OKMC Aug11 * SG166 * Dive index * Mission links * Dive 345 * 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  345 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  48 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  51 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  -24833.604 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  091011,001537,2329.688,12236.330,37,1.6,37,-3.2 TGT_NAME  N2
_CALLS  1 TGT_LATLONG  2350.000,12355.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.04 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -69.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  091011,002319,2329.775,12236.384,36,1.6,48,-3.2 MHEAD_RNG_PITCHd_Wd  107.4,138348,-18.1,-11.786
SPEED_LIMITS  0.204,0.313 D_GRID  3769

Post-dive calculations and measurements:
FINISH  1.3,1.021470 _10V_AH  9.8,58.479
SM_CCo  16088,0.00,0.000,0,0,1033,454.30 FG_AHR_24Vo  0.000
SM_GC  2.17,7.57,0.00,0.00,0.038,0.000,0.000,130,1596,1033,-8.05,-0.40,454.30,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2319.18,12229.71,081011,191959 MEM  324636
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83479,1462
HUMID  39.80 CAP_FILE_SIZE  173383,0
INTERNAL_PRESSURE  9.39948 CFSIZE  260165632,116461568
TCM_TEMP  24.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  116 CURRENT  0.133, 18.2,1
_24V_AH  22.7,83.188 GPS  091011,045306,2330.434,12239.585,37,1.5,37,-3.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1921697.43 SBE_CT100024544.88
Roll_motor6973115.95 AA38301497331122.07
VBD_pump_during_apogee585144019146.22 WL_BB2F16561053947.56
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2510358.46 nil000.00
Iridium_during_connect38160140.40 nil000.00
Iridium_during_xfer197223998.06 nil000.00
Transponder_ping29420276.49 nil000.00
GUMSTIX_24V000.00
GPS495024.13
TT8364619707.53
LPSleep81312174.51
TT8_Active63419123.21
TT8_Sampling3625391414.10
TT8_CF848945219.68
TT8_Kalman000.00
Analog_circuits206012242.34
GPS_charging000.00
Compass334115491.20
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 -0.64 -194.6 0.0 0.0 0 109 0.00 0.00 -90.03 0.000 2 0.000 0.000 123 1593 3031 0 0 0 0 0 0
113 -0.64 -194.6 5.3 -7.5 12 144 9.38 1.08 -13.12 0.000 4 0.216 0.063 2527 2298 3679 0 0 0 0 0 0
282 -0.56 -194.6 61.5 -25.0 41 291 0.10 1.02 0.00 0.000 6 0.142 0.037 2558 1608 3681 0 0 0 0 0 0
608 -0.54 -194.6 117.4 -15.8 102 616 0.00 1.02 0.00 0.000 4 0.000 0.044 2557 920 3682 0 0 0 0 0 0
722 -0.54 -194.6 134.9 -13.7 122 731 0.00 1.02 0.00 0.000 6 0.000 0.039 2554 1604 3682 0 0 0 0 0 0
1051 -0.52 -194.6 184.2 -15.3 183 1059 0.00 1.02 0.00 0.000 4 0.000 0.044 2549 2302 3682 0 0 0 0 0 0
1207 -0.52 -194.6 205.2 -13.4 211 1215 0.00 1.02 0.00 0.000 6 0.000 0.043 2549 1622 3682 0 0 0 0 0 0
1535 -0.52 -194.6 248.0 -12.0 272 1543 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 1622 3682 0 0 0 0 0 0
1874 -0.53 -194.6 288.9 -11.8 304 1878 0.00 1.02 0.00 0.000 4 0.000 0.045 2544 2299 3682 0 0 0 0 0 0
1955 -0.56 -194.6 298.5 -11.4 311 1959 0.00 1.05 0.00 0.000 6 0.000 0.041 2544 1607 3682 0 0 0 0 0 0
2289 -0.57 -194.6 338.2 -11.3 342 2292 0.00 1.05 0.00 0.000 4 0.000 0.046 2540 2300 3682 0 0 0 0 0 0
2395 -0.61 -194.6 349.2 -9.8 351 2402 0.00 1.05 0.00 0.000 6 0.000 0.042 2540 1609 3681 0 0 0 0 0 0
2721 -0.63 -194.6 383.1 -10.2 382 2722 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 1609 3681 0 0 0 0 0 0
3041 -0.66 -194.6 416.1 -10.5 412 3045 0.00 1.08 0.00 0.000 4 0.000 0.048 2539 2301 3678 0 0 0 0 0 0
3090 -0.69 -194.6 421.2 -10.6 416 3094 0.00 1.05 0.00 0.000 6 0.000 0.044 2539 1613 3678 0 0 0 0 0 0
3422 -0.72 -194.6 460.1 -12.5 447 3426 0.00 1.08 0.00 0.000 4 0.000 0.050 2545 2307 3677 0 0 0 0 0 0
3463 -0.76 -194.6 465.1 -12.2 450 3471 0.10 1.08 0.00 0.000 6 0.044 0.044 2474 1604 3677 0 0 0 0 0 0
3788 -0.72 -194.6 521.1 -15.9 481 3793 0.15 1.08 0.00 0.000 4 0.161 0.049 2517 911 3675 0 0 0 0 0 0
3815 -0.69 -194.6 524.7 -15.1 483 3818 0.00 1.05 0.00 0.000 6 0.000 0.044 2513 1601 3675 0 0 0 0 0 0
4146 -0.69 -194.6 561.6 -10.6 514 4149 0.00 1.05 0.00 0.000 4 0.000 0.051 2508 2299 3672 0 0 0 0 0 0
4239 -0.69 -194.6 571.2 -10.2 522 4243 0.00 1.05 0.00 0.000 6 0.000 0.045 2508 1609 3671 0 0 0 0 0 0
4577 -0.69 -194.6 610.9 -12.6 550 4578 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 1609 3669 0 0 0 0 0 0
4889 -0.69 -194.6 648.3 -12.1 565 4893 0.00 1.08 0.00 0.000 4 0.000 0.052 2508 905 3667 0 0 0 0 0 0
4984 -0.69 -194.6 659.9 -11.4 569 4987 0.00 1.08 0.00 0.000 6 0.000 0.046 2504 1604 3666 0 0 0 0 0 0
5311 -0.69 -194.6 694.9 -10.4 585 5315 0.00 1.08 0.00 0.000 4 0.000 0.054 2498 2311 3663 0 0 0 0 0 0
5363 -0.69 -194.6 700.4 -10.2 587 5367 0.00 1.08 0.00 0.000 6 0.000 0.046 2498 1609 3662 0 0 0 0 0 0
5691 -0.69 -194.6 736.5 -11.3 603 5695 0.00 1.05 0.00 0.000 4 0.000 0.054 2498 919 3661 0 0 0 0 0 0
5771 -0.69 -194.6 746.5 -12.6 606 5775 0.00 1.08 0.00 0.000 6 0.000 0.047 2493 1614 3659 0 0 0 0 0 0
6092 -0.69 -194.6 785.6 -12.6 622 6095 0.00 1.10 0.00 0.000 4 0.000 0.052 2493 905 3657 0 0 0 0 0 0
6252 -0.69 -194.6 805.9 -12.7 629 6256 0.10 1.10 0.00 0.000 6 0.140 0.048 2521 1610 3656 0 0 0 0 0 0
6588 -0.72 -194.6 837.0 -8.8 645 6592 0.00 1.10 0.00 0.000 4 0.000 0.054 2521 917 3653 0 0 0 0 0 0
6680 -0.74 -194.6 845.5 -9.0 649 6683 0.00 1.08 0.00 0.000 6 0.000 0.049 2518 1610 3653 0 0 0 0 0 0
7015 -0.77 -194.6 876.0 -9.1 665 7019 0.00 1.12 0.00 0.000 4 0.000 0.056 2518 908 3651 0 0 0 0 0 0
7129 -0.79 -194.6 887.4 -10.2 670 7133 0.00 1.10 0.00 0.000 6 0.000 0.050 2513 1610 3650 0 0 0 0 0 0
7465 -0.82 -194.6 919.9 -9.6 686 7466 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 1610 3648 0 0 0 0 0 0
7772 -0.84 -194.6 948.3 -9.1 701 7776 0.12 1.12 0.00 0.000 4 0.090 0.058 2450 918 3646 0 0 0 0 0 0
7830 -0.80 -194.6 955.5 -13.8 703 7835 0.10 1.10 0.00 0.000 6 0.151 0.052 2476 1612 3646 0 0 0 0 0 0
8129 end dive: TARGET_DEPTH_EXCEEDED
state 8129 begin apogee
8135 -0.11 0.0 990.4 11.5 718 8308 0.70 0.00 166.50 1.440 6 0.126 0.000 2703 1784 2883 0 0 0 0 0 0
8309 end apogee: CONTROL_FINISHED_OK
state 8309 begin climb
8311 0.64 194.6 996.0 0.0 726 8504 0.70 1.20 179.88 1.389 4 0.066 0.061 2957 2475 2089 0 0 0 0 0 0
8610 0.61 194.6 962.5 14.9 739 8616 0.00 1.10 0.00 0.000 6 0.000 0.051 2961 1789 2084 0 0 0 0 0 0
8928 0.57 194.6 914.2 15.5 755 8933 0.12 1.08 0.00 0.000 4 0.182 0.061 2926 2477 2081 0 0 0 0 0 0
8996 0.57 194.6 904.7 12.7 758 9000 0.00 1.08 0.00 0.000 6 0.000 0.049 2929 1786 2079 0 0 0 0 0 0
9331 0.57 194.6 862.4 12.4 774 9335 0.00 1.10 0.00 0.000 4 0.000 0.054 2934 1065 2078 0 0 0 0 0 0
9376 0.57 194.6 856.6 12.1 776 9380 0.00 1.12 0.00 0.000 6 0.000 0.049 2933 1785 2078 0 0 0 0 0 0
9709 0.57 194.6 816.2 12.2 792 9713 0.00 1.08 0.00 0.000 4 0.000 0.060 2933 2482 2077 0 0 0 0 0 0
9780 0.57 194.6 807.6 12.6 795 9784 0.00 1.10 0.00 0.000 6 0.000 0.047 2936 1771 2076 0 0 0 0 0 0
10113 0.57 194.6 764.6 12.9 811 10114 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 1771 2075 0 0 0 0 0 0
10422 0.57 194.6 724.8 12.3 826 10423 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 1771 2075 0 0 0 0 0 0
10733 0.57 194.6 686.5 12.6 841 10737 0.00 1.10 0.00 0.000 4 0.000 0.057 2934 2482 2074 0 0 0 0 0 0
10817 0.57 194.6 675.6 12.4 844 10824 0.00 1.08 0.00 0.000 6 0.000 0.047 2937 1779 2074 0 0 0 0 0 0
11135 0.57 194.6 637.1 11.8 860 11138 0.00 1.10 0.00 0.000 4 0.000 0.057 2934 2486 2074 0 0 0 0 0 0
11218 0.59 212.0 627.0 11.1 863 11239 0.00 1.08 14.65 1.138 6 0.000 0.046 2937 1787 2019 0 0 0 0 0 0
11558 0.63 241.8 590.4 10.6 884 11593 0.00 1.15 28.17 1.161 4 0.000 0.050 2942 1074 1897 0 0 0 0 0 0
11645 0.66 250.3 580.7 11.4 891 11663 0.00 1.12 9.48 1.012 6 0.000 0.046 2942 1787 1863 0 0 0 0 0 0
11982 0.70 272.5 544.1 10.9 923 12008 0.00 1.05 21.67 1.100 4 0.000 0.053 2942 2489 1772 0 0 0 0 0 0
12066 0.76 302.9 535.0 10.6 930 12100 0.10 1.10 29.65 1.097 6 0.052 0.044 3011 1785 1649 0 0 0 0 0 0
12420 0.73 302.9 475.9 17.6 963 12424 0.12 1.10 0.00 0.000 4 0.173 0.054 2975 2478 1644 0 0 0 0 0 0
12460 0.73 302.9 469.2 15.6 966 12468 0.00 1.08 0.00 0.000 6 0.000 0.044 2978 1769 1643 0 0 0 0 0 0
12785 0.73 302.9 420.5 14.7 997 12789 0.00 1.10 0.00 0.000 4 0.000 0.052 2975 2485 1642 0 0 0 0 0 0
12823 0.73 302.9 414.8 14.2 1000 12830 0.00 1.05 0.00 0.000 6 0.000 0.043 2978 1787 1642 0 0 0 0 0 0
13149 0.73 302.9 369.2 13.9 1031 13152 0.00 1.08 0.00 0.000 4 0.000 0.051 2976 2489 1642 0 0 0 0 0 0
13205 0.74 302.9 361.2 13.3 1036 13209 0.00 1.08 0.00 0.000 6 0.000 0.043 2979 1780 1642 0 0 0 0 0 0
13537 0.74 302.9 321.0 11.8 1067 13540 0.00 1.05 0.00 0.000 4 0.000 0.048 2984 1078 1641 0 0 0 0 0 0
13572 0.76 307.3 316.9 11.6 1070 13585 0.00 1.08 4.10 0.596 6 0.000 0.041 2981 1791 1632 0 0 0 0 0 0
13904 0.84 365.3 282.5 9.4 1101 13968 0.10 0.00 53.65 0.900 6 0.103 0.000 3040 1791 1392 0 0 0 0 0 0
14283 0.81 365.3 219.3 17.7 1153 14291 0.12 1.12 0.00 0.000 4 0.166 0.046 3012 1081 1389 0 0 0 0 0 0
14300 0.79 365.3 216.3 17.2 1155 14308 0.00 1.08 0.00 0.000 6 0.000 0.040 3008 1783 1389 0 0 0 0 0 0
14628 0.80 365.3 172.1 13.3 1216 14636 0.00 1.05 0.00 0.000 4 0.000 0.048 3007 2484 1389 0 0 0 0 0 0
14706 0.83 365.3 162.4 12.3 1229 14714 0.00 1.08 0.00 0.000 6 0.000 0.041 3011 1777 1389 0 0 0 0 0 0
15034 0.84 365.3 121.3 12.1 1290 15043 0.00 1.08 0.00 0.000 4 0.000 0.045 3008 2483 1389 0 0 0 0 0 0
15067 0.87 371.0 117.1 11.6 1295 15083 0.00 1.08 5.97 0.573 6 0.000 0.041 3011 1776 1371 0 0 0 0 0 0
15406 1.01 445.7 81.2 8.8 1357 15483 0.15 1.12 64.62 0.705 4 0.075 0.045 3102 1068 1064 0 0 0 0 0 0
15635 1.01 445.7 42.8 13.1 1395 15643 0.08 1.08 0.00 0.000 6 0.133 0.036 3076 1794 1062 0 0 0 0 0 0
15968 1.04 455.2 3.5 11.4 1456 15977 0.00 0.00 7.18 0.513 2 0.000 0.000 3075 1795 1036 0 0 0 0 0 0
15977 end climb: SURFACE_DEPTH_REACHED
state 15978 begin surface coast
16008 end surface coast: CONTROL_FINISHED_OK
state 16008 begin surface