OKMC 16May13 * SG181 * Dive index * Mission links * Dive 15 * 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  15 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  28 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  -95691.07 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  180513,180130,2155.464,12027.118,38,1.5,38,-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  -0.05 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  180513,180819,2155.444,12027.149,12,1.4,12,-2.7 MHEAD_RNG_PITCHd_Wd  157.9,14632,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  869

Post-dive calculations and measurements:
FINISH  -0.3,1.021652 _10V_AH  13.5,0.000
SM_CCo  10863,44.08,0.151,0,0,916,450.13 FG_AHR_24Vo  0.000
SM_GC  0.09,7.60,0.00,44.08,0.054,0.000,0.151,232,2371,916,-7.62,-0.79,450.13,0,0,0,0,0,0,14.85,28.83,14.72 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2157.39,11954.79,180513,151553 MEM  323268
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  20109,546
HUMID  44.95 CAP_FILE_SIZE  133232,0
INTERNAL_PRESSURE  9.65857 CFSIZE  260034560,254533632
TCM_TEMP  24.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  1 CURRENT  0.114,309.4,1
SC_FREEKB  3932352 GPS  180513,211151,2154.419,12027.373,14,3.0,33,-2.7
_24V_AH  13.5,27.762

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20423118.22 nil000.00
Roll_motor112109166.03 nil000.00
VBD_pump_during_apogee454163010006.99 nil000.00
VBD_pump_during_surface4415089.67 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2811243.05 nil000.00
Iridium_during_connect3816083.21 SciCon108925801.38
Iridium_during_xfer177223533.73 nil000.00
Transponder_ping04201.42 nil000.00
GUMSTIX_24V000.00
GPS15204.28
TT8178710264.49
LPSleep71252210.68
TT8_Active5881087.11
TT8_Sampling172428673.70
TT8_CF81053550.98
TT8_Kalman000.00
Analog_circuits139416301.31
GPS_charging000.00
Compass13496122.77
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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -0.91 -194.6 227 2391 918 922 0.0 0.0 0 108 0.00 0.00 -87.30 0.000 16386 0.000 0.000 226 2391 3107 3159 3056 0 0 0 0 0 0 28.83 28.83 28.83
110 -0.91 -194.6 227 2392 3159 3057 3.5 -13.0 15 137 10.32 2.35 -7.38 0.000 18692 0.423 0.109 2391 3784 3550 3638 3463 0 0 0 0 0 0 14.45 14.69 14.92
224 -0.91 -194.6 2391 3784 3638 3464 55.8 -39.8 29 230 0.00 2.12 0.00 0.000 1030 0.000 0.041 2391 2417 3551 3638 3465 0 0 0 0 0 0 28.83 14.76 28.83
547 -0.91 -194.6 2390 2412 3640 3467 130.2 -19.4 45 552 0.00 2.28 0.00 0.000 260 0.000 0.086 2380 3788 3553 3640 3467 0 0 0 0 0 0 28.83 14.81 28.83
629 -0.91 -194.6 2380 3788 3640 3467 147.8 -21.4 49 634 0.00 2.15 0.00 0.000 1030 0.000 0.040 2380 2381 3553 3640 3467 0 0 0 0 0 0 28.83 14.88 28.83
951 -0.91 -194.6 2380 2376 3640 3467 211.4 -18.8 65 956 0.00 2.15 0.00 0.000 516 0.000 0.047 2380 996 3553 3640 3467 0 0 0 0 0 0 28.83 14.91 28.83
1068 -0.91 -194.6 2380 994 3640 3468 229.3 -17.2 70 1075 0.12 2.28 0.00 0.000 3078 0.268 0.061 2401 2406 3554 3640 3468 0 0 0 0 0 0 14.78 14.90 28.83
1373 -0.91 -194.6 2401 2406 3640 3467 280.0 -15.7 86 1378 0.00 2.25 0.00 0.000 260 0.000 0.088 2392 3780 3553 3640 3467 0 0 0 0 0 0 28.83 14.87 28.83
1505 -0.91 -194.6 2393 3781 3641 3467 300.1 -15.8 92 1510 0.00 2.10 0.00 0.000 1030 0.000 0.039 2393 2389 3553 3640 3467 0 0 0 0 0 0 28.83 14.97 28.83
1817 -0.91 -194.6 2393 2385 3640 3465 353.3 -15.9 108 1823 0.00 2.12 0.00 0.000 516 0.000 0.050 2393 1017 3552 3641 3464 0 0 0 0 0 0 28.83 14.95 28.83
1849 -0.91 -194.6 2393 1016 3640 3464 356.7 -15.3 109 1854 0.00 2.22 0.00 0.000 1030 0.000 0.063 2383 2401 3552 3640 3464 0 0 0 0 0 0 28.83 14.94 28.83
2161 -0.91 -194.6 2383 2401 3640 3462 404.5 -15.3 125 2166 0.00 2.25 0.00 0.000 260 0.000 0.090 2373 3777 3551 3640 3462 0 0 0 0 0 0 28.83 14.92 28.83
2223 -0.91 -194.6 2373 3777 3640 3461 414.2 -15.5 128 2229 0.12 2.10 0.00 0.000 3078 0.269 0.041 2401 2398 3551 3641 3461 0 0 0 0 0 0 14.83 15.00 28.83
2546 -0.91 -194.6 2401 2394 3640 3457 457.3 -13.1 144 2551 0.00 2.30 0.00 0.000 260 0.000 0.093 2393 3784 3548 3640 3457 0 0 0 0 0 0 28.83 14.91 28.83
2571 -0.91 -194.6 1544 3784 3636 3454 460.4 -13.3 145 2577 0.00 2.10 0.00 0.000 1030 0.000 0.041 2393 2404 3548 3640 3457 0 0 0 0 0 0 28.83 15.00 28.83
2889 -0.91 -194.6 2392 2398 3640 3455 506.1 -14.4 161 2890 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2398 3547 3640 3455 0 0 0 0 0 0 28.83 28.83 28.83
3189 -0.91 -194.6 2392 2398 3639 3451 547.4 -13.7 176 3195 0.00 2.30 0.00 0.000 260 0.000 0.094 2383 3786 3545 3640 3450 0 0 0 0 0 0 28.83 14.93 28.83
3232 -0.91 -194.6 2383 3787 3639 3451 553.8 -14.4 178 3238 0.00 2.12 0.00 0.000 1030 0.000 0.044 2383 2398 3544 3639 3450 0 0 0 0 0 0 28.83 15.02 28.83
3555 -0.91 -194.6 2383 2395 3638 3447 598.8 -13.5 194 3560 0.00 2.17 0.00 0.000 516 0.000 0.055 2383 1011 3542 3638 3447 0 0 0 0 0 0 28.83 14.98 28.83
3621 -0.91 -194.6 1536 1011 3633 3444 607.2 -13.5 197 3628 0.12 2.28 0.00 0.000 3078 0.270 0.065 2401 2405 3542 3638 3447 0 0 0 0 0 0 14.84 14.96 28.83
3951 -0.91 -194.6 2401 2405 3635 3444 648.3 -12.1 208 3956 0.00 2.28 0.00 0.000 260 0.000 0.096 2393 3783 3539 3635 3444 0 0 0 0 0 0 28.83 14.93 28.83
4043 -0.91 -194.6 2393 3783 3633 3444 660.2 -12.7 211 4049 0.00 2.12 0.00 0.000 1030 0.000 0.046 2393 2404 3538 3634 3443 0 0 0 0 0 0 28.83 15.01 28.83
4377 -0.91 -194.6 2393 2399 3633 3441 700.0 -11.8 222 4382 0.00 2.20 0.00 0.000 516 0.000 0.057 2393 1007 3537 3633 3441 0 0 0 0 0 0 28.83 14.96 28.83
4403 -0.91 -194.6 2393 1007 3633 3440 700.0 -11.8 222 4409 0.00 2.28 0.00 0.000 1030 0.000 0.067 2383 2407 3537 3633 3441 0 0 0 0 0 0 28.83 14.96 28.83
4709 -0.91 -194.6 2384 2407 3631 3439 743.0 -13.4 233 4714 0.00 2.22 0.00 0.000 516 0.000 0.057 2383 1008 3535 3631 3439 0 0 0 0 0 0 28.83 14.98 28.83
4741 -0.91 -194.6 2383 1008 3631 3439 747.4 -13.5 234 4747 0.12 2.28 0.00 0.000 3078 0.273 0.069 2402 2400 3534 3630 3439 0 0 0 0 0 0 14.84 14.96 28.83
5075 -0.91 -194.6 2402 2399 3628 3437 782.7 -10.6 245 5080 0.00 2.30 0.00 0.000 260 0.000 0.100 2394 3781 3532 3628 3437 0 0 0 0 0 0 28.83 14.92 28.83
5107 -0.91 -194.6 2393 3782 3627 3437 786.3 -10.6 246 5113 0.00 2.15 0.00 0.000 1030 0.000 0.050 2393 2398 3532 3627 3437 0 0 0 0 0 0 28.83 15.00 28.83
5441 -0.91 -194.6 2394 2394 3626 3435 824.1 -11.6 257 5446 0.00 2.33 0.00 0.000 260 0.000 0.099 2383 3781 3530 3626 3435 0 0 0 0 0 0 28.83 14.92 28.83
5467 -0.91 -194.6 2383 3781 3625 3435 824.1 -11.6 257 5474 0.00 2.15 0.00 0.000 1030 0.000 0.050 2383 2391 3529 3624 3435 0 0 0 0 0 0 28.83 15.00 28.83
5774 -0.91 -194.6 2383 2389 3624 3433 865.9 -12.3 268 5779 0.00 2.33 0.00 0.000 260 0.000 0.100 2373 3776 3528 3624 3433 0 0 0 0 0 0 28.83 14.91 28.83
5805 end dive: TARGET_DEPTH_EXCEEDED
state 5805 begin apogee
5810 -0.25 0.0 2373 2370 3623 3433 869.7 -11.9 269 6006 0.82 0.00 188.82 1.630 10246 0.226 0.000 2614 2367 2750 2782 2719 0 0 0 0 0 0 14.80 28.83 13.51
6008 end apogee: CONTROL_FINISHED_OK
state 6008 begin climb
6009 0.91 194.6 2614 2367 2779 2717 871.9 0.0 275 6216 1.15 2.58 194.12 1.586 10500 0.119 0.094 2988 3778 1954 1982 1926 0 0 0 0 0 0 14.14 14.04 13.48
6229 0.91 194.6 2988 3778 1980 1921 833.6 21.3 283 6234 0.00 2.33 0.00 0.000 1030 0.000 0.044 2999 2362 1950 1980 1920 0 0 0 0 0 0 28.83 14.24 28.83
6562 0.91 194.6 2999 2353 1980 1903 765.5 20.9 294 6567 0.00 2.45 0.00 0.000 260 0.000 0.095 2999 3785 1941 1980 1903 0 0 0 0 0 0 28.83 14.64 28.83
6598 0.91 194.6 2080 3784 1944 1894 758.2 21.3 295 6604 0.00 2.25 0.00 0.000 1030 0.000 0.044 3009 2359 1941 1980 1903 0 0 0 0 0 0 28.83 14.71 28.83
6926 0.91 194.6 3010 2355 1980 1899 681.7 23.1 306 6927 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 2355 1939 1980 1899 0 0 0 0 0 0 28.83 28.83 28.83
7226 0.91 194.6 3009 2358 1980 1896 612.7 22.6 316 7232 0.00 2.42 0.00 0.000 260 0.000 0.096 3005 3783 1938 1981 1896 0 0 0 0 0 0 28.83 14.81 28.83
7299 0.91 194.6 3010 3783 1981 1896 597.5 23.7 318 7304 0.00 2.20 0.00 0.000 1030 0.000 0.044 3020 2370 1938 1980 1896 0 0 0 0 0 0 28.83 14.88 28.83
7611 0.91 194.6 3020 2366 1979 1891 529.1 21.2 334 7617 0.00 2.40 0.00 0.000 260 0.000 0.096 3020 3775 1935 1980 1891 0 0 0 0 0 0 28.83 14.83 28.83
7654 0.91 194.6 3020 3776 1980 1895 519.3 21.9 336 7661 0.17 2.20 0.00 0.000 5126 0.321 0.044 2994 2361 1937 1980 1895 0 0 0 0 0 0 14.70 14.91 28.83
7978 0.91 194.6 2994 2357 1980 1894 454.2 20.9 352 7979 0.00 0.00 0.00 0.000 6 0.000 0.000 2994 2357 1937 1980 1894 0 0 0 0 0 0 28.83 28.83 28.83
8278 0.91 194.6 2994 2357 1980 1893 392.7 19.7 367 8283 0.00 2.40 0.00 0.000 260 0.000 0.093 2994 3784 1936 1980 1893 0 0 0 0 0 0 28.83 14.85 28.83
8401 0.91 194.6 2994 3784 1980 1893 367.3 20.2 373 8406 0.00 2.20 0.00 0.000 1030 0.000 0.044 3002 2369 1937 1980 1895 0 0 0 0 0 0 28.83 14.94 28.83
8724 0.91 194.6 3002 2365 1980 1892 308.2 20.1 389 8729 0.00 2.20 0.00 0.000 516 0.000 0.057 3012 981 1936 1980 1892 0 0 0 0 0 0 28.83 14.92 28.83
8780 0.91 194.6 3013 981 1980 1892 300.4 19.0 391 8787 0.00 2.28 0.00 0.000 1030 0.000 0.061 3012 2387 1936 1980 1892 0 0 0 0 0 0 28.83 14.89 28.83
9086 0.91 194.6 3012 2386 1980 1891 239.9 18.4 407 9092 0.00 2.33 0.00 0.000 260 0.000 0.093 3012 3783 1935 1980 1891 0 0 0 0 0 0 28.83 14.88 28.83
9153 0.91 194.6 3012 3782 1980 1891 226.9 20.3 410 9158 0.00 2.17 0.00 0.000 1030 0.000 0.043 3022 2373 1939 1980 1898 0 0 0 0 0 0 28.83 14.97 28.83
9470 0.91 194.6 3023 2369 1980 1891 165.7 18.3 426 9476 0.12 2.20 0.00 0.000 4612 0.321 0.051 3001 975 1935 1980 1891 0 0 0 0 0 0 14.72 14.92 28.83
9553 0.91 194.6 3001 975 1980 1891 152.6 15.8 430 9558 0.00 2.28 0.00 0.000 1030 0.000 0.060 3001 2384 1935 1980 1891 0 0 0 0 0 0 28.83 14.89 28.83
9875 0.91 194.6 3001 2384 1980 1891 100.9 14.7 446 9880 0.00 2.33 0.00 0.000 260 0.000 0.092 3001 3784 1935 1979 1891 0 0 0 0 0 0 28.83 14.88 28.83
10086 0.91 194.6 3001 3784 1980 1891 71.6 13.9 456 10092 0.00 2.17 0.00 0.000 1030 0.000 0.041 3011 2361 1935 1980 1891 0 0 0 0 0 0 28.83 14.94 28.83
10399 0.95 238.6 3011 2356 1980 1891 41.3 8.5 477 10421 0.00 0.00 18.38 0.264 8710 0.000 0.000 3012 2356 1780 1820 1741 0 0 0 0 0 0 28.83 28.83 14.71
10720 1.06 347.2 3011 2356 1830 1753 12.7 6.2 524 10780 0.00 2.38 51.35 0.182 8452 0.000 0.088 3011 3774 1335 1376 1294 0 0 0 0 0 0 28.83 14.79 14.73
10797 1.07 351.1 3012 3775 1376 1295 6.2 9.9 537 10806 0.00 2.15 2.03 0.204 9222 0.000 0.041 3022 2377 1318 1363 1274 0 0 0 0 0 0 28.83 14.84 14.70
10827 end climb: SURFACE_DEPTH_REACHED
state 10827 begin surface coast
10849 end surface coast: CONTROL_FINISHED_OK
state 10849 begin surface