OKMC 16May13 * SG181 * Dive index * Mission links * Dive 20 * 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  20 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  62 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  31 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  -95697.336 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  190513,082054,2151.356,12028.723,41,1.0,41,-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  0.04 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -69.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  190513,082730,2151.363,12028.684,12,1.1,17,-2.7 MHEAD_RNG_PITCHd_Wd  158.7,6627,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  683

Post-dive calculations and measurements:
FINISH  -0.4,1.021668 _10V_AH  13.7,0.000
SM_CCo  8311,85.80,0.149,0,0,915,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.11,7.55,0.00,85.80,0.055,0.000,0.149,232,2385,915,-7.62,-0.42,450.13,0,0,0,0,0,0,14.92,28.83,14.76 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2134.17,12026.40,190513,050550 MEM  323256
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  16763,467
HUMID  44.29 CAP_FILE_SIZE  106225,0
INTERNAL_PRESSURE  9.67811 CFSIZE  260034560,254140416
TCM_TEMP  24.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  2 CURRENT  0.065,346.7,1
SC_FREEKB  3930432 GPS  190513,104849,2150.559,12029.193,11,1.6,11,-2.7
_24V_AH  13.6,28.928

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20417115.32 nil000.00
Roll_motor8094103.37 nil000.00
VBD_pump_during_apogee38714307542.89 nil000.00
VBD_pump_during_surface85149174.07 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2411237.63 nil000.00
Iridium_during_connect3716082.31 SciCon83286703.69
Iridium_during_xfer173223525.43 nil000.00
Transponder_ping04202.86 nil000.00
GUMSTIX_24V000.00
GPS20205.76
TT8141310212.24
LPSleep53562160.71
TT8_Active5481082.35
TT8_Sampling140128555.56
TT8_CF8903544.43
TT8_Kalman000.00
Analog_circuits118416259.61
GPS_charging000.00
Compass1050697.03
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 17 begin dive
19 -0.91 -194.6 217 2387 917 919 0.0 0.0 0 112 0.00 0.00 -90.55 0.000 16386 0.000 0.000 217 2392 3202 3254 3151 0 0 0 0 0 0 28.83 28.83 28.83
114 -0.91 -194.6 216 2392 3254 3152 4.1 -13.9 16 135 10.23 2.25 -5.72 0.000 18948 0.418 0.071 2395 1008 3549 3634 3465 0 0 0 0 0 0 14.50 14.75 14.94
357 -0.91 -194.6 2398 1007 3637 3464 81.6 -25.3 37 364 0.00 2.25 0.00 0.000 1030 0.000 0.060 2390 2396 3552 3637 3467 0 0 0 0 0 0 28.83 14.80 28.83
663 -0.91 -194.6 2390 2397 3640 3468 149.5 -21.2 53 668 0.00 2.25 0.00 0.000 260 0.000 0.083 2379 3780 3553 3639 3468 0 0 0 0 0 0 28.83 14.86 28.83
694 -0.91 -194.6 2379 3780 3640 3469 155.0 -22.2 54 699 0.00 2.10 0.00 0.000 1030 0.000 0.037 2375 2397 3552 3640 3465 0 0 0 0 0 0 28.83 14.90 28.83
1006 -0.91 -194.6 2379 2391 3641 3469 226.2 -19.8 70 1012 0.00 2.15 0.00 0.000 516 0.000 0.044 2378 999 3554 3640 3469 0 0 0 0 0 0 28.83 14.93 28.83
1053 -0.91 -194.6 2379 998 3640 3469 234.3 -19.2 72 1059 0.15 2.25 0.00 0.000 3078 0.269 0.060 2404 2402 3554 3640 3469 0 0 0 0 0 0 14.78 14.90 28.83
1371 -0.91 -194.6 2404 2402 3640 3469 287.2 -16.0 88 1376 0.00 2.17 0.00 0.000 516 0.000 0.046 2404 1004 3555 3640 3470 0 0 0 0 0 0 28.83 14.97 28.83
1413 -0.91 -194.6 2404 1004 3640 3468 293.8 -16.0 90 1418 0.00 2.25 0.00 0.000 1030 0.000 0.060 2397 2410 3557 3640 3475 0 0 0 0 0 0 28.83 14.92 28.83
1735 -0.91 -194.6 2397 2410 3640 3466 338.5 -13.0 106 1736 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 2411 3553 3640 3467 0 0 0 0 0 0 28.83 28.83 28.83
2036 -0.91 -194.6 2403 2411 3640 3463 383.3 -15.7 121 2041 0.00 2.22 0.00 0.000 260 0.000 0.088 2386 3776 3551 3640 3463 0 0 0 0 0 0 28.83 14.95 28.83
2119 -0.91 -194.6 2387 3777 3640 3462 397.3 -16.9 125 2124 0.00 2.10 0.00 0.000 1030 0.000 0.041 2386 2383 3551 3640 3462 0 0 0 0 0 0 28.83 15.02 28.83
2441 -0.91 -194.6 2386 2378 3637 3458 446.4 -15.2 141 2447 0.00 2.12 0.00 0.000 516 0.000 0.051 2386 1012 3548 3640 3457 0 0 0 0 0 0 28.83 15.00 28.83
2478 -0.91 -194.6 2386 1011 3639 3457 450.0 -15.3 142 2485 0.12 2.25 0.00 0.000 3078 0.273 0.063 2405 2408 3548 3640 3457 0 0 0 0 0 0 14.87 14.97 28.83
2784 -0.91 -194.6 2405 2408 3641 3453 494.5 -13.9 158 2785 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 2408 3546 3640 3453 0 0 0 0 0 0 28.83 28.83 28.83
3084 -0.91 -194.6 2405 2408 3638 3450 538.9 -14.1 173 3090 0.00 2.25 0.00 0.000 260 0.000 0.093 2397 3780 3544 3638 3450 0 0 0 0 0 0 28.83 14.96 28.83
3187 -0.91 -194.6 2397 3780 3637 3450 554.0 -14.7 178 3192 0.00 2.10 0.00 0.000 1030 0.000 0.044 2397 2398 3543 3636 3450 0 0 0 0 0 0 28.83 15.03 28.83
3509 -0.91 -194.6 2397 2392 3636 3446 598.7 -13.5 194 3514 0.00 2.17 0.00 0.000 516 0.000 0.054 2399 1005 3541 3636 3446 0 0 0 0 0 0 28.83 15.00 28.83
3555 -0.91 -194.6 2397 1005 3635 3446 603.0 -13.6 196 3561 0.00 2.25 0.00 0.000 1030 0.000 0.063 2388 2399 3541 3636 3446 0 0 0 0 0 0 28.83 14.98 28.83
3873 -0.91 -194.6 2388 2400 3633 3443 647.3 -13.4 207 3878 0.00 2.28 0.00 0.000 260 0.000 0.095 2378 3778 3538 3634 3443 0 0 0 0 0 0 28.83 14.95 28.83
3899 -0.91 -194.6 2378 3778 3633 3443 647.3 -13.4 207 3907 0.00 2.10 0.00 0.000 1030 0.000 0.046 2378 2404 3538 3633 3443 0 0 0 0 0 0 28.83 15.02 28.83
4174 end dive: TARGET_DEPTH_EXCEEDED
state 4174 begin apogee
4177 -0.25 0.0 2378 2401 3632 3440 686.6 -13.0 217 4365 0.80 0.00 179.95 1.431 10246 0.227 0.000 2612 2401 2750 2783 2718 0 0 0 0 0 0 14.86 28.83 13.69
4366 end apogee: CONTROL_FINISHED_OK
state 4366 begin climb
4368 0.91 194.6 2612 2401 2781 2716 689.4 0.0 223 4560 1.15 2.42 180.82 1.407 10756 0.125 0.055 2997 988 1954 1984 1924 0 0 0 0 0 0 14.24 14.18 13.64
4571 0.91 194.6 2997 988 1983 1918 661.0 17.6 230 4577 0.00 2.35 0.00 0.000 1030 0.000 0.060 2997 2376 1949 1983 1916 0 0 0 0 0 0 28.83 14.28 28.83
4880 0.91 194.6 2997 2376 1983 1903 591.2 22.3 241 4885 0.00 2.38 0.00 0.000 260 0.000 0.091 2997 3784 1943 1983 1903 0 0 0 0 0 0 28.83 14.67 28.83
4931 0.91 194.6 2997 3784 1983 1902 581.4 22.3 243 4937 0.00 2.20 0.00 0.000 1030 0.000 0.041 3007 2373 1942 1983 1902 0 0 0 0 0 0 28.83 14.76 28.83
5243 0.91 194.6 3008 2368 1983 1898 513.3 21.2 259 5245 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2368 1940 1983 1898 0 0 0 0 0 0 28.83 28.83 28.83
5545 0.91 194.6 3008 2367 1983 1896 448.7 21.5 274 5550 0.00 2.38 0.00 0.000 260 0.000 0.091 3008 3784 1939 1983 1896 0 0 0 0 0 0 28.83 14.84 28.83
5621 0.91 194.6 3008 3784 1983 1896 434.2 22.4 277 5629 0.00 2.17 0.00 0.000 1030 0.000 0.041 3018 2374 1939 1983 1896 0 0 0 0 0 0 28.83 14.92 28.83
5927 0.91 194.6 3018 2369 1983 1894 364.0 21.2 293 5933 0.00 2.20 0.00 0.000 516 0.000 0.053 3028 982 1938 1983 1894 0 0 0 0 0 0 28.83 14.92 28.83
5939 0.91 194.6 3028 982 1983 1894 364.0 21.2 293 5945 0.15 2.25 0.00 0.000 5126 0.285 0.059 2996 2379 1939 1984 1894 0 0 0 0 0 0 14.76 14.90 28.83
6252 0.91 194.6 2996 2379 1983 1892 298.7 22.2 309 6257 0.00 2.30 0.00 0.000 260 0.000 0.090 2996 3772 1937 1983 1892 0 0 0 0 0 0 28.83 14.90 28.83
6348 0.91 194.6 2996 3772 1983 1891 279.8 23.1 313 6355 0.00 2.15 0.00 0.000 1030 0.000 0.042 3003 2376 1937 1983 1892 0 0 0 0 0 0 28.83 14.96 28.83
6654 0.91 194.6 3004 2372 1983 1890 213.6 19.8 329 6659 0.00 2.20 0.00 0.000 516 0.000 0.054 3014 982 1936 1983 1890 0 0 0 0 0 0 28.83 14.95 28.83
6696 0.91 194.6 3014 982 1983 1890 205.7 19.2 331 6701 0.00 2.25 0.00 0.000 1030 0.000 0.061 3014 2373 1936 1983 1890 0 0 0 0 0 0 28.83 14.92 28.83
7019 0.91 194.6 3014 2371 1983 1890 148.0 16.5 347 7020 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 2373 1936 1983 1889 0 0 0 0 0 0 28.83 28.83 28.83
7319 0.91 194.6 3014 2373 1983 1888 98.4 16.1 362 7325 0.00 2.33 0.00 0.000 260 0.000 0.087 3014 3783 1936 1983 1889 0 0 0 0 0 0 28.83 14.90 28.83
7346 0.91 194.6 3013 3782 1983 1889 95.1 15.1 363 7352 0.15 2.15 0.00 0.000 5126 0.308 0.040 2993 2366 1935 1983 1888 0 0 0 0 0 0 14.76 14.95 28.83
7665 0.91 194.6 2992 2362 1983 1888 58.3 11.3 379 7670 0.00 2.35 0.00 0.000 260 0.000 0.086 2993 3785 1935 1983 1888 0 0 0 0 0 0 28.83 14.89 28.83
7716 0.91 194.6 2993 3785 1983 1888 53.4 10.8 381 7721 0.00 2.15 0.00 0.000 1030 0.000 0.040 3001 2370 1935 1983 1888 0 0 0 0 0 0 28.83 14.97 28.83
8023 0.92 202.2 2048 2364 1945 1879 19.9 9.7 415 8031 0.00 2.15 0.00 0.000 516 0.000 0.050 3010 989 1935 1984 1887 0 0 0 0 0 0 28.83 14.94 28.83
8098 0.97 257.3 2048 989 1944 1879 13.2 8.1 429 8134 0.00 2.22 26.92 0.187 9222 0.000 0.055 3010 2385 1701 1741 1661 0 0 0 0 0 0 28.83 14.92 14.76
8260 end climb: SURFACE_DEPTH_REACHED
state 8260 begin surface coast
8297 end surface coast: CONTROL_FINISHED_OK
state 8297 begin surface