OKMC Jun11 *
SG167 *
Dive index
* Mission links
version: 66.09
glider: 167
mission: 8
dive: 298
start: 8 14 111 10 9 24
data:
$ID,167
$MISSION,8
$DIVE,298
$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,380
$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,-8
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51876
$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,0
$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,-56762.684
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1875
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,6
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-16.233358
$PRESSURE_SLOPE,0.0001158971
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043379883
$SEABIRD_T_H,0.00063236553
$SEABIRD_T_I,2.4503992e-05
$SEABIRD_T_J,2.6444222e-06
$SEABIRD_C_G,-9.8845854
$SEABIRD_C_H,1.1045586
$SEABIRD_C_I,-0.0015691385
$SEABIRD_C_J,0.00020000842
$GPS1,140811,100054,2012.286,12418.713,24,1.0,42,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-68.5
$GPS2,140811,100901,2012.390,12418.697,15,1.8,15,-2.5
$SPEED_LIMITS,0.168,0.293
$TGT_NAME,S3
$TGT_LATLONG,1750.000,12435.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.013,-0.305
$KALMAN_X,-1531.9,-192.4,226.3,5724.7,67.3
$KALMAN_Y,11735.9,46.7,-129.6,-54154.7,2747.8
$MHEAD_RNG_PITCHd_Wd,180.9,265267,-15.3,-9.706
$D_GRID,5000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.62,-194.6,0.0,0.0,0,112,0.00,0.00,-88.05,0.000,2,0.000,0.000,111,1830,2928,0,0,0,0,0,0
$GC,115,-0.62,-194.6,5.1,-7.0,12,145,10.00,1.98,-12.32,0.000,4,0.230,0.037,2594,471,3633,0,0,0,0,0,0
$GC,159,-0.62,-194.6,22.1,-36.7,18,167,0.00,2.08,0.00,0.000,6,0.000,0.022,2586,1874,3634,0,0,0,0,0,0
$GC,237,-0.62,-194.6,44.5,-29.3,31,245,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1875,3635,0,0,0,0,0,0
$GC,314,-0.62,-194.6,64.0,-22.6,44,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1875,3635,0,0,0,0,0,0
$GC,387,-0.62,-194.6,80.1,-22.5,57,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1875,3635,0,0,0,0,0,0
$GC,462,-0.62,-194.6,96.9,-23.1,70,472,0.00,2.08,0.00,0.000,4,0.000,0.028,2587,481,3635,0,0,0,0,0,0
$GC,503,-0.62,-194.6,105.6,-20.5,76,512,0.00,1.92,0.00,0.000,6,0.000,0.020,2578,1820,3635,0,0,0,0,0,0
$GC,580,-0.62,-194.6,120.3,-20.1,89,588,0.00,2.17,0.00,0.000,4,0.000,0.033,2569,3277,3635,0,0,0,0,0,0
$GC,604,-0.62,-194.6,125.2,-21.6,92,613,0.08,2.12,0.00,0.000,6,0.155,0.017,2592,1774,3635,0,0,0,0,0,0
$GC,680,-0.62,-194.6,139.5,-17.5,105,688,0.00,1.90,0.00,0.000,4,0.000,0.028,2592,473,3635,0,0,0,0,0,0
$GC,714,-0.62,-194.6,145.0,-16.1,110,724,0.00,1.98,0.00,0.000,6,0.000,0.020,2587,1842,3636,0,0,0,0,0,0
$GC,796,-0.62,-194.6,157.5,-15.6,123,804,0.00,2.10,0.00,0.000,4,0.000,0.031,2577,3260,3636,0,0,0,0,0,0
$GC,830,-0.62,-194.6,163.6,-16.6,128,839,0.00,2.00,0.00,0.000,6,0.000,0.017,2577,1851,3636,0,0,0,0,0,0
$GC,906,-0.62,-194.6,176.8,-18.4,141,914,0.00,1.98,0.00,0.000,4,0.000,0.028,2577,497,3636,0,0,0,0,0,0
$GC,929,-0.62,-194.6,181.1,-18.9,144,938,0.00,1.90,0.00,0.000,6,0.000,0.021,2571,1816,3636,0,0,0,0,0,0
$GC,1007,-0.62,-194.6,194.9,-18.3,157,1015,0.00,2.15,0.00,0.000,4,0.000,0.031,2561,3267,3636,0,0,0,0,0,0
$GC,1036,-0.62,-194.6,200.1,-17.7,161,1040,0.12,2.00,0.00,0.000,6,0.169,0.017,2593,1819,3636,0,0,0,0,0,0
$GC,1363,-0.62,-194.6,251.3,-15.8,191,1367,0.00,2.12,0.00,0.000,4,0.000,0.030,2588,3263,3636,0,0,0,0,0,0
$GC,1395,-0.62,-194.6,257.0,-15.7,193,1402,0.00,1.98,0.00,0.000,6,0.000,0.017,2587,1862,3635,0,0,0,0,0,0
$GC,1722,-0.62,-194.6,304.1,-14.6,224,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1862,3635,0,0,0,0,0,0
$GC,2040,-0.62,-194.6,347.1,-13.3,254,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1862,3633,0,0,0,0,0,0
$GC,2363,-0.62,-194.6,387.1,-11.4,284,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1862,3632,0,0,0,0,0,0
$GC,2691,-0.62,-194.6,425.3,-11.5,315,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1862,3630,0,0,0,0,0,0
$GC,3012,-0.62,-194.6,461.6,-11.8,345,3016,0.00,2.08,0.00,0.000,4,0.000,0.033,2587,3270,3629,0,0,0,0,0,0
$GC,3029,-0.62,-194.6,464.3,-11.8,346,3033,0.00,1.98,0.00,0.000,6,0.000,0.018,2587,1868,3629,0,0,0,0,0,0
$GC,3371,-0.62,-194.6,502.8,-11.0,377,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1866,3627,0,0,0,0,0,0
$GC,3679,-0.62,-194.6,536.1,-10.6,392,3683,0.00,2.08,0.00,0.000,4,0.000,0.034,2587,3272,3625,0,0,0,0,0,0
$GC,3728,-0.62,-194.6,541.7,-10.5,394,3732,0.00,1.98,0.00,0.000,6,0.000,0.019,2587,1888,3625,0,0,0,0,0,0
$GC,4053,-0.62,-194.6,571.4,-8.5,410,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1888,3623,0,0,0,0,0,0
$GC,4360,-0.62,-194.6,596.2,-7.3,425,4363,0.00,2.05,0.00,0.000,4,0.000,0.034,2587,3259,3621,0,0,0,0,0,0
$GC,4450,-0.62,-194.6,602.3,-6.4,429,4454,0.00,1.92,0.00,0.000,6,0.000,0.019,2587,1900,3620,0,0,0,0,0,0
$GC,4785,-0.62,-194.6,630.7,-9.2,445,4790,0.00,2.05,0.00,0.000,4,0.000,0.034,2588,3256,3618,0,0,0,0,0,0
$GC,4808,-0.62,-194.6,633.0,-9.2,446,4812,0.00,1.88,0.00,0.000,6,0.000,0.019,2587,1924,3618,0,0,0,0,0,0
$GC,5144,-0.62,-194.6,660.1,-8.0,462,5148,0.00,2.05,0.00,0.000,4,0.000,0.030,2587,507,3615,0,0,0,0,0,0
$GC,5184,-0.62,-194.6,663.6,-8.1,464,5188,0.00,2.05,0.00,0.000,6,0.000,0.021,2587,1924,3615,0,0,0,0,0,0
$GC,5517,-0.62,-194.6,690.8,-8.2,480,5521,0.00,2.00,0.00,0.000,4,0.000,0.036,2587,3267,3613,0,0,0,0,0,0
$GC,5581,-0.62,-194.6,695.6,-7.6,482,5589,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1949,3612,0,0,0,0,0,0
$GC,5898,-0.62,-194.6,718.7,-7.2,498,5902,0.00,2.10,0.00,0.000,4,0.000,0.030,2587,501,3610,0,0,0,0,0,0
$GC,5939,-0.62,-194.6,721.8,-7.2,500,5943,0.00,2.12,0.00,0.000,6,0.000,0.021,2587,1960,3609,0,0,0,0,0,0
$GC,6267,-0.62,-194.6,746.2,-7.5,516,6271,0.00,1.92,0.00,0.000,4,0.000,0.037,2587,3264,3607,0,0,0,0,0,0
$GC,6295,-0.62,-194.6,748.4,-7.6,517,6300,0.00,1.85,0.00,0.000,6,0.000,0.019,2587,1967,3607,0,0,0,0,0,0
$GC,6623,-0.62,-194.6,771.1,-6.8,533,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1966,3605,0,0,0,0,0,0
$GC,6931,-0.62,-194.6,790.1,-5.7,548,6935,0.00,2.15,0.00,0.000,4,0.000,0.031,2587,508,3603,0,0,0,0,0,0
$GC,7028,-0.62,-194.6,796.1,-6.2,552,7032,0.00,2.10,0.00,0.000,6,0.000,0.022,2587,1944,3602,0,0,0,0,0,0
$GC,7350,-0.62,-194.6,815.3,-6.2,568,7354,0.00,1.98,0.00,0.000,4,0.000,0.038,2587,3263,3600,0,0,0,0,0,0
$GC,7422,-0.62,-194.6,819.5,-6.1,571,7426,0.00,1.85,0.00,0.000,6,0.000,0.021,2587,1977,3600,0,0,0,0,0,0
$GC,7756,-0.62,-194.6,841.8,-7.0,587,7760,0.00,2.15,0.00,0.000,4,0.000,0.032,2587,510,3599,0,0,0,0,0,0
$GC,7778,-0.62,-194.6,843.6,-7.1,588,7782,0.00,2.15,0.00,0.000,6,0.000,0.023,2587,1970,3599,0,0,0,0,0,0
$GC,8102,-0.62,-194.6,866.3,-7.1,604,8105,0.00,1.95,0.00,0.000,4,0.000,0.039,2587,3265,3596,0,0,0,0,0,0
$GC,8135,-0.62,-194.6,868.9,-7.2,605,8139,0.00,1.80,0.00,0.000,6,0.000,0.021,2587,1986,3596,0,0,0,0,0,0
$GC,8457,-0.62,-194.6,889.6,-6.2,621,8462,0.00,2.20,0.00,0.000,4,0.000,0.032,2587,520,3594,0,0,0,0,0,0
$GC,8509,-0.62,-194.6,893.2,-7.1,623,8513,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1979,3594,0,0,0,0,0,0
$GC,8831,-0.62,-194.6,914.4,-6.5,639,8835,0.00,1.92,0.00,0.000,4,0.000,0.039,2587,3269,3592,0,0,0,0,0,0
$GC,8878,-0.62,-194.6,917.5,-6.5,641,8881,0.00,1.80,0.00,0.000,6,0.000,0.019,2587,1982,3592,0,0,0,0,0,0
$GC,9212,-0.62,-194.6,938.9,-6.4,657,9216,0.00,2.17,0.00,0.000,4,0.000,0.032,2587,503,3591,0,0,0,0,0,0
$GC,9254,-0.62,-194.6,941.8,-6.5,659,9258,0.00,2.15,0.00,0.000,6,0.000,0.024,2587,1973,3591,0,0,0,0,0,0
$GC,9583,-0.62,-194.6,962.6,-6.3,675,9588,0.00,1.98,0.00,0.000,4,0.000,0.040,2587,3263,3590,0,0,0,0,0,0
$GC,9661,-0.62,-194.6,967.5,-6.0,678,9665,0.00,1.77,0.00,0.000,6,0.000,0.021,2587,1999,3590,0,0,0,0,0,0
$GC,9984,-0.62,-194.6,985.6,-5.6,694,9987,0.00,1.95,0.00,0.000,4,0.000,0.040,2587,3271,3588,0,0,0,0,0,0
$GC,10035,-0.62,-194.6,988.4,-5.4,696,10039,0.00,1.80,0.00,0.000,6,0.000,0.020,2587,2001,3588,0,0,0,0,0,0
$STATE,10072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10072,begin apogee
$GC,10078,-0.20,0.0,990.5,5.5,698,10239,0.43,0.00,154.12,1.396,4,0.112,0.000,2731,2081,2838,0,0,0,0,0,0
$STATE,10240,end apogee,CONTROL_FINISHED_OK
$STATE,10240,begin climb
$GC,10243,0.62,194.6,993.3,0.0,705,10425,0.75,2.28,169.90,1.336,4,0.079,0.041,3000,3458,2043,0,0,0,0,0,0
$GC,10599,0.62,194.6,947.5,15.0,721,10606,0.00,2.03,0.00,0.000,6,0.000,0.021,3009,2085,2036,0,0,0,0,0,0
$GC,10917,0.62,194.6,903.9,13.2,737,10921,0.00,2.15,0.00,0.000,4,0.000,0.037,3010,3464,2033,0,0,0,0,0,0
$GC,11135,0.62,194.6,873.8,13.4,746,11143,0.00,2.08,0.00,0.000,6,0.000,0.021,3019,2065,2032,0,0,0,0,0,0
$GC,11453,0.62,194.6,834.2,12.7,762,11457,0.00,2.08,0.00,0.000,4,0.000,0.033,3028,684,2031,0,0,0,0,0,0
$GC,11574,0.62,194.6,818.5,12.5,767,11578,0.00,2.00,0.00,0.000,6,0.000,0.024,3028,2048,2031,0,0,0,0,0,0
$GC,11898,0.62,194.6,777.8,12.7,783,11903,0.00,2.17,0.00,0.000,4,0.000,0.039,3028,3465,2030,0,0,0,0,0,0
$GC,11966,0.62,194.6,768.0,14.7,786,11971,0.12,2.05,0.00,0.000,6,0.171,0.021,3004,2038,2030,0,0,0,0,0,0
$GC,12294,0.62,194.6,731.6,10.6,802,12299,0.00,2.03,0.00,0.000,4,0.000,0.034,3013,689,2029,0,0,0,0,0,0
$GC,12388,0.62,194.6,721.1,10.9,806,12394,0.00,2.05,0.00,0.000,6,0.000,0.024,3013,2054,2029,0,0,0,0,0,0
$GC,12717,0.62,194.6,684.4,11.8,822,12718,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2054,2029,0,0,0,0,0,0
$GC,13025,0.62,194.6,647.9,11.7,837,13026,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2054,2029,0,0,0,0,0,0
$GC,13334,0.62,194.6,612.3,11.4,852,13338,0.00,2.03,0.00,0.000,4,0.000,0.032,3021,688,2028,0,0,0,0,0,0
$GC,13372,0.62,194.6,607.9,11.0,853,13380,0.00,2.00,0.00,0.000,6,0.000,0.024,3021,2030,2028,0,0,0,0,0,0
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$STATE,19125,end climb,SURFACE_DEPTH_REACHED
$STATE,19125,begin surface coast
$FINISH,1.2,1.021334
$STATE,19138,end surface coast,CONTROL_FINISHED_OK
$STATE,19138,begin surface
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$HUMID,36.25
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,29.20
$XPDR_PINGS,53
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$10V_AH,9.8,48.748
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,329652
$DATA_FILE_SIZE,87002,1476
$CAP_FILE_SIZE,210304,0
$CFSIZE,260165632,113225728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115, 7.6,1
$GPS,140811,153101,2010.873,12418.869,37,1.5,38,-2.5