DavisStrait 20Oct09 *
SG143 *
Dive index
* Mission links
version: 66.06
glider: 143
mission: 10
dive: 262
start: 12 8 109 4 14 35
data:
$ID,143
$MISSION,10
$DIVE,262
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-38362.004
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$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
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,040036,6650.384,-5739.472,97,1.0,103,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-62.7
$GPS2,040036,6650.384,-5739.472,181,99.0,181,-37.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,95.3,43904,-16.9,-9.167
$D_GRID,694
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.73,-146.0,0.0,0.0,0,128,0.00,0.00,-110.43,0.000,2,0.000,0.000,126,2462,3188,0,0,0,0,0,0
$GC,132,-0.73,-146.0,3.5,-6.5,22,154,11.52,0.00,-5.85,0.000,6,0.304,0.000,2445,2462,3397,0,0,0,0,0,0
$GC,493,-0.65,-146.0,52.4,-15.9,86,499,0.12,3.08,0.00,0.000,4,0.237,0.098,2469,3917,3401,0,0,0,0,0,0
$GC,634,-0.70,-146.0,69.0,-10.1,111,640,0.00,2.92,0.00,0.000,6,0.000,0.072,2469,2457,3401,0,0,0,0,0,0
$GC,982,-0.78,-146.0,101.5,-10.2,172,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2458,3402,0,0,0,0,0,0
$GC,1300,-0.85,-146.0,134.5,-9.9,202,1306,0.17,3.05,0.00,0.000,4,0.111,0.096,2398,3917,3402,0,0,1,0,0,0
$GC,1466,-0.72,-146.0,154.0,-11.4,216,1472,0.22,2.92,0.00,0.000,6,0.219,0.072,2449,2448,3401,0,0,0,0,0,0
$GC,1790,-0.72,-146.0,184.7,-9.8,246,1795,0.00,3.05,0.00,0.000,4,0.000,0.097,2449,3911,3401,0,0,0,0,0,0
$GC,1991,-0.78,-146.0,204.6,-9.7,263,1997,0.00,2.90,0.00,0.000,6,0.000,0.074,2450,2468,3400,0,0,0,0,0,0
$GC,2316,-0.83,-146.0,235.4,-8.9,294,2321,0.00,3.03,0.00,0.000,4,0.000,0.098,2449,3918,3400,0,0,1,0,0,0
$GC,2524,-0.91,-146.0,253.5,-8.0,312,2530,0.17,2.88,0.00,0.000,6,0.120,0.074,2394,2488,3400,0,0,0,0,0,0
$GC,2849,-0.79,-146.0,283.5,-9.5,342,2854,0.15,3.00,0.00,0.000,4,0.215,0.096,2425,3912,3400,0,0,1,0,0,0
$GC,2984,-0.79,-146.0,295.8,-9.2,353,2989,0.00,2.85,0.00,0.000,6,0.000,0.072,2425,2494,3400,0,0,0,0,0,0
$GC,3308,-0.79,-146.0,327.8,-10.7,384,3313,0.00,2.97,0.00,0.000,4,0.000,0.095,2425,3912,3400,0,0,0,0,0,0
$GC,3392,-0.79,-146.0,336.9,-10.5,391,3396,0.00,2.85,0.00,0.000,6,0.000,0.071,2425,2493,3400,0,0,0,0,0,0
$GC,3716,-0.79,-146.0,367.1,-8.3,421,3721,0.00,2.97,0.00,0.000,4,0.000,0.095,2425,3915,3400,0,0,0,0,0,0
$GC,3858,-0.79,-146.0,378.7,-7.8,433,3863,0.00,2.83,0.00,0.000,6,0.000,0.071,2425,2507,3400,0,0,0,0,0,0
$GC,4183,-0.79,-146.0,400.4,-6.5,463,4188,0.00,2.95,0.00,0.000,4,0.000,0.094,2425,3913,3400,0,0,0,0,0,0
$GC,4290,-0.79,-146.0,407.8,-6.8,472,4294,0.00,2.80,0.00,0.000,6,0.000,0.070,2425,2514,3400,0,0,0,0,0,0
$GC,4615,-0.79,-146.0,430.2,-7.2,502,4619,0.00,2.92,0.00,0.000,4,0.000,0.094,2426,3914,3401,0,0,1,0,0,0
$GC,4737,-0.79,-146.0,439.9,-8.2,512,4743,0.00,2.78,0.00,0.000,6,0.000,0.069,2425,2529,3401,0,0,0,0,0,0
$GC,5062,-0.79,-146.0,463.9,-7.4,543,5066,0.00,2.90,0.00,0.000,4,0.000,0.093,2426,3912,3401,0,0,0,0,0,0
$GC,5214,-0.79,-146.0,475.6,-7.6,556,5218,0.00,2.72,0.00,0.000,6,0.000,0.069,2425,2549,3401,0,0,1,0,0,0
$GC,5538,-0.79,-146.0,501.0,-7.8,586,5543,0.00,2.88,0.00,0.000,4,0.000,0.093,2425,3915,3402,0,0,0,0,0,0
$GC,5638,-0.79,-146.0,509.6,-8.6,594,5644,0.00,2.72,0.00,0.000,6,0.000,0.068,2425,2558,3402,0,0,0,0,0,0
$GC,5963,-0.79,-146.0,535.5,-8.3,625,5967,0.00,2.85,0.00,0.000,4,0.000,0.093,2426,3915,3402,0,0,1,0,0,0
$GC,6073,-0.79,-146.0,545.1,-8.2,634,6079,0.00,2.72,0.00,0.000,6,0.000,0.067,2425,2558,3402,0,0,0,0,0,0
$GC,6398,-0.79,-146.0,570.2,-7.8,665,6403,0.00,2.85,0.00,0.000,4,0.000,0.093,2425,3915,3402,0,0,1,0,0,0
$GC,6505,-0.79,-146.0,578.6,-7.7,674,6510,0.00,2.72,0.00,0.000,6,0.000,0.068,2425,2562,3402,0,0,0,0,0,0
$GC,6838,-0.79,-146.0,606.1,-8.5,701,6842,0.00,2.85,0.00,0.000,4,0.000,0.093,2425,3918,3403,0,0,1,0,0,0
$GC,7002,-0.79,-146.0,620.1,-8.6,706,7006,0.00,2.70,0.00,0.000,6,0.000,0.068,2425,2582,3403,0,0,0,0,0,0
$GC,7336,-0.79,-146.0,646.6,-7.7,717,7340,0.00,2.83,0.00,0.000,4,0.000,0.093,2425,3914,3403,0,0,0,0,0,0
$GC,7488,-0.79,-146.0,658.7,-7.9,721,7492,0.00,2.67,0.00,0.000,6,0.000,0.068,2425,2592,3403,0,0,0,0,0,0
$GC,7800,-0.79,-146.0,682.3,-7.2,731,7804,0.00,2.80,0.00,0.000,4,0.000,0.092,2425,3912,3403,0,0,0,0,0,0
$GC,7929,-0.79,-146.0,692.4,-7.8,735,7933,0.00,2.65,0.00,0.000,6,0.000,0.067,2426,2600,3403,0,0,0,0,0,0
$STATE,7947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7948,begin apogee
$GC,7953,-0.16,0.0,694.2,8.0,735,8081,0.75,0.00,124.47,1.216,6,0.189,0.000,2627,1943,2800,0,0,0,0,0,0
$STATE,8082,end apogee,CONTROL_FINISHED_OK
$STATE,8082,begin climb
$GC,8084,0.73,146.0,696.6,0.0,740,8224,1.00,2.62,129.93,1.157,4,0.143,0.095,2922,360,2203,0,0,0,0,0,0
$GC,8246,0.64,146.0,684.3,11.7,745,8250,0.00,2.42,0.00,0.000,6,0.000,0.068,2922,1955,2201,0,0,0,0,0,0
$GC,8576,0.54,146.0,646.5,11.3,756,8582,0.22,3.33,0.00,0.000,4,0.207,0.084,2857,3541,2195,0,0,0,0,0,0
$GC,8660,0.59,146.0,638.1,9.5,758,8665,0.00,3.25,0.00,0.000,6,0.000,0.075,2869,1961,2194,0,0,0,0,0,0
$GC,8973,0.72,170.3,612.3,8.1,768,9000,0.15,3.28,20.08,1.104,4,0.112,0.084,2922,3541,2106,0,0,0,0,0,0
$GC,9073,0.58,170.3,600.5,12.7,770,9079,0.25,3.22,0.00,0.000,6,0.212,0.077,2879,1961,2104,0,0,0,0,0,0
$GC,9405,0.69,197.7,572.0,8.0,800,9437,0.12,3.28,25.15,1.103,4,0.127,0.086,2918,3544,1991,0,0,0,0,0,0
$GC,9533,0.60,197.7,557.1,12.6,811,9540,0.20,3.17,0.00,0.000,6,0.203,0.078,2887,1987,1988,0,0,0,0,0,0
$GC,9858,0.66,197.7,526.6,9.4,842,9863,0.00,3.17,0.00,0.000,4,0.000,0.086,2886,3542,1985,0,0,0,0,0,0
$GC,9942,0.66,197.7,517.6,11.1,849,9947,0.00,3.12,0.00,0.000,6,0.000,0.077,2898,1996,1985,0,0,0,0,0,0
$GC,10266,0.66,197.7,484.1,10.5,879,10271,0.00,3.15,0.00,0.000,4,0.000,0.085,2898,3541,1985,0,0,0,0,0,0
$GC,10332,0.66,197.7,476.5,12.3,884,10338,0.00,3.08,0.00,0.000,6,0.000,0.077,2911,2020,1983,0,0,0,0,0,0
$GC,10656,0.66,197.7,439.4,11.5,915,10661,0.00,3.12,0.00,0.000,4,0.000,0.087,2911,3545,1983,0,0,0,0,0,0
$GC,10707,0.59,197.7,432.9,13.4,919,10713,0.17,3.08,0.00,0.000,6,0.207,0.077,2884,2024,1983,0,0,0,0,0,0
$GC,11033,0.68,197.7,397.1,11.4,949,11038,0.00,3.10,0.00,0.000,4,0.000,0.085,2884,3540,1983,0,0,0,0,0,0
$GC,11095,0.68,197.7,389.3,12.8,954,11100,0.00,3.03,0.00,0.000,6,0.000,0.076,2895,2047,1983,0,0,0,0,0,0
$GC,11419,0.75,197.7,349.6,12.0,984,11425,0.10,3.05,0.00,0.000,4,0.128,0.085,2936,3537,1983,0,0,0,0,0,0
$GC,11464,0.63,197.7,342.9,15.3,987,11470,0.22,3.03,0.00,0.000,6,0.208,0.077,2895,2050,1983,0,0,0,0,0,0
$GC,11789,0.71,197.7,304.9,10.7,1018,11793,0.00,3.08,0.00,0.000,4,0.000,0.085,2894,3546,1983,0,0,0,0,0,0
$GC,11866,0.71,197.7,295.7,12.1,1024,11872,0.00,3.00,0.00,0.000,6,0.000,0.076,2905,2068,1983,0,0,0,0,0,0
$GC,12192,0.76,197.7,261.2,10.0,1055,12197,0.00,3.05,0.00,0.000,4,0.000,0.087,2905,3545,1983,0,0,0,0,0,0
$GC,12247,0.76,197.7,255.3,10.6,1059,12253,0.00,3.00,0.00,0.000,6,0.000,0.076,2918,2072,1984,0,0,0,0,0,0
$GC,12572,0.76,198.3,225.3,9.1,1090,12577,0.00,3.03,0.00,0.000,4,0.000,0.086,2918,3538,1983,0,0,0,0,0,0
$GC,12622,0.76,198.3,220.3,10.9,1094,12627,0.00,2.97,0.00,0.000,6,0.000,0.076,2931,2079,1983,0,0,0,0,0,0
$GC,12947,0.82,241.7,194.7,7.3,1124,12991,0.00,3.10,36.80,0.899,4,0.000,0.087,2930,3535,1814,0,0,0,0,0,0
$GC,13045,0.82,241.7,186.7,9.4,1133,13050,0.00,3.00,0.00,0.000,6,0.000,0.076,2943,2090,1811,0,0,0,0,0,0
$GC,13369,0.82,241.7,156.8,9.8,1163,13373,0.00,2.53,0.00,0.000,4,0.000,0.097,2955,356,1808,0,0,0,0,0,0
$GC,13402,0.82,241.7,153.2,11.0,1166,13406,0.00,2.42,0.00,0.000,6,0.000,0.072,2955,2090,1807,0,0,0,0,0,0
$GC,13732,0.82,241.7,112.2,12.7,1197,13737,0.00,3.03,0.00,0.000,4,0.000,0.089,2955,3541,1808,0,0,0,0,0,0
$GC,13805,0.75,241.7,101.9,14.4,1203,13811,0.15,2.95,0.00,0.000,6,0.208,0.077,2935,2100,1807,0,0,0,0,0,0
$GC,14149,0.86,255.5,63.8,8.6,1262,14170,0.00,3.03,12.15,0.816,4,0.000,0.089,2935,3534,1757,0,0,0,0,0,0
$GC,14204,0.92,255.5,57.2,11.8,1272,14211,0.12,2.95,0.00,0.000,6,0.123,0.078,2985,2094,1756,0,0,0,0,0,0
$GC,14551,0.92,255.5,11.8,12.6,1333,14556,0.00,2.53,0.00,0.000,4,0.000,0.097,2996,361,1755,0,0,0,0,0,0
$FREEZE,8.53,-1.130,-1.826,0,27,0
$FREEZE,7.64,-1.134,-1.826,0,27,0
$FREEZE,6.63,-1.133,-1.825,0,27,0
$FREEZE,5.48,-1.146,-1.824,0,27,0
$FREEZE,4.44,-1.146,-1.823,0,27,0
$FREEZE,3.54,-1.140,-1.823,0,27,0
$FREEZE,2.81,-1.161,-1.822,0,27,0
$GC,14608,0.76,255.5,2.8,18.3,1343,14614,0.22,2.47,0.00,0.000,6,0.196,0.076,2943,2102,1753,0,0,0,0,0,0
$FREEZE,0.73,-1.159,-1.821,0,27,0
$STATE,14618,end climb,SURFACE_DEPTH_REACHED
$STATE,14618,begin surface coast
$FREEZE,0.43,-1.273,-1.784,0,27,0
$FREEZE,0.48,-1.242,-1.746,0,27,0
$FINISH,0.5,1.025657
$STATE,14631,end surface coast,CONTROL_FINISHED_OK
$STATE,14631,begin surface
$SM_CCo,14647,57.25,0.787,1,0,1474,325.02
$SM_GC,1.13,0.00,0.00,57.25,0.000,0.000,0.787,124,2465,1474,-8.02,0.14,325.02
$RAFOS_CLK,1002
$RAFOS,1,1260259741,8.166667,8.150278,59,58,57,0,0,0,185,197,162,0,0,0
$RAFOS,0,1260259267,8.033334,8.018611,65,58,54,0,0,0,201,162,214,0,0,0
$RAFOS,6,1260247744,4.833333,4.817778,69,66,65,0,0,0,207,776,196,0,0,0
$RAFOS,5,1260247261,4.700000,4.683611,75,62,59,0,0,0,593,197,138,0,0,0
$RAFOS,4,1260246782,4.566667,4.550556,61,59,55,0,0,0,209,190,106,0,0,0
$RAFOS,3,1260246303,4.433333,4.417500,69,62,59,0,0,0,211,173,196,0,0,0
$RAFOS,2,1260245821,4.300000,4.283611,59,57,54,0,0,0,222,153,126,0,0,0
$RAFOS_FIX,6650.723633,-5745.262207,081209,000022,3,74,0.26
$IRIDIUM_FIX,6620.33,-5743.46,040399,040422
$TT8_MAMPS,0.029913
$HUMID,49.40
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,19.3
$ALTIM_BOTTOM_PING,600.8,139.3
$24V_AH,22.4,52.980
$10V_AH,10.1,27.984
$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,24.525,194.975,348.575,57.250,0.000,84.650,200.463,45.850,3.250,0.000,183.228,2381.685,9224.712,591.447,2678.475,642.919,0.000,1885.508,0.000,2454.969,2880.000,22.036,0.000
$DEVICE_MAMPS,304.499,98.176,1215.695,786.942,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,984.756,950.641,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152360
$DATA_FILE_SIZE,53574,1347
$CAP_FILE_SIZE,173088,0
$CFSIZE,260165632,228413440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,8,1,0
$SOUNDSPEED,1455.7
$GPS,081209,082128,6652.214,-5736.261,36,99.0,55,-37.5