NANOOS Jun15 * SG187 * Dive index * Mission links
version: 66.12
glider: 187
mission: 8
dive: 167
start: 7 27 115 10 58 39
data:
$ID,187
$MISSION,8
$DIVE,167
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53572
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026964601
$HD_B,0.0099003203
$HD_C,2.26204e-06
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,8
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3850
$C_PITCH,3394
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,44
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,440
$ROLL_MAX,4000
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3900
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00050000002
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-164.55209
$PRESSURE_SLOPE,0.0001068
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043979231
$SEABIRD_T_H,0.00063691288
$SEABIRD_T_I,2.4734132e-05
$SEABIRD_T_J,2.9167527e-06
$SEABIRD_C_G,-9.67243
$SEABIRD_C_H,1.1076213
$SEABIRD_C_I,-0.0017588359
$SEABIRD_C_J,0.00021615655
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,1.0
$PM_XMITRAW,0.0
$PM_NDIVE,2.0
$PM_MOTORS,1.0
$GPS1,270715,104701,4746.6401,-12524.8145,29,0.9,29,16.5,0.3,282.7,9,4.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-78.8
$GPS2,270715,105811,4746.5835,-12524.9053,2,0.8,3,16.5,0.3,246.0,10,8.2
$SPEED_LIMITS,0.127,0.207
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,55.8,20705,-14.8,-7.333,-19.49,2243
$D_GRID,768
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,28,-0.39,-107.1,85,1895,1215,1410,0.0,0.0,0,101,0.00,0.00,-65.43,0.000,16386,0.000,0.000,85,1896,3112,3081,3143,0,0,0,0,0,0,14.55,28.83,14.57
$GC,107,-0.39,-107.1,85,1896,3082,3144,3.8,-5.8,7,137,13.65,2.83,-4.20,0.000,18948,0.359,2.198,3259,489,3379,3355,3403,0,0,0,0,0,0,14.07,13.26,14.39
$GC,374,-0.39,-107.1,3259,489,3356,3411,56.7,-14.4,56,386,0.00,2.50,0.00,0.000,1030,0.000,0.094,3259,1905,3384,3357,3412,0,0,0,0,0,0,14.47,14.36,14.49
$GC,568,-0.39,-107.1,3259,1905,3356,3414,77.1,-10.1,75,579,0.00,2.55,0.00,0.000,516,0.000,0.108,3259,473,3385,3356,3414,0,0,0,0,0,0,14.64,14.37,14.65
$GC,665,-0.39,-107.1,3259,477,3356,3415,87.8,-12.1,91,677,0.00,2.53,0.00,0.000,1030,0.000,0.092,3259,1911,3385,3357,3414,0,0,0,0,0,0,14.51,14.42,14.53
$GC,868,-0.39,-107.1,3259,1911,3357,3414,111.2,-11.2,111,879,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1911,3385,3356,3414,0,0,0,0,0,0,14.70,14.69,14.69
$GC,1060,-0.39,-107.1,3259,1911,3356,3414,130.8,-9.9,130,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1911,3385,3357,3414,0,0,0,0,0,0,14.70,14.71,14.71
$GC,1253,-0.39,-107.1,3259,1911,3356,3414,150.3,-10.4,149,1264,0.00,2.55,0.00,0.000,516,0.000,0.109,3255,487,3385,3356,3414,0,0,0,0,0,0,14.71,14.43,14.72
$GC,1360,-0.39,-107.1,3258,487,3355,3414,162.3,-11.1,168,1373,0.00,2.50,0.00,0.000,1030,0.000,0.095,3259,1900,3385,3356,3414,0,0,0,0,0,0,14.57,14.45,14.58
$GC,1554,-0.39,-107.1,3259,1902,3355,3414,180.6,-9.1,187,1565,0.00,2.53,0.00,0.000,260,0.000,0.107,3259,3322,3384,3355,3414,0,0,0,0,0,0,14.71,14.42,14.76
$GC,1631,-0.39,-107.1,3258,3321,3355,3414,186.8,-8.3,199,1642,0.00,2.53,0.00,0.000,1030,0.000,0.094,3263,1890,3384,3355,3414,0,0,0,0,0,0,14.54,14.44,14.57
$GC,1834,-0.39,-107.1,3258,1889,3354,3414,204.4,-8.6,219,1845,0.00,2.47,0.00,0.000,516,0.000,0.109,3256,493,3381,3349,3413,0,0,0,0,0,0,14.75,14.45,14.73
$GC,1876,-0.39,-107.1,3259,493,3353,3414,208.5,-9.9,225,1887,0.00,2.47,0.00,0.000,1030,0.000,0.092,3259,1902,3383,3353,3414,0,0,0,0,0,0,14.58,14.47,14.61
$GC,2078,-0.39,-107.1,3258,1902,3352,3417,227.2,-9.3,245,2089,0.00,2.53,0.00,0.000,260,0.000,0.108,3259,3320,3383,3352,3414,0,0,0,0,0,0,14.73,14.45,14.76
$GC,2159,-0.39,-107.1,3259,3320,3352,3414,234.3,-9.1,258,2172,0.00,2.50,0.00,0.000,1030,0.000,0.096,3259,1907,3382,3352,3413,0,0,0,0,0,0,14.58,14.47,14.60
$GC,2353,-0.39,-107.1,3259,1907,3351,3413,253.4,-10.3,275,2364,0.00,2.53,0.00,0.000,516,0.000,0.109,3259,477,3382,3351,3414,0,0,0,0,0,0,14.73,14.45,14.74
$GC,2449,-0.39,-107.1,3258,477,3351,3414,264.0,-11.5,291,2460,0.00,2.50,0.00,0.000,1030,0.000,0.093,3259,1899,3383,3353,3414,0,0,0,0,0,0,14.59,14.46,14.61
$GC,2777,-0.39,-107.1,3259,1901,3349,3414,296.3,-9.6,303,2788,0.00,2.53,0.00,0.000,260,0.000,0.109,3259,3322,3381,3349,3413,0,0,0,0,0,0,14.76,14.46,14.77
$GC,2883,-0.39,-107.1,3256,3322,3348,3413,306.7,-9.8,321,2894,0.00,2.55,0.00,0.000,1030,0.000,0.096,3259,1887,3383,3348,3419,0,0,0,0,0,0,14.59,14.47,14.62
$GC,3225,-0.39,-107.1,3259,1887,3345,3413,341.9,-10.2,337,3236,0.00,2.47,0.00,0.000,516,0.000,0.109,3264,492,3378,3344,3413,0,0,0,0,0,0,14.76,14.47,14.78
$GC,3420,-0.39,-107.1,3259,492,3345,3413,364.1,-11.6,373,3431,0.00,2.47,0.00,0.000,1030,0.000,0.095,3259,1899,3379,3345,3413,0,0,0,0,0,0,14.61,14.50,14.63
$GC,3762,-0.39,-107.1,3256,1899,3344,3412,397.8,-9.7,389,3773,0.00,2.53,0.00,0.000,260,0.000,0.109,3259,3321,3377,3343,3412,0,0,0,0,0,0,14.75,14.47,14.78
$GC,3858,-0.39,-107.1,3258,3321,3342,3417,406.9,-9.6,405,3869,0.00,2.53,0.00,0.000,1030,0.000,0.096,3259,1899,3377,3342,3412,0,0,0,0,0,0,14.61,14.50,14.64
$GC,4180,-0.39,-107.1,3259,1899,3341,3407,437.8,-9.1,417,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1898,3376,3341,3412,0,0,0,0,0,0,14.77,14.79,14.79
$GC,4481,-0.39,-107.1,3258,1898,3340,3412,463.1,-8.3,427,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1898,3376,3340,3412,0,0,0,0,0,0,14.77,14.79,14.78
$GC,4780,-0.39,-107.1,3259,1895,3335,3411,486.8,-7.5,437,4791,0.00,2.58,0.00,0.000,260,0.000,0.110,3259,3322,3375,3339,3411,0,0,0,0,0,0,14.78,14.47,14.79
$GC,4831,-0.39,-107.1,3259,3322,3339,3410,490.4,-6.8,445,4843,0.00,2.55,0.00,0.000,1030,0.000,0.098,3260,1891,3375,3339,3411,0,0,0,0,0,0,14.60,14.47,14.64
$GC,5164,-0.39,-107.1,3263,1889,3339,3410,511.2,-5.9,459,5175,0.00,2.50,0.00,0.000,516,0.000,0.112,3259,476,3372,3338,3406,0,0,0,0,0,0,14.76,14.46,14.79
$GC,5217,-0.39,-107.1,3259,476,3338,3409,514.6,-6.7,467,5229,0.00,2.47,0.00,0.000,1030,0.000,0.094,3259,1899,3373,3338,3409,0,0,0,0,0,0,14.54,14.47,14.58
$GC,5550,-0.39,-107.1,3258,1898,3337,3410,532.3,-5.3,481,5561,0.00,2.55,0.00,0.000,260,0.000,0.109,3259,3322,3373,3337,3409,0,0,0,0,0,0,14.77,14.46,14.78
$GC,5658,-0.39,-107.1,3259,3322,3337,3408,537.4,-4.9,499,5669,0.00,2.53,0.00,0.000,1030,0.000,0.098,3259,1903,3372,3337,3408,0,0,0,0,0,0,14.60,14.52,14.62
$GC,6001,-0.39,-107.1,3259,1902,3336,3408,556.0,-5.4,515,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1902,3372,3336,3408,0,0,0,0,0,0,14.77,14.79,14.79
$GC,6305,-0.39,-107.1,3258,1902,3334,3408,571.9,-5.2,525,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1902,3371,3334,3408,0,0,0,0,0,0,14.77,14.79,14.78
$GC,6601,-0.39,-107.1,3259,1902,3334,3407,588.8,-5.8,535,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1902,3370,3333,3408,0,0,0,0,0,0,14.77,14.78,14.78
$GC,6900,-0.39,-107.1,3259,1902,3333,3407,606.9,-6.7,545,6911,0.00,2.53,0.00,0.000,516,0.000,0.113,3259,484,3368,3333,3404,0,0,0,0,0,0,14.77,14.46,14.78
$GC,6962,-0.39,-107.1,3261,484,3332,3407,611.4,-7.1,555,6973,0.00,2.50,0.00,0.000,1030,0.000,0.097,3259,1900,3369,3332,3407,0,0,0,0,0,0,14.60,14.48,14.63
$GC,7289,-0.39,-107.1,3259,1900,3332,3406,631.3,-6.2,567,7300,0.00,2.55,0.00,0.000,260,0.000,0.110,3259,3323,3369,3333,3406,0,0,0,0,0,0,14.76,14.44,14.78
$GC,7351,-0.39,-107.1,3259,3327,3333,3406,635.4,-6.1,577,7362,0.00,2.58,0.00,0.000,1030,0.000,0.099,3259,1888,3369,3333,3406,0,0,0,0,0,0,14.59,14.46,14.62
$GC,7673,-0.39,-107.1,3259,1888,3332,3406,657.0,-6.7,589,7684,0.00,2.60,0.00,0.000,260,0.000,0.111,3259,3323,3368,3332,3405,0,0,0,0,0,0,14.76,14.44,14.78
$GC,7725,-0.39,-107.1,3258,3323,3332,3404,660.5,-6.7,597,7736,0.00,2.55,0.00,0.000,1030,0.000,0.099,3259,1891,3368,3332,3405,0,0,0,0,0,0,14.59,14.47,14.62
$GC,8057,-0.39,-107.1,3258,1891,3326,3405,682.0,-6.2,611,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1891,3367,3330,3405,0,0,0,0,0,0,14.78,14.78,14.77
$GC,8358,-0.39,-107.1,3258,1891,3330,3405,701.4,-6.4,621,8369,0.00,2.60,0.00,0.000,260,0.000,0.111,3259,3323,3366,3330,3403,0,0,0,0,0,0,14.76,14.43,14.77
$GC,8424,-0.39,-107.1,3259,3323,3330,3405,705.9,-6.6,632,8436,0.00,2.55,0.00,0.000,1030,0.000,0.098,3259,1907,3367,3330,3405,0,0,0,0,0,0,14.59,14.46,14.61
$GC,8736,-0.39,-107.1,3258,1907,3330,3405,725.9,-6.4,643,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1907,3366,3328,3405,0,0,0,0,0,0,14.75,14.77,14.77
$GC,9030,-0.39,-107.1,3259,1907,3329,3408,745.0,-6.5,653,9042,0.00,2.53,0.00,0.000,516,0.000,0.114,3259,485,3370,3335,3405,0,0,0,0,0,0,14.73,14.42,14.77
$GC,9098,-0.39,-107.1,3259,485,3324,3404,750.1,-7.8,664,9110,0.00,2.53,0.00,0.000,1030,0.000,0.096,3259,1914,3366,3328,3404,0,0,0,0,0,0,14.59,14.48,14.62
$STATE,9373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9373,begin apogee
$GC,9384,-0.16,0.0,3261,2247,3328,3399,768.9,-6.8,674,9475,0.28,0.00,82.00,1.636,10246,0.133,0.000,3348,2246,2942,2882,3002,0,0,0,0,0,0,14.47,14.06,13.45
$STATE,9477,end apogee,CONTROL_FINISHED_OK
$STATE,9477,begin climb
$GC,9482,0.39,107.1,3348,2247,2878,3000,769.6,0.0,677,9589,0.47,2.72,85.03,1.601,10756,0.111,0.111,3517,838,2501,2387,2616,0,0,0,0,0,0,14.04,13.81,13.28
$GC,9619,0.42,158.5,3516,838,2385,2616,765.9,5.0,701,9673,0.00,2.60,41.12,1.584,9222,0.000,0.097,3517,2262,2292,2158,2426,0,0,0,0,0,0,14.07,13.99,13.29
$GC,9994,0.42,158.5,3513,2261,2158,2425,737.8,8.4,724,10005,0.00,2.60,0.00,0.000,260,0.000,0.114,3517,3661,2291,2158,2425,0,0,0,0,0,0,14.45,14.19,14.47
$GC,10038,0.42,158.5,3516,3661,2157,2426,733.8,9.9,730,10049,0.00,2.60,0.00,0.000,1030,0.000,0.100,3516,2236,2291,2158,2425,0,0,0,0,0,0,14.33,14.21,14.35
$GC,10380,0.42,158.5,3517,2236,2158,2425,704.7,8.2,746,10390,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,2236,2291,2158,2425,0,0,0,0,0,0,14.59,14.62,14.61
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$STATE,19277,end climb,SURFACE_DEPTH_REACHED
$STATE,19277,begin surface coast
$FINISH,-0.1,1.023482
$STATE,19334,end surface coast,CONTROL_FINISHED_OK
$STATE,19334,begin surface
$SM_CCo,19365,17.42,0.088,0,0,1309,400.08
$SM_GC,0.93,9.65,0.65,17.42,0.036,0.111,0.088,82,1891,1309,-10.27,0.42,400.08,0,0,0,0,0,0,14.47,14.42,14.42
$IRIDIUM_FIX,4729.30,-12526.30,270715,050435
$TT8_MAMPS,0.020223,0.020223
$HUMID,48.38
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3873920
$24V_AH,13.26,45.755
$10V_AH,13.59,0.000
$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,24.200,184.900,316.000,17.425,0.000,0.000,0.000,353.575,0.000,0.000,4.847,3046.538,12237.059,567.611,3101.596,1073.988,0.000,2643.096,0.000,2147.701,0.000,0.537,0.000
$DEVICE_MAMPS,358.785,2197.845,1635.570,87.975,0.000,0.000,0.000,152.235,420.000,0.000,15.000,10.870,2.190,10.870,29.600,35.590,0.000,11.600,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19363.000,487.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.920,7.461,0.000,0.000
$MEM,286380
$DATA_FILE_SIZE,49919,1395
$CAP_FILE_SIZE,249591,0
$CFSIZE,260034560,238133248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,306.85,1
$GPS,270715,162334,4747.938,-12523.088,52,1.5,54,16.5,0.9,296.7,8,10.0