OKMC Aug11 * SG166 * Dive index * Mission links * Dive 81 * 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  81 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  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  -9 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24491.42 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  190811,012144,2345.059,12337.185,42,2.5,61,-3.4 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  -73.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  190811,012846,2345.138,12337.243,14,3.1,33,-3.4 MHEAD_RNG_PITCHd_Wd  107.3,31400,-14.7,-10.645
SPEED_LIMITS  0.184,0.333 D_GRID  3171

Post-dive calculations and measurements:
FINISH  1.1,1.021299 _10V_AH  10.3,14.281
SM_CCo  15505,0.00,0.000,0,0,470,592.15 FG_AHR_24Vo  0.000
SM_GC  1.92,7.85,0.00,0.00,0.037,0.000,0.000,152,1479,470,-8.06,-0.59,592.15,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2335.63,12334.88,180811,202020 MEM  330204
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  76879,1335
HUMID  34.56 CAP_FILE_SIZE  163768,0
INTERNAL_PRESSURE  9.38971 CFSIZE  260165632,140161024
TCM_TEMP  25.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  46 CURRENT  0.192, 25.2,1
_24V_AH  23.4,21.754 GPS  190811,054927,2345.805,12340.898,54,2.2,73,-3.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21224111.18 SBE_CT91024511.45
Roll_motor13061186.89 AA38301365331054.65
VBD_pump_during_apogee711144524075.48 WL_BB2F13081053214.46
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010374.10 nil000.00
Iridium_during_connect2116081.97 nil000.00
Iridium_during_xfer190223995.86 nil000.00
Transponder_ping11420113.02 nil000.00
GUMSTIX_24V000.00
GPS345017.97
TT8331319675.71
LPSleep83362188.04
TT8_Active70919144.65
TT8_Sampling3137391286.20
TT8_CF841145194.27
TT8_Kalman000.00
Analog_circuits202512250.29
GPS_charging000.00
Compass286815443.11
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 -243.3 0.0 0.0 0 113 0.00 0.00 -94.28 0.000 2 0.000 0.000 154 1498 3127 0 0 0 0 0 0
116 -0.83 -243.3 6.1 -11.3 13 147 9.00 0.00 -13.65 0.000 6 0.225 0.000 2467 1495 3880 0 0 0 0 0 0
468 -0.54 -243.3 162.5 -36.2 77 476 0.32 2.00 0.00 0.000 4 0.174 0.038 2553 198 3883 0 0 0 0 0 0
628 -0.47 -243.3 197.7 -17.8 106 637 0.12 1.95 0.00 0.000 6 0.128 0.031 2590 1494 3884 0 0 0 0 0 0
957 -0.47 -243.3 243.4 -14.4 167 966 0.00 2.12 0.00 0.000 4 0.000 0.041 2581 2908 3884 0 0 0 0 0 0
1086 -0.52 -243.3 259.1 -11.0 183 1094 0.00 2.10 0.00 0.000 6 0.000 0.032 2584 1488 3884 0 0 0 0 0 0
1412 -0.54 -243.3 295.9 -9.9 214 1416 0.00 2.15 0.00 0.000 4 0.000 0.041 2575 2919 3883 0 0 0 0 0 0
1442 -0.56 -243.3 298.5 -9.4 216 1446 0.00 2.10 0.00 0.000 6 0.000 0.033 2582 1500 3883 0 0 0 0 0 0
1767 -0.56 -243.3 335.9 -12.8 246 1771 0.00 2.15 0.00 0.000 4 0.000 0.043 2579 2910 3882 0 0 0 0 0 0
1808 -0.60 -243.3 341.0 -12.4 249 1812 0.00 2.10 0.00 0.000 6 0.000 0.034 2579 1491 3882 0 0 0 0 0 0
2133 -0.60 -243.3 382.0 -11.1 279 2137 0.00 2.15 0.00 0.000 4 0.000 0.044 2570 2909 3880 0 0 0 0 0 0
2162 -0.62 -243.3 384.9 -10.3 281 2166 0.00 2.10 0.00 0.000 6 0.000 0.034 2570 1491 3880 0 0 0 0 0 0
2488 -0.62 -243.3 418.8 -10.3 311 2492 0.00 2.17 0.00 0.000 4 0.000 0.046 2561 2912 3879 0 0 0 0 0 0
2509 -0.62 -243.3 421.2 -10.6 312 2516 0.00 2.10 0.00 0.000 6 0.000 0.035 2560 1497 3878 0 0 0 0 0 0
2834 -0.62 -243.3 459.4 -12.3 343 2838 0.00 2.15 0.00 0.000 4 0.000 0.047 2550 2916 3876 0 0 0 0 0 0
2855 -0.62 -243.3 462.2 -12.5 344 2862 0.00 2.10 0.00 0.000 6 0.000 0.036 2550 1504 3876 0 0 0 0 0 0
3182 -0.62 -243.3 506.3 -13.6 375 3183 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 1503 3874 0 0 0 0 0 0
3500 -0.62 -243.3 546.7 -11.5 405 3504 0.00 2.15 0.00 0.000 4 0.000 0.050 2540 2907 3872 0 0 0 0 0 0
3563 -0.64 -243.3 553.3 -9.9 410 3567 0.00 2.10 0.00 0.000 6 0.000 0.039 2541 1495 3871 0 0 0 0 0 0
3889 -0.64 -243.3 589.6 -11.0 440 3890 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 1495 3869 0 0 0 0 0 0
4201 -0.64 -243.3 623.3 -10.7 460 4202 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 1495 3866 0 0 0 0 0 0
4512 -0.64 -243.3 655.4 -10.2 475 4516 0.00 2.17 0.00 0.000 4 0.000 0.055 2528 2903 3863 0 0 0 0 0 0
4561 -0.67 -243.3 660.6 -9.9 477 4565 0.00 2.10 0.00 0.000 6 0.000 0.041 2529 1501 3863 0 0 0 0 0 0
4880 -0.67 -243.3 694.6 -10.5 492 4884 0.00 2.17 0.00 0.000 4 0.000 0.057 2518 2913 3859 0 0 0 0 0 0
4912 -0.67 -243.3 698.4 -10.1 493 4916 0.00 2.12 0.00 0.000 6 0.000 0.042 2518 1495 3859 0 0 0 0 0 0
5234 -0.65 -243.3 733.2 -11.0 509 5238 0.00 2.20 0.00 0.000 4 0.000 0.057 2506 2907 3857 0 0 0 0 0 0
5257 -0.65 -243.3 735.7 -11.1 510 5262 0.00 2.15 0.00 0.000 6 0.000 0.043 2506 1491 3857 0 0 0 0 0 0
5587 -0.63 -243.3 775.8 -12.7 526 5589 0.12 0.00 0.00 0.000 6 0.163 0.000 2541 1489 3854 0 0 0 0 0 0
5896 -0.66 -243.3 808.3 -10.6 541 5900 0.00 2.20 0.00 0.000 4 0.000 0.058 2532 2911 3852 0 0 0 0 0 0
5952 -0.71 -243.3 814.5 -9.8 543 5956 0.00 2.15 0.00 0.000 6 0.000 0.044 2532 1501 3851 0 0 0 0 0 0
6269 -0.72 -243.3 849.1 -10.8 558 6273 0.00 2.20 0.00 0.000 4 0.000 0.059 2520 2908 3850 0 0 0 0 0 0
6315 -0.76 -243.3 853.7 -10.3 560 6319 0.00 2.15 0.00 0.000 6 0.000 0.045 2521 1494 3849 0 0 0 0 0 0
6642 -0.76 -243.3 888.7 -10.3 576 6646 0.00 2.20 0.00 0.000 4 0.000 0.060 2503 2901 3846 0 0 0 0 0 0
6689 -0.78 -243.3 893.5 -10.2 578 6693 0.00 2.15 0.00 0.000 6 0.000 0.045 2504 1489 3846 0 0 0 0 0 0
7016 -0.78 -243.3 927.4 -10.2 594 7017 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 1490 3844 0 0 0 0 0 0
7325 -0.78 -243.3 958.4 -9.9 609 7329 0.00 2.20 0.00 0.000 4 0.000 0.061 2490 2904 3841 0 0 0 0 0 0
7371 -0.78 -243.3 962.9 -9.8 611 7375 0.00 2.15 0.00 0.000 6 0.000 0.047 2491 1498 3841 0 0 0 0 0 0
7634 end dive: TARGET_DEPTH_EXCEEDED
state 7634 begin apogee
7640 -0.18 0.0 990.5 10.4 624 7845 0.57 0.00 197.73 1.446 6 0.120 0.000 2681 1847 2884 0 0 0 0 0 0
7845 end apogee: CONTROL_FINISHED_OK
state 7846 begin climb
7848 0.83 243.3 998.1 0.0 633 8073 0.90 2.40 216.10 1.382 4 0.054 0.061 3016 3249 1891 0 0 0 0 0 0
8158 0.64 243.3 944.5 22.6 648 8163 0.28 2.28 0.00 0.000 6 0.179 0.046 2954 1842 1886 0 0 0 0 0 0
8483 0.52 243.3 888.5 16.8 664 8485 0.15 0.00 0.00 0.000 6 0.176 0.000 2914 1843 1882 0 0 0 0 0 0
8789 0.47 243.3 845.3 13.6 679 8790 0.00 0.00 0.00 0.000 6 0.000 0.000 2914 1842 1880 0 0 0 0 0 0
9100 0.41 243.3 802.0 14.1 694 9102 0.12 0.00 0.00 0.000 6 0.171 0.000 2878 1842 1880 0 0 0 0 0 0
9407 0.41 243.3 765.3 11.7 709 9411 0.00 2.17 0.00 0.000 4 0.000 0.054 2887 440 1878 0 0 0 0 0 0
9445 0.41 243.3 760.6 11.8 710 9452 0.00 2.17 0.00 0.000 6 0.000 0.043 2880 1836 1878 0 0 0 0 0 0
9763 0.44 263.4 726.8 10.1 726 9782 0.00 0.00 17.17 1.230 6 0.000 0.000 2880 1837 1809 0 0 0 0 0 0
10091 0.49 310.6 695.5 9.3 742 10137 0.00 0.00 44.15 1.252 6 0.000 0.000 2880 1838 1617 0 0 0 0 0 0
10444 0.55 333.8 662.0 10.0 759 10471 0.12 2.30 21.35 1.182 4 0.087 0.057 2942 3274 1522 0 0 0 0 0 0
10499 0.50 333.8 653.3 15.8 761 10504 0.17 2.25 0.00 0.000 6 0.163 0.042 2906 1838 1521 0 0 0 0 0 0
10817 0.50 333.8 613.2 12.3 776 10821 0.00 2.17 0.00 0.000 4 0.000 0.053 2915 436 1519 0 0 0 0 0 0
10855 0.50 333.8 608.0 12.4 777 10862 0.00 2.20 0.00 0.000 6 0.000 0.041 2915 1853 1518 0 0 0 0 0 0
11178 0.50 333.8 567.8 12.5 805 11182 0.00 2.17 0.00 0.000 4 0.000 0.057 2915 3271 1518 0 0 0 0 0 0
11211 0.50 333.8 563.4 12.7 807 11219 0.00 2.17 0.00 0.000 6 0.000 0.041 2925 1841 1518 0 0 0 0 0 0
11539 0.47 333.8 519.7 14.1 838 11543 0.00 2.15 0.00 0.000 4 0.000 0.052 2936 446 1517 0 0 0 0 0 0
11568 0.47 333.8 515.4 14.1 840 11573 0.15 2.12 0.00 0.000 6 0.145 0.041 2893 1853 1516 0 0 0 0 0 0
11896 0.53 346.4 480.4 10.3 870 11912 0.00 2.17 11.70 1.002 4 0.000 0.054 2892 3261 1470 0 0 0 0 0 0
11936 0.58 346.4 475.6 10.9 873 11940 0.00 2.15 0.00 0.000 6 0.000 0.039 2900 1849 1470 0 0 0 0 0 0
12264 0.64 368.8 440.8 10.0 903 12291 0.15 2.22 20.52 1.018 4 0.075 0.050 2989 450 1379 0 0 0 0 0 0
12322 0.57 368.8 432.0 16.8 908 12327 0.20 2.17 0.00 0.000 6 0.148 0.039 2932 1863 1378 0 0 0 0 0 0
12647 0.57 368.8 389.0 13.0 938 12651 0.00 2.12 0.00 0.000 4 0.000 0.053 2932 3253 1378 0 0 0 0 0 0
12687 0.57 368.8 383.9 12.7 941 12691 0.00 2.12 0.00 0.000 6 0.000 0.037 2940 1847 1377 0 0 0 0 0 0
13012 0.57 368.8 342.3 12.5 971 13016 0.00 2.12 0.00 0.000 4 0.000 0.049 2953 441 1377 0 0 0 0 0 0
13085 0.59 368.8 333.0 12.5 977 13090 0.00 2.12 0.00 0.000 6 0.000 0.037 2955 1844 1377 0 0 0 0 0 0
13412 0.59 368.8 290.0 13.3 1007 13416 0.00 2.12 0.00 0.000 4 0.000 0.050 2957 3258 1377 0 0 0 0 0 0
13486 0.61 368.8 279.9 13.4 1013 13490 0.00 2.12 0.00 0.000 6 0.000 0.036 2964 1835 1377 0 0 0 0 0 0
13815 0.61 368.8 236.9 12.5 1052 13823 0.00 2.12 0.00 0.000 4 0.000 0.047 2977 446 1377 0 0 0 0 0 0
13862 0.61 368.8 230.9 12.7 1060 13871 0.10 2.12 0.00 0.000 6 0.115 0.034 2944 1844 1377 0 0 0 0 0 0
14192 0.74 428.5 201.7 8.9 1121 14254 0.12 2.22 50.08 0.820 4 0.085 0.048 3020 3249 1136 0 0 0 0 0 0
14265 0.67 428.5 191.2 17.0 1130 14274 0.20 2.17 0.00 0.000 6 0.132 0.034 2968 1846 1136 0 0 0 0 0 0
14596 0.77 460.7 154.8 9.7 1191 14628 0.00 2.25 27.23 0.748 4 0.000 0.047 2977 434 1004 0 0 0 0 0 0
14691 0.93 514.8 145.7 9.1 1206 14748 0.15 2.17 45.38 0.747 6 0.037 0.032 3072 1857 782 0 0 0 0 0 0
15068 0.89 514.8 68.4 15.4 1273 15076 0.15 2.15 0.00 0.000 4 0.148 0.046 3019 3246 778 0 0 0 0 0 0
15138 1.09 589.1 60.8 8.5 1285 15205 0.15 2.12 60.20 0.682 6 0.041 0.033 3125 1847 479 0 0 0 0 0 0
15414 end climb: SURFACE_DEPTH_REACHED
state 15414 begin surface coast
15428 end surface coast: CONTROL_FINISHED_OK
state 15428 begin surface