OKMC 16May13 *
SG181 *
Dive index
* Mission links
version: 66.11
glider: 181
mission: 11
dive: 570
start: 8 17 113 17 9 14
data:
$ID,181
$MISSION,11
$DIVE,570
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,150
$T_BOOST,5
$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,220
$T_MISSION,270
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0028798201
$HD_B,0.025745301
$HD_C,2.4475299e-05
$HEADING,270
$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,475
$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,-99013.859
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3941
$C_PITCH,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.9
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,30
$C_ROLL_DIVE,2825
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2938
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,10.8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.75446
$PRESSURE_SLOPE,0.000109412
$AD7714Ch0Gain,1
$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,0
$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,149
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004364301
$SEABIRD_T_H,0.00062910328
$SEABIRD_T_I,2.4425184e-05
$SEABIRD_T_J,2.6404416e-06
$SEABIRD_C_G,-9.9046793
$SEABIRD_C_H,1.1251128
$SEABIRD_C_I,-0.0019873739
$SEABIRD_C_J,0.00023203803
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,170813,165653,2019.082,12612.050,34,1.0,50,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-63.6
$GPS2,170813,170848,2018.969,12612.218,13,2.0,18,-2.6
$SPEED_LIMITS,0.126,0.198
$TGT_NAME,HEADING
$TGT_LATLONG,2018.969,12600.702
$TGT_RADIUS,1852.000
$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,272.6,20000,-31.8,-15.000,-37.13,1955
$D_GRID,1000
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.99,-194.6,216,2822,1011,990,0.0,0.0,0,107,0.00,0.00,-82.15,0.000,16386,0.000,0.000,216,2822,3057,3108,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-1.99,-194.6,216,2822,3108,3008,3.5,-12.0,15,137,8.07,0.00,-13.07,0.000,18950,0.356,0.000,2021,2822,3734,3796,3672,0,0,0,0,0,0,14.00,28.83,14.89
$GC,322,-1.99,-194.6,2021,2822,3796,3675,68.2,-29.3,41,327,0.00,1.60,0.00,0.000,260,0.000,0.066,2016,3795,3735,3796,3675,0,0,0,0,0,0,28.83,14.57,28.83
$GC,360,-1.99,-194.6,2016,3795,3796,3675,77.5,-27.8,44,367,0.00,1.52,0.00,0.000,1030,0.000,0.031,2016,2802,3735,3796,3675,0,0,0,0,0,0,28.83,14.67,28.83
$GC,546,-1.99,-194.6,2016,2799,3796,3675,128.4,-26.4,63,551,0.00,1.65,0.00,0.000,260,0.000,0.063,2008,3795,3736,3796,3676,0,0,0,0,0,0,28.83,14.62,28.83
$GC,634,-1.99,-194.6,2009,3795,3796,3676,151.1,-27.4,71,640,0.00,1.50,0.00,0.000,1030,0.000,0.031,2008,2808,3734,3792,3676,0,0,0,0,0,0,28.83,14.69,28.83
$GC,820,-1.99,-194.6,2009,2808,3796,3677,196.0,-22.9,90,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2808,3736,3796,3677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1001,-1.99,-194.6,2009,2808,3796,3678,236.6,-21.9,108,1006,0.00,1.52,0.00,0.000,516,0.000,0.033,2008,1792,3737,3796,3678,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1028,-1.99,-194.6,2009,1791,3796,3678,241.9,-21.4,110,1036,0.12,1.70,0.00,0.000,3078,0.342,0.054,2023,2849,3737,3796,3678,0,0,0,0,0,0,14.23,14.66,28.83
$GC,1216,-1.99,-194.6,2023,2849,3796,3679,282.4,-21.3,129,1221,0.00,1.60,0.00,0.000,516,0.000,0.031,2022,1798,3737,3796,3679,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1259,-1.99,-194.6,2023,1798,3796,3679,292.2,-21.6,133,1264,0.00,1.65,0.00,0.000,1030,0.000,0.052,2018,2830,3737,3796,3679,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1454,-1.99,-194.6,2018,2830,3796,3679,333.4,-21.2,152,1459,0.00,1.52,0.00,0.000,260,0.000,0.065,2011,3779,3737,3796,3679,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1554,-1.99,-194.6,2011,3779,3796,3679,355.1,-23.2,161,1560,0.00,1.45,0.00,0.000,1030,0.000,0.031,2011,2814,3738,3796,3680,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1739,-1.99,-194.6,2011,2813,3796,3679,395.9,-20.8,180,1744,0.00,1.60,0.00,0.000,260,0.000,0.066,2003,3785,3738,3797,3680,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1783,-1.99,-194.6,2003,3785,3796,3680,405.4,-22.2,184,1788,0.00,1.45,0.00,0.000,1030,0.000,0.031,2003,2829,3737,3796,3679,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1976,-1.99,-194.6,2003,2827,3796,3678,444.8,-20.0,203,1982,0.00,1.58,0.00,0.000,516,0.000,0.032,2003,1802,3737,3796,3679,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2025,-1.99,-194.6,2002,1802,3796,3679,453.1,-18.8,207,2032,0.15,1.65,0.00,0.000,3078,0.327,0.055,2024,2826,3737,3796,3679,0,0,0,0,0,0,14.22,14.66,28.83
$GC,2211,-1.99,-194.6,2025,2827,3796,3678,489.1,-19.5,226,2216,0.00,1.60,0.00,0.000,260,0.000,0.068,2019,3780,3737,3796,3678,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2274,-1.99,-194.6,2019,3781,3796,3678,501.6,-19.6,232,2280,0.00,1.45,0.00,0.000,1030,0.000,0.033,2019,2817,3737,3796,3678,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2468,-1.99,-194.6,2020,2816,3796,3676,539.3,-19.5,251,2473,0.00,1.60,0.00,0.000,260,0.000,0.068,2012,3782,3736,3796,3676,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2496,-1.99,-194.6,2012,3782,3796,3676,544.0,-19.6,253,2503,0.00,1.45,0.00,0.000,1030,0.000,0.034,2012,2828,3736,3796,3676,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2683,-1.99,-194.6,2012,2828,3796,3674,583.8,-21.1,272,2688,0.00,1.55,0.00,0.000,516,0.000,0.035,2012,1808,3735,3796,3674,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2731,-1.99,-194.6,2012,1807,3796,3673,592.9,-21.1,276,2737,0.00,1.65,0.00,0.000,1030,0.000,0.057,2005,2822,3734,3796,3673,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2930,-1.99,-194.6,2005,2822,3796,3672,634.1,-20.5,288,2936,0.00,1.62,0.00,0.000,260,0.000,0.072,1997,3782,3733,3796,3671,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3003,-1.99,-194.6,1997,3782,3797,3671,648.5,-20.9,291,3009,0.10,1.45,0.00,0.000,3078,0.317,0.034,2026,2845,3733,3796,3671,0,0,0,0,0,0,14.16,14.71,28.83
$GC,3201,-1.99,-194.6,2026,2845,3796,3668,688.8,-19.1,301,3207,0.00,1.60,0.00,0.000,260,0.000,0.071,2021,3774,3732,3797,3668,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3239,-1.99,-194.6,2021,3774,3795,3668,694.1,-19.0,302,3246,0.00,1.48,0.00,0.000,1030,0.000,0.035,2022,2819,3731,3794,3668,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3426,-1.99,-194.6,2022,2818,3793,3665,733.4,-19.6,312,3432,0.00,1.60,0.00,0.000,516,0.000,0.037,2022,1804,3729,3793,3665,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3464,-1.99,-194.6,2021,1804,3792,3665,738.4,-19.7,313,3471,0.00,1.67,0.00,0.000,1030,0.000,0.063,2014,2821,3728,3792,3665,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3651,-1.99,-194.6,2014,2821,3790,3662,779.4,-20.8,323,3656,0.00,1.65,0.00,0.000,260,0.000,0.076,2007,3780,3726,3790,3663,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3705,-1.99,-194.6,2013,3780,3789,3662,789.3,-21.7,325,3710,0.00,1.50,0.00,0.000,1030,0.000,0.037,2007,2827,3725,3789,3662,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3899,-1.99,-194.6,2007,2827,3788,3659,833.6,-21.7,335,3904,0.00,1.60,0.00,0.000,516,0.000,0.038,2007,1796,3723,3788,3659,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3917,-1.99,-194.6,2006,1795,3788,3659,833.6,-21.7,335,3924,0.15,1.73,0.00,0.000,3078,0.332,0.063,2028,2829,3723,3788,3659,0,0,0,0,0,0,14.13,14.57,28.83
$GC,4104,-1.99,-194.6,2028,2829,3787,3656,878.3,-22.0,345,4109,0.00,1.60,0.00,0.000,260,0.000,0.079,2022,3779,3721,3787,3656,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4152,-1.99,-194.6,1264,3778,3784,3653,888.0,-21.2,347,4157,0.00,1.50,0.00,0.000,1030,0.000,0.038,2023,2807,3721,3787,3656,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4351,-1.99,-194.6,2023,2807,3785,3653,932.3,-21.5,357,4357,0.00,1.60,0.00,0.000,516,0.000,0.040,2022,1788,3721,3785,3658,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4369,-1.99,-194.6,2023,1786,3785,3654,932.3,-21.5,357,4376,0.00,1.75,0.00,0.000,1030,0.000,0.066,2015,2825,3719,3785,3654,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4556,-1.99,-194.6,2015,2825,3780,3650,978.3,-22.4,367,4561,0.00,1.62,0.00,0.000,260,0.000,0.083,2008,3782,3715,3780,3650,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,4617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4617,begin apogee
$GC,4628,-0.25,0.0,2008,2110,3773,3650,993.7,-23.3,370,4819,2.33,0.00,179.07,1.826,10246,0.296,0.000,2583,2106,2934,2975,2894,0,0,0,0,0,0,13.90,28.83,13.24
$STATE,4820,end apogee,CONTROL_FINISHED_OK
$STATE,4820,begin climb
$GC,4824,1.99,194.6,2583,2106,2974,2891,1008.1,0.0,380,5014,2.10,1.92,181.07,1.784,10756,0.083,0.062,3326,1021,2142,2159,2126,0,0,0,0,0,0,14.33,14.25,13.31
$GC,5099,1.99,194.6,3326,1020,2155,2107,974.0,20.4,393,5106,0.00,1.80,0.00,0.000,1030,0.000,0.065,3326,2082,2131,2156,2106,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5286,1.99,194.6,3326,2082,2155,2099,933.3,20.5,403,5292,0.00,1.77,0.00,0.000,516,0.000,0.062,3334,1021,2127,2156,2099,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5441,1.99,194.6,3334,1021,2156,2096,903.4,21.0,410,5446,0.00,1.77,0.00,0.000,1030,0.000,0.064,3334,2078,2125,2155,2096,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5636,1.99,194.6,3334,2079,2155,2093,861.4,20.7,420,5641,0.00,1.77,0.00,0.000,516,0.000,0.062,3340,1014,2124,2155,2093,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5746,1.99,194.6,3341,1014,2155,2092,840.0,20.3,425,5752,0.15,1.77,0.00,0.000,5126,0.364,0.066,3315,2076,2123,2155,2091,0,0,0,0,0,0,14.17,14.61,28.83
$GC,5949,1.99,194.6,3315,2076,2156,2090,799.4,19.4,435,5954,0.00,1.73,0.00,0.000,516,0.000,0.053,3320,1016,2122,2155,2090,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6013,1.99,194.6,3315,1016,2154,2090,786.6,19.1,438,6018,0.00,1.77,0.00,0.000,1030,0.000,0.060,3320,2075,2121,2153,2089,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6218,1.99,194.6,3320,2075,2155,2087,748.6,18.8,448,6223,0.00,1.73,0.00,0.000,516,0.000,0.051,3327,1015,2120,2154,2087,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6328,1.99,194.6,3327,1015,2152,2086,729.0,18.3,453,6333,0.00,1.77,0.00,0.000,1030,0.000,0.058,3326,2083,2119,2152,2086,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6528,1.99,194.6,3327,2083,2152,2085,691.5,18.4,463,6533,0.00,1.75,0.00,0.000,516,0.000,0.050,3334,1012,2118,2152,2085,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6729,1.99,194.6,3334,1012,2150,2085,657.1,18.2,472,6735,0.00,1.75,0.00,0.000,1030,0.000,0.055,3334,2073,2117,2150,2084,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6914,1.99,194.6,3334,2073,2150,2083,621.3,18.4,482,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2073,2116,2150,2083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7093,1.99,194.6,3334,2072,2150,2081,588.4,18.1,494,7099,0.00,1.77,0.00,0.000,516,0.000,0.049,3341,1012,2115,2150,2081,0,0,0,0,0,0,28.83,14.59,28.83
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$STATE,10947,end climb,SURFACE_DEPTH_REACHED
$STATE,10948,begin surface coast
$FINISH,-0.7,1.021139
$STATE,10964,end surface coast,CONTROL_FINISHED_OK
$STATE,10964,begin surface
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$TT8_MAMPS,0.019474,0.019474
$HUMID,57.40
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,3705088
$24V_AH,13.2,193.916
$10V_AH,11.2,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.500,126.700,544.300,20.300,0.000,26.538,58.816,320.728,0.000,0.000,21.197,2489.705,5511.021,674.564,2459.689,577.419,0.000,1807.185,0.000,1954.333,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.743,0.000,0.000,0.000
$MEM,328736
$DATA_FILE_SIZE,33389,883
$CAP_FILE_SIZE,196075,0
$CFSIZE,260034560,194023424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,170813,201406,2018.635,12612.467,35,0.9,35,-2.6