OKMC Jun13 * SG167 * Dive index * Mission links * Dive 123 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  167 HD_C  9.8500004e-06 ROLL_MAX  3764 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  16 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
DIVE  123 ESCAPE_HEADING  0 C_ROLL_DIVE  2100 ALTIM_TOP_MIN_OBSTACLE  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2300 ALTIM_PING_DEPTH  0
D_SURF  3 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  0
D_FLARE  3 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1010 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  76 ALTIM_SENSITIVITY  3
D_NO_BLEED  500 SM_CC  564.9259 R_STBD_OVSHOOT  72 XPDR_VALID  0
D_BOOST  120 N_FILEKB  8 ROLL_AD_RATE  350 XPDR_INHIBIT  90
T_BOOST  4 FILEMGR  0 ROLL_MAXERRORS  2 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  0 PROTOCOL  9 VBD_MIN  460 DEEPGLIDERMB  0
D_CALL  0 N_NOCOMM  1 VBD_MAX  3960 MOTHERBOARD  4
SURFACE_URGENCY  0 NOCOMM_ACTION  163 C_VBD  2763 DEVICE1  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE3  -1
T_DIVE  360 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_MISSION  380 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0015 DEVICE5  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERS  1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_NO_W  120 T_GPS  5 UNCOM_BLEED  50 LOGGERDEVICE2  -1
T_LOITER  0 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
USE_BATHY  -8 T_GPS_CHARGE  -975104.25 DBDW  0 COMPASS_DEVICE  97
USE_ICE  0 T_RSLEEP  2 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  49
D_OFFGRID  1000 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  0 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 AH0_24V  150 RAFOS_DEVICE  -1
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 AH0_10V  100 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  150 MINV_24V  22 SIM_W  0
MAX_BUOY  180 PITCH_MAX  3944 MINV_10V  9.5 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  3060 FG_AHR_10V  0 SEABIRD_T_G  0.0043557216
GLIDE_SLOPE  30 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00062581268
SPEED_FACTOR  1 PITCH_CNV  0.0031256729 PHONE_SUPPLY  -2 SEABIRD_T_I  2.3904395e-05
RHO  1.0275 P_OVSHOOT  0.039999999 PRESSURE_YINT  -15.330984 SEABIRD_T_J  2.614597e-06
MASS  52152 PITCH_GAIN  22 PRESSURE_SLOPE  0.0001158971 SEABIRD_C_G  -10.14994
MASS_COMP  0 PITCH_TIMEOUT  19 AD7714Ch0Gain  128 SEABIRD_C_H  1.1477706
NAV_MODE  2 PITCH_AD_RATE  165 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0022030354
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00024289287
KALMAN_USE  2 PITCH_ADJ_GAIN  0.0099999998 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.0038360001 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.010078 ROLL_MIN  187 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0

Pre-dive calculations and measurements:
GPS1  070713,063959,2111.339,12047.006,40,1.1,40,-3.0 TGT_NAME  T5
_CALLS  1 TGT_LATLONG  2112.000,12148.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.61 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  070713,064708,2111.525,12047.036,7,1.1,7,-3.0 MHEAD_RNG_PITCHd_Wd  137.5,105268,-15.4,-9.167,-18.50,2921
SPEED_LIMITS  0.159,0.274 D_GRID  519

Post-dive calculations and measurements:
FINISH  0.9,1.020516 _10V_AH  10.4,10.101
SM_CCo  10079,35.78,0.120,0,0,458,564.93 FG_AHR_24Vo  0.000
SM_GC  1.52,8.23,0.25,35.78,0.021,0.037,0.120,136,2051,458,-9.07,2.26,564.93,0,0,0,0,0,0,26.46,26.55,26.26 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2101.76,12041.18,070713,010153 MEM  322864
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  20085,560
HUMID  50.19 CAP_FILE_SIZE  137864,0
INTERNAL_PRESSURE  9.53162 CFSIZE  260034560,240754688
TCM_TEMP  26.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  4 CURRENT  0.344, 14.3,1
SC_FREEKB  7669696 GPS  070713,093736,2112.722,12048.429,40,0.9,40,-3.0
_24V_AH  24.5,15.388

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23234133.34 nil000.00
Roll_motor843981.03 nil000.00
VBD_pump_during_apogee49184310151.56 nil000.00
VBD_pump_during_surface35120105.27 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1006782150.96
Iridium_during_xfer238123721.04 nil000.00
Transponder_ping142010.29 nil000.00
GUMSTIX_24V000.00
GPS8504.64
TT8189713275.54
LPSleep58692133.68
TT8_Active5891385.54
TT8_Sampling176840738.82
TT8_CF841047203.63
TT8_Kalman000.00
Analog_circuits167916279.43
GPS_charging000.00
Compass1489577.44
RAFOS000.00
Transponder050.03

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
22 end surface: CONTROL_FINISHED_OK
state 22 begin dive
26 -0.96 -175.2 127 2020 374 541 0.0 0.0 0 126 0.00 0.00 -97.47 0.000 16386 0.000 0.000 126 2021 2867 2838 2897 0 0 0 0 0 0 28.83 28.83 28.83
134 -0.96 -175.2 126 2020 2839 2897 3.1 -4.0 17 165 10.30 2.20 -11.43 0.000 18692 0.234 0.038 2734 3501 3480 3481 3480 0 0 0 0 0 0 25.90 26.24 26.48
175 -0.58 -175.2 2734 3501 3480 3482 18.7 -35.9 23 184 0.50 2.00 0.00 0.000 3078 0.196 0.017 2866 2080 3481 3481 3482 0 0 0 0 0 0 26.01 26.27 28.83
504 -0.48 -175.2 2866 2079 3483 3482 101.2 -20.6 45 509 0.12 2.05 0.00 0.000 2308 0.169 0.024 2898 3495 3482 3483 3482 0 0 0 0 0 0 26.29 26.43 28.83
530 -0.39 -175.2 2898 3495 3483 3482 105.4 -18.7 46 536 0.12 1.95 0.00 0.000 3078 0.156 0.015 2930 2071 3482 3483 3482 0 0 0 0 0 0 26.29 26.48 28.83
856 -0.39 -175.2 2930 2070 3484 3482 143.9 -9.3 62 861 0.00 1.90 0.00 0.000 516 0.000 0.027 2930 732 3483 3484 3482 0 0 0 0 0 0 28.83 26.53 28.83
942 -0.40 -175.2 2930 732 3484 3482 152.2 -9.7 66 947 0.00 1.92 0.00 0.000 1030 0.000 0.018 2928 2097 3483 3484 3482 0 0 0 0 0 0 28.83 26.57 28.83
1268 -0.42 -175.2 2928 2096 3484 3481 188.0 -8.5 82 1274 0.00 1.95 0.00 0.000 516 0.000 0.026 2928 733 3483 3484 3482 0 0 0 0 0 0 28.83 26.59 28.83
1314 -0.44 -175.2 2928 733 3485 3482 191.1 -7.2 84 1321 0.00 1.92 0.00 0.000 1030 0.000 0.018 2924 2109 3483 3484 3482 0 0 0 0 0 0 28.83 26.62 28.83
1641 -0.48 -175.2 2924 2109 3484 3481 217.5 -10.4 100 1646 0.00 2.00 0.00 0.000 260 0.000 0.032 2924 3498 3483 3484 3482 0 0 0 0 0 0 28.83 26.61 28.83
1742 -0.54 -175.2 2924 3498 3484 3481 226.5 -10.6 104 1750 0.12 1.92 0.00 0.000 5126 0.076 0.015 2848 2087 3482 3484 3481 0 0 0 0 0 0 26.63 26.68 28.83
2046 -0.52 -175.2 2847 2086 3484 3479 270.2 -11.1 120 2051 0.12 1.92 0.00 0.000 2564 0.149 0.026 2888 729 3481 3484 3479 0 0 0 0 0 0 26.53 26.65 28.83
2091 -0.52 -175.2 2888 729 3484 3479 275.2 -10.9 122 2096 0.00 1.95 0.00 0.000 1030 0.000 0.019 2888 2108 3481 3484 3478 0 0 0 0 0 0 28.83 26.66 28.83
2417 -0.55 -175.2 2888 2108 3484 3475 307.5 -9.2 138 2422 0.00 2.00 0.00 0.000 260 0.000 0.033 2888 3492 3479 3484 3475 0 0 0 0 0 0 28.83 26.64 28.83
2511 -0.59 -175.2 2888 3491 3484 3475 316.8 -11.0 142 2516 0.00 1.90 0.00 0.000 1030 0.000 0.015 2889 2097 3479 3484 3475 0 0 0 0 0 0 28.83 26.71 28.83
2827 -0.62 -175.2 2889 2097 3484 3470 342.3 -3.8 158 2833 0.00 1.92 0.00 0.000 516 0.000 0.039 2888 746 3477 3484 3471 0 0 0 0 0 0 28.83 26.65 28.83
2902 -0.66 -175.2 2888 746 3484 3470 345.8 -4.9 161 2908 0.12 1.92 0.00 0.000 5126 0.080 0.019 2813 2119 3476 3484 3469 0 0 0 0 0 0 26.66 26.69 28.83
3218 -0.64 -175.2 2812 2119 3484 3466 384.1 -9.9 177 3220 0.15 0.00 0.00 0.000 2054 0.153 0.000 2853 2119 3474 3484 3465 0 0 0 0 0 0 26.54 28.83 28.83
3518 -0.64 -175.2 2853 2119 3483 3460 414.4 -10.8 192 3519 0.00 0.00 0.00 0.000 6 0.000 0.000 2853 2120 3472 3484 3460 0 0 0 0 0 0 28.83 28.83 28.83
3821 -0.64 -175.2 2853 2119 3484 3455 448.1 -10.1 207 3823 0.00 0.00 -0.08 0.000 16390 0.000 0.000 2853 2120 3492 3505 3480 0 0 0 0 0 0 28.83 28.83 26.31
4118 -0.70 -175.2 2853 2119 3505 3476 479.3 -9.7 222 4125 0.00 2.00 0.00 0.000 260 0.000 0.036 2849 3479 3490 3504 3476 0 0 0 0 0 0 28.83 26.65 28.83
4138 -0.76 -175.2 2849 3478 3504 3476 479.3 -9.7 222 4145 0.00 1.90 0.00 0.000 1030 0.000 0.018 2849 2100 3490 3505 3476 0 0 0 0 0 0 28.83 26.72 28.83
4444 -0.76 -175.2 2848 2096 3505 3471 482.4 0.0 238 4449 0.00 1.98 0.00 0.000 516 0.000 0.032 2849 738 3487 3504 3471 0 0 0 0 0 0 28.83 26.66 28.83
4680 -0.76 -175.2 2849 737 3504 3468 482.6 0.0 249 4685 0.00 1.92 0.00 0.000 1030 0.000 0.020 2849 2091 3486 3505 3468 0 0 0 0 0 0 28.83 26.70 28.83
4995 -0.94 -175.2 2848 2091 3504 3463 482.8 -0.1 265 5001 0.22 1.98 0.00 0.000 4612 0.076 0.028 2752 733 3483 3505 3462 0 0 0 0 0 0 26.65 26.67 28.83
5119 end dive: NO_VERTICAL_VELOCITY
state 5119 begin apogee
5129 -0.23 0.0 2751 2301 3504 3461 482.9 0.0 271 5285 0.60 0.00 147.60 0.843 10246 0.047 0.000 3000 2302 2760 2820 2700 0 0 0 0 0 0 26.67 28.83 24.58
5288 end apogee: CONTROL_FINISHED_OK
state 5288 begin climb
5291 0.96 175.2 3000 2302 2808 2680 483.1 0.0 279 5446 1.02 2.28 142.30 0.815 10500 0.061 0.037 3372 3687 2034 2124 1944 0 0 0 0 0 0 25.34 25.11 24.46
5678 0.84 175.2 2400 3686 2039 1903 439.2 16.5 298 5684 0.20 2.00 0.00 0.000 5126 0.169 0.023 3330 2324 2016 2117 1916 0 0 0 0 0 0 25.87 26.08 28.83
5999 0.76 175.2 3330 2325 2117 1910 386.5 13.8 314 6004 0.00 2.10 0.00 0.000 260 0.000 0.037 3331 3696 2013 2117 1910 0 0 0 0 0 0 28.83 26.31 28.83
6237 0.68 175.2 3330 3696 2116 1909 361.0 11.1 325 6243 0.22 2.03 0.00 0.000 5126 0.159 0.023 3277 2296 2012 2116 1909 0 0 0 0 0 0 26.27 26.46 28.83
6553 0.65 175.2 3276 2292 2112 1907 328.7 10.6 341 6558 0.00 2.12 0.00 0.000 260 0.000 0.037 3277 3689 2009 2112 1907 0 0 0 0 0 0 28.83 26.48 28.83
6764 0.61 175.2 3277 3689 2112 1908 307.0 9.8 351 6770 0.00 2.00 0.00 0.000 1030 0.000 0.023 3284 2293 2009 2112 1906 0 0 0 0 0 0 28.83 26.56 28.83
7086 0.61 199.2 3284 2293 2112 1904 275.4 8.3 367 7109 0.00 2.12 17.98 0.728 8452 0.000 0.034 3284 3691 1943 2042 1844 0 0 0 0 0 0 28.83 26.28 25.63
7343 0.58 199.2 3284 3691 2034 1828 252.0 11.3 379 7350 0.15 2.00 0.00 0.000 5126 0.148 0.022 3251 2302 1930 2034 1827 0 0 0 0 0 0 26.31 26.46 28.83
7661 0.77 315.2 3250 2302 2034 1826 223.3 5.1 395 7771 0.15 2.20 99.72 0.674 10500 0.068 0.034 3336 3697 1464 1548 1380 0 0 0 0 0 0 26.56 25.46 24.89
7850 0.76 315.2 2336 3696 1486 1355 205.0 11.1 404 7856 0.15 2.05 0.00 0.000 5126 0.152 0.021 3305 2303 1445 1530 1361 0 0 0 0 0 0 25.75 25.91 28.83
8172 0.77 315.2 3305 2303 1529 1358 175.8 9.6 420 8178 0.00 2.05 0.00 0.000 516 0.000 0.029 3313 901 1443 1528 1358 0 0 0 0 0 0 28.83 26.28 28.83
8295 0.79 315.2 3312 901 1529 1358 165.0 10.2 425 8302 0.00 2.03 0.00 0.000 1030 0.000 0.020 3313 2306 1443 1528 1358 0 0 0 0 0 0 28.83 26.37 28.83
8598 0.81 315.2 3312 2307 1528 1358 134.0 10.5 441 8603 0.00 2.05 0.00 0.000 516 0.000 0.028 3319 905 1443 1528 1358 0 0 0 0 0 0 28.83 26.46 28.83
8673 0.83 315.2 3319 906 1528 1358 126.9 10.9 444 8678 0.00 2.00 0.00 0.000 1030 0.000 0.019 3319 2315 1442 1528 1357 0 0 0 0 0 0 28.83 26.50 28.83
8988 0.96 383.2 3319 2315 1527 1358 99.7 6.8 460 9022 0.12 2.03 25.85 0.311 10500 0.075 0.031 3407 3684 1205 1272 1138 0 0 0 0 0 0 26.60 26.36 25.97
9108 0.93 383.2 3407 3684 1291 1140 86.9 12.9 465 9116 0.20 2.00 1.92 0.169 13318 0.136 0.020 3357 2278 1197 1265 1130 0 0 0 0 0 0 26.31 26.46 26.25
9414 0.97 390.0 3357 2278 1293 1133 57.1 8.9 481 9424 0.00 1.95 4.97 0.207 8708 0.000 0.026 3366 917 1176 1247 1106 0 0 0 0 0 0 28.83 26.49 26.20
9615 1.05 414.7 2368 917 1244 1104 40.2 8.3 496 9634 0.00 1.95 13.35 0.199 9222 0.000 0.019 3365 2290 1069 1117 1021 0 0 0 0 0 0 28.83 26.57 26.23
9935 1.23 494.1 3365 2290 1152 1021 15.5 6.4 541 9979 0.20 2.08 36.55 0.145 10756 0.053 0.028 3509 920 747 671 823 0 0 0 0 0 0 26.61 26.45 26.28
10021 1.20 494.1 2576 919 688 822 3.9 14.5 555 10030 0.20 1.98 1.25 0.181 13318 0.133 0.018 3450 2305 743 672 814 0 0 0 0 0 0 26.34 26.51 26.32
10036 end climb: SURFACE_DEPTH_REACHED
state 10036 begin surface coast
10054 end surface coast: CONTROL_FINISHED_OK
state 10057 begin surface