OKMC 16May13 * SG181 * Dive index * Mission links * Dive 76 * 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  76 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  54 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  -95768.32 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  240513,145900,2204.924,12113.501,39,1.3,39,-2.8 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  -0.15 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  240513,150630,2205.233,12113.435,9,1.0,14,-2.8 MHEAD_RNG_PITCHd_Wd  29.2,110143,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  1247

Post-dive calculations and measurements:
FINISH  -0.2,1.020935 _10V_AH  13.3,0.000
SM_CCo  12576,45.25,0.148,0,0,915,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.37,7.78,0.15,45.25,0.070,0.130,0.148,240,2470,915,-7.61,-0.76,450.13,0,0,0,0,0,0,14.83,14.83,14.71 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2202.04,12100.62,240513,111127 MEM  322828
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  23397,613
HUMID  47.48 CAP_FILE_SIZE  144074,0
INTERNAL_PRESSURE  9.63904 CFSIZE  260034560,249884672
TCM_TEMP  23.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS  11 CURRENT  0.104, 8.0,1
SC_FREEKB  3908864 GPS  240513,183836,2207.542,12114.489,32,0.9,33,-2.8
_24V_AH  13.1,39.609

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20415113.32 nil000.00
Roll_motor106130181.57 nil000.00
VBD_pump_during_apogee447252014760.32 nil000.00
VBD_pump_during_surface4514787.52 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2611238.71 nil000.00
Iridium_during_connect2216048.09 SciCon126185879.04
Iridium_during_xfer213223622.53 nil000.00
Transponder_ping242015.13 nil000.00
GUMSTIX_24V000.00
GPS16204.65
TT8201110293.28
LPSleep84352245.71
TT8_Active6311092.05
TT8_Sampling186128716.34
TT8_CF81413567.24
TT8_Kalman000.00
Analog_circuits145216309.11
GPS_charging000.00
Compass14606130.89
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 -0.91 -194.6 226 2472 921 911 0.0 0.0 0 97 0.00 0.00 -76.20 0.000 16386 0.000 0.000 225 2472 2898 2937 2859 0 0 0 0 0 0 28.83 28.83 28.83
100 -0.91 -194.6 225 2472 2937 2857 3.4 -13.2 13 126 10.27 2.22 -10.80 0.000 18692 0.415 0.106 2390 3764 3550 3641 3460 0 0 0 0 0 0 14.41 14.66 14.88
232 -0.91 -194.6 2390 3763 3641 3463 58.4 -38.1 27 238 0.00 2.05 0.00 0.000 1030 0.000 0.039 2389 2431 3552 3641 3463 0 0 0 0 0 0 28.83 14.75 28.83
546 -0.91 -194.6 2390 2429 3641 3464 140.1 -22.7 43 551 0.00 2.20 0.00 0.000 260 0.000 0.080 2380 3764 3552 3641 3463 0 0 0 0 0 0 28.83 14.78 28.83
722 -0.91 -194.6 2380 3764 3637 3466 176.1 -21.1 51 729 0.00 2.00 0.00 0.000 1030 0.000 0.037 2380 2436 3553 3641 3466 0 0 0 0 0 0 28.83 14.87 28.83
1028 -0.91 -194.6 2380 2432 3641 3466 239.4 -19.9 67 1034 0.00 2.12 0.00 0.000 516 0.000 0.047 2380 1072 3553 3641 3466 0 0 0 0 0 0 28.83 14.88 28.83
1101 -0.91 -194.6 2380 1072 3642 3467 251.4 -19.2 70 1107 0.15 2.20 0.00 0.000 3078 0.255 0.058 2405 2437 3554 3642 3467 0 0 0 0 0 0 14.75 14.87 28.83
1414 -0.91 -194.6 2405 2437 3642 3461 305.2 -15.0 86 1419 0.00 2.17 0.00 0.000 260 0.000 0.082 2397 3777 3553 3642 3465 0 0 0 0 0 0 28.83 14.87 28.83
1450 -0.91 -194.6 2397 3779 3641 3465 308.7 -14.9 87 1457 0.00 2.00 0.00 0.000 1030 0.000 0.037 2397 2450 3553 3642 3465 0 0 0 0 0 0 28.83 14.94 28.83
1756 -0.91 -194.6 2397 2448 3642 3463 362.9 -16.9 103 1761 0.00 2.15 0.00 0.000 516 0.000 0.048 2397 1069 3552 3642 3463 0 0 0 0 0 0 28.83 14.92 28.83
1793 -0.91 -194.6 2397 1069 3642 3463 366.7 -17.0 104 1800 0.00 2.22 0.00 0.000 1030 0.000 0.060 2389 2451 3552 3642 3463 0 0 0 0 0 0 28.83 14.90 28.83
2099 -0.91 -194.6 2388 2451 3642 3460 414.4 -14.5 120 2100 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2451 3551 3642 3460 0 0 0 0 0 0 28.83 28.83 28.83
2400 -0.91 -194.6 2388 2451 3642 3456 457.3 -15.0 135 2406 0.00 2.17 0.00 0.000 260 0.000 0.086 2378 3781 3548 3641 3456 0 0 0 0 0 0 28.83 14.91 28.83
2517 -0.91 -194.6 2378 3782 3641 3455 474.0 -16.2 140 2524 0.00 2.03 0.00 0.000 1030 0.000 0.041 2378 2444 3548 3641 3455 0 0 0 0 0 0 28.83 14.99 28.83
2822 -0.91 -194.6 2378 2442 3640 3452 522.8 -17.4 156 2824 0.00 0.00 0.00 0.000 6 0.000 0.000 2378 2442 3545 3640 3451 0 0 0 0 0 0 28.83 28.83 28.83
3123 -0.91 -194.6 2378 2442 3638 3448 574.2 -16.4 171 3129 0.00 2.20 0.00 0.000 260 0.000 0.088 2368 3776 3542 3637 3448 0 0 0 0 0 0 28.83 14.91 28.83
3195 -0.91 -194.6 2368 3773 3636 3448 585.0 -17.0 174 3201 0.15 2.03 0.00 0.000 3078 0.274 0.043 2401 2447 3541 3636 3446 0 0 0 0 0 0 14.80 15.00 28.83
3528 -0.91 -194.6 2401 2445 3634 3444 641.2 -16.8 187 3533 0.00 2.17 0.00 0.000 516 0.000 0.054 2402 1066 3539 3634 3444 0 0 0 0 0 0 28.83 14.95 28.83
3640 -0.91 -194.6 2402 1065 3633 3443 655.6 -15.8 190 3646 0.00 2.25 0.00 0.000 1030 0.000 0.064 2395 2450 3538 3633 3443 0 0 0 0 0 0 28.83 14.93 28.83
3953 -0.91 -194.6 2395 2450 3631 3440 700.7 -12.6 201 3959 0.00 2.20 0.00 0.000 260 0.000 0.092 2385 3783 3535 3631 3440 0 0 0 0 0 0 28.83 14.91 28.83
4005 -0.91 -194.6 2384 3782 3629 3439 705.2 -12.7 202 4010 0.00 2.05 0.00 0.000 1030 0.000 0.046 2385 2455 3534 3629 3440 0 0 0 0 0 0 28.83 14.99 28.83
4317 -0.91 -194.6 2384 2450 3628 3437 746.0 -11.8 213 4322 0.00 2.22 0.00 0.000 260 0.000 0.091 2375 3786 3533 3628 3438 0 0 0 0 0 0 28.83 14.91 28.83
4353 -0.91 -194.6 1536 3785 3622 3434 750.1 -12.0 214 4359 0.12 2.08 0.00 0.000 3078 0.282 0.046 2401 2443 3532 3626 3438 0 0 0 0 0 0 14.79 15.00 28.83
4682 -0.91 -194.6 2401 2439 3625 3435 790.2 -11.6 225 4688 0.00 2.20 0.00 0.000 516 0.000 0.057 2401 1053 3530 3625 3435 0 0 0 0 0 0 28.83 14.95 28.83
4715 -0.91 -194.6 2401 1053 3625 3435 793.7 -11.2 226 4720 0.00 2.30 0.00 0.000 1030 0.000 0.068 2394 2451 3530 3625 3435 0 0 0 0 0 0 28.83 14.92 28.83
5048 -0.91 -194.6 2392 2451 3621 3434 837.3 -13.6 237 5053 0.00 2.20 0.00 0.000 260 0.000 0.097 2384 3777 3527 3621 3434 0 0 0 0 0 0 28.83 14.90 28.83
5105 -0.91 -194.6 2384 3777 3622 3434 842.0 -13.8 238 5112 0.00 2.08 0.00 0.000 1030 0.000 0.048 2384 2442 3527 3621 3434 0 0 0 0 0 0 28.83 14.95 28.83
5411 -0.91 -194.6 2384 2440 3621 3431 887.1 -13.7 249 5412 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2440 3526 3621 3432 0 0 0 0 0 0 28.83 28.83 28.83
5711 -0.91 -194.6 2384 2440 3620 3427 930.6 -14.5 259 5716 0.00 2.20 0.00 0.000 516 0.000 0.058 2384 1057 3523 3619 3427 0 0 0 0 0 0 28.83 14.94 28.83
5737 -0.91 -194.6 2383 1057 3619 3432 930.6 -14.5 259 5744 0.12 2.30 0.00 0.000 3078 0.274 0.071 2401 2455 3523 3619 3427 0 0 0 0 0 0 14.79 14.92 28.83
6044 -0.91 -194.6 2401 2455 3617 3426 968.3 -11.2 270 6049 0.00 2.25 0.00 0.000 516 0.000 0.057 2402 1054 3520 3614 3427 0 0 0 0 0 0 28.83 14.93 28.83
6090 -0.91 -194.6 2402 1054 3615 3426 972.0 -11.1 271 6096 0.00 2.30 0.00 0.000 1030 0.000 0.071 2394 2451 3521 3615 3427 0 0 0 0 0 0 28.83 14.91 28.83
6226 end dive: TARGET_DEPTH_EXCEEDED
state 6226 begin apogee
6231 -0.25 0.0 2394 2336 3615 3426 990.1 -12.3 276 6428 0.75 0.00 186.18 1.987 10246 0.226 0.000 2613 2336 2753 2778 2728 0 0 0 0 1 0 14.77 28.83 13.19
6429 end apogee: CONTROL_FINISHED_OK
state 6429 begin climb
6431 0.91 194.6 2613 2336 2778 2730 996.1 0.0 282 6627 1.17 0.00 187.35 2.521 10246 0.124 0.000 2986 2336 1959 1981 1937 0 0 0 0 1 0 14.04 28.83 13.06
6918 0.91 194.6 2987 2335 1981 1928 909.0 20.9 299 6919 0.00 0.00 0.00 0.000 6 0.000 0.000 2987 2336 1954 1981 1928 0 0 0 0 0 0 28.83 28.83 28.83
7218 0.91 194.6 2987 2337 1981 1922 846.7 20.8 309 7223 0.00 2.45 0.00 0.000 260 0.000 0.100 2987 3756 1951 1981 1922 0 0 0 0 0 0 28.83 14.67 28.83
7295 0.91 194.6 2987 3756 1981 1922 831.1 23.5 311 7300 0.00 2.22 0.00 0.000 1030 0.000 0.046 2997 2352 1951 1981 1922 0 0 0 0 0 0 28.83 14.76 28.83
7613 0.91 194.6 2998 2348 1981 1920 756.0 21.0 322 7614 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 2348 1951 1981 1921 0 0 0 0 0 0 28.83 28.83 28.83
7913 0.91 194.6 2998 2348 1981 1918 699.2 18.9 332 7914 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 2348 1950 1981 1919 0 0 0 0 0 0 28.83 28.83 28.83
8212 0.91 194.6 2998 2348 1981 1917 637.9 20.9 342 8218 0.00 2.40 0.00 0.000 260 0.000 0.095 2998 3761 1949 1981 1917 0 0 0 0 0 0 28.83 14.83 28.83
8290 0.91 194.6 2998 3763 1981 1917 623.9 21.6 344 8295 0.00 2.22 0.00 0.000 1030 0.000 0.045 3008 2338 1949 1981 1917 0 0 0 0 0 0 28.83 14.90 28.83
8598 0.91 194.6 3008 2332 1981 1916 562.3 18.3 358 8603 0.00 2.22 0.00 0.000 516 0.000 0.057 3018 953 1948 1981 1916 0 0 0 0 0 0 28.83 14.88 28.83
8641 0.91 194.6 3018 953 1981 1916 554.8 17.7 360 8646 0.00 2.30 0.00 0.000 1030 0.000 0.066 3018 2355 1948 1981 1916 0 0 0 0 0 0 28.83 14.86 28.83
8963 0.91 194.6 3018 2355 1981 1915 496.7 18.3 376 8969 0.00 2.35 0.00 0.000 260 0.000 0.094 3018 3756 1948 1981 1915 0 0 0 0 0 0 28.83 14.86 28.83
9042 0.91 194.6 3018 3757 1981 1915 483.0 21.4 379 9049 0.15 2.20 0.00 0.000 5126 0.300 0.044 2997 2343 1948 1981 1915 0 0 0 0 0 0 14.73 14.92 28.83
9346 0.91 194.6 2997 2339 1981 1914 429.2 17.2 395 9351 0.00 2.40 0.00 0.000 260 0.000 0.096 2997 3759 1947 1981 1914 0 0 0 0 0 0 28.83 14.86 28.83
9422 0.91 194.6 2997 3755 1981 1914 416.7 19.7 398 9429 0.00 2.20 0.00 0.000 1030 0.000 0.044 3005 2347 1948 1981 1915 0 0 0 0 0 0 28.83 14.92 28.83
9728 0.91 194.6 3005 2342 1981 1914 357.9 18.8 414 9733 0.00 2.40 0.00 0.000 260 0.000 0.095 3005 3756 1947 1981 1914 0 0 0 0 0 0 28.83 14.86 28.83
9791 0.91 194.6 3005 3756 1981 1914 344.8 20.6 417 9796 0.00 2.20 0.00 0.000 1030 0.000 0.044 3015 2346 1948 1981 1915 0 0 0 0 0 0 28.83 14.92 28.83
10113 0.91 194.6 3016 2342 1981 1914 278.5 19.6 433 10119 0.00 2.22 0.00 0.000 516 0.000 0.056 3026 956 1947 1981 1914 0 0 0 0 0 0 28.83 14.90 28.83
10260 0.91 194.6 2128 955 1947 1904 255.5 15.1 440 10266 0.15 2.28 0.00 0.000 5126 0.286 0.061 2994 2351 1947 1981 1913 0 0 0 0 0 0 14.73 14.88 28.83
10578 0.91 194.6 2994 2351 1982 1912 207.5 15.5 456 10584 0.00 2.28 0.00 0.000 516 0.000 0.056 3001 950 1947 1982 1912 0 0 0 0 0 0 28.83 14.90 28.83
10682 0.91 194.6 3001 950 1982 1912 191.4 15.2 461 10688 0.00 2.28 0.00 0.000 1030 0.000 0.063 3000 2350 1947 1982 1912 0 0 0 0 0 0 28.83 14.88 28.83
11005 0.91 194.6 3000 2350 1982 1912 149.2 11.1 477 11010 0.00 2.33 0.00 0.000 260 0.000 0.090 3000 3754 1947 1982 1912 0 0 0 0 0 0 28.83 14.85 28.83
11151 0.91 194.6 2088 3754 1947 1903 128.8 15.6 484 11157 0.00 2.20 0.00 0.000 1030 0.000 0.043 3011 2343 1948 1983 1913 0 0 0 0 0 0 28.83 14.92 28.83
11469 0.93 212.4 3011 2339 1983 1913 94.9 9.4 500 11480 0.00 0.00 8.32 0.439 8198 0.000 0.000 3011 2338 1886 1923 1849 0 0 0 0 0 0 28.83 28.83 14.58
11770 0.96 244.4 3011 2338 1923 1851 66.4 8.9 515 11792 0.00 2.28 16.08 0.350 8708 0.000 0.054 3021 954 1755 1792 1719 0 0 0 0 0 0 28.83 14.83 14.62
11908 1.01 292.5 3021 954 1792 1718 55.8 8.3 521 11940 0.00 2.28 23.27 0.313 9222 0.000 0.057 3021 2361 1558 1596 1521 0 0 0 0 0 0 28.83 14.83 14.61
12248 1.06 348.4 3021 2361 1597 1517 24.5 8.1 552 12278 0.00 0.00 25.80 0.221 8198 0.000 0.000 3021 2360 1330 1371 1290 0 0 0 0 0 0 28.83 28.83 14.66
12524 end climb: SURFACE_DEPTH_REACHED
state 12524 begin surface coast
12560 end surface coast: CONTROL_FINISHED_OK
state 12560 begin surface