version: 66.09
glider: 166
mission: 6
dive: 514
start: 11 8 111 21 20 0
data:
$ID,166
$MISSION,6
$DIVE,514
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,270
$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,90
$T_MISSION,110
$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,-25122.527
$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,52
$R_STBD_OVSHOOT,54
$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
$GPS1,081111,211001,2357.167,12141.769,39,1.1,39,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-66.7
$GPS2,081111,211925,2357.336,12141.816,12,1.2,17,-3.2
$SPEED_LIMITS,0.173,0.260
$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,184.3,866,-18.9,-10.000
$D_GRID,886
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.59,-136.1,0.0,0.0,0,104,0.00,0.00,-82.90,0.000,2,0.000,0.000,142,1592,3040,0,0,0,0,0,0
$GC,107,-0.60,-146.0,5.7,-8.2,11,132,9.45,1.02,-9.00,0.000,4,0.216,0.062,2561,902,3481,0,0,0,0,0,0
$GC,289,-0.52,-146.0,54.2,-19.0,43,298,0.10,1.05,0.00,0.000,6,0.150,0.034,2588,1605,3483,0,0,0,0,0,0
$GC,616,-0.52,-146.0,93.4,-11.2,104,625,0.00,1.02,0.00,0.000,4,0.000,0.038,2585,2304,3484,0,0,0,0,0,0
$GC,683,-0.55,-146.0,99.4,-8.8,115,694,0.00,1.05,0.00,0.000,6,0.000,0.036,2578,1603,3484,0,0,0,0,0,0
$GC,1011,-0.58,-146.0,131.4,-9.6,176,1022,0.00,1.05,0.00,0.000,4,0.000,0.038,2576,2304,3485,0,0,0,0,0,0
$GC,1034,-0.61,-146.0,133.4,-9.7,178,1042,0.00,1.02,0.00,0.000,6,0.000,0.036,2573,1613,3485,0,0,0,0,0,0
$GC,1363,-0.65,-146.0,169.9,-11.3,239,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1612,3485,0,0,0,0,0,0
$GC,1688,-0.69,-146.0,205.2,-10.1,300,1701,0.12,1.08,0.00,0.000,4,0.083,0.041,2500,2311,3485,0,0,0,0,0,0
$GC,1725,-0.65,-146.0,210.0,-11.9,305,1734,0.15,1.05,0.00,0.000,6,0.137,0.035,2547,1602,3485,0,0,0,0,0,0
$GC,2051,-0.65,-146.0,245.5,-10.4,366,2059,0.00,1.05,0.00,0.000,4,0.000,0.039,2544,2305,3485,0,0,0,0,0,0
$GC,2154,-0.65,-146.0,256.6,-10.3,379,2158,0.00,1.02,0.00,0.000,6,0.000,0.036,2544,1614,3484,0,0,0,0,0,0
$STATE,2291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2291,begin apogee
$GC,2300,-0.11,0.0,270.7,10.0,392,2421,0.55,0.00,114.47,0.842,6,0.123,0.000,2706,1806,2884,0,0,0,0,0,0
$STATE,2422,end apogee,CONTROL_FINISHED_OK
$STATE,2422,begin climb
$GC,2424,0.60,146.0,275.6,0.0,402,2552,0.68,1.02,117.82,0.824,4,0.075,0.043,2949,2458,2288,0,0,0,0,0,0
$GC,2614,0.66,197.2,267.2,7.5,417,2663,0.00,1.00,42.15,0.799,6,0.000,0.037,2953,1790,2080,0,0,0,0,0,0
$GC,2976,0.74,241.1,238.2,7.8,465,3022,0.12,1.08,36.92,0.796,4,0.082,0.039,3036,1083,1898,0,0,0,0,0,0
$GC,3057,0.66,241.1,228.7,13.6,476,3067,0.15,1.02,0.00,0.000,6,0.148,0.037,2982,1774,1896,0,0,0,0,0,0
$GC,3388,0.68,257.0,195.0,9.2,537,3404,0.00,0.00,13.60,0.726,6,0.000,0.000,2984,1774,1836,0,0,0,0,0,0
$GC,3723,0.68,257.0,162.0,10.4,599,3731,0.00,1.05,0.00,0.000,4,0.000,0.041,2988,1083,1832,0,0,0,0,0,0
$GC,3793,0.68,257.0,154.2,10.9,611,3801,0.00,1.02,0.00,0.000,6,0.000,0.035,2982,1772,1832,0,0,0,0,0,0
$GC,4122,0.70,257.0,118.8,10.6,672,4131,0.00,1.05,0.00,0.000,4,0.000,0.041,2989,1082,1830,0,0,0,0,0,0
$GC,4330,0.76,276.8,97.1,9.0,710,4354,0.00,1.05,17.65,0.700,6,0.000,0.035,2981,1786,1756,0,0,0,0,0,0
$GC,4677,0.92,336.2,70.0,7.1,773,4738,0.20,1.02,51.15,0.708,4,0.062,0.040,3086,2469,1513,0,0,0,0,0,0
$GC,4981,0.92,336.2,34.2,12.1,826,4990,0.08,1.02,0.00,0.000,6,0.145,0.038,3062,1782,1509,0,0,0,0,0,0
$STATE,5302,end climb,SURFACE_DEPTH_REACHED
$STATE,5302,begin surface coast
$FINISH,1.1,1.021799
$STATE,5339,end surface coast,CONTROL_FINISHED_OK
$STATE,5339,begin surface
$SM_CCo,5356,71.62,0.529,1,0,1048,450.13
$SM_GC,1.95,0.00,0.00,71.62,0.000,0.000,0.529,156,1595,1048,-8.14,-0.45,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2345.05,12154.83,081111,212145
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.84
$INTERNAL_PRESSURE,9.41901
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,24.4,126.713
$10V_AH,9.8,85.417
$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,19.300,21.225,393.775,71.625,0.000,53.332,74.061,196.138,0.250,0.000,18.191,2127.927,349.635,490.781,2709.410,314.467,0.000,1280.888,0.000,2419.586,0.000,0.540,0.000
$DEVICE_MAMPS,216.495,61.965,842.265,529.380,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.224,912.503,2191.731,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324412
$DATA_FILE_SIZE,50421,892
$CAP_FILE_SIZE,81997,0
$CFSIZE,260165632,101797888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069, 40.0,1
$GPS,081111,225126,2356.875,12141.923,12,1.8,12,-3.2