OKMC Aug11 * SG166 * Dive index * Mission links * Dive 162 * 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  162 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  47 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  -24601.01 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  030911,074124,2131.188,12400.933,40,1.5,40,-2.8 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  1.63 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  030911,080726,2130.714,12401.428,17,1.8,17,-2.8 MHEAD_RNG_PITCHd_Wd  289.5,2793,-27.8,-9.706
SPEED_LIMITS  0.168,0.265 D_GRID  4800

Post-dive calculations and measurements:
FINISH  1.0,1.021817 _10V_AH  10.1,27.597
SM_CCo  13791,162.35,0.575,1,0,454,595.83 FG_AHR_24Vo  0.000
SM_GC  1.72,0.00,0.00,162.35,0.000,0.000,0.575,124,1487,454,-8.19,-0.37,595.83,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2122.58,12400.68,030911,070722 MEM  330320
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  73586,1306
HUMID  32.47 CAP_FILE_SIZE  153258,0
INTERNAL_PRESSURE  9.38971 CFSIZE  260165632,133054464
TCM_TEMP  26.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  70 CURRENT  0.301,136.3,1
_24V_AH  23.4,38.409 GPS  030911,120206,2129.127,12401.506,41,1.1,52,-2.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19234104.76 SBE_CT89324501.58
Roll_motor11462168.66 AA38301337331033.11
VBD_pump_during_apogee307146610545.37 WL_BB2F16581054075.53
VBD_pump_during_surface1625742182.58 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init147103356.09 nil000.00
Iridium_during_connect184160689.24 nil000.00
Iridium_during_xfer7392233857.59 nil000.00
Transponder_ping17420171.99 nil000.00
GUMSTIX_24V000.00
GPS18509.18
TT8328919657.88
LPSleep69492153.73
TT8_Active58519117.17
TT8_Sampling3884391561.47
TT8_CF880245371.04
TT8_Kalman000.00
Analog_circuits182312220.98
GPS_charging000.00
Compass310515470.54
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 -0.87 -60.3 0.0 0.0 0 106 0.00 0.00 -86.07 0.000 6 0.000 0.000 145 1486 3131 0 0 0 0 0 0
109 -0.91 -91.1 5.2 -6.4 12 133 9.25 2.22 -2.58 0.000 4 0.234 0.053 2434 2917 3259 0 0 0 0 0 0
228 -0.91 -91.1 49.8 -32.9 32 237 0.00 2.20 0.00 0.000 6 0.000 0.038 2441 1504 3260 0 0 0 0 0 0
554 -0.91 -91.1 137.9 -25.2 93 561 0.00 2.00 0.00 0.000 4 0.000 0.044 2450 204 3261 0 0 0 0 0 0
629 -0.91 -91.1 156.3 -23.4 106 638 0.00 1.95 0.00 0.000 6 0.000 0.035 2442 1488 3261 0 0 0 0 0 0
958 -0.91 -91.1 231.3 -21.3 167 966 0.00 2.00 0.00 0.000 4 0.000 0.045 2450 203 3261 0 0 0 0 0 0
1182 -0.91 -91.1 270.1 -16.6 197 1186 0.00 1.98 0.00 0.000 6 0.000 0.036 2442 1509 3261 0 0 0 0 0 0
1512 -0.91 -91.1 327.1 -18.1 228 1516 0.00 2.03 0.00 0.000 4 0.000 0.047 2449 202 3260 0 0 0 0 0 0
1689 -0.91 -91.1 359.1 -16.5 243 1696 0.00 1.95 0.00 0.000 6 0.000 0.034 2443 1500 3259 0 0 0 0 0 0
2014 -0.91 -91.1 406.7 -15.0 274 2015 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 1500 3257 0 0 0 0 0 0
2336 -0.91 -91.1 456.8 -16.5 304 2340 0.00 2.03 0.00 0.000 4 0.000 0.047 2462 195 3254 0 0 0 0 0 0
2516 -0.91 -91.1 484.6 -14.2 320 2520 0.00 1.98 0.00 0.000 6 0.000 0.036 2453 1517 3253 0 0 0 0 0 0
2848 -0.91 -91.1 523.1 -13.1 351 2851 0.00 2.05 0.00 0.000 4 0.000 0.047 2453 197 3250 0 0 0 0 0 0
3105 -0.91 -91.1 569.0 -18.8 374 3109 0.00 1.98 0.00 0.000 6 0.000 0.037 2444 1509 3247 0 0 0 0 0 0
3434 -0.91 -91.1 615.4 -11.8 399 3438 0.00 2.03 0.00 0.000 4 0.000 0.049 2443 202 3244 0 0 0 0 0 0
3469 -0.91 -91.1 619.9 -12.4 400 3473 0.00 1.95 0.00 0.000 6 0.000 0.037 2435 1497 3244 0 0 0 0 0 0
3790 -0.91 -91.1 660.2 -13.2 416 3794 0.00 2.17 0.00 0.000 4 0.000 0.050 2424 2913 3241 0 0 0 0 0 0
3830 -0.91 -91.1 665.5 -13.4 418 3834 0.00 2.17 0.00 0.000 6 0.000 0.040 2429 1491 3240 0 0 0 0 0 0
4159 -0.91 -91.1 703.7 -11.2 434 4163 0.00 2.00 0.00 0.000 4 0.000 0.050 2429 194 3237 0 0 0 0 0 0
4264 -0.91 -91.1 716.9 -11.9 438 4273 0.12 2.00 0.00 0.000 6 0.205 0.039 2450 1502 3236 0 0 0 0 0 0
4583 -0.91 -91.1 749.7 -10.8 454 4587 0.00 2.05 0.00 0.000 4 0.000 0.050 2451 176 3234 0 0 0 0 0 0
4621 -0.91 -91.1 754.4 -11.8 455 4628 0.00 2.05 0.00 0.000 6 0.000 0.042 2442 1498 3233 0 0 0 0 0 0
4938 -0.92 -98.2 784.4 -8.9 471 4942 0.00 2.00 0.00 0.000 4 0.000 0.051 2441 206 3230 0 0 0 0 0 0
5119 -0.92 -98.2 803.5 -10.2 479 5123 0.00 1.98 0.00 0.000 6 0.000 0.042 2430 1500 3228 0 0 0 0 0 0
5453 -0.93 -107.7 832.9 -8.7 495 5457 0.00 2.08 0.00 0.000 4 0.000 0.054 2429 187 3225 0 0 0 0 0 0
5478 -0.94 -115.2 835.4 -8.9 496 5482 0.00 2.03 0.00 0.000 6 0.000 0.047 2420 1499 3225 0 0 0 0 0 0
5811 -0.95 -123.3 866.8 -8.8 512 5812 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 1499 3223 0 0 0 0 0 0
6121 -0.95 -130.4 894.8 -8.9 527 6125 0.00 2.17 0.00 0.000 4 0.000 0.057 2410 2904 3221 0 0 0 0 0 0
6200 -0.95 -130.4 902.4 -9.8 530 6208 0.00 2.15 0.00 0.000 6 0.000 0.044 2409 1498 3220 0 0 0 0 0 0
6516 -0.95 -130.4 935.0 -10.4 546 6520 0.00 2.03 0.00 0.000 4 0.000 0.056 2409 181 3218 0 0 0 0 0 0
6571 -0.95 -130.4 942.0 -12.8 548 6576 0.15 2.05 0.00 0.000 6 0.201 0.044 2437 1496 3217 0 0 0 0 0 0
6894 -0.95 -130.4 974.8 -10.0 564 6895 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 1498 3216 0 0 0 0 0 0
7055 end dive: TARGET_DEPTH_EXCEEDED
state 7055 begin apogee
7061 -0.14 0.0 990.7 9.6 572 7136 0.82 0.00 70.38 1.467 6 0.155 0.000 2696 1864 2884 0 0 0 0 0 0
7136 end apogee: CONTROL_FINISHED_OK
state 7136 begin climb
7142 0.95 130.4 992.5 0.0 575 7268 1.00 0.00 119.57 1.418 6 0.068 0.000 3055 1864 2352 0 0 0 0 0 0
7565 0.95 130.4 918.9 20.6 596 7569 0.00 2.20 0.00 0.000 4 0.000 0.063 3053 3248 2344 0 0 0 0 0 0
7637 0.95 130.4 903.0 20.9 599 7642 0.00 2.17 0.00 0.000 6 0.000 0.046 3061 1858 2342 0 0 0 0 0 0
7960 0.95 130.4 837.2 20.7 615 7964 0.00 2.22 0.00 0.000 4 0.000 0.060 3060 3256 2340 0 0 0 0 0 0
8069 0.95 130.4 813.7 21.6 620 8073 0.00 2.17 0.00 0.000 6 0.000 0.044 3068 1846 2339 0 0 0 0 0 0
8402 0.95 130.4 742.8 20.9 636 8406 0.00 2.20 0.00 0.000 4 0.000 0.057 3060 3255 2337 0 0 0 0 0 0
8458 0.95 130.4 730.5 21.8 638 8466 0.00 2.17 0.00 0.000 6 0.000 0.042 3068 1835 2336 0 0 0 0 0 0
8774 0.95 130.4 670.8 18.4 654 8778 0.00 2.22 0.00 0.000 4 0.000 0.057 3060 3250 2335 0 0 0 0 0 0
8940 0.95 130.4 641.4 17.5 661 8944 0.00 2.15 0.00 0.000 6 0.000 0.041 3068 1844 2334 0 0 0 0 0 0
9258 0.95 130.4 579.0 19.9 680 9262 0.00 2.20 0.00 0.000 4 0.000 0.053 3060 3259 2334 0 0 0 0 0 0
9413 0.95 130.4 551.1 18.2 693 9417 0.00 2.15 0.00 0.000 6 0.000 0.040 3068 1842 2333 0 0 0 0 0 0
9738 0.95 130.4 496.6 15.4 723 9742 0.00 2.20 0.00 0.000 4 0.000 0.052 3060 3254 2332 0 0 0 0 0 0
9792 0.95 130.4 488.2 16.0 727 9796 0.00 2.12 0.00 0.000 6 0.000 0.038 3068 1849 2332 0 0 0 0 0 0
10117 0.95 130.4 432.2 19.5 757 10121 0.00 2.17 0.00 0.000 4 0.000 0.050 3061 3255 2332 0 0 0 0 0 0
10173 0.95 130.4 420.5 20.7 761 10180 0.00 2.12 0.00 0.000 6 0.000 0.038 3069 1849 2331 0 0 0 0 0 0
10498 0.95 130.4 368.8 11.8 792 10502 0.00 2.17 0.00 0.000 4 0.000 0.049 3061 3261 2331 0 0 0 0 0 0
10757 0.95 130.4 334.1 14.3 814 10766 0.00 2.12 0.00 0.000 6 0.000 0.037 3069 1842 2331 0 0 0 0 0 0
11084 0.95 130.4 286.1 14.5 845 11088 0.00 2.20 0.00 0.000 4 0.000 0.047 3061 3269 2331 0 0 0 0 0 0
11154 0.95 130.4 276.6 13.3 850 11163 0.00 2.17 0.00 0.000 6 0.000 0.037 3069 1847 2331 0 0 0 0 0 0
11482 0.95 130.4 234.7 13.5 891 11490 0.00 2.17 0.00 0.000 4 0.000 0.046 3079 435 2331 0 0 0 0 0 0
11732 0.95 130.4 203.4 11.8 937 11740 0.00 2.15 0.00 0.000 6 0.000 0.036 3070 1859 2331 0 0 0 0 0 0
12058 0.95 130.4 170.9 11.0 998 12067 0.00 2.20 0.00 0.000 4 0.000 0.044 3076 434 2331 0 0 0 0 0 0
12082 0.95 130.4 168.5 10.9 1001 12090 0.00 2.15 0.00 0.000 6 0.000 0.036 3069 1856 2331 0 0 0 0 0 0
12411 1.00 167.9 137.9 5.7 1062 12450 0.00 2.15 29.27 0.760 4 0.000 0.046 3059 3242 2198 0 0 0 0 0 0
12547 1.00 167.9 126.4 10.9 1085 12556 0.00 2.15 0.00 0.000 6 0.000 0.035 3070 1838 2197 0 0 0 0 0 0
12876 1.04 198.5 93.7 6.4 1146 12907 0.00 0.00 26.83 0.706 6 0.000 0.000 3070 1838 2073 0 0 0 0 0 0
13230 1.11 252.5 61.2 3.9 1210 13280 0.00 2.28 44.80 0.684 4 0.000 0.046 3062 3251 1853 0 0 0 0 0 0
13380 1.13 270.6 52.0 7.8 1234 13404 0.08 2.15 16.45 0.630 6 0.063 0.034 3123 1852 1779 0 0 0 0 0 0
13722 1.13 270.6 6.9 12.6 1297 13730 0.00 0.00 0.00 0.000 6 0.000 0.000 3123 1853 1777 0 0 0 0 0 0
13751 end climb: SURFACE_DEPTH_REACHED
state 13751 begin surface coast
13773 end surface coast: CONTROL_FINISHED_OK
state 13774 begin surface