OKMC 16May13 * SG181 * Dive index * Mission links * Dive 4 * 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  4 ESCAPE_HEADING  0 C_ROLL_DIVE  2325 ALTIM_TOP_MIN_OBSTACLE  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2300 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  660 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1020 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  54 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  500 R_STBD_OVSHOOT  48 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  220 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_MISSION  240 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  -95676.625 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  2760 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  25 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  0.029999999 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.0033 PITCH_ADJ_DBAND  1 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  170513,082555,2206.036,12023.094,11,1.2,11,-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  0.90 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -69.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  170513,082937,2206.018,12023.079,14,1.3,14,-2.7 MHEAD_RNG_PITCHd_Wd  146.7,35427,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  578

Post-dive calculations and measurements:
FINISH  0.3,1.020177 _10V_AH  13.7,0.000
SM_CCo  11662,21.70,0.151,0,0,711,500.17 FG_AHR_24Vo  0.000
SM_GC  1.06,7.80,0.00,21.70,0.067,0.000,0.151,237,2305,711,-7.81,-0.57,500.17,0,0,0,0,0,0,14.86,28.83,14.76 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2211.35,12049.43,170513,080850 MEM  323532
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  23419,642
HUMID  51.26 CAP_FILE_SIZE  166637,0
INTERNAL_PRESSURE  9.67811 CFSIZE  260034560,255500288
TCM_TEMP  24.30 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS  19 CURRENT  0.033, 15.9,1
SC_FREEKB  3936640 GPS  170513,114603,2204.898,12024.155,12,3.0,31,-2.7
_24V_AH  13.7,25.347

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23412134.16 nil000.00
Roll_motor113110172.25 nil000.00
VBD_pump_during_apogee53113369733.75 nil000.00
VBD_pump_during_surface2115145.03 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1162571115.00
Iridium_during_xfer000.00 nil000.00
Transponder_ping442027.33 nil000.00
GUMSTIX_24V000.00
GPS17205.00
TT8203210305.16
LPSleep74362223.12
TT8_Active6411096.39
TT8_Sampling156428620.36
TT8_CF8923544.99
TT8_Kalman000.00
Analog_circuits152316333.85
GPS_charging000.00
Compass14986138.36
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 -0.77 -194.6 225 2378 726 704 0.0 0.0 0 109 0.00 0.00 -88.40 0.000 16386 0.000 0.000 220 2381 2878 2931 2825 0 0 0 0 0 0 28.83 28.83 28.83
112 -0.77 -194.6 220 2381 2931 2826 3.1 -6.4 15 144 10.52 2.17 -13.07 0.000 18692 0.412 0.102 2495 3717 3547 3648 3446 0 0 0 0 0 0 14.64 14.89 15.14
281 -0.61 -194.6 1600 3717 3643 3444 41.4 -17.7 38 288 0.25 2.12 0.00 0.000 3078 0.213 0.041 2564 2326 3547 3647 3447 0 0 0 0 0 0 14.78 14.98 28.83
597 -0.61 -194.6 2564 2320 3647 3447 79.7 -11.0 57 599 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2320 3547 3647 3447 0 0 0 0 0 0 28.83 28.83 28.83
898 -0.68 -194.6 2564 2320 3643 3447 106.2 -9.0 72 904 0.00 2.25 0.00 0.000 260 0.000 0.080 2562 3714 3546 3646 3446 0 0 0 0 0 0 28.83 14.96 28.83
976 -0.78 -194.6 2559 3714 3647 3447 112.5 -9.7 75 984 0.15 2.12 0.00 0.000 5126 0.114 0.038 2484 2309 3547 3647 3447 0 0 0 0 0 0 15.00 15.02 28.83
1282 -0.68 -194.6 2484 2306 3647 3446 154.2 -12.4 91 1288 0.17 2.30 0.00 0.000 2308 0.230 0.079 2528 3724 3546 3647 3446 0 0 0 0 0 0 14.85 14.97 28.83
1319 -0.62 -194.6 2528 3725 3647 3446 156.8 -12.2 92 1327 0.12 2.12 0.00 0.000 3078 0.226 0.040 2561 2316 3547 3647 3447 0 0 0 0 0 0 14.88 15.04 28.83
1626 -0.76 -194.6 2561 2313 3647 3446 179.1 -5.3 108 1631 0.12 2.28 0.00 0.000 4356 0.134 0.081 2480 3714 3546 3647 3445 0 0 0 0 0 0 15.03 14.96 28.83
1709 -0.76 -194.6 1536 3714 3643 3443 186.5 -9.0 112 1715 0.12 2.10 0.00 0.000 3078 0.224 0.041 2512 2328 3546 3647 3445 0 0 0 0 0 0 14.88 15.04 28.83
2033 -0.76 -194.6 2512 2324 3647 3444 215.6 -9.1 128 2038 0.00 2.28 0.00 0.000 260 0.000 0.086 2506 3717 3545 3647 3444 0 0 0 0 0 0 28.83 14.92 28.83
2079 -0.79 -194.6 2506 3717 3647 3443 219.8 -9.5 130 2085 0.00 2.12 0.00 0.000 1030 0.000 0.041 2506 2323 3545 3647 3443 0 0 0 0 0 0 28.83 15.04 28.83
2397 -0.79 -194.6 2506 2317 3647 3441 248.7 -8.2 146 2403 0.00 2.30 0.00 0.000 260 0.000 0.089 2506 3722 3544 3647 3441 0 0 0 0 0 0 28.83 14.95 28.83
2486 -0.84 -194.6 2506 3721 3646 3441 254.7 -7.2 150 2491 0.00 2.15 0.00 0.000 1030 0.000 0.042 2506 2312 3543 3645 3441 0 0 0 0 0 0 28.83 15.04 28.83
2804 -0.87 -194.6 2506 2307 3645 3439 277.9 -8.9 166 2809 0.00 2.33 0.00 0.000 260 0.000 0.090 2505 3718 3542 3645 3439 0 0 0 0 0 0 28.83 14.95 28.83
2861 -0.90 -194.6 2505 3720 3651 3438 282.1 -9.6 168 2868 0.12 2.12 0.00 0.000 5126 0.131 0.042 2443 2319 3540 3643 3438 0 0 0 0 0 0 15.00 15.03 28.83
3166 -0.79 -194.6 2442 2317 3641 3437 320.2 -12.3 184 3168 0.22 0.00 0.00 0.000 2054 0.223 0.000 2503 2317 3539 3641 3437 0 0 0 0 0 0 14.83 28.83 28.83
3467 -0.84 -194.6 2503 2317 3639 3434 346.7 -9.0 199 3473 0.00 2.30 -0.10 0.000 16644 0.000 0.111 2499 3714 3563 3664 3462 0 0 0 0 0 0 28.83 14.96 14.90
3585 -0.91 -194.6 2503 3714 3664 3463 356.0 -8.8 204 3594 0.12 2.12 0.00 0.000 5126 0.132 0.044 2442 2325 3563 3664 3462 0 0 0 0 0 0 14.99 15.02 28.83
3891 -0.81 -194.6 2442 2324 3664 3458 393.3 -11.3 220 3898 0.17 2.30 0.00 0.000 2308 0.233 0.087 2485 3720 3560 3664 3457 0 0 0 0 0 0 14.78 14.92 28.83
3949 -0.78 -194.6 2485 3717 3664 3457 397.4 -10.5 222 3956 0.00 2.15 0.00 0.000 1030 0.000 0.048 2485 2325 3560 3664 3457 0 0 0 0 0 0 28.83 15.01 28.83
4255 -0.78 -194.6 2485 2320 3664 3454 421.3 -7.5 238 4260 0.00 2.33 0.00 0.000 260 0.000 0.093 2477 3715 3559 3664 3454 0 0 0 0 0 0 28.83 14.92 28.83
4321 -0.78 -194.6 2478 3714 3663 3451 426.5 -8.3 241 4328 0.12 2.17 0.00 0.000 3078 0.227 0.048 2509 2313 3558 3663 3454 0 0 0 0 0 0 14.83 15.00 28.83
4641 -0.86 -194.6 2509 2309 3663 3452 448.6 -6.3 257 4646 0.00 2.38 0.00 0.000 260 0.000 0.099 2504 3719 3556 3662 3451 0 0 0 0 0 0 28.83 14.90 28.83
4739 -0.94 -194.6 2505 3719 3661 3451 454.5 -7.1 261 4746 0.15 2.17 0.00 0.000 5126 0.120 0.049 2436 2312 3556 3661 3451 0 0 0 0 0 0 14.98 15.00 28.83
5044 -0.85 -194.6 2436 2310 3659 3449 486.4 -9.8 277 5050 0.15 2.35 0.00 0.000 2308 0.254 0.094 2472 3714 3554 3659 3449 0 0 0 0 0 0 14.73 14.89 28.83
5129 -0.85 -194.6 2472 3715 3658 3449 493.6 -8.6 281 5134 0.00 2.17 0.00 0.000 1030 0.000 0.050 2471 2320 3553 3657 3449 0 0 0 0 0 0 28.83 14.99 28.83
5451 -0.85 -194.6 2471 2316 3657 3447 525.0 -10.5 297 5457 0.00 2.35 0.00 0.000 260 0.000 0.096 2462 3721 3551 3656 3446 0 0 0 0 0 0 28.83 14.88 28.83
5498 -0.85 -194.6 1568 3721 3651 3444 529.6 -10.5 299 5504 0.00 2.20 0.00 0.000 1030 0.000 0.051 2463 2317 3550 3655 3446 0 0 0 0 0 0 28.83 14.99 28.83
5816 -0.85 -194.6 2462 2312 3654 3444 557.4 -7.1 315 5821 0.00 2.35 0.00 0.000 260 0.000 0.099 2453 3713 3549 3654 3444 0 0 0 0 0 0 28.83 14.87 28.83
5889 -0.85 -194.6 2453 3713 3653 3444 562.3 -7.8 318 5895 0.12 2.17 0.00 0.000 3078 0.241 0.052 2483 2323 3548 3653 3444 0 0 0 0 0 0 14.77 14.98 28.83
6102 end dive: TARGET_DEPTH_EXCEEDED
state 6102 begin apogee
6105 -0.20 0.0 2482 2319 3652 3443 578.1 -6.6 329 6288 0.65 0.00 176.50 1.336 10246 0.175 0.000 2691 2319 2751 2790 2712 0 0 0 0 0 0 14.81 28.83 13.77
6290 end apogee: CONTROL_FINISHED_OK
state 6290 begin climb
6291 0.77 194.6 2691 2319 2787 2710 584.7 0.0 338 6477 0.88 2.40 175.55 1.303 10756 0.057 0.067 3034 901 1953 1987 1920 0 0 0 0 0 0 14.41 14.31 13.75
6505 0.40 194.6 3034 901 1985 1911 555.3 19.1 349 6511 0.55 2.33 0.00 0.000 5126 0.255 0.070 2892 2275 1948 1986 1910 0 0 0 0 0 0 14.35 14.47 28.83
6828 0.33 194.6 2892 2276 1986 1896 513.7 12.6 365 6834 0.00 2.45 0.00 0.000 260 0.000 0.102 2892 3718 1941 1986 1896 0 0 0 0 0 0 28.83 14.76 28.83
6937 0.22 194.6 2891 3719 1985 1896 499.4 13.9 370 6943 0.25 2.25 0.00 0.000 5126 0.234 0.052 2839 2290 1941 1986 1896 0 0 0 0 0 0 14.71 14.87 28.83
7255 0.28 194.8 2832 2285 1986 1893 466.9 10.0 386 7260 0.00 2.42 0.00 0.000 260 0.000 0.103 2833 3714 1939 1986 1893 0 0 0 0 0 0 28.83 14.83 28.83
7312 0.31 194.8 2832 3714 1986 1893 462.3 10.4 388 7319 0.00 2.22 0.00 0.000 1030 0.000 0.053 2840 2294 1939 1986 1893 0 0 0 0 0 0 28.83 14.92 28.83
7618 0.39 237.3 2841 2290 1986 1891 433.0 8.5 404 7663 0.12 2.50 37.05 1.212 10500 0.138 0.104 2906 3710 1780 1823 1738 0 0 0 0 0 0 14.96 14.66 14.16
7710 0.31 237.3 2909 3710 1821 1732 422.1 13.0 408 7717 0.22 2.22 0.00 0.000 5126 0.239 0.051 2861 2303 1776 1821 1731 0 0 0 0 0 0 14.69 14.81 28.83
8025 0.35 237.3 2861 2298 1821 1724 386.0 10.7 424 8026 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 2298 1773 1821 1725 0 0 0 0 0 0 28.83 28.83 28.83
8325 0.38 237.3 2861 2298 1821 1722 353.8 10.3 439 8331 0.00 2.40 0.00 0.000 260 0.000 0.105 2861 3708 1771 1821 1722 0 0 0 0 0 0 28.83 14.86 28.83
8372 0.38 237.3 2861 3711 1821 1722 349.0 10.5 441 8377 0.00 2.22 0.00 0.000 1030 0.000 0.052 2869 2292 1771 1821 1722 0 0 0 0 0 0 28.83 14.92 28.83
8689 0.38 237.3 2870 2287 1820 1720 313.8 11.6 457 8694 0.00 2.42 0.00 0.000 260 0.000 0.105 2869 3713 1771 1821 1721 0 0 0 0 0 0 28.83 14.88 28.83
8791 0.38 237.3 2869 3713 1821 1721 300.1 13.7 462 8797 0.00 2.22 0.00 0.000 1030 0.000 0.051 2875 2289 1771 1821 1721 0 0 0 0 0 0 28.83 14.97 28.83
9113 0.38 237.3 2880 2285 1821 1719 261.1 11.3 478 9115 0.00 0.00 0.00 0.000 6 0.000 0.000 2880 2284 1770 1821 1719 0 0 0 0 0 0 28.83 28.83 28.83
9415 0.39 247.3 2880 2284 1821 1718 230.2 9.7 493 9425 0.00 2.40 4.03 1.034 8452 0.000 0.101 2880 3711 1745 1794 1696 0 0 0 0 0 0 28.83 14.91 14.19
9546 0.39 247.3 2880 3711 1802 1707 216.2 11.5 499 9559 0.00 2.20 1.60 0.221 9222 0.000 0.050 2890 2292 1745 1793 1698 0 0 0 0 0 0 28.83 14.97 14.76
9858 0.41 268.3 2892 2291 1802 1706 184.6 9.3 515 9888 0.00 2.40 23.98 0.975 8452 0.000 0.099 2890 3711 1653 1701 1606 0 0 0 0 0 0 28.83 14.77 14.39
9909 0.42 280.6 2891 3711 1700 1601 180.4 9.6 517 9926 0.00 2.20 11.75 1.012 9222 0.000 0.050 2899 2301 1607 1657 1558 0 0 0 0 0 0 28.83 14.88 14.34
10243 0.44 298.6 2900 2301 1649 1543 144.6 9.4 534 10277 0.00 2.45 21.48 0.970 8452 0.000 0.101 2900 3707 1536 1587 1486 0 0 0 0 1 0 28.83 14.71 14.07
10364 0.44 298.6 2900 3707 1595 1496 132.0 10.8 540 10370 0.00 2.20 1.52 0.223 9222 0.000 0.049 2910 2303 1534 1586 1482 0 0 0 0 0 0 28.83 14.85 14.66
10688 0.51 339.2 2910 2299 1596 1495 102.4 8.6 556 10712 0.00 0.00 21.90 0.453 8198 0.000 0.000 2910 2299 1370 1417 1323 0 0 0 0 0 0 28.83 28.83 14.53
11008 0.60 352.0 2910 2299 1428 1331 70.9 9.6 572 11023 0.12 2.38 7.68 0.328 10500 0.135 0.096 2980 3711 1318 1366 1270 0 0 0 0 0 0 14.91 14.83 14.64
11074 0.55 352.0 2048 3710 1355 1276 61.8 13.4 575 11080 0.20 2.20 0.00 0.000 5126 0.239 0.046 2940 2297 1326 1374 1278 0 0 0 0 0 0 14.73 14.88 28.83
11383 0.65 397.2 2939 2290 1376 1278 31.2 8.4 600 11414 0.00 2.28 22.23 0.235 8708 0.000 0.061 2945 903 1132 1179 1086 0 0 0 0 0 0 28.83 14.83 14.71
11467 0.89 453.2 2948 904 1185 1091 24.3 8.1 608 11504 0.28 2.28 26.38 0.215 11270 0.080 0.062 3066 2305 904 946 863 0 0 0 0 0 0 14.88 14.83 14.71
11620 end climb: SURFACE_DEPTH_REACHED
state 11621 begin surface coast
11647 end surface coast: CONTROL_FINISHED_OK
state 11647 begin surface