ITOP Sep10 *
SG169 *
Dive index
* Mission links
version: 66.08
glider: 169
mission: 2
dive: 228
start: 10 9 110 2 49 16
data:
$ID,169
$MISSION,2
$DIVE,228
$N_DIVES,230
$D_SURF,3
$D_FLARE,3
$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,110
$T_MISSION,150
$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,-8
$MAX_BUOY,210
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51710
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,640
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-6969.5396
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,32
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3091
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-76.551537
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,1
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$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,0.0043354151
$SEABIRD_T_H,0.00062527717
$SEABIRD_T_I,2.379055e-05
$SEABIRD_T_J,2.5466652e-06
$SEABIRD_C_G,-9.9450293
$SEABIRD_C_H,1.1242783
$SEABIRD_C_I,-0.0011038103
$SEABIRD_C_J,0.00017515429
$GPS1,091010,024337,2416.739,12612.507,11,1.4,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-72.7
$GPS2,091010,024850,2416.700,12612.569,13,1.6,13,-3.7
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12612.000
$TGT_RADIUS,1000.000
$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,202.0,30943,-21.0,-15.152
$D_GRID,1635
$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,15,-0.72,-204.4,0.0,0.0,0,119,0.00,0.00,-102.30,0.000,2,0.000,0.000,141,1999,3313,0,0,0,0,0,0
$GC,122,-0.72,-204.4,4.8,-8.6,13,149,9.85,1.92,-9.73,0.000,4,0.246,0.075,2479,3168,3929,0,0,0,0,0,0
$GC,238,-0.70,-204.4,63.1,-33.1,31,248,0.00,1.85,0.00,0.000,6,0.000,0.050,2479,2003,3931,0,0,0,0,0,0
$GC,600,-0.69,-204.4,171.1,-27.7,92,609,0.00,1.73,0.00,0.000,4,0.000,0.054,2479,884,3932,0,0,0,0,0,0
$GC,704,-0.69,-204.4,196.5,-20.2,110,713,0.00,1.80,0.00,0.000,6,0.000,0.052,2479,2037,3933,0,0,0,0,0,0
$GC,1057,-0.69,-204.4,271.4,-19.2,171,1064,0.00,1.75,0.00,0.000,4,0.000,0.061,2479,3167,3933,0,0,0,0,0,0
$GC,1129,-0.69,-204.4,284.4,-16.1,183,1136,0.00,1.75,0.00,0.000,6,0.000,0.044,2479,2002,3933,0,0,0,0,0,0
$GC,1461,-0.69,-204.4,347.2,-18.8,221,1465,0.00,1.67,0.00,0.000,4,0.000,0.052,2479,879,3933,0,0,0,0,0,0
$GC,1499,-0.70,-204.4,354.2,-17.1,224,1507,0.00,1.80,0.00,0.000,6,0.000,0.050,2479,2041,3933,0,0,0,0,0,0
$GC,1825,-0.70,-204.4,407.3,-15.9,255,1829,0.00,1.73,0.00,0.000,4,0.000,0.059,2479,3171,3932,0,0,0,0,0,0
$GC,1850,-0.70,-204.4,411.1,-15.7,257,1854,0.00,1.80,0.00,0.000,6,0.000,0.047,2479,1998,3932,0,0,0,0,0,0
$GC,2182,-0.70,-204.4,463.4,-15.9,288,2186,0.00,1.83,0.00,0.000,4,0.000,0.058,2479,3167,3930,0,0,0,0,0,0
$GC,2229,-0.71,-204.4,470.0,-13.1,292,2233,0.00,1.80,0.00,0.000,6,0.000,0.044,2479,2001,3930,0,0,0,0,0,0
$STATE,2432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2432,begin apogee
$GC,2437,-0.18,0.0,500.2,15.6,311,2607,0.60,0.08,158.32,0.856,6,0.154,0.106,2663,2091,3089,0,0,0,0,0,0
$STATE,2608,end apogee,CONTROL_FINISHED_OK
$STATE,2608,begin climb
$GC,2610,0.72,204.4,511.0,0.0,325,2791,0.82,1.80,168.48,0.849,4,0.076,0.039,2967,961,2255,0,0,0,0,0,0
$GC,2819,0.71,204.4,502.8,15.6,344,2827,0.00,1.85,0.00,0.000,6,0.000,0.034,2967,2157,2250,0,0,0,0,0,0
$GC,3146,0.70,204.4,448.9,16.3,375,3149,0.00,1.67,0.00,0.000,4,0.000,0.041,2967,3280,2243,0,0,0,0,0,0
$GC,3240,0.69,204.4,433.2,15.4,383,3247,0.00,1.80,0.00,0.000,6,0.000,0.032,2975,2084,2242,0,0,0,0,0,0
$GC,3566,0.68,204.4,384.6,15.2,414,3569,0.00,1.77,0.00,0.000,4,0.000,0.041,2975,3272,2239,0,0,0,0,0,0
$GC,3815,0.68,212.7,344.8,14.7,436,3830,0.12,1.75,5.15,0.561,6,0.187,0.031,2953,2082,2222,0,0,0,0,0,0
$GC,4147,0.75,269.3,303.3,12.3,467,4204,0.00,1.90,47.03,0.739,4,0.000,0.042,2953,3272,1991,0,0,0,0,0,0
$GC,4218,0.78,294.9,294.0,13.9,475,4248,0.00,1.80,22.10,0.698,6,0.000,0.032,2962,2086,1886,0,0,0,0,0,0
$GC,4589,0.78,297.0,238.3,15.0,539,4595,0.00,1.67,0.00,0.000,4,0.000,0.041,2970,956,1877,0,0,0,0,0,0
$GC,4638,0.81,318.5,231.2,14.1,547,4667,0.00,1.80,19.33,0.665,6,0.000,0.036,2970,2151,1789,0,0,0,0,0,0
$GC,5008,0.82,318.5,176.5,16.1,611,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2150,1783,0,0,0,0,0,0
$GC,5362,0.86,348.4,127.2,13.7,672,5397,0.10,1.83,23.75,0.606,4,0.098,0.041,3037,968,1669,0,0,0,0,0,0
$GC,5405,0.85,348.4,120.3,16.8,677,5416,0.08,1.80,0.00,0.000,6,0.158,0.037,3011,2159,1667,0,0,0,0,0,0
$GC,5773,0.92,406.1,61.8,12.3,738,5830,0.00,1.75,45.33,0.568,4,0.000,0.041,3011,3274,1432,0,0,0,0,0,0
$GC,5886,1.02,471.8,47.4,11.9,754,5944,0.08,1.83,51.83,0.549,6,0.044,0.032,3091,2081,1166,0,0,0,0,0,0
$STATE,6120,end climb,SURFACE_DEPTH_REACHED
$STATE,6120,begin surface coast
$FINISH,0.0,1.021890
$STATE,6139,end surface coast,CONTROL_FINISHED_OK
$STATE,6139,begin surface
$SM_CCo,6155,112.50,0.470,1,0,480,640.23
$SM_GC,0.88,0.00,0.00,112.50,0.000,0.000,0.470,151,1997,480,-8.06,-0.79,640.23
$IRIDIUM_FIX,2411.01,12611.03,091010,000051
$TT8_MAMPS,0.026215
$HUMID,45.58
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.3,31.930
$10V_AH,10.3,26.645
$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,19.925,46.850,541.300,112.500,0.000,27.394,18.562,166.418,0.000,0.000,14.278,1841.359,1491.228,646.118,2468.786,141.251,0.000,1465.787,0.000,2266.999,0.000,0.544,0.000
$DEVICE_MAMPS,245.565,106.335,856.035,469.710,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.631,0.000,1638.657,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334004
$DATA_FILE_SIZE,47121,794
$CAP_FILE_SIZE,83954,0
$CFSIZE,260165632,242630656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075, 40.0,1
$GPS,091010,043454,2415.877,12612.402,39,1.2,39,-3.7