OKMC Apr12 *
SG169 *
Dive index
* Mission links
version: 66.10
glider: 169
mission: 6
dive: 340
start: 6 30 112 21 57 57
data:
$ID,169
$MISSION,6
$DIVE,340
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$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,250
$T_MISSION,290
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-12
$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,51575
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,165
$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,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,-15969.504
$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,2250
$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,2475
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,250
$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
$GPS1,300612,214837,2354.507,12309.243,41,1.1,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-73.5
$GPS2,300612,215734,2354.606,12309.164,14,3.1,33,-3.4
$SPEED_LIMITS,0.229,0.389
$TGT_NAME,HEADING
$TGT_LATLONG,2344.175,12312.217
$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,168.4,20000,-16.2,-13.200
$D_GRID,2635
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.76,-292.0,0.0,0.0,0,116,0.00,0.00,-94.90,0.000,2,0.000,0.000,106,2444,3113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.76,-292.0,3.7,-9.7,17,150,7.55,2.17,-15.23,0.000,4,0.219,0.046,1984,3841,3963,0,0,0,0,0,0,24.89,26.07,26.55
$GC,158,-0.56,-292.0,21.9,-46.6,23,165,0.28,2.00,0.00,0.000,6,0.187,0.019,2065,2418,3963,0,0,0,0,0,0,25.40,26.25,28.83
$GC,351,-0.51,-292.0,67.1,-18.6,60,358,0.00,2.38,0.00,0.000,4,0.000,0.024,2077,992,3964,0,0,0,0,0,0,28.83,26.22,28.83
$GC,411,-0.53,-292.0,76.0,-11.0,71,418,0.00,2.62,0.00,0.000,6,0.000,0.031,2063,2498,3964,0,0,0,0,0,0,28.83,26.20,28.83
$GC,603,-0.50,-292.0,106.6,-15.2,108,610,0.00,1.95,0.00,0.000,4,0.000,0.039,2053,3839,3964,0,0,0,0,0,0,28.83,26.21,28.83
$GC,628,-0.47,-292.0,110.3,-14.9,112,636,0.15,1.98,0.00,0.000,6,0.122,0.019,2101,2429,3964,0,0,0,0,0,0,26.10,26.41,28.83
$GC,821,-0.47,-292.0,129.3,-10.1,149,828,0.00,2.38,0.00,0.000,4,0.000,0.024,2101,1003,3964,0,0,0,0,0,0,28.83,26.32,28.83
$GC,855,-0.50,-292.0,132.5,-8.9,155,864,0.00,2.60,0.00,0.000,6,0.000,0.029,2098,2499,3964,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1049,-0.50,-292.0,152.8,-11.3,192,1056,0.00,1.95,0.00,0.000,4,0.000,0.039,2089,3828,3965,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1069,-0.50,-292.0,155.1,-11.2,195,1076,0.00,1.98,0.00,0.000,6,0.000,0.018,2089,2419,3964,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1261,-0.50,-292.0,177.1,-11.0,232,1268,0.00,2.33,0.00,0.000,4,0.000,0.023,2089,1008,3964,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1301,-0.54,-292.0,181.3,-9.8,239,1308,0.00,2.58,0.00,0.000,6,0.000,0.029,2085,2490,3965,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1493,-0.54,-292.0,202.7,-11.0,276,1500,0.00,2.00,0.00,0.000,4,0.000,0.041,2075,3862,3964,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1529,-0.56,-292.0,206.3,-10.1,282,1535,0.00,2.03,0.00,0.000,6,0.000,0.018,2076,2418,3964,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1840,-0.56,-292.0,238.5,-9.9,343,1847,0.00,2.35,0.00,0.000,4,0.000,0.023,2076,997,3964,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1861,-0.56,-292.0,240.3,-9.6,346,1868,0.00,2.60,0.00,0.000,6,0.000,0.029,2065,2497,3964,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2174,-0.55,-292.0,276.0,-13.2,407,2181,0.00,2.55,0.00,0.000,4,0.000,0.024,2066,1005,3962,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2214,-0.58,-292.0,281.0,-10.8,414,2221,0.00,2.55,0.00,0.000,6,0.000,0.030,2055,2476,3962,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2526,-0.57,-292.0,324.9,-14.2,475,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2475,3961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2837,-0.56,-292.0,365.4,-11.2,536,2846,0.00,2.53,-0.05,0.000,4,0.000,0.033,2056,990,3971,0,0,0,0,0,0,28.83,26.36,25.97
$GC,2874,-0.59,-292.0,369.5,-10.3,542,2881,0.00,2.55,0.00,0.000,6,0.000,0.030,2047,2472,3971,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3188,-0.58,-292.0,404.8,-11.4,603,3194,0.00,2.05,0.00,0.000,4,0.000,0.041,2036,3838,3970,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3224,-0.58,-292.0,408.8,-11.1,609,3231,0.00,2.05,0.00,0.000,6,0.000,0.020,2037,2411,3970,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3536,-0.57,-292.0,446.3,-12.4,670,3542,0.00,2.33,0.00,0.000,4,0.000,0.024,2037,1003,3968,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3576,-0.59,-292.0,450.8,-10.0,677,3583,0.10,2.53,0.00,0.000,6,0.143,0.031,2062,2473,3968,0,0,0,0,0,0,26.14,26.29,28.83
$GC,3891,-0.59,-292.0,479.3,-9.1,738,3898,0.00,2.47,0.00,0.000,4,0.000,0.024,2062,1010,3965,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3915,-0.60,-292.0,482.0,-9.6,742,3923,0.00,2.50,0.00,0.000,6,0.000,0.032,2059,2464,3964,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4229,-0.61,-292.0,509.3,-8.3,792,4233,0.00,2.08,0.00,0.000,4,0.000,0.042,2049,3840,3962,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4254,-0.62,-292.0,511.2,-8.6,794,4261,0.00,2.08,0.00,0.000,6,0.000,0.019,2049,2396,3962,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4562,-0.62,-292.0,544.0,-11.4,825,4570,0.00,2.30,0.00,0.000,4,0.000,0.041,2038,3835,3960,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4587,-0.62,-292.0,546.5,-11.5,827,4593,0.00,2.05,0.00,0.000,6,0.000,0.019,2038,2407,3960,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4893,-0.62,-292.0,582.7,-11.3,858,4902,0.00,2.30,0.00,0.000,4,0.000,0.025,2038,1007,3957,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4937,-0.63,-292.0,587.2,-10.4,862,4945,0.00,2.50,0.00,0.000,6,0.000,0.032,2030,2464,3957,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5247,-0.62,-292.0,624.3,-12.2,893,5250,0.00,2.08,0.00,0.000,4,0.000,0.043,2019,3832,3955,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5291,-0.62,-292.0,629.5,-12.5,897,5298,0.00,2.05,0.00,0.000,6,0.000,0.020,2019,2408,3954,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5599,-0.61,-292.0,668.7,-12.8,928,5608,0.12,2.30,0.00,0.000,4,0.134,0.024,2066,1021,3952,0,0,0,0,0,0,26.30,26.30,28.83
$GC,5642,-0.63,-292.0,672.9,-9.8,932,5650,0.00,2.45,0.00,0.000,6,0.000,0.032,2060,2448,3951,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5952,-0.66,-292.0,694.2,-6.2,963,5956,0.00,2.12,0.00,0.000,4,0.000,0.044,2050,3835,3949,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6038,-0.70,-292.0,699.9,-7.3,971,6044,0.00,1.80,0.00,0.000,6,0.000,0.021,2050,2510,3948,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6345,-0.74,-292.0,720.5,-7.2,1002,6354,0.12,2.55,0.00,0.000,4,0.076,0.023,1940,1009,3946,0,0,0,0,0,0,26.52,26.30,28.83
$GC,6411,-0.71,-292.0,728.3,-14.4,1008,6419,0.30,3.05,0.00,0.000,6,0.124,0.037,2020,2693,3946,0,0,0,0,0,0,25.79,26.17,28.83
$GC,6719,-0.70,-292.0,769.0,-13.0,1039,6728,0.00,2.92,0.00,0.000,4,0.000,0.028,2028,1015,3944,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6815,-0.73,-292.0,779.5,-10.2,1048,6822,0.00,2.97,0.00,0.000,6,0.000,0.034,2016,2667,3943,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7121,-0.72,-292.0,820.4,-12.8,1079,7130,0.00,2.90,0.00,0.000,4,0.000,0.028,2017,1019,3941,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7207,-0.74,-292.0,829.5,-10.2,1087,7214,0.00,2.92,0.00,0.000,6,0.000,0.036,2016,2631,3941,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7513,-0.73,-292.0,866.8,-11.9,1118,7522,0.00,2.85,0.00,0.000,4,0.000,0.028,2017,1017,3939,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7600,-0.75,-292.0,875.0,-9.0,1126,7607,0.00,2.88,0.00,0.000,6,0.000,0.036,2017,2599,3938,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7908,-0.74,-292.0,909.2,-10.9,1157,7916,0.00,2.78,0.00,0.000,4,0.000,0.027,2017,1014,3936,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7979,-0.76,-292.0,916.2,-8.6,1164,7988,0.00,2.83,0.00,0.000,6,0.000,0.037,2017,2559,3935,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8291,-0.75,-292.0,950.4,-11.2,1195,8300,0.00,2.72,0.00,0.000,4,0.000,0.028,2017,1009,3934,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8353,-0.77,-292.0,956.6,-8.9,1201,8362,0.00,2.78,0.00,0.000,6,0.000,0.038,2017,2536,3933,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8663,-0.76,-292.0,989.7,-10.5,1232,8672,0.00,2.67,0.00,0.000,4,0.000,0.028,2017,1023,3932,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,8675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8675,begin apogee
$GC,8684,-0.20,0.0,990.8,-10.7,1233,8925,0.47,0.00,230.80,1.113,4,0.093,0.000,2182,2487,2967,0,0,0,0,0,0,25.86,28.83,23.55
$STATE,8926,end apogee,CONTROL_FINISHED_OK
$STATE,8926,begin climb
$GC,8928,0.76,292.0,1003.5,0.0,1258,9238,0.82,2.12,300.02,1.070,4,0.053,0.046,2496,3831,1785,0,0,0,0,0,0,25.14,25.13,23.58
$GC,9299,0.70,292.0,931.4,25.3,1295,9308,0.00,2.03,0.00,0.000,6,0.000,0.021,2506,2456,1750,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9611,0.64,292.0,858.8,23.5,1326,9620,0.15,2.47,0.00,0.000,4,0.184,0.026,2475,1022,1744,0,0,0,0,0,0,25.76,26.07,28.83
$GC,9646,0.61,292.0,852.0,21.0,1329,9653,0.00,2.70,0.00,0.000,6,0.000,0.035,2475,2513,1742,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9953,0.57,292.0,790.2,19.8,1360,9958,0.12,1.95,0.00,0.000,4,0.173,0.042,2437,3837,1742,0,0,0,0,0,0,25.98,26.10,28.83
$GC,10080,0.54,292.0,767.5,17.9,1372,10087,0.00,1.88,0.00,0.000,6,0.000,0.021,2447,2495,1741,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10386,0.53,292.0,717.5,15.5,1403,10395,0.00,2.55,0.00,0.000,4,0.000,0.029,2460,1031,1740,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10408,0.51,292.0,714.0,15.6,1405,10418,0.10,2.65,0.00,0.000,6,0.120,0.034,2423,2518,1739,0,0,0,0,0,0,25.91,26.17,28.83
$GC,10718,0.59,356.1,676.7,11.3,1436,10788,0.00,2.03,55.38,0.961,4,0.000,0.044,2422,3819,1535,0,0,0,0,1,0,28.83,25.48,23.89
$GC,10817,0.64,386.8,665.7,12.3,1445,10871,0.00,1.92,40.20,0.828,6,0.000,0.021,2433,2485,1406,0,0,0,0,1,0,28.83,25.75,23.76
$GC,11171,0.78,485.8,627.7,10.2,1481,11304,0.15,2.70,112.97,0.974,4,0.068,0.031,2533,1038,1004,0,0,0,0,1,0,26.20,25.05,23.56
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$STATE,15206,end climb,SURFACE_DEPTH_REACHED
$STATE,15206,begin surface coast
$FINISH,0.7,1.021674
$STATE,15222,end surface coast,CONTROL_FINISHED_OK
$STATE,15222,begin surface
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$TT8_MAMPS,0.026215,0.026215
$HUMID,55.67
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$XPDR_PINGS,0
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$10V_AH,10.0,44.631
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$FG_AHR_10Vo,0.000
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$MEM,330944
$DATA_FILE_SIZE,136866,2180
$CAP_FILE_SIZE,225397,0
$CFSIZE,260165632,182706176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,010712,021406,2353.493,12310.975,41,1.2,41,-3.4