OKMC Aug12 * SG165 * Dive index * Mission links * Dive 96 * 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  96 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  46 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  8 R_STBD_OVSHOOT  31 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  -274512.69 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  280812,170453,1851.041,12222.366,37,1.3,37,-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  1.88 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -74.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  280812,171125,1851.078,12222.286,10,1.4,10,-2.1 MHEAD_RNG_PITCHd_Wd  118.0,36808,-15.1,-12.222
SPEED_LIMITS  0.212,0.379 D_GRID  1525

Post-dive calculations and measurements:
FINISH  1.0,1.021378 _10V_AH  9.8,14.901
SM_CCo  13239,0.00,0.000,0,0,478,610.55 FG_AHR_24Vo  0.000
SM_GC  1.68,7.85,0.00,0.00,0.034,0.000,0.000,164,2553,478,-8.45,0.08,610.55,0,0,0,0,0,0,26.22,28.83,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1846.42,12221.81,280812,121240 MEM  304424
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  23413,591
HUMID  50.43 CAP_FILE_SIZE  155479,0
INTERNAL_PRESSURE  9.19016 CFSIZE  260165632,190976000
TCM_TEMP  24.40 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  1 CURRENT  0.309,299.9,1
SC_FREEKB  7733120 GPS  280812,205353,1851.194,12222.676,38,1.4,38,-2.1
_24V_AH  23.0,22.639

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21233116.18 nil000.00
Roll_motor10660148.31 nil000.00
VBD_pump_during_apogee734141523904.46 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2410358.16 nil000.00
Iridium_during_connect28160104.74 SciCon13186165067.17
Iridium_during_xfer150223769.67 nil000.00
Transponder_ping04202.42 nil000.00
GUMSTIX_24V000.00
GPS13506.75
TT8195119378.63
LPSleep87922188.70
TT8_Active75419146.46
TT8_Sampling181739709.06
TT8_CF831245140.11
TT8_Kalman000.00
Analog_circuits171512201.71
GPS_charging000.00
Compass1539575.43
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 0 103 0.00 0.00 -83.10 0.000 2 0.000 0.000 166 2554 2460 0 0 0 0 0 0 28.83 28.83 28.83
107 -0.79 -292.0 3.4 -7.6 15 157 9.45 2.15 -33.45 0.000 4 0.233 0.048 2637 1144 3959 0 0 0 0 0 0 25.82 26.17 26.44
386 -0.69 -292.0 109.5 -39.6 41 392 0.15 2.17 0.00 0.000 6 0.190 0.046 2666 2549 3961 0 0 0 0 0 0 26.07 26.25 28.83
710 -0.62 -292.0 213.3 -24.8 57 715 0.00 2.12 0.00 0.000 4 0.000 0.034 2667 1130 3961 0 0 0 0 0 0 28.83 26.36 28.83
722 -0.55 -292.0 213.3 -24.8 57 729 0.17 2.20 0.00 0.000 6 0.157 0.044 2707 2550 3961 0 0 0 0 0 0 26.21 26.35 28.83
1037 -0.53 -292.0 273.7 -16.7 73 1042 0.00 1.75 0.00 0.000 4 0.000 0.054 2701 3690 3961 0 0 0 0 0 0 28.83 26.39 28.83
1094 -0.50 -292.0 281.1 -16.6 75 1102 0.00 1.70 0.00 0.000 6 0.000 0.030 2701 2534 3962 0 0 0 0 0 0 28.83 26.48 28.83
1400 -0.48 -292.0 328.0 -14.2 91 1407 0.12 1.80 0.00 0.000 4 0.154 0.054 2740 3692 3961 0 0 0 0 0 0 26.36 26.44 28.83
1459 -0.48 -292.0 333.6 -13.5 93 1466 0.00 1.67 0.00 0.000 6 0.000 0.031 2740 2570 3962 0 0 0 0 0 0 28.83 26.53 28.83
1765 -0.49 -292.0 367.5 -10.2 109 1766 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2563 3961 0 0 0 0 0 0 28.83 28.83 28.83
2067 -0.50 -292.0 396.3 -9.2 124 2072 0.00 1.77 0.00 0.000 4 0.000 0.057 2740 3684 3961 0 0 0 0 0 0 28.83 26.47 28.83
2096 -0.52 -292.0 398.5 -9.1 125 2101 0.00 1.67 0.00 0.000 6 0.000 0.031 2740 2534 3961 0 0 0 0 0 0 28.83 26.57 28.83
2415 -0.53 -292.0 429.4 -9.9 141 2416 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2535 3960 0 0 0 0 0 0 28.83 28.83 28.83
2717 -0.55 -292.0 458.4 -8.7 156 2723 0.00 2.05 0.00 0.000 4 0.000 0.041 2740 1166 3958 0 0 0 0 0 0 28.83 26.50 28.83
2755 -0.57 -292.0 460.6 -8.3 157 2763 0.10 2.17 0.00 0.000 6 0.099 0.048 2682 2556 3958 0 0 0 0 0 0 26.51 26.51 28.83
3061 -0.55 -292.0 499.3 -13.8 173 3063 0.12 0.00 0.00 0.000 6 0.155 0.000 2715 2557 3954 0 0 0 0 0 0 26.43 28.83 28.83
3364 -0.56 -292.0 529.1 -10.7 188 3369 0.00 2.12 0.00 0.000 4 0.000 0.040 2712 1154 3951 0 0 0 0 0 0 28.83 26.52 28.83
3396 -0.57 -292.0 531.9 -10.6 189 3402 0.00 2.20 0.00 0.000 6 0.000 0.050 2715 2554 3950 0 0 0 0 0 0 28.83 26.51 28.83
3712 -0.57 -292.0 565.3 -10.8 205 3713 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 2555 3948 0 0 0 0 0 0 28.83 28.83 28.83
4012 -0.58 -292.0 597.9 -10.7 220 4013 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 2554 3946 0 0 0 0 0 0 28.83 28.83 28.83
4322 -0.59 -292.0 632.6 -11.4 231 4327 0.00 1.77 0.00 0.000 4 0.000 0.060 2713 3693 3943 0 0 0 0 0 0 28.83 26.49 28.83
4359 -0.60 -292.0 636.5 -11.3 232 4364 0.00 1.67 0.00 0.000 6 0.000 0.033 2714 2552 3942 0 0 0 0 0 0 28.83 26.60 28.83
4692 -0.61 -292.0 669.5 -10.2 243 4697 0.00 2.10 0.00 0.000 4 0.000 0.041 2713 1158 3940 0 0 0 0 0 0 28.83 26.52 28.83
4775 -0.62 -292.0 676.9 -10.5 245 4780 0.00 2.20 0.00 0.000 6 0.000 0.050 2712 2561 3942 0 0 0 0 0 0 28.83 26.51 28.83
5092 -0.63 -292.0 713.3 -10.9 256 5097 0.00 1.77 0.00 0.000 4 0.000 0.060 2713 3698 3938 0 0 0 0 0 0 28.83 26.48 28.83
5126 -0.64 -292.0 717.0 -10.7 257 5131 0.00 1.73 0.00 0.000 6 0.000 0.034 2713 2546 3937 0 0 0 0 0 0 28.83 26.60 28.83
5462 -0.65 -292.0 750.7 -10.4 268 5467 0.00 1.83 0.00 0.000 4 0.000 0.059 2713 3695 3935 0 0 0 0 0 0 28.83 26.48 28.83
5509 -0.67 -292.0 754.2 -10.3 269 5516 0.12 1.70 0.00 0.000 6 0.089 0.034 2643 2541 3934 0 0 0 0 0 0 26.55 26.60 28.83
5833 -0.64 -292.0 809.2 -17.3 280 5839 0.12 2.08 0.00 0.000 4 0.161 0.039 2681 1168 3932 0 0 0 0 0 0 26.41 26.52 28.83
5898 -0.63 -292.0 819.1 -16.1 282 5903 0.00 2.20 0.00 0.000 6 0.000 0.050 2681 2555 3933 0 0 0 0 0 0 28.83 26.50 28.83
6233 -0.63 -292.0 862.4 -13.1 293 6238 0.00 1.77 0.00 0.000 4 0.000 0.060 2681 3690 3931 0 0 0 0 0 0 28.83 26.48 28.83
6270 -0.63 -292.0 866.5 -12.6 294 6276 0.00 1.70 0.00 0.000 6 0.000 0.033 2681 2545 3930 0 0 0 0 0 0 28.83 26.60 28.83
6600 -0.63 -292.0 910.1 -13.5 305 6606 0.00 2.10 0.00 0.000 4 0.000 0.041 2681 1148 3931 0 0 0 0 0 0 28.83 26.51 28.83
6678 -0.63 -292.0 918.2 -13.0 307 6684 0.00 2.22 0.00 0.000 6 0.000 0.050 2681 2553 3928 0 0 0 0 0 0 28.83 26.50 28.83
6998 -0.63 -292.0 952.8 -8.9 318 6999 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2556 3926 0 0 0 0 0 0 28.83 28.83 28.83
7298 -0.63 -292.0 982.2 -12.1 328 7303 0.00 1.77 0.00 0.000 4 0.000 0.060 2678 3701 3924 0 0 0 0 0 0 28.83 26.46 28.83
7372 -0.63 -292.0 988.5 -11.3 330 7377 0.00 1.70 0.00 0.000 6 0.000 0.034 2682 2550 3924 0 0 0 0 0 0 28.83 26.59 28.83
7392 end dive: TARGET_DEPTH_EXCEEDED
state 7392 begin apogee
7398 -0.14 0.0 990.6 -9.6 331 7598 0.45 0.00 194.98 1.415 6 0.122 0.000 2835 2543 2967 0 0 0 0 0 0 26.34 28.83 23.66
7600 end apogee: CONTROL_FINISHED_OK
state 7600 begin climb
7602 0.79 292.0 995.3 0.0 337 7868 0.88 2.08 254.12 1.369 4 0.067 0.058 3145 3688 1775 0 0 0 0 0 0 24.65 23.87 23.05
8002 0.72 292.0 910.5 27.3 351 8008 0.12 1.83 0.00 0.000 6 0.188 0.039 3125 2562 1771 0 0 0 0 0 0 25.02 25.16 28.83
8333 0.65 292.0 828.5 24.4 362 8338 0.00 2.25 0.00 0.000 4 0.000 0.046 3134 1142 1769 0 0 0 0 0 0 28.83 25.87 28.83
8345 0.59 292.0 828.5 24.4 362 8351 0.20 2.28 0.00 0.000 6 0.152 0.046 3079 2556 1767 0 0 0 0 0 0 25.75 25.89 28.83
8673 0.56 292.0 764.6 18.7 373 8678 0.00 1.83 0.00 0.000 4 0.000 0.057 3079 3699 1766 0 0 0 0 0 0 28.83 26.10 28.83
8752 0.52 292.0 750.9 19.8 375 8757 0.00 1.80 0.00 0.000 6 0.000 0.038 3084 2539 1764 0 0 0 0 0 0 28.83 26.19 28.83
9072 0.48 292.0 683.6 21.0 386 9078 0.12 1.85 0.00 0.000 4 0.180 0.054 3047 3696 1765 0 0 0 0 0 0 26.12 26.24 28.83
9116 0.45 292.0 676.4 20.9 387 9121 0.00 1.80 0.00 0.000 6 0.000 0.038 3053 2528 1766 0 0 0 0 0 0 28.83 26.29 28.83
9442 0.43 292.0 623.2 15.0 398 9447 0.00 2.15 0.00 0.000 4 0.000 0.044 3063 1130 1765 0 0 0 0 0 0 28.83 26.31 28.83
9489 0.42 292.0 618.0 14.8 399 9496 0.15 2.22 0.00 0.000 6 0.147 0.047 3021 2551 1764 0 0 0 0 0 0 26.20 26.33 28.83
9799 0.45 314.4 580.7 11.6 412 9823 0.00 1.80 19.00 1.106 4 0.000 0.056 3020 3692 1684 0 0 0 0 0 0 28.83 25.94 25.08
9920 0.45 314.4 565.1 13.1 418 9926 0.00 1.80 0.00 0.000 6 0.000 0.036 3026 2547 1683 0 0 0 0 0 0 28.83 26.09 28.83
10243 0.46 327.1 525.9 11.9 434 10263 0.00 0.00 12.88 1.027 6 0.000 0.000 3026 2542 1632 0 0 0 0 0 0 28.83 28.83 25.08
10564 0.52 370.3 488.9 11.0 450 10611 0.00 2.33 38.78 1.076 4 0.000 0.044 3035 1134 1457 0 0 0 0 0 0 28.83 25.39 24.58
10650 0.60 418.4 480.2 10.9 454 10700 0.12 2.28 42.95 1.055 6 0.085 0.043 3116 2552 1261 0 0 0 0 0 0 25.62 25.60 24.24
11008 0.55 418.4 396.0 24.8 472 11014 0.15 1.80 0.00 0.000 4 0.158 0.051 3070 3687 1258 0 0 0 0 0 0 25.82 25.91 28.83
11074 0.53 418.4 383.5 20.8 475 11079 0.00 1.77 0.00 0.000 6 0.000 0.036 3075 2551 1257 0 0 0 0 0 0 28.83 26.03 28.83
11397 0.51 418.4 336.5 14.1 491 11398 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2546 1256 0 0 0 0 0 0 28.83 28.83 28.83
11701 0.50 418.4 288.0 17.3 506 11706 0.00 1.80 0.00 0.000 4 0.000 0.053 3076 3687 1256 0 0 0 0 0 0 28.83 26.25 28.83
11809 0.49 418.4 269.1 17.4 511 11816 0.12 1.73 0.00 0.000 6 0.156 0.035 3050 2547 1255 0 0 0 0 0 0 26.18 26.33 28.83
12129 0.77 620.6 240.6 6.5 527 12311 0.22 2.28 171.68 0.871 4 0.060 0.041 3176 1144 484 0 0 0 0 0 0 26.41 24.87 24.20
12370 0.72 620.6 177.6 32.3 538 12378 0.20 2.30 0.00 0.000 6 0.135 0.044 3120 2550 481 0 0 0 0 0 0 25.27 25.36 28.83
12675 1.02 819.0 131.5 6.6 554 12681 0.25 2.20 0.00 0.000 4 0.073 0.037 3219 1147 479 0 0 0 0 0 0 25.94 25.94 28.83
12743 1.25 940.2 125.3 8.8 557 12749 0.20 2.22 0.00 0.000 6 0.090 0.040 3298 2565 480 0 0 0 0 0 0 25.98 26.01 28.83
13052 1.18 940.2 32.6 35.7 574 13058 0.00 2.20 0.00 0.000 4 0.000 0.041 3307 1143 479 0 0 0 0 0 0 28.83 26.17 28.83
13076 1.11 940.2 23.9 36.2 576 13084 0.22 2.22 0.00 0.000 6 0.158 0.044 3245 2553 479 0 0 0 0 0 0 26.03 26.18 28.83
13143 end climb: SURFACE_DEPTH_REACHED
state 13144 begin surface coast
13161 end surface coast: CONTROL_FINISHED_OK
state 13161 begin surface