NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 726 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  236 ESCAPE_HEADING  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
MISSION  2 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.054945 XPDR_VALID  4
DIVE  726 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
N_DIVES  0 TGT_DEFAULT_LAT  4736 ROLL_MAXERRORS  1 XPDR_INT  0
STOP_T  0 TGT_DEFAULT_LON  -12218 ROLL_ADJ_GAIN  0 XPDR_REP  0
D_SURF  2 TGT_AUTO_DEFAULT  0 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  1.9639999e-06
D_FLARE  3 SM_CC  425 VBD_MIN  500 INT_PRESSURE_YINT  0
D_TGT  500 N_FILEKB  8 VBD_MAX  3960 DEEPGLIDER  0
D_ABORT  1010 FILEMGR  0 C_VBD  2500 DEEPGLIDERMB  0
D_NO_BLEED  200 CALL_NDIVES  1 VBD_DBAND  2 MOTHERBOARD  6
D_BOOST  2 COMM_SEQ  0 VBD_CNV  -0.24529999 DEVICE1  120
T_BOOST  0 PROTOCOL  9 VBD_LP_IGNORE  0 DEVICE2  -1
D_FINISH  0 N_NOCOMM  2 VBD_TIMEOUT  720 DEVICE3  -1
D_PITCH  0 NOCOMM_ACTION  163 PITCH_VBD_SHIFT  0.003 DEVICE4  -1
D_SAFE  0 N_NOSURFACE  0 UNCOM_BLEED  20 DEVICE5  -1
D_CALL  0 UPLOAD_DIVES_MAX  -1 VBD_MAXERRORS  1 DEVICE6  -1
SURFACE_URGENCY  0 CALL_TRIES  5 W_ADJ_DBAND  2 LOGGERS  1
SURFACE_URGENCY_TRY  0 CALL_WAIT  60 DBDW  0 LOGGERDEVICE1  7
SURFACE_URGENCY_FORCE  0 CAPUPLOAD  0 LOITER_W_DBAND  0 LOGGERDEVICE2  -1
T_DIVE  180 CAPMAXSIZE  100000 LOITER_DBDW  0 LOGGERDEVICE3  -1
T_MISSION  200 T_GPS  5 LOITER_D_TOP  150 LOGGERDEVICE4  -1
T_ABORT  1440 N_GPS  100440 LOITER_D_BOTTOM  250 COMPASS_DEVICE  66
T_TURN  225 T_RSLEEP  1 LOITER_N_DIVE  0 COMPASS2_DEVICE  -1
T_TURN_SAMPINT  -5 STROBE  0 CF8_MAXERRORS  20 PHONE_DEVICE  33
T_NO_W  180 RAFOS_PEAK_OFFSET  0 AH0_24V  575 GPS_DEVICE  48
T_LOITER  0 RAFOS_CORR_THRESH  60 AH0_10V  0 RAFOS_DEVICE  -1
T_EPIRB  0 RAFOS_HIT_WINDOW  3600 MINV_24V  11 NETWORK_DEVICE  -1
USE_BATHY  -1 RAFOS_MMODEM  0 MINV_10V  11 PRESSURE_DEVICE  34
USE_ICE  0 PITCH_MIN  190 MAXI_24V  5 XPDR_DEVICE  21
ICE_FREEZE_MARGIN  0.30000001 PITCH_MAX  3920 MAXI_10V  1.5 SIM_W  0
D_OFFGRID  990 C_PITCH  2140 FG_AHR_10V  63.129765 SEABIRD_T_G  0.0043000001
RELAUNCH  1 PITCH_DBAND  0.1 FG_AHR_24V  179.08855 SEABIRD_T_H  0.00063999998
APOGEE_PITCH  -5 PITCH_CNV  0.0041299998 PHONE_SUPPLY  2 SEABIRD_T_I  2.4999999e-05
MAX_BUOY  120 PITCH_GAIN  20 PRESSURE_YINT  -170.66119 SEABIRD_T_J  4.3e-06
GLIDE_SLOPE  30 PITCH_TIMEOUT  30 PRESSURE_SLOPE  0.00022638284 SEABIRD_C_G  -10
SPEED_FACTOR  1 PITCH_MAXERRORS  1 COMPASS_USE  4 SEABIRD_C_H  1
RHO  1.0275 PITCH_ADJ_GAIN  0 ALTIM_PING_FIT  0 SEABIRD_C_I  -0.0020000001
MASS  72660 PITCH_ADJ_DBAND  0 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00019999999
NAV_MODE  0 PITCH_W_GAIN  3 ALTIM_BOTTOM_TURN_MARGIN  0 SC_RECORDABOVE  2000.0
FERRY_MAX  45 PITCH_W_DBAND  0.5 ALTIM_TOP_TURN_MARGIN  0 SC_PROFILE  7.0
KALMAN_USE  2 ROLL_MIN  670 ALTIM_TOP_MIN_OBSTACLE  1 SC_XMITPROFILE  7.0
HD_A  0.003 ROLL_MAX  3465 ALTIM_PING_DEPTH  0 SC_NDIVE  1.0
HD_B  0.0099900002 ROLL_DEG  80 ALTIM_PING_DELTA  0
HD_C  1.6e-05 C_ROLL_DIVE  2100 ALTIM_FREQUENCY  13
HEADING  -1 C_ROLL_CLIMB  2100 ALTIM_PULSE  3

Pre-dive calculations and measurements:
GPS1  020321,171231,4726.147,-12611.486,26,0.9,27,15.8 TGT_LATLONG  4719.090,-12620.510
_CALLS  1 TGT_RADIUS  7000.000
_SM_DEPTHo  0.28 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -63.4 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  020321,172005,4726.167,-12611.501,3,0.8,4,15.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.160,0.227 MHEAD_RNG_PITCHd_Wd  205.0,17312,-18.6,-9.259,-22.19
TGT_NAME  OUT3 D_GRID  990

Post-dive calculations and measurements:
SM_CCo  10240.14,0.00,0.014,0,501.0,550.0,451.9,490.36 _10V_AH  14.96,0.000
SM_GC  0.51,0.00,16.62,0.08,0.000,0.046,0.138,498.4,549.4,447.4,172.9,2121.0,0,0,0,30.00,15.28,15.30 FG_AHR_24Vo  179.319
SUPER  27,71,254,1,0,0 FG_AHR_10Vo  63.168
IRIDIUM_FIX  4729.88,-12608.20,020321,133443 MEM  1100056,47,75752,114
TCM_TEMP  189.46 DATA_FILE_SIZE  48106,1311
XPDR_PINGS  4,14.0,11.5 CAP_FILE_SIZE  481630,0
SC_FREEKB  3581344 SDSIZE  3918848,3718528
HUMID  57.34 SDFILEDIR  3656,1
TEMP  7.74 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  7.76373 GPS  020321,201339,4725.853,-12613.047,35,1.0,38,15.8
_24V_AH  13.93,210.829

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump636263623374.23 legato000.00
Pitch_motor36252129.55 nil000.00
Roll_motor119251416.48 nil000.00
Iridium247209721.86 nil000.00
Transponder_ping14205.85 nil000.00
GPS12152.88 nil000.00
Core406511717.69 SciCon101276998.23
LPSleep65182273.05 nil000.00
Compass22255166.49 nil000.00
RAFOS000.00
Transponder000.00

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R

Guidance and control:
st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts
5 end surface: CONTROL_FINISHED_OK
state 5 begin dive
7.66 16386 -116.79 -1.28 0.00 762.8 763.8 761.9 171.8 2115.0 0.00 0.00 0 93.29 85.11 0.00 0.00 0.005 0.000 0.000 2668.84 2648.94 2688.75 171.69 2115.81 0 0 0 14.79 30.00 30.00
93.55 18695 -116.79 -1.28 80.00 2667.9 2648.4 2687.4 171.7 2115.6 4.04 -11.65 16 125.42 6.71 14.73 3.78 0.008 0.252 0.116 2974.62 2966.75 2982.50 1830.19 3473.06 0 0 0 15.01 15.18 14.81
203.21 1028 -116.79 -1.28 0.00 2975.2 2967.6 2982.8 1830.3 3473.7 28.31 -20.34 38 208.94 0.00 0.00 3.48 0.000 0.000 0.062 2974.88 2967.25 2982.50 1830.00 2084.19 0 0 0 30.00 30.00 15.52
388.31 260 -116.79 -1.28 80.00 2974.9 2966.9 2982.8 1830.8 2084.3 62.25 -19.85 75 394.05 0.00 0.00 3.87 0.000 0.000 0.112 2976.09 2968.31 2983.88 1830.38 3474.44 0 0 0 30.00 30.00 15.46
448.26 1028 -116.79 -1.28 0.00 2975.2 2967.0 2983.5 1830.4 3473.7 72.09 -15.01 87 454.00 0.00 0.00 3.48 0.000 0.000 0.061 2975.66 2967.50 2983.81 1830.31 2084.19 0 0 0 30.00 30.00 15.56
633.36 516 -116.79 -1.28 -80.00 2975.4 2967.6 2983.1 1830.1 2084.4 97.12 -12.60 124 639.18 0.00 0.00 4.11 0.000 0.000 0.155 2976.38 2968.25 2984.50 1830.12 662.94 0 0 0 30.00 30.00 15.35
783.33 1028 -116.79 -1.28 0.00 2974.9 2967.1 2982.6 1829.9 663.0 117.36 -12.60 154 788.98 0.00 0.00 3.58 0.000 0.000 0.054 2974.16 2966.38 2981.94 1830.50 2120.31 0 0 0 30.00 30.00 15.65
1088.37 260 -116.79 -1.28 80.00 2975.3 2968.3 2982.2 1830.0 2120.2 151.21 -10.93 185 1094.04 0.00 0.00 3.73 0.000 0.000 0.113 2975.94 2968.62 2983.25 1830.12 3475.06 0 0 0 30.00 30.00 15.49
1143.38 1028 -116.79 -1.28 0.00 2975.1 2967.6 2982.6 1830.4 3473.9 157.91 -12.58 196 1147.99 0.00 0.00 3.42 0.000 0.000 0.058 2976.25 2969.19 2983.31 1830.12 2082.44 0 0 0 30.00 30.00 15.60
1453.41 260 -116.79 -1.28 80.00 2975.8 2968.6 2982.9 1830.2 2082.2 191.99 -10.37 228 1459.10 0.00 0.00 3.85 0.000 0.000 0.111 2974.03 2966.75 2981.31 1829.88 3474.88 0 0 0 30.00 30.00 15.51
1508.42 1028 -116.79 -1.28 0.00 2976.0 2968.6 2983.4 1830.1 3475.5 198.51 -12.08 239 1513.04 0.00 0.00 3.44 0.000 0.000 0.059 2977.06 2970.06 2984.06 1829.94 2082.44 0 0 0 30.00 30.00 15.61
1818.46 0 -116.79 -1.28 0.00 2975.4 2968.3 2982.5 1830.4 2082.4 232.60 -10.56 271 1819.79 0.00 0.00 0.00 0.000 0.000 0.000 2976.28 2968.50 2984.06 1830.56 2082.69 0 0 0 30.00 30.00 30.00
2118.48 260 -116.79 -1.28 80.00 2975.8 2969.1 2982.6 1830.7 2082.4 262.94 -9.31 301 2124.18 0.00 0.00 3.88 0.000 0.000 0.112 2976.53 2970.00 2983.06 1829.12 3471.94 0 0 0 30.00 30.00 15.49
2153.48 1028 -116.79 -1.28 0.00 2976.4 2969.7 2983.2 1830.6 3471.9 266.47 -10.08 308 2158.12 0.00 0.00 3.44 0.000 0.000 0.061 2976.25 2969.75 2982.75 1830.31 2084.12 0 0 0 30.00 30.00 15.61
2463.53 0 -116.79 -1.28 0.00 2976.2 2969.6 2982.9 1830.8 2084.3 295.25 -9.12 340 2464.86 0.00 0.00 0.00 0.000 0.000 0.000 2976.94 2970.38 2983.50 1829.62 2083.38 0 0 0 30.00 30.00 30.00
2763.56 0 -116.79 -1.28 0.00 2975.9 2968.9 2983.0 1831.1 2083.9 325.10 -10.86 370 2764.89 0.00 0.00 0.00 0.000 0.000 0.000 2976.97 2970.12 2983.81 1830.75 2084.12 0 0 0 30.00 30.00 30.00
3063.59 260 -116.79 -1.28 80.00 2976.3 2970.1 2982.5 1830.5 2084.2 356.32 -10.13 400 3069.30 0.00 0.00 3.88 0.000 0.000 0.115 2976.44 2969.56 2983.31 1830.69 3473.75 0 0 0 30.00 30.00 15.45
3142.51 1028 -116.79 -1.28 0.00 2975.8 2969.3 2982.2 1830.5 3474.3 365.05 -10.39 416 3149.35 0.00 0.00 3.47 0.000 0.000 0.064 2976.44 2969.62 2983.25 1830.69 2083.88 0 0 0 30.00 30.00 15.57
3448.65 0 -116.79 -1.28 0.00 2975.7 2968.4 2983.0 1830.4 2084.0 396.84 -9.91 447 3449.98 0.00 0.00 0.00 0.000 0.000 0.000 2974.84 2968.06 2981.62 1830.94 2084.00 0 0 0 30.00 30.00 30.00
3748.71 0 -116.79 -1.28 0.00 2975.8 2969.4 2982.1 1830.8 2084.4 427.12 -9.54 477 3750.03 0.00 0.00 0.00 0.000 0.000 0.000 2975.44 2968.62 2982.25 1830.75 2084.50 0 0 0 30.00 30.00 30.00
4048.78 0 -116.79 -1.28 0.00 2975.0 2968.8 2981.2 1830.6 2084.1 456.31 -10.26 507 4050.11 0.00 0.00 0.00 0.000 0.000 0.000 2976.09 2970.31 2981.88 1830.44 2084.56 0 0 0 30.00 30.00 30.00
4348.83 0 -116.79 -1.28 0.00 2974.9 2968.7 2981.1 1830.8 2084.1 487.79 -11.16 537 4350.16 0.00 0.00 0.00 0.000 0.000 0.000 2973.94 2968.75 2979.12 1830.94 2084.25 0 0 0 30.00 30.00 30.00
4648.90 260 -116.79 -1.28 80.00 2974.8 2969.3 2980.2 1831.1 2083.6 483.75 -10.44 567 4654.64 0.00 0.00 4.00 0.000 0.000 0.119 2973.91 2968.38 2979.44 1830.44 3475.38 0 0 0 30.00 30.00 15.41
4743.94 1028 -116.79 -1.28 0.00 2974.5 2968.6 2980.4 1830.7 3475.4 494.25 -11.83 586 4748.59 0.00 0.00 3.51 0.000 0.000 0.067 2974.50 2968.94 2980.06 1830.81 2085.44 0 0 0 30.00 30.00 15.52
4813 end dive: TARGET_DEPTH_EXCEEDED
state 4813 begin apogee
4815.15 10243 0.00 -0.25 0.00 2974.6 2968.9 2980.2 1830.9 2117.8 500.78 -8.63 594 4916.42 98.46 1.91 0.08 1.717 0.138 0.251 2498.91 2506.56 2491.25 2080.88 2087.19 0 0 0 10.66 15.46 14.94
4918 end apogee: CONTROL_FINISHED_OK
state 4918 begin climb
4918.88 10243 116.79 1.28 0.00 2497.9 2505.8 2490.1 2080.3 2086.8 503.78 0.00 604 5030.59 106.28 2.71 0.00 1.655 0.082 0.000 2022.62 2047.25 1998.00 2453.75 2087.44 0 0 0 11.92 15.12 30.00
5334.04 16450 116.79 1.30 -80.00 2011.9 2042.5 1981.2 2454.2 2087.9 470.69 8.53 650 5335.37 0.00 0.00 0.00 0.000 0.000 0.000 2012.16 2042.81 1981.50 2454.38 2087.69 0 0 0 30.00 30.00 30.00
5634.09 10535 164.16 1.44 80.00 2009.1 2040.8 1977.4 2454.4 2087.6 447.91 6.71 680 5685.50 42.35 0.22 4.01 1.596 0.082 0.119 1829.78 1863.19 1796.38 2501.31 3473.19 0 0 0 11.41 15.64 15.21
5698.06 9254 206.80 1.57 0.00 1827.8 1861.0 1794.6 2501.7 3473.9 442.95 6.97 692 5745.73 40.18 0.00 3.55 1.555 0.000 0.062 1655.91 1692.12 1619.69 2501.44 2082.81 0 0 0 11.87 30.00 15.39
6044.16 16902 206.80 1.57 -80.00 1648.5 1687.8 1609.3 2501.2 2083.2 404.31 12.48 731 6049.94 0.00 0.00 4.09 0.000 0.000 0.149 1648.97 1688.00 1609.94 2501.25 662.94 0 0 0 30.00 30.00 15.40
6123.05 17414 206.80 1.57 0.00 1647.8 1686.1 1609.4 2501.6 662.8 393.89 12.82 747 6129.92 0.00 0.00 3.59 0.000 0.000 0.056 1648.25 1686.56 1609.94 2501.25 2121.75 0 0 0 30.00 30.00 15.61
6429.20 16386 206.80 1.57 0.00 1646.0 1685.3 1606.8 2501.8 2121.7 359.60 10.24 778 6430.53 0.00 0.00 0.00 0.000 0.000 0.000 1646.12 1685.50 1606.75 2502.38 2121.62 0 0 0 30.00 30.00 30.00
6729.22 16386 206.80 1.57 0.00 1645.0 1685.0 1605.0 2501.9 2122.2 326.43 10.92 808 6730.56 0.00 0.00 0.00 0.000 0.000 0.000 1644.78 1684.62 1604.94 2501.12 2121.94 0 0 0 30.00 30.00 30.00
7029.26 16386 206.80 1.57 0.00 1644.7 1684.9 1604.5 2501.6 2121.4 293.32 10.44 838 7030.59 0.00 0.00 0.00 0.000 0.000 0.000 1645.06 1685.31 1604.81 2502.00 2122.25 0 0 0 30.00 30.00 30.00
7329.29 16902 206.80 1.57 -80.00 1644.5 1684.8 1604.2 2501.3 2122.2 260.95 11.17 868 7335.05 0.00 0.00 4.14 0.000 0.000 0.142 1644.00 1684.00 1604.00 2501.25 663.75 0 0 0 30.00 30.00 15.41
7384.31 17414 206.80 1.57 0.00 1644.5 1684.2 1604.7 2501.1 663.8 254.10 13.16 879 7390.03 0.00 0.00 3.59 0.000 0.000 0.056 1643.56 1684.06 1603.06 2501.12 2123.88 0 0 0 30.00 30.00 15.72
7689.35 16386 206.80 1.57 0.00 1644.3 1684.6 1604.0 2501.8 2123.7 223.91 9.93 910 7690.68 0.00 0.00 0.00 0.000 0.000 0.000 1644.59 1684.75 1604.44 2501.19 2124.06 0 0 0 30.00 30.00 30.00
7989.37 16646 206.80 1.57 80.00 1643.8 1684.4 1603.2 2501.1 2124.1 194.66 10.12 940 7994.98 0.00 0.00 3.77 0.000 0.000 0.117 1643.53 1683.88 1603.19 2500.94 3472.69 0 0 0 30.00 30.00 15.49
8218.24 17414 206.80 1.57 0.00 1642.6 1681.5 1603.6 2501.6 3473.5 171.34 9.45 986 8225.17 0.00 0.00 3.45 0.000 0.000 0.061 1642.62 1681.88 1603.38 2501.56 2080.38 0 0 0 30.00 30.00 15.64
8524.47 19015 206.80 1.60 -80.00 1642.9 1682.2 1603.6 2501.9 2081.2 144.81 8.12 1017 8530.32 0.00 0.17 4.06 0.000 0.098 0.143 1641.88 1681.50 1602.25 2540.38 662.69 0 0 0 30.00 15.73 15.38
8753.38 17414 206.80 1.60 0.00 1643.0 1682.0 1604.0 2541.2 662.9 116.73 10.76 1063 8760.26 0.00 0.00 3.59 0.000 0.000 0.055 1642.78 1681.94 1603.62 2541.12 2125.00 0 0 0 30.00 30.00 15.69
9059.61 16646 206.80 1.60 80.00 1642.6 1681.6 1603.5 2541.4 2124.6 88.47 9.30 1106 9065.33 0.00 0.00 3.73 0.000 0.000 0.113 1643.94 1682.75 1605.12 2540.38 3473.31 0 0 0 30.00 30.00 15.46
9109.56 17414 206.80 1.60 0.00 1642.1 1680.9 1603.3 2541.1 3473.4 83.09 10.84 1116 9115.29 0.00 0.00 3.43 0.000 0.000 0.057 1642.56 1681.25 1603.88 2541.50 2077.25 0 0 0 30.00 30.00 15.63
9294.60 10791 271.76 1.80 -80.00 1641.9 1681.0 1602.9 2540.8 2077.1 70.29 5.76 1153 9356.65 55.03 0.22 4.04 1.189 0.084 0.141 1392.06 1429.50 1354.62 2588.88 663.12 0 0 0 10.93 15.71 15.27
9579.65 1092 271.76 1.85 0.00 1387.4 1426.6 1348.2 2589.5 662.9 44.25 7.59 1210 9585.41 0.00 0.00 3.62 0.000 0.000 0.054 1387.34 1426.75 1347.94 2588.94 2126.81 0 0 0 30.00 30.00 15.58
9764.69 10275 326.35 2.01 0.00 1385.7 1426.5 1344.9 2588.9 2127.1 32.46 6.32 1247 9820.88 52.78 0.25 0.00 1.102 0.077 0.000 1169.94 1204.00 1135.88 2637.88 2127.56 0 0 0 11.45 15.62 30.00
9999.84 260 326.35 2.01 80.00 1165.8 1201.7 1129.9 2637.7 2127.3 10.25 10.81 1294 10005.55 0.00 0.00 3.76 0.000 0.000 0.114 1166.16 1202.06 1130.25 2637.88 3471.88 0 0 0 30.00 30.00 15.39
10039.77 1028 326.35 2.01 0.00 1165.2 1200.7 1129.8 2638.4 3472.2 5.70 11.33 1302 10045.51 0.00 0.00 3.49 0.000 0.000 0.058 1165.44 1201.12 1129.75 2637.50 2078.56 0 0 0 30.00 30.00 15.54
10069 end climb: SURFACE_DEPTH_REACHED
state 10069 begin surface coast
10084 end surface coast: CONTROL_FINISHED_OK
state 10084 begin surface