OKMC Mar12 * SG176 * Dive index * Mission links * Dive 89 * 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  89 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  -7540.25 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  280312,130636,2106.619,12246.668,40,0.8,51,-2.7 TGT_NAME  DOGLEG
_CALLS  4 TGT_LATLONG  2100.000,12250.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.65 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  280312,131919,2106.682,12246.372,14,1.0,19,-2.7 MHEAD_RNG_PITCHd_Wd  137.7,13874,-13.6,-9.167
SPEED_LIMITS  0.159,0.286 D_GRID  3438

Post-dive calculations and measurements:
FINISH  0.8,1.023433 _10V_AH  10.2,12.745
SM_CCo  14088,0.00,0.000,0,0,1400,375.06 FG_AHR_24Vo  0.000
SM_GC  1.60,6.32,0.15,0.00,0.028,0.077,0.000,179,2691,1400,-7.14,-0.40,375.06,0,0,0,0,0,0,26.41,26.41,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2057.14,12247.58,280312,131333 MEM  324428
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  93769,1265
HUMID  43.14 CAP_FILE_SIZE  150935,0
INTERNAL_PRESSURE  9.41717 CFSIZE  260165632,214978560
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  0.109,256.8,1
_24V_AH  23.0,21.131 GPS  280312,171537,2104.980,12247.180,31,1.1,31,-2.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1724399.73 SBE_CT86024474.97
Roll_motor12177215.69 AA43301599331213.67
VBD_pump_during_apogee458171818119.17 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init123103293.28 nil000.00
Iridium_during_connect54160200.16 nil000.00
Iridium_during_xfer2432231248.20 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS215011.13
TT8318819643.85
LPSleep80782180.46
TT8_Active54419109.87
TT8_Sampling2711391100.86
TT8_CF830945144.75
TT8_Kalman000.00
Analog_circuits175712215.14
GPS_charging000.00
Compass214715328.52
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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
17 -0.58 -194.6 0.0 0.0 0 68 0.00 0.00 -48.55 0.000 2 0.000 0.000 187 2690 2674 0 0 0 0 0 0 28.83 28.83 28.83
71 -0.58 -194.6 3.4 -6.5 8 109 8.57 2.20 -21.35 0.000 4 0.243 0.037 2325 1151 3724 0 0 0 0 0 0 25.70 26.21 26.51
193 -0.58 -194.6 35.7 -23.8 30 201 0.08 2.25 0.00 0.000 6 0.197 0.047 2331 2626 3724 0 0 0 0 0 0 26.06 26.18 28.83
507 -0.58 -194.6 137.5 -31.2 91 514 0.00 2.10 0.00 0.000 4 0.000 0.024 2331 1140 3724 0 0 0 0 0 0 28.83 26.44 28.83
571 -0.58 -194.6 154.7 -20.0 103 578 0.00 2.28 0.00 0.000 6 0.000 0.050 2322 2625 3724 0 0 0 0 0 0 28.83 26.32 28.83
881 -0.58 -194.6 239.6 -27.8 150 882 0.00 0.00 0.00 0.000 6 0.000 0.000 2321 2626 3724 0 0 0 0 0 0 28.83 28.83 28.83
1184 -0.58 -194.6 314.5 -23.4 180 1187 0.00 1.70 0.00 0.000 4 0.000 0.056 2313 3770 3724 0 0 0 0 0 0 28.83 26.42 28.83
1208 -0.58 -194.6 320.0 -22.6 182 1216 0.08 1.70 0.00 0.000 6 0.197 0.023 2330 2488 3724 0 0 0 0 0 0 26.39 26.64 28.83
1514 -0.58 -194.6 385.3 -19.6 213 1518 0.00 1.88 0.00 0.000 4 0.000 0.024 2330 1141 3724 0 0 0 0 0 0 28.83 26.60 28.83
1543 -0.58 -194.6 389.9 -18.4 215 1550 0.00 2.28 0.00 0.000 6 0.000 0.045 2320 2627 3724 0 0 0 0 0 0 28.83 26.48 28.83
1850 -0.58 -194.6 446.6 -16.8 246 1860 0.00 2.10 0.00 0.000 4 0.000 0.024 2320 1144 3724 0 0 0 0 0 0 28.83 26.61 28.83
1903 -0.58 -194.6 454.3 -14.7 251 1912 0.00 2.25 0.00 0.000 6 0.000 0.047 2317 2626 3723 0 0 0 0 0 0 28.83 26.49 28.83
2214 -0.58 -194.6 505.0 -16.8 282 2218 0.00 1.70 0.00 0.000 4 0.000 0.056 2308 3771 3722 0 0 0 0 0 0 28.83 26.47 28.83
2285 -0.58 -194.6 516.7 -15.6 289 2289 0.10 1.70 0.00 0.000 6 0.162 0.022 2336 2497 3722 0 0 0 0 0 0 26.43 26.69 28.83
2596 -0.58 -194.6 556.4 -11.6 320 2601 0.08 1.90 0.00 0.000 4 0.129 0.023 2285 1147 3720 0 0 0 0 0 0 26.70 26.63 28.83
2651 -0.58 -194.6 563.4 -13.5 325 2659 0.17 2.25 0.00 0.000 6 0.143 0.047 2329 2632 3720 0 0 0 0 0 0 26.32 26.51 28.83
2960 -0.58 -194.6 599.4 -11.8 356 2961 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2632 3718 0 0 0 0 0 0 28.83 28.83 28.83
3269 -0.58 -194.6 638.4 -12.5 372 3274 0.00 2.12 0.00 0.000 4 0.000 0.025 2329 1147 3716 0 0 0 0 0 0 28.83 26.62 28.83
3349 -0.58 -194.6 646.7 -10.3 376 3355 0.00 2.25 0.00 0.000 6 0.000 0.048 2329 2626 3716 0 0 0 0 0 0 28.83 26.50 28.83
3669 -0.58 -194.6 687.1 -13.3 392 3670 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2627 3712 0 0 0 0 0 0 28.83 28.83 28.83
3970 -0.58 -194.6 723.4 -11.2 407 3971 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2627 3710 0 0 0 0 0 0 28.83 28.83 28.83
4270 -0.58 -194.6 749.8 -7.8 422 4271 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2627 3707 0 0 0 0 0 0 28.83 28.83 28.83
4569 -0.58 -194.6 772.3 -7.9 437 4575 0.00 2.12 0.00 0.000 4 0.000 0.026 2330 1145 3705 0 0 0 0 0 0 28.83 26.61 28.83
4618 -0.58 -194.6 775.2 -7.8 439 4622 0.00 2.28 0.00 0.000 6 0.000 0.049 2329 2631 3706 0 0 0 0 0 0 28.83 26.47 28.83
4925 -0.58 -194.6 804.4 -10.8 454 4926 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2631 3702 0 0 0 0 0 0 28.83 28.83 28.83
5225 -0.58 -194.6 837.5 -10.6 469 5230 0.00 2.15 0.00 0.000 4 0.000 0.027 2329 1142 3700 0 0 0 0 0 0 28.83 26.59 28.83
5306 -0.58 -194.6 845.2 -9.7 473 5311 0.00 2.28 0.00 0.000 6 0.000 0.050 2329 2626 3699 0 0 0 0 0 0 28.83 26.45 28.83
5625 -0.58 -194.6 879.1 -10.5 489 5628 0.00 1.73 0.00 0.000 4 0.000 0.062 2329 3765 3697 0 0 0 0 0 0 28.83 26.37 28.83
5666 -0.58 -194.6 883.3 -10.2 491 5670 0.00 1.73 0.00 0.000 6 0.000 0.024 2329 2508 3696 0 0 0 0 0 0 28.83 26.70 28.83
5989 -0.58 -194.6 911.1 -7.9 507 5994 0.00 1.95 0.00 0.000 4 0.000 0.060 2329 3764 3695 0 0 0 0 0 0 28.83 26.36 28.83
6030 -0.58 -194.6 914.2 -8.0 509 6034 0.00 1.73 0.00 0.000 6 0.000 0.024 2329 2508 3694 0 0 0 0 0 0 28.83 26.70 28.83
6348 -0.58 -194.6 938.6 -7.8 525 6354 0.00 2.00 0.00 0.000 4 0.000 0.060 2329 3773 3692 0 0 0 0 0 0 28.83 26.36 28.83
6380 -0.58 -194.6 940.3 -8.0 526 6388 0.00 1.73 0.00 0.000 6 0.000 0.024 2329 2489 3692 0 0 0 0 0 0 28.83 26.70 28.83
6688 -0.58 -194.6 965.7 -7.8 542 6693 0.00 1.98 0.00 0.000 4 0.000 0.060 2329 3771 3691 0 0 0 0 0 0 28.83 26.34 28.83
6731 -0.58 -194.6 968.6 -7.5 544 6735 0.00 1.73 0.00 0.000 6 0.000 0.024 2329 2515 3690 0 0 0 0 0 0 28.83 26.69 28.83
7026 end dive: TARGET_DEPTH_EXCEEDED
state 7026 begin apogee
7031 -0.17 0.0 991.0 -7.6 559 7203 0.38 0.00 166.05 1.718 6 0.108 0.000 2464 2492 2928 0 0 0 0 0 0 26.27 28.83 23.57
7205 end apogee: CONTROL_FINISHED_OK
state 7205 begin climb
7207 0.58 194.6 996.9 0.0 567 7405 0.65 2.17 185.73 1.680 4 0.051 0.052 2715 3760 2134 0 0 0 0 0 0 24.75 23.92 22.96
7435 0.58 194.6 976.4 17.9 578 7440 0.15 2.05 0.00 0.000 6 0.204 0.026 2692 2448 2133 0 0 0 0 0 0 24.43 24.68 28.83
7742 0.58 194.6 919.0 17.6 593 7747 0.00 2.10 0.00 0.000 4 0.000 0.055 2692 3763 2125 0 0 0 0 0 0 28.83 25.70 28.83
7766 0.58 194.6 915.2 18.1 594 7770 0.00 1.95 0.00 0.000 6 0.000 0.026 2701 2446 2125 0 0 0 0 0 0 28.83 25.84 28.83
8078 0.58 194.6 857.4 18.3 610 8081 0.00 2.05 0.00 0.000 4 0.000 0.033 2712 1054 2122 0 0 0 0 0 0 28.83 26.08 28.83
8099 0.58 194.6 853.6 18.2 611 8106 0.10 2.30 0.00 0.000 6 0.196 0.047 2690 2522 2121 0 0 0 0 0 0 25.86 26.04 28.83
8420 0.58 194.6 800.7 15.7 627 8425 0.00 1.90 0.00 0.000 4 0.000 0.056 2689 3769 2121 0 0 0 0 0 0 28.83 26.13 28.83
8452 0.58 194.6 797.2 15.9 628 8459 0.00 1.92 0.00 0.000 6 0.000 0.026 2699 2446 2121 0 0 0 0 0 0 28.83 26.27 28.83
8759 0.58 194.6 742.6 16.4 644 8764 0.00 2.03 0.00 0.000 4 0.000 0.033 2709 1057 2120 0 0 0 0 0 0 28.83 26.28 28.83
8828 0.58 194.6 733.3 15.7 647 8833 0.08 2.25 0.00 0.000 6 0.203 0.047 2693 2517 2118 0 0 0 0 0 0 26.10 26.25 28.83
9134 0.58 194.6 684.1 15.4 662 9138 0.00 1.92 0.00 0.000 4 0.000 0.055 2693 3770 2118 0 0 0 0 0 0 28.83 26.25 28.83
9170 0.58 194.6 678.1 16.0 664 9174 0.00 1.90 0.00 0.000 6 0.000 0.024 2701 2453 2118 0 0 0 0 0 0 28.83 26.41 28.83
9486 0.58 194.6 628.6 14.9 680 9488 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2449 2118 0 0 0 0 0 0 28.83 28.83 28.83
9786 0.58 194.6 584.3 15.2 700 9790 0.00 2.03 0.00 0.000 4 0.000 0.054 2702 3771 2118 0 0 0 0 0 0 28.83 26.29 28.83
9810 0.58 194.6 580.9 15.3 702 9819 0.05 1.92 0.00 0.000 6 0.194 0.024 2696 2447 2118 0 0 0 0 0 0 26.17 26.47 28.83
10117 0.58 194.6 536.6 12.9 733 10126 0.00 2.03 0.00 0.000 4 0.000 0.052 2696 3774 2118 0 0 0 0 0 0 28.83 26.32 28.83
10161 0.58 194.6 530.3 15.2 737 10169 0.08 1.90 0.00 0.000 6 0.222 0.024 2691 2443 2117 0 0 0 0 0 0 26.25 26.50 28.83
10468 0.58 194.6 495.1 10.9 768 10469 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2440 2117 0 0 0 0 0 0 28.83 28.83 28.83
10769 0.58 194.6 460.4 12.5 798 10779 0.00 2.00 0.00 0.000 4 0.000 0.051 2691 3770 2117 0 0 0 0 0 0 28.83 26.36 28.83
10875 0.58 194.6 443.3 17.2 808 10882 0.00 1.90 0.00 0.000 6 0.000 0.023 2700 2426 2117 0 0 0 0 0 0 28.83 26.56 28.83
11184 0.58 194.6 398.5 14.2 839 11193 0.00 2.00 0.00 0.000 4 0.000 0.050 2701 3761 2117 0 0 0 0 0 0 28.83 26.38 28.83
11238 0.58 194.6 389.1 17.7 844 11246 0.10 1.88 0.00 0.000 6 0.205 0.024 2687 2439 2118 0 0 0 0 0 0 26.22 26.55 28.83
11546 0.67 266.0 352.9 6.9 875 11616 0.12 2.15 61.05 1.293 4 0.097 0.037 2762 1052 1843 0 0 0 0 0 0 26.57 25.25 24.37
11650 0.67 266.0 340.6 14.8 885 11659 0.15 2.30 0.00 0.000 6 0.162 0.042 2717 2517 1840 0 0 0 0 0 0 25.39 25.52 28.83
11959 0.67 266.0 292.3 16.6 916 11960 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2517 1838 0 0 0 0 0 0 28.83 28.83 28.83
12260 0.67 266.0 246.4 15.1 946 12269 0.00 1.92 0.00 0.000 4 0.000 0.051 2717 3775 1838 0 0 0 0 0 0 28.83 26.13 28.83
12285 0.67 266.0 242.6 15.9 948 12292 0.00 1.92 0.00 0.000 6 0.000 0.024 2727 2437 1838 0 0 0 0 0 0 28.83 26.29 28.83
12592 0.67 266.0 195.8 14.1 981 12597 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2433 1838 0 0 0 0 0 0 28.83 28.83 28.83
12901 0.67 266.0 154.3 10.9 1042 12909 0.00 2.05 0.00 0.000 4 0.000 0.050 2727 3775 1837 0 0 0 0 0 0 28.83 26.29 28.83
12915 0.67 266.0 152.9 10.2 1044 12923 0.08 1.90 0.00 0.000 6 0.207 0.025 2717 2441 1838 0 0 0 0 0 0 26.23 26.46 28.83
13227 0.79 363.2 130.1 6.1 1105 13277 0.12 2.10 42.38 1.044 4 0.096 0.047 2790 3775 1446 0 0 0 0 0 0 26.51 25.65 24.90
13322 0.79 363.2 114.3 23.5 1121 13329 0.17 1.95 0.00 0.000 6 0.159 0.025 2752 2451 1445 0 0 0 0 0 0 25.67 25.86 28.83
13634 0.79 363.2 62.0 16.1 1182 13644 0.05 2.08 0.00 0.000 4 0.179 0.034 2798 1053 1441 0 0 0 0 0 0 26.27 26.15 28.83
13667 0.79 363.2 57.3 13.5 1187 13675 0.15 2.22 0.00 0.000 6 0.150 0.041 2756 2520 1440 0 0 0 0 0 0 25.98 26.15 28.83
13979 0.79 363.2 10.4 15.2 1248 13985 0.00 2.17 0.00 0.000 4 0.000 0.034 2763 1054 1440 0 0 0 0 0 0 28.83 26.31 28.83
14023 0.80 373.2 5.5 8.8 1256 14031 0.00 2.22 3.30 0.163 6 0.000 0.041 2764 2527 1405 0 0 0 0 0 0 28.83 26.30 26.05
14036 end climb: SURFACE_DEPTH_REACHED
state 14036 begin surface coast
14073 end surface coast: CONTROL_FINISHED_OK
state 14073 begin surface