OKMC 16May13 * SG181 * Dive index * Mission links * Dive 32 * 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  32 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  64 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  33 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  -95712.344 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  200513,125230,2148.574,12037.057,40,1.0,40,-2.7 TGT_NAME  DOGLEG2
_CALLS  1 TGT_LATLONG  2148.000,12100.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.04 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  200513,125855,2148.621,12037.078,14,1.7,14,-2.7 MHEAD_RNG_PITCHd_Wd  97.4,39432,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  698

Post-dive calculations and measurements:
FINISH  0.2,1.021779 _10V_AH  13.7,0.000
SM_CCo  8245,103.95,0.149,0,0,916,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.04,8.00,0.00,103.95,0.100,0.000,0.149,224,2388,916,-7.64,-0.34,450.13,0,0,0,0,0,0,14.92,28.83,14.76 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2143.45,12107.39,200513,101033 MEM  323216
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  16779,461
HUMID  44.52 CAP_FILE_SIZE  107398,0
INTERNAL_PRESSURE  9.68787 CFSIZE  260034560,253190144
TCM_TEMP  24.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  14 CURRENT  0.077, 87.7,1
SC_FREEKB  3925824 GPS  200513,151945,2148.487,12038.874,11,2.9,30,-2.7
_24V_AH  13.7,31.347

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20412117.08 nil000.00
Roll_motor8494108.86 nil000.00
VBD_pump_during_apogee36614487267.61 nil000.00
VBD_pump_during_surface103149212.44 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2511238.52 nil000.00
Iridium_during_connect2716060.60 SciCon82576703.05
Iridium_during_xfer176223540.70 nil000.00
Transponder_ping342020.14 nil000.00
GUMSTIX_24V000.00
GPS16204.80
TT8144910217.64
LPSleep52302156.92
TT8_Active5751086.42
TT8_Sampling141028559.04
TT8_CF8863542.44
TT8_Kalman000.00
Analog_circuits120816264.89
GPS_charging000.00
Compass1067698.60
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 -194.6 208 2388 918 917 0.0 0.0 0 110 0.00 0.00 -88.72 0.000 16386 0.000 0.000 207 2389 3148 3195 3102 0 0 0 0 0 0 28.83 28.83 28.83
112 -0.91 -194.6 207 2389 3195 3102 3.5 -12.2 15 138 10.18 2.33 -6.88 0.000 18692 0.412 0.094 2390 3784 3550 3633 3467 0 0 0 0 0 0 14.51 14.71 14.96
245 -0.91 -194.6 2389 3784 3634 3470 59.1 -32.6 30 250 0.00 2.12 0.00 0.000 1030 0.000 0.037 2389 2392 3551 3633 3470 0 0 0 0 0 0 28.83 14.83 28.83
567 -0.91 -194.6 2389 2387 3637 3471 143.3 -18.5 46 569 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2388 3554 3637 3471 0 0 0 0 0 0 28.83 28.83 28.83
868 -0.91 -194.6 2389 2388 3638 3472 207.3 -20.0 61 874 0.00 2.15 0.00 0.000 516 0.000 0.045 2389 1002 3555 3638 3472 0 0 0 0 0 0 28.83 14.94 28.83
924 -0.91 -194.6 2388 1000 3639 3473 216.5 -20.6 63 932 0.00 2.25 0.00 0.000 1030 0.000 0.059 2379 2406 3555 3638 3473 0 0 0 0 0 0 28.83 14.92 28.83
1230 -0.91 -194.6 2378 2406 3639 3473 286.7 -20.5 79 1236 0.00 2.25 0.00 0.000 260 0.000 0.083 2368 3786 3555 3638 3473 0 0 0 0 0 0 28.83 14.92 28.83
1317 -0.91 -194.6 1512 3785 3634 3470 303.9 -20.9 83 1323 0.15 2.10 0.00 0.000 3078 0.285 0.037 2401 2382 3555 3638 3472 0 0 0 0 0 0 14.81 14.99 28.83
1635 -0.91 -194.6 2401 2377 3638 3469 363.1 -16.5 99 1640 0.00 2.30 0.00 0.000 260 0.000 0.084 2393 3786 3553 3638 3469 0 0 0 0 0 0 28.83 14.94 28.83
1671 -0.91 -194.6 2393 3785 3638 3469 366.6 -15.9 100 1678 0.00 2.08 0.00 0.000 1030 0.000 0.038 2393 2407 3553 3638 3469 0 0 0 0 0 0 28.83 15.01 28.83
1977 -0.91 -194.6 2393 2406 3638 3466 421.7 -18.0 116 1978 0.00 0.00 0.00 0.000 6 0.000 0.000 2393 2405 3552 3638 3466 0 0 0 0 0 0 28.83 28.83 28.83
2278 -0.91 -194.6 2393 2405 3638 3462 473.3 -16.8 131 2284 0.00 2.17 0.00 0.000 516 0.000 0.049 2393 1004 3550 3638 3462 0 0 0 0 0 0 28.83 15.00 28.83
2315 -0.91 -194.6 2393 1004 3637 3462 477.2 -16.4 132 2322 0.00 2.25 0.00 0.000 1030 0.000 0.060 2383 2406 3550 3638 3462 0 0 0 0 0 0 28.83 14.97 28.83
2620 -0.91 -194.6 2383 2406 3638 3457 529.8 -15.4 148 2626 0.00 2.25 0.00 0.000 260 0.000 0.089 2373 3784 3547 3638 3457 0 0 0 0 0 0 28.83 14.96 28.83
2683 -0.91 -194.6 2373 3784 3634 3457 540.0 -16.1 151 2690 0.15 2.10 0.00 0.000 3078 0.273 0.041 2407 2409 3548 3638 3458 0 0 0 0 0 0 14.85 15.03 28.83
3007 -0.91 -194.6 2407 2404 3638 3453 581.6 -13.8 167 3013 0.00 2.28 0.00 0.000 260 0.000 0.093 2399 3781 3545 3638 3452 0 0 0 0 0 0 28.83 14.95 28.83
3033 -0.91 -194.6 2400 3781 3637 3452 584.8 -14.3 168 3040 0.00 2.12 0.00 0.000 1030 0.000 0.043 2399 2388 3544 3636 3452 0 0 0 0 0 0 28.83 15.02 28.83
3362 -0.91 -194.6 2399 2385 3634 3449 632.4 -14.6 181 3367 0.00 2.17 0.00 0.000 516 0.000 0.054 2399 998 3541 3634 3449 0 0 0 0 0 0 28.83 15.00 28.83
3457 -0.91 -194.6 1568 998 3630 3446 645.2 -14.1 184 3463 0.00 2.28 0.00 0.000 1030 0.000 0.065 2389 2399 3540 3633 3448 0 0 0 0 0 0 28.83 14.97 28.83
3786 -0.91 -194.6 2390 2400 3632 3446 691.4 -13.0 195 3791 0.00 2.20 0.00 0.000 516 0.000 0.053 2389 1005 3539 3632 3446 0 0 0 0 0 0 28.83 15.00 28.83
3837 -0.91 -194.6 2390 1005 3632 3446 696.0 -13.1 196 3842 0.00 2.28 0.00 0.000 1030 0.000 0.065 2380 2410 3539 3632 3446 0 0 0 0 0 0 28.83 14.97 28.83
3847 end dive: TARGET_DEPTH_EXCEEDED
state 3847 begin apogee
3851 -0.25 0.0 2380 2410 3632 3445 700.1 -13.1 197 4035 0.77 0.00 177.25 1.449 10246 0.236 0.000 2604 2411 2750 2781 2719 0 0 0 0 0 0 14.83 28.83 13.70
4037 end apogee: CONTROL_FINISHED_OK
state 4037 begin climb
4038 0.91 194.6 2604 2411 2778 2717 703.7 0.0 203 4225 1.20 0.00 180.02 1.416 10758 0.135 0.000 2987 2412 1959 1989 1929 0 0 0 0 0 0 14.24 28.83 13.66
4537 0.91 194.6 2987 2411 1985 1900 611.5 21.7 220 4542 0.00 2.33 0.00 0.000 516 0.000 0.054 2998 981 1943 1986 1900 0 0 0 0 0 0 28.83 14.71 28.83
4603 0.91 194.6 2998 981 1985 1898 600.1 20.0 222 4609 0.00 2.30 0.00 0.000 1030 0.000 0.060 2998 2385 1941 1985 1898 0 0 0 0 0 0 28.83 14.74 28.83
4911 0.91 194.6 2998 2385 1985 1895 536.2 20.7 237 4916 0.00 2.33 0.00 0.000 260 0.000 0.091 2998 3777 1940 1986 1895 0 0 0 0 0 0 28.83 14.81 28.83
4947 0.91 194.6 2997 3777 1985 1896 531.2 21.0 238 4953 0.00 2.17 0.00 0.000 1030 0.000 0.041 3008 2363 1940 1985 1895 0 0 0 0 0 0 28.83 14.88 28.83
5253 0.91 194.6 3008 2358 1985 1893 464.2 19.9 254 5258 0.00 2.38 0.00 0.000 260 0.000 0.090 3008 3775 1939 1986 1893 0 0 0 0 0 0 28.83 14.85 28.83
5295 0.91 194.6 3009 3775 1985 1893 455.2 20.7 256 5300 0.00 2.15 0.00 0.000 1030 0.000 0.041 3019 2369 1939 1985 1893 0 0 0 0 0 0 28.83 14.92 28.83
5617 0.91 194.6 3019 2365 1986 1891 389.9 20.5 272 5622 0.00 2.17 0.00 0.000 516 0.000 0.052 3030 990 1935 1985 1886 0 0 0 0 0 0 28.83 14.92 28.83
5673 0.91 194.6 3029 990 1985 1890 380.8 21.1 274 5681 0.15 2.25 0.00 0.000 5126 0.280 0.060 2996 2382 1937 1985 1890 0 0 0 0 0 0 14.77 14.91 28.83
5979 0.91 194.6 2997 2382 1985 1888 317.8 18.6 290 5985 0.00 2.30 0.00 0.000 260 0.000 0.090 2996 3775 1936 1984 1888 0 0 0 0 0 0 28.83 14.90 28.83
5996 0.91 194.6 2996 3775 1985 1888 317.8 18.6 290 6003 0.00 2.15 0.00 0.000 1030 0.000 0.040 3004 2366 1936 1985 1888 0 0 0 0 0 0 28.83 14.97 28.83
6302 0.91 194.6 3004 2361 1980 1887 259.1 17.6 306 6307 0.00 2.38 0.00 0.000 260 0.000 0.090 3004 3783 1933 1985 1882 0 0 0 0 0 0 28.83 14.90 28.83
6368 0.91 194.6 2088 3783 1949 1878 247.9 17.7 309 6374 0.00 2.15 0.00 0.000 1030 0.000 0.040 3014 2374 1934 1985 1884 0 0 0 0 0 0 28.83 14.97 28.83
6686 0.91 194.6 3015 2371 1985 1886 194.5 16.2 325 6691 0.00 2.17 0.00 0.000 516 0.000 0.051 3025 989 1935 1985 1886 0 0 0 0 0 0 28.83 14.96 28.83
6772 0.91 194.6 3025 988 1985 1886 181.7 15.6 329 6778 0.12 2.25 0.00 0.000 5126 0.280 0.062 2998 2381 1932 1984 1881 0 0 0 0 0 0 14.80 14.92 28.83
7090 0.91 194.6 2997 2381 1984 1885 130.8 16.7 345 7095 0.00 2.30 0.00 0.000 260 0.000 0.090 2997 3775 1935 1985 1885 0 0 0 0 0 0 28.83 14.90 28.83
7216 0.91 194.6 2997 3775 1984 1885 113.4 12.9 351 7222 0.00 2.15 0.00 0.000 1030 0.000 0.040 3005 2364 1937 1990 1885 0 0 0 0 0 0 28.83 14.95 28.83
7533 0.91 194.6 3005 2359 1985 1885 63.9 13.2 367 7539 0.00 2.35 0.00 0.000 260 0.000 0.086 3005 3777 1935 1985 1885 0 0 0 0 0 0 28.83 14.89 28.83
7625 0.91 194.6 3005 3777 1985 1885 51.8 14.7 371 7631 0.00 2.12 0.00 0.000 1030 0.000 0.038 3016 2373 1935 1985 1885 0 0 0 0 0 0 28.83 15.00 28.83
7933 0.91 199.0 2048 2367 1946 1876 22.0 9.8 404 7940 0.00 2.15 0.00 0.000 516 0.000 0.050 3026 990 1934 1983 1885 0 0 0 0 0 0 28.83 14.93 28.83
7952 0.93 218.5 3026 990 1985 1885 20.2 9.3 407 7967 0.00 2.22 8.85 0.207 9222 0.000 0.054 3026 2388 1860 1905 1816 0 0 0 0 0 0 28.83 14.92 14.78
8193 end climb: SURFACE_DEPTH_REACHED
state 8193 begin surface coast
8230 end surface coast: CONTROL_FINISHED_OK
state 8230 begin surface