OKMC Aug11 * SG166 * Dive index * Mission links * Dive 270 * 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  270 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  49 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  56 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  -9 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24738.682 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  230911,123906,2139.074,12300.876,32,1.1,32,-2.8 TGT_NAME  NINNER
_CALLS  1 TGT_LATLONG  2114.000,12117.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_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  -66.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  230911,124633,2139.138,12300.913,16,2.0,35,-2.8 MHEAD_RNG_PITCHd_Wd  252.8,185326,-14.9,-9.429
SPEED_LIMITS  0.163,0.290 D_GRID  4245

Post-dive calculations and measurements:
FINISH  1.2,1.001169 _10V_AH  9.9,44.930
SM_CCo  18999,0.00,0.000,0,0,797,511.94 FG_AHR_24Vo  0.000
SM_GC  1.94,7.57,0.00,0.00,0.036,0.000,0.000,158,1598,797,-8.04,-0.34,511.94,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2134.17,12259.58,230911,070736 MEM  330156
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  93598,1706
HUMID  36.61 CAP_FILE_SIZE  189292,0
INTERNAL_PRESSURE  9.41901 CFSIZE  260165632,123449344
TCM_TEMP  25.90 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  91 CURRENT  0.061, 27.0,1
_24V_AH  22.5,64.153 GPS  230911,180437,2138.638,12258.006,28,1.3,28,-2.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2021799.48 SBE_CT116824630.91
Roll_motor586991.98 AA38301747331297.89
VBD_pump_during_apogee633145020661.97 WL_BB2F18441054356.94
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810364.97 nil000.00
Iridium_during_connect1616060.00 nil000.00
Iridium_during_xfer2022231018.39 nil000.00
Transponder_ping22420214.99 nil000.00
GUMSTIX_24V000.00
GPS365018.06
TT8421819826.89
LPSleep100892218.75
TT8_Active68619134.51
TT8_Sampling3899391536.51
TT8_CF852145236.37
TT8_Kalman000.00
Analog_circuits219812261.23
GPS_charging000.00
Compass363815540.29
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 0 114 0.00 0.00 -94.50 0.000 2 0.000 0.000 115 1592 3243 0 0 0 0 0 0
117 -0.57 -194.6 6.5 -11.2 13 141 9.45 1.10 -8.10 0.000 4 0.217 0.064 2547 2313 3680 0 0 0 0 0 0
323 -0.46 -194.6 77.2 -24.2 50 331 0.12 1.05 0.00 0.000 6 0.148 0.037 2587 1608 3682 0 0 0 0 0 0
649 -0.40 -194.6 133.4 -16.6 111 657 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 1608 3683 0 0 0 0 0 0
980 -0.39 -194.6 182.2 -12.0 172 988 0.10 1.05 0.00 0.000 4 0.166 0.044 2614 2291 3684 0 0 0 0 0 0
1036 -0.41 -194.6 187.9 -9.3 181 1044 0.00 1.00 0.00 0.000 6 0.000 0.040 2613 1619 3684 0 0 0 0 0 0
1364 -0.45 -194.6 217.8 -10.4 242 1372 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 1619 3684 0 0 0 0 0 0
1694 -0.49 -194.6 248.7 -8.5 303 1703 0.00 1.02 0.00 0.000 4 0.000 0.046 2608 2294 3683 0 0 0 0 0 0
1748 -0.54 -194.6 253.1 -7.9 308 1757 0.08 1.02 0.00 0.000 6 0.047 0.041 2536 1610 3684 0 0 0 0 0 0
2075 -0.50 -194.6 298.4 -15.0 339 2077 0.15 0.00 0.00 0.000 6 0.151 0.000 2579 1610 3683 0 0 0 0 0 0
2393 -0.51 -194.6 329.9 -8.7 369 2396 0.00 1.05 0.00 0.000 4 0.000 0.047 2592 2295 3682 0 0 0 0 0 0
2465 -0.55 -194.6 335.6 -7.1 375 2473 0.00 1.02 0.00 0.000 6 0.000 0.042 2594 1616 3681 0 0 0 0 0 0
2791 -0.57 -194.6 360.9 -8.3 406 2795 0.00 1.02 0.00 0.000 4 0.000 0.048 2590 2292 3680 0 0 0 0 0 0
2837 -0.60 -194.6 364.9 -8.7 410 2842 0.08 1.02 0.00 0.000 6 0.050 0.042 2521 1608 3680 0 0 0 0 0 0
3168 -0.55 -194.6 415.5 -13.8 441 3172 0.15 1.05 0.00 0.000 4 0.152 0.049 2560 2286 3678 0 0 0 0 0 0
3228 -0.55 -194.6 421.5 -9.4 446 3232 0.00 1.02 0.00 0.000 6 0.000 0.044 2560 1604 3677 0 0 0 0 0 0
3559 -0.55 -194.6 453.2 -9.2 477 3560 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 1604 3676 0 0 0 0 0 0
3883 -0.55 -194.6 481.2 -9.3 507 3887 0.00 1.05 0.00 0.000 4 0.000 0.051 2556 2289 3674 0 0 0 0 0 0
3922 -0.56 -194.6 485.4 -9.1 510 3929 0.00 1.02 0.00 0.000 6 0.000 0.043 2555 1610 3673 0 0 0 0 0 0
4248 -0.56 -194.6 516.5 -9.4 541 4251 0.00 1.08 0.00 0.000 4 0.000 0.051 2555 916 3671 0 0 0 0 0 0
4316 -0.56 -194.6 523.1 -10.1 547 4320 0.00 1.02 0.00 0.000 6 0.000 0.044 2551 1593 3670 0 0 0 0 0 0
4648 -0.56 -194.6 554.5 -9.9 578 4652 0.00 1.08 0.00 0.000 4 0.000 0.053 2545 2305 3668 0 0 0 0 0 0
4709 -0.58 -194.6 560.8 -9.6 583 4717 0.00 1.05 0.00 0.000 6 0.000 0.045 2546 1612 3667 0 0 0 0 0 0
5036 -0.58 -194.6 594.3 -9.7 614 5037 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 1612 3665 0 0 0 0 0 0
5345 -0.58 -194.6 622.6 -9.1 632 5347 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 1612 3662 0 0 0 0 0 0
5654 -0.58 -194.6 649.7 -8.5 647 5658 0.00 1.08 0.00 0.000 4 0.000 0.053 2546 908 3659 0 0 0 0 0 0
5694 -0.58 -194.6 652.9 -8.3 648 5701 0.00 1.08 0.00 0.000 6 0.000 0.047 2541 1607 3659 0 0 0 0 0 0
6011 -0.58 -194.6 677.3 -7.9 664 6013 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 1607 3656 0 0 0 0 0 0
6320 -0.58 -194.6 703.9 -8.9 679 6321 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 1607 3654 0 0 0 0 0 0
6631 -0.58 -194.6 730.0 -8.2 694 6633 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 1607 3652 0 0 0 0 0 0
6939 -0.58 -194.6 753.6 -7.4 709 6940 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 1607 3650 0 0 0 0 0 0
7248 -0.58 -194.6 777.2 -7.8 724 7250 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 1607 3648 0 0 0 0 0 0
7560 -0.59 -194.6 802.4 -8.3 739 7561 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 1607 3646 0 0 0 0 0 0
7867 -0.60 -194.6 827.5 -8.0 754 7871 0.00 1.08 0.00 0.000 4 0.000 0.059 2535 2304 3644 0 0 0 0 0 0
7916 -0.62 -194.6 831.1 -7.9 756 7920 0.00 1.08 0.00 0.000 6 0.000 0.050 2535 1608 3644 0 0 0 0 0 0
8249 -0.62 -194.6 859.6 -8.9 772 8250 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 1609 3642 0 0 0 0 0 0
8560 -0.63 -194.6 888.3 -9.4 787 8561 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 1609 3641 0 0 0 0 0 0
8867 -0.64 -194.6 914.6 -8.0 802 8871 0.00 1.08 0.00 0.000 4 0.000 0.057 2535 917 3639 0 0 0 0 0 0
8906 -0.65 -194.6 918.0 -7.9 803 8914 0.00 1.08 0.00 0.000 6 0.000 0.050 2530 1605 3639 0 0 0 0 0 0
9225 -0.65 -194.6 944.7 -8.4 819 9228 0.00 1.08 0.00 0.000 4 0.000 0.060 2525 2300 3638 0 0 0 0 0 0
9252 -0.66 -194.6 947.2 -8.1 820 9256 0.00 1.08 0.00 0.000 6 0.000 0.050 2525 1610 3637 0 0 0 0 0 0
9580 -0.66 -194.6 973.9 -8.2 836 9581 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 1610 3636 0 0 0 0 0 0
9763 end dive: TARGET_DEPTH_EXCEEDED
state 9763 begin apogee
9769 -0.11 0.0 990.5 9.0 845 9940 0.55 0.00 164.18 1.450 6 0.120 0.000 2704 1781 2884 0 0 0 0 0 0
9943 end apogee: CONTROL_FINISHED_OK
state 9943 begin climb
9945 0.57 194.6 996.2 0.0 853 10134 0.62 1.25 182.32 1.391 4 0.067 0.064 2922 2484 2090 0 0 0 0 0 0
10198 0.53 194.6 972.5 13.7 864 10206 0.00 1.15 0.00 0.000 6 0.000 0.052 2926 1788 2086 0 0 0 0 0 0
10514 0.48 194.6 931.0 12.4 880 10518 0.00 1.10 0.00 0.000 4 0.000 0.062 2926 2478 2082 0 0 0 0 0 0
10560 0.43 194.6 925.2 12.2 882 10564 0.12 1.10 0.00 0.000 6 0.144 0.052 2890 1779 2081 0 0 0 0 0 0
10896 0.42 194.6 892.2 10.1 898 10897 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 1779 2080 0 0 0 0 0 0
11202 0.40 194.6 859.3 10.5 913 11206 0.00 1.10 0.00 0.000 4 0.000 0.060 2889 2486 2079 0 0 0 0 0 0
11273 0.39 194.6 852.1 10.2 916 11277 0.00 1.10 0.00 0.000 6 0.000 0.050 2891 1776 2078 0 0 0 0 0 0
11606 0.38 194.6 815.7 11.2 932 11610 0.00 1.10 0.00 0.000 4 0.000 0.060 2892 2485 2077 0 0 0 0 0 0
11663 0.36 194.6 809.3 11.2 934 11668 0.10 1.10 0.00 0.000 6 0.145 0.050 2865 1773 2077 0 0 0 0 0 0
11987 0.44 243.1 781.9 7.9 950 12034 0.00 1.15 43.17 1.310 4 0.000 0.055 2864 2492 1893 0 0 0 0 0 0
12083 0.52 291.5 774.3 7.9 954 12138 0.10 1.12 46.70 1.279 6 0.050 0.048 2929 1779 1694 0 0 0 0 0 0
12446 0.49 291.5 725.1 14.2 972 12449 0.00 1.10 0.00 0.000 4 0.000 0.057 2929 2485 1688 0 0 0 0 0 0
12494 0.47 291.5 718.4 14.2 974 12498 0.10 1.10 0.00 0.000 6 0.138 0.047 2903 1776 1688 0 0 0 0 0 0
12826 0.47 291.5 681.2 10.8 990 12827 0.00 0.00 0.00 0.000 6 0.000 0.000 2903 1775 1686 0 0 0 0 0 0
13138 0.47 291.5 648.1 10.8 1005 13139 0.00 0.00 0.00 0.000 6 0.000 0.000 2903 1776 1685 0 0 0 0 0 0
13445 0.48 291.5 615.0 11.0 1020 13446 0.00 0.00 0.00 0.000 6 0.000 0.000 2903 1776 1684 0 0 0 0 0 0
13759 0.53 317.3 585.5 8.6 1042 13786 0.00 1.15 23.35 1.150 4 0.000 0.055 2902 2489 1590 0 0 0 0 0 0
13816 0.57 334.1 580.1 8.9 1046 13837 0.00 1.10 16.75 1.102 6 0.000 0.046 2904 1784 1521 0 0 0 0 0 0
14166 0.61 346.9 548.3 9.0 1079 14185 0.10 0.00 12.98 1.060 6 0.099 0.000 2964 1784 1468 0 0 0 0 0 0
14502 0.57 346.9 497.9 15.4 1111 14506 0.12 1.10 0.00 0.000 4 0.164 0.054 2929 2487 1465 0 0 0 0 0 0
14549 0.57 346.9 491.7 12.4 1115 14553 0.00 1.10 0.00 0.000 6 0.000 0.045 2934 1772 1465 0 0 0 0 0 0
14880 0.57 346.9 452.5 12.0 1146 14881 0.00 0.00 0.00 0.000 6 0.000 0.000 2933 1773 1464 0 0 0 0 0 0
15202 0.57 346.9 414.8 11.7 1176 15209 0.00 0.00 0.00 0.000 6 0.000 0.000 2933 1772 1464 0 0 0 0 0 0
15529 0.58 346.9 379.1 10.8 1207 15531 0.00 0.00 0.00 0.000 6 0.000 0.000 2933 1772 1463 0 0 0 0 0 0
15850 0.60 346.9 347.4 9.7 1237 15854 0.00 1.05 0.00 0.000 4 0.000 0.049 2946 1072 1463 0 0 0 0 0 0
15889 0.62 346.9 343.0 9.8 1240 15896 0.00 1.10 0.00 0.000 6 0.000 0.041 2946 1802 1463 0 0 0 0 0 0
16214 0.64 346.9 309.1 10.1 1271 16215 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 1802 1463 0 0 0 0 0 0
16539 0.71 376.1 281.1 8.5 1301 16574 0.00 1.17 26.45 0.887 4 0.000 0.047 2951 1065 1349 0 0 0 0 0 0
16669 0.78 401.4 269.5 8.6 1312 16702 0.10 1.08 23.55 0.861 6 0.046 0.038 3025 1782 1246 0 0 0 0 0 0
17021 0.74 401.4 209.7 16.3 1366 17030 0.15 1.05 0.00 0.000 4 0.155 0.049 2980 2474 1244 0 0 0 0 0 0
17057 0.74 401.4 204.2 15.5 1371 17065 0.00 1.05 0.00 0.000 6 0.000 0.039 2983 1773 1243 0 0 0 0 0 0
17386 0.77 401.4 170.3 10.2 1432 17396 0.00 1.02 0.00 0.000 4 0.000 0.045 2988 1082 1243 0 0 0 0 0 0
17422 0.80 401.4 166.6 10.2 1437 17430 0.00 1.05 0.00 0.000 6 0.000 0.037 2988 1792 1243 0 0 0 0 0 0
17751 0.87 424.5 135.8 8.7 1498 17776 0.10 1.12 20.77 0.728 4 0.096 0.043 3062 1077 1152 0 0 0 0 0 0
17808 0.83 424.5 128.6 13.8 1506 17817 0.12 1.05 0.00 0.000 6 0.125 0.036 3019 1789 1151 0 0 0 0 0 0
18141 0.86 432.9 89.7 9.2 1567 18157 0.00 0.00 8.62 0.605 6 0.000 0.000 3019 1789 1119 0 0 0 0 0 0
18480 1.01 510.1 56.9 6.9 1629 18555 0.15 1.12 64.28 0.675 4 0.072 0.041 3125 1075 802 0 0 0 0 0 0
18663 0.97 510.1 27.1 17.5 1659 18672 0.20 1.05 0.00 0.000 6 0.121 0.035 3057 1782 799 0 0 0 0 0 0
18885 end climb: SURFACE_DEPTH_REACHED
state 18885 begin surface coast
18919 end surface coast: CONTROL_FINISHED_OK
state 18919 begin surface