OKMC Aug11 * SG166 * Dive index * Mission links * Dive 159 * 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  159 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  47 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  39 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  -24597.238 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  020911,173727,2141.874,12400.782,34,99.0,53,-2.9 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  1.64 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -69.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  020911,175407,2141.679,12400.804,31,1.9,31,-2.9 MHEAD_RNG_PITCHd_Wd  184.1,21673,-17.2,-9.706
SPEED_LIMITS  0.168,0.265 D_GRID  5000

Post-dive calculations and measurements:
FINISH  1.0,1.018552 _10V_AH  10.1,27.085
SM_CCo  15792,55.58,0.477,1,0,1048,450.13 FG_AHR_24Vo  0.000
SM_GC  1.88,0.00,0.00,55.58,0.000,0.000,0.477,144,1474,1048,-8.13,-0.74,450.13,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2136.49,12358.13,020911,121202 MEM  330332
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83509,1490
HUMID  34.36 CAP_FILE_SIZE  163102,0
INTERNAL_PRESSURE  9.43854 CFSIZE  260165632,133365760
TCM_TEMP  26.20 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  76 CURRENT  0.200,141.6,1
_24V_AH  23.1,37.848 GPS  020911,222024,2138.171,12402.043,43,1.4,60,-2.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1822094.92 SBE_CT101924565.39
Roll_motor12562181.71 AA38301526331163.51
VBD_pump_during_apogee437146314775.57 WL_BB2F17881054337.46
VBD_pump_during_surface55477612.83 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3110374.68 nil000.00
Iridium_during_connect27160100.26 nil000.00
Iridium_during_xfer7602233918.01 nil000.00
Transponder_ping19420184.34 nil000.00
GUMSTIX_24V000.00
GPS325016.36
TT8369219738.52
LPSleep79302175.41
TT8_Active57119114.35
TT8_Sampling3989391603.71
TT8_CF864945300.42
TT8_Kalman000.00
Analog_circuits194512235.80
GPS_charging000.00
Compass334915507.47
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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
20 -0.68 -155.7 0.0 0.0 0 108 0.00 0.00 -85.65 0.000 2 0.000 0.000 125 1484 3148 0 0 0 0 0 0
111 -0.68 -155.7 5.6 -8.5 12 136 9.32 2.22 -7.20 0.000 4 0.220 0.051 2506 2918 3520 0 0 0 0 0 0
202 -0.68 -155.7 42.5 -30.6 27 210 0.00 2.20 0.00 0.000 6 0.000 0.037 2506 1513 3521 0 0 0 0 0 0
530 -0.68 -155.7 127.8 -20.8 88 538 0.00 2.05 0.00 0.000 4 0.000 0.046 2505 198 3523 0 0 0 0 0 0
695 -0.68 -155.7 160.9 -21.1 117 703 0.00 2.00 0.00 0.000 6 0.000 0.036 2497 1511 3523 0 0 0 0 0 0
1022 -0.68 -155.7 221.6 -16.9 178 1031 0.00 2.15 0.00 0.000 4 0.000 0.048 2486 2901 3523 0 0 0 0 0 0
1065 -0.68 -155.7 229.0 -16.6 185 1074 0.10 2.15 0.00 0.000 6 0.144 0.037 2519 1494 3523 0 0 0 0 0 0
1399 -0.68 -155.7 276.9 -15.3 230 1403 0.00 1.98 0.00 0.000 4 0.000 0.047 2529 202 3523 0 0 0 0 0 0
1423 -0.68 -155.7 280.7 -15.0 232 1426 0.00 1.95 0.00 0.000 6 0.000 0.037 2522 1499 3523 0 0 0 0 0 0
1754 -0.68 -155.7 330.7 -14.9 263 1755 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1499 3522 0 0 0 0 0 0
2073 -0.68 -155.7 371.5 -12.1 293 2077 0.00 2.03 0.00 0.000 4 0.000 0.048 2522 188 3520 0 0 0 0 0 0
2130 -0.68 -155.7 379.2 -13.2 298 2134 0.00 1.98 0.00 0.000 6 0.000 0.037 2517 1500 3519 0 0 0 0 0 0
2461 -0.68 -155.7 421.4 -12.1 329 2462 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1500 3517 0 0 0 0 0 0
2785 -0.68 -155.7 457.7 -12.2 359 2791 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 1500 3515 0 0 0 0 0 0
3112 -0.68 -155.7 502.1 -12.5 390 3116 0.00 2.15 0.00 0.000 4 0.000 0.052 2522 2903 3511 0 0 0 0 0 0
3297 -0.68 -155.7 519.7 -7.9 406 3305 0.00 2.15 0.00 0.000 6 0.000 0.041 2523 1503 3509 0 0 0 0 0 0
3623 -0.68 -155.7 546.5 -9.0 437 3626 0.00 2.00 0.00 0.000 4 0.000 0.051 2523 201 3507 0 0 0 0 0 0
3686 -0.68 -155.7 553.3 -10.9 442 3693 0.00 1.98 0.00 0.000 6 0.000 0.039 2513 1503 3506 0 0 0 0 0 0
4011 -0.68 -155.7 593.8 -13.2 473 4012 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 1504 3503 0 0 0 0 0 0
4335 -0.68 -155.7 631.1 -10.4 491 4339 0.00 2.17 0.00 0.000 4 0.000 0.054 2501 2913 3500 0 0 0 0 0 0
4413 -0.68 -155.7 639.0 -9.7 494 4417 0.00 2.17 0.00 0.000 6 0.000 0.042 2502 1491 3499 0 0 0 0 0 0
4729 -0.68 -155.7 672.5 -11.1 509 4730 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1491 3497 0 0 0 0 0 0
5040 -0.68 -155.7 708.5 -11.7 524 5041 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1491 3494 0 0 0 0 0 0
5348 -0.68 -155.7 743.4 -11.2 539 5351 0.00 2.00 0.00 0.000 4 0.000 0.055 2503 196 3491 0 0 0 0 0 0
5394 -0.68 -155.7 748.8 -12.0 541 5398 0.12 2.00 0.00 0.000 6 0.170 0.042 2526 1499 3491 0 0 0 0 0 0
5724 -0.68 -155.7 775.6 -7.6 557 5728 0.00 2.15 0.00 0.000 4 0.000 0.054 2518 2906 3489 0 0 0 0 0 0
5779 -0.68 -155.7 780.2 -8.0 559 5783 0.00 2.15 0.00 0.000 6 0.000 0.042 2518 1495 3488 0 0 0 0 0 0
6103 -0.68 -155.7 808.3 -9.2 575 6104 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 1495 3486 0 0 0 0 0 0
6410 -0.68 -155.7 836.9 -9.3 590 6414 0.00 2.20 0.00 0.000 4 0.000 0.057 2507 2907 3484 0 0 0 0 0 0
6438 -0.68 -155.7 839.7 -9.6 591 6442 0.00 2.15 0.00 0.000 6 0.000 0.044 2507 1495 3484 0 0 0 0 0 0
6761 -0.68 -155.7 875.7 -11.7 607 6762 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 1494 3482 0 0 0 0 0 0
7068 -0.68 -155.7 912.4 -11.6 622 7072 0.00 2.00 0.00 0.000 4 0.000 0.057 2508 199 3481 0 0 0 0 0 0
7095 -0.68 -155.7 916.0 -11.6 623 7099 0.00 2.03 0.00 0.000 6 0.000 0.044 2498 1499 3479 0 0 0 0 0 0
7424 -0.68 -155.7 955.6 -12.2 639 7428 0.00 2.20 0.00 0.000 4 0.000 0.057 2488 2916 3477 0 0 0 0 0 0
7472 -0.68 -155.7 961.2 -11.6 641 7477 0.12 2.17 0.00 0.000 6 0.164 0.045 2520 1500 3477 0 0 0 0 0 0
7776 end dive: TARGET_DEPTH_EXCEEDED
state 7776 begin apogee
7784 -0.14 0.0 990.9 8.9 656 7916 0.52 0.00 125.35 1.463 6 0.128 0.000 2690 1853 2884 0 0 0 0 0 0
7917 end apogee: CONTROL_FINISHED_OK
state 7917 begin climb
7919 0.68 155.7 993.9 0.0 662 8069 0.77 2.42 141.62 1.402 4 0.074 0.063 2962 3245 2248 0 0 0 0 0 0
8096 0.68 155.7 974.7 15.8 670 8105 0.00 2.30 0.00 0.000 6 0.000 0.045 2972 1852 2245 0 0 0 0 0 0
8415 0.68 155.7 920.6 17.5 686 8419 0.00 2.25 0.00 0.000 4 0.000 0.060 2969 3260 2240 0 0 0 0 0 0
8475 0.68 155.7 908.8 18.1 688 8483 0.00 2.20 0.00 0.000 6 0.000 0.044 2978 1838 2239 0 0 0 0 0 0
8792 0.68 155.7 853.6 17.2 704 8793 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 1838 2237 0 0 0 0 0 0
9104 0.68 155.7 803.4 15.7 719 9108 0.00 2.22 0.00 0.000 4 0.000 0.059 2970 3251 2236 0 0 0 0 0 0
9154 0.68 155.7 794.6 15.6 721 9158 0.00 2.15 0.00 0.000 6 0.000 0.041 2978 1842 2235 0 0 0 0 0 0
9483 0.68 155.7 744.2 15.4 737 9487 0.00 2.17 0.00 0.000 4 0.000 0.052 2989 438 2235 0 0 0 0 0 0
9516 0.68 155.7 738.5 15.7 738 9520 0.00 2.15 0.00 0.000 6 0.000 0.043 2981 1848 2234 0 0 0 0 0 0
9838 0.68 155.7 690.0 15.1 754 9842 0.00 2.20 0.00 0.000 4 0.000 0.058 2977 3258 2233 0 0 0 0 0 0
9962 0.68 155.7 670.6 15.3 759 9968 0.00 2.12 0.00 0.000 6 0.000 0.041 2985 1851 2233 0 0 0 0 0 0
10278 0.68 155.7 625.4 13.6 775 10282 0.00 2.17 0.00 0.000 4 0.000 0.054 2977 3258 2232 0 0 0 0 0 0
10344 0.68 155.7 616.4 13.4 778 10348 0.00 2.17 0.00 0.000 6 0.000 0.041 2986 1846 2232 0 0 0 0 0 0
10671 0.68 155.7 572.8 13.9 802 10675 0.00 2.20 0.00 0.000 4 0.000 0.054 2978 3258 2232 0 0 0 0 0 0
10931 0.68 155.7 533.2 14.4 824 10938 0.00 2.12 0.00 0.000 6 0.000 0.040 2986 1842 2231 0 0 0 0 0 0
11257 0.68 155.7 484.7 14.4 855 11261 0.00 2.20 0.00 0.000 4 0.000 0.052 2978 3256 2231 0 0 0 0 0 0
11344 0.68 155.7 472.9 13.4 862 11348 0.00 2.10 0.00 0.000 6 0.000 0.039 2986 1851 2230 0 0 0 0 0 0
11669 0.68 155.7 434.1 11.8 892 11671 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 1851 2230 0 0 0 0 0 0
11992 0.68 155.7 390.9 13.9 922 11999 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 1851 2230 0 0 0 0 0 0
12321 0.68 155.7 351.8 10.3 953 12325 0.00 2.17 0.00 0.000 4 0.000 0.050 2978 3255 2230 0 0 0 0 0 0
12420 0.68 155.7 340.2 11.5 961 12427 0.00 2.12 0.00 0.000 6 0.000 0.037 2986 1846 2230 0 0 0 0 0 0
12748 0.68 155.7 298.5 12.0 992 12752 0.00 2.17 0.00 0.000 4 0.000 0.049 2978 3260 2230 0 0 0 0 0 0
12925 0.68 155.7 278.5 10.2 1008 12929 0.00 2.12 0.00 0.000 6 0.000 0.037 2987 1849 2230 0 0 0 0 0 0
13251 0.68 155.7 248.4 11.7 1039 13262 0.00 2.17 0.00 0.000 4 0.000 0.046 2997 440 2230 0 0 0 0 0 0
13291 0.68 155.7 243.3 13.0 1045 13299 0.00 2.15 0.00 0.000 6 0.000 0.036 2989 1862 2230 0 0 0 0 0 0
13622 0.74 203.8 208.4 7.7 1106 13668 0.00 2.15 39.10 0.844 4 0.000 0.050 2979 3252 2052 0 0 0 0 0 0
13877 0.76 220.3 186.1 9.0 1151 13900 0.00 2.17 15.18 0.766 6 0.000 0.035 2987 1836 1985 0 0 0 0 0 0
14221 0.76 220.3 154.1 11.2 1214 14230 0.00 2.15 0.00 0.000 4 0.000 0.046 2998 449 1982 0 0 0 0 0 0
14251 0.76 220.3 150.7 11.3 1218 14259 0.00 2.12 0.00 0.000 6 0.000 0.036 2990 1838 1982 0 0 0 0 0 0
14578 0.84 280.3 121.9 7.2 1279 14639 0.00 2.25 50.72 0.750 4 0.000 0.048 2981 3251 1740 0 0 0 0 0 0
14729 0.84 280.3 108.5 9.7 1303 14738 0.00 2.15 0.00 0.000 6 0.000 0.035 2989 1857 1740 0 0 0 0 0 0
15057 0.92 347.7 80.3 6.9 1364 15120 0.15 2.28 56.40 0.702 4 0.076 0.044 3085 437 1465 0 0 0 0 0 0
15253 0.92 347.7 53.1 13.8 1396 15262 0.12 2.17 0.00 0.000 6 0.133 0.033 3042 1858 1461 0 0 0 0 0 0
15583 0.92 352.1 18.9 9.5 1457 15593 0.00 2.25 4.62 0.438 4 0.000 0.043 3043 433 1447 0 0 0 0 0 0
15617 0.93 354.7 15.3 9.6 1462 15627 0.00 2.15 4.07 0.402 6 0.000 0.033 3041 1844 1437 0 0 0 0 0 0
15746 end climb: SURFACE_DEPTH_REACHED
state 15747 begin surface coast
15775 end surface coast: CONTROL_FINISHED_OK
state 15775 begin surface