WA coast Apr11 *
SG187 *
Dive index
* Mission links
version: 66.07
glider: 187
mission: 4
dive: 157
start: 5 4 111 6 43 11
data:
$ID,187
$MISSION,4
$DIVE,157
$D_SURF,4
$D_FLARE,3
$D_TGT,240
$D_ABORT,1070
$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,40
$T_MISSION,45
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,1.023
$MASS,51930
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,290
$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,522.48901
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1584017.9
$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,2958
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,43
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2600
$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,-60.973145
$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,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$ALTIM_PING_DELTA,5
$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
$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,0.0043543768
$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
$GPS1,040511,061337,4737.693,-12504.422,12,1.9,17,18.6
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-76.9
$GPS2,040511,064234,4737.461,-12504.091,12,3.9,31,18.6
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4741.155,-12519.165
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.176,-0.114
$KALMAN_X,14438.9,303.9,-305.7,-13432.8,797.0
$KALMAN_Y,-14155.7,856.3,103.6,-14859.7,-275.4
$MHEAD_RNG_PITCHd_Wd,271.4,20000,-28.0,-20.000
$D_GRID,240
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.02,-146.6,0.0,0.0,0,83,0.00,0.00,-65.05,0.000,2,0.000,0.000,130,2213,2933,0,0,0,0,0,0
$GC,87,-1.02,-146.6,4.1,-8.1,10,109,9.93,0.00,-4.72,0.000,6,0.239,0.000,2621,2212,3200,0,0,0,0,0,0
$GC,173,-1.00,-146.6,32.5,-25.8,25,180,0.00,2.40,0.00,0.000,4,0.000,0.055,2612,3705,3202,0,0,0,0,0,0
$GC,215,-0.98,-146.6,42.9,-24.6,32,223,0.08,2.38,0.00,0.000,6,0.160,0.041,2644,2189,3202,0,0,0,0,0,0
$GC,288,-0.98,-146.6,59.7,-21.8,45,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2186,3202,0,0,0,0,0,0
$GC,358,-0.98,-146.6,73.3,-18.0,58,365,0.00,2.35,0.00,0.000,4,0.000,0.049,2644,691,3202,0,0,0,0,0,0
$GC,374,-0.98,-146.6,76.2,-18.0,60,382,0.00,2.35,0.00,0.000,6,0.000,0.046,2636,2187,3202,0,0,0,0,0,0
$GC,447,-0.98,-146.6,89.6,-17.1,73,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2188,3201,0,0,0,0,0,0
$GC,518,-0.98,-146.6,102.7,-18.4,85,522,0.00,2.33,0.00,0.000,4,0.000,0.049,2635,688,3202,0,0,0,0,0,0
$GC,585,-0.98,-146.6,116.8,-19.7,90,593,0.00,2.33,0.00,0.000,6,0.000,0.046,2624,2173,3202,0,0,0,0,0,0
$GC,721,-0.98,-146.6,141.2,-18.6,103,725,0.00,2.45,0.00,0.000,4,0.000,0.058,2612,3724,3203,0,0,0,0,0,0
$GC,830,-0.98,-146.6,162.1,-19.0,112,835,0.12,2.38,0.00,0.000,6,0.170,0.041,2643,2177,3203,0,0,0,0,0,0
$STATE,951,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,951,begin apogee
$GC,957,-0.23,0.0,179.9,14.7,123,1078,0.73,0.00,117.32,0.672,6,0.142,0.000,2876,2037,2599,0,0,0,0,0,0
$STATE,1079,end apogee,CONTROL_FINISHED_OK
$STATE,1079,begin climb
$GC,1082,1.02,146.6,183.7,0.0,135,1215,1.17,2.62,122.20,0.648,4,0.080,0.052,3280,3567,2000,0,0,0,0,0,0
$GC,1229,0.98,146.6,160.9,26.2,148,1233,0.00,2.45,0.00,0.000,6,0.000,0.041,3291,2053,1997,0,0,0,0,0,0
$GC,1365,0.95,146.6,124.0,24.7,160,1369,0.00,2.47,0.00,0.000,4,0.000,0.053,3291,3570,1993,0,0,0,0,0,0
$GC,1432,0.91,146.6,107.4,21.5,165,1440,0.12,2.42,0.00,0.000,6,0.165,0.042,3258,2063,1991,0,0,0,0,0,0
$GC,1569,0.90,151.6,81.8,19.6,187,1578,0.00,2.47,3.65,0.383,4,0.000,0.051,3267,533,1982,0,0,0,0,0,0
$GC,1612,0.92,211.8,74.1,15.7,194,1672,0.00,2.40,50.22,0.592,6,0.000,0.044,3268,2053,1734,0,0,0,0,0,0
$GC,1739,0.92,211.8,50.4,20.2,215,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2053,1729,0,0,0,0,0,0
$GC,1811,0.93,226.0,36.7,19.0,228,1826,0.00,0.00,11.98,0.536,6,0.000,0.000,3267,2052,1676,0,0,0,0,0,0
$GC,1891,0.94,240.7,21.5,18.9,242,1912,0.00,2.47,12.77,0.533,4,0.000,0.054,3267,3561,1617,0,0,0,0,0,0
$STATE,1980,end climb,SURFACE_DEPTH_REACHED
$STATE,1980,begin surface coast
$FINISH,0.3,1.023549
$STATE,2008,end surface coast,CONTROL_FINISHED_OK
$STATE,2008,begin surface
$SM_CCo,2028,152.60,0.527,1,0,469,522.49
$SM_GC,1.19,0.00,0.00,152.60,0.000,0.000,0.527,134,2184,469,-8.80,-0.45,522.49
$IRIDIUM_FIX,4719.74,-12501.09,040511,060627
$TT8_MAMPS,0.027713
$HUMID,34.17
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.1,80.7
$24V_AH,23.9,14.057
$10V_AH,10.3,8.764
$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,20.550,38.650,318.150,152.600,0.000,266.038,802.288,0.000,0.500,0.000,33.330,620.381,968.373,520.152,1713.858,128.328,0.000,857.789,0.000,623.994,0.000,5.636,0.000
$DEVICE_MAMPS,239.445,73.440,672.435,527.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,177.245,190.056,435.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297756
$DATA_FILE_SIZE,13671,263
$CAP_FILE_SIZE,49284,0
$CFSIZE,260165632,206348288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040511,072026,4737.322,-12504.448,10,1.5,10,18.6