OKMC Jun13 * SG167 * Dive index * Mission links * Dive 132 * 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  132 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  126 ALTIM_SENSITIVITY  3
D_NO_BLEED  500 SM_CC  564.9259 R_STBD_OVSHOOT  67 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  -975115.5 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  070713,230335,2119.352,12053.022,42,2.0,42,-3.0 TGT_NAME  T5
_CALLS  2 TGT_LATLONG  2112.000,12148.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.53 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  070713,231305,2119.513,12053.083,32,1.1,32,-3.0 MHEAD_RNG_PITCHd_Wd  146.3,95838,-16.1,-11.786,-18.84,3159
SPEED_LIMITS  0.204,0.345 D_GRID  425

Post-dive calculations and measurements:
FINISH  0.8,1.008323 _10V_AH  10.4,10.526
SM_CCo  6350,6.25,0.128,0,0,459,564.93 FG_AHR_24Vo  0.000
SM_GC  1.33,8.43,1.73,6.25,0.022,0.018,0.128,139,2079,459,-9.06,-2.01,564.93,0,0,0,0,0,0,26.47,26.53,26.33 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2113.32,12053.86,070713,232318 MEM  322840
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  13500,368
HUMID  53.85 CAP_FILE_SIZE  92570,0
INTERNAL_PRESSURE  9.58045 CFSIZE  260034560,240308224
TCM_TEMP  26.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  1 CURRENT  0.356,359.3,1
SC_FREEKB  7666240 GPS  080713,010058,2120.139,12053.775,36,1.0,41,-3.0
_24V_AH  24.7,16.356

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22237132.07 nil000.00
Roll_motor484858.08 nil000.00
VBD_pump_during_apogee61378911954.08 nil000.00
VBD_pump_during_surface612719.72 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon633281376.01
Iridium_during_xfer316113886.29 nil000.00
Transponder_ping04202.59 nil000.00
GUMSTIX_24V000.00
GPS335017.36
TT8113213164.44
LPSleep3583281.62
TT8_Active6051387.92
TT8_Sampling129440540.61
TT8_CF831747157.22
TT8_Kalman000.00
Analog_circuits152416253.73
GPS_charging000.00
Compass941548.97
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 21 begin dive
25 -1.10 -243.3 135 2072 408 491 0.0 0.0 0 129 0.00 0.00 -100.78 0.000 16386 0.000 0.000 135 2073 2977 2953 3001 0 0 0 0 0 0 28.83 28.83 28.83
137 -1.10 -243.3 135 2072 2954 3000 3.1 -4.5 18 169 10.10 2.10 -13.62 0.000 18692 0.238 0.041 2690 3516 3758 3750 3766 0 0 0 0 0 0 26.07 26.41 26.67
211 -0.84 -243.3 2689 3517 3750 3766 37.2 -47.0 28 218 0.35 1.95 0.00 0.000 3078 0.184 0.020 2784 2144 3758 3750 3766 0 0 0 0 0 0 26.20 26.46 28.83
528 -0.69 -243.3 2784 2143 3750 3766 152.4 -34.9 45 530 0.20 0.00 0.00 0.000 2054 0.182 0.000 2837 2143 3758 3750 3766 0 0 0 0 0 0 26.36 28.83 28.83
830 -0.66 -243.3 2837 2143 3752 3766 203.4 -13.2 60 831 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 2143 3758 3751 3766 0 0 0 0 0 0 28.83 28.83 28.83
1130 -0.65 -243.3 2837 2143 3752 3766 237.1 -12.1 75 1136 0.00 2.05 0.00 0.000 516 0.000 0.028 2837 696 3759 3752 3766 0 0 0 0 0 0 28.83 26.65 28.83
1247 -0.65 -243.3 2837 696 3752 3766 248.4 -10.2 80 1253 0.00 1.98 0.00 0.000 1030 0.000 0.018 2834 2097 3758 3752 3765 0 0 0 0 0 0 28.83 26.68 28.83
1564 -0.63 -243.3 2834 2096 3752 3762 283.3 -11.0 96 1569 0.00 2.03 0.00 0.000 260 0.000 0.032 2825 3504 3757 3752 3762 0 0 0 0 0 0 28.83 26.66 28.83
1643 -0.63 -243.3 2824 3505 3752 3761 291.2 -11.9 99 1652 0.12 1.98 0.00 0.000 3078 0.142 0.016 2860 2071 3756 3752 3761 0 0 0 0 0 0 26.55 26.72 28.83
1951 -0.66 -243.3 2860 2069 3752 3757 328.4 -9.4 115 1957 0.00 1.90 0.00 0.000 516 0.000 0.029 2860 732 3754 3752 3756 0 0 0 0 0 0 28.83 26.67 28.83
1987 -0.69 -243.3 2860 732 3752 3756 331.7 -10.2 116 1992 0.00 1.95 0.00 0.000 1030 0.000 0.021 2860 2107 3753 3752 3755 0 0 0 0 0 0 28.83 26.70 28.83
2302 -0.72 -243.3 2860 2107 3752 3750 372.0 -13.6 132 2307 0.00 1.98 0.00 0.000 516 0.000 0.028 2860 732 3750 3752 3749 0 0 0 0 0 0 28.83 26.67 28.83
2331 -0.76 -243.3 2860 732 3752 3749 375.0 -13.0 133 2338 0.15 1.95 0.00 0.000 5126 0.073 0.020 2778 2116 3750 3752 3749 0 0 0 0 0 0 26.67 26.70 28.83
2609 end dive: TARGET_DEPTH_EXCEEDED
state 2609 begin apogee
2617 -0.23 0.0 2776 2331 3752 3745 425.9 -18.1 147 2816 0.62 0.00 192.05 0.789 10246 0.129 0.000 2981 2330 2758 2834 2682 0 0 0 0 0 0 26.51 28.83 24.72
2818 end apogee: CONTROL_FINISHED_OK
state 2818 begin climb
2822 1.10 243.3 2981 2331 2827 2668 438.2 0.0 157 3026 1.20 2.12 192.93 0.760 10500 0.071 0.036 3409 3658 1757 1851 1663 0 0 0 0 0 0 25.43 25.32 24.70
3259 0.98 243.3 3409 3659 1841 1638 363.0 24.2 179 3265 0.17 1.92 0.00 0.000 5126 0.175 0.021 3375 2323 1739 1841 1638 0 0 0 0 0 0 26.03 26.25 28.83
3585 0.90 243.3 3375 2323 1841 1635 308.0 14.2 195 3591 0.00 2.03 0.00 0.000 260 0.000 0.034 3375 3667 1738 1842 1634 0 0 0 0 0 0 28.83 26.44 28.83
3742 0.81 243.3 3375 3667 1841 1632 283.5 17.1 202 3748 0.22 1.98 0.00 0.000 5126 0.153 0.021 3320 2283 1736 1841 1631 0 0 0 0 0 0 26.33 26.53 28.83
4058 0.78 243.3 3320 2284 1841 1630 240.2 14.1 218 4063 0.00 1.98 0.00 0.000 516 0.000 0.030 3328 920 1735 1841 1629 0 0 0 0 0 0 28.83 26.57 28.83
4265 0.77 254.7 3329 920 1841 1629 214.7 11.4 228 4276 0.00 1.95 3.33 0.519 9222 0.000 0.021 3328 2287 1720 1822 1619 0 0 0 0 0 0 28.83 26.62 25.64
4591 0.75 265.5 3328 2287 1822 1622 182.5 11.4 244 4615 0.00 2.15 16.20 0.651 8452 0.000 0.035 3329 3689 1674 1772 1576 0 0 0 0 0 0 28.83 26.38 25.78
4738 0.76 285.7 3328 3689 1769 1562 167.4 11.1 251 4767 0.12 1.98 21.27 0.645 13318 0.168 0.020 3305 2294 1593 1690 1497 0 0 0 0 0 0 26.32 26.51 25.61
5083 1.00 432.5 3305 2293 1677 1481 144.6 7.0 268 5212 0.17 0.00 125.28 0.614 10502 0.059 0.000 3410 2291 998 999 997 0 0 0 0 0 0 26.52 28.83 25.00
5501 1.00 432.5 3410 2291 952 984 88.8 13.5 289 5506 0.00 2.00 0.00 0.000 516 0.000 0.029 3419 924 967 951 984 0 0 0 0 0 0 28.83 26.30 28.83
5536 1.00 432.5 3419 924 951 984 85.4 13.6 290 5542 0.15 1.98 0.00 0.000 5126 0.137 0.019 3377 2311 967 951 984 0 0 0 0 0 0 26.20 26.36 28.83
5852 1.15 498.7 3378 2310 951 984 54.0 9.6 306 5886 0.12 2.10 27.50 0.217 10756 0.076 0.028 3482 927 730 638 823 0 0 0 0 0 0 26.53 26.37 26.08
5942 1.13 498.7 3482 926 677 822 42.2 15.0 312 5950 0.20 1.95 2.28 0.156 13318 0.129 0.019 3423 2307 725 644 807 0 0 0 0 0 0 26.28 26.45 26.24
6253 1.25 555.0 3423 2307 686 807 11.4 10.0 356 6292 0.12 2.10 32.20 0.132 10756 0.076 0.029 3525 921 497 427 568 0 0 0 0 0 0 26.60 26.46 26.29
6311 end climb: SURFACE_DEPTH_REACHED
state 6311 begin surface coast
6327 end surface coast: CONTROL_FINISHED_OK
state 6327 begin surface