OKMC Aug11 * SG166 * Dive index * Mission links * Dive 51 * 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  51 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  41 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  49 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  -24448.059 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  130811,045907,2314.509,12218.271,45,1.7,45,-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  -68.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  130811,050616,2314.663,12218.282,10,5.5,29,-3.1 MHEAD_RNG_PITCHd_Wd  116.3,176433,-16.6,-10.645
SPEED_LIMITS  0.184,0.302 D_GRID  5000

Post-dive calculations and measurements:
FINISH  1.0,0.997171 _10V_AH  10.3,9.403
SM_CCo  16780,66.28,0.522,1,0,947,475.15 FG_AHR_24Vo  0.000
SM_GC  1.69,0.00,0.00,66.28,0.000,0.000,0.522,154,1477,947,-8.10,-0.65,475.15,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2302.75,12214.24,130811,000014 MEM  324452
TT8_MAMPS  0.025466,0.025466 DATA_FILE_SIZE  86787,1518
HUMID  32.94 CAP_FILE_SIZE  189842,0
INTERNAL_PRESSURE  9.41901 CFSIZE  260165632,142835712
TCM_TEMP  25.90 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  86 CURRENT  0.331, 6.2,1
_24V_AH  23.4,14.445 GPS  130811,094854,2316.906,12221.059,26,1.5,43,-3.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21218107.77 SBE_CT103824583.32
Roll_motor15861227.16 AA38301552331199.20
VBD_pump_during_apogee514146017595.68 WL_BB2F16741054113.88
VBD_pump_during_surface66522810.30 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910371.68 nil000.00
Iridium_during_connect39160146.45 nil000.00
Iridium_during_xfer185223965.92 nil000.00
Transponder_ping21420211.30 nil000.00
GUMSTIX_24V000.00
GPS335017.35
TT8384119783.43
LPSleep85512192.89
TT8_Active69119141.06
TT8_Sampling3706391519.39
TT8_CF847245222.76
TT8_Kalman000.00
Analog_circuits215312266.23
GPS_charging000.00
Compass343115530.23
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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
17 -0.83 -194.6 0.0 0.0 0 111 0.00 0.00 -91.30 0.000 2 0.000 0.000 154 1485 2920 0 0 0 0 0 0
114 -0.83 -194.6 5.0 -7.4 12 146 8.85 2.17 -14.90 0.000 4 0.219 0.054 2458 2901 3679 0 0 0 0 0 0
225 -0.56 -194.6 49.9 -35.3 30 234 0.30 2.17 0.00 0.000 6 0.170 0.034 2551 1489 3681 0 0 0 0 0 0
553 -0.40 -194.6 147.2 -27.6 91 562 0.22 1.95 0.00 0.000 4 0.160 0.039 2624 208 3682 0 0 0 0 0 0
691 -0.40 -194.6 171.0 -13.6 115 700 0.00 1.95 0.00 0.000 6 0.000 0.032 2617 1500 3682 0 0 0 0 0 0
1020 -0.42 -194.6 211.0 -10.1 176 1028 0.00 2.15 0.00 0.000 4 0.000 0.044 2607 2901 3683 0 0 0 0 0 0
1055 -0.47 -194.6 214.4 -10.0 181 1063 0.00 2.12 0.00 0.000 6 0.000 0.033 2606 1492 3683 0 0 0 0 0 0
1388 -0.49 -194.6 252.8 -12.0 241 1392 0.00 1.90 0.00 0.000 4 0.000 0.043 2606 202 3683 0 0 0 0 0 0
1414 -0.51 -194.6 255.9 -11.6 243 1418 0.00 1.92 0.00 0.000 6 0.000 0.031 2591 1506 3683 0 0 0 0 0 0
1747 -0.54 -194.6 292.7 -10.0 274 1751 0.00 2.08 0.00 0.000 4 0.000 0.045 2579 2908 3683 0 0 0 0 0 0
1901 -0.59 -194.6 307.1 -9.2 287 1905 0.00 2.10 0.00 0.000 6 0.000 0.034 2578 1497 3682 0 0 0 0 0 0
2227 -0.61 -194.6 342.0 -10.5 317 2230 0.00 1.95 0.00 0.000 4 0.000 0.047 2579 199 3680 0 0 0 0 0 0
2273 -0.62 -194.6 347.0 -11.1 321 2277 0.00 1.95 0.00 0.000 6 0.000 0.035 2568 1504 3680 0 0 0 0 0 0
2604 -0.64 -194.6 379.3 -9.8 352 2608 0.00 2.10 0.00 0.000 4 0.000 0.048 2559 2911 3678 0 0 0 0 0 0
2717 -0.69 -194.6 389.5 -8.6 361 2725 0.12 2.12 0.00 0.000 6 0.083 0.037 2487 1495 3677 0 0 0 0 0 0
3043 -0.60 -194.6 436.8 -14.8 392 3047 0.20 1.95 0.00 0.000 4 0.155 0.047 2554 206 3675 0 0 0 0 0 0
3116 -0.60 -194.6 445.8 -11.6 398 3120 0.00 1.95 0.00 0.000 6 0.000 0.037 2544 1507 3675 0 0 0 0 0 0
3447 -0.60 -194.6 480.9 -9.8 429 3451 0.00 2.10 0.00 0.000 4 0.000 0.050 2526 2910 3673 0 0 0 0 0 0
3514 -0.63 -194.6 487.5 -9.5 434 3522 0.00 2.12 0.00 0.000 6 0.000 0.038 2526 1504 3672 0 0 0 0 0 0
3839 -0.63 -194.6 525.8 -11.7 465 3842 0.00 1.98 0.00 0.000 4 0.000 0.052 2525 201 3669 0 0 0 0 0 0
3877 -0.61 -194.6 530.7 -12.6 468 3885 0.12 1.95 0.00 0.000 6 0.160 0.038 2548 1496 3669 0 0 0 0 0 0
4204 -0.64 -194.6 562.8 -9.7 499 4208 0.00 2.15 0.00 0.000 4 0.000 0.050 2539 2910 3666 0 0 0 0 0 0
4271 -0.70 -194.6 569.3 -9.4 504 4278 0.00 2.12 0.00 0.000 6 0.000 0.039 2539 1501 3665 0 0 0 0 0 0
4597 -0.72 -194.6 600.1 -9.0 535 4598 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 1500 3663 0 0 0 0 0 0
4906 -0.75 -194.6 626.1 -8.0 550 4907 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 1500 3660 0 0 0 0 0 0
5217 -0.78 -194.6 649.5 -7.2 565 5222 0.12 2.20 0.00 0.000 4 0.085 0.055 2460 2908 3657 0 0 0 0 0 0
5258 -0.73 -194.6 653.6 -10.3 567 5263 0.17 2.15 0.00 0.000 6 0.157 0.043 2512 1492 3657 0 0 0 0 0 0
5588 -0.73 -194.6 684.1 -9.5 583 5591 0.00 1.98 0.00 0.000 4 0.000 0.056 2513 204 3654 0 0 0 0 0 0
5626 -0.73 -194.6 688.6 -10.7 584 5633 0.00 1.98 0.00 0.000 6 0.000 0.041 2506 1494 3653 0 0 0 0 0 0
5942 -0.73 -194.6 720.4 -9.7 600 5946 0.00 2.12 0.00 0.000 4 0.000 0.054 2494 2903 3651 0 0 0 0 0 0
6030 -0.73 -194.6 728.5 -9.4 604 6034 0.00 2.12 0.00 0.000 6 0.000 0.042 2495 1502 3651 0 0 0 0 0 0
6357 -0.71 -194.6 763.6 -11.0 620 6358 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 1502 3649 0 0 0 0 0 0
6669 -0.69 -194.6 796.7 -10.6 635 6673 0.00 2.00 0.00 0.000 4 0.000 0.057 2494 199 3647 0 0 0 0 0 0
6715 -0.66 -194.6 802.5 -12.1 637 6720 0.15 1.98 0.00 0.000 6 0.161 0.044 2528 1496 3646 0 0 0 0 0 0
7046 -0.69 -194.6 831.9 -8.9 653 7050 0.00 2.17 0.00 0.000 4 0.000 0.056 2519 2913 3644 0 0 0 0 0 0
7101 -0.74 -194.6 837.0 -8.7 655 7107 0.00 2.15 0.00 0.000 6 0.000 0.043 2519 1492 3644 0 0 0 0 0 0
7418 -0.77 -194.6 867.3 -9.9 671 7422 0.00 2.20 0.00 0.000 4 0.000 0.056 2509 2908 3642 0 0 0 0 0 0
7460 -0.80 -194.6 871.3 -9.7 673 7464 0.00 2.15 0.00 0.000 6 0.000 0.044 2509 1494 3641 0 0 0 0 0 0
7788 -0.80 -194.6 905.0 -10.3 689 7792 0.00 2.20 0.00 0.000 4 0.000 0.057 2499 2907 3640 0 0 0 0 0 0
7823 -0.82 -194.6 908.6 -10.2 690 7830 0.00 2.12 0.00 0.000 6 0.000 0.044 2499 1500 3640 0 0 0 0 0 0
8139 -0.82 -194.6 942.1 -10.4 706 8142 0.00 2.00 0.00 0.000 4 0.000 0.058 2499 205 3639 0 0 0 0 0 0
8233 -0.82 -194.6 952.9 -10.8 710 8237 0.00 2.00 0.00 0.000 6 0.000 0.044 2489 1494 3638 0 0 0 0 0 0
8563 -0.82 -194.6 984.8 -9.8 726 8567 0.00 2.20 0.00 0.000 4 0.000 0.058 2478 2912 3636 0 0 0 0 0 0
8591 -0.82 -194.6 987.7 -9.7 727 8595 0.00 2.15 0.00 0.000 6 0.000 0.045 2478 1495 3636 0 0 0 0 0 0
8616 end dive: TARGET_DEPTH_EXCEEDED
state 8616 begin apogee
8624 -0.18 0.0 990.3 10.2 728 8787 0.62 0.00 155.80 1.460 6 0.135 0.000 2680 1855 2884 0 0 0 0 0 0
8788 end apogee: CONTROL_FINISHED_OK
state 8788 begin climb
8790 0.83 194.6 994.2 0.0 735 8975 0.95 2.42 174.35 1.394 4 0.071 0.061 3014 3245 2089 0 0 0 0 0 0
9105 0.65 194.6 939.3 22.7 750 9110 0.25 2.25 0.00 0.000 6 0.190 0.044 2960 1851 2083 0 0 0 0 0 0
9428 0.53 194.6 883.4 17.1 766 9430 0.15 0.00 0.00 0.000 6 0.188 0.000 2921 1851 2080 0 0 0 0 0 0
9738 0.47 194.6 838.4 14.3 781 9742 0.00 2.20 0.00 0.000 4 0.000 0.059 2911 3249 2078 0 0 0 0 0 0
9816 0.43 194.6 826.5 14.1 784 9825 0.12 2.17 0.00 0.000 6 0.189 0.042 2889 1839 2078 0 0 0 0 0 0
10133 0.41 194.6 790.0 11.6 800 10134 0.00 0.00 0.00 0.000 6 0.000 0.000 2891 1839 2077 0 0 0 0 0 0
10444 0.40 201.6 756.4 10.4 815 10454 0.00 2.25 4.82 0.920 4 0.000 0.058 2881 3253 2062 0 0 0 0 0 0
10484 0.40 201.6 752.0 10.7 817 10488 0.00 2.15 0.00 0.000 6 0.000 0.041 2889 1852 2062 0 0 0 0 0 0
10812 0.40 201.6 717.3 10.8 833 10816 0.00 2.20 0.00 0.000 4 0.000 0.057 2886 3251 2061 0 0 0 0 0 0
10845 0.40 201.6 712.8 12.1 834 10852 0.00 2.17 0.00 0.000 6 0.000 0.040 2894 1827 2061 0 0 0 0 0 0
11162 0.38 201.6 678.4 11.1 850 11166 0.00 2.22 0.00 0.000 4 0.000 0.054 2894 3255 2060 0 0 0 0 0 0
11203 0.36 201.6 673.7 11.9 852 11208 0.15 2.15 0.00 0.000 6 0.177 0.041 2865 1841 2060 0 0 0 0 0 0
11532 0.45 247.4 644.0 9.0 868 11580 0.00 2.30 41.25 1.238 4 0.000 0.053 2874 442 1875 0 0 0 0 0 0
11635 0.53 270.6 634.6 9.8 872 11663 0.12 2.20 21.88 1.166 6 0.085 0.039 2934 1839 1781 0 0 0 0 0 0
11978 0.49 270.6 583.8 14.9 893 11983 0.12 2.25 0.00 0.000 4 0.174 0.057 2902 3260 1776 0 0 0 0 0 0
12080 0.50 270.6 570.0 12.6 902 12084 0.00 2.17 0.00 0.000 6 0.000 0.041 2910 1851 1775 0 0 0 0 0 0
12405 0.50 270.6 525.6 14.3 932 12409 0.00 2.20 0.00 0.000 4 0.000 0.051 2921 442 1774 0 0 0 0 0 0
12438 0.50 270.6 520.8 14.2 934 12445 0.00 2.20 0.00 0.000 6 0.000 0.042 2920 1870 1773 0 0 0 0 0 0
12766 0.48 270.6 475.4 13.4 965 12770 0.00 2.17 0.00 0.000 4 0.000 0.057 2921 3250 1773 0 0 0 0 0 0
12822 0.48 270.6 467.1 13.6 969 12829 0.00 2.15 0.00 0.000 6 0.000 0.038 2930 1843 1773 0 0 0 0 0 0
13149 0.46 270.6 422.1 13.0 1000 13154 0.12 2.22 0.00 0.000 4 0.177 0.053 2888 3262 1773 0 0 0 0 0 0
13274 0.56 298.7 409.3 9.6 1010 13304 0.00 2.15 24.62 1.037 6 0.000 0.039 2896 1850 1666 0 0 0 0 0 0
13621 0.64 327.7 377.5 9.6 1043 13657 0.15 2.28 25.95 0.995 4 0.078 0.049 2983 446 1547 0 0 0 0 0 0
13683 0.59 327.7 368.5 16.3 1048 13688 0.17 2.20 0.00 0.000 6 0.155 0.039 2934 1851 1546 0 0 0 0 0 0
14008 0.59 327.7 325.6 12.6 1078 14012 0.00 2.20 0.00 0.000 4 0.000 0.054 2932 3261 1544 0 0 0 0 0 0
14165 0.63 327.7 308.1 10.9 1091 14172 0.00 2.17 0.00 0.000 6 0.000 0.037 2940 1836 1544 0 0 0 0 0 0
14490 0.63 327.7 270.1 12.1 1122 14491 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 1835 1544 0 0 0 0 0 0
14812 0.64 327.7 232.3 10.8 1166 14820 0.00 2.22 0.00 0.000 4 0.000 0.048 2939 3249 1544 0 0 0 0 0 0
14860 0.69 327.7 227.0 11.2 1174 14867 0.00 2.12 0.00 0.000 6 0.000 0.035 2944 1854 1544 0 0 0 0 0 0
15188 0.73 344.0 191.4 10.0 1235 15213 0.10 2.20 15.40 0.790 4 0.101 0.047 3016 447 1480 0 0 0 0 0 0
15239 0.68 344.0 184.3 15.3 1242 15248 0.12 2.15 0.00 0.000 6 0.131 0.037 2972 1851 1478 0 0 0 0 0 0
15567 0.68 344.0 142.2 11.9 1303 15575 0.00 2.15 0.00 0.000 4 0.000 0.049 2967 3243 1478 0 0 0 0 0 0
15626 0.72 344.0 135.3 10.9 1313 15634 0.00 2.12 0.00 0.000 6 0.000 0.035 2982 1850 1478 0 0 0 0 0 0
15955 0.79 366.9 99.7 9.8 1374 15985 0.00 2.22 20.30 0.713 4 0.000 0.045 2995 438 1387 0 0 0 0 0 0
16027 0.89 402.1 92.8 9.4 1385 16069 0.08 2.15 30.52 0.715 6 0.049 0.034 3054 1853 1243 0 0 0 0 0 0
16389 0.89 402.1 40.4 12.8 1450 16397 0.00 2.15 0.00 0.000 4 0.000 0.045 3055 3247 1242 0 0 0 0 0 0
16490 0.89 402.1 27.0 12.8 1468 16500 0.10 2.12 0.00 0.000 6 0.135 0.034 3033 1855 1242 0 0 0 0 0 0
16728 end climb: SURFACE_DEPTH_REACHED
state 16728 begin surface coast
16762 end surface coast: CONTROL_FINISHED_OK
state 16762 begin surface