PortSusan 05Sep07 * SG128 * Dive index * Mission links
version: 66.02
glider: 128
mission: 2
dive: 95
start: 9 9 107 2 39 51
data:
$ID,128
$MISSION,2
$DIVE,95
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,200
$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,65
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51503
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-61069.418
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4014
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.508845
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,023023,4806.468,-12222.342,11,2.9,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.8
$GPS2,023852,4806.430,-12222.355,13,3.6,32,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.060,-0.159
$KALMAN_X,7615.1,-31.6,-104.3,-5573.4,118.0
$KALMAN_Y,2914.9,99.2,-26.5,-6756.0,-67.3
$MHEAD_RNG_PITCHd_Wd,141.0,909,-13.2,-6.000
$D_GRID,108
$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
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.78,-146.6,0.0,0.0,0,100,0.00,0.00,-77.53,0.000,2,0.000,0.000,2,2157,3326
$GC,102,-0.78,-146.6,3.6,-3.8,14,121,10.57,2.35,-1.42,0.000,4,0.219,0.054,2562,740,3399
$GC,423,-0.78,-146.6,31.8,-6.6,56,430,0.00,2.33,0.00,0.000,6,0.000,0.037,2562,2146,3400
$GC,621,-0.78,-146.6,43.5,-5.9,75,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2146,3401
$GC,812,-0.78,-146.6,55.1,-5.9,93,816,0.00,2.35,0.00,0.000,4,0.000,0.052,2555,3567,3401
$GC,843,-0.78,-146.6,57.3,-6.7,95,851,0.00,2.30,0.00,0.000,6,0.000,0.030,2555,2136,3400
$GC,1169,-0.78,-146.6,78.3,-6.2,126,1173,0.00,2.38,0.00,0.000,4,0.000,0.052,2555,3561,3401
$GC,1231,-0.78,-146.6,82.2,-6.0,131,1235,0.00,2.25,0.00,0.000,6,0.000,0.031,2555,2140,3401
$STATE,1362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1362,begin apogee
$GC,1366,-0.23,0.0,90.6,6.0,143,1485,0.60,0.00,113.25,0.838,6,0.112,0.000,2742,2078,2800
$STATE,1486,end apogee,CONTROL_FINISHED_OK
$STATE,1486,begin climb
$GC,1488,0.78,146.6,92.8,0.0,155,1606,1.02,0.00,112.10,0.686,6,0.081,0.000,3070,2078,2202
$GC,1923,0.78,146.6,64.6,7.4,197,1927,0.00,2.38,0.00,0.000,4,0.000,0.049,3070,3489,2200
$GC,1972,0.78,146.6,60.5,8.1,201,1980,0.00,2.33,0.00,0.000,6,0.000,0.032,3076,2084,2199
$GC,2298,0.78,146.6,36.8,7.3,232,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2084,2199
$GC,2488,0.78,146.6,23.1,7.2,250,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2084,2199
$GC,2688,0.78,146.6,9.5,6.2,282,2695,0.00,2.35,0.00,0.000,4,0.000,0.050,3076,3497,2199
$GC,2745,0.78,146.6,5.9,6.6,292,2752,0.00,2.30,0.00,0.000,6,0.000,0.033,3080,2066,2199
$GC,2819,0.87,218.0,2.7,3.7,305,2854,0.00,0.00,32.58,0.849,2,0.000,0.000,3080,2066,1982
$STATE,2855,end climb,SURFACE_DEPTH_REACHED
$STATE,2855,begin surface coast
$FINISH,0.4,1.024741
$STATE,2950,end surface coast,CONTROL_FINISHED_OK
$STATE,2950,begin surface
$SM_CCo,2967,69.85,0.733,0,0,1372,350.04
$SM_GC,0.98,0.00,0.00,69.85,0.000,0.000,0.733,16,2165,1372,-8.77,0.42,350.04
$IRIDIUM_FIX,4748.51,-12220.12,090907,060649
$TT8_MAMPS,0.026845
$HUMID,1864
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.3,59.1
$24V_AH,24.4,16.154
$10V_AH,10.8,6.357
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,21.025,23.475,257.925,69.850,0.000,81.982,102.833,152.608,0.250,0.000,0.000,34.979,536.448,1540.809,376.888,678.995,436.969,33.341,714.166,0.000,674.596,0.000,2.536
$DEVICE_MAMPS,219.362,141.128,849.069,733.252,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.673,254.718,553.465,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15971,328
$CFSIZE,260165632,255021056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,033137,4806.132,-12222.029,34,1.2,35,18.3