OKMC 16May13 * SG181 * Dive index * Mission links * Dive 14 * 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  14 ESCAPE_HEADING  0 C_ROLL_DIVE  2400 ALTIM_TOP_MIN_OBSTACLE  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2375 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  66 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  30 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  0.00039999999 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  -95689.812 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  17 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  180513,151133,2156.677,12026.881,10,4.3,29,-2.7 TGT_NAME  DOGLEG
_CALLS  1 TGT_LATLONG  2148.000,12030.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.03 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  180513,151749,2156.674,12026.981,10,2.0,10,-2.7 MHEAD_RNG_PITCHd_Wd  169.7,16882,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  791

Post-dive calculations and measurements:
FINISH  -1.1,1.010075 _10V_AH  13.6,0.000
SM_CCo  9653,59.97,0.151,0,0,915,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.11,7.62,1.00,59.97,0.058,0.049,0.151,231,2396,915,-7.63,1.89,450.13,0,0,0,0,0,0,14.88,14.90,14.73 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2152.74,12133.71,180513,121206 MEM  323236
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  16750,506
HUMID  45.82 CAP_FILE_SIZE  120297,0
INTERNAL_PRESSURE  9.62928 CFSIZE  260034560,254631936
TCM_TEMP  23.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  2 CURRENT  0.070,316.0,1
SC_FREEKB  3932736 GPS  180513,180130,2155.464,12027.118,38,1.5,38,-2.7
_24V_AH  13.5,27.515

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20420117.15 nil000.00
Roll_motor95104135.79 nil000.00
VBD_pump_during_apogee43015238859.67 nil000.00
VBD_pump_during_surface59151122.64 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2311235.06 nil000.00
Iridium_during_connect2416052.71 SciCon96765747.57
Iridium_during_xfer176223529.88 nil000.00
Transponder_ping04202.83 nil000.00
GUMSTIX_24V000.00
GPS12203.63
TT8163410243.65
LPSleep62312185.60
TT8_Active5741085.68
TT8_Sampling156828617.36
TT8_CF8953546.51
TT8_Kalman000.00
Analog_circuits130616284.36
GPS_charging000.00
Compass12286112.64
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 -0.92 -194.6 225 2368 918 924 0.0 0.0 0 107 0.00 0.00 -86.07 0.000 16386 0.000 0.000 222 2369 3068 3123 3013 0 0 0 0 0 0 28.83 28.83 28.83
109 -0.92 -194.6 222 2369 3123 3014 3.2 -10.5 15 136 10.27 2.35 -8.43 0.000 18692 0.421 0.105 2386 3781 3549 3641 3457 0 0 0 0 0 0 14.45 14.70 14.92
343 -0.92 -194.6 2386 3781 3641 3461 87.7 -28.3 36 349 0.00 2.10 0.00 0.000 1030 0.000 0.036 2386 2398 3551 3641 3461 0 0 0 0 0 0 28.83 14.84 28.83
666 -0.92 -194.6 2386 2393 3642 3463 151.5 -19.3 52 671 0.00 2.28 0.00 0.000 260 0.000 0.086 2375 3776 3552 3641 3463 0 0 0 0 0 0 28.83 14.84 28.83
688 -0.92 -194.6 2375 3775 3641 3463 156.2 -20.2 53 693 0.00 2.10 0.00 0.000 1030 0.000 0.039 2375 2393 3552 3642 3463 0 0 0 0 0 0 28.83 14.89 28.83
1010 -0.92 -194.6 2375 2388 3642 3463 220.1 -19.4 69 1015 0.00 2.15 0.00 0.000 516 0.000 0.045 2375 999 3552 3641 3463 0 0 0 0 0 0 28.83 14.92 28.83
1146 -0.92 -194.6 2375 998 3642 3463 243.7 -18.9 75 1154 0.15 2.28 0.00 0.000 3078 0.267 0.063 2400 2405 3552 3642 3463 0 0 0 0 0 0 14.78 14.90 28.83
1452 -0.92 -194.6 2400 2406 3642 3462 290.3 -14.5 91 1458 0.00 2.25 0.00 0.000 260 0.000 0.089 2392 3780 3552 3642 3463 0 0 0 0 0 0 28.83 14.90 28.83
1544 -0.92 -194.6 2393 3781 3641 3463 302.9 -15.2 95 1549 0.00 2.10 0.00 0.000 1030 0.000 0.040 2392 2398 3551 3640 3463 0 0 0 0 0 0 28.83 14.99 28.83
1856 -0.92 -194.6 2392 2393 3642 3461 356.4 -17.2 111 1862 0.00 2.30 0.00 0.000 260 0.000 0.091 2382 3780 3551 3641 3461 0 0 0 0 0 0 28.83 14.92 28.83
1903 -0.92 -194.6 2382 3780 3642 3460 363.7 -17.1 113 1909 0.00 2.08 0.00 0.000 1030 0.000 0.039 2382 2402 3551 3642 3460 0 0 0 0 0 0 28.83 15.00 28.83
2220 -0.92 -194.6 2382 2396 3642 3457 415.3 -14.6 129 2226 0.00 2.17 0.00 0.000 516 0.000 0.051 2382 1002 3549 3642 3457 0 0 0 0 0 0 28.83 14.97 28.83
2343 -0.92 -194.6 2382 998 3641 3457 434.5 -15.4 135 2349 0.12 2.28 0.00 0.000 3078 0.265 0.063 2400 2407 3549 3642 3456 0 0 0 0 0 0 14.83 14.95 28.83
2666 -0.92 -194.6 2400 2408 3642 3453 475.2 -12.3 151 2671 0.00 2.25 0.00 0.000 260 0.000 0.093 2392 3775 3547 3642 3453 0 0 0 0 0 0 28.83 14.93 28.83
2688 -0.92 -194.6 2391 3776 3642 3453 478.1 -12.3 152 2693 0.00 2.10 0.00 0.000 1030 0.000 0.043 2391 2405 3545 3641 3450 0 0 0 0 0 0 28.83 15.00 28.83
3011 -0.92 -194.6 2391 2399 3639 3450 520.7 -13.8 168 3016 0.00 2.17 0.00 0.000 516 0.000 0.053 2391 1010 3545 3640 3450 0 0 0 0 0 0 28.83 14.98 28.83
3027 -0.92 -194.6 2391 1009 3640 3450 520.7 -13.8 168 3035 0.00 2.25 0.00 0.000 1030 0.000 0.064 2382 2401 3545 3640 3450 0 0 0 0 0 0 28.83 14.96 28.83
3333 -0.92 -194.6 2382 2402 3639 3446 566.4 -13.0 184 3334 0.00 0.00 0.00 0.000 6 0.000 0.000 2382 2402 3542 3639 3446 0 0 0 0 0 0 28.83 28.83 28.83
3654 -0.92 -194.6 2382 2402 3638 3444 607.5 -12.6 199 3659 0.00 2.28 0.00 0.000 260 0.000 0.096 2372 3779 3540 3637 3444 0 0 0 0 0 0 28.83 14.94 28.83
3720 -0.92 -194.6 2372 3780 3636 3444 616.2 -13.2 201 3727 0.12 2.12 0.00 0.000 3078 0.269 0.046 2399 2389 3539 3634 3444 0 0 0 0 0 0 14.85 15.02 28.83
4048 -0.92 -194.6 2399 2387 3634 3440 656.0 -12.1 212 4054 0.00 2.33 0.00 0.000 260 0.000 0.097 2391 3783 3537 3634 3440 0 0 0 0 0 0 28.83 14.94 28.83
4075 -0.92 -194.6 2391 3783 3634 3440 656.0 -12.1 212 4082 0.00 2.12 0.00 0.000 1030 0.000 0.047 2391 2395 3537 3634 3440 0 0 0 0 0 0 28.83 15.02 28.83
4381 -0.92 -194.6 2391 2393 3633 3438 697.5 -12.4 223 4386 0.00 2.30 0.00 0.000 260 0.000 0.097 2378 3777 3538 3633 3443 0 0 0 0 0 0 28.83 14.93 28.83
4414 -0.92 -194.6 2381 3777 3632 3438 701.8 -12.7 224 4419 0.00 2.12 0.00 0.000 1030 0.000 0.047 2382 2405 3535 3632 3438 0 0 0 0 0 0 28.83 15.02 28.83
4747 -0.92 -194.6 2381 2399 3630 3437 746.3 -13.2 235 4752 0.00 2.20 0.00 0.000 516 0.000 0.059 2381 1009 3533 3630 3437 0 0 0 0 0 0 28.83 14.97 28.83
4803 -0.92 -194.6 2381 1009 3629 3436 750.8 -13.3 236 4811 0.12 2.28 0.00 0.000 3078 0.272 0.068 2399 2407 3532 3629 3436 0 0 0 0 0 0 14.83 14.96 28.83
5108 end dive: TARGET_DEPTH_EXCEEDED
state 5108 begin apogee
5112 -0.29 0.0 2403 2407 3627 3434 791.3 -12.0 247 5308 0.65 0.00 187.25 1.523 10246 0.223 0.000 2593 2407 2751 2789 2714 0 0 0 0 0 0 14.83 28.83 13.58
5310 end apogee: CONTROL_FINISHED_OK
state 5310 begin climb
5311 0.92 194.6 2593 2407 2780 2714 796.9 0.0 253 5510 1.25 2.42 188.25 1.515 10756 0.138 0.054 3001 984 1953 1983 1924 0 0 0 0 0 0 14.19 14.12 13.52
5541 0.92 194.6 3001 984 1981 1914 764.2 18.5 261 5547 0.00 2.35 0.00 0.000 1030 0.000 0.062 3001 2373 1946 1980 1912 0 0 0 0 0 0 28.83 14.31 28.83
5864 0.92 194.6 3001 2373 1980 1900 691.6 22.0 272 5869 0.00 2.38 0.00 0.000 260 0.000 0.094 3001 3774 1940 1981 1900 0 0 0 0 0 0 28.83 14.66 28.83
5886 0.92 194.6 3001 3774 1981 1900 691.6 22.0 272 5891 0.00 2.20 0.00 0.000 1030 0.000 0.042 3011 2362 1940 1981 1900 0 0 0 0 0 0 28.83 14.74 28.83
6198 0.92 194.6 3012 2358 1980 1896 612.2 24.1 283 6204 0.00 2.40 0.00 0.000 260 0.000 0.093 3011 3775 1938 1980 1896 0 0 0 0 0 0 28.83 14.76 28.83
6264 0.92 194.6 2112 3775 1944 1887 595.6 25.4 285 6270 0.00 2.17 0.00 0.000 1030 0.000 0.043 3022 2380 1937 1980 1895 0 0 0 0 0 0 28.83 14.84 28.83
6582 0.92 194.6 3018 2373 1980 1895 519.5 23.4 301 6588 0.00 2.22 0.00 0.000 516 0.000 0.054 3033 980 1937 1980 1894 0 0 0 0 0 0 28.83 14.87 28.83
6598 0.92 194.6 3033 979 1981 1895 519.5 23.4 301 6606 0.15 2.28 0.00 0.000 5126 0.295 0.064 3001 2375 1937 1980 1894 0 0 0 0 0 0 14.70 14.85 28.83
6904 0.92 194.6 3001 2376 1976 1897 450.7 21.4 317 6910 0.00 2.22 0.00 0.000 516 0.000 0.056 3008 984 1936 1980 1893 0 0 0 0 0 0 28.83 14.90 28.83
6950 0.92 194.6 2096 982 1944 1884 442.0 20.9 319 6956 0.00 2.28 0.00 0.000 1030 0.000 0.062 3008 2381 1936 1980 1892 0 0 0 0 0 0 28.83 14.88 28.83
7268 0.92 194.6 3008 2382 1980 1890 371.5 22.5 335 7269 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2382 1935 1980 1891 0 0 0 0 0 0 28.83 28.83 28.83
7569 0.92 194.6 3008 2381 1980 1890 313.1 17.9 350 7574 0.00 2.33 0.00 0.000 260 0.000 0.093 3008 3780 1935 1980 1890 0 0 0 0 0 0 28.83 14.88 28.83
7615 0.92 194.6 2112 3779 1946 1882 304.2 18.9 352 7620 0.00 2.17 0.00 0.000 1030 0.000 0.043 3018 2370 1935 1980 1890 0 0 0 0 0 0 28.83 14.95 28.83
7932 0.92 194.6 3018 2366 1981 1889 241.9 19.2 368 7938 0.00 2.38 0.00 0.000 260 0.000 0.093 3019 3784 1935 1981 1889 0 0 0 0 0 0 28.83 14.88 28.83
8035 0.92 194.6 3018 3784 1980 1890 219.0 22.3 373 8042 0.15 2.20 0.00 0.000 5126 0.319 0.043 2997 2356 1935 1981 1889 0 0 0 0 0 0 14.74 14.95 28.83
8359 0.92 194.6 2998 2352 1981 1889 165.7 15.6 389 8364 0.00 2.17 0.00 0.000 516 0.000 0.055 3006 981 1933 1980 1887 0 0 0 0 0 0 28.83 14.92 28.83
8496 0.92 194.6 3006 981 1980 1888 145.7 16.7 395 8503 0.00 2.25 0.00 0.000 1030 0.000 0.060 3006 2375 1934 1980 1888 0 0 0 0 0 0 28.83 14.90 28.83
8801 0.92 194.6 3006 2377 1980 1888 91.7 17.1 411 8806 0.00 2.33 0.00 0.000 260 0.000 0.090 3006 3779 1934 1980 1888 0 0 0 0 0 0 28.83 14.88 28.83
8937 0.92 194.6 3006 3780 1980 1889 68.5 19.6 417 8944 0.00 2.15 0.00 0.000 1030 0.000 0.041 3016 2372 1934 1980 1889 0 0 0 0 0 0 28.83 14.93 28.83
9244 0.95 282.2 3016 2369 1981 1888 38.0 7.0 441 9285 0.00 0.00 38.90 0.259 8710 0.000 0.000 3016 2369 1600 1638 1563 0 0 0 0 0 0 28.83 28.83 14.69
9584 0.97 315.3 2048 2366 1625 1564 4.1 8.8 497 9604 0.00 1.12 16.48 0.163 8451 0.000 0.078 3017 3044 1463 1507 1420 0 0 0 0 0 0 28.83 28.83 14.76
9605 end climb: SURFACE_DEPTH_REACHED
state 9605 begin surface coast
9637 end surface coast: CONTROL_FINISHED_OK
state 9637 begin surface