OKMC Mar13 * SG177 * Dive index * Mission links
version: 66.11
glider: 177
mission: 4
dive: 183
start: 4 21 113 5 42 28
data:
$ID,177
$MISSION,4
$DIVE,183
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$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,360
$T_MISSION,380
$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,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52151
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.001
$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,619.87311
$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,-8094.5088
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,159
$PITCH_MAX,3950
$C_PITCH,2925
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,97
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,2992
$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,4
$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,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-43.106712
$PRESSURE_SLOPE,0.000115925
$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,0
$XPDR_VALID,0
$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,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044109048
$SEABIRD_T_H,0.00065266038
$SEABIRD_T_I,2.7513828e-05
$SEABIRD_T_J,3.0466049e-06
$SEABIRD_C_G,-9.9740562
$SEABIRD_C_H,1.1339458
$SEABIRD_C_I,-0.0018908759
$SEABIRD_C_J,0.0002126007
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,210413,052853,1845.080,12258.222,41,1.5,60,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.81
$_SM_ANGLEo,-72.8
$GPS2,210413,054145,1844.845,12258.067,14,2.6,33,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,MEAST
$TGT_LATLONG,1845.000,12300.070
$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,71.6,3525,-22.1,-9.167,-22.46,180
$D_GRID,4486
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.91,-10.7,149,2416,486,440,0.0,0.0,0,123,0.00,0.00,-98.35,0.000,16390,0.000,0.000,149,2417,3038,3086,2991,0,0,0,0,0,0,28.83,28.83,26.47
$GC,126,-0.91,-10.7,149,2417,3086,2990,3.8,-14.8,14,143,10.57,2.10,0.00,0.000,2564,0.255,0.026,2642,981,3041,3090,2992,0,0,0,0,0,0,25.72,26.13,28.83
$GC,273,-0.91,-10.7,2641,981,3101,2983,59.4,-30.6,29,279,0.00,1.92,0.00,0.000,1030,0.000,0.026,2634,2338,3042,3101,2983,0,0,0,0,0,0,28.83,26.25,28.83
$GC,593,-0.91,-10.7,2633,2339,3104,2983,141.3,-23.7,45,598,0.00,1.92,0.00,0.000,516,0.000,0.031,2633,989,3043,3104,2983,0,0,0,0,0,0,28.83,26.35,28.83
$GC,672,-0.91,-10.7,2633,989,3104,2982,156.1,-23.0,48,680,0.00,1.95,0.00,0.000,1030,0.000,0.025,2624,2376,3043,3104,2982,0,0,0,0,0,0,28.83,26.41,28.83
$GC,978,-0.91,-10.7,2624,2376,3105,2981,214.8,-16.9,64,984,0.00,1.98,0.00,0.000,516,0.000,0.031,2624,991,3043,3105,2982,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1064,-0.91,-10.7,2624,990,3105,2982,230.7,-18.6,68,1070,0.10,1.95,0.00,0.000,3078,0.207,0.026,2634,2384,3043,3105,2982,0,0,0,0,0,0,26.23,26.48,28.83
$GC,1391,-0.91,-10.7,2634,2384,3105,2986,286.2,-16.6,84,1397,0.00,1.92,0.00,0.000,260,0.000,0.039,2626,3714,3043,3105,2981,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1591,-0.91,-10.7,2626,3714,3105,2980,316.6,-16.2,93,1596,0.00,1.85,0.00,0.000,1030,0.000,0.020,2626,2344,3042,3105,2980,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1905,-0.91,-10.7,2626,2339,3105,2977,359.9,-13.6,109,1912,0.00,1.88,0.00,0.000,516,0.000,0.031,2626,1010,3040,3105,2976,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1981,-0.91,-10.7,2626,1010,3105,2975,368.7,-12.9,112,1987,0.08,1.92,0.00,0.000,3078,0.217,0.026,2630,2382,3040,3105,2975,0,0,0,0,0,0,26.34,26.53,28.83
$GC,2297,-0.91,-10.7,2629,2382,3105,2972,409.0,-11.4,128,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2382,3038,3105,2972,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2595,-0.91,-10.7,2629,2383,3105,2967,442.9,-11.2,143,2601,0.00,1.95,0.00,0.000,516,0.000,0.031,2630,1018,3036,3105,2967,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2644,-0.91,-10.7,2630,1018,3105,2965,448.2,-11.6,145,2650,0.00,1.92,0.00,0.000,1030,0.000,0.027,2622,2375,3035,3105,2965,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2965,-0.91,-10.7,2622,2375,3105,2961,489.6,-12.8,161,2971,0.00,1.95,0.00,0.000,260,0.000,0.041,2615,3706,3033,3105,2961,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2990,-0.91,-10.7,2615,3706,3105,2961,492.7,-12.5,162,2996,0.10,1.83,0.00,0.000,3078,0.190,0.021,2637,2347,3033,3105,2961,0,0,0,0,0,0,26.31,26.61,28.83
$GC,3316,-0.91,-10.7,2636,2346,3105,2960,530.0,-11.5,178,3322,0.00,2.00,0.00,0.000,260,0.000,0.041,2629,3705,3030,3105,2955,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3471,-0.91,-10.7,2627,3704,3104,2955,548.0,-12.3,185,3477,0.00,1.77,0.00,0.000,1030,0.000,0.021,2629,2380,3029,3104,2955,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3785,-0.91,-10.7,2629,2379,3102,2951,583.6,-11.7,201,3791,0.00,1.92,0.00,0.000,516,0.000,0.032,2630,1025,3025,3100,2951,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3831,-0.91,-10.7,2629,1024,3099,2951,588.6,-11.3,203,3836,0.00,1.92,0.00,0.000,1030,0.000,0.028,2620,2377,3025,3100,2951,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4144,-0.91,-10.7,2620,2376,3098,2948,623.2,-10.8,215,4150,0.00,1.95,0.00,0.000,260,0.000,0.042,2611,3707,3023,3098,2948,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4203,-0.91,-10.7,2610,3707,3098,2948,627.0,-10.7,216,4212,0.10,1.85,0.00,0.000,3078,0.192,0.021,2632,2368,3022,3098,2947,0,0,0,0,0,0,26.30,26.61,28.83
$GC,4510,-0.91,-10.7,2632,2368,3096,2943,660.8,-9.5,227,4517,0.00,2.00,0.00,0.000,260,0.000,0.043,2624,3715,3019,3096,2943,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4626,-0.91,-10.7,2624,3715,3095,2943,671.0,-10.3,230,4632,0.00,1.80,0.00,0.000,1030,0.000,0.021,2624,2388,3019,3095,2943,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4941,-0.91,-10.7,2623,2388,3092,2942,705.9,-10.3,241,4946,0.00,1.95,0.00,0.000,516,0.000,0.033,2624,1022,3016,3092,2941,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5177,-0.91,-10.7,2624,1021,3091,2937,727.6,-10.1,248,5184,0.10,1.92,0.00,0.000,3078,0.203,0.029,2636,2373,3014,3091,2937,0,0,0,0,0,0,26.25,26.50,28.83
$GC,5492,-0.91,-11.3,2636,2374,3091,2936,757.5,-8.8,259,5499,0.00,1.95,0.00,0.000,516,0.000,0.033,2637,1023,3012,3089,2936,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5728,-0.91,-12.8,2636,1025,3088,2934,776.1,-8.3,266,5734,0.00,1.92,0.00,0.000,1030,0.000,0.028,2629,2377,3010,3088,2933,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6044,-0.91,-14.5,2629,2377,3087,2931,803.3,-8.2,277,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2380,3009,3087,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6343,-0.91,-15.1,2629,2377,3085,2930,828.5,-8.8,287,6349,0.00,1.98,0.00,0.000,516,0.000,0.034,2629,1012,3007,3084,2930,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6457,-0.92,-16.1,2629,1013,3084,2929,836.6,-8.6,290,6463,0.00,1.95,0.00,0.000,1030,0.000,0.029,2620,2374,3006,3083,2929,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6773,-0.92,-17.6,2620,2375,3083,2926,864.7,-8.3,301,6778,0.00,1.95,0.00,0.000,516,0.000,0.034,2620,1023,3004,3082,2926,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6961,-0.92,-18.1,2620,1023,3082,2925,881.1,-8.8,307,6968,0.10,1.95,0.00,0.000,3078,0.200,0.029,2631,2386,3003,3081,2925,0,0,0,0,0,0,26.22,26.48,28.83
$GC,7291,-0.93,-20.3,2630,2386,3082,2923,907.5,-7.9,318,7297,0.00,1.98,0.00,0.000,516,0.000,0.034,2631,1023,3002,3081,2923,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7336,-0.93,-22.4,2631,1023,3080,2923,910.3,-7.9,319,7341,0.00,1.92,0.00,0.000,1030,0.000,0.028,2624,2375,3001,3080,2923,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7661,-0.93,-24.7,2623,2375,3080,2921,936.9,-7.9,330,7667,0.00,1.98,0.00,0.000,516,0.000,0.034,2624,1015,2999,3078,2921,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7700,-0.94,-26.8,2623,1015,3078,2921,939.8,-7.9,331,7706,0.00,1.95,0.00,0.000,1030,0.000,0.031,2615,2370,2999,3078,2921,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8030,-0.94,-27.6,2615,2372,3077,2920,968.3,-8.7,342,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2372,2997,3077,2917,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8297,begin apogee
$GC,8302,-0.20,0.0,2615,2260,3077,2919,991.6,-8.6,351,8308,0.80,0.00,0.00,0.000,2054,0.161,0.000,2857,2260,2998,3077,2919,0,0,0,0,0,0,26.01,28.83,28.83
$STATE,8310,end apogee,CONTROL_FINISHED_OK
$STATE,8310,begin climb
$GC,8312,0.94,27.6,2857,2260,3077,2919,991.6,0.0,351,8354,1.02,2.15,31.75,0.998,10500,0.083,0.046,3229,3650,2877,2967,2788,0,0,0,0,0,0,26.28,25.85,25.08
$GC,8588,0.99,54.4,2272,3649,2913,2776,1000.7,-6.2,359,8629,0.00,2.03,28.88,0.986,9222,0.000,0.028,3234,2263,2768,2864,2673,0,0,0,0,0,0,28.83,26.12,24.89
$GC,8924,1.01,63.3,3234,2263,2863,2666,995.1,4.1,371,8941,0.00,2.20,9.55,0.964,8708,0.000,0.047,3244,855,2733,2829,2637,0,0,0,0,0,0,28.83,25.86,25.12
$GC,9177,1.02,70.0,3244,855,2828,2634,981.9,5.4,379,9193,0.00,2.05,8.30,0.952,9222,0.000,0.031,3244,2252,2704,2798,2610,0,0,0,0,0,0,28.83,26.11,25.18
$GC,9512,1.04,75.3,3244,2252,2797,2605,961.0,6.1,390,9524,0.00,2.12,4.95,0.878,8708,0.000,0.045,3253,858,2686,2781,2592,0,0,0,0,0,0,28.83,26.06,25.10
$GC,9755,1.04,79.2,2320,857,2718,2584,946.1,6.9,397,9769,0.00,2.03,5.55,0.904,9222,0.000,0.030,3254,2249,2669,2761,2577,0,0,0,0,0,0,28.83,26.21,25.25
$GC,10097,1.05,83.3,3253,2249,2761,2576,920.6,6.8,409,10109,0.00,2.12,5.07,0.878,8708,0.000,0.047,3262,856,2652,2743,2561,0,0,0,0,0,0,28.83,26.13,25.25
$GC,10340,1.05,85.0,3262,856,2743,2561,903.2,8.2,416,10348,0.00,2.03,0.00,0.000,1030,0.000,0.031,3262,2247,2652,2743,2562,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10648,1.05,85.0,3262,2247,2743,2560,873.3,9.2,427,10653,0.00,2.10,0.00,0.000,516,0.000,0.049,3272,862,2651,2743,2560,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10885,1.05,85.0,3272,858,2743,2560,851.9,9.7,434,10891,0.00,2.00,0.00,0.000,1030,0.000,0.031,3272,2242,2651,2743,2560,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11200,1.05,85.0,3272,2242,2742,2558,820.1,9.2,445,11206,0.00,2.10,0.00,0.000,516,0.000,0.049,3282,857,2651,2744,2558,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11440,1.06,86.5,3281,856,2743,2558,801.4,8.3,452,11454,0.10,2.00,3.88,0.710,13318,0.229,0.031,3264,2246,2639,2729,2549,0,0,0,0,0,0,26.08,26.39,25.31
$GC,11752,1.07,92.0,3264,2246,2729,2549,780.6,6.0,463,11768,0.00,2.17,8.30,0.865,8708,0.000,0.048,3272,852,2615,2704,2526,0,0,0,0,0,0,28.83,26.20,25.49
$GC,11858,1.08,97.1,3270,850,2704,2524,774.4,6.3,466,11870,0.00,2.03,5.50,0.837,9222,0.000,0.031,3272,2246,2597,2685,2509,0,0,0,0,0,0,28.83,26.27,25.36
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$STATE,22542,end climb,SURFACE_DEPTH_REACHED
$STATE,22542,begin surface coast
$FINISH,-0.4,1.021821
$STATE,22586,end surface coast,CONTROL_FINISHED_OK
$STATE,22586,begin surface
$SM_CCo,22605,142.95,0.048,0,0,463,619.87
$SM_GC,-1.73,8.93,2.17,142.95,0.082,0.025,0.048,132,2369,463,-8.62,-1.87,619.87,0,0,0,0,0,0,26.41,26.49,26.32
$IRIDIUM_FIX,1837.32,12300.38,210413,050540
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.74
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,25.30
$XPDR_PINGS,42
$SC_FREEKB,3949856
$24V_AH,24.9,23.405
$10V_AH,10.3,21.408
$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
$DEVICE_SECS,22.550,180.600,262.275,142.950,0.000,0.000,0.000,482.250,10.500,0.000,36.857,5445.287,12838.734,737.286,3844.568,639.448,0.000,2851.918,0.000,3203.745,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22603.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.336,0.000,0.000,0.000
$MEM,320876
$DATA_FILE_SIZE,39995,1053
$CAP_FILE_SIZE,631329,0
$CFSIZE,260034560,230006784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0
$CURRENT,0.083,280.2,1
$GPS,210413,120305,1845.615,12258.033,38,1.0,43,-2.1