NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 620 * 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  620 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  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  657.40399 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  3
D_BOOST  3 N_FILEKB  4 R_PORT_OVSHOOT  24 XPDR_VALID  1
D_FINISH  5 FILEMGR  0 R_STBD_OVSHOOT  37 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  540 CALL_TRIES  5 C_VBD  3150 DEVICE2  20
T_MISSION  600 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  -36923.387 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  115 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  054101,4757.235,-12525.215,130,1.2,130,18.8 TGT_NAME  CANYON
_CALLS  5 TGT_LATLONG  4801.600,-12521.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.89 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  055932,4757.505,-12524.828,11,2.0,11,18.8 MHEAD_RNG_PITCHd_Wd  22.7,8944,-13.9,-6.111
SPEED_LIMITS  0.106,0.196 D_GRID  342

Post-dive calculations and measurements:
FINISH  1.2,1.014404 _10V_AH  9.9,64.373
SM_CCo  9602,168.35,0.545,1,0,469,657.40 FG_AHR_24Vo  0.000
SM_GC  1.76,0.00,0.00,168.35,0.000,0.000,0.545,133,2058,469,-8.47,-0.48,657.40 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4742.09,-12522.17,030100,060659 MEM  298344
TT8_MAMPS  0.052156 DATA_FILE_SIZE  66492,1192
HUMID  39.88 CAP_FILE_SIZE  132035,0
INTERNAL_PRESSURE  8.96204 CFSIZE  260165632,215805952
TCM_TEMP  16.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  0 CURRENT  0.108,245.8,1
_24V_AH  23.8,65.571 GPS  091010,084337,4757.941,-12524.882,42,1.1,43,18.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19231109.71 SBE_CT81724466.89
Roll_motor83104206.18 SBE_O292119416.69
VBD_pump_during_apogee3788007218.14 WL_BBFL2VMT16311054078.25
VBD_pump_during_surface1685452185.02 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init134103329.39 nil000.00
Iridium_during_connect249160948.51 nil000.00
Iridium_during_xfer2862231518.46
Transponder_ping04200.00
GUMSTIX_24V000.00
GPS11505.80
TT80190.00
LPSleep63352137.36
TT8_Active58019113.74
TT8_Sampling2910391146.77
TT8_CF8102945466.99
TT8_Kalman000.00
Analog_circuits157812187.52
GPS_charging000.00
Compass25398201.14
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
11 end surface: CONTROL_FINISHED_OK
state 11 begin dive
13 -0.45 -112.4 0.0 0.0 0 52 0.00 0.00 -37.10 0.000 2 0.000 0.000 130 2091 2588 0 0 0 0 0 0
55 -0.45 -112.4 3.1 -3.8 6 100 10.52 2.00 -27.35 0.000 4 0.232 0.064 2701 835 3610 0 0 0 0 0 0
116 -0.40 -112.4 10.9 -14.0 17 122 0.00 1.95 0.00 0.000 6 0.000 0.053 2695 2057 3611 0 0 0 0 0 0
442 -0.39 -112.4 47.0 -11.8 78 448 0.12 1.98 0.00 0.000 4 0.156 0.056 2731 837 3613 0 0 0 0 0 0
535 -0.41 -112.4 55.8 -9.2 95 540 0.00 2.03 0.00 0.000 6 0.000 0.053 2731 2111 3614 0 0 0 0 0 0
863 -0.42 -112.4 76.8 -6.5 156 869 0.00 1.95 0.00 0.000 4 0.000 0.064 2729 3302 3614 0 0 0 0 0 0
939 -0.45 -112.4 82.0 -6.7 170 944 0.00 1.85 0.00 0.000 6 0.000 0.046 2729 2116 3614 0 0 0 0 0 0
1264 -0.47 -112.4 103.3 -5.8 226 1268 0.00 2.00 0.00 0.000 4 0.000 0.054 2729 846 3614 0 0 0 0 0 0
1343 -0.48 -112.4 108.4 -6.2 233 1349 0.00 2.00 0.00 0.000 6 0.000 0.052 2729 2112 3614 0 0 0 0 0 0
1659 -0.51 -112.4 126.4 -6.3 264 1663 0.12 1.95 0.00 0.000 4 0.094 0.064 2663 3312 3613 0 0 0 0 0 0
1744 -0.51 -112.4 134.0 -9.6 272 1748 0.00 1.65 0.00 0.000 6 0.000 0.048 2664 2253 3613 0 0 0 0 0 0
2065 -0.51 -112.4 164.7 -8.7 303 2068 0.00 2.22 0.00 0.000 4 0.000 0.054 2663 849 3612 0 0 0 0 0 0
2118 -0.51 -112.4 169.7 -9.0 308 2122 0.00 2.22 0.00 0.000 6 0.000 0.055 2658 2247 3611 0 0 0 0 0 0
2439 -0.50 -112.4 200.7 -9.4 339 2443 0.12 1.73 0.00 0.000 4 0.150 0.065 2687 3304 3611 0 0 0 0 0 0
2508 -0.52 -112.4 206.0 -7.2 345 2514 0.00 1.62 0.00 0.000 6 0.000 0.048 2688 2263 3611 0 0 0 0 0 0
2826 -0.52 -112.4 230.5 -8.4 376 2830 0.00 2.20 0.00 0.000 4 0.000 0.055 2688 844 3610 0 0 0 0 0 0
2852 -0.52 -112.4 232.8 -8.0 378 2855 0.00 2.25 0.00 0.000 6 0.000 0.054 2681 2260 3609 0 0 0 0 0 0
3173 -0.52 -112.4 262.6 -8.8 409 3176 0.00 1.73 0.00 0.000 4 0.000 0.066 2673 3312 3609 0 0 0 0 0 0
3252 -0.52 -112.4 269.1 -7.8 416 3259 0.00 1.62 0.00 0.000 6 0.000 0.050 2673 2281 3609 0 0 0 0 0 0
3568 -0.52 -112.4 296.6 -8.2 447 3572 0.00 2.28 0.00 0.000 4 0.000 0.058 2673 856 3608 0 0 0 0 0 0
3621 -0.52 -112.4 301.0 -8.6 452 3625 0.00 2.25 0.00 0.000 6 0.000 0.056 2673 2264 3608 0 0 0 0 0 0
3942 -0.52 -112.4 326.6 -9.5 483 3943 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2264 3607 0 0 0 0 0 0
4116 end dive: TARGET_DEPTH_EXCEEDED
state 4116 begin apogee
4121 -0.14 0.0 342.6 7.2 500 4213 0.43 0.00 89.60 0.801 6 0.115 0.000 2811 2002 3151 0 0 0 0 0 0
4213 end apogee: CONTROL_FINISHED_OK
state 4213 begin climb
4216 0.45 112.4 345.3 0.0 509 4318 0.52 2.10 91.40 0.776 4 0.074 0.060 3010 771 2690 0 0 0 0 0 0
4349 0.48 186.0 345.1 3.4 522 4415 0.00 2.03 61.62 0.762 6 0.000 0.054 3010 2003 2391 0 0 0 0 0 0
4725 0.48 186.0 321.6 6.7 558 4728 0.00 2.00 0.00 0.000 4 0.000 0.063 3010 3230 2384 0 0 0 0 0 0
4887 0.47 186.0 308.2 9.1 573 4890 0.00 1.90 0.00 0.000 6 0.000 0.052 3013 2029 2383 0 0 0 0 0 0
5208 0.46 186.0 281.3 8.1 604 5209 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2028 2382 0 0 0 0 0 0
5520 0.46 186.0 254.0 8.8 634 5521 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2028 2381 0 0 0 0 0 0
5830 0.46 186.0 228.4 7.5 664 5833 0.00 1.95 0.00 0.000 4 0.000 0.064 3013 3241 2381 0 0 0 0 0 0
5862 0.44 186.0 225.6 8.5 667 5865 0.00 1.92 0.00 0.000 6 0.000 0.054 3019 2021 2380 0 0 0 0 0 0
6182 0.43 186.0 199.2 8.6 698 6185 0.00 1.98 0.00 0.000 4 0.000 0.064 3019 3231 2381 0 0 0 0 0 0
6262 0.41 186.0 191.6 9.9 705 6268 0.10 1.88 0.00 0.000 6 0.125 0.053 2993 2051 2379 0 0 0 0 0 0
6578 0.41 186.0 169.5 6.7 736 6579 0.00 0.00 0.00 0.000 6 0.000 0.000 2993 2049 2379 0 0 0 0 0 0
6891 0.41 186.0 150.4 6.2 766 6894 0.00 1.90 0.00 0.000 4 0.000 0.064 2992 3242 2379 0 0 0 0 0 0
6911 0.41 186.0 148.9 6.3 768 6915 0.00 1.92 0.00 0.000 6 0.000 0.054 2996 2035 2379 0 0 0 0 0 0
7233 0.43 216.4 130.4 5.0 799 7264 0.00 1.98 24.25 0.665 4 0.000 0.065 2996 3232 2265 0 0 0 0 0 0
7306 0.43 216.4 126.2 6.3 806 7309 0.00 1.88 0.00 0.000 6 0.000 0.053 3000 2063 2264 0 0 0 0 0 0
7627 0.43 216.4 106.2 6.3 837 7630 0.00 2.10 0.00 0.000 4 0.000 0.062 3000 769 2263 0 0 0 0 0 0
7653 0.45 222.6 104.7 5.9 839 7662 0.00 2.08 6.05 0.557 6 0.000 0.056 3000 2065 2242 0 0 0 0 0 0
7982 0.45 226.5 85.6 6.0 894 7993 0.00 1.90 4.75 0.507 4 0.000 0.066 3000 3227 2226 0 0 0 0 0 0
8014 0.45 226.5 83.6 6.3 900 8021 0.00 1.85 0.00 0.000 6 0.000 0.054 3000 2066 2225 0 0 0 0 0 0
8342 0.48 239.0 66.0 5.7 961 8357 0.00 1.88 11.50 0.606 4 0.000 0.064 3000 3240 2175 0 0 0 0 0 0
8418 0.49 239.0 60.7 7.6 975 8423 0.00 1.77 0.00 0.000 6 0.000 0.053 3000 2130 2175 0 0 0 0 0 0
8745 0.55 276.1 42.3 4.7 1036 8779 0.00 1.85 31.00 0.616 4 0.000 0.064 3000 3240 2024 0 0 0 0 0 0
8919 0.61 286.1 32.2 5.7 1068 8936 0.10 1.85 9.48 0.562 6 0.060 0.051 3056 2082 1982 0 0 0 0 0 0
9257 0.66 329.1 15.5 4.5 1131 9297 0.00 2.17 35.42 0.593 4 0.000 0.061 3056 762 1808 0 0 0 0 0 0
9352 0.72 344.5 11.1 5.5 1148 9370 0.00 2.20 13.68 0.561 6 0.000 0.054 3056 2131 1744 0 0 0 0 0 0
9528 end climb: SURFACE_DEPTH_REACHED
state 9528 begin surface coast
9587 end surface coast: CONTROL_FINISHED_OK
state 9587 begin surface