OKMC Aug11 * SG166 * Dive index * Mission links * Dive 143 * 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  143 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  40 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  -24574.404 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  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  300811,143127,2227.318,12356.129,42,2.5,61,-3.1 TGT_NAME  N3
_CALLS  2 TGT_LATLONG  2130.000,12400.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.74 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  300811,144333,2227.382,12356.214,14,2.8,33,-3.1 MHEAD_RNG_PITCHd_Wd  151.5,106472,-17.2,-9.706
SPEED_LIMITS  0.168,0.265 D_GRID  5000

Post-dive calculations and measurements:
FINISH  1.1,1.021811 _10V_AH  10.2,24.357
SM_CCo  15795,0.00,0.000,0,0,1013,458.96 FG_AHR_24Vo  0.000
SM_GC  1.94,7.65,0.00,0.00,0.037,0.000,0.000,143,1526,1013,-8.04,0.74,458.96,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2220.67,12354.34,300811,141446 MEM  330196
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83606,1476
HUMID  33.69 CAP_FILE_SIZE  166536,0
INTERNAL_PRESSURE  9.44831 CFSIZE  260165632,134750208
TCM_TEMP  26.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  83 CURRENT  0.055,253.8,1
_24V_AH  23.1,34.736 GPS  300811,190855,2225.435,12357.158,66,1.8,66,-3.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1922499.23 SBE_CT100824558.94
Roll_motor14161199.58 AA38301509331150.49
VBD_pump_during_apogee523146117673.65 WL_BB2F17931054349.78
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init46103110.28 nil000.00
Iridium_during_connect64160238.11 nil000.00
Iridium_during_xfer3682231896.01 nil000.00
Transponder_ping20420201.32 nil000.00
GUMSTIX_24V000.00
GPS345017.81
TT8363119733.48
LPSleep80522179.88
TT8_Active57219115.71
TT8_Sampling3792391539.54
TT8_CF845245211.45
TT8_Kalman000.00
Analog_circuits195912239.79
GPS_charging000.00
Compass329815504.65
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
18 -0.68 -155.7 0.0 0.0 0 97 0.00 0.00 -76.68 0.000 2 0.000 0.000 122 1482 3132 0 0 0 0 0 0
100 -0.68 -155.7 5.7 -9.9 11 125 9.45 2.17 -7.55 0.000 4 0.225 0.053 2504 2908 3520 0 0 0 0 0 0
207 -0.68 -155.7 47.2 -32.0 29 216 0.00 2.15 0.00 0.000 6 0.000 0.034 2500 1516 3521 0 0 0 0 0 0
534 -0.68 -155.7 132.7 -25.9 90 541 0.00 2.20 0.00 0.000 4 0.000 0.048 2488 2909 3523 0 0 0 0 0 0
574 -0.68 -155.7 141.9 -23.7 96 582 0.08 2.17 0.00 0.000 6 0.157 0.036 2514 1491 3523 0 0 0 0 0 0
899 -0.68 -155.7 206.3 -18.1 157 907 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 1491 3524 0 0 0 0 0 0
1233 -0.68 -155.7 261.0 -17.4 213 1236 0.00 1.98 0.00 0.000 4 0.000 0.045 2518 202 3524 0 0 0 0 0 0
1316 -0.68 -155.7 274.9 -15.6 220 1324 0.00 1.98 0.00 0.000 6 0.000 0.036 2511 1496 3524 0 0 0 0 0 0
1641 -0.68 -155.7 323.2 -14.5 251 1645 0.00 2.00 0.00 0.000 4 0.000 0.045 2511 205 3523 0 0 0 0 0 0
1681 -0.68 -155.7 329.2 -14.5 254 1688 0.00 1.98 0.00 0.000 6 0.000 0.036 2503 1514 3523 0 0 0 0 0 0
2006 -0.68 -155.7 375.2 -14.6 285 2008 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 1515 3522 0 0 0 0 0 0
2328 -0.68 -155.7 418.6 -13.9 315 2332 0.00 2.05 0.00 0.000 4 0.000 0.047 2504 193 3519 0 0 0 0 0 0
2378 -0.68 -155.7 426.3 -14.3 319 2385 0.00 2.00 0.00 0.000 6 0.000 0.037 2503 1502 3519 0 0 0 0 0 0
2706 -0.68 -155.7 468.3 -12.9 350 2709 0.00 2.03 0.00 0.000 4 0.000 0.048 2513 193 3517 0 0 0 0 0 0
2807 -0.68 -155.7 482.6 -13.6 359 2811 0.00 1.98 0.00 0.000 6 0.000 0.037 2503 1504 3516 0 0 0 0 0 0
3140 -0.68 -155.7 526.3 -13.5 390 3141 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 1504 3513 0 0 0 0 0 0
3459 -0.68 -155.7 566.5 -12.8 420 3465 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 1505 3511 0 0 0 0 0 0
3795 -0.68 -155.7 609.8 -13.4 449 3798 0.00 2.03 0.00 0.000 4 0.000 0.050 2502 201 3508 0 0 0 0 0 0
3878 -0.68 -155.7 622.2 -14.7 452 3886 0.08 2.00 0.00 0.000 6 0.149 0.040 2516 1495 3507 0 0 0 0 0 0
4194 -0.68 -155.7 658.3 -10.9 468 4198 0.00 2.17 0.00 0.000 4 0.000 0.054 2505 2914 3504 0 0 0 0 0 0
4220 -0.68 -155.7 660.7 -10.7 469 4224 0.00 2.15 0.00 0.000 6 0.000 0.041 2505 1496 3504 0 0 0 0 0 0
4547 -0.68 -155.7 694.6 -10.2 485 4550 0.00 2.00 0.00 0.000 4 0.000 0.054 2503 198 3501 0 0 0 0 0 0
4592 -0.68 -155.7 699.7 -11.8 487 4597 0.12 2.03 0.00 0.000 6 0.169 0.048 2524 1513 3500 0 0 0 0 0 0
4923 -0.68 -155.7 728.9 -8.9 503 4926 0.00 2.03 0.00 0.000 4 0.000 0.054 2525 202 3497 0 0 0 0 0 0
4946 -0.68 -155.7 731.4 -8.9 504 4950 0.00 1.98 0.00 0.000 6 0.000 0.043 2516 1501 3497 0 0 0 0 0 0
5281 -0.68 -155.7 762.4 -9.5 520 5285 0.00 2.15 0.00 0.000 4 0.000 0.057 2507 2907 3494 0 0 0 0 0 0
5313 -0.68 -155.7 765.9 -9.4 521 5321 0.00 2.12 0.00 0.000 6 0.000 0.041 2507 1504 3494 0 0 0 0 0 0
5630 -0.68 -155.7 796.4 -9.6 537 5634 0.00 2.20 0.00 0.000 4 0.000 0.057 2497 2904 3492 0 0 0 0 0 0
5650 -0.68 -155.7 798.2 -9.5 538 5654 0.00 2.15 0.00 0.000 6 0.000 0.042 2498 1499 3491 0 0 0 0 0 0
5977 -0.68 -155.7 833.2 -10.9 554 5981 0.00 2.00 0.00 0.000 4 0.000 0.056 2502 205 3489 0 0 0 0 0 0
6045 -0.68 -155.7 841.6 -12.5 557 6048 0.00 1.98 0.00 0.000 6 0.000 0.044 2496 1501 3488 0 0 0 0 0 0
6379 -0.68 -155.7 880.9 -11.7 573 6383 0.00 2.20 0.00 0.000 4 0.000 0.059 2486 2909 3486 0 0 0 0 0 0
6401 -0.68 -155.7 883.6 -11.6 574 6406 0.12 2.17 0.00 0.000 6 0.166 0.044 2519 1490 3486 0 0 0 0 0 0
6725 -0.68 -155.7 912.4 -8.5 590 6729 0.00 2.25 0.00 0.000 4 0.000 0.059 2511 2913 3484 0 0 0 0 0 0
6752 -0.68 -155.7 915.0 -8.2 591 6756 0.00 2.17 0.00 0.000 6 0.000 0.044 2511 1495 3484 0 0 0 0 0 0
7074 -0.68 -155.7 940.9 -8.0 607 7075 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 1495 3483 0 0 0 0 0 0
7385 -0.68 -155.7 964.6 -7.7 622 7389 0.00 2.22 0.00 0.000 4 0.000 0.060 2500 2908 3480 0 0 0 0 0 0
7413 -0.68 -155.7 967.0 -7.5 623 7417 0.00 2.17 0.00 0.000 6 0.000 0.044 2500 1496 3480 0 0 0 0 0 0
7697 end dive: TARGET_DEPTH_EXCEEDED
state 7697 begin apogee
7704 -0.14 0.0 990.6 8.5 637 7836 0.60 0.00 125.47 1.462 6 0.136 0.000 2688 1862 2884 0 0 0 0 0 0
7836 end apogee: CONTROL_FINISHED_OK
state 7836 begin climb
7839 0.68 155.7 992.0 0.0 643 7992 0.80 2.42 140.75 1.407 4 0.078 0.061 2965 3263 2248 0 0 0 0 0 0
8008 0.68 155.7 973.2 15.8 650 8015 0.00 2.33 0.00 0.000 6 0.000 0.044 2974 1855 2246 0 0 0 0 0 0
8325 0.68 155.7 920.4 16.7 666 8329 0.00 2.25 0.00 0.000 4 0.000 0.059 2969 3257 2240 0 0 0 0 0 0
8393 0.68 155.7 908.5 16.9 669 8398 0.00 2.17 0.00 0.000 6 0.000 0.044 2977 1845 2239 0 0 0 0 0 0
8715 0.68 155.7 857.2 15.3 685 8716 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 1845 2237 0 0 0 0 0 0
9026 0.68 155.7 812.2 14.4 700 9027 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 1845 2236 0 0 0 0 0 0
9334 0.68 155.7 767.3 14.8 715 9337 0.00 2.20 0.00 0.000 4 0.000 0.055 2968 3252 2235 0 0 0 0 0 0
9389 0.68 155.7 758.7 15.3 717 9393 0.00 2.17 0.00 0.000 6 0.000 0.041 2976 1849 2234 0 0 0 0 0 0
9712 0.68 155.7 710.1 15.3 733 9716 0.00 2.17 0.00 0.000 4 0.000 0.052 2987 434 2234 0 0 0 0 0 0
9751 0.68 155.7 703.3 16.9 734 9758 0.00 2.20 0.00 0.000 6 0.000 0.043 2978 1850 2233 0 0 0 0 0 0
10067 0.68 155.7 652.5 16.2 750 10071 0.00 2.20 0.00 0.000 4 0.000 0.058 2968 3264 2233 0 0 0 0 0 0
10209 0.68 155.7 630.3 15.2 756 10213 0.00 2.15 0.00 0.000 6 0.000 0.043 2978 1847 2232 0 0 0 0 0 0
10528 0.68 155.7 584.7 14.3 776 10532 0.00 2.20 0.00 0.000 4 0.000 0.056 2976 3253 2232 0 0 0 0 0 0
10563 0.68 155.7 579.7 14.4 778 10570 0.00 2.15 0.00 0.000 6 0.000 0.041 2984 1840 2231 0 0 0 0 0 0
10888 0.68 155.7 531.3 16.4 809 10889 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 1840 2231 0 0 0 0 0 0
11210 0.68 155.7 481.4 15.4 839 11214 0.00 2.22 0.00 0.000 4 0.000 0.055 2976 3260 2230 0 0 0 0 0 0
11260 0.68 155.7 472.9 16.0 843 11264 0.00 2.15 0.00 0.000 6 0.000 0.041 2984 1845 2230 0 0 0 0 0 0
11585 0.68 155.7 428.0 12.3 873 11589 0.00 2.15 0.00 0.000 4 0.000 0.050 2996 444 2230 0 0 0 0 0 0
11617 0.68 155.7 423.7 12.8 875 11624 0.00 2.17 0.00 0.000 6 0.000 0.041 2987 1850 2230 0 0 0 0 0 0
11943 0.68 155.7 387.0 10.9 906 11947 0.00 2.15 0.00 0.000 4 0.000 0.055 2987 3258 2230 0 0 0 0 0 0
12017 0.68 155.7 377.9 12.2 912 12021 0.00 2.10 0.00 0.000 6 0.000 0.038 2995 1849 2229 0 0 0 0 0 0
12343 0.68 155.7 333.7 14.1 942 12347 0.00 2.17 0.00 0.000 4 0.000 0.050 2990 3259 2229 0 0 0 0 0 0
12398 0.68 155.7 325.4 14.4 946 12406 0.12 2.12 0.00 0.000 6 0.195 0.037 2969 1847 2229 0 0 0 0 0 0
12726 0.68 155.7 289.6 9.7 977 12730 0.00 2.17 0.00 0.000 4 0.000 0.049 2965 3257 2229 0 0 0 0 0 0
12770 0.68 155.7 284.8 10.0 980 12778 0.00 2.15 0.00 0.000 6 0.000 0.037 2974 1843 2229 0 0 0 0 0 0
13098 0.68 155.7 253.2 10.3 1011 13104 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 1843 2229 0 0 0 0 0 0
13420 0.69 165.0 219.9 9.3 1070 13436 0.00 2.20 6.47 0.693 4 0.000 0.047 2966 3256 2211 0 0 0 0 0 0
13478 0.71 181.7 214.8 9.0 1079 13502 0.00 2.12 15.82 0.811 6 0.000 0.035 2973 1851 2142 0 0 0 0 0 0
13821 0.71 181.7 179.7 11.9 1142 13829 0.00 2.17 0.00 0.000 4 0.000 0.046 2982 444 2141 0 0 0 0 0 0
13874 0.71 181.7 174.1 10.5 1151 13882 0.00 2.15 0.00 0.000 6 0.000 0.034 2975 1856 2141 0 0 0 0 0 0
14201 0.77 230.5 146.1 7.7 1212 14250 0.00 2.22 42.28 0.786 4 0.000 0.047 2976 3252 1944 0 0 0 0 0 0
14381 0.79 240.6 130.4 9.3 1242 14397 0.00 2.15 9.82 0.672 6 0.000 0.034 2985 1852 1903 0 0 0 0 0 0
14716 0.83 276.0 102.1 8.2 1304 14754 0.00 2.17 31.15 0.725 4 0.000 0.044 2996 439 1757 0 0 0 0 0 0
14785 0.90 329.1 96.9 7.5 1314 14839 0.08 2.17 45.95 0.715 6 0.053 0.033 3055 1853 1542 0 0 0 0 0 0
15161 0.99 403.2 60.6 6.6 1381 15231 0.00 2.17 61.60 0.687 4 0.000 0.044 3055 3248 1238 0 0 0 0 0 0
15298 1.05 456.6 51.4 7.5 1402 15350 0.00 2.17 44.03 0.662 6 0.000 0.034 3066 1850 1020 0 0 0 0 0 0
15671 1.05 456.6 5.4 12.1 1469 15680 0.00 2.20 0.00 0.000 4 0.000 0.044 3076 447 1018 0 0 0 0 0 0
15691 end climb: SURFACE_DEPTH_REACHED
state 15691 begin surface coast
15714 end surface coast: CONTROL_FINISHED_OK
state 15714 begin surface