OKMC Mar12 * SG176 * Dive index * Mission links * Dive 76 * 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  76 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  -7481.4375 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  260312,115706,2120.756,12245.993,23,1.9,23,-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  1.63 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  260312,120326,2120.735,12245.955,11,1.9,11,-2.7 MHEAD_RNG_PITCHd_Wd  153.2,39033,-13.6,-9.167
SPEED_LIMITS  0.159,0.286 D_GRID  4596

Post-dive calculations and measurements:
FINISH  0.8,1.023222 _10V_AH  10.2,11.510
SM_CCo  14415,6.93,0.144,0,0,1398,375.06 FG_AHR_24Vo  0.000
SM_GC  3.03,6.55,0.15,6.93,0.041,0.076,0.144,185,2703,1398,-7.12,-0.54,375.06,0,0,0,0,0,0,26.50,26.51,26.17 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2115.63,12243.00,260312,070759 MEM  324468
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  97032,1283
HUMID  41.45 CAP_FILE_SIZE  147173,0
INTERNAL_PRESSURE  9.4367 CFSIZE  260165632,216051712
TCM_TEMP  23.60 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.118,288.9,1
_24V_AH  23.0,18.549 GPS  260312,160530,2119.155,12246.219,39,1.5,44,-2.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor17276110.04 SBE_CT87324481.99
Roll_motor11475198.66 AA43302056331560.86
VBD_pump_during_apogee442171517460.56 WL_BB2F7041051701.03
VBD_pump_during_surface614322.91 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2410357.47 nil000.00
Iridium_during_connect2416089.49 nil000.00
Iridium_during_xfer2012231031.67 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS14507.18
TT8323819654.07
LPSleep77162172.38
TT8_Active53319107.66
TT8_Sampling2995391216.08
TT8_CF830145140.78
TT8_Kalman000.00
Analog_circuits179112219.23
GPS_charging000.00
Compass264015404.02
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 -0.58 -194.6 0.0 0.0 0 68 0.00 0.00 -49.58 0.000 2 0.000 0.000 190 2675 2732 0 0 0 0 0 0 28.83 28.83 28.83
71 -0.58 -194.6 3.6 -6.7 7 108 8.48 2.25 -18.77 0.000 4 0.240 0.045 2322 1169 3725 0 0 0 0 0 0 25.69 26.14 26.45
210 -0.58 -194.6 47.3 -24.5 27 217 0.08 2.22 0.00 0.000 6 0.202 0.047 2327 2632 3726 0 0 0 0 0 0 26.04 26.17 28.83
571 -0.58 -194.6 164.9 -29.6 88 578 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 2633 3726 0 0 0 0 0 0 28.83 28.83 28.83
897 -0.58 -194.6 249.9 -26.3 130 898 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 2633 3726 0 0 0 0 0 0 28.83 28.83 28.83
1200 -0.58 -194.6 322.6 -23.0 160 1208 0.00 2.10 0.00 0.000 4 0.000 0.025 2327 1141 3727 0 0 0 0 0 0 28.83 26.55 28.83
1291 -0.58 -194.6 339.5 -15.3 169 1301 0.00 2.25 0.00 0.000 6 0.000 0.047 2321 2628 3727 0 0 0 0 0 0 28.83 26.47 28.83
1601 -0.58 -194.6 409.2 -24.2 200 1610 0.00 2.10 0.00 0.000 4 0.000 0.024 2320 1144 3727 0 0 0 0 0 0 28.83 26.60 28.83
1633 -0.58 -194.6 415.8 -22.1 203 1642 0.00 2.22 0.00 0.000 6 0.000 0.047 2320 2627 3726 0 0 0 0 0 0 28.83 26.50 28.83
1944 -0.58 -194.6 480.9 -21.3 234 1953 0.00 2.08 0.00 0.000 4 0.000 0.024 2321 1146 3726 0 0 0 0 0 0 28.83 26.63 28.83
2018 -0.58 -194.6 493.0 -15.1 241 2025 0.00 2.25 0.00 0.000 6 0.000 0.047 2318 2628 3725 0 0 0 0 0 0 28.83 26.52 28.83
2325 -0.58 -194.6 546.5 -16.3 272 2326 0.00 0.00 0.00 0.000 6 0.000 0.000 2318 2628 3724 0 0 0 0 0 0 28.83 28.83 28.83
2629 -0.58 -194.6 590.0 -14.5 302 2635 0.00 0.00 0.00 0.000 6 0.000 0.000 2318 2629 3722 0 0 0 0 0 0 28.83 28.83 28.83
2935 -0.58 -194.6 632.8 -13.3 321 2941 0.00 2.10 0.00 0.000 4 0.000 0.025 2318 1140 3720 0 0 0 0 0 0 28.83 26.63 28.83
3023 -0.58 -194.6 642.2 -11.6 325 3027 0.00 2.28 0.00 0.000 6 0.000 0.050 2317 2626 3720 0 0 0 0 0 0 28.83 26.53 28.83
3331 -0.58 -194.6 682.8 -12.5 340 3334 0.00 1.70 0.00 0.000 4 0.000 0.060 2317 3764 3717 0 0 0 0 0 0 28.83 26.49 28.83
3380 -0.58 -194.6 687.8 -12.3 342 3383 0.00 1.73 0.00 0.000 6 0.000 0.024 2317 2526 3716 0 0 0 0 0 0 28.83 26.70 28.83
3692 -0.58 -194.6 726.0 -12.4 358 3693 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 2523 3715 0 0 0 0 0 0 28.83 28.83 28.83
3992 -0.58 -194.6 766.8 -13.4 373 3994 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 2523 3712 0 0 0 0 0 0 28.83 28.83 28.83
4292 -0.58 -194.6 804.5 -12.1 388 4298 0.00 1.90 0.00 0.000 4 0.000 0.057 2308 3773 3710 0 0 0 0 0 0 28.83 26.48 28.83
4334 -0.58 -194.6 809.6 -12.6 390 4339 0.05 1.75 0.00 0.000 6 0.136 0.024 2329 2498 3709 0 0 0 0 0 0 26.48 26.74 28.83
4652 -0.58 -194.6 842.3 -10.0 406 4658 0.00 1.95 0.00 0.000 4 0.000 0.059 2329 3771 3707 0 0 0 0 0 0 28.83 26.46 28.83
4700 -0.58 -194.6 846.2 -9.8 408 4703 0.00 1.75 0.00 0.000 6 0.000 0.024 2329 2476 3706 0 0 0 0 0 0 28.83 26.72 28.83
5013 -0.58 -194.6 873.9 -8.0 424 5014 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2473 3704 0 0 0 0 0 0 28.83 28.83 28.83
5313 -0.58 -194.6 896.5 -7.6 439 5318 0.00 1.98 0.00 0.000 4 0.000 0.059 2329 3763 3702 0 0 0 0 0 0 28.83 26.44 28.83
5360 -0.58 -194.6 899.5 -7.6 441 5363 0.00 1.70 0.00 0.000 6 0.000 0.024 2329 2520 3701 0 0 0 0 0 0 28.83 26.71 28.83
5673 -0.58 -194.6 923.4 -7.3 457 5677 0.00 1.95 0.00 0.000 4 0.000 0.060 2329 3771 3699 0 0 0 0 0 0 28.83 26.44 28.83
5697 -0.58 -194.6 925.1 -7.4 458 5700 0.00 1.75 0.00 0.000 6 0.000 0.024 2329 2512 3699 0 0 0 0 0 0 28.83 26.70 28.83
6014 -0.58 -194.6 952.5 -9.0 474 6015 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2509 3697 0 0 0 0 0 0 28.83 28.83 28.83
6315 -0.58 -194.6 983.5 -11.0 489 6320 0.00 1.92 0.00 0.000 4 0.000 0.060 2329 3763 3695 0 0 0 0 0 0 28.83 26.42 28.83
6342 -0.58 -194.6 985.5 -10.6 490 6346 0.00 1.73 0.00 0.000 6 0.000 0.026 2329 2516 3695 0 0 0 0 0 0 28.83 26.69 28.83
6392 end dive: TARGET_DEPTH_EXCEEDED
state 6392 begin apogee
6397 -0.17 0.0 991.0 -9.4 493 6570 0.38 0.00 166.57 1.716 6 0.109 0.000 2464 2501 2929 0 0 0 0 0 0 26.34 28.83 23.63
6571 end apogee: CONTROL_FINISHED_OK
state 6571 begin climb
6573 0.58 194.6 999.4 0.0 501 6771 0.65 0.00 186.18 1.680 6 0.044 0.000 2734 2501 2134 0 0 0 0 0 0 24.78 28.83 23.01
7069 0.58 194.6 923.2 20.3 526 7075 0.12 2.17 0.00 0.000 4 0.203 0.031 2709 1060 2126 0 0 0 0 0 0 25.49 25.72 28.83
7109 0.58 194.6 916.1 19.0 528 7115 0.10 2.30 0.00 0.000 6 0.187 0.048 2687 2515 2123 0 0 0 0 0 0 25.58 25.73 28.83
7430 0.58 194.6 867.6 14.3 544 7435 0.00 1.95 0.00 0.000 4 0.000 0.057 2686 3774 2122 0 0 0 0 0 0 28.83 26.01 28.83
7483 0.58 194.6 861.1 15.2 546 7491 0.00 1.95 0.00 0.000 6 0.000 0.028 2696 2448 2122 0 0 0 0 0 0 28.83 26.14 28.83
7789 0.58 194.6 810.8 15.2 562 7790 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2444 2121 0 0 0 0 0 0 28.83 28.83 28.83
8090 0.58 194.6 765.2 15.5 577 8095 0.00 2.05 0.00 0.000 4 0.000 0.055 2696 3764 2121 0 0 0 0 0 0 28.83 26.22 28.83
8137 0.58 194.6 758.0 16.7 579 8141 0.08 1.90 0.00 0.000 6 0.230 0.026 2692 2439 2120 0 0 0 0 0 0 26.13 26.36 28.83
8450 0.58 194.6 707.0 16.1 595 8455 0.00 2.08 0.00 0.000 4 0.000 0.056 2691 3766 2119 0 0 0 0 0 0 28.83 26.27 28.83
8482 0.58 194.6 703.5 16.3 596 8489 0.00 1.92 0.00 0.000 6 0.000 0.026 2701 2439 2119 0 0 0 0 0 0 28.83 26.41 28.83
8789 0.58 194.6 649.0 16.6 612 8795 0.00 2.08 0.00 0.000 4 0.000 0.055 2701 3771 2118 0 0 0 0 0 0 28.83 26.32 28.83
8843 0.58 194.6 641.7 17.2 614 8851 0.10 1.90 0.00 0.000 6 0.218 0.024 2689 2444 2119 0 0 0 0 0 0 26.15 26.47 28.83
9150 0.58 194.6 595.2 15.4 631 9158 0.00 2.03 0.00 0.000 4 0.000 0.053 2689 3764 2117 0 0 0 0 0 0 28.83 26.34 28.83
9233 0.58 194.6 580.5 18.3 639 9240 0.00 1.92 0.00 0.000 6 0.000 0.024 2699 2438 2118 0 0 0 0 0 0 28.83 26.51 28.83
9541 0.58 194.6 541.4 11.3 670 9544 0.00 2.03 0.00 0.000 4 0.000 0.033 2709 1053 2117 0 0 0 0 0 0 28.83 26.46 28.83
9657 0.58 194.6 529.8 9.6 681 9667 0.10 2.25 0.00 0.000 6 0.185 0.046 2685 2519 2116 0 0 0 0 0 0 26.22 26.41 28.83
9967 0.58 194.6 494.8 11.9 712 9971 0.05 1.88 0.00 0.000 4 0.171 0.052 2721 3769 2116 0 0 0 0 0 0 26.61 26.39 28.83
10075 0.58 194.6 474.9 20.1 722 10080 0.15 1.90 0.00 0.000 6 0.187 0.024 2693 2446 2116 0 0 0 0 0 0 26.17 26.55 28.83
10387 0.58 194.6 429.1 14.4 753 10388 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2442 2116 0 0 0 0 0 0 28.83 28.83 28.83
10689 0.58 194.6 389.2 12.2 783 10698 0.00 2.03 0.00 0.000 4 0.000 0.036 2703 1054 2116 0 0 0 0 0 0 28.83 26.50 28.83
10803 0.58 194.6 377.7 9.4 794 10812 0.03 2.22 0.00 0.000 6 0.276 0.044 2692 2523 2115 0 0 0 0 0 0 26.38 26.46 28.83
11110 0.58 194.6 343.5 11.4 825 11119 0.00 2.15 0.00 0.000 4 0.000 0.036 2702 1061 2116 0 0 0 0 0 0 28.83 26.51 28.83
11144 0.58 194.6 339.9 11.6 828 11152 0.03 2.22 0.00 0.000 6 0.181 0.043 2692 2519 2115 0 0 0 0 0 0 26.36 26.47 28.83
11452 0.58 194.6 303.1 12.6 859 11456 0.00 2.15 0.00 0.000 4 0.000 0.034 2701 1059 2116 0 0 0 0 0 0 28.83 26.51 28.83
11494 0.58 194.6 298.4 11.2 863 11503 0.00 2.22 0.00 0.000 6 0.000 0.043 2701 2526 2116 0 0 0 0 0 0 28.83 26.48 28.83
11804 0.58 194.6 263.8 10.4 894 11807 0.00 1.88 0.00 0.000 4 0.000 0.052 2701 3771 2116 0 0 0 0 0 0 28.83 26.44 28.83
11880 0.58 194.6 254.1 13.3 901 11884 0.05 1.90 0.00 0.000 6 0.175 0.024 2685 2443 2118 0 0 0 0 0 0 26.29 26.61 28.83
12192 0.65 251.4 230.1 7.4 932 12245 0.12 2.10 47.80 1.187 4 0.094 0.035 2761 1058 1902 0 0 0 0 0 0 26.64 25.57 24.73
12289 0.65 251.4 217.3 15.2 941 12299 0.15 2.25 0.00 0.000 6 0.132 0.042 2710 2515 1899 0 0 0 0 0 0 25.60 25.74 28.83
12629 0.65 251.4 174.5 13.4 989 12635 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 2516 1898 0 0 0 0 0 0 28.83 28.83 28.83
12987 0.65 251.4 135.5 10.4 1050 12996 0.00 2.20 0.00 0.000 4 0.000 0.034 2718 1055 1898 0 0 0 0 0 0 28.83 26.31 28.83
13010 0.65 251.4 133.3 9.8 1053 13017 0.00 2.22 0.00 0.000 6 0.000 0.042 2718 2524 1898 0 0 0 0 0 0 28.83 26.29 28.83
13370 0.65 251.4 96.4 9.2 1114 13379 0.00 1.90 0.00 0.000 4 0.000 0.050 2718 3770 1898 0 0 0 0 0 0 28.83 26.34 28.83
13394 0.65 251.4 94.1 10.4 1117 13401 0.00 1.88 0.00 0.000 6 0.000 0.024 2724 2429 1898 0 0 0 0 0 0 28.83 26.48 28.83
13753 0.65 251.4 61.4 9.2 1178 13763 0.00 2.03 0.00 0.000 4 0.000 0.035 2734 1058 1899 0 0 0 0 0 0 28.83 26.46 28.83
13860 0.73 314.5 53.1 7.2 1195 13895 0.00 2.20 26.42 0.246 6 0.000 0.043 2734 2524 1642 0 0 0 0 0 0 28.83 26.46 25.97
14248 0.73 314.5 16.2 12.1 1260 14256 0.00 2.17 0.00 0.000 4 0.000 0.036 2734 1065 1638 0 0 0 0 0 0 28.83 26.45 28.83
14310 0.78 355.8 10.6 7.8 1270 14335 0.08 2.22 15.45 0.149 6 0.058 0.045 2807 2522 1473 0 0 0 0 0 0 26.40 26.44 26.13
14373 end climb: SURFACE_DEPTH_REACHED
state 14373 begin surface coast
14400 end surface coast: CONTROL_FINISHED_OK
state 14400 begin surface