OKMC Mar13 * SG169 * Dive index * Mission links * Dive 825 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  169 HEADING  230 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
MISSION  8 ESCAPE_HEADING  0 C_ROLL_DIVE  2600 ALTIM_TOP_MIN_OBSTACLE  0
DIVE  825 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2575 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  980 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  -10 ALTIM_SENSITIVITY  2
D_ABORT  1020 SM_CC  592.89008 R_STBD_OVSHOOT  -10 XPDR_VALID  4
D_NO_BLEED  200 N_FILEKB  4 ROLL_AD_RATE  200 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  2852 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  300 CALL_WAIT  60 PITCH_VBD_SHIFT  0.003 DEVICE5  -1
T_MISSION  330 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  3 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  2 LOGGERS  0
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  -23726.572 DBDW  0 COMPASS_DEVICE  33
USE_BATHY  -8 T_RSLEEP  2 PITCH_W_GAIN  0 COMPASS2_DEVICE  150
USE_ICE  0 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  48
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  9.8000002 SIM_PITCH  0
MAX_BUOY  270 C_PITCH  2365 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  32 PRESSURE_SLOPE  0.0001078585 SEABIRD_C_G  -10.034778
MASS  52063 PITCH_TIMEOUT  16 AD7714Ch0Gain  1 SEABIRD_C_H  1.1503564
NAV_MODE  0 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 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.00091300003 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.0119 ROLL_MIN  220 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0
HD_C  2.0500001e-07 ROLL_MAX  3795 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  050913,033835,2220.418,12210.793,29,0.9,29,-2.9 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2213.682,12201.766
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.16 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  050913,034412,2220.624,12210.703,10,1.7,16,-2.9 MHEAD_RNG_PITCHd_Wd  232.9,20000,-4.4,-10.889,-18.53,3708
SPEED_LIMITS  0.189,0.325 D_GRID  4777

Post-dive calculations and measurements:
FINISH  2.3,0.000000 _10V_AH  9.9,81.943
SM_CCo  12197,106.22,0.438,1,0,433,592.89 FG_AHR_24Vo  0.000
SM_GC  0.08,6.95,2.78,106.22,0.025,0.021,0.438,131,2635,433,-6.91,-0.28,592.89,0,0,0,0,1,0,25.60,25.71,24.36 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2209.02,12210.94,050913,000020 MEM  323588
TT8_MAMPS  0.023219,0.023219 DATA_FILE_SIZE  20055,533
HUMID  56.41 CAP_FILE_SIZE  106110,0
INTERNAL_PRESSURE  9.35939 CFSIZE  260034560,126861312
TCM_TEMP  24.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS  0 GPS  050913,071105,2221.953,12210.299,35,1.8,35,-2.9
_24V_AH  23.8,115.659

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1722694.85 nil000.00
Roll_motor11257153.04 nil000.00
VBD_pump_during_apogee66794815070.50 nil000.00
VBD_pump_during_surface1064371106.27 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon000.00
Iridium_during_xfer191109497.29 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS16325.42
TT85351475.29
LPSleep92732201.06
TT8_Active76514107.70
TT8_Sampling159040636.74
TT8_CF846847222.15
TT8_Kalman000.00
Analog_circuits185212220.08
GPS_charging000.00
Compass13718111.85
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
17 end surface: CONTROL_FINISHED_OK
state 17 begin dive
22 -0.93 -262.8 122 2608 620 249 0.0 0.0 0 110 0.00 0.00 -85.72 0.000 16386 0.000 0.000 122 2609 2635 2627 2643 0 0 0 0 0 0 28.83 28.83 28.83
116 -0.93 -262.8 122 2609 2628 2643 3.8 -7.6 9 153 8.10 2.08 -22.80 0.000 18692 0.226 0.056 2048 3829 3927 3897 3957 0 0 0 0 0 0 24.72 25.55 26.48
259 -0.93 -262.8 2048 3829 3905 3949 59.1 -34.0 23 263 0.00 2.03 0.00 0.000 1030 0.000 0.025 2052 2568 3927 3905 3949 0 0 0 0 0 0 28.83 25.91 28.83
564 -0.93 -262.8 2052 2567 3908 3946 146.8 -23.7 45 570 0.00 2.60 0.00 0.000 516 0.000 0.030 2052 1158 3927 3908 3946 0 0 0 0 0 0 28.83 25.63 28.83
661 -0.93 -262.8 2052 1159 3909 3945 164.4 -21.9 49 667 0.00 2.70 0.00 0.000 1030 0.000 0.033 2046 2614 3927 3909 3946 0 0 0 0 0 0 28.83 25.56 28.83
985 -0.93 -262.8 2046 2611 3911 3945 234.2 -20.4 66 991 0.00 2.70 0.00 0.000 516 0.000 0.026 2046 1141 3928 3912 3945 0 0 0 0 0 0 28.83 25.70 28.83
1035 -0.93 -262.8 2047 1141 3912 3945 241.6 -19.2 68 1041 0.00 2.78 0.00 0.000 1030 0.000 0.034 2043 2621 3928 3912 3945 0 0 0 0 0 0 28.83 25.55 28.83
1348 -0.93 -262.8 2043 2619 3912 3945 305.2 -20.0 84 1349 0.00 0.00 0.00 0.000 6 0.000 0.000 2043 2619 3928 3912 3945 0 0 0 0 0 0 28.83 28.83 28.83
1645 -0.93 -262.8 2043 2619 3911 3944 361.3 -16.9 99 1651 0.00 2.03 0.00 0.000 260 0.000 0.048 2034 3839 3927 3911 3944 0 0 0 0 0 0 28.83 25.36 28.83
1702 -0.93 -262.8 2034 3840 3910 3944 368.6 -17.6 101 1708 0.12 2.03 0.00 0.000 3078 0.145 0.025 2068 2550 3927 3910 3945 0 0 0 0 0 0 25.60 25.99 28.83
2026 -0.93 -262.8 2068 2550 3910 3941 417.1 -13.9 116 2032 0.00 2.20 0.00 0.000 260 0.000 0.047 2060 3821 3925 3910 3941 0 0 0 0 0 0 28.83 25.34 28.83
2051 -0.93 -262.8 2059 3821 3909 3941 417.1 -13.9 116 2055 0.00 2.00 0.00 0.000 1030 0.000 0.025 2059 2550 3925 3909 3941 0 0 0 0 0 0 28.83 25.98 28.83
2359 -0.93 -262.8 2059 2550 3905 3940 470.2 -16.5 127 2364 0.00 2.17 0.00 0.000 260 0.000 0.047 2051 3819 3922 3905 3940 0 0 0 0 0 0 28.83 25.34 28.83
2407 -0.93 -262.8 2050 3819 3904 3940 475.7 -17.0 128 2413 0.00 2.00 0.00 0.000 1030 0.000 0.026 2052 2554 3922 3904 3940 0 0 0 0 0 0 28.83 25.94 28.83
2718 -0.93 -262.8 2052 2554 3898 3939 534.4 -18.0 139 2719 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2554 3918 3898 3939 0 0 0 0 0 0 28.83 28.83 28.83
3020 -0.93 -262.8 2052 2554 3892 3939 587.2 -16.9 149 3021 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2554 3915 3892 3938 0 0 0 0 0 0 28.83 28.83 28.83
3317 -0.93 -262.8 2052 2554 3889 3935 639.4 -17.7 159 3323 0.00 2.58 0.00 0.000 516 0.000 0.030 2052 1156 3912 3889 3935 0 0 0 0 0 0 28.83 25.55 28.83
3362 -0.93 -262.8 2052 1156 3889 3934 644.9 -17.8 160 3368 0.00 2.72 0.00 0.000 1030 0.000 0.034 2046 2618 3911 3889 3934 0 0 0 0 0 0 28.83 25.46 28.83
3680 -0.93 -262.8 2046 2616 3887 3930 707.2 -19.2 171 3681 0.00 0.00 0.00 0.000 6 0.000 0.000 2047 2616 3908 3887 3929 0 0 0 0 0 0 28.83 28.83 28.83
3979 -0.93 -262.8 2046 2616 3883 3927 766.7 -20.1 181 3984 0.00 2.05 0.00 0.000 260 0.000 0.053 2039 3827 3904 3883 3926 0 0 0 0 0 0 28.83 25.15 28.83
4018 -0.93 -262.8 2038 3827 3882 3926 773.1 -20.3 182 4023 0.00 2.03 0.00 0.000 1030 0.000 0.026 2039 2562 3904 3882 3926 0 0 0 0 0 0 28.83 25.88 28.83
4341 -0.93 -262.8 2039 2562 3882 3922 842.4 -20.6 193 4346 0.00 2.58 0.00 0.000 516 0.000 0.034 2039 1160 3901 3881 3922 0 0 0 0 0 0 28.83 25.43 28.83
4375 -0.93 -262.8 2039 1160 3881 3921 848.7 -20.3 194 4381 0.08 2.70 0.00 0.000 3078 0.131 0.035 2060 2611 3901 3881 3921 0 0 0 0 0 0 25.06 25.35 28.83
4700 -0.93 -262.8 2060 2608 3879 3918 906.6 -17.2 205 4701 0.00 0.00 0.00 0.000 6 0.000 0.000 2060 2609 3898 3879 3918 0 0 0 0 0 0 28.83 28.83 28.83
5002 -0.93 -262.8 2060 2608 3876 3915 955.7 -16.0 215 5008 0.00 2.67 0.00 0.000 516 0.000 0.029 2061 1144 3895 3876 3915 0 0 0 0 0 0 28.83 25.48 28.83
5051 -0.93 -262.8 2060 1142 3876 3914 960.6 -15.8 216 5057 0.00 2.78 0.00 0.000 1030 0.000 0.034 2050 2629 3895 3876 3914 0 0 0 0 0 0 28.83 25.34 28.83
5177 end dive: TARGET_DEPTH_EXCEEDED
state 5177 begin apogee
5187 -0.16 0.0 2051 2531 3875 3912 984.6 -16.2 221 5433 0.80 0.12 238.93 0.903 10246 0.110 0.047 2310 2605 2848 2952 2744 0 0 0 0 0 0 24.50 24.84 23.76
5437 end apogee: CONTROL_FINISHED_OK
state 5437 begin climb
5441 0.93 262.8 2309 2604 2939 2730 1000.9 0.0 229 5697 0.93 0.00 251.38 0.949 10502 0.034 0.000 2686 2604 1778 1892 1665 0 0 0 0 0 0 25.11 28.83 23.76
5991 0.93 262.8 2685 2604 1875 1624 921.7 18.7 248 5996 0.00 2.05 0.00 0.000 260 0.000 0.038 2676 3837 1749 1875 1624 0 0 0 0 0 0 28.83 25.53 28.83
6066 0.93 262.8 2676 3837 1874 1623 909.7 19.1 250 6072 0.00 2.05 0.00 0.000 1030 0.000 0.015 2686 2502 1749 1874 1624 0 0 0 0 0 0 28.83 26.01 28.83
6385 0.93 262.8 2687 2500 1874 1620 851.4 17.4 261 6390 0.00 2.30 0.00 0.000 260 0.000 0.038 2676 3834 1746 1873 1620 0 0 0 0 0 0 28.83 25.51 28.83
6508 0.93 262.8 2676 3833 1873 1619 828.4 18.9 265 6514 0.00 2.05 0.00 0.000 1030 0.000 0.015 2686 2513 1746 1873 1619 0 0 0 0 0 0 28.83 26.10 28.83
6835 0.93 262.8 2687 2512 1874 1618 773.0 16.8 276 6841 0.00 2.25 0.00 0.000 260 0.000 0.037 2677 3828 1746 1874 1618 0 0 0 0 0 0 28.83 25.47 28.83
6954 0.93 262.8 2677 3827 1873 1618 750.3 18.8 280 6958 0.00 2.08 0.00 0.000 1030 0.000 0.015 2686 2530 1745 1873 1618 0 0 0 0 0 0 28.83 26.12 28.83
7286 0.93 262.8 2687 2520 1873 1616 691.5 17.6 291 7292 0.00 2.28 0.00 0.000 260 0.000 0.038 2677 3848 1745 1874 1616 0 0 0 0 0 0 28.83 25.39 28.83
7333 0.93 262.8 2677 3848 1874 1616 686.0 17.7 292 7337 0.00 2.08 0.00 0.000 1030 0.000 0.015 2687 2536 1745 1874 1616 0 0 0 0 0 0 28.83 26.11 28.83
7650 0.93 262.8 2688 2522 1874 1615 629.9 16.5 303 7656 0.00 2.25 0.00 0.000 260 0.000 0.037 2677 3837 1744 1874 1615 0 0 0 0 0 0 28.83 25.37 28.83
7700 0.93 262.8 2677 3837 1873 1615 624.8 16.6 304 7705 0.00 2.05 0.00 0.000 1030 0.000 0.015 2687 2516 1744 1874 1615 0 0 0 0 0 0 28.83 26.06 28.83
8012 0.93 262.8 2688 2515 1874 1614 574.7 14.6 315 8017 0.00 2.45 0.00 0.000 516 0.000 0.025 2700 1116 1744 1874 1614 0 0 0 0 0 0 28.83 25.57 28.83
8095 0.93 262.8 2700 1115 1867 1617 566.1 14.2 317 8102 0.00 2.65 0.00 0.000 1030 0.000 0.024 2692 2595 1742 1867 1617 0 0 0 0 0 0 28.83 25.60 28.83
8433 0.93 262.8 2692 2593 1866 1616 511.6 15.7 329 8438 0.00 2.05 0.00 0.000 260 0.000 0.039 2682 3830 1741 1866 1617 0 0 0 0 0 0 28.83 25.31 28.83
8481 0.93 262.8 2682 3830 1866 1617 506.4 16.1 330 8487 0.00 2.05 0.00 0.000 1030 0.000 0.016 2692 2500 1741 1866 1617 0 0 0 0 0 0 28.83 26.01 28.83
8792 0.93 262.8 2693 2499 1866 1617 454.4 15.2 341 8797 0.00 2.33 0.00 0.000 260 0.000 0.039 2682 3837 1741 1866 1617 0 0 0 0 0 0 28.83 25.25 28.83
8848 0.93 262.8 2682 3837 1866 1617 449.9 14.9 342 8854 0.00 2.05 0.00 0.000 1030 0.000 0.015 2693 2524 1741 1866 1617 0 0 0 0 0 0 28.83 26.06 28.83
9182 0.93 262.8 2694 2522 1867 1616 402.4 12.4 354 9188 0.00 2.30 0.00 0.000 260 0.000 0.038 2683 3853 1741 1866 1617 0 0 0 0 0 0 28.83 25.24 28.83
9370 0.93 262.8 2683 3854 1867 1617 379.0 11.3 363 9375 0.00 2.08 0.00 0.000 1030 0.000 0.015 2693 2510 1742 1867 1617 0 0 0 0 0 0 28.83 26.03 28.83
9685 0.93 262.8 2694 2509 1866 1617 339.3 12.1 379 9692 0.12 2.45 0.00 0.000 4612 0.172 0.023 2666 1103 1741 1867 1616 0 0 0 0 0 0 25.82 25.51 28.83
9757 0.93 262.8 2666 1102 1866 1616 332.8 10.9 382 9763 0.00 2.62 0.00 0.000 1030 0.000 0.024 2654 2592 1741 1866 1616 0 0 0 0 0 0 28.83 25.53 28.83
10066 1.17 344.7 2654 2589 1866 1616 302.0 8.6 398 10169 0.20 0.00 100.05 0.538 10502 0.056 0.000 2773 2590 1446 1595 1297 0 0 0 0 0 0 26.27 28.83 24.22
10465 1.17 344.7 2772 2590 1585 1256 242.4 15.4 418 10471 0.00 2.65 0.00 0.000 516 0.000 0.024 2785 1115 1421 1586 1256 0 0 0 0 0 0 28.83 25.55 28.83
10500 1.17 344.7 2785 1112 1586 1254 239.4 15.3 419 10507 0.15 2.65 0.00 0.000 5126 0.161 0.023 2742 2601 1419 1585 1254 0 0 0 0 0 0 25.12 25.61 28.83
10831 1.17 344.7 2742 2598 1585 1253 190.3 14.4 436 10837 0.00 2.05 0.00 0.000 260 0.000 0.037 2732 3833 1419 1585 1253 0 0 0 0 0 0 28.83 25.43 28.83
10900 1.17 344.7 2732 3833 1585 1253 180.5 15.0 439 10903 0.00 2.08 0.00 0.000 1030 0.000 0.015 2742 2529 1419 1585 1253 0 0 0 0 0 0 28.83 26.09 28.83
11214 1.18 347.8 2743 2507 1585 1253 141.0 10.8 455 11220 0.00 2.45 0.00 0.000 516 0.000 0.024 2755 1102 1419 1585 1253 0 0 0 0 0 0 28.83 25.60 28.83
11344 1.43 428.9 2755 1102 1585 1251 130.2 8.6 461 11430 0.15 2.62 77.18 0.449 11270 0.034 0.021 2846 2603 1093 1287 900 0 0 0 0 0 0 25.62 25.70 24.44
11737 1.43 428.9 2846 2602 1274 870 66.9 16.2 490 11740 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 2602 1072 1274 870 0 0 0 0 0 0 28.83 28.83 28.83
12047 1.43 428.9 2846 2602 1274 870 19.5 14.1 521 12053 0.00 2.67 0.00 0.000 516 0.000 0.024 2859 1110 1072 1274 870 0 0 0 0 0 0 28.83 25.65 28.83
12163 end climb: SURFACE_DEPTH_REACHED
state 12168 begin surface coast
12171 end surface coast: CONTROL_FINISHED_OK
state 12171 begin surface