MIZ Jul14 *
SG196 *
Dive index
* Mission links
version: 66.12
glider: 196
mission: 7
dive: 237
start: 8 29 114 6 45 33
data:
$ID,196
$MISSION,7
$DIVE,237
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54281
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,676.53741
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5307.9712
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-73.350418
$PRESSURE_SLOPE,0.0001164176
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,290814,063743,7350.086,-14436.343,38,0.9,58,23.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-77.8
$GPS2,290814,064513,7350.056,-14436.410,5,0.8,25,23.1
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,6
$TGT_LATLONG,7435.000,-14230.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,13.7,103931,-22.3,-11.628,-24.76,1933
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-145.9,203,2760,432,549,0.0,0.0,0,89,0.00,0.00,-71.80,0.000,16386,0.000,0.000,202,2761,2225,2235,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.69,-145.9,203,2762,2235,2218,4.0,-5.7,7,140,12.25,2.45,-29.00,0.000,18948,0.405,0.090,2658,1367,3855,3921,3790,0,0,0,0,0,0,13.99,14.23,14.46
$GC,270,-0.69,-145.9,2664,1368,3922,3797,60.9,-25.6,43,275,0.00,2.50,0.00,0.000,1030,0.000,0.096,2651,2761,3858,3921,3796,0,0,0,0,0,0,28.83,14.22,28.83
$GC,580,-0.69,-145.9,2655,2762,3922,3797,133.6,-22.4,75,585,0.00,1.85,0.00,0.000,260,0.000,0.100,2646,3787,3858,3921,3795,0,0,0,0,0,0,28.83,14.33,28.83
$GC,600,-0.69,-145.9,2646,3788,3922,3797,138.1,-22.8,79,605,0.00,1.70,0.00,0.000,1030,0.000,0.054,2646,2760,3858,3921,3796,0,0,0,0,0,0,28.83,14.43,28.83
$GC,910,-0.69,-145.9,2646,2761,3922,3797,202.3,-19.6,111,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2760,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1220,-0.69,-145.9,2648,2760,3923,3796,256.3,-16.0,140,1225,0.00,2.38,0.00,0.000,516,0.000,0.067,2646,1372,3858,3921,3796,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1250,-0.69,-145.9,2646,1373,3922,3797,260.9,-15.2,146,1255,0.15,2.45,0.00,0.000,3078,0.268,0.099,2666,2758,3858,3921,3796,0,0,0,0,0,0,14.26,14.39,28.83
$GC,1580,-0.69,-145.9,2667,2759,3922,3796,306.4,-13.3,162,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1880,-0.69,-145.9,2667,2760,3922,3796,345.0,-12.5,172,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2180,-0.69,-145.9,2667,2757,3922,3796,383.5,-12.8,182,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2758,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2480,-0.69,-145.9,2667,2758,3922,3797,420.9,-12.4,192,2485,0.00,1.85,0.00,0.000,260,0.000,0.103,2660,3793,3858,3921,3795,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2520,-0.69,-145.9,2661,3794,3922,3797,426.2,-13.2,200,2525,0.00,1.70,0.00,0.000,1030,0.000,0.054,2661,2756,3858,3921,3796,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2841,-0.69,-145.9,2661,2757,3922,3797,466.7,-12.5,214,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2756,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3140,-0.69,-145.9,2661,2757,3922,3797,504.3,-12.5,224,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2756,3859,3923,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3440,-0.69,-145.9,2661,2756,3923,3796,541.9,-12.5,234,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2756,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3740,-0.69,-145.9,2661,2757,3922,3797,579.4,-12.4,244,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2756,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4040,-0.69,-145.9,2661,2762,3922,3796,616.5,-12.3,254,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2756,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4340,-0.69,-145.9,2661,2757,3922,3797,652.8,-12.0,264,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2756,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4641,-0.69,-145.9,2661,2756,3923,3796,688.8,-12.0,274,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2756,3858,3921,3796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4940,-0.69,-145.9,2662,2757,3922,3798,724.1,-11.7,284,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2755,3861,3926,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5178,begin apogee
$GC,5182,-0.13,0.0,2659,2757,3921,3797,752.2,-11.7,292,5312,0.70,0.00,126.65,1.993,10244,0.223,0.000,2845,2756,3256,3276,3236,0,0,0,0,0,0,14.31,28.83,13.06
$STATE,5313,end apogee,CONTROL_FINISHED_OK
$STATE,5313,begin climb
$GC,5315,0.69,145.9,2847,2756,3273,3233,755.8,0.0,296,5447,0.90,1.95,124.78,1.831,10500,0.138,0.103,3105,3786,2662,2667,2657,0,0,0,0,0,0,13.72,13.73,12.62
$GC,5672,0.69,145.9,3106,3783,2664,2648,714.9,15.8,370,5677,0.00,1.80,0.00,0.000,1030,0.000,0.050,3114,2748,2655,2663,2647,0,0,0,0,0,0,28.83,13.87,28.83
$GC,5993,0.69,145.9,3115,2748,2664,2645,671.0,13.6,384,5998,0.00,2.40,0.00,0.000,516,0.000,0.065,3125,1345,2654,2664,2645,0,0,0,0,0,0,28.83,14.21,28.83
$GC,6222,0.69,145.9,3126,1345,2665,2646,642.2,13.0,430,6227,0.00,2.47,0.00,0.000,1030,0.000,0.091,3125,2743,2654,2664,2645,0,0,0,0,0,0,28.83,14.31,28.83
$GC,6532,0.69,145.9,3126,2743,2665,2645,599.6,13.7,442,6537,0.00,2.35,0.00,0.000,516,0.000,0.064,3135,1343,2654,2664,2645,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6602,0.69,145.9,3136,1344,2664,2646,590.6,12.3,456,6607,0.00,2.45,0.00,0.000,1030,0.000,0.091,3134,2743,2653,2663,2644,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6923,0.69,145.9,3135,2743,2665,2645,545.6,13.9,470,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2743,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7222,0.69,145.9,3136,2744,2664,2646,503.9,13.8,480,7227,0.00,1.85,0.00,0.000,260,0.000,0.098,3140,3784,2654,2664,2645,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7262,0.69,145.9,3136,3785,2664,2645,497.9,15.3,488,7267,0.00,1.73,0.00,0.000,1030,0.000,0.049,3143,2730,2653,2663,2644,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7583,0.69,145.9,3143,2731,2665,2644,452.3,14.1,502,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2731,2654,2664,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7882,0.69,145.9,3144,2731,2665,2645,409.9,14.1,512,7883,0.10,0.00,0.00,0.000,4102,0.303,0.000,3124,2730,2654,2664,2644,0,0,0,0,0,0,14.40,28.83,28.83
$GC,8182,0.69,145.9,3125,2731,2665,2644,371.3,12.8,522,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2731,2654,2664,2645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8482,0.69,145.9,3125,2730,2665,2644,333.9,12.2,532,8487,0.00,1.88,0.00,0.000,260,0.000,0.096,3124,3788,2654,2664,2645,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8512,0.69,145.9,3124,3789,2665,2645,329.7,14.4,538,8517,0.00,1.73,0.00,0.000,1030,0.000,0.050,3128,2734,2654,2664,2644,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8843,0.69,145.9,3129,2734,2665,2646,289.9,11.8,554,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2733,2652,2664,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9142,0.71,176.4,3129,2733,2666,2645,257.5,10.0,564,9173,0.00,0.00,25.12,1.294,8710,0.000,0.000,3128,2733,2534,2542,2526,0,0,0,0,0,0,28.83,28.83,13.91
$GC,9472,0.74,213.5,3129,2733,2544,2521,223.2,9.7,596,9508,0.00,2.35,31.42,1.271,8708,0.000,0.063,3139,1346,2381,2387,2376,0,0,0,0,0,0,28.83,14.33,13.75
$GC,9539,0.75,235.1,3140,1346,2384,2377,217.0,10.5,609,9564,0.00,2.47,18.55,1.279,9222,0.000,0.090,3139,2742,2294,2296,2293,0,0,0,0,0,0,28.83,14.31,13.68
$GC,9864,0.76,251.0,3140,2743,2297,2287,179.8,10.8,644,9884,0.00,0.00,13.95,1.250,8198,0.000,0.000,3139,2742,2229,2234,2225,0,0,0,0,0,0,28.83,28.83,13.76
$GC,10184,0.80,298.3,3140,2743,2235,2215,148.0,9.1,676,10226,0.00,0.00,40.03,1.193,8710,0.000,0.000,3139,2742,2041,2045,2038,0,0,0,0,0,0,28.83,28.83,13.66
$GC,10523,0.80,310.3,3139,2742,2042,2020,112.0,11.0,713,10535,0.00,2.45,7.20,1.228,8708,0.000,0.065,3147,1348,1989,1998,1980,0,0,0,0,0,0,28.83,14.32,13.75
$GC,10586,0.83,341.3,3148,1349,1997,1979,105.8,10.0,725,10616,0.00,2.47,24.73,1.128,9222,0.000,0.092,3147,2741,1861,1863,1860,0,0,0,0,0,0,28.83,14.28,13.68
$GC,10915,0.86,382.7,3148,2742,1863,1848,72.0,9.4,761,10936,0.00,0.00,17.73,0.408,8198,0.000,0.000,3147,2741,1696,1702,1690,0,0,0,0,0,0,28.83,28.83,13.99
$GC,11236,0.93,495.7,3148,2742,1708,1688,48.9,5.6,793,11291,0.12,2.45,50.62,0.336,10756,0.125,0.067,3212,1356,1236,1249,1223,0,0,0,0,0,0,14.32,14.20,14.02
$GC,11371,0.98,559.5,3213,1355,1251,1221,38.7,8.2,820,11407,0.00,2.47,28.90,0.306,9222,0.000,0.091,3212,2738,976,981,972,0,0,0,0,0,0,28.83,14.22,14.01
$GC,11706,1.06,671.0,3213,2739,980,964,12.4,5.7,857,11758,0.00,0.00,51.03,0.235,8198,0.000,0.000,3212,2738,520,475,566,0,0,0,0,0,0,28.83,28.83,14.09
$FREEZE,8.93,-1.249,-1.439,2,1,0
$FREEZE,8.33,-1.248,-1.439,2,1,0
$FREEZE,7.74,-1.243,-1.438,2,1,0
$FREEZE,7.11,-1.247,-1.438,2,1,0
$FREEZE,6.44,-1.247,-1.437,2,1,0
$FREEZE,5.86,-1.247,-1.437,2,1,0
$FREEZE,5.14,-1.248,-1.437,2,1,0
$FREEZE,4.61,-1.250,-1.436,2,1,0
$FREEZE,4.06,-1.251,-1.436,2,1,0
$FREEZE,3.41,-1.255,-1.435,2,1,0
$FREEZE,2.74,-1.260,-1.435,2,1,0
$FREEZE,2.07,-1.261,-1.434,2,1,0
$FREEZE,1.46,-1.270,-1.434,2,1,0
$STATE,11884,end climb,SURFACE_DEPTH_REACHED
$STATE,11884,begin surface coast
$FREEZE,1.04,-1.268,-1.433,2,1,0
$FREEZE,0.90,-1.269,-1.433,2,1,0
$FREEZE,0.90,-1.272,-1.433,2,1,0
$FINISH,0.9,1.021136
$STATE,11916,end surface coast,CONTROL_FINISHED_OK
$STATE,11916,begin surface
$SM_CCo,11932,1.90,0.244,0,0,499,676.54
$SM_GC,2.63,9.48,0.00,1.90,0.102,0.000,0.244,199,2739,499,-8.36,-0.62,676.54,0,0,0,0,0,0,14.35,28.83,14.19
$RAFOS_CLK,370
$RAFOS_FIX,7324.021484,-14457.928711,260814,121206,2,255,0.38
$IRIDIUM_FIX,7304.81,-14446.57,290814,031308
$TT8_MAMPS,0.043442,0.043442
$HUMID,44.99
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.50
$XPDR_PINGS,7
$SC_FREEKB,3832480
$24V_AH,12.62,71.900
$10V_AH,12.74,0.000
$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,23.700,52.150,560.700,1.900,0.000,0.000,0.000,268.250,1.750,0.000,26.980,0.000,9527.311,632.681,2046.990,176.630,0.000,1611.115,0.000,1312.483,1479.000,0.539,0.000
$DEVICE_MAMPS,404.685,103.275,1992.825,244.035,0.000,0.000,0.000,157.590,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11964.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.297,0.000,0.000,0.000
$MEM,227132
$DATA_FILE_SIZE,30042,878
$CAP_FILE_SIZE,133745,0
$CFSIZE,2097872896,2045870080
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12452.33,0x2378b6,7,5
$INTR,1,5180.50,0x2378b6,2,5
$INTR,2,11920.34,0x2378b6,7,5
$SOUNDSPEED,1449.9
$GPS,290814,064513,7350.056,-14436.410,181,99.0,181,23.1