OKMC Aug11 * SG166 * Dive index * Mission links * Dive 375 * 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  375 HEADING  240 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  49 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  52 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  240 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  270 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  -9 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24871.355 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  300 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  0 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  141011,171556,2346.567,12358.700,36,2.6,55,-3.4 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2341.133,12348.652
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.95 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  141011,172304,2346.532,12358.865,15,2.4,34,-3.4 MHEAD_RNG_PITCHd_Wd  243.4,20000,-16.7,-13.750
SPEED_LIMITS  0.238,0.395 D_GRID  2987

Post-dive calculations and measurements:
FINISH  1.3,1.021168 _10V_AH  9.8,63.491
SM_CCo  15291,0.00,0.000,0,0,435,600.74 FG_AHR_24Vo  0.000
SM_GC  1.96,7.85,0.00,0.00,0.036,0.000,0.000,144,1602,435,-8.04,-0.17,600.74,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2337.99,12356.43,141011,131316 MEM  330448
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  80324,1461
HUMID  41.02 CAP_FILE_SIZE  175457,0
INTERNAL_PRESSURE  9.34088 CFSIZE  260165632,113770496
TCM_TEMP  24.00 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  129 GPS  141011,213936,2345.642,12359.154,40,1.6,40,-3.4
_24V_AH  22.9,89.968

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20221105.93 SBE_CT99724547.98
Roll_motor6868107.88 AA38301494331129.71
VBD_pump_during_apogee790143025891.55 WL_BB2F18381054421.67
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init4110397.15 nil000.00
Iridium_during_connect1716064.37 nil000.00
Iridium_during_xfer187223955.00 nil000.00
Transponder_ping32420310.18 nil000.00
GUMSTIX_24V000.00
GPS365017.88
TT8343319666.32
LPSleep73662158.10
TT8_Active79819154.88
TT8_Sampling3608391407.53
TT8_CF849245220.97
TT8_Kalman000.00
Analog_circuits221912260.96
GPS_charging000.00
Compass335115492.66
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 -0.73 -292.0 0.0 0.0 0 133 0.00 0.00 -113.45 0.000 2 0.000 0.000 130 1600 3178 0 0 0 0 0 0
136 -0.73 -292.0 6.6 -10.9 16 167 9.43 1.02 -14.15 0.000 4 0.222 0.063 2503 898 3962 0 0 0 0 0 0
177 -0.33 -292.0 26.0 -44.0 21 186 0.45 1.05 0.00 0.000 6 0.167 0.033 2630 1613 3964 0 0 0 0 0 0
500 -0.36 -292.0 80.0 -11.4 82 508 0.00 1.05 0.00 0.000 4 0.000 0.040 2628 911 3965 0 0 0 0 0 0
644 -0.43 -292.0 94.0 -9.5 108 652 0.00 1.02 0.00 0.000 6 0.000 0.035 2625 1610 3965 0 0 0 0 0 0
966 -0.51 -292.0 122.6 -7.9 169 974 0.12 1.02 0.00 0.000 4 0.082 0.041 2525 2306 3966 0 0 0 0 0 0
1073 -0.49 -292.0 136.6 -14.0 188 1082 0.17 1.02 0.00 0.000 6 0.119 0.037 2583 1606 3966 0 0 0 0 0 0
1399 -0.54 -292.0 169.8 -10.8 249 1407 0.00 1.02 0.00 0.000 4 0.000 0.042 2580 2297 3967 0 0 0 0 0 0
1561 -0.60 -292.0 186.8 -9.9 278 1569 0.00 1.00 0.00 0.000 6 0.000 0.037 2580 1622 3966 0 0 0 0 0 0
1886 -0.66 -292.0 217.8 -9.3 339 1895 0.12 1.02 0.00 0.000 4 0.080 0.042 2487 2300 3966 0 0 0 0 0 0
1979 -0.62 -292.0 231.5 -15.5 356 1988 0.15 1.02 0.00 0.000 6 0.128 0.039 2538 1608 3966 0 0 0 0 0 0
2314 -0.62 -292.0 272.8 -12.9 401 2317 0.00 1.05 0.00 0.000 4 0.000 0.046 2535 2298 3966 0 0 0 0 0 0
2405 -0.64 -292.0 283.6 -11.4 409 2409 0.00 1.02 0.00 0.000 6 0.000 0.040 2536 1611 3966 0 0 0 0 0 0
2736 -0.66 -292.0 322.0 -10.8 440 2739 0.00 1.02 0.00 0.000 4 0.000 0.047 2531 2294 3965 0 0 0 0 0 0
2820 -0.69 -292.0 330.7 -9.9 447 2826 0.00 1.02 0.00 0.000 6 0.000 0.040 2531 1606 3965 0 0 0 0 0 0
3146 -0.71 -292.0 369.9 -12.5 478 3150 0.00 1.05 0.00 0.000 4 0.000 0.047 2526 2296 3963 0 0 0 0 0 0
3262 -0.73 -292.0 383.7 -12.0 488 3267 0.00 1.02 0.00 0.000 6 0.000 0.041 2526 1616 3962 0 0 0 0 0 0
3594 -0.75 -292.0 427.7 -13.2 519 3595 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 1616 3961 0 0 0 0 0 0
3916 -0.77 -292.0 462.9 -9.5 549 3920 0.00 1.02 0.00 0.000 4 0.000 0.049 2522 2289 3959 0 0 0 0 0 0
3985 -0.81 -292.0 469.3 -8.6 555 3990 0.08 1.02 0.00 0.000 6 0.050 0.043 2461 1611 3958 0 0 0 0 0 0
4316 -0.76 -292.0 520.2 -16.3 586 4320 0.00 1.08 0.00 0.000 4 0.000 0.049 2476 907 3956 0 0 0 0 0 0
4351 -0.73 -292.0 525.9 -16.8 589 4356 0.10 1.05 0.00 0.000 6 0.140 0.044 2504 1587 3956 0 0 0 0 0 0
4682 -0.73 -292.0 573.4 -14.7 620 4686 0.00 1.10 0.00 0.000 4 0.000 0.052 2501 2313 3954 0 0 0 0 0 0
4797 -0.73 -292.0 588.8 -13.3 630 4801 0.00 1.08 0.00 0.000 6 0.000 0.044 2500 1609 3952 0 0 0 0 0 0
5123 -0.73 -292.0 634.1 -13.2 649 5127 0.00 1.10 0.00 0.000 4 0.000 0.053 2496 2317 3950 0 0 0 0 0 0
5192 -0.73 -292.0 642.6 -11.7 652 5195 0.00 1.08 0.00 0.000 6 0.000 0.044 2495 1609 3949 0 0 0 0 0 0
5527 -0.73 -292.0 684.9 -12.6 668 5530 0.00 1.10 0.00 0.000 4 0.000 0.054 2491 2316 3947 0 0 0 0 0 0
5599 -0.73 -292.0 694.2 -11.9 671 5603 0.00 1.08 0.00 0.000 6 0.000 0.045 2491 1610 3946 0 0 0 0 0 0
5926 -0.73 -292.0 738.8 -13.9 687 5930 0.00 1.10 0.00 0.000 4 0.000 0.054 2491 906 3943 0 0 0 0 0 0
5978 -0.73 -292.0 746.4 -14.9 689 5982 0.00 1.10 0.00 0.000 6 0.000 0.047 2486 1619 3942 0 0 0 0 0 0
6305 -0.72 -292.0 793.1 -13.8 705 6306 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 1619 3940 0 0 0 0 0 0
6617 -0.72 -292.0 833.9 -12.9 720 6620 0.00 1.05 0.00 0.000 4 0.000 0.057 2481 2303 3937 0 0 0 0 0 0
6655 -0.72 -292.0 839.6 -13.1 721 6663 0.08 1.05 0.00 0.000 6 0.135 0.049 2507 1616 3937 0 0 0 0 0 0
6974 -0.74 -292.0 874.3 -10.9 737 6977 0.00 1.08 0.00 0.000 4 0.000 0.059 2505 2302 3934 0 0 0 0 0 0
7032 -0.77 -292.0 880.2 -9.7 739 7035 0.00 1.08 0.00 0.000 6 0.000 0.049 2505 1607 3934 0 0 0 0 0 0
7354 -0.79 -292.0 914.9 -10.7 755 7355 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 1607 3932 0 0 0 0 0 0
7665 -0.81 -292.0 947.4 -10.3 770 7669 0.00 1.10 0.00 0.000 4 0.000 0.060 2500 2300 3929 0 0 0 0 0 0
7721 -0.83 -292.0 953.2 -9.5 772 7725 0.00 1.08 0.00 0.000 6 0.000 0.050 2500 1612 3929 0 0 0 0 0 0
8044 -0.85 -292.0 984.4 -9.6 788 8045 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 1612 3928 0 0 0 0 0 0
8102 end dive: TARGET_DEPTH_EXCEEDED
state 8102 begin apogee
8111 -0.11 0.0 990.1 9.3 791 8345 0.62 0.00 227.10 1.431 6 0.119 0.000 2704 1783 2883 0 0 0 0 0 0
8350 end apogee: CONTROL_FINISHED_OK
state 8350 begin climb
8352 0.73 292.0 997.8 0.0 802 8626 0.75 0.00 268.58 1.374 6 0.057 0.000 2983 1783 1692 0 0 0 0 0 0
8927 0.69 292.0 903.2 18.6 830 8930 0.00 1.10 0.00 0.000 4 0.000 0.055 2988 1083 1687 0 0 0 0 0 0
8956 0.65 292.0 897.6 18.8 831 8960 0.08 1.10 0.00 0.000 6 0.154 0.051 2961 1780 1686 0 0 0 0 0 0
9287 0.63 292.0 846.4 14.7 847 9290 0.00 1.08 0.00 0.000 4 0.000 0.059 2958 2480 1685 0 0 0 0 0 0
9348 0.63 293.8 837.1 13.7 849 9355 0.00 1.08 0.00 0.000 6 0.000 0.048 2960 1782 1685 0 0 0 0 0 0
9666 0.64 312.3 795.1 13.2 865 9688 0.00 0.00 19.33 1.243 6 0.000 0.000 2961 1782 1611 0 0 0 0 0 0
9993 0.66 334.4 752.2 13.0 881 10017 0.00 0.00 22.30 1.233 6 0.000 0.000 2961 1782 1520 0 0 0 0 0 0
10325 0.68 345.3 708.0 13.4 897 10340 0.00 1.05 11.10 1.122 4 0.000 0.048 2965 1071 1476 0 0 0 0 0 0
10368 0.69 358.7 701.6 13.3 898 10386 0.00 1.12 14.38 1.151 6 0.000 0.046 2966 1791 1420 0 0 0 0 0 0
10698 0.70 366.4 657.3 13.5 914 10711 0.00 1.10 8.32 1.027 4 0.000 0.056 2966 2489 1390 0 0 0 0 0 0
10765 0.72 377.4 647.7 13.4 917 10781 0.00 1.10 11.98 1.096 6 0.000 0.046 2969 1782 1345 0 0 0 0 0 0
11094 0.72 377.4 599.8 14.7 932 11097 0.00 1.08 0.00 0.000 4 0.000 0.050 2974 1071 1342 0 0 0 0 0 0
11112 0.72 377.4 596.7 15.0 933 11118 0.00 1.10 0.00 0.000 6 0.000 0.044 2974 1789 1342 0 0 0 0 0 0
11437 0.74 395.2 551.0 13.2 964 11460 0.00 1.10 17.42 1.092 4 0.000 0.054 2973 2488 1273 0 0 0 0 0 0
11511 0.79 426.3 541.9 12.8 970 11545 0.00 1.10 29.67 1.110 6 0.000 0.044 2977 1779 1145 0 0 0 0 0 0
11865 0.79 430.9 494.9 13.6 1003 11877 0.00 1.10 5.38 0.805 4 0.000 0.047 2983 1067 1126 0 0 0 0 0 0
11925 0.79 430.9 486.3 14.3 1008 11929 0.00 1.10 0.00 0.000 6 0.000 0.044 2982 1783 1125 0 0 0 0 0 0
12259 0.80 430.9 436.9 15.5 1039 12263 0.00 1.05 0.00 0.000 4 0.000 0.052 2982 2484 1125 0 0 0 0 0 0
12339 0.85 448.6 425.4 13.2 1046 12362 0.00 1.08 17.12 0.990 6 0.000 0.043 2986 1779 1054 0 0 0 0 0 0
12681 0.88 457.6 378.0 13.5 1078 12694 0.12 1.10 9.35 0.872 4 0.088 0.047 3061 1074 1017 0 0 0 0 0 0
12722 0.83 457.6 370.1 19.1 1081 12730 0.15 1.08 0.00 0.000 6 0.142 0.042 3014 1784 1016 0 0 0 0 0 0
13048 0.82 457.6 317.4 16.1 1112 13051 0.00 1.02 0.00 0.000 4 0.000 0.049 3010 2475 1015 0 0 0 0 0 0
13132 0.85 472.9 305.4 13.3 1119 13153 0.00 1.05 14.85 0.873 6 0.000 0.042 3013 1780 954 0 0 0 0 0 0
13472 0.85 477.7 256.7 13.6 1151 13484 0.00 1.02 5.62 0.667 4 0.000 0.043 3018 1069 934 0 0 0 0 0 0
13520 0.85 477.7 250.1 14.1 1155 13524 0.00 1.05 0.00 0.000 6 0.000 0.038 3016 1774 934 0 0 0 0 0 0
13841 0.85 477.7 203.0 14.4 1215 13849 0.00 1.02 0.00 0.000 4 0.000 0.047 3016 2473 933 0 0 0 0 0 0
13875 0.87 477.7 198.4 14.7 1220 13883 0.00 1.05 0.00 0.000 6 0.000 0.041 3019 1776 933 0 0 0 0 0 0
14198 0.88 477.7 154.1 13.9 1281 14206 0.00 1.05 0.00 0.000 4 0.000 0.045 3024 1065 933 0 0 0 0 0 0
14251 0.94 505.6 146.8 12.9 1290 14281 0.00 1.05 25.20 0.763 6 0.000 0.037 3024 1783 822 0 0 0 0 0 0
14600 1.15 634.4 109.2 9.7 1354 14692 0.25 1.12 82.65 0.734 4 0.054 0.040 3163 1072 454 0 0 0 0 0 0
14761 1.09 634.4 71.0 23.1 1379 14770 0.17 1.05 0.00 0.000 6 0.138 0.036 3103 1784 446 0 0 0 0 0 0
15086 1.20 692.7 23.1 11.9 1440 15094 0.00 1.00 0.00 0.000 4 0.000 0.044 3102 2471 438 0 0 0 0 0 0
15120 1.31 748.1 18.9 12.0 1445 15129 0.15 1.05 0.00 0.000 6 0.041 0.039 3188 1766 438 0 0 0 0 0 0
15196 end climb: SURFACE_DEPTH_REACHED
state 15196 begin surface coast
15213 end surface coast: CONTROL_FINISHED_OK
state 15213 begin surface