OKMC Nov11 * SG165 * Dive index * Mission links * Dive 132 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  165 HD_B  0.010078 PITCH_ADJ_GAIN  0.0070000002 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  132 HEADING  60 ROLL_MIN  200 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3692 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  11 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  11 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1955 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1990 ALTIM_FREQUENCY  13
D_ABORT  1020 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  3 SM_CC  450 ROLL_TIMEOUT  15 XPDR_VALID  6
T_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  48 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  54 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0.85000002
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  9 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  3 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  163 VBD_MIN  485 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE2  53
T_DIVE  300 UPLOAD_DIVES_MAX  -1 C_VBD  2786 DEVICE3  35
T_MISSION  320 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  4 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -4 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -271577.5 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  1001 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  9.5 XPDR_DEVICE  24
MAX_BUOY  250 PITCH_MIN  180 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3922 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2950 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043567759
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -57.316994 SEABIRD_T_H  0.00062679156
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000116182 SEABIRD_T_I  2.4204959e-05
MASS  51872 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.6176024e-06
NAV_MODE  0 PITCH_GAIN  30 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.134539
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1435308
KALMAN_USE  2 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.0010041125
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00016055659

Pre-dive calculations and measurements:
GPS1  181211,172924,2009.219,11947.192,24,1.0,41,-2.2 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2014.617,11956.945
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.084,-0.266
_SM_DEPTHo  8.88 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -62.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  181211,173531,2009.218,11946.977,9,1.9,14,-2.2 MHEAD_RNG_PITCHd_Wd  62.2,20000,-15.2,-11.000
SPEED_LIMITS  0.191,0.337 D_GRID  3367

Post-dive calculations and measurements:
FINISH  7.6,1.022836 _10V_AH  10.2,30.908
SM_CCo  15481,0.00,0.000,0,0,480,565.66 FG_AHR_24Vo  0.000
SM_GC  7.94,8.12,0.00,0.00,0.043,0.000,0.000,168,1997,480,-8.62,1.19,565.66,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2004.18,11946.97,181211,121235 MEM  324820
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  80229,1385
HUMID  41.61 CAP_FILE_SIZE  167329,0
INTERNAL_PRESSURE  9.35619 CFSIZE  260165632,187412480
TCM_TEMP  24.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  10 GPS  181211,215507,2010.140,11947.561,33,0.9,33,-2.2
_24V_AH  22.9,31.290

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22240123.89 SBE_CT93824515.78
Roll_motor14057184.08 AA3830119533903.20
VBD_pump_during_apogee688130120514.35 WL_BB2F7141051718.74
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2210353.13 nil000.00
Iridium_during_connect2516092.53 nil000.00
Iridium_during_xfer184223941.33 nil000.00
Transponder_ping242024.05 nil000.00
GUMSTIX_24V000.00
GPS16508.59
TT8320919648.28
LPSleep84982189.85
TT8_Active79319160.20
TT8_Sampling2985391212.15
TT8_CF834545161.26
TT8_Kalman000.00
Analog_circuits218312267.26
GPS_charging000.00
Compass272715417.26
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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.80 -243.3 0.0 0.0 0 117 0.00 0.00 -98.65 0.000 2 0.000 0.000 138 2004 3062 0 0 0 0 0 0 28.83 28.83 28.83
121 -0.80 -243.3 11.6 -8.2 16 149 10.18 0.00 -12.75 0.000 6 0.241 0.000 2681 2003 3780 0 0 0 0 0 0 25.44 28.83 26.37
469 -0.72 -243.3 118.7 -24.9 80 477 0.12 2.12 0.00 0.000 4 0.189 0.043 2710 3348 3781 0 0 0 0 0 0 25.97 26.13 28.83
590 -0.68 -243.3 139.8 -17.6 101 596 0.00 2.10 0.00 0.000 6 0.000 0.031 2711 1952 3782 0 0 0 0 0 0 28.83 26.25 28.83
922 -0.63 -243.3 208.6 -21.4 159 931 0.12 2.12 0.00 0.000 4 0.168 0.048 2748 559 3782 0 0 0 0 0 0 26.14 26.22 28.83
977 -0.61 -243.3 218.9 -17.9 164 987 0.00 2.08 0.00 0.000 6 0.000 0.035 2741 1943 3783 0 0 0 0 0 0 28.83 26.30 28.83
1288 -0.60 -243.3 261.5 -13.2 195 1297 0.00 2.15 0.00 0.000 4 0.000 0.050 2739 3353 3782 0 0 0 0 0 0 28.83 26.26 28.83
1323 -0.59 -243.3 266.2 -14.0 198 1331 0.00 2.12 0.00 0.000 6 0.000 0.032 2740 1961 3782 0 0 0 0 0 0 28.83 26.37 28.83
1630 -0.59 -243.3 302.9 -10.5 229 1631 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 1961 3783 0 0 0 0 0 0 28.83 28.83 28.83
1932 -0.59 -243.3 334.0 -10.8 259 1933 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 1961 3782 0 0 0 0 0 0 28.83 28.83 28.83
2234 -0.59 -243.3 371.7 -11.0 289 2243 0.00 2.17 0.00 0.000 4 0.000 0.050 2740 551 3781 0 0 0 0 0 0 28.83 26.31 28.83
2279 -0.60 -243.3 376.7 -11.5 293 2286 0.00 2.15 0.00 0.000 6 0.000 0.037 2739 1959 3781 0 0 0 0 0 0 28.83 26.39 28.83
2586 -0.61 -243.3 409.4 -10.2 324 2595 0.00 2.15 0.00 0.000 4 0.000 0.053 2739 3353 3779 0 0 0 0 0 0 28.83 26.29 28.83
2668 -0.63 -243.3 417.2 -9.1 332 2677 0.00 2.10 0.00 0.000 6 0.000 0.031 2739 1950 3779 0 0 0 0 0 0 28.83 26.44 28.83
2978 -0.64 -243.3 446.1 -9.4 363 2987 0.00 2.20 0.00 0.000 4 0.000 0.051 2739 3359 3777 0 0 0 0 0 0 28.83 26.30 28.83
3043 -0.67 -243.3 451.6 -8.2 369 3049 0.00 2.12 0.00 0.000 6 0.000 0.032 2739 1951 3777 0 0 0 0 0 0 28.83 26.43 28.83
3350 -0.69 -243.3 482.6 -10.7 400 3360 0.00 2.22 0.00 0.000 4 0.000 0.052 2739 3357 3775 0 0 0 0 0 0 28.83 26.30 28.83
3418 -0.72 -243.3 489.2 -10.0 406 3424 0.00 2.12 0.00 0.000 6 0.000 0.033 2739 1953 3775 0 0 0 0 0 0 28.83 26.43 28.83
3723 -0.74 -243.3 521.7 -9.9 437 3725 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 1953 3773 0 0 0 0 0 0 28.83 28.83 28.83
4026 -0.76 -243.3 549.2 -8.8 467 4034 0.00 2.20 0.00 0.000 4 0.000 0.054 2739 3357 3771 0 0 0 0 0 0 28.83 26.28 28.83
4070 -0.78 -243.3 552.9 -8.5 471 4077 0.12 2.12 0.00 0.000 6 0.090 0.034 2669 1955 3771 0 0 0 0 0 0 26.39 26.42 28.83
4377 -0.75 -243.3 596.2 -15.5 502 4387 0.12 2.17 0.00 0.000 4 0.167 0.051 2707 555 3769 0 0 0 0 0 0 26.27 26.29 28.83
4403 -0.72 -243.3 599.3 -14.5 504 4410 0.00 2.15 0.00 0.000 6 0.000 0.037 2700 1955 3769 0 0 0 0 0 0 28.83 26.38 28.83
4711 -0.71 -243.3 634.8 -11.2 520 4716 0.00 2.20 0.00 0.000 4 0.000 0.053 2690 3364 3767 0 0 0 0 0 0 28.83 26.28 28.83
4750 -0.70 -243.3 639.8 -12.2 522 4756 0.12 2.15 0.00 0.000 6 0.155 0.034 2724 1946 3766 0 0 0 0 0 0 26.17 26.41 28.83
5072 -0.71 -243.3 669.3 -8.6 538 5077 0.00 2.22 0.00 0.000 4 0.000 0.054 2724 3352 3765 0 0 0 0 0 0 28.83 26.26 28.83
5139 -0.73 -243.3 674.1 -8.0 541 5148 0.00 2.12 0.00 0.000 6 0.000 0.033 2724 1949 3765 0 0 0 0 0 0 28.83 26.41 28.83
5450 -0.75 -243.3 700.7 -8.3 557 5456 0.00 2.22 0.00 0.000 4 0.000 0.054 2724 3353 3763 0 0 0 0 0 0 28.83 26.25 28.83
5484 -0.77 -243.3 702.5 -8.5 558 5491 0.00 2.12 0.00 0.000 6 0.000 0.034 2724 1946 3762 0 0 0 0 0 0 28.83 26.41 28.83
5790 -0.78 -243.3 731.0 -9.3 574 5791 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 1946 3761 0 0 0 0 0 0 28.83 28.83 28.83
6090 -0.80 -243.3 760.2 -10.1 589 6096 0.00 2.22 0.00 0.000 4 0.000 0.054 2724 3359 3760 0 0 0 0 0 0 28.83 26.22 28.83
6159 -0.82 -243.3 766.3 -10.2 592 6169 0.12 2.15 0.00 0.000 6 0.093 0.034 2660 1950 3759 0 0 0 0 0 0 26.34 26.39 28.83
6470 -0.79 -243.3 814.2 -15.4 608 6472 0.12 0.00 0.00 0.000 6 0.169 0.000 2691 1950 3757 0 0 0 0 0 0 26.29 28.83 28.83
6771 -0.79 -243.3 849.8 -11.5 623 6772 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 1950 3757 0 0 0 0 0 0 28.83 28.83 28.83
7070 -0.79 -243.3 882.1 -10.5 638 7076 0.00 2.28 0.00 0.000 4 0.000 0.057 2687 3363 3755 0 0 0 0 0 0 28.83 26.19 28.83
7093 -0.79 -243.3 884.3 -10.7 639 7097 0.00 2.17 0.00 0.000 6 0.000 0.036 2687 1947 3755 0 0 0 0 0 0 28.83 26.36 28.83
7408 -0.78 -243.3 917.2 -10.7 655 7409 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 1947 3754 0 0 0 0 0 0 28.83 28.83 28.83
7706 -0.77 -243.3 950.1 -11.0 670 7712 0.00 2.25 0.00 0.000 4 0.000 0.057 2686 3359 3753 0 0 0 0 0 0 28.83 26.17 28.83
7755 -0.77 -243.3 954.3 -11.0 672 7759 0.00 2.15 0.00 0.000 6 0.000 0.036 2687 1957 3753 0 0 0 0 0 0 28.83 26.35 28.83
8061 -0.77 -243.3 986.3 -9.8 687 8067 0.00 2.25 0.00 0.000 4 0.000 0.057 2687 3363 3751 0 0 0 0 0 0 28.83 26.16 28.83
8100 end dive: TARGET_DEPTH_EXCEEDED
state 8100 begin apogee
8108 -0.17 0.0 990.1 -9.7 689 8310 0.62 0.00 194.62 1.301 6 0.120 0.000 2894 1979 2785 0 0 0 0 0 0 25.89 28.83 23.56
8311 end apogee: CONTROL_FINISHED_OK
state 8311 begin climb
8314 0.80 243.3 997.2 0.0 699 8544 0.88 2.58 214.62 1.257 4 0.048 0.052 3226 3389 1792 0 0 0 0 0 0 24.65 23.80 22.89
8667 0.70 243.3 929.0 25.6 717 8674 0.22 2.28 0.00 0.000 6 0.183 0.040 3181 1992 1788 0 0 0 0 0 0 24.79 25.05 28.83
8990 0.62 243.3 862.1 20.4 733 8995 0.00 2.28 0.00 0.000 4 0.000 0.048 3181 3400 1785 0 0 0 0 0 0 28.83 25.79 28.83
9028 0.55 243.3 853.7 20.4 735 9035 0.22 2.20 0.00 0.000 6 0.171 0.037 3130 1977 1785 0 0 0 0 0 0 25.56 25.85 28.83
9350 0.51 243.3 804.6 15.1 751 9352 0.00 0.00 0.00 0.000 6 0.000 0.000 3130 1978 1784 0 0 0 0 0 0 28.83 28.83 28.83
9648 0.47 243.3 758.9 15.3 766 9654 0.00 2.28 0.00 0.000 4 0.000 0.047 3130 3408 1784 0 0 0 0 0 0 28.83 26.11 28.83
9688 0.43 243.3 752.4 15.8 768 9694 0.17 2.20 0.00 0.000 6 0.151 0.035 3088 1989 1783 0 0 0 0 0 0 25.93 26.20 28.83
10009 0.43 243.3 712.7 12.3 784 10010 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 1989 1783 0 0 0 0 0 0 28.83 28.83 28.83
10308 0.43 243.3 676.3 11.8 799 10309 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 1990 1783 0 0 0 0 0 0 28.83 28.83 28.83
10608 0.49 286.9 645.2 9.7 814 10650 0.00 2.30 37.33 1.075 4 0.000 0.046 3088 3420 1615 0 0 0 0 0 0 28.83 25.63 24.73
10672 0.55 338.5 639.4 9.4 817 10728 0.00 2.22 46.53 1.054 6 0.000 0.034 3096 1977 1404 0 0 0 0 0 0 28.83 25.70 24.27
11030 0.61 377.2 604.0 9.8 835 11069 0.12 2.30 33.33 1.027 4 0.090 0.050 3180 603 1247 0 0 0 0 0 0 26.01 25.37 24.51
11125 0.58 377.2 588.4 18.5 842 11134 0.12 2.17 0.00 0.000 6 0.140 0.032 3141 1991 1244 0 0 0 0 0 0 25.44 25.65 28.83
11432 0.56 377.2 536.5 15.9 873 11441 0.00 2.22 0.00 0.000 4 0.000 0.044 3141 3401 1242 0 0 0 0 0 0 28.83 25.96 28.83
11495 0.56 377.2 526.2 16.8 879 11504 0.00 2.15 0.00 0.000 6 0.000 0.034 3148 1997 1242 0 0 0 0 0 0 28.83 26.05 28.83
11805 0.54 377.2 473.0 16.1 910 11814 0.00 2.22 0.00 0.000 4 0.000 0.049 3159 586 1242 0 0 0 0 0 0 28.83 26.09 28.83
11860 0.53 377.2 464.7 16.3 915 11867 0.15 2.17 0.00 0.000 6 0.143 0.032 3116 1997 1242 0 0 0 0 0 0 25.96 26.20 28.83
12167 0.56 394.5 429.6 10.5 946 12187 0.00 2.28 14.93 0.888 4 0.000 0.045 3116 3406 1177 0 0 0 0 0 0 28.83 26.02 25.13
12240 0.59 394.5 421.0 12.5 953 12249 0.00 2.17 0.00 0.000 6 0.000 0.034 3123 1988 1175 0 0 0 0 0 0 28.83 26.07 28.83
12550 0.60 394.5 382.4 12.1 984 12559 0.00 2.17 0.00 0.000 4 0.000 0.047 3134 593 1176 0 0 0 0 0 0 28.83 26.10 28.83
12605 0.61 394.5 376.0 12.6 989 12612 0.00 2.15 0.00 0.000 6 0.000 0.031 3134 1994 1175 0 0 0 0 0 0 28.83 26.20 28.83
12912 0.61 394.5 335.0 13.4 1020 12920 0.00 2.20 0.00 0.000 4 0.000 0.047 3144 587 1174 0 0 0 0 0 0 28.83 26.17 28.83
12946 0.61 394.5 330.8 13.0 1023 12953 0.00 2.15 0.00 0.000 6 0.000 0.031 3144 1997 1174 0 0 0 0 0 0 28.83 26.28 28.83
13253 0.61 394.5 289.7 12.4 1054 13263 0.00 2.22 0.00 0.000 4 0.000 0.047 3154 586 1174 0 0 0 0 0 0 28.83 26.21 28.83
13288 0.61 394.5 285.6 12.4 1057 13295 0.00 2.15 0.00 0.000 6 0.000 0.031 3154 1997 1174 0 0 0 0 0 0 28.83 26.32 28.83
13597 0.61 394.5 244.1 14.0 1088 13607 0.00 2.20 0.00 0.000 4 0.000 0.047 3163 588 1174 0 0 0 0 0 0 28.83 26.25 28.83
13632 0.61 394.5 239.4 14.1 1091 13639 0.00 2.12 0.00 0.000 6 0.000 0.031 3164 1991 1174 0 0 0 0 0 0 28.83 26.35 28.83
13946 0.60 394.5 194.8 15.3 1125 13953 0.00 2.15 0.00 0.000 4 0.000 0.042 3163 3400 1173 0 0 0 0 0 0 28.83 26.27 28.83
13994 0.60 394.5 187.3 15.3 1133 14001 0.00 2.12 0.00 0.000 6 0.000 0.033 3173 1980 1174 0 0 0 0 0 0 28.83 26.35 28.83
14324 0.59 394.5 139.6 12.2 1194 14333 0.12 2.17 0.00 0.000 4 0.161 0.046 3143 595 1174 0 0 0 0 0 0 26.22 26.27 28.83
14415 0.77 505.5 131.2 7.6 1210 14513 0.12 2.12 89.35 0.689 6 0.046 0.031 3226 1995 723 0 0 0 0 0 0 26.34 26.39 24.74
14839 0.77 505.5 65.9 13.9 1285 14846 0.00 2.22 0.00 0.000 4 0.000 0.046 3236 590 717 0 0 0 0 0 0 28.83 25.92 28.83
14876 0.78 505.5 61.0 14.2 1291 14883 0.12 2.12 0.00 0.000 6 0.135 0.029 3200 1997 717 0 0 0 0 0 0 25.85 26.04 28.83
15207 1.02 664.5 34.1 6.2 1352 15272 0.20 2.33 57.72 0.587 4 0.063 0.046 3318 585 483 0 0 0 0 0 0 26.27 25.61 25.01
15294 0.99 664.5 19.3 21.2 1365 15301 0.17 2.15 0.00 0.000 6 0.139 0.029 3269 1988 482 0 0 0 0 0 0 25.56 25.74 28.83
15338 end climb: SURFACE_DEPTH_REACHED
state 15339 begin surface coast
15403 end surface coast: CONTROL_FINISHED_OK
state 15403 begin surface