OKMC Aug11 * SG166 * Dive index * Mission links * Dive 209 * 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  209 HEADING  270 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  450 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  44 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  260 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  290 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  -24661.846 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  110911,193207,2104.889,12354.951,44,1.8,44,-2.7 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2104.818,12343.477
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.72 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  110911,193849,2104.818,12355.050,14,1.7,31,-2.7 MHEAD_RNG_PITCHd_Wd  272.7,20000,-17.2,-12.692
SPEED_LIMITS  0.220,0.354 D_GRID  5000

Post-dive calculations and measurements:
FINISH  1.1,0.997764 _10V_AH  10.0,34.950
SM_CCo  14350,0.00,0.000,0,0,578,565.42 FG_AHR_24Vo  0.000
SM_GC  1.87,7.75,0.00,0.00,0.030,0.000,0.000,147,1481,578,-8.04,-0.54,565.42,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2059.45,12356.14,110911,151510 MEM  330232
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  73605,1310
HUMID  37.47 CAP_FILE_SIZE  163606,0
INTERNAL_PRESSURE  9.37994 CFSIZE  260165632,129019904
TCM_TEMP  24.80 ERRORS  0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  76 GPS  110911,234021,2103.971,12353.210,62,2.2,81,-2.7
_24V_AH  22.9,48.712

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20223103.71 SBE_CT89224490.61
Roll_motor13561189.66 AA38301342331014.71
VBD_pump_during_apogee702143423077.61 WL_BB2F14931053591.52
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910370.37 nil000.00
Iridium_during_connect2016074.59 nil000.00
Iridium_during_xfer172223881.12 nil000.00
Transponder_ping19420182.74 nil000.00
GUMSTIX_24V000.00
GPS325016.31
TT8307819609.58
LPSleep73302160.54
TT8_Active71919142.39
TT8_Sampling3177391264.67
TT8_CF842745195.61
TT8_Kalman000.00
Analog_circuits203012243.64
GPS_charging000.00
Compass293715440.56
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 -0.68 -243.3 0.0 0.0 0 126 0.00 0.00 -107.00 0.000 2 0.000 0.000 127 1487 3006 0 0 0 0 0 0
130 -0.68 -243.3 5.3 -7.7 15 167 9.30 2.20 -16.48 0.000 4 0.223 0.055 2508 2902 3880 0 0 0 0 0 0
241 -0.57 -243.3 49.3 -33.5 33 250 0.15 2.12 0.00 0.000 6 0.145 0.034 2555 1504 3881 0 0 0 0 0 0
563 -0.52 -243.3 131.9 -20.6 94 571 0.00 2.15 0.00 0.000 4 0.000 0.043 2546 2906 3882 0 0 0 0 0 0
582 -0.46 -243.3 136.3 -21.6 96 591 0.12 2.12 0.00 0.000 6 0.130 0.033 2588 1495 3882 0 0 0 0 0 0
906 -0.48 -243.3 184.3 -13.0 157 914 0.00 2.15 0.00 0.000 4 0.000 0.044 2581 2891 3882 0 0 0 0 0 0
966 -0.53 -243.3 191.0 -11.1 167 974 0.00 2.10 0.00 0.000 6 0.000 0.034 2580 1499 3883 0 0 0 0 0 0
1292 -0.55 -243.3 231.5 -11.8 228 1300 0.00 2.15 0.00 0.000 4 0.000 0.044 2570 2898 3882 0 0 0 0 0 0
1373 -0.61 -243.3 240.1 -9.0 242 1380 0.00 2.12 0.00 0.000 6 0.000 0.034 2571 1493 3882 0 0 0 0 0 0
1704 -0.63 -243.3 277.5 -11.4 282 1708 0.00 2.12 0.00 0.000 4 0.000 0.045 2561 2909 3882 0 0 0 0 0 0
1781 -0.69 -243.3 285.5 -9.1 288 1790 0.08 2.12 0.00 0.000 6 0.049 0.036 2487 1503 3882 0 0 0 0 0 0
2107 -0.62 -243.3 346.9 -19.8 319 2112 0.20 2.15 0.00 0.000 4 0.157 0.047 2537 2898 3881 0 0 0 0 0 0
2181 -0.65 -243.3 357.2 -11.3 325 2185 0.00 2.10 0.00 0.000 6 0.000 0.039 2540 1503 3880 0 0 0 0 0 0
2507 -0.66 -243.3 396.7 -11.6 355 2511 0.00 2.15 0.00 0.000 4 0.000 0.051 2542 2903 3879 0 0 0 0 0 0
2562 -0.69 -243.3 403.0 -10.7 359 2569 0.00 2.12 0.00 0.000 6 0.000 0.038 2544 1493 3878 0 0 0 0 0 0
2887 -0.69 -243.3 445.8 -13.0 390 2891 0.00 2.15 0.00 0.000 4 0.000 0.052 2535 2894 3877 0 0 0 0 0 0
2968 -0.73 -243.3 454.8 -10.7 397 2972 0.00 2.10 0.00 0.000 6 0.000 0.041 2536 1500 3876 0 0 0 0 0 0
3300 -0.73 -243.3 495.5 -11.1 428 3304 0.00 2.20 0.00 0.000 4 0.000 0.054 2526 2902 3874 0 0 0 0 0 0
3334 -0.74 -243.3 499.6 -11.3 430 3341 0.00 2.12 0.00 0.000 6 0.000 0.040 2525 1496 3873 0 0 0 0 0 0
3659 -0.74 -243.3 539.6 -12.5 461 3663 0.00 2.17 0.00 0.000 4 0.000 0.054 2515 2897 3871 0 0 0 0 0 0
3681 -0.74 -243.3 542.5 -12.2 462 3688 0.00 2.12 0.00 0.000 6 0.000 0.041 2515 1493 3871 0 0 0 0 0 0
4008 -0.74 -243.3 583.9 -12.8 493 4009 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 1493 3869 0 0 0 0 0 0
4330 -0.74 -243.3 626.0 -13.8 515 4334 0.00 2.20 0.00 0.000 4 0.000 0.055 2506 2904 3866 0 0 0 0 0 0
4399 -0.77 -243.3 634.5 -11.6 518 4403 0.00 2.12 0.00 0.000 6 0.000 0.042 2505 1496 3865 0 0 0 0 0 0
4726 -0.77 -243.3 676.6 -11.9 534 4730 0.00 2.17 0.00 0.000 4 0.000 0.057 2495 2893 3863 0 0 0 0 0 0
4770 -0.78 -243.3 681.8 -11.6 536 4774 0.00 2.12 0.00 0.000 6 0.000 0.043 2495 1499 3862 0 0 0 0 0 0
5094 -0.78 -243.3 721.5 -12.3 552 5098 0.00 2.20 0.00 0.000 4 0.000 0.057 2484 2900 3858 0 0 0 0 0 0
5117 -0.78 -243.3 724.6 -12.3 553 5121 0.00 2.15 0.00 0.000 6 0.000 0.043 2484 1491 3858 0 0 0 0 0 0
5440 -0.78 -243.3 767.3 -13.6 569 5444 0.00 2.20 0.00 0.000 4 0.000 0.059 2472 2893 3856 0 0 0 0 0 0
5495 -0.78 -243.3 774.9 -12.7 571 5502 0.00 2.12 0.00 0.000 6 0.000 0.044 2469 1502 3855 0 0 0 0 0 0
5813 -0.76 -243.3 822.5 -15.7 587 5815 0.12 0.00 0.00 0.000 6 0.170 0.000 2498 1501 3852 0 0 0 0 0 0
6123 -0.78 -243.3 861.6 -12.0 602 6127 0.00 2.20 0.00 0.000 4 0.000 0.060 2488 2892 3850 0 0 0 0 0 0
6186 -0.82 -243.3 868.9 -10.8 605 6190 0.00 2.15 0.00 0.000 6 0.000 0.045 2489 1493 3849 0 0 0 0 0 0
6516 -0.83 -243.3 905.0 -10.3 621 6517 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 1492 3846 0 0 0 0 0 0
6823 -0.84 -243.3 935.5 -9.7 636 6827 0.00 2.22 0.00 0.000 4 0.000 0.061 2475 2900 3844 0 0 0 0 0 0
6873 -0.87 -243.3 940.4 -9.5 638 6877 0.00 2.17 0.00 0.000 6 0.000 0.045 2476 1490 3844 0 0 0 0 0 0
7196 -0.87 -243.3 974.4 -10.7 654 7200 0.00 2.22 0.00 0.000 4 0.000 0.060 2464 2898 3842 0 0 0 0 0 0
7224 -0.87 -243.3 977.7 -10.7 655 7227 0.00 2.15 0.00 0.000 6 0.000 0.044 2464 1500 3841 0 0 0 0 0 0
7337 end dive: TARGET_DEPTH_EXCEEDED
state 7337 begin apogee
7345 -0.11 0.0 990.4 11.3 661 7556 0.73 0.00 202.52 1.434 6 0.128 0.000 2700 1837 2883 0 0 0 0 0 0
7556 end apogee: CONTROL_FINISHED_OK
state 7556 begin climb
7561 0.68 243.3 998.0 0.0 671 7795 0.70 2.45 221.07 1.372 4 0.046 0.060 2970 3248 1891 0 0 0 0 0 0
7812 0.61 243.3 965.9 18.2 682 7819 0.15 2.30 0.00 0.000 6 0.179 0.044 2945 1851 1889 0 0 0 0 0 0
8128 0.58 243.3 915.2 16.2 698 8132 0.00 2.22 0.00 0.000 4 0.000 0.059 2939 3250 1884 0 0 0 0 0 0
8158 0.54 243.3 910.4 16.1 699 8162 0.00 2.17 0.00 0.000 6 0.000 0.043 2948 1840 1883 0 0 0 0 0 0
8474 0.50 243.3 858.2 16.4 714 8476 0.17 0.00 0.00 0.000 6 0.167 0.000 2905 1840 1882 0 0 0 0 0 0
8784 0.55 284.1 822.2 11.3 729 8827 0.00 2.35 37.00 1.310 4 0.000 0.057 2908 3254 1724 0 0 0 0 0 0
8846 0.64 341.0 815.3 10.7 731 8905 0.10 2.20 53.20 1.297 6 0.096 0.041 2969 1847 1493 0 0 0 0 0 0
9224 0.61 341.0 752.5 16.3 750 9225 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 1847 1487 0 0 0 0 0 0
9531 0.59 341.0 701.6 16.7 765 9533 0.12 0.00 0.00 0.000 6 0.172 0.000 2938 1847 1485 0 0 0 0 0 0
9843 0.60 341.0 661.6 12.9 780 9847 0.00 2.15 0.00 0.000 4 0.000 0.052 2946 439 1483 0 0 0 0 0 0
9865 0.61 341.0 658.2 13.1 781 9869 0.00 2.15 0.00 0.000 6 0.000 0.040 2947 1850 1483 0 0 0 0 0 0
10186 0.61 341.0 612.8 14.6 797 10190 0.00 2.17 0.00 0.000 4 0.000 0.057 2946 3256 1483 0 0 0 0 0 0
10237 0.64 341.0 605.8 13.4 799 10242 0.00 2.12 0.00 0.000 6 0.000 0.041 2955 1848 1483 0 0 0 0 0 0
10567 0.64 341.0 558.9 13.8 828 10571 0.00 2.12 0.00 0.000 4 0.000 0.050 2964 443 1482 0 0 0 0 0 0
10647 0.68 359.7 548.3 12.0 834 10668 0.00 2.15 16.27 1.096 6 0.000 0.041 2965 1850 1417 0 0 0 0 0 0
10988 0.68 359.7 495.9 15.2 866 10992 0.00 2.22 0.00 0.000 4 0.000 0.056 2963 3270 1414 0 0 0 0 0 0
11054 0.70 359.7 486.9 13.8 871 11058 0.00 2.15 0.00 0.000 6 0.000 0.038 2970 1848 1414 0 0 0 0 0 0
11379 0.69 359.7 437.4 14.6 901 11383 0.00 2.15 0.00 0.000 4 0.000 0.048 2978 440 1414 0 0 0 0 0 0
11412 0.69 359.7 433.2 14.5 903 11416 0.00 2.15 0.00 0.000 6 0.000 0.038 2978 1854 1413 0 0 0 0 0 0
11737 0.67 359.7 383.7 14.6 933 11741 0.00 2.15 0.00 0.000 4 0.000 0.053 2978 3257 1413 0 0 0 0 0 0
11770 0.67 359.7 379.3 15.0 935 11774 0.00 2.12 0.00 0.000 6 0.000 0.037 2987 1845 1413 0 0 0 0 0 0
12095 0.66 359.7 327.0 15.6 965 12100 0.12 2.15 0.00 0.000 4 0.173 0.048 2963 439 1413 0 0 0 0 0 0
12166 0.77 414.8 319.0 10.8 971 12221 0.00 2.12 47.95 0.946 6 0.000 0.036 2967 1860 1192 0 0 0 0 0 0
12541 0.82 429.6 271.8 12.2 1006 12560 0.12 0.00 13.82 0.826 6 0.083 0.000 3039 1860 1132 0 0 0 0 0 0
12880 0.78 429.6 206.1 18.2 1059 12889 0.15 2.22 0.00 0.000 4 0.158 0.046 3010 443 1129 0 0 0 0 0 0
12912 0.78 429.6 200.5 16.3 1064 12920 0.00 2.15 0.00 0.000 6 0.000 0.035 3010 1853 1129 0 0 0 0 0 0
13239 0.80 429.8 155.8 12.7 1125 13247 0.00 2.15 0.00 0.000 4 0.000 0.048 3010 3251 1129 0 0 0 0 0 0
13256 0.82 429.8 153.1 13.1 1127 13264 0.00 2.12 0.00 0.000 6 0.000 0.034 3018 1848 1129 0 0 0 0 0 0
13579 0.84 429.8 109.0 13.8 1188 13587 0.00 2.15 0.00 0.000 4 0.000 0.045 3028 441 1129 0 0 0 0 0 0
13633 0.87 429.8 101.5 13.8 1197 13641 0.00 2.12 0.00 0.000 6 0.000 0.033 3029 1853 1129 0 0 0 0 0 0
13958 0.98 483.0 59.0 10.8 1258 14010 0.00 2.20 44.67 0.692 4 0.000 0.042 3039 436 912 0 0 0 0 0 0
14030 1.15 562.9 51.2 9.9 1268 14102 0.17 2.15 66.05 0.674 6 0.034 0.031 3158 1850 588 0 0 0 0 0 0
14261 end climb: SURFACE_DEPTH_REACHED
state 14261 begin surface coast
14272 end surface coast: CONTROL_FINISHED_OK
state 14273 begin surface