OKMC Aug11 * SG166 * Dive index * Mission links * Dive 287 * 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  287 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  44 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  -8 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24760.283 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  270911,110007,2213.517,12231.585,42,1.3,54,-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  1.80 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -63.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  270911,110822,2213.496,12231.623,11,99.0,30,-2.9 MHEAD_RNG_PITCHd_Wd  285.6,145520,-14.9,-9.429
SPEED_LIMITS  0.163,0.290 D_GRID  4870

Post-dive calculations and measurements:
FINISH  1.4,1.021642 _10V_AH  9.8,48.274
SM_CCo  18297,0.00,0.000,0,0,517,580.63 FG_AHR_24Vo  0.000
SM_GC  1.80,7.62,0.00,0.00,0.034,0.000,0.000,158,1621,517,-8.04,0.31,580.63,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2202.04,12233.63,270911,050556 MEM  324688
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  90260,1647
HUMID  38.65 CAP_FILE_SIZE  194077,0
INTERNAL_PRESSURE  9.35065 CFSIZE  260165632,121790464
TCM_TEMP  24.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  116 CURRENT  0.050,119.7,1
_24V_AH  22.4,68.313 GPS  270911,161527,2213.880,12228.899,50,99.0,69,-2.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2022199.17 SBE_CT112924607.10
Roll_motor7770122.49 AA38301688331248.06
VBD_pump_during_apogee693146222707.93 WL_BB2F18181054278.21
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3110372.34 nil000.00
Iridium_during_connect2716097.91 nil000.00
Iridium_during_xfer2422231210.62 nil000.00
Transponder_ping29420272.83 nil000.00
GUMSTIX_24V000.00
GPS325015.90
TT8411819799.21
LPSleep93372200.41
TT8_Active73019141.67
TT8_Sampling4030391572.12
TT8_CF854645245.11
TT8_Kalman000.00
Analog_circuits232512273.45
GPS_charging000.00
Compass372015546.91
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 16 begin dive
18 -0.57 -194.6 0.0 0.0 0 118 0.00 0.00 -97.70 0.000 2 0.000 0.000 159 1606 3005 0 0 0 0 0 0
122 -0.57 -194.6 5.0 -4.8 13 153 9.50 1.05 -13.68 0.000 4 0.221 0.067 2550 2299 3679 0 0 0 0 0 0
331 -0.45 -194.6 66.6 -23.0 50 340 0.17 1.02 0.00 0.000 6 0.146 0.037 2587 1607 3680 0 0 0 0 0 0
656 -0.44 -194.6 116.6 -10.9 111 665 0.00 1.05 0.00 0.000 4 0.000 0.043 2583 2306 3681 0 0 0 0 0 0
693 -0.44 -194.6 120.8 -11.8 116 702 0.00 1.02 0.00 0.000 6 0.000 0.038 2582 1617 3681 0 0 0 0 0 0
1019 -0.44 -194.6 164.2 -13.1 177 1030 0.00 1.05 0.00 0.000 4 0.000 0.045 2582 916 3682 0 0 0 0 0 0
1092 -0.44 -194.6 172.9 -12.0 189 1100 0.00 1.02 0.00 0.000 6 0.000 0.041 2577 1597 3682 0 0 0 0 0 0
1418 -0.44 -194.6 205.1 -10.3 250 1427 0.00 1.05 0.00 0.000 4 0.000 0.047 2572 2308 3682 0 0 0 0 0 0
1509 -0.45 -194.6 214.8 -11.0 266 1517 0.00 1.05 0.00 0.000 6 0.000 0.043 2572 1611 3682 0 0 0 0 0 0
1840 -0.45 -194.6 252.4 -10.7 326 1843 0.00 1.08 0.00 0.000 4 0.000 0.048 2569 2313 3682 0 0 0 0 0 0
1921 -0.47 -194.6 260.6 -9.9 333 1928 0.00 1.08 0.00 0.000 6 0.000 0.042 2568 1602 3681 0 0 0 0 0 0
2247 -0.47 -194.6 291.0 -8.1 364 2251 0.00 1.05 0.00 0.000 4 0.000 0.047 2571 902 3680 0 0 0 0 0 0
2306 -0.47 -194.6 296.2 -8.5 369 2313 0.00 1.05 0.00 0.000 6 0.000 0.040 2570 1605 3680 0 0 0 0 0 0
2633 -0.48 -194.6 326.2 -10.7 400 2636 0.00 1.05 0.00 0.000 4 0.000 0.047 2571 2311 3679 0 0 0 0 0 0
2739 -0.51 -194.6 337.5 -10.2 409 2745 0.00 1.08 0.00 0.000 6 0.000 0.041 2575 1603 3678 0 0 0 0 0 0
3065 -0.52 -194.6 373.9 -11.7 440 3068 0.00 1.05 0.00 0.000 4 0.000 0.047 2576 906 3676 0 0 0 0 0 0
3125 -0.54 -194.6 380.9 -11.1 445 3132 0.00 1.05 0.00 0.000 6 0.000 0.041 2571 1606 3676 0 0 0 0 0 0
3452 -0.55 -194.6 411.5 -7.8 476 3455 0.00 1.05 0.00 0.000 4 0.000 0.048 2566 2310 3674 0 0 0 0 0 0
3581 -0.57 -194.6 419.8 -6.2 487 3585 0.00 1.05 0.00 0.000 6 0.000 0.043 2567 1612 3674 0 0 0 0 0 0
3912 -0.58 -194.6 442.5 -6.5 518 3916 0.00 1.08 0.00 0.000 4 0.000 0.051 2562 2302 3671 0 0 0 0 0 0
3952 -0.60 -194.6 445.2 -6.4 521 3959 0.00 1.05 0.00 0.000 6 0.000 0.044 2562 1615 3671 0 0 0 0 0 0
4278 -0.60 -194.6 474.5 -11.0 552 4281 0.00 1.08 0.00 0.000 4 0.000 0.051 2562 908 3668 0 0 0 0 0 0
4348 -0.60 -194.6 482.7 -11.7 558 4352 0.00 1.08 0.00 0.000 6 0.000 0.045 2557 1609 3667 0 0 0 0 0 0
4679 -0.60 -194.6 520.6 -10.6 589 4682 0.00 1.08 0.00 0.000 4 0.000 0.050 2557 914 3665 0 0 0 0 0 0
4728 -0.60 -194.6 526.0 -10.3 593 4735 0.00 1.08 0.00 0.000 6 0.000 0.044 2552 1617 3664 0 0 0 0 0 0
5055 -0.60 -194.6 552.3 -6.4 624 5056 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 1618 3663 0 0 0 0 0 0
5376 -0.60 -194.6 572.5 -7.1 654 5380 0.00 1.05 0.00 0.000 4 0.000 0.053 2547 2310 3660 0 0 0 0 0 0
5426 -0.61 -194.6 576.4 -7.1 658 5433 0.00 1.08 0.00 0.000 6 0.000 0.045 2547 1607 3660 0 0 0 0 0 0
5763 -0.61 -194.6 607.1 -10.3 687 5765 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 1607 3658 0 0 0 0 0 0
6069 -0.61 -194.6 640.6 -11.2 702 6073 0.00 1.10 0.00 0.000 4 0.000 0.057 2542 2304 3656 0 0 0 0 0 0
6147 -0.63 -194.6 648.9 -10.8 705 6151 0.00 1.08 0.00 0.000 6 0.000 0.050 2542 1613 3656 0 0 0 0 0 0
6471 -0.63 -194.6 687.5 -11.9 721 6475 0.00 1.08 0.00 0.000 4 0.000 0.054 2542 913 3653 0 0 0 0 0 0
6526 -0.63 -194.6 694.3 -11.8 723 6530 0.00 1.08 0.00 0.000 6 0.000 0.047 2537 1609 3653 0 0 0 0 0 0
6848 -0.63 -194.6 727.5 -9.6 739 6852 0.00 1.05 0.00 0.000 4 0.000 0.057 2532 2300 3651 0 0 0 0 0 0
6888 -0.64 -194.6 731.3 -9.5 740 6895 0.00 1.08 0.00 0.000 6 0.000 0.048 2532 1603 3651 0 0 0 0 0 0
7205 -0.64 -194.6 756.4 -7.0 756 7208 0.00 1.05 0.00 0.000 4 0.000 0.055 2532 916 3649 0 0 0 0 0 0
7378 -0.64 -194.6 768.1 -6.9 763 7382 0.00 1.08 0.00 0.000 6 0.000 0.049 2527 1607 3648 0 0 0 0 0 0
7700 -0.64 -194.6 791.3 -7.8 779 7701 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1607 3647 0 0 0 0 0 0
8011 -0.64 -194.6 821.0 -10.5 794 8012 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1607 3644 0 0 0 0 0 0
8318 -0.64 -194.6 854.4 -11.0 809 8322 0.00 1.10 0.00 0.000 4 0.000 0.058 2527 909 3642 0 0 0 0 0 0
8431 -0.64 -194.6 867.1 -11.1 814 8434 0.00 1.10 0.00 0.000 6 0.000 0.053 2522 1609 3642 0 0 0 0 0 0
8766 -0.64 -194.6 900.5 -9.2 830 8767 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1609 3640 0 0 0 0 0 0
9073 -0.64 -194.6 924.9 -7.3 845 9075 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1609 3639 0 0 0 0 0 0
9383 -0.64 -194.6 947.0 -7.1 860 9384 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1609 3638 0 0 0 0 0 0
9694 -0.64 -194.6 970.4 -7.6 875 9698 0.00 1.10 0.00 0.000 4 0.000 0.063 2517 2316 3637 0 0 0 0 0 0
9727 -0.64 -194.6 973.2 -7.7 876 9731 0.00 1.10 0.00 0.000 6 0.000 0.051 2516 1608 3636 0 0 0 0 0 0
9943 end dive: TARGET_DEPTH_EXCEEDED
state 9943 begin apogee
9951 -0.11 0.0 990.2 7.9 887 10123 0.57 0.00 165.23 1.463 6 0.123 0.000 2702 1782 2883 0 0 0 0 0 0
10124 end apogee: CONTROL_FINISHED_OK
state 10124 begin climb
10127 0.57 194.6 994.3 0.0 895 10322 0.65 1.23 183.95 1.397 4 0.070 0.065 2934 2480 2088 0 0 0 0 0 0
10363 0.52 194.6 972.6 13.1 905 10370 0.00 1.15 0.00 0.000 6 0.000 0.051 2939 1789 2085 0 0 0 0 0 0
10680 0.46 194.6 934.9 11.6 921 10684 0.12 1.10 0.00 0.000 4 0.173 0.063 2898 2481 2081 0 0 0 0 0 0
10811 0.46 210.2 923.0 8.9 926 10831 0.00 1.10 14.12 1.266 6 0.000 0.051 2899 1782 2027 0 0 0 0 0 0
11149 0.44 210.2 890.9 10.2 943 11153 0.00 1.10 0.00 0.000 4 0.000 0.060 2896 2485 2023 0 0 0 0 0 0
11223 0.43 210.2 883.2 10.4 946 11227 0.00 1.10 0.00 0.000 6 0.000 0.050 2899 1783 2022 0 0 0 0 0 0
11551 0.41 210.2 847.6 11.1 962 11554 0.00 1.10 0.00 0.000 4 0.000 0.060 2896 2487 2021 0 0 0 0 0 0
11578 0.40 210.2 844.2 11.4 963 11582 0.00 1.10 0.00 0.000 6 0.000 0.050 2899 1782 2021 0 0 0 0 0 0
11908 0.38 210.2 806.4 11.9 979 11912 0.00 1.10 0.00 0.000 4 0.000 0.059 2896 2490 2020 0 0 0 0 0 0
11976 0.36 210.2 798.1 11.9 982 11981 0.10 1.10 0.00 0.000 6 0.145 0.050 2866 1783 2020 0 0 0 0 0 0
12313 0.42 243.3 768.5 8.3 998 12348 0.00 1.12 30.85 1.300 4 0.000 0.056 2865 2484 1891 0 0 0 0 0 0
12390 0.50 290.3 761.9 7.9 1001 12445 0.08 1.12 45.55 1.288 6 0.057 0.047 2922 1771 1699 0 0 0 0 0 0
12752 0.48 290.3 717.8 12.0 1019 12754 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 1770 1692 0 0 0 0 0 0
13062 0.46 290.3 681.4 11.9 1034 13065 0.00 1.12 0.00 0.000 4 0.000 0.058 2923 2489 1691 0 0 0 0 0 0
13111 0.45 290.3 675.9 11.7 1036 13115 0.10 1.10 0.00 0.000 6 0.136 0.048 2894 1777 1690 0 0 0 0 0 0
13445 0.52 335.9 646.6 7.9 1052 13492 0.00 1.15 41.40 1.224 4 0.000 0.053 2895 2485 1513 0 0 0 0 0 0
13547 0.66 420.3 639.6 6.7 1056 13632 0.12 1.10 77.55 1.210 6 0.046 0.047 2970 1785 1170 0 0 0 0 0 0
13950 0.62 420.3 579.7 16.2 1081 13954 0.00 1.10 0.00 0.000 4 0.000 0.054 2972 2488 1163 0 0 0 0 0 0
14030 0.59 420.3 566.0 17.6 1088 14034 0.12 1.10 0.00 0.000 6 0.145 0.047 2938 1777 1162 0 0 0 0 0 0
14361 0.61 420.3 520.7 14.2 1119 14364 0.00 1.10 0.00 0.000 4 0.000 0.054 2941 2488 1162 0 0 0 0 0 0
14406 0.62 420.3 514.2 13.9 1123 14410 0.00 1.10 0.00 0.000 6 0.000 0.045 2946 1771 1162 0 0 0 0 0 0
14737 0.64 420.3 470.0 11.8 1154 14738 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 1771 1161 0 0 0 0 0 0
15058 0.73 480.2 441.1 7.5 1184 15116 0.10 0.00 52.25 1.069 6 0.103 0.000 3000 1771 925 0 0 0 0 0 0
15435 0.69 480.2 377.3 19.6 1220 15440 0.12 1.12 0.00 0.000 4 0.158 0.052 2967 2485 922 0 0 0 0 0 0
15496 0.70 480.2 367.6 15.3 1225 15500 0.00 1.08 0.00 0.000 6 0.000 0.044 2970 1784 921 0 0 0 0 0 0
15828 0.72 480.2 314.7 15.8 1256 15832 0.00 1.08 0.00 0.000 4 0.000 0.049 2975 1071 920 0 0 0 0 0 0
15888 0.74 480.2 305.8 15.4 1261 15892 0.00 1.10 0.00 0.000 6 0.000 0.041 2974 1804 920 0 0 0 0 0 0
16219 0.77 480.2 256.5 15.1 1292 16223 0.00 1.12 0.00 0.000 4 0.000 0.047 2978 1068 920 0 0 0 0 0 0
16330 0.81 480.2 240.7 13.9 1308 16338 0.00 1.08 0.00 0.000 6 0.000 0.040 2978 1787 919 0 0 0 0 0 0
16659 0.83 480.2 197.9 11.1 1369 16668 0.10 1.10 0.00 0.000 4 0.098 0.047 3051 1075 919 0 0 0 0 0 0
16698 0.80 480.2 191.9 14.3 1375 16708 0.12 1.05 0.00 0.000 6 0.129 0.039 3007 1786 919 0 0 0 0 0 0
17031 0.80 480.2 145.9 13.3 1436 17039 0.00 1.08 0.00 0.000 4 0.000 0.045 3011 1071 919 0 0 0 0 0 0
17075 0.80 480.2 140.1 12.9 1443 17085 0.00 1.05 0.00 0.000 6 0.000 0.037 3010 1782 919 0 0 0 0 0 0
17406 0.83 480.2 101.2 10.7 1504 17414 0.00 1.00 0.00 0.000 4 0.000 0.045 3010 2473 919 0 0 0 0 0 0
17437 0.87 480.2 97.3 11.8 1508 17445 0.00 1.05 0.00 0.000 6 0.000 0.040 3013 1769 919 0 0 0 0 0 0
17766 1.05 577.7 67.1 6.3 1569 17857 0.20 0.00 82.18 0.715 6 0.063 0.000 3133 1769 525 0 0 0 0 0 0
18178 1.02 577.7 6.0 17.2 1641 18187 0.20 1.02 0.00 0.000 4 0.142 0.044 3078 1087 519 0 0 0 0 0 0
18198 end climb: SURFACE_DEPTH_REACHED
state 18199 begin surface coast
18217 end surface coast: CONTROL_FINISHED_OK
state 18217 begin surface