version: 66.09
glider: 166
mission: 6
dive: 508
start: 11 7 111 16 48 40
data:
$ID,166
$MISSION,6
$DIVE,508
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,260
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-25114.98
$T_RSLEEP,3
$STROBE,0
$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,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,20
$C_ROLL_DIVE,1610
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2884
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,109
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.509327
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,4
$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
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004315557
$SEABIRD_T_H,0.00063223497
$SEABIRD_T_I,2.3993638e-05
$SEABIRD_T_J,2.5696888e-06
$SEABIRD_C_G,-9.9842854
$SEABIRD_C_H,1.1210135
$SEABIRD_C_I,-0.0013500623
$SEABIRD_C_J,0.00018873326
$GPS1,071111,164155,2356.766,12152.249,39,1.3,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-68.7
$GPS2,071111,164813,2356.949,12152.250,15,1.8,15,-3.3
$SPEED_LIMITS,0.220,0.301
$TGT_NAME,HUALIEN
$TGT_LATLONG,2356.900,12142.000
$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,248.9,17349,-20.5,-12.692
$D_GRID,3072
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.67,-170.3,0.0,0.0,0,102,0.00,0.00,-82.60,0.000,2,0.000,0.000,139,1597,3010,0,0,0,0,0,0
$GC,105,-0.67,-170.3,5.5,-7.2,11,137,9.62,1.12,-11.60,0.000,4,0.226,0.071,2528,2306,3581,0,0,0,0,0,0
$GC,239,-0.55,-170.3,44.8,-24.3,33,249,0.12,1.08,0.00,0.000,6,0.158,0.038,2578,1601,3583,0,0,0,0,0,0
$GC,568,-0.57,-170.3,95.2,-13.4,94,576,0.00,1.02,0.00,0.000,4,0.000,0.041,2566,917,3585,0,0,0,0,0,0
$GC,634,-0.61,-170.3,103.8,-12.2,105,643,0.00,1.05,0.00,0.000,6,0.000,0.037,2565,1613,3585,0,0,0,0,0,0
$GC,965,-0.65,-170.3,143.9,-11.4,166,973,0.00,1.10,0.00,0.000,4,0.000,0.044,2566,908,3587,0,0,0,0,0,0
$GC,992,-0.69,-170.3,147.1,-11.6,170,1000,0.00,1.05,0.00,0.000,6,0.000,0.040,2565,1598,3587,0,0,0,0,0,0
$GC,1323,-0.74,-170.3,183.8,-10.8,231,1332,0.15,1.08,0.00,0.000,4,0.073,0.046,2483,2312,3588,0,0,0,0,0,0
$GC,1398,-0.69,-170.3,194.5,-15.4,243,1407,0.15,1.08,0.00,0.000,6,0.143,0.041,2528,1608,3588,0,0,0,0,0,0
$GC,1726,-0.69,-170.3,236.9,-12.7,304,1734,0.00,1.08,0.00,0.000,4,0.000,0.047,2525,2298,3587,0,0,0,0,0,0
$GC,1760,-0.69,-170.3,241.1,-12.2,309,1768,0.00,1.05,0.00,0.000,6,0.000,0.041,2528,1606,3587,0,0,0,0,0,0
$GC,2088,-0.69,-170.3,282.1,-11.4,346,2091,0.00,1.05,0.00,0.000,4,0.000,0.046,2528,917,3588,0,0,0,0,0,0
$GC,2114,-0.69,-170.3,285.6,-11.5,348,2123,0.00,1.05,0.00,0.000,6,0.000,0.040,2524,1606,3588,0,0,0,0,0,0
$GC,2440,-0.69,-170.3,326.1,-12.5,379,2444,0.00,1.08,0.00,0.000,4,0.000,0.047,2525,912,3586,0,0,0,0,0,0
$GC,2512,-0.71,-170.3,335.8,-13.4,385,2520,0.00,1.08,0.00,0.000,6,0.000,0.041,2520,1610,3586,0,0,0,0,0,0
$GC,2838,-0.72,-170.3,372.9,-11.1,416,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1610,3586,0,0,0,0,0,0
$GC,3159,-0.74,-170.3,407.3,-10.9,446,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1610,3585,0,0,0,0,0,0
$GC,3489,-0.77,-170.3,443.6,-11.5,477,3492,0.00,1.08,0.00,0.000,4,0.000,0.051,2495,2300,3582,0,0,0,0,0,0
$GC,3550,-0.81,-170.3,451.4,-11.1,482,3557,0.00,1.05,0.00,0.000,6,0.000,0.044,2496,1620,3582,0,0,0,0,0,0
$GC,3876,-0.83,-170.3,489.6,-11.5,513,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1620,3579,0,0,0,0,0,0
$GC,4199,-0.85,-170.3,525.7,-10.9,543,4202,0.00,1.08,0.00,0.000,4,0.000,0.052,2493,2304,3577,0,0,0,0,0,0
$GC,4268,-0.89,-170.3,533.3,-10.2,549,4272,0.00,1.10,0.00,0.000,6,0.000,0.047,2504,1600,3577,0,0,0,0,0,0
$GC,4602,-0.91,-170.3,570.8,-11.7,580,4608,0.12,0.00,0.00,0.000,6,0.086,0.000,2445,1600,3575,0,0,0,0,0,0
$GC,4925,-0.85,-170.3,620.8,-15.7,605,4927,0.15,0.00,0.00,0.000,6,0.176,0.000,2483,1600,3573,0,0,0,0,0,0
$GC,5235,-0.85,-170.3,659.4,-12.1,620,5239,0.00,1.12,0.00,0.000,4,0.000,0.054,2480,2307,3571,0,0,0,0,0,0
$GC,5297,-0.85,-170.3,666.9,-11.3,622,5303,0.00,1.08,0.00,0.000,6,0.000,0.047,2481,1615,3570,0,0,0,0,0,0
$GC,5613,-0.85,-170.3,702.3,-11.0,638,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1615,3568,0,0,0,0,0,0
$GC,5925,-0.85,-170.3,738.5,-11.9,653,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1615,3566,0,0,0,0,0,0
$GC,6231,-0.85,-170.3,776.1,-11.9,668,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1615,3565,0,0,0,0,0,0
$GC,6541,-0.85,-170.3,811.9,-11.6,683,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1614,3563,0,0,0,0,0,0
$GC,6853,-0.85,-170.3,849.8,-12.6,698,6857,0.00,1.12,0.00,0.000,4,0.000,0.054,2480,907,3561,0,0,0,0,0,0
$GC,6913,-0.85,-170.3,858.3,-13.1,700,6920,0.00,1.12,0.00,0.000,6,0.000,0.049,2477,1607,3560,0,0,0,0,0,0
$GC,7232,-0.85,-170.3,898.3,-12.4,716,7236,0.00,1.10,0.00,0.000,4,0.000,0.058,2472,2304,3559,0,0,0,0,0,0
$GC,7259,-0.85,-170.3,902.2,-12.2,717,7263,0.00,1.10,0.00,0.000,6,0.000,0.050,2472,1613,3559,0,0,0,0,0,0
$GC,7586,-0.85,-170.3,941.9,-11.9,733,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1613,3557,0,0,0,0,0,0
$GC,7898,-0.85,-170.3,977.8,-11.8,748,7902,0.00,1.12,0.00,0.000,4,0.000,0.056,2472,904,3556,0,0,0,0,0,0
$STATE,7991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7991,begin apogee
$GC,7998,-0.11,0.0,990.2,12.4,752,8149,0.82,0.00,146.95,1.450,6,0.132,0.000,2715,1777,2884,0,0,0,0,0,0
$STATE,8150,end apogee,CONTROL_FINISHED_OK
$STATE,8150,begin climb
$GC,8153,0.67,170.3,994.6,0.0,759,8327,0.75,1.30,167.27,1.387,4,0.065,0.060,2973,2482,2189,0,0,0,0,0,0
$GC,8406,0.62,170.3,968.0,14.1,771,8409,0.00,1.20,0.00,0.000,6,0.000,0.048,2977,1790,2183,0,0,0,0,0,0
$GC,8736,0.57,170.3,920.3,14.7,787,8740,0.12,1.12,0.00,0.000,4,0.186,0.054,2951,1071,2179,0,0,0,0,0,0
$GC,8790,0.57,170.3,912.3,13.1,789,8794,0.00,1.12,0.00,0.000,6,0.000,0.051,2948,1774,2179,0,0,0,0,0,0
$GC,9112,0.57,170.3,871.4,12.8,805,9116,0.00,1.12,0.00,0.000,4,0.000,0.060,2943,2488,2177,0,0,0,0,0,0
$GC,9161,0.57,170.3,865.3,13.2,807,9165,0.00,1.12,0.00,0.000,6,0.000,0.048,2946,1776,2177,0,0,0,0,0,0
$GC,9494,0.58,173.4,824.0,12.5,823,9497,0.00,1.10,0.00,0.000,4,0.000,0.054,2951,1069,2175,0,0,0,0,0,0
$GC,9533,0.59,182.1,819.0,12.3,824,9548,0.00,1.12,9.93,1.177,6,0.000,0.048,2949,1777,2141,0,0,0,0,0,0
$GC,9874,0.61,197.7,776.6,11.9,841,9892,0.00,0.00,15.70,1.237,6,0.000,0.000,2949,1778,2078,0,0,0,0,0,0
$GC,10200,0.62,210.9,736.8,12.0,857,10222,0.00,1.12,13.23,1.189,4,0.000,0.056,2944,2482,2023,0,0,0,0,0,0
$GC,10258,0.67,229.9,729.7,11.7,859,10283,0.00,1.10,18.85,1.219,6,0.000,0.047,2947,1776,1946,0,0,0,0,0,0
$GC,10602,0.71,241.6,688.1,12.1,876,10618,0.12,1.12,11.55,1.134,4,0.095,0.053,3018,1071,1897,0,0,0,0,0,0
$GC,10654,0.64,241.6,679.5,17.9,877,10658,0.15,1.12,0.00,0.000,6,0.158,0.048,2969,1787,1895,0,0,0,0,0,0
$GC,10975,0.64,241.6,632.3,14.3,893,10978,0.00,1.08,0.00,0.000,4,0.000,0.056,2965,2478,1893,0,0,0,0,0,0
$GC,11060,0.64,241.6,620.2,14.3,896,11067,0.00,1.10,0.00,0.000,6,0.000,0.044,2968,1773,1894,0,0,0,0,0,0
$GC,11383,0.64,241.6,576.0,14.0,920,11386,0.00,1.12,0.00,0.000,4,0.000,0.054,2966,2477,1892,0,0,0,0,0,0
$GC,11419,0.64,241.6,571.4,12.8,923,11423,0.00,1.10,0.00,0.000,6,0.000,0.045,2969,1775,1892,0,0,0,0,0,0
$GC,11751,0.67,264.8,531.1,11.5,954,11779,0.00,0.00,21.55,1.116,6,0.000,0.000,2969,1775,1803,0,0,0,0,0,0
$GC,12099,0.71,283.5,489.4,11.8,987,12122,0.00,1.15,18.10,1.069,4,0.000,0.054,2966,2479,1727,0,0,0,0,0,0
$GC,12146,0.74,293.4,483.6,12.2,991,12161,0.00,1.08,11.40,0.991,6,0.000,0.045,2969,1786,1686,0,0,0,0,0,0
$GC,12487,0.77,293.4,440.0,12.8,1023,12492,0.12,1.10,0.00,0.000,4,0.091,0.049,3044,1078,1682,0,0,0,0,0,0
$GC,12567,0.71,293.4,426.1,19.0,1030,12572,0.15,1.10,0.00,0.000,6,0.153,0.045,2996,1790,1682,0,0,0,0,0,0
$GC,12897,0.71,293.4,378.0,14.2,1061,12901,0.00,1.10,0.00,0.000,4,0.000,0.048,3000,1081,1682,0,0,0,0,0,0
$GC,12973,0.71,293.4,367.6,14.4,1067,12980,0.00,1.08,0.00,0.000,6,0.000,0.044,2996,1772,1681,0,0,0,0,0,0
$GC,13298,0.71,293.4,322.2,13.2,1098,13302,0.00,1.10,0.00,0.000,4,0.000,0.047,3000,1071,1681,0,0,0,0,0,0
$GC,13371,0.71,293.4,312.2,13.2,1104,13380,0.00,1.12,0.00,0.000,6,0.000,0.043,2996,1786,1681,0,0,0,0,0,0
$GC,13697,0.74,310.1,272.2,11.9,1135,13717,0.00,0.00,15.75,0.887,6,0.000,0.000,2996,1786,1619,0,0,0,0,0,0
$GC,14040,0.80,330.7,231.2,11.7,1181,14064,0.00,1.15,18.88,0.858,4,0.000,0.048,3000,1074,1536,0,0,0,0,0,0
$GC,14187,0.84,330.7,213.9,12.8,1206,14195,0.08,1.10,0.00,0.000,6,0.065,0.042,3051,1789,1534,0,0,0,0,0,0
$GC,14519,0.81,330.7,158.0,16.6,1267,14527,0.00,1.05,0.00,0.000,4,0.000,0.049,3051,2482,1533,0,0,0,0,0,0
$GC,14556,0.78,330.7,150.7,17.3,1273,14566,0.12,1.08,0.00,0.000,6,0.151,0.041,3016,1780,1534,0,0,0,0,0,0
$GC,14890,0.83,330.7,105.8,12.9,1334,14898,0.00,1.05,0.00,0.000,4,0.000,0.046,3020,1084,1534,0,0,0,0,0,0
$GC,15045,0.93,360.0,87.7,11.2,1362,15078,0.10,1.08,26.83,0.745,6,0.055,0.038,3080,1790,1416,0,0,0,0,0,0
$GC,15400,0.94,371.4,38.2,12.1,1426,15416,0.00,1.12,11.27,0.643,4,0.000,0.045,3086,1077,1368,0,0,0,0,0,0
$GC,15571,1.03,409.4,18.2,10.8,1456,15609,0.00,1.05,33.45,0.680,6,0.000,0.037,3082,1780,1213,0,0,0,0,0,0
$STATE,15720,end climb,SURFACE_DEPTH_REACHED
$STATE,15720,begin surface coast
$FINISH,1.5,0.997504
$STATE,15748,end surface coast,CONTROL_FINISHED_OK
$STATE,15748,begin surface
$SM_CCo,15768,42.12,0.459,1,0,1048,450.13
$SM_GC,2.09,0.00,0.00,42.12,0.000,0.000,0.459,137,1582,1048,-8.17,-0.79,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2347.41,12152.82,071111,121214
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,22.70
$XPDR_PINGS,119
$24V_AH,21.7,125.636
$10V_AH,9.8,84.376
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.600,64.325,540.700,42.125,0.000,25.051,16.401,167.789,29.750,0.000,19.478,3693.145,7839.362,648.444,3499.300,498.214,0.000,2010.104,0.000,3296.185,0.000,0.540,0.000
$DEVICE_MAMPS,226.440,71.145,1449.675,459.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.355,1522.001,1767.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324436
$DATA_FILE_SIZE,83650,1487
$CAP_FILE_SIZE,169181,0
$CFSIZE,260165632,102236160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.141, 30.8,1
$GPS,071111,211337,2357.148,12150.509,39,1.1,39,-3.2