OKMC Aug11 * SG166 * Dive index * Mission links * Dive 512 * 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  0.015 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  30
DIVE  512 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  46 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  55 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  300 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  340 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  -25120.01 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  150 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  2760 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  081111,115837,2357.167,12144.979,35,0.9,35,-3.2 TGT_NAME  HUALIEN
_CALLS  2 TGT_LATLONG  2356.900,12142.000
_XMS_NAKs  0 TGT_RADIUS  1500.000
_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  -73.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  081111,120955,2357.327,12145.022,11,1.0,16,-3.2 MHEAD_RNG_PITCHd_Wd  249.9,5177,-19.8,-11.000
SPEED_LIMITS  0.191,0.268 D_GRID  1153

Post-dive calculations and measurements:
FINISH  1.5,1.021895 _10V_AH  9.8,85.103
SM_CCo  17687,67.03,0.556,1,0,1049,450.13 FG_AHR_24Vo  0.000
SM_GC  2.25,0.00,0.00,67.03,0.000,0.000,0.556,157,1590,1049,-8.14,-0.57,450.13,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2347.41,12144.33,081111,121226 MEM  324436
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  90153,1631
HUMID  44.13 CAP_FILE_SIZE  187929,0
INTERNAL_PRESSURE  9.30182 CFSIZE  260165632,101830656
TCM_TEMP  22.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  141 CURRENT  0.041, 8.4,1
_24V_AH  21.8,126.447 GPS  081111,170736,2356.831,12142.584,37,1.1,37,-3.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2021999.32 SBE_CT112324587.79
Roll_motor6670101.95 AA38301673331203.67
VBD_pump_during_apogee484145615396.24 WL_BB2F18531054242.73
VBD_pump_during_surface67556812.62 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init60103135.54 nil000.00
Iridium_during_connect56160197.74 nil000.00
Iridium_during_xfer2932231425.86 nil000.00
Transponder_ping35420322.75 nil000.00
GUMSTIX_24V000.00
GPS17508.67
TT8408219792.21
LPSleep90972195.26
TT8_Active64219124.75
TT8_Sampling4006391562.72
TT8_CF858245261.37
TT8_Kalman000.00
Analog_circuits212012249.36
GPS_charging000.00
Compass360515530.03
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 -0.62 -146.0 0.0 0.0 0 106 0.00 0.00 -86.30 0.000 2 0.000 0.000 143 1598 3157 0 0 0 0 0 0
111 -0.62 -146.0 6.2 -10.1 12 136 9.52 1.08 -6.12 0.000 4 0.220 0.066 2545 2302 3481 0 0 0 0 0 0
375 -0.58 -146.0 70.8 -14.6 60 384 0.00 1.02 0.00 0.000 6 0.000 0.037 2546 1609 3484 0 0 0 0 0 0
705 -0.56 -146.0 116.3 -12.6 121 713 0.10 1.05 0.00 0.000 4 0.177 0.042 2568 916 3484 0 0 0 0 0 0
777 -0.59 -146.0 124.5 -10.9 133 785 0.00 1.02 0.00 0.000 6 0.000 0.034 2567 1610 3484 0 0 0 0 0 0
1105 -0.63 -146.0 157.8 -9.6 194 1113 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 1610 3485 0 0 0 0 0 0
1433 -0.68 -146.0 187.6 -8.5 255 1441 0.00 1.05 0.00 0.000 4 0.000 0.041 2570 2307 3485 0 0 0 0 0 0
1466 -0.73 -146.0 190.6 -8.5 260 1474 0.10 1.05 0.00 0.000 6 0.042 0.037 2494 1604 3485 0 0 0 0 0 0
1798 -0.66 -146.0 236.5 -13.5 321 1806 0.17 1.05 0.00 0.000 4 0.160 0.042 2543 918 3485 0 0 0 0 0 0
1859 -0.66 -146.0 243.6 -11.3 331 1867 0.00 1.02 0.00 0.000 6 0.000 0.034 2541 1608 3485 0 0 0 0 0 0
2194 -0.66 -146.0 278.8 -10.0 367 2195 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 1608 3485 0 0 0 0 0 0
2515 -0.68 -146.0 312.5 -10.9 397 2521 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 1608 3484 0 0 0 0 0 0
2846 -0.71 -146.0 346.7 -9.9 428 2850 0.00 1.05 0.00 0.000 4 0.000 0.045 2532 2303 3482 0 0 0 0 0 0
2960 -0.74 -146.0 357.6 -8.9 438 2964 0.00 1.05 0.00 0.000 6 0.000 0.041 2526 1617 3482 0 0 0 0 0 0
3291 -0.76 -146.0 388.0 -9.3 469 3295 0.00 1.08 0.00 0.000 4 0.000 0.046 2525 918 3480 0 0 0 0 0 0
3365 -0.78 -146.0 395.9 -10.6 475 3372 0.00 1.05 0.00 0.000 6 0.000 0.041 2515 1602 3479 0 0 0 0 0 0
3691 -0.80 -146.0 426.5 -8.7 506 3695 0.00 1.08 0.00 0.000 4 0.000 0.048 2508 2302 3478 0 0 0 0 0 0
3796 -0.83 -146.0 434.9 -8.1 515 3800 0.00 1.08 0.00 0.000 6 0.000 0.044 2509 1607 3478 0 0 0 0 0 0
4127 -0.85 -146.0 464.2 -8.9 546 4129 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 1607 3475 0 0 0 0 0 0
4450 -0.87 -146.0 493.5 -9.4 576 4455 0.12 1.12 0.00 0.000 4 0.085 0.053 2453 2301 3473 0 0 0 0 0 0
4518 -0.80 -146.0 502.7 -13.6 582 4522 0.12 1.08 0.00 0.000 6 0.149 0.045 2495 1613 3472 0 0 0 0 0 0
4851 -0.78 -146.0 539.4 -10.4 613 4857 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 1613 3471 0 0 0 0 0 0
5179 -0.77 -146.0 574.7 -10.6 644 5183 0.00 1.10 0.00 0.000 4 0.000 0.052 2497 912 3468 0 0 0 0 0 0
5239 -0.75 -146.0 581.2 -11.0 649 5243 0.00 1.10 0.00 0.000 6 0.000 0.045 2494 1610 3468 0 0 0 0 0 0
5567 -0.74 -146.0 620.5 -12.2 672 5571 0.00 1.12 0.00 0.000 4 0.000 0.050 2494 913 3466 0 0 0 0 0 0
5631 -0.72 -146.0 628.6 -12.7 674 5639 0.10 1.10 0.00 0.000 6 0.147 0.047 2520 1608 3465 0 0 0 0 0 0
5949 -0.75 -146.0 660.8 -9.8 690 5953 0.00 1.10 0.00 0.000 4 0.000 0.054 2517 2313 3465 0 0 0 0 0 0
5987 -0.78 -146.0 664.6 -9.2 691 5994 0.00 1.10 0.00 0.000 6 0.000 0.047 2517 1615 3464 0 0 0 0 0 0
6306 -0.81 -146.0 695.6 -9.8 707 6310 0.00 1.10 0.00 0.000 4 0.000 0.052 2517 908 3462 0 0 0 0 0 0
6362 -0.83 -146.0 701.7 -10.1 709 6366 0.00 1.12 0.00 0.000 6 0.000 0.047 2512 1612 3462 0 0 0 0 0 0
6687 -0.85 -146.0 733.1 -10.0 725 6688 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 1612 3460 0 0 0 0 0 0
6994 -0.87 -146.0 765.4 -10.1 740 6995 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 1612 3459 0 0 0 0 0 0
7304 -0.90 -146.0 794.2 -9.3 755 7306 0.12 0.00 0.00 0.000 6 0.090 0.000 2451 1612 3457 0 0 0 0 0 0
7615 -0.84 -146.0 832.3 -12.8 770 7619 0.15 1.15 0.00 0.000 4 0.174 0.054 2492 917 3456 0 0 0 0 0 0
7732 -0.84 -146.0 845.4 -10.1 775 7736 0.00 1.10 0.00 0.000 6 0.000 0.049 2488 1606 3455 0 0 0 0 0 0
8063 -0.84 -146.0 877.5 -10.0 791 8066 0.00 1.10 0.00 0.000 4 0.000 0.057 2483 2302 3454 0 0 0 0 0 0
8124 -0.84 -146.0 883.9 -9.7 793 8131 0.00 1.10 0.00 0.000 6 0.000 0.048 2484 1612 3453 0 0 0 0 0 0
8443 -0.84 -146.0 915.8 -10.3 809 8444 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 1612 3452 0 0 0 0 0 0
8750 -0.84 -146.0 947.1 -10.2 824 8754 0.00 1.12 0.00 0.000 4 0.000 0.057 2483 912 3451 0 0 0 0 0 0
8905 -0.84 -146.0 963.9 -11.2 830 8912 0.00 1.12 0.00 0.000 6 0.000 0.050 2478 1610 3450 0 0 0 0 0 0
9157 end dive: TARGET_DEPTH_EXCEEDED
state 9157 begin apogee
9163 -0.11 0.0 991.5 11.0 843 9298 0.77 0.00 124.95 1.457 6 0.131 0.000 2712 1781 2884 0 0 0 0 0 0
9299 end apogee: CONTROL_FINISHED_OK
state 9299 begin climb
9301 0.62 146.0 995.9 0.0 849 9453 0.70 1.25 144.07 1.398 4 0.065 0.060 2957 2470 2287 0 0 0 0 0 0
9549 0.58 146.0 974.0 13.1 860 9553 0.00 1.17 0.00 0.000 6 0.000 0.049 2959 1786 2283 0 0 0 0 0 0
9870 0.53 146.0 934.0 12.0 876 9874 0.00 1.12 0.00 0.000 4 0.000 0.054 2965 1063 2279 0 0 0 0 0 0
9928 0.48 146.0 926.8 12.3 878 9933 0.15 1.15 0.00 0.000 6 0.160 0.050 2917 1783 2278 0 0 0 0 0 0
10250 0.52 180.1 895.8 9.3 894 10285 0.00 1.12 30.05 1.349 4 0.000 0.060 2916 2481 2149 0 0 0 0 0 0
10342 0.56 191.2 887.1 10.4 898 10358 0.00 1.12 11.77 1.216 6 0.000 0.048 2919 1770 2104 0 0 0 0 0 0
10673 0.61 199.5 852.5 10.6 913 10689 0.10 0.00 8.55 1.149 6 0.102 0.000 2971 1770 2070 0 0 0 0 0 0
11001 0.57 199.5 808.4 13.0 929 11002 0.00 0.00 0.00 0.000 6 0.000 0.000 2971 1770 2067 0 0 0 0 0 0
11307 0.53 199.5 766.4 13.9 944 11312 0.15 1.12 0.00 0.000 4 0.173 0.054 2937 1065 2066 0 0 0 0 0 0
11339 0.53 199.5 762.0 12.7 945 11343 0.00 1.12 0.00 0.000 6 0.000 0.047 2937 1774 2065 0 0 0 0 0 0
11664 0.53 200.8 725.6 10.9 961 11665 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 1774 2064 0 0 0 0 0 0
11971 0.57 212.6 693.1 10.4 976 11991 0.00 0.00 12.82 1.167 6 0.000 0.000 2937 1774 2016 0 0 0 0 0 0
12303 0.60 222.0 658.5 10.5 992 12320 0.00 0.00 9.93 1.097 6 0.000 0.000 2937 1774 1978 0 0 0 0 0 0
12631 0.66 252.0 627.4 9.5 1008 12664 0.10 1.12 28.20 1.194 4 0.103 0.048 2996 1061 1857 0 0 0 0 0 0
12724 0.63 252.0 614.7 14.7 1012 12729 0.08 1.15 0.00 0.000 6 0.159 0.047 2970 1791 1854 0 0 0 0 0 0
13047 0.63 252.0 573.3 12.7 1037 13048 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 1791 1852 0 0 0 0 0 0
13369 0.63 252.0 532.5 12.8 1067 13373 0.00 1.12 0.00 0.000 4 0.000 0.048 2974 1071 1850 0 0 0 0 0 0
13430 0.63 252.0 524.0 13.0 1072 13438 0.00 1.12 0.00 0.000 6 0.000 0.046 2971 1787 1850 0 0 0 0 0 0
13756 0.63 252.0 483.0 12.6 1103 13760 0.00 1.08 0.00 0.000 4 0.000 0.054 2967 2479 1850 0 0 0 0 0 0
13790 0.63 252.0 478.7 12.6 1106 13794 0.00 1.10 0.00 0.000 6 0.000 0.044 2970 1774 1850 0 0 0 0 0 0
14121 0.63 252.0 436.9 11.8 1137 14125 0.00 1.08 0.00 0.000 4 0.000 0.050 2975 1076 1849 0 0 0 0 0 0
14201 0.63 252.0 426.6 12.4 1144 14205 0.00 1.10 0.00 0.000 6 0.000 0.044 2972 1782 1848 0 0 0 0 0 0
14532 0.63 252.0 383.6 12.8 1175 14535 0.00 1.12 0.00 0.000 4 0.000 0.049 2975 1072 1848 0 0 0 0 0 0
14577 0.63 252.0 377.6 13.1 1179 14581 0.00 1.10 0.00 0.000 6 0.000 0.044 2972 1774 1848 0 0 0 0 0 0
14908 0.65 252.0 338.8 11.3 1210 14910 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 1774 1848 0 0 0 0 0 0
15229 0.67 252.0 304.6 11.2 1240 15232 0.00 1.10 0.00 0.000 4 0.000 0.047 2975 1080 1848 0 0 0 0 0 0
15312 0.69 252.0 295.6 11.1 1247 15316 0.00 1.10 0.00 0.000 6 0.000 0.043 2972 1786 1848 0 0 0 0 0 0
15644 0.75 270.3 260.8 10.1 1278 15668 0.00 1.12 16.88 0.890 4 0.000 0.049 2975 1075 1781 0 0 0 0 0 0
15745 0.83 306.1 251.5 9.2 1286 15789 0.12 1.10 33.35 0.907 6 0.054 0.042 3050 1790 1635 0 0 0 0 0 0
16110 0.76 306.1 193.1 17.8 1351 16119 0.17 1.08 0.00 0.000 4 0.163 0.050 2999 2484 1631 0 0 0 0 0 0
16143 0.76 306.1 187.6 16.8 1356 16152 0.00 1.08 0.00 0.000 6 0.000 0.042 3002 1783 1630 0 0 0 0 0 0
16473 0.78 306.1 142.2 13.5 1417 16481 0.00 1.08 0.00 0.000 4 0.000 0.047 3008 1077 1630 0 0 0 0 0 0
16498 0.79 306.1 139.0 13.5 1420 16507 0.00 1.08 0.00 0.000 6 0.000 0.041 3004 1781 1630 0 0 0 0 0 0
16829 0.85 326.0 99.5 10.0 1481 16852 0.00 1.15 18.02 0.747 4 0.000 0.046 3009 1062 1554 0 0 0 0 0 0
16976 0.90 326.0 82.6 12.1 1507 16985 0.10 1.10 0.00 0.000 6 0.056 0.039 3072 1789 1553 0 0 0 0 0 0
17307 0.90 326.0 34.3 12.8 1568 17316 0.00 1.10 0.00 0.000 4 0.000 0.045 3078 1071 1553 0 0 0 0 0 0
17481 1.00 379.1 17.8 8.3 1599 17534 0.00 1.08 46.28 0.699 6 0.000 0.038 3078 1780 1337 0 0 0 0 0 0
17637 end climb: SURFACE_DEPTH_REACHED
state 17637 begin surface coast
17670 end surface coast: CONTROL_FINISHED_OK
state 17670 begin surface