OKMC 16May13 * SG181 * Dive index * Mission links * Dive 22 * 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  22 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  59 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  29 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  -95699.836 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  190513,132006,2149.239,12029.779,30,1.2,30,-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  -71.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  190513,132643,2149.206,12029.768,10,1.3,10,-2.7 MHEAD_RNG_PITCHd_Wd  185.0,2270,-27.9,-10.000,-30.00,792
SPEED_LIMITS  0.173,0.321 D_GRID  874

Post-dive calculations and measurements:
FINISH  -0.7,1.021677 _10V_AH  13.7,0.000
SM_CCo  11227,100.88,0.147,0,0,917,450.13 FG_AHR_24Vo  0.000
SM_GC  0.07,8.05,2.35,100.88,0.047,0.060,0.147,224,2395,917,-7.63,-0.96,450.13,0,0,0,0,0,0,14.85,14.83,14.71 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2150.42,11928.55,190513,101014 MEM  323272
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  20072,591
HUMID  42.91 CAP_FILE_SIZE  137034,0
INTERNAL_PRESSURE  9.68787 CFSIZE  260034560,253939712
TCM_TEMP  24.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  2 CURRENT  0.035, 13.7,1
SC_FREEKB  3929664 GPS  190513,163724,2148.583,12029.773,41,1.0,41,-2.7
_24V_AH  13.6,29.291

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21417120.71 nil000.00
Roll_motor97102136.38 nil000.00
VBD_pump_during_apogee23015824971.94 nil000.00
VBD_pump_during_surface100146201.50 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2511239.61 nil000.00
Iridium_during_connect4316094.65 SciCon112325898.66
Iridium_during_xfer172223522.12 nil000.00
Transponder_ping04202.86 nil000.00
GUMSTIX_24V000.00
GPS13203.75
TT8204710307.37
LPSleep72532217.62
TT8_Active4721070.89
TT8_Sampling186028737.54
TT8_CF81103553.85
TT8_Kalman000.00
Analog_circuits127916280.53
GPS_charging000.00
Compass14996138.45
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 -1.45 -51.7 218 2377 919 919 0.0 0.0 0 108 0.00 0.00 -82.72 0.000 16390 0.000 0.000 216 2379 2964 3009 2919 0 0 0 0 0 0 28.83 28.83 14.97
110 -1.45 -51.7 215 2379 3009 2919 4.1 -14.0 15 125 9.45 2.35 0.00 0.000 2308 0.418 0.070 2220 3791 2965 3010 2921 0 0 0 0 0 0 14.50 14.73 28.83
200 -1.45 -51.7 1424 3790 2985 2915 39.8 -31.4 27 209 0.00 2.15 0.00 0.000 1030 0.000 0.039 2220 2397 2967 3012 2922 0 0 0 0 0 0 28.83 14.80 28.83
517 -1.45 -51.7 2220 2392 3016 2922 111.5 -19.1 45 522 0.00 2.17 0.00 0.000 516 0.000 0.046 2220 993 2969 3017 2922 0 0 0 0 0 0 28.83 14.88 28.83
563 -1.45 -51.7 1408 992 2990 2915 117.7 -16.3 47 568 0.00 2.25 0.00 0.000 1030 0.000 0.050 2211 2408 2970 3019 2921 0 0 0 0 0 0 28.83 14.87 28.83
880 -1.45 -51.7 2211 2408 3019 2922 172.2 -15.4 63 886 0.00 2.20 0.00 0.000 516 0.000 0.047 2211 997 2970 3019 2922 0 0 0 0 0 0 28.83 14.95 28.83
1112 -1.45 -51.7 2211 997 3020 2922 205.4 -14.1 74 1117 0.15 2.22 0.00 0.000 3078 0.337 0.050 2230 2409 2971 3020 2923 0 0 0 0 0 0 14.74 14.93 28.83
1424 -1.45 -51.7 2231 2409 3022 2922 250.6 -12.7 90 1425 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 2408 2971 3021 2922 0 0 0 0 0 0 28.83 28.83 28.83
1725 -1.45 -51.7 2231 2408 3022 2922 287.3 -10.6 105 1730 0.00 2.20 0.00 0.000 260 0.000 0.076 2222 3781 2972 3022 2922 0 0 0 0 0 0 28.83 14.95 28.83
1816 -1.45 -51.7 2222 3781 3021 2921 296.0 -10.5 109 1822 0.00 2.10 0.00 0.000 1030 0.000 0.037 2222 2386 2971 3021 2922 0 0 0 0 0 0 28.83 14.98 28.83
2128 -1.45 -51.7 2222 2381 3022 2919 328.8 -10.9 125 2134 0.00 2.12 0.00 0.000 516 0.000 0.047 2222 1004 2970 3022 2919 0 0 0 0 0 0 28.83 14.99 28.83
2146 -1.45 -51.7 2222 1003 3022 2919 328.8 -10.9 125 2153 0.00 2.20 0.00 0.000 1030 0.000 0.054 2213 2399 2970 3022 2918 0 0 0 0 0 0 28.83 14.98 28.83
2451 -1.45 -51.7 2212 2399 3022 2917 367.0 -12.8 141 2456 0.00 2.17 0.00 0.000 516 0.000 0.048 2212 1004 2969 3022 2917 0 0 0 0 0 0 28.83 15.00 28.83
2634 -1.45 -51.7 2212 1004 3021 2915 390.4 -12.2 150 2640 0.15 2.22 0.00 0.000 3078 0.337 0.054 2233 2402 2968 3022 2915 0 0 0 0 0 0 14.80 14.99 28.83
2957 -1.45 -51.7 2233 2402 3021 2913 427.2 -12.1 166 2958 0.00 0.00 0.00 0.000 6 0.000 0.000 2233 2402 2966 3021 2912 0 0 0 0 0 0 28.83 28.83 28.83
3258 -1.46 -66.8 2233 2404 3019 2911 455.8 -8.0 181 3264 0.00 2.22 -0.22 0.000 16644 0.000 0.103 2224 3775 3033 3097 2970 0 0 0 0 0 0 28.83 14.97 15.09
3295 -1.48 -80.1 2224 3777 3098 2970 457.9 -8.3 182 3303 0.00 2.08 -0.20 0.000 17414 0.000 0.041 2224 2404 3092 3159 3026 0 0 0 0 0 0 28.83 15.03 15.09
3601 -1.48 -80.1 2224 2404 3159 3026 503.6 -13.5 198 3606 0.00 2.17 0.00 0.000 516 0.000 0.051 2224 1010 3092 3159 3026 0 0 0 0 0 0 28.83 15.01 28.83
3657 -1.48 -80.1 2224 1012 3160 3026 509.8 -14.1 200 3664 0.00 2.22 0.00 0.000 1030 0.000 0.060 2215 2400 3092 3159 3026 0 0 0 0 0 0 28.83 14.99 28.83
3963 -1.48 -80.1 2214 2400 3160 3023 555.5 -14.9 216 3965 0.00 0.00 0.00 0.000 6 0.000 0.000 2214 2399 3094 3159 3029 0 0 0 0 0 0 28.83 28.83 28.83
4264 -1.48 -80.1 2214 2400 3158 3021 595.8 -13.1 231 4270 0.00 2.20 0.00 0.000 516 0.000 0.055 2214 1007 3089 3158 3021 0 0 0 0 0 0 28.83 15.01 28.83
4331 -1.48 -80.1 2214 1007 3158 3021 604.6 -13.7 234 4337 0.00 2.25 0.00 0.000 1030 0.000 0.061 2204 2407 3089 3158 3021 0 0 0 0 0 0 28.83 15.01 28.83
4659 -1.48 -80.1 2204 2407 3158 3018 649.4 -13.2 245 4660 0.00 0.00 0.00 0.000 6 0.000 0.000 2204 2407 3088 3158 3018 0 0 0 0 0 0 28.83 28.83 28.83
4959 -1.48 -80.1 2204 2407 3155 3017 687.2 -12.4 255 4964 0.00 2.22 0.00 0.000 516 0.000 0.054 2204 1001 3085 3155 3016 0 0 0 0 0 0 28.83 15.00 28.83
4991 -1.48 -80.1 2204 1000 3155 3016 691.4 -12.7 256 4998 0.12 2.28 0.00 0.000 3078 0.343 0.061 2218 2408 3085 3155 3016 0 0 0 0 0 0 14.79 14.99 28.83
5326 -1.48 -80.1 2217 2408 3154 3014 729.2 -10.8 267 5332 0.00 2.22 0.00 0.000 516 0.000 0.056 2218 1006 3084 3154 3014 0 0 0 0 0 0 28.83 15.00 28.83
5467 -1.48 -80.1 2218 1005 3153 3014 743.4 -11.4 271 5473 0.00 2.25 0.00 0.000 1030 0.000 0.062 2210 2401 3083 3153 3013 0 0 0 0 0 0 28.83 14.98 28.83
5780 -1.48 -80.1 2210 2401 3151 3011 778.3 -10.4 282 5786 0.00 2.22 0.00 0.000 516 0.000 0.057 2209 1002 3081 3151 3011 0 0 0 0 0 0 28.83 14.99 28.83
6012 -1.48 -80.1 2209 1001 3149 3011 804.3 -12.7 289 6017 0.00 2.28 0.00 0.000 1030 0.000 0.063 2199 2408 3080 3149 3011 0 0 0 0 0 0 28.83 14.96 28.83
6294 end dive: NO_VERTICAL_VELOCITY
state 6294 begin apogee
6298 -0.25 0.0 2206 2409 3149 3009 814.9 0.0 299 6385 1.35 0.00 81.00 1.583 10246 0.196 0.000 2616 2409 2750 2805 2696 0 0 0 0 0 0 14.85 28.83 13.81
6387 end apogee: CONTROL_FINISHED_OK
state 6387 begin climb
6389 1.48 80.1 2616 2409 2804 2694 815.0 0.0 302 6480 1.67 2.40 81.78 1.571 10756 0.124 0.052 3180 981 2422 2439 2405 0 0 0 0 0 0 14.42 14.22 13.62
6691 1.48 80.1 2304 981 2392 2379 751.6 24.6 312 6697 0.00 2.33 0.00 0.000 1030 0.000 0.063 3180 2380 2411 2434 2389 0 0 0 0 0 0 28.83 14.63 28.83
7020 1.48 80.1 3180 2380 2433 2383 670.7 24.7 323 7025 0.00 2.25 0.00 0.000 516 0.000 0.052 3190 982 2409 2434 2384 0 0 0 0 0 0 28.83 14.81 28.83
7076 1.48 80.1 3190 982 2434 2382 663.4 23.9 324 7083 0.00 2.28 0.00 0.000 1030 0.000 0.060 3190 2378 2407 2433 2382 0 0 0 0 0 0 28.83 14.79 28.83
7392 1.48 80.1 3191 2379 2434 2380 584.2 23.5 336 7393 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2379 2407 2434 2380 0 0 0 0 0 0 28.83 28.83 28.83
7692 1.48 80.1 3190 2379 2434 2377 513.1 22.9 351 7698 0.00 2.22 0.00 0.000 516 0.000 0.050 3198 983 2405 2433 2377 0 0 0 0 0 0 28.83 14.90 28.83
7719 1.48 80.1 3198 982 2433 2377 507.7 23.0 352 7725 0.00 2.25 0.00 0.000 1030 0.000 0.059 3199 2377 2405 2433 2377 0 0 0 0 0 0 28.83 14.88 28.83
8037 1.48 80.1 3198 2377 2433 2375 437.2 20.8 368 8038 0.00 0.00 0.00 0.000 6 0.000 0.000 3198 2378 2404 2433 2375 0 0 0 0 0 0 28.83 28.83 28.83
8338 1.48 80.1 3198 2377 2433 2374 375.5 19.1 383 8343 0.00 2.30 0.00 0.000 260 0.000 0.084 3198 3774 2403 2433 2374 0 0 0 0 0 0 28.83 14.90 28.83
8349 1.48 80.1 3199 3774 2433 2374 375.5 19.1 383 8355 0.15 2.15 0.00 0.000 5126 0.389 0.040 3182 2367 2403 2433 2374 0 0 0 0 0 0 14.69 14.97 28.83
8662 1.48 80.1 3182 2362 2433 2372 311.6 20.6 399 8668 0.00 2.17 0.00 0.000 516 0.000 0.051 3190 982 2402 2432 2373 0 0 0 0 0 0 28.83 14.95 28.83
8799 1.48 80.1 3190 982 2432 2372 285.9 20.7 405 8805 0.00 2.25 0.00 0.000 1030 0.000 0.057 3193 2382 2402 2432 2373 0 0 0 0 0 0 28.83 14.90 28.83
9105 1.48 80.1 3190 2383 2432 2371 228.4 16.2 421 9110 0.00 2.30 0.00 0.000 260 0.000 0.085 3190 3782 2401 2432 2371 0 0 0 0 0 0 28.83 14.90 28.83
9307 1.48 80.1 3190 3781 2436 2371 191.3 19.1 431 9312 0.00 2.15 0.00 0.000 1030 0.000 0.041 3199 2364 2402 2432 2372 0 0 0 0 0 0 28.83 14.96 28.83
9629 1.48 80.1 3200 2360 2428 2370 141.8 14.7 447 9634 0.00 2.15 0.00 0.000 516 0.000 0.049 3210 990 2401 2432 2370 0 0 0 0 0 0 28.83 14.94 28.83
9712 1.48 80.1 3209 990 2431 2370 131.0 13.2 451 9718 0.15 2.25 0.00 0.000 5126 0.352 0.054 3181 2388 2401 2432 2370 0 0 0 0 0 0 14.69 14.92 28.83
10036 1.48 80.1 3181 2388 2431 2370 90.6 12.6 467 10041 0.00 2.20 0.00 0.000 516 0.000 0.047 3189 988 2401 2432 2370 0 0 0 0 0 0 28.83 14.94 28.83
10268 1.52 120.3 3189 988 2431 2370 77.7 4.8 478 10293 0.00 2.20 17.15 0.369 9222 0.000 0.054 3189 2377 2262 2283 2242 0 0 0 0 0 0 28.83 14.90 14.64
10601 1.52 123.1 3189 2376 2289 2251 42.2 9.6 498 10613 0.00 2.22 2.65 0.233 8708 0.000 0.047 3199 991 2252 2273 2232 0 0 0 0 0 0 28.83 14.88 14.71
10776 1.56 161.3 3198 991 2281 2240 31.2 5.0 515 10802 0.00 2.20 20.17 0.237 9222 0.000 0.054 3198 2373 2094 2115 2073 0 0 0 0 0 0 28.83 14.88 14.71
11105 1.62 221.3 3199 2373 2120 2079 7.8 2.2 572 11142 0.00 2.20 28.23 0.170 8708 0.000 0.047 3208 988 1849 1872 1826 0 0 0 0 0 0 28.83 14.86 14.74
11183 end climb: SURFACE_DEPTH_REACHED
state 11183 begin surface coast
11208 end surface coast: CONTROL_FINISHED_OK
state 11208 begin surface