OKMC 16May13 * SG181 * Dive index * Mission links * Dive 68 * 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  68 ESCAPE_HEADING  0 C_ROLL_DIVE  2450 ALTIM_TOP_MIN_OBSTACLE  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2350 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  45 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  -95758.258 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  230513,112515,2147.399,12109.781,12,5.3,31,-2.7 TGT_NAME  DOGLEG4
_CALLS  1 TGT_LATLONG  2148.000,12112.000
_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  -71.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  230513,113305,2147.440,12109.791,31,1.2,31,-2.7 MHEAD_RNG_PITCHd_Wd  87.3,3937,-21.4,-10.000,-23.84,1355
SPEED_LIMITS  0.173,0.321 D_GRID  926

Post-dive calculations and measurements:
FINISH  0.6,1.021443 _10V_AH  13.4,0.000
SM_CCo  12227,96.25,0.151,0,0,916,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.27,8.57,2.05,96.25,0.127,0.037,0.151,223,2442,916,-7.63,2.01,450.13,0,0,0,0,0,0,14.85,14.88,14.69 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2150.42,12316.92,230513,080834 MEM  322760
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  23441,590
HUMID  47.00 CAP_FILE_SIZE  144557,0
INTERNAL_PRESSURE  9.62928 CFSIZE  260034560,250654720
TCM_TEMP  22.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS  8 CURRENT  0.062,227.7,1
SC_FREEKB  3911968 GPS  230513,150030,2147.511,12110.591,37,1.4,38,-2.7
_24V_AH  13.2,37.497

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21409117.91 nil000.00
Roll_motor10690127.08 nil000.00
VBD_pump_during_apogee26024258335.80 nil000.00
VBD_pump_during_surface96151192.44 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2911243.80 nil000.00
Iridium_during_connect2316050.61 SciCon122545850.17
Iridium_during_xfer213223628.59 nil000.00
Transponder_ping242011.09 nil000.00
GUMSTIX_24V000.00
GPS33209.55
TT8218310320.69
LPSleep79402233.01
TT8_Active4911072.18
TT8_Sampling206628801.39
TT8_CF81353564.76
TT8_Kalman000.00
Analog_circuits137416294.74
GPS_charging000.00
Compass16356147.75
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 -1.16 -88.7 220 2463 911 916 0.0 0.0 0 107 0.00 0.00 -85.95 0.000 16390 0.000 0.000 219 2464 3116 3164 3069 0 0 0 0 0 0 28.83 28.83 14.92
110 -1.16 -88.7 219 2464 3164 3068 4.0 -14.4 15 130 9.77 2.22 0.00 0.000 2564 0.409 0.036 2323 1050 3107 3167 3047 0 0 0 0 0 0 14.45 14.72 28.83
355 -1.16 -88.7 2323 1050 3171 3071 85.4 -24.0 35 362 0.00 2.25 0.00 0.000 1030 0.000 0.060 2314 2435 3121 3171 3071 0 0 0 0 0 0 28.83 14.76 28.83
661 -1.16 -88.7 2315 2435 3174 3070 149.6 -15.2 51 667 0.00 2.15 0.00 0.000 516 0.000 0.046 2314 1065 3123 3175 3071 0 0 0 0 0 0 28.83 14.85 28.83
804 -1.16 -88.7 2315 1064 3176 3070 171.4 -15.8 58 809 0.00 2.25 0.00 0.000 1030 0.000 0.057 2304 2465 3123 3176 3070 0 0 0 0 0 0 28.83 14.85 28.83
1126 -1.16 -88.7 2304 2466 3177 3070 222.4 -16.8 74 1132 0.00 2.12 0.00 0.000 260 0.000 0.076 2293 3788 3123 3177 3070 0 0 0 0 0 0 28.83 14.88 28.83
1178 -1.16 -88.7 2294 3788 3177 3070 229.7 -16.8 76 1184 0.12 2.03 0.00 0.000 3078 0.307 0.036 2320 2439 3124 3176 3072 0 0 0 0 0 0 14.73 14.95 28.83
1491 -1.16 -88.7 2320 2436 3179 3069 272.2 -11.9 92 1497 0.00 2.20 0.00 0.000 260 0.000 0.078 2311 3783 3124 3179 3069 0 0 0 0 0 0 28.83 14.91 28.83
1618 -1.16 -88.7 2312 3784 3179 3064 287.7 -12.8 98 1623 0.00 2.00 0.00 0.000 1030 0.000 0.034 2312 2446 3123 3178 3069 0 0 0 0 0 0 28.83 14.97 28.83
1935 -1.16 -88.7 2311 2440 3179 3067 325.5 -12.6 114 1936 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2440 3123 3179 3067 0 0 0 0 0 0 28.83 28.83 28.83
2236 -1.16 -88.7 2311 2441 3179 3062 367.6 -13.7 129 2241 0.00 2.12 0.00 0.000 516 0.000 0.046 2311 1066 3121 3179 3063 0 0 0 0 0 0 28.83 14.97 28.83
2338 -1.16 -88.7 2311 1065 3179 3062 382.4 -14.6 134 2344 0.00 2.22 0.00 0.000 1030 0.000 0.057 2301 2459 3120 3179 3062 0 0 0 0 0 0 28.83 14.95 28.83
2661 -1.16 -88.7 2301 2459 3179 3058 426.2 -13.2 150 2666 0.00 2.15 0.00 0.000 260 0.000 0.081 2291 3783 3118 3179 3058 0 0 0 0 0 0 28.83 14.94 28.83
2853 -1.16 -88.7 2291 3783 3178 3058 455.4 -15.8 159 2859 0.15 2.00 0.00 0.000 3078 0.305 0.038 2322 2457 3117 3177 3057 0 0 0 0 0 0 14.77 15.00 28.83
3166 -1.16 -88.7 2322 2455 3177 3053 499.6 -13.0 175 3173 0.00 2.17 0.00 0.000 516 0.000 0.049 2323 1059 3114 3177 3052 0 0 0 0 0 0 28.83 14.97 28.83
3329 -1.16 -88.7 2322 1059 3175 3051 517.8 -10.5 183 3335 0.00 2.25 0.00 0.000 1030 0.000 0.060 2315 2451 3114 3177 3051 0 0 0 0 0 0 28.83 14.95 28.83
3652 -1.17 -96.5 2315 2451 3175 3047 549.7 -9.4 199 3658 0.00 2.20 0.00 0.000 516 0.000 0.052 2315 1060 3108 3170 3047 0 0 0 0 0 0 28.83 14.97 28.83
3689 -1.17 -99.9 2312 1060 3175 3047 552.0 -9.7 200 3695 0.00 2.25 0.00 0.000 1030 0.000 0.061 2304 2457 3111 3175 3047 0 0 0 0 0 0 28.83 14.96 28.83
3995 -1.17 -99.9 2305 2457 3172 3044 585.9 -11.3 216 4000 0.00 2.20 0.00 0.000 516 0.000 0.052 2304 1064 3111 3172 3050 0 0 0 0 0 0 28.83 14.97 28.83
4226 -1.17 -99.9 2304 1064 3172 3042 613.7 -13.6 225 4232 0.00 2.25 0.00 0.000 1030 0.000 0.060 2294 2459 3106 3171 3042 0 0 0 0 0 0 28.83 14.95 28.83
4539 -1.17 -99.9 2294 2459 3170 3040 651.6 -11.0 236 4545 0.00 2.20 0.00 0.000 516 0.000 0.051 2294 1064 3105 3170 3040 0 0 0 0 0 0 28.83 14.97 28.83
4773 -1.17 -102.3 2294 1064 3169 3039 672.7 -9.8 243 4779 0.15 2.25 0.00 0.000 3078 0.305 0.063 2316 2454 3104 3169 3039 0 0 0 0 0 0 14.78 14.95 28.83
5086 -1.19 -121.4 2316 2454 3168 3036 701.5 -8.5 254 5092 0.00 2.22 0.00 0.000 516 0.000 0.054 2316 1060 3101 3168 3035 0 0 0 0 0 0 28.83 14.97 28.83
5194 -1.19 -122.8 2316 1060 3167 3035 711.0 -9.9 257 5199 0.00 2.25 0.00 0.000 1030 0.000 0.063 2308 2448 3101 3167 3035 0 0 0 0 0 0 28.83 14.95 28.83
5512 -1.19 -122.8 2307 2449 3163 3029 747.8 -10.6 268 5518 0.00 2.20 0.00 0.000 516 0.000 0.055 2306 1066 3098 3163 3033 0 0 0 0 0 0 28.83 14.96 28.83
5589 -1.19 -122.8 2307 1066 3163 3033 754.5 -10.2 270 5594 0.00 2.28 0.00 0.000 1030 0.000 0.063 2297 2454 3097 3162 3032 0 0 0 0 0 0 28.83 14.94 28.83
5906 -1.19 -122.8 2296 2455 3162 3030 790.8 -11.5 281 5912 0.00 2.22 0.00 0.000 516 0.000 0.056 2296 1060 3096 3163 3030 0 0 0 0 0 0 28.83 14.95 28.83
6024 -1.19 -122.8 2296 1060 3161 3029 800.3 -10.3 284 6031 0.00 2.28 0.00 0.000 1030 0.000 0.064 2287 2457 3095 3161 3029 0 0 0 0 0 0 28.83 14.94 28.83
6330 -1.20 -128.2 2286 2456 3161 3028 833.1 -9.6 295 6335 0.00 2.22 0.00 0.000 516 0.000 0.057 2286 1067 3094 3161 3027 0 0 0 0 0 0 28.83 14.95 28.83
6453 -1.20 -128.2 2283 1068 3161 3027 846.9 -11.3 299 6459 0.15 2.28 0.00 0.000 3078 0.311 0.066 2308 2455 3094 3161 3027 0 0 0 0 0 0 14.75 14.93 28.83
6787 -1.20 -128.2 2308 2456 3160 3024 889.7 -12.9 310 6788 0.00 0.00 0.00 0.000 6 0.000 0.000 2309 2455 3092 3160 3024 0 0 0 0 0 0 28.83 28.83 28.83
7086 -1.20 -128.2 2308 2455 3159 3023 923.8 -10.6 320 7092 0.00 2.17 0.00 0.000 260 0.000 0.090 2300 3775 3090 3158 3023 0 0 0 0 0 0 28.83 14.91 28.83
7117 end dive: TARGET_DEPTH_EXCEEDED
state 7118 begin apogee
7124 -0.25 0.0 2300 2349 3158 3023 928.3 -11.5 321 7215 1.17 0.00 86.55 1.719 10246 0.290 0.000 2611 2348 2753 2802 2704 0 0 0 0 0 0 14.71 28.83 13.74
7218 end apogee: CONTROL_FINISHED_OK
state 7218 begin climb
7219 1.20 128.2 2611 2348 2799 2700 932.9 0.0 324 7354 1.42 0.00 123.28 2.426 10758 0.119 0.000 3081 2347 2230 2233 2228 0 0 0 0 1 0 14.33 28.83 13.22
7662 1.20 128.2 3081 2347 2233 2218 832.7 22.8 339 7667 0.00 2.30 0.00 0.000 516 0.000 0.066 3091 954 2225 2232 2218 0 0 0 0 0 0 28.83 14.64 28.83
7785 1.20 128.2 3091 954 2233 2215 806.5 21.3 343 7790 0.00 2.33 0.00 0.000 1030 0.000 0.067 3091 2349 2224 2233 2215 0 0 0 0 0 0 28.83 14.69 28.83
8119 1.20 128.2 3091 2349 2233 2212 726.1 25.0 354 8124 0.00 2.28 0.00 0.000 516 0.000 0.055 3101 951 2222 2233 2212 0 0 0 0 0 0 28.83 14.80 28.83
8195 1.20 128.2 3101 950 2232 2211 712.0 23.5 356 8201 0.00 2.30 0.00 0.000 1030 0.000 0.064 3101 2350 2221 2232 2211 0 0 0 0 0 0 28.83 14.79 28.83
8513 1.20 128.2 3101 2351 2233 2209 635.6 22.0 367 8515 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2350 2221 2232 2210 0 0 0 0 0 0 28.83 28.83 28.83
8813 1.20 128.2 3101 2351 2233 2208 568.8 23.6 379 8818 0.00 2.25 0.00 0.000 516 0.000 0.055 3111 958 2220 2233 2208 0 0 0 0 0 0 28.83 14.88 28.83
8839 1.20 128.2 2208 957 2192 2198 563.4 23.6 380 8844 0.00 2.28 0.00 0.000 1030 0.000 0.061 3111 2352 2220 2232 2208 0 0 0 0 0 0 28.83 14.86 28.83
9156 1.20 128.2 3111 2355 2228 2206 484.6 24.3 396 9162 0.00 2.35 0.00 0.000 260 0.000 0.089 3111 3764 2219 2233 2206 0 0 0 0 0 0 28.83 14.86 28.83
9199 1.20 128.2 3111 3764 2232 2207 473.9 24.4 398 9206 0.15 2.20 0.00 0.000 5126 0.363 0.043 3092 2341 2219 2232 2206 0 0 0 0 0 0 14.68 14.92 28.83
9523 1.20 128.2 3092 2336 2232 2205 405.3 19.7 414 9528 0.00 2.22 0.00 0.000 516 0.000 0.055 3101 953 2218 2232 2205 0 0 0 0 0 0 28.83 14.90 28.83
9586 1.20 128.2 3101 953 2232 2205 392.8 19.8 417 9591 0.00 2.28 0.00 0.000 1030 0.000 0.061 3100 2351 2218 2232 2204 0 0 0 0 0 0 28.83 14.88 28.83
9908 1.20 128.2 3101 2351 2233 2203 323.0 23.1 433 9913 0.00 2.35 0.00 0.000 260 0.000 0.088 3101 3765 2218 2233 2204 0 0 0 0 0 0 28.83 14.88 28.83
10125 1.20 128.2 3101 3765 2232 2203 272.9 23.9 443 10132 0.00 2.20 0.00 0.000 1030 0.000 0.042 3111 2343 2217 2232 2203 0 0 0 0 0 0 28.83 14.90 28.83
10431 1.20 128.2 3108 2340 2233 2202 210.9 16.9 459 10432 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2340 2217 2232 2202 0 0 0 0 0 0 28.83 28.83 28.83
10731 1.20 128.2 3111 2339 2232 2202 165.3 15.1 474 10732 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 2339 2217 2232 2202 0 0 0 0 0 0 28.83 28.83 28.83
11031 1.20 128.2 3111 2339 2233 2198 120.1 13.7 489 11037 0.00 2.38 0.00 0.000 260 0.000 0.086 3111 3761 2217 2232 2202 0 0 0 0 0 0 28.83 14.87 28.83
11264 1.21 139.1 3111 3760 2232 2202 96.4 9.2 500 11276 0.15 2.17 4.30 0.431 13318 0.345 0.040 3093 2334 2185 2204 2167 0 0 0 0 0 0 14.64 14.90 14.56
11574 1.24 174.1 3092 2334 2204 2169 71.8 7.3 516 11599 0.00 2.22 17.77 0.365 8708 0.000 0.054 3100 972 2043 2065 2021 0 0 0 0 0 0 28.83 14.85 14.63
11616 1.28 207.9 3100 972 2065 2021 68.1 7.4 518 11641 0.00 2.22 16.65 0.351 9222 0.000 0.055 3100 2355 1904 1928 1880 0 0 0 0 0 0 28.83 14.83 14.60
11948 1.30 233.2 3100 2355 1928 1874 30.7 8.1 544 11965 0.00 2.38 11.77 0.243 8452 0.000 0.083 3100 3752 1801 1831 1772 0 0 0 0 0 0 28.83 14.78 14.68
12187 end climb: SURFACE_DEPTH_REACHED
state 12187 begin surface coast
12209 end surface coast: CONTROL_FINISHED_OK
state 12209 begin surface