OKMC Aug11 * SG166 * Dive index * Mission links * Dive 24 * 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  0.015 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  24 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  3
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  43 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  43 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  9 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  280 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  320 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  -8 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24407.602 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  1 PITCH_GAIN  28 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  080811,153256,2155.639,12120.021,29,7.6,48,-2.7 TGT_NAME  N1
_CALLS  2 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.60 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  080811,154307,2155.990,12120.144,36,1.4,37,-2.7 MHEAD_RNG_PITCHd_Wd  7.1,125589,-16.1,-11.786
SPEED_LIMITS  0.204,0.345 D_GRID  2069

Post-dive calculations and measurements:
FINISH  1.0,0.998740 _10V_AH  10.3,5.378
SM_CCo  14744,0.00,0.000,0,0,751,522.98 FG_AHR_24Vo  0.000
SM_GC  1.77,7.62,0.00,0.00,0.041,0.000,0.000,151,1493,751,-8.03,-0.20,522.98,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2145.77,12139.65,080811,111124 MEM  324444
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  76806,1331
HUMID  33.06 CAP_FILE_SIZE  165436,0
INTERNAL_PRESSURE  9.37018 CFSIZE  260165632,145104896
TCM_TEMP  24.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  104 GPS  080811,195114,2200.467,12119.944,64,3.1,83,-2.8
_24V_AH  23.3,7.903

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20224108.35 SBE_CT90924508.81
Roll_motor14660206.64 AA38301362331047.41
VBD_pump_during_apogee653143821902.09 WL_BB2F14731053606.07
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init53103129.00 nil000.00
Iridium_during_connect41160155.27 nil000.00
Iridium_during_xfer2822231466.88 nil000.00
Transponder_ping26420254.44 nil000.00
GUMSTIX_24V000.00
GPS385019.66
TT8313919640.33
LPSleep77252174.26
TT8_Active68219139.15
TT8_Sampling3364391379.16
TT8_CF842545200.62
TT8_Kalman000.00
Analog_circuits200412247.71
GPS_charging000.00
Compass296515458.21
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 16 begin dive
18 -0.87 -243.3 0.0 0.0 0 120 0.00 0.00 -99.03 0.000 2 0.000 0.000 135 1478 2996 0 0 0 0 0 0
124 -0.87 -243.3 5.3 -9.2 14 155 8.90 2.00 -16.42 0.000 4 0.225 0.057 2463 196 3878 0 0 0 0 0 0
388 -0.70 -243.3 112.9 -31.1 63 396 0.20 2.00 0.00 0.000 6 0.150 0.040 2515 1489 3881 0 0 0 0 0 0
711 -0.59 -243.3 187.1 -20.0 124 720 0.15 2.00 0.00 0.000 4 0.170 0.046 2565 208 3883 0 0 0 0 0 0
766 -0.59 -243.3 197.4 -16.8 133 774 0.00 1.98 0.00 0.000 6 0.000 0.037 2555 1500 3884 0 0 0 0 0 0
1091 -0.59 -243.3 246.0 -14.2 194 1099 0.00 2.17 0.00 0.000 4 0.000 0.050 2546 2902 3884 0 0 0 0 0 0
1140 -0.62 -243.3 252.4 -12.2 201 1144 0.00 2.10 0.00 0.000 6 0.000 0.037 2545 1506 3883 0 0 0 0 0 0
1468 -0.62 -243.3 298.2 -15.2 231 1472 0.00 2.12 0.00 0.000 4 0.000 0.049 2534 2909 3882 0 0 0 0 0 0
1496 -0.62 -243.3 302.9 -14.9 233 1500 0.00 2.12 0.00 0.000 6 0.000 0.038 2534 1489 3882 0 0 0 0 0 0
1821 -0.62 -243.3 352.9 -14.3 263 1822 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 1488 3880 0 0 0 0 0 0
2143 -0.62 -243.3 396.2 -12.6 293 2147 0.00 2.20 0.00 0.000 4 0.000 0.051 2522 2907 3877 0 0 0 0 0 0
2228 -0.67 -243.3 405.9 -10.8 300 2232 0.00 2.12 0.00 0.000 6 0.000 0.040 2522 1488 3877 0 0 0 0 0 0
2553 -0.67 -243.3 449.5 -13.4 330 2554 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1488 3874 0 0 0 0 0 0
2875 -0.67 -243.3 489.0 -12.1 360 2879 0.00 1.95 0.00 0.000 4 0.000 0.052 2522 206 3872 0 0 0 0 0 0
2970 -0.67 -243.3 501.7 -12.7 368 2977 0.00 1.95 0.00 0.000 6 0.000 0.040 2513 1511 3870 0 0 0 0 0 0
3297 -0.67 -243.3 545.2 -14.1 399 3301 0.00 2.10 0.00 0.000 4 0.000 0.052 2503 2906 3867 0 0 0 0 0 0
3342 -0.69 -243.3 551.8 -14.0 403 3346 0.00 2.10 0.00 0.000 6 0.000 0.041 2503 1500 3867 0 0 0 0 0 0
3669 -0.69 -243.3 597.7 -13.1 433 3670 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 1500 3864 0 0 0 0 0 0
3979 -0.69 -243.3 633.6 -10.3 449 3983 0.00 2.00 0.00 0.000 4 0.000 0.055 2502 202 3862 0 0 0 0 0 0
4006 -0.69 -243.3 637.2 -10.2 450 4011 0.10 1.95 0.00 0.000 6 0.175 0.042 2517 1498 3862 0 0 0 0 0 0
4337 -0.72 -243.3 669.1 -10.4 466 4341 0.00 2.15 0.00 0.000 4 0.000 0.055 2509 2910 3858 0 0 0 0 0 0
4467 -0.76 -243.3 682.7 -10.1 471 4474 0.00 2.12 0.00 0.000 6 0.000 0.041 2509 1497 3857 0 0 0 0 0 0
4785 -0.76 -243.3 718.7 -11.1 487 4789 0.00 2.17 0.00 0.000 4 0.000 0.056 2498 2913 3855 0 0 0 0 0 0
4846 -0.79 -243.3 725.5 -10.4 489 4853 0.00 2.12 0.00 0.000 6 0.000 0.042 2498 1496 3855 0 0 0 0 0 0
5162 -0.79 -243.3 762.6 -12.4 505 5165 0.00 1.95 0.00 0.000 4 0.000 0.055 2498 202 3852 0 0 0 0 0 0
5213 -0.79 -243.3 769.4 -13.6 507 5217 0.00 1.98 0.00 0.000 6 0.000 0.047 2488 1504 3852 0 0 0 0 0 0
5540 -0.79 -243.3 812.4 -13.2 523 5544 0.00 2.15 0.00 0.000 4 0.000 0.058 2477 2905 3850 0 0 0 0 0 0
5572 -0.79 -243.3 816.9 -13.1 524 5579 0.00 2.15 0.00 0.000 6 0.000 0.042 2477 1499 3849 0 0 0 0 0 0
5890 -0.77 -243.3 856.9 -12.6 540 5894 0.00 2.17 0.00 0.000 4 0.000 0.059 2467 2910 3848 0 0 0 0 0 0
5914 -0.77 -243.3 860.1 -12.9 541 5918 0.10 2.12 0.00 0.000 6 0.180 0.044 2492 1494 3847 0 0 0 0 0 0
6242 -0.77 -243.3 897.2 -11.3 557 6246 0.00 1.98 0.00 0.000 4 0.000 0.057 2493 202 3845 0 0 0 0 0 0
6266 -0.77 -243.3 900.3 -11.6 558 6270 0.00 2.00 0.00 0.000 6 0.000 0.045 2485 1496 3845 0 0 0 0 0 0
6599 -0.77 -243.3 937.2 -10.7 574 6603 0.00 2.17 0.00 0.000 4 0.000 0.059 2474 2909 3843 0 0 0 0 0 0
6650 -0.77 -243.3 942.5 -10.3 576 6654 0.00 2.12 0.00 0.000 6 0.000 0.044 2475 1496 3842 0 0 0 0 0 0
6971 -0.75 -243.3 977.0 -10.7 592 6976 0.10 2.22 0.00 0.000 4 0.187 0.060 2491 2910 3840 0 0 0 0 0 0
7012 -0.77 -243.3 981.0 -9.9 594 7016 0.00 2.15 0.00 0.000 6 0.000 0.044 2491 1497 3839 0 0 0 0 0 0
7109 end dive: TARGET_DEPTH_EXCEEDED
state 7109 begin apogee
7117 -0.18 0.0 991.1 10.2 599 7320 0.57 0.00 198.07 1.439 6 0.129 0.000 2680 1854 2884 0 0 0 0 0 0
7321 end apogee: CONTROL_FINISHED_OK
state 7321 begin climb
7325 0.87 243.3 998.4 0.0 608 7554 0.98 2.42 217.07 1.376 4 0.061 0.056 3042 441 1891 0 0 0 0 0 0
7563 0.64 243.3 958.1 26.7 619 7568 0.32 2.35 0.00 0.000 6 0.183 0.047 2957 1838 1889 0 0 0 0 0 0
7886 0.52 243.3 892.2 19.3 635 7891 0.15 2.28 0.00 0.000 4 0.194 0.059 2908 3267 1883 0 0 0 0 0 0
7960 0.49 243.3 880.3 14.0 638 7964 0.00 2.20 0.00 0.000 6 0.000 0.043 2916 1841 1883 0 0 0 0 0 0
8276 0.42 243.3 835.7 14.3 653 8278 0.15 0.00 0.00 0.000 6 0.191 0.000 2879 1842 1882 0 0 0 0 0 0
8587 0.42 243.3 797.5 12.7 668 8591 0.00 2.17 0.00 0.000 4 0.000 0.054 2888 440 1880 0 0 0 0 0 0
8602 0.42 243.3 795.0 13.0 668 8609 0.00 2.20 0.00 0.000 6 0.000 0.042 2888 1851 1879 0 0 0 0 0 0
8919 0.40 243.3 749.6 14.9 684 8920 0.00 0.00 0.00 0.000 6 0.000 0.000 2888 1851 1879 0 0 0 0 0 0
9229 0.40 243.3 707.3 12.0 699 9233 0.00 2.17 0.00 0.000 4 0.000 0.054 2896 444 1878 0 0 0 0 0 0
9253 0.41 254.2 704.4 11.4 700 9268 0.00 2.17 9.02 1.113 6 0.000 0.043 2896 1854 1847 0 0 0 0 0 0
9588 0.40 258.5 665.2 11.6 716 9598 0.00 2.20 5.57 0.939 4 0.000 0.057 2896 3260 1829 0 0 0 0 0 0
9672 0.40 258.5 654.7 12.2 720 9676 0.00 2.15 0.00 0.000 6 0.000 0.041 2904 1842 1829 0 0 0 0 0 0
10000 0.37 258.5 605.5 15.5 736 10005 0.15 2.17 0.00 0.000 4 0.178 0.054 2874 443 1829 0 0 0 0 0 0
10030 0.37 258.5 601.6 14.9 737 10034 0.00 2.15 0.00 0.000 6 0.000 0.042 2873 1854 1827 0 0 0 0 0 0
10355 0.51 351.8 569.6 8.8 766 10448 0.10 2.35 83.72 1.179 4 0.108 0.057 2923 3262 1449 0 0 0 0 0 0
10504 0.51 351.8 549.7 12.9 779 10511 0.00 2.22 0.00 0.000 6 0.000 0.041 2933 1853 1448 0 0 0 0 0 0
10830 0.47 351.8 500.8 15.5 810 10835 0.15 2.22 0.00 0.000 4 0.176 0.052 2903 433 1444 0 0 0 0 0 0
10851 0.47 351.8 497.5 15.0 811 10858 0.00 2.17 0.00 0.000 6 0.000 0.041 2901 1850 1442 0 0 0 0 0 0
11177 0.49 351.8 457.8 13.0 842 11181 0.00 2.17 0.00 0.000 4 0.000 0.056 2901 3262 1442 0 0 0 0 0 0
11245 0.55 351.8 449.2 12.3 847 11251 0.00 2.15 0.00 0.000 6 0.000 0.041 2909 1844 1441 0 0 0 0 0 0
11570 0.55 351.8 404.4 13.1 878 11574 0.00 2.20 0.00 0.000 4 0.000 0.055 2909 3270 1442 0 0 0 0 0 0
11587 0.55 351.8 402.1 13.7 879 11591 0.00 2.15 0.00 0.000 6 0.000 0.039 2919 1839 1442 0 0 0 0 0 0
11912 0.55 351.8 362.2 12.1 909 11916 0.00 2.12 0.00 0.000 4 0.000 0.050 2930 439 1442 0 0 0 0 0 0
11929 0.55 351.8 360.3 12.2 910 11933 0.00 2.12 0.00 0.000 6 0.000 0.039 2931 1853 1441 0 0 0 0 0 0
12258 0.55 351.8 316.0 14.3 940 12262 0.00 2.12 0.00 0.000 4 0.000 0.055 2930 3256 1441 0 0 0 0 0 0
12275 0.55 351.8 313.0 14.2 941 12279 0.00 2.10 0.00 0.000 6 0.000 0.037 2940 1844 1441 0 0 0 0 0 0
12602 0.53 351.8 263.8 14.6 971 12606 0.00 2.10 0.00 0.000 4 0.000 0.048 2951 443 1441 0 0 0 0 0 0
12621 0.51 351.8 261.2 14.6 972 12626 0.15 2.10 0.00 0.000 6 0.150 0.037 2909 1850 1440 0 0 0 0 0 0
12945 0.65 407.1 229.4 10.0 1022 12997 0.15 2.30 45.53 0.881 4 0.079 0.048 2996 437 1223 0 0 0 0 0 0
13027 0.60 407.1 217.0 17.4 1034 13036 0.15 2.22 0.00 0.000 6 0.135 0.037 2945 1859 1222 0 0 0 0 0 0
13353 0.63 407.1 172.9 13.3 1095 13361 0.00 2.17 0.00 0.000 4 0.000 0.050 2942 3253 1221 0 0 0 0 0 0
13404 0.69 407.1 166.3 12.8 1103 13411 0.00 2.15 0.00 0.000 6 0.000 0.036 2950 1852 1221 0 0 0 0 0 0
13725 0.84 467.0 136.1 9.8 1164 13784 0.17 2.25 49.25 0.776 4 0.073 0.047 3053 447 978 0 0 0 0 0 0
13793 0.75 467.0 123.0 22.2 1173 13802 0.20 2.20 0.00 0.000 6 0.129 0.037 2988 1844 978 0 0 0 0 0 0
14119 0.87 521.6 84.0 10.0 1234 14172 0.10 2.22 45.00 0.713 4 0.099 0.046 3046 3256 755 0 0 0 0 0 0
14250 0.91 521.6 64.4 14.7 1255 14258 0.00 2.20 0.00 0.000 6 0.000 0.034 3057 1846 752 0 0 0 0 0 0
14573 0.92 521.6 13.0 14.1 1316 14581 0.00 2.17 0.00 0.000 4 0.000 0.044 3072 442 752 0 0 0 0 0 0
14589 0.94 521.6 10.4 14.2 1318 14598 0.00 2.15 0.00 0.000 6 0.000 0.033 3072 1853 752 0 0 0 0 0 0
14644 end climb: SURFACE_DEPTH_REACHED
state 14644 begin surface coast
14664 end surface coast: CONTROL_FINISHED_OK
state 14664 begin surface