OKMC Nov11 *
SG169 *
Dive index
* Mission links
version: 66.10
glider: 169
mission: 5
dive: 619
start: 3 9 112 3 6 33
data:
$ID,169
$MISSION,5
$DIVE,619
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$D_ABORT,1020
$D_NO_BLEED,200
$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,240
$T_MISSION,260
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,270
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,3
$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,-13698.463
$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,2010
$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,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$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,0
$ROLL_ADJ_DBAND,0
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.737366
$PRESSURE_SLOPE,0.000115925
$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,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
$DEVICE3,35
$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,0.0043354053
$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
$GPS1,090312,030034,2332.650,12142.253,75,1.5,75,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.9
$GPS2,090312,030608,2332.842,12142.286,33,1.6,45,-3.1
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,2332.842,12130.506
$TGT_RADIUS,1852.000
$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,228.1,20000,-12.5,-10.000
$D_GRID,1786
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.67,-292.0,0.0,0.0,0,90,0.00,0.00,-71.43,0.000,2,0.000,0.000,116,2703,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.67,-292.0,3.2,-5.8,12,131,7.03,1.62,-23.02,0.000,4,0.236,0.048,1773,3833,3961,0,0,0,0,0,0,25.03,25.81,26.53
$GC,236,-0.66,-292.0,51.0,-12.6,38,243,0.00,1.75,0.00,0.000,6,0.000,0.021,1773,2581,3962,0,0,0,0,0,0,28.83,26.04,28.83
$GC,552,-0.54,-292.0,135.4,-27.0,99,560,0.20,2.28,0.00,0.000,4,0.156,0.024,1843,1176,3962,0,0,0,0,0,0,25.57,25.73,28.83
$GC,619,-0.58,-292.0,146.3,-8.3,111,627,0.00,2.50,0.00,0.000,6,0.000,0.034,1833,2657,3963,0,0,0,0,0,0,28.83,25.63,28.83
$GC,934,-0.54,-292.0,188.3,-11.9,172,941,0.00,2.42,0.00,0.000,4,0.000,0.026,1833,1171,3963,0,0,0,0,0,0,28.83,25.75,28.83
$GC,981,-0.57,-292.0,193.1,-8.1,180,988,0.00,2.50,0.00,0.000,6,0.000,0.035,1825,2650,3963,0,0,0,0,0,0,28.83,25.57,28.83
$GC,1296,-0.53,-292.0,237.3,-13.4,217,1305,0.00,2.38,0.00,0.000,4,0.000,0.025,1825,1174,3962,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1341,-0.53,-292.0,242.0,-11.4,221,1347,0.00,2.50,0.00,0.000,6,0.000,0.034,1818,2656,3961,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1649,-0.49,-292.0,282.3,-14.3,252,1658,0.12,2.40,0.00,0.000,4,0.145,0.024,1860,1174,3960,0,0,0,0,0,0,25.98,25.71,28.83
$GC,1706,-0.52,-292.0,287.2,-8.0,257,1713,0.00,2.47,0.00,0.000,6,0.000,0.033,1855,2652,3959,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2012,-0.62,-292.0,317.5,-10.1,288,2016,0.12,1.75,0.00,0.000,4,0.093,0.041,1785,3814,3958,0,0,0,0,0,0,26.23,25.48,28.83
$GC,2098,-0.71,-292.0,325.4,-9.0,296,2102,0.00,1.75,0.00,0.000,6,0.000,0.022,1792,2570,3957,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2412,-0.77,-292.0,352.5,-7.8,327,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2566,3954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2722,-0.84,-292.0,377.6,-7.8,358,2731,0.12,2.20,0.00,0.000,4,0.096,0.026,1722,1171,3952,0,0,0,0,0,0,26.22,25.70,28.83
$GC,2796,-0.79,-292.0,386.7,-13.9,365,2807,0.12,2.50,0.00,0.000,6,0.114,0.037,1755,2649,3952,0,0,0,0,0,0,25.14,25.48,28.83
$GC,3105,-0.72,-292.0,446.2,-19.3,396,3114,0.00,2.40,0.00,0.000,4,0.000,0.028,1756,1181,3949,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3193,-0.71,-292.0,459.3,-13.0,404,3201,0.12,2.50,0.00,0.000,6,0.130,0.037,1781,2645,3949,0,0,0,0,0,0,25.27,25.46,28.83
$GC,3500,-0.66,-292.0,508.2,-15.5,435,3509,0.00,2.40,0.00,0.000,4,0.000,0.029,1781,1176,3947,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3552,-0.65,-292.0,515.2,-12.3,440,3561,0.00,2.50,0.00,0.000,6,0.000,0.038,1770,2649,3947,0,0,0,0,0,0,28.83,25.43,28.83
$GC,3862,-0.60,-292.0,562.7,-16.1,471,3872,0.12,2.42,0.00,0.000,4,0.147,0.026,1813,1173,3945,0,0,0,0,0,0,25.96,25.58,28.83
$GC,3916,-0.61,-292.0,568.7,-10.4,476,3925,0.00,2.50,0.00,0.000,6,0.000,0.037,1812,2642,3945,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4226,-0.60,-292.0,600.6,-10.4,507,4232,0.00,2.38,0.00,0.000,4,0.000,0.027,1812,1183,3943,0,0,0,0,0,0,28.83,25.62,28.83
$GC,4260,-0.59,-292.0,602.7,-10.5,508,4266,0.00,2.50,0.00,0.000,6,0.000,0.037,1812,2647,3942,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4565,-0.58,-292.0,633.6,-9.7,524,4571,0.00,2.40,0.00,0.000,4,0.000,0.028,1813,1182,3939,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4594,-0.58,-292.0,635.5,-9.6,525,4605,0.00,2.53,0.00,0.000,6,0.000,0.037,1812,2650,3939,0,0,0,0,0,0,28.83,25.35,28.83
$GC,4905,-0.57,-292.0,665.7,-10.0,541,4911,0.00,2.40,0.00,0.000,4,0.000,0.028,1812,1183,3937,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4932,-0.57,-292.0,667.8,-10.1,542,4937,0.00,2.53,0.00,0.000,6,0.000,0.038,1812,2648,3936,0,0,0,0,0,0,28.83,25.32,28.83
$GC,5241,-0.57,-292.0,699.0,-10.0,557,5246,0.00,2.42,0.00,0.000,4,0.000,0.028,1812,1184,3934,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5283,-0.58,-292.0,702.5,-9.5,559,5288,0.00,2.53,0.00,0.000,6,0.000,0.038,1812,2649,3933,0,0,0,0,0,0,28.83,25.31,28.83
$STATE,5493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5493,begin apogee
$GC,5501,-0.20,0.0,720.4,-8.5,570,5708,0.35,0.12,200.82,1.002,6,0.060,0.052,1957,2533,2976,0,0,0,0,0,0,25.86,25.03,24.06
$STATE,5709,end apogee,CONTROL_FINISHED_OK
$STATE,5709,begin climb
$GC,5711,0.67,292.0,735.5,0.0,580,5977,0.73,2.15,256.33,0.984,4,0.045,0.046,2242,3824,1775,0,0,0,0,0,0,25.20,25.08,24.04
$GC,6055,0.58,292.0,694.3,22.7,597,6064,0.20,2.08,0.00,0.000,6,0.163,0.027,2199,2461,1759,0,0,0,0,0,0,25.07,25.65,28.83
$GC,6361,0.53,292.0,642.1,14.8,613,6366,0.00,2.15,0.00,0.000,4,0.000,0.044,2199,3840,1755,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6434,0.47,292.0,632.7,15.5,616,6441,0.17,2.08,0.00,0.000,6,0.142,0.025,2160,2461,1754,0,0,0,0,0,0,25.36,25.82,28.83
$GC,6743,0.49,321.6,600.3,9.3,632,6780,0.00,2.15,22.83,0.796,4,0.000,0.041,2160,3814,1669,0,0,0,0,1,0,28.83,25.55,24.32
$GC,6804,0.51,346.1,594.3,9.4,637,6843,0.00,2.05,26.00,0.830,6,0.000,0.025,2170,2459,1573,0,0,0,0,1,0,28.83,25.83,24.15
$GC,7144,0.49,346.1,557.1,12.0,671,7152,0.00,0.00,2.60,0.438,6,0.000,0.000,2170,2460,1566,0,0,0,0,0,0,28.83,28.83,24.37
$GC,7454,0.47,346.1,518.1,12.6,702,7464,0.00,2.20,1.70,0.187,4,0.000,0.044,2170,3819,1568,0,0,0,0,0,0,28.83,25.44,25.03
$GC,7498,0.46,346.1,512.5,12.9,706,7507,0.00,2.03,1.48,0.171,6,0.000,0.025,2181,2464,1565,0,0,0,0,0,0,28.83,25.79,25.01
$GC,7807,0.44,346.1,472.5,12.9,737,7817,0.00,2.17,0.00,0.000,4,0.000,0.044,2181,3814,1576,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7833,0.42,346.1,469.3,13.4,739,7840,0.15,2.05,0.00,0.000,6,0.136,0.024,2149,2453,1576,0,0,0,0,0,0,25.34,25.75,28.83
$GC,8141,0.61,491.2,444.7,6.7,770,8291,0.12,2.30,143.62,0.796,4,0.075,0.045,2237,3822,967,0,0,0,0,0,0,26.24,25.34,24.36
$GC,8316,0.56,491.2,415.2,19.4,787,8326,0.20,2.08,0.00,0.000,6,0.140,0.025,2191,2462,952,0,0,0,0,0,0,25.13,25.59,28.83
$GC,8627,0.63,525.8,384.8,9.2,818,8676,0.00,2.25,38.58,0.699,4,0.000,0.032,2202,1063,824,0,0,0,0,0,0,28.83,25.69,24.65
$GC,8712,0.80,618.1,377.7,7.9,826,8809,0.15,2.35,87.57,0.739,6,0.037,0.029,2297,2531,449,0,0,0,0,0,0,25.70,25.70,24.37
$GC,9110,0.92,618.1,333.6,10.5,866,9118,0.00,1.98,0.00,0.000,4,0.000,0.042,2297,3808,433,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9182,0.98,618.1,323.7,13.9,873,9192,0.00,2.03,0.00,0.000,6,0.000,0.026,2308,2455,433,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9492,0.90,618.1,232.4,30.5,904,9500,0.00,2.17,0.00,0.000,4,0.000,0.044,2308,3813,432,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9577,0.85,618.1,208.6,25.6,912,9584,0.12,2.05,0.00,0.000,6,0.155,0.025,2284,2460,431,0,0,0,0,0,0,25.39,25.75,28.83
$GC,9888,0.79,618.1,127.5,27.4,970,9895,0.00,2.15,0.00,0.000,4,0.000,0.041,2284,3822,430,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9955,0.80,618.1,113.3,16.0,982,9962,0.00,2.05,0.00,0.000,6,0.000,0.024,2294,2459,429,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10269,0.80,618.1,57.9,13.3,1043,10276,0.00,2.25,0.00,0.000,4,0.000,0.033,2306,1048,429,0,0,0,0,0,0,28.83,25.49,28.83
$GC,10339,0.93,667.8,51.0,8.9,1056,10346,0.00,2.38,0.00,0.000,6,0.000,0.029,2306,2533,428,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10652,1.04,667.8,16.2,13.8,1117,10659,0.12,2.03,0.00,0.000,4,0.094,0.042,2373,3814,428,0,0,0,0,0,0,26.19,25.29,28.83
$GC,10745,1.14,667.8,6.1,11.5,1134,10752,0.00,2.03,0.00,0.000,6,0.000,0.022,2373,2441,427,0,0,0,0,0,0,28.83,25.88,28.83
$STATE,10773,end climb,SURFACE_DEPTH_REACHED
$STATE,10773,begin surface coast
$FINISH,-0.1,1.008849
$STATE,10799,end surface coast,CONTROL_FINISHED_OK
$STATE,10801,begin surface
$SM_CCo,10876,0.00,0.000,0,0,427,626.01
$SM_GC,0.72,5.82,0.43,0.00,0.031,0.033,0.000,124,2676,427,-5.80,-0.23,626.01,0,0,0,0,0,0,25.67,26.13,28.83
$IRIDIUM_FIX,2321.52,12143.38,090312,020252
$TT8_MAMPS,0.026215,0.026215
$HUMID,52.52
$INTERNAL_PRESSURE,9.45705
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,24.0,126.434
$10V_AH,9.8,75.138
$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,16.125,117.500,781.525,0.000,0.000,28.863,23.646,133.232,0.000,0.000,46.709,2775.674,4966.414,814.600,2318.770,334.939,0.000,2006.794,0.000,1979.239,0.000,0.541,0.000
$DEVICE_MAMPS,235.620,52.020,1002.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,772.687,1419.215,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,76973,1144
$CAP_FILE_SIZE,139741,0
$CFSIZE,260165632,164499456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.222, 5.9,1
$GPS,090312,060901,2332.482,12141.662,42,1.8,43,-3.1