OKMC 16May13 * SG181 * Dive index * Mission links * Dive 72 * 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  72 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  57 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  50 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  -95763.305 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  240513,012803,2152.618,12111.857,13,3.2,32,-2.7 TGT_NAME  N1
_CALLS  1 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  -0.06 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  240513,013506,2152.878,12111.864,12,0.9,12,-2.7 MHEAD_RNG_PITCHd_Wd  20.0,133124,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  765

Post-dive calculations and measurements:
FINISH  0.8,1.021264 _10V_AH  13.7,0.000
SM_CCo  9738,50.97,0.148,0,0,916,450.13 FG_AHR_24Vo  0.000
SM_GC  0.03,8.05,2.50,50.97,0.095,0.056,0.148,229,2461,916,-7.62,-0.68,450.13,0,0,0,0,0,0,14.85,14.82,14.72 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2131.85,12041.92,230513,222226 MEM  322848
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  20067,518
HUMID  46.69 CAP_FILE_SIZE  124137,0
INTERNAL_PRESSURE  9.62928 CFSIZE  260034560,250290176
TCM_TEMP  22.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  1 CURRENT  0.350, 21.3,1
SC_FREEKB  3910400 GPS  240513,042006,2155.819,12112.934,41,0.8,41,-2.7
_24V_AH  13.6,38.417

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20411116.70 nil000.00
Roll_motor102107150.58 nil000.00
VBD_pump_during_apogee43315268998.07 nil000.00
VBD_pump_during_surface50148102.89 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2711242.22 nil000.00
Iridium_during_connect3716080.89 SciCon97635783.65
Iridium_during_xfer182223554.63 nil000.00
Transponder_ping04201.43 nil000.00
GUMSTIX_24V000.00
GPS14204.29
TT8170910256.64
LPSleep61252183.78
TT8_Active5771086.77
TT8_Sampling168828669.55
TT8_CF81233560.59
TT8_Kalman000.00
Analog_circuits135016296.02
GPS_charging000.00
Compass13086120.85
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 17 begin dive
19 -0.91 -194.6 228 2473 914 918 0.0 0.0 0 108 0.00 0.00 -86.62 0.000 16386 0.000 0.000 228 2473 3191 3239 3144 0 0 0 0 0 0 28.83 28.83 28.83
110 -0.91 -194.6 229 2473 3239 3145 4.6 -17.0 15 132 10.18 2.38 -5.53 0.000 18948 0.412 0.081 2405 1054 3549 3630 3469 0 0 0 0 0 0 14.45 14.71 14.90
344 -0.91 -194.6 2406 1053 3633 3469 89.0 -25.9 34 350 0.00 2.25 0.00 0.000 1030 0.000 0.061 2398 2432 3551 3634 3469 0 0 0 0 0 0 28.83 14.74 28.83
667 -0.91 -194.6 2397 2432 3635 3469 161.3 -19.4 50 672 0.00 2.20 0.00 0.000 260 0.000 0.081 2387 3778 3552 3635 3469 0 0 0 0 0 0 28.83 14.82 28.83
823 -0.91 -194.6 2387 3779 3635 3469 191.2 -20.6 57 830 0.00 2.03 0.00 0.000 1030 0.000 0.035 2388 2435 3552 3635 3470 0 0 0 0 0 0 28.83 14.90 28.83
1129 -0.91 -194.6 2387 2429 3635 3471 256.9 -19.7 73 1134 0.00 2.12 0.00 0.000 516 0.000 0.044 2387 1064 3552 3635 3470 0 0 0 0 0 0 28.83 14.91 28.83
1326 -0.91 -194.6 2387 1061 3637 3470 289.8 -17.5 82 1334 0.00 2.22 0.00 0.000 1030 0.000 0.056 2377 2454 3556 3637 3475 0 0 0 0 0 0 28.83 14.90 28.83
1632 -0.91 -194.6 2378 2454 3637 3469 342.9 -15.3 98 1638 0.00 2.15 0.00 0.000 260 0.000 0.080 2367 3779 3552 3637 3468 0 0 0 0 0 0 28.83 14.90 28.83
1729 -0.91 -194.6 2367 3780 3637 3467 358.0 -18.2 102 1737 0.15 2.00 0.00 0.000 3078 0.279 0.037 2400 2432 3552 3637 3467 0 0 0 0 0 0 14.78 14.98 28.83
2035 -0.91 -194.6 2400 2431 3637 3464 409.0 -15.6 118 2041 0.00 2.10 0.00 0.000 516 0.000 0.046 2400 1078 3550 3637 3464 0 0 0 0 0 0 28.83 14.95 28.83
2072 -0.91 -194.6 2406 1077 3637 3463 412.5 -15.6 119 2078 0.00 2.20 0.00 0.000 1030 0.000 0.060 2393 2448 3550 3637 3464 0 0 0 0 0 0 28.83 14.93 28.83
2378 -0.91 -194.6 2393 2448 3637 3460 456.9 -13.8 135 2383 0.00 2.17 0.00 0.000 260 0.000 0.086 2383 3780 3548 3637 3460 0 0 0 0 0 0 28.83 14.92 28.83
2474 -0.91 -194.6 2383 3780 3637 3459 469.3 -15.3 139 2481 0.00 1.98 0.00 0.000 1030 0.000 0.039 2383 2471 3547 3637 3458 0 0 0 0 0 0 28.83 14.99 28.83
2780 -0.91 -194.6 2383 2468 3637 3455 518.4 -15.4 155 2786 0.00 2.20 0.00 0.000 516 0.000 0.049 2383 1058 3545 3637 3454 0 0 0 0 0 0 28.83 14.96 28.83
2937 -0.91 -194.6 2383 1057 3636 3453 539.1 -14.3 162 2945 0.12 2.25 0.00 0.000 3078 0.265 0.063 2401 2449 3544 3636 3452 0 0 0 0 0 0 14.83 14.94 28.83
3243 -0.91 -194.6 2402 2446 3635 3449 579.5 -10.9 178 3249 0.00 2.17 0.00 0.000 260 0.000 0.088 2394 3777 3540 3633 3448 0 0 0 0 0 0 28.83 14.92 28.83
3315 -0.91 -194.6 2394 3777 3633 3449 586.4 -10.8 181 3320 0.00 2.03 0.00 0.000 1030 0.000 0.043 2394 2449 3540 3633 3448 0 0 0 0 0 0 28.83 15.00 28.83
3638 -0.91 -194.6 2394 2443 3631 3445 625.3 -12.5 194 3644 0.00 2.17 0.00 0.000 516 0.000 0.052 2394 1059 3538 3631 3445 0 0 0 0 0 0 28.83 14.96 28.83
3762 -0.91 -194.6 2394 1057 3629 3444 640.7 -12.4 198 3768 0.00 2.28 0.00 0.000 1030 0.000 0.065 2384 2452 3536 3629 3444 0 0 0 0 0 0 28.83 14.94 28.83
4096 -0.91 -194.6 2383 2453 3623 3441 686.2 -13.5 209 4102 0.00 2.17 0.00 0.000 260 0.000 0.090 2374 3777 3532 3623 3442 0 0 0 0 0 0 28.83 14.92 28.83
4153 -0.91 -194.6 2374 3777 3623 3442 690.8 -13.5 210 4160 0.12 2.05 0.00 0.000 3078 0.278 0.045 2399 2436 3530 3618 3442 0 0 0 0 0 0 14.80 15.00 28.83
4459 -0.91 -194.6 2400 2434 3623 3438 727.0 -11.2 221 4461 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2434 3531 3624 3438 0 0 0 0 0 0 28.83 28.83 28.83
4759 -0.91 -194.6 2400 2434 3622 3436 761.1 -11.1 231 4765 0.00 2.17 0.00 0.000 516 0.000 0.056 2400 1061 3529 3622 3436 0 0 0 0 0 0 28.83 14.96 28.83
4786 -0.91 -194.6 2401 1060 3622 3437 761.1 -11.1 231 4793 0.00 2.28 0.00 0.000 1030 0.000 0.068 2393 2452 3529 3622 3436 0 0 0 0 0 0 28.83 14.94 28.83
4820 end dive: TARGET_DEPTH_EXCEEDED
state 4820 begin apogee
4825 -0.25 0.0 2393 2345 3621 3435 768.2 -11.0 233 5016 0.75 0.00 183.55 1.527 10246 0.224 0.000 2612 2345 2749 2777 2721 0 0 0 0 0 0 14.79 28.83 13.66
5018 end apogee: CONTROL_FINISHED_OK
state 5018 begin climb
5019 0.91 194.6 2612 2345 2776 2718 769.2 0.0 239 5218 1.17 2.38 185.77 1.486 10756 0.128 0.052 3000 969 1955 1982 1928 0 0 0 0 0 0 14.21 14.14 13.61
5239 0.91 194.6 3000 969 1981 1918 737.4 19.2 246 5247 0.00 2.35 0.00 0.000 1030 0.000 0.060 3000 2352 1949 1981 1917 0 0 0 0 0 0 28.83 14.28 28.83
5545 0.91 194.6 3000 2352 1981 1904 667.4 21.3 257 5550 0.00 2.38 0.00 0.000 260 0.000 0.090 3001 3755 1942 1981 1904 0 0 0 0 0 0 28.83 14.66 28.83
5648 0.91 194.6 3000 3755 1982 1904 646.0 22.6 260 5653 0.00 2.20 0.00 0.000 1030 0.000 0.042 3010 2352 1942 1981 1904 0 0 0 0 0 0 28.83 14.76 28.83
5971 0.91 194.6 3011 2347 1981 1899 572.6 21.7 273 5976 0.00 2.25 0.00 0.000 516 0.000 0.054 3021 951 1938 1980 1897 0 0 0 0 0 0 28.83 14.81 28.83
6033 0.91 194.6 3021 951 1981 1899 559.3 21.2 276 6038 0.00 2.30 0.00 0.000 1030 0.000 0.062 3021 2356 1940 1981 1899 0 0 0 0 0 0 28.83 14.81 28.83
6355 0.91 194.6 3021 2356 1981 1896 489.0 21.4 292 6356 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2356 1938 1981 1896 0 0 0 0 0 0 28.83 28.83 28.83
6657 0.91 194.6 3021 2356 1981 1895 429.7 19.5 307 6662 0.00 2.25 0.00 0.000 516 0.000 0.054 3031 959 1938 1981 1895 0 0 0 0 0 0 28.83 14.89 28.83
6688 0.91 194.6 3031 959 1981 1895 425.4 19.1 308 6694 0.15 2.28 0.00 0.000 5126 0.288 0.061 2998 2359 1938 1981 1895 0 0 0 0 0 0 14.73 14.88 28.83
7001 0.91 194.6 2998 2359 1981 1894 367.2 18.1 324 7007 0.00 2.35 0.00 0.000 260 0.000 0.093 2999 3761 1937 1981 1893 0 0 0 0 0 0 28.83 14.85 28.83
7098 0.91 194.6 2998 3761 1981 1894 350.6 19.7 328 7105 0.00 2.20 0.00 0.000 1030 0.000 0.043 3006 2341 1937 1981 1894 0 0 0 0 0 0 28.83 14.93 28.83
7404 0.91 194.6 3006 2337 1981 1896 292.4 18.6 344 7409 0.00 2.40 0.00 0.000 260 0.000 0.092 3006 3761 1937 1981 1893 0 0 0 0 0 0 28.83 14.88 28.83
7450 0.91 194.6 2096 3760 1946 1884 284.2 19.2 346 7456 0.00 2.20 0.00 0.000 1030 0.000 0.042 3016 2344 1937 1981 1893 0 0 0 0 0 0 28.83 14.94 28.83
7768 0.91 194.6 3015 2339 1981 1891 234.0 16.1 362 7773 0.00 2.22 0.00 0.000 516 0.000 0.057 3027 961 1936 1981 1891 0 0 0 0 0 0 28.83 14.91 28.83
7834 0.91 194.6 3027 959 1981 1891 225.0 14.7 365 7840 0.15 2.25 0.00 0.000 5126 0.278 0.057 2993 2353 1936 1981 1891 0 0 0 0 0 0 14.76 14.90 28.83
8153 0.91 194.6 2994 2354 1982 1890 180.9 14.3 381 8158 0.00 2.25 0.00 0.000 516 0.000 0.054 3000 954 1935 1981 1890 0 0 0 0 0 0 28.83 14.92 28.83
8169 0.91 194.6 3001 954 1981 1890 180.9 14.3 381 8176 0.00 2.28 0.00 0.000 1030 0.000 0.059 3000 2361 1935 1981 1890 0 0 0 0 0 0 28.83 14.90 28.83
8475 0.91 194.6 3000 2361 1981 1890 129.9 14.0 397 8481 0.00 2.33 0.00 0.000 260 0.000 0.089 3000 3760 1935 1981 1890 0 0 0 0 0 0 28.83 14.88 28.83
8492 0.91 194.6 3001 3760 1981 1890 129.9 14.0 397 8499 0.00 2.20 0.00 0.000 1030 0.000 0.041 3011 2337 1939 1981 1897 0 0 0 0 0 0 28.83 14.95 28.83
8798 0.91 194.6 3011 2333 1981 1890 87.0 13.5 413 8803 0.00 2.38 0.00 0.000 260 0.000 0.089 3011 3752 1936 1981 1891 0 0 0 0 0 0 28.83 14.85 28.83
8830 0.91 194.6 3012 3752 1981 1891 83.7 13.8 414 8836 0.00 2.15 0.00 0.000 1030 0.000 0.041 3021 2353 1936 1981 1891 0 0 0 0 0 0 28.83 14.94 28.83
9143 0.95 233.6 3021 2351 1981 1891 49.0 8.6 430 9165 0.00 2.42 16.42 0.284 8452 0.000 0.086 3022 3756 1799 1838 1761 0 0 0 0 0 0 28.83 14.85 14.68
9301 0.95 233.6 2088 3755 1813 1760 33.4 11.2 445 9308 0.00 2.17 0.00 0.000 1030 0.000 0.040 3032 2343 1807 1845 1769 0 0 0 0 0 0 28.83 14.90 28.83
9608 1.05 335.2 2080 2337 1812 1761 9.2 6.5 498 9663 0.00 2.28 47.55 0.172 8708 0.000 0.053 3043 956 1382 1423 1341 0 0 0 0 0 0 28.83 14.81 14.72
9694 end climb: SURFACE_DEPTH_REACHED
state 9694 begin surface coast
9719 end surface coast: CONTROL_FINISHED_OK
state 9719 begin surface