OKMC Aug12 * SG165 * Dive index * Mission links * Dive 120 * 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  120 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  40 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  8 R_STBD_OVSHOOT  29 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  -274542.78 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  010912,225453,1851.216,12220.855,25,1.1,42,-2.1 TGT_NAME  M3
_CALLS  1 TGT_LATLONG  1845.000,12224.280
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.98 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -74.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  010912,230543,1851.580,12220.603,12,1.3,12,-2.1 MHEAD_RNG_PITCHd_Wd  144.9,13787,-15.1,-12.222
SPEED_LIMITS  0.212,0.379 D_GRID  1582

Post-dive calculations and measurements:
FINISH  1.6,1.021523 _10V_AH  9.8,17.985
SM_CCo  14587,0.00,0.000,0,0,478,610.55 FG_AHR_24Vo  0.000
SM_GC  2.38,7.95,0.00,0.00,0.031,0.000,0.000,151,2555,478,-8.44,0.17,610.55,0,0,0,0,0,0,26.24,28.83,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1846.42,12219.88,010912,181827 MEM  305168
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  23387,655
HUMID  49.33 CAP_FILE_SIZE  166596,0
INTERNAL_PRESSURE  9.19993 CFSIZE  260165632,188952576
TCM_TEMP  25.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS  0 CURRENT  0.357,305.8,1
SC_FREEKB  7723904 GPS  020912,031036,1851.228,12219.737,38,1.0,38,-2.1
_24V_AH  22.9,33.554

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21227110.81 nil000.00
Roll_motor11558155.56 nil000.00
VBD_pump_during_apogee740141123931.74 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon14515165340.90
Iridium_during_xfer11161042660.18 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS14507.13
TT8206319400.46
LPSleep99182212.87
TT8_Active79719154.82
TT8_Sampling207339808.87
TT8_CF837845169.77
TT8_Kalman000.00
Analog_circuits224212263.68
GPS_charging000.00
Compass1589577.88
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 93 0.00 0.00 -72.55 0.000 2 0.000 0.000 157 2558 2160 0 0 0 0 0 0 28.83 28.83 28.83
96 -0.79 -292.0 3.1 -3.8 13 164 9.48 2.22 -47.00 0.000 4 0.228 0.050 2634 1137 3960 0 0 0 0 0 0 25.63 26.06 26.36
174 -0.66 -292.0 17.4 -35.3 25 181 0.17 2.22 0.00 0.000 6 0.190 0.044 2669 2551 3962 0 0 0 0 0 0 25.82 26.05 28.83
336 -0.56 -292.0 86.5 -41.7 38 338 0.15 0.00 0.00 0.000 6 0.185 0.000 2709 2553 3961 0 0 0 0 0 0 25.98 28.83 28.83
635 -0.51 -292.0 176.6 -25.8 53 636 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2553 3961 0 0 0 0 0 0 28.83 28.83 28.83
937 -0.46 -292.0 242.1 -19.9 68 939 0.10 0.00 0.00 0.000 6 0.179 0.000 2735 2553 3962 0 0 0 0 0 0 26.29 28.83 28.83
1236 -0.45 -292.0 277.9 -10.8 83 1242 0.00 2.15 0.00 0.000 4 0.000 0.037 2736 1138 3962 0 0 0 0 0 0 28.83 26.41 28.83
1281 -0.45 -292.0 283.0 -10.9 85 1287 0.00 2.22 0.00 0.000 6 0.000 0.046 2730 2557 3962 0 0 0 0 0 0 28.83 26.39 28.83
1605 -0.45 -292.0 320.4 -11.8 101 1606 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2557 3962 0 0 0 0 0 0 28.83 28.83 28.83
1908 -0.45 -292.0 353.1 -9.8 116 1913 0.00 2.17 0.00 0.000 4 0.000 0.037 2730 1129 3961 0 0 0 0 0 0 28.83 26.45 28.83
2007 -0.46 -292.0 361.8 -10.2 120 2014 0.00 2.22 0.00 0.000 6 0.000 0.047 2729 2552 3962 0 0 0 0 0 0 28.83 26.44 28.83
2312 -0.47 -292.0 391.3 -8.7 136 2317 0.00 1.77 0.00 0.000 4 0.000 0.056 2728 3702 3961 0 0 0 0 0 0 28.83 26.43 28.83
2359 -0.48 -292.0 394.6 -7.8 138 2364 0.00 1.73 0.00 0.000 6 0.000 0.031 2728 2531 3961 0 0 0 0 0 0 28.83 26.54 28.83
2677 -0.49 -292.0 418.2 -7.1 154 2683 0.00 1.83 0.00 0.000 4 0.000 0.055 2727 3690 3958 0 0 0 0 0 0 28.83 26.44 28.83
2715 -0.50 -292.0 420.3 -7.5 155 2722 0.00 1.67 0.00 0.000 6 0.000 0.031 2726 2545 3958 0 0 0 0 0 0 28.83 26.55 28.83
3023 -0.51 -292.0 452.2 -11.3 171 3024 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2539 3955 0 0 0 0 0 0 28.83 28.83 28.83
3324 -0.52 -292.0 486.9 -11.7 186 3329 0.00 2.10 0.00 0.000 4 0.000 0.038 2727 1151 3952 0 0 0 0 0 0 28.83 26.48 28.83
3357 -0.54 -292.0 490.0 -11.8 187 3363 0.00 2.20 0.00 0.000 6 0.000 0.047 2726 2551 3951 0 0 0 0 0 0 28.83 26.46 28.83
3673 -0.55 -292.0 525.4 -10.6 203 3678 0.00 1.77 0.00 0.000 4 0.000 0.057 2726 3693 3949 0 0 0 0 0 0 28.83 26.44 28.83
3700 -0.56 -292.0 528.0 -10.4 204 3705 0.00 1.67 0.00 0.000 6 0.000 0.033 2726 2550 3948 0 0 0 0 0 0 28.83 26.56 28.83
4019 -0.58 -292.0 559.4 -9.4 220 4021 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2543 3946 0 0 0 0 0 0 28.83 28.83 28.83
4320 -0.60 -292.0 585.0 -8.1 235 4321 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2543 3943 0 0 0 0 0 0 28.83 28.83 28.83
4641 -0.61 -292.0 610.8 -8.5 249 4643 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2543 3941 0 0 0 0 0 0 28.83 28.83 28.83
4939 -0.63 -292.0 638.3 -9.1 259 4941 0.12 0.00 0.00 0.000 6 0.090 0.000 2665 2543 3939 0 0 0 0 0 0 26.58 28.83 28.83
5240 -0.61 -292.0 679.7 -14.3 269 5245 0.00 1.83 0.00 0.000 4 0.000 0.057 2658 3684 3937 0 0 0 0 0 0 28.83 26.44 28.83
5282 -0.59 -292.0 685.2 -14.7 270 5289 0.10 1.70 0.00 0.000 6 0.130 0.031 2693 2552 3936 0 0 0 0 0 0 26.32 26.56 28.83
5609 -0.59 -292.0 720.9 -9.9 281 5614 0.00 2.12 0.00 0.000 4 0.000 0.040 2693 1151 3935 0 0 0 0 0 0 28.83 26.46 28.83
5676 -0.59 -292.0 726.9 -9.4 283 5683 0.00 2.20 0.00 0.000 6 0.000 0.048 2687 2550 3934 0 0 0 0 0 0 28.83 26.45 28.83
6008 -0.58 -292.0 757.5 -9.4 294 6014 0.00 2.15 0.00 0.000 4 0.000 0.037 2687 1150 3933 0 0 0 0 0 0 28.83 26.46 28.83
6045 -0.58 -292.0 760.5 -9.1 295 6050 0.00 2.22 0.00 0.000 6 0.000 0.048 2687 2557 3932 0 0 0 0 0 0 28.83 26.44 28.83
6375 -0.58 -292.0 789.8 -8.9 306 6380 0.00 1.80 0.00 0.000 4 0.000 0.059 2686 3689 3931 0 0 0 0 0 0 28.83 26.41 28.83
6453 -0.58 -292.0 795.4 -8.9 308 6459 0.00 1.70 0.00 0.000 6 0.000 0.033 2687 2544 3930 0 0 0 0 0 0 28.83 26.56 28.83
6774 -0.58 -292.0 829.2 -11.1 319 6780 0.00 2.10 0.00 0.000 4 0.000 0.038 2686 1159 3928 0 0 0 0 0 0 28.83 26.46 28.83
6863 -0.58 -292.0 836.2 -10.9 321 6870 0.00 2.20 0.00 0.000 6 0.000 0.048 2687 2553 3928 0 0 0 0 0 0 28.83 26.44 28.83
7168 -0.58 -292.0 876.2 -12.5 332 7173 0.00 2.15 0.00 0.000 4 0.000 0.038 2686 1151 3927 0 0 0 0 0 0 28.83 26.46 28.83
7226 -0.58 -292.0 880.2 -12.6 333 7233 0.00 2.22 0.00 0.000 6 0.000 0.048 2684 2558 3926 0 0 0 0 0 0 28.83 26.43 28.83
7531 -0.58 -292.0 918.2 -11.2 344 7536 0.00 2.17 0.00 0.000 4 0.000 0.039 2687 1147 3925 0 0 0 0 0 0 28.83 26.45 28.83
7565 -0.58 -292.0 922.2 -11.4 345 7570 0.00 2.22 0.00 0.000 6 0.000 0.047 2686 2550 3924 0 0 0 0 0 0 28.83 26.43 28.83
7902 -0.58 -292.0 957.3 -10.4 356 7907 0.00 1.77 0.00 0.000 4 0.000 0.059 2686 3695 3923 0 0 0 0 0 0 28.83 26.39 28.83
7945 -0.58 -292.0 961.1 -10.2 357 7950 0.00 1.73 0.00 0.000 6 0.000 0.034 2687 2526 3922 0 0 0 0 0 0 28.83 26.56 28.83
8268 end dive: TARGET_DEPTH_EXCEEDED
state 8268 begin apogee
8274 -0.14 0.0 992.2 -9.2 368 8478 0.45 0.00 195.50 1.411 6 0.118 0.000 2838 2526 2966 0 0 0 0 0 0 26.22 28.83 23.56
8479 end apogee: CONTROL_FINISHED_OK
state 8479 begin climb
8483 0.79 292.0 1000.5 0.0 375 8749 0.85 0.00 257.02 1.365 6 0.060 0.000 3148 2523 1775 0 0 0 0 0 0 24.65 28.83 22.94
9048 0.72 292.0 870.0 28.6 394 9053 0.00 1.90 0.00 0.000 4 0.000 0.055 3148 3700 1769 0 0 0 0 0 0 28.83 25.62 28.83
9167 0.65 292.0 842.2 29.7 397 9174 0.20 1.75 0.00 0.000 6 0.165 0.038 3102 2585 1769 0 0 0 0 0 0 25.67 25.84 28.83
9474 0.60 292.0 766.3 21.7 408 9480 0.00 2.28 0.00 0.000 4 0.000 0.045 3111 1130 1768 0 0 0 0 0 0 28.83 26.06 28.83
9502 0.56 292.0 766.3 21.7 408 9509 0.15 2.28 0.00 0.000 6 0.146 0.046 3071 2550 1766 0 0 0 0 0 0 25.94 26.08 28.83
9811 0.53 292.0 705.9 17.0 419 9816 0.00 1.80 0.00 0.000 4 0.000 0.055 3070 3690 1766 0 0 0 0 0 0 28.83 26.18 28.83
9868 0.50 292.0 699.4 17.3 420 9875 0.00 1.77 0.00 0.000 6 0.000 0.037 3076 2536 1766 0 0 0 0 0 0 28.83 26.25 28.83
10175 0.46 292.0 641.4 17.2 431 10181 0.12 2.17 0.00 0.000 4 0.175 0.044 3047 1140 1763 0 0 0 0 0 0 26.13 26.26 28.83
10229 0.44 292.0 636.6 16.1 432 10234 0.00 2.22 0.00 0.000 6 0.000 0.045 3047 2551 1765 0 0 0 0 0 0 28.83 26.28 28.83
10546 0.44 305.8 596.9 11.8 443 10565 0.00 1.80 11.75 1.060 4 0.000 0.053 3047 3692 1719 0 0 0 0 0 0 28.83 26.08 25.17
10598 0.43 307.1 591.0 12.2 445 10603 0.00 1.77 0.00 0.000 6 0.000 0.037 3055 2544 1719 0 0 0 0 0 0 28.83 26.15 28.83
10911 0.41 307.1 548.5 13.5 461 10917 0.12 2.20 0.00 0.000 4 0.169 0.042 3025 1128 1718 0 0 0 0 0 0 26.10 26.22 28.83
10981 0.49 370.1 542.3 10.5 464 11045 0.00 2.25 57.55 1.119 6 0.000 0.044 3025 2553 1458 0 0 0 0 0 0 28.83 26.25 24.37
11358 0.56 415.3 503.9 11.0 483 11408 0.12 1.90 40.00 1.070 4 0.089 0.054 3104 3690 1276 0 0 0 0 0 0 26.03 25.22 24.39
11433 0.54 415.3 491.9 17.2 486 11439 0.17 1.83 0.00 0.000 6 0.151 0.036 3065 2544 1272 0 0 0 0 0 0 25.34 25.47 28.83
11747 0.53 415.3 433.5 16.8 502 11752 0.00 2.20 0.00 0.000 4 0.000 0.044 3073 1140 1271 0 0 0 0 0 0 28.83 25.97 28.83
11831 0.53 415.3 421.0 15.0 506 11837 0.00 2.25 0.00 0.000 6 0.000 0.043 3074 2556 1270 0 0 0 0 0 0 28.83 26.05 28.83
12155 0.52 415.3 362.4 19.4 522 12161 0.00 2.22 0.00 0.000 4 0.000 0.044 3083 1133 1270 0 0 0 0 0 0 28.83 26.17 28.83
12194 0.50 415.3 357.8 19.2 523 12202 0.00 2.25 0.00 0.000 6 0.000 0.043 3083 2555 1271 0 0 0 0 0 0 28.83 26.20 28.83
12498 0.49 415.3 299.4 16.8 539 12500 0.12 0.00 0.00 0.000 6 0.155 0.000 3050 2556 1270 0 0 0 0 0 0 26.18 28.83 28.83
12799 0.65 537.1 270.2 8.8 554 12922 0.12 2.40 108.60 0.897 4 0.093 0.045 3137 1142 775 0 0 0 0 1 0 26.40 25.06 24.34
13069 0.64 537.1 217.7 19.7 567 13077 0.15 2.25 0.00 0.000 6 0.131 0.041 3094 2552 768 0 0 0 0 0 0 25.60 25.70 28.83
13390 0.66 541.9 170.9 12.1 583 13400 0.00 2.22 4.68 0.584 4 0.000 0.039 3101 1128 756 0 0 0 0 0 0 28.83 25.99 25.10
13442 0.68 541.9 165.5 12.3 585 13448 0.00 2.25 0.00 0.000 6 0.000 0.039 3101 2555 753 0 0 0 0 0 0 28.83 26.03 28.83
13758 0.92 701.1 138.5 7.7 601 13830 0.20 2.33 65.32 0.773 4 0.064 0.043 3232 1135 484 0 0 0 0 0 0 26.26 25.31 24.65
13880 0.90 701.1 113.1 23.7 607 13886 0.17 2.30 0.00 0.000 6 0.130 0.041 3181 2565 482 0 0 0 0 0 0 25.48 25.58 28.83
14204 1.01 773.0 72.1 10.2 623 14210 0.00 2.22 0.00 0.000 4 0.000 0.040 3187 1128 479 0 0 0 0 0 0 28.83 26.03 28.83
14240 1.12 847.0 69.6 10.1 624 14246 0.17 2.22 0.00 0.000 6 0.064 0.037 3296 2553 479 0 0 0 0 0 0 26.10 26.06 28.83
14490 end climb: SURFACE_DEPTH_REACHED
state 14490 begin surface coast
14508 end surface coast: CONTROL_FINISHED_OK
state 14508 begin surface