OKMC Aug11 * SG166 * Dive index * Mission links * Dive 108 * 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  108 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  400 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  -24525.875 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  200 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  240811,074836,2315.565,12349.030,43,1.1,48,-3.3 TGT_NAME  N3
_CALLS  1 TGT_LATLONG  2130.000,12400.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.75 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -69.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  240811,075701,2315.601,12348.818,18,1.1,35,-3.3 MHEAD_RNG_PITCHd_Wd  153.9,196520,-16.6,-10.645
SPEED_LIMITS  0.184,0.302 D_GRID  5000

Post-dive calculations and measurements:
FINISH  1.1,1.021592 _10V_AH  10.2,18.773
SM_CCo  16507,0.00,0.000,0,0,1124,431.73 FG_AHR_24Vo  0.000
SM_GC  1.96,7.53,0.00,0.00,0.029,0.000,0.000,153,1551,1124,-8.03,1.44,431.73,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2307.44,12347.26,240811,030309 MEM  330260
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  83525,1499
HUMID  34.48 CAP_FILE_SIZE  175551,0
INTERNAL_PRESSURE  9.44831 CFSIZE  260165632,137707520
TCM_TEMP  25.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  78 CURRENT  0.163,294.4,1
_24V_AH  23.3,28.305 GPS  240811,123407,2313.865,12348.847,43,1.9,55,-3.3

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20221103.28 SBE_CT102524573.28
Roll_motor14061202.78 AA38301535331180.41
VBD_pump_during_apogee542145018333.92 WL_BB2F16761054102.07
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3110375.16 nil000.00
Iridium_during_connect39160147.37 nil000.00
Iridium_during_xfer2552231329.65 nil000.00
Transponder_ping19420190.83 nil000.00
GUMSTIX_24V000.00
GPS365018.64
TT8375819758.98
LPSleep85102190.12
TT8_Active60419122.09
TT8_Sampling3668391489.13
TT8_CF845345211.99
TT8_Kalman000.00
Analog_circuits201112246.16
GPS_charging000.00
Compass332115508.12
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
17 -0.83 -194.6 0.0 0.0 0 95 0.00 0.00 -75.40 0.000 2 0.000 0.000 128 1472 2986 0 0 0 0 0 0
98 -0.83 -194.6 5.3 -9.2 10 129 9.02 1.92 -13.80 0.000 4 0.221 0.050 2471 210 3680 0 0 0 0 0 0
233 -0.59 -194.6 58.5 -34.6 33 242 0.28 1.98 0.00 0.000 6 0.166 0.034 2544 1501 3681 0 0 0 0 0 0
560 -0.49 -194.6 131.0 -21.8 94 569 0.15 2.00 0.00 0.000 4 0.171 0.042 2587 215 3683 0 0 0 0 0 0
627 -0.49 -194.6 143.8 -16.3 105 635 0.00 1.92 0.00 0.000 6 0.000 0.031 2579 1505 3683 0 0 0 0 0 0
953 -0.49 -194.6 191.6 -10.3 166 960 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 1506 3683 0 0 0 0 0 0
1278 -0.49 -194.6 221.6 -10.2 227 1286 0.00 2.10 0.00 0.000 4 0.000 0.044 2569 2896 3683 0 0 0 0 0 0
1305 -0.49 -194.6 224.5 -10.9 231 1313 0.00 2.08 0.00 0.000 6 0.000 0.034 2569 1518 3683 0 0 0 0 0 0
1636 -0.49 -194.6 267.4 -14.5 281 1639 0.00 2.05 0.00 0.000 4 0.000 0.043 2561 2895 3683 0 0 0 0 0 0
1683 -0.53 -194.6 273.8 -13.2 285 1687 0.00 2.10 0.00 0.000 6 0.000 0.034 2561 1486 3683 0 0 0 0 0 0
2008 -0.53 -194.6 314.9 -12.1 315 2009 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 1486 3683 0 0 0 0 0 0
2331 -0.53 -194.6 346.7 -8.9 345 2337 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 1486 3681 0 0 0 0 0 0
2658 -0.55 -194.6 375.8 -9.4 376 2662 0.00 2.15 0.00 0.000 4 0.000 0.047 2553 2894 3680 0 0 0 0 0 0
2688 -0.58 -194.6 378.5 -9.4 378 2692 0.00 2.08 0.00 0.000 6 0.000 0.037 2568 1505 3680 0 0 0 0 0 0
3013 -0.60 -194.6 412.7 -10.7 408 3014 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 1505 3678 0 0 0 0 0 0
3337 -0.63 -194.6 452.6 -13.8 438 3341 0.00 2.15 0.00 0.000 4 0.000 0.050 2560 2897 3676 0 0 0 0 0 0
3433 -0.69 -194.6 464.3 -10.7 446 3437 0.12 2.12 0.00 0.000 6 0.082 0.039 2483 1491 3676 0 0 0 0 0 0
3760 -0.61 -194.6 514.7 -14.9 476 3768 0.22 0.00 0.00 0.000 6 0.152 0.000 2548 1491 3675 0 0 0 0 0 0
4086 -0.62 -194.6 544.1 -9.3 507 4090 0.00 1.98 0.00 0.000 4 0.000 0.051 2549 202 3672 0 0 0 0 0 0
4139 -0.65 -194.6 549.5 -10.6 511 4145 0.00 1.92 0.00 0.000 6 0.000 0.038 2541 1493 3672 0 0 0 0 0 0
4464 -0.65 -194.6 590.7 -13.5 542 4468 0.00 2.15 0.00 0.000 4 0.000 0.051 2531 2912 3670 0 0 0 0 0 0
4538 -0.68 -194.6 600.3 -12.6 548 4546 0.00 2.12 0.00 0.000 6 0.000 0.040 2531 1501 3669 0 0 0 0 0 0
4854 -0.68 -194.6 640.2 -12.2 564 4857 0.00 2.00 0.00 0.000 4 0.000 0.053 2531 195 3667 0 0 0 0 0 0
4878 -0.68 -194.6 643.1 -11.8 565 4882 0.00 1.95 0.00 0.000 6 0.000 0.039 2521 1497 3666 0 0 0 0 0 0
5213 -0.68 -194.6 683.6 -12.0 581 5217 0.00 2.00 0.00 0.000 4 0.000 0.058 2521 199 3664 0 0 0 0 0 0
5251 -0.68 -194.6 688.9 -12.8 582 5258 0.00 2.00 0.00 0.000 6 0.000 0.041 2511 1496 3663 0 0 0 0 0 0
5569 -0.66 -194.6 726.9 -12.1 598 5570 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 1496 3661 0 0 0 0 0 0
5877 -0.66 -194.6 767.4 -13.7 613 5881 0.00 2.17 0.00 0.000 4 0.000 0.056 2501 2908 3658 0 0 0 0 0 0
5909 -0.66 -194.6 772.3 -13.7 614 5917 0.12 2.15 0.00 0.000 6 0.158 0.043 2535 1491 3657 0 0 0 0 0 0
6228 -0.68 -194.6 811.0 -12.0 630 6232 0.00 2.20 0.00 0.000 4 0.000 0.057 2526 2908 3655 0 0 0 0 0 0
6261 -0.70 -194.6 815.2 -11.8 631 6265 0.00 2.15 0.00 0.000 6 0.000 0.044 2526 1494 3655 0 0 0 0 0 0
6577 -0.72 -194.6 849.4 -10.2 646 6581 0.00 2.20 0.00 0.000 4 0.000 0.058 2515 2906 3653 0 0 0 0 0 0
6607 -0.74 -194.6 852.5 -10.1 647 6611 0.00 2.15 0.00 0.000 6 0.000 0.044 2516 1493 3652 0 0 0 0 0 0
6928 -0.74 -194.6 886.2 -10.3 663 6929 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 1493 3650 0 0 0 0 0 0
7239 -0.74 -194.6 914.8 -8.6 678 7243 0.00 2.20 0.00 0.000 4 0.000 0.058 2503 2905 3648 0 0 0 0 0 0
7305 -0.76 -194.6 920.3 -8.3 681 7309 0.00 2.17 0.00 0.000 6 0.000 0.045 2504 1492 3647 0 0 0 0 0 0
7632 -0.76 -194.6 951.1 -9.9 697 7636 0.00 2.00 0.00 0.000 4 0.000 0.057 2504 204 3645 0 0 0 0 0 0
7695 -0.76 -194.6 958.1 -11.1 699 7702 0.00 1.98 0.00 0.000 6 0.000 0.044 2494 1499 3645 0 0 0 0 0 0
7968 end dive: TARGET_DEPTH_EXCEEDED
state 7968 begin apogee
7974 -0.18 0.0 990.5 12.5 713 8138 0.57 0.00 158.23 1.450 6 0.130 0.000 2674 1853 2884 0 0 0 0 0 0
8138 end apogee: CONTROL_FINISHED_OK
state 8138 begin climb
8141 0.83 194.6 998.9 0.0 720 8325 0.98 2.42 175.70 1.389 4 0.080 0.062 3003 3251 2090 0 0 0 0 0 0
8409 0.68 194.6 967.4 16.7 732 8414 0.17 2.22 0.00 0.000 6 0.190 0.044 2970 1853 2085 0 0 0 0 0 0
8727 0.57 194.6 925.5 13.6 747 8729 0.12 0.00 0.00 0.000 6 0.190 0.000 2935 1853 2080 0 0 0 0 0 0
9035 0.51 194.6 887.9 12.6 762 9038 0.00 2.20 0.00 0.000 4 0.000 0.059 2933 3249 2079 0 0 0 0 0 0
9092 0.45 194.6 880.0 13.7 764 9097 0.17 2.17 0.00 0.000 6 0.175 0.042 2896 1834 2078 0 0 0 0 0 0
9408 0.45 194.6 843.0 12.0 779 9409 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 1834 2078 0 0 0 0 0 0
9717 0.45 194.6 806.8 11.4 794 9721 0.00 2.22 0.00 0.000 4 0.000 0.056 2891 3252 2076 0 0 0 0 0 0
9768 0.45 194.6 800.8 11.6 796 9772 0.00 2.15 0.00 0.000 6 0.000 0.041 2899 1836 2075 0 0 0 0 0 0
10088 0.45 194.6 763.5 11.6 812 10090 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 1836 2075 0 0 0 0 0 0
10398 0.46 201.7 730.1 10.4 827 10408 0.00 2.22 4.88 0.910 4 0.000 0.055 2899 3259 2060 0 0 0 0 0 0
10467 0.47 210.7 723.0 10.3 830 10483 0.00 2.12 10.20 1.151 6 0.000 0.041 2906 1849 2024 0 0 0 0 0 0
10797 0.50 229.0 690.1 10.0 845 10820 0.00 2.28 17.52 1.212 4 0.000 0.052 2917 437 1950 0 0 0 0 0 0
10861 0.51 242.5 683.3 10.1 847 10881 0.00 2.20 13.57 1.156 6 0.000 0.040 2917 1856 1895 0 0 0 0 0 0
11200 0.51 256.3 648.5 10.1 864 11223 0.00 2.25 13.60 1.147 4 0.000 0.057 2915 3249 1838 0 0 0 0 0 0
11271 0.51 256.3 640.6 10.9 867 11275 0.00 2.15 0.00 0.000 6 0.000 0.039 2923 1851 1837 0 0 0 0 0 0
11604 0.51 256.3 599.3 13.3 883 11608 0.00 2.17 0.00 0.000 4 0.000 0.050 2934 439 1835 0 0 0 0 0 0
11649 0.51 256.3 593.3 13.1 886 11656 0.00 2.17 0.00 0.000 6 0.000 0.039 2934 1847 1833 0 0 0 0 0 0
11975 0.49 256.3 550.3 12.7 917 11979 0.12 2.20 0.00 0.000 4 0.171 0.054 2892 3266 1834 0 0 0 0 0 0
12080 0.61 313.4 540.7 8.6 926 12138 0.12 2.12 51.40 1.147 6 0.085 0.038 2967 1849 1606 0 0 0 0 0 0
12457 0.55 313.4 491.4 14.1 961 12462 0.15 2.25 0.00 0.000 4 0.167 0.052 2919 3266 1600 0 0 0 0 0 0
12497 0.57 313.4 486.2 12.0 964 12502 0.00 2.15 0.00 0.000 6 0.000 0.037 2928 1849 1599 0 0 0 0 0 0
12823 0.59 313.4 451.2 11.3 994 12827 0.00 2.17 0.00 0.000 4 0.000 0.050 2939 440 1599 0 0 0 0 0 0
12896 0.62 313.4 442.3 12.6 1000 12900 0.00 2.17 0.00 0.000 6 0.000 0.038 2940 1867 1597 0 0 0 0 0 0
13221 0.62 313.4 403.8 11.2 1030 13225 0.00 2.12 0.00 0.000 4 0.000 0.053 2946 3248 1597 0 0 0 0 0 0
13295 0.69 338.7 396.3 9.7 1036 13322 0.00 2.10 21.73 0.987 6 0.000 0.037 2950 1840 1503 0 0 0 0 0 0
13648 0.69 338.7 360.9 11.8 1069 13650 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 1840 1499 0 0 0 0 0 0
13970 0.69 338.7 315.5 14.3 1099 13974 0.00 2.12 0.00 0.000 4 0.000 0.047 2966 438 1499 0 0 0 0 0 0
13988 0.69 338.7 312.9 13.3 1100 13992 0.00 2.12 0.00 0.000 6 0.000 0.034 2967 1844 1498 0 0 0 0 0 0
14313 0.69 338.7 269.0 13.2 1130 14317 0.00 2.12 0.00 0.000 4 0.000 0.049 2968 3255 1498 0 0 0 0 0 0
14396 0.72 338.7 259.4 12.3 1137 14400 0.00 2.12 0.00 0.000 6 0.000 0.035 2976 1838 1498 0 0 0 0 0 0
14721 0.72 338.7 213.7 14.3 1191 14729 0.00 2.15 0.00 0.000 4 0.000 0.046 2987 437 1498 0 0 0 0 0 0
14769 0.74 338.7 206.5 14.2 1199 14777 0.00 2.15 0.00 0.000 6 0.000 0.035 2987 1859 1498 0 0 0 0 0 0
15095 0.74 338.7 159.3 14.1 1260 15104 0.00 2.12 0.00 0.000 4 0.000 0.049 2987 3246 1498 0 0 0 0 0 0
15207 0.76 338.7 146.0 10.6 1280 15216 0.00 2.10 0.00 0.000 6 0.000 0.034 2996 1849 1498 0 0 0 0 0 0
15535 0.76 338.7 108.0 16.3 1341 15543 0.00 2.15 0.00 0.000 4 0.000 0.045 3006 440 1498 0 0 0 0 0 0
15609 0.78 338.7 95.7 15.1 1354 15617 0.00 2.12 0.00 0.000 6 0.000 0.033 3006 1848 1499 0 0 0 0 0 0
15938 0.93 430.4 60.3 7.3 1415 16022 0.10 2.20 75.68 0.705 4 0.098 0.044 3066 3260 1128 0 0 0 0 0 0
16054 0.93 430.4 47.5 12.6 1431 16063 0.08 2.17 0.00 0.000 6 0.137 0.034 3050 1857 1127 0 0 0 0 0 0
16386 0.94 430.4 5.2 11.8 1492 16394 0.00 2.20 0.00 0.000 4 0.000 0.045 3058 435 1125 0 0 0 0 0 0
16401 end climb: SURFACE_DEPTH_REACHED
state 16401 begin surface coast
16428 end surface coast: CONTROL_FINISHED_OK
state 16429 begin surface