NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 681 * 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  10
MISSION  2 ESCAPE_HEADING  0 ROLL_MAX  3800 ALTIM_TOP_TURN_MARGIN  0
DIVE  681 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  350
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2000 ALTIM_PING_DELTA  25
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  22 XPDR_VALID  1
D_FINISH  5 FILEMGR  0 R_STBD_OVSHOOT  24 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  300 CALL_TRIES  5 C_VBD  3150 DEVICE2  20
T_MISSION  480 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  -38416.699 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  200 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  070131,4747.186,-12547.251,39,1.9,39,18.8 TGT_NAME  PATCH
_CALLS  1 TGT_LATLONG  4743.200,-12556.100
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.84 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  070850,4747.188,-12547.233,16,1.5,16,18.8 MHEAD_RNG_PITCHd_Wd  212.9,13288,-17.4,-11.000
SPEED_LIMITS  0.191,0.307 D_GRID  1000

Post-dive calculations and measurements:
FINISH  1.2,1.006659 _10V_AH  8.9,70.079
SM_CCo  17045,0.00,0.000,0,0,1040,517.58 FG_AHR_24Vo  0.000
SM_GC  1.95,7.95,0.00,0.00,0.045,0.000,0.000,135,2092,1040,-8.40,0.48,517.58 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4735.69,-12544.19,090100,020242 MEM  298380
TT8_MAMPS  0.052923 DATA_FILE_SIZE  75917,1355
HUMID  43.77 CAP_FILE_SIZE  181008,0
INTERNAL_PRESSURE  8.98157 CFSIZE  260165632,212238336
TCM_TEMP  15.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.016,205.0,1
_24V_AH  22.1,72.951 GPS  151010,115401,4745.526,-12551.100,41,1.2,41,18.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20227103.73 SBE_CT98024520.09
Roll_motor14082257.48 SBE_O290719380.93
VBD_pump_during_apogee632123417255.37 WL_BBFL2VMT12521052905.44
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710363.68 nil000.00
Iridium_during_connect36160127.68 nil000.00
Iridium_during_xfer2212231093.20
Transponder_ping642060.33
GUMSTIX_24V000.00
GPS16507.34
TT80190.00
LPSleep126552246.67
TT8_Active73719129.96
TT8_Sampling3387391199.82
TT8_CF867045273.46
TT8_Kalman000.00
Analog_circuits200612214.34
GPS_charging000.00
Compass28428202.42
RAFOS000.00
Transponder553014.74

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
13 -0.60 -195.5 0.0 0.0 0 107 0.00 0.00 -92.53 0.000 2 0.000 0.000 131 2074 2766 0 0 0 0 0 0
111 -0.60 -195.5 3.0 -4.3 17 155 10.18 2.00 -28.67 0.000 4 0.227 0.075 2649 3315 3948 0 0 0 0 0 0
284 -0.60 -195.5 31.9 -14.3 49 290 0.00 2.00 0.00 0.000 6 0.000 0.050 2649 2062 3949 0 0 0 0 0 0
611 -0.60 -195.5 74.9 -13.0 110 617 0.00 2.05 0.00 0.000 4 0.000 0.064 2641 3304 3950 0 0 0 0 0 0
635 -0.61 -195.5 77.7 -11.9 114 640 0.00 1.92 0.00 0.000 6 0.000 0.049 2641 2084 3950 0 0 0 0 0 0
956 -0.61 -195.5 116.6 -12.1 162 959 0.00 2.00 0.00 0.000 4 0.000 0.064 2633 3303 3950 0 0 0 0 0 0
1052 -0.63 -195.5 127.5 -10.8 171 1055 0.00 1.90 0.00 0.000 6 0.000 0.049 2632 2095 3951 0 0 0 0 0 0
1373 -0.63 -195.5 166.8 -11.6 202 1376 0.00 1.98 0.00 0.000 4 0.000 0.064 2625 3318 3950 0 0 0 0 0 0
1442 -0.65 -195.5 174.7 -11.2 208 1447 0.00 1.90 0.00 0.000 6 0.000 0.050 2625 2108 3950 0 0 0 0 0 0
1757 -0.65 -195.5 214.2 -12.5 239 1761 0.00 1.98 0.00 0.000 4 0.000 0.066 2617 3312 3950 0 0 0 0 0 0
1826 -0.66 -195.5 222.2 -11.3 245 1832 0.00 1.90 0.00 0.000 6 0.000 0.051 2616 2110 3949 0 0 0 0 0 0
2142 -0.66 -195.5 261.2 -12.4 276 2143 0.00 0.00 0.00 0.000 6 0.000 0.000 2616 2109 3950 0 0 0 0 0 0
2454 -0.66 -195.5 299.5 -12.6 306 2456 0.00 1.95 0.00 0.000 4 0.000 0.067 2608 3311 3949 0 0 0 0 0 0
2533 -0.67 -195.5 309.3 -11.7 313 2538 0.00 1.85 0.00 0.000 6 0.000 0.051 2608 2122 3949 0 0 0 0 0 0
2848 -0.67 -195.5 347.3 -11.3 344 2852 0.00 1.95 0.00 0.000 4 0.000 0.067 2601 3305 3948 0 0 0 0 0 0
2908 -0.67 -195.5 353.8 -10.7 349 2913 0.12 1.83 0.00 0.000 6 0.145 0.050 2635 2129 3948 0 0 0 0 0 0
3223 -0.69 -195.5 384.4 -10.2 380 3226 0.00 1.92 0.00 0.000 4 0.000 0.067 2629 3305 3947 0 0 0 0 0 0
3260 -0.71 -195.5 388.3 -10.3 383 3266 0.00 1.83 0.00 0.000 6 0.000 0.051 2629 2134 3947 0 0 0 0 0 0
3575 -0.73 -195.5 423.1 -11.0 414 3579 0.00 1.95 0.00 0.000 4 0.000 0.068 2622 3312 3946 0 0 0 0 0 0
3613 -0.75 -195.5 427.2 -11.1 417 3618 0.00 1.85 0.00 0.000 6 0.000 0.053 2622 2143 3946 0 0 0 0 0 0
3929 -0.76 -195.5 461.4 -10.6 448 3930 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2143 3946 0 0 0 0 0 0
4239 -0.77 -195.5 493.4 -10.8 478 4242 0.00 1.92 0.00 0.000 4 0.000 0.070 2622 3319 3945 0 0 0 0 0 0
4291 -0.80 -195.5 498.9 -10.5 483 4295 0.00 1.88 0.00 0.000 6 0.000 0.054 2622 2140 3945 0 0 0 0 0 0
4614 -0.81 -195.5 533.8 -10.8 514 4614 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2140 3944 0 0 0 0 0 0
4924 -0.82 -195.5 566.6 -9.9 544 4926 0.00 1.92 0.00 0.000 4 0.000 0.069 2615 3316 3943 0 0 0 0 0 0
4971 -0.84 -195.5 571.6 -9.9 548 4976 0.00 1.85 0.00 0.000 6 0.000 0.054 2615 2154 3943 0 0 0 0 0 0
5306 -0.85 -195.5 606.6 -10.3 577 5309 0.10 1.90 0.00 0.000 4 0.115 0.071 2558 3318 3943 0 0 0 0 0 0
5353 -0.85 -195.5 612.8 -13.5 578 5357 0.00 1.85 0.00 0.000 6 0.000 0.054 2558 2155 3943 0 0 0 0 0 0
5675 -0.84 -195.5 661.3 -15.6 589 5678 0.00 1.90 0.00 0.000 4 0.000 0.071 2549 3313 3942 0 0 0 0 0 0
5727 -0.84 -195.5 669.8 -15.7 590 5731 0.08 1.83 0.00 0.000 6 0.134 0.054 2574 2162 3942 0 0 0 0 0 0
6042 -0.84 -195.5 712.5 -13.2 601 6045 0.00 1.90 0.00 0.000 4 0.000 0.071 2568 3318 3941 0 0 0 0 0 0
6067 -0.84 -195.5 716.4 -13.8 601 6073 0.00 1.85 0.00 0.000 6 0.000 0.055 2568 2161 3941 0 0 0 0 0 0
6376 -0.84 -195.5 757.8 -13.4 612 6379 0.00 1.90 0.00 0.000 4 0.000 0.070 2560 3304 3940 0 0 0 0 0 0
6451 -0.84 -195.5 767.7 -13.1 614 6454 0.00 1.77 0.00 0.000 6 0.000 0.053 2560 2169 3940 0 0 0 0 0 0
6775 -0.84 -195.5 814.1 -14.8 625 6779 0.00 1.90 0.00 0.000 4 0.000 0.070 2552 3308 3939 0 0 0 0 0 0
6823 -0.84 -195.5 821.3 -15.6 626 6827 0.08 1.80 0.00 0.000 6 0.136 0.054 2577 2173 3939 0 0 0 0 0 0
7144 -0.84 -195.5 863.8 -13.2 637 7147 0.00 1.88 0.00 0.000 4 0.000 0.071 2570 3313 3939 0 0 0 0 0 0
7169 -0.84 -195.5 867.4 -14.1 637 7175 0.00 1.83 0.00 0.000 6 0.000 0.054 2570 2175 3939 0 0 0 0 0 0
7479 -0.84 -195.5 906.7 -12.6 648 7479 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2175 3938 0 0 0 0 0 0
7781 -0.84 -195.5 944.4 -12.5 658 7785 0.00 1.88 0.00 0.000 4 0.000 0.071 2563 3310 3938 0 0 0 0 0 0
7823 -0.84 -195.5 949.8 -12.4 659 7829 0.00 1.80 0.00 0.000 6 0.000 0.054 2563 2186 3937 0 0 0 0 0 0
8146 end dive: TARGET_DEPTH_EXCEEDED
state 8149 begin apogee
8154 -0.14 0.0 992.7 13.4 670 8331 0.77 0.00 171.48 1.234 6 0.124 0.000 2808 1997 3150 0 0 0 0 0 0
8331 end apogee: CONTROL_FINISHED_OK
state 8332 begin climb
8334 0.60 195.5 1003.2 0.0 676 8527 0.70 2.28 183.60 1.196 4 0.059 0.064 3054 3231 2353 0 0 0 0 0 0
8548 0.57 195.5 993.0 12.5 683 8552 0.00 2.15 0.00 0.000 6 0.000 0.055 3063 2016 2350 0 0 0 0 0 0
8884 0.53 195.5 948.1 13.6 694 8888 0.15 2.00 0.00 0.000 4 0.179 0.067 3024 3233 2346 0 0 0 0 0 0
8921 0.51 195.5 943.5 12.1 695 8924 0.00 2.03 0.00 0.000 6 0.000 0.058 3031 2003 2345 0 0 0 0 0 0
9245 0.49 195.5 906.4 11.5 706 9249 0.00 2.05 0.00 0.000 4 0.000 0.068 3031 3230 2345 0 0 0 0 0 0
9278 0.47 195.5 902.6 13.2 707 9281 0.12 1.98 0.00 0.000 6 0.181 0.058 3010 2000 2344 0 0 0 0 0 0
9607 0.48 217.7 868.8 10.2 718 9627 0.00 0.00 19.58 1.107 6 0.000 0.000 3010 2000 2262 0 0 0 0 0 0
9910 0.48 218.6 836.8 11.0 728 9911 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2000 2260 0 0 0 0 0 0
10214 0.48 218.6 802.7 11.3 738 10217 0.00 2.03 0.00 0.000 4 0.000 0.067 3010 3243 2259 0 0 0 0 0 0
10272 0.48 218.6 795.5 12.9 739 10278 0.00 1.98 0.00 0.000 6 0.000 0.058 3016 2021 2258 0 0 0 0 0 0
10581 0.48 218.6 759.1 11.5 750 10582 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2021 2258 0 0 0 0 0 0
10885 0.49 228.8 726.0 10.6 760 10897 0.00 0.00 10.40 0.979 6 0.000 0.000 3015 2021 2217 0 0 0 0 0 0
11188 0.51 255.8 694.8 10.0 770 11218 0.00 2.03 24.60 1.029 4 0.000 0.068 3015 3229 2106 0 0 0 0 0 0
11245 0.51 264.9 689.1 10.7 771 11258 0.00 1.95 9.68 0.925 6 0.000 0.058 3023 2023 2070 0 0 0 0 0 0
11584 0.51 264.9 651.2 11.4 783 11588 0.00 2.05 0.00 0.000 4 0.000 0.067 3031 764 2065 0 0 0 0 0 0
11648 0.51 264.9 643.9 12.2 785 11652 0.00 2.00 0.00 0.000 6 0.000 0.058 3031 2007 2065 0 0 0 0 0 0
11984 0.51 264.9 604.8 11.6 796 11987 0.00 1.98 0.00 0.000 4 0.000 0.066 3031 3235 2064 0 0 0 0 0 0
12042 0.51 264.9 597.5 13.0 797 12047 0.00 1.95 0.00 0.000 6 0.000 0.055 3038 2021 2063 0 0 0 0 0 0
12357 0.51 264.9 560.3 11.6 828 12361 0.00 2.05 0.00 0.000 4 0.000 0.065 3047 763 2064 0 0 0 0 0 0
12389 0.51 264.9 556.4 12.5 831 12393 0.00 2.00 0.00 0.000 6 0.000 0.059 3048 2010 2063 0 0 0 0 0 0
12711 0.51 264.9 516.9 12.2 862 12714 0.00 1.98 0.00 0.000 4 0.000 0.067 3046 3241 2063 0 0 0 0 0 0
12775 0.50 264.9 508.7 13.1 868 12778 0.15 1.95 0.00 0.000 6 0.163 0.058 3014 2014 2063 0 0 0 0 0 0
13091 0.54 333.7 480.6 8.4 898 13156 0.00 2.10 59.28 0.917 4 0.000 0.067 3021 763 1789 0 0 0 0 0 0
13195 0.60 409.0 471.5 8.2 908 13267 0.00 2.03 65.00 0.889 6 0.000 0.058 3021 2022 1481 0 0 0 0 0 0
13577 0.65 444.7 435.6 9.7 945 13611 0.12 2.10 30.12 0.856 4 0.097 0.068 3083 758 1337 0 0 0 0 0 0
13670 0.65 444.7 422.7 12.8 953 13676 0.00 2.03 0.00 0.000 6 0.000 0.057 3084 2007 1333 0 0 0 0 0 0
13986 0.65 444.7 375.3 15.8 984 13990 0.00 2.05 0.00 0.000 4 0.000 0.067 3093 767 1330 0 0 0 0 0 0
14056 0.65 444.7 364.5 15.1 990 14061 0.00 1.95 0.00 0.000 6 0.000 0.058 3092 1986 1329 0 0 0 0 0 0
14372 0.65 444.7 313.8 15.7 1021 14374 0.00 1.95 0.00 0.000 4 0.000 0.067 3100 764 1328 0 0 0 0 0 0
14414 0.65 444.7 306.9 16.4 1025 14417 0.08 1.92 0.00 0.000 6 0.133 0.057 3062 1973 1328 0 0 0 0 0 0
14735 0.66 444.7 266.0 12.3 1056 14738 0.00 1.92 0.00 0.000 4 0.000 0.066 3068 763 1327 0 0 0 0 0 0
14782 0.67 444.7 260.0 11.9 1060 14789 0.00 1.90 0.00 0.000 6 0.000 0.056 3068 1966 1327 0 0 0 0 0 0
15098 0.67 444.7 217.4 13.4 1091 15101 0.00 1.95 0.00 0.000 4 0.000 0.067 3075 761 1327 0 0 0 0 0 0
15141 0.68 444.7 211.7 12.5 1095 15144 0.00 1.85 0.00 0.000 6 0.000 0.056 3075 1962 1327 0 0 0 0 0 0
15462 0.68 444.7 169.1 13.6 1126 15462 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 1962 1327 0 0 0 0 0 0
15774 0.68 444.7 130.7 11.8 1156 15777 0.00 1.92 0.00 0.000 4 0.000 0.066 3082 754 1327 0 0 0 0 0 0
15827 0.70 444.7 124.1 11.0 1161 15830 0.00 1.88 0.00 0.000 6 0.000 0.057 3083 1938 1326 0 0 0 0 0 0
16147 0.71 444.7 85.0 11.5 1203 16153 0.00 2.08 0.00 0.000 4 0.000 0.064 3082 3226 1326 0 0 0 0 0 0
16169 0.72 444.7 82.5 11.8 1207 16175 0.00 2.05 0.00 0.000 6 0.000 0.058 3083 1952 1326 0 0 0 0 0 0
16497 0.76 473.4 48.2 9.9 1268 16526 0.00 1.90 23.52 0.626 4 0.000 0.064 3083 760 1219 0 0 0 0 0 0
16577 0.82 514.7 40.5 9.4 1282 16617 0.08 1.90 35.42 0.615 6 0.064 0.057 3133 1951 1051 0 0 0 0 0 0
16936 end climb: SURFACE_DEPTH_REACHED
state 16936 begin surface coast
16968 end surface coast: CONTROL_FINISHED_OK
state 16968 begin surface