OKMC Jun11 * SG181 * Dive index * Mission links
version: 66.09
glider: 181
mission: 6
dive: 656
start: 10 14 111 20 21 59
data:
$ID,181
$MISSION,6
$DIVE,656
$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,320
$T_MISSION,350
$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,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51861
$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,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,-41418.664
$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,2300
$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,20
$C_ROLL_DIVE,2590
$C_ROLL_CLIMB,2165
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,1.0
$TM_XMITPROFILE,1.0
$TM_UPLOADMAX,0.0
$TM_STARTS,41.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,0.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,1.0
$LA_XMITPROFILE,1.0
$LA_UPLOADMAX,10000.0
$LA_STARTS,23.0
$GPS1,141011,201607,2157.458,12030.578,33,1.0,33,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.0
$GPS2,141011,202114,2157.352,12030.636,10,1.6,10,-2.7
$SPEED_LIMITS,0.179,0.281
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.206,0.235
$KALMAN_X,28223.1,-227.3,-456.5,-48601.6,-2485.5
$KALMAN_Y,68902.1,-606.5,-201.3,102840.5,390.9
$MHEAD_RNG_PITCHd_Wd,340.7,19751,-16.5,-10.312
$D_GRID,574
$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,-0.49,-170.3,0.0,0.0,0,82,0.00,0.00,-63.33,0.000,2,0.000,0.000,198,2606,2231,0,0,0,0,0,0
$GC,85,-0.49,-170.3,3.1,-3.1,10,129,7.95,1.10,-30.55,0.000,4,0.217,0.065,2131,3290,3565,0,0,0,0,0,0
$GC,227,-0.49,-170.3,50.2,-36.4,34,233,0.00,1.02,0.00,0.000,6,0.000,0.023,2130,2587,3564,0,0,0,0,0,0
$GC,369,-0.49,-170.3,88.4,-19.7,59,376,0.00,1.08,0.00,0.000,4,0.000,0.036,2125,3294,3562,0,0,0,0,0,0
$GC,406,-0.49,-170.3,96.4,-22.3,65,414,0.00,1.02,0.00,0.000,6,0.000,0.024,2125,2600,3562,0,0,0,0,0,0
$GC,550,-0.49,-170.3,123.2,-21.4,90,557,0.00,1.00,0.00,0.000,4,0.000,0.024,2125,1858,3561,0,0,0,0,0,0
$GC,614,-0.49,-170.3,136.3,-20.3,101,621,0.00,1.10,0.00,0.000,6,0.000,0.033,2120,2590,3561,0,0,0,0,0,0
$GC,758,-0.49,-170.3,165.0,-18.9,126,765,0.00,1.02,0.00,0.000,4,0.000,0.024,2120,1858,3561,0,0,0,0,0,0
$GC,789,-0.49,-170.3,170.2,-16.2,131,795,0.00,1.10,0.00,0.000,6,0.000,0.033,2114,2588,3561,0,0,0,0,0,0
$GC,931,-0.49,-170.3,191.3,-14.4,156,937,0.00,1.05,0.00,0.000,4,0.000,0.037,2108,3295,3561,0,0,0,0,0,0
$GC,978,-0.49,-170.3,198.1,-14.2,164,985,0.10,1.05,0.00,0.000,6,0.145,0.023,2139,2560,3561,0,0,0,0,0,0
$GC,1115,-0.49,-170.3,213.3,-11.4,178,1119,0.00,1.12,0.00,0.000,4,0.000,0.037,2136,3292,3561,0,0,0,0,0,0
$GC,1174,-0.49,-170.3,221.4,-14.2,183,1177,0.00,1.00,0.00,0.000,6,0.000,0.024,2136,2590,3560,0,0,0,0,0,0
$GC,1505,-0.49,-170.3,269.6,-15.3,214,1509,0.00,0.95,0.00,0.000,4,0.000,0.024,2135,1874,3559,0,0,0,0,0,0
$GC,1577,-0.49,-170.3,280.8,-15.5,220,1584,0.00,1.08,0.00,0.000,6,0.000,0.034,2131,2586,3559,0,0,0,0,0,0
$GC,1903,-0.49,-170.3,330.6,-14.7,251,1906,0.00,0.98,0.00,0.000,4,0.000,0.024,2130,1879,3557,0,0,0,0,0,0
$GC,1926,-0.49,-170.3,333.9,-14.2,253,1930,0.00,1.08,0.00,0.000,6,0.000,0.034,2126,2586,3557,0,0,0,0,0,0
$GC,2257,-0.49,-170.3,377.1,-11.5,284,2261,0.00,0.98,0.00,0.000,4,0.000,0.024,2125,1889,3554,0,0,0,0,0,0
$GC,2338,-0.49,-170.3,385.2,-9.3,291,2345,0.00,1.08,0.00,0.000,6,0.000,0.035,2121,2593,3553,0,0,0,0,0,0
$GC,2664,-0.49,-170.3,419.7,-10.7,322,2668,0.00,1.00,0.00,0.000,4,0.000,0.025,2120,1878,3550,0,0,0,0,0,0
$GC,2714,-0.49,-170.3,425.4,-10.8,326,2721,0.00,1.08,0.00,0.000,6,0.000,0.035,2115,2585,3549,0,0,0,0,0,0
$GC,3039,-0.49,-170.3,469.2,-15.4,357,3043,0.00,0.98,0.00,0.000,4,0.000,0.024,2115,1903,3547,0,0,0,0,0,0
$GC,3077,-0.49,-170.3,475.5,-16.0,360,3084,0.00,1.05,0.00,0.000,6,0.000,0.037,2112,2585,3547,0,0,0,0,0,0
$GC,3399,-0.49,-170.3,527.0,-15.9,383,3403,0.12,1.00,0.00,0.000,4,0.168,0.027,2145,1896,3544,0,0,0,0,0,0
$GC,3444,-0.49,-170.3,533.6,-13.4,385,3448,0.00,1.08,0.00,0.000,6,0.000,0.037,2141,2596,3544,0,0,0,0,0,0
$GC,3778,-0.49,-170.3,572.8,-10.7,401,3782,0.00,1.00,0.00,0.000,4,0.000,0.025,2141,1886,3540,0,0,0,0,0,0
$STATE,3786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3786,begin apogee
$GC,3793,-0.13,0.0,574.2,10.2,401,3925,0.35,0.00,125.60,0.775,6,0.118,0.000,2255,2185,2869,0,0,0,0,0,0
$STATE,3925,end apogee,CONTROL_FINISHED_OK
$STATE,3925,begin climb
$GC,3929,0.49,170.3,580.0,0.0,407,4067,0.57,1.12,129.35,0.758,4,0.090,0.029,2461,1479,2174,0,0,0,0,0,0
$GC,4126,0.69,336.3,577.6,3.5,416,4261,0.12,1.05,124.75,0.754,6,0.044,0.029,2536,2165,1497,0,0,0,0,0,0
$GC,4578,0.81,431.3,545.6,6.4,438,4655,0.00,1.02,72.50,0.744,4,0.000,0.028,2540,1480,1110,0,0,0,0,0,0
$GC,4684,0.88,494.8,537.6,7.7,443,4740,0.10,1.05,50.15,0.720,6,0.050,0.028,2603,2171,851,0,0,0,0,0,0
$GC,5058,0.88,494.8,491.4,14.0,463,5062,0.00,1.02,0.00,0.000,4,0.000,0.031,2607,1488,851,0,0,0,0,0,0
$GC,5085,0.88,494.8,487.5,13.5,465,5093,0.00,1.00,0.00,0.000,6,0.000,0.027,2607,2163,851,0,0,0,0,0,0
$GC,5411,0.88,494.8,445.7,12.6,496,5414,0.00,1.02,0.00,0.000,4,0.000,0.035,2608,2853,850,0,0,0,0,0,0
$GC,5468,0.88,494.8,438.1,14.3,501,5472,0.00,1.00,0.00,0.000,6,0.000,0.027,2612,2176,851,0,0,0,0,0,0
$GC,5800,0.88,494.8,398.9,11.6,532,5804,0.00,1.02,0.00,0.000,4,0.000,0.032,2617,1476,855,0,0,0,0,0,0
$GC,5902,0.88,494.8,385.1,14.3,541,5906,0.10,1.02,0.00,0.000,6,0.116,0.029,2582,2164,856,0,0,0,0,0,0
$GC,6233,0.88,494.8,342.3,13.2,572,6237,0.00,1.02,0.00,0.000,4,0.000,0.031,2582,1478,856,0,0,0,0,0,0
$GC,6328,0.88,494.8,330.2,11.9,580,6335,0.00,1.02,0.00,0.000,6,0.000,0.028,2582,2166,856,0,0,0,0,0,0
$GC,6655,0.92,521.2,295.2,9.2,611,6685,0.00,1.10,22.25,0.611,4,0.000,0.031,2582,1458,743,0,0,0,0,0,0
$GC,6748,0.94,536.6,285.7,9.7,619,6768,0.00,1.08,13.07,0.548,6,0.000,0.028,2582,2171,681,0,0,0,0,0,0
$GC,7086,0.94,536.6,248.1,12.7,651,7090,0.00,1.02,0.00,0.000,4,0.000,0.037,2582,2854,680,0,0,0,0,0,0
$GC,7166,0.94,536.6,237.8,12.5,658,7170,0.00,1.02,0.00,0.000,6,0.000,0.027,2582,2159,680,0,0,0,0,0,0
$GC,7494,0.94,536.6,195.4,13.5,691,7501,0.00,1.00,0.00,0.000,4,0.000,0.034,2582,1480,681,0,0,0,0,0,0
$GC,7576,0.94,536.6,184.5,13.3,705,7583,0.00,1.02,0.00,0.000,6,0.000,0.028,2582,2163,681,0,0,0,0,0,0
$GC,7722,0.94,536.6,167.8,10.9,730,7730,0.00,1.02,0.00,0.000,4,0.000,0.035,2582,2857,681,0,0,0,0,0,0
$GC,7985,0.97,566.5,142.7,9.1,776,8016,0.00,1.02,24.00,0.519,6,0.000,0.028,2582,2163,558,0,0,0,0,0,0
$GC,8154,1.00,585.3,126.0,9.5,805,8175,0.12,1.10,16.12,0.480,4,0.093,0.032,2641,2861,481,0,0,0,0,0,0
$GC,8431,1.00,587.3,92.4,10.2,853,8439,0.00,1.02,3.88,0.353,6,0.000,0.026,2641,2161,473,0,0,0,0,0,0
$GC,8578,1.05,630.0,80.9,8.6,878,8592,0.00,1.10,8.15,0.459,4,0.000,0.032,2641,2862,439,0,0,0,0,0,0
$GC,8846,1.05,630.0,48.4,11.9,925,8854,0.00,1.02,0.62,0.076,6,0.000,0.028,2641,2172,440,0,0,0,0,0,0
$GC,8993,1.07,647.4,33.7,9.6,950,9001,0.00,1.00,0.77,0.083,4,0.000,0.026,2640,2866,441,0,0,0,0,0,0
$GC,9256,1.07,647.4,4.5,10.9,996,9264,0.00,1.02,2.70,0.216,6,0.000,0.026,2641,2164,439,0,0,0,0,0,0
$STATE,9268,end climb,SURFACE_DEPTH_REACHED
$STATE,9269,begin surface coast
$FINISH,0.5,1.002660
$STATE,9297,end surface coast,CONTROL_FINISHED_OK
$STATE,9297,begin surface
$SM_CCo,9374,0.00,0.000,0,0,439,596.08
$SM_GC,1.28,6.28,0.00,0.00,0.031,0.000,0.000,204,2589,439,-6.46,-0.03,596.08,0,0,0,0,0,0
$IRIDIUM_FIX,2150.42,12035.12,141011,171748
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.87
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,24.1,109.122
$10V_AH,9.9,80.948
$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,15.825,54.000,593.925,0.000,0.000,27.222,16.404,128.171,0.000,0.000,13.634,2485.683,4406.436,635.154,1869.270,302.190,0.000,1610.469,0.000,1683.568,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,65.025,774.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,681.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321988
$DATA_FILE_SIZE,56900,1003
$CAP_FILE_SIZE,118541,0
$CFSIZE,260165632,192118784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.608,112.1,1
$GPS,141011,225902,2157.233,12031.037,12,1.8,12,-2.7