OKMC Aug11 * SG166 * Dive index * Mission links * Dive 66 * 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  30
DIVE  66 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  475 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  47 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  310 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  330 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  -24467.145 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  2 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  160811,041827,2331.632,12258.219,30,99.0,49,-3.2 TGT_NAME  N2
_CALLS  1 TGT_LATLONG  2350.000,12355.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.73 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  160811,042527,2331.743,12258.164,29,4.8,48,-3.2 MHEAD_RNG_PITCHd_Wd  84.0,102048,-14.7,-10.645
SPEED_LIMITS  0.184,0.333 D_GRID  2651

Post-dive calculations and measurements:
FINISH  1.0,0.998322 _10V_AH  10.3,11.887
SM_CCo  15327,0.00,0.000,0,0,441,599.27 FG_AHR_24Vo  0.000
SM_GC  1.79,7.80,0.00,0.00,0.041,0.000,0.000,154,1483,441,-8.04,-0.51,599.27,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2321.52,12255.13,150811,232310 MEM  324396
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  76822,1358
HUMID  34.60 CAP_FILE_SIZE  167454,0
INTERNAL_PRESSURE  9.37018 CFSIZE  260165632,141496320
TCM_TEMP  25.20 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  80 CURRENT  0.100,308.1,1
_24V_AH  23.3,17.830 GPS  160811,084237,2332.705,12300.486,41,1.1,41,-3.3

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22227116.86 SBE_CT92624518.24
Roll_motor13563199.72 AA38301390331069.52
VBD_pump_during_apogee719144724277.03 WL_BB2F14501053548.64
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2610363.25 nil000.00
Iridium_during_connect31160118.24 nil000.00
Iridium_during_xfer168223873.93 nil000.00
Transponder_ping20420195.72 nil000.00
GUMSTIX_24V000.00
GPS505026.13
TT8337119687.53
LPSleep79032178.28
TT8_Active77519158.20
TT8_Sampling3254391334.01
TT8_CF842345199.87
TT8_Kalman000.00
Analog_circuits210212259.83
GPS_charging000.00
Compass298915461.92
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 14 begin dive
16 -0.83 -243.3 0.0 0.0 0 129 0.00 0.00 -109.65 0.000 2 0.000 0.000 154 1486 3129 0 0 0 0 0 0
131 -0.83 -243.3 6.2 -11.0 15 163 9.02 2.17 -13.62 0.000 4 0.228 0.050 2460 2902 3878 0 0 0 0 0 0
272 -0.55 -243.3 66.5 -35.6 39 281 0.30 2.12 0.00 0.000 6 0.163 0.034 2556 1504 3880 0 0 0 0 0 0
598 -0.42 -243.3 149.1 -23.6 100 607 0.17 2.15 0.00 0.000 4 0.159 0.042 2595 2898 3882 0 0 0 0 0 0
639 -0.36 -243.3 157.8 -20.3 106 648 0.08 2.10 0.00 0.000 6 0.124 0.034 2623 1507 3882 0 0 0 0 0 0
967 -0.38 -243.3 196.2 -12.2 167 974 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 1506 3883 0 0 0 0 0 0
1292 -0.43 -243.3 233.6 -10.3 228 1300 0.00 2.12 0.00 0.000 4 0.000 0.042 2617 2902 3882 0 0 0 0 0 0
1330 -0.51 -243.3 237.1 -9.6 234 1339 0.08 2.10 0.00 0.000 6 0.053 0.032 2545 1498 3882 0 0 0 0 0 0
1659 -0.42 -243.3 295.0 -17.3 272 1664 0.20 2.15 0.00 0.000 4 0.151 0.041 2597 2908 3881 0 0 0 0 0 0
1735 -0.49 -243.3 303.6 -9.3 278 1739 0.00 2.08 0.00 0.000 6 0.000 0.034 2597 1503 3881 0 0 0 0 0 0
2067 -0.53 -243.3 336.3 -9.5 309 2071 0.00 2.12 0.00 0.000 4 0.000 0.043 2589 2905 3880 0 0 0 0 0 0
2103 -0.58 -243.3 339.7 -9.6 312 2107 0.00 2.08 0.00 0.000 6 0.000 0.034 2590 1502 3880 0 0 0 0 0 0
2435 -0.61 -243.3 373.7 -9.7 343 2437 0.12 0.00 0.00 0.000 6 0.080 0.000 2512 1501 3878 0 0 0 0 0 0
2753 -0.50 -243.3 430.4 -18.3 373 2755 0.22 0.00 0.00 0.000 6 0.150 0.000 2577 1501 3877 0 0 0 0 0 0
3074 -0.53 -243.3 463.4 -9.2 403 3078 0.00 2.12 0.00 0.000 4 0.000 0.047 2569 2905 3875 0 0 0 0 0 0
3115 -0.56 -243.3 467.0 -9.0 406 3119 0.00 2.08 0.00 0.000 6 0.000 0.036 2569 1504 3875 0 0 0 0 0 0
3448 -0.58 -243.3 498.0 -8.9 437 3452 0.00 2.12 0.00 0.000 4 0.000 0.048 2560 2902 3872 0 0 0 0 0 0
3481 -0.61 -243.3 501.2 -8.9 439 3488 0.00 2.10 0.00 0.000 6 0.000 0.037 2560 1497 3872 0 0 0 0 0 0
3809 -0.61 -243.3 534.1 -10.0 470 3812 0.00 2.15 0.00 0.000 4 0.000 0.050 2550 2905 3870 0 0 0 0 0 0
3838 -0.63 -243.3 537.3 -10.2 472 3842 0.00 2.10 0.00 0.000 6 0.000 0.037 2550 1500 3869 0 0 0 0 0 0
4164 -0.63 -243.3 572.6 -10.7 502 4168 0.00 2.17 0.00 0.000 4 0.000 0.052 2540 2905 3867 0 0 0 0 0 0
4188 -0.63 -243.3 575.0 -10.4 503 4194 0.00 2.08 0.00 0.000 6 0.000 0.038 2540 1504 3866 0 0 0 0 0 0
4512 -0.63 -243.3 609.9 -11.5 530 4516 0.00 2.15 0.00 0.000 4 0.000 0.053 2528 2905 3865 0 0 0 0 0 0
4590 -0.66 -243.3 618.8 -10.7 533 4598 0.00 2.12 0.00 0.000 6 0.000 0.041 2529 1493 3864 0 0 0 0 0 0
4906 -0.64 -243.3 659.5 -13.0 549 4910 0.00 2.00 0.00 0.000 4 0.000 0.054 2522 199 3862 0 0 0 0 0 0
4945 -0.64 -243.3 665.0 -14.0 550 4952 0.00 1.98 0.00 0.000 6 0.000 0.041 2510 1492 3861 0 0 0 0 0 0
5264 -0.62 -243.3 704.4 -12.2 566 5268 0.12 2.17 0.00 0.000 4 0.168 0.054 2534 2904 3859 0 0 0 0 0 0
5359 -0.67 -243.3 714.4 -9.3 570 5364 0.00 2.12 0.00 0.000 6 0.000 0.047 2535 1495 3857 0 0 0 0 0 0
5678 -0.69 -243.3 743.8 -9.1 585 5679 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 1496 3855 0 0 0 0 0 0
5985 -0.72 -243.3 771.3 -9.0 600 5989 0.00 2.17 0.00 0.000 4 0.000 0.057 2523 2902 3853 0 0 0 0 0 0
6067 -0.76 -243.3 778.0 -8.3 603 6074 0.00 2.10 0.00 0.000 6 0.000 0.042 2524 1503 3852 0 0 0 0 0 0
6383 -0.76 -243.3 809.5 -10.3 619 6387 0.00 2.17 0.00 0.000 4 0.000 0.058 2513 2904 3850 0 0 0 0 0 0
6411 -0.78 -243.3 812.5 -10.4 620 6415 0.00 2.15 0.00 0.000 6 0.000 0.044 2513 1490 3849 0 0 0 0 0 0
6728 -0.78 -243.3 846.5 -10.9 635 6729 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 1490 3848 0 0 0 0 0 0
7037 -0.78 -243.3 879.0 -10.4 650 7038 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 1489 3846 0 0 0 0 0 0
7347 -0.78 -243.3 911.8 -11.0 665 7351 0.00 2.22 0.00 0.000 4 0.000 0.061 2502 2907 3844 0 0 0 0 0 0
7387 -0.79 -243.3 916.4 -11.4 667 7391 0.00 2.15 0.00 0.000 6 0.000 0.047 2502 1503 3843 0 0 0 0 0 0
7713 -0.79 -243.3 956.4 -12.5 683 7717 0.00 2.20 0.00 0.000 4 0.000 0.062 2493 2910 3841 0 0 0 0 0 0
7771 -0.81 -243.3 963.4 -11.9 685 7775 0.00 2.15 0.00 0.000 6 0.000 0.047 2493 1495 3840 0 0 0 0 0 0
7981 end dive: TARGET_DEPTH_EXCEEDED
state 7981 begin apogee
7987 -0.18 0.0 990.8 13.2 695 8191 0.57 0.00 198.02 1.447 6 0.130 0.000 2677 1843 2883 0 0 0 0 0 0
8192 end apogee: CONTROL_FINISHED_OK
state 8192 begin climb
8194 0.83 243.3 1003.1 0.0 704 8420 0.95 2.42 217.57 1.389 4 0.073 0.063 3008 3250 1891 0 0 0 0 0 0
8442 0.63 243.3 969.5 21.4 716 8447 0.25 2.33 0.00 0.000 6 0.181 0.045 2955 1851 1888 0 0 0 0 0 0
8760 0.51 243.3 919.6 15.6 731 8764 0.15 2.25 0.00 0.000 4 0.181 0.061 2905 3261 1882 0 0 0 0 0 0
8815 0.47 243.3 911.6 12.1 733 8822 0.00 2.22 0.00 0.000 6 0.000 0.044 2913 1838 1881 0 0 0 0 0 0
9131 0.41 243.3 872.3 12.7 749 9133 0.12 0.00 0.00 0.000 6 0.181 0.000 2882 1838 1880 0 0 0 0 0 0
9443 0.44 283.7 842.2 9.5 764 9483 0.00 0.00 36.28 1.336 6 0.000 0.000 2883 1837 1726 0 0 0 0 0 0
9789 0.44 283.7 805.9 11.1 781 9793 0.00 2.20 0.00 0.000 4 0.000 0.056 2891 431 1721 0 0 0 0 0 0
9813 0.44 283.7 803.2 11.3 782 9817 0.00 2.22 0.00 0.000 6 0.000 0.044 2890 1851 1720 0 0 0 0 0 0
10141 0.44 283.7 764.0 11.6 798 10145 0.00 2.17 0.00 0.000 4 0.000 0.059 2890 3258 1720 0 0 0 0 0 0
10219 0.44 283.7 754.5 11.7 801 10226 0.00 2.15 0.00 0.000 6 0.000 0.042 2898 1849 1720 0 0 0 0 0 0
10537 0.42 283.7 716.0 12.4 817 10541 0.00 2.17 0.00 0.000 4 0.000 0.053 2909 437 1720 0 0 0 0 0 0
10577 0.40 283.7 710.8 12.3 819 10582 0.12 2.17 0.00 0.000 6 0.158 0.042 2875 1872 1718 0 0 0 0 0 0
10908 0.50 347.6 680.1 8.8 835 10973 0.00 2.25 56.50 1.260 4 0.000 0.057 2874 3248 1465 0 0 0 0 0 0
11008 0.64 412.9 670.8 8.7 839 11073 0.20 2.22 58.80 1.213 6 0.060 0.040 2977 1836 1200 0 0 0 0 0 0
11393 0.54 412.9 593.7 21.0 859 11398 0.20 2.25 0.00 0.000 4 0.164 0.052 2913 3250 1193 0 0 0 0 0 0
11437 0.54 412.9 585.9 15.0 862 11444 0.00 2.17 0.00 0.000 6 0.000 0.040 2921 1836 1193 0 0 0 0 0 0
11763 0.54 412.9 541.6 13.6 893 11767 0.00 2.15 0.00 0.000 4 0.000 0.052 2932 437 1192 0 0 0 0 0 0
11784 0.54 412.9 538.4 14.1 894 11791 0.00 2.15 0.00 0.000 6 0.000 0.039 2931 1854 1191 0 0 0 0 0 0
12110 0.52 412.9 488.1 16.0 925 12114 0.00 2.15 0.00 0.000 4 0.000 0.056 2932 3259 1192 0 0 0 0 0 0
12183 0.55 412.9 477.0 14.2 931 12187 0.00 2.15 0.00 0.000 6 0.000 0.040 2941 1839 1191 0 0 0 0 0 0
12508 0.52 412.9 425.3 16.1 961 12512 0.00 2.12 0.00 0.000 4 0.000 0.050 2951 443 1191 0 0 0 0 0 0
12560 0.52 412.9 416.9 15.7 965 12565 0.15 2.15 0.00 0.000 6 0.145 0.038 2908 1854 1189 0 0 0 0 0 0
12886 0.63 450.5 382.6 9.5 995 12919 0.12 0.00 31.02 0.999 6 0.086 0.000 2982 1858 1047 0 0 0 0 0 0
13235 0.55 450.5 314.1 19.9 1028 13240 0.22 2.17 0.00 0.000 4 0.155 0.052 2920 3264 1044 0 0 0 0 0 0
13313 0.72 510.7 304.9 8.9 1034 13369 0.12 2.15 50.53 0.929 6 0.090 0.037 3015 1849 802 0 0 0 0 0 0
13689 0.65 510.7 230.0 21.2 1078 13698 0.20 2.22 0.00 0.000 4 0.148 0.049 2950 3250 797 0 0 0 0 0 0
13730 0.67 510.7 223.4 17.7 1084 13738 0.00 2.17 0.00 0.000 6 0.000 0.037 2957 1840 796 0 0 0 0 0 0
14059 0.88 604.0 194.3 7.9 1145 14141 0.20 2.25 71.15 0.816 4 0.065 0.047 3076 450 450 0 0 0 0 0 0
14220 0.84 604.0 161.6 18.0 1170 14229 0.17 2.20 0.00 0.000 6 0.122 0.036 3019 1854 445 0 0 0 0 0 0
14551 0.84 604.0 108.4 15.0 1231 14560 0.00 2.17 0.00 0.000 4 0.000 0.048 3020 3258 443 0 0 0 0 0 0
14601 0.88 604.0 101.5 13.7 1239 14610 0.00 2.15 0.00 0.000 6 0.000 0.034 3029 1850 442 0 0 0 0 0 0
14929 0.93 604.0 60.2 11.4 1300 14936 0.00 2.17 0.00 0.000 4 0.000 0.046 3039 446 442 0 0 0 0 0 0
14977 1.07 639.4 55.6 9.6 1308 14986 0.10 2.12 0.00 0.000 6 0.050 0.032 3129 1861 442 0 0 0 0 0 0
15237 end climb: SURFACE_DEPTH_REACHED
state 15237 begin surface coast
15249 end surface coast: CONTROL_FINISHED_OK
state 15249 begin surface