OKMC Aug12 * SG165 * Dive index * Mission links * Dive 111 * 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  111 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  54 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  8 R_STBD_OVSHOOT  33 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  -274531.53 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  310812,082953,1853.951,12223.956,38,1.3,38,-2.1 TGT_NAME  M3
_CALLS  1 TGT_LATLONG  1845.000,12224.280
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.67 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  310812,083742,1854.182,12223.860,11,1.4,28,-2.1 MHEAD_RNG_PITCHd_Wd  158.0,17020,-15.1,-12.222
SPEED_LIMITS  0.212,0.379 D_GRID  1696

Post-dive calculations and measurements:
FINISH  1.2,1.021524 _10V_AH  9.9,16.862
SM_CCo  14986,0.00,0.000,0,0,476,611.04 FG_AHR_24Vo  0.000
SM_GC  1.81,7.82,0.00,0.00,0.030,0.000,0.000,158,2533,476,-8.43,-0.48,611.04,0,0,0,0,0,0,26.37,28.83,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1846.42,12221.81,310812,040430 MEM  305252
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  23412,666
HUMID  49.64 CAP_FILE_SIZE  168830,0
INTERNAL_PRESSURE  9.2097 CFSIZE  260165632,189710336
TCM_TEMP  25.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS  1 CURRENT  0.266,318.3,1
SC_FREEKB  7727360 GPS  310812,124905,1853.427,12223.490,27,1.2,27,-2.1
_24V_AH  22.9,27.587

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20224107.66 nil000.00
Roll_motor11761165.34 nil000.00
VBD_pump_during_apogee737141923988.26 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon14934165797.39
Iridium_during_xfer736941587.08 nil000.00
Transponder_ping04202.40 nil000.00
GUMSTIX_24V000.00
GPS315015.47
TT8206119404.12
LPSleep103522224.46
TT8_Active78419153.74
TT8_Sampling190639751.31
TT8_CF834545156.74
TT8_Kalman000.00
Analog_circuits203412241.74
GPS_charging000.00
Compass1558577.14
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 15 begin dive
18 -0.79 -292.0 0.0 0.0 0 104 0.00 0.00 -83.78 0.000 2 0.000 0.000 150 2541 2467 0 0 0 0 0 0 28.83 28.83 28.83
107 -0.79 -292.0 3.5 -7.0 15 157 9.35 2.12 -33.03 0.000 4 0.224 0.047 2637 1139 3960 0 0 0 0 0 0 25.75 26.15 26.45
206 -0.68 -292.0 37.9 -46.5 30 212 0.15 2.17 0.00 0.000 6 0.200 0.044 2664 2548 3960 0 0 0 0 0 0 25.94 26.16 28.83
382 -0.58 -292.0 114.2 -42.8 40 388 0.12 2.15 0.00 0.000 4 0.189 0.038 2706 1148 3960 0 0 0 0 0 0 26.09 26.26 28.83
416 -0.48 -292.0 123.3 -40.6 41 423 0.15 2.20 0.00 0.000 6 0.163 0.046 2734 2550 3960 0 0 0 0 0 0 26.10 26.25 28.83
732 -0.44 -292.0 199.0 -20.7 57 733 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2552 3961 0 0 0 0 0 0 28.83 28.83 28.83
1033 -0.42 -292.0 244.6 -14.9 72 1035 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2552 3961 0 0 0 0 0 0 28.83 28.83 28.83
1333 -0.41 -292.0 291.0 -16.3 87 1334 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2552 3961 0 0 0 0 0 0 28.83 28.83 28.83
1633 -0.41 -292.0 334.3 -13.1 102 1638 0.00 1.77 0.00 0.000 4 0.000 0.055 2728 3704 3960 0 0 0 0 0 0 28.83 26.44 28.83
1670 -0.41 -292.0 337.7 -12.9 103 1677 0.00 1.70 0.00 0.000 6 0.000 0.030 2728 2548 3961 0 0 0 0 0 0 28.83 26.51 28.83
1977 -0.41 -292.0 372.7 -8.8 119 1982 0.00 2.10 0.00 0.000 4 0.000 0.037 2728 1146 3961 0 0 0 0 0 0 28.83 26.48 28.83
2054 -0.42 -292.0 377.9 -8.2 122 2062 0.00 2.20 0.00 0.000 6 0.000 0.047 2727 2561 3961 0 0 0 0 0 0 28.83 26.46 28.83
2360 -0.42 -292.0 405.5 -9.9 138 2366 0.00 2.15 0.00 0.000 4 0.000 0.038 2727 1151 3959 0 0 0 0 0 0 28.83 26.48 28.83
2393 -0.42 -292.0 408.2 -10.5 139 2399 0.00 2.17 0.00 0.000 6 0.000 0.047 2727 2553 3959 0 0 0 0 0 0 28.83 26.48 28.83
2707 -0.43 -292.0 444.3 -11.2 155 2712 0.00 1.77 0.00 0.000 4 0.000 0.057 2726 3701 3957 0 0 0 0 0 0 28.83 26.46 28.83
2801 -0.45 -292.0 453.5 -11.0 159 2807 0.00 1.70 0.00 0.000 6 0.000 0.031 2726 2548 3955 0 0 0 0 0 0 28.83 26.57 28.83
3115 -0.46 -292.0 490.0 -11.1 175 3120 0.00 1.80 0.00 0.000 4 0.000 0.057 2726 3702 3952 0 0 0 0 0 0 28.83 26.46 28.83
3139 -0.47 -292.0 492.5 -11.0 176 3144 0.00 1.70 0.00 0.000 6 0.000 0.031 2726 2547 3952 0 0 0 0 0 0 28.83 26.58 28.83
3463 -0.49 -292.0 523.7 -8.9 192 3468 0.00 2.10 0.00 0.000 4 0.000 0.038 2727 1155 3949 0 0 0 0 0 0 28.83 26.50 28.83
3551 -0.50 -292.0 531.2 -8.9 196 3556 0.00 2.17 0.00 0.000 6 0.000 0.048 2726 2554 3948 0 0 0 0 0 0 28.83 26.48 28.83
3869 -0.52 -292.0 557.1 -7.7 212 3875 0.00 1.75 0.00 0.000 4 0.000 0.058 2726 3694 3945 0 0 0 0 0 0 28.83 26.46 28.83
3915 -0.54 -292.0 560.3 -7.6 214 3921 0.00 1.67 0.00 0.000 6 0.000 0.032 2726 2543 3945 0 0 0 0 0 0 28.83 26.58 28.83
4239 -0.55 -292.0 582.1 -6.4 230 4244 0.00 2.10 0.00 0.000 4 0.000 0.037 2727 1155 3942 0 0 0 0 0 0 28.83 26.50 28.83
4278 -0.57 -292.0 583.6 -6.4 231 4284 0.00 2.20 0.00 0.000 6 0.000 0.047 2726 2554 3942 0 0 0 0 0 0 28.83 26.48 28.83
4603 -0.59 -292.0 604.0 -6.0 247 4608 0.00 1.75 0.00 0.000 4 0.000 0.057 2726 3692 3939 0 0 0 0 0 0 28.83 26.46 28.83
4632 -0.60 -292.0 604.0 -6.0 247 4638 0.00 1.70 0.00 0.000 6 0.000 0.032 2726 2543 3939 0 0 0 0 0 0 28.83 26.59 28.83
4938 -0.62 -292.0 622.8 -5.7 258 4940 0.12 0.00 0.00 0.000 6 0.089 0.000 2663 2543 3936 0 0 0 0 0 0 26.60 28.83 28.83
5239 -0.60 -292.0 657.2 -12.2 268 5241 0.12 0.00 0.00 0.000 6 0.154 0.000 2694 2543 3934 0 0 0 0 0 0 26.41 28.83 28.83
5536 -0.60 -292.0 687.5 -10.2 278 5537 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2543 3933 0 0 0 0 0 0 28.83 28.83 28.83
5837 -0.60 -292.0 719.2 -10.8 288 5838 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2543 3931 0 0 0 0 0 0 28.83 28.83 28.83
6136 -0.60 -292.0 753.1 -11.1 298 6141 0.00 2.10 0.00 0.000 4 0.000 0.040 2695 1171 3929 0 0 0 0 0 0 28.83 26.49 28.83
6194 -0.60 -292.0 756.8 -11.2 299 6200 0.00 2.17 0.00 0.000 6 0.000 0.048 2695 2551 3927 0 0 0 0 0 0 28.83 26.47 28.83
6500 -0.60 -292.0 792.7 -10.5 310 6506 0.00 2.12 0.00 0.000 4 0.000 0.038 2695 1172 3926 0 0 0 0 0 0 28.83 26.48 28.83
6534 -0.60 -292.0 796.3 -10.4 311 6539 0.00 2.17 0.00 0.000 6 0.000 0.048 2695 2556 3926 0 0 0 0 0 0 28.83 26.46 28.83
6870 -0.60 -292.0 828.0 -9.1 322 6871 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2557 3922 0 0 0 0 0 0 28.83 28.83 28.83
7168 -0.61 -292.0 852.2 -7.9 332 7169 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2557 3922 0 0 0 0 0 0 28.83 28.83 28.83
7469 -0.61 -292.0 876.7 -8.5 342 7470 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2557 3921 0 0 0 0 0 0 28.83 28.83 28.83
7769 -0.62 -292.0 904.0 -9.5 352 7775 0.00 1.77 0.00 0.000 4 0.000 0.061 2695 3698 3919 0 0 0 0 0 0 28.83 26.41 28.83
7798 -0.62 -292.0 904.0 -9.5 352 7804 0.00 1.70 0.00 0.000 6 0.000 0.034 2695 2549 3919 0 0 0 0 0 0 28.83 26.57 28.83
8106 -0.63 -292.0 936.7 -10.0 363 8107 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2545 3918 0 0 0 0 0 0 28.83 28.83 28.83
8404 -0.64 -292.0 966.8 -10.0 373 8409 0.00 1.80 0.00 0.000 4 0.000 0.060 2695 3689 3917 0 0 0 0 0 0 28.83 26.41 28.83
8457 -0.65 -292.0 970.1 -9.9 374 8463 0.00 1.67 0.00 0.000 6 0.000 0.034 2695 2544 3916 0 0 0 0 0 0 28.83 26.57 28.83
8648 end dive: TARGET_DEPTH_EXCEEDED
state 8648 begin apogee
8654 -0.14 0.0 990.4 -9.6 381 8854 0.43 0.00 194.23 1.420 6 0.118 0.000 2840 2541 2967 0 0 0 0 0 0 26.25 28.83 23.60
8856 end apogee: CONTROL_FINISHED_OK
state 8856 begin climb
8858 0.79 292.0 999.7 0.0 387 9121 0.85 0.00 256.23 1.378 6 0.060 0.000 3149 2541 1776 0 0 0 0 0 0 24.64 28.83 22.94
9401 0.71 292.0 887.7 25.4 406 9407 0.00 1.90 0.00 0.000 4 0.000 0.056 3149 3699 1770 0 0 0 0 0 0 28.83 25.56 28.83
9544 0.64 292.0 855.5 26.0 410 9550 0.22 1.75 0.00 0.000 6 0.164 0.038 3095 2572 1770 0 0 0 0 0 0 25.66 25.85 28.83
9861 0.59 292.0 785.4 20.8 421 9867 0.00 2.28 0.00 0.000 4 0.000 0.045 3104 1130 1768 0 0 0 0 0 0 28.83 26.07 28.83
9884 0.54 292.0 785.4 20.8 421 9890 0.15 2.28 0.00 0.000 6 0.152 0.047 3065 2551 1766 0 0 0 0 0 0 25.94 26.08 28.83
10200 0.51 292.0 725.3 17.0 432 10205 0.00 2.22 0.00 0.000 4 0.000 0.044 3072 1134 1766 0 0 0 0 0 0 28.83 26.20 28.83
10234 0.48 292.0 720.0 16.4 433 10240 0.00 2.28 0.00 0.000 6 0.000 0.046 3072 2557 1766 0 0 0 0 0 0 28.83 26.21 28.83
10569 0.44 292.0 664.2 16.9 444 10575 0.12 1.75 0.00 0.000 4 0.171 0.054 3032 3688 1766 0 0 0 0 0 0 26.15 26.26 28.83
10669 0.43 292.0 649.9 15.6 447 10675 0.00 1.73 0.00 0.000 6 0.000 0.037 3037 2547 1765 0 0 0 0 0 0 28.83 26.34 28.83
11001 0.42 292.0 606.1 12.5 458 11006 0.00 1.83 0.00 0.000 4 0.000 0.054 3037 3688 1765 0 0 0 0 0 0 28.83 26.32 28.83
11041 0.41 292.0 601.3 12.7 459 11047 0.00 1.73 0.00 0.000 6 0.000 0.037 3045 2541 1765 0 0 0 0 0 0 28.83 26.37 28.83
11350 0.39 292.0 559.9 12.7 474 11355 0.00 2.15 0.00 0.000 4 0.000 0.044 3055 1143 1765 0 0 0 0 0 0 28.83 26.35 28.83
11378 0.38 292.0 557.0 12.5 475 11385 0.15 2.22 0.00 0.000 6 0.140 0.045 3013 2555 1763 0 0 0 0 0 0 26.22 26.35 28.83
11698 0.59 453.3 529.4 7.7 491 11850 0.17 2.42 137.93 1.114 4 0.076 0.046 3123 1149 1119 0 0 0 0 0 0 26.46 24.78 24.02
11867 0.55 453.3 497.0 22.2 499 11873 0.20 2.33 0.00 0.000 6 0.137 0.044 3069 2548 1118 0 0 0 0 0 0 25.03 25.12 28.83
12186 0.53 453.3 444.0 15.7 515 12192 0.00 2.25 0.00 0.000 4 0.000 0.044 3076 1144 1116 0 0 0 0 0 0 28.83 25.89 28.83
12230 0.52 453.3 437.4 15.4 517 12236 0.00 2.28 0.00 0.000 6 0.000 0.042 3076 2564 1115 0 0 0 0 0 0 28.83 25.95 28.83
12553 0.50 453.3 384.1 18.1 533 12555 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2564 1115 0 0 0 0 0 0 28.83 28.83 28.83
12856 0.49 453.3 334.9 14.9 548 12861 0.00 2.22 0.00 0.000 4 0.000 0.044 3085 1148 1115 0 0 0 0 0 0 28.83 26.22 28.83
12899 0.48 453.3 328.9 13.9 550 12905 0.15 2.22 0.00 0.000 6 0.132 0.042 3041 2553 1114 0 0 0 0 0 0 26.12 26.25 28.83
13225 0.78 664.4 307.0 6.3 566 13394 0.25 2.38 149.40 0.907 4 0.059 0.044 3179 1142 484 0 0 0 0 2 0 26.38 24.88 24.20
13437 0.73 664.4 249.5 32.5 576 13444 0.20 2.33 0.00 0.000 6 0.139 0.044 3124 2553 482 0 0 0 0 0 0 25.20 25.29 28.83
13752 0.73 664.4 180.3 17.1 592 13758 0.00 2.22 0.00 0.000 4 0.000 0.042 3132 1148 478 0 0 0 0 0 0 28.83 25.92 28.83
13805 0.73 664.4 174.8 13.6 594 13811 0.00 2.22 0.00 0.000 6 0.000 0.040 3132 2555 479 0 0 0 0 0 0 28.83 25.98 28.83
14119 0.74 664.4 134.2 12.3 610 14125 0.00 2.22 0.00 0.000 4 0.000 0.042 3139 1134 477 0 0 0 0 0 0 28.83 26.14 28.83
14159 0.77 675.5 131.2 11.9 611 14166 0.00 2.22 0.00 0.000 6 0.000 0.038 3139 2561 477 0 0 0 0 0 0 28.83 26.17 28.83
14465 1.07 879.5 103.8 6.5 627 14470 0.22 2.20 0.00 0.000 4 0.060 0.037 3265 1144 477 0 0 0 0 0 0 26.34 26.25 28.83
14510 1.20 967.6 97.7 9.7 629 14515 0.00 2.20 0.00 0.000 6 0.000 0.042 3265 2552 477 0 0 0 0 0 0 28.83 26.26 28.83
14819 1.17 967.6 21.5 24.3 650 14826 0.00 1.75 0.00 0.000 4 0.000 0.050 3266 3691 477 0 0 0 0 0 0 28.83 26.31 28.83
14879 1.14 967.6 6.5 23.8 661 14885 0.00 1.70 0.00 0.000 6 0.000 0.034 3273 2542 477 0 0 0 0 0 0 28.83 26.36 28.83
14890 end climb: SURFACE_DEPTH_REACHED
state 14890 begin surface coast
14907 end surface coast: CONTROL_FINISHED_OK
state 14907 begin surface