OKMC Jun11 * SG167 * Dive index * Mission links * Dive 37 * 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  37 HEADING  -1 ROLL_MIN  187 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  45 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  2000 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  8 R_PORT_OVSHOOT  42 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  58 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  1.5 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0.029999999 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  300 UPLOAD_DIVES_MAX  -1 C_VBD  2839 DEVICE3  35
T_MISSION  330 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  -6 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -56430.445 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  200 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  2830 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  30 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  180611,093107,2031.229,12411.146,37,1.2,37,-2.6 TGT_NAME  S2
_CALLS  1 TGT_LATLONG  2015.000,12420.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.70 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  180611,093846,2031.251,12411.080,14,3.4,33,-2.6 MHEAD_RNG_PITCHd_Wd  126.9,33852,-17.0,-11.000
SPEED_LIMITS  0.191,0.306 D_GRID  5000

Post-dive calculations and measurements:
FINISH  0.7,1.021697 _10V_AH  10.3,6.387
SM_CCo  13611,80.30,0.516,1,0,1207,400.08 FG_AHR_24Vo  0.000
SM_GC  1.64,0.00,0.00,80.30,0.000,0.000,0.516,124,1884,1207,-8.46,0.25,400.08,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2024.87,12410.13,180611,050523 MEM  329872
TT8_MAMPS  0.028462,0.028462 DATA_FILE_SIZE  70094,1222
HUMID  31.21 CAP_FILE_SIZE  165419,0
INTERNAL_PRESSURE  9.26793 CFSIZE  260165632,138801152
TCM_TEMP  27.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  2 CURRENT  0.137,299.1,1
_24V_AH  24.0,8.189 GPS  180611,132837,2030.670,12412.029,33,0.9,33,-2.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19231107.01 SBE_CT83024478.11
Roll_motor14352179.63 AA38301450331148.79
VBD_pump_during_apogee403138613428.68 WL_BB2F14001053530.20
VBD_pump_during_surface80515993.68 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910374.11 nil000.00
Iridium_during_connect41160158.45 nil000.00
Iridium_during_xfer2052231097.18 nil000.00
Transponder_ping04205.04 nil000.00
GUMSTIX_24V000.00
GPS355018.35
TT8310219632.77
LPSleep67442152.14
TT8_Active62819128.08
TT8_Sampling2951391209.89
TT8_CF871345336.65
TT8_Kalman000.00
Analog_circuits191312236.51
GPS_charging000.00
Compass289215446.96
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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
17 -0.81 -194.6 0.0 0.0 0 86 0.00 0.00 -66.95 0.000 2 0.000 0.000 112 1890 3093 0 0 0 0 0 0
90 -0.81 -194.6 5.6 -10.6 9 117 9.55 2.05 -8.88 0.000 4 0.231 0.044 2548 3277 3635 0 0 0 0 0 0
153 -0.81 -194.6 32.9 -36.1 18 163 0.00 2.10 0.00 0.000 6 0.000 0.019 2548 1840 3636 0 0 0 0 0 0
234 -0.81 -194.6 60.7 -33.6 31 242 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 1838 3636 0 0 0 0 0 0
311 -0.81 -194.6 84.5 -30.6 44 318 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 1838 3636 0 0 0 0 0 0
384 -0.81 -194.6 106.9 -30.1 57 392 0.00 2.00 0.00 0.000 4 0.000 0.031 2548 484 3637 0 0 0 0 0 0
410 -0.81 -194.6 115.0 -30.2 61 418 0.00 2.03 0.00 0.000 6 0.000 0.020 2540 1887 3637 0 0 0 0 0 0
486 -0.81 -194.6 135.2 -26.8 74 495 0.00 2.08 0.00 0.000 4 0.000 0.029 2540 484 3637 0 0 0 0 0 0
552 -0.81 -194.6 152.9 -25.5 85 560 0.10 1.98 0.00 0.000 6 0.167 0.022 2561 1841 3637 0 0 0 0 0 0
626 -0.81 -194.6 171.1 -23.6 98 635 0.00 2.12 0.00 0.000 4 0.000 0.032 2552 3273 3638 0 0 0 0 0 0
662 -0.81 -194.6 179.3 -24.0 103 671 0.00 2.08 0.00 0.000 6 0.000 0.021 2553 1845 3638 0 0 0 0 0 0
739 -0.81 -194.6 198.3 -24.7 116 746 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 1845 3638 0 0 0 0 0 0
811 -0.81 -194.6 215.3 -22.1 129 819 0.00 2.00 0.00 0.000 4 0.000 0.031 2552 476 3638 0 0 0 0 0 0
834 -0.81 -194.6 220.0 -22.0 132 842 0.00 2.00 0.00 0.000 6 0.000 0.021 2545 1861 3638 0 0 0 0 0 0
909 -0.81 -194.6 237.2 -23.1 145 917 0.00 2.05 0.00 0.000 4 0.000 0.029 2545 471 3638 0 0 0 0 0 0
937 -0.81 -194.6 243.4 -22.3 149 945 0.08 1.92 0.00 0.000 6 0.165 0.021 2561 1807 3639 0 0 0 0 0 0
1012 -0.81 -194.6 258.3 -19.1 158 1013 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 1808 3639 0 0 0 0 0 0
1330 -0.81 -194.6 314.1 -16.3 188 1334 0.00 2.10 0.00 0.000 4 0.000 0.032 2552 3266 3639 0 0 0 0 0 0
1416 -0.81 -194.6 328.8 -16.0 195 1421 0.00 2.10 0.00 0.000 6 0.000 0.019 2552 1801 3638 0 0 0 0 0 0
1747 -0.81 -194.6 380.1 -15.2 226 1751 0.00 1.90 0.00 0.000 4 0.000 0.031 2552 477 3638 0 0 0 0 0 0
1793 -0.81 -194.6 387.4 -15.6 230 1797 0.00 1.88 0.00 0.000 6 0.000 0.021 2547 1807 3638 0 0 0 0 0 0
2126 -0.81 -194.6 438.0 -15.7 261 2130 0.00 2.12 0.00 0.000 4 0.000 0.034 2547 3274 3636 0 0 0 0 0 0
2210 -0.81 -194.6 450.1 -13.1 268 2214 0.00 2.10 0.00 0.000 6 0.000 0.021 2548 1796 3636 0 0 0 0 0 0
2535 -0.81 -194.6 495.2 -11.9 298 2539 0.00 1.90 0.00 0.000 4 0.000 0.032 2547 474 3634 0 0 0 0 0 0
2749 -0.81 -194.6 523.8 -12.6 317 2753 0.00 1.90 0.00 0.000 6 0.000 0.021 2547 1813 3633 0 0 0 0 0 0
3081 -0.81 -194.6 562.3 -11.9 348 3085 0.00 2.12 0.00 0.000 4 0.000 0.036 2547 3261 3631 0 0 0 0 0 0
3104 -0.81 -194.6 565.2 -11.8 349 3111 0.00 2.08 0.00 0.000 6 0.000 0.020 2547 1785 3631 0 0 0 0 0 0
3441 -0.81 -194.6 606.9 -13.2 379 3445 0.00 2.20 0.00 0.000 4 0.000 0.034 2547 3273 3629 0 0 0 0 0 0
3473 -0.81 -194.6 611.8 -13.2 380 3481 0.00 2.10 0.00 0.000 6 0.000 0.020 2547 1807 3629 0 0 0 0 0 0
3791 -0.81 -194.6 651.7 -12.7 396 3794 0.00 1.92 0.00 0.000 4 0.000 0.031 2547 470 3626 0 0 0 0 0 0
3807 -0.81 -194.6 654.1 -12.4 396 3814 0.00 1.92 0.00 0.000 6 0.000 0.022 2545 1808 3626 0 0 0 0 0 0
4123 -0.81 -194.6 688.0 -10.3 412 4127 0.00 2.12 0.00 0.000 4 0.000 0.036 2545 3266 3623 0 0 0 0 0 0
4182 -0.81 -194.6 693.4 -9.4 414 4190 0.00 2.08 0.00 0.000 6 0.000 0.021 2545 1805 3623 0 0 0 0 0 0
4499 -0.81 -194.6 721.1 -8.6 430 4503 0.00 2.15 0.00 0.000 4 0.000 0.035 2544 3267 3620 0 0 0 0 0 0
4557 -0.81 -194.6 726.1 -8.7 432 4564 0.00 2.08 0.00 0.000 6 0.000 0.021 2544 1809 3620 0 0 0 0 0 0
4873 -0.81 -194.6 756.1 -9.6 448 4874 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 1809 3618 0 0 0 0 0 0
5183 -0.81 -194.6 788.9 -11.1 463 5187 0.00 2.17 0.00 0.000 4 0.000 0.037 2544 3253 3615 0 0 0 0 0 0
5234 -0.81 -194.6 794.7 -11.3 465 5238 0.00 2.05 0.00 0.000 6 0.000 0.021 2544 1819 3615 0 0 0 0 0 0
5561 -0.81 -194.6 831.9 -11.1 481 5565 0.00 2.12 0.00 0.000 4 0.000 0.036 2544 3260 3612 0 0 0 0 0 0
5624 -0.81 -194.6 838.7 -10.6 484 5628 0.00 2.05 0.00 0.000 6 0.000 0.022 2544 1827 3612 0 0 0 0 0 0
5960 -0.81 -194.6 875.6 -11.2 500 5961 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 1826 3609 0 0 0 0 0 0
6267 -0.81 -194.6 908.1 -10.4 515 6271 0.00 2.12 0.00 0.000 4 0.000 0.037 2544 3264 3607 0 0 0 0 0 0
6301 -0.81 -194.6 911.7 -10.3 516 6307 0.00 2.05 0.00 0.000 6 0.000 0.021 2544 1833 3607 0 0 0 0 0 0
6619 -0.81 -194.6 941.6 -9.1 532 6623 0.00 2.12 0.00 0.000 4 0.000 0.037 2544 3257 3605 0 0 0 0 0 0
6660 -0.81 -194.6 945.2 -8.9 534 6663 0.00 2.03 0.00 0.000 6 0.000 0.022 2544 1843 3604 0 0 0 0 0 0
6996 -0.81 -194.6 972.7 -8.1 550 7000 0.00 2.10 0.00 0.000 4 0.000 0.037 2544 3261 3603 0 0 0 0 0 0
7023 -0.81 -194.6 975.2 -7.8 551 7028 0.00 2.05 0.00 0.000 6 0.000 0.023 2543 1848 3603 0 0 0 0 0 0
7218 end dive: TARGET_DEPTH_EXCEEDED
state 7218 begin apogee
7226 -0.27 0.0 990.6 7.8 561 7382 0.57 0.00 151.10 1.387 4 0.131 0.000 2736 1998 2839 0 0 0 0 0 0
7383 end apogee: CONTROL_FINISHED_OK
state 7383 begin climb
7386 0.81 194.6 992.7 0.0 568 7553 1.00 0.00 162.38 1.330 6 0.076 0.000 3088 1998 2045 0 0 0 0 0 0
7877 0.81 194.6 902.8 20.4 592 7881 0.00 2.12 0.00 0.000 4 0.000 0.040 3089 3395 2034 0 0 0 0 0 0
7977 0.81 194.6 880.4 22.0 596 7984 0.00 2.05 0.00 0.000 6 0.000 0.023 3098 2009 2032 0 0 0 0 0 0
8296 0.81 194.6 814.9 20.6 612 8300 0.00 2.10 0.00 0.000 4 0.000 0.036 3109 604 2031 0 0 0 0 0 0
8324 0.81 194.6 808.3 20.8 613 8329 0.00 2.08 0.00 0.000 6 0.000 0.024 3108 1997 2031 0 0 0 0 0 0
8645 0.81 194.6 743.3 19.5 629 8649 0.00 2.08 0.00 0.000 4 0.000 0.038 3109 3395 2030 0 0 0 0 0 0
8785 0.81 194.6 714.2 20.8 635 8789 0.00 2.03 0.00 0.000 6 0.000 0.023 3118 2020 2029 0 0 0 0 0 0
9109 0.81 194.6 650.2 19.8 651 9112 0.00 2.08 0.00 0.000 4 0.000 0.037 3118 3396 2028 0 0 0 0 0 0
9197 0.81 194.6 632.1 19.3 655 9202 0.10 2.03 0.00 0.000 6 0.181 0.022 3089 2021 2027 0 0 0 0 0 0
9523 0.81 194.6 580.4 16.7 676 9527 0.00 2.10 0.00 0.000 4 0.000 0.035 3098 599 2028 0 0 0 0 0 0
9575 0.81 194.6 570.5 17.7 680 9579 0.00 2.08 0.00 0.000 6 0.000 0.024 3098 2026 2028 0 0 0 0 0 0
9900 0.81 194.6 512.7 19.4 710 9905 0.00 2.05 0.00 0.000 4 0.000 0.038 3098 3390 2027 0 0 0 0 0 0
10028 0.81 194.6 487.6 18.9 721 10035 0.00 1.98 0.00 0.000 6 0.000 0.023 3108 2038 2026 0 0 0 0 0 0
10354 0.81 194.6 431.2 17.8 752 10358 0.00 2.10 0.00 0.000 4 0.000 0.036 3118 603 2025 0 0 0 0 0 0
10427 0.81 194.6 417.9 18.0 758 10431 0.00 2.08 0.00 0.000 6 0.000 0.024 3119 2031 2026 0 0 0 0 0 0
10753 0.81 194.6 360.9 16.8 788 10756 0.00 2.00 0.00 0.000 4 0.000 0.037 3118 3399 2026 0 0 0 0 0 0
11015 0.81 194.6 313.6 18.7 811 11019 0.15 1.98 0.00 0.000 6 0.189 0.021 3089 2016 2025 0 0 0 0 0 0
11342 0.81 194.6 264.7 13.9 841 11346 0.00 2.05 0.00 0.000 4 0.000 0.034 3089 3395 2025 0 0 0 0 0 0
11413 0.81 194.6 254.4 14.6 847 11417 0.00 1.95 0.00 0.000 6 0.000 0.021 3097 2045 2025 0 0 0 0 0 0
11735 0.81 194.6 212.8 12.5 905 11744 0.00 2.10 0.00 0.000 4 0.000 0.034 3108 622 2025 0 0 0 0 0 0
11907 0.81 194.6 192.1 11.2 936 11915 0.00 2.05 0.00 0.000 6 0.000 0.022 3108 2039 2025 0 0 0 0 0 0
11984 0.81 194.6 183.3 11.6 949 11992 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2039 2026 0 0 0 0 0 0
12060 0.81 198.7 174.9 10.8 962 12067 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2039 2026 0 0 0 0 0 0
12132 0.81 198.7 166.3 11.9 975 12140 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2039 2026 0 0 0 0 0 0
12206 0.81 198.7 157.8 12.0 988 12213 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2039 2025 0 0 0 0 0 0
12281 0.81 198.7 149.5 11.5 1001 12288 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2039 2026 0 0 0 0 0 0
12354 0.81 198.7 140.9 11.5 1014 12362 0.00 2.10 0.00 0.000 4 0.000 0.031 3117 613 2027 0 0 0 0 0 0
12376 0.82 201.7 138.5 10.9 1017 12386 0.00 2.05 4.53 0.520 6 0.000 0.021 3117 2037 2017 0 0 0 0 0 0
12452 0.82 206.6 130.5 10.8 1030 12461 0.00 0.00 5.88 0.578 6 0.000 0.000 3118 2037 1996 0 0 0 0 0 0
12527 0.82 206.6 122.2 11.2 1043 12535 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2037 1995 0 0 0 0 0 0
12602 0.82 206.6 113.0 12.8 1056 12611 0.00 2.10 0.00 0.000 4 0.000 0.031 3127 616 1995 0 0 0 0 0 0
12763 0.82 206.6 92.2 11.6 1084 12772 0.08 2.00 0.00 0.000 6 0.135 0.021 3101 2018 1996 0 0 0 0 0 0
12845 0.87 242.3 84.1 9.6 1097 12877 0.00 0.00 29.42 0.662 6 0.000 0.000 3100 2018 1850 0 0 0 0 0 0
12942 0.89 261.8 74.0 10.3 1113 12966 0.00 2.00 16.25 0.623 4 0.000 0.032 3097 3371 1771 0 0 0 0 0 0
12998 0.89 261.8 67.5 11.9 1121 13007 0.00 2.05 0.00 0.000 6 0.000 0.020 3104 1975 1769 0 0 0 0 0 0
13075 0.89 261.8 58.2 12.4 1134 13084 0.00 2.03 0.00 0.000 4 0.000 0.031 3114 614 1768 0 0 0 0 0 0
13109 0.89 261.8 54.0 12.0 1139 13118 0.00 1.95 0.00 0.000 6 0.000 0.019 3114 1960 1768 0 0 0 0 0 0
13187 0.89 261.8 44.6 12.1 1152 13196 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 1960 1767 0 0 0 0 0 0
13262 0.92 288.6 36.2 10.0 1165 13292 0.00 0.00 21.98 0.604 6 0.000 0.000 3113 1960 1661 0 0 0 0 0 0
13360 0.93 292.3 26.1 10.9 1181 13368 0.00 0.00 4.12 0.417 6 0.000 0.000 3114 1960 1646 0 0 0 0 0 0
13434 0.94 300.3 18.3 10.7 1194 13451 0.00 2.10 7.78 0.521 4 0.000 0.032 3114 3383 1613 0 0 0 0 0 0
13573 end climb: SURFACE_DEPTH_REACHED
state 13573 begin surface coast
13590 end surface coast: CONTROL_FINISHED_OK
state 13590 begin surface