OKMC Aug11 * SG166 * Dive index * Mission links * Dive 300 * 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  300 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  57 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  61 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  -24776.855 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  300911,100957,2229.362,12207.386,36,99.0,55,-2.9 TGT_NAME  N1
_CALLS  1 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.85 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  300911,101736,2229.385,12207.342,17,1.5,28,-2.9 MHEAD_RNG_PITCHd_Wd  325.5,94956,-14.9,-9.429
SPEED_LIMITS  0.163,0.290 D_GRID  4661

Post-dive calculations and measurements:
FINISH  1.3,1.005279 _10V_AH  9.8,50.831
SM_CCo  18116,0.00,0.000,0,0,447,597.80 FG_AHR_24Vo  0.000
SM_GC  1.96,7.70,0.00,0.00,0.025,0.000,0.000,159,1617,447,-8.03,0.20,597.80,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2218.34,12210.21,300911,040413 MEM  324620
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  90136,1622
HUMID  39.13 CAP_FILE_SIZE  190541,0
INTERNAL_PRESSURE  9.34088 CFSIZE  260165632,120463360
TCM_TEMP  24.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  112 CURRENT  0.104,201.9,1
_24V_AH  22.4,71.700 GPS  300911,152136,2231.019,12205.123,60,1.1,66,-2.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20224102.68 SBE_CT111224597.88
Roll_motor7769120.42 AA38301661331228.35
VBD_pump_during_apogee716146523524.54 WL_BB2F18111054260.64
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810366.45 nil000.00
Iridium_during_connect1916070.81 nil000.00
Iridium_during_xfer2182231093.91 nil000.00
Transponder_ping28420263.42 nil000.00
GUMSTIX_24V000.00
GPS285014.12
TT8405319786.55
LPSleep93042199.69
TT8_Active77119149.79
TT8_Sampling3876391512.00
TT8_CF853845241.56
TT8_Kalman000.00
Analog_circuits229412269.83
GPS_charging000.00
Compass360515530.00
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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -0.57 -194.6 0.0 0.0 0 117 0.00 0.00 -96.05 0.000 2 0.000 0.000 151 1581 3003 0 0 0 0 0 0
120 -0.57 -194.6 5.4 -7.6 13 151 9.65 1.08 -13.27 0.000 4 0.224 0.064 2543 2295 3680 0 0 0 0 0 0
281 -0.45 -194.6 57.6 -26.0 41 290 0.17 1.00 0.00 0.000 6 0.147 0.035 2590 1608 3681 0 0 0 0 0 0
609 -0.42 -194.6 107.3 -12.2 102 617 0.00 1.00 0.00 0.000 4 0.000 0.039 2594 918 3682 0 0 0 0 0 0
679 -0.42 -194.6 116.1 -12.3 114 687 0.00 1.00 0.00 0.000 6 0.000 0.033 2590 1607 3682 0 0 0 0 0 0
1007 -0.42 -194.6 159.0 -12.2 175 1016 0.00 1.00 0.00 0.000 4 0.000 0.039 2585 2304 3682 0 0 0 0 0 0
1107 -0.43 -194.6 169.3 -10.2 192 1115 0.00 1.00 0.00 0.000 6 0.000 0.037 2585 1623 3682 0 0 0 0 0 0
1436 -0.45 -194.6 204.0 -10.8 253 1444 0.00 1.05 0.00 0.000 4 0.000 0.039 2585 907 3682 0 0 0 0 0 0
1458 -0.46 -194.6 206.8 -11.4 256 1466 0.00 1.02 0.00 0.000 6 0.000 0.034 2582 1610 3682 0 0 0 0 0 0
1785 -0.48 -194.6 241.6 -9.4 317 1793 0.00 1.02 0.00 0.000 4 0.000 0.041 2577 2300 3682 0 0 0 0 0 0
1897 -0.51 -194.6 251.5 -8.4 336 1900 0.00 1.02 0.00 0.000 6 0.000 0.037 2578 1605 3682 0 0 0 0 0 0
2229 -0.54 -194.6 283.3 -9.9 367 2233 0.00 1.02 0.00 0.000 4 0.000 0.041 2576 2298 3682 0 0 0 0 0 0
2355 -0.57 -194.6 294.5 -8.8 378 2359 0.00 1.00 0.00 0.000 6 0.000 0.037 2576 1615 3681 0 0 0 0 0 0
2686 -0.59 -194.6 324.3 -7.8 409 2688 0.10 0.00 0.00 0.000 6 0.099 0.000 2512 1615 3680 0 0 0 0 0 0
3004 -0.53 -194.6 370.8 -14.5 439 3008 0.20 1.05 0.00 0.000 4 0.147 0.038 2573 912 3678 0 0 0 0 0 0
3041 -0.53 -194.6 375.7 -11.9 442 3048 0.00 1.02 0.00 0.000 6 0.000 0.038 2570 1600 3678 0 0 0 0 0 0
3367 -0.54 -194.6 410.0 -10.7 473 3371 0.00 1.05 0.00 0.000 4 0.000 0.047 2565 2311 3675 0 0 0 0 0 0
3463 -0.56 -194.6 420.8 -10.8 481 3470 0.00 1.05 0.00 0.000 6 0.000 0.040 2565 1607 3675 0 0 0 0 0 0
3791 -0.57 -194.6 455.0 -9.1 512 3794 0.00 1.05 0.00 0.000 4 0.000 0.047 2565 913 3674 0 0 0 0 0 0
3841 -0.58 -194.6 459.8 -8.9 516 3848 0.00 1.05 0.00 0.000 6 0.000 0.042 2560 1605 3674 0 0 0 0 0 0
4167 -0.59 -194.6 483.4 -7.9 547 4171 0.00 1.05 0.00 0.000 4 0.000 0.050 2555 2306 3670 0 0 0 0 0 0
4274 -0.61 -194.6 491.0 -6.8 556 4281 0.00 1.05 0.00 0.000 6 0.000 0.044 2555 1619 3669 0 0 0 0 0 0
4601 -0.61 -194.6 519.4 -9.6 587 4604 0.00 1.08 0.00 0.000 4 0.000 0.050 2555 910 3667 0 0 0 0 0 0
4658 -0.61 -194.6 525.4 -10.7 592 4662 0.00 1.08 0.00 0.000 6 0.000 0.044 2550 1611 3667 0 0 0 0 0 0
4989 -0.61 -194.6 560.9 -10.8 623 4992 0.00 1.05 0.00 0.000 4 0.000 0.053 2545 2307 3664 0 0 0 0 0 0
5047 -0.62 -194.6 567.0 -10.6 628 5051 0.00 1.08 0.00 0.000 6 0.000 0.045 2545 1603 3664 0 0 0 0 0 0
5378 -0.62 -194.6 600.1 -8.6 659 5381 0.00 1.05 0.00 0.000 4 0.000 0.051 2545 916 3661 0 0 0 0 0 0
5402 -0.62 -194.6 602.2 -8.7 660 5406 0.00 1.08 0.00 0.000 6 0.000 0.046 2540 1611 3661 0 0 0 0 0 0
5738 -0.62 -194.6 628.7 -8.1 676 5742 0.00 1.05 0.00 0.000 4 0.000 0.054 2535 2305 3659 0 0 0 0 0 0
5765 -0.62 -194.6 631.4 -8.4 677 5769 0.00 1.05 0.00 0.000 6 0.000 0.047 2535 1618 3658 0 0 0 0 0 0
6092 -0.62 -194.6 663.8 -10.2 693 6093 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 1618 3656 0 0 0 0 0 0
6404 -0.62 -194.6 697.0 -10.7 708 6405 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 1617 3654 0 0 0 0 0 0
6711 -0.62 -194.6 727.2 -9.0 723 6715 0.00 1.08 0.00 0.000 4 0.000 0.054 2535 914 3651 0 0 0 0 0 0
6744 -0.62 -194.6 730.3 -9.0 724 6748 0.00 1.08 0.00 0.000 6 0.000 0.047 2530 1610 3651 0 0 0 0 0 0
7068 -0.62 -194.6 759.5 -9.9 740 7069 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 1610 3649 0 0 0 0 0 0
7375 -0.62 -194.6 793.5 -11.5 755 7376 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 1610 3648 0 0 0 0 0 0
7684 -0.62 -194.6 831.1 -12.0 770 7688 0.00 1.12 0.00 0.000 4 0.000 0.055 2530 910 3646 0 0 0 0 0 0
7755 -0.62 -194.6 839.3 -11.7 773 7758 0.00 1.10 0.00 0.000 6 0.000 0.049 2525 1614 3645 0 0 0 0 0 0
8087 -0.62 -194.6 873.8 -9.6 789 8091 0.00 1.05 0.00 0.000 4 0.000 0.058 2520 2300 3643 0 0 0 0 0 0
8168 -0.62 -194.6 880.4 -8.4 792 8172 0.00 1.08 0.00 0.000 6 0.000 0.050 2520 1606 3642 0 0 0 0 0 0
8490 -0.62 -194.6 903.7 -6.5 808 8491 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 1606 3641 0 0 0 0 0 0
8799 -0.62 -194.6 920.1 -4.8 823 8803 0.00 1.08 0.00 0.000 4 0.000 0.057 2520 911 3639 0 0 0 0 0 0
8874 -0.62 -194.6 924.3 -5.7 826 8877 0.00 1.08 0.00 0.000 6 0.000 0.051 2515 1597 3639 0 0 0 0 0 0
9202 -0.62 -194.6 944.9 -7.0 842 9204 0.10 0.00 0.00 0.000 6 0.177 0.000 2541 1598 3637 0 0 0 0 0 0
9514 -0.65 -194.6 963.3 -6.4 857 9517 0.00 1.10 0.00 0.000 4 0.000 0.060 2538 2306 3636 0 0 0 0 0 0
9560 -0.67 -194.6 966.5 -6.5 859 9564 0.00 1.08 0.00 0.000 6 0.000 0.052 2537 1613 3636 0 0 0 0 0 0
9870 end dive: TARGET_DEPTH_EXCEEDED
state 9870 begin apogee
9878 -0.11 0.0 990.7 8.0 874 10049 0.50 0.00 164.80 1.466 6 0.112 0.000 2705 1788 2883 0 0 0 0 0 0
10050 end apogee: CONTROL_FINISHED_OK
state 10050 begin climb
10052 0.57 194.6 997.5 0.0 882 10243 0.62 1.23 184.07 1.398 4 0.065 0.063 2931 2480 2089 0 0 0 0 0 0
10290 0.52 194.6 978.8 12.0 893 10294 0.00 1.15 0.00 0.000 6 0.000 0.051 2935 1785 2086 0 0 0 0 0 0
10625 0.47 194.6 939.9 11.7 909 10629 0.12 1.10 0.00 0.000 4 0.168 0.062 2899 2477 2081 0 0 0 0 0 0
10696 0.47 203.5 932.6 9.1 912 10713 0.00 1.10 8.15 1.144 6 0.000 0.050 2900 1778 2054 0 0 0 0 0 0
11026 0.45 203.5 902.2 10.0 928 11027 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 1778 2051 0 0 0 0 0 0
11331 0.44 203.5 870.1 10.7 943 11335 0.00 1.10 0.00 0.000 4 0.000 0.060 2897 2481 2050 0 0 0 0 0 0
11380 0.43 203.5 865.0 11.1 945 11383 0.00 1.10 0.00 0.000 6 0.000 0.049 2898 1775 2050 0 0 0 0 0 0
11713 0.41 203.5 827.8 11.1 961 11716 0.00 1.10 0.00 0.000 4 0.000 0.059 2895 2481 2049 0 0 0 0 0 0
11832 0.41 203.5 815.0 10.6 966 11835 0.00 1.10 0.00 0.000 6 0.000 0.047 2895 1773 2049 0 0 0 0 0 0
12160 0.40 203.5 782.0 9.7 982 12161 0.00 0.00 0.00 0.000 6 0.000 0.000 2893 1773 2048 0 0 0 0 0 0
12469 0.46 260.2 756.7 7.6 997 12526 0.00 1.17 52.62 1.310 4 0.000 0.056 2893 2484 1822 0 0 0 0 0 0
12588 0.57 344.8 748.3 6.7 1002 12672 0.00 1.12 79.28 1.281 6 0.000 0.047 2895 1780 1478 0 0 0 0 0 0
12998 0.73 452.1 724.3 5.9 1022 13101 0.22 1.17 97.55 1.258 4 0.063 0.057 3000 2483 1040 0 0 0 0 0 0
13124 0.66 452.1 703.3 18.9 1028 13128 0.12 1.12 0.00 0.000 6 0.148 0.045 2967 1780 1038 0 0 0 0 0 0
13454 0.63 452.1 650.6 16.9 1044 13458 0.00 1.12 0.00 0.000 4 0.000 0.057 2968 2485 1034 0 0 0 0 0 0
13493 0.61 452.1 642.6 17.5 1045 13502 0.08 1.10 0.00 0.000 6 0.148 0.047 2945 1773 1034 0 0 0 0 0 0
13812 0.61 452.1 593.3 14.9 1063 13816 0.00 1.10 0.00 0.000 4 0.000 0.054 2949 2482 1033 0 0 0 0 0 0
13840 0.61 452.1 588.7 14.2 1065 13848 0.00 1.08 0.00 0.000 6 0.000 0.044 2953 1781 1033 0 0 0 0 0 0
14165 0.61 452.1 537.0 15.4 1096 14169 0.00 1.08 0.00 0.000 4 0.000 0.051 2960 1069 1032 0 0 0 0 0 0
14189 0.61 452.1 533.6 15.2 1098 14193 0.00 1.10 0.00 0.000 6 0.000 0.043 2960 1793 1032 0 0 0 0 0 0
14522 0.61 452.1 483.7 14.5 1129 14525 0.00 1.10 0.00 0.000 4 0.000 0.049 2965 1074 1032 0 0 0 0 0 0
14560 0.61 452.1 477.6 14.5 1132 14567 0.00 1.08 0.00 0.000 6 0.000 0.043 2966 1788 1031 0 0 0 0 0 0
14886 0.61 452.1 434.1 12.9 1163 14887 0.00 0.00 0.00 0.000 6 0.000 0.000 2966 1788 1031 0 0 0 0 0 0
15208 0.61 452.1 392.6 13.5 1193 15211 0.00 1.10 0.00 0.000 4 0.000 0.048 2971 1069 1031 0 0 0 0 0 0
15223 0.61 452.1 389.7 13.2 1194 15231 0.08 1.08 0.00 0.000 6 0.128 0.041 2946 1789 1031 0 0 0 0 0 0
15550 0.71 503.2 361.1 7.8 1225 15599 0.00 1.10 44.67 0.995 4 0.000 0.045 2949 1063 830 0 0 0 0 0 0
15628 0.86 577.1 355.3 7.0 1231 15705 0.17 1.10 68.05 0.968 6 0.040 0.038 3052 1786 528 0 0 0 0 0 0
16024 0.81 577.1 269.6 21.7 1268 16028 0.17 1.02 0.00 0.000 4 0.151 0.050 2999 2475 517 0 0 0 0 0 0
16060 0.81 577.1 262.8 19.2 1271 16064 0.00 1.05 0.00 0.000 6 0.000 0.041 3002 1782 517 0 0 0 0 0 0
16386 0.84 577.1 219.2 13.8 1323 16395 0.00 1.05 0.00 0.000 4 0.000 0.050 3007 1079 515 0 0 0 0 0 0
16455 0.87 577.1 209.7 12.8 1335 16463 0.00 1.05 0.00 0.000 6 0.000 0.040 3007 1784 514 0 0 0 0 0 0
16786 0.90 577.1 167.6 12.2 1396 16794 0.00 1.08 0.00 0.000 4 0.000 0.047 3011 1078 514 0 0 0 0 0 0
16803 0.94 577.1 165.2 13.0 1398 16812 0.08 1.05 0.00 0.000 6 0.055 0.037 3073 1792 514 0 0 0 0 0 0
17134 0.91 577.1 95.8 18.9 1459 17142 0.12 0.00 0.00 0.000 6 0.158 0.000 3039 1796 513 0 0 0 0 0 0
17466 0.96 581.6 60.0 9.3 1520 17473 0.00 1.08 0.00 0.000 4 0.000 0.044 3043 1074 513 0 0 0 0 0 0
17554 1.01 588.4 51.9 9.2 1535 17570 0.00 1.02 9.23 0.597 6 0.000 0.036 3043 1780 484 0 0 0 0 0 0
17893 1.18 661.7 28.0 7.0 1597 17911 0.22 1.10 8.07 0.554 4 0.060 0.042 3169 1063 452 0 0 0 0 0 0
18025 end climb: SURFACE_DEPTH_REACHED
state 18025 begin surface coast
18038 end surface coast: CONTROL_FINISHED_OK
state 18038 begin surface