OKMC Aug11 * SG166 * Dive index * Mission links * Dive 82 * 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  82 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  51 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  48 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  -24492.775 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  190811,054927,2345.805,12340.898,54,2.2,73,-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  1.75 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  190811,055550,2345.807,12340.948,19,1.5,19,-3.4 MHEAD_RNG_PITCHd_Wd  100.1,25039,-14.7,-10.645
SPEED_LIMITS  0.184,0.333 D_GRID  3167

Post-dive calculations and measurements:
FINISH  1.1,1.021325 _10V_AH  10.3,14.455
SM_CCo  16527,0.00,0.000,0,0,442,599.02 FG_AHR_24Vo  0.000
SM_GC  1.93,7.68,0.00,0.00,0.035,0.000,0.000,155,1487,442,-8.04,-0.37,599.02,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2335.63,12334.88,190811,010108 MEM  330228
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  86845,1518
HUMID  33.61 CAP_FILE_SIZE  185211,0
INTERNAL_PRESSURE  9.39948 CFSIZE  260165632,140038144
TCM_TEMP  26.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  78 CURRENT  0.156, 31.8,1
_24V_AH  23.4,22.018 GPS  190811,103327,2346.666,12345.097,47,99.0,66,-3.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22223115.00 SBE_CT103424580.89
Roll_motor15161216.42 AA38301553331199.76
VBD_pump_during_apogee719144124252.00 WL_BB2F17731054357.01
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010373.94 nil000.00
Iridium_during_connect2016075.23 nil000.00
Iridium_during_xfer163223853.17 nil000.00
Transponder_ping19420191.65 nil000.00
GUMSTIX_24V000.00
GPS205010.80
TT8377419769.74
LPSleep82522186.14
TT8_Active77019157.12
TT8_Sampling3628391487.59
TT8_CF847145222.55
TT8_Kalman000.00
Analog_circuits224112276.99
GPS_charging000.00
Compass339415524.47
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 0 124 0.00 0.00 -104.80 0.000 2 0.000 0.000 153 1479 2999 0 0 0 0 0 0
127 -0.83 -243.3 5.2 -8.1 15 160 8.98 2.22 -16.95 0.000 4 0.223 0.053 2458 2907 3879 0 0 0 0 0 0
185 -0.44 -243.3 31.9 -49.2 23 194 0.47 2.15 0.00 0.000 6 0.164 0.036 2596 1507 3881 0 0 0 0 0 0
514 -0.35 -243.3 117.0 -19.0 84 523 0.12 2.03 0.00 0.000 4 0.164 0.041 2636 192 3883 0 0 0 0 0 0
550 -0.31 -243.3 123.8 -18.8 89 559 0.00 1.98 0.00 0.000 6 0.000 0.032 2629 1505 3883 0 0 0 0 0 0
881 -0.33 -243.3 166.5 -11.8 150 889 0.00 2.10 0.00 0.000 4 0.000 0.041 2619 2899 3883 0 0 0 0 0 0
986 -0.41 -243.3 176.3 -8.2 169 994 0.00 2.12 0.00 0.000 6 0.000 0.031 2619 1485 3883 0 0 0 0 0 0
1314 -0.45 -243.3 206.7 -8.7 230 1322 0.00 2.15 0.00 0.000 4 0.000 0.041 2609 2905 3883 0 0 0 0 0 0
1364 -0.52 -243.3 210.8 -8.5 238 1373 0.00 2.10 0.00 0.000 6 0.000 0.031 2609 1500 3883 0 0 0 0 0 0
1691 -0.57 -243.3 246.9 -11.5 299 1700 0.12 2.15 0.00 0.000 4 0.081 0.041 2526 2901 3882 0 0 0 0 0 0
1753 -0.50 -243.3 257.4 -17.9 306 1758 0.17 2.05 0.00 0.000 6 0.143 0.034 2577 1501 3882 0 0 0 0 0 0
2079 -0.50 -243.3 296.2 -10.3 336 2083 0.00 2.10 0.00 0.000 4 0.000 0.042 2575 2901 3881 0 0 0 0 0 0
2111 -0.50 -243.3 299.8 -10.3 338 2119 0.00 2.10 0.00 0.000 6 0.000 0.033 2577 1494 3881 0 0 0 0 0 0
2436 -0.50 -243.3 338.1 -12.0 369 2440 0.00 2.12 0.00 0.000 4 0.000 0.043 2572 2902 3880 0 0 0 0 0 0
2469 -0.53 -243.3 342.1 -11.6 371 2476 0.00 2.08 0.00 0.000 6 0.000 0.034 2573 1498 3880 0 0 0 0 0 0
2795 -0.53 -243.3 382.6 -12.1 402 2799 0.00 2.12 0.00 0.000 4 0.000 0.043 2567 2910 3878 0 0 0 0 0 0
2850 -0.56 -243.3 389.0 -10.9 406 2857 0.00 2.10 0.00 0.000 6 0.000 0.034 2567 1492 3878 0 0 0 0 0 0
3178 -0.56 -243.3 428.6 -12.0 437 3179 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 1492 3876 0 0 0 0 0 0
3495 -0.56 -243.3 464.7 -10.6 467 3499 0.00 2.12 0.00 0.000 4 0.000 0.044 2555 2904 3874 0 0 0 0 0 0
3537 -0.59 -243.3 469.1 -10.5 470 3541 0.00 2.08 0.00 0.000 6 0.000 0.035 2555 1497 3874 0 0 0 0 0 0
3862 -0.59 -243.3 505.2 -10.6 500 3866 0.00 2.12 0.00 0.000 4 0.000 0.046 2544 2900 3872 0 0 0 0 0 0
3895 -0.59 -243.3 508.8 -10.1 502 3902 0.00 2.10 0.00 0.000 6 0.000 0.036 2542 1488 3872 0 0 0 0 0 0
4221 -0.57 -243.3 545.8 -12.0 533 4225 0.00 2.17 0.00 0.000 4 0.000 0.048 2529 2906 3870 0 0 0 0 0 0
4253 -0.57 -243.3 549.8 -11.5 535 4263 0.10 2.12 0.00 0.000 6 0.158 0.037 2556 1506 3869 0 0 0 0 0 0
4579 -0.60 -243.3 583.6 -10.7 566 4580 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 1506 3867 0 0 0 0 0 0
4903 -0.63 -243.3 615.0 -8.6 589 4904 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 1506 3864 0 0 0 0 0 0
5214 -0.66 -243.3 639.6 -7.8 604 5218 0.00 2.17 0.00 0.000 4 0.000 0.054 2554 2904 3861 0 0 0 0 0 0
5265 -0.72 -243.3 643.7 -7.7 606 5270 0.12 2.12 0.00 0.000 6 0.082 0.041 2478 1488 3861 0 0 0 0 0 0
5590 -0.62 -243.3 693.7 -16.5 622 5595 0.25 1.98 0.00 0.000 4 0.148 0.052 2553 195 3858 0 0 0 0 0 0
5645 -0.66 -243.3 701.2 -10.9 624 5652 0.00 1.98 0.00 0.000 6 0.000 0.041 2542 1504 3858 0 0 0 0 0 0
5964 -0.69 -243.3 731.9 -9.7 640 5968 0.00 2.15 0.00 0.000 4 0.000 0.054 2528 2911 3856 0 0 0 0 0 0
6029 -0.74 -243.3 737.9 -9.0 643 6033 0.00 2.10 0.00 0.000 6 0.000 0.041 2528 1500 3855 0 0 0 0 0 0
6358 -0.76 -243.3 769.6 -9.2 659 6360 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 1500 3853 0 0 0 0 0 0
6666 -0.78 -243.3 796.0 -8.5 674 6670 0.00 2.20 0.00 0.000 4 0.000 0.058 2515 2902 3850 0 0 0 0 0 0
6717 -0.81 -243.3 800.3 -8.2 676 6722 0.10 2.12 0.00 0.000 6 0.100 0.043 2456 1501 3849 0 0 0 0 0 0
7042 -0.73 -243.3 845.5 -14.3 692 7044 0.17 0.00 0.00 0.000 6 0.158 0.000 2506 1501 3847 0 0 0 0 0 0
7348 -0.73 -243.3 878.9 -10.4 707 7352 0.00 2.03 0.00 0.000 4 0.000 0.058 2508 209 3845 0 0 0 0 0 0
7375 -0.73 -243.3 882.0 -10.2 708 7379 0.00 1.98 0.00 0.000 6 0.000 0.044 2499 1499 3844 0 0 0 0 0 0
7704 -0.73 -243.3 913.5 -9.4 724 7708 0.00 2.20 0.00 0.000 4 0.000 0.057 2488 2911 3842 0 0 0 0 0 0
7746 -0.73 -243.3 917.5 -9.4 726 7750 0.00 2.12 0.00 0.000 6 0.000 0.044 2488 1500 3842 0 0 0 0 0 0
8076 -0.71 -243.3 951.4 -10.6 742 8077 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 1499 3840 0 0 0 0 0 0
8382 -0.69 -243.3 984.8 -10.8 757 8387 0.12 2.03 0.00 0.000 4 0.163 0.060 2525 196 3838 0 0 0 0 0 0
8409 -0.69 -243.3 987.9 -10.6 758 8413 0.00 1.98 0.00 0.000 6 0.000 0.044 2517 1502 3838 0 0 0 0 0 0
8446 end dive: TARGET_DEPTH_EXCEEDED
state 8446 begin apogee
8454 -0.18 0.0 991.5 9.7 760 8657 0.50 0.00 197.73 1.441 6 0.119 0.000 2683 1859 2883 0 0 0 0 0 0
8658 end apogee: CONTROL_FINISHED_OK
state 8658 begin climb
8662 0.83 243.3 1001.4 0.0 769 8889 0.90 2.42 216.48 1.382 4 0.049 0.061 3025 3243 1891 0 0 0 0 0 0
8926 0.59 243.3 958.4 26.4 782 8931 0.38 2.25 0.00 0.000 6 0.183 0.044 2938 1849 1888 0 0 0 0 0 0
9255 0.49 243.3 902.0 17.0 798 9260 0.12 2.25 0.00 0.000 4 0.179 0.060 2897 3257 1883 0 0 0 0 0 0
9300 0.45 243.3 894.6 14.7 800 9305 0.00 2.20 0.00 0.000 6 0.000 0.043 2906 1835 1882 0 0 0 0 0 0
9622 0.40 243.3 849.2 14.0 816 9624 0.12 0.00 0.00 0.000 6 0.174 0.000 2875 1836 1881 0 0 0 0 0 0
9935 0.40 243.3 813.4 11.3 831 9936 0.00 0.00 0.00 0.000 6 0.000 0.000 2875 1836 1880 0 0 0 0 0 0
10241 0.43 268.3 781.3 9.9 846 10268 0.00 2.28 21.77 1.278 4 0.000 0.057 2873 3255 1790 0 0 0 0 0 0
10297 0.46 292.7 775.5 9.9 848 10326 0.00 2.20 23.88 1.255 6 0.000 0.041 2881 1849 1690 0 0 0 0 0 0
10637 0.53 348.7 743.1 9.0 865 10695 0.10 2.33 50.72 1.274 4 0.102 0.052 2946 450 1462 0 0 0 0 0 0
10724 0.47 348.7 731.6 13.7 869 10729 0.17 2.22 0.00 0.000 6 0.146 0.042 2899 1846 1460 0 0 0 0 0 0
11052 0.49 366.3 697.9 10.1 885 11075 0.00 2.25 16.12 1.178 4 0.000 0.057 2898 3261 1390 0 0 0 0 0 0
11129 0.54 367.5 689.7 10.6 888 11134 0.00 2.20 0.00 0.000 6 0.000 0.041 2906 1849 1389 0 0 0 0 0 0
11451 0.54 367.5 650.3 12.6 904 11455 0.00 2.20 0.00 0.000 4 0.000 0.052 2916 436 1388 0 0 0 0 0 0
11483 0.54 367.5 645.9 13.0 905 11490 0.00 2.20 0.00 0.000 6 0.000 0.041 2916 1856 1387 0 0 0 0 0 0
11801 0.54 367.5 606.1 12.2 921 11805 0.00 2.15 0.00 0.000 4 0.000 0.057 2916 3256 1387 0 0 0 0 0 0
11856 0.56 367.5 598.9 12.1 923 11860 0.00 2.12 0.00 0.000 6 0.000 0.041 2926 1846 1387 0 0 0 0 0 0
12181 0.53 367.5 556.9 12.9 953 12185 0.00 2.17 0.00 0.000 4 0.000 0.052 2937 433 1387 0 0 0 0 0 0
12214 0.53 367.5 552.2 13.7 955 12221 0.00 2.15 0.00 0.000 6 0.000 0.041 2936 1856 1385 0 0 0 0 0 0
12540 0.49 367.5 506.4 13.9 986 12544 0.12 2.15 0.00 0.000 4 0.165 0.056 2896 3254 1385 0 0 0 0 0 0
12608 0.60 402.4 499.2 9.6 991 12649 0.00 2.12 31.52 1.103 6 0.000 0.038 2905 1841 1242 0 0 0 0 0 0
12966 0.70 456.6 467.5 9.0 1025 13023 0.17 2.28 46.97 1.067 4 0.069 0.050 3004 448 1020 0 0 0 0 0 0
13054 0.65 456.6 452.9 18.7 1032 13061 0.17 2.22 0.00 0.000 6 0.142 0.039 2956 1856 1019 0 0 0 0 0 0
13379 0.65 456.6 401.4 15.9 1063 13383 0.00 2.15 0.00 0.000 4 0.000 0.054 2956 3255 1018 0 0 0 0 0 0
13455 0.68 456.6 390.4 13.7 1069 13459 0.00 2.15 0.00 0.000 6 0.000 0.037 2965 1840 1018 0 0 0 0 0 0
13781 0.66 456.6 340.3 15.2 1099 13785 0.00 2.15 0.00 0.000 4 0.000 0.049 2977 437 1017 0 0 0 0 0 0
13805 0.66 456.6 336.5 15.4 1100 13812 0.00 2.15 0.00 0.000 6 0.000 0.037 2977 1854 1016 0 0 0 0 0 0
14132 0.64 456.6 287.8 13.7 1131 14136 0.00 2.17 0.00 0.000 4 0.000 0.055 2980 3258 1016 0 0 0 0 0 0
14208 0.66 456.6 277.8 13.0 1137 14213 0.12 2.12 0.00 0.000 6 0.158 0.036 2955 1841 1016 0 0 0 0 0 0
14540 0.70 456.6 239.5 11.2 1175 14548 0.00 2.15 0.00 0.000 4 0.000 0.048 2967 440 1016 0 0 0 0 0 0
14588 0.77 456.6 234.2 10.9 1183 14596 0.00 2.15 0.00 0.000 6 0.000 0.034 2967 1861 1015 0 0 0 0 0 0
14915 0.83 466.5 200.7 10.4 1244 14932 0.12 2.10 8.65 0.713 4 0.083 0.047 3045 3252 983 0 0 0 0 0 0
14951 0.79 466.5 194.8 14.2 1249 14960 0.15 2.12 0.00 0.000 6 0.129 0.036 3005 1852 983 0 0 0 0 0 0
15282 0.79 466.5 149.2 12.5 1310 15291 0.00 2.15 0.00 0.000 4 0.000 0.046 3013 447 982 0 0 0 0 0 0
15343 0.83 466.5 142.0 11.4 1320 15351 0.00 2.12 0.00 0.000 6 0.000 0.034 3013 1855 982 0 0 0 0 0 0
15670 0.85 466.5 101.2 11.5 1381 15678 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 1855 982 0 0 0 0 0 0
15998 1.10 600.1 68.5 6.7 1442 16111 0.22 2.22 105.25 0.697 4 0.057 0.041 3145 442 451 0 0 0 0 0 0
16137 1.04 600.1 43.6 19.7 1461 16145 0.17 2.20 0.00 0.000 6 0.112 0.033 3085 1849 447 0 0 0 0 0 0
16423 end climb: SURFACE_DEPTH_REACHED
state 16423 begin surface coast
16447 end surface coast: CONTROL_FINISHED_OK
state 16447 begin surface