OKMC Nov11 * SG169 * Dive index * Mission links * Dive 145 * 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  145 HEADING  225 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  9 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  280 UPLOAD_DIVES_MAX  -1 C_VBD  2979 DEVICE3  35
T_MISSION  320 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  -8 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -10464.057 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  300 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  071211,103206,2310.385,12205.880,40,1.5,40,-3.1 TGT_NAME  HEADING
_CALLS  3 TGT_LATLONG  2303.098,12157.653
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.228,0.143
_SM_DEPTHo  1.08 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -69.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  071211,104228,2310.734,12205.952,13,3.6,32,-3.1 MHEAD_RNG_PITCHd_Wd  228.1,20000,-14.6,-11.786
SPEED_LIMITS  0.204,0.374 D_GRID  4420

Post-dive calculations and measurements:
FINISH  2.0,1.021675 _10V_AH  10.2,22.533
SM_CCo  14459,0.00,0.000,0,0,605,582.34 FG_AHR_24Vo  0.000
SM_GC  0.95,5.55,2.47,0.00,0.039,0.035,0.000,130,2662,605,-5.80,-0.14,582.34,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2300.41,12204.55,071211,060602 MEM  324740
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  83688,1275
HUMID  42.59 CAP_FILE_SIZE  163956,0
INTERNAL_PRESSURE  9.47658 CFSIZE  260165632,209481728
TCM_TEMP  23.90 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  0 GPS  071211,144455,2311.281,12205.027,37,1.2,37,-3.1
_24V_AH  23.4,31.683

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1521980.40 SBE_CT86424485.30
Roll_motor13478248.54 AA43301692331307.07
VBD_pump_during_apogee722118320013.62 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init82103199.26 nil000.00
Iridium_during_connect39160146.85 nil000.00
Iridium_during_xfer2202231152.88 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS345017.63
TT8299119604.14
LPSleep82622184.56
TT8_Active76219154.08
TT8_Sampling2731391109.04
TT8_CF830845144.28
TT8_Kalman000.00
Analog_circuits209112256.05
GPS_charging000.00
Compass223115341.41
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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -0.72 -292.0 0.0 0.0 0 116 0.00 0.00 -95.25 0.000 2 0.000 0.000 113 2683 2901 0 0 0 0 0 0 28.83 28.83 28.83
119 -0.72 -292.0 3.3 -7.2 17 156 6.43 2.25 -20.05 0.000 4 0.220 0.038 1777 1146 3963 0 0 0 0 0 0 25.52 26.17 26.44
198 -0.65 -292.0 35.4 -31.4 31 206 0.12 2.33 0.00 0.000 6 0.174 0.047 1798 2654 3963 0 0 0 0 0 0 25.83 26.05 28.83
510 -0.52 -292.0 157.8 -34.8 92 516 0.12 0.00 0.00 0.000 6 0.181 0.000 1834 2653 3963 0 0 0 0 0 0 26.05 28.83 28.83
824 -0.47 -292.0 234.3 -19.2 138 825 0.00 0.00 0.00 0.000 6 0.000 0.000 1834 2654 3964 0 0 0 0 0 0 28.83 28.83 28.83
1128 -0.42 -292.0 290.5 -18.6 168 1137 0.12 1.80 0.00 0.000 4 0.155 0.048 1867 3820 3963 0 0 0 0 0 0 26.25 26.28 28.83
1150 -0.38 -292.0 295.0 -17.9 170 1154 0.00 1.83 0.00 0.000 6 0.000 0.027 1869 2561 3963 0 0 0 0 0 0 28.83 26.46 28.83
1462 -0.41 -292.0 322.2 -6.8 201 1470 0.00 1.95 0.00 0.000 4 0.000 0.049 1861 3817 3962 0 0 0 0 0 0 28.83 26.31 28.83
1514 -0.46 -292.0 325.1 -5.7 206 1517 0.00 1.80 0.00 0.000 6 0.000 0.026 1860 2561 3961 0 0 0 0 0 0 28.83 26.49 28.83
1825 -0.49 -292.0 346.3 -7.5 237 1834 0.00 2.00 0.00 0.000 4 0.000 0.030 1860 1172 3959 0 0 0 0 0 0 28.83 26.41 28.83
1850 -0.53 -292.0 347.9 -7.4 239 1857 0.00 2.22 0.00 0.000 6 0.000 0.041 1856 2656 3959 0 0 0 0 0 0 28.83 26.37 28.83
2157 -0.55 -292.0 372.4 -7.7 270 2161 0.00 1.77 0.00 0.000 4 0.000 0.048 1847 3805 3957 0 0 0 0 0 0 28.83 26.35 28.83
2199 -0.59 -292.0 375.2 -7.0 274 2203 0.00 1.77 0.00 0.000 6 0.000 0.026 1848 2557 3956 0 0 0 0 0 0 28.83 26.53 28.83
2511 -0.62 -292.0 397.7 -7.4 305 2513 0.12 0.00 0.00 0.000 6 0.076 0.000 1761 2554 3953 0 0 0 0 0 0 26.61 28.83 28.83
2812 -0.54 -292.0 462.0 -23.0 335 2821 0.20 1.95 0.00 0.000 4 0.146 0.045 1816 3818 3952 0 0 0 0 0 0 26.15 26.36 28.83
2857 -0.51 -292.0 470.2 -18.8 339 2864 0.00 1.80 0.00 0.000 6 0.000 0.026 1816 2559 3951 0 0 0 0 0 0 28.83 26.52 28.83
3166 -0.50 -292.0 509.0 -12.5 370 3173 0.12 0.00 0.00 0.000 6 0.133 0.000 1854 2558 3948 0 0 0 0 0 0 26.41 28.83 28.83
3475 -0.54 -292.0 533.3 -6.5 401 3484 0.00 1.98 0.00 0.000 4 0.000 0.050 1845 3819 3946 0 0 0 0 0 0 28.83 26.32 28.83
3508 -0.59 -292.0 535.4 -6.4 404 3516 0.00 1.83 0.00 0.000 6 0.000 0.028 1845 2554 3946 0 0 0 0 0 0 28.83 26.53 28.83
3819 -0.70 -292.0 563.8 -9.8 435 3828 0.15 1.98 0.00 0.000 4 0.083 0.028 1766 1180 3944 0 0 0 0 0 0 26.55 26.43 28.83
3846 -0.80 -292.0 566.6 -10.8 437 3852 0.00 2.20 0.00 0.000 6 0.000 0.039 1764 2656 3944 0 0 0 0 0 0 28.83 26.39 28.83
4163 -0.75 -292.0 617.9 -16.8 464 4167 0.00 1.80 0.00 0.000 4 0.000 0.048 1755 3815 3941 0 0 0 0 0 0 28.83 26.33 28.83
4268 -0.73 -292.0 634.5 -15.4 469 4271 0.00 1.80 0.00 0.000 6 0.000 0.026 1755 2566 3940 0 0 0 0 0 0 28.83 26.51 28.83
4587 -0.67 -292.0 690.7 -17.7 485 4593 0.12 1.98 0.00 0.000 4 0.153 0.029 1798 1186 3937 0 0 0 0 0 0 26.31 26.41 28.83
4606 -0.63 -292.0 694.1 -17.5 486 4612 0.00 2.22 0.00 0.000 6 0.000 0.042 1787 2654 3937 0 0 0 0 0 0 28.83 26.34 28.83
4927 -0.61 -292.0 732.6 -11.8 502 4930 0.00 1.80 0.00 0.000 4 0.000 0.051 1778 3822 3934 0 0 0 0 0 0 28.83 26.29 28.83
4948 -0.59 -292.0 735.3 -11.8 503 4954 0.12 1.83 0.00 0.000 6 0.129 0.027 1816 2558 3934 0 0 0 0 0 0 26.25 26.50 28.83
5271 -0.61 -292.0 761.9 -8.4 519 5277 0.00 2.00 0.00 0.000 4 0.000 0.033 1816 1185 3932 0 0 0 0 0 0 28.83 26.39 28.83
5294 -0.62 -292.0 763.6 -8.5 520 5298 0.00 2.22 0.00 0.000 6 0.000 0.044 1812 2652 3931 0 0 0 0 0 0 28.83 26.32 28.83
5611 -0.64 -292.0 791.1 -8.7 536 5614 0.00 1.80 0.00 0.000 4 0.000 0.051 1804 3815 3929 0 0 0 0 0 0 28.83 26.27 28.83
5645 -0.65 -292.0 793.0 -8.7 537 5652 0.00 1.80 0.00 0.000 6 0.000 0.028 1804 2560 3929 0 0 0 0 0 0 28.83 26.49 28.83
5955 -0.65 -292.0 823.5 -9.7 553 5961 0.00 1.98 0.00 0.000 4 0.000 0.050 1796 3832 3927 0 0 0 0 0 0 28.83 26.25 28.83
5983 -0.65 -292.0 825.7 -9.8 554 5987 0.00 1.85 0.00 0.000 6 0.000 0.028 1796 2559 3926 0 0 0 0 0 0 28.83 26.48 28.83
6289 -0.65 -292.0 859.0 -10.8 569 6290 0.00 0.00 0.00 0.000 6 0.000 0.000 1796 2558 3925 0 0 0 0 0 0 28.83 28.83 28.83
6589 -0.65 -292.0 889.2 -9.8 584 6594 0.00 1.98 0.00 0.000 4 0.000 0.051 1786 3813 3922 0 0 0 0 0 0 28.83 26.22 28.83
6649 -0.66 -292.0 894.9 -9.7 587 6652 0.00 1.83 0.00 0.000 6 0.000 0.028 1786 2567 3922 0 0 0 0 0 0 28.83 26.47 28.83
6974 -0.66 -292.0 930.0 -10.9 603 6975 0.00 0.00 0.00 0.000 6 0.000 0.000 1786 2560 3920 0 0 0 0 0 0 28.83 28.83 28.83
7271 -0.66 -292.0 962.8 -11.1 618 7276 0.00 1.98 0.00 0.000 4 0.000 0.051 1776 3810 3918 0 0 0 0 0 0 28.83 26.20 28.83
7299 -0.66 -292.0 965.1 -11.2 619 7302 0.00 1.80 0.00 0.000 6 0.000 0.028 1777 2573 3918 0 0 0 0 0 0 28.83 26.46 28.83
7488 end dive: TARGET_DEPTH_EXCEEDED
state 7489 begin apogee
7495 -0.20 0.0 990.4 -13.2 629 7704 0.47 0.10 201.25 1.183 6 0.103 0.059 1942 2530 2973 0 0 0 0 0 0 25.98 24.67 23.91
7705 end apogee: CONTROL_FINISHED_OK
state 7705 begin climb
7707 0.72 292.0 1003.0 0.0 639 7984 0.82 2.45 266.38 1.174 4 0.047 0.040 2264 1072 1778 0 0 0 0 0 0 24.87 24.19 23.40
8133 0.66 292.0 931.7 22.2 661 8140 0.15 2.33 0.00 0.000 6 0.171 0.044 2228 2523 1756 0 0 0 0 0 0 25.11 25.32 28.83
8454 0.58 292.0 854.3 24.5 677 8459 0.00 2.00 0.00 0.000 4 0.000 0.049 2227 3809 1755 0 0 0 0 0 0 28.83 25.86 28.83
8536 0.50 292.0 834.0 25.4 681 8540 0.22 2.08 0.00 0.000 6 0.174 0.036 2177 2464 1753 0 0 0 0 0 0 25.63 25.96 28.83
8850 0.46 292.0 777.6 16.6 697 8855 0.00 2.10 0.00 0.000 4 0.000 0.049 2176 3808 1752 0 0 0 0 0 0 28.83 26.03 28.83
8891 0.43 292.0 770.5 17.4 699 8896 0.15 2.05 0.00 0.000 6 0.156 0.031 2146 2460 1752 0 0 0 0 0 0 25.85 26.11 28.83
9205 0.42 292.0 729.0 12.8 715 9211 0.00 2.08 0.00 0.000 4 0.000 0.038 2156 1069 1751 0 0 0 0 0 0 28.83 26.14 28.83
9224 0.42 292.0 726.5 12.8 716 9230 0.00 2.25 0.00 0.000 6 0.000 0.041 2156 2534 1751 0 0 0 0 0 0 28.83 26.13 28.83
9544 0.40 292.0 684.5 13.0 732 9549 0.00 2.00 0.00 0.000 4 0.000 0.050 2156 3814 1750 0 0 0 0 0 0 28.83 26.13 28.83
9557 0.39 292.0 684.5 13.0 732 9564 0.00 2.03 0.00 0.000 6 0.000 0.031 2166 2461 1750 0 0 0 0 0 0 28.83 26.24 28.83
9865 0.37 292.0 640.6 13.7 748 9870 0.12 2.08 0.00 0.000 4 0.174 0.047 2128 3803 1750 0 0 0 0 0 0 26.06 26.15 28.83
9904 0.36 292.0 635.5 13.5 750 9910 0.00 2.03 0.00 0.000 6 0.000 0.030 2138 2455 1750 0 0 0 0 0 0 28.83 26.27 28.83
10224 0.40 323.3 600.9 10.9 766 10264 0.00 2.22 24.45 0.849 4 0.000 0.047 2138 3820 1659 0 0 0 0 1 0 28.83 25.96 25.07
10277 0.42 342.5 595.0 11.3 770 10309 0.00 2.08 20.90 0.819 6 0.000 0.030 2148 2452 1580 0 0 0 0 1 0 28.83 26.00 24.82
10617 0.42 342.5 553.4 12.5 804 10626 0.00 2.10 1.42 0.197 4 0.000 0.036 2158 1054 1581 0 0 0 0 0 0 28.83 25.99 25.67
10639 0.43 342.5 550.5 12.6 806 10648 0.00 2.25 0.00 0.000 6 0.000 0.040 2158 2522 1589 0 0 0 0 0 0 28.83 26.00 28.83
10950 0.44 350.6 512.6 11.6 837 10970 0.00 2.10 14.88 0.828 4 0.000 0.047 2159 3822 1544 0 0 0 0 0 0 28.83 25.97 25.27
11022 0.44 350.6 503.8 12.3 844 11031 0.00 2.08 0.00 0.000 6 0.000 0.030 2169 2457 1535 0 0 0 0 0 0 28.83 26.01 28.83
11334 0.44 350.6 466.0 12.3 875 11343 0.00 2.05 0.00 0.000 4 0.000 0.037 2179 1069 1533 0 0 0 0 0 0 28.83 26.10 28.83
11397 0.52 398.5 459.1 10.5 881 11455 0.00 2.20 47.65 0.814 6 0.000 0.041 2179 2520 1342 0 0 0 0 0 0 28.83 26.12 24.84
11755 0.52 398.5 410.1 14.1 917 11759 0.00 2.03 0.00 0.000 4 0.000 0.050 2179 3811 1331 0 0 0 0 0 0 28.83 25.91 28.83
11799 0.52 398.5 403.9 15.2 921 11806 0.00 2.05 0.00 0.000 6 0.000 0.032 2189 2463 1330 0 0 0 0 0 0 28.83 26.00 28.83
12107 0.51 398.5 357.0 14.7 952 12110 0.00 2.10 0.00 0.000 4 0.000 0.039 2201 1066 1329 0 0 0 0 0 0 28.83 26.10 28.83
12171 0.55 412.4 349.2 11.4 958 12188 0.00 2.25 10.30 0.745 6 0.000 0.042 2200 2533 1293 0 0 0 0 0 0 28.83 26.11 25.26
12488 0.53 412.4 302.1 15.3 990 12492 0.00 2.00 0.00 0.000 4 0.000 0.050 2201 3820 1285 0 0 0 0 0 0 28.83 26.09 28.83
12502 0.51 412.4 300.3 15.2 991 12510 0.12 2.05 0.00 0.000 6 0.167 0.031 2178 2461 1285 0 0 0 0 0 0 25.92 26.20 28.83
12810 0.53 412.4 262.6 12.0 1022 12814 0.00 2.10 0.00 0.000 4 0.000 0.038 2188 1065 1285 0 0 0 0 0 0 28.83 26.20 28.83
12846 0.55 412.4 258.8 12.3 1025 12853 0.00 2.22 0.00 0.000 6 0.000 0.040 2188 2531 1284 0 0 0 0 0 0 28.83 26.20 28.83
13152 0.57 421.9 220.9 11.5 1056 13161 0.00 0.00 3.75 0.540 6 0.000 0.000 2188 2532 1261 0 0 0 0 0 0 28.83 28.83 25.22
13463 0.61 441.6 183.3 11.3 1100 13493 0.00 2.30 24.60 0.634 4 0.000 0.040 2199 1061 1169 0 0 0 0 0 0 28.83 26.08 25.41
13536 0.83 574.8 176.4 8.2 1113 13651 0.20 2.22 107.12 0.623 6 0.054 0.039 2324 2522 630 0 0 0 0 0 0 26.15 26.07 24.72
13956 0.78 574.8 55.0 23.9 1193 13964 0.17 2.00 0.00 0.000 4 0.159 0.044 2268 3820 607 0 0 0 0 0 0 25.72 25.91 28.83
14002 0.80 574.8 46.2 16.1 1201 14009 0.00 2.05 0.00 0.000 6 0.000 0.028 2279 2460 607 0 0 0 0 0 0 28.83 26.01 28.83
14314 0.82 574.8 8.5 12.5 1262 14320 0.00 2.10 0.00 0.000 4 0.000 0.037 2290 1052 606 0 0 0 0 0 0 28.83 26.15 28.83
14365 end climb: SURFACE_DEPTH_REACHED
state 14365 begin surface coast
14382 end surface coast: CONTROL_FINISHED_OK
state 14382 begin surface