OKMC Mar12 * SG176 * Dive index * Mission links * Dive 68 * 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  68 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  2610 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  360 UPLOAD_DIVES_MAX  -1 C_VBD  2929 DEVICE3  35
T_MISSION  400 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  -7471.3799 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  200 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  2510 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  250312,024737,2130.189,12244.104,27,1.4,27,-2.7 TGT_NAME  DOGLEG
_CALLS  1 TGT_LATLONG  2100.000,12250.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.67 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  250312,025425,2130.139,12244.064,14,1.5,31,-2.7 MHEAD_RNG_PITCHd_Wd  154.4,56753,-13.6,-9.167
SPEED_LIMITS  0.159,0.286 D_GRID  3843

Post-dive calculations and measurements:
FINISH  0.8,1.023108 _10V_AH  10.2,10.505
SM_CCo  14579,16.38,0.133,0,0,1396,375.06 FG_AHR_24Vo  0.000
SM_GC  2.20,6.38,0.15,16.38,0.038,0.075,0.133,194,2697,1396,-7.14,-0.40,375.06,0,0,0,0,0,0,26.44,26.48,26.16 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2122.58,12245.51,240312,222213 MEM  324444
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  100707,1305
HUMID  41.10 CAP_FILE_SIZE  153035,0
INTERNAL_PRESSURE  9.44647 CFSIZE  260165632,216731648
TCM_TEMP  24.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.185,276.8,1
_24V_AH  23.0,16.920 GPS  250312,065907,2128.493,12243.702,28,1.5,28,-2.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor18260108.73 SBE_CT88824490.66
Roll_motor12597279.88 AA43302107331599.87
VBD_pump_during_apogee417172116519.40 WL_BB2F7071051708.81
VBD_pump_during_surface1613350.13 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010373.31 nil000.00
Iridium_during_connect2116079.36 nil000.00
Iridium_during_xfer2022231040.28 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS335017.23
TT8332019670.60
LPSleep77172172.39
TT8_Active50619102.34
TT8_Sampling3114391264.21
TT8_CF832545152.26
TT8_Kalman000.00
Analog_circuits178312218.28
GPS_charging000.00
Compass271615415.57
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
13 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -0.58 -194.6 0.0 0.0 0 66 0.00 0.00 -48.35 0.000 2 0.000 0.000 191 2635 2696 0 0 0 0 0 0 28.83 28.83 28.83
69 -0.58 -194.6 3.3 -5.6 7 105 8.50 2.15 -19.98 0.000 4 0.243 0.041 2319 1151 3725 0 0 0 0 0 0 25.73 26.17 26.47
225 -0.58 -194.6 50.1 -24.2 33 233 0.10 2.25 0.00 0.000 6 0.177 0.049 2334 2629 3726 0 0 0 0 0 0 26.07 26.20 28.83
575 -0.58 -194.6 158.5 -30.5 94 585 0.05 1.73 0.00 0.000 4 0.177 0.051 2281 3762 3726 0 0 0 0 0 0 26.51 26.34 28.83
610 -0.58 -194.6 169.9 -33.9 99 617 0.17 1.70 0.00 0.000 6 0.175 0.024 2332 2520 3726 0 0 0 0 0 0 26.15 26.48 28.83
935 -0.58 -194.6 254.3 -23.8 140 940 0.03 1.92 0.00 0.000 4 0.260 0.022 2297 1136 3726 0 0 0 0 0 0 26.62 26.53 28.83
971 -0.58 -194.6 261.5 -22.8 143 979 0.15 2.25 0.00 0.000 6 0.161 0.047 2330 2626 3726 0 0 0 0 0 0 26.28 26.45 28.83
1278 -0.58 -194.6 328.4 -20.9 174 1279 0.00 0.00 0.00 0.000 6 0.000 0.000 2331 2627 3726 0 0 0 0 0 0 28.83 28.83 28.83
1578 -0.58 -194.6 390.6 -20.2 204 1587 0.00 2.08 0.00 0.000 4 0.000 0.024 2331 1147 3726 0 0 0 0 0 0 28.83 26.62 28.83
1620 -0.58 -194.6 398.0 -17.8 208 1629 0.00 2.22 0.00 0.000 6 0.000 0.047 2321 2628 3725 0 0 0 0 0 0 28.83 26.53 28.83
1929 -0.58 -194.6 455.6 -17.0 239 1938 0.00 2.10 0.00 0.000 4 0.000 0.027 2321 1143 3724 0 0 0 0 0 0 28.83 26.63 28.83
1984 -0.58 -194.6 462.8 -13.7 244 1991 0.00 2.25 0.00 0.000 6 0.000 0.048 2320 2632 3724 0 0 0 0 0 0 28.83 26.54 28.83
2292 -0.58 -194.6 508.6 -15.2 275 2293 0.00 0.00 0.00 0.000 6 0.000 0.000 2320 2632 3723 0 0 0 0 0 0 28.83 28.83 28.83
2592 -0.58 -194.6 554.1 -16.5 305 2593 0.00 0.00 0.00 0.000 6 0.000 0.000 2319 2632 3721 0 0 0 0 0 0 28.83 28.83 28.83
2891 -0.58 -194.6 601.2 -16.5 335 2897 0.00 2.10 0.00 0.000 4 0.000 0.026 2320 1144 3719 0 0 0 0 0 0 28.83 26.65 28.83
2954 -0.58 -194.6 610.0 -15.1 338 2958 0.00 2.25 0.00 0.000 6 0.000 0.050 2318 2625 3719 0 0 0 0 0 0 28.83 26.55 28.83
3266 -0.58 -194.6 656.4 -13.7 354 3270 0.00 1.75 0.00 0.000 4 0.000 0.060 2317 3763 3716 0 0 0 0 0 0 28.83 26.52 28.83
3309 -0.58 -194.6 661.8 -13.1 356 3312 0.00 1.70 0.00 0.000 6 0.000 0.024 2316 2517 3715 0 0 0 0 0 0 28.83 26.71 28.83
3631 -0.58 -194.6 697.1 -10.3 372 3637 0.00 1.95 0.00 0.000 4 0.000 0.028 2317 1144 3714 0 0 0 0 0 0 28.83 26.64 28.83
3677 -0.58 -194.6 700.8 -10.0 374 3681 0.00 2.25 0.00 0.000 6 0.000 0.048 2317 2629 3714 0 0 0 0 0 0 28.83 26.55 28.83
3985 -0.58 -194.6 732.6 -10.8 389 3991 0.00 2.12 0.00 0.000 4 0.000 0.027 2317 1147 3711 0 0 0 0 0 0 28.83 26.64 28.83
4014 -0.58 -194.6 734.8 -10.8 390 4018 0.00 2.22 0.00 0.000 6 0.000 0.049 2317 2626 3710 0 0 0 0 0 0 28.83 26.54 28.83
4320 -0.58 -194.6 770.6 -11.9 405 4325 0.00 2.12 0.00 0.000 4 0.000 0.027 2317 1153 3707 0 0 0 0 0 0 28.83 26.64 28.83
4368 -0.58 -194.6 775.1 -11.6 407 4372 0.00 2.25 0.00 0.000 6 0.000 0.049 2317 2628 3707 0 0 0 0 0 0 28.83 26.53 28.83
4675 -0.58 -194.6 809.3 -10.6 422 4681 0.00 2.12 0.00 0.000 4 0.000 0.027 2316 1155 3704 0 0 0 0 0 0 28.83 26.63 28.83
4719 -0.58 -194.6 813.3 -10.4 424 4723 0.00 2.25 0.00 0.000 6 0.000 0.049 2317 2627 3704 0 0 0 0 0 0 28.83 26.53 28.83
5031 -0.58 -194.6 846.7 -10.7 440 5032 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 2628 3702 0 0 0 0 0 0 28.83 28.83 28.83
5331 -0.58 -194.6 880.2 -11.3 455 5336 0.00 2.12 0.00 0.000 4 0.000 0.028 2316 1155 3699 0 0 0 0 0 0 28.83 26.63 28.83
5393 -0.58 -194.6 886.4 -10.7 458 5397 0.00 2.28 0.00 0.000 6 0.000 0.050 2316 2623 3699 0 0 0 0 0 0 28.83 26.52 28.83
5712 -0.58 -194.6 922.4 -11.3 474 5713 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 2623 3697 0 0 0 0 0 0 28.83 28.83 28.83
6011 -0.58 -194.6 954.9 -11.7 489 6017 0.00 2.12 0.00 0.000 4 0.000 0.028 2317 1148 3695 0 0 0 0 0 0 28.83 26.63 28.83
6071 -0.58 -194.6 959.9 -9.2 492 6076 0.00 2.25 0.00 0.000 6 0.000 0.050 2316 2632 3694 0 0 0 0 0 0 28.83 26.51 28.83
6392 -0.58 -194.6 989.9 -9.0 508 6393 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 2632 3692 0 0 0 0 0 0 28.83 28.83 28.83
6409 end dive: TARGET_DEPTH_EXCEEDED
state 6409 begin apogee
6414 -0.17 0.0 991.7 -9.4 509 6587 0.40 0.12 165.50 1.721 6 0.113 0.097 2458 2538 2928 0 0 0 0 0 0 26.34 24.53 23.64
6588 end apogee: CONTROL_FINISHED_OK
state 6588 begin climb
6590 0.58 194.6 997.0 0.0 517 6789 0.65 2.47 184.38 1.682 4 0.051 0.035 2725 1061 2133 0 0 0 0 0 0 24.78 24.04 23.04
6837 0.58 194.6 969.6 18.9 529 6844 0.15 2.40 0.00 0.000 6 0.183 0.048 2689 2518 2128 0 0 0 0 0 0 24.66 24.83 28.83
7153 0.58 194.6 910.2 17.7 545 7158 0.00 2.22 0.00 0.000 4 0.000 0.034 2700 1053 2124 0 0 0 0 0 0 28.83 25.81 28.83
7213 0.58 194.6 900.8 16.4 548 7219 0.00 2.30 0.00 0.000 6 0.000 0.048 2700 2516 2122 0 0 0 0 0 0 28.83 25.84 28.83
7532 0.58 194.6 845.1 17.3 564 7536 0.00 1.92 0.00 0.000 4 0.000 0.057 2700 3763 2121 0 0 0 0 0 0 28.83 26.06 28.83
7551 0.58 194.6 842.1 17.4 565 7555 0.10 1.90 0.00 0.000 6 0.220 0.028 2689 2450 2121 0 0 0 0 0 0 25.89 26.17 28.83
7869 0.58 194.6 792.5 14.4 581 7874 0.00 2.03 0.00 0.000 4 0.000 0.033 2699 1052 2120 0 0 0 0 0 0 28.83 26.26 28.83
7910 0.58 194.6 787.1 13.9 583 7915 0.00 2.30 0.00 0.000 6 0.000 0.047 2699 2519 2120 0 0 0 0 0 0 28.83 26.22 28.83
8229 0.58 194.6 737.2 16.6 599 8234 0.00 2.15 0.00 0.000 4 0.000 0.033 2710 1058 2119 0 0 0 0 0 0 28.83 26.32 28.83
8257 0.58 194.6 733.8 16.8 600 8262 0.10 2.25 0.00 0.000 6 0.194 0.047 2687 2521 2118 0 0 0 0 0 0 26.10 26.29 28.83
8564 0.58 194.6 685.6 15.1 615 8568 0.00 1.92 0.00 0.000 4 0.000 0.055 2686 3788 2117 0 0 0 0 0 0 28.83 26.31 28.83
8618 0.58 194.6 678.5 15.8 617 8625 0.00 1.92 0.00 0.000 6 0.000 0.027 2695 2452 2118 0 0 0 0 0 0 28.83 26.42 28.83
8925 0.58 194.6 630.6 13.4 633 8931 0.00 2.03 0.00 0.000 4 0.000 0.034 2707 1058 2117 0 0 0 0 0 0 28.83 26.41 28.83
9075 0.58 194.6 613.3 12.1 640 9079 0.08 2.25 0.00 0.000 6 0.204 0.047 2692 2527 2116 0 0 0 0 0 0 26.25 26.39 28.83
9380 0.58 194.6 567.2 16.7 665 9384 0.00 1.90 0.00 0.000 4 0.000 0.055 2691 3773 2115 0 0 0 0 0 0 28.83 26.36 28.83
9569 0.58 194.6 532.3 17.2 683 9578 0.00 1.90 0.00 0.000 6 0.000 0.024 2701 2435 2116 0 0 0 0 0 0 28.83 26.53 28.83
9878 0.58 194.6 488.4 12.4 714 9888 0.00 2.05 0.00 0.000 4 0.000 0.053 2701 3771 2115 0 0 0 0 0 0 28.83 26.39 28.83
9914 0.58 194.6 484.0 13.9 717 9921 0.10 1.90 0.00 0.000 6 0.216 0.024 2689 2435 2115 0 0 0 0 0 0 26.22 26.53 28.83
10220 0.58 194.6 449.2 10.4 748 10224 0.00 2.03 0.00 0.000 4 0.000 0.052 2688 3771 2116 0 0 0 0 0 0 28.83 26.41 28.83
10364 0.58 194.6 431.2 11.9 762 10374 0.00 1.90 0.00 0.000 6 0.000 0.025 2698 2430 2115 0 0 0 0 0 0 28.83 26.55 28.83
10672 0.58 194.6 395.9 12.2 793 10681 0.00 2.05 0.00 0.000 4 0.000 0.053 2697 3767 2116 0 0 0 0 0 0 28.83 26.43 28.83
10717 0.58 194.6 390.9 12.3 797 10724 0.08 1.88 0.00 0.000 6 0.230 0.025 2692 2445 2115 0 0 0 0 0 0 26.32 26.57 28.83
11023 0.58 194.6 358.0 10.7 828 11024 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2444 2116 0 0 0 0 0 0 28.83 28.83 28.83
11326 0.58 194.6 329.2 10.2 858 11336 0.00 2.00 0.00 0.000 4 0.000 0.052 2693 3768 2115 0 0 0 0 0 0 28.83 26.46 28.83
11429 0.58 194.6 317.0 12.0 868 11433 0.00 1.88 0.00 0.000 6 0.000 0.025 2702 2435 2116 0 0 0 0 0 0 28.83 26.60 28.83
11734 0.58 194.6 283.1 11.0 898 11735 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2432 2116 0 0 0 0 0 0 28.83 28.83 28.83
12035 0.58 194.6 250.5 10.3 928 12044 0.00 2.00 0.00 0.000 4 0.000 0.051 2702 3759 2118 0 0 0 0 0 0 28.83 26.48 28.83
12087 0.58 194.6 244.8 11.0 933 12096 0.10 1.88 0.00 0.000 6 0.205 0.025 2688 2428 2119 0 0 0 0 0 0 26.32 26.62 28.83
12396 0.58 194.6 217.8 9.2 964 12398 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2427 2119 0 0 0 0 0 0 28.83 28.83 28.83
12717 0.61 215.0 188.4 8.5 1005 12740 0.08 2.12 16.83 1.112 4 0.135 0.051 2731 3775 2052 0 0 0 0 0 0 26.69 26.23 25.37
12867 0.61 215.0 166.9 13.8 1029 12874 0.15 1.88 0.00 0.000 6 0.172 0.025 2700 2446 2052 0 0 0 0 0 0 26.09 26.36 28.83
13229 0.64 240.0 134.1 8.4 1090 13247 0.08 2.10 11.40 1.002 4 0.135 0.050 2743 3776 1949 0 0 0 0 0 0 26.51 26.19 25.36
13268 0.64 240.0 130.3 10.8 1095 13275 0.17 1.90 0.00 0.000 6 0.159 0.026 2703 2437 1949 0 0 0 0 0 0 26.08 26.28 28.83
13630 0.73 317.7 103.9 6.7 1156 13673 0.12 2.10 33.70 0.934 4 0.094 0.034 2786 1052 1630 0 0 0 0 0 0 26.44 25.82 25.09
13765 0.73 317.7 85.7 13.9 1177 13772 0.17 2.25 0.00 0.000 6 0.147 0.041 2736 2526 1625 0 0 0 0 0 0 25.85 25.98 28.83
14125 0.75 332.5 45.5 8.7 1238 14137 0.08 2.22 5.47 0.236 4 0.138 0.031 2802 1054 1570 0 0 0 0 0 0 26.35 26.27 25.88
14216 0.75 332.5 34.2 14.1 1249 14224 0.20 2.22 0.00 0.000 6 0.142 0.041 2742 2526 1567 0 0 0 0 0 0 26.10 26.28 28.83
14507 end climb: SURFACE_DEPTH_REACHED
state 14507 begin surface coast
14563 end surface coast: CONTROL_FINISHED_OK
state 14564 begin surface