OKMC 16May13 * SG181 * Dive index * Mission links * Dive 36 * 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  36 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  54 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  30 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  -95717.352 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  200513,222307,2147.187,12040.190,13,1.1,13,-2.7 TGT_NAME  DOGLEG2
_CALLS  1 TGT_LATLONG  2145.000,12042.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.01 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  200513,222930,2147.230,12040.244,8,1.1,13,-2.7 MHEAD_RNG_PITCHd_Wd  148.1,5116,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  642

Post-dive calculations and measurements:
FINISH  -0.9,1.021684 _10V_AH  13.8,0.000
SM_CCo  7900,42.22,0.153,0,0,916,450.13 FG_AHR_24Vo  0.000
SM_GC  0.02,7.68,0.00,42.22,0.051,0.000,0.153,229,2378,916,-7.61,-0.65,450.13,0,0,0,0,0,0,14.88,28.83,14.76 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2136.49,12037.93,200513,202059 MEM  322984
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  16796,459
HUMID  47.00 CAP_FILE_SIZE  102017,0
INTERNAL_PRESSURE  9.67811 CFSIZE  260034560,252882944
TCM_TEMP  24.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  9 CURRENT  0.125, 30.2,1
SC_FREEKB  3924288 GPS  210513,004336,2146.670,12041.209,32,1.0,32,-2.7
_24V_AH  13.7,32.156

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20419118.31 nil000.00
Roll_motor719896.40 nil000.00
VBD_pump_during_apogee42513938120.35 nil000.00
VBD_pump_during_surface4215388.51 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3111248.37 nil000.00
Iridium_during_connect2416053.37 SciCon79146690.43
Iridium_during_xfer169223517.04 nil000.00
Transponder_ping242012.95 nil000.00
GUMSTIX_24V000.00
GPS16204.68
TT8136410206.43
LPSleep50172151.63
TT8_Active5401081.77
TT8_Sampling133328532.51
TT8_CF8873543.20
TT8_Kalman000.00
Analog_circuits113916251.64
GPS_charging000.00
Compass998692.85
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 -0.91 -194.6 206 2378 919 917 0.0 0.0 0 108 0.00 0.00 -87.95 0.000 16386 0.000 0.000 205 2380 3165 3212 3119 0 0 0 0 0 0 28.83 28.83 28.83
111 -0.91 -194.6 205 2380 3212 3120 4.2 -14.6 15 137 10.35 2.35 -6.28 0.000 18692 0.419 0.099 2391 3778 3550 3634 3467 0 0 0 0 0 0 14.51 14.74 14.96
318 -0.91 -194.6 2391 3779 3634 3471 73.9 -27.6 34 324 0.00 2.12 0.00 0.000 1030 0.000 0.037 2391 2379 3552 3634 3471 0 0 0 0 0 0 28.83 14.85 28.83
630 -0.91 -194.6 2391 2374 3638 3471 149.6 -22.2 50 631 0.00 0.00 0.00 0.000 6 0.000 0.000 2391 2374 3555 3638 3472 0 0 0 0 0 0 28.83 28.83 28.83
931 -0.91 -194.6 2391 2374 3638 3472 212.9 -20.9 65 936 0.00 2.30 0.00 0.000 260 0.000 0.079 2381 3782 3555 3638 3472 0 0 0 0 0 0 28.83 14.90 28.83
987 -0.91 -194.6 2381 3781 3639 3473 221.3 -19.9 67 994 0.00 2.08 0.00 0.000 1030 0.000 0.035 2380 2402 3555 3638 3472 0 0 0 0 0 0 28.83 14.98 28.83
1293 -0.91 -194.6 2381 2396 3638 3472 281.1 -19.9 83 1294 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2396 3555 3638 3472 0 0 0 0 0 0 28.83 28.83 28.83
1593 -0.91 -194.6 2381 2397 3639 3470 335.6 -17.7 98 1600 0.00 2.15 0.00 0.000 516 0.000 0.046 2381 1010 3554 3638 3470 0 0 0 0 0 0 28.83 14.99 28.83
1620 -0.91 -194.6 1536 1009 3634 3467 339.6 -17.8 99 1626 0.15 2.22 0.00 0.000 3078 0.257 0.060 2406 2399 3553 3637 3470 0 0 0 0 0 0 14.85 14.97 28.83
1938 -0.91 -194.6 2406 2399 3639 3468 386.2 -15.7 115 1943 0.00 2.17 0.00 0.000 516 0.000 0.049 2406 1007 3553 3639 3468 0 0 0 0 0 0 28.83 15.00 28.83
1964 -0.91 -194.6 1552 1006 3634 3465 389.8 -15.8 116 1970 0.00 2.25 0.00 0.000 1030 0.000 0.061 2399 2408 3553 3638 3468 0 0 0 0 0 0 28.83 14.97 28.83
2282 -0.91 -194.6 2399 2408 3638 3464 433.1 -13.8 132 2287 0.00 2.22 0.00 0.000 260 0.000 0.087 2389 3775 3551 3639 3463 0 0 0 0 0 0 28.83 14.96 28.83
2328 -0.91 -194.6 2388 3777 3638 3463 439.1 -13.8 134 2333 0.00 2.08 0.00 0.000 1030 0.000 0.041 2389 2399 3554 3646 3463 0 0 0 0 0 0 28.83 15.03 28.83
2645 -0.91 -194.6 2384 2394 3638 3460 487.1 -16.5 150 2647 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2394 3548 3637 3460 0 0 0 0 0 0 28.83 28.83 28.83
2945 -0.91 -194.6 2388 2394 3639 3456 530.5 -13.5 165 2951 0.00 2.28 0.00 0.000 260 0.000 0.090 2378 3776 3547 3639 3455 0 0 0 0 0 0 28.83 14.97 28.83
3012 -0.91 -194.6 1536 3775 3634 3452 540.1 -15.0 168 3018 0.00 2.10 0.00 0.000 1030 0.000 0.042 2378 2402 3546 3638 3455 0 0 0 0 0 0 28.83 15.04 28.83
3330 -0.91 -194.6 2378 2397 3637 3452 589.0 -14.7 184 3335 0.00 2.17 0.00 0.000 516 0.000 0.052 2378 1008 3544 3636 3452 0 0 0 0 0 0 28.83 15.00 28.83
3356 -0.91 -194.6 2378 1008 3636 3452 592.1 -14.6 185 3363 0.15 2.25 0.00 0.000 3078 0.277 0.064 2403 2402 3544 3637 3452 0 0 0 0 0 0 14.85 14.98 28.83
3674 -0.91 -194.6 2403 2407 3634 3448 627.4 -10.1 197 3679 0.00 2.28 0.00 0.000 260 0.000 0.091 2395 3787 3541 3635 3448 0 0 0 0 0 0 28.83 14.95 28.83
3695 -0.91 -194.6 2396 3787 3633 3448 627.4 -10.1 197 3701 0.00 2.12 0.00 0.000 1030 0.000 0.046 2395 2402 3540 3633 3448 0 0 0 0 0 0 28.83 15.03 28.83
3826 end dive: TARGET_DEPTH_EXCEEDED
state 3826 begin apogee
3830 -0.25 0.0 2396 2397 3633 3447 645.2 -11.7 202 4014 0.73 0.00 175.95 1.394 10246 0.217 0.000 2610 2396 2749 2779 2719 0 0 0 0 0 0 14.85 28.83 13.76
4016 end apogee: CONTROL_FINISHED_OK
state 4016 begin climb
4017 0.91 194.6 2611 2396 2778 2717 648.1 0.0 208 4207 1.15 2.50 178.32 1.362 10500 0.129 0.088 2984 3779 1953 1986 1921 0 0 0 0 0 0 14.27 14.19 13.69
4220 0.91 194.6 2983 3780 1984 1917 619.6 17.0 215 4225 0.00 2.28 0.00 0.000 1030 0.000 0.041 2994 2369 1949 1984 1915 0 0 0 0 0 0 28.83 14.35 28.83
4532 0.91 194.6 2994 2364 1984 1901 553.6 20.7 229 4533 0.00 0.00 0.00 0.000 6 0.000 0.000 2994 2364 1941 1984 1899 0 0 0 0 0 0 28.83 28.83 28.83
4833 0.91 194.6 2994 2364 1984 1896 492.1 19.9 244 4838 0.00 2.40 0.00 0.000 260 0.000 0.090 2994 3787 1940 1984 1896 0 0 0 0 0 0 28.83 14.80 28.83
4909 0.91 194.6 2994 3787 1980 1896 479.0 20.7 247 4916 0.00 2.20 0.00 0.000 1030 0.000 0.042 3005 2366 1940 1984 1896 0 0 0 0 0 0 28.83 14.88 28.83
5215 0.91 194.6 3005 2360 1984 1894 418.8 18.5 263 5216 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2360 1939 1984 1894 0 0 0 0 0 0 28.83 28.83 28.83
5516 0.91 194.6 3005 2361 1984 1892 361.5 19.4 278 5521 0.00 2.20 0.00 0.000 516 0.000 0.054 3015 980 1937 1983 1891 0 0 0 0 0 0 28.83 14.91 28.83
5542 0.91 194.6 2112 979 1949 1882 356.6 20.0 279 5547 0.00 2.28 0.00 0.000 1030 0.000 0.060 3015 2387 1937 1984 1891 0 0 0 0 0 0 28.83 14.90 28.83
5859 0.91 194.6 3015 2387 1984 1889 293.4 20.3 295 5865 0.00 2.33 0.00 0.000 260 0.000 0.089 3015 3785 1936 1984 1889 0 0 0 0 0 0 28.83 14.90 28.83
5906 0.91 194.6 3015 3785 1984 1890 284.2 21.0 297 5912 0.15 2.17 0.00 0.000 5126 0.310 0.041 3000 2366 1936 1984 1889 0 0 0 0 0 0 14.78 14.97 28.83
6224 0.91 194.6 2994 2360 1984 1887 225.2 17.4 313 6229 0.00 2.17 0.00 0.000 516 0.000 0.054 3002 990 1936 1984 1888 0 0 0 0 0 0 28.83 14.95 28.83
6306 0.91 194.6 3002 990 1983 1887 212.3 15.6 317 6312 0.00 2.25 0.00 0.000 1030 0.000 0.059 3002 2382 1935 1983 1887 0 0 0 0 0 0 28.83 14.93 28.83
6628 0.91 194.6 3002 2382 1984 1886 155.0 18.0 333 6634 0.00 2.30 0.00 0.000 260 0.000 0.087 3002 3780 1934 1983 1886 0 0 0 0 0 0 28.83 14.91 28.83
6771 0.91 194.6 3002 3780 1983 1886 127.1 19.4 340 6776 0.00 2.15 0.00 0.000 1030 0.000 0.041 3012 2373 1935 1983 1887 0 0 0 0 0 0 28.83 14.97 28.83
7093 0.91 194.6 3012 2368 1984 1886 75.2 14.3 356 7099 0.00 2.20 0.00 0.000 516 0.000 0.052 3022 977 1934 1983 1886 0 0 0 0 0 0 28.83 14.93 28.83
7116 0.91 194.6 3022 976 1983 1886 72.1 14.3 357 7121 0.00 2.28 0.00 0.000 1030 0.000 0.057 3022 2379 1935 1984 1886 0 0 0 0 0 0 28.83 14.93 28.83
7428 0.91 194.6 3022 2379 1983 1886 31.8 11.1 379 7434 0.00 2.22 0.00 0.000 516 0.000 0.050 3033 976 1934 1983 1886 0 0 0 0 0 0 28.83 14.95 28.83
7481 0.93 216.4 3032 976 1983 1886 26.9 9.2 384 7494 0.12 2.22 7.78 0.226 13318 0.269 0.054 3004 2377 1869 1914 1825 0 0 0 0 0 0 14.78 14.91 14.76
7792 1.07 358.8 2048 2375 1882 1826 8.8 5.0 443 7858 0.12 0.00 63.20 0.170 10242 0.135 0.000 3062 2377 1309 1346 1272 0 0 0 0 0 0 14.92 28.83 28.83
7859 end climb: SURFACE_DEPTH_REACHED
state 7860 begin surface coast
7886 end surface coast: CONTROL_FINISHED_OK
state 7886 begin surface