OKMC Aug11 * SG166 * Dive index * Mission links * Dive 309 * 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  309 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  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  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  -24788.193 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  021011,120415,2245.059,12151.898,43,2.4,62,-3.0 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  1.82 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -62.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  021011,121434,2245.319,12151.804,45,2.7,64,-3.0 MHEAD_RNG_PITCHd_Wd  303.7,55711,-14.9,-9.429
SPEED_LIMITS  0.163,0.290 D_GRID  4301

Post-dive calculations and measurements:
FINISH  1.4,1.012763 _10V_AH  9.8,52.623
SM_CCo  19522,0.00,0.000,0,0,982,466.32 FG_AHR_24Vo  0.000
SM_GC  2.27,7.78,0.00,0.00,0.044,0.000,0.000,151,1590,982,-8.03,-0.57,466.32,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2225.34,12152.66,021011,060648 MEM  324652
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  100174,1773
HUMID  39.32 CAP_FILE_SIZE  199491,0
INTERNAL_PRESSURE  9.38971 CFSIZE  260165632,119529472
TCM_TEMP  24.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  124 CURRENT  0.199, 27.7,1
_24V_AH  22.5,73.965 GPS  021011,174215,2248.823,12150.000,61,99.0,80,-3.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20224104.12 SBE_CT121624656.88
Roll_motor7374123.56 AA38301814331347.46
VBD_pump_during_apogee594144619355.17 WL_BB2F19401054584.96
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710363.27 nil000.00
Iridium_during_connect46160168.94 nil000.00
Iridium_during_xfer3102231556.56 nil000.00
Transponder_ping31420292.95 nil000.00
GUMSTIX_24V000.00
GPS665032.43
TT8442219858.22
LPSleep101692218.27
TT8_Active70119136.04
TT8_Sampling4254391659.57
TT8_CF856045251.66
TT8_Kalman000.00
Analog_circuits227512267.61
GPS_charging000.00
Compass382915562.98
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 -0.57 -194.6 0.0 0.0 0 127 0.00 0.00 -106.07 0.000 2 0.000 0.000 118 1602 2999 0 0 0 0 0 0
132 -0.57 -194.6 5.3 -6.2 14 163 9.68 1.08 -13.05 0.000 4 0.225 0.075 2549 2291 3680 0 0 0 0 0 0
386 -0.49 -194.6 71.7 -21.9 60 394 0.10 1.00 0.00 0.000 6 0.139 0.039 2579 1620 3681 0 0 0 0 0 0
714 -0.46 -194.6 120.1 -15.1 121 722 0.00 1.05 0.00 0.000 4 0.000 0.046 2583 918 3682 0 0 0 0 0 0
833 -0.46 -194.6 135.4 -14.5 142 842 0.00 1.00 0.00 0.000 6 0.000 0.040 2580 1586 3682 0 0 0 0 0 0
1162 -0.46 -194.6 174.5 -11.3 203 1171 0.00 1.08 0.00 0.000 4 0.000 0.046 2575 2311 3682 0 0 0 0 0 0
1196 -0.46 -194.6 178.4 -10.9 208 1204 0.00 1.05 0.00 0.000 6 0.000 0.042 2575 1616 3682 0 0 0 0 0 0
1525 -0.46 -194.6 216.5 -10.9 269 1532 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 1616 3682 0 0 0 0 0 0
1853 -0.46 -194.6 248.2 -10.3 330 1862 0.00 1.08 0.00 0.000 4 0.000 0.047 2575 904 3681 0 0 0 0 0 0
1902 -0.47 -194.6 252.8 -8.8 336 1906 0.00 1.08 0.00 0.000 6 0.000 0.040 2570 1618 3681 0 0 0 0 0 0
2236 -0.49 -194.6 282.5 -9.4 367 2239 0.00 1.02 0.00 0.000 4 0.000 0.049 2570 2305 3679 0 0 0 0 0 0
2337 -0.51 -194.6 292.0 -8.9 376 2341 0.00 1.05 0.00 0.000 6 0.000 0.043 2570 1611 3679 0 0 0 0 0 0
2669 -0.53 -194.6 325.6 -10.6 407 2670 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 1612 3678 0 0 0 0 0 0
2991 -0.54 -194.6 356.9 -10.1 437 2994 0.00 1.08 0.00 0.000 4 0.000 0.049 2581 2304 3675 0 0 0 0 0 0
3082 -0.57 -194.6 365.4 -8.5 445 3086 0.00 1.05 0.00 0.000 6 0.000 0.043 2581 1612 3675 0 0 0 0 0 0
3416 -0.59 -194.6 396.2 -8.5 476 3422 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 1612 3674 0 0 0 0 0 0
3744 -0.61 -194.6 421.5 -7.1 507 3750 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 1611 3671 0 0 0 0 0 0
4073 -0.63 -194.6 445.4 -7.1 538 4078 0.12 1.10 0.00 0.000 4 0.082 0.051 2496 2304 3669 0 0 0 0 0 0
4135 -0.58 -194.6 452.6 -12.4 543 4143 0.15 1.05 0.00 0.000 6 0.131 0.045 2546 1616 3668 0 0 0 0 0 0
4460 -0.58 -194.6 483.7 -9.8 574 4464 0.00 1.08 0.00 0.000 4 0.000 0.050 2546 910 3666 0 0 0 0 0 0
4564 -0.58 -194.6 494.2 -10.4 583 4568 0.00 1.05 0.00 0.000 6 0.000 0.046 2544 1597 3665 0 0 0 0 0 0
4895 -0.58 -194.6 529.0 -10.0 614 4898 0.00 1.08 0.00 0.000 4 0.000 0.053 2538 2312 3663 0 0 0 0 0 0
4923 -0.58 -194.6 531.9 -9.9 616 4930 0.00 1.08 0.00 0.000 6 0.000 0.044 2538 1604 3663 0 0 0 0 0 0
5250 -0.58 -194.6 564.2 -9.9 647 5254 0.00 1.05 0.00 0.000 4 0.000 0.051 2539 910 3661 0 0 0 0 0 0
5319 -0.58 -194.6 570.8 -8.9 653 5323 0.00 1.08 0.00 0.000 6 0.000 0.047 2533 1608 3661 0 0 0 0 0 0
5649 -0.58 -194.6 602.1 -9.0 683 5653 0.00 1.08 0.00 0.000 4 0.000 0.051 2533 914 3659 0 0 0 0 0 0
5688 -0.57 -194.6 605.8 -8.9 684 5696 0.08 1.08 0.00 0.000 6 0.137 0.047 2554 1608 3658 0 0 0 0 0 0
6009 -0.59 -194.6 631.1 -8.0 700 6012 0.00 1.05 0.00 0.000 4 0.000 0.054 2551 2304 3656 0 0 0 0 0 0
6055 -0.62 -194.6 634.9 -7.5 702 6059 0.00 1.05 0.00 0.000 6 0.000 0.047 2551 1614 3656 0 0 0 0 0 0
6389 -0.64 -194.6 661.3 -8.1 718 6393 0.00 1.08 0.00 0.000 4 0.000 0.054 2551 907 3653 0 0 0 0 0 0
6441 -0.65 -194.6 665.7 -8.6 720 6445 0.00 1.10 0.00 0.000 6 0.000 0.048 2546 1616 3653 0 0 0 0 0 0
6769 -0.67 -194.6 692.0 -7.7 736 6770 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 1616 3651 0 0 0 0 0 0
7081 -0.68 -194.6 716.9 -8.8 751 7082 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 1616 3649 0 0 0 0 0 0
7387 -0.70 -194.6 746.1 -9.8 766 7390 0.00 1.10 0.00 0.000 4 0.000 0.055 2546 912 3647 0 0 0 0 0 0
7420 -0.72 -194.6 749.5 -9.9 767 7424 0.00 1.08 0.00 0.000 6 0.000 0.049 2541 1607 3647 0 0 0 0 0 0
7745 -0.73 -194.6 777.5 -8.2 783 7748 0.00 1.08 0.00 0.000 4 0.000 0.057 2536 2312 3645 0 0 0 0 0 0
7779 -0.75 -194.6 780.7 -8.0 784 7782 0.00 1.08 0.00 0.000 6 0.000 0.048 2536 1610 3645 0 0 0 0 0 0
8103 -0.76 -194.6 806.5 -8.0 800 8105 0.10 0.00 0.00 0.000 6 0.100 0.000 2478 1609 3643 0 0 0 0 0 0
8410 -0.72 -194.6 844.9 -12.7 815 8415 0.12 1.10 0.00 0.000 4 0.168 0.057 2511 907 3642 0 0 0 0 0 0
8456 -0.70 -194.6 850.7 -12.1 817 8460 0.00 1.10 0.00 0.000 6 0.000 0.050 2508 1613 3641 0 0 0 0 0 0
8792 -0.69 -194.6 886.2 -10.2 833 8793 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 1613 3639 0 0 0 0 0 0
9099 -0.68 -194.6 916.1 -9.7 848 9100 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 1613 3638 0 0 0 0 0 0
9411 -0.66 -194.6 946.4 -10.2 863 9415 0.00 1.10 0.00 0.000 4 0.000 0.056 2509 913 3637 0 0 0 0 0 0
9461 -0.65 -194.6 952.2 -10.8 865 9466 0.08 1.08 0.00 0.000 6 0.145 0.050 2529 1604 3636 0 0 0 0 0 0
9791 -0.66 -194.6 980.8 -8.6 881 9792 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1605 3636 0 0 0 0 0 0
9911 end dive: TARGET_DEPTH_EXCEEDED
state 9911 begin apogee
9919 -0.11 0.0 990.8 8.0 887 10089 0.52 0.00 163.98 1.447 6 0.116 0.000 2704 1784 2883 0 0 0 0 0 0
10090 end apogee: CONTROL_FINISHED_OK
state 10090 begin climb
10095 0.57 194.6 995.9 0.0 895 10282 0.65 0.00 183.77 1.387 6 0.065 0.000 2934 1784 2090 0 0 0 0 0 0
10580 0.53 194.6 943.2 12.8 919 10584 0.00 1.05 0.00 0.000 4 0.000 0.061 2934 2467 2082 0 0 0 0 0 0
10615 0.48 194.6 938.8 12.3 920 10620 0.10 1.08 0.00 0.000 6 0.142 0.051 2907 1782 2082 0 0 0 0 0 0
10938 0.47 194.6 906.9 9.7 936 10939 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 1782 2079 0 0 0 0 0 0
11249 0.45 194.6 876.6 9.7 951 11252 0.00 1.08 0.00 0.000 4 0.000 0.058 2905 2473 2078 0 0 0 0 0 0
11318 0.44 194.6 869.5 9.7 954 11321 0.00 1.08 0.00 0.000 6 0.000 0.049 2908 1778 2078 0 0 0 0 0 0
11651 0.42 194.6 832.7 11.0 970 11654 0.00 1.08 0.00 0.000 4 0.000 0.058 2908 2474 2077 0 0 0 0 0 0
11703 0.41 194.6 827.0 11.0 972 11707 0.08 1.08 0.00 0.000 6 0.143 0.047 2885 1775 2077 0 0 0 0 0 0
12029 0.41 194.6 794.9 9.8 988 12033 0.00 1.10 0.00 0.000 4 0.000 0.057 2884 2479 2075 0 0 0 0 0 0
12058 0.41 194.6 792.1 9.7 989 12062 0.00 1.08 0.00 0.000 6 0.000 0.047 2886 1779 2076 0 0 0 0 0 0
12386 0.45 226.4 762.6 8.4 1005 12416 0.00 0.00 28.55 1.282 6 0.000 0.000 2884 1779 1960 0 0 0 0 0 0
12715 0.54 288.8 737.4 7.4 1021 12781 0.10 1.12 58.70 1.278 4 0.103 0.054 2944 2480 1705 0 0 0 0 0 0
12809 0.51 288.8 726.7 11.7 1025 12813 0.10 1.10 0.00 0.000 6 0.141 0.047 2916 1783 1702 0 0 0 0 0 0
13139 0.51 294.1 694.8 9.3 1041 13148 0.00 1.10 4.95 0.871 4 0.000 0.053 2919 1076 1685 0 0 0 0 0 0
13170 0.52 300.3 691.5 9.2 1042 13184 0.00 1.10 7.95 1.035 6 0.000 0.045 2919 1787 1659 0 0 0 0 0 0
13493 0.53 305.6 662.8 9.3 1058 13503 0.00 1.05 6.12 0.951 4 0.000 0.053 2919 2484 1637 0 0 0 0 0 0
13583 0.53 305.6 653.9 9.8 1062 13587 0.00 1.08 0.00 0.000 6 0.000 0.046 2924 1785 1637 0 0 0 0 0 0
13910 0.53 305.6 619.7 10.5 1078 13914 0.00 1.08 0.00 0.000 4 0.000 0.050 2930 1072 1635 0 0 0 0 0 0
13936 0.53 305.6 617.1 10.5 1079 13940 0.00 1.08 0.00 0.000 6 0.000 0.045 2931 1778 1635 0 0 0 0 0 0
14264 0.53 305.6 578.6 12.1 1102 14267 0.00 1.05 0.00 0.000 4 0.000 0.054 2930 2478 1635 0 0 0 0 0 0
14291 0.53 305.6 574.6 13.0 1104 14298 0.00 1.08 0.00 0.000 6 0.000 0.044 2935 1771 1635 0 0 0 0 0 0
14617 0.53 305.6 537.2 10.7 1135 14618 0.00 0.00 0.00 0.000 6 0.000 0.000 2934 1771 1635 0 0 0 0 0 0
14939 0.53 305.6 503.8 10.7 1165 14943 0.00 1.08 0.00 0.000 4 0.000 0.054 2936 2477 1634 0 0 0 0 0 0
14963 0.53 305.6 501.0 10.5 1167 14967 0.00 1.08 0.00 0.000 6 0.000 0.044 2940 1767 1634 0 0 0 0 0 0
15293 0.53 305.6 468.7 9.6 1198 15297 0.00 1.10 0.00 0.000 4 0.000 0.053 2940 2490 1635 0 0 0 0 0 0
15344 0.53 305.6 463.6 10.2 1202 15352 0.00 1.08 0.00 0.000 6 0.000 0.041 2945 1774 1634 0 0 0 0 0 0
15669 0.53 305.6 428.0 11.6 1233 15670 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 1774 1634 0 0 0 0 0 0
15993 0.53 305.6 393.4 9.8 1263 15999 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 1774 1634 0 0 0 0 0 0
16322 0.53 305.6 358.7 10.7 1294 16326 0.00 1.08 0.00 0.000 4 0.000 0.050 2945 2483 1634 0 0 0 0 0 0
16355 0.53 305.6 354.5 11.6 1297 16360 0.10 1.05 0.00 0.000 6 0.126 0.042 2916 1785 1634 0 0 0 0 0 0
16688 0.71 412.1 329.3 6.0 1328 16791 0.17 1.15 94.45 0.953 4 0.069 0.047 3010 1071 1202 0 0 0 0 0 0
16853 0.69 412.1 305.2 15.6 1342 16861 0.12 1.08 0.00 0.000 6 0.125 0.039 2969 1779 1199 0 0 0 0 0 0
17180 0.71 412.1 265.7 11.0 1373 17183 0.00 1.08 0.00 0.000 4 0.000 0.047 2973 1078 1197 0 0 0 0 0 0
17219 0.74 412.1 261.0 11.2 1376 17227 0.00 1.05 0.00 0.000 6 0.000 0.038 2973 1782 1196 0 0 0 0 0 0
17547 0.76 412.1 225.6 10.4 1428 17554 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 1783 1196 0 0 0 0 0 0
17876 0.79 412.1 193.2 10.1 1489 17884 0.00 1.08 0.00 0.000 4 0.000 0.044 2978 1069 1196 0 0 0 0 0 0
17952 0.82 412.1 185.7 10.0 1502 17961 0.00 1.05 0.00 0.000 6 0.000 0.038 2978 1781 1195 0 0 0 0 0 0
18283 0.88 437.6 154.5 8.6 1563 18313 0.15 0.00 22.12 0.752 6 0.074 0.000 3062 1782 1098 0 0 0 0 0 0
18635 0.84 437.6 96.2 18.1 1627 18643 0.17 1.02 0.00 0.000 4 0.147 0.044 3008 2475 1097 0 0 0 0 0 0
18694 0.87 437.6 87.8 12.1 1637 18703 0.00 1.05 0.00 0.000 6 0.000 0.039 3011 1772 1097 0 0 0 0 0 0
19023 0.91 437.6 55.9 10.4 1698 19032 0.00 1.02 0.00 0.000 4 0.000 0.043 3017 1080 1097 0 0 0 0 0 0
19069 0.98 465.0 52.1 8.5 1705 19100 0.10 1.02 24.05 0.666 6 0.044 0.034 3093 1783 987 0 0 0 0 0 0
19414 end climb: SURFACE_DEPTH_REACHED
state 19414 begin surface coast
19444 end surface coast: CONTROL_FINISHED_OK
state 19444 begin surface