OKMC 16May13 * SG181 * Dive index * Mission links * Dive 57 * 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  57 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  64 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  36 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  -95744.266 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  220513,033633,2146.270,12058.758,9,3.4,28,-2.7 TGT_NAME  DOGLEG3
_CALLS  1 TGT_LATLONG  2142.000,12103.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.05 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  220513,034255,2146.414,12058.934,15,1.2,15,-2.7 MHEAD_RNG_PITCHd_Wd  187.1,10761,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  734

Post-dive calculations and measurements:
FINISH  -0.0,1.021266 _10V_AH  13.7,0.000
SM_CCo  8643,26.60,0.151,0,0,915,450.13 FG_AHR_24Vo  0.000
SM_GC  0.08,7.78,0.00,26.60,0.054,0.000,0.151,231,2367,915,-7.62,-0.93,450.13,0,0,0,0,0,0,14.86,28.83,14.75 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2131.85,12106.97,220513,010141 MEM  322896
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  16720,448
HUMID  50.82 CAP_FILE_SIZE  113084,0
INTERNAL_PRESSURE  9.63904 CFSIZE  260034560,251650048
TCM_TEMP  21.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  7 CURRENT  0.360, 39.7,1
SC_FREEKB  3916224 GPS  220513,060905,2146.369,12100.099,28,1.6,28,-2.7
_24V_AH  13.7,35.120

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20406114.58 nil000.00
Roll_motor97225302.60 nil000.00
VBD_pump_during_apogee45814889354.70 nil000.00
VBD_pump_during_surface2615155.20 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3011247.54 nil000.00
Iridium_during_connect1716039.32 SciCon86635693.58
Iridium_during_xfer168223513.98 nil000.00
Transponder_ping142010.07 nil000.00
GUMSTIX_24V000.00
GPS19205.71
TT8149510224.48
LPSleep54162162.50
TT8_Active5721085.91
TT8_Sampling148228587.92
TT8_CF81043550.92
TT8_Kalman000.00
Analog_circuits126516277.38
GPS_charging000.00
Compass11416105.40
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 -194.6 224 2412 911 919 0.0 0.0 0 103 0.00 0.00 -82.65 0.000 16386 0.000 0.000 222 2412 3017 3053 2981 0 0 0 0 0 0 28.83 28.83 28.83
106 -0.91 -194.6 221 2412 3054 2981 3.6 -11.7 14 132 10.02 2.25 -9.12 0.000 18692 0.407 0.098 2389 3771 3548 3634 3462 0 0 0 0 0 0 14.49 14.73 14.96
194 -0.91 -194.6 2389 3771 3634 3464 45.7 -43.1 26 199 0.00 2.10 0.00 0.000 1030 0.000 0.037 2389 2401 3549 3634 3464 0 0 0 0 0 0 28.83 14.79 28.83
516 -0.91 -194.6 2389 2395 3635 3466 138.0 -21.7 43 522 0.00 2.15 0.00 0.000 516 0.000 0.044 2389 1007 3553 3634 3472 0 0 0 0 0 0 28.83 14.86 28.83
539 -0.91 -194.6 2389 1007 3635 3466 142.7 -20.7 44 545 0.00 2.22 0.00 0.000 1030 0.000 0.058 2379 2394 3550 3634 3466 0 0 0 0 0 0 28.83 14.86 28.83
862 -0.91 -194.6 2379 2393 3637 3467 214.1 -20.5 60 868 0.00 2.25 0.00 0.000 260 0.000 0.079 2369 3783 3552 3637 3467 0 0 0 0 0 0 28.83 14.88 28.83
885 -0.91 -194.6 2369 3783 3637 3467 218.8 -20.5 61 891 0.15 2.10 0.00 0.000 3078 0.280 0.037 2402 2388 3552 3637 3467 0 0 0 0 0 0 14.73 14.95 28.83
1208 -0.91 -194.6 2398 2383 3637 3467 279.4 -17.3 77 1213 0.00 2.28 0.00 0.000 260 0.000 0.081 2394 3777 3552 3637 3467 0 0 0 0 0 0 28.83 14.91 28.83
1254 -0.91 -194.6 1536 3778 3633 3464 285.6 -15.4 79 1259 0.00 2.08 0.00 0.000 1030 0.000 0.035 2394 2392 3552 3637 3467 0 0 0 0 0 0 28.83 14.96 28.83
1571 -0.91 -194.6 2393 2386 3637 3466 342.8 -17.3 95 1576 0.00 2.28 0.00 0.000 260 0.000 0.081 2383 3780 3551 3637 3465 0 0 0 0 0 0 28.83 14.93 28.83
1628 -0.91 -194.6 2383 3781 3637 3465 350.5 -17.7 97 1635 0.00 2.08 0.00 0.000 1030 0.000 0.038 2383 2412 3551 3637 3465 0 0 0 0 0 0 28.83 15.00 28.83
1933 -0.91 -194.6 2383 2407 3637 3463 402.5 -17.0 113 1940 0.00 2.25 0.00 0.000 260 0.000 0.084 2373 3777 3549 3637 3462 0 0 0 0 0 0 28.83 14.94 28.83
1976 -0.91 -194.6 2373 3775 3637 3462 410.1 -17.4 115 1983 0.12 2.10 0.00 0.000 3078 0.277 0.037 2400 2392 3548 3637 3460 0 0 0 0 0 0 14.82 14.99 28.83
2300 -0.91 -194.6 2400 2387 3637 3457 457.4 -12.3 131 2305 0.00 2.15 0.00 0.000 516 0.000 0.050 2401 1005 3547 3637 3457 0 0 0 0 0 0 28.83 14.99 28.83
2352 -0.91 -194.6 2402 1007 3637 3459 461.9 -11.1 133 2357 0.00 2.25 0.00 0.000 1030 0.000 0.060 2398 2408 3547 3637 3457 0 0 0 0 0 0 28.83 14.97 28.83
2664 -0.91 -194.6 2393 2408 3636 3453 506.5 -13.9 149 2669 0.00 2.25 0.00 0.000 260 0.000 0.088 2383 3786 3545 3637 3453 0 0 0 0 0 0 28.83 14.95 28.83
2795 -0.91 -194.6 2383 3786 3634 3453 524.2 -14.7 155 2801 0.00 2.12 0.00 0.000 1030 0.000 0.042 2383 2401 3544 3635 3453 0 0 0 0 0 0 28.83 15.02 28.83
3109 -0.91 -194.6 2382 2395 3634 3449 584.1 -19.3 171 3114 0.00 2.17 0.00 0.000 516 0.000 0.052 2383 1007 3541 3634 3449 0 0 0 0 0 0 28.83 14.99 28.83
3226 -0.91 -194.6 2383 1007 3633 3448 603.2 -18.4 176 3234 0.12 2.25 0.00 0.000 3078 0.268 0.062 2401 2401 3540 3633 3447 0 0 0 0 0 0 14.83 14.97 28.83
3532 -0.91 -194.6 2401 2403 3632 3445 648.1 -11.8 187 3537 0.00 2.28 0.00 0.000 260 0.000 0.093 2392 3783 3538 3631 3445 0 0 0 0 0 0 28.83 14.94 28.83
3625 -0.91 -194.6 2393 3784 3629 3445 659.6 -11.8 190 3630 0.00 2.12 0.00 0.000 1030 0.000 0.044 2392 2402 3537 3629 3445 0 0 0 0 0 0 28.83 15.02 28.83
3958 -0.91 -194.6 2393 2397 3627 3441 709.7 -16.9 201 3963 0.00 2.20 0.00 0.000 516 0.000 0.055 2393 1002 3533 3627 3440 0 0 0 0 0 0 28.83 14.99 28.83
4075 -0.91 -194.6 2393 1001 3626 3440 726.4 -18.0 204 4083 0.00 2.28 0.00 0.000 1030 0.000 0.065 2383 2403 3533 3626 3440 0 0 0 0 0 0 28.83 14.96 28.83
4109 end dive: TARGET_DEPTH_EXCEEDED
state 4109 begin apogee
4113 -0.25 0.0 2383 2403 3626 3439 736.3 -16.9 206 4300 0.77 0.00 179.57 1.489 10246 0.229 0.000 2608 2404 2749 2778 2720 0 0 0 0 0 0 14.79 28.83 13.72
4302 end apogee: CONTROL_FINISHED_OK
state 4302 begin climb
4303 0.91 194.6 2608 2404 2777 2718 747.1 0.0 212 4498 1.17 2.40 184.27 1.460 10756 0.129 0.050 2997 980 1955 1986 1925 0 0 0 0 0 0 14.26 14.21 13.66
4574 0.91 194.6 2998 980 1984 1910 714.2 16.1 221 4580 0.00 2.35 0.00 0.000 1030 0.000 0.064 2998 2379 1946 1984 1909 0 0 0 0 0 0 28.83 14.48 28.83
4898 0.91 194.6 2998 2380 1984 1901 641.7 20.4 232 4903 0.00 2.35 0.00 0.000 260 0.000 0.091 2998 3777 1942 1983 1901 0 0 0 0 0 0 28.83 14.73 28.83
4964 0.91 194.6 2997 3777 1984 1901 627.3 21.6 234 4969 0.00 2.20 0.00 0.000 1030 0.000 0.043 3008 2366 1942 1984 1901 0 0 0 0 0 0 28.83 14.81 28.83
5272 0.91 194.6 3009 2360 1984 1897 560.0 22.3 247 5278 0.00 2.20 0.00 0.000 516 0.000 0.054 3018 982 1940 1984 1897 0 0 0 0 0 0 28.83 14.86 28.83
5335 0.91 194.6 3018 981 1984 1896 546.8 20.9 250 5341 0.00 2.28 0.00 0.000 1030 0.000 0.061 3018 2381 1940 1985 1896 0 0 0 0 0 0 28.83 14.85 28.83
5658 0.91 194.6 3018 2381 1984 1895 476.7 22.4 266 5663 0.00 2.33 0.00 0.000 260 0.000 0.093 3018 3775 1939 1984 1895 0 0 0 0 0 0 28.83 14.87 28.83
5720 0.91 194.6 3018 3775 1984 1895 459.7 26.6 269 5726 0.15 2.17 0.00 0.000 5126 0.302 0.043 2997 2364 1939 1984 1895 0 0 0 0 0 0 14.74 14.94 28.83
6043 0.91 194.6 2997 2360 1984 1893 384.1 21.2 285 6049 0.00 2.20 0.00 0.000 516 0.000 0.056 3005 982 1938 1984 1893 0 0 0 0 0 0 28.83 14.92 28.83
6089 0.91 194.6 3005 981 1984 1893 375.7 20.1 287 6095 0.00 2.25 0.00 0.000 1030 0.000 0.059 3005 2377 1938 1984 1893 0 0 0 0 0 0 28.83 14.92 28.83
6407 0.91 194.6 3005 2377 1984 1891 316.1 16.6 303 6413 0.00 2.33 0.00 0.000 260 0.000 0.092 3005 3775 1937 1984 1891 0 0 0 0 0 0 28.83 14.89 28.83
6459 0.91 194.6 3005 3775 1984 1891 308.0 17.7 305 6464 0.00 2.15 0.00 0.000 1030 0.000 0.042 3015 2375 1937 1984 1891 0 0 0 0 0 0 28.83 14.97 28.83
6771 0.91 194.6 3016 2370 1984 1890 249.9 18.8 321 6777 0.00 2.35 0.00 0.000 260 0.000 0.091 3015 3773 1937 1984 1890 0 0 0 0 0 0 28.83 14.90 28.83
6858 0.91 194.6 3015 3773 1984 1890 233.4 19.8 325 6864 0.15 2.15 0.00 0.000 5126 0.299 0.041 2993 2374 1937 1984 1890 0 0 0 0 0 0 14.77 14.97 28.83
7176 0.91 194.6 2993 2370 1984 1889 186.3 13.2 341 7181 0.00 2.20 0.00 0.000 516 0.000 0.054 3001 985 1936 1984 1889 0 0 0 0 0 0 28.83 14.95 28.83
7208 0.91 194.6 3001 985 1984 1888 183.4 13.1 342 7213 0.00 2.25 0.00 0.000 1030 0.000 0.060 3002 2379 1933 1979 1888 0 0 0 0 0 0 28.83 14.92 28.83
7520 0.91 194.6 3001 2379 1984 1889 140.0 13.1 358 7525 0.00 2.33 0.00 0.000 260 0.000 0.090 3001 3781 1936 1984 1889 0 0 0 0 0 0 28.83 14.90 28.83
7582 0.91 194.6 3002 3782 1984 1889 130.5 14.9 361 7587 0.00 2.17 0.00 0.000 1030 0.000 0.041 3011 2365 1936 1984 1889 0 0 0 0 0 0 28.83 14.97 28.83
7905 1.06 347.4 3012 2360 1984 1888 97.6 4.7 377 7986 0.00 2.20 72.10 0.449 8708 0.000 0.051 3021 985 1337 1370 1304 0 0 0 0 0 0 28.83 14.78 14.52
8018 1.11 392.6 3022 987 1375 1308 89.5 8.4 382 8051 0.10 2.28 22.73 0.415 11270 0.166 0.059 3069 2383 1152 1180 1124 0 0 0 0 0 0 14.78 14.78 14.47
8349 1.11 392.6 3069 2384 1192 1125 37.5 13.0 403 8355 0.00 2.33 0.00 0.000 260 0.000 0.089 3069 3782 1157 1191 1124 0 0 0 0 0 0 28.83 14.78 28.83
8453 1.11 392.6 3070 3782 1192 1125 23.7 13.2 414 8461 0.00 2.17 0.00 0.000 1030 0.000 0.040 3080 2372 1157 1191 1124 0 0 0 0 0 0 28.83 14.87 28.83
8606 end climb: SURFACE_DEPTH_REACHED
state 8607 begin surface coast
8628 end surface coast: CONTROL_FINISHED_OK
state 8628 begin surface