NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 684 * 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  684 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  41 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  26 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  10 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  -1588900.4 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  120313,052605,4748.178,-12513.861,37,1.0,42,18.7 TGT_NAME  OFFSHORE
_CALLS  1 TGT_LATLONG  4700.000,-12700.000
_XMS_NAKs  0 TGT_RADIUS  2500.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.160,-0.151
_SM_DEPTHo  2.11 KALMAN_X  28840.3,-242.5,2380.9,-124483.9,-7867.0
_SM_ANGLEo  -74.7 KALMAN_Y  16218.2,688.6,-1323.7,-71650.8,4158.7
GPS2  120313,053224,4748.244,-12513.772,12,1.0,17,18.7 MHEAD_RNG_PITCHd_Wd  200.4,161199,-13.3,-7.021,-18.50
SPEED_LIMITS  0.122,0.210 D_GRID  526

Post-dive calculations and measurements:
FINISH  1.2,1.024489 _10V_AH  9.8,72.982
SM_CCo  12753,0.00,0.000,0,0,1261,375.80 FG_AHR_24Vo  0.000
SM_GC  2.14,8.20,0.20,0.00,0.024,0.070,0.000,113,2186,1261,-9.47,0.88,375.80,0,0,0,0,0,0,25.96,26.03,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4732.49,-12505.82,120313,010102 MEM  296904
TT8_MAMPS  0.027713,0.027713 DATA_FILE_SIZE  50183,955
HUMID  47.95 CAP_FILE_SIZE  115845,0
INTERNAL_PRESSURE  9.07923 CFSIZE  260165632,200105984
TCM_TEMP  19.10 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  1 CURRENT  0.217, 38.9,1
_24V_AH  23.1,96.189 GPS  120313,090635,4747.651,-12515.117,27,1.4,27,18.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21214106.01 SBE_CT65324362.07
Roll_motor11470186.11 SBE_O257619253.18
VBD_pump_during_apogee4458698940.32 WL_BBFL2VMT000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810367.12 nil000.00
Iridium_during_connect38160142.91 nil000.00
Iridium_during_xfer173223895.61 nil000.00
Transponder_ping04202.43 nil000.00
GUMSTIX_24V000.00
GPS18509.08
TT8237319460.57
LPSleep80902173.64
TT8_Active63119122.55
TT8_Sampling174339680.05
TT8_CF829245131.45
TT8_Kalman000.00
Analog_circuits147412173.37
GPS_charging000.00
Compass148815218.79
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 91 0.00 0.00 -71.38 0.000 2 0.000 0.000 108 2190 2523 0 0 0 0 0 0 28.83 28.83 28.83
95 -0.47 -136.3 3.0 -1.2 13 132 11.68 2.30 -20.45 0.000 4 0.214 0.064 3034 794 3352 0 0 0 0 0 0 24.53 25.44 26.27
161 -0.47 -136.3 14.5 -15.8 24 168 0.00 2.22 0.00 0.000 6 0.000 0.051 3026 2200 3353 0 0 0 0 0 0 28.83 25.44 28.83
474 -0.47 -136.3 61.0 -16.1 85 480 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2200 3353 0 0 0 0 0 0 28.83 28.83 28.83
785 -0.47 -136.3 103.7 -13.2 146 791 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2200 3353 0 0 0 0 0 0 28.83 28.83 28.83
1094 -0.47 -136.3 137.9 -9.1 183 1095 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2200 3353 0 0 0 0 0 0 28.83 28.83 28.83
1394 -0.47 -136.3 165.2 -10.2 203 1403 0.00 2.35 0.00 0.000 4 0.000 0.061 3015 3612 3354 0 0 0 0 0 0 28.83 25.36 28.83
1474 -0.47 -136.3 173.3 -10.1 211 1484 0.00 2.28 0.00 0.000 6 0.000 0.043 3015 2188 3354 0 0 0 0 0 0 28.83 25.67 28.83
1802 -0.47 -136.3 207.6 -10.7 232 1806 0.00 2.17 0.00 0.000 4 0.000 0.050 3015 802 3354 0 0 0 0 0 0 28.83 25.48 28.83
1869 -0.47 -136.3 215.3 -10.9 235 1875 0.12 2.25 0.00 0.000 6 0.135 0.050 3042 2199 3354 0 0 0 0 0 0 25.36 25.48 28.83
2190 -0.47 -136.3 243.4 -8.4 251 2194 0.00 2.33 0.00 0.000 4 0.000 0.063 3033 3609 3354 0 0 0 0 0 0 28.83 25.32 28.83
2257 -0.47 -136.3 248.4 -8.4 254 2261 0.00 2.25 0.00 0.000 6 0.000 0.043 3033 2200 3354 0 0 0 0 0 0 28.83 25.66 28.83
2559 -0.47 -136.3 273.0 -8.4 269 2560 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2198 3354 0 0 0 0 0 0 28.83 28.83 28.83
2860 -0.47 -136.3 297.5 -8.1 284 2861 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2198 3353 0 0 0 0 0 0 28.83 28.83 28.83
3159 -0.47 -136.3 321.4 -8.2 299 3160 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2199 3354 0 0 0 0 0 0 28.83 28.83 28.83
3459 -0.47 -136.3 344.0 -7.3 314 3460 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2199 3353 0 0 0 0 0 0 28.83 28.83 28.83
3760 -0.47 -136.3 364.7 -7.0 329 3761 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2198 3354 0 0 0 0 0 0 28.83 28.83 28.83
4061 -0.47 -136.3 388.3 -8.1 344 4065 0.00 2.30 0.00 0.000 4 0.000 0.063 3023 3612 3353 0 0 0 0 0 0 28.83 25.26 28.83
4097 -0.47 -136.3 390.7 -8.2 345 4101 0.00 2.28 0.00 0.000 6 0.000 0.044 3023 2192 3353 0 0 0 0 0 0 28.83 25.60 28.83
4400 -0.47 -136.3 417.7 -9.1 357 4404 0.00 2.35 0.00 0.000 4 0.000 0.063 3012 3601 3353 0 0 0 0 0 0 28.83 25.25 28.83
4428 -0.47 -136.3 420.6 -9.2 358 4435 0.12 2.25 0.00 0.000 6 0.121 0.044 3049 2197 3353 0 0 0 0 0 0 25.45 25.60 28.83
4759 -0.47 -136.3 447.1 -7.7 369 4760 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 2195 3353 0 0 0 0 0 0 28.83 28.83 28.83
5060 -0.47 -136.3 469.6 -7.6 379 5064 0.00 2.35 0.00 0.000 4 0.000 0.064 3042 3609 3353 0 0 0 0 0 0 28.83 25.22 28.83
5089 -0.47 -136.3 471.8 -7.5 380 5094 0.00 2.28 0.00 0.000 6 0.000 0.045 3041 2183 3353 0 0 0 0 0 0 28.83 25.58 28.83
5419 -0.47 -136.3 494.2 -7.3 391 5425 0.00 2.38 0.00 0.000 4 0.000 0.064 3031 3608 3352 0 0 0 0 0 0 28.83 25.21 28.83
5479 -0.47 -136.3 499.2 -7.8 393 5485 0.00 2.28 0.00 0.000 6 0.000 0.046 3031 2191 3352 0 0 0 0 0 0 28.83 25.58 28.83
5810 -0.47 -136.3 525.1 -7.5 404 5814 0.00 2.35 0.00 0.000 4 0.000 0.064 3021 3602 3352 0 0 0 0 0 0 28.83 25.20 28.83
5836 end dive: TARGET_DEPTH_EXCEEDED
state 5836 begin apogee
5845 -0.22 0.0 527.4 -7.6 405 5968 0.30 0.00 119.47 0.869 6 0.106 0.000 3125 2323 2794 0 0 0 0 0 0 25.51 28.83 23.15
5969 end apogee: CONTROL_FINISHED_OK
state 5969 begin climb
5973 0.47 136.3 531.9 0.0 409 6102 0.62 2.50 122.38 0.842 4 0.078 0.065 3345 3739 2237 0 0 0 0 0 0 24.85 24.58 23.08
6121 0.50 202.6 526.8 4.4 415 6184 0.00 2.33 57.62 0.830 6 0.000 0.046 3355 2337 1968 0 0 0 0 0 0 28.83 24.94 23.20
6503 0.50 202.6 496.2 7.8 428 6507 0.00 2.28 0.00 0.000 4 0.000 0.056 3363 914 1957 0 0 0 0 0 0 28.83 25.48 28.83
6540 0.50 202.6 494.0 7.6 429 6544 0.00 2.30 0.00 0.000 6 0.000 0.054 3363 2323 1957 0 0 0 0 0 0 28.83 25.49 28.83
6853 0.50 202.6 469.2 8.1 440 6858 0.00 2.35 0.00 0.000 4 0.000 0.066 3363 3737 1956 0 0 0 0 0 0 28.83 25.44 28.83
6912 0.50 202.6 463.6 8.8 442 6918 0.00 2.30 0.00 0.000 6 0.000 0.047 3373 2319 1955 0 0 0 0 0 0 28.83 25.66 28.83
7243 0.50 202.6 431.9 10.1 453 7248 0.00 2.25 0.00 0.000 4 0.000 0.055 3382 925 1955 0 0 0 0 0 0 28.83 25.51 28.83
7272 0.50 202.6 428.9 10.1 454 7277 0.00 2.28 0.00 0.000 6 0.000 0.054 3383 2325 1955 0 0 0 0 0 0 28.83 25.51 28.83
7592 0.50 202.6 395.6 9.9 465 7598 0.00 2.38 0.00 0.000 4 0.000 0.066 3382 3745 1955 0 0 0 0 0 0 28.83 25.38 28.83
7621 0.50 202.6 393.5 9.8 466 7631 0.12 2.30 0.00 0.000 6 0.142 0.047 3357 2323 1954 0 0 0 0 0 0 25.46 25.64 28.83
7935 0.50 202.6 367.7 7.8 482 7939 0.00 2.22 0.00 0.000 4 0.000 0.055 3365 913 1954 0 0 0 0 0 0 28.83 25.46 28.83
7982 0.50 202.6 363.6 8.0 484 7988 0.00 2.28 0.00 0.000 6 0.000 0.054 3365 2321 1954 0 0 0 0 0 0 28.83 25.48 28.83
8305 0.50 202.6 338.5 7.5 500 8309 0.00 2.30 0.00 0.000 4 0.000 0.067 3365 3736 1954 0 0 0 0 0 0 28.83 25.32 28.83
8353 0.50 202.6 334.3 8.0 502 8358 0.00 2.28 0.00 0.000 6 0.000 0.047 3375 2323 1953 0 0 0 0 0 0 28.83 25.61 28.83
8672 0.50 202.6 310.4 7.6 518 8678 0.00 2.28 0.00 0.000 4 0.000 0.054 3385 918 1953 0 0 0 0 0 0 28.83 25.44 28.83
8753 0.50 202.6 304.4 7.6 522 8758 0.00 2.28 0.00 0.000 6 0.000 0.054 3385 2328 1953 0 0 0 0 0 0 28.83 25.45 28.83
9072 0.50 202.6 277.3 8.5 538 9073 0.00 0.00 0.00 0.000 6 0.000 0.000 3385 2329 1953 0 0 0 0 0 0 28.83 28.83 28.83
9372 0.50 202.6 251.7 8.6 553 9378 0.00 2.30 0.00 0.000 4 0.000 0.054 3395 918 1953 0 0 0 0 0 0 28.83 25.41 28.83
9402 0.50 202.6 250.1 8.6 554 9411 0.10 2.28 0.00 0.000 6 0.103 0.054 3359 2326 1953 0 0 0 0 0 0 25.25 25.41 28.83
9712 0.51 221.1 228.3 6.3 570 9733 0.00 2.40 15.40 0.666 4 0.000 0.066 3359 3743 1892 0 0 0 0 0 0 28.83 25.30 23.87
9770 0.51 230.6 224.8 6.6 573 9785 0.00 2.30 10.10 0.623 6 0.000 0.047 3365 2318 1853 0 0 0 0 0 0 28.83 25.59 23.85
10094 0.51 230.6 200.7 7.6 590 10099 0.00 2.22 0.00 0.000 4 0.000 0.054 3372 929 1849 0 0 0 0 0 0 28.83 25.44 28.83
10143 0.51 230.6 196.9 7.5 594 10152 0.00 2.28 0.00 0.000 6 0.000 0.053 3372 2328 1848 0 0 0 0 0 0 28.83 25.45 28.83
10455 0.51 238.8 174.8 6.7 615 10472 0.00 2.38 8.15 0.575 4 0.000 0.065 3372 3743 1820 0 0 0 0 0 0 28.83 25.49 24.03
10493 0.51 238.8 171.7 7.6 619 10503 0.00 2.30 0.00 0.000 6 0.000 0.047 3380 2316 1818 0 0 0 0 0 0 28.83 25.67 28.83
10805 0.51 238.8 148.8 7.6 640 10812 0.00 2.22 0.00 0.000 4 0.000 0.054 3388 928 1817 0 0 0 0 0 0 28.83 25.45 28.83
10844 0.51 238.8 145.8 7.5 644 10852 0.00 2.25 0.00 0.000 6 0.000 0.053 3389 2325 1817 0 0 0 0 0 0 28.83 25.46 28.83
11155 0.51 238.8 121.2 8.5 665 11162 0.00 2.30 0.00 0.000 4 0.000 0.065 3388 3745 1816 0 0 0 0 0 0 28.83 25.29 28.83
11260 0.51 238.8 110.5 10.2 684 11268 0.15 2.22 0.00 0.000 6 0.125 0.046 3354 2325 1816 0 0 0 0 0 0 25.41 25.60 28.83
11574 0.54 296.6 91.8 4.7 745 11633 0.00 2.30 49.40 0.605 4 0.000 0.053 3353 918 1583 0 0 0 0 0 0 28.83 25.31 23.85
11666 0.57 372.4 87.7 4.0 761 11739 0.00 2.22 62.83 0.578 6 0.000 0.050 3353 2332 1274 0 0 0 0 0 0 28.83 25.41 23.71
12044 0.57 372.4 56.7 11.0 833 12051 0.00 0.00 0.00 0.000 6 0.000 0.000 3353 2332 1266 0 0 0 0 0 0 28.83 28.83 28.83
12356 0.57 372.4 26.0 9.5 894 12363 0.00 2.22 0.00 0.000 4 0.000 0.052 3353 915 1264 0 0 0 0 0 0 28.83 25.48 28.83
12483 0.57 372.4 14.6 8.7 918 12490 0.00 2.20 0.00 0.000 6 0.000 0.051 3353 2325 1264 0 0 0 0 0 0 28.83 25.50 28.83
12626 end climb: SURFACE_DEPTH_REACHED
state 12627 begin surface coast
12672 end surface coast: CONTROL_FINISHED_OK
state 12672 begin surface