Shilshole 28Feb12 *
SG189 *
Dive index
* Mission links
version: 66.09
glider: 189
mission: 1
dive: 14
start: 2 29 112 8 50 47
data:
$ID,189
$MISSION,1
$DIVE,14
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,208
$D_ABORT,1090
$D_NO_BLEED,80
$D_BOOST,100
$T_BOOST,2
$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,99
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,54634
$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,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743
$TGT_DEFAULT_LON,-12224
$TGT_AUTO_DEFAULT,0
$SM_CC,330
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,10
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41196.406
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3928
$C_PITCH,3272
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,315
$ROLL_MAX,3864
$ROLL_DEG,30
$C_ROLL_DIVE,2010
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3437
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-77.099648
$PRESSURE_SLOPE,0.0001182519
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042969952
$SEABIRD_T_H,0.00061766658
$SEABIRD_T_I,2.0722548e-05
$SEABIRD_T_J,1.9705003e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$GPS1,290212,084304,4743.596,-12223.587,18,1.6,32,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-71.2
$GPS2,290212,084949,4743.714,-12223.521,19,1.0,19,16.6
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.171,-0.119
$KALMAN_X,-509.6,-488.3,288.5,2030.8,54.1
$KALMAN_Y,1929.0,-1501.4,130.0,323.6,-316.0
$MHEAD_RNG_PITCHd_Wd,218.6,2463,-13.9,-7.003
$D_GRID,160
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.78,-117.3,0.0,0.0,0,50,0.00,0.00,-32.75,0.000,2,0.000,0.000,136,2013,2894,0,0,0,0,0,0
$GC,52,-0.78,-117.3,2.2,-5.0,4,101,11.88,1.75,-29.50,0.000,4,0.247,0.080,3011,943,3917,0,0,0,0,0,0
$GC,110,-0.78,-117.3,6.2,-6.7,11,119,0.00,1.77,0.00,0.000,6,0.000,0.058,3004,2015,3917,0,0,0,0,0,0
$GC,192,-0.78,-117.3,12.1,-6.8,24,201,0.00,1.75,0.00,0.000,4,0.000,0.065,3005,956,3918,0,0,0,0,0,0
$GC,209,-0.78,-117.3,13.4,-7.8,26,218,0.00,1.75,0.00,0.000,6,0.000,0.058,2997,2016,3918,0,0,0,0,0,0
$GC,290,-0.78,-117.3,22.0,-10.5,39,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2017,3918,0,0,0,0,0,0
$GC,372,-0.78,-117.3,30.6,-11.2,52,380,0.00,1.73,0.00,0.000,4,0.000,0.075,2989,3060,3918,0,0,0,0,0,0
$GC,453,-0.78,-117.3,38.9,-9.4,65,462,0.00,1.70,0.00,0.000,6,0.000,0.055,2989,2004,3918,0,0,0,0,0,0
$GC,531,-0.78,-117.3,46.6,-9.4,78,539,0.12,0.00,0.00,0.000,6,0.171,0.000,3019,2003,3918,0,0,0,0,0,0
$GC,681,-0.78,-117.3,58.8,-7.5,103,687,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2003,3918,0,0,0,0,0,0
$GC,825,-0.78,-117.3,70.7,-8.2,128,833,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2003,3918,0,0,0,0,0,0
$GC,974,-0.78,-117.3,82.9,-8.3,153,981,0.00,1.73,0.00,0.000,4,0.000,0.073,3013,3070,3918,0,0,0,0,0,0
$GC,1038,-0.78,-117.3,88.4,-8.8,164,1047,0.00,1.70,0.00,0.000,6,0.000,0.055,3013,2006,3918,0,0,0,0,0,0
$GC,1188,-0.78,-117.3,100.7,-8.6,189,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2006,3918,0,0,0,0,0,0
$GC,1332,-0.78,-117.3,113.0,-8.1,214,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2006,3918,0,0,0,0,0,0
$GC,1482,-0.78,-117.3,124.8,-7.8,239,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2006,3918,0,0,0,0,0,0
$GC,1626,-0.78,-117.3,135.8,-7.6,264,1635,0.00,1.73,0.00,0.000,4,0.000,0.073,3005,3063,3918,0,0,0,0,0,0
$GC,1649,-0.78,-117.3,137.4,-7.5,267,1655,0.00,1.67,0.00,0.000,6,0.000,0.056,3005,1998,3918,0,0,0,0,0,0
$GC,1794,-0.78,-117.3,147.8,-7.5,292,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1997,3918,0,0,0,0,0,0
$GC,1943,-0.78,-117.3,158.5,-7.1,317,1950,0.00,1.73,0.00,0.000,4,0.000,0.073,2997,3071,3918,0,0,0,0,0,0
$STATE,1961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1961,begin apogee
$GC,1966,-0.23,0.0,160.2,-7.3,320,2075,0.60,0.00,96.25,1.168,6,0.135,0.000,3192,1997,3439,0,0,0,0,1,0
$STATE,2076,end apogee,CONTROL_FINISHED_OK
$STATE,2076,begin climb
$GC,2077,0.78,117.3,162.5,0.0,336,2187,0.98,1.83,96.03,1.161,4,0.092,0.068,3522,953,2960,0,0,0,0,1,0
$GC,2256,0.78,117.3,150.7,10.4,364,2265,0.00,1.80,0.00,0.000,6,0.000,0.057,3523,2008,2966,0,0,0,0,0,0
$GC,2406,0.78,117.3,135.5,10.5,389,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2008,2966,0,0,0,0,0,0
$GC,2550,0.78,117.3,119.7,10.8,414,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2008,2966,0,0,0,0,0,0
$GC,2699,0.78,117.3,104.5,9.5,439,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2008,2965,0,0,0,0,0,0
$GC,2843,0.78,117.3,89.6,10.6,464,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2008,2965,0,0,0,0,0,0
$GC,2992,0.78,117.3,74.4,10.8,489,2999,0.00,1.73,0.00,0.000,4,0.000,0.068,3530,949,2965,0,0,0,0,0,0
$GC,3099,0.78,117.3,62.8,11.4,507,3106,0.00,1.73,0.00,0.000,6,0.000,0.057,3530,2019,2965,0,0,0,0,0,0
$GC,3244,0.78,117.3,46.8,10.3,532,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,2019,2965,0,0,0,0,0,0
$GC,3394,0.78,117.3,34.2,8.8,557,3402,0.00,1.75,0.00,0.000,4,0.000,0.067,3538,953,2965,0,0,0,0,0,0
$GC,3512,0.78,117.3,23.8,9.2,576,3520,0.00,1.73,0.00,0.000,6,0.000,0.057,3538,2013,2965,0,0,0,0,0,0
$GC,3593,0.78,117.6,17.5,7.0,589,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,2013,2965,0,0,0,0,0,0
$GC,3674,0.81,141.2,12.3,6.0,602,3691,0.00,1.73,9.07,0.173,4,0.000,0.071,3538,3067,2858,0,0,0,0,0,0
$GC,3906,0.93,238.8,3.9,3.0,640,3947,0.00,1.70,34.70,0.147,6,0.000,0.057,3546,2004,2457,0,0,0,0,0,0
$STATE,3954,end climb,SURFACE_DEPTH_REACHED
$STATE,3954,begin surface coast
$FINISH,0.3,1.018312
$STATE,4074,end surface coast,CONTROL_FINISHED_OK
$STATE,4074,begin surface
$SM_CCo,4089,32.05,0.146,0,0,2088,330.17
$SM_GC,1.18,0.00,0.00,32.05,0.000,0.000,0.146,138,2003,2088,-9.80,-0.20,330.17,0,0,0,0,0,0
$IRIDIUM_FIX,4713.38,-12242.20,290212,070726
$TT8_MAMPS,0.026964,0.026964
$HUMID,29.05
$INTERNAL_PRESSURE,9.0655
$TCM_TEMP,10.60
$XPDR_PINGS,7
$24V_AH,23.7,1.086
$10V_AH,10.5,1.315
$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,22.825,34.700,236.050,32.050,0.000,25.015,29.843,262.056,1.750,0.000,20.879,1491.950,404.690,363.358,2171.180,99.509,33.212,1010.073,0.000,1870.378,0.000,0.829,0.000
$DEVICE_MAMPS,247.095,80.325,1168.155,146.115,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.383,1517.123,1407.167,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323564
$DATA_FILE_SIZE,46934,666
$CAP_FILE_SIZE,73597,0
$CFSIZE,260280320,258670592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,290212,100019,4743.708,-12223.933,25,1.1,25,16.6