OKMC 16May13 * SG181 * Dive index * Mission links * Dive 91 * 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  91 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  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  -95794.742 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  260513,175220,2248.989,12122.554,12,4.0,32,-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  -0.15 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  260513,180020,2249.236,12122.695,11,2.2,30,-2.9 MHEAD_RNG_PITCHd_Wd  8.7,27136,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  709

Post-dive calculations and measurements:
FINISH  -0.5,1.021140 _10V_AH  13.7,0.000
SM_CCo  8306,62.70,0.151,0,0,915,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.50,7.68,2.45,62.70,0.055,0.055,0.151,236,2449,915,-7.62,-0.99,450.13,0,0,0,0,0,0,14.83,14.83,14.71 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2244.02,12107.05,260513,141417 MEM  322816
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  16812,451
HUMID  45.94 CAP_FILE_SIZE  102595,0
INTERNAL_PRESSURE  9.64881 CFSIZE  260034560,248512512
TCM_TEMP  23.90 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  1 CURRENT  0.252, 29.4,1
SC_FREEKB  3903104 GPS  260513,202135,2251.555,12123.465,35,0.8,35,-3.0
_24V_AH  13.6,43.565

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20409112.71 nil000.00
Roll_motor71126123.18 nil000.00
VBD_pump_during_apogee42414548388.35 nil000.00
VBD_pump_during_surface62150128.51 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2511239.38 nil000.00
Iridium_during_connect4516098.33 SciCon83396688.74
Iridium_during_xfer206223626.69 nil000.00
Transponder_ping04201.43 nil000.00
GUMSTIX_24V000.00
GPS33209.73
TT8135410203.38
LPSleep54062162.22
TT8_Active5711085.85
TT8_Sampling140828558.43
TT8_CF81193558.33
TT8_Kalman000.00
Analog_circuits116616255.65
GPS_charging000.00
Compass991691.59
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 -194.6 223 2471 919 923 0.0 0.0 0 107 0.00 0.00 -85.43 0.000 16386 0.000 0.000 224 2471 3117 3167 3068 0 0 0 0 0 0 28.83 28.83 28.83
109 -0.91 -194.6 223 2470 3167 3069 3.9 -15.3 15 135 10.20 2.30 -6.90 0.000 18948 0.409 0.063 2399 1038 3550 3638 3462 0 0 0 0 0 0 14.42 14.71 14.89
362 -0.91 -194.6 1512 1038 3636 3462 92.7 -28.0 36 367 0.00 2.28 0.00 0.000 1030 0.000 0.058 2392 2434 3553 3641 3465 0 0 0 0 0 0 28.83 14.76 28.83
684 -0.91 -194.6 2392 2435 3640 3466 170.3 -21.6 52 690 0.00 2.17 0.00 0.000 516 0.000 0.044 2390 1046 3553 3640 3467 0 0 0 0 0 0 28.83 14.84 28.83
776 -0.91 -194.6 2391 1044 3640 3467 185.3 -18.0 56 782 0.00 2.28 0.00 0.000 1030 0.000 0.059 2382 2449 3553 3640 3467 0 0 0 0 0 0 28.83 14.83 28.83
1089 -0.91 -194.6 2382 2450 3641 3467 252.4 -22.3 72 1094 0.00 2.15 0.00 0.000 260 0.000 0.078 2372 3780 3554 3641 3467 0 0 0 0 0 0 28.83 14.85 28.83
1226 -0.91 -194.6 2372 3780 3641 3467 278.0 -21.3 78 1234 0.15 2.03 0.00 0.000 3078 0.272 0.036 2404 2430 3554 3641 3467 0 0 0 0 0 0 14.73 14.92 28.83
1532 -0.91 -194.6 2405 2424 3641 3467 330.6 -15.9 94 1538 0.00 2.10 0.00 0.000 516 0.000 0.045 2405 1074 3554 3642 3466 0 0 0 0 0 0 28.83 14.92 28.83
1609 -0.91 -194.6 2404 1073 3641 3466 339.8 -14.8 97 1616 0.00 2.22 0.00 0.000 1030 0.000 0.058 2398 2455 3553 3641 3465 0 0 0 0 0 0 28.83 14.90 28.83
1915 -0.91 -194.6 2397 2456 3641 3463 396.7 -15.2 113 1916 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 2457 3551 3641 3462 0 0 0 0 0 0 28.83 28.83 28.83
2216 -0.91 -194.6 2397 2457 3641 3458 440.3 -14.5 128 2221 0.00 2.17 0.00 0.000 260 0.000 0.086 2387 3784 3549 3641 3458 0 0 0 0 0 0 28.83 14.90 28.83
2247 -0.91 -194.6 2387 3784 3641 3457 443.8 -14.9 129 2254 0.00 2.03 0.00 0.000 1030 0.000 0.040 2388 2454 3549 3642 3457 0 0 0 0 0 0 28.83 14.97 28.83
2561 -0.91 -194.6 2387 2448 3641 3454 493.3 -15.4 145 2562 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2448 3547 3641 3454 0 0 0 0 0 0 28.83 28.83 28.83
2861 -0.91 -194.6 2388 2448 3639 3450 540.0 -14.9 160 2867 0.00 2.20 0.00 0.000 260 0.000 0.090 2378 3777 3544 3639 3450 0 0 0 0 0 0 28.83 14.92 28.83
2933 -0.91 -194.6 2377 3778 3637 3450 550.7 -16.2 163 2939 0.00 2.03 0.00 0.000 1030 0.000 0.041 2377 2447 3543 3637 3450 0 0 0 0 0 0 28.83 14.99 28.83
3246 -0.91 -194.6 2377 2442 3634 3447 598.1 -14.4 179 3248 0.12 0.00 0.00 0.000 2054 0.295 0.000 2404 2442 3540 3635 3446 0 0 0 0 0 0 14.78 28.83 28.83
3566 -0.91 -194.6 2404 2441 3633 3449 632.4 -10.7 190 3571 0.00 2.17 0.00 0.000 516 0.000 0.052 2404 1065 3538 3633 3443 0 0 0 0 0 0 28.83 14.95 28.83
3598 -0.91 -194.6 2404 1064 3633 3443 636.7 -11.7 191 3604 0.00 2.28 0.00 0.000 1030 0.000 0.065 2397 2454 3538 3633 3443 0 0 0 0 0 0 28.83 14.92 28.83
3932 -0.91 -194.6 2397 2453 3630 3440 691.9 -16.8 202 3938 0.00 2.20 0.00 0.000 260 0.000 0.093 2387 3780 3534 3629 3440 0 0 0 0 0 0 28.83 14.90 28.83
3960 -0.91 -194.6 2387 3781 3629 3440 691.9 -16.8 202 3966 0.00 2.05 0.00 0.000 1030 0.000 0.045 2387 2443 3534 3629 3440 0 0 0 0 0 0 28.83 14.99 28.83
4054 end dive: TARGET_DEPTH_EXCEEDED
state 4054 begin apogee
4059 -0.25 0.0 2387 2336 3628 3439 712.3 -16.5 206 4249 0.77 0.00 183.12 1.454 10246 0.225 0.000 2612 2337 2749 2779 2719 0 0 0 0 0 0 14.77 28.83 13.69
4251 end apogee: CONTROL_FINISHED_OK
state 4251 begin climb
4252 0.91 194.6 2612 2336 2776 2717 718.5 0.0 212 4453 1.17 2.58 186.95 1.424 10500 0.131 0.089 2987 3753 1954 1984 1925 0 0 0 0 0 0 14.21 14.12 13.63
4464 0.91 194.6 2987 3753 1983 1921 691.9 17.6 219 4469 0.00 2.25 0.00 0.000 1030 0.000 0.041 2998 2362 1951 1983 1919 0 0 0 0 0 0 28.83 14.28 28.83
4782 0.91 194.6 2998 2358 1983 1903 618.0 21.6 230 4788 0.00 2.28 0.00 0.000 516 0.000 0.053 3008 960 1943 1983 1903 0 0 0 0 0 0 28.83 14.67 28.83
4815 0.91 194.6 3008 960 1982 1902 610.8 21.8 231 4821 0.00 2.30 0.00 0.000 1030 0.000 0.057 3007 2358 1942 1982 1902 0 0 0 0 0 0 28.83 14.67 28.83
5138 0.91 194.6 3007 2352 1983 1897 535.6 22.3 246 5143 0.00 2.35 0.00 0.000 260 0.000 0.090 3008 3749 1940 1982 1898 0 0 0 0 0 0 28.83 14.76 28.83
5184 0.91 194.6 2080 3748 1946 1889 525.9 22.2 248 5189 0.00 2.17 0.00 0.000 1030 0.000 0.041 3019 2352 1940 1982 1898 0 0 0 0 0 0 28.83 14.83 28.83
5502 0.91 194.6 3019 2348 1983 1895 455.6 20.8 264 5503 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2348 1939 1983 1895 0 0 0 0 0 0 28.83 28.83 28.83
5803 0.91 194.6 3019 2348 1983 1893 391.0 21.5 279 5804 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2347 1938 1983 1893 0 0 0 0 0 0 28.83 28.83 28.83
6102 0.91 194.6 3019 2348 1982 1891 329.9 21.7 294 6104 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2348 1937 1982 1892 0 0 0 0 0 0 28.83 28.83 28.83
6403 0.91 194.6 3018 2348 1982 1889 270.0 20.1 309 6408 0.00 2.22 0.00 0.000 516 0.000 0.054 3028 959 1935 1982 1889 0 0 0 0 0 0 28.83 14.91 28.83
6435 0.91 194.6 3029 959 1980 1888 265.5 19.8 310 6441 0.15 2.25 0.00 0.000 5126 0.284 0.058 2996 2348 1935 1981 1890 0 0 0 0 0 0 14.74 14.89 28.83
6749 0.91 194.6 2994 2349 1982 1887 211.5 16.9 326 6755 0.00 2.38 0.00 0.000 260 0.000 0.089 2996 3764 1934 1982 1887 0 0 0 0 0 0 28.83 14.87 28.83
6801 0.91 194.6 2996 3764 1982 1887 204.0 17.3 328 6806 0.00 2.20 0.00 0.000 1030 0.000 0.040 3004 2337 1934 1981 1888 0 0 0 0 0 0 28.83 14.94 28.83
7113 0.91 194.6 3004 2332 1983 1887 147.4 18.2 344 7115 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2332 1934 1982 1887 0 0 0 0 0 0 28.83 28.83 28.83
7414 0.91 194.6 3004 2332 1982 1887 95.9 14.9 359 7419 0.00 2.17 0.00 0.000 516 0.000 0.050 3014 960 1934 1982 1887 0 0 0 0 0 0 28.83 14.90 28.83
7457 0.91 194.6 3014 959 1982 1887 90.6 13.1 361 7463 0.00 2.25 0.00 0.000 1030 0.000 0.056 3014 2354 1934 1981 1887 0 0 0 0 0 0 28.83 14.88 28.83
7780 0.94 224.8 3014 2354 1981 1886 51.8 9.0 377 7801 0.00 2.35 11.90 0.285 8452 0.000 0.085 3014 3748 1836 1875 1797 0 0 0 0 0 0 28.83 14.82 14.68
7823 0.96 242.3 3014 3748 1878 1802 47.2 9.4 379 7839 0.00 2.17 9.15 0.282 9222 0.000 0.037 3025 2327 1765 1803 1727 0 0 0 0 0 0 28.83 14.92 14.68
8144 1.03 310.9 3025 2327 1813 1736 11.3 7.6 424 8186 0.00 2.20 33.00 0.181 8708 0.000 0.051 3034 975 1482 1522 1443 0 0 0 0 0 0 28.83 14.83 14.70
8252 end climb: SURFACE_DEPTH_REACHED
state 8252 begin surface coast
8288 end surface coast: CONTROL_FINISHED_OK
state 8288 begin surface