OKMC Aug11 * SG166 * Dive index * Mission links * Dive 22 * 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  0.015 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  22 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  3
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  51 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  40 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  9 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  280 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  320 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  -8 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24405.08 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  250 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  1 PITCH_GAIN  28 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  080811,070315,2145.672,12119.824,45,2.1,64,-2.7 TGT_NAME  N1
_CALLS  1 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.51 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  080811,070922,2145.859,12119.792,10,2.2,29,-2.7 MHEAD_RNG_PITCHd_Wd  6.8,144345,-16.1,-11.786
SPEED_LIMITS  0.204,0.345 D_GRID  2681

Post-dive calculations and measurements:
FINISH  1.0,0.998314 _10V_AH  10.3,5.081
SM_CCo  15098,0.00,0.000,0,0,446,598.04 FG_AHR_24Vo  0.000
SM_GC  1.74,7.82,0.00,0.00,0.042,0.000,0.000,150,1495,446,-8.04,-0.14,598.04,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2131.85,12117.31,080811,030323 MEM  324424
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  76831,1365
HUMID  33.14 CAP_FILE_SIZE  166711,0
INTERNAL_PRESSURE  9.33111 CFSIZE  260165632,145276928
TCM_TEMP  24.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  91 GPS  080811,112257,2150.828,12119.618,35,2.2,54,-2.7
_24V_AH  23.4,7.400

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21231118.11 SBE_CT93224523.67
Roll_motor13761196.84 AA38301400331081.43
VBD_pump_during_apogee718144324265.28 WL_BB2F14501053563.87
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010372.84 nil000.00
Iridium_during_connect2016077.34 nil000.00
Iridium_during_xfer152223798.05 nil000.00
Transponder_ping22420223.59 nil000.00
GUMSTIX_24V000.00
GPS315016.41
TT8319119650.79
LPSleep78582177.27
TT8_Active77419157.90
TT8_Sampling3209391315.70
TT8_CF842045198.46
TT8_Kalman000.00
Analog_circuits210712260.50
GPS_charging000.00
Compass299115462.13
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 -0.87 -243.3 0.0 0.0 0 126 0.00 0.00 -106.88 0.000 2 0.000 0.000 120 1470 2995 0 0 0 0 0 0
129 -0.87 -243.3 5.0 -7.6 15 166 9.07 1.98 -16.95 0.000 4 0.232 0.058 2461 202 3879 0 0 0 0 0 0
403 -0.61 -243.3 120.7 -37.6 65 411 0.28 1.98 0.00 0.000 6 0.160 0.036 2544 1497 3881 0 0 0 0 0 0
722 -0.53 -243.3 185.8 -18.9 126 731 0.12 2.00 0.00 0.000 4 0.174 0.044 2582 212 3884 0 0 0 0 0 0
872 -0.58 -243.3 205.6 -11.4 153 880 0.00 1.95 0.00 0.000 6 0.000 0.036 2572 1497 3884 0 0 0 0 0 0
1194 -0.60 -243.3 243.6 -11.6 214 1202 0.00 2.15 0.00 0.000 4 0.000 0.048 2562 2905 3883 0 0 0 0 0 0
1298 -0.66 -243.3 254.7 -9.0 228 1306 0.00 2.12 0.00 0.000 6 0.000 0.037 2562 1507 3883 0 0 0 0 0 0
1625 -0.69 -243.3 291.4 -10.9 259 1630 0.12 1.98 0.00 0.000 4 0.083 0.048 2485 202 3882 0 0 0 0 0 0
1685 -0.61 -243.3 301.5 -16.9 264 1693 0.25 1.95 0.00 0.000 6 0.145 0.042 2548 1506 3882 0 0 0 0 0 0
2011 -0.61 -243.3 342.8 -10.3 295 2015 0.00 2.12 0.00 0.000 4 0.000 0.050 2538 2911 3880 0 0 0 0 0 0
2044 -0.63 -243.3 346.4 -10.2 297 2051 0.00 2.12 0.00 0.000 6 0.000 0.038 2538 1494 3879 0 0 0 0 0 0
2369 -0.63 -243.3 386.4 -12.4 328 2370 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 1493 3878 0 0 0 0 0 0
2690 -0.63 -243.3 421.0 -11.8 358 2691 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 1493 3875 0 0 0 0 0 0
3010 -0.65 -243.3 461.5 -12.1 388 3016 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 1493 3873 0 0 0 0 0 0
3339 -0.68 -243.3 495.8 -8.8 419 3343 0.00 2.17 0.00 0.000 4 0.000 0.054 2528 2907 3870 0 0 0 0 0 0
3379 -0.71 -243.3 499.3 -8.2 422 3383 0.00 2.10 0.00 0.000 6 0.000 0.040 2528 1500 3870 0 0 0 0 0 0
3705 -0.71 -243.3 530.3 -10.8 452 3706 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1500 3867 0 0 0 0 0 0
4027 -0.74 -243.3 564.2 -10.0 482 4031 0.00 2.20 0.00 0.000 4 0.000 0.057 2517 2906 3864 0 0 0 0 0 0
4082 -0.79 -243.3 570.5 -10.6 486 4089 0.00 2.12 0.00 0.000 6 0.000 0.041 2517 1503 3864 0 0 0 0 0 0
4409 -0.81 -243.3 610.7 -12.3 513 4413 0.00 2.17 0.00 0.000 4 0.000 0.061 2507 2908 3862 0 0 0 0 0 0
4436 -0.83 -243.3 614.4 -11.7 514 4440 0.00 2.15 0.00 0.000 6 0.000 0.043 2506 1490 3861 0 0 0 0 0 0
4753 -0.83 -243.3 650.6 -11.6 529 4754 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1490 3859 0 0 0 0 0 0
5062 -0.83 -243.3 686.8 -11.7 544 5066 0.00 2.20 0.00 0.000 4 0.000 0.059 2496 2907 3857 0 0 0 0 0 0
5136 -0.87 -243.3 694.9 -10.4 547 5140 0.00 2.15 0.00 0.000 6 0.000 0.044 2495 1494 3856 0 0 0 0 0 0
5452 -0.87 -243.3 729.8 -10.5 562 5456 0.00 1.98 0.00 0.000 4 0.000 0.055 2495 199 3854 0 0 0 0 0 0
5507 -0.87 -243.3 735.8 -10.4 564 5512 0.00 2.00 0.00 0.000 6 0.000 0.044 2485 1502 3853 0 0 0 0 0 0
5831 -0.85 -243.3 769.1 -10.6 580 5833 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 1502 3851 0 0 0 0 0 0
6139 -0.84 -243.3 804.4 -12.1 595 6143 0.00 2.17 0.00 0.000 4 0.000 0.060 2474 2913 3849 0 0 0 0 0 0
6190 -0.84 -243.3 811.1 -12.9 597 6194 0.00 2.12 0.00 0.000 6 0.000 0.044 2474 1501 3849 0 0 0 0 0 0
6511 -0.81 -243.3 856.6 -14.1 613 6515 0.00 1.98 0.00 0.000 4 0.000 0.057 2474 198 3847 0 0 0 0 0 0
6550 -0.78 -243.3 862.5 -14.7 614 6557 0.00 1.98 0.00 0.000 6 0.000 0.045 2465 1509 3846 0 0 0 0 0 0
6868 -0.75 -243.3 908.1 -14.2 630 6873 0.15 2.17 0.00 0.000 4 0.180 0.059 2497 2916 3844 0 0 0 0 0 0
6894 -0.75 -243.3 911.9 -13.2 631 6899 0.00 2.12 0.00 0.000 6 0.000 0.044 2497 1493 3844 0 0 0 0 0 0
7223 -0.76 -243.3 945.2 -9.7 647 7227 0.00 1.98 0.00 0.000 4 0.000 0.057 2497 202 3842 0 0 0 0 0 0
7293 -0.78 -243.3 952.2 -10.3 650 7297 0.00 2.00 0.00 0.000 6 0.000 0.045 2488 1496 3842 0 0 0 0 0 0
7626 -0.78 -243.3 985.3 -10.5 666 7630 0.00 2.17 0.00 0.000 4 0.000 0.060 2477 2908 3840 0 0 0 0 0 0
7668 end dive: TARGET_DEPTH_EXCEEDED
state 7668 begin apogee
7677 -0.18 0.0 990.0 10.5 668 7884 0.62 0.00 198.25 1.444 6 0.132 0.000 2684 1841 2883 0 0 0 0 0 0
7885 end apogee: CONTROL_FINISHED_OK
state 7885 begin climb
7889 0.87 243.3 998.4 0.0 678 8114 0.98 2.42 217.52 1.373 4 0.058 0.060 3036 3247 1891 0 0 0 0 0 0
8183 0.66 243.3 945.3 26.3 692 8189 0.32 2.25 0.00 0.000 6 0.196 0.044 2963 1852 1887 0 0 0 0 0 0
8500 0.53 243.3 884.3 18.7 707 8502 0.17 0.00 0.00 0.000 6 0.193 0.000 2918 1852 1883 0 0 0 0 0 0
8811 0.48 243.3 841.6 13.2 722 8815 0.00 2.20 0.00 0.000 4 0.000 0.054 2926 441 1881 0 0 0 0 0 0
8838 0.41 243.3 837.2 14.0 723 8843 0.15 2.17 0.00 0.000 6 0.164 0.044 2880 1856 1880 0 0 0 0 0 0
9161 0.43 257.3 801.2 11.3 739 9183 0.00 2.28 11.90 1.198 4 0.000 0.060 2878 3256 1835 0 0 0 0 0 0
9235 0.45 257.3 791.5 13.1 742 9239 0.00 2.17 0.00 0.000 6 0.000 0.042 2886 1845 1834 0 0 0 0 0 0
9562 0.43 257.3 746.2 13.8 758 9566 0.00 2.17 0.00 0.000 4 0.000 0.054 2897 436 1833 0 0 0 0 0 0
9649 0.43 257.3 734.5 13.7 762 9653 0.00 2.20 0.00 0.000 6 0.000 0.044 2897 1851 1832 0 0 0 0 0 0
9976 0.41 257.3 689.0 14.3 778 9980 0.00 2.20 0.00 0.000 4 0.000 0.058 2897 3268 1832 0 0 0 0 0 0
10006 0.39 257.3 684.7 14.7 779 10011 0.12 2.15 0.00 0.000 6 0.182 0.042 2877 1848 1831 0 0 0 0 0 0
10322 0.39 257.3 645.7 12.4 794 10326 0.00 2.17 0.00 0.000 4 0.000 0.052 2885 431 1831 0 0 0 0 0 0
10343 0.39 257.3 642.8 12.5 795 10347 0.00 2.17 0.00 0.000 6 0.000 0.042 2885 1859 1830 0 0 0 0 0 0
10671 0.39 257.3 603.2 12.2 811 10675 0.00 2.15 0.00 0.000 4 0.000 0.058 2885 3259 1830 0 0 0 0 0 0
10710 0.39 257.3 597.8 12.7 812 10717 0.00 2.12 0.00 0.000 6 0.000 0.041 2893 1841 1830 0 0 0 0 0 0
11037 0.40 267.7 559.6 11.4 843 11053 0.00 2.17 10.77 1.066 4 0.000 0.052 2904 436 1792 0 0 0 0 0 0
11088 0.43 288.1 553.6 11.1 847 11114 0.00 2.17 19.92 1.127 6 0.000 0.042 2904 1859 1708 0 0 0 0 0 0
11442 0.43 288.1 507.1 12.6 880 11446 0.00 2.20 0.00 0.000 4 0.000 0.057 2904 3265 1705 0 0 0 0 0 0
11485 0.43 288.1 501.2 12.5 883 11493 0.00 2.17 0.00 0.000 6 0.000 0.041 2914 1836 1704 0 0 0 0 0 0
11811 0.41 288.1 455.8 15.2 914 11816 0.12 2.17 0.00 0.000 4 0.183 0.053 2891 435 1704 0 0 0 0 0 0
11838 0.43 288.1 451.6 14.7 916 11845 0.00 2.17 0.00 0.000 6 0.000 0.041 2890 1852 1704 0 0 0 0 0 0
12164 0.52 336.4 415.7 10.2 947 12212 0.00 2.30 42.03 1.057 4 0.000 0.057 2891 3255 1512 0 0 0 0 0 0
12270 0.58 339.3 403.9 11.7 956 12281 0.10 2.20 4.43 0.687 6 0.099 0.040 2948 1850 1499 0 0 0 0 0 0
12606 0.54 339.3 345.9 18.5 988 12610 0.00 2.22 0.00 0.000 4 0.000 0.051 2959 441 1497 0 0 0 0 0 0
12628 0.49 339.3 341.7 18.2 989 12636 0.20 2.17 0.00 0.000 6 0.153 0.041 2901 1857 1496 0 0 0 0 0 0
12954 0.69 459.6 312.0 7.9 1020 13060 0.20 0.00 101.15 0.955 6 0.070 0.000 2990 1860 1009 0 0 0 0 0 0
13377 0.62 459.6 224.3 17.5 1072 13385 0.15 2.25 0.00 0.000 4 0.173 0.054 2946 3261 1005 0 0 0 0 0 0
13437 0.69 476.9 216.6 11.2 1082 13460 0.00 2.20 15.10 0.818 6 0.000 0.038 2954 1850 938 0 0 0 0 0 0
13783 0.73 476.9 166.4 14.4 1145 13791 0.00 2.22 0.00 0.000 4 0.000 0.050 2965 449 936 0 0 0 0 0 0
13811 0.76 476.9 161.8 14.4 1149 13819 0.00 2.17 0.00 0.000 6 0.000 0.037 2965 1856 935 0 0 0 0 0 0
14137 0.80 476.9 120.4 12.0 1210 14146 0.12 2.20 0.00 0.000 4 0.089 0.051 3033 3261 935 0 0 0 0 0 0
14184 0.76 476.9 112.9 18.3 1217 14192 0.15 2.17 0.00 0.000 6 0.148 0.037 2995 1846 935 0 0 0 0 0 0
14506 0.89 552.4 65.1 9.3 1278 14579 0.10 2.30 61.17 0.720 4 0.101 0.047 3062 440 629 0 0 0 0 0 0
14610 0.89 552.4 49.4 16.9 1293 14619 0.10 2.22 0.00 0.000 6 0.124 0.037 3029 1855 627 0 0 0 0 0 0
14939 1.06 623.6 14.3 9.5 1354 14984 0.17 2.20 36.10 0.652 4 0.069 0.047 3119 3258 451 0 0 0 0 0 0
14994 1.01 623.6 4.9 18.9 1361 15003 0.15 2.20 0.00 0.000 6 0.135 0.035 3079 1852 448 0 0 0 0 0 0
15009 end climb: SURFACE_DEPTH_REACHED
state 15009 begin surface coast
15021 end surface coast: CONTROL_FINISHED_OK
state 15021 begin surface