OKMC Aug11 * SG166 * Dive index * Mission links * Dive 511 * 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  511 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  51 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  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  -25118.752 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  081111,070007,2357.585,12146.667,38,1.0,38,-3.2 TGT_NAME  HUALIEN
_CALLS  1 TGT_LATLONG  2356.900,12142.000
_XMS_NAKs  0 TGT_RADIUS  1500.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.17 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  081111,070819,2357.756,12146.723,11,1.1,16,-3.2 MHEAD_RNG_PITCHd_Wd  240.4,8149,-19.8,-11.000
SPEED_LIMITS  0.191,0.268 D_GRID  1720

Post-dive calculations and measurements:
FINISH  1.3,1.010171 _10V_AH  9.7,84.920
SM_CCo  17306,13.27,0.067,0,0,1049,450.13 FG_AHR_24Vo  0.000
SM_GC  1.86,0.00,0.00,13.27,0.000,0.000,0.067,129,1599,1049,-8.22,-0.31,450.13,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2347.41,12146.33,081111,010147 MEM  324396
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  93397,1646
HUMID  43.42 CAP_FILE_SIZE  181618,0
INTERNAL_PRESSURE  9.32135 CFSIZE  260165632,101933056
TCM_TEMP  23.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  129 CURRENT  0.084, 27.9,1
_24V_AH  21.7,126.242 GPS  081111,115837,2357.167,12144.979,35,0.9,35,-3.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20225102.47 SBE_CT113124589.38
Roll_motor6870104.46 AA38301685331207.15
VBD_pump_during_apogee534146817024.04 WL_BB2F19951054546.48
VBD_pump_during_surface136619.17 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010369.21 nil000.00
Iridium_during_connect60160209.41 nil000.00
Iridium_during_xfer2102231017.88 nil000.00
Transponder_ping32420293.93 nil000.00
GUMSTIX_24V000.00
GPS17508.32
TT8407419782.53
LPSleep85872182.42
TT8_Active61319117.81
TT8_Sampling3952391525.78
TT8_CF855745247.60
TT8_Kalman000.00
Analog_circuits210512245.07
GPS_charging000.00
Compass366315533.00
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 0 103 0.00 0.00 -83.07 0.000 2 0.000 0.000 127 1582 3021 0 0 0 0 0 0
106 -0.62 -146.0 5.4 -5.0 11 130 9.70 1.15 -9.45 0.000 4 0.226 0.068 2549 2312 3483 0 0 0 0 0 0
309 -0.57 -146.0 54.2 -14.6 47 317 0.00 1.05 0.00 0.000 6 0.000 0.037 2558 1610 3485 0 0 0 0 0 0
636 -0.54 -146.0 99.9 -14.3 108 644 0.00 1.05 0.00 0.000 4 0.000 0.041 2552 914 3486 0 0 0 0 0 0
680 -0.54 -146.0 105.5 -14.2 114 689 0.10 1.02 0.00 0.000 6 0.143 0.034 2580 1610 3486 0 0 0 0 0 0
1011 -0.59 -146.0 141.5 -9.6 175 1022 0.00 1.00 0.00 0.000 4 0.000 0.040 2581 2297 3488 0 0 0 0 0 0
1044 -0.64 -146.0 144.6 -9.5 179 1052 0.00 1.02 0.00 0.000 6 0.000 0.037 2581 1606 3488 0 0 0 0 0 0
1373 -0.69 -146.0 175.5 -8.1 240 1380 0.12 0.00 0.00 0.000 6 0.083 0.000 2506 1606 3488 0 0 0 0 0 0
1701 -0.63 -146.0 219.2 -15.9 301 1711 0.17 1.08 0.00 0.000 4 0.160 0.041 2553 915 3488 0 0 0 0 0 0
1876 -0.65 -146.0 242.2 -12.0 333 1885 0.00 1.02 0.00 0.000 6 0.000 0.035 2551 1604 3488 0 0 0 0 0 0
2210 -0.68 -146.0 278.9 -10.1 370 2213 0.00 1.05 0.00 0.000 4 0.000 0.041 2551 917 3487 0 0 0 0 0 0
2270 -0.71 -146.0 285.1 -10.2 375 2277 0.00 1.02 0.00 0.000 6 0.000 0.035 2546 1603 3487 0 0 0 0 0 0
2598 -0.74 -146.0 316.8 -9.8 406 2602 0.00 1.05 0.00 0.000 4 0.000 0.043 2538 2304 3487 0 0 0 0 0 0
2645 -0.77 -146.0 321.5 -10.0 410 2649 0.00 1.05 0.00 0.000 6 0.000 0.040 2538 1612 3486 0 0 0 0 0 0
2977 -0.80 -146.0 354.7 -9.9 441 2980 0.00 1.08 0.00 0.000 4 0.000 0.046 2522 2300 3485 0 0 0 0 0 0
3023 -0.84 -146.0 359.4 -9.9 445 3027 0.05 1.08 0.00 0.000 6 0.062 0.040 2465 1607 3485 0 0 0 0 0 0
3354 -0.79 -146.0 404.5 -13.4 476 3359 0.15 1.10 0.00 0.000 4 0.162 0.047 2510 912 3484 0 0 0 0 0 0
3447 -0.80 -146.0 415.1 -11.2 484 3451 0.00 1.08 0.00 0.000 6 0.000 0.043 2507 1604 3483 0 0 0 0 0 0
3777 -0.80 -146.0 451.3 -11.2 515 3781 0.00 1.08 0.00 0.000 4 0.000 0.049 2503 2304 3481 0 0 0 0 0 0
3813 -0.80 -146.0 455.0 -10.5 518 3816 0.00 1.08 0.00 0.000 6 0.000 0.044 2503 1612 3481 0 0 0 0 0 0
4143 -0.80 -146.0 493.2 -11.7 549 4145 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 1612 3479 0 0 0 0 0 0
4464 -0.80 -146.0 530.1 -11.2 579 4465 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 1612 3477 0 0 0 0 0 0
4785 -0.82 -146.0 564.1 -10.3 609 4792 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1612 3475 0 0 0 0 0 0
5115 -0.84 -146.0 596.5 -9.8 640 5121 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1612 3473 0 0 0 0 0 0
5443 -0.86 -146.0 628.9 -10.0 658 5445 0.10 0.00 0.00 0.000 6 0.101 0.000 2466 1612 3471 0 0 0 0 0 0
5754 -0.81 -146.0 670.9 -13.7 673 5759 0.12 1.12 0.00 0.000 4 0.176 0.053 2503 917 3468 0 0 0 0 0 0
5854 -0.81 -146.0 683.5 -11.9 677 5858 0.00 1.10 0.00 0.000 6 0.000 0.047 2499 1608 3468 0 0 0 0 0 0
6176 -0.81 -146.0 719.7 -11.2 693 6179 0.00 1.12 0.00 0.000 4 0.000 0.050 2499 908 3466 0 0 0 0 0 0
6240 -0.81 -146.0 727.0 -12.2 695 6247 0.00 1.12 0.00 0.000 6 0.000 0.048 2494 1611 3466 0 0 0 0 0 0
6556 -0.81 -146.0 765.9 -12.7 711 6560 0.00 1.10 0.00 0.000 4 0.000 0.057 2489 2307 3465 0 0 0 0 0 0
6583 -0.81 -146.0 769.6 -12.7 712 6587 0.00 1.10 0.00 0.000 6 0.000 0.048 2489 1616 3465 0 0 0 0 0 0
6913 -0.81 -146.0 810.6 -11.9 728 6914 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 1616 3463 0 0 0 0 0 0
7220 -0.81 -146.0 846.2 -11.4 743 7221 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 1616 3461 0 0 0 0 0 0
7533 -0.81 -146.0 879.6 -10.0 758 7536 0.00 1.12 0.00 0.000 4 0.000 0.055 2489 908 3459 0 0 0 0 0 0
7611 -0.81 -146.0 888.4 -10.9 761 7614 0.00 1.12 0.00 0.000 6 0.000 0.050 2484 1607 3459 0 0 0 0 0 0
7932 -0.81 -146.0 923.4 -10.8 777 7934 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1607 3458 0 0 0 0 0 0
8244 -0.81 -146.0 955.8 -10.2 792 8248 0.00 1.12 0.00 0.000 4 0.000 0.055 2484 914 3456 0 0 0 0 0 0
8335 -0.81 -146.0 965.4 -10.1 796 8339 0.00 1.12 0.00 0.000 6 0.000 0.050 2478 1608 3455 0 0 0 0 0 0
8583 end dive: TARGET_DEPTH_EXCEEDED
state 8583 begin apogee
8592 -0.11 0.0 990.8 10.2 808 8723 0.77 0.00 125.45 1.468 6 0.133 0.000 2712 1782 2884 0 0 0 0 0 0
8724 end apogee: CONTROL_FINISHED_OK
state 8724 begin climb
8726 0.62 146.0 993.4 0.0 814 8879 0.73 1.27 143.90 1.405 4 0.066 0.060 2962 2473 2287 0 0 0 0 0 0
9030 0.57 146.0 960.2 13.5 827 9036 0.00 1.15 0.00 0.000 6 0.000 0.050 2966 1789 2281 0 0 0 0 0 0
9349 0.52 146.0 919.9 12.5 843 9351 0.15 0.00 0.00 0.000 6 0.180 0.000 2929 1789 2277 0 0 0 0 0 0
9655 0.54 163.0 887.5 10.1 858 9678 0.00 1.15 14.70 1.280 4 0.000 0.061 2927 2481 2218 0 0 0 0 0 0
9714 0.56 179.6 881.3 10.2 860 9734 0.00 1.12 16.52 1.280 6 0.000 0.049 2930 1776 2150 0 0 0 0 0 0
10052 0.60 216.8 848.8 9.1 877 10089 0.00 0.00 34.50 1.339 6 0.000 0.000 2930 1776 2000 0 0 0 0 0 0
10405 0.65 233.8 814.4 10.1 893 10428 0.12 1.12 16.05 1.252 4 0.091 0.057 2992 2486 1930 0 0 0 0 0 0
10480 0.60 233.8 803.1 15.3 896 10485 0.12 1.12 0.00 0.000 6 0.160 0.050 2960 1777 1928 0 0 0 0 0 0
10809 0.60 233.8 761.5 12.8 912 10810 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 1777 1925 0 0 0 0 0 0
11116 0.60 233.8 720.7 13.1 927 11120 0.00 1.12 0.00 0.000 4 0.000 0.057 2955 2475 1923 0 0 0 0 0 0
11157 0.60 233.8 715.3 13.0 928 11164 0.00 1.10 0.00 0.000 6 0.000 0.046 2958 1774 1923 0 0 0 0 0 0
11473 0.60 233.8 672.5 13.8 944 11474 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 1774 1922 0 0 0 0 0 0
11783 0.60 233.8 634.8 11.6 959 11786 0.00 1.08 0.00 0.000 4 0.000 0.051 2963 1078 1922 0 0 0 0 0 0
11823 0.60 233.8 629.9 12.0 960 11830 0.00 1.10 0.00 0.000 6 0.000 0.045 2962 1778 1922 0 0 0 0 0 0
12142 0.60 233.8 592.3 11.8 979 12143 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 1778 1921 0 0 0 0 0 0
12464 0.60 233.8 556.2 11.1 1009 12468 0.00 1.10 0.00 0.000 4 0.000 0.050 2965 1080 1921 0 0 0 0 0 0
12521 0.60 233.8 549.2 11.7 1014 12524 0.00 1.10 0.00 0.000 6 0.000 0.046 2965 1780 1921 0 0 0 0 0 0
12854 0.60 233.8 509.6 12.1 1045 12857 0.00 1.08 0.00 0.000 4 0.000 0.055 2964 2474 1921 0 0 0 0 0 0
12944 0.60 233.8 499.0 11.2 1053 12948 0.00 1.10 0.00 0.000 6 0.000 0.044 2969 1774 1921 0 0 0 0 0 0
13277 0.60 233.8 460.0 12.1 1084 13281 0.00 1.08 0.00 0.000 4 0.000 0.050 2974 1078 1921 0 0 0 0 0 0
13327 0.60 233.8 453.5 11.9 1088 13334 0.00 1.10 0.00 0.000 6 0.000 0.044 2973 1774 1920 0 0 0 0 0 0
13653 0.60 233.8 411.9 13.0 1119 13657 0.00 1.10 0.00 0.000 4 0.000 0.049 2977 1078 1920 0 0 0 0 0 0
13671 0.60 233.8 409.7 12.8 1120 13678 0.00 1.10 0.00 0.000 6 0.000 0.044 2977 1784 1920 0 0 0 0 0 0
13997 0.60 233.8 368.6 11.9 1151 14000 0.00 1.12 0.00 0.000 4 0.000 0.049 2981 1072 1920 0 0 0 0 0 0
14056 0.60 233.8 361.7 12.1 1156 14060 0.00 1.10 0.00 0.000 6 0.000 0.044 2980 1778 1920 0 0 0 0 0 0
14388 0.62 252.9 325.6 10.0 1187 14411 0.00 1.12 17.15 0.946 4 0.000 0.053 2980 2488 1852 0 0 0 0 0 0
14448 0.65 271.7 319.6 10.1 1192 14471 0.00 1.10 18.25 0.935 6 0.000 0.044 2985 1781 1776 0 0 0 0 0 0
14789 0.66 271.7 280.6 11.7 1224 14793 0.00 1.08 0.00 0.000 4 0.000 0.047 2990 1069 1772 0 0 0 0 0 0
14852 0.66 271.7 273.2 11.8 1229 14858 0.00 1.10 0.00 0.000 6 0.000 0.043 2987 1782 1772 0 0 0 0 0 0
15180 0.68 271.7 236.0 12.0 1271 15188 0.00 1.10 0.00 0.000 4 0.000 0.047 2991 1074 1772 0 0 0 0 0 0
15324 0.70 271.7 218.5 12.5 1297 15333 0.00 1.08 0.00 0.000 6 0.000 0.041 2987 1776 1771 0 0 0 0 0 0
15654 0.74 271.7 181.1 11.6 1358 15663 0.00 1.10 0.00 0.000 4 0.000 0.046 2991 1074 1771 0 0 0 0 0 0
15751 0.77 271.7 170.1 11.6 1375 15759 0.00 1.08 0.00 0.000 6 0.000 0.041 2988 1774 1771 0 0 0 0 0 0
16081 0.86 310.0 134.8 9.1 1436 16126 0.15 1.10 34.83 0.798 4 0.079 0.045 3070 1077 1619 0 0 0 0 0 0
16193 0.80 310.0 118.2 16.8 1454 16203 0.15 1.08 0.00 0.000 6 0.145 0.041 3023 1785 1617 0 0 0 0 0 0
16529 0.86 324.2 79.5 10.3 1515 16552 0.00 1.12 13.60 0.697 4 0.000 0.046 3026 1065 1561 0 0 0 0 0 0
16710 0.92 326.2 60.2 10.9 1547 16718 0.00 1.08 0.00 0.000 6 0.000 0.038 3023 1780 1559 0 0 0 0 0 0
17038 1.17 442.3 36.8 5.1 1608 17149 0.28 1.12 99.45 0.700 4 0.054 0.045 3168 1069 1078 0 0 0 0 0 0
17206 1.12 442.3 11.6 17.3 1632 17215 0.12 1.08 0.00 0.000 6 0.148 0.038 3126 1788 1076 0 0 0 0 0 0
17262 end climb: SURFACE_DEPTH_REACHED
state 17262 begin surface coast
17286 end surface coast: CONTROL_FINISHED_OK
state 17286 begin surface