OKMC Aug12 * SG165 * Dive index * Mission links * Dive 94 * 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  94 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  55 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  -274508.72 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  280812,084329,1851.619,12220.934,37,1.1,37,-2.1 TGT_NAME  M5
_CALLS  1 TGT_LATLONG  1845.000,12242.270
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.92 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -74.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  280812,085013,1851.757,12220.847,10,1.8,10,-2.1 MHEAD_RNG_PITCHd_Wd  131.1,39599,-15.1,-12.222
SPEED_LIMITS  0.212,0.379 D_GRID  1605

Post-dive calculations and measurements:
FINISH  0.8,0.998194 _10V_AH  9.8,14.660
SM_CCo  14575,0.00,0.000,0,0,478,610.55 FG_AHR_24Vo  0.000
SM_GC  1.46,7.85,2.25,0.00,0.035,0.039,0.000,173,2555,478,-8.42,-0.79,610.55,0,0,0,0,0,0,26.18,26.17,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1844.15,12216.74,280812,040430 MEM  304464
TT8_MAMPS  0.023219,0.023219 DATA_FILE_SIZE  23416,641
HUMID  48.54 CAP_FILE_SIZE  159157,0
INTERNAL_PRESSURE  9.19993 CFSIZE  260165632,191131648
TCM_TEMP  24.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  2 CURRENT  0.217,315.4,1
SC_FREEKB  7733888 GPS  280812,125453,1851.382,12221.605,35,1.9,35,-2.1
_24V_AH  23.0,22.118

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20238113.91 nil000.00
Roll_motor10461147.69 nil000.00
VBD_pump_during_apogee732142524034.52 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2310356.51 nil000.00
Iridium_during_connect40160148.45 SciCon14521165488.01
Iridium_during_xfer147223759.03 nil000.00
Transponder_ping04204.83 nil000.00
GUMSTIX_24V000.00
GPS12506.24
TT8200719389.54
LPSleep100652216.04
TT8_Active74919145.38
TT8_Sampling184039717.82
TT8_CF831245140.26
TT8_Kalman000.00
Analog_circuits170812200.95
GPS_charging000.00
Compass1533575.16
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 -83.50 0.000 2 0.000 0.000 167 2517 2462 0 0 0 0 0 0 28.83 28.83 28.83
107 -0.79 -292.0 3.1 -5.1 15 157 9.57 2.15 -34.62 0.000 4 0.239 0.052 2636 1144 3961 0 0 0 0 0 0 25.84 26.17 26.47
387 -0.70 -292.0 111.4 -39.3 41 393 0.12 2.20 0.00 0.000 6 0.195 0.047 2658 2546 3961 0 0 0 0 0 0 26.10 26.27 28.83
711 -0.64 -292.0 213.1 -27.6 57 716 0.00 2.12 0.00 0.000 4 0.000 0.037 2660 1149 3962 0 0 0 0 0 0 28.83 26.37 28.83
775 -0.59 -292.0 227.8 -24.3 60 781 0.15 2.20 0.00 0.000 6 0.157 0.049 2698 2551 3962 0 0 0 0 0 0 26.26 26.36 28.83
1099 -0.57 -292.0 286.0 -16.7 76 1105 0.00 1.77 0.00 0.000 4 0.000 0.057 2698 3696 3962 0 0 0 0 0 0 28.83 26.41 28.83
1163 -0.55 -292.0 297.1 -17.3 79 1168 0.00 1.70 0.00 0.000 6 0.000 0.030 2698 2542 3962 0 0 0 0 0 0 28.83 26.48 28.83
1486 -0.53 -292.0 346.0 -14.3 95 1492 0.00 2.10 0.00 0.000 4 0.000 0.040 2698 1146 3962 0 0 0 0 0 0 28.83 26.47 28.83
1510 -0.51 -292.0 349.2 -13.9 96 1516 0.00 2.22 0.00 0.000 6 0.000 0.049 2698 2562 3962 0 0 0 0 0 0 28.83 26.46 28.83
1834 -0.50 -292.0 391.8 -13.2 112 1840 0.12 1.73 0.00 0.000 4 0.160 0.057 2738 3687 3962 0 0 0 0 0 0 26.41 26.46 28.83
1898 -0.50 -292.0 397.7 -10.2 115 1903 0.00 1.67 0.00 0.000 6 0.000 0.031 2738 2549 3962 0 0 0 0 0 0 28.83 26.54 28.83
2221 -0.51 -292.0 429.2 -10.2 131 2226 0.00 1.80 0.00 0.000 4 0.000 0.057 2738 3689 3961 0 0 0 0 0 0 28.83 26.48 28.83
2254 -0.53 -292.0 431.4 -10.0 132 2260 0.00 1.67 0.00 0.000 6 0.000 0.031 2738 2547 3959 0 0 0 0 0 0 28.83 26.58 28.83
2569 -0.55 -292.0 461.2 -9.1 148 2574 0.00 1.80 0.00 0.000 4 0.000 0.057 2738 3688 3958 0 0 0 0 0 0 28.83 26.49 28.83
2613 -0.57 -292.0 465.3 -9.4 150 2618 0.00 1.70 0.00 0.000 6 0.000 0.031 2738 2534 3957 0 0 0 0 0 0 28.83 26.58 28.83
2936 -0.59 -292.0 496.3 -9.6 166 2938 0.12 0.00 0.00 0.000 6 0.085 0.000 2668 2534 3954 0 0 0 0 0 0 26.61 28.83 28.83
3238 -0.57 -292.0 543.5 -16.0 181 3244 0.12 1.83 0.00 0.000 4 0.156 0.057 2700 3687 3950 0 0 0 0 0 0 26.42 26.50 28.83
3272 -0.55 -292.0 547.1 -15.5 182 3277 0.00 1.67 0.00 0.000 6 0.000 0.031 2700 2551 3950 0 0 0 0 0 0 28.83 26.60 28.83
3585 -0.55 -292.0 584.6 -11.2 198 3590 0.00 2.08 0.00 0.000 4 0.000 0.041 2700 1159 3947 0 0 0 0 0 0 28.83 26.52 28.83
3652 -0.55 -292.0 591.2 -10.8 201 3657 0.00 2.20 0.00 0.000 6 0.000 0.050 2700 2556 3949 0 0 0 0 0 0 28.83 26.51 28.83
3964 -0.55 -292.0 622.0 -9.8 213 3970 0.00 2.15 0.00 0.000 4 0.000 0.039 2700 1156 3944 0 0 0 0 0 0 28.83 26.53 28.83
4002 -0.55 -292.0 625.7 -9.9 214 4008 0.00 2.20 0.00 0.000 6 0.000 0.050 2700 2551 3944 0 0 0 0 0 0 28.83 26.51 28.83
4334 -0.55 -292.0 662.3 -11.4 225 4335 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2551 3941 0 0 0 0 0 0 28.83 28.83 28.83
4632 -0.55 -292.0 695.1 -10.8 235 4633 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2551 3939 0 0 0 0 0 0 28.83 28.83 28.83
4931 -0.55 -292.0 725.8 -9.7 245 4932 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2551 3937 0 0 0 0 0 0 28.83 28.83 28.83
5233 -0.55 -292.0 753.9 -9.6 255 5238 0.00 1.80 0.00 0.000 4 0.000 0.060 2700 3699 3934 0 0 0 0 0 0 28.83 26.49 28.83
5280 -0.55 -292.0 757.1 -9.6 256 5286 0.00 1.73 0.00 0.000 6 0.000 0.033 2700 2536 3934 0 0 0 0 0 0 28.83 26.60 28.83
5601 -0.56 -292.0 789.6 -9.9 267 5603 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2529 3932 0 0 0 0 0 0 28.83 28.83 28.83
5899 -0.56 -292.0 819.0 -9.3 277 5901 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2529 3930 0 0 0 0 0 0 28.83 28.83 28.83
6200 -0.57 -292.0 846.9 -9.6 287 6205 0.00 1.83 0.00 0.000 4 0.000 0.061 2700 3687 3928 0 0 0 0 0 0 28.83 26.48 28.83
6242 -0.58 -292.0 850.4 -9.8 288 6248 0.00 1.70 0.00 0.000 6 0.000 0.034 2700 2549 3928 0 0 0 0 0 0 28.83 26.60 28.83
6569 -0.59 -292.0 883.5 -10.0 299 6575 0.00 1.85 0.00 0.000 4 0.000 0.061 2700 3708 3926 0 0 0 0 0 0 28.83 26.48 28.83
6603 -0.60 -292.0 887.1 -9.9 300 6608 0.00 1.75 0.00 0.000 6 0.000 0.034 2700 2540 3925 0 0 0 0 0 0 28.83 26.60 28.83
6939 -0.61 -292.0 919.3 -9.4 311 6940 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2540 3924 0 0 0 0 0 0 28.83 28.83 28.83
7237 -0.62 -292.0 944.7 -8.0 321 7238 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2540 3923 0 0 0 0 0 0 28.83 28.83 28.83
7536 -0.63 -292.0 970.0 -8.5 331 7542 0.00 2.12 0.00 0.000 4 0.000 0.044 2700 1153 3922 0 0 0 0 0 0 28.83 26.50 28.83
7573 -0.64 -292.0 973.2 -8.6 332 7578 0.00 2.22 0.00 0.000 6 0.000 0.050 2700 2550 3921 0 0 0 0 0 0 28.83 26.49 28.83
7784 end dive: TARGET_DEPTH_EXCEEDED
state 7784 begin apogee
7789 -0.14 0.0 993.0 -9.5 339 7989 0.43 0.00 194.38 1.426 6 0.119 0.000 2843 2550 2967 0 0 0 0 0 0 26.36 28.83 23.64
7991 end apogee: CONTROL_FINISHED_OK
state 7991 begin climb
7993 0.79 292.0 1001.9 0.0 345 8260 0.85 2.50 255.00 1.383 4 0.063 0.052 3158 1172 1776 0 0 0 0 0 0 24.65 23.84 22.99
8283 0.71 292.0 960.0 22.8 355 8290 0.15 2.40 0.00 0.000 6 0.164 0.048 3123 2553 1773 0 0 0 0 0 0 24.26 24.35 28.83
8606 0.65 292.0 880.0 23.7 366 8611 0.00 1.83 0.00 0.000 4 0.000 0.057 3123 3693 1769 0 0 0 0 0 0 28.83 25.68 28.83
8713 0.59 292.0 857.3 23.2 369 8719 0.17 1.77 0.00 0.000 6 0.165 0.040 3082 2564 1769 0 0 0 0 0 0 25.72 25.87 28.83
9034 0.55 292.0 796.3 18.6 380 9040 0.00 2.25 0.00 0.000 4 0.000 0.047 3090 1144 1768 0 0 0 0 0 0 28.83 26.08 28.83
9062 0.51 292.0 796.3 18.6 380 9070 0.12 2.25 0.00 0.000 6 0.151 0.046 3059 2553 1766 0 0 0 0 0 0 26.00 26.11 28.83
9370 0.49 292.0 743.4 15.3 391 9375 0.00 1.80 0.00 0.000 4 0.000 0.055 3059 3690 1766 0 0 0 0 0 0 28.83 26.20 28.83
9484 0.47 292.0 728.2 15.8 394 9490 0.00 1.77 0.00 0.000 6 0.000 0.038 3064 2550 1766 0 0 0 0 0 0 28.83 26.29 28.83
9801 0.44 292.0 674.8 17.8 405 9803 0.12 0.00 0.00 0.000 6 0.175 0.000 3033 2542 1766 0 0 0 0 0 0 26.20 28.83 28.83
10098 0.44 295.4 636.2 12.1 415 10099 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2542 1766 0 0 0 0 0 0 28.83 28.83 28.83
10400 0.45 310.4 600.0 11.8 425 10417 0.00 0.00 15.82 1.117 6 0.000 0.000 3033 2542 1702 0 0 0 0 0 0 28.83 28.83 25.14
10718 0.45 310.4 558.9 12.7 441 10723 0.00 2.20 0.00 0.000 4 0.000 0.043 3040 1131 1696 0 0 0 0 0 0 28.83 26.21 28.83
10746 0.45 310.4 556.0 12.6 442 10752 0.00 2.28 0.00 0.000 6 0.000 0.045 3040 2564 1698 0 0 0 0 0 0 28.83 26.22 28.83
11065 0.44 310.4 513.0 13.6 458 11071 0.00 1.77 0.00 0.000 4 0.000 0.055 3040 3684 1698 0 0 0 0 0 0 28.83 26.29 28.83
11134 0.44 310.4 504.1 13.8 461 11140 0.00 1.75 0.00 0.000 6 0.000 0.037 3049 2537 1698 0 0 0 0 0 0 28.83 26.35 28.83
11453 0.43 310.4 461.8 13.1 477 11454 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 2530 1701 0 0 0 0 0 0 28.83 28.83 28.83
11755 0.44 327.6 425.3 11.7 492 11779 0.00 1.92 16.00 1.003 4 0.000 0.055 3049 3706 1632 0 0 0 0 0 0 28.83 26.06 25.22
11849 0.44 327.6 414.7 12.7 496 11855 0.00 1.77 0.00 0.000 6 0.000 0.036 3056 2551 1630 0 0 0 0 0 0 28.83 26.16 28.83
12164 0.54 418.9 380.6 9.7 512 12249 0.00 2.35 79.20 1.007 4 0.000 0.044 3066 1146 1258 0 0 0 0 0 0 28.83 25.04 24.30
12292 0.61 471.6 367.4 10.7 518 12349 0.00 2.30 45.35 0.962 6 0.000 0.043 3066 2556 1042 0 0 0 0 0 0 28.83 25.41 24.22
12650 0.61 471.6 318.0 14.0 536 12656 0.00 2.25 0.00 0.000 4 0.000 0.044 3074 1145 1039 0 0 0 0 0 0 28.83 25.88 28.83
12708 0.62 471.6 312.6 12.6 538 12715 0.00 2.25 0.00 0.000 6 0.000 0.041 3075 2564 1038 0 0 0 0 0 0 28.83 25.95 28.83
13014 0.62 471.6 269.4 16.6 554 13019 0.00 2.25 0.00 0.000 4 0.000 0.044 3083 1140 1038 0 0 0 0 0 0 28.83 26.13 28.83
13046 0.62 471.6 265.6 16.7 555 13052 0.00 2.22 0.00 0.000 6 0.000 0.041 3083 2553 1038 0 0 0 0 0 0 28.83 26.15 28.83
13360 0.62 471.6 213.1 16.0 571 13361 0.00 0.00 0.00 0.000 6 0.000 0.000 3083 2553 1037 0 0 0 0 0 0 28.83 28.83 28.83
13662 0.82 611.1 177.4 8.3 586 13803 0.17 2.35 127.07 0.812 4 0.070 0.044 3194 1147 484 0 0 0 0 0 0 26.39 24.99 24.34
13847 0.79 611.1 128.7 26.6 595 13853 0.17 2.28 0.00 0.000 6 0.132 0.041 3146 2550 482 0 0 0 0 0 0 25.31 25.39 28.83
14171 1.12 845.9 96.4 5.6 611 14173 0.30 0.00 0.00 0.000 6 0.050 0.000 3293 2551 478 0 0 0 0 0 0 26.05 28.83 28.83
14472 1.06 845.9 6.8 30.1 637 14479 0.17 2.17 0.00 0.000 4 0.158 0.040 3246 1145 479 0 0 0 0 0 0 26.03 26.16 28.83
14484 end climb: SURFACE_DEPTH_REACHED
state 14484 begin surface coast
14495 end surface coast: CONTROL_FINISHED_OK
state 14495 begin surface