NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 683 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  187 HD_B  0.0093 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
MISSION  2 HD_C  4.5000001e-05 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  12
DIVE  683 HEADING  -1 ROLL_MIN  236 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3800 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  4 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2200 ALTIM_PING_DELTA  5
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2325 ALTIM_FREQUENCY  13
D_ABORT  1040 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_BOOST  4 SM_CC  300 ROLL_TIMEOUT  15 XPDR_VALID  1
T_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  48 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  26 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0.69999999
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  0 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  3 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  163 VBD_MIN  470 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  20
T_DIVE  470 UPLOAD_DIVES_MAX  -1 C_VBD  2794 DEVICE3  83
T_MISSION  520 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  10 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.00039999999 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  6 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -1 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -1588899.1 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  20 RAFOS_DEVICE  -1
APOGEE_PITCH  -7 RAFOS_HIT_WINDOW  3600 MINV_10V  9.5 XPDR_DEVICE  24
MAX_BUOY  140 PITCH_MIN  155 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3970 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  3195 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043543722
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -61.06522 SEABIRD_T_H  0.00062483409
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.0001138132 SEABIRD_T_I  2.3277114e-05
MASS  51761 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.4402393e-06
NAV_MODE  2 PITCH_GAIN  32 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.9786949
FERRY_MAX  45 PITCH_TIMEOUT  17 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1107863
KALMAN_USE  2 PITCH_AD_RATE  165 COMPASS_USE  4 SEABIRD_C_I  -0.0017547003
HD_A  0.0031000001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.0002234884

Pre-dive calculations and measurements:
GPS1  120313,013553,4747.918,-12516.164,41,0.9,41,18.7 TGT_NAME  SHELF
_CALLS  1 TGT_LATLONG  4751.930,-12510.270
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.160,-0.151
_SM_DEPTHo  2.20 KALMAN_X  28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo  -76.5 KALMAN_Y  16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2  120313,014237,4747.987,-12516.173,14,1.5,14,18.7 MHEAD_RNG_PITCHd_Wd  66.8,10350,-13.3,-7.021,-18.50
SPEED_LIMITS  0.122,0.210 D_GRID  536

Post-dive calculations and measurements:
FINISH  1.3,1.012576 _10V_AH  9.8,72.917
SM_CCo  13295,0.00,0.000,0,0,925,458.47 FG_AHR_24Vo  0.000
SM_GC  2.09,8.35,0.15,0.00,0.028,0.080,0.000,108,2192,925,-9.47,1.07,458.47,0,0,0,0,0,0,25.96,26.08,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4729.30,-12519.98,110313,212110 MEM  296912
TT8_MAMPS  0.027713,0.027713 DATA_FILE_SIZE  53505,967
HUMID  47.44 CAP_FILE_SIZE  123832,0
INTERNAL_PRESSURE  9.04016 CFSIZE  260165632,200155136
TCM_TEMP  19.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  8 CURRENT  0.108,271.6,1
_24V_AH  23.0,96.078 GPS  120313,052605,4748.178,-12513.861,37,1.0,42,18.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21213106.03 SBE_CT66024364.76
Roll_motor12880237.08 SBE_O257919253.30
VBD_pump_during_apogee53087210652.77 WL_BBFL2VMT000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2410358.77 nil000.00
Iridium_during_connect44160165.09 nil000.00
Iridium_during_xfer193223990.72 nil000.00
Transponder_ping242019.32 nil000.00
GUMSTIX_24V000.00
GPS15507.63
TT8239719465.30
LPSleep84812182.02
TT8_Active73219142.21
TT8_Sampling177139690.78
TT8_CF831245140.38
TT8_Kalman000.00
Analog_circuits159312187.38
GPS_charging000.00
Compass149715220.09
RAFOS000.00
Transponder050.03

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 pitch_volts roll_volts vbd_volts
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.47 -136.3 0.0 0.0 0 80 0.00 0.00 -61.15 0.000 2 0.000 0.000 109 2188 2592 0 0 0 0 0 0 28.83 28.83 28.83
83 -0.47 -136.3 3.3 -2.4 11 121 11.68 2.35 -16.73 0.000 4 0.213 0.076 3021 3619 3353 0 0 0 0 0 0 24.44 25.29 26.25
184 -0.47 -136.3 21.1 -13.2 29 190 0.00 2.22 0.00 0.000 6 0.000 0.044 3020 2202 3355 0 0 0 0 0 0 28.83 25.55 28.83
497 -0.47 -136.3 73.4 -17.3 90 504 0.00 2.20 0.00 0.000 4 0.000 0.051 3020 792 3355 0 0 0 0 0 0 28.83 25.41 28.83
553 -0.47 -136.3 80.7 -10.6 100 560 0.12 2.20 0.00 0.000 6 0.139 0.051 3045 2200 3355 0 0 0 0 0 0 25.29 25.44 28.83
865 -0.47 -136.3 116.3 -10.2 161 872 0.00 2.28 0.00 0.000 4 0.000 0.063 3036 3614 3356 0 0 0 0 0 0 28.83 25.30 28.83
915 -0.47 -136.3 121.3 -9.4 169 923 0.00 2.25 0.00 0.000 6 0.000 0.041 3037 2189 3355 0 0 0 0 0 0 28.83 25.67 28.83
1225 -0.47 -136.3 150.9 -9.4 190 1234 0.00 2.35 0.00 0.000 4 0.000 0.061 3026 3607 3355 0 0 0 0 0 0 28.83 25.30 28.83
1286 -0.47 -136.3 156.5 -9.7 196 1294 0.00 2.20 0.00 0.000 6 0.000 0.043 3026 2208 3355 0 0 0 0 0 0 28.83 25.64 28.83
1595 -0.47 -136.3 187.2 -9.2 217 1603 0.00 2.25 0.00 0.000 4 0.000 0.049 3026 800 3356 0 0 0 0 0 0 28.83 25.44 28.83
1665 -0.47 -136.3 193.2 -8.2 224 1673 0.00 2.25 0.00 0.000 6 0.000 0.050 3017 2200 3356 0 0 0 0 0 0 28.83 25.45 28.83
1990 -0.47 -136.3 223.5 -10.0 242 1991 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2200 3356 0 0 0 0 0 0 28.83 28.83 28.83
2290 -0.47 -136.3 253.9 -10.5 257 2295 0.00 2.33 0.00 0.000 4 0.000 0.061 3007 3611 3356 0 0 0 0 0 0 28.83 25.28 28.83
2358 -0.47 -136.3 260.6 -11.1 260 2363 0.12 2.25 0.00 0.000 6 0.126 0.042 3044 2197 3356 0 0 0 0 0 0 25.45 25.63 28.83
2661 -0.47 -136.3 289.1 -9.4 275 2665 0.00 2.20 0.00 0.000 4 0.000 0.050 3044 803 3356 0 0 0 0 0 0 28.83 25.42 28.83
2700 -0.47 -136.3 293.0 -9.5 277 2706 0.00 2.25 0.00 0.000 6 0.000 0.050 3038 2200 3356 0 0 0 0 0 0 28.83 25.43 28.83
3021 -0.47 -136.3 323.3 -9.1 293 3025 0.00 2.28 0.00 0.000 4 0.000 0.063 3026 3614 3356 0 0 0 0 0 0 28.83 25.25 28.83
3070 -0.47 -136.3 326.9 -9.1 295 3079 0.00 2.25 0.00 0.000 6 0.000 0.043 3027 2194 3356 0 0 0 0 0 0 28.83 25.61 28.83
3380 -0.47 -136.3 355.0 -8.5 311 3381 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2195 3355 0 0 0 0 0 0 28.83 28.83 28.83
3681 -0.47 -136.3 378.5 -7.1 326 3685 0.00 2.30 0.00 0.000 4 0.000 0.063 3017 3612 3356 0 0 0 0 0 0 28.83 25.23 28.83
3709 -0.47 -136.3 379.9 -7.1 327 3713 0.00 2.28 0.00 0.000 6 0.000 0.044 3017 2194 3355 0 0 0 0 0 0 28.83 25.58 28.83
4020 -0.47 -136.3 403.7 -7.6 342 4025 0.00 2.25 0.00 0.000 4 0.000 0.051 3017 794 3355 0 0 0 0 0 0 28.83 25.38 28.83
4068 -0.47 -136.3 406.3 -7.9 343 4073 0.12 2.28 0.00 0.000 6 0.136 0.051 3043 2198 3355 0 0 0 0 0 0 25.26 25.38 28.83
4371 -0.47 -136.3 426.0 -5.6 353 4375 0.00 2.33 0.00 0.000 4 0.000 0.063 3035 3612 3355 0 0 0 0 0 0 28.83 25.21 28.83
4430 -0.47 -136.3 429.3 -5.4 355 4435 0.00 2.25 0.00 0.000 6 0.000 0.044 3035 2199 3355 0 0 0 0 0 0 28.83 25.59 28.83
4760 -0.47 -136.3 448.2 -5.7 366 4761 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2198 3355 0 0 0 0 0 0 28.83 28.83 28.83
5061 -0.47 -136.3 466.7 -6.4 376 5062 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2197 3355 0 0 0 0 0 0 28.83 28.83 28.83
5360 -0.47 -136.3 485.7 -6.2 386 5365 0.00 2.35 0.00 0.000 4 0.000 0.063 3025 3607 3354 0 0 0 0 0 0 28.83 25.18 28.83
5408 -0.47 -136.3 487.7 -6.3 387 5412 0.00 2.28 0.00 0.000 6 0.000 0.045 3025 2195 3354 0 0 0 0 0 0 28.83 25.55 28.83
5711 -0.47 -136.3 511.3 -7.3 397 5712 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2191 3354 0 0 0 0 0 0 28.83 28.83 28.83
6010 -0.47 -136.3 531.9 -6.9 407 6012 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2191 3353 0 0 0 0 0 0 28.83 28.83 28.83
6097 end dive: TARGET_DEPTH_EXCEEDED
state 6097 begin apogee
6104 -0.22 0.0 537.8 -6.6 410 6228 0.28 0.00 120.32 0.873 6 0.108 0.000 3120 2336 2794 0 0 0 0 0 0 25.56 28.83 23.09
6229 end apogee: CONTROL_FINISHED_OK
state 6229 begin climb
6233 0.47 136.3 540.9 0.0 414 6363 0.65 2.45 123.22 0.845 4 0.080 0.064 3345 3733 2238 0 0 0 0 0 0 24.82 24.53 23.01
6389 0.49 182.6 534.6 5.2 420 6442 0.00 2.35 41.25 0.827 6 0.000 0.046 3355 2322 2048 0 0 0 0 0 0 28.83 24.96 23.20
6743 0.49 182.6 504.5 8.2 432 6747 0.00 2.28 0.00 0.000 4 0.000 0.054 3365 921 2040 0 0 0 0 0 0 28.83 25.46 28.83
6801 0.49 182.6 499.7 8.1 434 6807 0.00 2.28 0.00 0.000 6 0.000 0.054 3365 2318 2039 0 0 0 0 0 0 28.83 25.49 28.83
7131 0.49 182.6 474.9 7.7 445 7137 0.00 2.38 0.00 0.000 4 0.000 0.066 3365 3749 2038 0 0 0 0 0 0 28.83 25.41 28.83
7170 0.49 182.6 472.3 8.0 446 7174 0.00 2.30 0.00 0.000 6 0.000 0.047 3374 2329 2037 0 0 0 0 0 0 28.83 25.64 28.83
7482 0.49 182.6 446.3 7.6 457 7488 0.00 2.30 0.00 0.000 4 0.000 0.055 3385 917 2037 0 0 0 0 0 0 28.83 25.48 28.83
7520 0.49 182.6 444.0 7.5 458 7525 0.12 2.30 0.00 0.000 6 0.134 0.054 3351 2328 2037 0 0 0 0 0 0 25.39 25.49 28.83
7834 0.50 204.5 423.5 6.2 469 7863 0.00 2.38 18.58 0.779 4 0.000 0.067 3351 3735 1959 0 0 0 0 0 0 28.83 25.41 23.78
7893 0.50 217.4 419.4 6.5 471 7911 0.00 2.30 12.98 0.744 6 0.000 0.047 3358 2303 1907 0 0 0 0 0 0 28.83 25.60 23.77
8213 0.51 229.4 398.1 6.5 481 8233 0.00 2.22 11.77 0.731 4 0.000 0.055 3367 918 1858 0 0 0 0 0 0 28.83 25.52 23.89
8275 0.51 244.5 394.3 6.4 484 8294 0.00 2.28 14.62 0.742 6 0.000 0.054 3367 2353 1797 0 0 0 0 0 0 28.83 25.51 23.79
8603 0.52 253.7 372.0 6.7 501 8615 0.00 0.00 9.25 0.690 6 0.000 0.000 3367 2353 1759 0 0 0 0 0 0 28.83 28.83 23.93
8905 0.52 261.6 351.7 6.7 516 8922 0.00 2.38 8.12 0.663 4 0.000 0.055 3375 914 1727 0 0 0 0 0 0 28.83 25.58 23.97
8943 0.52 269.5 349.1 6.7 518 8962 0.00 2.30 8.80 0.668 6 0.000 0.054 3375 2334 1695 0 0 0 0 0 0 28.83 25.58 23.87
9263 0.52 269.5 325.1 8.0 534 9264 0.00 0.00 0.00 0.000 6 0.000 0.000 3375 2335 1691 0 0 0 0 0 0 28.83 28.83 28.83
9564 0.52 269.5 299.5 8.8 549 9569 0.00 2.28 0.00 0.000 4 0.000 0.054 3384 928 1690 0 0 0 0 0 0 28.83 25.48 28.83
9611 0.52 269.5 296.2 8.6 551 9616 0.00 2.28 0.00 0.000 6 0.000 0.054 3384 2327 1689 0 0 0 0 0 0 28.83 25.49 28.83
9915 0.52 269.5 265.9 10.4 566 9919 0.00 2.25 0.00 0.000 4 0.000 0.054 3393 908 1689 0 0 0 0 0 0 28.83 25.47 28.83
9942 0.52 269.5 263.9 10.2 567 9946 0.00 2.33 0.00 0.000 6 0.000 0.054 3393 2334 1689 0 0 0 0 0 0 28.83 25.47 28.83
10243 0.52 269.5 232.0 10.0 582 10249 0.00 2.35 0.00 0.000 4 0.000 0.066 3393 3744 1689 0 0 0 0 0 0 28.83 25.32 28.83
10291 0.52 269.5 227.3 10.8 584 10296 0.15 2.30 0.00 0.000 6 0.132 0.047 3358 2326 1688 0 0 0 0 0 0 25.40 25.61 28.83
10594 0.52 269.5 202.8 8.1 599 10599 0.00 2.28 0.00 0.000 4 0.000 0.054 3366 915 1689 0 0 0 0 0 0 28.83 25.44 28.83
10653 0.52 269.5 197.8 8.3 603 10662 0.00 2.30 0.00 0.000 6 0.000 0.053 3366 2331 1688 0 0 0 0 0 0 28.83 25.46 28.83
10963 0.52 269.5 169.7 9.0 624 10972 0.00 2.30 0.00 0.000 4 0.000 0.054 3373 911 1688 0 0 0 0 0 0 28.83 25.41 28.83
10994 0.52 269.5 167.0 8.9 627 11003 0.00 2.28 0.00 0.000 6 0.000 0.054 3373 2320 1688 0 0 0 0 0 0 28.83 25.44 28.83
11304 0.53 278.9 143.4 6.6 648 11323 0.00 2.33 8.82 0.567 4 0.000 0.054 3381 918 1655 0 0 0 0 0 0 28.83 25.45 24.05
11344 0.53 290.0 140.8 6.6 652 11363 0.00 2.28 11.40 0.588 6 0.000 0.052 3381 2331 1610 0 0 0 0 0 0 28.83 25.51 24.00
11666 0.54 305.4 121.4 6.4 674 11683 0.00 0.00 14.23 0.594 6 0.000 0.000 3381 2330 1548 0 0 0 0 0 0 28.83 28.83 24.03
11980 0.55 343.2 105.3 5.5 733 12022 0.00 2.30 32.75 0.608 4 0.000 0.054 3384 910 1393 0 0 0 0 0 0 28.83 25.42 24.02
12050 0.58 404.3 102.0 4.6 745 12109 0.00 2.25 51.10 0.592 6 0.000 0.052 3383 2332 1144 0 0 0 0 0 0 28.83 25.44 23.83
12416 0.59 430.9 83.7 6.0 815 12447 0.00 2.28 22.05 0.575 4 0.000 0.054 3383 916 1035 0 0 0 0 0 0 28.83 25.46 24.03
12487 0.60 455.8 79.8 6.0 827 12519 0.00 2.22 21.35 0.569 6 0.000 0.050 3383 2333 934 0 0 0 0 0 0 28.83 25.47 23.99
12826 0.60 455.8 45.0 12.1 892 12833 0.00 2.28 0.00 0.000 4 0.000 0.064 3384 3737 928 0 0 0 0 0 0 28.83 25.37 28.83
12948 0.60 455.8 29.4 12.6 915 12955 0.00 2.22 0.00 0.000 6 0.000 0.044 3384 2302 928 0 0 0 0 0 0 28.83 25.67 28.83
13177 end climb: SURFACE_DEPTH_REACHED
state 13178 begin surface coast
13214 end surface coast: CONTROL_FINISHED_OK
state 13214 begin surface