PortSusan 26Feb13 * SG144 * Dive index * Mission links
version: 66.11
glider: 144
mission: 20
dive: 6
start: 2 27 113 3 6 23
data:
$ID,144
$MISSION,20
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$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,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56256
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-86632.281
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3920
$C_PITCH,3200
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,24
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,364
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,2026
$C_ROLL_CLIMB,2026
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2930
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,1
$DBDW,1
$PITCH_W_GAIN,1
$PITCH_W_DBAND,1
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-46.800083
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043491465
$SEABIRD_T_H,0.00063627562
$SEABIRD_T_I,2.5639563e-05
$SEABIRD_T_J,2.8485167e-06
$SEABIRD_C_G,-10.038045
$SEABIRD_C_H,1.1273739
$SEABIRD_C_I,-0.0018486013
$SEABIRD_C_J,0.00022594928
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270213,025334,4744.395,-12223.856,23,0.8,23,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-77.9
$GPS2,270213,030523,4744.449,-12223.790,4,0.8,4,16.3
$SPEED_LIMITS,0.083,0.224
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.005,-0.224
$KALMAN_X,121.5,50.5,11.0,958.5,37.4
$KALMAN_Y,-805.1,-312.6,-82.1,283.5,-243.6
$MHEAD_RNG_PITCHd_Wd,165.0,2685,-16.5,-8.333,-20.40,2652
$D_GRID,150
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.77,-146.5,37,2016,1617,1779,0.0,0.0,0,82,0.00,0.00,-57.50,0.000,16386,0.000,0.000,37,2017,3106,3174,3038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.77,-146.5,37,2017,3174,3040,2.8,-4.2,8,119,15.93,2.53,-8.77,0.000,18692,0.470,0.103,3010,3436,3531,3629,3434,0,0,1,0,0,0,14.28,14.45,14.66
$GC,292,-0.64,-146.5,3010,3440,3629,3438,37.3,-15.4,34,299,0.22,2.50,0.00,0.000,3078,0.327,0.086,3058,2028,3533,3629,3438,0,0,0,0,0,0,14.38,14.50,28.83
$GC,429,-0.62,-146.5,3059,2021,3629,3438,52.5,-10.3,47,435,0.00,2.47,0.00,0.000,260,0.000,0.085,3058,3438,3533,3629,3438,0,0,0,0,0,0,28.83,14.55,28.83
$GC,574,-0.66,-146.5,3058,3438,3629,3438,68.9,-11.2,60,582,0.00,2.47,0.00,0.000,1030,0.000,0.083,3058,2020,3534,3630,3439,0,0,0,0,0,0,28.83,14.57,28.83
$GC,701,-0.66,-146.5,3058,2018,3629,3436,84.7,-12.4,73,707,0.00,2.45,0.00,0.000,260,0.000,0.083,3058,3438,3533,3629,3438,0,0,0,0,0,0,28.83,14.60,28.83
$GC,813,-0.68,-146.5,3058,3440,3629,3438,97.4,-11.5,83,819,0.00,2.47,0.00,0.000,1030,0.000,0.084,3058,2019,3534,3629,3439,0,0,0,0,0,0,28.83,14.61,28.83
$GC,948,-0.68,-146.5,3058,2017,3629,3438,112.8,-11.3,96,954,0.00,2.47,0.00,0.000,260,0.000,0.085,3057,3440,3534,3629,3439,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1031,-0.74,-146.5,3058,3441,3629,3439,120.7,-10.1,103,1036,0.00,2.47,0.00,0.000,1030,0.000,0.085,3058,2020,3533,3628,3438,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1165,-0.74,-146.5,3058,2017,3628,3438,135.5,-10.0,116,1171,0.00,2.47,0.00,0.000,260,0.000,0.085,3058,3443,3533,3629,3438,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1223,-0.79,-146.5,3057,3443,3629,3438,140.8,-9.1,121,1229,0.12,2.47,0.00,0.000,5126,0.187,0.080,3019,2027,3533,3629,3438,0,0,0,0,0,0,14.62,14.62,28.83
$STATE,1306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1306,begin apogee
$GC,1312,-0.18,0.0,3020,2020,3629,3438,150.2,-11.8,129,1434,0.52,0.00,112.57,1.427,10246,0.292,0.000,3154,2020,2928,2963,2894,0,0,0,0,0,0,14.52,28.83,13.50
$STATE,1437,end apogee,CONTROL_FINISHED_OK
$STATE,1437,begin climb
$GC,1440,0.77,146.5,3154,2020,2962,2892,154.4,0.0,139,1559,0.73,0.00,114.28,1.381,10758,0.220,0.000,3359,2020,2331,2333,2330,0,0,0,0,0,0,14.02,28.83,13.43
$GC,1679,0.64,146.5,3359,2020,2331,2319,140.5,8.8,161,1687,0.10,0.00,0.00,0.000,4102,0.335,0.000,3343,2020,2325,2331,2320,0,0,0,0,0,0,14.18,28.83,28.83
$GC,1809,0.55,146.5,3343,2020,2331,2321,129.5,8.6,174,1816,0.10,0.00,0.00,0.000,4102,0.346,0.000,3328,2020,2324,2331,2317,0,0,0,0,0,0,14.32,28.83,28.83
$GC,1939,0.52,146.5,3324,2020,2331,2315,119.0,7.8,187,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2023,2323,2331,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2068,0.52,146.5,3324,2020,2331,2315,108.7,7.8,200,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2020,2321,2328,2315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2191,0.50,146.5,3324,2020,2330,2314,99.8,7.7,212,2197,0.00,2.47,0.00,0.000,260,0.000,0.080,3324,3439,2322,2331,2313,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2262,0.44,146.5,3324,3440,2327,2314,94.2,8.5,218,2271,0.15,2.50,0.00,0.000,5126,0.320,0.090,3295,2023,2320,2327,2314,0,0,0,0,0,0,14.47,14.57,28.83
$GC,2391,0.49,146.6,3295,2023,2327,2314,87.1,4.9,231,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2023,2320,2327,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2520,0.55,146.6,3295,2023,2327,2314,81.0,5.1,244,2528,0.10,0.00,0.00,0.000,2054,0.200,0.000,3325,2020,2321,2328,2314,0,0,0,0,0,0,14.62,28.83,28.83
$GC,2650,0.55,146.6,3325,2022,2327,2314,70.9,8.2,257,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2019,2320,2327,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2772,0.55,146.6,3325,2022,2327,2314,61.1,7.9,269,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2022,2320,2327,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2900,0.55,146.6,3322,2022,2327,2312,50.0,8.6,282,2906,0.00,2.42,0.00,0.000,260,0.000,0.078,3325,3441,2320,2327,2314,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3011,0.50,146.6,3325,3441,2326,2313,40.4,8.8,292,3019,0.00,2.47,0.00,0.000,1030,0.000,0.090,3326,2026,2319,2326,2313,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3139,0.50,146.6,3326,2026,2326,2313,31.3,6.5,305,3145,0.00,2.45,0.00,0.000,260,0.000,0.076,3326,3444,2318,2326,2310,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3238,0.46,146.6,3326,3449,2326,2313,24.5,7.0,314,3244,0.12,2.50,0.00,0.000,5126,0.326,0.090,3303,2025,2317,2326,2309,0,0,0,0,0,0,14.51,14.59,28.83
$GC,3374,0.54,146.7,2272,2022,2275,2304,18.6,3.4,330,3382,0.00,2.53,0.00,0.000,516,0.000,0.106,3302,604,2320,2326,2314,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3459,0.70,146.7,3302,603,2326,2314,14.5,4.8,345,3468,0.17,2.42,0.00,0.000,3078,0.173,0.069,3357,2030,2319,2325,2314,0,0,0,0,0,0,14.57,14.59,28.83
$GC,3537,0.61,146.7,3357,2032,2326,2313,9.4,7.5,358,3545,0.10,2.42,0.00,0.000,4356,0.308,0.078,3337,3441,2319,2325,2314,0,0,0,0,0,0,14.48,14.57,28.83
$STATE,3637,end climb,SURFACE_DEPTH_REACHED
$STATE,3637,begin surface coast
$FINISH,0.3,1.011311
$STATE,3661,end surface coast,CONTROL_FINISHED_OK
$STATE,3661,begin surface
$SM_CCo,3687,81.22,1.271,0,0,1705,300.00
$SM_GC,1.43,9.77,2.53,81.22,0.103,0.085,1.271,45,2023,1705,-14.44,0.51,300.00,0,0,1,0,0,0,14.59,14.59,13.71
$IRIDIUM_FIX,4729.30,-12225.08,270213,010130
$TT8_MAMPS,0.027713,0.027713
$HUMID,35.07
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.4
$ALTIM_BOTTOM_PING,130.5,48.8
$SC_FREEKB,4017824
$TM_FREEKB,7858272
$24V_AH,13.4,8.410
$10V_AH,13.6,0.000
$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,28.150,49.525,226.850,81.225,0.000,32.137,29.008,365.223,3.500,0.000,5.899,1302.702,1128.642,422.192,1268.122,351.505,33.210,861.060,0.000,737.742,0.000,24.198,0.000
$DEVICE_MAMPS,469.710,106.335,1426.725,1271.430,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3686.000,3683.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1596.893,21.714,0.000,0.000
$MEM,322668
$DATA_FILE_SIZE,13448,380
$CAP_FILE_SIZE,187575,0
$CFSIZE,260165632,253083648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,270213,041000,4744.272,-12223.874,3,1.1,3,16.3