ITOP Sep10 *
SG169 *
Dive index
* Mission links
version: 66.08
glider: 169
mission: 2
dive: 254
start: 10 11 110 4 35 37
data:
$ID,169
$MISSION,2
$DIVE,254
$N_DIVES,260
$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,-7002.1821
$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
$GPS1,111010,043006,2407.247,12612.693,11,1.3,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.9
$GPS2,111010,043511,2407.231,12612.691,13,1.5,16,-3.6
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_N
$TGT_LATLONG,2420.000,12612.000
$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,359.7,23677,-21.0,-15.152
$D_GRID,1677
$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,-204.4,0.0,0.0,0,113,0.00,0.00,-94.85,0.000,2,0.000,0.000,147,1998,3044,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.2,-4.5,12,150,9.38,1.90,-15.93,0.000,4,0.229,0.076,2486,3160,3928,0,0,0,0,0,0
$GC,293,-0.71,-204.4,71.8,-24.7,40,301,0.00,1.83,0.00,0.000,6,0.000,0.047,2487,2002,3930,0,0,0,0,0,0
$GC,656,-0.71,-204.4,163.3,-23.5,101,663,0.00,1.83,0.00,0.000,4,0.000,0.060,2486,3167,3931,0,0,0,0,0,0
$GC,719,-0.71,-204.4,176.8,-19.3,111,726,0.00,1.77,0.00,0.000,6,0.000,0.043,2486,2000,3932,0,0,0,0,0,0
$GC,1075,-0.70,-204.4,252.5,-20.4,172,1083,0.00,1.85,0.00,0.000,4,0.000,0.060,2487,3167,3932,0,0,0,0,0,0
$GC,1160,-0.71,-204.4,266.9,-15.7,186,1169,0.00,1.77,0.00,0.000,6,0.000,0.043,2486,2006,3932,0,0,0,0,0,0
$GC,1510,-0.71,-204.4,329.0,-18.1,233,1513,0.00,1.70,0.00,0.000,4,0.000,0.050,2486,875,3931,0,0,0,0,0,0
$GC,1549,-0.71,-204.4,336.2,-16.5,236,1557,0.00,1.80,0.00,0.000,6,0.000,0.050,2486,2037,3931,0,0,0,0,0,0
$GC,1876,-0.72,-204.4,386.8,-15.2,267,1880,0.00,1.73,0.00,0.000,4,0.000,0.057,2486,3169,3929,0,0,0,0,0,0
$GC,1935,-0.73,-204.4,395.2,-12.7,272,1938,0.00,1.75,0.00,0.000,6,0.000,0.042,2486,1996,3930,0,0,0,0,0,0
$GC,2268,-0.73,-204.4,439.3,-13.2,303,2272,0.00,1.67,0.00,0.000,4,0.000,0.050,2487,875,3928,0,0,0,0,0,0
$GC,2296,-0.74,-204.4,443.4,-13.0,305,2303,0.00,1.77,0.00,0.000,6,0.000,0.049,2486,2041,3928,0,0,0,0,0,0
$GC,2621,-0.75,-204.4,488.8,-14.8,336,2625,0.00,1.73,0.00,0.000,4,0.000,0.057,2486,3167,3926,0,0,0,0,0,0
$GC,2683,-0.76,-204.4,496.7,-12.8,341,2687,0.00,1.75,0.00,0.000,6,0.000,0.041,2486,1995,3925,0,0,0,0,0,0
$STATE,2707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2708,begin apogee
$GC,2712,-0.18,0.0,500.1,12.2,343,2875,0.57,0.08,158.12,0.862,6,0.146,0.106,2666,2091,3091,0,0,0,0,0,0
$STATE,2876,end apogee,CONTROL_FINISHED_OK
$STATE,2876,begin climb
$GC,2878,0.72,204.4,508.2,0.0,356,3054,0.82,1.80,168.52,0.851,4,0.071,0.038,2970,964,2255,0,0,0,0,0,0
$GC,3071,0.71,204.4,498.2,15.8,372,3080,0.00,1.85,0.00,0.000,6,0.000,0.033,2967,2156,2251,0,0,0,0,0,0
$GC,3398,0.70,206.0,445.5,15.1,403,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2156,2243,0,0,0,0,0,0
$GC,3718,0.74,240.5,400.4,13.4,433,3754,0.00,1.80,28.80,0.781,4,0.000,0.037,2976,963,2110,0,0,0,0,0,0
$GC,3791,0.73,240.5,389.9,15.6,439,3795,0.00,1.77,0.00,0.000,6,0.000,0.034,2974,2164,2105,0,0,0,0,0,0
$GC,4121,0.73,240.5,337.9,15.7,470,4125,0.00,1.62,0.00,0.000,4,0.000,0.042,2974,3274,2099,0,0,0,0,0,0
$GC,4145,0.72,240.5,334.0,16.4,472,4148,0.00,1.75,0.00,0.000,6,0.000,0.030,2983,2070,2098,0,0,0,0,0,0
$GC,4477,0.73,255.8,287.4,14.4,510,4493,0.00,1.70,12.12,0.679,4,0.000,0.040,2992,958,2047,0,0,0,0,0,0
$GC,4596,0.73,255.8,269.1,15.3,530,4605,0.00,1.80,0.00,0.000,6,0.000,0.035,2992,2155,2043,0,0,0,0,0,0
$GC,4945,0.73,264.3,214.4,14.7,591,4961,0.00,1.80,7.60,0.585,4,0.000,0.038,3000,964,2012,0,0,0,0,0,0
$GC,4976,0.73,264.3,209.7,15.2,595,4984,0.12,1.77,0.00,0.000,6,0.176,0.035,2968,2166,2011,0,0,0,0,0,0
$GC,5324,0.82,338.9,164.3,11.4,656,5394,0.00,1.73,60.92,0.653,4,0.000,0.041,2967,3265,1706,0,0,0,0,0,0
$GC,5455,0.90,398.8,148.7,12.2,676,5512,0.10,1.80,47.80,0.626,6,0.043,0.031,3048,2086,1464,0,0,0,0,0,0
$GC,5863,0.89,398.8,66.8,17.2,743,5872,0.00,1.85,0.00,0.000,4,0.000,0.041,3048,3277,1456,0,0,0,0,0,0
$GC,5958,0.99,473.0,53.4,11.5,758,6023,0.00,1.80,57.60,0.561,6,0.000,0.032,3058,2081,1161,0,0,0,0,0,0
$STATE,6301,end climb,SURFACE_DEPTH_REACHED
$STATE,6301,begin surface coast
$FINISH,0.0,0.998308
$STATE,6321,end surface coast,CONTROL_FINISHED_OK
$STATE,6322,begin surface
$SM_CCo,6337,113.15,0.055,0,0,481,640.23
$SM_GC,0.92,0.00,0.00,113.15,0.000,0.000,0.055,147,1982,481,-8.07,-1.22,640.23
$IRIDIUM_FIX,2356.84,12612.06,111010,020207
$TT8_MAMPS,0.026215
$HUMID,46.22
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.2,35.501
$10V_AH,10.3,29.640
$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,19.075,50.100,541.500,113.150,0.000,25.719,19.123,155.165,0.000,0.000,17.299,1904.280,1592.112,619.448,2487.313,155.011,0.000,1446.496,0.000,2303.166,0.000,0.544,0.000
$DEVICE_MAMPS,228.735,105.570,862.155,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.898,0.000,1683.418,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333992
$DATA_FILE_SIZE,50356,817
$CAP_FILE_SIZE,86358,0
$CFSIZE,260165632,241291264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023, 3.5,1
$GPS,111010,062344,2408.316,12612.797,10,1.9,10,-3.6