OKMC Aug11 * SG166 * Dive index * Mission links * Dive 466 * 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  466 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  39 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  72 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  270 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  300 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  -24993.539 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  311011,071206,2329.715,12234.414,36,1.6,36,-3.2 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  1.96 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -64.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  311011,072055,2329.831,12234.451,37,1.7,43,-3.2 MHEAD_RNG_PITCHd_Wd  213.6,126606,-18.6,-12.222
SPEED_LIMITS  0.212,0.316 D_GRID  3596

Post-dive calculations and measurements:
FINISH  1.6,1.022073 _10V_AH  9.7,77.855
SM_CCo  15860,0.00,0.000,0,0,522,579.40 FG_AHR_24Vo  0.000
SM_GC  1.95,7.75,0.00,0.00,0.037,0.000,0.000,150,1588,522,-8.03,-0.65,579.40,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2321.52,12232.96,311011,020207 MEM  324708
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83535,1466
HUMID  42.04 CAP_FILE_SIZE  170363,0
INTERNAL_PRESSURE  9.36041 CFSIZE  260165632,105852928
TCM_TEMP  24.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  136 CURRENT  0.249, 30.6,1
_24V_AH  22.4,114.383 GPS  311011,114707,2329.541,12234.241,37,1.8,49,-3.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2021497.52 SBE_CT100124538.58
Roll_motor636897.35 AA38301502331110.40
VBD_pump_during_apogee686145022288.85 WL_BB2F17141054032.43
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2510358.60 nil000.00
Iridium_during_connect1716061.05 nil000.00
Iridium_during_xfer2922231463.08 nil000.00
Transponder_ping34420319.87 nil000.00
GUMSTIX_24V000.00
GPS435021.33
TT8362019695.40
LPSleep78792167.39
TT8_Active69419133.39
TT8_Sampling3631391401.85
TT8_CF854345241.66
TT8_Kalman000.00
Analog_circuits211012245.65
GPS_charging000.00
Compass332115483.23
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
17 end surface: CONTROL_FINISHED_OK
state 17 begin dive
20 -0.65 -194.6 0.0 0.0 0 123 0.00 0.00 -100.00 0.000 2 0.000 0.000 118 1638 3238 0 0 0 0 0 0
126 -0.65 -194.6 5.6 -6.4 14 150 9.43 1.00 -8.50 0.000 4 0.214 0.069 2518 2297 3681 0 0 0 0 0 0
350 -0.56 -194.6 78.0 -27.0 54 358 0.12 1.05 0.00 0.000 6 0.138 0.039 2570 1593 3682 0 0 0 0 0 0
677 -0.56 -194.6 127.4 -11.9 115 685 0.00 1.00 0.00 0.000 4 0.000 0.043 2556 917 3684 0 0 0 0 0 0
740 -0.56 -194.6 134.9 -12.2 125 748 0.00 1.00 0.00 0.000 6 0.000 0.038 2553 1584 3684 0 0 0 0 0 0
1070 -0.56 -194.6 175.5 -12.4 186 1078 0.00 1.08 0.00 0.000 4 0.000 0.044 2549 2311 3684 0 0 0 0 0 0
1172 -0.57 -194.6 187.8 -12.2 204 1181 0.00 1.05 0.00 0.000 6 0.000 0.042 2551 1619 3684 0 0 0 0 0 0
1502 -0.57 -194.6 229.8 -12.8 265 1510 0.00 1.05 0.00 0.000 4 0.000 0.047 2559 2306 3684 0 0 0 0 0 0
1545 -0.59 -194.6 235.5 -12.5 272 1554 0.00 1.05 0.00 0.000 6 0.000 0.044 2560 1615 3684 0 0 0 0 0 0
1878 -0.60 -194.6 276.8 -12.5 314 1882 0.00 1.05 0.00 0.000 4 0.000 0.048 2556 2298 3684 0 0 0 0 0 0
1938 -0.63 -194.6 283.9 -11.3 319 1945 0.00 1.05 0.00 0.000 6 0.000 0.043 2556 1607 3684 0 0 0 0 0 0
2265 -0.64 -194.6 322.7 -11.6 350 2269 0.00 1.08 0.00 0.000 4 0.000 0.047 2547 2312 3684 0 0 0 0 0 0
2304 -0.66 -194.6 328.1 -12.5 353 2311 0.00 1.05 0.00 0.000 6 0.000 0.042 2546 1615 3684 0 0 0 0 0 0
2630 -0.68 -194.6 366.4 -10.9 384 2634 0.00 1.05 0.00 0.000 4 0.000 0.050 2532 2298 3682 0 0 0 0 0 0
2699 -0.70 -194.6 373.1 -9.4 390 2703 0.00 1.05 0.00 0.000 6 0.000 0.044 2532 1604 3681 0 0 0 0 0 0
3030 -0.72 -194.6 404.0 -9.2 421 3034 0.00 1.08 0.00 0.000 4 0.000 0.049 2524 2302 3680 0 0 0 0 0 0
3069 -0.75 -194.6 407.5 -8.5 424 3077 0.00 1.05 0.00 0.000 6 0.000 0.044 2523 1612 3680 0 0 0 0 0 0
3395 -0.77 -194.6 441.6 -12.4 455 3396 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 1612 3679 0 0 0 0 0 0
3716 -0.79 -194.6 483.1 -12.3 485 3722 0.15 0.00 0.00 0.000 6 0.075 0.000 2462 1612 3676 0 0 0 0 0 0
4041 -0.74 -194.6 538.9 -15.8 516 4046 0.15 1.10 0.00 0.000 4 0.162 0.053 2499 2300 3675 0 0 0 0 0 0
4091 -0.74 -194.6 545.5 -11.9 520 4099 0.00 1.08 0.00 0.000 6 0.000 0.046 2500 1602 3674 0 0 0 0 0 0
4416 -0.74 -194.6 584.7 -11.0 551 4420 0.00 1.05 0.00 0.000 4 0.000 0.050 2500 913 3672 0 0 0 0 0 0
4569 -0.74 -194.6 601.0 -11.2 564 4572 0.00 1.08 0.00 0.000 6 0.000 0.046 2494 1610 3670 0 0 0 0 0 0
4890 -0.74 -194.6 637.0 -11.4 580 4894 0.00 1.12 0.00 0.000 4 0.000 0.050 2494 909 3667 0 0 0 0 0 0
4929 -0.74 -194.6 641.9 -12.2 581 4936 0.00 1.10 0.00 0.000 6 0.000 0.047 2490 1612 3667 0 0 0 0 0 0
5248 -0.74 -194.6 680.1 -12.1 597 5252 0.00 1.10 0.00 0.000 4 0.000 0.050 2489 913 3665 0 0 0 0 0 0
5298 -0.74 -194.6 687.0 -12.5 599 5302 0.00 1.08 0.00 0.000 6 0.000 0.047 2484 1605 3664 0 0 0 0 0 0
5626 -0.73 -194.6 730.8 -14.1 615 5630 0.00 1.08 0.00 0.000 4 0.000 0.054 2479 2303 3662 0 0 0 0 0 0
5661 -0.73 -194.6 735.6 -13.5 616 5664 0.00 1.08 0.00 0.000 6 0.000 0.048 2479 1613 3661 0 0 0 0 0 0
5982 -0.72 -194.6 779.3 -13.1 632 5984 0.12 0.00 0.00 0.000 6 0.164 0.000 2513 1613 3659 0 0 0 0 0 0
6295 -0.74 -194.6 808.7 -8.9 647 6296 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 1613 3657 0 0 0 0 0 0
6601 -0.76 -194.6 835.8 -8.8 662 6603 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 1612 3655 0 0 0 0 0 0
6911 -0.79 -194.6 865.6 -10.0 677 6915 0.00 1.10 0.00 0.000 4 0.000 0.060 2509 2302 3653 0 0 0 0 0 0
6947 -0.82 -194.6 869.2 -10.1 678 6951 0.00 1.08 0.00 0.000 6 0.000 0.050 2510 1618 3652 0 0 0 0 0 0
7269 -0.84 -194.6 903.0 -10.8 694 7271 0.10 0.00 0.00 0.000 6 0.103 0.000 2457 1618 3650 0 0 0 0 0 0
7581 -0.81 -194.6 948.5 -15.1 709 7584 0.00 1.10 0.00 0.000 4 0.000 0.057 2457 911 3649 0 0 0 0 0 0
7746 -0.79 -194.6 974.5 -15.7 716 7750 0.10 1.10 0.00 0.000 6 0.152 0.053 2483 1604 3648 0 0 0 0 0 0
7864 end dive: TARGET_DEPTH_EXCEEDED
state 7864 begin apogee
7872 -0.11 0.0 990.4 12.6 722 8043 0.70 0.00 165.30 1.450 6 0.128 0.000 2704 1793 2884 0 0 0 0 0 0
8043 end apogee: CONTROL_FINISHED_OK
state 8043 begin climb
8048 0.65 194.6 997.8 0.0 730 8241 0.73 1.15 182.07 1.390 4 0.069 0.057 2960 2485 2088 0 0 0 0 0 0
8289 0.63 194.6 976.1 12.7 741 8293 0.00 1.15 0.00 0.000 6 0.000 0.051 2964 1786 2085 0 0 0 0 0 0
8622 0.61 198.7 934.2 12.1 757 8624 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 1786 2080 0 0 0 0 0 0
8934 0.58 198.7 894.6 13.0 772 8938 0.12 1.12 0.00 0.000 4 0.181 0.060 2930 2473 2078 0 0 0 0 0 0
8991 0.62 229.8 887.5 10.9 774 9026 0.00 1.10 31.40 1.333 6 0.000 0.048 2932 1772 1947 0 0 0 0 0 0
9341 0.63 230.6 847.1 12.2 791 9342 0.00 0.00 0.00 0.000 6 0.000 0.000 2932 1772 1940 0 0 0 0 0 0
9644 0.64 230.6 808.3 13.0 806 9648 0.00 1.12 0.00 0.000 4 0.000 0.058 2932 2481 1939 0 0 0 0 0 0
9700 0.66 230.6 800.6 13.6 808 9703 0.00 1.10 0.00 0.000 6 0.000 0.047 2937 1779 1938 0 0 0 0 0 0
10023 0.66 230.6 757.5 13.5 824 10027 0.00 1.10 0.00 0.000 4 0.000 0.057 2936 2482 1938 0 0 0 0 0 0
10073 0.67 230.6 750.1 13.4 826 10077 0.00 1.10 0.00 0.000 6 0.000 0.047 2939 1776 1938 0 0 0 0 0 0
10400 0.67 230.6 705.9 13.3 842 10402 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 1776 1937 0 0 0 0 0 0
10712 0.67 230.6 666.6 12.5 857 10716 0.00 1.10 0.00 0.000 4 0.000 0.055 2936 2480 1936 0 0 0 0 0 0
10859 0.70 238.8 648.7 11.9 863 10872 0.00 1.10 7.95 1.043 6 0.000 0.046 2940 1765 1910 0 0 0 0 0 0
11185 0.75 271.6 612.1 10.8 879 11222 0.15 1.12 31.83 1.187 4 0.080 0.051 3027 1072 1775 0 0 0 0 0 0
11302 0.71 271.6 593.1 16.9 885 11307 0.15 1.10 0.00 0.000 6 0.153 0.046 2981 1780 1772 0 0 0 0 0 0
11633 0.69 271.6 548.9 13.1 916 11634 0.00 0.00 0.00 0.000 6 0.000 0.000 2980 1780 1770 0 0 0 0 0 0
11955 0.69 271.6 505.0 13.6 946 11958 0.00 1.08 0.00 0.000 4 0.000 0.054 2976 2474 1770 0 0 0 0 0 0
12057 0.69 271.6 491.1 12.8 955 12061 0.00 1.05 0.00 0.000 6 0.000 0.044 2979 1789 1769 0 0 0 0 0 0
12388 0.69 271.6 450.4 12.3 986 12392 0.00 1.08 0.00 0.000 4 0.000 0.049 2984 1077 1769 0 0 0 0 0 0
12494 0.72 291.2 438.0 11.4 995 12516 0.00 1.08 18.27 1.027 6 0.000 0.044 2981 1778 1696 0 0 0 0 0 0
12837 0.78 343.9 402.5 10.0 1027 12893 0.00 1.10 48.28 1.030 4 0.000 0.054 2980 2476 1482 0 0 0 0 0 0
12964 0.87 395.0 389.5 10.1 1038 13022 0.08 1.08 47.12 0.999 6 0.055 0.044 3040 1777 1272 0 0 0 0 0 0
13340 0.85 395.0 325.5 18.0 1073 13344 0.00 1.08 0.00 0.000 4 0.000 0.049 3040 2482 1268 0 0 0 0 0 0
13390 0.83 395.0 316.3 17.0 1077 13397 0.08 1.08 0.00 0.000 6 0.155 0.043 3020 1782 1267 0 0 0 0 0 0
13717 0.83 395.0 268.1 14.9 1108 13721 0.00 1.08 0.00 0.000 4 0.000 0.047 3024 1067 1267 0 0 0 0 0 0
13790 0.83 395.0 257.3 14.0 1114 13799 0.00 1.08 0.00 0.000 6 0.000 0.040 3020 1782 1266 0 0 0 0 0 0
14116 0.83 395.0 214.1 13.4 1170 14125 0.00 1.08 0.00 0.000 4 0.000 0.046 3023 1078 1266 0 0 0 0 0 0
14154 0.84 395.0 208.7 13.6 1176 14162 0.00 1.05 0.00 0.000 6 0.000 0.040 3020 1780 1266 0 0 0 0 0 0
14485 0.85 395.0 163.6 13.2 1237 14493 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1780 1266 0 0 0 0 0 0
14810 0.88 395.0 125.3 12.8 1298 14819 0.00 1.08 0.00 0.000 4 0.000 0.046 3024 1075 1266 0 0 0 0 0 0
14967 0.94 414.8 104.8 11.4 1326 14991 0.00 1.05 17.77 0.718 6 0.000 0.037 3020 1785 1191 0 0 0 0 0 0
15314 1.23 576.0 75.3 5.4 1389 15461 0.28 1.17 136.02 0.711 4 0.052 0.046 3170 1067 533 0 0 0 0 0 0
15496 1.19 576.0 46.2 17.7 1414 15505 0.12 1.08 0.00 0.000 6 0.143 0.036 3132 1786 527 0 0 0 0 0 0
15760 end climb: SURFACE_DEPTH_REACHED
state 15760 begin surface coast
15778 end surface coast: CONTROL_FINISHED_OK
state 15782 begin surface