OKMC Jun13 * SG167 * Dive index * Mission links * Dive 85 * Log results * Raw log file
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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  85 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  42 ALTIM_SENSITIVITY  3
D_NO_BLEED  500 SM_CC  550 R_STBD_OVSHOOT  40 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  310 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_MISSION  330 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  -974977.19 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  300613,055936,2133.928,12028.103,30,1.2,30,-3.0 TGT_NAME  T4
_CALLS  3 TGT_LATLONG  2100.000,12030.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.68 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -69.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  300613,061135,2133.984,12028.235,36,1.0,36,-3.0 MHEAD_RNG_PITCHd_Wd  177.2,63012,-17.5,-10.645,-20.26,2520
SPEED_LIMITS  0.184,0.288 D_GRID  1422

Post-dive calculations and measurements:
FINISH  1.0,1.020663 _10V_AH  10.3,6.493
SM_CCo  10166,71.72,0.132,0,0,517,550.21 FG_AHR_24Vo  0.000
SM_GC  1.73,9.32,2.78,71.72,0.044,0.019,0.132,136,1928,517,-9.15,2.12,550.21,0,0,0,0,0,0,26.29,26.32,26.03 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2124.90,12027.23,300613,060634 MEM  324192
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  16803,469
HUMID  54.92 CAP_FILE_SIZE  123006,0
INTERNAL_PRESSURE  9.44372 CFSIZE  260034560,243945472
TCM_TEMP  24.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  0 CURRENT  0.085, 63.6,1
SC_FREEKB  7683552 GPS  300613,090406,2133.065,12028.609,39,1.1,39,-3.0
_24V_AH  23.9,9.452

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22237128.09 nil000.00
Roll_motor735088.30 nil000.00
VBD_pump_during_apogee405118411496.97 nil000.00
VBD_pump_during_surface71131225.56 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1014771869.29
Iridium_during_xfer3911121051.02 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS375019.48
TT8170113244.72
LPSleep64912146.44
TT8_Active5631380.99
TT8_Sampling180240745.86
TT8_CF839947196.17
TT8_Kalman000.00
Analog_circuits173616286.14
GPS_charging000.00
Compass1342569.12
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
21 end surface: CONTROL_FINISHED_OK
state 21 begin dive
25 -1.17 -175.2 108 1896 442 592 0.0 0.0 0 126 0.00 0.00 -97.80 0.000 16386 0.000 0.000 108 1896 2916 2893 2939 0 0 0 0 0 0 28.83 28.83 28.83
134 -1.17 -175.2 108 1897 2893 2940 3.1 -3.8 17 159 10.23 0.00 -10.23 0.000 18950 0.237 0.000 2698 1896 3481 3476 3487 0 0 0 0 0 0 25.96 28.83 26.44
474 -1.17 -175.2 2698 1896 3479 3489 119.8 -23.3 43 480 0.00 2.05 0.00 0.000 516 0.000 0.028 2697 485 3484 3479 3489 0 0 0 0 0 0 28.83 26.39 28.83
573 -1.17 -175.2 2698 484 3479 3489 138.8 -22.3 47 580 0.00 2.05 0.00 0.000 1030 0.000 0.017 2689 1936 3484 3479 3489 0 0 0 0 0 0 28.83 26.46 28.83
879 -1.17 -175.2 2690 1937 3481 3489 213.6 -22.8 63 885 0.00 1.95 0.00 0.000 260 0.000 0.028 2680 3298 3485 3481 3489 0 0 0 0 0 0 28.83 26.51 28.83
1094 -1.17 -175.2 2679 3298 3481 3489 257.7 -20.4 73 1100 0.00 2.03 0.00 0.000 1030 0.000 0.016 2679 1858 3484 3480 3489 0 0 0 0 0 0 28.83 26.58 28.83
1409 -1.17 -175.2 2679 1858 3481 3487 326.9 -21.7 89 1410 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 1858 3484 3481 3488 0 0 0 0 0 0 28.83 28.83 28.83
1712 -1.17 -175.2 2678 1856 3483 3480 391.9 -21.1 104 1717 0.00 2.10 0.00 0.000 260 0.000 0.028 2670 3299 3482 3484 3480 0 0 0 0 0 0 28.83 26.63 28.83
1823 -1.17 -175.2 1600 3298 3464 3474 414.6 -21.4 109 1829 0.15 2.00 0.00 0.000 3078 0.175 0.018 2708 1887 3480 3484 3477 0 0 0 0 0 0 26.49 26.66 28.83
2144 -1.17 -175.2 2706 1887 3484 3472 476.8 -17.3 125 2150 0.00 1.98 0.00 0.000 516 0.000 0.032 2707 523 3477 3484 3471 0 0 0 0 0 0 28.83 26.65 28.83
2238 -1.17 -175.2 2707 523 3484 3469 491.9 -17.5 129 2244 0.00 1.95 0.00 0.000 1030 0.000 0.017 2699 1910 3476 3484 3468 0 0 0 0 0 0 28.83 26.69 28.83
2553 -1.17 -175.2 2699 1911 3484 3462 548.3 -17.9 145 2558 0.00 2.00 0.00 0.000 260 0.000 0.031 2697 3290 3472 3483 3462 0 0 0 0 0 0 28.83 26.67 28.83
2749 -1.17 -175.2 2696 3290 3483 3458 578.8 -16.2 154 2754 0.00 1.95 0.00 0.000 1030 0.000 0.018 2698 1904 3471 3484 3458 0 0 0 0 0 0 28.83 26.71 28.83
3066 -1.17 -175.2 2696 1904 3483 3453 627.4 -14.5 167 3071 0.00 2.03 0.00 0.000 516 0.000 0.032 2696 511 3468 3484 3452 0 0 0 0 0 0 28.83 26.67 28.83
3105 -1.17 -175.2 2696 510 3484 3452 632.8 -14.5 168 3110 0.00 1.98 0.00 0.000 1030 0.000 0.018 2689 1907 3467 3483 3451 0 0 0 0 0 0 28.83 26.71 28.83
3439 -1.17 -175.2 2688 1907 3484 3446 684.9 -16.6 179 3445 0.00 2.03 0.00 0.000 260 0.000 0.033 2682 3296 3464 3483 3446 0 0 0 0 0 0 28.83 26.68 28.83
3580 -1.17 -175.2 2682 3296 3483 3443 705.9 -16.3 183 3586 0.00 1.98 0.00 0.000 1030 0.000 0.018 2682 1895 3462 3483 3442 0 0 0 0 0 0 28.83 26.72 28.83
3903 -1.17 -175.2 2682 1894 3483 3437 758.8 -15.9 194 3909 0.00 2.05 0.00 0.000 260 0.000 0.033 2683 3284 3460 3483 3437 0 0 0 0 0 0 28.83 26.69 28.83
3938 -1.17 -175.2 2683 3284 3481 3437 764.4 -15.5 195 3943 0.00 1.98 0.00 0.000 1030 0.000 0.018 2682 1893 3459 3482 3437 0 0 0 0 0 0 28.83 26.72 28.83
4276 -1.17 -175.2 2682 1893 3477 3435 818.9 -17.1 206 4281 0.00 2.08 0.00 0.000 260 0.000 0.032 2673 3297 3456 3478 3435 0 0 0 0 0 0 28.83 26.69 28.83
4364 -1.17 -175.2 2673 3297 3477 3435 830.8 -17.4 208 4373 0.12 1.98 0.00 0.000 3078 0.181 0.019 2703 1898 3455 3477 3434 0 0 0 0 0 0 26.56 26.73 28.83
4673 -1.17 -175.2 2703 1898 3476 3432 879.1 -14.2 219 4678 0.00 2.03 0.00 0.000 516 0.000 0.034 2703 513 3453 3475 3431 0 0 0 0 0 0 28.83 26.69 28.83
4711 -1.17 -175.2 1696 513 3457 3427 884.5 -14.2 220 4717 0.00 1.98 0.00 0.000 1030 0.000 0.019 2697 1896 3453 3475 3431 0 0 0 0 0 0 28.83 26.72 28.83
5046 -1.17 -175.2 2697 1896 3472 3428 931.0 -13.5 231 5051 0.00 2.05 0.00 0.000 260 0.000 0.035 2697 3291 3451 3473 3429 0 0 0 0 0 0 28.83 26.69 28.83
5080 -1.17 -175.2 2697 3291 3472 3428 936.7 -13.8 232 5086 0.00 2.00 0.00 0.000 1030 0.000 0.020 2697 1904 3449 3470 3428 0 0 0 0 0 0 28.83 26.73 28.83
5418 -1.17 -175.2 2697 1903 3470 3426 987.0 -15.5 243 5423 0.00 2.08 0.00 0.000 260 0.000 0.034 2697 3302 3447 3469 3426 0 0 0 0 0 0 28.83 26.70 28.83
5450 end dive: TARGET_DEPTH_EXCEEDED
state 5450 begin apogee
5458 -0.19 0.0 2697 3302 3469 3426 992.6 -15.2 244 5618 1.00 0.00 150.90 1.185 10246 0.145 0.000 3017 3302 2757 2825 2690 0 0 0 0 0 0 26.55 28.83 24.08
5620 end apogee: CONTROL_FINISHED_OK
state 5620 begin climb
5624 1.17 175.2 3016 3302 2819 2675 997.9 0.0 249 5794 1.20 0.68 157.68 1.150 10500 0.041 0.043 3466 3729 2032 2124 1941 0 0 0 0 0 0 25.04 24.63 23.92
5904 1.17 175.2 3466 3729 2118 1919 950.8 24.3 258 5912 0.00 0.60 0.00 0.000 1030 0.000 0.032 3469 3320 2018 2118 1919 0 0 0 0 0 0 28.83 25.55 28.83
6210 1.17 175.2 3469 3320 2118 1913 864.0 27.0 269 6215 0.00 2.12 0.00 0.000 516 0.000 0.027 3479 1893 2015 2118 1913 0 0 0 0 0 0 28.83 26.06 28.83
6325 1.17 175.2 3478 1893 2118 1911 839.0 26.4 272 6330 0.00 2.12 0.00 0.000 1030 0.000 0.035 3479 3282 2014 2118 1911 0 0 0 0 0 0 28.83 26.13 28.83
6640 1.17 175.2 3478 3282 2118 1908 746.8 28.1 283 6645 0.00 2.08 0.00 0.000 516 0.000 0.027 3488 1890 2013 2118 1909 0 0 0 0 0 0 28.83 26.32 28.83
6684 1.17 175.2 3488 1890 2118 1908 737.2 28.0 284 6690 0.00 2.15 0.00 0.000 1030 0.000 0.035 3488 3305 2013 2118 1909 0 0 0 0 0 0 28.83 26.32 28.83
7013 1.17 175.2 3488 3305 2118 1906 647.4 26.3 295 7018 0.00 0.68 0.00 0.000 260 0.000 0.050 3488 3757 2012 2118 1906 0 0 0 0 0 0 28.83 26.40 28.83
7209 1.17 175.2 3488 3757 2118 1904 598.3 25.4 301 7214 0.00 0.65 0.00 0.000 1030 0.000 0.034 3491 3304 2011 2118 1904 0 0 0 0 0 0 28.83 26.48 28.83
7524 1.17 175.2 3491 3304 2111 1904 516.7 26.4 317 7529 0.00 0.70 0.00 0.000 260 0.000 0.049 3491 3760 2008 2111 1905 0 0 0 0 0 0 28.83 26.48 28.83
7664 1.17 175.2 3491 3760 2111 1904 481.9 28.3 323 7672 0.10 0.65 0.00 0.000 5126 0.202 0.033 3466 3302 2007 2111 1904 0 0 0 0 0 0 26.34 26.55 28.83
7971 1.17 175.2 3466 3302 2111 1903 401.2 25.2 339 7976 0.00 2.05 0.00 0.000 516 0.000 0.026 3475 1887 2007 2111 1903 0 0 0 0 0 0 28.83 26.56 28.83
8172 1.17 175.2 3475 1887 2111 1902 357.7 22.0 348 8179 0.00 2.12 0.00 0.000 1030 0.000 0.034 3475 3305 2006 2111 1902 0 0 0 0 0 0 28.83 26.55 28.83
8478 1.17 175.2 3475 3305 2111 1902 284.1 23.8 364 8484 0.00 2.08 0.00 0.000 516 0.000 0.025 3484 1889 2006 2111 1902 0 0 0 0 0 0 28.83 26.60 28.83
8569 1.17 175.2 3484 1889 2111 1902 263.0 24.5 368 8575 0.00 2.12 0.00 0.000 1030 0.000 0.034 3484 3312 2006 2111 1901 0 0 0 0 0 0 28.83 26.59 28.83
8889 1.17 175.2 3484 3312 2111 1901 185.2 22.0 384 8890 0.00 0.00 0.00 0.000 6 0.000 0.000 3484 3313 2006 2111 1901 0 0 0 0 0 0 28.83 28.83 28.83
9192 1.17 175.2 3484 3312 2111 1900 125.3 16.8 399 9197 0.00 0.65 0.00 0.000 260 0.000 0.050 3484 3754 2005 2111 1900 0 0 0 0 0 0 28.83 26.61 28.83
9297 1.17 175.2 3484 3754 2111 1900 105.1 18.9 404 9302 0.00 0.65 0.00 0.000 1030 0.000 0.029 3487 3287 2005 2111 1900 0 0 0 0 0 0 28.83 26.67 28.83
9623 1.24 197.1 3487 3287 2111 1899 66.6 9.7 420 9637 0.00 0.73 7.25 0.194 8452 0.000 0.049 3487 3760 1961 2056 1866 0 0 0 0 0 0 28.83 26.59 26.34
9660 1.24 197.1 3487 3759 2055 1884 63.1 11.6 421 9669 0.00 0.62 1.85 0.176 9222 0.000 0.030 3490 3297 1960 2051 1869 0 0 0 0 0 0 28.83 26.65 26.41
9967 1.87 406.7 3490 3297 2051 1894 41.3 2.1 447 10067 0.47 0.70 88.28 0.218 10500 0.044 0.041 3705 3763 1101 1124 1078 0 0 0 0 0 0 26.64 26.23 26.04
10133 end climb: SURFACE_DEPTH_REACHED
state 10133 begin surface coast
10141 end surface coast: CONTROL_FINISHED_OK
state 10141 begin surface