OKMC Oct12 * SG167 * Dive index * Mission links * Dive 35 * 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  35 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DELTA  50
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2275 ALTIM_FREQUENCY  13
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  2250 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  79 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  120 N_FILEKB  8 R_STBD_OVSHOOT  50 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  -968532.62 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  201012,204559,2211.392,12107.969,41,1.7,41,-3.2 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  1.52 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -61.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  201012,205141,2211.397,12107.875,4,1.3,4,-3.2 MHEAD_RNG_PITCHd_Wd  58.7,101411,-15.7,-10.000,-18.65
SPEED_LIMITS  0.173,0.296 D_GRID  1234

Post-dive calculations and measurements:
FINISH  1.0,1.022031 _10V_AH  9.9,7.798
SM_CCo  13034,0.00,0.000,0,0,468,613.50 FG_AHR_24Vo  0.000
SM_GC  1.50,7.30,0.00,0.00,0.027,0.000,0.000,116,2234,468,-8.10,-1.16,613.50,0,0,0,0,0,0,26.46,28.83,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2159.71,12105.81,201012,171712 MEM  323868
TT8_MAMPS  0.028462,0.028462 DATA_FILE_SIZE  23423,676
HUMID  54.76 CAP_FILE_SIZE  165709,0
INTERNAL_PRESSURE  9.40466 CFSIZE  260165632,246366208
TCM_TEMP  25.50 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,7,1,0
XPDR_PINGS  10 CURRENT  0.181,359.7,1
ALTIM_BOTTOM_PING  703.2,7.8 GPS  211012,003035,2213.955,12109.747,28,0.9,28,-3.2
_24V_AH  23.8,14.547

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20227110.72 nil000.00
Roll_motor12282239.99 nil000.00
VBD_pump_during_apogee685139922834.21 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon12976134299.82
Iridium_during_xfer188128577.50 nil000.00
Transponder_ping442042.48 nil000.00
GUMSTIX_24V000.00
GPS5261.55
TT8213614311.10
LPSleep82802179.52
TT8_Active77114112.33
TT8_Sampling189837712.79
TT8_CF829544130.72
TT8_Kalman000.00
Analog_circuits194916308.79
GPS_charging000.00
Compass16358133.41
RAFOS000.00
Transponder15304.62

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 96 0.00 0.00 -75.47 0.000 2 0.000 0.000 110 2240 2520 0 0 0 0 0 0 28.83 28.83 28.83
99 -0.47 -195.5 3.1 -5.3 13 143 9.62 2.03 -28.73 0.000 4 0.227 0.041 2584 886 3767 0 0 0 0 0 0 25.79 26.25 26.55
163 -0.47 -195.5 11.8 -14.9 23 169 0.00 2.03 0.00 0.000 6 0.000 0.026 2584 2270 3768 0 0 0 0 0 0 28.83 26.26 28.83
473 -0.47 -195.5 61.3 -13.8 58 475 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2270 3768 0 0 0 0 0 0 28.83 28.83 28.83
776 -0.50 -195.5 97.1 -11.2 73 781 0.00 2.12 0.00 0.000 4 0.000 0.044 2583 3675 3766 0 0 0 0 0 0 28.83 26.46 28.83
849 -0.55 -195.5 102.8 -8.9 76 854 0.00 2.00 0.00 0.000 6 0.000 0.021 2584 2294 3769 0 0 0 0 0 0 28.83 26.58 28.83
1163 -0.62 -195.5 126.0 -6.2 92 1169 0.12 2.05 0.00 0.000 4 0.078 0.030 2494 867 3770 0 0 0 0 0 0 26.68 26.60 28.83
1222 -0.67 -195.5 130.7 -8.5 94 1229 0.00 2.08 0.00 0.000 6 0.000 0.034 2495 2268 3770 0 0 0 0 0 0 28.83 26.57 28.83
1527 -0.67 -195.5 171.8 -11.3 110 1533 0.10 2.12 0.00 0.000 4 0.158 0.043 2520 3682 3771 0 0 0 0 0 0 26.58 26.57 28.83
1617 -0.70 -195.5 179.0 -8.6 114 1622 0.00 2.03 0.00 0.000 6 0.000 0.021 2519 2258 3770 0 0 0 0 0 0 28.83 26.68 28.83
1935 -0.75 -195.5 208.5 -8.7 130 1941 0.00 1.98 0.00 0.000 4 0.000 0.032 2520 876 3771 0 0 0 0 0 0 28.83 26.66 28.83
2014 -0.80 -195.5 214.2 -8.6 133 2021 0.12 2.08 0.00 0.000 6 0.079 0.034 2436 2283 3770 0 0 0 0 0 0 26.65 26.63 28.83
2319 -0.78 -195.5 259.9 -15.5 149 2326 0.15 2.08 0.00 0.000 4 0.143 0.032 2484 882 3770 0 0 0 0 0 0 26.51 26.64 28.83
2347 -0.78 -195.5 263.2 -15.0 150 2353 0.00 2.08 0.00 0.000 6 0.000 0.035 2484 2285 3770 0 0 0 0 0 0 28.83 26.64 28.83
2667 -0.81 -195.5 292.2 -8.4 166 2672 0.00 2.10 0.00 0.000 4 0.000 0.047 2484 3680 3768 0 0 0 0 0 0 28.83 26.62 28.83
2745 -0.84 -195.5 297.7 -8.6 169 2752 0.00 2.00 0.00 0.000 6 0.000 0.022 2485 2267 3767 0 0 0 0 0 0 28.83 26.72 28.83
3051 -0.87 -195.5 326.3 -8.7 185 3056 0.00 2.17 0.00 0.000 4 0.000 0.050 2485 3675 3766 0 0 0 0 0 0 28.83 26.59 28.83
3144 -0.91 -195.5 333.5 -8.4 189 3150 0.12 2.00 0.00 0.000 6 0.079 0.022 2415 2278 3765 0 0 0 0 0 0 26.68 26.73 28.83
3458 -0.89 -195.5 377.0 -14.6 205 3464 0.12 2.03 0.00 0.000 4 0.154 0.031 2455 872 3763 0 0 0 0 0 0 26.52 26.68 28.83
3506 -0.89 -195.5 382.4 -13.1 207 3511 0.00 2.08 0.00 0.000 6 0.000 0.037 2453 2272 3762 0 0 0 0 0 0 28.83 26.58 28.83
3825 -0.90 -195.5 415.3 -9.5 223 3830 0.00 2.15 0.00 0.000 4 0.000 0.083 2453 3686 3760 0 0 0 0 0 0 28.83 26.65 28.83
3868 -0.91 -195.5 419.2 -9.2 225 3874 0.00 2.03 0.00 0.000 6 0.000 0.021 2453 2237 3760 0 0 0 0 0 0 28.83 26.77 28.83
4192 -0.93 -195.5 448.2 -9.6 241 4198 0.00 2.25 0.00 0.000 4 0.000 0.051 2453 3689 3758 0 0 0 0 0 0 28.83 26.60 28.83
4231 -0.94 -195.5 450.7 -9.7 242 4238 0.00 1.98 0.00 0.000 6 0.000 0.021 2453 2264 3757 0 0 0 0 0 0 28.83 26.79 28.83
4536 -0.95 -195.5 484.5 -10.3 258 4538 0.00 0.00 -0.08 0.000 6 0.000 0.000 2453 2262 3778 0 0 0 0 0 0 28.83 28.83 25.84
4836 -0.97 -195.5 514.0 -10.2 273 4842 0.00 2.20 0.00 0.000 4 0.000 0.046 2453 3685 3776 0 0 0 0 0 0 28.83 26.58 28.83
4874 -0.99 -195.5 516.4 -10.2 274 4881 0.00 1.98 0.00 0.000 6 0.000 0.021 2453 2264 3776 0 0 0 0 0 0 28.83 26.79 28.83
5180 -1.01 -195.5 547.8 -10.2 290 5182 0.12 0.00 0.00 0.000 6 0.083 0.000 2384 2262 3773 0 0 0 0 0 0 26.79 28.83 28.83
5480 -0.98 -195.5 591.8 -15.4 305 5486 0.12 2.20 0.00 0.000 4 0.161 0.044 2414 3686 3772 0 0 0 0 0 0 26.51 26.58 28.83
5550 -0.96 -195.5 601.0 -14.7 308 5556 0.00 1.98 0.00 0.000 6 0.000 0.021 2414 2288 3771 0 0 0 0 0 0 28.83 26.78 28.83
5881 -0.96 -195.5 650.4 -14.9 319 5882 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 2285 3770 0 0 0 0 0 0 28.83 28.83 28.83
6178 -0.96 -195.5 691.3 -12.9 329 6184 0.00 2.15 0.00 0.000 4 0.000 0.047 2413 3679 3768 0 0 0 0 0 0 28.83 26.55 28.83
6263 -0.96 -195.5 699.1 -12.3 331 6269 0.00 1.98 0.00 0.000 6 0.000 0.023 2413 2270 3767 0 0 0 0 0 0 28.83 26.77 28.83
6276 end dive: BOTTOM_OBSTACLE_DETECTED
state 6276 begin apogee
6282 -0.20 0.0 703.2 -12.3 332 6452 0.75 0.00 161.25 0.993 6 0.108 0.000 2669 2266 2963 0 0 0 0 0 0 26.32 28.83 24.24
6453 end apogee: CONTROL_FINISHED_OK
state 6454 begin climb
6456 0.47 195.5 710.1 0.0 337 6629 0.57 2.25 164.48 0.942 4 0.039 0.037 2918 894 2161 0 0 0 0 0 0 25.17 24.30 24.08
6748 0.42 195.5 691.5 11.4 347 6755 0.15 2.10 0.00 0.000 6 0.135 0.029 2877 2266 2142 0 0 0 0 0 0 25.48 25.65 28.83
7070 0.39 195.5 656.7 10.8 358 7075 0.00 2.15 0.00 0.000 4 0.000 0.047 2877 3649 2141 0 0 0 0 0 0 28.83 26.10 28.83
7228 0.34 195.5 637.5 12.4 363 7234 0.00 2.03 0.00 0.000 6 0.000 0.028 2883 2264 2137 0 0 0 0 0 0 28.83 26.31 28.83
7559 0.31 195.5 599.9 11.4 374 7561 0.15 0.00 0.00 0.000 6 0.142 0.000 2841 2263 2135 0 0 0 0 0 0 26.27 28.83 28.83
7859 0.33 234.0 574.6 8.7 389 7892 0.00 2.28 22.98 1.059 4 0.000 0.047 2841 3649 2015 0 0 0 0 1 0 28.83 25.91 24.79
7997 0.32 239.3 563.3 9.8 395 8022 0.00 2.08 13.00 1.006 6 0.000 0.027 2841 2246 1986 0 0 0 0 1 0 28.83 26.15 24.67
8322 0.35 290.0 535.7 8.3 412 8381 0.00 2.35 44.20 1.400 4 0.000 0.046 2841 3644 1787 0 0 0 0 1 0 28.83 25.06 24.01
8415 0.38 305.1 527.8 9.5 416 8445 0.00 2.12 16.92 0.978 6 0.000 0.026 2841 2244 1724 0 0 0 0 1 0 28.83 25.56 24.22
8745 0.41 317.3 492.0 9.6 433 8770 0.10 2.25 13.55 0.942 4 0.096 0.047 2896 3650 1671 0 0 0 0 1 0 26.18 25.79 25.07
8803 0.42 317.3 486.9 10.1 435 8809 0.00 2.10 0.00 0.000 6 0.000 0.027 2898 2246 1674 0 0 0 0 0 0 28.83 25.96 28.83
9109 0.41 317.3 449.4 11.8 451 9114 0.00 2.20 0.00 0.000 4 0.000 0.044 2898 3657 1673 0 0 0 0 0 0 28.83 26.20 28.83
9182 0.40 317.3 440.8 13.4 454 9187 0.00 2.08 0.00 0.000 6 0.000 0.027 2898 2244 1672 0 0 0 0 0 0 28.83 26.32 28.83
9495 0.40 317.3 401.2 12.0 470 9500 0.00 2.17 0.00 0.000 4 0.000 0.047 2898 3650 1672 0 0 0 0 0 0 28.83 26.36 28.83
9573 0.38 317.3 392.9 13.0 473 9581 0.12 2.08 0.00 0.000 6 0.158 0.028 2864 2245 1672 0 0 0 0 0 0 26.25 26.46 28.83
9879 0.41 331.3 362.3 9.5 489 9903 0.00 2.20 13.60 0.885 4 0.000 0.043 2864 3656 1613 0 0 0 0 1 0 28.83 26.18 25.51
9925 0.43 335.4 357.9 9.9 491 9935 0.00 2.08 3.88 0.960 6 0.000 0.027 2865 2248 1601 0 0 0 0 0 0 28.83 26.28 25.01
10244 0.50 453.8 331.5 5.9 507 10364 0.10 2.33 107.20 1.353 4 0.099 0.042 2921 3647 1118 0 0 0 0 1 0 26.43 24.75 23.82
10401 0.51 483.6 318.5 9.0 514 10441 0.00 2.15 32.50 0.763 6 0.000 0.026 2922 2247 990 0 0 0 0 0 0 28.83 25.35 24.45
10748 0.51 483.6 274.1 14.2 532 10754 0.00 2.20 0.00 0.000 4 0.000 0.044 2921 3650 984 0 0 0 0 0 0 28.83 25.99 28.83
10795 0.51 483.6 267.6 15.3 534 10801 0.00 2.08 0.00 0.000 6 0.000 0.026 2922 2248 983 0 0 0 0 0 0 28.83 26.13 28.83
11114 0.53 483.6 226.0 15.9 550 11119 0.00 2.17 0.00 0.000 4 0.000 0.044 2922 3653 982 0 0 0 0 0 0 28.83 26.25 28.83
11153 0.54 483.6 221.9 16.3 551 11160 0.00 2.08 0.00 0.000 6 0.000 0.025 2922 2235 981 0 0 0 0 0 0 28.83 26.36 28.83
11458 0.57 483.6 180.9 10.4 567 11463 0.00 2.03 0.00 0.000 4 0.000 0.033 2921 863 981 0 0 0 0 0 0 28.83 26.41 28.83
11525 0.60 483.6 174.5 10.2 570 11530 0.00 2.05 0.00 0.000 6 0.000 0.024 2921 2266 980 0 0 0 0 0 0 28.83 26.46 28.83
11844 0.69 560.4 144.5 7.4 586 11917 0.12 2.25 63.70 0.636 4 0.079 0.042 3005 3651 673 0 0 0 0 0 0 26.60 25.61 25.08
11971 0.67 560.4 125.0 17.5 592 11977 0.17 2.08 0.00 0.000 6 0.132 0.024 2955 2249 668 0 0 0 0 0 0 25.75 25.91 28.83
12291 0.75 588.4 91.9 9.0 608 12306 0.00 2.05 9.75 0.327 4 0.000 0.028 2955 860 568 0 0 0 0 0 0 28.83 26.17 25.63
12348 0.84 621.5 88.0 8.9 610 12369 0.17 2.05 12.20 0.321 6 0.060 0.024 3058 2262 460 0 0 0 0 0 0 26.25 26.23 25.60
12677 0.84 621.5 35.8 13.8 631 12689 0.12 2.15 2.40 0.144 4 0.135 0.041 3015 3635 462 0 0 0 0 0 0 26.23 26.30 26.06
12789 0.88 621.5 20.7 14.1 644 12803 0.00 2.00 3.72 0.135 6 0.000 0.021 3019 2236 461 0 0 0 0 0 0 28.83 26.45 26.15
12935 end climb: SURFACE_DEPTH_REACHED
state 12935 begin surface coast
12957 end surface coast: CONTROL_FINISHED_OK
state 12957 begin surface