version: 66.09
glider: 166
mission: 6
dive: 504
start: 11 6 111 23 34 36
data:
$ID,166
$MISSION,6
$DIVE,504
$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,-25106.246
$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,48
$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
$GPS1,061111,232707,2354.740,12200.314,35,1.2,35,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-72.1
$GPS2,061111,233414,2354.855,12200.362,14,1.2,14,-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,260.6,31309,-20.0,-14.348
$D_GRID,2808
$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,21,-0.71,-219.0,0.0,0.0,0,117,0.00,0.00,-93.45,0.000,2,0.000,0.000,132,1589,2908,0,0,0,0,0,0
$GC,120,-0.71,-219.0,5.1,-4.4,13,152,9.35,1.12,-18.20,0.000,4,0.217,0.069,2514,2302,3780,0,0,0,0,0,0
$GC,372,-0.61,-219.0,74.9,-21.6,58,381,0.12,1.05,0.00,0.000,6,0.144,0.037,2551,1604,3781,0,0,0,0,0,0
$GC,704,-0.61,-219.0,129.2,-15.1,119,713,0.00,1.05,0.00,0.000,4,0.000,0.041,2547,2296,3782,0,0,0,0,0,0
$GC,723,-0.61,-219.0,132.1,-15.1,121,731,0.00,1.02,0.00,0.000,6,0.000,0.037,2541,1614,3782,0,0,0,0,0,0
$GC,1052,-0.63,-219.0,180.6,-13.7,182,1060,0.00,1.05,0.00,0.000,4,0.000,0.041,2542,910,3783,0,0,0,0,0,0
$GC,1113,-0.67,-219.0,188.7,-14.8,192,1121,0.00,1.05,0.00,0.000,6,0.000,0.035,2540,1614,3783,0,0,0,0,0,0
$GC,1443,-0.70,-219.0,232.7,-12.5,253,1451,0.00,1.02,0.00,0.000,4,0.000,0.042,2542,2305,3783,0,0,0,0,0,0
$GC,1523,-0.75,-219.0,242.8,-11.7,267,1532,0.00,1.05,0.00,0.000,6,0.000,0.038,2546,1607,3783,0,0,0,0,0,0
$GC,1853,-0.79,-219.0,280.6,-11.0,303,1857,0.12,1.08,0.00,0.000,4,0.081,0.044,2471,2296,3783,0,0,0,0,0,0
$GC,1943,-0.74,-219.0,292.7,-14.1,311,1948,0.12,1.02,0.00,0.000,6,0.138,0.038,2512,1611,3783,0,0,0,0,0,0
$GC,2275,-0.74,-219.0,336.9,-14.1,342,2278,0.00,1.05,0.00,0.000,4,0.000,0.044,2512,915,3783,0,0,0,0,0,0
$GC,2358,-0.74,-219.0,349.3,-13.8,349,2365,0.00,1.05,0.00,0.000,6,0.000,0.040,2509,1606,3783,0,0,0,0,0,0
$GC,2685,-0.74,-219.0,393.2,-13.4,380,2688,0.00,1.08,0.00,0.000,4,0.000,0.047,2503,2312,3782,0,0,0,0,0,0
$GC,2724,-0.76,-219.0,398.6,-13.4,383,2731,0.00,1.08,0.00,0.000,6,0.000,0.041,2502,1614,3781,0,0,0,0,0,0
$GC,3049,-0.76,-219.0,443.5,-13.8,414,3052,0.00,1.08,0.00,0.000,4,0.000,0.050,2483,2299,3780,0,0,0,0,0,0
$GC,3095,-0.76,-219.0,449.6,-13.2,418,3099,0.00,1.05,0.00,0.000,6,0.000,0.044,2483,1613,3780,0,0,0,0,0,0
$GC,3426,-0.76,-219.0,496.2,-13.8,449,3428,0.12,0.00,0.00,0.000,6,0.159,0.000,2517,1613,3778,0,0,0,0,0,0
$GC,3747,-0.82,-219.0,531.4,-11.2,479,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1613,3776,0,0,0,0,0,0
$GC,4075,-0.89,-219.0,565.1,-9.9,510,4079,0.17,1.12,0.00,0.000,4,0.071,0.053,2439,2296,3773,0,0,0,0,0,0
$GC,4157,-0.84,-219.0,576.4,-15.2,517,4161,0.12,1.08,0.00,0.000,6,0.145,0.047,2482,1611,3772,0,0,0,0,0,0
$GC,4483,-0.84,-219.0,620.6,-13.7,541,4486,0.00,1.10,0.00,0.000,4,0.000,0.054,2480,2297,3770,0,0,0,0,0,0
$GC,4521,-0.84,-219.0,626.2,-13.6,542,4528,0.00,1.08,0.00,0.000,6,0.000,0.046,2480,1611,3770,0,0,0,0,0,0
$GC,4840,-0.84,-219.0,669.1,-13.5,558,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1611,3767,0,0,0,0,0,0
$GC,5147,-0.84,-219.0,711.2,-13.2,573,5151,0.00,1.12,0.00,0.000,4,0.000,0.056,2474,2295,3765,0,0,0,0,0,0
$GC,5219,-0.86,-219.0,719.8,-12.6,576,5222,0.00,1.08,0.00,0.000,6,0.000,0.047,2475,1609,3764,0,0,0,0,0,0
$GC,5552,-0.86,-219.0,761.6,-12.0,592,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1609,3762,0,0,0,0,0,0
$GC,5861,-0.86,-219.0,797.3,-11.5,607,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1609,3761,0,0,0,0,0,0
$GC,6173,-0.86,-219.0,835.4,-12.8,622,6177,0.00,1.10,0.00,0.000,4,0.000,0.058,2470,2295,3758,0,0,0,0,0,0
$GC,6211,-0.86,-219.0,841.1,-13.6,623,6219,0.00,1.08,0.00,0.000,6,0.000,0.047,2470,1611,3758,0,0,0,0,0,0
$GC,6530,-0.86,-219.0,883.9,-13.5,639,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1611,3756,0,0,0,0,0,0
$GC,6837,-0.86,-219.0,923.8,-12.3,654,6841,0.00,1.10,0.00,0.000,4,0.000,0.060,2465,2292,3754,0,0,0,0,0,0
$GC,6884,-0.86,-219.0,929.4,-12.0,656,6887,0.00,1.08,0.00,0.000,6,0.000,0.049,2465,1611,3753,0,0,0,0,0,0
$GC,7220,-0.86,-219.0,972.6,-13.4,672,7223,0.00,1.10,0.00,0.000,4,0.000,0.060,2460,2293,3751,0,0,0,0,0,0
$GC,7247,-0.86,-219.0,977.0,-13.5,673,7251,0.00,1.08,0.00,0.000,6,0.000,0.050,2461,1615,3751,0,0,0,0,0,0
$STATE,7345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7345,begin apogee
$GC,7351,-0.11,0.0,991.4,14.7,678,7547,0.85,0.00,188.82,1.448,6,0.129,0.000,2720,1773,2884,0,0,0,0,0,0
$STATE,7548,end apogee,CONTROL_FINISHED_OK
$STATE,7548,begin climb
$GC,7551,0.71,219.0,1000.5,0.0,687,7771,0.77,0.00,215.70,1.383,6,0.045,0.000,3003,1773,1991,0,0,0,0,0,0
$GC,8086,0.64,219.0,922.1,17.9,712,8090,0.12,1.12,0.00,0.000,4,0.180,0.060,2969,2476,1982,0,0,0,0,0,0
$GC,8188,0.62,219.0,905.5,15.2,716,8192,0.00,1.10,0.00,0.000,6,0.000,0.049,2972,1781,1982,0,0,0,0,0,0
$GC,8510,0.59,219.0,855.7,15.3,732,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1781,1979,0,0,0,0,0,0
$GC,8822,0.56,219.0,809.4,15.1,747,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1781,1978,0,0,0,0,0,0
$GC,9133,0.53,219.0,763.0,14.9,762,9135,0.15,0.00,0.00,0.000,6,0.181,0.000,2934,1782,1977,0,0,0,0,0,0
$GC,9441,0.64,277.3,726.4,11.8,777,9498,0.00,1.12,52.00,1.284,4,0.000,0.054,2937,1077,1753,0,0,0,0,0,0
$GC,9523,0.75,330.3,716.0,12.0,780,9578,0.15,1.12,50.12,1.251,6,0.052,0.047,3020,1785,1537,0,0,0,0,0,0
$GC,9900,0.70,330.3,640.7,20.3,799,9905,0.12,1.10,0.00,0.000,4,0.175,0.057,2984,2485,1530,0,0,0,0,0,0
$GC,9961,0.70,330.3,629.6,16.2,801,9968,0.00,1.10,0.00,0.000,6,0.000,0.046,2987,1779,1529,0,0,0,0,0,0
$GC,10284,0.70,330.3,578.2,15.7,823,10288,0.00,1.10,0.00,0.000,4,0.000,0.054,2985,2479,1527,0,0,0,0,0,0
$GC,10300,0.70,330.3,575.0,15.5,824,10307,0.00,1.10,0.00,0.000,6,0.000,0.044,2987,1768,1527,0,0,0,0,0,0
$GC,10628,0.70,330.3,526.3,14.9,855,10632,0.00,1.08,0.00,0.000,4,0.000,0.050,2993,1069,1526,0,0,0,0,0,0
$GC,10723,0.70,330.3,511.2,15.3,863,10730,0.00,1.10,0.00,0.000,6,0.000,0.044,2989,1780,1525,0,0,0,0,0,0
$GC,11051,0.70,334.7,462.9,14.2,894,11054,0.00,1.10,0.00,0.000,4,0.000,0.049,2993,1077,1525,0,0,0,0,0,0
$GC,11108,0.70,334.7,453.9,15.4,899,11112,0.00,1.10,0.00,0.000,6,0.000,0.043,2989,1784,1525,0,0,0,0,0,0
$GC,11442,0.74,350.9,404.7,13.6,930,11462,0.00,0.00,17.83,1.004,6,0.000,0.000,2989,1784,1452,0,0,0,0,0,0
$GC,11783,0.80,366.3,357.0,13.7,961,11806,0.00,1.12,15.07,0.949,4,0.000,0.050,2993,1077,1389,0,0,0,0,0,0
$GC,11967,0.87,398.7,331.4,12.9,977,12003,0.12,1.08,29.85,0.962,6,0.052,0.044,3068,1784,1257,0,0,0,0,0,0
$GC,12323,0.80,398.7,256.1,21.8,1010,12327,0.17,1.12,0.00,0.000,4,0.168,0.047,3025,1067,1254,0,0,0,0,0,0
$GC,12405,0.82,398.7,242.3,14.8,1022,12414,0.00,1.10,0.00,0.000,6,0.000,0.041,3022,1788,1254,0,0,0,0,0,0
$GC,12737,0.86,402.3,193.3,14.2,1083,12746,0.00,1.15,4.25,0.566,4,0.000,0.047,3026,1066,1242,0,0,0,0,0,0
$GC,12819,0.89,405.2,182.0,14.2,1097,12829,0.00,1.10,4.00,0.530,6,0.000,0.040,3026,1788,1232,0,0,0,0,0,0
$GC,13152,0.99,442.5,136.6,12.7,1158,13193,0.15,1.08,33.42,0.792,4,0.076,0.042,3108,1069,1077,0,0,0,0,0,0
$GC,13331,0.94,442.5,98.8,21.4,1188,13340,0.10,1.08,0.00,0.000,6,0.148,0.040,3072,1786,1076,0,0,0,0,0,0
$GC,13666,1.05,484.2,50.1,12.5,1249,13712,0.00,1.12,35.47,0.708,4,0.000,0.045,3076,1068,907,0,0,0,0,0,0
$GC,13742,1.23,562.7,41.0,10.9,1260,13816,0.20,1.08,67.50,0.698,6,0.038,0.037,3183,1788,588,0,0,0,0,0,0
$STATE,13924,end climb,SURFACE_DEPTH_REACHED
$STATE,13924,begin surface coast
$FINISH,1.4,1.009940
$STATE,13937,end surface coast,CONTROL_FINISHED_OK
$STATE,13937,begin surface
$SM_CCo,14014,0.00,0.000,0,0,579,565.42
$SM_GC,2.19,7.97,0.00,0.00,0.036,0.000,0.000,136,1599,579,-8.11,-0.31,565.42,0,0,0,0,0,0
$IRIDIUM_FIX,2342.70,12156.83,061111,191907
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.23
$INTERNAL_PRESSURE,9.30182
$TCM_TEMP,22.70
$XPDR_PINGS,103
$24V_AH,21.6,124.760
$10V_AH,9.8,83.719
$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,21.050,54.800,714.050,0.000,0.000,23.912,21.889,216.452,25.750,0.000,15.512,3173.661,6954.712,709.540,3106.231,477.375,0.000,1964.450,0.000,2879.767,0.000,0.540,0.000
$DEVICE_MAMPS,217.260,68.850,1448.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,884.572,1323.775,1494.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73574,1292
$CAP_FILE_SIZE,151154,0
$CFSIZE,260165632,102621184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137, 19.5,1
$GPS,071111,032925,2355.533,12158.138,38,1.0,38,-3.3