0.00 0.000 4 0.000 0.046 2159 3809 2047 0 0 0 0 0 0 28.83 26.04 28.83
9477 0.36 219.0 796.3 14.3 720 9483 0.15 2.05 0.00 0.000 6 0.163 0.030 2130 2452 2046 0 0 0 0 0 0 25.79 26.16 28.83
9799 0.40 248.4 763.9 9.4 736 9829 0.00 0.00 22.55 0.918 6 0.000 0.000 2130 2451 1964 0 0 0 0 1 0 28.83 28.83 24.52
10118 0.44 285.0 734.4 9.2 752 10163 0.00 2.17 34.17 1.037 4 0.000 0.046 2130 3808 1817 0 0 0 0 1 0 28.83 25.57 24.30
10185 0.49 321.2 728.9 9.2 755 10237 0.00 2.08 37.75 1.105 6 0.000 0.031 2140 2465 1674 0 0 0 0 1 0 28.83 25.67 23.98
10540 0.54 355.7 695.3 9.2 773 10589 0.12 2.22 42.10 0.966 4 0.078 0.039 2226 1071 1518 0 0 0 0 0 0 26.10 25.40 24.38
10622 0.52 355.7 682.4 16.3 777 10629 0.17 2.28 0.00 0.000 6 0.138 0.039 2176 2525 1507 0 0 0 0 0 0 25.36 25.56 28.83
10937 0.52 355.7 635.8 14.6 793 10938 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2525 1505 0 0 0 0 0 0 28.83 28.83 28.83
11238 0.52 355.7 593.3 14.2 810 11247 0.00 2.22 0.00 0.000 4 0.000 0.037 2187 1057 1504 0 0 0 0 0 0 28.83 26.06 28.83
11292 0.54 355.7 586.4 12.7 815 11299 0.00 2.25 0.00 0.000 6 0.000 0.039 2186 2527 1502 0 0 0 0 0 0 28.83 26.06 28.83
11599 0.53 355.7 541.4 13.8 846 11608 0.00 2.00 0.00 0.000 4 0.000 0.047 2186 3815 1501 0 0 0 0 0 0 28.83 26.06 28.83
11623 0.52 355.7 538.2 14.2 848 11630 0.00 2.05 0.00 0.000 6 0.000 0.028 2197 2455 1501 0 0 0 0 0 0 28.83 26.19 28.83
11931 0.50 355.7 496.0 13.3 879 11932 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2453 1501 0 0 0 0 0 0 28.83 28.83 28.83
12234 0.48 355.7 458.7 12.4 909 12243 0.12 2.05 0.00 0.000 4 0.171 0.036 2168 1072 1501 0 0 0 0 0 0 26.07 26.14 28.83
12266 0.48 355.7 455.2 10.8 912 12275 0.00 2.20 0.00 0.000 6 0.000 0.038 2168 2528 1500 0 0 0 0 0 0 28.83 26.15 28.83
12576 0.54 388.0 427.1 9.3 943 12608 0.00 0.00 29.38 0.797 6 0.000 0.000 2168 2528 1396 0 0 0 0 0 0 28.83 28.83 24.88
12906 0.57 398.4 396.3 10.0 976 12916 0.00 2.25 3.22 0.529 4 0.000 0.037 2179 1061 1354 0 0 0 0 0 0 28.83 26.07 24.41
12939 0.64 431.2 393.3 9.3 979 12982 0.12 2.25 37.05 0.780 6 0.075 0.039 2274 2525 1220 0 0 0 0 0 0 26.06 26.03 24.72
13284 0.59 431.2 310.0 23.6 1013 13286 0.25 0.00 0.00 0.000 6 0.154 0.000 2202 2525 1198 0 0 0 0 0 0 25.60 28.83 28.83
13584 0.60 431.2 270.5 11.9 1043 13593 0.00 2.20 0.00 0.000 4 0.000 0.035 2214 1055 1197 0 0 0 0 0 0 28.83 26.07 28.83
13626 0.63 431.2 266.1 10.5 1047 13635 0.00 2.22 0.00 0.000 6 0.000 0.036 2214 2525 1196 0 0 0 0 0 0 28.83 26.09 28.83
13936 0.64 431.2 230.1 12.7 1078 13937 0.00 0.00 0.00 0.000 6 0.000 0.000 2214 2525 1196 0 0 0 0 0 0 28.83 28.83 28.83
14237 0.66 431.2 195.0 13.1 1111 14242 0.00 0.00 0.00 0.000 6 0.000 0.000 2214 2524 1196 0 0 0 0 0 0 28.83 28.83 28.83
14547 0.87 567.7 165.9 6.0 1172 14664 0.17 2.35 109.38 0.603 4 0.060 0.034 2336 1055 652 0 0 0 0 0 0 26.53 25.51 24.72
14689 0.84 567.7 134.8 24.1 1196 14697 0.20 2.28 0.00 0.000 6 0.140 0.034 2278 2527 640 0 0 0 0 0 0 25.37 25.62 28.83
15001 0.84 567.7 87.0 17.3 1257 15007 0.00 0.00 0.00 0.000 6 0.000 0.000 2278 2528 638 0 0 0 0 0 0 28.83 28.83 28.83
15311 0.83 567.7 40.8 17.9 1318 15318 0.00 2.22 0.00 0.000 4 0.000 0.036 2289 1055 638 0 0 0 0 0 0 28.83 26.12 28.83
15330 0.83 567.7 37.2 17.4 1321 15337 0.00 2.22 0.00 0.000 6 0.000 0.036 2289 2525 638 0 0 0 0 0 0 28.83 26.13 28.83
15509 end climb: SURFACE_DEPTH_REACHED
state 15510 begin surface coast
15521 end surface coast: CONTROL_FINISHED_OK
state 15521 begin surface