OKMC Aug11 * SG166 * Dive index * Mission links * Dive 70 * 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  70 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  49 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  49 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  -9 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24477.576 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  160811,215915,2334.740,12308.974,37,2.6,56,-3.3 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  1.69 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  160811,220643,2334.757,12309.032,36,2.0,47,-3.3 MHEAD_RNG_PITCHd_Wd  77.6,82832,-14.7,-10.645
SPEED_LIMITS  0.184,0.333 D_GRID  2983

Post-dive calculations and measurements:
FINISH  1.2,0.997379 _10V_AH  10.2,12.506
SM_CCo  16328,0.00,0.000,0,0,545,573.76 FG_AHR_24Vo  0.000
SM_GC  1.91,7.57,0.00,0.00,0.034,0.000,0.000,154,1487,545,-8.05,-0.37,573.76,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2323.87,12306.85,160811,171727 MEM  330232
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  83493,1447
HUMID  33.54 CAP_FILE_SIZE  180051,0
INTERNAL_PRESSURE  9.38971 CFSIZE  260165632,141123584
TCM_TEMP  25.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  84 CURRENT  0.065,310.5,1
_24V_AH  23.4,18.888 GPS  170811,024036,2335.851,12311.407,38,1.9,43,-3.3

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21227114.42 SBE_CT98624554.14
Roll_motor16062235.41 AA38301482331144.55
VBD_pump_during_apogee690144623369.74 WL_BB2F15441053794.72
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010374.61 nil000.00
Iridium_during_connect1916072.56 nil000.00
Iridium_during_xfer1952231020.12 nil000.00
Transponder_ping21420206.39 nil000.00
GUMSTIX_24V000.00
GPS485024.74
TT8360319727.86
LPSleep84482188.72
TT8_Active73619148.76
TT8_Sampling3516391427.48
TT8_CF845745213.60
TT8_Kalman000.00
Analog_circuits218012266.84
GPS_charging000.00
Compass320915491.07
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 15 begin dive
17 -0.83 -243.3 0.0 0.0 0 131 0.00 0.00 -110.93 0.000 2 0.000 0.000 154 1482 3146 0 0 0 0 0 0
134 -0.83 -243.3 5.9 -10.3 15 165 9.05 2.20 -13.12 0.000 4 0.228 0.054 2463 2911 3880 0 0 0 0 0 0
272 -0.54 -243.3 71.5 -39.9 38 280 0.30 2.15 0.00 0.000 6 0.153 0.037 2561 1510 3882 0 0 0 0 0 0
599 -0.40 -243.3 154.6 -24.2 99 607 0.20 2.00 0.00 0.000 4 0.160 0.039 2613 196 3883 0 0 0 0 0 0
681 -0.43 -243.3 169.2 -13.5 113 690 0.00 1.95 0.00 0.000 6 0.000 0.031 2606 1500 3884 0 0 0 0 0 0
1011 -0.45 -243.3 211.8 -10.9 174 1019 0.00 2.12 0.00 0.000 4 0.000 0.043 2597 2898 3884 0 0 0 0 0 0
1114 -0.51 -243.3 221.8 -9.1 192 1122 0.00 2.10 0.00 0.000 6 0.000 0.032 2597 1489 3884 0 0 0 0 0 0
1441 -0.51 -243.3 258.2 -10.9 246 1445 0.00 2.12 0.00 0.000 4 0.000 0.042 2587 2902 3883 0 0 0 0 0 0
1511 -0.57 -243.3 265.2 -8.8 252 1519 0.00 2.10 0.00 0.000 6 0.000 0.033 2592 1498 3883 0 0 0 0 0 0
1840 -0.57 -243.3 297.6 -9.8 283 1844 0.12 2.15 0.00 0.000 4 0.083 0.043 2516 2907 3882 0 0 0 0 0 0
1901 -0.51 -243.3 306.2 -13.9 288 1908 0.22 2.10 0.00 0.000 6 0.142 0.034 2582 1497 3882 0 0 0 0 0 0
2228 -0.51 -243.3 343.8 -11.1 319 2232 0.00 1.95 0.00 0.000 4 0.000 0.044 2586 205 3880 0 0 0 0 0 0
2264 -0.52 -243.3 348.0 -11.5 322 2267 0.00 1.90 0.00 0.000 6 0.000 0.034 2580 1502 3880 0 0 0 0 0 0
2596 -0.52 -243.3 386.6 -11.2 353 2600 0.00 2.12 0.00 0.000 4 0.000 0.044 2569 2908 3879 0 0 0 0 0 0
2712 -0.57 -243.3 398.3 -9.9 363 2715 0.00 2.08 0.00 0.000 6 0.000 0.034 2569 1497 3878 0 0 0 0 0 0
3039 -0.57 -243.3 433.7 -10.5 393 3040 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 1497 3877 0 0 0 0 0 0
3356 -0.57 -243.3 470.4 -11.8 423 3360 0.00 2.15 0.00 0.000 4 0.000 0.046 2562 2908 3875 0 0 0 0 0 0
3432 -0.61 -243.3 478.2 -10.2 429 3436 0.00 2.10 0.00 0.000 6 0.000 0.036 2562 1503 3874 0 0 0 0 0 0
3758 -0.61 -243.3 513.7 -10.1 459 3762 0.00 2.15 0.00 0.000 4 0.000 0.047 2553 2901 3872 0 0 0 0 0 0
3793 -0.63 -243.3 517.1 -9.7 461 3801 0.00 2.10 0.00 0.000 6 0.000 0.037 2553 1497 3872 0 0 0 0 0 0
4118 -0.63 -243.3 552.3 -11.2 492 4119 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 1497 3870 0 0 0 0 0 0
4440 -0.63 -243.3 589.1 -11.8 522 4444 0.00 2.15 0.00 0.000 4 0.000 0.051 2543 2901 3867 0 0 0 0 0 0
4463 -0.63 -243.3 592.1 -11.5 523 4470 0.00 2.10 0.00 0.000 6 0.000 0.040 2543 1492 3867 0 0 0 0 0 0
4781 -0.63 -243.3 629.4 -11.5 542 4785 0.00 2.15 0.00 0.000 4 0.000 0.053 2533 2898 3865 0 0 0 0 0 0
4824 -0.63 -243.3 633.6 -10.4 544 4828 0.00 2.10 0.00 0.000 6 0.000 0.041 2533 1502 3864 0 0 0 0 0 0
5150 -0.63 -243.3 671.9 -11.7 560 5154 0.00 2.15 0.00 0.000 4 0.000 0.056 2521 2904 3862 0 0 0 0 0 0
5177 -0.63 -243.3 675.3 -11.4 561 5181 0.00 2.12 0.00 0.000 6 0.000 0.041 2522 1495 3862 0 0 0 0 0 0
5507 -0.62 -243.3 712.0 -10.8 577 5511 0.00 2.17 0.00 0.000 4 0.000 0.055 2510 2905 3859 0 0 0 0 0 0
5547 -0.62 -243.3 716.3 -10.1 579 5552 0.12 2.12 0.00 0.000 6 0.154 0.041 2546 1497 3858 0 0 0 0 0 0
5878 -0.64 -243.3 744.5 -9.0 595 5882 0.00 2.17 0.00 0.000 4 0.000 0.056 2535 2905 3856 0 0 0 0 0 0
5928 -0.67 -243.3 749.5 -9.0 597 5932 0.00 2.10 0.00 0.000 6 0.000 0.042 2536 1503 3856 0 0 0 0 0 0
6244 -0.67 -243.3 779.9 -9.6 612 6245 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 1503 3854 0 0 0 0 0 0
6555 -0.67 -243.3 809.7 -9.8 627 6559 0.00 2.15 0.00 0.000 4 0.000 0.058 2523 2896 3851 0 0 0 0 0 0
6589 -0.70 -243.3 813.4 -10.3 628 6593 0.00 2.12 0.00 0.000 6 0.000 0.044 2522 1498 3851 0 0 0 0 0 0
6907 -0.70 -243.3 846.6 -10.6 643 6911 0.00 2.17 0.00 0.000 4 0.000 0.059 2508 2900 3849 0 0 0 0 0 0
6930 -0.70 -243.3 849.3 -10.5 644 6934 0.00 2.12 0.00 0.000 6 0.000 0.044 2508 1503 3849 0 0 0 0 0 0
7257 -0.70 -243.3 885.5 -10.8 660 7258 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 1502 3847 0 0 0 0 0 0
7569 -0.70 -243.3 917.3 -10.1 675 7573 0.00 2.17 0.00 0.000 4 0.000 0.060 2495 2895 3844 0 0 0 0 0 0
7609 -0.70 -243.3 921.5 -10.1 677 7613 0.00 2.15 0.00 0.000 6 0.000 0.047 2495 1492 3844 0 0 0 0 0 0
7937 -0.68 -243.3 955.1 -10.0 693 7941 0.00 2.17 0.00 0.000 4 0.000 0.061 2484 2896 3842 0 0 0 0 0 0
7978 -0.68 -243.3 958.9 -9.3 695 7983 0.15 2.15 0.00 0.000 6 0.151 0.047 2528 1492 3842 0 0 0 0 0 0
8307 -0.72 -243.3 980.9 -6.4 711 8311 0.00 2.20 0.00 0.000 4 0.000 0.060 2520 2901 3839 0 0 0 0 0 0
8343 -0.76 -243.3 983.2 -6.4 712 8347 0.00 2.15 0.00 0.000 6 0.000 0.046 2520 1488 3839 0 0 0 0 0 0
8435 end dive: TARGET_DEPTH_EXCEEDED
state 8436 begin apogee
8442 -0.18 0.0 990.1 7.3 717 8644 0.47 0.00 197.40 1.447 6 0.115 0.000 2680 1844 2884 0 0 0 0 0 0
8645 end apogee: CONTROL_FINISHED_OK
state 8645 begin climb
8647 0.83 243.3 995.6 0.0 726 8873 0.93 2.45 216.35 1.381 4 0.055 0.063 3014 3240 1891 0 0 0 0 0 0
8902 0.63 243.3 951.2 24.4 738 8910 0.28 2.30 0.00 0.000 6 0.181 0.044 2953 1846 1888 0 0 0 0 0 0
9221 0.51 243.3 892.2 18.1 754 9225 0.15 2.25 0.00 0.000 4 0.179 0.062 2903 3249 1883 0 0 0 0 0 0
9281 0.47 243.3 882.3 13.8 756 9288 0.00 2.20 0.00 0.000 6 0.000 0.042 2912 1834 1881 0 0 0 0 0 0
9600 0.41 243.3 839.7 13.2 772 9604 0.12 2.15 0.00 0.000 4 0.176 0.054 2888 445 1880 0 0 0 0 0 0
9623 0.37 243.3 836.9 13.1 773 9627 0.00 2.15 0.00 0.000 6 0.000 0.041 2886 1851 1879 0 0 0 0 0 0
9950 0.35 243.3 800.8 10.7 789 9954 0.00 2.17 0.00 0.000 4 0.000 0.057 2886 3258 1879 0 0 0 0 0 0
9992 0.36 248.1 796.6 10.5 791 9996 0.12 2.15 0.00 0.000 6 0.174 0.041 2863 1847 1879 0 0 0 0 0 0
10320 0.48 328.0 769.2 8.3 807 10410 0.10 2.35 75.10 1.310 4 0.101 0.053 2929 446 1545 0 0 0 0 0 0
10443 0.45 328.0 752.4 14.5 812 10449 0.15 2.25 0.00 0.000 6 0.150 0.040 2888 1848 1543 0 0 0 0 0 0
10761 0.47 328.0 714.3 12.0 827 10765 0.00 2.25 0.00 0.000 4 0.000 0.059 2888 3274 1540 0 0 0 0 0 0
10824 0.51 328.0 706.5 11.7 829 10832 0.00 2.20 0.00 0.000 6 0.000 0.040 2896 1839 1540 0 0 0 0 0 0
11140 0.51 328.0 669.1 11.9 845 11141 0.00 0.00 0.00 0.000 6 0.000 0.000 2896 1839 1539 0 0 0 0 0 0
11451 0.51 328.0 633.6 11.4 860 11455 0.00 2.12 0.00 0.000 4 0.000 0.052 2906 444 1538 0 0 0 0 0 0
11474 0.51 328.0 630.8 11.3 861 11478 0.00 2.17 0.00 0.000 6 0.000 0.041 2906 1860 1537 0 0 0 0 0 0
11791 0.51 328.0 592.7 11.5 879 11795 0.00 2.15 0.00 0.000 4 0.000 0.057 2906 3267 1537 0 0 0 0 0 0
11845 0.52 328.0 586.8 11.1 883 11849 0.00 2.15 0.00 0.000 6 0.000 0.041 2917 1842 1537 0 0 0 0 0 0
12176 0.50 328.0 546.4 12.5 914 12180 0.00 2.15 0.00 0.000 4 0.000 0.052 2928 438 1537 0 0 0 0 0 0
12234 0.50 328.0 539.5 12.2 919 12238 0.00 2.17 0.00 0.000 6 0.000 0.041 2928 1863 1535 0 0 0 0 0 0
12559 0.47 328.0 497.7 12.8 949 12563 0.00 2.12 0.00 0.000 4 0.000 0.056 2928 3258 1535 0 0 0 0 0 0
12627 0.47 328.0 488.7 12.9 954 12634 0.15 2.12 0.00 0.000 6 0.161 0.040 2897 1841 1535 0 0 0 0 0 0
12952 0.55 358.0 455.2 9.8 985 12987 0.00 2.22 25.02 1.056 4 0.000 0.052 2906 450 1423 0 0 0 0 0 0
13025 0.64 391.4 448.3 9.7 991 13061 0.12 2.15 30.08 1.038 6 0.086 0.039 2972 1853 1288 0 0 0 0 0 0
13378 0.57 391.4 385.3 18.0 1024 13383 0.15 2.17 0.00 0.000 4 0.164 0.054 2933 3250 1286 0 0 0 0 0 0
13444 0.60 391.4 375.6 11.5 1029 13452 0.00 2.15 0.00 0.000 6 0.000 0.037 2943 1847 1285 0 0 0 0 0 0
13769 0.60 391.4 337.3 12.1 1060 13773 0.00 2.17 0.00 0.000 4 0.000 0.049 2955 437 1285 0 0 0 0 0 0
13790 0.60 391.4 334.6 12.1 1061 13798 0.00 2.17 0.00 0.000 6 0.000 0.037 2955 1863 1283 0 0 0 0 0 0
14117 0.60 391.4 288.7 15.1 1092 14121 0.00 2.12 0.00 0.000 4 0.000 0.052 2956 3253 1284 0 0 0 0 0 0
14161 0.60 391.4 281.6 15.3 1095 14168 0.00 2.12 0.00 0.000 6 0.000 0.037 2964 1844 1284 0 0 0 0 0 0
14489 0.59 391.4 235.6 14.7 1135 14498 0.00 2.15 0.00 0.000 4 0.000 0.047 2978 447 1284 0 0 0 0 0 0
14517 0.59 391.4 231.6 14.1 1139 14526 0.12 2.15 0.00 0.000 6 0.118 0.037 2935 1853 1284 0 0 0 0 0 0
14848 0.77 477.4 202.7 8.1 1200 14924 0.17 0.00 70.55 0.832 6 0.067 0.000 3031 1855 936 0 0 0 0 0 0
15245 0.71 477.4 126.7 18.3 1270 15254 0.20 2.20 0.00 0.000 4 0.148 0.047 2967 3261 934 0 0 0 0 0 0
15306 0.79 477.4 118.7 10.9 1280 15314 0.00 2.15 0.00 0.000 6 0.000 0.035 2976 1856 933 0 0 0 0 0 0
15635 0.99 571.1 89.6 7.9 1341 15719 0.25 2.25 75.88 0.721 4 0.053 0.042 3119 443 552 0 0 0 0 0 0
15823 0.96 571.1 50.3 17.7 1371 15832 0.20 2.20 0.00 0.000 6 0.120 0.034 3053 1859 548 0 0 0 0 0 0
16153 1.00 571.1 10.2 11.5 1432 16161 0.00 2.22 0.00 0.000 4 0.000 0.044 3061 450 546 0 0 0 0 0 0
16178 1.05 571.1 7.4 11.2 1435 16187 0.00 2.12 0.00 0.000 6 0.000 0.031 3061 1852 546 0 0 0 0 0 0
16221 end climb: SURFACE_DEPTH_REACHED
state 16221 begin surface coast
16250 end surface coast: CONTROL_FINISHED_OK
state 16250 begin surface