OKMC Aug11 * SG166 * Dive index * Mission links * Dive 178 * 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  178 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  49 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  -24621.445 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  060911,091537,2121.552,12405.506,58,1.3,58,-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  1.76 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  060911,092337,2121.460,12405.731,38,2.0,45,-2.8 MHEAD_RNG_PITCHd_Wd  301.5,18647,-17.2,-9.706
SPEED_LIMITS  0.168,0.265 D_GRID  5000

Post-dive calculations and measurements:
FINISH  1.0,1.008673 _10V_AH  10.1,30.274
SM_CCo  15881,64.93,0.495,1,0,1048,450.13 FG_AHR_24Vo  0.000
SM_GC  1.97,0.00,0.00,64.93,0.000,0.000,0.495,133,1488,1048,-8.13,-0.31,450.13,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2115.63,12404.52,060911,040449 MEM  330224
TT8_MAMPS  0.027713,0.027713 DATA_FILE_SIZE  83599,1489
HUMID  34.01 CAP_FILE_SIZE  161664,0
INTERNAL_PRESSURE  9.43854 CFSIZE  260165632,131653632
TCM_TEMP  26.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  75 CURRENT  0.415,118.0,1
_24V_AH  23.0,41.182 GPS  060911,135137,2120.730,12407.108,61,1.5,61,-2.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1822095.65 SBE_CT101824562.01
Roll_motor12963189.08 AA38301525331157.71
VBD_pump_during_apogee425145114222.23 WL_BB2F17851054312.98
VBD_pump_during_surface64494739.10 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810368.55 nil000.00
Iridium_during_connect2216083.98 nil000.00
Iridium_during_xfer2282231171.28 nil000.00
Transponder_ping18420181.12 nil000.00
GUMSTIX_24V000.00
GPS455023.18
TT8370419740.76
LPSleep80142177.27
TT8_Active61019122.09
TT8_Sampling3633391460.42
TT8_CF845445210.43
TT8_Kalman000.00
Analog_circuits194412235.73
GPS_charging000.00
Compass331715502.58
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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
18 -0.68 -155.7 0.0 0.0 0 106 0.00 0.00 -85.45 0.000 2 0.000 0.000 152 1477 3128 0 0 0 0 0 0
108 -0.68 -155.7 6.0 -10.2 11 133 9.30 2.25 -7.57 0.000 4 0.220 0.051 2509 2912 3521 0 0 0 0 0 0
184 -0.68 -155.7 36.1 -32.6 23 192 0.00 2.17 0.00 0.000 6 0.000 0.034 2498 1503 3522 0 0 0 0 0 0
511 -0.68 -155.7 134.0 -23.0 84 519 0.00 2.00 0.00 0.000 4 0.000 0.039 2493 192 3523 0 0 0 0 0 0
592 -0.68 -155.7 151.0 -20.5 98 600 0.10 1.98 0.00 0.000 6 0.158 0.031 2517 1509 3523 0 0 0 0 0 0
920 -0.68 -155.7 213.7 -18.9 159 927 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 1513 3524 0 0 0 0 0 0
1254 -0.68 -155.7 276.2 -17.6 208 1255 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 1513 3525 0 0 0 0 0 0
1572 -0.68 -155.7 329.7 -16.3 238 1576 0.00 2.03 0.00 0.000 4 0.000 0.041 2521 189 3524 0 0 0 0 0 0
1595 -0.68 -155.7 333.6 -15.8 240 1599 0.00 1.95 0.00 0.000 6 0.000 0.032 2519 1505 3524 0 0 0 0 0 0
1926 -0.68 -155.7 381.1 -12.6 271 1930 0.00 2.10 0.00 0.000 4 0.000 0.043 2518 2907 3523 0 0 0 0 0 0
1958 -0.68 -155.7 385.2 -12.0 273 1967 0.00 2.12 0.00 0.000 6 0.000 0.034 2518 1484 3523 0 0 0 0 0 0
2284 -0.68 -155.7 426.2 -13.0 304 2287 0.00 1.92 0.00 0.000 4 0.000 0.043 2518 207 3522 0 0 0 0 0 0
2322 -0.68 -155.7 431.6 -13.7 307 2329 0.00 1.92 0.00 0.000 6 0.000 0.033 2508 1492 3522 0 0 0 0 0 0
2648 -0.68 -155.7 477.4 -13.7 338 2652 0.00 2.10 0.00 0.000 4 0.000 0.044 2498 2905 3519 0 0 0 0 0 0
2710 -0.68 -155.7 485.3 -12.7 343 2714 0.00 2.10 0.00 0.000 6 0.000 0.036 2499 1499 3518 0 0 0 0 0 0
3035 -0.68 -155.7 531.8 -15.2 373 3039 0.00 2.00 0.00 0.000 4 0.000 0.047 2498 198 3516 0 0 0 0 0 0
3141 -0.68 -155.7 548.4 -15.6 382 3149 0.12 1.95 0.00 0.000 6 0.174 0.037 2522 1492 3515 0 0 0 0 0 0
3466 -0.68 -155.7 587.8 -12.1 413 3470 0.00 2.00 0.00 0.000 4 0.000 0.049 2522 202 3512 0 0 0 0 0 0
3494 -0.68 -155.7 591.4 -12.4 415 3500 0.00 1.98 0.00 0.000 6 0.000 0.037 2514 1509 3512 0 0 0 0 0 0
3812 -0.68 -155.7 630.7 -12.2 434 3816 0.00 2.12 0.00 0.000 4 0.000 0.050 2504 2909 3509 0 0 0 0 0 0
3891 -0.68 -155.7 639.7 -11.1 437 3895 0.00 2.12 0.00 0.000 6 0.000 0.040 2504 1507 3509 0 0 0 0 0 0
4207 -0.68 -155.7 676.2 -11.4 452 4208 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 1507 3506 0 0 0 0 0 0
4518 -0.68 -155.7 710.1 -11.1 467 4522 0.00 2.05 0.00 0.000 4 0.000 0.054 2503 181 3503 0 0 0 0 0 0
4556 -0.68 -155.7 715.2 -12.6 468 4564 0.08 2.03 0.00 0.000 6 0.151 0.041 2517 1493 3502 0 0 0 0 0 0
4872 -0.68 -155.7 747.0 -10.0 484 4873 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 1494 3500 0 0 0 0 0 0
5183 -0.68 -155.7 778.0 -9.9 499 5188 0.00 2.20 0.00 0.000 4 0.000 0.055 2503 2916 3497 0 0 0 0 0 0
5210 -0.68 -155.7 781.0 -10.1 500 5215 0.00 2.17 0.00 0.000 6 0.000 0.042 2502 1482 3497 0 0 0 0 0 0
5532 -0.68 -155.7 813.6 -10.1 516 5534 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 1482 3494 0 0 0 0 0 0
5844 -0.68 -155.7 844.6 -10.0 531 5848 0.00 2.22 0.00 0.000 4 0.000 0.057 2486 2912 3493 0 0 0 0 0 0
5910 -0.68 -155.7 851.3 -9.4 534 5915 0.12 2.17 0.00 0.000 6 0.159 0.044 2520 1493 3492 0 0 0 0 0 0
6236 -0.68 -155.7 876.3 -7.6 550 6240 0.00 2.22 0.00 0.000 4 0.000 0.057 2512 2909 3490 0 0 0 0 0 0
6280 -0.68 -155.7 879.9 -7.3 552 6284 0.00 2.17 0.00 0.000 6 0.000 0.044 2512 1488 3489 0 0 0 0 0 0
6607 -0.68 -155.7 905.3 -7.7 568 6608 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 1488 3487 0 0 0 0 0 0
6918 -0.68 -155.7 930.2 -8.5 583 6919 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 1488 3486 0 0 0 0 0 0
7226 -0.68 -155.7 958.4 -9.7 598 7230 0.00 2.25 0.00 0.000 4 0.000 0.060 2501 2906 3484 0 0 0 0 0 0
7266 -0.68 -155.7 962.3 -9.6 600 7270 0.00 2.17 0.00 0.000 6 0.000 0.046 2502 1496 3484 0 0 0 0 0 0
7528 end dive: TARGET_DEPTH_EXCEEDED
state 7528 begin apogee
7536 -0.14 0.0 990.4 10.6 613 7670 0.57 0.00 127.55 1.452 6 0.124 0.000 2691 1858 2884 0 0 0 0 0 0
7671 end apogee: CONTROL_FINISHED_OK
state 7671 begin climb
7675 0.68 155.7 995.1 0.0 619 7827 0.77 2.47 142.80 1.396 4 0.068 0.063 2977 3253 2248 0 0 0 0 0 0
7857 0.68 155.7 978.2 14.6 628 7861 0.00 2.30 0.00 0.000 6 0.000 0.044 2987 1853 2246 0 0 0 0 0 0
8186 0.68 155.7 924.4 16.6 644 8190 0.00 2.25 0.00 0.000 4 0.000 0.062 2985 3253 2239 0 0 0 0 0 0
8264 0.68 155.7 910.3 17.2 647 8271 0.00 2.17 0.00 0.000 6 0.000 0.044 2993 1846 2238 0 0 0 0 0 0
8583 0.68 155.7 858.8 16.7 663 8587 0.00 2.25 0.00 0.000 4 0.000 0.060 2992 3263 2237 0 0 0 0 0 0
8650 0.68 155.7 847.0 16.2 666 8655 0.15 2.20 0.00 0.000 6 0.193 0.044 2965 1834 2237 0 0 0 0 0 0
8977 0.68 155.7 802.5 13.7 682 8981 0.00 2.25 0.00 0.000 4 0.000 0.057 2955 3264 2235 0 0 0 0 0 0
9073 0.68 155.7 788.6 14.5 686 9077 0.00 2.15 0.00 0.000 6 0.000 0.044 2963 1847 2234 0 0 0 0 0 0
9400 0.68 155.7 740.9 14.8 702 9404 0.00 2.22 0.00 0.000 4 0.000 0.057 2959 3257 2233 0 0 0 0 0 0
9456 0.68 155.7 732.4 15.2 704 9463 0.00 2.15 0.00 0.000 6 0.000 0.041 2967 1849 2233 0 0 0 0 0 0
9774 0.68 155.7 686.5 14.9 720 9778 0.00 2.17 0.00 0.000 4 0.000 0.051 2978 437 2232 0 0 0 0 0 0
9806 0.68 155.7 680.7 16.1 721 9813 0.00 2.17 0.00 0.000 6 0.000 0.041 2970 1865 2232 0 0 0 0 0 0
10124 0.68 155.7 632.6 15.5 737 10128 0.00 2.15 0.00 0.000 4 0.000 0.057 2967 3253 2232 0 0 0 0 0 0
10215 0.68 155.7 618.7 15.0 741 10219 0.00 2.15 0.00 0.000 6 0.000 0.042 2975 1838 2231 0 0 0 0 0 0
10547 0.68 155.7 572.8 12.9 765 10551 0.00 2.22 0.00 0.000 4 0.000 0.056 2968 3260 2231 0 0 0 0 0 0
10702 0.68 155.7 551.9 12.5 778 10710 0.00 2.17 0.00 0.000 6 0.000 0.041 2976 1848 2230 0 0 0 0 0 0
11027 0.68 155.7 510.7 13.0 809 11029 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 1849 2230 0 0 0 0 0 0
11348 0.68 155.7 471.9 11.6 839 11352 0.00 2.20 0.00 0.000 4 0.000 0.053 2968 3257 2230 0 0 0 0 0 0
11393 0.68 155.7 466.0 12.8 842 11401 0.00 2.15 0.00 0.000 6 0.000 0.040 2977 1837 2230 0 0 0 0 0 0
11718 0.68 155.7 424.5 12.5 873 11722 0.00 2.20 0.00 0.000 4 0.000 0.053 2968 3256 2230 0 0 0 0 0 0
11758 0.68 155.7 419.3 12.8 876 11765 0.00 2.12 0.00 0.000 6 0.000 0.039 2976 1851 2230 0 0 0 0 0 0
12084 0.68 155.7 380.0 12.4 907 12088 0.00 2.15 0.00 0.000 4 0.000 0.049 2987 436 2230 0 0 0 0 0 0
12206 0.68 155.7 364.8 12.4 917 12210 0.00 2.15 0.00 0.000 6 0.000 0.039 2980 1858 2230 0 0 0 0 0 0
12532 0.71 175.7 329.7 8.9 947 12551 0.00 0.00 15.27 0.907 6 0.000 0.000 2980 1858 2167 0 0 0 0 0 0
12872 0.71 175.7 294.7 12.1 979 12876 0.00 2.15 0.00 0.000 4 0.000 0.050 2978 3260 2165 0 0 0 0 0 0
12893 0.71 175.7 291.8 11.6 980 12901 0.00 2.15 0.00 0.000 6 0.000 0.037 2983 1852 2165 0 0 0 0 0 0
13220 0.71 175.7 253.0 11.4 1011 13224 0.00 2.15 0.00 0.000 4 0.000 0.046 2992 442 2165 0 0 0 0 0 0
13444 0.72 185.6 229.9 9.3 1050 13461 0.00 2.15 10.45 0.767 6 0.000 0.037 2984 1859 2128 0 0 0 0 0 0
13784 0.72 187.3 200.7 9.6 1112 13791 0.00 0.00 0.00 0.000 6 0.000 0.000 2984 1859 2127 0 0 0 0 0 0
14107 0.75 212.9 170.4 8.6 1173 14137 0.00 0.00 24.62 0.770 6 0.000 0.000 2984 1860 2015 0 0 0 0 0 0
14461 0.77 230.3 134.1 9.0 1237 14485 0.00 2.12 16.02 0.711 4 0.000 0.046 2986 3256 1944 0 0 0 0 0 0
14650 0.87 305.7 119.6 6.6 1271 14724 0.00 2.15 64.55 0.735 6 0.000 0.035 2995 1845 1636 0 0 0 0 0 0
15045 0.90 334.2 84.6 8.5 1341 15077 0.12 2.17 24.60 0.673 4 0.086 0.042 3081 437 1519 0 0 0 0 0 0
15144 0.90 334.2 71.3 15.3 1357 15153 0.12 2.15 0.00 0.000 6 0.129 0.033 3036 1851 1517 0 0 0 0 0 0
15475 0.91 336.2 36.5 9.6 1418 15484 0.00 2.12 0.00 0.000 4 0.000 0.044 3034 3243 1517 0 0 0 0 0 0
15513 0.91 337.0 32.7 9.7 1424 15521 0.00 2.10 0.00 0.000 6 0.000 0.033 3042 1855 1517 0 0 0 0 0 0
15832 end climb: SURFACE_DEPTH_REACHED
state 15832 begin surface coast
15862 end surface coast: CONTROL_FINISHED_OK
state 15862 begin surface