Totten Dec14 *
SG123 *
Dive index
* Mission links
version: 66.12
glider: 123
mission: 16
dive: 12
start: 12 26 114 5 31 40
data:
$ID,123
$MISSION,16
$DIVE,12
$N_DIVES,16
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,330
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,4
$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,100
$T_MISSION,125
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02775
$MASS,52100
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0105
$HD_C,2.4000001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.25
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,2
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3500
$C_PITCH,2560
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,10
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,2
$ROLL_MIN,300
$ROLL_MAX,3300
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,2550
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,90
$AH0_10V,70
$MINV_24V,20
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-2.3007963
$PRESSURE_SLOPE,9.1207337e-05
$AD7714Ch0Gain,64
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043547689
$SEABIRD_T_H,0.00062576577
$SEABIRD_T_I,2.391554e-05
$SEABIRD_T_J,2.5780666e-06
$SEABIRD_C_G,-9.9836788
$SEABIRD_C_H,1.11155
$SEABIRD_C_I,-0.0018295855
$SEABIRD_C_J,0.00022378819
$GPS1,261214,052608,-6627.808,12022.569,50,1.6,50,-107.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-49.5
$GPS2,261214,053107,-6627.812,12022.533,34,1.1,34,-107.1
$SPEED_LIMITS,0.173,0.281
$TGT_NAME,TARGET_SW
$TGT_LATLONG,-6628.000,12018.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,24.0,3370,-15.4,-10.000,-19.61,2885
$D_GRID,554
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_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,15,-1.80,-194.6,399,2453,1312,912,0.0,0.0,0,205,0.00,0.00,-186.07,0.000,16386,0.000,0.000,399,2453,2935,2880,2990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,208,-1.80,-194.6,399,2452,2881,2989,3.6,-7.5,31,239,10.48,2.60,-13.55,0.000,18948,0.190,0.080,2162,1041,3344,3311,3377,0,0,0,0,0,0,24.30,24.39,24.74
$GC,466,-1.80,-194.6,2161,1041,3314,3377,35.2,-12.9,81,473,0.00,2.47,0.00,0.000,1030,0.000,0.050,2162,2448,3345,3314,3376,0,0,0,0,0,0,28.83,24.52,28.83
$GC,656,-1.80,-194.6,2161,2448,3314,3376,55.4,-9.7,118,664,0.00,2.58,0.00,0.000,516,0.000,0.069,2162,1037,3345,3314,3376,0,0,0,0,0,0,28.83,24.48,28.83
$GC,676,-1.80,-194.6,2162,1037,3314,3377,57.3,-10.0,121,682,0.00,2.50,0.00,0.000,1030,0.000,0.050,2162,2459,3345,3314,3376,0,0,0,0,0,0,28.83,24.53,28.83
$GC,865,-1.80,-194.6,2162,2459,3314,3376,76.8,-10.5,158,872,0.00,1.48,0.00,0.000,260,0.000,0.066,2162,3303,3345,3314,3376,0,0,0,0,0,0,28.83,24.52,28.83
$GC,884,-1.80,-194.6,2162,3303,3314,3376,78.8,-10.4,161,890,0.00,1.50,0.00,0.000,1030,0.000,0.047,2162,2418,3345,3315,3376,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1073,-1.80,-194.6,2161,2418,3315,3376,97.9,-10.3,198,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2418,3345,3315,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1261,-1.80,-194.6,2161,2418,3315,3375,117.1,-10.2,235,1268,0.00,1.55,0.00,0.000,260,0.000,0.065,2162,3300,3345,3316,3375,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1286,-1.80,-194.6,2162,3300,3316,3375,119.7,-10.4,239,1292,0.00,1.48,0.00,0.000,1030,0.000,0.047,2162,2453,3345,3316,3375,0,0,0,0,0,0,28.83,24.60,28.83
$GC,1474,-1.80,-194.6,2162,2452,3317,3375,139.4,-10.5,276,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2452,3346,3317,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1661,-1.80,-194.6,2161,2452,3317,3374,158.8,-10.1,313,1668,0.00,2.55,0.00,0.000,516,0.000,0.071,2162,1054,3345,3317,3374,0,0,0,0,0,0,28.83,24.51,28.83
$GC,1680,-1.80,-194.6,2161,1054,3317,3374,160.6,-9.7,316,1686,0.00,2.45,0.00,0.000,1030,0.000,0.051,2162,2452,3346,3317,3375,0,0,0,0,0,0,28.83,24.58,28.83
$GC,1869,-1.80,-194.6,2162,2452,3317,3374,180.0,-10.4,353,1875,0.00,1.48,0.00,0.000,260,0.000,0.067,2162,3290,3345,3317,3374,0,0,0,0,0,0,28.83,24.55,28.83
$GC,1907,-1.80,-194.6,2161,3290,3317,3374,184.0,-10.5,360,1914,0.00,1.48,0.00,0.000,1030,0.000,0.047,2162,2446,3345,3317,3374,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2097,-1.80,-194.6,2162,2446,3317,3374,203.7,-10.3,397,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2446,3345,3317,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2285,-1.80,-194.6,2161,2446,3317,3374,223.1,-9.7,434,2293,0.00,1.50,0.00,0.000,260,0.000,0.067,2162,3299,3345,3317,3374,0,0,0,0,0,0,28.83,24.56,28.83
$GC,2305,-1.80,-194.6,2162,3299,3317,3374,225.1,-10.5,437,2311,0.00,1.48,0.00,0.000,1030,0.000,0.047,2162,2451,3345,3317,3374,0,0,0,0,0,0,28.83,24.63,28.83
$GC,2493,-1.80,-194.6,2161,2450,3317,3374,244.5,-9.9,474,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2450,3345,3317,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2692,-1.80,-194.6,2162,2451,3317,3373,264.4,-9.9,492,2696,0.00,1.48,0.00,0.000,260,0.000,0.066,2162,3290,3345,3317,3374,0,0,0,0,0,0,28.83,24.58,28.83
$GC,2707,-1.80,-194.6,2161,3291,3318,3374,266.1,-9.8,495,2714,0.00,1.48,0.00,0.000,1030,0.000,0.048,2162,2449,3345,3317,3374,0,0,0,0,0,0,28.83,24.64,28.83
$GC,2893,-1.80,-194.6,2162,2449,3317,3374,284.2,-9.7,505,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2449,3346,3318,3374,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3072,begin apogee
$GC,3078,-0.50,0.0,2161,1612,3317,3374,301.9,-9.8,514,3446,1.50,0.00,362.80,0.646,10246,0.125,0.000,2449,1612,2550,2652,2448,0,0,0,0,0,0,24.51,28.83,23.52
$STATE,3447,end apogee,CONTROL_FINISHED_OK
$STATE,3447,begin climb
$GC,3449,1.80,194.6,2448,1612,2648,2441,318.0,0.0,532,3807,2.35,2.55,340.05,0.629,10500,0.080,0.054,2948,3011,1754,1936,1572,0,0,0,0,1,0,24.01,23.94,23.37
$GC,4035,1.81,201.8,2948,3011,1935,1572,278.6,9.7,652,4056,0.00,2.55,14.95,0.745,9222,0.000,0.059,2949,1597,1727,1910,1545,0,0,0,0,0,0,28.83,24.40,23.67
$GC,4235,1.82,212.5,2948,1597,1895,1531,259.4,9.6,665,4256,0.00,2.62,14.15,0.691,8452,0.000,0.053,2949,3014,1678,1864,1493,0,0,0,0,0,0,28.83,24.14,23.72
$GC,4291,1.82,213.5,2948,3014,1860,1490,253.5,10.0,676,4298,0.00,2.58,0.00,0.000,1030,0.000,0.060,2949,1595,1674,1859,1490,0,0,0,0,0,0,28.83,24.29,28.83
$GC,4478,1.84,226.3,2948,1595,1858,1487,235.2,9.5,707,4509,0.00,2.67,24.00,0.649,8708,0.000,0.108,2948,307,1620,1812,1429,0,0,0,0,0,0,28.83,23.99,23.65
$GC,4542,1.84,226.3,2948,306,1808,1424,228.4,10.9,718,4548,0.00,2.35,0.00,0.000,1030,0.000,0.060,2948,1609,1616,1808,1424,0,0,0,0,0,0,28.83,24.33,28.83
$GC,4731,1.84,226.3,2948,1608,1805,1423,208.8,10.4,755,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1609,1614,1805,1423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4918,1.84,226.3,2949,1609,1804,1423,189.1,10.5,792,4925,0.00,2.55,0.00,0.000,516,0.000,0.102,2948,309,1613,1804,1422,0,0,0,0,0,0,28.83,24.38,28.83
$GC,4962,1.84,226.3,2948,309,1804,1422,184.1,11.5,800,4969,0.00,2.33,0.00,0.000,1030,0.000,0.060,2949,1606,1613,1804,1422,0,0,0,0,0,0,28.83,24.51,28.83
$GC,5150,1.84,226.3,2948,1606,1804,1422,164.5,10.3,837,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1606,1613,1804,1422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5340,1.84,227.4,2948,1606,1804,1422,145.5,10.0,874,5347,0.00,2.55,0.00,0.000,516,0.000,0.102,2948,305,1613,1804,1422,0,0,0,0,0,0,28.83,24.41,28.83
$GC,5404,1.84,227.4,2948,305,1803,1422,138.5,10.7,886,5411,0.00,2.33,0.00,0.000,1030,0.000,0.060,2949,1603,1612,1803,1422,0,0,0,0,0,0,28.83,24.53,28.83
$GC,5593,1.85,237.5,2949,1603,1803,1422,119.4,9.6,923,5617,0.00,0.00,18.95,0.646,8454,0.000,0.000,2948,1603,1577,1770,1384,0,0,0,0,0,0,28.83,28.83,23.73
$GC,5799,1.86,240.1,2948,1603,1764,1379,98.5,9.9,963,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1603,1571,1764,1379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5987,1.86,240.1,2948,1603,1763,1379,79.6,10.2,1000,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1603,1571,1763,1379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6175,1.87,247.7,2948,1605,1763,1379,61.1,9.7,1037,6206,0.00,2.62,20.55,0.620,8708,0.000,0.100,2948,313,1535,1731,1340,0,0,0,0,0,0,28.83,24.08,23.74
$GC,6243,1.87,247.7,2948,314,1728,1338,53.7,11.1,1049,6250,0.00,2.33,0.00,0.000,1030,0.000,0.060,2949,1600,1533,1728,1338,0,0,0,0,0,0,28.83,24.39,28.83
$GC,6433,1.87,247.7,2948,1600,1727,1338,34.7,10.4,1086,6439,0.00,2.47,0.00,0.000,260,0.000,0.056,2948,3008,1532,1726,1338,0,0,0,0,0,0,28.83,24.47,28.83
$GC,6466,1.87,247.7,2948,3008,1726,1338,31.0,10.7,1092,6473,0.00,2.55,0.00,0.000,1030,0.000,0.060,2949,1592,1532,1727,1338,0,0,0,0,0,0,28.83,24.46,28.83
$GC,6655,1.87,247.7,2948,1592,1726,1337,10.0,10.2,1129,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1592,1532,1727,1337,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6722,end climb,SURFACE_DEPTH_REACHED
$STATE,6723,begin surface coast
$FINISH,0.4,1.026507
$STATE,6748,end surface coast,CONTROL_FINISHED_OK
$STATE,6748,begin surface
$SM_CCo,6770,65.35,0.071,0,0,1122,350.04
$SM_GC,1.25,11.82,1.55,65.35,0.070,0.053,0.071,403,2452,1122,-9.89,-0.85,350.04,0,0,0,0,0,0,24.47,24.53,24.38
$RAFOS_CLK,385
$RAFOS,2,1419574167,6.166670,6.157500,49,46,45,0,0,0,946,979,988,0,0,0
$RAFOS,1,1419573914,6.100000,6.087222,56,53,52,0,0,0,156,129,221,0,0,0
$RAFOS,0,1419573661,6.033333,6.016944,52,46,45,0,0,0,292,308,323,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,-6558.99,12025.47,261214,033220
$TT8_MAMPS,0.026964,0.026964
$HUMID,63.54
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,15.40
$XPDR_PINGS,3
$24V_AH,23.37,4.778
$10V_AH,9.70,6.323
$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,26.150,68.175,795.450,65.350,0.000,0.000,0.000,192.100,0.750,0.000,34.836,2455.023,1656.898,1029.926,1885.707,120.668,0.000,2163.911,0.000,1635.518,720.000,0.539,0.000
$DEVICE_MAMPS,190.485,107.865,745.110,71.145,0.000,0.000,0.000,126.225,420.000,0.000,35.200,17.710,2.310,17.710,44.670,52.160,0.000,13.000,0.000,8.240,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.380,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297372
$DATA_FILE_SIZE,43375,1147
$CAP_FILE_SIZE,105062,0
$CFSIZE,260034560,253501440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,6882.94,0x23769e,7,5
$SOUNDSPEED,1465.0
$CURRENT,0.050,227.54,1
$GPS,261214,072659,-6627.870,12020.956,30,2.0,40,-107.1