OKMC Aug11 * SG166 * Dive index * Mission links * Dive 249 * 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  249 HEADING  310 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  52 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  62 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  -24712.178 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  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  190911,031737,2122.971,12339.032,33,1.0,33,-2.8 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2129.915,12330.233
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.82 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -65.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  190911,032425,2122.973,12339.124,15,1.3,15,-2.8 MHEAD_RNG_PITCHd_Wd  312.8,20000,-17.0,-11.000
SPEED_LIMITS  0.191,0.306 D_GRID  5000

Post-dive calculations and measurements:
FINISH  1.2,1.021507 _10V_AH  10.0,41.222
SM_CCo  16343,0.00,0.000,0,0,807,509.49 FG_AHR_24Vo  0.000
SM_GC  1.73,7.90,0.00,0.00,0.038,0.000,0.000,154,1560,807,-8.03,0.28,509.49,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2111.01,12336.91,180911,222232 MEM  330312
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83567,1515
HUMID  35.86 CAP_FILE_SIZE  175839,0
INTERNAL_PRESSURE  9.43854 CFSIZE  260165632,125489152
TCM_TEMP  26.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  81 GPS  190911,075830,2124.729,12339.943,39,1.1,44,-2.8
_24V_AH  22.8,58.774

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20228108.87 SBE_CT103424565.81
Roll_motor656294.00 AA38301551331167.69
VBD_pump_during_apogee622144120467.30 WL_BB2F17401054165.89
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910368.98 nil000.00
Iridium_during_connect1916071.66 nil000.00
Iridium_during_xfer187223951.79 nil000.00
Transponder_ping20420193.91 nil000.00
GUMSTIX_24V000.00
GPS15507.97
TT8357419707.74
LPSleep83552183.00
TT8_Active66019130.81
TT8_Sampling3653391453.91
TT8_CF848045219.97
TT8_Kalman000.00
Analog_circuits209712251.73
GPS_charging000.00
Compass341915512.87
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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
18 -0.62 -194.6 0.0 0.0 0 111 0.00 0.00 -91.20 0.000 2 0.000 0.000 153 1531 3041 0 0 0 0 0 0
115 -0.62 -194.6 5.0 -5.6 13 145 9.62 1.05 -12.45 0.000 4 0.229 0.063 2531 2238 3680 0 0 0 0 0 0
236 -0.47 -194.6 50.3 -33.1 33 244 0.22 1.02 0.00 0.000 6 0.155 0.041 2584 1551 3680 0 0 0 0 0 0
559 -0.43 -194.6 122.0 -17.1 94 567 0.00 1.02 0.00 0.000 4 0.000 0.043 2584 850 3681 0 0 0 0 0 0
653 -0.41 -194.6 138.0 -15.7 111 661 0.00 1.00 0.00 0.000 6 0.000 0.036 2581 1534 3682 0 0 0 0 0 0
980 -0.39 -194.6 188.7 -16.2 172 989 0.12 1.05 0.00 0.000 4 0.168 0.044 2613 2247 3683 0 0 0 0 0 0
1123 -0.45 -194.6 202.5 -9.4 197 1131 0.00 1.02 0.00 0.000 6 0.000 0.041 2613 1553 3683 0 0 0 0 0 0
1445 -0.50 -194.6 233.0 -8.1 258 1454 0.00 1.02 0.00 0.000 4 0.000 0.044 2609 2245 3683 0 0 0 0 0 0
1608 -0.56 -194.6 244.5 -7.3 288 1617 0.10 1.02 0.00 0.000 6 0.043 0.041 2527 1552 3683 0 0 0 0 0 0
1942 -0.53 -194.6 300.7 -16.7 323 1947 0.17 1.05 0.00 0.000 4 0.152 0.047 2582 852 3683 0 0 0 0 0 0
2040 -0.56 -194.6 312.0 -10.2 331 2046 0.00 1.02 0.00 0.000 6 0.000 0.039 2579 1543 3683 0 0 0 0 0 0
2366 -0.60 -194.6 342.4 -8.6 362 2369 0.00 1.02 0.00 0.000 4 0.000 0.046 2583 2247 3682 0 0 0 0 0 0
2425 -0.65 -194.6 347.2 -8.2 367 2430 0.12 1.05 0.00 0.000 6 0.040 0.042 2501 1541 3682 0 0 0 0 0 0
2758 -0.59 -194.6 402.0 -17.8 398 2763 0.17 1.05 0.00 0.000 4 0.157 0.048 2553 851 3680 0 0 0 0 0 0
2861 -0.59 -194.6 416.6 -13.1 407 2865 0.00 1.05 0.00 0.000 6 0.000 0.041 2550 1555 3680 0 0 0 0 0 0
3194 -0.59 -194.6 459.4 -11.4 438 3198 0.00 1.08 0.00 0.000 4 0.000 0.048 2550 853 3679 0 0 0 0 0 0
3301 -0.60 -194.6 471.3 -10.6 447 3307 0.00 1.05 0.00 0.000 6 0.000 0.040 2545 1555 3678 0 0 0 0 0 0
3626 -0.61 -194.6 504.7 -10.2 478 3630 0.00 1.02 0.00 0.000 4 0.000 0.050 2540 2250 3677 0 0 0 0 0 0
3695 -0.63 -194.6 511.3 -9.2 484 3699 0.00 1.05 0.00 0.000 6 0.000 0.044 2540 1551 3676 0 0 0 0 0 0
4026 -0.65 -194.6 550.2 -11.9 515 4027 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 1551 3673 0 0 0 0 0 0
4346 -0.66 -194.6 587.2 -11.0 545 4350 0.00 1.05 0.00 0.000 4 0.000 0.052 2535 2238 3670 0 0 0 0 0 0
4399 -0.69 -194.6 592.6 -10.0 549 4406 0.00 1.05 0.00 0.000 6 0.000 0.046 2535 1553 3669 0 0 0 0 0 0
4729 -0.70 -194.6 623.8 -8.9 569 4733 0.00 1.08 0.00 0.000 4 0.000 0.052 2535 845 3667 0 0 0 0 0 0
4873 -0.72 -194.6 637.8 -9.9 575 4877 0.00 1.08 0.00 0.000 6 0.000 0.047 2530 1546 3666 0 0 0 0 0 0
5200 -0.73 -194.6 670.7 -10.2 591 5204 0.00 1.05 0.00 0.000 4 0.000 0.054 2525 2245 3663 0 0 0 0 0 0
5275 -0.75 -194.6 678.4 -10.4 594 5279 0.00 1.08 0.00 0.000 6 0.000 0.047 2525 1540 3662 0 0 0 0 0 0
5602 -0.76 -194.6 712.3 -9.8 610 5603 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 1540 3659 0 0 0 0 0 0
5914 -0.77 -194.6 740.9 -9.2 625 5915 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 1540 3656 0 0 0 0 0 0
6221 -0.79 -194.6 770.0 -9.6 640 6225 0.00 1.10 0.00 0.000 4 0.000 0.057 2520 2246 3653 0 0 0 0 0 0
6277 -0.81 -194.6 775.7 -9.8 642 6281 0.08 1.08 0.00 0.000 6 0.057 0.050 2464 1549 3653 0 0 0 0 0 0
6600 -0.77 -194.6 819.9 -13.9 658 6602 0.12 0.00 0.00 0.000 6 0.174 0.000 2496 1548 3651 0 0 0 0 0 0
6907 -0.77 -194.6 855.7 -11.1 673 6908 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1548 3650 0 0 0 0 0 0
7218 -0.77 -194.6 891.6 -11.9 688 7222 0.00 1.08 0.00 0.000 4 0.000 0.057 2496 848 3647 0 0 0 0 0 0
7312 -0.77 -194.6 903.8 -12.4 692 7316 0.00 1.08 0.00 0.000 6 0.000 0.048 2493 1548 3646 0 0 0 0 0 0
7640 -0.77 -194.6 945.8 -13.1 708 7643 0.00 1.05 0.00 0.000 4 0.000 0.057 2488 2240 3645 0 0 0 0 0 0
7714 -0.77 -194.6 955.1 -12.4 711 7718 0.00 1.08 0.00 0.000 6 0.000 0.050 2488 1543 3644 0 0 0 0 0 0
8018 end dive: TARGET_DEPTH_EXCEEDED
state 8018 begin apogee
8024 -0.11 0.0 991.9 11.4 726 8195 0.68 0.00 163.07 1.441 6 0.128 0.000 2704 1816 2883 0 0 0 0 0 0
8195 end apogee: CONTROL_FINISHED_OK
state 8195 begin climb
8198 0.62 194.6 996.7 0.0 734 8386 0.68 0.00 179.90 1.382 6 0.067 0.000 2945 1816 2089 0 0 0 0 0 0
8691 0.59 194.6 933.4 14.6 758 8695 0.00 1.10 0.00 0.000 4 0.000 0.061 2945 2522 2081 0 0 0 0 0 0
8783 0.55 194.6 920.3 14.4 762 8786 0.00 1.10 0.00 0.000 6 0.000 0.050 2948 1820 2080 0 0 0 0 0 0
9118 0.52 194.6 873.1 13.8 778 9121 0.00 1.10 0.00 0.000 4 0.000 0.060 2945 2520 2078 0 0 0 0 0 0
9168 0.48 194.6 865.5 13.6 780 9172 0.12 1.10 0.00 0.000 6 0.145 0.050 2905 1810 2078 0 0 0 0 0 0
9498 0.48 194.6 827.8 11.8 796 9502 0.00 1.05 0.00 0.000 4 0.000 0.053 2908 1116 2077 0 0 0 0 0 0
9536 0.48 194.6 822.6 12.2 797 9544 0.00 1.10 0.00 0.000 6 0.000 0.048 2908 1830 2077 0 0 0 0 0 0
9853 0.48 194.6 783.8 12.2 813 9857 0.00 1.05 0.00 0.000 4 0.000 0.058 2908 2521 2076 0 0 0 0 0 0
9972 0.48 194.6 769.8 11.2 818 9975 0.00 1.08 0.00 0.000 6 0.000 0.047 2912 1818 2075 0 0 0 0 0 0
10299 0.49 199.5 733.9 10.8 834 10300 0.00 0.00 0.00 0.000 6 0.000 0.000 2913 1818 2074 0 0 0 0 0 0
10610 0.49 199.5 698.4 11.8 849 10614 0.00 1.05 0.00 0.000 4 0.000 0.051 2917 1117 2074 0 0 0 0 0 0
10655 0.49 199.5 692.8 11.8 851 10659 0.00 1.08 0.00 0.000 6 0.000 0.045 2917 1825 2073 0 0 0 0 0 0
10988 0.48 199.5 652.0 12.0 867 10992 0.00 1.05 0.00 0.000 4 0.000 0.055 2916 2522 2072 0 0 0 0 0 0
11130 0.48 199.5 634.4 12.2 873 11134 0.00 1.08 0.00 0.000 6 0.000 0.045 2920 1816 2073 0 0 0 0 0 0
11448 0.48 199.5 595.4 11.2 890 11451 0.00 1.05 0.00 0.000 4 0.000 0.050 2925 1113 2073 0 0 0 0 0 0
11496 0.48 202.4 590.3 10.9 894 11508 0.00 1.08 5.07 0.856 6 0.000 0.047 2925 1818 2059 0 0 0 0 0 0
11826 0.49 207.0 553.4 10.8 925 11838 0.00 1.02 6.15 0.908 4 0.000 0.051 2925 2521 2039 0 0 0 0 0 0
11876 0.51 228.5 548.5 10.2 929 11901 0.00 1.08 21.38 1.114 6 0.000 0.044 2928 1817 1951 0 0 0 0 0 0
12228 0.53 239.5 510.4 10.6 962 12240 0.00 0.00 10.75 1.004 6 0.000 0.000 2928 1817 1907 0 0 0 0 0 0
12555 0.53 239.5 472.7 11.7 993 12559 0.00 1.08 0.00 0.000 4 0.000 0.052 2930 2521 1904 0 0 0 0 0 0
12601 0.53 239.5 467.3 11.7 997 12605 0.00 1.08 0.00 0.000 6 0.000 0.044 2933 1813 1903 0 0 0 0 0 0
12932 0.57 271.5 430.6 9.8 1028 12966 0.00 1.10 29.40 1.030 4 0.000 0.048 2942 1113 1777 0 0 0 0 0 0
13051 0.61 289.9 419.2 10.3 1038 13074 0.00 1.10 18.02 0.975 6 0.000 0.042 2942 1831 1702 0 0 0 0 0 0
13392 0.62 289.9 379.0 11.3 1070 13393 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 1832 1699 0 0 0 0 0 0
13715 0.68 317.4 343.1 10.0 1100 13748 0.00 1.12 25.25 0.933 4 0.000 0.046 2949 1114 1589 0 0 0 0 0 0
13825 0.80 379.6 333.0 8.6 1109 13889 0.12 1.08 55.12 0.935 6 0.046 0.040 3035 1825 1336 0 0 0 0 0 0
14208 0.76 379.6 261.3 19.1 1145 14213 0.15 1.05 0.00 0.000 4 0.156 0.049 2988 2517 1332 0 0 0 0 0 0
14248 0.76 379.6 254.4 15.1 1148 14257 0.00 1.08 0.00 0.000 6 0.000 0.040 2991 1810 1332 0 0 0 0 0 0
14570 0.77 379.6 213.8 12.7 1206 14577 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 1810 1332 0 0 0 0 0 0
14889 0.80 379.6 173.0 12.0 1267 14897 0.00 1.02 0.00 0.000 4 0.000 0.044 2997 1117 1331 0 0 0 0 0 0
14967 0.86 393.9 164.2 10.5 1281 14989 0.00 1.05 13.40 0.724 6 0.000 0.037 2997 1832 1277 0 0 0 0 0 0
15310 0.97 445.7 130.9 9.0 1344 15362 0.17 1.08 44.28 0.739 4 0.065 0.037 3100 1109 1065 0 0 0 0 0 0
15415 0.92 445.7 112.0 21.0 1360 15424 0.15 1.05 0.00 0.000 6 0.136 0.035 3052 1819 1063 0 0 0 0 0 0
15740 0.95 445.7 66.7 11.6 1421 15748 0.00 1.02 0.00 0.000 4 0.000 0.044 3047 2501 1063 0 0 0 0 0 0
15762 0.99 446.8 63.8 11.0 1424 15771 0.00 1.02 0.00 0.000 6 0.000 0.037 3050 1812 1063 0 0 0 0 0 0
16090 1.12 507.6 33.5 8.7 1485 16148 0.15 1.08 51.05 0.647 4 0.073 0.042 3152 1118 812 0 0 0 0 0 0
16253 end climb: SURFACE_DEPTH_REACHED
state 16254 begin surface coast
16265 end surface coast: CONTROL_FINISHED_OK
state 16265 begin surface