OKMC 16May13 * SG181 * Dive index * Mission links * Dive 86 * 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  86 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  60 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  450 R_STBD_OVSHOOT  29 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  -95788.461 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  260513,002824,2231.483,12118.307,36,1.3,37,-2.9 TGT_NAME  N1
_CALLS  2 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  -0.08 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  260513,003737,2231.804,12118.400,14,0.9,14,-2.9 MHEAD_RNG_PITCHd_Wd  20.7,60235,-14.3,-10.000,-17.31,2952
SPEED_LIMITS  0.173,0.321 D_GRID  1263

Post-dive calculations and measurements:
FINISH  -0.3,1.021194 _10V_AH  13.5,0.000
SM_CCo  11918,65.93,0.147,0,0,917,450.13 FG_AHR_24Vo  0.000
SM_GC  -0.08,7.62,0.20,65.93,0.054,0.106,0.147,232,2461,917,-7.63,-1.10,450.13,0,0,0,0,0,0,14.83,14.85,14.71 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2211.35,12118.60,250513,202026 MEM  322824
TT8_MAMPS  0.020223,0.020223 DATA_FILE_SIZE  20102,574
HUMID  43.77 CAP_FILE_SIZE  141528,0
INTERNAL_PRESSURE  9.67811 CFSIZE  260034560,248946688
TCM_TEMP  24.90 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  1 CURRENT  0.181, 17.4,1
SC_FREEKB  3905024 GPS  260513,035843,2234.617,12119.380,10,1.8,10,-2.9
_24V_AH  13.5,42.277

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20422119.15 nil000.00
Roll_motor116106167.53 nil000.00
VBD_pump_during_apogee441174410396.46 nil000.00
VBD_pump_during_surface65146130.72 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init5311280.77 nil000.00
Iridium_during_connect4416095.26 SciCon119625837.96
Iridium_during_xfer206223620.32 nil000.00
Transponder_ping04201.42 nil000.00
GUMSTIX_24V000.00
GPS16204.74
TT8187110276.89
LPSleep80712238.62
TT8_Active6111090.50
TT8_Sampling185028722.91
TT8_CF81443569.61
TT8_Kalman000.00
Analog_circuits144716312.64
GPS_charging000.00
Compass14026127.65
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 -194.6 232 2463 913 916 0.0 0.0 0 108 0.00 0.00 -87.10 0.000 16386 0.000 0.000 232 2459 3180 3231 3129 0 0 0 0 0 0 28.83 28.83 28.83
110 -0.91 -194.6 232 2461 3231 3131 4.2 -16.3 15 136 10.43 2.33 -5.82 0.000 18948 0.422 0.078 2404 1063 3551 3634 3469 0 0 0 0 0 0 14.45 14.68 14.90
198 -0.91 -194.6 2404 1063 3637 3470 41.8 -27.1 26 204 0.00 2.28 0.00 0.000 1030 0.000 0.063 2396 2449 3553 3637 3469 0 0 0 0 0 0 28.83 14.69 28.83
511 -0.91 -194.6 2397 2449 3640 3470 126.3 -23.0 43 517 0.00 2.17 0.00 0.000 260 0.000 0.076 2387 3786 3555 3640 3470 0 0 0 0 0 0 28.83 14.79 28.83
743 -0.91 -194.6 2387 3786 3640 3472 181.5 -22.9 54 748 0.00 2.03 0.00 0.000 1030 0.000 0.035 2387 2446 3556 3640 3472 0 0 0 0 0 0 28.83 14.89 28.83
1055 -0.91 -194.6 2387 2441 3640 3472 261.4 -25.8 70 1056 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2441 3555 3640 3471 0 0 0 0 0 0 28.83 28.83 28.83
1356 -0.91 -194.6 2386 2441 3639 3472 324.0 -16.4 85 1361 0.00 2.15 0.00 0.000 516 0.000 0.046 2386 1060 3556 3640 3472 0 0 0 0 0 0 28.83 14.91 28.83
1418 -0.91 -194.6 2385 1060 3639 3472 334.1 -15.9 88 1424 0.12 2.25 0.00 0.000 3078 0.269 0.058 2404 2454 3555 3640 3471 0 0 0 0 0 0 14.79 14.90 28.83
1742 -0.91 -194.6 2404 2455 3640 3469 385.2 -16.0 104 1747 0.00 2.15 0.00 0.000 260 0.000 0.083 2397 3776 3554 3640 3469 0 0 0 0 0 0 28.83 14.90 28.83
1778 -0.91 -194.6 2397 3775 3640 3469 388.7 -15.8 105 1786 0.00 2.03 0.00 0.000 1030 0.000 0.038 2397 2434 3554 3640 3469 0 0 0 0 0 0 28.83 14.99 28.83
2084 -0.91 -194.6 2395 2432 3640 3465 441.1 -15.8 121 2090 0.00 2.22 0.00 0.000 260 0.000 0.086 2387 3781 3552 3640 3464 0 0 0 0 0 0 28.83 14.91 28.83
2116 -0.91 -194.6 2387 3781 3639 3464 444.9 -15.7 122 2121 0.00 2.03 0.00 0.000 1030 0.000 0.039 2387 2446 3551 3640 3463 0 0 0 0 0 0 28.83 14.99 28.83
2428 -0.91 -194.6 2387 2441 3640 3461 497.0 -15.5 138 2433 0.00 2.17 0.00 0.000 516 0.000 0.050 2387 1051 3553 3640 3467 0 0 0 0 0 0 28.83 14.95 28.83
2520 -0.91 -194.6 2387 1050 3639 3460 509.1 -14.5 142 2526 0.12 2.28 0.00 0.000 3078 0.265 0.063 2405 2458 3549 3640 3458 0 0 0 0 0 0 14.82 14.93 28.83
2833 -0.91 -194.6 2406 2458 3639 3456 553.7 -14.2 158 2838 0.00 2.17 0.00 0.000 260 0.000 0.090 2397 3777 3547 3640 3455 0 0 0 0 0 0 28.83 14.92 28.83
2855 -0.91 -194.6 2398 3777 3638 3456 556.9 -14.2 159 2860 0.00 2.05 0.00 0.000 1030 0.000 0.043 2397 2444 3547 3638 3456 0 0 0 0 0 0 28.83 15.00 28.83
3167 -0.91 -194.6 2398 2439 3635 3452 605.6 -15.3 174 3173 0.00 2.22 0.00 0.000 260 0.000 0.092 2388 3777 3543 3635 3452 0 0 0 0 0 0 28.83 14.92 28.83
3200 -0.91 -194.6 2388 3777 3634 3452 610.7 -15.3 175 3206 0.00 2.05 0.00 0.000 1030 0.000 0.043 2388 2451 3543 3634 3452 0 0 0 0 0 0 28.83 14.98 28.83
3533 -0.91 -194.6 2388 2445 3632 3448 657.7 -13.3 186 3538 0.00 2.20 0.00 0.000 516 0.000 0.054 2388 1054 3540 3632 3448 0 0 0 0 0 0 28.83 14.95 28.83
3596 -0.91 -194.6 2388 1054 3632 3448 665.6 -12.9 188 3601 0.00 2.30 0.00 0.000 1030 0.000 0.067 2378 2457 3539 3632 3447 0 0 0 0 0 0 28.83 14.93 28.83
3929 -0.91 -194.6 2378 2457 3628 3445 709.5 -13.2 199 3934 0.00 2.22 0.00 0.000 516 0.000 0.054 2378 1062 3536 3628 3444 0 0 0 0 0 0 28.83 14.95 28.83
3955 -0.91 -194.6 2378 1060 3629 3445 709.5 -13.2 199 3962 0.15 2.28 0.00 0.000 3078 0.276 0.067 2403 2451 3536 3628 3444 0 0 0 0 0 0 14.81 14.92 28.83
4262 -0.91 -194.6 2403 2451 3626 3441 746.3 -11.4 210 4263 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2451 3533 3626 3441 0 0 0 0 0 0 28.83 28.83 28.83
4561 -0.91 -194.6 2403 2450 3624 3439 783.0 -12.4 220 4567 0.00 2.20 0.00 0.000 260 0.000 0.096 2395 3775 3531 3623 3439 0 0 0 0 0 0 28.83 14.90 28.83
4634 -0.91 -194.6 2396 3776 3623 3439 791.5 -12.9 222 4640 0.00 2.05 0.00 0.000 1030 0.000 0.047 2395 2452 3531 3623 3439 0 0 0 0 0 0 28.83 15.00 28.83
4958 -0.91 -194.6 2395 2446 3622 3437 838.0 -14.0 233 4959 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2446 3529 3622 3437 0 0 0 0 0 0 28.83 28.83 28.83
5257 -0.91 -194.6 2395 2445 3617 3436 884.1 -15.6 243 5262 0.00 2.22 0.00 0.000 516 0.000 0.057 2394 1050 3526 3617 3436 0 0 0 0 0 0 28.83 14.94 28.83
5313 -0.91 -194.6 2395 1049 3617 3435 889.2 -15.7 244 5320 0.00 2.30 0.00 0.000 1030 0.000 0.070 2385 2450 3526 3617 3435 0 0 0 0 0 0 28.83 14.92 28.83
5619 -0.91 -194.6 2386 2450 3617 3432 940.5 -15.6 255 5625 0.00 2.22 0.00 0.000 516 0.000 0.057 2385 1059 3524 3617 3432 0 0 0 0 0 0 28.83 14.94 28.83
5667 -0.91 -194.6 2385 1060 3617 3432 945.5 -15.2 256 5673 0.12 2.30 0.00 0.000 3078 0.272 0.070 2403 2458 3524 3617 3432 0 0 0 0 0 0 14.79 14.92 28.83
5985 end dive: TARGET_DEPTH_EXCEEDED
state 5985 begin apogee
5989 -0.25 0.0 2404 2341 3615 3430 991.2 -13.7 267 6189 0.70 0.00 193.23 1.744 10246 0.223 0.000 2611 2341 2752 2778 2726 0 0 0 0 0 0 14.77 28.83 13.53
6191 end apogee: CONTROL_FINISHED_OK
state 6191 begin climb
6193 0.91 194.6 2611 2341 2775 2722 1000.9 0.0 273 6400 1.17 2.38 197.20 1.714 10756 0.124 0.059 2998 965 1955 1981 1929 0 0 0 0 0 0 14.14 14.04 13.45
6512 0.91 194.6 2998 965 1979 1912 955.8 19.1 284 6518 0.00 2.38 0.00 0.000 1030 0.000 0.069 2994 2354 1946 1980 1912 0 0 0 0 0 0 28.83 14.40 28.83
6830 0.91 194.6 2998 2353 1980 1905 887.7 21.2 295 6832 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2353 1942 1980 1905 0 0 0 0 0 0 28.83 28.83 28.83
7130 0.91 194.6 2998 2353 1980 1902 825.1 20.8 305 7136 0.00 2.40 0.00 0.000 260 0.000 0.096 2997 3764 1941 1980 1902 0 0 0 0 0 0 28.83 14.73 28.83
7156 0.91 194.6 2998 3764 1980 1901 825.1 20.8 305 7163 0.00 2.22 0.00 0.000 1030 0.000 0.044 3008 2350 1940 1980 1901 0 0 0 0 0 0 28.83 14.80 28.83
7463 0.91 194.6 3009 2345 1980 1899 753.4 21.5 316 7469 0.00 2.40 0.00 0.000 260 0.000 0.094 3008 3756 1939 1979 1899 0 0 0 0 0 0 28.83 14.79 28.83
7526 0.91 194.6 3008 3756 1980 1899 737.8 23.3 318 7532 0.00 2.22 0.00 0.000 1030 0.000 0.043 3019 2341 1939 1979 1899 0 0 0 0 0 0 28.83 14.86 28.83
7860 0.91 194.6 3019 2335 1980 1896 662.5 21.7 329 7861 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2335 1938 1980 1897 0 0 0 0 0 0 28.83 28.83 28.83
8159 0.91 194.6 3019 2335 1980 1896 596.4 22.1 339 8164 0.00 2.42 0.00 0.000 260 0.000 0.095 3019 3764 1938 1980 1896 0 0 0 0 0 0 28.83 14.84 28.83
8195 0.91 194.6 3019 3764 1980 1896 591.0 22.3 340 8203 0.15 2.20 0.00 0.000 5126 0.303 0.042 2999 2346 1938 1980 1896 0 0 0 0 0 0 14.70 14.91 28.83
8501 0.91 194.6 2998 2342 1980 1894 526.0 19.6 356 8507 0.00 2.40 0.00 0.000 260 0.000 0.095 3001 3757 1937 1980 1895 0 0 0 0 0 0 28.83 14.85 28.83
8558 0.91 194.6 2999 3757 1980 1895 516.6 21.1 358 8565 0.00 2.20 0.00 0.000 1030 0.000 0.042 3006 2342 1937 1979 1895 0 0 0 0 0 0 28.83 14.92 28.83
8864 0.91 194.6 3007 2337 1980 1894 449.3 21.2 374 8869 0.00 2.22 0.00 0.000 516 0.000 0.055 3017 953 1936 1979 1894 0 0 0 0 0 0 28.83 14.90 28.83
8890 0.91 194.6 2112 950 1945 1885 444.6 21.3 375 8895 0.00 2.30 0.00 0.000 1030 0.000 0.063 3017 2355 1937 1980 1894 0 0 0 0 0 0 28.83 14.87 28.83
9207 0.91 194.6 3017 2355 1980 1894 379.0 19.5 391 9213 0.00 2.35 0.00 0.000 260 0.000 0.093 3017 3758 1937 1980 1894 0 0 0 0 0 0 28.83 14.85 28.83
9264 0.91 194.6 3017 3758 1979 1894 369.7 20.5 393 9271 0.15 2.20 0.00 0.000 5126 0.307 0.042 2996 2338 1937 1980 1894 0 0 0 0 0 0 14.71 14.92 28.83
9570 0.91 194.6 2996 2334 1980 1892 309.4 17.9 409 9575 0.00 2.40 0.00 0.000 260 0.000 0.092 2996 3754 1937 1981 1893 0 0 0 0 0 0 28.83 14.86 28.83
9676 0.91 194.6 2056 3753 1944 1884 290.0 18.9 414 9682 0.00 2.17 0.00 0.000 1030 0.000 0.042 3004 2351 1936 1980 1893 0 0 0 0 0 0 28.83 14.93 28.83
9994 0.91 194.6 3004 2347 1979 1892 234.4 17.3 430 10000 0.00 2.22 0.00 0.000 516 0.000 0.054 3014 959 1936 1980 1892 0 0 0 0 0 0 28.83 14.90 28.83
10037 0.91 194.6 3014 959 1980 1892 226.7 17.8 432 10042 0.00 2.28 0.00 0.000 1030 0.000 0.060 3014 2354 1936 1980 1892 0 0 0 0 0 0 28.83 14.88 28.83
10360 0.91 194.6 3015 2355 1980 1891 167.7 18.1 448 10365 0.00 2.33 0.00 0.000 260 0.000 0.087 3014 3755 1936 1980 1892 0 0 0 0 0 0 28.83 14.86 28.83
10396 0.91 194.6 3014 3759 1980 1892 163.4 18.3 449 10405 0.15 2.17 0.00 0.000 5126 0.306 0.040 2993 2345 1936 1980 1892 0 0 0 0 0 0 14.71 14.92 28.83
10702 0.91 194.6 2993 2340 1980 1892 115.7 11.5 465 10708 0.00 2.38 0.00 0.000 260 0.000 0.086 2993 3758 1936 1980 1892 0 0 0 0 0 0 28.83 14.85 28.83
10754 0.91 194.6 2993 3758 1980 1892 110.7 11.1 467 10760 0.00 2.17 0.00 0.000 1030 0.000 0.040 2999 2344 1936 1980 1893 0 0 0 0 0 0 28.83 14.93 28.83
11067 0.94 222.1 3001 2339 1980 1893 81.1 9.0 483 11088 0.00 2.25 11.27 0.371 8708 0.000 0.050 3011 956 1847 1887 1808 0 0 0 0 0 0 28.83 14.87 14.61
11314 0.94 222.1 3011 956 1893 1816 55.0 10.1 495 11320 0.00 2.25 0.00 0.000 1030 0.000 0.056 3010 2354 1854 1893 1816 0 0 0 0 0 0 28.83 14.86 28.83
11623 0.96 247.6 3010 2355 1894 1816 26.0 9.1 523 11645 0.00 2.38 13.45 0.221 8452 0.000 0.087 3011 3755 1743 1784 1703 0 0 0 0 0 0 28.83 14.81 14.71
11784 1.02 302.1 3010 3755 1790 1709 8.8 8.1 552 11820 0.00 2.17 26.38 0.171 9222 0.000 0.038 3021 2329 1518 1560 1476 0 0 0 0 0 0 28.83 14.88 14.72
11866 end climb: SURFACE_DEPTH_REACHED
state 11866 begin surface coast
11902 end surface coast: CONTROL_FINISHED_OK
state 11902 begin surface