ROAMMIZ Jan22 *
SG640 *
Dive index
* Mission links
version: 66.14
glider: 640
mission: 9
dive: 75
start: 1 22 122 1 0 36
data:
$ID,640
$MISSION,9
$DIVE,75
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,0
$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,330
$T_MISSION,370
$T_ABORT,500
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54330
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,3
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-53
$TGT_DEFAULT_LON,0
$TGT_AUTO_DEFAULT,0
$SM_CC,190
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,9
$NOCOMM_ACTION,257
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,312
$PITCH_MAX,3939
$C_PITCH,2390
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3851
$ROLL_DEG,40
$C_ROLL_DIVE,1870
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,602
$VBD_MAX,3962
$C_VBD,2945
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-154.12344
$PRESSURE_SLOPE,0.00014097099
$AD7714Ch0Gain,32
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,51
$DEVICE3,38
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042913505
$SEABIRD_T_H,0.0006241572
$SEABIRD_T_I,2.2613181e-05
$SEABIRD_T_J,2.3234288e-06
$SEABIRD_C_G,-9.9638939
$SEABIRD_C_H,1.1586393
$SEABIRD_C_I,-0.0016194879
$SEABIRD_C_J,0.00021882902
$SEABIRD_C_Z,2936.1499
$GPS1,220122,005442,-6345.7534,229.7000,92,1.6,133,-21.2,0.4,89.8,4,15.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.9
$GPS2,220122,010007,-6345.7700,229.6920,9,1.6,49,-21.2,0.0,95.0,4,8.2
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NORTH
$TGT_LATLONG,-6318.000,227.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,18.7,51479,-22.4,-10.000,-24.92,1493
$D_GRID,990
$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,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.76,-97.3,224,1892,2141,2191,0.0,0.0,0,75,0.00,0.00,-66.15,0.000,16386,0.000,0.000,225,1892,3238,3206,3270,0,0,0,0,0,0,14.73,28.83,14.73,8.54,57.24
$GC,78,-0.76,-97.3,225,1892,3206,3270,3.4,-6.2,10,94,5.95,2.62,-3.35,0.000,18692,0.366,2.261,2152,3312,3343,3319,3368,0,0,0,0,0,0,14.36,13.70,14.59,8.65,56.41
$GC,161,-0.76,-97.3,2151,3312,3323,3368,20.3,-14.7,25,169,0.00,2.50,0.00,0.000,5126,0.000,0.058,2152,1871,3345,3323,3368,0,0,0,0,0,0,14.54,14.48,14.55,8.67,56.14
$GC,291,-0.76,-97.3,2151,1870,3323,3368,42.5,-14.1,50,298,0.00,0.00,0.00,0.000,4102,0.000,0.000,2152,1870,3346,3324,3368,0,0,0,0,0,0,14.74,14.75,14.75,8.66,56.30
$GC,601,-0.76,-97.3,2151,1870,3324,3368,89.7,-15.4,102,607,0.00,2.45,0.00,0.000,4612,0.000,0.076,2152,459,3345,3323,3368,0,0,0,0,0,0,14.81,14.59,14.81,8.65,56.45
$GC,641,-0.76,-97.3,2151,459,3324,3368,95.9,-15.5,104,647,0.00,2.35,0.00,0.000,3078,0.000,0.044,2141,1866,3346,3324,3368,0,0,0,0,0,0,14.71,14.62,14.72,8.66,56.22
$GC,961,-0.76,-97.3,2140,1867,3324,3366,145.2,-15.4,120,967,0.00,2.40,0.00,0.000,2308,0.000,0.076,2129,3274,3346,3324,3368,0,0,0,0,0,0,14.89,14.66,14.89,8.66,57.44
$GC,1002,-0.76,-97.3,2128,3275,3324,3368,151.2,-15.2,122,1008,0.00,2.38,0.00,0.000,3078,0.000,0.054,2129,1868,3346,3324,3368,0,0,0,0,0,0,14.73,14.67,14.75,8.66,57.40
$GC,1321,-0.76,-97.3,2128,1868,3324,3368,201.7,-15.8,138,1327,0.00,2.42,0.00,0.000,2564,0.000,0.076,2129,462,3345,3323,3368,0,0,0,0,0,0,14.94,14.71,14.94,8.68,57.99
$GC,1381,-0.76,-97.3,2129,462,3324,3368,211.2,-15.9,141,1388,0.08,2.33,0.00,0.000,3078,0.383,0.045,2142,1873,3346,3324,3368,0,0,0,0,0,0,14.63,14.73,14.79,8.68,57.91
$GC,1701,-0.76,-97.3,2141,1873,3324,3367,259.4,-15.3,157,1707,0.00,2.38,0.00,0.000,2308,0.000,0.077,2133,3275,3346,3324,3368,0,0,0,0,0,0,14.97,14.74,14.97,8.68,58.34
$GC,1763,-0.76,-97.3,2132,3275,3325,3368,268.3,-15.0,160,1768,0.00,2.30,0.00,0.000,3078,0.000,0.054,2133,1873,3346,3324,3368,0,0,0,0,0,0,14.81,14.76,14.83,8.68,58.54
$GC,2081,-0.76,-97.3,2132,1873,3324,3368,317.8,-15.6,176,2087,0.00,2.42,0.00,0.000,2564,0.000,0.077,2132,462,3346,3324,3368,0,0,0,0,0,0,15.00,14.77,15.00,8.68,58.74
$GC,2148,-0.76,-97.3,2133,462,3325,3368,327.1,-15.5,179,2153,0.08,2.33,0.00,0.000,3078,0.386,0.045,2146,1878,3346,3324,3368,0,0,0,0,0,0,14.68,14.79,14.84,8.69,58.11
$GC,2461,-0.76,-97.3,2146,1878,3324,3368,372.8,-14.2,195,2467,0.00,2.38,0.00,0.000,260,0.000,0.076,2137,3275,3346,3324,3368,0,0,0,0,0,0,15.01,14.78,15.01,8.69,58.23
$GC,2510,-0.76,-97.3,2137,3274,3324,3368,378.4,-14.1,197,2514,0.00,2.33,0.00,0.000,3078,0.000,0.054,2137,1864,3346,3324,3368,0,0,0,0,0,0,14.90,14.81,14.91,8.70,58.30
$GC,2818,-0.76,-97.3,2137,1863,3324,3368,424.0,-14.4,212,2823,0.00,2.38,0.00,0.000,2564,0.000,0.076,2137,468,3345,3324,3367,0,0,0,0,0,0,15.02,14.79,15.03,8.69,58.50
$GC,2896,-0.76,-97.3,2137,468,3324,3368,435.8,-14.5,216,2903,0.05,2.30,0.00,0.000,3078,0.448,0.044,2141,1870,3346,3324,3368,0,0,0,0,0,0,14.69,14.83,14.87,8.69,58.74
$GC,3217,-0.76,-97.3,2141,1871,3323,3368,480.8,-13.9,232,3222,0.00,2.38,0.00,0.000,2308,0.000,0.076,2132,3275,3346,3324,3368,0,0,0,0,0,0,15.04,14.81,15.04,8.70,58.26
$GC,3269,-0.76,-97.3,2132,3275,3324,3368,486.4,-13.9,234,3277,0.00,2.35,0.00,0.000,3078,0.000,0.055,2132,1872,3346,3324,3368,0,0,0,0,0,0,14.84,14.79,14.83,8.70,58.23
$GC,3577,-0.76,-97.3,2131,1872,3323,3368,532.9,-14.6,250,3583,0.00,2.42,0.00,0.000,2564,0.000,0.080,2131,462,3345,3323,3368,0,0,0,0,0,0,15.04,14.81,15.04,8.70,58.70
$GC,3665,-0.76,-97.3,2131,462,3324,3368,544.8,-14.8,254,3670,0.08,2.33,0.00,0.000,3078,0.386,0.044,2145,1876,3345,3323,3367,0,0,0,0,0,0,14.72,14.83,14.88,8.70,58.19
$GC,3978,-0.76,-97.3,2145,1877,3324,3368,589.2,-14.2,270,3983,0.00,2.38,0.00,0.000,260,0.000,0.076,2136,3272,3346,3324,3368,0,0,0,0,0,0,15.04,14.82,15.05,8.70,58.26
$GC,4030,-0.76,-97.3,2136,3271,3324,3368,594.8,-13.9,272,4038,0.00,2.35,0.00,0.000,3078,0.000,0.055,2136,1873,3345,3324,3367,0,0,0,0,0,0,14.85,14.81,14.88,8.70,58.19
$GC,4338,-0.76,-97.3,2135,1872,3324,3368,640.7,-14.4,288,4344,0.00,2.42,0.00,0.000,2564,0.000,0.080,2136,460,3345,3323,3368,0,0,0,0,0,0,15.05,14.83,15.06,8.71,58.58
$GC,4410,-0.76,-97.3,2135,460,3324,3366,649.5,-14.6,291,4419,0.05,2.35,0.00,0.000,3078,0.357,0.044,2142,1860,3346,3324,3368,0,0,0,0,0,0,14.69,14.81,14.81,8.71,58.82
$GC,4718,-0.76,-97.3,2142,1859,3324,3368,692.6,-13.4,307,4724,0.00,2.40,0.00,0.000,2308,0.000,0.076,2133,3280,3346,3324,3368,0,0,0,0,0,0,15.05,14.83,15.05,8.71,58.66
$GC,4780,-0.76,-97.3,2133,3281,3324,3368,700.4,-13.2,310,4785,0.00,2.38,0.00,0.000,3078,0.000,0.056,2133,1869,3346,3324,3368,0,0,0,0,0,0,14.88,14.83,14.90,8.70,58.66
$GC,5099,-0.76,-97.3,2132,1868,3325,3367,744.4,-13.9,326,5104,0.00,2.42,0.00,0.000,2564,0.000,0.079,2133,456,3346,3325,3368,0,0,0,0,0,0,15.06,14.83,15.06,8.71,58.82
$GC,5171,-0.76,-97.3,2132,456,3325,3368,752.9,-13.9,329,5180,0.05,2.38,0.00,0.000,3078,0.360,0.044,2139,1874,3346,3325,3368,0,0,0,0,0,0,14.69,14.81,14.82,8.71,58.11
$GC,5479,-0.76,-97.3,2138,1875,3325,3367,795.2,-13.3,345,5485,0.00,2.35,0.00,0.000,2308,0.000,0.075,2130,3275,3346,3325,3368,0,0,0,0,0,0,15.05,14.83,15.07,8.71,58.42
$GC,5531,-0.76,-97.3,2129,3274,3325,3368,800.5,-13.3,347,5539,0.00,2.35,0.00,0.000,3078,0.000,0.057,2130,1874,3346,3325,3368,0,0,0,0,0,0,14.86,14.81,14.88,8.71,58.38
$GC,5839,-0.76,-97.3,2129,1874,3326,3368,844.2,-13.6,363,5845,0.00,2.42,0.00,0.000,2564,0.000,0.082,2130,466,3347,3326,3368,0,0,0,0,0,0,15.06,14.83,15.07,8.72,58.86
$GC,5912,-0.76,-97.3,2129,465,3326,3368,852.6,-14.0,366,5921,0.05,2.35,0.00,0.000,3078,0.353,0.045,2138,1871,3347,3326,3368,0,0,0,0,0,0,14.71,14.81,14.81,8.71,58.66
$GC,6220,-0.76,-97.3,2137,1871,3325,3368,894.0,-12.9,382,6226,0.00,2.38,0.00,0.000,2308,0.000,0.076,2128,3281,3346,3326,3367,0,0,0,0,0,0,15.06,14.83,15.07,8.71,58.54
$GC,6280,-0.76,-97.3,2128,3282,3326,3368,901.5,-12.5,385,6286,0.05,2.33,0.00,0.000,3078,0.437,0.057,2144,1870,3346,3325,3368,0,0,0,0,0,0,14.73,14.85,14.90,8.71,58.19
$GC,6600,-0.76,-97.3,2144,1870,3326,3368,939.5,-12.1,401,6606,0.00,2.45,0.00,0.000,516,0.000,0.083,2144,456,3347,3327,3367,0,0,0,0,0,0,15.06,14.83,15.07,8.71,58.30
$GC,6672,-0.76,-97.3,2144,456,3325,3368,947.1,-12.5,404,6680,0.00,2.38,0.00,0.000,3078,0.000,0.045,2136,1871,3346,3326,3367,0,0,0,0,0,0,14.87,14.81,14.89,8.72,58.86
$GC,6980,-0.76,-97.3,2135,1871,3326,3368,987.3,-12.8,420,6986,0.00,2.38,0.00,0.000,2308,0.000,0.076,2125,3282,3346,3325,3368,0,0,0,0,0,0,15.07,14.83,15.07,8.71,58.86
$STATE,7019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7019,begin apogee
$GC,7025,-0.14,0.0,2125,1778,3326,3368,992.3,-12.7,422,7109,0.60,0.00,80.38,2.645,10246,0.246,0.000,2344,1777,2943,2932,2954,0,0,0,0,0,0,14.74,14.00,13.14,8.71,58.93
$STATE,7110,end apogee,CONTROL_FINISHED_OK
$STATE,7110,begin climb
$GC,7112,0.76,97.3,2343,1777,2931,2952,995.9,0.0,426,7201,0.80,0.00,80.20,2.538,10502,0.171,0.000,2638,1777,2544,2533,2556,0,0,0,0,0,0,13.96,13.74,12.93,8.69,57.87
$GC,7500,0.76,97.3,2638,1777,2533,2556,952.5,13.1,446,7501,0.00,0.00,0.00,0.000,4102,0.000,0.000,2638,1777,2545,2533,2557,0,0,0,0,0,0,14.57,14.57,14.57,8.65,57.16
$GC,7800,0.76,97.3,2638,1777,2532,2556,914.2,12.7,461,7801,0.00,0.00,0.00,0.000,4102,0.000,0.000,2638,1777,2544,2532,2556,0,0,0,0,0,0,14.73,14.73,14.73,8.64,57.87
$GC,8100,0.76,97.3,2638,1777,2532,2557,875.8,12.9,476,8102,0.00,0.00,0.00,0.000,4102,0.000,0.000,2638,1777,2544,2532,2556,0,0,0,0,0,0,14.83,14.83,14.83,8.64,58.74
$GC,8400,0.76,97.3,2638,1777,2532,2556,837.1,12.8,491,8406,0.00,2.45,0.00,0.000,4612,0.000,0.074,2649,371,2544,2532,2556,0,0,0,0,0,0,14.90,14.68,14.90,8.64,58.62
$GC,8432,0.76,97.3,2649,371,2532,2556,834.6,12.8,492,8442,0.05,2.35,0.00,0.000,5126,0.343,0.037,2634,1781,2544,2532,2556,0,0,0,0,0,0,14.55,14.66,14.67,8.64,58.70
$GC,8742,0.76,97.3,2634,1782,2532,2556,794.3,12.6,508,8747,0.00,2.35,0.00,0.000,260,0.000,0.067,2634,3177,2543,2531,2556,0,0,0,0,0,0,14.93,14.71,14.94,8.63,58.11
$GC,8809,0.76,97.3,2633,3177,2532,2556,786.5,12.9,511,8814,0.00,2.35,0.00,0.000,5126,0.000,0.057,2642,1772,2544,2532,2556,0,0,0,0,0,0,14.83,14.73,14.84,8.63,58.82
$GC,9117,0.76,97.3,2642,1772,2532,2556,746.6,12.7,526,9122,0.00,2.40,0.00,0.000,4612,0.000,0.075,2653,373,2544,2532,2556,0,0,0,0,0,0,14.97,14.75,14.97,8.63,58.54
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$STATE,16062,end climb,SURFACE_DEPTH_REACHED
$STATE,16062,begin surface coast
$FINISH,0.3,1.027183
$STATE,16083,end surface coast,CONTROL_FINISHED_OK
$STATE,16083,begin surface
$SM_CCo,16099,18.88,1.391,0,0,2168,190.10
$SM_GC,3.64,5.82,2.60,18.88,0.096,0.047,1.391,229,1855,2168,-6.43,-1.30,190.10,0,0,0,0,0,0,14.62,14.55,13.88
$IRIDIUM_FIX,-6346.33,137.36,210122,203655
$TT8_MAMPS,0.019474,0.335552
$HUMID,56.22
$INTERNAL_PRESSURE,8.52107
$TCM_TEMP,0.00
$XPDR_PINGS,0
$24V_AH,12.93,168.242
$10V_AH,12.89,0.000
$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
$DEVICE_SECS,14.250,190.050,209.625,18.875,0.000,24.426,21.485,147.432,0.000,0.000,50.893,2642.090,10304.492,423.181,2972.827,105.003,0.000,1580.255,0.000,2031.175,0.000,0.536,0.000
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$SENSORS,SBE_CT,WL_BB2FL,QSP2150,AA4831,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,713.631,2099.472,257.510,1285.777,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,57.670,12.730,35.200,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343020
$DATA_FILE_SIZE,72912,978
$CAP_FILE_SIZE,159788,0
$CFSIZE,1023623168,1013547008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220122,053106,-6344.321,229.259,75,0.7,80,-21.2,0.0,244.6,11,9.7