OKMC Aug11 * SG166 * Dive index * Mission links * Dive 259 * 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  0.0099999998 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  30
DIVE  259 HEADING  285 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  20 ALTIM_PING_DEPTH  0
D_FLARE  5 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1550 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1820 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  450 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  65 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  52 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  300 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  320 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  -24724.75 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  0 PITCH_GAIN  45 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  210911,025031,2139.711,12331.126,38,1.4,38,-2.8 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2142.565,12319.874
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.83 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -64.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  210911,025720,2139.770,12331.102,12,1.3,12,-2.8 MHEAD_RNG_PITCHd_Wd  287.8,20000,-15.2,-11.000
SPEED_LIMITS  0.191,0.337 D_GRID  5000

Post-dive calculations and measurements:
FINISH  1.2,1.021713 _10V_AH  9.9,42.890
SM_CCo  16172,0.00,0.000,0,0,436,600.49 FG_AHR_24Vo  0.000
SM_GC  1.83,7.45,0.00,0.00,0.024,0.000,0.000,136,1541,436,-8.06,-0.25,600.49,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2129.53,12333.69,200911,222253 MEM  330316
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83582,1467
HUMID  37.20 CAP_FILE_SIZE  179476,0
INTERNAL_PRESSURE  9.37994 CFSIZE  260165632,124563456
TCM_TEMP  26.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  92 GPS  210911,072831,2141.399,12329.012,38,1.9,38,-2.8
_24V_AH  22.6,61.461

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20223104.25 SBE_CT100124543.11
Roll_motor7470117.98 AA38301503331121.43
VBD_pump_during_apogee748144724475.85 WL_BB2F17041054044.93
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010371.31 nil000.00
Iridium_during_connect44160160.28 nil000.00
Iridium_during_xfer174223880.89 nil000.00
Transponder_ping23420218.32 nil000.00
GUMSTIX_24V000.00
GPS13506.78
TT8346119678.49
LPSleep82052177.89
TT8_Active76419149.80
TT8_Sampling3647391437.04
TT8_CF848245218.81
TT8_Kalman000.00
Analog_circuits225112267.51
GPS_charging000.00
Compass339715504.56
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 -0.64 -243.3 0.0 0.0 0 126 0.00 0.00 -106.88 0.000 2 0.000 0.000 143 1515 2988 0 0 0 0 0 0
130 -0.64 -243.3 5.1 -6.3 15 167 9.35 1.12 -17.27 0.000 4 0.223 0.070 2526 2244 3880 0 0 0 0 0 0
258 -0.48 -243.3 54.9 -35.3 36 266 0.17 1.02 0.00 0.000 6 0.156 0.041 2581 1563 3881 0 0 0 0 0 0
585 -0.42 -243.3 136.0 -20.4 97 594 0.10 1.08 0.00 0.000 4 0.181 0.044 2610 850 3882 0 0 0 0 0 0
609 -0.38 -243.3 140.0 -17.4 100 617 0.00 1.02 0.00 0.000 6 0.000 0.038 2607 1540 3882 0 0 0 0 0 0
932 -0.39 -243.3 178.1 -12.1 161 940 0.00 1.05 0.00 0.000 4 0.000 0.044 2602 2257 3883 0 0 0 0 0 0
1108 -0.43 -243.3 196.6 -10.7 193 1116 0.00 1.05 0.00 0.000 6 0.000 0.042 2602 1555 3883 0 0 0 0 0 0
1433 -0.47 -243.3 229.1 -10.3 254 1441 0.00 1.05 0.00 0.000 4 0.000 0.046 2597 2254 3883 0 0 0 0 0 0
1578 -0.52 -243.3 242.2 -8.7 281 1586 0.00 1.05 0.00 0.000 6 0.000 0.042 2598 1556 3882 0 0 0 0 0 0
1903 -0.56 -243.3 269.3 -8.3 320 1907 0.00 1.05 0.00 0.000 4 0.000 0.045 2592 2257 3882 0 0 0 0 0 0
2017 -0.62 -243.3 278.4 -7.6 330 2021 0.12 1.08 0.00 0.000 6 0.037 0.043 2500 1543 3881 0 0 0 0 0 0
2348 -0.55 -243.3 338.7 -17.4 361 2352 0.22 1.05 0.00 0.000 4 0.149 0.045 2564 853 3880 0 0 0 0 0 0
2430 -0.57 -243.3 347.7 -9.4 368 2434 0.00 1.05 0.00 0.000 6 0.000 0.041 2567 1555 3880 0 0 0 0 0 0
2763 -0.59 -243.3 385.8 -10.5 399 2767 0.00 1.02 0.00 0.000 4 0.000 0.048 2564 2249 3878 0 0 0 0 0 0
2928 -0.62 -243.3 402.3 -9.7 413 2937 0.00 1.05 0.00 0.000 6 0.000 0.043 2564 1552 3877 0 0 0 0 0 0
3253 -0.65 -243.3 433.8 -9.3 444 3257 0.00 1.05 0.00 0.000 4 0.000 0.050 2560 2242 3875 0 0 0 0 0 0
3406 -0.68 -243.3 447.3 -8.8 457 3413 0.08 1.05 0.00 0.000 6 0.050 0.044 2493 1553 3874 0 0 0 0 0 0
3732 -0.62 -243.3 498.8 -16.4 488 3736 0.17 1.10 0.00 0.000 4 0.154 0.050 2546 842 3871 0 0 0 0 0 0
3777 -0.62 -243.3 504.9 -12.4 492 3781 0.00 1.08 0.00 0.000 6 0.000 0.045 2543 1543 3871 0 0 0 0 0 0
4108 -0.63 -243.3 539.7 -10.0 523 4112 0.00 1.05 0.00 0.000 4 0.000 0.051 2538 2245 3869 0 0 0 0 0 0
4215 -0.65 -243.3 550.2 -9.8 532 4225 0.00 1.08 0.00 0.000 6 0.000 0.045 2538 1540 3867 0 0 0 0 0 0
4541 -0.66 -243.3 584.8 -10.7 563 4545 0.00 1.10 0.00 0.000 4 0.000 0.054 2533 2251 3864 0 0 0 0 0 0
4603 -0.68 -243.3 591.6 -10.9 568 4609 0.00 1.08 0.00 0.000 6 0.000 0.046 2533 1548 3864 0 0 0 0 0 0
4934 -0.68 -243.3 627.8 -10.8 588 4938 0.00 1.08 0.00 0.000 4 0.000 0.055 2528 2244 3861 0 0 0 0 0 0
4995 -0.70 -243.3 635.0 -10.7 590 5002 0.00 1.08 0.00 0.000 6 0.000 0.047 2528 1545 3860 0 0 0 0 0 0
5313 -0.70 -243.3 670.6 -11.1 606 5317 0.00 1.10 0.00 0.000 4 0.000 0.057 2522 2251 3858 0 0 0 0 0 0
5374 -0.71 -243.3 677.2 -10.4 608 5381 0.00 1.08 0.00 0.000 6 0.000 0.048 2522 1550 3857 0 0 0 0 0 0
5692 -0.71 -243.3 711.7 -11.1 624 5696 0.00 1.10 0.00 0.000 4 0.000 0.059 2517 2241 3854 0 0 0 0 0 0
5761 -0.72 -243.3 719.3 -10.8 627 5764 0.00 1.08 0.00 0.000 6 0.000 0.050 2517 1544 3854 0 0 0 0 0 0
6093 -0.72 -243.3 758.4 -11.9 643 6097 0.00 1.10 0.00 0.000 4 0.000 0.060 2512 2248 3852 0 0 0 0 0 0
6167 -0.72 -243.3 766.9 -11.5 646 6171 0.00 1.08 0.00 0.000 6 0.000 0.050 2512 1553 3851 0 0 0 0 0 0
6495 -0.72 -243.3 802.9 -10.6 662 6496 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 1553 3848 0 0 0 0 0 0
6806 -0.72 -243.3 833.6 -9.9 677 6807 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 1553 3846 0 0 0 0 0 0
7113 -0.72 -243.3 863.5 -9.6 692 7117 0.00 1.08 0.00 0.000 4 0.000 0.060 2507 2237 3845 0 0 0 0 0 0
7163 -0.72 -243.3 868.3 -9.4 694 7167 0.00 1.08 0.00 0.000 6 0.000 0.052 2507 1544 3844 0 0 0 0 0 0
7493 -0.72 -243.3 899.6 -9.3 710 7497 0.00 1.10 0.00 0.000 4 0.000 0.063 2502 2242 3842 0 0 0 0 0 0
7554 -0.72 -243.3 905.5 -9.0 712 7561 0.00 1.08 0.00 0.000 6 0.000 0.053 2502 1552 3841 0 0 0 0 0 0
7870 -0.72 -243.3 935.5 -9.5 728 7874 0.00 1.10 0.00 0.000 4 0.000 0.062 2498 2247 3840 0 0 0 0 0 0
7922 -0.72 -243.3 940.3 -9.4 730 7926 0.00 1.08 0.00 0.000 6 0.000 0.052 2498 1555 3839 0 0 0 0 0 0
8250 -0.72 -243.3 972.4 -9.8 746 8253 0.00 1.10 0.00 0.000 4 0.000 0.059 2497 843 3837 0 0 0 0 0 0
8291 -0.72 -243.3 976.6 -10.4 747 8298 0.00 1.10 0.00 0.000 6 0.000 0.052 2492 1544 3837 0 0 0 0 0 0
8419 end dive: TARGET_DEPTH_EXCEEDED
state 8419 begin apogee
8425 -0.11 0.0 990.1 10.3 754 8636 0.65 0.00 206.02 1.447 6 0.125 0.000 2702 1825 2884 0 0 0 0 0 0
8639 end apogee: CONTROL_FINISHED_OK
state 8639 begin climb
8641 0.64 243.3 998.0 0.0 764 8878 0.73 1.15 225.70 1.378 4 0.054 0.060 2961 2514 1891 0 0 0 0 0 0
8979 0.58 243.3 956.1 16.1 780 8983 0.10 1.12 0.00 0.000 6 0.148 0.052 2935 1822 1887 0 0 0 0 0 0
9309 0.55 243.3 912.7 13.0 796 9313 0.00 1.10 0.00 0.000 4 0.000 0.056 2937 1113 1883 0 0 0 0 0 0
9337 0.52 243.3 908.6 13.4 797 9341 0.00 1.10 0.00 0.000 6 0.000 0.053 2938 1811 1882 0 0 0 0 0 0
9666 0.48 243.3 870.4 11.3 813 9671 0.12 1.10 0.00 0.000 4 0.166 0.060 2898 2522 1880 0 0 0 0 0 0
9790 0.57 314.6 858.8 8.8 818 9865 0.00 1.10 66.20 1.346 6 0.000 0.047 2894 1815 1600 0 0 0 0 0 0
10174 0.59 316.1 819.6 11.0 837 10178 0.12 1.10 0.00 0.000 4 0.090 0.054 2964 1111 1594 0 0 0 0 0 0
10223 0.54 316.1 811.6 17.2 839 10228 0.12 1.10 0.00 0.000 6 0.142 0.052 2924 1815 1593 0 0 0 0 0 0
10554 0.53 316.1 766.2 13.3 855 10558 0.00 1.10 0.00 0.000 4 0.000 0.058 2923 2534 1592 0 0 0 0 0 0
10623 0.53 316.1 756.9 12.5 858 10626 0.00 1.10 0.00 0.000 6 0.000 0.048 2927 1823 1592 0 0 0 0 0 0
10958 0.51 316.1 714.7 12.8 874 10961 0.00 1.10 0.00 0.000 4 0.000 0.057 2927 2531 1591 0 0 0 0 0 0
10991 0.50 316.1 709.8 13.2 875 10995 0.00 1.10 0.00 0.000 6 0.000 0.047 2931 1817 1591 0 0 0 0 0 0
11313 0.48 316.1 666.1 13.9 891 11317 0.00 1.05 0.00 0.000 4 0.000 0.052 2937 1119 1591 0 0 0 0 0 0
11354 0.47 316.1 660.2 14.2 892 11361 0.10 1.10 0.00 0.000 6 0.137 0.047 2901 1837 1590 0 0 0 0 0 0
11672 0.55 361.4 627.1 9.6 908 11716 0.00 0.00 42.12 1.205 6 0.000 0.000 2900 1837 1410 0 0 0 0 0 0
12022 0.72 463.6 599.5 7.9 925 12122 0.22 1.15 91.10 1.174 4 0.061 0.046 3011 1118 992 0 0 0 0 0 0
12197 0.66 463.6 562.9 22.6 940 12207 0.15 1.10 0.00 0.000 6 0.141 0.047 2965 1816 989 0 0 0 0 0 0
12522 0.64 463.6 507.4 16.3 971 12523 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 1817 986 0 0 0 0 0 0
12844 0.64 463.6 457.5 15.3 1001 12848 0.00 1.08 0.00 0.000 4 0.000 0.047 2974 1113 986 0 0 0 0 0 0
12871 0.64 463.6 452.5 15.1 1003 12878 0.00 1.08 0.00 0.000 6 0.000 0.044 2975 1824 985 0 0 0 0 0 0
13197 0.63 463.6 398.8 15.7 1034 13198 0.00 0.00 0.00 0.000 6 0.000 0.000 2975 1824 986 0 0 0 0 0 0
13517 0.63 463.6 353.7 14.5 1064 13520 0.00 1.10 0.00 0.000 4 0.000 0.048 2981 1112 985 0 0 0 0 0 0
13660 0.65 463.6 334.6 13.0 1076 13667 0.00 1.08 0.00 0.000 6 0.000 0.042 2981 1822 984 0 0 0 0 0 0
13987 0.65 463.6 288.5 14.5 1107 13990 0.00 1.02 0.00 0.000 4 0.000 0.051 2981 2510 984 0 0 0 0 0 0
14029 0.66 463.6 282.3 14.2 1110 14037 0.00 1.05 0.00 0.000 6 0.000 0.042 2985 1816 984 0 0 0 0 0 0
14353 0.68 463.6 239.7 11.8 1149 14361 0.00 1.05 0.00 0.000 4 0.000 0.047 2990 1111 984 0 0 0 0 0 0
14447 0.71 463.6 229.0 11.5 1165 14455 0.00 1.08 0.00 0.000 6 0.000 0.040 2990 1832 984 0 0 0 0 0 0
14772 0.77 487.6 192.1 10.3 1226 14802 0.00 1.15 20.35 0.788 4 0.000 0.045 2995 1107 894 0 0 0 0 0 0
14863 0.90 548.2 183.0 9.2 1241 14922 0.08 1.08 52.70 0.796 6 0.050 0.037 3065 1828 649 0 0 0 0 0 0
15237 0.88 548.2 115.2 17.4 1309 15246 0.12 1.02 0.00 0.000 4 0.152 0.046 3026 2512 638 0 0 0 0 0 0
15270 0.90 548.2 110.3 14.9 1314 15278 0.00 1.05 0.00 0.000 6 0.000 0.039 3029 1818 638 0 0 0 0 0 0
15592 1.15 687.0 88.8 6.8 1375 15643 0.22 1.10 44.05 0.696 4 0.057 0.043 3169 1108 453 0 0 0 0 0 0
15819 1.08 687.0 39.3 23.3 1415 15828 0.22 1.05 0.00 0.000 6 0.134 0.037 3093 1820 440 0 0 0 0 0 0
16072 end climb: SURFACE_DEPTH_REACHED
state 16072 begin surface coast
16095 end surface coast: CONTROL_FINISHED_OK
state 16095 begin surface