OKMC Aug11 * SG166 * Dive index * Mission links * Dive 63 * 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  63 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  43 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  39 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  -24463.355 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  150811,141207,2329.627,12250.372,27,1.5,27,-3.2 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  1.74 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  150811,141913,2329.690,12250.383,13,1.5,30,-3.2 MHEAD_RNG_PITCHd_Wd  102.0,115748,-16.6,-10.645
SPEED_LIMITS  0.184,0.302 D_GRID  3051

Post-dive calculations and measurements:
FINISH  1.1,1.008852 _10V_AH  10.2,11.418
SM_CCo  16759,65.97,0.513,1,0,947,475.15 FG_AHR_24Vo  0.000
SM_GC  1.77,0.00,0.00,65.97,0.000,0.000,0.513,154,1475,947,-8.10,-0.71,475.15,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2321.52,12248.63,150811,090919 MEM  324396
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  86802,1519
HUMID  32.04 CAP_FILE_SIZE  191336,0
INTERNAL_PRESSURE  9.42877 CFSIZE  260165632,141733888
TCM_TEMP  26.30 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  85 CURRENT  0.154,352.2,1
_24V_AH  23.4,17.021 GPS  150811,190156,2330.672,12253.051,47,99.0,66,-3.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20225106.94 SBE_CT103824583.27
Roll_motor17661255.34 AA38301554331200.23
VBD_pump_during_apogee525145717904.94 WL_BB2F17011054181.66
VBD_pump_during_surface65513792.46 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810368.65 nil000.00
Iridium_during_connect44160165.26 nil000.00
Iridium_during_xfer175223916.92 nil000.00
Transponder_ping21420208.84 nil000.00
GUMSTIX_24V000.00
GPS315015.98
TT8384919777.48
LPSleep85222190.37
TT8_Active69519140.51
TT8_Sampling3703391503.33
TT8_CF847345221.16
TT8_Kalman000.00
Analog_circuits217212265.97
GPS_charging000.00
Compass342715524.39
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 -88.65 0.000 2 0.000 0.000 155 1482 3083 0 0 0 0 0 0
111 -0.83 -194.6 5.2 -6.5 12 143 9.00 2.20 -11.60 0.000 4 0.226 0.054 2458 2911 3681 0 0 0 0 0 0
211 -0.57 -194.6 49.8 -38.9 28 220 0.28 2.15 0.00 0.000 6 0.163 0.036 2550 1504 3682 0 0 0 0 0 0
536 -0.42 -194.6 140.0 -26.4 89 546 0.20 1.98 0.00 0.000 4 0.159 0.040 2601 201 3684 0 0 0 0 0 0
635 -0.42 -194.6 159.1 -16.6 106 643 0.00 1.98 0.00 0.000 6 0.000 0.034 2594 1512 3684 0 0 0 0 0 0
961 -0.42 -194.6 206.3 -12.1 167 969 0.00 2.12 0.00 0.000 4 0.000 0.044 2583 2902 3684 0 0 0 0 0 0
1065 -0.45 -194.6 217.1 -10.2 185 1074 0.00 2.12 0.00 0.000 6 0.000 0.034 2584 1490 3685 0 0 0 0 0 0
1396 -0.45 -194.6 257.4 -11.6 241 1400 0.00 1.92 0.00 0.000 4 0.000 0.044 2587 197 3685 0 0 0 0 0 0
1414 -0.45 -194.6 259.7 -11.7 242 1422 0.00 1.95 0.00 0.000 6 0.000 0.034 2580 1496 3684 0 0 0 0 0 0
1740 -0.45 -194.6 300.2 -12.2 273 1744 0.00 2.12 0.00 0.000 4 0.000 0.045 2575 2905 3684 0 0 0 0 0 0
1800 -0.48 -194.6 307.1 -11.4 278 1804 0.00 2.10 0.00 0.000 6 0.000 0.035 2576 1493 3684 0 0 0 0 0 0
2125 -0.48 -194.6 346.1 -11.3 308 2129 0.00 2.15 0.00 0.000 4 0.000 0.046 2569 2904 3684 0 0 0 0 0 0
2159 -0.51 -194.6 349.9 -11.1 310 2166 0.00 2.10 0.00 0.000 6 0.000 0.035 2569 1492 3684 0 0 0 0 0 0
2485 -0.51 -194.6 387.2 -10.2 341 2488 0.00 1.92 0.00 0.000 4 0.000 0.047 2570 205 3683 0 0 0 0 0 0
2553 -0.53 -194.6 394.9 -11.0 347 2557 0.00 1.95 0.00 0.000 6 0.000 0.037 2560 1507 3683 0 0 0 0 0 0
2884 -0.53 -194.6 430.4 -10.7 378 2888 0.00 2.12 0.00 0.000 4 0.000 0.050 2550 2905 3681 0 0 0 0 0 0
2966 -0.56 -194.6 438.5 -9.6 385 2971 0.00 2.10 0.00 0.000 6 0.000 0.037 2550 1498 3680 0 0 0 0 0 0
3291 -0.56 -194.6 477.1 -12.1 415 3295 0.00 2.15 0.00 0.000 4 0.000 0.050 2540 2904 3678 0 0 0 0 0 0
3347 -0.56 -194.6 484.0 -11.7 419 3354 0.00 2.12 0.00 0.000 6 0.000 0.039 2540 1493 3678 0 0 0 0 0 0
3673 -0.56 -194.6 526.7 -13.0 450 3676 0.00 1.92 0.00 0.000 4 0.000 0.051 2540 204 3675 0 0 0 0 0 0
3743 -0.54 -194.6 536.1 -13.5 456 3747 0.12 1.95 0.00 0.000 6 0.155 0.038 2565 1500 3674 0 0 0 0 0 0
4069 -0.58 -194.6 572.4 -11.1 486 4073 0.00 2.15 0.00 0.000 4 0.000 0.052 2556 2904 3673 0 0 0 0 0 0
4145 -0.64 -194.6 580.2 -10.2 492 4148 0.00 2.10 0.00 0.000 6 0.000 0.040 2556 1491 3672 0 0 0 0 0 0
4480 -0.67 -194.6 615.7 -10.4 516 4484 0.00 2.15 0.00 0.000 4 0.000 0.053 2544 2904 3669 0 0 0 0 0 0
4518 -0.71 -194.6 620.4 -10.8 517 4526 0.00 2.12 0.00 0.000 6 0.000 0.041 2545 1493 3668 0 0 0 0 0 0
4836 -0.72 -194.6 653.1 -9.8 533 4840 0.00 2.17 0.00 0.000 4 0.000 0.054 2532 2904 3666 0 0 0 0 0 0
4901 -0.76 -194.6 659.2 -9.4 536 4905 0.00 2.12 0.00 0.000 6 0.000 0.041 2533 1494 3665 0 0 0 0 0 0
5231 -0.76 -194.6 691.2 -9.6 552 5234 0.00 1.98 0.00 0.000 4 0.000 0.057 2531 195 3663 0 0 0 0 0 0
5264 -0.76 -194.6 695.1 -10.5 553 5267 0.00 1.98 0.00 0.000 6 0.000 0.041 2521 1501 3662 0 0 0 0 0 0
5585 -0.76 -194.6 728.8 -10.4 569 5589 0.00 2.15 0.00 0.000 4 0.000 0.055 2504 2905 3659 0 0 0 0 0 0
5616 -0.76 -194.6 731.7 -10.3 570 5620 0.00 2.10 0.00 0.000 6 0.000 0.041 2505 1500 3659 0 0 0 0 0 0
5932 -0.74 -194.6 765.9 -10.7 585 5936 0.00 2.00 0.00 0.000 4 0.000 0.056 2503 196 3657 0 0 0 0 0 0
5960 -0.72 -194.6 769.2 -10.9 586 5964 0.00 2.00 0.00 0.000 6 0.000 0.043 2493 1509 3657 0 0 0 0 0 0
6290 -0.69 -194.6 807.6 -12.0 602 6294 0.00 2.15 0.00 0.000 4 0.000 0.057 2481 2913 3654 0 0 0 0 0 0
6345 -0.69 -194.6 814.6 -11.4 604 6350 0.12 2.15 0.00 0.000 6 0.164 0.042 2517 1507 3654 0 0 0 0 0 0
6669 -0.69 -194.6 848.2 -10.4 620 6673 0.00 2.17 0.00 0.000 4 0.000 0.057 2518 2911 3652 0 0 0 0 0 0
6696 -0.71 -194.6 851.4 -10.0 621 6700 0.00 2.15 0.00 0.000 6 0.000 0.044 2515 1498 3651 0 0 0 0 0 0
7018 -0.71 -194.6 884.9 -10.2 637 7022 0.00 2.17 0.00 0.000 4 0.000 0.059 2504 2907 3650 0 0 0 0 0 0
7115 -0.73 -194.6 894.4 -9.6 641 7119 0.00 2.15 0.00 0.000 6 0.000 0.044 2503 1497 3649 0 0 0 0 0 0
7431 -0.73 -194.6 927.8 -10.5 656 7435 0.00 2.03 0.00 0.000 4 0.000 0.059 2502 174 3647 0 0 0 0 0 0
7471 -0.71 -194.6 932.5 -11.6 657 7479 0.00 2.03 0.00 0.000 6 0.000 0.045 2492 1499 3646 0 0 0 0 0 0
7787 -0.68 -194.6 967.9 -10.9 673 7792 0.12 2.20 0.00 0.000 4 0.174 0.060 2517 2910 3645 0 0 0 0 0 0
7839 -0.72 -194.6 972.5 -8.7 675 7843 0.00 2.15 0.00 0.000 6 0.000 0.044 2517 1497 3644 0 0 0 0 0 0
8029 end dive: TARGET_DEPTH_EXCEEDED
state 8029 begin apogee
8035 -0.18 0.0 990.3 9.5 684 8198 0.50 0.00 157.20 1.457 6 0.125 0.000 2680 1853 2883 0 0 0 0 0 0
8199 end apogee: CONTROL_FINISHED_OK
state 8199 begin climb
8201 0.83 194.6 995.9 0.0 691 8385 0.95 2.45 173.25 1.392 4 0.072 0.062 3008 3248 2089 0 0 0 0 0 0
8459 0.66 194.6 956.7 20.6 703 8467 0.22 2.25 0.00 0.000 6 0.187 0.044 2961 1853 2085 0 0 0 0 0 0
8775 0.54 194.6 906.1 15.5 719 8777 0.15 0.00 0.00 0.000 6 0.187 0.000 2921 1853 2081 0 0 0 0 0 0
9087 0.49 194.6 869.3 11.7 734 9091 0.00 2.20 0.00 0.000 4 0.000 0.060 2915 3249 2079 0 0 0 0 0 0
9148 0.44 194.6 861.4 12.1 736 9155 0.12 2.17 0.00 0.000 6 0.183 0.044 2893 1839 2078 0 0 0 0 0 0
9466 0.44 208.3 829.4 10.1 752 9487 0.00 2.25 11.57 1.224 4 0.000 0.056 2901 445 2033 0 0 0 0 0 0
9512 0.44 218.4 824.4 10.3 754 9528 0.00 2.17 10.60 1.187 6 0.000 0.044 2897 1848 1992 0 0 0 0 0 0
9842 0.42 218.4 788.8 11.1 769 9846 0.00 2.20 0.00 0.000 4 0.000 0.060 2897 3261 1988 0 0 0 0 0 0
9910 0.42 218.4 780.5 11.5 772 9914 0.00 2.15 0.00 0.000 6 0.000 0.042 2905 1851 1988 0 0 0 0 0 0
10237 0.39 218.4 743.1 11.6 788 10242 0.12 2.20 0.00 0.000 4 0.181 0.054 2882 435 1987 0 0 0 0 0 0
10288 0.43 223.0 737.7 10.5 790 10297 0.00 2.20 4.62 0.886 6 0.000 0.043 2878 1856 1974 0 0 0 0 0 0
10616 0.44 223.0 704.2 10.7 806 10617 0.00 0.00 0.00 0.000 6 0.000 0.000 2878 1856 1973 0 0 0 0 0 0
10926 0.48 232.5 671.9 10.3 821 10941 0.00 2.20 10.38 1.134 4 0.000 0.056 2878 3266 1935 0 0 0 0 0 0
10966 0.51 237.3 667.5 10.5 822 10977 0.00 2.17 5.70 0.940 6 0.000 0.041 2886 1849 1916 0 0 0 0 0 0
11297 0.53 241.4 632.5 10.5 838 11307 0.00 2.20 5.12 0.887 4 0.000 0.051 2896 443 1899 0 0 0 0 0 0
11346 0.54 245.8 626.8 10.5 840 11359 0.00 2.20 5.47 0.907 6 0.000 0.042 2896 1860 1882 0 0 0 0 0 0
11672 0.54 245.8 591.5 11.7 859 11676 0.00 2.17 0.00 0.000 4 0.000 0.057 2896 3260 1880 0 0 0 0 0 0
11734 0.56 245.8 583.9 11.6 864 11739 0.00 2.15 0.00 0.000 6 0.000 0.041 2906 1836 1880 0 0 0 0 0 0
12060 0.56 245.8 545.0 11.6 894 12064 0.00 2.12 0.00 0.000 4 0.000 0.052 2916 445 1879 0 0 0 0 0 0
12111 0.56 245.8 538.9 11.8 898 12116 0.00 2.15 0.00 0.000 6 0.000 0.042 2916 1857 1879 0 0 0 0 0 0
12436 0.56 245.8 498.5 12.1 928 12440 0.00 2.17 0.00 0.000 4 0.000 0.056 2916 3267 1879 0 0 0 0 0 0
12513 0.56 245.8 488.6 12.2 934 12521 0.00 2.17 0.00 0.000 6 0.000 0.041 2927 1836 1879 0 0 0 0 0 0
12839 0.54 245.8 448.4 13.5 965 12844 0.00 2.22 0.00 0.000 4 0.000 0.054 2928 3269 1879 0 0 0 0 0 0
12869 0.51 245.8 444.2 14.3 967 12873 0.00 2.15 0.00 0.000 6 0.000 0.039 2938 1851 1879 0 0 0 0 0 0
13194 0.48 245.8 402.2 11.5 997 13199 0.12 2.20 0.00 0.000 4 0.176 0.054 2895 3262 1879 0 0 0 0 0 0
13226 0.49 251.5 398.8 10.4 999 13237 0.00 2.15 6.50 0.841 6 0.000 0.039 2903 1840 1858 0 0 0 0 0 0
13558 0.55 279.1 368.2 9.6 1030 13592 0.00 2.22 25.40 0.987 4 0.000 0.050 2914 446 1745 0 0 0 0 0 0
13699 0.63 298.7 354.3 9.9 1042 13730 0.00 2.15 18.45 0.940 6 0.000 0.038 2916 1854 1665 0 0 0 0 0 0
14046 0.70 320.1 318.8 9.9 1075 14072 0.15 2.25 19.77 0.910 4 0.077 0.052 2993 3262 1579 0 0 0 0 0 0
14128 0.64 320.1 306.2 17.2 1082 14133 0.17 2.15 0.00 0.000 6 0.172 0.037 2955 1852 1578 0 0 0 0 0 0
14453 0.64 320.1 261.2 12.4 1112 14457 0.00 2.20 0.00 0.000 4 0.000 0.047 2966 433 1577 0 0 0 0 0 0
14481 0.64 320.1 257.9 12.0 1114 14489 0.00 2.20 0.00 0.000 6 0.000 0.037 2961 1860 1575 0 0 0 0 0 0
14805 0.64 320.1 219.7 12.4 1169 14814 0.00 2.17 0.00 0.000 4 0.000 0.050 2962 3250 1576 0 0 0 0 0 0
14864 0.67 320.1 212.2 12.3 1179 14872 0.00 2.15 0.00 0.000 6 0.000 0.035 2967 1844 1576 0 0 0 0 0 0
15189 0.67 320.1 174.7 12.4 1240 15197 0.00 2.17 0.00 0.000 4 0.000 0.047 2979 441 1576 0 0 0 0 0 0
15217 0.69 320.1 171.3 12.0 1244 15226 0.00 2.12 0.00 0.000 6 0.000 0.035 2980 1835 1576 0 0 0 0 0 0
15544 0.69 320.1 131.9 12.7 1305 15553 0.00 2.20 0.00 0.000 4 0.000 0.048 2982 3258 1575 0 0 0 0 0 0
15606 0.72 320.1 124.5 12.1 1315 15614 0.00 2.15 0.00 0.000 6 0.000 0.035 2992 1838 1576 0 0 0 0 0 0
15935 0.74 320.1 85.4 11.9 1376 15943 0.00 2.12 0.00 0.000 4 0.000 0.045 3003 446 1575 0 0 0 0 0 0
16009 0.79 327.2 77.1 10.4 1389 16028 0.00 2.12 7.85 0.604 6 0.000 0.034 3003 1862 1549 0 0 0 0 0 0
16349 0.96 403.3 49.4 7.9 1451 16419 0.15 2.28 63.15 0.683 4 0.073 0.044 3103 446 1239 0 0 0 0 0 0
16462 0.92 403.3 33.5 16.1 1467 16470 0.15 2.15 0.00 0.000 6 0.129 0.033 3049 1836 1237 0 0 0 0 0 0
16712 end climb: SURFACE_DEPTH_REACHED
state 16712 begin surface coast
16740 end surface coast: CONTROL_FINISHED_OK
state 16740 begin surface