DavisStrait 20Oct09 * SG143 * Dive index * Mission links
version: 66.06
glider: 143
mission: 10
dive: 431
start: 12 29 109 21 45 24
data:
$ID,143
$MISSION,10
$DIVE,431
$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,90
$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,-44898.855
$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,2800
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,213624,6733.524,-5724.921,93,1.1,94,-38.4
$_CALLS,1
$_XMS_NAKs,50
$_XMS_TOUTs,5
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-62.4
$GPS2,214507,6733.638,-5724.863,10,1.1,27,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.638,-5656.571
$TGT_RADIUS,1852.000
$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,128.4,20000,-16.9,-9.167
$D_GRID,202
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-100.20,0.000,2,0.000,0.000,129,2806,3136,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.4,-6.8,20,148,11.68,2.88,-7.10,0.000,4,0.304,0.104,2449,3924,3398,0,0,8,0,0,0
$GC,317,-0.79,-146.0,30.1,-8.4,55,323,0.00,2.75,0.00,0.000,6,0.000,0.066,2449,2797,3400,0,0,5,0,0,0
$GC,660,-0.79,-146.0,64.1,-11.2,116,666,0.00,2.90,0.00,0.000,4,0.000,0.091,2449,3927,3401,0,0,6,0,0,0
$GC,874,-0.86,-146.0,87.0,-9.8,154,881,0.10,2.70,0.00,0.000,6,0.096,0.066,2411,2807,3401,0,0,6,0,0,0
$GC,1206,-0.80,-146.0,124.9,-9.7,194,1210,0.00,2.85,0.00,0.000,4,0.000,0.092,2410,3912,3399,0,0,6,0,0,0
$GC,1395,-0.75,-146.0,143.2,-9.5,210,1402,0.15,2.72,0.00,0.000,6,0.216,0.066,2442,2793,3399,0,0,5,0,0,0
$GC,1721,-0.82,-146.0,168.1,-8.7,241,1725,0.00,2.88,0.00,0.000,4,0.000,0.091,2442,3923,3398,0,0,6,0,0,0
$GC,1873,-0.90,-146.0,182.4,-10.0,254,1879,0.12,2.70,0.00,0.000,6,0.124,0.064,2403,2800,3398,0,0,6,0,0,0
$STATE,2057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2057,begin apogee
$GC,2064,-0.16,0.0,202.3,10.2,271,2185,0.82,0.00,116.60,0.892,6,0.193,0.000,2627,2390,2800,0,0,0,0,0,0
$STATE,2186,end apogee,CONTROL_FINISHED_OK
$STATE,2186,begin climb
$GC,2188,0.73,146.0,205.6,0.0,283,2318,0.98,2.12,119.85,0.841,4,0.140,0.088,2924,803,2204,0,0,0,0,0,0
$GC,2390,0.73,146.0,190.9,10.3,301,2396,0.00,1.98,0.00,0.000,6,0.000,0.064,2924,2396,2200,0,0,0,0,0,0
$GC,2715,0.73,146.0,158.0,9.9,332,2724,0.00,3.83,0.00,0.000,4,0.000,0.083,2924,3923,2197,0,0,7,0,0,0
$GC,2850,0.61,146.0,142.0,12.5,344,2860,0.20,3.72,0.00,0.000,6,0.199,0.070,2895,2402,2195,0,0,6,0,0,0
$GC,3179,0.74,169.3,114.2,8.2,375,3206,0.12,3.83,19.30,0.775,4,0.125,0.083,2935,3914,2108,0,0,6,0,0,0
$GC,3269,0.62,169.3,104.3,12.1,382,3276,0.25,3.70,0.00,0.000,6,0.195,0.069,2891,2396,2106,0,0,5,0,0,0
$GC,3611,0.78,169.3,75.3,9.4,439,3617,0.15,3.83,0.00,0.000,4,0.114,0.082,2942,3915,2106,0,0,5,0,0,0
$GC,3685,0.69,169.3,66.7,12.9,452,3692,0.17,3.70,0.00,0.000,6,0.196,0.068,2919,2393,2106,0,0,6,0,0,0
$GC,4029,0.77,169.3,38.0,9.6,513,4035,0.00,3.78,0.00,0.000,4,0.000,0.082,2919,3919,2106,0,0,7,0,0,0
$GC,4127,0.77,169.3,28.8,10.2,530,4133,0.00,3.70,0.00,0.000,6,0.000,0.068,2934,2392,2106,0,0,6,0,0,0
$FREEZE,8.89,-0.552,-1.832,0,1,0
$FREEZE,8.35,-0.545,-1.832,0,1,0
$FREEZE,7.80,-0.541,-1.831,0,1,0
$FREEZE,7.25,-0.546,-1.831,0,1,0
$FREEZE,6.81,-0.544,-1.830,0,1,0
$FREEZE,6.59,-0.545,-1.830,0,1,0
$FREEZE,6.14,-0.545,-1.830,0,1,0
$FREEZE,5.75,-0.548,-1.830,0,1,0
$FREEZE,5.46,-0.547,-1.830,0,1,0
$FREEZE,5.08,-0.546,-1.829,0,1,0
$FREEZE,4.76,-0.542,-1.829,0,1,0
$FREEZE,4.00,-0.546,-1.828,0,1,0
$FREEZE,3.20,-0.542,-1.828,0,1,0
$FREEZE,2.53,-0.550,-1.827,0,1,0
$FREEZE,1.80,-0.542,-1.827,0,1,0
$GC,4471,0.83,216.1,4.0,7.2,591,4491,0.00,0.00,17.25,0.742,2,0.000,0.000,2933,2393,2027,0,0,0,0,0,0
$STATE,4491,end climb,SURFACE_DEPTH_REACHED
$STATE,4492,begin surface coast
$FREEZE,1.18,-0.543,-1.826,0,1,0
$FREEZE,0.90,-0.547,-1.826,0,1,0
$FREEZE,0.35,-0.546,-1.826,0,1,0
$FINISH,0.4,1.026764
$STATE,4508,end surface coast,CONTROL_FINISHED_OK
$STATE,4509,begin surface
$SM_CCo,4526,72.10,0.732,0,0,1474,325.02
$SM_GC,0.96,0.00,0.00,72.10,0.000,0.000,0.732,124,2800,1474,-8.02,-0.03,325.02
$RAFOS_CLK,292
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5722.66,250399,202046
$TT8_MAMPS,0.026845
$HUMID,48.26
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.7
$24V_AH,22.8,74.451
$10V_AH,10.0,39.407
$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,23.000,58.525,273.000,72.100,0.000,30.747,35.613,331.970,1.000,0.000,30.249,959.188,2216.943,439.355,990.229,520.405,0.000,974.180,0.000,962.312,0.000,2.616,0.000
$DEVICE_MAMPS,304.499,103.545,892.021,732.485,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.319,403.377,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152580
$DATA_FILE_SIZE,22121,597
$CAP_FILE_SIZE,69929,0
$CFSIZE,260165632,218017792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,96,0,0
$SOUNDSPEED,1454.9
$GPS,291209,230301,6734.115,-5723.716,7,2.0,13,-38.4