OKMC Aug11 * SG166 * Dive index * Mission links * Dive 12 * 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  0
DIVE  12 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  1600 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1900 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  450 ROLL_TIMEOUT  15 XPDR_VALID  3
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  40 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  39 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  9 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  280 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  320 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  -8 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24389.643 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  2755 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  1 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  060811,134006,2107.626,12118.410,57,1.9,62,-2.6 TGT_NAME  NINNER
_CALLS  1 TGT_LATLONG  2114.000,12117.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.52 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -64.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  060811,134704,2107.757,12118.422,11,99.0,30,-2.6 MHEAD_RNG_PITCHd_Wd  350.6,11819,-16.1,-11.786
SPEED_LIMITS  0.204,0.345 D_GRID  3403

Post-dive calculations and measurements:
FINISH  0.8,1.012454 _10V_AH  10.3,3.605
SM_CCo  15180,0.00,0.000,0,0,809,509.00 FG_AHR_24Vo  0.000
SM_GC  1.61,7.68,0.00,0.00,0.044,0.000,0.000,151,1590,809,-8.07,-0.28,509.00,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2054.83,12055.45,060811,090906 MEM  324460
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  76897,1353
HUMID  32.39 CAP_FILE_SIZE  170019,0
INTERNAL_PRESSURE  9.38971 CFSIZE  260165632,146120704
TCM_TEMP  25.30 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  106 GPS  060811,180206,2111.627,12116.599,60,1.8,60,-2.6
_24V_AH  23.3,5.024

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20229109.75 SBE_CT92524517.75
Roll_motor13964209.05 AA38301384331064.33
VBD_pump_during_apogee650143521746.78 WL_BB2F14041053436.63
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910371.15 nil000.00
Iridium_during_connect63160236.69 nil000.00
Iridium_during_xfer157223819.47 nil000.00
Transponder_ping26420259.33 nil000.00
GUMSTIX_24V000.00
GPS325016.82
TT8322219657.23
LPSleep79862180.16
TT8_Active65319133.22
TT8_Sampling3323391362.51
TT8_CF839545186.76
TT8_Kalman000.00
Analog_circuits202012249.73
GPS_charging000.00
Compass304615470.74
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 -0.87 -243.3 0.0 0.0 0 112 0.00 0.00 -92.68 0.000 2 0.000 0.000 126 1793 3156 0 0 0 0 0 0
115 -0.87 -243.3 5.7 -8.7 13 145 9.05 2.45 -12.65 0.000 4 0.230 0.057 2477 198 3877 0 0 0 0 0 0
365 -0.73 -243.3 115.7 -30.3 59 374 0.15 2.15 0.00 0.000 6 0.157 0.037 2513 1601 3879 0 0 0 0 0 0
690 -0.60 -243.3 194.3 -25.4 120 698 0.17 2.17 0.00 0.000 4 0.164 0.047 2583 207 3880 0 0 0 0 0 0
755 -0.60 -243.3 208.4 -18.3 131 763 0.00 2.12 0.00 0.000 6 0.000 0.038 2567 1598 3881 0 0 0 0 0 0
1087 -0.60 -243.3 263.6 -14.0 184 1090 0.00 2.12 0.00 0.000 4 0.000 0.050 2552 3006 3880 0 0 0 0 0 0
1130 -0.62 -243.3 268.2 -11.6 187 1134 0.00 2.08 0.00 0.000 6 0.000 0.038 2554 1598 3881 0 0 0 0 0 0
1455 -0.62 -243.3 306.9 -12.0 217 1459 0.00 2.10 0.00 0.000 4 0.000 0.050 2554 202 3881 0 0 0 0 0 0
1621 -0.65 -243.3 327.6 -12.3 231 1629 0.00 2.08 0.00 0.000 6 0.000 0.037 2541 1605 3880 0 0 0 0 0 0
1947 -0.65 -243.3 368.1 -12.3 262 1948 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 1605 3878 0 0 0 0 0 0
2269 -0.66 -243.3 397.3 -8.5 292 2273 0.00 2.10 0.00 0.000 4 0.000 0.053 2530 3006 3876 0 0 0 0 0 0
2298 -0.69 -243.3 400.1 -8.7 294 2303 0.00 2.10 0.00 0.000 6 0.000 0.041 2531 1593 3876 0 0 0 0 0 0
2624 -0.69 -243.3 433.6 -8.8 324 2628 0.00 2.10 0.00 0.000 4 0.000 0.051 2530 204 3874 0 0 0 0 0 0
2827 -0.72 -243.3 451.2 -8.8 341 2834 0.00 2.08 0.00 0.000 6 0.000 0.040 2521 1595 3872 0 0 0 0 0 0
3152 -0.72 -243.3 483.9 -11.4 372 3156 0.00 2.15 0.00 0.000 4 0.000 0.054 2519 199 3869 0 0 0 0 0 0
3205 -0.72 -243.3 490.7 -13.4 376 3209 0.00 2.10 0.00 0.000 6 0.000 0.041 2509 1605 3869 0 0 0 0 0 0
3531 -0.72 -243.3 532.2 -12.1 406 3535 0.00 2.15 0.00 0.000 4 0.000 0.052 2509 203 3866 0 0 0 0 0 0
3630 -0.73 -243.3 544.2 -11.5 414 3634 0.00 2.12 0.00 0.000 6 0.000 0.041 2499 1612 3865 0 0 0 0 0 0
3955 -0.73 -243.3 580.0 -11.1 444 3956 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1612 3863 0 0 0 0 0 0
4281 -0.73 -243.3 618.8 -12.1 468 4285 0.00 2.17 0.00 0.000 4 0.000 0.055 2498 202 3860 0 0 0 0 0 0
4366 -0.73 -243.3 629.9 -12.7 472 4370 0.10 2.10 0.00 0.000 6 0.181 0.044 2514 1601 3859 0 0 0 0 0 0
4695 -0.75 -243.3 663.1 -9.8 488 4699 0.00 2.12 0.00 0.000 4 0.000 0.057 2505 3001 3856 0 0 0 0 0 0
4729 -0.79 -243.3 666.8 -10.1 489 4733 0.00 2.12 0.00 0.000 6 0.000 0.044 2505 1591 3856 0 0 0 0 0 0
5045 -0.79 -243.3 698.7 -10.0 504 5049 0.00 2.12 0.00 0.000 4 0.000 0.063 2505 198 3854 0 0 0 0 0 0
5163 -0.81 -243.3 711.1 -10.7 509 5167 0.00 2.12 0.00 0.000 6 0.000 0.044 2495 1593 3853 0 0 0 0 0 0
5485 -0.81 -243.3 743.8 -10.4 525 5486 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 1595 3851 0 0 0 0 0 0
5796 -0.81 -243.3 776.9 -10.7 540 5800 0.00 2.15 0.00 0.000 4 0.000 0.060 2484 3008 3848 0 0 0 0 0 0
5846 -0.83 -243.3 782.0 -9.4 542 5850 0.00 2.10 0.00 0.000 6 0.000 0.046 2484 1602 3848 0 0 0 0 0 0
6168 -0.83 -243.3 811.9 -9.0 558 6172 0.00 2.15 0.00 0.000 4 0.000 0.060 2484 205 3847 0 0 0 0 0 0
6254 -0.83 -243.3 820.8 -10.4 562 6258 0.00 2.12 0.00 0.000 6 0.000 0.047 2473 1611 3846 0 0 0 0 0 0
6582 -0.81 -243.3 857.6 -11.7 578 6586 0.00 2.17 0.00 0.000 4 0.000 0.059 2473 208 3844 0 0 0 0 0 0
6632 -0.81 -243.3 864.9 -14.3 580 6636 0.00 2.15 0.00 0.000 6 0.000 0.049 2463 1593 3844 0 0 0 0 0 0
6954 -0.78 -243.3 908.8 -13.6 596 6959 0.15 2.22 0.00 0.000 4 0.182 0.063 2496 3018 3841 0 0 0 0 0 0
7001 -0.83 -243.3 914.6 -12.0 598 7005 0.00 2.12 0.00 0.000 6 0.000 0.047 2496 1601 3841 0 0 0 0 0 0
7328 -0.84 -243.3 948.3 -10.1 614 7332 0.00 2.15 0.00 0.000 4 0.000 0.061 2496 207 3839 0 0 0 0 0 0
7380 -0.86 -243.3 954.1 -11.2 616 7384 0.00 2.15 0.00 0.000 6 0.000 0.050 2486 1605 3839 0 0 0 0 0 0
7702 -0.86 -243.3 987.1 -10.3 632 7703 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 1605 3837 0 0 0 0 0 0
7740 end dive: TARGET_DEPTH_EXCEEDED
state 7740 begin apogee
7746 -0.18 0.0 991.3 10.2 634 7950 0.62 0.00 198.55 1.436 6 0.138 0.000 2690 1910 2884 0 0 0 0 0 0
7951 end apogee: CONTROL_FINISHED_OK
state 7951 begin climb
7953 0.87 243.3 997.3 0.0 643 8181 0.98 2.38 217.90 1.369 4 0.061 0.063 3040 3300 1891 0 0 0 0 0 0
8277 0.65 243.3 929.0 29.6 657 8283 0.32 2.25 0.00 0.000 6 0.201 0.052 2968 1898 1886 0 0 0 0 0 0
8601 0.52 243.3 860.8 20.2 673 8606 0.17 2.25 0.00 0.000 4 0.205 0.064 2914 3297 1882 0 0 0 0 0 0
8665 0.47 243.3 849.7 15.5 676 8669 0.00 2.15 0.00 0.000 6 0.000 0.046 2922 1897 1882 0 0 0 0 0 0
8992 0.41 243.3 798.4 15.2 692 8997 0.12 2.20 0.00 0.000 4 0.194 0.057 2900 484 1881 0 0 0 0 0 0
9030 0.38 243.3 792.9 13.4 693 9037 0.00 2.17 0.00 0.000 6 0.000 0.047 2893 1895 1880 0 0 0 0 0 0
9348 0.36 243.3 753.6 12.8 709 9352 0.00 2.20 0.00 0.000 4 0.000 0.061 2893 3306 1880 0 0 0 0 0 0
9397 0.36 243.3 746.2 14.1 711 9401 0.00 2.17 0.00 0.000 6 0.000 0.045 2901 1902 1880 0 0 0 0 0 0
9720 0.34 243.3 702.2 13.4 727 9722 0.12 0.00 0.00 0.000 6 0.190 0.000 2871 1901 1879 0 0 0 0 0 0
10029 0.41 284.4 669.4 10.5 742 10072 0.00 2.28 36.42 1.227 4 0.000 0.057 2880 495 1723 0 0 0 0 0 0
10109 0.50 317.1 661.1 10.7 745 10145 0.10 2.22 31.02 1.180 6 0.106 0.045 2923 1911 1590 0 0 0 0 0 0
10468 0.46 317.1 606.7 15.0 763 10469 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 1912 1587 0 0 0 0 0 0
10787 0.44 317.1 556.7 15.7 790 10791 0.00 2.22 0.00 0.000 4 0.000 0.062 2923 3313 1586 0 0 0 0 0 0
10827 0.44 317.1 550.0 15.2 793 10832 0.15 2.15 0.00 0.000 6 0.183 0.044 2896 1898 1586 0 0 0 0 0 0
11152 0.48 330.2 515.0 11.4 823 11169 0.00 2.20 12.12 1.042 4 0.000 0.057 2903 495 1537 0 0 0 0 0 0
11217 0.51 330.2 507.1 12.6 828 11222 0.00 2.20 0.00 0.000 6 0.000 0.046 2904 1910 1536 0 0 0 0 0 0
11543 0.54 335.4 466.9 11.6 858 11556 0.00 2.22 6.28 0.869 4 0.000 0.054 2912 492 1516 0 0 0 0 0 0
11580 0.57 335.4 462.2 12.5 861 11584 0.00 2.17 0.00 0.000 6 0.000 0.044 2912 1891 1516 0 0 0 0 0 0
11905 0.59 352.8 421.6 11.2 891 11926 0.00 0.00 16.67 1.010 6 0.000 0.000 2912 1892 1445 0 0 0 0 0 0
12246 0.61 352.8 386.1 12.7 923 12251 0.12 2.20 0.00 0.000 4 0.099 0.056 2982 487 1443 0 0 0 0 0 0
12267 0.59 352.8 382.4 14.3 924 12275 0.12 2.20 0.00 0.000 6 0.179 0.044 2945 1913 1442 0 0 0 0 0 0
12594 0.57 352.8 330.9 14.6 955 12598 0.00 2.15 0.00 0.000 4 0.000 0.059 2936 3301 1442 0 0 0 0 0 0
12635 0.59 352.8 325.0 13.2 958 12639 0.00 2.12 0.00 0.000 6 0.000 0.044 2944 1891 1442 0 0 0 0 0 0
12962 0.59 352.8 280.6 13.3 988 12966 0.00 2.15 0.00 0.000 4 0.000 0.054 2956 492 1442 0 0 0 0 0 0
13068 0.59 352.8 266.9 12.5 997 13073 0.00 2.12 0.00 0.000 6 0.000 0.044 2948 1905 1441 0 0 0 0 0 0
13392 0.59 352.8 226.6 13.2 1044 13400 0.00 2.15 0.00 0.000 4 0.000 0.056 2939 3297 1441 0 0 0 0 0 0
13454 0.65 352.8 218.3 12.5 1055 13462 0.00 2.12 0.00 0.000 6 0.000 0.042 2945 1902 1441 0 0 0 0 0 0
13779 0.73 401.6 183.2 10.2 1116 13831 0.12 2.25 41.60 0.822 4 0.090 0.052 3022 495 1245 0 0 0 0 0 0
13852 0.67 401.6 171.9 17.6 1126 13861 0.15 2.20 0.00 0.000 6 0.137 0.040 2971 1900 1243 0 0 0 0 0 0
14180 0.69 422.1 130.6 11.1 1187 14203 0.00 2.25 18.02 0.729 4 0.000 0.053 2969 3307 1162 0 0 0 0 0 0
14257 0.84 495.8 122.4 9.4 1200 14329 0.10 2.17 60.72 0.741 6 0.048 0.039 3043 1901 860 0 0 0 0 0 0
14644 0.84 495.8 56.6 14.5 1270 14652 0.00 2.20 0.00 0.000 4 0.000 0.049 3054 502 858 0 0 0 0 0 0
14686 0.84 495.8 51.0 12.9 1277 14694 0.00 2.15 0.00 0.000 6 0.000 0.037 3054 1894 857 0 0 0 0 0 0
15010 0.86 495.8 10.3 11.9 1338 15018 0.00 2.17 0.00 0.000 4 0.000 0.048 3065 501 857 0 0 0 0 0 0
15057 0.90 508.1 4.8 11.4 1346 15073 0.00 2.15 10.68 0.568 6 0.000 0.038 3064 1912 812 0 0 0 0 0 0
15079 end climb: SURFACE_DEPTH_REACHED
state 15079 begin surface coast
15101 end surface coast: CONTROL_FINISHED_OK
state 15101 begin surface