OKMC Aug12 * SG165 * Dive index * Mission links * Dive 73 * 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  73 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DELTA  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2500 ALTIM_FREQUENCY  13
D_SURF  4 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  2500 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  43 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  8 R_STBD_OVSHOOT  36 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  400 CALL_TRIES  5 VBD_CNV  -0.24529999 DEVICE6  -1
T_MISSION  430 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  -274468.12 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  200 PITCH_MAX  3922 PHONE_SUPPLY  2 SEABIRD_T_H  0.00062612642
COURSE_BIAS  0 C_PITCH  2900 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 ALTIM_BOTTOM_TURN_MARGIN  0 SC_XMITPROFILE  3.0
HD_B  0.010078 PITCH_ADJ_DBAND  0 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  240812,085954,1854.192,12219.018,37,1.7,37,-2.1 TGT_NAME  MMIDA
_CALLS  1 TGT_LATLONG  1845.000,12228.200
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.03 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  240812,090725,1854.337,12218.950,14,1.7,14,-2.1 MHEAD_RNG_PITCHd_Wd  143.8,23710,-13.1,-8.250
SPEED_LIMITS  0.143,0.276 D_GRID  1755

Post-dive calculations and measurements:
FINISH  1.7,1.021402 _10V_AH  9.9,11.707
SM_CCo  13765,16.45,0.054,0,0,1131,450.13 FG_AHR_24Vo  0.000
SM_GC  1.06,7.82,2.25,16.45,0.042,0.041,0.054,168,2508,1131,-8.46,-0.79,450.13,0,0,0,0,0,0,26.17,26.19,26.16 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1848.70,12219.88,240812,040418 MEM  306448
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  23398,637
HUMID  45.66 CAP_FILE_SIZE  150814,0
INTERNAL_PRESSURE  9.27806 CFSIZE  260165632,193118208
TCM_TEMP  25.70 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  1 CURRENT  0.280,308.7,1
SC_FREEKB  7741952 GPS  240812,125859,1854.485,12218.690,39,1.0,39,-2.1
_24V_AH  23.5,16.845

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19240110.78 nil000.00
Roll_motor10168163.58 nil000.00
VBD_pump_during_apogee498143416786.49 nil000.00
VBD_pump_during_surface165421.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3110375.72 nil000.00
Iridium_during_connect2016078.25 SciCon13781216987.46
Iridium_during_xfer184223964.64 nil000.00
Transponder_ping04202.47 nil000.00
GUMSTIX_24V000.00
GPS17508.58
TT8220419432.04
LPSleep90902197.08
TT8_Active62019121.70
TT8_Sampling201139792.47
TT8_CF830645138.96
TT8_Kalman000.00
Analog_circuits154812184.01
GPS_charging000.00
Compass1667582.52
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 -0.61 -194.6 0.0 0.0 0 77 0.00 0.00 -56.78 0.000 2 0.000 0.000 162 2514 2501 0 0 0 0 0 0 28.83 28.83 28.83
81 -0.61 -194.6 3.4 -5.4 10 125 9.90 1.88 -28.62 0.000 4 0.240 0.069 2690 3686 3761 0 0 0 0 0 0 25.89 26.17 26.47
304 -0.61 -194.6 81.7 -37.2 34 310 0.00 1.77 0.00 0.000 6 0.000 0.033 2689 2499 3762 0 0 0 0 0 0 28.83 26.32 28.83
628 -0.61 -194.6 180.4 -23.1 50 633 0.00 1.83 0.00 0.000 4 0.000 0.054 2682 3684 3763 0 0 0 0 0 0 28.83 26.39 28.83
690 -0.61 -194.6 194.6 -22.2 53 696 0.00 1.77 0.00 0.000 6 0.000 0.031 2682 2494 3764 0 0 0 0 0 0 28.83 26.46 28.83
1013 -0.61 -194.6 258.7 -19.4 69 1014 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2492 3765 0 0 0 0 0 0 28.83 28.83 28.83
1316 -0.61 -194.6 304.9 -16.0 84 1321 0.00 2.10 0.00 0.000 4 0.000 0.043 2681 1102 3765 0 0 0 0 0 0 28.83 26.52 28.83
1383 -0.61 -194.6 314.6 -15.0 87 1388 0.00 2.15 0.00 0.000 6 0.000 0.046 2674 2492 3765 0 0 0 0 0 0 28.83 26.52 28.83
1701 -0.61 -194.6 369.8 -16.5 103 1702 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2492 3765 0 0 0 0 0 0 28.83 28.83 28.83
2003 -0.61 -194.6 418.4 -16.6 118 2008 0.00 1.85 0.00 0.000 4 0.000 0.059 2671 3687 3763 0 0 0 0 0 0 28.83 26.53 28.83
2046 -0.61 -194.6 426.3 -17.2 120 2052 0.12 1.77 0.00 0.000 6 0.155 0.030 2704 2481 3762 0 0 0 0 0 0 26.46 26.60 28.83
2370 -0.61 -194.6 468.0 -11.8 136 2375 0.00 2.08 0.00 0.000 4 0.000 0.041 2705 1106 3759 0 0 0 0 0 0 28.83 26.57 28.83
2407 -0.61 -194.6 470.8 -11.8 137 2414 0.00 2.17 0.00 0.000 6 0.000 0.048 2700 2501 3759 0 0 0 0 0 0 28.83 26.56 28.83
2715 -0.61 -194.6 507.5 -11.4 153 2720 0.00 1.83 0.00 0.000 4 0.000 0.058 2692 3690 3757 0 0 0 0 0 0 28.83 26.55 28.83
2758 -0.61 -194.6 512.7 -11.7 155 2763 0.00 1.75 0.00 0.000 6 0.000 0.031 2692 2509 3756 0 0 0 0 0 0 28.83 26.62 28.83
3081 -0.61 -194.6 552.2 -12.6 171 3082 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2503 3754 0 0 0 0 0 0 28.83 28.83 28.83
3383 -0.61 -194.6 586.8 -11.7 186 3388 0.00 2.15 0.00 0.000 4 0.000 0.041 2692 1089 3751 0 0 0 0 0 0 28.83 26.58 28.83
3430 -0.61 -194.6 592.2 -12.0 188 3436 0.00 2.22 0.00 0.000 6 0.000 0.049 2687 2507 3751 0 0 0 0 0 0 28.83 26.58 28.83
3751 -0.61 -194.6 630.1 -11.3 200 3752 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2507 3748 0 0 0 0 0 0 28.83 28.83 28.83
4048 -0.61 -194.6 664.5 -11.2 210 4054 0.00 1.83 0.00 0.000 4 0.000 0.060 2686 3687 3744 0 0 0 0 0 0 28.83 26.56 28.83
4087 -0.61 -194.6 668.2 -11.1 211 4092 0.00 1.77 0.00 0.000 6 0.000 0.032 2686 2492 3744 0 0 0 0 0 0 28.83 26.63 28.83
4416 -0.61 -194.6 707.0 -11.9 222 4421 0.00 2.12 0.00 0.000 4 0.000 0.042 2686 1095 3742 0 0 0 0 0 0 28.83 26.59 28.83
4519 -0.61 -194.6 718.2 -11.9 225 4524 0.00 2.22 0.00 0.000 6 0.000 0.050 2686 2507 3741 0 0 0 0 0 0 28.83 26.58 28.83
4843 -0.61 -194.6 760.5 -12.7 236 4845 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2507 3738 0 0 0 0 0 0 28.83 28.83 28.83
5142 -0.61 -194.6 797.2 -12.4 246 5143 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2507 3736 0 0 0 0 0 0 28.83 28.83 28.83
5443 -0.61 -194.6 836.6 -13.5 256 5444 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2507 3735 0 0 0 0 0 0 28.83 28.83 28.83
5742 -0.61 -194.6 874.9 -11.7 266 5747 0.00 1.85 0.00 0.000 4 0.000 0.061 2686 3695 3732 0 0 0 0 0 0 28.83 26.55 28.83
5806 -0.61 -194.6 882.3 -11.9 268 5811 0.00 1.77 0.00 0.000 6 0.000 0.034 2686 2504 3731 0 0 0 0 0 0 28.83 26.64 28.83
6140 -0.61 -194.6 919.3 -10.9 279 6145 0.00 2.15 0.00 0.000 4 0.000 0.043 2686 1100 3732 0 0 0 0 0 0 28.83 26.58 28.83
6197 -0.61 -194.6 923.0 -10.8 280 6204 0.00 2.20 0.00 0.000 6 0.000 0.050 2685 2503 3730 0 0 0 0 0 0 28.83 26.58 28.83
6504 -0.61 -194.6 955.8 -9.4 291 6505 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2503 3727 0 0 0 0 0 0 28.83 28.83 28.83
6803 -0.61 -194.6 981.5 -8.2 301 6808 0.00 1.85 0.00 0.000 4 0.000 0.061 2680 3693 3726 0 0 0 0 0 0 28.83 26.55 28.83
6851 -0.61 -194.6 984.4 -8.2 302 6857 0.00 1.80 0.00 0.000 6 0.000 0.034 2680 2486 3725 0 0 0 0 0 0 28.83 26.64 28.83
6927 end dive: TARGET_DEPTH_EXCEEDED
state 6927 begin apogee
6932 -0.14 0.0 992.4 -8.6 305 7096 0.50 0.00 154.02 1.434 6 0.131 0.000 2845 2479 2966 0 0 0 0 0 0 26.43 28.83 23.78
7098 end apogee: CONTROL_FINISHED_OK
state 7098 begin climb
7100 0.61 194.6 993.3 0.0 310 7270 0.70 0.00 167.05 1.389 6 0.067 0.000 3101 2479 2173 0 0 0 0 0 0 24.91 28.83 23.53
7560 0.61 194.6 912.6 20.8 326 7565 0.00 1.98 0.00 0.000 4 0.000 0.057 3101 3686 2165 0 0 0 0 0 0 28.83 25.77 28.83
7743 0.61 194.6 871.5 22.4 332 7748 0.00 1.83 0.00 0.000 6 0.000 0.038 3109 2525 2164 0 0 0 0 0 0 28.83 26.03 28.83
8078 0.61 194.6 808.4 18.8 343 8084 0.00 1.88 0.00 0.000 4 0.000 0.056 3109 3688 2163 0 0 0 0 0 0 28.83 26.20 28.83
8203 0.61 194.6 784.0 19.4 347 8209 0.00 1.88 0.00 0.000 6 0.000 0.038 3118 2475 2161 0 0 0 0 0 0 28.83 26.27 28.83
8539 0.61 194.6 722.6 18.3 358 8544 0.00 1.92 0.00 0.000 4 0.000 0.055 3118 3688 2161 0 0 0 0 0 0 28.83 26.33 28.83
8632 0.61 194.6 703.8 19.3 361 8637 0.00 1.85 0.00 0.000 6 0.000 0.039 3126 2487 2161 0 0 0 0 0 0 28.83 26.38 28.83
8968 0.61 194.6 638.4 20.1 372 8973 0.00 1.92 0.00 0.000 4 0.000 0.055 3126 3690 2159 0 0 0 0 0 0 28.83 26.39 28.83
9051 0.61 194.6 624.3 20.7 374 9056 0.15 1.83 0.00 0.000 6 0.181 0.039 3095 2501 2159 0 0 0 0 0 0 26.27 26.44 28.83
9364 0.61 194.6 564.4 17.3 388 9370 0.00 1.90 0.00 0.000 4 0.000 0.056 3095 3690 2159 0 0 0 0 0 0 28.83 26.43 28.83
9436 0.61 194.6 552.3 18.7 391 9441 0.00 1.83 0.00 0.000 6 0.000 0.038 3102 2500 2158 0 0 0 0 0 0 28.83 26.47 28.83
9749 0.61 194.6 504.3 13.2 407 9754 0.00 1.88 0.00 0.000 4 0.000 0.056 3103 3688 2158 0 0 0 0 0 0 28.83 26.46 28.83
9867 0.61 194.6 488.9 15.3 412 9874 0.00 1.83 0.00 0.000 6 0.000 0.038 3111 2488 2158 0 0 0 0 0 0 28.83 26.51 28.83
10172 0.61 194.6 438.4 15.9 428 10177 0.00 1.92 0.00 0.000 4 0.000 0.054 3111 3697 2157 0 0 0 0 0 0 28.83 26.47 28.83
10269 0.61 194.6 423.3 18.4 432 10276 0.00 1.83 0.00 0.000 6 0.000 0.038 3120 2504 2157 0 0 0 0 0 0 28.83 26.52 28.83
10575 0.61 194.6 367.0 17.9 448 10580 0.00 1.85 0.00 0.000 4 0.000 0.054 3120 3687 2157 0 0 0 0 0 0 28.83 26.49 28.83
10754 0.61 194.6 336.8 18.2 456 10762 0.00 1.83 0.00 0.000 6 0.000 0.037 3129 2482 2157 0 0 0 0 0 0 28.83 26.53 28.83
11059 0.61 194.6 288.9 13.4 472 11061 0.12 0.00 0.00 0.000 6 0.182 0.000 3097 2474 2157 0 0 0 0 0 0 26.40 28.83 28.83
11359 0.61 194.6 253.1 12.2 487 11365 0.00 1.90 0.00 0.000 4 0.000 0.054 3098 3691 2157 0 0 0 0 0 0 28.83 26.51 28.83
11593 0.61 194.6 222.8 13.2 498 11599 0.00 1.80 0.00 0.000 6 0.000 0.036 3104 2499 2157 0 0 0 0 0 0 28.83 26.55 28.83
11906 0.61 194.6 193.7 9.6 514 11911 0.00 2.15 0.00 0.000 4 0.000 0.043 3114 1085 2157 0 0 0 0 0 0 28.83 26.53 28.83
12021 0.61 194.6 184.4 8.8 519 12027 0.00 2.20 0.00 0.000 6 0.000 0.044 3114 2504 2156 0 0 0 0 0 0 28.83 26.54 28.83
12336 0.63 207.6 156.2 7.9 535 12356 0.00 1.90 9.50 0.743 4 0.000 0.054 3114 3691 2120 0 0 0 0 0 0 28.83 26.36 25.56
12584 0.63 207.6 134.6 8.7 547 12589 0.00 1.80 0.00 0.000 6 0.000 0.034 3123 2489 2117 0 0 0 0 0 0 28.83 26.46 28.83
12902 0.79 340.8 114.8 4.4 563 13024 0.00 2.28 108.25 0.773 4 0.000 0.042 3133 1106 1577 0 0 0 0 0 0 28.83 25.20 24.53
13121 0.88 412.0 102.4 6.2 573 13188 0.15 2.22 59.17 0.733 6 0.070 0.041 3237 2507 1285 0 0 0 0 0 0 25.75 25.72 24.53
13486 0.88 412.0 36.0 18.7 595 13492 0.15 1.83 0.00 0.000 4 0.148 0.047 3189 3691 1285 0 0 0 0 0 0 25.90 25.98 28.83
13551 0.88 412.0 26.5 14.3 601 13556 0.00 1.80 0.00 0.000 6 0.000 0.033 3195 2502 1282 0 0 0 0 0 0 28.83 26.08 28.83
13711 0.88 412.0 6.5 12.0 631 13718 0.00 2.15 0.00 0.000 4 0.000 0.041 3205 1095 1284 0 0 0 0 0 0 28.83 26.17 28.83
13728 end climb: SURFACE_DEPTH_REACHED
state 13729 begin surface coast
13744 end surface coast: CONTROL_FINISHED_OK
state 13745 begin surface