OKMC Jun13 * SG167 * Dive index * Mission links * Dive 73 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  167 HD_C  9.8500004e-06 ROLL_MAX  3764 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  16 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
DIVE  73 ESCAPE_HEADING  0 C_ROLL_DIVE  1900 ALTIM_TOP_MIN_OBSTACLE  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  3300 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  990 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1010 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  56 ALTIM_SENSITIVITY  3
D_NO_BLEED  500 SM_CC  550 R_STBD_OVSHOOT  39 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  0 INT_PRESSURE_YINT  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  0 PROTOCOL  1 VBD_MIN  460 DEEPGLIDERMB  0
D_CALL  0 N_NOCOMM  1 VBD_MAX  3960 MOTHERBOARD  4
SURFACE_URGENCY  0 NOCOMM_ACTION  163 C_VBD  2763 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  350 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_MISSION  370 CALL_WAIT  60 PITCH_VBD_SHIFT  0.003 DEVICE5  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERS  1
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  -7 T_GPS_CHARGE  -974962.19 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  22 SIM_W  0
MAX_BUOY  180 PITCH_MAX  3944 MINV_10V  9.5 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  3085 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  27 PRESSURE_SLOPE  0.0001158971 SEABIRD_C_G  -10.14994
MASS_COMP  0 PITCH_TIMEOUT  19 AD7714Ch0Gain  128 SEABIRD_C_H  1.1477706
NAV_MODE  2 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  0.0038360001 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.010078 ROLL_MIN  187 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0

Pre-dive calculations and measurements:
GPS1  280613,215236,2146.298,12029.365,37,1.0,37,-3.1 TGT_NAME  T4
_CALLS  2 TGT_LATLONG  2100.000,12030.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.66 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  280613,220204,2146.274,12029.338,44,1.2,47,-3.1 MHEAD_RNG_PITCHd_Wd  180.4,85707,-15.7,-9.429,-18.82,2841
SPEED_LIMITS  0.163,0.277 D_GRID  881

Post-dive calculations and measurements:
FINISH  0.9,1.008840 _10V_AH  10.3,5.730
SM_CCo  9315,130.05,0.131,0,0,516,550.21 FG_AHR_24Vo  0.000
SM_GC  1.66,8.65,2.10,130.05,0.035,0.024,0.131,140,1897,516,-9.15,1.70,550.21,0,0,0,0,0,0,26.50,26.55,26.10 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2136.49,12027.58,280613,212127 MEM  324208
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  16782,452
HUMID  54.25 CAP_FILE_SIZE  114754,0
INTERNAL_PRESSURE  9.39489 CFSIZE  260034560,244736000
TCM_TEMP  24.10 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,2,2,0
XPDR_PINGS  2 CURRENT  0.036, 51.3,1
SC_FREEKB  7688160 GPS  290613,004131,2145.322,12029.144,44,1.2,44,-3.1
_24V_AH  23.5,8.001

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21239122.81 nil000.00
Roll_motor754172.93 nil000.00
VBD_pump_during_apogee357164813855.90 nil000.00
VBD_pump_during_surface130130399.79 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon928571685.14
Iridium_during_xfer294116804.88 nil000.00
Transponder_ping04204.93 nil000.00
GUMSTIX_24V000.00
GPS485025.02
TT8160113230.24
LPSleep58492131.95
TT8_Active5771383.02
TT8_Sampling161940670.18
TT8_CF837147182.21
TT8_Kalman000.00
Analog_circuits159416262.83
GPS_charging000.00
Compass1275565.67
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
22 end surface: CONTROL_FINISHED_OK
state 22 begin dive
26 -1.11 -175.2 112 1871 453 582 0.0 0.0 0 128 0.00 0.00 -99.47 0.000 16386 0.000 0.000 112 1872 2955 2931 2979 0 0 0 0 0 0 28.83 28.83 28.83
136 -1.11 -175.2 112 1872 2932 2980 3.2 -3.8 18 162 10.30 2.20 -9.40 0.000 18692 0.239 0.037 2709 3343 3480 3474 3487 0 0 0 0 0 0 25.98 26.25 26.48
394 -1.11 -175.2 2709 3344 3477 3489 102.2 -32.7 38 399 0.00 2.08 0.00 0.000 1030 0.000 0.015 2709 1868 3483 3477 3489 0 0 0 0 0 0 28.83 26.41 28.83
709 -1.11 -175.2 2709 1868 3479 3489 182.1 -24.3 54 714 0.00 2.12 0.00 0.000 260 0.000 0.026 2699 3331 3484 3479 3489 0 0 0 0 0 0 28.83 26.50 28.83
859 -1.11 -175.2 2699 3331 3480 3489 216.0 -24.0 61 865 0.00 2.00 0.00 0.000 1030 0.000 0.017 2699 1902 3484 3480 3489 0 0 0 0 0 0 28.83 26.56 28.83
1179 -1.11 -175.2 2699 1902 3480 3489 292.8 -24.0 77 1185 0.12 2.00 0.00 0.000 2564 0.192 0.028 2734 517 3484 3479 3489 0 0 0 0 0 0 26.44 26.58 28.83
1294 -1.11 -175.2 2733 517 3479 3489 314.4 -19.9 82 1301 0.00 2.00 0.00 0.000 1030 0.000 0.018 2726 1938 3483 3479 3488 0 0 0 0 0 0 28.83 26.63 28.83
1610 -1.11 -175.2 2725 1937 3479 3484 377.4 -18.5 98 1616 0.00 1.95 0.00 0.000 260 0.000 0.031 2718 3287 3482 3479 3485 0 0 0 0 0 0 28.83 26.63 28.83
1704 -1.11 -175.2 2718 3287 3479 3482 392.9 -18.2 102 1710 0.00 1.95 0.00 0.000 1030 0.000 0.018 2718 1900 3480 3479 3482 0 0 0 0 0 0 28.83 26.67 28.83
2019 -1.11 -175.2 2716 1900 3483 3475 446.7 -16.0 118 2025 0.00 2.03 0.00 0.000 516 0.000 0.031 2717 515 3479 3483 3475 0 0 0 0 0 0 28.83 26.65 28.83
2039 -1.11 -175.2 2716 515 3483 3475 446.7 -16.0 118 2045 0.00 1.95 0.00 0.000 1030 0.000 0.017 2710 1901 3479 3483 3475 0 0 0 0 0 0 28.83 26.69 28.83
2345 -1.11 -175.2 2709 1901 3483 3469 500.3 -16.0 134 2350 0.00 2.00 0.00 0.000 260 0.000 0.031 2699 3287 3476 3483 3469 0 0 0 0 0 0 28.83 26.67 28.83
2515 -1.11 -175.2 2700 3287 3483 3466 525.1 -14.5 142 2521 0.00 1.98 0.00 0.000 1030 0.000 0.018 2699 1895 3474 3482 3466 0 0 0 0 0 0 28.83 26.71 28.83
2836 -1.11 -175.2 2699 1895 3483 3461 577.6 -15.2 158 2841 0.00 2.05 0.00 0.000 260 0.000 0.031 2689 3297 3472 3483 3461 0 0 0 0 0 0 28.83 26.69 28.83
2909 -1.11 -175.2 2689 3297 3483 3459 588.4 -16.3 161 2916 0.15 1.98 0.00 0.000 3078 0.172 0.018 2727 1888 3471 3483 3459 0 0 0 0 0 0 26.55 26.72 28.83
3229 -1.11 -175.2 2727 1887 3482 3454 647.9 -19.0 173 3234 0.00 2.05 0.00 0.000 260 0.000 0.031 2720 3286 3468 3483 3454 0 0 0 0 0 0 28.83 26.70 28.83
3344 -1.11 -175.2 2719 3286 3482 3452 666.6 -19.0 176 3349 0.00 1.95 0.00 0.000 1030 0.000 0.018 2720 1902 3467 3482 3452 0 0 0 0 0 0 28.83 26.73 28.83
3659 -1.11 -175.2 2720 1902 3483 3448 716.7 -15.1 187 3664 0.00 2.03 0.00 0.000 516 0.000 0.034 2720 515 3465 3483 3448 0 0 0 0 0 0 28.83 26.70 28.83
3703 -1.11 -175.2 2719 515 3483 3447 721.9 -15.0 188 3708 0.00 1.98 0.00 0.000 1030 0.000 0.019 2712 1900 3465 3483 3447 0 0 0 0 0 0 28.83 26.72 28.83
4031 -1.11 -175.2 2712 1900 3482 3441 769.5 -13.4 199 4036 0.00 2.05 0.00 0.000 260 0.000 0.034 2702 3307 3461 3482 3441 0 0 0 0 0 0 28.83 26.70 28.83
4059 -1.11 -175.2 2701 3306 3482 3441 769.5 -13.4 199 4066 0.00 2.00 0.00 0.000 1030 0.000 0.018 2702 1890 3461 3482 3441 0 0 0 0 0 0 28.83 26.73 28.83
4366 -1.11 -175.2 2701 1890 3482 3436 822.0 -16.3 210 4367 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 1890 3459 3482 3436 0 0 0 0 0 0 28.83 28.83 28.83
4666 -1.11 -175.2 2702 1889 3482 3433 871.6 -16.2 220 4671 0.00 2.00 0.00 0.000 516 0.000 0.034 2702 519 3457 3482 3433 0 0 0 0 0 0 28.83 26.70 28.83
4714 -1.11 -175.2 2701 518 3482 3432 877.3 -16.1 221 4721 0.12 1.98 0.00 0.000 3078 0.190 0.020 2726 1901 3457 3482 3432 0 0 0 0 0 0 26.56 26.73 28.83
4732 end dive: TARGET_DEPTH_EXCEEDED
state 4732 begin apogee
4742 -0.19 0.0 2718 3285 3481 3432 882.9 -16.1 222 4917 0.93 0.00 162.38 1.319 10246 0.141 0.000 3016 3284 2766 2826 2706 0 0 0 0 1 0 26.57 28.83 23.61
4919 end apogee: CONTROL_FINISHED_OK
state 4920 begin climb
4923 1.11 175.2 3017 3284 2825 2711 890.4 0.0 228 5092 1.15 0.75 154.32 1.649 10500 0.038 0.041 3452 3754 2048 2138 1959 0 0 0 0 1 0 24.88 24.40 23.45
5272 1.11 175.2 3451 3754 2138 1954 828.8 25.2 239 5277 0.00 0.62 0.00 0.000 1030 0.000 0.032 3455 3326 2046 2138 1954 0 0 0 0 0 0 28.83 25.69 28.83
5587 1.11 175.2 3454 3326 2137 1949 749.5 24.1 250 5592 0.00 2.12 0.00 0.000 516 0.000 0.025 3465 1888 2043 2138 1949 0 0 0 0 0 0 28.83 26.12 28.83
5720 1.11 175.2 3465 1888 2137 1948 716.5 26.3 254 5726 0.00 2.15 0.00 0.000 1030 0.000 0.034 3465 3299 2043 2138 1948 0 0 0 0 0 0 28.83 26.19 28.83
6053 1.11 175.2 3464 3299 2136 1945 625.6 25.9 265 6058 0.00 2.08 0.00 0.000 516 0.000 0.025 3474 1890 2041 2138 1945 0 0 0 0 0 0 28.83 26.37 28.83
6088 1.11 175.2 3474 1890 2138 1944 617.2 24.7 266 6094 0.12 2.15 0.00 0.000 5126 0.194 0.034 3447 3307 2041 2138 1945 0 0 0 0 0 0 26.20 26.35 28.83
6403 1.11 175.2 3447 3306 2138 1943 545.1 22.4 280 6405 0.00 0.00 0.00 0.000 6 0.000 0.000 3447 3306 2039 2137 1942 0 0 0 0 0 0 28.83 28.83 28.83
6706 1.11 175.2 3447 3307 2138 1941 477.7 21.5 295 6708 0.00 0.00 0.00 0.000 6 0.000 0.000 3447 3307 2039 2138 1941 0 0 0 0 0 0 28.83 28.83 28.83
7006 1.11 175.2 3447 3306 2138 1940 412.0 21.7 310 7007 0.00 0.00 0.00 0.000 6 0.000 0.000 3447 3307 2039 2138 1941 0 0 0 0 0 0 28.83 28.83 28.83
7307 1.11 175.2 3447 3306 2138 1939 344.8 23.2 325 7308 0.00 0.00 0.00 0.000 6 0.000 0.000 3447 3306 2038 2138 1939 0 0 0 0 0 0 28.83 28.83 28.83
7607 1.11 175.2 3447 3306 2138 1938 283.4 18.2 340 7613 0.00 2.08 0.00 0.000 516 0.000 0.024 3455 1889 2038 2138 1938 0 0 0 0 0 0 28.83 26.61 28.83
7662 1.11 175.2 3455 1888 2138 1938 275.1 17.6 342 7667 0.00 2.10 0.00 0.000 1030 0.000 0.033 3456 3298 2039 2138 1940 0 0 0 0 0 0 28.83 26.59 28.83
7977 1.11 175.2 3455 3298 2138 1937 210.6 23.0 358 7982 0.00 2.08 0.00 0.000 516 0.000 0.024 3465 1880 2037 2138 1937 0 0 0 0 0 0 28.83 26.64 28.83
8214 1.11 175.2 3464 1880 2137 1936 163.4 20.0 369 8220 0.00 2.12 0.00 0.000 1030 0.000 0.033 3465 3310 2037 2138 1936 0 0 0 0 0 0 28.83 26.62 28.83
8529 1.11 175.2 3465 3309 2138 1936 104.1 19.3 385 8534 0.00 2.08 0.00 0.000 516 0.000 0.021 3475 1865 2037 2138 1936 0 0 0 0 0 0 28.83 26.66 28.83
8765 1.11 175.2 3474 1865 2138 1936 68.7 17.2 396 8772 0.12 2.12 0.00 0.000 5126 0.189 0.033 3447 3301 2037 2138 1936 0 0 0 0 0 0 26.48 26.64 28.83
9082 1.32 247.1 3447 3301 2138 1936 36.7 6.8 421 9119 0.15 2.05 29.33 0.212 10756 0.071 0.019 3528 1870 1751 1845 1658 0 0 0 0 0 0 26.69 26.55 26.32
9133 1.41 274.7 3527 1871 1845 1659 32.8 8.4 425 9151 0.00 2.12 11.62 0.202 9222 0.000 0.031 3527 3300 1639 1727 1552 0 0 0 0 0 0 28.83 26.52 26.29
9279 end climb: SURFACE_DEPTH_REACHED
state 9279 begin surface coast
9291 end surface coast: CONTROL_FINISHED_OK
state 9291 begin surface