NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 472 * 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  472 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  27 XPDR_VALID  1
D_FINISH  5 FILEMGR  0 R_STBD_OVSHOOT  21 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  -33253.43 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  164332,4749.304,-12515.044,44,1.8,45,18.7 TGT_NAME  ONSHORE
_CALLS  1 TGT_LATLONG  4758.000,-12457.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.04 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -74.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  165043,4749.271,-12514.938,12,1.3,17,18.7 MHEAD_RNG_PITCHd_Wd  57.4,27498,-13.9,-6.111
SPEED_LIMITS  0.106,0.196 D_GRID  450

Post-dive calculations and measurements:
FINISH  1.2,1.005217 _10V_AH  10.1,50.131
SM_CCo  12997,0.00,0.000,0,0,1582,384.39 FG_AHR_24Vo  0.000
SM_GC  2.06,7.82,0.00,0.00,0.044,0.000,0.000,140,2071,1582,-8.39,-0.11,384.39 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4729.30,-12512.90,181299,121206 MEM  298628
TT8_MAMPS  0.05369 DATA_FILE_SIZE  82106,1457
HUMID  41.41 CAP_FILE_SIZE  155059,0
INTERNAL_PRESSURE  9.02063 CFSIZE  260165632,224333824
TCM_TEMP  15.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.127,338.1,1
_24V_AH  23.9,51.606 GPS  230910,202830,4750.413,-12513.532,41,1.5,47,18.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19233111.04 SBE_CT104724601.07
Roll_motor106156397.05 SBE_O299819453.21
VBD_pump_during_apogee4138728626.03 WL_BBFL2VMT16501054140.90
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710368.05 nil000.00
Iridium_during_connect31160118.85 nil000.00
Iridium_during_xfer2212231181.95
Transponder_ping04200.00
GUMSTIX_24V000.00
GPS17508.79
TT80190.00
LPSleep88912196.67
TT8_Active4751995.18
TT8_Sampling3411391371.41
TT8_CF861345283.65
TT8_Kalman000.00
Analog_circuits167712203.28
GPS_charging000.00
Compass29538238.61
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
11 end surface: CONTROL_FINISHED_OK
state 11 begin dive
13 -0.45 -112.4 0.0 0.0 0 67 0.00 0.00 -52.65 0.000 2 0.000 0.000 131 2082 2853 0 0 0 0 0 0
70 -0.45 -112.4 3.0 -1.9 10 103 10.43 1.98 -18.62 0.000 4 0.233 0.076 2692 3314 3609 0 0 0 0 0 0
300 -0.45 -112.4 39.3 -10.9 53 306 0.00 1.95 0.00 0.000 6 0.000 0.048 2691 2074 3612 0 0 0 0 0 0
628 -0.44 -112.4 74.3 -11.2 114 633 0.00 1.95 0.00 0.000 4 0.000 0.056 2691 845 3614 0 0 0 0 0 0
670 -0.44 -112.4 79.1 -11.3 122 676 0.00 1.98 0.00 0.000 6 0.000 0.055 2685 2086 3614 0 0 0 0 0 0
997 -0.44 -112.4 110.9 -9.4 173 1001 0.00 2.00 0.00 0.000 4 0.000 0.064 2675 3310 3614 0 0 0 0 0 0
1061 -0.44 -112.4 117.0 -9.3 179 1065 0.10 1.92 0.00 0.000 6 0.117 0.049 2710 2092 3614 0 0 0 0 0 0
1382 -0.44 -112.4 141.0 -7.3 210 1386 0.00 2.00 0.00 0.000 4 0.000 0.066 2706 3305 3614 0 0 0 0 0 0
1419 -0.46 -112.4 143.6 -7.3 213 1426 0.00 1.90 0.00 0.000 6 0.000 0.050 2706 2102 3614 0 0 0 0 0 0
1735 -0.46 -112.4 165.5 -6.6 244 1738 0.00 2.00 0.00 0.000 4 0.000 0.058 2706 842 3614 0 0 0 0 0 0
1793 -0.46 -112.4 169.6 -6.9 249 1800 0.00 2.00 0.00 0.000 6 0.000 0.056 2704 2100 3613 0 0 0 0 0 0
2110 -0.46 -112.4 191.3 -7.3 280 2113 0.00 1.95 0.00 0.000 4 0.000 0.058 2704 843 3613 0 0 0 0 0 0
2173 -0.46 -112.4 196.3 -8.0 286 2177 0.00 2.00 0.00 0.000 6 0.000 0.056 2704 2102 3613 0 0 0 0 0 0
2493 -0.46 -112.4 220.6 -7.2 317 2497 0.00 1.98 0.00 0.000 4 0.000 0.066 2704 3312 3612 0 0 0 0 0 0
2530 -0.48 -112.4 223.1 -6.5 320 2537 0.00 1.92 0.00 0.000 6 0.000 0.051 2704 2095 3612 0 0 0 0 0 0
2846 -0.48 -112.4 246.5 -7.8 351 2847 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2095 3612 0 0 0 0 0 0
3157 -0.48 -112.4 270.1 -7.4 381 3158 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2095 3611 0 0 0 0 0 0
3468 -0.48 -112.4 290.6 -6.6 411 3471 0.00 1.98 0.00 0.000 4 0.000 0.067 2704 3322 3610 0 0 0 0 0 0
3499 -0.49 -112.4 292.7 -6.1 414 3503 0.00 1.92 0.00 0.000 6 0.000 0.052 2704 2100 3610 0 0 0 0 0 0
3822 -0.50 -112.4 314.8 -7.1 445 3823 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2100 3610 0 0 0 0 0 0
4132 -0.52 -112.4 337.3 -7.4 475 4133 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2100 3610 0 0 0 0 0 0
4443 -0.53 -112.4 358.7 -6.3 505 4446 0.00 1.95 0.00 0.000 4 0.000 0.067 2704 3310 3610 0 0 0 0 0 0
4485 -0.55 -112.4 361.7 -6.5 509 4489 0.00 1.90 0.00 0.000 6 0.000 0.053 2704 2110 3609 0 0 0 0 0 0
4806 -0.56 -112.4 382.5 -6.6 540 4806 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2111 3609 0 0 0 0 0 0
5117 -0.57 -112.4 404.8 -6.7 570 5121 0.10 1.98 0.00 0.000 4 0.109 0.069 2650 3306 3608 0 0 0 0 0 0
5192 -0.57 -112.4 411.5 -8.8 577 5195 0.00 1.85 0.00 0.000 6 0.000 0.053 2649 2109 3608 0 0 0 0 0 0
5512 -0.56 -112.4 443.3 -10.0 608 5516 0.00 2.00 0.00 0.000 4 0.000 0.059 2650 848 3608 0 0 0 0 0 0
5571 -0.55 -112.4 449.0 -9.1 613 5576 0.10 2.03 0.00 0.000 6 0.128 0.058 2677 2112 3608 0 0 0 0 0 0
5584 end dive: TARGET_DEPTH_EXCEEDED
state 5584 begin apogee
5588 -0.14 0.0 450.4 9.0 615 5680 0.40 0.00 89.75 0.873 6 0.116 0.000 2809 1995 3150 0 0 0 0 0 0
5681 end apogee: CONTROL_FINISHED_OK
state 5681 begin climb
5683 0.45 112.4 451.9 0.0 624 5777 0.52 0.00 92.25 0.844 6 0.068 0.000 3002 1995 2691 0 0 0 0 0 0
6083 0.44 133.3 435.0 5.3 663 6106 0.00 2.05 17.67 0.803 4 0.000 0.064 3002 3239 2605 0 0 0 0 0 0
6182 0.41 133.3 428.2 8.1 672 6185 0.00 2.00 0.00 0.000 6 0.000 0.053 3010 2013 2603 0 0 0 0 0 0
6502 0.39 133.3 405.7 7.6 703 6505 0.00 2.00 0.00 0.000 4 0.000 0.064 3010 3234 2602 0 0 0 0 0 0
6567 0.36 133.3 401.0 7.3 709 6570 0.17 1.92 0.00 0.000 6 0.153 0.054 2969 2023 2602 0 0 0 0 0 0
6883 0.37 156.4 384.7 5.3 739 6906 0.00 1.98 19.65 0.803 4 0.000 0.066 2969 3241 2512 0 0 0 0 0 0
6945 0.37 156.4 380.9 6.3 745 6948 0.00 1.92 0.00 0.000 6 0.000 0.054 2972 2034 2510 0 0 0 0 0 0
7266 0.38 164.8 362.0 5.8 776 7278 0.00 2.00 8.15 0.723 4 0.000 0.066 2973 3237 2478 0 0 0 0 0 0
7303 0.38 164.8 359.6 6.4 779 7309 0.00 1.92 0.00 0.000 6 0.000 0.054 2973 2042 2477 0 0 0 0 0 0
7620 0.38 165.9 340.7 6.1 810 7622 0.00 1.95 0.00 0.000 4 0.000 0.067 2973 3234 2477 0 0 0 0 0 0
7639 0.38 165.9 339.4 6.3 812 7644 0.00 1.90 0.00 0.000 6 0.000 0.054 2973 2053 2476 0 0 0 0 0 0
7960 0.38 170.3 319.7 6.0 843 7972 0.00 1.92 6.05 0.661 4 0.000 0.067 2973 3230 2455 0 0 0 0 0 0
7982 0.38 172.0 318.4 6.0 845 7986 0.00 1.88 0.00 0.000 6 0.000 0.054 2973 2057 2455 0 0 0 0 0 0
8303 0.38 172.0 298.6 6.1 876 8304 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2057 2454 0 0 0 0 0 0
8615 0.38 172.0 278.9 6.1 906 8618 0.00 1.95 0.00 0.000 4 0.000 0.067 2972 3233 2454 0 0 0 0 0 0
8640 0.38 176.1 277.3 6.0 908 8649 0.00 1.88 6.57 0.663 6 0.000 0.054 2973 2062 2430 0 0 0 0 0 0
8967 0.39 185.0 258.4 5.8 940 8981 0.00 1.95 8.65 0.693 4 0.000 0.066 2973 3240 2395 0 0 0 0 0 0
9008 0.39 185.0 255.6 7.3 944 9012 0.00 1.88 0.00 0.000 6 0.000 0.055 2973 2073 2394 0 0 0 0 0 0
9329 0.39 187.0 235.8 6.0 975 9333 0.00 2.12 0.00 0.000 4 0.000 0.064 2973 766 2394 0 0 0 0 0 0
9361 0.41 197.4 234.0 5.7 978 9376 0.00 2.08 11.90 0.706 6 0.000 0.057 2973 2066 2344 0 0 0 0 0 0
9688 0.42 197.9 214.7 6.1 1009 9691 0.00 1.88 0.00 0.000 4 0.000 0.066 2974 3235 2341 0 0 0 0 0 0
9723 0.42 197.9 212.3 6.7 1012 9731 0.00 1.85 0.00 0.000 6 0.000 0.054 2973 2078 2341 0 0 0 0 0 0
10039 0.45 224.6 194.8 5.1 1043 10064 0.00 0.00 23.00 0.709 6 0.000 0.000 2973 2077 2234 0 0 0 0 0 0
10371 0.49 278.3 179.2 4.1 1075 10422 0.12 2.17 44.08 0.700 4 0.098 0.063 3038 763 2015 0 0 0 0 0 0
10434 0.49 278.3 175.0 8.0 1081 10437 0.00 2.12 0.00 0.000 6 0.000 0.056 3037 2085 2013 0 0 0 0 0 0
10750 0.49 278.3 148.8 8.8 1111 10753 0.00 1.90 0.00 0.000 4 0.000 0.065 3037 3234 2008 0 0 0 0 0 0
10775 0.48 278.3 146.2 9.9 1113 10782 0.08 1.85 0.00 0.000 6 0.132 0.054 3015 2088 2007 0 0 0 0 0 0
11091 0.48 278.3 123.0 7.7 1144 11094 0.00 2.10 0.00 0.000 4 0.000 0.062 3021 760 2007 0 0 0 0 0 0
11139 0.48 278.3 119.5 8.5 1148 11145 0.00 2.08 0.00 0.000 6 0.000 0.055 3021 2064 2006 0 0 0 0 0 0
11457 0.51 278.3 94.8 8.2 1185 11463 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2063 2006 0 0 0 0 0 0
11784 0.54 278.3 72.3 6.7 1246 11789 0.00 1.90 0.00 0.000 4 0.000 0.064 3021 3238 2006 0 0 0 0 0 0
11859 0.54 278.3 66.9 7.0 1260 11866 0.00 1.70 0.00 0.000 6 0.000 0.052 3023 2167 2006 0 0 0 0 0 0
12189 0.57 289.9 45.2 5.7 1321 12205 0.00 2.25 9.25 0.588 4 0.000 0.062 3023 766 1968 0 0 0 0 0 0
12297 0.63 331.6 39.8 4.6 1341 12342 0.08 2.03 34.78 0.612 6 0.064 0.056 3071 2039 1797 0 0 0 0 0 0
12663 0.67 351.7 13.8 5.4 1409 12687 0.00 1.90 16.70 0.587 4 0.000 0.063 3072 3232 1714 0 0 0 0 0 0
12697 0.72 381.5 12.1 5.0 1415 12731 0.00 1.80 25.05 0.579 6 0.000 0.054 3072 2112 1592 0 0 0 0 0 0
12874 end climb: SURFACE_DEPTH_REACHED
state 12874 begin surface coast
12922 end surface coast: CONTROL_FINISHED_OK
state 12922 begin surface