NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 687 * 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  10
MISSION  2 ESCAPE_HEADING  0 ROLL_MAX  3800 ALTIM_TOP_TURN_MARGIN  0
DIVE  687 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  350
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2000 ALTIM_PING_DELTA  25
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  3 N_FILEKB  4 R_PORT_OVSHOOT  33 XPDR_VALID  1
D_FINISH  5 FILEMGR  0 R_STBD_OVSHOOT  22 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  300 CALL_TRIES  5 C_VBD  3150 DEVICE2  20
T_MISSION  480 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  -38527.254 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  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  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  091137,4743.155,-12556.082,91,2.0,91,18.7 TGT_NAME  PATCH
_CALLS  2 TGT_LATLONG  4743.200,-12556.100
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.07 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -76.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  092336,4743.064,-12556.125,17,1.0,33,18.7 MHEAD_RNG_PITCHd_Wd  347.6,255,-28.3,-11.000
SPEED_LIMITS  0.191,0.307 D_GRID  1000

Post-dive calculations and measurements:
FINISH  1.4,1.023915 _10V_AH  9.8,70.735
SM_CCo  13577,37.10,0.482,1,0,1722,350.04 FG_AHR_24Vo  0.000
SM_GC  2.71,0.00,0.00,37.10,0.000,0.000,0.482,143,2081,1722,-8.47,0.20,350.04 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4722.92,-12555.30,100100,090955 MEM  298388
TT8_MAMPS  0.05369 DATA_FILE_SIZE  66577,1135
HUMID  42.71 CAP_FILE_SIZE  152796,0
INTERNAL_PRESSURE  9.0304 CFSIZE  260165632,211787776
TCM_TEMP  15.60 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS  0 CURRENT  0.052,167.9,1
_24V_AH  22.1,73.884 GPS  161010,131236,4744.577,-12556.016,91,0.9,91,18.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20229103.77 SBE_CT78524416.89
Roll_motor11580205.35 SBE_O287319366.63
VBD_pump_during_apogee400123010883.05 WL_BBFL2VMT11231052606.80
VBD_pump_during_surface37481394.93 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init62103141.38 nil000.00
Iridium_during_connect94160332.52 nil000.00
Iridium_during_xfer3112231537.16
Transponder_ping642060.33
GUMSTIX_24V000.00
GPS335016.38
TT80190.00
LPSleep100512215.72
TT8_Active53519103.95
TT8_Sampling2887391126.11
TT8_CF883845376.20
TT8_Kalman000.00
Analog_circuits156812184.46
GPS_charging000.00
Compass24108188.96
RAFOS000.00
Transponder553016.21

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
13 -0.83 -72.2 0.0 0.0 0 63 0.00 0.00 -48.00 0.000 2 0.000 0.000 131 2056 2843 0 0 0 0 0 0
66 -0.88 -155.8 3.0 -2.5 9 105 9.90 1.95 -22.23 0.000 4 0.229 0.068 2563 850 3785 0 0 0 0 0 0
201 -0.88 -155.8 38.2 -27.0 34 207 0.00 1.98 0.00 0.000 6 0.000 0.054 2556 2084 3787 0 0 0 0 0 0
525 -0.89 -155.8 105.9 -18.8 92 529 0.00 1.98 0.00 0.000 4 0.000 0.063 2547 3313 3789 0 0 0 0 0 0
594 -0.92 -155.8 118.7 -17.7 98 600 0.00 1.92 0.00 0.000 6 0.000 0.048 2547 2087 3789 0 0 0 0 0 0
910 -0.93 -155.8 178.4 -18.5 129 913 0.00 2.00 0.00 0.000 4 0.000 0.063 2538 3313 3790 0 0 0 0 0 0
1000 -0.96 -155.8 194.5 -17.2 137 1006 0.00 1.90 0.00 0.000 6 0.000 0.048 2537 2105 3789 0 0 0 0 0 0
1316 -0.97 -155.8 252.2 -17.9 168 1319 0.00 1.95 0.00 0.000 4 0.000 0.064 2529 3302 3790 0 0 0 0 0 0
1369 -0.99 -155.8 261.9 -18.9 173 1372 0.00 1.88 0.00 0.000 6 0.000 0.048 2528 2110 3789 0 0 0 0 0 0
1690 -1.00 -155.8 320.9 -17.9 204 1694 0.00 2.00 0.00 0.000 4 0.000 0.056 2528 846 3789 0 0 0 0 0 0
1738 -1.02 -155.8 329.8 -17.9 208 1743 0.00 2.00 0.00 0.000 6 0.000 0.056 2519 2103 3789 0 0 0 0 0 0
2053 -1.02 -155.8 389.1 -18.9 239 2057 0.00 2.00 0.00 0.000 4 0.000 0.057 2519 847 3787 0 0 0 0 0 0
2095 -1.02 -155.8 397.2 -19.4 243 2099 0.00 2.00 0.00 0.000 6 0.000 0.057 2510 2102 3788 0 0 0 0 0 0
2418 -1.02 -155.8 459.9 -19.8 274 2420 0.00 1.95 0.00 0.000 4 0.000 0.058 2510 846 3787 0 0 0 0 0 0
2450 -1.02 -155.8 466.3 -19.2 277 2452 0.00 1.98 0.00 0.000 6 0.000 0.058 2501 2097 3787 0 0 0 0 0 0
2770 -1.02 -155.8 531.7 -20.6 308 2773 0.00 1.95 0.00 0.000 4 0.000 0.064 2491 3305 3786 0 0 0 0 0 0
2818 -1.02 -155.8 541.6 -20.4 312 2824 0.10 1.90 0.00 0.000 6 0.153 0.052 2522 2103 3786 0 0 0 0 0 0
3135 -1.03 -155.8 600.4 -18.3 343 3138 0.00 1.95 0.00 0.000 4 0.000 0.067 2515 3299 3785 0 0 0 0 0 0
3194 -1.05 -155.8 611.5 -17.6 344 3199 0.00 1.85 0.00 0.000 6 0.000 0.053 2514 2119 3785 0 0 0 0 0 0
3502 -1.06 -155.8 667.8 -18.1 355 3503 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2119 3785 0 0 0 0 0 0
3806 -1.07 -155.8 723.0 -18.1 365 3807 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2119 3784 0 0 0 0 0 0
4110 -1.09 -155.8 776.2 -17.6 375 4113 0.00 1.95 0.00 0.000 4 0.000 0.069 2506 3305 3783 0 0 0 0 0 0
4163 -1.10 -155.8 785.6 -17.4 376 4166 0.00 1.88 0.00 0.000 6 0.000 0.052 2506 2125 3783 0 0 0 0 0 0
4479 -1.11 -155.8 840.0 -17.1 387 4480 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2123 3782 0 0 0 0 0 0
4780 -1.13 -155.8 891.2 -16.8 397 4783 0.00 1.95 0.00 0.000 4 0.000 0.069 2497 3308 3782 0 0 0 0 0 0
4844 -1.14 -155.8 902.2 -16.6 399 4847 0.00 1.85 0.00 0.000 6 0.000 0.054 2497 2130 3781 0 0 0 0 0 0
5181 -1.14 -155.8 961.7 -17.8 410 5182 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2130 3781 0 0 0 0 0 0
5359 end dive: TARGET_DEPTH_EXCEEDED
state 5359 begin apogee
5365 -0.14 0.0 993.6 17.5 416 5504 1.02 0.00 136.18 1.230 6 0.144 0.000 2805 1993 3150 0 0 0 0 0 0
5504 end apogee: CONTROL_FINISHED_OK
state 5504 begin climb
5506 0.88 155.8 998.3 0.0 420 5654 0.95 0.00 145.38 1.190 6 0.055 0.000 3145 1992 2515 0 0 0 0 0 0
5935 0.86 155.8 943.3 17.5 435 5938 0.00 2.10 0.00 0.000 4 0.000 0.065 3145 3230 2509 0 0 0 0 0 0
6015 0.83 155.8 928.6 18.4 437 6019 0.12 2.00 0.00 0.000 6 0.186 0.055 3121 2008 2508 0 0 0 0 0 0
6335 0.81 155.8 878.6 15.3 448 6338 0.00 2.03 0.00 0.000 4 0.000 0.067 3121 3237 2507 0 0 0 0 0 0
6420 0.80 155.8 864.0 16.2 450 6423 0.00 1.98 0.00 0.000 6 0.000 0.055 3128 2013 2507 0 0 0 0 0 0
6734 0.78 155.8 813.7 15.9 461 6737 0.00 2.00 0.00 0.000 4 0.000 0.066 3127 3236 2506 0 0 0 0 0 0
6841 0.76 155.8 795.4 18.0 464 6844 0.15 1.90 0.00 0.000 6 0.202 0.055 3102 2026 2505 0 0 0 0 0 0
7165 0.76 155.8 748.8 14.4 475 7168 0.00 1.98 0.00 0.000 4 0.000 0.066 3102 3229 2505 0 0 0 0 0 0
7250 0.76 155.8 735.6 14.9 477 7253 0.00 1.88 0.00 0.000 6 0.000 0.055 3109 2040 2505 0 0 0 0 0 0
7564 0.76 155.8 687.5 15.2 488 7567 0.00 1.95 0.00 0.000 4 0.000 0.066 3109 3237 2505 0 0 0 0 0 0
7644 0.75 155.8 674.9 15.4 490 7647 0.00 1.88 0.00 0.000 6 0.000 0.054 3118 2064 2504 0 0 0 0 0 0
7964 0.75 155.8 627.0 14.5 501 7966 0.00 1.88 0.00 0.000 4 0.000 0.064 3118 3243 2504 0 0 0 0 0 0
8011 0.73 155.8 619.3 16.8 502 8014 0.10 1.88 0.00 0.000 6 0.175 0.054 3098 2070 2503 0 0 0 0 0 0
8325 0.73 155.8 578.3 12.8 522 8328 0.00 1.88 0.00 0.000 4 0.000 0.065 3097 3236 2503 0 0 0 0 0 0
8368 0.73 155.8 572.3 14.0 526 8371 0.00 1.85 0.00 0.000 6 0.000 0.054 3104 2080 2503 0 0 0 0 0 0
8688 0.73 155.8 530.3 12.3 557 8691 0.00 1.88 0.00 0.000 4 0.000 0.065 3104 3243 2503 0 0 0 0 0 0
8710 0.73 155.8 527.7 13.1 559 8712 0.00 1.83 0.00 0.000 6 0.000 0.056 3113 2077 2502 0 0 0 0 0 0
9030 0.73 155.8 487.6 12.6 590 9034 0.00 1.88 0.00 0.000 4 0.000 0.064 3113 3230 2503 0 0 0 0 0 0
9110 0.73 155.8 477.5 12.5 597 9116 0.10 1.83 0.00 0.000 6 0.164 0.054 3092 2092 2502 0 0 0 0 0 0
9426 0.73 160.9 443.9 10.5 628 9429 0.00 1.88 0.00 0.000 4 0.000 0.066 3092 3237 2502 0 0 0 0 0 0
9474 0.73 160.9 438.1 12.4 632 9478 0.00 1.77 0.00 0.000 6 0.000 0.054 3098 2096 2502 0 0 0 0 0 0
9788 0.73 160.9 398.8 12.3 663 9792 0.00 1.88 0.00 0.000 4 0.000 0.065 3098 3232 2502 0 0 0 0 0 0
9832 0.73 160.9 393.0 13.8 667 9835 0.00 1.80 0.00 0.000 6 0.000 0.054 3107 2094 2502 0 0 0 0 0 0
10152 0.73 160.9 349.2 13.7 698 10156 0.00 1.88 0.00 0.000 4 0.000 0.064 3107 3233 2502 0 0 0 0 0 0
10184 0.73 160.9 344.8 14.5 701 10188 0.00 1.83 0.00 0.000 6 0.000 0.055 3116 2094 2502 0 0 0 0 0 0
10505 0.73 160.9 304.5 12.5 732 10509 0.00 1.88 0.00 0.000 4 0.000 0.064 3116 3232 2502 0 0 0 0 0 0
10569 0.73 160.9 296.1 13.1 738 10581 0.10 1.80 3.75 0.525 6 0.164 0.054 3094 2109 2494 0 0 0 0 0 0
10891 0.75 163.3 260.8 10.8 769 10899 0.00 0.00 4.03 0.541 6 0.000 0.000 3094 2108 2484 0 0 0 0 0 0
11210 0.76 167.5 226.5 10.6 800 11220 0.00 1.85 5.38 0.607 4 0.000 0.065 3094 3244 2467 0 0 0 0 0 0
11289 0.76 167.5 217.3 12.0 807 11296 0.00 1.80 0.00 0.000 6 0.000 0.054 3101 2117 2467 0 0 0 0 0 0
11605 0.77 167.5 182.7 11.4 838 11608 0.00 1.80 0.00 0.000 4 0.000 0.064 3100 3241 2467 0 0 0 0 0 0
11673 0.77 167.5 174.6 12.0 844 11679 0.00 1.77 0.00 0.000 6 0.000 0.054 3109 2128 2467 0 0 0 0 0 0
11989 0.77 167.9 140.2 11.0 875 11993 0.00 2.20 0.00 0.000 4 0.000 0.061 3120 773 2467 0 0 0 0 0 0
11999 0.78 177.5 139.1 10.0 876 12014 0.00 2.15 10.43 0.650 6 0.000 0.058 3120 2113 2425 0 0 0 0 0 0
12330 0.78 177.5 100.9 11.8 908 12334 0.00 1.85 0.00 0.000 4 0.000 0.064 3120 3237 2424 0 0 0 0 0 0
12471 0.78 182.8 85.5 10.5 933 12482 0.00 1.75 6.05 0.559 6 0.000 0.053 3128 2140 2404 0 0 0 0 0 0
12806 0.81 211.7 55.4 8.1 995 12835 0.00 1.83 24.92 0.629 4 0.000 0.064 3128 3236 2286 0 0 0 0 0 0
13022 0.85 240.4 33.8 8.1 1035 13050 0.00 1.73 24.40 0.608 6 0.000 0.051 3136 2157 2169 0 0 0 0 0 0
13372 0.91 288.9 16.3 6.1 1100 13416 0.00 2.30 39.78 0.597 4 0.000 0.060 3147 763 1971 0 0 0 0 0 0
13542 end climb: SURFACE_DEPTH_REACHED
state 13542 begin surface coast
13558 end surface coast: CONTROL_FINISHED_OK
state 13558 begin surface