ITOP Sep10 *
SG167 *
Dive index
* Mission links
version: 66.08
glider: 167
mission: 6
dive: 145
start: 10 11 110 20 15 1
data:
$ID,167
$MISSION,6
$DIVE,145
$N_DIVES,155
$D_SURF,3
$D_FLARE,5
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,3
$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,135
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,235
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51890
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-34452.449
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2822
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,790
$C_ROLL_CLIMB,1000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,120
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,3029
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.491346
$PRESSURE_SLOPE,0.0001158971
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,0.004337667
$SEABIRD_T_H,0.00063136261
$SEABIRD_T_I,2.3680945e-05
$SEABIRD_T_J,2.4321864e-06
$SEABIRD_C_G,-9.8870621
$SEABIRD_C_H,1.1051886
$SEABIRD_C_I,-0.001683808
$SEABIRD_C_J,0.00020742195
$GPS1,111010,200846,2306.618,12701.291,11,2.5,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.8
$GPS2,111010,201436,2306.687,12701.356,14,1.2,30,-3.4
$SPEED_LIMITS,0.214,0.341
$TGT_NAME,WAKEB_EAST
$TGT_LATLONG,2303.000,12705.000
$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,181.7,9230,-17.3,-12.346
$D_GRID,1000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.76,-228.7,0.0,0.0,0,82,0.00,0.00,-62.75,0.000,2,0.000,0.000,116,786,3227,0,0,0,0,0,0
$GC,85,-0.76,-228.7,5.3,-12.0,9,111,9.45,0.90,-11.82,0.000,4,0.227,0.077,2563,188,3965,0,0,0,0,0,0
$GC,352,-0.76,-228.7,99.0,-24.9,57,360,0.00,0.75,0.00,0.000,6,0.000,0.021,2560,867,3967,0,0,0,0,0,0
$GC,681,-0.76,-228.7,178.8,-25.5,118,688,0.00,0.98,0.00,0.000,4,0.000,0.039,2560,196,3969,0,0,0,0,0,0
$GC,937,-0.76,-228.7,239.4,-21.8,164,945,0.00,0.70,0.00,0.000,6,0.000,0.021,2556,836,3969,0,0,0,0,0,0
$GC,1277,-0.76,-228.7,308.2,-18.9,222,1281,0.00,0.93,0.00,0.000,4,0.000,0.039,2556,196,3969,0,0,0,0,0,0
$GC,1522,-0.76,-228.7,353.7,-18.3,244,1526,0.00,0.60,0.00,0.000,6,0.000,0.022,2552,745,3969,0,0,0,0,0,0
$GC,1854,-0.76,-228.7,410.5,-17.0,275,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,745,3969,0,0,0,0,0,0
$GC,2175,-0.76,-228.7,463.4,-16.4,305,2179,0.00,1.92,0.00,0.000,4,0.000,0.017,2548,2123,3968,0,0,0,0,0,0
$GC,2244,-0.76,-228.7,473.9,-13.7,311,2247,0.00,2.00,0.00,0.000,6,0.000,0.034,2548,759,3968,0,0,0,0,0,0
$STATE,2424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2424,begin apogee
$GC,2430,-0.14,0.0,501.2,14.8,328,2611,0.65,0.00,169.98,0.952,4,0.122,0.000,2769,997,3028,0,0,0,0,0,0
$STATE,2611,end apogee,CONTROL_FINISHED_OK
$STATE,2612,begin climb
$GC,2614,0.76,228.7,510.3,0.0,343,2794,0.82,2.00,171.93,0.926,4,0.054,0.017,3078,2383,2095,0,0,0,0,0,0
$GC,3030,0.76,228.7,458.7,16.5,379,3038,0.00,2.10,0.00,0.000,6,0.000,0.033,3087,996,2090,0,0,0,0,0,0
$GC,3357,0.76,228.7,404.3,16.8,410,3361,0.00,1.17,0.00,0.000,4,0.000,0.041,3094,197,2087,0,0,0,0,0,0
$GC,3614,0.76,228.7,357.6,17.7,433,3618,0.00,1.02,0.00,0.000,6,0.000,0.019,3094,1025,2085,0,0,0,0,0,0
$GC,3946,0.76,228.7,302.5,15.9,464,3950,0.00,1.85,0.00,0.000,4,0.000,0.018,3094,2337,2083,0,0,0,0,0,0
$GC,4108,0.76,228.7,279.2,13.3,491,4116,0.12,1.95,0.00,0.000,6,0.166,0.033,3069,1026,2082,0,0,0,0,0,0
$GC,4442,0.77,234.9,238.3,12.1,552,4451,0.00,1.25,3.83,0.512,4,0.000,0.041,3074,193,2071,0,0,0,0,0,0
$GC,4471,0.77,234.9,234.7,12.5,556,4479,0.00,1.05,0.00,0.000,6,0.000,0.020,3074,1035,2071,0,0,0,0,0,0
$GC,4805,0.78,244.3,191.4,12.0,617,4820,0.00,1.88,9.05,0.679,4,0.000,0.018,3074,2343,2031,0,0,0,0,0,0
$GC,5065,0.78,244.3,159.3,12.6,664,5073,0.00,1.92,0.00,0.000,6,0.000,0.034,3082,1063,2030,0,0,0,0,0,0
$GC,5395,0.84,296.1,123.1,10.5,725,5447,0.00,1.88,40.42,0.693,4,0.000,0.018,3082,2345,1819,0,0,0,0,0,0
$GC,5494,0.84,296.1,111.0,13.2,740,5502,0.00,1.95,0.00,0.000,6,0.000,0.033,3090,1069,1818,0,0,0,0,0,0
$GC,5822,0.93,364.3,73.2,9.9,801,5882,0.00,1.33,52.75,0.647,4,0.000,0.040,3097,197,1541,0,0,0,0,0,0
$GC,5933,0.97,401.5,61.0,11.0,818,5972,0.08,1.10,30.00,0.619,6,0.061,0.019,3147,1054,1391,0,0,0,0,0,0
$GC,6292,0.97,401.5,8.5,15.4,883,6301,0.00,1.83,0.00,0.000,4,0.000,0.018,3147,2349,1384,0,0,0,0,0,0
$STATE,6334,end climb,SURFACE_DEPTH_REACHED
$STATE,6334,begin surface coast
$FINISH,1.6,1.021815
$STATE,6341,end surface coast,CONTROL_FINISHED_OK
$STATE,6341,begin surface
$SM_CCo,6423,0.00,0.000,0,0,1382,404.01
$SM_GC,1.19,7.68,0.00,0.00,0.034,0.000,0.000,120,785,1382,-8.35,-0.11,404.01
$IRIDIUM_FIX,2258.07,12702.97,111010,181812
$TT8_MAMPS,0.026964
$HUMID,40.47
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.30
$XPDR_PINGS,0
$24V_AH,24.7,29.057
$10V_AH,10.5,25.750
$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,18.800,35.625,477.950,0.000,0.000,29.895,16.342,139.539,0.000,0.000,31.291,2102.092,1552.880,445.728,2387.597,280.955,0.000,1287.754,0.000,2198.608,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,77.265,951.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,600.019,911.598,1524.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,53637,891
$CAP_FILE_SIZE,84022,0
$CFSIZE,260165632,159571968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.205, 19.9,1
$GPS,111010,220306,2306.767,12702.056,11,1.6,27,-3.4