NANOOS Jul10 * SG187 * Dive index * Mission links
version: 66.06
glider: 187
mission: 2
dive: 649
start: 10 12 110 21 17 24
data:
$ID,187
$MISSION,2
$DIVE,649
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,540
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,115
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-37736.441
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,2855
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3150
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.597298
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,350
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543768
$SEABIRD_T_H,0.0006249955
$SEABIRD_T_I,2.3401506e-05
$SEABIRD_T_J,2.4672308e-06
$SEABIRD_C_G,-9.9855604
$SEABIRD_C_H,1.1126566
$SEABIRD_C_I,-0.0021479612
$SEABIRD_C_J,0.0002479906
$GPS1,210740,4801.618,-12521.002,11,2.4,31,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-76.9
$GPS2,211716,4801.498,-12520.927,12,2.7,31,18.8
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,CANYON
$TGT_LATLONG,4801.600,-12521.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,293.3,210,-27.7,-6.111
$D_GRID,377
$GCHEAD,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
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.79,-30.0,0.0,0.0,0,72,0.00,0.00,-57.33,0.000,2,0.000,0.000,131,2061,3090,0,0,0,0,0,0
$GC,74,-0.80,-55.7,3.6,-2.6,11,97,10.00,1.92,-6.35,0.000,4,0.230,0.070,2590,843,3378,0,0,0,0,0,0
$GC,338,-0.81,-55.7,59.4,-17.2,60,343,0.00,1.95,0.00,0.000,6,0.000,0.054,2582,2072,3381,0,0,0,0,0,0
$GC,661,-0.81,-55.7,107.4,-13.6,116,665,0.00,2.03,0.00,0.000,4,0.000,0.061,2573,3316,3383,0,0,0,0,0,0
$GC,768,-0.83,-55.7,123.4,-15.3,126,771,0.00,1.92,0.00,0.000,6,0.000,0.048,2573,2094,3383,0,0,0,0,0,0
$GC,1089,-0.83,-55.7,168.9,-13.8,157,1092,0.00,1.98,0.00,0.000,4,0.000,0.062,2564,3319,3382,0,0,0,0,0,0
$GC,1136,-0.83,-55.7,175.8,-14.2,161,1142,0.00,1.92,0.00,0.000,6,0.000,0.048,2564,2096,3383,0,0,0,0,0,0
$GC,1452,-0.83,-55.7,220.2,-14.2,192,1456,0.00,1.98,0.00,0.000,4,0.000,0.063,2555,3305,3382,0,0,0,0,0,0
$GC,1505,-0.83,-55.7,228.1,-15.2,197,1509,0.08,1.88,0.00,0.000,6,0.150,0.049,2577,2110,3382,0,0,0,0,0,0
$GC,1826,-0.84,-55.7,270.6,-12.8,228,1829,0.00,1.98,0.00,0.000,4,0.000,0.065,2571,3313,3382,0,0,0,0,0,0
$GC,1906,-0.85,-55.7,281.4,-13.6,235,1911,0.00,1.88,0.00,0.000,6,0.000,0.048,2571,2120,3381,0,0,0,0,0,0
$GC,2221,-0.86,-55.7,326.6,-14.2,266,2225,0.00,1.95,0.00,0.000,4,0.000,0.064,2563,3306,3381,0,0,0,0,0,0
$GC,2253,-0.86,-55.7,330.9,-13.7,269,2257,0.00,1.85,0.00,0.000,6,0.000,0.050,2563,2131,3381,0,0,0,0,0,0
$GC,2574,-0.86,-55.7,373.4,-13.2,300,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2130,3381,0,0,0,0,0,0
$STATE,2603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2603,begin apogee
$GC,2608,-0.14,0.0,377.9,14.0,303,2657,0.80,0.00,46.60,0.823,6,0.139,0.000,2807,1989,3150,0,0,0,0,0,0
$STATE,2657,end apogee,CONTROL_FINISHED_OK
$STATE,2657,begin climb
$GC,2659,0.80,55.7,380.4,0.0,308,2708,0.88,0.00,46.10,0.798,6,0.071,0.000,3120,1989,2922,0,0,0,0,0,0
$GC,3017,0.81,100.3,378.1,0.0,343,3059,0.00,2.10,36.60,0.804,4,0.000,0.060,3120,3240,2740,0,0,0,0,0,0
$GC,3081,0.79,105.6,376.1,5.4,349,3091,0.00,2.00,5.78,0.624,6,0.000,0.050,3130,1995,2719,0,0,0,0,0,0
$GC,3401,0.78,105.6,346.6,8.7,380,3404,0.00,2.05,0.00,0.000,4,0.000,0.061,3130,3236,2717,0,0,0,0,0,0
$GC,3593,0.76,105.6,328.1,9.1,398,3597,0.12,1.92,0.00,0.000,6,0.163,0.051,3102,2027,2716,0,0,0,0,0,0
$GC,3913,0.76,105.6,305.0,7.3,429,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2027,2716,0,0,0,0,0,0
$GC,4226,0.76,105.6,281.5,8.0,459,4229,0.00,1.98,0.00,0.000,4,0.000,0.062,3102,3245,2715,0,0,0,0,0,0
$GC,4470,0.76,105.6,260.8,7.9,482,4474,0.00,1.92,0.00,0.000,6,0.000,0.051,3109,2028,2715,0,0,0,0,0,0
$GC,4792,0.76,105.6,238.2,6.7,513,4795,0.00,1.95,0.00,0.000,4,0.000,0.062,3109,3237,2714,0,0,0,0,0,0
$GC,4948,0.74,105.6,225.3,8.5,527,4952,0.00,1.90,0.00,0.000,6,0.000,0.051,3119,2020,2714,0,0,0,0,0,0
$GC,5262,0.74,105.6,199.5,8.4,558,5266,0.00,2.00,0.00,0.000,4,0.000,0.063,3119,3237,2713,0,0,0,0,0,0
$GC,5509,0.73,105.6,176.9,8.8,581,5512,0.15,1.85,0.00,0.000,6,0.186,0.051,3090,2034,2713,0,0,0,0,0,0
$GC,5829,0.73,105.6,154.8,6.2,612,5833,0.00,1.95,0.00,0.000,4,0.000,0.062,3090,3230,2713,0,0,0,0,0,0
$GC,5941,0.73,105.6,147.7,6.1,622,5947,0.00,1.88,0.00,0.000,6,0.000,0.051,3097,2030,2713,0,0,0,0,0,0
$GC,6256,0.73,105.7,128.9,6.1,653,6260,0.00,1.98,0.00,0.000,4,0.000,0.061,3097,3237,2713,0,0,0,0,0,0
$GC,6369,0.73,105.7,121.5,7.2,663,6374,0.00,1.88,0.00,0.000,6,0.000,0.051,3106,2048,2713,0,0,0,0,0,0
$GC,6685,0.73,105.7,103.0,6.1,694,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2049,2713,0,0,0,0,0,0
$GC,7003,0.74,116.2,84.6,4.7,749,7015,0.00,0.00,8.98,0.604,6,0.000,0.000,3106,2049,2675,0,0,0,0,0,0
$GC,7336,0.74,128.0,68.6,4.5,811,7352,0.00,1.90,11.10,0.612,4,0.000,0.061,3106,3246,2628,0,0,0,0,0,0
$GC,7422,0.75,132.2,64.0,5.5,827,7434,0.00,1.90,5.25,0.515,6,0.000,0.051,3116,2051,2609,0,0,0,0,0,0
$GC,7758,0.75,144.8,50.3,4.4,889,7775,0.00,1.92,11.48,0.601,4,0.000,0.061,3115,3236,2558,0,0,0,0,0,0
$GC,8016,0.76,162.6,38.3,3.7,937,8038,0.00,1.83,16.02,0.604,6,0.000,0.050,3124,2084,2485,0,0,0,0,0,0
$GC,8361,0.80,197.3,30.7,1.4,1001,8395,0.00,1.92,28.98,0.608,4,0.000,0.062,3124,3244,2344,0,0,0,0,0,0
$GC,8636,0.82,198.9,17.0,5.9,1052,8642,0.00,1.83,0.00,0.000,6,0.000,0.051,3133,2097,2340,0,0,0,0,0,0
$GC,8962,0.86,217.3,5.0,3.6,1113,8985,0.00,1.88,16.55,0.577,4,0.000,0.064,3133,3239,2263,0,0,0,0,0,0
$STATE,9009,end climb,SURFACE_DEPTH_REACHED
$STATE,9009,begin surface coast
$FINISH,1.0,1.024064
$STATE,9084,end surface coast,CONTROL_FINISHED_OK
$STATE,9084,begin surface
$SM_CCo,9101,67.90,0.363,1,0,1722,350.04
$SM_GC,1.78,0.00,0.00,67.90,0.000,0.000,0.363,130,2077,1722,-8.52,0.06,350.04
$IRIDIUM_FIX,4745.30,-12524.03,060100,212147
$TT8_MAMPS,0.05369
$HUMID,40.74
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,24.1,68.687
$10V_AH,9.8,67.713
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.025,65.825,233.425,67.900,0.000,60.100,113.889,186.655,0.500,0.000,32.622,0.000,5862.837,357.963,2865.127,642.411,0.000,1297.479,0.000,2484.157,0.000,5.037,0.000
$DEVICE_MAMPS,230.100,76.700,822.991,362.791,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,780.885,859.662,1568.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298404
$DATA_FILE_SIZE,63370,1136
$CAP_FILE_SIZE,114956,0
$CFSIZE,260165632,213823488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.129, 51.0,1
$GPS,121010,235130,4802.217,-12520.980,49,1.3,50,18.8