OKMC Aug11 * SG166 * Dive index * Mission links * Dive 46 * 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  30
DIVE  46 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  475 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  59 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  46 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  310 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  330 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  -24441.672 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  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  120811,052000,2305.600,12203.942,39,1.2,39,-3.1 TGT_NAME  N2
_CALLS  1 TGT_LATLONG  2350.000,12355.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.65 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  120811,052708,2305.667,12204.169,15,1.7,15,-3.1 MHEAD_RNG_PITCHd_Wd  88.5,204923,-16.6,-10.645
SPEED_LIMITS  0.184,0.302 D_GRID  4656

Post-dive calculations and measurements:
FINISH  1.1,1.011349 _10V_AH  10.2,8.571
SM_CCo  16593,20.00,0.178,1,0,947,475.15 FG_AHR_24Vo  0.000
SM_GC  1.82,0.00,0.00,20.00,0.000,0.000,0.178,133,1496,947,-8.15,-0.11,475.15,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2258.07,12158.09,120811,000016 MEM  324460
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  83511,1474
HUMID  33.89 CAP_FILE_SIZE  176318,0
INTERNAL_PRESSURE  9.37994 CFSIZE  260165632,143310848
TCM_TEMP  24.90 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  74 CURRENT  0.165, 29.3,1
_24V_AH  23.4,13.364 GPS  120811,100627,2307.322,12207.849,52,2.4,71,-3.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21222109.91 SBE_CT101024567.28
Roll_motor14162207.49 AA38301508331164.87
VBD_pump_during_apogee564146319341.36 WL_BB2F15191053734.55
VBD_pump_during_surface2017883.42 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2410358.33 nil000.00
Iridium_during_connect37160139.27 nil000.00
Iridium_during_xfer2092231093.19 nil000.00
Transponder_ping18420181.82 nil000.00
GUMSTIX_24V000.00
GPS16508.35
TT8370719748.81
LPSleep87332195.09
TT8_Active63519128.44
TT8_Sampling3515391427.16
TT8_CF844245206.91
TT8_Kalman000.00
Analog_circuits203812249.52
GPS_charging000.00
Compass323415494.91
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
16 -0.83 -194.6 0.0 0.0 0 109 0.00 0.00 -90.55 0.000 2 0.000 0.000 128 1467 3187 0 0 0 0 0 0
112 -0.83 -194.6 6.5 -11.8 12 137 8.98 2.28 -8.95 0.000 4 0.223 0.056 2465 2906 3680 0 0 0 0 0 0
277 -0.58 -194.6 73.8 -33.6 41 286 0.28 2.15 0.00 0.000 6 0.157 0.037 2551 1523 3682 0 0 0 0 0 0
604 -0.47 -194.6 150.1 -18.6 102 614 0.15 2.05 0.00 0.000 4 0.164 0.044 2605 195 3684 0 0 0 0 0 0
729 -0.47 -194.6 170.8 -15.2 124 737 0.00 1.98 0.00 0.000 6 0.000 0.034 2596 1498 3685 0 0 0 0 0 0
1055 -0.47 -194.6 215.5 -11.9 185 1062 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 1497 3685 0 0 0 0 0 0
1388 -0.47 -194.6 252.7 -11.0 245 1391 0.00 2.12 0.00 0.000 4 0.000 0.045 2577 2905 3684 0 0 0 0 0 0
1428 -0.49 -194.6 257.0 -10.7 248 1432 0.00 2.12 0.00 0.000 6 0.000 0.036 2577 1497 3684 0 0 0 0 0 0
1753 -0.49 -194.6 298.6 -13.3 278 1757 0.00 1.95 0.00 0.000 4 0.000 0.047 2576 201 3684 0 0 0 0 0 0
1868 -0.49 -194.6 313.5 -12.6 288 1872 0.00 1.92 0.00 0.000 6 0.000 0.036 2563 1503 3684 0 0 0 0 0 0
2199 -0.49 -194.6 352.4 -10.8 319 2203 0.00 2.12 0.00 0.000 4 0.000 0.049 2553 2909 3684 0 0 0 0 0 0
2256 -0.53 -194.6 357.7 -9.0 323 2262 0.00 2.12 0.00 0.000 6 0.000 0.037 2552 1497 3682 0 0 0 0 0 0
2581 -0.53 -194.6 392.6 -10.9 354 2585 0.00 2.17 0.00 0.000 4 0.000 0.049 2542 2913 3682 0 0 0 0 0 0
2621 -0.55 -194.6 396.8 -10.7 357 2625 0.00 2.15 0.00 0.000 6 0.000 0.038 2543 1493 3681 0 0 0 0 0 0
2946 -0.55 -194.6 431.9 -11.3 387 2950 0.00 1.95 0.00 0.000 4 0.000 0.050 2544 198 3680 0 0 0 0 0 0
2992 -0.55 -194.6 437.3 -12.1 391 2997 0.12 1.95 0.00 0.000 6 0.157 0.037 2568 1512 3679 0 0 0 0 0 0
3318 -0.60 -194.6 465.6 -7.5 421 3322 0.00 2.10 0.00 0.000 4 0.000 0.050 2562 2904 3677 0 0 0 0 0 0
3382 -0.67 -194.6 470.1 -7.2 426 3386 0.00 2.12 0.00 0.000 6 0.000 0.037 2562 1488 3677 0 0 0 0 0 0
3709 -0.72 -194.6 496.0 -8.0 456 3714 0.15 2.20 0.00 0.000 4 0.073 0.050 2475 2911 3675 0 0 0 0 0 0
3753 -0.67 -194.6 501.7 -13.0 459 3761 0.20 2.12 0.00 0.000 6 0.151 0.040 2529 1503 3675 0 0 0 0 0 0
4079 -0.67 -194.6 535.2 -10.0 490 4082 0.00 1.95 0.00 0.000 4 0.000 0.052 2530 201 3672 0 0 0 0 0 0
4102 -0.67 -194.6 537.7 -10.3 492 4106 0.00 1.92 0.00 0.000 6 0.000 0.038 2520 1500 3672 0 0 0 0 0 0
4433 -0.67 -194.6 574.9 -12.4 523 4435 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1501 3669 0 0 0 0 0 0
4759 -0.67 -194.6 616.9 -12.9 548 4763 0.00 2.12 0.00 0.000 4 0.000 0.054 2507 2902 3666 0 0 0 0 0 0
4800 -0.67 -194.6 621.5 -11.6 550 4805 0.00 2.15 0.00 0.000 6 0.000 0.041 2508 1491 3666 0 0 0 0 0 0
5127 -0.67 -194.6 658.1 -10.7 566 5129 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 1491 3664 0 0 0 0 0 0
5437 -0.67 -194.6 693.9 -11.7 581 5441 0.00 2.20 0.00 0.000 4 0.000 0.058 2496 2905 3661 0 0 0 0 0 0
5465 -0.67 -194.6 697.1 -11.7 582 5470 0.12 2.12 0.00 0.000 6 0.158 0.044 2532 1500 3660 0 0 0 0 0 0
5783 -0.70 -194.6 728.5 -9.9 597 5787 0.00 2.20 0.00 0.000 4 0.000 0.058 2523 2901 3658 0 0 0 0 0 0
5834 -0.74 -194.6 733.5 -9.6 599 5838 0.00 2.12 0.00 0.000 6 0.000 0.044 2523 1492 3657 0 0 0 0 0 0
6157 -0.76 -194.6 764.1 -9.4 615 6160 0.00 1.98 0.00 0.000 4 0.000 0.056 2523 203 3655 0 0 0 0 0 0
6206 -0.76 -194.6 769.5 -10.4 617 6210 0.00 1.95 0.00 0.000 6 0.000 0.044 2513 1498 3655 0 0 0 0 0 0
6536 -0.76 -194.6 798.1 -8.3 633 6540 0.00 2.17 0.00 0.000 4 0.000 0.057 2502 2911 3653 0 0 0 0 0 0
6614 -0.80 -194.6 805.2 -8.8 636 6621 0.00 2.15 0.00 0.000 6 0.000 0.043 2503 1495 3652 0 0 0 0 0 0
6932 -0.80 -194.6 838.0 -10.3 652 6936 0.00 1.98 0.00 0.000 4 0.000 0.057 2502 209 3650 0 0 0 0 0 0
6978 -0.80 -194.6 843.5 -11.7 654 6982 0.00 2.00 0.00 0.000 6 0.000 0.044 2493 1500 3649 0 0 0 0 0 0
7313 -0.78 -194.6 881.3 -11.1 670 7317 0.00 2.20 0.00 0.000 4 0.000 0.058 2482 2911 3648 0 0 0 0 0 0
7375 -0.78 -194.6 888.1 -10.2 673 7380 0.00 2.15 0.00 0.000 6 0.000 0.044 2482 1495 3648 0 0 0 0 0 0
7703 -0.74 -194.6 924.5 -11.0 689 7707 0.00 2.00 0.00 0.000 4 0.000 0.057 2482 196 3645 0 0 0 0 0 0
7732 -0.71 -194.6 927.9 -10.8 690 7737 0.15 2.00 0.00 0.000 6 0.162 0.044 2515 1500 3645 0 0 0 0 0 0
8055 -0.73 -194.6 952.4 -7.1 706 8059 0.00 2.20 0.00 0.000 4 0.000 0.060 2507 2906 3644 0 0 0 0 0 0
8158 -0.77 -194.6 959.6 -6.7 710 8162 0.00 2.12 0.00 0.000 6 0.000 0.044 2507 1499 3644 0 0 0 0 0 0
8474 -0.77 -194.6 985.2 -8.6 725 8475 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1498 3642 0 0 0 0 0 0
8533 end dive: TARGET_DEPTH_EXCEEDED
state 8533 begin apogee
8539 -0.18 0.0 990.6 8.7 728 8703 0.52 0.00 157.10 1.463 6 0.130 0.000 2679 1852 2883 0 0 0 0 0 0
8704 end apogee: CONTROL_FINISHED_OK
state 8704 begin climb
8706 0.83 194.6 995.4 0.0 735 8890 0.95 2.42 174.27 1.401 4 0.070 0.063 3016 3240 2089 0 0 0 0 0 0
8919 0.62 194.6 964.8 22.3 745 8927 0.30 2.28 0.00 0.000 6 0.190 0.044 2950 1855 2085 0 0 0 0 0 0
9238 0.49 194.6 910.8 16.9 761 9243 0.17 2.25 0.00 0.000 4 0.180 0.060 2894 3259 2081 0 0 0 0 0 0
9288 0.46 194.6 902.7 14.0 763 9292 0.00 2.20 0.00 0.000 6 0.000 0.043 2902 1845 2079 0 0 0 0 0 0
9606 0.41 194.6 862.1 12.8 778 9607 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 1845 2078 0 0 0 0 0 0
9914 0.36 194.6 824.1 11.9 793 9916 0.15 0.00 0.00 0.000 6 0.180 0.000 2864 1845 2077 0 0 0 0 0 0
10223 0.45 255.6 798.1 8.4 808 10282 0.00 0.00 53.30 1.327 6 0.000 0.000 2864 1845 1841 0 0 0 0 0 0
10594 0.52 275.3 763.3 9.9 826 10620 0.15 2.28 18.60 1.239 4 0.082 0.054 2943 446 1760 0 0 0 0 0 0
10653 0.46 275.3 754.2 16.6 828 10658 0.17 2.22 0.00 0.000 6 0.161 0.044 2896 1842 1758 0 0 0 0 0 0
10971 0.46 275.3 713.0 12.2 843 10975 0.00 2.22 0.00 0.000 4 0.000 0.058 2895 3263 1757 0 0 0 0 0 0
11039 0.48 275.3 704.0 12.9 846 11043 0.00 2.17 0.00 0.000 6 0.000 0.042 2903 1842 1756 0 0 0 0 0 0
11367 0.48 275.3 661.9 12.7 862 11371 0.00 2.17 0.00 0.000 4 0.000 0.054 2914 440 1756 0 0 0 0 0 0
11394 0.48 275.3 658.0 12.9 863 11399 0.00 2.17 0.00 0.000 6 0.000 0.042 2914 1870 1755 0 0 0 0 0 0
11722 0.45 275.3 614.0 13.9 879 11726 0.00 2.12 0.00 0.000 4 0.000 0.058 2914 3251 1755 0 0 0 0 0 0
11809 0.45 275.3 602.0 14.1 883 11814 0.12 2.12 0.00 0.000 6 0.180 0.041 2893 1842 1755 0 0 0 0 0 0
12137 0.47 275.3 562.4 11.8 913 12141 0.00 2.15 0.00 0.000 4 0.000 0.052 2901 444 1754 0 0 0 0 0 0
12201 0.50 275.3 554.3 12.6 918 12205 0.00 2.12 0.00 0.000 6 0.000 0.042 2899 1851 1753 0 0 0 0 0 0
12527 0.50 275.3 516.4 10.7 948 12531 0.00 2.15 0.00 0.000 4 0.000 0.057 2899 3249 1753 0 0 0 0 0 0
12624 0.52 275.3 505.4 11.6 956 12628 0.00 2.12 0.00 0.000 6 0.000 0.040 2907 1843 1753 0 0 0 0 0 0
12951 0.52 275.3 465.5 13.4 986 12952 0.00 0.00 0.00 0.000 6 0.000 0.000 2907 1843 1753 0 0 0 0 0 0
13269 0.52 275.3 426.7 11.2 1016 13273 0.00 2.17 0.00 0.000 4 0.000 0.053 2907 3260 1753 0 0 0 0 0 0
13286 0.52 275.3 424.5 11.2 1017 13290 0.00 2.12 0.00 0.000 6 0.000 0.040 2916 1849 1753 0 0 0 0 0 0
13617 0.52 275.3 385.1 11.9 1048 13621 0.00 2.15 0.00 0.000 4 0.000 0.050 2927 440 1753 0 0 0 0 0 0
13655 0.52 275.3 380.3 12.6 1051 13662 0.00 2.15 0.00 0.000 6 0.000 0.040 2927 1862 1752 0 0 0 0 0 0
13980 0.52 275.3 340.7 11.2 1082 13984 0.00 2.12 0.00 0.000 4 0.000 0.055 2927 3260 1752 0 0 0 0 0 0
14056 0.52 275.3 332.3 11.0 1088 14060 0.00 2.15 0.00 0.000 6 0.000 0.040 2936 1837 1752 0 0 0 0 0 0
14381 0.52 275.3 293.1 12.7 1118 14385 0.00 2.12 0.00 0.000 4 0.000 0.050 2947 433 1752 0 0 0 0 0 0
14453 0.52 275.3 284.2 12.0 1124 14458 0.12 2.12 0.00 0.000 6 0.151 0.040 2913 1863 1752 0 0 0 0 0 0
14779 0.65 335.8 256.2 8.4 1154 14833 0.12 0.00 51.28 0.901 6 0.089 0.000 2977 1866 1515 0 0 0 0 0 0
15149 0.61 335.8 199.3 15.5 1218 15157 0.15 2.17 0.00 0.000 4 0.158 0.051 2927 3243 1511 0 0 0 0 0 0
15211 0.70 345.6 192.3 10.3 1228 15229 0.08 2.15 9.45 0.735 6 0.054 0.037 2995 1848 1475 0 0 0 0 0 0
15550 0.66 345.6 139.8 15.4 1290 15559 0.12 2.20 0.00 0.000 4 0.161 0.049 2953 3244 1473 0 0 0 0 0 0
15572 0.66 345.6 136.8 14.2 1293 15581 0.00 2.12 0.00 0.000 6 0.000 0.034 2964 1853 1473 0 0 0 0 0 0
15901 0.87 468.6 106.5 6.1 1354 16011 0.17 0.00 100.80 0.751 6 0.069 0.000 3055 1853 971 0 0 0 0 0 0
16333 0.87 468.6 35.0 16.0 1429 16340 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1853 969 0 0 0 0 0 0
16558 end climb: SURFACE_DEPTH_REACHED
state 16558 begin surface coast
16575 end surface coast: CONTROL_FINISHED_OK
state 16575 begin surface