OKMC 16May13 * SG181 * Dive index * Mission links * Dive 9 * 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  9 ESCAPE_HEADING  0 C_ROLL_DIVE  2400 ALTIM_TOP_MIN_OBSTACLE  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2375 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  60 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  30 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  -95683.531 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  2760 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  170513,232405,2202.612,12024.006,11,0.9,27,-2.7 TGT_NAME  DOGLEG
_CALLS  1 TGT_LATLONG  2148.000,12030.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.34 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  170513,233419,2202.622,12023.980,11,1.5,11,-2.7 MHEAD_RNG_PITCHd_Wd  156.0,28991,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  825

Post-dive calculations and measurements:
FINISH  0.7,1.020831 _10V_AH  13.5,0.000
SM_CCo  10822,112.45,0.155,0,0,916,450.13 FG_AHR_24Vo  0.000
SM_GC  0.17,8.27,0.00,112.45,0.113,0.000,0.155,238,2376,916,-7.81,-0.68,450.13,0,0,0,0,0,0,14.88,28.83,14.71 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2152.74,12022.75,170513,202044 MEM  323448
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  20113,555
HUMID  46.45 CAP_FILE_SIZE  132058,0
INTERNAL_PRESSURE  9.61951 CFSIZE  260034560,255074304
TCM_TEMP  23.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  3 CURRENT  0.084,329.6,1
SC_FREEKB  3934688 GPS  180513,023824,2201.638,12024.351,40,0.9,40,-2.7
_24V_AH  13.5,26.305

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21423122.36 nil000.00
Roll_motor93104131.75 nil000.00
VBD_pump_during_apogee37415287717.76 nil000.00
VBD_pump_during_surface112155235.75 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2511238.59 nil000.00
Iridium_during_connect2116047.30 SciCon108495780.49
Iridium_during_xfer4012231209.05 nil000.00
Transponder_ping04204.25 nil000.00
GUMSTIX_24V000.00
GPS14203.99
TT8183210271.14
LPSleep71192210.49
TT8_Active5731084.79
TT8_Sampling191928749.78
TT8_CF81183556.86
TT8_Kalman000.00
Analog_circuits135016291.61
GPS_charging000.00
Compass13566123.39
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 -194.6 227 2367 919 922 0.0 0.0 0 102 0.00 0.00 -80.90 0.000 16386 0.000 0.000 226 2367 3008 3057 2959 0 0 0 0 0 0 28.83 28.83 28.83
104 -0.91 -194.6 226 2367 3057 2960 4.1 -13.5 14 131 10.68 2.35 -8.77 0.000 18692 0.423 0.100 2449 3780 3548 3642 3454 0 0 0 0 0 0 14.42 14.66 14.88
333 -0.91 -194.6 2449 3776 3643 3456 69.5 -22.3 35 338 0.00 2.12 0.00 0.000 1030 0.000 0.040 2449 2397 3549 3643 3456 0 0 0 0 0 0 28.83 14.80 28.83
644 -0.91 -194.6 2449 2392 3643 3457 133.0 -19.1 51 650 0.00 2.17 0.00 0.000 516 0.000 0.049 2449 999 3550 3643 3457 0 0 0 0 0 0 28.83 14.83 28.83
706 -0.91 -194.6 2448 998 3643 3457 143.1 -16.9 54 712 0.00 2.28 0.00 0.000 1030 0.000 0.064 2439 2401 3550 3643 3457 0 0 0 0 0 0 28.83 14.84 28.83
1029 -0.91 -194.6 2439 2401 3643 3457 191.5 -14.3 70 1034 0.00 2.28 0.00 0.000 260 0.000 0.088 2428 3787 3550 3643 3458 0 0 0 0 0 0 28.83 14.85 28.83
1085 -0.91 -194.6 2428 3787 3643 3458 198.1 -14.9 72 1093 0.15 2.12 0.00 0.000 3078 0.243 0.040 2465 2386 3550 3643 3458 0 0 0 0 0 0 14.77 14.93 28.83
1391 -0.91 -194.6 2465 2381 3643 3458 238.5 -11.4 88 1393 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2381 3550 3643 3458 0 0 0 0 0 0 28.83 28.83 28.83
1691 -0.91 -194.6 2465 2380 3643 3458 272.3 -10.8 103 1698 0.00 2.30 0.00 0.000 260 0.000 0.090 2458 3777 3550 3643 3458 0 0 0 0 0 0 28.83 14.89 28.83
1863 -0.91 -194.6 2458 3777 3643 3457 290.1 -10.6 111 1869 0.00 2.10 0.00 0.000 1030 0.000 0.041 2458 2386 3550 3644 3457 0 0 0 0 0 0 28.83 14.97 28.83
2175 -0.91 -194.6 2458 2385 3643 3454 324.5 -10.5 127 2181 0.00 2.30 0.00 0.000 260 0.000 0.093 2447 3775 3548 3643 3454 0 0 0 0 0 0 28.83 14.90 28.83
2202 -0.91 -194.6 2448 3775 3643 3453 326.8 -10.4 128 2208 0.00 2.08 0.00 0.000 1030 0.000 0.042 2449 2408 3548 3643 3454 0 0 0 0 0 0 28.83 15.00 28.83
2519 -0.91 -194.6 2449 2405 3643 3450 361.6 -10.7 144 2525 0.00 2.20 0.00 0.000 516 0.000 0.053 2448 999 3547 3644 3450 0 0 0 0 0 0 28.83 14.97 28.83
2637 -0.91 -194.6 2448 999 3643 3456 372.0 -9.8 149 2644 0.00 2.28 0.00 0.000 1030 0.000 0.064 2440 2407 3546 3643 3449 0 0 0 0 0 0 28.83 14.94 28.83
2942 -0.91 -194.6 2440 2407 3643 3445 403.2 -10.5 165 2947 0.00 2.28 0.00 0.000 260 0.000 0.097 2429 3783 3544 3643 3445 0 0 0 0 0 0 28.83 14.90 28.83
2993 -0.91 -194.6 2429 3782 3642 3445 407.9 -11.0 167 2999 0.15 2.12 0.00 0.000 3078 0.240 0.046 2466 2386 3544 3643 3445 0 0 0 0 0 0 14.83 15.00 28.83
3306 -0.91 -194.6 2466 2382 3642 3442 439.8 -10.5 183 3312 0.00 2.33 0.00 0.000 260 0.000 0.099 2459 3776 3541 3641 3442 0 0 0 0 0 0 28.83 14.91 28.83
3343 -0.91 -194.6 2459 3776 3641 3442 442.6 -10.8 184 3350 0.00 2.10 0.00 0.000 1030 0.000 0.044 2459 2392 3541 3641 3442 0 0 0 0 0 0 28.83 15.01 28.83
3649 -0.91 -194.6 2459 2391 3640 3440 478.8 -11.5 200 3650 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 2392 3540 3640 3440 0 0 0 0 0 0 28.83 28.83 28.83
3950 -0.91 -194.6 2459 2391 3638 3439 512.9 -11.3 215 3951 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 2391 3538 3638 3439 0 0 0 0 0 0 28.83 28.83 28.83
4250 -0.91 -194.6 2459 2391 3637 3437 542.6 -8.9 230 4256 0.00 2.33 0.00 0.000 260 0.000 0.098 2450 3784 3536 3636 3437 0 0 0 0 0 0 28.83 14.92 28.83
4302 -0.91 -194.6 2450 3784 3635 3437 546.8 -9.3 232 4307 0.00 2.12 0.00 0.000 1030 0.000 0.047 2451 2399 3536 3635 3437 0 0 0 0 0 0 28.83 15.01 28.83
4614 -0.91 -194.6 2450 2393 3635 3434 576.8 -9.3 248 4621 0.00 2.33 0.00 0.000 260 0.000 0.099 2446 3782 3534 3634 3434 0 0 0 0 0 0 28.83 14.91 28.83
4672 -0.91 -194.6 2446 3783 3633 3434 581.2 -9.7 250 4679 0.00 2.12 0.00 0.000 1030 0.000 0.048 2446 2399 3533 3633 3434 0 0 0 0 0 0 28.83 15.00 28.83
4978 -0.91 -194.6 2446 2395 3633 3433 614.1 -10.0 264 4980 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 2398 3532 3633 3432 0 0 0 0 0 0 28.83 28.83 28.83
5278 -0.91 -194.6 2446 2397 3630 3428 644.4 -10.5 274 5283 0.00 2.30 0.00 0.000 260 0.000 0.100 2437 3774 3530 3629 3432 0 0 0 0 0 0 28.83 14.90 28.83
5354 -0.91 -194.6 2437 3774 3630 3432 651.3 -10.8 276 5360 0.12 2.12 0.00 0.000 3078 0.246 0.050 2466 2395 3530 3629 3432 0 0 0 0 0 0 14.81 15.00 28.83
5673 -0.91 -194.6 2466 2394 3629 3428 681.0 -8.9 287 5678 0.00 2.33 0.00 0.000 260 0.000 0.102 2459 3779 3528 3629 3427 0 0 0 0 0 0 28.83 14.90 28.83
5751 -0.91 -194.6 2459 3779 3627 3427 687.0 -9.0 289 5756 0.00 2.12 0.00 0.000 1030 0.000 0.050 2459 2399 3527 3628 3427 0 0 0 0 0 0 28.83 14.99 28.83
6069 -0.91 -194.6 2460 2396 3627 3422 712.9 -7.2 300 6070 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 2396 3527 3628 3426 0 0 0 0 0 0 28.83 28.83 28.83
6369 -0.91 -194.6 2459 2396 3625 3425 736.5 -8.7 310 6374 0.00 2.33 0.00 0.000 260 0.000 0.103 2451 3776 3525 3625 3425 0 0 0 0 0 0 28.83 14.89 28.83
6405 -0.91 -194.6 2451 3777 3624 3425 739.6 -8.9 311 6411 0.00 2.12 0.00 0.000 1030 0.000 0.050 2451 2399 3524 3624 3425 0 0 0 0 0 0 28.83 14.99 28.83
6734 -0.91 -194.6 2451 2398 3624 3424 770.7 -9.1 322 6739 0.00 2.33 0.00 0.000 260 0.000 0.104 2442 3774 3524 3624 3424 0 0 0 0 0 0 28.83 14.88 28.83
6836 -0.91 -194.6 2442 3774 3623 3424 774.6 -5.6 325 6841 0.00 2.12 0.00 0.000 1030 0.000 0.049 2442 2391 3523 3623 3424 0 0 0 0 0 0 28.83 14.97 28.83
7007 end dive: NO_VERTICAL_VELOCITY
state 7007 begin apogee
7011 -0.25 0.0 2442 2390 3623 3423 775.2 0.0 331 7203 0.70 0.00 184.75 1.528 10246 0.147 0.000 2673 2391 2749 2784 2715 0 0 0 0 0 0 14.84 28.83 13.56
7204 end apogee: CONTROL_FINISHED_OK
state 7204 begin climb
7206 0.91 194.6 2673 2390 2782 2712 775.1 0.0 337 7404 1.05 2.38 189.27 1.499 10756 0.053 0.057 3079 991 1955 1980 1930 0 0 0 0 0 0 14.23 14.12 13.51
7586 0.91 194.6 3078 991 1975 1908 699.1 26.7 350 7592 0.00 2.33 0.00 0.000 1030 0.000 0.067 3079 2380 1941 1975 1908 0 0 0 0 0 0 28.83 14.56 28.83
7915 0.91 194.6 3079 2380 1975 1903 609.7 27.3 361 7920 0.00 2.35 0.00 0.000 260 0.000 0.093 3078 3774 1939 1975 1903 0 0 0 0 0 0 28.83 14.71 28.83
7931 0.91 194.6 3079 3773 1975 1903 609.7 27.3 361 7937 0.15 2.17 0.00 0.000 5126 0.333 0.044 3059 2378 1939 1975 1903 0 0 0 0 0 0 14.57 14.78 28.83
8239 0.91 194.6 3058 2373 1975 1900 530.8 24.4 376 8240 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2373 1937 1975 1900 0 0 0 0 0 0 28.83 28.83 28.83
8539 0.91 194.6 3059 2373 1975 1898 456.4 25.2 391 8544 0.00 2.38 0.00 0.000 260 0.000 0.095 3059 3780 1936 1975 1898 0 0 0 0 0 0 28.83 14.81 28.83
8596 0.91 194.6 3059 3780 1975 1898 445.2 25.9 393 8602 0.00 2.17 0.00 0.000 1030 0.000 0.044 3067 2373 1936 1975 1898 0 0 0 0 0 0 28.83 14.90 28.83
8902 0.91 194.6 3067 2368 1975 1897 365.6 23.6 409 8907 0.00 2.38 0.00 0.000 260 0.000 0.094 3068 3775 1936 1975 1897 0 0 0 0 0 0 28.83 14.83 28.83
8944 0.91 194.6 3068 3775 1975 1897 354.1 25.2 411 8949 0.00 2.17 0.00 0.000 1030 0.000 0.044 3079 2365 1936 1975 1897 0 0 0 0 0 0 28.83 14.92 28.83
9266 0.91 194.6 3079 2363 1975 1896 275.7 24.0 427 9272 0.00 2.20 0.00 0.000 516 0.000 0.054 3089 975 1935 1975 1896 0 0 0 0 0 0 28.83 14.90 28.83
9318 0.91 194.6 3089 975 1975 1896 265.1 24.4 429 9324 0.15 2.28 0.00 0.000 5126 0.296 0.060 3056 2381 1935 1975 1896 0 0 0 0 0 0 14.69 14.88 28.83
9631 0.91 194.6 3056 2381 1975 1895 194.9 21.9 445 9636 0.00 2.33 0.00 0.000 260 0.000 0.093 3056 3774 1935 1975 1896 0 0 0 0 0 0 28.83 14.85 28.83
9787 0.91 194.6 3056 3774 1975 1896 161.4 23.9 452 9794 0.00 2.15 0.00 0.000 1030 0.000 0.043 3064 2375 1935 1975 1895 0 0 0 0 0 0 28.83 14.93 28.83
10093 0.91 194.6 3064 2370 1975 1895 95.2 17.8 468 10098 0.00 2.20 0.00 0.000 516 0.000 0.052 3075 980 1935 1975 1895 0 0 0 0 0 0 28.83 14.91 28.83
10184 0.91 194.6 3075 980 1975 1895 81.5 16.7 472 10190 0.00 2.25 0.00 0.000 1030 0.000 0.059 3074 2376 1935 1975 1895 0 0 0 0 0 0 28.83 14.89 28.83
10498 0.91 194.6 3075 2376 1975 1895 26.7 12.6 495 10499 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2376 1935 1975 1895 0 0 0 0 0 0 28.83 28.83 28.83
10776 end climb: SURFACE_DEPTH_REACHED
state 10776 begin surface coast
10807 end surface coast: CONTROL_FINISHED_OK
state 10807 begin surface