OKMC Oct12 * SG167 * Dive index * Mission links * Dive 64 * 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  64 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  72 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  120 N_FILEKB  8 R_STBD_OVSHOOT  50 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  -968570.25 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  241012,081036,2308.890,12139.308,37,0.9,37,-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  1.55 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  241012,081659,2309.017,12139.306,5,0.7,5,-3.5 MHEAD_RNG_PITCHd_Wd  107.6,242082,-15.7,-10.000,-18.65
SPEED_LIMITS  0.173,0.296 D_GRID  1587

Post-dive calculations and measurements:
FINISH  0.8,1.012470 _10V_AH  9.7,10.304
SM_CCo  10396,0.00,0.000,0,0,602,580.38 FG_AHR_24Vo  0.000
SM_GC  1.56,7.45,0.00,0.00,0.024,0.000,0.000,119,2314,602,-8.10,-0.31,580.38,0,0,0,0,0,0,26.40,28.83,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2300.41,12139.21,241012,040409 MEM  323840
TT8_MAMPS  0.028462,0.028462 DATA_FILE_SIZE  20133,583
HUMID  52.99 CAP_FILE_SIZE  141427,0
INTERNAL_PRESSURE  9.42419 CFSIZE  260165632,244367360
TCM_TEMP  25.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  4 CURRENT  0.311, 3.7,1
ALTIM_BOTTOM_PING  550.3,7.9 GPS  241012,111206,2310.359,12141.127,41,1.3,41,-3.5
_24V_AH  24.1,18.694

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20214104.52 nil000.00
Roll_motor10459150.31 nil000.00
VBD_pump_during_apogee56298913412.08 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon10341153821.51
Iridium_during_xfer226123671.65 nil000.00
Transponder_ping242022.77 nil000.00
GUMSTIX_24V000.00
GPS5261.50
TT8179014255.43
LPSleep64582137.19
TT8_Active6191488.43
TT8_Sampling165737609.74
TT8_CF825944112.62
TT8_Kalman000.00
Analog_circuits168116261.00
GPS_charging000.00
Compass13718109.63
RAFOS000.00
Transponder11303.37

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 89 0.00 0.00 -68.85 0.000 2 0.000 0.000 110 2297 2493 0 0 0 0 0 0 28.83 28.83 28.83
92 -0.47 -195.5 3.1 -5.9 12 142 9.38 2.05 -30.55 0.000 4 0.215 0.048 2580 946 3766 0 0 0 0 0 0 25.68 26.21 26.55
246 -0.51 -195.5 20.7 -11.6 40 253 0.00 2.05 0.00 0.000 6 0.000 0.036 2580 2309 3765 0 0 0 0 0 0 28.83 26.25 28.83
565 -0.51 -195.5 66.8 -13.7 69 571 0.00 2.17 0.00 0.000 4 0.000 0.046 2574 3733 3767 0 0 0 0 0 0 28.83 26.34 28.83
613 -0.51 -195.5 72.7 -13.3 71 618 0.00 2.00 0.00 0.000 6 0.000 0.020 2574 2330 3767 0 0 0 0 0 0 28.83 26.52 28.83
932 -0.58 -195.5 113.0 -9.8 87 937 0.00 2.17 0.00 0.000 4 0.000 0.051 2574 3726 3768 0 0 0 0 0 0 28.83 26.39 28.83
961 -0.67 -195.5 115.1 -9.2 88 968 0.15 2.00 0.00 0.000 6 0.067 0.021 2478 2320 3768 0 0 0 0 0 0 26.55 26.60 28.83
1281 -0.62 -195.5 167.6 -16.6 104 1287 0.17 2.03 0.00 0.000 4 0.138 0.033 2534 936 3769 0 0 0 0 0 0 26.36 26.53 28.83
1345 -0.64 -195.5 175.4 -13.3 107 1350 0.00 2.08 0.00 0.000 6 0.000 0.038 2534 2326 3770 0 0 0 0 0 0 28.83 26.51 28.83
1669 -0.73 -195.5 202.0 -8.1 123 1674 0.00 2.17 0.00 0.000 4 0.000 0.054 2534 3730 3770 0 0 0 0 0 0 28.83 26.45 28.83
1702 -0.83 -195.5 203.9 -7.9 124 1708 0.17 2.00 0.00 0.000 6 0.060 0.018 2435 2272 3770 0 0 0 0 0 0 26.65 26.72 28.83
2016 -0.76 -195.5 255.3 -16.8 140 2023 0.17 2.25 0.00 0.000 4 0.147 0.044 2490 3735 3770 0 0 0 0 0 0 26.39 26.51 28.83
2070 -0.73 -195.5 260.5 -14.1 142 2075 0.00 2.03 0.00 0.000 6 0.000 0.024 2490 2335 3770 0 0 0 0 0 0 28.83 26.65 28.83
2383 -0.78 -195.5 290.2 -9.4 158 2389 0.00 2.17 0.00 0.000 4 0.000 0.053 2492 3736 3768 0 0 0 0 0 0 28.83 26.52 28.83
2421 -0.82 -195.5 292.6 -9.8 159 2427 0.00 2.03 0.00 0.000 6 0.000 0.019 2490 2277 3768 0 0 0 0 0 0 28.83 26.74 28.83
2727 -0.87 -195.5 324.2 -9.8 175 2732 0.00 2.28 0.00 0.000 4 0.000 0.047 2490 3743 3766 0 0 0 0 0 0 28.83 26.52 28.83
2800 -0.93 -195.5 330.3 -9.6 178 2806 0.15 1.98 0.00 0.000 6 0.069 0.018 2410 2317 3766 0 0 0 0 0 0 26.66 26.76 28.83
3116 -0.87 -195.5 380.7 -15.7 194 3122 0.15 1.95 0.00 0.000 4 0.151 0.027 2457 958 3764 0 0 0 0 0 0 26.43 26.63 28.83
3144 -0.83 -195.5 384.5 -15.4 195 3149 0.00 2.05 0.00 0.000 6 0.000 0.037 2456 2332 3764 0 0 0 0 0 0 28.83 26.57 28.83
3462 -0.84 -195.5 420.3 -10.4 211 3468 0.00 2.12 0.00 0.000 4 0.000 0.047 2452 3736 3762 0 0 0 0 0 0 28.83 26.52 28.83
3573 -0.86 -195.5 431.5 -10.6 216 3578 0.00 1.98 0.00 0.000 6 0.000 0.021 2453 2323 3761 0 0 0 0 0 0 28.83 26.74 28.83
3892 -0.88 -195.5 463.5 -9.7 232 3897 0.00 1.95 0.00 0.000 4 0.000 0.028 2453 952 3759 0 0 0 0 0 0 28.83 26.65 28.83
3925 -0.90 -195.5 465.7 -9.8 233 3930 0.00 2.05 0.00 0.000 6 0.000 0.031 2453 2340 3763 0 0 0 0 0 0 28.83 26.59 28.83
4239 -0.92 -195.5 498.4 -10.1 249 4244 0.00 2.15 -0.08 0.000 4 0.000 0.060 2453 3741 3785 0 0 0 0 0 0 28.83 26.48 25.84
4294 -0.94 -195.5 503.0 -10.2 251 4300 0.00 2.00 0.00 0.000 6 0.000 0.022 2453 2325 3785 0 0 0 0 0 0 28.83 26.73 28.83
4609 -0.96 -195.5 535.8 -9.6 267 4614 0.00 2.17 0.00 0.000 4 0.000 0.052 2452 3730 3784 0 0 0 0 0 0 28.83 26.47 28.83
4673 -0.99 -195.5 542.3 -10.0 270 4678 0.00 2.00 0.00 0.000 6 0.000 0.021 2453 2305 3783 0 0 0 0 0 0 28.83 26.75 28.83
4758 end dive: BOTTOM_OBSTACLE_DETECTED
state 4758 begin apogee
4764 -0.20 0.0 550.3 -9.6 274 4931 0.65 0.00 159.70 0.989 6 0.103 0.000 2676 2302 2964 0 0 0 0 0 0 26.23 28.83 24.27
4932 end apogee: CONTROL_FINISHED_OK
state 4932 begin climb
4935 0.47 195.5 557.3 0.0 282 5106 0.57 2.35 161.82 0.935 4 0.038 0.045 2916 3711 2163 0 0 0 0 0 0 25.21 24.84 24.11
5337 0.36 195.5 523.7 12.6 302 5345 0.25 2.08 0.00 0.000 6 0.142 0.025 2850 2325 2154 0 0 0 0 0 0 25.74 26.01 28.83
5641 0.39 255.9 497.5 7.9 318 5701 0.00 2.28 49.80 0.884 4 0.000 0.045 2850 3696 1916 0 0 0 0 0 0 28.83 25.44 24.77
5785 0.39 262.7 484.4 9.8 325 5795 0.00 2.08 2.47 0.574 6 0.000 0.026 2853 2302 1898 0 0 0 0 0 0 28.83 25.92 24.63
6108 0.42 282.7 455.5 9.3 341 6137 0.00 2.10 22.38 0.931 4 0.000 0.031 2853 910 1808 0 0 0 0 0 0 28.83 25.82 25.09
6192 0.47 305.3 447.9 9.2 345 6222 0.12 2.15 19.58 0.931 6 0.080 0.028 2924 2319 1721 0 0 0 0 0 0 25.98 25.98 24.91
6535 0.43 305.3 401.5 13.4 362 6541 0.12 2.12 0.00 0.000 4 0.143 0.043 2884 3697 1714 0 0 0 0 0 0 26.10 26.16 28.83
6634 0.43 305.3 391.0 12.4 366 6640 0.00 2.05 0.00 0.000 6 0.000 0.026 2885 2301 1713 0 0 0 0 0 0 28.83 26.33 28.83
6940 0.43 305.3 355.3 11.5 382 6941 0.00 0.00 0.00 0.000 6 0.000 0.000 2885 2300 1712 0 0 0 0 0 0 28.83 28.83 28.83
7241 0.43 305.3 321.6 10.8 397 7247 0.00 2.17 0.00 0.000 4 0.000 0.044 2885 3702 1711 0 0 0 0 0 0 28.83 26.40 28.83
7273 0.43 305.3 318.9 10.7 398 7279 0.00 2.05 0.00 0.000 6 0.000 0.025 2885 2290 1711 0 0 0 0 0 0 28.83 26.53 28.83
7586 0.44 305.3 286.6 10.2 414 7592 0.00 2.20 0.00 0.000 4 0.000 0.044 2885 3697 1710 0 0 0 0 0 0 28.83 26.44 28.83
7659 0.44 305.3 279.4 11.1 417 7664 0.00 2.03 0.00 0.000 6 0.000 0.025 2892 2291 1709 0 0 0 0 0 0 28.83 26.58 28.83
7973 0.45 312.8 246.3 9.7 433 7982 0.00 2.17 3.28 0.797 4 0.000 0.043 2892 3700 1694 0 0 0 0 0 0 28.83 26.51 25.20
8004 0.45 325.3 244.2 9.6 434 8029 0.00 2.03 16.15 0.851 6 0.000 0.025 2894 2301 1634 0 0 0 0 0 0 28.83 26.57 25.50
8338 0.48 330.3 211.3 9.8 451 8344 0.00 2.17 1.00 0.249 4 0.000 0.041 2894 3704 1620 0 0 0 0 0 0 28.83 26.32 25.75
8386 0.50 334.8 206.6 9.8 453 8403 0.00 2.05 8.05 0.874 6 0.000 0.024 2895 2285 1598 0 0 0 0 0 0 28.83 26.46 25.49
8703 0.55 353.9 177.7 9.3 469 8728 0.00 2.05 18.08 0.786 4 0.000 0.029 2894 911 1519 0 0 0 0 0 0 28.83 26.11 25.44
8766 0.60 375.6 171.9 9.3 472 8792 0.12 2.08 19.62 0.762 6 0.076 0.026 2970 2307 1432 0 0 0 0 0 0 26.16 26.17 25.22
9110 0.58 375.6 124.4 13.5 489 9116 0.12 2.12 0.00 0.000 4 0.137 0.041 2930 3693 1425 0 0 0 0 0 0 26.16 26.21 28.83
9129 0.55 375.6 124.4 13.5 489 9136 0.00 2.03 0.00 0.000 6 0.000 0.022 2935 2295 1424 0 0 0 0 0 0 28.83 26.34 28.83
9435 0.64 446.3 91.8 7.6 505 9468 0.00 0.00 26.95 0.340 6 0.000 0.000 2935 2295 1147 0 0 0 0 0 0 28.83 28.83 25.70
9776 0.77 528.5 68.2 7.2 522 9818 0.12 2.25 33.47 0.278 4 0.077 0.041 3032 3698 812 0 0 0 0 0 0 26.51 26.17 25.73
9856 0.80 528.5 60.2 11.1 525 9865 0.12 2.03 0.00 0.000 6 0.148 0.023 2996 2301 819 0 0 0 0 0 0 26.07 26.29 28.83
10163 0.84 528.5 22.2 11.2 555 10169 0.00 2.00 0.00 0.000 4 0.000 0.029 2996 911 815 0 0 0 0 0 0 28.83 26.41 28.83
10235 0.95 579.6 15.8 8.2 568 10261 0.15 2.03 20.27 0.154 6 0.065 0.024 3089 2310 600 0 0 0 0 0 0 26.44 26.45 26.00
10307 end climb: SURFACE_DEPTH_REACHED
state 10307 begin surface coast
10318 end surface coast: CONTROL_FINISHED_OK
state 10319 begin surface