OKMC Aug12 * SG165 * Dive index * Mission links * Dive 83 * 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  83 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  2650 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  74 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  8 R_STBD_OVSHOOT  39 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  300 CALL_TRIES  5 VBD_CNV  -0.24529999 DEVICE6  -1
T_MISSION  320 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  -274487.97 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  220 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  0.0049999999 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  260812,093924,1854.704,12217.438,40,0.9,40,-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  1.60 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -74.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  260812,094724,1854.839,12217.334,9,1.0,14,-2.1 MHEAD_RNG_PITCHd_Wd  141.5,33392,-16.2,-11.000
SPEED_LIMITS  0.191,0.319 D_GRID  1780

Post-dive calculations and measurements:
FINISH  0.8,1.006208 _10V_AH  10.1,13.277
SM_CCo  16308,0.00,0.000,0,0,540,595.34 FG_AHR_24Vo  0.000
SM_GC  1.57,7.85,0.25,0.00,0.033,0.049,0.000,168,2479,540,-8.48,1.33,595.34,0,0,0,0,0,0,25.86,25.94,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1848.70,12219.88,260812,040453 MEM  305212
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  26724,732
HUMID  44.68 CAP_FILE_SIZE  180304,0
INTERNAL_PRESSURE  9.22923 CFSIZE  260165632,192090112
TCM_TEMP  25.80 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  1 CURRENT  0.265,311.5,1
SC_FREEKB  7738112 GPS  260812,142059,1854.198,12216.784,36,1.2,36,-2.1
_24V_AH  23.3,19.203

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20238115.12 nil000.00
Roll_motor114108290.00 nil000.00
VBD_pump_during_apogee688143323003.05 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2410358.29 nil000.00
Iridium_during_connect1816069.20 SciCon16248186837.50
Iridium_during_xfer2262231176.11 nil000.00
Transponder_ping04202.45 nil000.00
GUMSTIX_24V000.00
GPS18509.47
TT8232319464.58
LPSleep112562248.99
TT8_Active73419146.95
TT8_Sampling210039844.33
TT8_CF836845170.27
TT8_Kalman000.00
Analog_circuits177712215.46
GPS_charging000.00
Compass1754588.59
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 -0.73 -214.1 0.0 0.0 0 111 0.00 0.00 -89.50 0.000 2 0.000 0.000 162 2506 2647 0 0 0 0 0 0 28.83 28.83 28.83
115 -0.73 -214.1 3.3 -7.9 16 158 9.75 1.85 -23.70 0.000 4 0.239 0.070 2650 3677 3843 0 0 0 0 0 0 25.81 26.09 26.40
390 -0.63 -214.1 119.7 -44.2 40 396 0.17 1.73 0.00 0.000 6 0.172 0.028 2696 2507 3843 0 0 0 0 0 0 26.09 26.30 28.83
714 -0.59 -214.1 200.2 -18.6 56 715 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2500 3844 0 0 0 0 0 0 28.83 28.83 28.83
1017 -0.57 -214.1 248.5 -17.2 71 1022 0.00 1.85 0.00 0.000 4 0.000 0.057 2696 3687 3845 0 0 0 0 0 0 28.83 26.40 28.83
1044 -0.54 -214.1 253.6 -18.2 72 1050 0.00 1.75 0.00 0.000 6 0.000 0.030 2696 2482 3846 0 0 0 0 0 0 28.83 26.48 28.83
1363 -0.53 -214.1 307.5 -14.4 88 1369 0.12 1.88 0.00 0.000 4 0.155 0.054 2738 3684 3846 0 0 0 0 0 0 26.38 26.44 28.83
1401 -0.52 -214.1 310.7 -14.1 89 1408 0.00 1.73 0.00 0.000 6 0.000 0.031 2738 2510 3845 0 0 0 0 0 0 28.83 26.51 28.83
1708 -0.53 -214.1 341.3 -8.8 105 1709 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2506 3844 0 0 0 0 0 0 28.83 28.83 28.83
2009 -0.54 -214.1 363.2 -6.8 120 2010 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2506 3841 0 0 0 0 0 0 28.83 28.83 28.83
2310 -0.56 -214.1 384.3 -7.8 135 2311 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2506 3838 0 0 0 0 0 0 28.83 28.83 28.83
2610 -0.57 -214.1 410.5 -9.4 150 2615 0.00 2.12 0.00 0.000 4 0.000 0.042 2738 1105 3835 0 0 0 0 0 0 28.83 26.53 28.83
2643 -0.59 -214.1 413.2 -9.8 151 2649 0.00 2.17 0.00 0.000 6 0.000 0.047 2738 2499 3835 0 0 0 0 0 0 28.83 26.53 28.83
2959 -0.61 -214.1 444.6 -9.2 167 2964 0.00 1.85 0.00 0.000 4 0.000 0.059 2738 3689 3833 0 0 0 0 0 0 28.83 26.52 28.83
3031 -0.63 -214.1 449.9 -8.3 170 3037 0.12 1.75 0.00 0.000 6 0.087 0.031 2661 2503 3833 0 0 0 0 0 0 26.57 26.61 28.83
3345 -0.61 -214.1 492.4 -13.0 186 3347 0.15 0.00 0.00 0.000 6 0.153 0.000 2702 2495 3830 0 0 0 0 0 0 26.44 28.83 28.83
3647 -0.61 -214.1 522.2 -9.7 201 3648 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2495 3828 0 0 0 0 0 0 28.83 28.83 28.83
3948 -0.61 -214.1 550.9 -9.6 216 3953 0.00 1.85 0.00 0.000 4 0.000 0.059 2700 3684 3825 0 0 0 0 0 0 28.83 26.53 28.83
4020 -0.61 -214.1 557.7 -10.3 219 4027 0.00 1.77 0.00 0.000 6 0.000 0.031 2700 2506 3823 0 0 0 0 0 0 28.83 26.63 28.83
4335 -0.61 -214.1 590.7 -9.9 235 4336 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2506 3822 0 0 0 0 0 0 28.83 28.83 28.83
4645 -0.61 -214.1 627.0 -12.5 247 4646 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2506 3819 0 0 0 0 0 0 28.83 28.83 28.83
4945 -0.61 -214.1 665.5 -12.4 257 4946 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2506 3816 0 0 0 0 0 0 28.83 28.83 28.83
5245 -0.61 -214.1 702.0 -12.3 267 5246 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2506 3814 0 0 0 0 0 0 28.83 28.83 28.83
5546 -0.61 -214.1 736.7 -10.7 277 5551 0.00 1.88 0.00 0.000 4 0.000 0.061 2700 3693 3812 0 0 0 0 0 0 28.83 26.52 28.83
5580 -0.61 -214.1 740.2 -10.4 278 5585 0.00 1.80 0.00 0.000 6 0.000 0.033 2699 2503 3811 0 0 0 0 0 0 28.83 26.60 28.83
5916 -0.62 -214.1 774.5 -10.4 289 5922 0.00 2.15 0.00 0.000 4 0.000 0.042 2700 1090 3809 0 0 0 0 0 0 28.83 26.55 28.83
5984 -0.63 -214.1 781.6 -10.6 291 5989 0.00 2.22 0.00 0.000 6 0.000 0.050 2700 2502 3808 0 0 0 0 0 0 28.83 26.55 28.83
6317 -0.63 -214.1 814.4 -9.4 302 6322 0.00 1.85 0.00 0.000 4 0.000 0.060 2698 3695 3806 0 0 0 0 0 0 28.83 26.52 28.83
6381 -0.64 -214.1 820.4 -8.9 304 6386 0.00 1.83 0.00 0.000 6 0.000 0.034 2698 2481 3805 0 0 0 0 0 0 28.83 26.62 28.83
6718 -0.65 -214.1 848.7 -8.4 315 6719 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2474 3804 0 0 0 0 0 0 28.83 28.83 28.83
7014 -0.66 -214.1 874.6 -8.7 325 7020 0.00 1.92 0.00 0.000 4 0.000 0.060 2698 3687 3802 0 0 0 0 0 0 28.83 26.51 28.83
7088 -0.67 -214.1 880.3 -8.9 327 7093 0.00 1.77 0.00 0.000 6 0.000 0.034 2698 2492 3803 0 0 0 0 0 0 28.83 26.63 28.83
7414 -0.68 -214.1 911.9 -9.6 338 7415 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2486 3801 0 0 0 0 0 0 28.83 28.83 28.83
7712 -0.69 -214.1 939.0 -8.8 348 7717 0.00 1.90 0.00 0.000 4 0.000 0.060 2698 3692 3799 0 0 0 0 0 0 28.83 26.51 28.83
7765 -0.70 -214.1 942.1 -8.8 349 7771 0.00 1.80 0.00 0.000 6 0.000 0.034 2698 2506 3799 0 0 0 0 0 0 28.83 26.63 28.83
8081 -0.71 -214.1 971.7 -9.0 360 8082 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2500 3797 0 0 0 0 0 0 28.83 28.83 28.83
8316 end dive: TARGET_DEPTH_EXCEEDED
state 8316 begin apogee
8323 -0.14 0.0 992.7 -8.8 368 8501 0.45 0.00 169.30 1.434 6 0.123 0.000 2849 2661 2966 0 0 0 0 0 0 26.40 28.83 23.70
8502 end apogee: CONTROL_FINISHED_OK
state 8503 begin climb
8506 0.73 214.1 998.2 0.0 374 8699 0.77 2.42 183.23 1.390 4 0.058 0.049 3146 1261 2094 0 0 0 0 0 0 24.81 24.17 23.30
8743 0.66 214.1 965.3 20.0 382 8749 0.15 2.38 0.00 0.000 6 0.167 0.048 3110 2650 2088 0 0 0 0 0 0 24.69 24.79 28.83
9078 0.60 214.1 899.8 19.1 393 9083 0.00 1.67 0.00 0.000 4 0.000 0.058 3110 3691 2084 0 0 0 0 0 0 28.83 25.79 28.83
9198 0.54 214.1 880.4 20.4 396 9206 0.15 1.58 0.00 0.000 6 0.177 0.038 3078 2659 2084 0 0 0 0 0 0 25.81 25.96 28.83
9503 0.51 214.1 822.9 17.8 407 9508 0.00 2.22 0.00 0.000 4 0.000 0.045 3086 1248 2082 0 0 0 0 0 0 28.83 26.13 28.83
9567 0.48 214.1 812.3 17.1 409 9573 0.12 2.25 0.00 0.000 6 0.161 0.047 3055 2653 2081 0 0 0 0 0 0 26.04 26.17 28.83
9901 0.46 214.1 762.8 14.5 420 9906 0.00 1.65 0.00 0.000 4 0.000 0.057 3054 3700 2080 0 0 0 0 0 0 28.83 26.25 28.83
9924 0.43 214.1 762.8 14.5 420 9930 0.00 1.62 0.00 0.000 6 0.000 0.039 3060 2640 2080 0 0 0 0 0 0 28.83 26.32 28.83
10239 0.41 214.1 715.1 13.6 431 10244 0.00 2.15 0.00 0.000 4 0.000 0.044 3070 1244 2080 0 0 0 0 0 0 28.83 26.33 28.83
10276 0.39 214.1 710.6 13.5 432 10281 0.15 2.22 0.00 0.000 6 0.155 0.047 3030 2650 2079 0 0 0 0 0 0 26.20 26.34 28.83
10608 0.38 214.1 675.4 11.4 443 10609 0.00 0.00 0.00 0.000 6 0.000 0.000 3030 2651 2081 0 0 0 0 0 0 28.83 28.83 28.83
10906 0.40 235.2 643.0 10.3 453 10924 0.00 0.00 16.70 1.151 6 0.000 0.000 3030 2651 2008 0 0 0 0 0 0 28.83 28.83 25.10
11205 0.43 259.2 612.9 10.2 463 11234 0.00 2.28 21.33 1.143 4 0.000 0.045 3037 1244 1911 0 0 0 0 0 0 28.83 25.71 24.82
11292 0.46 283.3 606.5 10.2 465 11321 0.00 2.25 22.33 1.128 6 0.000 0.045 3037 2653 1813 0 0 0 0 0 0 28.83 25.85 24.53
11638 0.46 283.3 564.0 12.1 482 11644 0.00 2.25 0.00 0.000 4 0.000 0.043 3046 1238 1808 0 0 0 0 0 0 28.83 26.01 28.83
11663 0.46 283.3 561.3 12.0 483 11670 0.00 2.28 0.00 0.000 6 0.000 0.045 3046 2656 1808 0 0 0 0 0 0 28.83 26.03 28.83
11987 0.46 283.3 518.4 13.4 499 11988 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2656 1807 0 0 0 0 0 0 28.83 28.83 28.83
12290 0.49 304.8 483.7 10.3 514 12318 0.00 2.33 19.60 1.056 4 0.000 0.044 3055 1238 1723 0 0 0 0 0 0 28.83 25.86 24.99
12355 0.52 332.0 477.5 10.1 517 12386 0.00 2.25 24.95 1.050 6 0.000 0.045 3054 2654 1613 0 0 0 0 0 0 28.83 25.93 24.61
12694 0.52 332.0 436.6 12.5 534 12699 0.00 2.25 0.00 0.000 4 0.000 0.043 3063 1240 1610 0 0 0 0 0 0 28.83 26.00 28.83
12771 0.53 332.0 429.1 12.4 537 12778 0.00 2.25 0.00 0.000 6 0.000 0.045 3063 2650 1609 0 0 0 0 0 0 28.83 26.06 28.83
13077 0.53 332.0 388.5 12.4 553 13083 0.00 2.22 0.00 0.000 4 0.000 0.043 3073 1238 1609 0 0 0 0 0 0 28.83 26.20 28.83
13149 0.53 332.0 380.8 12.3 556 13155 0.00 2.25 0.00 0.000 6 0.000 0.044 3072 2660 1609 0 0 0 0 0 0 28.83 26.23 28.83
13462 0.53 332.0 337.7 12.1 572 13467 0.00 2.20 0.00 0.000 4 0.000 0.043 3082 1240 1609 0 0 0 0 0 0 28.83 26.32 28.83
13519 0.53 332.0 333.1 11.5 574 13526 0.00 2.22 0.00 0.000 6 0.000 0.044 3082 2653 1609 0 0 0 0 0 0 28.83 26.32 28.83
13825 0.52 332.0 290.7 14.3 590 13830 0.00 1.60 0.00 0.000 4 0.000 0.054 3082 3687 1608 0 0 0 0 0 0 28.83 26.35 28.83
13853 0.51 332.0 286.9 15.0 591 13858 0.00 1.58 0.00 0.000 6 0.000 0.037 3089 2642 1608 0 0 0 0 0 0 28.83 26.40 28.83
14172 0.51 332.0 239.7 13.5 607 14177 0.00 2.12 0.00 0.000 4 0.000 0.043 3099 1254 1608 0 0 0 0 0 0 28.83 26.39 28.83
14307 0.51 332.0 224.2 12.1 613 14313 0.12 2.17 0.00 0.000 6 0.141 0.044 3065 2650 1608 0 0 0 0 0 0 26.32 26.42 28.83
14621 0.53 332.0 186.9 11.5 629 14627 0.00 2.17 0.00 0.000 4 0.000 0.041 3072 1242 1607 0 0 0 0 0 0 28.83 26.43 28.83
14706 0.58 355.1 178.3 10.2 633 14731 0.00 2.20 20.08 0.819 6 0.000 0.043 3072 2657 1519 0 0 0 0 0 0 28.83 26.44 25.33
15052 0.73 454.0 149.6 7.6 650 15141 0.15 2.28 82.05 0.800 4 0.077 0.041 3169 1255 1115 0 0 0 0 0 0 26.33 25.19 24.53
15198 0.73 454.0 130.2 13.7 657 15204 0.12 2.25 0.00 0.000 6 0.143 0.041 3137 2653 1114 0 0 0 0 0 0 25.45 25.54 28.83
15518 0.76 463.7 94.3 10.7 673 15533 0.00 2.20 8.85 0.640 4 0.000 0.038 3144 1240 1075 0 0 0 0 0 0 28.83 25.91 25.20
15566 0.82 486.6 89.9 10.2 675 15592 0.00 2.22 19.85 0.702 6 0.000 0.040 3144 2654 982 0 0 0 0 0 0 28.83 25.96 25.01
15905 0.99 593.5 61.5 7.3 692 16018 0.17 2.33 100.40 0.693 4 0.064 0.043 3260 1258 545 0 0 0 0 0 0 26.17 25.13 24.53
16132 0.98 593.5 16.6 20.3 714 16140 0.15 2.22 0.00 0.000 6 0.146 0.041 3217 2658 542 0 0 0 0 0 0 25.59 25.70 28.83
16203 end climb: SURFACE_DEPTH_REACHED
state 16203 begin surface coast
16229 end surface coast: CONTROL_FINISHED_OK
state 16229 begin surface