DavisStrait 22Sep09 * SG001 * Dive index * Mission links
version: 66.06
glider: 1
mission: 14
dive: 5
start: 9 22 109 14 40 30
data:
$ID,1
$MISSION,14
$DIVE,5
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-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,375
$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,-218734.58
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,0
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,250
$VBD_MAXERRORS,5
$CF8_MAXERRORS,20
$AH0_24V,300
$AH0_10V,200
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,57.258244
$FG_AHR_24V,4.6383591
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.036699742
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0072730002
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,48
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,144115,6642.360,-6021.902,22,1.1,23,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,144710,6642.342,-6021.788,36,1.1,36,18.0
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$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,218.2,5043404,-18.0,-10.000
$D_GRID,100
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.31,-146.6,0.0,0.0,0,91,0.00,0.00,-63.70,0.000,2,0.007,0.000,440,2069,2530,0,0,0,0,0,0
$GC,95,-1.31,-146.6,3.0,-2.5,13,131,9.60,3.20,-18.52,0.000,4,0.000,0.000,2467,3495,3090,10,0,18,0,0,0
$GC,383,-1.31,-146.6,52.8,-13.7,46,400,0.47,2.90,0.00,0.000,6,0.000,0.000,2334,1891,3092,1,0,16,0,0,0
$GC,713,-1.31,-146.6,99.2,-13.9,77,729,0.77,3.40,0.00,0.007,4,0.000,0.000,2485,3769,3089,1,0,18,0,0,0
$STATE,732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,732,begin apogee
$GC,743,-0.31,0.0,102.2,13.2,78,864,1.02,0.00,115.80,0.000,6,0.000,0.007,2662,1970,2521,2,0,0,0,0,0
$STATE,865,end apogee,CONTROL_FINISHED_OK
$STATE,865,begin climb
$GC,867,1.31,146.6,119.0,0.0,90,1003,1.75,2.30,120.85,0.000,4,0.000,0.000,3063,370,1918,1,0,11,0,0,0
$GC,1093,3.54,674.7,150.7,-14.1,111,1380,1.40,3.80,261.30,0.000,6,0.000,0.000,3387,2381,616,1,0,23,0,1,0
$GC,1695,4.16,1181.2,229.7,-13.1,169,1710,0.00,3.75,0.45,0.000,4,0.007,0.000,3387,414,614,0,0,19,0,0,0
$GC,1830,4.78,1688.6,247.2,-13.1,180,1841,0.00,3.20,1.05,0.000,6,0.007,0.000,3388,2303,617,0,0,16,0,0,0
$GC,2165,5.34,2141.6,284.7,-10.6,212,2180,0.00,3.33,4.82,0.000,4,0.007,0.000,3389,581,606,0,0,17,0,0,0
$GC,2267,5.96,2648.6,297.2,-13.1,221,2282,0.00,3.08,1.15,0.000,6,0.000,0.000,3393,2063,602,0,0,14,0,0,0
$GC,2596,6.54,3119.7,334.9,-11.5,252,2611,0.00,2.83,0.17,0.000,4,0.007,0.000,3384,562,603,0,0,16,0,0,0
$GC,2731,7.14,3603.0,351.2,-12.0,263,2742,0.00,2.75,1.35,0.000,6,0.007,0.000,3386,2166,602,0,0,14,0,0,0
$GC,3066,7.71,4063.8,389.3,-11.0,295,3082,0.00,2.92,0.17,0.000,4,0.007,0.000,3386,547,605,0,0,14,0,0,0
$GC,3203,8.26,4515.8,404.3,-10.6,306,3213,0.00,3.28,0.70,0.000,6,0.007,0.000,3388,2881,604,0,0,22,0,0,0
$GC,3538,8.93,5055.5,446.0,-14.6,338,3553,0.00,4.40,0.12,0.007,4,0.007,0.000,3385,544,608,0,0,25,0,0,0
$GC,3806,9.50,5521.2,477.9,-11.2,361,3816,0.00,3.67,0.93,0.000,6,0.007,0.000,3385,2131,603,0,0,20,0,0,0
$GC,4141,10.08,5993.6,516.3,-11.5,393,4147,0.00,2.55,0.12,0.007,4,0.007,0.000,3389,503,601,0,0,12,0,0,0
$GC,4400,10.08,6148.8,532.7,2.9,415,4410,0.00,3.00,1.60,0.000,6,0.007,0.000,3388,2273,604,0,0,16,0,0,0
$GC,4735,10.04,6173.9,502.6,8.9,447,4742,0.00,2.72,0.12,0.007,4,0.007,0.000,3388,562,604,0,0,13,0,0,0
$GC,4769,10.00,6187.9,499.3,9.4,449,4779,0.00,2.70,2.00,0.000,6,0.007,0.000,3389,2056,605,0,0,12,0,0,0
$GC,5104,10.03,6219.3,469.0,8.6,481,5120,0.00,3.20,0.17,0.000,4,0.007,0.000,3387,631,609,0,0,15,0,0,0
$GC,5373,10.13,6236.4,445.9,9.2,504,5383,0.00,2.92,1.58,0.000,6,0.007,0.000,3388,2182,598,0,0,14,0,0,0
$GC,5707,10.04,6236.4,414.3,12.0,536,5723,0.00,3.03,0.15,0.000,4,0.007,0.000,3390,584,603,0,0,17,0,0,0
$GC,5974,9.96,6236.4,381.0,12.0,559,5986,0.00,3.33,1.52,0.000,6,0.007,0.000,3390,2073,603,0,0,20,0,0,0
$GC,6310,10.02,6239.8,346.3,9.8,591,6326,0.00,2.78,0.32,0.007,4,0.007,0.000,3386,3657,602,0,0,16,0,0,0
$GC,6464,10.02,6239.8,329.9,10.6,604,6475,0.00,3.30,2.03,0.000,6,0.007,0.000,3389,1941,604,0,0,18,0,0,0
$GC,6799,10.02,6239.8,295.4,10.8,636,6806,0.00,2.33,0.15,0.000,4,0.007,0.000,3387,629,606,0,0,11,0,0,0
$GC,6873,10.02,6239.8,287.8,10.0,642,6889,0.00,3.03,1.15,0.000,6,0.007,0.000,3390,2339,606,0,0,18,0,0,0
$GC,7202,10.02,6239.8,253.9,10.3,673,7217,0.00,3.12,0.15,0.000,4,0.007,0.000,3384,521,600,0,0,13,0,0,0
$GC,7424,10.02,6239.8,231.4,10.3,692,7435,0.00,3.28,2.05,0.000,6,0.007,0.000,3385,2356,603,0,0,17,0,0,0
$GC,7759,10.02,6245.5,197.8,9.7,724,7775,0.00,3.25,0.12,0.007,4,0.000,0.000,3388,516,601,0,0,14,0,0,0
$GC,7801,10.02,6245.5,193.3,10.7,727,7812,0.00,3.25,2.00,0.000,6,0.007,0.000,3388,2194,601,0,0,16,0,0,0
$GC,8137,10.07,6284.6,163.5,8.2,759,8152,0.00,3.03,0.12,0.000,4,0.007,0.000,3387,498,602,0,0,16,0,0,0
$GC,8191,10.16,6316.9,158.9,8.5,763,8201,0.00,2.85,1.48,0.000,6,0.007,0.000,3385,2235,605,0,0,14,0,0,0
$GC,8525,10.16,6316.9,122.0,11.2,795,8541,0.00,3.28,0.20,0.000,4,0.007,0.000,3384,632,601,0,0,18,0,0,0
$GC,8563,10.16,6316.9,117.8,11.4,798,8578,0.00,2.53,1.90,0.000,6,0.007,0.000,3387,2204,609,0,0,12,0,0,0
$GC,8891,10.16,6316.9,78.9,11.7,829,8908,0.00,4.03,0.15,0.007,4,0.007,0.000,3396,448,602,0,0,24,0,0,0
$GC,9092,10.16,6316.9,55.0,11.2,846,9103,0.00,3.20,1.92,0.000,6,0.007,0.000,3389,2208,602,0,0,16,0,0,0
$GC,9427,10.22,6320.3,20.2,9.8,878,9434,0.00,2.65,0.12,0.007,4,0.007,0.000,3389,542,604,0,0,16,0,0,0
$STATE,9674,end climb,SURFACE_DEPTH_REACHED
$STATE,9674,begin surface coast
$FINISH,0.1,1.000571
$STATE,9727,end surface coast,CONTROL_FINISHED_OK
$STATE,9727,begin surface
$SM_CCo,9818,0.00,0.000,0,0,592,465.09
$SM_GC,0.06,14.65,0.00,0.00,0.000,0.007,0.007,360,2236,592,-10.29,6.30,465.09
$SUPER,3,254,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1253637841,16.750000,16.733612,80,0,0,0,0,0,858,0,0,0,0,0
$RAFOS,3,1253637246,16.583334,16.568333,80,0,0,0,0,0,758,0,0,0,0,0
$RAFOS,2,1253636642,16.416666,16.400555,80,0,0,0,0,0,969,0,0,0,0,0
$RAFOS,1,1253636045,16.250000,16.234722,80,0,0,0,0,0,726,0,0,0,0,0
$RAFOS,0,1253635448,16.083334,16.068890,80,0,0,0,0,0,544,0,0,0,0,0
$RAFOS_FIX,6610.147461,-6221.493652,220909,161601,5,80,18.15
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078208264
$INTERNAL_PRESSURE,16.2268
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,178.863
$10V_AH,10.7,30.790
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,57.352
$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,29.675,124.850,530.025,0.000,0.000,0.000,0.000,125.619,0.000,0.000,36.704,1548.130,6377.915,866.239,998.493,420.694,0.000,1037.878,0.000,932.187,1800.000,3.589,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.080,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330188
$DATA_FILE_SIZE,31567,930
$CAP_FILE_SIZE,127279,8
$CFSIZE,260165632,253538304
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,30,655,1,0
$SOUNDSPEED,1518.4
$CURRENT,0.094,186.1,1
$GPS,220909,173356,6642.807,-6023.254,34,1.1,34,18.0