OKMC Aug12 * SG166 * Dive index * Mission links
version: 66.11
glider: 166
mission: 8
dive: 4
start: 8 11 112 0 14 9
data:
$ID,166
$MISSION,8
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,120
$T_BOOST,2
$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,120
$T_MISSION,135
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,240
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52225
$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,450
$N_FILEKB,8
$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,-26232.461
$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,2420
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,28
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2803
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,147
$AH0_10V,109
$MINV_24V,23
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.057545
$PRESSURE_SLOPE,0.0001160501
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5999999
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043150801
$SEABIRD_T_H,0.00063196511
$SEABIRD_T_I,2.3897506e-05
$SEABIRD_T_J,2.561103e-06
$SEABIRD_C_G,-10.001128
$SEABIRD_C_H,1.125791
$SEABIRD_C_I,-0.0024671701
$SEABIRD_C_J,0.00026194067
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,110812,000955,1815.718,12253.877,13,1.0,13,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-62.8
$GPS2,110812,001343,1815.758,12253.848,11,1.6,11,-2.0
$SPEED_LIMITS,0.173,0.320
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$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,250.8,71947,-14.2,-10.000
$D_GRID,3855
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.64,-233.6,0.0,0.0,0,108,0.00,0.00,-87.97,0.000,2,0.000,0.000,151,2249,2548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.64,-233.6,3.6,-5.0,15,149,7.95,1.48,-24.62,0.000,4,0.240,0.057,2205,1263,3758,0,0,0,0,0,0,26.21,26.62,26.94
$GC,351,-0.64,-233.6,49.4,-15.4,46,358,0.00,1.48,0.00,0.000,6,0.000,0.040,2199,2257,3764,0,0,0,0,0,0,28.83,26.67,28.83
$GC,658,-0.64,-233.6,96.5,-12.6,62,665,0.00,1.42,0.00,0.000,4,0.000,0.034,2199,1271,3763,0,0,0,0,0,0,28.83,26.76,28.83
$GC,803,-0.64,-233.6,111.0,-9.6,69,808,0.00,1.45,0.00,0.000,6,0.000,0.041,2192,2251,3763,0,0,0,0,0,0,28.83,26.75,28.83
$GC,1127,-0.64,-233.6,141.1,-8.5,85,1132,0.00,1.48,0.00,0.000,4,0.000,0.057,2186,3226,3763,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1159,-0.64,-233.6,143.2,-8.7,86,1164,0.00,1.40,0.00,0.000,6,0.000,0.031,2186,2241,3763,0,0,0,0,0,0,28.83,26.83,28.83
$GC,1472,-0.64,-233.6,172.1,-9.4,102,1477,0.00,1.38,0.00,0.000,4,0.000,0.034,2184,1278,3762,0,0,0,0,0,0,28.83,26.82,28.83
$GC,1519,-0.64,-233.6,176.1,-9.4,104,1524,0.08,1.45,0.00,0.000,6,0.116,0.043,2220,2256,3763,0,0,0,0,0,0,26.66,26.79,28.83
$GC,1837,-0.64,-233.6,198.5,-8.9,120,1843,0.00,1.40,0.00,0.000,4,0.000,0.034,2223,1279,3761,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2070,-0.64,-233.6,221.9,-11.0,131,2075,0.00,1.45,0.00,0.000,6,0.000,0.041,2223,2257,3760,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2383,-0.64,-233.6,256.8,-10.3,147,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2257,3759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2685,-0.64,-233.6,286.1,-9.4,162,2690,0.00,1.42,0.00,0.000,4,0.000,0.035,2223,1270,3756,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2767,-0.64,-233.6,294.3,-9.8,166,2772,0.00,1.45,0.00,0.000,6,0.000,0.042,2223,2249,3756,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3090,-0.64,-233.6,328.2,-10.4,182,3095,0.00,1.40,0.00,0.000,4,0.000,0.036,2223,1277,3754,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3193,-0.64,-233.6,339.1,-10.6,187,3198,0.00,1.45,0.00,0.000,6,0.000,0.043,2223,2254,3753,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,3394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3394,begin apogee
$GC,3399,-0.19,0.0,360.8,-11.0,197,3585,0.35,0.00,180.85,0.696,6,0.062,0.000,2379,2254,2801,0,0,0,0,0,0,26.81,28.83,24.90
$STATE,3587,end apogee,CONTROL_FINISHED_OK
$STATE,3587,begin climb
$GC,3589,0.64,233.6,372.9,0.0,206,3786,0.62,1.62,188.35,0.675,4,0.037,0.037,2660,1227,1844,0,0,0,0,0,0,25.69,25.51,24.88
$GC,3987,0.64,233.6,324.7,16.7,226,3996,0.10,1.48,0.00,0.000,6,0.165,0.044,2629,2202,1831,0,0,0,0,0,0,26.15,26.32,28.83
$GC,4293,0.64,233.6,276.5,15.1,242,4299,0.00,1.45,0.00,0.000,4,0.000,0.039,2634,1230,1828,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4357,0.64,233.6,266.8,15.4,245,4363,0.00,1.45,0.00,0.000,6,0.000,0.044,2633,2199,1828,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4680,0.64,233.6,217.7,14.9,261,4685,0.00,1.50,0.00,0.000,4,0.000,0.059,2634,3208,1826,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4783,0.64,233.6,201.5,15.8,266,4788,0.00,1.45,0.00,0.000,6,0.000,0.035,2641,2207,1824,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5106,0.64,233.6,157.4,12.2,282,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2207,1825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5409,0.64,233.6,121.7,11.6,297,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2206,1824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5707,0.64,233.6,84.8,11.2,312,5713,0.00,1.50,0.00,0.000,4,0.000,0.057,2641,3180,1824,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5755,0.64,244.9,80.6,9.7,314,5765,0.00,1.42,2.62,0.135,6,0.000,0.034,2649,2189,1800,0,0,0,0,0,0,28.83,26.81,26.58
$GC,6073,0.69,352.5,58.9,6.9,330,6119,0.00,0.00,44.70,0.241,6,0.000,0.000,2648,2188,1363,0,0,0,0,0,0,28.83,28.83,26.23
$GC,6413,0.70,384.4,28.2,9.1,358,6434,0.00,1.50,14.98,0.174,4,0.000,0.054,2649,3186,1232,0,0,0,0,0,0,28.83,26.59,26.38
$GC,6507,0.70,384.4,18.4,10.7,373,6514,0.00,1.42,1.48,0.148,6,0.000,0.034,2657,2198,1233,0,0,0,0,0,0,28.83,26.71,26.50
$STATE,6682,end climb,SURFACE_DEPTH_REACHED
$STATE,6682,begin surface coast
$FINISH,0.8,1.005738
$STATE,6718,end surface coast,CONTROL_FINISHED_OK
$STATE,6718,begin surface
$SM_CCo,6734,27.05,0.120,0,0,964,450.13
$SM_GC,1.46,6.40,0.08,27.05,0.040,0.127,0.120,131,2246,964,-7.04,-1.24,450.13,0,0,0,0,0,0,26.72,26.79,26.48
$IRIDIUM_FIX,1810.04,12252.30,110812,000027
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.08
$INTERNAL_PRESSURE,9.74871
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,7768416
$24V_AH,24.9,1.075
$10V_AH,10.1,0.850
$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,15.500,34.975,432.975,27.050,0.000,0.000,0.000,0.000,0.000,0.000,12.709,1271.464,3926.157,497.918,1036.744,106.318,0.000,1085.396,0.000,1007.175,0.000,0.544,0.000
$DEVICE_MAMPS,240.210,126.990,696.150,120.105,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6701.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.289,0.000,0.000,0.000
$MEM,329296
$DATA_FILE_SIZE,13459,414
$CAP_FILE_SIZE,98315,0
$CFSIZE,260165632,253652992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.465,  6.8,1
$GPS,110812,020803,1816.420,12252.437,12,3.0,31,-2.0