OKMC Oct12 * SG167 * Dive index * Mission links * Dive 67 * 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  400
DIVE  67 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DELTA  50
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2325 ALTIM_FREQUENCY  13
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  2300 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  75 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  120 N_FILEKB  8 R_STBD_OVSHOOT  47 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  3 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  -968574 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  0.015 ALTIM_BOTTOM_TURN_MARGIN  25 SC_XMITPROFILE  3.0
HD_B  0.010078 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  241012,191905,2311.728,12144.966,32,0.8,32,-3.5 TGT_NAME  N2
_CALLS  1 TGT_LATLONG  2350.000,12355.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.59 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -65.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  241012,192526,2311.788,12145.053,5,0.9,5,-3.5 MHEAD_RNG_PITCHd_Wd  120.7,231235,-15.7,-10.000,-18.65
SPEED_LIMITS  0.173,0.296 D_GRID  2914

Post-dive calculations and measurements:
FINISH  0.8,1.022372 _10V_AH  9.9,10.614
SM_CCo  10414,0.00,0.000,0,0,932,499.19 FG_AHR_24Vo  0.000
SM_GC  1.79,7.20,0.00,0.00,0.027,0.000,0.000,117,2305,932,-8.10,-0.57,499.19,0,0,0,0,0,0,26.53,28.83,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2302.75,12145.66,241012,161650 MEM  323892
TT8_MAMPS  0.029211,0.029211 DATA_FILE_SIZE  20123,587
HUMID  53.30 CAP_FILE_SIZE  136938,0
INTERNAL_PRESSURE  9.46325 CFSIZE  260165632,244125696
TCM_TEMP  25.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  8 CURRENT  0.317, 10.3,1
ALTIM_BOTTOM_PING  551.4,7.9 GPS  241012,222036,2312.656,12146.938,25,1.5,25,-3.5
_24V_AH  24.1,19.181

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19226108.87 nil000.00
Roll_motor10052127.94 nil000.00
VBD_pump_during_apogee53497812611.91 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon10357153870.35
Iridium_during_xfer226122666.74 nil000.00
Transponder_ping342032.90 nil000.00
GUMSTIX_24V000.00
GPS6261.80
TT8178614260.22
LPSleep65442141.88
TT8_Active5791484.39
TT8_Sampling163437613.72
TT8_CF825644113.33
TT8_Kalman000.00
Analog_circuits161916256.59
GPS_charging000.00
Compass13538110.41
RAFOS000.00
Transponder13303.93

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 85 0.00 0.00 -64.50 0.000 2 0.000 0.000 112 2310 2635 0 0 0 0 0 0 28.83 28.83 28.83
88 -0.47 -195.5 3.3 -5.8 11 132 9.68 2.00 -24.95 0.000 4 0.226 0.046 2584 931 3765 0 0 0 0 0 0 25.66 26.24 26.56
236 -0.50 -195.5 25.5 -13.5 38 241 0.00 2.08 0.00 0.000 6 0.000 0.030 2584 2321 3766 0 0 0 0 0 0 28.83 26.26 28.83
549 -0.50 -195.5 70.1 -14.0 62 554 0.00 2.15 0.00 0.000 4 0.000 0.046 2583 3730 3766 0 0 0 0 0 0 28.83 26.32 28.83
607 -0.52 -195.5 76.0 -13.9 64 614 0.00 2.03 0.00 0.000 6 0.000 0.020 2584 2328 3766 0 0 0 0 0 0 28.83 26.50 28.83
915 -0.61 -195.5 107.1 -8.8 80 921 0.12 2.03 0.00 0.000 4 0.078 0.029 2495 924 3767 0 0 0 0 0 0 26.65 26.52 28.83
949 -0.67 -195.5 110.4 -9.9 81 955 0.12 2.10 0.00 0.000 6 0.148 0.037 2527 2322 3764 0 0 0 0 0 0 26.27 26.45 28.83
1264 -0.70 -195.5 154.0 -12.0 97 1270 0.00 2.15 0.00 0.000 4 0.000 0.045 2527 3745 3767 0 0 0 0 0 0 28.83 26.47 28.83
1353 -0.74 -195.5 163.5 -11.1 101 1358 0.00 2.03 0.00 0.000 6 0.000 0.020 2527 2322 3767 0 0 0 0 0 0 28.83 26.64 28.83
1671 -0.80 -195.5 192.9 -8.7 117 1677 0.12 2.22 0.00 0.000 4 0.080 0.047 2438 3743 3768 0 0 0 0 0 0 26.74 26.45 28.83
1706 -0.83 -195.5 195.8 -9.4 118 1712 0.12 2.05 0.00 0.000 6 0.153 0.018 2471 2289 3767 0 0 0 0 0 0 26.36 26.69 28.83
2020 -0.81 -195.5 238.4 -12.5 134 2021 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2288 3768 0 0 0 0 0 0 28.83 28.83 28.83
2322 -0.81 -195.5 276.6 -12.7 149 2327 0.00 2.25 0.00 0.000 4 0.000 0.049 2469 3740 3768 0 0 0 0 0 0 28.83 26.47 28.83
2399 -0.81 -195.5 284.1 -11.8 152 2406 0.00 1.98 0.00 0.000 6 0.000 0.019 2469 2305 3767 0 0 0 0 0 0 28.83 26.76 28.83
2704 -0.81 -195.5 320.7 -11.0 168 2706 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2303 3766 0 0 0 0 0 0 28.83 28.83 28.83
3007 -0.81 -195.5 355.7 -11.3 183 3012 0.00 2.20 0.00 0.000 4 0.000 0.044 2467 3741 3764 0 0 0 0 0 0 28.83 26.50 28.83
3074 -0.83 -195.5 362.8 -10.9 186 3080 0.00 1.95 0.00 0.000 6 0.000 0.019 2467 2334 3768 0 0 0 0 0 0 28.83 26.74 28.83
3393 -0.85 -195.5 397.8 -11.1 202 3398 0.00 2.17 0.00 0.000 4 0.000 0.048 2465 3744 3762 0 0 0 0 0 0 28.83 26.50 28.83
3441 -0.88 -195.5 402.6 -11.0 204 3447 0.00 1.98 0.00 0.000 6 0.000 0.021 2465 2313 3761 0 0 0 0 0 0 28.83 26.76 28.83
3760 -0.91 -195.5 434.8 -10.0 220 3765 0.00 2.17 0.00 0.000 4 0.000 0.044 2466 3736 3759 0 0 0 0 0 0 28.83 26.48 28.83
3813 -0.95 -195.5 439.3 -10.2 222 3818 0.00 1.95 0.00 0.000 6 0.000 0.021 2467 2317 3758 0 0 0 0 0 0 28.83 26.76 28.83
4126 -0.98 -195.5 471.8 -9.8 238 4133 0.12 2.17 0.00 0.000 4 0.083 0.042 2391 3735 3757 0 0 0 0 0 0 26.77 26.48 28.83
4222 -0.94 -195.5 483.9 -14.2 242 4229 0.17 1.95 -0.10 0.000 6 0.147 0.020 2439 2317 3780 0 0 0 0 0 0 26.27 26.75 25.92
4537 -0.94 -195.5 520.8 -11.0 258 4542 0.00 2.20 0.00 0.000 4 0.000 0.053 2439 3740 3779 0 0 0 0 0 0 28.83 26.08 28.83
4569 -0.94 -195.5 523.3 -10.8 259 4574 0.00 1.98 0.00 0.000 6 0.000 0.022 2439 2337 3778 0 0 0 0 0 0 28.83 25.04 28.83
4824 end dive: BOTTOM_OBSTACLE_DETECTED
state 4824 begin apogee
4830 -0.20 0.0 551.4 -10.8 272 4996 0.68 0.00 158.93 0.978 6 0.106 0.000 2670 2333 2963 0 0 0 0 0 0 26.17 28.83 24.27
4998 end apogee: CONTROL_FINISHED_OK
state 4998 begin climb
5001 0.47 195.5 560.0 0.0 280 5170 0.57 2.30 161.77 0.943 4 0.041 0.043 2909 3719 2166 0 0 0 0 0 0 25.22 24.84 24.10
5278 0.38 195.5 543.4 13.0 294 5284 0.20 2.08 0.00 0.000 6 0.145 0.024 2860 2337 2155 0 0 0 0 0 0 25.46 25.71 28.83
5592 0.39 231.1 513.4 8.8 310 5632 0.00 2.28 29.70 0.926 4 0.000 0.044 2860 3712 2016 0 0 0 0 0 0 28.83 25.61 24.91
5644 0.40 255.6 509.8 9.2 312 5674 0.00 2.12 21.92 0.932 6 0.000 0.025 2867 2290 1917 0 0 0 0 0 0 28.83 25.79 24.70
5975 0.41 272.0 476.3 9.4 329 5995 0.00 2.33 14.25 0.959 4 0.000 0.044 2867 3710 1852 0 0 0 0 0 0 28.83 25.86 25.11
6098 0.41 272.0 462.9 11.1 335 6103 0.00 2.12 0.00 0.000 6 0.000 0.025 2873 2290 1846 0 0 0 0 0 0 28.83 26.14 28.83
6421 0.41 272.0 429.3 10.8 351 6426 0.00 2.25 0.00 0.000 4 0.000 0.044 2873 3722 1841 0 0 0 0 0 0 28.83 26.27 28.83
6508 0.41 272.0 419.4 12.0 355 6513 0.00 2.08 0.00 0.000 6 0.000 0.026 2872 2302 1842 0 0 0 0 0 0 28.83 26.42 28.83
6827 0.42 300.4 388.0 9.0 371 6860 0.00 2.12 24.40 0.917 4 0.000 0.033 2873 920 1736 0 0 0 0 0 0 28.83 25.98 25.25
6892 0.46 353.1 383.1 8.2 374 6949 0.00 2.10 46.03 0.881 6 0.000 0.028 2873 2322 1520 0 0 0 0 0 0 28.83 26.06 24.70
7249 0.52 398.5 353.0 8.4 392 7294 0.10 2.25 38.90 0.853 4 0.094 0.044 2934 3693 1336 0 0 0 0 0 0 26.26 25.51 24.84
7342 0.52 398.5 342.6 12.5 396 7348 0.00 2.10 0.00 0.000 6 0.000 0.025 2935 2303 1331 0 0 0 0 0 0 28.83 25.82 28.83
7655 0.52 398.5 298.4 13.5 412 7661 0.00 2.10 0.00 0.000 4 0.000 0.034 2935 908 1329 0 0 0 0 0 0 28.83 26.22 28.83
7738 0.52 398.5 287.9 12.7 416 7744 0.00 2.08 0.00 0.000 6 0.000 0.027 2935 2306 1327 0 0 0 0 0 0 28.83 26.29 28.83
8061 0.52 398.5 244.5 13.1 432 8067 0.00 2.12 0.00 0.000 4 0.000 0.044 2934 3698 1326 0 0 0 0 0 0 28.83 26.35 28.83
8085 0.51 398.5 241.2 13.2 433 8091 0.12 2.08 0.00 0.000 6 0.156 0.023 2901 2282 1325 0 0 0 0 0 0 26.22 26.48 28.83
8409 0.55 398.5 205.9 10.1 449 8414 0.00 2.00 0.00 0.000 4 0.000 0.031 2905 915 1326 0 0 0 0 0 0 28.83 26.48 28.83
8447 0.60 402.0 203.7 9.9 450 8454 0.00 2.03 0.00 0.000 6 0.000 0.025 2904 2304 1325 0 0 0 0 0 0 28.83 26.51 28.83
8752 0.64 402.0 170.0 10.8 466 8759 0.12 2.12 0.00 0.000 4 0.079 0.041 2987 3694 1325 0 0 0 0 0 0 26.65 26.46 28.83
8806 0.64 402.0 162.8 13.3 468 8812 0.17 2.00 0.00 0.000 6 0.143 0.023 2945 2296 1324 0 0 0 0 0 0 26.27 26.60 28.83
9119 0.64 402.0 123.4 11.1 484 9121 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2296 1324 0 0 0 0 0 0 28.83 28.83 28.83
9422 0.67 402.0 92.4 10.2 499 9427 0.00 2.00 0.00 0.000 4 0.000 0.029 2949 908 1324 0 0 0 0 0 0 28.83 26.57 28.83
9469 0.72 402.0 87.8 10.4 501 9474 0.00 2.03 0.00 0.000 6 0.000 0.024 2949 2311 1324 0 0 0 0 0 0 28.83 26.60 28.83
9788 0.80 471.4 62.4 7.6 517 9822 0.12 2.17 27.52 0.263 4 0.078 0.041 3034 3700 1044 0 0 0 0 0 0 26.74 26.42 25.95
9876 0.78 471.4 51.2 13.6 521 9882 0.17 2.00 0.00 0.000 6 0.141 0.021 2993 2294 1047 0 0 0 0 0 0 26.23 26.53 28.83
10187 0.81 471.4 15.0 10.4 560 10194 0.00 1.98 0.00 0.000 4 0.000 0.030 2996 925 1047 0 0 0 0 0 0 28.83 26.53 28.83
10243 0.87 499.2 9.8 9.0 570 10262 0.00 1.98 11.43 0.150 6 0.000 0.024 2996 2304 929 0 0 0 0 0 0 28.83 26.57 26.12
10311 end climb: SURFACE_DEPTH_REACHED
state 10311 begin surface coast
10336 end surface coast: CONTROL_FINISHED_OK
state 10336 begin surface