OKMC Nov12 * SG124 * Dive index * Mission links * Dive 152 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  124 HD_C  2.53e-05 ROLL_MIN  183 ALTIM_TOP_MIN_OBSTACLE  0
MISSION  14 HEADING  -1 ROLL_MAX  3883 ALTIM_PING_DEPTH  0
DIVE  152 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DELTA  10
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2500 ALTIM_FREQUENCY  13
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  1700 ALTIM_PULSE  3
D_FLARE  3 TGT_DEFAULT_LAT  47.599998 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_TGT  950 TGT_DEFAULT_LON  -122.3 ROLL_CNV  0.028270001 XPDR_VALID  0
D_ABORT  980 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_NO_BLEED  500 SM_CC  450 R_PORT_OVSHOOT  29 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  4 R_STBD_OVSHOOT  29 INT_PRESSURE_YINT  0
T_BOOST  0 FILEMGR  0 ROLL_AD_RATE  250 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  1 ROLL_ADJ_DBAND  0 DEVICE1  -1
D_CALL  0 N_NOCOMM  1 VBD_MIN  244 DEVICE2  -1
SURFACE_URGENCY  0 NOCOMM_ACTION  163 VBD_MAX  3700 DEVICE3  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 C_VBD  2509 DEVICE4  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_DBAND  2 DEVICE5  -1
T_DIVE  280 CALL_TRIES  5 VBD_CNV  -0.24529999 DEVICE6  -1
T_MISSION  300 CALL_WAIT  60 VBD_TIMEOUT  540 LOGGERS  1
T_ABORT  1440 CAPUPLOAD  0 PITCH_VBD_SHIFT  0.00039999999 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  10 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
T_LOITER  0 N_GPS  20 UNCOM_BLEED  0 COMPASS_DEVICE  97
T_EPIRB  0 T_GPS_ALMANAC  0 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
USE_BATHY  -13 T_GPS_CHARGE  -303741.31 CF8_MAXERRORS  0 PHONE_DEVICE  48
USE_ICE  0 T_RSLEEP  3 AH0_24V  150 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_10V  100 RAFOS_DEVICE  -1
D_OFFGRID  100 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  50 FG_AHR_24V  69.417763 SEABIRD_T_G  0.0043984288
MAX_BUOY  200 PITCH_MAX  3900 PHONE_SUPPLY  -2 SEABIRD_T_H  0.00063808635
COURSE_BIAS  0 C_PITCH  2275 PRESSURE_YINT  -21.889965 SEABIRD_T_I  2.5525775e-05
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001157801 SEABIRD_T_J  3.0944329e-06
SPEED_FACTOR  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -9.6676407
RHO  1.0275 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1061285
MASS  51525 PITCH_GAIN  23 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0013205735
NAV_MODE  2 PITCH_TIMEOUT  20 COMPASS_USE  4 SEABIRD_C_J  0.00018109973
FERRY_MAX  40 PITCH_AD_RATE  135 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  0.003 PITCH_ADJ_GAIN  0.0099999998 ALTIM_BOTTOM_TURN_MARGIN  0 SC_XMITPROFILE  3.0
HD_B  0.0099999998 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  031212,081554,1845.618,12213.959,41,1.1,41,-2.1 TGT_NAME  M1A
_CALLS  1 TGT_LATLONG  1845.000,12205.830
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.36 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -63.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  031212,082331,1845.821,12213.729,15,1.1,15,-2.1 MHEAD_RNG_PITCHd_Wd  229.3,13937,-17.1,-11.310,-20.62
SPEED_LIMITS  0.196,0.301 D_GRID  1012

Post-dive calculations and measurements:
FINISH  1.9,1.009147 _10V_AH  9.8,20.127
SM_CCo  16382,0.00,0.000,0,0,238,557.08 FG_AHR_24Vo  69.418
SM_GC  2.57,6.80,3.53,0.00,0.046,0.043,0.000,39,2504,238,-10.21,-0.71,557.08,0,0,0,0,0,0,26.42,26.44,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1839.59,12215.53,031212,030348 MEM  306228
TT8_MAMPS  0.027713,0.027713 DATA_FILE_SIZE  29998,777
HUMID  61.97 CAP_FILE_SIZE  184723,0
INTERNAL_PRESSURE  9.37536 CFSIZE  260034560,235642880
TCM_TEMP  24.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  12 CURRENT  0.305,295.0,1
SC_FREEKB  3961920 GPS  031212,125805,1845.484,12208.850,24,1.7,24,-2.1
_24V_AH  23.6,29.787

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor18256110.23 nil000.00
Roll_motor13274231.56 nil000.00
VBD_pump_during_apogee606127818309.10 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon16321124752.68
Iridium_during_xfer291127877.97 nil000.00
Transponder_ping342029.74 nil000.00
GUMSTIX_24V000.00
GPS15294.63
TT8244614352.62
LPSleep112172240.74
TT8_Active7231398.95
TT8_Sampling219038830.40
TT8_CF826247122.46
TT8_Kalman000.00
Analog_circuits207016324.63
GPS_charging000.00
Compass18087132.73
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
16 end surface: CONTROL_FINISHED_OK
state 17 begin dive
19 -0.82 -194.6 0.0 0.0 0 86 0.00 0.00 -65.28 0.000 2 0.000 0.000 49 2510 1519 0 0 0 0 0 0 28.83 28.83 28.83
89 -0.82 -194.6 3.0 -2.9 11 182 8.75 2.17 -73.05 0.000 4 0.256 0.074 2094 3877 3304 0 0 0 0 0 0 25.92 26.36 26.81
400 -0.80 -194.6 53.5 -21.7 55 406 0.00 2.12 0.00 0.000 6 0.000 0.040 2093 2499 3304 0 0 0 0 0 0 28.83 26.58 28.83
719 -0.80 -194.6 112.6 -15.9 71 724 0.00 2.12 0.00 0.000 4 0.000 0.045 2093 1089 3305 0 0 0 0 0 0 28.83 26.65 28.83
736 -0.80 -194.6 112.6 -15.9 71 742 0.00 2.20 0.00 0.000 6 0.000 0.044 2093 2505 3305 0 0 0 0 0 0 28.83 26.66 28.83
1043 -0.83 -194.6 157.0 -12.2 87 1044 0.00 0.00 0.00 0.000 6 0.000 0.000 2093 2505 3306 0 0 0 0 0 0 28.83 28.83 28.83
1344 -0.88 -194.6 181.2 -9.9 102 1350 0.00 2.17 0.00 0.000 4 0.000 0.044 2093 1084 3306 0 0 0 0 0 0 28.83 26.76 28.83
1489 -0.93 -194.6 193.8 -9.2 109 1495 0.00 2.20 0.00 0.000 6 0.000 0.043 2093 2506 3306 0 0 0 0 0 0 28.83 26.78 28.83
1813 -1.01 -194.6 221.1 -8.1 125 1819 0.12 2.20 0.00 0.000 4 0.098 0.044 2027 1085 3299 0 0 0 0 0 0 26.93 26.79 28.83
1838 -1.06 -194.6 223.6 -8.9 126 1843 0.00 2.20 0.00 0.000 6 0.000 0.044 2026 2506 3306 0 0 0 0 0 0 28.83 26.80 28.83
2161 -1.08 -194.6 262.1 -10.5 142 2162 0.00 0.00 0.00 0.000 6 0.000 0.000 2026 2506 3305 0 0 0 0 0 0 28.83 28.83 28.83
2463 -1.11 -194.6 292.6 -9.6 157 2464 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2506 3303 0 0 0 0 0 0 28.83 28.83 28.83
2762 -1.14 -194.6 318.9 -9.1 172 2763 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2507 3300 0 0 0 0 0 0 28.83 28.83 28.83
3062 -1.17 -194.6 349.7 -10.5 187 3067 0.00 2.22 0.00 0.000 4 0.000 0.047 2026 1080 3298 0 0 0 0 0 0 28.83 26.81 28.83
3161 -1.20 -194.6 358.5 -10.4 191 3167 0.00 2.22 0.00 0.000 6 0.000 0.047 2026 2505 3296 0 0 0 0 0 0 28.83 26.81 28.83
3465 -1.23 -194.6 393.0 -10.1 207 3467 0.00 0.00 -0.08 0.000 6 0.000 0.000 2026 2505 3313 0 0 0 0 0 0 28.83 28.83 26.09
3765 -1.28 -194.6 426.3 -11.5 222 3771 0.12 2.15 0.00 0.000 4 0.105 0.060 1969 3884 3311 0 0 0 0 0 0 26.94 26.72 28.83
3823 -1.30 -194.6 432.3 -12.4 224 3832 0.10 2.15 0.00 0.000 6 0.161 0.044 1995 2489 3312 0 0 0 0 0 0 26.67 26.84 28.83
4129 -1.32 -194.6 475.5 -12.8 240 4135 0.00 2.25 0.00 0.000 4 0.000 0.063 1995 3886 3308 0 0 0 0 0 0 28.83 26.71 28.83
4173 -1.34 -194.6 480.9 -12.5 242 4179 0.00 2.12 0.00 0.000 6 0.000 0.043 1995 2498 3309 0 0 0 0 0 0 28.83 26.84 28.83
4497 -1.37 -194.6 517.8 -11.5 258 4502 0.00 2.15 0.00 0.000 4 0.000 0.050 1995 1091 3306 0 0 0 0 0 0 28.83 26.77 28.83
4524 -1.39 -194.6 520.5 -11.5 259 4530 0.10 2.22 0.00 0.000 6 0.112 0.048 1955 2506 3306 0 0 0 0 0 0 26.77 26.78 28.83
4842 -1.39 -194.6 558.7 -11.8 275 4844 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2506 3303 0 0 0 0 0 0 28.83 28.83 28.83
5145 -1.39 -194.6 594.8 -12.3 290 5146 0.00 0.00 0.00 0.000 6 0.000 0.000 1958 2506 3302 0 0 0 0 0 0 28.83 28.83 28.83
5443 -1.39 -194.6 629.5 -11.3 301 5444 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2506 3300 0 0 0 0 0 0 28.83 28.83 28.83
5743 -1.39 -194.6 671.6 -15.1 311 5748 0.00 2.17 0.00 0.000 4 0.000 0.065 1955 3887 3296 0 0 0 0 0 0 28.83 26.66 28.83
5835 -1.39 -194.6 685.0 -14.7 314 5841 0.00 2.15 0.00 0.000 6 0.000 0.046 1954 2489 3296 0 0 0 0 0 0 28.83 26.79 28.83
6170 -1.39 -194.6 728.4 -12.4 325 6175 0.00 2.25 0.00 0.000 4 0.000 0.067 1955 3888 3279 0 0 0 0 0 0 28.83 26.63 28.83
6294 -1.39 -194.6 743.3 -11.9 329 6300 0.00 2.15 0.00 0.000 6 0.000 0.046 1955 2504 3294 0 0 0 0 0 0 28.83 26.79 28.83
6628 -1.39 -194.6 785.8 -13.4 340 6634 0.00 2.25 0.00 0.000 4 0.000 0.066 1954 3886 3292 0 0 0 0 0 0 28.83 26.63 28.83
6711 -1.39 -194.6 795.3 -14.3 342 6717 0.00 2.20 0.00 0.000 6 0.000 0.049 1955 2486 3291 0 0 0 0 0 0 28.83 26.75 28.83
7024 -1.39 -194.6 836.0 -11.5 353 7025 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2486 3290 0 0 0 0 0 0 28.83 28.83 28.83
7325 -1.39 -194.6 869.4 -11.5 363 7326 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2486 3288 0 0 0 0 0 0 28.83 28.83 28.83
7625 -1.39 -194.6 905.7 -11.1 373 7631 0.00 2.17 0.00 0.000 4 0.000 0.054 1955 1082 3189 0 0 0 0 0 0 28.83 26.67 28.83
7653 -1.39 -194.6 905.7 -11.1 373 7660 0.00 2.25 0.00 0.000 6 0.000 0.053 1955 2498 3286 0 0 0 0 0 0 28.83 26.67 28.83
7960 -1.41 -194.6 943.6 -12.6 384 7962 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2498 3284 0 0 0 0 0 0 28.83 28.83 28.83
8017 end dive: TARGET_DEPTH_EXCEEDED
state 8017 begin apogee
8023 -0.22 0.0 950.5 -12.2 386 8180 0.82 0.00 150.52 1.278 6 0.116 0.000 2228 1690 2509 0 0 0 0 0 0 26.40 28.83 24.22
8182 end apogee: CONTROL_FINISHED_OK
state 8182 begin climb
8183 0.82 194.6 954.2 0.0 391 8356 0.62 2.53 162.18 1.232 4 0.059 0.055 2458 3118 1714 0 0 0 0 0 0 25.29 24.58 23.68
8388 0.81 278.3 944.1 8.0 398 8468 0.00 2.42 71.10 1.196 6 0.000 0.049 2467 1695 1373 0 0 0 0 0 0 28.83 25.06 23.62
8775 0.81 278.3 895.6 12.6 411 8780 0.00 2.25 0.00 0.000 4 0.000 0.061 2468 292 1362 0 0 0 0 0 0 28.83 25.98 28.83
8841 0.81 278.3 888.2 12.1 413 8846 0.00 2.28 0.00 0.000 6 0.000 0.046 2468 1708 1334 0 0 0 0 0 0 28.83 26.15 28.83
9169 0.81 278.3 846.2 13.3 424 9171 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1710 1360 0 0 0 0 0 0 28.83 28.83 28.83
9469 0.82 296.1 812.9 10.6 434 9485 0.00 0.00 13.93 1.098 6 0.000 0.000 2468 1710 1301 0 0 0 0 0 0 28.83 28.83 25.36
9769 0.82 310.1 780.0 10.8 444 9788 0.00 2.35 12.65 1.066 4 0.000 0.063 2468 291 1245 0 0 0 0 0 0 28.83 26.26 25.32
9835 0.84 316.7 773.1 11.0 446 9850 0.00 2.28 7.35 0.951 6 0.000 0.047 2468 1713 1212 0 0 0 0 0 0 28.83 26.33 25.25
10164 0.85 325.6 736.9 11.0 457 10179 0.00 2.20 8.50 0.976 4 0.000 0.057 2468 3110 1180 0 0 0 0 0 0 28.83 26.34 25.35
10257 0.85 325.6 725.4 12.0 460 10263 0.00 2.28 0.00 0.000 6 0.000 0.050 2472 1695 1179 0 0 0 0 0 0 28.83 26.39 28.83
10592 0.87 325.6 684.5 12.3 471 10593 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1695 1178 0 0 0 0 0 0 28.83 28.83 28.83
10890 0.88 325.6 647.5 12.5 481 10895 0.00 2.28 0.00 0.000 4 0.000 0.057 2472 3114 1177 0 0 0 0 0 0 28.83 26.58 28.83
10948 0.89 325.6 643.2 12.7 482 10955 0.00 2.25 0.00 0.000 6 0.000 0.053 2472 1706 1177 0 0 0 0 0 0 28.83 26.61 28.83
11255 0.91 325.6 600.2 13.0 493 11261 0.00 2.25 0.00 0.000 4 0.000 0.063 2472 281 1176 0 0 0 0 0 0 28.83 26.60 28.83
11288 0.93 325.6 595.6 13.0 494 11294 0.00 2.25 0.00 0.000 6 0.000 0.047 2472 1705 1175 0 0 0 0 0 0 28.83 26.67 28.83
11601 0.94 325.6 558.8 11.6 510 11606 0.00 2.20 0.00 0.000 4 0.000 0.059 2472 3103 1176 0 0 0 0 0 0 28.83 26.63 28.83
11644 0.96 325.6 553.6 11.8 512 11649 0.00 2.25 0.00 0.000 6 0.000 0.050 2472 1689 1176 0 0 0 0 0 0 28.83 26.68 28.83
11967 0.97 325.6 517.8 11.7 528 11972 0.00 2.20 0.00 0.000 4 0.000 0.061 2472 289 1176 0 0 0 0 0 0 28.83 26.64 28.83
12005 0.99 325.6 515.5 11.3 529 12011 0.00 2.22 0.00 0.000 6 0.000 0.047 2470 1706 1175 0 0 0 0 0 0 28.83 26.70 28.83
12310 1.01 325.6 478.9 11.4 545 12312 0.10 0.00 0.00 0.000 6 0.108 0.000 2524 1707 1176 0 0 0 0 0 0 26.91 28.83 28.83
12610 1.00 325.6 434.1 15.3 560 12617 0.12 2.30 0.00 0.000 4 0.135 0.058 2484 281 1175 0 0 0 0 0 0 26.72 26.64 28.83
12700 1.02 325.6 424.0 11.9 564 12706 0.00 2.22 0.00 0.000 6 0.000 0.047 2485 1703 1175 0 0 0 0 0 0 28.83 26.74 28.83
13019 1.04 331.2 387.9 11.1 580 13029 0.00 2.25 5.53 0.702 4 0.000 0.058 2484 3109 1157 0 0 0 0 0 0 28.83 26.73 25.72
13052 1.06 338.2 385.3 11.0 581 13067 0.00 2.25 7.55 0.763 6 0.000 0.050 2485 1690 1129 0 0 0 0 0 0 28.83 26.71 25.72
13384 1.08 338.2 341.0 12.1 598 13390 0.10 2.20 0.00 0.000 4 0.106 0.058 2537 288 1127 0 0 0 0 0 0 26.82 26.58 28.83
13422 1.09 338.2 337.7 11.9 599 13431 0.10 2.22 0.00 0.000 6 0.139 0.045 2510 1712 1126 0 0 0 0 0 0 26.55 26.65 28.83
13728 1.09 338.2 293.6 13.0 615 13733 0.00 2.30 0.00 0.000 4 0.000 0.058 2512 280 1126 0 0 0 0 0 0 28.83 26.60 28.83
13791 1.09 338.2 285.1 13.4 618 13796 0.00 2.22 0.00 0.000 6 0.000 0.045 2512 1704 1126 0 0 0 0 0 0 28.83 26.69 28.83
14113 1.09 338.2 244.3 12.7 634 14120 0.00 2.28 0.00 0.000 4 0.000 0.059 2512 292 1126 0 0 0 0 0 0 28.83 26.63 28.83
14191 1.10 338.2 236.3 12.6 637 14198 0.00 2.20 0.00 0.000 6 0.000 0.045 2512 1712 1126 0 0 0 0 0 0 28.83 26.71 28.83
14497 1.12 338.2 195.9 11.9 653 14498 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 1713 1126 0 0 0 0 0 0 28.83 28.83 28.83
14799 1.14 348.6 162.0 10.9 668 14814 0.00 2.35 9.50 0.652 4 0.000 0.058 2512 281 1088 0 0 0 0 0 0 28.83 26.69 25.87
14897 1.20 420.3 155.0 8.4 672 14962 0.10 2.22 56.12 0.709 6 0.103 0.043 2558 1713 794 0 0 0 0 0 0 26.66 26.67 25.33
15262 1.23 420.3 105.4 11.3 691 15268 0.00 2.28 0.00 0.000 4 0.000 0.054 2563 290 790 0 0 0 0 0 0 28.83 26.34 28.83
15456 1.29 484.1 88.0 8.8 700 15511 0.00 2.20 48.15 0.632 6 0.000 0.041 2564 1696 533 0 0 0 0 0 0 28.83 26.50 25.37
15830 1.40 577.5 57.0 7.6 719 15890 0.00 2.38 53.83 0.589 4 0.000 0.055 2563 284 243 0 0 0 0 0 0 28.83 25.89 25.31
15937 1.53 684.5 49.6 7.0 724 15945 0.15 2.25 0.00 0.000 6 0.083 0.039 2633 1714 242 0 0 0 0 0 0 26.08 26.09 28.83
16244 1.54 684.5 7.7 16.1 766 16251 0.10 2.28 0.00 0.000 4 0.146 0.051 2606 290 240 0 0 0 0 0 0 26.44 26.39 28.83
16277 end climb: SURFACE_DEPTH_REACHED
state 16277 begin surface coast
16303 end surface coast: CONTROL_FINISHED_OK
state 16303 begin surface