NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 691 * 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  691 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  25 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  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  -38590.059 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  011736,4742.392,-12556.885,50,0.8,50,18.7 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  2.12 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -75.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  012443,4742.346,-12556.871,15,0.8,15,18.7 MHEAD_RNG_PITCHd_Wd  6.8,1852,-28.3,-11.000
SPEED_LIMITS  0.191,0.307 D_GRID  1000

Post-dive calculations and measurements:
FINISH  1.2,1.012917 _10V_AH  9.3,71.161
SM_CCo  13322,22.45,0.409,1,0,1723,350.04 FG_AHR_24Vo  0.000
SM_GC  1.76,0.00,0.00,22.45,0.000,0.000,0.409,130,2071,1723,-8.52,-0.11,350.04 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4726.11,-12557.17,100100,212152 MEM  298388
TT8_MAMPS  0.05369 DATA_FILE_SIZE  63310,1121
HUMID  43.69 CAP_FILE_SIZE  147582,0
INTERNAL_PRESSURE  9.04016 CFSIZE  260165632,211480576
TCM_TEMP  16.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  0 CURRENT  0.027,176.4,1
_24V_AH  22.0,74.453 GPS  171010,050854,4743.764,-12555.650,73,1.1,73,18.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20230105.29 SBE_CT77424408.90
Roll_motor106108255.90 SBE_O288619370.50
VBD_pump_during_apogee422122611393.62 WL_BBFL2VMT11041052551.82
VBD_pump_during_surface22408201.91 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2210351.39 nil000.00
Iridium_during_connect34160121.40 nil000.00
Iridium_during_xfer2192231075.35
Transponder_ping642060.06
GUMSTIX_24V000.00
GPS15507.07
TT80190.00
LPSleep97522198.62
TT8_Active5111994.23
TT8_Sampling2843391052.50
TT8_CF864145273.29
TT8_Kalman000.00
Analog_circuits157012175.24
GPS_charging000.00
Compass24068179.07
RAFOS000.00
Transponder553015.41

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 11 begin dive
13 -0.83 -72.2 0.0 0.0 0 66 0.00 0.00 -51.50 0.000 2 0.000 0.000 132 2070 2908 0 0 0 0 0 0
70 -0.88 -157.0 3.0 -2.4 10 109 9.90 2.03 -20.12 0.000 4 0.230 0.072 2563 837 3794 0 0 0 0 0 0
183 -0.88 -157.0 33.7 -26.0 31 189 0.00 2.00 0.00 0.000 6 0.000 0.058 2555 2078 3795 0 0 0 0 0 0
514 -0.90 -157.0 102.2 -20.3 92 517 0.00 2.03 0.00 0.000 4 0.000 0.065 2546 3315 3797 0 0 0 0 0 0
626 -0.93 -157.0 124.2 -18.6 102 632 0.00 1.95 0.00 0.000 6 0.000 0.049 2546 2078 3798 0 0 0 0 0 0
942 -0.94 -157.0 184.6 -19.0 133 945 0.00 2.00 0.00 0.000 4 0.000 0.064 2537 3312 3798 0 0 0 0 0 0
1028 -0.97 -157.0 200.6 -18.7 141 1030 0.00 1.90 0.00 0.000 6 0.000 0.050 2536 2092 3798 0 0 0 0 0 0
1349 -0.99 -157.0 261.0 -18.8 172 1352 0.00 2.00 0.00 0.000 4 0.000 0.064 2528 3322 3798 0 0 0 0 0 0
1434 -1.01 -157.0 276.7 -18.4 180 1437 0.00 1.88 0.00 0.000 6 0.000 0.051 2527 2108 3798 0 0 0 0 0 0
1756 -1.03 -157.0 337.6 -19.3 211 1758 0.00 1.95 0.00 0.000 4 0.000 0.066 2518 3317 3798 0 0 0 0 0 0
1809 -1.04 -157.0 348.0 -18.7 216 1812 0.00 1.88 0.00 0.000 6 0.000 0.051 2519 2117 3798 0 0 0 0 0 0
2131 -1.06 -157.0 410.1 -18.9 247 2134 0.00 1.92 0.00 0.000 4 0.000 0.065 2510 3311 3797 0 0 0 0 0 0
2188 -1.07 -157.0 421.6 -18.7 252 2196 0.00 1.85 0.00 0.000 6 0.000 0.051 2510 2143 3797 0 0 0 0 0 0
2506 -1.07 -157.0 482.0 -18.9 283 2506 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2141 3797 0 0 0 0 0 0
2815 -1.09 -157.0 540.2 -18.3 313 2818 0.00 1.92 0.00 0.000 4 0.000 0.067 2501 3315 3796 0 0 0 0 0 0
2906 -1.10 -157.0 556.8 -17.7 321 2911 0.00 1.85 0.00 0.000 6 0.000 0.052 2501 2149 3796 0 0 0 0 0 0
3230 -1.10 -157.0 617.7 -18.8 347 3230 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2148 3795 0 0 0 0 0 0
3532 -1.10 -157.0 674.5 -18.4 357 3538 0.00 1.92 0.00 0.000 4 0.000 0.067 2492 3302 3795 0 0 0 0 0 0
3596 -1.11 -157.0 686.1 -17.5 359 3599 0.00 1.83 0.00 0.000 6 0.000 0.052 2492 2155 3795 0 0 0 0 0 0
3934 -1.11 -157.0 749.0 -18.5 370 3934 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2154 3794 0 0 0 0 0 0
4235 -1.11 -157.0 806.0 -18.7 380 4238 0.00 1.92 0.00 0.000 4 0.000 0.069 2483 3308 3793 0 0 0 0 0 0
4299 -1.12 -157.0 818.1 -18.4 382 4303 0.00 1.83 0.00 0.000 6 0.000 0.053 2483 2165 3792 0 0 0 0 0 0
4636 -1.12 -157.0 882.8 -19.3 393 4639 0.00 1.90 0.00 0.000 4 0.000 0.069 2474 3319 3792 0 0 0 0 0 0
4694 -1.12 -157.0 894.4 -18.9 394 4699 0.00 1.83 0.00 0.000 6 0.000 0.054 2474 2162 3792 0 0 0 0 0 0
5005 -1.12 -157.0 952.4 -18.3 405 5008 0.00 1.92 0.00 0.000 4 0.000 0.070 2466 3313 3792 0 0 0 0 0 0
5046 -1.12 -157.0 960.6 -18.6 406 5050 0.00 1.83 0.00 0.000 6 0.000 0.056 2466 2176 3792 0 0 0 0 0 0
5217 end dive: TARGET_DEPTH_EXCEEDED
state 5217 begin apogee
5223 -0.14 0.0 994.0 19.3 412 5365 1.15 0.00 139.30 1.226 6 0.148 0.000 2807 2004 3150 0 0 0 0 0 0
5366 end apogee: CONTROL_FINISHED_OK
state 5366 begin climb
5368 0.88 157.0 998.2 0.0 416 5524 0.93 0.00 146.70 1.187 6 0.055 0.000 3138 2004 2507 0 0 0 0 0 0
5824 0.86 157.0 935.8 18.1 431 5827 0.00 2.05 0.00 0.000 4 0.000 0.067 3138 3232 2502 0 0 0 0 0 0
5861 0.83 157.0 928.8 19.8 432 5864 0.00 2.00 0.00 0.000 6 0.000 0.057 3148 2016 2501 0 0 0 0 0 0
6192 0.81 157.0 866.6 18.6 443 6196 0.12 1.98 0.00 0.000 4 0.202 0.065 3118 3234 2501 0 0 0 0 0 0
6266 0.79 157.0 852.8 17.7 445 6269 0.00 1.98 0.00 0.000 6 0.000 0.055 3125 2013 2500 0 0 0 0 0 0
6586 0.78 157.0 798.5 16.9 456 6589 0.00 1.98 0.00 0.000 4 0.000 0.066 3126 3236 2499 0 0 0 0 0 0
6687 0.76 157.0 780.3 18.0 459 6690 0.10 1.95 0.00 0.000 6 0.182 0.055 3106 2027 2498 0 0 0 0 0 0
7017 0.76 157.0 730.4 14.7 470 7021 0.00 1.98 0.00 0.000 4 0.000 0.066 3106 3232 2498 0 0 0 0 0 0
7064 0.76 157.0 722.8 15.9 471 7068 0.00 1.92 0.00 0.000 6 0.000 0.055 3113 2036 2498 0 0 0 0 0 0
7384 0.76 157.0 673.9 15.6 482 7387 0.00 1.95 0.00 0.000 4 0.000 0.066 3113 3228 2498 0 0 0 0 0 0
7411 0.75 157.0 669.7 16.0 482 7416 0.00 1.88 0.00 0.000 6 0.000 0.056 3122 2044 2497 0 0 0 0 0 0
7719 0.73 157.0 621.8 15.2 493 7722 0.00 1.95 0.00 0.000 4 0.000 0.066 3122 3238 2497 0 0 0 0 0 0
7756 0.72 157.0 615.9 16.9 494 7759 0.12 1.90 0.00 0.000 6 0.172 0.054 3094 2056 2497 0 0 0 0 0 0
8073 0.72 157.0 574.2 13.0 517 8074 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 2056 2497 0 0 0 0 0 0
8383 0.72 157.0 534.6 12.5 547 8386 0.00 1.88 0.00 0.000 4 0.000 0.065 3094 3236 2497 0 0 0 0 0 0
8404 0.72 157.0 531.5 13.4 549 8407 0.00 1.88 0.00 0.000 6 0.000 0.054 3101 2049 2496 0 0 0 0 0 0
8725 0.72 157.0 490.1 12.7 580 8728 0.00 1.90 0.00 0.000 4 0.000 0.065 3101 3235 2496 0 0 0 0 0 0
8782 0.72 157.0 482.6 13.2 585 8789 0.00 1.85 0.00 0.000 6 0.000 0.054 3110 2079 2496 0 0 0 0 0 0
9099 0.72 157.0 443.5 12.0 616 9102 0.00 1.88 0.00 0.000 4 0.000 0.065 3109 3241 2496 0 0 0 0 0 0
9119 0.72 157.0 440.9 13.0 618 9123 0.10 1.85 0.00 0.000 6 0.163 0.054 3089 2088 2496 0 0 0 0 0 0
9441 0.72 157.0 405.4 11.1 649 9444 0.00 1.85 0.00 0.000 4 0.000 0.065 3089 3237 2495 0 0 0 0 0 0
9505 0.72 157.0 397.8 12.6 655 9508 0.00 1.83 0.00 0.000 6 0.000 0.054 3095 2097 2496 0 0 0 0 0 0
9825 0.72 157.0 360.9 12.1 686 9826 0.00 0.00 0.00 0.000 6 0.000 0.000 3095 2097 2496 0 0 0 0 0 0
10137 0.72 157.0 324.2 11.5 716 10140 0.00 1.85 0.00 0.000 4 0.000 0.064 3095 3246 2496 0 0 0 0 0 0
10174 0.72 157.0 319.5 12.9 719 10179 0.00 1.80 0.00 0.000 6 0.000 0.054 3104 2103 2496 0 0 0 0 0 0
10489 0.72 157.0 281.4 11.3 750 10492 0.00 1.85 0.00 0.000 4 0.000 0.064 3104 3233 2496 0 0 0 0 0 0
10516 0.72 157.0 278.2 12.6 752 10522 0.00 1.77 0.00 0.000 6 0.000 0.054 3112 2122 2496 0 0 0 0 0 0
10831 0.72 157.0 240.9 11.5 783 10835 0.00 1.83 0.00 0.000 4 0.000 0.065 3112 3239 2496 0 0 0 0 0 0
10846 0.72 157.0 239.0 11.5 784 10853 0.10 1.77 0.00 0.000 6 0.164 0.054 3091 2134 2496 0 0 0 0 0 0
11162 0.74 170.3 207.5 9.6 815 11176 0.00 1.80 10.80 0.692 4 0.000 0.063 3091 3236 2454 0 0 0 0 0 0
11226 0.74 170.9 201.0 10.9 820 11231 0.00 1.75 0.00 0.000 6 0.000 0.053 3097 2125 2452 0 0 0 0 0 0
11541 0.76 182.9 169.3 9.8 851 11557 0.00 2.22 12.05 0.676 4 0.000 0.061 3107 763 2403 0 0 0 0 0 0
11610 0.78 182.9 161.8 11.1 857 11614 0.00 2.15 0.00 0.000 6 0.000 0.057 3107 2135 2402 0 0 0 0 0 0
11925 0.79 182.9 126.1 11.3 887 11929 0.00 1.77 0.00 0.000 4 0.000 0.064 3108 3232 2402 0 0 0 0 0 0
11980 0.79 182.9 119.9 11.5 892 11983 0.00 1.73 0.00 0.000 6 0.000 0.053 3116 2122 2401 0 0 0 0 0 0
12300 0.80 188.0 86.5 10.5 935 12312 0.00 0.00 5.72 0.553 6 0.000 0.000 3116 2122 2382 0 0 0 0 0 0
12635 0.85 232.1 59.6 6.5 997 12678 0.00 1.85 36.92 0.633 4 0.000 0.063 3116 3240 2203 0 0 0 0 0 0
12730 0.88 237.2 51.6 10.5 1014 12741 0.00 1.77 5.45 0.506 6 0.000 0.054 3124 2142 2183 0 0 0 0 0 0
13063 0.97 317.2 24.3 2.8 1076 13136 0.12 0.00 65.32 0.603 6 0.100 0.000 3180 2139 1855 0 0 0 0 0 0
13284 end climb: SURFACE_DEPTH_REACHED
state 13284 begin surface coast
13305 end surface coast: CONTROL_FINISHED_OK
state 13305 begin surface