OKMC 16May13 * SG181 * Dive index * Mission links * Dive 69 * 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  69 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  73 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  34 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  -95759.516 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  230513,150030,2147.511,12110.591,37,1.4,38,-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  -0.07 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  230513,150806,2147.603,12110.520,9,1.3,9,-2.7 MHEAD_RNG_PITCHd_Wd  68.8,2650,-24.3,-10.000,-26.59,1047
SPEED_LIMITS  0.173,0.321 D_GRID  926

Post-dive calculations and measurements:
FINISH  -0.5,1.021475 _10V_AH  13.5,0.000
SM_CCo  13302,96.95,0.146,0,0,917,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.13,8.02,0.20,96.95,0.058,0.107,0.146,222,2465,917,-7.62,-0.76,450.13,0,0,0,0,0,0,14.84,14.83,14.69 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2148.09,12120.93,230513,111107 MEM  322832
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  23443,657
HUMID  44.29 CAP_FILE_SIZE  163816,0
INTERNAL_PRESSURE  9.66834 CFSIZE  260034560,250544128
TCM_TEMP  23.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS  4 CURRENT  0.060, 30.3,1
SC_FREEKB  3911552 GPS  230513,185330,2148.556,12111.695,38,1.4,39,-2.7
_24V_AH  13.3,37.677

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21413118.81 nil000.00
Roll_motor124107177.09 nil000.00
VBD_pump_during_apogee24418015857.85 nil000.00
VBD_pump_during_surface96146188.41 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2811243.12 nil000.00
Iridium_during_connect4316092.12 SciCon133485962.38
Iridium_during_xfer202223599.57 nil000.00
Transponder_ping14205.59 nil000.00
GUMSTIX_24V000.00
GPS11203.38
TT8256410379.49
LPSleep83042245.54
TT8_Active5051074.73
TT8_Sampling235628920.79
TT8_CF81493572.05
TT8_Kalman000.00
Analog_circuits152116328.60
GPS_charging000.00
Compass19346176.06
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 -1.29 -68.4 213 2432 906 916 0.0 0.0 0 103 0.00 0.00 -81.90 0.000 16386 0.000 0.000 212 2434 2976 3018 2934 0 0 0 0 0 0 28.83 28.83 28.83
105 -1.29 -68.4 212 2433 3018 2936 3.2 -10.9 14 126 9.70 2.20 -1.08 0.000 18948 0.413 0.070 2281 1057 3035 3088 2982 0 0 0 0 0 0 14.43 14.71 14.85
311 -1.29 -68.4 2281 1056 3093 2981 74.4 -28.5 34 317 0.00 2.28 0.00 0.000 1030 0.000 0.064 2272 2445 3037 3093 2981 0 0 0 0 0 0 28.83 14.72 28.83
629 -1.29 -68.4 2272 2445 3096 2981 138.0 -16.7 50 635 0.00 2.17 0.00 0.000 260 0.000 0.073 2262 3790 3038 3096 2981 0 0 0 0 0 0 28.83 14.79 28.83
681 -1.29 -68.4 2262 3790 3096 2982 145.5 -16.3 52 686 0.00 2.03 0.00 0.000 1030 0.000 0.036 2262 2453 3038 3096 2981 0 0 0 0 0 0 28.83 14.87 28.83
993 -1.29 -68.4 2262 2448 3100 2981 194.6 -13.8 68 998 0.00 2.17 0.00 0.000 260 0.000 0.076 2251 3783 3040 3098 2982 0 0 0 0 0 0 28.83 14.85 28.83
1044 -1.29 -68.4 2251 3783 3098 2981 200.6 -14.3 70 1050 0.15 2.00 0.00 0.000 3078 0.325 0.034 2281 2440 3040 3098 2982 0 0 0 0 0 0 14.67 14.93 28.83
1357 -1.29 -68.4 2281 2439 3099 2981 250.1 -17.6 86 1358 0.00 0.00 0.00 0.000 6 0.000 0.000 2281 2439 3040 3100 2981 0 0 0 0 0 0 28.83 28.83 28.83
1658 -1.29 -68.4 2281 2439 3100 2981 294.4 -13.3 101 1663 0.00 2.12 0.00 0.000 516 0.000 0.043 2281 1062 3040 3100 2981 0 0 0 0 0 0 28.83 14.94 28.83
1890 -1.29 -68.4 2281 1061 3099 2981 319.5 -11.9 112 1895 0.00 2.22 0.00 0.000 1030 0.000 0.050 2273 2465 3040 3100 2980 0 0 0 0 0 0 28.83 14.92 28.83
2202 -1.29 -68.4 2273 2461 3099 2978 355.6 -11.7 128 2208 0.00 2.17 0.00 0.000 516 0.000 0.044 2273 1070 3039 3100 2978 0 0 0 0 0 0 28.83 14.95 28.83
2229 -1.29 -68.4 1440 1068 3077 2970 358.8 -12.2 129 2235 0.00 2.22 0.00 0.000 1030 0.000 0.057 2265 2458 3038 3099 2978 0 0 0 0 0 0 28.83 14.93 28.83
2546 -1.29 -68.4 2263 2459 3100 2974 402.6 -14.3 145 2552 0.00 2.12 0.00 0.000 260 0.000 0.080 2253 3777 3036 3099 2974 0 0 0 0 0 0 28.83 14.92 28.83
2693 -1.29 -68.4 2252 3777 3099 2974 421.9 -12.7 152 2699 0.15 2.00 0.00 0.000 3078 0.327 0.039 2283 2441 3036 3099 2974 0 0 0 0 0 0 14.75 15.00 28.83
3011 -1.29 -75.4 2283 2441 3099 2970 452.6 -9.3 168 3017 0.00 2.20 -0.10 0.000 16644 0.000 0.103 2275 3783 3067 3134 3001 0 0 0 0 0 0 28.83 14.93 14.95
3243 -1.29 -75.4 2275 3783 3133 3006 483.9 -15.0 179 3249 0.00 2.00 0.00 0.000 1030 0.000 0.040 2275 2446 3067 3134 3001 0 0 0 0 0 0 28.83 15.00 28.83
3557 -1.29 -75.4 2275 2446 3129 2997 528.1 -13.8 195 3562 0.00 2.15 0.00 0.000 516 0.000 0.050 2274 1074 3064 3133 2996 0 0 0 0 0 0 28.83 14.96 28.83
3629 -1.29 -75.4 2274 1073 3133 2997 536.1 -12.8 198 3634 0.00 2.22 0.00 0.000 1030 0.000 0.059 2265 2457 3064 3133 2996 0 0 0 0 0 0 28.83 14.95 28.83
3941 -1.29 -75.4 2264 2458 3131 2995 574.9 -10.6 214 3947 0.00 2.15 0.00 0.000 260 0.000 0.086 2254 3775 3061 3130 2992 0 0 0 0 0 0 28.83 14.93 28.83
4018 -1.29 -75.4 2254 3775 3130 2995 582.6 -11.9 217 4026 0.12 2.00 0.00 0.000 3078 0.337 0.044 2277 2453 3063 3130 2996 0 0 0 0 0 0 14.71 15.00 28.83
4345 -1.29 -75.4 2277 2453 3130 2991 619.4 -10.0 231 4350 0.00 2.17 0.00 0.000 516 0.000 0.053 2277 1072 3059 3129 2990 0 0 0 0 0 0 28.83 14.96 28.83
4527 -1.29 -75.4 2277 1071 3128 2990 640.0 -11.3 237 4532 0.00 2.25 0.00 0.000 1030 0.000 0.061 2269 2458 3058 3128 2989 0 0 0 0 0 0 28.83 14.94 28.83
4861 -1.29 -75.4 2269 2458 3126 2987 679.9 -11.5 248 4866 0.00 2.17 0.00 0.000 260 0.000 0.088 2259 3783 3056 3125 2987 0 0 0 0 0 0 28.83 14.92 28.83
5043 -1.29 -75.4 2259 3783 3123 2987 705.0 -14.4 254 5049 0.00 2.05 0.00 0.000 1030 0.000 0.045 2259 2446 3054 3122 2987 0 0 0 0 0 0 28.83 14.99 28.83
5377 -1.29 -75.4 2259 2445 3122 2985 747.5 -12.7 265 5382 0.00 2.17 0.00 0.000 516 0.000 0.055 2258 1070 3053 3122 2985 0 0 0 0 0 0 28.83 14.95 28.83
5538 -1.29 -75.4 2259 1070 3121 2984 765.3 -11.6 270 5544 0.15 2.25 0.00 0.000 3078 0.322 0.063 2279 2457 3052 3121 2983 0 0 0 0 0 0 14.73 14.93 28.83
5862 -1.29 -75.4 2279 2456 3119 2981 803.3 -11.5 281 5867 0.00 2.22 0.00 0.000 516 0.000 0.056 2280 1063 3050 3119 2981 0 0 0 0 0 0 28.83 14.95 28.83
6028 -1.29 -75.4 2280 1063 3119 2980 821.6 -12.0 286 6034 0.00 2.28 0.00 0.000 1030 0.000 0.065 2272 2458 3049 3118 2980 0 0 0 0 0 0 28.83 14.88 28.83
6347 -1.29 -75.4 2272 2458 3119 2977 858.9 -11.5 297 6353 0.00 2.22 0.00 0.000 516 0.000 0.057 2271 1067 3048 3119 2977 0 0 0 0 0 0 28.83 14.93 28.83
6493 -1.29 -75.4 2271 1067 3119 2972 873.2 -11.6 301 6500 0.00 2.28 0.00 0.000 1030 0.000 0.067 2261 2454 3047 3118 2976 0 0 0 0 0 0 28.83 14.91 28.83
6801 -1.30 -80.3 2261 2455 3121 2977 908.4 -9.5 312 6806 0.00 2.22 0.00 0.000 516 0.000 0.057 2261 1067 3045 3115 2976 0 0 0 0 0 0 28.83 14.93 28.83
7011 end dive: TARGET_DEPTH_EXCEEDED
state 7011 begin apogee
7017 -0.25 0.0 2252 2359 3115 2975 927.6 -8.8 319 7097 1.35 0.00 75.22 1.719 10246 0.291 0.000 2609 2361 2752 2806 2699 0 0 0 0 0 0 14.68 28.83 13.77
7099 end apogee: CONTROL_FINISHED_OK
state 7099 begin climb
7101 1.30 80.3 2609 2361 2806 2697 928.1 0.0 321 7203 1.52 2.53 85.95 1.802 10500 0.125 0.095 3109 3750 2427 2444 2410 0 0 0 0 1 0 14.37 14.11 13.32
7257 1.30 80.3 3109 3750 2444 2409 895.8 22.7 327 7262 0.00 2.25 0.00 0.000 1030 0.000 0.044 3119 2372 2426 2444 2409 0 0 0 0 0 0 28.83 14.41 28.83
7590 1.30 80.3 3119 2372 2443 2401 816.0 22.9 338 7595 0.00 2.33 0.00 0.000 516 0.000 0.060 3130 946 2422 2443 2401 0 0 0 0 0 0 28.83 14.69 28.83
7647 1.30 80.3 3130 945 2443 2401 809.2 22.1 339 7654 0.00 2.33 0.00 0.000 1030 0.000 0.067 3130 2348 2422 2443 2401 0 0 0 0 0 0 28.83 14.70 28.83
7952 1.30 80.3 3130 2348 2443 2397 740.3 22.0 350 7958 0.00 2.28 0.00 0.000 516 0.000 0.055 3140 945 2420 2443 2397 0 0 0 0 0 0 28.83 14.79 28.83
8079 1.30 80.3 2216 944 2400 2385 713.3 22.2 354 8085 0.00 2.33 0.00 0.000 1030 0.000 0.064 3140 2359 2419 2443 2395 0 0 0 0 0 0 28.83 14.79 28.83
8408 1.30 80.3 3140 2359 2443 2394 641.3 21.0 365 8413 0.00 2.33 0.00 0.000 260 0.000 0.090 3140 3754 2418 2443 2394 0 0 0 0 0 0 28.83 14.81 28.83
8464 1.30 80.3 3140 3754 2442 2394 633.7 21.4 366 8471 0.15 2.20 0.00 0.000 5126 0.380 0.041 3124 2337 2418 2443 2394 0 0 0 0 0 0 14.62 14.89 28.83
8780 1.30 80.3 3123 2332 2443 2392 561.7 21.5 380 8786 0.00 2.20 0.00 0.000 516 0.000 0.053 3131 957 2417 2443 2392 0 0 0 0 0 0 28.83 14.88 28.83
8831 1.30 80.3 3131 957 2443 2392 552.8 21.5 382 8837 0.00 2.28 0.00 0.000 1030 0.000 0.062 3131 2351 2417 2443 2392 0 0 0 0 0 0 28.83 14.86 28.83
9144 1.30 80.3 3131 2351 2442 2390 487.5 18.6 398 9149 0.00 2.35 0.00 0.000 260 0.000 0.090 3131 3754 2417 2445 2390 0 0 0 0 0 0 28.83 14.85 28.83
9236 1.30 80.3 3131 3754 2442 2390 470.9 20.4 402 9241 0.00 2.17 0.00 0.000 1030 0.000 0.041 3142 2341 2416 2442 2390 0 0 0 0 0 0 28.83 14.92 28.83
9549 1.30 80.3 3142 2336 2443 2388 416.5 16.7 418 9554 0.00 2.40 0.00 0.000 260 0.000 0.089 3142 3759 2415 2442 2388 0 0 0 0 0 0 28.83 14.85 28.83
9672 1.30 80.3 3142 3759 2443 2389 396.0 16.5 424 9678 0.15 2.17 0.00 0.000 5126 0.370 0.041 3124 2348 2415 2442 2389 0 0 0 0 0 0 14.64 14.92 28.83
9995 1.30 80.3 3124 2340 2443 2387 347.6 14.7 440 10001 0.00 2.20 0.00 0.000 516 0.000 0.053 3132 961 2414 2442 2387 0 0 0 0 0 0 28.83 14.90 28.83
10227 1.30 80.3 3132 961 2442 2386 314.1 15.7 451 10233 0.00 2.25 0.00 0.000 1030 0.000 0.057 3132 2352 2414 2442 2387 0 0 0 0 0 0 28.83 14.88 28.83
10539 1.30 80.3 3132 2352 2442 2386 268.1 11.3 467 10546 0.00 2.33 0.00 0.000 260 0.000 0.086 3132 3754 2414 2442 2386 0 0 0 0 0 0 28.83 14.85 28.83
10772 1.30 80.3 3132 3754 2442 2386 243.5 12.0 478 10777 0.00 2.17 0.00 0.000 1030 0.000 0.041 3141 2339 2413 2441 2386 0 0 0 0 0 0 28.83 14.93 28.83
11084 1.30 80.3 3142 2334 2437 2386 211.8 10.4 494 11089 0.00 2.38 0.00 0.000 260 0.000 0.085 3142 3756 2414 2442 2386 0 0 0 0 0 0 28.83 14.85 28.83
11316 1.30 80.3 3142 3756 2442 2386 183.3 13.0 505 11322 0.15 2.17 0.00 0.000 5126 0.369 0.040 3125 2339 2414 2442 2386 0 0 0 0 0 0 14.63 14.92 28.83
11629 1.32 98.0 3124 2335 2442 2386 155.1 8.3 521 11650 0.00 2.45 16.17 1.018 8452 0.000 0.083 3123 3759 2352 2378 2327 0 0 0 0 0 0 28.83 14.80 14.41
11876 1.34 120.9 2208 3758 2333 2314 132.0 7.8 533 11894 0.00 2.17 12.00 0.562 9222 0.000 0.039 3131 2339 2259 2280 2239 0 0 0 0 0 0 28.83 14.88 14.47
12193 1.38 166.9 3132 2339 2280 2238 107.7 5.5 549 12219 0.00 0.00 24.45 0.488 8198 0.000 0.000 3132 2339 2072 2090 2055 0 0 0 0 0 0 28.83 28.83 14.49
12513 1.40 187.1 3131 2339 2090 2053 78.5 8.0 565 12534 0.00 2.25 9.98 0.380 8708 0.000 0.054 3141 974 1992 2016 1968 0 0 0 0 0 0 28.83 14.81 14.56
12590 1.40 187.1 3141 974 2016 1968 71.2 10.7 568 12597 0.00 2.22 0.00 0.000 1030 0.000 0.055 3141 2351 1992 2016 1968 0 0 0 0 0 0 28.83 14.78 28.83
12896 1.40 187.1 3141 2351 2016 1967 34.5 14.0 590 12901 0.00 2.33 0.00 0.000 260 0.000 0.083 3141 3762 1991 2016 1966 0 0 0 0 0 0 28.83 14.78 28.83
13128 1.45 230.2 3141 3762 2016 1967 14.3 5.8 627 13154 0.00 2.15 20.70 0.187 9222 0.000 0.037 3152 2339 1813 1840 1786 0 0 0 0 0 0 28.83 14.88 14.70
13260 end climb: SURFACE_DEPTH_REACHED
state 13260 begin surface coast
13287 end surface coast: CONTROL_FINISHED_OK
state 13287 begin surface