NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 427 * 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  427 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  35 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  28 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  5 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  -1588525.9 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  281212,053329,4748.006,-12515.966,42,1.8,42,18.7 TGT_NAME  SHELF
_CALLS  1 TGT_LATLONG  4751.930,-12510.270
_XMS_NAKs  0 TGT_RADIUS  3000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.160,-0.151
_SM_DEPTHo  2.19 KALMAN_X  28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo  -76.4 KALMAN_Y  16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2  281212,053942,4748.112,-12516.051,14,1.7,19,18.7 MHEAD_RNG_PITCHd_Wd  71.8,10079,-13.3,-7.021,-18.50
SPEED_LIMITS  0.122,0.210 D_GRID  525

Post-dive calculations and measurements:
FINISH  1.4,1.024017 _10V_AH  9.8,48.378
SM_CCo  12794,0.00,0.000,0,0,1176,396.90 FG_AHR_24Vo  0.000
SM_GC  2.34,8.23,0.17,0.00,0.026,0.073,0.000,115,2207,1176,-9.46,1.41,396.90,0,0,0,0,0,0,26.11,26.12,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4732.49,-12521.83,281212,000012 MEM  296868
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  50221,932
HUMID  46.25 CAP_FILE_SIZE  121619,0
INTERNAL_PRESSURE  9.08899 CFSIZE  260165632,221966336
TCM_TEMP  19.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  2 CURRENT  0.270,314.5,1
_24V_AH  23.1,59.666 GPS  281212,091436,4749.200,-12514.151,31,1.5,31,18.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21212103.53 SBE_CT63724353.70
Roll_motor10682204.12 SBE_O256119246.33
VBD_pump_during_apogee4618769344.06 WL_BBFL2VMT000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810366.67 nil000.00
Iridium_during_connect35160130.90 nil000.00
Iridium_during_xfer168223869.49 nil000.00
Transponder_ping04204.85 nil000.00
GUMSTIX_24V000.00
GPS205010.06
TT8235419456.93
LPSleep81012173.87
TT8_Active52619102.21
TT8_Sampling189139737.62
TT8_CF828745129.23
TT8_Kalman000.00
Analog_circuits148512174.66
GPS_charging000.00
Compass162915239.49
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
17 -0.47 -136.3 0.0 0.0 0 80 0.00 0.00 -60.90 0.000 2 0.000 0.000 118 2185 2727 0 0 0 0 0 0 28.83 28.83 28.83
84 -0.47 -136.3 3.2 -2.1 11 116 11.40 2.38 -15.15 0.000 4 0.213 0.075 3027 3610 3352 0 0 0 0 0 0 24.86 25.53 26.25
206 -0.47 -136.3 22.7 -13.9 33 213 0.00 2.17 0.00 0.000 6 0.000 0.043 3027 2191 3355 0 0 0 0 0 0 28.83 25.72 28.83
519 -0.47 -136.3 70.8 -13.9 94 526 0.00 2.17 0.00 0.000 4 0.000 0.050 3027 786 3355 0 0 0 0 0 0 28.83 25.69 28.83
554 -0.47 -136.3 75.5 -13.3 100 561 0.00 2.20 0.00 0.000 6 0.000 0.049 3017 2201 3355 0 0 0 0 0 0 28.83 25.72 28.83
865 -0.47 -136.3 113.9 -10.8 161 872 0.00 2.22 0.00 0.000 4 0.000 0.060 3006 3609 3356 0 0 0 0 0 0 28.83 25.65 28.83
921 -0.47 -136.3 120.1 -11.6 171 930 0.12 2.15 0.00 0.000 6 0.131 0.042 3042 2190 3355 0 0 0 0 0 0 25.70 25.87 28.83
1233 -0.47 -136.3 147.3 -8.7 192 1234 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2190 3355 0 0 0 0 0 0 28.83 28.83 28.83
1533 -0.47 -136.3 172.9 -8.2 212 1534 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2190 3356 0 0 0 0 0 0 28.83 28.83 28.83
1831 -0.47 -136.3 197.8 -8.5 232 1836 0.00 2.25 0.00 0.000 4 0.000 0.061 3034 3607 3356 0 0 0 0 0 0 28.83 25.67 28.83
1873 -0.47 -136.3 201.6 -9.3 235 1877 0.00 2.12 0.00 0.000 6 0.000 0.042 3034 2204 3356 0 0 0 0 0 0 28.83 25.93 28.83
2186 -0.47 -136.3 231.0 -9.2 251 2188 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 2201 3356 0 0 0 0 0 0 28.83 28.83 28.83
2486 -0.47 -136.3 258.6 -8.9 266 2487 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 2201 3356 0 0 0 0 0 0 28.83 28.83 28.83
2786 -0.47 -136.3 283.9 -8.1 281 2787 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 2201 3355 0 0 0 0 0 0 28.83 28.83 28.83
3086 -0.47 -136.3 308.3 -7.8 296 3091 0.00 2.25 0.00 0.000 4 0.000 0.062 3024 3610 3355 0 0 0 0 0 0 28.83 25.66 28.83
3119 -0.47 -136.3 309.9 -7.8 297 3126 0.00 2.15 0.00 0.000 6 0.000 0.044 3024 2194 3355 0 0 0 0 0 0 28.83 25.91 28.83
3426 -0.47 -136.3 336.9 -8.6 313 3432 0.00 2.28 0.00 0.000 4 0.000 0.062 3013 3609 3355 0 0 0 0 0 0 28.83 25.65 28.83
3459 -0.47 -136.3 338.8 -8.7 314 3465 0.00 2.15 0.00 0.000 6 0.000 0.044 3013 2196 3355 0 0 0 0 0 0 28.83 25.91 28.83
3768 -0.47 -136.3 367.3 -9.0 330 3773 0.00 2.22 0.00 0.000 4 0.000 0.062 3004 3604 3355 0 0 0 0 0 0 28.83 25.64 28.83
3807 -0.47 -136.3 371.0 -9.1 332 3813 0.10 2.12 0.00 0.000 6 0.102 0.044 3042 2200 3355 0 0 0 0 0 0 25.69 25.90 28.83
4126 -0.47 -136.3 393.7 -7.0 348 4128 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2198 3355 0 0 0 0 0 0 28.83 28.83 28.83
4436 -0.47 -136.3 414.5 -6.6 360 4442 0.00 2.28 0.00 0.000 4 0.000 0.063 3034 3615 3354 0 0 0 0 0 0 28.83 25.61 28.83
4490 -0.47 -136.3 416.7 -6.7 361 4497 0.00 2.17 0.00 0.000 6 0.000 0.044 3034 2193 3354 0 0 0 0 0 0 28.83 25.89 28.83
4796 -0.47 -136.3 441.8 -7.8 372 4802 0.00 2.28 0.00 0.000 4 0.000 0.063 3024 3612 3353 0 0 0 0 0 0 28.83 25.60 28.83
4826 -0.47 -136.3 444.4 -7.9 373 4832 0.00 2.17 0.00 0.000 6 0.000 0.045 3024 2204 3353 0 0 0 0 0 0 28.83 25.87 28.83
5157 -0.47 -136.3 471.8 -7.9 384 5162 0.00 2.15 0.00 0.000 4 0.000 0.051 3024 802 3353 0 0 0 0 0 0 28.83 25.71 28.83
5194 -0.47 -136.3 474.2 -7.9 385 5198 0.00 2.17 0.00 0.000 6 0.000 0.051 3015 2203 3353 0 0 0 0 0 0 28.83 25.72 28.83
5511 -0.47 -136.3 500.6 -7.9 396 5512 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2203 3352 0 0 0 0 0 0 28.83 28.83 28.83
5812 -0.47 -136.3 523.4 -7.5 406 5813 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2203 3352 0 0 0 0 0 0 28.83 28.83 28.83
5838 end dive: TARGET_DEPTH_EXCEEDED
state 5838 begin apogee
5845 -0.22 0.0 525.6 -7.5 407 5967 0.32 0.00 116.15 0.877 6 0.112 0.000 3124 2342 2794 0 0 0 0 0 0 25.66 28.83 23.66
5970 end apogee: CONTROL_FINISHED_OK
state 5970 begin climb
5974 0.47 136.3 529.8 0.0 411 6103 0.62 2.42 120.45 0.845 4 0.077 0.063 3344 3719 2236 0 0 0 0 0 0 24.87 24.27 23.20
6117 0.49 170.7 523.8 5.7 416 6154 0.00 2.30 30.95 0.820 6 0.000 0.046 3354 2322 2096 0 0 0 0 0 0 28.83 24.49 23.15
6476 0.49 170.7 493.8 8.4 428 6481 0.00 2.20 0.00 0.000 4 0.000 0.054 3364 922 2087 0 0 0 0 0 0 28.83 25.46 28.83
6547 0.49 170.7 488.9 8.2 430 6551 0.00 2.20 0.00 0.000 6 0.000 0.054 3364 2313 2086 0 0 0 0 0 0 28.83 25.53 28.83
6859 0.49 170.7 461.1 8.7 441 6865 0.00 2.30 0.00 0.000 4 0.000 0.065 3364 3739 2085 0 0 0 0 0 0 28.83 25.60 28.83
6898 0.49 170.7 458.3 8.8 442 6902 0.00 2.22 0.00 0.000 6 0.000 0.048 3374 2319 2085 0 0 0 0 0 0 28.83 25.77 28.83
7215 0.49 170.7 429.7 8.3 453 7221 0.00 2.20 0.00 0.000 4 0.000 0.055 3384 917 2085 0 0 0 0 0 0 28.83 25.72 28.83
7253 0.49 170.7 427.3 8.3 454 7258 0.12 2.22 0.00 0.000 6 0.138 0.054 3351 2333 2084 0 0 0 0 0 0 25.61 25.72 28.83
7572 0.49 170.7 403.7 7.3 465 7573 0.00 0.00 0.00 0.000 6 0.000 0.000 3351 2333 2083 0 0 0 0 0 0 28.83 28.83 28.83
7871 0.49 183.5 383.2 6.5 479 7891 0.00 2.30 10.35 0.716 4 0.000 0.066 3351 3727 2045 0 0 0 0 0 0 28.83 25.79 24.28
7907 0.50 198.5 381.8 6.4 480 7927 0.00 2.20 14.38 0.746 6 0.000 0.048 3357 2313 1984 0 0 0 0 0 0 28.83 25.84 24.38
8230 0.50 198.5 355.1 7.7 496 8235 0.00 2.15 0.00 0.000 4 0.000 0.054 3366 932 1979 0 0 0 0 0 0 28.83 25.67 28.83
8282 0.50 198.5 352.0 7.6 498 8289 0.00 2.20 0.00 0.000 6 0.000 0.054 3366 2332 1978 0 0 0 0 0 0 28.83 25.70 28.83
8592 0.50 198.5 325.0 8.2 514 8597 0.00 2.22 0.00 0.000 4 0.000 0.066 3366 3727 1978 0 0 0 0 0 0 28.83 25.65 28.83
8630 0.50 198.5 321.1 9.0 516 8636 0.00 2.20 0.00 0.000 6 0.000 0.047 3376 2320 1978 0 0 0 0 0 0 28.83 25.84 28.83
8950 0.50 198.5 290.9 9.5 532 8951 0.00 0.00 0.00 0.000 6 0.000 0.000 3376 2319 1977 0 0 0 0 0 0 28.83 28.83 28.83
9251 0.50 198.5 264.3 9.0 547 9256 0.00 2.28 0.00 0.000 4 0.000 0.064 3376 3738 1976 0 0 0 0 0 0 28.83 25.67 28.83
9290 0.50 198.5 260.1 9.5 549 9296 0.00 2.20 0.00 0.000 6 0.000 0.047 3385 2324 1977 0 0 0 0 0 0 28.83 25.87 28.83
9610 0.50 198.5 232.0 8.4 565 9616 0.00 2.20 0.00 0.000 4 0.000 0.054 3396 922 1977 0 0 0 0 0 0 28.83 25.75 28.83
9633 0.50 198.5 230.4 8.5 566 9638 0.15 2.20 0.00 0.000 6 0.129 0.054 3353 2328 1976 0 0 0 0 0 0 25.61 25.75 28.83
9947 0.51 233.8 211.1 5.6 582 9979 0.00 0.00 30.42 0.686 6 0.000 0.000 3353 2328 1841 0 0 0 0 0 0 28.83 28.83 24.47
10268 0.52 253.3 191.5 6.2 600 10290 0.00 2.22 17.40 0.651 4 0.000 0.052 3357 921 1760 0 0 0 0 0 0 28.83 25.66 24.48
10332 0.53 271.7 187.9 6.3 603 10354 0.00 2.22 16.60 0.643 6 0.000 0.052 3357 2337 1686 0 0 0 0 0 0 28.83 25.60 24.35
10656 0.53 291.8 167.6 6.2 625 10683 0.00 2.30 17.30 0.631 4 0.000 0.053 3363 927 1603 0 0 0 0 0 0 28.83 25.63 24.48
10710 0.54 310.2 164.5 6.3 628 10732 0.00 2.22 16.85 0.620 6 0.000 0.051 3362 2328 1528 0 0 0 0 0 0 28.83 25.58 24.38
11034 0.54 310.2 141.7 7.2 650 11035 0.00 0.00 0.00 0.000 6 0.000 0.000 3362 2328 1522 0 0 0 0 0 0 28.83 28.83 28.83
11333 0.54 318.7 120.9 6.7 670 11346 0.00 2.30 7.60 0.535 4 0.000 0.053 3368 919 1493 0 0 0 0 0 0 28.83 25.79 24.42
11395 0.55 344.8 117.0 6.0 678 11425 0.00 2.20 22.95 0.608 6 0.000 0.050 3368 2335 1387 0 0 0 0 0 0 28.83 25.75 24.56
11731 0.57 393.6 98.7 5.1 743 11778 0.00 0.00 40.00 0.608 6 0.000 0.000 3368 2335 1188 0 0 0 0 0 0 28.83 28.83 24.49
12086 0.57 393.6 69.6 10.5 811 12093 0.00 2.25 0.00 0.000 4 0.000 0.063 3368 3738 1181 0 0 0 0 0 0 28.83 25.59 28.83
12146 0.57 393.6 62.4 12.0 822 12153 0.00 2.20 0.00 0.000 6 0.000 0.044 3368 2315 1180 0 0 0 0 0 0 28.83 25.80 28.83
12458 0.57 393.6 27.9 11.1 883 12465 0.00 2.17 0.00 0.000 4 0.000 0.050 3368 917 1179 0 0 0 0 0 0 28.83 25.76 28.83
12578 0.57 393.6 14.6 11.4 906 12585 0.00 2.17 0.00 0.000 6 0.000 0.050 3368 2328 1179 0 0 0 0 0 0 28.83 25.79 28.83
12681 end climb: SURFACE_DEPTH_REACHED
state 12681 begin surface coast
12714 end surface coast: CONTROL_FINISHED_OK
state 12714 begin surface