OKMC Aug11 * SG166 * Dive index * Mission links * Dive 341 * 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  341 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  5
D_BOOST  3 SM_CC  450 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  51 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  280 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  310 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  -24828.566 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  081011,052357,2325.975,12224.025,33,2.7,52,-3.2 TGT_NAME  N2
_CALLS  3 TGT_LATLONG  2350.000,12355.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.94 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  081011,053905,2326.142,12224.122,47,3.5,66,-3.2 MHEAD_RNG_PITCHd_Wd  116.6,160169,-18.1,-11.786
SPEED_LIMITS  0.204,0.313 D_GRID  3769

Post-dive calculations and measurements:
FINISH  1.2,1.022223 _10V_AH  9.8,57.804
SM_CCo  16246,38.75,0.417,1,0,1049,450.13 FG_AHR_24Vo  0.000
SM_GC  2.13,0.00,0.00,38.75,0.000,0.000,0.417,125,1610,1049,-8.19,0.00,450.13,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2321.52,12234.94,081011,050557 MEM  324620
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83560,1509
HUMID  38.97 CAP_FILE_SIZE  180150,0
INTERNAL_PRESSURE  9.40924 CFSIZE  260165632,116817920
TCM_TEMP  24.90 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  122 CURRENT  0.241, 9.2,1
_24V_AH  22.8,82.298 GPS  081011,101227,2327.371,12227.310,27,2.3,46,-3.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1921695.51 SBE_CT103224565.25
Roll_motor6974116.78 AA38301546331163.92
VBD_pump_during_apogee559144518419.54 WL_BB2F17351054153.82
VBD_pump_during_surface38416368.35 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init75103177.05 nil000.00
Iridium_during_connect131160478.79 nil000.00
Iridium_during_xfer3412231738.19 nil000.00
Transponder_ping30420292.07 nil000.00
GUMSTIX_24V000.00
GPS675033.24
TT8376019729.72
LPSleep82562177.20
TT8_Active67819131.61
TT8_Sampling3950391540.82
TT8_CF853245238.88
TT8_Kalman000.00
Analog_circuits207912244.52
GPS_charging000.00
Compass336815495.22
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
16 -0.64 -194.6 0.0 0.0 0 110 0.00 0.00 -90.97 0.000 2 0.000 0.000 119 1591 3301 0 0 0 0 0 0
113 -0.64 -194.6 6.6 -10.5 12 137 9.40 1.00 -7.00 0.000 4 0.216 0.067 2531 908 3679 0 0 0 0 0 0
216 -0.54 -194.6 45.4 -25.2 29 225 0.12 1.02 0.00 0.000 6 0.148 0.038 2566 1590 3680 0 0 0 0 0 0
545 -0.51 -194.6 105.0 -15.8 90 554 0.00 1.02 0.00 0.000 4 0.000 0.041 2564 916 3681 0 0 0 0 0 0
595 -0.51 -194.6 112.5 -13.9 98 604 0.00 1.05 0.00 0.000 6 0.000 0.037 2561 1619 3681 0 0 0 0 0 0
924 -0.51 -194.6 159.1 -13.7 159 932 0.00 1.02 0.00 0.000 4 0.000 0.045 2556 2312 3682 0 0 0 0 0 0
1077 -0.53 -194.6 180.5 -13.9 186 1087 0.00 1.05 0.00 0.000 6 0.000 0.041 2555 1616 3682 0 0 0 0 0 0
1405 -0.53 -194.6 226.2 -12.8 247 1413 0.00 1.02 0.00 0.000 4 0.000 0.045 2551 2299 3681 0 0 0 0 0 0
1434 -0.53 -194.6 229.7 -11.8 251 1442 0.00 1.02 0.00 0.000 6 0.000 0.041 2551 1614 3681 0 0 0 0 0 0
1762 -0.54 -194.6 264.9 -10.8 299 1766 0.00 1.05 0.00 0.000 4 0.000 0.047 2546 2304 3681 0 0 0 0 0 0
1866 -0.56 -194.6 276.8 -11.0 308 1870 0.00 1.05 0.00 0.000 6 0.000 0.043 2546 1612 3681 0 0 0 0 0 0
2198 -0.58 -194.6 317.2 -12.2 339 2202 0.00 1.05 0.00 0.000 4 0.000 0.047 2542 2301 3680 0 0 0 0 0 0
2226 -0.61 -194.6 320.9 -11.8 341 2232 0.00 1.05 0.00 0.000 6 0.000 0.043 2542 1604 3680 0 0 0 0 0 0
2551 -0.62 -194.6 361.6 -12.2 372 2555 0.00 1.08 0.00 0.000 4 0.000 0.048 2538 2308 3679 0 0 0 0 0 0
2590 -0.65 -194.6 366.5 -12.1 375 2597 0.00 1.05 0.00 0.000 6 0.000 0.043 2538 1612 3678 0 0 0 0 0 0
2916 -0.67 -194.6 400.6 -9.7 406 2919 0.00 1.05 0.00 0.000 4 0.000 0.048 2538 913 3677 0 0 0 0 0 0
2951 -0.69 -194.6 404.1 -9.9 409 2955 0.00 1.05 0.00 0.000 6 0.000 0.044 2534 1607 3677 0 0 0 0 0 0
3285 -0.72 -194.6 441.0 -10.6 440 3288 0.00 1.05 0.00 0.000 4 0.000 0.047 2530 2313 3676 0 0 0 0 0 0
3415 -0.75 -194.6 453.6 -9.3 451 3422 0.00 1.08 0.00 0.000 6 0.000 0.043 2530 1605 3675 0 0 0 0 0 0
3741 -0.78 -194.6 486.2 -10.6 482 3745 0.15 1.10 0.00 0.000 4 0.073 0.050 2463 2307 3672 0 0 0 0 0 0
3778 -0.74 -194.6 491.5 -14.7 485 3786 0.10 1.05 0.00 0.000 6 0.143 0.044 2499 1615 3672 0 0 0 0 0 0
4104 -0.72 -194.6 535.7 -12.8 516 4108 0.00 1.08 0.00 0.000 4 0.000 0.050 2499 908 3670 0 0 0 0 0 0
4239 -0.72 -194.6 553.3 -12.8 528 4243 0.00 1.08 0.00 0.000 6 0.000 0.046 2496 1607 3669 0 0 0 0 0 0
4571 -0.71 -194.6 594.9 -12.6 559 4572 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1608 3667 0 0 0 0 0 0
4891 -0.71 -194.6 635.6 -12.8 577 4892 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1608 3664 0 0 0 0 0 0
5203 -0.71 -194.6 675.6 -12.9 592 5206 0.00 1.08 0.00 0.000 4 0.000 0.052 2496 920 3660 0 0 0 0 0 0
5253 -0.71 -194.6 682.9 -13.7 594 5257 0.00 1.08 0.00 0.000 6 0.000 0.047 2491 1612 3660 0 0 0 0 0 0
5580 -0.71 -194.6 726.4 -13.5 610 5581 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 1612 3657 0 0 0 0 0 0
5891 -0.71 -194.6 767.2 -13.4 625 5895 0.00 1.10 0.00 0.000 4 0.000 0.054 2491 910 3654 0 0 0 0 0 0
6051 -0.71 -194.6 788.8 -13.2 632 6055 0.00 1.10 0.00 0.000 6 0.000 0.050 2486 1612 3653 0 0 0 0 0 0
6386 -0.71 -194.6 828.3 -11.1 648 6390 0.00 1.10 0.00 0.000 4 0.000 0.054 2486 911 3651 0 0 0 0 0 0
6447 -0.71 -194.6 835.5 -11.5 650 6455 0.08 1.10 0.00 0.000 6 0.147 0.051 2506 1611 3650 0 0 0 0 0 0
6768 -0.73 -194.6 864.3 -9.1 666 6772 0.00 1.10 0.00 0.000 4 0.000 0.054 2506 909 3647 0 0 0 0 0 0
6818 -0.74 -194.6 869.9 -9.7 668 6822 0.00 1.10 0.00 0.000 6 0.000 0.052 2504 1609 3648 0 0 0 0 0 0
7146 -0.76 -194.6 902.3 -10.2 684 7150 0.00 1.08 0.00 0.000 4 0.000 0.060 2498 2307 3645 0 0 0 0 0 0
7199 -0.78 -194.6 907.5 -10.0 686 7203 0.00 1.08 0.00 0.000 6 0.000 0.051 2498 1615 3645 0 0 0 0 0 0
7527 -0.79 -194.6 942.9 -11.1 702 7530 0.00 1.08 0.00 0.000 4 0.000 0.057 2498 914 3643 0 0 0 0 0 0
7575 -0.80 -194.6 948.2 -11.4 704 7579 0.00 1.10 0.00 0.000 6 0.000 0.050 2494 1616 3643 0 0 0 0 0 0
7908 -0.80 -194.6 985.3 -11.1 720 7910 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 1616 3641 0 0 0 0 0 0
7968 end dive: TARGET_DEPTH_EXCEEDED
state 7968 begin apogee
7974 -0.11 0.0 992.1 11.1 723 8146 0.65 0.00 165.23 1.445 6 0.121 0.000 2704 1788 2884 0 0 0 0 0 0
8146 end apogee: CONTROL_FINISHED_OK
state 8146 begin climb
8149 0.64 194.6 998.2 0.0 731 8337 0.73 0.00 180.05 1.387 6 0.064 0.000 2962 1788 2090 0 0 0 0 0 0
8640 0.61 194.6 935.3 15.0 755 8644 0.00 1.08 0.00 0.000 4 0.000 0.060 2962 2484 2081 0 0 0 0 0 0
8715 0.58 194.6 924.1 14.3 758 8720 0.10 1.10 0.00 0.000 6 0.158 0.051 2936 1783 2080 0 0 0 0 0 0
9044 0.57 200.8 884.8 11.5 774 9053 0.00 1.10 5.28 0.960 4 0.000 0.056 2936 2477 2064 0 0 0 0 0 0
9093 0.58 208.8 878.7 11.5 776 9111 0.00 1.08 9.60 1.163 6 0.000 0.050 2939 1779 2031 0 0 0 0 0 0
9423 0.57 208.8 838.3 13.1 792 9425 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 1779 2027 0 0 0 0 0 0
9729 0.57 208.8 798.4 12.7 807 9730 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 1779 2026 0 0 0 0 0 0
10040 0.57 208.8 759.0 12.4 822 10041 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 1778 2025 0 0 0 0 0 0
10348 0.58 216.5 723.2 11.5 837 10357 0.00 0.00 7.43 1.055 6 0.000 0.000 2939 1779 2001 0 0 0 0 0 0
10657 0.59 227.2 688.0 11.4 852 10672 0.00 1.15 11.73 1.140 4 0.000 0.056 2939 2486 1957 0 0 0 0 0 0
10736 0.61 238.8 679.0 11.3 854 10752 0.00 1.10 12.25 1.131 6 0.000 0.047 2943 1782 1909 0 0 0 0 0 0
11076 0.61 238.8 638.6 11.8 871 11080 0.00 1.08 0.00 0.000 4 0.000 0.052 2949 1076 1906 0 0 0 0 0 0
11112 0.62 249.7 634.5 11.3 872 11127 0.00 1.10 11.57 1.103 6 0.000 0.047 2949 1787 1865 0 0 0 0 0 0
11441 0.62 249.7 594.4 11.9 890 11445 0.00 1.05 0.00 0.000 4 0.000 0.055 2949 2480 1862 0 0 0 0 0 0
11516 0.64 253.4 585.4 11.6 896 11523 0.00 1.08 4.38 0.778 6 0.000 0.046 2953 1783 1851 0 0 0 0 0 0
11841 0.64 253.4 544.8 13.0 927 11845 0.00 1.08 0.00 0.000 4 0.000 0.051 2958 1071 1850 0 0 0 0 0 0
11889 0.64 253.4 538.9 12.8 931 11893 0.00 1.10 0.00 0.000 6 0.000 0.045 2958 1788 1849 0 0 0 0 0 0
12219 0.64 253.4 497.1 12.1 962 12223 0.00 1.10 0.00 0.000 4 0.000 0.050 2961 1071 1849 0 0 0 0 0 0
12281 0.64 253.4 489.7 12.5 967 12288 0.00 1.08 0.00 0.000 6 0.000 0.044 2961 1776 1848 0 0 0 0 0 0
12606 0.68 284.7 452.2 10.5 998 12639 0.00 0.00 30.52 1.063 6 0.000 0.000 2961 1776 1723 0 0 0 0 0 0
12956 0.72 311.7 414.1 10.7 1031 12989 0.00 1.10 25.62 1.010 4 0.000 0.053 2961 2477 1612 0 0 0 0 0 0
13095 0.75 313.7 398.4 11.7 1043 13099 0.00 1.08 0.00 0.000 6 0.000 0.043 2966 1777 1611 0 0 0 0 0 0
13426 0.77 313.7 357.5 12.5 1074 13430 0.00 1.05 0.00 0.000 4 0.000 0.047 2971 1076 1610 0 0 0 0 0 0
13534 0.79 313.7 343.9 12.3 1083 13541 0.00 1.08 0.00 0.000 6 0.000 0.041 2970 1786 1609 0 0 0 0 0 0
13860 0.84 329.9 304.7 11.1 1114 13885 0.12 1.08 17.30 0.879 4 0.087 0.045 3045 1065 1538 0 0 0 0 0 0
13950 0.79 329.9 289.5 19.0 1121 13957 0.12 1.08 0.00 0.000 6 0.142 0.041 3005 1780 1536 0 0 0 0 0 0
14277 0.79 329.9 242.4 13.7 1157 14285 0.00 1.08 0.00 0.000 4 0.000 0.049 3000 2481 1536 0 0 0 0 0 0
14379 0.80 329.9 228.6 13.0 1175 14387 0.00 1.08 0.00 0.000 6 0.000 0.042 3004 1772 1537 0 0 0 0 0 0
14709 0.81 334.7 187.9 11.6 1236 14724 0.00 1.12 6.00 0.628 4 0.000 0.047 3001 2480 1519 0 0 0 0 0 0
14782 0.86 357.5 179.7 10.9 1248 14812 0.00 1.05 21.60 0.777 6 0.000 0.041 3004 1784 1424 0 0 0 0 0 0
15131 0.88 357.5 137.2 12.2 1312 15139 0.00 1.05 0.00 0.000 4 0.000 0.044 3009 1081 1423 0 0 0 0 0 0
15205 0.91 357.5 127.5 13.8 1325 15213 0.00 1.05 0.00 0.000 6 0.000 0.037 3009 1789 1423 0 0 0 0 0 0
15535 1.00 394.7 90.3 10.3 1386 15574 0.15 1.15 32.97 0.705 4 0.073 0.044 3101 1063 1274 0 0 0 0 0 0
15651 0.97 394.7 72.4 15.3 1404 15659 0.12 1.08 0.00 0.000 6 0.138 0.037 3061 1788 1273 0 0 0 0 0 0
15979 0.99 394.7 30.5 11.9 1465 15987 0.00 1.00 0.00 0.000 4 0.000 0.043 3060 2474 1273 0 0 0 0 0 0
16065 1.05 413.4 20.1 11.0 1480 16089 0.00 1.05 17.52 0.614 6 0.000 0.038 3060 1771 1198 0 0 0 0 0 0
16206 end climb: SURFACE_DEPTH_REACHED
state 16206 begin surface coast
16229 end surface coast: CONTROL_FINISHED_OK
state 16229 begin surface