OKMC 16May13 * SG181 * Dive index * Mission links * Dive 87 * 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  87 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  67 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  44 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  -95789.719 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  260513,035843,2234.617,12119.380,10,1.8,10,-2.9 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  -0.08 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  260513,040636,2234.829,12119.570,36,0.8,36,-2.9 MHEAD_RNG_PITCHd_Wd  10.7,54344,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  1158

Post-dive calculations and measurements:
FINISH  -0.4,1.021157 _10V_AH  13.5,0.000
SM_CCo  11975,77.00,0.147,0,0,915,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.07,7.55,0.20,77.00,0.053,0.106,0.147,229,2472,915,-7.62,-0.74,450.13,0,0,0,0,0,0,14.85,14.86,14.71 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2216.01,12119.81,260513,000008 MEM  322884
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  20153,583
HUMID  43.58 CAP_FILE_SIZE  141244,0
INTERNAL_PRESSURE  9.68787 CFSIZE  260034560,248848384
TCM_TEMP  25.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.309, 28.1,1
SC_FREEKB  3904640 GPS  260513,072849,2238.450,12120.841,10,2.0,10,-2.9
_24V_AH  13.5,42.543

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21426120.94 nil000.00
Roll_motor120106172.62 nil000.00
VBD_pump_during_apogee42817269985.65 nil000.00
VBD_pump_during_surface77146152.68 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2911245.35 nil000.00
Iridium_during_connect2416052.11 SciCon119995853.02
Iridium_during_xfer210223633.12 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS382011.02
TT8189210280.07
LPSleep80482237.94
TT8_Active6241092.36
TT8_Sampling182628713.57
TT8_CF81443569.50
TT8_Kalman000.00
Analog_circuits145016313.30
GPS_charging000.00
Compass14036127.68
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 -194.6 230 2462 914 920 0.0 0.0 0 103 0.00 0.00 -81.62 0.000 16386 0.000 0.000 230 2462 2982 3025 2939 0 0 0 0 0 0 28.83 28.83 28.83
106 -0.91 -194.6 229 2462 3024 2940 3.1 -10.1 14 132 10.52 2.20 -9.70 0.000 18692 0.426 0.096 2393 3766 3546 3636 3457 0 0 0 0 0 0 14.42 14.68 14.90
155 -0.91 -194.6 2393 3766 3639 3461 25.4 -39.2 22 160 0.00 2.03 0.00 0.000 1030 0.000 0.037 2393 2451 3549 3638 3461 0 0 0 0 0 0 28.83 14.71 28.83
466 -0.91 -194.6 2393 2447 3640 3463 117.4 -25.3 41 472 0.00 2.17 0.00 0.000 516 0.000 0.049 2393 1065 3551 3640 3463 0 0 0 0 0 0 28.83 14.80 28.83
658 -0.91 -194.6 2393 1064 3640 3464 155.0 -20.6 50 664 0.00 2.25 0.00 0.000 1030 0.000 0.059 2383 2447 3552 3640 3464 0 0 0 0 0 0 28.83 14.83 28.83
971 -0.91 -194.6 2383 2447 3640 3465 234.1 -23.0 66 976 0.00 2.17 0.00 0.000 260 0.000 0.080 2373 3784 3552 3640 3465 0 0 0 0 0 0 28.83 14.85 28.83
1022 -0.91 -194.6 2373 3786 3640 3465 244.3 -23.5 68 1029 0.15 2.03 0.00 0.000 3078 0.278 0.036 2405 2436 3552 3640 3465 0 0 0 0 0 0 14.72 14.92 28.83
1336 -0.91 -194.6 2405 2434 3646 3465 308.9 -17.3 84 1341 0.00 2.12 0.00 0.000 516 0.000 0.045 2405 1063 3552 3640 3464 0 0 0 0 0 0 28.83 14.92 28.83
1479 -0.91 -194.6 2405 1063 3640 3465 330.7 -14.0 91 1484 0.00 2.25 0.00 0.000 1030 0.000 0.060 2398 2456 3552 3640 3464 0 0 0 0 0 0 28.83 14.90 28.83
1801 -0.91 -194.6 2398 2457 3640 3463 380.3 -16.0 107 1808 0.00 2.15 0.00 0.000 260 0.000 0.083 2388 3777 3551 3640 3463 0 0 0 0 0 0 28.83 14.91 28.83
1939 -0.91 -194.6 2388 3777 3640 3462 402.1 -17.8 113 1946 0.00 2.00 0.00 0.000 1030 0.000 0.037 2388 2446 3551 3640 3462 0 0 0 0 0 0 28.83 14.97 28.83
2245 -0.91 -194.6 2387 2441 3640 3459 460.3 -16.7 129 2250 0.00 2.15 0.00 0.000 516 0.000 0.048 2387 1064 3549 3640 3459 0 0 0 0 0 0 28.83 14.95 28.83
2271 -0.91 -194.6 2387 1065 3640 3459 464.0 -16.6 130 2277 0.00 2.25 0.00 0.000 1030 0.000 0.062 2378 2457 3549 3640 3459 0 0 0 0 0 0 28.83 14.93 28.83
2589 -0.91 -194.6 2378 2458 3638 3453 520.3 -18.2 146 2594 0.00 2.17 0.00 0.000 260 0.000 0.086 2368 3786 3546 3640 3453 0 0 0 0 0 0 28.83 14.91 28.83
2626 -0.91 -194.6 2368 3787 3639 3453 524.3 -18.1 147 2633 0.15 2.03 0.00 0.000 3078 0.279 0.041 2401 2455 3543 3634 3453 0 0 0 0 0 0 14.79 15.00 28.83
2932 -0.91 -194.6 2401 2452 3638 3450 576.8 -16.0 163 2937 0.00 2.17 0.00 0.000 516 0.000 0.050 2401 1064 3543 3638 3449 0 0 0 0 0 0 28.83 14.96 28.83
2988 -0.91 -194.6 2401 1064 3637 3449 583.5 -16.0 165 2996 0.00 2.25 0.00 0.000 1030 0.000 0.063 2394 2453 3543 3637 3449 0 0 0 0 0 0 28.83 14.94 28.83
3305 -0.91 -194.6 2394 2452 3634 3446 633.0 -14.9 178 3311 0.00 2.20 0.00 0.000 260 0.000 0.091 2384 3787 3540 3634 3446 0 0 0 0 0 0 28.83 14.92 28.83
3362 -0.91 -194.6 2384 3787 3632 3446 638.3 -15.0 179 3369 0.00 2.05 0.00 0.000 1030 0.000 0.044 2381 2449 3539 3633 3446 0 0 0 0 0 0 28.83 15.00 28.83
3668 -0.91 -194.6 2384 2448 3631 3442 694.1 -16.9 190 3673 0.00 2.20 0.00 0.000 516 0.000 0.053 2384 1053 3537 3631 3443 0 0 0 0 0 0 28.83 14.96 28.83
3714 -0.91 -194.6 2384 1053 3632 3442 699.5 -16.7 191 3721 0.12 2.28 0.00 0.000 3078 0.275 0.067 2402 2449 3536 3631 3442 0 0 0 0 0 0 14.81 14.96 28.83
4034 -0.91 -194.6 2402 2449 3628 3439 749.5 -14.6 202 4035 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2449 3533 3628 3439 0 0 0 0 0 0 28.83 28.83 28.83
4333 -0.91 -194.6 2402 2450 3624 3438 787.5 -12.5 212 4338 0.00 2.20 0.00 0.000 260 0.000 0.095 2394 3776 3531 3624 3438 0 0 0 0 0 0 28.83 14.92 28.83
4374 -0.91 -194.6 2394 3776 3624 3438 791.7 -12.7 213 4379 0.00 2.05 0.00 0.000 1030 0.000 0.046 2394 2450 3531 3624 3438 0 0 0 0 0 0 28.83 15.00 28.83
4698 -0.91 -194.6 2394 2444 3625 3434 831.9 -11.6 224 4703 0.00 2.20 0.00 0.000 516 0.000 0.056 2394 1058 3529 3623 3435 0 0 0 0 0 0 28.83 14.95 28.83
4720 -0.91 -194.6 2394 1057 3623 3434 831.9 -11.6 224 4725 0.00 2.28 0.00 0.000 1030 0.000 0.069 2384 2446 3528 3623 3434 0 0 0 0 0 0 28.83 14.93 28.83
5033 -0.91 -194.6 2384 2448 3621 3432 875.7 -13.4 235 5038 0.00 2.22 0.00 0.000 516 0.000 0.055 2384 1051 3526 3621 3432 0 0 0 0 0 0 28.83 14.95 28.83
5089 -0.91 -194.6 2384 1051 3621 3432 880.1 -13.1 236 5098 0.12 2.30 0.00 0.000 3078 0.275 0.070 2402 2452 3526 3621 3432 0 0 0 0 0 0 14.80 14.92 28.83
5396 -0.91 -194.6 2408 2453 3619 3429 920.5 -12.2 247 5402 0.00 2.22 0.00 0.000 516 0.000 0.056 2401 1060 3524 3619 3429 0 0 0 0 0 0 28.83 14.92 28.83
5438 -0.91 -194.6 2402 1060 3618 3429 924.6 -12.1 248 5443 0.00 2.30 0.00 0.000 1030 0.000 0.070 2395 2458 3523 3619 3428 0 0 0 0 0 0 28.83 14.92 28.83
5761 -0.91 -194.6 2395 2458 3616 3427 961.2 -10.4 259 5762 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2458 3521 3616 3427 0 0 0 0 0 0 28.83 28.83 28.83
6061 -0.91 -194.6 2395 2458 3615 3425 988.3 -8.7 269 6066 0.00 2.22 0.00 0.000 260 0.000 0.099 2385 3787 3519 3614 3425 0 0 0 0 0 0 28.83 14.88 28.83
6092 end dive: TARGET_DEPTH_EXCEEDED
state 6092 begin apogee
6099 -0.25 0.0 2385 2354 3613 3425 991.7 -9.1 270 6298 0.77 0.00 193.20 1.727 10246 0.231 0.000 2609 2352 2753 2780 2727 0 0 0 0 0 0 14.73 28.83 13.54
6299 end apogee: CONTROL_FINISHED_OK
state 6299 begin climb
6301 0.91 194.6 2609 2352 2776 2722 994.8 0.0 276 6509 1.17 0.00 197.23 1.704 10758 0.123 0.000 2987 2352 1954 1980 1929 0 0 0 0 0 0 14.13 28.83 13.47
6809 0.91 194.6 2988 2348 1979 1905 907.1 20.7 293 6815 0.00 2.45 0.00 0.000 260 0.000 0.100 2988 3762 1942 1979 1905 0 0 0 0 0 0 28.83 14.57 28.83
6831 0.91 194.6 2988 3757 1979 1905 907.1 20.7 293 6837 0.00 2.25 0.00 0.000 1030 0.000 0.044 2999 2349 1942 1979 1905 0 0 0 0 0 0 28.83 14.65 28.83
7145 0.91 194.6 2999 2345 1979 1900 831.1 22.2 304 7151 0.00 2.28 0.00 0.000 516 0.000 0.058 3009 950 1939 1979 1900 0 0 0 0 0 0 28.83 14.74 28.83
7172 0.91 194.6 3009 950 1979 1900 831.1 22.2 304 7179 0.00 2.33 0.00 0.000 1030 0.000 0.065 3009 2354 1939 1979 1899 0 0 0 0 0 0 28.83 14.73 28.83
7478 0.91 194.6 3009 2355 1979 1897 761.0 20.8 315 7484 0.00 2.38 0.00 0.000 260 0.000 0.095 3009 3756 1938 1979 1897 0 0 0 0 0 0 28.83 14.78 28.83
7521 0.91 194.6 3009 3756 1979 1897 753.2 21.2 316 7527 0.00 2.22 0.00 0.000 1030 0.000 0.043 3019 2334 1938 1979 1897 0 0 0 0 0 0 28.83 14.85 28.83
7845 0.91 194.6 3020 2329 1979 1895 676.7 23.7 327 7846 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2329 1937 1979 1895 0 0 0 0 0 0 28.83 28.83 28.83
8144 0.91 194.6 3020 2329 1979 1894 600.6 25.2 337 8150 0.00 2.42 0.00 0.000 260 0.000 0.094 3019 3758 1936 1979 1894 0 0 0 0 0 0 28.83 14.84 28.83
8216 0.91 194.6 3019 3759 1979 1895 582.7 27.6 340 8222 0.15 2.20 0.00 0.000 5126 0.304 0.043 2998 2348 1937 1979 1895 0 0 0 0 0 0 14.70 14.91 28.83
8529 0.91 194.6 2999 2343 1979 1893 514.7 19.6 356 8534 0.00 2.22 0.00 0.000 516 0.000 0.055 3006 957 1936 1979 1893 0 0 0 0 0 0 28.83 14.88 28.83
8572 0.91 194.6 3006 958 1979 1893 506.8 18.9 358 8577 0.00 2.28 0.00 0.000 1030 0.000 0.063 3006 2351 1935 1978 1893 0 0 0 0 0 0 28.83 14.87 28.83
8894 0.91 194.6 3006 2352 1979 1892 444.8 20.3 374 8899 0.00 2.35 0.00 0.000 260 0.000 0.092 3006 3754 1935 1979 1892 0 0 0 0 0 0 28.83 14.86 28.83
8966 0.91 194.6 3006 3754 1979 1892 430.7 22.4 377 8973 0.00 2.20 0.00 0.000 1030 0.000 0.042 3017 2338 1935 1979 1892 0 0 0 0 0 0 28.83 14.91 28.83
9280 0.91 194.6 3017 2334 1979 1892 365.4 18.7 393 9285 0.00 2.20 0.00 0.000 516 0.000 0.055 3026 959 1935 1979 1892 0 0 0 0 0 0 28.83 14.90 28.83
9306 0.91 194.6 2128 959 1945 1883 361.3 18.5 394 9312 0.15 2.28 0.00 0.000 5126 0.288 0.061 2995 2351 1935 1978 1892 0 0 0 0 0 0 14.72 14.88 28.83
9624 0.91 194.6 2995 2352 1979 1891 308.3 16.4 410 9630 0.00 2.35 0.00 0.000 260 0.000 0.091 2995 3757 1935 1979 1891 0 0 0 0 0 0 28.83 14.87 28.83
9696 0.91 194.6 2995 3758 1979 1891 296.4 18.5 413 9701 0.00 2.20 0.00 0.000 1030 0.000 0.041 3002 2340 1935 1979 1891 0 0 0 0 0 0 28.83 14.93 28.83
10008 0.91 194.6 3003 2336 1979 1890 239.5 18.1 429 10013 0.00 2.22 0.00 0.000 516 0.000 0.054 3012 950 1935 1979 1891 0 0 0 0 0 0 28.83 14.90 28.83
10100 0.91 194.6 3012 949 1979 1890 226.2 16.2 433 10105 0.00 2.28 0.00 0.000 1030 0.000 0.061 3012 2352 1934 1979 1890 0 0 0 0 0 0 28.83 14.88 28.83
10412 0.91 194.6 3013 2353 1979 1890 172.4 15.1 449 10413 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2353 1934 1979 1890 0 0 0 0 0 0 28.83 28.83 28.83
10714 0.91 194.6 3012 2353 1979 1890 125.7 14.8 464 10719 0.00 2.25 0.00 0.000 516 0.000 0.054 3022 954 1934 1979 1890 0 0 0 0 0 0 28.83 14.90 28.83
10730 0.91 194.6 3022 954 1979 1890 125.7 14.8 464 10738 0.00 2.25 0.00 0.000 1030 0.000 0.056 3022 2355 1934 1978 1890 0 0 0 0 0 0 28.83 14.87 28.83
11036 0.91 194.6 3022 2355 1979 1890 83.8 12.8 480 11042 0.00 2.25 0.00 0.000 516 0.000 0.051 3032 950 1934 1979 1890 0 0 0 0 0 0 28.83 14.90 28.83
11268 0.91 194.6 3032 950 1979 1891 56.9 13.9 491 11274 0.15 2.25 0.00 0.000 5126 0.263 0.057 2997 2348 1935 1979 1891 0 0 0 0 0 0 14.73 14.88 28.83
11582 0.99 279.2 2997 2348 1979 1891 35.1 7.1 519 11627 0.00 2.35 37.97 0.246 8452 0.000 0.086 2997 3761 1614 1652 1576 0 0 0 0 0 0 28.83 14.78 14.68
11710 0.99 279.2 2997 3760 1663 1576 21.5 12.1 534 11717 0.00 2.17 0.00 0.000 1030 0.000 0.038 3004 2345 1621 1663 1580 0 0 0 0 0 0 28.83 14.88 28.83
11913 end climb: SURFACE_DEPTH_REACHED
state 11913 begin surface coast
11959 end surface coast: CONTROL_FINISHED_OK
state 11959 begin surface