OKMC Aug11 * SG166 * Dive index * Mission links * Dive 158 * 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  158 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  450 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  62 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  45 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  -24595.977 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  020911,123357,2145.976,12400.852,29,99.0,48,-2.9 TGT_NAME  N3
_CALLS  4 TGT_LATLONG  2130.000,12400.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.50 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -64.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  020911,130604,2145.516,12401.003,12,99.0,31,-2.9 MHEAD_RNG_PITCHd_Wd  184.9,28787,-17.2,-9.706
SPEED_LIMITS  0.168,0.265 D_GRID  5000

Post-dive calculations and measurements:
FINISH  0.9,1.021552 _10V_AH  10.1,26.909
SM_CCo  16130,29.23,0.325,1,0,1048,450.13 FG_AHR_24Vo  0.000
SM_GC  1.65,0.00,0.00,29.23,0.000,0.000,0.325,126,1486,1048,-8.18,-0.40,450.13,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2141.13,12402.65,020911,121236 MEM  330432
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83660,1496
HUMID  35.54 CAP_FILE_SIZE  177425,0
INTERNAL_PRESSURE  9.43854 CFSIZE  260165632,133439488
TCM_TEMP  25.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  74 CURRENT  0.172,187.5,1
_24V_AH  23.2,37.646 GPS  020911,173727,2141.874,12400.782,34,99.0,53,-2.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1822197.33 SBE_CT102324570.08
Roll_motor13863204.13 AA38301532331173.11
VBD_pump_during_apogee487146416554.42 WL_BB2F17751054325.07
VBD_pump_during_surface29325220.44 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init105103252.52 nil000.00
Iridium_during_connect123160457.13 nil000.00
Iridium_during_xfer12902236674.80 nil000.00
Transponder_ping18420180.26 nil000.00
GUMSTIX_24V000.00
GPS345017.67
TT8370719741.52
LPSleep83892185.57
TT8_Active58819117.74
TT8_Sampling4354391750.61
TT8_CF8103345478.05
TT8_Kalman000.00
Analog_circuits198712240.88
GPS_charging000.00
Compass335015507.57
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
17 end surface: CONTROL_FINISHED_OK
state 17 begin dive
19 -0.68 -155.7 0.0 0.0 0 130 0.00 0.00 -108.10 0.000 2 0.000 0.000 138 1475 3068 0 0 0 0 0 0
133 -0.68 -155.7 5.6 -10.3 15 159 9.20 2.28 -8.90 0.000 4 0.221 0.054 2508 2911 3521 0 0 0 0 0 0
259 -0.68 -155.7 49.5 -31.0 36 267 0.00 2.15 0.00 0.000 6 0.000 0.037 2507 1529 3522 0 0 0 0 0 0
582 -0.68 -155.7 137.0 -26.3 97 591 0.00 2.08 0.00 0.000 4 0.000 0.046 2506 196 3522 0 0 0 0 0 0
836 -0.68 -155.7 189.1 -16.6 143 844 0.00 1.98 0.00 0.000 6 0.000 0.035 2496 1501 3523 0 0 0 0 0 0
1164 -0.68 -155.7 250.5 -18.6 204 1168 0.00 2.00 0.00 0.000 4 0.000 0.046 2496 195 3522 0 0 0 0 0 0
1222 -0.68 -155.7 262.5 -19.5 209 1231 0.10 1.98 0.00 0.000 6 0.140 0.037 2521 1496 3522 0 0 0 0 0 0
1548 -0.68 -155.7 311.9 -13.6 240 1552 0.00 2.12 0.00 0.000 4 0.000 0.046 2512 2910 3521 0 0 0 0 0 0
1645 -0.68 -155.7 323.0 -10.6 248 1649 0.00 2.15 0.00 0.000 6 0.000 0.038 2512 1485 3520 0 0 0 0 0 0
1972 -0.68 -155.7 360.6 -11.8 278 1973 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 1485 3518 0 0 0 0 0 0
2291 -0.68 -155.7 400.7 -14.4 308 2295 0.00 1.98 0.00 0.000 4 0.000 0.049 2512 195 3515 0 0 0 0 0 0
2326 -0.68 -155.7 406.7 -16.6 311 2330 0.00 1.98 0.00 0.000 6 0.000 0.037 2503 1500 3515 0 0 0 0 0 0
2657 -0.68 -155.7 454.2 -12.5 342 2661 0.00 2.12 0.00 0.000 4 0.000 0.049 2509 2905 3511 0 0 0 0 0 0
2730 -0.68 -155.7 462.8 -11.3 348 2737 0.00 2.12 0.00 0.000 6 0.000 0.040 2512 1498 3510 0 0 0 0 0 0
3055 -0.68 -155.7 500.2 -12.0 379 3059 0.00 2.15 0.00 0.000 4 0.000 0.051 2503 2908 3507 0 0 0 0 0 0
3097 -0.68 -155.7 504.8 -11.5 382 3104 0.00 2.10 0.00 0.000 6 0.000 0.041 2503 1499 3506 0 0 0 0 0 0
3422 -0.68 -155.7 545.6 -12.5 413 3426 0.00 2.00 0.00 0.000 4 0.000 0.052 2503 196 3503 0 0 0 0 0 0
3485 -0.68 -155.7 554.5 -14.9 418 3492 0.12 1.98 0.00 0.000 6 0.174 0.038 2526 1503 3503 0 0 0 0 0 0
3810 -0.68 -155.7 590.0 -10.4 449 3811 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 1503 3499 0 0 0 0 0 0
4136 -0.68 -155.7 626.3 -11.7 469 4140 0.00 2.17 0.00 0.000 4 0.000 0.054 2516 2913 3496 0 0 0 0 0 0
4191 -0.68 -155.7 633.1 -10.7 471 4198 0.00 2.12 0.00 0.000 6 0.000 0.044 2516 1503 3495 0 0 0 0 0 0
4507 -0.68 -155.7 665.2 -9.7 487 4511 0.00 2.03 0.00 0.000 4 0.000 0.055 2515 201 3492 0 0 0 0 0 0
4570 -0.68 -155.7 672.2 -11.5 489 4578 0.00 1.98 0.00 0.000 6 0.000 0.041 2504 1500 3491 0 0 0 0 0 0
4886 -0.68 -155.7 705.9 -10.9 505 4889 0.00 2.03 0.00 0.000 4 0.000 0.054 2501 196 3489 0 0 0 0 0 0
4919 -0.68 -155.7 710.1 -12.0 506 4923 0.08 2.00 0.00 0.000 6 0.145 0.042 2532 1489 3488 0 0 0 0 0 0
5243 -0.68 -155.7 735.1 -7.4 522 5247 0.00 2.20 0.00 0.000 4 0.000 0.054 2522 2920 3485 0 0 0 0 0 0
5311 -0.68 -155.7 740.4 -7.5 525 5316 0.00 2.17 0.00 0.000 6 0.000 0.043 2523 1487 3485 0 0 0 0 0 0
5641 -0.68 -155.7 768.3 -8.8 541 5642 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1487 3482 0 0 0 0 0 0
5948 -0.68 -155.7 797.3 -9.4 556 5949 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1487 3480 0 0 0 0 0 0
6258 -0.68 -155.7 823.6 -8.2 571 6259 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 1487 3477 0 0 0 0 0 0
6569 -0.68 -155.7 847.3 -7.6 586 6573 0.00 2.25 0.00 0.000 4 0.000 0.058 2510 2907 3475 0 0 0 0 0 0
6620 -0.68 -155.7 851.6 -7.7 588 6624 0.00 2.15 0.00 0.000 6 0.000 0.045 2510 1497 3475 0 0 0 0 0 0
6944 -0.68 -155.7 879.3 -8.4 604 6945 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 1497 3473 0 0 0 0 0 0
7251 -0.68 -155.7 906.2 -8.6 619 7255 0.00 2.22 0.00 0.000 4 0.000 0.060 2500 2906 3471 0 0 0 0 0 0
7301 -0.68 -155.7 910.7 -9.0 621 7305 0.00 2.15 0.00 0.000 6 0.000 0.045 2501 1500 3470 0 0 0 0 0 0
7624 -0.68 -155.7 942.3 -10.4 637 7628 0.00 2.25 0.00 0.000 4 0.000 0.061 2493 2905 3470 0 0 0 0 0 0
7664 -0.68 -155.7 946.9 -11.1 639 7668 0.10 2.15 0.00 0.000 6 0.172 0.047 2519 1500 3469 0 0 0 0 0 0
7990 -0.68 -155.7 980.8 -10.3 655 7994 0.00 2.22 0.00 0.000 4 0.000 0.061 2512 2905 3469 0 0 0 0 0 0
8019 -0.68 -155.7 983.8 -10.3 656 8023 0.00 2.15 0.00 0.000 6 0.000 0.046 2510 1497 3469 0 0 0 0 0 0
8085 end dive: TARGET_DEPTH_EXCEEDED
state 8085 begin apogee
8091 -0.14 0.0 991.0 10.7 659 8223 0.55 0.00 123.38 1.465 6 0.122 0.000 2694 1862 2884 0 0 0 0 0 0
8224 end apogee: CONTROL_FINISHED_OK
state 8224 begin climb
8226 0.68 155.7 996.3 0.0 665 8377 0.75 2.45 141.82 1.408 4 0.070 0.063 2964 3249 2247 0 0 0 0 0 0
8440 0.68 155.7 977.0 13.8 674 8447 0.00 2.28 0.00 0.000 6 0.000 0.045 2972 1848 2244 0 0 0 0 0 0
8756 0.68 155.7 931.8 14.9 690 8760 0.00 2.25 0.00 0.000 4 0.000 0.061 2971 3249 2239 0 0 0 0 0 0
8807 0.68 155.7 923.7 16.3 692 8811 0.00 2.17 0.00 0.000 6 0.000 0.044 2979 1837 2238 0 0 0 0 0 0
9128 0.68 155.7 870.7 17.1 708 9129 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 1836 2238 0 0 0 0 0 0
9437 0.68 155.7 818.3 17.2 723 9441 0.00 2.25 0.00 0.000 4 0.000 0.060 2975 3254 2236 0 0 0 0 0 0
9501 0.68 155.7 807.3 17.7 726 9505 0.00 2.17 0.00 0.000 6 0.000 0.044 2983 1836 2235 0 0 0 0 0 0
9828 0.68 155.7 752.5 16.4 742 9832 0.00 2.15 0.00 0.000 4 0.000 0.054 2993 445 2234 0 0 0 0 0 0
9872 0.68 155.7 744.9 16.5 744 9876 0.00 2.17 0.00 0.000 6 0.000 0.044 2986 1856 2233 0 0 0 0 0 0
10201 0.68 155.7 696.7 13.8 760 10205 0.00 2.17 0.00 0.000 4 0.000 0.058 2982 3252 2232 0 0 0 0 0 0
10268 0.68 155.7 686.6 14.5 763 10273 0.00 2.15 0.00 0.000 6 0.000 0.044 2990 1856 2232 0 0 0 0 0 0
10598 0.68 155.7 638.1 15.6 779 10599 0.00 0.00 0.00 0.000 6 0.000 0.000 2990 1856 2232 0 0 0 0 0 0
10907 0.68 155.7 592.2 14.0 796 10911 0.00 2.20 0.00 0.000 4 0.000 0.057 2982 3252 2231 0 0 0 0 0 0
10982 0.68 155.7 581.9 13.5 802 10986 0.00 2.12 0.00 0.000 6 0.000 0.042 2990 1845 2230 0 0 0 0 0 0
11307 0.68 155.7 532.7 15.6 832 11312 0.00 2.22 0.00 0.000 4 0.000 0.056 2982 3265 2230 0 0 0 0 0 0
11415 0.68 155.7 515.9 15.2 841 11419 0.00 2.15 0.00 0.000 6 0.000 0.041 2990 1850 2230 0 0 0 0 0 0
11746 0.68 155.7 467.3 14.3 872 11750 0.00 2.17 0.00 0.000 4 0.000 0.054 2982 3256 2230 0 0 0 0 0 0
11900 0.68 155.7 445.3 14.6 885 11907 0.00 2.15 0.00 0.000 6 0.000 0.040 2991 1835 2229 0 0 0 0 0 0
12225 0.68 155.7 400.4 13.3 916 12226 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 1835 2229 0 0 0 0 0 0
12547 0.68 155.7 364.6 11.1 946 12551 0.00 2.22 0.00 0.000 4 0.000 0.053 2983 3262 2229 0 0 0 0 0 0
12597 0.68 155.7 358.1 12.1 950 12601 0.00 2.12 0.00 0.000 6 0.000 0.039 2991 1840 2229 0 0 0 0 0 0
12923 0.68 155.7 318.3 11.8 980 12927 0.00 2.15 0.00 0.000 4 0.000 0.049 3001 439 2229 0 0 0 0 0 0
12974 0.68 155.7 311.4 14.1 984 12978 0.00 2.15 0.00 0.000 6 0.000 0.038 2993 1865 2229 0 0 0 0 0 0
13306 0.68 155.7 269.6 10.5 1015 13310 0.00 2.10 0.00 0.000 4 0.000 0.051 2993 3249 2229 0 0 0 0 0 0
13368 0.70 166.5 263.7 9.3 1020 13383 0.12 2.08 7.28 0.770 6 0.187 0.037 2971 1850 2204 0 0 0 0 0 0
13698 0.70 172.3 237.5 9.5 1063 13715 0.00 2.20 7.03 0.735 4 0.000 0.051 2959 3255 2181 0 0 0 0 0 0
13919 0.70 172.3 214.6 10.6 1103 13928 0.00 2.15 0.00 0.000 6 0.000 0.037 2965 1841 2181 0 0 0 0 0 0
14248 0.71 174.1 181.9 9.6 1164 14257 0.00 2.17 0.00 0.000 4 0.000 0.046 2977 448 2180 0 0 0 0 0 0
14343 0.73 190.4 173.0 9.0 1181 14367 0.00 2.12 17.55 0.779 6 0.000 0.036 2970 1839 2107 0 0 0 0 0 0
14686 0.78 234.6 143.5 7.9 1244 14731 0.00 2.20 38.12 0.772 4 0.000 0.047 2962 3256 1925 0 0 0 0 0 0
14872 0.78 234.6 126.5 10.2 1276 14880 0.00 2.17 0.00 0.000 6 0.000 0.035 2970 1851 1922 0 0 0 0 0 0
15197 0.82 269.0 97.7 8.3 1337 15236 0.12 2.28 29.17 0.717 4 0.089 0.046 3047 3255 1787 0 0 0 0 0 0
15250 0.82 269.0 92.0 11.1 1344 15259 0.12 2.20 0.00 0.000 6 0.142 0.034 3016 1845 1787 0 0 0 0 0 0
15580 1.01 419.6 70.5 3.4 1405 15712 0.15 2.30 122.72 0.696 4 0.075 0.043 3103 443 1172 0 0 0 0 0 0
15879 1.01 419.6 32.3 14.6 1453 15887 0.08 2.17 0.00 0.000 6 0.132 0.033 3076 1854 1168 0 0 0 0 0 0
16088 end climb: SURFACE_DEPTH_REACHED
state 16088 begin surface coast
16111 end surface coast: CONTROL_FINISHED_OK
state 16111 begin surface