OKMC Mar12 *
SG176 *
Dive index
* Mission links
version: 66.10
glider: 176
mission: 5
dive: 375
start: 5 29 112 16 37 0
data:
$ID,176
$MISSION,5
$DIVE,375
$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,420
$T_MISSION,480
$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,-8013.123
$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
$GPS1,290512,162824,1919.451,12421.758,23,1.0,40,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-70.9
$GPS2,290512,163632,1919.499,12421.759,13,1.3,13,-2.3
$SPEED_LIMITS,0.136,0.255
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$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,158.5,167388,-12.5,-7.857
$D_GRID,5456
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.52,-170.3,0.0,0.0,0,72,0.00,0.00,-53.50,0.000,2,0.000,0.000,191,2701,2381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.52,-170.3,3.2,-6.1,9,118,8.80,2.25,-26.23,0.000,4,0.234,0.039,2344,1140,3625,0,0,0,0,0,0,25.06,26.25,26.67
$GC,207,-0.52,-170.3,32.4,-15.3,27,215,0.08,2.22,0.00,0.000,6,0.187,0.044,2354,2620,3625,0,0,0,0,0,0,26.01,26.15,28.83
$GC,539,-0.52,-170.3,106.1,-24.2,88,562,0.05,1.75,0.00,0.000,4,0.175,0.049,2305,3766,3625,0,0,0,0,0,0,26.62,26.15,28.83
$GC,569,-0.52,-170.3,114.5,-24.5,90,577,0.15,1.70,0.00,0.000,6,0.151,0.022,2350,2483,3625,0,0,0,0,0,0,26.10,26.54,28.83
$GC,882,-0.52,-170.3,179.8,-17.8,151,889,0.00,1.90,0.00,0.000,4,0.000,0.027,2351,1135,3625,0,0,0,0,0,0,28.83,26.42,28.83
$GC,936,-0.52,-170.3,187.6,-11.1,161,942,0.00,2.22,0.00,0.000,6,0.000,0.043,2349,2621,3626,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1245,-0.52,-170.3,229.4,-14.4,201,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2621,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1546,-0.52,-170.3,273.3,-13.8,231,1556,0.00,2.10,0.00,0.000,4,0.000,0.025,2349,1145,3626,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1602,-0.52,-170.3,279.8,-12.0,236,1609,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2625,3625,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1909,-0.52,-170.3,322.7,-14.3,267,1919,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1145,3624,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1954,-0.52,-170.3,327.9,-12.1,271,1962,0.00,2.22,0.00,0.000,6,0.000,0.043,2348,2620,3624,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2261,-0.52,-170.3,359.4,-8.6,302,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2620,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2566,-0.52,-170.3,388.8,-10.4,332,2574,0.00,2.10,0.00,0.000,4,0.000,0.025,2348,1145,3622,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2628,-0.52,-170.3,395.2,-9.2,338,2637,0.00,2.20,0.00,0.000,6,0.000,0.044,2346,2626,3621,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2938,-0.52,-170.3,425.6,-9.9,369,2941,0.00,1.73,0.00,0.000,4,0.000,0.054,2344,3765,3619,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2989,-0.52,-170.3,430.7,-10.1,374,2992,0.00,1.73,0.00,0.000,6,0.000,0.023,2345,2487,3618,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3300,-0.52,-170.3,465.3,-11.4,405,3303,0.00,2.03,0.00,0.000,4,0.000,0.052,2336,3765,3616,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3324,-0.52,-170.3,467.7,-11.4,407,3333,0.03,1.75,0.00,0.000,6,0.155,0.023,2352,2466,3616,0,0,0,0,0,0,26.39,26.59,28.83
$GC,3631,-0.52,-170.3,495.8,-7.9,438,3641,0.00,2.05,-0.10,0.000,4,0.000,0.065,2348,3769,3637,0,0,0,0,0,0,28.83,26.04,25.98
$GC,3697,-0.52,-170.3,500.3,-7.2,444,3704,0.00,1.73,0.00,0.000,6,0.000,0.023,2348,2453,3637,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4005,-0.52,-170.3,524.5,-8.2,475,4014,0.00,2.00,0.00,0.000,4,0.000,0.054,2345,3765,3635,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4038,-0.52,-170.3,527.3,-8.5,478,4041,0.00,1.75,0.00,0.000,6,0.000,0.023,2345,2481,3635,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4349,-0.52,-170.3,553.3,-8.4,509,4358,0.00,2.05,0.00,0.000,4,0.000,0.054,2345,3772,3633,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4400,-0.52,-170.3,557.3,-7.9,514,4403,0.00,1.75,0.00,0.000,6,0.000,0.024,2345,2494,3632,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4711,-0.52,-170.3,582.4,-8.1,545,4720,0.00,2.03,0.00,0.000,4,0.000,0.054,2344,3766,3630,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4765,-0.52,-170.3,586.6,-8.4,550,4772,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2448,3630,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5075,-0.52,-170.3,611.5,-7.7,574,5081,0.00,2.03,0.00,0.000,4,0.000,0.055,2344,3754,3627,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5127,-0.52,-170.3,614.6,-7.6,576,5133,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2445,3626,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5435,-0.52,-170.3,635.4,-6.0,592,5441,0.00,2.03,0.00,0.000,4,0.000,0.054,2344,3765,3625,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5494,-0.52,-170.3,639.0,-6.1,595,5497,0.00,1.77,0.00,0.000,6,0.000,0.024,2344,2445,3624,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5815,-0.52,-170.3,659.6,-6.6,611,5821,0.00,2.05,0.00,0.000,4,0.000,0.055,2344,3768,3622,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5864,-0.52,-170.3,662.3,-6.8,613,5868,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2498,3621,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6175,-0.52,-170.3,685.2,-7.4,629,6179,0.00,2.05,0.00,0.000,4,0.000,0.056,2344,3769,3620,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6232,-0.52,-170.3,688.1,-7.3,631,6240,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2447,3619,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6538,-0.52,-170.3,710.7,-7.1,647,6543,0.00,2.08,0.00,0.000,4,0.000,0.055,2344,3772,3617,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6591,-0.52,-170.3,713.4,-6.9,649,6597,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2461,3616,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6899,-0.52,-170.3,737.5,-7.8,665,6904,0.00,2.00,0.00,0.000,4,0.000,0.056,2344,3755,3616,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6960,-0.52,-170.3,742.4,-8.1,668,6964,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2469,3615,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7280,-0.52,-170.3,770.3,-8.9,684,7283,0.00,2.05,0.00,0.000,4,0.000,0.056,2344,3773,3614,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7334,-0.52,-170.3,774.1,-8.6,686,7341,0.00,1.77,0.00,0.000,6,0.000,0.024,2344,2455,3613,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7641,-0.52,-170.3,797.7,-6.5,702,7645,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3763,3612,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7672,-0.52,-170.3,799.2,-6.4,703,7675,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2508,3611,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7983,-0.52,-170.3,817.7,-5.5,719,7989,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3763,3611,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8038,-0.52,-170.3,820.0,-5.5,721,8044,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2469,3610,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8344,-0.52,-170.3,839.5,-6.5,737,8348,0.00,2.03,0.00,0.000,4,0.000,0.056,2344,3766,3609,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8394,-0.52,-170.3,842.5,-6.9,739,8397,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2501,3609,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8707,-0.52,-170.3,865.5,-7.2,755,8711,0.00,2.05,0.00,0.000,4,0.000,0.057,2344,3762,3608,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8749,-0.52,-170.3,868.5,-7.1,757,8753,0.00,1.75,0.00,0.000,6,0.000,0.026,2344,2503,3607,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9071,-0.52,-170.3,890.4,-6.6,773,9076,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3767,3606,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9095,-0.52,-170.3,891.7,-6.6,774,9098,0.00,1.77,0.00,0.000,6,0.000,0.025,2344,2471,3606,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9411,-0.52,-170.3,911.7,-6.2,790,9417,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3766,3605,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9452,-0.52,-170.3,914.1,-6.0,792,9456,0.00,1.77,0.00,0.000,6,0.000,0.025,2344,2467,3605,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9775,-0.52,-170.3,933.8,-5.9,808,9779,0.00,2.03,0.00,0.000,4,0.000,0.057,2344,3762,3604,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9830,-0.52,-170.3,936.5,-6.3,810,9836,0.00,1.75,0.00,0.000,6,0.000,0.025,2344,2463,3603,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10138,-0.52,-170.3,958.3,-6.9,826,10143,0.00,1.92,0.00,0.000,4,0.000,0.028,2344,1138,3602,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10206,-0.52,-170.3,962.6,-7.1,829,10215,0.00,2.28,0.00,0.000,6,0.000,0.047,2344,2618,3603,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10517,-0.52,-170.3,984.7,-6.7,845,10521,0.00,2.15,0.00,0.000,4,0.000,0.028,2344,1143,3602,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,10596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10596,begin apogee
$GC,10605,-0.17,0.0,990.0,-6.6,849,10765,0.32,0.05,151.52,1.714,6,0.093,0.051,2467,2439,2928,0,0,0,0,0,0,25.98,23.80,22.23
$STATE,10766,end apogee,CONTROL_FINISHED_OK
$STATE,10766,begin climb
$GC,10768,0.52,170.3,998.2,0.0,857,10944,0.60,2.28,166.90,1.670,4,0.051,0.028,2709,1061,2234,0,0,0,0,0,0,24.46,23.70,21.79
$GC,11011,0.52,170.3,981.9,13.7,869,11018,0.12,2.38,0.00,0.000,6,0.167,0.047,2678,2523,2226,0,0,0,0,0,0,24.82,25.03,28.83
$GC,11317,0.52,170.3,938.5,13.4,885,11323,0.00,1.92,0.00,0.000,4,0.000,0.056,2678,3764,2222,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11345,0.52,170.3,935.6,13.5,886,11348,0.00,1.92,0.00,0.000,6,0.000,0.024,2688,2444,2222,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11658,0.52,170.3,893.8,12.9,902,11662,0.00,2.08,0.00,0.000,4,0.000,0.055,2688,3772,2221,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11692,0.52,170.3,890.5,13.3,903,11702,0.05,1.95,0.00,0.000,6,0.187,0.025,2672,2454,2220,0,0,0,0,0,0,25.90,26.33,28.83
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$STATE,20499,end climb,SURFACE_DEPTH_REACHED
$STATE,20499,begin surface coast
$FINISH,0.6,1.011317
$STATE,20536,end surface coast,CONTROL_FINISHED_OK
$STATE,20536,begin surface
$SM_CCo,20612,0.00,0.000,0,0,1379,380.21
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$IRIDIUM_FIX,1918.37,12423.22,290512,101057
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.33
$INTERNAL_PRESSURE,9.466
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,21.8,78.836
$10V_AH,9.8,47.904
$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
$DEVICE_SECS,18.175,186.250,466.900,0.000,0.000,27.660,40.701,260.313,0.000,0.000,16.321,4681.062,11546.941,631.396,3747.792,456.270,0.000,2403.472,0.000,3158.248,0.000,0.542,0.000
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$MEM,329652
$DATA_FILE_SIZE,137047,1852
$CAP_FILE_SIZE,219290,0
$CFSIZE,260165632,184995840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,234.7,1
$GPS,290512,222137,1916.870,12422.546,36,0.9,36,-2.3