OKMC Mar13 * SG177 * Dive index * Mission links * Dive 124 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  177 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 ESCAPE_HEADING  0 C_ROLL_DIVE  2375 ALTIM_TOP_MIN_OBSTACLE  0
DIVE  124 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2240 ALTIM_PING_DEPTH  0
N_DIVES  0 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  0
D_SURF  3 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_TGT  990 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  58 ALTIM_SENSITIVITY  0
D_ABORT  1020 SM_CC  400 R_STBD_OVSHOOT  53 XPDR_VALID  0
D_NO_BLEED  200 N_FILEKB  4 ROLL_AD_RATE  400 XPDR_INHIBIT  90
D_BOOST  20 FILEMGR  0 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  5 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  0
D_FINISH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_PITCH  0 PROTOCOL  9 VBD_MIN  465 DEEPGLIDERMB  0
D_SAFE  0 N_NOCOMM  1 VBD_MAX  3960 MOTHERBOARD  4
D_CALL  0 NOCOMM_ACTION  163 C_VBD  2992 DEVICE1  -1
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  -1
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  310 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0020000001 DEVICE5  -1
T_MISSION  340 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERS  1
T_TURN  225 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN_SAMPINT  5 T_GPS  15 UNCOM_BLEED  50 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
T_EPIRB  0 T_GPS_CHARGE  -7825.7251 DBDW  0 COMPASS_DEVICE  97
USE_BATHY  -5 T_RSLEEP  3 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
USE_ICE  0 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  48
ICE_FREEZE_MARGIN  0.30000001 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
D_OFFGRID  1000 RAFOS_CORR_THRESH  60 AH0_24V  150 RAFOS_DEVICE  -1
T_WATCHDOG  10 RAFOS_HIT_WINDOW  3600 AH0_10V  100 XPDR_DEVICE  24
RELAUNCH  1 PITCH_MIN  159 MINV_24V  22 SIM_W  0
APOGEE_PITCH  -5 PITCH_MAX  3950 MINV_10V  9.5 SIM_PITCH  0
MAX_BUOY  250 C_PITCH  2925 FG_AHR_10V  0 SEABIRD_T_G  0.0044109048
COURSE_BIAS  0 PITCH_DBAND  0.050000001 FG_AHR_24V  0 SEABIRD_T_H  0.00065266038
GLIDE_SLOPE  30 PITCH_CNV  0.003125763 PHONE_SUPPLY  -2 SEABIRD_T_I  2.7513828e-05
SPEED_FACTOR  1 P_OVSHOOT  0.029999999 PRESSURE_YINT  -43.106712 SEABIRD_T_J  3.0466049e-06
RHO  1.0275 PITCH_GAIN  25 PRESSURE_SLOPE  0.000115925 SEABIRD_C_G  -9.9740562
MASS  52151 PITCH_TIMEOUT  18 AD7714Ch0Gain  128 SEABIRD_C_H  1.1339458
NAV_MODE  2 PITCH_AD_RATE  170 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0018908759
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.0002126007
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.003 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.001 ROLL_MIN  161 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0
HD_C  9.9999997e-06 ROLL_MAX  3723 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  090413,001826,1843.210,12148.542,42,2.2,61,-2.1 TGT_NAME  M1
_CALLS  1 TGT_LATLONG  1845.000,12205.830
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  -1.74 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  090413,002531,1843.035,12148.191,12,1.3,12,-2.1 MHEAD_RNG_PITCHd_Wd  78.4,31146,-6.3,-10.645,-6.92,3502
SPEED_LIMITS  0.184,0.878 D_GRID  931

Post-dive calculations and measurements:
FINISH  0.6,1.022092 _10V_AH  10.3,14.403
SM_CCo  12586,0.00,0.000,0,0,1193,441.29 FG_AHR_24Vo  0.000
SM_GC  -1.49,8.50,0.15,0.00,0.064,0.076,0.000,129,2406,1193,-8.63,-1.44,441.29,0,0,0,0,0,0,26.23,26.28,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1837.32,12150.91,080413,191918 MEM  320936
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  20142,576
HUMID  47.36 CAP_FILE_SIZE  306986,0
INTERNAL_PRESSURE  9.57068 CFSIZE  260034560,238391296
TCM_TEMP  23.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  7 CURRENT  0.250,245.2,1
SC_FREEKB  3972512 GPS  090413,035657,1843.249,12148.982,12,2.3,31,-2.1
_24V_AH  24.0,16.417

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21253130.66 nil000.00
Roll_motor9575174.45 nil000.00
VBD_pump_during_apogee56597513245.40 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1253182433.62
Iridium_during_xfer251121733.24 nil000.00
Transponder_ping142017.64 nil000.00
GUMSTIX_24V000.00
GPS15304.84
TT8238017421.95
LPSleep79702179.80
TT8_Active63717113.05
TT8_Sampling173443775.53
TT8_CF826854151.33
TT8_Kalman000.00
Analog_circuits173515268.17
GPS_charging000.00
Compass13907107.24
RAFOS000.00
Transponder050.03

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -0.74 -243.3 131 2380 1403 1307 0.0 0.0 0 88 0.00 0.00 -67.85 0.000 16386 0.000 0.000 131 2380 3156 3199 3113 0 0 0 0 0 0 28.83 28.83 28.83
91 -0.74 -243.3 130 2380 3199 3113 3.2 -12.5 9 124 10.75 1.98 -12.50 0.000 18692 0.253 0.050 2675 3709 3964 4007 3922 0 0 0 0 0 0 25.75 26.08 26.37
142 -0.74 -243.3 2675 3708 4007 3924 32.3 -53.4 15 148 0.00 1.90 0.00 0.000 1030 0.000 0.021 2676 2353 3965 4007 3924 0 0 0 0 0 0 28.83 26.15 28.83
457 -0.74 -243.3 2675 2351 4006 3926 138.7 -25.0 33 458 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2351 3966 4006 3926 0 0 0 0 0 0 28.83 28.83 28.83
756 -0.74 -243.3 2676 2351 4005 3931 210.7 -20.7 48 762 0.00 1.92 0.00 0.000 516 0.000 0.031 2676 997 3968 4005 3931 0 0 0 0 0 0 28.83 26.38 28.83
810 -0.74 -243.3 2676 997 4005 3932 220.5 -21.2 50 817 0.10 1.95 0.00 0.000 3078 0.181 0.028 2690 2371 3968 4005 3932 0 0 0 0 0 0 26.25 26.41 28.83
1126 -0.74 -243.3 2689 2372 4005 3934 275.9 -17.4 66 1127 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2372 3969 4005 3934 0 0 0 0 0 0 28.83 28.83 28.83
1425 -0.74 -243.3 2689 2372 4005 3933 330.3 -15.2 81 1431 0.00 1.98 0.00 0.000 516 0.000 0.031 2690 989 3969 4005 3933 0 0 0 0 0 0 28.83 26.47 28.83
1501 -0.74 -243.3 2690 989 4005 3933 340.3 -15.0 84 1506 0.00 1.98 0.00 0.000 1030 0.000 0.028 2687 2383 3968 4005 3932 0 0 0 0 0 0 28.83 26.51 28.83
1814 -0.74 -243.3 2687 2383 4006 3928 397.2 -17.3 100 1821 0.00 1.95 0.00 0.000 260 0.000 0.043 2678 3718 3966 4006 3927 0 0 0 0 0 0 28.83 26.49 28.83
1864 -0.74 -243.3 2677 3713 4006 3927 404.9 -17.2 102 1870 0.00 1.85 0.00 0.000 1030 0.000 0.021 2678 2338 3966 4006 3926 0 0 0 0 0 0 28.83 26.59 28.83
2183 -0.74 -243.3 2678 2338 4007 3921 456.2 -14.6 118 2189 0.00 1.85 0.00 0.000 516 0.000 0.031 2678 1032 3964 4007 3921 0 0 0 0 0 0 28.83 26.51 28.83
2222 -0.74 -243.3 2677 1031 4007 3921 459.7 -14.5 119 2230 0.00 1.90 0.00 0.000 1030 0.000 0.028 2673 2373 3963 4008 3919 0 0 0 0 0 0 28.83 26.54 28.83
2527 -0.74 -243.3 2673 2374 4008 3913 510.5 -19.2 135 2528 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2374 3961 4009 3913 0 0 0 0 0 0 28.83 28.83 28.83
2827 -0.74 -243.3 2673 2374 4011 3906 557.0 -13.8 150 2834 0.00 1.92 0.00 0.000 516 0.000 0.031 2673 1027 3958 4011 3906 0 0 0 0 0 0 28.83 26.53 28.83
2898 -0.74 -243.3 2673 1027 4011 3905 566.1 -13.7 153 2904 0.10 1.92 0.00 0.000 3078 0.178 0.029 2691 2380 3958 4011 3905 0 0 0 0 0 0 26.41 26.55 28.83
3217 -0.74 -243.3 2691 2381 4012 3899 610.7 -14.2 168 3223 0.00 1.92 0.00 0.000 516 0.000 0.031 2692 1034 3955 4012 3899 0 0 0 0 0 0 28.83 26.53 28.83
3281 -0.74 -243.3 2691 1033 4012 3897 619.7 -14.2 170 3287 0.00 1.92 0.00 0.000 1030 0.000 0.030 2691 2378 3954 4012 3897 0 0 0 0 0 0 28.83 26.55 28.83
3615 -0.74 -243.3 2691 2378 4012 3890 665.4 -13.8 181 3621 0.00 1.92 0.00 0.000 516 0.000 0.032 2691 1035 3951 4012 3891 0 0 0 0 0 0 28.83 26.53 28.83
3659 -0.74 -243.3 2691 1035 4013 3889 670.2 -13.9 182 3665 0.00 1.90 0.00 0.000 1030 0.000 0.029 2690 2376 3950 4012 3889 0 0 0 0 0 0 28.83 26.55 28.83
3983 -0.74 -243.3 2689 2377 4012 3884 710.3 -10.8 193 3984 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2377 3948 4012 3885 0 0 0 0 0 0 28.83 28.83 28.83
4283 -0.74 -243.3 2689 2377 4012 3880 750.4 -12.7 203 4289 0.00 1.92 0.00 0.000 516 0.000 0.033 2690 1037 3946 4012 3880 0 0 0 0 0 0 28.83 26.53 28.83
4321 -0.74 -243.3 2689 1037 4012 3880 754.6 -12.4 204 4327 0.00 1.92 0.00 0.000 1030 0.000 0.030 2687 2384 3945 4012 3879 0 0 0 0 0 0 28.83 26.55 28.83
4651 -0.74 -243.3 2686 2384 4010 3876 795.1 -12.1 215 4656 0.00 1.98 0.00 0.000 260 0.000 0.047 2686 3715 3942 4009 3876 0 0 0 0 0 0 28.83 26.51 28.83
4675 -0.74 -243.3 2686 3716 4009 3876 795.1 -12.1 215 4681 0.00 1.83 0.00 0.000 1030 0.000 0.023 2686 2374 3942 4009 3876 0 0 0 0 0 0 28.83 26.63 28.83
4990 -0.74 -243.3 2686 2373 4008 3872 840.0 -13.9 226 4996 0.00 1.92 0.00 0.000 516 0.000 0.034 2686 1031 3940 4008 3872 0 0 0 0 0 0 28.83 26.51 28.83
5075 -0.74 -243.3 2686 1032 4008 3870 849.3 -14.0 228 5080 0.00 1.92 0.00 0.000 1030 0.000 0.030 2681 2377 3939 4008 3870 0 0 0 0 0 0 28.83 26.55 28.83
5392 -0.74 -243.3 2681 2378 4007 3867 896.4 -13.9 239 5397 0.00 1.95 0.00 0.000 516 0.000 0.035 2681 1033 3937 4007 3867 0 0 0 0 0 0 28.83 26.51 28.83
5419 -0.74 -243.3 2680 1033 4007 3866 896.4 -13.9 239 5428 0.00 1.98 0.00 0.000 1030 0.000 0.031 2677 2399 3937 4007 3867 0 0 0 0 0 0 28.83 26.55 28.83
5664 end dive: TARGET_DEPTH_EXCEEDED
state 5664 begin apogee
5669 -0.20 0.0 2676 2266 4006 3865 933.0 -13.1 248 5882 0.55 0.00 202.98 0.975 10246 0.124 0.000 2859 2266 2988 3121 2855 0 0 0 0 0 0 26.39 28.83 24.20
5883 end apogee: CONTROL_FINISHED_OK
state 5883 begin climb
5886 0.74 243.3 2858 2266 3121 2852 945.0 0.0 254 6110 0.85 2.30 210.57 0.959 10756 0.071 0.049 3163 884 1995 2133 1857 0 0 0 0 0 0 24.96 24.61 24.00
6152 0.80 272.3 2208 883 2061 1845 931.8 9.8 262 6185 0.05 2.08 25.92 0.925 11270 0.164 0.029 3184 2238 1878 2012 1744 0 0 0 0 0 0 25.07 25.13 24.22
6495 0.80 272.3 3184 2238 2006 1732 879.4 13.8 274 6501 0.00 2.15 0.00 0.000 260 0.000 0.043 3185 3641 1867 2004 1731 0 0 0 0 0 0 28.83 25.82 28.83
6553 0.80 272.3 3184 3642 2001 1731 874.1 14.5 275 6561 0.00 2.03 0.00 0.000 1030 0.000 0.028 3190 2264 1866 2002 1731 0 0 0 0 0 0 28.83 25.92 28.83
6860 0.80 272.3 3190 2264 2000 1728 824.9 14.6 286 6866 0.00 2.12 0.00 0.000 516 0.000 0.047 3200 856 1864 2001 1728 0 0 0 0 0 0 28.83 26.09 28.83
6913 0.80 272.3 3200 856 2000 1728 820.0 14.4 287 6920 0.10 2.05 0.00 0.000 5126 0.192 0.031 3180 2251 1864 2000 1728 0 0 0 0 0 0 25.99 26.16 28.83
7228 0.80 272.3 3181 2251 1999 1728 774.1 13.4 298 7234 0.00 2.10 0.00 0.000 260 0.000 0.044 3180 3643 1863 1999 1728 0 0 0 0 0 0 28.83 26.25 28.83
7282 0.80 272.3 3180 3643 1996 1727 769.1 13.7 299 7288 0.00 2.03 0.00 0.000 1030 0.000 0.027 3185 2242 1862 1997 1727 0 0 0 0 0 0 28.83 26.29 28.83
7599 0.80 272.3 3185 2241 1997 1727 719.9 15.8 310 7604 0.00 2.12 0.00 0.000 260 0.000 0.044 3183 3641 1861 1996 1726 0 0 0 0 0 0 28.83 26.32 28.83
7642 0.80 272.3 3185 3642 1996 1726 713.2 16.6 311 7648 0.00 2.03 0.00 0.000 1030 0.000 0.028 3190 2234 1861 1997 1726 0 0 0 0 0 0 28.83 26.36 28.83
7966 0.80 272.3 3190 2234 1996 1726 654.1 16.2 322 7968 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2234 1861 1996 1726 0 0 0 0 0 0 28.83 28.83 28.83
8267 0.80 272.3 3190 2233 1996 1724 609.2 14.7 332 8273 0.00 2.12 0.00 0.000 260 0.000 0.043 3190 3641 1860 1996 1724 0 0 0 0 0 0 28.83 26.39 28.83
8314 0.80 272.3 3190 3642 1994 1724 604.1 14.7 333 8320 0.10 2.03 0.00 0.000 5126 0.221 0.025 3178 2235 1859 1994 1724 0 0 0 0 0 0 26.22 26.44 28.83
8635 0.80 272.3 3178 2235 1994 1724 556.8 14.5 349 8642 0.00 2.05 0.00 0.000 516 0.000 0.045 3184 854 1859 1994 1724 0 0 0 0 0 0 28.83 26.39 28.83
8684 0.80 272.3 3184 858 1993 1724 550.0 14.6 351 8690 0.00 1.98 0.00 0.000 1030 0.000 0.028 3184 2242 1859 1994 1724 0 0 0 0 0 0 28.83 26.46 28.83
9004 0.80 272.3 3184 2243 1994 1724 498.3 15.9 367 9005 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 2243 1859 1994 1724 0 0 0 0 0 0 28.83 28.83 28.83
9303 0.80 272.3 3184 2244 1994 1724 451.6 15.1 382 9308 0.00 2.08 0.00 0.000 260 0.000 0.043 3184 3635 1859 1994 1724 0 0 0 0 0 0 28.83 26.45 28.83
9326 0.80 272.3 2192 3634 1926 1718 447.8 15.3 383 9332 0.00 2.03 0.00 0.000 1030 0.000 0.026 3190 2229 1857 1991 1723 0 0 0 0 0 0 28.83 26.50 28.83
9652 0.80 272.3 3190 2228 1991 1724 397.8 15.3 399 9653 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2228 1857 1991 1724 0 0 0 0 0 0 28.83 28.83 28.83
9950 0.80 272.3 3190 2228 1991 1724 353.0 14.9 414 9952 0.00 0.00 0.00 0.000 6 0.000 0.000 3191 2228 1857 1991 1724 0 0 0 0 0 0 28.83 28.83 28.83
10250 0.80 272.3 3195 2228 1991 1724 301.2 17.7 429 10251 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2228 1857 1991 1724 0 0 0 0 0 0 28.83 28.83 28.83
10550 0.80 272.3 3190 2228 1991 1724 255.0 14.3 444 10556 0.00 2.12 0.00 0.000 260 0.000 0.043 3191 3640 1857 1991 1724 0 0 0 0 0 0 28.83 26.48 28.83
10680 0.80 272.3 2208 3643 1923 1718 234.5 16.8 450 10687 0.08 1.98 0.00 0.000 5126 0.224 0.024 3183 2245 1856 1990 1723 0 0 0 0 0 0 26.35 26.54 28.83
11001 0.80 272.3 3183 2243 1990 1723 193.5 11.9 466 11007 0.00 2.05 0.00 0.000 516 0.000 0.041 3191 850 1857 1990 1724 0 0 0 0 0 0 28.83 26.48 28.83
11090 0.80 272.3 3190 850 1990 1723 181.8 13.2 470 11095 0.00 1.98 0.00 0.000 1030 0.000 0.026 3191 2245 1856 1990 1723 0 0 0 0 0 0 28.83 26.54 28.83
11415 0.80 272.3 3190 2246 1990 1724 143.7 10.9 486 11421 0.00 2.05 0.00 0.000 260 0.000 0.042 3190 3632 1856 1990 1723 0 0 0 0 0 0 28.83 26.51 28.83
11653 1.09 417.3 3190 3632 1990 1724 122.4 6.4 497 11772 0.22 1.98 111.38 0.421 11270 0.059 0.023 3297 2213 1285 1390 1181 0 0 0 0 0 0 26.57 26.57 25.25
12081 1.09 417.3 3297 2213 1385 1168 51.9 15.1 518 12088 0.10 2.12 0.00 0.000 4356 0.187 0.037 3275 3633 1276 1385 1168 0 0 0 0 0 0 26.01 26.10 28.83
12277 1.13 438.8 3275 3633 1382 1166 28.3 10.0 535 12303 0.00 1.95 14.98 0.383 9222 0.000 0.023 3281 2265 1198 1302 1094 0 0 0 0 0 0 28.83 26.25 25.71
12486 end climb: SURFACE_DEPTH_REACHED
state 12486 begin surface coast
12509 end surface coast: CONTROL_FINISHED_OK
state 12509 begin surface