Bering Sea Jul17 *
SG401 *
Dive index
* Mission links
version: 66.13
glider: 401
mission: 22
dive: 2324
start: 9 5 117 13 17 32
data:
$ID,401
$MISSION,22
$DIVE,2324
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,55
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,17
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$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,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$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,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,050917,125728,5957.7017,-17226.3184,5,0.8,21,7.7,0.0,289.4,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-1.4
$GPS2,050917,125728,5957.7017,-17226.3184,5,0.8,21,7.7,0.0,289.4,10,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W22S
$TGT_LATLONG,5953.880,-17210.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$KALMAN_X,64150.898438,-643.632690,-260.249359,-264231.375000,141.595306
$KALMAN_Y,-72306.695312,3184.768311,1013.936462,352782.687500,-53.126038
$MHEAD_RNG_PITCHd_Wd,107.4,16712,-11.8,-10.784,-15.15,6791
$D_GRID,55
$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,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,12,-1.80,-487.5,2392,1945,2365,4092,0.0,0.0,0,29,6.40,0.00,-6.53,0.000,20486,0.021,0.000,1757,1945,3058,3058,4095,0,0,0,0,0,0,26.24,24.32,26.28,10.37,52.87
$GC,36,-1.80,-487.5,1756,1942,3058,4095,0.0,-0.4,2,44,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1942,3058,3058,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.52,53.11
$GC,84,-1.80,-487.5,1756,1942,3058,4094,4.8,-13.4,8,93,0.00,1.15,0.00,0.000,260,0.000,0.042,1756,2379,3059,3059,4094,0,0,0,0,0,0,26.48,26.05,26.50,10.52,52.91
$GC,161,-1.80,-487.5,1756,2378,3061,4094,17.9,-18.4,18,169,0.00,1.05,0.00,0.000,1030,0.000,0.028,1757,1961,3062,3062,4095,0,0,0,0,0,0,26.23,26.20,26.25,10.52,52.71
$GC,210,-1.80,-487.5,1756,1960,3063,4095,27.3,-18.9,24,219,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1961,3063,3063,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.52,52.36
$GC,260,-1.80,-487.5,1756,1960,3064,4095,34.5,-13.5,30,269,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1961,3064,3064,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.47,52.48
$GC,310,-1.80,-487.5,1756,1960,3066,4095,41.2,-13.7,36,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1961,3066,3066,4094,0,0,0,0,0,0,26.60,26.62,26.61,10.44,50.51
$GC,359,-1.80,-487.5,1756,1961,3067,4094,48.2,-14.4,42,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1960,3067,3067,4094,0,0,0,0,0,0,26.63,26.63,26.63,10.43,50.03
$STATE,402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,403,begin apogee
$GC,416,-0.45,0.0,1756,2145,3068,4095,55.4,-14.9,48,452,4.62,0.00,28.42,1.250,10244,0.055,0.000,2185,2145,2484,2484,4095,0,0,0,0,0,0,26.15,25.32,24.18,10.41,48.74
$STATE,453,end apogee,CONTROL_FINISHED_OK
$STATE,453,begin climb
$GC,459,1.80,487.5,2185,2145,2484,4095,59.7,0.0,52,503,7.60,0.00,27.88,1.227,11270,0.031,0.000,2900,2145,1918,1918,4095,0,0,0,0,0,0,25.70,25.89,23.80,10.29,47.99
$GC,544,1.80,487.5,2899,2145,1916,4095,53.4,12.4,62,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,1916,1916,4094,0,0,0,0,0,0,25.72,25.73,25.72,10.16,46.57
$GC,594,1.80,487.5,2900,2145,1915,4094,47.1,12.7,68,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,1915,1915,4095,0,0,0,0,0,0,25.92,25.94,25.93,10.15,46.53
$GC,644,1.80,487.5,2899,2145,1913,4095,40.8,12.7,74,653,0.00,1.17,0.00,0.000,516,0.000,0.046,2900,1705,1913,1913,4094,0,0,0,0,0,0,26.06,25.63,26.07,10.14,47.04
$GC,875,1.91,561.6,2900,1704,1907,4094,15.1,9.7,107,886,0.28,1.02,5.40,0.538,11270,0.032,0.029,2936,2128,1827,1827,4094,0,0,0,0,0,0,26.08,26.05,24.52,10.22,52.04
$GC,927,1.91,561.6,2936,2127,1826,4094,9.5,11.5,113,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2128,1826,1826,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.22,53.22
$GC,976,1.91,561.6,2936,2127,1824,4094,3.8,11.9,119,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2127,1824,1824,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.22,53.15
$STATE,992,end climb,FINISH_DEPTH_REACHED
$STATE,993,begin subsurface finish
$FINISH1,0.9,1.024077,106
$GC,1006,0.16,106.2,2936,2127,1824,4094,0.9,12.1,121,1024,5.57,0.00,-4.85,0.000,20486,0.022,0.000,2391,2128,2363,2363,4094,0,0,0,0,0,0,26.16,25.46,26.20,10.23,52.95
$FINISH2,0.0
$STATE,1025,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1025,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,050917,124932
$TT8_MAMPS,0.025466,0.250166
$HUMID,53.58
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.80,67.973
$10V_AH,10.02,61.977
$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,24.475,5.350,61.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,355.338,0.000,106.017,510.037,116.056,0.000,308.310,0.000,301.479,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,45.900,1250.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.420,334.343,264.350,392.028,507.962,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,10827,123
$CAP_FILE_SIZE,22051,0
$CFSIZE,1024409600,905281536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,125728,5957.702,-17226.318,5,0.8,21,7.7,0.0,289.4,10,4.9