OKMC Aug11 * SG166 * Dive index * Mission links * Dive 153 * 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  153 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  -24589.678 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  010911,125357,2203.037,12358.706,39,99.0,58,-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  -70.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  010911,130606,2202.933,12358.610,39,1.4,50,-3.0 MHEAD_RNG_PITCHd_Wd  158.6,61039,-17.2,-9.706
SPEED_LIMITS  0.168,0.265 D_GRID  5000

Post-dive calculations and measurements:
FINISH  0.9,1.021550 _10V_AH  10.2,26.022
SM_CCo  15254,130.82,0.582,1,0,453,595.83 FG_AHR_24Vo  0.000
SM_GC  1.60,0.00,0.00,130.82,0.000,0.000,0.582,137,1483,453,-8.14,-0.48,595.83,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2157.39,12401.40,010911,121213 MEM  330196
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  76806,1383
HUMID  34.20 CAP_FILE_SIZE  156169,0
INTERNAL_PRESSURE  9.37018 CFSIZE  260165632,133873664
TCM_TEMP  25.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  78 CURRENT  0.152,224.7,1
_24V_AH  23.0,36.515 GPS  010911,172444,2200.147,12358.698,40,2.3,59,-3.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19226100.00 SBE_CT94724523.23
Roll_motor12963189.38 AA38301419331077.56
VBD_pump_during_apogee437147714865.33 WL_BB2F15391053717.34
VBD_pump_during_surface1305821751.72 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init159103378.44 nil000.00
Iridium_during_connect45160166.26 nil000.00
Iridium_during_xfer60223311.46 nil000.00
Transponder_ping19420188.37 nil000.00
GUMSTIX_24V000.00
GPS515026.29
TT8344219695.17
LPSleep82242183.71
TT8_Active65619132.53
TT8_Sampling3357391363.07
TT8_CF842745199.77
TT8_Kalman000.00
Analog_circuits192312235.41
GPS_charging000.00
Compass302815463.43
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 -0.68 -155.7 0.0 0.0 0 104 0.00 0.00 -85.22 0.000 2 0.000 0.000 136 1485 3121 0 0 0 0 0 0
109 -0.68 -155.7 5.5 -8.1 11 134 9.35 2.20 -7.50 0.000 4 0.226 0.053 2505 2911 3520 0 0 0 0 0 0
272 -0.68 -155.7 69.2 -30.3 40 281 0.00 2.15 0.00 0.000 6 0.000 0.037 2498 1515 3521 0 0 0 0 0 0
598 -0.68 -155.7 147.9 -19.6 101 606 0.00 2.05 0.00 0.000 4 0.000 0.047 2495 196 3523 0 0 0 0 0 0
718 -0.68 -155.7 172.0 -18.1 122 727 0.10 1.98 0.00 0.000 6 0.149 0.037 2520 1489 3523 0 0 0 0 0 0
1047 -0.68 -155.7 232.1 -16.9 183 1055 0.00 2.17 0.00 0.000 4 0.000 0.047 2511 2902 3523 0 0 0 0 0 0
1090 -0.68 -155.7 238.6 -14.1 190 1097 0.00 2.17 0.00 0.000 6 0.000 0.038 2511 1493 3523 0 0 0 0 0 0
1418 -0.68 -155.7 283.9 -14.5 228 1422 0.00 1.98 0.00 0.000 4 0.000 0.047 2512 196 3523 0 0 0 0 0 0
1476 -0.68 -155.7 293.2 -15.7 233 1480 0.00 1.98 0.00 0.000 6 0.000 0.036 2502 1512 3523 0 0 0 0 0 0
1807 -0.68 -155.7 349.7 -17.0 264 1808 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 1512 3522 0 0 0 0 0 0
2127 -0.68 -155.7 391.6 -12.1 294 2131 0.00 2.03 0.00 0.000 4 0.000 0.048 2510 203 3521 0 0 0 0 0 0
2183 -0.68 -155.7 399.6 -13.8 299 2187 0.00 1.95 0.00 0.000 6 0.000 0.036 2509 1504 3520 0 0 0 0 0 0
2514 -0.68 -155.7 447.8 -13.9 330 2518 0.00 2.03 0.00 0.000 4 0.000 0.050 2513 201 3518 0 0 0 0 0 0
2626 -0.68 -155.7 463.7 -13.4 340 2630 0.00 1.95 0.00 0.000 6 0.000 0.037 2504 1511 3517 0 0 0 0 0 0
2957 -0.68 -155.7 504.7 -12.4 371 2958 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 1511 3514 0 0 0 0 0 0
3279 -0.68 -155.7 545.5 -13.2 401 3283 0.00 2.05 0.00 0.000 4 0.000 0.050 2503 202 3511 0 0 0 0 0 0
3417 -0.68 -155.7 565.2 -14.6 413 3422 0.12 1.95 0.00 0.000 6 0.171 0.038 2527 1504 3510 0 0 0 0 0 0
3745 -0.68 -155.7 599.7 -9.4 443 3749 0.00 2.12 0.00 0.000 4 0.000 0.052 2519 2907 3507 0 0 0 0 0 0
3786 -0.68 -155.7 603.6 -8.9 445 3790 0.00 2.15 0.00 0.000 6 0.000 0.040 2519 1489 3506 0 0 0 0 0 0
4114 -0.68 -155.7 633.4 -9.0 461 4115 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 1488 3504 0 0 0 0 0 0
4424 -0.68 -155.7 664.2 -11.0 476 4428 0.00 2.22 0.00 0.000 4 0.000 0.054 2507 2912 3501 0 0 0 0 0 0
4445 -0.68 -155.7 666.9 -11.0 477 4449 0.00 2.17 0.00 0.000 6 0.000 0.042 2506 1493 3500 0 0 0 0 0 0
4773 -0.68 -155.7 705.6 -12.2 493 4777 0.00 2.00 0.00 0.000 4 0.000 0.054 2502 202 3498 0 0 0 0 0 0
4830 -0.68 -155.7 713.3 -13.5 495 4835 0.12 2.00 0.00 0.000 6 0.167 0.041 2532 1496 3497 0 0 0 0 0 0
5152 -0.68 -155.7 744.8 -9.5 511 5156 0.00 2.17 0.00 0.000 4 0.000 0.055 2523 2908 3494 0 0 0 0 0 0
5186 -0.68 -155.7 748.1 -9.4 512 5194 0.00 2.15 0.00 0.000 6 0.000 0.042 2523 1494 3494 0 0 0 0 0 0
5502 -0.68 -155.7 779.4 -10.3 528 5503 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1494 3492 0 0 0 0 0 0
5812 -0.68 -155.7 812.0 -10.6 543 5813 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1494 3489 0 0 0 0 0 0
6123 -0.68 -155.7 843.0 -9.7 558 6127 0.00 2.22 0.00 0.000 4 0.000 0.060 2513 2909 3487 0 0 0 0 0 0
6171 -0.68 -155.7 847.8 -10.1 560 6175 0.00 2.17 0.00 0.000 6 0.000 0.045 2513 1496 3487 0 0 0 0 0 0
6498 -0.68 -155.7 878.1 -8.8 576 6502 0.00 2.20 0.00 0.000 4 0.000 0.059 2503 2903 3485 0 0 0 0 0 0
6527 -0.68 -155.7 880.6 -8.6 577 6531 0.00 2.17 0.00 0.000 6 0.000 0.045 2503 1488 3484 0 0 0 0 0 0
6843 -0.68 -155.7 910.3 -9.5 592 6847 0.00 2.22 0.00 0.000 4 0.000 0.059 2493 2913 3483 0 0 0 0 0 0
6858 -0.68 -155.7 911.9 -9.5 592 6867 0.12 2.17 0.00 0.000 6 0.163 0.045 2526 1496 3483 0 0 0 0 0 0
7177 -0.68 -155.7 938.2 -8.6 608 7181 0.00 2.22 0.00 0.000 4 0.000 0.060 2518 2905 3481 0 0 0 0 0 0
7201 -0.68 -155.7 940.4 -8.5 609 7205 0.00 2.17 0.00 0.000 6 0.000 0.046 2518 1496 3481 0 0 0 0 0 0
7530 -0.68 -155.7 969.2 -8.3 625 7531 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 1497 3479 0 0 0 0 0 0
7773 end dive: TARGET_DEPTH_EXCEEDED
state 7773 begin apogee
7779 -0.14 0.0 990.9 9.0 637 7914 0.55 0.00 125.62 1.477 6 0.125 0.000 2694 1856 2882 0 0 0 0 0 0
7915 end apogee: CONTROL_FINISHED_OK
state 7915 begin climb
7917 0.68 155.7 993.4 0.0 643 8063 0.77 0.00 142.10 1.413 6 0.073 0.000 2967 1856 2249 0 0 0 0 0 0
8365 0.68 155.7 930.8 16.3 665 8369 0.00 2.25 0.00 0.000 4 0.000 0.063 2967 3263 2240 0 0 0 0 0 0
8399 0.68 155.7 925.2 16.7 666 8403 0.00 2.20 0.00 0.000 6 0.000 0.047 2977 1850 2239 0 0 0 0 0 0
8720 0.68 155.7 868.5 17.7 682 8721 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 1849 2237 0 0 0 0 0 0
9029 0.68 155.7 815.0 16.7 697 9033 0.00 2.25 0.00 0.000 4 0.000 0.061 2977 3264 2236 0 0 0 0 0 0
9097 0.68 155.7 803.1 17.2 700 9101 0.00 2.17 0.00 0.000 6 0.000 0.044 2987 1837 2236 0 0 0 0 0 0
9418 0.68 155.7 747.2 17.5 716 9422 0.00 2.25 0.00 0.000 4 0.000 0.058 2984 3267 2235 0 0 0 0 0 0
9480 0.68 155.7 736.0 17.6 718 9487 0.00 2.15 0.00 0.000 6 0.000 0.044 2993 1852 2234 0 0 0 0 0 0
9796 0.68 155.7 679.4 17.8 734 9800 0.00 2.17 0.00 0.000 4 0.000 0.054 3003 431 2234 0 0 0 0 0 0
9828 0.68 155.7 673.5 17.5 735 9837 0.12 2.20 0.00 0.000 6 0.192 0.044 2970 1857 2232 0 0 0 0 0 0
10146 0.68 155.7 629.5 12.6 751 10150 0.00 2.15 0.00 0.000 4 0.000 0.057 2960 3252 2232 0 0 0 0 0 0
10184 0.68 155.7 624.4 12.0 752 10191 0.00 2.15 0.00 0.000 6 0.000 0.042 2968 1852 2232 0 0 0 0 0 0
10504 0.68 155.7 590.0 10.8 772 10508 0.00 2.15 0.00 0.000 4 0.000 0.051 2980 440 2232 0 0 0 0 0 0
10546 0.68 155.7 585.4 11.1 775 10550 0.00 2.17 0.00 0.000 6 0.000 0.042 2976 1860 2231 0 0 0 0 0 0
10871 0.68 155.7 546.3 11.9 805 10875 0.00 2.15 0.00 0.000 4 0.000 0.058 2976 3260 2231 0 0 0 0 0 0
11045 0.68 155.7 523.6 12.8 820 11049 0.00 2.12 0.00 0.000 6 0.000 0.042 2984 1848 2230 0 0 0 0 0 0
11372 0.68 155.7 479.7 14.1 850 11376 0.00 2.20 0.00 0.000 4 0.000 0.056 2980 3256 2230 0 0 0 0 0 0
11405 0.68 155.7 474.2 15.4 852 11412 0.00 2.12 0.00 0.000 6 0.000 0.040 2988 1838 2230 0 0 0 0 0 0
11730 0.68 155.7 428.8 13.1 883 11735 0.00 2.22 0.00 0.000 4 0.000 0.053 2984 3267 2230 0 0 0 0 0 0
11817 0.68 155.7 417.9 12.3 890 11821 0.00 2.15 0.00 0.000 6 0.000 0.039 2992 1850 2230 0 0 0 0 0 0
12150 0.68 155.7 372.8 14.3 921 12154 0.00 2.15 0.00 0.000 4 0.000 0.049 3003 443 2230 0 0 0 0 0 0
12218 0.68 155.7 363.2 13.3 927 12223 0.12 2.15 0.00 0.000 6 0.181 0.041 2968 1859 2230 0 0 0 0 0 0
12545 0.68 155.7 326.7 10.4 957 12549 0.00 2.15 0.00 0.000 4 0.000 0.053 2958 3253 2230 0 0 0 0 0 0
12617 0.68 155.7 318.3 11.5 963 12621 0.00 2.12 0.00 0.000 6 0.000 0.037 2966 1846 2230 0 0 0 0 0 0
12946 0.68 155.7 282.0 11.3 993 12950 0.00 2.17 0.00 0.000 4 0.000 0.049 2961 3255 2229 0 0 0 0 0 0
13078 0.68 155.7 265.0 12.5 1004 13087 0.00 2.15 0.00 0.000 6 0.000 0.037 2970 1844 2230 0 0 0 0 0 0
13405 0.69 163.1 229.0 9.4 1054 13414 0.00 0.00 4.45 0.602 6 0.000 0.000 2970 1844 2219 0 0 0 0 0 0
13734 0.79 239.5 204.3 6.5 1115 13809 0.00 2.28 65.72 0.860 4 0.000 0.047 2981 442 1905 0 0 0 0 0 0
13867 0.90 334.6 196.6 5.7 1135 13957 0.12 2.20 81.25 0.828 6 0.044 0.034 3050 1843 1520 0 0 0 0 0 0
14277 0.90 334.6 127.0 20.8 1207 14286 0.00 2.22 0.00 0.000 4 0.000 0.049 3049 3256 1514 0 0 0 0 0 0
14363 0.90 334.6 111.5 16.6 1222 14371 0.00 2.17 0.00 0.000 6 0.000 0.035 3058 1848 1514 0 0 0 0 0 0
14690 0.90 334.6 63.6 13.4 1283 14699 0.00 2.17 0.00 0.000 4 0.000 0.045 3070 449 1512 0 0 0 0 0 0
14876 0.93 356.0 43.8 8.8 1317 14900 0.00 2.15 18.38 0.659 6 0.000 0.034 3070 1859 1432 0 0 0 0 0 0
15208 end climb: SURFACE_DEPTH_REACHED
state 15208 begin surface coast
15236 end surface coast: CONTROL_FINISHED_OK
state 15236 begin surface