QPE May09 *
SG166 *
Dive index
* Mission links
version: 66.04
glider: 166
mission: 2
dive: 477
start: 8 12 109 17 41 29
data:
$ID,166
$MISSION,2
$DIVE,477
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$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,475
$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,-15359.604
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2749
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.200001
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,2061
$C_ROLL_CLIMB,1694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,71
$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
$GPS1,173307,2400.095,12551.907,28,1.2,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-70.0
$GPS2,174108,2400.090,12551.899,13,1.3,13,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,RET_1
$TGT_LATLONG,2350.000,12545.000
$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,237.8,22041,-13.9,-10.000
$D_GRID,916
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.11,-243.4,0.0,0.0,0,84,0.00,0.00,-62.50,0.000,2,0.000,0.000,165,2112,2310
$GC,87,-1.11,-243.4,3.1,-5.4,9,151,8.88,2.25,-46.38,0.000,4,0.217,0.049,2374,650,3939
$GC,171,-1.11,-243.4,14.6,-19.7,22,178,0.00,2.05,0.00,0.000,6,0.000,0.031,2369,2048,3943
$GC,517,-1.11,-243.4,73.3,-15.3,83,525,0.00,2.10,0.00,0.000,4,0.000,0.037,2356,654,3940
$GC,641,-1.11,-243.4,92.5,-16.2,104,648,0.12,2.10,0.00,0.000,6,0.166,0.031,2387,2098,3940
$GC,986,-1.11,-243.4,137.3,-12.5,165,992,0.00,2.08,0.00,0.000,4,0.000,0.042,2388,3465,3941
$GC,1029,-1.11,-243.4,142.7,-13.4,172,1035,0.00,2.00,0.00,0.000,6,0.000,0.026,2382,2078,3941
$GC,1374,-1.11,-243.4,188.4,-13.9,233,1381,0.00,2.08,0.00,0.000,4,0.000,0.042,2379,3459,3942
$GC,1427,-1.11,-243.4,195.6,-14.0,242,1433,0.00,1.90,0.00,0.000,6,0.000,0.027,2379,2135,3942
$GC,1771,-1.11,-243.4,239.3,-12.6,303,1778,0.00,2.15,0.00,0.000,4,0.000,0.036,2379,676,3942
$GC,1803,-1.11,-243.4,243.5,-13.2,308,1809,0.00,2.12,0.00,0.000,6,0.000,0.031,2380,2138,3942
$GC,2148,-1.11,-243.4,284.9,-11.7,369,2154,0.00,2.00,0.00,0.000,4,0.000,0.044,2381,3469,3942
$GC,2184,-1.11,-243.4,289.0,-11.6,375,2191,0.00,1.88,0.00,0.000,6,0.000,0.027,2379,2148,3942
$GC,2523,-1.11,-243.4,324.8,-10.7,415,2527,0.00,2.17,0.00,0.000,4,0.000,0.038,2380,673,3941
$GC,2539,-1.11,-243.4,326.9,-10.5,416,2545,0.00,2.17,0.00,0.000,6,0.000,0.031,2379,2162,3941
$GC,2866,-1.11,-243.4,363.3,-11.4,447,2870,0.00,1.95,0.00,0.000,4,0.000,0.046,2380,3457,3940
$GC,2918,-1.11,-243.4,369.3,-11.4,451,2925,0.00,1.85,0.00,0.000,6,0.000,0.028,2380,2162,3939
$GC,3244,-1.11,-243.4,401.5,-9.3,482,3247,0.00,2.00,0.00,0.000,4,0.000,0.046,2381,3463,3938
$GC,3278,-1.11,-243.4,405.0,-10.5,485,3282,0.00,1.83,0.00,0.000,6,0.000,0.028,2381,2185,3937
$GC,3613,-1.11,-243.4,441.9,-11.2,516,3616,0.00,2.25,0.00,0.000,4,0.000,0.041,2380,679,3936
$GC,3663,-1.11,-243.4,448.3,-11.7,520,3669,0.00,2.20,0.00,0.000,6,0.000,0.035,2382,2162,3936
$GC,3989,-1.11,-243.4,481.6,-9.5,551,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2163,3934
$GC,4304,-1.11,-243.4,512.7,-9.9,575,4307,0.00,1.98,0.00,0.000,4,0.000,0.051,2381,3457,3932
$GC,4332,-1.11,-243.4,515.8,-10.3,576,4336,0.00,1.85,0.00,0.000,6,0.000,0.030,2384,2176,3932
$GC,4660,-1.11,-243.4,548.7,-10.4,592,4664,0.00,2.25,0.00,0.000,4,0.000,0.043,2385,683,3930
$GC,4693,-1.11,-243.4,552.6,-11.1,593,4697,0.00,2.22,0.00,0.000,6,0.000,0.038,2386,2164,3929
$GC,5011,-1.11,-243.4,587.0,-10.9,608,5014,0.00,2.00,0.00,0.000,4,0.000,0.054,2388,3459,3927
$GC,5102,-1.11,-243.4,597.4,-11.2,612,5106,0.00,1.83,0.00,0.000,6,0.000,0.032,2388,2209,3926
$GC,5436,-1.11,-243.4,631.5,-10.0,628,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2208,3923
$GC,5746,-1.11,-243.4,662.4,-9.9,643,5750,0.00,2.33,0.00,0.000,4,0.000,0.046,2387,684,3921
$GC,5795,-1.11,-243.4,667.7,-10.4,645,5799,0.00,2.28,0.00,0.000,6,0.000,0.041,2390,2184,3921
$GC,6119,-1.11,-243.4,700.3,-10.3,661,6123,0.00,1.98,0.00,0.000,4,0.000,0.057,2395,3454,3918
$GC,6203,-1.11,-243.4,710.0,-11.5,664,6209,0.00,1.80,0.00,0.000,6,0.000,0.035,2392,2246,3917
$GC,6520,-1.11,-243.4,745.0,-11.0,680,6523,0.00,1.90,0.00,0.000,4,0.000,0.058,2391,3456,3915
$GC,6547,-1.11,-243.4,748.4,-12.4,681,6551,0.00,1.77,0.00,0.000,6,0.000,0.035,2387,2246,3914
$GC,6876,-1.11,-243.4,785.8,-11.3,697,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2246,3912
$GC,7184,-1.11,-243.4,819.5,-10.5,712,7188,0.00,1.92,0.00,0.000,4,0.000,0.061,2385,3453,3910
$GC,7276,-1.11,-243.4,829.2,-10.6,716,7280,0.00,1.75,0.00,0.000,6,0.000,0.037,2384,2270,3909
$GC,7610,-1.11,-243.4,862.4,-9.9,732,7614,0.00,2.47,0.00,0.000,4,0.000,0.053,2385,684,3907
$GC,7672,-1.11,-243.4,869.4,-10.9,735,7676,0.00,2.42,0.00,0.000,6,0.000,0.045,2376,2249,3906
$GC,8007,-1.11,-243.4,908.7,-12.6,751,8011,0.00,2.45,0.00,0.000,4,0.000,0.051,2375,681,3904
$STATE,8060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8060,begin apogee
$GC,8069,-0.29,0.0,916.6,13.7,753,8280,0.88,0.00,207.45,1.410,6,0.125,0.000,2647,1694,2945
$STATE,8281,end apogee,CONTROL_FINISHED_OK
$STATE,8281,begin climb
$GC,8285,1.11,243.4,934.8,0.0,764,8511,1.30,2.35,214.05,1.372,4,0.071,0.057,3102,3100,1951
$GC,8550,1.11,243.4,924.0,11.6,776,8555,0.00,2.12,0.00,0.000,6,0.000,0.041,3111,1732,1947
$GC,8879,1.11,243.4,886.5,12.0,792,8883,0.00,2.30,0.00,0.000,4,0.000,0.057,3122,275,1943
$GC,8989,1.11,243.4,872.5,12.6,797,8992,0.00,2.15,0.00,0.000,6,0.000,0.044,3122,1672,1942
$GC,9322,1.11,243.4,831.1,12.3,813,9326,0.00,2.25,0.00,0.000,4,0.000,0.057,3123,3105,1941
$GC,9440,1.11,243.4,815.6,13.6,818,9444,0.00,2.17,0.00,0.000,6,0.000,0.043,3133,1680,1939
$GC,9767,1.11,243.4,772.0,13.3,834,9771,0.00,2.25,0.00,0.000,4,0.000,0.056,3133,3104,1939
$GC,9796,1.11,243.4,767.9,13.8,835,9801,0.15,2.17,0.00,0.000,6,0.181,0.042,3107,1675,1938
$GC,10120,1.11,243.4,729.5,11.4,851,10124,0.00,2.25,0.00,0.000,4,0.000,0.056,3107,3104,1937
$GC,10193,1.11,243.4,720.5,11.2,854,10196,0.00,2.12,0.00,0.000,6,0.000,0.042,3115,1708,1937
$GC,10521,1.11,243.4,683.8,11.2,870,10524,0.00,2.22,0.00,0.000,4,0.000,0.055,3126,290,1936
$GC,10590,1.11,243.4,675.9,11.1,873,10594,0.00,2.20,0.00,0.000,6,0.000,0.043,3126,1727,1936
$GC,10923,1.14,270.6,642.2,9.2,889,10959,0.00,2.17,25.58,1.164,4,0.000,0.055,3126,3093,1840
$GC,11006,1.14,271.2,633.8,10.0,892,11010,0.00,2.12,0.00,0.000,6,0.000,0.042,3135,1715,1838
$GC,11338,1.14,271.2,598.2,11.2,908,11342,0.00,2.17,0.00,0.000,4,0.000,0.055,3135,3097,1837
$GC,11377,1.14,271.2,593.4,12.0,909,11383,0.00,2.08,0.00,0.000,6,0.000,0.042,3144,1736,1835
$GC,11694,1.14,271.2,553.3,13.1,925,11698,0.00,2.28,0.00,0.000,4,0.000,0.055,3155,284,1836
$GC,11806,1.14,271.2,538.4,12.5,930,11810,0.15,2.17,0.00,0.000,6,0.175,0.043,3118,1706,1836
$GC,12128,1.14,271.2,501.7,11.1,946,12131,0.00,2.17,0.00,0.000,4,0.000,0.054,3117,3103,1835
$GC,12229,1.14,271.2,490.7,11.1,954,12233,0.00,2.12,0.00,0.000,6,0.000,0.041,3126,1708,1834
$GC,12561,1.15,279.1,459.3,9.8,985,12576,0.00,2.30,8.20,0.997,4,0.000,0.054,3137,273,1807
$GC,12606,1.15,279.1,454.8,10.7,989,12611,0.00,2.25,0.00,0.000,6,0.000,0.041,3137,1741,1807
$GC,12937,1.24,350.3,425.2,8.0,1020,13008,0.00,2.22,65.65,1.084,4,0.000,0.053,3137,3094,1516
$GC,13062,1.24,350.3,413.3,10.5,1031,13066,0.00,2.10,0.00,0.000,6,0.000,0.039,3146,1733,1514
$GC,13393,1.24,350.3,374.1,12.2,1062,13394,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1733,1510
$GC,13711,1.24,350.3,336.8,12.0,1092,13715,0.00,2.15,0.00,0.000,4,0.000,0.051,3145,3109,1510
$GC,13830,1.24,350.3,323.5,10.9,1102,13836,0.00,2.03,0.00,0.000,6,0.000,0.038,3155,1767,1510
$GC,14163,1.24,350.3,283.9,11.3,1145,14169,0.00,2.08,0.00,0.000,4,0.000,0.049,3155,3108,1510
$GC,14272,1.24,350.3,271.1,11.5,1164,14279,0.00,1.98,0.00,0.000,6,0.000,0.038,3165,1813,1510
$GC,14619,1.28,385.2,237.7,9.0,1225,14656,0.00,2.03,31.10,0.901,4,0.000,0.047,3165,3107,1374
$GC,14697,1.28,385.2,229.5,10.3,1238,14703,0.00,1.95,0.00,0.000,6,0.000,0.036,3173,1844,1372
$GC,15040,1.28,385.2,190.8,10.6,1299,15047,0.00,2.40,0.00,0.000,4,0.000,0.048,3185,281,1371
$GC,15117,1.28,385.2,182.2,11.3,1312,15125,0.00,2.38,0.00,0.000,6,0.000,0.035,3185,1860,1371
$GC,15465,1.30,400.9,145.3,9.6,1373,15491,0.00,2.50,15.25,0.782,4,0.000,0.047,3197,281,1309
$GC,15572,1.30,400.9,133.5,11.4,1391,15578,0.00,2.35,0.00,0.000,6,0.000,0.034,3197,1830,1309
$GC,15917,1.39,475.2,98.5,7.9,1452,15988,0.00,2.50,65.10,0.767,4,0.000,0.044,3208,281,1007
$GC,16108,1.43,506.0,81.7,9.2,1484,16143,0.00,2.30,27.35,0.725,6,0.000,0.032,3208,1821,882
$GC,16483,1.47,535.7,43.0,9.2,1549,16515,0.00,2.03,26.77,0.680,4,0.000,0.041,3207,3115,760
$GC,16604,1.47,535.7,30.3,12.0,1569,16611,0.00,2.05,0.00,0.000,6,0.000,0.031,3214,1727,760
$STATE,16843,end climb,SURFACE_DEPTH_REACHED
$STATE,16843,begin surface coast
$FINISH,1.1,1.005203
$STATE,16873,end surface coast,CONTROL_FINISHED_OK
$STATE,16873,begin surface
$SM_CCo,16954,0.00,0.000,0,0,759,536.23
$SM_GC,1.73,8.12,0.00,0.00,0.040,0.000,0.000,164,2080,759,-8.06,0.54,536.23
$IRIDIUM_FIX,2352.12,12550.37,061198,121219
$TT8_MAMPS,0.027612
$HUMID,1636
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.00
$XPDR_PINGS,195
$24V_AH,23.1,106.331
$10V_AH,10.6,69.743
$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,19.600,161.875,686.500,0.000,0.000,22.674,35.483,238.388,56.000,0.000,0.000,13.886,2803.073,9749.697,766.281,3300.460,795.529,0.000,2271.732,0.000,3277.713,0.000,51.659,0.000
$DEVICE_MAMPS,217.061,61.360,1409.746,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1095.665,1126.418,1891.452,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94658,1617
$CAP_FILE_SIZE,164829,0
$CFSIZE,260165632,195563520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.128,125.3,1
$GPS,120809,222507,2358.649,12551.614,26,1.9,26,-3.6