OKMC Aug11 * SG166 * Dive index * Mission links * Dive 441 * 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  441 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  44 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  61 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  -8 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24961.895 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  261011,115508,2326.975,12251.902,33,1.8,33,-3.2 TGT_NAME  N1
_CALLS  2 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.05 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -64.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  261011,120455,2327.089,12251.875,30,1.7,47,-3.2 MHEAD_RNG_PITCHd_Wd  228.4,152924,-18.6,-12.222
SPEED_LIMITS  0.212,0.316 D_GRID  3599

Post-dive calculations and measurements:
FINISH  1.6,1.021993 _10V_AH  9.7,73.690
SM_CCo  15869,0.00,0.000,0,0,978,467.54 FG_AHR_24Vo  0.000
SM_GC  2.13,7.72,0.00,0.00,0.037,0.000,0.000,149,1614,978,-8.05,0.11,467.54,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2321.52,12251.88,261011,111142 MEM  324792
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83535,1467
HUMID  41.45 CAP_FILE_SIZE  166605,0
INTERNAL_PRESSURE  9.41901 CFSIZE  260165632,108085248
TCM_TEMP  25.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  115 CURRENT  0.214, 31.7,1
_24V_AH  23.0,108.452 GPS  261011,163136,2326.906,12250.897,40,1.3,52,-3.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20222102.91 SBE_CT100324553.84
Roll_motor606895.17 AA38301504331141.74
VBD_pump_during_apogee591144219619.69 WL_BB2F16891054079.23
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init60103142.85 nil000.00
Iridium_during_connect86160317.68 nil000.00
Iridium_during_xfer168223862.64 nil000.00
Transponder_ping28420277.73 nil000.00
GUMSTIX_24V000.00
GPS485023.61
TT8364919700.96
LPSleep80402170.80
TT8_Active62619120.31
TT8_Sampling3633391402.71
TT8_CF850245223.09
TT8_Kalman000.00
Analog_circuits199612232.34
GPS_charging000.00
Compass328315477.80
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
19 -0.65 -194.6 0.0 0.0 0 108 0.00 0.00 -86.53 0.000 2 0.000 0.000 121 1606 3213 0 0 0 0 0 0
111 -0.65 -194.6 6.7 -10.9 12 135 9.65 1.08 -8.50 0.000 4 0.223 0.069 2521 2304 3680 0 0 0 0 0 0
309 -0.59 -194.6 68.9 -21.5 47 318 0.10 1.05 0.00 0.000 6 0.145 0.040 2551 1605 3682 0 0 0 0 0 0
637 -0.56 -194.6 123.4 -15.2 108 645 0.00 1.02 0.00 0.000 4 0.000 0.041 2552 2294 3683 0 0 0 0 0 0
666 -0.55 -194.6 127.7 -14.6 112 674 0.00 1.02 0.00 0.000 6 0.000 0.037 2564 1602 3683 0 0 0 0 0 0
994 -0.55 -194.6 178.2 -15.3 173 1002 0.00 1.02 0.00 0.000 4 0.000 0.043 2554 2291 3683 0 0 0 0 0 0
1114 -0.56 -194.6 195.0 -13.8 194 1123 0.00 1.00 0.00 0.000 6 0.000 0.040 2554 1620 3684 0 0 0 0 0 0
1442 -0.56 -194.6 237.3 -12.6 255 1449 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 1620 3684 0 0 0 0 0 0
1774 -0.56 -194.6 279.6 -12.7 295 1778 0.00 1.00 0.00 0.000 4 0.000 0.046 2540 2288 3683 0 0 0 0 0 0
1951 -0.58 -194.6 301.4 -12.2 310 1959 0.00 1.02 0.00 0.000 6 0.000 0.043 2538 1611 3683 0 0 0 0 0 0
2277 -0.59 -194.6 339.6 -11.2 341 2278 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 1611 3683 0 0 0 0 0 0
2598 -0.61 -194.6 374.8 -10.7 371 2602 0.00 1.02 0.00 0.000 4 0.000 0.048 2534 2289 3682 0 0 0 0 0 0
2681 -0.64 -194.6 383.3 -10.0 378 2684 0.00 1.02 0.00 0.000 6 0.000 0.044 2534 1610 3681 0 0 0 0 0 0
3012 -0.67 -194.6 419.1 -10.9 409 3016 0.00 1.05 0.00 0.000 4 0.000 0.050 2538 2285 3679 0 0 0 0 0 0
3061 -0.69 -194.6 424.0 -10.6 413 3065 0.00 1.02 0.00 0.000 6 0.000 0.044 2541 1607 3679 0 0 0 0 0 0
3393 -0.72 -194.6 461.0 -11.1 444 3396 0.00 1.02 0.00 0.000 4 0.000 0.049 2542 2282 3677 0 0 0 0 0 0
3442 -0.75 -194.6 465.9 -10.5 448 3446 0.08 1.02 0.00 0.000 6 0.051 0.045 2477 1607 3677 0 0 0 0 0 0
3773 -0.72 -194.6 516.7 -14.9 479 3777 0.12 1.08 0.00 0.000 4 0.169 0.050 2512 914 3675 0 0 0 0 0 0
3913 -0.72 -194.6 534.2 -12.2 491 3916 0.00 1.02 0.00 0.000 6 0.000 0.043 2509 1588 3675 0 0 0 0 0 0
4246 -0.72 -194.6 573.9 -11.8 522 4250 0.00 1.08 0.00 0.000 4 0.000 0.051 2504 2300 3672 0 0 0 0 0 0
4318 -0.72 -194.6 582.1 -10.6 528 4325 0.00 1.05 0.00 0.000 6 0.000 0.044 2505 1607 3671 0 0 0 0 0 0
4641 -0.72 -194.6 615.6 -10.9 552 4645 0.00 1.08 0.00 0.000 4 0.000 0.053 2499 2299 3669 0 0 0 0 0 0
4699 -0.72 -194.6 621.7 -10.3 554 4703 0.00 1.05 0.00 0.000 6 0.000 0.046 2499 1612 3668 0 0 0 0 0 0
5021 -0.72 -194.6 657.7 -11.5 570 5022 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1612 3666 0 0 0 0 0 0
5332 -0.72 -194.6 692.4 -11.5 585 5334 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1612 3663 0 0 0 0 0 0
5639 -0.72 -194.6 729.6 -12.7 600 5643 0.00 1.08 0.00 0.000 4 0.000 0.052 2500 913 3661 0 0 0 0 0 0
5700 -0.72 -194.6 738.0 -13.6 602 5708 0.00 1.08 0.00 0.000 6 0.000 0.048 2494 1605 3660 0 0 0 0 0 0
6018 -0.72 -194.6 777.8 -12.6 618 6020 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 1605 3658 0 0 0 0 0 0
6325 -0.72 -194.6 818.9 -13.7 633 6327 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 1605 3656 0 0 0 0 0 0
6635 -0.72 -194.6 857.2 -11.8 648 6636 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 1605 3654 0 0 0 0 0 0
6947 -0.72 -194.6 894.4 -11.9 663 6948 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 1605 3652 0 0 0 0 0 0
7254 -0.72 -194.6 929.2 -10.8 678 7255 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 1605 3650 0 0 0 0 0 0
7563 -0.72 -194.6 960.1 -9.6 693 7564 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 1605 3647 0 0 0 0 0 0
7870 end dive: TARGET_DEPTH_EXCEEDED
state 7870 begin apogee
7878 -0.11 0.0 991.3 10.1 708 8050 0.65 0.00 165.12 1.442 6 0.124 0.000 2702 1791 2884 0 0 0 0 0 0
8050 end apogee: CONTROL_FINISHED_OK
state 8051 begin climb
8055 0.65 194.6 995.9 0.0 716 8247 0.70 1.17 178.75 1.382 4 0.069 0.060 2955 2477 2088 0 0 0 0 0 0
8342 0.63 194.6 964.5 14.6 729 8346 0.00 1.10 0.00 0.000 6 0.000 0.051 2960 1791 2084 0 0 0 0 0 0
8670 0.61 194.6 917.8 14.2 745 8674 0.00 1.12 0.00 0.000 4 0.000 0.056 2965 1068 2081 0 0 0 0 0 0
8745 0.58 194.6 907.1 14.4 748 8750 0.08 1.12 0.00 0.000 6 0.151 0.051 2940 1778 2080 0 0 0 0 0 0
9071 0.58 194.6 865.2 12.5 764 9075 0.00 1.10 0.00 0.000 4 0.000 0.058 2936 2485 2078 0 0 0 0 0 0
9188 0.58 194.6 850.8 12.5 769 9192 0.00 1.12 0.00 0.000 6 0.000 0.049 2939 1770 2077 0 0 0 0 0 0
9521 0.58 194.6 808.8 12.6 785 9525 0.00 1.08 0.00 0.000 4 0.000 0.054 2944 1072 2076 0 0 0 0 0 0
9578 0.58 194.6 801.8 12.3 787 9582 0.00 1.12 0.00 0.000 6 0.000 0.050 2941 1788 2076 0 0 0 0 0 0
9901 0.63 229.4 765.7 10.8 803 9934 0.00 0.00 31.02 1.280 6 0.000 0.000 2941 1787 1948 0 0 0 0 0 0
10230 0.68 270.3 730.4 10.5 819 10274 0.00 1.20 38.53 1.257 4 0.000 0.051 2944 1065 1781 0 0 0 0 0 0
10312 0.73 300.8 721.5 10.9 822 10349 0.08 1.15 30.58 1.221 6 0.064 0.047 2987 1790 1657 0 0 0 0 0 0
10679 0.71 300.8 665.5 16.1 840 10682 0.00 1.12 0.00 0.000 4 0.000 0.050 2993 1066 1651 0 0 0 0 0 0
10706 0.69 300.8 660.3 16.6 841 10710 0.00 1.10 0.00 0.000 6 0.000 0.046 2993 1777 1650 0 0 0 0 0 0
11034 0.67 300.8 604.7 16.7 857 11038 0.12 1.08 0.00 0.000 4 0.177 0.054 2957 2480 1649 0 0 0 0 0 0
11086 0.69 300.8 597.3 13.6 859 11093 0.00 1.08 0.00 0.000 6 0.000 0.045 2959 1782 1648 0 0 0 0 0 0
11412 0.71 300.8 554.7 12.6 890 11416 0.00 1.10 0.00 0.000 4 0.000 0.053 2957 2489 1647 0 0 0 0 0 0
11460 0.74 304.8 549.0 12.1 894 11464 0.00 1.10 0.00 0.000 6 0.000 0.045 2961 1768 1648 0 0 0 0 0 0
11792 0.78 324.2 509.0 11.4 925 11818 0.10 1.08 20.98 1.080 4 0.105 0.052 3025 1083 1562 0 0 0 0 0 0
11896 0.75 324.2 493.6 16.1 934 11901 0.10 1.08 0.00 0.000 6 0.147 0.045 2993 1785 1559 0 0 0 0 0 0
12227 0.75 324.2 448.7 13.3 965 12231 0.00 1.08 0.00 0.000 4 0.000 0.049 2997 1083 1559 0 0 0 0 0 0
12266 0.75 324.2 443.3 13.0 968 12273 0.00 1.08 0.00 0.000 6 0.000 0.044 2993 1787 1558 0 0 0 0 0 0
12594 0.77 342.0 403.6 11.5 999 12613 0.00 0.00 17.38 0.982 6 0.000 0.000 2993 1787 1488 0 0 0 0 0 0
12930 0.78 350.7 363.7 11.9 1031 12943 0.00 1.12 8.95 0.858 4 0.000 0.047 2997 1078 1454 0 0 0 0 0 0
13017 0.79 350.7 352.9 12.5 1038 13024 0.00 1.08 0.00 0.000 6 0.000 0.041 2993 1785 1453 0 0 0 0 0 0
13343 0.81 350.7 309.1 14.0 1069 13347 0.00 1.08 0.00 0.000 4 0.000 0.047 2997 1083 1453 0 0 0 0 0 0
13441 0.82 350.7 295.8 13.4 1077 13447 0.00 1.05 0.00 0.000 6 0.000 0.042 2993 1775 1453 0 0 0 0 0 0
13769 0.84 350.7 254.2 12.8 1108 13773 0.00 1.08 0.00 0.000 4 0.000 0.047 2997 1077 1453 0 0 0 0 0 0
13813 0.87 350.7 248.8 12.4 1112 13822 0.00 1.08 0.00 0.000 6 0.000 0.040 2993 1790 1453 0 0 0 0 0 0
14145 0.90 350.7 208.5 12.4 1173 14153 0.12 1.02 0.00 0.000 4 0.089 0.048 3062 2471 1453 0 0 0 0 0 0
14246 0.87 350.7 191.4 17.3 1191 14255 0.12 1.05 0.00 0.000 6 0.150 0.041 3028 1777 1453 0 0 0 0 0 0
14577 0.87 350.7 147.3 12.6 1252 14586 0.00 1.05 0.00 0.000 4 0.000 0.045 3032 1071 1453 0 0 0 0 0 0
14607 0.87 350.7 143.7 12.4 1256 14616 0.00 1.05 0.00 0.000 6 0.000 0.037 3029 1780 1452 0 0 0 0 0 0
14934 0.93 374.0 105.2 11.2 1317 14964 0.00 0.00 22.58 0.720 6 0.000 0.000 3028 1780 1358 0 0 0 0 0 0
15287 1.10 465.5 72.1 8.4 1381 15370 0.20 1.15 77.68 0.702 4 0.063 0.044 3142 1071 985 0 0 0 0 0 0
15406 1.07 465.5 53.7 16.8 1398 15415 0.15 1.08 0.00 0.000 6 0.133 0.037 3093 1783 983 0 0 0 0 0 0
15737 1.10 465.5 8.6 13.4 1459 15745 0.00 1.08 0.00 0.000 4 0.000 0.043 3096 1076 981 0 0 0 0 0 0
15782 end climb: SURFACE_DEPTH_REACHED
state 15782 begin surface coast
15788 end surface coast: CONTROL_FINISHED_OK
state 15788 begin surface