Shilshole 17Jul13 *
SG204 *
Dive index
* Mission links
version: 66.11
glider: 204
mission: 1
dive: 12
start: 7 18 113 6 10 16
data:
$ID,204
$MISSION,1
$DIVE,12
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,3
$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,60
$T_MISSION,80
$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,70
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52978
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-364.34995
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,2910
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,600
$C_ROLL_CLIMB,600
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,-73.07518
$PRESSURE_SLOPE,0.0001157966
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0092000002
$INT_PRESSURE_YINT,-0.77999997
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$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,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$GPS1,180713,055730,4742.065,-12225.747,3,0.9,3,16.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-69.0
$GPS2,180713,060919,4742.040,-12225.670,5,1.2,5,16.3
$SPEED_LIMITS,0.084,0.181
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,0.162
$KALMAN_X,-6561.9,11.3,363.9,5280.0,-927.5
$KALMAN_Y,-7188.3,-15.6,66.3,5248.4,-684.7
$MHEAD_RNG_PITCHd_Wd,9.7,3611,-26.1,-10.000
$D_GRID,174
$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,pitch_volts,roll_volts,vbd_volts
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.27,-68.4,0.0,0.0,0,67,0.00,0.00,-50.97,0.000,2,0.000,0.000,202,609,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.27,-68.4,3.1,-3.8,9,83,8.93,0.00,-1.30,0.000,6,0.231,0.000,2494,610,2980,0,0,0,0,0,0,26.34,28.83,26.76
$GC,144,-1.27,-68.4,11.3,-8.5,23,150,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,610,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,211,-1.27,-68.4,17.3,-9.3,36,217,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,610,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,278,-1.27,-68.4,24.7,-11.1,49,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,610,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,345,-1.27,-68.4,31.9,-11.3,62,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,610,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,413,-1.27,-68.4,39.0,-9.8,75,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,610,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,481,-1.27,-68.4,45.4,-9.4,88,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,610,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,608,-1.27,-68.4,56.9,-8.4,113,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,610,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,736,-1.27,-68.4,68.1,-10.4,138,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,610,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,863,-1.27,-68.4,77.9,-7.0,163,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,609,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,990,-1.27,-68.4,87.9,-7.6,188,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,610,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1118,-1.27,-68.4,98.3,-7.7,213,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,610,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1244,-1.27,-68.4,108.8,-8.6,238,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,610,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1371,-1.27,-68.4,120.6,-9.6,263,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,610,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1499,-1.27,-68.4,134.0,-10.8,288,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,610,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1628,-1.27,-68.4,147.2,-10.1,313,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,609,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1758,-1.27,-68.4,158.6,-8.5,338,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,610,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1887,-1.27,-68.4,169.8,-8.0,363,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,610,2979,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1939,begin apogee
$GC,1942,-0.23,0.0,174.5,-8.4,373,1999,1.10,0.00,50.53,0.652,6,0.164,0.000,2826,611,2695,0,0,0,0,0,0,26.65,28.83,25.59
$STATE,2000,end apogee,CONTROL_FINISHED_OK
$STATE,2000,begin climb
$GC,2001,1.27,68.4,175.7,0.0,383,2058,1.45,0.00,50.62,0.652,6,0.102,0.000,3310,611,2416,0,0,0,0,0,0,26.03,28.83,25.06
$GC,2179,1.27,68.4,153.6,16.6,417,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,611,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2306,1.27,68.4,134.0,14.7,442,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,611,2412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2433,1.27,68.4,115.4,15.6,467,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,611,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2560,1.27,68.4,95.2,17.0,492,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,611,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2687,1.27,68.4,75.6,14.9,517,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,611,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2814,1.27,68.4,58.1,11.5,542,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,611,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2941,1.27,68.4,42.0,12.4,567,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,611,2411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3068,1.27,68.4,26.9,10.9,592,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,611,2410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3136,1.27,68.4,19.3,11.1,605,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,611,2410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3203,1.28,76.0,12.6,9.3,618,3209,0.00,0.00,1.65,0.200,6,0.000,0.000,3310,611,2389,0,0,0,0,0,0,28.83,28.83,26.51
$GC,3271,1.35,129.7,7.1,4.7,631,3316,0.00,0.00,39.47,0.587,6,0.000,0.000,3310,611,2165,0,0,0,0,0,0,28.83,28.83,25.69
$STATE,3371,end climb,SURFACE_DEPTH_REACHED
$STATE,3371,begin surface coast
$FINISH,0.7,1.020943
$STATE,3403,end surface coast,CONTROL_FINISHED_OK
$STATE,3403,begin surface
$SM_CCo,3417,126.55,0.493,0,0,1477,300.00
$SM_GC,1.76,8.75,0.00,126.55,0.068,0.000,0.493,196,611,1477,-8.40,0.31,300.00,0,0,0,0,0,0,26.31,28.83,25.08
$IRIDIUM_FIX,4726.11,-12318.33,180713,060647
$TT8_MAMPS,0.030709,0.030709
$HUMID,45.98
$INTERNAL_PRESSURE,9.0548
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,25.1,0.962
$10V_AH,10.5,0.563
$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,20.225,0.000,142.275,126.550,0.000,0.000,0.000,0.000,3.000,0.000,5.894,1458.308,752.117,392.948,967.733,27.539,33.230,911.400,0.000,945.851,0.000,21.346,0.000
$DEVICE_MAMPS,231.030,0.000,651.780,492.660,0.000,0.000,0.000,0.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,440.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323520
$DATA_FILE_SIZE,23437,656
$CAP_FILE_SIZE,84005,0
$CFSIZE,1024393216,1021657088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180713,071021,4741.858,-12226.217,36,1.7,36,16.3