OKMC Aug11 * SG166 * Dive index * Mission links * Dive 156 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  166 HD_B  0.010078 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  30
DIVE  156 HEADING  -1 ROLL_MIN  197 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3786 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  5 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1500 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1850 ALTIM_FREQUENCY  13
D_ABORT  1030 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_BOOST  3 SM_CC  450 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  45 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  48 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  2.7
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  0 VBD_MIN  455 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  53
T_DIVE  340 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  370 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  3 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -9 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24593.453 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 AH0_24V  147 PHONE_DEVICE  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  109 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
MAX_BUOY  160 PITCH_MIN  160 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3938 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2745 PHONE_SUPPLY  2 SEABIRD_T_G  0.004315557
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -27.509327 SEABIRD_T_H  0.00063223497
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.0001160501 SEABIRD_T_I  2.3993638e-05
MASS  51906 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.5696888e-06
NAV_MODE  2 PITCH_GAIN  35 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.9842854
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1210135
KALMAN_USE  2 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.0013500623
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00018873326

Pre-dive calculations and measurements:
GPS1  020911,024937,2153.427,12359.579,43,2.0,43,-2.9 TGT_NAME  N3
_CALLS  1 TGT_LATLONG  2130.000,12400.000
_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  -66.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  020911,030640,2153.075,12359.772,32,1.9,35,-2.9 MHEAD_RNG_PITCHd_Wd  165.5,42737,-17.2,-9.706
SPEED_LIMITS  0.168,0.265 D_GRID  5000

Post-dive calculations and measurements:
FINISH  1.0,1.015575 _10V_AH  10.2,26.533
SM_CCo  15298,56.38,0.483,1,0,1048,450.13 FG_AHR_24Vo  0.000
SM_GC  1.62,0.00,0.00,56.38,0.000,0.000,0.483,146,1479,1048,-8.11,-0.59,450.13,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2148.09,12358.80,010911,222221 MEM  330340
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  80213,1447
HUMID  35.54 CAP_FILE_SIZE  158915,0
INTERNAL_PRESSURE  9.43854 CFSIZE  260165632,133640192
TCM_TEMP  26.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  87 CURRENT  0.135,213.2,1
_24V_AH  23.1,37.122 GPS  020911,072432,2149.934,12400.034,41,2.0,48,-2.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1822297.45 SBE_CT99024549.18
Roll_motor12162176.24 AA38301480331128.48
VBD_pump_during_apogee437146414797.79 WL_BB2F17451054232.78
VBD_pump_during_surface56482628.62 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010372.76 nil000.00
Iridium_during_connect75160278.83 nil000.00
Iridium_during_xfer7342233784.93 nil000.00
Transponder_ping21420211.02 nil000.00
GUMSTIX_24V000.00
GPS365018.38
TT8356919720.94
LPSleep76912171.81
TT8_Active59319119.79
TT8_Sampling3888391578.65
TT8_CF862245290.60
TT8_Kalman000.00
Analog_circuits190412233.14
GPS_charging000.00
Compass322015492.69
RAFOS000.00
Transponder050.03

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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
20 -0.68 -155.7 0.0 0.0 0 107 0.00 0.00 -85.43 0.000 2 0.000 0.000 150 1480 3148 0 0 0 0 0 0
110 -0.68 -155.7 5.8 -10.3 12 135 9.25 2.22 -7.12 0.000 4 0.223 0.051 2505 2911 3519 0 0 0 0 0 0
222 -0.68 -155.7 50.3 -31.6 31 230 0.00 2.20 0.00 0.000 6 0.000 0.038 2500 1507 3520 0 0 0 0 0 0
547 -0.68 -155.7 131.9 -19.5 92 555 0.00 2.15 0.00 0.000 4 0.000 0.046 2489 2895 3522 0 0 0 0 0 0
577 -0.68 -155.7 137.2 -18.8 96 586 0.08 2.15 0.00 0.000 6 0.155 0.037 2517 1496 3522 0 0 0 0 0 0
906 -0.68 -155.7 199.1 -19.6 157 914 0.00 2.00 0.00 0.000 4 0.000 0.047 2526 211 3523 0 0 0 0 0 0
1057 -0.68 -155.7 228.3 -18.7 184 1065 0.00 1.95 0.00 0.000 6 0.000 0.037 2518 1488 3522 0 0 0 0 0 0
1383 -0.68 -155.7 274.9 -12.2 227 1387 0.00 2.12 0.00 0.000 4 0.000 0.047 2507 2909 3522 0 0 0 0 0 0
1438 -0.68 -155.7 282.0 -11.8 231 1445 0.00 2.12 0.00 0.000 6 0.000 0.037 2508 1501 3521 0 0 0 0 0 0
1764 -0.68 -155.7 332.2 -16.8 262 1768 0.00 2.20 0.00 0.000 4 0.000 0.049 2501 2909 3520 0 0 0 0 0 0
1804 -0.68 -155.7 338.7 -16.4 265 1808 0.00 2.12 0.00 0.000 6 0.000 0.038 2501 1491 3520 0 0 0 0 0 0
2131 -0.68 -155.7 381.6 -11.1 295 2135 0.00 2.20 0.00 0.000 4 0.000 0.049 2501 2907 3518 0 0 0 0 0 0
2163 -0.68 -155.7 385.4 -10.9 297 2170 0.00 2.12 0.00 0.000 6 0.000 0.038 2502 1490 3518 0 0 0 0 0 0
2489 -0.68 -155.7 427.3 -13.1 328 2490 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 1489 3515 0 0 0 0 0 0
2811 -0.68 -155.7 467.6 -12.9 358 2815 0.00 2.00 0.00 0.000 4 0.000 0.050 2507 193 3513 0 0 0 0 0 0
2905 -0.68 -155.7 481.5 -13.9 366 2913 0.00 2.00 0.00 0.000 6 0.000 0.037 2498 1508 3512 0 0 0 0 0 0
3231 -0.68 -155.7 525.5 -13.3 397 3235 0.00 2.03 0.00 0.000 4 0.000 0.050 2498 201 3509 0 0 0 0 0 0
3394 -0.68 -155.7 548.8 -14.3 411 3401 0.12 1.95 0.00 0.000 6 0.172 0.039 2522 1503 3507 0 0 0 0 0 0
3719 -0.68 -155.7 587.9 -11.2 442 3723 0.00 2.03 0.00 0.000 4 0.000 0.051 2522 196 3504 0 0 0 0 0 0
3791 -0.68 -155.7 596.2 -11.3 448 3798 0.00 2.00 0.00 0.000 6 0.000 0.041 2514 1495 3503 0 0 0 0 0 0
4121 -0.68 -155.7 625.8 -8.8 466 4122 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 1495 3500 0 0 0 0 0 0
4428 -0.68 -155.7 659.6 -12.0 481 4432 0.00 2.17 0.00 0.000 4 0.000 0.054 2502 2910 3496 0 0 0 0 0 0
4501 -0.68 -155.7 668.7 -12.8 484 4505 0.00 2.15 0.00 0.000 6 0.000 0.042 2501 1492 3495 0 0 0 0 0 0
4817 -0.68 -155.7 712.0 -13.7 499 4821 0.00 2.22 0.00 0.000 4 0.000 0.057 2493 2918 3492 0 0 0 0 0 0
4860 -0.68 -155.7 718.0 -13.7 501 4865 0.12 2.12 0.00 0.000 6 0.161 0.044 2527 1504 3492 0 0 0 0 0 0
5189 -0.68 -155.7 752.4 -10.0 517 5190 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1504 3490 0 0 0 0 0 0
5497 -0.68 -155.7 783.2 -10.1 532 5501 0.00 2.20 0.00 0.000 4 0.000 0.058 2518 2907 3487 0 0 0 0 0 0
5529 -0.68 -155.7 786.7 -10.1 533 5536 0.00 2.15 0.00 0.000 6 0.000 0.045 2518 1496 3487 0 0 0 0 0 0
5848 -0.68 -155.7 817.0 -9.4 549 5852 0.00 2.00 0.00 0.000 4 0.000 0.063 2518 204 3485 0 0 0 0 0 0
5908 -0.68 -155.7 823.8 -10.9 551 5915 0.00 2.00 0.00 0.000 6 0.000 0.043 2509 1497 3484 0 0 0 0 0 0
6227 -0.68 -155.7 855.0 -9.9 567 6228 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 1498 3482 0 0 0 0 0 0
6534 -0.68 -155.7 885.9 -10.3 582 6535 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 1497 3480 0 0 0 0 0 0
6843 -0.68 -155.7 917.8 -10.2 597 6844 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 1497 3478 0 0 0 0 0 0
7154 -0.68 -155.7 949.9 -10.4 612 7158 0.00 2.22 0.00 0.000 4 0.000 0.061 2498 2914 3476 0 0 0 0 0 0
7187 -0.68 -155.7 953.6 -10.1 613 7194 0.00 2.17 0.00 0.000 6 0.000 0.047 2498 1501 3476 0 0 0 0 0 0
7503 -0.68 -155.7 987.0 -10.1 629 7507 0.00 2.22 0.00 0.000 4 0.000 0.062 2488 2907 3474 0 0 0 0 0 0
7521 -0.68 -155.7 988.7 -10.0 629 7528 0.12 2.17 0.00 0.000 6 0.163 0.047 2521 1494 3474 0 0 0 0 0 0
7546 end dive: TARGET_DEPTH_EXCEEDED
state 7546 begin apogee
7552 -0.14 0.0 991.2 9.5 631 7685 0.52 0.00 124.53 1.465 6 0.122 0.000 2693 1857 2884 0 0 0 0 0 0
7686 end apogee: CONTROL_FINISHED_OK
state 7686 begin climb
7690 0.68 155.7 993.9 0.0 637 7839 0.75 2.40 141.25 1.405 4 0.071 0.062 2961 3246 2248 0 0 0 0 0 0
7878 0.68 155.7 973.0 16.2 646 7882 0.00 2.30 0.00 0.000 6 0.000 0.050 2969 1855 2245 0 0 0 0 0 0
8206 0.68 155.7 918.0 17.4 662 8210 0.00 2.25 0.00 0.000 4 0.000 0.061 2969 3255 2239 0 0 0 0 0 0
8255 0.68 155.7 908.6 18.3 664 8260 0.00 2.22 0.00 0.000 6 0.000 0.044 2978 1836 2238 0 0 0 0 0 0
8579 0.68 155.7 850.6 18.1 680 8584 0.00 2.25 0.00 0.000 4 0.000 0.057 2975 3253 2237 0 0 0 0 0 0
8606 0.68 155.7 844.9 18.7 681 8611 0.00 2.12 0.00 0.000 6 0.000 0.042 2982 1848 2236 0 0 0 0 0 0
8928 0.68 155.7 791.6 15.8 697 8930 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 1848 2235 0 0 0 0 0 0
9240 0.68 155.7 744.4 15.6 712 9244 0.00 2.20 0.00 0.000 4 0.000 0.056 2983 3254 2233 0 0 0 0 0 0
9323 0.68 155.7 730.3 16.4 715 9330 0.00 2.12 0.00 0.000 6 0.000 0.041 2990 1842 2233 0 0 0 0 0 0
9642 0.68 155.7 681.8 15.4 731 9646 0.00 2.20 0.00 0.000 4 0.000 0.054 2983 3257 2232 0 0 0 0 0 0
9710 0.68 155.7 670.4 15.7 734 9714 0.00 2.12 0.00 0.000 6 0.000 0.041 2991 1846 2232 0 0 0 0 0 0
10036 0.68 155.7 616.6 16.7 750 10040 0.00 2.17 0.00 0.000 4 0.000 0.054 2984 3255 2232 0 0 0 0 0 0
10110 0.68 155.7 604.5 16.0 753 10114 0.00 2.15 0.00 0.000 6 0.000 0.041 2991 1841 2232 0 0 0 0 0 0
10441 0.68 155.7 557.3 13.2 783 10442 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 1841 2232 0 0 0 0 0 0
10762 0.68 155.7 517.6 12.9 813 10768 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 1841 2231 0 0 0 0 0 0
11089 0.68 155.7 467.3 16.8 844 11090 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 1841 2230 0 0 0 0 0 0
11409 0.68 155.7 412.8 15.9 874 11413 0.00 2.22 0.00 0.000 4 0.000 0.052 2991 3265 2230 0 0 0 0 0 0
11497 0.68 155.7 398.3 14.9 881 11505 0.12 2.15 0.00 0.000 6 0.196 0.039 2970 1836 2230 0 0 0 0 0 0
11823 0.73 193.5 364.4 8.1 912 11858 0.00 2.30 30.27 1.014 4 0.000 0.050 2961 3257 2095 0 0 0 0 0 0
11899 0.76 216.7 357.5 8.7 918 11929 0.00 2.15 21.60 0.968 6 0.000 0.037 2970 1845 1999 0 0 0 0 0 0
12248 0.76 216.7 321.2 11.5 951 12252 0.00 2.22 0.00 0.000 4 0.000 0.050 2962 3265 1994 0 0 0 0 0 0
12290 0.76 216.7 316.2 12.6 954 12294 0.00 2.15 0.00 0.000 6 0.000 0.037 2970 1840 1993 0 0 0 0 0 0
12615 0.76 216.7 273.5 12.4 984 12616 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 1840 1993 0 0 0 0 0 0
12937 0.77 227.3 241.1 9.3 1022 12953 0.00 2.20 9.52 0.788 4 0.000 0.047 2962 3257 1957 0 0 0 0 0 0
12987 0.77 227.3 236.0 10.3 1030 12996 0.00 2.17 0.00 0.000 6 0.000 0.036 2970 1846 1957 0 0 0 0 0 0
13315 0.77 227.3 199.7 10.1 1091 13322 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 1846 1956 0 0 0 0 0 0
13640 0.77 227.3 168.2 10.1 1152 13648 0.00 2.17 0.00 0.000 4 0.000 0.046 2981 444 1957 0 0 0 0 0 0
13722 0.77 227.3 159.9 10.3 1166 13731 0.00 2.15 0.00 0.000 6 0.000 0.036 2980 1860 1956 0 0 0 0 0 0
14051 0.79 244.1 126.3 9.0 1227 14073 0.00 0.00 16.15 0.731 6 0.000 0.000 2980 1862 1887 0 0 0 0 0 0
14394 0.91 341.7 97.0 5.6 1290 14485 0.17 2.22 81.90 0.734 4 0.070 0.045 3064 3248 1490 0 0 0 0 0 0
14531 0.93 354.4 84.4 9.2 1310 14549 0.00 2.17 12.05 0.639 6 0.000 0.034 3072 1848 1439 0 0 0 0 0 0
14870 0.93 354.4 41.0 12.1 1372 14878 0.00 2.17 0.00 0.000 4 0.000 0.044 3083 444 1434 0 0 0 0 0 0
14930 0.93 354.4 33.9 11.6 1382 14939 0.10 2.12 0.00 0.000 6 0.129 0.034 3049 1841 1433 0 0 0 0 0 0
15252 end climb: SURFACE_DEPTH_REACHED
state 15253 begin surface coast
15281 end surface coast: CONTROL_FINISHED_OK
state 15281 begin surface