OKMC 16May13 * SG181 * Dive index * Mission links * Dive 112 * 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  112 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  64 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  45 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  -95826.891 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  280513,121359,2316.886,12146.588,40,0.9,41,-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  -0.09 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  280513,122107,2317.195,12146.619,12,1.4,12,-3.1 MHEAD_RNG_PITCHd_Wd  122.5,225813,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  3155

Post-dive calculations and measurements:
FINISH  -0.0,1.021184 _10V_AH  13.5,0.000
SM_CCo  11841,85.03,0.151,0,0,917,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.04,7.72,0.20,85.03,0.062,0.102,0.151,225,2476,917,-7.63,-0.65,450.13,0,0,0,0,0,0,14.85,14.85,14.69 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2316.83,12130.45,280513,080826 MEM  322828
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  20121,567
HUMID  45.27 CAP_FILE_SIZE  135313,0
INTERNAL_PRESSURE  9.67811 CFSIZE  260034560,247029760
TCM_TEMP  24.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  1 CURRENT  0.329, 16.8,1
SC_FREEKB  3895040 GPS  280513,154130,2318.323,12149.162,8,1.9,26,-3.1
_24V_AH  13.5,47.613

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20403111.03 nil000.00
Roll_motor107110159.98 nil000.00
VBD_pump_during_apogee41917529920.17 nil000.00
VBD_pump_during_surface85150172.98 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2411237.60 nil000.00
Iridium_during_connect1716036.75 SciCon118815819.77
Iridium_during_xfer196223591.06 nil000.00
Transponder_ping04201.42 nil000.00
GUMSTIX_24V000.00
GPS15204.33
TT8179110265.08
LPSleep81452240.82
TT8_Active5891087.19
TT8_Sampling168628658.93
TT8_CF81523573.32
TT8_Kalman000.00
Analog_circuits137416296.88
GPS_charging000.00
Compass13126119.46
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
17 end surface: CONTROL_FINISHED_OK
state 17 begin dive
19 -0.91 -194.6 230 2474 911 925 0.0 0.0 0 104 0.00 0.00 -82.38 0.000 16386 0.000 0.000 230 2474 3010 3051 2970 0 0 0 0 0 0 28.83 28.83 28.83
107 -0.91 -194.6 230 2474 3051 2970 3.2 -11.4 14 133 10.05 2.25 -9.12 0.000 18948 0.403 0.060 2406 1057 3548 3637 3460 0 0 0 0 0 0 14.42 14.71 14.90
209 -0.91 -194.6 1536 1055 3633 3460 43.8 -29.7 27 216 0.00 2.25 0.00 0.000 1030 0.000 0.060 2398 2432 3549 3637 3462 0 0 0 0 0 0 28.83 14.69 28.83
516 -0.91 -194.6 2398 2433 3638 3463 132.2 -24.8 44 521 0.00 2.20 0.00 0.000 260 0.000 0.076 2388 3783 3550 3638 3463 0 0 0 0 0 0 28.83 14.78 28.83
582 -0.91 -194.6 2388 3783 3637 3464 146.8 -23.3 47 587 0.00 2.03 0.00 0.000 1030 0.000 0.034 2388 2444 3551 3638 3464 0 0 0 0 0 0 28.83 14.86 28.83
900 -0.91 -194.6 2387 2439 3639 3465 218.1 -22.4 63 905 0.00 2.22 0.00 0.000 260 0.000 0.079 2377 3783 3552 3639 3466 0 0 0 0 0 0 28.83 14.83 28.83
1006 -0.91 -194.6 1536 3784 3635 3463 238.5 -19.4 68 1011 0.00 2.03 0.00 0.000 1030 0.000 0.034 2378 2435 3552 3639 3466 0 0 0 0 0 0 28.83 14.92 28.83
1323 -0.91 -194.6 2378 2427 3639 3465 300.9 -19.4 84 1324 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2428 3551 3638 3465 0 0 0 0 0 0 28.83 28.83 28.83
1624 -0.91 -194.6 2377 2427 3640 3464 360.0 -17.3 99 1630 0.12 2.25 0.00 0.000 2308 0.295 0.078 2401 3790 3552 3640 3464 0 0 0 0 0 0 14.75 14.89 28.83
1722 -0.91 -194.6 2401 3790 3640 3463 373.8 -16.4 103 1729 0.00 2.03 0.00 0.000 1030 0.000 0.035 2401 2439 3551 3640 3463 0 0 0 0 0 0 28.83 14.97 28.83
2027 -0.91 -194.6 2401 2435 3638 3461 426.1 -17.2 119 2032 0.00 2.12 0.00 0.000 516 0.000 0.047 2401 1074 3552 3644 3461 0 0 0 0 0 0 28.83 14.94 28.83
2069 -0.91 -194.6 2401 1073 3640 3461 433.4 -17.2 121 2075 0.00 2.22 0.00 0.000 1030 0.000 0.057 2392 2461 3550 3640 3461 0 0 0 0 0 0 28.83 14.92 28.83
2392 -0.91 -194.6 2391 2461 3639 3456 490.9 -17.9 137 2393 0.00 0.00 0.00 0.000 6 0.000 0.000 2391 2461 3548 3640 3456 0 0 0 0 0 0 28.83 28.83 28.83
2693 -0.91 -194.6 2392 2461 3640 3451 543.4 -16.5 152 2699 0.00 2.17 0.00 0.000 260 0.000 0.087 2379 3777 3545 3639 3451 0 0 0 0 0 0 28.83 14.90 28.83
2736 -0.91 -194.6 2382 3777 3638 3451 551.0 -16.8 154 2742 0.00 2.03 0.00 0.000 1030 0.000 0.041 2381 2451 3545 3638 3452 0 0 0 0 0 0 28.83 14.99 28.83
3070 -0.91 -194.6 2381 2450 3636 3448 606.8 -17.2 170 3075 0.00 2.20 0.00 0.000 516 0.000 0.050 2381 1057 3541 3636 3447 0 0 0 0 0 0 28.83 14.95 28.83
3091 -0.91 -194.6 2381 1057 3635 3447 606.8 -17.2 170 3097 0.15 2.25 0.00 0.000 3078 0.251 0.061 2407 2447 3541 3635 3447 0 0 0 0 0 0 14.79 14.92 28.83
3405 -0.91 -194.6 2407 2447 3633 3444 654.9 -13.6 181 3410 0.00 2.20 0.00 0.000 260 0.000 0.090 2399 3778 3538 3633 3444 0 0 0 0 0 0 28.83 14.90 28.83
3421 -0.91 -194.6 2404 3777 3632 3444 654.9 -13.6 181 3427 0.00 2.05 0.00 0.000 1030 0.000 0.044 2400 2443 3538 3632 3444 0 0 0 0 0 0 28.83 15.00 28.83
3740 -0.91 -194.6 2399 2440 3630 3440 699.9 -13.3 192 3745 0.00 2.17 0.00 0.000 516 0.000 0.052 2399 1067 3534 3629 3440 0 0 0 0 0 0 28.83 14.94 28.83
3776 -0.91 -194.6 1552 1066 3625 3437 704.1 -13.1 193 3781 0.00 2.28 0.00 0.000 1030 0.000 0.064 2389 2460 3534 3629 3440 0 0 0 0 0 0 28.83 14.92 28.83
4104 -0.91 -194.6 2390 2459 3626 3437 745.5 -12.1 204 4105 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2460 3529 3626 3433 0 0 0 0 0 0 28.83 28.83 28.83
4403 -0.91 -194.6 2390 2459 3624 3435 780.4 -11.6 214 4409 0.00 2.20 0.00 0.000 260 0.000 0.094 2380 3778 3529 3623 3435 0 0 0 0 0 0 28.83 14.88 28.83
4485 -0.91 -194.6 2380 3778 3622 3435 788.5 -12.4 216 4490 0.00 2.05 0.00 0.000 1030 0.000 0.046 2379 2455 3528 3622 3435 0 0 0 0 0 0 28.83 14.97 28.83
4797 -0.91 -194.6 2380 2451 3622 3432 834.0 -14.1 227 4803 0.00 2.22 0.00 0.000 516 0.000 0.055 2379 1055 3527 3622 3432 0 0 0 0 0 0 28.83 14.92 28.83
4854 -0.91 -194.6 2379 1054 3618 3433 838.6 -14.1 228 4861 0.15 2.30 0.00 0.000 3078 0.259 0.068 2405 2454 3525 3618 3433 0 0 0 0 0 0 14.76 14.90 28.83
5161 -0.91 -194.6 2405 2454 3618 3429 877.1 -11.1 239 5166 0.00 2.25 0.00 0.000 260 0.000 0.098 2397 3787 3523 3617 3429 0 0 0 0 0 0 28.83 14.86 28.83
5197 -0.91 -194.6 1540 3786 3613 3425 881.1 -11.4 240 5203 0.00 2.08 0.00 0.000 1030 0.000 0.048 2397 2452 3523 3617 3429 0 0 0 0 0 0 28.83 14.96 28.83
5526 -0.91 -194.6 2397 2451 3616 3426 920.2 -11.5 251 5531 0.00 2.22 0.00 0.000 516 0.000 0.057 2397 1060 3521 3616 3426 0 0 0 0 0 0 28.83 14.90 28.83
5589 -0.91 -194.6 2397 1059 3616 3426 927.5 -11.6 253 5594 0.00 2.30 0.00 0.000 1030 0.000 0.070 2388 2451 3521 3616 3426 0 0 0 0 0 0 28.83 14.89 28.83
5922 -0.91 -194.6 2388 2451 3614 3424 966.5 -11.2 264 5923 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2451 3519 3614 3424 0 0 0 0 0 0 28.83 28.83 28.83
6160 end dive: TARGET_DEPTH_EXCEEDED
state 6160 begin apogee
6165 -0.25 0.0 2388 2345 3612 3423 993.3 -11.1 272 6365 0.75 0.00 192.82 1.753 10246 0.221 0.000 2607 2345 2748 2775 2722 0 0 0 0 0 0 14.70 28.83 13.52
6367 end apogee: CONTROL_FINISHED_OK
state 6367 begin climb
6369 0.91 194.6 2607 2345 2773 2720 996.4 0.0 278 6576 1.17 2.38 196.43 1.720 10756 0.125 0.060 2994 971 1954 1980 1929 0 0 0 0 0 0 14.14 14.04 13.45
6608 0.91 194.6 2994 971 1979 1916 962.7 19.3 286 6614 0.00 2.40 0.00 0.000 1030 0.000 0.067 2994 2353 1947 1978 1916 0 0 0 0 0 0 28.83 14.21 28.83
6914 0.91 194.6 2995 2353 1979 1905 890.3 21.8 297 6915 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2353 1942 1979 1905 0 0 0 0 0 0 28.83 28.83 28.83
7213 0.91 194.6 2994 2353 1979 1901 828.7 20.0 307 7219 0.00 2.40 0.00 0.000 260 0.000 0.095 2994 3759 1939 1978 1901 0 0 0 0 0 0 28.83 14.70 28.83
7235 0.91 194.6 2995 3759 1978 1901 828.7 20.0 307 7240 0.00 2.22 0.00 0.000 1030 0.000 0.044 3005 2352 1940 1979 1901 0 0 0 0 0 0 28.83 14.77 28.83
7548 0.91 194.6 3005 2347 1979 1898 758.9 21.1 318 7549 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2347 1938 1979 1898 0 0 0 0 0 0 28.83 28.83 28.83
7848 0.91 194.6 3005 2347 1979 1896 694.4 21.6 328 7853 0.00 2.40 0.00 0.000 260 0.000 0.094 3005 3756 1937 1978 1896 0 0 0 0 0 0 28.83 14.80 28.83
7911 0.91 194.6 3005 3756 1978 1896 679.9 22.0 330 7916 0.00 2.22 0.00 0.000 1030 0.000 0.044 3016 2342 1937 1979 1896 0 0 0 0 0 0 28.83 14.88 28.83
8245 0.91 194.6 3016 2337 1979 1895 606.6 22.1 341 8251 0.00 2.22 0.00 0.000 516 0.000 0.055 3026 959 1937 1979 1895 0 0 0 0 0 0 28.83 14.85 28.83
8267 0.91 194.6 3026 958 1979 1895 606.6 22.1 341 8273 0.15 2.30 0.00 0.000 5126 0.291 0.062 2994 2362 1937 1979 1895 0 0 0 0 0 0 14.68 14.83 28.83
8580 0.91 194.6 2994 2362 1979 1894 538.8 20.1 357 8586 0.00 2.35 0.00 0.000 260 0.000 0.094 2994 3756 1936 1979 1893 0 0 0 0 0 0 28.83 14.83 28.83
8606 0.91 194.6 2080 3755 1943 1885 534.0 20.2 358 8611 0.00 2.20 0.00 0.000 1030 0.000 0.043 3002 2346 1936 1978 1894 0 0 0 0 0 0 28.83 14.91 28.83
8924 0.91 194.6 3002 2342 1979 1893 467.8 20.7 374 8929 0.00 2.40 0.00 0.000 260 0.000 0.094 3002 3753 1936 1979 1893 0 0 0 0 0 0 28.83 14.83 28.83
8997 0.91 194.6 3002 3750 1979 1893 453.3 22.9 377 9002 0.00 2.20 0.00 0.000 1030 0.000 0.042 3010 2344 1936 1979 1893 0 0 0 0 0 0 28.83 14.92 28.83
9309 0.91 194.6 3012 2339 1979 1892 384.3 21.4 393 9315 0.00 2.40 0.00 0.000 260 0.000 0.092 3008 3753 1935 1979 1892 0 0 0 0 0 0 28.83 14.83 28.83
9341 0.91 194.6 3013 3753 1978 1892 379.2 21.5 394 9347 0.00 2.20 0.00 0.000 1030 0.000 0.041 3022 2341 1935 1978 1893 0 0 0 0 0 0 28.83 14.95 28.83
9654 0.91 194.6 3023 2335 1979 1891 310.6 20.9 410 9659 0.12 2.40 0.00 0.000 4356 0.327 0.089 2994 3756 1935 1979 1891 0 0 0 0 0 0 14.67 14.84 28.83
9720 0.91 194.6 2064 3755 1944 1883 298.0 20.3 413 9726 0.00 2.20 0.00 0.000 1030 0.000 0.041 3001 2345 1935 1978 1892 0 0 0 0 0 0 28.83 14.92 28.83
10038 0.91 194.6 3002 2341 1979 1890 237.4 18.8 429 10039 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2341 1934 1978 1890 0 0 0 0 0 0 28.83 28.83 28.83
10340 0.91 194.6 3002 2341 1978 1890 184.0 17.4 444 10341 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2341 1934 1979 1890 0 0 0 0 0 0 28.83 28.83 28.83
10639 0.91 194.6 3002 2341 1979 1890 136.0 14.6 459 10645 0.00 2.40 0.00 0.000 260 0.000 0.090 3001 3759 1934 1979 1890 0 0 0 0 0 0 28.83 14.84 28.83
10763 0.91 194.6 3001 3759 1979 1893 117.6 14.9 465 10770 0.00 2.20 0.00 0.000 1030 0.000 0.040 3011 2337 1934 1978 1891 0 0 0 0 0 0 28.83 14.91 28.83
11087 0.91 194.6 3012 2333 1979 1890 79.2 12.0 481 11092 0.00 2.40 0.00 0.000 260 0.000 0.087 3012 3765 1935 1979 1891 0 0 0 0 0 0 28.83 14.81 28.83
11130 0.91 194.6 3012 3765 1979 1892 73.6 12.5 483 11135 0.00 2.20 0.00 0.000 1030 0.000 0.039 3022 2337 1935 1979 1892 0 0 0 0 0 0 28.83 14.86 28.83
11443 0.98 262.2 3023 2332 1979 1892 37.7 7.6 504 11479 0.00 2.40 30.02 0.256 8452 0.000 0.083 3023 3763 1681 1719 1643 0 0 0 0 0 0 28.83 14.80 14.62
11706 0.98 262.2 3023 3764 1730 1650 9.9 11.1 544 11713 0.00 2.17 0.00 0.000 1030 0.000 0.038 3034 2346 1690 1730 1650 0 0 0 0 0 0 28.83 14.87 28.83
11789 end climb: SURFACE_DEPTH_REACHED
state 11789 begin surface coast
11825 end surface coast: CONTROL_FINISHED_OK
state 11825 begin surface