OKMC Nov11 * SG168 * Dive index * Mission links * Dive 236 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  168 HD_B  0.010078 PITCH_ADJ_GAIN  0.0049999999 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  50
DIVE  236 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  8 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  8 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2025 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1975 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  400 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  4 N_FILEKB  8 R_PORT_OVSHOOT  31 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  50 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  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  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  -5 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -6152.9258 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  250 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  2250 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  2 PITCH_GAIN  37 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  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  250 SEABIRD_C_J  0.0001838774

Pre-dive calculations and measurements:
GPS1  291211,155337,1901.571,12243.723,32,1.2,32,-2.2 TGT_NAME  S2
_CALLS  1 TGT_LATLONG  2015.000,12420.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.030,-0.310
_SM_DEPTHo  6.52 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  291211,155943,1901.616,12243.690,11,1.6,22,-2.2 MHEAD_RNG_PITCHd_Wd  98.1,215578,-15.2,-11.000
SPEED_LIMITS  0.191,0.337 D_GRID  2867

Post-dive calculations and measurements:
FINISH  5.8,1.009008 _10V_AH  10.0,36.904
SM_CCo  16311,0.00,0.000,0,0,512,599.02 FG_AHR_24Vo  0.000
SM_GC  6.49,5.93,0.08,0.00,0.018,0.107,0.000,101,2041,512,-6.56,-0.96,599.02,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1853.26,12242.61,291211,111128 MEM  324064
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  97195,1409
HUMID  42.71 CAP_FILE_SIZE  169622,0
INTERNAL_PRESSURE  9.45349 CFSIZE  260165632,198926336
TCM_TEMP  24.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  10 CURRENT  0.321,289.0,1
ALTIM_BOTTOM_PING  741.8,0.0 GPS  291211,203307,1901.701,12245.916,32,1.1,32,-2.2
_24V_AH  23.0,43.544

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1724095.03 SBE_CT96624533.26
Roll_motor118148404.41 AA43302181331655.44
VBD_pump_during_apogee816106219955.43 WL_BB2F6711051622.87
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910369.28 nil000.00
Iridium_during_connect1616060.47 nil000.00
Iridium_during_xfer179223922.58 nil000.00
Transponder_ping242026.57 nil000.00
GUMSTIX_24V000.00
GPS235011.80
TT8373219738.97
LPSleep86872190.25
TT8_Active83419165.23
TT8_Sampling3045391212.20
TT8_CF836045165.28
TT8_Kalman000.00
Analog_circuits221812266.19
GPS_charging000.00
Compass269115403.73
RAFOS000.00
Transponder3300.93

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 -0.71 -243.3 0.0 0.0 0 99 0.00 0.00 -78.12 0.000 2 0.000 0.000 103 2057 2780 0 0 0 0 0 0 28.83 28.83 28.83
102 -0.71 -243.3 8.7 -6.2 12 133 6.95 2.17 -19.15 0.000 4 0.194 0.050 2006 3424 3950 0 0 0 0 0 0 25.19 25.92 26.35
189 -0.65 -243.3 43.4 -31.0 25 196 0.12 2.20 0.00 0.000 6 0.137 0.042 2043 2025 3951 0 0 0 0 0 0 25.73 25.87 28.83
541 -0.60 -243.3 136.2 -24.4 86 552 0.05 2.22 0.00 0.000 4 0.240 0.047 2056 618 3951 0 0 0 0 0 0 26.27 25.98 28.83
570 -0.55 -243.3 143.7 -25.0 90 582 0.08 2.15 0.00 0.000 6 0.120 0.037 2077 2011 3951 0 0 0 0 0 0 25.87 26.08 28.83
920 -0.53 -243.3 205.1 -16.5 148 924 0.00 2.20 0.00 0.000 4 0.000 0.041 2067 3438 3951 0 0 0 0 0 0 28.83 26.13 28.83
997 -0.55 -243.3 214.8 -11.0 155 1006 0.00 2.15 0.00 0.000 6 0.000 0.033 2066 2016 3951 0 0 0 0 0 0 28.83 26.15 28.83
1304 -0.53 -243.3 264.7 -16.2 186 1305 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 2015 3951 0 0 0 0 0 0 28.83 28.83 28.83
1606 -0.53 -243.3 304.3 -10.9 216 1615 0.00 2.20 0.00 0.000 4 0.000 0.042 2058 3434 3949 0 0 0 0 0 0 28.83 26.16 28.83
1652 -0.53 -243.3 308.9 -10.2 220 1660 0.08 2.15 0.00 0.000 6 0.138 0.033 2088 2018 3950 0 0 0 0 0 0 26.12 26.19 28.83
1960 -0.56 -243.3 331.1 -7.7 251 1961 0.00 0.00 0.00 0.000 6 0.000 0.000 2088 2018 3948 0 0 0 0 0 0 28.83 28.83 28.83
2263 -0.58 -243.3 358.4 -9.8 281 2269 0.10 0.00 0.00 0.000 6 0.096 0.000 1987 2018 3947 0 0 0 0 0 0 26.49 28.83 28.83
2571 -0.53 -243.3 429.6 -25.0 312 2580 0.28 2.22 0.00 0.000 4 0.127 0.041 2071 3439 3945 0 0 0 0 0 0 25.94 26.17 28.83
2616 -0.52 -243.3 437.0 -16.9 316 2623 0.00 2.15 0.00 0.000 6 0.000 0.034 2071 2023 3945 0 0 0 0 0 0 28.83 26.20 28.83
2926 -0.54 -243.3 463.6 -7.6 347 2932 0.00 0.00 0.00 0.000 6 0.000 0.000 2071 2022 3943 0 0 0 0 0 0 28.83 28.83 28.83
3237 -0.57 -243.3 484.0 -6.1 378 3243 0.00 0.00 0.00 0.000 6 0.000 0.000 2071 2022 3940 0 0 0 0 0 0 28.83 28.83 28.83
3548 -0.59 -243.3 503.1 -6.3 409 3557 0.00 2.20 0.00 0.000 4 0.000 0.042 2067 3437 3937 0 0 0 0 0 0 28.83 26.15 28.83
3583 -0.63 -243.3 505.3 -6.3 412 3591 0.08 2.15 0.00 0.000 6 0.128 0.032 2002 2022 3937 0 0 0 0 0 0 26.14 26.20 28.83
3890 -0.60 -243.3 551.8 -15.3 443 3892 0.17 0.00 0.00 0.000 6 0.122 0.000 2059 2021 3935 0 0 0 0 0 0 26.20 28.83 28.83
4191 -0.62 -243.3 578.4 -8.1 473 4202 0.00 2.20 0.00 0.000 4 0.000 0.043 2055 3432 3932 0 0 0 0 0 0 28.83 26.13 28.83
4227 -0.65 -243.3 581.1 -7.9 476 4234 0.00 2.15 0.00 0.000 6 0.000 0.033 2055 2023 3931 0 0 0 0 0 0 28.83 26.17 28.83
4547 -0.67 -243.3 607.3 -8.3 504 4553 0.08 2.17 0.00 0.000 4 0.120 0.050 1972 626 3928 0 0 0 0 0 0 26.51 26.00 28.83
4579 -0.68 -243.3 609.5 -8.7 505 4587 0.22 2.15 0.00 0.000 6 0.112 0.040 2037 2031 3928 0 0 0 0 0 0 25.89 26.12 28.83
4887 -0.69 -243.3 643.6 -10.1 521 4892 0.00 2.17 0.00 0.000 4 0.000 0.044 2027 3437 3926 0 0 0 0 0 0 28.83 26.10 28.83
4936 -0.70 -243.3 647.4 -9.7 523 4940 0.00 2.15 0.00 0.000 6 0.000 0.035 2028 2024 3926 0 0 0 0 0 0 28.83 26.12 28.83
5242 -0.71 -243.3 677.6 -9.4 538 5244 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2023 3924 0 0 0 0 0 0 28.83 28.83 28.83
5543 -0.72 -243.3 704.3 -8.5 553 5544 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2023 3921 0 0 0 0 0 0 28.83 28.83 28.83
5842 -0.72 -243.3 729.8 -8.4 568 5848 0.00 2.20 0.00 0.000 4 0.000 0.045 2019 3425 3919 0 0 0 0 0 0 28.83 26.05 28.83
5875 -0.73 -243.3 731.4 -8.4 569 5882 0.00 2.17 0.00 0.000 6 0.000 0.036 2019 2019 3919 0 0 0 0 0 0 28.83 26.08 28.83
6182 -0.73 -243.3 759.6 -9.0 585 6184 0.00 0.00 0.00 0.000 6 0.000 0.000 2019 2018 3916 0 0 0 0 0 0 28.83 28.83 28.83
6482 -0.73 -243.3 784.6 -8.0 600 6487 0.00 2.25 0.00 0.000 4 0.000 0.046 2011 3436 3915 0 0 0 0 0 0 28.83 26.01 28.83
6510 -0.73 -243.3 786.1 -7.9 601 6514 0.00 2.17 0.00 0.000 6 0.000 0.037 2011 2022 3915 0 0 0 0 0 0 28.83 26.03 28.83
6816 -0.73 -243.3 815.0 -9.4 616 6818 0.00 0.00 0.00 0.000 6 0.000 0.000 2011 2021 3913 0 0 0 0 0 0 28.83 28.83 28.83
7118 -0.73 -243.3 845.1 -10.5 631 7119 0.00 0.00 0.00 0.000 6 0.000 0.000 2011 2022 3911 0 0 0 0 0 0 28.83 28.83 28.83
7417 -0.73 -243.3 876.7 -10.6 646 7419 0.00 0.00 0.00 0.000 6 0.000 0.000 2011 2022 3910 0 0 0 0 0 0 28.83 28.83 28.83
7717 -0.73 -243.3 908.9 -10.6 661 7718 0.00 0.00 0.00 0.000 6 0.000 0.000 2011 2021 3908 0 0 0 0 0 0 28.83 28.83 28.83
8017 -0.73 -243.3 939.7 -10.2 676 8019 0.00 0.00 0.00 0.000 6 0.000 0.000 2011 2022 3906 0 0 0 0 0 0 28.83 28.83 28.83
8318 -0.73 -243.3 968.6 -9.8 691 8323 0.00 2.22 0.00 0.000 4 0.000 0.044 2003 3438 3905 0 0 0 0 0 0 28.83 25.96 28.83
8344 -0.73 -243.3 970.6 -9.8 692 8348 0.00 2.17 0.00 0.000 6 0.000 0.037 2003 2025 3905 0 0 0 0 0 0 28.83 25.97 28.83
8530 end dive: TARGET_DEPTH_EXCEEDED
state 8530 begin apogee
8536 -0.22 0.0 990.8 -10.6 701 8832 0.50 0.00 289.50 0.864 6 0.093 0.000 2182 1973 2951 0 0 0 0 0 0 25.75 28.83 23.79
8833 end apogee: CONTROL_FINISHED_OK
state 8833 begin climb
8836 0.71 243.3 1009.4 0.0 716 9057 0.77 0.00 214.62 1.063 6 0.041 0.000 2493 1973 1960 0 0 0 0 0 0 24.75 28.83 22.98
9352 0.64 243.3 921.1 23.0 742 9358 0.12 2.20 0.00 0.000 4 0.178 0.028 2458 3399 1932 0 0 0 0 0 0 25.37 25.58 28.83
9374 0.58 243.3 916.5 23.1 743 9379 0.12 2.25 0.00 0.000 6 0.163 0.038 2437 1977 1931 0 0 0 0 0 0 25.34 25.55 28.83
9688 0.54 243.3 862.7 16.9 759 9690 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 1977 1929 0 0 0 0 0 0 28.83 28.83 28.83
9988 0.50 243.3 812.2 16.8 774 9994 0.10 2.25 0.00 0.000 4 0.178 0.054 2421 574 1928 0 0 0 0 0 0 25.94 25.79 28.83
10010 0.47 243.3 808.8 16.8 775 10015 0.10 2.12 0.00 0.000 6 0.148 0.025 2394 1980 1928 0 0 0 0 0 0 25.79 26.01 28.83
10325 0.45 243.3 771.0 12.1 791 10330 0.00 2.25 0.00 0.000 4 0.000 0.057 2404 576 1927 0 0 0 0 0 0 28.83 25.82 28.83
10371 0.45 243.3 765.9 12.1 793 10376 0.00 2.12 0.00 0.000 6 0.000 0.027 2404 1971 1927 0 0 0 0 0 0 28.83 26.06 28.83
10680 0.43 243.3 727.8 12.2 808 10686 0.08 2.15 0.00 0.000 4 0.195 0.034 2387 3388 1927 0 0 0 0 0 0 26.17 26.00 28.83
10723 0.42 243.3 723.0 12.1 810 10727 0.00 2.22 0.00 0.000 6 0.000 0.042 2397 1977 1926 0 0 0 0 0 0 28.83 25.93 28.83
11035 0.43 252.7 689.1 10.7 826 11041 0.00 2.22 0.00 0.000 4 0.000 0.057 2407 570 1926 0 0 0 0 0 0 28.83 25.85 28.83
11109 0.43 262.6 682.6 10.7 829 11130 0.08 2.12 14.93 0.889 6 0.160 0.028 2386 1987 1882 0 0 0 0 0 0 25.95 26.10 24.89
11430 0.45 273.3 647.2 10.7 845 11439 0.00 2.28 3.75 0.689 4 0.000 0.054 2396 568 1840 0 0 0 0 0 0 28.83 25.97 24.43
11491 0.45 273.3 640.7 11.6 848 11499 0.00 2.10 1.92 0.197 6 0.000 0.028 2397 1962 1839 0 0 0 0 0 0 28.83 26.03 25.45
11809 0.45 273.3 603.6 11.6 864 11815 0.00 2.22 1.75 0.200 4 0.000 0.038 2396 3397 1839 0 0 0 0 0 0 28.83 25.99 25.34
11827 0.45 273.3 602.0 11.7 865 11834 0.00 2.25 1.33 0.221 6 0.000 0.041 2405 1969 1838 0 0 0 0 0 0 28.83 25.95 24.99
12145 0.44 273.3 564.3 12.1 896 12154 0.00 2.25 1.55 0.203 4 0.000 0.056 2415 566 1843 0 0 0 0 0 0 28.83 25.89 25.34
12190 0.44 273.3 558.9 12.2 900 12199 0.05 2.17 1.48 0.183 6 0.114 0.028 2392 1975 1841 0 0 0 0 0 0 25.91 26.10 25.43
12498 0.48 303.4 524.7 10.1 931 12538 0.00 0.00 37.38 0.793 6 0.000 0.000 2392 1975 1714 0 0 0 0 0 0 28.83 28.83 24.76
12838 0.54 347.4 490.9 9.7 965 12882 0.10 0.00 40.60 0.758 6 0.094 0.000 2459 1976 1536 0 0 0 0 0 0 26.10 28.83 24.65
13180 0.52 347.4 430.1 17.6 999 13192 0.12 2.30 0.00 0.000 4 0.145 0.054 2428 566 1514 0 0 0 0 0 0 25.75 25.67 28.83
13237 0.52 347.4 422.6 12.9 1004 13246 0.00 2.15 0.00 0.000 6 0.000 0.028 2428 1985 1513 0 0 0 0 0 0 28.83 25.88 28.83
13544 0.52 347.4 383.3 13.8 1035 13556 0.00 2.30 0.00 0.000 4 0.000 0.057 2437 563 1511 0 0 0 0 0 0 28.83 25.78 28.83
13600 0.53 347.4 376.3 12.9 1040 13609 0.05 2.12 0.00 0.000 6 0.105 0.028 2412 1963 1510 0 0 0 0 0 0 25.84 26.01 28.83
13909 0.60 393.4 343.3 9.6 1071 13951 0.10 0.00 38.80 0.678 6 0.095 0.000 2488 1963 1349 0 0 0 0 0 0 26.29 28.83 24.87
14251 0.57 393.4 275.8 20.9 1105 14261 0.17 2.22 0.00 0.000 4 0.133 0.054 2440 571 1328 0 0 0 0 0 0 25.75 25.75 28.83
14328 0.62 415.6 265.4 10.3 1112 14357 0.00 2.15 18.58 0.627 6 0.000 0.028 2440 1990 1249 0 0 0 0 0 0 28.83 25.96 24.93
14658 0.63 415.6 224.9 12.9 1145 14666 0.00 2.22 0.00 0.000 4 0.000 0.053 2448 571 1241 0 0 0 0 0 0 28.83 25.82 28.83
14734 0.70 442.6 216.3 10.2 1152 14765 0.05 2.12 22.52 0.593 6 0.061 0.028 2527 1995 1140 0 0 0 0 0 0 25.91 26.02 24.98
15079 0.67 442.6 137.7 19.8 1209 15086 0.17 2.28 0.00 0.000 4 0.142 0.050 2478 560 1130 0 0 0 0 0 0 25.79 25.84 28.83
15122 0.68 442.6 130.8 13.8 1216 15129 0.00 2.15 0.00 0.000 6 0.000 0.026 2479 1975 1128 0 0 0 0 0 0 28.83 26.03 28.83
15478 0.70 442.6 88.6 11.2 1277 15487 0.00 2.22 0.00 0.000 4 0.000 0.050 2486 559 1128 0 0 0 0 0 0 28.83 25.94 28.83
15496 0.72 444.3 86.4 10.9 1279 15502 0.00 2.12 0.00 0.000 6 0.000 0.026 2486 1976 1129 0 0 0 0 0 0 28.83 26.13 28.83
15827 0.95 603.0 57.7 6.2 1340 15962 0.17 2.28 125.07 0.220 4 0.062 0.049 2610 571 509 0 0 0 0 0 0 26.36 25.75 25.33
15987 0.94 603.0 29.7 19.1 1363 15995 0.20 2.12 2.75 0.158 6 0.112 0.025 2548 1972 495 0 0 0 0 0 0 25.64 25.87 25.30
16159 end climb: SURFACE_DEPTH_REACHED
state 16159 begin surface coast
16236 end surface coast: CONTROL_FINISHED_OK
state 16236 begin surface