DavisStrait 20Oct09 *
SG143 *
Dive index
* Mission links
version: 66.06
glider: 143
mission: 10
dive: 342
start: 12 19 109 11 52 19
data:
$ID,143
$MISSION,10
$DIVE,342
$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,425
$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,-42361.121
$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,15
$R_STBD_OVSHOOT,30
$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
$GPS1,114430,6707.967,-5715.761,37,1.0,43,-37.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.0
$GPS2,115201,6707.975,-5715.943,9,1.7,14,-37.8
$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,152.3,22183,-16.9,-9.167
$D_GRID,685
$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,15,-0.73,-146.0,0.0,0.0,0,133,0.00,0.00,-114.88,0.000,2,0.000,0.000,124,2468,3108,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.4,-5.4,23,163,11.30,2.28,-7.93,0.000,4,0.293,0.099,2448,850,3399,0,0,0,0,0,0
$GC,292,-0.73,-146.0,25.0,-10.8,51,297,0.00,2.15,0.00,0.000,6,0.000,0.068,2448,2446,3401,0,0,0,0,0,0
$GC,635,-0.73,-146.0,59.5,-10.3,112,641,0.00,2.20,0.00,0.000,4,0.000,0.086,2447,853,3401,0,0,0,0,0,0
$GC,895,-0.73,-146.0,90.8,-12.9,158,900,0.00,2.28,0.00,0.000,6,0.000,0.071,2448,2507,3401,0,0,0,0,0,0
$GC,1229,-0.78,-146.0,129.7,-9.8,196,1234,0.00,3.20,0.00,0.000,4,0.000,0.089,2448,3916,3400,0,0,3,0,0,0
$GC,1448,-0.88,-146.0,150.2,-8.4,215,1454,0.12,3.03,0.00,0.000,6,0.127,0.064,2409,2527,3399,0,0,3,0,0,0
$GC,1773,-0.88,-146.0,182.4,-9.6,245,1778,0.00,3.17,0.00,0.000,4,0.000,0.087,2409,3923,3398,0,0,3,0,0,0
$GC,1884,-0.88,-146.0,193.9,-9.5,254,1890,0.00,3.00,0.00,0.000,6,0.000,0.063,2409,2538,3398,0,0,3,0,0,0
$GC,2208,-0.88,-146.0,226.7,-9.8,285,2213,0.00,3.12,0.00,0.000,4,0.000,0.087,2409,3920,3398,0,0,4,0,0,0
$GC,2397,-0.88,-146.0,246.5,-10.4,301,2404,0.00,2.97,0.00,0.000,6,0.000,0.061,2409,2545,3397,0,0,3,0,0,0
$GC,2722,-0.88,-146.0,279.1,-9.6,332,2727,0.00,3.12,0.00,0.000,4,0.000,0.084,2409,3927,3398,0,0,3,0,0,0
$GC,2980,-0.88,-146.0,304.0,-9.1,354,2986,0.00,2.90,0.00,0.000,6,0.000,0.060,2409,2580,3398,0,0,3,0,0,0
$GC,3306,-0.88,-146.0,333.5,-8.9,385,3311,0.00,3.05,0.00,0.000,4,0.000,0.081,2409,3929,3399,0,0,3,0,0,0
$GC,3558,-0.88,-146.0,355.5,-8.4,407,3563,0.00,2.85,0.00,0.000,6,0.000,0.058,2409,2606,3399,0,0,3,0,0,0
$GC,3883,-0.88,-146.0,382.2,-8.2,437,3887,0.00,2.95,0.00,0.000,4,0.000,0.081,2408,3918,3400,0,0,4,0,0,0
$GC,4061,-0.88,-146.0,398.2,-8.9,452,4067,0.00,2.80,0.00,0.000,6,0.000,0.058,2409,2619,3400,0,0,3,0,0,0
$GC,4386,-0.88,-146.0,426.3,-8.8,483,4391,0.00,2.95,0.00,0.000,4,0.000,0.081,2408,3927,3401,0,0,3,0,0,0
$GC,4571,-0.88,-146.0,443.0,-8.9,499,4576,0.00,2.78,0.00,0.000,6,0.000,0.057,2409,2638,3401,0,0,3,0,0,0
$GC,4897,-0.88,-146.0,471.1,-8.5,529,4902,0.00,2.90,0.00,0.000,4,0.000,0.080,2409,3917,3402,0,0,3,0,0,0
$GC,5038,-0.88,-146.0,483.4,-9.1,541,5043,0.00,2.72,0.00,0.000,6,0.000,0.056,2409,2661,3402,0,0,3,0,0,0
$GC,5363,-0.88,-146.0,508.9,-7.5,571,5368,0.00,2.90,0.00,0.000,4,0.000,0.080,2409,3930,3402,0,0,2,0,0,0
$GC,5526,-0.88,-146.0,521.9,-7.9,585,5530,0.00,2.72,0.00,0.000,6,0.000,0.056,2409,2670,3403,0,0,3,0,0,0
$GC,5850,-0.88,-146.0,546.0,-7.1,615,5855,0.00,2.88,0.00,0.000,4,0.000,0.081,2409,3921,3403,0,0,2,0,0,0
$GC,6046,-0.88,-146.0,560.7,-6.8,632,6051,0.00,2.67,0.00,0.000,6,0.000,0.057,2409,2696,3404,0,0,3,0,0,0
$GC,6371,-0.88,-146.0,586.5,-9.1,662,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2698,3404,0,0,0,0,0,0
$GC,6696,-0.88,-146.0,611.6,-7.3,683,6701,0.00,2.83,0.00,0.000,4,0.000,0.081,2409,3919,3404,0,0,3,0,0,0
$GC,6885,-0.88,-146.0,627.6,-8.8,688,6891,0.00,2.67,0.00,0.000,6,0.000,0.057,2409,2696,3404,0,0,3,0,0,0
$GC,7198,-0.88,-146.0,656.5,-9.5,699,7203,0.00,2.83,0.00,0.000,4,0.000,0.081,2409,3918,3404,0,0,3,0,0,0
$GC,7275,-0.88,-146.0,663.9,-9.0,701,7280,0.00,2.67,0.00,0.000,6,0.000,0.057,2409,2702,3404,0,0,3,0,0,0
$STATE,7560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7560,begin apogee
$GC,7567,-0.16,0.0,687.0,7.5,711,7696,0.82,0.00,124.90,1.165,6,0.179,0.000,2632,1931,2800,0,0,0,0,0,0
$STATE,7696,end apogee,CONTROL_FINISHED_OK
$STATE,7696,begin climb
$GC,7698,0.73,146.0,690.5,0.0,715,7834,0.93,2.17,128.20,1.116,4,0.124,0.085,2920,363,2203,0,0,0,0,0,0
$GC,7907,0.65,146.0,670.7,12.7,721,7911,0.00,2.03,0.00,0.000,6,0.000,0.056,2920,1963,2198,0,0,0,0,0,0
$GC,8224,0.56,146.0,633.6,12.7,732,8230,0.20,3.53,0.00,0.000,4,0.203,0.071,2858,3541,2195,0,0,2,0,0,0
$GC,8366,0.63,146.0,620.0,9.6,736,8372,0.00,3.50,0.00,0.000,6,0.000,0.067,2872,1953,2193,0,0,2,0,0,0
$GC,8683,0.70,146.0,591.3,9.4,752,8689,0.12,3.47,0.00,0.000,4,0.120,0.075,2916,3532,2193,0,0,3,0,0,0
$GC,8773,0.59,146.0,579.8,12.7,759,8779,0.22,3.45,0.00,0.000,6,0.207,0.069,2879,1972,2192,0,0,2,0,0,0
$GC,9097,0.65,146.0,548.7,9.5,790,9103,0.00,3.42,0.00,0.000,4,0.000,0.076,2879,3531,2193,0,0,4,0,0,0
$GC,9244,0.65,146.0,533.7,10.6,802,9250,0.00,3.42,0.00,0.000,6,0.000,0.069,2892,1987,2192,0,0,2,0,0,0
$GC,9568,0.65,146.0,501.9,9.4,833,9574,0.00,3.42,0.00,0.000,4,0.000,0.076,2892,3540,2192,0,0,4,0,0,0
$GC,9686,0.65,146.0,489.5,10.4,843,9691,0.00,3.40,0.00,0.000,6,0.000,0.069,2908,2003,2191,0,0,3,0,0,0
$GC,10011,0.65,146.0,455.7,10.4,873,10016,0.00,3.40,0.00,0.000,4,0.000,0.077,2907,3534,2191,0,0,4,0,0,0
$GC,10111,0.56,146.0,443.7,11.5,881,10118,0.20,3.38,0.00,0.000,6,0.203,0.068,2876,2029,2191,0,0,2,0,0,0
$GC,10436,0.65,158.1,414.6,8.7,912,10452,0.00,3.40,9.25,0.895,4,0.000,0.077,2876,3536,2155,0,0,4,0,0,0
$GC,10568,0.65,158.1,401.2,10.2,923,10575,0.00,3.35,0.00,0.000,6,0.000,0.067,2889,2039,2153,0,0,2,0,0,0
$GC,10894,0.71,158.1,369.7,9.7,954,10899,0.00,3.38,0.00,0.000,4,0.000,0.076,2889,3539,2153,0,0,3,0,0,0
$GC,11000,0.71,158.1,358.2,10.8,963,11006,0.00,3.30,0.00,0.000,6,0.000,0.067,2903,2065,2153,0,0,3,0,0,0
$GC,11324,0.71,158.1,325.0,10.1,993,11330,0.00,3.33,0.00,0.000,4,0.000,0.074,2903,3532,2153,0,0,3,0,0,0
$GC,11432,0.66,158.1,313.0,12.0,1002,11437,0.00,3.28,0.00,0.000,6,0.000,0.067,2917,2072,2153,0,0,4,0,0,0
$GC,11756,0.66,158.1,277.1,11.4,1032,11761,0.00,3.33,0.00,0.000,4,0.000,0.074,2918,3543,2153,0,0,3,0,0,0
$GC,11857,0.58,158.1,264.6,12.5,1040,11863,0.22,3.28,0.00,0.000,6,0.198,0.067,2879,2095,2153,0,0,2,0,0,0
$GC,12181,0.67,158.1,231.1,10.4,1071,12186,0.00,3.28,0.00,0.000,4,0.000,0.074,2879,3532,2153,0,0,3,0,0,0
$GC,12281,0.67,158.1,220.2,10.4,1079,12287,0.00,3.25,0.00,0.000,6,0.000,0.066,2892,2100,2153,0,0,3,0,0,0
$GC,12606,0.75,164.1,189.5,8.9,1110,12621,0.12,3.30,6.75,0.720,4,0.106,0.073,2940,3532,2129,0,0,3,0,0,0
$GC,12708,0.62,164.1,177.7,12.4,1119,12714,0.25,3.20,0.00,0.000,6,0.201,0.065,2895,2123,2129,0,0,2,0,0,0
$GC,13033,0.69,164.7,147.7,9.1,1149,13038,0.00,3.25,0.00,0.000,4,0.000,0.074,2895,3538,2129,0,0,2,0,0,0
$GC,13155,0.69,164.7,134.0,12.0,1159,13161,0.00,3.20,0.00,0.000,6,0.000,0.064,2907,2134,2129,0,0,2,0,0,0
$GC,13480,0.77,164.7,99.3,10.3,1190,13486,0.00,3.22,0.00,0.000,4,0.000,0.073,2907,3532,2129,0,0,2,0,0,0
$GC,13550,0.77,164.7,91.9,10.6,1202,13555,0.00,3.17,0.00,0.000,6,0.000,0.066,2921,2145,2129,0,0,2,0,0,0
$GC,13894,0.92,216.6,65.6,7.0,1263,13946,0.20,3.28,43.65,0.769,4,0.092,0.075,2992,3539,1916,0,0,3,0,0,0
$GC,14003,0.75,216.6,53.9,12.6,1283,14009,0.30,3.22,0.00,0.000,6,0.198,0.067,2934,2157,1913,0,0,2,0,0,0
$GC,14350,0.84,224.3,23.1,8.8,1344,14367,0.00,3.28,6.70,0.659,4,0.000,0.075,2934,3548,1885,0,0,3,0,0,0
$GC,14456,0.84,224.3,12.1,10.4,1363,14462,0.00,3.20,0.00,0.000,6,0.000,0.067,2947,2179,1884,0,0,1,0,0,0
$FREEZE,8.94,-0.264,-1.831,0,1,0
$FREEZE,8.32,-0.275,-1.830,0,1,0
$FREEZE,7.90,-0.298,-1.830,0,1,0
$FREEZE,7.34,-0.308,-1.830,0,1,0
$FREEZE,6.77,-0.323,-1.829,0,1,0
$FREEZE,6.24,-0.382,-1.829,0,1,0
$FREEZE,5.69,-0.377,-1.828,0,1,0
$FREEZE,5.10,-0.385,-1.828,0,1,0
$FREEZE,4.58,-0.395,-1.827,0,1,0
$FREEZE,4.09,-0.399,-1.827,0,1,0
$FREEZE,3.53,-0.398,-1.827,0,1,0
$FREEZE,2.96,-0.391,-1.826,0,1,0
$FREEZE,2.44,-0.379,-1.825,0,1,0
$FREEZE,1.86,-0.394,-1.825,0,1,0
$STATE,14562,end climb,SURFACE_DEPTH_REACHED
$STATE,14562,begin surface coast
$FREEZE,1.19,-0.398,-1.825,0,1,0
$FREEZE,0.67,-0.400,-1.824,0,1,0
$FREEZE,0.57,-0.437,-1.770,0,1,0
$FREEZE,0.65,-0.411,-0.307,0,1,0
$FINISH,0.6,1.004378
$STATE,14586,end surface coast,CONTROL_FINISHED_OK
$STATE,14586,begin surface
$SM_CCo,14604,123.93,0.723,0,0,1066,425.10
$SM_GC,1.36,0.00,0.00,123.93,0.000,0.000,0.723,124,2453,1066,-8.02,-0.20,425.10
$RAFOS_CLK,915
$RAFOS,6,1261226944,12.833333,12.817778,75,60,57,0,0,0,759,171,204,0,0,0
$RAFOS,5,1261226461,12.700000,12.683611,139,63,58,0,0,0,622,212,121,0,0,0
$RAFOS,4,1261225983,12.566667,12.550834,89,62,58,0,0,0,822,215,202,0,0,0
$RAFOS,3,1261225501,12.433333,12.416945,59,55,54,0,0,0,212,200,140,0,0,0
$RAFOS,2,1261225022,12.300000,12.283889,61,53,51,0,0,0,204,158,186,0,0,0
$RAFOS,1,1261224543,12.166667,12.150833,64,59,59,0,0,0,208,192,223,0,0,0
$RAFOS,0,1261224065,12.033333,12.018056,63,56,51,0,0,0,219,191,142,0,0,0
$RAFOS_FIX,6707.583984,-5722.540527,191209,121244,3,101,1.55
$IRIDIUM_FIX,6641.98,-5709.24,150399,080804
$TT8_MAMPS,0.027612
$HUMID,47.24
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.1
$ALTIM_BOTTOM_PING,600.4,128.1
$24V_AH,22.4,63.965
$10V_AH,10.2,33.914
$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,23.350,184.450,319.450,123.925,0.000,22.774,35.575,263.923,2.750,0.000,15.941,2411.653,8975.767,643.633,2587.185,562.547,0.000,1946.386,0.000,2534.088,2520.000,18.005,0.000
$DEVICE_MAMPS,292.994,98.943,1165.073,723.281,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1014.091,949.908,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,53586,1386
$CAP_FILE_SIZE,169884,0
$CFSIZE,260165632,223473664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,152,0,0
$SOUNDSPEED,1467.6
$GPS,191209,155945,6709.149,-5720.754,37,2.2,56,-37.8