OKMC 16May13 * SG181 * Dive index * Mission links * Dive 136 * 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  136 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  63 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  40 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  -95857.102 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  010613,054706,2335.896,12226.083,31,0.9,32,-3.2 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  -70.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  010613,055518,2335.993,12226.028,10,1.4,10,-3.2 MHEAD_RNG_PITCHd_Wd  120.6,152940,-13.2,-9.167,-16.45,3213
SPEED_LIMITS  0.159,0.311 D_GRID  3169

Post-dive calculations and measurements:
FINISH  -0.1,1.021416 _10V_AH  13.3,0.000
SM_CCo  12329,46.47,0.148,0,0,914,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.13,7.62,0.15,46.47,0.047,0.126,0.148,230,2471,914,-7.63,-0.93,450.13,0,0,0,0,0,0,14.83,14.81,14.69 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2319.18,12231.69,010613,020216 MEM  322812
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  20081,578
HUMID  45.51 CAP_FILE_SIZE  135068,0
INTERNAL_PRESSURE  9.68787 CFSIZE  260034560,244678656
TCM_TEMP  24.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS  12 CURRENT  0.221,321.7,1
SC_FREEKB  3885824 GPS  010613,092329,2336.169,12226.952,39,1.1,44,-3.2
_24V_AH  13.1,54.876

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20402108.46 nil000.00
Roll_motor98126162.46 nil000.00
VBD_pump_during_apogee454218913046.51 nil000.00
VBD_pump_during_surface4614789.89 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2511237.73 nil000.00
Iridium_during_connect4116087.04 SciCon123735827.61
Iridium_during_xfer223223654.32 nil000.00
Transponder_ping342016.51 nil000.00
GUMSTIX_24V000.00
GPS12203.62
TT8173210252.47
LPSleep86872253.04
TT8_Active5841085.18
TT8_Sampling169328651.86
TT8_CF81783584.83
TT8_Kalman000.00
Analog_circuits135516288.41
GPS_charging000.00
Compass12696113.77
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 -194.6 222 2461 912 910 0.0 0.0 0 109 0.00 0.00 -86.60 0.000 16386 0.000 0.000 221 2462 3137 3188 3087 0 0 0 0 0 0 28.83 28.83 28.83
111 -0.85 -194.6 222 2462 3188 3088 3.8 -15.0 15 138 10.23 2.17 -6.88 0.000 18692 0.402 0.093 2409 3767 3550 3637 3463 0 0 0 0 0 0 14.41 14.66 14.90
186 -0.85 -194.6 2409 3767 3637 3464 36.3 -35.0 25 191 0.00 2.03 0.00 0.000 1030 0.000 0.036 2409 2448 3550 3637 3464 0 0 0 0 0 0 28.83 14.75 28.83
508 -0.85 -194.6 2409 2444 3638 3466 128.3 -25.5 43 513 0.00 2.15 0.00 0.000 516 0.000 0.040 2409 1053 3552 3638 3466 0 0 0 0 0 0 28.83 14.82 28.83
519 -0.85 -194.6 2409 1053 3638 3466 128.3 -25.5 43 525 0.00 2.25 0.00 0.000 1030 0.000 0.056 2399 2443 3552 3638 3466 0 0 0 0 0 0 28.83 14.80 28.83
833 -0.85 -194.6 2400 2443 3639 3468 198.6 -20.5 59 838 0.00 2.17 0.00 0.000 516 0.000 0.041 2399 1044 3553 3639 3467 0 0 0 0 0 0 28.83 14.88 28.83
856 -0.85 -194.6 2398 1043 3638 3468 203.3 -20.5 60 862 0.15 2.28 0.00 0.000 3078 0.261 0.057 2423 2460 3553 3639 3468 0 0 0 0 0 0 14.71 14.85 28.83
1179 -0.85 -194.6 2424 2460 3638 3468 268.0 -19.6 76 1185 0.00 2.12 0.00 0.000 260 0.000 0.076 2416 3776 3553 3639 3467 0 0 0 0 0 0 28.83 14.86 28.83
1232 -0.85 -194.6 2416 3777 3639 3467 277.2 -20.3 78 1237 0.00 2.00 0.00 0.000 1030 0.000 0.034 2416 2438 3553 3639 3467 0 0 0 0 0 0 28.83 14.91 28.83
1544 -0.85 -194.6 2415 2431 3634 3466 343.6 -19.2 94 1545 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 2431 3553 3640 3467 0 0 0 0 0 0 28.83 28.83 28.83
1845 -0.85 -194.6 2416 2432 3640 3463 397.3 -16.3 109 1847 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2432 3551 3640 3463 0 0 0 0 0 0 28.83 28.83 28.83
2146 -0.85 -194.6 2416 2429 3640 3462 436.0 -12.0 124 2151 0.00 2.20 0.00 0.000 260 0.000 0.078 2406 3783 3550 3639 3461 0 0 0 0 0 0 28.83 14.90 28.83
2177 -0.85 -194.6 2405 3783 3639 3461 439.1 -12.5 125 2183 0.00 2.00 0.00 0.000 1030 0.000 0.037 2405 2454 3548 3636 3461 0 0 0 0 0 0 28.83 14.99 28.83
2490 -0.85 -194.6 2405 2448 3639 3457 486.1 -14.6 141 2491 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2448 3548 3639 3457 0 0 0 0 0 0 28.83 28.83 28.83
2791 -0.85 -194.6 2404 2447 3638 3456 529.6 -15.3 156 2796 0.00 2.17 0.00 0.000 260 0.000 0.081 2396 3775 3547 3639 3455 0 0 0 0 0 0 28.83 14.90 28.83
2817 -0.85 -194.6 1536 3775 3634 3452 533.4 -15.6 157 2823 0.00 2.00 0.00 0.000 1030 0.000 0.040 2396 2450 3546 3638 3455 0 0 0 0 0 0 28.83 15.00 28.83
3135 -0.85 -194.6 2396 2447 3637 3451 584.4 -15.8 173 3136 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2447 3544 3637 3451 0 0 0 0 0 0 28.83 28.83 28.83
3445 -0.85 -194.6 2396 2447 3634 3444 636.1 -17.0 185 3450 0.00 2.17 0.00 0.000 516 0.000 0.050 2396 1059 3540 3633 3447 0 0 0 0 0 0 28.83 14.95 28.83
3497 -0.85 -194.6 2396 1059 3633 3447 641.8 -17.2 186 3504 0.15 2.25 0.00 0.000 3078 0.243 0.063 2422 2447 3540 3633 3447 0 0 0 0 0 0 14.80 14.92 28.83
3812 -0.85 -194.6 2422 2447 3632 3444 690.8 -13.7 197 3818 0.00 2.20 0.00 0.000 260 0.000 0.090 2414 3778 3537 3631 3443 0 0 0 0 0 0 28.83 14.89 28.83
3845 -0.85 -194.6 2414 3778 3630 3443 695.5 -13.5 198 3851 0.00 2.05 0.00 0.000 1030 0.000 0.044 2414 2448 3538 3630 3446 0 0 0 0 0 0 28.83 14.99 28.83
4180 -0.85 -194.6 2414 2445 3627 3440 737.3 -12.5 209 4181 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2445 3534 3629 3440 0 0 0 0 0 0 28.83 28.83 28.83
4478 -0.85 -194.6 2414 2445 3625 3438 773.0 -12.1 219 4484 0.00 2.17 0.00 0.000 516 0.000 0.053 2414 1066 3531 3625 3437 0 0 0 0 0 0 28.83 14.93 28.83
4560 -0.85 -194.6 2414 1066 3623 3437 780.5 -11.9 221 4566 0.00 2.28 0.00 0.000 1030 0.000 0.067 2406 2456 3530 3624 3437 0 0 0 0 0 0 28.83 14.90 28.83
4874 -0.85 -194.6 2405 2457 3622 3434 820.6 -12.1 232 4880 0.00 2.20 0.00 0.000 260 0.000 0.096 2397 3777 3528 3622 3434 0 0 0 0 0 0 28.83 14.86 28.83
4922 -0.85 -194.6 2396 3778 3621 3434 824.8 -12.3 233 4927 0.00 2.05 0.00 0.000 1030 0.000 0.047 2395 2450 3527 3621 3434 0 0 0 0 0 0 28.83 14.97 28.83
5241 -0.85 -194.6 2396 2447 3619 3427 865.9 -12.4 244 5243 0.12 0.00 0.00 0.000 2054 0.277 0.000 2424 2447 3525 3619 3432 0 0 0 0 0 0 14.73 28.83 28.83
5540 -0.85 -194.6 2423 2447 3618 3428 900.3 -11.9 254 5546 0.00 2.20 0.00 0.000 516 0.000 0.056 2426 1063 3522 3617 3427 0 0 0 0 0 0 28.83 14.91 28.83
5562 -0.85 -194.6 2424 1063 3617 3427 900.3 -11.9 254 5568 0.00 2.28 0.00 0.000 1030 0.000 0.068 2418 2451 3522 3617 3428 0 0 0 0 0 0 28.83 14.89 28.83
5876 -0.85 -194.6 2419 2451 3615 3425 942.3 -12.8 265 5877 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 2451 3520 3615 3425 0 0 0 0 0 0 28.83 28.83 28.83
6176 -0.85 -194.6 2418 2451 3613 3424 978.8 -11.7 275 6177 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2451 3519 3614 3425 0 0 0 0 0 0 28.83 28.83 28.83
6294 end dive: TARGET_DEPTH_EXCEEDED
state 6294 begin apogee
6299 -0.25 0.0 2419 2347 3613 3425 992.0 -11.0 279 6495 0.65 0.00 184.77 2.189 10246 0.209 0.000 2610 2346 2753 2779 2727 0 0 0 0 1 0 14.72 28.83 13.26
6497 end apogee: CONTROL_FINISHED_OK
state 6497 begin climb
6499 0.85 194.6 2610 2346 2779 2727 997.5 0.0 285 6717 1.10 2.45 198.95 1.997 10756 0.112 0.059 2977 968 1959 1985 1933 0 0 0 0 1 0 14.07 13.93 13.12
6813 0.85 194.6 2056 966 1949 1918 948.0 19.9 296 6819 0.00 2.38 0.00 0.000 1030 0.000 0.065 2977 2350 1955 1985 1926 0 0 0 0 0 0 28.83 14.32 28.83
7143 0.85 194.6 2977 2350 1985 1919 874.2 22.7 307 7148 0.00 2.40 0.00 0.000 260 0.000 0.093 2977 3758 1952 1985 1919 0 0 0 0 0 0 28.83 14.62 28.83
7176 0.85 194.6 2977 3758 1985 1919 865.8 23.3 308 7181 0.00 2.22 0.00 0.000 1030 0.000 0.042 2987 2353 1952 1985 1920 0 0 0 0 0 0 28.83 14.69 28.83
7510 0.85 194.6 2987 2348 1985 1915 787.3 23.5 319 7515 0.00 2.40 0.00 0.000 260 0.000 0.093 2988 3756 1950 1985 1916 0 0 0 0 0 0 28.83 14.73 28.83
7542 0.85 194.6 2987 3756 1985 1915 778.8 23.8 320 7548 0.00 2.22 0.00 0.000 1030 0.000 0.043 2998 2343 1950 1985 1916 0 0 0 0 0 0 28.83 14.78 28.83
7876 0.85 194.6 2998 2338 1985 1914 703.0 21.4 331 7877 0.00 0.00 0.00 0.000 6 0.000 0.000 2999 2338 1949 1985 1914 0 0 0 0 0 0 28.83 28.83 28.83
8175 0.85 194.6 2999 2338 1985 1913 643.0 19.7 341 8181 0.00 2.42 0.00 0.000 260 0.000 0.092 2999 3761 1949 1985 1913 0 0 0 0 0 0 28.83 14.81 28.83
8208 0.85 194.6 2998 3761 1985 1913 635.7 20.3 342 8214 0.15 2.22 0.00 0.000 5126 0.304 0.042 2977 2337 1949 1985 1913 0 0 0 0 0 0 14.66 14.88 28.83
8521 0.85 194.6 2977 2332 1985 1911 575.1 19.0 354 8522 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2332 1948 1985 1911 0 0 0 0 0 0 28.83 28.83 28.83
8822 0.85 194.6 2977 2332 1985 1909 519.0 18.9 369 8827 0.00 2.42 0.00 0.000 260 0.000 0.090 2973 3757 1947 1985 1910 0 0 0 0 0 0 28.83 14.83 28.83
8845 0.85 194.6 2977 3757 1985 1910 514.5 19.1 370 8850 0.00 2.20 0.00 0.000 1030 0.000 0.042 2985 2348 1947 1985 1910 0 0 0 0 0 0 28.83 14.91 28.83
9167 0.85 194.6 2985 2342 1985 1909 456.2 17.4 386 9172 0.00 2.40 0.00 0.000 260 0.000 0.090 2985 3761 1951 1993 1909 0 0 0 0 0 0 28.83 14.83 28.83
9178 0.85 194.6 2982 3761 1985 1909 456.2 17.4 386 9184 0.00 2.20 0.00 0.000 1030 0.000 0.042 2996 2345 1947 1985 1909 0 0 0 0 0 0 28.83 14.91 28.83
9492 0.85 194.6 2996 2341 1985 1908 394.7 19.5 402 9493 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2341 1946 1985 1908 0 0 0 0 0 0 28.83 28.83 28.83
9793 0.85 194.6 2996 2341 1985 1907 337.6 20.2 417 9799 0.00 2.40 0.00 0.000 260 0.000 0.090 2996 3765 1946 1985 1907 0 0 0 0 0 0 28.83 14.84 28.83
9810 0.85 194.6 2996 3765 1985 1907 337.6 20.2 417 9817 0.12 2.20 0.00 0.000 5126 0.310 0.041 2980 2342 1946 1985 1907 0 0 0 0 0 0 14.68 14.92 28.83
10116 0.85 194.6 2980 2337 1985 1907 284.2 16.0 433 10121 0.00 2.20 0.00 0.000 516 0.000 0.054 2988 965 1946 1985 1907 0 0 0 0 0 0 28.83 14.88 28.83
10153 0.85 194.6 2988 965 1985 1907 280.8 15.7 434 10159 0.00 2.25 0.00 0.000 1030 0.000 0.058 2989 2355 1946 1985 1907 0 0 0 0 0 0 28.83 14.86 28.83
10458 0.85 194.6 2988 2355 1982 1907 231.2 14.7 450 10464 0.00 2.35 0.00 0.000 260 0.000 0.088 2988 3763 1946 1985 1907 0 0 0 0 0 0 28.83 14.84 28.83
10481 0.85 194.6 2988 3763 1985 1907 227.4 15.2 451 10486 0.00 2.17 0.00 0.000 1030 0.000 0.041 2999 2350 1945 1985 1906 0 0 0 0 0 0 28.83 14.92 28.83
10804 0.85 194.6 2999 2346 1985 1907 178.5 13.5 467 10805 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 2346 1946 1986 1907 0 0 0 0 0 0 28.83 28.83 28.83
11105 0.85 194.6 2999 2346 1985 1907 138.1 12.7 482 11106 0.00 0.00 0.00 0.000 6 0.000 0.000 2999 2346 1946 1985 1907 0 0 0 0 0 0 28.83 28.83 28.83
11404 0.85 194.6 2999 2346 1987 1906 97.6 12.8 497 11410 0.00 2.38 0.00 0.000 260 0.000 0.086 2999 3762 1947 1987 1907 0 0 0 0 0 0 28.83 14.84 28.83
11512 0.85 194.6 2999 3762 1987 1909 83.5 13.7 502 11519 0.15 2.17 0.00 0.000 5126 0.276 0.038 2975 2342 1947 1987 1908 0 0 0 0 0 0 14.72 14.91 28.83
11832 1.00 345.7 2975 2338 1989 1909 58.9 4.3 518 11913 0.12 2.25 71.15 0.315 10756 0.127 0.051 3046 960 1342 1378 1307 0 0 0 0 0 0 14.87 14.76 14.56
12000 1.00 345.7 3046 962 1377 1301 42.8 12.2 528 12007 0.00 2.25 0.00 0.000 1030 0.000 0.054 3046 2354 1339 1378 1301 0 0 0 0 0 0 28.83 14.73 28.83
12284 end climb: SURFACE_DEPTH_REACHED
state 12284 begin surface coast
12312 end surface coast: CONTROL_FINISHED_OK
state 12312 begin surface