PortSusan 24Apr08 *
SG152 *
Dive index
* Mission links
version: 66.03
glider: 152
mission: 1
dive: 9
start: 4 25 108 1 53 38
data:
$ID,152
$MISSION,1
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,140
$D_ABORT,200
$D_NO_BLEED,500
$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,67
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51622
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4465.1636
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,446
$PITCH_MAX,3720
$C_PITCH,2976
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,242
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,540
$VBD_MAX,3950
$C_VBD,3388
$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,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-18.272327
$PRESSURE_SLOPE,0.0001162351
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043139826
$SEABIRD_T_H,0.00063131854
$SEABIRD_T_I,2.3268194e-05
$SEABIRD_T_J,2.3261061e-06
$SEABIRD_C_G,-10.052959
$SEABIRD_C_H,1.1241329
$SEABIRD_C_I,-0.00057783123
$SEABIRD_C_J,0.00013255829
$GPS1,014107,4806.307,-12222.413,5,1.5,22,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-68.8
$GPS2,015246,4806.402,-12222.454,16,1.7,16,18.3
$SPEED_LIMITS,0.121,0.257
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.156,-0.205
$KALMAN_X,-107.8,72.8,-59.0,1240.6,-228.9
$KALMAN_Y,-309.4,-238.8,33.3,-1940.6,292.0
$MHEAD_RNG_PITCHd_Wd,124.3,933,-9.8,-6.965
$D_GRID,140
$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
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.85,-195.5,0.0,0.0,0,94,0.00,0.00,-73.28,0.000,2,0.000,0.000,444,2327,2659
$GC,96,-0.85,-195.5,3.2,-3.4,12,154,12.90,2.53,-36.00,0.000,4,0.167,0.082,2783,3726,3953
$GC,161,-0.85,-195.5,8.1,-4.7,22,168,0.00,2.38,0.00,0.000,6,0.000,0.035,2784,2318,3953
$GC,233,-0.85,-195.5,11.7,-5.2,38,239,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2318,3953
$GC,304,-0.85,-195.5,15.4,-5.6,54,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2317,3953
$GC,376,-0.85,-195.5,19.6,-6.1,70,383,0.00,2.53,0.00,0.000,4,0.000,0.065,2784,3724,3954
$GC,410,-0.85,-195.5,22.2,-6.9,77,417,0.00,2.35,0.00,0.000,6,0.000,0.035,2784,2328,3954
$GC,483,-0.85,-195.5,27.0,-6.9,93,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2327,3954
$GC,554,-0.85,-195.5,31.8,-6.7,109,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2327,3954
$GC,626,-0.85,-195.5,36.5,-6.6,125,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2325,3954
$GC,698,-0.85,-195.5,41.1,-6.4,141,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2325,3954
$GC,837,-0.85,-195.5,50.3,-6.6,172,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2323,3954
$GC,978,-0.85,-195.5,59.3,-6.5,203,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2323,3954
$GC,1117,-0.85,-195.5,68.5,-6.6,234,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2323,3954
$GC,1260,-0.85,-195.5,77.3,-5.7,265,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2323,3954
$GC,1400,-0.85,-195.5,86.2,-6.2,296,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2323,3954
$GC,1542,-0.85,-195.5,95.1,-6.5,327,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2323,3954
$GC,1682,-0.85,-195.5,104.0,-6.4,358,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2323,3954
$GC,1825,-0.85,-195.5,112.3,-5.7,389,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2323,3954
$STATE,1901,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1901,begin apogee
$GC,1905,-0.31,0.0,117.0,6.0,406,2024,0.55,0.00,110.82,0.862,6,0.087,0.000,2904,2323,3388
$STATE,2025,end apogee,CONTROL_FINISHED_OK
$STATE,2025,begin climb
$GC,2027,0.85,195.5,119.7,0.0,427,2186,1.15,0.00,154.62,0.818,6,0.072,0.000,3155,2324,2591
$GC,2322,0.85,195.5,101.5,7.3,485,2328,0.00,2.47,0.00,0.000,4,0.000,0.072,3155,934,2590
$GC,2397,0.85,195.5,95.8,7.7,501,2402,0.00,2.38,0.00,0.000,6,0.000,0.050,3155,2325,2590
$GC,2534,0.85,195.5,85.4,7.4,532,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2326,2590
$GC,2676,0.85,195.5,74.9,7.5,563,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2326,2590
$GC,2814,0.85,195.5,64.5,7.2,594,2822,0.00,2.50,0.00,0.000,4,0.000,0.069,3155,934,2590
$GC,2841,0.85,195.5,62.4,7.7,599,2847,0.00,2.38,0.00,0.000,6,0.000,0.049,3155,2329,2590
$GC,2983,0.85,195.5,52.1,7.3,630,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2329,2590
$GC,3124,0.87,213.1,42.2,6.5,661,3148,0.00,2.55,15.48,0.785,4,0.000,0.067,3155,934,2519
$GC,3167,0.87,213.1,39.1,7.1,669,3174,0.00,2.40,0.00,0.000,6,0.000,0.048,3155,2325,2518
$GC,3240,0.87,213.1,33.9,7.1,685,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2325,2519
$GC,3311,0.87,213.1,28.6,7.3,701,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2325,2519
$GC,3382,0.87,213.1,23.6,7.3,717,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2325,2518
$GC,3453,0.87,213.1,18.6,7.0,733,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2325,2518
$GC,3525,0.90,231.5,14.0,6.5,749,3545,0.00,0.00,16.35,0.780,6,0.000,0.000,3155,2325,2444
$GC,3610,0.93,258.8,8.7,6.3,767,3643,0.10,2.53,22.92,0.777,4,0.078,0.068,3181,938,2333
$STATE,3877,end climb,NO_VERTICAL_VELOCITY
$STATE,3878,begin surface
$SM_CCo,3880,315.10,0.699,19,0,540,698.61
$SM_GC,1.51,11.93,0.00,0.00,0.042,0.000,0.000,443,2330,531,-11.60,0.14,700.58
$IRIDIUM_FIX,4748.51,-12226.29,200797,010159
$TT8_MAMPS,0.021476
$HUMID,1473
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,14.70
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,80.1,46.7
$24V_AH,23.5,1.898
$10V_AH,10.1,0.893
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,26.625,29.400,320.200,315.100,0.000,70.672,189.013,223.469,11.500,0.000,0.000,17.910,1222.723,594.467,798.343,1900.274,593.367,33.328,1564.862,0.000,1902.355,0.000,5.474
$DEVICE_MAMPS,167.206,82.069,862.108,698.737,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,574.298,541.932,1374.264,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44280,828
$CAP_FILE_SIZE,76341,0
$CFSIZE,260165632,258428928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,19,0
$GPS,250408,030805,4806.165,-12222.267,10,99.0,30,18.3