NANOOS Sep12 * SG187 * Dive index * Mission links
version: 66.11
glider: 187
mission: 2
dive: 244
start: 11 8 112 6 23 50
data:
$ID,187
$MISSION,2
$DIVE,244
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$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,500
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031000001
$HD_B,0.0093
$HD_C,4.5000001e-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,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1588062
$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,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.06522
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$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,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$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
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,081112,061630,4735.152,-12541.650,43,1.5,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-78.4
$GPS2,081112,062318,4735.186,-12541.624,9,1.2,14,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,239.7,118516,-13.4,-7.333,-18.42
$D_GRID,1000
$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,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,76,0.00,0.00,-56.78,0.000,2,0.000,0.000,108,2165,2788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.48,-146.0,3.2,-2.8,9,107,11.43,0.00,-12.88,0.000,6,0.219,0.000,3032,2162,3393,0,0,0,0,0,0,25.00,28.83,26.00
$GC,419,-0.48,-146.0,54.7,-11.6,73,425,0.00,2.17,0.00,0.000,4,0.000,0.050,3033,759,3397,0,0,0,0,0,0,28.83,25.62,28.83
$GC,455,-0.48,-146.0,59.2,-11.7,79,462,0.00,2.20,0.00,0.000,6,0.000,0.050,3026,2176,3397,0,0,0,0,0,0,28.83,25.63,28.83
$GC,768,-0.48,-146.0,94.9,-11.9,140,775,0.00,2.28,0.00,0.000,4,0.000,0.062,3015,3579,3398,0,0,0,0,0,0,28.83,25.64,28.83
$GC,838,-0.48,-146.0,103.5,-12.4,153,845,0.00,2.15,0.00,0.000,6,0.000,0.043,3015,2166,3398,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1148,-0.48,-146.0,143.4,-12.8,190,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2164,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1448,-0.48,-146.0,181.6,-12.1,210,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2164,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1754,-0.48,-146.0,216.2,-10.4,228,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2164,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2055,-0.48,-146.0,246.1,-9.3,243,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2164,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2353,-0.48,-146.0,275.3,-10.0,258,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2164,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2654,-0.48,-146.0,306.8,-11.0,273,2659,0.00,2.25,0.00,0.000,4,0.000,0.063,3005,3588,3398,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2693,-0.48,-146.0,311.4,-11.3,275,2700,0.12,2.15,0.00,0.000,6,0.133,0.044,3040,2177,3398,0,0,0,0,0,0,25.79,25.97,28.83
$GC,3013,-0.48,-146.0,341.7,-9.4,291,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2171,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3314,-0.48,-146.0,368.7,-8.6,306,3319,0.00,2.25,0.00,0.000,4,0.000,0.063,3032,3586,3398,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3366,-0.48,-146.0,372.2,-8.7,308,3373,0.00,2.15,0.00,0.000,6,0.000,0.044,3032,2171,3398,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3685,-0.48,-146.0,403.2,-9.6,324,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2168,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3984,-0.48,-146.0,432.3,-9.6,334,3989,0.00,2.22,0.00,0.000,4,0.000,0.063,3022,3579,3397,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4021,-0.48,-146.0,435.4,-9.6,335,4025,0.00,2.15,0.00,0.000,6,0.000,0.045,3022,2168,3397,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4338,-0.48,-146.0,467.6,-9.7,346,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2165,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4639,-0.48,-146.0,494.2,-8.7,356,4645,0.00,2.30,0.00,0.000,4,0.000,0.064,3012,3595,3396,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4711,-0.48,-146.0,499.7,-9.0,358,4716,0.00,2.17,0.00,0.000,6,0.000,0.045,3012,2171,3395,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5024,-0.48,-146.0,530.5,-9.3,369,5029,0.00,2.15,0.00,0.000,4,0.000,0.053,3012,767,3396,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5057,-0.48,-146.0,533.4,-9.2,370,5062,0.12,2.17,0.00,0.000,6,0.143,0.053,3040,2176,3395,0,0,0,0,0,0,25.72,25.86,28.83
$GC,5380,-0.48,-146.0,555.2,-6.4,381,5386,0.00,2.22,0.00,0.000,4,0.000,0.065,3032,3582,3395,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5429,-0.48,-146.0,557.2,-6.3,382,5433,0.00,2.15,0.00,0.000,6,0.000,0.045,3031,2172,3395,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5735,-0.48,-146.0,578.7,-6.6,392,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2170,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6035,-0.48,-146.0,599.6,-7.6,402,6040,0.00,2.28,0.00,0.000,4,0.000,0.065,3021,3593,3394,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6098,-0.48,-146.0,604.6,-7.9,404,6102,0.00,2.17,0.00,0.000,6,0.000,0.046,3021,2170,3394,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6420,-0.48,-146.0,636.7,-10.4,415,6426,0.00,2.28,0.00,0.000,4,0.000,0.065,3011,3589,3393,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6468,-0.48,-146.0,640.0,-10.5,416,6472,0.00,2.17,0.00,0.000,6,0.000,0.046,3011,2168,3393,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6775,-0.48,-146.0,670.5,-8.4,426,6781,0.00,2.25,0.00,0.000,4,0.000,0.065,3001,3584,3392,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6858,-0.48,-146.0,675.8,-8.6,428,6865,0.15,2.17,0.00,0.000,6,0.125,0.047,3045,2165,3392,0,0,0,0,0,0,25.75,25.95,28.83
$GC,7165,-0.48,-146.0,695.0,-5.2,439,7171,0.00,2.30,0.00,0.000,4,0.000,0.067,3037,3588,3392,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7199,-0.48,-146.0,696.7,-5.3,440,7203,0.00,2.20,0.00,0.000,6,0.000,0.047,3037,2165,3392,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7526,-0.48,-146.0,717.9,-6.8,451,7531,0.00,2.25,0.00,0.000,4,0.000,0.066,3027,3578,3391,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7556,-0.48,-146.0,720.0,-6.9,452,7562,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2175,3391,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7886,-0.48,-146.0,745.6,-8.1,463,7891,0.00,2.15,0.00,0.000,4,0.000,0.054,3027,773,3391,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7929,-0.48,-146.0,748.1,-8.2,464,7933,0.00,2.17,0.00,0.000,6,0.000,0.054,3018,2174,3391,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8241,-0.48,-146.0,777.9,-9.1,475,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2175,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8541,-0.48,-146.0,804.9,-9.1,485,8547,0.00,2.28,0.00,0.000,4,0.000,0.067,3007,3592,3390,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8614,-0.48,-146.0,810.5,-9.2,487,8619,0.12,2.17,0.00,0.000,6,0.132,0.047,3042,2172,3390,0,0,0,0,0,0,25.76,25.93,28.83
$GC,8928,-0.48,-146.0,832.2,-5.7,498,8933,0.00,2.25,0.00,0.000,4,0.000,0.067,3035,3577,3390,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8980,-0.48,-146.0,833.7,-5.5,499,8987,0.00,2.17,0.00,0.000,6,0.000,0.048,3035,2164,3390,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9287,-0.48,-146.0,850.7,-4.8,510,9293,0.00,2.30,0.00,0.000,4,0.000,0.067,3025,3582,3389,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9350,-0.48,-146.0,854.0,-5.1,512,9354,0.00,2.17,0.00,0.000,6,0.000,0.048,3025,2171,3389,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9672,-0.48,-146.0,874.1,-6.5,523,9678,0.00,2.25,0.00,0.000,4,0.000,0.067,3016,3576,3388,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9751,-0.48,-146.0,878.6,-7.0,525,9755,0.00,2.17,0.00,0.000,6,0.000,0.048,3016,2167,3389,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10058,-0.48,-146.0,904.4,-8.0,535,10063,0.00,2.28,0.00,0.000,4,0.000,0.067,3007,3583,3388,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10105,-0.48,-146.0,906.8,-8.1,536,10110,0.12,2.17,0.00,0.000,6,0.130,0.048,3043,2173,3388,0,0,0,0,0,0,25.74,25.89,28.83
$GC,10413,-0.48,-146.0,928.1,-6.2,546,10418,0.00,2.30,0.00,0.000,4,0.000,0.067,3035,3590,3388,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10450,-0.48,-146.0,930.0,-6.2,547,10454,0.00,2.20,0.00,0.000,6,0.000,0.048,3034,2173,3387,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10768,-0.48,-146.0,950.9,-6.1,558,10773,0.00,2.28,0.00,0.000,4,0.000,0.068,3026,3584,3387,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10806,-0.48,-146.0,952.9,-6.5,559,10810,0.00,2.17,0.00,0.000,6,0.000,0.048,3026,2174,3387,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11124,-0.48,-146.0,976.1,-7.1,570,11125,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2172,3387,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11331,begin apogee
$GC,11338,-0.22,0.0,990.7,-6.9,577,11472,0.28,0.00,127.97,1.181,6,0.111,0.000,3121,2315,2794,0,0,0,0,0,0,25.77,28.83,23.49
$STATE,11473,end apogee,CONTROL_FINISHED_OK
$STATE,11474,begin climb
$GC,11476,0.48,146.0,993.9,0.0,581,11619,0.65,0.00,135.40,1.147,6,0.079,0.000,3344,2315,2198,0,0,0,0,0,0,24.49,28.83,22.63
$GC,11927,0.48,146.0,956.1,9.8,597,11933,0.00,2.33,0.00,0.000,4,0.000,0.057,3355,900,2188,0,0,0,0,0,0,28.83,24.89,28.83
$GC,11957,0.48,146.0,953.2,9.7,598,11963,0.00,2.28,0.00,0.000,6,0.000,0.056,3354,2295,2187,0,0,0,0,0,0,28.83,24.96,28.83
$GC,12287,0.48,146.0,919.5,10.0,609,12293,0.00,2.33,0.00,0.000,4,0.000,0.068,3355,3716,2186,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12360,0.48,146.0,912.7,10.6,611,12365,0.00,2.25,0.00,0.000,6,0.000,0.050,3365,2304,2186,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12673,0.48,146.0,880.3,9.8,622,12678,0.00,2.33,0.00,0.000,4,0.000,0.067,3365,3716,2185,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12716,0.48,146.0,876.8,10.2,623,12720,0.00,2.25,0.00,0.000,6,0.000,0.050,3376,2295,2185,0,0,0,0,0,0,28.83,25.62,28.83
$GC,13028,0.48,146.0,839.9,11.3,634,13034,0.00,2.35,0.00,0.000,4,0.000,0.068,3376,3726,2185,0,0,0,0,0,0,28.83,25.55,28.83
$GC,13118,0.48,146.0,828.1,12.7,637,13125,0.15,2.28,0.00,0.000,6,0.158,0.050,3349,2297,2184,0,0,0,0,0,0,25.44,25.71,28.83
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$STATE,22707,end climb,SURFACE_DEPTH_REACHED
$STATE,22707,begin surface coast
$FINISH,1.1,1.014205
$STATE,22753,end surface coast,CONTROL_FINISHED_OK
$STATE,22753,begin surface
$SM_CCo,22833,0.00,0.000,0,0,1440,332.14
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$IRIDIUM_FIX,4722.92,-12543.78,071112,232331
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.38
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,22.6,34.462
$10V_AH,10.1,28.733
$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,22.100,192.475,417.800,0.000,0.000,25.144,40.100,204.010,0.000,0.000,15.864,3453.864,15778.303,506.158,3083.078,411.164,0.000,1987.968,0.000,2782.976,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,83.385,1181.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,897.876,781.055,552.920,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296792
$DATA_FILE_SIZE,73423,1304
$CAP_FILE_SIZE,195174,0
$CFSIZE,260165632,237551616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,281.3,1
$GPS,081112,124536,4734.674,-12547.235,35,1.7,35,18.7