OKMC Nov11 * SG165 * Dive index * Mission links * Dive 186 * 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  186 HEADING  -1 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  61 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  46 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  330 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  -7 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -271645 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  291211,070237,2101.812,11954.035,32,1.1,32,-2.4 TGT_NAME  W2A
_CALLS  1 TGT_LATLONG  2145.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.084,-0.266
_SM_DEPTHo  8.42 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -63.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  291211,070916,2101.550,11953.907,9,99.0,28,-2.4 MHEAD_RNG_PITCHd_Wd  9.8,81149,-15.2,-11.000
SPEED_LIMITS  0.191,0.337 D_GRID  3395

Post-dive calculations and measurements:
FINISH  7.3,1.022895 _10V_AH  10.1,38.007
SM_CCo  15716,0.00,0.000,0,0,483,564.93 FG_AHR_24Vo  0.000
SM_GC  7.79,7.97,0.00,0.00,0.034,0.000,0.000,164,2008,483,-8.61,1.53,564.93,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2054.83,11956.44,291211,020230 MEM  325440
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  80189,1378
HUMID  42.16 CAP_FILE_SIZE  170143,0
INTERNAL_PRESSURE  9.39525 CFSIZE  260165632,182722560
TCM_TEMP  25.10 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
XPDR_PINGS  11 GPS  291211,113307,2102.318,11954.573,36,1.1,36,-2.4
_24V_AH  22.8,43.700

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21236115.07 SBE_CT93124509.80
Roll_motor14357187.82 AA3830121333913.27
VBD_pump_during_apogee711131121262.49 WL_BB2F6881051648.99
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010372.53 nil000.00
Iridium_during_connect41160151.52 nil000.00
Iridium_during_xfer177223901.04 nil000.00
Transponder_ping242026.33 nil000.00
GUMSTIX_24V000.00
GPS315016.15
TT8320819641.64
LPSleep86702191.78
TT8_Active82719165.56
TT8_Sampling3045391224.18
TT8_CF836745170.02
TT8_Kalman000.00
Analog_circuits224312271.87
GPS_charging000.00
Compass275515417.42
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 0 120 0.00 0.00 -101.30 0.000 2 0.000 0.000 136 1921 3012 0 0 0 0 0 0 28.83 28.83 28.83
124 -0.80 -243.3 11.5 -10.0 16 158 10.15 2.28 -13.35 0.000 4 0.236 0.057 2674 3355 3781 0 0 0 0 0 0 25.39 26.08 26.52
241 -0.73 -243.3 52.0 -28.8 36 250 0.10 2.12 0.00 0.000 6 0.148 0.033 2707 1965 3782 0 0 0 0 0 0 25.87 26.20 28.83
576 -0.63 -243.3 152.0 -31.3 97 583 0.12 2.15 0.00 0.000 4 0.187 0.044 2746 554 3782 0 0 0 0 0 0 26.07 26.21 28.83
625 -0.55 -243.3 165.9 -27.4 105 632 0.12 2.12 0.00 0.000 6 0.182 0.034 2769 1954 3782 0 0 0 0 0 0 25.97 26.27 28.83
949 -0.53 -243.3 229.4 -15.5 150 959 0.00 2.17 0.00 0.000 4 0.000 0.050 2766 3363 3782 0 0 0 0 0 0 28.83 26.21 28.83
1038 -0.54 -243.3 239.7 -10.4 158 1045 0.00 2.15 0.00 0.000 6 0.000 0.032 2766 1947 3782 0 0 0 0 0 0 28.83 26.36 28.83
1344 -0.54 -243.3 281.1 -14.5 189 1353 0.00 2.17 0.00 0.000 4 0.000 0.050 2766 3357 3782 0 0 0 0 0 0 28.83 26.25 28.83
1380 -0.55 -243.3 285.6 -14.0 192 1388 0.00 2.12 0.00 0.000 6 0.000 0.033 2766 1958 3783 0 0 0 0 0 0 28.83 26.37 28.83
1687 -0.57 -243.3 322.0 -9.4 223 1695 0.00 2.17 0.00 0.000 4 0.000 0.050 2766 3361 3783 0 0 0 0 0 0 28.83 26.25 28.83
1723 -0.59 -243.3 324.8 -9.0 226 1729 0.00 2.12 0.00 0.000 6 0.000 0.033 2766 1948 3782 0 0 0 0 0 0 28.83 26.39 28.83
2028 -0.62 -243.3 346.1 -6.6 257 2037 0.00 2.10 0.00 0.000 4 0.000 0.048 2766 557 3783 0 0 0 0 0 0 28.83 26.29 28.83
2055 -0.64 -243.3 347.9 -7.4 259 2062 0.00 2.12 0.00 0.000 6 0.000 0.034 2766 1960 3783 0 0 0 0 0 0 28.83 26.36 28.83
2360 -0.67 -243.3 369.7 -8.0 290 2364 0.00 2.17 0.00 0.000 4 0.000 0.050 2766 3365 3782 0 0 0 0 0 0 28.83 26.25 28.83
2426 -0.71 -243.3 373.9 -6.7 296 2434 0.15 2.10 0.00 0.000 6 0.076 0.032 2674 1947 3782 0 0 0 0 0 0 26.38 26.40 28.83
2732 -0.67 -243.3 419.2 -14.3 327 2741 0.17 2.12 0.00 0.000 4 0.151 0.047 2729 560 3781 0 0 0 0 0 0 26.13 26.29 28.83
2778 -0.66 -243.3 424.8 -13.3 331 2785 0.00 2.12 0.00 0.000 6 0.000 0.036 2729 1953 3781 0 0 0 0 0 0 28.83 26.34 28.83
3084 -0.66 -243.3 463.4 -13.0 362 3093 0.00 2.20 0.00 0.000 4 0.000 0.052 2726 3371 3779 0 0 0 0 0 0 28.83 26.23 28.83
3147 -0.68 -243.3 470.9 -12.1 368 3155 0.00 2.10 0.00 0.000 6 0.000 0.033 2726 1962 3778 0 0 0 0 0 0 28.83 26.39 28.83
3456 -0.69 -243.3 510.3 -12.0 399 3459 0.00 2.17 0.00 0.000 4 0.000 0.050 2726 551 3776 0 0 0 0 0 0 28.83 26.27 28.83
3508 -0.70 -243.3 516.5 -11.9 404 3517 0.00 2.12 0.00 0.000 6 0.000 0.037 2726 1954 3776 0 0 0 0 0 0 28.83 26.33 28.83
3817 -0.71 -243.3 554.4 -11.7 435 3826 0.00 2.20 0.00 0.000 4 0.000 0.054 2726 3363 3774 0 0 0 0 0 0 28.83 26.20 28.83
3945 -0.74 -243.3 565.4 -8.2 447 3952 0.00 2.15 0.00 0.000 6 0.000 0.034 2726 1946 3773 0 0 0 0 0 0 28.83 26.38 28.83
4250 -0.75 -243.3 588.3 -6.3 478 4259 0.00 2.22 0.00 0.000 4 0.000 0.053 2726 3363 3771 0 0 0 0 0 0 28.83 26.20 28.83
4305 -0.77 -243.3 591.5 -6.3 483 4312 0.00 2.15 0.00 0.000 6 0.000 0.034 2726 1947 3771 0 0 0 0 0 0 28.83 26.37 28.83
4623 -0.79 -243.3 614.2 -8.5 506 4624 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 1947 3769 0 0 0 0 0 0 28.83 28.83 28.83
4923 -0.80 -243.3 645.1 -10.8 521 4929 0.10 2.22 0.00 0.000 4 0.103 0.052 2662 3350 3766 0 0 0 0 0 0 26.55 26.19 28.83
4965 -0.80 -243.3 650.5 -11.9 523 4969 0.00 2.10 0.00 0.000 6 0.000 0.035 2662 1957 3766 0 0 0 0 0 0 28.83 26.34 28.83
5279 -0.77 -243.3 700.6 -16.0 539 5281 0.15 0.00 0.00 0.000 6 0.155 0.000 2703 1957 3765 0 0 0 0 0 0 26.22 28.83 28.83
5578 -0.77 -243.3 735.3 -10.9 554 5579 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 1957 3763 0 0 0 0 0 0 28.83 28.83 28.83
5878 -0.77 -243.3 764.0 -8.6 569 5879 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1957 3761 0 0 0 0 0 0 28.83 28.83 28.83
6178 -0.77 -243.3 788.1 -8.2 584 6179 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 1957 3760 0 0 0 0 0 0 28.83 28.83 28.83
6478 -0.78 -243.3 813.3 -8.5 599 6479 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 1957 3758 0 0 0 0 0 0 28.83 28.83 28.83
6778 -0.79 -243.3 842.9 -10.8 614 6784 0.00 2.25 0.00 0.000 4 0.000 0.057 2700 3354 3755 0 0 0 0 0 0 28.83 26.09 28.83
6842 -0.81 -243.3 849.4 -10.8 617 6848 0.00 2.12 0.00 0.000 6 0.000 0.036 2700 1960 3755 0 0 0 0 0 0 28.83 26.31 28.83
7158 -0.81 -243.3 885.2 -10.6 633 7159 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 1960 3754 0 0 0 0 0 0 28.83 28.83 28.83
7459 -0.82 -243.3 914.4 -9.1 648 7465 0.00 2.17 0.00 0.000 4 0.000 0.054 2700 560 3752 0 0 0 0 0 0 28.83 26.15 28.83
7491 -0.83 -243.3 916.4 -9.3 649 7498 0.00 2.15 0.00 0.000 6 0.000 0.039 2700 1957 3751 0 0 0 0 0 0 28.83 26.23 28.83
7799 -0.84 -243.3 942.3 -7.5 665 7805 0.00 2.22 0.00 0.000 4 0.000 0.057 2700 3360 3750 0 0 0 0 0 0 28.83 26.06 28.83
7840 -0.85 -243.3 945.4 -7.4 667 7845 0.00 2.12 0.00 0.000 6 0.000 0.035 2700 1947 3750 0 0 0 0 0 0 28.83 26.29 28.83
8158 -0.86 -243.3 968.5 -6.6 683 8164 0.00 2.25 0.00 0.000 4 0.000 0.055 2700 3359 3749 0 0 0 0 0 0 28.83 26.06 28.83
8193 -0.88 -243.3 970.0 -6.8 684 8200 0.00 2.15 0.00 0.000 6 0.000 0.035 2700 1950 3749 0 0 0 0 0 0 28.83 26.28 28.83
8496 end dive: TARGET_DEPTH_EXCEEDED
state 8496 begin apogee
8501 -0.17 0.0 990.2 -6.1 700 8705 0.57 0.00 195.57 1.311 6 0.112 0.000 2893 1950 2786 0 0 0 0 0 0 25.79 28.83 23.37
8706 end apogee: CONTROL_FINISHED_OK
state 8706 begin climb
8708 0.80 243.3 992.4 0.0 710 8934 0.85 2.62 217.40 1.256 4 0.044 0.050 3226 3392 1794 0 0 0 0 0 0 24.61 23.82 22.77
8980 0.70 243.3 936.8 27.8 724 8986 0.17 2.33 0.00 0.000 6 0.158 0.041 3186 2003 1790 0 0 0 0 0 0 24.35 24.58 28.83
9300 0.63 243.3 862.6 22.4 740 9306 0.12 2.25 0.00 0.000 4 0.171 0.053 3157 582 1787 0 0 0 0 0 0 25.74 25.84 28.83
9327 0.56 243.3 858.4 21.9 741 9331 0.00 2.20 0.00 0.000 6 0.000 0.035 3157 1997 1786 0 0 0 0 0 0 28.83 25.92 28.83
9635 0.51 243.3 805.0 15.7 756 9642 0.12 2.17 0.00 0.000 4 0.170 0.047 3118 3394 1785 0 0 0 0 0 0 25.97 26.06 28.83
9698 0.47 243.3 796.8 14.1 759 9702 0.00 2.17 0.00 0.000 6 0.000 0.036 3126 1967 1784 0 0 0 0 0 0 28.83 26.15 28.83
10011 0.53 315.8 765.1 8.8 775 10081 0.00 2.30 63.92 1.158 4 0.000 0.052 3137 597 1498 0 0 0 0 0 0 28.83 25.24 24.20
10135 0.65 434.5 756.3 7.4 781 10249 0.00 2.20 103.72 1.136 6 0.000 0.032 3137 1997 1012 0 0 0 0 0 0 28.83 25.65 23.81
10549 0.65 434.5 718.9 12.2 802 10555 0.00 2.25 0.00 0.000 4 0.000 0.050 3146 599 1008 0 0 0 0 0 0 28.83 25.91 28.83
10630 0.65 434.5 707.6 14.1 806 10636 0.00 2.15 0.00 0.000 6 0.000 0.032 3146 2002 1008 0 0 0 0 0 0 28.83 26.06 28.83
10950 0.64 434.5 648.8 18.9 822 10955 0.00 2.25 0.00 0.000 4 0.000 0.050 3156 592 1007 0 0 0 0 0 0 28.83 26.11 28.83
11009 0.64 434.5 637.9 18.4 825 11015 0.00 2.15 0.00 0.000 6 0.000 0.032 3156 2002 1007 0 0 0 0 0 0 28.83 26.23 28.83
11322 0.63 434.5 583.5 15.9 845 11329 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2002 1007 0 0 0 0 0 0 28.83 28.83 28.83
11631 0.62 434.5 536.9 13.6 876 11640 0.00 2.22 0.00 0.000 4 0.000 0.050 3166 589 1007 0 0 0 0 0 0 28.83 26.20 28.83
11713 0.62 434.5 527.3 11.7 884 11722 0.00 2.10 0.00 0.000 6 0.000 0.032 3165 1992 1007 0 0 0 0 0 0 28.83 26.32 28.83
12023 0.60 434.5 486.9 13.4 915 12031 0.00 2.22 0.00 0.000 4 0.000 0.050 3175 587 1006 0 0 0 0 0 0 28.83 26.21 28.83
12077 0.59 434.5 480.0 13.7 920 12086 0.10 2.10 0.00 0.000 6 0.127 0.031 3140 1992 1007 0 0 0 0 0 0 26.06 26.34 28.83
12387 0.60 434.5 446.2 11.8 951 12396 0.00 2.20 0.00 0.000 4 0.000 0.049 3147 592 1006 0 0 0 0 0 0 28.83 26.22 28.83
12438 0.62 434.5 439.3 13.2 956 12447 0.00 2.10 0.00 0.000 6 0.000 0.031 3147 1992 1006 0 0 0 0 0 0 28.83 26.34 28.83
12748 0.62 434.5 396.3 14.9 987 12757 0.00 2.20 0.00 0.000 4 0.000 0.048 3157 595 1006 0 0 0 0 0 0 28.83 26.22 28.83
12791 0.63 434.5 389.9 15.7 991 12799 0.00 2.08 0.00 0.000 6 0.000 0.031 3156 1992 1006 0 0 0 0 0 0 28.83 26.35 28.83
13099 0.63 434.5 342.4 14.6 1022 13108 0.00 2.17 0.00 0.000 4 0.000 0.047 3166 593 1006 0 0 0 0 0 0 28.83 26.22 28.83
13172 0.64 434.5 332.9 12.6 1029 13181 0.00 2.10 0.00 0.000 6 0.000 0.031 3166 1993 1006 0 0 0 0 0 0 28.83 26.35 28.83
13481 0.70 480.8 299.3 9.6 1060 13525 0.00 2.22 38.62 0.818 4 0.000 0.046 3175 594 823 0 0 0 0 0 0 28.83 25.82 24.82
13575 0.74 497.6 290.3 10.5 1068 13600 0.00 2.17 18.52 0.769 6 0.000 0.031 3175 1991 756 0 0 0 0 0 0 28.83 25.94 24.68
13902 0.77 497.6 254.0 11.8 1101 13910 0.00 2.20 0.00 0.000 4 0.000 0.047 3183 596 748 0 0 0 0 0 0 28.83 26.01 28.83
13946 0.79 497.6 247.5 14.4 1105 13954 0.00 2.08 0.00 0.000 6 0.000 0.030 3183 1991 748 0 0 0 0 0 0 28.83 26.14 28.83
14255 0.82 497.6 204.0 12.0 1136 14265 0.00 2.20 0.00 0.000 4 0.000 0.047 3191 586 747 0 0 0 0 0 0 28.83 26.13 28.83
14319 0.90 530.7 197.1 10.0 1144 14384 0.10 2.15 41.72 0.638 6 0.050 0.030 3266 1994 620 0 0 0 0 3 0 26.19 26.27 24.82
14708 0.89 530.7 137.7 14.9 1214 14716 0.00 2.22 0.00 0.000 4 0.000 0.047 3275 598 607 0 0 0 0 0 0 28.83 26.06 28.83
14816 0.89 530.7 122.9 13.8 1233 14823 0.15 2.08 0.00 0.000 6 0.136 0.029 3232 1994 604 0 0 0 0 0 0 25.96 26.20 28.83
15145 0.92 532.2 87.9 11.0 1294 15153 0.00 2.20 0.00 0.000 4 0.000 0.045 3238 599 602 0 0 0 0 0 0 28.83 26.17 28.83
15200 1.00 572.4 82.2 9.8 1303 15245 0.10 2.05 31.73 0.577 6 0.099 0.028 3301 1996 485 0 0 0 0 1 0 26.25 26.31 25.12
15583 end climb: SURFACE_DEPTH_REACHED
state 15583 begin surface coast
15639 end surface coast: CONTROL_FINISHED_OK
state 15639 begin surface