OKMC Jun13 * SG167 * Dive index * Mission links * Dive 81 * 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  81 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  75 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  -974972.19 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  290613,180052,2138.555,12027.938,26,1.2,42,-3.0 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  -73.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  290613,181006,2138.516,12027.692,29,1.3,29,-3.0 MHEAD_RNG_PITCHd_Wd  158.7,71442,-17.5,-10.645,-20.26,2520
SPEED_LIMITS  0.184,0.288 D_GRID  1346

Post-dive calculations and measurements:
FINISH  0.9,1.020865 _10V_AH  10.3,6.218
SM_CCo  9982,71.55,0.129,0,0,519,550.21 FG_AHR_24Vo  0.000
SM_GC  1.80,9.15,2.03,71.55,0.033,0.021,0.129,136,1904,519,-9.15,2.43,550.21,0,0,0,0,0,0,26.32,26.35,26.05 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2131.85,12026.40,290613,181844 MEM  324164
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  16793,460
HUMID  56.02 CAP_FILE_SIZE  117339,0
INTERNAL_PRESSURE  9.39489 CFSIZE  260034560,244224000
TCM_TEMP  24.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
XPDR_PINGS  4 CURRENT  0.073,264.9,1
SC_FREEKB  7685088 GPS  290613,205935,2137.398,12027.932,40,0.9,40,-3.0
_24V_AH  23.3,8.932

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22241127.15 nil000.00
Roll_motor684877.97 nil000.00
VBD_pump_during_apogee396174116098.59 nil000.00
VBD_pump_during_surface71129215.53 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon995971752.40
Iridium_during_xfer296117807.99 nil000.00
Transponder_ping14209.79 nil000.00
GUMSTIX_24V000.00
GPS305015.80
TT8163913235.74
LPSleep63862144.07
TT8_Active5501379.22
TT8_Sampling165040682.89
TT8_CF838247187.97
TT8_Kalman000.00
Analog_circuits160116263.97
GPS_charging000.00
Compass1307567.36
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 22 begin dive
25 -1.17 -175.2 113 1889 444 592 0.0 0.0 0 132 0.00 0.00 -103.40 0.000 16386 0.000 0.000 113 1889 3098 3077 3119 0 0 0 0 0 0 28.83 28.83 28.83
140 -1.17 -175.2 113 1889 3078 3120 3.9 -6.6 18 166 10.32 2.08 -6.40 0.000 18948 0.242 0.045 2702 518 3482 3476 3488 0 0 0 0 0 0 25.94 26.20 26.44
271 -1.17 -175.2 2702 516 3477 3489 53.8 -34.4 32 278 0.00 2.03 0.00 0.000 1030 0.000 0.021 2695 1920 3483 3477 3489 0 0 0 0 0 0 28.83 26.29 28.83
577 -1.17 -175.2 2694 1922 3480 3489 142.3 -24.9 48 583 0.00 2.05 0.00 0.000 516 0.000 0.027 2694 515 3484 3480 3489 0 0 0 0 0 0 28.83 26.43 28.83
787 -1.17 -175.2 2694 513 3482 3489 194.1 -25.6 58 792 0.00 2.00 0.00 0.000 1030 0.000 0.016 2685 1926 3485 3482 3489 0 0 0 0 0 0 28.83 26.52 28.83
1107 -1.17 -175.2 2684 1927 3482 3489 270.6 -22.4 74 1109 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 1926 3485 3482 3489 0 0 0 0 0 0 28.83 28.83 28.83
1411 -1.17 -175.2 2684 1927 3482 3489 344.7 -24.5 89 1417 0.00 2.05 0.00 0.000 516 0.000 0.028 2685 517 3485 3482 3489 0 0 0 0 0 0 28.83 26.60 28.83
1445 -1.17 -175.2 2684 517 3482 3488 351.9 -24.0 90 1451 0.12 1.95 0.00 0.000 3078 0.188 0.017 2705 1901 3485 3482 3488 0 0 0 0 0 0 26.46 26.63 28.83
1761 -1.17 -175.2 2705 1900 3481 3485 412.0 -17.2 106 1762 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 1901 3483 3482 3485 0 0 0 0 0 0 28.83 28.83 28.83
2063 -1.17 -175.2 2705 1903 3485 3477 467.7 -19.0 121 2069 0.00 2.00 0.00 0.000 260 0.000 0.029 2697 3284 3481 3485 3477 0 0 0 0 0 0 28.83 26.65 28.83
2157 -1.17 -175.2 2697 3284 3485 3476 484.1 -18.9 125 2164 0.00 1.98 0.00 0.000 1030 0.000 0.018 2697 1890 3479 3485 3474 0 0 0 0 0 0 28.83 26.68 28.83
2474 -1.17 -175.2 2696 1890 3486 3470 545.4 -19.0 141 2479 0.00 2.05 0.00 0.000 260 0.000 0.029 2688 3298 3477 3486 3469 0 0 0 0 0 0 28.83 26.67 28.83
2539 -1.17 -175.2 2688 3298 3485 3468 557.6 -18.9 144 2545 0.00 1.98 0.00 0.000 1030 0.000 0.017 2687 1890 3476 3485 3468 0 0 0 0 0 0 28.83 26.70 28.83
2864 -1.17 -175.2 2687 1890 3485 3463 612.9 -17.1 159 2870 0.00 2.05 0.00 0.000 260 0.000 0.030 2678 3294 3473 3485 3462 0 0 0 0 0 0 28.83 26.68 28.83
3035 -1.17 -175.2 2678 3294 3485 3459 639.5 -16.9 164 3041 0.00 1.98 0.00 0.000 1030 0.000 0.018 2678 1897 3471 3485 3458 0 0 0 0 0 0 28.83 26.72 28.83
3358 -1.17 -175.2 2677 1897 3485 3453 697.7 -17.9 175 3364 0.12 2.05 0.00 0.000 2308 0.185 0.028 2706 3294 3469 3485 3453 0 0 0 0 0 0 26.55 26.69 28.83
3378 -1.17 -175.2 2705 3294 3485 3453 697.7 -17.9 175 3384 0.00 1.98 0.00 0.000 1030 0.000 0.018 2705 1897 3469 3485 3453 0 0 0 0 0 0 28.83 26.72 28.83
3699 -1.17 -175.2 2705 1897 3485 3448 748.8 -14.4 186 3704 0.00 2.00 0.00 0.000 516 0.000 0.032 2706 520 3466 3485 3448 0 0 0 0 0 0 28.83 26.69 28.83
3733 -1.17 -175.2 2705 520 3485 3447 754.0 -14.4 187 3739 0.00 1.95 0.00 0.000 1030 0.000 0.018 2697 1895 3466 3485 3447 0 0 0 0 0 0 28.83 26.72 28.83
4071 -1.17 -175.2 2697 1896 3485 3441 807.1 -16.5 198 4076 0.00 2.05 0.00 0.000 260 0.000 0.034 2697 3287 3463 3485 3441 0 0 0 0 0 0 28.83 26.69 28.83
4115 -1.17 -175.2 2696 3287 3485 3441 813.3 -16.3 199 4120 0.00 1.98 0.00 0.000 1030 0.000 0.019 2697 1900 3463 3485 3441 0 0 0 0 0 0 28.83 26.72 28.83
4443 -1.17 -175.2 2696 1899 3485 3436 862.7 -13.7 210 4444 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 1899 3460 3485 3435 0 0 0 0 0 0 28.83 28.83 28.83
4740 -1.17 -175.2 2696 1899 3481 3435 906.3 -15.6 220 4741 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 1899 3458 3481 3435 0 0 0 0 0 0 28.83 28.83 28.83
5040 -1.17 -175.2 2696 1899 3479 3434 952.6 -15.6 230 5046 0.00 2.08 0.00 0.000 260 0.000 0.035 2697 3288 3456 3479 3433 0 0 0 0 0 0 28.83 26.70 28.83
5119 -1.17 -175.2 2696 3287 3478 3433 962.0 -14.9 232 5125 0.00 1.98 0.00 0.000 1030 0.000 0.020 2697 1898 3455 3478 3433 0 0 0 0 0 0 28.83 26.73 28.83
5317 end dive: TARGET_DEPTH_EXCEEDED
state 5317 begin apogee
5327 -0.19 0.0 2697 3280 3477 3431 993.3 -14.7 239 5485 1.00 0.00 143.38 1.742 10246 0.146 0.000 3015 3280 2762 2827 2697 0 0 0 0 1 0 26.55 28.83 23.53
5487 end apogee: CONTROL_FINISHED_OK
state 5487 begin climb
5491 1.17 175.2 3015 3281 2827 2703 1000.1 0.0 244 5661 1.23 0.80 155.82 1.708 10500 0.039 0.045 3474 3766 2048 2138 1958 0 0 0 0 1 0 24.84 24.30 23.32
5812 1.17 175.2 3473 3766 2138 1954 933.9 28.1 255 5818 0.00 0.68 0.00 0.000 1030 0.000 0.033 3477 3314 2046 2138 1954 0 0 0 0 0 0 28.83 25.53 28.83
6146 1.17 175.2 3477 3314 2138 1948 847.4 25.9 266 6151 0.00 2.12 0.00 0.000 516 0.000 0.027 3487 1877 2043 2138 1948 0 0 0 0 0 0 28.83 26.05 28.83
6225 1.17 175.2 3486 1877 2137 1948 828.8 26.8 268 6230 0.00 2.17 0.00 0.000 1030 0.000 0.035 3487 3299 2043 2138 1948 0 0 0 0 0 0 28.83 26.09 28.83
6545 1.17 175.2 3486 3300 2138 1945 736.0 27.2 279 6550 0.00 2.10 0.00 0.000 516 0.000 0.027 3496 1881 2041 2138 1945 0 0 0 0 0 0 28.83 26.30 28.83
6588 1.17 175.2 3496 1880 2138 1944 726.3 27.4 280 6594 0.15 2.17 0.00 0.000 5126 0.196 0.035 3462 3312 2041 2138 1944 0 0 0 0 0 0 26.14 26.29 28.83
6919 1.17 175.2 3461 3312 2138 1943 635.6 26.2 291 6924 0.00 2.12 0.00 0.000 516 0.000 0.027 3470 1876 2040 2138 1942 0 0 0 0 0 0 28.83 26.41 28.83
6967 1.17 175.2 3470 1876 2138 1942 625.5 26.1 292 6972 0.00 2.15 0.00 0.000 1030 0.000 0.034 3471 3302 2040 2138 1942 0 0 0 0 0 0 28.83 26.40 28.83
7280 1.17 175.2 3470 3302 2138 1941 551.3 23.0 306 7285 0.00 2.10 0.00 0.000 516 0.000 0.026 3480 1876 2039 2138 1941 0 0 0 0 0 0 28.83 26.48 28.83
7319 1.17 175.2 3480 1875 2138 1941 545.4 22.8 307 7326 0.00 2.15 0.00 0.000 1030 0.000 0.034 3480 3307 2039 2138 1940 0 0 0 0 0 0 28.83 26.47 28.83
7625 1.17 175.2 3480 3308 2138 1940 472.4 22.0 323 7630 0.00 0.68 0.00 0.000 260 0.000 0.049 3479 3763 2039 2138 1940 0 0 0 0 0 0 28.83 26.51 28.83
7862 1.17 175.2 3480 3763 2138 1940 417.2 25.5 334 7867 0.00 0.68 0.00 0.000 1030 0.000 0.032 3483 3289 2039 2139 1939 0 0 0 0 0 0 28.83 26.58 28.83
8177 1.17 175.2 3483 3289 2138 1938 336.4 25.0 350 8183 0.00 0.73 0.00 0.000 260 0.000 0.047 3483 3764 2038 2138 1938 0 0 0 0 0 0 28.83 26.55 28.83
8413 1.17 175.2 3483 3765 2138 1937 283.6 24.0 361 8418 0.00 0.65 0.00 0.000 1030 0.000 0.032 3487 3299 2037 2138 1937 0 0 0 0 0 0 28.83 26.62 28.83
8728 1.17 175.2 3486 3300 2138 1936 208.9 24.1 377 8733 0.00 0.70 0.00 0.000 260 0.000 0.048 3486 3767 2037 2138 1936 0 0 0 0 0 0 28.83 26.60 28.83
8964 1.17 175.2 3486 3767 2138 1936 159.3 22.2 388 8969 0.00 0.65 0.00 0.000 1030 0.000 0.031 3490 3295 2037 2138 1936 0 0 0 0 0 0 28.83 26.66 28.83
9279 1.17 175.2 3490 3295 2138 1935 98.0 11.8 404 9280 0.00 0.00 0.00 0.000 6 0.000 0.000 3489 3295 2036 2138 1935 0 0 0 0 0 0 28.83 28.83 28.83
9582 1.17 175.2 3489 3295 2137 1935 52.4 15.1 419 9587 0.00 0.70 0.00 0.000 260 0.000 0.047 3490 3760 2036 2138 1935 0 0 0 0 0 0 28.83 26.63 28.83
9790 1.88 409.2 3490 3760 2138 1937 32.8 1.1 438 9898 0.47 0.62 97.45 0.196 11270 0.036 0.028 3707 3287 1090 1101 1080 0 0 0 0 0 0 26.66 26.69 26.10
9949 end climb: SURFACE_DEPTH_REACHED
state 9949 begin surface coast
9954 end surface coast: CONTROL_FINISHED_OK
state 9955 begin surface