OKMC Aug11 * SG166 * Dive index * Mission links * Dive 434 * 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  434 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  20 ALTIM_PING_DEPTH  0
D_FLARE  5 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1610 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1780 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  5
D_BOOST  3 SM_CC  450 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  48 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  58 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  270 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  300 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  -24953.086 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  200 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  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  251011,033254,2327.189,12301.543,37,1.8,37,-3.2 TGT_NAME  N1
_CALLS  5 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.88 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  251011,035022,2327.335,12301.668,15,2.6,34,-3.2 MHEAD_RNG_PITCHd_Wd  244.8,169106,-18.6,-12.222
SPEED_LIMITS  0.212,0.316 D_GRID  3638

Post-dive calculations and measurements:
FINISH  1.4,1.021906 _10V_AH  9.7,72.522
SM_CCo  15834,11.23,0.063,0,0,1049,450.13 FG_AHR_24Vo  0.000
SM_GC  1.75,0.00,0.00,11.23,0.000,0.000,0.063,149,1629,1049,-8.11,0.54,450.13,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2316.83,12302.32,251011,030336 MEM  330504
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83347,1471
HUMID  40.98 CAP_FILE_SIZE  171362,0
INTERNAL_PRESSURE  9.43854 CFSIZE  260165632,108699648
TCM_TEMP  25.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  124 CURRENT  0.169, 36.1,1
_24V_AH  23.1,106.835 GPS  251011,081656,2327.463,12300.009,63,99.0,82,-3.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1921898.59 SBE_CT100524557.33
Roll_motor6470105.07 AA38301508331150.14
VBD_pump_during_apogee582143819356.21 WL_BB2F17141054158.72
VBD_pump_during_surface116216.27 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init158103377.08 nil000.00
Iridium_during_connect80160297.38 nil000.00
Iridium_during_xfer3432231768.04 nil000.00
Transponder_ping31420300.76 nil000.00
GUMSTIX_24V000.00
GPS355017.38
TT8364619700.36
LPSleep82212174.64
TT8_Active67019128.69
TT8_Sampling3786391461.73
TT8_CF854945244.17
TT8_Kalman000.00
Analog_circuits199212231.95
GPS_charging000.00
Compass321215467.41
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
18 end surface: CONTROL_FINISHED_OK
state 18 begin dive
21 -0.65 -194.6 0.0 0.0 0 118 0.00 0.00 -94.57 0.000 2 0.000 0.000 135 1597 3258 0 0 0 0 0 0
121 -0.65 -194.6 6.2 -9.1 13 146 9.43 1.02 -7.95 0.000 4 0.218 0.061 2520 2306 3679 0 0 0 0 0 0
370 -0.58 -194.6 82.9 -21.6 58 378 0.00 1.05 0.00 0.000 6 0.000 0.040 2522 1612 3681 0 0 0 0 0 0
699 -0.54 -194.6 143.1 -16.4 119 709 0.15 1.08 0.00 0.000 4 0.159 0.046 2574 914 3682 0 0 0 0 0 0
787 -0.55 -194.6 156.2 -13.7 134 795 0.00 1.02 0.00 0.000 6 0.000 0.041 2569 1593 3682 0 0 0 0 0 0
1117 -0.57 -194.6 195.1 -11.1 195 1125 0.00 1.08 0.00 0.000 4 0.000 0.046 2563 2315 3682 0 0 0 0 0 0
1162 -0.60 -194.6 199.7 -10.7 202 1170 0.00 1.08 0.00 0.000 6 0.000 0.041 2562 1604 3682 0 0 0 0 0 0
1491 -0.62 -194.6 237.7 -12.1 263 1500 0.00 1.08 0.00 0.000 4 0.000 0.046 2556 2310 3682 0 0 0 0 0 0
1605 -0.65 -194.6 251.3 -11.1 283 1613 0.00 1.05 0.00 0.000 6 0.000 0.041 2557 1617 3682 0 0 0 0 0 0
1931 -0.67 -194.6 290.1 -11.4 314 1935 0.00 1.05 0.00 0.000 4 0.000 0.047 2550 2306 3681 0 0 0 0 0 0
1999 -0.70 -194.6 297.0 -10.0 320 2003 0.00 1.05 0.00 0.000 6 0.000 0.041 2550 1608 3680 0 0 0 0 0 0
2331 -0.73 -194.6 332.7 -11.4 351 2335 0.12 1.10 0.00 0.000 4 0.081 0.047 2464 2316 3679 0 0 0 0 0 0
2354 -0.71 -194.6 335.8 -12.6 353 2358 0.15 1.05 0.00 0.000 6 0.137 0.041 2512 1616 3679 0 0 0 0 0 0
2685 -0.71 -194.6 379.7 -12.0 384 2688 0.00 1.05 0.00 0.000 4 0.000 0.047 2510 2308 3677 0 0 0 0 0 0
2731 -0.71 -194.6 385.2 -11.4 388 2735 0.00 1.05 0.00 0.000 6 0.000 0.042 2514 1608 3677 0 0 0 0 0 0
3062 -0.71 -194.6 428.1 -13.8 419 3066 0.00 1.08 0.00 0.000 4 0.000 0.047 2516 2312 3676 0 0 0 0 0 0
3142 -0.72 -194.6 438.4 -12.7 426 3146 0.00 1.08 0.00 0.000 6 0.000 0.042 2518 1606 3676 0 0 0 0 0 0
3473 -0.72 -194.6 481.4 -12.1 457 3477 0.00 1.05 0.00 0.000 4 0.000 0.048 2514 916 3673 0 0 0 0 0 0
3497 -0.72 -194.6 484.4 -12.0 459 3500 0.00 1.08 0.00 0.000 6 0.000 0.043 2508 1619 3673 0 0 0 0 0 0
3827 -0.72 -194.6 527.1 -12.4 490 3831 0.00 1.02 0.00 0.000 4 0.000 0.050 2506 2300 3670 0 0 0 0 0 0
3877 -0.72 -194.6 533.3 -12.4 494 3883 0.00 1.05 0.00 0.000 6 0.000 0.044 2507 1614 3670 0 0 0 0 0 0
4203 -0.72 -194.6 573.8 -12.8 525 4204 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 1614 3667 0 0 0 0 0 0
4528 -0.72 -194.6 612.8 -11.7 551 4532 0.00 1.08 0.00 0.000 4 0.000 0.052 2507 2306 3665 0 0 0 0 0 0
4577 -0.72 -194.6 618.2 -11.7 553 4580 0.00 1.08 0.00 0.000 6 0.000 0.047 2507 1608 3664 0 0 0 0 0 0
4910 -0.72 -194.6 659.2 -12.2 569 4911 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 1608 3661 0 0 0 0 0 0
5220 -0.72 -194.6 695.3 -11.7 584 5223 0.00 1.08 0.00 0.000 4 0.000 0.050 2507 905 3659 0 0 0 0 0 0
5268 -0.72 -194.6 701.1 -12.5 586 5272 0.00 1.08 0.00 0.000 6 0.000 0.046 2503 1603 3658 0 0 0 0 0 0
5601 -0.72 -194.6 742.0 -12.0 602 5604 0.00 1.08 0.00 0.000 4 0.000 0.054 2498 2308 3656 0 0 0 0 0 0
5634 -0.72 -194.6 746.1 -11.7 603 5637 0.00 1.08 0.00 0.000 6 0.000 0.047 2498 1610 3655 0 0 0 0 0 0
5958 -0.72 -194.6 785.1 -12.0 619 5959 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 1610 3653 0 0 0 0 0 0
6264 -0.72 -194.6 823.1 -12.5 634 6266 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 1610 3651 0 0 0 0 0 0
6576 -0.72 -194.6 862.4 -12.7 649 6577 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 1610 3648 0 0 0 0 0 0
6883 -0.72 -194.6 901.7 -12.4 664 6885 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 1610 3646 0 0 0 0 0 0
7193 -0.74 -194.6 938.9 -11.6 679 7197 0.00 1.12 0.00 0.000 4 0.000 0.055 2498 911 3644 0 0 0 0 0 0
7333 -0.75 -194.6 954.7 -11.5 685 7337 0.00 1.10 0.00 0.000 6 0.000 0.050 2492 1608 3644 0 0 0 0 0 0
7663 end dive: TARGET_DEPTH_EXCEEDED
state 7664 begin apogee
7670 -0.11 0.0 991.9 11.1 701 7841 0.65 0.00 164.38 1.438 6 0.125 0.000 2701 1785 2884 0 0 0 0 0 0
7842 end apogee: CONTROL_FINISHED_OK
state 7842 begin climb
7845 0.65 194.6 998.2 0.0 709 8036 0.70 1.20 179.25 1.384 4 0.068 0.055 2961 1084 2089 0 0 0 0 0 0
8053 0.63 194.6 979.7 12.6 718 8060 0.00 1.12 0.00 0.000 6 0.000 0.050 2961 1771 2086 0 0 0 0 0 0
8370 0.60 194.6 938.8 12.5 734 8371 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 1771 2081 0 0 0 0 0 0
8681 0.58 201.8 901.5 11.9 749 8691 0.00 1.10 6.20 1.030 4 0.000 0.050 2965 1072 2061 0 0 0 0 0 0
8766 0.56 201.8 890.3 13.1 753 8770 0.12 1.12 0.00 0.000 6 0.148 0.050 2926 1788 2059 0 0 0 0 0 0
9100 0.59 229.2 853.5 11.1 769 9129 0.00 0.00 26.70 1.306 6 0.000 0.000 2927 1788 1949 0 0 0 0 0 0
9428 0.62 241.9 815.2 11.7 785 9448 0.00 0.00 12.65 1.201 6 0.000 0.000 2927 1788 1896 0 0 0 0 0 0
9759 0.68 268.5 777.9 11.1 801 9791 0.12 1.15 25.75 1.265 4 0.089 0.051 2994 1077 1789 0 0 0 0 0 0
9832 0.65 268.5 766.7 16.1 804 9837 0.10 1.10 0.00 0.000 6 0.152 0.047 2962 1776 1787 0 0 0 0 0 0
10161 0.65 268.5 723.5 12.8 820 10162 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 1777 1785 0 0 0 0 0 0
10468 0.65 271.6 685.5 12.1 835 10472 0.00 1.08 0.00 0.000 4 0.000 0.050 2965 1081 1784 0 0 0 0 0 0
10524 0.65 271.6 678.2 12.7 837 10528 0.00 1.08 0.00 0.000 6 0.000 0.044 2962 1780 1783 0 0 0 0 0 0
10848 0.65 271.6 637.1 13.1 853 10851 0.00 1.05 0.00 0.000 4 0.000 0.054 2958 2473 1783 0 0 0 0 0 0
10894 0.66 271.6 630.8 13.2 855 10898 0.00 1.05 0.00 0.000 6 0.000 0.044 2961 1785 1782 0 0 0 0 0 0
11223 0.67 274.2 589.6 12.1 874 11231 0.00 0.00 5.57 0.882 6 0.000 0.000 2962 1785 1766 0 0 0 0 0 0
11548 0.68 285.7 549.9 11.7 905 11565 0.00 1.08 12.88 1.057 4 0.000 0.047 2967 1071 1718 0 0 0 0 0 0
11603 0.71 300.0 543.6 11.6 909 11626 0.00 1.10 14.85 1.055 6 0.000 0.044 2967 1784 1660 0 0 0 0 0 0
11947 0.74 313.0 501.9 11.7 941 11966 0.00 1.15 13.55 1.016 4 0.000 0.047 2970 1069 1607 0 0 0 0 0 0
11990 0.77 328.5 496.7 11.6 945 12014 0.00 1.10 15.75 1.016 6 0.000 0.042 2967 1783 1543 0 0 0 0 0 0
12335 0.80 332.5 456.1 12.1 977 12349 0.10 1.12 4.57 0.712 4 0.103 0.048 3030 1069 1528 0 0 0 0 0 0
12400 0.77 332.5 445.3 17.5 982 12407 0.10 1.10 0.00 0.000 6 0.145 0.043 2998 1791 1527 0 0 0 0 0 0
12725 0.77 332.5 399.0 14.2 1013 12726 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 1791 1527 0 0 0 0 0 0
13045 0.77 332.5 355.1 13.3 1043 13049 0.00 1.10 0.00 0.000 4 0.000 0.045 3002 1068 1527 0 0 0 0 0 0
13085 0.77 332.5 349.5 13.7 1046 13092 0.00 1.08 0.00 0.000 6 0.000 0.041 2998 1778 1527 0 0 0 0 0 0
13410 0.77 332.5 305.7 13.2 1077 13414 0.00 1.08 0.00 0.000 4 0.000 0.047 3002 1075 1527 0 0 0 0 0 0
13436 0.77 332.5 302.7 13.0 1079 13440 0.00 1.08 0.00 0.000 6 0.000 0.040 2998 1788 1527 0 0 0 0 0 0
13768 0.78 332.5 260.6 12.9 1110 13771 0.00 1.10 0.00 0.000 4 0.000 0.044 3002 1064 1527 0 0 0 0 0 0
13808 0.79 332.5 255.1 13.4 1113 13815 0.00 1.08 0.00 0.000 6 0.000 0.039 2999 1779 1527 0 0 0 0 0 0
14135 0.86 367.1 216.2 10.8 1171 14173 0.00 1.10 32.15 0.831 4 0.000 0.042 3002 1059 1386 0 0 0 0 0 0
14208 0.92 396.3 207.9 11.0 1182 14240 0.08 1.10 27.05 0.803 6 0.060 0.038 3059 1785 1268 0 0 0 0 0 0
14562 0.91 396.3 147.3 16.8 1246 14570 0.00 1.02 0.00 0.000 4 0.000 0.046 3059 2475 1265 0 0 0 0 0 0
14601 0.91 396.3 140.9 16.9 1252 14609 0.00 1.08 0.00 0.000 6 0.000 0.039 3064 1761 1265 0 0 0 0 0 0
14928 0.91 396.3 93.9 13.7 1313 14937 0.00 1.00 0.00 0.000 4 0.000 0.044 3069 1083 1264 0 0 0 0 0 0
15003 0.92 396.3 83.2 13.7 1326 15011 0.00 1.02 0.00 0.000 6 0.000 0.037 3069 1778 1264 0 0 0 0 0 0
15334 1.02 444.7 49.3 10.2 1387 15380 0.00 1.12 41.33 0.676 4 0.000 0.044 3072 1071 1070 0 0 0 0 0 0
15417 1.06 444.7 39.0 12.8 1399 15425 0.00 1.05 0.00 0.000 6 0.000 0.034 3069 1783 1069 0 0 0 0 0 0
15748 1.11 444.7 5.3 13.1 1460 15757 0.10 1.08 0.00 0.000 4 0.098 0.044 3139 1082 1069 0 0 0 0 0 0
15780 end climb: SURFACE_DEPTH_REACHED
state 15781 begin surface coast
15814 end surface coast: CONTROL_FINISHED_OK
state 15814 begin surface