NANOOS Sep12 * SG187 * Dive index * Mission links
version: 66.11
glider: 187
mission: 2
dive: 841
start: 4 20 113 19 53 5
data:
$ID,187
$MISSION,2
$DIVE,841
$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,470
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$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,140
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$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,-1590044
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,23
$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,20
$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
$GPS1,200413,194613,4749.214,-12515.363,46,2.5,66,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-77.3
$GPS2,200413,195233,4749.197,-12515.275,10,2.2,29,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,PARKING
$TGT_LATLONG,4749.600,-12515.250
$TGT_RADIUS,3000.000
$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,298.7,747,-26.8,-7.021,-30.00
$D_GRID,482
$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,14,begin dive
$GC,17,-0.85,-36.8,0.0,0.0,0,66,0.00,0.00,-46.88,0.000,2,0.000,0.000,107,2191,2620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.86,-62.3,3.4,-3.7,8,96,11.20,2.28,-9.27,0.000,4,0.216,0.061,2908,797,3051,0,0,0,0,0,0,24.54,25.37,26.16
$GC,182,-0.86,-62.3,34.0,-24.3,28,189,0.00,2.20,0.00,0.000,6,0.000,0.048,2899,2203,3053,0,0,0,0,0,0,28.83,25.27,28.83
$GC,494,-0.86,-62.3,100.2,-18.2,89,501,0.00,2.28,0.00,0.000,4,0.000,0.058,2888,3615,3054,0,0,0,0,0,0,28.83,25.03,28.83
$GC,539,-0.86,-62.3,109.1,-19.5,97,546,0.00,2.20,0.00,0.000,6,0.000,0.042,2888,2200,3055,0,0,0,0,0,0,28.83,25.37,28.83
$GC,862,-0.86,-62.3,165.9,-16.7,126,869,0.00,2.20,0.00,0.000,4,0.000,0.049,2888,793,3055,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1009,-0.86,-62.3,191.4,-16.0,141,1018,0.15,2.30,0.00,0.000,6,0.169,0.049,2913,2208,3055,0,0,0,0,0,0,24.73,25.11,28.83
$GC,1325,-0.86,-62.3,238.8,-14.6,158,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2208,3055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1624,-0.86,-62.3,282.5,-14.0,173,1629,0.00,2.30,0.00,0.000,4,0.000,0.048,2913,786,3055,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1745,-0.86,-62.3,299.8,-14.5,179,1749,0.00,2.28,0.00,0.000,6,0.000,0.050,2904,2198,3055,0,0,0,0,0,0,28.83,25.06,28.83
$GC,2064,-0.86,-62.3,346.4,-14.7,195,2069,0.00,2.28,0.00,0.000,4,0.000,0.047,2904,791,3055,0,0,0,0,0,0,28.83,25.05,28.83
$GC,2184,-0.86,-62.3,363.8,-14.5,201,2189,0.00,2.30,0.00,0.000,6,0.000,0.050,2894,2200,3055,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2505,-0.86,-62.3,411.4,-14.7,216,2509,0.00,2.30,0.00,0.000,4,0.000,0.060,2883,3612,3055,0,0,0,0,0,0,28.83,24.81,28.83
$GC,2542,-0.86,-62.3,416.3,-15.1,217,2546,0.12,2.28,0.00,0.000,6,0.172,0.041,2910,2198,3054,0,0,0,0,0,0,24.89,25.25,28.83
$GC,2855,-0.86,-62.3,463.1,-13.9,228,2860,0.00,2.38,0.00,0.000,4,0.000,0.061,2902,3612,3055,0,0,0,0,0,0,28.83,24.77,28.83
$GC,2954,-0.86,-62.3,476.8,-14.9,231,2959,0.00,2.30,0.00,0.000,6,0.000,0.043,2902,2191,3055,0,0,0,0,0,0,28.83,25.22,28.83
$STATE,3002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3002,begin apogee
$GC,3009,-0.22,0.0,485.5,-15.0,233,3070,0.70,0.00,55.95,0.847,6,0.135,0.000,3114,2336,2794,0,0,0,0,0,0,24.25,28.83,23.66
$STATE,3071,end apogee,CONTROL_FINISHED_OK
$STATE,3071,begin climb
$GC,3074,0.86,62.3,488.9,0.0,235,3135,1.05,0.00,57.65,0.807,6,0.078,0.000,3472,2336,2540,0,0,0,0,0,0,24.81,28.83,23.41
$GC,3426,0.86,62.3,464.8,7.6,247,3431,0.00,2.30,0.00,0.000,4,0.000,0.063,3472,3723,2533,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3666,0.86,62.3,444.8,8.4,255,3670,0.00,2.25,0.00,0.000,6,0.000,0.046,3483,2326,2531,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3996,0.87,69.8,423.2,6.0,266,4007,0.00,2.38,6.55,0.653,4,0.000,0.063,3483,3727,2509,0,0,0,0,0,0,28.83,25.37,24.05
$GC,4236,0.87,69.8,404.1,9.4,274,4242,0.00,2.28,0.00,0.000,6,0.000,0.045,3495,2324,2507,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4547,0.87,69.8,376.4,8.4,289,4552,0.00,2.35,0.00,0.000,4,0.000,0.064,3495,3722,2506,0,0,0,0,0,0,28.83,25.02,28.83
$GC,4786,0.87,69.8,354.6,9.1,301,4792,0.10,2.28,0.00,0.000,6,0.168,0.046,3478,2322,2506,0,0,0,0,0,0,24.86,25.31,28.83
$GC,5106,0.87,69.8,330.3,7.5,317,5111,0.00,2.28,0.00,0.000,4,0.000,0.052,3486,920,2506,0,0,0,0,0,0,28.83,25.06,28.83
$GC,5347,0.87,73.9,313.8,6.5,329,5357,0.00,2.22,4.88,0.552,6,0.000,0.053,3486,2314,2492,0,0,0,0,0,0,28.83,25.04,24.08
$GC,5656,0.87,76.4,292.9,6.7,344,5665,0.00,2.30,3.92,0.480,4,0.000,0.052,3497,920,2482,0,0,0,0,0,0,28.83,25.39,24.09
$GC,5707,0.87,80.3,289.6,6.5,346,5717,0.00,2.28,5.45,0.568,6,0.000,0.054,3497,2323,2466,0,0,0,0,0,0,28.83,25.32,24.08
$GC,6016,0.87,80.3,265.2,8.0,361,6021,0.00,2.28,0.00,0.000,4,0.000,0.052,3508,923,2465,0,0,0,0,0,0,28.83,25.13,28.83
$GC,6205,0.87,80.3,250.8,7.8,370,6214,0.12,2.33,0.00,0.000,6,0.179,0.053,3480,2335,2464,0,0,0,0,0,0,24.76,25.05,28.83
$GC,6516,0.87,86.8,228.7,6.2,386,6528,0.00,2.38,7.43,0.601,4,0.000,0.064,3480,3739,2440,0,0,0,0,0,0,28.83,25.25,24.09
$GC,6547,0.88,91.7,226.6,6.4,387,6558,0.00,2.28,6.40,0.572,6,0.000,0.046,3489,2326,2420,0,0,0,0,0,0,28.83,25.49,24.03
$GC,6857,0.88,91.7,202.3,7.9,402,6862,0.00,2.35,0.00,0.000,4,0.000,0.064,3489,3730,2417,0,0,0,0,0,0,28.83,25.03,28.83
$GC,6987,0.88,91.7,190.7,9.4,413,6995,0.00,2.28,0.00,0.000,6,0.000,0.046,3501,2323,2416,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7298,0.88,91.7,162.9,9.3,434,7305,0.00,2.38,0.00,0.000,4,0.000,0.063,3501,3733,2416,0,0,0,0,0,0,28.83,24.84,28.83
$GC,7466,0.88,91.7,146.6,9.1,451,7476,0.15,2.30,0.00,0.000,6,0.181,0.045,3477,2324,2416,0,0,0,0,0,0,24.72,25.20,28.83
$GC,7780,0.88,96.8,125.4,6.4,472,7788,0.00,0.00,5.70,0.513,6,0.000,0.000,3477,2324,2399,0,0,0,0,0,0,28.83,28.83,24.13
$GC,8089,0.88,104.7,105.2,6.0,521,8104,0.00,2.25,8.75,0.560,4,0.000,0.053,3486,921,2366,0,0,0,0,0,0,28.83,25.34,24.13
$GC,8133,0.88,111.2,102.7,6.2,528,8148,0.00,2.25,7.82,0.540,6,0.000,0.054,3486,2333,2339,0,0,0,0,0,0,28.83,25.38,24.06
$GC,8454,0.89,121.4,82.7,5.7,590,8466,0.00,0.00,10.12,0.555,6,0.000,0.000,3486,2333,2298,0,0,0,0,0,0,28.83,28.83,24.13
$GC,8772,0.90,143.8,65.1,4.1,652,8798,0.00,2.38,20.80,0.580,4,0.000,0.063,3486,3741,2207,0,0,0,0,0,0,28.83,25.29,24.13
$GC,8847,0.90,144.1,61.0,7.0,665,8854,0.00,2.22,0.00,0.000,6,0.000,0.046,3497,2323,2204,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9159,0.90,151.8,42.6,6.0,726,9173,0.00,2.40,7.82,0.502,4,0.000,0.063,3497,3741,2175,0,0,0,0,0,0,28.83,25.34,24.15
$GC,9333,0.90,152.2,30.0,7.0,759,9340,0.00,2.22,0.00,0.000,6,0.000,0.045,3509,2324,2173,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9647,0.91,186.8,12.5,2.5,820,9686,0.00,2.22,31.05,0.551,4,0.000,0.050,3519,924,2028,0,0,0,0,0,0,28.83,25.32,24.10
$GC,9700,0.93,217.8,11.2,2.9,828,9732,0.00,2.22,26.75,0.529,6,0.000,0.053,3520,2326,1906,0,0,0,0,0,0,28.83,25.33,23.96
$STATE,9817,end climb,SURFACE_DEPTH_REACHED
$STATE,9820,begin surface coast
$FINISH,1.2,1.023893
$STATE,9881,end surface coast,CONTROL_FINISHED_OK
$STATE,9882,begin surface
$SM_CCo,9902,54.88,0.451,3,0,1570,300.00
$SM_GC,2.94,8.73,0.20,54.88,0.024,0.072,0.451,104,2194,1570,-9.47,0.93,300.00,0,0,0,0,3,0,25.72,25.75,23.99
$IRIDIUM_FIX,4732.49,-12517.37,200413,171701
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.46
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.00
$XPDR_PINGS,4
$24V_AH,23.4,116.474
$10V_AH,9.8,86.691
$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,22.325,91.900,267.050,54.875,0.000,25.402,40.106,165.879,1.000,0.000,31.250,2183.209,5784.355,474.322,1651.254,264.938,0.000,1222.889,0.000,1393.531,0.000,0.537,0.000
$DEVICE_MAMPS,216.495,75.735,846.855,451.350,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,591.732,548.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296732
$DATA_FILE_SIZE,46842,862
$CAP_FILE_SIZE,101466,0
$CFSIZE,260165632,187813888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.084,102.9,1
$GPS,200413,224136,4749.521,-12515.373,98,0.9,99,18.7