Shilshole 01May13 * SG199 * Dive index * Mission links
version: 66.11
glider: 199
mission: 2
dive: 6
start: 5 2 113 3 3 52
data:
$ID,199
$MISSION,2
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,53051
$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,350
$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,-20723.053
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2512
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,218
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2340
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3314
$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,-64.539497
$PRESSURE_SLOPE,0.0001159754
$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,0
$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,1.6
$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,0.0044001359
$SEABIRD_T_H,0.00063958467
$SEABIRD_T_I,2.6420161e-05
$SEABIRD_T_J,3.2747387e-06
$SEABIRD_C_G,-9.7531748
$SEABIRD_C_H,1.1147131
$SEABIRD_C_I,-0.0015239087
$SEABIRD_C_J,0.00019379995
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,020513,025218,4743.257,-12225.092,4,1.4,4,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.9
$GPS2,020513,030250,4743.107,-12225.130,37,1.0,37,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.104,0.239
$KALMAN_X,-627.8,-72.5,60.5,-85.2,-288.6
$KALMAN_Y,-1934.7,-677.6,-23.2,3502.2,-562.9
$MHEAD_RNG_PITCHd_Wd,7.2,1525,-17.5,-10.000,-21.04,2225
$D_GRID,178
$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,-0.88,-146.6,192,2355,1942,1825,0.0,0.0,0,86,0.00,0.00,-66.72,0.000,16386,0.000,0.000,196,2355,3612,3645,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.88,-146.6,196,2355,3645,3581,3.9,-9.5,12,107,9.68,0.00,-5.85,0.000,18438,0.420,0.000,2218,2355,3914,3964,3865,0,0,0,0,0,0,14.43,28.83,14.78
$GC,169,-0.88,-146.6,1316,2352,3962,3864,24.0,-20.4,30,176,0.00,2.40,0.00,0.000,516,0.000,0.093,2219,940,3914,3963,3865,0,0,0,0,0,0,28.83,14.59,28.83
$GC,218,-0.88,-146.6,1328,939,3963,3865,34.5,-22.4,41,225,0.00,2.40,0.00,0.000,1030,0.000,0.092,2209,2352,3915,3964,3866,0,0,0,0,0,0,28.83,14.62,28.83
$GC,287,-0.88,-146.6,1312,2351,3963,3864,48.6,-20.5,57,293,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2353,3915,3964,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,415,-0.88,-146.6,1312,2351,3963,3864,72.8,-17.6,88,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2355,3915,3964,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,544,-0.88,-146.6,1304,2351,3963,3865,97.5,-17.1,119,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2352,3915,3964,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,675,-0.88,-146.6,1280,2351,3963,3865,120.4,-18.9,150,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2353,3914,3964,3865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,803,-0.88,-146.6,1304,2350,3963,3865,146.2,-20.2,181,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2353,3915,3965,3866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,931,-0.88,-146.6,1304,2351,3963,3865,169.5,-19.5,212,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2353,3915,3965,3866,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,974,begin apogee
$GC,977,-0.20,0.0,2209,2353,3965,3866,178.4,-21.5,222,1154,0.82,0.00,163.65,1.673,10246,0.249,0.000,2438,2353,3315,3381,3249,0,0,0,0,1,0,14.66,28.83,13.43
$STATE,1156,end apogee,CONTROL_FINISHED_OK
$STATE,1156,begin climb
$GC,1157,0.88,146.6,2438,2353,3381,3249,188.5,0.0,254,1333,1.17,2.55,163.60,1.638,10756,0.158,0.093,2798,932,2717,2785,2650,0,0,0,0,0,0,13.99,13.93,13.39
$GC,1564,0.90,165.4,1736,931,2747,2643,167.2,9.1,342,1594,0.00,2.40,21.85,1.570,9222,0.000,0.086,2798,2342,2640,2711,2569,0,0,0,0,0,0,28.83,14.49,13.80
$GC,1716,0.90,165.4,1744,2340,2673,2561,151.9,10.4,377,1723,0.00,2.40,0.00,0.000,516,0.000,0.093,2808,938,2640,2712,2569,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1901,0.90,165.4,1748,937,2673,2562,132.0,10.3,422,1908,0.00,2.38,0.00,0.000,1030,0.000,0.089,2809,2342,2640,2712,2569,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2030,0.91,170.3,1760,2340,2673,2561,119.9,9.8,453,2037,0.00,0.00,3.17,0.981,8198,0.000,0.000,2807,2342,2619,2691,2548,0,0,0,0,0,0,28.83,28.83,14.09
$GC,2160,0.92,177.1,1760,2340,2652,2540,106.9,9.7,484,2167,0.00,0.00,4.47,1.101,8198,0.000,0.000,2809,2342,2588,2662,2514,0,0,0,0,0,0,28.83,28.83,14.14
$GC,2290,0.92,182.8,1760,2340,2624,2511,95.4,9.7,515,2297,0.00,0.00,3.20,0.900,8198,0.000,0.000,2808,2342,2568,2640,2496,0,0,0,0,0,0,28.83,28.83,14.15
$GC,2419,0.92,182.8,1760,2344,2600,2488,81.7,11.2,546,2426,0.00,2.38,0.00,0.000,516,0.000,0.095,2819,934,2569,2642,2496,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2516,0.92,182.8,1760,934,2600,2488,71.2,11.4,569,2523,0.00,2.38,0.00,0.000,1030,0.000,0.088,2819,2346,2569,2642,2496,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2645,0.93,191.0,1760,2343,2599,2488,57.5,9.6,600,2658,0.00,2.45,4.53,0.925,8452,0.000,0.114,2819,3745,2535,2609,2461,0,0,0,0,0,0,28.83,14.66,14.26
$GC,2677,0.93,191.0,1800,3744,2569,2454,53.7,12.7,606,2683,0.00,2.33,0.00,0.000,1030,0.000,0.080,2829,2334,2535,2609,2461,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2805,0.93,191.0,1768,2331,2567,2453,38.3,10.3,637,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2334,2535,2609,2461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2874,0.97,221.1,1792,2332,2567,2453,32.0,8.6,653,2892,0.00,0.00,15.48,1.043,8198,0.000,0.000,2829,2334,2410,2488,2333,0,0,0,0,0,0,28.83,28.83,14.23
$GC,2954,1.02,258.7,2830,2334,2488,2333,25.1,8.3,671,2977,0.00,0.00,18.40,0.239,8198,0.000,0.000,2829,2334,2257,2338,2176,0,0,0,0,0,0,28.83,28.83,14.53
$GC,3040,1.02,258.7,1792,2332,2295,2168,15.4,12.7,690,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2333,2257,2338,2176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3108,1.02,258.7,1792,2332,2295,2169,5.9,14.4,706,3115,0.00,2.35,0.00,0.000,516,0.000,0.095,2840,938,2257,2338,2176,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,3139,end climb,SURFACE_DEPTH_REACHED
$STATE,3140,begin surface coast
$FINISH,0.4,1.003794
$STATE,3158,end surface coast,CONTROL_FINISHED_OK
$STATE,3158,begin surface
$SM_CCo,3175,41.80,0.166,0,0,1884,350.04
$SM_GC,0.87,7.82,2.45,41.80,0.092,0.090,0.166,193,2349,1884,-7.20,-0.79,350.04,0,0,0,0,0,0,14.66,14.65,14.59
$IRIDIUM_FIX,4726.11,-12223.37,020513,010101
$TT8_MAMPS,0.025466,0.025466
$HUMID,32.00
$INTERNAL_PRESSURE,9.11005
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.4,82.2
$SC_FREEKB,4015860
$24V_AH,13.4,3.362
$10V_AH,13.5,0.000
$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,19.500,28.850,398.350,41.800,0.000,0.000,0.000,335.154,0.500,0.000,39.044,1486.083,215.769,490.641,1602.235,55.828,33.219,1501.407,0.000,1080.242,0.000,5.654,0.000
$DEVICE_MAMPS,419.985,113.985,1673.055,166.005,0.000,0.000,0.000,223.000,420.000,0.000,20.970,12.720,2.190,12.720,31.450,38.190,48.670,9.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3184.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.255,0.000,0.000,0.000
$MEM,322892
$DATA_FILE_SIZE,23430,717
$CAP_FILE_SIZE,107525,0
$CFSIZE,2097872896,2094497792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,020513,035808,4743.103,-12225.199,3,1.0,3,16.3