OKMC Nov11 * SG169 * Dive index * Mission links * Dive 291 * 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  291 HEADING  -1 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  -11088.052 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  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  2 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  040112,063624,2132.970,12341.158,39,1.1,39,-2.8 TGT_NAME  N1
_CALLS  1 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.228,0.143
_SM_DEPTHo  1.00 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -57.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  040112,064338,2132.901,12341.100,17,1.3,17,-2.8 MHEAD_RNG_PITCHd_Wd  338.0,285199,-14.3,-10.312
SPEED_LIMITS  0.179,0.329 D_GRID  5078

Post-dive calculations and measurements:
FINISH  1.0,1.023524 _10V_AH  10.1,38.237
SM_CCo  15083,0.00,0.000,0,0,409,630.67 FG_AHR_24Vo  0.000
SM_GC  0.86,5.60,1.88,0.00,0.034,0.022,0.000,115,2540,409,-5.80,0.20,630.67,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2127.21,12343.97,040112,020234 MEM  330408
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  86986,1287
HUMID  43.06 CAP_FILE_SIZE  155444,0
INTERNAL_PRESSURE  9.43751 CFSIZE  260165632,196259840
TCM_TEMP  23.70 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  0 CURRENT  0.289,160.2,1
_24V_AH  23.1,62.197 GPS  040112,105630,2134.540,12339.690,37,1.4,37,-2.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1522482.46 SBE_CT87024482.84
Roll_motor10775187.72 AA43301696331292.88
VBD_pump_during_apogee772117320948.45 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010373.25 nil000.00
Iridium_during_connect42160158.08 nil000.00
Iridium_during_xfer2232231152.94 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS18509.21
TT8335919671.80
LPSleep83322184.32
TT8_Active82719165.40
TT8_Sampling2662391070.43
TT8_CF831145144.07
TT8_Kalman000.00
Analog_circuits212912258.04
GPS_charging000.00
Compass221515335.62
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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
17 -0.66 -243.3 0.0 0.0 0 126 0.00 0.00 -106.85 0.000 2 0.000 0.000 117 2679 3262 0 0 0 0 0 0 28.83 28.83 28.83
130 -0.66 -243.3 4.4 -11.4 16 157 6.72 0.00 -12.20 0.000 6 0.224 0.000 1787 2679 3964 0 0 0 0 0 0 25.06 28.83 26.53
473 -0.52 -243.3 158.2 -38.4 80 480 0.17 2.22 0.00 0.000 4 0.181 0.024 1849 1164 3964 0 0 0 0 0 0 25.86 26.27 28.83
583 -0.57 -243.3 179.8 -9.5 100 592 0.00 2.25 0.00 0.000 6 0.000 0.037 1838 2651 3964 0 0 0 0 0 0 28.83 26.22 28.83
903 -0.51 -243.3 249.5 -20.5 141 907 0.00 1.80 0.00 0.000 4 0.000 0.046 1829 3817 3965 0 0 0 0 0 0 28.83 26.21 28.83
967 -0.49 -243.3 260.9 -16.3 147 974 0.00 1.83 0.00 0.000 6 0.000 0.022 1829 2564 3964 0 0 0 0 0 0 28.83 26.44 28.83
1275 -0.44 -243.3 318.2 -18.5 178 1277 0.12 0.00 0.00 0.000 6 0.144 0.000 1865 2563 3964 0 0 0 0 0 0 26.32 28.83 28.83
1577 -0.45 -243.3 348.8 -8.1 208 1587 0.00 1.95 0.00 0.000 4 0.000 0.044 1856 3806 3964 0 0 0 0 0 0 28.83 26.25 28.83
1642 -0.51 -243.3 353.1 -5.6 214 1645 0.00 1.80 0.00 0.000 6 0.000 0.023 1856 2552 3964 0 0 0 0 0 0 28.83 26.50 28.83
1953 -0.63 -243.3 379.2 -11.0 245 1955 0.15 0.00 0.00 0.000 6 0.109 0.000 1803 2541 3963 0 0 0 0 0 0 26.40 28.83 28.83
2254 -0.72 -243.3 410.0 -8.8 275 2263 0.00 1.98 0.00 0.000 4 0.000 0.027 1806 1159 3961 0 0 0 0 0 0 28.83 26.38 28.83
2440 -0.82 -243.3 423.6 -6.6 293 2448 0.17 2.25 0.00 0.000 6 0.076 0.037 1736 2659 3960 0 0 0 0 0 0 26.27 26.31 28.83
2748 -0.73 -243.3 476.0 -25.4 324 2750 0.15 0.00 0.00 0.000 6 0.158 0.000 1777 2659 3958 0 0 0 0 0 0 26.20 28.83 28.83
3051 -0.67 -243.3 536.3 -20.0 354 3060 0.00 2.15 0.00 0.000 4 0.000 0.026 1777 1174 3957 0 0 0 0 0 0 28.83 26.36 28.83
3104 -0.66 -243.3 545.6 -15.7 359 3113 0.00 2.20 0.00 0.000 6 0.000 0.040 1767 2657 3957 0 0 0 0 0 0 28.83 26.27 28.83
3414 -0.61 -243.3 599.1 -16.3 390 3421 0.15 0.00 0.00 0.000 6 0.148 0.000 1811 2657 3954 0 0 0 0 0 0 26.23 28.83 28.83
3725 -0.61 -243.3 633.7 -11.2 406 3727 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2657 3952 0 0 0 0 0 0 28.83 28.83 28.83
4023 -0.61 -243.3 666.8 -10.3 421 4024 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2657 3949 0 0 0 0 0 0 28.83 28.83 28.83
4324 -0.62 -243.3 694.4 -8.8 436 4325 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2657 3947 0 0 0 0 0 0 28.83 28.83 28.83
4626 -0.63 -243.3 723.7 -10.1 451 4627 0.00 0.00 0.00 0.000 6 0.000 0.000 1810 2657 3945 0 0 0 0 0 0 28.83 28.83 28.83
4924 -0.64 -243.3 753.7 -9.8 466 4925 0.00 0.00 0.00 0.000 6 0.000 0.000 1810 2657 3943 0 0 0 0 0 0 28.83 28.83 28.83
5224 -0.65 -243.3 781.5 -9.1 481 5228 0.00 1.83 0.00 0.000 4 0.000 0.048 1802 3820 3941 0 0 0 0 0 0 28.83 26.15 28.83
5259 -0.67 -243.3 783.4 -9.0 482 5268 0.00 1.83 0.00 0.000 6 0.000 0.026 1802 2563 3940 0 0 0 0 0 0 28.83 26.42 28.83
5567 -0.68 -243.3 813.5 -9.3 498 5573 0.00 1.98 0.00 0.000 4 0.000 0.046 1794 3824 3938 0 0 0 0 0 0 28.83 26.15 28.83
5601 -0.69 -243.3 815.4 -9.4 499 5608 0.00 1.83 0.00 0.000 6 0.000 0.027 1794 2565 3937 0 0 0 0 0 0 28.83 26.41 28.83
5908 -0.69 -243.3 847.5 -10.4 515 5913 0.00 1.98 0.00 0.000 4 0.000 0.047 1785 3830 3935 0 0 0 0 0 0 28.83 26.12 28.83
5947 -0.70 -243.3 851.8 -10.5 517 5952 0.00 1.85 0.00 0.000 6 0.000 0.025 1785 2563 3935 0 0 0 0 0 0 28.83 26.40 28.83
6267 -0.70 -243.3 889.5 -11.9 533 6268 0.00 0.00 0.00 0.000 6 0.000 0.000 1785 2563 3933 0 0 0 0 0 0 28.83 28.83 28.83
6568 -0.70 -243.3 924.0 -11.3 548 6571 0.00 2.00 0.00 0.000 4 0.000 0.048 1775 3812 3930 0 0 0 0 0 0 28.83 26.08 28.83
6633 -0.70 -243.3 930.7 -10.9 551 6636 0.00 1.83 0.00 0.000 6 0.000 0.024 1775 2559 3930 0 0 0 0 0 0 28.83 26.40 28.83
6946 -0.69 -243.3 966.9 -11.1 567 6947 0.00 0.00 0.00 0.000 6 0.000 0.000 1775 2557 3929 0 0 0 0 0 0 28.83 28.83 28.83
7184 end dive: TARGET_DEPTH_EXCEEDED
state 7184 begin apogee
7190 -0.20 0.0 990.7 -9.5 579 7406 0.47 0.15 207.77 1.174 6 0.096 0.076 1943 2534 2971 0 0 0 0 0 0 25.86 24.70 23.54
7407 end apogee: CONTROL_FINISHED_OK
state 7407 begin climb
7409 0.66 243.3 999.9 0.0 590 7646 0.75 2.17 225.62 1.169 4 0.047 0.043 2230 3810 1976 0 0 0 0 0 0 24.91 24.27 23.11
7704 0.56 243.3 961.0 23.9 604 7711 0.20 2.12 0.00 0.000 6 0.180 0.031 2191 2470 1961 0 0 0 0 0 0 24.84 25.15 28.83
8012 0.50 243.3 901.8 17.2 620 8018 0.00 2.12 0.00 0.000 4 0.000 0.045 2190 3812 1955 0 0 0 0 0 0 28.83 25.94 28.83
8059 0.44 243.3 893.7 17.9 622 8064 0.17 2.05 0.00 0.000 6 0.160 0.029 2153 2451 1954 0 0 0 0 0 0 25.70 26.05 28.83
8367 0.41 243.3 850.2 13.4 637 8368 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2449 1953 0 0 0 0 0 0 28.83 28.83 28.83
8668 0.39 243.3 811.4 12.9 652 8673 0.00 2.15 0.00 0.000 4 0.000 0.046 2153 3810 1952 0 0 0 0 0 0 28.83 26.09 28.83
8729 0.36 243.3 802.6 14.3 655 8733 0.12 2.03 0.00 0.000 6 0.161 0.029 2130 2459 1951 0 0 0 0 0 0 25.91 26.22 28.83
9042 0.37 249.3 769.5 10.1 671 9044 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2458 1951 0 0 0 0 0 0 28.83 28.83 28.83
9341 0.37 255.8 738.8 10.1 686 9354 0.00 2.17 8.38 0.918 4 0.000 0.045 2130 3821 1933 0 0 0 0 0 0 28.83 26.11 24.39
9402 0.37 255.8 732.5 10.8 688 9406 0.00 2.03 0.00 0.000 6 0.000 0.028 2140 2462 1923 0 0 0 0 0 0 28.83 26.19 28.83
9716 0.40 282.2 700.0 9.6 704 9760 0.00 2.17 32.30 0.840 4 0.000 0.044 2141 3812 1823 0 0 0 0 1 0 28.83 25.79 24.62
9787 0.42 299.0 694.0 9.8 707 9814 0.00 2.08 21.80 0.912 6 0.000 0.028 2151 2452 1757 0 0 0 0 0 0 28.83 25.90 24.39
10116 0.42 299.0 656.3 11.8 724 10121 0.00 2.08 0.00 0.000 4 0.000 0.036 2162 1061 1738 0 0 0 0 0 0 28.83 25.98 28.83
10154 0.42 299.0 651.7 11.7 726 10159 0.00 2.25 0.00 0.000 6 0.000 0.039 2162 2524 1736 0 0 0 0 0 0 28.83 25.98 28.83
10475 0.41 299.0 614.4 11.0 742 10480 0.00 2.00 0.00 0.000 4 0.000 0.046 2162 3815 1736 0 0 0 0 0 0 28.83 26.03 28.83
10517 0.40 299.0 609.4 11.7 744 10523 0.08 2.03 0.00 0.000 6 0.126 0.028 2145 2459 1735 0 0 0 0 0 0 25.91 26.17 28.83
10826 0.42 306.5 578.1 10.1 770 10835 0.00 2.08 0.00 0.000 4 0.000 0.039 2155 1062 1735 0 0 0 0 0 0 28.83 26.11 28.83
10869 0.46 322.3 573.9 9.9 774 10901 0.00 2.22 22.55 0.871 6 0.000 0.038 2154 2531 1654 0 0 0 0 0 0 28.83 26.13 24.65
11199 0.47 322.3 537.7 11.1 807 11208 0.00 2.03 0.00 0.000 4 0.000 0.044 2154 3820 1643 0 0 0 0 0 0 28.83 26.00 28.83
11251 0.47 322.3 531.3 12.4 812 11262 0.00 2.03 0.00 0.000 6 0.000 0.028 2165 2459 1642 0 0 0 0 0 0 28.83 26.13 28.83
11561 0.47 322.3 497.7 11.1 843 11570 0.00 2.12 0.00 0.000 4 0.000 0.037 2176 1054 1641 0 0 0 0 0 0 28.83 26.11 28.83
11626 0.52 344.3 491.3 9.7 849 11654 0.00 2.25 20.83 0.834 6 0.000 0.037 2176 2533 1568 0 0 0 0 0 0 28.83 26.13 24.72
11953 0.52 344.3 448.7 12.9 882 11962 0.00 2.03 0.00 0.000 4 0.000 0.045 2176 3821 1552 0 0 0 0 0 0 28.83 26.00 28.83
11998 0.52 344.3 442.6 14.5 886 12005 0.00 2.05 0.00 0.000 6 0.000 0.026 2186 2455 1551 0 0 0 0 0 0 28.83 26.15 28.83
12307 0.51 344.3 402.3 12.9 917 12316 0.00 2.12 0.00 0.000 4 0.000 0.045 2187 3812 1551 0 0 0 0 0 0 28.83 26.06 28.83
12339 0.50 344.3 397.7 13.3 920 12350 0.00 2.03 0.00 0.000 6 0.000 0.028 2197 2458 1551 0 0 0 0 0 0 28.83 26.21 28.83
12649 0.49 344.3 353.7 13.1 951 12658 0.00 2.15 0.00 0.000 4 0.000 0.047 2198 3812 1551 0 0 0 0 0 0 28.83 26.07 28.83
12685 0.47 344.3 349.0 13.8 954 12692 0.15 2.05 0.00 0.000 6 0.146 0.029 2165 2452 1551 0 0 0 0 0 0 25.90 26.23 28.83
12993 0.62 439.6 324.3 7.6 985 13082 0.12 0.00 83.07 0.718 6 0.079 0.000 2254 2450 1177 0 0 0 0 0 0 26.50 28.83 24.49
13383 0.57 439.6 244.5 19.7 1024 13392 0.17 2.15 0.00 0.000 4 0.152 0.041 2199 3819 1160 0 0 0 0 0 0 25.73 25.93 28.83
13459 0.59 439.6 233.1 12.1 1031 13466 0.00 2.05 0.00 0.000 6 0.000 0.025 2210 2455 1158 0 0 0 0 0 0 28.83 26.10 28.83
13767 0.61 439.6 202.4 10.4 1062 13778 0.00 2.08 0.00 0.000 4 0.000 0.036 2221 1061 1157 0 0 0 0 0 0 28.83 26.10 28.83
13801 0.65 446.9 199.0 10.1 1066 13808 0.00 2.20 0.00 0.000 6 0.000 0.034 2221 2529 1156 0 0 0 0 0 0 28.83 26.13 28.83
14122 0.72 492.2 165.7 9.0 1127 14169 0.00 0.00 43.47 0.597 6 0.000 0.000 2221 2530 965 0 0 0 0 0 0 28.83 28.83 24.86
14481 1.00 675.1 142.8 5.1 1194 14598 0.25 2.28 106.97 0.572 4 0.048 0.030 2381 1061 421 0 0 0 0 0 0 26.31 25.53 24.64
14653 0.99 675.1 98.5 20.2 1222 14663 0.17 2.28 0.00 0.000 6 0.136 0.039 2331 2531 411 0 0 0 0 0 0 25.50 25.72 28.83
14981 0.93 675.1 9.0 29.9 1283 14988 0.00 2.00 0.00 0.000 4 0.000 0.041 2330 3820 409 0 0 0 0 0 0 28.83 26.04 28.83
14999 end climb: SURFACE_DEPTH_REACHED
state 14999 begin surface coast
15006 end surface coast: CONTROL_FINISHED_OK
state 15006 begin surface