OKMC 16May13 * SG181 * Dive index * Mission links * Dive 21 * 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  21 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  33 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  -95698.586 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  190513,104849,2150.559,12029.193,11,1.6,11,-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  -69.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  190513,105507,2150.535,12029.194,10,2.0,10,-2.7 MHEAD_RNG_PITCHd_Wd  167.0,4896,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  715

Post-dive calculations and measurements:
FINISH  -0.0,1.021657 _10V_AH  13.7,0.000
SM_CCo  8559,39.70,0.151,0,0,917,450.13 FG_AHR_24Vo  0.000
SM_GC  0.07,7.53,2.20,39.70,0.046,0.040,0.151,233,2392,917,-7.63,1.58,450.13,0,0,0,0,0,0,14.85,14.90,14.75 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2148.09,12024.75,190513,080811 MEM  323248
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  16787,470
HUMID  45.82 CAP_FILE_SIZE  106042,0
INTERNAL_PRESSURE  9.66834 CFSIZE  260034560,254058496
TCM_TEMP  24.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  7 CURRENT  0.039, 61.7,1
SC_FREEKB  3930048 GPS  190513,132006,2149.239,12029.779,30,1.2,30,-2.7
_24V_AH  13.6,29.139

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20418115.24 nil000.00
Roll_motor80112122.54 nil000.00
VBD_pump_during_apogee43214788704.01 nil000.00
VBD_pump_during_surface3915081.37 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2911245.29 nil000.00
Iridium_during_connect1716037.42 SciCon85756705.55
Iridium_during_xfer175223531.77 nil000.00
Transponder_ping142010.00 nil000.00
GUMSTIX_24V000.00
GPS13203.86
TT8137310206.20
LPSleep56392169.19
TT8_Active5371080.73
TT8_Sampling135228536.10
TT8_CF8903544.22
TT8_Kalman000.00
Analog_circuits116716256.00
GPS_charging000.00
Compass1017693.96
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
18 -0.91 -194.6 217 2390 918 920 0.0 0.0 0 108 0.00 0.00 -86.60 0.000 16386 0.000 0.000 213 2391 3090 3141 3040 0 0 0 0 0 0 28.83 28.83 28.83
110 -0.91 -194.6 213 2391 3142 3040 3.4 -11.3 15 136 10.25 2.33 -7.88 0.000 18692 0.418 0.112 2389 3779 3550 3640 3461 0 0 0 0 0 0 14.50 14.73 14.95
227 -0.91 -194.6 1536 3778 3636 3461 48.8 -33.1 30 235 0.00 2.10 0.00 0.000 1030 0.000 0.037 2389 2405 3551 3640 3463 0 0 0 0 0 0 28.83 14.82 28.83
533 -0.91 -194.6 2389 2401 3640 3466 129.0 -21.0 46 539 0.00 2.17 0.00 0.000 516 0.000 0.044 2389 999 3553 3640 3466 0 0 0 0 0 0 28.83 14.85 28.83
585 -0.91 -194.6 2390 997 3640 3465 138.4 -21.7 48 591 0.00 2.28 0.00 0.000 1030 0.000 0.066 2379 2398 3553 3640 3467 0 0 0 0 0 0 28.83 14.90 28.83
897 -0.91 -194.6 2379 2400 3641 3468 207.3 -21.6 64 903 0.00 2.20 0.00 0.000 516 0.000 0.047 2379 1001 3555 3641 3470 0 0 0 0 0 0 28.83 14.92 28.83
923 -0.91 -194.6 1536 1001 3637 3466 212.2 -21.7 65 930 0.15 2.25 0.00 0.000 3078 0.282 0.059 2403 2399 3554 3640 3468 0 0 0 0 0 0 14.78 14.92 28.83
1242 -0.91 -194.6 2403 2399 3640 3469 269.3 -17.9 81 1247 0.00 2.22 0.00 0.000 260 0.000 0.083 2395 3778 3555 3641 3469 0 0 0 0 0 0 28.83 14.92 28.83
1278 -0.91 -194.6 2395 3778 3641 3468 273.1 -17.3 82 1285 0.00 2.10 0.00 0.000 1030 0.000 0.037 2395 2378 3554 3641 3468 0 0 0 0 0 0 28.83 14.97 28.83
1584 -0.91 -194.6 2395 2373 3638 3468 324.6 -14.5 98 1589 0.00 2.10 0.00 0.000 516 0.000 0.048 2395 1015 3554 3640 3468 0 0 0 0 0 0 28.83 14.97 28.83
1615 -0.91 -194.6 2395 1014 3640 3467 327.9 -14.3 99 1621 0.00 2.22 0.00 0.000 1030 0.000 0.061 2385 2404 3554 3641 3467 0 0 0 0 0 0 28.83 14.94 28.83
1927 -0.91 -194.6 2385 2404 3640 3464 380.7 -17.7 115 1933 0.00 2.22 0.00 0.000 260 0.000 0.086 2375 3774 3552 3641 3463 0 0 0 0 0 0 28.83 14.95 28.83
1954 -0.91 -194.6 1512 3774 3636 3460 385.0 -18.4 116 1960 0.12 2.08 0.00 0.000 3078 0.272 0.039 2402 2401 3552 3641 3463 0 0 0 0 0 0 14.85 15.01 28.83
2272 -0.91 -194.6 2402 2396 3641 3460 433.5 -14.8 132 2273 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2395 3550 3640 3460 0 0 0 0 0 0 28.83 28.83 28.83
2573 -0.91 -194.6 2402 2395 3641 3456 478.8 -15.4 147 2578 0.00 2.28 0.00 0.000 260 0.000 0.091 2394 3776 3548 3641 3456 0 0 0 0 0 0 28.83 14.95 28.83
2619 -0.91 -194.6 2394 3775 3640 3455 485.8 -16.1 149 2624 0.00 2.10 0.00 0.000 1030 0.000 0.041 2394 2389 3546 3640 3452 0 0 0 0 0 0 28.83 15.04 28.83
2936 -0.91 -194.6 2394 2383 3642 3451 535.3 -15.2 165 2942 0.00 2.30 0.00 0.000 260 0.000 0.090 2384 3782 3546 3641 3451 0 0 0 0 0 0 28.83 14.96 28.83
3009 -0.91 -194.6 2384 3782 3640 3451 545.4 -15.8 168 3014 0.00 2.10 0.00 0.000 1030 0.000 0.042 2384 2399 3545 3640 3451 0 0 0 0 0 0 28.83 15.04 28.83
3321 -0.91 -194.6 2384 2394 3637 3448 591.6 -13.2 184 3327 0.00 2.17 0.00 0.000 516 0.000 0.053 2383 1004 3542 3637 3448 0 0 0 0 0 0 28.83 15.00 28.83
3368 -0.91 -194.6 2384 1004 3637 3448 597.1 -12.9 186 3374 0.12 2.25 0.00 0.000 3078 0.275 0.063 2399 2399 3542 3637 3448 0 0 0 0 0 0 14.86 14.98 28.83
3677 -0.91 -194.6 2402 2399 3637 3444 634.8 -12.0 197 3678 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2400 3540 3637 3444 0 0 0 0 0 0 28.83 28.83 28.83
3976 -0.91 -194.6 2402 2399 3634 3442 672.5 -12.3 207 3982 0.00 2.28 0.00 0.000 260 0.000 0.096 2394 3779 3538 3634 3442 0 0 0 0 0 0 28.83 14.96 28.83
4058 -0.91 -194.6 2394 3778 3633 3442 681.0 -12.9 209 4064 0.00 2.10 0.00 0.000 1030 0.000 0.045 2394 2398 3537 3633 3442 0 0 0 0 0 0 28.83 15.04 28.83
4309 end dive: TARGET_DEPTH_EXCEEDED
state 4310 begin apogee
4313 -0.25 0.0 2394 2395 3632 3440 718.9 -13.8 218 4500 0.73 0.00 178.62 1.479 10246 0.221 0.000 2609 2395 2750 2782 2718 0 0 0 0 0 0 14.85 28.83 13.66
4502 end apogee: CONTROL_FINISHED_OK
state 4502 begin climb
4504 0.91 194.6 2609 2395 2781 2717 725.9 0.0 224 4696 1.17 2.45 182.12 1.447 10500 0.127 0.089 2989 3782 1955 1985 1925 0 0 0 0 0 0 14.23 14.14 13.62
4707 0.91 194.6 2989 3783 1983 1921 700.6 16.7 231 4713 0.00 2.25 0.00 0.000 1030 0.000 0.041 2999 2380 1950 1983 1918 0 0 0 0 0 0 28.83 14.30 28.83
5036 0.91 194.6 3000 2376 1984 1902 625.6 21.8 242 5041 0.00 2.38 0.00 0.000 260 0.000 0.090 3000 3775 1942 1982 1902 0 0 0 0 0 0 28.83 14.69 28.83
5077 0.91 194.6 3000 3775 1983 1902 617.8 22.2 243 5082 0.00 2.17 0.00 0.000 1030 0.000 0.042 3010 2383 1942 1983 1902 0 0 0 0 0 0 28.83 14.77 28.83
5400 0.91 194.6 3011 2379 1983 1898 541.9 21.7 258 5401 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2379 1940 1982 1898 0 0 0 0 0 0 28.83 28.83 28.83
5700 0.91 194.6 3011 2379 1982 1896 474.7 24.3 273 5706 0.00 2.35 0.00 0.000 260 0.000 0.090 3011 3780 1939 1983 1896 0 0 0 0 0 0 28.83 14.85 28.83
5757 0.91 194.6 3011 3779 1982 1896 463.6 24.7 275 5764 0.00 2.17 0.00 0.000 1030 0.000 0.042 3021 2370 1939 1983 1896 0 0 0 0 0 0 28.83 14.92 28.83
6063 0.91 194.6 3022 2366 1982 1894 391.8 22.1 291 6064 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2366 1937 1982 1892 0 0 0 0 0 0 28.83 28.83 28.83
6364 0.91 194.6 3022 2366 1983 1899 322.8 22.9 306 6365 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2366 1937 1982 1893 0 0 0 0 0 0 28.83 28.83 28.83
6665 0.91 194.6 3022 2366 1982 1891 259.0 19.7 321 6670 0.00 2.35 0.00 0.000 260 0.000 0.090 3021 3775 1936 1982 1891 0 0 0 0 0 0 28.83 14.90 28.83
6737 0.91 194.6 3022 3775 1982 1892 244.8 22.0 324 6743 0.17 2.15 0.00 0.000 5126 0.312 0.042 2994 2372 1937 1983 1891 0 0 0 0 0 0 14.76 14.95 28.83
7050 0.91 194.6 2996 2367 1982 1890 189.4 16.5 340 7051 0.00 0.00 0.00 0.000 6 0.000 0.000 2994 2367 1936 1982 1890 0 0 0 0 0 0 28.83 28.83 28.83
7351 0.91 194.6 2994 2367 1982 1889 140.5 15.6 355 7356 0.00 2.20 0.00 0.000 516 0.000 0.051 3002 976 1937 1982 1893 0 0 0 0 0 0 28.83 14.95 28.83
7397 0.91 194.6 3002 975 1982 1889 134.2 15.4 357 7403 0.00 2.25 0.00 0.000 1030 0.000 0.057 3002 2379 1935 1982 1889 0 0 0 0 0 0 28.83 14.91 28.83
7715 0.91 194.6 3002 2379 1982 1889 87.4 12.9 373 7720 0.00 2.22 0.00 0.000 516 0.000 0.051 3012 984 1935 1982 1888 0 0 0 0 0 0 28.83 14.95 28.83
7761 0.91 194.6 3012 978 1982 1888 81.8 13.3 375 7767 0.00 2.25 0.00 0.000 1030 0.000 0.056 3011 2382 1935 1982 1888 0 0 0 0 0 0 28.83 14.93 28.83
8068 0.91 194.6 3012 2385 1982 1888 41.5 11.7 394 8075 0.00 2.25 0.00 0.000 516 0.000 0.050 3022 976 1935 1982 1888 0 0 0 0 0 0 28.83 14.94 28.83
8137 0.91 196.4 3022 975 1982 1888 35.1 9.9 400 8143 0.00 2.25 0.00 0.000 1030 0.000 0.056 3022 2378 1935 1982 1888 0 0 0 0 0 0 28.83 14.90 28.83
8442 1.07 359.7 3022 2381 1982 1888 8.1 4.3 453 8524 0.00 2.38 72.05 0.168 8452 0.000 0.084 3022 3784 1283 1322 1245 0 0 0 0 0 0 28.83 14.82 14.76
8531 end climb: SURFACE_DEPTH_REACHED
state 8531 begin surface coast
8542 end surface coast: CONTROL_FINISHED_OK
state 8542 begin surface