OKMC Oct12 * SG167 * Dive index * Mission links
version: 66.11
glider: 167
mission: 14
dive: 216
start: 12 2 112 4 26 40
data:
$ID,167
$MISSION,14
$DIVE,216
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$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,410
$T_MISSION,430
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$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,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-969008.06
$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,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,21
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$PRESSURE_SLOPE,0.0001158971
$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,3
$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,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,021212,041835,2259.432,12137.434,40,0.8,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-63.9
$GPS2,021212,042612,2259.497,12137.475,6,0.9,6,-3.4
$SPEED_LIMITS,0.139,0.259
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,279.8,21233,-13.8,-8.049,-17.28
$D_GRID,2338
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.53,-171.1,0.0,0.0,0,72,0.00,0.00,-51.17,0.000,2,0.000,0.000,110,2464,2528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.53,-171.1,3.3,-5.0,5,118,9.90,2.03,-26.00,0.000,4,0.228,0.062,2519,3736,3668,0,0,0,0,0,0,25.12,25.96,26.60
$GC,274,-0.47,-171.1,35.7,-18.3,24,279,0.00,1.83,0.00,0.000,6,0.000,0.018,2519,2421,3667,0,0,0,0,0,0,28.83,26.41,28.83
$GC,598,-0.45,-171.1,92.1,-13.0,44,603,0.12,2.05,0.00,0.000,4,0.148,0.044,2560,3738,3668,0,0,0,0,0,0,26.31,26.17,28.83
$GC,631,-0.43,-171.1,94.9,-12.6,45,637,0.00,1.83,0.00,0.000,6,0.000,0.019,2560,2454,3668,0,0,0,0,0,0,28.83,26.54,28.83
$GC,946,-0.54,-171.1,119.2,-7.4,61,951,0.00,1.98,0.00,0.000,4,0.000,0.048,2560,3732,3670,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1010,-0.64,-171.1,123.4,-6.6,64,1016,0.20,1.77,0.00,0.000,6,0.058,0.018,2454,2438,3669,0,0,0,0,0,0,26.50,26.63,28.83
$GC,1334,-0.62,-171.1,157.3,-11.6,80,1341,0.12,2.00,0.00,0.000,4,0.146,0.042,2493,3734,3670,0,0,0,0,0,0,26.41,26.27,28.83
$GC,1368,-0.60,-171.1,159.7,-11.1,81,1374,0.00,1.75,0.00,0.000,6,0.000,0.018,2493,2446,3670,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1682,-0.61,-171.1,187.9,-8.5,97,1687,0.00,1.92,0.00,0.000,4,0.000,0.028,2493,1098,3670,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1759,-0.62,-171.1,193.2,-8.4,100,1766,0.00,2.00,0.00,0.000,6,0.000,0.034,2493,2441,3670,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2065,-0.64,-171.1,219.3,-7.6,116,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2441,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2367,-0.66,-171.1,244.1,-7.6,131,2373,0.00,1.95,0.00,0.000,4,0.000,0.029,2493,1097,3669,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2421,-0.68,-171.1,247.8,-7.7,133,2426,0.00,2.03,0.00,0.000,6,0.000,0.033,2493,2455,3668,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2735,-0.70,-171.1,273.7,-7.9,149,2741,0.00,1.98,0.00,0.000,4,0.000,0.027,2493,1089,3667,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2774,-0.72,-171.1,275.6,-7.9,150,2780,0.00,2.03,0.00,0.000,6,0.000,0.032,2493,2458,3666,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3080,-0.75,-171.1,299.9,-7.4,166,3086,0.10,2.00,0.00,0.000,4,0.093,0.045,2427,3758,3664,0,0,0,0,0,0,26.73,26.26,28.83
$GC,3134,-0.76,-171.1,304.4,-8.5,168,3140,0.00,1.80,0.00,0.000,6,0.000,0.018,2426,2454,3664,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3448,-0.72,-171.1,341.1,-11.6,184,3454,0.12,1.98,0.00,0.000,4,0.149,0.026,2467,1083,3664,0,0,0,0,0,0,26.41,26.45,28.83
$GC,3527,-0.72,-171.1,347.1,-9.7,187,3534,0.00,2.03,0.00,0.000,6,0.000,0.034,2467,2450,3663,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3832,-0.72,-171.1,375.2,-9.3,203,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2450,3661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4134,-0.73,-171.1,402.4,-8.4,218,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2450,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4435,-0.74,-171.1,427.2,-8.0,233,4440,0.00,1.98,0.00,0.000,4,0.000,0.028,2467,1086,3658,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4482,-0.75,-171.1,431.1,-8.3,235,4488,0.00,2.03,0.00,0.000,6,0.000,0.034,2467,2448,3657,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4801,-0.76,-171.1,457.3,-8.2,251,4807,0.00,2.05,-0.08,0.000,4,0.000,0.061,2467,3762,3684,0,0,0,0,0,0,28.83,26.18,25.57
$GC,4834,-0.78,-171.1,459.2,-8.3,252,4840,0.00,1.83,0.00,0.000,6,0.000,0.019,2467,2434,3683,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5149,-0.79,-171.1,483.9,-7.6,268,5155,0.00,1.95,0.00,0.000,4,0.000,0.036,2467,1106,3682,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5177,-0.81,-171.1,485.7,-7.6,269,5182,0.00,2.00,0.00,0.000,6,0.000,0.034,2467,2450,3682,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5495,-0.83,-171.1,509.7,-7.8,285,5502,0.10,2.00,0.00,0.000,4,0.097,0.047,2408,3750,3680,0,0,0,0,0,0,26.71,26.17,28.83
$GC,5529,-0.84,-171.1,512.1,-8.2,286,5534,0.00,1.83,0.00,0.000,6,0.000,0.020,2403,2438,3679,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5844,-0.81,-171.1,548.8,-11.1,302,5849,0.12,1.95,0.00,0.000,4,0.151,0.026,2448,1090,3678,0,0,0,0,0,0,26.39,26.41,28.83
$GC,5871,-0.78,-171.1,551.5,-10.9,303,5877,0.00,2.03,0.00,0.000,6,0.000,0.034,2448,2449,3678,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6190,-0.79,-171.1,580.1,-8.9,319,6195,0.00,2.03,0.00,0.000,4,0.000,0.050,2449,3759,3676,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6254,-0.80,-171.1,585.8,-8.8,322,6259,0.00,1.85,0.00,0.000,6,0.000,0.021,2448,2432,3676,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6569,-0.81,-171.1,613.7,-8.9,335,6574,0.00,2.10,0.00,0.000,4,0.000,0.050,2448,3756,3675,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6606,-0.82,-171.1,616.8,-8.9,336,6612,0.00,1.83,0.00,0.000,6,0.000,0.021,2448,2438,3674,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6937,-0.83,-171.1,645.4,-8.4,347,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2437,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7236,-0.84,-171.1,669.0,-7.6,357,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2437,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7536,-0.85,-171.1,692.3,-7.8,367,7542,0.00,2.08,0.00,0.000,4,0.000,0.051,2448,3754,3669,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7585,-0.86,-171.1,695.2,-8.0,368,7590,0.00,1.83,0.00,0.000,6,0.000,0.022,2448,2448,3668,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7905,-0.88,-171.1,722.2,-8.1,379,7910,0.00,2.05,0.00,0.000,4,0.000,0.051,2449,3750,3666,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7948,-0.89,-171.1,725.2,-8.3,380,7954,0.12,1.83,0.00,0.000,6,0.082,0.023,2385,2450,3666,0,0,0,0,0,0,26.44,26.58,28.83
$GC,8274,-0.85,-171.1,765.2,-12.2,391,8281,0.12,2.00,0.00,0.000,4,0.158,0.028,2423,1091,3664,0,0,0,0,0,0,26.33,26.34,28.83
$GC,8309,-0.81,-171.1,769.3,-12.1,392,8315,0.00,2.05,0.00,0.000,6,0.000,0.035,2423,2448,3663,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8645,-0.80,-171.1,803.7,-10.3,403,8650,0.00,2.05,0.00,0.000,4,0.000,0.052,2423,3761,3662,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8693,-0.80,-171.1,807.3,-10.3,404,8698,0.00,1.85,0.00,0.000,6,0.000,0.024,2423,2450,3662,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9011,-0.80,-171.1,838.9,-9.1,415,9016,0.00,2.05,0.00,0.000,4,0.000,0.051,2423,3758,3661,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9059,-0.80,-171.1,842.0,-9.3,416,9064,0.00,1.88,0.00,0.000,6,0.000,0.024,2423,2456,3660,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9377,-0.80,-171.1,872.8,-9.1,427,9382,0.00,2.05,0.00,0.000,4,0.000,0.051,2423,3751,3659,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9410,-0.80,-171.1,875.8,-9.0,428,9416,0.00,1.88,0.00,0.000,6,0.000,0.024,2422,2434,3659,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9747,-0.80,-171.1,907.3,-9.6,439,9753,0.00,1.98,0.00,0.000,4,0.000,0.031,2423,1082,3657,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9780,-0.80,-171.1,910.9,-9.7,440,9786,0.00,2.10,0.00,0.000,6,0.000,0.042,2423,2446,3657,0,0,0,0,0,0,28.83,25.45,28.83
$GC,10116,-0.80,-171.1,943.7,-10.0,451,10121,0.00,2.05,0.00,0.000,4,0.000,0.052,2423,3755,3656,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10179,-0.80,-171.1,950.3,-10.1,453,10184,0.00,1.88,0.00,0.000,6,0.000,0.024,2423,2454,3655,0,0,0,0,0,0,28.83,26.52,28.83
$GC,10514,-0.80,-171.1,980.7,-8.7,464,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2454,3655,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10630,begin apogee
$GC,10636,-0.27,0.0,990.7,-8.3,468,10802,0.57,0.00,157.77,1.240,6,0.112,0.000,2612,2290,2961,0,0,0,0,0,0,25.60,28.83,22.77
$STATE,10804,end apogee,CONTROL_FINISHED_OK
$STATE,10804,begin climb
$GC,10807,0.53,171.1,995.1,0.0,473,10978,0.73,2.53,161.07,1.238,4,0.057,0.049,2871,3703,2260,0,0,0,0,0,0,24.50,23.77,22.23
$GC,10996,0.46,171.1,984.7,8.1,480,11002,0.12,2.22,0.00,0.000,6,0.150,0.026,2850,2330,2253,0,0,0,0,0,0,24.19,24.41,28.83
$GC,11331,0.42,171.1,952.2,9.5,491,11336,0.00,2.17,0.00,0.000,4,0.000,0.037,2858,900,2244,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11409,0.39,171.1,946.3,9.4,493,11415,0.12,2.15,0.00,0.000,6,0.132,0.034,2825,2314,2243,0,0,0,0,0,0,25.95,26.14,28.83
$GC,11729,0.37,171.1,918.3,8.5,504,11735,0.00,2.17,0.00,0.000,4,0.000,0.050,2825,3698,2242,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11834,0.35,171.1,909.1,9.5,507,11839,0.00,2.10,0.00,0.000,6,0.000,0.028,2825,2288,2241,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12160,0.33,171.1,880.7,8.2,518,12165,0.00,2.08,0.00,0.000,4,0.000,0.037,2825,907,2240,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12243,0.33,177.6,875.7,7.8,520,12249,0.00,2.12,0.00,0.000,6,0.000,0.034,2825,2309,2238,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12560,0.32,187.9,849.4,7.7,531,12578,0.00,2.28,13.35,1.217,4,0.000,0.050,2825,3700,2195,0,0,0,0,0,0,28.83,26.01,24.27
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$STATE,22165,end climb,SURFACE_DEPTH_REACHED
$STATE,22165,begin surface coast
$FINISH,0.8,1.010426
$STATE,22186,end surface coast,CONTROL_FINISHED_OK
$STATE,22186,begin surface
$SM_CCo,22267,0.00,0.000,0,0,922,501.88
$SM_GC,1.83,7.47,2.35,0.00,0.032,0.033,0.000,117,2437,922,-8.00,-1.53,501.88,0,0,0,0,0,0,26.36,26.34,28.83
$IRIDIUM_FIX,2248.70,12141.97,011212,222246
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.05
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.40
$XPDR_PINGS,17
$24V_AH,22.2,49.400
$10V_AH,10.1,32.222
$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,21.575,213.350,621.300,0.000,0.000,0.000,0.000,274.850,4.250,0.000,6.708,3255.802,15500.861,772.663,2716.297,473.428,0.000,2429.553,0.000,2345.275,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,61.965,1240.065,0.000,0.000,0.000,0.000,124.695,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22203.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.399,0.000,0.000,0.000
$MEM,323792
$DATA_FILE_SIZE,36711,976
$CAP_FILE_SIZE,254276,0
$CFSIZE,260165632,228200448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.089,153.7,1
$GPS,021212,103905,2258.947,12134.328,35,0.9,35,-3.4