version: 66.09
glider: 166
mission: 6
dive: 506
start: 11 7 111 7 43 43
data:
$ID,166
$MISSION,6
$DIVE,506
$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,260
$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,175
$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,-25108.756
$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,36
$R_STBD_OVSHOOT,37
$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
$GPS1,071111,073624,2356.240,12156.226,40,1.1,40,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-70.3
$GPS2,071111,074320,2356.361,12156.307,9,1.2,9,-3.3
$SPEED_LIMITS,0.220,0.301
$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,246.1,24236,-20.5,-12.692
$D_GRID,2607
$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,17,-0.67,-170.3,0.0,0.0,0,111,0.00,0.00,-91.70,0.000,2,0.000,0.000,132,1601,3046,0,0,0,0,0,0
$GC,114,-0.67,-170.3,6.1,-10.1,12,139,9.52,1.12,-10.60,0.000,4,0.222,0.067,2540,2331,3581,0,0,0,0,0,0
$GC,264,-0.55,-170.3,49.2,-24.4,38,274,0.12,1.10,0.00,0.000,6,0.149,0.038,2575,1593,3584,0,0,0,0,0,0
$GC,592,-0.55,-170.3,99.9,-14.0,99,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1593,3585,0,0,0,0,0,0
$GC,923,-0.60,-170.3,138.6,-11.1,160,931,0.00,1.10,0.00,0.000,4,0.000,0.041,2569,2318,3587,0,0,0,0,0,0
$GC,998,-0.66,-170.3,147.0,-10.8,173,1006,0.00,1.05,0.00,0.000,6,0.000,0.037,2562,1613,3587,0,0,0,0,0,0
$GC,1329,-0.71,-170.3,183.8,-10.7,234,1338,0.00,1.05,0.00,0.000,4,0.000,0.041,2563,917,3588,0,0,0,0,0,0
$GC,1371,-0.78,-170.3,188.6,-10.8,240,1380,0.12,1.05,0.00,0.000,6,0.041,0.036,2492,1620,3588,0,0,0,0,0,0
$GC,1705,-0.73,-170.3,239.9,-15.0,301,1714,0.12,1.12,0.00,0.000,4,0.169,0.044,2521,912,3588,0,0,0,0,0,0
$GC,1774,-0.75,-170.3,250.2,-12.7,313,1778,0.00,1.05,0.00,0.000,6,0.000,0.039,2521,1605,3588,0,0,0,0,0,0
$GC,2107,-0.75,-170.3,290.9,-12.9,344,2111,0.00,1.05,0.00,0.000,4,0.000,0.045,2519,2305,3588,0,0,0,0,0,0
$GC,2134,-0.75,-170.3,294.8,-13.1,346,2144,0.00,1.05,0.00,0.000,6,0.000,0.040,2521,1612,3588,0,0,0,0,0,0
$GC,2460,-0.75,-170.3,336.8,-13.1,377,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1612,3588,0,0,0,0,0,0
$GC,2783,-0.75,-170.3,376.8,-12.8,407,2786,0.00,1.08,0.00,0.000,4,0.000,0.049,2510,2304,3586,0,0,0,0,0,0
$GC,2867,-0.78,-170.3,387.9,-12.1,414,2875,0.00,1.05,0.00,0.000,6,0.000,0.044,2513,1622,3586,0,0,0,0,0,0
$GC,3192,-0.78,-170.3,426.6,-11.7,445,3196,0.00,1.10,0.00,0.000,4,0.000,0.047,2505,906,3584,0,0,0,0,0,0
$GC,3231,-0.78,-170.3,431.4,-11.9,448,3238,0.00,1.08,0.00,0.000,6,0.000,0.041,2495,1605,3584,0,0,0,0,0,0
$GC,3559,-0.78,-170.3,467.8,-12.0,479,3562,0.00,1.08,0.00,0.000,4,0.000,0.049,2487,2306,3582,0,0,0,0,0,0
$GC,3638,-0.80,-170.3,476.9,-10.7,486,3642,0.00,1.08,0.00,0.000,6,0.000,0.044,2489,1607,3582,0,0,0,0,0,0
$GC,3969,-0.80,-170.3,515.9,-12.6,517,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1607,3580,0,0,0,0,0,0
$GC,4290,-0.80,-170.3,557.1,-13.2,547,4294,0.00,1.10,0.00,0.000,4,0.000,0.053,2501,2304,3577,0,0,0,0,0,0
$GC,4320,-0.82,-170.3,560.9,-12.6,549,4326,0.00,1.08,0.00,0.000,6,0.000,0.045,2500,1610,3577,0,0,0,0,0,0
$GC,4655,-0.82,-170.3,603.4,-12.6,580,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1609,3575,0,0,0,0,0,0
$GC,4967,-0.82,-170.3,641.2,-11.8,595,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1610,3573,0,0,0,0,0,0
$GC,5274,-0.84,-170.3,677.5,-11.9,610,5278,0.00,1.12,0.00,0.000,4,0.000,0.056,2496,2298,3570,0,0,0,0,0,0
$GC,5307,-0.86,-170.3,681.8,-12.1,611,5311,0.00,1.08,0.00,0.000,6,0.000,0.047,2496,1612,3570,0,0,0,0,0,0
$GC,5632,-0.88,-170.3,720.6,-11.7,627,5636,0.00,1.10,0.00,0.000,4,0.000,0.051,2496,907,3568,0,0,0,0,0,0
$GC,5716,-0.88,-170.3,731.4,-12.6,630,5724,0.00,1.10,0.00,0.000,6,0.000,0.047,2491,1601,3568,0,0,0,0,0,0
$GC,6035,-0.88,-170.3,768.8,-12.0,646,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1601,3566,0,0,0,0,0,0
$GC,6342,-0.88,-170.3,804.7,-11.2,661,6345,0.00,1.12,0.00,0.000,4,0.000,0.057,2485,2311,3564,0,0,0,0,0,0
$GC,6413,-0.90,-170.3,811.8,-10.2,664,6416,0.00,1.10,0.00,0.000,6,0.000,0.050,2485,1616,3564,0,0,0,0,0,0
$GC,6746,-0.90,-170.3,849.4,-11.4,680,6749,0.00,1.12,0.00,0.000,4,0.000,0.054,2485,902,3562,0,0,0,0,0,0
$GC,6792,-0.90,-170.3,854.8,-11.9,682,6796,0.00,1.12,0.00,0.000,6,0.000,0.047,2480,1608,3562,0,0,0,0,0,0
$GC,7127,-0.90,-170.3,893.3,-11.4,698,7131,0.00,1.10,0.00,0.000,4,0.000,0.058,2475,2307,3560,0,0,0,0,0,0
$GC,7173,-0.92,-170.3,898.6,-11.2,700,7177,0.00,1.10,0.00,0.000,6,0.000,0.050,2475,1610,3560,0,0,0,0,0,0
$GC,7509,-0.92,-170.3,936.3,-11.0,716,7512,0.00,1.12,0.00,0.000,4,0.000,0.056,2475,911,3557,0,0,0,0,0,0
$GC,7559,-0.92,-170.3,942.5,-11.4,718,7562,0.00,1.12,0.00,0.000,6,0.000,0.050,2470,1612,3557,0,0,0,0,0,0
$GC,7886,-0.92,-170.3,977.8,-10.8,734,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1612,3556,0,0,0,0,0,0
$STATE,8007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8007,begin apogee
$GC,8016,-0.11,0.0,991.6,11.2,740,8169,0.82,0.00,146.50,1.461,6,0.133,0.000,2718,1784,2883,0,0,0,0,0,0
$STATE,8169,end apogee,CONTROL_FINISHED_OK
$STATE,8169,begin climb
$GC,8174,0.67,170.3,995.7,0.0,747,8348,0.73,1.25,166.38,1.397,4,0.062,0.060,2974,2476,2188,0,0,0,0,0,0
$GC,8419,0.62,170.3,970.8,14.0,758,8423,0.00,1.20,0.00,0.000,6,0.000,0.052,2978,1788,2184,0,0,0,0,0,0
$GC,8741,0.57,170.3,924.4,14.2,774,8743,0.12,0.00,0.00,0.000,6,0.185,0.000,2948,1788,2179,0,0,0,0,0,0
$GC,9053,0.59,188.5,887.9,11.8,789,9075,0.00,1.15,16.52,1.287,4,0.000,0.060,2947,2485,2114,0,0,0,0,0,0
$GC,9109,0.61,203.6,880.5,11.9,791,9129,0.00,1.12,15.52,1.261,6,0.000,0.048,2950,1771,2052,0,0,0,0,0,0
$GC,9453,0.61,207.0,837.1,12.5,808,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1771,2047,0,0,0,0,0,0
$GC,9763,0.61,207.0,798.3,13.0,823,9767,0.00,1.12,0.00,0.000,4,0.000,0.058,2947,2481,2046,0,0,0,0,0,0
$GC,9790,0.61,207.0,793.9,14.0,824,9794,0.00,1.10,0.00,0.000,6,0.000,0.047,2950,1777,2045,0,0,0,0,0,0
$GC,10120,0.61,207.0,750.8,13.4,840,10124,0.00,1.12,0.00,0.000,4,0.000,0.056,2948,2488,2044,0,0,0,0,0,0
$GC,10158,0.61,207.0,745.3,12.8,841,10165,0.00,1.12,0.00,0.000,6,0.000,0.047,2950,1770,2044,0,0,0,0,0,0
$GC,10475,0.62,210.7,707.6,12.5,857,10485,0.00,1.05,6.20,0.998,4,0.000,0.050,2955,1065,2024,0,0,0,0,0,0
$GC,10543,0.62,210.7,698.7,13.1,860,10546,0.00,1.12,0.00,0.000,6,0.000,0.048,2953,1778,2024,0,0,0,0,0,0
$GC,10870,0.64,227.7,658.9,11.8,876,10891,0.00,0.00,17.15,1.187,6,0.000,0.000,2952,1778,1955,0,0,0,0,0,0
$GC,11202,0.70,261.0,621.5,11.0,892,11239,0.10,1.15,30.92,1.196,4,0.106,0.052,3009,1071,1819,0,0,0,0,0,0
$GC,11301,0.66,261.0,605.9,16.1,896,11305,0.10,1.12,0.00,0.000,6,0.159,0.046,2975,1792,1816,0,0,0,0,0,0
$GC,11631,0.66,261.0,558.0,14.0,925,11634,0.00,1.05,0.00,0.000,4,0.000,0.054,2970,2474,1814,0,0,0,0,0,0
$GC,11687,0.66,261.0,549.9,14.0,930,11691,0.00,1.08,0.00,0.000,6,0.000,0.046,2974,1780,1813,0,0,0,0,0,0
$GC,12018,0.66,261.0,503.0,14.0,961,12022,0.00,1.10,0.00,0.000,4,0.000,0.050,2979,1077,1813,0,0,0,0,0,0
$GC,12053,0.66,261.0,498.1,14.1,964,12056,0.00,1.08,0.00,0.000,6,0.000,0.044,2975,1772,1812,0,0,0,0,0,0
$GC,12383,0.66,261.0,453.5,13.2,995,12387,0.00,1.08,0.00,0.000,4,0.000,0.053,2971,2471,1812,0,0,0,0,0,0
$GC,12407,0.66,261.0,450.6,13.0,997,12411,0.00,1.08,0.00,0.000,6,0.000,0.044,2974,1774,1812,0,0,0,0,0,0
$GC,12741,0.68,268.6,409.4,12.3,1028,12754,0.00,0.00,7.12,0.871,6,0.000,0.000,2974,1774,1789,0,0,0,0,0,0
$GC,13072,0.71,272.9,366.3,12.5,1059,13084,0.00,1.05,6.05,0.795,4,0.000,0.046,2979,1074,1770,0,0,0,0,0,0
$GC,13145,0.74,272.9,357.1,13.1,1065,13149,0.00,1.08,0.00,0.000,6,0.000,0.043,2976,1776,1769,0,0,0,0,0,0
$GC,13477,0.82,312.2,318.4,10.7,1096,13517,0.15,0.00,36.38,0.967,6,0.083,0.000,3052,1777,1611,0,0,0,0,0,0
$GC,13835,0.75,312.2,254.6,19.5,1130,13840,0.17,1.10,0.00,0.000,4,0.168,0.047,3009,1079,1607,0,0,0,0,0,0
$GC,13939,0.75,312.2,240.3,13.6,1146,13947,0.00,1.08,0.00,0.000,6,0.000,0.042,3006,1779,1606,0,0,0,0,0,0
$GC,14270,0.78,312.2,198.1,12.8,1207,14278,0.00,1.10,0.00,0.000,4,0.000,0.047,3009,1072,1605,0,0,0,0,0,0
$GC,14382,0.81,312.2,183.2,12.9,1227,14390,0.00,1.10,0.00,0.000,6,0.000,0.042,3006,1785,1605,0,0,0,0,0,0
$GC,14708,0.85,317.2,144.0,12.4,1288,14718,0.00,1.15,5.18,0.598,4,0.000,0.047,3010,1065,1591,0,0,0,0,0,0
$GC,14819,0.92,334.9,130.8,11.8,1307,14843,0.12,1.10,17.33,0.759,6,0.052,0.041,3083,1790,1518,0,0,0,0,0,0
$GC,15164,0.90,334.9,75.0,14.3,1370,15173,0.12,1.12,0.00,0.000,4,0.171,0.044,3055,1071,1516,0,0,0,0,0,0
$GC,15254,0.96,363.9,64.1,11.2,1386,15285,0.00,1.08,25.92,0.718,6,0.000,0.037,3052,1786,1400,0,0,0,0,0,0
$GC,15610,1.16,446.0,28.9,8.6,1450,15687,0.22,1.10,69.20,0.692,4,0.060,0.042,3166,1067,1064,0,0,0,0,0,0
$STATE,15768,end climb,SURFACE_DEPTH_REACHED
$STATE,15768,begin surface coast
$FINISH,1.3,1.009597
$STATE,15785,end surface coast,CONTROL_FINISHED_OK
$STATE,15785,begin surface
$SM_CCo,15806,4.28,0.070,0,0,1049,450.13
$SM_GC,3.29,0.00,0.00,4.28,0.000,0.000,0.070,148,1608,1049,-8.15,-0.06,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2349.77,12158.07,071111,030358
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.21
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,22.80
$XPDR_PINGS,134
$24V_AH,21.7,125.221
$10V_AH,9.8,84.039
$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,20.525,65.925,566.375,4.275,0.000,26.281,39.437,185.076,33.500,0.000,13.570,3671.108,7901.795,611.402,3517.753,506.275,0.000,1974.104,0.000,3283.009,0.000,0.540,0.000
$DEVICE_MAMPS,221.850,71.145,1461.150,69.615,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1015.106,1512.606,1753.822,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324392
$DATA_FILE_SIZE,83545,1478
$CAP_FILE_SIZE,168951,0
$CFSIZE,260165632,102416384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107, 31.0,1
$GPS,071111,120837,2356.217,12154.334,42,1.2,42,-3.3