version: 66.09
glider: 166
mission: 6
dive: 509
start: 11 7 111 21 21 20
data:
$ID,166
$MISSION,6
$DIVE,509
$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,-25116.238
$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,66
$R_STBD_OVSHOOT,50
$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
$GPS1,071111,211337,2357.148,12150.509,39,1.1,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-70.8
$GPS2,071111,212056,2357.300,12150.593,13,1.4,13,-3.2
$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,247.3,14563,-20.5,-12.692
$D_GRID,3122
$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,-170.3,0.0,0.0,0,106,0.00,0.00,-87.25,0.000,2,0.000,0.000,125,1582,3168,0,0,0,0,0,0
$GC,109,-0.67,-170.3,6.4,-10.4,12,134,9.52,1.17,-7.93,0.000,4,0.220,0.072,2537,2311,3582,0,0,0,0,0,0
$GC,265,-0.61,-170.3,49.5,-20.1,39,273,0.00,1.05,0.00,0.000,6,0.000,0.037,2539,1622,3585,0,0,0,0,0,0
$GC,591,-0.58,-170.3,105.4,-14.0,100,600,0.12,1.10,0.00,0.000,4,0.168,0.041,2566,911,3586,0,0,0,0,0,0
$GC,699,-0.63,-170.3,117.6,-10.1,118,708,0.00,1.05,0.00,0.000,6,0.000,0.037,2564,1608,3587,0,0,0,0,0,0
$GC,1031,-0.68,-170.3,151.9,-10.8,179,1039,0.00,1.05,0.00,0.000,4,0.000,0.044,2565,2305,3588,0,0,0,0,0,0
$GC,1092,-0.74,-170.3,158.0,-10.3,189,1100,0.10,1.05,0.00,0.000,6,0.046,0.041,2489,1618,3587,0,0,0,0,0,0
$GC,1424,-0.67,-170.3,213.2,-16.7,250,1434,0.17,1.10,0.00,0.000,4,0.159,0.045,2534,2305,3588,0,0,0,0,0,0
$GC,1459,-0.67,-170.3,218.4,-14.3,255,1467,0.00,1.08,0.00,0.000,6,0.000,0.042,2538,1609,3587,0,0,0,0,0,0
$GC,1794,-0.70,-170.3,259.3,-11.9,310,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1609,3588,0,0,0,0,0,0
$GC,2118,-0.73,-170.3,295.3,-10.4,340,2122,0.00,1.08,0.00,0.000,4,0.000,0.047,2536,2296,3587,0,0,0,0,0,0
$GC,2187,-0.77,-170.3,302.3,-9.2,346,2191,0.00,1.05,0.00,0.000,6,0.000,0.041,2539,1609,3587,0,0,0,0,0,0
$GC,2521,-0.81,-170.3,335.4,-10.2,377,2525,0.12,1.08,0.00,0.000,4,0.084,0.048,2471,918,3586,0,0,0,0,0,0
$GC,2592,-0.75,-170.3,345.5,-14.5,383,2600,0.15,1.05,0.00,0.000,6,0.147,0.041,2514,1604,3586,0,0,0,0,0,0
$GC,2917,-0.75,-170.3,385.9,-12.8,414,2921,0.00,1.08,0.00,0.000,4,0.000,0.049,2502,2307,3585,0,0,0,0,0,0
$GC,2977,-0.77,-170.3,392.8,-11.9,419,2981,0.00,1.08,0.00,0.000,6,0.000,0.044,2499,1614,3584,0,0,0,0,0,0
$GC,3308,-0.77,-170.3,432.9,-12.1,450,3312,0.00,1.10,0.00,0.000,4,0.000,0.048,2498,902,3582,0,0,0,0,0,0
$GC,3411,-0.77,-170.3,445.4,-12.4,459,3414,0.00,1.10,0.00,0.000,6,0.000,0.042,2491,1606,3582,0,0,0,0,0,0
$GC,3742,-0.77,-170.3,484.8,-11.6,490,3745,0.00,1.08,0.00,0.000,4,0.000,0.050,2485,2305,3579,0,0,0,0,0,0
$GC,3826,-0.79,-170.3,494.9,-11.6,497,3832,0.00,1.08,0.00,0.000,6,0.000,0.045,2488,1611,3579,0,0,0,0,0,0
$GC,4151,-0.79,-170.3,535.3,-12.3,528,4155,0.00,1.08,0.00,0.000,4,0.000,0.050,2491,916,3577,0,0,0,0,0,0
$GC,4190,-0.79,-170.3,540.3,-12.6,531,4197,0.00,1.08,0.00,0.000,6,0.000,0.044,2487,1606,3577,0,0,0,0,0,0
$GC,4518,-0.79,-170.3,579.5,-11.3,562,4521,0.00,1.08,0.00,0.000,4,0.000,0.052,2489,2306,3576,0,0,0,0,0,0
$GC,4601,-0.81,-170.3,588.8,-10.6,569,4608,0.00,1.10,0.00,0.000,6,0.000,0.047,2493,1604,3575,0,0,0,0,0,0
$GC,4920,-0.81,-170.3,623.8,-11.4,590,4924,0.00,1.12,0.00,0.000,4,0.000,0.054,2488,2307,3572,0,0,0,0,0,0
$GC,4982,-0.81,-170.3,630.8,-10.8,592,4989,0.00,1.10,0.00,0.000,6,0.000,0.047,2488,1608,3572,0,0,0,0,0,0
$GC,5298,-0.81,-170.3,667.2,-11.8,608,5302,0.00,1.10,0.00,0.000,4,0.000,0.055,2483,2297,3570,0,0,0,0,0,0
$GC,5339,-0.81,-170.3,671.8,-11.6,609,5346,0.00,1.08,0.00,0.000,6,0.000,0.046,2483,1608,3570,0,0,0,0,0,0
$GC,5655,-0.81,-170.3,710.0,-12.1,625,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1608,3568,0,0,0,0,0,0
$GC,5965,-0.81,-170.3,748.0,-12.3,640,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1608,3566,0,0,0,0,0,0
$GC,6277,-0.81,-170.3,786.1,-12.0,655,6281,0.00,1.10,0.00,0.000,4,0.000,0.054,2483,907,3564,0,0,0,0,0,0
$GC,6413,-0.81,-170.3,802.6,-11.3,661,6416,0.00,1.12,0.00,0.000,6,0.000,0.048,2477,1610,3563,0,0,0,0,0,0
$GC,6748,-0.81,-170.3,839.0,-10.7,677,6752,0.00,1.15,0.00,0.000,4,0.000,0.052,2477,905,3561,0,0,0,0,0,0
$GC,6781,-0.81,-170.3,843.0,-10.6,678,6785,0.00,1.12,0.00,0.000,6,0.000,0.048,2472,1607,3561,0,0,0,0,0,0
$GC,7105,-0.81,-170.3,878.1,-11.1,694,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1607,3559,0,0,0,0,0,0
$GC,7412,-0.81,-170.3,913.4,-10.9,709,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1607,3557,0,0,0,0,0,0
$GC,7722,-0.81,-170.3,948.6,-12.1,724,7725,0.00,1.12,0.00,0.000,4,0.000,0.054,2472,916,3556,0,0,0,0,0,0
$GC,7830,-0.81,-170.3,962.5,-13.2,728,7837,0.08,1.12,0.00,0.000,6,0.160,0.050,2490,1614,3556,0,0,0,0,0,0
$STATE,8081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8082,begin apogee
$GC,8088,-0.11,0.0,991.6,11.4,741,8241,0.75,0.00,147.48,1.454,6,0.128,0.000,2721,1782,2883,0,0,0,0,0,0
$STATE,8242,end apogee,CONTROL_FINISHED_OK
$STATE,8242,begin climb
$GC,8244,0.67,170.3,998.3,0.0,748,8420,0.73,1.27,167.65,1.392,4,0.060,0.058,2974,2475,2189,0,0,0,0,0,0
$GC,8482,0.62,170.3,977.4,13.6,759,8486,0.00,1.20,0.00,0.000,6,0.000,0.048,2978,1790,2184,0,0,0,0,0,0
$GC,8812,0.57,170.3,932.3,13.9,775,8817,0.12,1.12,0.00,0.000,4,0.185,0.053,2952,1068,2179,0,0,0,0,0,0
$GC,8898,0.57,183.7,921.3,12.0,778,8914,0.00,1.12,12.07,1.232,6,0.000,0.050,2949,1772,2135,0,0,0,0,0,0
$GC,9234,0.58,188.8,881.0,12.4,795,9244,0.00,1.08,6.18,1.041,4,0.000,0.057,2949,2488,2113,0,0,0,0,0,0
$GC,9322,0.58,188.8,868.5,13.5,799,9326,0.00,1.12,0.00,0.000,6,0.000,0.049,2952,1771,2112,0,0,0,0,0,0
$GC,9649,0.58,188.8,825.7,13.0,815,9653,0.00,1.08,0.00,0.000,4,0.000,0.053,2957,1077,2111,0,0,0,0,0,0
$GC,9686,0.58,188.8,821.3,12.7,816,9689,0.00,1.12,0.00,0.000,6,0.000,0.047,2954,1787,2110,0,0,0,0,0,0
$GC,10007,0.59,196.0,781.6,12.3,832,10021,0.00,1.17,7.85,1.107,4,0.000,0.052,2957,1064,2084,0,0,0,0,0,0
$GC,10057,0.59,197.0,775.3,12.6,834,10060,0.00,1.12,0.00,0.000,6,0.000,0.047,2955,1778,2083,0,0,0,0,0,0
$GC,10384,0.62,220.3,736.0,11.5,850,10410,0.00,0.00,23.52,1.259,6,0.000,0.000,2955,1778,1984,0,0,0,0,0,0
$GC,10714,0.65,243.4,698.5,11.5,866,10739,0.00,1.10,21.67,1.222,4,0.000,0.054,2955,2490,1891,0,0,0,0,0,0
$GC,10781,0.67,250.9,690.6,12.3,869,10798,0.00,1.12,8.40,1.056,6,0.000,0.047,2958,1773,1860,0,0,0,0,0,0
$GC,11112,0.70,253.1,649.5,12.6,885,11113,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1773,1856,0,0,0,0,0,0
$GC,11416,0.72,253.1,608.3,13.4,900,11417,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1773,1855,0,0,0,0,0,0
$GC,11734,0.74,253.1,566.3,13.1,926,11736,0.12,0.00,0.00,0.000,6,0.093,0.000,3029,1773,1854,0,0,0,0,0,0
$GC,12051,0.67,253.1,511.1,17.2,956,12055,0.20,1.10,0.00,0.000,4,0.170,0.047,2981,1081,1854,0,0,0,0,0,0
$GC,12107,0.67,253.1,503.0,13.4,961,12111,0.00,1.10,0.00,0.000,6,0.000,0.045,2978,1778,1853,0,0,0,0,0,0
$GC,12438,0.67,253.1,459.2,13.0,992,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1778,1853,0,0,0,0,0,0
$GC,12761,0.67,253.1,417.6,12.9,1022,12764,0.00,1.10,0.00,0.000,4,0.000,0.049,2981,1081,1853,0,0,0,0,0,0
$GC,12855,0.67,253.1,404.4,13.1,1030,12862,0.00,1.10,0.00,0.000,6,0.000,0.044,2978,1784,1853,0,0,0,0,0,0
$GC,13182,0.71,275.9,364.0,11.6,1061,13209,0.00,1.12,22.73,0.993,4,0.000,0.053,2974,2488,1759,0,0,0,0,0,0
$GC,13236,0.76,288.6,357.1,12.1,1065,13255,0.00,1.10,13.40,0.929,6,0.000,0.044,2977,1785,1707,0,0,0,0,0,0
$GC,13573,0.84,319.2,316.3,11.2,1097,13608,0.15,1.15,28.25,0.955,4,0.080,0.048,3065,1063,1582,0,0,0,0,0,0
$GC,13748,0.77,319.2,285.2,19.5,1112,13753,0.15,1.10,0.00,0.000,6,0.151,0.042,3015,1783,1578,0,0,0,0,0,0
$GC,14073,0.77,319.2,235.7,15.7,1151,14081,0.00,1.10,0.00,0.000,4,0.000,0.047,3018,1074,1578,0,0,0,0,0,0
$GC,14118,0.77,319.2,229.2,15.1,1158,14126,0.00,1.08,0.00,0.000,6,0.000,0.041,3015,1776,1577,0,0,0,0,0,0
$GC,14453,0.80,330.7,185.3,12.1,1219,14469,0.00,0.00,11.07,0.780,6,0.000,0.000,3015,1776,1535,0,0,0,0,0,0
$GC,14789,0.83,334.3,141.5,12.5,1281,14798,0.00,1.12,4.72,0.568,4,0.000,0.047,3018,1073,1521,0,0,0,0,0,0
$GC,14901,0.87,334.3,126.8,13.2,1301,14909,0.00,1.08,0.00,0.000,6,0.000,0.041,3015,1778,1520,0,0,0,0,0,0
$GC,15232,1.03,402.7,88.5,9.3,1362,15299,0.20,1.10,59.95,0.762,4,0.067,0.041,3116,1062,1241,0,0,0,0,0,0
$GC,15427,0.99,402.7,54.7,17.7,1394,15436,0.10,1.10,0.00,0.000,6,0.147,0.039,3083,1789,1238,0,0,0,0,0,0
$GC,15760,1.08,424.2,13.3,11.6,1455,15784,0.00,1.15,18.58,0.653,4,0.000,0.046,3088,1068,1153,0,0,0,0,0,0
$GC,15837,1.19,454.8,5.0,11.2,1467,15856,0.12,1.08,13.85,0.622,2,0.047,0.037,3164,1782,1091,0,0,0,0,0,0
$STATE,15856,end climb,SURFACE_DEPTH_REACHED
$STATE,15857,begin surface coast
$FINISH,1.4,1.021726
$STATE,15879,end surface coast,CONTROL_FINISHED_OK
$STATE,15879,begin surface
$SM_CCo,15897,18.12,0.127,1,0,1048,450.13
$SM_GC,2.41,0.00,0.00,18.12,0.000,0.000,0.127,141,1580,1048,-8.18,-0.85,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2349.77,12150.82,071111,161625
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.68
$INTERNAL_PRESSURE,9.34088
$TCM_TEMP,22.50
$XPDR_PINGS,121
$24V_AH,21.7,125.845
$10V_AH,9.8,84.543
$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,20.925,66.725,567.375,18.125,0.000,27.524,39.378,183.785,30.250,0.000,14.872,3691.521,7946.754,620.174,3571.143,514.671,0.000,2005.538,0.000,3318.709,0.000,0.539,0.000
$DEVICE_MAMPS,220.320,71.910,1453.500,126.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.269,1508.562,1719.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324404
$DATA_FILE_SIZE,83476,1473
$CAP_FILE_SIZE,172703,0
$CFSIZE,260165632,102137856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.091, 29.2,1
$GPS,081111,014806,2357.013,12148.669,41,1.1,41,-3.2