Shilshole 28Mar16 *
SG601 *
Dive index
* Mission links
version: 66.12
glider: 601
mission: 5
dive: 18
start: 3 29 116 12 1 38
data:
$ID,601
$MISSION,5
$DIVE,18
$N_DIVES,25
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1050
$D_NO_BLEED,45
$D_BOOST,60
$T_BOOST,0
$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,50
$T_MISSION,75
$T_ABORT,1440
$T_TURN,540
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,58866
$MASS_COMP,4039.5
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,4743
$TGT_DEFAULT_LON,-12223.5
$TGT_AUTO_DEFAULT,0
$SM_CC,280
$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,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3900
$C_PITCH,3033
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,17
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,265
$ROLL_MAX,3865
$ROLL_DEG,40
$C_ROLL_DIVE,2190
$C_ROLL_CLIMB,2110
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,1640
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,4
$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,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-167.63049
$PRESSURE_SLOPE,0.0001070285
$AD7714Ch0Gain,1
$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,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$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,0.0043827128
$SEABIRD_T_H,0.00062866701
$SEABIRD_T_I,2.5612169e-05
$SEABIRD_T_J,3.209283e-06
$SEABIRD_C_G,-9.733285
$SEABIRD_C_H,1.1253656
$SEABIRD_C_I,-0.0011628612
$SEABIRD_C_J,0.00016996283
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,290316,115019,4744.2354,-12224.4619,11,0.9,14,16.6,0.0,0.0,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-65.2
$GPS2,290316,120032,4744.1641,-12224.4473,7,0.9,32,16.6,0.0,146.6,9,5.5
$SPEED_LIMITS,0.143,0.276
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.048049,-0.271433
$KALMAN_X,-3158.804443,-492.972321,314.426697,3233.034912,-174.134094
$KALMAN_Y,-7834.166992,-249.374329,453.627960,10033.188477,-417.581055
$MHEAD_RNG_PITCHd_Wd,163.7,2157,-20.5,-12.000,-23.52,1860
$D_GRID,174
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.6,205,2198,591,445,0.0,0.0,0,56,0.00,0.00,-35.28,0.000,16386,0.000,0.000,204,2198,1479,1565,1393,0,0,0,0,0,0,14.90,28.83,14.91
$GC,60,-1.27,-146.6,205,2199,1565,1398,2.4,-6.1,6,97,11.07,2.62,-19.10,0.000,18948,0.392,2.225,2621,782,2225,2274,2177,0,0,0,0,0,0,14.51,13.84,14.73
$GC,375,-1.27,-146.6,2620,782,2276,2180,68.9,-20.6,57,381,0.00,2.38,0.00,0.000,1030,0.000,0.063,2612,2194,2228,2276,2180,0,0,0,0,0,0,14.83,14.74,14.84
$GC,510,-1.27,-146.6,2612,2193,2276,2180,94.9,-18.7,70,515,0.00,2.45,0.00,0.000,260,0.000,0.091,2601,3603,2227,2275,2180,0,0,0,0,0,0,14.97,14.75,14.98
$GC,553,-1.27,-146.6,2601,3603,2275,2180,104.3,-21.5,74,559,0.00,2.40,0.00,0.000,1030,0.000,0.059,2601,2173,2227,2275,2179,0,0,0,0,0,0,14.87,14.78,14.88
$GC,689,-1.27,-146.6,2602,2167,2276,2180,133.3,-22.0,87,694,0.00,2.35,0.00,0.000,516,0.000,0.080,2601,787,2228,2276,2180,0,0,0,0,0,0,15.01,14.78,15.01
$GC,706,-1.27,-146.6,2601,787,2275,2180,136.6,-22.4,88,714,0.12,2.38,0.00,0.000,3078,0.265,0.067,2624,2200,2228,2276,2180,0,0,0,0,0,0,14.70,14.80,14.85
$GC,836,-1.27,-146.6,2623,2200,2275,2180,162.6,-18.7,101,841,0.00,2.42,0.00,0.000,260,0.000,0.093,2615,3595,2227,2275,2180,0,0,0,0,0,0,15.02,14.79,15.03
$STATE,886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,886,begin apogee
$GC,895,-0.29,0.0,2615,2107,2276,2178,174.3,-20.7,106,1029,1.08,0.00,124.50,1.112,10246,0.224,0.000,2925,2103,1638,1727,1550,0,0,0,0,0,0,14.71,14.20,13.82
$STATE,1032,end apogee,CONTROL_FINISHED_OK
$STATE,1032,begin climb
$GC,1035,1.27,146.6,2925,2103,1726,1549,183.1,0.0,120,1162,1.58,0.00,118.82,1.068,10758,0.126,0.000,3420,2100,1055,1193,917,0,0,0,0,0,0,14.27,14.16,13.72
$GC,1280,1.27,146.6,3417,2099,1190,912,162.1,13.3,145,1286,0.00,2.55,0.00,0.000,260,0.000,0.093,3417,3516,1052,1193,912,0,0,0,0,0,0,14.65,14.42,14.66
$GC,1328,1.27,146.6,3417,3516,1192,912,155.7,14.8,149,1335,0.00,2.42,0.00,0.000,1030,0.000,0.065,3428,2118,1052,1192,912,0,0,0,0,0,0,14.59,14.50,14.61
$GC,1455,1.27,146.6,3428,2116,1192,911,137.4,14.3,162,1460,0.00,2.47,0.00,0.000,516,0.000,0.093,3439,703,1051,1192,911,0,0,0,0,0,0,14.81,14.59,14.81
$GC,1532,1.27,146.6,3438,702,1192,910,125.9,15.4,169,1539,0.00,2.40,0.00,0.000,1030,0.000,0.069,3439,2106,1050,1191,910,0,0,0,0,0,0,14.73,14.64,14.75
$GC,1660,1.27,146.6,3438,2108,1191,910,106.8,14.4,182,1666,0.00,2.47,0.00,0.000,516,0.000,0.091,3449,701,1050,1191,910,0,0,0,0,0,0,14.90,14.68,14.90
$GC,1707,1.27,146.6,3449,701,1192,910,100.0,15.1,186,1714,0.00,2.40,0.00,0.000,1030,0.000,0.070,3449,2112,1051,1192,910,0,0,0,0,0,0,14.78,14.71,14.80
$GC,1836,1.27,146.6,3449,2112,1192,910,79.2,16.4,199,1841,0.00,2.47,0.00,0.000,516,0.000,0.093,3460,706,1051,1192,910,0,0,0,0,0,0,14.95,14.72,14.96
$GC,2087,1.27,146.6,3459,703,1191,910,39.5,15.1,230,2093,0.00,2.38,0.00,0.000,1030,0.000,0.067,3459,2116,1051,1192,910,0,0,0,0,0,0,14.88,14.78,14.88
$GC,2158,1.27,146.6,3459,2117,1192,910,29.8,13.8,243,2165,0.00,2.42,0.00,0.000,260,0.000,0.093,3460,3512,1051,1192,910,0,0,0,0,0,0,14.99,14.77,15.00
$STATE,2352,end climb,SURFACE_DEPTH_REACHED
$STATE,2352,begin surface coast
$FINISH,2.2,1.021066
$STATE,2358,end surface coast,CONTROL_FINISHED_OK
$STATE,2358,begin surface
$SM_CCo,2381,110.32,0.050,0,0,525,280.09
$SM_GC,1.39,9.98,2.30,110.32,0.114,0.063,0.050,216,2175,525,-8.75,0.57,280.09,0,0,0,0,0,0,14.83,14.82,14.83
$IRIDIUM_FIX,4748.51,-12337.82,290316,105803
$TT8_MAMPS,0.020972,0.315329
$HUMID,37.79
$INTERNAL_PRESSURE,8.8421
$TCM_TEMP,17.50
$XPDR_PINGS,0
$SC_FREEKB,3904800
$24V_AH,13.72,3.250
$10V_AH,13.84,0.000
$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,23.825,43.850,243.325,110.325,0.000,31.334,39.806,336.445,0.000,0.000,33.234,770.216,751.446,418.640,1024.477,161.190,33.467,745.763,0.000,536.100,0.000,0.546,0.000
$DEVICE_MAMPS,392.445,2224.620,1111.545,50.490,0.000,90.270,160.000,223.000,420.000,0.000,21.720,11.220,2.190,10.470,29.940,39.680,47.170,12.000,0.000,20.970,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2377.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.579,0.000,0.000,0.000
$MEM,312944
$DATA_FILE_SIZE,10144,282
$CAP_FILE_SIZE,65316,0
$CFSIZE,2097086464,2090467328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.142,186.99,1
$GPS,290316,124358,4743.739,-12224.564,5,0.8,7,16.6,0.0,0.0,11,9.5