OKMC Mar12 * SG176 * Dive index * Mission links * Dive 22 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  176 HD_B  0.0099999998 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.9999997e-06 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  22 HEADING  -1 ROLL_MIN  160 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3752 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  4 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2575 ALTIM_PING_DELTA  0
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2500 ALTIM_FREQUENCY  13
D_ABORT  1010 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_NO_BLEED  500 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_BOOST  100 SM_CC  375 ROLL_TIMEOUT  15 XPDR_VALID  3
T_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  -15 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  -15 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.30000001
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  9 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  161 VBD_MIN  500 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
T_DIVE  320 UPLOAD_DIVES_MAX  -1 C_VBD  2929 DEVICE3  35
T_MISSION  360 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  4 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  3 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  -7391.2988 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 AH0_24V  150 PHONE_DEVICE  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -7 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
MAX_BUOY  225 PITCH_MIN  224 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  4024 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2540 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043285224
SPEED_FACTOR  1 PITCH_DBAND  0.02 PRESSURE_YINT  -70.662712 SEABIRD_T_H  0.00062606536
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.0001162977 SEABIRD_T_I  2.5051821e-05
MASS  51719 P_OVSHOOT  0.0099999998 AD7714Ch0Gain  128 SEABIRD_T_J  2.9112039e-06
NAV_MODE  2 PITCH_GAIN  40 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.134115
FERRY_MAX  45 PITCH_TIMEOUT  18 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1528351
KALMAN_USE  2 PITCH_AD_RATE  170 COMPASS_USE  0 SEABIRD_C_I  -0.0013358581
HD_A  0.003 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00019115997

Pre-dive calculations and measurements:
GPS1  170312,190336,2155.978,12246.836,36,1.1,41,-2.9 TGT_NAME  S2
_CALLS  1 TGT_LATLONG  2015.000,12420.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.45 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -73.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  170312,190955,2156.081,12246.788,10,1.1,15,-2.9 MHEAD_RNG_PITCHd_Wd  145.7,247538,-14.3,-10.312
SPEED_LIMITS  0.179,0.314 D_GRID  4807

Post-dive calculations and measurements:
FINISH  0.9,1.022881 _10V_AH  10.3,5.191
SM_CCo  13916,3.60,0.162,0,0,1397,375.06 FG_AHR_24Vo  0.000
SM_GC  2.33,6.40,0.25,3.60,0.032,0.070,0.162,199,2605,1397,-7.22,-0.34,375.06,0,0,0,0,0,0,26.50,26.50,26.32 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2148.09,12251.79,170312,141420 MEM  324668
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83794,1210
HUMID  43.06 CAP_FILE_SIZE  151657,0
INTERNAL_PRESSURE  9.41717 CFSIZE  260165632,220385280
TCM_TEMP  24.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.120,293.8,1
_24V_AH  23.3,6.943 GPS  170312,230336,2154.570,12247.018,35,0.9,40,-2.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1723895.93 SBE_CT82324460.57
Roll_motor13299307.20 AA43301924331480.09
VBD_pump_during_apogee450171918031.26 WL_BB2F6401051566.54
VBD_pump_during_surface316213.60 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010374.35 nil000.00
Iridium_during_connect34160126.89 nil000.00
Iridium_during_xfer183223953.13 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS18509.31
TT8309519631.32
LPSleep74452167.95
TT8_Active51019104.07
TT8_Sampling2932391202.05
TT8_CF830045141.97
TT8_Kalman000.00
Analog_circuits177412219.34
GPS_charging000.00
Compass258815399.88
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 pitch_volts roll_volts vbd_volts
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -0.63 -219.0 0.0 0.0 0 68 0.00 0.00 -49.47 0.000 2 0.000 0.000 180 2449 2620 0 0 0 0 0 0 28.83 28.83 28.83
71 -0.63 -219.0 3.2 -6.2 7 106 8.43 0.00 -23.52 0.000 6 0.239 0.000 2335 2449 3824 0 0 0 0 0 0 25.87 28.83 26.44
446 -0.63 -219.0 125.4 -30.7 72 454 0.00 2.05 0.00 0.000 4 0.000 0.056 2325 3766 3825 0 0 0 0 0 0 28.83 26.34 28.83
583 -0.63 -219.0 163.2 -22.6 95 590 0.08 1.75 0.00 0.000 6 0.192 0.024 2343 2504 3826 0 0 0 0 0 0 26.32 26.48 28.83
914 -0.63 -219.0 237.2 -21.2 140 917 0.00 1.95 0.00 0.000 4 0.000 0.057 2334 3758 3826 0 0 0 0 0 0 28.83 26.48 28.83
947 -0.63 -219.0 244.3 -21.9 143 954 0.00 1.77 0.00 0.000 6 0.000 0.024 2334 2490 3826 0 0 0 0 0 0 28.83 26.60 28.83
1255 -0.63 -219.0 309.6 -20.4 174 1264 0.00 1.92 0.00 0.000 4 0.000 0.057 2324 3766 3826 0 0 0 0 0 0 28.83 26.54 28.83
1327 -0.63 -219.0 324.1 -19.0 181 1331 0.08 1.75 0.00 0.000 6 0.185 0.024 2343 2483 3826 0 0 0 0 0 0 26.48 26.65 28.83
1638 -0.63 -219.0 378.1 -17.0 212 1642 0.00 1.98 0.00 0.000 4 0.000 0.056 2334 3771 3825 0 0 0 0 0 0 28.83 26.58 28.83
1728 -0.63 -219.0 391.1 -12.9 220 1735 0.00 1.75 0.00 0.000 6 0.000 0.023 2334 2495 3825 0 0 0 0 0 0 28.83 26.69 28.83
2034 -0.63 -219.0 439.1 -15.6 251 2038 0.00 1.92 0.00 0.000 4 0.000 0.056 2325 3772 3824 0 0 0 0 0 0 28.83 26.62 28.83
2061 -0.63 -219.0 443.0 -15.0 253 2065 0.08 1.75 0.00 0.000 6 0.185 0.023 2345 2476 3824 0 0 0 0 0 0 26.55 26.73 28.83
2372 -0.63 -219.0 483.7 -12.5 284 2376 0.00 2.00 0.00 0.000 4 0.000 0.057 2343 3777 3823 0 0 0 0 0 0 28.83 26.63 28.83
2429 -0.63 -219.0 490.4 -11.7 289 2433 0.00 1.75 0.00 0.000 6 0.000 0.023 2343 2497 3823 0 0 0 0 0 0 28.83 26.75 28.83
2741 -0.63 -219.0 528.7 -13.0 320 2750 0.00 1.95 0.00 0.000 4 0.000 0.057 2336 3765 3820 0 0 0 0 0 0 28.83 26.64 28.83
2834 -0.63 -219.0 540.7 -12.7 329 2837 0.00 1.77 0.00 0.000 6 0.000 0.024 2336 2480 3821 0 0 0 0 0 0 28.83 26.76 28.83
3145 -0.63 -219.0 581.8 -12.6 360 3148 0.00 1.95 0.00 0.000 4 0.000 0.058 2332 3764 3819 0 0 0 0 0 0 28.83 26.65 28.83
3221 -0.63 -219.0 590.7 -10.9 367 3225 0.00 1.75 0.00 0.000 6 0.000 0.024 2332 2485 3818 0 0 0 0 0 0 28.83 26.77 28.83
3532 -0.63 -219.0 622.8 -9.5 387 3538 0.00 1.95 0.00 0.000 4 0.000 0.060 2331 3764 3817 0 0 0 0 0 0 28.83 26.65 28.83
3616 -0.63 -219.0 630.0 -9.1 391 3620 0.00 1.75 0.00 0.000 6 0.000 0.024 2331 2490 3816 0 0 0 0 0 0 28.83 26.77 28.83
3932 -0.63 -219.0 663.9 -11.1 407 3933 0.00 0.00 0.00 0.000 6 0.000 0.000 2331 2482 3814 0 0 0 0 0 0 28.83 28.83 28.83
4233 -0.63 -219.0 699.1 -11.3 422 4238 0.00 1.95 0.00 0.000 4 0.000 0.060 2330 3766 3812 0 0 0 0 0 0 28.83 26.65 28.83
4321 -0.63 -219.0 707.2 -10.1 426 4326 0.03 1.77 0.00 0.000 6 0.163 0.024 2345 2476 3812 0 0 0 0 0 0 26.64 26.79 28.83
4635 -0.63 -219.0 730.9 -6.7 442 4640 0.00 1.95 0.00 0.000 4 0.000 0.060 2345 3770 3810 0 0 0 0 0 0 28.83 26.66 28.83
4682 -0.63 -219.0 733.5 -6.4 444 4686 0.00 1.77 0.00 0.000 6 0.000 0.024 2345 2483 3809 0 0 0 0 0 0 28.83 26.79 28.83
4993 -0.63 -219.0 756.0 -7.9 460 4999 0.00 1.95 0.00 0.000 4 0.000 0.061 2345 3762 3807 0 0 0 0 0 0 28.83 26.65 28.83
5034 -0.63 -219.0 759.3 -8.1 462 5037 0.00 1.75 0.00 0.000 6 0.000 0.024 2344 2488 3807 0 0 0 0 0 0 28.83 26.79 28.83
5356 -0.63 -219.0 787.5 -9.0 478 5362 0.00 1.98 0.00 0.000 4 0.000 0.060 2345 3779 3804 0 0 0 0 0 0 28.83 26.65 28.83
5397 -0.63 -219.0 791.2 -9.1 480 5401 0.00 1.80 0.00 0.000 6 0.000 0.024 2344 2487 3804 0 0 0 0 0 0 28.83 26.79 28.83
5716 -0.63 -219.0 821.3 -9.8 496 5721 0.00 1.95 0.00 0.000 4 0.000 0.060 2344 3763 3803 0 0 0 0 0 0 28.83 26.65 28.83
5770 -0.63 -219.0 825.0 -9.5 498 5776 0.00 1.75 0.00 0.000 6 0.000 0.024 2344 2476 3802 0 0 0 0 0 0 28.83 26.79 28.83
6076 -0.63 -219.0 853.5 -8.5 514 6082 0.00 1.98 0.00 0.000 4 0.000 0.061 2344 3770 3801 0 0 0 0 0 0 28.83 26.65 28.83
6109 -0.63 -219.0 855.0 -8.5 515 6116 0.00 1.77 0.00 0.000 6 0.000 0.024 2345 2479 3800 0 0 0 0 0 0 28.83 26.80 28.83
6415 -0.63 -219.0 880.6 -8.1 531 6421 0.00 1.98 0.00 0.000 4 0.000 0.061 2345 3763 3799 0 0 0 0 0 0 28.83 26.64 28.83
6476 -0.63 -219.0 885.2 -7.8 534 6479 0.00 1.75 0.00 0.000 6 0.000 0.024 2345 2491 3798 0 0 0 0 0 0 28.83 26.79 28.83
6799 -0.63 -219.0 909.6 -7.3 550 6804 0.00 1.98 0.00 0.000 4 0.000 0.062 2344 3780 3797 0 0 0 0 0 0 28.83 26.64 28.83
6837 -0.63 -219.0 912.4 -7.2 552 6841 0.00 1.77 0.00 0.000 6 0.000 0.024 2344 2498 3796 0 0 0 0 0 0 28.83 26.78 28.83
7159 -0.63 -219.0 936.2 -7.9 568 7164 0.00 1.95 0.00 0.000 4 0.000 0.062 2345 3762 3795 0 0 0 0 0 0 28.83 26.64 28.83
7201 -0.63 -219.0 939.3 -7.8 570 7204 0.00 1.77 0.00 0.000 6 0.000 0.024 2344 2465 3795 0 0 0 0 0 0 28.83 26.81 28.83
7519 -0.63 -219.0 963.1 -7.3 586 7524 0.00 2.03 0.00 0.000 4 0.000 0.062 2344 3769 3794 0 0 0 0 0 0 28.83 26.63 28.83
7552 -0.63 -219.0 964.5 -7.2 587 7559 0.00 1.75 0.00 0.000 6 0.000 0.025 2345 2449 3793 0 0 0 0 0 0 28.83 26.81 28.83
7858 -0.63 -219.0 986.6 -6.7 603 7864 0.00 2.00 0.00 0.000 4 0.000 0.060 2344 3762 3792 0 0 0 0 0 0 28.83 26.63 28.83
7901 -0.63 -219.0 989.2 -6.6 605 7904 0.00 1.77 0.00 0.000 6 0.000 0.024 2344 2448 3792 0 0 0 0 0 0 28.83 26.81 28.83
7917 end dive: TARGET_DEPTH_EXCEEDED
state 7917 begin apogee
7923 -0.17 0.0 990.5 -6.5 606 8120 0.40 0.08 187.15 1.720 6 0.098 0.041 2494 2440 2928 0 0 0 0 0 0 26.61 24.49 23.60
8121 end apogee: CONTROL_FINISHED_OK
state 8121 begin climb
8124 0.63 219.0 998.0 0.0 616 8339 0.68 2.25 203.90 1.685 4 0.044 0.037 2769 1057 2034 0 0 0 0 0 0 24.84 24.26 23.27
8361 0.63 219.0 968.0 23.1 628 8368 0.15 2.42 0.00 0.000 6 0.192 0.048 2736 2518 2031 0 0 0 0 0 0 24.59 24.73 28.83
8682 0.63 219.0 890.7 24.2 644 8687 0.00 1.98 0.00 0.000 4 0.000 0.059 2736 3765 2026 0 0 0 0 0 0 28.83 25.75 28.83
8723 0.63 219.0 880.6 24.7 646 8728 0.00 1.95 0.00 0.000 6 0.000 0.024 2745 2447 2025 0 0 0 0 0 0 28.83 25.90 28.83
9042 0.63 219.0 809.0 21.9 662 9048 0.00 2.05 0.00 0.000 4 0.000 0.054 2746 3763 2024 0 0 0 0 0 0 28.83 26.08 28.83
9061 0.63 219.0 804.2 22.4 663 9066 0.10 1.90 0.00 0.000 6 0.236 0.025 2735 2452 2025 0 0 0 0 0 0 25.94 26.17 28.83
9378 0.63 219.0 736.9 20.6 679 9379 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2448 2024 0 0 0 0 0 0 28.83 28.83 28.83
9679 0.63 219.0 675.7 20.6 694 9684 0.00 2.05 0.00 0.000 4 0.000 0.055 2735 3763 2023 0 0 0 0 0 0 28.83 26.31 28.83
9780 0.63 219.0 653.9 22.2 699 9785 0.00 1.90 0.00 0.000 6 0.000 0.026 2744 2446 2023 0 0 0 0 0 0 28.83 26.41 28.83
10089 0.63 219.0 587.7 21.2 717 10098 0.00 2.05 0.00 0.000 4 0.000 0.039 2755 1059 2023 0 0 0 0 0 0 28.83 26.43 28.83
10153 0.63 219.0 574.9 19.8 723 10161 0.05 2.28 0.00 0.000 6 0.181 0.047 2739 2523 2022 0 0 0 0 0 0 26.28 26.41 28.83
10462 0.63 219.0 514.3 20.7 754 10470 0.00 1.90 0.00 0.000 4 0.000 0.056 2739 3764 2022 0 0 0 0 0 0 28.83 26.44 28.83
10515 0.63 219.0 502.8 22.1 759 10523 0.03 1.92 0.00 0.000 6 0.231 0.027 2741 2452 2022 0 0 0 0 0 0 26.36 26.51 28.83
10825 0.63 219.0 446.9 16.5 790 10834 0.00 2.00 0.00 0.000 4 0.000 0.052 2741 3766 2021 0 0 0 0 0 0 28.83 26.48 28.83
10908 0.63 219.0 431.2 19.0 798 10916 0.03 1.92 0.00 0.000 6 0.236 0.029 2742 2463 2022 0 0 0 0 0 0 26.42 26.55 28.83
11217 0.63 219.0 373.0 18.8 829 11221 0.00 2.05 0.00 0.000 4 0.000 0.036 2751 1050 2021 0 0 0 0 0 0 28.83 26.55 28.83
11298 0.63 219.0 359.3 15.9 837 11309 0.08 2.22 0.00 0.000 6 0.207 0.044 2737 2521 2021 0 0 0 0 0 0 26.41 26.53 28.83
11609 0.63 219.0 306.3 17.9 868 11612 0.00 1.90 0.00 0.000 4 0.000 0.054 2737 3763 2021 0 0 0 0 0 0 28.83 26.53 28.83
11713 0.63 219.0 286.3 19.9 878 11719 0.00 1.90 0.00 0.000 6 0.000 0.028 2745 2459 2022 0 0 0 0 0 0 28.83 26.61 28.83
12020 0.63 219.0 237.7 14.8 909 12024 0.00 2.00 0.00 0.000 4 0.000 0.052 2746 3772 2021 0 0 0 0 0 0 28.83 26.56 28.83
12058 0.63 219.0 231.9 15.7 912 12067 0.05 1.92 0.00 0.000 6 0.200 0.028 2740 2455 2022 0 0 0 0 0 0 26.43 26.63 28.83
12378 0.63 219.0 186.0 12.9 952 12387 0.00 2.05 0.00 0.000 4 0.000 0.034 2748 1060 2022 0 0 0 0 0 0 28.83 26.62 28.83
12445 0.63 219.0 178.0 11.9 963 12453 0.05 2.20 0.00 0.000 6 0.226 0.042 2736 2528 2021 0 0 0 0 0 0 26.51 26.60 28.83
12793 0.63 219.0 137.1 11.4 1024 12802 0.00 2.17 0.00 0.000 4 0.000 0.035 2739 1060 2022 0 0 0 0 0 0 28.83 26.65 28.83
12919 0.64 225.2 124.8 10.1 1045 12928 0.00 2.20 1.80 0.458 6 0.000 0.043 2739 2530 2009 0 0 0 0 0 0 28.83 26.63 26.10
13273 0.69 267.6 83.6 9.0 1106 13297 0.10 2.22 18.45 0.324 4 0.114 0.034 2808 1051 1835 0 0 0 0 0 0 26.69 26.54 26.15
13350 0.69 267.6 73.7 13.4 1118 13359 0.15 2.22 0.00 0.000 6 0.146 0.041 2758 2520 1830 0 0 0 0 0 0 26.38 26.53 28.83
13705 0.81 363.6 35.9 7.3 1179 13749 0.12 1.95 38.70 0.209 4 0.090 0.051 2836 3780 1442 0 0 0 0 0 0 26.65 26.41 26.19
13788 0.81 363.6 21.3 25.4 1191 13795 0.20 1.92 0.00 0.000 6 0.171 0.029 2791 2443 1440 0 0 0 0 0 0 26.28 26.48 28.83
13874 end climb: SURFACE_DEPTH_REACHED
state 13874 begin surface coast
13901 end surface coast: CONTROL_FINISHED_OK
state 13901 begin surface