QPE May09 *
SG166 *
Dive index
* Mission links
version: 66.04
glider: 166
mission: 2
dive: 239
start: 6 22 109 17 42 47
data:
$ID,166
$MISSION,2
$DIVE,239
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$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,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51956
$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,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-10074.931
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2945
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.273609
$PRESSURE_SLOPE,0.0001160501
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043153614
$SEABIRD_T_H,0.00063164165
$SEABIRD_T_I,2.3580644e-05
$SEABIRD_T_J,2.4654264e-06
$SEABIRD_C_G,-9.9826469
$SEABIRD_C_H,1.1204658
$SEABIRD_C_I,-0.0010752195
$SEABIRD_C_J,0.00016642714
$GPS1,173527,2436.070,12327.620,37,2.9,56,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-57.9
$GPS2,174228,2436.100,12327.670,13,3.1,32,-3.6
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2435.000,12317.000
$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,246.2,18085,-16.4,-12.000
$D_GRID,1267
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.97,-243.4,0.0,0.0,0,105,0.00,0.00,-88.10,0.000,2,0.000,0.000,176,1535,2458
$GC,108,-0.97,-243.4,3.1,-3.7,14,161,9.23,2.03,-37.25,0.000,4,0.231,0.052,2436,191,3939
$GC,168,-0.19,-243.4,15.9,-27.2,23,175,0.80,1.92,0.00,0.000,6,0.134,0.029,2697,1491,3939
$GC,514,-1.01,-243.4,51.5,-10.1,84,521,0.70,1.98,0.00,0.000,4,0.069,0.043,2436,183,3941
$GC,693,-0.48,-243.4,91.6,-25.0,115,699,0.47,1.83,0.00,0.000,6,0.132,0.029,2603,1429,3940
$GC,1037,-0.68,-243.4,129.6,-10.2,176,1044,0.17,2.17,0.00,0.000,4,0.054,0.039,2507,2901,3942
$GC,1240,-0.68,-243.4,156.5,-12.3,212,1247,0.00,2.15,0.00,0.000,6,0.000,0.031,2512,1446,3942
$GC,1583,-0.59,-243.4,200.9,-12.6,273,1590,0.17,2.17,0.00,0.000,4,0.130,0.040,2566,2904,3942
$GC,1675,-0.81,-243.4,209.9,-9.5,289,1682,0.20,2.10,0.00,0.000,6,0.048,0.031,2462,1459,3943
$GC,2021,-0.63,-243.4,263.7,-15.4,350,2029,0.25,2.15,0.00,0.000,4,0.128,0.041,2546,2895,3943
$GC,2125,-0.88,-243.4,274.1,-9.4,368,2132,0.20,2.03,0.00,0.000,6,0.049,0.032,2441,1493,3943
$GC,2461,-0.68,-243.4,317.4,-11.9,416,2466,0.28,2.10,0.00,0.000,4,0.130,0.042,2533,2895,3942
$GC,2524,-0.90,-243.4,322.4,-7.2,421,2528,0.17,2.00,0.00,0.000,6,0.054,0.031,2444,1519,3942
$GC,2853,-0.75,-243.4,364.1,-12.9,452,2858,0.20,2.08,0.00,0.000,4,0.133,0.043,2515,2900,3940
$GC,2920,-0.91,-243.4,371.2,-10.3,457,2926,0.12,2.00,0.00,0.000,6,0.064,0.033,2445,1526,3940
$GC,3244,-0.76,-243.4,413.2,-12.3,488,3249,0.17,2.08,0.00,0.000,4,0.137,0.044,2495,2901,3938
$GC,3295,-0.90,-243.4,418.1,-8.5,492,3299,0.00,1.95,0.00,0.000,6,0.000,0.033,2498,1559,3938
$GC,3628,-1.01,-243.4,446.9,-8.2,523,3632,0.17,2.03,0.00,0.000,4,0.056,0.044,2403,2902,3935
$GC,3675,-0.84,-243.4,452.3,-12.2,527,3679,0.25,1.95,0.00,0.000,6,0.133,0.034,2487,1565,3935
$GC,4002,-0.91,-243.4,483.3,-9.7,557,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1565,3932
$GC,4314,-0.98,-243.4,516.7,-10.6,580,4318,0.12,2.03,0.00,0.000,4,0.067,0.048,2417,2901,3930
$GC,4341,-0.93,-243.4,520.3,-12.9,581,4346,0.15,1.95,0.00,0.000,6,0.138,0.035,2461,1574,3929
$GC,4669,-0.93,-243.4,555.9,-10.0,597,4672,0.00,2.03,0.00,0.000,4,0.000,0.055,2457,2901,3926
$GC,4747,-1.00,-243.4,562.5,-7.7,600,4750,0.00,1.95,0.00,0.000,6,0.000,0.044,2457,1587,3925
$GC,5068,-1.00,-243.4,588.5,-8.2,616,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1587,3923
$GC,5378,-1.00,-243.4,619.2,-11.0,631,5382,0.00,2.03,0.00,0.000,4,0.000,0.057,2457,2895,3920
$GC,5427,-1.09,-243.4,625.0,-10.9,633,5433,0.15,1.92,0.00,0.000,6,0.061,0.038,2390,1593,3920
$GC,5758,-0.84,-243.4,675.2,-16.3,649,5763,0.28,2.00,0.00,0.000,4,0.141,0.051,2469,2890,3917
$GC,5837,-0.98,-243.4,685.0,-11.0,652,5843,0.00,1.92,0.00,0.000,6,0.000,0.039,2470,1615,3917
$GC,6153,-1.06,-243.4,718.2,-10.4,668,6157,0.15,2.17,0.00,0.000,4,0.061,0.052,2398,206,3914
$GC,6216,-0.80,-243.4,727.8,-16.1,671,6221,0.38,2.08,0.00,0.000,6,0.142,0.037,2502,1593,3913
$GC,6545,-1.18,-243.4,758.4,-8.6,687,6549,0.30,1.98,0.00,0.000,4,0.046,0.051,2363,2888,3911
$GC,6796,-0.98,-243.4,792.7,-13.5,698,6801,0.28,1.88,0.00,0.000,6,0.144,0.041,2446,1631,3908
$GC,7124,-0.98,-243.4,825.2,-10.2,714,7128,0.00,1.95,0.00,0.000,4,0.000,0.054,2441,2899,3907
$GC,7149,-0.98,-243.4,827.5,-9.9,715,7152,0.00,1.88,0.00,0.000,6,0.000,0.041,2441,1643,3906
$GC,7482,-0.98,-243.4,863.8,-11.1,731,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1643,3904
$GC,7790,-0.98,-243.4,896.6,-10.2,746,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1643,3902
$GC,8103,-0.98,-243.4,926.7,-9.9,761,8106,0.00,1.95,0.00,0.000,4,0.000,0.058,2440,2895,3900
$GC,8164,-1.07,-243.4,933.1,-9.8,763,8170,0.00,1.85,0.00,0.000,6,0.000,0.042,2440,1662,3900
$GC,8480,-1.07,-243.4,966.6,-10.7,779,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1662,3898
$STATE,8725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8725,begin apogee
$GC,8731,-0.20,0.0,991.9,9.9,791,8939,0.77,0.00,204.68,1.482,6,0.117,0.000,2691,1612,2945
$STATE,8940,end apogee,CONTROL_FINISHED_OK
$STATE,8940,begin climb
$GC,8942,0.97,243.4,1004.1,0.0,801,9174,1.08,2.40,219.88,1.434,4,0.047,0.058,3082,2974,1951
$GC,9241,0.45,243.4,973.7,20.6,814,9249,0.62,2.25,0.00,0.000,6,0.166,0.044,2906,1598,1945
$GC,9557,0.64,337.1,944.4,8.9,830,9647,0.17,2.35,83.95,1.407,4,0.064,0.064,2989,195,1569
$GC,9804,0.53,337.1,910.5,14.7,841,9809,0.20,2.12,0.00,0.000,6,0.145,0.048,2934,1571,1564
$GC,10120,0.73,417.3,879.3,9.3,856,10207,0.17,2.35,75.32,1.356,4,0.062,0.058,3022,197,1243
$GC,10297,0.60,417.3,852.3,17.1,864,10302,0.25,2.10,0.00,0.000,6,0.143,0.047,2952,1556,1238
$GC,10631,0.77,457.9,817.4,10.7,880,10688,0.17,2.22,41.65,1.243,4,0.059,0.058,3049,199,1077
$GC,10783,0.58,457.9,791.5,18.3,886,10788,0.35,2.08,0.00,0.000,6,0.139,0.041,2946,1548,1075
$GC,11104,0.90,541.5,761.3,9.2,902,11225,0.25,2.30,87.88,1.213,4,0.051,0.058,3074,199,737
$GC,11354,0.68,541.5,711.3,20.9,913,11359,0.25,2.05,0.00,0.000,6,0.136,0.043,2984,1507,733
$GC,11676,0.88,556.3,671.3,11.5,929,11698,0.17,2.10,14.15,1.200,4,0.057,0.060,3078,198,677
$GC,11771,0.72,556.3,654.2,20.5,933,11775,0.30,1.98,0.00,0.000,6,0.137,0.041,2989,1492,676
$GC,12098,0.92,556.3,615.1,12.4,949,12102,0.20,2.05,0.00,0.000,4,0.054,0.058,3097,194,675
$GC,12159,0.70,556.3,602.3,22.3,951,12166,0.38,1.92,0.00,0.000,6,0.141,0.042,2984,1472,674
$GC,12476,0.93,558.2,560.6,11.9,967,12481,0.17,2.00,0.00,0.000,4,0.055,0.058,3085,197,674
$GC,12515,0.75,558.2,553.4,21.2,968,12522,0.25,1.90,0.00,0.000,6,0.142,0.041,3005,1448,674
$GC,12832,0.91,558.2,509.0,13.3,984,12836,0.15,1.95,0.00,0.000,4,0.061,0.058,3090,203,673
$GC,12877,0.75,558.2,500.9,20.1,986,12881,0.30,1.88,0.00,0.000,6,0.141,0.040,3001,1460,673
$GC,13207,0.93,558.2,458.6,12.3,1016,13211,0.17,1.98,0.00,0.000,4,0.056,0.056,3095,196,673
$GC,13279,0.78,558.2,445.4,20.7,1022,13287,0.22,1.88,0.00,0.000,6,0.135,0.040,3011,1436,673
$GC,13604,1.06,620.6,414.0,9.9,1053,13661,0.22,1.98,49.75,1.090,4,0.051,0.054,3134,198,455
$GC,13684,0.79,620.6,398.3,23.2,1060,13689,0.40,1.90,0.00,0.000,6,0.143,0.038,3018,1438,453
$GC,14009,1.04,620.6,355.6,12.7,1090,14013,0.17,1.95,0.00,0.000,4,0.054,0.054,3118,195,452
$GC,14053,0.91,620.6,347.7,21.2,1094,14058,0.17,1.88,0.00,0.000,6,0.134,0.044,3050,1420,451
$GC,14384,1.10,620.6,300.3,12.8,1125,14388,0.17,1.90,0.00,0.000,4,0.054,0.059,3154,200,451
$GC,14413,1.02,620.6,295.7,17.4,1129,14419,0.22,1.83,0.00,0.000,6,0.142,0.045,3089,1429,451
$GC,14756,1.08,620.6,239.7,14.8,1190,14764,0.00,1.95,0.00,0.000,4,0.000,0.057,3096,196,451
$GC,14832,1.08,620.6,227.2,16.6,1203,14838,0.00,1.77,0.00,0.000,6,0.000,0.044,3096,1395,451
$GC,15176,1.21,620.6,172.4,13.2,1264,15183,0.15,1.88,0.00,0.000,4,0.058,0.051,3185,196,451
$GC,15201,1.21,620.6,168.6,15.4,1268,15208,0.10,1.77,0.00,0.000,6,0.152,0.035,3154,1392,451
$GC,15545,1.21,620.6,119.7,13.5,1329,15552,0.00,2.42,0.00,0.000,4,0.000,0.041,3156,3012,451
$GC,15591,1.21,620.6,112.6,16.4,1337,15598,0.00,2.45,0.00,0.000,6,0.000,0.038,3168,1372,451
$GC,15935,1.26,620.6,58.8,13.7,1398,15943,0.00,1.80,0.00,0.000,4,0.000,0.051,3179,200,451
$GC,16013,1.31,620.6,49.0,12.4,1411,16019,0.00,1.75,0.00,0.000,6,0.000,0.032,3179,1397,451
$GC,16357,1.38,670.5,5.9,10.3,1472,16363,0.00,1.85,0.00,0.000,4,0.000,0.046,3189,187,451
$STATE,16379,end climb,SURFACE_DEPTH_REACHED
$STATE,16379,begin surface coast
$FINISH,0.7,1.008316
$STATE,16397,end surface coast,CONTROL_FINISHED_OK
$STATE,16398,begin surface
$SM_CCo,16477,0.00,0.000,0,0,450,612.02
$SM_GC,1.44,8.02,0.00,0.00,0.043,0.000,0.000,170,1538,450,-8.08,1.07,612.02
$IRIDIUM_FIX,2427.58,12328.26,160998,131328
$TT8_MAMPS,0.026845
$HUMID,1547
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,25.10
$XPDR_PINGS,119
$24V_AH,22.9,50.732
$10V_AH,10.7,29.727
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,31.650,141.200,777.250,0.000,0.000,24.665,32.450,208.116,37.750,0.000,0.000,33.876,2662.670,9607.242,864.554,3176.698,570.587,0.000,2334.350,0.000,3122.268,0.000,54.425,0.000
$DEVICE_MAMPS,230.867,118.118,1481.844,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.440,1023.956,1718.496,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85345,1479
$CAP_FILE_SIZE,174910,0
$CFSIZE,260165632,218468352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$CURRENT,0.250, 30.3,1
$GPS,220609,221837,2437.425,12326.126,39,1.4,39,-3.6