OKMC Mar12 *
SG176 *
Dive index
* Mission links
version: 66.10
glider: 176
mission: 5
dive: 315
start: 5 16 112 4 31 17
data:
$ID,176
$MISSION,5
$DIVE,315
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,500
$D_BOOST,100
$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,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$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,375
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7936.6895
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2514
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.662712
$PRESSURE_SLOPE,0.0001162977
$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,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,160512,042307,1940.999,12313.417,26,1.7,26,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.7
$GPS2,160512,043049,1941.017,12313.372,9,1.7,9,-2.3
$SPEED_LIMITS,0.143,0.259
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$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,58.1,131770,-13.2,-8.250
$D_GRID,4984
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.54,-170.3,0.0,0.0,0,76,0.00,0.00,-56.95,0.000,2,0.000,0.000,191,2670,2456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.54,-170.3,3.4,-7.7,10,118,8.60,1.70,-23.12,0.000,4,0.231,0.063,2334,3773,3626,0,0,0,0,0,0,25.22,26.17,26.68
$GC,250,-0.54,-170.3,59.2,-25.9,39,256,0.00,1.73,0.00,0.000,6,0.000,0.022,2334,2505,3626,0,0,0,0,0,0,28.83,26.51,28.83
$GC,575,-0.54,-170.3,157.6,-27.1,100,582,0.00,1.92,0.00,0.000,4,0.000,0.028,2334,1137,3626,0,0,0,0,0,0,28.83,26.46,28.83
$GC,680,-0.54,-170.3,179.9,-16.7,120,688,0.05,2.22,0.00,0.000,6,0.233,0.045,2346,2621,3626,0,0,0,0,0,0,26.25,26.37,28.83
$GC,996,-0.54,-170.3,243.7,-18.6,161,1005,0.00,2.10,0.00,0.000,4,0.000,0.025,2347,1144,3626,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1039,-0.54,-170.3,250.3,-15.9,165,1048,0.00,2.17,0.00,0.000,6,0.000,0.041,2336,2621,3626,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1348,-0.54,-170.3,307.2,-18.6,196,1356,0.00,2.08,0.00,0.000,4,0.000,0.025,2338,1146,3626,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1422,-0.54,-170.3,317.7,-12.9,203,1429,0.00,2.20,0.00,0.000,6,0.000,0.041,2335,2625,3626,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1731,-0.54,-170.3,365.4,-15.3,234,1739,0.00,2.10,0.00,0.000,4,0.000,0.025,2334,1140,3624,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1775,-0.54,-170.3,371.6,-14.7,238,1783,0.05,2.22,0.00,0.000,6,0.220,0.043,2348,2627,3624,0,0,0,0,0,0,26.26,26.36,28.83
$GC,2082,-0.54,-170.3,410.1,-11.0,269,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2628,3622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2386,-0.54,-170.3,441.1,-9.9,299,2394,0.00,2.08,0.00,0.000,4,0.000,0.026,2349,1152,3620,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2450,-0.54,-170.3,446.6,-7.6,305,2458,0.00,2.20,0.00,0.000,6,0.000,0.043,2349,2621,3620,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2757,-0.54,-170.3,471.6,-7.8,336,2766,0.00,2.10,0.00,0.000,4,0.000,0.026,2348,1142,3618,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2788,-0.54,-170.3,474.0,-8.0,339,2797,0.00,2.25,0.00,0.000,6,0.000,0.043,2348,2628,3617,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3101,-0.54,-170.3,502.0,-10.5,370,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2628,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3409,-0.54,-170.3,533.8,-10.0,401,3420,0.00,2.10,0.00,0.000,4,0.000,0.027,2348,1141,3612,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3455,-0.54,-170.3,537.8,-8.9,405,3464,0.00,2.22,0.00,0.000,6,0.000,0.044,2349,2620,3612,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3762,-0.54,-170.3,566.7,-8.7,436,3766,0.00,1.73,0.00,0.000,4,0.000,0.055,2346,3772,3609,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3796,-0.54,-170.3,569.5,-9.0,439,3803,0.00,1.75,0.00,0.000,6,0.000,0.023,2346,2464,3608,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4105,-0.54,-170.3,594.9,-7.7,470,4113,0.00,1.95,0.00,0.000,4,0.000,0.053,2340,3760,3605,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4139,-0.54,-170.3,597.6,-8.1,473,4147,0.00,1.70,0.00,0.000,6,0.000,0.024,2340,2475,3605,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4448,-0.54,-170.3,621.0,-6.8,490,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2474,3603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4746,-0.54,-170.3,638.9,-5.9,505,4752,0.00,2.00,0.00,0.000,4,0.000,0.054,2332,3767,3600,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4809,-0.54,-170.3,642.6,-6.1,508,4813,0.05,1.73,0.00,0.000,6,0.203,0.024,2350,2493,3599,0,0,0,0,0,0,26.41,26.61,28.83
$GC,5127,-0.54,-170.3,662.0,-6.6,524,5133,0.05,1.98,0.00,0.000,4,0.175,0.051,2292,3756,3597,0,0,0,0,0,0,26.65,26.13,28.83
$GC,5174,-0.54,-170.3,665.8,-7.9,526,5178,0.17,1.73,0.00,0.000,6,0.127,0.023,2350,2467,3596,0,0,0,0,0,0,26.17,26.59,28.83
$GC,5482,-0.54,-170.3,691.0,-8.1,541,5484,0.05,0.00,0.00,0.000,6,0.174,0.000,2293,2464,3594,0,0,0,0,0,0,26.64,28.83,28.83
$GC,5781,-0.54,-170.3,729.4,-12.8,556,5787,0.15,2.00,0.00,0.000,4,0.143,0.054,2345,3763,3592,0,0,0,0,0,0,26.27,26.09,28.83
$GC,5809,-0.54,-170.3,731.7,-12.5,557,5812,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2484,3592,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6122,-0.54,-170.3,756.1,-7.2,573,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2478,3590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6423,-0.54,-170.3,777.4,-7.2,588,6428,0.00,1.98,0.00,0.000,4,0.000,0.056,2345,3768,3588,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6469,-0.54,-170.3,780.5,-7.5,590,6472,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2509,3587,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6782,-0.54,-170.3,806.1,-8.0,606,6788,0.00,2.00,0.00,0.000,4,0.000,0.056,2343,3766,3585,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6841,-0.54,-170.3,810.9,-7.9,609,6845,0.00,1.77,0.00,0.000,6,0.000,0.024,2344,2469,3584,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7163,-0.54,-170.3,835.5,-7.7,625,7167,0.00,2.03,0.00,0.000,4,0.000,0.055,2344,3773,3583,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7194,-0.54,-170.3,837.3,-7.7,626,7197,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2506,3582,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7507,-0.54,-170.3,861.6,-7.4,642,7512,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3772,3581,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7568,-0.54,-170.3,866.1,-7.5,645,7571,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2506,3580,0,0,0,0,0,0,28.83,26.56,28.83
$GC,7889,-0.54,-170.3,887.3,-5.9,661,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2467,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8189,-0.54,-170.3,903.6,-5.0,676,8194,0.00,2.03,0.00,0.000,4,0.000,0.056,2345,3774,3578,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8243,-0.54,-170.3,905.8,-5.1,678,8250,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2468,3577,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8549,-0.54,-170.3,921.8,-5.2,694,8555,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3767,3576,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8593,-0.54,-170.3,924.0,-5.3,696,8596,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2506,3576,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8909,-0.54,-170.3,942.8,-6.6,712,8913,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3763,3575,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8954,-0.54,-170.3,945.1,-6.1,714,8957,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2506,3574,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9272,-0.54,-170.3,965.6,-6.5,730,9276,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3770,3574,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9322,-0.54,-170.3,968.6,-6.8,732,9325,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2511,3573,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,9632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9632,begin apogee
$GC,9638,-0.17,0.0,990.5,-6.8,748,9789,0.32,0.08,144.23,1.727,6,0.099,0.095,2464,2439,2929,0,0,0,0,0,0,26.03,24.20,22.62
$STATE,9790,end apogee,CONTROL_FINISHED_OK
$STATE,9790,begin climb
$GC,9792,0.54,170.3,997.5,0.0,755,9972,0.62,2.28,165.07,1.681,4,0.048,0.030,2722,1066,2231,0,0,0,0,0,0,24.56,23.85,22.15
$GC,9997,0.54,170.3,986.5,12.4,765,10002,0.15,2.40,0.00,0.000,6,0.170,0.047,2685,2513,2227,0,0,0,0,0,0,24.37,24.58,28.83
$GC,10311,0.54,170.3,946.4,12.7,781,10316,0.00,1.92,0.00,0.000,4,0.000,0.056,2685,3770,2221,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10338,0.54,170.3,943.7,12.8,782,10342,0.03,1.92,0.00,0.000,6,0.314,0.024,2685,2448,2220,0,0,0,0,0,0,26.03,26.22,28.83
$GC,10651,0.54,170.3,902.2,13.0,798,10656,0.00,2.05,0.00,0.000,4,0.000,0.054,2685,3773,2218,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10725,0.54,170.3,893.2,14.4,801,10734,0.03,1.92,0.00,0.000,6,0.316,0.025,2685,2441,2217,0,0,0,0,0,0,26.17,26.34,28.83
$GC,11030,0.54,170.3,851.9,12.4,817,11031,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2439,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11331,0.54,170.3,815.6,12.0,832,11332,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2439,2215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11630,0.54,170.3,780.5,11.2,847,11635,0.00,2.05,0.00,0.000,4,0.000,0.055,2685,3767,2215,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11671,0.54,170.3,775.1,12.2,849,11675,0.05,1.92,0.00,0.000,6,0.262,0.025,2684,2442,2214,0,0,0,0,0,0,26.20,26.41,28.83
$GC,11989,0.54,170.3,738.0,12.1,865,11994,0.00,2.00,0.00,0.000,4,0.000,0.030,2694,1058,2214,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12047,0.54,170.3,731.0,11.8,868,12054,0.05,2.25,0.00,0.000,6,0.216,0.047,2683,2520,2213,0,0,0,0,0,0,26.10,26.17,28.83
$GC,12367,0.54,170.3,692.7,11.8,884,12371,0.00,1.90,0.00,0.000,4,0.000,0.055,2682,3770,2213,0,0,0,0,0,0,28.83,26.07,28.83
$GC,12412,0.54,170.3,688.0,12.2,886,12416,0.00,1.90,0.00,0.000,6,0.000,0.024,2692,2448,2213,0,0,0,0,0,0,28.83,26.44,28.83
$GC,12720,0.54,170.3,651.0,11.3,901,12725,0.00,2.00,0.00,0.000,4,0.000,0.031,2702,1059,2212,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,19179,end climb,SURFACE_DEPTH_REACHED
$STATE,19179,begin surface coast
$FINISH,3.2,1.021468
$STATE,19186,end surface coast,CONTROL_FINISHED_OK
$STATE,19186,begin surface
$SM_CCo,19265,0.00,0.000,0,0,1026,466.81
$SM_GC,1.56,6.90,2.40,0.00,0.057,0.037,0.000,204,2628,1026,-7.15,-0.40,466.81,0,0,0,0,0,0,26.28,26.29,28.83
$IRIDIUM_FIX,1932.09,12310.93,150512,222250
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.99
$INTERNAL_PRESSURE,9.51483
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,22.1,65.732
$10V_AH,9.9,40.246
$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,18.575,177.075,488.450,0.000,0.000,32.011,40.816,244.289,0.000,0.000,12.174,4248.808,10915.223,645.289,3477.988,408.632,0.000,2271.709,0.000,2896.212,0.000,0.543,0.000
$DEVICE_MAMPS,315.945,125.460,1726.605,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1146.451,2260.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329824
$DATA_FILE_SIZE,127238,1686
$CAP_FILE_SIZE,202643,0
$CFSIZE,260165632,191528960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,289.5,1
$GPS,160512,095336,1942.760,12314.513,38,0.9,43,-2.4