OKMC Mar13 * SG177 * Dive index * Mission links * Dive 60 * 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  60 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  50 ALTIM_SENSITIVITY  0
D_ABORT  1020 SM_CC  400 R_STBD_OVSHOOT  47 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  -7737.0894 DBDW  0 COMPASS_DEVICE  97
USE_BATHY  -6 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  200 C_PITCH  2920 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  280313,161200,1843.021,12310.027,41,1.0,41,-2.1 TGT_NAME  MEAST
_CALLS  1 TGT_LATLONG  1845.000,12300.070
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  -3.09 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  280313,161825,1843.131,12309.979,10,1.5,10,-2.1 MHEAD_RNG_PITCHd_Wd  267.5,17719,-7.0,-10.645,-7.56,2804
SPEED_LIMITS  0.184,0.802 D_GRID  4260

Post-dive calculations and measurements:
FINISH  -0.5,1.021924 _10V_AH  10.4,8.384
SM_CCo  13272,2.05,0.059,0,0,1360,400.08 FG_AHR_24Vo  0.000
SM_GC  0.83,8.30,0.15,2.05,0.063,0.074,0.059,127,2408,1360,-8.61,-1.78,400.08,0,0,0,0,0,0,26.49,26.54,26.47 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1835.04,12311.74,280313,111158 MEM  326648
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  23400,613
HUMID  46.22 CAP_FILE_SIZE  303990,0
INTERNAL_PRESSURE  9.61951 CFSIZE  260034560,245923840
TCM_TEMP  24.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  10 CURRENT  0.288, 50.7,1
SC_FREEKB  3997088 GPS  280313,200135,1844.197,12308.617,35,0.9,47,-2.1
_24V_AH  24.0,7.542

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21249126.14 nil000.00
Roll_motor8487177.80 nil000.00
VBD_pump_during_apogee504102212373.02 nil000.00
VBD_pump_during_surface2582.90 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1326682561.40
Iridium_during_xfer241120696.92 nil000.00
Transponder_ping242025.20 nil000.00
GUMSTIX_24V000.00
GPS13304.26
TT8239817429.30
LPSleep87872200.14
TT8_Active58617104.89
TT8_Sampling168543761.23
TT8_CF819354110.17
TT8_Kalman000.00
Analog_circuits164015255.96
GPS_charging000.00
Compass13537105.47
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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -0.67 -194.6 135 2373 1399 1246 0.0 0.0 0 102 0.00 0.00 -81.32 0.000 16386 0.000 0.000 136 2373 3692 3761 3623 0 0 0 0 0 0 28.83 28.83 28.83
104 -0.67 -194.6 135 2373 3761 3624 6.1 -26.7 11 121 10.55 2.10 -1.33 0.000 18948 0.249 0.044 2708 955 3789 3862 3717 0 0 0 0 0 0 25.93 26.15 26.34
286 -0.67 -194.6 2708 955 3869 3715 88.0 -32.8 25 293 0.00 2.03 0.00 0.000 1030 0.000 0.030 2699 2379 3792 3869 3715 0 0 0 0 0 0 28.83 26.27 28.83
611 -0.67 -194.6 2700 2376 3872 3715 190.7 -25.9 41 617 0.00 2.03 0.00 0.000 516 0.000 0.034 2700 977 3793 3872 3715 0 0 0 0 0 0 28.83 26.39 28.83
719 -0.67 -194.6 2700 976 3873 3715 213.5 -20.9 46 726 0.00 1.98 0.00 0.000 1030 0.000 0.028 2691 2373 3794 3873 3715 0 0 0 0 0 0 28.83 26.44 28.83
1039 -0.67 -194.6 2691 2373 3875 3715 278.7 -20.6 62 1045 0.00 2.03 0.00 0.000 516 0.000 0.034 2691 967 3795 3875 3715 0 0 0 0 0 0 28.83 26.48 28.83
1143 -0.67 -194.6 2691 967 3876 3715 298.5 -18.8 67 1150 0.10 2.00 0.00 0.000 3078 0.185 0.029 2709 2373 3795 3875 3715 0 0 0 0 0 0 26.41 26.52 28.83
1469 -0.67 -194.6 2709 2373 3875 3715 349.4 -15.6 83 1475 0.00 2.00 0.00 0.000 516 0.000 0.034 2710 977 3795 3875 3715 0 0 0 0 0 0 28.83 26.53 28.83
1535 -0.67 -194.6 2710 977 3875 3715 359.1 -14.6 86 1541 0.00 2.00 0.00 0.000 1030 0.000 0.028 2708 2385 3795 3875 3715 0 0 0 0 0 0 28.83 26.57 28.83
1859 -0.67 -194.6 2708 2386 3875 3713 400.0 -11.7 102 1860 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2386 3794 3875 3713 0 0 0 0 0 0 28.83 28.83 28.83
2159 -0.67 -194.6 2707 2386 3875 3709 436.9 -12.3 117 2165 0.00 2.03 0.00 0.000 516 0.000 0.033 2708 975 3792 3875 3709 0 0 0 0 0 0 28.83 26.58 28.83
2212 -0.67 -194.6 2708 975 3875 3708 442.0 -12.1 119 2218 0.00 1.98 0.00 0.000 1030 0.000 0.029 2705 2377 3791 3875 3707 0 0 0 0 0 0 28.83 26.60 28.83
2527 -0.67 -194.6 2705 2378 3875 3702 477.7 -10.5 135 2533 0.00 2.03 0.00 0.000 516 0.000 0.034 2705 968 3788 3875 3702 0 0 0 0 0 0 28.83 26.59 28.83
2600 -0.67 -194.6 2705 968 3875 3701 484.0 -10.0 138 2607 0.00 2.00 0.00 0.000 1030 0.000 0.029 2704 2380 3787 3875 3700 0 0 0 0 0 0 28.83 26.62 28.83
2915 -0.67 -194.6 2703 2380 3875 3697 520.1 -11.8 154 2916 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2380 3785 3875 3696 0 0 0 0 0 0 28.83 28.83 28.83
3215 -0.67 -194.6 2703 2380 3875 3690 555.3 -11.9 169 3221 0.00 2.03 0.00 0.000 516 0.000 0.033 2703 970 3782 3875 3690 0 0 0 0 0 0 28.83 26.61 28.83
3253 -0.67 -194.6 2703 970 3874 3690 558.2 -12.0 170 3261 0.00 2.00 0.00 0.000 1030 0.000 0.029 2700 2378 3782 3874 3690 0 0 0 0 0 0 28.83 26.63 28.83
3559 -0.67 -194.6 2700 2379 3871 3686 597.3 -12.4 186 3560 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2379 3778 3871 3686 0 0 0 0 0 0 28.83 28.83 28.83
3870 -0.67 -194.6 2700 2379 3868 3682 637.1 -13.0 197 3875 0.00 2.03 0.00 0.000 516 0.000 0.034 2701 971 3775 3868 3682 0 0 0 0 0 0 28.83 26.61 28.83
3913 -0.67 -194.6 2700 971 3866 3682 641.4 -12.9 198 3918 0.00 2.00 0.00 0.000 1030 0.000 0.031 2696 2376 3774 3866 3682 0 0 0 0 0 0 28.83 26.63 28.83
4236 -0.67 -194.6 2696 2376 3864 3679 684.1 -13.0 209 4243 0.00 2.03 0.00 0.000 516 0.000 0.034 2697 970 3771 3864 3679 0 0 0 0 0 0 28.83 26.61 28.83
4265 -0.67 -194.6 2696 970 3863 3679 684.1 -13.0 209 4273 0.00 2.00 0.00 0.000 1030 0.000 0.031 2692 2374 3771 3863 3679 0 0 0 0 0 0 28.83 26.63 28.83
4573 -0.67 -194.6 2692 2374 3861 3675 729.6 -13.8 220 4579 0.00 1.98 0.00 0.000 260 0.000 0.047 2692 3710 3768 3861 3675 0 0 0 0 0 0 28.83 26.60 28.83
4596 -0.67 -194.6 2691 3715 3861 3675 729.6 -13.8 220 4602 0.00 1.90 0.00 0.000 1030 0.000 0.024 2692 2312 3768 3861 3675 0 0 0 0 0 0 28.83 26.68 28.83
4912 -0.67 -194.6 2692 2312 3858 3673 771.1 -11.4 231 4913 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2312 3765 3858 3673 0 0 0 0 0 0 28.83 28.83 28.83
5210 -0.67 -194.6 2691 2310 3860 3670 802.5 -10.1 241 5211 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2312 3763 3856 3670 0 0 0 0 0 0 28.83 28.83 28.83
5510 -0.67 -194.6 2692 2312 3854 3669 831.3 -9.5 251 5511 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2312 3761 3853 3669 0 0 0 0 0 0 28.83 28.83 28.83
5810 -0.67 -194.6 2692 2312 3853 3667 861.1 -10.0 261 5816 0.00 2.08 0.00 0.000 260 0.000 0.047 2692 3706 3760 3853 3667 0 0 0 0 0 0 28.83 26.60 28.83
5846 -0.67 -194.6 2691 3706 3852 3666 864.7 -10.0 262 5853 0.00 1.90 0.00 0.000 1030 0.000 0.024 2692 2322 3760 3853 3667 0 0 0 0 0 0 28.83 26.68 28.83
6181 -0.67 -194.6 2691 2322 3849 3665 900.1 -10.9 273 6182 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2321 3757 3849 3665 0 0 0 0 0 0 28.83 28.83 28.83
6481 -0.67 -194.6 2691 2322 3847 3662 935.3 -12.1 283 6482 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2322 3754 3847 3662 0 0 0 0 0 0 28.83 28.83 28.83
6781 -0.67 -194.6 2692 2322 3846 3661 974.1 -13.2 293 6788 0.00 2.08 0.00 0.000 260 0.000 0.048 2692 3706 3754 3842 3667 0 0 0 0 0 0 28.83 26.60 28.83
6825 -0.67 -194.6 2692 3706 3846 3661 978.8 -13.4 294 6831 0.00 1.90 0.00 0.000 1030 0.000 0.024 2692 2322 3753 3846 3661 0 0 0 0 0 0 28.83 26.68 28.83
6909 end dive: TARGET_DEPTH_EXCEEDED
state 6909 begin apogee
6913 -0.20 0.0 2692 2210 3846 3661 991.3 -13.3 297 7088 0.47 0.00 168.90 1.022 10246 0.126 0.000 2849 2210 2990 3109 2872 0 0 0 0 0 0 26.53 28.83 24.16
7090 end apogee: CONTROL_FINISHED_OK
state 7090 begin climb
7091 0.67 194.6 2849 2209 3109 2866 1002.8 0.0 302 7273 0.82 2.15 172.55 1.011 10756 0.090 0.045 3135 871 2195 2329 2062 0 0 0 0 0 0 24.87 24.63 24.01
7298 0.95 337.5 3135 871 2325 2057 999.0 5.4 310 7433 0.28 2.08 123.75 0.988 11270 0.070 0.030 3230 2234 1612 1727 1497 0 0 0 0 0 0 25.03 25.05 23.97
7757 0.95 337.5 3230 2234 1720 1482 912.6 20.6 325 7763 0.00 2.12 0.00 0.000 516 0.000 0.052 3233 873 1601 1720 1482 0 0 0 0 0 0 28.83 25.80 28.83
7780 0.95 337.5 3233 872 1721 1482 912.6 20.6 325 7786 0.00 2.03 0.00 0.000 1030 0.000 0.030 3233 2250 1601 1721 1482 0 0 0 0 0 0 28.83 25.86 28.83
8096 0.95 337.5 3233 2250 1720 1480 843.9 20.1 336 8097 0.00 0.00 0.00 0.000 6 0.000 0.000 3233 2250 1600 1720 1481 0 0 0 0 0 0 28.83 28.83 28.83
8394 0.95 337.5 3233 2250 1719 1479 784.6 19.6 346 8400 0.00 2.10 0.00 0.000 516 0.000 0.049 3242 870 1599 1719 1479 0 0 0 0 0 0 28.83 26.20 28.83
8438 0.95 337.5 3241 874 1718 1479 777.8 19.7 347 8445 0.08 1.98 0.00 0.000 5126 0.206 0.029 3229 2243 1599 1719 1479 0 0 0 0 0 0 26.14 26.27 28.83
8763 0.95 337.5 3229 2244 1718 1478 711.8 19.9 358 8764 0.00 0.00 0.00 0.000 6 0.000 0.000 3229 2244 1598 1718 1479 0 0 0 0 0 0 28.83 28.83 28.83
9063 0.95 337.5 3229 2242 1718 1478 650.2 20.8 368 9064 0.00 0.00 0.00 0.000 6 0.000 0.000 3229 2244 1598 1718 1478 0 0 0 0 0 0 28.83 28.83 28.83
9373 0.95 337.5 3229 2244 1717 1478 587.1 20.6 379 9379 0.00 2.08 0.00 0.000 516 0.000 0.047 3237 863 1597 1717 1477 0 0 0 0 0 0 28.83 26.39 28.83
9398 0.95 337.5 3237 863 1717 1478 582.4 20.4 380 9404 0.00 1.98 0.00 0.000 1030 0.000 0.028 3237 2242 1597 1717 1478 0 0 0 0 0 0 28.83 26.45 28.83
9722 0.95 337.5 3237 2243 1717 1481 514.6 20.9 396 9724 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 2243 1597 1717 1477 0 0 0 0 0 0 28.83 28.83 28.83
10022 0.95 337.5 3237 2243 1717 1477 456.9 18.4 411 10023 0.00 0.00 0.00 0.000 6 0.000 0.000 3237 2243 1599 1717 1482 0 0 0 0 0 0 28.83 28.83 28.83
10321 0.95 337.5 3237 2243 1716 1476 401.6 19.0 426 10327 0.00 2.05 0.00 0.000 516 0.000 0.044 3246 870 1596 1716 1476 0 0 0 0 0 0 28.83 26.47 28.83
10390 0.95 337.5 3246 870 1716 1477 389.2 19.2 429 10397 0.10 1.95 0.00 0.000 5126 0.194 0.027 3226 2250 1596 1716 1476 0 0 0 0 0 0 26.38 26.53 28.83
10711 0.95 337.5 3225 2251 1716 1475 335.2 16.3 445 10717 0.00 2.05 0.00 0.000 516 0.000 0.044 3234 870 1595 1715 1475 0 0 0 0 0 0 28.83 26.50 28.83
10743 0.95 337.5 3233 868 1715 1475 331.0 16.9 446 10750 0.00 1.92 0.00 0.000 1030 0.000 0.027 3233 2237 1595 1715 1475 0 0 0 0 0 0 28.83 26.55 28.83
11059 0.95 337.5 3233 2237 1715 1474 277.5 16.5 462 11060 0.00 0.00 0.00 0.000 6 0.000 0.000 3234 2237 1594 1715 1474 0 0 0 0 0 0 28.83 28.83 28.83
11358 0.95 337.5 3233 2237 1715 1474 227.7 17.1 477 11365 0.00 2.05 0.00 0.000 516 0.000 0.042 3242 864 1594 1715 1474 0 0 0 0 0 0 28.83 26.53 28.83
11404 0.95 337.5 3242 864 1715 1473 220.1 17.1 479 11411 0.08 1.95 0.00 0.000 5126 0.194 0.026 3228 2249 1594 1715 1473 0 0 0 0 0 0 26.45 26.58 28.83
11729 0.95 337.5 3228 2249 1715 1475 172.5 11.3 495 11730 0.00 0.00 0.00 0.000 6 0.000 0.000 3228 2248 1594 1715 1473 0 0 0 0 0 0 28.83 28.83 28.83
12030 0.95 337.5 3228 2249 1715 1473 137.7 12.0 510 12031 0.00 0.00 0.00 0.000 6 0.000 0.000 3228 2249 1594 1715 1473 0 0 0 0 0 0 28.83 28.83 28.83
12330 1.06 392.1 3228 2249 1713 1474 106.6 8.6 525 12378 0.12 2.15 39.22 0.415 10756 0.086 0.044 3304 858 1388 1502 1275 0 0 0 0 0 0 26.64 26.23 25.91
12467 1.06 392.1 3304 858 1501 1272 89.0 13.7 531 12474 0.17 1.98 0.00 0.000 5126 0.157 0.026 3258 2246 1383 1496 1271 0 0 0 0 0 0 26.20 26.33 28.83
12788 1.06 392.1 3258 2242 1500 1270 51.7 11.7 547 12794 0.00 2.05 0.00 0.000 260 0.000 0.041 3258 3632 1384 1499 1270 0 0 0 0 0 0 28.83 26.41 28.83
12812 1.06 392.1 3258 3632 1499 1270 48.5 11.8 548 12819 0.00 1.98 0.00 0.000 1030 0.000 0.024 3258 2250 1384 1499 1270 0 0 0 0 0 0 28.83 26.44 28.83
13124 1.06 393.1 2208 2247 1455 1268 13.0 10.6 588 13131 0.00 0.00 0.00 0.000 6 0.000 0.000 3258 2250 1384 1499 1270 0 0 0 0 0 0 28.83 28.83 28.83
13224 end climb: SURFACE_DEPTH_REACHED
state 13224 begin surface coast
13256 end surface coast: CONTROL_FINISHED_OK
state 13256 begin surface