OKMC 16May13 * SG181 * Dive index * Mission links * Dive 128 * Log results * Raw log file
prev dive * next dive * dive

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  128 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  65 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  360 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_MISSION  390 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  -95847.016 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  300513,233429,2332.632,12216.852,34,1.3,35,-3.2 TGT_NAME  N2
_CALLS  2 TGT_LATLONG  2350.000,12355.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  -0.13 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  300513,234537,2332.746,12216.953,10,1.3,10,-3.2 MHEAD_RNG_PITCHd_Wd  118.0,169143,-13.2,-9.167,-16.45,3213
SPEED_LIMITS  0.159,0.311 D_GRID  3788

Post-dive calculations and measurements:
FINISH  -0.1,1.021330 _10V_AH  13.1,0.000
SM_CCo  12810,62.67,0.145,0,0,916,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.25,7.53,0.15,62.67,0.044,0.126,0.145,239,2466,916,-7.62,-1.02,450.13,0,0,0,0,0,0,14.82,14.82,14.70 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2321.52,12246.66,300513,232336 MEM  322720
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  23429,619
HUMID  42.95 CAP_FILE_SIZE  143942,0
INTERNAL_PRESSURE  9.7074 CFSIZE  260034560,245452800
TCM_TEMP  25.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS  6 CURRENT  0.232,329.1,1
SC_FREEKB  3888896 GPS  310513,032200,2333.357,12218.079,37,1.1,38,-3.2
_24V_AH  13.1,52.421

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20406107.63 nil000.00
Roll_motor98130168.80 nil000.00
VBD_pump_during_apogee425252414086.57 nil000.00
VBD_pump_during_surface62144118.71 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init5311279.08 nil000.00
Iridium_during_connect64160136.05 SciCon128585893.57
Iridium_during_xfer281223821.36 nil000.00
Transponder_ping14208.25 nil000.00
GUMSTIX_24V000.00
GPS13203.63
TT8188610270.83
LPSleep89852257.80
TT8_Active5861084.17
TT8_Sampling191528726.05
TT8_CF81763582.44
TT8_Kalman000.00
Analog_circuits139816293.17
GPS_charging000.00
Compass13746121.32
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 -0.85 -194.6 237 2469 912 915 0.0 0.0 0 108 0.00 0.00 -86.28 0.000 16386 0.000 0.000 237 2469 3093 3144 3042 0 0 0 0 0 0 28.83 28.83 28.83
110 -0.85 -194.6 237 2469 3144 3043 3.4 -12.8 15 137 10.20 2.17 -7.78 0.000 18692 0.406 0.106 2409 3768 3549 3639 3460 0 0 0 0 0 0 14.42 14.66 14.89
259 -0.85 -194.6 2409 3768 3639 3463 55.2 -32.3 31 266 0.00 2.03 0.00 0.000 1030 0.000 0.035 2409 2453 3551 3639 3463 0 0 0 0 0 0 28.83 14.77 28.83
565 -0.85 -194.6 2410 2449 3638 3463 141.3 -26.4 47 570 0.00 2.17 0.00 0.000 260 0.000 0.076 2400 3773 3551 3639 3463 0 0 0 0 0 0 28.83 14.78 28.83
616 -0.85 -194.6 2405 3773 3639 3463 152.5 -26.1 49 622 0.00 2.03 0.00 0.000 1030 0.000 0.034 2400 2436 3551 3640 3463 0 0 0 0 0 0 28.83 14.88 28.83
930 -0.85 -194.6 2400 2431 3639 3465 227.8 -24.9 65 931 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2431 3552 3639 3465 0 0 0 0 0 0 28.83 28.83 28.83
1231 -0.85 -194.6 2399 2430 3640 3465 299.0 -21.3 80 1237 0.00 2.12 0.00 0.000 516 0.000 0.043 2399 1057 3552 3640 3465 0 0 0 0 0 0 28.83 14.90 28.83
1248 -0.85 -194.6 2399 1057 3640 3465 299.0 -21.3 80 1255 0.12 2.22 0.00 0.000 3078 0.265 0.054 2418 2449 3552 3640 3465 0 0 0 0 0 0 14.76 14.90 28.83
1554 -0.85 -194.6 2418 2449 3640 3464 350.1 -15.3 96 1559 0.00 2.17 0.00 0.000 260 0.000 0.079 2410 3782 3552 3640 3464 0 0 0 0 0 0 28.83 14.90 28.83
1610 -0.85 -194.6 2410 3783 3640 3463 356.9 -15.6 98 1617 0.00 2.03 0.00 0.000 1030 0.000 0.036 2410 2431 3551 3640 3463 0 0 0 0 0 0 28.83 14.95 28.83
1916 -0.85 -194.6 2410 2428 3640 3461 407.4 -16.1 114 1917 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2428 3550 3640 3461 0 0 0 0 0 0 28.83 28.83 28.83
2217 -0.85 -194.6 2410 2428 3640 3457 455.5 -16.4 129 2223 0.00 2.22 0.00 0.000 260 0.000 0.083 2401 3777 3547 3638 3457 0 0 0 0 0 0 28.83 14.91 28.83
2294 -0.85 -194.6 2401 3778 3640 3456 466.5 -17.5 132 2302 0.00 2.00 0.00 0.000 1030 0.000 0.037 2401 2451 3548 3640 3456 0 0 0 0 0 0 28.83 14.98 28.83
2600 -0.85 -194.6 2400 2445 3640 3451 519.6 -16.1 148 2601 0.00 0.00 0.00 0.000 6 0.000 0.000 2401 2448 3545 3640 3451 0 0 0 0 0 0 28.83 28.83 28.83
2902 -0.85 -194.6 2400 2448 3638 3447 565.9 -14.5 163 2903 0.00 0.00 0.00 0.000 6 0.000 0.000 2401 2448 3542 3638 3447 0 0 0 0 0 0 28.83 28.83 28.83
3220 -0.85 -194.6 2400 2448 3635 3444 607.8 -13.2 178 3226 0.00 2.22 0.00 0.000 260 0.000 0.090 2391 3781 3539 3634 3444 0 0 0 0 0 0 28.83 14.90 28.83
3262 -0.85 -194.6 2390 3782 3633 3444 612.2 -13.0 179 3268 0.12 2.03 0.00 0.000 3078 0.257 0.041 2415 2457 3538 3633 3444 0 0 0 0 0 0 14.79 15.00 28.83
3586 -0.85 -194.6 2420 2451 3637 3440 653.3 -12.3 190 3592 0.00 2.20 0.00 0.000 516 0.000 0.052 2420 1063 3535 3630 3440 0 0 0 0 0 0 28.83 14.94 28.83
3664 -0.85 -194.6 2420 1063 3630 3439 661.2 -12.4 192 3669 0.00 2.25 0.00 0.000 1030 0.000 0.065 2412 2444 3534 3630 3439 0 0 0 0 0 0 28.83 14.92 28.83
3983 -0.85 -194.6 2412 2445 3628 3436 702.1 -12.3 203 3989 0.00 2.22 0.00 0.000 260 0.000 0.095 2402 3777 3531 3627 3436 0 0 0 0 0 0 28.83 14.89 28.83
4005 -0.85 -194.6 2402 3778 3627 3436 702.1 -12.3 203 4011 0.00 2.05 0.00 0.000 1030 0.000 0.044 2402 2449 3531 3626 3436 0 0 0 0 0 0 28.83 14.99 28.83
4318 -0.85 -194.6 2402 2447 3624 3432 745.0 -12.8 214 4319 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2447 3528 3624 3433 0 0 0 0 0 0 28.83 28.83 28.83
4618 -0.85 -194.6 2402 2447 3622 3430 783.5 -13.0 224 4619 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2447 3526 3622 3430 0 0 0 0 0 0 28.83 28.83 28.83
4918 -0.85 -194.6 2407 2447 3620 3426 820.5 -12.2 234 4919 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2449 3523 3620 3427 0 0 0 0 0 0 28.83 28.83 28.83
5218 -0.85 -194.6 2402 2447 3618 3425 857.3 -12.2 244 5219 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2446 3521 3618 3424 0 0 0 0 0 0 28.83 28.83 28.83
5518 -0.85 -194.6 2402 2447 3615 3419 894.0 -12.6 254 5519 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2447 3520 3616 3424 0 0 0 0 0 0 28.83 28.83 28.83
5818 -0.85 -194.6 2402 2447 3614 3421 930.9 -12.3 264 5819 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2447 3518 3614 3422 0 0 0 0 0 0 28.83 28.83 28.83
6118 -0.85 -194.6 2402 2447 3612 3420 969.3 -12.8 274 6119 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2447 3516 3612 3420 0 0 0 0 0 0 28.83 28.83 28.83
6296 end dive: TARGET_DEPTH_EXCEEDED
state 6296 begin apogee
6301 -0.25 0.0 2402 2346 3611 3419 992.5 -12.8 280 6502 0.73 0.00 187.77 2.084 10246 0.214 0.000 2615 2345 2753 2779 2728 0 0 0 0 1 0 14.71 28.83 13.23
6504 end apogee: CONTROL_FINISHED_OK
state 6504 begin climb
6506 0.85 194.6 2615 2345 2779 2728 1000.9 0.0 286 6708 1.10 2.45 185.30 2.525 10756 0.114 0.061 2981 981 1959 1984 1935 0 0 0 0 1 0 14.08 13.85 13.05
6804 0.85 194.6 2981 981 1983 1926 965.6 17.1 296 6811 0.00 2.38 0.00 0.000 1030 0.000 0.068 2981 2352 1954 1983 1925 0 0 0 0 0 0 28.83 14.26 28.83
7111 0.85 194.6 2981 2350 1983 1918 904.3 19.0 307 7116 0.00 2.45 0.00 0.000 260 0.000 0.099 2979 3761 1951 1984 1918 0 0 0 0 0 0 28.83 14.58 28.83
7157 0.85 194.6 2981 3760 1984 1918 897.5 19.2 308 7163 0.00 2.22 0.00 0.000 1030 0.000 0.043 2992 2366 1950 1983 1918 0 0 0 0 0 0 28.83 14.66 28.83
7476 0.85 194.6 2992 2361 1984 1915 828.9 20.9 319 7477 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 2360 1949 1983 1915 0 0 0 0 0 0 28.83 28.83 28.83
7776 0.85 194.6 2992 2361 1984 1914 766.0 21.0 329 7777 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 2361 1948 1983 1914 0 0 0 0 0 0 28.83 28.83 28.83
8075 0.85 194.6 2992 2360 1984 1912 704.0 20.4 339 8080 0.00 2.40 0.00 0.000 260 0.000 0.094 2992 3761 1947 1983 1912 0 0 0 0 0 0 28.83 14.81 28.83
8177 0.85 194.6 2992 3761 1983 1912 683.2 21.9 342 8182 0.00 2.22 0.00 0.000 1030 0.000 0.042 3002 2344 1948 1984 1912 0 0 0 0 0 0 28.83 14.88 28.83
8501 0.85 194.6 3003 2340 1984 1910 613.7 20.7 353 8506 0.00 2.42 0.00 0.000 260 0.000 0.093 3003 3762 1947 1984 1910 0 0 0 0 0 0 28.83 14.82 28.83
8523 0.85 194.6 3003 3762 1983 1910 613.7 20.7 353 8529 0.15 2.22 0.00 0.000 5126 0.308 0.041 2981 2344 1946 1983 1910 0 0 0 0 0 0 14.68 14.93 28.83
8846 0.85 194.6 2982 2339 1984 1908 546.4 18.2 369 8848 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2340 1945 1983 1908 0 0 0 0 0 0 28.83 28.83 28.83
9148 0.85 194.6 2982 2340 1984 1907 494.0 17.7 384 9153 0.00 2.22 0.00 0.000 516 0.000 0.056 2990 966 1945 1984 1907 0 0 0 0 0 0 28.83 14.88 28.83
9191 0.85 194.6 2990 965 1984 1907 486.6 17.2 386 9197 0.00 2.33 0.00 0.000 1030 0.000 0.063 2989 2364 1946 1984 1909 0 0 0 0 0 0 28.83 14.85 28.83
9514 0.85 194.6 2990 2365 1984 1906 428.2 18.7 402 9520 0.00 2.35 0.00 0.000 260 0.000 0.093 2990 3756 1941 1977 1906 0 0 0 0 0 0 28.83 14.84 28.83
9572 0.85 194.6 2990 3756 1983 1906 419.5 19.5 404 9578 0.00 2.20 0.00 0.000 1030 0.000 0.042 3000 2349 1944 1983 1906 0 0 0 0 0 0 28.83 14.91 28.83
9877 0.85 194.6 3000 2345 1982 1909 362.3 16.6 420 9882 0.00 2.40 0.00 0.000 260 0.000 0.092 3000 3755 1944 1983 1905 0 0 0 0 0 0 28.83 14.84 28.83
9909 0.85 194.6 3000 3755 1984 1905 358.2 17.2 421 9916 0.15 2.20 0.00 0.000 5126 0.299 0.041 2978 2340 1945 1984 1906 0 0 0 0 0 0 14.69 14.92 28.83
10223 0.85 194.6 2978 2336 1984 1904 311.1 13.9 437 10228 0.00 2.40 0.00 0.000 260 0.000 0.090 2978 3754 1944 1984 1904 0 0 0 0 0 0 28.83 14.83 28.83
10309 0.85 194.6 2978 3753 1984 1910 297.1 16.9 441 10315 0.00 2.20 0.00 0.000 1030 0.000 0.041 2986 2338 1944 1983 1905 0 0 0 0 0 0 28.83 14.92 28.83
10627 0.85 194.6 2986 2334 1983 1905 247.0 15.3 457 10633 0.00 2.20 0.00 0.000 516 0.000 0.052 2996 953 1944 1984 1905 0 0 0 0 0 0 28.83 14.88 28.83
10673 0.85 194.6 2064 952 1948 1896 240.0 15.8 459 10679 0.00 2.28 0.00 0.000 1030 0.000 0.059 2997 2352 1944 1984 1905 0 0 0 0 0 0 28.83 14.86 28.83
10991 0.85 194.6 2997 2352 1984 1905 186.0 17.0 475 10997 0.00 2.35 0.00 0.000 260 0.000 0.087 2997 3758 1944 1984 1905 0 0 0 0 0 0 28.83 14.84 28.83
11035 0.85 194.6 2997 3758 1983 1906 178.4 16.9 477 11042 0.12 2.20 0.00 0.000 5126 0.295 0.039 2981 2335 1945 1984 1906 0 0 0 0 0 0 14.69 14.92 28.83
11359 0.85 194.6 2981 2329 1984 1906 139.8 11.6 493 11364 0.00 2.20 0.00 0.000 516 0.000 0.051 2989 954 1945 1984 1906 0 0 0 0 0 0 28.83 14.85 28.83
11457 0.85 194.6 2989 954 1984 1906 131.1 10.5 497 11464 0.00 2.28 0.00 0.000 1030 0.000 0.058 2989 2359 1945 1984 1906 0 0 0 0 0 0 28.83 14.85 28.83
11762 0.85 194.6 2989 2360 1985 1906 95.5 11.0 513 11767 0.00 2.33 0.00 0.000 260 0.000 0.085 2989 3759 1946 1986 1906 0 0 0 0 0 0 28.83 14.84 28.83
11953 0.85 194.6 2989 3759 1986 1908 72.9 12.6 522 11960 0.00 2.17 0.00 0.000 1030 0.000 0.037 3000 2341 1947 1986 1908 0 0 0 0 0 0 28.83 14.92 28.83
12267 0.91 250.1 3000 2337 1988 1908 46.4 7.4 540 12299 0.00 2.25 25.88 0.279 8708 0.000 0.049 3009 963 1733 1771 1695 0 0 0 0 0 0 28.83 14.85 14.64
12332 0.91 250.1 3009 963 1771 1693 40.6 9.4 546 12337 0.00 2.25 0.00 0.000 1030 0.000 0.054 3009 2361 1732 1771 1693 0 0 0 0 0 0 28.83 14.83 28.83
12641 0.97 308.5 3009 2362 1771 1689 13.4 7.3 591 12677 0.00 2.30 27.00 0.183 8708 0.000 0.047 3019 960 1492 1536 1449 0 0 0 0 0 0 28.83 14.80 14.69
12715 0.97 308.5 3019 960 1536 1443 7.2 9.3 604 12722 0.00 2.22 0.00 0.000 1030 0.000 0.050 3019 2353 1488 1536 1440 0 0 0 0 0 0 28.83 14.80 28.83
12762 end climb: SURFACE_DEPTH_REACHED
state 12762 begin surface coast
12794 end surface coast: CONTROL_FINISHED_OK
state 12794 begin surface