OKMC Aug12 * SG165 * Dive index * Mission links * Dive 116 * 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  116 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  61 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  8 R_STBD_OVSHOOT  29 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  -274537.78 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  010912,055236,1852.287,12221.354,28,0.9,28,-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  1.61 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -73.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  010912,060112,1852.565,12221.162,10,1.2,15,-2.1 MHEAD_RNG_PITCHd_Wd  146.1,15040,-15.1,-12.222
SPEED_LIMITS  0.212,0.379 D_GRID  1689

Post-dive calculations and measurements:
FINISH  1.7,1.021294 _10V_AH  9.8,17.490
SM_CCo  14606,0.00,0.000,0,0,478,610.55 FG_AHR_24Vo  0.000
SM_GC  2.11,7.75,1.75,0.00,0.032,0.030,0.000,162,2532,478,-8.42,1.44,610.55,0,0,0,0,0,0,26.35,26.38,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1846.42,12221.81,010912,010115 MEM  305168
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  23369,654
HUMID  46.81 CAP_FILE_SIZE  170218,0
INTERNAL_PRESSURE  9.21946 CFSIZE  260165632,189284352
TCM_TEMP  25.40 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  2 CURRENT  0.257,338.2,1
SC_FREEKB  7725440 GPS  010912,100623,1852.261,12221.833,37,1.2,37,-2.1
_24V_AH  22.9,30.847

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21230111.53 nil000.00
Roll_motor11960165.66 nil000.00
VBD_pump_during_apogee740141624015.25 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon14534155201.78
Iridium_during_xfer837991907.50 nil000.00
Transponder_ping04204.81 nil000.00
GUMSTIX_24V000.00
GPS18508.92
TT8212719412.87
LPSleep98322211.03
TT8_Active78619152.69
TT8_Sampling201839787.46
TT8_CF835245158.10
TT8_Kalman000.00
Analog_circuits212212249.56
GPS_charging000.00
Compass1629579.84
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 0 101 0.00 0.00 -80.12 0.000 2 0.000 0.000 171 2522 2333 0 0 0 0 0 0 28.83 28.83 28.83
104 -0.79 -292.0 3.2 -5.1 14 160 9.48 2.12 -39.22 0.000 4 0.230 0.049 2636 1157 3961 0 0 0 0 0 0 25.65 26.06 26.36
223 -0.69 -292.0 39.7 -42.8 31 230 0.15 2.20 0.00 0.000 6 0.195 0.044 2664 2554 3961 0 0 0 0 0 0 25.86 26.09 28.83
392 -0.59 -292.0 114.7 -43.5 41 397 0.12 2.12 0.00 0.000 4 0.186 0.034 2706 1152 3962 0 0 0 0 0 0 26.03 26.20 28.83
439 -0.50 -292.0 128.9 -36.6 43 444 0.00 2.17 0.00 0.000 6 0.000 0.047 2700 2548 3962 0 0 0 0 0 0 28.83 26.17 28.83
758 -0.45 -292.0 210.7 -25.6 59 765 0.12 1.75 0.00 0.000 4 0.171 0.054 2737 3688 3963 0 0 0 0 0 0 26.19 26.28 28.83
787 -0.41 -292.0 217.0 -25.2 60 793 0.00 1.67 0.00 0.000 6 0.000 0.029 2737 2548 3963 0 0 0 0 0 0 28.83 26.36 28.83
1107 -0.40 -292.0 267.5 -12.0 76 1112 0.00 2.08 0.00 0.000 4 0.000 0.036 2737 1155 3963 0 0 0 0 0 0 28.83 26.38 28.83
1145 -0.40 -292.0 270.2 -11.3 77 1151 0.00 2.20 0.00 0.000 6 0.000 0.047 2737 2562 3963 0 0 0 0 0 0 28.83 26.36 28.83
1451 -0.40 -292.0 301.6 -9.6 93 1453 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2563 3963 0 0 0 0 0 0 28.83 28.83 28.83
1753 -0.41 -292.0 333.3 -10.7 108 1758 0.00 1.75 0.00 0.000 4 0.000 0.056 2737 3695 3963 0 0 0 0 0 0 28.83 26.41 28.83
1801 -0.42 -292.0 338.8 -11.4 110 1806 0.00 1.67 0.00 0.000 6 0.000 0.031 2737 2550 3963 0 0 0 0 0 0 28.83 26.51 28.83
2119 -0.43 -292.0 379.3 -12.3 126 2125 0.00 1.80 0.00 0.000 4 0.000 0.056 2737 3693 3963 0 0 0 0 0 0 28.83 26.42 28.83
2209 -0.45 -292.0 388.1 -10.7 130 2214 0.00 1.67 0.00 0.000 6 0.000 0.031 2737 2548 3965 0 0 0 0 0 0 28.83 26.53 28.83
2528 -0.47 -292.0 417.1 -8.3 146 2529 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2541 3962 0 0 0 0 0 0 28.83 28.83 28.83
2830 -0.49 -292.0 443.6 -8.9 161 2831 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2541 3960 0 0 0 0 0 0 28.83 28.83 28.83
3130 -0.50 -292.0 471.6 -9.2 176 3135 0.00 2.10 0.00 0.000 4 0.000 0.039 2737 1152 3958 0 0 0 0 0 0 28.83 26.47 28.83
3178 -0.52 -292.0 475.9 -9.5 178 3184 0.00 2.17 0.00 0.000 6 0.000 0.048 2737 2550 3957 0 0 0 0 0 0 28.83 26.46 28.83
3498 -0.54 -292.0 504.2 -9.0 194 3504 0.00 1.77 0.00 0.000 4 0.000 0.057 2737 3691 3955 0 0 0 0 0 0 28.83 26.44 28.83
3604 -0.57 -292.0 513.9 -9.1 199 3610 0.00 1.67 0.00 0.000 6 0.000 0.032 2738 2542 3953 0 0 0 0 0 0 28.83 26.57 28.83
3929 -0.59 -292.0 542.1 -7.8 215 3934 0.12 1.80 0.00 0.000 4 0.088 0.054 2661 3701 3950 0 0 0 0 0 0 26.58 26.44 28.83
3992 -0.59 -292.0 550.2 -11.5 218 3998 0.10 1.73 0.00 0.000 6 0.126 0.031 2696 2550 3949 0 0 0 0 0 0 26.34 26.57 28.83
4316 -0.59 -292.0 587.9 -11.6 234 4317 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2548 3947 0 0 0 0 0 0 28.83 28.83 28.83
4616 -0.59 -292.0 623.7 -12.3 246 4621 0.00 2.10 0.00 0.000 4 0.000 0.038 2696 1165 3945 0 0 0 0 0 0 28.83 26.48 28.83
4680 -0.59 -292.0 631.7 -12.7 248 4685 0.00 2.20 0.00 0.000 6 0.000 0.049 2696 2556 3942 0 0 0 0 0 0 28.83 26.46 28.83
5014 -0.59 -292.0 674.1 -13.2 259 5019 0.00 1.77 0.00 0.000 4 0.000 0.060 2696 3691 3943 0 0 0 0 0 0 28.83 26.43 28.83
5042 -0.59 -292.0 674.1 -13.2 259 5050 0.00 1.67 0.00 0.000 6 0.000 0.033 2696 2550 3942 0 0 0 0 0 0 28.83 26.57 28.83
5347 -0.59 -292.0 717.2 -12.5 270 5352 0.00 2.10 0.00 0.000 4 0.000 0.038 2696 1167 3938 0 0 0 0 0 0 28.83 26.47 28.83
5419 -0.60 -292.0 725.1 -12.5 272 5425 0.00 2.20 0.00 0.000 6 0.000 0.048 2696 2561 3940 0 0 0 0 0 0 28.83 26.45 28.83
5744 -0.60 -292.0 767.6 -12.4 283 5749 0.00 2.15 0.00 0.000 4 0.000 0.039 2696 1169 3938 0 0 0 0 0 0 28.83 26.46 28.83
5778 -0.60 -292.0 771.3 -11.9 284 5784 0.00 2.20 0.00 0.000 6 0.000 0.049 2696 2555 3938 0 0 0 0 0 0 28.83 26.45 28.83
6116 -0.61 -292.0 801.2 -7.7 295 6122 0.00 1.77 0.00 0.000 4 0.000 0.060 2696 3702 3935 0 0 0 0 0 0 28.83 26.41 28.83
6175 -0.61 -292.0 803.9 -7.4 296 6181 0.00 1.70 0.00 0.000 6 0.000 0.033 2696 2544 3935 0 0 0 0 0 0 28.83 26.56 28.83
6483 -0.62 -292.0 827.2 -6.8 307 6484 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2543 3933 0 0 0 0 0 0 28.83 28.83 28.83
6781 -0.63 -292.0 847.0 -6.4 317 6782 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2543 3932 0 0 0 0 0 0 28.83 28.83 28.83
7082 -0.63 -292.0 873.3 -9.6 327 7087 0.00 2.10 0.00 0.000 4 0.000 0.038 2696 1169 3931 0 0 0 0 0 0 28.83 26.46 28.83
7111 -0.64 -292.0 873.3 -9.6 327 7117 0.00 2.20 0.00 0.000 6 0.000 0.049 2696 2561 3930 0 0 0 0 0 0 28.83 26.44 28.83
7419 -0.65 -292.0 906.6 -10.5 338 7420 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2561 3929 0 0 0 0 0 0 28.83 28.83 28.83
7718 -0.66 -292.0 939.7 -11.2 348 7719 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2561 3928 0 0 0 0 0 0 28.83 28.83 28.83
8016 -0.67 -292.0 971.7 -10.0 358 8022 0.00 1.75 0.00 0.000 4 0.000 0.060 2696 3688 3926 0 0 0 0 0 0 28.83 26.39 28.83
8051 -0.68 -292.0 974.8 -9.8 359 8057 0.00 1.70 0.00 0.000 6 0.000 0.034 2696 2544 3925 0 0 0 0 0 0 28.83 26.55 28.83
8203 end dive: TARGET_DEPTH_EXCEEDED
state 8203 begin apogee
8208 -0.14 0.0 990.3 -10.1 364 8415 0.43 0.00 196.50 1.416 6 0.115 0.000 2841 2543 2966 0 0 0 0 0 0 26.25 28.83 23.53
8416 end apogee: CONTROL_FINISHED_OK
state 8416 begin climb
8419 0.79 292.0 1003.4 0.0 371 8686 0.88 2.10 257.58 1.374 4 0.057 0.056 3156 3691 1775 0 0 0 0 0 0 24.63 23.77 22.89
8800 0.71 292.0 938.4 27.1 383 8806 0.17 1.80 0.00 0.000 6 0.181 0.038 3121 2582 1772 0 0 0 0 0 0 24.85 25.01 28.83
9117 0.64 292.0 861.3 22.7 394 9122 0.00 2.33 0.00 0.000 4 0.000 0.049 3130 1130 1770 0 0 0 0 0 0 28.83 25.79 28.83
9159 0.58 292.0 852.8 23.2 395 9165 0.20 2.30 0.00 0.000 6 0.149 0.046 3075 2551 1768 0 0 0 0 0 0 25.71 25.86 28.83
9487 0.55 292.0 795.6 17.0 406 9492 0.00 1.80 0.00 0.000 4 0.000 0.057 3075 3692 1766 0 0 0 0 0 0 28.83 26.07 28.83
9589 0.51 292.0 777.3 18.6 409 9595 0.00 1.77 0.00 0.000 6 0.000 0.037 3080 2545 1766 0 0 0 0 0 0 28.83 26.17 28.83
9916 0.48 292.0 717.1 17.9 420 9922 0.12 2.20 0.00 0.000 4 0.174 0.044 3052 1131 1766 0 0 0 0 0 0 26.09 26.21 28.83
9989 0.46 292.0 707.6 16.2 422 9994 0.00 2.25 0.00 0.000 6 0.000 0.045 3050 2562 1765 0 0 0 0 0 0 28.83 26.24 28.83
10316 0.44 292.0 657.9 15.2 433 10321 0.00 1.77 0.00 0.000 4 0.000 0.056 3052 3687 1764 0 0 0 0 0 0 28.83 26.27 28.83
10368 0.42 292.0 652.1 15.2 434 10374 0.12 1.75 0.00 0.000 6 0.169 0.037 3027 2547 1764 0 0 0 0 0 0 26.14 26.34 28.83
10684 0.42 292.0 609.9 12.5 445 10689 0.00 2.20 0.00 0.000 4 0.000 0.043 3035 1130 1764 0 0 0 0 0 0 28.83 26.32 28.83
10756 0.42 293.1 602.1 12.2 447 10762 0.00 2.25 0.00 0.000 6 0.000 0.044 3035 2553 1763 0 0 0 0 0 0 28.83 26.33 28.83
11080 0.42 298.6 560.4 12.1 463 11087 0.00 0.00 5.03 0.827 6 0.000 0.000 3035 2553 1749 0 0 0 0 0 0 28.83 28.83 25.25
11381 0.52 379.4 527.7 10.0 478 11460 0.00 1.92 72.38 1.115 4 0.000 0.054 3035 3686 1420 0 0 0 0 0 0 28.83 25.04 24.26
11478 0.59 440.6 519.4 10.5 482 11542 0.12 1.83 53.92 1.077 6 0.087 0.035 3106 2543 1170 0 0 0 0 0 0 25.29 25.32 24.06
11843 0.56 440.6 440.2 21.7 501 11849 0.12 2.22 0.00 0.000 4 0.169 0.043 3076 1139 1167 0 0 0 0 0 0 25.74 25.84 28.83
11923 0.55 440.6 429.3 18.3 504 11930 0.00 2.28 0.00 0.000 6 0.000 0.042 3077 2563 1167 0 0 0 0 0 0 28.83 25.94 28.83
12227 0.53 440.6 373.5 19.2 520 12232 0.00 2.25 0.00 0.000 4 0.000 0.044 3086 1144 1166 0 0 0 0 0 0 28.83 26.10 28.83
12280 0.52 440.6 365.9 18.1 522 12286 0.00 2.22 0.00 0.000 6 0.000 0.043 3086 2552 1166 0 0 0 0 0 0 28.83 26.14 28.83
12594 0.50 440.6 301.3 21.7 538 12600 0.12 1.77 0.00 0.000 4 0.158 0.050 3045 3688 1165 0 0 0 0 0 0 26.12 26.20 28.83
12663 0.50 440.6 290.4 18.2 541 12669 0.00 1.73 0.00 0.000 6 0.000 0.034 3048 2535 1163 0 0 0 0 0 0 28.83 26.28 28.83
12982 0.74 611.7 262.4 7.4 557 13145 0.20 2.30 155.20 0.889 4 0.063 0.046 3170 1149 483 0 0 0 0 0 0 26.39 24.87 24.20
13273 0.72 611.7 191.7 25.5 571 13280 0.17 2.28 0.00 0.000 6 0.139 0.043 3121 2552 481 0 0 0 0 0 0 25.46 25.57 28.83
13593 0.86 711.9 141.9 9.4 587 13595 0.15 0.00 0.00 0.000 6 0.077 0.000 3202 2553 478 0 0 0 0 0 0 26.06 28.83 28.83
13894 0.85 711.9 84.7 18.3 602 13900 0.12 2.20 0.00 0.000 4 0.142 0.038 3170 1142 478 0 0 0 0 0 0 26.08 26.15 28.83
13938 0.85 711.9 78.6 16.2 604 13944 0.00 2.20 0.00 0.000 6 0.000 0.038 3170 2558 478 0 0 0 0 0 0 28.83 26.17 28.83
14262 1.11 888.3 53.0 7.3 620 14269 0.17 2.17 0.00 0.000 4 0.066 0.037 3290 1148 478 0 0 0 0 0 0 26.36 26.25 28.83
14328 1.09 888.3 41.0 21.9 625 14335 0.17 2.20 0.00 0.000 6 0.144 0.043 3240 2556 478 0 0 0 0 0 0 26.12 26.27 28.83
14491 1.07 888.3 7.3 23.0 648 14498 0.00 1.75 0.00 0.000 4 0.000 0.050 3239 3694 478 0 0 0 0 0 0 28.83 26.29 28.83
14509 end climb: SURFACE_DEPTH_REACHED
state 14509 begin surface coast
14525 end surface coast: CONTROL_FINISHED_OK
state 14525 begin surface