OKMC Aug11 * SG166 * Dive index * Mission links * Dive 176 * 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  176 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  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  -24618.834 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  060911,000057,2121.687,12404.927,37,99.0,56,-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  1.80 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  060911,000832,2121.597,12405.082,17,1.7,17,-2.8 MHEAD_RNG_PITCHd_Wd  315.5,17857,-17.2,-9.706
SPEED_LIMITS  0.168,0.265 D_GRID  5000

Post-dive calculations and measurements:
FINISH  1.0,1.021657 _10V_AH  10.1,29.932
SM_CCo  16014,73.40,0.513,1,0,1047,450.13 FG_AHR_24Vo  0.000
SM_GC  1.76,0.00,0.00,73.40,0.000,0.000,0.513,154,1496,1047,-8.10,-0.11,450.13,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2111.01,12400.01,050911,191939 MEM  330240
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83552,1461
HUMID  34.01 CAP_FILE_SIZE  165620,0
INTERNAL_PRESSURE  9.42877 CFSIZE  260165632,131821568
TCM_TEMP  26.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  87 CURRENT  0.248,132.7,1
_24V_AH  22.9,40.845 GPS  060911,043831,2121.474,12404.985,39,1.7,39,-2.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1822195.31 SBE_CT100024549.92
Roll_motor13961198.02 AA38301495331130.33
VBD_pump_during_apogee409145713664.47 WL_BB2F16561053982.69
VBD_pump_during_surface73513862.81 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2410357.62 nil000.00
Iridium_during_connect50160185.06 nil000.00
Iridium_during_xfer2002231025.82 nil000.00
Transponder_ping21420209.19 nil000.00
GUMSTIX_24V000.00
GPS18509.31
TT8366219732.44
LPSleep83052183.70
TT8_Active57319114.78
TT8_Sampling3549391427.01
TT8_CF844545205.91
TT8_Kalman000.00
Analog_circuits193412234.52
GPS_charging000.00
Compass325115492.68
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
17 -0.68 -155.7 0.0 0.0 0 106 0.00 0.00 -86.40 0.000 2 0.000 0.000 153 1495 3165 0 0 0 0 0 0
109 -0.68 -155.7 6.2 -10.9 12 133 9.30 2.20 -6.85 0.000 4 0.221 0.050 2506 2916 3521 0 0 0 0 0 0
179 -0.68 -155.7 36.7 -36.8 23 188 0.08 2.20 0.00 0.000 6 0.160 0.037 2516 1507 3522 0 0 0 0 0 0
507 -0.68 -155.7 121.0 -18.9 84 515 0.00 2.03 0.00 0.000 4 0.000 0.041 2517 190 3523 0 0 0 0 0 0
593 -0.68 -155.7 139.6 -20.8 99 601 0.00 1.98 0.00 0.000 6 0.000 0.031 2510 1503 3523 0 0 0 0 0 0
923 -0.68 -155.7 206.7 -20.0 160 930 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 1507 3524 0 0 0 0 0 0
1251 -0.68 -155.7 266.7 -16.2 212 1255 0.00 2.12 0.00 0.000 4 0.000 0.041 2500 2903 3524 0 0 0 0 0 0
1271 -0.68 -155.7 270.5 -15.6 213 1278 0.00 2.15 0.00 0.000 6 0.000 0.032 2500 1489 3524 0 0 0 0 0 0
1597 -0.68 -155.7 324.5 -16.4 244 1598 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1489 3524 0 0 0 0 0 0
1920 -0.68 -155.7 371.4 -14.8 274 1924 0.00 2.17 0.00 0.000 4 0.000 0.041 2507 2909 3523 0 0 0 0 0 0
1949 -0.68 -155.7 376.2 -14.2 276 1953 0.00 2.12 0.00 0.000 6 0.000 0.034 2509 1488 3523 0 0 0 0 0 0
2281 -0.68 -155.7 425.2 -14.2 307 2285 0.00 1.95 0.00 0.000 4 0.000 0.044 2509 199 3522 0 0 0 0 0 0
2319 -0.68 -155.7 431.5 -14.7 310 2328 0.00 1.95 0.00 0.000 6 0.000 0.033 2500 1499 3521 0 0 0 0 0 0
2645 -0.68 -155.7 477.2 -15.4 341 2649 0.00 2.10 0.00 0.000 4 0.000 0.045 2489 2907 3519 0 0 0 0 0 0
2684 -0.68 -155.7 482.4 -13.6 344 2689 0.12 2.10 0.00 0.000 6 0.160 0.035 2523 1503 3519 0 0 0 0 0 0
3009 -0.68 -155.7 521.3 -11.4 374 3013 0.00 2.15 0.00 0.000 4 0.000 0.047 2515 2908 3517 0 0 0 0 0 0
3041 -0.68 -155.7 525.2 -11.4 376 3048 0.00 2.12 0.00 0.000 6 0.000 0.037 2515 1507 3516 0 0 0 0 0 0
3369 -0.68 -155.7 563.1 -11.1 407 3373 0.00 2.00 0.00 0.000 4 0.000 0.048 2515 204 3514 0 0 0 0 0 0
3509 -0.68 -155.7 580.2 -11.8 419 3516 0.00 1.98 0.00 0.000 6 0.000 0.039 2506 1491 3513 0 0 0 0 0 0
3833 -0.68 -155.7 619.6 -13.1 443 3834 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 1491 3510 0 0 0 0 0 0
4139 -0.68 -155.7 657.3 -12.4 458 4140 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 1492 3507 0 0 0 0 0 0
4449 -0.68 -155.7 693.8 -11.5 473 4450 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1492 3505 0 0 0 0 0 0
4760 -0.68 -155.7 728.8 -11.4 488 4764 0.00 2.17 0.00 0.000 4 0.000 0.055 2494 2909 3502 0 0 0 0 0 0
4826 -0.68 -155.7 736.5 -10.8 491 4831 0.08 2.17 0.00 0.000 6 0.138 0.044 2517 1507 3501 0 0 0 0 0 0
5153 -0.68 -155.7 770.0 -10.4 507 5157 0.00 2.20 0.00 0.000 4 0.000 0.057 2505 2909 3499 0 0 0 0 0 0
5182 -0.68 -155.7 773.1 -10.8 508 5186 0.00 2.15 0.00 0.000 6 0.000 0.044 2504 1496 3498 0 0 0 0 0 0
5498 -0.68 -155.7 806.6 -10.5 523 5502 0.00 2.20 0.00 0.000 4 0.000 0.058 2489 2909 3496 0 0 0 0 0 0
5543 -0.68 -155.7 811.4 -10.1 525 5548 0.10 2.17 0.00 0.000 6 0.142 0.045 2521 1507 3495 0 0 0 0 0 0
5872 -0.68 -155.7 838.5 -7.9 541 5876 0.00 2.20 0.00 0.000 4 0.000 0.059 2512 2910 3493 0 0 0 0 0 0
5912 -0.68 -155.7 841.7 -7.6 543 5917 0.00 2.17 0.00 0.000 6 0.000 0.044 2511 1496 3493 0 0 0 0 0 0
6242 -0.68 -155.7 867.9 -7.9 559 6243 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 1496 3491 0 0 0 0 0 0
6549 -0.68 -155.7 891.3 -7.3 574 6553 0.00 2.25 0.00 0.000 4 0.000 0.060 2502 2910 3489 0 0 0 0 0 0
6624 -0.68 -155.7 896.6 -7.3 577 6628 0.00 2.17 0.00 0.000 6 0.000 0.046 2501 1502 3489 0 0 0 0 0 0
6940 -0.68 -155.7 921.5 -7.9 592 6941 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 1502 3487 0 0 0 0 0 0
7250 -0.68 -155.7 945.8 -7.8 607 7251 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 1502 3485 0 0 0 0 0 0
7561 -0.68 -155.7 970.9 -8.2 622 7565 0.00 2.22 0.00 0.000 4 0.000 0.061 2493 2900 3484 0 0 0 0 0 0
7611 -0.68 -155.7 975.3 -8.2 624 7616 0.12 2.20 0.00 0.000 6 0.158 0.048 2526 1491 3484 0 0 0 0 0 0
7827 end dive: TARGET_DEPTH_EXCEEDED
state 7827 begin apogee
7835 -0.14 0.0 990.4 7.0 635 7969 0.50 0.00 127.65 1.457 6 0.119 0.000 2699 1853 2884 0 0 0 0 0 0
7969 end apogee: CONTROL_FINISHED_OK
state 7969 begin climb
7972 0.68 155.7 992.9 0.0 641 8122 0.75 2.45 142.50 1.401 4 0.067 0.062 2972 3254 2248 0 0 0 0 0 0
8161 0.68 155.7 972.1 16.8 650 8165 0.00 2.33 0.00 0.000 6 0.000 0.046 2982 1845 2245 0 0 0 0 0 0
8491 0.68 155.7 918.2 16.2 666 8495 0.00 2.28 0.00 0.000 4 0.000 0.061 2982 3257 2239 0 0 0 0 0 0
8557 0.68 155.7 906.5 16.7 669 8561 0.00 2.22 0.00 0.000 6 0.000 0.045 2991 1848 2237 0 0 0 0 0 0
8885 0.68 155.7 855.4 15.6 685 8889 0.00 2.25 0.00 0.000 4 0.000 0.060 2990 3263 2236 0 0 0 0 0 0
8949 0.68 155.7 845.1 16.6 688 8954 0.12 2.20 0.00 0.000 6 0.200 0.044 2970 1838 2236 0 0 0 0 0 0
9275 0.68 155.7 795.8 15.2 704 9279 0.00 2.22 0.00 0.000 4 0.000 0.058 2967 3260 2236 0 0 0 0 0 0
9332 0.68 155.7 786.8 15.4 706 9336 0.00 2.17 0.00 0.000 6 0.000 0.042 2975 1843 2234 0 0 0 0 0 0
9648 0.68 155.7 738.0 15.5 721 9652 0.00 2.22 0.00 0.000 4 0.000 0.054 2973 3266 2233 0 0 0 0 0 0
9715 0.68 155.7 727.0 16.2 724 9719 0.00 2.17 0.00 0.000 6 0.000 0.041 2981 1840 2233 0 0 0 0 0 0
10043 0.68 155.7 678.8 14.0 740 10048 0.00 2.22 0.00 0.000 4 0.000 0.057 2973 3266 2232 0 0 0 0 0 0
10091 0.68 155.7 671.8 14.5 742 10096 0.00 2.17 0.00 0.000 6 0.000 0.040 2981 1836 2231 0 0 0 0 0 0
10421 0.68 155.7 629.0 12.9 758 10425 0.00 2.12 0.00 0.000 4 0.000 0.050 2992 444 2231 0 0 0 0 0 0
10459 0.68 155.7 623.2 13.8 759 10466 0.00 2.15 0.00 0.000 6 0.000 0.039 2989 1862 2231 0 0 0 0 0 0
10779 0.68 155.7 578.5 15.4 781 10783 0.00 2.15 0.00 0.000 4 0.000 0.054 2989 3252 2231 0 0 0 0 0 0
10915 0.68 155.7 556.2 16.0 792 10923 0.12 2.12 0.00 0.000 6 0.197 0.041 2968 1851 2230 0 0 0 0 0 0
11241 0.68 155.7 514.8 12.1 823 11242 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 1851 2231 0 0 0 0 0 0
11563 0.68 155.7 478.9 11.5 853 11567 0.00 2.17 0.00 0.000 4 0.000 0.051 2965 3254 2230 0 0 0 0 0 0
11602 0.68 155.7 474.1 11.4 856 11606 0.00 2.12 0.00 0.000 6 0.000 0.039 2972 1849 2230 0 0 0 0 0 0
11928 0.68 155.7 434.4 12.9 886 11932 0.00 2.17 0.00 0.000 4 0.000 0.050 2965 3255 2230 0 0 0 0 0 0
12063 0.68 155.7 418.0 11.8 897 12071 0.00 2.12 0.00 0.000 6 0.000 0.038 2973 1848 2230 0 0 0 0 0 0
12389 0.68 155.7 381.3 11.0 928 12391 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 1847 2230 0 0 0 0 0 0
12711 0.69 164.0 348.8 9.4 958 12723 0.00 2.17 5.05 0.714 4 0.000 0.052 2965 3251 2215 0 0 0 0 0 0
12816 0.69 164.0 338.1 10.6 967 12820 0.00 2.12 0.00 0.000 6 0.000 0.037 2973 1836 2215 0 0 0 0 0 0
13141 0.69 164.0 304.2 10.4 997 13145 0.00 2.17 0.00 0.000 4 0.000 0.048 2963 3252 2215 0 0 0 0 0 0
13231 0.69 164.0 294.7 10.4 1005 13235 0.00 2.10 0.00 0.000 6 0.000 0.035 2969 1849 2215 0 0 0 0 0 0
13558 0.74 204.8 267.3 8.0 1035 13600 0.00 2.22 36.67 0.890 4 0.000 0.046 2959 3265 2049 0 0 0 0 0 0
13623 0.76 216.5 261.3 9.2 1040 13640 0.00 2.17 11.65 0.792 6 0.000 0.035 2966 1845 2001 0 0 0 0 0 0
13959 0.76 216.5 225.9 10.6 1093 13970 0.00 2.17 0.00 0.000 4 0.000 0.046 2983 446 1997 0 0 0 0 0 0
14054 0.76 216.5 215.6 11.1 1109 14063 0.00 2.15 0.00 0.000 6 0.000 0.034 2978 1856 1996 0 0 0 0 0 0
14384 0.82 265.7 186.9 7.6 1170 14436 0.00 2.22 42.33 0.801 4 0.000 0.047 2978 3245 1799 0 0 0 0 0 0
14450 0.87 308.6 181.4 7.9 1179 14496 0.08 2.17 38.08 0.779 6 0.056 0.035 3041 1851 1625 0 0 0 0 0 0
14815 0.87 308.6 126.8 14.6 1245 14824 0.00 2.22 0.00 0.000 4 0.000 0.044 3052 439 1621 0 0 0 0 0 0
14901 0.87 308.6 114.3 13.9 1260 14909 0.00 2.15 0.00 0.000 6 0.000 0.034 3051 1842 1621 0 0 0 0 0 0
15227 0.88 313.8 78.2 9.5 1321 15238 0.00 2.22 5.53 0.520 4 0.000 0.045 3047 3268 1603 0 0 0 0 0 0
15305 0.88 313.8 70.1 10.2 1334 15313 0.00 2.17 0.00 0.000 6 0.000 0.033 3055 1840 1603 0 0 0 0 0 0
15633 0.88 313.8 33.1 10.3 1395 15641 0.00 2.15 0.00 0.000 4 0.000 0.042 3065 438 1603 0 0 0 0 0 0
15746 0.88 313.8 21.0 10.7 1415 15755 0.10 2.12 0.00 0.000 6 0.121 0.032 3026 1847 1603 0 0 0 0 0 0
15956 end climb: SURFACE_DEPTH_REACHED
state 15956 begin surface coast
15995 end surface coast: CONTROL_FINISHED_OK
state 15995 begin surface