NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 76 * 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  76 ESCAPE_HEADING_DELTA  10 ROLL_DEG  35 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2000 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  4 N_FILEKB  4 R_PORT_OVSHOOT  24 XPDR_VALID  1
D_FINISH  5 FILEMGR  0 R_STBD_OVSHOOT  23 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  1 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  270 CALL_TRIES  5 C_VBD  3150 DEVICE2  20
T_MISSION  360 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  0.0012300001 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  -24854.865 UNCOM_BLEED  50 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  100 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  2850 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  23 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  0.003 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  0.0002479906
HD_B  0.0099999998 PITCH_ADJ_GAIN  0.015 ALTIM_BOTTOM_PING_RANGE  0
HD_C  9.9999997e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  182200,4738.678,-12530.530,42,1.5,47,18.7 TGT_NAME  OFFSHORE
_CALLS  1 TGT_LATLONG  4700.000,-12700.000
_XMS_NAKs  0 TGT_RADIUS  1000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.50 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  182655,4738.658,-12530.477,10,1.3,15,18.7 MHEAD_RNG_PITCHd_Wd  210.0,133833,-17.9,-12.222
SPEED_LIMITS  0.212,0.316 D_GRID  1000

Post-dive calculations and measurements:
FINISH  0.6,1.003056 _10V_AH  10.2,5.203
SM_CCo  14373,0.00,0.000,0,0,1195,479.32 FG_AHR_24Vo  0.000
SM_GC  1.44,8.00,0.00,0.00,0.044,0.000,0.000,138,1994,1195,-8.39,-0.14,479.32 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4722.92,-12525.95,131099,141423 MEM  298608
TT8_MAMPS  0.052923 DATA_FILE_SIZE  63306,1095
HUMID  39.40 CAP_FILE_SIZE  151345,0
INTERNAL_PRESSURE  8.95227 CFSIZE  260165632,254238720
TCM_TEMP  16.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.015,282.8,1
_24V_AH  23.2,9.793 GPS  190710,222730,4737.076,-12533.652,40,1.5,40,18.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21252127.19 SBE_CT75424419.91
Roll_motor134163511.20 SBE_O289519394.79
VBD_pump_during_apogee590121516647.48 WL_BBFL2VMT9381052285.32
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710366.37 nil000.00
Iridium_during_connect31160115.08 nil000.00
Iridium_during_xfer152223790.87
Transponder_ping04200.00
GUMSTIX_24V000.00
GPS15507.91
TT80190.00
LPSleep108252241.81
TT8_Active75419152.36
TT8_Sampling2722391105.41
TT8_CF834545161.49
TT8_Kalman000.00
Analog_circuits181412222.09
GPS_charging000.00
Compass22918187.03
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
10 end surface: CONTROL_FINISHED_OK
state 10 begin dive
11 -1.02 -195.5 0.0 0.0 0 95 0.00 0.00 -81.47 0.000 2 0.000 0.000 133 1984 3081 0 0 0 0 0 0
96 -1.02 -195.5 3.1 -5.6 15 129 9.82 2.00 -17.92 0.000 4 0.252 0.077 2505 3241 3949 0 0 0 0 0 0
273 -0.81 -195.5 65.6 -32.1 48 279 0.25 1.98 0.00 0.000 6 0.163 0.053 2578 2003 3951 0 0 0 0 0 0
598 -0.72 -195.5 137.6 -19.6 93 602 0.15 2.00 0.00 0.000 4 0.176 0.066 2612 3226 3952 0 0 0 0 0 0
673 -0.72 -195.5 149.4 -14.0 100 677 0.00 1.92 0.00 0.000 6 0.000 0.052 2612 2004 3952 0 0 0 0 0 0
993 -0.69 -195.5 199.7 -15.4 131 997 0.00 2.03 0.00 0.000 4 0.000 0.066 2603 3249 3952 0 0 0 0 0 0
1051 -0.69 -195.5 208.5 -13.9 136 1058 0.00 1.98 0.00 0.000 6 0.000 0.051 2603 2002 3952 0 0 0 0 0 0
1367 -0.66 -195.5 258.7 -16.0 167 1372 0.12 2.00 0.00 0.000 4 0.173 0.067 2629 3233 3952 0 0 0 0 0 0
1399 -0.69 -195.5 263.0 -12.7 170 1403 0.00 1.92 0.00 0.000 6 0.000 0.052 2629 2006 3953 0 0 0 0 0 0
1719 -0.69 -195.5 305.3 -13.1 201 1724 0.00 2.03 0.00 0.000 4 0.000 0.068 2620 3240 3952 0 0 0 0 0 0
1778 -0.72 -195.5 312.9 -13.2 206 1784 0.00 1.95 0.00 0.000 6 0.000 0.052 2620 2005 3952 0 0 0 0 0 0
2093 -0.72 -195.5 357.5 -14.5 237 2098 0.00 2.03 0.00 0.000 4 0.000 0.068 2613 3241 3952 0 0 0 0 0 0
2141 -0.75 -195.5 364.6 -14.3 241 2149 0.00 1.92 0.00 0.000 6 0.000 0.053 2612 2017 3952 0 0 0 0 0 0
2456 -0.75 -195.5 410.1 -14.5 272 2461 0.00 2.00 0.00 0.000 4 0.000 0.069 2605 3239 3951 0 0 0 0 0 0
2483 -0.75 -195.5 413.9 -15.1 274 2489 0.00 1.92 0.00 0.000 6 0.000 0.054 2604 2020 3951 0 0 0 0 0 0
2798 -0.75 -195.5 459.6 -14.0 305 2803 0.00 2.00 0.00 0.000 4 0.000 0.069 2597 3240 3950 0 0 0 0 0 0
2841 -0.75 -195.5 465.7 -14.1 309 2845 0.00 1.92 0.00 0.000 6 0.000 0.054 2597 2020 3950 0 0 0 0 0 0
3162 -0.73 -195.5 513.7 -15.2 340 3166 0.00 1.98 0.00 0.000 4 0.000 0.070 2593 3235 3949 0 0 0 0 0 0
3209 -0.73 -195.5 520.4 -13.2 344 3216 0.00 1.92 0.00 0.000 6 0.000 0.054 2593 2014 3949 0 0 0 0 0 0
3525 -0.71 -195.5 567.1 -14.8 375 3529 0.00 1.98 0.00 0.000 4 0.000 0.069 2585 3233 3949 0 0 0 0 0 0
3561 -0.71 -195.5 572.4 -14.6 378 3569 0.12 1.90 0.00 0.000 6 0.166 0.055 2617 2028 3949 0 0 0 0 0 0
3886 -0.73 -195.5 610.8 -11.4 404 3890 0.00 1.92 0.00 0.000 4 0.000 0.072 2611 3228 3949 0 0 0 0 0 0
3917 -0.76 -195.5 614.4 -11.5 405 3922 0.00 1.90 0.00 0.000 6 0.000 0.056 2611 2023 3948 0 0 0 0 0 0
4252 -0.76 -195.5 656.5 -12.7 416 4257 0.00 1.95 0.00 0.000 4 0.000 0.071 2604 3238 3948 0 0 0 0 0 0
4295 -0.79 -195.5 661.8 -12.4 417 4299 0.00 1.90 0.00 0.000 6 0.000 0.056 2604 2035 3947 0 0 0 0 0 0
4619 -0.79 -195.5 703.1 -12.6 428 4624 0.00 1.98 0.00 0.000 4 0.000 0.071 2597 3240 3946 0 0 0 0 0 0
4646 -0.79 -195.5 706.6 -13.4 428 4652 0.00 1.90 0.00 0.000 6 0.000 0.056 2597 2034 3946 0 0 0 0 0 0
4954 -0.79 -195.5 748.5 -13.8 439 4959 0.00 1.95 0.00 0.000 4 0.000 0.071 2590 3240 3945 0 0 0 0 0 0
4980 -0.79 -195.5 752.1 -14.0 439 4987 0.00 1.90 0.00 0.000 6 0.000 0.056 2590 2038 3945 0 0 0 0 0 0
5289 -0.79 -195.5 795.1 -13.8 450 5293 0.00 1.98 0.00 0.000 4 0.000 0.071 2582 3245 3945 0 0 0 0 0 0
5326 -0.79 -195.5 800.1 -13.8 451 5331 0.00 1.90 0.00 0.000 6 0.000 0.057 2582 2039 3945 0 0 0 0 0 0
5656 -0.77 -195.5 847.1 -14.3 462 5661 0.00 1.95 0.00 0.000 4 0.000 0.073 2574 3233 3944 0 0 0 0 0 0
5682 -0.77 -195.5 850.8 -14.4 462 5688 0.00 1.90 0.00 0.000 6 0.000 0.057 2574 2031 3944 0 0 0 0 0 0
5991 -0.74 -195.5 896.4 -15.1 473 5995 0.12 1.95 0.00 0.000 4 0.178 0.073 2599 3233 3944 0 0 0 0 0 0
6033 -0.78 -195.5 902.0 -12.5 474 6038 0.00 1.90 0.00 0.000 6 0.000 0.057 2599 2029 3944 0 0 0 0 0 0
6358 -0.78 -195.5 943.8 -12.8 485 6362 0.00 1.92 0.00 0.000 4 0.000 0.073 2592 3226 3943 0 0 0 0 0 0
6389 -0.79 -195.5 947.8 -12.4 486 6394 0.00 1.88 0.00 0.000 6 0.000 0.058 2592 2039 3943 0 0 0 0 0 0
6724 end dive: TARGET_DEPTH_EXCEEDED
state 6724 begin apogee
6726 -0.22 0.0 991.1 12.6 497 6897 0.57 0.00 168.07 1.216 6 0.138 0.000 2776 1997 3150 0 0 0 0 0 0
6897 end apogee: CONTROL_FINISHED_OK
state 6897 begin climb
6898 1.02 195.5 996.8 0.0 502 7080 1.20 2.22 175.12 1.177 4 0.077 0.067 3184 762 2353 0 0 0 0 0 0
7100 0.76 195.5 971.6 23.9 508 7105 0.32 2.15 0.00 0.000 6 0.193 0.061 3103 1995 2350 0 0 0 0 0 0
7414 0.60 195.5 911.7 18.7 519 7418 0.22 2.10 0.00 0.000 4 0.183 0.069 3042 3234 2347 0 0 0 0 0 0
7521 0.50 195.5 894.3 15.9 522 7525 0.10 2.00 0.00 0.000 6 0.161 0.058 3019 2019 2345 0 0 0 0 0 0
7845 0.46 201.3 854.0 12.0 533 7855 0.00 2.05 5.53 0.855 4 0.000 0.071 3019 3242 2329 0 0 0 0 0 0
7908 0.40 201.3 845.9 13.2 535 7913 0.15 2.00 0.00 0.000 6 0.150 0.058 2980 2016 2328 0 0 0 0 0 0
8243 0.49 279.3 815.0 8.9 546 8314 0.00 0.00 69.38 1.095 6 0.000 0.000 2980 2015 2011 0 0 0 0 0 0
8607 0.62 343.4 781.3 9.5 558 8669 0.20 0.00 57.30 1.065 6 0.077 0.000 3058 2015 1748 0 0 0 0 0 0
8971 0.58 343.4 723.3 16.3 570 8975 0.00 2.08 0.00 0.000 4 0.000 0.068 3067 760 1740 0 0 0 0 0 0
9007 0.55 343.4 717.3 16.9 571 9013 0.15 2.08 0.00 0.000 6 0.160 0.060 3028 2018 1741 0 0 0 0 0 0
9338 0.55 343.4 672.7 13.3 582 9338 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 2019 1738 0 0 0 0 0 0
9641 0.55 343.4 632.9 13.0 592 9646 0.00 2.08 0.00 0.000 4 0.000 0.070 3028 753 1737 0 0 0 0 0 0
9678 0.61 366.1 628.4 11.3 593 9705 0.00 2.03 18.80 0.964 6 0.000 0.060 3028 2006 1657 0 0 0 0 0 0
10010 0.61 366.1 585.1 13.7 610 10010 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 2007 1654 0 0 0 0 0 0
10320 0.61 366.1 544.0 13.6 640 10323 0.00 2.05 0.00 0.000 4 0.000 0.070 3033 757 1654 0 0 0 0 0 0
10351 0.64 366.1 539.8 13.4 643 10355 0.00 2.00 0.00 0.000 6 0.000 0.061 3033 2002 1654 0 0 0 0 0 0
10671 0.64 366.1 495.5 14.7 674 10675 0.00 2.05 0.00 0.000 4 0.000 0.070 3033 3245 1654 0 0 0 0 0 0
10713 0.64 366.1 489.1 15.4 678 10718 0.00 2.03 0.00 0.000 6 0.000 0.061 3037 1995 1654 0 0 0 0 0 0
11035 0.64 366.1 440.8 15.0 709 11039 0.00 2.00 0.00 0.000 4 0.000 0.070 3043 757 1654 0 0 0 0 0 0
11071 0.66 366.1 435.4 14.2 712 11078 0.00 2.00 0.00 0.000 6 0.000 0.058 3043 2008 1654 0 0 0 0 0 0
11386 0.66 366.1 389.9 14.2 743 11391 0.00 2.03 0.00 0.000 4 0.000 0.069 3043 3241 1655 0 0 0 0 0 0
11418 0.66 366.1 385.4 14.7 746 11423 0.00 2.00 0.00 0.000 6 0.000 0.060 3046 1998 1655 0 0 0 0 0 0
11739 0.66 366.1 340.1 14.1 777 11744 0.00 1.98 0.00 0.000 4 0.000 0.068 3054 763 1656 0 0 0 0 0 0
11782 0.66 366.1 334.4 13.2 781 11786 0.00 1.95 0.00 0.000 6 0.000 0.060 3054 1997 1656 0 0 0 0 0 0
12102 0.65 366.1 287.1 15.0 812 12107 0.00 2.00 0.00 0.000 4 0.000 0.069 3054 3237 1657 0 0 0 0 0 0
12129 0.63 366.1 282.8 16.1 814 12135 0.00 2.00 0.00 0.000 6 0.000 0.059 3059 1988 1657 0 0 0 0 0 0
12444 0.60 366.1 234.6 14.3 845 12449 0.00 1.95 0.00 0.000 4 0.000 0.068 3068 763 1658 0 0 0 0 0 0
12466 0.58 366.1 231.4 15.2 847 12470 0.08 1.95 0.00 0.000 6 0.143 0.060 3043 2002 1658 0 0 0 0 0 0
12786 0.58 366.1 189.2 13.5 878 12791 0.00 1.98 0.00 0.000 4 0.000 0.068 3042 3234 1658 0 0 0 0 0 0
12812 0.58 366.1 185.6 14.1 880 12819 0.00 1.98 0.00 0.000 6 0.000 0.058 3043 1995 1658 0 0 0 0 0 0
13128 0.61 375.1 144.9 11.8 911 13143 0.00 1.98 9.88 0.668 4 0.000 0.068 3048 758 1620 0 0 0 0 0 0
13175 0.67 386.6 139.4 11.7 915 13192 0.00 1.98 11.40 0.662 6 0.000 0.059 3048 1999 1573 0 0 0 0 0 0
13501 0.74 417.7 101.1 10.9 947 13530 0.12 0.00 26.25 0.663 6 0.101 0.000 3105 2000 1447 0 0 0 0 0 0
13849 0.74 417.7 49.8 14.3 1011 13856 0.00 2.00 0.00 0.000 4 0.000 0.067 3105 3229 1443 0 0 0 0 0 0
13876 0.74 417.7 46.0 14.0 1016 13882 0.00 1.98 0.00 0.000 6 0.000 0.058 3110 1996 1442 0 0 0 0 0 0
14203 0.87 477.8 8.8 9.7 1077 14259 0.00 2.05 48.53 0.601 4 0.000 0.068 3109 3225 1201 0 0 0 0 0 0
14267 end climb: SURFACE_DEPTH_REACHED
state 14267 begin surface coast
14299 end surface coast: CONTROL_FINISHED_OK
state 14299 begin surface