Faroes Jun09 *
SG016 *
Dive index
* Mission links
version: 66.04
glider: 16
mission: 13
dive: 235
start: 7 19 109 0 50 57
data:
$ID,16
$MISSION,13
$DIVE,235
$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,-2111784.5
$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,35
$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
$GPS1,004130,6248.275,-1301.611,38,0.9,43,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-60.2
$GPS2,005037,6248.243,-1301.723,17,1.1,17,-11.9
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$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,125.2,38624,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-58.95,0.000,6,0.000,0.000,67,2609,3417
$GC,80,-1.03,-146.6,6.6,-12.0,3,102,12.10,2.53,0.00,0.000,4,0.188,0.035,2130,1191,3419
$GC,225,-1.03,-146.6,38.3,-13.2,9,229,0.00,2.47,0.00,0.000,6,0.000,0.035,2131,2601,3419
$GC,541,-1.03,-146.6,72.7,-10.3,24,545,0.00,2.33,0.00,0.000,4,0.000,0.061,2131,3862,3420
$GC,585,-1.03,-146.6,77.5,-10.9,26,589,0.00,2.17,0.00,0.000,6,0.000,0.025,2131,2570,3419
$GC,907,-1.03,-146.6,110.4,-10.6,42,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2568,3420
$GC,1216,-1.03,-146.6,142.7,-10.4,57,1220,0.00,2.38,0.00,0.000,4,0.000,0.061,2131,3861,3420
$GC,1248,-1.03,-146.6,146.3,-11.6,58,1255,0.00,2.12,0.00,0.000,6,0.000,0.025,2131,2590,3420
$GC,1564,-1.03,-146.6,178.1,-10.1,74,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2590,3420
$GC,1873,-1.03,-146.6,211.0,-11.1,89,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2590,3420
$GC,2182,-1.03,-146.6,243.7,-10.6,104,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2590,3420
$GC,2493,-1.03,-146.6,275.6,-10.3,119,2497,0.00,2.40,0.00,0.000,4,0.000,0.038,2131,1218,3419
$GC,2533,-1.03,-146.6,279.8,-10.0,121,2537,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2601,3420
$GC,2859,-1.03,-146.6,311.8,-9.8,137,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3419
$GC,3169,-1.03,-146.6,341.9,-9.9,152,3173,0.00,2.42,0.00,0.000,4,0.000,0.037,2131,1217,3419
$GC,3196,-1.03,-146.6,344.7,-10.2,153,3200,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2601,3419
$GC,3512,-1.03,-146.6,375.6,-9.8,168,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2602,3419
$GC,3821,-1.03,-146.6,404.9,-9.4,183,3825,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1218,3418
$GC,3848,-1.03,-146.6,407.7,-9.8,184,3852,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2612,3418
$GC,4168,-1.03,-146.6,438.1,-9.6,200,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2612,3418
$GC,4478,-1.03,-146.6,466.9,-9.2,215,4482,0.00,2.45,0.00,0.000,4,0.000,0.038,2131,1212,3418
$GC,4511,-1.03,-146.6,470.4,-9.5,216,4517,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2600,3418
$GC,4827,-1.03,-146.6,499.7,-9.0,232,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2600,3418
$GC,5138,-1.03,-146.6,525.8,-8.0,247,5142,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1210,3416
$GC,5165,-1.03,-146.6,528.2,-8.0,248,5169,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2599,3418
$GC,5480,-1.03,-146.6,554.2,-8.8,263,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3417
$GC,5790,-1.03,-146.6,583.6,-9.5,278,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2599,3417
$GC,6099,-1.03,-146.6,610.0,-8.3,293,6103,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1214,3417
$GC,6149,-1.07,-146.6,614.1,-8.2,295,6153,0.00,2.42,0.00,0.000,6,0.000,0.035,2131,2598,3417
$GC,6465,-1.07,-146.6,639.3,-8.3,310,6469,0.00,2.42,0.00,0.000,4,0.000,0.038,2131,1212,3417
$GC,6520,-1.12,-146.6,644.0,-8.5,312,6527,0.00,2.45,0.00,0.000,6,0.000,0.035,2131,2611,3416
$GC,6836,-1.12,-146.6,669.7,-8.0,328,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2611,3416
$GC,7146,-1.16,-146.6,695.3,-8.4,343,7148,0.12,0.00,0.00,0.000,6,0.046,0.000,2091,2611,3416
$GC,7459,-1.09,-146.6,725.8,-10.0,358,7464,0.15,2.45,0.00,0.000,4,0.098,0.038,2120,1214,3415
$GC,7544,-1.09,-146.6,733.5,-9.2,362,7548,0.00,2.42,0.00,0.000,6,0.000,0.037,2120,2599,3415
$GC,7870,-1.09,-146.6,763.7,-8.3,378,7874,0.00,2.35,0.00,0.000,4,0.000,0.073,2120,3855,3415
$GC,7933,-1.09,-146.6,768.9,-8.8,381,7936,0.00,2.10,0.00,0.000,6,0.000,0.028,2120,2611,3415
$STATE,7941,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7941,begin apogee
$GC,7948,-0.31,0.0,770.1,9.2,381,8081,0.82,0.00,128.82,1.088,6,0.111,0.000,2286,2304,2817
$STATE,8081,end apogee,CONTROL_FINISHED_OK
$STATE,8081,begin climb
$GC,8084,1.03,146.6,775.1,0.0,388,8222,1.40,2.67,129.90,1.076,4,0.077,0.062,2581,3705,2218
$GC,8416,0.90,151.7,757.3,7.3,403,8427,0.12,2.45,5.35,0.759,6,0.098,0.028,2558,2306,2198
$GC,8740,0.85,151.7,732.9,7.9,418,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2306,2195
$GC,9047,0.80,157.6,711.5,7.3,433,9061,0.12,2.58,6.32,0.808,4,0.102,0.049,2534,901,2172
$GC,9091,0.83,190.0,708.7,6.4,435,9127,0.00,2.47,30.70,1.014,6,0.000,0.035,2534,2301,2042
$GC,9441,0.93,221.4,686.7,6.4,451,9477,0.12,0.00,29.65,1.002,6,0.053,0.000,2570,2301,1913
$GC,9787,0.98,270.5,662.3,5.8,468,9840,0.00,2.70,46.22,1.009,4,0.000,0.062,2570,3691,1713
$GC,9852,1.05,331.7,658.6,5.4,471,9917,0.00,2.47,58.03,1.006,6,0.000,0.029,2570,2296,1463
$GC,10241,1.15,331.7,631.3,8.4,490,10246,0.20,2.55,0.00,0.000,4,0.052,0.051,2626,898,1452
$GC,10303,1.15,331.7,624.5,11.6,493,10307,0.00,2.47,0.00,0.000,6,0.000,0.035,2626,2300,1450
$GC,10630,1.10,331.7,585.1,12.1,509,10635,0.15,2.55,0.00,0.000,4,0.096,0.048,2597,897,1449
$GC,10680,1.16,331.7,579.5,11.0,511,10685,0.00,2.47,0.00,0.000,6,0.000,0.035,2597,2301,1448
$GC,10997,1.16,331.7,547.9,10.1,526,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2301,1449
$GC,11306,1.16,331.7,515.4,11.1,541,11309,0.00,2.55,0.00,0.000,4,0.000,0.046,2596,894,1448
$GC,11345,1.21,331.7,510.7,11.5,542,11352,0.12,2.47,0.00,0.000,6,0.051,0.034,2629,2303,1447
$GC,11661,1.17,331.7,469.9,12.9,558,11662,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2303,1447
$GC,11970,1.12,331.7,429.8,12.9,573,11975,0.12,2.53,0.00,0.000,4,0.099,0.044,2605,896,1447
$GC,12014,1.17,331.7,424.3,11.5,575,12018,0.00,2.47,0.00,0.000,6,0.000,0.033,2605,2309,1446
$GC,12342,1.17,331.7,388.3,10.9,591,12346,0.00,2.55,0.00,0.000,4,0.000,0.044,2605,891,1446
$GC,12363,1.17,331.7,385.8,10.6,592,12368,0.00,2.47,0.00,0.000,6,0.000,0.032,2605,2307,1446
$GC,12685,1.17,331.7,351.9,10.2,608,12689,0.00,2.53,0.00,0.000,4,0.000,0.044,2605,897,1446
$GC,12713,1.17,331.7,348.8,10.0,609,12717,0.00,2.45,0.00,0.000,6,0.000,0.032,2605,2299,1446
$GC,13028,1.17,331.7,315.9,10.8,624,13032,0.00,2.53,0.00,0.000,4,0.000,0.044,2605,891,1446
$GC,13049,1.17,331.7,313.4,11.3,625,13054,0.00,2.47,0.00,0.000,6,0.000,0.032,2605,2309,1446
$GC,13371,1.17,331.7,276.5,12.0,641,13375,0.00,2.55,0.00,0.000,4,0.000,0.044,2605,891,1446
$GC,13399,1.17,331.7,272.8,12.6,642,13403,0.00,2.47,0.00,0.000,6,0.000,0.031,2605,2309,1446
$GC,13719,1.17,331.7,233.0,12.5,658,13724,0.00,2.55,0.00,0.000,4,0.000,0.044,2605,888,1446
$GC,13741,1.17,331.7,230.4,11.6,659,13746,0.00,2.47,0.00,0.000,6,0.000,0.032,2605,2306,1446
$GC,14063,1.17,331.7,191.9,11.6,675,14064,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2306,1446
$GC,14372,1.17,331.7,159.9,9.7,690,14376,0.00,2.53,0.00,0.000,4,0.000,0.044,2605,895,1447
$GC,14416,1.21,331.7,155.5,9.1,692,14420,0.00,2.45,0.00,0.000,6,0.000,0.032,2605,2305,1447
$GC,14737,1.21,331.7,125.9,10.1,708,14739,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2305,1447
$GC,15046,1.21,331.7,85.9,13.9,723,15050,0.00,2.53,0.00,0.000,4,0.000,0.044,2605,893,1447
$GC,15068,1.21,331.7,82.5,14.7,724,15072,0.00,2.45,0.00,0.000,6,0.000,0.032,2605,2301,1447
$GC,15390,1.27,331.7,35.9,13.0,740,15395,0.15,2.50,0.00,0.000,4,0.045,0.043,2650,895,1447
$GC,15479,1.27,331.7,23.8,12.9,744,15484,0.00,2.45,0.00,0.000,6,0.000,0.031,2649,2307,1447
$STATE,15655,end climb,SURFACE_DEPTH_REACHED
$STATE,15655,begin surface coast
$FINISH,0.8,1.015004
$STATE,15676,end surface coast,CONTROL_FINISHED_OK
$STATE,15676,begin surface
$SM_CCo,15760,0.00,0.000,0,0,1445,336.31
$SM_GC,1.77,12.18,0.00,0.00,0.083,0.000,0.000,79,2603,1445,-10.45,0.08,336.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1780
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.8,53.6
$24V_AH,23.6,37.960
$10V_AH,10.1,19.319
$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,27.900,133.650,435.000,0.000,0.000,36.367,54.354,262.475,6.250,0.000,0.000,16.993,1381.701,12139.340,524.552,1628.413,631.872,0.000,1372.196,0.000,1581.550,0.000,43.405,0.000
$DEVICE_MAMPS,187.915,72.865,1087.606,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,553.752,515.302,423.795,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37926,754
$CAP_FILE_SIZE,120633,0
$CFSIZE,260165632,245305344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190709,051455,6247.591,-1257.524,42,1.8,42,-11.9