NASCAR Jan18 *
SG128 *
Dive index
* Mission links
version: 66.13
glider: 128
mission: 4
dive: 60
start: 1 27 118 18 2 14
data:
$ID,128
$MISSION,4
$DIVE,60
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,390
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.89999998
$RHO,1.0275
$MASS,51713
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.0026803601
$HD_B,0.0139002
$HD_C,9.1750398e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3750
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,3346
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00121
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.40906
$PRESSURE_SLOPE,0.00014074198
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,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
$SEABIRD_T_G,0.0043553207
$SEABIRD_T_H,0.00062594062
$SEABIRD_T_I,2.3765557e-05
$SEABIRD_T_J,2.606791e-06
$SEABIRD_C_G,-9.8755465
$SEABIRD_C_H,1.1390997
$SEABIRD_C_I,-0.0019936475
$SEABIRD_C_J,0.00023608611
$GPS1,270118,175609,-327.7279,5535.8867,35,1.0,39,-4.7,0.4,18.4,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.8
$GPS2,270118,180136,-327.6829,5535.9106,16,0.8,21,-4.7,0.0,180.5,9,9.4
$SPEED_LIMITS,0.132,0.202
$TGT_NAME,N
$TGT_LATLONG,-300.000,5536.000
$TGT_RADIUS,20000.000
$MHEAD_RNG_PITCHd_Wd,339.3,51269,-14.4,-8.462,-20.64,3036
$D_GRID,1000
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.57,-170.3,227,2409,1726,1707,0.0,0.0,0,73,0.00,0.00,-63.97,0.004,16386,0.000,0.000,228,2410,3720,3699,3741,0,0,0,0,0,0,14.87,28.83,14.89
$GC,76,-0.57,-170.3,227,2410,3700,3741,4.8,-13.8,11,97,11.93,2.17,-2.62,0.034,18692,0.440,0.088,2579,3700,3905,3897,3914,0,0,0,0,0,0,14.42,13.75,14.69
$GC,194,-0.57,-170.3,2578,3700,3901,3914,45.3,-22.2,33,202,0.00,2.12,0.00,0.000,1030,0.000,0.045,2579,2383,3908,3902,3914,0,0,0,0,0,0,14.77,14.70,14.79
$GC,509,-0.57,-170.3,2579,2378,3909,3914,100.0,-12.4,66,513,0.00,2.22,0.00,0.000,260,0.000,0.080,2579,3694,3911,3909,3914,0,0,0,0,0,0,15.01,14.76,15.02
$GC,553,-0.57,-170.3,2578,3693,3909,3915,106.1,-13.3,75,561,0.00,2.20,0.00,0.000,1030,0.000,0.038,2579,2331,3912,3910,3915,0,0,0,0,0,0,14.83,14.81,14.85
$GC,861,-0.57,-170.3,2578,2330,3910,3916,144.1,-12.5,106,865,0.00,2.30,0.00,0.000,260,0.000,0.080,2578,3701,3913,3911,3916,0,0,0,0,0,0,15.06,14.81,15.08
$GC,884,-0.57,-170.3,2579,3701,3911,3916,147.4,-12.7,111,892,0.00,2.17,0.00,0.000,1030,0.000,0.041,2579,2345,3913,3911,3916,0,0,0,0,0,0,14.88,14.85,14.90
$GC,1192,-0.57,-170.3,2578,2344,3911,3916,183.0,-10.3,142,1196,0.00,2.22,0.00,0.000,516,0.000,0.050,2579,951,3914,3912,3916,0,0,0,0,0,0,15.09,14.87,15.11
$GC,1303,-0.57,-170.3,2578,951,3911,3918,193.7,-9.3,164,1307,0.00,2.28,0.00,0.000,1030,0.000,0.054,2579,2354,3914,3912,3917,0,0,0,0,0,0,14.95,14.87,14.97
$GC,1614,-0.57,-170.3,2579,2354,3911,3917,223.5,-10.4,196,1618,0.00,2.25,0.00,0.000,516,0.000,0.049,2579,953,3914,3912,3917,0,0,0,0,0,0,15.12,14.90,15.14
$GC,1675,-0.57,-170.3,2578,953,3911,3917,229.8,-10.0,208,1679,0.00,2.28,0.00,0.000,1030,0.000,0.054,2579,2353,3914,3912,3917,0,0,0,0,0,0,14.97,14.90,14.99
$GC,1986,-0.57,-170.3,2578,2354,3910,3917,263.2,-10.7,232,1990,0.00,2.20,0.00,0.000,260,0.000,0.083,2579,3692,3913,3910,3917,0,0,0,0,0,0,15.14,14.89,15.16
$GC,2025,-0.57,-170.3,2579,3692,3910,3916,267.7,-11.1,240,2030,0.00,2.10,0.00,0.000,1030,0.000,0.040,2579,2346,3913,3910,3917,0,0,0,0,0,0,15.00,14.95,15.01
$GC,2348,-0.57,-170.3,2579,2342,3910,3916,302.7,-11.0,254,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2342,3913,3910,3916,0,0,0,0,0,0,15.16,15.18,15.17
$GC,2647,-0.57,-170.3,2578,2342,3909,3915,336.5,-11.3,264,2651,0.00,2.20,0.00,0.000,516,0.000,0.050,2579,955,3911,3909,3914,0,0,0,0,0,0,15.18,14.95,15.19
$GC,2681,-0.57,-170.3,2578,956,3909,3915,340.4,-11.1,271,2686,0.00,2.33,0.00,0.000,1030,0.000,0.055,2579,2355,3912,3909,3915,0,0,0,0,0,0,14.97,14.92,15.02
$GC,3008,-0.57,-170.3,2578,2355,3907,3913,376.0,-10.7,286,3012,0.00,2.22,0.00,0.000,260,0.000,0.086,2579,3698,3910,3907,3913,0,0,0,0,0,0,15.18,14.92,15.20
$GC,3057,-0.57,-170.3,2579,3698,3906,3912,381.5,-10.8,296,3062,0.00,2.12,0.00,0.000,1030,0.000,0.043,2579,2344,3909,3906,3912,0,0,0,0,0,0,15.04,14.98,15.05
$GC,3369,-0.57,-170.3,2579,2341,3906,3909,416.4,-11.4,308,3373,0.00,2.20,0.00,0.000,516,0.000,0.051,2579,957,3908,3906,3910,0,0,0,0,0,0,15.19,14.97,15.21
$GC,3413,-0.57,-170.3,2579,957,3906,3910,421.9,-11.5,317,3419,0.00,2.28,0.00,0.000,1030,0.000,0.056,2579,2348,3907,3906,3909,0,0,0,0,0,0,15.03,14.95,15.05
$GC,3731,-0.57,-170.3,2579,2349,3904,3907,458.3,-11.5,330,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2348,3905,3903,3907,0,0,0,0,0,0,15.19,15.21,15.21
$GC,4031,-0.57,-170.3,2579,2349,3902,3906,491.0,-10.7,340,4035,0.00,2.25,0.00,0.000,260,0.000,0.088,2579,3700,3903,3901,3905,0,0,0,0,0,0,15.19,14.94,15.21
$GC,4075,-0.57,-170.3,2578,3700,3900,3905,495.9,-10.5,349,4081,0.00,2.12,0.00,0.000,1030,0.000,0.045,2579,2349,3903,3901,3905,0,0,0,0,0,0,15.05,15.00,15.07
$GC,4393,-0.57,-170.3,2579,2346,3901,3902,526.7,-9.6,362,4397,0.00,2.22,0.00,0.000,516,0.000,0.054,2579,951,3901,3900,3903,0,0,0,0,0,0,15.20,14.97,15.22
$GC,4437,-0.57,-170.3,2579,951,3901,3903,531.2,-9.5,371,4442,0.00,2.30,0.00,0.000,1030,0.000,0.058,2579,2354,3902,3901,3903,0,0,0,0,0,0,15.04,14.96,15.06
$GC,4754,-0.57,-170.3,2578,2355,3899,3900,561.1,-9.6,384,4758,0.00,2.22,0.00,0.000,260,0.000,0.089,2579,3692,3899,3898,3900,0,0,0,0,0,0,15.20,14.94,15.22
$GC,4786,-0.57,-170.3,2578,3692,3898,3899,564.2,-9.9,390,4790,0.00,2.10,0.00,0.000,1030,0.000,0.044,2579,2351,3899,3898,3900,0,0,0,0,0,0,15.05,15.00,15.07
$GC,5117,-0.57,-170.3,2578,2348,3898,3898,597.4,-10.1,406,5121,0.00,2.22,0.00,0.000,516,0.000,0.054,2579,955,3897,3897,3898,0,0,0,0,0,0,15.20,14.97,15.21
$GC,5137,-0.57,-170.3,2578,956,3898,3898,599.7,-10.5,410,5141,0.00,2.30,0.00,0.000,1030,0.000,0.060,2579,2358,3898,3898,3898,0,0,0,0,0,0,15.04,14.97,15.06
$GC,5449,-0.57,-170.3,2578,2358,3898,3897,631.3,-10.2,422,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2358,3897,3898,3897,0,0,0,0,0,0,15.20,15.23,15.22
$GC,5748,-0.57,-170.3,2579,2358,3897,3896,661.4,-10.0,432,5753,0.00,2.28,0.00,0.000,516,0.000,0.053,2579,953,3896,3897,3896,0,0,0,0,0,0,15.20,14.97,15.22
$GC,5772,-0.57,-170.3,2579,952,3897,3896,664.2,-10.6,437,5781,0.00,2.30,0.00,0.000,1030,0.000,0.060,2579,2350,3896,3897,3895,0,0,0,0,0,0,15.04,14.96,15.07
$GC,6079,-0.57,-170.3,2578,2350,3896,3893,694.0,-9.6,448,6083,0.00,2.25,0.00,0.000,260,0.000,0.091,2579,3699,3894,3896,3893,0,0,0,0,0,0,15.20,14.94,15.22
$GC,6113,-0.57,-170.3,2578,3699,3895,3893,697.5,-10.1,455,6119,0.00,2.17,0.00,0.000,1030,0.000,0.047,2579,2355,3894,3895,3893,0,0,0,0,0,0,15.02,14.98,15.03
$GC,6441,-0.57,-170.3,2578,2352,3895,3891,729.6,-9.6,470,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2352,3893,3895,3891,0,0,0,0,0,0,15.20,15.22,15.22
$GC,6741,-0.57,-170.3,2578,2351,3894,3890,756.8,-8.9,480,6745,0.00,2.25,0.00,0.000,516,0.000,0.054,2578,947,3891,3894,3889,0,0,0,0,0,0,15.21,14.97,15.23
$GC,6780,-0.57,-170.3,2579,947,3894,3890,760.4,-8.7,488,6784,0.00,2.33,0.00,0.000,1030,0.000,0.062,2579,2359,3892,3894,3890,0,0,0,0,0,0,15.04,14.95,15.07
$GC,7102,-0.57,-170.3,2578,2359,3892,3888,787.3,-8.5,502,7106,0.00,2.25,0.00,0.000,260,0.000,0.093,2579,3698,3889,3892,3887,0,0,0,0,0,0,15.21,14.93,15.22
$GC,7122,-0.57,-170.3,2578,3698,3892,3887,789.1,-8.3,506,7126,0.00,2.15,0.00,0.000,1030,0.000,0.047,2579,2340,3889,3892,3887,0,0,0,0,0,0,15.06,15.00,15.07
$GC,7433,-0.57,-170.3,2578,2336,3892,3886,815.1,-8.3,518,7437,0.00,2.22,0.00,0.000,516,0.000,0.054,2579,948,3889,3892,3886,0,0,0,0,0,0,15.20,14.97,15.22
$GC,7453,-0.57,-170.3,2578,948,3892,3885,817.0,-9.0,522,7457,0.00,2.33,0.00,0.000,1030,0.000,0.062,2580,2358,3889,3892,3886,0,0,0,0,0,0,15.04,14.95,15.06
$GC,7766,-0.57,-170.3,2578,2358,3891,3884,841.3,-7.9,534,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2358,3887,3891,3884,0,0,0,0,0,0,15.20,15.22,15.21
$GC,8064,-0.57,-170.3,2579,2358,3890,3882,866.2,-8.3,544,8068,0.00,2.25,0.00,0.000,260,0.000,0.093,2579,3698,3886,3890,3882,0,0,0,0,0,0,15.20,14.93,15.22
$GC,8104,-0.57,-170.3,2579,3699,3889,3882,869.8,-8.8,552,8108,0.00,2.15,0.00,0.000,1030,0.000,0.048,2579,2346,3885,3889,3882,0,0,0,0,0,0,15.05,14.99,15.07
$GC,8426,-0.57,-170.3,2578,2342,3889,3881,897.1,-8.8,566,8430,0.00,2.22,0.00,0.000,516,0.000,0.056,2579,953,3885,3889,3881,0,0,0,0,0,0,15.20,14.97,15.21
$GC,8445,-0.57,-170.3,2578,952,3889,3881,899.0,-9.3,570,8449,0.00,2.33,0.00,0.000,1030,0.000,0.063,2579,2355,3884,3888,3881,0,0,0,0,0,0,15.04,14.95,15.06
$GC,8757,-0.57,-170.3,2578,2355,3888,3880,927.9,-9.5,582,8758,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2355,3883,3888,3879,0,0,0,0,0,0,15.20,15.22,15.22
$GC,9056,-0.57,-170.3,2578,2356,3887,3878,956.6,-9.5,592,9060,0.00,2.25,0.00,0.000,260,0.000,0.095,2579,3693,3883,3887,3879,0,0,0,0,0,0,15.21,14.92,15.22
$GC,9096,-0.57,-170.3,2578,3693,3886,3879,960.5,-9.7,600,9100,0.00,2.15,0.00,0.000,1030,0.000,0.047,2579,2342,3883,3887,3879,0,0,0,0,0,0,15.05,15.00,15.07
$STATE,9417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9417,begin apogee
$GC,9421,-0.12,0.0,2579,2410,3886,3878,990.7,-9.5,614,9605,0.55,0.00,179.85,1.639,10246,0.223,0.000,2737,2409,3345,3368,3323,0,0,0,0,0,0,14.85,14.13,13.52
$STATE,9606,end apogee,CONTROL_FINISHED_OK
$STATE,9606,begin climb
$GC,9607,0.57,170.3,2738,2410,3364,3318,998.8,0.0,620,9794,0.73,2.33,178.20,1.864,11012,0.134,0.089,2958,3693,2644,2688,2600,0,0,0,0,0,0,14.11,13.85,13.34
$GC,9814,0.57,170.3,2958,3693,2679,2596,990.8,9.7,653,9819,0.00,2.20,0.00,0.000,1030,0.000,0.049,2958,2408,2637,2680,2595,0,0,0,0,0,0,14.20,14.14,14.22
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$STATE,20530,end climb,SURFACE_DEPTH_REACHED
$STATE,20530,begin surface coast
$FINISH,-0.2,1.000142
$STATE,20556,end surface coast,CONTROL_FINISHED_OK
$STATE,20556,begin surface
$SM_CCo,20633,0.00,0.000,0,0,1556,439.08
$SM_GC,0.62,8.57,2.30,0.00,0.108,0.045,0.000,249,2363,1556,-7.87,-0.68,439.08,0,0,0,0,0,0,14.61,14.66,14.71
$IRIDIUM_FIX,-328.65,5534.83,270118,114728
$TT8_MAMPS,0.017976,0.156541
$HUMID,59.17
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,13.34,22.383
$10V_AH,13.61,0.000
$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,22.125,186.325,608.400,0.000,0.000,0.000,0.000,232.800,0.000,0.000,22.956,3092.962,14678.759,728.209,2332.269,135.720,0.000,2161.055,0.000,2061.737,0.000,0.546,0.000
$DEVICE_MAMPS,439.875,159.885,1864.305,0.000,0.000,0.000,0.000,133.110,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304624
$DATA_FILE_SIZE,63388,1449
$CAP_FILE_SIZE,171701,0
$CFSIZE,260034560,253771776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.077,90.86,1
$GPS,270118,234713,-325.584,5535.594,25,1.4,33,-4.7,0.4,116.2,5,10.0