OKMC Feb13 * SG171 * Dive index * Mission links * Dive 81 * 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  81 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  940 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  55 ALTIM_SENSITIVITY  2
D_ABORT  1010 SM_CC  400 R_STBD_OVSHOOT  32 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  350 CALL_WAIT  60 PITCH_VBD_SHIFT  0.003 DEVICE5  -1
T_MISSION  380 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  -20601.916 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  2820 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  080313,232724,2343.835,12335.109,38,1.4,38,-3.4 TGT_NAME  N2
_CALLS  1 TGT_LATLONG  2350.000,12355.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.57 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  080313,233842,2343.703,12335.383,10,1.2,16,-3.4 MHEAD_RNG_PITCHd_Wd  67.0,35219,-14.4,-8.952,-18.51,2890
SPEED_LIMITS  0.155,0.267 D_GRID  3515

Post-dive calculations and measurements:
FINISH  0.5,1.013731 _10V_AH  10.4,9.420
SM_CCo  12686,70.00,0.057,0,0,748,400.08 FG_AHR_24Vo  0.000
SM_GC  1.42,7.90,0.75,70.00,0.033,0.054,0.057,142,2491,748,-8.29,-1.41,400.08,0,0,0,0,0,0,26.60,26.57,26.48 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2330.93,12326.39,080313,191940 MEM  329728
TT8_MAMPS  0.048685,0.048685 DATA_FILE_SIZE  20108,587
HUMID  42.04 CAP_FILE_SIZE  320555,0
INTERNAL_PRESSURE  9.6425 CFSIZE  260034560,244883456
TCM_TEMP  24.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.207, 99.9,1
SC_FREEKB  3994656 GPS  090313,031305,2344.219,12338.860,37,1.0,42,-3.4
_24V_AH  24.3,13.959

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19221107.18 nil000.00
Roll_motor9571165.10 nil000.00
VBD_pump_during_apogee53287611346.81 nil000.00
VBD_pump_during_surface705797.59 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1267131179.59
Iridium_during_xfer5371441887.14 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS16274.88
TT8253935949.05
LPSleep78572178.96
TT8_Active68035254.24
TT8_Sampling2105581278.72
TT8_CF824165165.40
TT8_Kalman000.00
Analog_circuits209715327.23
GPS_charging000.00
Compass1500593.47
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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
17 -1.04 -170.3 127 2504 835 660 0.0 0.0 0 81 0.00 0.00 -61.15 0.000 16386 0.000 0.000 126 2504 2477 2565 2389 0 0 0 0 0 0 28.83 28.83 28.83
83 -1.04 -170.3 127 2501 2571 2389 3.7 -5.8 8 109 9.07 1.90 -11.10 0.000 18692 0.221 0.071 2472 3670 3079 3166 2993 0 0 0 0 0 0 25.94 26.15 26.46
210 -1.04 -170.3 2472 3670 3170 2993 48.0 -32.0 24 216 0.00 1.70 0.00 0.000 1030 0.000 0.025 2473 2493 3081 3169 2993 0 0 0 0 0 0 28.83 26.34 28.83
524 -1.04 -170.3 2472 2492 3170 2993 140.6 -28.0 40 530 0.00 2.08 0.00 0.000 516 0.000 0.034 2472 1110 3081 3169 2993 0 0 0 0 0 0 28.83 26.48 28.83
583 -1.04 -170.3 2472 1110 3170 2993 151.9 -26.7 42 591 0.00 2.12 0.00 0.000 1030 0.000 0.043 2461 2496 3081 3170 2993 0 0 0 0 0 0 28.83 26.48 28.83
889 -1.04 -170.3 2461 2496 3174 2993 230.5 -24.2 58 895 0.00 2.08 0.00 0.000 516 0.000 0.037 2462 1111 3083 3173 2993 0 0 0 0 0 0 28.83 26.60 28.83
935 -1.04 -170.3 2461 1111 3173 2993 240.9 -23.0 60 942 0.12 2.12 0.00 0.000 3078 0.158 0.044 2484 2499 3083 3173 2993 0 0 0 0 0 0 26.48 26.58 28.83
1260 -1.04 -170.3 2483 2499 3175 2993 303.6 -18.7 76 1267 0.00 1.83 0.00 0.000 260 0.000 0.060 2476 3673 3084 3175 2993 0 0 0 0 0 0 28.83 26.63 28.83
1414 -1.04 -170.3 1568 3672 3149 2987 331.3 -19.3 83 1420 0.00 1.67 0.00 0.000 1030 0.000 0.026 2476 2506 3083 3174 2993 0 0 0 0 0 0 28.83 26.72 28.83
1728 -1.04 -170.3 2476 2505 3175 2993 390.3 -16.9 99 1734 0.00 2.10 0.00 0.000 516 0.000 0.037 2476 1103 3084 3175 2993 0 0 0 0 0 0 28.83 26.71 28.83
1772 -1.04 -170.3 2476 1103 3174 2993 398.4 -18.2 101 1778 0.00 2.15 0.00 0.000 1030 0.000 0.046 2465 2503 3084 3175 2993 0 0 0 0 0 0 28.83 26.69 28.83
2097 -1.04 -170.3 2465 2503 3175 2993 456.3 -16.9 117 2103 0.00 1.83 0.00 0.000 260 0.000 0.059 2456 3681 3084 3175 2993 0 0 0 0 0 0 28.83 26.70 28.83
2154 -1.04 -170.3 2455 3681 3174 2993 464.4 -17.5 119 2162 0.00 1.70 0.00 0.000 1030 0.000 0.025 2456 2490 3083 3174 2993 0 0 0 0 0 0 28.83 26.78 28.83
2461 -1.04 -170.3 2455 2489 3174 2992 521.5 -17.9 135 2462 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2489 3084 3177 2992 0 0 0 0 0 0 28.83 28.83 28.83
2761 -1.04 -170.3 2455 2489 3174 2990 572.4 -16.7 150 2767 0.00 2.05 0.00 0.000 516 0.000 0.036 2456 1107 3082 3174 2990 0 0 0 0 0 0 28.83 26.77 28.83
2827 -1.04 -170.3 2456 1107 3174 2989 583.0 -16.1 153 2834 0.12 2.15 0.00 0.000 3078 0.153 0.047 2481 2504 3081 3174 2989 0 0 0 0 0 0 26.65 26.74 28.83
3162 -1.04 -170.3 2479 2504 3174 2985 630.6 -13.5 166 3168 0.00 2.08 0.00 0.000 516 0.000 0.035 2480 1108 3079 3174 2985 0 0 0 0 0 0 28.83 26.78 28.83
3235 -1.04 -170.3 2480 1108 3174 2984 639.6 -13.7 168 3241 0.00 2.15 0.00 0.000 1030 0.000 0.047 2470 2504 3078 3174 2983 0 0 0 0 0 0 28.83 26.75 28.83
3558 -1.04 -170.3 2470 2504 3174 2979 689.1 -15.5 179 3565 0.00 1.80 0.00 0.000 260 0.000 0.058 2461 3671 3076 3174 2979 0 0 0 0 0 0 28.83 26.74 28.83
3662 -1.04 -170.3 2461 3671 3174 2978 703.7 -15.4 182 3669 0.00 1.73 0.00 0.000 1030 0.000 0.027 2461 2493 3075 3173 2977 0 0 0 0 0 0 28.83 26.84 28.83
3987 -1.04 -170.3 2461 2493 3173 2972 753.0 -14.8 193 3993 0.00 2.03 0.00 0.000 516 0.000 0.032 2461 1110 3073 3174 2972 0 0 0 0 0 0 28.83 26.80 28.83
4030 -1.04 -170.3 2461 1109 3174 2972 758.0 -14.9 194 4036 0.12 2.12 0.00 0.000 3078 0.154 0.044 2485 2503 3073 3174 2972 0 0 0 0 0 0 26.66 26.76 28.83
4354 -1.04 -170.3 2485 2503 3172 2970 802.3 -12.9 205 4360 0.00 1.83 0.00 0.000 260 0.000 0.059 2477 3678 3070 3171 2969 0 0 0 0 0 0 28.83 26.74 28.83
4388 -1.04 -170.3 1536 3677 3143 2962 806.8 -13.0 206 4394 0.00 1.70 0.00 0.000 1030 0.000 0.028 2477 2496 3070 3171 2969 0 0 0 0 0 0 28.83 26.84 28.83
4721 -1.04 -170.3 2477 2495 3169 2965 849.7 -12.8 217 4723 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2495 3067 3169 2965 0 0 0 0 0 0 28.83 28.83 28.83
5021 -1.04 -170.3 2477 2495 3167 2963 887.1 -12.4 227 5022 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2495 3065 3167 2963 0 0 0 0 0 0 28.83 28.83 28.83
5321 -1.04 -170.3 2477 2495 3165 2961 923.2 -12.2 237 5323 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2495 3063 3166 2961 0 0 0 0 0 0 28.83 28.83 28.83
5471 end dive: TARGET_DEPTH_EXCEEDED
state 5471 begin apogee
5476 -0.19 0.0 2477 1999 3165 2959 941.4 -12.2 242 5745 0.80 0.00 259.80 0.747 10246 0.109 0.000 2752 1996 2373 2547 2200 0 0 0 0 0 0 26.67 28.83 24.55
5746 end apogee: CONTROL_FINISHED_OK
state 5747 begin climb
5749 1.04 170.3 2753 1996 2547 2190 952.2 0.0 250 5941 1.10 2.25 182.55 0.877 10756 0.054 0.040 3168 615 1675 1770 1580 0 0 0 0 0 0 25.27 24.98 24.25
6036 1.04 170.3 3168 614 1744 1570 921.7 16.5 259 6042 0.00 2.20 0.00 0.000 1030 0.000 0.034 3168 2017 1655 1740 1570 0 0 0 0 0 0 28.83 25.68 28.83
6359 1.04 170.3 3168 2017 1733 1564 863.1 17.4 270 6361 0.00 0.00 0.00 0.000 6 0.000 0.000 3168 2017 1648 1733 1564 0 0 0 0 0 0 28.83 28.83 28.83
6660 1.04 170.3 3168 2017 1732 1562 812.0 17.3 280 6666 0.00 2.17 0.00 0.000 260 0.000 0.050 3168 3406 1647 1732 1562 0 0 0 0 0 0 28.83 26.41 28.83
6688 1.04 170.3 3168 3406 1732 1565 812.0 17.3 280 6696 0.00 2.10 0.00 0.000 1030 0.000 0.031 3179 2009 1647 1732 1562 0 0 0 0 0 0 28.83 26.45 28.83
6995 1.04 170.3 3179 2009 1733 1560 753.3 17.7 291 6997 0.00 0.00 0.00 0.000 6 0.000 0.000 3176 2009 1644 1729 1560 0 0 0 0 0 0 28.83 28.83 28.83
7294 1.04 170.3 3179 2009 1728 1559 699.3 18.1 301 7296 0.00 0.00 0.00 0.000 6 0.000 0.000 3179 2009 1643 1728 1559 0 0 0 0 0 0 28.83 28.83 28.83
7595 1.04 170.3 3179 2008 1727 1557 648.7 16.1 311 7601 0.00 2.20 0.00 0.000 260 0.000 0.050 3179 3409 1642 1727 1557 0 0 0 0 0 0 28.83 26.62 28.83
7709 1.04 170.3 3179 3409 1726 1557 632.3 16.8 314 7715 0.12 2.10 0.00 0.000 5126 0.172 0.031 3159 1995 1641 1726 1557 0 0 0 0 0 0 26.50 26.67 28.83
8024 1.04 170.3 3159 1996 1726 1555 582.7 14.4 327 8030 0.00 2.12 0.00 0.000 516 0.000 0.041 3167 594 1640 1726 1555 0 0 0 0 0 0 28.83 26.66 28.83
8111 1.04 170.3 3169 594 1725 1555 570.2 14.4 331 8117 0.00 2.12 0.00 0.000 1030 0.000 0.036 3169 2004 1640 1726 1555 0 0 0 0 0 0 28.83 26.67 28.83
8435 1.04 170.3 3169 2004 1725 1555 523.5 14.4 347 8442 0.00 2.15 0.00 0.000 516 0.000 0.041 3180 600 1639 1725 1554 0 0 0 0 0 0 28.83 26.69 28.83
8474 1.04 170.3 3179 600 1725 1554 519.5 14.9 348 8482 0.00 2.10 0.00 0.000 1030 0.000 0.035 3180 2002 1639 1725 1554 0 0 0 0 0 0 28.83 26.70 28.83
8780 1.04 170.3 3180 2000 1723 1554 470.8 15.1 364 8786 0.00 2.17 0.00 0.000 260 0.000 0.050 3180 3408 1640 1724 1557 0 0 0 0 0 0 28.83 26.70 28.83
8888 1.04 170.3 2192 3406 1685 1549 454.6 15.6 369 8895 0.12 2.10 0.00 0.000 5126 0.171 0.031 3159 1991 1641 1728 1554 0 0 0 0 0 0 26.56 26.74 28.83
9209 1.04 170.3 3159 1990 1724 1552 410.9 13.5 385 9215 0.00 2.22 0.00 0.000 260 0.000 0.050 3159 3411 1638 1724 1552 0 0 0 0 0 0 28.83 26.70 28.83
9277 1.04 170.3 3159 3411 1723 1553 401.6 13.9 388 9283 0.00 2.10 0.00 0.000 1030 0.000 0.031 3170 1992 1637 1723 1552 0 0 0 0 0 0 28.83 26.75 28.83
9597 1.04 170.3 3170 1993 1726 1552 360.4 12.6 404 9598 0.00 0.00 0.00 0.000 6 0.000 0.000 3170 1993 1637 1723 1552 0 0 0 0 0 0 28.83 28.83 28.83
9895 1.04 170.3 3170 1993 1723 1552 324.0 12.0 419 9902 0.00 2.10 0.00 0.000 516 0.000 0.041 3180 603 1637 1723 1552 0 0 0 0 0 0 28.83 26.73 28.83
9974 1.04 170.3 3181 603 1723 1552 316.1 12.1 422 9983 0.00 2.08 0.00 0.000 1030 0.000 0.034 3181 2003 1637 1723 1552 0 0 0 0 0 0 28.83 26.74 28.83
10281 1.04 170.3 3180 2003 1724 1552 278.9 12.2 438 10287 0.00 2.15 0.00 0.000 260 0.000 0.049 3181 3403 1637 1723 1552 0 0 0 0 0 0 28.83 26.72 28.83
10407 1.04 170.3 3180 3401 1723 1552 261.0 14.2 444 10413 0.12 2.08 0.00 0.000 5126 0.164 0.031 3160 1997 1637 1723 1552 0 0 0 0 0 0 26.60 26.77 28.83
10732 1.04 170.3 3159 1997 1723 1552 225.8 10.3 460 10733 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 1997 1638 1724 1552 0 0 0 0 0 0 28.83 28.83 28.83
11032 1.04 170.3 3159 1997 1723 1552 193.6 11.2 475 11038 0.00 2.10 0.00 0.000 516 0.000 0.041 3169 608 1637 1723 1552 0 0 0 0 0 0 28.83 26.74 28.83
11211 1.04 170.3 3169 607 1723 1552 178.0 9.1 483 11217 0.00 2.08 0.00 0.000 1030 0.000 0.034 3169 2007 1638 1724 1552 0 0 0 0 0 0 28.83 26.76 28.83
11525 1.07 177.6 3169 2007 1724 1552 149.9 8.7 499 11532 0.00 2.12 0.00 0.000 516 0.000 0.041 3180 604 1636 1720 1552 0 0 0 0 0 0 28.83 26.75 28.83
11764 1.28 247.8 3180 604 1723 1552 132.4 6.5 510 11861 0.15 2.08 90.28 0.406 11270 0.067 0.034 3286 2008 1369 1474 1265 0 0 0 0 0 0 26.80 26.77 25.58
12169 1.28 247.8 3285 2008 1443 1242 69.4 16.9 530 12176 0.17 2.15 0.00 0.000 4612 0.150 0.040 3245 606 1342 1442 1242 0 0 0 0 0 0 26.27 26.39 28.83
12295 1.28 247.8 3242 606 1441 1242 51.7 13.5 536 12301 0.00 2.10 0.00 0.000 1030 0.000 0.034 3242 2003 1341 1441 1242 0 0 0 0 0 0 28.83 26.46 28.83
12607 1.28 247.8 2208 2001 1412 1239 8.9 14.6 576 12614 0.00 0.00 0.00 0.000 6 0.000 0.000 3242 2003 1341 1441 1242 0 0 0 0 0 0 28.83 28.83 28.83
12646 end climb: SURFACE_DEPTH_REACHED
state 12646 begin surface coast
12669 end surface coast: CONTROL_FINISHED_OK
state 12669 begin surface