Taiwan17 Dec16 *
SG628 *
Dive index
* Mission links
version: 66.11
revision: 1138
glider: 628
mission: 3
dive: 78
start: 12 22 116 2 3 58
data:
$ID,628
$MISSION,3
$DIVE,78
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,970
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,4
$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,320
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.89999998
$RHO,1.0275
$MASS,53567
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,70
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.1001
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-124311.34
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,152
$PITCH_MAX,3882
$C_PITCH,2800
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.0031260001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,247
$ROLL_MAX,3902
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,67
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,734
$VBD_MAX,3960
$C_VBD,2988
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,3
$DBDW,0
$PITCH_W_GAIN,7
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-167.58914
$PRESSURE_SLOPE,0.00014036
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,133
$DEVICE3,147
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,0
$LOGGERDEVICE2,0
$LOGGERDEVICE3,0
$LOGGERDEVICE4,0
$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,0.0044104406
$SEABIRD_T_H,0.00064404617
$SEABIRD_T_I,2.5974168e-05
$SEABIRD_T_J,3.1912264e-06
$SEABIRD_C_G,-9.8867512
$SEABIRD_C_H,1.1496466
$SEABIRD_C_I,-0.00071915763
$SEABIRD_C_J,0.00012581857
$GPS1,221216,015525,2330.773,12233.601,39,0.9,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-69.6
$GPS2,221216,020335,2330.892,12233.647,8,0.9,9,-3.7
$SPEED_LIMITS,0.158,0.267
$TGT_NAME,N2
$TGT_LATLONG,2330.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,154.5,138178,-15.8,-10.104,-18.78,2952
$D_GRID,3573
$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,-0.78,-194.6,123,2164,1356,1357,0.0,0.0,0,72,0.00,0.00,-54.62,0.000,16386,0.000,0.000,120,2164,3211,3218,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.78,-194.6,120,2164,3218,3205,3.4,-7.3,8,97,8.50,2.40,-9.43,0.000,18948,0.480,0.076,2537,741,3783,3738,3829,0,0,0,0,0,0,14.45,14.74,14.92
$GC,145,-0.78,-194.6,2537,740,3737,3831,22.2,-21.8,20,153,0.05,2.28,0.00,0.000,3078,0.325,0.043,2547,2124,3783,3737,3830,0,0,0,0,0,0,14.57,14.75,28.83
$GC,400,-0.78,-194.6,1568,2123,3734,3830,82.6,-25.3,69,409,0.00,2.38,0.00,0.000,2308,0.000,0.062,2538,3556,3783,3737,3830,0,0,0,0,0,0,28.83,14.81,28.83
$GC,461,-0.78,-194.6,1536,3556,3734,3830,97.0,-22.7,80,469,0.00,2.30,0.00,0.000,3078,0.000,0.032,2538,2137,3784,3738,3831,0,0,0,0,0,0,28.83,14.85,28.83
$GC,716,-0.78,-194.6,2538,2135,3738,3831,143.9,-19.8,129,724,0.00,2.30,0.00,0.000,2564,0.000,0.057,2538,752,3784,3738,3831,0,0,0,0,0,0,28.83,14.84,28.83
$GC,842,-0.78,-194.6,1536,751,3734,3831,166.9,-17.0,153,851,0.00,2.28,0.00,0.000,3078,0.000,0.042,2529,2154,3785,3738,3832,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1096,-0.78,-194.6,1536,2152,3734,3831,207.4,-16.0,202,1104,0.08,2.30,0.00,0.000,2308,0.416,0.057,2537,3554,3785,3738,3832,0,0,0,0,0,0,14.73,14.88,28.83
$GC,1183,-0.78,-194.6,2537,3554,3738,3832,221.5,-15.7,218,1190,0.00,2.25,0.00,0.000,3078,0.000,0.031,2537,2151,3785,3738,3832,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1435,-0.78,-194.6,2537,2150,3738,3832,258.5,-13.6,261,1445,0.00,2.30,0.00,0.000,2308,0.000,0.060,2528,3551,3785,3738,3832,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1501,-0.78,-194.6,2528,3551,3738,3832,268.0,-13.5,274,1510,0.05,2.25,0.00,0.000,3078,0.294,0.030,2548,2142,3785,3738,3832,0,0,0,0,0,0,14.71,14.88,28.83
$GC,1749,-0.78,-194.6,2547,2141,3738,3832,299.5,-13.0,299,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2141,3785,3738,3832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1989,-0.78,-194.6,2548,2141,3738,3832,330.3,-13.4,323,1993,0.00,2.22,0.00,0.000,516,0.000,0.054,2548,750,3785,3738,3832,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2044,-0.78,-194.6,2548,750,3737,3832,337.8,-13.0,334,2049,0.00,2.20,0.00,0.000,3078,0.000,0.038,2541,2159,3784,3737,3832,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2290,-0.78,-194.6,2542,2158,3737,3833,373.7,-14.8,359,2299,0.00,2.25,0.00,0.000,2308,0.000,0.060,2531,3547,3784,3736,3832,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2343,-0.78,-194.6,2531,3547,3736,3833,381.9,-14.4,370,2352,0.03,2.22,0.00,0.000,3078,0.375,0.030,2542,2142,3784,3736,3832,0,0,0,0,0,0,14.77,15.00,28.83
$GC,2591,-0.78,-194.6,2542,2144,3734,3833,414.7,-11.7,395,2595,0.00,2.30,0.00,0.000,2308,0.000,0.060,2533,3548,3783,3734,3832,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2622,-0.78,-194.6,2533,3548,3734,3832,418.3,-11.9,401,2631,0.00,2.17,0.00,0.000,3078,0.000,0.030,2533,2148,3783,3734,3832,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2872,-0.78,-194.6,2533,2149,3732,3832,447.4,-11.8,427,2881,0.00,2.22,0.00,0.000,2564,0.000,0.055,2533,757,3781,3731,3832,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2943,-0.78,-194.6,2533,759,3732,3833,455.3,-10.7,441,2948,0.10,2.17,0.00,0.000,3078,0.377,0.040,2550,2147,3782,3731,3833,0,0,0,0,0,0,14.85,15.04,28.83
$GC,3195,-0.78,-194.6,2550,2147,3730,3832,481.1,-10.7,467,3199,0.00,2.22,0.00,0.000,516,0.000,0.054,2551,756,3781,3730,3832,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3273,-0.78,-194.6,2550,756,3730,3832,489.6,-10.2,483,3281,0.00,2.22,0.00,0.000,3078,0.000,0.040,2544,2147,3781,3730,3832,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3521,-0.78,-194.6,2544,2147,3726,3832,516.3,-10.7,508,3530,0.00,2.28,0.00,0.000,2308,0.000,0.063,2533,3549,3778,3725,3832,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3664,-0.78,-194.6,1680,3548,3721,3831,532.0,-10.8,537,3673,0.00,2.22,0.00,0.000,3078,0.000,0.031,2533,2156,3778,3724,3832,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3912,-0.78,-194.6,2533,2156,3724,3830,560.2,-11.4,562,3914,0.00,0.00,0.00,0.000,2054,0.000,0.000,2533,2156,3777,3724,3830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4152,-0.78,-194.6,2533,2155,3723,3829,589.2,-12.7,586,4161,0.00,2.25,0.00,0.000,2564,0.000,0.057,2533,759,3776,3723,3829,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4216,-0.78,-194.6,2533,759,3722,3829,598.0,-12.9,599,4223,0.10,2.20,0.00,0.000,3078,0.371,0.042,2551,2150,3775,3722,3829,0,0,0,0,0,0,14.86,15.05,28.83
$GC,4463,-0.78,-194.6,2551,2150,3721,3826,626.7,-11.7,613,4469,0.00,2.28,0.00,0.000,260,0.000,0.064,2542,3550,3773,3721,3826,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4506,-0.78,-194.6,2542,3550,3720,3826,632.0,-11.7,622,4510,0.00,2.20,0.00,0.000,3078,0.000,0.032,2542,2146,3773,3720,3826,0,0,0,0,0,0,28.83,15.08,28.83
$GC,4762,-0.78,-194.6,2542,2146,3718,3824,660.7,-10.8,637,4767,0.00,2.33,0.00,0.000,2308,0.000,0.065,2533,3554,3771,3718,3824,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4811,-0.78,-194.6,2533,3554,3717,3824,666.3,-10.9,647,4818,0.00,2.22,0.00,0.000,3078,0.000,0.032,2533,2141,3770,3717,3824,0,0,0,0,0,0,28.83,15.08,28.83
$GC,5058,-0.78,-194.6,2533,2140,3716,3823,692.1,-10.1,660,5062,0.00,2.25,0.00,0.000,2564,0.000,0.058,2533,752,3769,3716,3822,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5137,-0.78,-194.6,1664,751,3713,3821,700.2,-9.9,676,5142,0.05,2.28,0.00,0.000,3078,0.347,0.043,2544,2154,3769,3716,3822,0,0,0,0,0,0,14.82,15.05,28.83
$GC,5394,-0.78,-194.6,2543,2155,3714,3822,723.6,-9.2,691,5398,0.00,2.33,0.00,0.000,2308,0.000,0.067,2534,3559,3767,3713,3822,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5463,-0.78,-194.6,2535,3560,3712,3822,730.3,-9.0,705,5467,0.00,2.22,0.00,0.000,3078,0.000,0.033,2534,2153,3767,3713,3822,0,0,0,0,0,0,28.83,15.08,28.83
$GC,5715,-0.78,-194.6,2534,2152,3711,3819,754.5,-9.7,719,5719,0.00,2.28,0.00,0.000,2564,0.000,0.058,2534,753,3765,3711,3819,0,0,0,0,0,0,28.83,15.04,28.83
$GC,5744,-0.78,-194.6,2534,752,3711,3819,757.7,-10.5,725,5749,0.08,2.22,0.00,0.000,3078,0.414,0.044,2544,2153,3765,3711,3820,0,0,0,0,0,0,14.84,15.07,28.83
$GC,5996,-0.78,-194.6,2543,2153,3710,3817,780.8,-9.3,739,6000,0.00,2.30,0.00,0.000,2308,0.000,0.067,2535,3550,3763,3710,3817,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6025,-0.78,-194.6,2535,3550,3709,3817,783.8,-9.6,745,6032,0.00,2.22,0.00,0.000,3078,0.000,0.034,2535,2147,3763,3710,3817,0,0,0,0,0,0,28.83,15.08,28.83
$GC,6272,-0.78,-194.6,2535,2146,3708,3815,808.5,-10.1,758,6273,0.00,0.00,0.00,0.000,2054,0.000,0.000,2534,2146,3761,3708,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6512,-0.78,-194.6,2535,2146,3706,3814,833.1,-10.3,770,6516,0.00,2.33,0.00,0.000,2308,0.000,0.067,2526,3547,3760,3706,3814,0,0,0,0,0,0,28.83,15.03,28.83
$GC,6547,-0.78,-194.6,2526,3547,3705,3815,836.8,-10.5,777,6552,0.08,2.20,0.00,0.000,3078,0.378,0.035,2544,2149,3759,3705,3814,0,0,0,0,0,0,14.86,15.08,28.83
$GC,6804,-0.78,-194.6,2544,2149,3705,3813,861.1,-9.1,792,6805,0.00,0.00,0.00,0.000,2054,0.000,0.000,2544,2148,3759,3705,3813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7044,-0.78,-194.6,2544,2149,3703,3812,882.1,-8.8,804,7048,0.00,2.33,0.00,0.000,2308,0.000,0.068,2535,3547,3757,3703,3812,0,0,0,0,0,0,28.83,15.03,28.83
$GC,7093,-0.78,-194.6,2536,3547,3702,3812,886.8,-9.4,814,7100,0.00,2.22,0.00,0.000,3078,0.000,0.035,2536,2147,3756,3702,3811,0,0,0,0,0,0,28.83,15.07,28.83
$GC,7340,-0.78,-194.6,2535,2146,3702,3810,910.5,-9.7,827,7344,0.00,2.35,0.00,0.000,2308,0.000,0.070,2528,3556,3755,3701,3810,0,0,0,0,0,0,28.83,15.03,28.83
$GC,7396,-0.78,-194.6,2528,3557,3700,3810,916.3,-10.6,838,7403,0.08,2.22,0.00,0.000,3078,0.365,0.036,2546,2147,3755,3701,3810,0,0,0,0,0,0,14.85,15.07,28.83
$GC,7656,-0.78,-194.6,2547,2147,3700,3808,941.0,-9.4,854,7660,0.00,2.28,0.00,0.000,2564,0.000,0.061,2547,750,3754,3700,3808,0,0,0,0,0,0,28.83,15.03,28.83
$GC,7693,-0.78,-194.6,2547,748,3700,3808,944.5,-9.8,861,7699,0.00,2.22,0.00,0.000,3078,0.000,0.045,2539,2147,3754,3700,3808,0,0,0,0,0,0,28.83,15.05,28.83
$STATE,7951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7951,begin apogee
$GC,7955,-0.17,0.0,2539,1930,3699,3807,970.2,-10.1,877,8235,0.57,0.00,275.67,1.574,10246,0.247,0.000,2746,1930,2987,3026,2948,0,0,0,0,0,0,14.85,28.83,13.69
$STATE,8236,end apogee,CONTROL_FINISHED_OK
$STATE,8236,begin climb
$GC,8237,0.78,194.6,2747,1930,3020,2940,984.1,0.0,891,8453,0.77,2.40,204.90,1.796,10756,0.144,0.071,3058,580,2180,2214,2147,0,0,0,0,0,0,14.19,14.08,13.53
$GC,8503,0.78,194.6,3058,578,2198,2133,963.2,13.7,945,8508,0.00,2.30,0.00,0.000,5126,0.000,0.043,3058,1947,2165,2198,2133,0,0,0,0,0,0,28.83,14.35,28.83
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$GC,13928,0.82,194.6,3056,3349,2194,2114,269.8,10.1,1517,13939,0.00,2.25,0.00,0.000,1030,0.000,0.037,3065,1949,2154,2194,2114,0,0,0,0,0,0,28.83,14.97,28.83
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$STATE,16300,end climb,SURFACE_DEPTH_REACHED
$STATE,16300,begin surface coast
$FINISH,0.1,1.022971
$STATE,16323,end surface coast,CONTROL_FINISHED_OK
$STATE,16323,begin surface
$SM_CCo,16336,50.40,0.157,0,0,1357,400.08
$SM_GC,1.03,7.35,0.30,50.40,0.112,0.067,0.157,130,2163,1357,-8.25,-1.67,400.08,0,0,0,0,0,0,14.80,14.88,14.73
$IRIDIUM_FIX,2319.18,12230.98,181009,101045
$TT8_MAMPS,0.020223,0.020223
$HUMID,38.26
$INTERNAL_PRESSURE,8.07648
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,13.5,28.817
$10V_AH,13.3,0.000
$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
$DEVICE_SECS,18.800,206.000,580.225,50.400,0.000,0.000,0.000,384.750,0.250,0.000,9.298,4135.523,7879.374,806.637,3860.198,170.616,0.000,2750.154,0.000,3460.468,0.000,0.552,0.000
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$SENSORS,SBE_CT,AA4831_2,WL_BB2FL,nil,nil,nil,empty,empty,empty,empty
$SENSOR_SECS,1081.562,2118.271,1548.215,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,35.950,55.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322956
$DATA_FILE_SIZE,147159,1954
$CAP_FILE_SIZE,204882,0
$CFSIZE,2097086464,2080768000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.292, 28.6,1
$GPS,221216,063831,2331.194,12236.014,52,0.9,52,-3.7