version: 66.09
glider: 166
mission: 6
dive: 502
start: 11 6 111 15 14 22
data:
$ID,166
$MISSION,6
$DIVE,502
$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,230
$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,225
$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,-25103.73
$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,49
$R_STBD_OVSHOOT,51
$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
$GPS1,061111,150607,2351.769,12203.780,34,1.0,34,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-69.0
$GPS2,061111,151401,2351.947,12203.875,12,1.1,17,-3.2
$SPEED_LIMITS,0.249,0.351
$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,287.1,38145,-20.0,-14.348
$D_GRID,2796
$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,17,begin dive
$GC,20,-0.71,-219.0,0.0,0.0,0,125,0.00,0.00,-102.47,0.000,2,0.000,0.000,132,1602,3125,0,0,0,0,0,0
$GC,128,-0.71,-219.0,6.1,-9.5,14,160,9.35,1.10,-12.62,0.000,4,0.217,0.070,2520,2310,3780,0,0,0,0,0,0
$GC,256,-0.60,-219.0,47.9,-25.8,35,265,0.15,1.05,0.00,0.000,6,0.148,0.036,2563,1605,3782,0,0,0,0,0,0
$GC,584,-0.62,-219.0,100.6,-13.3,96,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1605,3783,0,0,0,0,0,0
$GC,916,-0.64,-219.0,148.1,-14.2,157,925,0.00,1.05,0.00,0.000,4,0.000,0.041,2560,2302,3784,0,0,0,0,0,0
$GC,1037,-0.69,-219.0,164.0,-11.9,178,1045,0.00,1.02,0.00,0.000,6,0.000,0.038,2553,1620,3784,0,0,0,0,0,0
$GC,1368,-0.75,-219.0,203.0,-10.6,239,1377,0.12,0.00,0.00,0.000,6,0.083,0.000,2491,1620,3784,0,0,0,0,0,0
$GC,1695,-0.69,-219.0,257.1,-16.6,296,1699,0.15,1.10,0.00,0.000,4,0.162,0.041,2534,904,3784,0,0,0,0,0,0
$GC,1790,-0.72,-219.0,270.0,-13.1,304,1794,0.00,1.05,0.00,0.000,6,0.000,0.037,2533,1603,3784,0,0,0,0,0,0
$GC,2121,-0.74,-219.0,311.7,-12.8,335,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1603,3784,0,0,0,0,0,0
$GC,2446,-0.78,-219.0,353.0,-12.6,365,2449,0.00,1.08,0.00,0.000,4,0.000,0.047,2530,2301,3783,0,0,0,0,0,0
$GC,2529,-0.83,-219.0,363.4,-11.2,372,2537,0.08,1.05,0.00,0.000,6,0.049,0.041,2454,1613,3783,0,0,0,0,0,0
$GC,2855,-0.77,-219.0,413.7,-15.7,403,2857,0.20,0.00,0.00,0.000,6,0.158,0.000,2505,1613,3782,0,0,0,0,0,0
$GC,3174,-0.81,-219.0,451.0,-11.9,433,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1613,3780,0,0,0,0,0,0
$GC,3494,-0.86,-219.0,489.2,-12.0,463,3497,0.00,1.08,0.00,0.000,4,0.000,0.051,2504,2294,3778,0,0,0,0,0,0
$GC,3589,-0.91,-219.0,499.8,-10.9,471,3594,0.08,1.05,0.00,0.000,6,0.052,0.044,2445,1612,3777,0,0,0,0,0,0
$GC,3923,-0.86,-219.0,555.7,-17.3,502,3926,0.00,1.08,0.00,0.000,4,0.000,0.052,2447,2292,3774,0,0,0,0,0,0
$GC,3961,-0.82,-219.0,562.5,-15.7,505,3968,0.12,1.05,0.00,0.000,6,0.144,0.044,2489,1611,3774,0,0,0,0,0,0
$GC,4286,-0.82,-219.0,603.4,-11.3,535,4289,0.00,1.08,0.00,0.000,4,0.000,0.050,2492,919,3772,0,0,0,0,0,0
$GC,4321,-0.82,-219.0,607.6,-12.0,536,4325,0.00,1.08,0.00,0.000,6,0.000,0.044,2491,1606,3771,0,0,0,0,0,0
$GC,4643,-0.84,-219.0,645.8,-11.6,552,4647,0.00,1.08,0.00,0.000,4,0.000,0.053,2486,2302,3769,0,0,0,0,0,0
$GC,4674,-0.86,-219.0,649.3,-11.5,553,4677,0.00,1.08,0.00,0.000,6,0.000,0.046,2486,1610,3769,0,0,0,0,0,0
$GC,5002,-0.86,-219.0,690.4,-12.4,569,5005,0.00,1.10,0.00,0.000,4,0.000,0.054,2481,2304,3766,0,0,0,0,0,0
$GC,5037,-0.88,-219.0,695.0,-12.9,570,5040,0.00,1.08,0.00,0.000,6,0.000,0.047,2481,1619,3766,0,0,0,0,0,0
$GC,5361,-0.88,-219.0,737.0,-12.8,586,5365,0.00,1.10,0.00,0.000,4,0.000,0.053,2481,910,3763,0,0,0,0,0,0
$GC,5411,-0.88,-219.0,744.2,-13.3,588,5415,0.00,1.10,0.00,0.000,6,0.000,0.047,2475,1607,3763,0,0,0,0,0,0
$GC,5741,-0.88,-219.0,787.2,-13.0,604,5744,0.00,1.10,0.00,0.000,4,0.000,0.055,2470,2312,3761,0,0,0,0,0,0
$GC,5810,-0.90,-219.0,796.4,-12.8,607,5813,0.00,1.10,0.00,0.000,6,0.000,0.048,2470,1610,3760,0,0,0,0,0,0
$GC,6143,-0.90,-219.0,842.3,-13.9,623,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1610,3758,0,0,0,0,0,0
$GC,6455,-0.90,-219.0,882.4,-13.1,638,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1610,3755,0,0,0,0,0,0
$GC,6762,-0.90,-219.0,923.6,-13.2,653,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1610,3753,0,0,0,0,0,0
$GC,7071,-0.90,-219.0,963.8,-12.6,668,7074,0.00,1.12,0.00,0.000,4,0.000,0.057,2470,916,3751,0,0,0,0,0,0
$GC,7119,-0.90,-219.0,969.7,-13.1,670,7123,0.00,1.10,0.00,0.000,6,0.000,0.051,2465,1604,3752,0,0,0,0,0,0
$STATE,7285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7285,begin apogee
$GC,7291,-0.11,0.0,991.2,12.4,678,7486,0.82,0.00,187.60,1.447,6,0.129,0.000,2718,1787,2884,0,0,0,0,0,0
$STATE,7487,end apogee,CONTROL_FINISHED_OK
$STATE,7487,begin climb
$GC,7489,0.71,219.0,998.9,0.0,687,7715,0.80,1.30,214.25,1.379,4,0.044,0.053,3014,1081,1990,0,0,0,0,0,0
$GC,7726,0.62,219.0,969.7,18.4,698,7731,0.17,1.23,0.00,0.000,6,0.161,0.048,2966,1765,1988,0,0,0,0,0,0
$GC,8051,0.60,219.0,921.5,14.5,714,8055,0.00,1.10,0.00,0.000,4,0.000,0.053,2969,1078,1982,0,0,0,0,0,0
$GC,8084,0.59,228.3,916.0,13.9,715,8097,0.00,1.15,8.40,1.126,6,0.000,0.051,2967,1795,1953,0,0,0,0,0,0
$GC,8407,0.57,232.6,871.8,14.2,731,8414,0.00,0.00,5.18,0.951,6,0.000,0.000,2967,1794,1935,0,0,0,0,0,0
$GC,8717,0.58,252.8,829.7,13.5,746,8742,0.00,1.10,20.05,1.283,4,0.000,0.060,2966,2485,1853,0,0,0,0,0,0
$GC,8810,0.60,273.0,816.3,13.5,750,8835,0.00,1.10,20.77,1.269,6,0.000,0.048,2970,1780,1769,0,0,0,0,0,0
$GC,9162,0.61,277.0,767.9,14.2,767,9167,0.00,0.00,4.00,0.787,6,0.000,0.000,2970,1780,1753,0,0,0,0,0,0
$GC,9467,0.61,277.0,722.5,14.7,782,9471,0.00,1.15,0.00,0.000,4,0.000,0.057,2967,2489,1752,0,0,0,0,0,0
$GC,9538,0.61,278.0,712.3,14.3,785,9542,0.00,1.10,0.00,0.000,6,0.000,0.047,2970,1780,1752,0,0,0,0,0,0
$GC,9871,0.61,278.0,663.4,14.7,801,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1781,1750,0,0,0,0,0,0
$GC,10182,0.61,278.0,617.9,14.9,816,10186,0.00,1.12,0.00,0.000,4,0.000,0.055,2967,2490,1750,0,0,0,0,0,0
$GC,10221,0.61,278.0,611.5,15.0,817,10229,0.00,1.10,0.00,0.000,6,0.000,0.046,2970,1784,1750,0,0,0,0,0,0
$GC,10546,0.61,279.1,566.5,14.3,844,10550,0.00,1.10,0.00,0.000,4,0.000,0.050,2976,1071,1750,0,0,0,0,0,0
$GC,10627,0.61,279.1,554.7,14.5,851,10631,0.00,1.12,0.00,0.000,6,0.000,0.046,2972,1790,1749,0,0,0,0,0,0
$GC,10959,0.63,292.2,508.5,13.8,882,10978,0.00,0.00,15.32,1.069,6,0.000,0.000,2972,1790,1691,0,0,0,0,0,0
$GC,11298,0.68,315.8,463.1,13.3,914,11324,0.00,1.10,22.52,1.060,4,0.000,0.046,2976,1066,1597,0,0,0,0,0,0
$GC,11398,0.72,330.6,450.2,13.7,922,11422,0.00,1.10,14.85,1.004,6,0.000,0.044,2972,1782,1536,0,0,0,0,0,0
$GC,11740,0.84,389.2,407.6,11.8,954,11801,0.17,1.17,53.08,1.037,4,0.076,0.050,3063,1062,1296,0,0,0,0,0,0
$GC,11825,0.76,389.2,391.7,20.1,961,11833,0.17,1.12,0.00,0.000,6,0.153,0.043,3009,1790,1294,0,0,0,0,0,0
$GC,12150,0.76,389.2,341.3,15.7,992,12154,0.00,1.10,0.00,0.000,4,0.000,0.048,3013,1073,1292,0,0,0,0,0,0
$GC,12184,0.76,389.2,336.2,15.4,995,12188,0.00,1.08,0.00,0.000,6,0.000,0.043,3009,1775,1291,0,0,0,0,0,0
$GC,12518,0.79,389.2,288.2,14.9,1026,12521,0.00,1.10,0.00,0.000,4,0.000,0.047,3013,1066,1291,0,0,0,0,0,0
$GC,12644,0.82,389.2,268.8,15.0,1037,12652,0.00,1.10,0.00,0.000,6,0.000,0.041,3010,1783,1290,0,0,0,0,0,0
$GC,12973,0.85,392.7,223.0,14.2,1086,12981,0.00,1.12,0.00,0.000,4,0.000,0.053,3013,1074,1290,0,0,0,0,0,0
$GC,13006,0.90,406.2,218.3,13.8,1091,13030,0.08,1.08,15.43,0.825,6,0.065,0.040,3064,1782,1227,0,0,0,0,0,0
$GC,13355,0.87,406.2,154.4,16.8,1154,13363,0.00,1.10,0.00,0.000,4,0.000,0.045,3069,1066,1225,0,0,0,0,0,0
$GC,13479,0.86,406.2,133.4,15.1,1176,13488,0.10,1.08,0.00,0.000,6,0.143,0.039,3038,1779,1225,0,0,0,0,0,0
$GC,13812,0.98,466.0,91.5,11.7,1237,13873,0.12,1.12,50.78,0.749,4,0.090,0.047,3108,1066,983,0,0,0,0,0,0
$GC,13968,0.96,466.0,63.8,17.3,1262,13977,0.10,1.08,0.00,0.000,6,0.144,0.038,3076,1786,981,0,0,0,0,0,0
$GC,14298,1.16,557.1,24.9,10.3,1323,14383,0.17,1.10,76.00,0.680,4,0.068,0.043,3169,1058,611,0,0,0,0,0,0
$STATE,14416,end climb,SURFACE_DEPTH_REACHED
$STATE,14416,begin surface coast
$FINISH,1.4,1.022351
$STATE,14434,end surface coast,CONTROL_FINISHED_OK
$STATE,14434,begin surface
$SM_CCo,14514,0.00,0.000,0,0,605,559.04
$SM_GC,2.14,7.88,0.00,0.00,0.031,0.000,0.000,158,1626,605,-8.09,0.45,559.04,0,0,0,0,0,0
$IRIDIUM_FIX,2342.70,12202.07,061111,111126
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.17
$INTERNAL_PRESSURE,9.32135
$TCM_TEMP,23.00
$XPDR_PINGS,120
$24V_AH,21.7,124.243
$10V_AH,9.8,83.418
$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,20.850,57.200,708.225,0.000,0.000,24.091,54.225,225.793,30.000,0.000,18.737,3307.918,7171.211,713.633,3275.245,498.785,0.000,2006.650,0.000,3001.158,0.000,0.539,0.000
$DEVICE_MAMPS,217.260,69.615,1447.380,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,919.357,1375.874,1570.109,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324504
$DATA_FILE_SIZE,76730,1343
$CAP_FILE_SIZE,157451,0
$CFSIZE,260165632,102780928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.199, 28.5,1
$GPS,061111,191731,2354.256,12202.318,38,1.2,38,-3.3