WA coast Sep21 * SG204 * Dive index * Mission links
version: 66.14
glider: 204
mission: 9
dive: 66
start: 9 19 121 8 2 9
data:
$ID,204
$MISSION,9
$DIVE,66
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,700
$D_ABORT,1000
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,4
$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,230
$T_MISSION,260
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,3600
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55599
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.0099999998
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,57.182999
$TGT_DEFAULT_LON,-151
$TGT_AUTO_DEFAULT,0
$SM_CC,541.92499
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$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,210
$PITCH_MAX,3900
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,20
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0.5
$LOITER_DBDW,800
$LOITER_D_TOP,80
$LOITER_D_BOTTOM,90
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,97.5
$AH0_10V,83.800003
$MINV_24V,16
$MINV_10V,9.5
$MAXI_24V,1.5
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-171.33574
$PRESSURE_SLOPE,0.00014064999
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,110
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,0.74000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,135
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043722652
$SEABIRD_T_H,0.00063104689
$SEABIRD_T_I,2.5179608e-05
$SEABIRD_T_J,2.8304141e-06
$SEABIRD_C_G,-10.191285
$SEABIRD_C_H,1.1531761
$SEABIRD_C_I,-0.0027973817
$SEABIRD_C_J,0.00030337134
$CP_RECORDABOVE,2000.0
$CP_PROFILE,7.0
$CP_XMITPROFILE,7.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,131.0
$CP_NDIVE,1.0
$GPS1,190921,075231,4758.1499,-12524.1162,6,0.9,32,15.7,0.7,132.9,10,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-61.6
$GPS2,190921,080107,4758.0312,-12524.0889,4,0.8,5,15.7,0.7,102.4,12,6.3
$SPEED_LIMITS,0.176,0.267
$TGT_NAME,HOLD
$TGT_LATLONG,4757.460,-12527.830
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,246.9,4759,-15.4,-10.145,-20.78,2331
$D_GRID,321
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.74,-155.7,167,2017,734,436,0.0,0.0,0,141,0.00,0.00,-112.62,0.015,16386,0.000,0.000,167,2019,3167,3153,3182,0,0,0,0,0,0,26.10,28.83,26.17
$GC,144,-0.74,-155.7,167,2019,3154,3182,4.3,-8.9,16,167,8.48,1.00,-5.40,0.022,19236,0.215,0.067,2336,2695,3438,3434,3443,0,0,0,0,0,0,25.45,24.28,25.66
$GC,399,-0.74,-155.7,2335,2695,3440,3440,45.9,-12.5,64,407,0.00,1.05,0.00,0.000,1030,0.000,0.032,2340,1969,3440,3440,3440,0,0,0,0,0,0,26.35,26.32,26.38
$GC,536,-0.74,-155.7,2339,1969,3443,3439,61.6,-10.5,89,544,0.00,0.98,0.00,0.000,516,0.000,0.038,2345,1316,3440,3442,3439,0,0,0,0,0,0,25.83,26.17,26.01
$GC,587,-0.74,-155.7,2344,1316,3444,3439,67.4,-11.4,98,595,0.00,1.02,0.00,0.000,1030,0.000,0.040,2342,1995,3441,3444,3439,0,0,0,0,0,0,26.36,26.33,26.41
$GC,726,-0.74,-155.7,2341,1995,3444,3438,83.3,-11.3,123,734,0.00,1.05,0.00,0.000,260,0.000,0.051,2336,2699,3442,3445,3439,0,0,0,0,0,0,26.49,26.22,26.55
$GC,785,-0.74,-155.7,2336,2699,3445,3439,89.5,-10.2,133,793,0.00,1.00,0.00,0.000,1030,0.000,0.041,2340,1999,3441,3444,3438,0,0,0,0,0,0,26.40,26.36,26.43
$GC,928,-0.74,-155.7,2339,1999,3445,3439,103.1,-10.0,156,931,0.00,1.00,0.00,0.000,548,0.000,0.040,2345,1322,3441,3445,3438,0,0,0,0,0,0,26.46,26.39,26.53
$GC,1154,-0.74,-155.7,2344,1322,3445,3438,126.8,-10.9,198,1158,0.00,1.02,0.00,0.000,1030,0.000,0.044,2342,1999,3441,3445,3438,0,0,0,0,0,0,26.31,26.27,26.36
$GC,1286,-0.74,-155.7,2341,1999,3445,3437,140.5,-10.4,212,1290,0.00,1.02,0.00,0.000,260,0.000,0.048,2336,2694,3441,3446,3437,0,0,0,0,0,0,26.56,26.26,26.56
$GC,1322,-0.74,-155.7,2335,2694,3445,3437,144.2,-10.7,218,1326,0.00,1.00,0.00,0.000,1030,0.000,0.033,2340,1994,3441,3445,3437,0,0,0,0,0,0,26.52,26.50,26.55
$GC,1454,-0.74,-155.7,2339,1994,3446,3437,159.3,-11.0,232,1457,0.00,1.00,0.00,0.000,516,0.000,0.041,2345,1320,3441,3446,3437,0,0,0,0,0,0,26.55,26.43,26.61
$GC,1597,-0.74,-155.7,2344,1320,3445,3437,174.4,-9.8,258,1601,0.00,1.05,0.00,0.000,1062,0.000,0.112,2341,2009,3441,3446,3437,0,0,0,0,0,0,26.48,26.45,26.48
$GC,1730,-0.74,-155.7,2341,2010,3445,3437,187.9,-9.5,272,1734,0.00,1.05,0.00,0.000,548,0.000,0.112,2345,1322,3441,3446,3436,0,0,0,0,0,0,26.60,24.96,26.66
$GC,1788,-0.74,-155.7,2344,1322,3445,3436,193.7,-9.6,283,1796,0.00,1.02,0.00,0.000,1062,0.000,0.037,2341,1999,3441,3446,3436,0,0,0,0,0,0,26.49,26.46,26.51
$GC,1915,-0.74,-155.7,2341,1999,3446,3436,206.6,-10.7,296,1919,0.00,1.02,0.00,0.000,516,0.000,0.047,2344,1320,3440,3445,3436,0,0,0,0,0,0,26.64,26.41,26.70
$GC,1971,-0.74,-155.7,2344,1320,3446,3436,212.4,-10.3,306,1974,0.00,1.02,0.00,0.000,1030,0.000,0.044,2341,1998,3440,3445,3436,0,0,0,0,0,0,26.45,26.41,26.50
$GC,2104,-0.74,-155.7,2341,1998,3446,3436,224.8,-8.9,320,2107,0.00,1.02,0.00,0.000,548,0.000,0.038,2345,1318,3441,3446,3436,0,0,0,0,0,0,26.55,26.44,26.61
$GC,2160,-0.74,-155.7,2344,1318,3446,3436,230.2,-9.7,330,2164,0.00,1.02,0.00,0.000,1062,0.000,0.039,2341,2000,3441,3446,3436,0,0,0,0,0,0,26.41,26.41,26.41
$GC,2292,-0.74,-155.7,2341,2000,3446,3435,243.3,-9.8,344,2300,0.00,0.00,0.00,0.000,38,0.000,0.000,2341,2000,3440,3446,3435,0,0,0,0,0,0,26.60,26.67,26.66
$GC,2423,-0.74,-155.7,2341,2000,3445,3435,257.1,-11.5,357,2429,0.00,1.02,0.00,0.000,516,0.000,0.047,2345,1321,3440,3446,3435,0,0,0,0,0,0,26.67,26.44,26.74
$GC,2492,-0.74,-155.7,2344,1321,3446,3435,265.7,-11.4,370,2500,0.00,1.00,0.00,0.000,1030,0.000,0.041,2341,1994,3440,3446,3435,0,0,0,0,0,0,26.37,26.36,26.37
$GC,2621,-0.74,-155.7,2341,1994,3446,3435,282.3,-14.3,383,2625,0.00,1.00,0.00,0.000,516,0.000,0.042,2345,1324,3439,3445,3434,0,0,0,0,0,0,26.55,26.39,26.55
$GC,2677,-0.74,-155.7,2344,1324,3446,3434,290.3,-14.9,393,2681,0.00,1.02,0.00,0.000,1030,0.000,0.044,2341,2010,3440,3446,3434,0,0,0,0,0,0,26.50,26.47,26.53
$GC,2810,-0.74,-155.7,2341,2010,3446,3434,304.2,-10.1,405,2812,0.00,0.00,0.00,0.000,38,0.000,0.000,2341,2010,3440,3446,3434,0,0,0,0,0,0,26.63,26.68,26.67
$GC,2930,-0.74,-155.7,2341,2010,3445,3434,316.3,-10.1,411,2932,0.00,0.00,0.00,0.000,38,0.000,0.000,2341,2010,3439,3446,3433,0,0,0,0,0,0,26.54,26.63,26.61
$STATE,2988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2988,begin apogee
$GC,2993,-0.18,0.0,2341,1788,3446,3434,322.4,-10.2,414,3270,0.62,0.00,267.20,0.594,10246,0.157,0.000,2526,1786,2792,2857,2728,0,0,0,0,0,0,25.88,24.98,24.39
$STATE,3274,end apogee,CONTROL_FINISHED_OK
$STATE,3274,begin climb
$GC,3276,0.74,155.7,2526,1786,2851,2722,326.8,0.0,428,3531,0.95,0.00,248.98,0.570,10758,0.125,0.000,2814,1786,2164,2305,2024,0,0,0,0,0,0,25.11,24.77,24.23
$GC,3649,0.74,155.7,2813,1785,2271,1993,293.8,12.4,488,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1786,2132,2272,1993,0,0,0,0,0,0,25.67,25.76,25.73
$GC,3769,0.74,155.7,2813,1785,2269,1992,279.8,11.6,500,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1786,2130,2269,1992,0,0,0,0,0,0,26.00,26.11,26.07
$GC,3891,0.74,155.7,2813,1786,2267,1992,266.7,11.6,512,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1786,2129,2267,1992,0,0,0,0,0,0,26.22,26.29,26.28
$GC,4019,0.74,155.7,2812,1786,2266,1992,252.5,11.0,525,4024,0.00,1.02,0.00,0.000,516,0.000,0.053,2819,1120,2129,2266,1992,0,0,0,0,0,0,26.29,26.10,26.36
$GC,4064,0.74,155.7,2818,1120,2265,1992,247.6,11.4,533,4069,0.00,1.02,0.00,0.000,1030,0.000,0.034,2816,1797,2128,2265,1992,0,0,0,0,0,0,26.28,26.25,26.29
$GC,4197,0.74,155.7,2815,1796,2264,1992,233.5,10.2,547,4201,0.00,1.05,0.00,0.000,260,0.000,0.050,2810,2496,2128,2264,1992,0,0,0,0,0,0,26.39,26.17,26.46
$GC,4271,0.76,179.2,2810,2496,2263,1992,226.5,9.1,561,4303,0.00,1.00,26.42,0.643,9254,0.000,0.037,2814,1814,2065,2206,1924,0,0,0,0,0,0,26.30,26.32,25.18
$GC,4425,0.78,192.7,2813,1814,2180,1900,212.2,9.5,579,4436,0.08,1.05,3.83,0.741,10788,0.190,0.044,2836,1109,2020,2164,1877,0,0,0,0,0,0,26.05,25.30,24.48
$GC,4543,0.78,192.7,2835,1109,2169,1880,198.8,11.6,601,4547,0.00,1.05,0.00,0.000,1030,0.000,0.036,2832,1798,2024,2169,1879,0,0,0,0,0,0,26.25,26.22,26.28
$GC,4677,0.78,192.7,2831,1799,2169,1879,183.4,12.1,615,4681,0.00,1.02,0.00,0.000,260,0.000,0.050,2827,2489,2024,2169,1879,0,0,0,0,0,0,26.39,26.17,26.45
$GC,4751,0.78,192.7,2826,2489,2169,1879,174.2,11.8,629,4756,0.00,1.02,0.00,0.000,1030,0.000,0.037,2830,1794,2024,2169,1879,0,0,0,0,0,0,26.36,26.33,26.39
$GC,4886,0.78,192.7,2830,1794,2169,1879,159.4,11.2,643,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1794,2024,2169,1879,0,0,0,0,0,0,26.51,26.58,26.56
$GC,5014,0.78,192.7,2829,1794,2169,1879,144.7,11.4,656,5018,0.00,1.05,0.00,0.000,516,0.000,0.053,2836,1105,2024,2169,1879,0,0,0,0,0,0,26.55,26.34,26.60
$GC,5060,0.78,192.7,2835,1105,2169,1879,139.1,11.8,665,5068,0.00,1.05,0.00,0.000,1030,0.000,0.044,2831,1799,2024,2169,1879,0,0,0,0,0,0,26.43,26.39,26.46
$GC,5188,0.78,192.7,2831,1799,2168,1880,124.3,11.7,678,5191,0.00,1.02,0.00,0.000,260,0.000,0.050,2826,2491,2023,2168,1879,0,0,0,0,0,0,26.57,26.37,26.63
$GC,5266,0.78,192.7,2825,2491,2168,1879,114.7,11.9,693,5274,0.00,1.02,0.00,0.000,1030,0.000,0.044,2830,1796,2023,2168,1879,0,0,0,0,0,0,26.46,26.43,26.48
$GC,5394,0.78,192.7,2829,1795,2168,1879,100.6,11.1,706,5397,0.00,1.05,0.00,0.000,516,0.000,0.054,2836,1105,2023,2168,1879,0,0,0,0,0,0,26.59,26.37,26.65
$GC,5471,0.79,201.2,2835,1106,2168,1879,92.6,9.8,721,5493,0.00,1.05,15.43,0.633,9254,0.000,0.035,2832,1801,1976,2119,1833,0,0,0,0,0,0,26.47,26.45,25.37
$GC,5621,0.79,201.2,2831,1801,2102,1821,78.3,10.4,748,5629,0.00,1.08,0.00,0.000,516,0.000,0.052,2835,1112,1961,2102,1821,0,0,0,0,0,0,26.39,26.14,26.45
$GC,5662,0.81,217.5,2835,1111,2102,1821,74.3,9.4,755,5684,0.00,1.05,15.85,0.606,9254,0.000,0.097,2832,1801,1909,2053,1766,0,0,0,0,0,0,26.32,26.27,25.29
$GC,5813,0.85,248.5,2832,1801,2035,1752,60.6,8.8,782,5863,0.10,1.10,43.70,0.543,10532,0.194,0.047,2850,2505,1780,1926,1635,0,0,0,0,0,0,26.02,25.67,25.06
$GC,5978,0.85,248.5,2850,2505,1905,1617,43.0,10.8,811,5986,0.00,1.05,0.00,0.000,1030,0.000,0.037,2853,1803,1760,1904,1617,0,0,0,0,0,0,26.11,26.06,26.14
$GC,6114,0.85,248.5,2853,1803,1902,1617,28.3,11.0,836,6121,0.00,1.08,0.00,0.000,260,0.000,0.051,2850,2506,1759,1902,1617,0,0,0,0,0,0,26.35,26.11,26.41
$GC,6356,0.96,340.0,2849,2506,1898,1616,7.3,6.1,882,6435,0.10,1.05,73.82,0.509,11298,0.104,0.037,2890,1792,1589,1736,1443,0,0,0,0,0,0,26.10,26.33,26.17
$STATE,6436,end climb,SURFACE_DEPTH_REACHED
$STATE,6436,begin surface coast
$FINISH,-0.4,1.025060
$STATE,6453,end surface coast,CONTROL_FINISHED_OK
$STATE,6454,begin surface
$SM_CCo,6473,164.60,0.622,1,0,589,542.11
$SM_GC,0.49,7.68,0.30,164.60,0.059,0.041,0.622,166,2014,589,-7.39,-1.33,542.11,0,0,0,0,1,0,25.91,25.90,24.34
$IRIDIUM_FIX,4758.47,-12519.55,190921,050258
$TT8_MAMPS,0.02247,0.146055
$HUMID,52.95
$INTERNAL_PRESSURE,8.7185
$TCM_TEMP,15.20
$XPDR_PINGS,0
$CP_FREE,96644268032.000000
$CP_POWER,421.640000
$CP_POWER1,0.000000
$24V_AH,24.23,8.690
$10V_AH,10.16,4.092
$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,18.000,43.900,695.225,164.600,0.000,0.000,0.000,356.000,5.250,0.000,18.551,1972.797,1703.842,892.787,2273.309,348.042,0.000,2113.347,0.000,1958.064,0.000,36.208,0.000
$DEVICE_MAMPS,214.965,111.690,740.520,621.945,0.000,0.000,0.000,108.630,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,502.450,1581.283,0.000,0.000,0.000,0.000,6228.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,153196
$DATA_FILE_SIZE,46831,896
$CAP_FILE_SIZE,114483,0
$CFSIZE,260030464,245809152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.084,156.62,1
$GPS,190921,095401,4757.617,-12525.004,3,0.9,23,15.7,0.6,186.9,9,2.2