OKMC Jun11 * SG167 * Dive index * Mission links * Dive 38 * 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  38 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  45 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  72 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  -56431.703 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  180611,132837,2030.670,12412.029,33,0.9,33,-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  -70.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  180611,133519,2030.696,12411.959,10,1.0,15,-2.6 MHEAD_RNG_PITCHd_Wd  141.9,32252,-17.0,-11.000
SPEED_LIMITS  0.191,0.306 D_GRID  5000

Post-dive calculations and measurements:
FINISH  0.8,1.021745 _10V_AH  10.3,6.530
SM_CCo  13387,75.00,0.511,1,0,1207,400.08 FG_AHR_24Vo  0.000
SM_GC  1.71,0.00,0.00,75.00,0.000,0.000,0.511,117,1891,1207,-8.47,0.45,400.08,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2022.56,12410.13,180611,090930 MEM  329904
TT8_MAMPS  0.028462,0.028462 DATA_FILE_SIZE  66812,1196
HUMID  31.65 CAP_FILE_SIZE  163935,0
INTERNAL_PRESSURE  9.25817 CFSIZE  260165632,138719232
TCM_TEMP  27.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  2 CURRENT  0.088,325.8,1
_24V_AH  24.0,8.349 GPS  180611,172130,2029.897,12413.001,36,1.4,41,-2.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19230108.87 SBE_CT81224467.77
Roll_motor15249181.81 AA38301402331110.65
VBD_pump_during_apogee407138413526.09 WL_BB2F13561053419.59
VBD_pump_during_surface75511919.84 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710367.83 nil000.00
Iridium_during_connect1616064.38 nil000.00
Iridium_during_xfer1982231064.96 nil000.00
Transponder_ping04205.04 nil000.00
GUMSTIX_24V000.00
GPS17509.04
TT8304719621.56
LPSleep65712148.22
TT8_Active63519129.53
TT8_Sampling2901391189.30
TT8_CF870145331.00
TT8_Kalman000.00
Analog_circuits192712238.19
GPS_charging000.00
Compass288615445.98
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 91 0.00 0.00 -71.28 0.000 2 0.000 0.000 111 1883 3277 0 0 0 0 0 0
95 -0.81 -194.6 6.5 -11.8 9 120 9.55 2.10 -5.53 0.000 4 0.230 0.050 2552 3258 3636 0 0 0 0 0 0
152 -0.81 -194.6 36.3 -46.7 17 160 0.00 2.05 0.00 0.000 6 0.000 0.019 2554 1850 3637 0 0 0 0 0 0
229 -0.81 -194.6 61.7 -30.2 30 237 0.00 2.03 0.00 0.000 4 0.000 0.029 2554 480 3637 0 0 0 0 0 0
247 -0.81 -194.6 67.6 -29.9 32 255 0.00 2.03 0.00 0.000 6 0.000 0.019 2546 1872 3637 0 0 0 0 0 0
324 -0.81 -194.6 90.9 -31.4 45 332 0.00 2.08 0.00 0.000 4 0.000 0.031 2536 3267 3638 0 0 0 0 0 0
351 -0.81 -194.6 100.1 -33.5 49 360 0.10 2.00 0.00 0.000 6 0.171 0.019 2565 1867 3638 0 0 0 0 0 0
428 -0.81 -194.6 118.6 -22.3 62 438 0.00 2.00 0.00 0.000 4 0.000 0.028 2566 504 3638 0 0 0 0 0 0
476 -0.81 -194.6 129.5 -24.1 69 484 0.00 2.00 0.00 0.000 6 0.000 0.021 2558 1877 3638 0 0 0 0 0 0
551 -0.81 -194.6 148.3 -24.2 82 559 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 1877 3639 0 0 0 0 0 0
627 -0.81 -194.6 166.8 -24.1 95 635 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 1877 3639 0 0 0 0 0 0
703 -0.81 -194.6 186.8 -26.2 108 712 0.00 2.05 0.00 0.000 4 0.000 0.032 2547 3262 3639 0 0 0 0 0 0
727 -0.81 -194.6 192.5 -25.9 111 735 0.00 2.03 0.00 0.000 6 0.000 0.021 2548 1865 3639 0 0 0 0 0 0
804 -0.81 -194.6 211.6 -23.9 124 812 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 1865 3639 0 0 0 0 0 0
880 -0.81 -194.6 228.9 -22.8 137 888 0.00 2.03 0.00 0.000 4 0.000 0.032 2548 486 3639 0 0 0 0 0 0
935 -0.81 -194.6 242.3 -23.7 146 944 0.00 2.00 0.00 0.000 6 0.000 0.021 2540 1867 3639 0 0 0 0 0 0
1015 -0.81 -194.6 260.2 -22.6 156 1018 0.00 2.03 0.00 0.000 4 0.000 0.028 2540 473 3639 0 0 0 0 0 0
1040 -0.81 -194.6 265.4 -21.4 158 1044 0.12 1.98 0.00 0.000 6 0.184 0.021 2564 1854 3639 0 0 0 0 0 0
1365 -0.81 -194.6 324.2 -17.5 188 1368 0.00 2.05 0.00 0.000 4 0.000 0.032 2554 3264 3639 0 0 0 0 0 0
1445 -0.81 -194.6 337.5 -16.6 195 1450 0.00 2.05 0.00 0.000 6 0.000 0.020 2554 1837 3639 0 0 0 0 0 0
1776 -0.81 -194.6 391.6 -14.8 226 1777 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 1837 3639 0 0 0 0 0 0
2097 -0.81 -194.6 441.0 -16.1 256 2101 0.00 2.08 0.00 0.000 4 0.000 0.032 2548 3264 3638 0 0 0 0 0 0
2130 -0.81 -194.6 447.0 -16.2 258 2138 0.00 2.03 0.00 0.000 6 0.000 0.020 2548 1831 3638 0 0 0 0 0 0
2458 -0.81 -194.6 495.6 -13.5 289 2462 0.00 1.95 0.00 0.000 4 0.000 0.031 2548 480 3636 0 0 0 0 0 0
2670 -0.81 -194.6 523.4 -12.1 308 2674 0.00 1.95 0.00 0.000 6 0.000 0.023 2548 1839 3635 0 0 0 0 0 0
3004 -0.81 -194.6 561.4 -11.5 339 3008 0.00 2.10 0.00 0.000 4 0.000 0.036 2548 3268 3633 0 0 0 0 0 0
3025 -0.81 -194.6 564.4 -11.3 340 3032 0.00 2.05 0.00 0.000 6 0.000 0.021 2548 1840 3633 0 0 0 0 0 0
3362 -0.81 -194.6 603.7 -12.2 371 3366 0.00 1.98 0.00 0.000 4 0.000 0.034 2547 480 3631 0 0 0 0 0 0
3440 -0.81 -194.6 614.4 -13.5 374 3445 0.00 1.98 0.00 0.000 6 0.000 0.024 2547 1832 3630 0 0 0 0 0 0
3763 -0.81 -194.6 657.5 -13.2 390 3767 0.00 2.12 0.00 0.000 4 0.000 0.037 2548 3270 3628 0 0 0 0 0 0
3831 -0.81 -194.6 666.3 -12.6 393 3835 0.00 2.05 0.00 0.000 6 0.000 0.021 2548 1839 3627 0 0 0 0 0 0
4158 -0.81 -194.6 708.2 -12.6 409 4160 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 1838 3625 0 0 0 0 0 0
4471 -0.81 -194.6 745.8 -12.1 424 4475 0.00 2.12 0.00 0.000 4 0.000 0.037 2547 3277 3622 0 0 0 0 0 0
4520 -0.81 -194.6 752.0 -11.5 426 4524 0.00 2.05 0.00 0.000 6 0.000 0.022 2547 1845 3622 0 0 0 0 0 0
4845 -0.81 -194.6 787.3 -11.0 442 4849 0.00 2.10 0.00 0.000 4 0.000 0.037 2547 3270 3619 0 0 0 0 0 0
4879 -0.81 -194.6 791.5 -11.6 443 4886 0.00 2.08 0.00 0.000 6 0.000 0.022 2547 1826 3619 0 0 0 0 0 0
5196 -0.81 -194.6 824.4 -10.2 459 5200 0.00 2.17 0.00 0.000 4 0.000 0.037 2547 3278 3616 0 0 0 0 0 0
5224 -0.81 -194.6 827.4 -10.1 460 5228 0.00 2.08 0.00 0.000 6 0.000 0.023 2547 1842 3616 0 0 0 0 0 0
5546 -0.81 -194.6 857.5 -9.4 476 5547 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 1841 3614 0 0 0 0 0 0
5855 -0.81 -194.6 886.3 -9.3 491 5856 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 1841 3612 0 0 0 0 0 0
6165 -0.81 -194.6 915.5 -9.4 506 6166 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 1841 3610 0 0 0 0 0 0
6473 -0.81 -194.6 944.0 -9.1 521 6477 0.00 2.12 0.00 0.000 4 0.000 0.040 2547 3268 3607 0 0 0 0 0 0
6532 -0.81 -194.6 949.3 -9.4 523 6541 0.00 2.08 0.00 0.000 6 0.000 0.023 2547 1834 3607 0 0 0 0 0 0
6848 -0.81 -194.6 979.0 -9.3 539 6849 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 1834 3605 0 0 0 0 0 0
6969 end dive: TARGET_DEPTH_EXCEEDED
state 6969 begin apogee
6976 -0.27 0.0 990.8 9.5 545 7134 0.57 0.00 151.82 1.385 4 0.130 0.000 2738 2004 2838 0 0 0 0 0 0
7135 end apogee: CONTROL_FINISHED_OK
state 7135 begin climb
7137 0.81 194.6 995.6 0.0 552 7309 0.95 2.28 162.10 1.333 4 0.074 0.040 3088 3393 2044 0 0 0 0 0 0
7531 0.81 194.6 928.7 20.6 570 7535 0.00 2.10 0.00 0.000 6 0.000 0.023 3098 1999 2036 0 0 0 0 0 0
7854 0.81 194.6 867.4 19.1 586 7858 0.00 2.15 0.00 0.000 4 0.000 0.037 3098 3398 2033 0 0 0 0 0 0
8112 0.81 194.6 813.9 19.9 597 8119 0.00 2.10 0.00 0.000 6 0.000 0.024 3107 1985 2032 0 0 0 0 0 0
8428 0.81 194.6 754.1 18.6 613 8432 0.00 2.15 0.00 0.000 4 0.000 0.037 3107 3396 2031 0 0 0 0 0 0
8547 0.81 194.6 731.0 19.5 618 8551 0.00 2.05 0.00 0.000 6 0.000 0.023 3117 2006 2031 0 0 0 0 0 0
8868 0.81 194.6 667.4 19.5 634 8872 0.00 2.12 0.00 0.000 4 0.000 0.037 3117 3405 2030 0 0 0 0 0 0
8954 0.81 194.6 649.4 21.2 638 8959 0.15 2.05 0.00 0.000 6 0.196 0.022 3088 1998 2030 0 0 0 0 0 0
9275 0.81 194.6 594.3 17.3 655 9278 0.00 2.03 0.00 0.000 4 0.000 0.035 3098 616 2029 0 0 0 0 0 0
9367 0.81 194.6 578.8 16.6 663 9371 0.00 2.05 0.00 0.000 6 0.000 0.024 3098 2010 2028 0 0 0 0 0 0
9698 0.81 194.6 518.1 17.7 694 9702 0.00 2.08 0.00 0.000 4 0.000 0.039 3098 3397 2028 0 0 0 0 0 0
9957 0.81 194.6 464.9 20.2 716 9964 0.00 2.00 0.00 0.000 6 0.000 0.022 3107 2024 2027 0 0 0 0 0 0
10283 0.81 194.6 409.4 15.8 747 10286 0.00 2.10 0.00 0.000 4 0.000 0.034 3118 603 2026 0 0 0 0 0 0
10306 0.81 194.6 405.5 16.1 749 10310 0.00 2.10 0.00 0.000 6 0.000 0.024 3118 2042 2026 0 0 0 0 0 0
10632 0.81 194.6 351.6 16.7 779 10635 0.00 2.00 0.00 0.000 4 0.000 0.039 3118 3391 2026 0 0 0 0 0 0
10861 0.81 194.6 307.8 19.6 799 10869 0.15 1.98 0.00 0.000 6 0.185 0.021 3088 2013 2026 0 0 0 0 0 0
11187 0.81 194.6 260.1 13.3 830 11190 0.00 2.05 0.00 0.000 4 0.000 0.034 3097 612 2026 0 0 0 0 0 0
11204 0.81 194.6 257.7 13.3 831 11210 0.00 2.08 0.00 0.000 6 0.000 0.022 3098 2044 2026 0 0 0 0 0 0
11530 0.81 194.6 215.2 13.3 887 11538 0.00 0.00 0.00 0.000 6 0.000 0.000 3098 2044 2026 0 0 0 0 0 0
11605 0.81 194.6 205.7 12.1 900 11613 0.00 2.00 0.00 0.000 4 0.000 0.037 3097 3386 2026 0 0 0 0 0 0
11675 0.81 194.6 196.8 13.3 912 11683 0.00 1.92 0.00 0.000 6 0.000 0.021 3106 2048 2027 0 0 0 0 0 0
11751 0.81 194.6 188.2 11.2 925 11759 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2048 2027 0 0 0 0 0 0
11826 0.81 194.6 179.4 11.5 938 11835 0.00 2.10 0.00 0.000 4 0.000 0.033 3117 620 2027 0 0 0 0 0 0
11906 0.81 194.6 169.9 11.9 952 11914 0.00 2.08 0.00 0.000 6 0.000 0.021 3118 2051 2027 0 0 0 0 0 0
11982 0.81 194.6 160.3 12.9 965 11991 0.00 2.00 0.00 0.000 4 0.000 0.036 3117 3395 2028 0 0 0 0 0 0
12029 0.81 194.6 154.3 13.5 972 12038 0.10 1.90 0.00 0.000 6 0.155 0.020 3093 2067 2028 0 0 0 0 0 0
12106 0.81 194.6 145.0 11.2 985 12114 0.00 2.12 0.00 0.000 4 0.000 0.031 3103 623 2028 0 0 0 0 0 0
12175 0.81 194.6 137.0 11.5 997 12184 0.00 2.08 0.00 0.000 6 0.000 0.021 3103 2057 2028 0 0 0 0 0 0
12251 0.84 219.8 129.1 10.0 1010 12275 0.00 2.05 18.48 0.695 4 0.000 0.036 3103 3399 1941 0 0 0 0 0 0
12336 0.84 219.8 118.2 14.0 1024 12345 0.00 1.92 0.00 0.000 6 0.000 0.020 3112 2068 1940 0 0 0 0 0 0
12413 0.84 219.8 107.6 14.4 1037 12421 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2067 1940 0 0 0 0 0 0
12485 0.84 219.8 97.2 14.7 1050 12494 0.00 2.15 0.00 0.000 4 0.000 0.032 3124 613 1940 0 0 0 0 0 0
12607 0.84 219.8 81.3 12.1 1072 12615 0.00 2.15 0.00 0.000 6 0.000 0.021 3124 2089 1940 0 0 0 0 0 0
12682 0.84 219.8 72.5 11.4 1085 12690 0.00 1.95 0.00 0.000 4 0.000 0.036 3124 3397 1940 0 0 0 0 0 0
12739 0.84 219.8 65.6 12.3 1094 12749 0.08 1.88 0.00 0.000 6 0.160 0.020 3107 2089 1940 0 0 0 0 0 0
12817 0.86 237.9 57.4 10.3 1107 12839 0.00 2.15 15.55 0.619 4 0.000 0.029 3117 613 1869 0 0 0 0 0 0
12882 0.86 237.9 50.4 11.5 1117 12890 0.00 2.17 0.00 0.000 6 0.000 0.020 3117 2103 1869 0 0 0 0 0 0
12962 0.87 241.6 41.6 10.9 1130 12973 0.00 1.98 5.00 0.477 4 0.000 0.035 3117 3397 1852 0 0 0 0 0 0
13012 0.87 241.6 35.7 11.2 1138 13020 0.00 1.88 0.00 0.000 6 0.000 0.020 3126 2097 1852 0 0 0 0 0 0
13090 0.91 276.9 27.5 9.7 1151 13124 0.00 2.25 28.40 0.610 4 0.000 0.031 3138 617 1709 0 0 0 0 0 0
13231 0.94 301.7 13.8 10.1 1174 13256 0.00 2.12 19.95 0.581 6 0.000 0.021 3138 2063 1608 0 0 0 0 0 0
13322 0.95 308.4 4.1 10.7 1189 13339 0.00 2.03 5.72 0.467 4 0.000 0.034 3138 3391 1580 0 0 0 0 0 0
13345 end climb: SURFACE_DEPTH_REACHED
state 13345 begin surface coast
13368 end surface coast: CONTROL_FINISHED_OK
state 13368 begin surface