OKMC Jun13 * SG167 * Dive index * Mission links * Dive 131 * 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  131 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  79 ALTIM_SENSITIVITY  3
D_NO_BLEED  500 SM_CC  564.9259 R_STBD_OVSHOOT  69 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  280 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_MISSION  310 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  -975114.25 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  250 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  070713,210405,2118.556,12052.998,28,0.9,28,-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  1.55 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  070713,211035,2118.753,12052.981,32,1.0,32,-3.0 MHEAD_RNG_PITCHd_Wd  145.5,95818,-16.1,-11.786,-18.84,3159
SPEED_LIMITS  0.204,0.345 D_GRID  425

Post-dive calculations and measurements:
FINISH  0.8,1.010139 _10V_AH  10.3,10.472
SM_CCo  6642,19.40,0.120,0,0,456,564.93 FG_AHR_24Vo  0.000
SM_GC  1.35,8.32,0.22,19.40,0.031,0.044,0.120,136,2078,456,-9.07,3.08,564.93,0,0,0,0,0,0,26.51,26.60,26.34 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2111.01,12055.84,070713,191952 MEM  322880
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  13414,382
HUMID  53.74 CAP_FILE_SIZE  97633,0
INTERNAL_PRESSURE  9.59021 CFSIZE  260034560,240365568
TCM_TEMP  26.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  0 CURRENT  0.354,339.2,1
SC_FREEKB  7666624 GPS  070713,230335,2119.352,12053.022,42,2.0,42,-3.0
_24V_AH  24.7,16.230

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21235127.31 nil000.00
Roll_motor594465.67 nil000.00
VBD_pump_during_apogee73475213653.90 nil000.00
VBD_pump_during_surface1912057.55 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon663181432.31
Iridium_during_xfer199114564.31 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS335017.22
TT8118513170.48
LPSleep3554280.18
TT8_Active71113102.32
TT8_Sampling129340535.17
TT8_CF831547154.69
TT8_Kalman000.00
Analog_circuits160016263.72
GPS_charging000.00
Compass1038553.50
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
21 end surface: CONTROL_FINISHED_OK
state 22 begin dive
25 -1.10 -243.3 139 2032 401 533 0.0 0.0 0 130 0.00 0.00 -102.05 0.000 16386 0.000 0.000 138 2032 2977 2951 3003 0 0 0 0 0 0 28.83 28.83 28.83
138 -1.10 -243.3 138 2032 2951 3004 3.5 -6.2 18 170 10.00 1.92 -13.32 0.000 18948 0.236 0.044 2700 703 3757 3751 3764 0 0 0 0 0 0 26.10 26.43 26.69
192 -0.75 -243.3 1600 703 3746 3763 29.6 -55.6 26 198 0.47 1.98 0.00 0.000 3078 0.213 0.013 2814 2139 3758 3752 3764 0 0 0 0 0 0 26.17 26.51 28.83
508 -0.65 -243.3 2813 2151 3752 3764 137.3 -29.0 43 514 0.12 1.90 0.00 0.000 2308 0.184 0.026 2844 3470 3758 3754 3763 0 0 0 0 0 0 26.41 26.57 28.83
579 -0.59 -243.3 2844 3469 3753 3764 147.7 -19.0 46 585 0.00 1.92 0.00 0.000 1030 0.000 0.015 2844 2084 3758 3753 3764 0 0 0 0 0 0 28.83 26.63 28.83
900 -0.57 -243.3 2844 2082 3754 3764 192.3 -12.2 62 905 0.12 1.92 0.00 0.000 2564 0.151 0.026 2885 723 3759 3755 3764 0 0 0 0 0 0 26.52 26.63 28.83
970 -0.58 -243.3 2886 723 3754 3764 198.7 -10.0 65 976 0.00 1.90 0.00 0.000 1030 0.000 0.019 2882 2084 3759 3754 3764 0 0 0 0 0 0 28.83 26.67 28.83
1293 -0.61 -243.3 2882 2084 3755 3764 226.6 -8.6 81 1298 0.00 1.95 0.00 0.000 516 0.000 0.026 2882 720 3759 3755 3764 0 0 0 0 0 0 28.83 26.67 28.83
1390 -0.64 -243.3 2882 720 3755 3764 235.9 -10.8 85 1396 0.00 1.95 0.00 0.000 1030 0.000 0.020 2878 2109 3759 3755 3764 0 0 0 0 0 0 28.83 26.70 28.83
1707 -0.67 -243.3 2878 2109 3754 3761 271.9 -11.2 101 1713 0.00 2.00 0.00 0.000 516 0.000 0.027 2878 720 3757 3754 3761 0 0 0 0 0 0 28.83 26.67 28.83
1727 -0.70 -243.3 2878 720 3754 3761 271.9 -11.2 101 1735 0.12 1.95 0.00 0.000 5126 0.081 0.019 2802 2112 3757 3754 3760 0 0 0 0 0 0 26.66 26.70 28.83
2033 -0.66 -243.3 2801 2112 3755 3757 316.5 -12.6 117 2040 0.12 2.00 0.00 0.000 2308 0.161 0.028 2834 3500 3755 3754 3757 0 0 0 0 0 0 26.54 26.67 28.83
2080 -0.66 -243.3 2834 3500 3754 3757 320.5 -9.9 119 2086 0.00 1.95 0.00 0.000 1030 0.000 0.016 2834 2101 3756 3755 3757 0 0 0 0 0 0 28.83 26.72 28.83
2406 -0.66 -243.3 2834 2099 3754 3752 351.8 -11.8 135 2411 0.00 1.98 0.00 0.000 516 0.000 0.029 2834 718 3753 3754 3752 0 0 0 0 0 0 28.83 26.67 28.83
2528 -0.67 -243.3 2833 718 3755 3750 364.2 -11.4 140 2535 0.00 1.95 0.00 0.000 1030 0.000 0.019 2834 2095 3752 3754 3751 0 0 0 0 0 0 28.83 26.71 28.83
2830 -0.67 -243.3 2833 2095 3754 3745 404.6 -13.5 156 2835 0.00 2.03 0.00 0.000 260 0.000 0.034 2832 3487 3750 3754 3746 0 0 0 0 0 0 28.83 26.66 28.83
2859 -0.67 -243.3 2832 3487 3754 3745 407.7 -13.2 157 2864 0.00 1.92 0.00 0.000 1030 0.000 0.016 2832 2093 3749 3754 3745 0 0 0 0 0 0 28.83 26.73 28.83
2996 end dive: TARGET_DEPTH_EXCEEDED
state 2997 begin apogee
3005 -0.23 0.0 2832 2315 3754 3742 425.3 -11.6 164 3251 0.45 0.00 238.25 0.737 10246 0.115 0.000 2985 2315 2757 2832 2683 0 0 0 0 0 0 26.55 28.83 24.79
3253 end apogee: CONTROL_FINISHED_OK
state 3253 begin climb
3257 1.10 243.3 2984 2314 2828 2675 437.3 0.0 176 3463 1.17 2.15 195.85 0.753 10500 0.058 0.036 3417 3683 1757 1848 1667 0 0 0 0 0 0 25.46 25.32 24.72
3659 0.98 243.3 3417 3683 1837 1641 373.5 20.7 196 3667 0.20 1.98 0.00 0.000 5126 0.167 0.021 3375 2322 1739 1837 1641 0 0 0 0 0 0 25.98 26.18 28.83
3965 0.91 243.3 3375 2319 1837 1638 313.3 18.7 212 3971 0.00 2.08 0.00 0.000 516 0.000 0.034 3384 912 1737 1837 1637 0 0 0 0 0 0 28.83 26.41 28.83
4137 0.83 243.3 2400 911 1769 1627 286.2 16.9 220 4143 0.20 1.98 0.00 0.000 5126 0.151 0.023 3329 2285 1736 1835 1637 0 0 0 0 0 0 26.32 26.51 28.83
4458 0.79 243.3 3329 2285 1835 1634 239.9 12.4 236 4463 0.00 2.10 0.00 0.000 260 0.000 0.036 3329 3694 1734 1835 1634 0 0 0 0 0 0 28.83 26.55 28.83
4498 0.75 243.3 3329 3694 1835 1633 236.7 12.5 237 4505 0.12 2.00 0.00 0.000 5126 0.171 0.021 3305 2291 1734 1835 1633 0 0 0 0 0 0 26.41 26.60 28.83
4804 0.74 243.3 3304 2290 1835 1630 197.6 12.9 253 4809 0.00 1.98 0.00 0.000 516 0.000 0.028 3313 916 1733 1835 1631 0 0 0 0 0 0 28.83 26.60 28.83
5035 0.84 312.3 3312 916 1835 1630 173.2 9.5 264 5117 0.00 1.98 73.70 0.620 9222 0.000 0.020 3313 2305 1481 1572 1390 0 0 0 0 0 0 28.83 26.65 25.26
5433 1.16 506.9 3313 2305 1553 1375 147.1 5.5 284 5657 0.28 2.17 213.32 0.573 10500 0.044 0.036 3459 3694 685 588 783 0 0 0 0 0 0 26.44 25.46 24.94
5720 1.14 506.9 3459 3694 570 769 107.4 13.2 298 5726 0.15 2.03 0.00 0.000 5126 0.148 0.018 3428 2270 669 570 769 0 0 0 0 0 0 25.74 25.91 28.83
6046 1.16 506.9 3428 2266 570 764 64.1 12.9 314 6053 0.00 1.92 0.00 0.000 516 0.000 0.028 3433 940 667 570 764 0 0 0 0 0 0 28.83 26.36 28.83
6087 1.19 506.9 3432 940 570 764 60.8 12.7 315 6094 0.00 1.95 0.00 0.000 1030 0.000 0.019 3433 2311 667 570 764 0 0 0 0 0 0 28.83 26.41 28.83
6393 1.26 528.9 3433 2311 570 763 26.5 11.1 341 6410 0.00 1.98 10.68 0.144 8708 0.000 0.025 3441 946 607 515 699 0 0 0 0 0 0 28.83 26.48 26.27
6483 1.28 528.9 3441 946 549 699 15.7 12.2 356 6491 0.00 1.92 2.55 0.149 9222 0.000 0.018 3441 2315 602 520 685 0 0 0 0 0 0 28.83 26.54 26.34
6592 end climb: SURFACE_DEPTH_REACHED
state 6593 begin surface coast
6619 end surface coast: CONTROL_FINISHED_OK
state 6619 begin surface