OKMC 16May13 * SG181 * Dive index * Mission links * Dive 12 * Log results * Raw log file
prev dive * next dive * dive

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  12 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  67 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  31 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  0.00039999999 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  -95687.305 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  17 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  180513,092905,2159.316,12025.524,24,1.7,24,-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  0.06 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  180513,093651,2159.346,12025.622,10,5.0,29,-2.7 MHEAD_RNG_PITCHd_Wd  168.6,22322,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  902

Post-dive calculations and measurements:
FINISH  -0.7,1.021589 _10V_AH  13.5,0.000
SM_CCo  11207,63.50,0.152,0,0,916,450.13 FG_AHR_24Vo  0.000
SM_GC  0.06,7.65,0.00,63.50,0.063,0.000,0.152,240,2369,916,-7.61,-0.88,450.13,0,0,0,0,0,0,14.85,28.83,14.71 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2141.13,12010.04,180513,060629 MEM  323272
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  20120,551
HUMID  45.35 CAP_FILE_SIZE  130358,0
INTERNAL_PRESSURE  9.62928 CFSIZE  260034560,254795776
TCM_TEMP  24.10 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  1 CURRENT  0.057, 53.7,1
SC_FREEKB  3933504 GPS  180513,124630,2157.748,12026.404,39,1.6,39,-2.7
_24V_AH  13.4,27.079

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20416115.93 nil000.00
Roll_motor10399137.29 nil000.00
VBD_pump_during_apogee43516689735.54 nil000.00
VBD_pump_during_surface63152129.54 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3111246.82 nil000.00
Iridium_during_connect4216090.88 SciCon112435804.50
Iridium_during_xfer204223609.63 nil000.00
Transponder_ping04201.41 nil000.00
GUMSTIX_24V000.00
GPS33209.35
TT8173010256.04
LPSleep76242225.41
TT8_Active6271092.86
TT8_Sampling166228649.68
TT8_CF81033549.71
TT8_Kalman000.00
Analog_circuits135216292.13
GPS_charging000.00
Compass12376112.63
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 16 begin dive
18 -0.92 -194.6 215 2407 921 923 0.0 0.0 0 109 0.00 0.00 -87.78 0.000 16386 0.000 0.000 214 2407 3139 3193 3086 0 0 0 0 0 0 28.83 28.83 28.83
111 -0.92 -194.6 214 2407 3195 3087 3.7 -13.4 15 137 10.27 2.28 -6.90 0.000 18692 0.417 0.093 2386 3772 3549 3635 3463 0 0 0 0 0 0 14.44 14.67 14.90
324 -0.92 -194.6 2386 3773 3636 3467 82.2 -26.3 34 329 0.00 2.10 0.00 0.000 1030 0.000 0.037 2385 2395 3551 3636 3466 0 0 0 0 0 0 28.83 14.81 28.83
646 -0.92 -194.6 2386 2390 3639 3467 153.9 -20.8 50 647 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2390 3553 3639 3467 0 0 0 0 0 0 28.83 28.83 28.83
947 -0.92 -194.6 2386 2390 3640 3467 214.0 -20.4 65 952 0.00 2.15 0.00 0.000 516 0.000 0.047 2385 1006 3553 3640 3467 0 0 0 0 0 0 28.83 14.90 28.83
1098 -0.92 -194.6 2386 1005 3640 3467 239.3 -17.2 72 1104 0.00 2.25 0.00 0.000 1030 0.000 0.063 2379 2397 3553 3640 3467 0 0 0 0 0 0 28.83 14.89 28.83
1410 -0.92 -194.6 2376 2398 3647 3467 295.0 -18.9 88 1416 0.00 2.28 0.00 0.000 260 0.000 0.086 2365 3789 3553 3640 3467 0 0 0 0 0 0 28.83 14.88 28.83
1587 -0.92 -194.6 2366 3788 3640 3466 326.6 -19.6 96 1595 0.15 2.10 0.00 0.000 3078 0.269 0.041 2400 2401 3551 3639 3464 0 0 0 0 0 0 14.81 14.95 28.83
1893 -0.92 -194.6 2400 2396 3640 3463 375.0 -14.6 112 1898 0.00 2.15 0.00 0.000 516 0.000 0.050 2400 1013 3551 3640 3463 0 0 0 0 0 0 28.83 14.95 28.83
1939 -0.92 -194.6 1544 1012 3636 3460 381.0 -14.3 114 1945 0.00 2.25 0.00 0.000 1030 0.000 0.062 2392 2410 3551 3640 3463 0 0 0 0 0 0 28.83 14.93 28.83
2257 -0.92 -194.6 2393 2410 3640 3460 424.8 -14.4 130 2262 0.00 2.25 0.00 0.000 260 0.000 0.090 2382 3775 3549 3639 3460 0 0 0 0 0 0 28.83 14.91 28.83
2283 -0.92 -194.6 2383 3776 3640 3458 428.1 -14.6 131 2288 0.00 2.10 0.00 0.000 1030 0.000 0.042 2382 2396 3549 3640 3458 0 0 0 0 0 0 28.83 15.00 28.83
2600 -0.92 -194.6 2382 2391 3640 3455 477.1 -14.5 147 2602 0.00 0.00 0.00 0.000 6 0.000 0.000 2382 2391 3547 3640 3455 0 0 0 0 0 0 28.83 28.83 28.83
2901 -0.92 -194.6 2382 2391 3640 3451 521.1 -15.5 162 2907 0.00 2.30 0.00 0.000 260 0.000 0.096 2372 3776 3544 3639 3450 0 0 0 0 0 0 28.83 14.93 28.83
2928 -0.92 -194.6 2373 3777 3640 3451 524.9 -15.8 163 2934 0.12 2.10 0.00 0.000 3078 0.268 0.044 2400 2397 3545 3639 3451 0 0 0 0 0 0 14.83 15.01 28.83
3246 -0.92 -194.6 2400 2392 3638 3448 571.5 -14.2 179 3251 0.00 2.30 0.00 0.000 260 0.000 0.094 2392 3778 3543 3638 3448 0 0 0 0 0 0 28.83 14.92 28.83
3272 -0.92 -194.6 1552 3778 3633 3445 574.7 -14.4 180 3278 0.00 2.10 0.00 0.000 1030 0.000 0.045 2392 2402 3542 3637 3448 0 0 0 0 0 0 28.83 15.01 28.83
3590 -0.92 -194.6 2392 2399 3637 3445 618.0 -13.3 194 3591 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2399 3540 3636 3445 0 0 0 0 0 0 28.83 28.83 28.83
3890 -0.92 -194.6 2392 2399 3634 3443 656.0 -12.6 204 3895 0.00 2.20 0.00 0.000 516 0.000 0.056 2392 1003 3538 3633 3443 0 0 0 0 0 0 28.83 14.97 28.83
3926 -0.92 -194.6 2392 1002 3633 3443 660.3 -12.8 205 3932 0.00 2.28 0.00 0.000 1030 0.000 0.067 2383 2403 3538 3633 3443 0 0 0 0 0 0 28.83 14.95 28.83
4254 -0.92 -194.6 2382 2403 3632 3440 704.4 -13.2 216 4255 0.00 0.00 0.00 0.000 6 0.000 0.000 2382 2403 3534 3629 3440 0 0 0 0 0 0 28.83 28.83 28.83
4554 -0.92 -194.6 2382 2403 3629 3438 741.1 -12.0 226 4559 0.00 2.28 0.00 0.000 260 0.000 0.099 2372 3776 3533 3629 3438 0 0 0 0 0 0 28.83 14.92 28.83
4626 -0.92 -194.6 2369 3775 3628 3438 749.3 -12.6 228 4633 0.12 2.12 0.00 0.000 3078 0.269 0.048 2400 2392 3533 3628 3438 0 0 0 0 0 0 14.82 15.00 28.83
4951 -0.92 -194.6 2400 2391 3627 3436 789.3 -12.0 239 4952 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2390 3531 3627 3436 0 0 0 0 0 0 28.83 28.83 28.83
5250 -0.92 -194.6 2400 2391 3625 3434 823.7 -11.2 249 5256 0.00 2.33 0.00 0.000 260 0.000 0.099 2392 3782 3529 3625 3434 0 0 0 0 0 0 28.83 14.92 28.83
5283 -0.92 -194.6 2392 3783 3624 3434 827.5 -11.2 250 5288 0.00 2.15 0.00 0.000 1030 0.000 0.049 2392 2395 3529 3624 3434 0 0 0 0 0 0 28.83 15.00 28.83
5616 -0.92 -194.6 2392 2390 3624 3432 867.1 -12.1 261 5617 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2390 3527 3623 3432 0 0 0 0 0 0 28.83 28.83 28.83
5915 -0.92 -194.6 2392 2389 3622 3431 901.7 -11.4 271 5921 0.00 2.35 0.00 0.000 260 0.000 0.099 2382 3784 3526 3622 3431 0 0 0 0 0 0 28.83 14.90 28.83
5942 -0.92 -194.6 2382 3784 3622 3431 901.7 -11.4 271 5949 0.00 2.15 0.00 0.000 1030 0.000 0.050 2382 2393 3526 3621 3431 0 0 0 0 0 0 28.83 14.99 28.83
5977 end dive: TARGET_DEPTH_EXCEEDED
state 5977 begin apogee
5980 -0.29 0.0 2382 2392 3622 3430 909.5 -11.9 273 6177 0.73 0.00 189.48 1.668 10246 0.228 0.000 2593 2390 2749 2782 2717 0 0 0 0 0 0 14.78 28.83 13.48
6179 end apogee: CONTROL_FINISHED_OK
state 6179 begin climb
6181 0.92 194.6 2593 2391 2779 2715 914.8 0.0 279 6379 1.25 0.00 194.18 1.641 10758 0.139 0.000 2990 2391 1960 1988 1932 0 0 0 0 0 0 14.12 28.83 13.43
6668 0.92 194.6 2988 2391 1982 1903 825.6 21.6 296 6674 0.00 2.40 0.00 0.000 260 0.000 0.097 2988 3784 1942 1981 1903 0 0 0 0 0 0 28.83 14.58 28.83
6710 0.92 194.6 2988 3784 1982 1903 817.9 22.0 297 6716 0.00 2.22 0.00 0.000 1030 0.000 0.044 2999 2376 1942 1982 1903 0 0 0 0 0 0 28.83 14.68 28.83
7034 0.92 194.6 2999 2372 1981 1898 744.6 21.7 308 7039 0.00 2.40 0.00 0.000 260 0.000 0.096 2999 3780 1940 1982 1898 0 0 0 0 0 0 28.83 14.72 28.83
7066 0.92 194.6 2999 3776 1982 1899 737.3 21.8 309 7072 0.00 2.22 0.00 0.000 1030 0.000 0.045 3009 2363 1939 1981 1898 0 0 0 0 0 0 28.83 14.81 28.83
7400 0.92 194.6 3010 2358 1982 1896 664.9 22.5 320 7401 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 2359 1938 1981 1896 0 0 0 0 0 0 28.83 28.83 28.83
7699 0.92 194.6 3010 2358 1981 1894 596.8 23.0 330 7704 0.00 2.20 0.00 0.000 516 0.000 0.057 3020 981 1938 1981 1895 0 0 0 0 0 0 28.83 14.87 28.83
7721 0.92 194.6 3020 981 1981 1895 591.7 22.8 331 7726 0.00 2.30 0.00 0.000 1030 0.000 0.063 3020 2382 1938 1981 1895 0 0 0 0 0 0 28.83 14.85 28.83
8043 0.92 194.6 3020 2383 1981 1894 518.4 22.2 347 8048 0.00 2.35 0.00 0.000 260 0.000 0.096 3020 3785 1938 1982 1894 0 0 0 0 0 0 28.83 14.84 28.83
8079 0.92 194.6 3020 3786 1981 1894 513.0 22.8 348 8088 0.15 2.20 0.00 0.000 5126 0.326 0.044 3000 2363 1937 1981 1894 0 0 0 0 0 0 14.69 14.92 28.83
8385 0.92 194.6 3000 2358 1981 1893 444.3 21.2 364 8391 0.00 2.20 0.00 0.000 516 0.000 0.057 3008 980 1937 1981 1893 0 0 0 0 0 0 28.83 14.90 28.83
8412 0.92 194.6 2080 979 1944 1884 439.0 21.6 365 8418 0.00 2.28 0.00 0.000 1030 0.000 0.062 3008 2381 1937 1981 1894 0 0 0 0 0 0 28.83 14.88 28.83
8729 0.92 194.6 3008 2382 1981 1892 372.7 19.1 381 8735 0.00 2.25 0.00 0.000 516 0.000 0.054 3018 979 1936 1981 1892 0 0 0 0 0 0 28.83 14.91 28.83
8771 0.92 194.6 3018 979 1981 1892 364.9 18.8 383 8776 0.00 2.28 0.00 0.000 1030 0.000 0.063 3018 2375 1936 1981 1892 0 0 0 0 0 0 28.83 14.90 28.83
9093 0.92 194.6 3018 2376 1981 1890 303.9 17.5 399 9098 0.00 2.35 0.00 0.000 260 0.000 0.094 3018 3784 1936 1981 1891 0 0 0 0 0 0 28.83 14.85 28.83
9159 0.92 194.6 2112 3783 1945 1883 291.8 19.1 402 9165 0.15 2.17 0.00 0.000 5126 0.326 0.043 2998 2373 1934 1978 1891 0 0 0 0 0 0 14.71 14.92 28.83
9478 0.92 194.6 2998 2369 1981 1891 237.6 17.0 418 9483 0.00 2.38 0.00 0.000 260 0.000 0.095 2998 3783 1935 1981 1890 0 0 0 0 0 0 28.83 14.86 28.83
9584 0.92 194.6 2080 3782 1945 1882 217.3 20.0 423 9589 0.00 2.17 0.00 0.000 1030 0.000 0.042 3006 2370 1936 1981 1891 0 0 0 0 0 0 28.83 14.95 28.83
9901 0.92 194.6 3007 2366 1981 1891 158.1 17.5 439 9907 0.00 2.20 0.00 0.000 516 0.000 0.054 3017 979 1936 1981 1891 0 0 0 0 0 0 28.83 14.92 28.83
9927 0.92 194.6 2088 978 1944 1882 154.4 17.3 440 9933 0.00 2.28 0.00 0.000 1030 0.000 0.061 3017 2384 1936 1981 1891 0 0 0 0 0 0 28.83 14.90 28.83
10244 0.92 194.6 3017 2384 1981 1890 99.0 15.7 456 10249 0.00 2.30 0.00 0.000 260 0.000 0.091 3018 3775 1935 1981 1890 0 0 0 0 0 0 28.83 14.87 28.83
10270 0.92 194.6 2112 3775 1945 1883 95.2 15.8 457 10277 0.15 2.17 0.00 0.000 5126 0.317 0.041 2996 2366 1939 1988 1891 0 0 0 0 0 0 14.70 14.92 28.83
10589 0.92 194.6 2997 2361 1981 1891 55.5 10.2 473 10594 0.00 2.38 0.00 0.000 260 0.000 0.090 2997 3784 1936 1981 1891 0 0 0 0 0 0 28.83 14.84 28.83
10635 0.92 194.6 2996 3784 1981 1891 50.8 10.4 475 10640 0.00 2.17 0.00 0.000 1030 0.000 0.041 3009 2361 1936 1981 1891 0 0 0 0 0 0 28.83 14.94 28.83
10942 0.96 299.7 3005 2358 1981 1890 25.6 6.3 505 10995 0.00 2.45 46.83 0.223 8452 0.000 0.087 3005 3781 1530 1570 1490 0 0 0 0 0 0 28.83 14.78 14.69
11147 0.96 307.5 2048 3780 1558 1492 4.1 9.7 543 11160 0.00 2.15 4.97 0.171 9222 0.000 0.041 3016 2370 1497 1545 1449 0 0 0 0 0 0 28.83 14.88 14.75
11166 end climb: SURFACE_DEPTH_REACHED
state 11166 begin surface coast
11192 end surface coast: CONTROL_FINISHED_OK
state 11192 begin surface