OKMC Aug11 * SG166 * Dive index * Mission links * Dive 147 * 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  147 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  595.83368 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  49 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  44 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  -24579.541 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  310811,090357,2217.632,12356.640,52,2.1,71,-3.0 TGT_NAME  N3
_CALLS  5 TGT_LATLONG  2130.000,12400.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.72 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -63.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  310811,091434,2217.485,12356.500,12,99.0,31,-3.0 MHEAD_RNG_PITCHd_Wd  134.1,88149,-17.2,-9.706
SPEED_LIMITS  0.168,0.265 D_GRID  4941

Post-dive calculations and measurements:
FINISH  0.9,1.021553 _10V_AH  10.2,25.040
SM_CCo  16343,93.80,0.541,1,0,454,595.83 FG_AHR_24Vo  0.000
SM_GC  1.55,0.00,0.00,93.80,0.000,0.000,0.541,136,1485,454,-8.16,-0.45,595.83,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2209.02,12355.61,310811,040422 MEM  330320
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83553,1493
HUMID  32.79 CAP_FILE_SIZE  166098,0
INTERNAL_PRESSURE  9.38971 CFSIZE  260165632,134369280
TCM_TEMP  26.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  81 CURRENT  0.121,274.4,1
_24V_AH  23.0,35.456 GPS  310811,135032,2216.282,12357.322,45,2.0,52,-3.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19227101.12 SBE_CT102124563.72
Roll_motor12961184.24 AA38301530331162.01
VBD_pump_during_apogee518146917515.16 WL_BB2F16841054067.10
VBD_pump_during_surface935401166.84 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init171103406.62 nil000.00
Iridium_during_connect41160151.65 nil000.00
Iridium_during_xfer000.00 nil000.00
Transponder_ping20420195.62 nil000.00
GUMSTIX_24V000.00
GPS325016.76
TT8368819744.99
LPSleep86992194.34
TT8_Active68119137.72
TT8_Sampling3541391437.57
TT8_CF844945210.15
TT8_Kalman000.00
Analog_circuits207512254.00
GPS_charging000.00
Compass330015505.03
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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
18 -0.68 -155.7 0.0 0.0 0 95 0.00 0.00 -74.97 0.000 2 0.000 0.000 139 1482 3075 0 0 0 0 0 0
97 -0.68 -155.7 5.7 -9.7 10 122 9.32 2.25 -8.62 0.000 4 0.227 0.057 2508 2908 3521 0 0 0 0 0 0
235 -0.68 -155.7 57.1 -27.5 33 243 0.00 2.17 0.00 0.000 6 0.000 0.038 2509 1510 3523 0 0 0 0 0 0
560 -0.68 -155.7 129.6 -17.5 94 568 0.00 2.05 0.00 0.000 4 0.000 0.046 2505 198 3525 0 0 0 0 0 0
615 -0.68 -155.7 140.5 -20.0 103 623 0.00 2.00 0.00 0.000 6 0.000 0.039 2497 1493 3525 0 0 0 0 0 0
942 -0.68 -155.7 201.5 -17.2 164 950 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1495 3526 0 0 0 0 0 0
1273 -0.68 -155.7 258.0 -17.2 222 1277 0.00 2.03 0.00 0.000 4 0.000 0.045 2497 193 3526 0 0 0 0 0 0
1322 -0.68 -155.7 267.5 -17.8 226 1331 0.10 2.00 0.00 0.000 6 0.143 0.037 2521 1503 3526 0 0 0 0 0 0
1648 -0.68 -155.7 313.4 -12.2 257 1652 0.00 2.05 0.00 0.000 4 0.000 0.047 2523 180 3525 0 0 0 0 0 0
1698 -0.68 -155.7 320.1 -13.0 261 1705 0.00 2.03 0.00 0.000 6 0.000 0.037 2515 1510 3525 0 0 0 0 0 0
2023 -0.68 -155.7 363.8 -13.7 292 2027 0.00 2.03 0.00 0.000 4 0.000 0.047 2516 202 3524 0 0 0 0 0 0
2073 -0.68 -155.7 371.2 -14.8 296 2081 0.00 1.98 0.00 0.000 6 0.000 0.037 2507 1496 3523 0 0 0 0 0 0
2400 -0.68 -155.7 418.8 -15.1 327 2404 0.00 2.12 0.00 0.000 4 0.000 0.048 2498 2910 3521 0 0 0 0 0 0
2453 -0.68 -155.7 426.5 -14.0 331 2457 0.00 2.15 0.00 0.000 6 0.000 0.038 2509 1488 3521 0 0 0 0 0 0
2779 -0.68 -155.7 471.2 -12.6 361 2783 0.00 1.98 0.00 0.000 4 0.000 0.050 2512 188 3519 0 0 0 0 0 0
2886 -0.68 -155.7 484.3 -12.0 370 2893 0.00 2.00 0.00 0.000 6 0.000 0.040 2504 1504 3518 0 0 0 0 0 0
3212 -0.68 -155.7 516.6 -9.3 401 3215 0.00 2.00 0.00 0.000 4 0.000 0.049 2504 199 3515 0 0 0 0 0 0
3327 -0.68 -155.7 529.2 -12.0 411 3331 0.10 1.98 0.00 0.000 6 0.182 0.039 2519 1505 3514 0 0 0 0 0 0
3659 -0.68 -155.7 561.9 -10.0 442 3660 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1505 3511 0 0 0 0 0 0
3977 -0.68 -155.7 594.8 -9.9 472 3981 0.00 2.17 0.00 0.000 4 0.000 0.054 2510 2912 3509 0 0 0 0 0 0
4005 -0.68 -155.7 597.9 -9.9 474 4009 0.00 2.15 0.00 0.000 6 0.000 0.041 2510 1503 3508 0 0 0 0 0 0
4323 -0.68 -155.7 635.7 -12.9 490 4327 0.00 2.00 0.00 0.000 4 0.000 0.053 2508 199 3506 0 0 0 0 0 0
4446 -0.68 -155.7 653.8 -14.4 495 4450 0.00 2.00 0.00 0.000 6 0.000 0.041 2497 1496 3505 0 0 0 0 0 0
4770 -0.68 -155.7 697.9 -13.4 511 4771 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1496 3501 0 0 0 0 0 0
5081 -0.68 -155.7 737.2 -12.3 526 5082 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1496 3499 0 0 0 0 0 0
5387 -0.68 -155.7 771.9 -10.5 541 5392 0.10 2.20 0.00 0.000 4 0.190 0.057 2510 2907 3497 0 0 0 0 0 0
5438 -0.68 -155.7 776.5 -8.9 543 5442 0.00 2.17 0.00 0.000 6 0.000 0.044 2510 1493 3496 0 0 0 0 0 0
5755 -0.68 -155.7 804.2 -8.9 558 5759 0.00 2.22 0.00 0.000 4 0.000 0.057 2498 2907 3494 0 0 0 0 0 0
5790 -0.68 -155.7 807.3 -8.8 559 5796 0.00 2.17 0.00 0.000 6 0.000 0.043 2499 1491 3494 0 0 0 0 0 0
6106 -0.68 -155.7 837.9 -9.6 575 6107 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1491 3492 0 0 0 0 0 0
6415 -0.68 -155.7 868.2 -9.8 590 6419 0.00 2.03 0.00 0.000 4 0.000 0.057 2500 199 3490 0 0 0 0 0 0
6495 -0.68 -155.7 877.0 -11.4 593 6499 0.12 2.03 0.00 0.000 6 0.170 0.044 2526 1517 3489 0 0 0 0 0 0
6816 -0.68 -155.7 903.4 -8.0 609 6820 0.00 2.15 0.00 0.000 4 0.000 0.058 2517 2910 3487 0 0 0 0 0 0
6896 -0.68 -155.7 909.7 -7.8 612 6904 0.00 2.17 0.00 0.000 6 0.000 0.044 2519 1494 3487 0 0 0 0 0 0
7212 -0.68 -155.7 935.2 -7.9 628 7214 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1494 3485 0 0 0 0 0 0
7522 -0.68 -155.7 958.6 -7.2 643 7526 0.00 2.25 0.00 0.000 4 0.000 0.060 2514 2909 3484 0 0 0 0 0 0
7557 -0.68 -155.7 961.0 -7.1 644 7561 0.00 2.17 0.00 0.000 6 0.000 0.044 2513 1496 3484 0 0 0 0 0 0
7879 -0.68 -155.7 986.5 -8.3 660 7880 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 1496 3482 0 0 0 0 0 0
7917 end dive: TARGET_DEPTH_EXCEEDED
state 7917 begin apogee
7923 -0.14 0.0 990.0 8.5 662 8058 0.57 0.00 126.65 1.470 6 0.128 0.000 2696 1859 2884 0 0 0 0 0 0
8058 end apogee: CONTROL_FINISHED_OK
state 8058 begin climb
8061 0.68 155.7 991.7 0.0 668 8211 0.75 0.00 142.18 1.406 6 0.074 0.000 2960 1859 2249 0 0 0 0 0 0
8511 0.68 155.7 934.8 14.5 690 8512 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 1858 2240 0 0 0 0 0 0
8823 0.68 155.7 890.5 14.0 705 8824 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 1858 2238 0 0 0 0 0 0
9131 0.68 155.7 849.4 12.8 720 9135 0.00 2.25 0.00 0.000 4 0.000 0.057 2971 445 2237 0 0 0 0 0 0
9164 0.68 155.7 844.6 13.0 721 9171 0.00 2.20 0.00 0.000 6 0.000 0.047 2966 1845 2236 0 0 0 0 0 0
9481 0.68 155.7 804.3 12.9 737 9485 0.00 2.22 0.00 0.000 4 0.000 0.062 2963 3273 2236 0 0 0 0 0 0
9610 0.68 155.7 787.2 13.1 742 9617 0.00 2.20 0.00 0.000 6 0.000 0.043 2970 1844 2234 0 0 0 0 0 0
9926 0.68 155.7 744.9 13.3 758 9930 0.00 2.25 0.00 0.000 4 0.000 0.060 2960 3267 2234 0 0 0 0 0 0
9986 0.68 155.7 736.6 13.4 760 9997 0.00 2.20 0.00 0.000 6 0.000 0.044 2969 1843 2233 0 0 0 0 0 0
10304 0.68 155.7 693.7 14.1 776 10306 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 1842 2232 0 0 0 0 0 0
10612 0.68 155.7 650.2 13.7 791 10616 0.00 2.17 0.00 0.000 4 0.000 0.054 2979 443 2232 0 0 0 0 0 0
10638 0.68 155.7 646.3 13.7 792 10643 0.00 2.20 0.00 0.000 6 0.000 0.044 2975 1862 2232 0 0 0 0 0 0
10968 0.68 155.7 600.9 13.9 808 10972 0.00 2.15 0.00 0.000 4 0.000 0.058 2978 3260 2232 0 0 0 0 0 0
11079 0.68 155.7 585.4 14.6 817 11083 0.00 2.17 0.00 0.000 6 0.000 0.041 2987 1834 2231 0 0 0 0 0 0
11404 0.68 155.7 539.1 14.3 847 11405 0.00 0.00 0.00 0.000 6 0.000 0.000 2985 1834 2231 0 0 0 0 0 0
11727 0.68 155.7 497.2 12.3 877 11731 0.00 2.12 0.00 0.000 4 0.000 0.050 2999 443 2230 0 0 0 0 0 0
11782 0.68 155.7 489.4 12.8 881 11789 0.00 2.17 0.00 0.000 6 0.000 0.041 2991 1866 2230 0 0 0 0 0 0
12108 0.68 155.7 449.4 12.3 912 12112 0.00 2.15 0.00 0.000 4 0.000 0.054 2991 3258 2230 0 0 0 0 0 0
12239 0.68 155.7 432.4 12.7 923 12244 0.15 2.15 0.00 0.000 6 0.193 0.040 2964 1842 2230 0 0 0 0 0 0
12567 0.68 155.7 398.8 10.0 953 12571 0.00 2.20 0.00 0.000 4 0.000 0.051 2955 3255 2230 0 0 0 0 0 0
12631 0.68 155.7 391.8 11.0 958 12635 0.00 2.15 0.00 0.000 6 0.000 0.038 2964 1836 2230 0 0 0 0 0 0
12958 0.68 155.7 358.8 10.6 988 12962 0.00 2.12 0.00 0.000 4 0.000 0.049 2974 446 2230 0 0 0 0 0 0
13003 0.68 155.7 353.6 11.5 992 13007 0.00 2.15 0.00 0.000 6 0.000 0.038 2966 1866 2230 0 0 0 0 0 0
13330 0.68 155.7 316.7 10.7 1022 13334 0.00 2.15 0.00 0.000 4 0.000 0.057 2956 3261 2230 0 0 0 0 0 0
13458 0.68 155.7 303.1 9.9 1033 13465 0.00 2.12 0.00 0.000 6 0.000 0.037 2964 1848 2229 0 0 0 0 0 0
13783 0.71 179.2 275.7 8.7 1064 13809 0.00 2.20 18.35 0.879 4 0.000 0.047 2957 3258 2152 0 0 0 0 0 0
13832 0.73 190.2 271.2 9.2 1068 13850 0.00 2.15 11.62 0.822 6 0.000 0.036 2965 1842 2107 0 0 0 0 0 0
14174 0.73 190.2 235.7 10.5 1111 14182 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 1842 2105 0 0 0 0 0 0
14500 0.78 231.7 207.3 8.0 1172 14546 0.00 2.30 36.05 0.836 4 0.000 0.047 2956 3254 1938 0 0 0 0 0 0
14585 0.83 277.8 200.5 7.8 1185 14637 0.10 2.20 40.75 0.817 6 0.053 0.036 3029 1849 1751 0 0 0 0 0 0
14961 0.83 277.8 142.6 16.1 1252 14970 0.00 2.20 0.00 0.000 4 0.000 0.045 3039 452 1745 0 0 0 0 0 0
15009 0.83 277.8 134.5 16.5 1260 15018 0.00 2.15 0.00 0.000 6 0.000 0.034 3035 1846 1745 0 0 0 0 0 0
15336 0.83 277.8 86.3 12.6 1321 15344 0.00 2.17 0.00 0.000 4 0.000 0.047 3037 3253 1745 0 0 0 0 0 0
15416 0.83 277.8 75.8 12.9 1335 15425 0.08 2.15 0.00 0.000 6 0.142 0.035 3020 1848 1745 0 0 0 0 0 0
15746 0.91 340.6 48.9 7.1 1396 15807 0.00 2.20 52.85 0.684 4 0.000 0.044 3029 440 1493 0 0 0 0 0 0
15871 0.95 374.7 39.4 8.3 1415 15910 0.00 2.17 29.40 0.655 6 0.000 0.032 3028 1857 1355 0 0 0 0 0 0
16230 1.04 448.3 11.8 6.6 1480 16297 0.15 0.00 60.35 0.636 6 0.073 0.000 3114 1860 1054 0 0 0 0 0 0
16303 end climb: SURFACE_DEPTH_REACHED
state 16303 begin surface coast
16323 end surface coast: CONTROL_FINISHED_OK
state 16324 begin surface