OKMC Mar12 * SG176 * Dive index * Mission links * Dive 343 * 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  343 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  2600 ALTIM_PING_DELTA  0
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2500 ALTIM_FREQUENCY  13
D_ABORT  1040 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  163 VBD_MIN  500 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
T_DIVE  300 UPLOAD_DIVES_MAX  -1 C_VBD  2929 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  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  -6 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -7972.8647 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  48
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  250 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  2514 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  4 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  220512,220006,1948.010,12343.186,29,1.2,29,-2.4 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  1.50 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  220512,220650,1947.795,12343.125,10,1.5,10,-2.4 MHEAD_RNG_PITCHd_Wd  9.2,81509,-14.4,-11.000
SPEED_LIMITS  0.191,0.336 D_GRID  5203

Post-dive calculations and measurements:
FINISH  0.8,1.021528 _10V_AH  9.8,44.020
SM_CCo  14415,0.00,0.000,0,0,761,531.81 FG_AHR_24Vo  0.000
SM_GC  1.37,6.50,0.12,0.00,0.029,0.093,0.000,192,2646,761,-7.15,-0.57,531.81,0,0,0,0,0,0,26.32,26.44,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1938.95,12345.21,220512,171759 MEM  329808
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  97110,1285
HUMID  45.35 CAP_FILE_SIZE  160978,0
INTERNAL_PRESSURE  9.45623 CFSIZE  260165632,188403712
TCM_TEMP  24.90 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.278,206.2,1
_24V_AH  22.2,71.721 GPS  230512,020837,1948.157,12342.545,35,0.8,35,-2.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1923399.58 SBE_CT87124464.53
Roll_motor13693282.87 AA43301724331263.62
VBD_pump_during_apogee588170222234.52 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910368.30 nil000.00
Iridium_during_connect41160148.08 nil000.00
Iridium_during_xfer198223982.21 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS13506.49
TT8323819628.31
LPSleep77552166.45
TT8_Active65019126.29
TT8_Sampling2816391098.61
TT8_CF833645151.03
TT8_Kalman000.00
Analog_circuits201712237.26
GPS_charging000.00
Compass230915339.55
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
17 -0.66 -243.3 0.0 0.0 0 73 0.00 0.00 -53.67 0.000 2 0.000 0.000 191 2533 2318 0 0 0 0 0 0 28.83 28.83 28.83
76 -0.66 -243.3 3.3 -7.2 9 123 8.52 1.88 -32.08 0.000 4 0.230 0.060 2292 3779 3922 0 0 0 0 0 0 25.17 26.13 26.69
177 -0.66 -243.3 40.1 -42.9 21 184 0.08 1.70 0.00 0.000 6 0.202 0.022 2308 2512 3923 0 0 0 0 0 0 26.17 26.44 28.83
504 -0.66 -243.3 153.7 -30.9 82 511 0.00 1.95 0.00 0.000 4 0.000 0.027 2308 1138 3923 0 0 0 0 0 0 28.83 26.46 28.83
558 -0.66 -243.3 167.6 -18.8 92 565 0.00 2.22 0.00 0.000 6 0.000 0.044 2308 2621 3923 0 0 0 0 0 0 28.83 26.31 28.83
873 -0.66 -243.3 240.7 -20.9 136 882 0.00 2.10 0.00 0.000 4 0.000 0.025 2308 1145 3923 0 0 0 0 0 0 28.83 26.46 28.83
935 -0.66 -243.3 251.8 -15.8 142 944 0.00 2.20 0.00 0.000 6 0.000 0.043 2305 2626 3923 0 0 0 0 0 0 28.83 26.33 28.83
1244 -0.66 -243.3 315.3 -19.7 173 1253 0.00 2.12 0.00 0.000 4 0.000 0.025 2305 1137 3923 0 0 0 0 0 0 28.83 26.46 28.83
1299 -0.66 -243.3 323.2 -14.5 178 1307 0.00 2.25 0.00 0.000 6 0.000 0.044 2305 2616 3923 0 0 0 0 0 0 28.83 26.33 28.83
1607 -0.66 -243.3 375.6 -18.1 209 1611 0.00 1.73 0.00 0.000 4 0.000 0.053 2304 3768 3922 0 0 0 0 0 0 28.83 26.25 28.83
1641 -0.66 -243.3 381.0 -17.7 212 1648 0.00 1.73 0.00 0.000 6 0.000 0.021 2304 2473 3922 0 0 0 0 0 0 28.83 26.63 28.83
1948 -0.66 -243.3 426.8 -13.9 243 1952 0.00 1.98 0.00 0.000 4 0.000 0.051 2296 3770 3921 0 0 0 0 0 0 28.83 26.23 28.83
1989 -0.66 -243.3 432.2 -13.5 247 1993 0.00 1.70 0.00 0.000 6 0.000 0.022 2296 2483 3920 0 0 0 0 0 0 28.83 26.63 28.83
2300 -0.66 -243.3 474.5 -13.8 278 2304 0.00 1.98 0.00 0.000 4 0.000 0.054 2291 3766 3918 0 0 0 0 0 0 28.83 26.20 28.83
2324 -0.66 -243.3 477.4 -14.2 280 2332 0.05 1.75 0.00 0.000 6 0.137 0.023 2313 2462 3918 0 0 0 0 0 0 26.34 26.62 28.83
2633 -0.66 -243.3 512.0 -11.2 311 2643 0.08 1.98 0.00 0.000 4 0.130 0.051 2250 3755 3915 0 0 0 0 0 0 26.63 26.17 28.83
2665 -0.66 -243.3 516.7 -12.9 314 2670 0.20 1.70 0.00 0.000 6 0.133 0.023 2314 2470 3914 0 0 0 0 0 0 26.11 26.61 28.83
2971 -0.66 -243.3 550.2 -10.8 344 2980 0.08 1.98 0.00 0.000 4 0.128 0.051 2247 3765 3911 0 0 0 0 0 0 26.63 26.17 28.83
3024 -0.66 -243.3 558.3 -16.3 349 3034 0.20 1.73 0.00 0.000 6 0.127 0.023 2313 2468 3911 0 0 0 0 0 0 26.13 26.60 28.83
3335 -0.66 -243.3 593.1 -10.7 380 3344 0.05 2.00 0.00 0.000 4 0.172 0.053 2253 3767 3908 0 0 0 0 0 0 26.64 26.16 28.83
3387 -0.66 -243.3 600.8 -15.2 385 3391 0.17 1.70 0.00 0.000 6 0.128 0.024 2310 2471 3908 0 0 0 0 0 0 26.17 26.59 28.83
3693 -0.66 -243.3 633.3 -9.8 400 3698 0.00 2.00 0.00 0.000 4 0.000 0.054 2305 3763 3906 0 0 0 0 0 0 28.83 26.13 28.83
3763 -0.66 -243.3 638.9 -9.5 403 3766 0.00 1.70 0.00 0.000 6 0.000 0.025 2305 2513 3905 0 0 0 0 0 0 28.83 26.58 28.83
4074 -0.66 -243.3 667.7 -8.8 419 4080 0.00 1.98 0.00 0.000 4 0.000 0.056 2304 3767 3902 0 0 0 0 0 0 28.83 26.10 28.83
4168 -0.66 -243.3 674.1 -8.0 423 4176 0.00 1.73 0.00 0.000 6 0.000 0.024 2304 2468 3901 0 0 0 0 0 0 28.83 26.58 28.83
4475 -0.66 -243.3 702.0 -8.9 439 4481 0.00 2.00 0.00 0.000 4 0.000 0.054 2295 3768 3898 0 0 0 0 0 0 28.83 26.10 28.83
4548 -0.66 -243.3 707.5 -9.2 442 4555 0.00 1.73 0.00 0.000 6 0.000 0.025 2295 2461 3897 0 0 0 0 0 0 28.83 26.58 28.83
4855 -0.66 -243.3 741.4 -11.0 458 4858 0.00 2.03 0.00 0.000 4 0.000 0.056 2287 3763 3895 0 0 0 0 0 0 28.83 26.06 28.83
4918 -0.66 -243.3 748.3 -11.0 461 4923 0.05 1.75 0.00 0.000 6 0.124 0.024 2311 2500 3894 0 0 0 0 0 0 26.30 26.55 28.83
5237 -0.66 -243.3 779.3 -9.4 477 5243 0.05 1.95 0.00 0.000 4 0.171 0.054 2261 3757 3892 0 0 0 0 0 0 26.62 26.03 28.83
5329 -0.66 -243.3 789.5 -12.9 481 5339 0.12 1.75 0.00 0.000 6 0.106 0.024 2310 2484 3891 0 0 0 0 0 0 26.16 26.57 28.83
5638 -0.66 -243.3 820.1 -9.1 497 5643 0.00 1.98 0.00 0.000 4 0.000 0.057 2304 3768 3889 0 0 0 0 0 0 28.83 26.02 28.83
5691 -0.66 -243.3 823.9 -9.3 499 5699 0.00 1.75 0.00 0.000 6 0.000 0.025 2304 2468 3888 0 0 0 0 0 0 28.83 26.55 28.83
5997 -0.66 -243.3 853.0 -9.0 515 6003 0.00 2.00 0.00 0.000 4 0.000 0.057 2304 3762 3885 0 0 0 0 0 0 28.83 25.99 28.83
6078 -0.66 -243.3 859.8 -8.6 519 6082 0.00 1.77 0.00 0.000 6 0.000 0.025 2304 2472 3884 0 0 0 0 0 0 28.83 26.53 28.83
6399 -0.66 -243.3 888.9 -9.0 535 6405 0.00 2.00 0.00 0.000 4 0.000 0.057 2304 3762 3883 0 0 0 0 0 0 28.83 25.97 28.83
6473 -0.66 -243.3 894.3 -9.0 538 6480 0.00 1.73 0.00 0.000 6 0.000 0.026 2304 2478 3882 0 0 0 0 0 0 28.83 26.53 28.83
6779 -0.66 -243.3 923.1 -9.1 554 6785 0.00 2.00 0.00 0.000 4 0.000 0.057 2304 3765 3880 0 0 0 0 0 0 28.83 25.95 28.83
6820 -0.66 -243.3 926.7 -9.0 556 6823 0.00 1.73 0.00 0.000 6 0.000 0.025 2304 2502 3880 0 0 0 0 0 0 28.83 26.53 28.83
7143 -0.66 -243.3 956.1 -9.1 572 7148 0.00 2.00 0.00 0.000 4 0.000 0.057 2301 3753 3878 0 0 0 0 0 0 28.83 25.94 28.83
7214 -0.66 -243.3 961.5 -9.1 575 7222 0.00 1.73 0.00 0.000 6 0.000 0.024 2301 2466 3878 0 0 0 0 0 0 28.83 26.53 28.83
7521 -0.66 -243.3 989.1 -8.4 591 7527 0.00 2.05 0.00 0.000 4 0.000 0.057 2300 3770 3876 0 0 0 0 0 0 28.83 25.91 28.83
7539 end dive: TARGET_DEPTH_EXCEEDED
state 7539 begin apogee
7547 -0.17 0.0 990.8 -8.4 592 7764 0.45 0.20 209.70 1.703 6 0.096 0.051 2464 2517 2929 0 0 0 0 0 0 25.92 24.00 22.30
7765 end apogee: CONTROL_FINISHED_OK
state 7765 begin climb
7768 0.66 243.3 1002.9 0.0 603 8009 0.73 2.40 232.45 1.658 4 0.046 0.030 2758 1059 1936 0 0 0 0 0 0 24.30 23.88 22.17
8067 0.66 243.3 969.6 20.7 618 8077 0.15 2.35 0.00 0.000 6 0.173 0.048 2721 2516 1929 0 0 0 0 0 0 24.82 25.03 28.83
8377 0.66 243.3 908.8 18.8 634 8382 0.00 1.92 0.00 0.000 4 0.000 0.056 2721 3763 1925 0 0 0 0 0 0 28.83 26.06 28.83
8439 0.66 243.3 896.0 20.7 637 8442 0.00 1.90 0.00 0.000 6 0.000 0.027 2730 2450 1924 0 0 0 0 0 0 28.83 26.27 28.83
8760 0.66 243.3 832.5 19.3 653 8766 0.00 2.08 0.00 0.000 4 0.000 0.055 2730 3768 1923 0 0 0 0 0 0 28.83 26.15 28.83
8813 0.66 243.3 823.8 20.6 655 8820 0.10 1.90 0.00 0.000 6 0.215 0.025 2718 2455 1924 0 0 0 0 0 0 26.02 26.38 28.83
9121 0.66 243.3 765.9 17.7 671 9126 0.00 2.00 0.00 0.000 4 0.000 0.054 2718 3758 1921 0 0 0 0 0 0 28.83 26.15 28.83
9167 0.66 243.3 757.9 18.9 673 9171 0.00 1.88 0.00 0.000 6 0.000 0.025 2727 2448 1922 0 0 0 0 0 0 28.83 26.40 28.83
9480 0.66 243.3 697.2 18.8 689 9486 0.00 2.05 0.00 0.000 4 0.000 0.055 2727 3763 1921 0 0 0 0 0 0 28.83 26.13 28.83
9521 0.66 243.3 689.1 19.5 691 9527 0.08 1.88 0.00 0.000 6 0.233 0.024 2722 2451 1920 0 0 0 0 0 0 26.12 26.41 28.83
9840 0.66 243.3 632.3 17.6 707 9845 0.00 2.05 0.00 0.000 4 0.000 0.054 2722 3764 1920 0 0 0 0 0 0 28.83 26.13 28.83
9888 0.66 243.3 624.3 19.0 709 9892 0.03 1.92 0.00 0.000 6 0.143 0.023 2708 2446 1920 0 0 0 0 0 0 26.06 26.43 28.83
10204 0.66 243.3 573.3 15.7 733 10211 0.10 0.00 0.00 0.000 6 0.111 0.000 2758 2442 1919 0 0 0 0 0 0 26.52 28.83 28.83
10510 0.66 243.3 511.9 19.8 764 10520 0.12 2.05 0.00 0.000 4 0.179 0.050 2720 3766 1919 0 0 0 0 0 0 26.14 26.12 28.83
10563 0.66 243.3 501.4 20.0 769 10572 0.00 1.88 0.00 0.000 6 0.000 0.023 2730 2438 1919 0 0 0 0 0 0 28.83 26.44 28.83
10873 0.66 243.3 445.5 18.0 800 10875 0.00 0.00 0.00 0.000 6 0.000 0.000 2730 2436 1918 0 0 0 0 0 0 28.83 28.83 28.83
11174 0.66 243.3 393.9 16.4 830 11178 0.00 2.05 0.00 0.000 4 0.000 0.051 2730 3776 1918 0 0 0 0 0 0 28.83 26.09 28.83
11256 0.66 243.3 378.8 18.2 838 11265 0.10 1.90 0.00 0.000 6 0.203 0.024 2716 2428 1919 0 0 0 0 0 0 26.06 26.44 28.83
11569 0.66 243.3 335.4 13.8 869 11577 0.00 2.00 0.00 0.000 4 0.000 0.050 2716 3762 1918 0 0 0 0 0 0 28.83 26.09 28.83
11582 0.66 243.3 333.9 13.5 870 11589 0.00 1.92 0.00 0.000 6 0.000 0.024 2726 2436 1918 0 0 0 0 0 0 28.83 26.46 28.83
11890 0.66 243.3 294.9 13.0 901 11899 0.00 2.05 0.00 0.000 4 0.000 0.050 2726 3765 1918 0 0 0 0 0 0 28.83 26.08 28.83
12013 0.66 243.3 276.9 14.4 913 12017 0.08 1.92 0.00 0.000 6 0.219 0.024 2718 2429 1919 0 0 0 0 0 0 26.15 26.43 28.83
12325 0.67 253.3 242.6 10.7 944 12339 0.05 2.10 7.40 1.076 4 0.177 0.035 2762 1052 1895 0 0 0 0 0 0 26.60 26.20 24.04
12360 0.67 253.3 239.0 11.2 947 12368 0.15 2.25 0.00 0.000 6 0.146 0.043 2718 2530 1895 0 0 0 0 0 0 25.91 26.16 28.83
12667 0.73 299.5 204.6 9.6 978 12719 0.12 1.95 42.20 1.152 4 0.090 0.049 2797 3765 1706 0 0 0 0 0 0 26.51 25.63 24.04
12798 0.73 299.5 179.9 20.4 999 12805 0.22 1.90 0.00 0.000 6 0.163 0.024 2740 2449 1706 0 0 0 0 0 0 25.58 26.06 28.83
13111 0.73 303.7 143.7 10.9 1060 13120 0.00 2.10 3.42 0.810 4 0.000 0.048 2740 3772 1690 0 0 0 0 0 0 28.83 26.14 24.13
13147 0.73 303.7 139.0 13.6 1066 13153 0.00 1.90 0.00 0.000 6 0.000 0.024 2749 2442 1690 0 0 0 0 0 0 28.83 26.34 28.83
13458 0.80 358.9 102.6 9.3 1127 13485 0.10 0.00 24.52 0.916 6 0.109 0.000 2809 2439 1465 0 0 0 0 0 0 26.52 28.83 24.56
13792 0.80 358.9 56.2 13.3 1191 13799 0.12 0.00 0.00 0.000 6 0.157 0.000 2768 2439 1461 0 0 0 0 0 0 26.18 28.83 28.83
14103 1.01 529.0 33.0 5.8 1252 14189 0.20 2.08 68.45 0.194 4 0.066 0.033 2886 1052 766 0 0 0 0 0 0 26.53 26.16 25.48
14267 1.01 529.0 8.3 13.3 1275 14275 0.17 2.20 0.00 0.000 6 0.125 0.041 2830 2527 762 0 0 0 0 0 0 25.96 26.17 28.83
14305 end climb: SURFACE_DEPTH_REACHED
state 14305 begin surface coast
14338 end surface coast: CONTROL_FINISHED_OK
state 14339 begin surface