PLUS INP Jul09 *
SG116 *
Dive index
* Mission links
version: 66.04
glider: 116
mission: 22
dive: 117
start: 8 8 109 17 26 16
data:
$ID,116
$MISSION,22
$DIVE,117
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,50
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,750
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51716
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.83
$TGT_DEFAULT_LON,-159.78
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$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,5
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-59929.121
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,3095
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2628
$C_ROLL_CLIMB,2530
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,770
$VBD_MAX,3955
$C_VBD,2936
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,150
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.46644667
$PRESSURE_SLOPE,0.0001158926
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,1
$SMARTDEVICE1,3
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043738699
$SEABIRD_T_H,0.00063649943
$SEABIRD_T_I,2.5189185e-05
$SEABIRD_T_J,2.7386873e-06
$SEABIRD_C_G,-9.8703537
$SEABIRD_C_H,1.1242318
$SEABIRD_C_I,-0.0015997718
$SEABIRD_C_J,0.00020779716
$GPS1,171355,2156.021,-15947.654,38,1.7,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-67.4
$GPS2,172520,2156.184,-15947.863,13,1.1,13,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,10N
$TGT_LATLONG,2154.033,-15942.617
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.264,-0.189
$KALMAN_X,-213428.3,1847.5,370.3,201070.6,-1826.9
$KALMAN_Y,75397.7,-1183.8,-64.9,-73911.4,1068.7
$MHEAD_RNG_PITCHd_Wd,115.8,9855,-13.1,-10.000
$D_GRID,180
$MM_IGNORESAMPLERETURN,0.0
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.39,-243.3,0.0,0.0,0,114,0.00,0.00,-93.40,0.000,2,0.000,0.000,121,2638,3350
$GC,117,-1.39,-243.3,4.0,-9.2,14,147,16.00,2.50,-8.50,0.000,4,0.178,0.044,2787,1221,3930
$GC,194,-1.39,-243.3,29.0,-17.6,23,198,0.00,2.45,0.00,0.000,6,0.000,0.036,2787,2626,3962
$GC,265,-1.39,-243.3,41.9,-19.5,29,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2626,3963
$GC,329,-1.39,-243.3,53.9,-18.4,35,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2626,3963
$GC,392,-1.39,-243.3,64.7,-16.4,41,396,0.00,2.33,0.00,0.000,4,0.000,0.063,2787,3894,3963
$GC,457,-1.39,-243.3,75.4,-16.7,46,465,0.00,2.17,0.00,0.000,6,0.000,0.030,2787,2626,3978
$GC,527,-1.39,-243.3,84.7,-13.4,53,531,0.00,2.40,0.00,0.000,4,0.000,0.033,2787,1222,3978
$GC,567,-1.39,-243.3,89.9,-12.5,56,571,0.00,2.45,0.00,0.000,6,0.000,0.035,2787,2636,3978
$GC,638,-1.39,-243.3,98.5,-12.6,62,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2636,3978
$GC,702,-1.39,-243.3,106.2,-11.5,68,706,0.00,2.30,0.00,0.000,4,0.000,0.064,2787,3889,3979
$GC,741,-1.39,-243.3,111.0,-11.7,71,745,0.00,2.12,0.00,0.000,6,0.000,0.030,2787,2627,3979
$GC,816,-1.39,-243.3,120.5,-12.8,78,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2627,3979
$GC,881,-1.39,-243.3,128.0,-11.6,84,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2627,3980
$GC,945,-1.39,-243.3,135.9,-12.5,90,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2627,3980
$GC,1010,-1.39,-243.3,143.3,-11.7,96,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2627,3980
$GC,1073,-1.39,-243.3,150.8,-11.4,102,1077,0.00,2.35,0.00,0.000,4,0.000,0.065,2787,3896,3980
$GC,1124,-1.39,-243.3,156.9,-11.5,106,1128,0.00,2.15,0.00,0.000,6,0.000,0.029,2787,2612,3980
$GC,1200,-1.39,-243.3,164.0,-9.3,113,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2611,3980
$GC,1265,-1.39,-243.3,170.2,-9.7,119,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2610,3980
$GC,1328,-1.39,-243.3,177.3,-11.6,125,1333,0.00,2.38,0.00,0.000,4,0.000,0.067,2786,3887,3980
$STATE,1348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1348,begin apogee
$GC,1355,-0.42,0.0,180.1,11.8,126,1682,0.98,0.00,315.80,0.567,6,0.069,0.000,3001,2529,2936
$STATE,1685,end apogee,CONTROL_FINISHED_OK
$STATE,1685,begin climb
$GC,1687,1.39,243.3,201.0,0.0,159,1999,1.75,2.47,298.48,0.558,4,0.046,0.041,3395,1135,1944
$GC,2173,1.49,325.6,174.9,7.7,200,2288,0.10,2.47,103.97,0.547,6,0.051,0.036,3428,2544,1608
$GC,2349,1.49,325.6,157.4,11.3,216,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2544,1605
$GC,2413,1.49,325.6,150.0,11.8,222,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2544,1605
$GC,2476,1.49,325.6,142.5,11.8,228,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2544,1604
$GC,2540,1.49,325.6,134.7,12.2,234,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2544,1603
$GC,2604,1.49,325.6,127.1,12.5,240,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2544,1602
$GC,2668,1.49,325.6,118.5,13.4,246,2672,0.00,2.47,0.00,0.000,4,0.000,0.038,3429,1131,1602
$GC,2711,1.49,325.6,112.7,12.8,249,2719,0.00,2.45,0.00,0.000,6,0.000,0.035,3429,2530,1601
$GC,2781,1.49,325.6,104.4,11.8,256,2786,0.00,2.53,0.00,0.000,4,0.000,0.066,3429,3894,1600
$GC,2825,1.49,325.6,98.9,12.2,259,2833,0.00,2.35,0.00,0.000,6,0.000,0.031,3429,2516,1600
$GC,2895,1.49,325.6,91.3,10.6,266,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2513,1599
$GC,2960,1.49,325.6,84.9,10.1,272,2964,0.00,2.40,0.00,0.000,4,0.000,0.038,3429,1134,1599
$GC,2993,1.51,343.8,81.5,9.5,274,3024,0.00,2.45,21.90,0.515,6,0.000,0.034,3429,2539,1534
$GC,3087,1.52,347.6,72.3,9.9,283,3098,0.00,0.00,6.25,0.426,6,0.000,0.000,3429,2539,1518
$GC,3162,1.52,347.6,64.8,10.5,290,3166,0.00,2.45,0.00,0.000,4,0.000,0.036,3429,1137,1517
$GC,3217,1.52,353.5,59.2,9.8,294,3236,0.00,2.42,8.90,0.463,6,0.000,0.033,3429,2531,1493
$GC,3299,1.56,380.5,51.9,9.2,302,3340,0.00,2.53,35.40,0.510,4,0.000,0.061,3429,3890,1384
$GC,3424,1.63,439.4,41.1,8.4,312,3505,0.00,2.33,73.85,0.503,6,0.000,0.029,3429,2512,1143
$GC,3577,1.65,459.0,28.2,9.5,326,3608,0.10,0.00,25.42,0.478,6,0.051,0.000,3464,2512,1064
$GC,3671,1.65,459.0,18.6,10.4,336,3678,0.00,2.38,0.00,0.000,4,0.000,0.035,3465,1141,1062
$GC,3696,1.65,459.0,15.9,11.0,340,3703,0.00,2.42,0.00,0.000,6,0.000,0.032,3465,2535,1062
$GC,3772,1.65,459.0,7.4,11.5,353,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2535,1061
$STATE,3799,end climb,SURFACE_DEPTH_REACHED
$STATE,3799,begin surface coast
$FINISH,0.1,1.015613
$STATE,3834,end surface coast,CONTROL_FINISHED_OK
$STATE,3834,begin surface
$SM_CCo,3919,0.00,0.000,0,0,1058,460.67
$SM_GC,1.24,14.60,0.00,0.00,0.035,0.000,0.000,122,2641,1058,-13.59,0.37,460.67
$IRIDIUM_FIX,2148.09,-15950.30,021198,131312
$TT8_MAMPS,0.074399
$HUMID,1797
$INTERNAL_PRESSURE,11.4458
$TCM_TEMP,24.20
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,31.445
$10V_AH,9.9,11.753
$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,undefined,Mmodem_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,33.525,62.250,889.975,0.000,0.000,24.328,26.775,446.913,0.000,0.000,111.097,13.639,685.483,1458.397,847.100,767.858,827.740,33.353,1446.255,0.000,722.451,0.000,0.000,0.000
$DEVICE_MAMPS,177.944,67.496,566.813,0.000,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,231.387,0.000,0.000,0.000,0.000,0.000,83.174,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9551,364
$CAP_FILE_SIZE,164666,0
$CFSIZE,260034560,242794496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080809,183237,2156.582,-15948.433,10,1.8,29,9.8