NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 93 * 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  93 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  990 N_FILEKB  4 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  1 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  410 CAPMAXSIZE  100000 LOITER_DBDW  0 LOGGERDEVICE3  -1
T_MISSION  450 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  350 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  0 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  12.881262 SEABIRD_T_G  0.0043000001
RELAUNCH  1 PITCH_DBAND  0.1 FG_AHR_24V  29.593399 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  2200 ALTIM_PULSE  3

Pre-dive calculations and measurements:
GPS1  171020,210109,4750.991,-12512.520,20,1.2,21,15.8 TGT_LATLONG  4747.280,-12520.390
_CALLS  1 TGT_RADIUS  7000.000
_SM_DEPTHo  0.77 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -60.6 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  171020,210609,4750.955,-12512.508,4,0.7,5,15.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.139,0.180 MHEAD_RNG_PITCHd_Wd  219.4,11937,-20.4,-8.049,-24.07
TGT_NAME  OUT9 D_GRID  990

Post-dive calculations and measurements:
SM_CCo  9309.42,0.00,0.014,0,767.6,765.1,770.1,424.96 _10V_AH  14.95,0.000
SM_GC  0.67,0.00,15.87,3.29,0.014,0.103,0.059,767.6,765.1,770.1,180.1,2124.4,0,0,0,30.36,15.84,15.89 FG_AHR_24Vo  29.757
SUPER  19,71,254,1,0,0 FG_AHR_10Vo  12.935
IRIDIUM_FIX  4751.64,-12513.98,171020,183248 MEM  1100828,34,75260,113
TCM_TEMP  194.58 DATA_FILE_SIZE  48138,1325
XPDR_PINGS  1,14.0,11.5 CAP_FILE_SIZE  297837,0
SC_FREEKB  3840608 SDSIZE  3918848,3884608
HUMID  56.15 SDFILEDIR  491,1
TEMP  8.73 ERRORS  0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  7.82383 GPS  171020,234210,4750.949,-12513.422,25,0.8,26,15.8
_24V_AH  14.92,31.898

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump488149110865.81 legato000.00
Pitch_motor34275141.70 nil000.00
Roll_motor162261633.20 nil000.00
Iridium214208667.37 nil000.00
Transponder_ping04201.57 nil000.00
GPS12152.89 nil000.00
Core379111668.78 SciCon9191131891.11
LPSleep56572236.82 nil000.00
Compass21305159.26 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
6.37 16386 -77.86 -1.25 0.00 762.7 765.9 759.5 175.2 2118.4 0.00 0.00 0 79.54 72.64 0.00 0.00 0.005 0.000 0.000 2426.50 2411.38 2441.62 175.31 2118.88 0 0 0 15.69 30.00 30.00
79.86 18727 -77.86 -1.25 80.00 2425.3 2410.0 2440.6 175.2 2119.5 3.67 -4.48 14 111.68 9.44 13.73 3.52 0.007 0.276 0.130 2816.19 2814.12 2818.25 1836.62 3473.19 0 0 0 15.72 15.62 15.67
294.45 1028 -77.86 -1.25 0.00 2816.6 2814.9 2818.4 1836.2 3472.2 50.29 -16.00 57 300.21 0.00 0.00 3.42 0.000 0.000 0.068 2816.78 2815.56 2818.00 1836.44 2084.38 0 0 0 30.00 30.00 15.80
479.49 260 -77.86 -1.25 80.00 2816.6 2814.9 2818.4 1836.5 2085.2 74.27 -11.64 94 485.23 0.00 0.00 3.57 0.000 0.000 0.126 2817.41 2815.44 2819.38 1836.62 3474.50 0 0 0 30.00 30.00 15.85
709.52 1028 -77.86 -1.25 0.00 2817.5 2816.5 2818.5 1836.1 3474.2 103.60 -11.23 140 714.08 0.00 0.00 3.39 0.000 0.000 0.068 2818.53 2817.12 2819.94 1836.62 2081.56 0 0 0 30.00 30.00 15.91
1019.53 260 -77.86 -1.25 80.00 2818.1 2817.8 2818.5 1836.5 2081.8 133.96 -9.88 172 1024.19 0.00 0.00 3.52 0.000 0.000 0.125 2818.22 2818.06 2818.38 1836.69 3474.50 0 0 0 30.00 30.00 15.95
1063.39 1028 -77.86 -1.25 0.00 2817.8 2817.0 2818.7 1836.4 3472.9 138.96 -11.13 181 1070.26 0.00 0.00 3.37 0.000 0.000 0.067 2818.41 2818.19 2818.62 1836.62 2083.75 0 0 0 30.00 30.00 15.95
1369.56 0 -77.86 -1.25 0.00 2818.4 2818.2 2818.6 1836.2 2083.2 170.35 -10.34 212 1370.89 0.00 0.00 0.00 0.000 0.000 0.000 2819.44 2820.12 2818.75 1836.12 2083.19 0 0 0 30.00 30.00 30.00
1669.59 260 -77.86 -1.25 80.00 2818.8 2818.9 2818.6 1836.1 2083.2 197.63 -8.37 242 1674.26 0.00 0.00 3.51 0.000 0.000 0.129 2819.47 2819.75 2819.19 1836.50 3472.19 0 0 0 30.00 30.00 16.00
1749.61 1028 -77.86 -1.25 0.00 2818.8 2818.7 2818.9 1836.7 3471.3 205.61 -10.42 258 1754.24 0.00 0.00 3.34 0.000 0.000 0.070 2818.97 2819.12 2818.81 1836.38 2083.00 0 0 0 30.00 30.00 16.02
2059.65 516 -77.86 -1.25 -80.00 2818.4 2818.5 2818.3 1836.6 2083.2 233.80 -9.79 290 2065.36 0.00 0.00 3.86 0.000 0.000 0.174 2817.38 2817.88 2816.88 1836.19 663.56 0 0 0 30.00 30.00 16.01
2094.64 1028 -77.86 -1.25 0.00 2818.8 2818.9 2818.8 1836.6 663.2 237.56 -10.73 297 2099.21 0.00 0.00 3.47 0.000 0.000 0.066 2819.22 2819.12 2819.31 1836.44 2117.88 0 0 0 30.00 30.00 16.05
2404.69 516 -77.86 -1.25 -80.00 2818.4 2818.4 2818.5 1836.5 2119.9 266.16 -8.98 329 2410.43 0.00 0.00 3.96 0.000 0.000 0.170 2818.16 2817.94 2818.38 1836.38 662.25 0 0 0 30.00 30.00 16.02
2429.78 1028 -77.86 -1.25 0.00 2818.5 2818.4 2818.7 1836.8 662.3 268.57 -9.27 334 2435.28 0.00 0.00 3.47 0.000 0.000 0.067 2818.75 2818.00 2819.50 1835.38 2120.81 0 0 0 30.00 30.00 16.05
2734.74 260 -77.86 -1.25 80.00 2818.9 2818.8 2818.9 1836.4 2120.7 298.61 -10.36 365 2739.39 0.00 0.00 3.44 0.000 0.000 0.134 2819.62 2819.88 2819.38 1836.19 3473.56 0 0 0 30.00 30.00 16.06
2824.78 1028 -77.86 -1.25 0.00 2818.3 2818.4 2818.3 1836.2 3472.9 308.93 -11.41 383 2829.42 0.00 0.00 3.33 0.000 0.000 0.072 2817.84 2818.25 2817.44 1836.06 2083.88 0 0 0 30.00 30.00 16.07
3134.82 260 -77.86 -1.25 80.00 2818.1 2818.5 2817.8 1836.5 2083.5 339.23 -9.38 415 3139.49 0.00 0.00 3.54 0.000 0.000 0.133 2818.12 2818.75 2817.50 1836.75 3473.69 0 0 0 30.00 30.00 16.07
3208.78 1028 -77.86 -1.25 0.00 2817.7 2817.9 2817.5 1837.1 3473.6 347.71 -10.47 430 3215.60 0.00 0.00 3.34 0.000 0.000 0.071 2818.34 2818.19 2818.50 1836.62 2083.25 0 0 0 30.00 30.00 16.08
3514.90 260 -77.86 -1.25 80.00 2817.9 2818.4 2817.4 1836.4 2083.3 376.79 -8.61 461 3519.56 0.00 0.00 3.54 0.000 0.000 0.133 2819.16 2819.75 2818.56 1836.88 3475.19 0 0 0 30.00 30.00 16.08
3578.85 1028 -77.86 -1.25 0.00 2817.7 2818.4 2816.9 1836.3 3474.9 382.99 -9.58 474 3585.64 0.00 0.00 3.34 0.000 0.000 0.071 2818.44 2819.06 2817.81 1836.50 2084.12 0 0 0 30.00 30.00 16.10
3884.98 548 -77.86 -1.25 -80.00 2817.5 2818.1 2816.8 1836.4 2083.9 391.53 -1.79 505 3890.69 0.00 0.00 3.83 0.000 0.000 0.173 2815.91 2817.12 2814.69 1835.94 662.31 0 0 0 30.00 30.00 16.06
4089 end dive: NO_VERTICAL_VELOCITY
state 4089 begin apogee
4095.47 10243 0.00 -0.25 0.00 2817.6 2818.8 2816.4 1836.2 2221.0 391.27 0.00 546 4161.73 61.40 1.62 0.08 1.491 0.111 0.261 2497.84 2509.75 2485.94 2082.69 2182.06 0 0 0 13.27 16.08 15.75
4162 end apogee: CONTROL_FINISHED_OK
state 4162 begin climb
4162.94 10503 77.86 1.25 80.00 2497.2 2509.2 2485.2 2082.3 2182.2 390.73 0.00 553 4237.87 65.89 2.41 3.42 1.455 0.087 0.136 2181.16 2202.75 2159.56 2448.75 3471.50 0 0 0 13.06 15.79 15.50
4459.57 17478 77.86 1.30 0.00 2173.2 2194.9 2151.4 2449.4 3470.7 376.61 6.41 612 4466.39 0.00 0.00 3.13 0.000 0.000 0.065 2171.81 2194.56 2149.06 2449.06 2182.12 0 0 0 30.00 30.00 15.75
4765.76 10535 119.09 1.43 80.00 2168.9 2193.1 2144.6 2448.9 2181.3 359.27 5.16 643 4807.24 34.96 0.22 3.39 1.412 0.095 0.137 2012.47 2041.19 1983.75 2499.00 3471.88 0 0 0 13.15 15.85 15.66
4925.80 1028 119.09 1.43 0.00 2008.9 2037.1 1980.6 2498.5 3472.6 345.85 9.24 675 4930.45 0.00 0.00 3.16 0.000 0.000 0.066 2008.72 2036.12 1981.31 2498.19 2182.69 0 0 0 30.00 30.00 15.79
5235.85 16902 119.09 1.43 -80.00 2005.7 2036.5 1974.8 2498.9 2182.2 319.27 8.38 707 5241.66 0.00 0.00 3.94 0.000 0.000 0.155 2003.81 2034.56 1973.06 2499.19 736.75 0 0 0 30.00 30.00 15.86
5370.90 17414 119.09 1.43 0.00 2003.7 2032.9 1974.4 2498.1 737.2 304.09 11.62 734 5376.52 0.00 0.00 3.58 0.000 0.000 0.065 2003.34 2032.31 1974.38 2499.38 2220.62 0 0 0 30.00 30.00 15.89
5675.96 16902 119.09 1.43 -80.00 2003.5 2033.3 1973.6 2499.4 2220.1 276.75 8.78 765 5681.77 0.00 0.00 3.97 0.000 0.000 0.149 2004.78 2033.94 1975.62 2499.19 736.69 0 0 0 30.00 30.00 15.94
5730.99 17414 119.09 1.43 0.00 2002.7 2031.8 1973.5 2499.0 736.9 271.33 9.67 776 5736.59 0.00 0.00 3.55 0.000 0.000 0.063 2002.66 2030.94 1974.38 2498.19 2219.44 0 0 0 30.00 30.00 15.94
6036.03 16902 119.09 1.43 -80.00 2002.2 2032.0 1972.4 2498.7 2220.9 243.55 9.78 807 6041.84 0.00 0.00 3.97 0.000 0.000 0.148 2001.94 2031.31 1972.56 2497.69 736.56 0 0 0 30.00 30.00 15.98
6094.92 17414 119.09 1.43 0.00 2002.0 2031.7 1972.3 2499.2 737.0 236.75 11.81 819 6101.80 0.00 0.00 3.51 0.000 0.000 0.063 2003.72 2032.75 1974.69 2498.81 2221.94 0 0 0 30.00 30.00 16.00
6401.10 16902 119.09 1.43 -80.00 2001.4 2031.3 1971.6 2499.2 2221.6 207.76 8.81 850 6406.91 0.00 0.00 3.96 0.000 0.000 0.146 2000.03 2029.62 1970.44 2498.75 736.44 0 0 0 30.00 30.00 16.00
6566.16 17414 119.09 1.43 0.00 2000.2 2029.1 1971.4 2499.4 736.5 190.01 10.28 883 6571.76 0.00 0.00 3.54 0.000 0.000 0.064 2000.88 2029.81 1971.94 2498.56 2220.88 0 0 0 30.00 30.00 16.03
6871.23 16966 119.09 1.48 -80.00 2000.3 2029.2 1971.4 2499.4 2220.9 165.59 6.33 914 6877.40 0.00 0.00 3.96 0.000 0.000 0.144 1998.53 2027.25 1969.81 2499.31 735.00 0 0 0 30.00 30.00 16.03
7100.18 17414 119.09 1.48 0.00 1999.8 2028.2 1971.4 2499.1 735.3 145.87 8.90 960 7106.98 0.00 0.00 3.49 0.000 0.000 0.064 2000.91 2029.62 1972.19 2498.88 2222.44 0 0 0 30.00 30.00 16.04
7406.30 16966 119.09 1.50 -80.00 1999.5 2028.0 1971.0 2498.8 2222.4 123.16 7.23 991 7412.09 0.00 0.00 3.95 0.000 0.000 0.141 1997.56 2025.94 1969.19 2499.06 736.50 0 0 0 30.00 30.00 16.01
7581.33 17414 119.09 1.50 0.00 1999.2 2027.8 1970.7 2499.1 736.4 109.37 8.47 1026 7585.89 0.00 0.00 3.47 0.000 0.000 0.062 1998.16 2024.88 1971.44 2497.31 2222.19 0 0 0 30.00 30.00 16.08
7886.38 10535 188.41 1.71 80.00 1999.4 2027.9 1970.9 2499.0 2225.2 96.99 3.19 1068 7947.75 54.08 0.34 3.19 1.203 0.086 0.134 1729.56 1765.25 1693.88 2563.25 3473.19 0 0 0 13.20 16.05 15.81
8001.36 1028 188.41 1.71 0.00 1725.8 1759.9 1691.6 2562.9 3472.9 88.77 9.68 1091 8007.07 0.00 0.00 3.13 0.000 0.000 0.063 1726.22 1760.25 1692.19 2561.94 2181.19 0 0 0 30.00 30.00 15.86
8186.40 16902 188.41 1.71 -80.00 1722.7 1759.8 1685.6 2563.2 2182.0 71.72 7.63 1128 8192.20 0.00 0.00 3.88 0.000 0.000 0.144 1722.59 1759.81 1685.38 2562.81 736.00 0 0 0 30.00 30.00 15.86
8331.45 9254 221.20 1.81 0.00 1722.2 1759.1 1685.4 2562.6 735.9 61.14 5.75 1157 8363.75 26.63 0.00 3.52 1.110 0.000 0.060 1596.97 1637.38 1556.56 2562.50 2224.50 0 0 0 13.14 30.00 15.92
8541.53 10535 256.60 1.91 80.00 1591.8 1632.8 1550.9 2563.0 2224.0 48.57 5.57 1199 8577.88 29.18 0.26 3.24 1.095 0.092 0.132 1452.47 1493.44 1411.50 2612.25 3473.75 0 0 0 13.10 15.86 15.73
8591.58 1092 256.60 1.94 0.00 1451.2 1490.9 1411.5 2612.7 3473.6 44.96 7.33 1209 8597.20 0.00 0.00 3.16 0.000 0.000 0.061 1451.72 1491.00 1412.44 2612.69 2179.06 0 0 0 30.00 30.00 15.78
8776.56 8486 285.96 2.02 80.00 1448.2 1489.4 1407.1 2612.7 2179.4 33.34 5.99 1246 8807.77 24.55 0.00 3.38 1.058 0.000 0.130 1334.09 1376.25 1291.94 2612.56 3472.62 0 0 0 13.16 30.00 15.72
8901.55 1028 285.96 2.02 0.00 1330.2 1369.9 1290.6 2612.8 3472.6 24.48 7.71 1271 8907.38 0.00 0.00 3.13 0.000 0.000 0.061 1330.31 1370.19 1290.44 2612.69 2179.19 0 0 0 30.00 30.00 15.80
9086.59 516 285.96 2.02 -80.00 1329.2 1369.6 1288.9 2612.6 2180.4 9.98 8.34 1308 9092.40 0.00 0.00 3.85 0.000 0.000 0.144 1329.66 1370.19 1289.12 2612.75 735.38 0 0 0 30.00 30.00 15.81
9166 end climb: SURFACE_DEPTH_REACHED
state 9166 begin surface coast
9171 end surface coast: CONTROL_FINISHED_OK
state 9171 begin surface