OKMC Aug11 * SG166 * Dive index * Mission links * Dive 273 * 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  273 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  58 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  -24742.455 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  240911,045952,2144.515,12255.251,39,3.9,58,-2.8 TGT_NAME  N1
_CALLS  2 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.78 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  240911,051007,2144.591,12255.261,16,1.3,33,-2.8 MHEAD_RNG_PITCHd_Wd  316.6,211255,-14.9,-9.429
SPEED_LIMITS  0.163,0.290 D_GRID  3823

Post-dive calculations and measurements:
FINISH  1.2,1.021768 _10V_AH  9.9,45.501
SM_CCo  18804,0.00,0.000,0,0,863,495.75 FG_AHR_24Vo  0.000
SM_GC  1.97,7.47,0.00,0.00,0.031,0.000,0.000,135,1580,863,-8.06,-0.82,495.75,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2141.13,11643.25,240911,050543 MEM  330180
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  96913,1717
HUMID  36.33 CAP_FILE_SIZE  200689,0
INTERNAL_PRESSURE  9.42877 CFSIZE  260165632,123133952
TCM_TEMP  26.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  109 GPS  240911,102527,2147.939,12254.841,39,99.0,58,-2.8
_24V_AH  22.6,64.848

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2021299.61 SBE_CT117424637.04
Roll_motor7570120.57 AA38301756331310.05
VBD_pump_during_apogee614144820117.95 WL_BB2F19151054545.61
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init52103121.75 nil000.00
Iridium_during_connect112160408.54 nil000.00
Iridium_during_xfer191223964.87 nil000.00
Transponder_ping27420258.66 nil000.00
GUMSTIX_24V000.00
GPS335016.73
TT8407519798.87
LPSleep99182215.04
TT8_Active64319126.06
TT8_Sampling4214391660.56
TT8_CF853645243.46
TT8_Kalman000.00
Analog_circuits225312267.74
GPS_charging000.00
Compass383215569.18
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 0 112 0.00 0.00 -92.78 0.000 2 0.000 0.000 133 1580 3175 0 0 0 0 0 0
116 -0.57 -194.6 6.3 -11.1 13 140 9.32 1.12 -9.25 0.000 4 0.213 0.067 2545 2311 3680 0 0 0 0 0 0
292 -0.44 -194.6 68.3 -28.0 45 301 0.20 1.02 0.00 0.000 6 0.148 0.036 2599 1612 3682 0 0 0 0 0 0
617 -0.39 -194.6 130.4 -16.7 106 625 0.00 1.02 0.00 0.000 4 0.000 0.041 2597 2296 3682 0 0 0 0 0 0
778 -0.39 -194.6 150.3 -11.7 135 787 0.00 1.00 0.00 0.000 6 0.000 0.037 2596 1615 3682 0 0 0 0 0 0
1100 -0.37 -194.6 190.7 -12.2 196 1108 0.00 1.00 0.00 0.000 4 0.000 0.042 2592 2295 3682 0 0 0 0 0 0
1162 -0.37 -194.6 198.6 -11.8 207 1171 0.08 1.00 0.00 0.000 6 0.122 0.037 2620 1613 3682 0 0 0 0 0 0
1488 -0.41 -194.6 225.9 -7.9 268 1496 0.00 1.02 0.00 0.000 4 0.000 0.044 2617 2298 3682 0 0 0 0 0 0
1547 -0.46 -194.6 230.5 -7.4 278 1555 0.00 1.00 0.00 0.000 6 0.000 0.038 2617 1615 3682 0 0 0 0 0 0
1878 -0.51 -194.6 259.1 -7.7 329 1880 0.10 0.00 0.00 0.000 6 0.094 0.000 2530 1614 3682 0 0 0 0 0 0
2195 -0.47 -194.6 303.8 -13.5 359 2199 0.20 1.05 0.00 0.000 4 0.143 0.042 2593 916 3682 0 0 0 0 0 0
2241 -0.49 -194.6 308.4 -9.9 363 2245 0.00 1.00 0.00 0.000 6 0.000 0.039 2590 1590 3682 0 0 0 0 0 0
2573 -0.53 -194.6 336.3 -8.3 394 2577 0.00 1.05 0.00 0.000 4 0.000 0.047 2592 2304 3681 0 0 0 0 0 0
2664 -0.58 -194.6 343.0 -7.2 402 2668 0.08 1.02 0.00 0.000 6 0.047 0.042 2517 1615 3681 0 0 0 0 0 0
2994 -0.52 -194.6 390.4 -15.0 433 2999 0.20 1.05 0.00 0.000 4 0.147 0.044 2578 916 3680 0 0 0 0 0 0
3138 -0.55 -194.6 406.0 -9.7 445 3144 0.00 1.05 0.00 0.000 6 0.000 0.041 2581 1616 3679 0 0 0 0 0 0
3464 -0.57 -194.6 435.1 -8.4 476 3467 0.00 1.08 0.00 0.000 4 0.000 0.047 2584 907 3677 0 0 0 0 0 0
3516 -0.60 -194.6 439.5 -8.4 480 3523 0.00 1.05 0.00 0.000 6 0.000 0.041 2579 1608 3676 0 0 0 0 0 0
3842 -0.63 -194.6 467.4 -8.2 511 3847 0.10 1.08 0.00 0.000 4 0.094 0.048 2508 912 3674 0 0 0 0 0 0
3902 -0.57 -194.6 474.5 -14.0 516 3906 0.15 1.05 0.00 0.000 6 0.137 0.044 2553 1607 3673 0 0 0 0 0 0
4232 -0.57 -194.6 509.9 -9.9 547 4235 0.00 1.05 0.00 0.000 4 0.000 0.050 2550 2312 3671 0 0 0 0 0 0
4280 -0.57 -194.6 514.4 -9.7 551 4284 0.00 1.05 0.00 0.000 6 0.000 0.044 2550 1612 3671 0 0 0 0 0 0
4610 -0.57 -194.6 548.4 -10.3 582 4611 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 1612 3668 0 0 0 0 0 0
4932 -0.57 -194.6 581.1 -9.9 612 4936 0.00 1.05 0.00 0.000 4 0.000 0.052 2550 914 3666 0 0 0 0 0 0
4982 -0.57 -194.6 586.8 -10.4 616 4989 0.00 1.05 0.00 0.000 6 0.000 0.044 2545 1608 3665 0 0 0 0 0 0
5304 -0.57 -194.6 617.4 -9.0 638 5306 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 1608 3662 0 0 0 0 0 0
5612 -0.57 -194.6 642.8 -7.7 653 5615 0.00 1.08 0.00 0.000 4 0.000 0.053 2545 910 3660 0 0 0 0 0 0
5707 -0.57 -194.6 650.6 -8.5 657 5711 0.00 1.08 0.00 0.000 6 0.000 0.047 2539 1612 3659 0 0 0 0 0 0
6036 -0.57 -194.6 678.8 -9.4 673 6038 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 1612 3656 0 0 0 0 0 0
6344 -0.57 -194.6 708.5 -9.3 688 6345 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 1612 3654 0 0 0 0 0 0
6655 -0.57 -194.6 739.3 -10.1 703 6656 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 1612 3652 0 0 0 0 0 0
6962 -0.57 -194.6 771.6 -10.1 718 6966 0.00 1.08 0.00 0.000 4 0.000 0.054 2540 919 3650 0 0 0 0 0 0
7068 -0.57 -194.6 782.5 -9.8 722 7075 0.00 1.08 0.00 0.000 6 0.000 0.047 2534 1612 3649 0 0 0 0 0 0
7386 -0.57 -194.6 809.5 -8.1 738 7388 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 1613 3646 0 0 0 0 0 0
7694 -0.57 -194.6 835.1 -8.6 753 7695 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 1613 3645 0 0 0 0 0 0
8005 -0.57 -194.6 864.0 -9.7 768 8009 0.00 1.10 0.00 0.000 4 0.000 0.054 2534 916 3643 0 0 0 0 0 0
8050 -0.57 -194.6 868.8 -10.2 770 8054 0.00 1.08 0.00 0.000 6 0.000 0.050 2529 1610 3643 0 0 0 0 0 0
8383 -0.57 -194.6 902.6 -10.0 786 8387 0.10 1.12 0.00 0.000 4 0.171 0.056 2556 910 3641 0 0 0 0 0 0
8441 -0.61 -194.6 907.8 -9.0 788 8444 0.00 1.10 0.00 0.000 6 0.000 0.050 2553 1613 3641 0 0 0 0 0 0
8763 -0.64 -194.6 934.9 -8.4 804 8766 0.00 1.08 0.00 0.000 4 0.000 0.059 2549 2312 3639 0 0 0 0 0 0
8802 -0.67 -194.6 938.2 -8.6 805 8809 0.00 1.08 0.00 0.000 6 0.000 0.050 2548 1619 3639 0 0 0 0 0 0
9120 -0.70 -194.6 963.8 -8.1 821 9122 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 1619 3637 0 0 0 0 0 0
9428 -0.73 -194.6 987.7 -7.8 836 9430 0.10 0.00 0.00 0.000 6 0.101 0.000 2492 1618 3636 0 0 0 0 0 0
9466 end dive: TARGET_DEPTH_EXCEEDED
state 9466 begin apogee
9474 -0.11 0.0 991.6 8.4 838 9646 0.65 0.00 163.73 1.448 6 0.129 0.000 2700 1779 2883 0 0 0 0 0 0
9646 end apogee: CONTROL_FINISHED_OK
state 9647 begin climb
9651 0.57 194.6 996.1 0.0 846 9840 0.65 1.23 180.45 1.386 4 0.069 0.063 2933 2475 2090 0 0 0 0 0 0
9936 0.52 194.6 966.7 13.7 859 9940 0.00 1.12 0.00 0.000 6 0.000 0.052 2937 1780 2085 0 0 0 0 0 0
10263 0.46 194.6 922.6 13.9 875 10267 0.15 1.12 0.00 0.000 4 0.166 0.061 2891 2484 2081 0 0 0 0 0 0
10378 0.46 194.6 910.2 10.2 880 10382 0.00 1.10 0.00 0.000 6 0.000 0.050 2892 1781 2080 0 0 0 0 0 0
10712 0.45 194.6 875.5 10.0 896 10715 0.00 1.08 0.00 0.000 4 0.000 0.056 2899 1077 2079 0 0 0 0 0 0
10738 0.44 194.6 873.0 9.8 897 10741 0.00 1.10 0.00 0.000 6 0.000 0.050 2897 1783 2078 0 0 0 0 0 0
11073 0.43 194.6 839.0 10.1 913 11077 0.00 1.08 0.00 0.000 4 0.000 0.060 2894 2486 2078 0 0 0 0 0 0
11141 0.42 194.6 831.5 10.5 916 11145 0.00 1.10 0.00 0.000 6 0.000 0.050 2896 1772 2077 0 0 0 0 0 0
11477 0.40 194.6 796.6 10.3 932 11480 0.00 1.12 0.00 0.000 4 0.000 0.059 2896 2485 2077 0 0 0 0 0 0
11538 0.39 194.6 790.0 10.3 934 11544 0.00 1.08 0.00 0.000 6 0.000 0.048 2899 1783 2076 0 0 0 0 0 0
11856 0.37 194.6 757.9 10.4 950 11861 0.12 1.10 0.00 0.000 4 0.174 0.055 2862 2492 2076 0 0 0 0 0 0
11894 0.37 194.6 754.0 10.0 951 11901 0.00 1.10 0.00 0.000 6 0.000 0.047 2865 1777 2075 0 0 0 0 0 0
12211 0.46 252.0 729.1 7.6 967 12267 0.00 1.15 51.28 1.276 4 0.000 0.053 2866 2484 1856 0 0 0 0 0 0
12310 0.59 329.3 721.8 6.9 971 12390 0.15 1.12 72.75 1.245 6 0.044 0.047 2951 1773 1541 0 0 0 0 0 0
12719 0.55 329.3 660.9 15.4 991 12723 0.00 1.10 0.00 0.000 4 0.000 0.056 2955 2480 1533 0 0 0 0 0 0
12803 0.52 329.3 648.2 14.3 994 12811 0.12 1.08 0.00 0.000 6 0.141 0.046 2918 1781 1533 0 0 0 0 0 0
13121 0.52 329.3 613.5 10.9 1010 13125 0.00 1.08 0.00 0.000 4 0.000 0.051 2924 1076 1531 0 0 0 0 0 0
13154 0.52 329.3 609.6 10.9 1011 13158 0.00 1.08 0.00 0.000 6 0.000 0.045 2926 1783 1530 0 0 0 0 0 0
13483 0.53 329.3 572.8 11.5 1038 13484 0.00 0.00 0.00 0.000 6 0.000 0.000 2924 1784 1530 0 0 0 0 0 0
13803 0.54 329.3 537.0 9.9 1068 13807 0.00 1.10 0.00 0.000 4 0.000 0.051 2932 1069 1530 0 0 0 0 0 0
13853 0.55 329.3 532.0 10.1 1072 13857 0.00 1.08 0.00 0.000 6 0.000 0.044 2932 1779 1530 0 0 0 0 0 0
14184 0.55 329.3 497.0 10.6 1103 14188 0.00 1.05 0.00 0.000 4 0.000 0.053 2932 2480 1529 0 0 0 0 0 0
14255 0.57 329.3 489.7 10.7 1109 14259 0.00 1.08 0.00 0.000 6 0.000 0.044 2937 1774 1529 0 0 0 0 0 0
14585 0.57 329.3 454.3 10.8 1140 14589 0.00 1.05 0.00 0.000 4 0.000 0.050 2942 1080 1529 0 0 0 0 0 0
14667 0.58 329.3 445.6 10.7 1147 14671 0.00 1.08 0.00 0.000 6 0.000 0.043 2942 1784 1528 0 0 0 0 0 0
14998 0.58 329.3 406.9 11.6 1178 14999 0.00 0.00 0.00 0.000 6 0.000 0.000 2942 1784 1529 0 0 0 0 0 0
15320 0.58 329.3 372.2 10.0 1208 15326 0.00 0.00 0.00 0.000 6 0.000 0.000 2942 1785 1529 0 0 0 0 0 0
15647 0.60 329.3 339.6 10.2 1239 15651 0.00 1.08 0.00 0.000 4 0.000 0.047 2947 1078 1529 0 0 0 0 0 0
15757 0.62 329.3 328.8 9.9 1248 15763 0.00 1.08 0.00 0.000 6 0.000 0.041 2947 1790 1528 0 0 0 0 0 0
16083 0.64 329.3 297.1 10.2 1279 16087 0.00 1.10 0.00 0.000 4 0.000 0.045 2952 1069 1528 0 0 0 0 0 0
16154 0.66 329.3 290.2 9.8 1285 16158 0.00 1.08 0.00 0.000 6 0.000 0.040 2952 1790 1529 0 0 0 0 0 0
16488 0.71 347.1 259.8 8.8 1316 16512 0.00 1.15 15.75 0.822 4 0.000 0.046 2957 1065 1467 0 0 0 0 0 0
16549 0.78 382.0 254.5 8.3 1321 16585 0.08 1.08 31.98 0.852 6 0.054 0.037 3021 1785 1326 0 0 0 0 0 0
16896 0.75 382.0 202.3 15.5 1383 16905 0.12 1.10 0.00 0.000 4 0.154 0.045 2991 1074 1323 0 0 0 0 0 0
16935 0.75 382.0 197.4 13.3 1389 16943 0.00 1.05 0.00 0.000 6 0.000 0.037 2988 1784 1323 0 0 0 0 0 0
17261 0.80 401.3 163.5 8.8 1450 17283 0.00 0.00 17.98 0.741 6 0.000 0.000 2988 1784 1246 0 0 0 0 0 0
17600 0.85 410.9 134.2 9.1 1513 17616 0.00 1.12 10.12 0.657 4 0.000 0.044 2992 1072 1206 0 0 0 0 0 0
17647 0.92 430.0 129.5 8.8 1520 17671 0.10 1.05 17.40 0.698 6 0.043 0.035 3075 1785 1130 0 0 0 0 0 0
17990 0.89 430.0 77.4 14.1 1583 17998 0.15 1.10 0.00 0.000 4 0.150 0.042 3037 1068 1128 0 0 0 0 0 0
18047 0.92 430.0 71.0 10.5 1592 18056 0.00 1.05 0.00 0.000 6 0.000 0.034 3034 1786 1128 0 0 0 0 0 0
18368 1.04 493.9 45.5 7.3 1653 18426 0.12 1.12 53.28 0.658 4 0.080 0.041 3129 1071 868 0 0 0 0 0 0
18486 0.98 493.9 26.5 18.1 1672 18495 0.20 1.05 0.00 0.000 6 0.130 0.034 3064 1787 865 0 0 0 0 0 0
18700 end climb: SURFACE_DEPTH_REACHED
state 18700 begin surface coast
18727 end surface coast: CONTROL_FINISHED_OK
state 18727 begin surface