OKMC Aug11 * SG166 * Dive index * Mission links * Dive 74 * 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  74 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  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  -24482.609 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  170811,164021,2339.024,12317.856,41,2.8,60,-3.3 TGT_NAME  N2
_CALLS  3 TGT_LATLONG  2350.000,12355.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.63 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  170811,165325,2339.223,12317.810,11,1.5,16,-3.3 MHEAD_RNG_PITCHd_Wd  105.8,66089,-14.7,-10.645
SPEED_LIMITS  0.184,0.333 D_GRID  3999

Post-dive calculations and measurements:
FINISH  0.9,1.010508 _10V_AH  10.2,13.160
SM_CCo  16493,0.00,0.000,0,0,444,598.53 FG_AHR_24Vo  0.000
SM_GC  1.85,7.80,0.00,0.00,0.040,0.000,0.000,154,1492,444,-8.04,-0.23,598.53,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2330.93,12323.13,170811,161614 MEM  330180
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  83540,1458
HUMID  34.05 CAP_FILE_SIZE  191848,0
INTERNAL_PRESSURE  9.38971 CFSIZE  260165632,140754944
TCM_TEMP  25.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  72 CURRENT  0.136,357.1,1
_24V_AH  23.4,19.936 GPS  170811,213021,2339.826,12320.585,40,3.7,59,-3.3

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22226119.88 SBE_CT99324558.14
Roll_motor16961242.27 AA38301492331152.74
VBD_pump_during_apogee715145824412.37 WL_BB2F15421053788.71
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init73103177.96 nil000.00
Iridium_during_connect141160530.29 nil000.00
Iridium_during_xfer2752231438.99 nil000.00
Transponder_ping18420176.90 nil000.00
GUMSTIX_24V000.00
GPS17508.84
TT8365319737.92
LPSleep86252192.68
TT8_Active74919151.31
TT8_Sampling3754391524.16
TT8_CF847845223.68
TT8_Kalman000.00
Analog_circuits223012272.95
GPS_charging000.00
Compass325515498.08
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 0 113 0.00 0.00 -94.30 0.000 2 0.000 0.000 154 1485 3117 0 0 0 0 0 0
116 -0.83 -243.3 5.7 -9.8 13 148 9.07 2.20 -13.88 0.000 4 0.226 0.048 2459 2907 3880 0 0 0 0 0 0
217 -0.58 -243.3 49.5 -35.7 29 225 0.30 2.15 0.00 0.000 6 0.155 0.036 2547 1512 3882 0 0 0 0 0 0
542 -0.41 -243.3 139.8 -25.7 90 551 0.22 2.12 0.00 0.000 4 0.163 0.038 2601 2901 3883 0 0 0 0 0 0
583 -0.35 -243.3 149.1 -21.9 96 591 0.08 2.12 0.00 0.000 6 0.123 0.033 2628 1495 3883 0 0 0 0 0 0
912 -0.39 -243.3 184.7 -10.5 157 920 0.00 2.15 0.00 0.000 4 0.000 0.041 2620 2904 3884 0 0 0 0 0 0
971 -0.46 -243.3 191.1 -10.2 167 980 0.00 2.10 0.00 0.000 6 0.000 0.031 2620 1500 3883 0 0 0 0 0 0
1300 -0.51 -243.3 227.6 -10.0 228 1308 0.12 2.15 0.00 0.000 4 0.080 0.041 2525 2904 3882 0 0 0 0 0 0
1371 -0.45 -243.3 237.3 -15.3 240 1382 0.20 2.10 0.00 0.000 6 0.125 0.033 2592 1505 3882 0 0 0 0 0 0
1710 -0.48 -243.3 274.5 -9.8 280 1718 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 1504 3881 0 0 0 0 0 0
2038 -0.52 -243.3 306.7 -9.7 311 2042 0.00 2.10 0.00 0.000 4 0.000 0.042 2598 2899 3880 0 0 0 0 0 0
2103 -0.60 -243.3 312.1 -8.1 316 2108 0.15 2.08 0.00 0.000 6 0.070 0.033 2497 1483 3880 0 0 0 0 0 0
2434 -0.46 -243.3 380.0 -20.3 347 2436 0.32 0.00 0.00 0.000 6 0.153 0.000 2593 1484 3879 0 0 0 0 0 0
2752 -0.50 -243.3 413.4 -10.0 377 2756 0.00 2.10 0.00 0.000 4 0.000 0.044 2585 2899 3877 0 0 0 0 0 0
2838 -0.57 -243.3 420.9 -8.3 384 2842 0.00 2.08 0.00 0.000 6 0.000 0.034 2584 1500 3876 0 0 0 0 0 0
3169 -0.61 -243.3 450.0 -8.4 415 3174 0.10 2.15 0.00 0.000 4 0.094 0.044 2509 2910 3874 0 0 0 0 0 0
3212 -0.56 -243.3 455.3 -12.6 418 3220 0.17 2.08 0.00 0.000 6 0.145 0.035 2560 1494 3874 0 0 0 0 0 0
3538 -0.56 -243.3 486.6 -9.4 449 3542 0.00 2.10 0.00 0.000 4 0.000 0.047 2552 2898 3871 0 0 0 0 0 0
3565 -0.56 -243.3 489.2 -9.4 451 3573 0.00 2.05 0.00 0.000 6 0.000 0.035 2552 1502 3871 0 0 0 0 0 0
3890 -0.56 -243.3 522.2 -10.7 482 3894 0.00 1.92 0.00 0.000 4 0.000 0.047 2552 208 3868 0 0 0 0 0 0
3936 -0.56 -243.3 527.1 -10.6 486 3940 0.00 1.95 0.00 0.000 6 0.000 0.037 2543 1495 3868 0 0 0 0 0 0
4267 -0.55 -243.3 565.9 -12.6 517 4271 0.00 2.12 0.00 0.000 4 0.000 0.049 2532 2905 3866 0 0 0 0 0 0
4339 -0.55 -243.3 574.4 -10.9 523 4348 0.12 2.10 0.00 0.000 6 0.147 0.038 2568 1507 3865 0 0 0 0 0 0
4663 -0.58 -243.3 607.4 -10.5 551 4667 0.00 2.17 0.00 0.000 4 0.000 0.051 2560 2908 3863 0 0 0 0 0 0
4685 -0.63 -243.3 609.7 -10.3 552 4689 0.00 2.12 0.00 0.000 6 0.000 0.038 2560 1490 3862 0 0 0 0 0 0
5015 -0.66 -243.3 642.0 -9.5 568 5016 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 1489 3860 0 0 0 0 0 0
5322 -0.69 -243.3 671.9 -10.1 583 5327 0.10 2.17 0.00 0.000 4 0.098 0.053 2490 2900 3857 0 0 0 0 0 0
5413 -0.65 -243.3 684.1 -13.9 587 5417 0.15 2.12 0.00 0.000 6 0.153 0.043 2532 1501 3857 0 0 0 0 0 0
5734 -0.65 -243.3 725.2 -12.7 603 5738 0.00 2.17 0.00 0.000 4 0.000 0.055 2514 2908 3854 0 0 0 0 0 0
5755 -0.65 -243.3 728.0 -12.4 604 5760 0.00 2.15 0.00 0.000 6 0.000 0.042 2519 1504 3854 0 0 0 0 0 0
6085 -0.64 -243.3 766.7 -11.6 620 6089 0.00 2.15 0.00 0.000 4 0.000 0.055 2504 2898 3852 0 0 0 0 0 0
6125 -0.64 -243.3 771.4 -10.8 622 6130 0.12 2.12 0.00 0.000 6 0.154 0.043 2540 1493 3851 0 0 0 0 0 0
6456 -0.67 -243.3 799.6 -8.3 638 6460 0.00 2.17 0.00 0.000 4 0.000 0.057 2526 2898 3849 0 0 0 0 0 0
6506 -0.72 -243.3 803.9 -8.0 640 6510 0.00 2.12 0.00 0.000 6 0.000 0.044 2529 1501 3849 0 0 0 0 0 0
6828 -0.74 -243.3 828.1 -7.2 656 6832 0.00 2.17 0.00 0.000 4 0.000 0.057 2515 2901 3847 0 0 0 0 0 0
6871 -0.77 -243.3 830.9 -7.3 658 6875 0.00 2.15 0.00 0.000 6 0.000 0.044 2517 1491 3846 0 0 0 0 0 0
7198 -0.77 -243.3 857.0 -8.5 674 7202 0.00 2.20 0.00 0.000 4 0.000 0.057 2504 2907 3843 0 0 0 0 0 0
7228 -0.79 -243.3 859.6 -8.8 675 7232 0.00 2.15 0.00 0.000 6 0.000 0.044 2504 1491 3843 0 0 0 0 0 0
7545 -0.79 -243.3 891.0 -10.5 690 7549 0.00 2.20 0.00 0.000 4 0.000 0.058 2492 2904 3842 0 0 0 0 0 0
7578 -0.79 -243.3 894.5 -10.6 691 7586 0.00 2.12 0.00 0.000 6 0.000 0.044 2493 1492 3840 0 0 0 0 0 0
7895 -0.79 -243.3 929.0 -11.1 707 7899 0.00 2.17 0.00 0.000 4 0.000 0.060 2482 2899 3839 0 0 0 0 0 0
7928 -0.79 -243.3 932.8 -10.6 708 7932 0.00 2.15 0.00 0.000 6 0.000 0.046 2482 1494 3839 0 0 0 0 0 0
8245 -0.76 -243.3 970.1 -11.8 723 8249 0.00 2.20 0.00 0.000 4 0.000 0.061 2471 2901 3837 0 0 0 0 0 0
8270 -0.74 -243.3 973.0 -11.6 724 8275 0.12 2.15 0.00 0.000 6 0.161 0.046 2506 1495 3837 0 0 0 0 0 0
8450 end dive: TARGET_DEPTH_EXCEEDED
state 8450 begin apogee
8456 -0.18 0.0 992.0 10.3 733 8658 0.52 0.00 197.27 1.459 6 0.117 0.000 2683 1850 2884 0 0 0 0 0 0
8659 end apogee: CONTROL_FINISHED_OK
state 8659 begin climb
8661 0.83 243.3 1002.5 0.0 742 8888 0.90 2.45 216.48 1.388 4 0.053 0.060 3017 3246 1891 0 0 0 0 0 0
8987 0.63 243.3 945.0 23.5 757 8995 0.28 2.25 0.00 0.000 6 0.184 0.044 2953 1852 1886 0 0 0 0 0 0
9304 0.50 243.3 889.0 17.2 773 9309 0.17 2.20 0.00 0.000 4 0.174 0.057 2896 3252 1882 0 0 0 0 0 0
9353 0.46 243.3 881.4 13.4 775 9358 0.00 2.20 0.00 0.000 6 0.000 0.043 2904 1833 1882 0 0 0 0 0 0
9672 0.40 243.3 841.0 13.4 790 9675 0.00 2.15 0.00 0.000 4 0.000 0.054 2914 436 1881 0 0 0 0 0 0
9699 0.34 243.3 836.8 13.4 791 9704 0.20 2.17 0.00 0.000 6 0.148 0.043 2855 1842 1880 0 0 0 0 0 0
10024 0.46 320.6 809.0 8.4 807 10102 0.12 2.40 69.47 1.324 4 0.089 0.060 2917 3262 1576 0 0 0 0 0 0
10164 0.43 320.6 789.6 13.8 813 10169 0.17 2.22 0.00 0.000 6 0.165 0.042 2883 1854 1575 0 0 0 0 0 0
10482 0.43 320.6 753.2 11.7 828 10486 0.00 2.20 0.00 0.000 4 0.000 0.054 2890 437 1570 0 0 0 0 0 0
10515 0.44 320.6 748.8 12.2 829 10520 0.00 2.20 0.00 0.000 6 0.000 0.041 2891 1854 1569 0 0 0 0 0 0
10833 0.44 320.6 711.3 11.3 844 10837 0.00 2.17 0.00 0.000 4 0.000 0.058 2891 3261 1568 0 0 0 0 0 0
10871 0.44 320.6 706.9 11.2 845 10878 0.00 2.17 0.00 0.000 6 0.000 0.041 2900 1830 1569 0 0 0 0 0 0
11188 0.45 326.2 673.5 10.5 861 11197 0.00 2.15 4.85 0.876 4 0.000 0.053 2911 439 1554 0 0 0 0 0 0
11238 0.48 349.4 668.2 10.0 863 11271 0.00 2.15 22.42 1.205 6 0.000 0.040 2911 1850 1458 0 0 0 0 0 0
11582 0.46 349.4 628.2 12.2 880 11586 0.00 2.20 0.00 0.000 4 0.000 0.057 2911 3259 1455 0 0 0 0 0 0
11661 0.47 349.4 618.4 11.4 883 11667 0.00 2.15 0.00 0.000 6 0.000 0.041 2921 1851 1455 0 0 0 0 0 0
11983 0.44 349.4 577.2 13.8 906 11987 0.12 2.20 0.00 0.000 4 0.172 0.051 2897 436 1455 0 0 0 0 0 0
12028 0.48 355.1 572.1 10.5 909 12039 0.00 2.17 5.90 0.899 6 0.000 0.039 2897 1857 1435 0 0 0 0 0 0
12360 0.51 361.4 539.1 10.5 940 12374 0.00 2.22 7.30 0.947 4 0.000 0.054 2897 3257 1410 0 0 0 0 0 0
12422 0.57 361.4 532.3 11.0 945 12426 0.00 2.15 0.00 0.000 6 0.000 0.039 2906 1844 1410 0 0 0 0 0 0
12750 0.58 361.4 494.9 11.1 975 12754 0.00 2.15 0.00 0.000 4 0.000 0.049 2918 434 1410 0 0 0 0 0 0
12810 0.61 361.4 488.0 11.1 980 12818 0.00 2.17 0.00 0.000 6 0.000 0.038 2917 1863 1408 0 0 0 0 0 0
13137 0.61 361.4 448.9 12.0 1011 13141 0.00 2.15 0.00 0.000 4 0.000 0.054 2918 3255 1408 0 0 0 0 0 0
13200 0.64 361.4 441.6 11.2 1016 13204 0.00 2.12 0.00 0.000 6 0.000 0.037 2928 1838 1408 0 0 0 0 0 0
13527 0.64 361.4 400.9 12.7 1046 13531 0.00 2.12 0.00 0.000 4 0.000 0.049 2940 441 1408 0 0 0 0 0 0
13570 0.64 361.4 395.3 11.8 1049 13577 0.00 2.15 0.00 0.000 6 0.000 0.037 2940 1848 1408 0 0 0 0 0 0
13897 0.63 361.4 356.5 11.8 1080 13901 0.00 2.12 0.00 0.000 4 0.000 0.051 2941 3260 1408 0 0 0 0 0 0
13972 0.64 361.4 347.3 11.5 1086 13976 0.00 2.12 0.00 0.000 6 0.000 0.037 2949 1839 1408 0 0 0 0 0 0
14299 0.61 361.4 302.8 14.4 1116 14303 0.00 2.12 0.00 0.000 4 0.000 0.047 2964 446 1408 0 0 0 0 0 0
14362 0.61 361.4 294.0 13.2 1121 14367 0.00 2.10 0.00 0.000 6 0.000 0.035 2966 1856 1408 0 0 0 0 0 0
14691 0.58 361.4 244.2 15.5 1154 14700 0.12 2.17 0.00 0.000 4 0.158 0.051 2932 3259 1408 0 0 0 0 0 0
14801 0.78 455.2 233.2 7.9 1173 14890 0.10 2.12 78.62 0.861 6 0.043 0.036 3024 1853 1026 0 0 0 0 0 0
15213 0.70 455.2 162.0 17.7 1245 15222 0.17 2.22 0.00 0.000 4 0.150 0.047 2968 3259 1023 0 0 0 0 0 0
15262 0.73 455.2 154.7 13.9 1253 15270 0.00 2.17 0.00 0.000 6 0.000 0.035 2979 1846 1023 0 0 0 0 0 0
15590 0.79 455.2 122.9 10.7 1314 15599 0.00 2.17 0.00 0.000 4 0.000 0.047 2989 440 1023 0 0 0 0 0 0
15639 0.87 455.2 117.5 10.8 1322 15647 0.00 2.15 0.00 0.000 6 0.000 0.032 2989 1865 1022 0 0 0 0 0 0
15970 1.22 660.4 91.2 4.6 1383 16094 0.35 2.25 112.80 0.714 4 0.046 0.046 3159 3247 452 0 0 0 0 0 0
16144 1.11 660.4 52.3 25.2 1408 16154 0.20 2.17 0.00 0.000 6 0.151 0.033 3106 1852 446 0 0 0 0 0 0
16397 end climb: SURFACE_DEPTH_REACHED
state 16398 begin surface coast
16415 end surface coast: CONTROL_FINISHED_OK
state 16415 begin surface