OKMC Aug12 * SG166 * Dive index * Mission links * Dive 17 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  166 HD_C  9.8500004e-06 ROLL_MIN  197 ALTIM_TOP_MIN_OBSTACLE  0
MISSION  8 HEADING  -1 ROLL_MAX  3786 ALTIM_PING_DEPTH  0
DIVE  17 ESCAPE_HEADING  0 ROLL_DEG  28 ALTIM_PING_DELTA  10
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2200 ALTIM_FREQUENCY  13
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  2100 ALTIM_PULSE  3
D_FLARE  3 TGT_DEFAULT_LAT  4736 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
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  500 R_PORT_OVSHOOT  60 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  120 N_FILEKB  4 R_STBD_OVSHOOT  44 INT_PRESSURE_YINT  2.5999999
T_BOOST  2 FILEMGR  0 ROLL_AD_RATE  300 DEEPGLIDER  0
D_FINISH  0 CALL_NDIVES  1 ROLL_MAXERRORS  2 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  455 DEVICE2  -1
SURFACE_URGENCY  0 NOCOMM_ACTION  163 VBD_MAX  3960 DEVICE3  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 C_VBD  2803 DEVICE4  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_DBAND  2 DEVICE5  -1
T_DIVE  330 CALL_TRIES  5 VBD_CNV  -0.24529999 DEVICE6  -1
T_MISSION  350 CALL_WAIT  60 VBD_TIMEOUT  720 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  15 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
T_LOITER  0 N_GPS  20 UNCOM_BLEED  50 COMPASS_DEVICE  97
T_EPIRB  0 T_GPS_ALMANAC  0 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
USE_BATHY  -13 T_GPS_CHARGE  -26379.535 CF8_MAXERRORS  20 PHONE_DEVICE  48
USE_ICE  0 T_RSLEEP  3 AH0_24V  147 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_10V  109 RAFOS_DEVICE  -1
D_OFFGRID  1000 RAFOS_PEAK_OFFSET  1.5 MINV_24V  23 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  160 FG_AHR_24V  0 SEABIRD_T_G  0.0043150801
MAX_BUOY  275 PITCH_MAX  3938 PHONE_SUPPLY  2 SEABIRD_T_H  0.00063196511
COURSE_BIAS  0 C_PITCH  2320 PRESSURE_YINT  -27.057545 SEABIRD_T_I  2.3897506e-05
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001160501 SEABIRD_T_J  2.561103e-06
SPEED_FACTOR  1 PITCH_CNV  0.003125763 AD7714Ch0Gain  128 SEABIRD_C_G  -10.001128
RHO  1.0275 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.125791
MASS  52225 PITCH_GAIN  26 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0024671701
NAV_MODE  2 PITCH_TIMEOUT  16 COMPASS_USE  4 SEABIRD_C_J  0.00026194067
FERRY_MAX  45 PITCH_AD_RATE  165 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  0.0099999998 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  130812,033553,1832.211,12225.037,38,1.1,38,-2.0 TGT_NAME  S2
_CALLS  2 TGT_LATLONG  2015.000,12420.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.83 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -59.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  130812,034637,1832.140,12225.325,11,1.5,11,-2.0 MHEAD_RNG_PITCHd_Wd  46.9,275663,-13.2,-10.000
SPEED_LIMITS  0.173,0.340 D_GRID  875

Post-dive calculations and measurements:
FINISH  1.2,1.020273 _10V_AH  9.7,2.730
SM_CCo  15427,0.00,0.000,0,0,461,574.49 FG_AHR_24Vo  0.000
SM_GC  2.00,6.53,1.35,0.00,0.041,0.037,0.000,129,2189,461,-6.71,1.27,574.49,0,0,0,0,0,0,26.71,26.70,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1828.22,12226.35,130812,030308 MEM  309004
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  26731,732
HUMID  41.25 CAP_FILE_SIZE  187622,0
INTERNAL_PRESSURE  9.55339 CFSIZE  260165632,252325888
TCM_TEMP  24.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
XPDR_PINGS  0 CURRENT  0.108, 10.7,1
SC_FREEKB  7763424 GPS  130812,080530,1835.339,12226.983,40,1.1,40,-2.1
_24V_AH  23.4,4.471

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1723997.63 nil000.00
Roll_motor9761139.88 nil000.00
VBD_pump_during_apogee806160830355.37 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init55103134.77 nil000.00
Iridium_during_connect62160234.62 SciCon15377197138.14
Iridium_during_xfer2542231327.07 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS12506.22
TT8240719462.41
LPSleep101492215.61
TT8_Active84419162.27
TT8_Sampling235039907.53
TT8_CF831745140.91
TT8_Kalman000.00
Analog_circuits197912230.46
GPS_charging000.00
Compass1878591.13
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
17 -0.61 -267.6 0.0 0.0 0 84 0.00 0.00 -64.50 0.000 2 0.000 0.000 190 2231 1864 0 0 0 0 0 0 28.83 28.83 28.83
88 -0.61 -267.6 3.1 -5.0 11 155 7.57 1.55 -55.10 0.000 4 0.239 0.060 2121 1229 3897 0 0 0 0 0 0 26.02 26.27 26.55
383 -0.50 -267.6 77.7 -28.8 43 390 0.10 1.45 0.00 0.000 6 0.159 0.041 2151 2191 3898 0 0 0 0 0 0 26.29 26.41 28.83
689 -0.48 -267.6 140.6 -13.5 59 694 0.00 1.42 0.00 0.000 4 0.000 0.034 2134 1220 3898 0 0 0 0 0 0 28.83 26.53 28.83
795 -0.48 -267.6 152.9 -11.8 64 801 0.12 1.48 0.00 0.000 6 0.150 0.040 2164 2209 3898 0 0 0 0 0 0 26.47 26.55 28.83
1115 -0.54 -267.6 175.9 -5.6 80 1120 0.00 1.48 0.00 0.000 4 0.000 0.054 2179 3176 3899 0 0 0 0 0 0 28.83 26.59 28.83
1153 -0.60 -267.6 177.3 -5.5 81 1161 0.08 1.40 0.00 0.000 6 0.052 0.031 2084 2190 3898 0 0 0 0 0 0 26.65 26.66 28.83
1458 -0.56 -267.6 228.0 -16.8 97 1465 0.15 1.48 0.00 0.000 4 0.155 0.051 2126 3179 3897 0 0 0 0 0 0 26.56 26.63 28.83
1573 -0.56 -267.6 240.3 -11.0 102 1579 0.03 1.40 0.00 0.000 6 0.151 0.032 2115 2200 3896 0 0 0 0 0 0 26.60 26.70 28.83
1887 -0.58 -267.6 274.6 -11.0 118 1892 0.00 1.40 0.00 0.000 4 0.000 0.037 2111 1229 3894 0 0 0 0 0 0 28.83 26.71 28.83
1984 -0.61 -267.6 283.0 -10.3 122 1990 0.00 1.45 0.00 0.000 6 0.000 0.041 2109 2203 3893 0 0 0 0 0 0 28.83 26.71 28.83
2290 -0.64 -267.6 317.9 -12.2 138 2295 0.00 1.48 0.00 0.000 4 0.000 0.055 2096 3172 3891 0 0 0 0 0 0 28.83 26.70 28.83
2337 -0.66 -267.6 323.5 -12.5 140 2342 0.00 1.40 0.00 0.000 6 0.000 0.031 2097 2194 3891 0 0 0 0 0 0 28.83 26.75 28.83
2656 -0.69 -267.6 358.1 -10.1 156 2661 0.00 1.50 0.00 0.000 4 0.000 0.057 2089 3193 3887 0 0 0 0 0 0 28.83 26.70 28.83
2733 -0.72 -267.6 364.1 -9.5 159 2741 0.00 1.42 0.00 0.000 6 0.000 0.034 2089 2201 3886 0 0 0 0 0 0 28.83 26.77 28.83
3039 -0.74 -267.6 392.5 -9.6 175 3045 0.00 1.42 0.00 0.000 4 0.000 0.039 2089 1224 3884 0 0 0 0 0 0 28.83 26.75 28.83
3072 -0.76 -267.6 395.1 -9.9 176 3077 0.00 1.45 0.00 0.000 6 0.000 0.044 2083 2196 3883 0 0 0 0 0 0 28.83 26.74 28.83
3386 -0.78 -267.6 428.4 -8.8 192 3391 0.00 1.50 0.00 0.000 4 0.000 0.057 2075 3204 3880 0 0 0 0 0 0 28.83 26.71 28.83
3439 -0.79 -267.6 432.2 -8.6 194 3444 0.00 1.45 0.00 0.000 6 0.000 0.034 2075 2200 3880 0 0 0 0 0 0 28.83 26.79 28.83
3753 -0.81 -267.6 462.5 -9.8 210 3758 0.00 1.50 0.00 0.000 4 0.000 0.058 2069 3188 3877 0 0 0 0 0 0 28.83 26.72 28.83
3800 -0.82 -267.6 467.0 -10.1 212 3805 0.00 1.42 0.00 0.000 6 0.000 0.035 2068 2203 3876 0 0 0 0 0 0 28.83 26.79 28.83
4118 -0.82 -267.6 501.7 -10.1 228 4123 0.00 1.42 0.00 0.000 4 0.000 0.040 2068 1226 3873 0 0 0 0 0 0 28.83 26.77 28.83
4196 -0.83 -267.6 507.9 -9.9 231 4203 0.00 1.45 0.00 0.000 6 0.000 0.044 2068 2193 3872 0 0 0 0 0 0 28.83 26.76 28.83
4501 -0.83 -267.6 540.7 -10.3 247 4507 0.00 1.42 0.00 0.000 4 0.000 0.041 2061 1227 3869 0 0 0 0 0 0 28.83 26.77 28.83
4568 -0.83 -267.6 547.5 -10.6 250 4573 0.00 1.48 0.00 0.000 6 0.000 0.047 2054 2201 3869 0 0 0 0 0 0 28.83 26.75 28.83
4886 -0.83 -267.6 582.4 -10.7 266 4887 0.00 0.00 0.00 0.000 6 0.000 0.000 2054 2201 3867 0 0 0 0 0 0 28.83 28.83 28.83
5186 -0.83 -267.6 615.8 -11.8 279 5187 0.00 0.00 0.00 0.000 6 0.000 0.000 2054 2201 3864 0 0 0 0 0 0 28.83 28.83 28.83
5486 -0.83 -267.6 651.7 -11.8 289 5487 0.00 0.00 0.00 0.000 6 0.000 0.000 2054 2201 3861 0 0 0 0 0 0 28.83 28.83 28.83
5786 -0.83 -267.6 686.4 -12.0 299 5792 0.00 1.45 0.00 0.000 4 0.000 0.043 2054 1230 3859 0 0 0 0 0 0 28.83 26.76 28.83
5864 -0.83 -267.6 694.6 -12.4 301 5869 0.00 1.48 0.00 0.000 6 0.000 0.050 2047 2197 3858 0 0 0 0 0 0 28.83 26.74 28.83
6182 -0.83 -267.6 738.7 -13.3 312 6183 0.00 0.00 0.00 0.000 6 0.000 0.000 2047 2198 3857 0 0 0 0 0 0 28.83 28.83 28.83
6481 -0.83 -267.6 777.7 -12.5 322 6483 0.00 0.00 0.00 0.000 6 0.000 0.000 2047 2198 3855 0 0 0 0 0 0 28.83 28.83 28.83
6781 -0.83 -267.6 812.9 -11.5 332 6787 0.00 1.45 0.00 0.000 4 0.000 0.045 2047 1227 3853 0 0 0 0 0 0 28.83 26.77 28.83
6839 -0.83 -267.6 817.0 -11.7 333 6846 0.00 1.48 0.00 0.000 6 0.000 0.050 2038 2196 3852 0 0 0 0 0 0 28.83 26.76 28.83
7145 -0.83 -267.6 858.0 -12.9 344 7146 0.00 0.00 0.00 0.000 6 0.000 0.000 2041 2196 3851 0 0 0 0 0 0 28.83 28.83 28.83
7446 -0.94 -267.6 874.5 -0.3 354 7451 0.00 1.45 0.00 0.000 4 0.000 0.046 2040 1230 3850 0 0 0 0 0 0 28.83 26.77 28.83
7537 end dive: NO_VERTICAL_VELOCITY
state 7537 begin apogee
7544 -0.19 0.0 874.8 0.0 357 7780 0.60 0.00 224.45 1.096 6 0.099 0.000 2256 2108 2802 0 0 0 0 1 0 26.71 28.83 23.70
7782 end apogee: CONTROL_FINISHED_OK
state 7782 begin climb
7784 0.61 267.6 874.8 0.0 365 8039 0.75 1.65 240.77 1.608 4 0.090 0.047 2520 1138 1710 0 0 0 0 1 0 24.80 24.40 23.46
8107 0.59 361.0 865.1 7.7 375 8211 0.00 1.55 90.60 1.528 6 0.000 0.049 2520 2103 1331 0 0 0 0 1 0 28.83 25.20 23.42
8537 0.55 361.0 809.6 13.1 390 8542 0.00 1.55 0.00 0.000 4 0.000 0.061 2520 3094 1331 0 0 0 0 0 0 28.83 25.79 28.83
8672 0.51 361.0 792.3 13.9 394 8678 0.15 1.50 0.00 0.000 6 0.174 0.040 2488 2086 1331 0 0 0 0 0 0 25.87 25.98 28.83
8997 0.51 370.3 757.2 9.8 405 9016 0.00 1.58 12.70 0.998 4 0.000 0.059 2488 3085 1289 0 0 0 0 0 0 28.83 25.92 25.29
9043 0.52 379.4 753.8 9.8 406 9060 0.00 1.50 10.50 0.992 6 0.000 0.039 2493 2072 1253 0 0 0 0 0 0 28.83 26.01 25.13
9360 0.52 388.2 721.4 9.8 417 9375 0.00 1.67 10.57 0.985 4 0.000 0.060 2493 3089 1217 0 0 0 0 0 0 28.83 25.91 25.27
9417 0.53 401.1 718.2 9.7 418 9437 0.00 1.50 14.73 0.978 6 0.000 0.041 2501 2076 1164 0 0 0 0 0 0 28.83 26.03 25.08
9755 0.55 460.0 685.0 8.5 430 9824 0.00 1.67 60.38 0.930 4 0.000 0.060 2501 3081 920 0 0 0 0 0 0 28.83 25.22 24.63
9858 0.58 537.2 677.7 8.1 433 9969 0.00 1.50 84.15 1.363 6 0.000 0.039 2507 2086 612 0 0 0 0 4 0 28.83 25.51 23.79
10268 0.63 582.3 643.0 8.9 447 10317 0.00 1.70 38.75 1.293 4 0.000 0.060 2507 3083 453 0 0 0 0 1 0 28.83 25.04 24.13
10340 0.66 591.8 636.7 9.8 449 10346 0.00 1.50 1.10 0.237 6 0.000 0.039 2509 2101 452 0 0 0 0 0 0 28.83 25.29 25.11
10665 0.71 591.8 604.7 10.1 460 10672 0.12 1.48 1.33 0.185 4 0.096 0.044 2582 1123 453 0 0 0 0 0 0 25.99 25.98 25.84
10710 0.73 591.8 598.0 12.2 462 10716 0.00 1.50 0.90 0.237 6 0.000 0.047 2582 2107 452 0 0 0 0 0 0 28.83 26.01 25.89
11034 0.66 591.8 529.7 22.6 478 11041 0.15 1.50 1.17 0.181 4 0.177 0.059 2539 3086 455 0 0 0 0 0 0 26.10 26.20 26.11
11109 0.63 591.8 517.4 19.8 481 11116 0.00 1.50 0.95 0.226 6 0.000 0.040 2544 2066 454 0 0 0 0 0 0 28.83 26.27 26.14
11424 0.63 591.8 472.7 12.3 497 11427 0.00 0.00 0.93 0.226 6 0.000 0.000 2549 2066 454 0 0 0 0 0 0 28.83 28.83 26.25
11724 0.63 591.8 435.7 13.0 512 11731 0.00 1.58 0.93 0.226 4 0.000 0.060 2544 3087 452 0 0 0 0 0 0 28.83 26.39 26.31
11753 0.63 591.8 432.3 13.0 513 11758 0.00 1.50 0.00 0.000 6 0.000 0.040 2551 2062 455 0 0 0 0 0 0 28.83 26.44 28.83
12071 0.63 591.8 392.9 10.7 529 12077 0.00 1.60 0.82 0.237 4 0.000 0.058 2551 3094 452 0 0 0 0 0 0 28.83 26.44 26.36
12128 0.63 591.8 388.1 10.7 531 12136 0.12 1.50 0.45 0.313 6 0.175 0.040 2525 2066 452 0 0 0 0 0 0 26.38 26.49 26.36
12435 0.74 773.5 366.9 5.4 547 12442 0.12 1.38 0.77 0.203 4 0.099 0.047 2603 1125 452 0 0 0 0 0 0 26.53 26.51 26.40
12484 0.81 884.3 362.7 7.2 549 12490 0.00 1.50 0.65 0.267 6 0.000 0.048 2602 2134 452 0 0 0 0 0 0 28.83 26.53 26.39
12804 0.74 884.3 298.9 21.6 565 12810 0.12 1.42 0.77 0.203 4 0.180 0.057 2561 3082 451 0 0 0 0 0 0 26.44 26.51 26.44
12902 0.71 884.3 282.5 19.3 569 12911 0.00 1.48 0.60 0.222 6 0.000 0.040 2566 2091 452 0 0 0 0 0 0 28.83 26.57 26.44
13208 0.71 884.3 237.8 12.2 585 13215 0.00 1.40 0.77 0.244 4 0.000 0.046 2573 1127 451 0 0 0 0 0 0 28.83 26.56 26.47
13241 0.71 884.3 234.8 12.1 586 13247 0.00 1.48 0.25 0.481 6 0.000 0.046 2573 2095 453 0 0 0 0 0 0 28.83 26.58 26.46
13555 0.71 884.3 193.8 12.5 602 13561 0.00 1.50 0.77 0.239 4 0.000 0.057 2574 3096 452 0 0 0 0 0 0 28.83 26.57 26.48
13679 0.71 884.3 178.8 12.1 608 13686 0.12 1.48 0.68 0.248 6 0.163 0.038 2548 2101 450 0 0 0 0 0 0 26.51 26.63 26.49
14004 0.79 932.2 148.0 8.8 624 14010 0.00 1.42 0.82 0.233 4 0.000 0.043 2552 1115 451 0 0 0 0 0 0 28.83 26.61 26.52
14072 0.87 1001.1 142.7 8.3 627 14078 0.15 1.50 0.57 0.268 6 0.086 0.043 2628 2104 451 0 0 0 0 0 0 26.62 26.63 26.51
14392 0.86 1001.1 99.9 12.7 643 14398 0.12 1.48 0.77 0.189 4 0.167 0.054 2587 3097 451 0 0 0 0 0 0 26.55 26.61 26.53
14438 0.88 1006.7 96.2 9.9 645 14444 0.00 1.48 0.55 0.283 6 0.000 0.037 2593 2093 452 0 0 0 0 0 0 28.83 26.66 26.53
14762 1.03 1006.7 63.7 12.5 661 14769 0.15 1.40 0.73 0.190 4 0.125 0.038 2649 1115 452 0 0 0 0 0 0 26.61 26.65 26.56
14887 1.18 1006.7 48.8 11.7 667 14894 0.15 1.50 0.82 0.216 6 0.118 0.040 2702 2110 451 0 0 0 0 0 0 26.61 26.66 26.55
15197 1.18 1006.7 14.8 19.0 703 15205 0.00 1.42 1.00 0.200 4 0.000 0.043 2703 3096 453 0 0 0 0 0 0 28.83 26.66 26.56
15316 end climb: SURFACE_DEPTH_REACHED
state 15316 begin surface coast
15349 end surface coast: CONTROL_FINISHED_OK
state 15349 begin surface