OKMC Aug11 * SG166 * Dive index * Mission links * Dive 296 * 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  296 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  20 ALTIM_PING_DEPTH  0
D_FLARE  5 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1610 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1780 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  48 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  60 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  350 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  380 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  -24771.723 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  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  290911,113145,2224.245,12214.446,52,1.6,60,-2.9 TGT_NAME  N1
_CALLS  5 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.80 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  290911,115110,2224.313,12214.343,11,3.3,30,-2.9 MHEAD_RNG_PITCHd_Wd  323.1,110113,-14.9,-9.429
SPEED_LIMITS  0.163,0.290 D_GRID  4776

Post-dive calculations and measurements:
FINISH  1.2,1.001664 _10V_AH  9.9,50.027
SM_CCo  18811,0.00,0.000,0,0,445,598.29 FG_AHR_24Vo  0.000
SM_GC  1.93,7.90,0.00,0.00,0.028,0.000,0.000,158,1599,445,-8.03,-0.31,598.29,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2218.34,12213.43,290911,111137 MEM  324644
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  96887,1730
HUMID  37.28 CAP_FILE_SIZE  209009,0
INTERNAL_PRESSURE  9.36041 CFSIZE  260165632,120860672
TCM_TEMP  25.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  127 CURRENT  0.098,160.1,1
_24V_AH  22.5,70.664 GPS  290911,170636,2225.723,12212.665,42,1.4,53,-2.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20219103.37 SBE_CT118324639.20
Roll_motor8562120.82 AA38301772331315.80
VBD_pump_during_apogee695145922831.38 WL_BB2F19811054681.33
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init145103337.32 nil000.00
Iridium_during_connect200160722.19 nil000.00
Iridium_during_xfer3432231724.05 nil000.00
Transponder_ping31420300.04 nil000.00
GUMSTIX_24V000.00
GPS315015.81
TT8432119847.13
LPSleep96522209.27
TT8_Active73719144.61
TT8_Sampling4651391832.94
TT8_CF858545265.54
TT8_Kalman000.00
Analog_circuits241212286.57
GPS_charging000.00
Compass393415584.25
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 -0.57 -194.6 0.0 0.0 0 120 0.00 0.00 -100.78 0.000 2 0.000 0.000 157 1597 2978 0 0 0 0 0 0
124 -0.57 -194.6 5.6 -9.9 14 156 9.50 1.05 -13.62 0.000 4 0.220 0.063 2546 2298 3679 0 0 0 0 0 0
397 -0.47 -194.6 74.4 -19.4 63 405 0.17 1.02 0.00 0.000 6 0.140 0.037 2589 1614 3680 0 0 0 0 0 0
725 -0.45 -194.6 130.7 -17.4 124 734 0.00 1.02 0.00 0.000 4 0.000 0.043 2586 2300 3680 0 0 0 0 0 0
777 -0.45 -194.6 138.9 -15.6 132 786 0.00 1.02 0.00 0.000 6 0.000 0.039 2585 1610 3680 0 0 0 0 0 0
1105 -0.45 -194.6 180.4 -8.2 193 1114 0.00 1.02 0.00 0.000 4 0.000 0.047 2581 2288 3680 0 0 0 0 0 0
1179 -0.45 -194.6 185.8 -6.8 206 1188 0.00 1.00 0.00 0.000 6 0.000 0.041 2581 1619 3680 0 0 0 0 0 0
1508 -0.46 -194.6 225.4 -14.0 267 1515 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 1619 3680 0 0 0 0 0 0
1834 -0.48 -194.6 252.1 -8.2 326 1838 0.00 1.02 0.00 0.000 4 0.000 0.046 2576 2293 3679 0 0 0 0 0 0
1884 -0.50 -194.6 256.6 -8.8 330 1892 0.00 1.02 0.00 0.000 6 0.000 0.041 2576 1612 3679 0 0 0 0 0 0
2212 -0.52 -194.6 284.3 -5.8 361 2216 0.00 1.02 0.00 0.000 4 0.000 0.047 2573 2293 3678 0 0 0 0 0 0
2273 -0.53 -194.6 286.3 -4.2 366 2281 0.00 1.02 0.00 0.000 6 0.000 0.041 2573 1611 3677 0 0 0 0 0 0
2599 -0.55 -194.6 301.1 -7.9 397 2603 0.00 1.02 0.00 0.000 4 0.000 0.047 2574 2291 3674 0 0 0 0 0 0
2668 -0.58 -194.6 308.0 -10.1 403 2671 0.00 1.02 0.00 0.000 6 0.000 0.041 2573 1609 3675 0 0 0 0 0 0
2999 -0.60 -194.6 340.4 -6.0 434 3004 0.10 1.08 0.00 0.000 4 0.099 0.050 2515 911 3673 0 0 0 0 0 0
3057 -0.54 -194.6 345.8 -10.8 439 3061 0.17 1.02 0.00 0.000 6 0.133 0.042 2563 1589 3673 0 0 0 0 0 0
3387 -0.54 -194.6 372.9 -9.6 470 3391 0.00 1.08 0.00 0.000 4 0.000 0.049 2563 2310 3670 0 0 0 0 0 0
3507 -0.56 -194.6 385.1 -10.3 480 3515 0.00 1.05 0.00 0.000 6 0.000 0.043 2565 1612 3669 0 0 0 0 0 0
3832 -0.56 -194.6 420.9 -10.3 511 3836 0.00 1.08 0.00 0.000 4 0.000 0.050 2561 2310 3666 0 0 0 0 0 0
3895 -0.58 -194.6 427.0 -9.5 516 3903 0.00 1.08 0.00 0.000 6 0.000 0.044 2561 1606 3666 0 0 0 0 0 0
4220 -0.58 -194.6 458.5 -9.7 547 4224 0.00 1.05 0.00 0.000 4 0.000 0.049 2561 912 3664 0 0 0 0 0 0
4350 -0.58 -194.6 471.2 -9.6 558 4357 0.00 1.08 0.00 0.000 6 0.000 0.044 2556 1614 3663 0 0 0 0 0 0
4676 -0.58 -194.6 498.2 -7.9 589 4680 0.00 1.08 0.00 0.000 4 0.000 0.050 2556 915 3661 0 0 0 0 0 0
4737 -0.58 -194.6 503.1 -8.6 594 4741 0.00 1.05 0.00 0.000 6 0.000 0.045 2551 1604 3661 0 0 0 0 0 0
5069 -0.58 -194.6 537.9 -12.8 625 5072 0.00 1.05 0.00 0.000 4 0.000 0.051 2546 2304 3658 0 0 0 0 0 0
5154 -0.59 -194.6 549.0 -13.2 632 5162 0.00 1.05 0.00 0.000 6 0.000 0.047 2546 1615 3657 0 0 0 0 0 0
5479 -0.59 -194.6 590.8 -11.8 663 5483 0.00 1.08 0.00 0.000 4 0.000 0.054 2541 2310 3655 0 0 0 0 0 0
5547 -0.59 -194.6 598.1 -10.4 669 5551 0.00 1.08 0.00 0.000 6 0.000 0.048 2541 1609 3654 0 0 0 0 0 0
5882 -0.59 -194.6 628.3 -7.6 686 5886 0.00 1.08 0.00 0.000 4 0.000 0.054 2541 904 3652 0 0 0 0 0 0
6029 -0.59 -194.6 638.6 -6.6 692 6033 0.00 1.08 0.00 0.000 6 0.000 0.045 2536 1605 3651 0 0 0 0 0 0
6353 -0.59 -194.6 663.1 -8.5 708 6354 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 1605 3649 0 0 0 0 0 0
6660 -0.59 -194.6 695.6 -11.6 723 6663 0.00 1.08 0.00 0.000 4 0.000 0.054 2536 913 3646 0 0 0 0 0 0
6717 -0.59 -194.6 703.0 -13.5 725 6721 0.00 1.08 0.00 0.000 6 0.000 0.048 2531 1608 3646 0 0 0 0 0 0
7038 -0.59 -194.6 742.8 -10.6 741 7042 0.00 1.08 0.00 0.000 4 0.000 0.055 2531 915 3644 0 0 0 0 0 0
7107 -0.59 -194.6 748.9 -8.6 744 7111 0.00 1.08 0.00 0.000 6 0.000 0.050 2526 1607 3643 0 0 0 0 0 0
7442 -0.59 -194.6 771.9 -6.8 760 7444 0.10 0.00 0.00 0.000 6 0.171 0.000 2552 1608 3641 0 0 0 0 0 0
7749 -0.61 -194.6 796.0 -9.1 775 7750 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 1608 3639 0 0 0 0 0 0
8060 -0.64 -194.6 828.0 -10.5 790 8064 0.00 1.08 0.00 0.000 4 0.000 0.057 2549 2310 3637 0 0 0 0 0 0
8099 -0.67 -194.6 832.2 -9.7 791 8106 0.00 1.08 0.00 0.000 6 0.000 0.050 2549 1615 3637 0 0 0 0 0 0
8416 -0.69 -194.6 860.3 -7.9 807 8419 0.00 1.08 0.00 0.000 4 0.000 0.057 2549 917 3635 0 0 0 0 0 0
8513 -0.72 -194.6 867.3 -7.0 811 8516 0.00 1.08 0.00 0.000 6 0.000 0.050 2544 1604 3635 0 0 0 0 0 0
8841 -0.74 -194.6 888.2 -6.5 827 8842 0.10 0.00 0.00 0.000 6 0.102 0.000 2489 1604 3633 0 0 0 0 0 0
9152 -0.71 -194.6 920.2 -11.0 842 9156 0.10 1.10 0.00 0.000 4 0.175 0.057 2515 920 3632 0 0 0 0 0 0
9222 -0.71 -194.6 927.6 -10.2 845 9225 0.00 1.08 0.00 0.000 6 0.000 0.050 2511 1608 3632 0 0 0 0 0 0
9558 -0.71 -194.6 959.3 -9.2 861 9559 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 1608 3630 0 0 0 0 0 0
9864 -0.71 -194.6 985.9 -8.3 876 9868 0.00 1.10 0.00 0.000 4 0.000 0.057 2508 910 3628 0 0 0 0 0 0
9911 end dive: TARGET_DEPTH_EXCEEDED
state 9912 begin apogee
9919 -0.11 0.0 990.2 8.5 878 10087 0.62 0.00 163.23 1.460 6 0.124 0.000 2697 1781 2884 0 0 0 0 0 0
10088 end apogee: CONTROL_FINISHED_OK
state 10088 begin climb
10090 0.57 194.6 992.6 0.0 886 10282 0.62 0.00 182.80 1.401 6 0.053 0.000 2937 1781 2090 0 0 0 0 0 0
10588 0.51 194.6 923.9 15.7 910 10592 0.00 1.10 0.00 0.000 4 0.000 0.062 2937 2492 2082 0 0 0 0 0 0
10691 0.45 194.6 907.7 15.4 914 10695 0.15 1.10 0.00 0.000 6 0.145 0.052 2893 1788 2081 0 0 0 0 0 0
11013 0.44 194.6 869.0 11.7 930 11017 0.00 1.10 0.00 0.000 4 0.000 0.060 2892 2493 2079 0 0 0 0 0 0
11088 0.42 194.6 860.3 11.5 933 11091 0.00 1.10 0.00 0.000 6 0.000 0.048 2895 1784 2079 0 0 0 0 0 0
11416 0.40 194.6 821.2 11.9 949 11420 0.00 1.10 0.00 0.000 4 0.000 0.057 2895 2492 2077 0 0 0 0 0 0
11454 0.39 194.6 816.4 11.6 950 11461 0.00 1.10 0.00 0.000 6 0.000 0.047 2898 1779 2077 0 0 0 0 0 0
11773 0.37 194.6 779.5 11.6 966 11777 0.12 1.10 0.00 0.000 4 0.171 0.056 2861 2488 2076 0 0 0 0 0 0
11913 0.44 236.3 767.1 8.1 972 11955 0.00 1.10 37.05 1.303 6 0.000 0.047 2864 1779 1919 0 0 0 0 0 0
12283 0.54 295.7 739.9 7.5 990 12349 0.15 1.17 55.40 1.284 4 0.080 0.057 2939 2488 1677 0 0 0 0 0 0
12388 0.50 295.7 724.8 15.7 994 12395 0.10 1.12 0.00 0.000 6 0.142 0.047 2913 1777 1675 0 0 0 0 0 0
12704 0.50 295.7 679.8 14.3 1010 12707 0.00 1.08 0.00 0.000 4 0.000 0.054 2916 1072 1670 0 0 0 0 0 0
12731 0.50 295.7 675.7 14.1 1011 12735 0.00 1.10 0.00 0.000 6 0.000 0.046 2916 1788 1670 0 0 0 0 0 0
13061 0.50 295.7 633.2 12.2 1027 13064 0.00 1.05 0.00 0.000 4 0.000 0.056 2916 2481 1669 0 0 0 0 0 0
13160 0.50 295.7 621.5 10.7 1031 13165 0.00 1.08 0.00 0.000 6 0.000 0.045 2921 1780 1669 0 0 0 0 0 0
13490 0.50 295.7 586.3 11.0 1053 13493 0.00 1.05 0.00 0.000 4 0.000 0.050 2925 1082 1668 0 0 0 0 0 0
13536 0.50 295.7 580.8 10.8 1057 13540 0.00 1.08 0.00 0.000 6 0.000 0.044 2926 1786 1668 0 0 0 0 0 0
13866 0.50 295.7 541.8 12.2 1088 13870 0.00 1.05 0.00 0.000 4 0.000 0.055 2926 2486 1668 0 0 0 0 0 0
13938 0.50 295.7 532.8 12.0 1094 13945 0.00 1.08 0.00 0.000 6 0.000 0.045 2931 1783 1668 0 0 0 0 0 0
14264 0.49 295.7 495.4 12.6 1125 14268 0.00 1.08 0.00 0.000 4 0.000 0.052 2931 2486 1667 0 0 0 0 0 0
14323 0.49 295.7 487.8 13.1 1130 14327 0.08 1.08 0.00 0.000 6 0.140 0.045 2908 1780 1667 0 0 0 0 0 0
14654 0.52 295.7 449.3 11.2 1161 14658 0.00 1.05 0.00 0.000 4 0.000 0.050 2915 1080 1666 0 0 0 0 0 0
14738 0.54 295.7 440.1 10.5 1168 14746 0.00 1.08 0.00 0.000 6 0.000 0.041 2914 1791 1666 0 0 0 0 0 0
15064 0.59 317.4 410.1 8.7 1199 15088 0.00 1.15 19.33 1.010 4 0.000 0.048 2921 1069 1589 0 0 0 0 0 0
15128 0.68 359.0 404.6 8.1 1204 15171 0.08 1.08 38.30 1.024 6 0.054 0.042 2977 1777 1419 0 0 0 0 0 0
15497 0.65 359.0 356.7 12.9 1239 15501 0.00 1.05 0.00 0.000 4 0.000 0.050 2978 2480 1414 0 0 0 0 0 0
15535 0.62 359.0 352.3 12.5 1242 15539 0.10 1.08 0.00 0.000 6 0.139 0.042 2950 1773 1414 0 0 0 0 0 0
15866 0.63 359.0 319.5 11.6 1273 15870 0.00 1.05 0.00 0.000 4 0.000 0.049 2954 1074 1414 0 0 0 0 0 0
15903 0.65 359.0 315.7 10.7 1276 15907 0.00 1.08 0.00 0.000 6 0.000 0.041 2954 1789 1413 0 0 0 0 0 0
16235 0.67 359.0 281.3 11.1 1307 16239 0.00 1.02 0.00 0.000 4 0.000 0.047 2953 2481 1413 0 0 0 0 0 0
16295 0.69 359.0 273.7 13.4 1312 16298 0.00 1.05 0.00 0.000 6 0.000 0.041 2956 1781 1413 0 0 0 0 0 0
16622 0.71 359.0 230.5 10.6 1357 16630 0.00 1.05 0.00 0.000 4 0.000 0.046 2961 1072 1413 0 0 0 0 0 0
16653 0.72 359.0 227.7 10.1 1361 16661 0.00 1.05 0.00 0.000 6 0.000 0.039 2962 1780 1413 0 0 0 0 0 0
16983 0.79 397.6 201.7 8.2 1422 17022 0.10 0.00 34.15 0.827 6 0.099 0.000 3029 1781 1262 0 0 0 0 0 0
17344 0.74 397.6 146.0 15.6 1487 17352 0.15 1.05 0.00 0.000 4 0.149 0.046 2984 2477 1259 0 0 0 0 0 0
17419 0.77 397.6 137.2 10.1 1500 17427 0.00 1.05 0.00 0.000 6 0.000 0.040 2987 1781 1258 0 0 0 0 0 0
17750 0.90 478.0 105.6 6.8 1561 17825 0.12 1.12 67.65 0.744 4 0.084 0.044 3070 1065 934 0 0 0 0 0 0
17858 0.86 478.0 95.1 9.5 1576 17867 0.12 1.10 0.00 0.000 6 0.125 0.037 3027 1796 932 0 0 0 0 0 0
18192 0.90 478.0 57.6 12.4 1637 18200 0.00 1.10 0.00 0.000 4 0.000 0.044 3031 1069 930 0 0 0 0 0 0
18256 0.96 478.0 50.2 10.6 1648 18265 0.00 1.05 0.00 0.000 6 0.000 0.034 3031 1790 930 0 0 0 0 0 0
18587 1.20 617.7 27.7 4.9 1709 18690 0.25 1.15 97.30 0.651 4 0.054 0.043 3183 1077 452 0 0 0 0 0 0
18720 end climb: SURFACE_DEPTH_REACHED
state 18720 begin surface coast
18733 end surface coast: CONTROL_FINISHED_OK
state 18733 begin surface