OKMC Mar12 * SG176 * Dive index * Mission links * Dive 345 * 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  345 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  -7975.3809 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  230512,062537,1948.311,12343.429,27,1.3,27,-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  1.45 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -73.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  230512,063214,1948.097,12343.411,15,1.3,15,-2.4 MHEAD_RNG_PITCHd_Wd  34.7,80772,-14.4,-11.000
SPEED_LIMITS  0.191,0.336 D_GRID  5250

Post-dive calculations and measurements:
FINISH  0.6,1.021513 _10V_AH  9.9,44.222
SM_CCo  14269,0.00,0.000,0,0,837,513.17 FG_AHR_24Vo  0.000
SM_GC  1.53,6.65,0.12,0.00,0.033,0.091,0.000,185,2654,837,-7.14,-0.48,513.17,0,0,0,0,0,0,26.34,26.44,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1938.95,12342.04,230512,020237 MEM  329844
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  97376,1266
HUMID  46.69 CAP_FILE_SIZE  157338,0
INTERNAL_PRESSURE  9.45623 CFSIZE  260165632,188227584
TCM_TEMP  24.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.223,180.5,1
_24V_AH  22.1,72.218 GPS  230512,103136,1948.263,12344.686,35,1.0,35,-2.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19237101.68 SBE_CT85924455.76
Roll_motor12991260.59 AA43301679331224.50
VBD_pump_during_apogee573170221567.97 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2510357.67 nil000.00
Iridium_during_connect1816064.81 nil000.00
Iridium_during_xfer2102231037.75 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS18508.92
TT8318619624.69
LPSleep77062167.08
TT8_Active65419128.37
TT8_Sampling2767391090.41
TT8_CF832945149.50
TT8_Kalman000.00
Analog_circuits197312234.44
GPS_charging000.00
Compass230715342.72
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 71 0.00 0.00 -52.22 0.000 2 0.000 0.000 175 2676 2348 0 0 0 0 0 0 28.83 28.83 28.83
74 -0.66 -243.3 3.4 -7.7 9 117 8.60 0.00 -31.15 0.000 6 0.230 0.000 2306 2676 3923 0 0 0 0 0 0 25.18 28.83 26.69
420 -0.66 -243.3 131.8 -33.4 76 428 0.00 2.17 0.00 0.000 4 0.000 0.025 2306 1141 3924 0 0 0 0 0 0 28.83 26.43 28.83
496 -0.66 -243.3 151.9 -19.5 90 503 0.00 2.22 0.00 0.000 6 0.000 0.045 2305 2620 3925 0 0 0 0 0 0 28.83 26.27 28.83
807 -0.66 -243.3 233.7 -23.4 138 808 0.00 0.00 0.00 0.000 6 0.000 0.000 2305 2620 3925 0 0 0 0 0 0 28.83 28.83 28.83
1107 -0.66 -243.3 297.7 -20.5 168 1116 0.00 2.08 0.00 0.000 4 0.000 0.024 2305 1148 3924 0 0 0 0 0 0 28.83 26.48 28.83
1171 -0.66 -243.3 307.4 -12.4 174 1180 0.00 2.25 0.00 0.000 6 0.000 0.044 2305 2622 3925 0 0 0 0 0 0 28.83 26.32 28.83
1479 -0.66 -243.3 364.5 -20.1 205 1483 0.00 1.73 0.00 0.000 4 0.000 0.054 2304 3766 3924 0 0 0 0 0 0 28.83 26.22 28.83
1512 -0.66 -243.3 370.3 -18.6 208 1521 0.00 1.73 0.00 0.000 6 0.000 0.021 2304 2490 3924 0 0 0 0 0 0 28.83 26.62 28.83
1820 -0.66 -243.3 420.0 -16.8 239 1829 0.00 1.90 0.00 0.000 4 0.000 0.025 2304 1138 3922 0 0 0 0 0 0 28.83 26.48 28.83
1845 -0.66 -243.3 423.3 -16.1 241 1852 0.00 2.25 0.00 0.000 6 0.000 0.044 2304 2629 3922 0 0 0 0 0 0 28.83 26.29 28.83
2151 -0.66 -243.3 469.5 -15.1 272 2161 0.00 2.12 0.00 0.000 4 0.000 0.025 2304 1132 3919 0 0 0 0 0 0 28.83 26.47 28.83
2193 -0.66 -243.3 475.0 -13.2 276 2203 0.00 2.25 0.00 0.000 6 0.000 0.044 2304 2618 3920 0 0 0 0 0 0 28.83 26.29 28.83
2505 -0.66 -243.3 517.8 -14.0 307 2508 0.00 1.75 0.00 0.000 4 0.000 0.056 2304 3769 3917 0 0 0 0 0 0 28.83 26.18 28.83
2558 -0.66 -243.3 524.4 -12.4 312 2566 0.00 1.75 0.00 0.000 6 0.000 0.022 2304 2465 3916 0 0 0 0 0 0 28.83 26.61 28.83
2866 -0.66 -243.3 561.2 -11.6 343 2874 0.00 2.00 0.00 0.000 4 0.000 0.054 2295 3765 3913 0 0 0 0 0 0 28.83 26.17 28.83
2959 -0.66 -243.3 571.3 -10.2 352 2962 0.00 1.73 0.00 0.000 6 0.000 0.024 2296 2494 3913 0 0 0 0 0 0 28.83 26.60 28.83
3281 -0.66 -243.3 607.7 -11.3 381 3287 0.00 2.00 0.00 0.000 4 0.000 0.054 2287 3767 3909 0 0 0 0 0 0 28.83 26.15 28.83
3354 -0.66 -243.3 614.9 -12.0 384 3362 0.10 1.73 0.00 0.000 6 0.151 0.024 2318 2467 3908 0 0 0 0 0 0 26.29 26.59 28.83
3660 -0.66 -243.3 647.5 -10.3 400 3666 0.10 2.03 0.00 0.000 4 0.102 0.053 2247 3770 3907 0 0 0 0 0 0 26.60 26.12 28.83
3744 -0.66 -243.3 659.5 -15.0 404 3749 0.20 1.75 0.00 0.000 6 0.127 0.024 2312 2468 3905 0 0 0 0 0 0 26.10 26.58 28.83
4056 -0.66 -243.3 694.2 -10.6 420 4063 0.05 2.03 0.00 0.000 4 0.173 0.054 2259 3765 3903 0 0 0 0 0 0 26.63 26.09 28.83
4125 -0.66 -243.3 702.3 -12.7 423 4130 0.17 1.73 0.00 0.000 6 0.126 0.024 2317 2490 3902 0 0 0 0 0 0 26.15 26.58 28.83
4432 -0.66 -243.3 733.3 -8.8 438 4438 0.08 1.98 0.00 0.000 4 0.126 0.052 2251 3774 3898 0 0 0 0 0 0 26.60 26.08 28.83
4494 -0.66 -243.3 740.9 -11.9 441 4499 0.15 1.77 0.00 0.000 6 0.106 0.023 2309 2491 3898 0 0 0 0 0 0 26.13 26.57 28.83
4813 -0.66 -243.3 768.4 -8.1 457 4819 0.00 1.98 0.00 0.000 4 0.000 0.055 2305 3779 3895 0 0 0 0 0 0 28.83 26.05 28.83
4880 -0.66 -243.3 773.0 -7.8 460 4883 0.00 1.75 0.00 0.000 6 0.000 0.024 2304 2514 3895 0 0 0 0 0 0 28.83 26.55 28.83
5193 -0.66 -243.3 798.2 -8.1 476 5198 0.00 1.95 0.00 0.000 4 0.000 0.057 2304 3754 3892 0 0 0 0 0 0 28.83 26.03 28.83
5265 -0.66 -243.3 803.0 -8.1 479 5273 0.00 1.73 0.00 0.000 6 0.000 0.025 2304 2479 3891 0 0 0 0 0 0 28.83 26.55 28.83
5572 -0.66 -243.3 830.5 -9.0 495 5578 0.00 2.00 0.00 0.000 4 0.000 0.056 2298 3763 3889 0 0 0 0 0 0 28.83 26.03 28.83
5621 -0.66 -243.3 834.4 -9.3 497 5624 0.00 1.75 0.00 0.000 6 0.000 0.025 2298 2503 3888 0 0 0 0 0 0 28.83 26.53 28.83
5933 -0.66 -243.3 867.3 -10.8 513 5938 0.00 2.00 0.00 0.000 4 0.000 0.055 2290 3767 3887 0 0 0 0 0 0 28.83 26.00 28.83
6014 -0.66 -243.3 876.3 -11.2 517 6018 0.08 1.75 0.00 0.000 6 0.165 0.025 2313 2502 3885 0 0 0 0 0 0 26.29 26.53 28.83
6336 -0.66 -243.3 907.5 -9.2 533 6342 0.05 2.00 0.00 0.000 4 0.171 0.054 2261 3765 3884 0 0 0 0 0 0 26.60 25.97 28.83
6419 -0.66 -243.3 917.3 -12.5 537 6423 0.17 1.73 0.00 0.000 6 0.126 0.025 2317 2473 3883 0 0 0 0 0 0 26.08 26.53 28.83
6731 -0.66 -243.3 943.9 -8.0 553 6737 0.08 2.00 0.00 0.000 4 0.126 0.054 2260 3767 3881 0 0 0 0 0 0 26.58 25.95 28.83
6819 -0.66 -243.3 953.1 -11.5 557 6823 0.17 1.75 0.00 0.000 6 0.127 0.024 2317 2488 3880 0 0 0 0 0 0 26.07 26.53 28.83
7133 -0.66 -243.3 980.0 -8.1 573 7139 0.08 2.00 0.00 0.000 4 0.126 0.055 2261 3758 3878 0 0 0 0 0 0 26.58 25.92 28.83
7214 -0.66 -243.3 989.1 -11.5 577 7219 0.12 1.77 0.00 0.000 6 0.106 0.025 2310 2509 3878 0 0 0 0 0 0 26.09 26.51 28.83
7230 end dive: TARGET_DEPTH_EXCEEDED
state 7230 begin apogee
7236 -0.17 0.0 991.3 -11.9 578 7452 0.43 0.00 209.98 1.703 6 0.096 0.000 2466 2506 2928 0 0 0 0 0 0 25.96 28.83 22.27
7453 end apogee: CONTROL_FINISHED_OK
state 7453 begin climb
7457 0.66 243.3 1005.8 0.0 589 7695 0.73 0.00 232.48 1.658 6 0.043 0.000 2751 2505 1936 0 0 0 0 0 0 24.27 28.83 22.15
7993 0.66 243.3 921.7 21.2 616 7999 0.12 1.95 0.00 0.000 4 0.201 0.054 2715 3766 1928 0 0 0 0 0 0 25.86 26.01 28.83
8020 0.66 243.3 917.4 21.3 617 8023 0.00 1.92 0.00 0.000 6 0.000 0.026 2725 2450 1926 0 0 0 0 0 0 28.83 26.20 28.83
8332 0.66 243.3 858.0 17.6 633 8338 0.00 2.05 0.00 0.000 4 0.000 0.054 2724 3776 1924 0 0 0 0 0 0 28.83 26.13 28.83
8381 0.66 243.3 850.5 17.9 635 8385 0.08 1.92 0.00 0.000 6 0.232 0.026 2720 2456 1924 0 0 0 0 0 0 26.08 26.34 28.83
8688 0.66 243.3 798.0 15.7 650 8694 0.00 2.05 0.00 0.000 4 0.000 0.032 2730 1048 1923 0 0 0 0 0 0 28.83 26.34 28.83
8709 0.66 243.3 794.9 15.5 651 8714 0.00 2.30 0.00 0.000 6 0.000 0.047 2730 2514 1922 0 0 0 0 0 0 28.83 26.20 28.83
9028 0.66 243.3 739.4 18.2 667 9032 0.00 1.92 0.00 0.000 4 0.000 0.057 2730 3772 1922 0 0 0 0 0 0 28.83 26.14 28.83
9077 0.66 243.3 730.8 19.0 669 9082 0.10 1.88 0.00 0.000 6 0.210 0.024 2717 2448 1922 0 0 0 0 0 0 26.04 26.41 28.83
9390 0.66 243.3 677.5 15.5 685 9395 0.00 2.05 0.00 0.000 4 0.000 0.032 2727 1043 1920 0 0 0 0 0 0 28.83 26.32 28.83
9424 0.66 243.3 674.2 15.6 686 9431 0.00 2.28 0.00 0.000 6 0.000 0.047 2726 2520 1919 0 0 0 0 0 0 28.83 26.19 28.83
9730 0.66 243.3 620.4 16.6 702 9735 0.00 1.92 0.00 0.000 4 0.000 0.055 2727 3773 1919 0 0 0 0 0 0 28.83 26.11 28.83
9824 0.66 243.3 605.1 19.1 706 9832 0.08 1.90 0.00 0.000 6 0.237 0.024 2721 2439 1920 0 0 0 0 0 0 26.13 26.43 28.83
10130 0.66 243.3 556.6 14.2 736 10139 0.00 2.05 0.00 0.000 4 0.000 0.054 2720 3766 1919 0 0 0 0 0 0 28.83 26.09 28.83
10162 0.66 243.3 551.7 15.5 739 10166 0.00 1.92 0.00 0.000 6 0.000 0.023 2730 2411 1919 0 0 0 0 0 0 28.83 26.44 28.83
10473 0.66 243.3 504.4 14.5 770 10483 0.00 2.10 0.00 0.000 4 0.000 0.054 2730 3770 1919 0 0 0 0 0 0 28.83 26.08 28.83
10555 0.66 243.3 489.6 19.0 778 10560 0.10 1.90 0.00 0.000 6 0.210 0.024 2717 2431 1919 0 0 0 0 0 0 26.04 26.44 28.83
10867 0.66 243.3 443.4 14.8 809 10868 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2427 1919 0 0 0 0 0 0 28.83 28.83 28.83
11170 0.66 243.3 399.4 15.0 839 11176 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2427 1919 0 0 0 0 0 0 28.83 28.83 28.83
11480 0.66 243.3 357.3 12.1 870 11490 0.00 2.05 0.00 0.000 4 0.000 0.052 2717 3766 1919 0 0 0 0 0 0 28.83 26.08 28.83
11657 0.66 243.3 330.0 15.5 887 11664 0.00 1.92 0.00 0.000 6 0.000 0.024 2726 2450 1919 0 0 0 0 0 0 28.83 26.42 28.83
11964 0.66 243.3 290.4 12.4 918 11974 0.00 2.00 0.00 0.000 4 0.000 0.049 2726 3767 1919 0 0 0 0 0 0 28.83 26.10 28.83
12050 0.66 243.3 278.0 15.6 926 12058 0.08 1.90 0.00 0.000 6 0.222 0.024 2719 2440 1919 0 0 0 0 0 0 26.14 26.41 28.83
12358 0.67 248.2 243.5 10.9 957 12367 0.00 2.00 0.00 0.000 4 0.000 0.035 2729 1064 1920 0 0 0 0 0 0 28.83 26.27 28.83
12474 0.71 287.8 232.5 9.8 968 12521 0.08 2.20 38.17 1.170 6 0.132 0.041 2777 2522 1754 0 0 0 0 0 0 26.14 26.20 23.99
12821 0.71 287.8 168.5 18.7 1019 12829 0.12 1.88 0.00 0.000 4 0.170 0.047 2738 3767 1751 0 0 0 0 0 0 26.07 26.07 28.83
12876 0.71 287.8 158.8 16.0 1029 12883 0.00 1.90 0.00 0.000 6 0.000 0.024 2747 2443 1751 0 0 0 0 0 0 28.83 26.37 28.83
13189 0.77 335.3 124.4 9.5 1090 13221 0.08 2.10 21.52 0.995 4 0.135 0.034 2807 1059 1560 0 0 0 0 0 0 26.54 26.06 24.46
13275 0.77 335.3 113.3 13.1 1105 13282 0.17 2.22 0.00 0.000 6 0.136 0.041 2756 2523 1556 0 0 0 0 0 0 25.82 26.07 28.83
13604 0.78 340.4 74.6 10.8 1166 13612 0.00 1.95 1.77 0.347 4 0.000 0.049 2756 3768 1539 0 0 0 0 0 0 28.83 26.13 24.87
13679 0.84 388.5 66.8 9.5 1179 13706 0.10 1.88 20.65 0.281 6 0.106 0.024 2817 2429 1343 0 0 0 0 0 0 26.31 26.43 25.27
14027 0.84 388.5 21.6 12.7 1243 14035 0.12 2.00 0.00 0.000 4 0.145 0.031 2777 1058 1339 0 0 0 0 0 0 26.29 26.32 28.83
14062 0.99 510.7 19.4 7.3 1246 14119 0.17 2.20 48.53 0.168 6 0.073 0.039 2866 2530 841 0 0 0 0 0 0 26.29 26.29 25.53
14170 end climb: SURFACE_DEPTH_REACHED
state 14170 begin surface coast
14193 end surface coast: CONTROL_FINISHED_OK
state 14193 begin surface