QPE May09 *
SG165 *
Dive index
* Mission links
version: 66.04
glider: 165
mission: 2
dive: 28
start: 5 25 109 23 52 37
data:
$ID,165
$MISSION,2
$DIVE,28
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52067
$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,435
$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,-116435.09
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2819
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27.15
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2071
$C_ROLL_CLIMB,2556
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2759
$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,-19.66094
$PRESSURE_SLOPE,0.000116182
$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,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043383995
$SEABIRD_T_H,0.00062454981
$SEABIRD_T_I,2.3067754e-05
$SEABIRD_T_J,2.3616824e-06
$SEABIRD_C_G,-9.9113674
$SEABIRD_C_H,1.100266
$SEABIRD_C_I,0.0005534364
$SEABIRD_C_J,6.0498875e-05
$GPS1,234625,2447.359,12251.658,39,1.4,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-72.3
$GPS2,235232,2447.430,12251.684,11,1.2,11,-3.5
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_1
$TGT_LATLONG,2442.000,12228.000
$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,235.0,41098,-18.3,-12.000
$D_GRID,1174
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.92,-194.7,0.0,0.0,0,60,0.00,0.00,-46.38,0.000,2,0.000,0.000,172,2062,2075
$GC,62,-0.92,-194.7,3.1,-4.1,7,120,9.32,2.25,-43.83,0.000,4,0.245,0.062,2516,669,3555
$GC,359,-0.32,-194.7,98.9,-35.1,61,367,0.65,2.22,0.00,0.000,6,0.159,0.048,2712,2069,3557
$GC,687,-0.74,-194.7,130.6,-8.1,122,693,0.35,2.25,0.00,0.000,4,0.041,0.058,2545,3479,3559
$GC,713,-0.63,-194.7,134.5,-16.3,127,720,0.17,2.15,0.00,0.000,6,0.142,0.036,2605,2080,3559
$GC,1040,-0.51,-194.7,191.2,-15.3,188,1047,0.15,2.20,0.00,0.000,4,0.141,0.051,2653,672,3560
$GC,1127,-0.80,-194.7,200.5,-9.3,204,1133,0.17,2.20,0.00,0.000,6,0.042,0.043,2535,2083,3560
$GC,1452,-0.42,-194.7,266.5,-21.3,265,1460,0.45,2.20,0.00,0.000,4,0.148,0.051,2681,663,3560
$GC,1496,-0.82,-194.7,271.7,-7.0,273,1504,0.30,2.17,0.00,0.000,6,0.035,0.041,2518,2064,3561
$GC,1824,-0.50,-194.7,331.0,-18.7,319,1825,0.43,0.00,0.00,0.000,6,0.146,0.000,2653,2064,3561
$GC,2135,-0.91,-194.7,353.5,-7.0,349,2139,0.32,2.22,0.00,0.000,4,0.044,0.061,2501,3472,3561
$GC,2165,-0.73,-194.7,357.5,-15.3,351,2172,0.22,2.17,0.00,0.000,6,0.140,0.038,2578,2052,3561
$GC,2481,-0.78,-194.7,394.1,-11.3,382,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2051,3561
$GC,2792,-0.86,-194.7,421.1,-7.1,412,2796,0.12,2.25,0.00,0.000,4,0.074,0.064,2519,3468,3559
$GC,2834,-0.73,-194.7,425.0,-9.7,416,2842,0.17,2.17,0.00,0.000,6,0.137,0.039,2579,2052,3559
$GC,3157,-0.84,-194.7,451.6,-9.0,447,3161,0.00,2.15,0.00,0.000,4,0.000,0.054,2579,663,3558
$GC,3215,-0.98,-194.7,457.4,-10.1,452,3223,0.17,2.15,0.00,0.000,6,0.049,0.044,2483,2042,3557
$GC,3529,-0.67,-194.7,511.7,-17.3,480,3534,0.38,2.17,0.00,0.000,4,0.149,0.054,2599,665,3555
$GC,3604,-0.94,-194.7,519.0,-7.8,483,3609,0.20,2.12,0.00,0.000,6,0.044,0.045,2494,2024,3555
$GC,3921,-0.71,-194.7,562.5,-13.7,499,3922,0.30,0.00,0.00,0.000,6,0.143,0.000,2587,2024,3553
$GC,4225,-0.91,-194.7,583.1,-7.5,514,4229,0.17,2.30,0.00,0.000,4,0.062,0.067,2505,3473,3551
$GC,4299,-0.81,-194.7,591.8,-12.5,517,4304,0.12,2.25,0.00,0.000,6,0.142,0.042,2550,2019,3549
$GC,4615,-0.87,-194.7,624.9,-10.1,533,4621,0.00,2.15,0.00,0.000,4,0.000,0.058,2550,664,3548
$GC,4663,-0.95,-194.7,629.7,-10.0,535,4667,0.08,2.15,0.00,0.000,6,0.067,0.049,2500,2024,3547
$GC,4984,-0.81,-194.7,671.8,-13.0,551,4988,0.20,2.35,0.00,0.000,4,0.153,0.068,2560,3476,3545
$GC,5064,-1.01,-194.7,679.3,-8.8,554,5070,0.15,2.25,0.00,0.000,6,0.053,0.044,2476,2031,3544
$GC,5375,-0.79,-194.7,727.9,-16.3,570,5379,0.28,2.12,0.00,0.000,4,0.152,0.059,2559,666,3542
$GC,5427,-0.95,-194.7,734.8,-11.0,572,5431,0.10,2.15,0.00,0.000,6,0.061,0.049,2501,2026,3542
$GC,5743,-0.84,-194.7,781.0,-14.5,588,5747,0.15,2.35,0.00,0.000,4,0.156,0.068,2534,3475,3539
$GC,5769,-0.84,-194.7,784.6,-13.5,589,5773,0.00,2.25,0.00,0.000,6,0.000,0.044,2534,2031,3539
$GC,6090,-0.89,-194.7,821.6,-10.7,605,6095,0.00,2.38,0.00,0.000,4,0.000,0.070,2534,3476,3537
$GC,6138,-0.99,-194.7,826.5,-10.2,607,6142,0.00,2.22,0.00,0.000,6,0.000,0.044,2534,2049,3536
$GC,6459,-1.04,-194.7,855.9,-9.0,623,6463,0.15,2.33,0.00,0.000,4,0.071,0.070,2465,3467,3535
$GC,6528,-0.85,-194.7,864.6,-12.8,626,6533,0.22,2.20,0.00,0.000,6,0.147,0.044,2540,2058,3535
$GC,6849,-0.91,-194.7,891.1,-8.0,642,6853,0.00,2.22,0.00,0.000,4,0.000,0.061,2541,666,3533
$GC,6880,-1.00,-194.7,893.8,-8.7,643,6885,0.08,2.22,0.00,0.000,6,0.071,0.051,2491,2064,3533
$GC,7197,-0.87,-194.7,929.4,-11.5,659,7201,0.17,2.28,0.00,0.000,4,0.158,0.070,2534,3486,3531
$GC,7239,-0.96,-194.7,933.5,-8.6,661,7243,0.00,2.22,0.00,0.000,6,0.000,0.044,2534,2062,3531
$GC,7565,-1.03,-194.7,960.9,-8.7,677,7569,0.12,2.33,0.00,0.000,4,0.078,0.070,2468,3477,3529
$GC,7608,-0.84,-194.7,965.8,-12.5,679,7612,0.22,2.20,0.00,0.000,6,0.149,0.046,2542,2073,3528
$STATE,7912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7912,begin apogee
$GC,7917,-0.18,0.0,990.8,8.1,694,8077,0.65,0.00,155.88,1.371,6,0.127,0.000,2757,2562,2759
$STATE,8077,end apogee,CONTROL_FINISHED_OK
$STATE,8077,begin climb
$GC,8078,0.92,194.7,996.7,0.0,702,8247,0.98,0.00,164.68,1.329,6,0.044,0.000,3127,2562,1966
$GC,8545,0.29,194.7,909.3,23.8,725,8549,0.75,1.88,0.00,0.000,4,0.179,0.071,2913,3684,1957
$GC,8646,0.43,243.8,896.9,10.0,729,8696,0.08,1.80,42.22,1.254,6,0.074,0.044,2962,2561,1764
$GC,9000,0.43,243.8,851.4,12.3,747,9003,0.00,2.28,0.00,0.000,4,0.000,0.056,2972,1153,1758
$GC,9057,0.43,243.8,844.1,12.0,749,9065,0.00,2.33,0.00,0.000,6,0.000,0.053,2973,2562,1757
$GC,9368,0.44,251.8,807.0,11.7,765,9379,0.00,1.85,7.35,1.062,4,0.000,0.069,2972,3699,1731
$GC,9410,0.37,251.8,801.8,12.7,767,9415,0.12,1.80,0.00,0.000,6,0.150,0.044,2939,2565,1731
$GC,9731,0.58,313.8,771.5,9.4,783,9796,0.20,2.45,54.75,1.218,4,0.069,0.058,3031,1144,1478
$GC,9870,0.51,313.8,751.0,15.0,789,9874,0.12,2.38,0.00,0.000,6,0.148,0.054,2990,2558,1474
$GC,10185,0.51,313.8,705.1,15.0,805,10189,0.00,2.30,0.00,0.000,4,0.000,0.056,2999,1157,1473
$GC,10227,0.51,313.8,698.7,14.9,807,10231,0.00,2.30,0.00,0.000,6,0.000,0.052,2999,2556,1470
$GC,10554,0.51,313.8,646.5,15.8,823,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2556,1470
$GC,10859,0.51,313.8,599.4,15.2,838,10863,0.00,2.28,0.00,0.000,4,0.000,0.055,3010,1151,1470
$GC,10944,0.51,313.8,586.7,14.8,842,10948,0.00,2.25,0.00,0.000,6,0.000,0.051,3010,2542,1468
$GC,11270,0.51,313.8,533.4,16.6,858,11275,0.00,1.85,0.00,0.000,4,0.000,0.067,3010,3681,1468
$GC,11296,0.43,313.8,528.8,18.3,859,11301,0.17,1.85,0.00,0.000,6,0.143,0.044,2961,2509,1468
$GC,11609,0.65,343.5,490.5,10.8,878,11642,0.20,2.22,24.83,1.039,4,0.068,0.057,3051,1154,1356
$GC,11753,0.58,343.5,468.2,16.0,891,11760,0.12,2.20,0.00,0.000,6,0.150,0.051,3011,2497,1353
$GC,12068,0.58,343.5,423.2,14.1,922,12073,0.00,1.95,0.00,0.000,4,0.000,0.067,3011,3690,1352
$GC,12105,0.58,343.5,417.1,16.8,925,12113,0.00,1.92,0.00,0.000,6,0.000,0.044,3018,2477,1352
$GC,12422,0.58,343.5,366.1,16.3,956,12425,0.00,1.98,0.00,0.000,4,0.000,0.064,3018,3686,1352
$GC,12458,0.58,343.5,359.9,17.3,959,12465,0.00,1.90,0.00,0.000,6,0.000,0.043,3026,2481,1352
$GC,12774,0.60,356.5,318.1,11.5,990,12789,0.00,2.12,11.32,0.868,4,0.000,0.054,3036,1144,1305
$GC,12822,0.68,373.4,312.7,11.3,994,12843,0.00,2.17,15.62,0.868,6,0.000,0.048,3035,2494,1235
$GC,13162,0.68,373.4,264.0,15.9,1049,13163,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2494,1233
$GC,13482,0.73,373.4,215.4,14.7,1109,13490,0.00,2.15,0.00,0.000,4,0.000,0.052,3045,1150,1233
$GC,13526,0.83,373.4,209.2,13.5,1117,13533,0.08,2.12,0.00,0.000,6,0.066,0.046,3093,2486,1233
$GC,13853,0.75,373.4,148.3,17.1,1178,13860,0.12,1.92,0.00,0.000,4,0.159,0.061,3060,3695,1233
$GC,13949,0.75,373.4,132.0,17.5,1196,13956,0.00,1.90,0.00,0.000,6,0.000,0.040,3067,2462,1232
$GC,14276,0.92,400.3,85.8,10.9,1257,14303,0.15,2.12,23.20,0.696,4,0.068,0.050,3145,1141,1125
$GC,14329,0.84,400.3,77.7,15.9,1266,14335,0.15,2.15,0.00,0.000,6,0.143,0.044,3094,2491,1123
$GC,14655,0.98,400.3,31.9,12.8,1327,14662,0.12,2.12,0.00,0.000,4,0.074,0.048,3163,1145,1123
$GC,14698,0.98,400.3,24.6,17.9,1335,14705,0.00,2.12,0.00,0.000,6,0.000,0.044,3163,2491,1123
$STATE,14825,end climb,SURFACE_DEPTH_REACHED
$STATE,14825,begin surface coast
$FINISH,1.6,1.021966
$STATE,14842,end surface coast,CONTROL_FINISHED_OK
$STATE,14842,begin surface
$SM_CCo,14855,27.67,0.617,0,0,984,435.16
$SM_GC,2.60,0.00,0.00,27.67,0.000,0.000,0.617,169,2067,984,-8.28,-0.11,435.16
$IRIDIUM_FIX,2441.81,12252.67,190898,191911
$TT8_MAMPS,0.048321
$HUMID,1526
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,25.20
$XPDR_PINGS,69
$24V_AH,23.6,9.777
$10V_AH,10.7,8.287
$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,27.800,144.175,499.850,27.675,0.000,28.493,37.735,205.478,25.250,0.000,0.000,12.919,0.000,10835.728,716.221,3225.008,446.092,0.000,1928.159,0.000,2706.961,0.000,54.014,0.000
$DEVICE_MAMPS,244.673,70.564,1371.396,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,923.304,921.297,1433.347,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79075,1362
$CAP_FILE_SIZE,161636,0
$CFSIZE,260165632,255524864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247, 21.7,1
$GPS,260509,040137,2447.790,12250.510,37,1.0,37,-3.5