ITOP Sep10 * SG167 * Dive index * Mission links
version: 66.08
glider: 167
mission: 6
dive: 238
start: 10 24 110 17 16 49
data:
$ID,167
$MISSION,6
$DIVE,238
$N_DIVES,244
$D_SURF,3
$D_FLARE,5
$D_TGT,1000
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,300
$T_MISSION,375
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,235
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51890
$NAV_MODE,2
$FERRY_MAX,45
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-54422.668
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2822
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,790
$C_ROLL_CLIMB,1000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,95
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,3029
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.491346
$PRESSURE_SLOPE,0.0001158971
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337667
$SEABIRD_T_H,0.00063136261
$SEABIRD_T_I,2.3680945e-05
$SEABIRD_T_J,2.4321864e-06
$SEABIRD_C_G,-9.8870621
$SEABIRD_C_H,1.1051886
$SEABIRD_C_I,-0.001683808
$SEABIRD_C_J,0.00020742195
$GPS1,241010,170607,2149.228,12632.613,35,1.1,35,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-70.4
$GPS2,241010,171626,2149.380,12632.627,15,1.2,15,-3.0
$SPEED_LIMITS,0.192,0.329
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,223.6,74734,-15.8,-11.111
$D_GRID,1000
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.72,-228.7,0.0,0.0,0,86,0.00,0.00,-64.95,0.000,2,0.000,0.000,113,870,3253,0,0,0,0,0,0
$GC,89,-0.72,-228.7,5.8,-13.0,9,115,9.52,1.05,-11.07,0.000,4,0.217,0.069,2583,186,3964,0,0,0,0,0,0
$GC,351,-0.72,-228.7,92.6,-23.8,57,359,0.00,0.80,0.00,0.000,6,0.000,0.020,2581,879,3967,0,0,0,0,0,0
$GC,680,-0.72,-228.7,167.6,-21.6,118,688,0.00,1.02,0.00,0.000,4,0.000,0.040,2580,183,3968,0,0,0,0,0,0
$GC,929,-0.72,-228.7,220.1,-18.8,163,937,0.00,0.77,0.00,0.000,6,0.000,0.020,2575,876,3968,0,0,0,0,0,0
$GC,1262,-0.72,-228.7,280.2,-16.7,224,1270,0.00,1.00,0.00,0.000,4,0.000,0.040,2575,190,3968,0,0,0,0,0,0
$GC,1462,-0.72,-228.7,314.7,-17.6,260,1470,0.00,0.75,0.00,0.000,6,0.000,0.020,2575,872,3969,0,0,0,0,0,0
$GC,1797,-0.72,-228.7,367.7,-16.3,321,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,872,3968,0,0,0,0,0,0
$GC,2127,-0.72,-228.7,414.1,-13.6,382,2135,0.00,1.00,0.00,0.000,4,0.000,0.041,2574,190,3968,0,0,0,0,0,0
$GC,2226,-0.72,-228.7,427.9,-13.8,399,2233,0.00,0.73,0.00,0.000,6,0.000,0.021,2574,827,3967,0,0,0,0,0,0
$GC,2560,-0.72,-228.7,472.8,-13.4,460,2568,0.00,0.95,0.00,0.000,4,0.000,0.042,2574,183,3965,0,0,0,0,0,0
$GC,2649,-0.72,-228.7,484.5,-13.6,475,2656,0.00,0.65,0.00,0.000,6,0.000,0.023,2574,749,3964,0,0,0,0,0,0
$GC,2976,-0.72,-228.7,526.4,-12.6,516,2979,0.00,1.95,0.00,0.000,4,0.000,0.017,2574,2137,3962,0,0,0,0,0,0
$GC,3114,-0.72,-228.7,539.9,-9.6,528,3118,0.00,2.05,0.00,0.000,6,0.000,0.034,2574,773,3961,0,0,0,0,0,0
$GC,3447,-0.72,-228.7,575.2,-10.4,559,3450,0.00,1.92,0.00,0.000,4,0.000,0.017,2574,2134,3958,0,0,0,0,0,0
$GC,3472,-0.72,-228.7,577.8,-10.4,561,3476,0.00,2.05,0.00,0.000,6,0.000,0.034,2574,769,3958,0,0,0,0,0,0
$GC,3800,-0.72,-228.7,613.9,-11.1,586,3804,0.00,1.92,0.00,0.000,4,0.000,0.017,2573,2128,3956,0,0,0,0,0,0
$GC,3830,-0.72,-228.7,617.3,-10.5,587,3833,0.00,2.03,0.00,0.000,6,0.000,0.035,2574,788,3955,0,0,0,0,0,0
$GC,4157,-0.72,-228.7,651.3,-10.3,603,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,788,3953,0,0,0,0,0,0
$GC,4466,-0.72,-228.7,683.2,-10.5,618,4470,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2130,3950,0,0,0,0,0,0
$GC,4523,-0.72,-228.7,688.6,-8.9,620,4527,0.00,2.05,0.00,0.000,6,0.000,0.036,2574,776,3950,0,0,0,0,0,0
$GC,4845,-0.72,-228.7,721.9,-10.7,636,4849,0.00,1.92,0.00,0.000,4,0.000,0.018,2574,2130,3947,0,0,0,0,0,0
$GC,4880,-0.72,-228.7,725.4,-9.9,637,4884,0.00,2.03,0.00,0.000,6,0.000,0.036,2574,800,3947,0,0,0,0,0,0
$GC,5204,-0.72,-228.7,759.8,-10.8,653,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,799,3944,0,0,0,0,0,0
$GC,5512,-0.72,-228.7,793.2,-10.6,668,5515,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2133,3941,0,0,0,0,0,0
$GC,5535,-0.72,-228.7,795.7,-10.3,669,5539,0.00,2.05,0.00,0.000,6,0.000,0.037,2574,787,3941,0,0,0,0,0,0
$GC,5869,-0.72,-228.7,827.6,-9.2,685,5872,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2130,3939,0,0,0,0,0,0
$GC,5930,-0.72,-228.7,832.7,-7.7,687,5938,0.00,2.03,0.00,0.000,6,0.000,0.037,2574,804,3938,0,0,0,0,0,0
$GC,6248,-0.72,-228.7,859.7,-8.7,703,6252,0.00,1.90,0.00,0.000,4,0.000,0.018,2574,2119,3936,0,0,0,0,0,0
$GC,6281,-0.72,-228.7,862.7,-8.2,704,6285,0.00,2.00,0.00,0.000,6,0.000,0.037,2574,812,3936,0,0,0,0,0,0
$GC,6605,-0.72,-228.7,890.8,-9.0,720,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,812,3934,0,0,0,0,0,0
$GC,6914,-0.72,-228.7,917.8,-8.5,735,6917,0.00,1.88,0.00,0.000,4,0.000,0.019,2574,2125,3931,0,0,0,0,0,0
$GC,6986,-0.72,-228.7,923.8,-7.4,738,6990,0.00,2.03,0.00,0.000,6,0.000,0.038,2574,804,3931,0,0,0,0,0,0
$GC,7316,-0.72,-228.7,951.8,-8.8,754,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,804,3929,0,0,0,0,0,0
$GC,7623,-0.72,-228.7,979.9,-9.2,769,7627,0.00,1.88,0.00,0.000,4,0.000,0.019,2574,2125,3928,0,0,0,0,0,0
$GC,7693,-0.72,-228.7,985.9,-8.9,772,7696,0.00,2.00,0.00,0.000,6,0.000,0.039,2574,821,3927,0,0,0,0,0,0
$STATE,7859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7859,begin apogee
$GC,7867,-0.14,0.0,1001.4,9.2,780,8057,0.57,0.00,181.10,1.407,4,0.112,0.000,2769,974,3028,0,0,0,0,0,0
$STATE,8058,end apogee,CONTROL_FINISHED_OK
$STATE,8058,begin climb
$GC,8062,0.72,228.7,1012.4,0.0,789,8265,0.75,1.30,194.20,1.352,4,0.048,0.050,3065,195,2095,0,0,0,0,0,0
$GC,8439,0.72,228.7,961.4,17.8,806,8443,0.00,1.10,0.00,0.000,6,0.000,0.025,3065,969,2086,0,0,0,0,0,0
$GC,8763,0.72,228.7,904.6,17.6,822,8766,0.00,1.20,0.00,0.000,4,0.000,0.045,3070,190,2083,0,0,0,0,0,0
$GC,8926,0.72,228.7,874.0,19.3,829,8930,0.00,1.15,0.00,0.000,6,0.000,0.024,3070,1016,2083,0,0,0,0,0,0
$GC,9255,0.72,228.7,815.1,17.9,845,9259,0.00,2.00,0.00,0.000,4,0.000,0.022,3070,2384,2081,0,0,0,0,0,0
$GC,9428,0.72,228.7,784.0,16.8,852,9437,0.00,2.10,0.00,0.000,6,0.000,0.036,3080,1036,2080,0,0,0,0,0,0
$GC,9746,0.72,228.7,726.4,18.5,868,9750,0.00,1.98,0.00,0.000,4,0.000,0.023,3079,2380,2080,0,0,0,0,0,0
$GC,9838,0.72,228.7,709.6,17.5,872,9843,0.12,2.05,0.00,0.000,6,0.184,0.036,3057,1037,2079,0,0,0,0,0,0
$GC,10167,0.72,228.7,656.5,16.1,888,10170,0.00,1.98,0.00,0.000,4,0.000,0.024,3057,2387,2079,0,0,0,0,0,0
$GC,10208,0.72,228.7,649.6,17.1,889,10215,0.00,2.05,0.00,0.000,6,0.000,0.037,3065,1048,2078,0,0,0,0,0,0
$GC,10526,0.72,228.7,595.4,17.3,906,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1048,2078,0,0,0,0,0,0
$GC,10846,0.72,228.7,541.7,15.7,936,10850,0.00,1.95,0.00,0.000,4,0.000,0.022,3065,2375,2078,0,0,0,0,0,0
$GC,10881,0.72,228.7,535.8,15.4,939,10885,0.00,2.03,0.00,0.000,6,0.000,0.037,3069,1050,2077,0,0,0,0,0,0
$GC,11208,0.72,228.7,485.0,15.5,978,11216,0.00,1.95,0.00,0.000,4,0.000,0.021,3069,2379,2077,0,0,0,0,0,0
$GC,11315,0.72,228.7,468.3,15.2,997,11322,0.00,2.00,0.00,0.000,6,0.000,0.036,3078,1066,2078,0,0,0,0,0,0
$GC,11648,0.72,228.7,416.4,14.6,1058,11656,0.00,1.33,0.00,0.000,4,0.000,0.045,3085,193,2077,0,0,0,0,0,0
$GC,11681,0.72,228.7,411.1,17.0,1063,11689,0.08,1.20,0.00,0.000,6,0.167,0.024,3061,1058,2077,0,0,0,0,0,0
$GC,12014,0.72,228.7,366.9,12.2,1124,12021,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1058,2077,0,0,0,0,0,0
$GC,12346,0.72,228.7,324.0,12.3,1185,12353,0.00,1.88,0.00,0.000,4,0.000,0.021,3061,2390,2077,0,0,0,0,0,0
$GC,12453,0.74,247.0,311.7,10.5,1204,12474,0.00,2.05,13.23,0.848,6,0.000,0.036,3066,1056,2022,0,0,0,0,0,0
$GC,12801,0.74,247.0,269.9,12.4,1267,12808,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1056,2020,0,0,0,0,0,0
$GC,13131,0.79,283.1,232.8,9.9,1328,13166,0.00,1.35,30.62,0.806,4,0.000,0.044,3072,190,1874,0,0,0,0,0,0
$GC,13190,0.79,287.9,226.2,11.0,1337,13205,0.00,1.23,5.40,0.613,6,0.000,0.020,3072,1108,1854,0,0,0,0,0,0
$GC,13530,0.79,287.9,184.8,12.2,1399,13538,0.00,1.83,0.00,0.000,4,0.000,0.019,3072,2396,1851,0,0,0,0,0,0
$GC,13594,0.81,302.0,177.0,10.7,1410,13617,0.00,2.05,12.52,0.707,6,0.000,0.034,3077,1064,1796,0,0,0,0,0,0
$GC,13942,0.82,307.0,138.3,10.9,1473,13951,0.00,1.35,5.50,0.568,4,0.000,0.043,3083,189,1777,0,0,0,0,0,0
$GC,14012,0.82,307.0,130.0,11.9,1485,14020,0.00,1.20,0.00,0.000,6,0.000,0.020,3083,1117,1776,0,0,0,0,0,0
$GC,14342,0.96,423.4,97.7,7.3,1546,14445,0.12,1.90,92.03,0.684,4,0.091,0.018,3143,2396,1301,0,0,0,0,0,0
$GC,14571,0.96,423.4,70.1,13.1,1583,14580,0.00,2.08,0.00,0.000,6,0.000,0.034,3149,1061,1296,0,0,0,0,0,0
$GC,14900,0.96,423.4,27.5,13.0,1644,14908,0.00,1.30,0.00,0.000,4,0.000,0.041,3155,188,1296,0,0,0,0,0,0
$GC,15011,0.96,423.4,11.3,14.0,1664,15019,0.00,1.17,0.00,0.000,6,0.000,0.018,3155,1134,1296,0,0,0,0,0,0
$STATE,15071,end climb,SURFACE_DEPTH_REACHED
$STATE,15071,begin surface coast
$FINISH,0.6,1.021672
$STATE,15094,end surface coast,CONTROL_FINISHED_OK
$STATE,15094,begin surface
$SM_CCo,15172,0.00,0.000,0,0,1294,425.60
$SM_GC,1.31,7.72,0.00,0.00,0.033,0.000,0.000,106,777,1294,-8.37,-0.40,425.60
$IRIDIUM_FIX,2143.45,12634.08,241010,171716
$TT8_MAMPS,0.028462
$HUMID,39.01
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,28.60
$XPDR_PINGS,1
$24V_AH,23.1,44.289
$10V_AH,10.2,40.426
$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,18.900,95.450,534.600,0.000,0.000,58.361,82.560,213.844,0.250,0.000,16.130,4095.743,6525.348,587.898,4047.022,511.537,0.000,2073.533,0.000,3710.715,0.000,0.543,0.000
$DEVICE_MAMPS,217.260,71.145,1406.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1142.992,1481.592,1961.467,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333984
$DATA_FILE_SIZE,96843,1679
$CAP_FILE_SIZE,171711,0
$CFSIZE,260165632,152510464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111, 40.9,1
$GPS,241010,213055,2148.235,12631.803,36,1.3,37,-3.0