OKMC Jun11 *
SG181 *
Dive index
* Mission links
version: 66.09
glider: 181
mission: 6
dive: 216
start: 7 21 111 18 21 3
data:
$ID,181
$MISSION,6
$DIVE,216
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$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,300
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$NAV_MODE,1
$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,475
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-40791.047
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,60
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-61.82621
$PRESSURE_SLOPE,0.000116609
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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
$DEVICE1,2
$DEVICE2,102
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,117
$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,0.0043841996
$SEABIRD_T_H,0.00063541438
$SEABIRD_T_I,2.4687597e-05
$SEABIRD_T_J,2.6519353e-06
$SEABIRD_C_G,-9.9512653
$SEABIRD_C_H,1.1266108
$SEABIRD_C_I,-0.0016982662
$SEABIRD_C_J,0.00020129427
$TM_RECORDABOVE,200.0
$TM_PROFILE,2.0
$TM_XMITPROFILE,2.0
$TM_UPLOADMAX,0.0
$TM_STARTS,2.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,100.0
$LA_PROFILE,2.0
$LA_XMITPROFILE,2.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,12.0
$GPS1,210711,181434,1838.467,12031.544,10,3.6,29,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-72.3
$GPS2,210711,182038,1838.528,12031.546,13,1.3,13,-2.0
$SPEED_LIMITS,0.191,0.321
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.299,-0.061
$KALMAN_X,-45911.5,389.4,844.6,41510.1,-5401.7
$KALMAN_Y,23776.0,369.6,-164.2,-95083.8,1680.3
$MHEAD_RNG_PITCHd_Wd,179.2,7468,-15.3,-11.000
$D_GRID,444
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.52,-219.0,0.0,0.0,0,82,0.00,0.00,-63.83,0.000,2,0.000,0.000,210,2653,2270,0,0,0,0,0,0
$GC,85,-0.52,-219.0,3.4,-3.9,9,131,7.88,2.20,-28.67,0.000,4,0.229,0.035,2147,1176,3764,0,0,0,0,0,0
$GC,192,-0.52,-219.0,42.0,-23.9,26,200,0.00,2.22,0.00,0.000,6,0.000,0.040,2139,2582,3765,0,0,0,0,0,0
$GC,326,-0.52,-219.0,89.6,-29.7,51,334,0.00,1.88,0.00,0.000,4,0.000,0.041,2130,3790,3765,0,0,0,0,0,0
$GC,342,-0.52,-219.0,94.6,-29.7,53,350,0.00,1.80,0.00,0.000,6,0.000,0.024,2130,2594,3765,0,0,0,0,0,0
$GC,478,-0.52,-219.0,131.9,-27.1,78,486,0.00,2.08,0.00,0.000,4,0.000,0.025,2130,1185,3766,0,0,0,0,0,0
$GC,494,-0.52,-219.0,135.9,-22.6,80,503,0.00,2.28,0.00,0.000,6,0.000,0.037,2125,2643,3767,0,0,0,0,0,0
$GC,631,-0.52,-219.0,161.3,-17.8,105,639,0.00,1.75,0.00,0.000,4,0.000,0.043,2116,3780,3765,0,0,0,0,0,0
$GC,698,-0.52,-219.0,174.0,-15.5,117,707,0.10,1.67,0.00,0.000,6,0.128,0.023,2149,2646,3768,0,0,0,0,0,0
$GC,835,-0.52,-219.0,194.2,-15.3,142,843,0.00,2.15,0.00,0.000,4,0.000,0.028,2149,1194,3769,0,0,0,0,0,0
$GC,883,-0.52,-219.0,200.2,-11.5,150,887,0.00,2.20,0.00,0.000,6,0.000,0.033,2149,2657,3769,0,0,0,0,0,0
$GC,1208,-0.52,-219.0,240.8,-12.1,180,1212,0.00,1.73,0.00,0.000,4,0.000,0.044,2149,3777,3768,0,0,0,0,0,0
$GC,1266,-0.52,-219.0,246.8,-10.3,185,1270,0.00,1.65,0.00,0.000,6,0.000,0.024,2149,2632,3768,0,0,0,0,0,0
$GC,1597,-0.52,-219.0,284.5,-12.4,216,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2630,3766,0,0,0,0,0,0
$GC,1917,-0.52,-219.0,322.9,-12.5,246,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2631,3763,0,0,0,0,0,0
$GC,2235,-0.52,-219.0,360.7,-11.3,276,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2631,3761,0,0,0,0,0,0
$GC,2554,-0.52,-219.0,391.6,-8.2,306,2558,0.00,1.77,0.00,0.000,4,0.000,0.046,2149,3786,3757,0,0,0,0,0,0
$GC,2582,-0.52,-219.0,394.2,-8.1,308,2589,0.00,1.65,0.00,0.000,6,0.000,0.025,2149,2677,3757,0,0,0,0,0,0
$GC,2910,-0.52,-219.0,428.8,-11.5,339,2914,0.00,2.17,0.00,0.000,4,0.000,0.031,2149,1199,3754,0,0,0,0,0,0
$GC,2973,-0.52,-219.0,435.8,-10.5,344,2977,0.00,2.22,0.00,0.000,6,0.000,0.035,2149,2659,3754,0,0,0,0,0,0
$STATE,3051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3051,begin apogee
$GC,3058,-0.13,0.0,445.1,11.8,351,3223,0.35,0.00,156.88,0.725,4,0.104,0.000,2272,2120,2869,0,0,0,0,0,0
$STATE,3224,end apogee,CONTROL_FINISHED_OK
$STATE,3224,begin climb
$GC,3227,0.52,219.0,461.0,0.0,366,3395,0.60,2.17,160.12,0.707,4,0.054,0.035,2500,736,1976,0,0,0,0,0,0
$GC,3591,0.56,247.4,443.6,10.0,398,3621,0.00,2.15,22.08,0.700,6,0.000,0.031,2500,2129,1860,0,0,0,0,0,0
$GC,3939,0.56,247.4,400.2,13.4,431,3943,0.00,2.12,0.00,0.000,4,0.000,0.034,2510,729,1858,0,0,0,0,0,0
$GC,4046,0.56,247.4,386.7,11.6,440,4050,0.00,2.17,0.00,0.000,6,0.000,0.032,2509,2154,1858,0,0,0,0,0,0
$GC,4371,0.56,247.4,342.1,14.5,470,4375,0.00,2.10,0.00,0.000,4,0.000,0.042,2510,3536,1856,0,0,0,0,0,0
$GC,4411,0.56,247.4,335.9,16.1,473,4415,0.00,2.05,0.00,0.000,6,0.000,0.025,2521,2157,1855,0,0,0,0,0,0
$GC,4738,0.56,247.4,289.3,13.1,503,4742,0.00,2.15,0.00,0.000,4,0.000,0.034,2530,713,1853,0,0,0,0,0,0
$GC,4813,0.56,247.4,279.6,12.2,509,4820,0.00,2.15,0.00,0.000,6,0.000,0.031,2529,2137,1853,0,0,0,0,0,0
$GC,5140,0.59,272.6,241.9,10.1,540,5164,0.00,2.15,17.88,0.624,4,0.000,0.040,2530,3538,1758,0,0,0,0,0,0
$GC,5200,0.59,272.6,235.3,11.1,545,5204,0.00,2.10,0.00,0.000,6,0.000,0.025,2539,2132,1758,0,0,0,0,0,0
$GC,5527,0.59,272.6,194.0,13.6,579,5536,0.00,2.15,0.00,0.000,4,0.000,0.035,2550,725,1755,0,0,0,0,0,0
$GC,5585,0.59,272.6,185.8,13.9,589,5593,0.10,2.17,0.00,0.000,6,0.135,0.032,2517,2134,1755,0,0,0,0,0,0
$GC,5722,0.62,295.6,171.1,10.2,614,5746,0.00,2.15,17.35,0.577,4,0.000,0.033,2525,725,1663,0,0,0,0,0,0
$GC,5791,0.71,373.7,164.7,8.4,625,5856,0.00,2.15,56.10,0.540,6,0.000,0.032,2525,2105,1343,0,0,0,0,0,0
$GC,5985,0.86,488.3,150.3,7.1,658,6074,0.20,2.38,82.85,0.529,4,0.068,0.041,2616,3548,879,0,0,0,0,0,0
$GC,6134,0.86,488.3,129.2,15.9,681,6143,0.08,2.22,0.00,0.000,6,0.135,0.027,2600,2133,881,0,0,0,0,0,0
$GC,6272,0.86,488.3,112.2,11.9,706,6280,0.00,2.20,0.00,0.000,4,0.000,0.035,2610,713,881,0,0,0,0,0,0
$GC,6351,0.87,501.6,103.2,10.6,720,6374,0.00,2.15,11.95,0.535,6,0.000,0.031,2610,2095,823,0,0,0,0,0,0
$GC,6502,0.92,541.0,87.0,9.7,747,6539,0.00,2.25,29.30,0.489,4,0.000,0.038,2610,3539,663,0,0,0,0,0,0
$GC,6594,0.93,551.6,77.9,10.6,762,6611,0.00,2.20,9.65,0.455,6,0.000,0.027,2618,2118,619,0,0,0,0,0,0
$GC,6741,1.11,695.3,67.1,6.1,788,6780,0.17,2.22,32.33,0.477,4,0.067,0.034,2717,712,438,0,0,0,0,0,0
$GC,6889,1.15,729.6,52.6,9.8,813,6899,0.00,2.15,3.15,0.291,6,0.000,0.028,2717,2098,439,0,0,0,0,0,0
$GC,7027,1.15,729.6,36.8,12.1,838,7035,0.00,2.25,0.00,0.000,4,0.000,0.039,2713,3542,441,0,0,0,0,0,0
$GC,7079,1.15,729.6,29.6,13.8,847,7089,0.10,2.17,1.48,0.073,6,0.125,0.025,2693,2117,441,0,0,0,0,0,0
$GC,7218,1.18,750.7,14.9,10.3,872,7227,0.00,2.15,0.05,0.256,4,0.000,0.036,2701,717,442,0,0,0,0,0,0
$GC,7245,1.24,801.4,12.4,9.3,876,7254,0.00,2.17,0.77,0.076,6,0.000,0.028,2701,2138,442,0,0,0,0,0,0
$STATE,7337,end climb,SURFACE_DEPTH_REACHED
$STATE,7337,begin surface coast
$FINISH,0.1,1.008833
$STATE,7371,end surface coast,CONTROL_FINISHED_OK
$STATE,7371,begin surface
$SM_CCo,7448,0.00,0.000,0,0,444,595.10
$SM_GC,1.01,6.40,0.00,0.00,0.034,0.000,0.000,212,2620,444,-6.50,0.59,595.10,0,0,0,0,0,0
$IRIDIUM_FIX,1810.04,12022.41,210711,161624
$TT8_MAMPS,0.028462,0.028462
$HUMID,41.21
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.40
$XPDR_PINGS,7
$24V_AH,24.6,34.341
$10V_AH,10.0,33.588
$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,15.975,89.375,601.925,0.000,0.000,25.571,25.165,182.522,1.750,0.000,16.535,2030.427,2488.034,592.310,2431.592,268.466,0.000,1527.465,0.000,1427.774,0.000,0.541,0.000
$DEVICE_MAMPS,228.735,45.900,725.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,612.482,1048.531,1552.036,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321788
$DATA_FILE_SIZE,60471,899
$CAP_FILE_SIZE,105708,0
$CFSIZE,260165632,230944768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210711,202616,1837.338,12030.832,8,2.5,27,-2.0