version: 66.09
glider: 166
mission: 6
dive: 512
start: 11 8 111 12 10 17
data:
$ID,166
$MISSION,6
$DIVE,512
$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,-25120.01
$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,46
$R_STBD_OVSHOOT,55
$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
$GPS1,081111,115837,2357.167,12144.979,35,0.9,35,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-73.2
$GPS2,081111,120955,2357.327,12145.022,11,1.0,16,-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,249.9,5177,-19.8,-11.000
$D_GRID,1153
$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,-146.0,0.0,0.0,0,106,0.00,0.00,-86.30,0.000,2,0.000,0.000,143,1598,3157,0,0,0,0,0,0
$GC,111,-0.62,-146.0,6.2,-10.1,12,136,9.52,1.08,-6.12,0.000,4,0.220,0.066,2545,2302,3481,0,0,0,0,0,0
$GC,375,-0.58,-146.0,70.8,-14.6,60,384,0.00,1.02,0.00,0.000,6,0.000,0.037,2546,1609,3484,0,0,0,0,0,0
$GC,705,-0.56,-146.0,116.3,-12.6,121,713,0.10,1.05,0.00,0.000,4,0.177,0.042,2568,916,3484,0,0,0,0,0,0
$GC,777,-0.59,-146.0,124.5,-10.9,133,785,0.00,1.02,0.00,0.000,6,0.000,0.034,2567,1610,3484,0,0,0,0,0,0
$GC,1105,-0.63,-146.0,157.8,-9.6,194,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1610,3485,0,0,0,0,0,0
$GC,1433,-0.68,-146.0,187.6,-8.5,255,1441,0.00,1.05,0.00,0.000,4,0.000,0.041,2570,2307,3485,0,0,0,0,0,0
$GC,1466,-0.73,-146.0,190.6,-8.5,260,1474,0.10,1.05,0.00,0.000,6,0.042,0.037,2494,1604,3485,0,0,0,0,0,0
$GC,1798,-0.66,-146.0,236.5,-13.5,321,1806,0.17,1.05,0.00,0.000,4,0.160,0.042,2543,918,3485,0,0,0,0,0,0
$GC,1859,-0.66,-146.0,243.6,-11.3,331,1867,0.00,1.02,0.00,0.000,6,0.000,0.034,2541,1608,3485,0,0,0,0,0,0
$GC,2194,-0.66,-146.0,278.8,-10.0,367,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1608,3485,0,0,0,0,0,0
$GC,2515,-0.68,-146.0,312.5,-10.9,397,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1608,3484,0,0,0,0,0,0
$GC,2846,-0.71,-146.0,346.7,-9.9,428,2850,0.00,1.05,0.00,0.000,4,0.000,0.045,2532,2303,3482,0,0,0,0,0,0
$GC,2960,-0.74,-146.0,357.6,-8.9,438,2964,0.00,1.05,0.00,0.000,6,0.000,0.041,2526,1617,3482,0,0,0,0,0,0
$GC,3291,-0.76,-146.0,388.0,-9.3,469,3295,0.00,1.08,0.00,0.000,4,0.000,0.046,2525,918,3480,0,0,0,0,0,0
$GC,3365,-0.78,-146.0,395.9,-10.6,475,3372,0.00,1.05,0.00,0.000,6,0.000,0.041,2515,1602,3479,0,0,0,0,0,0
$GC,3691,-0.80,-146.0,426.5,-8.7,506,3695,0.00,1.08,0.00,0.000,4,0.000,0.048,2508,2302,3478,0,0,0,0,0,0
$GC,3796,-0.83,-146.0,434.9,-8.1,515,3800,0.00,1.08,0.00,0.000,6,0.000,0.044,2509,1607,3478,0,0,0,0,0,0
$GC,4127,-0.85,-146.0,464.2,-8.9,546,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1607,3475,0,0,0,0,0,0
$GC,4450,-0.87,-146.0,493.5,-9.4,576,4455,0.12,1.12,0.00,0.000,4,0.085,0.053,2453,2301,3473,0,0,0,0,0,0
$GC,4518,-0.80,-146.0,502.7,-13.6,582,4522,0.12,1.08,0.00,0.000,6,0.149,0.045,2495,1613,3472,0,0,0,0,0,0
$GC,4851,-0.78,-146.0,539.4,-10.4,613,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1613,3471,0,0,0,0,0,0
$GC,5179,-0.77,-146.0,574.7,-10.6,644,5183,0.00,1.10,0.00,0.000,4,0.000,0.052,2497,912,3468,0,0,0,0,0,0
$GC,5239,-0.75,-146.0,581.2,-11.0,649,5243,0.00,1.10,0.00,0.000,6,0.000,0.045,2494,1610,3468,0,0,0,0,0,0
$GC,5567,-0.74,-146.0,620.5,-12.2,672,5571,0.00,1.12,0.00,0.000,4,0.000,0.050,2494,913,3466,0,0,0,0,0,0
$GC,5631,-0.72,-146.0,628.6,-12.7,674,5639,0.10,1.10,0.00,0.000,6,0.147,0.047,2520,1608,3465,0,0,0,0,0,0
$GC,5949,-0.75,-146.0,660.8,-9.8,690,5953,0.00,1.10,0.00,0.000,4,0.000,0.054,2517,2313,3465,0,0,0,0,0,0
$GC,5987,-0.78,-146.0,664.6,-9.2,691,5994,0.00,1.10,0.00,0.000,6,0.000,0.047,2517,1615,3464,0,0,0,0,0,0
$GC,6306,-0.81,-146.0,695.6,-9.8,707,6310,0.00,1.10,0.00,0.000,4,0.000,0.052,2517,908,3462,0,0,0,0,0,0
$GC,6362,-0.83,-146.0,701.7,-10.1,709,6366,0.00,1.12,0.00,0.000,6,0.000,0.047,2512,1612,3462,0,0,0,0,0,0
$GC,6687,-0.85,-146.0,733.1,-10.0,725,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1612,3460,0,0,0,0,0,0
$GC,6994,-0.87,-146.0,765.4,-10.1,740,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1612,3459,0,0,0,0,0,0
$GC,7304,-0.90,-146.0,794.2,-9.3,755,7306,0.12,0.00,0.00,0.000,6,0.090,0.000,2451,1612,3457,0,0,0,0,0,0
$GC,7615,-0.84,-146.0,832.3,-12.8,770,7619,0.15,1.15,0.00,0.000,4,0.174,0.054,2492,917,3456,0,0,0,0,0,0
$GC,7732,-0.84,-146.0,845.4,-10.1,775,7736,0.00,1.10,0.00,0.000,6,0.000,0.049,2488,1606,3455,0,0,0,0,0,0
$GC,8063,-0.84,-146.0,877.5,-10.0,791,8066,0.00,1.10,0.00,0.000,4,0.000,0.057,2483,2302,3454,0,0,0,0,0,0
$GC,8124,-0.84,-146.0,883.9,-9.7,793,8131,0.00,1.10,0.00,0.000,6,0.000,0.048,2484,1612,3453,0,0,0,0,0,0
$GC,8443,-0.84,-146.0,915.8,-10.3,809,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1612,3452,0,0,0,0,0,0
$GC,8750,-0.84,-146.0,947.1,-10.2,824,8754,0.00,1.12,0.00,0.000,4,0.000,0.057,2483,912,3451,0,0,0,0,0,0
$GC,8905,-0.84,-146.0,963.9,-11.2,830,8912,0.00,1.12,0.00,0.000,6,0.000,0.050,2478,1610,3450,0,0,0,0,0,0
$STATE,9157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9157,begin apogee
$GC,9163,-0.11,0.0,991.5,11.0,843,9298,0.77,0.00,124.95,1.457,6,0.131,0.000,2712,1781,2884,0,0,0,0,0,0
$STATE,9299,end apogee,CONTROL_FINISHED_OK
$STATE,9299,begin climb
$GC,9301,0.62,146.0,995.9,0.0,849,9453,0.70,1.25,144.07,1.398,4,0.065,0.060,2957,2470,2287,0,0,0,0,0,0
$GC,9549,0.58,146.0,974.0,13.1,860,9553,0.00,1.17,0.00,0.000,6,0.000,0.049,2959,1786,2283,0,0,0,0,0,0
$GC,9870,0.53,146.0,934.0,12.0,876,9874,0.00,1.12,0.00,0.000,4,0.000,0.054,2965,1063,2279,0,0,0,0,0,0
$GC,9928,0.48,146.0,926.8,12.3,878,9933,0.15,1.15,0.00,0.000,6,0.160,0.050,2917,1783,2278,0,0,0,0,0,0
$GC,10250,0.52,180.1,895.8,9.3,894,10285,0.00,1.12,30.05,1.349,4,0.000,0.060,2916,2481,2149,0,0,0,0,0,0
$GC,10342,0.56,191.2,887.1,10.4,898,10358,0.00,1.12,11.77,1.216,6,0.000,0.048,2919,1770,2104,0,0,0,0,0,0
$GC,10673,0.61,199.5,852.5,10.6,913,10689,0.10,0.00,8.55,1.149,6,0.102,0.000,2971,1770,2070,0,0,0,0,0,0
$GC,11001,0.57,199.5,808.4,13.0,929,11002,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1770,2067,0,0,0,0,0,0
$GC,11307,0.53,199.5,766.4,13.9,944,11312,0.15,1.12,0.00,0.000,4,0.173,0.054,2937,1065,2066,0,0,0,0,0,0
$GC,11339,0.53,199.5,762.0,12.7,945,11343,0.00,1.12,0.00,0.000,6,0.000,0.047,2937,1774,2065,0,0,0,0,0,0
$GC,11664,0.53,200.8,725.6,10.9,961,11665,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1774,2064,0,0,0,0,0,0
$GC,11971,0.57,212.6,693.1,10.4,976,11991,0.00,0.00,12.82,1.167,6,0.000,0.000,2937,1774,2016,0,0,0,0,0,0
$GC,12303,0.60,222.0,658.5,10.5,992,12320,0.00,0.00,9.93,1.097,6,0.000,0.000,2937,1774,1978,0,0,0,0,0,0
$GC,12631,0.66,252.0,627.4,9.5,1008,12664,0.10,1.12,28.20,1.194,4,0.103,0.048,2996,1061,1857,0,0,0,0,0,0
$GC,12724,0.63,252.0,614.7,14.7,1012,12729,0.08,1.15,0.00,0.000,6,0.159,0.047,2970,1791,1854,0,0,0,0,0,0
$GC,13047,0.63,252.0,573.3,12.7,1037,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1791,1852,0,0,0,0,0,0
$GC,13369,0.63,252.0,532.5,12.8,1067,13373,0.00,1.12,0.00,0.000,4,0.000,0.048,2974,1071,1850,0,0,0,0,0,0
$GC,13430,0.63,252.0,524.0,13.0,1072,13438,0.00,1.12,0.00,0.000,6,0.000,0.046,2971,1787,1850,0,0,0,0,0,0
$GC,13756,0.63,252.0,483.0,12.6,1103,13760,0.00,1.08,0.00,0.000,4,0.000,0.054,2967,2479,1850,0,0,0,0,0,0
$GC,13790,0.63,252.0,478.7,12.6,1106,13794,0.00,1.10,0.00,0.000,6,0.000,0.044,2970,1774,1850,0,0,0,0,0,0
$GC,14121,0.63,252.0,436.9,11.8,1137,14125,0.00,1.08,0.00,0.000,4,0.000,0.050,2975,1076,1849,0,0,0,0,0,0
$GC,14201,0.63,252.0,426.6,12.4,1144,14205,0.00,1.10,0.00,0.000,6,0.000,0.044,2972,1782,1848,0,0,0,0,0,0
$GC,14532,0.63,252.0,383.6,12.8,1175,14535,0.00,1.12,0.00,0.000,4,0.000,0.049,2975,1072,1848,0,0,0,0,0,0
$GC,14577,0.63,252.0,377.6,13.1,1179,14581,0.00,1.10,0.00,0.000,6,0.000,0.044,2972,1774,1848,0,0,0,0,0,0
$GC,14908,0.65,252.0,338.8,11.3,1210,14910,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1774,1848,0,0,0,0,0,0
$GC,15229,0.67,252.0,304.6,11.2,1240,15232,0.00,1.10,0.00,0.000,4,0.000,0.047,2975,1080,1848,0,0,0,0,0,0
$GC,15312,0.69,252.0,295.6,11.1,1247,15316,0.00,1.10,0.00,0.000,6,0.000,0.043,2972,1786,1848,0,0,0,0,0,0
$GC,15644,0.75,270.3,260.8,10.1,1278,15668,0.00,1.12,16.88,0.890,4,0.000,0.049,2975,1075,1781,0,0,0,0,0,0
$GC,15745,0.83,306.1,251.5,9.2,1286,15789,0.12,1.10,33.35,0.907,6,0.054,0.042,3050,1790,1635,0,0,0,0,0,0
$GC,16110,0.76,306.1,193.1,17.8,1351,16119,0.17,1.08,0.00,0.000,4,0.163,0.050,2999,2484,1631,0,0,0,0,0,0
$GC,16143,0.76,306.1,187.6,16.8,1356,16152,0.00,1.08,0.00,0.000,6,0.000,0.042,3002,1783,1630,0,0,0,0,0,0
$GC,16473,0.78,306.1,142.2,13.5,1417,16481,0.00,1.08,0.00,0.000,4,0.000,0.047,3008,1077,1630,0,0,0,0,0,0
$GC,16498,0.79,306.1,139.0,13.5,1420,16507,0.00,1.08,0.00,0.000,6,0.000,0.041,3004,1781,1630,0,0,0,0,0,0
$GC,16829,0.85,326.0,99.5,10.0,1481,16852,0.00,1.15,18.02,0.747,4,0.000,0.046,3009,1062,1554,0,0,0,0,0,0
$GC,16976,0.90,326.0,82.6,12.1,1507,16985,0.10,1.10,0.00,0.000,6,0.056,0.039,3072,1789,1553,0,0,0,0,0,0
$GC,17307,0.90,326.0,34.3,12.8,1568,17316,0.00,1.10,0.00,0.000,4,0.000,0.045,3078,1071,1553,0,0,0,0,0,0
$GC,17481,1.00,379.1,17.8,8.3,1599,17534,0.00,1.08,46.28,0.699,6,0.000,0.038,3078,1780,1337,0,0,0,0,0,0
$STATE,17637,end climb,SURFACE_DEPTH_REACHED
$STATE,17637,begin surface coast
$FINISH,1.5,1.021895
$STATE,17670,end surface coast,CONTROL_FINISHED_OK
$STATE,17670,begin surface
$SM_CCo,17687,67.03,0.556,1,0,1049,450.13
$SM_GC,2.25,0.00,0.00,67.03,0.000,0.000,0.556,157,1590,1049,-8.14,-0.57,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2347.41,12144.33,081111,121226
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.13
$INTERNAL_PRESSURE,9.30182
$TCM_TEMP,22.10
$XPDR_PINGS,141
$24V_AH,21.8,126.447
$10V_AH,9.8,85.103
$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,20.750,66.450,484.875,67.025,0.000,60.364,56.691,293.303,35.250,0.000,17.694,4082.740,9097.896,642.886,4006.575,582.320,0.000,2120.373,0.000,3605.622,0.000,0.539,0.000
$DEVICE_MAMPS,219.555,70.380,1456.560,556.155,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1123.446,1673.158,1853.528,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,90153,1631
$CAP_FILE_SIZE,187929,0
$CFSIZE,260165632,101830656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041,  8.4,1
$GPS,081111,170736,2356.831,12142.584,37,1.1,37,-3.2