QPE May09 * SG166 * Dive index * Mission links
version: 66.04
glider: 166
mission: 2
dive: 72
start: 6 2 109 16 17 5
data:
$ID,166
$MISSION,2
$DIVE,72
$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,300
$T_MISSION,360
$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,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,425
$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,-6582.311
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2739
$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,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$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
$GPS1,160406,2516.927,12319.607,35,1.3,41,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.2
$GPS2,161643,2516.841,12319.759,12,1.6,17,-3.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$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,307.5,46205,-17.1,-11.000
$D_GRID,1496
$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,-0.94,-194.7,0.0,0.0,0,70,0.00,0.00,-54.00,0.000,2,0.000,0.000,166,1489,2351
$GC,72,-0.94,-194.7,3.1,-5.5,8,125,8.93,1.92,-36.12,0.000,4,0.231,0.058,2429,208,3658
$GC,316,-0.07,-194.7,84.6,-37.8,50,325,0.93,1.90,0.00,0.000,6,0.166,0.031,2709,1493,3658
$GC,664,-0.98,-194.7,119.9,-10.0,111,671,0.77,2.05,0.00,0.000,4,0.068,0.035,2419,2905,3660
$GC,696,-0.93,-194.7,123.5,-11.5,116,702,0.00,2.05,0.00,0.000,6,0.000,0.031,2419,1489,3660
$GC,1039,-0.32,-194.7,214.2,-25.2,177,1046,0.68,2.10,0.00,0.000,4,0.158,0.040,2625,2898,3660
$GC,1120,-0.79,-194.7,222.6,-5.4,191,1127,0.38,2.00,0.00,0.000,6,0.041,0.032,2460,1516,3660
$GC,1464,-0.42,-194.7,284.5,-19.4,252,1471,0.43,1.95,0.00,0.000,4,0.144,0.044,2596,201,3660
$GC,1578,-0.66,-194.7,296.8,-8.1,272,1585,0.17,1.90,0.00,0.000,6,0.041,0.028,2502,1523,3660
$GC,1911,-0.52,-194.7,340.4,-12.9,306,1913,0.22,0.00,0.00,0.000,6,0.136,0.000,2569,1524,3660
$GC,2230,-0.75,-194.7,365.2,-7.3,336,2234,0.17,2.00,0.00,0.000,4,0.058,0.042,2454,2881,3660
$GC,2287,-0.70,-194.7,371.4,-12.0,341,2291,0.17,2.03,0.00,0.000,6,0.133,0.035,2513,1494,3660
$GC,2612,-0.77,-194.7,404.2,-10.0,371,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1494,3659
$GC,2930,-0.86,-194.7,437.7,-10.5,401,2932,0.15,0.00,0.00,0.000,6,0.064,0.000,2436,1493,3656
$GC,3248,-0.68,-194.7,485.0,-14.4,431,3250,0.28,0.00,0.00,0.000,6,0.142,0.000,2519,1494,3654
$GC,3563,-0.87,-194.7,511.9,-7.9,454,3567,0.17,1.92,0.00,0.000,4,0.058,0.049,2434,210,3652
$GC,3639,-0.66,-194.7,522.3,-14.2,457,3644,0.25,1.90,0.00,0.000,6,0.136,0.036,2518,1494,3652
$GC,3961,-0.86,-194.7,547.5,-8.2,473,3962,0.17,0.00,0.00,0.000,6,0.058,0.000,2434,1497,3649
$GC,4271,-0.73,-194.7,589.4,-13.2,488,4275,0.20,1.95,0.00,0.000,4,0.142,0.051,2499,212,3646
$GC,4360,-0.83,-194.7,598.9,-9.5,492,4364,0.00,1.88,0.00,0.000,6,0.000,0.035,2494,1497,3646
$GC,4692,-0.95,-194.7,626.9,-8.1,508,4697,0.17,2.10,0.00,0.000,4,0.060,0.050,2411,2905,3642
$GC,4718,-0.90,-194.7,629.6,-10.8,509,4723,0.08,2.10,0.00,0.000,6,0.146,0.040,2449,1504,3642
$GC,5045,-0.90,-194.7,664.2,-10.4,525,5049,0.00,1.95,0.00,0.000,4,0.000,0.054,2449,206,3640
$GC,5203,-0.80,-194.7,681.6,-11.0,532,5207,0.12,1.90,0.00,0.000,6,0.156,0.038,2482,1480,3639
$GC,5535,-0.89,-194.7,708.3,-8.5,548,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1480,3636
$GC,5844,-1.00,-194.7,734.0,-8.1,563,5849,0.17,2.15,0.00,0.000,4,0.064,0.053,2398,2903,3633
$GC,5905,-0.87,-194.7,741.0,-12.0,566,5910,0.20,2.12,0.00,0.000,6,0.145,0.042,2456,1474,3633
$GC,6231,-0.87,-194.7,772.9,-9.9,582,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1474,3631
$GC,6540,-0.87,-194.7,803.8,-10.0,597,6544,0.00,2.17,0.00,0.000,4,0.000,0.056,2455,2900,3629
$GC,6579,-0.95,-194.7,807.7,-9.7,598,6587,0.00,2.12,0.00,0.000,6,0.000,0.044,2456,1499,3629
$GC,6894,-0.95,-194.7,837.7,-9.3,614,6897,0.00,1.98,0.00,0.000,4,0.000,0.058,2457,201,3627
$GC,6993,-0.95,-194.7,848.7,-11.3,618,6998,0.00,1.92,0.00,0.000,6,0.000,0.040,2460,1479,3627
$GC,7314,-0.95,-194.7,880.0,-9.5,634,7318,0.00,2.15,0.00,0.000,4,0.000,0.055,2468,2900,3625
$GC,7341,-1.01,-194.7,882.6,-9.1,635,7346,0.15,2.12,0.00,0.000,6,0.065,0.044,2397,1496,3625
$GC,7669,-0.80,-194.7,924.8,-13.0,651,7671,0.28,0.00,0.00,0.000,6,0.154,0.000,2479,1495,3623
$GC,7978,-0.88,-194.7,950.7,-8.4,666,7982,0.00,2.15,0.00,0.000,4,0.000,0.058,2480,2896,3622
$GC,8010,-1.02,-194.7,953.2,-7.8,667,8015,0.17,2.12,0.00,0.000,6,0.048,0.044,2394,1500,3622
$STATE,8288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8288,begin apogee
$GC,8293,-0.20,0.0,990.4,13.8,681,8458,0.88,0.00,161.32,1.476,6,0.146,0.000,2664,1749,2863
$STATE,8458,end apogee,CONTROL_FINISHED_OK
$STATE,8458,begin climb
$GC,8460,0.94,194.7,995.0,0.0,689,8640,1.02,2.38,171.65,1.427,4,0.049,0.058,3037,3147,2069
$GC,8696,0.39,194.7,962.7,24.1,700,8702,0.65,2.22,0.00,0.000,6,0.175,0.043,2873,1748,2064
$GC,9022,0.39,194.7,923.0,11.3,716,9023,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1748,2061
$GC,9333,0.41,207.1,889.8,10.5,731,9348,0.00,2.22,11.07,1.263,4,0.000,0.059,2880,338,2017
$GC,9375,0.41,207.1,885.0,11.4,732,9380,0.00,2.20,0.00,0.000,6,0.000,0.043,2879,1745,2016
$GC,9702,0.41,207.1,849.5,11.3,748,9705,0.00,2.17,0.00,0.000,4,0.000,0.058,2880,3153,2014
$GC,9739,0.41,207.1,844.8,12.1,749,9746,0.00,2.17,0.00,0.000,6,0.000,0.044,2889,1745,2014
$GC,10055,0.41,207.1,809.2,11.3,765,10059,0.00,2.17,0.00,0.000,4,0.000,0.058,2900,341,2013
$GC,10132,0.41,207.1,799.6,11.9,768,10137,0.00,2.15,0.00,0.000,6,0.000,0.044,2900,1741,2013
$GC,10453,0.41,207.1,760.9,12.0,784,10457,0.00,2.17,0.00,0.000,4,0.000,0.057,2899,3158,2012
$GC,10536,0.41,207.1,750.5,13.1,787,10543,0.12,2.17,0.00,0.000,6,0.147,0.043,2870,1734,2011
$GC,10853,0.50,223.4,718.0,10.4,803,10874,0.00,2.17,14.62,1.262,4,0.000,0.059,2879,349,1952
$GC,10952,0.57,223.4,706.8,11.3,807,10957,0.10,2.12,0.00,0.000,6,0.054,0.044,2938,1726,1950
$GC,11274,0.43,223.4,661.9,14.2,823,11278,0.20,2.20,0.00,0.000,4,0.153,0.056,2878,3154,1948
$GC,11322,0.52,223.4,655.9,11.1,825,11327,0.00,2.20,0.00,0.000,6,0.000,0.044,2887,1725,1948
$GC,11650,0.59,235.6,620.4,10.5,841,11664,0.12,0.00,11.70,1.177,6,0.068,0.000,2946,1724,1901
$GC,11958,0.44,235.6,577.5,13.8,856,11963,0.20,2.15,0.00,0.000,4,0.154,0.055,2894,335,1898
$GC,12042,0.52,238.7,567.7,10.9,860,12046,0.00,2.12,0.00,0.000,6,0.000,0.043,2894,1737,1898
$GC,12374,0.60,257.0,533.1,10.3,876,12400,0.12,2.25,19.40,1.169,4,0.070,0.056,2965,341,1814
$GC,12427,0.43,257.0,525.6,15.3,878,12432,0.25,2.15,0.00,0.000,6,0.146,0.043,2887,1722,1813
$GC,12751,0.60,304.3,493.7,9.2,897,12800,0.15,2.28,41.72,1.154,4,0.066,0.056,2964,342,1621
$GC,12833,0.51,304.3,482.1,15.4,904,12841,0.17,2.15,0.00,0.000,6,0.140,0.041,2909,1706,1619
$GC,13158,0.60,304.3,442.4,11.9,935,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1707,1615
$GC,13477,0.72,314.3,405.8,10.6,965,13492,0.17,2.17,9.18,0.983,4,0.061,0.054,3007,342,1580
$GC,13514,0.50,314.3,399.6,16.7,968,13521,0.32,2.05,0.00,0.000,6,0.145,0.040,2906,1681,1580
$GC,13840,0.65,314.3,361.4,12.2,999,13841,0.12,0.00,0.00,0.000,6,0.069,0.000,2964,1681,1579
$GC,14158,0.58,314.3,311.4,16.3,1029,14160,0.15,0.00,0.00,0.000,6,0.152,0.000,2926,1682,1578
$GC,14490,0.71,317.8,270.8,10.9,1081,14505,0.12,2.28,4.35,0.669,4,0.070,0.048,2990,3154,1567
$GC,14539,0.62,317.8,263.7,15.3,1089,14545,0.25,2.22,0.00,0.000,6,0.148,0.046,2934,1666,1566
$GC,14883,0.82,351.3,229.1,9.7,1150,14921,0.20,2.10,29.75,0.904,4,0.087,0.054,3039,340,1429
$GC,15012,0.59,351.3,205.9,18.4,1172,15019,0.38,2.03,0.00,0.000,6,0.142,0.036,2930,1706,1426
$GC,15357,0.93,420.1,172.2,8.4,1233,15424,0.28,2.30,58.80,0.843,4,0.044,0.044,3059,3139,1149
$GC,15442,0.71,420.1,157.7,20.5,1246,15451,0.35,2.28,0.00,0.000,6,0.147,0.037,2969,1646,1147
$GC,15788,0.88,420.1,114.8,11.3,1307,15795,0.15,2.28,0.00,0.000,4,0.058,0.042,3046,3140,1145
$GC,15825,0.80,420.1,109.3,16.2,1313,15832,0.20,2.20,0.00,0.000,6,0.145,0.036,2995,1663,1145
$GC,16170,1.01,424.9,64.0,10.8,1374,16180,0.17,2.08,4.90,0.542,4,0.052,0.047,3099,330,1130
$GC,16208,0.86,424.9,57.9,16.9,1380,16216,0.25,2.03,0.00,0.000,6,0.136,0.032,3017,1699,1130
$GC,16554,1.03,425.7,17.6,11.0,1441,16561,0.15,2.05,0.00,0.000,4,0.059,0.045,3101,340,1130
$GC,16600,0.87,425.7,10.5,19.8,1449,16607,0.20,1.98,0.00,0.000,6,0.123,0.031,3020,1691,1130
$STATE,16662,end climb,SURFACE_DEPTH_REACHED
$STATE,16662,begin surface coast
$FINISH,0.9,1.009832
$STATE,16693,end surface coast,CONTROL_FINISHED_OK
$STATE,16693,begin surface
$SM_CCo,16768,0.00,0.000,0,0,1128,425.60
$SM_GC,1.73,7.65,0.00,0.00,0.047,0.000,0.000,161,1480,1128,-8.03,-0.57,425.60
$IRIDIUM_FIX,2510.35,12101.92,270898,161646
$TT8_MAMPS,0.026845
$HUMID,1468
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,24.80
$XPDR_PINGS,109
$24V_AH,23.5,18.029
$10V_AH,10.7,11.029
$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,30.550,131.175,538.475,0.000,0.000,76.297,168.048,273.911,35.250,0.000,0.000,17.340,2636.397,10578.443,637.980,2950.445,711.824,0.000,1968.070,0.000,2912.034,0.000,55.228,0.000
$DEVICE_MAMPS,230.867,59.059,1475.708,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,997.289,980.594,1649.755,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85153,1465
$CAP_FILE_SIZE,173903,0
$CFSIZE,260165632,229257216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.172, 71.8,1
$GPS,020609,205757,2518.830,12318.799,32,3.1,51,-3.7