OKMC Nov11 * SG168 * Dive index * Mission links * Dive 22 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  168 HD_B  0.0099999998 PITCH_ADJ_GAIN  0.0080000004 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.9999997e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  22 HEADING  -1 ROLL_MIN  160 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3729 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  2000 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1875 ALTIM_FREQUENCY  13
D_ABORT  1020 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  100 SM_CC  375 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  4 N_FILEKB  8 R_PORT_OVSHOOT  29 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  36 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  400 INT_PRESSURE_YINT  0
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  415 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
T_DIVE  300 UPLOAD_DIVES_MAX  -1 C_VBD  2954 DEVICE3  35
T_MISSION  330 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  4 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  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -5600.4487 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  8 XPDR_DEVICE  24
MAX_BUOY  225 PITCH_MIN  143 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  2260 PHONE_SUPPLY  2 SEABIRD_T_G  0.0042821765
SPEED_FACTOR  1 PITCH_DBAND  0.050000001 PRESSURE_YINT  -64.650215 SEABIRD_T_H  0.00061988086
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000115925 SEABIRD_T_I  2.2270933e-05
MASS  51744 P_OVSHOOT  0.029999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.2936731e-06
NAV_MODE  1 PITCH_GAIN  35 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8276911
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1035888
KALMAN_USE  2 PITCH_AD_RATE  160 COMPASS_USE  0 SEABIRD_C_I  -0.0012978988
HD_A  0.003 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.0001838774

Pre-dive calculations and measurements:
GPS1  151111,134507,2059.689,12305.487,41,1.3,41,-2.6 TGT_NAME  S2
_CALLS  1 TGT_LATLONG  2015.000,12420.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.81 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  151111,135120,2059.670,12305.419,14,1.5,14,-2.6 MHEAD_RNG_PITCHd_Wd  125.2,153743,-15.3,-11.000
SPEED_LIMITS  0.191,0.321 D_GRID  5609

Post-dive calculations and measurements:
FINISH  1.0,1.022110 _10V_AH  10.3,5.355
SM_CCo  15663,0.00,0.000,0,0,710,550.45 FG_AHR_24Vo  0.000
SM_GC  1.70,5.82,0.17,0.00,0.021,0.069,0.000,104,2006,710,-6.59,-1.13,550.45,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2054.83,12306.18,151111,090932 MEM  330364
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  93531,1428
HUMID  40.70 CAP_FILE_SIZE  173782,0
INTERNAL_PRESSURE  9.46325 CFSIZE  260165632,219623424
TCM_TEMP  24.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  3 GPS  151111,181401,2058.218,12306.946,37,1.4,37,-2.6
_24V_AH  23.7,6.770

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1920091.08 SBE_CT97724556.27
Roll_motor13073226.62 AA43302878332251.36
VBD_pump_during_apogee731127222051.70 WL_BB2F14061053499.88
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910373.15 nil000.00
Iridium_during_connect2116082.34 nil000.00
Iridium_during_xfer1932231022.06 nil000.00
Transponder_ping04207.47 nil000.00
GUMSTIX_24V000.00
GPS15507.96
TT8337319688.09
LPSleep80252181.04
TT8_Active78019159.21
TT8_Sampling3486391429.11
TT8_CF835345166.53
TT8_Kalman000.00
Analog_circuits222612275.19
GPS_charging000.00
Compass316915489.63
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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.71 -219.0 0.0 0.0 0 96 0.00 0.00 -77.82 0.000 2 0.000 0.000 101 1979 2932 0 0 0 0 0 0 28.83 28.83 28.83
99 -0.71 -219.0 3.4 -3.9 11 128 6.88 0.00 -15.20 0.000 6 0.200 0.000 2032 1978 3848 0 0 0 0 0 0 25.77 28.83 26.32
435 -0.58 -219.0 124.7 -28.9 75 444 0.12 2.20 0.00 0.000 4 0.176 0.050 2071 590 3849 0 0 0 0 0 0 26.10 26.20 28.83
473 -0.49 -219.0 136.3 -28.8 81 482 0.10 2.15 0.00 0.000 6 0.124 0.038 2100 1989 3849 0 0 0 0 0 0 26.13 26.25 28.83
797 -0.46 -219.0 192.0 -15.6 142 805 0.00 2.20 0.00 0.000 4 0.000 0.045 2089 3402 3850 0 0 0 0 0 0 28.83 26.33 28.83
840 -0.46 -219.0 198.2 -13.5 149 848 0.05 2.15 0.00 0.000 6 0.101 0.037 2115 2001 3849 0 0 0 0 0 0 26.27 26.39 28.83
1166 -0.48 -219.0 230.8 -9.8 210 1174 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 2001 3849 0 0 0 0 0 0 28.83 28.83 28.83
1485 -0.50 -219.0 260.1 -9.0 260 1495 0.08 2.15 0.00 0.000 4 0.123 0.047 2024 590 3849 0 0 0 0 0 0 26.53 26.44 28.83
1509 -0.50 -219.0 263.1 -10.5 262 1519 0.25 2.12 0.00 0.000 6 0.123 0.040 2105 2001 3849 0 0 0 0 0 0 26.36 26.46 28.83
1820 -0.52 -219.0 295.6 -9.5 293 1824 0.00 2.17 0.00 0.000 4 0.000 0.047 2096 3418 3848 0 0 0 0 0 0 28.83 26.48 28.83
1863 -0.56 -219.0 299.4 -8.7 297 1868 0.00 2.12 0.00 0.000 6 0.000 0.036 2096 1998 3847 0 0 0 0 0 0 28.83 26.50 28.83
2176 -0.58 -219.0 327.3 -9.0 328 2185 0.10 2.15 0.00 0.000 4 0.096 0.049 1992 592 3846 0 0 0 0 0 0 26.59 26.49 28.83
2218 -0.55 -219.0 333.9 -15.5 332 2228 0.32 2.15 0.00 0.000 6 0.122 0.041 2090 2009 3846 0 0 0 0 0 0 26.41 26.51 28.83
2528 -0.56 -219.0 363.6 -7.5 363 2537 0.00 2.15 0.00 0.000 4 0.000 0.046 2080 3411 3845 0 0 0 0 0 0 28.83 26.52 28.83
2560 -0.59 -219.0 365.9 -7.1 366 2569 0.00 2.12 0.00 0.000 6 0.000 0.036 2080 1999 3845 0 0 0 0 0 0 28.83 26.53 28.83
2872 -0.61 -219.0 390.2 -7.7 397 2880 0.00 2.12 0.00 0.000 4 0.000 0.051 2080 601 3843 0 0 0 0 0 0 28.83 26.53 28.83
2914 -0.63 -219.0 393.6 -8.1 401 2923 0.08 2.10 0.00 0.000 6 0.123 0.037 1987 2004 3842 0 0 0 0 0 0 26.51 26.54 28.83
3223 -0.55 -219.0 455.8 -21.6 432 3233 0.28 2.15 0.00 0.000 4 0.128 0.046 2073 3405 3841 0 0 0 0 0 0 26.45 26.54 28.83
3249 -0.49 -219.0 459.6 -18.3 434 3256 0.10 2.12 0.00 0.000 6 0.125 0.038 2109 2000 3840 0 0 0 0 0 0 26.50 26.55 28.83
3556 -0.54 -219.0 477.8 -5.5 465 3558 0.10 0.00 0.00 0.000 6 0.102 0.000 2017 1999 3839 0 0 0 0 0 0 26.63 28.83 28.83
3856 -0.50 -219.0 521.6 -15.5 495 3866 0.22 2.12 0.00 0.000 4 0.125 0.045 2088 3401 3836 0 0 0 0 0 0 26.48 26.55 28.83
3929 -0.56 -219.0 528.0 -6.4 502 3938 0.00 2.12 0.00 0.000 6 0.000 0.037 2088 1993 3836 0 0 0 0 0 0 28.83 26.57 28.83
4241 -0.60 -219.0 548.9 -6.2 533 4248 0.08 0.00 0.00 0.000 6 0.122 0.000 2006 1993 3834 0 0 0 0 0 0 26.65 28.83 28.83
4548 -0.55 -219.0 592.1 -14.1 564 4559 0.22 2.15 0.00 0.000 4 0.131 0.054 2085 593 3832 0 0 0 0 0 0 26.48 26.55 28.83
4582 -0.54 -219.0 595.7 -11.9 567 4591 0.00 2.10 0.00 0.000 6 0.000 0.037 2083 1999 3832 0 0 0 0 0 0 28.83 26.58 28.83
4904 -0.58 -219.0 616.4 -7.0 587 4907 0.00 2.17 0.00 0.000 4 0.000 0.049 2077 3413 3830 0 0 0 0 0 0 28.83 26.56 28.83
4947 -0.63 -219.0 619.3 -7.1 589 4953 0.03 2.12 0.00 0.000 6 0.106 0.037 2026 1994 3829 0 0 0 0 0 0 26.50 26.58 28.83
5266 -0.61 -219.0 660.2 -13.2 605 5268 0.12 0.00 0.00 0.000 6 0.137 0.000 2065 1993 3827 0 0 0 0 0 0 26.53 28.83 28.83
5566 -0.63 -219.0 689.0 -9.6 620 5567 0.00 0.00 0.00 0.000 6 0.000 0.000 2065 1993 3825 0 0 0 0 0 0 28.83 28.83 28.83
5867 -0.65 -219.0 718.8 -10.0 635 5872 0.00 2.17 0.00 0.000 4 0.000 0.048 2057 3402 3822 0 0 0 0 0 0 28.83 26.56 28.83
5894 -0.68 -219.0 720.7 -9.9 636 5898 0.00 2.12 0.00 0.000 6 0.000 0.037 2057 2000 3822 0 0 0 0 0 0 28.83 26.58 28.83
6202 -0.70 -219.0 754.1 -10.8 651 6208 0.10 2.17 0.00 0.000 4 0.096 0.047 1960 3402 3820 0 0 0 0 0 0 26.65 26.55 28.83
6223 -0.70 -219.0 756.6 -11.1 652 6228 0.22 2.15 0.00 0.000 6 0.122 0.043 2032 2003 3819 0 0 0 0 0 0 26.46 26.56 28.83
6536 -0.70 -219.0 796.9 -11.5 668 6537 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2002 3818 0 0 0 0 0 0 28.83 28.83 28.83
6837 -0.70 -219.0 824.8 -8.0 683 6842 0.00 2.15 0.00 0.000 4 0.000 0.049 2023 3397 3816 0 0 0 0 0 0 28.83 26.55 28.83
6859 -0.70 -219.0 826.2 -7.7 684 6862 0.00 2.15 0.00 0.000 6 0.000 0.041 2023 1995 3816 0 0 0 0 0 0 28.83 26.56 28.83
7178 -0.69 -219.0 847.9 -6.5 700 7179 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 1995 3814 0 0 0 0 0 0 28.83 28.83 28.83
7477 -0.69 -219.0 867.7 -6.7 715 7478 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 1995 3812 0 0 0 0 0 0 28.83 28.83 28.83
7776 -0.69 -219.0 891.7 -8.9 730 7782 0.00 2.17 0.00 0.000 4 0.000 0.050 2015 3406 3810 0 0 0 0 0 0 28.83 26.55 28.83
7799 -0.69 -219.0 893.5 -9.0 731 7804 0.08 2.17 0.00 0.000 6 0.158 0.043 2038 1993 3810 0 0 0 0 0 0 26.48 26.55 28.83
8115 -0.71 -219.0 921.4 -9.5 747 8116 0.00 0.00 0.00 0.000 6 0.000 0.000 2038 1993 3808 0 0 0 0 0 0 28.83 28.83 28.83
8412 -0.72 -219.0 951.1 -10.0 762 8418 0.00 2.17 0.00 0.000 4 0.000 0.050 2031 3402 3807 0 0 0 0 0 0 28.83 26.54 28.83
8455 -0.74 -219.0 954.9 -10.0 764 8459 0.00 2.15 0.00 0.000 6 0.000 0.041 2031 1997 3807 0 0 0 0 0 0 28.83 26.55 28.83
8767 -0.74 -219.0 987.7 -10.3 780 8773 0.00 2.20 0.00 0.000 4 0.000 0.057 2030 588 3805 0 0 0 0 0 0 28.83 26.52 28.83
8800 -0.74 -219.0 989.8 -10.4 781 8807 0.00 2.12 0.00 0.000 6 0.000 0.040 2024 1996 3805 0 0 0 0 0 0 28.83 26.56 28.83
8825 end dive: TARGET_DEPTH_EXCEEDED
state 8825 begin apogee
8830 -0.23 0.0 993.7 -10.2 783 9028 0.45 0.00 183.65 1.272 6 0.099 0.000 2187 1860 2958 0 0 0 0 1 0 26.48 28.83 23.73
9029 end apogee: CONTROL_FINISHED_OK
state 9029 begin climb
9032 0.71 219.0 1005.3 0.0 793 9241 0.80 2.33 200.62 1.085 4 0.044 0.052 2516 489 2051 0 0 0 0 0 0 24.80 24.50 23.80
9346 0.58 219.0 962.3 24.1 808 9352 0.20 2.12 0.00 0.000 6 0.142 0.026 2453 1890 2033 0 0 0 0 0 0 25.19 25.33 28.83
9666 0.49 219.0 897.9 20.0 824 9671 0.12 2.10 0.00 0.000 4 0.177 0.034 2413 3267 2026 0 0 0 0 0 0 25.72 25.84 28.83
9818 0.44 219.0 874.1 16.4 831 9825 0.10 2.17 0.00 0.000 6 0.185 0.044 2399 1891 2023 0 0 0 0 0 0 25.83 25.94 28.83
10124 0.40 219.0 828.8 13.6 847 10130 0.00 2.12 0.00 0.000 4 0.000 0.037 2397 3268 2022 0 0 0 0 0 0 28.83 26.10 28.83
10213 0.36 219.0 817.9 13.7 851 10218 0.12 2.20 0.00 0.000 6 0.160 0.045 2373 1872 2021 0 0 0 0 0 0 26.03 26.12 28.83
10522 0.42 277.7 787.8 9.0 866 10581 0.08 2.28 52.28 0.950 4 0.123 0.037 2440 3265 1813 0 0 0 0 0 0 26.28 25.32 24.58
10613 0.37 277.7 775.6 14.6 870 10624 0.25 2.28 0.00 0.000 6 0.135 0.047 2375 1871 1797 0 0 0 0 0 0 25.38 25.46 28.83
10923 0.42 319.4 743.0 9.6 886 10965 0.08 0.00 38.92 0.915 6 0.122 0.000 2453 1870 1649 0 0 0 0 0 0 26.00 28.83 24.60
11267 0.35 319.4 677.6 20.2 903 11273 0.22 2.12 0.00 0.000 4 0.145 0.034 2379 3262 1624 0 0 0 0 0 0 25.77 25.89 28.83
11314 0.32 319.4 670.9 18.3 905 11319 0.10 2.22 0.00 0.000 6 0.148 0.046 2358 1866 1622 0 0 0 0 0 0 25.84 25.91 28.83
11623 0.43 376.3 643.7 9.1 920 11701 0.12 0.00 69.90 0.765 6 0.080 0.000 2453 1865 1411 0 0 0 0 0 0 26.17 28.83 24.60
12001 0.38 376.3 564.4 22.4 947 12011 0.22 2.22 0.00 0.000 4 0.141 0.057 2390 477 1398 0 0 0 0 0 0 25.75 25.82 28.83
12066 0.41 376.3 555.1 12.3 953 12073 0.00 2.10 0.00 0.000 6 0.000 0.031 2390 1861 1398 0 0 0 0 0 0 28.83 25.94 28.83
12376 0.44 376.3 517.7 11.7 984 12384 0.00 2.15 0.00 0.000 4 0.000 0.041 2390 3276 1396 0 0 0 0 0 0 28.83 26.08 28.83
12417 0.48 376.3 512.6 11.9 988 12427 0.05 2.22 0.00 0.000 6 0.161 0.046 2441 1868 1395 0 0 0 0 0 0 26.05 26.09 28.83
12728 0.44 376.3 457.1 20.1 1019 12737 0.12 2.22 0.00 0.000 4 0.160 0.057 2408 469 1394 0 0 0 0 0 0 26.10 26.15 28.83
12770 0.44 376.3 450.0 16.6 1023 12779 0.00 2.10 0.00 0.000 6 0.000 0.031 2408 1877 1394 0 0 0 0 0 0 28.83 26.23 28.83
13080 0.44 376.3 409.9 12.5 1054 13084 0.00 2.25 0.00 0.000 4 0.000 0.057 2418 460 1394 0 0 0 0 0 0 28.83 26.22 28.83
13105 0.45 376.3 407.1 12.6 1056 13113 0.00 2.10 0.00 0.000 6 0.000 0.030 2418 1874 1394 0 0 0 0 0 0 28.83 26.29 28.83
13413 0.45 376.3 364.6 14.2 1087 13422 0.00 2.22 0.00 0.000 4 0.000 0.058 2427 466 1394 0 0 0 0 0 0 28.83 26.27 28.83
13438 0.45 376.3 361.5 14.0 1089 13446 0.10 2.10 0.00 0.000 6 0.150 0.030 2397 1885 1393 0 0 0 0 0 0 26.24 26.34 28.83
13745 0.58 454.8 331.4 8.3 1120 13837 0.15 0.00 89.12 0.616 6 0.069 0.000 2492 1886 1098 0 0 0 0 0 0 26.43 28.83 24.85
14138 0.52 454.8 240.3 25.2 1162 14146 0.20 2.30 0.00 0.000 4 0.145 0.057 2438 477 1076 0 0 0 0 0 0 25.82 25.88 28.83
14205 0.56 454.8 229.1 12.0 1174 14214 0.00 2.12 0.00 0.000 6 0.000 0.031 2439 1869 1075 0 0 0 0 0 0 28.83 25.99 28.83
14531 0.58 454.8 185.9 14.4 1235 14539 0.00 2.17 0.00 0.000 4 0.000 0.040 2438 3271 1074 0 0 0 0 0 0 28.83 26.14 28.83
14548 0.60 454.8 183.1 14.5 1237 14556 0.00 2.20 0.00 0.000 6 0.000 0.042 2446 1874 1074 0 0 0 0 0 0 28.83 26.14 28.83
14873 0.62 454.9 140.3 11.0 1298 14881 0.00 2.22 0.00 0.000 4 0.000 0.055 2455 476 1074 0 0 0 0 0 0 28.83 26.21 28.83
14927 0.80 544.6 135.2 8.0 1307 15034 0.12 2.10 96.88 0.493 6 0.039 0.031 2567 1874 725 0 0 0 0 0 0 26.30 26.29 24.99
15343 0.75 544.6 30.7 22.3 1382 15351 0.20 0.00 0.00 0.000 6 0.140 0.000 2501 1875 712 0 0 0 0 0 0 25.87 28.83 28.83
15555 end climb: SURFACE_DEPTH_REACHED
state 15555 begin surface coast
15588 end surface coast: CONTROL_FINISHED_OK
state 15588 begin surface