PortSusan 14Dec09 * SG505 * Dive index * Mission links
version: 66.07
glider: 505
mission: 2
dive: 76
start: 12 16 109 16 27 35
data:
$ID,505
$MISSION,2
$DIVE,76
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,120
$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,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52152
$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,480
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23267.201
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3893
$C_PITCH,2835
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3810
$ROLL_DEG,50
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,2807
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.661293
$PRESSURE_SLOPE,0.00011485742
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,1
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.80000001
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042964104
$SEABIRD_T_H,0.00061985431
$SEABIRD_T_I,2.235871e-05
$SEABIRD_T_J,2.3254006e-06
$SEABIRD_C_G,-9.7945118
$SEABIRD_C_H,1.1383005
$SEABIRD_C_I,-0.0013506444
$SEABIRD_C_J,0.00018750974
$GPS1,161209,162034,4806.646,-12222.810,10,3.1,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.8
$GPS2,161209,162638,4806.721,-12222.878,12,1.2,12,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.043,-0.248
$KALMAN_X,-17725.2,1164.0,1113.8,13325.1,-967.5
$KALMAN_Y,57797.8,-19954.6,-19830.4,-14633.0,10544.0
$MHEAD_RNG_PITCHd_Wd,152.0,1721,-7.2,-6.024
$D_GRID,103
$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,-0.50,-214.2,0.0,0.0,0,80,0.00,0.00,-62.78,0.000,2,0.000,0.000,104,1687,2505,0,0,0,0,0,0
$GC,82,-0.50,-214.2,3.2,-4.7,15,131,11.48,2.47,-29.23,0.000,4,0.274,0.061,2665,179,3682,0,0,0,0,0,0
$GC,151,-0.50,-214.2,9.5,-6.4,30,156,0.00,2.40,0.00,0.000,6,0.000,0.041,2665,1698,3683,0,0,0,0,0,0
$GC,194,-0.50,-214.2,14.4,-11.5,39,199,0.00,2.80,0.00,0.000,4,0.000,0.048,2665,3462,3683,0,0,0,0,0,0
$GC,237,-0.50,-214.2,19.0,-11.1,48,243,0.00,2.80,0.00,0.000,6,0.000,0.039,2665,1698,3683,0,0,0,0,0,0
$GC,280,-0.50,-214.2,23.7,-10.4,57,285,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1697,3683,0,0,0,0,0,0
$GC,322,-0.50,-214.2,28.2,-10.9,66,327,0.00,2.85,0.00,0.000,4,0.000,0.048,2665,3468,3683,0,0,0,0,0,0
$GC,333,-0.50,-214.2,29.4,-10.9,68,338,0.00,2.80,0.00,0.000,6,0.000,0.036,2665,1691,3683,0,0,0,0,0,0
$GC,375,-0.50,-214.2,34.2,-11.3,77,381,0.00,2.40,0.00,0.000,4,0.000,0.048,2665,181,3683,0,0,0,0,0,0
$GC,387,-0.50,-214.2,35.5,-11.4,79,393,0.00,2.40,0.00,0.000,6,0.000,0.038,2665,1702,3683,0,0,0,0,0,0
$GC,430,-0.50,-214.2,40.6,-11.5,88,436,0.00,2.78,0.00,0.000,4,0.000,0.048,2664,3462,3683,0,0,0,0,0,0
$GC,441,-0.50,-214.2,41.7,-11.3,90,447,0.00,2.72,0.00,0.000,6,0.000,0.036,2665,1689,3684,0,0,0,0,0,0
$GC,483,-0.50,-214.2,46.4,-11.1,99,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1687,3683,0,0,0,0,0,0
$GC,525,-0.50,-214.2,50.8,-10.4,108,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1687,3683,0,0,0,0,0,0
$GC,567,-0.50,-214.2,55.1,-10.2,117,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1687,3683,0,0,0,0,0,0
$GC,609,-0.50,-214.2,59.1,-9.8,126,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1687,3683,0,0,0,0,0,0
$GC,651,-0.50,-214.2,63.4,-9.9,135,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1688,3683,0,0,0,0,0,0
$GC,693,-0.50,-214.2,67.3,-9.5,144,699,0.00,2.40,0.00,0.000,4,0.000,0.049,2664,174,3683,0,0,0,0,0,0
$GC,705,-0.50,-214.2,68.4,-9.5,146,711,0.00,2.40,0.00,0.000,6,0.000,0.039,2665,1700,3683,0,0,0,0,0,0
$GC,748,-0.50,-214.2,72.9,-10.3,155,754,0.00,2.80,0.00,0.000,4,0.000,0.048,2665,3466,3683,0,0,0,0,0,0
$GC,759,-0.50,-214.2,73.9,-10.2,157,764,0.00,2.75,0.00,0.000,6,0.000,0.036,2665,1698,3683,0,0,0,0,0,0
$GC,801,-0.50,-214.2,78.2,-9.9,166,807,0.00,2.40,0.00,0.000,4,0.000,0.048,2664,180,3683,0,0,0,0,0,0
$GC,812,-0.50,-214.2,79.3,-10.0,168,817,0.00,2.38,0.00,0.000,6,0.000,0.038,2665,1703,3683,0,0,0,0,0,0
$GC,856,-0.50,-214.2,83.7,-10.0,177,862,0.00,2.78,0.00,0.000,4,0.000,0.047,2664,3461,3683,0,0,0,0,0,0
$GC,885,-0.50,-214.2,86.3,-9.3,183,891,0.00,2.75,0.00,0.000,6,0.000,0.036,2664,1698,3683,0,0,0,0,0,0
$GC,928,-0.50,-214.2,90.2,-9.1,192,933,0.00,2.40,0.00,0.000,4,0.000,0.047,2665,175,3683,0,0,0,0,0,0
$GC,938,-0.50,-214.2,91.3,-9.3,194,944,0.00,2.38,0.00,0.000,6,0.000,0.038,2664,1709,3683,0,0,0,0,0,0
$GC,982,-0.50,-214.2,95.2,-9.3,203,987,0.00,2.78,0.00,0.000,4,0.000,0.047,2665,3467,3683,0,0,0,0,0,0
$GC,1006,-0.50,-214.2,97.5,-9.2,208,1011,0.00,2.75,0.00,0.000,6,0.000,0.035,2664,1700,3683,0,0,0,0,0,0
$GC,1049,-0.50,-214.2,101.2,-8.8,217,1054,0.00,2.40,0.00,0.000,4,0.000,0.046,2665,174,3683,0,0,0,0,0,0
$GC,1059,-0.50,-214.2,102.3,-9.1,219,1065,0.00,2.38,0.00,0.000,6,0.000,0.037,2665,1708,3684,0,0,0,0,0,0
$STATE,1069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1069,begin apogee
$GC,1072,-0.17,0.0,103.3,9.2,221,1150,0.32,0.00,74.07,0.504,6,0.126,0.000,2776,1709,2806,0,0,0,0,0,0
$STATE,1151,end apogee,CONTROL_FINISHED_OK
$STATE,1152,begin climb
$GC,1153,0.50,214.2,105.9,0.0,239,1235,0.62,0.00,75.22,0.492,6,0.100,0.000,2991,1709,1931,0,0,0,0,0,0
$GC,1272,0.50,214.2,94.0,12.5,266,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1709,1930,0,0,0,0,0,0
$GC,1314,0.50,214.2,88.9,12.1,275,1320,0.00,2.80,0.00,0.000,4,0.000,0.045,2992,3441,1929,0,0,0,0,0,0
$GC,1339,0.50,214.2,85.7,12.5,280,1344,0.00,2.85,0.00,0.000,6,0.000,0.040,3001,1682,1927,0,0,0,0,0,0
$GC,1381,0.50,214.2,80.4,12.8,289,1387,0.00,2.42,0.00,0.000,4,0.000,0.049,3006,172,1927,0,0,0,0,0,0
$GC,1401,0.50,214.2,77.7,12.7,293,1407,0.00,2.40,0.00,0.000,6,0.000,0.036,3006,1684,1927,0,0,0,0,0,0
$GC,1444,0.50,214.2,72.1,13.2,302,1450,0.00,2.83,0.00,0.000,4,0.000,0.044,3006,3450,1927,0,0,0,0,0,0
$GC,1468,0.50,214.2,68.6,13.8,307,1474,0.00,2.85,0.00,0.000,6,0.000,0.040,3009,1673,1927,0,0,0,0,0,0
$GC,1512,0.50,214.2,62.7,13.7,316,1517,0.00,2.40,0.00,0.000,4,0.000,0.048,3019,179,1927,0,0,0,0,0,0
$GC,1536,0.50,214.2,59.5,13.4,321,1542,0.10,2.38,0.00,0.000,6,0.166,0.035,2993,1685,1927,0,0,0,0,0,0
$GC,1580,0.50,214.2,54.1,12.4,330,1586,0.00,2.80,0.00,0.000,4,0.000,0.044,2992,3448,1927,0,0,0,0,0,0
$GC,1609,0.50,214.2,50.5,12.0,336,1615,0.00,2.83,0.00,0.000,6,0.000,0.040,2997,1674,1927,0,0,0,0,0,0
$GC,1652,0.50,214.2,45.5,12.0,345,1658,0.00,2.38,0.00,0.000,4,0.000,0.049,3005,174,1927,0,0,0,0,0,0
$GC,1677,0.50,214.2,42.5,12.1,350,1682,0.00,2.38,0.00,0.000,6,0.000,0.036,3005,1686,1927,0,0,0,0,0,0
$GC,1720,0.50,214.2,37.3,12.0,359,1725,0.00,2.78,0.00,0.000,4,0.000,0.044,3006,3440,1927,0,0,0,0,0,0
$GC,1744,0.50,214.2,34.1,12.4,364,1750,0.00,2.80,0.00,0.000,6,0.000,0.041,3007,1675,1927,0,0,0,0,0,0
$GC,1788,0.50,214.2,28.7,12.7,373,1793,0.00,2.38,0.00,0.000,4,0.000,0.049,3007,182,1927,0,0,0,0,0,0
$GC,1812,0.50,214.2,25.6,12.3,378,1818,0.00,2.35,0.00,0.000,6,0.000,0.036,3007,1683,1927,0,0,0,0,0,0
$GC,1856,0.50,214.2,20.5,12.1,387,1861,0.00,2.75,0.00,0.000,4,0.000,0.044,3007,3442,1927,0,0,0,0,0,0
$GC,1889,0.50,214.2,16.1,12.6,394,1895,0.00,2.80,0.00,0.000,6,0.000,0.041,3007,1675,1927,0,0,0,0,0,0
$GC,1932,0.50,214.2,10.9,12.2,403,1938,0.00,2.38,0.00,0.000,4,0.000,0.049,3007,180,1927,0,0,0,0,0,0
$GC,1957,0.50,214.2,8.2,11.7,408,1962,0.00,2.35,0.00,0.000,6,0.000,0.037,3007,1683,1927,0,0,0,0,0,0
$GC,2000,0.50,214.2,3.6,10.6,417,2005,0.00,2.75,0.00,0.000,4,0.000,0.044,3007,3445,1927,0,0,0,0,0,0
$STATE,2009,end climb,SURFACE_DEPTH_REACHED
$STATE,2009,begin surface coast
$FINISH,1.2,1.019778
$STATE,2043,end surface coast,CONTROL_FINISHED_OK
$STATE,2044,begin surface
$SM_CCo,2061,88.97,0.154,0,0,848,480.04
$SM_GC,1.10,0.00,0.00,88.97,0.000,0.000,0.154,105,1689,848,-8.54,-0.28,480.04
$IRIDIUM_FIX,4748.51,-12229.01,110611,090905
$TT8_MAMPS,0.029146
$HUMID,1077324498
$INTERNAL_PRESSURE,8.9953
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,39.9
$24V_AH,24.5,18.912
$10V_AH,10.5,6.184
$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,20.275,119.575,149.300,88.975,0.000,24.711,28.553,231.671,0.500,0.000,12.530,690.436,438.757,414.094,908.966,79.508,33.314,864.126,0.000,620.586,0.000,5.529,0.000
$DEVICE_MAMPS,273.819,61.360,503.919,154.167,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,282.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324272
$DATA_FILE_SIZE,13504,426
$CAP_FILE_SIZE,79179,0
$CFSIZE,260165632,255827968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,170408,4806.420,-12222.875,10,1.6,10,18.3