OKMC 16May13 * SG181 * Dive index * Mission links * Dive 23 * 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  23 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  71 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  25 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  -95701.094 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  190513,163724,2148.583,12029.773,41,1.0,41,-2.7 TGT_NAME  DOGLEG2
_CALLS  1 TGT_LATLONG  2148.000,12100.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.09 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  190513,164512,2148.585,12029.754,9,1.3,14,-2.7 MHEAD_RNG_PITCHd_Wd  100.0,52021,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  657

Post-dive calculations and measurements:
FINISH  -0.9,1.021919 _10V_AH  13.7,0.000
SM_CCo  8193,65.55,0.148,0,0,914,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.03,7.65,0.10,65.55,0.050,0.155,0.148,222,2436,914,-7.64,-0.71,450.13,0,0,0,0,0,0,14.89,14.87,14.76 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2150.42,12019.57,190513,131327 MEM  323256
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  16786,471
HUMID  44.88 CAP_FILE_SIZE  103631,0
INTERNAL_PRESSURE  9.68787 CFSIZE  260034560,253878272
TCM_TEMP  24.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  12 CURRENT  0.137,307.1,1
SC_FREEKB  3929280 GPS  190513,190433,2148.784,12030.624,11,4.3,30,-2.7
_24V_AH  13.6,29.497

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20418117.66 nil000.00
Roll_motor71155150.43 nil000.00
VBD_pump_during_apogee40414077752.58 nil000.00
VBD_pump_during_surface65148132.30 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3011247.24 nil000.00
Iridium_during_connect3916086.37 SciCon82216697.78
Iridium_during_xfer218223663.29 nil000.00
Transponder_ping342017.14 nil000.00
GUMSTIX_24V000.00
GPS17204.94
TT8136110204.40
LPSleep53392160.21
TT8_Active5721086.03
TT8_Sampling137428544.79
TT8_CF8923545.32
TT8_Kalman000.00
Analog_circuits114216250.38
GPS_charging000.00
Compass962688.85
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 -194.6 208 2402 922 919 0.0 0.0 0 108 0.00 0.00 -87.07 0.000 16386 0.000 0.000 207 2402 3084 3135 3033 0 0 0 0 0 0 28.83 28.83 28.83
110 -0.91 -194.6 207 2402 3135 3034 3.0 -10.0 15 136 10.35 2.30 -8.07 0.000 18692 0.418 0.099 2389 3782 3548 3636 3461 0 0 0 0 0 0 14.46 14.71 14.92
257 -0.91 -194.6 2389 3783 3636 3463 58.8 -30.7 31 263 0.00 2.12 0.00 0.000 1030 0.000 0.037 2389 2408 3549 3636 3463 0 0 0 0 0 0 28.83 14.79 28.83
570 -0.91 -194.6 2389 2402 3636 3465 140.5 -22.3 47 575 0.00 2.28 0.00 0.000 260 0.000 0.084 2379 3784 3550 3636 3465 0 0 0 0 0 0 28.83 14.81 28.83
621 -0.91 -194.6 2378 3784 3636 3465 151.1 -23.9 49 627 0.00 2.12 0.00 0.000 1030 0.000 0.038 2379 2387 3550 3636 3465 0 0 0 0 0 0 28.83 14.89 28.83
933 -0.91 -194.6 2384 2381 3638 3466 215.6 -20.2 65 934 0.00 0.00 0.00 0.000 6 0.000 0.000 2378 2381 3551 3638 3464 0 0 0 0 0 0 28.83 28.83 28.83
1234 -0.91 -194.6 2379 2381 3639 3465 277.2 -21.0 80 1240 0.12 2.15 0.00 0.000 2564 0.291 0.043 2410 996 3552 3638 3466 0 0 0 0 0 0 14.80 14.94 28.83
1286 -0.91 -194.6 2411 995 3638 3465 284.4 -18.0 82 1292 0.00 2.28 0.00 0.000 1030 0.000 0.058 2404 2416 3549 3634 3465 0 0 0 0 0 0 28.83 14.92 28.83
1598 -0.91 -194.6 2404 2416 3638 3463 332.1 -15.0 98 1604 0.00 2.22 0.00 0.000 260 0.000 0.086 2393 3781 3550 3638 3463 0 0 0 0 0 0 28.83 14.92 28.83
1670 -0.91 -194.6 2393 3783 3638 3463 341.8 -15.2 101 1676 0.00 2.10 0.00 0.000 1030 0.000 0.039 2393 2392 3550 3638 3463 0 0 0 0 0 0 28.83 14.98 28.83
1982 -0.91 -194.6 2393 2388 3638 3460 390.2 -15.1 117 1987 0.00 2.15 0.00 0.000 516 0.000 0.051 2393 1006 3548 3638 3459 0 0 0 0 0 0 28.83 14.97 28.83
2078 -0.91 -194.6 2393 1004 3638 3458 402.7 -15.3 121 2085 0.00 2.25 0.00 0.000 1030 0.000 0.063 2383 2400 3548 3638 3458 0 0 0 0 0 0 28.83 14.95 28.83
2384 -0.91 -194.6 2383 2401 3638 3452 453.0 -15.3 137 2389 0.00 2.28 0.00 0.000 260 0.000 0.091 2373 3787 3545 3638 3453 0 0 0 0 0 0 28.83 14.93 28.83
2415 -0.91 -194.6 2373 3787 3637 3452 456.6 -15.7 138 2422 0.12 2.12 0.00 0.000 3078 0.276 0.044 2401 2386 3543 3634 3452 0 0 0 0 0 0 14.83 15.01 28.83
2730 -0.91 -194.6 2401 2386 3638 3448 506.0 -15.4 154 2731 0.00 0.00 0.00 0.000 6 0.000 0.000 2401 2386 3543 3638 3449 0 0 0 0 0 0 28.83 28.83 28.83
3030 -0.91 -194.6 2401 2386 3635 3446 544.4 -11.2 169 3031 0.00 0.00 0.00 0.000 6 0.000 0.000 2401 2386 3541 3636 3446 0 0 0 0 0 0 28.83 28.83 28.83
3330 -0.91 -194.6 2401 2385 3632 3445 577.9 -11.3 184 3335 0.00 2.30 0.00 0.000 260 0.000 0.093 2393 3775 3538 3632 3444 0 0 0 0 0 0 28.83 14.95 28.83
3356 -0.91 -194.6 2393 3776 3632 3444 580.5 -11.2 185 3362 0.00 2.10 0.00 0.000 1030 0.000 0.044 2393 2398 3538 3632 3444 0 0 0 0 0 0 28.83 15.02 28.83
3684 -0.91 -194.6 2393 2396 3632 3440 619.8 -12.2 199 3690 0.00 2.30 0.00 0.000 260 0.000 0.094 2382 3783 3536 3633 3440 0 0 0 0 0 0 28.83 14.95 28.83
3712 -0.91 -194.6 2383 3783 3630 3440 619.8 -12.2 199 3719 0.00 2.12 0.00 0.000 1030 0.000 0.047 2382 2395 3535 3631 3439 0 0 0 0 0 0 28.83 15.02 28.83
3986 end dive: TARGET_DEPTH_EXCEEDED
state 3986 begin apogee
3989 -0.25 0.0 2382 2393 3629 3438 660.3 -14.6 209 4173 0.77 0.00 176.52 1.408 10246 0.223 0.000 2610 2394 2750 2782 2718 0 0 0 0 0 0 14.83 28.83 13.69
4175 end apogee: CONTROL_FINISHED_OK
state 4175 begin climb
4176 0.91 194.6 2610 2393 2781 2716 667.0 0.0 215 4364 1.17 0.00 182.55 1.379 10246 0.129 0.000 2990 2393 1958 1987 1929 0 0 0 0 0 0 14.23 28.83 13.64
4658 0.91 194.6 2990 2393 1983 1902 578.9 20.8 233 4659 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2393 1942 1983 1901 0 0 0 0 0 0 28.83 28.83 28.83
4958 0.91 194.6 2990 2393 1983 1896 519.9 19.7 248 4964 0.00 2.35 0.00 0.000 260 0.000 0.093 2989 3784 1940 1983 1897 0 0 0 0 0 0 28.83 14.78 28.83
5026 0.91 194.6 2990 3785 1983 1896 505.6 21.7 251 5031 0.00 2.20 0.00 0.000 1030 0.000 0.044 3000 2369 1939 1983 1896 0 0 0 0 0 0 28.83 14.85 28.83
5343 0.91 194.6 3001 2364 1982 1894 443.0 18.7 267 5344 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2364 1938 1983 1894 0 0 0 0 0 0 28.83 28.83 28.83
5644 0.91 194.6 3001 2364 1983 1892 383.9 19.5 282 5649 0.00 2.20 0.00 0.000 516 0.000 0.058 3011 985 1937 1983 1892 0 0 0 0 0 0 28.83 14.90 28.83
5680 0.91 194.6 3011 985 1983 1892 379.3 19.7 283 5687 0.00 2.28 0.00 0.000 1030 0.000 0.063 3011 2385 1937 1982 1892 0 0 0 0 0 0 28.83 14.90 28.83
5986 0.91 194.6 3011 2386 1982 1890 313.0 20.3 299 5991 0.00 2.33 0.00 0.000 260 0.000 0.093 3011 3784 1936 1982 1890 0 0 0 0 0 0 28.83 14.88 28.83
6022 0.91 194.6 3011 3784 1983 1890 308.3 20.3 300 6030 0.00 2.17 0.00 0.000 1030 0.000 0.044 3021 2366 1936 1982 1890 0 0 0 0 0 0 28.83 14.95 28.83
6328 0.91 194.6 3021 2364 1982 1889 244.1 19.0 316 6334 0.00 2.38 0.00 0.000 260 0.000 0.090 3022 3787 1935 1982 1889 0 0 0 0 0 0 28.83 14.90 28.83
6345 0.91 194.6 3021 3787 1982 1889 244.1 19.0 316 6353 0.17 2.17 0.00 0.000 5126 0.309 0.043 2994 2370 1936 1983 1889 0 0 0 0 0 0 14.76 14.97 28.83
6651 0.91 194.6 2994 2366 1983 1887 184.5 18.2 332 6657 0.00 2.20 0.00 0.000 516 0.000 0.055 3002 981 1934 1982 1887 0 0 0 0 0 0 28.83 14.95 28.83
6734 0.91 194.6 3002 981 1982 1887 171.8 15.4 336 6739 0.00 2.25 0.00 0.000 1030 0.000 0.060 3002 2379 1934 1981 1887 0 0 0 0 0 0 28.83 14.92 28.83
7056 0.91 194.6 3002 2380 1982 1886 121.9 14.6 352 7062 0.00 2.22 0.00 0.000 516 0.000 0.053 3011 984 1934 1983 1886 0 0 0 0 0 0 28.83 14.94 28.83
7082 0.91 194.6 2096 983 1946 1877 118.5 15.1 353 7087 0.00 2.25 0.00 0.000 1030 0.000 0.061 3012 2376 1934 1982 1886 0 0 0 0 0 0 28.83 14.90 28.83
7400 0.91 194.6 3012 2377 1982 1886 75.4 12.2 369 7405 0.00 2.22 0.00 0.000 516 0.000 0.054 3021 981 1937 1989 1886 0 0 0 0 0 0 28.83 14.94 28.83
7431 0.91 194.6 3022 981 1982 1886 72.4 12.4 370 7436 0.00 2.25 0.00 0.000 1030 0.000 0.060 3021 2378 1933 1981 1886 0 0 0 0 0 0 28.83 14.93 28.83
7743 0.91 194.6 3021 2378 1982 1886 31.6 10.2 394 7749 0.00 2.30 0.00 0.000 260 0.000 0.087 3022 3774 1934 1982 1886 0 0 0 0 0 0 28.83 14.88 28.83
7786 0.91 194.6 3022 3774 1982 1886 26.6 11.6 398 7793 0.17 2.15 0.00 0.000 5126 0.285 0.040 2992 2353 1934 1982 1886 0 0 0 0 0 0 14.77 14.95 28.83
8096 1.05 333.3 2048 2351 1943 1877 6.3 5.2 457 8145 0.12 0.00 45.90 0.161 10754 0.132 0.000 3054 2352 1522 1562 1483 0 0 0 0 0 0 14.92 28.83 28.83
8146 end climb: SURFACE_DEPTH_REACHED
state 8147 begin surface coast
8178 end surface coast: CONTROL_FINISHED_OK
state 8178 begin surface