Faroes Jun09 *
SG016 *
Dive index
* Mission links
version: 66.04
glider: 16
mission: 13
dive: 116
start: 6 27 109 1 24 32
data:
$ID,16
$MISSION,13
$DIVE,116
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$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,440
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2109685.5
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3321
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,196
$ROLL_MAX,3869
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.343216
$PRESSURE_SLOPE,0.0001162269
$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,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199998
$SEABIRD_T_H,0.000619
$SEABIRD_T_I,2.055e-05
$SEABIRD_T_J,1.86e-06
$SEABIRD_C_G,-9.8699999
$SEABIRD_C_H,1.1
$SEABIRD_C_I,-0.000612
$SEABIRD_C_J,0.000141
$GPS1,011830,6344.312,-1308.290,38,1.3,43,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-62.7
$GPS2,012414,6344.333,-1308.174,14,1.3,14,-12.4
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.081,-0.225
$KALMAN_X,-87037.4,1552.8,520.3,38953.3,-1645.0
$KALMAN_Y,197075.5,-3550.9,-2288.7,-114382.5,45486.2
$MHEAD_RNG_PITCHd_Wd,4.3,10601,-13.9,-7.500
$D_GRID,990
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.03,-146.6,0.0,0.0,0,90,0.00,0.00,-72.78,0.000,6,0.000,0.000,78,2609,3418
$GC,93,-1.03,-146.6,3.8,-5.5,3,111,11.95,2.30,0.00,0.000,4,0.186,0.060,2127,3857,3418
$GC,190,-1.03,-146.6,29.6,-12.8,8,194,0.00,2.17,0.00,0.000,6,0.000,0.028,2127,2577,3419
$GC,511,-1.03,-146.6,67.3,-10.4,24,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2576,3419
$GC,822,-1.03,-146.6,102.4,-13.0,39,826,0.00,2.40,0.00,0.000,4,0.000,0.039,2127,1211,3420
$GC,866,-1.03,-146.6,108.8,-13.3,41,870,0.00,2.42,0.00,0.000,6,0.000,0.036,2127,2593,3420
$GC,1187,-1.03,-146.6,143.5,-8.2,57,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2594,3420
$GC,1496,-1.03,-146.6,163.8,-6.2,72,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2594,3420
$GC,1805,-1.03,-146.6,181.3,-5.6,87,1810,0.00,2.45,0.00,0.000,4,0.000,0.039,2127,1204,3420
$GC,1868,-1.03,-146.6,184.7,-5.2,90,1872,0.00,2.45,0.00,0.000,6,0.000,0.037,2127,2600,3420
$GC,2201,-1.03,-146.6,201.2,-5.0,106,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2600,3420
$GC,2510,-1.03,-146.6,215.9,-4.5,121,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2600,3420
$GC,2819,-1.03,-146.6,233.3,-6.3,136,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2600,3420
$GC,3128,-1.03,-146.6,259.0,-9.8,151,3132,0.00,2.45,0.00,0.000,4,0.000,0.040,2125,1205,3420
$GC,3161,-1.03,-146.6,262.7,-10.4,152,3167,0.00,2.45,0.00,0.000,6,0.000,0.036,2128,2601,3420
$GC,3478,-1.03,-146.6,301.8,-13.4,168,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2601,3420
$GC,3786,-1.03,-146.6,341.5,-13.2,183,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2601,3420
$GC,4095,-1.03,-146.6,380.0,-12.2,198,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2602,3419
$GC,4405,-1.03,-146.6,412.7,-9.7,213,4409,0.00,2.45,0.00,0.000,4,0.000,0.040,2127,1208,3420
$GC,4438,-1.07,-146.6,416.1,-9.6,214,4443,0.00,2.45,0.00,0.000,6,0.000,0.037,2127,2605,3419
$GC,4754,-1.07,-146.6,442.7,-7.9,229,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2605,3419
$GC,5064,-1.07,-146.6,461.6,-5.6,244,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2605,3419
$GC,5373,-1.07,-146.6,479.6,-6.0,259,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2605,3419
$GC,5682,-1.07,-146.6,506.9,-9.5,274,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2605,3419
$GC,5991,-1.07,-146.6,530.4,-6.6,289,5996,0.00,2.45,0.00,0.000,4,0.000,0.040,2127,1211,3419
$GC,6033,-1.12,-146.6,532.9,-6.5,291,6037,0.00,2.45,0.00,0.000,6,0.000,0.038,2127,2609,3418
$GC,6359,-1.12,-146.6,556.1,-8.2,307,6363,0.00,2.45,0.00,0.000,4,0.000,0.039,2127,1211,3418
$GC,6392,-1.16,-146.6,559.0,-8.6,308,6398,0.00,2.45,0.00,0.000,6,0.000,0.037,2127,2607,3418
$GC,6708,-1.16,-146.6,582.5,-5.9,324,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2607,3418
$GC,7017,-1.16,-146.6,589.5,-1.0,339,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2607,3418
$GC,7326,-1.16,-146.6,613.7,-14.4,354,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2607,3418
$GC,7636,-1.16,-146.6,657.4,-7.1,369,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2607,3418
$GC,7949,-1.16,-146.6,675.6,-9.0,384,7953,0.00,2.47,0.00,0.000,4,0.000,0.042,2127,1206,3417
$GC,8044,-1.23,-146.6,686.4,-10.0,388,8049,0.17,2.45,0.00,0.000,6,0.042,0.039,2077,2597,3418
$GC,8360,-1.12,-146.6,723.8,-10.7,403,8362,0.20,0.00,0.00,0.000,6,0.099,0.000,2115,2597,3417
$STATE,8542,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8542,begin apogee
$GC,8550,-0.31,0.0,739.0,8.0,412,8685,0.85,0.00,129.62,1.036,6,0.099,0.000,2287,2295,2817
$STATE,8686,end apogee,CONTROL_FINISHED_OK
$STATE,8686,begin climb
$GC,8689,1.03,146.6,741.7,0.0,419,8827,1.38,2.70,130.73,1.025,4,0.071,0.064,2581,3703,2218
$GC,9013,0.90,146.6,718.6,9.3,433,9018,0.12,2.45,0.00,0.000,6,0.100,0.031,2558,2314,2213
$GC,9335,0.92,225.0,699.4,4.8,449,9411,0.00,2.65,70.40,0.993,4,0.000,0.052,2558,895,1898
$GC,9457,0.98,280.1,692.3,5.6,454,9513,0.00,2.50,50.55,0.978,6,0.000,0.035,2558,2305,1675
$GC,9838,1.13,358.1,678.3,4.8,473,9915,0.20,2.62,71.47,0.982,4,0.045,0.048,2614,892,1356
$GC,9981,1.13,358.1,662.3,14.9,478,9987,0.00,2.50,0.00,0.000,6,0.000,0.035,2614,2298,1350
$GC,10296,1.13,358.1,604.7,12.2,494,10297,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2298,1346
$GC,10605,1.13,358.1,568.9,12.6,509,10610,0.00,2.55,0.00,0.000,4,0.000,0.048,2614,892,1345
$GC,10650,1.13,358.1,563.0,12.6,511,10654,0.00,2.47,0.00,0.000,6,0.000,0.035,2614,2302,1344
$GC,10976,1.13,358.1,527.2,11.4,527,10980,0.00,2.55,0.00,0.000,4,0.000,0.047,2614,890,1344
$GC,11026,1.13,358.1,521.2,11.9,529,11030,0.00,2.47,0.00,0.000,6,0.000,0.034,2614,2300,1344
$GC,11342,1.13,358.1,482.4,12.8,544,11346,0.00,2.53,0.00,0.000,4,0.000,0.046,2614,896,1344
$GC,11382,1.13,358.1,477.1,13.4,546,11386,0.00,2.47,0.00,0.000,6,0.000,0.034,2614,2309,1344
$GC,11708,1.13,358.1,438.5,11.6,562,11712,0.00,2.55,0.00,0.000,4,0.000,0.046,2614,891,1344
$GC,11757,1.13,358.1,432.0,12.3,564,11762,0.00,2.47,0.00,0.000,6,0.000,0.034,2614,2305,1343
$GC,12073,1.13,358.1,388.8,13.7,579,12074,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2305,1344
$GC,12382,1.13,358.1,347.0,13.4,594,12386,0.00,2.53,0.00,0.000,4,0.000,0.044,2614,895,1343
$GC,12455,1.13,358.1,336.9,13.5,597,12459,0.00,2.45,0.00,0.000,6,0.000,0.033,2614,2301,1343
$GC,12770,1.13,358.1,295.0,13.5,612,12775,0.00,2.53,0.00,0.000,4,0.000,0.044,2614,892,1343
$GC,12815,1.13,358.1,288.8,14.5,614,12819,0.00,2.47,0.00,0.000,6,0.000,0.034,2614,2309,1343
$GC,13136,1.13,358.1,245.6,13.8,630,13140,0.00,2.55,0.00,0.000,4,0.000,0.044,2614,887,1343
$GC,13186,1.13,358.1,238.5,14.0,632,13190,0.00,2.47,0.00,0.000,6,0.000,0.034,2614,2304,1343
$GC,13501,1.13,358.1,198.3,12.0,647,13505,0.00,2.53,0.00,0.000,4,0.000,0.044,2614,894,1344
$GC,13541,1.13,358.1,193.6,12.3,649,13545,0.00,2.45,0.00,0.000,6,0.000,0.033,2613,2301,1343
$GC,13867,1.13,358.1,160.6,9.2,665,13871,0.00,2.53,0.00,0.000,4,0.000,0.044,2614,889,1343
$GC,13911,1.13,358.1,156.0,9.4,667,13916,0.00,2.47,0.00,0.000,6,0.000,0.033,2614,2309,1343
$GC,14233,1.13,358.1,127.8,8.6,683,14238,0.00,2.53,0.00,0.000,4,0.000,0.044,2614,895,1343
$GC,14296,1.13,358.1,122.0,9.4,686,14301,0.00,2.45,0.00,0.000,6,0.000,0.034,2614,2302,1344
$GC,14624,1.13,358.1,91.1,10.8,702,14628,0.00,2.53,0.00,0.000,4,0.000,0.044,2614,891,1342
$GC,14696,1.13,358.1,83.3,10.0,705,14700,0.00,2.45,0.00,0.000,6,0.000,0.034,2614,2301,1343
$GC,15014,1.13,358.1,50.1,9.7,720,15015,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2301,1343
$GC,15322,1.13,358.1,22.8,8.9,735,15326,0.00,2.53,0.00,0.000,4,0.000,0.044,2614,887,1343
$GC,15361,1.13,358.1,19.0,9.2,737,15366,0.00,2.47,0.00,0.000,6,0.000,0.034,2614,2311,1343
$STATE,15521,end climb,SURFACE_DEPTH_REACHED
$STATE,15521,begin surface coast
$FINISH,0.8,1.025268
$STATE,15543,end surface coast,CONTROL_FINISHED_OK
$STATE,15543,begin surface
$SM_CCo,15627,0.00,0.000,0,0,1342,361.82
$SM_GC,1.55,12.27,0.00,0.00,0.095,0.000,0.000,79,2607,1342,-10.46,0.20,361.82
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1721
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.8,22.2
$24V_AH,23.6,22.025
$10V_AH,10.1,10.792
$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,Compass2
$DEVICE_SECS,27.150,115.125,452.775,0.000,0.000,18.023,28.157,183.651,6.500,0.000,0.000,14.221,1351.766,11988.660,525.568,1632.530,471.829,0.000,1361.160,0.000,1588.822,0.000,45.935,0.000
$DEVICE_MAMPS,185.614,63.661,1036.217,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,538.833,513.200,446.486,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37971,746
$CAP_FILE_SIZE,110343,0
$CFSIZE,260165632,251793408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270609,054606,6346.540,-1306.965,31,1.1,31,-12.4