OKMC Aug11 * SG166 * Dive index * Mission links * Dive 219 * 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  0.0099999998 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  30
DIVE  219 HEADING  270 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  55 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  42 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  260 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  290 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  -24674.432 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  250 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  0 PITCH_GAIN  45 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  130911,132336,2100.319,12342.665,39,1.6,50,-2.7 TGT_NAME  HEADING
_CALLS  2 TGT_LATLONG  2100.258,12331.115
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.72 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  130911,133510,2100.258,12342.683,14,2.6,33,-2.7 MHEAD_RNG_PITCHd_Wd  272.7,20000,-17.2,-12.692
SPEED_LIMITS  0.220,0.354 D_GRID  5000

Post-dive calculations and measurements:
FINISH  1.2,1.021502 _10V_AH  10.0,36.452
SM_CCo  14456,0.00,0.000,0,0,440,599.51 FG_AHR_24Vo  0.000
SM_GC  1.85,7.85,0.00,0.00,0.033,0.000,0.000,153,1485,440,-8.05,-0.42,599.51,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2052.52,12341.40,130911,131354 MEM  330272
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  76898,1335
HUMID  35.90 CAP_FILE_SIZE  165279,0
INTERNAL_PRESSURE  9.39948 CFSIZE  260165632,128155648
TCM_TEMP  25.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  80 GPS  130911,173825,2100.248,12342.333,61,1.4,79,-2.7
_24V_AH  23.0,51.291

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1921799.44 SBE_CT90724501.19
Roll_motor13160182.26 AA38301367331038.29
VBD_pump_during_apogee727142923914.83 WL_BB2F15821053822.65
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init55103130.97 nil000.00
Iridium_during_connect58160216.81 nil000.00
Iridium_during_xfer3262231675.55 nil000.00
Transponder_ping20420193.20 nil000.00
GUMSTIX_24V000.00
GPS355017.76
TT8311619617.05
LPSleep72982159.83
TT8_Active72919144.36
TT8_Sampling3519391400.86
TT8_CF846845214.35
TT8_Kalman000.00
Analog_circuits208612250.32
GPS_charging000.00
Compass306815460.32
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
14 end surface: CONTROL_FINISHED_OK
state 17 begin dive
20 -0.68 -243.3 0.0 0.0 0 111 0.00 0.00 -88.95 0.000 2 0.000 0.000 134 1477 2982 0 0 0 0 0 0
115 -0.68 -243.3 5.1 -7.8 13 153 9.23 2.25 -17.27 0.000 4 0.217 0.056 2507 2913 3880 0 0 0 0 0 0
260 -0.58 -243.3 59.4 -32.5 38 269 0.15 2.12 0.00 0.000 6 0.134 0.036 2548 1514 3882 0 0 0 0 0 0
582 -0.53 -243.3 131.3 -19.7 99 590 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 1513 3883 0 0 0 0 0 0
908 -0.48 -243.3 192.1 -18.0 160 916 0.12 0.00 0.00 0.000 6 0.165 0.000 2584 1511 3883 0 0 0 0 0 0
1228 -0.50 -243.3 231.9 -12.5 221 1236 0.00 2.15 0.00 0.000 4 0.000 0.047 2575 2907 3883 0 0 0 0 0 0
1341 -0.56 -243.3 243.8 -9.5 241 1349 0.00 2.12 0.00 0.000 6 0.000 0.037 2576 1501 3883 0 0 0 0 0 0
1669 -0.58 -243.3 282.0 -11.5 277 1673 0.00 2.12 0.00 0.000 4 0.000 0.047 2568 2911 3882 0 0 0 0 0 0
1754 -0.64 -243.3 290.3 -8.8 284 1758 0.00 2.12 0.00 0.000 6 0.000 0.037 2569 1490 3881 0 0 0 0 0 0
2080 -0.66 -243.3 331.0 -12.1 314 2085 0.12 2.17 0.00 0.000 4 0.082 0.048 2486 2901 3880 0 0 0 0 0 0
2142 -0.64 -243.3 341.1 -16.9 319 2147 0.17 2.10 0.00 0.000 6 0.144 0.038 2540 1500 3879 0 0 0 0 0 0
2468 -0.63 -243.3 394.3 -15.5 349 2472 0.00 2.20 0.00 0.000 4 0.000 0.050 2535 2912 3878 0 0 0 0 0 0
2519 -0.64 -243.3 401.4 -13.3 353 2523 0.00 2.15 0.00 0.000 6 0.000 0.038 2535 1490 3878 0 0 0 0 0 0
2844 -0.64 -243.3 444.1 -13.1 383 2848 0.00 2.17 0.00 0.000 4 0.000 0.050 2525 2907 3877 0 0 0 0 0 0
2911 -0.67 -243.3 452.1 -10.3 388 2918 0.00 2.12 0.00 0.000 6 0.000 0.039 2528 1502 3876 0 0 0 0 0 0
3236 -0.67 -243.3 491.4 -12.9 419 3238 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1501 3874 0 0 0 0 0 0
3560 -0.67 -243.3 535.8 -13.9 449 3564 0.00 2.17 0.00 0.000 4 0.000 0.054 2518 2901 3872 0 0 0 0 0 0
3605 -0.69 -243.3 542.4 -12.7 452 3612 0.00 2.12 0.00 0.000 6 0.000 0.041 2518 1501 3872 0 0 0 0 0 0
3930 -0.69 -243.3 586.9 -13.8 483 3934 0.00 2.20 0.00 0.000 4 0.000 0.054 2508 2900 3870 0 0 0 0 0 0
4006 -0.71 -243.3 596.6 -13.0 489 4010 0.00 2.12 0.00 0.000 6 0.000 0.042 2508 1502 3869 0 0 0 0 0 0
4322 -0.71 -243.3 643.6 -14.6 505 4323 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 1502 3867 0 0 0 0 0 0
4633 -0.71 -243.3 684.9 -12.8 520 4637 0.00 2.00 0.00 0.000 4 0.000 0.054 2507 202 3863 0 0 0 0 0 0
4672 -0.71 -243.3 690.3 -13.4 521 4679 0.00 2.00 0.00 0.000 6 0.000 0.041 2498 1498 3863 0 0 0 0 0 0
4988 -0.71 -243.3 729.7 -12.5 537 4992 0.00 2.17 0.00 0.000 4 0.000 0.054 2488 2912 3860 0 0 0 0 0 0
5080 -0.73 -243.3 740.1 -11.0 541 5084 0.00 2.15 0.00 0.000 6 0.000 0.043 2487 1500 3859 0 0 0 0 0 0
5401 -0.73 -243.3 782.8 -13.4 557 5405 0.00 2.22 0.00 0.000 4 0.000 0.058 2477 2907 3856 0 0 0 0 0 0
5450 -0.73 -243.3 788.7 -12.8 559 5455 0.12 2.15 0.00 0.000 6 0.152 0.043 2512 1500 3855 0 0 0 0 0 0
5779 -0.75 -243.3 828.1 -12.1 575 5780 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 1500 3853 0 0 0 0 0 0
6090 -0.77 -243.3 867.3 -12.2 590 6094 0.00 2.25 0.00 0.000 4 0.000 0.060 2504 2912 3851 0 0 0 0 0 0
6133 -0.80 -243.3 872.7 -12.0 592 6137 0.00 2.17 0.00 0.000 6 0.000 0.045 2504 1497 3850 0 0 0 0 0 0
6461 -0.81 -243.3 913.1 -12.0 608 6465 0.00 2.22 0.00 0.000 4 0.000 0.060 2488 2910 3847 0 0 0 0 0 0
6502 -0.84 -243.3 917.5 -10.9 609 6509 0.00 2.17 0.00 0.000 6 0.000 0.044 2488 1495 3846 0 0 0 0 0 0
6818 -0.84 -243.3 954.2 -11.5 625 6822 0.00 2.22 0.00 0.000 4 0.000 0.060 2474 2904 3844 0 0 0 0 0 0
6859 -0.85 -243.3 958.8 -11.5 627 6863 0.00 2.17 0.00 0.000 6 0.000 0.045 2474 1491 3844 0 0 0 0 0 0
7122 end dive: TARGET_DEPTH_EXCEEDED
state 7122 begin apogee
7130 -0.11 0.0 991.1 12.3 640 7343 0.70 0.00 202.65 1.430 6 0.119 0.000 2701 1856 2883 0 0 0 0 0 0
7344 end apogee: CONTROL_FINISHED_OK
state 7344 begin climb
7348 0.68 243.3 1000.6 0.0 650 7582 0.70 2.42 219.70 1.369 4 0.046 0.054 2986 449 1891 0 0 0 0 0 0
7678 0.62 243.3 954.3 19.0 665 7683 0.15 2.22 0.00 0.000 6 0.165 0.047 2947 1838 1886 0 0 0 0 0 0
8008 0.59 243.3 898.8 17.0 681 8012 0.00 2.22 0.00 0.000 4 0.000 0.060 2943 3263 1884 0 0 0 0 0 0
8098 0.57 243.3 883.1 16.1 685 8102 0.00 2.17 0.00 0.000 6 0.000 0.043 2951 1840 1882 0 0 0 0 0 0
8421 0.53 243.3 827.7 17.0 701 8423 0.12 0.00 0.00 0.000 6 0.183 0.000 2920 1840 1880 0 0 0 0 0 0
8728 0.53 243.3 786.0 12.8 716 8732 0.00 2.15 0.00 0.000 4 0.000 0.053 2929 443 1879 0 0 0 0 0 0
8761 0.53 243.3 781.5 13.0 717 8768 0.00 2.17 0.00 0.000 6 0.000 0.042 2921 1861 1878 0 0 0 0 0 0
9080 0.57 274.3 743.4 11.6 733 9114 0.00 2.28 27.55 1.253 4 0.000 0.057 2921 3263 1765 0 0 0 0 0 0
9172 0.63 311.5 732.5 11.4 737 9213 0.00 2.20 35.95 1.240 6 0.000 0.041 2929 1839 1613 0 0 0 0 0 0
9535 0.63 311.5 686.8 12.8 755 9539 0.00 2.15 0.00 0.000 4 0.000 0.051 2939 446 1609 0 0 0 0 0 0
9602 0.66 319.1 678.2 12.4 758 9619 0.00 2.17 7.60 1.016 6 0.000 0.041 2939 1859 1583 0 0 0 0 0 0
9929 0.66 319.1 632.7 13.8 774 9933 0.00 2.17 0.00 0.000 4 0.000 0.057 2938 3261 1582 0 0 0 0 0 0
10008 0.68 319.1 621.9 12.9 777 10015 0.00 2.15 0.00 0.000 6 0.000 0.040 2947 1845 1582 0 0 0 0 0 0
10330 0.68 319.1 574.8 15.5 800 10334 0.00 2.22 0.00 0.000 4 0.000 0.055 2947 3270 1581 0 0 0 0 0 0
10351 0.68 319.1 570.8 15.7 801 10358 0.00 2.17 0.00 0.000 6 0.000 0.040 2955 1838 1581 0 0 0 0 0 0
10676 0.68 319.1 521.6 14.7 832 10680 0.00 2.15 0.00 0.000 4 0.000 0.050 2966 440 1580 0 0 0 0 0 0
10698 0.68 319.1 518.3 14.5 833 10705 0.00 2.17 0.00 0.000 6 0.000 0.041 2961 1870 1579 0 0 0 0 0 0
11026 0.67 319.1 470.5 13.0 864 11030 0.00 2.15 0.00 0.000 4 0.000 0.056 2961 3259 1579 0 0 0 0 0 0
11190 0.74 368.6 449.7 11.0 878 11239 0.00 2.12 44.05 1.054 6 0.000 0.039 2970 1851 1380 0 0 0 0 0 0
11558 0.74 368.6 399.7 13.2 912 11562 0.00 2.20 0.00 0.000 4 0.000 0.048 2984 437 1378 0 0 0 0 0 0
11602 0.76 368.6 393.6 13.0 915 11609 0.00 2.15 0.00 0.000 6 0.000 0.037 2986 1842 1377 0 0 0 0 0 0
11929 0.76 368.6 343.3 15.8 946 11933 0.00 2.17 0.00 0.000 4 0.000 0.050 2989 3266 1376 0 0 0 0 0 0
11973 0.77 368.6 335.9 15.5 949 11979 0.00 2.15 0.00 0.000 6 0.000 0.036 2999 1833 1376 0 0 0 0 0 0
12298 0.77 368.6 283.3 15.5 980 12302 0.00 2.10 0.00 0.000 4 0.000 0.047 3010 437 1377 0 0 0 0 0 0
12326 0.77 368.6 278.9 15.6 982 12330 0.00 2.15 0.00 0.000 6 0.000 0.035 3010 1862 1376 0 0 0 0 0 0
12652 0.77 368.6 229.6 14.2 1025 12659 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 1862 1376 0 0 0 0 0 0
12978 0.77 368.6 184.5 14.2 1086 12986 0.00 2.17 0.00 0.000 4 0.000 0.044 3020 447 1377 0 0 0 0 0 0
12999 0.77 368.6 181.5 14.0 1089 13007 0.00 2.12 0.00 0.000 6 0.000 0.035 3020 1848 1376 0 0 0 0 0 0
13321 0.77 368.6 136.2 14.5 1150 13328 0.00 2.15 0.00 0.000 4 0.000 0.047 3020 3261 1376 0 0 0 0 0 0
13388 0.80 368.6 127.3 13.4 1161 13396 0.00 2.12 0.00 0.000 6 0.000 0.034 3028 1849 1376 0 0 0 0 0 0
13712 0.88 427.7 87.8 10.6 1222 13769 0.00 2.15 50.00 0.718 4 0.000 0.043 3039 442 1138 0 0 0 0 0 0
13840 1.01 496.2 73.3 10.3 1243 13904 0.00 2.15 56.22 0.692 6 0.000 0.032 3039 1854 860 0 0 0 0 0 0
14216 1.27 638.5 37.5 7.7 1312 14308 0.28 2.20 83.50 0.652 4 0.050 0.041 3199 444 452 0 0 0 0 0 0
14342 1.22 638.5 8.0 25.9 1330 14351 0.17 2.15 0.00 0.000 6 0.138 0.031 3140 1843 445 0 0 0 0 0 0
14363 end climb: SURFACE_DEPTH_REACHED
state 14363 begin surface coast
14376 end surface coast: CONTROL_FINISHED_OK
state 14376 begin surface