OKMC Aug12 * SG165 * Dive index * Mission links * Dive 106 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  165 HD_C  9.8500004e-06 ROLL_MIN  200 ALTIM_TOP_MIN_OBSTACLE  0
MISSION  7 HEADING  -1 ROLL_MAX  3692 ALTIM_PING_DEPTH  0
DIVE  106 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DELTA  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2550 ALTIM_FREQUENCY  13
D_SURF  4 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  2550 ALTIM_PULSE  4
D_FLARE  3 TGT_DEFAULT_LAT  4736 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
D_TGT  990 TGT_DEFAULT_LON  -12218 ROLL_CNV  0.028270001 XPDR_VALID  6
D_ABORT  1030 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_NO_BLEED  200 SM_CC  450 R_PORT_OVSHOOT  45 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  8 R_STBD_OVSHOOT  28 INT_PRESSURE_YINT  0.85000002
T_BOOST  0 FILEMGR  0 ROLL_AD_RATE  350 DEEPGLIDER  0
D_FINISH  0 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDERMB  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
D_SAFE  0 PROTOCOL  9 ROLL_ADJ_DBAND  0 DEVICE1  -1
D_CALL  0 N_NOCOMM  1 VBD_MIN  485 DEVICE2  -1
SURFACE_URGENCY  0 NOCOMM_ACTION  163 VBD_MAX  3959 DEVICE3  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 C_VBD  2967 DEVICE4  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_DBAND  2 DEVICE5  -1
T_DIVE  270 CALL_TRIES  5 VBD_CNV  -0.24529999 DEVICE6  -1
T_MISSION  300 CALL_WAIT  60 VBD_TIMEOUT  720 LOGGERS  1
T_ABORT  1440 CAPUPLOAD  0 PITCH_VBD_SHIFT  0.0012300001 LOGGERDEVICE1  53
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_NO_W  120 T_GPS  15 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
T_LOITER  0 N_GPS  20 UNCOM_BLEED  20 COMPASS_DEVICE  97
T_EPIRB  0 T_GPS_ALMANAC  0 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
USE_BATHY  -13 T_GPS_CHARGE  -274525.19 CF8_MAXERRORS  0 PHONE_DEVICE  49
USE_ICE  0 T_RSLEEP  3 AH0_24V  150 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_10V  110 RAFOS_DEVICE  -1
D_OFFGRID  1000 RAFOS_PEAK_OFFSET  1.5 MINV_24V  22 XPDR_DEVICE  24
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_10V  9.5 SIM_W  0
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 FG_AHR_10V  0 SIM_PITCH  0
APOGEE_PITCH  -5 PITCH_MIN  180 FG_AHR_24V  0 SEABIRD_T_G  0.0043563917
MAX_BUOY  300 PITCH_MAX  3922 PHONE_SUPPLY  2 SEABIRD_T_H  0.00062612642
COURSE_BIAS  0 C_PITCH  2890 PRESSURE_YINT  -55.425434 SEABIRD_T_I  2.3748129e-05
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.000116182 SEABIRD_T_J  2.537425e-06
SPEED_FACTOR  1 PITCH_CNV  0.003125763 AD7714Ch0Gain  128 SEABIRD_C_G  -9.8483667
RHO  1.0275 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1161635
MASS  51833 PITCH_GAIN  35 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0015063961
NAV_MODE  2 PITCH_TIMEOUT  16 COMPASS_USE  4 SEABIRD_C_J  0.00020304731
FERRY_MAX  45 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0 SC_RECORDABOVE  2000.0
KALMAN_USE  2 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SC_PROFILE  3.0
HD_A  0.0038360001 PITCH_ADJ_GAIN  0.0049999999 ALTIM_BOTTOM_TURN_MARGIN  0 SC_XMITPROFILE  3.0
HD_B  0.010078 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  300812,110323,1852.494,12224.500,36,1.1,36,-2.1 TGT_NAME  M4
_CALLS  1 TGT_LATLONG  1845.000,12233.290
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.97 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -74.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  300812,110955,1852.732,12224.404,11,1.6,11,-2.1 MHEAD_RNG_PITCHd_Wd  142.7,21163,-15.1,-12.222
SPEED_LIMITS  0.212,0.379 D_GRID  1633

Post-dive calculations and measurements:
FINISH  1.1,1.008835 _10V_AH  10.0,16.185
SM_CCo  13779,0.00,0.000,0,0,481,609.82 FG_AHR_24Vo  0.000
SM_GC  2.01,7.70,0.00,0.00,0.029,0.000,0.000,151,2524,481,-8.45,-0.76,609.82,0,0,0,0,0,0,26.28,28.83,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1844.15,12224.95,300812,060612 MEM  304468
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  23307,622
HUMID  48.07 CAP_FILE_SIZE  163423,0
INTERNAL_PRESSURE  9.2097 CFSIZE  260165632,190140416
TCM_TEMP  25.20 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,1,3,0,0
XPDR_PINGS  1 CURRENT  0.328,317.9,1
SC_FREEKB  7729280 GPS  300812,150123,1852.663,12224.311,22,1.0,40,-2.1
_24V_AH  23.0,25.315

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20227109.32 nil000.00
Roll_motor12260169.58 nil000.00
VBD_pump_during_apogee743142224332.30 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2510361.12 nil000.00
Iridium_during_connect1916072.64 SciCon13709175556.34
Iridium_during_xfer149223764.62 nil000.00
Transponder_ping04202.42 nil000.00
GUMSTIX_24V000.00
GPS14507.02
TT8200219396.47
LPSleep91892201.25
TT8_Active81419161.36
TT8_Sampling183939732.07
TT8_CF831845145.91
TT8_Kalman000.00
Analog_circuits179712215.68
GPS_charging000.00
Compass1560578.02
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
15 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -0.79 -292.0 0.0 0.0 0 104 0.00 0.00 -82.95 0.000 2 0.000 0.000 161 2542 2435 0 0 0 0 0 0 28.83 28.83 28.83
107 -0.79 -292.0 3.3 -6.6 15 157 9.38 2.20 -33.50 0.000 4 0.228 0.050 2636 1132 3961 0 0 0 0 0 0 25.77 26.13 26.43
276 -0.69 -292.0 65.0 -44.6 35 283 0.15 2.25 0.00 0.000 6 0.186 0.048 2665 2552 3959 0 0 0 0 0 0 26.01 26.17 28.83
593 -0.62 -292.0 179.3 -30.0 51 598 0.00 1.75 0.00 0.000 4 0.000 0.051 2660 3696 3961 0 0 0 0 0 0 28.83 26.29 28.83
604 -0.54 -292.0 179.3 -30.0 51 610 0.12 1.73 0.00 0.000 6 0.148 0.028 2710 2525 3962 0 0 0 0 0 0 26.15 26.37 28.83
918 -0.51 -292.0 249.5 -17.7 67 919 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 2524 3962 0 0 0 0 0 0 28.83 28.83 28.83
1221 -0.49 -292.0 299.3 -16.4 82 1226 0.00 1.85 0.00 0.000 4 0.000 0.054 2705 3714 3963 0 0 0 0 0 0 28.83 26.41 28.83
1244 -0.47 -292.0 303.5 -16.2 83 1250 0.12 1.70 0.00 0.000 6 0.145 0.029 2740 2555 3962 0 0 0 0 0 0 26.32 26.48 28.83
1569 -0.48 -292.0 342.2 -10.6 99 1574 0.00 2.10 0.00 0.000 4 0.000 0.038 2740 1154 3963 0 0 0 0 0 0 28.83 26.46 28.83
1592 -0.49 -292.0 344.8 -10.8 100 1597 0.00 2.20 0.00 0.000 6 0.000 0.047 2740 2554 3962 0 0 0 0 0 0 28.83 26.44 28.83
1916 -0.51 -292.0 379.4 -11.0 116 1921 0.00 1.77 0.00 0.000 4 0.000 0.057 2740 3704 3964 0 0 0 0 0 0 28.83 26.45 28.83
2026 -0.53 -292.0 389.8 -9.7 121 2031 0.00 1.70 0.00 0.000 6 0.000 0.031 2740 2547 3962 0 0 0 0 0 0 28.83 26.55 28.83
2344 -0.56 -292.0 419.2 -8.8 137 2350 0.00 2.10 0.00 0.000 4 0.000 0.037 2740 1148 3965 0 0 0 0 0 0 28.83 26.49 28.83
2390 -0.58 -292.0 423.2 -8.8 139 2397 0.12 2.22 0.00 0.000 6 0.085 0.047 2672 2567 3961 0 0 0 0 0 0 26.51 26.48 28.83
2715 -0.56 -292.0 473.3 -16.4 155 2720 0.12 2.15 0.00 0.000 4 0.153 0.036 2712 1149 3960 0 0 0 0 0 0 26.40 26.50 28.83
2789 -0.56 -292.0 482.0 -14.5 158 2794 0.00 2.20 0.00 0.000 6 0.000 0.047 2712 2551 3959 0 0 0 0 0 0 28.83 26.47 28.83
3102 -0.56 -292.0 521.2 -12.1 174 3107 0.00 1.75 0.00 0.000 4 0.000 0.058 2711 3690 3956 0 0 0 0 0 0 28.83 26.46 28.83
3136 -0.56 -292.0 524.1 -12.1 175 3142 0.00 1.70 0.00 0.000 6 0.000 0.031 2711 2549 3955 0 0 0 0 0 0 28.83 26.58 28.83
3450 -0.56 -292.0 561.3 -11.3 191 3456 0.00 1.80 0.00 0.000 4 0.000 0.057 2711 3699 3952 0 0 0 0 0 0 28.83 26.47 28.83
3484 -0.57 -292.0 564.0 -11.2 192 3489 0.00 1.70 0.00 0.000 6 0.000 0.031 2711 2547 3951 0 0 0 0 0 0 28.83 26.58 28.83
3797 -0.58 -292.0 599.5 -10.6 208 3803 0.00 2.10 0.00 0.000 4 0.000 0.038 2711 1157 3949 0 0 0 0 0 0 28.83 26.51 28.83
3833 -0.59 -292.0 603.0 -10.6 210 3838 0.00 2.20 0.00 0.000 6 0.000 0.048 2711 2550 3949 0 0 0 0 0 0 28.83 26.49 28.83
4168 -0.60 -292.0 635.1 -9.3 221 4169 0.00 0.00 0.00 0.000 6 0.000 0.000 2711 2550 3946 0 0 0 0 0 0 28.83 28.83 28.83
4468 -0.61 -292.0 661.1 -8.4 231 4469 0.00 0.00 0.00 0.000 6 0.000 0.000 2711 2550 3943 0 0 0 0 0 0 28.83 28.83 28.83
4767 -0.62 -292.0 686.5 -8.3 241 4768 0.00 0.00 0.00 0.000 6 0.000 0.000 2711 2550 3941 0 0 0 0 0 0 28.83 28.83 28.83
5068 -0.63 -292.0 712.6 -8.6 251 5074 0.00 1.77 0.00 0.000 4 0.000 0.059 2711 3687 3939 0 0 0 0 0 0 28.83 26.47 28.83
5097 -0.64 -292.0 712.6 -8.6 251 5103 0.00 1.70 0.00 0.000 6 0.000 0.033 2711 2531 3939 0 0 0 0 0 0 28.83 26.59 28.83
5405 -0.65 -292.0 741.6 -8.5 262 5411 0.00 1.83 0.00 0.000 4 0.000 0.059 2711 3687 3937 0 0 0 0 0 0 28.83 26.46 28.83
5435 -0.66 -292.0 741.6 -8.5 262 5443 0.10 1.65 0.00 0.000 6 0.102 0.033 2654 2545 3936 0 0 0 0 0 0 26.51 26.59 28.83
5741 -0.64 -292.0 787.4 -15.0 273 5747 0.12 2.10 0.00 0.000 4 0.161 0.037 2687 1170 3934 0 0 0 0 0 0 26.38 26.50 28.83
5806 -0.63 -292.0 795.8 -13.9 275 5813 0.00 2.20 0.00 0.000 6 0.000 0.049 2687 2554 3934 0 0 0 0 0 0 28.83 26.48 28.83
6142 -0.63 -292.0 834.8 -11.3 286 6149 0.00 2.12 0.00 0.000 4 0.000 0.039 2687 1172 3932 0 0 0 0 0 0 28.83 26.50 28.83
6202 -0.63 -292.0 839.0 -11.3 287 6208 0.00 2.20 0.00 0.000 6 0.000 0.050 2687 2561 3932 0 0 0 0 0 0 28.83 26.47 28.83
6507 -0.63 -292.0 875.8 -11.0 298 6512 0.00 1.75 0.00 0.000 4 0.000 0.060 2686 3692 3930 0 0 0 0 0 0 28.83 26.45 28.83
6535 -0.63 -292.0 875.8 -11.0 298 6541 0.00 1.67 0.00 0.000 6 0.000 0.034 2686 2546 3931 0 0 0 0 0 0 28.83 26.58 28.83
6840 -0.63 -292.0 911.4 -10.3 309 6845 0.00 1.80 0.00 0.000 4 0.000 0.060 2686 3692 3929 0 0 0 0 0 0 28.83 26.44 28.83
6868 -0.63 -292.0 911.4 -10.3 309 6874 0.00 1.67 0.00 0.000 6 0.000 0.034 2687 2547 3929 0 0 0 0 0 0 28.83 26.58 28.83
7175 -0.63 -292.0 946.0 -10.6 320 7180 0.00 1.83 0.00 0.000 4 0.000 0.060 2686 3693 3927 0 0 0 0 0 0 28.83 26.44 28.83
7202 -0.63 -292.0 946.0 -10.6 320 7209 0.00 1.67 0.00 0.000 6 0.000 0.034 2686 2559 3927 0 0 0 0 0 0 28.83 26.58 28.83
7510 -0.63 -292.0 981.2 -10.5 331 7515 0.00 1.80 0.00 0.000 4 0.000 0.060 2686 3691 3925 0 0 0 0 0 0 28.83 26.44 28.83
7547 -0.63 -292.0 984.7 -10.4 332 7552 0.00 1.70 0.00 0.000 6 0.000 0.034 2686 2545 3925 0 0 0 0 0 0 28.83 26.58 28.83
7603 end dive: TARGET_DEPTH_EXCEEDED
state 7603 begin apogee
7608 -0.14 0.0 991.1 -10.2 334 7814 0.45 0.00 195.60 1.422 6 0.120 0.000 2838 2541 2966 0 0 0 0 0 0 26.29 28.83 23.59
7816 end apogee: CONTROL_FINISHED_OK
state 7816 begin climb
7818 0.79 292.0 1000.6 0.0 341 8086 0.88 2.08 255.40 1.375 4 0.063 0.057 3148 3684 1776 0 0 0 0 0 0 24.69 23.82 22.95
8163 0.71 292.0 939.2 26.5 352 8169 0.15 1.83 0.00 0.000 6 0.181 0.038 3119 2573 1773 0 0 0 0 0 0 24.71 24.85 28.83
8485 0.65 292.0 859.5 23.6 363 8490 0.00 1.83 0.00 0.000 4 0.000 0.054 3120 3699 1770 0 0 0 0 0 0 28.83 25.78 28.83
8527 0.59 292.0 850.0 24.5 364 8533 0.17 1.83 0.00 0.000 6 0.162 0.038 3079 2551 1770 0 0 0 0 0 0 25.71 25.86 28.83
8854 0.56 292.0 782.2 19.2 375 8860 0.00 2.20 0.00 0.000 4 0.000 0.047 3087 1136 1769 0 0 0 0 0 0 28.83 26.08 28.83
8918 0.53 292.0 770.5 18.6 377 8924 0.00 2.28 0.00 0.000 6 0.000 0.047 3087 2558 1766 0 0 0 0 0 0 28.83 26.13 28.83
9255 0.49 292.0 707.1 19.2 388 9261 0.12 1.80 0.00 0.000 4 0.166 0.054 3049 3700 1766 0 0 0 0 0 0 26.12 26.21 28.83
9344 0.46 292.0 695.3 18.4 390 9350 0.00 1.77 0.00 0.000 6 0.000 0.037 3055 2546 1766 0 0 0 0 0 0 28.83 26.29 28.83
9651 0.44 292.0 645.3 15.4 401 9656 0.00 2.17 0.00 0.000 4 0.000 0.044 3066 1132 1766 0 0 0 0 0 0 28.83 26.30 28.83
9693 0.42 292.0 640.1 15.2 402 9700 0.15 2.25 0.00 0.000 6 0.147 0.045 3024 2553 1765 0 0 0 0 0 0 26.17 26.32 28.83
10022 0.47 338.3 602.6 10.9 413 10067 0.00 0.00 40.08 1.167 6 0.000 0.000 3024 2553 1587 0 0 0 0 0 0 28.83 28.83 24.63
10381 0.61 436.9 565.8 9.4 431 10483 0.15 2.40 87.05 1.135 4 0.083 0.045 3120 1143 1184 0 0 1 0 0 0 26.08 24.84 24.03
10490 0.57 436.9 547.4 20.6 436 10496 0.17 2.33 0.00 0.000 6 0.141 0.044 3073 2549 1184 0 0 0 0 0 0 25.03 25.12 28.83
10809 0.55 436.9 488.9 18.0 452 10815 0.00 1.83 0.00 0.000 4 0.000 0.054 3073 3684 1180 0 0 0 0 0 0 28.83 25.91 28.83
10873 0.54 436.9 477.9 17.6 455 10879 0.00 1.77 0.00 0.000 6 0.000 0.036 3079 2547 1180 0 0 0 0 0 0 28.83 26.01 28.83
11197 0.52 436.9 420.0 18.8 471 11202 0.00 2.20 0.00 0.000 4 0.000 0.044 3089 1135 1179 0 0 0 0 0 0 28.83 26.15 28.83
11279 0.52 436.9 406.6 16.1 475 11285 0.12 2.25 0.00 0.000 6 0.138 0.044 3055 2551 1178 0 0 0 0 0 0 26.10 26.20 28.83
11604 0.60 492.1 367.4 10.7 491 11658 0.00 2.30 46.10 0.995 4 0.000 0.043 3062 1136 958 0 0 0 0 0 0 28.83 25.41 24.63
11693 0.68 543.7 358.6 10.8 495 11767 0.15 2.30 55.53 0.909 6 0.076 0.041 3147 2562 749 0 0 0 0 2 0 25.63 25.59 24.32
12068 0.63 543.7 252.2 29.3 514 12074 0.17 1.77 0.00 0.000 4 0.149 0.052 3092 3693 739 0 0 0 0 0 0 25.79 25.89 28.83
12132 0.60 543.7 238.1 23.2 517 12138 0.00 1.77 0.00 0.000 6 0.000 0.036 3102 2548 739 0 0 0 0 0 0 28.83 26.00 28.83
12455 0.61 543.7 191.2 13.6 533 12462 0.00 2.17 0.00 0.000 4 0.000 0.043 3108 1145 737 0 0 0 0 0 0 28.83 26.15 28.83
12561 0.65 543.7 177.5 12.5 538 12568 0.00 2.20 0.00 0.000 6 0.000 0.039 3108 2558 735 0 0 0 0 0 0 28.83 26.20 28.83
12886 0.73 597.0 136.3 10.7 554 12950 0.00 2.28 52.90 0.760 4 0.000 0.040 3115 1138 533 0 0 0 0 1 0 28.83 25.52 24.83
12985 0.93 733.2 129.5 8.4 558 13003 0.20 2.25 11.25 0.688 6 0.070 0.037 3205 2555 487 0 0 0 0 0 0 25.68 25.67 24.81
13316 0.92 733.2 65.2 19.4 575 13321 0.00 1.77 0.00 0.000 4 0.000 0.050 3203 3687 482 0 0 0 0 0 0 28.83 26.02 28.83
13395 0.91 733.2 53.7 18.5 578 13402 0.00 1.73 0.00 0.000 6 0.000 0.033 3212 2532 482 0 0 0 0 0 0 28.83 26.13 28.83
13679 end climb: SURFACE_DEPTH_REACHED
state 13679 begin surface coast
13701 end surface coast: CONTROL_FINISHED_OK
state 13702 begin surface