OKMC 16May13 * SG181 * Dive index * Mission links * Dive 109 * 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  109 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  70 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  42 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  -95822.234 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  280513,014353,2312.093,12138.817,11,2.0,21,-3.1 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  -0.17 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  280513,015227,2312.337,12138.929,13,2.0,15,-3.1 MHEAD_RNG_PITCHd_Wd  118.1,240836,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  1380

Post-dive calculations and measurements:
FINISH  -0.1,1.021462 _10V_AH  13.2,0.000
SM_CCo  12208,94.53,0.151,0,0,916,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.47,8.10,0.17,94.53,0.102,0.114,0.151,232,2470,916,-7.63,-0.88,450.13,0,0,0,0,0,0,14.83,14.84,14.68 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2255.72,12135.99,270513,222255 MEM  323168
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  20094,585
HUMID  45.11 CAP_FILE_SIZE  142373,0
INTERNAL_PRESSURE  9.64881 CFSIZE  260034560,247312384
TCM_TEMP  24.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS  9 CURRENT  0.328, 15.7,1
SC_FREEKB  3896192 GPS  280513,051923,2313.739,12141.505,40,1.6,40,-3.1
_24V_AH  13.0,46.807

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20400108.58 nil000.00
Roll_motor116114174.16 nil000.00
VBD_pump_during_apogee389251012718.79 nil000.00
VBD_pump_during_surface94151186.13 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3111245.72 nil000.00
Iridium_during_connect53160111.61 SciCon122465817.16
Iridium_during_xfer235223683.30 nil000.00
Transponder_ping242012.29 nil000.00
GUMSTIX_24V000.00
GPS21205.91
TT8191210276.73
LPSleep82772239.29
TT8_Active6191089.58
TT8_Sampling185228707.49
TT8_CF81673578.92
TT8_Kalman000.00
Analog_circuits143616303.28
GPS_charging000.00
Compass14026124.82
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 17 begin dive
19 -0.91 -194.6 228 2468 913 919 0.0 0.0 0 109 0.00 0.00 -87.32 0.000 16386 0.000 0.000 228 2468 3161 3211 3112 0 0 0 0 0 0 28.83 28.83 28.83
111 -0.91 -194.6 228 2468 3215 3113 3.7 -14.3 15 137 10.00 2.30 -6.30 0.000 18948 0.400 0.071 2406 1068 3549 3636 3463 0 0 0 0 0 0 14.40 14.67 14.88
258 -0.91 -194.6 2406 1067 3638 3464 54.8 -30.8 31 266 0.00 2.25 0.00 0.000 1030 0.000 0.062 2398 2436 3551 3638 3464 0 0 0 0 0 0 28.83 14.71 28.83
565 -0.91 -194.6 2398 2438 3640 3465 131.4 -20.5 47 570 0.00 2.20 0.00 0.000 260 0.000 0.081 2388 3778 3552 3640 3465 0 0 0 0 0 0 28.83 14.78 28.83
667 -0.91 -194.6 2388 3778 3640 3466 155.0 -23.5 52 672 0.00 2.00 0.00 0.000 1030 0.000 0.036 2388 2448 3553 3640 3466 0 0 0 0 0 0 28.83 14.86 28.83
990 -0.91 -194.6 2388 2444 3640 3467 227.2 -23.3 68 995 0.00 2.20 0.00 0.000 260 0.000 0.081 2378 3778 3553 3640 3467 0 0 0 0 0 0 28.83 14.83 28.83
1076 -0.91 -194.6 1536 3779 3637 3464 245.9 -22.5 72 1081 0.00 2.03 0.00 0.000 1030 0.000 0.036 2378 2446 3553 3640 3467 0 0 0 0 0 0 28.83 14.91 28.83
1393 -0.91 -194.6 2378 2441 3640 3467 309.8 -19.6 88 1399 0.00 2.20 0.00 0.000 260 0.000 0.082 2368 3778 3553 3640 3467 0 0 0 0 0 0 28.83 14.85 28.83
1436 -0.91 -194.6 2368 3778 3642 3467 318.3 -19.8 90 1443 0.15 2.00 0.00 0.000 3078 0.278 0.037 2401 2438 3553 3640 3467 0 0 0 0 0 0 14.72 14.92 28.83
1760 -0.91 -194.6 2400 2434 3640 3464 368.3 -14.0 106 1765 0.00 2.12 0.00 0.000 516 0.000 0.045 2401 1071 3552 3640 3464 0 0 0 0 0 0 28.83 14.92 28.83
1822 -0.91 -194.6 2401 1070 3640 3464 377.2 -14.3 109 1828 0.00 2.25 0.00 0.000 1030 0.000 0.060 2394 2459 3551 3640 3463 0 0 0 0 0 0 28.83 14.90 28.83
2145 -0.91 -194.6 2393 2461 3640 3461 423.2 -14.1 125 2150 0.00 2.17 0.00 0.000 260 0.000 0.086 2384 3786 3550 3640 3461 0 0 0 0 0 0 28.83 14.88 28.83
2217 -0.91 -194.6 2383 3786 3640 3460 433.0 -15.5 128 2223 0.00 2.00 0.00 0.000 1030 0.000 0.041 2383 2471 3550 3640 3460 0 0 0 0 0 0 28.83 14.95 28.83
2531 -0.91 -194.6 2383 2468 3640 3455 483.6 -14.8 144 2536 0.00 2.22 0.00 0.000 516 0.000 0.049 2383 1050 3547 3640 3455 0 0 0 0 0 0 28.83 14.93 28.83
2594 -0.91 -194.6 2384 1050 3641 3455 493.3 -15.4 147 2600 0.12 2.28 0.00 0.000 3078 0.265 0.063 2401 2451 3547 3640 3455 0 0 0 0 0 0 14.78 14.90 28.83
2917 -0.91 -194.6 2401 2452 3639 3450 541.5 -14.7 163 2918 0.00 0.00 0.00 0.000 6 0.000 0.000 2401 2452 3545 3640 3450 0 0 0 0 0 0 28.83 28.83 28.83
3218 -0.91 -194.6 2401 2452 3637 3447 584.1 -13.0 178 3223 0.00 2.22 0.00 0.000 260 0.000 0.091 2393 3786 3542 3637 3447 0 0 0 0 0 0 28.83 14.89 28.83
3280 -0.91 -194.6 2393 3786 3635 3447 593.3 -14.2 181 3286 0.00 2.05 0.00 0.000 1030 0.000 0.044 2393 2450 3541 3635 3447 0 0 0 0 0 0 28.83 14.98 28.83
3614 -0.91 -194.6 2393 2445 3634 3444 638.8 -13.7 193 3615 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2445 3538 3634 3443 0 0 0 0 0 0 28.83 28.83 28.83
3913 -0.91 -194.6 2393 2445 3632 3440 681.1 -14.2 203 3919 0.00 2.20 0.00 0.000 516 0.000 0.054 2393 1056 3535 3631 3440 0 0 0 0 0 0 28.83 14.92 28.83
3987 -0.91 -194.6 2393 1056 3631 3440 689.9 -14.1 205 3992 0.00 2.30 0.00 0.000 1030 0.000 0.067 2384 2458 3535 3630 3440 0 0 0 0 0 0 28.83 14.90 28.83
4310 -0.91 -194.6 2384 2458 3627 3438 738.3 -15.1 216 4317 0.00 2.25 0.00 0.000 516 0.000 0.054 2384 1052 3532 3627 3438 0 0 0 0 0 0 28.83 14.92 28.83
4344 -0.91 -194.6 2384 1052 3624 3438 743.4 -15.1 217 4350 0.12 2.33 0.00 0.000 3078 0.266 0.068 2402 2458 3532 3627 3437 0 0 0 0 0 0 14.73 14.90 28.83
4678 -0.91 -194.6 2402 2458 3625 3434 783.7 -11.8 228 4683 0.00 2.22 0.00 0.000 260 0.000 0.099 2394 3777 3529 3625 3434 0 0 0 0 0 0 28.83 14.87 28.83
4715 -0.91 -194.6 2394 3777 3623 3434 788.0 -12.1 229 4720 0.00 2.05 0.00 0.000 1030 0.000 0.047 2394 2455 3528 3623 3434 0 0 0 0 0 0 28.83 14.97 28.83
5043 -0.91 -194.6 2394 2449 3622 3432 828.9 -12.2 240 5049 0.00 2.25 0.00 0.000 260 0.000 0.096 2384 3785 3527 3622 3432 0 0 0 0 0 0 28.83 14.85 28.83
5070 -0.91 -194.6 2384 3784 3622 3432 828.9 -12.2 240 5077 0.00 2.08 0.00 0.000 1030 0.000 0.047 2384 2447 3527 3622 3432 0 0 0 0 0 0 28.83 14.96 28.83
5377 -0.91 -194.6 2384 2446 3620 3429 872.1 -12.7 251 5383 0.00 2.22 0.00 0.000 516 0.000 0.057 2384 1054 3525 3621 3429 0 0 0 0 0 0 28.83 14.90 28.83
5399 -0.91 -194.6 2384 1054 3621 3429 872.1 -12.7 251 5406 0.12 2.33 0.00 0.000 3078 0.271 0.073 2402 2458 3525 3621 3429 0 0 0 0 0 0 14.74 14.87 28.83
5714 -0.91 -194.6 2402 2458 3619 3426 911.5 -11.3 262 5719 0.00 2.25 0.00 0.000 516 0.000 0.057 2402 1063 3522 3619 3426 0 0 0 0 0 0 28.83 14.90 28.83
5741 -0.91 -194.6 2401 1063 3619 3426 911.5 -11.3 262 5748 0.00 2.30 0.00 0.000 1030 0.000 0.072 2396 2451 3522 3619 3426 0 0 0 0 0 0 28.83 14.88 28.83
6047 -0.91 -194.6 2395 2449 3617 3425 949.6 -11.6 273 6053 0.00 2.25 0.00 0.000 260 0.000 0.102 2384 3782 3520 3616 3425 0 0 0 0 0 0 28.83 14.84 28.83
6104 -0.91 -194.6 2386 3782 3616 3424 953.9 -11.8 274 6111 0.00 2.08 0.00 0.000 1030 0.000 0.050 2386 2455 3519 3615 3424 0 0 0 0 0 0 28.83 14.94 28.83
6379 end dive: TARGET_DEPTH_EXCEEDED
state 6379 begin apogee
6384 -0.25 0.0 2386 2345 3614 3424 992.2 -12.4 284 6580 0.77 0.00 182.82 2.130 10246 0.223 0.000 2610 2345 2755 2782 2728 0 0 0 0 1 0 14.69 28.83 13.20
6581 end apogee: CONTROL_FINISHED_OK
state 6581 begin climb
6583 0.91 194.6 2611 2345 2782 2729 997.5 0.0 290 6785 1.17 2.65 186.02 2.511 10500 0.121 0.100 2987 3768 1959 1983 1936 0 0 0 0 1 0 14.06 13.83 13.05
6803 0.91 194.6 2987 3768 1984 1936 965.8 18.4 298 6808 0.00 2.38 0.00 0.000 1030 0.000 0.044 2997 2356 1960 1984 1936 0 0 0 0 0 0 28.83 14.07 28.83
7136 0.91 194.6 2998 2353 1984 1928 895.6 20.6 309 7141 0.00 2.45 0.00 0.000 260 0.000 0.099 2998 3756 1955 1984 1927 0 0 0 0 0 0 28.83 14.54 28.83
7177 0.91 194.6 2997 3756 1984 1928 889.1 20.3 310 7183 0.00 2.28 0.00 0.000 1030 0.000 0.044 3008 2337 1956 1984 1928 0 0 0 0 0 0 28.83 14.62 28.83
7501 0.91 194.6 3008 2332 1984 1923 820.5 21.2 321 7502 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2332 1953 1983 1923 0 0 0 0 0 0 28.83 28.83 28.83
7800 0.91 194.6 3008 2329 1984 1921 757.4 20.0 331 7805 0.00 2.42 0.00 0.000 260 0.000 0.095 3008 3758 1952 1984 1921 0 0 0 0 0 0 28.83 14.76 28.83
7873 0.91 194.6 3008 3758 1984 1922 743.5 21.0 333 7879 0.00 2.22 0.00 0.000 1030 0.000 0.044 3018 2345 1952 1984 1921 0 0 0 0 0 0 28.83 14.83 28.83
8197 0.91 194.6 3019 2341 1984 1919 676.9 20.1 344 8198 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2341 1952 1984 1920 0 0 0 0 0 0 28.83 28.83 28.83
8497 0.91 194.6 3019 2341 1984 1923 611.0 22.2 354 8502 0.00 2.25 0.00 0.000 516 0.000 0.057 3028 950 1951 1984 1918 0 0 0 0 0 0 28.83 14.86 28.83
8538 0.91 194.6 3029 950 1984 1917 603.4 22.2 355 8544 0.15 2.30 0.00 0.000 5126 0.290 0.064 2996 2355 1950 1984 1917 0 0 0 0 0 0 14.69 14.84 28.83
8861 0.91 194.6 2998 2355 1984 1916 533.6 20.5 371 8868 0.00 2.38 0.00 0.000 260 0.000 0.095 2997 3752 1950 1984 1916 0 0 0 0 0 0 28.83 14.86 28.83
8989 0.91 194.6 2997 3752 1984 1916 505.9 22.7 377 8994 0.00 2.20 0.00 0.000 1030 0.000 0.044 3004 2346 1950 1984 1916 0 0 0 0 0 0 28.83 14.90 28.83
9306 0.91 194.6 3005 2342 1985 1915 440.5 21.4 393 9311 0.00 2.22 0.00 0.000 516 0.000 0.056 3015 957 1949 1983 1915 0 0 0 0 0 0 28.83 14.88 28.83
9338 0.91 194.6 3015 956 1984 1915 435.8 21.5 394 9343 0.00 2.30 0.00 0.000 1030 0.000 0.063 3014 2359 1949 1984 1915 0 0 0 0 0 0 28.83 14.85 28.83
9650 0.91 194.6 3015 2358 1984 1915 370.0 19.5 410 9655 0.00 2.35 0.00 0.000 260 0.000 0.093 3014 3756 1949 1984 1915 0 0 0 0 0 0 28.83 14.83 28.83
9707 0.91 194.6 3015 3757 1984 1915 361.2 20.3 412 9714 0.15 2.20 0.00 0.000 5126 0.304 0.043 2993 2343 1949 1984 1915 0 0 0 0 0 0 14.69 14.91 28.83
10013 0.91 194.6 2993 2338 1984 1914 301.0 18.5 428 10014 0.00 0.00 0.00 0.000 6 0.000 0.000 2993 2338 1949 1984 1914 0 0 0 0 0 0 28.83 28.83 28.83
10313 0.91 194.6 2993 2338 1984 1914 246.9 16.9 443 10315 0.00 0.00 0.00 0.000 6 0.000 0.000 2993 2338 1949 1984 1914 0 0 0 0 0 0 28.83 28.83 28.83
10613 0.91 194.6 2993 2338 1984 1913 201.2 15.2 458 10619 0.00 2.22 0.00 0.000 516 0.000 0.054 3001 954 1949 1984 1914 0 0 0 0 0 0 28.83 14.88 28.83
10636 0.91 194.6 3001 953 1984 1913 197.6 15.2 459 10641 0.00 2.30 0.00 0.000 1030 0.000 0.060 3001 2358 1948 1984 1913 0 0 0 0 0 0 28.83 14.86 28.83
10959 0.91 194.6 3001 2358 1984 1909 145.4 17.0 475 10964 0.00 2.35 0.00 0.000 260 0.000 0.090 3001 3765 1949 1984 1914 0 0 0 0 0 0 28.83 14.84 28.83
11056 0.91 194.6 3001 3765 1984 1914 130.8 17.8 479 11062 0.00 2.20 0.00 0.000 1030 0.000 0.041 3012 2343 1949 1984 1914 0 0 0 0 0 0 28.83 14.89 28.83
11361 0.91 194.6 3011 2339 1984 1914 85.6 11.9 495 11367 0.00 2.40 0.00 0.000 260 0.000 0.087 3012 3764 1949 1984 1914 0 0 0 0 0 0 28.83 14.83 28.83
11594 0.91 194.6 3011 3765 1985 1915 56.6 11.5 506 11599 0.00 2.20 0.00 0.000 1030 0.000 0.039 3022 2332 1950 1986 1915 0 0 0 0 0 0 28.83 14.91 28.83
11907 0.95 239.0 3022 2327 1987 1915 27.9 8.5 534 11934 0.00 2.40 20.83 0.235 8452 0.000 0.082 3022 3764 1776 1812 1741 0 0 0 0 0 0 28.83 14.79 14.64
12107 0.95 239.0 3023 3764 1807 1741 6.7 11.4 569 12114 0.00 2.17 0.00 0.000 1030 0.000 0.038 3033 2355 1776 1812 1741 0 0 0 0 0 0 28.83 14.82 28.83
12149 end climb: SURFACE_DEPTH_REACHED
state 12150 begin surface coast
12191 end surface coast: CONTROL_FINISHED_OK
state 12191 begin surface