OKMC Aug12 * SG165 * Dive index * Mission links * Dive 91 * 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  91 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  40 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  8 R_STBD_OVSHOOT  26 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  -274503.59 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  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  270812,200653,1852.145,12216.767,38,1.3,38,-2.1 TGT_NAME  M5
_CALLS  2 TGT_LATLONG  1845.000,12242.270
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.02 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  270812,201827,1852.540,12216.563,12,2.2,31,-2.1 MHEAD_RNG_PITCHd_Wd  123.4,47195,-15.1,-12.222
SPEED_LIMITS  0.212,0.379 D_GRID  1474

Post-dive calculations and measurements:
FINISH  1.3,1.019703 _10V_AH  10.3,14.280
SM_CCo  14108,0.00,0.000,0,0,479,610.31 FG_AHR_24Vo  0.000
SM_GC  1.91,8.02,0.12,0.00,0.036,0.074,0.000,171,2501,479,-8.46,1.81,610.31,0,0,0,0,0,0,26.28,26.39,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1846.42,12216.74,270812,202055 MEM  304492
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  23325,637
HUMID  48.46 CAP_FILE_SIZE  163754,0
INTERNAL_PRESSURE  9.19993 CFSIZE  260165632,191385600
TCM_TEMP  25.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS  2 CURRENT  0.291,301.4,1
SC_FREEKB  7735040 GPS  280812,001523,1852.072,12216.892,38,1.3,38,-2.1
_24V_AH  23.0,21.318

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21230112.94 nil000.00
Roll_motor10774183.77 nil000.00
VBD_pump_during_apogee741143424451.00 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init56103134.36 nil000.00
Iridium_during_connect82160303.72 SciCon14066155100.58
Iridium_during_xfer2512231290.26 nil000.00
Transponder_ping04204.83 nil000.00
GUMSTIX_24V000.00
GPS355018.05
TT8206419421.11
LPSleep95282214.93
TT8_Active81219165.70
TT8_Sampling206739847.46
TT8_CF832445153.24
TT8_Kalman000.00
Analog_circuits175012216.39
GPS_charging000.00
Compass1555580.13
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 -80.70 0.000 2 0.000 0.000 153 2510 2391 0 0 0 0 0 0 28.83 28.83 28.83
105 -0.79 -292.0 3.1 -4.3 14 154 9.50 2.17 -31.40 0.000 4 0.230 0.051 2640 1086 3961 0 0 0 0 0 0 25.80 26.13 26.42
383 -0.70 -292.0 114.9 -37.6 37 391 0.15 2.25 0.00 0.000 6 0.171 0.049 2671 2510 3961 0 0 0 0 0 0 26.10 26.25 28.83
689 -0.64 -292.0 192.9 -26.6 53 695 0.00 1.85 0.00 0.000 4 0.000 0.057 2665 3706 3962 0 0 0 0 0 0 28.83 26.34 28.83
727 -0.59 -292.0 199.1 -26.7 54 734 0.15 1.80 0.00 0.000 6 0.151 0.029 2706 2478 3962 0 0 0 0 0 0 26.25 26.41 28.83
1033 -0.57 -292.0 258.9 -14.6 70 1034 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2478 3962 0 0 0 0 0 0 28.83 28.83 28.83
1336 -0.55 -292.0 298.1 -13.9 85 1341 0.00 1.92 0.00 0.000 4 0.000 0.056 2700 3701 3962 0 0 0 0 0 0 28.83 26.44 28.83
1451 -0.55 -292.0 316.5 -17.5 90 1456 0.00 1.77 0.00 0.000 6 0.000 0.031 2700 2493 3962 0 0 0 0 0 0 28.83 26.52 28.83
1764 -0.53 -292.0 364.9 -13.2 106 1770 0.00 2.08 0.00 0.000 4 0.000 0.043 2700 1108 3962 0 0 0 0 0 0 28.83 26.49 28.83
1823 -0.53 -292.0 370.3 -12.4 108 1829 0.00 2.17 0.00 0.000 6 0.000 0.048 2700 2502 3961 0 0 0 0 0 0 28.83 26.49 28.83
2128 -0.52 -292.0 405.9 -10.4 124 2134 0.12 1.85 0.00 0.000 4 0.156 0.055 2740 3693 3960 0 0 0 0 0 0 26.44 26.48 28.83
2177 -0.53 -292.0 409.6 -9.1 126 2184 0.00 1.75 0.00 0.000 6 0.000 0.032 2740 2510 3959 0 0 0 0 0 0 28.83 26.56 28.83
2497 -0.55 -292.0 432.4 -7.0 142 2502 0.00 1.85 0.00 0.000 4 0.000 0.058 2740 3691 3956 0 0 0 0 0 0 28.83 26.49 28.83
2530 -0.56 -292.0 433.9 -6.8 143 2537 0.00 1.77 0.00 0.000 6 0.000 0.031 2740 2486 3956 0 0 0 0 0 0 28.83 26.58 28.83
2846 -0.59 -292.0 456.3 -7.0 159 2851 0.00 1.88 0.00 0.000 4 0.000 0.057 2740 3687 3952 0 0 0 0 0 0 28.83 26.50 28.83
2891 -0.61 -292.0 459.4 -7.0 161 2897 0.10 1.75 0.00 0.000 6 0.101 0.031 2671 2504 3951 0 0 0 0 0 0 26.53 26.60 28.83
3215 -0.59 -292.0 499.7 -11.7 177 3217 0.12 0.00 0.00 0.000 6 0.152 0.000 2704 2497 3948 0 0 0 0 0 0 26.46 28.83 28.83
3517 -0.59 -292.0 526.9 -9.6 192 3518 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2497 3945 0 0 0 0 0 0 28.83 28.83 28.83
3819 -0.59 -292.0 559.0 -9.9 207 3824 0.00 1.85 0.00 0.000 4 0.000 0.058 2700 3687 3942 0 0 0 0 0 0 28.83 26.51 28.83
3891 -0.60 -292.0 565.3 -9.3 210 3897 0.00 1.77 0.00 0.000 6 0.000 0.032 2700 2485 3941 0 0 0 0 0 0 28.83 26.62 28.83
4205 -0.60 -292.0 597.1 -10.3 226 4211 0.00 2.10 0.00 0.000 4 0.000 0.041 2700 1103 3938 0 0 0 0 0 0 28.83 26.54 28.83
4233 -0.60 -292.0 599.6 -10.5 227 4238 0.00 2.20 0.00 0.000 6 0.000 0.049 2700 2500 3939 0 0 0 0 0 0 28.83 26.53 28.83
4553 -0.60 -292.0 633.8 -10.5 238 4558 0.00 1.85 0.00 0.000 4 0.000 0.060 2698 3695 3934 0 0 0 0 0 0 28.83 26.50 28.83
4636 -0.60 -292.0 640.8 -10.6 240 4641 0.00 1.77 0.00 0.000 6 0.000 0.033 2698 2506 3934 0 0 0 0 0 0 28.83 26.61 28.83
4951 -0.60 -292.0 677.8 -11.4 251 4952 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2500 3932 0 0 0 0 0 0 28.83 28.83 28.83
5251 -0.60 -292.0 712.5 -11.6 261 5256 0.00 1.88 0.00 0.000 4 0.000 0.060 2698 3687 3933 0 0 0 0 0 0 28.83 26.51 28.83
5284 -0.60 -292.0 716.6 -11.4 262 5290 0.00 1.80 0.00 0.000 6 0.000 0.032 2699 2484 3930 0 0 0 0 0 0 28.83 26.60 28.83
5620 -0.60 -292.0 752.8 -10.9 273 5621 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2476 3929 0 0 0 0 0 0 28.83 28.83 28.83
5918 -0.60 -292.0 785.2 -10.6 283 5923 0.00 1.92 0.00 0.000 4 0.000 0.060 2698 3687 3926 0 0 0 0 0 0 28.83 26.49 28.83
5966 -0.60 -292.0 788.7 -10.5 284 5972 0.00 1.77 0.00 0.000 6 0.000 0.033 2697 2497 3925 0 0 0 0 0 0 28.83 26.60 28.83
6286 -0.61 -292.0 822.2 -9.7 295 6288 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2490 3924 0 0 0 0 0 0 28.83 28.83 28.83
6587 -0.62 -292.0 850.9 -9.2 305 6592 0.00 1.88 0.00 0.000 4 0.000 0.061 2698 3686 3922 0 0 0 0 0 0 28.83 26.49 28.83
6680 -0.63 -292.0 859.4 -9.0 308 6685 0.00 1.77 0.00 0.000 6 0.000 0.033 2698 2505 3922 0 0 0 0 0 0 28.83 26.60 28.83
7016 -0.64 -292.0 890.9 -9.7 319 7018 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2506 3920 0 0 0 0 0 0 28.83 28.83 28.83
7314 -0.65 -292.0 922.5 -10.8 329 7320 0.00 1.90 0.00 0.000 4 0.000 0.060 2698 3696 3918 0 0 0 0 0 0 28.83 26.48 28.83
7342 -0.66 -292.0 922.5 -10.8 329 7349 0.00 1.80 0.00 0.000 6 0.000 0.034 2698 2498 3918 0 0 0 0 0 0 28.83 26.60 28.83
7651 -0.67 -292.0 960.7 -12.1 340 7656 0.00 1.90 0.00 0.000 4 0.000 0.062 2698 3686 3916 0 0 0 0 0 0 28.83 26.48 28.83
7694 -0.68 -292.0 965.4 -12.3 341 7699 0.00 1.80 0.00 0.000 6 0.000 0.034 2698 2485 3916 0 0 0 0 0 0 28.83 26.60 28.83
7894 end dive: TARGET_DEPTH_EXCEEDED
state 7894 begin apogee
7902 -0.14 0.0 993.0 -13.1 348 8101 0.45 0.00 193.98 1.434 6 0.122 0.000 2849 2657 2967 0 0 0 0 0 0 26.36 28.83 23.64
8102 end apogee: CONTROL_FINISHED_OK
state 8102 begin climb
8106 0.79 292.0 1009.1 0.0 354 8372 0.85 1.80 256.90 1.393 4 0.057 0.057 3164 3687 1774 0 0 0 0 0 0 24.70 23.86 23.01
8414 0.71 292.0 966.1 23.2 365 8420 0.17 1.70 0.00 0.000 6 0.179 0.041 3130 2662 1772 0 0 0 0 0 0 24.46 24.58 28.83
8746 0.64 292.0 890.6 23.8 376 8751 0.00 2.28 0.00 0.000 4 0.000 0.049 3139 1235 1769 0 0 0 0 0 0 28.83 25.74 28.83
8793 0.59 292.0 881.8 23.9 377 8799 0.17 2.30 0.00 0.000 6 0.156 0.048 3092 2651 1767 0 0 0 0 0 0 25.69 25.82 28.83
9115 0.55 292.0 816.1 19.8 388 9120 0.00 2.25 0.00 0.000 4 0.000 0.046 3099 1239 1766 0 0 0 0 0 0 28.83 26.08 28.83
9157 0.51 292.0 809.2 19.8 389 9163 0.12 2.25 0.00 0.000 6 0.155 0.047 3068 2657 1766 0 0 0 0 0 0 25.99 26.11 28.83
9486 0.48 292.0 751.3 17.7 400 9491 0.00 1.65 0.00 0.000 4 0.000 0.058 3067 3697 1764 0 0 0 0 0 0 28.83 26.21 28.83
9558 0.45 292.0 739.2 17.8 402 9563 0.00 1.62 0.00 0.000 6 0.000 0.039 3072 2639 1764 0 0 0 0 0 0 28.83 26.27 28.83
9884 0.42 292.0 677.5 18.6 413 9890 0.12 2.17 0.00 0.000 4 0.183 0.042 3044 1238 1764 0 0 0 0 0 0 26.18 26.31 28.83
9937 0.39 292.0 671.5 17.9 414 9942 0.00 2.25 0.00 0.000 6 0.000 0.047 3044 2657 1762 0 0 0 0 0 0 28.83 26.32 28.83
10253 0.38 292.0 622.7 14.5 425 10254 0.00 0.00 0.00 0.000 6 0.000 0.000 3044 2657 1762 0 0 0 0 0 0 28.83 28.83 28.83
10550 0.37 292.0 580.6 13.7 437 10555 0.00 2.22 0.00 0.000 4 0.000 0.044 3053 1244 1762 0 0 0 0 0 0 28.83 26.38 28.83
10598 0.36 292.0 574.8 13.5 439 10605 0.12 2.22 0.00 0.000 6 0.147 0.046 3019 2654 1761 0 0 0 0 0 0 26.28 26.39 28.83
10918 0.47 382.7 540.6 9.7 455 10999 0.00 0.00 78.30 1.142 6 0.000 0.000 3019 2656 1406 0 0 0 0 0 0 28.83 28.83 24.20
11298 0.69 543.2 509.0 7.7 474 11461 0.25 2.35 146.90 1.073 4 0.060 0.046 3152 1255 752 0 0 0 0 1 0 25.99 24.75 23.96
11565 0.66 543.2 441.6 23.3 487 11571 0.15 2.30 0.00 0.000 6 0.145 0.046 3112 2663 742 0 0 0 0 0 0 25.36 25.45 28.83
11889 0.63 543.2 357.5 26.7 503 11895 0.00 2.28 0.00 0.000 4 0.000 0.046 3120 1249 739 0 0 0 0 0 0 28.83 25.94 28.83
11963 0.60 543.2 342.2 24.7 506 11968 0.00 2.25 0.00 0.000 6 0.000 0.044 3119 2658 738 0 0 0 0 0 0 28.83 26.01 28.83
12276 0.57 543.2 262.7 25.2 522 12283 0.12 2.22 0.00 0.000 4 0.159 0.041 3089 1238 737 0 0 0 0 0 0 26.08 26.17 28.83
12336 0.55 543.2 253.4 23.3 524 12343 0.00 2.22 0.00 0.000 6 0.000 0.043 3089 2648 736 0 0 0 0 0 0 28.83 26.20 28.83
12641 0.54 543.2 195.1 16.9 540 12642 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 2649 735 0 0 0 0 0 0 28.83 28.83 28.83
12944 0.57 556.4 151.7 11.8 555 12964 0.00 2.22 12.70 0.774 4 0.000 0.044 3095 1245 696 0 0 0 0 0 0 28.83 26.12 25.34
13016 0.72 645.2 145.5 9.7 558 13082 0.10 2.20 52.38 0.786 6 0.103 0.040 3166 2657 484 0 0 0 0 1 0 26.14 26.17 24.71
13391 0.73 645.2 79.9 12.4 577 13397 0.12 2.22 0.00 0.000 4 0.135 0.038 3129 1240 478 0 0 0 0 0 0 25.96 26.01 28.83
13467 0.95 780.2 74.9 8.4 580 13473 0.22 2.22 0.00 0.000 6 0.082 0.041 3217 2655 478 0 0 0 0 0 0 26.06 26.07 28.83
13782 1.08 807.3 38.5 11.5 600 13788 0.00 1.60 0.00 0.000 4 0.000 0.053 3217 3686 479 0 0 0 0 0 0 28.83 26.20 28.83
13887 1.15 807.3 24.8 13.2 610 13894 0.15 1.58 0.00 0.000 6 0.073 0.031 3318 2611 479 0 0 0 0 0 0 26.29 26.32 28.83
14007 end climb: SURFACE_DEPTH_REACHED
state 14007 begin surface coast
14028 end surface coast: CONTROL_FINISHED_OK
state 14028 begin surface