OKMC Aug11 * SG166 * Dive index * Mission links * Dive 77 * 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  77 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  56 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  41 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  -24486.387 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  180811,065727,2341.921,12325.872,39,99.0,58,-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  -70.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  180811,070725,2341.981,12325.802,46,1.2,63,-3.3 MHEAD_RNG_PITCHd_Wd  112.4,51645,-14.7,-10.645
SPEED_LIMITS  0.184,0.333 D_GRID  4381

Post-dive calculations and measurements:
FINISH  1.1,1.006021 _10V_AH  10.3,13.646
SM_CCo  15834,0.00,0.000,0,0,443,598.78 FG_AHR_24Vo  0.000
SM_GC  1.87,7.88,0.00,0.00,0.037,0.000,0.000,138,1480,443,-8.05,-0.57,598.78,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2333.28,12323.13,180811,020258 MEM  330220
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  80017,1416
HUMID  35.07 CAP_FILE_SIZE  173518,0
INTERNAL_PRESSURE  9.37018 CFSIZE  260165632,140500992
TCM_TEMP  25.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  78 CURRENT  0.172,354.3,1
_24V_AH  23.4,20.759 GPS  180811,113345,2342.493,12328.535,64,2.6,83,-3.3

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21224112.24 SBE_CT96524542.38
Roll_motor14264214.58 AA38301449331119.11
VBD_pump_during_apogee720145624568.24 WL_BB2F15291053757.85
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init62103150.12 nil000.00
Iridium_during_connect31160117.69 nil000.00
Iridium_during_xfer2372231238.09 nil000.00
Transponder_ping19420191.65 nil000.00
GUMSTIX_24V000.00
GPS645033.10
TT8351719717.44
LPSleep81892184.72
TT8_Active79919163.04
TT8_Sampling3475391424.57
TT8_CF843245204.07
TT8_Kalman000.00
Analog_circuits214712265.44
GPS_charging000.00
Compass309215477.75
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 0 128 0.00 0.00 -107.53 0.000 2 0.000 0.000 149 1481 3144 0 0 0 0 0 0
131 -0.83 -243.3 6.0 -10.3 15 163 9.02 2.22 -13.20 0.000 4 0.224 0.055 2464 2912 3880 0 0 0 0 0 0
205 -0.51 -243.3 41.6 -45.3 26 214 0.32 2.15 0.00 0.000 6 0.155 0.037 2573 1514 3881 0 0 0 0 0 0
533 -0.37 -243.3 132.8 -22.8 87 541 0.17 2.00 0.00 0.000 4 0.158 0.041 2616 198 3883 0 0 0 0 0 0
588 -0.41 -243.3 142.6 -13.8 96 596 0.00 1.95 0.00 0.000 6 0.000 0.031 2608 1505 3883 0 0 0 0 0 0
916 -0.39 -243.3 188.0 -15.0 157 925 0.00 2.12 0.00 0.000 4 0.000 0.043 2598 2889 3883 0 0 0 0 0 0
1037 -0.44 -243.3 200.9 -9.4 178 1045 0.00 2.10 0.00 0.000 6 0.000 0.032 2601 1494 3883 0 0 0 0 0 0
1365 -0.46 -243.3 235.8 -10.9 239 1373 0.00 2.15 0.00 0.000 4 0.000 0.041 2593 2904 3882 0 0 0 0 0 0
1419 -0.52 -243.3 241.6 -10.4 248 1427 0.00 2.10 0.00 0.000 6 0.000 0.031 2592 1500 3882 0 0 0 0 0 0
1753 -0.54 -243.3 280.4 -10.5 286 1757 0.00 2.15 0.00 0.000 4 0.000 0.042 2587 2902 3881 0 0 0 0 0 0
1825 -0.60 -243.3 287.6 -9.3 292 1830 0.12 2.10 0.00 0.000 6 0.079 0.033 2496 1487 3880 0 0 0 0 0 0
2152 -0.47 -243.3 357.9 -21.4 322 2156 0.30 2.12 0.00 0.000 4 0.151 0.041 2586 2896 3879 0 0 0 0 0 0
2173 -0.39 -243.3 362.8 -21.2 323 2180 0.00 2.08 0.00 0.000 6 0.000 0.033 2588 1499 3879 0 0 0 0 0 0
2499 -0.41 -243.3 400.3 -11.8 354 2503 0.00 2.10 0.00 0.000 4 0.000 0.044 2575 2902 3877 0 0 0 0 0 0
2523 -0.45 -243.3 403.1 -12.0 356 2527 0.00 2.08 0.00 0.000 6 0.000 0.034 2575 1501 3877 0 0 0 0 0 0
2849 -0.48 -243.3 436.0 -8.9 386 2853 0.00 2.10 0.00 0.000 4 0.000 0.044 2563 2897 3875 0 0 0 0 0 0
2894 -0.53 -243.3 440.1 -8.7 389 2902 0.00 2.08 0.00 0.000 6 0.000 0.035 2564 1498 3875 0 0 0 0 0 0
3220 -0.55 -243.3 471.5 -10.0 420 3224 0.00 2.12 0.00 0.000 4 0.000 0.046 2558 2904 3873 0 0 0 0 0 0
3283 -0.60 -243.3 477.5 -9.5 425 3287 0.00 2.08 0.00 0.000 6 0.000 0.034 2558 1502 3872 0 0 0 0 0 0
3614 -0.62 -243.3 511.7 -10.6 456 3618 0.00 2.12 0.00 0.000 4 0.000 0.047 2546 2904 3870 0 0 0 0 0 0
3648 -0.65 -243.3 515.4 -10.3 458 3655 0.00 2.10 0.00 0.000 6 0.000 0.037 2549 1496 3869 0 0 0 0 0 0
3973 -0.65 -243.3 549.0 -9.5 489 3977 0.00 2.15 0.00 0.000 4 0.000 0.049 2538 2898 3867 0 0 0 0 0 0
4029 -0.68 -243.3 554.2 -9.1 493 4037 0.00 2.10 0.00 0.000 6 0.000 0.037 2538 1497 3866 0 0 0 0 0 0
4354 -0.68 -243.3 587.7 -10.7 524 4357 0.00 1.95 0.00 0.000 4 0.000 0.050 2539 202 3864 0 0 0 0 0 0
4388 -0.68 -243.3 591.6 -11.2 527 4392 0.00 1.95 0.00 0.000 6 0.000 0.039 2529 1496 3863 0 0 0 0 0 0
4724 -0.68 -243.3 628.7 -11.6 547 4728 0.00 2.12 0.00 0.000 4 0.000 0.051 2518 2909 3860 0 0 0 0 0 0
4808 -0.68 -243.3 638.6 -11.4 551 4813 0.00 2.12 0.00 0.000 6 0.000 0.039 2519 1491 3859 0 0 0 0 0 0
5136 -0.65 -243.3 679.8 -12.6 567 5137 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1491 3857 0 0 0 0 0 0
5447 -0.63 -243.3 717.7 -11.8 582 5449 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1491 3854 0 0 0 0 0 0
5754 -0.63 -243.3 751.8 -10.7 597 5755 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1491 3853 0 0 0 0 0 0
6066 -0.63 -243.3 783.3 -10.0 612 6070 0.00 2.00 0.00 0.000 4 0.000 0.056 2521 212 3850 0 0 0 0 0 0
6098 -0.63 -243.3 787.3 -10.7 613 6102 0.00 1.98 0.00 0.000 6 0.000 0.043 2512 1492 3849 0 0 0 0 0 0
6421 -0.62 -243.3 821.3 -10.8 629 6425 0.12 2.17 0.00 0.000 4 0.165 0.057 2533 2908 3847 0 0 0 0 0 0
6463 -0.66 -243.3 825.1 -9.4 631 6467 0.00 2.10 0.00 0.000 6 0.000 0.043 2530 1505 3846 0 0 0 0 0 0
6790 -0.68 -243.3 856.1 -9.7 647 6792 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1504 3844 0 0 0 0 0 0
7102 -0.71 -243.3 886.4 -9.6 662 7106 0.00 2.17 0.00 0.000 4 0.000 0.060 2517 2905 3842 0 0 0 0 0 0
7185 -0.75 -243.3 894.5 -8.9 665 7193 0.00 2.15 0.00 0.000 6 0.000 0.044 2516 1495 3841 0 0 0 0 0 0
7502 -0.77 -243.3 923.4 -9.1 681 7506 0.00 2.20 0.00 0.000 4 0.000 0.060 2504 2904 3839 0 0 0 0 0 0
7576 -0.80 -243.3 929.6 -8.3 684 7580 0.00 2.12 0.00 0.000 6 0.000 0.044 2505 1495 3839 0 0 0 0 0 0
7897 -0.80 -243.3 959.8 -9.6 700 7901 0.00 2.22 0.00 0.000 4 0.000 0.060 2493 2914 3836 0 0 0 0 0 0
7940 -0.80 -243.3 963.7 -9.6 702 7944 0.00 2.17 0.00 0.000 6 0.000 0.046 2493 1492 3836 0 0 0 0 0 0
8182 end dive: TARGET_DEPTH_EXCEEDED
state 8182 begin apogee
8188 -0.18 0.0 990.4 11.3 714 8390 0.57 0.00 196.95 1.457 6 0.122 0.000 2683 1857 2884 0 0 0 0 0 0
8393 end apogee: CONTROL_FINISHED_OK
state 8393 begin climb
8395 0.83 243.3 1002.5 0.0 723 8618 0.90 0.00 218.18 1.386 6 0.055 0.000 3016 1857 1892 0 0 0 0 0 0
8917 0.62 243.3 908.2 22.3 749 8922 0.25 2.22 0.00 0.000 4 0.185 0.064 2936 3251 1884 0 0 0 0 0 0
8983 0.54 243.3 895.9 15.7 752 8987 0.00 2.20 0.00 0.000 6 0.000 0.044 2944 1844 1883 0 0 0 0 0 0
9308 0.43 243.3 844.8 16.2 768 9313 0.20 2.22 0.00 0.000 4 0.165 0.058 2880 3256 1881 0 0 0 0 0 0
9363 0.44 247.7 837.3 10.5 770 9371 0.00 2.17 0.00 0.000 6 0.000 0.043 2888 1841 1881 0 0 0 0 0 0
9682 0.47 288.3 806.0 9.5 786 9728 0.00 2.30 40.00 1.320 4 0.000 0.055 2898 447 1708 0 0 0 0 0 0
9756 0.51 326.4 798.3 9.5 789 9799 0.00 2.22 35.90 1.277 6 0.000 0.044 2898 1842 1551 0 0 0 0 0 0
10121 0.51 326.4 760.0 11.0 807 10125 0.00 2.28 0.00 0.000 4 0.000 0.060 2898 3269 1546 0 0 0 0 0 0
10160 0.51 326.4 755.2 11.7 809 10164 0.00 2.20 0.00 0.000 6 0.000 0.041 2908 1842 1546 0 0 0 0 0 0
10489 0.51 326.4 715.9 11.7 825 10493 0.00 2.17 0.00 0.000 4 0.000 0.054 2919 434 1545 0 0 0 0 0 0
10524 0.51 326.4 711.8 11.5 826 10531 0.00 2.20 0.00 0.000 6 0.000 0.044 2919 1862 1544 0 0 0 0 0 0
10841 0.49 326.4 671.9 13.1 842 10845 0.00 2.15 0.00 0.000 4 0.000 0.059 2919 3249 1544 0 0 0 0 0 0
10905 0.49 326.4 663.4 13.4 845 10909 0.00 2.12 0.00 0.000 6 0.000 0.041 2929 1848 1543 0 0 0 0 0 0
11232 0.45 326.4 619.5 13.0 861 11234 0.15 0.00 0.00 0.000 6 0.168 0.000 2888 1848 1544 0 0 0 0 0 0
11544 0.55 382.6 591.3 9.0 880 11595 0.00 0.00 48.28 1.191 6 0.000 0.000 2888 1848 1324 0 0 0 0 0 0
11913 0.68 447.2 559.0 8.7 915 11981 0.22 2.35 56.53 1.147 4 0.061 0.052 3003 446 1058 0 0 0 0 0 0
12029 0.63 447.2 536.8 20.1 925 12034 0.20 2.25 0.00 0.000 6 0.150 0.044 2949 1853 1056 0 0 0 0 0 0
12356 0.61 447.2 486.1 14.6 955 12360 0.00 2.17 0.00 0.000 4 0.000 0.057 2948 3256 1055 0 0 0 0 0 0
12407 0.61 447.2 478.5 14.2 959 12411 0.00 2.17 0.00 0.000 6 0.000 0.040 2956 1842 1055 0 0 0 0 0 0
12733 0.57 447.2 428.0 15.1 989 12734 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 1841 1054 0 0 0 0 0 0
13053 0.55 447.2 377.0 16.9 1019 13058 0.12 2.22 0.00 0.000 4 0.171 0.054 2914 3264 1054 0 0 0 0 0 0
13072 0.55 447.2 373.9 16.6 1020 13076 0.00 2.15 0.00 0.000 6 0.000 0.038 2922 1847 1054 0 0 0 0 0 0
13403 0.61 447.2 334.3 12.1 1051 13407 0.00 2.15 0.00 0.000 4 0.000 0.050 2935 437 1053 0 0 0 0 0 0
13445 0.68 447.2 329.5 11.9 1054 13451 0.00 2.15 0.00 0.000 6 0.000 0.037 2934 1862 1052 0 0 0 0 0 0
13772 0.81 496.6 294.8 9.2 1085 13820 0.20 2.25 40.53 0.918 4 0.063 0.046 3052 444 857 0 0 0 0 0 0
13859 0.72 496.6 278.6 22.4 1092 13864 0.22 2.17 0.00 0.000 6 0.142 0.039 2982 1846 855 0 0 0 0 0 0
14184 0.71 496.6 230.0 14.5 1135 14193 0.00 2.20 0.00 0.000 4 0.000 0.050 2973 3258 854 0 0 0 0 0 0
14263 0.77 496.6 219.5 11.2 1149 14273 0.00 2.17 0.00 0.000 6 0.000 0.037 2979 1841 853 0 0 0 0 0 0
14595 0.79 496.6 176.3 12.4 1210 14603 0.00 2.15 0.00 0.000 4 0.000 0.047 2991 448 853 0 0 0 0 0 0
14681 0.87 516.0 166.6 10.1 1225 14705 0.00 2.12 16.88 0.757 6 0.000 0.034 2995 1851 779 0 0 0 0 0 0
15025 0.89 516.0 127.5 11.8 1288 15034 0.10 2.17 0.00 0.000 4 0.097 0.047 3059 3250 777 0 0 0 0 0 0
15059 0.86 516.0 121.8 14.7 1293 15069 0.12 2.12 0.00 0.000 6 0.139 0.034 3025 1853 777 0 0 0 0 0 0
15391 0.95 549.9 74.7 9.6 1354 15429 0.00 2.22 28.48 0.698 4 0.000 0.046 3037 439 639 0 0 0 0 0 0
15464 1.14 636.0 68.1 8.1 1365 15511 0.17 2.15 39.12 0.688 6 0.035 0.032 3145 1857 452 0 0 0 0 0 0
15741 end climb: SURFACE_DEPTH_REACHED
state 15741 begin surface coast
15756 end surface coast: CONTROL_FINISHED_OK
state 15756 begin surface