OKMC Mar13 * SG169 * Dive index * Mission links * Dive 21 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  169 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
MISSION  8 ESCAPE_HEADING  0 C_ROLL_DIVE  2400 ALTIM_TOP_MIN_OBSTACLE  0
DIVE  21 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2750 ALTIM_PING_DEPTH  0
N_DIVES  0 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  0
D_SURF  3 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  7
D_TGT  990 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  -10 ALTIM_SENSITIVITY  2
D_ABORT  1020 SM_CC  400 R_STBD_OVSHOOT  -10 XPDR_VALID  4
D_NO_BLEED  200 N_FILEKB  4 ROLL_AD_RATE  250 XPDR_INHIBIT  90
D_BOOST  130 FILEMGR  0 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  4 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  -1.1
D_FINISH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_PITCH  0 PROTOCOL  9 VBD_MIN  435 DEEPGLIDERMB  0
D_SAFE  0 N_NOCOMM  1 VBD_MAX  3960 MOTHERBOARD  4
D_CALL  0 NOCOMM_ACTION  163 C_VBD  2764 DEVICE1  -1
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  -1
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  390 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0024999999 DEVICE5  -1
T_MISSION  410 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  3 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  2 LOGGERS  1
T_TURN  225 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN_SAMPINT  5 T_GPS  15 UNCOM_BLEED  20 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
T_EPIRB  0 T_GPS_CHARGE  -20879.467 DBDW  0 COMPASS_DEVICE  33
USE_BATHY  -6 T_RSLEEP  2 PITCH_W_GAIN  0 COMPASS2_DEVICE  150
USE_ICE  0 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  49
ICE_FREEZE_MARGIN  0.30000001 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
D_OFFGRID  1000 RAFOS_CORR_THRESH  60 AH0_24V  150 RAFOS_DEVICE  -1
T_WATCHDOG  10 RAFOS_HIT_WINDOW  3600 AH0_10V  100 XPDR_DEVICE  24
RELAUNCH  1 PITCH_MIN  146 MINV_24V  22 SIM_W  0
APOGEE_PITCH  -5 PITCH_MAX  3945 MINV_10V  9.5 SIM_PITCH  0
MAX_BUOY  170 C_PITCH  2430 FG_AHR_10V  0 SEABIRD_T_G  0.0042608725
COURSE_BIAS  0 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00061783189
GLIDE_SLOPE  30 PITCH_CNV  0.003125763 PHONE_SUPPLY  -2 SEABIRD_T_I  2.1692709e-05
SPEED_FACTOR  1 P_OVSHOOT  0.039999999 PRESSURE_YINT  -154.03682 SEABIRD_T_J  2.1724361e-06
RHO  1.0275 PITCH_GAIN  27 PRESSURE_SLOPE  0.0001078585 SEABIRD_C_G  -10.034778
MASS  52063 PITCH_TIMEOUT  16 AD7714Ch0Gain  1 SEABIRD_C_H  1.1503564
NAV_MODE  2 PITCH_AD_RATE  165 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0019294197
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.0002327933
KALMAN_USE  2 PITCH_ADJ_GAIN  0.059999999 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.0038360001 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.010078 ROLL_MIN  220 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0
HD_C  9.8500004e-06 ROLL_MAX  3795 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  200313,061206,1841.948,12443.479,28,1.0,29,-2.2 TGT_NAME  S3
_CALLS  1 TGT_LATLONG  1750.000,12435.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.43 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  200313,062136,1841.979,12443.554,11,1.2,16,-2.2 MHEAD_RNG_PITCHd_Wd  199.0,97440,-14.7,-8.462,-18.04,2986
SPEED_LIMITS  0.147,0.260 D_GRID  5440

Post-dive calculations and measurements:
FINISH  0.3,1.022341 _10V_AH  10.0,2.038
SM_CCo  10548,0.00,0.000,0,0,912,454.30 FG_AHR_24Vo  0.000
SM_GC  0.32,7.55,0.85,0.00,0.037,0.024,0.000,142,2357,912,-7.10,0.40,454.30,0,0,0,0,0,0,25.98,26.06,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1837.32,12442.00,200313,030345 MEM  329108
TT8_MAMPS  0.021721,0.021721 DATA_FILE_SIZE  16786,452
HUMID  49.21 CAP_FILE_SIZE  294698,0
INTERNAL_PRESSURE  9.33009 CFSIZE  260034560,253218816
TCM_TEMP  22.90 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.083, 89.6,1
SC_FREEKB  4010592 GPS  200313,091857,1841.245,12443.582,11,2.1,31,-2.2
_24V_AH  24.1,3.274

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor65233369.44 nil000.00
Roll_motor10774193.96 nil000.00
VBD_pump_during_apogee555102813781.60 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1052861712.39
Iridium_during_xfer344120998.18 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS16325.54
TT8226714322.28
LPSleep58802128.78
TT8_Active6341490.13
TT8_Sampling186940755.85
TT8_CF844747214.21
TT8_Kalman000.00
Analog_circuits182912219.50
GPS_charging000.00
Compass14178116.83
RAFOS000.00
Transponder050.03

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
19 end surface: CONTROL_FINISHED_OK
state 19 begin dive
22 -0.96 -165.5 123 2436 1093 795 0.0 0.0 0 108 0.00 0.00 -83.05 0.000 16386 0.000 0.000 123 2436 3060 2980 3141 0 0 0 0 0 0 28.83 28.83 28.83
112 -0.96 -165.5 123 2436 2979 3141 3.2 -6.6 11 137 7.82 2.55 -6.95 0.000 18948 0.233 0.052 2111 948 3442 3328 3556 0 0 0 0 0 0 25.95 26.15 26.43
187 0.36 -165.5 2111 948 3329 3558 38.4 -44.3 20 193 1.50 2.47 0.00 0.000 3078 0.174 0.038 2536 2418 3443 3329 3558 0 0 0 0 0 0 26.04 26.20 28.83
503 -0.91 -165.5 2536 2416 3333 3558 69.8 -8.8 40 510 1.02 2.42 0.00 0.000 4612 0.054 0.030 2132 940 3445 3332 3558 0 0 0 0 0 0 26.41 26.41 28.83
648 -0.06 -165.5 2131 940 3332 3558 101.6 -29.5 46 657 0.93 2.47 0.00 0.000 3078 0.161 0.044 2405 2411 3445 3333 3558 0 0 0 0 0 0 26.32 26.44 28.83
956 -1.16 -165.5 2405 2409 3335 3558 128.7 -7.4 62 963 0.88 2.28 0.00 0.000 4356 0.052 0.040 2049 3821 3446 3335 3558 0 0 0 0 0 0 26.55 26.53 28.83
1073 0.23 -165.5 2049 3821 3335 3558 164.2 -39.7 67 1080 1.52 2.30 0.00 0.000 3078 0.174 0.033 2501 2377 3446 3335 3558 0 0 0 0 0 0 26.41 26.58 28.83
1392 -1.12 -165.5 2500 2376 3337 3558 196.1 -8.1 83 1398 1.12 2.38 0.00 0.000 4356 0.069 0.042 2068 3819 3447 3337 3558 0 0 0 0 0 0 26.59 26.60 28.83
1449 -1.52 -165.5 2068 3819 3337 3558 203.7 -11.8 85 1456 0.32 2.30 0.00 0.000 5126 0.051 0.034 1930 2375 3447 3337 3558 0 0 0 0 0 0 26.64 26.64 28.83
1768 0.05 -165.5 1929 2374 3338 3557 335.2 -37.1 101 1775 1.67 2.40 0.00 0.000 2564 0.182 0.040 2442 945 3448 3339 3557 0 0 0 0 0 0 26.48 26.64 28.83
1923 -1.49 -165.5 2441 946 3341 3557 349.7 -8.0 108 1930 1.38 2.40 0.00 0.000 5126 0.093 0.028 1950 2436 3448 3340 3557 0 0 0 0 0 0 26.60 26.68 28.83
2247 -0.13 -165.5 1950 2434 3340 3557 449.2 -33.4 124 2254 1.40 2.28 0.00 0.000 2308 0.171 0.054 2365 3829 3448 3339 3557 0 0 0 0 0 0 26.52 26.65 28.83
2427 -1.54 -165.5 2365 3833 3340 3557 464.7 -7.9 132 2434 1.27 2.22 0.00 0.000 5126 0.113 0.018 1941 2346 3448 3340 3557 0 0 0 0 0 0 26.61 26.77 28.83
2746 -0.24 -165.5 1940 2347 3339 3555 552.6 -29.6 148 2752 1.30 2.47 0.00 0.000 2308 0.164 0.054 2333 3816 3447 3340 3554 0 0 0 0 0 0 26.56 26.67 28.83
2986 -1.19 -165.5 2333 3816 3341 3554 570.8 -8.0 159 2993 0.77 2.25 0.00 0.000 5126 0.042 0.024 2016 2360 3446 3340 3553 0 0 0 0 0 0 26.74 26.76 28.83
3322 -0.27 -165.5 2016 2360 3339 3547 645.6 -24.2 173 3329 0.98 2.45 0.00 0.000 2308 0.142 0.051 2322 3822 3446 3345 3547 0 0 0 0 0 0 26.60 26.70 28.83
3390 -0.13 -165.5 2322 3822 3340 3546 650.9 -16.0 175 3396 0.17 2.25 0.00 0.000 3078 0.054 0.021 2531 2350 3443 3340 3546 0 0 0 0 0 0 26.78 26.78 28.83
3727 -1.60 -165.5 2531 2350 3339 3539 672.5 -6.2 186 3734 1.88 2.30 0.00 0.000 4612 0.157 0.028 1935 925 3439 3339 3539 0 0 0 0 0 0 26.59 26.73 28.83
3971 -0.41 -165.5 1934 923 3339 3535 725.1 -27.1 193 3978 1.20 2.45 0.00 0.000 3078 0.166 0.039 2287 2419 3437 3339 3535 0 0 0 0 0 0 26.57 26.72 28.83
4288 -1.60 -165.5 2287 2418 3339 3529 752.5 -7.1 204 4294 0.95 2.28 0.00 0.000 4356 0.057 0.044 1910 3835 3433 3339 3528 0 0 0 0 0 0 26.72 26.72 28.83
4329 -2.27 -165.5 1910 3835 3336 3528 758.1 -9.4 205 4336 0.55 2.33 0.00 0.000 5126 0.057 0.037 1695 2381 3432 3337 3528 0 0 0 0 0 0 26.72 26.74 28.83
4661 -0.20 -165.5 1695 2379 3333 3528 892.1 -40.6 216 4672 2.25 2.40 0.00 0.000 2564 0.197 0.044 2357 949 3431 3334 3528 0 0 0 0 0 0 26.53 26.70 28.83
4836 -1.58 -165.5 2356 949 3333 3525 907.1 -6.9 221 4843 1.23 2.35 0.00 0.000 5126 0.097 0.028 1923 2423 3429 3333 3525 0 0 0 0 0 0 26.66 26.74 28.83
5155 end dive: TARGET_DEPTH_EXCEEDED
state 5155 begin apogee
5162 -0.19 0.0 1920 2773 3330 3521 991.5 -28.5 232 5318 1.42 0.10 149.77 1.000 10246 0.169 0.075 2355 2690 2764 2787 2741 0 0 0 0 0 0 26.58 24.86 24.20
5322 end apogee: CONTROL_FINISHED_OK
state 5322 begin climb
5325 0.96 165.5 2359 2690 2777 2722 1001.2 0.0 236 5488 1.00 2.78 151.38 1.029 10756 0.033 0.024 2774 1307 2075 2187 1964 0 0 0 0 0 0 25.06 24.77 24.06
5548 -0.40 165.5 2774 1307 2174 1949 969.4 21.9 244 5555 1.62 2.85 0.00 0.000 5126 0.183 0.029 2311 2780 2063 2174 1953 0 0 0 0 0 0 25.26 25.41 28.83
5865 0.77 218.5 2311 2779 2170 1939 944.4 6.6 255 5923 0.98 1.58 48.25 0.945 10500 0.070 0.042 2667 3839 1865 1985 1745 0 0 0 0 0 0 26.07 25.29 24.65
5976 0.64 218.5 2667 3839 1972 1731 926.9 15.1 258 5983 0.15 1.60 0.00 0.000 5126 0.189 0.018 2640 2659 1851 1972 1731 0 0 0 0 0 0 25.48 25.70 28.83
6302 0.02 218.5 2640 2658 1971 1722 857.8 20.3 269 6309 0.62 2.53 0.00 0.000 4612 0.145 0.024 2455 1303 1847 1972 1722 0 0 0 0 0 0 26.05 26.17 28.83
6327 -0.60 218.5 2455 1303 1970 1720 857.8 20.3 269 6334 0.60 2.80 0.00 0.000 5126 0.063 0.034 2228 2780 1844 1970 1719 0 0 0 0 0 0 26.15 26.17 28.83
6644 0.85 241.9 2227 2778 1968 1718 831.0 7.7 280 6677 1.30 1.52 22.00 0.885 11012 0.091 0.043 2687 3834 1767 1891 1643 0 0 0 0 0 0 26.29 25.94 25.36
6871 -0.05 241.9 2686 3834 1882 1637 778.3 26.0 287 6878 0.88 1.60 0.00 0.000 5126 0.159 0.018 2415 2671 1757 1882 1633 0 0 0 0 0 0 26.06 26.28 28.83
7208 0.95 241.9 2415 2669 1882 1626 747.6 9.9 298 7216 0.82 2.55 0.00 0.000 2564 0.053 0.027 2748 1288 1753 1881 1626 0 0 0 0 0 0 26.37 26.39 28.83
7279 1.16 241.9 2747 1292 1881 1626 735.9 13.2 300 7287 0.17 2.78 0.00 0.000 3078 0.080 0.032 2818 2779 1754 1882 1626 0 0 0 0 0 0 26.39 26.39 28.83
7612 -0.27 241.9 2818 2778 1885 1625 619.8 35.6 311 7619 1.55 1.55 0.00 0.000 4356 0.190 0.042 2343 3838 1753 1881 1625 0 0 0 0 0 0 26.33 26.48 28.83
7651 -1.14 241.9 2343 3840 1881 1624 613.7 30.9 312 7658 0.73 1.58 0.00 0.000 5126 0.032 0.031 2029 2708 1751 1881 1622 0 0 0 0 0 0 26.53 26.53 28.83
7979 0.42 241.9 2029 2709 1871 1623 573.0 12.8 326 7986 1.52 2.67 0.00 0.000 2564 0.122 0.034 2568 1301 1747 1871 1623 0 0 0 0 0 0 26.45 26.54 28.83
8061 1.42 241.9 2568 1304 1871 1625 566.5 10.1 329 8071 0.80 2.75 0.00 0.000 3078 0.027 0.031 2924 2785 1747 1871 1624 0 0 0 0 0 0 26.60 26.54 28.83
8369 -0.36 241.9 2923 2784 1871 1625 443.9 41.4 345 8376 2.10 1.52 0.00 0.000 4356 0.209 0.042 2313 3831 1748 1871 1625 0 0 0 0 0 0 26.39 26.59 28.83
8445 -0.18 241.9 2313 3832 1871 1624 435.3 18.4 348 8452 0.17 1.55 0.00 0.000 3078 0.110 0.028 2372 2693 1748 1871 1625 0 0 0 0 0 0 26.53 26.63 28.83
8764 1.01 252.5 2372 2693 1870 1622 408.6 8.1 364 8775 1.02 2.60 2.05 0.233 10756 0.081 0.027 2765 1304 1736 1858 1615 0 0 0 0 0 0 26.56 26.61 25.22
8897 0.14 252.5 2763 1304 1858 1626 382.8 23.0 370 8904 0.90 2.75 0.00 0.000 5126 0.170 0.032 2482 2781 1742 1858 1627 0 0 0 0 0 0 26.46 26.60 28.83
9226 1.12 252.5 2482 2781 1858 1626 357.9 8.7 386 9233 0.80 2.70 0.00 0.000 2564 0.060 0.027 2797 1303 1742 1858 1626 0 0 0 0 0 0 26.62 26.65 28.83
9284 1.33 252.5 2796 1302 1858 1626 350.8 11.5 388 9291 0.20 2.72 0.00 0.000 3078 0.070 0.031 2871 2778 1742 1858 1626 0 0 0 0 0 0 26.65 26.64 28.83
9603 -0.19 252.5 2870 2776 1858 1627 245.6 32.1 404 9610 1.67 1.52 0.00 0.000 4356 0.197 0.042 2365 3846 1742 1858 1627 0 0 0 0 0 0 26.48 26.65 28.83
9748 1.58 311.8 2365 3847 1858 1627 235.1 6.4 410 9814 1.55 1.58 59.25 0.604 11270 0.073 0.031 2944 2684 1490 1621 1360 0 0 0 0 0 0 26.63 26.72 25.47
10131 -0.01 311.8 2943 2684 1602 1323 102.7 35.2 429 10139 1.77 2.62 0.00 0.000 4612 0.202 0.025 2447 1303 1462 1602 1322 0 0 0 0 0 0 26.11 26.29 28.83
10249 1.92 457.5 2447 1303 1602 1317 94.0 3.4 434 10382 1.65 2.78 123.07 0.279 11270 0.073 0.032 3052 2779 898 1058 738 0 0 0 0 0 0 26.32 26.35 25.60
10460 end climb: SURFACE_DEPTH_REACHED
state 10460 begin surface coast
10466 end surface coast: CONTROL_FINISHED_OK
state 10467 begin surface