OKMC Aug11 * SG166 * Dive index * Mission links * Dive 343 * 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  343 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  40 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  76 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  -24831.088 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  081011,145127,2328.240,12230.183,29,99.0,48,-3.2 TGT_NAME  N2
_CALLS  2 TGT_LATLONG  2350.000,12355.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.96 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  081011,150140,2328.435,12230.178,16,99.0,35,-3.2 MHEAD_RNG_PITCHd_Wd  119.2,149142,-18.1,-11.786
SPEED_LIMITS  0.204,0.313 D_GRID  3593

Post-dive calculations and measurements:
FINISH  1.3,1.022107 _10V_AH  9.8,58.144
SM_CCo  16512,0.00,0.000,0,0,956,472.69 FG_AHR_24Vo  0.000
SM_GC  2.16,7.43,0.00,0.00,0.029,0.000,0.000,139,1611,956,-8.03,0.03,472.69,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2319.18,12231.69,081011,141459 MEM  324656
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  86714,1522
HUMID  39.25 CAP_FILE_SIZE  176861,0
INTERNAL_PRESSURE  9.38971 CFSIZE  260165632,116633600
TCM_TEMP  24.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  105 CURRENT  0.192, 17.8,1
_24V_AH  22.7,82.744 GPS  081011,193837,2328.961,12233.466,42,1.6,42,-3.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1921494.54 SBE_CT104224567.99
Roll_motor6773111.69 AA38301559331167.89
VBD_pump_during_apogee605144919939.55 WL_BB2F17931054274.70
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init60103141.32 nil000.00
Iridium_during_connect96160351.51 nil000.00
Iridium_during_xfer2012231021.72 nil000.00
Transponder_ping26420250.27 nil000.00
GUMSTIX_24V000.00
GPS375018.41
TT8379319736.15
LPSleep83462179.14
TT8_Active64119124.56
TT8_Sampling3810391486.23
TT8_CF851045229.16
TT8_Kalman000.00
Analog_circuits207312243.82
GPS_charging000.00
Compass343615505.14
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 15 begin dive
17 -0.64 -194.6 0.0 0.0 0 114 0.00 0.00 -94.35 0.000 2 0.000 0.000 122 1636 3278 0 0 0 0 0 0
119 -0.64 -194.6 6.3 -9.2 13 144 9.35 1.08 -7.28 0.000 4 0.215 0.060 2528 884 3680 0 0 0 0 0 0
179 -0.51 -194.6 34.7 -35.0 22 187 0.15 1.05 0.00 0.000 6 0.143 0.039 2572 1582 3682 0 0 0 0 0 0
508 -0.49 -194.6 96.4 -14.2 83 517 0.00 1.05 0.00 0.000 4 0.000 0.039 2568 2311 3683 0 0 0 0 0 0
548 -0.49 -194.6 100.9 -11.5 89 556 0.00 1.05 0.00 0.000 6 0.000 0.034 2567 1590 3683 0 0 0 0 0 0
876 -0.49 -194.6 146.7 -14.4 150 884 0.00 1.08 0.00 0.000 4 0.000 0.040 2561 2320 3683 0 0 0 0 0 0
1068 -0.51 -194.6 170.3 -11.5 185 1076 0.00 1.02 0.00 0.000 6 0.000 0.036 2561 1615 3683 0 0 0 0 0 0
1396 -0.52 -194.6 208.4 -11.9 246 1404 0.00 1.02 0.00 0.000 4 0.000 0.040 2556 2315 3684 0 0 0 0 0 0
1465 -0.54 -194.6 216.9 -11.5 258 1473 0.00 1.02 0.00 0.000 6 0.000 0.034 2556 1607 3683 0 0 0 0 0 0
1800 -0.56 -194.6 255.5 -10.3 315 1804 0.00 1.05 0.00 0.000 4 0.000 0.041 2551 2314 3683 0 0 0 0 0 0
1896 -0.58 -194.6 264.4 -9.0 323 1903 0.00 1.02 0.00 0.000 6 0.000 0.034 2551 1610 3683 0 0 0 0 0 0
2221 -0.60 -194.6 298.5 -10.4 354 2225 0.00 1.02 0.00 0.000 4 0.000 0.041 2546 2306 3683 0 0 0 0 0 0
2303 -0.63 -194.6 306.5 -9.6 361 2307 0.00 1.02 0.00 0.000 6 0.000 0.037 2547 1604 3682 0 0 0 0 0 0
2635 -0.66 -194.6 342.3 -11.0 392 2638 0.00 1.05 0.00 0.000 4 0.000 0.041 2543 2309 3681 0 0 0 0 0 0
2709 -0.69 -194.6 350.4 -11.0 398 2716 0.00 1.02 0.00 0.000 6 0.000 0.037 2542 1616 3681 0 0 0 0 0 0
3035 -0.71 -194.6 385.8 -10.7 429 3036 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 1616 3680 0 0 0 0 0 0
3357 -0.75 -194.6 418.7 -9.4 459 3362 0.12 1.08 0.00 0.000 4 0.086 0.044 2472 2315 3678 0 0 0 0 0 0
3474 -0.72 -194.6 434.0 -13.3 469 3478 0.08 1.05 0.00 0.000 6 0.141 0.038 2508 1604 3677 0 0 0 0 0 0
3806 -0.71 -194.6 477.3 -12.3 500 3807 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 1604 3676 0 0 0 0 0 0
4128 -0.71 -194.6 517.3 -12.7 530 4131 0.00 1.05 0.00 0.000 4 0.000 0.046 2508 2301 3674 0 0 0 0 0 0
4162 -0.71 -194.6 521.8 -11.5 533 4166 0.00 1.02 0.00 0.000 6 0.000 0.041 2508 1614 3674 0 0 0 0 0 0
4494 -0.71 -194.6 565.3 -14.0 564 4495 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 1614 3671 0 0 0 0 0 0
4821 -0.71 -194.6 609.7 -13.5 592 4825 0.00 1.05 0.00 0.000 4 0.000 0.051 2503 2295 3668 0 0 0 0 0 0
4867 -0.71 -194.6 615.7 -12.9 594 4871 0.00 1.02 0.00 0.000 6 0.000 0.044 2503 1619 3668 0 0 0 0 0 0
5202 -0.71 -194.6 656.1 -11.2 610 5206 0.00 1.08 0.00 0.000 4 0.000 0.049 2503 910 3666 0 0 0 0 0 0
5286 -0.71 -194.6 666.1 -11.3 613 5293 0.00 1.08 0.00 0.000 6 0.000 0.047 2498 1605 3665 0 0 0 0 0 0
5604 -0.71 -194.6 700.4 -10.9 629 5608 0.00 1.08 0.00 0.000 4 0.000 0.050 2498 903 3662 0 0 0 0 0 0
5665 -0.71 -194.6 707.6 -11.5 631 5672 0.00 1.10 0.00 0.000 6 0.000 0.049 2493 1613 3661 0 0 0 0 0 0
5983 -0.71 -194.6 744.2 -12.1 647 5987 0.00 1.08 0.00 0.000 4 0.000 0.053 2493 918 3659 0 0 0 0 0 0
6029 -0.71 -194.6 750.2 -12.9 649 6032 0.00 1.08 0.00 0.000 6 0.000 0.050 2488 1608 3658 0 0 0 0 0 0
6361 -0.71 -194.6 791.8 -12.5 665 6363 0.10 0.00 0.00 0.000 6 0.183 0.000 2513 1609 3656 0 0 0 0 0 0
6674 -0.73 -194.6 824.0 -10.1 680 6678 0.00 1.08 0.00 0.000 4 0.000 0.058 2510 2309 3653 0 0 0 0 0 0
6707 -0.75 -194.6 827.8 -10.0 681 6711 0.00 1.08 0.00 0.000 6 0.000 0.050 2510 1612 3653 0 0 0 0 0 0
7029 -0.77 -194.6 860.7 -10.1 697 7033 0.00 1.08 0.00 0.000 4 0.000 0.056 2510 911 3651 0 0 0 0 0 0
7192 -0.79 -194.6 876.8 -9.8 704 7196 0.00 1.10 0.00 0.000 6 0.000 0.052 2505 1612 3650 0 0 0 0 0 0
7528 -0.80 -194.6 910.8 -10.2 720 7529 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 1612 3648 0 0 0 0 0 0
7835 -0.82 -194.6 943.1 -10.5 735 7838 0.00 1.10 0.00 0.000 4 0.000 0.057 2505 914 3646 0 0 0 0 0 0
7885 -0.83 -194.6 948.4 -10.2 737 7889 0.00 1.10 0.00 0.000 6 0.000 0.052 2500 1613 3646 0 0 0 0 0 0
8215 -0.85 -194.6 979.2 -9.1 753 8216 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1613 3644 0 0 0 0 0 0
8334 end dive: TARGET_DEPTH_EXCEEDED
state 8334 begin apogee
8340 -0.11 0.0 991.0 9.5 759 8513 0.62 0.00 166.27 1.450 6 0.119 0.000 2703 1786 2883 0 0 0 0 0 0
8514 end apogee: CONTROL_FINISHED_OK
state 8514 begin climb
8516 0.64 194.6 995.5 0.0 767 8703 0.70 1.12 179.90 1.396 4 0.066 0.060 2958 2478 2089 0 0 0 0 0 0
8778 0.61 194.6 967.1 14.2 778 8782 0.00 1.10 0.00 0.000 6 0.000 0.052 2961 1790 2084 0 0 0 0 0 0
9108 0.58 194.6 920.4 13.9 794 9112 0.00 1.08 0.00 0.000 4 0.000 0.062 2961 2474 2080 0 0 0 0 0 0
9137 0.54 194.6 915.9 14.1 795 9142 0.12 1.10 0.00 0.000 6 0.151 0.051 2925 1772 2080 0 0 0 0 0 0
9465 0.55 200.6 877.7 11.5 811 9474 0.00 1.10 4.75 0.913 4 0.000 0.057 2928 1066 2066 0 0 0 0 0 0
9504 0.56 208.9 873.1 11.4 812 9519 0.00 1.12 9.75 1.174 6 0.000 0.050 2928 1783 2032 0 0 0 0 0 0
9843 0.56 208.9 832.2 12.1 829 9846 0.00 1.10 0.00 0.000 4 0.000 0.054 2933 1072 2028 0 0 0 0 0 0
9906 0.56 208.9 824.4 12.0 831 9914 0.00 1.10 0.00 0.000 6 0.000 0.050 2933 1778 2028 0 0 0 0 0 0
10222 0.57 217.9 787.5 11.4 847 10237 0.00 1.10 9.38 1.145 4 0.000 0.060 2933 2482 1995 0 0 0 0 0 0
10338 0.59 233.7 775.0 11.1 852 10361 0.00 1.10 16.25 1.232 6 0.000 0.047 2937 1768 1930 0 0 0 0 0 0
10673 0.61 254.0 737.7 11.0 868 10695 0.00 0.00 19.98 1.231 6 0.000 0.000 2936 1768 1848 0 0 0 0 0 0
10999 0.65 285.4 702.2 10.5 884 11032 0.00 0.00 30.88 1.240 6 0.000 0.000 2937 1768 1720 0 0 0 0 0 0
11331 0.72 323.4 668.9 10.2 900 11375 0.12 1.15 36.45 1.219 4 0.088 0.054 2999 2488 1564 0 0 0 0 0 0
11403 0.69 323.4 658.1 16.4 903 11407 0.10 1.12 0.00 0.000 6 0.148 0.047 2973 1779 1562 0 0 0 0 0 0
11735 0.69 323.4 610.3 14.0 919 11739 0.00 1.10 0.00 0.000 4 0.000 0.054 2969 2486 1558 0 0 0 0 0 0
11795 0.69 323.4 601.8 13.4 921 11803 0.00 1.10 0.00 0.000 6 0.000 0.045 2972 1771 1558 0 0 0 0 0 0
12120 0.69 323.4 556.6 14.3 951 12121 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 1771 1557 0 0 0 0 0 0
12441 0.69 323.4 509.5 14.6 981 12444 0.00 1.10 0.00 0.000 4 0.000 0.055 2970 2485 1557 0 0 0 0 0 0
12500 0.70 323.4 500.9 14.2 986 12504 0.00 1.08 0.00 0.000 6 0.000 0.045 2972 1780 1556 0 0 0 0 0 0
12831 0.70 323.4 456.0 13.8 1017 12835 0.00 1.05 0.00 0.000 4 0.000 0.050 2978 1077 1556 0 0 0 0 0 0
12860 0.70 323.4 452.0 14.0 1019 12868 0.00 1.08 0.00 0.000 6 0.000 0.044 2975 1785 1555 0 0 0 0 0 0
13185 0.70 323.4 406.7 14.0 1050 13189 0.00 1.10 0.00 0.000 4 0.000 0.049 2978 1069 1555 0 0 0 0 0 0
13222 0.72 323.4 402.1 13.8 1053 13225 0.00 1.08 0.00 0.000 6 0.000 0.042 2977 1778 1555 0 0 0 0 0 0
13553 0.73 323.4 358.6 12.7 1084 13555 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 1779 1555 0 0 0 0 0 0
13876 0.76 333.3 319.8 11.4 1114 13888 0.00 1.10 8.62 0.821 4 0.000 0.050 2977 2490 1525 0 0 0 0 0 0
13962 0.80 344.0 309.3 11.4 1121 13980 0.00 1.08 11.65 0.851 6 0.000 0.043 2980 1782 1480 0 0 0 0 0 0
14299 0.82 344.0 269.7 11.8 1153 14300 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 1782 1478 0 0 0 0 0 0
14617 0.89 378.0 233.4 10.4 1197 14656 0.15 1.10 31.48 0.844 4 0.076 0.045 3072 1075 1342 0 0 0 0 0 0
14708 0.85 378.0 217.6 19.6 1211 14718 0.15 1.08 0.00 0.000 6 0.142 0.039 3023 1788 1340 0 0 0 0 0 0
15040 0.85 378.0 167.0 15.2 1272 15048 0.00 1.02 0.00 0.000 4 0.000 0.047 3018 2482 1339 0 0 0 0 0 0
15091 0.86 378.0 159.7 14.6 1280 15099 0.00 1.05 0.00 0.000 6 0.000 0.040 3021 1781 1339 0 0 0 0 0 0
15418 0.87 378.0 115.1 12.9 1341 15425 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 1781 1339 0 0 0 0 0 0
15749 0.97 430.6 78.7 9.6 1402 15803 0.10 1.08 45.92 0.708 4 0.100 0.039 3091 1069 1126 0 0 0 0 0 0
15965 0.97 430.6 46.7 12.6 1439 15975 0.08 1.05 0.00 0.000 6 0.135 0.037 3064 1785 1124 0 0 0 0 0 0
16297 1.06 471.7 14.1 10.1 1500 16336 0.00 1.05 34.65 0.636 4 0.000 0.044 3063 2471 960 0 0 0 0 0 0
16400 end climb: SURFACE_DEPTH_REACHED
state 16401 begin surface coast
16431 end surface coast: CONTROL_FINISHED_OK
state 16431 begin surface