OKMC 16May13 * SG181 * Dive index * Mission links * Dive 205 * 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  205 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  67 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  650.78088 R_STBD_OVSHOOT  41 XPDR_VALID  2
D_BOOST  150 N_FILEKB  4 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  3093 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  0.0020000001 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  3 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  -9 T_GPS_CHARGE  -96001.203 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  48
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  225 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  24 PRESSURE_SLOPE  0.000109412 SEABIRD_C_G  -9.9046793
MASS_COMP  0 PITCH_TIMEOUT  17 AD7714Ch0Gain  1 SEABIRD_C_H  1.1251128
NAV_MODE  0 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  130613,052854,2331.914,12443.584,40,1.3,40,-3.4 TGT_NAME  N3
_CALLS  1 TGT_LATLONG  2130.000,12400.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.11 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  130613,053749,2332.042,12443.866,11,1.3,11,-3.4 MHEAD_RNG_PITCHd_Wd  201.9,238325,-13.4,-10.000,-16.52,3316
SPEED_LIMITS  0.173,0.337 D_GRID  3919

Post-dive calculations and measurements:
FINISH  -0.4,1.020945 _24V_AH  13.5,75.144
SM_CCo  11801,133.93,0.137,0,0,437,650.78 _10V_AH  13.6,0.000
SM_GC  0.12,7.72,0.17,133.93,0.048,0.103,0.137,236,2482,437,-7.61,-1.07,650.78,0,0,0,0,0,0,14.83,14.83,14.65 FG_AHR_24Vo  0.000
IRIDIUM_FIX  2316.83,12423.74,130613,020213 FG_AHR_10Vo  0.000
TT8_MAMPS  0.019474,0.019474 MEM  328360
HUMID  43.18 DATA_FILE_SIZE  20109,577
INTERNAL_PRESSURE  9.75623 CAP_FILE_SIZE  146613,0
TCM_TEMP  26.20 CFSIZE  260034560,237232128
XPDR_PINGS  1 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB  3856992 GPS  130613,085830,2330.774,12445.914,38,1.7,38,-3.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20374102.73 nil000.00
Roll_motor119108174.99 nil000.00
VBD_pump_during_apogee511168611634.70 nil000.00
VBD_pump_during_surface133136247.58 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2611239.58 nil000.00
Iridium_during_connect4116089.04 SciCon118366968.30
Iridium_during_xfer250223752.84 nil000.00
Transponder_ping04201.42 nil000.00
GUMSTIX_24V000.00
GPS14204.04
TT8177410264.57
LPSleep78472233.74
TT8_Active72710108.50
TT8_Sampling188728742.74
TT8_CF823535114.28
TT8_Kalman000.00
Analog_circuits160016348.18
GPS_charging000.00
Compass14436132.30
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 -1.00 -219.0 207 2466 461 433 0.0 0.0 0 122 0.00 0.00 -99.60 0.000 16386 0.000 0.000 206 2466 3008 3056 2960 0 0 0 0 0 0 28.83 28.83 28.83
126 -1.00 -219.0 206 2466 3056 2962 3.5 -11.6 18 157 9.65 2.28 -15.57 0.000 18948 0.375 0.060 2370 1051 3965 4006 3925 0 0 0 0 0 0 14.38 14.74 14.95
191 -1.00 -219.0 2370 1050 4004 3929 29.6 -31.6 28 196 0.00 2.28 0.00 0.000 1030 0.000 0.059 2362 2442 3966 4004 3929 0 0 0 0 0 0 28.83 14.73 28.83
514 -1.00 -219.0 2363 2444 4002 3930 137.4 -31.8 47 519 0.00 2.17 0.00 0.000 260 0.000 0.073 2353 3780 3967 4003 3931 0 0 0 0 0 0 28.83 14.76 28.83
627 -1.00 -219.0 2353 3781 4002 3932 169.7 -30.9 52 632 0.00 2.03 0.00 0.000 1030 0.000 0.031 2353 2428 3967 4003 3932 0 0 0 0 0 0 28.83 14.90 28.83
940 -1.00 -219.0 2352 2421 4002 3932 259.3 -25.2 68 945 0.00 2.22 0.00 0.000 260 0.000 0.070 2342 3785 3967 4003 3932 0 0 0 0 0 0 28.83 14.85 28.83
971 -1.00 -219.0 2342 3785 4003 3932 265.1 -25.5 69 977 0.15 2.00 0.00 0.000 3078 0.267 0.032 2376 2452 3968 4003 3933 0 0 0 0 0 0 14.68 14.94 28.83
1285 -1.00 -219.0 2376 2445 3999 3934 336.5 -22.2 85 1290 0.00 2.20 0.00 0.000 260 0.000 0.073 2368 3791 3966 3998 3934 0 0 0 0 0 0 28.83 14.87 28.83
1377 -1.00 -219.0 2369 3791 3999 3934 354.7 -21.9 89 1382 0.00 2.03 0.00 0.000 1030 0.000 0.032 2368 2436 3966 3999 3934 0 0 0 0 0 0 28.83 14.95 28.83
1689 -1.00 -219.0 2368 2429 3999 3931 424.6 -21.8 105 1695 0.00 2.22 0.00 0.000 260 0.000 0.073 2359 3786 3964 3998 3931 0 0 0 0 0 0 28.83 14.88 28.83
1726 -1.00 -219.0 2358 3786 3999 3930 429.2 -21.1 106 1733 0.00 2.00 0.00 0.000 1030 0.000 0.033 2358 2448 3964 3998 3930 0 0 0 0 0 0 28.83 14.96 28.83
2032 -1.00 -219.0 2358 2447 3998 3925 497.1 -20.9 122 2037 0.00 2.20 0.00 0.000 260 0.000 0.077 2349 3780 3962 3999 3925 0 0 0 0 0 0 28.83 14.88 28.83
2089 -1.00 -219.0 2348 3780 3999 3924 506.5 -21.7 124 2096 0.12 2.00 0.00 0.000 3078 0.275 0.034 2375 2441 3961 3998 3924 0 0 0 0 0 0 14.71 14.96 28.83
2395 -1.00 -219.0 2375 2438 3998 3917 567.6 -19.6 140 2400 0.00 2.22 0.00 0.000 260 0.000 0.080 2368 3782 3957 3999 3916 0 0 0 0 0 0 28.83 14.87 28.83
2441 -1.00 -219.0 2368 3783 3999 3915 576.4 -20.3 142 2447 0.00 2.00 0.00 0.000 1030 0.000 0.035 2368 2470 3956 3996 3916 0 0 0 0 0 0 28.83 14.97 28.83
2771 -1.00 -219.0 2364 2464 3999 3908 643.6 -20.4 155 2776 0.00 2.17 0.00 0.000 260 0.000 0.082 2358 3776 3953 3998 3908 0 0 0 0 0 0 28.83 14.87 28.83
2872 -1.00 -219.0 2359 3777 3999 3906 663.8 -21.3 158 2877 0.00 2.03 0.00 0.000 1030 0.000 0.035 2358 2452 3953 3999 3907 0 0 0 0 0 0 28.83 14.96 28.83
3196 -1.00 -219.0 2358 2446 3999 3899 732.3 -20.0 169 3198 0.00 0.00 0.00 0.000 6 0.000 0.000 2358 2446 3947 3997 3898 0 0 0 0 0 0 28.83 28.83 28.83
3495 -1.00 -219.0 2358 2445 3998 3892 788.4 -18.1 179 3500 0.00 2.22 0.00 0.000 260 0.000 0.085 2349 3776 3944 3998 3891 0 0 0 0 0 0 28.83 14.85 28.83
3552 -1.00 -219.0 2349 3775 3996 3891 794.4 -18.1 180 3559 0.12 2.05 0.00 0.000 3078 0.284 0.039 2375 2453 3943 3997 3890 0 0 0 0 0 0 14.66 14.95 28.83
3858 -1.00 -219.0 2375 2450 3996 3887 846.2 -15.0 191 3864 0.00 2.22 0.00 0.000 260 0.000 0.087 2368 3774 3941 3995 3887 0 0 0 0 0 0 28.83 14.83 28.83
3882 -1.00 -219.0 2368 3774 3995 3887 846.2 -15.0 191 3887 0.00 2.05 0.00 0.000 1030 0.000 0.041 2368 2448 3941 3995 3887 0 0 0 0 0 0 28.83 14.95 28.83
4194 -1.00 -219.0 2368 2441 3998 3883 901.7 -17.3 202 4200 0.00 2.25 0.00 0.000 260 0.000 0.090 2358 3780 3938 3994 3882 0 0 0 0 0 0 28.83 14.82 28.83
4251 -1.00 -219.0 2358 3779 3990 3882 907.5 -17.4 203 4258 0.00 2.08 0.00 0.000 1030 0.000 0.042 2358 2442 3936 3990 3882 0 0 0 0 0 0 28.83 14.93 28.83
4557 -1.00 -219.0 2358 2440 3988 3877 966.2 -18.0 214 4563 0.00 2.25 0.00 0.000 260 0.000 0.091 2348 3776 3932 3988 3877 0 0 0 0 0 0 28.83 14.81 28.83
4620 -1.00 -219.0 2349 3777 3987 3877 977.9 -18.2 216 4626 0.12 2.08 0.00 0.000 3078 0.282 0.043 2374 2452 3932 3987 3877 0 0 0 0 0 0 14.62 14.93 28.83
4711 end dive: TARGET_DEPTH_EXCEEDED
state 4712 begin apogee
4717 -0.21 0.0 2375 2324 3987 3876 993.4 -16.9 219 4937 0.82 0.00 213.35 1.681 10246 0.198 0.000 2624 2324 3092 3125 3059 0 0 0 0 0 0 14.65 28.83 13.59
4939 end apogee: CONTROL_FINISHED_OK
state 4940 begin climb
4942 1.00 219.0 2624 2324 3122 3053 1007.1 0.0 226 5172 1.12 2.33 220.93 1.686 10756 0.062 0.059 3039 973 2197 2223 2172 0 0 0 0 0 0 14.26 14.14 13.54
5375 1.00 219.0 2080 972 2177 2140 952.0 19.7 241 5380 0.00 2.33 0.00 0.000 1030 0.000 0.064 3039 2354 2185 2220 2150 0 0 0 0 0 0 28.83 14.57 28.83
5704 1.00 219.0 3038 2355 2220 2144 884.1 20.1 252 5705 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 2354 2182 2220 2144 0 0 0 0 0 0 28.83 28.83 28.83
6002 1.00 219.0 3039 2355 2220 2141 823.9 20.1 262 6008 0.00 2.25 0.00 0.000 516 0.000 0.054 3049 976 2180 2220 2141 0 0 0 0 0 0 28.83 14.82 28.83
6024 1.00 219.0 3049 975 2220 2141 823.9 20.1 262 6029 0.00 2.28 0.00 0.000 1030 0.000 0.063 3049 2354 2180 2220 2141 0 0 0 0 0 0 28.83 14.79 28.83
6337 1.00 219.0 3049 2354 2220 2137 757.8 19.5 273 6338 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 2354 2178 2220 2137 0 0 0 0 0 0 28.83 28.83 28.83
6637 1.00 219.0 3048 2355 2219 2136 697.8 20.2 283 6642 0.00 2.38 0.00 0.000 260 0.000 0.090 3049 3759 2177 2219 2136 0 0 0 0 0 0 28.83 14.81 28.83
6659 1.00 219.0 3048 3759 2219 2136 697.8 20.2 283 6665 0.17 2.17 0.00 0.000 5126 0.331 0.041 3022 2358 2177 2219 2136 0 0 0 0 0 0 14.58 14.90 28.83
6974 1.00 219.0 3022 2354 2219 2134 633.0 18.7 294 6979 0.00 2.25 0.00 0.000 516 0.000 0.053 3031 959 2176 2219 2134 0 0 0 0 0 0 28.83 14.85 28.83
7000 1.00 219.0 3031 957 2219 2134 633.0 18.7 294 7007 0.00 2.30 0.00 0.000 1030 0.000 0.060 3031 2363 2176 2218 2135 0 0 0 0 0 0 28.83 14.83 28.83
7318 1.00 219.0 3031 2362 2218 2132 568.5 18.7 308 7323 0.00 2.35 0.00 0.000 260 0.000 0.090 3031 3756 2175 2219 2132 0 0 0 0 0 0 28.83 14.81 28.83
7334 1.00 219.0 3031 3756 2218 2132 568.5 18.7 308 7341 0.00 2.20 0.00 0.000 1030 0.000 0.039 3041 2341 2175 2218 2132 0 0 0 0 0 0 28.83 14.91 28.83
7640 1.00 219.0 3041 2337 2218 2132 508.3 18.5 324 7646 0.00 2.22 0.00 0.000 516 0.000 0.052 3051 957 2175 2218 2132 0 0 0 0 0 0 28.83 14.86 28.83
7804 1.00 219.0 3052 956 2217 2131 479.7 17.1 332 7810 0.12 2.30 0.00 0.000 5126 0.321 0.057 3026 2350 2174 2217 2131 0 0 0 0 0 0 14.56 14.83 28.83
8127 1.00 219.0 3026 2350 2217 2130 424.5 17.1 348 8133 0.00 2.25 0.00 0.000 516 0.000 0.051 3034 955 2173 2217 2130 0 0 0 0 0 0 28.83 14.88 28.83
8231 1.00 219.0 3034 955 2216 2130 408.4 15.7 353 8236 0.00 2.28 0.00 0.000 1030 0.000 0.058 3034 2349 2173 2217 2130 0 0 0 0 0 0 28.83 14.82 28.83
8553 1.00 219.0 3034 2350 2216 2129 355.0 15.9 369 8558 0.00 2.38 0.00 0.000 260 0.000 0.087 3034 3758 2172 2216 2129 0 0 0 0 0 0 28.83 14.78 28.83
8710 1.00 219.0 3034 3759 2216 2130 333.8 15.7 376 8717 0.00 2.20 0.00 0.000 1030 0.000 0.038 3045 2340 2173 2216 2130 0 0 0 0 0 0 28.83 14.89 28.83
9017 1.00 219.0 3045 2334 2215 2129 292.0 12.5 392 9022 0.00 2.40 0.00 0.000 260 0.000 0.086 3045 3752 2172 2216 2129 0 0 0 0 0 0 28.83 14.78 28.83
9074 1.00 219.0 3045 3752 2216 2130 285.7 13.8 394 9081 0.15 2.17 0.00 0.000 5126 0.326 0.037 3025 2342 2172 2216 2129 0 0 0 0 0 0 14.52 14.90 28.83
9380 1.00 219.0 3025 2338 2215 2130 246.1 12.0 410 9381 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2338 2172 2215 2129 0 0 0 0 0 0 28.83 28.83 28.83
9681 1.00 219.0 3025 2338 2216 2130 213.4 10.1 425 9686 0.00 2.20 0.00 0.000 516 0.000 0.048 3033 960 2173 2216 2131 0 0 0 0 0 0 28.83 14.85 28.83
9784 1.00 219.0 3033 958 2216 2131 201.5 11.8 430 9789 0.00 2.25 0.00 0.000 1030 0.000 0.054 3033 2352 2173 2216 2131 0 0 0 0 0 0 28.83 14.82 28.83
10107 1.00 219.0 3033 2352 2215 2132 162.1 10.4 446 10112 0.00 2.33 0.00 0.000 260 0.000 0.081 3033 3753 2174 2216 2132 0 0 0 0 0 0 28.83 14.79 28.83
10119 1.00 219.0 3033 3753 2223 2133 162.1 10.4 446 10124 0.00 2.15 0.00 0.000 1030 0.000 0.035 3044 2341 2174 2216 2132 0 0 0 0 0 0 28.83 14.90 28.83
10432 1.13 287.5 3044 2337 2223 2134 133.8 7.9 462 10472 0.00 2.15 33.55 0.547 8708 0.000 0.044 3054 973 1923 1960 1887 0 0 0 0 0 0 28.83 14.81 14.42
10560 1.14 292.2 3054 973 1969 1896 122.8 9.9 468 10569 0.00 2.22 4.47 0.362 9222 0.000 0.051 3054 2349 1901 1940 1862 0 0 0 0 0 0 28.83 14.77 14.35
10878 1.14 292.2 3054 2349 1955 1878 88.3 10.2 484 10888 0.00 2.25 2.05 0.190 8708 0.000 0.045 3063 971 1904 1942 1867 0 0 0 0 0 0 28.83 14.80 14.60
10930 1.16 301.3 3064 971 1952 1874 84.2 9.7 486 10941 0.00 2.22 6.72 0.334 9222 0.000 0.050 3063 2352 1864 1905 1824 0 0 0 0 0 0 28.83 14.75 14.47
11242 1.18 309.2 3064 2352 1917 1839 53.2 9.8 502 11255 0.00 2.25 6.03 0.254 8708 0.000 0.044 3074 969 1836 1872 1800 0 0 0 0 0 0 28.83 14.78 14.52
11287 1.26 351.6 2120 968 1843 1799 49.6 8.7 504 11317 0.00 2.22 22.55 0.272 9222 0.000 0.049 3074 2357 1659 1701 1618 0 0 0 0 0 0 28.83 14.81 14.51
11620 1.26 351.6 3074 2357 1710 1628 15.6 10.3 546 11628 0.00 2.38 1.50 0.187 8452 0.000 0.078 3074 3758 1658 1702 1614 0 0 0 0 0 0 28.83 14.77 14.64
11646 1.26 351.6 2088 3757 1672 1615 12.9 10.8 550 11652 0.00 2.12 0.00 0.000 1030 0.000 0.033 3084 2348 1662 1703 1622 0 0 0 0 0 0 28.83 14.83 28.83
11748 end climb: SURFACE_DEPTH_REACHED
state 11748 begin surface coast
11784 end surface coast: CONTROL_FINISHED_OK
state 11784 begin surface