OKMC Aug11 * SG166 * Dive index * Mission links * Dive 139 * 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  139 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  39 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  43 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  -24569.373 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  35 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  290811,202533,2235.483,12355.713,37,2.0,46,-3.1 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  1.79 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  290811,203216,2235.393,12355.771,13,2.2,32,-3.1 MHEAD_RNG_PITCHd_Wd  164.9,121327,-17.2,-9.706
SPEED_LIMITS  0.168,0.265 D_GRID  5000

Post-dive calculations and measurements:
FINISH  1.0,1.021605 _10V_AH  10.2,23.678
SM_CCo  15702,35.78,0.389,1,0,1253,400.08 FG_AHR_24Vo  0.000
SM_GC  1.67,0.00,0.00,35.78,0.000,0.000,0.389,138,1504,1253,-8.15,0.08,400.08,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2230.01,12356.95,290811,161638 MEM  330248
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83543,1472
HUMID  34.44 CAP_FILE_SIZE  160493,0
INTERNAL_PRESSURE  9.45807 CFSIZE  260165632,135102464
TCM_TEMP  25.90 ERRORS  0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  88 CURRENT  0.126,244.1,1
_24V_AH  23.2,34.053 GPS  300811,005638,2232.781,12355.649,50,1.5,50,-3.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1822699.68 SBE_CT100724560.75
Roll_motor13362193.60 AA38301508331154.63
VBD_pump_during_apogee448145515153.38 WL_BB2F17391054238.47
VBD_pump_during_surface35389323.18 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710366.63 nil000.00
Iridium_during_connect2116080.58 nil000.00
Iridium_during_xfer177223919.92 nil000.00
Transponder_ping22420214.37 nil000.00
GUMSTIX_24V000.00
GPS345017.67
TT8365819738.86
LPSleep79452177.48
TT8_Active57919116.94
TT8_Sampling3512391425.80
TT8_CF844445207.81
TT8_Kalman000.00
Analog_circuits190912233.67
GPS_charging000.00
Compass326715499.88
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 -0.68 -155.7 0.0 0.0 0 94 0.00 0.00 -74.60 0.000 2 0.000 0.000 137 1496 3048 0 0 0 0 0 0
97 -0.68 -155.7 5.4 -8.0 10 122 9.40 2.25 -9.55 0.000 4 0.226 0.057 2504 2910 3520 0 0 0 0 0 0
252 -0.68 -155.7 64.5 -29.2 37 260 0.00 2.20 0.00 0.000 6 0.000 0.037 2501 1503 3522 0 0 0 0 0 0
580 -0.68 -155.7 143.7 -20.6 98 587 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1503 3524 0 0 0 0 0 0
909 -0.68 -155.7 206.1 -18.8 159 916 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1503 3525 0 0 0 0 0 0
1240 -0.68 -155.7 269.7 -17.7 211 1244 0.00 2.15 0.00 0.000 4 0.000 0.047 2489 2903 3525 0 0 0 0 0 0
1264 -0.68 -155.7 274.1 -17.4 212 1273 0.08 2.17 0.00 0.000 6 0.145 0.039 2517 1498 3525 0 0 0 0 0 0
1588 -0.68 -155.7 323.4 -15.3 243 1589 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 1498 3525 0 0 0 0 0 0
1911 -0.68 -155.7 367.7 -13.0 273 1915 0.00 2.00 0.00 0.000 4 0.000 0.050 2522 203 3524 0 0 0 0 0 0
1949 -0.68 -155.7 373.8 -13.8 276 1957 0.00 1.98 0.00 0.000 6 0.000 0.037 2517 1494 3524 0 0 0 0 0 0
2275 -0.68 -155.7 416.0 -13.9 307 2278 0.00 2.00 0.00 0.000 4 0.000 0.048 2519 204 3523 0 0 0 0 0 0
2309 -0.68 -155.7 421.0 -14.8 310 2313 0.00 1.95 0.00 0.000 6 0.000 0.037 2520 1512 3522 0 0 0 0 0 0
2640 -0.68 -155.7 465.2 -13.5 341 2643 0.00 2.05 0.00 0.000 4 0.000 0.049 2520 203 3520 0 0 0 0 0 0
2702 -0.68 -155.7 473.8 -13.5 346 2709 0.00 1.95 0.00 0.000 6 0.000 0.037 2513 1508 3519 0 0 0 0 0 0
3028 -0.68 -155.7 514.8 -13.2 377 3029 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 1508 3518 0 0 0 0 0 0
3349 -0.68 -155.7 556.5 -13.6 407 3353 0.00 2.12 0.00 0.000 4 0.000 0.051 2502 2905 3515 0 0 0 0 0 0
3376 -0.68 -155.7 561.0 -13.7 409 3384 0.00 2.17 0.00 0.000 6 0.000 0.040 2502 1496 3515 0 0 0 0 0 0
3711 -0.68 -155.7 609.4 -14.5 438 3714 0.00 2.00 0.00 0.000 4 0.000 0.051 2502 204 3513 0 0 0 0 0 0
3828 -0.68 -155.7 626.7 -14.2 443 3832 0.08 2.00 0.00 0.000 6 0.148 0.040 2518 1499 3512 0 0 0 0 0 0
4157 -0.68 -155.7 662.9 -10.1 459 4161 0.00 2.15 0.00 0.000 4 0.000 0.053 2507 2908 3508 0 0 0 0 0 0
4195 -0.68 -155.7 666.8 -9.4 460 4203 0.00 2.12 0.00 0.000 6 0.000 0.041 2508 1494 3508 0 0 0 0 0 0
4511 -0.68 -155.7 699.5 -10.8 476 4515 0.00 2.00 0.00 0.000 4 0.000 0.053 2506 199 3506 0 0 0 0 0 0
4607 -0.68 -155.7 710.9 -12.2 480 4611 0.00 1.98 0.00 0.000 6 0.000 0.041 2496 1507 3505 0 0 0 0 0 0
4934 -0.68 -155.7 748.3 -11.4 496 4937 0.00 2.03 0.00 0.000 4 0.000 0.053 2494 205 3502 0 0 0 0 0 0
4996 -0.68 -155.7 755.9 -12.7 498 5004 0.12 2.00 0.00 0.000 6 0.171 0.042 2520 1510 3501 0 0 0 0 0 0
5313 -0.68 -155.7 786.2 -9.5 514 5317 0.00 2.17 0.00 0.000 4 0.000 0.059 2511 2910 3499 0 0 0 0 0 0
5368 -0.68 -155.7 791.6 -9.5 516 5372 0.00 2.12 0.00 0.000 6 0.000 0.042 2509 1495 3498 0 0 0 0 0 0
5692 -0.68 -155.7 823.9 -10.2 532 5693 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 1494 3496 0 0 0 0 0 0
5999 -0.68 -155.7 855.6 -10.4 547 6003 0.00 2.20 0.00 0.000 4 0.000 0.058 2501 2909 3494 0 0 0 0 0 0
6025 -0.68 -155.7 858.6 -10.3 548 6030 0.00 2.15 0.00 0.000 6 0.000 0.044 2502 1504 3494 0 0 0 0 0 0
6355 -0.68 -155.7 892.8 -10.3 564 6356 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 1504 3492 0 0 0 0 0 0
6662 -0.68 -155.7 924.6 -10.5 579 6666 0.00 2.03 0.00 0.000 4 0.000 0.059 2504 204 3490 0 0 0 0 0 0
6709 -0.68 -155.7 930.0 -12.1 581 6712 0.00 1.98 0.00 0.000 6 0.000 0.045 2495 1496 3489 0 0 0 0 0 0
7044 -0.68 -155.7 968.4 -11.6 597 7045 0.10 0.00 0.00 0.000 6 0.190 0.000 2519 1498 3488 0 0 0 0 0 0
7266 end dive: TARGET_DEPTH_EXCEEDED
state 7266 begin apogee
7272 -0.14 0.0 990.9 9.7 608 7408 0.52 0.00 127.12 1.455 6 0.129 0.000 2689 1862 2884 0 0 0 0 0 0
7409 end apogee: CONTROL_FINISHED_OK
state 7409 begin climb
7411 0.68 155.7 994.6 0.0 614 7556 0.77 0.00 141.73 1.398 6 0.076 0.000 2962 1862 2249 0 0 0 0 0 0
7857 0.68 155.7 938.4 14.3 636 7861 0.00 2.20 0.00 0.000 4 0.000 0.063 2962 3248 2241 0 0 0 0 0 0
7889 0.68 155.7 933.5 14.3 637 7893 0.00 2.17 0.00 0.000 6 0.000 0.044 2971 1850 2240 0 0 0 0 0 0
8211 0.68 155.7 885.9 15.0 653 8215 0.00 2.25 0.00 0.000 4 0.000 0.060 2971 3252 2238 0 0 0 0 0 0
8240 0.68 155.7 881.6 15.0 654 8245 0.00 2.17 0.00 0.000 6 0.000 0.044 2980 1839 2237 0 0 0 0 0 0
8556 0.68 155.7 832.2 16.0 669 8560 0.00 2.17 0.00 0.000 4 0.000 0.055 2990 435 2236 0 0 0 0 0 0
8574 0.68 155.7 829.2 16.1 670 8579 0.00 2.17 0.00 0.000 6 0.000 0.047 2984 1845 2236 0 0 0 0 0 0
8905 0.68 155.7 776.7 15.4 686 8909 0.00 2.20 0.00 0.000 4 0.000 0.060 2984 3268 2235 0 0 0 0 0 0
9040 0.68 155.7 753.6 16.7 692 9044 0.00 2.17 0.00 0.000 6 0.000 0.044 2992 1836 2233 0 0 0 0 0 0
9369 0.68 155.7 701.4 15.6 708 9373 0.00 2.25 0.00 0.000 4 0.000 0.057 2991 3263 2233 0 0 0 0 0 0
9432 0.68 155.7 691.2 16.0 711 9437 0.12 2.15 0.00 0.000 6 0.203 0.043 2971 1848 2232 0 0 0 0 0 0
9759 0.68 155.7 647.6 12.9 727 9763 0.00 2.17 0.00 0.000 4 0.000 0.051 2981 440 2231 0 0 0 0 0 0
9804 0.68 155.7 641.4 13.8 729 9808 0.00 2.15 0.00 0.000 6 0.000 0.041 2972 1856 2231 0 0 0 0 0 0
10126 0.68 155.7 601.5 12.5 745 10130 0.00 2.15 0.00 0.000 4 0.000 0.055 2962 3252 2231 0 0 0 0 0 0
10244 0.68 155.7 587.2 11.9 754 10251 0.00 2.15 0.00 0.000 6 0.000 0.041 2969 1835 2230 0 0 0 0 0 0
10569 0.68 155.7 548.1 13.1 785 10570 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 1835 2230 0 0 0 0 0 0
10891 0.68 155.7 504.4 13.5 815 10895 0.00 2.22 0.00 0.000 4 0.000 0.055 2964 3254 2231 0 0 0 0 0 0
10932 0.68 155.7 498.5 13.9 818 10936 0.00 2.12 0.00 0.000 6 0.000 0.041 2972 1836 2230 0 0 0 0 0 0
11257 0.68 155.7 453.5 12.4 848 11261 0.00 2.15 0.00 0.000 4 0.000 0.050 2983 437 2230 0 0 0 0 0 0
11300 0.68 155.7 447.8 12.9 851 11308 0.00 2.17 0.00 0.000 6 0.000 0.038 2976 1857 2230 0 0 0 0 0 0
11627 0.69 157.8 413.4 9.6 882 11631 0.00 2.15 0.00 0.000 4 0.000 0.054 2965 3257 2229 0 0 0 0 0 0
11648 0.69 157.8 411.1 9.8 883 11655 0.00 2.15 0.00 0.000 6 0.000 0.039 2974 1833 2229 0 0 0 0 0 0
11976 0.69 157.8 379.2 10.5 914 11980 0.00 2.20 0.00 0.000 4 0.000 0.050 2966 3250 2229 0 0 0 0 0 0
12015 0.69 157.8 374.7 10.7 917 12019 0.00 2.10 0.00 0.000 6 0.000 0.037 2975 1841 2229 0 0 0 0 0 0
12340 0.69 157.8 338.1 11.5 947 12344 0.00 2.12 0.00 0.000 4 0.000 0.047 2986 442 2229 0 0 0 0 0 0
12364 0.69 157.8 335.5 11.2 948 12371 0.00 2.10 0.00 0.000 6 0.000 0.037 2977 1854 2229 0 0 0 0 0 0
12689 0.69 157.8 301.2 10.1 979 12693 0.00 2.15 0.00 0.000 4 0.000 0.051 2967 3252 2229 0 0 0 0 0 0
12808 0.69 157.8 289.6 10.3 989 12812 0.00 2.10 0.00 0.000 6 0.000 0.037 2976 1840 2229 0 0 0 0 0 0
13135 0.69 157.8 256.2 10.5 1019 13139 0.00 2.17 0.00 0.000 4 0.000 0.047 2968 3257 2229 0 0 0 0 0 0
13167 0.69 157.8 252.9 10.7 1021 13171 0.00 2.10 0.00 0.000 6 0.000 0.036 2976 1851 2229 0 0 0 0 0 0
13491 0.72 189.8 222.1 8.4 1079 13522 0.00 0.00 27.20 0.838 6 0.000 0.000 2976 1851 2110 0 0 0 0 0 0
13844 0.76 219.4 191.6 8.5 1143 13875 0.00 0.00 26.30 0.799 6 0.000 0.000 2976 1851 1988 0 0 0 0 0 0
14196 0.76 219.4 154.9 11.6 1207 14204 0.00 2.22 0.00 0.000 4 0.000 0.045 2966 3254 1986 0 0 0 0 0 0
14272 0.76 219.4 145.1 12.1 1220 14280 0.00 2.15 0.00 0.000 6 0.000 0.034 2976 1849 1986 0 0 0 0 0 0
14598 0.77 229.0 111.3 9.3 1281 14615 0.00 2.15 9.80 0.658 4 0.000 0.043 2968 3258 1949 0 0 0 0 0 0
14682 0.79 244.4 103.6 9.1 1295 14706 0.00 2.15 14.50 0.686 6 0.000 0.034 2977 1852 1887 0 0 0 0 0 0
15029 0.87 308.0 73.8 7.0 1358 15091 0.15 2.28 54.62 0.701 4 0.076 0.043 3073 446 1628 0 0 0 0 0 0
15244 0.94 364.7 53.6 7.3 1394 15304 0.00 2.15 47.62 0.674 6 0.000 0.031 3073 1854 1396 0 0 0 0 0 0
15625 0.94 364.7 7.8 13.8 1462 15633 0.00 2.15 0.00 0.000 4 0.000 0.046 3073 3246 1393 0 0 0 0 0 0
15660 end climb: SURFACE_DEPTH_REACHED
state 15660 begin surface coast
15682 end surface coast: CONTROL_FINISHED_OK
state 15683 begin surface