OKMC Aug11 * SG166 * Dive index * Mission links * Dive 49 * 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  49 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  47 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  44 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  -24445.543 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  120811,193157,2310.707,12213.126,39,99.0,58,-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  1.61 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  120811,193930,2310.824,12213.019,36,2.0,40,-3.1 MHEAD_RNG_PITCHd_Wd  104.2,187380,-16.6,-10.645
SPEED_LIMITS  0.184,0.302 D_GRID  4867

Post-dive calculations and measurements:
FINISH  1.0,1.009387 _10V_AH  10.3,9.068
SM_CCo  16678,22.30,0.227,1,0,946,475.15 FG_AHR_24Vo  0.000
SM_GC  1.81,0.00,0.00,22.30,0.000,0.000,0.227,154,1470,946,-8.10,-0.85,475.15,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2258.07,12211.74,120811,141455 MEM  324504
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83487,1497
HUMID  33.22 CAP_FILE_SIZE  180767,0
INTERNAL_PRESSURE  9.39948 CFSIZE  260165632,143028224
TCM_TEMP  25.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  86 CURRENT  0.211,350.4,1
_24V_AH  23.4,14.014 GPS  130811,001957,2312.419,12215.501,38,99.0,57,-3.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20224107.39 SBE_CT102524575.75
Roll_motor15064226.57 AA38301533331183.85
VBD_pump_during_apogee560145819146.71 WL_BB2F16591054076.43
VBD_pump_during_surface22227118.56 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3110374.94 nil000.00
Iridium_during_connect2316088.02 nil000.00
Iridium_during_xfer1952231022.14 nil000.00
Transponder_ping21420211.30 nil000.00
GUMSTIX_24V000.00
GPS415021.43
TT8375319765.56
LPSleep86672195.52
TT8_Active65319133.34
TT8_Sampling3597391474.82
TT8_CF846845221.07
TT8_Kalman000.00
Analog_circuits207112256.00
GPS_charging000.00
Compass331515512.18
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 -0.83 -194.6 0.0 0.0 0 108 0.00 0.00 -88.43 0.000 2 0.000 0.000 137 1490 3073 0 0 0 0 0 0
111 -0.83 -194.6 5.8 -10.4 12 143 8.98 2.20 -11.38 0.000 4 0.224 0.056 2457 2905 3681 0 0 0 0 0 0
212 -0.59 -194.6 49.1 -36.1 28 221 0.25 2.15 0.00 0.000 6 0.160 0.034 2546 1506 3683 0 0 0 0 0 0
540 -0.43 -194.6 142.5 -25.2 89 549 0.20 1.98 0.00 0.000 4 0.161 0.038 2596 199 3684 0 0 0 0 0 0
586 -0.40 -194.6 151.6 -16.3 96 594 0.00 1.95 0.00 0.000 6 0.000 0.031 2594 1500 3684 0 0 0 0 0 0
912 -0.40 -194.6 200.5 -12.4 157 920 0.00 2.12 0.00 0.000 4 0.000 0.041 2591 2899 3684 0 0 0 0 0 0
994 -0.44 -194.6 209.6 -10.6 171 1002 0.00 2.12 0.00 0.000 6 0.000 0.033 2594 1489 3684 0 0 0 0 0 0
1319 -0.46 -194.6 245.4 -11.5 232 1327 0.00 1.92 0.00 0.000 4 0.000 0.041 2592 207 3684 0 0 0 0 0 0
1417 -0.49 -194.6 256.5 -11.7 243 1421 0.00 1.92 0.00 0.000 6 0.000 0.031 2584 1499 3684 0 0 0 0 0 0
1750 -0.50 -194.6 293.4 -10.6 274 1753 0.00 2.08 0.00 0.000 4 0.000 0.042 2567 2894 3685 0 0 0 0 0 0
1797 -0.54 -194.6 298.0 -9.6 278 1801 0.00 2.08 0.00 0.000 6 0.000 0.034 2568 1501 3685 0 0 0 0 0 0
2129 -0.54 -194.6 335.4 -11.7 309 2130 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 1501 3683 0 0 0 0 0 0
2448 -0.56 -194.6 372.7 -12.3 339 2452 0.00 2.10 0.00 0.000 4 0.000 0.044 2553 2898 3681 0 0 0 0 0 0
2469 -0.58 -194.6 375.8 -12.0 340 2476 0.00 2.08 0.00 0.000 6 0.000 0.034 2553 1498 3681 0 0 0 0 0 0
2795 -0.59 -194.6 417.3 -12.0 371 2796 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 1498 3679 0 0 0 0 0 0
3117 -0.61 -194.6 452.5 -9.0 401 3121 0.00 1.95 0.00 0.000 4 0.000 0.047 2560 199 3676 0 0 0 0 0 0
3189 -0.65 -194.6 460.8 -10.9 407 3196 0.00 1.92 0.00 0.000 6 0.000 0.037 2549 1490 3676 0 0 0 0 0 0
3517 -0.65 -194.6 493.7 -10.1 438 3521 0.00 2.15 0.00 0.000 4 0.000 0.047 2536 2913 3675 0 0 0 0 0 0
3615 -0.68 -194.6 503.2 -9.4 446 3619 0.00 2.12 0.00 0.000 6 0.000 0.037 2535 1498 3672 0 0 0 0 0 0
3940 -0.68 -194.6 539.0 -11.1 476 3944 0.00 1.95 0.00 0.000 4 0.000 0.050 2534 210 3670 0 0 0 0 0 0
3975 -0.68 -194.6 543.1 -12.0 479 3978 0.00 1.95 0.00 0.000 6 0.000 0.040 2522 1496 3670 0 0 0 0 0 0
4307 -0.68 -194.6 580.4 -10.4 510 4311 0.00 2.12 0.00 0.000 4 0.000 0.051 2510 2909 3667 0 0 0 0 0 0
4404 -0.70 -194.6 589.9 -9.4 518 4409 0.00 2.12 0.00 0.000 6 0.000 0.040 2511 1498 3666 0 0 0 0 0 0
4727 -0.70 -194.6 622.4 -10.5 538 4731 0.00 2.00 0.00 0.000 4 0.000 0.059 2508 204 3664 0 0 0 0 0 0
4774 -0.69 -194.6 627.9 -12.0 540 4778 0.00 1.95 0.00 0.000 6 0.000 0.041 2497 1509 3663 0 0 0 0 0 0
5107 -0.66 -194.6 666.5 -11.5 556 5112 0.12 2.15 0.00 0.000 4 0.170 0.054 2523 2906 3660 0 0 0 0 0 0
5135 -0.66 -194.6 669.5 -11.3 557 5139 0.00 2.12 0.00 0.000 6 0.000 0.041 2524 1498 3660 0 0 0 0 0 0
5452 -0.68 -194.6 701.2 -10.4 572 5456 0.00 2.17 0.00 0.000 4 0.000 0.054 2513 2908 3658 0 0 0 0 0 0
5479 -0.70 -194.6 704.2 -10.9 573 5483 0.00 2.12 0.00 0.000 6 0.000 0.041 2513 1502 3657 0 0 0 0 0 0
5804 -0.70 -194.6 740.3 -11.4 589 5807 0.00 2.00 0.00 0.000 4 0.000 0.056 2513 198 3655 0 0 0 0 0 0
5827 -0.70 -194.6 743.4 -11.4 590 5831 0.00 2.00 0.00 0.000 6 0.000 0.042 2504 1497 3655 0 0 0 0 0 0
6161 -0.70 -194.6 779.9 -10.2 606 6165 0.00 2.17 0.00 0.000 4 0.000 0.055 2492 2913 3652 0 0 0 0 0 0
6193 -0.70 -194.6 783.5 -9.9 607 6200 0.00 2.15 0.00 0.000 6 0.000 0.042 2492 1490 3651 0 0 0 0 0 0
6511 -0.68 -194.6 816.2 -10.1 623 6512 0.12 0.00 0.00 0.000 6 0.165 0.000 2527 1489 3650 0 0 0 0 0 0
6821 -0.71 -194.6 841.1 -7.9 638 6825 0.00 2.20 0.00 0.000 4 0.000 0.058 2519 2912 3647 0 0 0 0 0 0
6860 -0.76 -194.6 844.5 -8.0 639 6866 0.00 2.15 0.00 0.000 6 0.000 0.043 2519 1500 3647 0 0 0 0 0 0
7178 -0.78 -194.6 871.4 -8.7 655 7182 0.00 2.22 0.00 0.000 4 0.000 0.059 2509 2907 3645 0 0 0 0 0 0
7212 -0.81 -194.6 874.8 -8.8 656 7219 0.00 2.15 0.00 0.000 6 0.000 0.044 2509 1502 3645 0 0 0 0 0 0
7528 -0.81 -194.6 905.7 -9.8 672 7532 0.00 2.20 0.00 0.000 4 0.000 0.060 2499 2910 3644 0 0 0 0 0 0
7553 -0.81 -194.6 908.1 -9.7 673 7557 0.00 2.15 0.00 0.000 6 0.000 0.044 2499 1490 3643 0 0 0 0 0 0
7880 -0.81 -194.6 941.3 -10.1 689 7881 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1490 3641 0 0 0 0 0 0
8189 -0.81 -194.6 972.7 -10.3 704 8190 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1489 3640 0 0 0 0 0 0
8351 end dive: TARGET_DEPTH_EXCEEDED
state 8351 begin apogee
8359 -0.18 0.0 990.7 11.1 712 8521 0.55 0.00 156.52 1.459 6 0.130 0.000 2679 1856 2885 0 0 0 0 0 0
8524 end apogee: CONTROL_FINISHED_OK
state 8524 begin climb
8526 0.83 194.6 997.6 0.0 719 8710 0.95 2.45 174.88 1.396 4 0.073 0.064 3015 3245 2089 0 0 0 0 0 0
8773 0.64 194.6 961.4 21.3 731 8778 0.28 2.28 0.00 0.000 6 0.185 0.045 2954 1855 2085 0 0 0 0 0 0
9096 0.53 194.6 910.0 15.9 747 9100 0.12 2.25 0.00 0.000 4 0.194 0.060 2913 3249 2081 0 0 0 0 0 0
9124 0.45 194.6 905.4 15.3 748 9129 0.00 2.20 0.00 0.000 6 0.000 0.042 2920 1843 2079 0 0 0 0 0 0
9446 0.38 194.6 862.9 13.3 764 9451 0.17 2.25 0.00 0.000 4 0.172 0.060 2863 3258 2079 0 0 0 0 0 0
9497 0.40 194.8 857.0 10.6 766 9501 0.00 2.20 0.00 0.000 6 0.000 0.043 2871 1838 2078 0 0 0 0 0 0
9815 0.40 194.8 824.4 10.7 781 9816 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 1839 2077 0 0 0 0 0 0
10122 0.40 196.9 791.5 10.6 796 10126 0.00 2.15 0.00 0.000 4 0.000 0.054 2883 443 2076 0 0 0 0 0 0
10154 0.40 196.9 787.7 11.1 797 10159 0.00 2.17 0.00 0.000 6 0.000 0.044 2881 1841 2075 0 0 0 0 0 0
10479 0.40 196.9 752.3 10.9 813 10483 0.00 2.22 0.00 0.000 4 0.000 0.060 2881 3257 2075 0 0 0 0 0 0
10541 0.40 196.9 745.1 11.1 816 10545 0.00 2.15 0.00 0.000 6 0.000 0.043 2890 1848 2075 0 0 0 0 0 0
10872 0.40 208.3 710.7 10.2 832 10889 0.00 0.00 11.07 1.176 6 0.000 0.000 2890 1847 2034 0 0 0 0 0 0
11197 0.40 210.9 675.9 10.6 848 11201 0.00 2.25 0.00 0.000 4 0.000 0.057 2890 3266 2032 0 0 0 0 0 0
11246 0.40 210.9 670.3 11.1 850 11250 0.00 2.15 0.00 0.000 6 0.000 0.042 2898 1845 2032 0 0 0 0 0 0
11576 0.38 210.9 633.4 11.1 866 11580 0.00 2.15 0.00 0.000 4 0.000 0.052 2908 437 2031 0 0 0 0 0 0
11608 0.36 210.9 629.1 11.9 867 11613 0.15 2.17 0.00 0.000 6 0.156 0.043 2867 1856 2030 0 0 0 0 0 0
11930 0.51 300.5 602.9 7.4 882 12020 0.12 2.38 81.97 1.208 4 0.093 0.057 2928 3259 1659 0 0 0 0 0 0
12080 0.49 300.5 585.1 12.8 893 12085 0.15 2.22 0.00 0.000 6 0.171 0.041 2901 1851 1657 0 0 0 0 0 0
12406 0.53 321.5 552.7 9.9 923 12430 0.00 2.30 18.88 1.104 4 0.000 0.050 2909 437 1572 0 0 0 0 0 0
12456 0.58 334.5 547.8 10.2 927 12480 0.00 2.22 13.07 1.045 6 0.000 0.041 2909 1854 1519 0 0 0 0 0 0
12797 0.60 334.5 509.1 12.0 959 12801 0.00 2.22 0.00 0.000 4 0.000 0.054 2909 3259 1516 0 0 0 0 0 0
12862 0.64 334.5 501.4 12.2 964 12867 0.10 2.17 0.00 0.000 6 0.099 0.039 2971 1844 1516 0 0 0 0 0 0
13188 0.56 334.5 438.7 20.5 994 13193 0.17 2.22 0.00 0.000 4 0.172 0.053 2914 3252 1515 0 0 0 0 0 0
13264 0.60 334.5 427.3 13.3 1000 13268 0.00 2.15 0.00 0.000 6 0.000 0.038 2923 1837 1515 0 0 0 0 0 0
13591 0.60 334.5 385.4 12.1 1030 13595 0.00 2.12 0.00 0.000 4 0.000 0.050 2934 446 1515 0 0 0 0 0 0
13621 0.62 334.5 381.3 13.3 1032 13626 0.00 2.15 0.00 0.000 6 0.000 0.041 2934 1858 1513 0 0 0 0 0 0
13949 0.62 334.5 334.7 14.2 1062 13953 0.00 2.12 0.00 0.000 4 0.000 0.054 2935 3256 1513 0 0 0 0 0 0
14049 0.65 334.5 320.4 12.9 1070 14056 0.00 2.10 0.00 0.000 6 0.000 0.037 2946 1844 1513 0 0 0 0 0 0
14376 0.65 334.5 276.8 13.0 1101 14380 0.00 2.15 0.00 0.000 4 0.000 0.050 2950 3250 1513 0 0 0 0 0 0
14419 0.65 334.5 270.8 13.1 1104 14428 0.00 2.12 0.00 0.000 6 0.000 0.036 2956 1846 1513 0 0 0 0 0 0
14746 0.65 334.5 227.1 14.6 1150 14754 0.00 2.15 0.00 0.000 4 0.000 0.047 2963 441 1513 0 0 0 0 0 0
14780 0.65 334.5 222.3 14.2 1155 14787 0.00 2.15 0.00 0.000 6 0.000 0.037 2963 1856 1513 0 0 0 0 0 0
15110 0.65 334.5 178.2 11.5 1216 15119 0.00 2.12 0.00 0.000 4 0.000 0.050 2959 3245 1513 0 0 0 0 0 0
15153 0.68 334.5 173.4 10.9 1223 15161 0.00 2.10 0.00 0.000 6 0.000 0.036 2967 1851 1513 0 0 0 0 0 0
15479 0.68 334.5 142.2 11.0 1284 15487 0.00 0.00 0.00 0.000 6 0.000 0.000 2967 1851 1513 0 0 0 0 0 0
15806 0.79 398.4 109.6 8.3 1345 15867 0.10 2.25 53.35 0.752 4 0.103 0.045 3036 3250 1258 0 0 0 0 0 0
15946 0.79 398.4 88.9 15.3 1367 15955 0.12 2.17 0.00 0.000 6 0.132 0.033 3003 1843 1257 0 0 0 0 0 0
16275 0.93 461.1 56.5 8.3 1428 16329 0.12 0.00 51.12 0.689 6 0.084 0.000 3071 1843 1004 0 0 0 0 0 0
16638 end climb: SURFACE_DEPTH_REACHED
state 16638 begin surface coast
16660 end surface coast: CONTROL_FINISHED_OK
state 16660 begin surface