OKMC Aug11 * SG166 * Dive index * Mission links
version: 66.09
glider: 166
mission: 6
dive: 150
start: 8 31 111 23 16 54
data:
$ID,166
$MISSION,6
$DIVE,150
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$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,340
$T_MISSION,370
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-24583.318
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2884
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,109
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.509327
$PRESSURE_SLOPE,0.0001160501
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004315557
$SEABIRD_T_H,0.00063223497
$SEABIRD_T_I,2.3993638e-05
$SEABIRD_T_J,2.5696888e-06
$SEABIRD_C_G,-9.9842854
$SEABIRD_C_H,1.1210135
$SEABIRD_C_I,-0.0013500623
$SEABIRD_C_J,0.00018873326
$GPS1,310811,230551,2211.387,12358.403,43,99.0,62,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-66.1
$GPS2,310811,231631,2211.348,12358.503,14,1.4,31,-3.0
$SPEED_LIMITS,0.168,0.265
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,172.6,76620,-17.2,-9.706
$D_GRID,4894
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-155.7,0.0,0.0,0,94,0.00,0.00,-74.90,0.000,2,0.000,0.000,121,1470,3087,0,0,0,0,0,0
$GC,98,-0.68,-155.7,5.6,-8.3,10,123,9.40,2.28,-8.25,0.000,4,0.225,0.054,2512,2902,3521,0,0,0,0,0,0
$GC,200,-0.68,-155.7,46.4,-32.1,27,208,0.00,2.17,0.00,0.000,6,0.000,0.038,2507,1514,3523,0,0,0,0,0,0
$GC,524,-0.68,-155.7,126.4,-22.4,88,533,0.00,2.17,0.00,0.000,4,0.000,0.048,2496,2895,3525,0,0,0,0,0,0
$GC,633,-0.68,-155.7,146.7,-17.1,107,641,0.00,2.17,0.00,0.000,6,0.000,0.039,2495,1492,3525,0,0,0,0,0,0
$GC,960,-0.68,-155.7,216.0,-19.4,168,970,0.10,2.03,0.00,0.000,4,0.184,0.047,2529,200,3526,0,0,0,0,0,0
$GC,1071,-0.68,-155.7,234.2,-16.1,187,1079,0.00,1.98,0.00,0.000,6,0.000,0.037,2522,1497,3526,0,0,0,0,0,0
$GC,1407,-0.68,-155.7,286.0,-15.5,227,1411,0.00,2.12,0.00,0.000,4,0.000,0.047,2511,2904,3526,0,0,0,0,0,0
$GC,1438,-0.68,-155.7,291.0,-15.2,229,1442,0.00,2.12,0.00,0.000,6,0.000,0.037,2512,1497,3526,0,0,0,0,0,0
$GC,1765,-0.68,-155.7,342.2,-16.4,259,1769,0.00,1.98,0.00,0.000,4,0.000,0.048,2513,193,3525,0,0,0,0,0,0
$GC,1980,-0.68,-155.7,379.1,-16.3,278,1983,0.00,1.95,0.00,0.000,6,0.000,0.035,2503,1514,3524,0,0,0,0,0,0
$GC,2311,-0.68,-155.7,422.1,-11.3,309,2315,0.00,2.10,0.00,0.000,4,0.000,0.048,2494,2904,3522,0,0,0,0,0,0
$GC,2341,-0.68,-155.7,425.1,-10.5,311,2345,0.00,2.10,0.00,0.000,6,0.000,0.038,2499,1494,3522,0,0,0,0,0,0
$GC,2668,-0.68,-155.7,463.1,-12.1,341,2672,0.00,1.98,0.00,0.000,4,0.000,0.049,2512,205,3519,0,0,0,0,0,0
$GC,2785,-0.68,-155.7,479.0,-12.9,351,2792,0.00,1.95,0.00,0.000,6,0.000,0.038,2502,1499,3518,0,0,0,0,0,0
$GC,3111,-0.68,-155.7,518.5,-12.5,382,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1499,3516,0,0,0,0,0,0
$GC,3431,-0.68,-155.7,561.5,-13.7,412,3435,0.00,2.05,0.00,0.000,4,0.000,0.050,2501,198,3513,0,0,0,0,0,0
$GC,3458,-0.68,-155.7,565.7,-13.7,414,3466,0.08,2.00,0.00,0.000,6,0.151,0.038,2517,1497,3513,0,0,0,0,0,0
$GC,3793,-0.68,-155.7,604.8,-11.4,444,3797,0.00,2.17,0.00,0.000,4,0.000,0.051,2510,2917,3510,0,0,0,0,0,0
$GC,3836,-0.68,-155.7,609.4,-10.5,446,3841,0.00,2.15,0.00,0.000,6,0.000,0.041,2509,1498,3509,0,0,0,0,0,0
$GC,4166,-0.68,-155.7,638.3,-7.8,462,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1498,3506,0,0,0,0,0,0
$GC,4474,-0.68,-155.7,662.1,-8.1,477,4478,0.00,2.00,0.00,0.000,4,0.000,0.054,2505,202,3504,0,0,0,0,0,0
$GC,4544,-0.68,-155.7,668.9,-9.9,480,4549,0.12,1.98,0.00,0.000,6,0.168,0.041,2526,1511,3503,0,0,0,0,0,0
$GC,4871,-0.68,-155.7,700.1,-10.4,496,4875,0.00,2.15,0.00,0.000,4,0.000,0.056,2518,2904,3501,0,0,0,0,0,0
$GC,4925,-0.68,-155.7,706.4,-11.2,498,4930,0.00,2.15,0.00,0.000,6,0.000,0.042,2518,1475,3500,0,0,0,0,0,0
$GC,5250,-0.68,-155.7,740.6,-9.2,514,5254,0.00,2.22,0.00,0.000,4,0.000,0.057,2505,2904,3497,0,0,0,0,0,0
$GC,5297,-0.68,-155.7,744.4,-8.0,516,5301,0.00,2.12,0.00,0.000,6,0.000,0.042,2506,1492,3497,0,0,0,0,0,0
$GC,5627,-0.68,-155.7,766.4,-6.3,532,5631,0.00,2.00,0.00,0.000,4,0.000,0.056,2505,201,3494,0,0,0,0,0,0
$GC,5733,-0.68,-155.7,774.8,-7.9,536,5741,0.10,2.00,0.00,0.000,6,0.179,0.044,2520,1506,3493,0,0,0,0,0,0
$GC,6049,-0.68,-155.7,797.1,-7.9,552,6053,0.00,2.17,0.00,0.000,4,0.000,0.057,2512,2906,3492,0,0,0,0,0,0
$GC,6072,-0.68,-155.7,799.2,-8.5,553,6076,0.00,2.12,0.00,0.000,6,0.000,0.041,2513,1494,3491,0,0,0,0,0,0
$GC,6394,-0.68,-155.7,833.5,-11.2,569,6398,0.00,2.03,0.00,0.000,4,0.000,0.055,2516,203,3489,0,0,0,0,0,0
$GC,6497,-0.68,-155.7,846.4,-12.6,573,6500,0.00,2.00,0.00,0.000,6,0.000,0.044,2508,1502,3488,0,0,0,0,0,0
$GC,6819,-0.68,-155.7,882.7,-10.3,589,6823,0.00,2.17,0.00,0.000,4,0.000,0.057,2502,2905,3487,0,0,0,0,0,0
$GC,6859,-0.68,-155.7,886.7,-9.7,591,6863,0.00,2.15,0.00,0.000,6,0.000,0.044,2502,1496,3486,0,0,0,0,0,0
$GC,7188,-0.68,-155.7,915.7,-8.0,607,7192,0.00,2.00,0.00,0.000,4,0.000,0.056,2502,205,3485,0,0,0,0,0,0
$GC,7235,-0.68,-155.7,920.1,-9.4,609,7239,0.12,1.98,0.00,0.000,6,0.173,0.045,2525,1499,3484,0,0,0,0,0,0
$GC,7564,-0.68,-155.7,939.3,-5.5,625,7568,0.00,2.20,0.00,0.000,4,0.000,0.060,2517,2904,3483,0,0,0,0,0,0
$GC,7619,-0.68,-155.7,942.5,-5.0,627,7626,0.00,2.12,0.00,0.000,6,0.000,0.044,2517,1502,3483,0,0,0,0,0,0
$GC,7935,-0.68,-155.7,963.4,-7.3,643,7939,0.00,2.22,0.00,0.000,4,0.000,0.060,2506,2912,3481,0,0,0,0,0,0
$GC,7965,-0.68,-155.7,965.6,-7.7,644,7969,0.00,2.15,0.00,0.000,6,0.000,0.045,2506,1498,3481,0,0,0,0,0,0
$STATE,8242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8243,begin apogee
$GC,8248,-0.14,0.0,991.6,9.7,658,8383,0.57,0.00,125.95,1.471,6,0.130,0.000,2689,1851,2884,0,0,0,0,0,0
$STATE,8384,end apogee,CONTROL_FINISHED_OK
$STATE,8384,begin climb
$GC,8386,0.68,155.7,995.1,0.0,664,8538,0.77,2.47,141.98,1.411,4,0.073,0.063,2961,3248,2248,0,0,0,0,0,0
$GC,8558,0.68,155.7,979.8,13.2,672,8562,0.00,2.30,0.00,0.000,6,0.000,0.045,2969,1845,2245,0,0,0,0,0,0
$GC,8879,0.68,155.7,931.1,16.1,688,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1846,2239,0,0,0,0,0,0
$GC,9190,0.68,155.7,879.4,16.8,703,9194,0.00,2.25,0.00,0.000,4,0.000,0.063,2968,3260,2237,0,0,0,0,0,0
$GC,9236,0.68,155.7,871.2,17.7,705,9240,0.00,2.17,0.00,0.000,6,0.000,0.044,2978,1834,2237,0,0,0,0,0,0
$GC,9563,0.68,155.7,819.3,15.0,721,9567,0.00,2.15,0.00,0.000,4,0.000,0.054,2989,437,2235,0,0,0,0,0,0
$GC,9604,0.68,155.7,813.1,15.5,723,9608,0.00,2.17,0.00,0.000,6,0.000,0.044,2982,1859,2235,0,0,0,0,0,0
$GC,9931,0.68,155.7,763.5,15.0,739,9935,0.00,2.17,0.00,0.000,4,0.000,0.059,2981,3251,2233,0,0,0,0,0,0
$GC,10016,0.68,155.7,749.9,16.4,743,10020,0.00,2.12,0.00,0.000,6,0.000,0.042,2990,1841,2233,0,0,0,0,0,0
$GC,10345,0.68,155.7,691.7,18.1,759,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1841,2232,0,0,0,0,0,0
$GC,10653,0.68,155.7,636.6,17.0,774,10657,0.00,2.22,0.00,0.000,4,0.000,0.054,2981,3264,2231,0,0,0,0,0,0
$GC,10785,0.68,155.7,614.8,16.2,780,10789,0.00,2.12,0.00,0.000,6,0.000,0.041,2989,1851,2231,0,0,0,0,0,0
$GC,11109,0.68,155.7,572.9,12.0,805,11110,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1851,2231,0,0,0,0,0,0
$GC,11429,0.68,155.7,524.4,18.2,835,11433,0.00,2.20,0.00,0.000,4,0.000,0.053,2980,3265,2231,0,0,0,0,0,0
$GC,11513,0.68,155.7,507.9,18.8,842,11517,0.00,2.12,0.00,0.000,6,0.000,0.040,2986,1849,2230,0,0,0,0,0,0
$GC,11838,0.68,155.7,450.1,14.9,872,11842,0.00,2.20,0.00,0.000,4,0.000,0.052,2979,3266,2230,0,0,0,0,0,0
$GC,11948,0.68,155.7,434.8,13.2,881,11952,0.00,2.12,0.00,0.000,6,0.000,0.039,2988,1850,2229,0,0,0,0,0,0
$GC,12274,0.68,155.7,399.0,11.0,911,12278,0.00,2.20,0.00,0.000,4,0.000,0.051,2980,3264,2229,0,0,0,0,0,0
$GC,12337,0.68,155.7,391.2,12.3,916,12341,0.00,2.15,0.00,0.000,6,0.000,0.039,2990,1846,2229,0,0,0,0,0,0
$GC,12662,0.68,155.7,347.2,14.1,946,12666,0.00,2.20,0.00,0.000,4,0.000,0.050,2982,3268,2230,0,0,0,0,0,0
$GC,12717,0.68,155.7,339.4,13.4,950,12724,0.00,2.12,0.00,0.000,6,0.000,0.037,2992,1842,2229,0,0,0,0,0,0
$GC,13044,0.68,155.7,295.2,12.9,981,13048,0.00,2.15,0.00,0.000,4,0.000,0.048,3003,445,2229,0,0,0,0,0,0
$GC,13186,0.68,155.7,277.8,11.9,993,13191,0.10,2.12,0.00,0.000,6,0.188,0.037,2970,1868,2229,0,0,0,0,0,0
$GC,13515,0.75,207.9,248.6,7.5,1025,13567,0.00,2.20,42.35,0.894,4,0.000,0.053,2961,3242,2035,0,0,0,0,0,0
$GC,13640,0.75,207.9,237.2,10.1,1044,13649,0.00,2.17,0.00,0.000,6,0.000,0.037,2966,1847,2034,0,0,0,0,0,0
$GC,13967,0.75,207.9,201.1,10.4,1105,13974,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1847,2032,0,0,0,0,0,0
$GC,14293,0.75,207.9,169.4,12.1,1166,14301,0.00,2.20,0.00,0.000,4,0.000,0.047,2978,446,2031,0,0,0,0,0,0
$GC,14335,0.75,207.9,163.8,13.0,1173,14343,0.00,2.15,0.00,0.000,6,0.000,0.036,2970,1838,2031,0,0,0,0,0,0
$GC,14663,0.81,257.7,130.6,7.6,1234,14716,0.00,2.25,42.28,0.763,4,0.000,0.049,2969,3251,1832,0,0,0,0,0,0
$GC,14788,0.87,308.4,120.8,7.6,1254,14842,0.10,2.17,44.33,0.740,6,0.048,0.034,3044,1846,1625,0,0,0,0,0,0
$GC,15161,0.91,336.7,72.5,8.5,1321,15191,0.00,0.00,24.02,0.683,6,0.000,0.000,3044,1846,1510,0,0,0,0,0,0
$GC,15512,0.91,336.7,41.0,9.8,1385,15520,0.00,2.22,0.00,0.000,4,0.000,0.046,3044,3261,1507,0,0,0,0,0,0
$GC,15588,0.91,336.7,32.5,9.8,1398,15596,0.00,2.17,0.00,0.000,6,0.000,0.035,3052,1846,1507,0,0,0,0,0,0
$STATE,15897,end climb,SURFACE_DEPTH_REACHED
$STATE,15897,begin surface coast
$FINISH,0.8,1.020120
$STATE,15932,end surface coast,CONTROL_FINISHED_OK
$STATE,15932,begin surface
$SM_CCo,15949,44.10,0.435,1,0,1253,400.08
$SM_GC,1.85,0.00,0.00,44.10,0.000,0.000,0.435,127,1473,1253,-8.18,-0.76,400.08,0,0,0,0,1,0
$IRIDIUM_FIX,2202.04,12359.47,310811,232314
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.23
$INTERNAL_PRESSURE,9.45807
$TCM_TEMP,26.20
$XPDR_PINGS,79
$24V_AH,23.0,35.980
$10V_AH,10.2,25.544
$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,18.875,141.825,420.900,44.100,0.000,54.102,74.764,249.700,19.750,0.000,32.438,3676.862,8195.981,541.973,3754.145,454.103,0.000,1924.892,0.000,3337.331,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,62.730,1471.095,434.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.919,1496.700,1729.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330176
$DATA_FILE_SIZE,83626,1462
$CAP_FILE_SIZE,168718,0
$CFSIZE,260165632,134144000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.208,228.8,1
$GPS,010911,034527,2207.989,12357.637,52,3.3,71,-3.0