OKMC Nov11 * SG169 * Dive index * Mission links * Dive 77 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  169 HD_B  0.0099999998 PITCH_ADJ_GAIN  0.0070000002 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.9999997e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  77 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  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  300 UPLOAD_DIVES_MAX  -1 C_VBD  2979 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  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  -10367.595 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  230 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  1 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  13 PITCH_AD_RATE  165 COMPASS_USE  0 SEABIRD_C_I  -0.0019472764
HD_A  0.003 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00023438112

Pre-dive calculations and measurements:
GPS1  231111,232756,2216.926,12357.083,37,1.8,38,-3.0 TGT_NAME  N3
_CALLS  2 TGT_LATLONG  2130.000,12400.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.029,-0.323
_SM_DEPTHo  1.06 KALMAN_X  8612540.0,0.0,0.0,5160867.5,-9622.0
_SM_ANGLEo  -57.2 KALMAN_Y  2486746.8,0.0,0.0,-12254.5,85212.2
GPS2  231111,233701,2216.812,12356.988,16,1.3,16,-3.0 MHEAD_RNG_PITCHd_Wd  177.9,86851,-15.1,-11.000
SPEED_LIMITS  0.191,0.324 D_GRID  4962

Post-dive calculations and measurements:
FINISH  0.5,1.022358 _10V_AH  10.3,14.751
SM_CCo  14836,0.00,0.000,0,0,460,617.91 FG_AHR_24Vo  0.000
SM_GC  0.83,5.62,0.20,0.00,0.024,0.068,0.000,131,2661,460,-5.79,-0.17,617.91,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2206.70,12358.84,231111,232354 MEM  330336
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  80414,1242
HUMID  41.10 CAP_FILE_SIZE  165274,0
INTERNAL_PRESSURE  9.48634 CFSIZE  260165632,215724032
TCM_TEMP  24.50 ERRORS  0,3,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 GPS  241111,034556,2213.260,12356.625,26,3.1,45,-3.0
_24V_AH  23.9,18.112

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622689.03 SBE_CT83924481.53
Roll_motor144102354.64 AA433096733762.92
VBD_pump_during_apogee743116520717.62 WL_BB2F5501051381.63
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init56103140.10 nil000.00
Iridium_during_connect96160369.42 nil000.00
Iridium_during_xfer2002231070.82 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS16508.72
TT8292319596.22
LPSleep83932189.33
TT8_Active77319157.74
TT8_Sampling2962391214.37
TT8_CF831245147.28
TT8_Kalman0810.32
Analog_circuits213012263.27
GPS_charging000.00
Compass255615395.01
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 -0.65 -223.8 0.0 0.0 0 110 0.00 0.00 -91.25 0.000 2 0.000 0.000 103 2671 2809 0 0 0 0 0 0 28.83 28.83 28.83
114 -0.65 -223.8 3.0 -5.0 14 150 6.57 2.22 -21.60 0.000 4 0.226 0.044 1803 1177 3894 0 0 0 0 0 0 25.82 26.20 26.53
279 -0.57 -223.8 61.5 -27.9 41 287 0.12 2.22 0.00 0.000 6 0.174 0.047 1824 2650 3893 0 0 0 0 0 0 26.10 26.27 28.83
631 -0.44 -223.8 200.5 -36.0 102 641 0.12 2.17 0.00 0.000 4 0.188 0.034 1872 1185 3893 0 0 0 0 0 0 26.24 26.41 28.83
742 -0.46 -223.8 220.4 -10.6 112 751 0.00 2.22 0.00 0.000 6 0.000 0.044 1864 2649 3893 0 0 0 0 0 0 28.83 26.44 28.83
1050 -0.42 -223.8 273.2 -16.6 143 1059 0.00 2.12 0.00 0.000 4 0.000 0.034 1867 1188 3893 0 0 0 0 0 0 28.83 26.51 28.83
1075 -0.39 -223.8 277.0 -16.5 145 1082 0.00 2.20 0.00 0.000 6 0.000 0.044 1858 2653 3893 0 0 0 0 0 0 28.83 26.48 28.83
1383 -0.36 -223.8 328.1 -15.8 176 1392 0.12 2.15 0.00 0.000 4 0.151 0.031 1902 1185 3892 0 0 0 0 0 0 26.44 26.53 28.83
1415 -0.36 -223.8 331.8 -12.7 179 1424 0.00 2.20 0.00 0.000 6 0.000 0.043 1902 2656 3891 0 0 0 0 0 0 28.83 26.53 28.83
1725 -0.42 -223.8 351.7 -6.4 210 1729 0.00 1.77 0.00 0.000 4 0.000 0.050 1895 3805 3890 0 0 0 0 0 0 28.83 26.53 28.83
1768 -0.49 -223.8 354.2 -5.9 214 1777 0.12 1.77 0.00 0.000 6 0.087 0.028 1833 2555 3890 0 0 0 0 0 0 26.55 26.63 28.83
2077 -0.54 -223.8 380.3 -8.4 245 2086 0.00 1.95 0.00 0.000 4 0.000 0.048 1826 3821 3889 0 0 0 0 0 0 28.83 26.54 28.83
2149 -0.55 -223.8 387.1 -9.9 252 2153 0.00 1.80 0.00 0.000 6 0.000 0.028 1826 2573 3887 0 0 0 0 0 0 28.83 26.63 28.83
2460 -0.52 -223.8 433.5 -14.7 283 2464 0.00 2.00 0.00 0.000 4 0.000 0.033 1825 1181 3886 0 0 0 0 0 0 28.83 26.59 28.83
2584 -0.54 -223.8 447.0 -9.8 295 2588 0.00 2.20 0.00 0.000 6 0.000 0.043 1817 2656 3885 0 0 0 0 0 0 28.83 26.58 28.83
2896 -0.51 -223.8 488.9 -13.7 326 2905 0.00 2.10 0.00 0.000 4 0.000 0.034 1817 1187 3884 0 0 0 0 0 0 28.83 26.60 28.83
2928 -0.49 -223.8 493.1 -13.6 329 2937 0.12 2.17 0.00 0.000 6 0.136 0.044 1852 2655 3883 0 0 0 0 0 0 26.48 26.57 28.83
3239 -0.51 -223.8 519.6 -8.6 360 3240 0.00 0.00 0.00 0.000 6 0.000 0.000 1851 2655 3881 0 0 0 0 0 0 28.83 28.83 28.83
3541 -0.54 -223.8 546.6 -8.5 390 3549 0.00 2.12 0.00 0.000 4 0.000 0.033 1852 1188 3879 0 0 0 0 0 0 28.83 26.60 28.83
3573 -0.58 -223.8 549.6 -8.8 393 3581 0.00 2.17 0.00 0.000 6 0.000 0.045 1850 2653 3878 0 0 0 0 0 0 28.83 26.58 28.83
3882 -0.60 -223.8 573.2 -7.9 424 3891 0.10 1.77 0.00 0.000 4 0.092 0.049 1765 3824 3875 0 0 0 0 0 0 26.70 26.55 28.83
3914 -0.60 -223.8 577.1 -11.1 427 3918 0.17 1.77 0.00 0.000 6 0.125 0.028 1819 2569 3875 0 0 0 0 0 0 26.44 26.63 28.83
4219 -0.60 -223.8 614.5 -11.7 451 4223 0.00 2.00 0.00 0.000 4 0.000 0.034 1819 1184 3873 0 0 0 0 0 0 28.83 26.58 28.83
4255 -0.60 -223.8 618.3 -11.2 453 4261 0.00 2.22 0.00 0.000 6 0.000 0.045 1812 2655 3873 0 0 0 0 0 0 28.83 26.56 28.83
4576 -0.59 -223.8 653.0 -11.2 469 4580 0.00 2.12 0.00 0.000 4 0.000 0.033 1812 1185 3870 0 0 0 0 0 0 28.83 26.58 28.83
4631 -0.59 -223.8 657.4 -10.8 471 4637 0.00 2.20 0.00 0.000 6 0.000 0.046 1812 2656 3869 0 0 0 0 0 0 28.83 26.55 28.83
4938 -0.58 -223.8 694.4 -12.9 487 4944 0.00 2.12 0.00 0.000 4 0.000 0.032 1812 1181 3867 0 0 0 0 0 0 28.83 26.58 28.83
4980 -0.58 -223.8 699.0 -12.1 489 4984 0.00 2.22 0.00 0.000 6 0.000 0.046 1812 2652 3866 0 0 0 0 0 0 28.83 26.55 28.83
5293 -0.58 -223.8 733.0 -10.7 505 5294 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2652 3863 0 0 0 0 0 0 28.83 28.83 28.83
5593 -0.58 -223.8 766.5 -11.6 520 5599 0.00 2.15 0.00 0.000 4 0.000 0.034 1812 1185 3861 0 0 0 0 0 0 28.83 26.56 28.83
5635 -0.58 -223.8 770.8 -11.4 522 5639 0.00 2.22 0.00 0.000 6 0.000 0.047 1812 2655 3861 0 0 0 0 0 0 28.83 26.54 28.83
5947 -0.58 -223.8 808.4 -12.4 538 5948 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2655 3858 0 0 0 0 0 0 28.83 28.83 28.83
6248 -0.58 -223.8 842.6 -10.8 553 6254 0.00 2.15 0.00 0.000 4 0.000 0.034 1812 1184 3856 0 0 0 0 0 0 28.83 26.55 28.83
6296 -0.59 -223.8 846.6 -10.4 555 6300 0.00 2.20 0.00 0.000 6 0.000 0.047 1812 2653 3856 0 0 0 0 0 0 28.83 26.53 28.83
6603 -0.59 -223.8 877.2 -9.6 570 6604 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2653 3854 0 0 0 0 0 0 28.83 28.83 28.83
6903 -0.59 -223.8 907.5 -10.3 585 6908 0.00 2.15 0.00 0.000 4 0.000 0.034 1813 1185 3852 0 0 0 0 0 0 28.83 26.55 28.83
6943 -0.60 -223.8 911.6 -10.5 587 6949 0.00 2.22 0.00 0.000 6 0.000 0.047 1812 2655 3852 0 0 0 0 0 0 28.83 26.51 28.83
7263 -0.61 -223.8 946.4 -11.2 603 7265 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2655 3850 0 0 0 0 0 0 28.83 28.83 28.83
7563 -0.62 -223.8 977.5 -9.6 618 7569 0.00 2.17 0.00 0.000 4 0.000 0.035 1812 1179 3848 0 0 0 0 0 0 28.83 26.53 28.83
7607 -0.64 -223.8 981.1 -9.2 620 7611 0.00 2.25 0.00 0.000 6 0.000 0.048 1812 2655 3848 0 0 0 0 0 0 28.83 26.50 28.83
7716 end dive: TARGET_DEPTH_EXCEEDED
state 7717 begin apogee
7722 -0.20 0.0 990.4 -8.2 626 7920 0.35 0.10 186.82 1.161 6 0.097 0.103 1940 2527 2969 0 0 0 0 0 0 26.41 24.81 24.13
7921 end apogee: CONTROL_FINISHED_OK
state 7921 begin climb
7924 0.65 223.8 999.1 0.0 636 8139 0.75 2.42 201.45 1.166 4 0.049 0.041 2238 1066 2049 0 0 0 0 0 0 25.07 24.65 23.92
8195 0.56 223.8 965.8 22.0 649 8203 0.17 2.33 0.00 0.000 6 0.177 0.047 2195 2519 2038 0 0 0 0 0 0 25.09 25.22 28.83
8502 0.48 223.8 900.5 20.0 665 8507 0.00 2.00 0.00 0.000 4 0.000 0.052 2195 3809 2033 0 0 0 0 0 0 28.83 25.88 28.83
8583 0.40 223.8 882.6 22.5 669 8589 0.20 2.03 0.00 0.000 6 0.166 0.034 2144 2463 2032 0 0 0 0 0 0 25.77 26.00 28.83
8902 0.36 223.8 833.1 14.7 685 8908 0.00 2.12 0.00 0.000 4 0.000 0.050 2144 3818 2030 0 0 0 0 0 0 28.83 26.13 28.83
8942 0.33 223.8 826.7 15.3 687 8948 0.12 2.05 0.00 0.000 6 0.175 0.031 2122 2462 2029 0 0 0 0 0 0 25.99 26.20 28.83
9264 0.32 228.4 789.1 10.8 703 9268 0.00 2.10 0.00 0.000 4 0.000 0.051 2122 3812 2028 0 0 0 0 0 0 28.83 26.23 28.83
9306 0.31 228.4 784.1 11.1 705 9309 0.00 2.00 0.00 0.000 6 0.000 0.034 2132 2462 2028 0 0 0 0 0 0 28.83 26.30 28.83
9628 0.31 243.4 750.3 10.5 721 9649 0.00 2.15 16.10 0.968 4 0.000 0.052 2132 3819 1979 0 0 0 0 0 0 28.83 26.05 25.33
9707 0.29 243.4 740.9 11.8 725 9714 0.15 2.05 0.00 0.000 6 0.163 0.032 2103 2463 1967 0 0 0 0 0 0 25.96 26.13 28.83
10030 0.41 329.9 714.7 8.1 741 10120 0.12 2.25 82.72 0.959 4 0.080 0.050 2173 3812 1623 0 0 0 0 0 0 26.34 25.13 24.47
10127 0.38 329.9 700.8 14.9 746 10133 0.17 2.10 0.00 0.000 6 0.158 0.034 2137 2461 1614 0 0 0 0 0 0 25.17 25.29 28.83
10449 0.38 329.9 660.1 13.1 762 10455 0.00 2.08 0.00 0.000 4 0.000 0.050 2137 3803 1606 0 0 0 0 0 0 28.83 25.96 28.83
10467 0.39 329.9 657.3 13.3 763 10473 0.00 2.00 0.00 0.000 6 0.000 0.032 2147 2463 1605 0 0 0 0 0 0 28.83 26.03 28.83
10787 0.39 329.9 612.0 14.1 779 10793 0.00 2.10 0.00 0.000 4 0.000 0.041 2157 1061 1603 0 0 0 0 0 0 28.83 26.17 28.83
10811 0.39 329.9 609.3 13.9 780 10815 0.00 2.25 0.00 0.000 6 0.000 0.044 2157 2526 1601 0 0 0 0 0 0 28.83 26.17 28.83
11123 0.39 329.9 568.2 12.4 808 11131 0.00 1.98 0.00 0.000 4 0.000 0.054 2157 3809 1602 0 0 0 0 0 0 28.83 26.25 28.83
11154 0.38 329.9 564.2 12.9 811 11164 0.12 2.03 0.00 0.000 6 0.161 0.034 2134 2460 1601 0 0 0 0 0 0 26.13 26.30 28.83
11464 0.44 362.3 533.7 9.9 842 11503 0.00 2.12 29.30 0.848 4 0.000 0.038 2144 1056 1487 0 0 0 0 0 0 28.83 25.89 25.22
11527 0.52 400.3 527.6 9.7 848 11569 0.00 2.22 35.47 0.842 6 0.000 0.043 2144 2521 1341 0 0 0 0 0 0 28.83 25.94 24.84
11877 0.68 495.9 497.9 7.8 883 11967 0.20 2.17 83.43 0.835 4 0.055 0.054 2258 3813 948 0 0 0 0 0 0 26.09 25.10 24.51
11993 0.58 495.9 467.1 35.5 894 12001 0.25 2.12 0.00 0.000 6 0.183 0.035 2204 2464 935 0 0 0 0 0 0 25.20 25.37 28.83
12302 0.56 495.9 401.4 16.7 925 12311 0.00 2.10 0.00 0.000 4 0.000 0.051 2203 3805 931 0 0 0 0 0 0 28.83 25.94 28.83
12334 0.54 495.9 395.5 17.9 928 12343 0.00 2.03 0.00 0.000 6 0.000 0.034 2214 2461 931 0 0 0 0 0 0 28.83 26.01 28.83
12644 0.51 495.9 334.1 20.4 959 12653 0.12 2.12 0.00 0.000 4 0.175 0.048 2176 3822 930 0 0 0 0 0 0 26.03 26.15 28.83
12666 0.49 495.9 329.9 19.7 961 12674 0.00 2.03 0.00 0.000 6 0.000 0.031 2185 2455 930 0 0 0 0 0 0 28.83 26.21 28.83
12976 0.52 495.9 291.4 12.3 992 12986 0.00 2.08 0.00 0.000 4 0.000 0.040 2196 1068 929 0 0 0 0 0 0 28.83 26.28 28.83
13019 0.57 495.9 286.6 11.4 996 13030 0.00 2.20 0.00 0.000 6 0.000 0.039 2196 2527 928 0 0 0 0 0 0 28.83 26.30 28.83
13329 0.60 497.2 250.1 11.0 1027 13331 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2527 928 0 0 0 0 0 0 28.83 28.83 28.83
13633 0.75 575.7 220.6 8.4 1057 13702 0.12 2.28 63.17 0.640 4 0.077 0.041 2302 1067 622 0 0 0 0 0 0 26.53 25.70 25.14
13756 0.73 575.7 193.7 19.5 1071 13763 0.20 2.25 0.00 0.000 6 0.138 0.045 2243 2519 607 0 0 0 0 0 0 25.72 25.83 28.83
14107 0.73 575.7 126.3 18.1 1132 14116 0.00 2.22 0.00 0.000 4 0.000 0.040 2254 1067 606 0 0 0 0 0 0 28.83 26.17 28.83
14130 0.73 575.7 122.4 17.0 1135 14137 0.00 2.20 0.00 0.000 6 0.000 0.040 2254 2521 605 0 0 0 0 0 0 28.83 26.17 28.83
14482 0.86 645.9 70.9 8.7 1196 14531 0.00 2.20 42.15 0.246 4 0.000 0.035 2263 1066 441 0 0 0 0 0 0 28.83 26.13 25.76
14550 1.15 822.9 66.9 5.1 1206 14561 0.28 2.22 2.90 0.171 6 0.041 0.037 2394 2525 439 0 0 0 0 0 0 26.18 26.16 25.77
14755 end climb: SURFACE_DEPTH_REACHED
state 14755 begin surface coast
14761 end surface coast: CONTROL_FINISHED_OK
state 14761 begin surface