OKMC Feb13 *
SG171 *
Dive index
* Mission links
version: 66.11
glider: 171
mission: 4
dive: 317
start: 4 9 113 3 2 15
data:
$ID,171
$MISSION,4
$DIVE,317
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,3
$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,410
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52107
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,400
$N_FILEKB,8
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20917.619
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3952
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,415
$VBD_MAX,3400
$C_VBD,2380
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0035000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-74.53199
$PRESSURE_SLOPE,0.0001165165
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,0.0043708701
$SEABIRD_T_H,0.00064764963
$SEABIRD_T_I,2.5888983e-05
$SEABIRD_T_J,2.7074855e-06
$SEABIRD_C_G,-10.475479
$SEABIRD_C_H,1.2050543
$SEABIRD_C_I,-0.0015894541
$SEABIRD_C_J,0.00021379974
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,090413,025506,2323.144,12138.073,11,1.6,29,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.8
$GPS2,090413,030143,2323.433,12138.181,20,1.8,20,-3.1
$SPEED_LIMITS,0.144,0.302
$TGT_NAME,ININSHORE1
$TGT_LATLONG,2322.300,12134.500
$TGT_RADIUS,1500.000
$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,209.6,6600,-10.6,-8.333,-15.41,4401
$D_GRID,1495
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.28,-243.3,124,2491,840,658,0.0,0.0,0,76,0.00,0.00,-54.88,0.000,16386,0.000,0.000,124,2491,2306,2338,2275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-1.28,-243.3,123,2491,2340,2275,3.2,-5.3,7,112,8.95,2.17,-18.38,0.000,18948,0.216,0.042,2401,1092,3378,3439,3317,0,0,0,0,0,0,25.52,26.13,26.49
$GC,280,-1.28,-243.3,2402,1087,3443,3319,69.3,-30.9,26,285,0.00,2.17,0.00,0.000,1030,0.000,0.035,2392,2507,3381,3443,3319,0,0,0,0,0,0,28.83,26.14,28.83
$GC,594,-1.28,-243.3,2392,2507,3448,3323,155.1,-26.3,42,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2507,3385,3448,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,894,-1.28,-243.3,2392,2507,3450,3326,236.0,-26.9,57,900,0.00,1.80,0.00,0.000,260,0.000,0.051,2383,3671,3387,3450,3325,0,0,0,0,0,0,28.83,26.25,28.83
$GC,986,-1.28,-243.3,2383,3669,3450,3326,260.1,-27.2,61,992,0.00,1.70,0.00,0.000,1030,0.000,0.024,2383,2478,3388,3450,3326,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1309,-1.28,-243.3,2383,2477,3450,3326,345.3,-25.6,77,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2477,3388,3450,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1605,-1.28,-243.3,2383,2477,3450,3325,417.2,-23.4,92,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2477,3388,3450,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1906,-1.28,-243.3,2383,2477,3450,3326,489.0,-23.3,107,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2477,3387,3450,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2206,-1.28,-243.3,2382,2477,3450,3322,557.6,-22.7,122,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2477,3387,3451,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2526,-1.28,-243.3,2383,2478,3450,3319,629.6,-22.7,136,2531,0.00,1.88,0.00,0.000,260,0.000,0.054,2375,3667,3384,3450,3318,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2571,-1.28,-243.3,2374,3666,3450,3318,637.4,-22.6,137,2578,0.08,1.73,0.00,0.000,3078,0.131,0.028,2416,2514,3384,3450,3318,0,0,0,0,0,0,26.16,26.57,28.83
$GC,2897,-1.28,-243.3,2416,2514,3449,3312,702.9,-18.9,148,2903,0.00,1.83,0.00,0.000,260,0.000,0.054,2408,3671,3381,3450,3312,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2924,-1.28,-243.3,1504,3670,3437,3308,702.9,-18.9,148,2932,0.00,1.70,0.00,0.000,1030,0.000,0.028,2408,2494,3380,3449,3312,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3233,-1.28,-243.3,2408,2493,3447,3308,768.2,-19.2,159,3239,0.00,2.08,0.00,0.000,516,0.000,0.030,2408,1104,3377,3447,3307,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3257,-1.28,-243.3,2408,1104,3447,3307,768.2,-19.2,159,3263,0.00,2.15,0.00,0.000,1030,0.000,0.039,2398,2502,3377,3447,3307,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3574,-1.28,-243.3,2397,2503,3446,3303,835.1,-20.4,170,3580,0.00,1.85,0.00,0.000,260,0.000,0.056,2388,3676,3375,3445,3306,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3623,-1.28,-243.3,2388,3675,3445,3303,842.9,-20.8,171,3629,0.00,1.70,0.00,0.000,1030,0.000,0.027,2388,2502,3373,3444,3303,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3942,-1.28,-243.3,2385,2501,3443,3300,913.0,-20.7,182,3948,0.00,1.85,0.00,0.000,260,0.000,0.055,2379,3669,3371,3443,3299,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3970,-1.28,-243.3,2379,3669,3440,3299,913.0,-20.7,182,3979,0.12,1.70,0.00,0.000,3078,0.147,0.029,2413,2510,3371,3443,3299,0,0,0,0,0,0,26.22,26.55,28.83
$STATE,4154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4154,begin apogee
$GC,4161,-0.20,0.0,2413,1970,3442,3296,951.8,-17.3,189,4613,1.00,0.00,438.20,0.718,10246,0.111,0.000,2748,1965,2373,2528,2218,0,0,0,0,0,0,25.89,28.83,24.09
$STATE,4615,end apogee,CONTROL_FINISHED_OK
$STATE,4615,begin climb
$GC,4617,1.28,243.3,2747,1965,2526,2212,981.7,0.0,203,4904,1.33,2.28,270.48,0.898,10756,0.043,0.036,3255,630,1372,1483,1262,0,0,0,0,0,0,24.99,24.33,23.52
$GC,4953,1.28,243.3,3255,631,1466,1247,930.0,24.3,213,4959,0.00,2.20,0.00,0.000,1030,0.000,0.030,3255,2009,1356,1466,1247,0,0,0,0,0,0,28.83,24.98,28.83
$GC,5283,1.28,243.3,3255,2009,1456,1238,842.8,25.6,224,5289,0.00,2.22,0.00,0.000,260,0.000,0.045,3255,3414,1347,1457,1238,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5322,1.28,243.3,3255,3413,1456,1238,833.2,26.0,225,5330,0.15,2.10,0.00,0.000,5126,0.174,0.028,3228,2016,1347,1456,1238,0,0,0,0,0,0,25.76,26.10,28.83
$GC,5654,1.28,243.3,3228,2016,1453,1236,746.9,25.8,236,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2015,1344,1453,1236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5954,1.28,243.3,3228,2018,1453,1235,672.4,23.8,246,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2016,1344,1453,1235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6254,1.28,243.3,3228,2016,1452,1233,601.5,23.6,256,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2016,1343,1452,1234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6564,1.28,243.3,3228,2016,1450,1233,529.6,22.4,271,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2016,1342,1451,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6864,1.28,243.3,3228,2016,1450,1231,460.1,23.5,286,6870,0.00,2.20,0.00,0.000,260,0.000,0.046,3228,3415,1340,1450,1231,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6904,1.28,243.3,3228,3415,1450,1231,454.4,23.5,287,6913,0.00,2.12,0.00,0.000,1030,0.000,0.030,3240,1997,1340,1450,1231,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7210,1.28,243.3,3239,1998,1449,1231,381.8,22.7,303,7216,0.00,2.12,0.00,0.000,516,0.000,0.041,3251,609,1340,1449,1231,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7322,1.28,243.3,2304,609,1423,1228,356.9,22.7,308,7328,0.00,2.10,0.00,0.000,1030,0.000,0.030,3250,2014,1340,1449,1231,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7643,1.28,243.3,3250,2014,1448,1229,283.5,22.9,324,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2014,1339,1449,1230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7941,1.28,243.3,3250,2013,1448,1229,213.9,22.6,339,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2014,1339,1449,1230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8242,1.28,243.3,3250,2014,1448,1229,153.6,19.0,354,8248,0.00,2.17,0.00,0.000,260,0.000,0.047,3251,3404,1338,1448,1229,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8293,1.28,243.3,3250,3404,1449,1229,144.2,19.7,356,8299,0.12,2.10,0.00,0.000,5126,0.177,0.029,3230,1993,1338,1448,1229,0,0,0,0,0,0,26.08,26.46,28.83
$GC,8615,1.28,243.3,3230,1992,1448,1228,92.6,11.6,372,8622,0.00,2.12,0.00,0.000,516,0.000,0.040,3241,606,1338,1448,1228,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8634,1.28,243.3,3241,606,1448,1228,92.6,11.6,372,8642,0.00,2.08,0.00,0.000,1030,0.000,0.029,3241,2001,1337,1447,1227,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8940,1.28,243.3,3241,2001,1448,1227,53.8,12.0,388,8946,0.00,2.17,0.00,0.000,260,0.000,0.047,3241,3400,1338,1449,1227,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8980,1.28,243.3,3241,3400,1448,1227,50.1,12.5,389,8989,0.00,2.08,0.00,0.000,1030,0.000,0.028,3253,1988,1337,1448,1227,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9291,1.28,243.3,3252,1988,1448,1227,20.0,10.7,424,9299,0.00,2.10,0.00,0.000,516,0.000,0.037,3264,607,1337,1448,1227,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,9454,end climb,SURFACE_DEPTH_REACHED
$STATE,9456,begin surface coast
$FINISH,0.3,1.022248
$STATE,9482,end surface coast,CONTROL_FINISHED_OK
$STATE,9482,begin surface
$SM_CCo,9506,73.88,0.060,0,0,747,400.08
$SM_GC,0.89,8.02,2.95,73.88,0.033,0.037,0.060,134,2488,747,-8.29,-1.30,400.08,0,0,0,0,0,0,26.48,26.32,26.13
$IRIDIUM_FIX,2312.13,12140.91,090413,000014
$TT8_MAMPS,0.047936,0.047936
$HUMID,47.83
$INTERNAL_PRESSURE,9.63274
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3919296
$24V_AH,23.5,47.479
$10V_AH,10.2,30.283
$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,19.775,62.175,708.675,73.875,0.000,0.000,0.000,224.525,0.000,0.000,21.385,1724.541,5817.218,750.966,1330.573,354.113,0.000,1673.092,0.000,1058.068,0.000,0.538,0.000
$DEVICE_MAMPS,215.730,55.845,898.110,60.435,0.000,0.000,0.000,123.930,420.000,0.000,27.710,35.930,2.190,35.930,58.400,65.890,0.000,15.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9472.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.176,0.000,0.000,0.000
$MEM,323416
$DATA_FILE_SIZE,16812,459
$CAP_FILE_SIZE,232659,0
$CFSIZE,260034560,222650368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.277, 25.4,1
$GPS,090413,054306,2323.391,12137.782,29,1.2,30,-3.1