OKMC 16May13 * SG181 * Dive index * Mission links * Dive 107 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  181 HD_C  1.5e-05 ROLL_MAX  3785 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  11 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
DIVE  107 ESCAPE_HEADING  0 C_ROLL_DIVE  2450 ALTIM_TOP_MIN_OBSTACLE  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2350 ALTIM_PING_DEPTH  0
D_SURF  3 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  0
D_FLARE  3 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1020 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  54 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  31 XPDR_VALID  2
D_BOOST  150 N_FILEKB  8 ROLL_AD_RATE  350 XPDR_INHIBIT  90
T_BOOST  5 FILEMGR  0 ROLL_MAXERRORS  2 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  0 PROTOCOL  9 VBD_MIN  440 DEEPGLIDERMB  0
D_CALL  0 N_NOCOMM  1 VBD_MAX  3960 MOTHERBOARD  4
SURFACE_URGENCY  0 NOCOMM_ACTION  163 C_VBD  2753 DEVICE1  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE3  -1
T_DIVE  330 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_MISSION  360 CALL_WAIT  60 PITCH_VBD_SHIFT  0.001 DEVICE5  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERS  1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_NO_W  120 T_GPS  15 UNCOM_BLEED  50 LOGGERDEVICE2  -1
T_LOITER  0 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
USE_BATHY  -8 T_GPS_CHARGE  -95817.922 DBDW  0 COMPASS_DEVICE  97
USE_ICE  0 T_RSLEEP  3 PITCH_W_GAIN  0 COMPASS2_DEVICE  149
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  49
D_OFFGRID  1000 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 AH0_24V  350 RAFOS_DEVICE  -1
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 AH0_10V  0 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  250 MINV_24V  12 SIM_W  0
MAX_BUOY  200 PITCH_MAX  3941 MINV_10V  12 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2700 FG_AHR_10V  0 SEABIRD_T_G  0.004364301
GLIDE_SLOPE  30 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00062910328
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PHONE_SUPPLY  2 SEABIRD_T_I  2.4425184e-05
RHO  1.0275 P_OVSHOOT  0.039999999 PRESSURE_YINT  -160.75446 SEABIRD_T_J  2.6404416e-06
MASS  52184 PITCH_GAIN  20 PRESSURE_SLOPE  0.000109412 SEABIRD_C_G  -9.9046793
MASS_COMP  0 PITCH_TIMEOUT  17 AD7714Ch0Gain  1 SEABIRD_C_H  1.1251128
NAV_MODE  2 PITCH_AD_RATE  165 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0019873739
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00023203803
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.0033 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.0082 ROLL_MIN  209 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0

Pre-dive calculations and measurements:
GPS1  270513,183953,2309.117,12133.837,25,0.9,43,-3.0 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  -0.23 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  270513,184807,2309.502,12133.984,14,1.4,14,-3.0 MHEAD_RNG_PITCHd_Wd  95.6,250387,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  1323

Post-dive calculations and measurements:
FINISH  0.3,1.021414 _10V_AH  13.1,0.000
SM_CCo  12187,53.15,0.153,0,0,917,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.36,7.75,0.20,53.15,0.069,0.103,0.153,233,2469,917,-7.61,-0.85,450.13,0,0,0,0,0,0,14.81,14.81,14.66 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2307.44,12136.45,270513,151556 MEM  323168
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  20126,586
HUMID  47.83 CAP_FILE_SIZE  135919,0
INTERNAL_PRESSURE  9.63904 CFSIZE  260034560,247508992
TCM_TEMP  24.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS  8 CURRENT  0.210, 15.5,1
SC_FREEKB  3896960 GPS  270513,221400,2310.751,12136.516,39,1.6,40,-3.0
_24V_AH  13.1,46.215

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20411111.34 nil000.00
Roll_motor94131162.42 nil000.00
VBD_pump_during_apogee436252014403.69 nil000.00
VBD_pump_during_surface53153106.53 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2911243.97 nil000.00
Iridium_during_connect4216089.98 SciCon122315842.15
Iridium_during_xfer229223671.31 nil000.00
Transponder_ping242011.00 nil000.00
GUMSTIX_24V000.00
GPS17204.90
TT8184910265.49
LPSleep83612239.88
TT8_Active5791083.26
TT8_Sampling179428680.28
TT8_CF81613575.61
TT8_Kalman000.00
Analog_circuits137716288.63
GPS_charging000.00
Compass13676120.74
RAFOS000.00
Transponder050.04

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 -0.91 -194.6 227 2455 912 919 0.0 0.0 0 102 0.00 0.00 -81.60 0.000 16386 0.000 0.000 226 2456 2975 3021 2930 0 0 0 0 0 0 28.83 28.83 28.83
105 -0.91 -194.6 226 2455 3021 2931 3.1 -10.9 14 131 10.23 0.00 -10.05 0.000 18694 0.412 0.000 2398 2456 3550 3644 3456 0 0 0 0 0 0 14.39 28.83 14.88
438 -0.91 -194.6 2398 2455 3644 3462 99.1 -18.8 40 444 0.00 2.20 0.00 0.000 260 0.000 0.080 2390 3786 3552 3643 3462 0 0 0 0 0 0 28.83 14.71 28.83
575 -0.91 -194.6 2390 3786 3644 3463 128.2 -24.7 46 581 0.00 2.08 0.00 0.000 1030 0.000 0.037 2390 2426 3553 3644 3463 0 0 0 0 0 0 28.83 14.83 28.83
881 -0.91 -194.6 2390 2421 3645 3464 190.8 -17.4 62 886 0.00 2.25 0.00 0.000 260 0.000 0.080 2380 3786 3554 3645 3464 0 0 0 0 0 0 28.83 14.81 28.83
977 -0.91 -194.6 2380 3787 3642 3464 206.3 -18.9 66 984 0.00 2.03 0.00 0.000 1030 0.000 0.036 2380 2445 3554 3644 3464 0 0 0 0 0 0 28.83 14.90 28.83
1283 -0.91 -194.6 2377 2442 3644 3464 271.8 -20.2 82 1284 0.00 0.00 0.00 0.000 6 0.000 0.000 2380 2442 3554 3644 3464 0 0 0 0 0 0 28.83 28.83 28.83
1584 -0.91 -194.6 2379 2441 3645 3463 327.4 -17.0 97 1590 0.00 2.20 0.00 0.000 260 0.000 0.083 2370 3775 3554 3645 3463 0 0 0 0 0 0 28.83 14.86 28.83
1611 -0.91 -194.6 2370 3777 3644 3463 331.5 -16.7 98 1617 0.15 2.00 0.00 0.000 3078 0.265 0.038 2404 2445 3553 3644 3463 0 0 0 0 0 0 14.73 14.96 28.83
1929 -0.91 -194.6 2404 2444 3644 3461 382.5 -15.6 114 1935 0.00 2.15 0.00 0.000 516 0.000 0.047 2404 1068 3552 3645 3460 0 0 0 0 0 0 28.83 14.92 28.83
2032 -0.91 -194.6 2404 1068 3652 3459 398.0 -14.8 119 2039 0.00 2.22 0.00 0.000 1030 0.000 0.060 2397 2449 3551 3644 3459 0 0 0 0 0 0 28.83 14.90 28.83
2355 -0.91 -194.6 2397 2450 3644 3454 446.5 -14.5 135 2361 0.00 2.17 0.00 0.000 260 0.000 0.088 2386 3777 3549 3645 3454 0 0 0 0 0 0 28.83 14.88 28.83
2448 -0.91 -194.6 2387 3777 3645 3453 459.6 -15.7 139 2453 0.00 2.00 0.00 0.000 1030 0.000 0.042 2387 2464 3548 3644 3453 0 0 0 0 0 0 28.83 14.97 28.83
2760 -0.91 -194.6 2387 2459 3644 3450 507.8 -15.4 155 2765 0.00 2.20 0.00 0.000 516 0.000 0.050 2387 1061 3547 3644 3450 0 0 0 0 0 0 28.83 14.92 28.83
2857 -0.91 -194.6 2387 1061 3644 3449 520.1 -14.9 159 2864 0.12 2.25 0.00 0.000 3078 0.264 0.063 2405 2449 3546 3644 3449 0 0 0 0 0 0 14.76 14.90 28.83
3163 -0.91 -194.6 2405 2449 3643 3446 567.5 -15.5 175 3164 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 2449 3543 3641 3446 0 0 0 0 0 0 28.83 28.83 28.83
3483 -0.91 -194.6 2405 2449 3639 3442 620.0 -16.6 189 3485 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 2449 3541 3639 3443 0 0 0 0 0 0 28.83 28.83 28.83
3783 -0.91 -194.6 2403 2449 3634 3441 667.7 -15.9 199 3788 0.00 2.22 0.00 0.000 260 0.000 0.096 2397 3782 3537 3634 3441 0 0 0 0 0 0 28.83 14.87 28.83
3815 -0.91 -194.6 2397 3782 3633 3441 672.9 -15.7 200 3821 0.00 2.08 0.00 0.000 1030 0.000 0.047 2397 2444 3537 3634 3441 0 0 0 0 0 0 28.83 14.97 28.83
4148 -0.91 -194.6 2397 2439 3633 3438 720.0 -14.0 211 4154 0.00 2.20 0.00 0.000 516 0.000 0.054 2397 1054 3535 3633 3438 0 0 0 0 0 0 28.83 14.91 28.83
4170 -0.91 -194.6 2397 1054 3635 3438 720.0 -14.0 211 4175 0.00 2.30 0.00 0.000 1030 0.000 0.068 2388 2454 3535 3633 3438 0 0 0 0 0 0 28.83 14.88 28.83
4483 -0.91 -194.6 2384 2454 3629 3435 763.7 -12.9 222 4488 0.00 2.22 0.00 0.000 260 0.000 0.097 2378 3783 3532 3629 3435 0 0 0 0 0 0 28.83 14.85 28.83
4524 -0.91 -194.6 2378 3783 3628 3435 768.1 -12.9 223 4530 0.00 2.08 0.00 0.000 1030 0.000 0.048 2378 2448 3531 3627 3435 0 0 0 0 0 0 28.83 14.97 28.83
4848 -0.91 -194.6 2377 2443 3627 3433 810.5 -12.9 234 4849 0.00 0.00 0.00 0.000 6 0.000 0.000 2378 2443 3529 3626 3433 0 0 0 0 0 0 28.83 28.83 28.83
5147 -0.91 -194.6 2378 2443 3624 3432 852.8 -14.4 244 5148 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2443 3529 3627 3432 0 0 0 0 0 0 28.83 28.83 28.83
5447 -0.91 -194.6 2378 2443 3623 3429 893.0 -13.2 254 5452 0.00 2.22 0.00 0.000 516 0.000 0.057 2378 1053 3526 3623 3429 0 0 0 0 0 0 28.83 14.89 28.83
5483 -0.91 -194.6 1540 1052 3617 3425 897.5 -13.2 255 5490 0.15 2.33 0.00 0.000 3078 0.278 0.071 2402 2453 3525 3622 3429 0 0 0 0 0 0 14.71 14.87 28.83
5813 -0.91 -194.6 2402 2453 3621 3426 934.6 -10.6 266 5818 0.00 2.25 0.00 0.000 260 0.000 0.100 2394 3785 3523 3621 3426 0 0 0 0 0 0 28.83 14.83 28.83
5834 -0.91 -194.6 2394 3786 3620 3426 934.6 -10.6 266 5840 0.00 2.10 0.00 0.000 1030 0.000 0.050 2395 2443 3523 3620 3426 0 0 0 0 0 0 28.83 14.95 28.83
6147 -0.91 -194.6 2394 2441 3619 3425 970.8 -10.9 277 6148 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2439 3521 3618 3425 0 0 0 0 0 0 28.83 28.83 28.83
6326 end dive: TARGET_DEPTH_EXCEEDED
state 6326 begin apogee
6331 -0.25 0.0 2394 2345 3618 3425 993.0 -12.5 283 6531 0.75 0.00 187.77 1.990 10246 0.222 0.000 2612 2345 2754 2780 2728 0 0 0 0 1 0 14.69 28.83 13.20
6533 end apogee: CONTROL_FINISHED_OK
state 6533 begin climb
6535 0.91 194.6 2613 2345 2780 2727 998.8 0.0 289 6737 1.17 2.45 184.48 2.521 10756 0.121 0.060 2998 978 1962 1984 1940 0 0 0 0 1 0 14.07 13.87 13.05
6763 0.91 194.6 2998 978 1985 1939 967.2 18.6 297 6769 0.00 2.40 0.00 0.000 1030 0.000 0.067 2998 2351 1961 1984 1939 0 0 0 0 0 0 28.83 14.07 28.83
7081 0.91 194.6 2998 2348 1985 1929 894.8 21.8 308 7087 0.00 2.42 0.00 0.000 260 0.000 0.094 2998 3764 1956 1984 1929 0 0 0 0 0 0 28.83 14.54 28.83
7128 0.91 194.6 2995 3764 1985 1929 887.7 21.6 309 7133 0.00 2.25 0.00 0.000 1030 0.000 0.045 3008 2358 1957 1985 1929 0 0 0 0 0 0 28.83 14.62 28.83
7446 0.91 194.6 3009 2355 1985 1927 813.8 22.5 320 7447 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2355 1956 1985 1927 0 0 0 0 0 0 28.83 28.83 28.83
7746 0.91 194.6 3009 2353 1985 1924 747.8 21.1 330 7751 0.00 2.40 0.00 0.000 260 0.000 0.094 3009 3762 1954 1985 1924 0 0 0 0 0 0 28.83 14.76 28.83
7797 0.91 194.6 3009 3762 1985 1925 740.6 21.1 331 7803 0.00 2.22 0.00 0.000 1030 0.000 0.044 3019 2344 1955 1985 1925 0 0 0 0 0 0 28.83 14.83 28.83
8110 0.91 194.6 3020 2341 1985 1922 667.6 21.4 342 8115 0.00 2.40 0.00 0.000 260 0.000 0.093 3020 3756 1953 1985 1922 0 0 0 0 0 0 28.83 14.79 28.83
8126 0.91 194.6 3020 3758 1985 1922 667.6 21.4 342 8132 0.17 2.20 0.00 0.000 5126 0.295 0.043 2991 2349 1954 1985 1923 0 0 0 0 0 0 14.64 14.86 28.83
8445 0.91 194.6 2991 2345 1992 1921 604.1 19.0 353 8446 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2345 1953 1985 1921 0 0 0 0 0 0 28.83 28.83 28.83
8755 0.91 194.6 2991 2345 1985 1920 542.9 21.0 368 8761 0.00 2.40 0.00 0.000 260 0.000 0.095 2991 3755 1952 1985 1920 0 0 0 0 0 0 28.83 14.82 28.83
8787 0.91 194.6 2991 3755 1993 1921 537.8 21.0 369 8793 0.00 2.20 0.00 0.000 1030 0.000 0.044 3000 2351 1952 1985 1920 0 0 0 0 0 0 28.83 14.90 28.83
9101 0.91 194.6 3000 2346 1985 1919 469.7 20.9 385 9102 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2346 1953 1985 1921 0 0 0 0 0 0 28.83 28.83 28.83
9403 0.91 194.6 3000 2345 1985 1918 408.3 19.8 400 9409 0.00 2.40 0.00 0.000 260 0.000 0.093 3000 3762 1951 1985 1918 0 0 0 0 0 0 28.83 14.83 28.83
9446 0.91 194.6 3000 3762 1986 1918 398.5 20.6 402 9452 0.00 2.20 0.00 0.000 1030 0.000 0.044 3010 2353 1951 1985 1918 0 0 0 0 0 0 28.83 14.90 28.83
9769 0.91 194.6 3011 2348 1984 1918 335.9 18.3 418 9770 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2348 1951 1985 1918 0 0 0 0 0 0 28.83 28.83 28.83
10070 0.91 194.6 3011 2349 1985 1917 283.2 18.5 433 10075 0.00 2.25 0.00 0.000 516 0.000 0.055 3021 952 1951 1985 1917 0 0 0 0 0 0 28.83 14.88 28.83
10127 0.91 194.6 3021 952 1985 1917 275.2 18.5 435 10134 0.00 2.30 0.00 0.000 1030 0.000 0.060 3021 2364 1951 1985 1917 0 0 0 0 0 0 28.83 14.85 28.83
10433 0.91 194.6 3021 2364 1985 1917 218.0 18.0 451 10438 0.00 2.33 0.00 0.000 260 0.000 0.090 3021 3753 1950 1985 1916 0 0 0 0 0 0 28.83 14.83 28.83
10585 0.91 194.6 3021 3753 1985 1912 190.0 19.9 458 10591 0.15 2.20 0.00 0.000 5126 0.294 0.042 2997 2337 1951 1986 1917 0 0 0 0 0 0 14.67 14.91 28.83
10898 0.91 194.6 2997 2333 1985 1917 143.5 14.4 474 10904 0.00 2.40 0.00 0.000 260 0.000 0.089 2997 3756 1951 1986 1917 0 0 0 0 0 0 28.83 14.83 28.83
11066 0.91 194.6 2998 3756 1986 1917 114.9 17.5 482 11071 0.00 2.20 0.00 0.000 1030 0.000 0.041 3005 2346 1951 1985 1917 0 0 0 0 0 0 28.83 14.90 28.83
11383 0.91 194.6 3005 2337 1986 1917 75.0 10.1 498 11388 0.00 2.38 0.00 0.000 260 0.000 0.087 3005 3755 1951 1986 1917 0 0 0 0 0 0 28.83 14.78 28.83
11546 0.91 194.6 3006 3755 1986 1918 55.0 13.1 506 11552 0.00 2.17 0.00 0.000 1030 0.000 0.040 3016 2341 1952 1986 1918 0 0 0 0 0 0 28.83 14.90 28.83
11859 1.05 331.0 3016 2338 1988 1917 33.8 5.3 534 11930 0.00 0.00 63.95 0.247 8198 0.000 0.000 3016 2337 1402 1441 1363 0 0 0 0 0 0 28.83 28.83 14.62
12144 end climb: SURFACE_DEPTH_REACHED
state 12144 begin surface coast
12171 end surface coast: CONTROL_FINISHED_OK
state 12171 begin surface