OKMC Aug11 * SG166 * Dive index * Mission links * Dive 71 * 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  71 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  43 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  46 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  -24478.834 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  170811,024036,2335.851,12311.407,38,1.9,43,-3.3 TGT_NAME  N2
_CALLS  2 TGT_LATLONG  2350.000,12355.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.65 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  170811,024924,2335.847,12311.410,40,1.4,44,-3.3 MHEAD_RNG_PITCHd_Wd  83.6,78358,-14.7,-10.645
SPEED_LIMITS  0.184,0.333 D_GRID  2911

Post-dive calculations and measurements:
FINISH  1.0,1.009146 _10V_AH  10.2,12.667
SM_CCo  15998,0.00,0.000,0,0,600,560.27 FG_AHR_24Vo  0.000
SM_GC  1.71,7.90,0.00,0.00,0.041,0.000,0.000,155,1489,600,-8.03,-0.31,560.27,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2323.87,12313.36,170811,020201 MEM  330260
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  80159,1423
HUMID  34.56 CAP_FILE_SIZE  178168,0
INTERNAL_PRESSURE  9.37994 CFSIZE  260165632,141008896
TCM_TEMP  25.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  72 CURRENT  0.019,275.8,1
_24V_AH  23.4,19.149 GPS  170811,071757,2336.161,12314.128,33,99.0,52,-3.3

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21229114.52 SBE_CT97124545.75
Roll_motor15565238.89 AA38301455331123.96
VBD_pump_during_apogee688145023367.05 WL_BB2F15391053782.36
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init74103179.35 nil000.00
Iridium_during_connect78160293.89 nil000.00
Iridium_during_xfer108223564.54 nil000.00
Transponder_ping18420176.90 nil000.00
GUMSTIX_24V000.00
GPS445022.85
TT8356119719.27
LPSleep82722184.80
TT8_Active74719150.91
TT8_Sampling3488391416.18
TT8_CF843645204.13
TT8_Kalman000.00
Analog_circuits214312262.34
GPS_charging000.00
Compass316515484.28
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
18 -0.83 -243.3 0.0 0.0 0 122 0.00 0.00 -101.57 0.000 2 0.000 0.000 154 1486 2992 0 0 0 0 0 0
125 -0.83 -243.3 5.0 -6.5 14 157 9.07 2.22 -17.20 0.000 4 0.230 0.055 2461 2911 3879 0 0 0 0 0 0
259 -0.54 -243.3 64.7 -41.5 36 269 0.30 2.15 0.00 0.000 6 0.149 0.037 2563 1507 3882 0 0 0 0 0 0
585 -0.39 -243.3 148.7 -25.0 97 594 0.20 2.00 0.00 0.000 4 0.161 0.040 2611 202 3884 0 0 0 0 0 0
640 -0.39 -243.3 159.0 -15.1 106 648 0.00 1.95 0.00 0.000 6 0.000 0.032 2605 1500 3884 0 0 0 0 0 0
966 -0.39 -243.3 199.3 -12.3 167 974 0.00 2.12 0.00 0.000 4 0.000 0.041 2595 2896 3884 0 0 0 0 0 0
1097 -0.45 -243.3 212.9 -9.7 190 1105 0.00 2.10 0.00 0.000 6 0.000 0.032 2600 1497 3884 0 0 0 0 0 0
1424 -0.48 -243.3 249.3 -11.1 251 1433 0.00 2.15 0.00 0.000 4 0.000 0.042 2595 2901 3883 0 0 0 0 0 0
1487 -0.54 -243.3 255.6 -9.8 257 1491 0.00 2.05 0.00 0.000 6 0.000 0.032 2596 1492 3883 0 0 0 0 0 0
1818 -0.57 -243.3 294.4 -11.3 288 1823 0.12 2.12 0.00 0.000 4 0.083 0.041 2509 2905 3881 0 0 0 0 0 0
1847 -0.52 -243.3 298.2 -13.0 290 1851 0.22 2.05 0.00 0.000 6 0.145 0.033 2579 1498 3881 0 0 0 0 0 0
2172 -0.52 -243.3 340.7 -11.7 320 2173 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 1499 3880 0 0 0 0 0 0
2492 -0.52 -243.3 375.9 -10.3 350 2496 0.00 2.15 0.00 0.000 4 0.000 0.043 2572 2911 3879 0 0 0 0 0 0
2568 -0.57 -243.3 383.1 -9.0 356 2572 0.00 2.08 0.00 0.000 6 0.000 0.034 2571 1501 3878 0 0 0 0 0 0
2893 -0.57 -243.3 416.7 -10.4 386 2897 0.00 2.12 0.00 0.000 4 0.000 0.044 2559 2902 3876 0 0 0 0 0 0
2929 -0.60 -243.3 419.9 -9.9 388 2937 0.00 2.08 0.00 0.000 6 0.000 0.034 2559 1492 3875 0 0 0 0 0 0
3254 -0.60 -243.3 456.2 -11.3 419 3257 0.00 1.95 0.00 0.000 4 0.000 0.044 2561 198 3874 0 0 0 0 0 0
3327 -0.60 -243.3 465.3 -12.0 425 3334 0.00 1.95 0.00 0.000 6 0.000 0.034 2552 1510 3873 0 0 0 0 0 0
3652 -0.60 -243.3 503.2 -10.9 456 3656 0.00 2.10 0.00 0.000 4 0.000 0.047 2544 2904 3870 0 0 0 0 0 0
3733 -0.61 -243.3 510.9 -9.4 462 3739 0.00 2.10 0.00 0.000 6 0.000 0.035 2544 1503 3870 0 0 0 0 0 0
4058 -0.61 -243.3 547.9 -11.6 493 4062 0.00 2.12 0.00 0.000 4 0.000 0.049 2533 2899 3868 0 0 0 0 0 0
4088 -0.61 -243.3 551.2 -11.5 495 4092 0.00 2.08 0.00 0.000 6 0.000 0.038 2533 1501 3867 0 0 0 0 0 0
4414 -0.59 -243.3 594.2 -13.2 525 4418 0.00 2.15 0.00 0.000 4 0.000 0.050 2523 2905 3865 0 0 0 0 0 0
4443 -0.58 -243.3 597.8 -12.9 527 4447 0.12 2.10 0.00 0.000 6 0.151 0.038 2558 1491 3865 0 0 0 0 0 0
4761 -0.60 -243.3 631.3 -10.7 543 4765 0.00 2.15 0.00 0.000 4 0.000 0.052 2550 2905 3862 0 0 0 0 0 0
4789 -0.64 -243.3 634.6 -10.4 544 4793 0.00 2.10 0.00 0.000 6 0.000 0.038 2549 1490 3862 0 0 0 0 0 0
5112 -0.65 -243.3 669.8 -11.0 560 5116 0.00 2.17 0.00 0.000 4 0.000 0.052 2540 2905 3859 0 0 0 0 0 0
5176 -0.70 -243.3 676.7 -10.6 563 5180 0.00 2.10 0.00 0.000 6 0.000 0.040 2540 1503 3859 0 0 0 0 0 0
5504 -0.70 -243.3 712.1 -10.8 579 5508 0.00 2.15 0.00 0.000 4 0.000 0.054 2529 2899 3856 0 0 0 0 0 0
5548 -0.72 -243.3 716.8 -10.1 581 5552 0.00 2.10 0.00 0.000 6 0.000 0.041 2528 1496 3856 0 0 0 0 0 0
5870 -0.72 -243.3 752.7 -11.2 597 5874 0.00 2.15 0.00 0.000 4 0.000 0.056 2506 2904 3854 0 0 0 0 0 0
5899 -0.72 -243.3 755.7 -10.7 598 5903 0.00 2.10 0.00 0.000 6 0.000 0.041 2511 1497 3854 0 0 0 0 0 0
6220 -0.72 -243.3 788.6 -10.0 614 6221 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1497 3852 0 0 0 0 0 0
6530 -0.72 -243.3 819.6 -10.5 629 6534 0.00 2.15 0.00 0.000 4 0.000 0.059 2494 2893 3849 0 0 0 0 0 0
6572 -0.72 -243.3 823.4 -9.4 631 6576 0.00 2.10 0.00 0.000 6 0.000 0.045 2493 1500 3849 0 0 0 0 0 0
6899 -0.70 -243.3 858.0 -11.0 647 6900 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 1500 3846 0 0 0 0 0 0
7211 -0.67 -243.3 889.5 -9.9 662 7215 0.12 2.05 0.00 0.000 4 0.165 0.059 2530 196 3844 0 0 0 0 0 0
7243 -0.67 -243.3 892.9 -9.6 663 7250 0.00 1.95 0.00 0.000 6 0.000 0.044 2521 1492 3843 0 0 0 0 0 0
7560 -0.70 -243.3 919.9 -8.5 679 7564 0.00 2.17 0.00 0.000 4 0.000 0.057 2510 2908 3841 0 0 0 0 0 0
7653 -0.74 -243.3 927.1 -7.9 683 7657 0.00 2.12 0.00 0.000 6 0.000 0.044 2510 1501 3840 0 0 0 0 0 0
7986 -0.74 -243.3 958.8 -9.7 699 7990 0.00 2.20 0.00 0.000 4 0.000 0.059 2499 2908 3838 0 0 0 0 0 0
8029 -0.77 -243.3 962.6 -9.5 701 8033 0.00 2.15 0.00 0.000 6 0.000 0.044 2500 1487 3838 0 0 0 0 0 0
8312 end dive: TARGET_DEPTH_EXCEEDED
state 8312 begin apogee
8318 -0.18 0.0 991.1 10.0 715 8520 0.55 0.00 197.15 1.450 6 0.122 0.000 2681 1858 2884 0 0 0 0 0 0
8523 end apogee: CONTROL_FINISHED_OK
state 8523 begin climb
8525 0.83 243.3 999.8 0.0 724 8747 0.90 0.00 217.00 1.388 6 0.058 0.000 3011 1857 1892 0 0 0 0 0 0
9054 0.62 243.3 899.4 22.5 750 9059 0.25 2.22 0.00 0.000 4 0.187 0.066 2931 3248 1884 0 0 0 0 0 0
9133 0.54 243.3 885.5 15.1 753 9140 0.00 2.20 0.00 0.000 6 0.000 0.045 2939 1845 1882 0 0 0 0 0 0
9451 0.43 243.3 835.1 16.5 769 9456 0.20 2.17 0.00 0.000 4 0.168 0.053 2893 444 1880 0 0 0 0 0 0
9472 0.36 243.3 831.5 16.0 770 9477 0.00 2.15 0.00 0.000 6 0.000 0.044 2886 1847 1880 0 0 0 0 0 0
9802 0.34 243.3 797.2 10.6 786 9806 0.00 2.17 0.00 0.000 4 0.000 0.059 2886 3258 1879 0 0 0 0 0 0
9856 0.34 243.3 790.7 11.0 788 9864 0.15 2.17 0.00 0.000 6 0.169 0.041 2854 1849 1879 0 0 0 0 0 0
10175 0.50 353.0 766.0 7.4 804 10284 0.15 2.33 97.53 1.300 4 0.078 0.052 2939 445 1444 0 0 0 0 0 0
10310 0.46 353.0 748.1 14.4 810 10315 0.15 2.25 0.00 0.000 6 0.149 0.041 2900 1841 1441 0 0 0 0 0 0
10638 0.49 373.0 712.6 10.1 826 10663 0.00 2.35 18.02 1.196 4 0.000 0.058 2899 3275 1362 0 0 0 0 0 0
10721 0.56 401.8 704.2 9.8 829 10755 0.00 2.20 26.90 1.207 6 0.000 0.041 2908 1851 1244 0 0 0 0 0 0
11065 0.56 401.8 666.3 11.1 846 11069 0.00 2.22 0.00 0.000 4 0.000 0.053 2918 443 1242 0 0 0 0 0 0
11106 0.58 401.8 661.3 11.2 848 11110 0.00 2.20 0.00 0.000 6 0.000 0.042 2918 1856 1240 0 0 0 0 0 0
11434 0.58 401.8 621.1 12.4 864 11438 0.00 2.17 0.00 0.000 4 0.000 0.058 2918 3267 1240 0 0 0 0 0 0
11500 0.61 401.8 612.3 11.7 867 11504 0.00 2.17 0.00 0.000 6 0.000 0.041 2928 1843 1240 0 0 0 0 0 0
11828 0.59 401.8 567.5 15.1 893 11830 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 1843 1239 0 0 0 0 0 0
12149 0.58 401.8 521.7 13.7 923 12153 0.00 2.20 0.00 0.000 4 0.000 0.056 2928 3259 1239 0 0 0 0 0 0
12183 0.58 401.8 516.3 15.0 925 12190 0.00 2.15 0.00 0.000 6 0.000 0.040 2938 1841 1239 0 0 0 0 0 0
12508 0.55 401.8 470.6 13.6 956 12512 0.00 2.15 0.00 0.000 4 0.000 0.052 2949 445 1239 0 0 0 0 0 0
12539 0.52 401.8 466.7 13.4 958 12544 0.12 2.15 0.00 0.000 6 0.153 0.040 2914 1857 1237 0 0 0 0 0 0
12864 0.63 459.4 434.9 9.0 988 12922 0.10 2.28 48.10 1.050 4 0.102 0.050 2981 439 1010 0 0 0 0 0 0
12978 0.63 459.4 417.7 15.4 998 12983 0.12 2.20 0.00 0.000 6 0.151 0.040 2948 1863 1008 0 0 0 0 0 0
13303 0.63 459.4 373.0 13.5 1028 13307 0.00 2.15 0.00 0.000 4 0.000 0.053 2950 3250 1007 0 0 0 0 0 0
13359 0.67 459.4 365.4 13.0 1032 13365 0.00 2.15 0.00 0.000 6 0.000 0.037 2958 1840 1006 0 0 0 0 0 0
13684 0.67 459.4 317.5 14.6 1063 13688 0.00 2.15 0.00 0.000 4 0.000 0.050 2973 442 1006 0 0 0 0 0 0
13725 0.69 459.4 311.8 14.2 1066 13729 0.00 2.15 0.00 0.000 6 0.000 0.037 2975 1856 1005 0 0 0 0 0 0
14050 0.69 459.4 263.6 13.7 1096 14054 0.00 2.15 0.00 0.000 4 0.000 0.055 2977 3262 1005 0 0 0 0 0 0
14078 0.69 459.4 259.5 14.5 1098 14082 0.00 2.12 0.00 0.000 6 0.000 0.037 2986 1849 1006 0 0 0 0 0 0
14402 0.69 459.4 213.8 14.6 1152 14410 0.00 2.17 0.00 0.000 4 0.000 0.047 2999 441 1006 0 0 0 0 0 0
14429 0.69 459.4 209.5 14.9 1156 14438 0.08 2.15 0.00 0.000 6 0.120 0.035 2973 1850 1005 0 0 0 0 0 0
14759 0.72 459.4 171.2 11.3 1217 14770 0.00 2.15 0.00 0.000 4 0.000 0.049 2969 3256 1005 0 0 0 0 0 0
14817 0.83 476.3 165.1 10.1 1226 14841 0.00 2.12 15.30 0.752 6 0.000 0.035 2977 1847 940 0 0 0 0 0 0
15160 0.94 532.0 131.4 9.0 1289 15214 0.20 2.17 45.75 0.753 4 0.060 0.044 3089 446 714 0 0 0 0 0 0
15308 0.90 532.0 103.0 18.4 1313 15316 0.15 2.17 0.00 0.000 6 0.124 0.035 3038 1857 711 0 0 0 0 0 0
15638 0.95 532.0 52.8 11.5 1374 15647 0.00 2.15 0.00 0.000 4 0.000 0.046 3038 3259 710 0 0 0 0 0 0
15699 1.10 558.4 46.5 9.9 1384 15731 0.12 2.15 22.73 0.661 6 0.045 0.034 3145 1842 604 0 0 0 0 0 0
15906 end climb: SURFACE_DEPTH_REACHED
state 15906 begin surface coast
15919 end surface coast: CONTROL_FINISHED_OK
state 15919 begin surface