NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 663 * 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  663 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  170 CAPMAXSIZE  100000 LOITER_DBDW  0 LOGGERDEVICE3  -1
T_MISSION  190 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  7200 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  60.389992 SEABIRD_T_G  0.0043000001
RELAUNCH  1 PITCH_DBAND  0.1 FG_AHR_24V  164.48332 SEABIRD_T_H  0.00063999998
APOGEE_PITCH  -5 PITCH_CNV  0.0041299998 PHONE_SUPPLY  2 SEABIRD_T_I  2.4999999e-05
MAX_BUOY  80 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  220221,023539,4738.421,-12542.240,41,1.1,45,15.8 TGT_LATLONG  4742.620,-12530.490
_CALLS  2 TGT_RADIUS  7000.000
_SM_DEPTHo  0.75 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -60.6 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  220221,024352,4738.475,-12542.124,3,1.1,6,15.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.170,0.192 MHEAD_RNG_PITCHd_Wd  46.3,16404,-24.0,-9.804,-27.02
TGT_NAME  IN8 D_GRID  1000

Post-dive calculations and measurements:
SM_CCo  9610.31,2.07,0.259,0,768.4,772.6,764.2,424.75 _10V_AH  14.70,0.000
SM_GC  0.50,2.07,16.98,0.09,0.259,0.068,0.138,768.4,772.6,764.2,172.8,2074.6,0,0,0,12.18,15.49,15.65 FG_AHR_24Vo  164.666
SUPER  27,71,254,1,0,0 FG_AHR_10Vo  60.426
IRIDIUM_FIX  4740.09,-12541.18,220221,023850 MEM  1099880,54,75788,114
TCM_TEMP  193.49 DATA_FILE_SIZE  48215,1247
XPDR_PINGS  3,14.0,11.5 CAP_FILE_SIZE  496627,0
SC_FREEKB  3605536 SDSIZE  3918848,3736608
HUMID  57.36 SDFILEDIR  3341,1
TEMP  8.17 ERRORS  0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  7.79975 GPS  220221,052500,4738.639,-12540.645,33,0.9,33,15.8
_24V_AH  14.04,194.591

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump527265419661.98 legato000.00
Pitch_motor37245127.61 nil000.00
Roll_motor170252604.92 nil000.00
Iridium249208730.30 nil000.00
Transponder_ping04204.42 nil000.00
GPS15153.36 nil000.00
Core382811664.16 SciCon94786899.63
LPSleep60492248.99 nil000.00
Compass20955154.03 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
7.56 16386 -77.86 -1.43 0.00 760.2 765.6 754.8 171.5 2116.8 0.00 0.00 0 87.69 79.54 0.00 0.00 0.005 0.000 0.000 2493.66 2477.44 2509.88 171.44 2120.62 0 0 0 14.94 30.00 30.00
87.97 18983 -77.86 -1.43 -80.00 2493.0 2475.9 2510.0 171.6 2120.2 3.27 -4.09 15 119.95 8.32 14.10 4.24 0.007 0.245 0.151 2816.75 2813.12 2820.38 1791.88 663.94 0 0 0 15.11 15.18 14.93
342.81 1028 -77.86 -1.43 0.00 2816.0 2811.6 2820.3 1792.2 664.2 57.53 -20.13 66 348.56 0.00 0.00 3.58 0.000 0.000 0.053 2816.81 2812.38 2821.25 1792.12 2118.19 0 0 0 30.00 30.00 15.63
527.95 516 -77.86 -1.43 -80.00 2816.5 2812.0 2821.1 1791.9 2118.2 86.54 -14.52 103 533.74 0.00 0.00 4.18 0.000 0.000 0.144 2819.22 2814.81 2823.62 1791.62 662.06 0 0 0 30.00 30.00 15.41
651.81 1028 -77.86 -1.43 0.00 2816.9 2812.8 2821.0 1791.5 662.0 107.01 -16.08 128 658.69 0.00 0.00 3.54 0.000 0.000 0.048 2816.81 2812.75 2820.88 1792.12 2122.12 0 0 0 30.00 30.00 15.67
957.99 260 -77.86 -1.43 80.00 2816.7 2812.8 2820.6 1792.0 2122.2 145.13 -11.88 159 963.72 0.00 0.00 3.69 0.000 0.000 0.109 2816.69 2812.62 2820.75 1790.94 3474.62 0 0 0 30.00 30.00 15.54
1046.84 1028 -77.86 -1.43 0.00 2816.8 2812.6 2820.9 1791.9 3473.6 156.93 -13.18 177 1053.77 0.00 0.00 3.40 0.000 0.000 0.055 2817.78 2813.50 2822.06 1792.31 2080.25 0 0 0 30.00 30.00 15.64
1353.08 260 -77.86 -1.43 80.00 2816.8 2812.7 2820.9 1791.9 2080.9 192.67 -11.84 208 1358.84 0.00 0.00 3.82 0.000 0.000 0.106 2814.59 2810.19 2819.00 1792.50 3474.75 0 0 0 30.00 30.00 15.55
1431.92 1028 -77.86 -1.43 0.00 2816.7 2812.0 2821.3 1791.6 3475.2 202.55 -12.21 224 1438.85 0.00 0.00 3.42 0.000 0.000 0.056 2816.47 2812.25 2820.69 1791.94 2079.88 0 0 0 30.00 30.00 15.65
1738.17 260 -77.86 -1.43 80.00 2816.6 2812.1 2821.1 1791.6 2080.4 237.71 -12.10 255 1743.80 0.00 0.00 3.83 0.000 0.000 0.106 2815.56 2811.38 2819.75 1791.44 3475.38 0 0 0 30.00 30.00 15.55
1787.00 1028 -77.86 -1.43 0.00 2816.5 2811.8 2821.3 1791.6 3475.8 243.90 -12.71 265 1793.92 0.00 0.00 3.41 0.000 0.000 0.056 2817.00 2812.69 2821.31 1791.88 2082.25 0 0 0 30.00 30.00 15.64
2093.21 260 -77.86 -1.43 80.00 2817.3 2812.7 2821.9 1791.9 2082.2 277.80 -10.45 296 2098.83 0.00 0.00 3.82 0.000 0.000 0.107 2816.59 2812.94 2820.25 1791.75 3475.06 0 0 0 30.00 30.00 15.54
2148.22 1028 -77.86 -1.43 0.00 2816.6 2812.0 2821.2 1791.6 3475.2 284.08 -10.99 307 2152.77 0.00 0.00 3.42 0.000 0.000 0.056 2818.78 2813.94 2823.62 1791.44 2080.31 0 0 0 30.00 30.00 15.65
2458.26 516 -77.86 -1.43 -80.00 2816.8 2812.1 2821.6 1791.9 2080.2 316.65 -10.44 339 2464.07 0.00 0.00 4.11 0.000 0.000 0.152 2816.00 2811.12 2820.88 1792.19 662.94 0 0 0 30.00 30.00 15.40
2497.16 1028 -77.86 -1.43 0.00 2816.8 2812.2 2821.3 1791.9 663.2 321.36 -11.91 347 2504.02 0.00 0.00 3.52 0.000 0.000 0.049 2818.09 2813.50 2822.69 1791.56 2120.94 0 0 0 30.00 30.00 15.71
2803.30 260 -77.86 -1.43 80.00 2817.1 2812.7 2821.5 1791.8 2121.4 353.21 -10.79 378 2808.91 0.00 0.00 3.71 0.000 0.000 0.111 2819.25 2814.25 2824.25 1790.38 3474.50 0 0 0 30.00 30.00 15.52
2848.30 1028 -77.86 -1.43 0.00 2816.9 2812.1 2821.8 1791.8 3474.9 358.34 -12.38 387 2852.87 0.00 0.00 3.41 0.000 0.000 0.056 2819.31 2814.44 2824.19 1791.62 2081.75 0 0 0 30.00 30.00 15.63
3158.35 516 -77.86 -1.43 -80.00 2816.5 2812.1 2820.9 1792.1 2082.3 391.44 -10.37 419 3164.14 0.00 0.00 4.09 0.000 0.000 0.152 2815.22 2811.00 2819.44 1792.00 663.56 0 0 0 30.00 30.00 15.38
3197.23 1028 -77.86 -1.43 0.00 2816.9 2811.8 2822.0 1791.9 662.9 395.82 -11.54 427 3204.10 0.00 0.00 3.52 0.000 0.000 0.051 2818.53 2814.12 2822.94 1791.50 2120.62 0 0 0 30.00 30.00 15.68
3503.37 260 -77.86 -1.43 80.00 2816.7 2812.1 2821.3 1792.4 2120.9 427.78 -10.53 458 3509.11 0.00 0.00 3.71 0.000 0.000 0.112 2818.62 2814.62 2822.62 1791.12 3474.62 0 0 0 30.00 30.00 15.50
3548.36 1028 -77.86 -1.43 0.00 2816.9 2812.6 2821.2 1791.4 3474.6 432.86 -12.25 467 3552.92 0.00 0.00 3.45 0.000 0.000 0.058 2819.06 2814.38 2823.75 1791.06 2083.38 0 0 0 30.00 30.00 15.62
3858.41 516 -77.86 -1.43 -80.00 2816.3 2812.1 2820.6 1792.0 2083.4 463.80 -10.56 499 3864.24 0.00 0.00 4.14 0.000 0.000 0.156 2814.88 2810.44 2819.31 1791.88 663.12 0 0 0 30.00 30.00 15.34
3903.42 1028 -77.86 -1.43 0.00 2816.9 2812.3 2821.6 1791.8 663.2 469.03 -11.60 508 3908.99 0.00 0.00 3.53 0.000 0.000 0.052 2817.12 2813.12 2821.12 1791.69 2120.44 0 0 0 30.00 30.00 15.68
4198 end dive: TARGET_DEPTH_EXCEEDED
state 4198 begin apogee
4199.65 10243 0.00 -0.25 0.00 2816.2 2812.1 2820.2 1791.8 2083.4 500.61 -11.27 538 4270.30 65.54 2.19 0.07 1.645 0.147 0.253 2501.38 2508.81 2493.94 2078.62 2118.62 0 0 0 11.01 15.48 15.19
4272 end apogee: CONTROL_FINISHED_OK
state 4272 begin climb
4272.73 10759 77.86 1.43 -80.00 2498.4 2505.4 2491.3 2079.8 2118.8 502.87 0.00 545 4351.96 69.88 2.95 4.28 1.598 0.083 0.140 2179.12 2191.69 2166.56 2491.81 663.88 0 0 0 12.11 15.32 14.96
4429.87 11303 120.96 1.56 0.00 2174.5 2187.4 2161.5 2491.4 663.6 495.07 6.19 576 4475.39 40.17 0.17 3.62 1.550 0.087 0.046 2005.91 2024.38 1987.44 2530.25 2123.88 0 0 0 11.67 15.23 15.34
4779.90 16646 120.96 1.56 80.00 1997.1 2021.3 1972.8 2530.1 2124.4 460.73 10.61 616 4785.52 0.00 0.00 3.75 0.000 0.000 0.111 1997.00 2021.81 1972.19 2530.12 3474.31 0 0 0 30.00 30.00 15.48
4818.73 17414 120.96 1.56 0.00 1996.5 2020.3 1972.8 2530.3 3474.3 455.75 12.98 624 4825.67 0.00 0.00 3.44 0.000 0.000 0.056 1996.41 2020.38 1972.44 2530.06 2081.12 0 0 0 30.00 30.00 15.57
5124.98 16646 120.96 1.56 80.00 1995.2 2020.2 1970.1 2529.9 2081.0 422.29 10.08 655 5130.59 0.00 0.00 3.84 0.000 0.000 0.110 1993.75 2019.06 1968.44 2530.62 3473.50 0 0 0 30.00 30.00 15.53
5139.98 17414 120.96 1.56 0.00 1995.0 2020.2 1969.9 2530.3 3473.7 420.27 11.20 658 5144.53 0.00 0.00 3.44 0.000 0.000 0.055 1994.25 2019.56 1968.94 2531.06 2080.06 0 0 0 30.00 30.00 15.64
5450.03 16902 120.96 1.56 -80.00 1994.2 2020.5 1967.9 2530.5 2078.6 387.13 10.06 690 5455.81 0.00 0.00 4.00 0.000 0.000 0.137 1994.59 2020.88 1968.31 2530.12 662.88 0 0 0 30.00 30.00 15.47
5598.98 17414 120.96 1.56 0.00 1992.7 2017.7 1967.7 2530.0 662.9 367.61 13.23 720 5605.84 0.00 0.00 3.52 0.000 0.000 0.048 1992.91 2017.88 1967.94 2530.81 2124.75 0 0 0 30.00 30.00 15.72
5905.13 16386 120.96 1.56 0.00 1991.9 2017.2 1966.6 2530.4 2124.9 337.76 9.52 751 5906.46 0.00 0.00 0.00 0.000 0.000 0.000 1992.12 2017.25 1967.00 2530.81 2125.25 0 0 0 30.00 30.00 30.00
6205.18 16710 120.96 1.60 80.00 1991.0 2017.5 1964.6 2530.4 2125.8 311.04 8.50 781 6210.80 0.00 0.00 3.72 0.000 0.000 0.112 1990.34 2016.44 1964.25 2530.69 3474.69 0 0 0 30.00 30.00 15.54
6244.00 17414 120.96 1.60 0.00 1991.0 2017.0 1965.1 2529.7 3475.2 307.14 9.54 789 6250.93 0.00 0.00 3.42 0.000 0.000 0.056 1990.84 2016.81 1964.88 2530.56 2079.06 0 0 0 30.00 30.00 15.68
6550.22 16966 120.96 1.64 -80.00 1990.8 2017.1 1964.6 2530.6 2078.6 280.27 8.61 820 6555.92 0.00 0.00 3.99 0.000 0.000 0.136 1989.97 2016.44 1963.50 2530.69 662.88 0 0 0 30.00 30.00 15.44
6605.24 17414 120.96 1.64 0.00 1990.1 2015.8 1964.4 2531.1 662.8 274.51 10.28 831 6609.90 0.00 0.00 3.49 0.000 0.000 0.046 1990.47 2014.88 1966.06 2530.81 2128.38 0 0 0 30.00 30.00 15.76
6915.26 10535 148.56 1.72 80.00 1990.1 2016.2 1964.1 2530.7 2128.7 249.98 7.49 863 6946.66 23.58 0.17 3.65 1.340 0.091 0.113 1892.75 1918.19 1867.31 2567.56 3472.75 0 0 0 11.25 15.74 15.52
7045.26 1028 148.56 1.72 0.00 1889.6 1915.1 1864.0 2567.2 3473.1 236.35 11.18 889 7049.82 0.00 0.00 3.44 0.000 0.000 0.056 1890.81 1915.94 1865.69 2567.38 2080.19 0 0 0 30.00 30.00 15.61
7355.30 260 148.56 1.72 80.00 1888.1 1915.8 1860.5 2567.7 2079.4 203.07 11.52 921 7360.94 0.00 0.00 3.85 0.000 0.000 0.108 1888.19 1915.62 1860.75 2567.06 3474.44 0 0 0 30.00 30.00 15.49
7414.14 1028 148.56 1.72 0.00 1887.7 1915.9 1859.5 2567.8 3474.3 195.37 12.74 933 7421.05 0.00 0.00 3.45 0.000 0.000 0.055 1888.00 1915.75 1860.25 2568.06 2080.06 0 0 0 30.00 30.00 15.62
7720.34 0 148.56 1.72 0.00 1887.0 1915.4 1858.6 2567.4 2079.5 159.03 11.28 964 7721.66 0.00 0.00 0.00 0.000 0.000 0.000 1887.31 1915.50 1859.12 2567.19 2079.56 0 0 0 30.00 30.00 30.00
8020.35 260 148.56 1.72 80.00 1886.7 1915.4 1858.1 2567.6 2080.1 127.28 10.17 994 8025.98 0.00 0.00 3.85 0.000 0.000 0.108 1888.66 1917.25 1860.06 2566.81 3473.12 0 0 0 30.00 30.00 15.50
8035.36 1028 148.56 1.72 0.00 1886.9 1915.6 1858.2 2567.5 3474.1 125.74 9.58 997 8040.92 0.00 0.00 3.42 0.000 0.000 0.052 1885.31 1913.50 1857.12 2567.56 2076.56 0 0 0 30.00 30.00 15.65
8340.40 8486 177.14 1.81 80.00 1886.3 1915.2 1857.3 2568.1 2076.8 99.55 7.41 1028 8371.94 25.28 0.00 3.81 1.175 0.000 0.107 1777.91 1808.06 1747.75 2566.38 3475.50 0 0 0 11.49 30.00 15.52
8420.37 1028 177.14 1.81 0.00 1773.3 1802.7 1743.9 2567.6 3474.6 92.14 9.77 1044 8426.26 0.00 0.00 3.44 0.000 0.000 0.051 1773.09 1802.56 1743.62 2567.69 2076.12 0 0 0 30.00 30.00 15.60
8605.42 580 177.14 1.83 -80.00 1772.1 1802.6 1741.5 2568.1 2076.3 74.91 9.09 1081 8611.25 0.00 0.00 4.01 0.000 0.000 0.132 1773.34 1803.06 1743.62 2566.25 662.81 0 0 0 30.00 30.00 15.40
8835.45 11303 260.45 2.08 0.00 1771.9 1801.9 1741.9 2567.4 663.1 62.41 2.82 1127 8912.77 69.97 0.51 3.49 1.148 0.060 0.044 1439.38 1471.56 1407.19 2650.81 2131.19 0 0 0 11.68 15.47 15.66
9090.58 580 260.45 2.10 -80.00 1431.1 1467.6 1394.5 2651.6 2132.1 46.78 9.13 1178 9096.44 0.00 0.00 4.16 0.000 0.000 0.127 1431.16 1467.75 1394.56 2651.31 662.94 0 0 0 30.00 30.00 15.34
9320.60 17414 260.45 2.10 0.00 1429.8 1465.2 1394.5 2651.9 662.9 15.07 15.21 1224 9326.36 0.00 0.00 3.54 0.000 0.000 0.047 1430.44 1465.81 1395.06 2651.31 2125.44 0 0 0 30.00 30.00 15.59
9420 end climb: SURFACE_DEPTH_REACHED
state 9420 begin surface coast
9435 end surface coast: CONTROL_FINISHED_OK
state 9435 begin surface