OKMC Jun13 * SG167 * Dive index * Mission links * Dive 646 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  167 HD_C  1.10039e-05 ROLL_MAX  3764 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  16 HEADING  -1 ROLL_DEG  30 ALTIM_TOP_TURN_MARGIN  0
DIVE  646 ESCAPE_HEADING  0 C_ROLL_DIVE  2200 ALTIM_TOP_MIN_OBSTACLE  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1900 ALTIM_PING_DEPTH  0
D_SURF  3 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  0
D_FLARE  3 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  540 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1020 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  52 ALTIM_SENSITIVITY  3
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  62 XPDR_VALID  0
D_BOOST  120 N_FILEKB  4 ROLL_AD_RATE  350 XPDR_INHIBIT  90
T_BOOST  4 FILEMGR  0 ROLL_MAXERRORS  2 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  1.2 INT_PRESSURE_YINT  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0.029999999 DEEPGLIDER  0
D_SAFE  0 PROTOCOL  9 VBD_MIN  460 DEEPGLIDERMB  0
D_CALL  0 N_NOCOMM  1 VBD_MAX  3960 MOTHERBOARD  4
SURFACE_URGENCY  0 NOCOMM_ACTION  163 C_VBD  2715 DEVICE1  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE3  -1
T_DIVE  180 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_MISSION  210 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0020000001 DEVICE5  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_TURN  225 CAPMAXSIZE  4096 VBD_PUMP_AD_RATE_APOGEE  2 LOGGERS  0
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_NO_W  120 T_GPS  5 UNCOM_BLEED  50 LOGGERDEVICE2  -1
T_LOITER  0 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
USE_BATHY  -6 T_GPS_CHARGE  -976717.06 DBDW  0 COMPASS_DEVICE  97
USE_ICE  0 T_RSLEEP  2 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  48
D_OFFGRID  1000 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  0 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 AH0_24V  150 RAFOS_DEVICE  -1
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 AH0_10V  100 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  150 MINV_24V  21 SIM_W  0
MAX_BUOY  120 PITCH_MAX  3944 MINV_10V  9.5 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  3050 FG_AHR_10V  0 SEABIRD_T_G  0.0043557216
GLIDE_SLOPE  30 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00062581268
SPEED_FACTOR  1 PITCH_CNV  0.0031256729 PHONE_SUPPLY  -2 SEABIRD_T_I  2.3904395e-05
RHO  1.0275 P_OVSHOOT  0.039999999 PRESSURE_YINT  -15.330984 SEABIRD_T_J  2.614597e-06
MASS  52152 PITCH_GAIN  20 PRESSURE_SLOPE  0.0001158971 SEABIRD_C_G  -10.14994
MASS_COMP  0 PITCH_TIMEOUT  19 AD7714Ch0Gain  128 SEABIRD_C_H  1.1477706
NAV_MODE  0 PITCH_AD_RATE  165 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0022030354
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00024289287
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.0025476699 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.0275445 ROLL_MIN  187 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0

Pre-dive calculations and measurements:
GPS1  211013,082435,2021.733,12344.470,34,0.8,34,-2.9 TGT_NAME  PICKUP
_CALLS  1 TGT_LATLONG  2018.000,12336.000
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.06 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  211013,083155,2021.746,12344.601,44,1.1,44,-2.9 MHEAD_RNG_PITCHd_Wd  248.0,16471,-18.7,-10.000,-28.63,3078
SPEED_LIMITS  0.173,0.183 D_GRID  5474

Post-dive calculations and measurements:
FINISH  1.4,1.013116 _10V_AH  10.1,65.904
SM_CCo  10322,50.20,0.116,0,0,875,450.13 FG_AHR_24Vo  0.000
SM_GC  2.22,8.57,0.25,50.20,0.021,0.048,0.116,140,2207,875,-9.02,-1.67,450.13,0,0,0,0,0,0,25.98,26.34,25.32 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2013.37,12339.49,211013,050510 MEM  327352
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  16790,448
HUMID  58.11 CAP_FILE_SIZE  100147,1
INTERNAL_PRESSURE  9.60974 CFSIZE  260034560,192565248
TCM_TEMP  25.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  282 GPS  211013,112731,2021.464,12345.148,65,0.9,65,-2.9
_24V_AH  23.8,106.291

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22231123.99 nil000.00
Roll_motor665486.16 nil000.00
VBD_pump_during_apogee4178608548.53 nil000.00
VBD_pump_during_surface50116138.93 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon000.00
Iridium_during_xfer237109618.75 nil000.00
Transponder_ping70420704.72 nil000.00
GUMSTIX_24V000.00
GPS455022.80
TT8160213225.95
LPSleep67232148.71
TT8_Active5251374.14
TT8_Sampling154040625.06
TT8_CF840647195.67
TT8_Kalman000.00
Analog_circuits153016247.35
GPS_charging000.00
Compass1265563.91
RAFOS000.00
Transponder050.03

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
19 end surface: CONTROL_FINISHED_OK
state 19 begin dive
23 -1.17 -116.8 113 2232 872 887 0.0 0.0 0 95 0.00 0.00 -69.47 0.000 16386 0.000 0.000 113 2233 2591 2583 2600 0 0 0 0 0 0 28.83 28.83 28.83
102 -1.17 -116.8 113 2233 2583 2600 3.0 -2.1 7 133 10.82 1.60 -14.38 0.000 18692 0.231 0.054 2655 3239 3193 3193 3193 0 0 0 0 0 0 24.77 25.92 26.53
282 -1.17 -116.8 1608 3237 3149 3189 36.9 -19.3 24 289 0.00 1.55 0.00 0.000 1030 0.000 0.018 2655 2170 3195 3194 3196 0 0 0 0 0 0 28.83 26.20 28.83
600 -1.17 -116.8 2655 2170 3194 3197 94.9 -17.1 44 605 0.00 1.48 0.00 0.000 516 0.000 0.028 2655 1163 3195 3194 3197 0 0 0 0 0 0 28.83 26.10 28.83
625 -1.17 -116.8 2655 1163 3194 3197 99.1 -16.6 45 630 0.00 1.52 0.00 0.000 1030 0.000 0.029 2648 2210 3195 3194 3197 0 0 0 0 0 0 28.83 26.10 28.83
950 -1.17 -116.8 2648 2210 3196 3197 146.4 -13.2 61 955 0.00 1.52 0.00 0.000 516 0.000 0.028 2648 1157 3196 3196 3197 0 0 0 0 0 0 28.83 26.10 28.83
1020 -1.17 -116.8 2648 1157 3196 3198 154.9 -13.2 64 1026 0.12 1.50 0.00 0.000 3078 0.183 0.028 2671 2199 3197 3196 3198 0 0 0 0 0 0 25.68 26.12 28.83
1342 -1.17 -116.8 2670 2199 3197 3198 192.5 -10.9 80 1347 0.00 1.50 0.00 0.000 516 0.000 0.028 2671 1160 3197 3197 3198 0 0 0 0 0 0 28.83 26.11 28.83
1422 -1.17 -116.8 2670 1160 3197 3199 199.4 -10.4 83 1429 0.00 1.48 0.00 0.000 1030 0.000 0.028 2666 2153 3198 3197 3199 0 0 0 0 0 0 28.83 26.13 28.83
1727 -1.17 -116.8 2666 2153 3197 3199 235.3 -11.6 99 1733 0.00 1.48 0.00 0.000 516 0.000 0.028 2666 1164 3198 3197 3199 0 0 0 0 0 0 28.83 26.11 28.83
1881 -1.17 -116.8 2666 1164 3197 3199 251.2 -10.5 106 1887 0.00 1.42 0.00 0.000 1030 0.000 0.028 2661 2125 3198 3197 3199 0 0 0 0 0 0 28.83 26.15 28.83
2183 -1.17 -116.8 2660 2125 3197 3199 282.4 -10.0 117 2188 0.00 1.42 0.00 0.000 516 0.000 0.028 2660 1169 3198 3197 3199 0 0 0 0 0 0 28.83 26.12 28.83
2343 -1.17 -116.8 2660 1169 3197 3199 297.4 -9.5 122 2348 0.00 1.40 0.00 0.000 1030 0.000 0.028 2656 2099 3197 3196 3199 0 0 0 0 0 0 28.83 26.15 28.83
2678 -1.17 -116.8 2656 2099 3197 3199 330.4 -10.4 133 2683 0.00 1.40 0.00 0.000 516 0.000 0.028 2656 1161 3197 3196 3199 0 0 0 0 0 0 28.83 26.12 28.83
2762 -1.17 -116.8 2656 1162 3197 3199 337.7 -10.7 135 2767 0.00 1.40 0.00 0.000 1030 0.000 0.029 2650 2098 3197 3196 3198 0 0 0 0 0 0 28.83 26.15 28.83
3078 -1.17 -116.8 2650 2098 3197 3196 374.0 -10.8 146 3083 0.00 1.67 0.00 0.000 260 0.000 0.035 2642 3242 3196 3196 3196 0 0 0 0 0 0 28.83 26.03 28.83
3117 -1.17 -116.8 2641 3242 3197 3196 377.9 -10.8 147 3123 0.12 1.62 0.00 0.000 3078 0.175 0.017 2670 2078 3196 3196 3196 0 0 0 0 0 0 25.79 26.27 28.83
3450 -1.17 -116.8 2670 2078 3197 3194 410.9 -9.5 158 3455 0.00 1.33 0.00 0.000 516 0.000 0.031 2671 1173 3194 3196 3193 0 0 0 0 0 0 28.83 26.11 28.83
3565 -1.17 -116.8 2670 1173 3197 3193 419.9 -9.2 161 3570 0.00 1.35 0.00 0.000 1030 0.000 0.029 2669 2071 3194 3196 3193 0 0 0 0 0 0 28.83 26.14 28.83
3880 -1.17 -116.8 2669 2071 3197 3191 448.8 -8.5 172 3885 0.00 1.73 0.00 0.000 260 0.000 0.036 2662 3242 3193 3196 3191 0 0 0 0 0 0 28.83 26.01 28.83
3911 -1.17 -116.8 2661 3242 3196 3190 448.8 -8.5 172 3918 0.00 1.67 0.00 0.000 1030 0.000 0.018 2661 2085 3193 3196 3190 0 0 0 0 0 0 28.83 26.28 28.83
4215 -1.17 -116.8 2661 2085 3197 3188 482.8 -10.4 183 4221 0.00 1.35 0.00 0.000 516 0.000 0.031 2662 1169 3191 3196 3187 0 0 0 0 0 0 28.83 26.10 28.83
4393 -1.17 -116.8 2661 1169 3197 3186 498.8 -10.3 188 4398 0.00 1.35 0.00 0.000 1030 0.000 0.028 2656 2066 3190 3196 3185 0 0 0 0 0 0 28.83 26.13 28.83
4709 -1.17 -116.8 2656 2066 3197 3182 530.2 -8.4 199 4714 0.00 1.35 0.00 0.000 516 0.000 0.029 2656 1169 3189 3197 3182 0 0 0 0 0 0 28.83 26.10 28.83
4794 -1.17 -116.8 2656 1169 3196 3181 535.3 -7.9 201 4799 0.00 1.33 0.00 0.000 1030 0.000 0.030 2656 2048 3189 3197 3181 0 0 0 0 0 0 28.83 26.10 28.83
4865 end dive: TARGET_DEPTH_EXCEEDED
state 4865 begin apogee
4875 -0.25 0.0 2656 1883 3197 3180 542.0 -7.2 204 5018 1.00 0.00 138.07 0.781 10244 0.138 0.000 2960 1883 2714 2777 2651 0 0 0 0 0 0 24.89 28.83 23.87
5023 end apogee: CONTROL_FINISHED_OK
state 5023 begin climb
5028 1.17 116.8 2960 1882 2772 2638 545.3 0.0 209 5138 1.27 0.00 99.88 0.861 11270 0.063 0.000 3426 1883 2223 2302 2144 0 0 0 0 0 0 25.42 28.83 23.84
5440 1.31 187.4 3426 1882 2297 2122 514.3 7.6 223 5502 0.12 0.00 59.60 0.842 10502 0.080 0.000 3504 1883 1951 2048 1854 0 0 0 0 0 0 26.27 28.83 24.01
5838 1.31 187.4 3503 1882 2024 1818 461.0 14.7 236 5844 0.12 1.60 0.00 0.000 4356 0.182 0.033 3469 2953 1921 2024 1818 0 0 0 0 0 0 25.86 26.01 28.83
5873 1.31 187.4 3469 2952 2024 1817 455.3 14.4 237 5879 0.00 1.48 0.00 0.000 1030 0.000 0.026 3475 1975 1920 2024 1816 0 0 0 0 0 0 28.83 26.11 28.83
6210 1.31 187.4 3475 1975 2024 1813 415.4 10.9 248 6215 0.00 1.50 0.00 0.000 260 0.000 0.036 3475 2945 1918 2024 1813 0 0 0 0 0 0 28.83 26.05 28.83
6305 1.31 187.4 3475 2944 2024 1812 404.7 11.2 251 6310 0.00 1.42 0.00 0.000 1030 0.000 0.025 3481 1996 1918 2024 1812 0 0 0 0 0 0 28.83 26.17 28.83
6640 1.31 187.4 3481 1995 2025 1810 368.5 10.8 262 6645 0.00 1.48 0.00 0.000 260 0.000 0.037 3481 2944 1917 2024 1810 0 0 0 0 0 0 28.83 26.03 28.83
6685 1.31 187.4 3481 2944 2024 1809 364.7 10.8 263 6690 0.00 1.40 0.00 0.000 1030 0.000 0.025 3486 2004 1916 2024 1809 0 0 0 0 0 0 28.83 26.17 28.83
7010 1.31 187.4 3486 2004 2024 1807 327.4 11.1 274 7015 0.00 1.45 0.00 0.000 260 0.000 0.036 3486 2941 1915 2024 1806 0 0 0 0 0 0 28.83 26.03 28.83
7132 1.31 187.4 3486 2941 2017 1809 316.8 11.0 277 7138 0.00 1.42 0.00 0.000 1030 0.000 0.025 3492 1984 1913 2017 1809 0 0 0 0 0 0 28.83 26.16 28.83
7436 1.31 188.5 3492 1984 2017 1808 282.7 10.0 288 7441 0.00 1.48 0.00 0.000 260 0.000 0.036 3493 2939 1912 2017 1808 0 0 0 0 0 0 28.83 26.01 28.83
7550 1.31 188.5 3492 2939 2017 1808 272.9 10.1 291 7555 0.00 1.38 0.00 0.000 1030 0.000 0.024 3498 2012 1911 2016 1807 0 0 0 0 0 0 28.83 26.17 28.83
7876 1.31 188.5 3498 2012 2016 1806 237.2 10.6 304 7881 0.00 1.70 0.00 0.000 516 0.000 0.036 3507 877 1911 2016 1807 0 0 0 0 0 0 28.83 25.96 28.83
7952 1.31 188.5 3506 877 2016 1806 230.1 10.8 307 7958 0.12 1.60 0.00 0.000 5126 0.175 0.031 3477 1959 1911 2017 1806 0 0 0 0 0 0 25.62 26.06 28.83
8270 1.37 217.6 3477 1959 2016 1805 201.2 9.0 323 8301 0.00 1.65 25.12 0.682 8964 0.000 0.044 3483 883 1816 1912 1721 0 0 0 0 0 0 28.83 25.82 24.28
8456 1.37 217.6 3484 883 1888 1704 180.3 12.3 332 8462 0.00 1.67 0.00 0.000 1030 0.000 0.031 3483 1976 1796 1888 1704 0 0 0 0 0 0 28.83 26.00 28.83
8778 1.52 291.8 3483 1976 1888 1700 150.7 7.5 348 8850 0.12 1.52 65.15 0.628 10500 0.076 0.036 3556 2948 1516 1602 1430 0 0 0 0 0 0 26.38 25.60 24.18
8935 1.52 291.8 3556 2947 1573 1404 134.5 12.1 355 8941 0.00 1.35 0.00 0.000 1030 0.000 0.024 3562 2043 1488 1573 1404 0 0 0 0 0 0 28.83 25.93 28.83
9242 1.52 291.8 3562 2043 1572 1401 99.5 10.7 371 9247 0.00 1.77 0.00 0.000 516 0.000 0.037 3570 885 1487 1572 1402 0 0 0 0 0 0 28.83 25.95 28.83
9307 1.52 291.8 3571 884 1572 1402 92.5 10.6 374 9313 0.12 1.60 0.00 0.000 5126 0.171 0.030 3541 1966 1487 1572 1402 0 0 0 0 0 0 25.66 26.07 28.83
9638 1.62 343.8 3541 1966 1571 1401 64.1 8.3 390 9668 0.00 1.62 24.40 0.221 8708 0.000 0.031 3548 884 1314 1396 1232 0 0 0 0 0 0 28.83 26.00 24.89
9770 1.62 343.8 3548 884 1413 1245 51.9 10.3 396 9777 0.00 1.70 2.10 0.144 9222 0.000 0.036 3548 2000 1312 1393 1231 0 0 0 0 0 0 28.83 25.62 25.08
10087 1.63 345.8 3548 2000 1413 1243 19.8 9.9 427 10094 0.00 0.00 3.03 0.155 8198 0.000 0.000 3548 2000 1306 1389 1224 0 0 0 0 0 0 28.83 28.83 24.74
10263 end climb: SURFACE_DEPTH_REACHED
state 10263 begin surface coast
10297 end surface coast: CONTROL_FINISHED_OK
state 10297 begin surface