OKMC 16May13 * SG181 * Dive index * Mission links * Dive 60 * 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  60 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  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  -95748.016 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  220513,114535,2143.879,12100.368,29,1.2,33,-2.7 TGT_NAME  DOGLEG3
_CALLS  1 TGT_LATLONG  2142.000,12103.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  -0.05 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -69.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  220513,115237,2143.875,12100.449,11,1.9,11,-2.7 MHEAD_RNG_PITCHd_Wd  115.9,5598,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  736

Post-dive calculations and measurements:
FINISH  -0.4,1.021324 _10V_AH  13.4,0.000
SM_CCo  9401,0.00,0.000,0,0,871,461.90 FG_AHR_24Vo  0.000
SM_GC  -0.22,7.78,0.08,0.00,0.050,0.189,0.000,228,2397,871,-7.61,-0.88,461.90,0,0,0,0,0,0,14.81,14.78,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2143.45,12109.37,220513,090917 MEM  322840
TT8_MAMPS  0.019474,0.019474 DATA_FILE_SIZE  16701,487
HUMID  49.09 CAP_FILE_SIZE  115041,0
INTERNAL_PRESSURE  9.64881 CFSIZE  260034560,251392000
TCM_TEMP  23.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS  16 CURRENT  0.017,150.8,1
SC_FREEKB  3915072 GPS  220513,143106,2143.314,12101.722,40,1.0,40,-2.7
_24V_AH  13.3,35.888

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20414114.29 nil000.00
Roll_motor84188213.17 nil000.00
VBD_pump_during_apogee472217813678.58 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3011245.08 nil000.00
Iridium_during_connect3916083.31 SciCon93646749.36
Iridium_during_xfer180223535.07 nil000.00
Transponder_ping442022.34 nil000.00
GUMSTIX_24V000.00
GPS14204.01
TT8157410231.19
LPSleep60312177.01
TT8_Active5311078.01
TT8_Sampling159128617.17
TT8_CF81053550.43
TT8_Kalman000.00
Analog_circuits125916270.13
GPS_charging000.00
Compass12146109.66
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 -194.6 222 2367 915 912 0.0 0.0 0 106 0.00 0.00 -84.35 0.000 16386 0.000 0.000 220 2369 3099 3148 3050 0 0 0 0 0 0 28.83 28.83 28.83
108 -0.91 -194.6 220 2369 3148 3051 3.7 -12.2 14 134 10.23 2.15 -7.32 0.000 19204 0.415 0.065 2398 1005 3550 3638 3462 0 0 0 0 0 0 14.46 14.72 14.92
361 -0.91 -194.6 2398 1004 3638 3464 85.1 -24.5 35 368 0.00 2.28 0.00 0.000 1030 0.000 0.059 2390 2406 3550 3638 3463 0 0 0 0 0 0 28.83 14.78 28.83
667 -0.91 -194.6 2390 2407 3638 3467 154.9 -21.9 51 672 0.00 2.20 0.00 0.000 516 0.000 0.044 2390 1004 3552 3638 3467 0 0 0 0 0 0 28.83 14.86 28.83
698 -0.91 -194.6 2390 1004 3639 3467 160.0 -22.5 52 704 0.00 2.28 0.00 0.000 1030 0.000 0.060 2380 2413 3552 3638 3467 0 0 0 0 0 0 28.83 14.85 28.83
1012 -0.91 -194.6 2380 2413 3639 3467 219.1 -15.7 68 1017 0.00 2.22 0.00 0.000 260 0.000 0.081 2370 3782 3553 3639 3467 0 0 0 0 0 0 28.83 14.87 28.83
1108 -0.91 -194.6 2370 3783 3639 3468 234.2 -18.2 72 1116 0.15 2.10 0.00 0.000 3078 0.270 0.036 2403 2386 3553 3639 3467 0 0 0 0 0 0 14.75 14.93 28.83
1414 -0.91 -194.6 2403 2382 3639 3467 283.6 -15.2 88 1420 0.00 2.28 0.00 0.000 260 0.000 0.079 2395 3777 3553 3639 3467 0 0 0 0 0 0 28.83 14.88 28.83
1451 -0.91 -194.6 2399 3777 3639 3467 287.4 -15.8 89 1457 0.00 2.08 0.00 0.000 1030 0.000 0.037 2395 2407 3553 3640 3466 0 0 0 0 0 0 28.83 14.96 28.83
1757 -0.91 -194.6 2395 2402 3639 3464 339.8 -16.7 105 1762 0.00 2.17 0.00 0.000 516 0.000 0.047 2395 1003 3551 3639 3464 0 0 0 0 0 0 28.83 14.95 28.83
1813 -0.91 -194.6 2395 1003 3639 3464 346.7 -16.9 107 1819 0.00 2.25 0.00 0.000 1030 0.000 0.061 2386 2403 3551 3639 3464 0 0 0 0 0 0 28.83 14.94 28.83
2119 -0.91 -194.6 2386 2403 3639 3461 403.9 -21.0 123 2124 0.00 2.25 0.00 0.000 260 0.000 0.084 2375 3786 3550 3640 3461 0 0 0 0 0 0 28.83 14.92 28.83
2170 -0.91 -194.6 2375 3786 3639 3461 412.5 -20.8 125 2176 0.12 2.10 0.00 0.000 3078 0.274 0.039 2408 2392 3549 3639 3460 0 0 0 0 0 0 14.81 14.99 28.83
2484 -0.91 -194.6 2402 2386 3639 3457 467.2 -15.1 141 2489 0.00 2.15 0.00 0.000 516 0.000 0.050 2402 1009 3547 3639 3456 0 0 0 0 0 0 28.83 14.97 28.83
2549 -0.91 -194.6 1560 1007 3635 3453 475.4 -13.3 144 2555 0.00 2.25 0.00 0.000 1030 0.000 0.060 2395 2404 3547 3639 3456 0 0 0 0 0 0 28.83 14.96 28.83
2867 -0.91 -194.6 2395 2404 3639 3450 519.3 -13.5 160 2873 0.00 2.20 0.00 0.000 516 0.000 0.052 2395 1007 3545 3640 3450 0 0 0 0 0 0 28.83 14.95 28.83
2910 -0.91 -194.6 2395 1007 3639 3450 525.2 -13.6 162 2916 0.00 2.25 0.00 0.000 1030 0.000 0.061 2385 2399 3544 3639 3450 0 0 0 0 0 0 28.83 14.96 28.83
3232 -0.91 -194.6 2385 2399 3636 3447 572.0 -14.7 178 3238 0.00 2.28 0.00 0.000 260 0.000 0.090 2375 3785 3541 3636 3447 0 0 0 0 0 0 28.83 14.92 28.83
3329 -0.91 -194.6 2376 3786 3634 3447 586.0 -17.1 182 3336 0.12 2.10 0.00 0.000 3078 0.282 0.044 2401 2412 3540 3634 3447 0 0 0 0 0 0 14.81 15.00 28.83
3655 -0.91 -194.6 2401 2410 3633 3444 639.3 -14.4 195 3660 0.00 2.22 0.00 0.000 516 0.000 0.055 2402 1000 3538 3633 3443 0 0 0 0 0 0 28.83 14.97 28.83
3749 -0.91 -194.6 2402 1000 3633 3443 652.1 -13.8 198 3754 0.00 2.28 0.00 0.000 1030 0.000 0.063 2395 2399 3538 3633 3443 0 0 0 0 0 0 28.83 14.95 28.83
4082 -0.91 -194.6 2394 2399 3629 3440 701.3 -14.2 209 4087 0.00 2.28 0.00 0.000 260 0.000 0.093 2384 3777 3534 3629 3440 0 0 0 0 0 0 28.83 14.92 28.83
4124 -0.91 -194.6 2384 3777 3628 3439 705.5 -13.4 210 4129 0.00 2.12 0.00 0.000 1030 0.000 0.045 2384 2398 3533 3627 3440 0 0 0 0 0 0 28.83 15.01 28.83
4447 -0.91 -194.6 2384 2392 3627 3437 727.0 -0.0 221 4448 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2392 3533 3628 3438 0 0 0 0 0 0 28.83 28.83 28.83
4535 end dive: NO_VERTICAL_VELOCITY
state 4535 begin apogee
4538 -0.25 0.0 2384 2392 3627 3436 727.0 0.0 224 4726 0.70 0.00 176.48 1.855 10246 0.142 0.000 2617 2392 2753 2782 2725 0 0 0 0 1 0 14.90 28.83 13.35
4728 end apogee: CONTROL_FINISHED_OK
state 4728 begin climb
4730 0.91 194.6 2617 2392 2782 2726 726.5 0.0 230 4921 1.12 2.45 174.68 2.179 10756 0.115 0.054 2995 985 1959 1986 1933 0 0 0 0 1 0 14.14 14.02 13.28
5048 0.91 194.6 2995 985 1986 1926 676.0 19.6 241 5053 0.00 2.35 0.00 0.000 1030 0.000 0.062 2995 2380 1956 1986 1926 0 0 0 0 0 0 28.83 14.47 28.83
5381 0.91 194.6 2995 2380 1986 1920 610.4 20.8 252 5382 0.00 0.00 0.00 0.000 6 0.000 0.000 2995 2380 1953 1986 1920 0 0 0 0 0 0 28.83 28.83 28.83
5682 0.91 194.6 2995 2380 1986 1916 548.3 20.4 266 5687 0.00 2.35 0.00 0.000 260 0.000 0.092 2995 3781 1951 1986 1916 0 0 0 0 0 0 28.83 14.78 28.83
5708 0.91 194.6 2088 3780 1950 1908 543.4 20.1 267 5713 0.00 2.20 0.00 0.000 1030 0.000 0.042 3005 2362 1951 1986 1917 0 0 0 0 0 0 28.83 14.85 28.83
6025 0.91 194.6 3005 2357 1986 1915 480.2 19.4 283 6026 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2357 1950 1986 1915 0 0 0 0 0 0 28.83 28.83 28.83
6326 0.91 194.6 3006 2356 1986 1914 414.9 22.2 298 6331 0.00 2.20 0.00 0.000 516 0.000 0.054 3016 979 1950 1986 1914 0 0 0 0 0 0 28.83 14.90 28.83
6382 0.91 194.6 3016 978 1987 1914 406.2 21.0 300 6389 0.00 2.28 0.00 0.000 1030 0.000 0.062 3017 2378 1950 1986 1914 0 0 0 0 0 0 28.83 14.88 28.83
6688 0.91 194.6 3016 2378 1986 1912 351.1 16.7 316 6689 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2378 1949 1986 1912 0 0 0 0 0 0 28.83 28.83 28.83
6989 0.91 194.6 3016 2382 1986 1910 297.0 19.1 331 6995 0.00 2.22 0.00 0.000 516 0.000 0.053 3025 984 1948 1986 1911 0 0 0 0 0 0 28.83 14.93 28.83
7053 0.91 194.6 3025 984 1986 1911 284.6 19.4 334 7059 0.15 2.25 0.00 0.000 5126 0.285 0.063 2993 2376 1951 1994 1908 0 0 0 0 0 0 14.77 14.91 28.83
7376 0.91 194.6 2993 2377 1986 1908 234.0 14.5 350 7382 0.00 2.33 0.00 0.000 260 0.000 0.090 2993 3777 1947 1986 1908 0 0 0 0 0 0 28.83 14.89 28.83
7419 0.91 194.6 2993 3777 1988 1908 226.9 15.4 352 7425 0.00 2.17 0.00 0.000 1030 0.000 0.042 3001 2366 1947 1986 1909 0 0 0 0 0 0 28.83 14.96 28.83
7742 0.91 194.6 3001 2361 1986 1908 180.2 12.7 368 7747 0.00 2.38 0.00 0.000 260 0.000 0.090 3001 3774 1947 1986 1908 0 0 0 0 0 0 28.83 14.87 28.83
7834 0.91 194.6 3001 3774 1987 1908 168.6 14.1 372 7839 0.00 2.17 0.00 0.000 1030 0.000 0.042 3011 2366 1947 1987 1908 0 0 0 0 0 0 28.83 14.95 28.83
8146 0.91 194.6 3012 2361 1986 1908 122.0 14.2 388 8151 0.00 2.20 0.00 0.000 516 0.000 0.055 3021 978 1947 1986 1908 0 0 0 0 0 0 28.83 14.92 28.83
8243 0.91 194.6 3022 978 1988 1909 111.3 13.2 392 8250 0.00 2.28 0.00 0.000 1030 0.000 0.058 3022 2387 1947 1987 1907 0 0 0 0 0 0 28.83 14.88 28.83
8548 0.91 194.6 3022 2387 1985 1907 76.4 11.1 408 8554 0.00 2.30 0.00 0.000 260 0.000 0.089 3020 3776 1947 1987 1908 0 0 0 0 0 0 28.83 14.88 28.83
8692 0.91 194.6 3021 3776 1986 1908 60.0 10.8 415 8698 0.15 2.15 0.00 0.000 5126 0.281 0.040 2997 2364 1944 1981 1908 0 0 0 0 0 0 14.77 14.94 28.83
9006 1.17 460.0 2997 2360 1986 1908 41.9 0.8 440 9132 0.20 0.00 120.90 0.262 10502 0.101 0.000 3087 2360 875 908 843 0 0 0 0 0 0 14.92 28.83 14.61
9303 end climb: SURFACE_DEPTH_REACHED
state 9303 begin surface coast
9325 end surface coast: CONTROL_FINISHED_OK
state 9326 begin surface