OKMC 16May13 * SG181 * Dive index * Mission links * Dive 18 * 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  18 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  59 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  0.001 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  -95694.836 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  190513,031151,2152.816,12028.238,9,3.0,28,-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  0.07 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  190513,031857,2152.826,12028.251,11,3.4,30,-2.7 MHEAD_RNG_PITCHd_Wd  161.8,9430,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  758

Post-dive calculations and measurements:
FINISH  -0.9,1.021631 _10V_AH  13.6,0.000
SM_CCo  9046,110.93,0.148,0,0,915,450.13 FG_AHR_24Vo  0.000
SM_GC  0.01,7.57,0.00,110.93,0.060,0.000,0.148,227,2369,915,-7.61,-0.88,450.13,0,0,0,0,0,0,14.94,28.83,14.76 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2138.81,12030.76,190513,000016 MEM  323248
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  16772,491
HUMID  43.69 CAP_FILE_SIZE  112562,0
INTERNAL_PRESSURE  9.67811 CFSIZE  260034560,254291968
TCM_TEMP  24.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  2 CURRENT  0.137,340.8,1
SC_FREEKB  3931200 GPS  190513,055324,2152.087,12028.549,39,1.3,39,-2.7
_24V_AH  13.6,28.512

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20422117.88 nil000.00
Roll_motor89226274.54 nil000.00
VBD_pump_during_apogee36715117553.63 nil000.00
VBD_pump_during_surface110148223.89 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3011246.39 nil000.00
Iridium_during_connect2216049.56 SciCon90675726.67
Iridium_during_xfer191223579.49 nil000.00
Transponder_ping04202.86 nil000.00
GUMSTIX_24V000.00
GPS34209.79
TT8150410224.20
LPSleep59502177.22
TT8_Active5941088.63
TT8_Sampling145628573.44
TT8_CF8923544.89
TT8_Kalman000.00
Analog_circuits123016267.71
GPS_charging000.00
Compass1079698.99
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 -194.6 216 2400 917 914 0.0 0.0 0 112 0.00 0.00 -90.15 0.000 16386 0.000 0.000 216 2401 3221 3276 3167 0 0 0 0 0 0 28.83 28.83 28.83
114 -0.91 -194.6 216 2401 3276 3168 4.2 -13.9 15 135 10.32 2.35 -5.32 0.000 18692 0.422 0.110 2389 3774 3549 3634 3464 0 0 0 0 0 0 14.49 14.71 14.94
207 -0.91 -194.6 2390 3774 3634 3468 48.1 -34.3 27 212 0.00 2.12 0.00 0.000 1030 0.000 0.039 2389 2395 3550 3634 3467 0 0 0 0 0 0 28.83 14.80 28.83
519 -0.91 -194.6 2389 2390 3638 3468 131.7 -22.2 43 525 0.00 2.28 0.00 0.000 260 0.000 0.084 2379 3775 3552 3638 3467 0 0 0 0 0 0 28.83 14.82 28.83
556 -0.91 -194.6 2380 3775 3638 3468 136.5 -21.9 44 563 0.00 2.10 0.00 0.000 1030 0.000 0.036 2379 2389 3553 3638 3468 0 0 0 0 0 0 28.83 14.90 28.83
862 -0.91 -194.6 2379 2385 3639 3469 208.4 -21.6 60 867 0.00 2.28 0.00 0.000 260 0.000 0.083 2369 3775 3554 3639 3469 0 0 0 0 0 0 28.83 14.88 28.83
938 -0.91 -194.6 2369 3776 3639 3469 221.1 -20.4 63 946 0.15 2.08 0.00 0.000 3078 0.276 0.037 2402 2383 3554 3639 3469 0 0 0 0 0 0 14.76 14.95 28.83
1244 -0.91 -194.6 2402 2382 3639 3469 272.0 -14.7 79 1249 0.00 2.12 0.00 0.000 516 0.000 0.047 2402 1016 3554 3639 3469 0 0 0 0 0 0 28.83 14.95 28.83
1386 -0.91 -194.6 2402 1014 3639 3469 291.2 -13.4 86 1391 0.00 2.22 0.00 0.000 1030 0.000 0.057 2395 2410 3552 3637 3468 0 0 0 0 0 0 28.83 14.94 28.83
1708 -0.91 -194.6 2395 2410 3639 3466 341.1 -17.5 102 1714 0.00 2.22 0.00 0.000 260 0.000 0.086 2385 3775 3552 3639 3465 0 0 0 0 0 0 28.83 14.93 28.83
1751 -0.91 -194.6 2385 3776 3638 3465 349.0 -17.9 104 1756 0.00 2.05 0.00 0.000 1030 0.000 0.038 2385 2413 3552 3639 3465 0 0 0 0 0 0 28.83 15.00 28.83
2073 -0.91 -194.6 2385 2408 3639 3462 402.6 -16.4 120 2079 0.00 2.17 0.00 0.000 516 0.000 0.050 2385 1008 3550 3639 3462 0 0 0 0 0 0 28.83 14.99 28.83
2146 -0.91 -194.6 2385 1009 3639 3462 412.8 -16.1 123 2153 0.12 2.25 0.00 0.000 3078 0.272 0.062 2403 2407 3550 3639 3462 0 0 0 0 0 0 14.85 14.97 28.83
2459 -0.91 -194.6 2403 2408 3640 3457 461.3 -15.2 139 2465 0.00 2.25 0.00 0.000 260 0.000 0.091 2395 3781 3547 3639 3456 0 0 0 0 0 0 28.83 14.95 28.83
2486 -0.91 -194.6 1512 3781 3635 3454 464.7 -15.3 140 2492 0.00 2.10 0.00 0.000 1030 0.000 0.041 2395 2394 3548 3639 3457 0 0 0 0 0 0 28.83 15.02 28.83
2804 -0.91 -194.6 2395 2390 3639 3453 512.4 -14.0 156 2809 0.00 2.30 0.00 0.000 260 0.000 0.094 2385 3783 3545 3639 3452 0 0 0 0 0 0 28.83 14.95 28.83
2870 -0.91 -194.6 1536 3782 3633 3451 521.6 -14.6 159 2875 0.00 2.10 0.00 0.000 1030 0.000 0.041 2384 2404 3545 3637 3453 0 0 0 0 0 0 28.83 15.02 28.83
3187 -0.91 -194.6 2385 2398 3637 3450 570.1 -15.6 175 3193 0.00 2.20 0.00 0.000 516 0.000 0.053 2384 1000 3543 3637 3450 0 0 0 0 0 0 28.83 15.00 28.83
3253 -0.91 -194.6 2385 1000 3637 3449 579.9 -15.7 178 3259 0.12 2.25 0.00 0.000 3078 0.273 0.063 2403 2399 3543 3637 3449 0 0 0 0 0 0 14.87 14.97 28.83
3572 -0.91 -194.6 2403 2400 3635 3446 626.3 -14.5 191 3577 0.00 2.28 0.00 0.000 260 0.000 0.096 2395 3782 3540 3634 3446 0 0 0 0 0 0 28.83 14.95 28.83
3628 -0.91 -194.6 2396 3786 3634 3446 631.4 -14.8 192 3636 0.00 2.12 0.00 0.000 1030 0.000 0.044 2395 2384 3539 3634 3445 0 0 0 0 0 0 28.83 15.03 28.83
3934 -0.91 -194.6 2395 2384 3634 3443 678.5 -13.3 203 3935 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2383 3538 3633 3443 0 0 0 0 0 0 28.83 28.83 28.83
4235 -0.91 -194.6 2395 2383 3631 3440 716.5 -11.9 213 4240 0.00 2.33 0.00 0.000 260 0.000 0.095 2385 3784 3535 3631 3440 0 0 0 0 0 0 28.83 14.96 28.83
4281 -0.91 -194.6 2385 3784 3630 3440 720.3 -11.6 214 4286 0.00 2.12 0.00 0.000 1030 0.000 0.047 2385 2402 3535 3630 3440 0 0 0 0 0 0 28.83 15.03 28.83
4597 end dive: TARGET_DEPTH_EXCEEDED
state 4597 begin apogee
4601 -0.25 0.0 2385 2397 3628 3438 760.0 -12.0 225 4788 0.77 0.00 181.15 1.512 10246 0.225 0.000 2613 2396 2752 2785 2720 0 0 0 0 0 0 14.85 28.83 13.64
4790 end apogee: CONTROL_FINISHED_OK
state 4790 begin climb
4791 0.91 194.6 2613 2396 2782 2718 763.5 0.0 231 4990 1.15 2.53 184.65 1.486 11012 0.122 0.090 2986 3783 1954 1984 1924 0 0 0 0 0 0 14.21 14.14 13.57
5016 0.91 194.6 2986 3783 1984 1918 736.2 16.8 238 5023 0.00 2.28 0.00 0.000 1030 0.000 0.041 2997 2368 1952 1987 1917 0 0 0 0 0 0 28.83 14.35 28.83
5322 0.91 194.6 2995 2364 1984 1904 660.8 22.4 249 5328 0.00 2.42 0.00 0.000 260 0.000 0.093 2997 3783 1944 1984 1904 0 0 0 0 0 0 28.83 14.66 28.83
5350 0.91 194.6 2997 3784 1984 1904 660.8 22.4 249 5356 0.00 2.20 0.00 0.000 1030 0.000 0.043 3008 2374 1943 1983 1904 0 0 0 0 0 0 28.83 14.74 28.83
5656 0.91 194.6 3008 2370 1984 1900 580.7 22.4 261 5661 0.00 2.22 0.00 0.000 516 0.000 0.055 3018 979 1941 1983 1900 0 0 0 0 0 0 28.83 14.82 28.83
5687 0.91 194.6 3018 979 1983 1900 575.4 22.7 262 5692 0.00 2.28 0.00 0.000 1030 0.000 0.061 3018 2377 1941 1983 1900 0 0 0 0 0 0 28.83 14.81 28.83
5999 0.91 194.6 3018 2377 1984 1897 500.6 22.8 278 6000 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2378 1940 1983 1897 0 0 0 0 0 0 28.83 28.83 28.83
6300 0.91 194.6 3018 2377 1984 1895 431.5 23.7 293 6305 0.00 2.33 0.00 0.000 260 0.000 0.093 3018 3774 1939 1983 1895 0 0 0 0 0 0 28.83 14.86 28.83
6356 0.91 194.6 3018 3774 1984 1895 421.0 24.5 295 6363 0.15 2.17 0.00 0.000 5126 0.322 0.042 2998 2361 1939 1984 1895 0 0 0 0 0 0 14.73 14.93 28.83
6662 0.91 194.6 2998 2356 1984 1895 350.9 21.7 311 6663 0.00 0.00 0.00 0.000 6 0.000 0.000 2999 2356 1939 1984 1894 0 0 0 0 0 0 28.83 28.83 28.83
6963 0.91 194.6 2998 2356 1983 1893 288.5 20.5 326 6968 0.00 2.17 0.00 0.000 516 0.000 0.054 3006 984 1937 1983 1891 0 0 0 0 0 0 28.83 14.94 28.83
6988 0.91 194.6 2112 982 1949 1884 283.9 20.3 327 6994 0.00 2.25 0.00 0.000 1030 0.000 0.060 3007 2375 1938 1984 1893 0 0 0 0 0 0 28.83 14.92 28.83
7306 0.91 194.6 3006 2376 1983 1897 220.3 19.2 343 7312 0.00 2.22 0.00 0.000 516 0.000 0.054 3016 982 1937 1983 1892 0 0 0 0 0 0 28.83 14.95 28.83
7398 0.91 194.6 3016 982 1983 1891 205.3 17.9 347 7403 0.00 2.25 0.00 0.000 1030 0.000 0.060 3016 2377 1937 1983 1891 0 0 0 0 0 0 28.83 14.92 28.83
7710 0.91 194.6 3016 2377 1983 1891 149.7 16.8 363 7711 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2377 1936 1983 1890 0 0 0 0 0 0 28.83 28.83 28.83
8010 0.91 194.6 3016 2377 1983 1891 99.6 15.0 378 8016 0.00 2.30 0.00 0.000 260 0.000 0.089 3015 3773 1936 1983 1890 0 0 0 0 0 0 28.83 14.90 28.83
8047 0.91 194.6 3016 3772 1983 1890 96.3 14.5 379 8055 0.15 2.15 0.00 0.000 5126 0.310 0.041 2995 2367 1936 1983 1890 0 0 0 0 0 0 14.78 14.96 28.83
8353 0.91 194.6 2995 2363 1983 1890 56.8 10.4 395 8358 0.00 2.35 0.00 0.000 260 0.000 0.087 2995 3783 1936 1983 1890 0 0 0 0 0 0 28.83 14.89 28.83
8404 0.91 194.6 2995 3783 1983 1890 52.0 10.7 397 8409 0.00 2.15 0.00 0.000 1030 0.000 0.040 3003 2372 1936 1983 1890 0 0 0 0 0 0 28.83 14.97 28.83
8711 0.92 203.2 2048 2365 1946 1882 22.7 9.7 429 8719 0.00 2.40 1.62 0.215 8452 0.000 0.086 3004 3775 1924 1969 1880 0 0 0 0 0 0 28.83 14.88 14.79
8746 0.92 203.2 2056 3774 1935 1878 18.6 12.3 435 8753 0.00 2.12 0.00 0.000 1030 0.000 0.039 3014 2373 1930 1973 1887 0 0 0 0 0 0 28.83 14.96 28.83
8964 end climb: SURFACE_DEPTH_REACHED
state 8965 begin surface coast
9031 end surface coast: CONTROL_FINISHED_OK
state 9031 begin surface