version: 66.09
glider: 166
mission: 6
dive: 505
start: 11 7 111 3 37 18
data:
$ID,166
$MISSION,6
$DIVE,505
$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,-25107.502
$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,45
$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
$GPS1,071111,032925,2355.533,12158.138,38,1.0,38,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-70.9
$GPS2,071111,033655,2355.719,12158.205,10,1.0,15,-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,255.7,27516,-20.0,-14.348
$D_GRID,2848
$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,-219.0,0.0,0.0,0,121,0.00,0.00,-98.78,0.000,2,0.000,0.000,148,1598,2885,0,0,0,0,0,0
$GC,124,-0.71,-219.0,5.0,-3.0,14,163,9.38,1.10,-18.75,0.000,4,0.220,0.069,2509,2305,3780,0,0,0,0,0,0
$GC,216,-0.58,-219.0,32.8,-28.5,28,226,0.15,1.05,0.00,0.000,6,0.148,0.039,2565,1599,3781,0,0,0,0,0,0
$GC,545,-0.58,-219.0,93.4,-14.9,89,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1599,3783,0,0,0,0,0,0
$GC,874,-0.61,-219.0,137.9,-13.1,150,882,0.00,1.02,0.00,0.000,4,0.000,0.040,2553,905,3783,0,0,0,0,0,0
$GC,908,-0.65,-219.0,143.0,-14.2,155,916,0.00,1.05,0.00,0.000,6,0.000,0.034,2551,1618,3783,0,0,0,0,0,0
$GC,1237,-0.69,-219.0,186.7,-12.6,216,1246,0.00,1.02,0.00,0.000,4,0.000,0.041,2550,2299,3783,0,0,0,0,0,0
$GC,1291,-0.75,-219.0,192.8,-11.2,225,1299,0.00,1.02,0.00,0.000,6,0.000,0.035,2553,1607,3783,0,0,0,0,0,0
$GC,1621,-0.81,-219.0,230.7,-11.2,286,1630,0.17,1.08,0.00,0.000,4,0.064,0.041,2464,2304,3783,0,0,0,0,0,0
$GC,1659,-0.76,-219.0,235.7,-13.8,291,1668,0.12,1.02,0.00,0.000,6,0.143,0.036,2504,1609,3783,0,0,0,0,0,0
$GC,1994,-0.75,-219.0,284.7,-14.1,329,1998,0.00,1.02,0.00,0.000,4,0.000,0.041,2501,2293,3783,0,0,0,0,0,0
$GC,2019,-0.73,-219.0,288.6,-14.2,331,2023,0.00,1.00,0.00,0.000,6,0.000,0.036,2501,1611,3783,0,0,0,0,0,0
$GC,2350,-0.71,-219.0,338.3,-14.5,362,2353,0.00,1.02,0.00,0.000,4,0.000,0.043,2497,2292,3783,0,0,0,0,0,0
$GC,2398,-0.71,-219.0,345.0,-13.9,366,2402,0.08,1.00,0.00,0.000,6,0.137,0.037,2522,1610,3783,0,0,0,0,0,0
$GC,2730,-0.74,-219.0,387.0,-11.8,397,2734,0.00,1.05,0.00,0.000,4,0.000,0.044,2514,2291,3782,0,0,0,0,0,0
$GC,2783,-0.78,-219.0,393.2,-11.1,401,2790,0.00,1.00,0.00,0.000,6,0.000,0.038,2516,1620,3781,0,0,0,0,0,0
$GC,3111,-0.81,-219.0,432.7,-11.7,432,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1620,3780,0,0,0,0,0,0
$GC,3439,-0.84,-219.0,472.0,-11.8,463,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1620,3778,0,0,0,0,0,0
$GC,3760,-0.88,-219.0,508.8,-11.1,493,3763,0.00,1.02,0.00,0.000,4,0.000,0.046,2496,2293,3776,0,0,0,0,0,0
$GC,3788,-0.92,-219.0,512.5,-10.8,495,3795,0.08,1.02,0.00,0.000,6,0.052,0.039,2445,1608,3775,0,0,0,0,0,0
$GC,4115,-0.88,-219.0,561.6,-15.8,526,4119,0.00,1.05,0.00,0.000,4,0.000,0.043,2455,909,3773,0,0,0,0,0,0
$GC,4200,-0.84,-219.0,575.8,-15.8,533,4207,0.10,1.05,0.00,0.000,6,0.155,0.040,2481,1596,3772,0,0,0,0,0,0
$GC,4532,-0.84,-219.0,621.6,-14.0,558,4535,0.00,1.08,0.00,0.000,4,0.000,0.048,2478,2299,3770,0,0,0,0,0,0
$GC,4649,-0.84,-219.0,638.2,-13.7,563,4653,0.00,1.05,0.00,0.000,6,0.000,0.040,2478,1607,3769,0,0,0,0,0,0
$GC,4979,-0.84,-219.0,686.3,-14.8,579,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1608,3766,0,0,0,0,0,0
$GC,5286,-0.84,-219.0,731.2,-14.1,594,5290,0.00,1.10,0.00,0.000,4,0.000,0.052,2473,2299,3765,0,0,0,0,0,0
$GC,5336,-0.84,-219.0,738.3,-13.4,596,5340,0.00,1.05,0.00,0.000,6,0.000,0.042,2473,1619,3764,0,0,0,0,0,0
$GC,5666,-0.84,-219.0,782.1,-13.9,612,5670,0.00,1.08,0.00,0.000,4,0.000,0.054,2468,2298,3762,0,0,0,0,0,0
$GC,5703,-0.84,-219.0,787.7,-13.2,613,5710,0.00,1.08,0.00,0.000,6,0.000,0.044,2468,1606,3762,0,0,0,0,0,0
$GC,6020,-0.84,-219.0,829.5,-13.2,629,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1606,3760,0,0,0,0,0,0
$GC,6331,-0.84,-219.0,867.8,-11.8,644,6335,0.00,1.10,0.00,0.000,4,0.000,0.058,2463,2291,3757,0,0,0,0,0,0
$GC,6359,-0.84,-219.0,871.6,-11.3,645,6363,0.00,1.08,0.00,0.000,6,0.000,0.048,2464,1609,3757,0,0,0,0,0,0
$GC,6689,-0.84,-219.0,911.5,-12.3,661,6693,0.00,1.10,0.00,0.000,4,0.000,0.060,2459,2291,3755,0,0,0,0,0,0
$GC,6728,-0.84,-219.0,917.0,-12.7,662,6736,0.08,1.08,0.00,0.000,6,0.147,0.050,2482,1607,3755,0,0,0,0,0,0
$GC,7045,-0.86,-219.0,953.8,-11.6,678,7048,0.00,1.12,0.00,0.000,4,0.000,0.060,2478,2296,3753,0,0,0,0,0,0
$GC,7094,-0.90,-219.0,958.8,-10.9,680,7097,0.00,1.08,0.00,0.000,6,0.000,0.050,2478,1615,3752,0,0,0,0,0,0
$STATE,7363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7363,begin apogee
$GC,7369,-0.11,0.0,991.5,12.3,693,7566,0.77,0.00,188.95,1.451,6,0.127,0.000,2717,1769,2884,0,0,0,0,0,0
$STATE,7566,end apogee,CONTROL_FINISHED_OK
$STATE,7566,begin climb
$GC,7569,0.71,219.0,1000.8,0.0,702,7792,0.77,1.33,216.05,1.383,4,0.047,0.059,2999,2475,1991,0,0,0,0,0,0
$GC,7878,0.65,219.0,964.2,16.5,716,7882,0.10,1.20,0.00,0.000,6,0.163,0.049,2977,1783,1985,0,0,0,0,0,0
$GC,8202,0.61,219.0,916.6,14.8,732,8205,0.00,1.12,0.00,0.000,4,0.000,0.059,2974,2483,1981,0,0,0,0,0,0
$GC,8240,0.59,219.0,910.3,14.4,733,8248,0.00,1.10,0.00,0.000,6,0.000,0.049,2978,1777,1981,0,0,0,0,0,0
$GC,8559,0.54,219.0,863.1,15.1,749,8564,0.15,1.12,0.00,0.000,4,0.178,0.058,2935,2477,1979,0,0,0,0,0,0
$GC,8661,0.63,268.7,849.8,12.2,753,8710,0.00,1.10,44.55,1.351,6,0.000,0.047,2938,1774,1788,0,0,0,0,0,0
$GC,9021,0.73,324.2,806.6,11.9,770,9080,0.15,0.00,51.97,1.317,6,0.083,0.000,3013,1774,1561,0,0,0,0,0,0
$GC,9391,0.68,324.2,739.4,18.3,788,9396,0.12,1.15,0.00,0.000,4,0.174,0.057,2978,2492,1556,0,0,0,0,0,0
$GC,9431,0.68,324.2,732.4,15.8,789,9439,0.00,1.10,0.00,0.000,6,0.000,0.046,2982,1787,1555,0,0,0,0,0,0
$GC,9747,0.68,324.2,682.3,15.8,805,9751,0.00,1.10,0.00,0.000,4,0.000,0.050,2987,1072,1554,0,0,0,0,0,0
$GC,9793,0.68,324.2,675.1,16.0,807,9796,0.00,1.12,0.00,0.000,6,0.000,0.045,2983,1793,1553,0,0,0,0,0,0
$GC,10128,0.68,324.2,622.0,15.9,823,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1793,1553,0,0,0,0,0,0
$GC,10440,0.68,324.2,572.3,15.6,846,10444,0.00,1.12,0.00,0.000,4,0.000,0.048,2987,1074,1552,0,0,0,0,0,0
$GC,10499,0.68,324.2,563.0,16.7,851,10503,0.00,1.10,0.00,0.000,6,0.000,0.045,2984,1780,1551,0,0,0,0,0,0
$GC,10831,0.68,325.5,511.3,14.3,882,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1780,1551,0,0,0,0,0,0
$GC,11153,0.70,325.5,463.8,14.8,912,11157,0.00,1.10,0.00,0.000,4,0.000,0.050,2987,1077,1550,0,0,0,0,0,0
$GC,11233,0.70,325.5,451.0,15.0,919,11237,0.00,1.10,0.00,0.000,6,0.000,0.044,2984,1784,1550,0,0,0,0,0,0
$GC,11565,0.74,338.8,403.8,13.8,950,11581,0.00,1.15,12.65,0.978,4,0.000,0.049,2987,1070,1502,0,0,0,0,0,0
$GC,11640,0.77,341.8,393.4,14.2,956,11652,0.00,1.10,4.40,0.692,6,0.000,0.043,2984,1783,1489,0,0,0,0,0,0
$GC,11970,0.82,356.7,345.9,13.7,987,11994,0.12,1.08,14.82,0.946,4,0.092,0.053,3050,2476,1429,0,0,0,0,0,0
$GC,12031,0.78,356.7,335.1,19.7,992,12036,0.12,1.08,0.00,0.000,6,0.159,0.044,3015,1777,1428,0,0,0,0,0,0
$GC,12363,0.78,356.7,282.6,14.9,1023,12366,0.00,1.08,0.00,0.000,4,0.000,0.047,3019,1069,1427,0,0,0,0,0,0
$GC,12444,0.78,356.7,270.3,15.7,1030,12448,0.00,1.10,0.00,0.000,6,0.000,0.041,3015,1788,1427,0,0,0,0,0,0
$GC,12774,0.79,372.5,222.9,13.7,1078,12797,0.00,1.12,15.30,0.849,4,0.000,0.044,3019,1068,1364,0,0,0,0,0,0
$GC,12827,0.86,410.8,215.6,12.7,1086,12871,0.00,1.08,35.12,0.874,6,0.000,0.040,3015,1775,1207,0,0,0,0,0,0
$GC,13194,0.99,468.9,169.7,11.8,1152,13257,0.17,1.12,49.58,0.834,4,0.073,0.046,3106,1067,970,0,0,0,0,0,0
$GC,13367,0.93,468.9,132.2,23.8,1180,13376,0.15,1.08,0.00,0.000,6,0.147,0.040,3060,1780,968,0,0,0,0,0,0
$GC,13698,0.98,468.9,78.9,14.4,1241,13707,0.00,1.10,0.00,0.000,4,0.000,0.046,3063,1075,966,0,0,0,0,0,0
$GC,13747,1.07,497.4,72.1,13.1,1249,13778,0.10,1.08,24.33,0.724,6,0.056,0.037,3126,1790,854,0,0,0,0,0,0
$GC,14099,1.09,497.4,13.4,15.1,1313,14108,0.00,1.10,0.00,0.000,4,0.000,0.044,3130,1069,850,0,0,0,0,0,0
$STATE,14166,end climb,SURFACE_DEPTH_REACHED
$STATE,14166,begin surface coast
$FINISH,1.3,1.009161
$STATE,14189,end surface coast,CONTROL_FINISHED_OK
$STATE,14189,begin surface
$SM_CCo,14267,0.00,0.000,0,0,849,499.19
$SM_GC,2.21,7.80,0.00,0.00,0.032,0.000,0.000,144,1600,849,-8.08,-0.25,499.19,0,0,0,0,0,0
$IRIDIUM_FIX,2347.41,12201.32,061111,232337
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.07
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,22.60
$XPDR_PINGS,115
$24V_AH,21.5,125.012
$10V_AH,9.8,83.873
$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,20.700,62.800,657.725,0.000,0.000,30.619,18.858,233.179,28.750,0.000,16.443,3285.028,6964.806,694.070,3257.859,495.622,0.000,1996.427,0.000,3008.073,0.000,0.539,0.000
$DEVICE_MAMPS,219.555,71.145,1451.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,910.673,1362.364,1586.117,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73615,1329
$CAP_FILE_SIZE,158891,0
$CFSIZE,260165632,102531072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164, 27.5,1
$GPS,071111,073624,2356.240,12156.226,40,1.1,40,-3.3