NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 621 * 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  621 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  36 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  -36938.812 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  084337,4757.941,-12524.882,42,1.1,43,18.8 TGT_NAME  CANYON
_CALLS  5 TGT_LATLONG  4801.600,-12521.000
_XMS_NAKs  6 TGT_RADIUS  2000.000
_XMS_TOUTs  1 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.74 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -65.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  090702,4757.983,-12524.410,14,1.4,14,18.8 MHEAD_RNG_PITCHd_Wd  31.2,7919,-13.9,-6.111
SPEED_LIMITS  0.106,0.196 D_GRID  321

Post-dive calculations and measurements:
FINISH  1.3,1.024016 _10V_AH  9.9,64.498
SM_CCo  9596,0.00,0.000,0,0,1659,365.74 FG_AHR_24Vo  0.000
SM_GC  2.30,7.65,0.00,0.00,0.038,0.000,0.000,143,2077,1659,-8.39,0.06,365.74 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4738.89,-12524.79,030100,090926 MEM  298324
TT8_MAMPS  0.052923 DATA_FILE_SIZE  66447,1189
HUMID  41.92 CAP_FILE_SIZE  138617,0
INTERNAL_PRESSURE  9.04993 CFSIZE  260165632,215760896
TCM_TEMP  16.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.137,205.8,1
_24V_AH  24.0,65.705 GPS  091010,114752,4758.099,-12524.229,10,5.8,30,18.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20230110.95 SBE_CT81324468.81
Roll_motor77106198.68 SBE_O292419421.53
VBD_pump_during_apogee3957857464.05 WL_BBFL2VMT16391054131.40
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init133103329.82 nil000.00
Iridium_during_connect227160872.06 nil000.00
Iridium_during_xfer6432233444.15
Transponder_ping04200.00
GUMSTIX_24V000.00
GPS14507.32
TT80190.00
LPSleep62682135.92
TT8_Active4641991.12
TT8_Sampling2906391145.23
TT8_CF8133345604.55
TT8_Kalman000.00
Analog_circuits147212174.90
GPS_charging000.00
Compass25418201.32
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
14 -0.45 -112.4 0.0 0.0 0 120 0.00 0.00 -104.25 0.000 2 0.000 0.000 130 2058 3016 0 0 0 0 0 0
123 -0.45 -112.4 3.3 -2.6 19 151 10.48 1.92 -13.23 0.000 4 0.231 0.067 2700 838 3610 0 0 0 0 0 0
157 -0.25 -112.4 11.6 -20.1 25 164 0.22 1.98 0.00 0.000 6 0.129 0.052 2767 2078 3610 0 0 0 0 0 0
485 -0.29 -112.4 38.7 -8.2 86 490 0.00 1.95 0.00 0.000 4 0.000 0.054 2767 849 3612 0 0 0 0 0 0
731 -0.37 -112.4 54.3 -5.3 132 737 0.08 2.10 0.00 0.000 6 0.077 0.051 2731 2180 3612 0 0 0 0 0 0
1058 -0.41 -112.4 75.3 -7.2 193 1065 0.00 1.83 0.00 0.000 4 0.000 0.062 2732 3305 3612 0 0 0 0 0 0
1108 -0.45 -112.4 79.0 -7.5 202 1114 0.00 1.55 0.00 0.000 6 0.000 0.046 2731 2308 3613 0 0 0 0 0 0
1436 -0.49 -112.4 100.9 -6.3 262 1439 0.10 1.62 0.00 0.000 4 0.104 0.063 2675 3320 3612 0 0 0 0 0 0
1616 -0.49 -112.4 117.3 -9.5 279 1620 0.00 1.77 0.00 0.000 6 0.000 0.046 2674 2176 3611 0 0 0 0 0 0
1938 -0.49 -112.4 147.8 -9.0 310 1941 0.00 1.85 0.00 0.000 4 0.000 0.063 2667 3322 3610 0 0 0 0 0 0
2017 -0.49 -112.4 154.9 -8.6 317 2023 0.00 1.75 0.00 0.000 6 0.000 0.048 2666 2195 3610 0 0 0 0 0 0
2333 -0.49 -112.4 181.6 -8.8 348 2336 0.00 1.83 0.00 0.000 4 0.000 0.064 2663 3313 3609 0 0 0 0 0 0
2397 -0.49 -112.4 187.0 -8.1 354 2400 0.08 1.73 0.00 0.000 6 0.117 0.048 2691 2212 3609 0 0 0 0 0 0
2718 -0.49 -112.4 211.3 -7.6 385 2721 0.00 2.12 0.00 0.000 4 0.000 0.056 2692 847 3608 0 0 0 0 0 0
2743 -0.49 -112.4 213.4 -8.0 387 2750 0.00 2.15 0.00 0.000 6 0.000 0.054 2691 2205 3608 0 0 0 0 0 0
3061 -0.49 -112.4 236.2 -6.9 418 3064 0.00 1.77 0.00 0.000 4 0.000 0.064 2684 3312 3606 0 0 0 0 0 0
3145 -0.50 -112.4 242.4 -6.5 426 3149 0.00 1.70 0.00 0.000 6 0.000 0.049 2684 2226 3606 0 0 0 0 0 0
3467 -0.50 -112.4 266.8 -7.5 457 3471 0.00 2.17 0.00 0.000 4 0.000 0.058 2684 849 3605 0 0 0 0 0 0
3493 -0.50 -112.4 268.9 -8.0 459 3497 0.00 2.17 0.00 0.000 6 0.000 0.055 2682 2222 3605 0 0 0 0 0 0
3815 -0.50 -112.4 298.5 -8.0 490 3818 0.00 1.75 0.00 0.000 4 0.000 0.065 2675 3322 3604 0 0 0 0 0 0
3884 -0.50 -112.4 304.4 -8.2 496 3889 0.00 1.70 0.00 0.000 6 0.000 0.051 2675 2227 3604 0 0 0 0 0 0
4083 end dive: TARGET_DEPTH_EXCEEDED
state 4083 begin apogee
4088 -0.14 0.0 321.1 7.8 516 4179 0.40 0.00 88.57 0.785 6 0.114 0.000 2805 1990 3150 0 0 0 0 0 0
4179 end apogee: CONTROL_FINISHED_OK
state 4179 begin climb
4182 0.45 112.4 323.5 0.0 525 4276 0.55 0.00 91.40 0.758 6 0.077 0.000 3002 1990 2690 0 0 0 0 0 0
4583 0.44 112.4 306.8 6.3 564 4586 0.00 2.05 0.00 0.000 4 0.000 0.063 3001 3227 2685 0 0 0 0 0 0
4747 0.41 112.4 295.2 6.6 579 4754 0.00 1.92 0.00 0.000 6 0.000 0.051 3009 2022 2684 0 0 0 0 0 0
5065 0.40 117.1 276.2 5.9 610 5074 0.00 1.98 4.32 0.532 4 0.000 0.064 3009 3230 2671 0 0 0 0 0 0
5176 0.37 117.1 269.0 7.5 620 5181 0.15 1.90 0.00 0.000 6 0.149 0.051 2975 2016 2670 0 0 0 0 0 0
5491 0.41 185.9 260.1 3.6 651 5553 0.00 2.03 56.47 0.740 4 0.000 0.062 2975 3241 2391 0 0 0 0 0 0
5637 0.42 201.1 252.5 5.6 665 5658 0.00 1.92 13.32 0.684 6 0.000 0.051 2975 2048 2329 0 0 0 0 0 0
5968 0.44 214.6 234.1 5.6 697 5981 0.00 0.00 12.05 0.680 6 0.000 0.000 2975 2047 2275 0 0 0 0 0 0
6288 0.46 227.8 217.2 5.6 728 6301 0.00 0.00 12.10 0.675 6 0.000 0.000 2975 2047 2221 0 0 0 0 0 0
6608 0.49 243.5 198.9 5.5 759 6629 0.12 1.95 14.05 0.677 4 0.094 0.064 3031 3234 2157 0 0 0 0 0 0
6644 0.47 243.5 195.9 9.5 762 6651 0.08 1.90 0.00 0.000 6 0.131 0.053 3012 2053 2156 0 0 0 0 0 0
6961 0.47 243.5 172.0 8.0 793 6964 0.00 2.08 0.00 0.000 4 0.000 0.062 3013 759 2154 0 0 0 0 0 0
6981 0.47 243.5 170.4 7.4 795 6985 0.00 2.05 0.00 0.000 6 0.000 0.054 3013 2050 2154 0 0 0 0 0 0
7303 0.47 243.5 145.2 7.4 826 7306 0.00 1.90 0.00 0.000 4 0.000 0.064 3013 3240 2153 0 0 0 0 0 0
7328 0.47 243.5 143.0 8.7 828 7336 0.00 1.90 0.00 0.000 6 0.000 0.054 3013 2050 2153 0 0 0 0 0 0
7645 0.47 243.5 115.6 8.8 859 7646 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2050 2152 0 0 0 0 0 0
7959 0.48 252.7 93.1 5.8 900 7971 0.00 2.10 8.40 0.597 4 0.000 0.063 3014 761 2119 0 0 0 0 0 0
7988 0.48 259.4 91.4 5.9 905 8000 0.00 2.05 7.15 0.566 6 0.000 0.056 3014 2050 2092 0 0 0 0 0 0
8323 0.51 305.8 72.7 4.4 967 8367 0.00 2.08 38.55 0.633 4 0.000 0.061 3014 759 1903 0 0 0 0 0 0
8394 0.56 342.1 69.2 4.8 980 8428 0.00 2.03 30.55 0.614 6 0.000 0.054 3013 2021 1754 0 0 0 0 0 0
8749 0.63 342.1 46.6 6.9 1046 8755 0.12 1.98 0.00 0.000 4 0.102 0.064 3061 3234 1746 0 0 0 0 0 0
8827 0.64 342.1 41.2 7.3 1060 8832 0.00 1.90 0.00 0.000 6 0.000 0.053 3066 2053 1745 0 0 0 0 0 0
9154 0.68 352.2 16.9 5.7 1121 9167 0.00 2.10 8.00 0.549 4 0.000 0.061 3066 761 1714 0 0 0 0 0 0
9286 0.73 363.6 9.3 5.7 1145 9303 0.00 1.98 11.02 0.564 6 0.000 0.054 3066 2008 1666 0 0 0 0 0 0
9416 end climb: SURFACE_DEPTH_REACHED
state 9416 begin surface coast
9520 end surface coast: CONTROL_FINISHED_OK
state 9520 begin surface