OKMC Jun11 * SG167 * Dive index * Mission links * Dive 183 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  167 HD_B  0.010078 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
MISSION  8 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  183 HEADING  -1 ROLL_MIN  187 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3764 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  5 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1875 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2075 ALTIM_FREQUENCY  13
D_ABORT  1030 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  3 SM_CC  400 ROLL_TIMEOUT  15 XPDR_VALID  3
T_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  75 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  68 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  0 ROLL_ADJ_GAIN  6 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0.02 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  0 VBD_MIN  490 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  53
T_DIVE  400 UPLOAD_DIVES_MAX  -1 C_VBD  2839 DEVICE3  35
T_MISSION  440 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  -5 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -56617.219 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  1000 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  -8 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  134 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3944 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2800 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043379883
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -16.233358 SEABIRD_T_H  0.00063236553
RHO  1.0275 PITCH_CNV  0.0031256729 PRESSURE_SLOPE  0.0001158971 SEABIRD_T_I  2.4503992e-05
MASS  51876 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.6444222e-06
NAV_MODE  2 PITCH_GAIN  40 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8845854
FERRY_MAX  45 PITCH_TIMEOUT  19 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1045586
KALMAN_USE  2 PITCH_AD_RATE  165 COMPASS_USE  0 SEABIRD_C_I  -0.0015691385
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00020000842

Pre-dive calculations and measurements:
GPS1  240711,140007,1832.038,12223.074,42,1.0,43,-2.0 TGT_NAME  S1
_CALLS  1 TGT_LATLONG  1831.410,12216.350
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.013,-0.305
_SM_DEPTHo  1.73 KALMAN_X  -1531.9,-192.4,226.3,5724.7,67.3
_SM_ANGLEo  -70.4 KALMAN_Y  11735.9,46.7,-129.6,-54154.7,2747.8
GPS2  240711,140920,1832.210,12222.971,13,1.4,13,-2.0 MHEAD_RNG_PITCHd_Wd  221.5,11721,-15.4,-8.250
SPEED_LIMITS  0.143,0.244 D_GRID  567

Post-dive calculations and measurements:
FINISH  0.9,1.008352 _10V_AH  10.1,32.813
SM_CCo  12733,0.00,0.000,0,0,769,507.77 FG_AHR_24Vo  0.000
SM_GC  1.67,7.95,0.00,0.00,0.041,0.000,0.000,118,1895,769,-8.31,0.57,507.77,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1823.67,12225.13,240711,080856 MEM  324116
TT8_MAMPS  0.028462,0.028462 DATA_FILE_SIZE  76951,1342
HUMID  34.40 CAP_FILE_SIZE  171423,0
INTERNAL_PRESSURE  9.28747 CFSIZE  260165632,123072512
TCM_TEMP  28.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  32 CURRENT  0.319,316.8,1
_24V_AH  24.2,33.361 GPS  240711,174244,1832.693,12220.258,12,1.9,12,-2.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19248120.03 SBE_CT90724527.25
Roll_motor15439148.30 AA3830117033934.45
VBD_pump_during_apogee527106513603.49 WL_BB2F17741054509.74
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010375.76 nil000.00
Iridium_during_connect1616065.70 nil000.00
Iridium_during_xfer2972231603.44 nil000.00
Transponder_ping842081.31 nil000.00
GUMSTIX_24V000.00
GPS14507.10
TT8330919661.85
LPSleep52562116.26
TT8_Active65319130.61
TT8_Sampling3191391282.92
TT8_CF885045393.29
TT8_Kalman000.00
Analog_circuits201012243.64
GPS_charging000.00
Compass314815477.00
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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
18 -0.56 -146.0 0.0 0.0 0 107 0.00 0.00 -86.55 0.000 2 0.000 0.000 122 1886 3130 0 0 0 0 0 0
110 -0.56 -146.0 6.6 -11.9 12 134 10.48 2.05 -4.80 0.000 4 0.249 0.037 2620 471 3436 0 0 0 0 0 0
323 -0.56 -146.0 69.7 -16.9 50 332 0.00 2.05 0.00 0.000 6 0.000 0.024 2613 1874 3439 0 0 0 0 0 0
400 -0.56 -146.0 82.6 -16.6 63 408 0.00 2.08 0.00 0.000 4 0.000 0.031 2602 3268 3439 0 0 0 0 0 0
437 -0.56 -146.0 89.2 -18.4 68 446 0.00 2.00 0.00 0.000 6 0.000 0.017 2602 1871 3439 0 0 0 0 0 0
513 -0.56 -146.0 104.3 -18.8 81 520 0.00 0.00 0.00 0.000 6 0.000 0.000 2602 1871 3439 0 0 0 0 0 0
586 -0.56 -146.0 117.4 -18.1 94 595 0.00 2.08 0.00 0.000 4 0.000 0.029 2593 3261 3439 0 0 0 0 0 0
626 -0.56 -146.0 124.4 -18.5 100 635 0.00 1.88 0.00 0.000 6 0.000 0.017 2593 1938 3439 0 0 0 0 0 0
702 -0.56 -146.0 137.7 -17.3 113 711 0.00 2.10 0.00 0.000 4 0.000 0.028 2593 503 3440 0 0 0 0 0 0
743 -0.56 -146.0 143.9 -15.0 119 751 0.00 1.88 0.00 0.000 6 0.000 0.020 2588 1805 3439 0 0 0 0 0 0
824 -0.56 -146.0 154.1 -13.1 132 832 0.10 2.17 0.00 0.000 4 0.190 0.031 2603 3258 3440 0 0 0 0 0 0
839 -0.56 -146.0 156.9 -13.8 134 848 0.00 2.15 0.00 0.000 6 0.000 0.018 2603 1763 3440 0 0 0 0 0 0
917 -0.56 -146.0 166.6 -11.9 147 925 0.00 1.85 0.00 0.000 4 0.000 0.028 2603 491 3440 0 0 0 0 0 0
938 -0.56 -146.0 169.1 -11.5 150 946 0.00 1.77 0.00 0.000 6 0.000 0.019 2600 1740 3440 0 0 0 0 0 0
1012 -0.56 -146.0 178.2 -13.0 163 1021 0.00 1.83 0.00 0.000 4 0.000 0.028 2600 494 3440 0 0 0 0 0 0
1035 -0.56 -146.0 181.4 -13.1 166 1044 0.00 1.70 0.00 0.000 6 0.000 0.019 2593 1698 3440 0 0 0 0 0 0
1115 -0.56 -146.0 191.7 -12.5 179 1122 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 1698 3440 0 0 0 0 0 0
1190 -0.56 -146.0 200.3 -11.4 192 1195 0.00 2.30 0.00 0.000 4 0.000 0.031 2587 3261 3440 0 0 0 0 0 0
1234 -0.56 -146.0 205.7 -12.5 195 1238 0.00 2.22 0.00 0.000 6 0.000 0.018 2587 1700 3440 0 0 0 0 0 0
1560 -0.56 -146.0 238.2 -8.8 225 1562 0.10 0.00 0.00 0.000 6 0.171 0.000 2614 1694 3439 0 0 0 0 0 0
1881 -0.56 -146.0 258.1 -6.4 255 1885 0.00 1.70 0.00 0.000 4 0.000 0.029 2614 491 3438 0 0 0 0 0 0
1985 -0.56 -146.0 265.2 -5.9 264 1989 0.00 1.73 0.00 0.000 6 0.000 0.019 2614 1708 3437 0 0 0 0 0 0
2317 -0.56 -146.0 290.4 -6.8 295 2321 0.00 2.30 0.00 0.000 4 0.000 0.032 2613 3267 3435 0 0 0 0 0 0
2372 -0.56 -146.0 293.3 -6.0 299 2376 0.00 2.17 0.00 0.000 6 0.000 0.018 2613 1732 3434 0 0 0 0 0 0
2697 -0.56 -146.0 316.4 -11.5 329 2702 0.00 2.30 0.00 0.000 4 0.000 0.032 2613 3260 3432 0 0 0 0 0 0
2755 -0.56 -146.0 322.4 -10.1 334 2759 0.00 2.15 0.00 0.000 6 0.000 0.019 2613 1750 3431 0 0 0 0 0 0
3081 -0.56 -146.0 345.9 -6.5 364 3086 0.00 2.28 0.00 0.000 4 0.000 0.032 2613 3261 3429 0 0 0 0 0 0
3163 -0.56 -146.0 351.5 -6.9 371 3167 0.00 2.10 0.00 0.000 6 0.000 0.020 2613 1810 3428 0 0 0 0 0 0
3493 -0.56 -146.0 379.9 -7.7 402 3495 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 1808 3426 0 0 0 0 0 0
3815 -0.56 -146.0 406.5 -9.5 432 3818 0.00 1.90 0.00 0.000 4 0.000 0.029 2613 500 3423 0 0 0 0 0 0
3852 -0.56 -146.0 410.4 -9.2 435 3859 0.00 1.92 0.00 0.000 6 0.000 0.021 2609 1826 3423 0 0 0 0 0 0
4178 -0.56 -146.0 434.4 -6.8 466 4182 0.00 2.15 0.00 0.000 4 0.000 0.035 2609 3271 3421 0 0 0 0 0 0
4245 -0.56 -146.0 438.9 -6.5 471 4253 0.00 2.05 0.00 0.000 6 0.000 0.019 2609 1844 3420 0 0 0 0 0 0
4571 -0.56 -146.0 461.8 -6.9 502 4575 0.00 2.10 0.00 0.000 4 0.000 0.034 2609 3264 3418 0 0 0 0 0 0
4599 -0.56 -146.0 463.7 -6.8 504 4603 0.00 1.98 0.00 0.000 6 0.000 0.020 2609 1872 3418 0 0 0 0 0 0
4933 -0.56 -146.0 489.6 -8.3 535 4939 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 1871 3416 0 0 0 0 0 0
5263 -0.56 -146.0 519.0 -8.7 557 5267 0.00 2.10 0.00 0.000 4 0.000 0.034 2609 3273 3414 0 0 0 0 0 0
5295 -0.56 -146.0 522.0 -8.7 558 5303 0.00 1.98 0.00 0.000 6 0.000 0.021 2609 1887 3414 0 0 0 0 0 0
5613 -0.56 -146.0 547.2 -7.9 574 5614 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 1886 3412 0 0 0 0 0 0
5898 end dive: TARGET_DEPTH_EXCEEDED
state 5898 begin apogee
5904 -0.20 0.0 568.0 7.0 588 6023 0.35 0.00 108.38 1.066 4 0.125 0.000 2727 2087 2838 0 0 0 0 0 0
6024 end apogee: CONTROL_FINISHED_OK
state 6024 begin climb
6026 0.56 146.0 571.6 0.0 593 6149 0.70 0.00 116.57 1.029 6 0.086 0.000 2973 2087 2242 0 0 0 0 0 0
6455 0.56 146.0 539.1 8.8 614 6460 0.00 2.12 0.00 0.000 4 0.000 0.031 2981 697 2232 0 0 0 0 0 0
6525 0.56 146.0 532.6 9.2 617 6528 0.00 1.98 0.00 0.000 6 0.000 0.021 2981 2041 2232 0 0 0 0 0 0
6858 0.56 146.0 498.9 10.3 633 6862 0.00 2.15 0.00 0.000 4 0.000 0.036 2982 3468 2230 0 0 0 0 0 0
6893 0.56 146.0 494.9 11.5 635 6900 0.00 2.08 0.00 0.000 6 0.000 0.020 2991 2041 2229 0 0 0 0 0 0
7218 0.56 146.0 460.8 10.2 666 7222 0.00 2.00 0.00 0.000 4 0.000 0.031 3001 681 2229 0 0 0 0 0 0
7303 0.56 146.0 452.1 10.2 673 7310 0.00 1.95 0.00 0.000 6 0.000 0.021 3001 2019 2228 0 0 0 0 0 0
7629 0.56 146.0 421.1 9.8 704 7633 0.00 2.17 0.00 0.000 4 0.000 0.036 3001 3468 2227 0 0 0 0 0 0
7692 0.56 146.0 413.9 11.3 709 7696 0.00 2.08 0.00 0.000 6 0.000 0.020 3010 2036 2227 0 0 0 0 0 0
8018 0.56 146.0 384.1 8.3 739 8022 0.00 1.98 0.00 0.000 4 0.000 0.031 3020 689 2226 0 0 0 0 0 0
8186 0.56 146.0 366.9 13.0 753 8193 0.12 1.92 0.00 0.000 6 0.155 0.021 2986 2022 2226 0 0 0 0 0 0
8511 0.56 146.0 339.8 8.4 784 8515 0.00 2.15 0.00 0.000 4 0.000 0.036 2986 3462 2225 0 0 0 0 0 0
8555 0.56 146.0 335.3 9.8 787 8562 0.00 2.05 0.00 0.000 6 0.000 0.020 2994 2054 2224 0 0 0 0 0 0
8881 0.56 146.0 306.1 8.6 818 8884 0.00 2.00 0.00 0.000 4 0.000 0.031 3003 689 2224 0 0 0 0 0 0
9044 0.56 146.0 292.8 8.3 832 9048 0.00 1.90 0.00 0.000 6 0.000 0.021 3003 2004 2224 0 0 0 0 0 0
9380 0.58 155.7 264.3 7.9 863 9392 0.00 2.17 5.95 0.718 4 0.000 0.035 3003 3465 2203 0 0 0 0 0 0
9419 0.58 155.7 260.2 8.9 866 9428 0.00 2.17 0.00 0.000 6 0.000 0.020 3012 1978 2203 0 0 0 0 0 0
9746 0.59 169.2 234.2 7.7 897 9763 0.00 1.88 12.50 0.801 4 0.000 0.030 3022 693 2148 0 0 0 0 0 0
10017 0.59 169.6 210.3 8.2 920 10026 0.05 1.75 0.00 0.000 6 0.132 0.020 3003 1907 2146 0 0 0 0 0 0
10351 0.62 192.0 188.6 7.4 964 10375 0.00 2.40 19.17 0.782 4 0.000 0.034 3003 3462 2055 0 0 0 0 0 0
10498 0.62 192.0 175.1 9.4 989 10506 0.00 2.22 0.00 0.000 6 0.000 0.020 3010 1956 2052 0 0 0 0 0 0
10573 0.63 196.5 168.5 8.1 1002 10584 0.00 1.92 4.82 0.585 4 0.000 0.031 3018 689 2037 0 0 0 0 0 0
10757 0.69 250.1 156.2 6.2 1035 10811 0.00 1.60 43.28 0.759 6 0.000 0.020 3019 1807 1818 0 0 0 0 0 0
10880 0.69 250.1 146.2 8.7 1054 10889 0.00 2.55 0.00 0.000 4 0.000 0.034 3019 3462 1814 0 0 0 0 0 0
10911 0.69 250.1 143.1 9.3 1058 10920 0.00 2.42 0.00 0.000 6 0.000 0.019 3028 1836 1813 0 0 0 0 0 0
10985 0.69 250.1 136.1 9.0 1071 10992 0.00 1.70 0.00 0.000 4 0.000 0.031 3035 700 1812 0 0 0 0 0 0
11041 0.69 250.1 131.5 8.5 1080 11049 0.00 1.50 0.00 0.000 6 0.000 0.019 3036 1755 1812 0 0 0 0 0 0
11117 0.70 258.0 125.3 8.0 1093 11135 0.00 2.62 6.97 0.616 4 0.000 0.033 3035 3466 1785 0 0 0 0 0 0
11161 0.71 266.8 121.8 7.9 1099 11177 0.00 2.55 8.62 0.634 6 0.000 0.020 3045 1750 1750 0 0 0 0 0 0
11244 0.72 269.3 115.2 8.2 1113 11252 0.00 2.62 0.00 0.000 4 0.000 0.031 3045 3461 1748 0 0 0 0 0 0
11301 0.72 269.3 109.7 9.3 1122 11310 0.00 2.35 0.00 0.000 6 0.000 0.018 3055 1872 1747 0 0 0 0 0 0
11378 0.72 269.3 102.6 9.5 1135 11385 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1872 1747 0 0 0 0 0 0
11452 0.73 280.1 96.9 7.8 1148 11468 0.00 1.80 12.00 0.646 4 0.000 0.031 3064 688 1696 0 0 0 0 0 0
11492 0.76 303.0 93.8 7.4 1154 11517 0.00 1.75 19.20 0.662 6 0.000 0.018 3064 1895 1602 0 0 0 0 0 0
11583 0.77 315.5 86.7 7.8 1169 11600 0.00 2.45 11.25 0.620 4 0.000 0.033 3064 3473 1550 0 0 0 0 0 0
11667 0.77 315.5 79.7 8.9 1182 11676 0.00 2.05 0.00 0.000 6 0.000 0.018 3071 2069 1548 0 0 0 0 0 0
11746 0.79 329.5 73.5 7.7 1195 11763 0.00 2.10 12.40 0.614 4 0.000 0.030 3073 693 1494 0 0 0 0 0 0
11794 0.79 329.5 69.2 8.6 1202 11804 0.00 2.12 0.00 0.000 6 0.000 0.019 3073 2132 1493 0 0 0 0 0 0
11872 0.79 329.5 62.5 8.3 1215 11880 0.00 2.03 0.00 0.000 4 0.000 0.033 3073 3470 1492 0 0 0 0 0 0
11917 0.79 329.5 58.5 8.8 1222 11926 0.00 1.85 0.00 0.000 6 0.000 0.018 3080 2180 1491 0 0 0 0 0 0
11993 0.82 351.8 52.9 7.4 1235 12015 0.00 0.00 18.80 0.615 6 0.000 0.000 3080 2180 1403 0 0 0 0 0 0
12080 0.84 372.0 46.2 7.5 1250 12103 0.00 0.00 16.85 0.598 6 0.000 0.000 3080 2179 1321 0 0 0 0 0 0
12176 0.87 394.1 39.4 7.4 1265 12202 0.00 2.20 18.67 0.594 4 0.000 0.027 3090 701 1230 0 0 0 0 0 0
12247 0.89 410.4 33.8 7.6 1276 12270 0.00 2.30 14.30 0.571 6 0.000 0.018 3090 2258 1167 0 0 0 0 0 0
12338 0.93 446.9 27.5 6.9 1291 12375 0.00 0.00 29.73 0.592 6 0.000 0.000 3090 2258 1017 0 0 0 0 0 0
12441 1.01 506.3 21.0 6.0 1308 12498 0.10 2.42 48.03 0.588 4 0.102 0.027 3153 702 773 0 0 0 0 0 0
12558 1.01 506.3 10.5 9.6 1325 12566 0.00 2.28 0.00 0.000 6 0.000 0.018 3153 2234 772 0 0 0 0 0 0
12626 end climb: SURFACE_DEPTH_REACHED
state 12626 begin surface coast
12654 end surface coast: CONTROL_FINISHED_OK
state 12655 begin surface