OKMC Aug11 * SG166 * Dive index * Mission links * Dive 173 * 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  173 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  45 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  43 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  -24614.951 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  050911,101327,2125.131,12403.464,30,99.0,49,-2.8 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  1.78 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -74.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  050911,102030,2125.006,12403.619,34,2.0,44,-2.8 MHEAD_RNG_PITCHd_Wd  304.1,11154,-17.2,-9.706
SPEED_LIMITS  0.168,0.265 D_GRID  5000

Post-dive calculations and measurements:
FINISH  1.0,1.007991 _10V_AH  10.1,29.428
SM_CCo  15613,45.53,0.440,1,0,1048,450.13 FG_AHR_24Vo  0.000
SM_GC  1.88,0.00,0.00,45.53,0.000,0.000,0.440,128,1497,1048,-8.18,-0.08,450.13,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2115.63,12401.30,050911,050552 MEM  330224
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  83611,1448
HUMID  34.56 CAP_FILE_SIZE  163062,0
INTERNAL_PRESSURE  9.44831 CFSIZE  260165632,132087808
TCM_TEMP  26.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  79 CURRENT  0.403,135.1,1
_24V_AH  23.0,40.334 GPS  050911,144326,2123.583,12404.102,27,99.0,46,-2.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1822096.03 SBE_CT98924545.96
Roll_motor13863202.30 AA38301480331123.80
VBD_pump_during_apogee469145515722.08 WL_BB2F17191054153.24
VBD_pump_during_surface45439460.58 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2310356.15 nil000.00
Iridium_during_connect41160152.45 nil000.00
Iridium_during_xfer166223852.57 nil000.00
Transponder_ping19420190.78 nil000.00
GUMSTIX_24V000.00
GPS445022.71
TT8360719721.47
LPSleep78942174.62
TT8_Active58219116.48
TT8_Sampling3549391427.02
TT8_CF843745202.26
TT8_Kalman000.00
Analog_circuits195712237.28
GPS_charging000.00
Compass328215497.29
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
13 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -0.68 -155.7 0.0 0.0 0 105 0.00 0.00 -86.60 0.000 2 0.000 0.000 131 1491 3138 0 0 0 0 0 0
108 -0.68 -155.7 6.0 -10.3 12 133 9.30 2.17 -7.32 0.000 4 0.220 0.049 2507 2915 3520 0 0 0 0 0 0
190 -0.68 -155.7 40.0 -33.0 25 198 0.00 2.20 0.00 0.000 6 0.000 0.036 2509 1503 3522 0 0 0 0 0 0
517 -0.68 -155.7 135.7 -25.9 86 526 0.00 2.15 0.00 0.000 4 0.000 0.041 2500 2906 3523 0 0 0 0 0 0
557 -0.68 -155.7 145.4 -22.7 92 565 0.00 2.15 0.00 0.000 6 0.000 0.034 2506 1496 3523 0 0 0 0 0 0
886 -0.68 -155.7 213.2 -19.6 153 894 0.00 2.15 0.00 0.000 4 0.000 0.041 2497 2903 3524 0 0 0 0 0 0
914 -0.68 -155.7 218.8 -19.5 157 922 0.00 2.12 0.00 0.000 6 0.000 0.034 2504 1500 3524 0 0 0 0 0 0
1240 -0.68 -155.7 280.5 -15.8 202 1244 0.00 2.00 0.00 0.000 4 0.000 0.044 2504 202 3524 0 0 0 0 0 0
1299 -0.68 -155.7 290.5 -17.7 207 1302 0.00 1.95 0.00 0.000 6 0.000 0.033 2496 1495 3524 0 0 0 0 0 0
1629 -0.68 -155.7 342.6 -14.9 238 1630 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1495 3524 0 0 0 0 0 0
1949 -0.68 -155.7 395.3 -16.0 268 1953 0.00 2.00 0.00 0.000 4 0.000 0.046 2498 202 3523 0 0 0 0 0 0
2066 -0.68 -155.7 413.4 -15.8 278 2070 0.00 1.95 0.00 0.000 6 0.000 0.037 2505 1500 3523 0 0 0 0 0 0
2397 -0.68 -155.7 461.5 -15.3 309 2398 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 1501 3521 0 0 0 0 0 0
2721 -0.68 -155.7 510.9 -15.3 339 2727 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 1501 3519 0 0 0 0 0 0
3047 -0.68 -155.7 559.2 -13.1 370 3051 0.00 2.00 0.00 0.000 4 0.000 0.050 2507 208 3516 0 0 0 0 0 0
3088 -0.68 -155.7 564.7 -13.8 373 3094 0.00 1.98 0.00 0.000 6 0.000 0.039 2498 1511 3515 0 0 0 0 0 0
3425 -0.68 -155.7 606.1 -12.5 403 3429 0.00 2.12 0.00 0.000 4 0.000 0.050 2487 2904 3512 0 0 0 0 0 0
3521 -0.68 -155.7 617.6 -10.9 407 3526 0.12 2.12 0.00 0.000 6 0.162 0.040 2520 1500 3511 0 0 0 0 0 0
3843 -0.68 -155.7 650.0 -10.3 423 3847 0.00 2.20 0.00 0.000 4 0.000 0.054 2512 2902 3509 0 0 0 0 0 0
3890 -0.68 -155.7 654.9 -10.7 425 3894 0.00 2.15 0.00 0.000 6 0.000 0.041 2512 1489 3508 0 0 0 0 0 0
4219 -0.68 -155.7 690.5 -10.9 441 4220 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 1490 3505 0 0 0 0 0 0
4526 -0.68 -155.7 724.7 -11.4 456 4530 0.00 2.00 0.00 0.000 4 0.000 0.054 2511 199 3502 0 0 0 0 0 0
4575 -0.68 -155.7 731.2 -13.3 458 4579 0.00 1.98 0.00 0.000 6 0.000 0.041 2500 1496 3502 0 0 0 0 0 0
4904 -0.68 -155.7 770.9 -12.3 474 4906 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1496 3499 0 0 0 0 0 0
5212 -0.68 -155.7 806.7 -11.0 489 5217 0.10 2.05 0.00 0.000 4 0.187 0.061 2524 196 3496 0 0 0 0 0 0
5268 -0.68 -155.7 812.6 -10.3 491 5272 0.00 2.00 0.00 0.000 6 0.000 0.042 2514 1506 3496 0 0 0 0 0 0
5590 -0.68 -155.7 842.2 -9.1 507 5594 0.00 2.17 0.00 0.000 4 0.000 0.057 2501 2910 3493 0 0 0 0 0 0
5658 -0.68 -155.7 848.6 -9.2 510 5662 0.00 2.15 0.00 0.000 6 0.000 0.047 2501 1503 3493 0 0 0 0 0 0
5987 -0.68 -155.7 882.0 -10.4 526 5988 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 1503 3491 0 0 0 0 0 0
6294 -0.68 -155.7 913.7 -10.1 541 6298 0.00 2.20 0.00 0.000 4 0.000 0.058 2491 2903 3489 0 0 0 0 0 0
6337 -0.68 -155.7 918.0 -9.9 543 6341 0.12 2.15 0.00 0.000 6 0.159 0.044 2525 1497 3488 0 0 0 0 0 0
6666 -0.68 -155.7 943.8 -7.5 559 6670 0.00 2.22 0.00 0.000 4 0.000 0.060 2518 2910 3486 0 0 0 0 0 0
6707 -0.68 -155.7 946.8 -7.2 561 6711 0.00 2.17 0.00 0.000 6 0.000 0.044 2517 1492 3486 0 0 0 0 0 0
7036 -0.68 -155.7 970.7 -7.4 577 7040 0.00 2.25 0.00 0.000 4 0.000 0.063 2507 2910 3485 0 0 0 0 0 0
7119 -0.68 -155.7 977.3 -7.5 580 7125 0.00 2.17 0.00 0.000 6 0.000 0.044 2508 1493 3484 0 0 0 0 0 0
7288 end dive: TARGET_DEPTH_EXCEEDED
state 7288 begin apogee
7296 -0.14 0.0 991.2 8.2 589 7429 0.57 0.00 126.90 1.456 6 0.123 0.000 2696 1858 2884 0 0 0 0 0 0
7429 end apogee: CONTROL_FINISHED_OK
state 7430 begin climb
7432 0.68 155.7 993.9 0.0 595 7581 0.75 2.42 141.40 1.397 4 0.068 0.063 2969 3247 2249 0 0 0 0 0 0
7625 0.68 155.7 972.1 16.8 604 7630 0.00 2.30 0.00 0.000 6 0.000 0.044 2978 1857 2245 0 0 0 0 0 0
7949 0.68 155.7 917.6 17.2 620 7953 0.00 2.25 0.00 0.000 4 0.000 0.060 2978 3257 2240 0 0 0 0 0 0
8035 0.68 155.7 901.8 18.4 624 8039 0.00 2.20 0.00 0.000 6 0.000 0.045 2988 1843 2238 0 0 0 0 0 0
8362 0.68 155.7 844.3 17.1 640 8366 0.00 2.22 0.00 0.000 4 0.000 0.059 2988 3258 2237 0 0 0 0 0 0
8447 0.68 155.7 829.3 17.6 643 8456 0.12 2.17 0.00 0.000 6 0.201 0.042 2968 1841 2236 0 0 0 0 0 0
8763 0.68 155.7 782.3 14.7 659 8764 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 1841 2235 0 0 0 0 0 0
9074 0.68 155.7 739.3 13.6 674 9078 0.00 2.15 0.00 0.000 4 0.000 0.052 2977 444 2234 0 0 0 0 0 0
9089 0.68 155.7 736.7 13.5 674 9096 0.00 2.17 0.00 0.000 6 0.000 0.042 2969 1848 2234 0 0 0 0 0 0
9406 0.68 155.7 694.4 13.4 690 9410 0.00 2.17 0.00 0.000 4 0.000 0.058 2963 3257 2233 0 0 0 0 0 0
9468 0.68 155.7 686.1 13.3 692 9474 0.00 2.15 0.00 0.000 6 0.000 0.041 2971 1846 2232 0 0 0 0 0 0
9784 0.68 155.7 646.2 12.1 708 9788 0.00 2.20 0.00 0.000 4 0.000 0.053 2964 3257 2232 0 0 0 0 0 0
9890 0.68 155.7 632.8 12.6 713 9894 0.00 2.15 0.00 0.000 6 0.000 0.041 2972 1845 2232 0 0 0 0 0 0
10212 0.68 155.7 589.5 13.7 732 10216 0.00 2.20 0.00 0.000 4 0.000 0.053 2968 3261 2232 0 0 0 0 0 0
10229 0.68 155.7 586.7 14.1 733 10233 0.00 2.12 0.00 0.000 6 0.000 0.041 2977 1849 2231 0 0 0 0 0 0
10560 0.68 155.7 538.5 14.2 764 10564 0.00 2.17 0.00 0.000 4 0.000 0.052 2969 3255 2231 0 0 0 0 0 0
10719 0.68 155.7 517.2 13.0 778 10723 0.00 2.15 0.00 0.000 6 0.000 0.040 2977 1844 2231 0 0 0 0 0 0
11045 0.68 155.7 474.9 13.2 808 11049 0.00 2.15 0.00 0.000 4 0.000 0.049 2988 443 2230 0 0 0 0 0 0
11066 0.68 155.7 471.6 13.7 809 11075 0.00 2.15 0.00 0.000 6 0.000 0.038 2980 1864 2230 0 0 0 0 0 0
11392 0.68 155.7 428.8 12.0 840 11396 0.00 2.15 0.00 0.000 4 0.000 0.055 2980 3254 2230 0 0 0 0 0 0
11409 0.68 155.7 426.6 12.0 841 11413 0.00 2.12 0.00 0.000 6 0.000 0.039 2988 1840 2229 0 0 0 0 0 0
11740 0.68 155.7 382.6 13.1 872 11744 0.00 2.17 0.00 0.000 4 0.000 0.053 2987 3251 2229 0 0 0 0 0 0
11796 0.68 155.7 374.7 13.8 877 11801 0.12 2.12 0.00 0.000 6 0.187 0.037 2966 1842 2229 0 0 0 0 0 0
12124 0.71 179.7 342.4 8.7 907 12148 0.00 2.22 18.55 0.942 4 0.000 0.048 2975 442 2150 0 0 0 0 0 0
12273 0.71 179.7 328.0 10.0 920 12278 0.00 2.15 0.00 0.000 6 0.000 0.037 2967 1856 2148 0 0 0 0 0 0
12600 0.71 179.7 296.5 10.0 950 12604 0.00 2.20 0.00 0.000 4 0.000 0.046 2969 434 2148 0 0 0 0 0 0
12664 0.71 179.7 289.7 10.3 955 12672 0.00 2.15 0.00 0.000 6 0.000 0.037 2961 1853 2148 0 0 0 0 0 0
12990 0.71 179.7 257.9 10.5 986 12994 0.00 2.12 0.00 0.000 4 0.000 0.050 2957 3248 2148 0 0 0 0 0 0
13068 0.71 179.7 249.2 11.2 993 13076 0.00 2.12 0.00 0.000 6 0.000 0.037 2966 1855 2148 0 0 0 0 0 0
13396 0.73 191.4 214.8 9.2 1054 13413 0.00 2.22 12.02 0.770 4 0.000 0.048 2964 3258 2103 0 0 0 0 0 0
13512 0.76 214.5 204.6 8.7 1074 13543 0.00 2.15 20.95 0.793 6 0.000 0.035 2972 1848 2009 0 0 0 0 0 0
13864 0.80 254.9 175.6 8.0 1138 13909 0.00 2.22 35.03 0.781 4 0.000 0.047 2975 3242 1844 0 0 0 0 0 0
13993 0.80 254.9 162.6 10.7 1159 14002 0.00 2.15 0.00 0.000 6 0.000 0.034 2985 1848 1842 0 0 0 0 0 0
14323 0.82 264.4 132.5 9.3 1220 14338 0.00 0.00 9.50 0.653 6 0.000 0.000 2985 1848 1805 0 0 0 0 0 0
14655 0.95 375.1 108.6 5.1 1282 14759 0.17 2.25 92.93 0.721 4 0.067 0.044 3093 448 1352 0 0 0 0 0 0
14873 0.95 375.1 78.6 14.7 1317 14882 0.10 2.15 0.00 0.000 6 0.129 0.034 3056 1852 1349 0 0 0 0 0 0
15206 0.95 375.1 39.8 10.8 1378 15214 0.00 2.15 0.00 0.000 4 0.000 0.044 3047 3248 1349 0 0 0 0 0 0
15304 0.97 388.5 30.2 9.1 1395 15322 0.00 2.12 12.27 0.588 6 0.000 0.033 3055 1846 1299 0 0 0 0 0 0
15562 end climb: SURFACE_DEPTH_REACHED
state 15562 begin surface coast
15596 end surface coast: CONTROL_FINISHED_OK
state 15596 begin surface