OKMC Feb13 * SG171 * Dive index * Mission links * Dive 82 * 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  82 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  53 ALTIM_SENSITIVITY  2
D_ABORT  1010 SM_CC  400 R_STBD_OVSHOOT  30 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  -20603.172 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  090313,031305,2344.219,12338.860,37,1.0,42,-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  1.52 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -69.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  090313,032407,2344.067,12339.048,11,1.2,11,-3.4 MHEAD_RNG_PITCHd_Wd  47.0,29172,-14.4,-8.952,-18.51,2890
SPEED_LIMITS  0.155,0.267 D_GRID  3171

Post-dive calculations and measurements:
FINISH  0.6,0.998995 _10V_AH  10.2,9.527
SM_CCo  13184,83.75,0.057,0,0,748,400.08 FG_AHR_24Vo  0.000
SM_GC  1.59,7.82,0.77,83.75,0.035,0.050,0.057,124,2499,748,-8.31,-0.96,400.08,0,0,0,0,0,0,26.68,26.65,26.54 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2333.28,12334.88,080313,232347 MEM  329700
TT8_MAMPS  0.049434,0.049434 DATA_FILE_SIZE  23373,626
HUMID  40.66 CAP_FILE_SIZE  337599,0
INTERNAL_PRESSURE  9.65227 CFSIZE  260034560,244756480
TCM_TEMP  24.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.202,103.3,1
SC_FREEKB  3994336 GPS  090313,070700,2345.068,12342.164,39,1.4,39,-3.4
_24V_AH  24.3,14.087

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19221105.66 nil000.00
Roll_motor10375190.66 nil000.00
VBD_pump_during_apogee49487110464.44 nil000.00
VBD_pump_during_surface8357116.77 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1317341303.46
Iridium_during_xfer5281451864.99 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS12273.41
TT8269835988.99
LPSleep81202181.41
TT8_Active67535247.70
TT8_Sampling2168581291.75
TT8_CF825865173.52
TT8_Kalman000.00
Analog_circuits211515323.69
GPS_charging000.00
Compass1571595.99
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 -1.04 -170.3 127 2494 831 664 0.0 0.0 0 81 0.00 0.00 -61.00 0.000 16386 0.000 0.000 127 2494 2462 2549 2376 0 0 0 0 0 0 28.83 28.83 28.83
84 -1.04 -170.3 127 2494 2553 2377 3.4 -4.8 8 109 9.10 1.95 -11.70 0.000 18692 0.222 0.076 2468 3671 3078 3166 2990 0 0 0 0 0 0 25.93 26.13 26.45
314 -1.04 -170.3 2468 3671 3168 2990 72.7 -28.6 30 320 0.00 1.70 0.00 0.000 1030 0.000 0.026 2469 2496 3079 3168 2990 0 0 0 0 0 0 28.83 26.41 28.83
628 -1.04 -170.3 2468 2495 3169 2990 158.9 -24.9 46 634 0.00 2.08 0.00 0.000 516 0.000 0.037 2468 1110 3080 3170 2990 0 0 0 0 0 0 28.83 26.51 28.83
660 -1.04 -170.3 2468 1111 3170 2990 164.6 -24.4 47 667 0.00 2.12 0.00 0.000 1030 0.000 0.045 2458 2497 3080 3170 2990 0 0 0 0 0 0 28.83 26.50 28.83
975 -1.04 -170.3 2458 2498 3173 2990 243.6 -24.7 63 977 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2498 3081 3173 2990 0 0 0 0 0 0 28.83 28.83 28.83
1275 -1.04 -170.3 2457 2498 3174 2990 315.2 -23.1 78 1281 0.00 1.83 0.00 0.000 260 0.000 0.060 2448 3671 3082 3174 2990 0 0 0 0 0 0 28.83 26.63 28.83
1344 -1.04 -170.3 2448 3671 3174 2990 329.9 -22.6 81 1350 0.12 1.67 0.00 0.000 3078 0.148 0.026 2483 2496 3082 3174 2990 0 0 0 0 0 0 26.56 26.71 28.83
1664 -1.04 -170.3 2482 2495 3174 2990 386.9 -16.9 97 1670 0.00 2.05 0.00 0.000 516 0.000 0.037 2483 1114 3082 3174 2990 0 0 0 0 0 0 28.83 26.70 28.83
1729 -1.04 -170.3 2483 1114 3174 2990 398.4 -17.4 100 1735 0.00 2.12 0.00 0.000 1030 0.000 0.046 2473 2504 3082 3174 2990 0 0 0 0 0 0 28.83 26.68 28.83
2054 -1.04 -170.3 2473 2504 3174 2990 457.4 -17.0 116 2060 0.00 1.83 0.00 0.000 260 0.000 0.058 2464 3681 3082 3174 2990 0 0 0 0 0 0 28.83 26.70 28.83
2107 -1.04 -170.3 2464 3681 3174 2990 465.1 -16.8 118 2113 0.00 1.70 0.00 0.000 1030 0.000 0.025 2464 2491 3081 3172 2990 0 0 0 0 0 0 28.83 26.77 28.83
2421 -1.04 -170.3 2464 2490 3174 2990 520.1 -16.7 134 2427 0.00 1.85 0.00 0.000 260 0.000 0.056 2455 3681 3082 3174 2990 0 0 0 0 0 0 28.83 26.72 28.83
2475 -1.04 -170.3 2455 3681 3174 2990 527.6 -16.8 136 2481 0.00 1.70 0.00 0.000 1030 0.000 0.026 2455 2486 3082 3174 2990 0 0 0 0 0 0 28.83 26.80 28.83
2789 -1.04 -170.3 2455 2485 3174 2989 583.2 -16.8 152 2795 0.00 2.03 0.00 0.000 516 0.000 0.036 2455 1117 3080 3173 2988 0 0 0 0 0 0 28.83 26.76 28.83
2813 -1.04 -170.3 2454 1117 3174 2988 587.4 -16.9 153 2821 0.12 2.12 0.00 0.000 3078 0.154 0.047 2478 2508 3081 3174 2988 0 0 0 0 0 0 26.65 26.74 28.83
3139 -1.04 -170.3 2479 2508 3174 2984 635.9 -14.5 165 3144 0.00 2.08 0.00 0.000 516 0.000 0.037 2479 1116 3079 3174 2984 0 0 0 0 0 0 28.83 26.77 28.83
3203 -1.04 -170.3 2478 1117 3174 2983 645.2 -14.3 167 3208 0.00 2.15 0.00 0.000 1030 0.000 0.048 2469 2509 3078 3174 2983 0 0 0 0 0 0 28.83 26.74 28.83
3536 -1.04 -170.3 2469 2509 3173 2979 692.3 -13.7 178 3542 0.00 1.80 0.00 0.000 260 0.000 0.059 2460 3671 3076 3173 2979 0 0 0 0 0 0 28.83 26.74 28.83
3661 -1.04 -170.3 2460 3671 3173 2977 710.5 -14.6 182 3667 0.00 1.67 0.00 0.000 1030 0.000 0.027 2460 2505 3075 3174 2977 0 0 0 0 0 0 28.83 26.82 28.83
3995 -1.04 -170.3 2460 2503 3173 2972 758.9 -14.0 193 4001 0.00 2.08 0.00 0.000 516 0.000 0.034 2460 1098 3072 3173 2972 0 0 0 0 0 0 28.83 26.79 28.83
4078 -1.04 -170.3 2460 1098 3173 2971 768.3 -14.2 195 4085 0.12 2.15 0.00 0.000 3078 0.153 0.045 2484 2504 3072 3173 2971 0 0 0 0 0 0 26.67 26.76 28.83
4394 -1.04 -170.3 2484 2504 3173 2967 809.6 -12.2 206 4395 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2504 3070 3173 2967 0 0 0 0 0 0 28.83 28.83 28.83
4694 -1.04 -170.3 2484 2504 3169 2964 846.0 -11.9 216 4695 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2504 3066 3169 2964 0 0 0 0 0 0 28.83 28.83 28.83
4993 -1.04 -170.3 2484 2504 3168 2962 883.0 -12.9 226 4999 0.00 2.08 0.00 0.000 516 0.000 0.031 2484 1104 3065 3168 2962 0 0 0 0 0 0 28.83 26.81 28.83
5020 -1.04 -170.3 2484 1104 3167 2962 883.0 -12.9 226 5029 0.00 2.15 0.00 0.000 1030 0.000 0.044 2475 2501 3064 3167 2962 0 0 0 0 0 0 28.83 26.76 28.83
5327 -1.04 -170.3 2475 2504 3165 2959 926.0 -12.4 237 5329 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2501 3061 3163 2959 0 0 0 0 0 0 28.83 28.83 28.83
5445 end dive: TARGET_DEPTH_EXCEEDED
state 5445 begin apogee
5451 -0.19 0.0 2475 1987 3165 2957 940.4 -12.1 241 5724 0.82 0.00 265.00 0.740 10246 0.109 0.000 2758 1986 2375 2548 2203 0 0 0 0 0 0 26.67 28.83 24.51
5726 end apogee: CONTROL_FINISHED_OK
state 5726 begin climb
5728 1.04 170.3 2758 1985 2547 2191 950.1 0.0 249 5919 1.08 0.00 182.73 0.871 10758 0.050 0.000 3158 1985 1677 1774 1581 0 0 0 0 0 0 25.27 28.83 24.29
6237 1.04 170.3 3158 1985 1736 1563 877.1 17.3 266 6238 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 1985 1649 1735 1563 0 0 0 0 0 0 28.83 28.83 28.83
6537 1.04 170.3 3160 1985 1734 1561 825.7 17.0 276 6538 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 1985 1647 1733 1561 0 0 0 0 0 0 28.83 28.83 28.83
6837 1.04 170.3 3157 1985 1733 1559 775.9 16.4 286 6843 0.00 2.28 0.00 0.000 260 0.000 0.050 3158 3424 1646 1733 1559 0 0 0 0 0 0 28.83 26.48 28.83
6890 1.04 170.3 3158 3425 1732 1559 769.9 16.7 287 6896 0.00 2.10 0.00 0.000 1030 0.000 0.028 3169 2011 1645 1732 1559 0 0 0 0 0 0 28.83 26.54 28.83
7205 1.04 170.3 3169 2010 1730 1558 716.0 15.8 298 7210 0.00 2.12 0.00 0.000 516 0.000 0.038 3180 604 1644 1731 1557 0 0 0 0 0 0 28.83 26.57 28.83
7272 1.04 170.3 3180 604 1730 1557 705.7 15.5 300 7279 0.00 2.12 0.00 0.000 1030 0.000 0.034 3180 2017 1643 1730 1556 0 0 0 0 0 0 28.83 26.60 28.83
7602 1.04 170.3 3180 2017 1728 1556 650.7 16.7 311 7608 0.00 2.15 0.00 0.000 260 0.000 0.050 3180 3403 1642 1728 1556 0 0 0 0 0 0 28.83 26.61 28.83
7646 1.04 170.3 3180 3403 1728 1556 644.7 17.2 312 7653 0.12 2.08 0.00 0.000 5126 0.169 0.031 3159 1995 1641 1728 1555 0 0 0 0 0 0 26.49 26.67 28.83
7971 1.04 170.3 3159 1995 1727 1554 591.0 14.6 324 7977 0.00 2.10 0.00 0.000 516 0.000 0.041 3168 609 1640 1727 1554 0 0 0 0 0 0 28.83 26.66 28.83
8079 1.04 170.3 2216 609 1692 1549 576.5 13.9 329 8085 0.00 2.08 0.00 0.000 1030 0.000 0.034 3169 1999 1640 1727 1554 0 0 0 0 0 0 28.83 26.67 28.83
8399 1.04 170.3 3168 1999 1726 1554 530.0 15.4 345 8405 0.00 2.17 0.00 0.000 260 0.000 0.050 3169 3402 1640 1726 1554 0 0 0 0 0 0 28.83 26.67 28.83
8561 1.04 170.3 3169 3402 1725 1554 507.0 15.1 352 8569 0.00 2.08 0.00 0.000 1030 0.000 0.030 3181 1995 1639 1725 1554 0 0 0 0 0 0 28.83 26.73 28.83
8867 1.04 170.3 3180 1994 1725 1553 460.1 15.2 368 8874 0.00 2.20 0.00 0.000 260 0.000 0.050 3181 3407 1638 1725 1552 0 0 0 0 0 0 28.83 26.69 28.83
8913 1.04 170.3 3180 3406 1725 1552 452.9 15.6 370 8920 0.12 2.10 0.00 0.000 5126 0.166 0.031 3160 1992 1638 1725 1552 0 0 0 0 0 0 26.57 26.74 28.83
9239 1.04 170.3 3159 1992 1725 1552 408.5 13.4 386 9245 0.00 2.20 0.00 0.000 260 0.000 0.049 3159 3405 1638 1725 1551 0 0 0 0 0 0 28.83 26.70 28.83
9272 1.04 170.3 3159 3405 1725 1551 404.9 14.0 387 9278 0.00 2.08 0.00 0.000 1030 0.000 0.031 3170 2000 1638 1725 1551 0 0 0 0 0 0 28.83 26.74 28.83
9586 1.04 170.3 3169 2000 1725 1551 362.6 13.3 403 9592 0.00 2.10 0.00 0.000 516 0.000 0.041 3180 605 1638 1725 1551 0 0 0 0 0 0 28.83 26.72 28.83
9734 1.04 170.3 3180 605 1725 1551 344.6 12.6 410 9740 0.00 2.08 0.00 0.000 1030 0.000 0.034 3181 2004 1638 1725 1551 0 0 0 0 0 0 28.83 26.74 28.83
10054 1.04 170.3 3180 2003 1725 1551 304.4 13.0 426 10060 0.00 2.12 0.00 0.000 516 0.000 0.039 3192 606 1638 1725 1551 0 0 0 0 0 0 28.83 26.73 28.83
10072 1.04 170.3 3192 606 1724 1551 304.4 13.0 426 10081 0.15 2.08 0.00 0.000 5126 0.152 0.034 3150 2002 1638 1725 1551 0 0 0 0 0 0 26.61 26.74 28.83
10379 1.04 170.3 3149 2002 1725 1551 269.0 10.7 442 10380 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2002 1638 1725 1551 0 0 0 0 0 0 28.83 28.83 28.83
10678 1.04 170.3 3149 2005 1725 1551 237.7 10.8 457 10684 0.00 2.10 0.00 0.000 516 0.000 0.039 3160 606 1638 1725 1551 0 0 0 0 0 0 28.83 26.74 28.83
10716 1.04 170.3 3160 606 1725 1551 235.2 10.8 458 10724 0.00 2.08 0.00 0.000 1030 0.000 0.033 3160 2003 1637 1724 1551 0 0 0 0 0 0 28.83 26.75 28.83
11022 1.04 170.3 3160 2003 1725 1551 202.0 10.8 474 11023 0.00 0.00 0.00 0.000 6 0.000 0.000 3161 2004 1638 1725 1551 0 0 0 0 0 0 28.83 28.83 28.83
11323 1.12 195.1 3160 2004 1725 1551 173.3 8.1 489 11351 0.00 2.17 22.95 0.432 8452 0.000 0.047 3161 3403 1578 1673 1483 0 0 0 0 0 0 28.83 26.52 26.02
11525 1.12 195.1 3160 3403 1655 1472 153.3 11.1 498 11531 0.00 2.08 0.00 0.000 1030 0.000 0.029 3172 1995 1563 1655 1472 0 0 0 0 0 0 28.83 26.63 28.83
11839 1.12 196.9 3171 1995 1655 1472 122.9 8.9 514 11846 0.00 2.10 0.00 0.000 516 0.000 0.041 3183 606 1563 1655 1472 0 0 0 0 0 0 28.83 26.65 28.83
12076 1.12 196.9 3182 606 1655 1472 101.2 9.9 525 12082 0.00 2.08 0.00 0.000 1030 0.000 0.033 3183 2008 1563 1655 1472 0 0 0 0 0 0 28.83 26.69 28.83
12390 1.13 197.8 3182 2008 1655 1472 72.5 8.9 541 12396 0.00 2.12 0.00 0.000 516 0.000 0.040 3194 605 1564 1656 1472 0 0 0 0 0 0 28.83 26.70 28.83
12628 1.18 215.2 3194 606 1655 1471 53.6 8.3 552 12657 0.00 2.05 23.55 0.360 9222 0.000 0.033 3194 2001 1502 1604 1401 0 0 0 0 0 0 28.83 26.73 26.10
12961 1.18 215.2 2144 1999 1546 1378 20.4 9.6 588 12969 0.00 2.12 0.00 0.000 516 0.000 0.041 3205 597 1481 1581 1382 0 0 0 0 0 0 28.83 26.63 28.83
13038 1.20 221.2 3205 596 1581 1382 13.0 8.7 602 13046 0.00 2.08 0.00 0.000 1030 0.000 0.034 3205 1998 1481 1581 1382 0 0 0 0 0 0 28.83 26.65 28.83
13139 end climb: SURFACE_DEPTH_REACHED
state 13139 begin surface coast
13168 end surface coast: CONTROL_FINISHED_OK
state 13168 begin surface