Shilshole 01May13 * SG198 * Dive index * Mission links
version: 66.11
glider: 198
mission: 2
dive: 9
start: 5 1 113 22 33 51
data:
$ID,198
$MISSION,2
$DIVE,9
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,30
$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,78
$T_MISSION,84
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53056
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1473.9523
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,212
$PITCH_MAX,3894
$C_PITCH,2635
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2410
$C_ROLL_CLIMB,2410
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3093
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-84.69725
$PRESSURE_SLOPE,0.0001160319
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.44999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$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
$SIM_PITCH,0
$SEABIRD_T_G,0.0043931045
$SEABIRD_T_H,0.00063259818
$SEABIRD_T_I,2.5708419e-05
$SEABIRD_T_J,3.1590957e-06
$SEABIRD_C_G,-9.8238754
$SEABIRD_C_H,1.1280942
$SEABIRD_C_I,-0.0016420757
$SEABIRD_C_J,0.00020143802
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,020513,053132,4743.202,-12225.882,6,0.9,6,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.2
$GPS2,020513,053902,4742.967,-12225.738,9,0.8,9,16.3
$SPEED_LIMITS,0.148,0.246
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.173,0.175
$KALMAN_X,-2056.2,101.8,-361.5,984.8,-830.6
$KALMAN_Y,-4264.5,-834.1,-276.7,5875.9,-850.4
$MHEAD_RNG_PITCHd_Wd,28.4,2086,-15.0,-8.547,-19.14,2595
$D_GRID,200
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.81,-146.6,201,2419,2002,1929,0.0,0.0,0,75,0.00,0.00,-55.53,0.000,16386,0.000,0.000,202,2419,3432,3493,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.81,-146.6,201,2419,3494,3372,3.6,-7.3,10,96,10.32,0.00,-5.45,0.000,18950,0.428,0.000,2374,2419,3693,3793,3593,0,0,0,0,0,0,14.46,28.83,14.78
$GC,158,-0.81,-146.6,1428,2417,3774,3614,19.2,-15.6,28,164,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2419,3696,3777,3615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,226,-0.81,-146.6,1424,2417,3774,3614,29.5,-15.0,44,233,0.00,2.40,0.00,0.000,516,0.000,0.092,2369,1005,3696,3776,3616,0,0,0,0,0,0,28.83,14.64,28.83
$GC,463,-0.81,-146.6,1424,1004,3773,3614,67.1,-14.9,102,470,0.00,2.38,0.00,0.000,1030,0.000,0.090,2361,2416,3696,3776,3616,0,0,0,0,0,0,28.83,14.71,28.83
$GC,592,-0.81,-146.6,1408,2414,3774,3614,85.2,-13.6,133,599,0.00,2.35,0.00,0.000,260,0.000,0.108,2360,3789,3696,3776,3616,0,0,0,0,0,0,28.83,14.73,28.83
$GC,629,-0.81,-146.6,1440,3788,3773,3615,90.7,-15.7,141,636,0.00,2.22,0.00,0.000,1030,0.000,0.063,2361,2402,3696,3776,3617,0,0,0,0,0,0,28.83,14.76,28.83
$GC,758,-0.81,-146.6,1408,2401,3773,3618,110.8,-15.5,172,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2403,3696,3776,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,890,-0.81,-146.6,1408,2400,3773,3621,129.7,-14.6,203,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2402,3696,3776,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1018,-0.81,-146.6,1408,2400,3773,3615,147.3,-14.1,234,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2402,3696,3776,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1146,-0.81,-146.6,1408,2400,3773,3615,165.6,-14.2,265,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2403,3696,3776,3617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1274,-0.81,-146.6,1408,2400,3773,3613,183.2,-13.5,296,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2402,3696,3776,3617,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1349,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1349,begin apogee
$GC,1352,-0.21,0.0,2361,2402,3776,3617,193.7,-14.3,314,1492,0.70,0.00,131.98,2.961,10246,0.256,0.000,2556,2402,3095,3181,3009,0,0,0,0,0,0,14.75,28.83,12.97
$STATE,1493,end apogee,CONTROL_FINISHED_OK
$STATE,1493,begin climb
$GC,1494,0.81,146.6,2556,2402,3181,3009,199.4,0.0,339,1642,1.15,2.60,134.95,3.029,11012,0.194,0.103,2882,3779,2497,2572,2423,0,0,0,0,0,0,13.83,13.76,12.93
$GC,1693,0.81,146.6,1832,3778,2532,2416,186.1,10.5,377,1699,0.00,2.30,0.00,0.000,1030,0.000,0.063,2888,2417,2497,2572,2423,0,0,0,0,0,0,28.83,14.16,28.83
$GC,1821,0.81,146.6,1824,2415,2531,2416,171.7,11.9,408,1828,0.00,2.40,0.00,0.000,260,0.000,0.104,2888,3784,2497,2572,2422,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1866,0.81,146.6,1840,3784,2532,2416,166.1,13.2,418,1873,0.00,2.28,0.00,0.000,1030,0.000,0.064,2890,2404,2497,2571,2423,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1995,0.81,146.6,1824,2401,2531,2416,152.7,10.4,449,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2403,2496,2571,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2123,0.81,146.6,1824,2401,2530,2416,138.4,11.6,480,2130,0.00,2.35,0.00,0.000,516,0.000,0.092,2899,1009,2497,2572,2423,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2192,0.81,146.6,1856,1008,2531,2416,131.1,11.0,496,2199,0.00,2.35,0.00,0.000,1030,0.000,0.084,2899,2412,2497,2572,2423,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2321,0.81,146.6,1840,2410,2529,2416,115.3,11.6,527,2328,0.00,2.35,0.00,0.000,260,0.000,0.103,2899,3790,2496,2571,2422,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2442,0.81,146.6,1840,3789,2531,2416,98.8,12.9,556,2449,0.00,2.22,0.00,0.000,1030,0.000,0.063,2905,2409,2496,2571,2422,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2571,0.81,146.6,1840,2407,2531,2416,83.4,11.7,587,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2409,2496,2571,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2699,0.81,146.6,1840,2407,2530,2416,68.0,11.4,618,2706,0.00,2.35,0.00,0.000,516,0.000,0.093,2905,1006,2496,2571,2422,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2728,0.81,146.6,1872,1005,2533,2417,65.1,10.6,624,2735,0.00,2.35,0.00,0.000,1030,0.000,0.085,2905,2411,2497,2572,2422,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2857,0.81,146.6,1856,2409,2530,2416,52.5,9.1,655,2864,0.00,2.33,0.00,0.000,260,0.000,0.103,2906,3784,2496,2571,2422,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2902,0.81,146.6,1856,3784,2532,2416,47.9,9.5,665,2909,0.00,2.22,0.00,0.000,1030,0.000,0.063,2911,2400,2496,2571,2422,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3032,0.84,178.1,1856,2396,2530,2416,38.3,7.3,696,3056,0.00,2.42,17.92,1.848,8708,0.000,0.095,2917,1014,2365,2441,2290,0,0,0,0,0,0,28.83,14.59,14.07
$GC,3175,0.84,178.1,1856,1013,2400,2284,25.0,10.1,729,3181,0.00,2.35,0.00,0.000,1030,0.000,0.083,2917,2413,2366,2441,2291,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3243,0.84,178.1,1864,2411,2400,2284,17.9,10.7,745,3250,0.00,2.35,0.00,0.000,260,0.000,0.103,2917,3787,2366,2441,2291,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3268,0.84,178.1,1936,3786,2404,2285,15.0,11.9,750,3275,0.00,2.25,0.00,0.000,1030,0.000,0.064,2919,2404,2366,2441,2291,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3337,0.84,178.1,1864,2401,2400,2284,7.2,12.1,766,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2404,2366,2442,2291,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3380,end climb,SURFACE_DEPTH_REACHED
$STATE,3380,begin surface coast
$FINISH,0.4,1.021158
$STATE,3394,end surface coast,CONTROL_FINISHED_OK
$STATE,3394,begin surface
$SM_CCo,3408,60.78,0.147,0,0,1869,300.00
$SM_GC,1.88,7.88,0.00,60.78,0.086,0.000,0.147,205,2404,1869,-7.53,-0.17,300.00,0,0,0,0,0,0,14.71,28.83,14.63
$IRIDIUM_FIX,4729.30,-12114.85,020513,040437
$TT8_MAMPS,0.023219,0.023219
$HUMID,32.04
$INTERNAL_PRESSURE,8.90583
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.4,87.8
$SC_FREEKB,4016800
$24V_AH,12.9,3.549
$10V_AH,13.1,0.000
$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,20.050,46.825,284.850,60.775,0.000,0.000,0.000,317.625,0.500,0.000,12.326,1668.836,175.702,442.452,1572.480,57.954,33.226,1387.554,0.000,1174.345,0.000,5.901,0.000
$DEVICE_MAMPS,427.635,107.865,3029.400,146.880,0.000,0.000,0.000,187.425,420.000,0.000,20.970,9.470,2.190,9.470,28.950,35.690,46.170,10.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3419.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.576,0.000,0.000,0.000
$MEM,322844
$DATA_FILE_SIZE,26723,779
$CAP_FILE_SIZE,116646,0
$CFSIZE,2097872896,2093842432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020513,063903,4742.941,-12225.489,36,1.0,37,16.3