version: 66.09
glider: 166
mission: 6
dive: 503
start: 11 6 111 19 25 43
data:
$ID,166
$MISSION,6
$DIVE,503
$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,-25104.988
$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,32
$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
$GPS1,061111,191731,2354.256,12202.318,38,1.2,38,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-69.1
$GPS2,061111,192520,2354.393,12202.396,13,1.1,13,-3.3
$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,249.1,34832,-20.0,-14.348
$D_GRID,2874
$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,20,-0.71,-219.0,0.0,0.0,0,129,0.00,0.00,-105.82,0.000,2,0.000,0.000,133,1627,3127,0,0,0,0,0,0
$GC,132,-0.71,-219.0,5.8,-7.8,14,163,9.43,1.02,-12.75,0.000,4,0.218,0.067,2521,2301,3781,0,0,0,0,0,0
$GC,316,-0.67,-219.0,61.5,-19.7,46,324,0.00,1.05,0.00,0.000,6,0.000,0.037,2515,1594,3783,0,0,0,0,0,0
$GC,644,-0.62,-219.0,122.8,-17.4,107,652,0.15,1.08,0.00,0.000,4,0.161,0.040,2552,2298,3784,0,0,0,0,0,0
$GC,674,-0.62,-219.0,127.5,-15.7,111,681,0.00,1.02,0.00,0.000,6,0.000,0.035,2553,1605,3784,0,0,0,0,0,0
$GC,1001,-0.66,-219.0,170.2,-13.3,172,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1605,3784,0,0,0,0,0,0
$GC,1330,-0.73,-219.0,210.8,-11.6,233,1338,0.00,1.05,0.00,0.000,4,0.000,0.039,2553,2297,3784,0,0,0,0,0,0
$GC,1420,-0.81,-219.0,220.2,-10.0,248,1429,0.12,1.02,0.00,0.000,6,0.037,0.035,2474,1606,3784,0,0,0,0,0,0
$GC,1756,-0.73,-219.0,281.9,-17.8,294,1760,0.17,1.08,0.00,0.000,4,0.161,0.041,2519,2301,3784,0,0,0,0,0,0
$GC,1803,-0.73,-219.0,289.1,-13.4,298,1807,0.00,1.02,0.00,0.000,6,0.000,0.035,2521,1608,3783,0,0,0,0,0,0
$GC,2135,-0.73,-219.0,329.6,-13.2,329,2139,0.00,1.02,0.00,0.000,4,0.000,0.040,2521,914,3784,0,0,0,0,0,0
$GC,2229,-0.75,-219.0,342.3,-13.8,337,2233,0.00,1.02,0.00,0.000,6,0.000,0.036,2518,1607,3783,0,0,0,0,0,0
$GC,2563,-0.76,-219.0,387.6,-12.3,368,2567,0.00,1.02,0.00,0.000,4,0.000,0.041,2512,2300,3782,0,0,0,0,0,0
$GC,2658,-0.79,-219.0,399.7,-12.4,376,2666,0.00,1.02,0.00,0.000,6,0.000,0.036,2500,1609,3781,0,0,0,0,0,0
$GC,2984,-0.81,-219.0,440.5,-12.5,407,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1609,3780,0,0,0,0,0,0
$GC,3306,-0.83,-219.0,478.9,-12.0,437,3310,0.00,1.05,0.00,0.000,4,0.000,0.044,2491,2292,3778,0,0,0,0,0,0
$GC,3383,-0.87,-219.0,487.8,-10.6,443,3390,0.00,1.02,0.00,0.000,6,0.000,0.038,2492,1616,3778,0,0,0,0,0,0
$GC,3709,-0.89,-219.0,526.6,-11.7,474,3713,0.00,1.08,0.00,0.000,4,0.000,0.043,2497,910,3775,0,0,0,0,0,0
$GC,3761,-0.91,-219.0,533.2,-12.8,478,3768,0.00,1.05,0.00,0.000,6,0.000,0.039,2497,1601,3774,0,0,0,0,0,0
$GC,4088,-0.94,-219.0,575.2,-12.9,509,4092,0.12,1.08,0.00,0.000,4,0.088,0.045,2432,2301,3772,0,0,0,0,0,0
$GC,4181,-0.88,-219.0,590.1,-17.2,517,4186,0.12,1.05,0.00,0.000,6,0.151,0.041,2470,1608,3771,0,0,0,0,0,0
$GC,4517,-0.86,-219.0,643.1,-15.7,536,4521,0.00,1.05,0.00,0.000,4,0.000,0.043,2471,913,3768,0,0,0,0,0,0
$GC,4552,-0.86,-219.0,648.7,-15.3,537,4555,0.00,1.08,0.00,0.000,6,0.000,0.041,2468,1612,3768,0,0,0,0,0,0
$GC,4874,-0.86,-219.0,691.5,-12.7,553,4877,0.00,1.05,0.00,0.000,4,0.000,0.048,2463,2298,3766,0,0,0,0,0,0
$GC,4942,-0.86,-219.0,699.7,-11.9,556,4946,0.00,1.05,0.00,0.000,6,0.000,0.041,2463,1614,3765,0,0,0,0,0,0
$GC,5278,-0.84,-219.0,745.6,-14.8,572,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1614,3763,0,0,0,0,0,0
$GC,5585,-0.84,-219.0,790.8,-14.2,587,5588,0.00,1.10,0.00,0.000,4,0.000,0.054,2458,2305,3761,0,0,0,0,0,0
$GC,5646,-0.84,-219.0,798.8,-13.3,589,5649,0.00,1.08,0.00,0.000,6,0.000,0.045,2458,1613,3761,0,0,0,0,0,0
$GC,5968,-0.83,-219.0,842.2,-12.8,605,5970,0.12,0.00,0.00,0.000,6,0.171,0.000,2490,1612,3759,0,0,0,0,0,0
$GC,6280,-0.86,-219.0,874.7,-10.5,620,6283,0.00,1.10,0.00,0.000,4,0.000,0.058,2487,2296,3756,0,0,0,0,0,0
$GC,6349,-0.91,-219.0,882.1,-10.4,623,6352,0.00,1.08,0.00,0.000,6,0.000,0.048,2487,1612,3756,0,0,0,0,0,0
$GC,6682,-0.94,-219.0,917.3,-10.4,639,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1612,3753,0,0,0,0,0,0
$GC,6994,-0.97,-219.0,951.0,-11.3,654,6996,0.12,0.00,0.00,0.000,6,0.089,0.000,2428,1612,3752,0,0,0,0,0,0
$STATE,7256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7256,begin apogee
$GC,7263,-0.11,0.0,992.2,15.7,667,7458,0.98,0.00,187.77,1.444,6,0.142,0.000,2715,1769,2884,0,0,0,0,0,0
$STATE,7459,end apogee,CONTROL_FINISHED_OK
$STATE,7459,begin climb
$GC,7462,0.71,219.0,1001.2,0.0,676,7684,0.77,1.27,213.98,1.380,4,0.047,0.052,3003,1081,1991,0,0,0,0,0,0
$GC,7714,0.64,219.0,974.0,15.6,687,7721,0.10,1.23,0.00,0.000,6,0.158,0.049,2974,1769,1987,0,0,0,0,0,0
$GC,8033,0.61,221.4,928.5,14.2,703,8037,0.00,1.12,0.00,0.000,4,0.000,0.060,2969,2485,1982,0,0,0,0,0,0
$GC,8172,0.59,224.1,909.1,14.2,709,8181,0.00,1.10,4.53,0.872,6,0.000,0.050,2972,1786,1969,0,0,0,0,0,0
$GC,8508,0.57,234.5,861.7,13.9,725,8524,0.00,0.00,11.00,1.200,6,0.000,0.000,2973,1786,1927,0,0,0,0,0,0
$GC,8833,0.55,234.5,813.7,14.6,741,8837,0.15,1.15,0.00,0.000,4,0.178,0.057,2930,2488,1923,0,0,0,0,0,0
$GC,8862,0.58,247.0,810.0,13.8,742,8879,0.00,1.12,12.55,1.210,6,0.000,0.047,2933,1773,1877,0,0,0,0,0,0
$GC,9190,0.70,320.8,773.6,11.1,758,9266,0.15,1.15,69.10,1.306,4,0.082,0.053,3012,1074,1575,0,0,0,0,0,0
$GC,9304,0.66,320.8,753.3,18.4,763,9309,0.10,1.12,0.00,0.000,6,0.153,0.047,2981,1788,1573,0,0,0,0,0,0
$GC,9631,0.66,320.8,699.9,16.3,779,9632,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1788,1569,0,0,0,0,0,0
$GC,9943,0.66,320.8,651.3,15.6,794,9947,0.00,1.05,0.00,0.000,4,0.000,0.056,2977,2471,1568,0,0,0,0,0,0
$GC,9970,0.66,320.8,646.2,15.9,795,9974,0.00,1.08,0.00,0.000,6,0.000,0.046,2980,1777,1567,0,0,0,0,0,0
$GC,10290,0.66,320.8,597.9,15.1,811,10294,0.00,1.08,0.00,0.000,4,0.000,0.050,2985,1077,1566,0,0,0,0,0,0
$GC,10346,0.66,320.8,588.9,15.4,816,10350,0.00,1.10,0.00,0.000,6,0.000,0.045,2981,1783,1566,0,0,0,0,0,0
$GC,10677,0.67,328.7,540.7,14.0,847,10690,0.00,1.10,6.57,0.926,4,0.000,0.055,2977,2477,1544,0,0,0,0,0,0
$GC,10728,0.72,350.0,534.0,13.4,851,10754,0.00,1.08,21.42,1.108,6,0.000,0.044,2980,1779,1456,0,0,0,0,0,0
$GC,11083,0.79,382.2,485.1,12.9,884,11119,0.10,1.12,29.50,1.086,4,0.106,0.050,3041,1072,1325,0,0,0,0,0,0
$GC,11214,0.74,382.2,460.5,19.9,895,11222,0.12,1.10,0.00,0.000,6,0.150,0.046,3001,1788,1323,0,0,0,0,0,0
$GC,11540,0.74,382.2,410.7,14.6,926,11544,0.00,1.05,0.00,0.000,4,0.000,0.052,2996,2474,1322,0,0,0,0,0,0
$GC,11575,0.77,382.2,405.7,14.4,929,11579,0.00,1.08,0.00,0.000,6,0.000,0.044,3000,1778,1322,0,0,0,0,0,0
$GC,11906,0.80,391.3,358.9,13.9,960,11919,0.00,1.12,9.32,0.881,4,0.000,0.048,3005,1063,1288,0,0,0,0,0,0
$GC,12050,0.83,391.3,338.6,14.7,972,12057,0.00,1.10,0.00,0.000,6,0.000,0.042,3002,1780,1286,0,0,0,0,0,0
$GC,12377,0.86,391.3,291.6,14.5,1003,12382,0.10,1.12,0.00,0.000,4,0.109,0.047,3063,1072,1286,0,0,0,0,0,0
$GC,12529,0.82,391.3,261.3,18.9,1016,12538,0.10,1.10,0.00,0.000,6,0.147,0.042,3032,1789,1285,0,0,0,0,0,0
$GC,12857,0.83,401.3,212.1,13.9,1070,12872,0.00,0.00,10.43,0.786,6,0.000,0.000,3032,1789,1246,0,0,0,0,0,0
$GC,13195,0.86,401.3,164.8,14.4,1132,13203,0.00,1.10,0.00,0.000,4,0.000,0.047,3035,1078,1245,0,0,0,0,0,0
$GC,13254,0.90,410.8,156.2,13.9,1142,13270,0.00,1.08,9.75,0.724,6,0.000,0.041,3032,1778,1209,0,0,0,0,0,0
$GC,13592,1.00,444.8,111.6,12.9,1204,13631,0.15,1.10,30.25,0.760,4,0.080,0.043,3113,1076,1068,0,0,0,0,0,0
$GC,13759,0.96,444.8,79.9,19.2,1232,13768,0.12,1.08,0.00,0.000,6,0.147,0.040,3074,1791,1066,0,0,0,0,0,0
$GC,14091,1.14,527.8,37.0,10.7,1293,14168,0.15,1.10,69.05,0.695,4,0.073,0.042,3161,1063,730,0,0,0,0,0,0
$GC,14212,1.11,527.8,17.0,17.4,1310,14220,0.10,1.08,0.00,0.000,6,0.146,0.037,3125,1782,727,0,0,0,0,0,0
$STATE,14305,end climb,SURFACE_DEPTH_REACHED
$STATE,14305,begin surface coast
$FINISH,1.3,1.013045
$STATE,14332,end surface coast,CONTROL_FINISHED_OK
$STATE,14332,begin surface
$SM_CCo,14412,0.00,0.000,0,0,724,529.85
$SM_GC,2.22,7.78,0.00,0.00,0.035,0.000,0.000,134,1589,724,-8.09,-0.59,529.85,0,0,0,0,0,0
$IRIDIUM_FIX,2342.70,12208.57,061111,151545
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.97
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,23.10
$XPDR_PINGS,121
$24V_AH,21.6,124.500
$10V_AH,9.7,83.572
$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,21.350,58.950,685.225,0.000,0.000,29.958,44.328,229.205,30.250,0.000,14.611,3309.445,7062.005,685.445,3308.542,497.527,0.000,2002.218,0.000,3032.830,0.000,0.539,0.000
$DEVICE_MAMPS,218.025,68.850,1443.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,911.481,1362.853,1557.731,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324504
$DATA_FILE_SIZE,76680,1331
$CAP_FILE_SIZE,160419,0
$CFSIZE,260165632,102690816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120, 18.1,1
$GPS,061111,232707,2354.740,12200.314,35,1.2,35,-3.3