version: 66.09
glider: 166
mission: 6
dive: 507
start: 11 7 111 12 16 10
data:
$ID,166
$MISSION,6
$DIVE,507
$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,-25110.107
$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,42
$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
$GPS1,071111,120837,2356.217,12154.334,42,1.2,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-69.6
$GPS2,071111,121543,2356.352,12154.366,9,1.5,15,-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,257.8,20956,-20.5,-12.692
$D_GRID,2811
$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,-170.3,0.0,0.0,0,100,0.00,0.00,-81.18,0.000,2,0.000,0.000,142,1610,2978,0,0,0,0,0,0
$GC,103,-0.67,-170.3,5.4,-7.6,11,135,9.32,1.08,-12.27,0.000,4,0.214,0.073,2526,2310,3581,0,0,0,0,0,0
$GC,253,-0.55,-170.3,48.8,-24.3,36,261,0.15,1.08,0.00,0.000,6,0.145,0.039,2574,1598,3582,0,0,0,0,0,0
$GC,581,-0.59,-170.3,96.5,-12.1,97,589,0.00,1.02,0.00,0.000,4,0.000,0.044,2574,914,3584,0,0,0,0,0,0
$GC,616,-0.65,-170.3,100.4,-10.5,102,625,0.00,1.05,0.00,0.000,6,0.000,0.037,2571,1612,3584,0,0,0,0,0,0
$GC,945,-0.72,-170.3,134.2,-10.6,163,953,0.12,0.00,0.00,0.000,6,0.085,0.000,2496,1612,3585,0,0,0,0,0,0
$GC,1273,-0.68,-170.3,185.0,-15.2,224,1282,0.15,1.10,0.00,0.000,4,0.157,0.047,2538,920,3586,0,0,0,0,0,0
$GC,1311,-0.71,-170.3,190.2,-14.0,230,1320,0.00,1.05,0.00,0.000,6,0.000,0.038,2538,1611,3586,0,0,0,0,0,0
$GC,1643,-0.75,-170.3,226.6,-10.1,291,1651,0.00,1.08,0.00,0.000,4,0.000,0.044,2541,917,3586,0,0,0,0,0,0
$GC,1702,-0.79,-170.3,232.8,-10.7,300,1711,0.08,1.05,0.00,0.000,6,0.050,0.039,2482,1609,3586,0,0,0,0,0,0
$GC,2031,-0.75,-170.3,281.5,-14.2,342,2040,0.12,0.00,0.00,0.000,6,0.168,0.000,2516,1609,3586,0,0,0,0,0,0
$GC,2356,-0.75,-170.3,322.8,-12.8,373,2360,0.00,1.10,0.00,0.000,4,0.000,0.046,2518,914,3586,0,0,0,0,0,0
$GC,2438,-0.77,-170.3,333.1,-13.3,380,2442,0.00,1.08,0.00,0.000,6,0.000,0.041,2516,1610,3585,0,0,0,0,0,0
$GC,2770,-0.79,-170.3,375.1,-12.1,411,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1610,3584,0,0,0,0,0,0
$GC,3093,-0.82,-170.3,411.2,-10.6,441,3096,0.00,1.10,0.00,0.000,4,0.000,0.048,2509,2313,3583,0,0,0,0,0,0
$GC,3117,-0.85,-170.3,414.4,-10.9,443,3121,0.00,1.08,0.00,0.000,6,0.000,0.042,2509,1618,3583,0,0,0,0,0,0
$GC,3449,-0.87,-170.3,450.9,-10.3,474,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1618,3581,0,0,0,0,0,0
$GC,3769,-0.89,-170.3,481.8,-9.9,504,3773,0.00,1.10,0.00,0.000,4,0.000,0.050,2488,2308,3579,0,0,0,0,0,0
$GC,3862,-0.93,-170.3,490.1,-8.5,512,3867,0.08,1.08,0.00,0.000,6,0.053,0.044,2436,1611,3578,0,0,0,0,0,0
$GC,4193,-0.87,-170.3,537.0,-14.7,543,4198,0.12,1.12,0.00,0.000,4,0.176,0.050,2478,909,3576,0,0,0,0,0,0
$GC,4287,-0.87,-170.3,548.9,-12.3,551,4291,0.00,1.10,0.00,0.000,6,0.000,0.045,2477,1612,3575,0,0,0,0,0,0
$GC,4620,-0.87,-170.3,588.1,-11.4,582,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1612,3574,0,0,0,0,0,0
$GC,4950,-0.87,-170.3,625.5,-11.7,603,4954,0.00,1.08,0.00,0.000,4,0.000,0.054,2476,2302,3571,0,0,0,0,0,0
$GC,4983,-0.87,-170.3,629.6,-11.4,604,4987,0.00,1.08,0.00,0.000,6,0.000,0.047,2476,1618,3571,0,0,0,0,0,0
$GC,5308,-0.87,-170.3,666.5,-11.6,620,5311,0.00,1.10,0.00,0.000,4,0.000,0.052,2476,909,3569,0,0,0,0,0,0
$GC,5413,-0.87,-170.3,680.5,-12.9,624,5420,0.00,1.10,0.00,0.000,6,0.000,0.047,2471,1610,3567,0,0,0,0,0,0
$GC,5732,-0.87,-170.3,720.5,-13.1,640,5735,0.00,1.12,0.00,0.000,4,0.000,0.052,2471,914,3565,0,0,0,0,0,0
$GC,5823,-0.85,-170.3,733.5,-13.7,644,5827,0.00,1.10,0.00,0.000,6,0.000,0.047,2466,1611,3565,0,0,0,0,0,0
$GC,6156,-0.85,-170.3,777.0,-12.4,660,6160,0.00,1.10,0.00,0.000,4,0.000,0.056,2461,2311,3564,0,0,0,0,0,0
$GC,6208,-0.85,-170.3,783.2,-11.8,662,6212,0.00,1.10,0.00,0.000,6,0.000,0.047,2461,1609,3563,0,0,0,0,0,0
$GC,6536,-0.84,-170.3,821.8,-11.2,678,6540,0.10,1.12,0.00,0.000,4,0.181,0.054,2490,908,3561,0,0,0,0,0,0
$GC,6622,-0.85,-170.3,830.4,-9.7,681,6629,0.00,1.10,0.00,0.000,6,0.000,0.049,2487,1602,3560,0,0,0,0,0,0
$GC,6939,-0.88,-170.3,861.9,-10.0,697,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1602,3559,0,0,0,0,0,0
$GC,7251,-0.90,-170.3,892.4,-9.5,712,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1602,3557,0,0,0,0,0,0
$GC,7558,-0.93,-170.3,922.3,-9.7,727,7562,0.00,1.12,0.00,0.000,4,0.000,0.059,2482,2308,3556,0,0,0,0,0,0
$GC,7596,-0.95,-170.3,926.1,-9.2,728,7603,0.00,1.12,0.00,0.000,6,0.000,0.050,2482,1606,3556,0,0,0,0,0,0
$GC,7915,-0.98,-170.3,957.6,-10.1,744,7920,0.10,1.12,0.00,0.000,4,0.101,0.057,2433,907,3554,0,0,0,0,0,0
$GC,7971,-0.92,-170.3,965.0,-13.4,746,7975,0.10,1.12,0.00,0.000,6,0.168,0.051,2456,1605,3553,0,0,0,0,0,0
$STATE,8207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8207,begin apogee
$GC,8216,-0.11,0.0,992.2,11.3,758,8367,0.85,0.00,146.48,1.460,6,0.135,0.000,2713,1792,2884,0,0,0,0,0,0
$STATE,8368,end apogee,CONTROL_FINISHED_OK
$STATE,8368,begin climb
$GC,8372,0.67,170.3,996.1,0.0,765,8547,0.75,1.25,167.12,1.396,4,0.060,0.059,2973,2475,2189,0,0,0,0,0,0
$GC,8664,0.62,170.3,962.7,14.1,778,8668,0.00,1.17,0.00,0.000,6,0.000,0.050,2978,1783,2183,0,0,0,0,0,0
$GC,8992,0.57,170.3,917.5,13.3,794,8994,0.12,0.00,0.00,0.000,6,0.185,0.000,2948,1783,2179,0,0,0,0,0,0
$GC,9303,0.60,195.7,881.9,11.4,809,9330,0.00,1.15,22.83,1.320,4,0.000,0.058,2944,2477,2085,0,0,0,0,0,0
$GC,9433,0.62,212.1,866.5,11.9,815,9456,0.00,1.10,16.12,1.269,6,0.000,0.050,2947,1777,2019,0,0,0,0,0,0
$GC,9769,0.63,220.3,826.5,12.3,831,9783,0.00,1.12,8.45,1.134,4,0.000,0.054,2952,1070,1985,0,0,0,0,0,0
$GC,9836,0.63,224.2,817.6,12.5,834,9845,0.00,1.12,5.38,0.962,6,0.000,0.050,2949,1782,1968,0,0,0,0,0,0
$GC,10172,0.65,224.2,772.9,13.9,850,10173,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1782,1965,0,0,0,0,0,0
$GC,10477,0.66,224.2,728.3,14.1,865,10481,0.00,1.08,0.00,0.000,4,0.000,0.057,2944,2476,1964,0,0,0,0,0,0
$GC,10549,0.69,224.2,718.1,13.5,868,10554,0.08,1.10,0.00,0.000,6,0.056,0.047,2997,1773,1963,0,0,0,0,0,0
$GC,10879,0.64,224.2,664.5,16.5,884,10883,0.00,1.08,0.00,0.000,4,0.000,0.051,3003,1077,1964,0,0,0,0,0,0
$GC,10917,0.59,224.2,657.5,16.8,885,10925,0.15,1.10,0.00,0.000,6,0.163,0.046,2956,1781,1963,0,0,0,0,0,0
$GC,11236,0.60,224.2,615.7,13.0,901,11239,0.00,1.10,0.00,0.000,4,0.000,0.050,2959,1080,1962,0,0,0,0,0,0
$GC,11263,0.60,224.2,611.7,12.9,902,11267,0.00,1.10,0.00,0.000,6,0.000,0.044,2956,1779,1962,0,0,0,0,0,0
$GC,11590,0.64,237.8,571.9,12.0,928,11606,0.00,1.12,12.62,1.097,4,0.000,0.056,2952,2484,1914,0,0,0,0,0,0
$GC,11645,0.67,245.6,564.6,12.3,932,11663,0.00,1.10,8.88,1.017,6,0.000,0.045,2955,1779,1882,0,0,0,0,0,0
$GC,11982,0.72,260.5,524.3,11.9,964,12002,0.10,0.00,14.68,1.077,6,0.108,0.000,3010,1779,1822,0,0,0,0,0,0
$GC,12321,0.67,260.5,468.4,17.1,996,12322,0.12,0.00,0.00,0.000,6,0.175,0.000,2980,1779,1819,0,0,0,0,0,0
$GC,12637,0.67,260.5,425.0,13.2,1026,12638,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1779,1818,0,0,0,0,0,0
$GC,12960,0.68,263.6,384.7,12.5,1056,12972,0.00,1.12,3.85,0.633,4,0.000,0.049,2983,1066,1809,0,0,0,0,0,0
$GC,13011,0.68,263.6,377.1,13.2,1060,13018,0.00,1.10,0.00,0.000,6,0.000,0.044,2980,1777,1808,0,0,0,0,0,0
$GC,13337,0.73,288.0,338.4,11.5,1091,13368,0.00,1.05,24.27,0.975,4,0.000,0.050,2976,2482,1708,0,0,0,0,0,0
$GC,13393,0.79,316.3,332.0,11.3,1096,13428,0.08,1.10,26.70,0.961,6,0.057,0.044,3028,1771,1593,0,0,0,0,0,0
$GC,13746,0.77,316.3,275.5,17.6,1129,13750,0.00,1.05,0.00,0.000,4,0.000,0.048,3033,1077,1589,0,0,0,0,0,0
$GC,13886,0.74,316.3,251.7,16.9,1141,13894,0.08,1.08,0.00,0.000,6,0.154,0.043,3006,1779,1588,0,0,0,0,0,0
$GC,14214,0.77,316.3,206.1,13.5,1201,14222,0.00,1.10,0.00,0.000,4,0.000,0.048,3010,1083,1587,0,0,0,0,0,0
$GC,14288,0.80,318.0,196.2,12.6,1214,14296,0.00,1.08,0.00,0.000,6,0.000,0.043,3006,1783,1587,0,0,0,0,0,0
$GC,14618,0.87,344.2,157.0,11.4,1275,14650,0.10,1.08,24.75,0.806,4,0.108,0.043,3066,1067,1478,0,0,0,0,0,0
$GC,14688,0.84,344.2,146.6,16.2,1285,14696,0.10,1.10,0.00,0.000,6,0.149,0.041,3031,1791,1477,0,0,0,0,0,0
$GC,15018,0.88,344.2,103.5,12.8,1346,15027,0.00,1.10,0.00,0.000,4,0.000,0.046,3034,1074,1477,0,0,0,0,0,0
$GC,15142,0.93,353.7,87.6,12.2,1368,15158,0.00,1.08,9.25,0.662,6,0.000,0.039,3031,1784,1442,0,0,0,0,0,0
$GC,15482,1.14,435.3,53.6,8.6,1430,15558,0.25,1.15,69.65,0.717,4,0.058,0.044,3164,1065,1108,0,0,0,0,0,0
$GC,15640,1.09,435.3,25.1,19.0,1454,15649,0.15,1.08,0.00,0.000,6,0.148,0.038,3113,1785,1106,0,0,0,0,0,0
$STATE,15798,end climb,SURFACE_DEPTH_REACHED
$STATE,15798,begin surface coast
$FINISH,1.3,1.014832
$STATE,15820,end surface coast,CONTROL_FINISHED_OK
$STATE,15820,begin surface
$SM_CCo,15838,20.80,0.204,1,0,1048,450.13
$SM_GC,2.22,0.00,0.00,20.80,0.000,0.000,0.204,131,1598,1048,-8.22,-0.34,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2349.77,12158.07,071111,070754
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.21
$INTERNAL_PRESSURE,9.33111
$TCM_TEMP,22.80
$XPDR_PINGS,115
$24V_AH,21.7,125.429
$10V_AH,9.8,84.209
$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,21.050,64.250,561.025,20.800,0.000,30.011,44.748,178.414,28.750,0.000,15.935,3711.706,7813.140,640.782,3611.122,500.618,0.000,2032.028,0.000,3356.271,0.000,0.539,0.000
$DEVICE_MAMPS,214.200,72.675,1460.385,204.255,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1020.203,1520.938,1771.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324432
$DATA_FILE_SIZE,83378,1486
$CAP_FILE_SIZE,174752,0
$CFSIZE,260165632,102322176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.131, 20.0,1
$GPS,071111,164155,2356.766,12152.249,39,1.3,39,-3.2