OKMC Aug11 * SG166 * Dive index * Mission links * Dive 136 * 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 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  30
DIVE  136 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  53 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  340 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  370 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  -24565.404 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  160 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  290811,084401,2238.799,12353.555,42,1.7,42,-3.1 TGT_NAME  N3
_CALLS  3 TGT_LATLONG  2130.000,12400.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.71 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -63.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  290811,085444,2238.961,12353.452,13,1.8,13,-3.1 MHEAD_RNG_PITCHd_Wd  136.0,128214,-17.2,-9.706
SPEED_LIMITS  0.168,0.265 D_GRID  5000

Post-dive calculations and measurements:
FINISH  0.9,1.021580 _10V_AH  10.2,23.206
SM_CCo  13017,34.17,0.382,1,0,1253,400.08 FG_AHR_24Vo  0.000
SM_GC  1.81,0.00,0.00,34.17,0.000,0.000,0.382,146,1481,1253,-8.12,-0.51,400.08,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2232.34,12353.71,290811,080803 MEM  330212
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  70238,1253
HUMID  35.43 CAP_FILE_SIZE  142771,0
INTERNAL_PRESSURE  9.45807 CFSIZE  260165632,135372800
TCM_TEMP  25.40 ERRORS  0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  73 CURRENT  0.155,316.5,1
_24V_AH  23.3,33.564 GPS  290811,123446,2238.736,12354.463,62,2.2,81,-3.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19228102.73 SBE_CT85524478.67
Roll_motor12361176.64 AA3830128233985.79
VBD_pump_during_apogee447145015110.70 WL_BB2F16071053933.82
VBD_pump_during_surface34381303.97 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init92103221.25 nil000.00
Iridium_during_connect90160338.53 nil000.00
Iridium_during_xfer174223907.72 nil000.00
Transponder_ping18420178.59 nil000.00
GUMSTIX_24V000.00
GPS14507.37
TT8311619629.40
LPSleep63282141.37
TT8_Active53919108.99
TT8_Sampling3311391344.29
TT8_CF839245183.21
TT8_Kalman000.00
Analog_circuits176012215.45
GPS_charging000.00
Compass294615450.77
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 -0.81 -155.7 0.0 0.0 0 92 0.00 0.00 -73.00 0.000 2 0.000 0.000 132 1486 3018 0 0 0 0 0 0
96 -0.81 -155.7 5.7 -10.5 10 121 9.30 2.25 -9.52 0.000 4 0.229 0.056 2466 2914 3521 0 0 0 0 0 0
214 -0.81 -155.7 54.1 -35.3 30 222 0.00 2.15 0.00 0.000 6 0.000 0.034 2466 1509 3523 0 0 0 0 0 0
539 -0.81 -155.7 140.2 -22.2 91 546 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 1510 3525 0 0 0 0 0 0
867 -0.81 -155.7 208.6 -21.5 152 876 0.00 2.03 0.00 0.000 4 0.000 0.047 2465 205 3526 0 0 0 0 0 0
1009 -0.81 -155.7 240.1 -20.9 178 1017 0.00 1.98 0.00 0.000 6 0.000 0.037 2457 1496 3526 0 0 0 0 0 0
1337 -0.81 -155.7 306.2 -20.6 213 1341 0.00 2.00 0.00 0.000 4 0.000 0.046 2457 202 3526 0 0 0 0 0 0
1416 -0.81 -155.7 323.4 -21.1 220 1421 0.12 1.95 0.00 0.000 6 0.180 0.035 2481 1501 3525 0 0 0 0 0 0
1741 -0.81 -155.7 378.7 -16.0 250 1745 0.00 2.00 0.00 0.000 4 0.000 0.048 2489 210 3525 0 0 0 0 0 0
1814 -0.81 -155.7 391.4 -16.6 256 1822 0.00 1.95 0.00 0.000 6 0.000 0.037 2489 1509 3524 0 0 0 0 0 0
2139 -0.81 -155.7 444.3 -16.3 287 2143 0.00 2.12 0.00 0.000 4 0.000 0.048 2481 2911 3522 0 0 0 0 0 0
2160 -0.81 -155.7 448.0 -16.2 288 2170 0.00 2.15 0.00 0.000 6 0.000 0.038 2481 1508 3522 0 0 0 0 0 0
2486 -0.81 -155.7 502.6 -15.6 319 2490 0.00 2.03 0.00 0.000 4 0.000 0.050 2482 190 3520 0 0 0 0 0 0
2660 -0.81 -155.7 532.3 -16.1 334 2667 0.00 1.98 0.00 0.000 6 0.000 0.037 2471 1502 3518 0 0 0 0 0 0
2986 -0.81 -155.7 578.4 -13.6 365 2990 0.00 2.03 0.00 0.000 4 0.000 0.050 2472 196 3516 0 0 0 0 0 0
3146 -0.81 -155.7 601.7 -14.4 379 3149 0.00 1.98 0.00 0.000 6 0.000 0.038 2463 1502 3515 0 0 0 0 0 0
3480 -0.81 -155.7 648.5 -13.9 395 3484 0.00 2.00 0.00 0.000 4 0.000 0.051 2459 199 3511 0 0 0 0 0 0
3602 -0.81 -155.7 667.4 -14.8 400 3607 0.10 2.00 0.00 0.000 6 0.158 0.039 2488 1503 3509 0 0 0 0 0 0
3926 -0.81 -155.7 707.9 -12.9 416 3930 0.00 2.00 0.00 0.000 4 0.000 0.052 2485 200 3506 0 0 0 0 0 0
3981 -0.81 -155.7 715.9 -13.8 418 3985 0.00 2.00 0.00 0.000 6 0.000 0.040 2475 1502 3506 0 0 0 0 0 0
4305 -0.81 -155.7 760.3 -14.0 434 4309 0.00 2.03 0.00 0.000 4 0.000 0.054 2481 201 3503 0 0 0 0 0 0
4378 -0.81 -155.7 771.2 -14.3 437 4382 0.00 1.95 0.00 0.000 6 0.000 0.040 2472 1500 3502 0 0 0 0 0 0
4706 -0.81 -155.7 815.8 -13.4 453 4710 0.00 2.05 0.00 0.000 4 0.000 0.054 2473 196 3499 0 0 0 0 0 0
4741 -0.81 -155.7 820.8 -14.9 454 4744 0.00 2.00 0.00 0.000 6 0.000 0.043 2465 1498 3499 0 0 0 0 0 0
5062 -0.81 -155.7 866.1 -14.0 470 5066 0.00 2.15 0.00 0.000 4 0.000 0.056 2454 2904 3496 0 0 0 0 0 0
5100 -0.81 -155.7 871.5 -13.9 471 5107 0.12 2.12 0.00 0.000 6 0.172 0.043 2487 1501 3496 0 0 0 0 0 0
5418 -0.81 -155.7 912.2 -12.6 487 5421 0.00 2.03 0.00 0.000 4 0.000 0.057 2490 198 3493 0 0 0 0 0 0
5557 -0.81 -155.7 931.7 -13.8 493 5561 0.00 2.03 0.00 0.000 6 0.000 0.043 2482 1505 3492 0 0 0 0 0 0
5887 -0.81 -155.7 973.1 -12.9 509 5888 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 1506 3490 0 0 0 0 0 0
6026 end dive: TARGET_DEPTH_EXCEEDED
state 6026 begin apogee
6032 -0.18 0.0 991.5 12.6 516 6166 0.62 0.00 126.78 1.450 6 0.138 0.000 2678 1856 2884 0 0 0 0 0 0
6166 end apogee: CONTROL_FINISHED_OK
state 6167 begin climb
6169 0.81 155.7 996.5 0.0 522 6319 0.95 2.45 139.93 1.391 4 0.080 0.061 3003 3255 2248 0 0 0 0 0 0
6367 0.81 155.7 974.6 16.8 531 6371 0.00 2.28 0.00 0.000 6 0.000 0.045 3012 1851 2244 0 0 0 0 0 0
6699 0.81 155.7 915.7 17.5 547 6703 0.00 2.20 0.00 0.000 4 0.000 0.055 3023 441 2239 0 0 0 0 0 0
6731 0.81 155.7 909.8 17.8 548 6739 0.00 2.20 0.00 0.000 6 0.000 0.047 3021 1845 2238 0 0 0 0 0 0
7049 0.81 155.7 853.1 18.2 564 7053 0.00 2.20 0.00 0.000 4 0.000 0.059 3012 3257 2236 0 0 0 0 0 0
7166 0.81 155.7 831.2 18.3 569 7170 0.00 2.20 0.00 0.000 6 0.000 0.044 3020 1824 2236 0 0 0 0 0 0
7496 0.81 155.7 768.7 19.6 585 7500 0.00 2.22 0.00 0.000 4 0.000 0.057 3011 3257 2234 0 0 0 0 0 0
7558 0.81 155.7 756.4 18.8 588 7562 0.00 2.15 0.00 0.000 6 0.000 0.042 3019 1848 2233 0 0 0 0 0 0
7885 0.81 155.7 695.6 18.6 604 7889 0.00 2.20 0.00 0.000 4 0.000 0.054 3009 3263 2233 0 0 0 0 0 0
7936 0.81 155.7 685.7 19.5 606 7940 0.00 2.15 0.00 0.000 6 0.000 0.041 3018 1850 2231 0 0 0 0 0 0
8252 0.81 155.7 625.4 18.7 621 8256 0.00 2.15 0.00 0.000 4 0.000 0.050 3028 443 2231 0 0 0 0 0 0
8296 0.81 155.7 616.7 19.3 623 8300 0.00 2.17 0.00 0.000 6 0.000 0.040 3019 1869 2231 0 0 0 0 0 0
8625 0.81 155.7 561.7 16.4 649 8629 0.00 2.12 0.00 0.000 4 0.000 0.052 3009 3254 2230 0 0 0 0 0 0
8703 0.81 155.7 547.6 16.7 655 8710 0.00 2.12 0.00 0.000 6 0.000 0.040 3020 1849 2230 0 0 0 0 0 0
9029 0.81 155.7 492.6 18.0 686 9033 0.00 2.20 0.00 0.000 4 0.000 0.051 3012 3266 2229 0 0 0 0 0 0
9059 0.81 155.7 487.3 18.3 688 9063 0.00 2.15 0.00 0.000 6 0.000 0.038 3021 1848 2229 0 0 0 0 0 0
9386 0.81 155.7 434.9 15.7 718 9390 0.00 2.20 0.00 0.000 4 0.000 0.050 3013 3263 2229 0 0 0 0 0 0
9486 0.81 155.7 419.7 14.9 726 9493 0.00 2.15 0.00 0.000 6 0.000 0.038 3022 1840 2228 0 0 0 0 0 0
9812 0.81 155.7 374.0 14.8 757 9816 0.00 2.20 0.00 0.000 4 0.000 0.050 3014 3260 2228 0 0 0 0 0 0
9897 0.81 155.7 361.0 15.1 764 9901 0.00 2.12 0.00 0.000 6 0.000 0.037 3022 1851 2227 0 0 0 0 0 0
10222 0.81 155.7 311.6 14.1 794 10223 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 1850 2228 0 0 0 0 0 0
10542 0.81 155.7 269.2 13.7 824 10546 0.00 2.17 0.00 0.000 4 0.000 0.047 3015 3267 2227 0 0 0 0 0 0
10565 0.81 155.7 265.8 14.0 825 10571 0.00 2.15 0.00 0.000 6 0.000 0.035 3023 1838 2227 0 0 0 0 0 0
10889 0.81 155.7 225.6 11.8 875 10897 0.00 2.20 0.00 0.000 4 0.000 0.047 3014 3252 2227 0 0 0 0 0 0
10922 0.81 155.7 221.5 12.9 880 10931 0.00 2.12 0.00 0.000 6 0.000 0.035 3023 1852 2228 0 0 0 0 0 0
11250 0.81 155.7 185.9 10.9 941 11258 0.00 2.17 0.00 0.000 4 0.000 0.046 3014 3252 2228 0 0 0 0 0 0
11308 0.81 155.7 179.5 10.5 951 11316 0.00 2.12 0.00 0.000 6 0.000 0.035 3022 1850 2227 0 0 0 0 0 0
11632 0.81 155.7 143.1 12.6 1012 11641 0.00 2.15 0.00 0.000 4 0.000 0.044 3032 448 2228 0 0 0 0 0 0
11675 0.81 155.7 137.8 12.4 1019 11683 0.00 2.12 0.00 0.000 6 0.000 0.034 3024 1854 2228 0 0 0 0 0 0
12001 0.84 187.5 109.0 8.4 1080 12032 0.00 2.20 25.02 0.737 4 0.000 0.047 3016 3257 2119 0 0 0 0 0 0
12075 0.86 196.1 102.3 9.3 1091 12092 0.00 2.15 8.88 0.640 6 0.000 0.035 3024 1852 2084 0 0 0 0 0 0
12414 0.96 280.4 71.6 6.2 1153 12490 0.00 2.30 70.72 0.710 4 0.000 0.045 3017 3261 1739 0 0 0 0 0 0
12662 1.07 371.5 54.3 5.9 1195 12747 0.15 2.17 75.80 0.681 6 0.044 0.035 3118 1853 1369 0 0 0 0 0 0
12986 end climb: SURFACE_DEPTH_REACHED
state 12987 begin surface coast
12999 end surface coast: CONTROL_FINISHED_OK
state 12999 begin surface