OKMC Mar12 * SG176 * Dive index * Mission links * Dive 9 * 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  0.015 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.9999997e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  9 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  2575 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  400 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  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  -8 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -7367.4639 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  2540 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  0 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  150312,053555,2203.007,12240.082,38,1.9,38,-2.9 TGT_NAME  S2
_CALLS  3 TGT_LATLONG  2015.000,12420.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.27 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -69.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  150312,054550,2203.072,12239.991,10,1.8,10,-2.9 MHEAD_RNG_PITCHd_Wd  137.0,265057,-16.3,-11.000
SPEED_LIMITS  0.191,0.305 D_GRID  4680

Post-dive calculations and measurements:
FINISH  0.6,1.022693 _10V_AH  10.3,3.384
SM_CCo  15111,0.00,0.000,0,0,1074,455.03 FG_AHR_24Vo  0.000
SM_GC  1.36,6.43,0.10,0.00,0.034,0.105,0.000,191,2639,1074,-7.23,-0.25,455.03,0,0,0,0,0,0,26.53,26.53,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2155.06,12237.55,150312,050534 MEM  324608
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  83600,1264
HUMID  43.69 CAP_FILE_SIZE  173151,0
INTERNAL_PRESSURE  9.38787 CFSIZE  260165632,221540352
TCM_TEMP  23.80 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.117,304.1,1
_24V_AH  23.4,4.562 GPS  150312,095906,2202.044,12241.095,29,1.1,29,-2.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor25242142.57 SBE_CT86124483.88
Roll_motor121104297.97 AA43301999331544.29
VBD_pump_during_apogee581172423452.77 WL_BB2F4931051211.50
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init83103202.36 nil000.00
Iridium_during_connect92160345.54 nil000.00
Iridium_during_xfer172223898.31 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS13506.79
TT8325219663.38
LPSleep84312190.19
TT8_Active63319129.21
TT8_Sampling3074391260.44
TT8_CF829445139.02
TT8_Kalman000.00
Analog_circuits194612240.65
GPS_charging000.00
Compass259215400.58
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 -0.65 -194.6 0.0 0.0 0 82 0.00 0.00 -62.85 0.000 2 0.000 0.000 192 2623 2707 0 0 0 0 0 0 28.83 28.83 28.83
85 -0.65 -194.6 3.5 -8.1 9 115 8.45 0.00 -18.38 0.000 6 0.243 0.000 2330 2622 3725 0 0 0 0 0 0 25.86 28.83 26.41
458 -0.50 -194.6 132.0 -26.2 73 466 0.15 2.15 0.00 0.000 4 0.167 0.030 2379 1130 3726 0 0 0 0 0 0 26.24 26.36 28.83
543 -0.58 -194.6 146.6 -11.8 87 551 0.10 2.22 0.00 0.000 6 0.104 0.046 2306 2600 3726 0 0 0 0 0 0 26.37 26.37 28.83
876 -0.45 -194.6 232.9 -25.8 136 885 0.28 1.75 0.00 0.000 4 0.148 0.054 2389 3773 3726 0 0 0 0 0 0 26.36 26.45 28.83
911 -0.36 -194.6 239.8 -22.3 139 920 0.15 1.77 0.00 0.000 6 0.126 0.024 2438 2451 3726 0 0 0 0 0 0 26.42 26.58 28.83
1218 -0.52 -194.6 256.5 -4.0 170 1228 0.17 2.00 0.00 0.000 4 0.073 0.054 2334 3775 3725 0 0 0 0 0 0 26.60 26.51 28.83
1284 -0.49 -194.6 263.2 -13.1 176 1291 0.17 1.75 0.00 0.000 6 0.126 0.024 2392 2487 3725 0 0 0 0 0 0 26.48 26.61 28.83
1591 -0.54 -194.6 296.0 -10.8 207 1596 0.12 1.95 0.00 0.000 4 0.087 0.055 2296 3767 3725 0 0 0 0 0 0 26.65 26.55 28.83
1624 -0.52 -194.6 300.8 -13.5 210 1628 0.17 1.77 0.00 0.000 6 0.116 0.026 2376 2490 3724 0 0 0 0 0 0 26.50 26.65 28.83
1936 -0.55 -194.6 338.6 -10.0 241 1938 0.08 0.00 0.00 0.000 6 0.129 0.000 2319 2487 3723 0 0 0 0 0 0 26.69 28.83 28.83
2236 -0.49 -194.6 384.9 -16.5 271 2246 0.20 1.92 0.00 0.000 4 0.139 0.056 2379 3764 3722 0 0 0 0 0 0 26.55 26.60 28.83
2323 -0.59 -194.6 393.3 -7.6 279 2332 0.12 1.73 0.00 0.000 6 0.088 0.024 2305 2461 3722 0 0 0 0 0 0 26.67 26.74 28.83
2630 -0.53 -194.6 446.0 -18.0 310 2632 0.22 0.00 0.00 0.000 6 0.138 0.000 2377 2460 3721 0 0 0 0 0 0 26.57 28.83 28.83
2931 -0.61 -194.6 475.7 -8.3 340 2940 0.12 1.95 0.00 0.000 4 0.089 0.057 2287 3758 3719 0 0 0 0 0 0 26.73 26.63 28.83
2983 -0.58 -194.6 482.7 -14.7 345 2993 0.22 1.73 0.00 0.000 6 0.126 0.024 2363 2454 3719 0 0 0 0 0 0 26.59 26.76 28.83
3293 -0.63 -194.6 510.6 -8.1 376 3298 0.10 2.00 0.00 0.000 4 0.105 0.057 2290 3769 3718 0 0 0 0 0 0 26.74 26.64 28.83
3338 -0.61 -194.6 515.8 -12.2 380 3346 0.15 1.77 0.00 0.000 6 0.112 0.024 2349 2468 3717 0 0 0 0 0 0 26.60 26.76 28.83
3646 -0.66 -194.6 544.6 -9.2 411 3656 0.10 2.00 0.00 0.000 4 0.106 0.057 2279 3775 3715 0 0 0 0 0 0 26.75 26.65 28.83
3700 -0.60 -194.6 552.1 -15.5 416 3709 0.22 1.75 0.00 0.000 6 0.131 0.024 2354 2456 3714 0 0 0 0 0 0 26.60 26.77 28.83
4009 -0.65 -194.6 579.2 -8.1 447 4014 0.10 2.00 0.00 0.000 4 0.107 0.058 2286 3769 3713 0 0 0 0 0 0 26.76 26.65 28.83
4055 -0.62 -194.6 584.4 -12.3 451 4063 0.20 1.75 0.00 0.000 6 0.132 0.024 2352 2446 3712 0 0 0 0 0 0 26.60 26.78 28.83
4374 -0.67 -194.6 613.4 -9.0 476 4381 0.12 1.98 0.00 0.000 4 0.091 0.056 2264 3761 3710 0 0 0 0 0 0 26.76 26.65 28.83
4454 -0.63 -194.6 626.0 -15.7 480 4459 0.17 1.77 0.00 0.000 6 0.119 0.024 2348 2466 3710 0 0 0 0 0 0 26.60 26.79 28.83
4779 -0.68 -194.6 656.4 -8.8 496 4783 0.12 2.00 0.00 0.000 4 0.091 0.058 2260 3766 3708 0 0 0 0 0 0 26.76 26.66 28.83
4869 -0.62 -194.6 670.0 -16.4 500 4874 0.28 1.75 0.00 0.000 6 0.133 0.024 2351 2456 3706 0 0 0 0 0 0 26.59 26.78 28.83
5178 -0.67 -194.6 702.4 -8.9 515 5183 0.12 2.00 0.00 0.000 4 0.090 0.058 2264 3770 3705 0 0 0 0 0 0 26.76 26.65 28.83
5243 -0.64 -194.6 711.3 -12.7 518 5248 0.25 1.75 0.00 0.000 6 0.127 0.024 2348 2459 3704 0 0 0 0 0 0 26.60 26.78 28.83
5558 -0.70 -194.6 733.9 -6.8 534 5564 0.12 1.98 0.00 0.000 4 0.091 0.058 2262 3765 3702 0 0 0 0 0 0 26.76 26.66 28.83
5604 -0.70 -194.6 738.8 -9.2 536 5609 0.12 1.77 0.00 0.000 6 0.124 0.024 2324 2474 3702 0 0 0 0 0 0 26.59 26.79 28.83
5918 -0.72 -194.6 768.9 -8.6 552 5924 0.08 1.95 0.00 0.000 4 0.135 0.058 2274 3760 3700 0 0 0 0 0 0 26.77 26.66 28.83
5956 -0.72 -194.6 773.5 -9.9 554 5962 0.15 1.75 0.00 0.000 6 0.144 0.024 2320 2452 3700 0 0 0 0 0 0 26.60 26.79 28.83
6277 -0.72 -194.6 803.3 -9.3 570 6283 0.08 2.03 0.00 0.000 4 0.136 0.059 2274 3763 3698 0 0 0 0 0 0 26.77 26.65 28.83
6309 -0.72 -194.6 805.4 -9.6 571 6318 0.15 1.75 0.00 0.000 6 0.147 0.024 2320 2454 3697 0 0 0 0 0 0 26.60 26.79 28.83
6617 -0.74 -194.6 839.3 -10.7 587 6619 0.10 0.00 0.00 0.000 6 0.112 0.000 2263 2454 3696 0 0 0 0 0 0 26.76 28.83 28.83
6917 -0.68 -194.6 886.9 -16.3 602 6922 0.17 2.03 0.00 0.000 4 0.154 0.060 2317 3767 3695 0 0 0 0 0 0 26.58 26.65 28.83
7024 -0.71 -194.6 899.5 -10.8 607 7028 0.00 1.75 0.00 0.000 6 0.000 0.025 2317 2490 3694 0 0 0 0 0 0 28.83 26.80 28.83
7341 -0.73 -194.6 931.1 -9.4 623 7347 0.05 1.95 0.00 0.000 4 0.179 0.059 2273 3755 3692 0 0 0 0 0 0 26.79 26.65 28.83
7368 -0.73 -194.6 933.1 -9.6 624 7373 0.15 1.75 0.00 0.000 6 0.145 0.024 2319 2452 3692 0 0 0 0 0 0 26.59 26.79 28.83
7678 -0.76 -194.6 962.9 -9.1 639 7680 0.10 0.00 0.00 0.000 6 0.112 0.000 2264 2449 3691 0 0 0 0 0 0 26.76 28.83 28.83
7893 end dive: TARGET_DEPTH_EXCEEDED
state 7893 begin apogee
7898 -0.17 0.0 992.1 -13.8 650 8071 0.65 0.10 164.93 1.724 6 0.123 0.082 2489 2445 2928 0 0 0 0 0 0 26.58 24.50 23.54
8072 end apogee: CONTROL_FINISHED_OK
state 8072 begin climb
8074 0.65 194.6 998.9 0.0 658 8264 0.73 2.28 180.52 1.688 4 0.044 0.056 2775 3764 2134 0 0 0 0 0 0 24.77 24.36 23.36
8420 0.32 194.6 943.9 27.6 675 8425 0.55 1.98 0.00 0.000 6 0.213 0.028 2643 2448 2128 0 0 0 0 0 0 25.34 25.55 28.83
8728 0.31 212.9 906.5 10.3 690 8750 0.00 2.15 16.20 1.555 4 0.000 0.038 2652 1065 2059 0 0 0 0 0 0 28.83 25.48 24.46
8788 0.31 234.4 900.2 10.2 693 8815 0.08 2.30 21.23 1.577 6 0.187 0.049 2636 2515 1971 0 0 0 0 0 0 25.55 25.63 24.08
9128 0.31 234.4 862.6 11.5 710 9131 0.00 1.92 0.00 0.000 4 0.000 0.059 2636 3763 1966 0 0 0 0 0 0 28.83 25.94 28.83
9206 0.28 234.4 851.3 14.9 714 9211 0.08 1.95 0.00 0.000 6 0.220 0.030 2624 2463 1965 0 0 0 0 0 0 25.92 26.08 28.83
9525 0.30 234.4 814.5 11.5 730 9531 0.08 2.08 0.00 0.000 4 0.138 0.034 2666 1054 1964 0 0 0 0 0 0 26.26 26.24 28.83
9552 0.30 234.4 811.9 11.9 731 9556 0.12 2.28 0.00 0.000 6 0.171 0.049 2633 2516 1963 0 0 0 0 0 0 26.10 26.21 28.83
9859 0.30 234.4 771.5 12.1 746 9862 0.00 1.92 0.00 0.000 4 0.000 0.059 2633 3774 1962 0 0 0 0 0 0 28.83 26.29 28.83
9928 0.30 234.4 762.9 13.6 749 9932 0.00 1.92 0.00 0.000 6 0.000 0.028 2642 2443 1962 0 0 0 0 0 0 28.83 26.38 28.83
10235 0.30 234.4 723.7 11.5 764 10241 0.00 2.08 0.00 0.000 4 0.000 0.058 2642 3774 1961 0 0 0 0 0 0 28.83 26.36 28.83
10278 0.28 234.4 718.4 12.3 766 10282 0.10 1.92 0.00 0.000 6 0.203 0.026 2627 2440 1962 0 0 0 0 0 0 26.27 26.44 28.83
10597 0.37 290.1 687.5 8.9 782 10655 0.12 0.00 50.83 1.545 6 0.098 0.000 2685 2435 1743 0 0 0 0 0 0 26.48 28.83 24.08
10957 0.33 290.1 636.3 14.3 800 10963 0.15 2.08 0.00 0.000 4 0.165 0.055 2639 3758 1739 0 0 0 0 0 0 25.86 25.94 28.83
11060 0.34 290.1 624.0 11.6 805 11066 0.00 1.90 0.00 0.000 6 0.000 0.026 2646 2451 1740 0 0 0 0 0 0 28.83 26.11 28.83
11377 0.37 292.3 590.5 10.9 825 11387 0.08 2.05 0.00 0.000 4 0.132 0.038 2693 1060 1738 0 0 0 0 0 0 26.29 26.25 28.83
11402 0.39 292.7 587.8 11.0 827 11411 0.12 2.25 0.00 0.000 6 0.162 0.047 2659 2515 1737 0 0 0 0 0 0 26.13 26.23 28.83
11709 0.39 292.7 549.0 11.8 858 11713 0.00 1.92 0.00 0.000 4 0.000 0.057 2659 3775 1738 0 0 0 0 0 0 28.83 26.31 28.83
11833 0.39 292.7 533.6 12.7 870 11840 0.00 1.90 0.00 0.000 6 0.000 0.028 2666 2456 1738 0 0 0 0 0 0 28.83 26.41 28.83
12142 0.42 319.4 499.8 10.0 901 12175 0.00 2.17 25.98 1.402 4 0.000 0.043 2666 1066 1625 0 0 0 0 0 0 28.83 25.69 24.70
12244 0.66 437.4 491.8 6.5 911 12356 0.22 2.25 105.00 1.400 6 0.065 0.046 2779 2517 1144 0 0 0 0 0 0 25.89 25.86 23.72
12665 0.54 437.4 391.9 25.7 953 12674 0.22 1.92 0.00 0.000 4 0.164 0.053 2710 3766 1140 0 0 0 0 0 0 25.75 25.85 28.83
12710 0.48 437.4 382.4 22.3 957 12718 0.12 1.92 0.00 0.000 6 0.158 0.028 2683 2457 1139 0 0 0 0 0 0 25.84 25.96 28.83
13018 0.53 437.4 345.6 11.6 988 13020 0.12 0.00 0.00 0.000 6 0.091 0.000 2744 2453 1138 0 0 0 0 0 0 26.20 28.83 28.83
13319 0.49 437.4 289.5 19.7 1018 13326 0.17 0.00 0.00 0.000 6 0.150 0.000 2692 2453 1138 0 0 0 0 0 0 26.17 28.83 28.83
13628 0.55 449.3 253.8 10.5 1049 13641 0.10 0.00 10.12 1.134 6 0.105 0.000 2744 2453 1095 0 0 0 0 0 0 26.42 28.83 25.20
13939 0.52 449.3 199.3 18.4 1080 13948 0.12 2.05 0.00 0.000 4 0.158 0.051 2702 3764 1096 0 0 0 0 0 0 26.22 26.27 28.83
14022 0.66 454.8 188.4 10.8 1093 14037 0.15 1.88 6.45 1.024 6 0.087 0.027 2781 2438 1073 0 0 0 0 0 0 26.34 26.37 25.26
14381 0.60 454.8 114.0 22.1 1155 14389 0.17 2.03 0.00 0.000 4 0.157 0.050 2725 3771 1073 0 0 0 0 0 0 26.25 26.32 28.83
14443 0.68 454.8 103.5 12.8 1165 14450 0.12 1.90 0.00 0.000 6 0.094 0.028 2801 2448 1074 0 0 0 0 0 0 26.37 26.41 28.83
14792 0.60 454.8 32.3 19.4 1226 14802 0.22 2.05 0.00 0.000 4 0.146 0.036 2735 1065 1074 0 0 0 0 0 0 26.34 26.46 28.83
14830 0.66 454.8 27.9 11.2 1231 14839 0.10 2.20 0.00 0.000 6 0.109 0.041 2795 2531 1074 0 0 0 0 0 0 26.44 26.46 28.83
15011 end climb: SURFACE_DEPTH_REACHED
state 15011 begin surface coast
15035 end surface coast: CONTROL_FINISHED_OK
state 15035 begin surface