OKMC Nov12 *
SG170 *
Dive index
* Mission links
version: 66.11
glider: 170
mission: 10
dive: 145
start: 12 2 112 6 3 58
data:
$ID,170
$MISSION,10
$DIVE,145
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,20
$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,380
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51479
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,450
$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,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-143270.36
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2769
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.120956
$PRESSURE_SLOPE,0.0001164274
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043559377
$SEABIRD_T_H,0.00062550703
$SEABIRD_T_I,2.3551509e-05
$SEABIRD_T_J,2.509174e-06
$SEABIRD_C_G,-10.138787
$SEABIRD_C_H,1.1450038
$SEABIRD_C_I,-0.0015582878
$SEABIRD_C_J,0.00020114503
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,021212,055525,1933.058,12002.008,41,0.8,41,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-74.4
$GPS2,021212,060330,1933.099,12002.101,19,0.9,19,-2.5
$SPEED_LIMITS,0.150,0.281
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$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,199.5,61409,-14.9,-8.684,-17.18
$D_GRID,4145
$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,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.51,-170.3,0.0,0.0,0,69,0.00,0.00,-47.35,0.000,2,0.000,0.000,133,2616,1692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.51,-170.3,3.1,-2.4,8,155,11.07,1.80,-65.38,0.000,4,0.239,0.076,2879,3689,3466,0,0,0,0,0,0,25.56,26.01,26.39
$GC,169,-0.38,-170.3,13.9,-26.8,24,177,0.17,1.60,0.00,0.000,6,0.177,0.024,2926,2585,3467,0,0,0,0,0,0,25.80,26.18,28.83
$GC,365,-0.36,-170.3,53.8,-14.1,45,370,0.00,1.80,0.00,0.000,4,0.000,0.056,2923,3696,3466,0,0,0,0,0,0,28.83,26.13,28.83
$GC,507,-0.36,-170.3,70.2,-10.5,52,513,0.00,1.62,0.00,0.000,6,0.000,0.024,2923,2605,3467,0,0,0,0,0,0,28.83,26.35,28.83
$GC,711,-0.35,-170.3,91.1,-10.8,62,717,0.00,2.05,0.00,0.000,4,0.000,0.031,2923,1198,3467,0,0,0,0,0,0,28.83,26.38,28.83
$GC,763,-0.35,-170.3,95.6,-10.6,64,768,0.00,2.20,0.00,0.000,6,0.000,0.050,2923,2593,3467,0,0,0,0,0,0,28.83,26.28,28.83
$GC,957,-0.36,-170.3,112.9,-9.1,74,962,0.00,2.08,0.00,0.000,4,0.000,0.031,2923,1215,3467,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1009,-0.37,-170.3,117.1,-9.5,76,1014,0.00,2.17,0.00,0.000,6,0.000,0.049,2923,2601,3467,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1202,-0.40,-170.3,135.2,-9.1,86,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2601,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1383,-0.43,-170.3,149.8,-7.2,95,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2601,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1562,-0.46,-170.3,163.0,-7.4,104,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2601,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1743,-0.50,-170.3,177.3,-7.8,113,1745,0.10,0.00,0.00,0.000,6,0.105,0.000,2862,2602,3467,0,0,0,0,0,0,26.60,28.83,28.83
$GC,1922,-0.49,-170.3,195.4,-9.7,122,1924,0.10,0.00,0.00,0.000,6,0.151,0.000,2891,2602,3466,0,0,0,0,0,0,26.50,28.83,28.83
$GC,2103,-0.50,-170.3,208.4,-7.0,131,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2602,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2282,-0.51,-170.3,222.8,-8.1,140,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2602,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2463,-0.53,-170.3,239.2,-9.6,149,2468,0.00,2.08,0.00,0.000,4,0.000,0.032,2891,1208,3464,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2486,-0.56,-170.3,241.4,-9.6,150,2492,0.00,2.20,0.00,0.000,6,0.000,0.052,2891,2602,3464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2691,-0.58,-170.3,258.9,-8.2,160,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2602,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2991,-0.60,-170.3,279.6,-6.1,175,2997,0.12,2.08,0.00,0.000,4,0.089,0.031,2808,1214,3461,0,0,0,0,0,0,26.64,26.54,28.83
$GC,3016,-0.62,-170.3,281.7,-6.6,176,3022,0.15,2.20,0.00,0.000,6,0.151,0.054,2851,2599,3461,0,0,0,0,0,0,26.32,26.44,28.83
$GC,3339,-0.62,-170.3,313.2,-10.5,192,3345,0.00,1.73,0.00,0.000,4,0.000,0.057,2851,3702,3459,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3378,-0.62,-170.3,315.9,-10.8,193,3385,0.00,1.60,0.00,0.000,6,0.000,0.024,2852,2545,3459,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3683,-0.62,-170.3,352.3,-11.9,209,3688,0.00,1.98,0.00,0.000,4,0.000,0.028,2852,1184,3457,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3785,-0.62,-170.3,364.3,-11.7,214,3790,0.00,2.20,0.00,0.000,6,0.000,0.043,2851,2610,3457,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4108,-0.62,-170.3,400.4,-10.6,230,4113,0.00,1.70,0.00,0.000,4,0.000,0.056,2851,3695,3455,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4134,-0.62,-170.3,402.8,-10.5,231,4140,0.00,1.62,0.00,0.000,6,0.000,0.027,2851,2556,3454,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4452,-0.62,-170.3,433.5,-9.1,247,4457,0.00,1.83,0.00,0.000,4,0.000,0.054,2851,3702,3452,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4489,-0.62,-170.3,435.5,-9.1,248,4496,0.00,1.58,0.00,0.000,6,0.000,0.027,2851,2595,3452,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4795,-0.62,-170.3,464.7,-9.5,264,4801,0.00,1.98,0.00,0.000,4,0.000,0.028,2852,1221,3450,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4843,-0.62,-170.3,469.1,-9.8,266,4848,0.00,2.15,0.00,0.000,6,0.000,0.043,2851,2610,3450,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5160,-0.62,-170.3,503.6,-11.0,282,5165,0.00,2.05,0.00,0.000,4,0.000,0.028,2851,1228,3448,0,0,0,0,0,0,28.83,26.59,28.83
$GC,5186,-0.62,-170.3,506.1,-11.1,283,5192,0.00,2.12,0.00,0.000,6,0.000,0.044,2851,2600,3448,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5506,-0.63,-170.3,540.3,-10.2,299,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2601,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5806,-0.64,-170.3,571.0,-10.1,314,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2601,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6106,-0.65,-170.3,601.0,-10.0,329,6112,0.00,2.00,0.00,0.000,4,0.000,0.027,2851,1231,3444,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6145,-0.66,-170.3,604.5,-9.9,330,6150,0.00,2.12,0.00,0.000,6,0.000,0.043,2851,2602,3444,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6474,-0.67,-170.3,634.3,-8.7,341,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2602,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6774,-0.68,-170.3,659.0,-8.1,351,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2602,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7073,-0.69,-170.3,682.9,-7.9,361,7079,0.00,2.03,0.00,0.000,4,0.000,0.027,2851,1221,3438,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7111,-0.70,-170.3,685.6,-7.9,362,7116,0.00,2.15,0.00,0.000,6,0.000,0.043,2851,2604,3438,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7441,-0.72,-170.3,712.4,-8.1,373,7447,0.00,2.03,0.00,0.000,4,0.000,0.027,2851,1224,3437,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7479,-0.73,-170.3,715.1,-8.0,374,7485,0.12,2.15,0.00,0.000,6,0.099,0.043,2789,2609,3437,0,0,0,0,0,0,26.48,26.48,28.83
$GC,7809,-0.70,-170.3,755.0,-12.2,385,7815,0.12,1.70,0.00,0.000,4,0.170,0.054,2831,3693,3435,0,0,0,0,0,0,26.37,26.44,28.83
$GC,7852,-0.67,-170.3,758.6,-11.7,386,7858,0.00,1.60,0.00,0.000,6,0.000,0.030,2831,2614,3435,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8177,-0.67,-170.3,787.8,-8.7,397,8183,0.00,2.08,0.00,0.000,4,0.000,0.028,2831,1200,3434,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8241,-0.67,-170.3,793.7,-9.1,399,8247,0.00,2.20,0.00,0.000,6,0.000,0.043,2831,2609,3433,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8575,-0.67,-170.3,824.2,-9.3,410,8581,0.00,2.08,0.00,0.000,4,0.000,0.028,2831,1209,3432,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8609,-0.67,-170.3,827.5,-9.4,411,8614,0.00,2.17,0.00,0.000,6,0.000,0.044,2831,2599,3432,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8943,-0.67,-170.3,860.6,-10.1,422,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2599,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9241,-0.67,-170.3,889.7,-9.5,432,9247,0.00,2.05,0.00,0.000,4,0.000,0.028,2831,1203,3431,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9299,-0.67,-170.3,892.8,-9.4,433,9306,0.00,2.17,0.00,0.000,6,0.000,0.043,2831,2610,3430,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9605,-0.67,-170.3,922.8,-9.0,444,9610,0.00,2.08,0.00,0.000,4,0.000,0.028,2831,1204,3430,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9668,-0.67,-170.3,928.6,-9.1,446,9673,0.00,2.20,0.00,0.000,6,0.000,0.044,2831,2609,3430,0,0,0,0,0,0,28.83,26.44,28.83
$GC,10002,-0.67,-170.3,957.2,-8.2,457,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2608,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10301,-0.67,-170.3,980.4,-7.6,467,10307,0.00,2.08,0.00,0.000,4,0.000,0.028,2830,1203,3428,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10344,-0.67,-170.3,982.8,-7.4,468,10350,0.00,2.17,0.00,0.000,6,0.000,0.044,2831,2600,3428,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,10455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10456,begin apogee
$GC,10461,-0.15,0.0,991.8,-7.3,472,10610,0.47,0.00,140.45,1.490,6,0.118,0.000,2996,2101,2769,0,0,0,0,0,0,26.17,28.83,23.76
$STATE,10611,end apogee,CONTROL_FINISHED_OK
$STATE,10611,begin climb
$GC,10613,0.51,170.3,995.4,0.0,477,10779,0.57,2.30,155.75,1.448,4,0.052,0.034,3226,749,2072,0,0,0,0,0,0,24.84,23.73,22.83
$GC,10795,0.44,170.3,980.8,11.1,483,10801,0.12,2.33,0.00,0.000,6,0.149,0.038,3195,2117,2068,0,0,0,0,0,0,24.07,24.16,28.83
$GC,11125,0.41,170.3,936.9,12.9,494,11130,0.00,2.33,0.00,0.000,4,0.000,0.051,3196,3535,2062,0,0,0,0,0,0,28.83,25.61,28.83
$GC,11202,0.37,170.3,928.1,13.3,496,11209,0.12,2.15,0.00,0.000,6,0.168,0.028,3169,2143,2061,0,0,0,0,0,0,25.60,25.84,28.83
$GC,11524,0.36,170.3,891.4,10.8,507,11529,0.00,2.17,0.00,0.000,4,0.000,0.035,3171,728,2059,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11626,0.36,170.3,881.8,10.3,510,11631,0.00,2.17,0.00,0.000,6,0.000,0.038,3172,2126,2058,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11951,0.35,170.3,850.4,9.1,521,11957,0.00,2.22,0.00,0.000,4,0.000,0.051,3172,3533,2058,0,0,0,0,0,0,28.83,26.20,28.83
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$STATE,19841,end climb,SURFACE_DEPTH_REACHED
$STATE,19841,begin surface coast
$FINISH,1.5,1.008796
$STATE,19872,end surface coast,CONTROL_FINISHED_OK
$STATE,19872,begin surface
$SM_CCo,19951,0.00,0.000,0,0,720,502.62
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$TT8_MAMPS,0.026215,0.026215
$HUMID,52.99
$INTERNAL_PRESSURE,9.43945
$TCM_TEMP,23.10
$XPDR_PINGS,1
$SC_FREEKB,3964448
$24V_AH,22.8,31.994
$10V_AH,9.9,13.985
$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
$DEVICE_SECS,22.950,197.375,569.475,0.000,0.000,0.000,0.000,285.300,0.250,0.000,20.390,3042.496,13674.502,751.386,2631.941,324.596,0.000,2335.917,0.000,2202.794,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19907.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.598,0.000,0.000,0.000
$MEM,323688
$DATA_FILE_SIZE,33313,921
$CAP_FILE_SIZE,238516,0
$CFSIZE,260034560,236609536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.033,317.2,1
$GPS,021212,113735,1930.437,12001.075,30,0.9,30,-2.5