OKMC Aug11 * SG166 * Dive index * Mission links * Dive 261 * 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  0.0099999998 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  30
DIVE  261 HEADING  285 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  20 ALTIM_PING_DEPTH  0
D_FLARE  5 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1550 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1820 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  60 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  300 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  -9 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24727.266 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  0 PITCH_GAIN  45 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  210911,121906,2142.687,12326.814,40,0.9,40,-2.8 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2145.447,12315.588
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.79 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -65.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  210911,122602,2142.652,12326.819,14,1.1,14,-2.8 MHEAD_RNG_PITCHd_Wd  287.8,20000,-15.2,-11.000
SPEED_LIMITS  0.191,0.337 D_GRID  4922

Post-dive calculations and measurements:
FINISH  1.3,1.021672 _10V_AH  9.9,43.229
SM_CCo  16695,0.00,0.000,0,0,432,601.23 FG_AHR_24Vo  0.000
SM_GC  1.97,7.68,0.00,0.00,0.035,0.000,0.000,154,1540,432,-8.04,-0.28,601.23,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2131.85,12326.61,210911,070710 MEM  330312
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  83593,1508
HUMID  37.47 CAP_FILE_SIZE  176118,0
INTERNAL_PRESSURE  9.36041 CFSIZE  260165632,124379136
TCM_TEMP  25.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  93 GPS  210911,170600,2143.695,12323.762,37,1.2,42,-2.8
_24V_AH  22.6,62.007

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20219103.83 SBE_CT103124559.40
Roll_motor616591.33 AA38301544331152.05
VBD_pump_during_apogee754144624663.98 WL_BB2F16511053918.26
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810365.82 nil000.00
Iridium_during_connect38160139.78 nil000.00
Iridium_during_xfer180223907.20 nil000.00
Transponder_ping23420220.69 nil000.00
GUMSTIX_24V000.00
GPS15507.61
TT8353819693.60
LPSleep86982188.60
TT8_Active76419149.88
TT8_Sampling3601391419.08
TT8_CF848545220.16
TT8_Kalman000.00
Analog_circuits221612263.34
GPS_charging000.00
Compass335515498.32
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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -0.64 -243.3 0.0 0.0 0 127 0.00 0.00 -105.53 0.000 2 0.000 0.000 149 1537 3090 0 0 0 0 0 0
130 -0.64 -243.3 5.5 -8.2 15 160 9.35 1.10 -14.73 0.000 4 0.220 0.066 2519 2249 3878 0 0 0 0 0 0
262 -0.50 -243.3 60.3 -33.0 38 271 0.20 1.05 0.00 0.000 6 0.154 0.037 2576 1538 3881 0 0 0 0 0 0
585 -0.44 -243.3 138.1 -20.4 99 593 0.00 1.02 0.00 0.000 4 0.000 0.041 2572 2231 3882 0 0 0 0 0 0
645 -0.42 -243.3 148.7 -16.6 109 654 0.10 1.00 0.00 0.000 6 0.129 0.037 2608 1553 3882 0 0 0 0 0 0
970 -0.45 -243.3 187.5 -10.7 170 978 0.00 1.00 0.00 0.000 4 0.000 0.041 2605 2233 3882 0 0 0 0 0 0
1195 -0.50 -243.3 207.2 -7.8 212 1203 0.00 1.00 0.00 0.000 6 0.000 0.037 2605 1547 3882 0 0 0 0 0 0
1518 -0.56 -243.3 239.0 -9.2 273 1527 0.12 1.02 0.00 0.000 4 0.080 0.041 2514 2234 3882 0 0 0 0 0 0
1635 -0.52 -243.3 256.4 -16.8 290 1643 0.17 1.00 0.00 0.000 6 0.127 0.038 2573 1555 3882 0 0 0 0 0 0
1962 -0.55 -243.3 290.6 -9.0 321 1965 0.00 1.02 0.00 0.000 4 0.000 0.044 2571 2237 3881 0 0 0 0 0 0
2057 -0.59 -243.3 299.1 -9.0 329 2064 0.00 1.02 0.00 0.000 6 0.000 0.041 2583 1553 3881 0 0 0 0 0 0
2385 -0.62 -243.3 327.1 -7.2 360 2390 0.12 1.02 0.00 0.000 4 0.081 0.045 2502 2228 3879 0 0 0 0 0 0
2536 -0.58 -243.3 348.3 -15.2 373 2543 0.15 1.02 0.00 0.000 6 0.129 0.043 2552 1547 3878 0 0 0 0 0 0
2862 -0.58 -243.3 388.0 -11.0 404 2866 0.00 1.02 0.00 0.000 4 0.000 0.048 2550 2224 3876 0 0 0 0 0 0
2912 -0.58 -243.3 393.6 -10.8 408 2918 0.00 1.00 0.00 0.000 6 0.000 0.044 2550 1553 3876 0 0 0 0 0 0
3237 -0.58 -243.3 429.1 -11.3 439 3240 0.00 1.02 0.00 0.000 4 0.000 0.050 2545 2226 3873 0 0 0 0 0 0
3317 -0.59 -243.3 437.6 -10.3 446 3321 0.00 1.02 0.00 0.000 6 0.000 0.044 2546 1549 3873 0 0 0 0 0 0
3648 -0.59 -243.3 477.1 -12.4 477 3651 0.00 1.02 0.00 0.000 4 0.000 0.051 2541 2220 3870 0 0 0 0 0 0
3798 -0.60 -243.3 495.2 -13.0 490 3802 0.00 1.02 0.00 0.000 6 0.000 0.047 2541 1547 3869 0 0 0 0 0 0
4129 -0.60 -243.3 539.5 -11.6 521 4130 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 1547 3867 0 0 0 0 0 0
4450 -0.61 -243.3 572.4 -9.8 551 4454 0.00 1.05 0.00 0.000 4 0.000 0.054 2535 2226 3863 0 0 0 0 0 0
4536 -0.63 -243.3 580.5 -9.0 558 4543 0.00 1.02 0.00 0.000 6 0.000 0.047 2536 1555 3863 0 0 0 0 0 0
4869 -0.65 -243.3 616.4 -11.4 583 4873 0.00 1.02 0.00 0.000 4 0.000 0.054 2531 2218 3860 0 0 0 0 0 0
4917 -0.66 -243.3 622.0 -11.5 585 4921 0.00 1.02 0.00 0.000 6 0.000 0.048 2531 1553 3859 0 0 0 0 0 0
5250 -0.66 -243.3 663.0 -12.3 601 5251 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 1553 3856 0 0 0 0 0 0
5562 -0.67 -243.3 699.2 -11.4 616 5566 0.00 1.05 0.00 0.000 4 0.000 0.056 2526 2226 3854 0 0 0 0 0 0
5631 -0.69 -243.3 706.7 -10.3 619 5635 0.00 1.05 0.00 0.000 6 0.000 0.048 2526 1546 3853 0 0 0 0 0 0
5964 -0.69 -243.3 739.3 -10.1 635 5966 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 1545 3851 0 0 0 0 0 0
6276 -0.70 -243.3 772.8 -10.8 650 6280 0.00 1.05 0.00 0.000 4 0.000 0.058 2521 2219 3848 0 0 0 0 0 0
6390 -0.72 -243.3 784.6 -10.4 655 6394 0.00 1.02 0.00 0.000 6 0.000 0.052 2521 1557 3847 0 0 0 0 0 0
6725 -0.72 -243.3 820.3 -10.5 671 6729 0.00 1.05 0.00 0.000 4 0.000 0.059 2516 2226 3846 0 0 0 0 0 0
6764 -0.73 -243.3 824.4 -9.7 672 6771 0.00 1.05 0.00 0.000 6 0.000 0.051 2516 1551 3844 0 0 0 0 0 0
7082 -0.73 -243.3 856.2 -9.7 688 7085 0.00 1.05 0.00 0.000 4 0.000 0.060 2511 2222 3842 0 0 0 0 0 0
7120 -0.73 -243.3 860.1 -9.1 689 7127 0.00 1.05 0.00 0.000 6 0.000 0.052 2511 1544 3842 0 0 0 0 0 0
7437 -0.73 -243.3 888.9 -8.9 705 7438 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 1543 3840 0 0 0 0 0 0
7748 -0.73 -243.3 916.4 -9.1 720 7752 0.00 1.08 0.00 0.000 4 0.000 0.062 2506 2220 3838 0 0 0 0 0 0
7839 -0.74 -243.3 924.6 -8.8 724 7843 0.00 1.05 0.00 0.000 6 0.000 0.054 2506 1552 3838 0 0 0 0 0 0
8174 -0.74 -243.3 957.2 -10.1 740 8175 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1553 3836 0 0 0 0 0 0
8481 -0.74 -243.3 989.7 -10.8 755 8484 0.00 1.05 0.00 0.000 4 0.000 0.061 2502 2219 3834 0 0 0 0 0 0
8489 end dive: TARGET_DEPTH_EXCEEDED
state 8489 begin apogee
8495 -0.11 0.0 991.1 10.9 755 8707 0.62 0.00 206.12 1.447 6 0.121 0.000 2706 1815 2883 0 0 0 0 0 0
8707 end apogee: CONTROL_FINISHED_OK
state 8708 begin climb
8710 0.64 243.3 1002.8 0.0 765 8947 0.68 1.23 225.50 1.380 4 0.052 0.057 2963 1121 1892 0 0 0 0 0 0
9016 0.58 243.3 973.9 13.1 779 9020 0.08 1.10 0.00 0.000 6 0.145 0.050 2940 1789 1888 0 0 0 0 0 0
9339 0.54 243.3 934.2 12.2 795 9343 0.00 1.15 0.00 0.000 4 0.000 0.061 2939 2525 1884 0 0 0 0 0 0
9407 0.51 243.3 925.9 12.0 798 9411 0.08 1.10 0.00 0.000 6 0.149 0.050 2914 1820 1884 0 0 0 0 0 0
9742 0.50 243.3 889.5 11.2 814 9743 0.00 0.00 0.00 0.000 6 0.000 0.000 2910 1820 1882 0 0 0 0 0 0
10051 0.48 243.3 852.8 12.2 829 10055 0.00 1.10 0.00 0.000 4 0.000 0.060 2908 2524 1880 0 0 0 0 0 0
10086 0.47 243.3 848.2 12.1 830 10090 0.00 1.10 0.00 0.000 6 0.000 0.047 2910 1812 1880 0 0 0 0 0 0
10408 0.45 243.3 806.0 13.3 846 10412 0.00 1.05 0.00 0.000 4 0.000 0.053 2915 1119 1880 0 0 0 0 0 0
10441 0.44 243.3 801.6 12.9 847 10445 0.08 1.10 0.00 0.000 6 0.139 0.048 2891 1835 1880 0 0 0 0 0 0
10764 0.47 268.5 766.9 10.2 863 10791 0.00 1.10 23.08 1.271 4 0.000 0.057 2890 2524 1789 0 0 0 0 0 0
10854 0.51 295.4 757.5 10.2 867 10885 0.00 1.10 26.90 1.258 6 0.000 0.046 2892 1816 1679 0 0 0 0 0 0
11197 0.60 357.7 725.7 9.1 883 11260 0.12 1.10 58.38 1.267 4 0.090 0.050 2963 1117 1424 0 0 0 0 0 0
11285 0.57 357.7 713.2 15.2 887 11289 0.10 1.12 0.00 0.000 6 0.138 0.047 2932 1825 1423 0 0 0 0 0 0
11619 0.57 357.7 669.5 13.4 903 11620 0.00 0.00 0.00 0.000 6 0.000 0.000 2932 1825 1418 0 0 0 0 0 0
11926 0.57 357.7 627.5 13.6 918 11930 0.00 1.10 0.00 0.000 4 0.000 0.051 2935 1112 1417 0 0 0 0 0 0
11983 0.57 357.7 619.9 13.3 920 11987 0.00 1.10 0.00 0.000 6 0.000 0.046 2937 1824 1417 0 0 0 0 0 0
12311 0.57 357.7 573.9 14.3 944 12315 0.00 1.05 0.00 0.000 4 0.000 0.055 2937 2519 1417 0 0 0 0 0 0
12338 0.57 357.7 569.6 14.0 946 12345 0.00 1.08 0.00 0.000 6 0.000 0.044 2939 1814 1416 0 0 0 0 0 0
12664 0.57 357.7 522.5 14.5 977 12665 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1814 1416 0 0 0 0 0 0
12987 0.57 357.7 482.0 12.5 1007 12993 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1814 1415 0 0 0 0 0 0
13314 0.57 357.7 440.4 12.7 1038 13315 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 1814 1415 0 0 0 0 0 0
13636 0.57 363.8 402.9 10.8 1068 13643 0.00 0.00 5.32 0.771 6 0.000 0.000 2938 1814 1400 0 0 0 0 0 0
13961 0.59 374.4 366.2 10.7 1099 13975 0.00 0.00 11.43 0.917 6 0.000 0.000 2939 1814 1356 0 0 0 0 0 0
14290 0.72 467.8 335.3 8.2 1130 14380 0.10 0.00 81.88 0.970 6 0.105 0.000 2998 1814 974 0 0 0 0 0 0
14702 0.68 467.8 268.0 16.5 1169 14707 0.15 1.12 0.00 0.000 4 0.150 0.050 2960 2521 970 0 0 0 0 0 0
14759 0.79 523.8 261.6 9.3 1174 14818 0.08 1.08 47.92 0.889 6 0.057 0.041 3028 1817 746 0 0 0 0 0 0
15135 0.77 523.8 204.9 16.2 1236 15144 0.12 1.05 0.00 0.000 4 0.150 0.047 2998 1120 738 0 0 0 0 0 0
15218 0.86 562.8 194.6 9.8 1251 15262 0.00 1.05 34.47 0.813 6 0.000 0.039 2998 1828 586 0 0 0 0 0 0
15574 1.01 630.6 163.8 8.9 1317 15618 0.20 1.12 33.40 0.769 4 0.061 0.044 3115 1111 453 0 0 0 0 0 0
15734 0.95 630.6 126.5 24.2 1344 15743 0.20 1.08 0.00 0.000 6 0.132 0.037 3051 1829 444 0 0 0 0 0 0
16061 1.05 675.3 85.8 9.6 1405 16068 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 1829 437 0 0 0 0 0 0
16385 1.20 737.9 52.0 9.1 1466 16394 0.22 1.08 0.00 0.000 4 0.056 0.040 3182 1117 434 0 0 0 0 0 0
16555 1.13 737.9 13.2 25.1 1497 16564 0.20 1.02 0.00 0.000 6 0.142 0.037 3114 1827 434 0 0 0 0 0 0
16600 end climb: SURFACE_DEPTH_REACHED
state 16600 begin surface coast
16617 end surface coast: CONTROL_FINISHED_OK
state 16617 begin surface