OKMC Aug11 * SG166 * Dive index * Mission links * Dive 79 * Log results * Raw log file
prev dive * next dive * dive

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  79 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  40 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  41 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  -9 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24488.904 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  250 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  180811,161906,2343.941,12331.048,43,1.7,54,-3.3 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  1.76 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  180811,162555,2343.990,12330.972,33,1.8,44,-3.3 MHEAD_RNG_PITCHd_Wd  123.0,42199,-14.7,-10.645
SPEED_LIMITS  0.184,0.333 D_GRID  3762

Post-dive calculations and measurements:
FINISH  1.0,1.021577 _10V_AH  10.3,13.962
SM_CCo  15237,0.00,0.000,0,0,598,561.00 FG_AHR_24Vo  0.000
SM_GC  1.87,7.62,0.00,0.00,0.034,0.000,0.000,154,1480,598,-8.06,-0.57,561.00,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2333.28,12326.39,180811,111106 MEM  330260
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  73549,1319
HUMID  34.32 CAP_FILE_SIZE  165275,0
INTERNAL_PRESSURE  9.38971 CFSIZE  260165632,140337152
TCM_TEMP  25.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  69 CURRENT  0.201, 8.1,1
_24V_AH  23.3,21.250 GPS  180811,204154,2344.181,12333.655,43,1.3,60,-3.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21222112.30 SBE_CT89924503.27
Roll_motor13361193.43 AA38301351331038.95
VBD_pump_during_apogee693144823384.74 WL_BB2F13261053244.15
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2410358.27 nil000.00
Iridium_during_connect2516093.78 nil000.00
Iridium_during_xfer168223877.76 nil000.00
Transponder_ping17420168.81 nil000.00
GUMSTIX_24V000.00
GPS455023.30
TT8330419673.83
LPSleep80312181.16
TT8_Active73119149.27
TT8_Sampling3131391283.79
TT8_CF842645201.21
TT8_Kalman000.00
Analog_circuits202612250.49
GPS_charging000.00
Compass288215445.34
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 -243.3 0.0 0.0 0 111 0.00 0.00 -92.35 0.000 2 0.000 0.000 154 1501 3183 0 0 0 0 0 0
114 -0.83 -243.3 6.4 -11.1 13 139 8.98 0.00 -12.43 0.000 6 0.223 0.000 2472 1497 3879 0 0 0 0 0 0
457 -0.56 -243.3 148.7 -34.0 76 466 0.28 2.00 0.00 0.000 4 0.177 0.038 2546 198 3882 0 0 0 0 0 0
523 -0.47 -243.3 165.9 -22.6 87 533 0.15 1.98 0.00 0.000 6 0.131 0.033 2590 1502 3883 0 0 0 0 0 0
854 -0.44 -243.3 216.7 -15.1 148 862 0.00 2.15 0.00 0.000 4 0.000 0.043 2584 2905 3884 0 0 0 0 0 0
918 -0.46 -243.3 225.0 -11.7 159 927 0.00 2.12 0.00 0.000 6 0.000 0.032 2583 1495 3884 0 0 0 0 0 0
1249 -0.44 -243.3 270.3 -13.7 206 1253 0.00 2.10 0.00 0.000 4 0.000 0.041 2576 2905 3883 0 0 0 0 0 0
1344 -0.48 -243.3 282.3 -11.5 214 1348 0.00 2.10 0.00 0.000 6 0.000 0.032 2578 1490 3883 0 0 0 0 0 0
1669 -0.48 -243.3 326.1 -13.4 244 1673 0.00 1.92 0.00 0.000 4 0.000 0.042 2581 205 3882 0 0 0 0 0 0
1692 -0.48 -243.3 329.0 -12.8 246 1696 0.00 1.95 0.00 0.000 6 0.000 0.031 2574 1513 3883 0 0 0 0 0 0
2022 -0.48 -243.3 371.0 -11.9 277 2026 0.00 2.05 0.00 0.000 4 0.000 0.042 2569 2908 3882 0 0 0 0 0 0
2153 -0.51 -243.3 384.5 -9.9 288 2160 0.00 2.10 0.00 0.000 6 0.000 0.034 2568 1491 3881 0 0 0 0 0 0
2478 -0.51 -243.3 422.3 -11.2 319 2482 0.00 1.95 0.00 0.000 4 0.000 0.044 2568 196 3879 0 0 0 0 0 0
2512 -0.51 -243.3 426.3 -11.6 322 2516 0.00 1.92 0.00 0.000 6 0.000 0.033 2559 1497 3879 0 0 0 0 0 0
2843 -0.51 -243.3 466.7 -12.2 353 2847 0.00 2.10 0.00 0.000 4 0.000 0.045 2549 2902 3878 0 0 0 0 0 0
2940 -0.53 -243.3 476.6 -10.0 361 2944 0.00 2.10 0.00 0.000 6 0.000 0.035 2549 1491 3877 0 0 0 0 0 0
3265 -0.53 -243.3 513.9 -11.3 391 3266 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 1491 3875 0 0 0 0 0 0
3586 -0.53 -243.3 548.6 -11.5 421 3592 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 1490 3873 0 0 0 0 0 0
3917 -0.53 -243.3 589.2 -13.0 452 3921 0.00 2.15 0.00 0.000 4 0.000 0.050 2539 2907 3870 0 0 0 0 0 0
3972 -0.56 -243.3 596.6 -11.5 456 3979 0.00 2.12 0.00 0.000 6 0.000 0.038 2539 1492 3869 0 0 0 0 0 0
4301 -0.56 -243.3 637.0 -11.8 474 4305 0.00 2.17 0.00 0.000 4 0.000 0.053 2528 2896 3867 0 0 0 0 0 0
4323 -0.56 -243.3 639.9 -11.7 475 4328 0.12 2.12 0.00 0.000 6 0.145 0.039 2564 1501 3867 0 0 0 0 0 0
4652 -0.61 -243.3 666.6 -7.5 491 4656 0.00 2.15 0.00 0.000 4 0.000 0.054 2555 2907 3864 0 0 0 0 0 0
4723 -0.67 -243.3 671.5 -6.9 494 4727 0.00 2.12 0.00 0.000 6 0.000 0.041 2554 1498 3863 0 0 0 0 0 0
5056 -0.71 -243.3 697.7 -8.3 510 5061 0.10 2.17 0.00 0.000 4 0.097 0.055 2486 2905 3860 0 0 0 0 0 0
5130 -0.68 -243.3 706.0 -11.7 513 5135 0.12 2.12 0.00 0.000 6 0.159 0.042 2522 1490 3859 0 0 0 0 0 0
5451 -0.68 -243.3 744.2 -12.3 529 5452 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 1491 3857 0 0 0 0 0 0
5762 -0.68 -243.3 782.5 -12.2 544 5766 0.00 2.20 0.00 0.000 4 0.000 0.059 2512 2902 3854 0 0 0 0 0 0
5803 -0.68 -243.3 787.5 -11.8 546 5807 0.00 2.12 0.00 0.000 6 0.000 0.044 2511 1504 3854 0 0 0 0 0 0
6130 -0.68 -243.3 827.1 -11.8 562 6131 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 1504 3852 0 0 0 0 0 0
6441 -0.68 -243.3 861.3 -10.6 577 6445 0.00 2.17 0.00 0.000 4 0.000 0.061 2502 2894 3850 0 0 0 0 0 0
6485 -0.68 -243.3 866.2 -10.5 579 6489 0.00 2.15 0.00 0.000 6 0.000 0.046 2500 1491 3849 0 0 0 0 0 0
6815 -0.66 -243.3 900.3 -10.1 595 6817 0.12 0.00 0.00 0.000 6 0.164 0.000 2529 1491 3847 0 0 0 0 0 0
7123 -0.69 -243.3 924.0 -7.5 610 7127 0.00 2.17 0.00 0.000 4 0.000 0.061 2519 2895 3845 0 0 0 0 0 0
7190 -0.73 -243.3 929.1 -7.1 613 7194 0.00 2.15 0.00 0.000 6 0.000 0.047 2519 1494 3844 0 0 0 0 0 0
7513 -0.75 -243.3 956.6 -9.0 629 7517 0.00 2.20 0.00 0.000 4 0.000 0.062 2507 2899 3842 0 0 0 0 0 0
7575 -0.78 -243.3 962.4 -9.0 631 7583 0.00 2.15 0.00 0.000 6 0.000 0.046 2509 1494 3841 0 0 0 0 0 0
7847 end dive: TARGET_DEPTH_EXCEEDED
state 7847 begin apogee
7855 -0.18 0.0 990.3 10.4 645 8059 0.52 0.00 198.32 1.448 6 0.122 0.000 2680 1848 2884 0 0 0 0 0 0
8059 end apogee: CONTROL_FINISHED_OK
state 8060 begin climb
8064 0.83 243.3 1001.1 0.0 654 8289 0.90 0.00 218.02 1.385 6 0.053 0.000 3018 1848 1891 0 0 0 0 0 0
8608 0.62 243.3 903.8 21.6 681 8613 0.25 2.22 0.00 0.000 4 0.185 0.057 2937 3256 1884 0 0 0 0 0 0
8703 0.56 243.3 887.7 14.1 685 8707 0.00 2.20 0.00 0.000 6 0.000 0.044 2944 1846 1882 0 0 0 0 0 0
9021 0.46 243.3 839.0 15.7 700 9025 0.17 2.20 0.00 0.000 4 0.172 0.057 2887 3257 1881 0 0 0 0 0 0
9055 0.42 243.3 833.7 14.1 701 9059 0.00 2.17 0.00 0.000 6 0.000 0.043 2896 1839 1881 0 0 0 0 0 0
9377 0.39 243.3 795.4 12.3 717 9381 0.00 2.15 0.00 0.000 4 0.000 0.054 2906 438 1879 0 0 0 0 0 0
9419 0.37 243.3 790.4 12.2 719 9423 0.15 2.17 0.00 0.000 6 0.151 0.042 2861 1859 1879 0 0 0 0 0 0
9747 0.46 293.7 759.5 9.2 735 9799 0.00 2.33 44.55 1.300 4 0.000 0.058 2860 3257 1686 0 0 0 0 0 0
9825 0.59 364.1 752.6 8.6 738 9901 0.20 2.22 64.50 1.266 6 0.061 0.042 2965 1850 1398 0 0 0 0 0 0
10210 0.51 364.1 684.0 18.3 757 10214 0.20 2.22 0.00 0.000 4 0.161 0.054 2918 441 1392 0 0 0 0 0 0
10234 0.45 364.1 680.1 17.6 758 10239 0.00 2.20 0.00 0.000 6 0.000 0.041 2918 1849 1391 0 0 0 0 0 0
10562 0.44 364.1 638.2 12.9 774 10567 0.10 2.17 0.00 0.000 4 0.171 0.057 2885 3258 1391 0 0 0 0 0 0
10604 0.48 364.1 633.6 11.5 776 10608 0.00 2.17 0.00 0.000 6 0.000 0.041 2893 1834 1391 0 0 0 0 0 0
10933 0.53 372.3 599.8 10.4 792 10946 0.00 2.22 7.12 0.981 4 0.000 0.054 2903 440 1366 0 0 0 0 0 0
10998 0.57 372.3 592.7 10.8 797 11005 0.00 2.17 0.00 0.000 6 0.000 0.041 2903 1856 1365 0 0 0 0 0 0
11324 0.61 384.1 557.7 10.3 828 11339 0.12 0.00 12.07 1.068 6 0.086 0.000 2968 1856 1317 0 0 0 0 0 0
11654 0.54 384.1 500.4 18.2 859 11659 0.17 2.22 0.00 0.000 4 0.164 0.052 2929 442 1315 0 0 0 0 0 0
11684 0.52 384.1 495.6 16.5 861 11688 0.00 2.17 0.00 0.000 6 0.000 0.040 2929 1854 1314 0 0 0 0 0 0
12009 0.50 384.1 450.9 13.5 891 12013 0.00 2.20 0.00 0.000 4 0.000 0.055 2930 3267 1314 0 0 0 0 0 0
12071 0.54 384.1 442.9 12.0 896 12075 0.00 2.15 0.00 0.000 6 0.000 0.040 2943 1847 1314 0 0 0 0 0 0
12396 0.52 384.1 399.9 13.2 926 12400 0.00 2.12 0.00 0.000 4 0.000 0.051 2954 441 1314 0 0 0 0 0 0
12429 0.52 384.1 395.9 13.6 928 12434 0.15 2.15 0.00 0.000 6 0.141 0.040 2910 1859 1314 0 0 0 0 0 0
12754 0.58 384.1 360.7 10.7 958 12758 0.00 2.15 0.00 0.000 4 0.000 0.049 2922 443 1314 0 0 0 0 0 0
12777 0.66 387.3 358.2 10.6 959 12788 0.10 2.12 4.05 0.620 6 0.098 0.037 2987 1860 1304 0 0 0 0 0 0
13115 0.60 387.3 294.5 20.4 991 13120 0.17 2.12 0.00 0.000 4 0.152 0.057 2938 3254 1304 0 0 0 0 0 0
13168 0.64 387.3 285.7 14.5 995 13172 0.00 2.10 0.00 0.000 6 0.000 0.037 2947 1849 1304 0 0 0 0 0 0
13497 0.70 409.8 248.8 10.0 1026 13528 0.00 2.20 20.52 0.853 4 0.000 0.049 2958 441 1211 0 0 0 0 0 0
13595 0.84 469.8 240.0 8.9 1041 13656 0.12 2.15 50.72 0.860 6 0.041 0.036 3043 1846 966 0 0 0 0 0 0
13979 0.75 469.8 159.2 21.7 1109 13987 0.20 2.20 0.00 0.000 4 0.148 0.048 2977 3252 963 0 0 0 0 0 0
14092 0.83 469.8 143.2 11.1 1129 14100 0.00 2.15 0.00 0.000 6 0.000 0.036 2986 1849 963 0 0 0 0 0 0
14422 0.88 483.6 104.6 10.2 1190 14447 0.12 2.22 12.18 0.676 4 0.081 0.046 3073 426 910 0 0 0 0 0 0
14529 0.85 483.6 86.1 17.5 1208 14539 0.15 2.17 0.00 0.000 6 0.119 0.035 3022 1854 909 0 0 0 0 0 0
14863 1.01 558.6 46.8 8.4 1269 14931 0.15 2.20 60.97 0.682 4 0.073 0.044 3106 3259 603 0 0 0 0 0 0
14989 0.97 558.6 23.4 18.8 1288 14999 0.17 2.20 0.00 0.000 6 0.132 0.034 3059 1841 599 0 0 0 0 0 0
15136 end climb: SURFACE_DEPTH_REACHED
state 15136 begin surface coast
15158 end surface coast: CONTROL_FINISHED_OK
state 15158 begin surface