version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 9
start: 9 3 120 7 2 51
data:
$ID,148
$MISSION,16
$DIVE,9
$N_DIVES,0
$STOP_T,3102110
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$D_NO_BLEED,44
$D_BOOST,25
$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,100
$T_MISSION,210
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0235
$MASS,52572
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2805
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,1680
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,97
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3960
$C_VBD,2700
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$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,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-175.12193
$PRESSURE_SLOPE,0.00014082
$AD7714Ch0Gain,32
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,94
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,1.01
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,51
$DEVICE5,70
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044223969
$SEABIRD_T_H,0.0006524105
$SEABIRD_T_I,2.6769641e-05
$SEABIRD_T_J,3.3395147e-06
$SEABIRD_C_G,-9.9008942
$SEABIRD_C_H,1.1448398
$SEABIRD_C_I,-0.0022728546
$SEABIRD_C_J,0.00025923335
$GPS1,030920,065149,2247.7046,-15803.6758,21,0.9,49,9.8,0.5,273.5,8,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-60.4
$GPS2,030920,070226,2247.7661,-15803.7168,10,0.9,24,9.8,0.0,343.1,8,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,A3
$TGT_LATLONG,2247.500,-15804.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,203.3,690,-18.2,-10.000,-21.02,2236
$D_GRID,300
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.01,-146.6,431,1674,1066,981,0.0,0.0,0,97,0.00,0.00,-79.32,0.000,16386,0.000,0.000,431,1675,3189,3243,3136,0,0,0,0,0,0,24.86,28.83,24.88
$GC,99,-1.01,-146.6,431,1674,3243,3137,4.3,-9.7,11,123,11.20,2.33,-1.85,0.000,18948,0.164,0.054,2474,267,3300,3364,3237,0,0,0,0,0,0,24.43,23.65,24.59
$GC,272,-1.01,-146.6,2473,268,3364,3237,45.4,-17.6,41,281,0.00,2.12,0.00,0.000,3078,0.000,0.018,2474,1650,3300,3364,3237,0,0,0,0,0,0,24.77,24.75,24.79
$GC,544,-1.01,-146.6,2473,1651,3365,3238,81.5,-10.9,89,549,0.00,2.28,0.00,0.000,2564,0.000,0.047,2474,268,3301,3365,3238,0,0,0,0,0,0,25.05,24.71,25.06
$GC,627,-1.01,-146.6,2473,268,3365,3238,91.4,-11.9,97,632,0.00,2.12,0.00,0.000,3078,0.000,0.016,2475,1716,3301,3365,3238,0,0,0,0,0,0,24.91,24.87,24.91
$GC,881,-1.01,-146.6,2473,1718,3365,3239,119.1,-11.3,122,893,0.00,2.35,0.00,0.000,2564,0.000,0.047,2474,274,3302,3365,3239,0,0,0,0,0,0,25.10,24.77,25.11
$GC,955,-1.01,-146.6,2474,273,3365,3239,128.2,-12.4,128,965,0.00,2.10,0.00,0.000,3078,0.000,0.016,2474,1694,3302,3365,3239,0,0,0,0,0,0,24.94,24.91,24.95
$GC,1205,-1.01,-146.6,2474,1695,3365,3240,154.1,-9.2,153,1209,0.00,2.03,0.00,0.000,2308,0.000,0.022,2474,3021,3302,3365,3240,0,0,0,0,0,0,25.13,24.87,25.15
$GC,1250,-1.01,-146.6,2473,3021,3365,3240,158.1,-9.0,157,1257,0.00,2.12,0.00,0.000,3078,0.000,0.025,2474,1670,3302,3365,3240,0,0,0,0,0,0,24.94,24.85,24.95
$GC,1498,-1.01,-146.6,2473,1670,3365,3240,179.2,-8.2,182,1505,0.00,0.00,0.00,0.000,2054,0.000,0.000,2474,1670,3302,3365,3240,0,0,0,0,0,0,25.15,25.16,25.16
$GC,1748,-1.01,-146.6,2473,1670,3365,3240,199.7,-8.0,207,1758,0.00,2.08,0.00,0.000,2308,0.000,0.022,2474,3027,3302,3365,3239,0,0,0,0,0,0,25.17,24.90,25.18
$GC,1801,-1.01,-146.6,2473,3026,3365,3240,203.9,-7.8,212,1811,0.00,2.10,0.00,0.000,3078,0.000,0.026,2474,1681,3302,3365,3240,0,0,0,0,0,0,24.96,24.88,24.98
$GC,2051,-1.01,-146.6,2473,1681,3365,3239,222.8,-7.2,237,2053,0.00,0.00,0.00,0.000,2054,0.000,0.000,2474,1681,3302,3365,3239,0,0,0,0,0,0,25.18,25.18,25.18
$GC,2291,-1.01,-146.6,2473,1681,3365,3239,241.3,-8.6,261,2302,0.00,2.33,0.00,0.000,2564,0.000,0.054,2474,274,3302,3365,3239,0,0,0,0,0,0,25.18,24.82,25.19
$GC,2314,-1.01,-146.6,2473,275,3364,3239,243.3,-8.4,263,2324,0.00,2.05,0.00,0.000,3078,0.000,0.019,2474,1655,3302,3365,3239,0,0,0,0,0,0,25.01,24.98,25.02
$GC,2565,-1.01,-146.6,2473,1655,3365,3238,265.7,-8.7,288,2575,0.00,2.15,0.00,0.000,2308,0.000,0.027,2474,3041,3300,3364,3237,0,0,0,0,0,0,25.18,24.89,25.19
$GC,2597,-1.01,-146.6,2473,3041,3365,3237,268.4,-8.7,291,2608,0.00,2.15,0.00,0.000,3078,0.000,0.028,2474,1677,3300,3364,3237,0,0,0,0,0,0,24.97,24.88,24.98
$GC,2850,-1.01,-146.6,2473,1677,3365,3236,285.9,-6.4,316,2859,0.00,2.12,0.00,0.000,2308,0.000,0.028,2474,3038,3299,3364,3235,0,0,0,0,0,0,25.18,24.89,25.19
$GC,2891,-1.01,-146.6,2473,3038,3364,3235,288.7,-6.6,320,2901,0.00,2.15,0.00,0.000,3078,0.000,0.030,2474,1680,3300,3365,3235,0,0,0,0,0,0,24.97,24.87,24.98
$STATE,3049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3049,begin apogee
$GC,3053,-0.23,0.0,2474,1798,3364,3232,300.5,-7.8,336,3182,1.10,0.00,118.45,0.715,10246,0.080,0.000,2727,1798,2698,2762,2635,0,0,0,0,0,0,24.79,24.20,23.71
$STATE,3183,end apogee,CONTROL_FINISHED_OK
$STATE,3183,begin climb
$GC,3185,1.01,146.6,2726,1798,2763,2635,305.3,0.0,349,3322,1.67,2.45,122.15,0.695,10756,0.055,0.062,3121,397,2100,2152,2049,0,0,0,0,0,0,24.37,24.04,23.69
$GC,3357,1.03,160.7,3121,397,2151,2047,299.2,9.4,366,3376,0.00,2.20,13.23,0.620,11270,0.000,0.020,3121,1777,2043,2098,1988,0,0,0,0,0,0,24.53,24.49,23.74
$GC,3614,1.03,160.7,3120,1777,2097,1979,272.4,10.5,392,3616,0.00,0.00,0.00,0.000,2054,0.000,0.000,3121,1777,2038,2098,1979,0,0,0,0,0,0,24.86,24.87,24.87
$GC,3854,1.06,184.7,3121,1777,2097,1976,248.7,8.9,416,3886,0.00,2.28,20.77,0.664,10500,0.000,0.031,3121,3190,1944,1999,1890,0,0,0,0,0,0,24.95,24.30,23.77
$GC,3962,1.06,184.7,3121,3190,1998,1889,238.3,10.2,426,3971,0.00,2.30,0.00,0.000,3078,0.000,0.032,3121,1796,1943,1999,1888,0,0,0,0,0,0,24.41,23.94,24.52
$GC,4211,1.06,184.7,3121,1796,1998,1883,212.1,10.2,451,4217,0.00,0.00,0.00,0.000,2054,0.000,0.000,3121,1796,1941,1999,1883,0,0,0,0,0,0,24.98,24.99,24.99
$GC,4459,1.07,194.4,3121,1796,1999,1881,186.5,9.6,476,4470,0.00,0.00,8.95,0.618,10246,0.000,0.000,3121,1797,1906,1964,1848,0,0,0,0,0,0,25.04,24.50,23.97
$GC,4709,1.07,194.4,3121,1797,1964,1844,162.9,10.3,501,4720,0.00,2.22,0.00,0.000,2308,0.000,0.029,3120,3197,1904,1964,1844,0,0,0,0,0,0,25.03,24.75,25.03
$GC,4732,1.07,194.4,3121,3196,1963,1844,160.4,10.5,503,4743,0.00,2.25,0.00,0.000,3078,0.000,0.037,3121,1787,1903,1963,1844,0,0,0,0,0,0,24.82,24.68,24.83
$GC,4983,1.10,219.9,3120,1787,1963,1842,136.1,8.8,528,5015,0.08,2.28,23.08,0.646,10500,0.099,0.027,3150,3191,1801,1854,1749,0,0,0,0,0,0,24.84,24.20,23.84
$GC,5058,1.10,224.3,3150,3191,1853,1749,128.9,9.8,535,5068,0.00,2.22,5.25,0.482,11270,0.000,0.028,3150,1797,1784,1836,1732,0,0,0,0,0,0,24.70,24.60,23.96
$GC,5309,1.11,226.4,3150,1797,1836,1729,104.0,9.9,560,5320,0.00,0.00,0.00,0.000,2054,0.000,0.000,3150,1798,1782,1836,1729,0,0,0,0,0,0,24.99,25.01,25.00
$GC,5558,1.12,238.3,3150,1798,1836,1728,78.8,9.5,586,5580,0.00,0.00,13.15,0.553,10246,0.000,0.000,3150,1797,1726,1782,1671,0,0,0,0,0,0,25.06,24.33,24.01
$GC,5843,1.18,288.9,3150,1798,1782,1670,55.8,7.7,637,5901,0.05,2.38,45.67,0.560,10756,0.122,0.050,3181,402,1521,1565,1477,0,0,0,0,0,0,24.83,24.30,23.87
$GC,5984,1.18,288.9,3180,402,1565,1476,39.8,12.2,660,5993,0.00,2.20,0.00,0.000,1030,0.000,0.017,3181,1825,1519,1564,1475,0,0,0,0,0,0,24.70,24.70,24.70
$GC,6256,1.18,288.9,3180,1828,1566,1473,9.5,11.9,709,6265,0.00,2.42,0.00,0.000,516,0.000,0.049,3181,396,1519,1565,1473,0,0,0,0,0,0,24.97,24.65,24.99
$GC,6292,1.18,288.9,3180,396,1565,1473,4.8,13.7,715,6301,0.00,2.15,0.00,0.000,1030,0.000,0.018,3181,1794,1519,1565,1473,0,0,0,0,0,0,24.80,24.79,24.81
$STATE,6312,end climb,SURFACE_DEPTH_REACHED
$STATE,6312,begin surface coast
$FINISH,0.2,1.022349
$STATE,6340,end surface coast,CONTROL_FINISHED_OK
$STATE,6340,begin surface
$SM_CCo,6358,71.50,0.059,0,0,1027,410.13
$SM_GC,0.88,11.45,0.20,71.50,0.042,0.063,0.059,431,1660,1027,-7.38,0.71,410.13,0,0,0,0,0,0,24.70,24.75,24.60
$IRIDIUM_FIX,2237.01,-15806.70,030920,050807
$TT8_MAMPS,0.020972,0.36701
$HUMID,56.77
$INTERNAL_PRESSURE,9.65256
$TCM_TEMP,23.60
$XPDR_PINGS,6
$24V_AH,23.65,4.772
$10V_AH,10.37,2.217
$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,25.550,62.225,370.700,71.500,0.000,23.338,44.182,459.299,1.500,0.000,25.376,1765.389,2398.291,560.126,2268.218,86.091,0.000,1287.923,0.000,1716.135,0.000,0.541,0.000
$DEVICE_MAMPS,163.710,75.735,715.275,58.905,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,483.200,523.631,787.964,908.060,1071.549,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,53.930,41.940,68.160,0.000,0.000,0.000,0.000,0.000
$MEM,339320
$DATA_FILE_SIZE,60607,723
$CAP_FILE_SIZE,93349,0
$CFSIZE,259248128,258035712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.113,67.03,1
$GPS,030920,085125,2247.207,-15803.829,28,0.9,51,9.8,0.3,253.8,8,9.1