OKMC Feb13 * SG171 * Dive index * Mission links * Dive 128 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  171 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 ESCAPE_HEADING  0 C_ROLL_DIVE  2500 ALTIM_TOP_MIN_OBSTACLE  0
DIVE  128 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2000 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  970 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  57 ALTIM_SENSITIVITY  2
D_ABORT  1010 SM_CC  400 R_STBD_OVSHOOT  35 XPDR_VALID  2
D_NO_BLEED  200 N_FILEKB  8 ROLL_AD_RATE  400 XPDR_INHIBIT  90
D_BOOST  20 FILEMGR  0 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  3 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  1.4
D_FINISH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_PITCH  0 PROTOCOL  9 VBD_MIN  415 DEEPGLIDERMB  0
D_SAFE  0 N_NOCOMM  1 VBD_MAX  3400 MOTHERBOARD  4
D_CALL  0 NOCOMM_ACTION  163 C_VBD  2380 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  370 CALL_WAIT  60 PITCH_VBD_SHIFT  0.003 DEVICE5  -1
T_MISSION  400 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  1 LOGGERS  1
T_TURN  225 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN_SAMPINT  5 T_GPS  15 UNCOM_BLEED  20 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  -20664.057 DBDW  0 COMPASS_DEVICE  33
USE_BATHY  -9 T_RSLEEP  3 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
USE_ICE  0 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  49
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  154 MINV_24V  22 SIM_W  0
APOGEE_PITCH  -5 PITCH_MAX  3952 MINV_10V  9.5 SIM_PITCH  0
MAX_BUOY  175 C_PITCH  2835 FG_AHR_10V  0 SEABIRD_T_G  0.0043708701
COURSE_BIAS  0 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00064764963
GLIDE_SLOPE  30 PITCH_CNV  0.003125763 PHONE_SUPPLY  -2 SEABIRD_T_I  2.5888983e-05
SPEED_FACTOR  1 P_OVSHOOT  0.039999999 PRESSURE_YINT  -74.53199 SEABIRD_T_J  2.7074855e-06
RHO  1.0275 PITCH_GAIN  27 PRESSURE_SLOPE  0.0001165165 SEABIRD_C_G  -10.475479
MASS  52107 PITCH_TIMEOUT  16 AD7714Ch0Gain  128 SEABIRD_C_H  1.2050543
NAV_MODE  2 PITCH_AD_RATE  175 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0015894541
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00021379974
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  0.0099999998 ROLL_MIN  181 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0
HD_C  9.9999997e-06 ROLL_MAX  3676 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  160313,151205,2232.552,12359.125,33,1.4,33,-3.1 TGT_NAME  N3
_CALLS  2 TGT_LATLONG  2130.000,12400.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.44 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  160313,151937,2232.518,12359.221,16,1.6,16,-3.1 MHEAD_RNG_PITCHd_Wd  196.8,115791,-14.1,-8.739,-18.25,2958
SPEED_LIMITS  0.151,0.265 D_GRID  5485

Post-dive calculations and measurements:
FINISH  0.7,1.010182 _10V_AH  10.3,14.401
SM_CCo  13393,84.07,0.057,0,0,748,400.08 FG_AHR_24Vo  0.000
SM_GC  1.37,7.82,0.75,84.07,0.032,0.042,0.057,123,2491,748,-8.33,-1.30,400.08,0,0,0,0,0,0,26.64,26.60,26.46 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2227.67,12358.89,160313,111105 MEM  329700
TT8_MAMPS  0.048685,0.048685 DATA_FILE_SIZE  23355,619
HUMID  42.51 CAP_FILE_SIZE  339479,0
INTERNAL_PRESSURE  9.63274 CFSIZE  260034560,239665152
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  0.092, 69.0,1
SC_FREEKB  3979616 GPS  160313,190600,2230.910,12359.405,40,2.0,40,-3.1
_24V_AH  24.4,19.764

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19219104.60 nil000.00
Roll_motor10355140.76 nil000.00
VBD_pump_during_apogee57875210633.77 nil000.00
VBD_pump_during_surface8457117.70 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1338351702.28
Iridium_during_xfer239127746.03 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS17274.98
TT82764351023.18
LPSleep81312183.43
TT8_Active77735287.57
TT8_Sampling1951581173.65
TT8_CF829265198.18
TT8_Kalman000.00
Analog_circuits193815299.48
GPS_charging000.00
Compass1607599.21
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 -1.03 -170.3 125 2506 831 668 0.0 0.0 0 82 0.00 0.00 -61.42 0.000 16386 0.000 0.000 125 2507 2482 2564 2401 0 0 0 0 0 0 28.83 28.83 28.83
85 -1.03 -170.3 125 2507 2568 2401 3.5 -5.6 8 110 9.07 2.17 -11.38 0.000 18948 0.220 0.044 2498 1094 3078 3168 2989 0 0 0 0 0 0 25.98 26.32 26.61
223 -1.03 -170.3 2497 1093 3170 2989 42.3 -26.7 26 229 0.00 2.17 0.00 0.000 1030 0.000 0.041 2487 2499 3079 3170 2989 0 0 0 0 0 0 28.83 26.36 28.83
538 -1.03 -170.3 2487 2498 3170 2989 126.4 -27.0 43 544 0.00 1.83 0.00 0.000 260 0.000 0.055 2478 3674 3079 3170 2989 0 0 0 0 0 0 28.83 26.48 28.83
780 -1.03 -170.3 2478 3674 3172 2989 183.4 -22.2 54 786 0.00 1.70 0.00 0.000 1030 0.000 0.025 2478 2475 3080 3172 2989 0 0 0 0 0 0 28.83 26.65 28.83
1094 -1.03 -170.3 2478 2473 3174 2989 251.5 -21.7 70 1101 0.00 1.88 0.00 0.000 260 0.000 0.055 2469 3680 3081 3174 2989 0 0 0 0 0 0 28.83 26.59 28.83
1242 -1.03 -170.3 2469 3680 3174 2989 282.1 -20.4 77 1250 0.08 1.73 0.00 0.000 3078 0.128 0.025 2497 2507 3081 3174 2989 0 0 0 0 0 0 26.51 26.72 28.83
1569 -1.03 -170.3 2497 2504 3175 2989 341.7 -17.9 93 1574 0.00 1.80 0.00 0.000 260 0.000 0.054 2489 3673 3081 3174 2989 0 0 0 0 0 0 28.83 26.64 28.83
1654 -1.03 -170.3 2489 3673 3174 2989 358.0 -19.1 97 1660 0.00 1.67 0.00 0.000 1030 0.000 0.025 2491 2496 3081 3174 2989 0 0 0 0 0 0 28.83 26.75 28.83
1979 -1.03 -170.3 2489 2495 3175 2989 415.6 -17.5 113 1980 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2494 3081 3174 2989 0 0 0 0 0 0 28.83 28.83 28.83
2279 -1.03 -170.3 2489 2495 3174 2989 468.0 -17.5 128 2285 0.00 1.83 0.00 0.000 260 0.000 0.054 2480 3673 3082 3175 2989 0 0 0 0 0 0 28.83 26.67 28.83
2339 -1.03 -170.3 2480 3673 3174 2989 476.2 -17.6 130 2348 0.00 1.70 0.00 0.000 1030 0.000 0.025 2480 2502 3082 3175 2989 0 0 0 0 0 0 28.83 26.79 28.83
2645 -1.03 -170.3 2480 2500 3174 2989 530.1 -15.4 146 2646 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2500 3081 3174 2989 0 0 0 0 0 0 28.83 28.83 28.83
2945 -1.03 -170.3 2479 2500 3174 2989 574.2 -15.5 161 2951 0.00 2.05 0.00 0.000 516 0.000 0.031 2480 1109 3081 3174 2988 0 0 0 0 0 0 28.83 26.74 28.83
3081 -1.03 -170.3 2479 1109 3174 2988 594.1 -15.8 167 3087 0.12 2.10 0.00 0.000 3078 0.151 0.040 2505 2503 3081 3174 2988 0 0 0 0 0 0 26.57 26.70 28.83
3415 -1.03 -170.3 2505 2503 3174 2984 643.7 -14.3 179 3421 0.00 1.83 0.00 0.000 260 0.000 0.055 2500 3678 3079 3174 2984 0 0 0 0 0 0 28.83 26.68 28.83
3493 -1.03 -170.3 2496 3678 3174 2984 652.9 -14.3 181 3499 0.00 1.67 0.00 0.000 1030 0.000 0.028 2496 2499 3078 3174 2983 0 0 0 0 0 0 28.83 26.80 28.83
3812 -1.03 -170.3 2497 2500 3174 2979 697.4 -13.1 192 3818 0.00 2.05 0.00 0.000 516 0.000 0.031 2497 1106 3076 3174 2979 0 0 0 0 0 0 28.83 26.74 28.83
3900 -1.03 -170.3 2497 1106 3174 2978 705.8 -13.1 194 3908 0.00 2.12 0.00 0.000 1030 0.000 0.041 2487 2505 3076 3174 2978 0 0 0 0 0 0 28.83 26.70 28.83
4208 -1.03 -170.3 2486 2505 3174 2973 751.2 -13.6 205 4214 0.00 1.80 0.00 0.000 260 0.000 0.056 2478 3671 3074 3174 2974 0 0 0 0 0 0 28.83 26.68 28.83
4255 -1.03 -170.3 2477 3671 3173 2974 756.1 -13.6 206 4261 0.00 1.73 0.00 0.000 1030 0.000 0.028 2477 2496 3074 3174 2974 0 0 0 0 0 0 28.83 26.80 28.83
4574 -1.03 -170.3 2477 2495 3174 2970 801.5 -13.7 217 4576 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2496 3072 3174 2970 0 0 0 0 0 0 28.83 28.83 28.83
4875 -1.03 -170.3 2477 2495 3173 2966 842.5 -13.9 227 4876 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2495 3069 3173 2966 0 0 0 0 0 0 28.83 28.83 28.83
5175 -1.03 -170.3 2477 2496 3170 2964 883.1 -13.4 237 5181 0.00 2.05 0.00 0.000 516 0.000 0.031 2478 1099 3067 3170 2964 0 0 0 0 0 0 28.83 26.74 28.83
5248 -1.03 -170.3 2478 1099 3170 2963 891.9 -13.2 239 5255 0.12 2.15 0.00 0.000 3078 0.151 0.041 2503 2505 3066 3170 2963 0 0 0 0 0 0 26.56 26.69 28.83
5573 -1.03 -170.3 2502 2505 3169 2961 931.3 -11.7 250 5579 0.00 2.05 0.00 0.000 516 0.000 0.030 2503 1109 3065 3169 2961 0 0 0 0 0 0 28.83 26.74 28.83
5626 -1.03 -170.3 2503 1109 3168 2961 935.2 -11.8 251 5632 0.00 2.12 0.00 0.000 1030 0.000 0.041 2493 2504 3064 3168 2961 0 0 0 0 0 0 28.83 26.68 28.83
5910 end dive: TARGET_DEPTH_EXCEEDED
state 5910 begin apogee
5915 -0.19 0.0 2493 1986 3167 2958 970.3 -11.4 261 6191 0.80 0.00 266.02 0.753 10246 0.106 0.000 2770 1984 2375 2543 2208 0 0 0 0 0 0 26.54 28.83 24.59
6194 end apogee: CONTROL_FINISHED_OK
state 6194 begin climb
6196 1.03 170.3 2770 1984 2542 2195 983.4 0.0 269 6459 1.08 2.38 253.77 0.742 10500 0.045 0.048 3177 3413 1676 1770 1583 0 0 0 0 0 0 25.32 25.04 24.45
6489 1.03 170.3 3177 3412 1754 1578 956.7 15.2 280 6496 0.00 2.17 0.00 0.000 1030 0.000 0.028 3188 2016 1665 1753 1578 0 0 0 0 0 0 28.83 25.41 28.83
6824 1.03 170.3 3188 2016 1738 1570 897.7 17.7 291 6830 0.00 2.17 0.00 0.000 516 0.000 0.037 3199 605 1653 1738 1568 0 0 0 0 0 0 28.83 26.15 28.83
6868 1.03 170.3 3199 605 1737 1571 891.5 17.8 292 6876 0.12 2.15 0.00 0.000 5126 0.171 0.032 3172 2017 1654 1737 1571 0 0 0 0 0 0 26.03 26.22 28.83
7194 1.03 170.3 3169 2017 1735 1568 837.7 15.7 303 7199 0.00 2.17 0.00 0.000 516 0.000 0.039 3180 603 1652 1736 1568 0 0 0 0 0 0 28.83 26.39 28.83
7246 1.03 170.3 3180 602 1735 1568 832.3 15.6 304 7253 0.00 2.10 0.00 0.000 1030 0.000 0.034 3180 1998 1651 1736 1567 0 0 0 0 0 0 28.83 26.43 28.83
7561 1.03 170.3 3180 1997 1733 1566 776.0 17.6 315 7568 0.00 2.20 0.00 0.000 260 0.000 0.050 3183 3410 1650 1734 1566 0 0 0 0 0 0 28.83 26.48 28.83
7717 1.03 170.3 2176 3408 1693 1560 745.9 19.4 320 7723 0.00 2.10 0.00 0.000 1030 0.000 0.031 3192 1997 1649 1733 1566 0 0 0 0 0 0 28.83 26.57 28.83
8051 1.03 170.3 3191 1997 1732 1564 686.8 17.6 331 8052 0.00 0.00 0.00 0.000 6 0.000 0.000 3192 1997 1648 1732 1564 0 0 0 0 0 0 28.83 28.83 28.83
8351 1.03 170.3 3191 1997 1731 1563 634.3 17.7 341 8352 0.00 0.00 0.00 0.000 6 0.000 0.000 3192 1997 1647 1731 1563 0 0 0 0 0 0 28.83 28.83 28.83
8662 1.03 170.3 3191 1997 1729 1562 582.3 17.2 353 8669 0.00 2.20 0.00 0.000 260 0.000 0.050 3192 3402 1645 1729 1562 0 0 0 0 0 0 28.83 26.60 28.83
8707 1.03 170.3 3191 3402 1729 1562 574.1 17.5 355 8715 0.15 2.08 0.00 0.000 5126 0.162 0.031 3163 2000 1645 1729 1561 0 0 0 0 0 0 26.44 26.67 28.83
9034 1.03 170.3 3163 1999 1729 1560 526.8 14.1 371 9040 0.00 2.10 0.00 0.000 516 0.000 0.041 3173 610 1644 1729 1560 0 0 0 0 0 0 28.83 26.63 28.83
9185 1.03 170.3 3172 610 1729 1560 507.0 13.7 378 9191 0.00 2.08 0.00 0.000 1030 0.000 0.034 3173 2002 1644 1729 1559 0 0 0 0 0 0 28.83 26.66 28.83
9505 1.03 170.3 3173 2002 1728 1559 464.6 13.8 394 9511 0.00 2.17 0.00 0.000 260 0.000 0.049 3173 3402 1643 1727 1559 0 0 0 0 0 0 28.83 26.63 28.83
9550 1.03 170.3 3173 3402 1728 1559 458.0 14.3 396 9556 0.00 2.08 0.00 0.000 1030 0.000 0.031 3184 2000 1643 1728 1559 0 0 0 0 0 0 28.83 26.70 28.83
9876 1.03 170.3 3184 2000 1728 1559 412.8 14.1 412 9881 0.00 2.17 0.00 0.000 260 0.000 0.049 3185 3405 1643 1728 1559 0 0 0 0 0 0 28.83 26.63 28.83
9973 1.03 170.3 3185 3405 1728 1559 399.3 15.3 416 9979 0.00 2.08 0.00 0.000 1030 0.000 0.031 3196 1995 1643 1728 1559 0 0 0 0 0 0 28.83 26.71 28.83
10287 1.03 170.3 3195 1995 1728 1559 349.4 14.7 432 10288 0.00 0.00 0.00 0.000 6 0.000 0.000 3196 1995 1643 1728 1558 0 0 0 0 0 0 28.83 28.83 28.83
10587 1.03 170.3 3196 1995 1728 1557 310.5 11.9 447 10593 0.00 2.17 0.00 0.000 260 0.000 0.048 3196 3402 1643 1728 1559 0 0 0 0 0 0 28.83 26.65 28.83
10693 1.03 170.3 3195 3402 1728 1559 296.4 13.4 452 10699 0.15 2.08 0.00 0.000 5126 0.155 0.030 3167 1994 1643 1728 1559 0 0 0 0 0 0 26.48 26.71 28.83
11018 1.03 170.3 3166 1994 1728 1559 257.9 13.1 468 11024 0.00 2.17 0.00 0.000 260 0.000 0.047 3167 3402 1643 1728 1559 0 0 0 0 0 0 28.83 26.65 28.83
11194 1.03 170.3 3167 3402 1728 1559 233.9 14.3 476 11200 0.00 2.05 0.00 0.000 1030 0.000 0.030 3177 2001 1643 1728 1559 0 0 0 0 0 0 28.83 26.73 28.83
11509 1.03 170.3 3177 2001 1728 1559 194.1 12.2 492 11515 0.00 2.10 0.00 0.000 516 0.000 0.040 3188 610 1643 1728 1559 0 0 0 0 0 0 28.83 26.67 28.83
11626 1.03 170.3 3188 610 1728 1559 183.0 10.2 497 11632 0.00 2.08 0.00 0.000 1030 0.000 0.031 3188 2009 1644 1728 1560 0 0 0 0 0 0 28.83 26.70 28.83
11942 1.08 185.2 3187 2009 1732 1559 155.0 8.2 513 11958 0.00 2.12 10.60 0.416 8452 0.000 0.045 3188 3402 1621 1710 1532 0 0 0 0 0 0 28.83 26.60 26.07
12078 1.08 185.2 3188 3402 1699 1521 141.9 10.7 519 12084 0.00 2.08 0.00 0.000 1030 0.000 0.028 3199 1992 1610 1699 1521 0 0 0 0 0 0 28.83 26.67 28.83
12393 1.17 217.4 3199 1996 1699 1521 113.7 7.6 535 12451 0.00 2.10 48.55 0.393 8708 0.000 0.037 3210 610 1482 1584 1381 0 0 0 0 0 0 28.83 26.28 25.82
12508 1.17 217.4 3210 610 1571 1372 102.6 10.3 540 12514 0.00 2.08 0.00 0.000 1030 0.000 0.031 3210 1999 1471 1571 1371 0 0 0 0 0 0 28.83 26.34 28.83
12828 1.17 217.4 3210 1999 1568 1370 66.6 9.9 556 12834 0.00 2.15 0.00 0.000 260 0.000 0.046 3210 3403 1469 1569 1370 0 0 0 0 0 0 28.83 26.48 28.83
12995 1.17 217.4 3210 3404 1569 1370 45.8 13.1 565 13001 0.00 2.05 0.00 0.000 1030 0.000 0.028 3222 2004 1470 1569 1371 0 0 0 0 0 0 28.83 26.58 28.83
13312 1.17 217.4 2176 2003 1534 1367 8.0 12.8 608 13319 0.00 0.00 0.00 0.000 6 0.000 0.000 3222 2005 1469 1569 1370 0 0 0 0 0 0 28.83 28.83 28.83
13351 end climb: SURFACE_DEPTH_REACHED
state 13351 begin surface coast
13376 end surface coast: CONTROL_FINISHED_OK
state 13376 begin surface