NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 407 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  187 HEADING  -1 ROLL_MIN  236 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  2 ESCAPE_HEADING  0 ROLL_MAX  3800 ALTIM_TOP_TURN_MARGIN  0
DIVE  407 ESCAPE_HEADING_DELTA  10 ROLL_DEG  35 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2075 ALTIM_PING_DEPTH  0
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2000 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1070 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  3
D_NO_BLEED  200 SM_CC  350 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  3
D_BOOST  3 N_FILEKB  4 R_PORT_OVSHOOT  25 XPDR_VALID  1
D_FINISH  5 FILEMGR  0 R_STBD_OVSHOOT  26 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 INT_PRESSURE_YINT  0.69999999
D_CALL  0 KERMIT  0 ROLL_ADJ_GAIN  2 DEEPGLIDER  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0.029999999 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MIN  470 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3960 DEVICE1  2
T_DIVE  540 CALL_TRIES  5 C_VBD  3150 DEVICE2  20
T_MISSION  600 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  83
T_ABORT  1440 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_TIMEOUT  720 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.00060000003 DEVICE6  -1
T_NO_W  300 T_GPS  15 VBD_PUMP_AD_RATE_SURFACE  6 LOGGERS  0
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  -1
USE_BATHY  -1 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -32037.898 UNCOM_BLEED  50 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 CF8_MAXERRORS  20 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  150 GPS_DEVICE  32
RELAUNCH  -7 RAFOS_CORR_THRESH  60 AH0_10V  100 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  115 PITCH_MIN  155 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3970 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2855 FG_AHR_24V  0 SEABIRD_T_G  0.0043543768
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.0006249955
RHO  1.023 PITCH_CNV  0.003125763 PRESSURE_YINT  -61.597298 SEABIRD_T_I  2.3401506e-05
MASS  52000 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.0001138132 SEABIRD_T_J  2.4672308e-06
NAV_MODE  2 PITCH_GAIN  36 AD7714Ch0Gain  128 SEABIRD_C_G  -9.9855604
FERRY_MAX  45 PITCH_TIMEOUT  17 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1126566
KALMAN_USE  2 PITCH_AD_RATE  165 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0021479612
HD_A  0.0046000001 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  0.0002479906
HD_B  0.0099999998 PITCH_ADJ_GAIN  0.0049999999 ALTIM_BOTTOM_PING_RANGE  0
HD_C  1.34e-05 PITCH_ADJ_DBAND  2 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  021030,4748.976,-12514.931,63,1.4,69,18.7 TGT_NAME  OFFSHORE
_CALLS  2 TGT_LATLONG  4700.000,-12700.000
_XMS_NAKs  0 TGT_RADIUS  2500.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.81 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -79.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  021925,4748.928,-12514.935,10,1.4,15,18.7 MHEAD_RNG_PITCHd_Wd  191.5,160690,-13.9,-6.111
SPEED_LIMITS  0.106,0.196 D_GRID  525

Post-dive calculations and measurements:
FINISH  1.2,1.023883 _10V_AH  10.1,39.129
SM_CCo  14737,0.00,0.000,0,0,1634,371.63 FG_AHR_24Vo  0.000
SM_GC  2.45,7.78,0.00,0.00,0.046,0.000,0.000,134,2059,1634,-8.41,-0.48,371.63 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4735.69,-12516.60,291199,020221 MEM  298604
TT8_MAMPS  0.052923 DATA_FILE_SIZE  94899,1678
HUMID  39.56 CAP_FILE_SIZE  166283,0
INTERNAL_PRESSURE  9.0011 CFSIZE  260165632,231972864
TCM_TEMP  15.90 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.085,332.6,1
_24V_AH  23.9,42.449 GPS  040910,062624,4747.950,-12515.926,57,1.4,57,18.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20237114.14 SBE_CT115724663.76
Roll_motor9479179.45 SBE_O2133819607.80
VBD_pump_during_apogee4039278933.17 WL_BBFL2VMT19531054901.64
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init58103143.13 nil000.00
Iridium_during_connect113160434.41 nil000.00
Iridium_during_xfer182223971.22
Transponder_ping04200.00
GUMSTIX_24V000.00
GPS15508.04
TT80190.00
LPSleep102622226.99
TT8_Active4461989.37
TT8_Sampling3907391570.74
TT8_CF862945291.30
TT8_Kalman000.00
Analog_circuits177212214.87
GPS_charging000.00
Compass33748272.65
RAFOS000.00
Transponder0300.16

Guidance and control:
st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors
10 end surface: CONTROL_FINISHED_OK
state 10 begin dive
12 -0.45 -112.4 0.0 0.0 0 72 0.00 0.00 -57.88 0.000 2 0.000 0.000 132 2045 3085 0 0 0 0 0 0
74 -0.45 -112.4 3.5 -2.9 11 102 10.43 2.10 -11.10 0.000 4 0.237 0.080 2695 3314 3612 0 0 0 0 0 0
107 -0.22 -112.4 14.3 -25.9 17 113 0.25 2.00 0.00 0.000 6 0.130 0.053 2775 2070 3613 0 0 0 0 0 0
434 -0.24 -112.4 37.7 -6.1 78 440 0.00 1.95 0.00 0.000 4 0.000 0.058 2776 846 3615 0 0 0 0 0 0
526 -0.26 -112.4 43.5 -6.4 95 531 0.00 1.95 0.00 0.000 6 0.000 0.055 2776 2072 3616 0 0 0 0 0 0
853 -0.33 -112.4 66.1 -6.3 156 859 0.00 1.95 0.00 0.000 4 0.000 0.059 2776 847 3616 0 0 0 0 0 0
1099 -0.42 -112.4 85.3 -7.6 202 1105 0.12 2.03 0.00 0.000 6 0.072 0.054 2720 2128 3616 0 0 0 0 0 0
1427 -0.45 -112.4 106.4 -6.0 254 1428 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2128 3616 0 0 0 0 0 0
1738 -0.48 -112.4 124.1 -6.0 284 1741 0.00 1.92 0.00 0.000 4 0.000 0.067 2720 3314 3616 0 0 0 0 0 0
1866 -0.50 -112.4 132.9 -7.3 296 1869 0.00 1.67 0.00 0.000 6 0.000 0.050 2720 2220 3616 0 0 0 0 0 0
2186 -0.53 -112.4 157.4 -7.7 327 2190 0.10 2.20 0.00 0.000 4 0.108 0.058 2666 833 3616 0 0 0 0 0 0
2224 -0.52 -112.4 160.9 -9.5 330 2231 0.00 2.10 0.00 0.000 6 0.000 0.058 2663 2157 3616 0 0 0 0 0 0
2539 -0.50 -112.4 192.4 -9.9 361 2542 0.00 1.88 0.00 0.000 4 0.000 0.067 2659 3310 3616 0 0 0 0 0 0
2597 -0.49 -112.4 197.6 -8.1 366 2605 0.10 1.80 0.00 0.000 6 0.117 0.051 2694 2161 3615 0 0 0 0 0 0
2914 -0.49 -112.4 219.1 -6.9 397 2915 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2161 3615 0 0 0 0 0 0
3225 -0.49 -112.4 242.5 -8.2 427 3226 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2161 3615 0 0 0 0 0 0
3535 -0.49 -112.4 270.1 -9.7 457 3538 0.00 2.03 0.00 0.000 4 0.000 0.059 2694 842 3614 0 0 0 0 0 0
3555 -0.49 -112.4 272.1 -9.3 459 3559 0.00 2.10 0.00 0.000 6 0.000 0.058 2692 2164 3614 0 0 0 0 0 0
3876 -0.49 -112.4 300.0 -7.9 490 3879 0.00 1.85 0.00 0.000 4 0.000 0.067 2684 3303 3613 0 0 0 0 0 0
3908 -0.49 -112.4 302.4 -7.5 493 3911 0.00 1.80 0.00 0.000 6 0.000 0.052 2683 2155 3613 0 0 0 0 0 0
4228 -0.49 -112.4 327.2 -7.3 524 4229 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2154 3613 0 0 0 0 0 0
4540 -0.49 -112.4 349.4 -7.2 554 4540 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2154 3612 0 0 0 0 0 0
4850 -0.49 -112.4 371.6 -7.4 584 4851 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2154 3612 0 0 0 0 0 0
5161 -0.49 -112.4 394.4 -7.1 614 5161 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2154 3612 0 0 0 0 0 0
5471 -0.49 -112.4 416.4 -7.2 644 5471 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2154 3611 0 0 0 0 0 0
5781 -0.49 -112.4 438.5 -6.9 674 5782 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2154 3611 0 0 0 0 0 0
6091 -0.49 -112.4 461.4 -7.6 704 6094 0.00 1.90 0.00 0.000 4 0.000 0.070 2676 3306 3610 0 0 0 0 0 0
6133 -0.49 -112.4 464.7 -7.5 708 6137 0.00 1.80 0.00 0.000 6 0.000 0.053 2676 2160 3610 0 0 0 0 0 0
6454 -0.49 -112.4 487.5 -7.6 739 6458 0.00 1.90 0.00 0.000 4 0.000 0.071 2668 3310 3610 0 0 0 0 0 0
6480 -0.49 -112.4 489.7 -8.7 741 6488 0.00 1.80 0.00 0.000 6 0.000 0.055 2668 2172 3610 0 0 0 0 0 0
6796 -0.49 -112.4 514.5 -7.7 772 6797 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2172 3610 0 0 0 0 0 0
6928 end dive: TARGET_DEPTH_EXCEEDED
state 6928 begin apogee
6933 -0.14 0.0 525.2 8.3 785 7025 0.43 0.00 90.28 0.927 6 0.121 0.000 2804 1984 3150 0 0 0 0 0 0
7026 end apogee: CONTROL_FINISHED_OK
state 7026 begin climb
7028 0.45 112.4 528.4 0.0 794 7127 0.55 2.05 92.97 0.896 4 0.077 0.061 3007 771 2690 0 0 0 0 0 0
7206 0.44 131.9 524.7 5.4 810 7227 0.00 2.03 17.10 0.841 6 0.000 0.056 3007 1996 2612 0 0 0 0 0 0
7537 0.41 131.9 502.9 6.4 842 7541 0.00 2.05 0.00 0.000 4 0.000 0.065 3007 3234 2608 0 0 0 0 0 0
7708 0.37 131.9 490.0 7.5 858 7713 0.10 1.95 0.00 0.000 6 0.146 0.054 2982 2024 2607 0 0 0 0 0 0
8030 0.35 131.9 470.8 6.3 889 8033 0.00 1.98 0.00 0.000 4 0.000 0.066 2982 3234 2606 0 0 0 0 0 0
8094 0.33 131.9 466.4 6.8 895 8097 0.00 1.95 0.00 0.000 6 0.000 0.056 2986 2021 2606 0 0 0 0 0 0
8414 0.32 145.9 447.6 5.6 926 8429 0.00 1.98 11.90 0.821 4 0.000 0.066 2986 3240 2555 0 0 0 0 0 0
8482 0.29 145.9 443.2 6.7 932 8486 0.10 1.95 0.00 0.000 6 0.131 0.055 2954 2029 2553 0 0 0 0 0 0
8803 0.33 207.6 429.8 3.8 963 8856 0.00 0.00 51.90 0.859 6 0.000 0.000 2954 2030 2303 0 0 0 0 0 0
9164 0.36 227.1 412.1 5.4 998 9186 0.00 2.03 16.67 0.814 4 0.000 0.064 2954 767 2223 0 0 0 0 0 0
9218 0.38 234.4 409.1 5.8 1003 9230 0.00 2.03 7.47 0.719 6 0.000 0.058 2954 2034 2194 0 0 0 0 0 0
9547 0.42 262.7 391.3 5.1 1035 9578 0.10 2.00 24.23 0.818 4 0.110 0.067 2999 3233 2079 0 0 0 0 0 0
9621 0.42 262.7 385.7 8.5 1042 9624 0.00 1.98 0.00 0.000 6 0.000 0.057 3000 2009 2075 0 0 0 0 0 0
9941 0.42 262.7 357.2 9.3 1073 9941 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2009 2073 0 0 0 0 0 0
10252 0.42 262.7 328.4 9.2 1103 10253 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2008 2072 0 0 0 0 0 0
10563 0.42 262.7 301.0 9.0 1133 10566 0.00 2.00 0.00 0.000 4 0.000 0.067 3000 3248 2071 0 0 0 0 0 0
10615 0.42 262.7 295.9 9.4 1138 10619 0.00 1.95 0.00 0.000 6 0.000 0.057 3000 2032 2071 0 0 0 0 0 0
10935 0.42 262.7 268.4 8.7 1169 10936 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2032 2071 0 0 0 0 0 0
11247 0.42 262.7 242.1 8.5 1199 11250 0.00 1.92 0.00 0.000 4 0.000 0.065 3000 3238 2071 0 0 0 0 0 0
11283 0.42 262.7 238.6 9.6 1202 11290 0.00 1.90 0.00 0.000 6 0.000 0.055 3000 2045 2070 0 0 0 0 0 0
11598 0.42 262.7 210.9 8.8 1233 11599 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2045 2070 0 0 0 0 0 0
11911 0.42 262.7 183.7 8.4 1263 11911 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2045 2070 0 0 0 0 0 0
12221 0.42 262.7 158.6 7.9 1293 12224 0.00 1.90 0.00 0.000 4 0.000 0.067 3001 3233 2070 0 0 0 0 0 0
12273 0.42 262.7 154.2 7.7 1298 12277 0.00 1.88 0.00 0.000 6 0.000 0.056 3000 2051 2069 0 0 0 0 0 0
12593 0.42 262.7 129.0 8.3 1329 12594 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 2050 2070 0 0 0 0 0 0
12905 0.42 262.7 106.7 6.9 1359 12908 0.00 1.90 0.00 0.000 4 0.000 0.067 3000 3226 2070 0 0 0 0 0 0
12947 0.42 262.7 103.2 8.8 1363 12950 0.00 1.88 0.00 0.000 6 0.000 0.056 3001 2042 2069 0 0 0 0 0 0
13272 0.42 265.5 80.2 6.0 1420 13278 0.00 2.05 0.00 0.000 4 0.000 0.066 3001 766 2069 0 0 0 0 0 0
13326 0.45 277.6 77.1 5.7 1430 13344 0.00 2.03 12.30 0.629 6 0.000 0.058 3000 2047 2018 0 0 0 0 0 0
13666 0.48 300.6 58.6 5.3 1493 13693 0.00 1.95 19.95 0.624 4 0.000 0.067 3001 3237 1923 0 0 0 0 0 0
13747 0.50 305.5 54.1 5.9 1508 13759 0.00 1.90 5.43 0.518 6 0.000 0.054 3001 2048 1904 0 0 0 0 0 0
14080 0.55 327.9 36.2 5.3 1570 14104 0.10 2.05 19.17 0.605 4 0.111 0.061 3043 753 1813 0 0 0 0 0 0
14131 0.60 327.9 32.6 6.9 1579 14136 0.00 2.08 0.00 0.000 6 0.000 0.058 3043 2049 1812 0 0 0 0 0 0
14458 0.67 369.2 13.1 4.6 1640 14497 0.00 1.90 33.70 0.592 4 0.000 0.064 3043 3233 1644 0 0 0 0 0 0
14618 end climb: SURFACE_DEPTH_REACHED
state 14618 begin surface coast
14661 end surface coast: CONTROL_FINISHED_OK
state 14661 begin surface