version: 66.09
glider: 166
mission: 6
dive: 513
start: 11 8 111 17 15 50
data:
$ID,166
$MISSION,6
$DIVE,513
$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,300
$T_MISSION,340
$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,150
$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,-25121.268
$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,47
$R_STBD_OVSHOOT,48
$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
$GPS1,081111,170736,2356.831,12142.584,37,1.1,37,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-74.1
$GPS2,081111,171526,2357.032,12142.625,13,1.4,13,-3.2
$SPEED_LIMITS,0.191,0.268
$TGT_NAME,HUALIEN
$TGT_LATLONG,2356.900,12142.000
$TGT_RADIUS,1500.000
$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,248.6,1086,-27.9,-11.000
$D_GRID,886
$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,-0.71,-72.7,0.0,0.0,0,102,0.00,0.00,-82.47,0.000,2,0.000,0.000,151,1589,2988,0,0,0,0,0,0
$GC,105,-0.77,-120.8,5.4,-6.1,11,130,9.30,1.15,-8.20,0.000,4,0.218,0.069,2498,2308,3378,0,0,0,0,0,0
$GC,192,-0.72,-120.8,33.9,-28.7,25,201,0.08,1.08,0.00,0.000,6,0.172,0.039,2518,1601,3381,0,0,0,0,0,0
$GC,519,-0.78,-120.8,83.6,-12.0,86,527,0.00,1.02,0.00,0.000,4,0.000,0.040,2530,915,3383,0,0,0,0,0,0
$GC,575,-0.84,-120.8,90.8,-12.1,95,583,0.08,1.05,0.00,0.000,6,0.060,0.034,2479,1628,3383,0,0,0,0,0,0
$GC,905,-0.84,-120.8,141.5,-16.0,156,913,0.00,1.10,0.00,0.000,4,0.000,0.039,2479,906,3385,0,0,0,0,0,0
$GC,1076,-0.84,-120.8,167.4,-14.8,186,1084,0.00,1.02,0.00,0.000,6,0.000,0.034,2474,1593,3384,0,0,0,0,0,0
$GC,1404,-0.86,-120.8,217.3,-15.1,247,1413,0.00,1.05,0.00,0.000,4,0.000,0.041,2463,2302,3385,0,0,0,0,0,0
$GC,1478,-0.89,-120.8,227.5,-13.0,260,1486,0.00,1.05,0.00,0.000,6,0.000,0.037,2469,1603,3385,0,0,0,0,0,0
$GC,1814,-0.91,-120.8,276.4,-14.8,306,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1603,3385,0,0,0,0,0,0
$GC,2133,-0.95,-120.8,323.0,-14.2,336,2137,0.00,1.05,0.00,0.000,4,0.000,0.041,2462,910,3384,0,0,0,0,0,0
$GC,2343,-0.98,-120.8,353.2,-14.2,354,2349,0.00,1.05,0.00,0.000,6,0.000,0.037,2452,1608,3384,0,0,0,0,0,0
$GC,2668,-1.02,-120.8,395.7,-12.4,385,2672,0.00,1.08,0.00,0.000,4,0.000,0.041,2450,917,3382,0,0,0,0,0,0
$GC,2736,-1.06,-120.8,404.8,-13.6,391,2740,0.00,1.05,0.00,0.000,6,0.000,0.036,2443,1608,3382,0,0,0,0,0,0
$GC,3068,-1.10,-120.8,448.9,-12.9,422,3070,0.10,0.00,0.00,0.000,6,0.103,0.000,2397,1608,3381,0,0,0,0,0,0
$GC,3385,-1.10,-120.8,499.7,-16.0,452,3389,0.00,1.08,0.00,0.000,4,0.000,0.044,2397,921,3379,0,0,0,0,0,0
$GC,3478,-1.10,-120.8,514.4,-16.2,460,3482,0.00,1.05,0.00,0.000,6,0.000,0.040,2395,1605,3378,0,0,0,0,0,0
$GC,3808,-1.10,-120.8,566.1,-15.3,491,3812,0.00,1.08,0.00,0.000,4,0.000,0.046,2397,920,3376,0,0,0,0,0,0
$GC,3893,-1.10,-120.8,579.1,-15.0,498,3900,0.00,1.08,0.00,0.000,6,0.000,0.042,2395,1608,3375,0,0,0,0,0,0
$GC,4214,-1.10,-120.8,624.0,-13.7,521,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1608,3374,0,0,0,0,0,0
$GC,4523,-1.10,-120.8,666.9,-13.9,536,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1608,3371,0,0,0,0,0,0
$GC,4834,-1.10,-120.8,709.0,-13.4,551,4838,0.00,1.10,0.00,0.000,4,0.000,0.050,2408,920,3369,0,0,0,0,0,0
$GC,4987,-1.10,-120.8,730.5,-14.1,557,4995,0.00,1.08,0.00,0.000,6,0.000,0.045,2408,1602,3368,0,0,0,0,0,0
$GC,5305,-1.10,-120.8,774.0,-13.9,573,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,1602,3366,0,0,0,0,0,0
$GC,5612,-1.10,-120.8,815.1,-13.1,588,5616,0.00,1.10,0.00,0.000,4,0.000,0.050,2408,919,3364,0,0,0,0,0,0
$GC,5730,-1.10,-120.8,831.2,-13.7,593,5734,0.00,1.10,0.00,0.000,6,0.000,0.046,2403,1608,3363,0,0,0,0,0,0
$GC,6060,-1.10,-120.8,877.1,-14.4,609,6064,0.00,1.10,0.00,0.000,4,0.000,0.050,2403,920,3362,0,0,0,0,0,0
$STATE,6112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6113,begin apogee
$GC,6120,-0.11,0.0,886.1,15.2,611,6231,1.12,0.00,102.53,1.375,6,0.158,0.000,2714,1782,2884,0,0,0,0,0,0
$STATE,6232,end apogee,CONTROL_FINISHED_OK
$STATE,6232,begin climb
$GC,6234,0.77,120.8,889.1,0.0,616,6360,0.82,1.25,114.43,1.319,4,0.064,0.058,3007,2485,2390,0,0,0,0,0,0
$GC,6421,0.77,120.8,870.3,14.5,625,6425,0.00,1.15,0.00,0.000,6,0.000,0.048,3011,1807,2386,0,0,0,0,0,0
$GC,6749,0.77,120.8,823.1,14.3,641,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1807,2381,0,0,0,0,0,0
$GC,7060,0.77,120.8,780.8,13.7,656,7064,0.00,1.15,0.00,0.000,4,0.000,0.052,3016,1066,2379,0,0,0,0,0,0
$GC,7083,0.77,120.8,777.0,13.9,657,7087,0.00,1.15,0.00,0.000,6,0.000,0.050,3013,1786,2379,0,0,0,0,0,0
$GC,7416,0.77,120.8,731.1,13.4,673,7420,0.00,1.08,0.00,0.000,4,0.000,0.057,3008,2474,2377,0,0,0,0,0,0
$GC,7451,0.77,120.8,726.5,13.1,674,7455,0.00,1.10,0.00,0.000,6,0.000,0.047,3011,1774,2377,0,0,0,0,0,0
$GC,7773,0.77,120.8,681.8,14.4,690,7777,0.00,1.10,0.00,0.000,4,0.000,0.051,3017,1069,2376,0,0,0,0,0,0
$GC,7895,0.77,120.8,663.5,14.7,695,7899,0.00,1.12,0.00,0.000,6,0.000,0.046,3013,1783,2375,0,0,0,0,0,0
$GC,8219,0.77,120.8,619.5,13.8,711,8223,0.00,1.10,0.00,0.000,4,0.000,0.054,3008,2485,2374,0,0,0,0,0,0
$GC,8288,0.79,120.8,610.2,13.5,714,8292,0.00,1.10,0.00,0.000,6,0.000,0.047,3012,1782,2374,0,0,0,0,0,0
$GC,8623,0.79,120.8,567.5,12.7,741,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1782,2374,0,0,0,0,0,0
$GC,8951,0.81,120.8,525.3,12.1,772,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1782,2373,0,0,0,0,0,0
$GC,9271,0.82,120.8,486.6,12.0,802,9275,0.00,1.10,0.00,0.000,4,0.000,0.053,3009,2475,2372,0,0,0,0,0,0
$GC,9390,0.85,120.8,471.8,11.4,812,9397,0.00,1.10,0.00,0.000,6,0.000,0.044,3012,1773,2372,0,0,0,0,0,0
$GC,9717,0.87,120.8,434.4,11.6,843,9721,0.00,1.08,0.00,0.000,4,0.000,0.048,3017,1077,2372,0,0,0,0,0,0
$GC,9917,0.89,122.1,411.5,10.9,860,9924,0.00,1.10,0.00,0.000,6,0.000,0.044,3014,1776,2371,0,0,0,0,0,0
$GC,10243,0.94,143.1,379.9,8.9,891,10263,0.15,0.00,17.40,0.995,6,0.089,0.000,3077,1777,2299,0,0,0,0,0,0
$GC,10581,0.91,143.1,336.8,13.0,923,10585,0.00,1.10,0.00,0.000,4,0.000,0.048,3083,1074,2296,0,0,0,0,0,0
$GC,10746,0.86,143.1,314.1,13.9,937,10751,0.10,1.10,0.00,0.000,6,0.188,0.044,3051,1786,2296,0,0,0,0,0,0
$GC,11077,0.86,143.1,273.3,11.9,968,11081,0.00,1.05,0.00,0.000,4,0.000,0.050,3046,2469,2296,0,0,0,0,0,0
$GC,11227,0.86,143.1,257.0,11.1,981,11230,0.00,1.08,0.00,0.000,6,0.000,0.043,3049,1770,2295,0,0,0,0,0,0
$GC,11552,0.87,148.1,222.0,10.5,1036,11561,0.00,1.12,5.25,0.662,4,0.000,0.051,3046,2475,2280,0,0,0,0,0,0
$GC,11624,0.87,148.9,214.1,10.9,1048,11632,0.00,1.08,0.00,0.000,6,0.000,0.042,3049,1774,2279,0,0,0,0,0,0
$GC,11951,0.88,153.8,179.2,10.5,1109,11968,0.00,1.10,6.90,0.698,4,0.000,0.046,3054,1069,2256,0,0,0,0,0,0
$GC,12009,0.88,153.8,172.8,11.1,1118,12018,0.00,1.08,0.00,0.000,6,0.000,0.041,3051,1776,2256,0,0,0,0,0,0
$GC,12339,0.93,175.2,140.7,8.8,1179,12363,0.00,1.10,19.58,0.785,4,0.000,0.050,3046,2476,2168,0,0,0,0,0,0
$GC,12456,0.97,177.9,128.3,10.7,1199,12465,0.00,1.05,3.78,0.481,6,0.000,0.040,3049,1780,2158,0,0,0,0,0,0
$GC,12789,1.02,177.9,91.3,11.4,1260,12798,0.12,1.08,0.00,0.000,4,0.093,0.044,3117,1077,2158,0,0,0,0,0,0
$GC,13040,1.05,196.6,67.3,9.1,1306,13063,0.00,1.08,17.83,0.712,6,0.000,0.038,3114,1788,2082,0,0,0,0,0,0
$GC,13386,1.15,257.0,43.1,4.9,1369,13447,0.00,1.10,51.15,0.714,4,0.000,0.044,3118,1084,1834,0,0,0,0,0,0
$GC,13692,1.25,276.5,16.8,9.0,1422,13716,0.10,1.05,17.30,0.644,6,0.055,0.037,3171,1788,1756,0,0,0,0,0,0
$STATE,13804,end climb,SURFACE_DEPTH_REACHED
$STATE,13804,begin surface coast
$FINISH,1.3,1.008105
$STATE,13826,end surface coast,CONTROL_FINISHED_OK
$STATE,13827,begin surface
$SM_CCo,13845,119.82,0.603,1,0,1048,450.13
$SM_GC,2.05,0.00,0.00,119.82,0.000,0.000,0.603,120,1592,1048,-8.24,-0.51,450.13,0,0,0,0,1,0
$IRIDIUM_FIX,2349.77,12144.33,081111,121221
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.57
$INTERNAL_PRESSURE,9.35065
$TCM_TEMP,23.40
$XPDR_PINGS,128
$24V_AH,22.2,126.597
$10V_AH,9.8,85.276
$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,20.025,55.000,356.125,119.825,0.000,30.265,42.704,211.510,32.000,0.000,13.937,3597.448,6124.259,556.020,3650.243,491.077,0.000,1844.093,0.000,3385.142,0.000,0.539,0.000
$DEVICE_MAMPS,218.025,68.850,1374.705,602.820,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,992.966,1479.415,1996.851,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324444
$DATA_FILE_SIZE,80142,1445
$CAP_FILE_SIZE,151869,0
$CFSIZE,260165632,101781504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120, 31.2,1
$GPS,081111,211001,2357.167,12141.769,39,1.1,39,-3.2