version: 66.09
glider: 106
mission: 9
dive: 176
start: 10 6 110 1 49 38
data:
$ID,106
$MISSION,9
$DIVE,176
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$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,220
$T_MISSION,275
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52196
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.75
$TGT_DEFAULT_LON,-118.6667
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14096.907
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3483
$C_PITCH,2565
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,21
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,152
$ROLL_MAX,4003
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,272
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,800
$VBD_MAX,3955
$C_VBD,2788
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.6861606
$PRESSURE_SLOPE,0.0001162509
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,83
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043544411
$SEABIRD_T_H,0.00064594648
$SEABIRD_T_I,2.5694355e-05
$SEABIRD_T_J,2.7212752e-06
$SEABIRD_C_G,-9.9712534
$SEABIRD_C_H,1.1236986
$SEABIRD_C_I,-0.0012384581
$SEABIRD_C_J,0.00017801338
$MI_OFFLOAD,1.0
$MI_MAXUPLOADSIZE,20480.0
$MI_MAXOPTIONALUPLOADSIZE,20480.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$GPS1,061010,013852,3246.542,-11854.848,114,4.6,133,13.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-70.0
$GPS2,061010,014900,3246.536,-11854.802,43,1.2,43,13.3
$SPEED_LIMITS,0.260,0.374
$TGT_NAME,T4
$TGT_LATLONG,3249.400,-11843.100
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.359,0.105
$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,60.5,18968,-19.7,-15.000
$D_GRID,990
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.61,-243.3,0.0,0.0,0,93,0.00,0.00,-76.25,0.000,2,0.000,0.000,170,2744,3397,0,0,0,0,0,0
$GC,95,-1.61,-243.3,3.8,-5.8,7,118,12.88,2.40,-5.78,0.000,4,0.200,0.047,2210,1387,3784,0,0,0,0,0,0
$GC,305,-1.61,-243.3,51.4,-14.1,36,317,0.00,2.05,0.00,0.000,6,0.000,0.029,2209,2549,3787,0,0,0,0,0,0
$GC,503,-1.61,-243.3,81.1,-15.9,55,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2549,3788,0,0,0,0,0,0
$GC,700,-1.61,-243.3,111.1,-15.5,74,704,0.00,2.58,0.00,0.000,4,0.000,0.054,2209,3955,3789,0,0,0,0,0,0
$GC,733,-1.61,-243.3,117.3,-16.1,76,745,0.00,2.05,0.00,0.000,6,0.000,0.028,2209,2772,3789,0,0,0,0,0,0
$GC,947,-1.61,-243.3,149.9,-15.9,87,950,0.00,2.45,0.00,0.000,4,0.000,0.041,2210,1386,3790,0,0,0,0,0,0
$GC,1028,-1.61,-243.3,162.8,-14.6,89,1032,0.00,2.05,0.00,0.000,6,0.000,0.031,2209,2544,3790,0,0,0,0,0,0
$GC,1346,-1.61,-243.3,210.4,-15.2,100,1350,0.00,2.58,0.00,0.000,4,0.000,0.057,2212,3955,3790,0,0,0,0,0,0
$GC,1383,-1.61,-243.3,216.8,-15.5,101,1387,0.00,2.05,0.00,0.000,6,0.000,0.028,2210,2778,3790,0,0,0,0,0,0
$GC,1713,-1.61,-243.3,264.5,-14.6,112,1716,0.00,2.47,0.00,0.000,4,0.000,0.041,2210,1386,3789,0,0,0,0,0,0
$GC,1843,-1.61,-243.3,281.5,-12.2,116,1846,0.00,2.05,0.00,0.000,6,0.000,0.033,2209,2549,3789,0,0,0,0,0,0
$GC,2177,-1.61,-243.3,324.6,-12.8,127,2180,0.00,2.60,0.00,0.000,4,0.000,0.065,2209,3951,3788,0,0,0,0,0,0
$GC,2214,-1.61,-243.3,330.3,-13.0,128,2218,0.00,2.05,0.00,0.000,6,0.000,0.029,2209,2786,3787,0,0,0,0,0,0
$GC,2544,-1.61,-243.3,373.0,-13.2,139,2547,0.00,2.50,0.00,0.000,4,0.000,0.047,2209,1385,3787,0,0,0,0,0,0
$GC,2642,-1.61,-243.3,386.4,-12.4,142,2646,0.00,2.08,0.00,0.000,6,0.000,0.036,2209,2539,3787,0,0,0,0,0,0
$GC,2977,-1.61,-243.3,429.8,-13.4,153,2981,0.00,2.65,0.00,0.000,4,0.000,0.072,2209,3954,3787,0,0,0,0,0,0
$GC,3014,-1.61,-243.3,435.5,-13.9,154,3018,0.00,2.05,0.00,0.000,6,0.000,0.031,2209,2799,3786,0,0,0,0,0,0
$GC,3344,-1.61,-243.3,478.3,-13.4,165,3347,0.00,2.62,0.00,0.000,4,0.000,0.064,2209,1390,3786,0,0,0,0,0,0
$GC,3480,-1.61,-243.3,496.7,-12.8,169,3485,0.00,2.10,0.00,0.000,6,0.000,0.043,2209,2541,3786,0,0,0,0,0,0
$GC,3810,-1.61,-243.3,539.4,-13.0,180,3814,0.00,2.75,0.00,0.000,4,0.000,0.091,2209,3951,3785,0,0,0,0,0,0
$GC,3842,-1.61,-243.3,544.4,-13.8,181,3846,0.00,2.12,0.00,0.000,6,0.000,0.046,2209,2797,3785,0,0,0,0,0,0
$GC,4177,-1.61,-243.3,587.0,-12.8,192,4181,0.00,2.75,0.00,0.000,4,0.000,0.094,2209,1395,3783,0,0,0,0,0,0
$GC,4286,-1.61,-243.3,600.5,-11.6,195,4290,0.00,2.25,0.00,0.000,6,0.000,0.077,2209,2540,3784,0,0,0,0,0,0
$GC,4610,-1.61,-243.3,639.1,-12.1,206,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2540,3783,0,0,0,0,0,0
$GC,4913,-1.61,-243.3,675.9,-11.8,216,4918,0.00,3.17,0.00,0.000,4,0.000,0.154,2209,3961,3781,0,0,0,0,0,0
$GC,4979,-1.61,-243.3,684.4,-12.3,218,4983,0.00,2.42,0.00,0.000,6,0.000,0.117,2209,2813,3781,0,0,0,0,0,0
$GC,5308,-1.61,-243.3,722.8,-11.8,229,5312,0.00,3.25,0.00,0.000,4,0.000,0.169,2209,1403,3780,0,0,0,0,0,0
$GC,5439,-1.61,-243.3,739.2,-11.4,233,5443,0.00,2.17,0.00,0.000,6,0.000,0.060,2209,2552,3780,0,0,0,0,0,0
$GC,5774,-1.61,-243.3,779.1,-12.0,244,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2553,3779,0,0,0,0,0,0
$GC,6077,-1.61,-243.3,814.1,-11.4,254,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2554,3779,0,0,0,0,0,0
$GC,6381,-1.61,-243.3,848.2,-11.2,264,6385,0.00,2.80,0.00,0.000,4,0.000,0.099,2209,3962,3778,0,0,0,0,0,0
$GC,6418,-1.61,-243.3,852.9,-11.0,265,6422,0.00,2.15,0.00,0.000,6,0.000,0.051,2209,2808,3778,0,0,0,0,0,0
$GC,6748,-1.61,-243.3,890.9,-11.9,276,6752,0.00,2.70,0.00,0.000,4,0.000,0.076,2209,1393,3777,0,0,0,0,0,0
$GC,6862,-1.61,-243.3,904.9,-11.9,279,6867,0.00,2.17,0.00,0.000,6,0.000,0.056,2209,2552,3777,0,0,0,0,0,0
$GC,7181,-1.61,-243.3,942.0,-11.8,290,7185,0.00,2.75,0.00,0.000,4,0.000,0.092,2209,3955,3777,0,0,0,0,0,0
$GC,7213,-1.61,-243.3,946.7,-12.3,291,7218,0.00,2.12,0.00,0.000,6,0.000,0.049,2209,2807,3777,0,0,0,0,0,0
$GC,7548,-1.61,-243.3,985.3,-11.7,302,7552,0.00,2.67,0.00,0.000,4,0.000,0.075,2209,1393,3776,0,0,0,0,0,0
$STATE,7583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7583,begin apogee
$GC,7589,-0.33,0.0,990.3,11.9,303,7803,1.38,0.00,208.68,1.289,6,0.102,0.000,2485,2503,2788,0,0,0,0,0,0
$STATE,7804,end apogee,CONTROL_FINISHED_OK
$STATE,7804,begin climb
$GC,7805,1.61,243.3,1000.8,0.0,309,8026,1.95,2.83,211.32,1.238,4,0.049,0.081,2913,3910,1796,0,0,0,0,0,0
$GC,8104,1.61,243.3,959.9,21.4,318,8108,0.00,2.17,0.00,0.000,6,0.000,0.048,2913,2757,1792,0,0,0,0,0,0
$GC,8439,1.61,243.3,893.0,20.2,329,8443,0.00,2.67,0.00,0.000,4,0.000,0.072,2913,1343,1791,0,0,0,0,0,0
$GC,8592,1.61,243.3,861.2,19.6,333,8604,0.00,2.15,0.00,0.000,6,0.000,0.048,2913,2497,1790,0,0,0,0,0,0
$GC,8905,1.61,243.3,798.7,20.2,344,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2496,1789,0,0,0,0,0,0
$GC,9209,1.61,243.3,737.6,20.0,354,9212,0.00,2.17,0.00,0.000,4,0.000,0.067,2913,1338,1788,0,0,0,0,0,0
$GC,9246,1.61,243.3,729.2,21.0,355,9250,0.00,2.17,0.00,0.000,6,0.000,0.048,2913,2508,1788,0,0,0,0,0,0
$GC,9575,1.61,243.3,665.9,19.6,366,9579,0.00,2.17,0.00,0.000,4,0.000,0.064,2913,1344,1787,0,0,0,0,0,0
$GC,9607,1.61,243.3,658.7,19.9,367,9611,0.00,2.15,0.00,0.000,6,0.000,0.047,2913,2502,1788,0,0,0,0,0,0
$GC,9942,1.61,243.3,594.3,20.0,378,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2503,1788,0,0,0,0,0,0
$GC,10245,1.61,243.3,534.3,19.5,388,10248,0.00,2.17,0.00,0.000,4,0.000,0.060,2913,1336,1786,0,0,0,0,0,0
$GC,10280,1.61,243.3,527.3,20.7,389,10283,0.00,2.12,0.00,0.000,6,0.000,0.042,2913,2511,1787,0,0,0,0,0,0
$GC,10614,1.61,243.3,460.7,20.0,400,10617,0.00,2.15,0.00,0.000,4,0.000,0.054,2913,1336,1787,0,0,0,0,0,0
$GC,10646,1.61,243.3,453.3,20.1,401,10650,0.00,2.12,0.00,0.000,6,0.000,0.040,2913,2503,1787,0,0,0,0,0,0
$GC,10980,1.61,243.3,388.3,19.5,412,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2502,1787,0,0,0,0,0,0
$GC,11284,1.61,243.3,330.5,19.0,422,11285,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2503,1787,0,0,0,0,0,0
$GC,11587,1.61,243.3,273.9,18.3,432,11588,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2503,1786,0,0,0,0,0,0
$GC,11891,1.61,243.3,218.4,18.1,442,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2503,1786,0,0,0,0,0,0
$GC,12194,1.61,243.3,163.0,18.3,452,12197,0.00,2.10,0.00,0.000,4,0.000,0.048,2913,1334,1787,0,0,0,0,0,0
$GC,12236,1.61,243.3,154.3,18.4,453,12241,0.00,2.10,0.00,0.000,6,0.000,0.032,2913,2512,1787,0,0,0,0,0,0
$GC,12554,1.61,243.3,99.4,16.9,473,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2512,1787,0,0,0,0,0,0
$GC,12739,1.61,243.3,66.9,17.3,491,12743,0.00,2.55,0.00,0.000,4,0.000,0.054,2913,3907,1787,0,0,0,0,0,0
$GC,12761,1.61,243.3,62.3,18.1,492,12772,0.00,2.05,0.00,0.000,6,0.000,0.029,2913,2748,1787,0,0,0,0,0,0
$GC,12993,1.61,245.1,27.3,14.9,522,13004,0.00,2.53,0.00,0.000,4,0.000,0.049,2913,1338,1784,0,0,0,0,0,0
$GC,13135,1.73,337.6,10.1,11.2,542,13202,0.12,2.05,61.62,0.642,2,0.072,0.031,2945,2515,1487,0,0,0,0,0,0
$STATE,13202,end climb,SURFACE_DEPTH_REACHED
$STATE,13202,begin surface coast
$FINISH,-0.0,1.012050
$STATE,13230,end surface coast,CONTROL_FINISHED_OK
$STATE,13230,begin surface
$SM_CCo,13255,1.92,0.082,0,0,1463,325.02
$SM_GC,1.55,0.00,0.00,1.92,0.000,0.000,0.082,165,2517,1463,-11.04,-0.96,325.02
$IRIDIUM_FIX,3327.96,-12041.84,061010,010114
$TT8_MAMPS,0.091378
$HUMID,53.34
$INTERNAL_PRESSURE,7.13895
$TCM_TEMP,19.20
$MI_MIVER,0.1
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Wed Sep 8 17:09:45 PDT 2010
$MI_BOOTCOUNT,108
$MI_LOG,2.2/475647/465356
$MI_ROOT,82.5/190403/33236
$MI_HOME,4.9/475655/452188
$24V_AH,23.3,33.125
$10V_AH,10.0,19.823
$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,29.025,122.200,481.625,1.925,0.000,52.783,65.936,297.677,0.000,13343.620,43.985,0.000,8323.816,448.595,4787.589,295.374,29.227,1375.312,0.000,1312.702,0.000,0.000,0.000
$DEVICE_MAMPS,199.665,169.065,1289.025,81.855,0.000,103.000,160.000,223.000,0.000,12.795,50.000,0.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,379.840,0.000,0.000,0.000,0.000,0.000,13343.510,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,48.792,0.000,0.000,0.000
$MEM,354964
$DATA_FILE_SIZE,20117,552
$CAP_FILE_SIZE,325751,0
$CFSIZE,260034560,248610816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,053257,3247.410,-11852.493,101,2.4,120,13.3