OKMC Jun13 * SG167 * Dive index * Mission links * Dive 86 * 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  86 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  43 ALTIM_SENSITIVITY  3
D_NO_BLEED  500 SM_CC  550 R_STBD_OVSHOOT  38 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  -974978.44 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  300613,090406,2133.065,12028.609,39,1.1,39,-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  1.65 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  300613,091354,2133.232,12028.624,45,0.9,45,-3.0 MHEAD_RNG_PITCHd_Wd  196.4,61592,-17.5,-10.645,-20.26,2520
SPEED_LIMITS  0.184,0.288 D_GRID  1427

Post-dive calculations and measurements:
FINISH  1.0,1.020866 _10V_AH  10.3,6.563
SM_CCo  10054,87.22,0.131,0,0,520,550.21 FG_AHR_24Vo  0.000
SM_GC  1.67,8.93,2.03,87.22,0.032,0.023,0.131,127,1928,520,-9.14,2.40,550.21,0,0,0,0,0,0,26.35,26.35,26.03 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2127.21,12029.22,300613,090958 MEM  324200
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  16773,456
HUMID  55.55 CAP_FILE_SIZE  121864,0
INTERNAL_PRESSURE  9.43396 CFSIZE  260034560,243879936
TCM_TEMP  24.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
XPDR_PINGS  2 CURRENT  0.146, 87.8,1
SC_FREEKB  7683168 GPS  300613,120453,2132.150,12028.989,42,1.4,42,-3.0
_24V_AH  23.3,9.614

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22237123.48 nil000.00
Roll_motor764988.28 nil000.00
VBD_pump_during_apogee380171115160.87 nil000.00
VBD_pump_during_surface87130265.86 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1003471756.25
Iridium_during_xfer315111820.66 nil000.00
Transponder_ping04204.89 nil000.00
GUMSTIX_24V000.00
GPS465023.78
TT8170713245.45
LPSleep63292142.78
TT8_Active5701382.01
TT8_Sampling173040716.19
TT8_CF839447193.86
TT8_Kalman000.00
Analog_circuits165816273.35
GPS_charging000.00
Compass1344569.25
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 -1.17 -175.2 107 1896 445 598 0.0 0.0 0 127 0.00 0.00 -98.70 0.000 16386 0.000 0.000 108 1897 2965 2942 2989 0 0 0 0 0 0 28.83 28.83 28.83
135 -1.17 -175.2 107 1897 2942 2990 3.5 -5.8 17 162 10.25 2.15 -9.00 0.000 18948 0.238 0.041 2701 469 3480 3474 3486 0 0 0 0 0 0 25.95 26.20 26.44
210 -1.17 -175.2 2700 469 3474 3488 36.6 -44.8 27 215 0.00 2.10 0.00 0.000 1030 0.000 0.020 2692 1919 3481 3475 3488 0 0 0 0 0 0 28.83 26.25 28.83
525 -1.17 -175.2 2692 1921 3479 3488 138.0 -27.6 44 530 0.00 2.10 0.00 0.000 516 0.000 0.028 2692 483 3483 3479 3488 0 0 0 0 0 0 28.83 26.40 28.83
559 -1.17 -175.2 2691 483 3479 3488 144.9 -27.7 45 564 0.00 2.03 0.00 0.000 1030 0.000 0.017 2682 1915 3483 3479 3488 0 0 0 0 0 0 28.83 26.44 28.83
873 -1.17 -175.2 2682 1916 3481 3488 220.2 -21.0 61 879 0.00 1.98 0.00 0.000 260 0.000 0.028 2671 3294 3484 3481 3488 0 0 0 0 0 0 28.83 26.51 28.83
1074 -1.17 -175.2 2671 3294 3481 3488 260.1 -21.4 70 1081 0.12 2.00 0.00 0.000 3078 0.183 0.016 2701 1862 3483 3479 3488 0 0 0 0 0 0 26.40 26.58 28.83
1380 -1.17 -175.2 2700 1862 3481 3487 324.2 -20.1 86 1385 0.00 2.08 0.00 0.000 260 0.000 0.027 2693 3293 3483 3481 3486 0 0 0 0 0 0 28.83 26.59 28.83
1459 -1.17 -175.2 2692 3293 3481 3486 337.0 -19.8 89 1466 0.00 1.95 0.00 0.000 1030 0.000 0.017 2693 1904 3482 3481 3484 0 0 0 0 0 0 28.83 26.63 28.83
1765 -1.17 -175.2 2691 1903 3484 3477 397.5 -16.4 105 1771 0.00 2.03 0.00 0.000 260 0.000 0.028 2683 3297 3480 3485 3476 0 0 0 0 0 0 28.83 26.63 28.83
1836 -1.17 -175.2 2683 3297 3485 3476 409.2 -17.5 108 1841 0.00 1.98 0.00 0.000 1030 0.000 0.018 2683 1896 3479 3484 3475 0 0 0 0 0 0 28.83 26.66 28.83
2155 -1.17 -175.2 2683 1895 3484 3470 472.1 -19.9 124 2161 0.00 2.03 0.00 0.000 516 0.000 0.031 2683 506 3477 3485 3470 0 0 0 0 0 0 28.83 26.65 28.83
2205 -1.17 -175.2 1640 506 3465 3465 481.7 -20.8 126 2212 0.12 1.98 0.00 0.000 3078 0.190 0.017 2705 1908 3476 3484 3468 0 0 0 0 0 0 26.51 26.68 28.83
2526 -1.17 -175.2 2704 1909 3484 3464 540.0 -17.2 142 2531 0.00 2.00 0.00 0.000 260 0.000 0.031 2696 3287 3473 3484 3463 0 0 0 0 0 0 28.83 26.66 28.83
2702 -1.17 -175.2 2696 3287 3484 3459 568.8 -16.5 150 2708 0.00 1.98 0.00 0.000 1030 0.000 0.018 2696 1886 3471 3484 3459 0 0 0 0 0 0 28.83 26.70 28.83
3021 -1.17 -175.2 2696 1886 3484 3453 623.9 -17.1 164 3026 0.00 2.00 0.00 0.000 516 0.000 0.031 2696 508 3468 3484 3453 0 0 0 0 0 0 28.83 26.67 28.83
3061 -1.17 -175.2 1648 507 3466 3449 630.3 -17.2 165 3066 0.00 1.98 0.00 0.000 1030 0.000 0.017 2687 1913 3468 3484 3453 0 0 0 0 0 0 28.83 26.71 28.83
3394 -1.17 -175.2 2687 1913 3486 3448 685.0 -15.8 176 3399 0.00 2.00 0.00 0.000 260 0.000 0.032 2679 3288 3465 3484 3447 0 0 0 0 0 0 28.83 26.68 28.83
3533 -1.17 -175.2 2679 3288 3486 3445 707.0 -17.2 180 3539 0.00 1.98 0.00 0.000 1030 0.000 0.019 2679 1894 3464 3484 3444 0 0 0 0 0 0 28.83 26.72 28.83
3856 -1.17 -175.2 2679 1893 3484 3439 764.8 -16.0 191 3862 0.00 2.08 0.00 0.000 260 0.000 0.031 2671 3292 3461 3484 3439 0 0 0 0 0 0 28.83 26.69 28.83
3931 -1.17 -175.2 2670 3292 3484 3437 775.5 -15.8 193 3937 0.12 1.98 0.00 0.000 3078 0.179 0.018 2700 1894 3460 3484 3437 0 0 0 0 0 0 26.55 26.72 28.83
4259 -1.17 -175.2 2700 1894 3483 3433 828.6 -16.4 204 4260 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 1894 3458 3483 3434 0 0 0 0 0 0 28.83 28.83 28.83
4556 -1.17 -175.2 2700 1894 3479 3432 877.5 -15.1 214 4562 0.00 2.05 0.00 0.000 260 0.000 0.033 2696 3278 3456 3480 3432 0 0 0 0 0 0 28.83 26.69 28.83
4600 -1.17 -175.2 2696 3278 3478 3432 882.8 -15.0 215 4605 0.00 1.95 0.00 0.000 1030 0.000 0.020 2696 1907 3455 3478 3432 0 0 0 0 0 0 28.83 26.72 28.83
4929 -1.17 -175.2 2696 1906 3477 3428 928.6 -13.7 226 4934 0.00 2.03 0.00 0.000 516 0.000 0.034 2696 519 3452 3477 3428 0 0 0 0 0 0 28.83 26.69 28.83
4958 -1.17 -175.2 2696 519 3476 3427 928.6 -13.7 226 4965 0.00 1.98 0.00 0.000 1030 0.000 0.019 2688 1903 3451 3476 3427 0 0 0 0 0 0 28.83 26.72 28.83
5264 -1.17 -175.2 2688 1903 3473 3426 977.2 -13.0 237 5270 0.00 2.05 0.00 0.000 260 0.000 0.035 2683 3291 3449 3473 3426 0 0 0 0 0 0 28.83 26.69 28.83
5390 end dive: TARGET_DEPTH_EXCEEDED
state 5390 begin apogee
5397 -0.19 0.0 2683 3291 3472 3426 991.8 -11.7 241 5555 1.05 0.00 144.52 1.678 10246 0.147 0.000 3016 3291 2762 2827 2698 0 0 0 0 1 0 26.55 28.83 23.53
5558 end apogee: CONTROL_FINISHED_OK
state 5558 begin climb
5561 1.17 175.2 3017 3291 2827 2707 991.3 0.0 246 5731 1.23 0.75 156.45 1.711 10500 0.042 0.047 3470 3736 2047 2137 1958 0 0 0 0 1 0 24.84 24.27 23.30
5961 1.17 175.2 3470 3736 2137 1952 902.4 30.4 259 5968 0.00 0.62 0.00 0.000 1030 0.000 0.033 3474 3311 2044 2137 1951 0 0 0 0 0 0 28.83 25.70 28.83
6267 1.17 175.2 3473 3312 2137 1948 815.3 24.6 270 6272 0.00 2.10 0.00 0.000 516 0.000 0.025 3483 1890 2042 2137 1948 0 0 0 0 0 0 28.83 26.09 28.83
6395 1.17 175.2 3483 1889 2137 1947 783.8 25.3 274 6400 0.00 2.12 0.00 0.000 1030 0.000 0.035 3483 3267 2042 2137 1947 0 0 0 0 0 0 28.83 26.15 28.83
6732 1.17 175.2 3483 3267 2137 1944 696.0 26.1 285 6737 0.00 0.75 0.00 0.000 260 0.000 0.050 3483 3763 2040 2137 1944 0 0 0 0 0 0 28.83 26.31 28.83
6968 1.17 175.2 3483 3763 2137 1943 636.4 27.1 292 6973 0.00 0.68 0.00 0.000 1030 0.000 0.032 3487 3293 2040 2137 1943 0 0 0 0 0 0 28.83 26.43 28.83
7285 1.17 175.2 3486 3293 2137 1941 544.4 26.3 306 7286 0.00 0.00 0.00 0.000 6 0.000 0.000 3487 3293 2039 2137 1941 0 0 0 0 0 0 28.83 28.83 28.83
7586 1.17 175.2 3486 3292 2137 1940 470.1 24.2 321 7591 0.00 0.73 0.00 0.000 260 0.000 0.048 3486 3764 2038 2137 1940 0 0 0 0 0 0 28.83 26.50 28.83
7675 1.17 175.2 3486 3764 2137 1940 448.1 25.0 325 7681 0.00 0.68 0.00 0.000 1030 0.000 0.034 3490 3292 2038 2137 1940 0 0 0 0 0 0 28.83 26.54 28.83
7996 1.17 175.2 3490 3293 2137 1938 370.6 22.7 341 8001 0.00 2.05 0.00 0.000 516 0.000 0.026 3500 1880 2037 2137 1938 0 0 0 0 0 0 28.83 26.55 28.83
8113 1.17 175.2 3499 1880 2137 1938 347.1 22.4 346 8120 0.15 2.15 0.00 0.000 5126 0.196 0.034 3465 3317 2037 2137 1938 0 0 0 0 0 0 26.39 26.55 28.83
8431 1.17 175.2 3464 3316 2137 1937 276.8 22.7 362 8436 0.00 2.10 0.00 0.000 516 0.000 0.024 3473 1878 2037 2137 1937 0 0 0 0 0 0 28.83 26.59 28.83
8489 1.17 175.2 3473 1878 2137 1936 266.0 23.1 364 8497 0.00 2.12 0.00 0.000 1030 0.000 0.034 3473 3299 2036 2137 1936 0 0 0 0 0 0 28.83 26.58 28.83
8795 1.17 175.2 3473 3299 2137 1936 194.4 20.4 380 8801 0.00 2.08 0.00 0.000 516 0.000 0.024 3483 1879 2036 2137 1936 0 0 0 0 0 0 28.83 26.61 28.83
8890 1.17 175.2 3482 1878 2137 1936 178.5 18.6 384 8895 0.00 2.12 0.00 0.000 1030 0.000 0.033 3483 3305 2036 2137 1936 0 0 0 0 0 0 28.83 26.60 28.83
9205 1.17 175.2 3482 3305 2137 1936 121.2 14.2 400 9210 0.00 0.68 0.00 0.000 260 0.000 0.048 3483 3764 2036 2137 1936 0 0 0 0 0 0 28.83 26.60 28.83
9441 1.17 175.2 3482 3764 2137 1936 88.5 12.5 411 9446 0.00 0.65 0.00 0.000 1030 0.000 0.029 3487 3290 2036 2137 1935 0 0 0 0 0 0 28.83 26.67 28.83
9756 1.65 333.4 3486 3288 2137 1936 60.7 4.2 427 9824 0.30 0.75 63.85 0.273 11012 0.054 0.046 3621 3766 1399 1476 1322 0 0 0 0 0 0 26.67 26.27 26.03
9840 1.76 371.6 3621 3766 1476 1323 53.1 9.1 431 9860 0.00 0.65 15.40 0.246 9222 0.000 0.027 3625 3281 1244 1306 1183 0 0 0 0 0 0 28.83 26.34 26.00
10023 end climb: SURFACE_DEPTH_REACHED
state 10023 begin surface coast
10029 end surface coast: CONTROL_FINISHED_OK
state 10030 begin surface