version: 66.09
glider: 166
mission: 6
dive: 511
start: 11 8 111 7 8 41
data:
$ID,166
$MISSION,6
$DIVE,511
$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,300
$T_MISSION,340
$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,150
$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,-25118.752
$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,51
$R_STBD_OVSHOOT,52
$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
$GPS1,081111,070007,2357.585,12146.667,38,1.0,38,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-72.5
$GPS2,081111,070819,2357.756,12146.723,11,1.1,16,-3.2
$SPEED_LIMITS,0.191,0.268
$TGT_NAME,HUALIEN
$TGT_LATLONG,2356.900,12142.000
$TGT_RADIUS,1500.000
$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,240.4,8149,-19.8,-11.000
$D_GRID,1720
$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,-0.62,-146.0,0.0,0.0,0,103,0.00,0.00,-83.07,0.000,2,0.000,0.000,127,1582,3021,0,0,0,0,0,0
$GC,106,-0.62,-146.0,5.4,-5.0,11,130,9.70,1.15,-9.45,0.000,4,0.226,0.068,2549,2312,3483,0,0,0,0,0,0
$GC,309,-0.57,-146.0,54.2,-14.6,47,317,0.00,1.05,0.00,0.000,6,0.000,0.037,2558,1610,3485,0,0,0,0,0,0
$GC,636,-0.54,-146.0,99.9,-14.3,108,644,0.00,1.05,0.00,0.000,4,0.000,0.041,2552,914,3486,0,0,0,0,0,0
$GC,680,-0.54,-146.0,105.5,-14.2,114,689,0.10,1.02,0.00,0.000,6,0.143,0.034,2580,1610,3486,0,0,0,0,0,0
$GC,1011,-0.59,-146.0,141.5,-9.6,175,1022,0.00,1.00,0.00,0.000,4,0.000,0.040,2581,2297,3488,0,0,0,0,0,0
$GC,1044,-0.64,-146.0,144.6,-9.5,179,1052,0.00,1.02,0.00,0.000,6,0.000,0.037,2581,1606,3488,0,0,0,0,0,0
$GC,1373,-0.69,-146.0,175.5,-8.1,240,1380,0.12,0.00,0.00,0.000,6,0.083,0.000,2506,1606,3488,0,0,0,0,0,0
$GC,1701,-0.63,-146.0,219.2,-15.9,301,1711,0.17,1.08,0.00,0.000,4,0.160,0.041,2553,915,3488,0,0,0,0,0,0
$GC,1876,-0.65,-146.0,242.2,-12.0,333,1885,0.00,1.02,0.00,0.000,6,0.000,0.035,2551,1604,3488,0,0,0,0,0,0
$GC,2210,-0.68,-146.0,278.9,-10.1,370,2213,0.00,1.05,0.00,0.000,4,0.000,0.041,2551,917,3487,0,0,0,0,0,0
$GC,2270,-0.71,-146.0,285.1,-10.2,375,2277,0.00,1.02,0.00,0.000,6,0.000,0.035,2546,1603,3487,0,0,0,0,0,0
$GC,2598,-0.74,-146.0,316.8,-9.8,406,2602,0.00,1.05,0.00,0.000,4,0.000,0.043,2538,2304,3487,0,0,0,0,0,0
$GC,2645,-0.77,-146.0,321.5,-10.0,410,2649,0.00,1.05,0.00,0.000,6,0.000,0.040,2538,1612,3486,0,0,0,0,0,0
$GC,2977,-0.80,-146.0,354.7,-9.9,441,2980,0.00,1.08,0.00,0.000,4,0.000,0.046,2522,2300,3485,0,0,0,0,0,0
$GC,3023,-0.84,-146.0,359.4,-9.9,445,3027,0.05,1.08,0.00,0.000,6,0.062,0.040,2465,1607,3485,0,0,0,0,0,0
$GC,3354,-0.79,-146.0,404.5,-13.4,476,3359,0.15,1.10,0.00,0.000,4,0.162,0.047,2510,912,3484,0,0,0,0,0,0
$GC,3447,-0.80,-146.0,415.1,-11.2,484,3451,0.00,1.08,0.00,0.000,6,0.000,0.043,2507,1604,3483,0,0,0,0,0,0
$GC,3777,-0.80,-146.0,451.3,-11.2,515,3781,0.00,1.08,0.00,0.000,4,0.000,0.049,2503,2304,3481,0,0,0,0,0,0
$GC,3813,-0.80,-146.0,455.0,-10.5,518,3816,0.00,1.08,0.00,0.000,6,0.000,0.044,2503,1612,3481,0,0,0,0,0,0
$GC,4143,-0.80,-146.0,493.2,-11.7,549,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1612,3479,0,0,0,0,0,0
$GC,4464,-0.80,-146.0,530.1,-11.2,579,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1612,3477,0,0,0,0,0,0
$GC,4785,-0.82,-146.0,564.1,-10.3,609,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1612,3475,0,0,0,0,0,0
$GC,5115,-0.84,-146.0,596.5,-9.8,640,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1612,3473,0,0,0,0,0,0
$GC,5443,-0.86,-146.0,628.9,-10.0,658,5445,0.10,0.00,0.00,0.000,6,0.101,0.000,2466,1612,3471,0,0,0,0,0,0
$GC,5754,-0.81,-146.0,670.9,-13.7,673,5759,0.12,1.12,0.00,0.000,4,0.176,0.053,2503,917,3468,0,0,0,0,0,0
$GC,5854,-0.81,-146.0,683.5,-11.9,677,5858,0.00,1.10,0.00,0.000,6,0.000,0.047,2499,1608,3468,0,0,0,0,0,0
$GC,6176,-0.81,-146.0,719.7,-11.2,693,6179,0.00,1.12,0.00,0.000,4,0.000,0.050,2499,908,3466,0,0,0,0,0,0
$GC,6240,-0.81,-146.0,727.0,-12.2,695,6247,0.00,1.12,0.00,0.000,6,0.000,0.048,2494,1611,3466,0,0,0,0,0,0
$GC,6556,-0.81,-146.0,765.9,-12.7,711,6560,0.00,1.10,0.00,0.000,4,0.000,0.057,2489,2307,3465,0,0,0,0,0,0
$GC,6583,-0.81,-146.0,769.6,-12.7,712,6587,0.00,1.10,0.00,0.000,6,0.000,0.048,2489,1616,3465,0,0,0,0,0,0
$GC,6913,-0.81,-146.0,810.6,-11.9,728,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1616,3463,0,0,0,0,0,0
$GC,7220,-0.81,-146.0,846.2,-11.4,743,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1616,3461,0,0,0,0,0,0
$GC,7533,-0.81,-146.0,879.6,-10.0,758,7536,0.00,1.12,0.00,0.000,4,0.000,0.055,2489,908,3459,0,0,0,0,0,0
$GC,7611,-0.81,-146.0,888.4,-10.9,761,7614,0.00,1.12,0.00,0.000,6,0.000,0.050,2484,1607,3459,0,0,0,0,0,0
$GC,7932,-0.81,-146.0,923.4,-10.8,777,7934,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1607,3458,0,0,0,0,0,0
$GC,8244,-0.81,-146.0,955.8,-10.2,792,8248,0.00,1.12,0.00,0.000,4,0.000,0.055,2484,914,3456,0,0,0,0,0,0
$GC,8335,-0.81,-146.0,965.4,-10.1,796,8339,0.00,1.12,0.00,0.000,6,0.000,0.050,2478,1608,3455,0,0,0,0,0,0
$STATE,8583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8583,begin apogee
$GC,8592,-0.11,0.0,990.8,10.2,808,8723,0.77,0.00,125.45,1.468,6,0.133,0.000,2712,1782,2884,0,0,0,0,0,0
$STATE,8724,end apogee,CONTROL_FINISHED_OK
$STATE,8724,begin climb
$GC,8726,0.62,146.0,993.4,0.0,814,8879,0.73,1.27,143.90,1.405,4,0.066,0.060,2962,2473,2287,0,0,0,0,0,0
$GC,9030,0.57,146.0,960.2,13.5,827,9036,0.00,1.15,0.00,0.000,6,0.000,0.050,2966,1789,2281,0,0,0,0,0,0
$GC,9349,0.52,146.0,919.9,12.5,843,9351,0.15,0.00,0.00,0.000,6,0.180,0.000,2929,1789,2277,0,0,0,0,0,0
$GC,9655,0.54,163.0,887.5,10.1,858,9678,0.00,1.15,14.70,1.280,4,0.000,0.061,2927,2481,2218,0,0,0,0,0,0
$GC,9714,0.56,179.6,881.3,10.2,860,9734,0.00,1.12,16.52,1.280,6,0.000,0.049,2930,1776,2150,0,0,0,0,0,0
$GC,10052,0.60,216.8,848.8,9.1,877,10089,0.00,0.00,34.50,1.339,6,0.000,0.000,2930,1776,2000,0,0,0,0,0,0
$GC,10405,0.65,233.8,814.4,10.1,893,10428,0.12,1.12,16.05,1.252,4,0.091,0.057,2992,2486,1930,0,0,0,0,0,0
$GC,10480,0.60,233.8,803.1,15.3,896,10485,0.12,1.12,0.00,0.000,6,0.160,0.050,2960,1777,1928,0,0,0,0,0,0
$GC,10809,0.60,233.8,761.5,12.8,912,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1777,1925,0,0,0,0,0,0
$GC,11116,0.60,233.8,720.7,13.1,927,11120,0.00,1.12,0.00,0.000,4,0.000,0.057,2955,2475,1923,0,0,0,0,0,0
$GC,11157,0.60,233.8,715.3,13.0,928,11164,0.00,1.10,0.00,0.000,6,0.000,0.046,2958,1774,1923,0,0,0,0,0,0
$GC,11473,0.60,233.8,672.5,13.8,944,11474,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1774,1922,0,0,0,0,0,0
$GC,11783,0.60,233.8,634.8,11.6,959,11786,0.00,1.08,0.00,0.000,4,0.000,0.051,2963,1078,1922,0,0,0,0,0,0
$GC,11823,0.60,233.8,629.9,12.0,960,11830,0.00,1.10,0.00,0.000,6,0.000,0.045,2962,1778,1922,0,0,0,0,0,0
$GC,12142,0.60,233.8,592.3,11.8,979,12143,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1778,1921,0,0,0,0,0,0
$GC,12464,0.60,233.8,556.2,11.1,1009,12468,0.00,1.10,0.00,0.000,4,0.000,0.050,2965,1080,1921,0,0,0,0,0,0
$GC,12521,0.60,233.8,549.2,11.7,1014,12524,0.00,1.10,0.00,0.000,6,0.000,0.046,2965,1780,1921,0,0,0,0,0,0
$GC,12854,0.60,233.8,509.6,12.1,1045,12857,0.00,1.08,0.00,0.000,4,0.000,0.055,2964,2474,1921,0,0,0,0,0,0
$GC,12944,0.60,233.8,499.0,11.2,1053,12948,0.00,1.10,0.00,0.000,6,0.000,0.044,2969,1774,1921,0,0,0,0,0,0
$GC,13277,0.60,233.8,460.0,12.1,1084,13281,0.00,1.08,0.00,0.000,4,0.000,0.050,2974,1078,1921,0,0,0,0,0,0
$GC,13327,0.60,233.8,453.5,11.9,1088,13334,0.00,1.10,0.00,0.000,6,0.000,0.044,2973,1774,1920,0,0,0,0,0,0
$GC,13653,0.60,233.8,411.9,13.0,1119,13657,0.00,1.10,0.00,0.000,4,0.000,0.049,2977,1078,1920,0,0,0,0,0,0
$GC,13671,0.60,233.8,409.7,12.8,1120,13678,0.00,1.10,0.00,0.000,6,0.000,0.044,2977,1784,1920,0,0,0,0,0,0
$GC,13997,0.60,233.8,368.6,11.9,1151,14000,0.00,1.12,0.00,0.000,4,0.000,0.049,2981,1072,1920,0,0,0,0,0,0
$GC,14056,0.60,233.8,361.7,12.1,1156,14060,0.00,1.10,0.00,0.000,6,0.000,0.044,2980,1778,1920,0,0,0,0,0,0
$GC,14388,0.62,252.9,325.6,10.0,1187,14411,0.00,1.12,17.15,0.946,4,0.000,0.053,2980,2488,1852,0,0,0,0,0,0
$GC,14448,0.65,271.7,319.6,10.1,1192,14471,0.00,1.10,18.25,0.935,6,0.000,0.044,2985,1781,1776,0,0,0,0,0,0
$GC,14789,0.66,271.7,280.6,11.7,1224,14793,0.00,1.08,0.00,0.000,4,0.000,0.047,2990,1069,1772,0,0,0,0,0,0
$GC,14852,0.66,271.7,273.2,11.8,1229,14858,0.00,1.10,0.00,0.000,6,0.000,0.043,2987,1782,1772,0,0,0,0,0,0
$GC,15180,0.68,271.7,236.0,12.0,1271,15188,0.00,1.10,0.00,0.000,4,0.000,0.047,2991,1074,1772,0,0,0,0,0,0
$GC,15324,0.70,271.7,218.5,12.5,1297,15333,0.00,1.08,0.00,0.000,6,0.000,0.041,2987,1776,1771,0,0,0,0,0,0
$GC,15654,0.74,271.7,181.1,11.6,1358,15663,0.00,1.10,0.00,0.000,4,0.000,0.046,2991,1074,1771,0,0,0,0,0,0
$GC,15751,0.77,271.7,170.1,11.6,1375,15759,0.00,1.08,0.00,0.000,6,0.000,0.041,2988,1774,1771,0,0,0,0,0,0
$GC,16081,0.86,310.0,134.8,9.1,1436,16126,0.15,1.10,34.83,0.798,4,0.079,0.045,3070,1077,1619,0,0,0,0,0,0
$GC,16193,0.80,310.0,118.2,16.8,1454,16203,0.15,1.08,0.00,0.000,6,0.145,0.041,3023,1785,1617,0,0,0,0,0,0
$GC,16529,0.86,324.2,79.5,10.3,1515,16552,0.00,1.12,13.60,0.697,4,0.000,0.046,3026,1065,1561,0,0,0,0,0,0
$GC,16710,0.92,326.2,60.2,10.9,1547,16718,0.00,1.08,0.00,0.000,6,0.000,0.038,3023,1780,1559,0,0,0,0,0,0
$GC,17038,1.17,442.3,36.8,5.1,1608,17149,0.28,1.12,99.45,0.700,4,0.054,0.045,3168,1069,1078,0,0,0,0,0,0
$GC,17206,1.12,442.3,11.6,17.3,1632,17215,0.12,1.08,0.00,0.000,6,0.148,0.038,3126,1788,1076,0,0,0,0,0,0
$STATE,17262,end climb,SURFACE_DEPTH_REACHED
$STATE,17262,begin surface coast
$FINISH,1.3,1.010171
$STATE,17286,end surface coast,CONTROL_FINISHED_OK
$STATE,17286,begin surface
$SM_CCo,17306,13.27,0.067,0,0,1049,450.13
$SM_GC,1.86,0.00,0.00,13.27,0.000,0.000,0.067,129,1599,1049,-8.22,-0.31,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2347.41,12146.33,081111,010147
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.42
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,23.00
$XPDR_PINGS,129
$24V_AH,21.7,126.242
$10V_AH,9.7,84.920
$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,20.925,68.400,534.400,13.275,0.000,30.963,60.315,210.344,32.250,0.000,17.163,4074.393,8587.068,613.381,3952.196,557.332,0.000,2105.415,0.000,3663.203,0.000,0.539,0.000
$DEVICE_MAMPS,225.675,70.380,1468.035,66.555,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1131.690,1685.731,1995.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324396
$DATA_FILE_SIZE,93397,1646
$CAP_FILE_SIZE,181618,0
$CFSIZE,260165632,101933056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084, 27.9,1
$GPS,081111,115837,2357.167,12144.979,35,0.9,35,-3.2