OKMC 16May13 * SG181 * Dive index * Mission links * Dive 197 * 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  197 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  73 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  76 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  3 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  -9 T_GPS_CHARGE  -95947.992 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  225 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  110613,234553,2335.059,12432.263,25,0.9,42,-3.4 TGT_NAME  OFFSHORE
_CALLS  1 TGT_LATLONG  2316.000,12430.000
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.09 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  110613,235425,2335.032,12432.427,12,1.7,12,-3.4 MHEAD_RNG_PITCHd_Wd  235.1,35489,-13.4,-10.000,-16.52,3316
SPEED_LIMITS  0.173,0.337 D_GRID  3860

Post-dive calculations and measurements:
FINISH  0.1,1.020927 _10V_AH  13.5,0.000
SM_CCo  12467,17.00,0.143,0,0,916,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.18,7.75,0.12,17.00,0.051,0.142,0.143,233,2465,916,-7.61,-1.13,450.13,0,0,0,0,0,0,14.83,14.78,14.69 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2314.48,12159.83,110613,202012 MEM  328372
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  23375,593
HUMID  45.74 CAP_FILE_SIZE  142689,0
INTERNAL_PRESSURE  9.77577 CFSIZE  260034560,238018560
TCM_TEMP  26.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  2 CURRENT  0.407, 87.5,1
SC_FREEKB  3860096 GPS  120613,032406,2334.333,12433.571,28,1.5,28,-3.4
_24V_AH  13.5,72.683

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20387108.17 nil000.00
Roll_motor111141212.79 nil000.00
VBD_pump_during_apogee523175612409.64 nil000.00
VBD_pump_during_surface1714332.83 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2611240.46 nil000.00
Iridium_during_connect2316050.02 SciCon1250551003.28
Iridium_during_xfer249223750.90 nil000.00
Transponder_ping04202.83 nil000.00
GUMSTIX_24V000.00
GPS15204.34
TT8188310278.73
LPSleep84502249.83
TT8_Active6081090.05
TT8_Sampling184528721.15
TT8_CF821235102.21
TT8_Kalman000.00
Analog_circuits145516314.42
GPS_charging000.00
Compass14156128.78
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
20 -0.89 -219.0 227 2497 925 917 0.0 0.0 0 104 0.00 0.00 -82.18 0.000 16386 0.000 0.000 228 2498 2994 3047 2942 0 0 0 0 0 0 28.83 28.83 28.83
107 -0.89 -219.0 228 2498 3046 2943 3.4 -11.0 14 134 9.98 2.33 -11.25 0.000 18948 0.387 0.060 2406 1060 3648 3733 3563 0 0 0 0 0 0 14.37 14.73 14.91
211 -0.89 -219.0 2406 1060 3730 3566 39.3 -28.0 28 218 0.00 2.20 0.00 0.000 1030 0.000 0.057 2398 2407 3650 3734 3566 0 0 0 0 0 0 28.83 14.69 28.83
527 -0.89 -219.0 2398 2408 3734 3567 135.2 -27.1 46 532 0.00 2.25 0.00 0.000 260 0.000 0.075 2388 3785 3650 3734 3567 0 0 0 0 0 0 28.83 14.76 28.83
693 -0.89 -219.0 2388 3785 3733 3569 179.9 -26.8 54 700 0.00 2.03 0.00 0.000 1030 0.000 0.033 2388 2451 3651 3733 3569 0 0 0 0 0 0 28.83 14.88 28.83
1012 -0.89 -219.0 2388 2445 3734 3569 250.3 -19.3 70 1017 0.00 2.17 0.00 0.000 260 0.000 0.073 2378 3780 3651 3733 3569 0 0 0 0 0 0 28.83 14.84 28.83
1084 -0.89 -219.0 2378 3780 3734 3569 263.0 -20.5 73 1091 0.15 2.03 0.00 0.000 3078 0.259 0.032 2412 2416 3651 3734 3569 0 0 0 0 0 0 14.69 14.92 28.83
1398 -0.89 -219.0 2413 2410 3733 3571 325.8 -18.9 89 1404 0.00 2.22 0.00 0.000 260 0.000 0.072 2405 3778 3652 3733 3571 0 0 0 0 0 0 28.83 14.86 28.83
1430 -0.89 -219.0 2405 3778 3734 3571 330.2 -19.0 90 1435 0.00 1.98 0.00 0.000 1030 0.000 0.032 2405 2465 3652 3733 3571 0 0 0 0 0 0 28.83 14.95 28.83
1743 -0.89 -219.0 2405 2458 3733 3569 388.4 -16.7 106 1749 0.00 2.17 0.00 0.000 260 0.000 0.075 2395 3786 3651 3733 3569 0 0 0 0 0 0 28.83 14.87 28.83
1770 -0.89 -219.0 2395 3786 3733 3569 392.4 -16.6 107 1776 0.00 2.03 0.00 0.000 1030 0.000 0.034 2395 2445 3651 3733 3569 0 0 0 0 0 0 28.83 14.95 28.83
2088 -0.89 -219.0 2395 2439 3733 3565 443.6 -15.7 123 2089 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2439 3649 3733 3565 0 0 0 0 0 0 28.83 28.83 28.83
2389 -0.89 -219.0 2395 2438 3732 3563 489.8 -15.1 138 2394 0.00 2.22 0.00 0.000 260 0.000 0.079 2385 3787 3647 3732 3563 0 0 0 0 0 0 28.83 14.87 28.83
2468 -0.89 -219.0 2385 3787 3730 3563 500.4 -16.3 141 2475 0.00 2.03 0.00 0.000 1030 0.000 0.036 2385 2451 3646 3729 3563 0 0 0 0 0 0 28.83 14.95 28.83
2772 -0.89 -219.0 2384 2448 3728 3559 550.4 -15.3 157 2777 0.00 2.20 0.00 0.000 260 0.000 0.080 2375 3777 3643 3728 3559 0 0 0 0 0 0 28.83 14.86 28.83
2795 -0.89 -219.0 2375 3778 3727 3559 554.2 -15.5 158 2801 0.15 2.03 0.00 0.000 3078 0.256 0.037 2410 2451 3643 3727 3559 0 0 0 0 0 0 14.71 14.95 28.83
3119 -0.89 -219.0 2410 2445 3725 3555 598.3 -13.3 174 3125 0.00 2.17 0.00 0.000 516 0.000 0.047 2411 1065 3639 3725 3554 0 0 0 0 0 0 28.83 14.91 28.83
3153 -0.89 -219.0 2411 1065 3725 3554 602.8 -13.3 176 3158 0.00 2.28 0.00 0.000 1030 0.000 0.061 2403 2454 3640 3725 3555 0 0 0 0 0 0 28.83 14.88 28.83
3487 -0.89 -219.0 2403 2454 3722 3551 651.0 -14.7 187 3492 0.00 2.20 0.00 0.000 260 0.000 0.088 2393 3777 3636 3722 3550 0 0 0 0 0 0 28.83 14.84 28.83
3615 -0.89 -219.0 2393 3777 3719 3550 670.1 -15.6 191 3620 0.00 2.05 0.00 0.000 1030 0.000 0.041 2393 2449 3634 3719 3550 0 0 0 0 0 0 28.83 14.95 28.83
3943 -0.89 -219.0 2393 2442 3717 3546 720.9 -15.1 202 3949 0.00 2.25 0.00 0.000 260 0.000 0.086 2383 3784 3631 3717 3546 0 0 0 0 0 0 28.83 14.84 28.83
3965 -0.89 -219.0 2384 3784 3716 3545 720.9 -15.1 202 3971 0.00 2.08 0.00 0.000 1030 0.000 0.041 2384 2445 3631 3716 3546 0 0 0 0 0 0 28.83 14.95 28.83
4278 -0.89 -219.0 2383 2440 3715 3542 772.3 -15.9 213 4284 0.12 2.25 0.00 0.000 2308 0.283 0.085 2413 3774 3628 3715 3542 0 0 0 0 0 0 14.64 14.83 28.83
4351 -0.89 -219.0 2408 3774 3713 3542 781.6 -15.3 215 4357 0.00 2.08 0.00 0.000 1030 0.000 0.041 2408 2435 3628 3714 3542 0 0 0 0 0 0 28.83 14.92 28.83
4676 -0.89 -219.0 2408 2433 3713 3538 827.1 -13.8 226 4681 0.00 2.28 0.00 0.000 260 0.000 0.090 2398 3773 3625 3711 3539 0 0 0 0 0 0 28.83 14.82 28.83
4717 -0.89 -219.0 2398 3773 3710 3538 832.0 -13.9 227 4723 0.00 2.05 0.00 0.000 1030 0.000 0.042 2398 2457 3624 3710 3538 0 0 0 0 0 0 28.83 14.95 28.83
5041 -0.89 -219.0 2397 2451 3709 3535 877.1 -13.0 238 5043 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2451 3621 3708 3535 0 0 0 0 0 0 28.83 28.83 28.83
5340 -0.89 -219.0 2398 2450 3706 3532 914.8 -12.3 248 5346 0.00 2.25 0.00 0.000 260 0.000 0.092 2389 3774 3619 3706 3532 0 0 0 0 0 0 28.83 14.80 28.83
5393 -0.89 -219.0 2389 3774 3704 3532 919.2 -12.5 249 5399 0.00 2.08 0.00 0.000 1030 0.000 0.044 2389 2445 3618 3705 3532 0 0 0 0 0 0 28.83 14.92 28.83
5707 -0.89 -219.0 2388 2443 3703 3529 962.8 -13.1 260 5708 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2443 3616 3703 3529 0 0 0 0 0 0 28.83 28.83 28.83
5944 end dive: TARGET_DEPTH_EXCEEDED
state 5944 begin apogee
5950 -0.25 0.0 2389 2337 3702 3526 993.8 -13.1 268 6170 0.77 0.00 209.73 1.756 10246 0.210 0.000 2614 2337 2749 2782 2717 0 0 0 0 0 0 14.62 28.83 13.54
6171 end apogee: CONTROL_FINISHED_OK
state 6171 begin climb
6174 0.89 219.0 2614 2337 2780 2715 997.8 0.0 275 6403 1.12 2.40 216.70 1.688 10756 0.109 0.059 2994 980 1856 1894 1818 0 0 0 0 0 0 14.20 14.10 13.49
6500 0.89 219.0 2994 980 1890 1805 946.2 20.0 286 6505 0.00 2.35 0.00 0.000 1030 0.000 0.066 2994 2350 1849 1894 1805 0 0 0 0 0 0 28.83 14.40 28.83
6823 0.89 219.0 2994 2350 1890 1799 876.6 20.6 297 6829 0.00 2.42 0.00 0.000 260 0.000 0.097 2994 3757 1843 1889 1798 0 0 0 0 0 0 28.83 14.65 28.83
6880 0.89 219.0 2994 3757 1897 1805 869.0 21.1 298 6887 0.00 2.20 0.00 0.000 1030 0.000 0.041 3005 2371 1844 1890 1798 0 0 0 0 0 0 28.83 14.73 28.83
7186 0.89 219.0 3005 2370 1889 1795 797.1 21.7 309 7192 0.00 2.30 0.00 0.000 516 0.000 0.057 3015 960 1842 1889 1795 0 0 0 0 0 0 28.83 14.77 28.83
7238 0.89 219.0 3015 960 1889 1795 790.0 21.7 310 7243 0.00 2.33 0.00 0.000 1030 0.000 0.063 3015 2358 1845 1896 1794 0 0 0 0 0 0 28.83 14.76 28.83
7551 0.89 219.0 3015 2358 1889 1794 719.3 21.0 321 7556 0.00 2.40 0.00 0.000 260 0.000 0.094 3015 3762 1841 1889 1794 0 0 0 0 0 0 28.83 14.76 28.83
7593 0.89 219.0 3015 3762 1889 1800 711.6 21.7 322 7599 0.17 2.25 0.00 0.000 5126 0.285 0.042 2986 2339 1843 1889 1797 0 0 0 0 0 0 14.61 14.85 28.83
7918 0.89 219.0 2986 2334 1889 1789 646.7 19.3 333 7919 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2334 1838 1888 1789 0 0 0 0 0 0 28.83 28.83 28.83
8226 0.89 219.0 2986 2334 1890 1784 587.1 19.4 344 8232 0.00 2.45 0.00 0.000 260 0.000 0.093 2986 3758 1839 1889 1789 0 0 0 0 0 0 28.83 14.79 28.83
8270 0.89 219.0 2986 3757 1888 1789 578.0 20.5 346 8277 0.00 2.22 0.00 0.000 1030 0.000 0.042 2994 2347 1838 1888 1789 0 0 0 0 0 0 28.83 14.88 28.83
8594 0.89 219.0 2994 2342 1888 1788 513.8 19.4 362 8599 0.00 2.28 0.00 0.000 516 0.000 0.054 3005 952 1838 1888 1788 0 0 0 0 0 0 28.83 14.83 28.83
8671 0.89 219.0 3005 952 1887 1788 501.8 19.3 365 8678 0.00 2.33 0.00 0.000 1030 0.000 0.062 3004 2358 1837 1887 1788 0 0 0 0 0 0 28.83 14.81 28.83
8977 0.89 219.0 3005 2358 1888 1787 440.8 18.9 381 8978 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2358 1838 1888 1788 0 0 0 0 0 0 28.83 28.83 28.83
9279 0.89 219.0 3005 2358 1888 1787 385.1 18.5 396 9284 0.00 2.28 0.00 0.000 516 0.000 0.053 3014 958 1837 1887 1787 0 0 0 0 0 0 28.83 14.84 28.83
9365 0.89 219.0 2096 958 1854 1779 369.6 18.2 400 9370 0.00 2.30 0.00 0.000 1030 0.000 0.060 3014 2361 1836 1886 1787 0 0 0 0 0 0 28.83 14.82 28.83
9682 0.89 219.0 3015 2362 1887 1787 311.0 17.3 416 9688 0.00 2.30 0.00 0.000 516 0.000 0.052 3024 949 1836 1886 1786 0 0 0 0 0 0 28.83 14.83 28.83
9750 0.89 219.0 3024 949 1886 1787 300.1 16.9 419 9756 0.15 2.30 0.00 0.000 5126 0.269 0.060 2991 2354 1836 1887 1786 0 0 0 0 0 0 14.58 14.81 28.83
10068 0.89 219.0 2991 2354 1887 1786 255.4 13.4 435 10074 0.00 2.38 0.00 0.000 260 0.000 0.088 2991 3758 1836 1887 1786 0 0 0 0 0 0 28.83 14.78 28.83
10091 0.89 219.0 2991 3758 1887 1787 252.1 13.6 436 10096 0.00 2.20 0.00 0.000 1030 0.000 0.039 2998 2339 1836 1886 1786 0 0 0 0 0 0 28.83 14.89 28.83
10413 0.89 219.0 2999 2335 1887 1786 210.2 11.9 452 10419 0.00 2.42 0.00 0.000 260 0.000 0.086 2999 3762 1837 1887 1787 0 0 0 0 0 0 28.83 14.78 28.83
10445 0.89 219.0 2999 3762 1887 1787 207.0 12.4 453 10451 0.00 2.20 0.00 0.000 1030 0.000 0.038 3009 2341 1837 1887 1787 0 0 0 0 0 0 28.83 14.89 28.83
10759 0.89 219.0 3009 2336 1888 1787 165.7 12.5 469 10765 0.00 2.20 0.00 0.000 516 0.000 0.050 3020 965 1838 1889 1787 0 0 0 0 0 0 28.83 14.84 28.83
10812 0.89 219.0 3019 966 1887 1788 160.4 12.3 471 10818 0.15 2.25 0.00 0.000 5126 0.246 0.055 2985 2351 1837 1887 1788 0 0 0 0 0 0 14.63 14.81 28.83
11125 0.89 224.9 2991 2352 1887 1794 127.9 9.8 487 11127 0.00 0.00 0.00 0.000 6 0.000 0.000 2985 2351 1837 1887 1788 0 0 0 0 0 0 28.83 28.83 28.83
11428 0.95 279.2 2985 2351 1887 1790 99.4 8.3 502 11458 0.00 0.00 28.73 0.430 8710 0.000 0.000 2985 2351 1613 1665 1562 0 0 0 0 0 0 28.83 28.83 14.50
11746 0.98 313.8 2985 2352 1674 1577 70.0 8.9 518 11767 0.00 0.00 18.70 0.332 8198 0.000 0.000 2985 2351 1471 1524 1419 0 0 0 0 0 0 28.83 28.83 14.51
12066 1.09 415.1 2985 2351 1536 1432 47.1 6.9 536 12123 0.17 2.25 49.50 0.267 10756 0.100 0.048 3079 959 1059 1102 1017 0 0 0 0 0 0 14.81 14.76 14.55
12161 1.09 415.1 3079 959 1106 1021 36.3 12.4 545 12167 0.00 2.28 0.00 0.000 1030 0.000 0.050 3079 2362 1064 1107 1022 0 0 0 0 0 0 28.83 14.72 28.83
12428 end climb: SURFACE_DEPTH_REACHED
state 12428 begin surface coast
12450 end surface coast: CONTROL_FINISHED_OK
state 12450 begin surface