OKMC Apr12 *
SG169 *
Dive index
* Mission links
version: 66.10
glider: 169
mission: 6
dive: 49
start: 4 27 112 22 4 26
data:
$ID,169
$MISSION,6
$DIVE,49
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,110
$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,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,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51575
$NAV_MODE,1
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$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,-15274.477
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2035
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$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,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,147.521
$AH0_10V,108.529
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-77.157478
$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,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$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,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,270412,215201,2312.141,12203.910,42,1.0,42,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-71.2
$GPS2,270412,220402,2311.969,12204.009,14,1.2,14,-3.1
$SPEED_LIMITS,0.159,0.302
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,72.6,200786,-13.6,-9.167
$D_GRID,4139
$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,-0.61,-219.0,0.0,0.0,0,104,0.00,0.00,-84.12,0.000,2,0.000,0.000,116,2528,3090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.61,-219.0,3.0,-7.5,15,138,6.68,2.42,-14.43,0.000,4,0.226,0.049,1840,1057,3876,0,0,0,0,0,0,25.72,26.03,26.33
$GC,277,-0.57,-219.0,54.2,-20.1,47,284,0.00,2.38,0.00,0.000,6,0.000,0.035,1828,2529,3876,0,0,0,0,0,0,28.83,26.14,28.83
$GC,470,-0.48,-219.0,109.0,-30.3,84,477,0.15,2.35,0.00,0.000,4,0.163,0.026,1885,1036,3877,0,0,0,0,0,0,26.08,26.25,28.83
$GC,490,-0.40,-219.0,115.3,-29.8,87,497,0.00,2.33,0.00,0.000,6,0.000,0.033,1873,2488,3877,0,0,0,0,0,0,28.83,26.25,28.83
$GC,681,-0.36,-219.0,152.8,-18.5,124,687,0.12,0.00,0.00,0.000,6,0.149,0.000,1915,2487,3877,0,0,0,0,0,0,26.22,28.83,28.83
$GC,871,-0.37,-219.0,171.6,-8.1,161,878,0.00,2.05,0.00,0.000,4,0.000,0.041,1905,3829,3878,0,0,0,0,0,0,28.83,26.35,28.83
$GC,906,-0.39,-219.0,174.3,-7.3,167,912,0.00,2.08,0.00,0.000,6,0.000,0.020,1905,2403,3878,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1097,-0.40,-219.0,189.2,-8.2,204,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,2402,3878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1288,-0.42,-219.0,205.0,-8.3,235,1297,0.00,2.20,0.00,0.000,4,0.000,0.041,1896,3817,3877,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1321,-0.44,-219.0,207.5,-7.6,238,1329,0.00,2.03,0.00,0.000,6,0.000,0.022,1895,2423,3878,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1632,-0.45,-219.0,232.9,-8.4,269,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,2423,3877,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1942,-0.47,-219.0,257.7,-7.9,300,1951,0.00,2.22,0.00,0.000,4,0.000,0.042,1887,3821,3877,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1997,-0.50,-219.0,261.6,-7.2,305,2003,0.00,2.03,0.00,0.000,6,0.000,0.021,1887,2412,3877,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2305,-0.51,-219.0,286.3,-8.2,336,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2413,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2606,-0.53,-219.0,309.3,-7.8,366,2615,0.00,2.22,0.00,0.000,4,0.000,0.042,1877,3820,3875,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2672,-0.56,-219.0,314.1,-7.2,372,2679,0.00,2.00,0.00,0.000,6,0.000,0.021,1878,2424,3875,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2979,-0.57,-219.0,339.0,-8.1,403,2987,0.00,2.17,0.00,0.000,4,0.000,0.042,1868,3824,3874,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3004,-0.58,-219.0,340.8,-7.8,405,3011,0.00,2.00,0.00,0.000,6,0.000,0.021,1868,2439,3873,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3311,-0.59,-219.0,364.7,-7.0,436,3315,0.00,2.17,0.00,0.000,4,0.000,0.044,1859,3818,3872,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3357,-0.60,-219.0,367.9,-7.5,440,3364,0.00,1.95,0.00,0.000,6,0.000,0.023,1859,2461,3872,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3663,-0.60,-219.0,394.9,-8.8,471,3672,0.00,2.20,0.00,0.000,4,0.000,0.028,1859,1040,3870,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3688,-0.60,-219.0,396.9,-8.8,473,3695,0.00,2.40,0.00,0.000,6,0.000,0.034,1855,2546,3870,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3996,-0.60,-219.0,423.8,-8.8,504,4005,0.00,1.92,0.00,0.000,4,0.000,0.044,1845,3831,3869,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4039,-0.61,-219.0,427.4,-8.7,508,4047,0.00,1.98,0.00,0.000,6,0.000,0.021,1845,2465,3869,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4349,-0.61,-219.0,454.8,-9.2,539,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2464,3867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4650,-0.61,-219.0,481.6,-9.2,569,4659,0.00,2.20,0.00,0.000,4,0.000,0.028,1845,1036,3864,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4671,-0.61,-219.0,483.9,-9.5,571,4681,0.00,2.42,0.00,0.000,6,0.000,0.035,1837,2544,3864,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4983,-0.60,-219.0,514.1,-9.6,602,4987,0.00,1.98,0.00,0.000,4,0.000,0.047,1827,3825,3862,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5014,-0.60,-219.0,517.3,-9.9,605,5018,0.00,1.95,0.00,0.000,6,0.000,0.022,1827,2478,3862,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5326,-0.59,-219.0,550.5,-10.7,636,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2477,3861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5628,-0.58,-219.0,581.3,-9.6,666,5637,0.00,2.17,0.00,0.000,4,0.000,0.031,1827,1050,3859,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5670,-0.58,-219.0,585.2,-9.0,670,5679,0.00,2.42,0.00,0.000,6,0.000,0.038,1826,2553,3858,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5994,-0.57,-219.0,617.0,-10.6,694,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2553,3856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6291,-0.56,-219.0,647.1,-10.0,709,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2553,3854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6591,-0.55,-219.0,677.0,-10.0,724,6597,0.10,2.38,0.00,0.000,4,0.149,0.028,1858,1045,3852,0,0,0,0,0,0,26.57,26.59,28.83
$GC,6623,-0.55,-219.0,678.9,-9.7,725,6630,0.00,2.40,0.00,0.000,6,0.000,0.036,1855,2549,3851,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6932,-0.57,-219.0,701.0,-7.4,741,6938,0.00,1.95,0.00,0.000,4,0.000,0.048,1846,3819,3849,0,0,0,0,0,0,28.83,26.54,28.83
$GC,6980,-0.59,-219.0,704.0,-7.3,743,6984,0.00,1.92,0.00,0.000,6,0.000,0.024,1846,2495,3849,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7286,-0.60,-219.0,730.2,-8.0,758,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2493,3847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7588,-0.61,-219.0,752.2,-7.1,773,7594,0.00,2.08,0.00,0.000,4,0.000,0.049,1837,3812,3845,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7627,-0.62,-219.0,755.3,-7.3,775,7632,0.00,1.92,0.00,0.000,6,0.000,0.024,1837,2500,3845,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7948,-0.62,-219.0,778.3,-6.8,791,7954,0.00,2.25,0.00,0.000,4,0.000,0.032,1837,1051,3844,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7981,-0.63,-219.0,779.8,-7.0,792,7988,0.00,2.42,0.00,0.000,6,0.000,0.041,1832,2560,3843,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8287,-0.63,-219.0,804.2,-8.2,808,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2559,3842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8587,-0.63,-219.0,829.3,-8.3,823,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2559,3840,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8888,-0.63,-219.0,855.2,-8.6,838,8894,0.00,2.35,0.00,0.000,4,0.000,0.033,1832,1057,3838,0,0,0,0,0,0,28.83,26.55,28.83
$GC,8915,-0.63,-219.0,857.0,-8.6,839,8919,0.00,2.40,0.00,0.000,6,0.000,0.041,1832,2550,3838,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9223,-0.63,-219.0,883.8,-8.6,854,9224,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2549,3838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9522,-0.63,-219.0,910.4,-9.0,869,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2549,3836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9822,-0.63,-219.0,937.1,-8.9,884,9828,0.00,1.92,0.00,0.000,4,0.000,0.050,1823,3816,3835,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9850,-0.63,-219.0,938.9,-9.0,885,9854,0.00,1.98,0.00,0.000,6,0.000,0.026,1823,2476,3834,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10158,-0.63,-219.0,967.2,-8.7,900,10164,0.00,2.12,0.00,0.000,4,0.000,0.051,1813,3816,3833,0,0,0,0,0,0,28.83,26.48,28.83
$GC,10200,-0.63,-219.0,970.7,-8.6,902,10204,0.00,1.95,0.00,0.000,6,0.000,0.026,1813,2496,3833,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,10409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10409,begin apogee
$GC,10416,-0.20,0.0,990.1,-9.1,913,10634,0.43,0.00,211.35,1.131,4,0.090,0.000,1968,2539,2974,0,0,0,0,0,0,26.40,28.83,23.96
$STATE,10635,end apogee,CONTROL_FINISHED_OK
$STATE,10635,begin climb
$GC,10638,0.61,219.0,998.3,0.0,924,10879,0.70,2.12,232.73,1.099,4,0.037,0.047,2252,3815,2085,0,0,0,0,0,0,24.88,24.82,23.79
$GC,10943,0.51,219.0,939.1,29.2,939,10950,0.25,2.08,0.00,0.000,6,0.191,0.025,2202,2492,2047,0,0,0,0,0,0,24.91,25.10,28.83
$GC,11249,0.44,219.0,864.0,22.6,955,11255,0.00,2.12,0.00,0.000,4,0.000,0.044,2201,3821,2041,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11308,0.37,219.0,850.0,23.2,958,11315,0.15,2.03,0.00,0.000,6,0.162,0.023,2164,2496,2040,0,0,0,0,0,0,25.65,25.88,28.83
$GC,11629,0.34,219.0,794.6,16.3,974,11631,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2494,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11930,0.30,219.0,749.2,14.8,989,11936,0.12,2.05,0.00,0.000,4,0.171,0.044,2125,3810,2038,0,0,0,0,0,0,26.01,26.15,28.83
$GC,11992,0.27,219.0,741.0,13.9,992,11996,0.00,1.95,0.00,0.000,6,0.000,0.024,2134,2502,2036,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12309,0.25,219.0,703.5,12.2,1008,12314,0.00,2.10,0.00,0.000,4,0.000,0.047,2135,3835,2036,0,0,0,0,0,0,28.83,26.23,28.83
$GC,12364,0.23,219.0,698.0,13.0,1010,12371,0.12,1.98,0.00,0.000,6,0.159,0.024,2112,2511,2035,0,0,0,0,0,0,26.10,26.32,28.83
$GC,12669,0.24,223.8,666.7,9.0,1026,12675,0.00,2.28,0.00,0.000,4,0.000,0.034,2123,1066,2035,0,0,0,0,0,0,28.83,26.32,28.83
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$STATE,18531,end climb,SURFACE_DEPTH_REACHED
$STATE,18532,begin surface coast
$FINISH,-0.3,1.010215
$STATE,18554,end surface coast,CONTROL_FINISHED_OK
$STATE,18554,begin surface
$SM_CCo,18632,0.00,0.000,0,0,800,534.51
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$IRIDIUM_FIX,2302.75,12202.56,270412,212108
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.46
$INTERNAL_PRESSURE,8.24606
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.8,8.927
$10V_AH,10.3,5.306
$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,15.550,168.450,763.575,0.000,0.000,49.846,63.363,368.862,0.000,0.000,15.696,3985.066,10490.338,880.691,3519.787,447.501,0.000,2529.727,0.000,2848.099,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,113.220,1131.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1166.230,2211.135,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324588
$DATA_FILE_SIZE,107034,1720
$CAP_FILE_SIZE,209365,0
$CFSIZE,260165632,217251840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,3,0
$GPS,280412,031607,2313.353,12206.879,40,1.0,40,-3.1