OKMC Oct12 * SG167 * Dive index * Mission links * Dive 16 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  167 HD_C  9.8500004e-06 ROLL_MIN  187 ALTIM_TOP_MIN_OBSTACLE  0
MISSION  14 HEADING  -1 ROLL_MAX  3764 ALTIM_PING_DEPTH  500
DIVE  16 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DELTA  50
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2250 ALTIM_FREQUENCY  13
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  2150 ALTIM_PULSE  3
D_FLARE  3 TGT_DEFAULT_LAT  4736 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
D_TGT  990 TGT_DEFAULT_LON  -12218 ROLL_CNV  0.028270001 XPDR_VALID  0
D_ABORT  1050 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_NO_BLEED  500 SM_CC  425 R_PORT_OVSHOOT  58 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  120 N_FILEKB  8 R_STBD_OVSHOOT  67 INT_PRESSURE_YINT  0
T_BOOST  4 FILEMGR  0 ROLL_AD_RATE  350 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  0.02 DEVICE1  -1
D_CALL  0 N_NOCOMM  1 VBD_MIN  460 DEVICE2  -1
SURFACE_URGENCY  0 NOCOMM_ACTION  163 VBD_MAX  3960 DEVICE3  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 C_VBD  2968 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  380 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  5 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  -8 T_GPS_CHARGE  -968493.31 CF8_MAXERRORS  0 PHONE_DEVICE  49
USE_ICE  0 T_RSLEEP  3 AH0_24V  150 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_10V  110 RAFOS_DEVICE  -1
D_OFFGRID  100 RAFOS_PEAK_OFFSET  1.5 MINV_24V  22 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  -8 PITCH_MIN  134 FG_AHR_24V  0 SEABIRD_T_G  0.0043364335
MAX_BUOY  200 PITCH_MAX  3944 PHONE_SUPPLY  -2 SEABIRD_T_H  0.00062881975
COURSE_BIAS  0 C_PITCH  2740 PRESSURE_YINT  -16.305099 SEABIRD_T_I  2.1970176e-05
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001158971 SEABIRD_T_J  2.0625448e-06
SPEED_FACTOR  1 PITCH_CNV  0.0031256729 AD7714Ch0Gain  128 SEABIRD_C_G  -9.8829851
RHO  1.023 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.104416
MASS  52251 PITCH_GAIN  40 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0016111456
NAV_MODE  2 PITCH_TIMEOUT  19 COMPASS_USE  4 SEABIRD_C_J  0.00020720487
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  50 SC_XMITPROFILE  3.0
HD_B  0.010078 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  171012,235529,2150.585,12106.706,40,0.9,40,-3.1 TGT_NAME  N1
_CALLS  1 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.58 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -59.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  181012,000259,2150.448,12106.744,5,0.9,5,-3.1 MHEAD_RNG_PITCHd_Wd  343.2,139330,-15.7,-10.000,-18.65
SPEED_LIMITS  0.173,0.296 D_GRID  773

Post-dive calculations and measurements:
FINISH  1.1,1.021903 _10V_AH  10.1,5.197
SM_CCo  10459,0.00,0.000,0,0,446,618.65 FG_AHR_24Vo  0.000
SM_GC  1.62,7.28,0.12,0.00,0.031,0.085,0.000,118,2258,446,-8.12,-1.05,618.65,0,0,0,0,0,0,26.48,26.53,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2138.81,12106.19,171012,202034 MEM  323900
TT8_MAMPS  0.028462,0.028462 DATA_FILE_SIZE  20108,590
HUMID  52.52 CAP_FILE_SIZE  132418,0
INTERNAL_PRESSURE  9.42419 CFSIZE  260165632,247914496
TCM_TEMP  25.90 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS  3 CURRENT  0.428,193.0,1
ALTIM_BOTTOM_PING  551.4,7.9 GPS  181012,025905,2149.651,12105.429,37,1.0,37,-3.1
_24V_AH  23.8,10.913

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19240114.13 nil000.00
Roll_motor8084162.59 nil000.00
VBD_pump_during_apogee605136619688.66 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon104164010050.15
Iridium_during_xfer276125826.96 nil000.00
Transponder_ping142017.49 nil000.00
GUMSTIX_24V000.00
GPS5261.57
TT8181214269.23
LPSleep64972143.72
TT8_Active6201492.22
TT8_Sampling173637665.41
TT8_CF824444110.21
TT8_Kalman000.00
Analog_circuits171916277.82
GPS_charging000.00
Compass13798114.81
RAFOS000.00
Transponder11303.52

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
18 -0.47 -195.5 0.0 0.0 0 79 0.00 0.00 -58.92 0.000 2 0.000 0.000 109 2285 2519 0 0 0 0 0 0 28.83 28.83 28.83
82 -0.47 -195.5 3.0 -3.5 10 126 9.98 2.17 -27.77 0.000 4 0.241 0.063 2574 3629 3766 0 0 0 0 0 0 25.73 26.10 26.46
196 -0.45 -195.5 21.4 -13.9 30 203 0.00 2.00 0.00 0.000 6 0.000 0.021 2575 2245 3767 0 0 0 0 0 0 28.83 26.27 28.83
506 -0.46 -195.5 84.7 -13.5 53 507 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2244 3768 0 0 0 0 0 0 28.83 28.83 28.83
807 -0.49 -195.5 123.5 -12.4 68 813 0.00 2.12 0.00 0.000 4 0.000 0.048 2574 3619 3769 0 0 0 0 0 0 28.83 26.46 28.83
865 -0.55 -195.5 126.5 -8.6 70 871 0.00 1.98 0.00 0.000 6 0.000 0.021 2574 2235 3769 0 0 0 0 0 0 28.83 26.58 28.83
1171 -0.68 -195.5 146.9 -9.3 86 1177 0.12 2.12 0.00 0.000 4 0.089 0.044 2517 3623 3770 0 0 0 0 0 0 26.63 26.53 28.83
1216 -0.82 -195.5 151.9 -10.6 88 1222 0.12 1.98 0.00 0.000 6 0.076 0.021 2435 2234 3770 0 0 0 0 0 0 26.60 26.65 28.83
1540 -0.79 -195.5 206.9 -15.2 104 1542 0.17 0.00 0.00 0.000 6 0.146 0.000 2485 2231 3771 0 0 0 0 0 0 26.46 28.83 28.83
1842 -0.81 -195.5 238.8 -10.7 119 1847 0.00 2.15 0.00 0.000 4 0.000 0.049 2481 3618 3770 0 0 0 0 0 0 28.83 26.60 28.83
1930 -0.84 -195.5 246.7 -9.3 123 1936 0.00 1.95 0.00 0.000 6 0.000 0.021 2481 2251 3770 0 0 0 0 0 0 28.83 26.71 28.83
2249 -0.86 -195.5 279.8 -11.6 139 2254 0.00 2.12 0.00 0.000 4 0.000 0.050 2480 3627 3769 0 0 0 0 0 0 28.83 26.60 28.83
2321 -0.89 -195.5 287.3 -11.7 142 2327 0.00 1.98 0.00 0.000 6 0.000 0.022 2479 2241 3769 0 0 0 0 0 0 28.83 26.74 28.83
2636 -0.93 -195.5 321.6 -9.1 158 2642 0.12 2.15 0.00 0.000 4 0.084 0.049 2406 3630 3766 0 0 0 0 0 0 26.78 26.61 28.83
2689 -0.93 -195.5 326.8 -10.4 160 2695 0.12 2.00 0.00 0.000 6 0.158 0.022 2438 2240 3766 0 0 0 0 0 0 26.49 26.74 28.83
3003 -0.93 -195.5 362.9 -10.3 176 3009 0.00 2.00 0.00 0.000 4 0.000 0.036 2439 859 3764 0 0 0 0 0 0 28.83 26.70 28.83
3067 -0.93 -195.5 369.7 -10.8 179 3073 0.00 2.05 0.00 0.000 6 0.000 0.037 2438 2228 3764 0 0 0 0 0 0 28.83 26.67 28.83
3391 -0.93 -195.5 401.4 -10.0 195 3396 0.00 2.17 0.00 0.000 4 0.000 0.049 2438 3659 3761 0 0 0 0 0 0 28.83 26.63 28.83
3474 -0.93 -195.5 410.4 -11.0 199 3479 0.00 2.03 0.00 0.000 6 0.000 0.021 2438 2224 3761 0 0 0 0 0 0 28.83 26.79 28.83
3797 -0.93 -195.5 441.7 -8.6 215 3798 0.00 0.00 0.00 0.000 6 0.000 0.000 2438 2223 3759 0 0 0 0 0 0 28.83 28.83 28.83
4099 -0.93 -195.5 468.5 -9.5 230 4104 0.00 2.20 0.00 0.000 4 0.000 0.050 2438 3652 3756 0 0 0 0 0 0 28.83 26.62 28.83
4183 -0.93 -195.5 477.0 -9.9 234 4189 0.00 2.00 -0.08 0.000 6 0.000 0.024 2438 2274 3779 0 0 0 0 0 0 28.83 26.74 25.85
4507 -0.93 -195.5 513.6 -12.4 250 4508 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2274 3778 0 0 0 0 0 0 28.83 28.83 28.83
4790 end dive: BOTTOM_OBSTACLE_DETECTED
state 4790 begin apogee
4797 -0.20 0.0 551.4 -13.0 264 4962 0.68 0.00 156.73 0.897 6 0.108 0.000 2671 2110 2962 0 0 0 0 0 0 26.45 28.83 24.37
4963 end apogee: CONTROL_FINISHED_OK
state 4964 begin climb
4966 0.47 195.5 561.6 0.0 272 5137 0.57 2.17 160.57 0.855 4 0.044 0.044 2915 799 2162 0 0 0 0 0 0 25.20 24.89 24.25
5171 0.42 199.9 556.9 9.8 283 5177 0.15 2.15 0.00 0.000 6 0.140 0.037 2872 2148 2153 0 0 0 0 0 0 25.25 25.34 28.83
5495 0.39 199.9 518.9 11.9 299 5501 0.00 2.20 0.00 0.000 4 0.000 0.048 2872 3567 2148 0 0 0 0 0 0 28.83 26.08 28.83
5715 0.35 199.9 487.9 15.5 309 5722 0.00 2.08 0.00 0.000 6 0.000 0.026 2877 2173 2148 0 0 0 0 0 0 28.83 26.32 28.83
6021 0.32 199.9 450.9 10.5 325 6026 0.12 2.17 0.00 0.000 4 0.155 0.049 2838 3567 2145 0 0 0 0 0 0 26.29 26.36 28.83
6078 0.30 199.9 446.6 10.3 327 6085 0.00 2.10 0.00 0.000 6 0.000 0.026 2841 2146 2145 0 0 0 0 0 0 28.83 26.46 28.83
6384 0.30 199.9 414.6 10.7 343 6389 0.00 2.22 0.00 0.000 4 0.000 0.050 2841 3570 2143 0 0 0 0 0 0 28.83 26.44 28.83
6476 0.29 199.9 404.8 11.8 347 6483 0.00 2.08 0.00 0.000 6 0.000 0.025 2842 2140 2143 0 0 0 0 0 0 28.83 26.56 28.83
6791 0.29 199.9 370.0 10.6 363 6792 0.00 0.00 0.00 0.000 6 0.000 0.000 2841 2140 2142 0 0 0 0 0 0 28.83 28.83 28.83
7092 0.29 199.9 337.1 12.3 378 7098 0.00 2.20 0.00 0.000 4 0.000 0.046 2841 3564 2142 0 0 0 0 0 0 28.83 26.53 28.83
7202 0.28 199.9 321.9 14.8 383 7207 0.00 2.05 0.00 0.000 6 0.000 0.024 2841 2140 2140 0 0 0 0 0 0 28.83 26.65 28.83
7520 0.33 332.4 290.8 5.4 399 7646 0.00 2.38 111.15 1.366 4 0.000 0.045 2841 3560 1614 0 0 0 0 1 0 28.83 24.79 23.84
7786 0.40 413.9 274.3 7.2 412 7873 0.00 2.10 73.10 1.262 6 0.000 0.024 2841 2155 1279 0 0 0 0 1 0 28.83 25.83 23.85
8187 0.50 451.9 243.6 8.7 432 8231 0.15 2.25 38.50 0.716 4 0.070 0.042 2934 3558 1118 0 0 0 0 0 0 26.12 25.46 24.89
8275 0.51 451.9 230.9 15.5 436 8281 0.00 2.12 0.00 0.000 6 0.000 0.025 2934 2151 1113 0 0 0 0 0 0 28.83 25.75 28.83
8594 0.51 451.9 184.0 12.2 452 8595 0.00 0.00 0.00 0.000 6 0.000 0.000 2935 2150 1107 0 0 0 0 0 0 28.83 28.83 28.83
8895 0.52 451.9 141.0 15.7 467 8901 0.00 2.17 0.00 0.000 4 0.000 0.044 2934 3561 1110 0 0 0 0 0 0 28.83 26.32 28.83
9021 0.53 451.9 127.3 10.2 473 9027 0.00 2.08 0.00 0.000 6 0.000 0.024 2934 2134 1109 0 0 0 0 0 0 28.83 26.45 28.83
9346 0.61 497.4 99.3 8.4 489 9370 0.00 2.25 17.00 0.366 4 0.000 0.043 2935 3555 939 0 0 0 0 0 0 28.83 26.29 25.80
9418 0.66 498.3 92.9 10.0 492 9424 0.00 2.08 0.00 0.000 6 0.000 0.024 2935 2136 941 0 0 0 0 0 0 28.83 26.43 28.83
9732 0.81 631.4 71.0 5.4 508 9784 0.17 0.00 48.42 0.295 6 0.064 0.000 3040 2135 457 0 0 0 0 0 0 26.55 28.83 25.73
10072 0.82 631.4 27.2 13.1 533 10078 0.12 2.05 0.00 0.000 4 0.130 0.033 2997 754 449 0 0 0 0 0 0 26.29 26.36 28.83
10107 0.88 640.6 23.9 9.7 537 10114 0.00 2.10 0.00 0.000 6 0.000 0.034 2997 2161 448 0 0 0 0 0 0 28.83 26.37 28.83
10341 end climb: SURFACE_DEPTH_REACHED
state 10342 begin surface coast
10381 end surface coast: CONTROL_FINISHED_OK
state 10381 begin surface