version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 13
start: 9 3 120 16 15 51
data:
$ID,148
$MISSION,16
$DIVE,13
$N_DIVES,0
$STOP_T,3102110
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,450
$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,133
$T_MISSION,270
$T_ABORT,400
$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,400
$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,0
$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,2786
$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,1640
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,78
$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
$GPS1,030920,154919,2249.5142,-15805.6709,19,0.8,42,9.8,0.0,342.0,9,8.6
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-60.4
$GPS2,030920,161527,2249.7134,-15805.7520,18,1.1,59,9.8,0.0,281.9,7,6.0
$SPEED_LIMITS,0.174,0.261
$TGT_NAME,B1
$TGT_LATLONG,2258.550,-15814.340
$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,288.9,21960,-18.3,-10.025,-21.05,2230
$D_GRID,400
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.01,-146.6,428,1617,1104,1027,0.0,0.0,0,97,0.00,0.00,-80.03,0.000,16386,0.000,0.000,428,1617,3284,3339,3229,0,0,0,0,0,0,24.82,28.83,24.84
$GC,99,-1.01,-146.6,428,1617,3339,3230,4.7,-11.0,11,116,10.60,2.22,-0.25,0.000,18692,0.148,0.031,2455,3025,3299,3358,3241,0,0,0,0,0,0,24.41,23.68,24.56
$GC,245,-1.01,-146.6,2455,3025,3360,3241,37.9,-15.8,36,253,0.00,2.22,0.00,0.000,3078,0.000,0.028,2455,1649,3300,3360,3241,0,0,0,0,0,0,24.67,24.63,24.69
$GC,522,-1.01,-146.6,2455,1649,3360,3241,81.8,-14.4,84,524,0.00,0.00,0.00,0.000,2054,0.000,0.000,2455,1649,3300,3360,3241,0,0,0,0,0,0,24.98,24.99,24.98
$GC,760,-1.01,-146.6,2455,1649,3360,3241,112.3,-12.0,108,772,0.00,2.33,0.00,0.000,2564,0.000,0.049,2455,235,3300,3360,3241,0,0,0,0,0,0,25.03,24.69,25.03
$GC,809,-1.01,-146.6,2455,234,3360,3241,117.9,-12.4,112,821,0.00,2.08,0.00,0.000,3078,0.000,0.016,2455,1688,3300,3360,3241,0,0,0,0,0,0,24.87,24.86,24.88
$GC,1059,-1.01,-146.6,2455,1687,3361,3241,146.3,-11.2,137,1068,0.00,2.38,0.00,0.000,2564,0.000,0.047,2455,238,3301,3361,3241,0,0,0,0,0,0,25.06,24.73,25.07
$GC,1081,-1.01,-146.6,2455,238,3361,3241,148.9,-11.3,139,1085,0.00,2.05,0.00,0.000,3078,0.000,0.017,2455,1655,3301,3361,3241,0,0,0,0,0,0,24.91,24.89,24.92
$GC,1334,-1.01,-146.6,2455,1657,3361,3241,176.2,-10.4,164,1341,0.00,0.00,0.00,0.000,2054,0.000,0.000,2455,1656,3301,3361,3241,0,0,0,0,0,0,25.09,25.10,25.10
$GC,1584,-1.01,-146.6,2455,1657,3361,3241,197.7,-8.9,189,1588,0.00,2.00,0.00,0.000,2308,0.000,0.022,2455,2965,3301,3361,3241,0,0,0,0,0,0,25.11,24.84,25.12
$GC,1649,-1.01,-146.6,2455,2965,3361,3241,203.2,-8.1,195,1657,0.00,2.12,0.00,0.000,3078,0.000,0.027,2455,1636,3301,3361,3241,0,0,0,0,0,0,24.87,24.84,24.89
$GC,1897,-1.01,-146.6,2455,1636,3361,3241,225.8,-8.9,220,1899,0.00,0.00,0.00,0.000,2054,0.000,0.000,2455,1636,3301,3361,3241,0,0,0,0,0,0,25.13,25.13,25.13
$GC,2137,-1.01,-146.6,2455,1636,3361,3241,248.1,-9.6,244,2146,0.00,2.08,0.00,0.000,2308,0.000,0.023,2455,2974,3301,3361,3241,0,0,0,0,0,0,25.14,24.87,25.14
$GC,2161,-1.01,-146.6,2455,2974,3361,3240,250.3,-9.7,246,2169,0.00,2.15,0.00,0.000,3078,0.000,0.028,2455,1636,3300,3361,3240,0,0,0,0,0,0,24.89,24.85,24.91
$GC,2409,-1.01,-146.6,2455,1636,3360,3238,271.9,-8.2,271,2411,0.00,0.00,0.00,0.000,2054,0.000,0.000,2455,1636,3299,3361,3238,0,0,0,0,0,0,25.14,25.15,25.15
$GC,2649,-1.01,-146.6,2455,1636,3361,3236,292.3,-8.7,295,2654,0.00,2.08,0.00,0.000,2308,0.000,0.025,2455,2959,3298,3361,3236,0,0,0,0,0,0,25.15,24.87,25.15
$GC,2721,-1.01,-146.6,2455,2959,3361,3235,298.6,-8.2,302,2731,0.00,2.10,0.00,0.000,3078,0.000,0.029,2455,1635,3298,3361,3235,0,0,0,0,0,0,24.95,24.86,24.96
$GC,2972,-1.01,-146.6,2455,1635,3361,3232,319.4,-8.1,327,2976,0.00,2.08,0.00,0.000,2308,0.000,0.025,2456,2958,3296,3361,3231,0,0,0,0,0,0,25.15,24.82,25.15
$GC,2987,-1.01,-146.6,2455,2958,3361,3231,320.2,-8.0,328,2994,0.00,2.10,0.00,0.000,3078,0.000,0.038,2455,1639,3296,3361,3231,0,0,0,0,0,0,24.95,24.86,24.96
$GC,3234,-1.01,-146.6,2455,1639,3361,3227,338.7,-7.2,353,3239,0.00,2.40,0.00,0.000,2564,0.000,0.066,2455,234,3294,3361,3228,0,0,0,0,0,0,25.15,24.78,25.16
$GC,3258,-1.01,-146.6,2455,234,3361,3227,340.5,-7.5,355,3262,0.00,2.05,0.00,0.000,3078,0.000,0.019,2455,1608,3293,3360,3227,0,0,0,0,0,0,24.98,24.95,24.99
$GC,3510,-1.01,-146.6,2455,1609,3360,3225,361.6,-8.8,380,3519,0.00,2.20,0.00,0.000,2308,0.000,0.032,2455,3000,3292,3361,3224,0,0,0,0,0,0,25.15,24.86,25.16
$GC,3615,-1.01,-146.6,2455,3000,3361,3222,370.6,-8.7,390,3624,0.00,2.22,0.00,0.000,3078,0.000,0.033,2455,1646,3291,3361,3222,0,0,0,0,0,0,24.90,24.85,24.93
$GC,3863,-1.01,-146.6,2454,1646,3361,3219,392.6,-8.7,415,3868,0.00,2.15,0.00,0.000,2308,0.000,0.029,2455,2996,3290,3361,3219,0,0,0,0,0,0,25.15,24.86,25.16
$GC,3888,-1.01,-146.6,2455,2996,3360,3219,394.6,-8.5,417,3896,0.00,2.25,0.00,0.000,3078,0.000,0.035,2455,1635,3290,3361,3219,0,0,0,0,0,0,24.90,24.84,24.92
$STATE,3954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3954,begin apogee
$GC,3958,-0.23,0.0,2455,1936,3360,3217,400.3,-8.1,424,4083,1.12,0.08,119.90,0.796,10246,0.087,0.110,2705,1880,2699,2761,2637,0,0,0,0,0,0,24.77,24.11,23.61
$STATE,4084,end apogee,CONTROL_FINISHED_OK
$STATE,4085,begin climb
$GC,4086,1.01,146.6,2705,1880,2761,2636,403.0,0.0,427,4216,1.70,0.00,125.60,0.770,10246,0.060,0.000,3094,1880,2101,2154,2048,0,0,0,0,0,0,24.26,24.07,23.58
$GC,4455,1.02,150.5,3093,1880,2154,2035,374.6,9.8,456,4457,0.00,0.00,0.00,0.000,2054,0.000,0.000,3094,1880,2094,2154,2035,0,0,0,0,0,0,24.77,24.79,24.78
$GC,4695,1.07,191.3,3093,1880,2154,2032,353.5,8.2,480,4740,0.05,2.28,38.12,0.747,10500,0.123,0.040,3114,3216,1918,1970,1866,0,0,0,0,0,0,24.65,24.16,23.65
$GC,4782,1.07,195.6,3113,3216,1969,1864,345.6,9.8,488,4792,0.00,2.15,5.25,0.539,11270,0.000,0.033,3114,1905,1901,1954,1849,0,0,0,0,0,0,24.55,24.46,23.80
$GC,5033,1.07,195.6,3113,1905,1954,1843,317.4,11.6,513,5044,0.00,2.45,0.00,0.000,2564,0.000,0.066,3114,486,1899,1954,1844,0,0,0,0,0,0,24.86,24.51,24.87
$GC,5117,1.07,195.6,3113,486,1953,1842,306.5,13.2,521,5127,0.00,2.12,0.00,0.000,3078,0.000,0.021,3114,1838,1897,1953,1842,0,0,0,0,0,0,24.71,24.65,24.72
$GC,5368,1.07,195.6,3113,1839,1953,1839,277.7,11.3,546,5378,0.00,2.25,0.00,0.000,2308,0.000,0.034,3114,3233,1896,1954,1839,0,0,0,0,0,0,24.94,24.64,24.95
$GC,5454,1.07,195.6,3113,3233,1953,1838,268.0,11.6,554,5461,0.00,2.20,0.00,0.000,3078,0.000,0.031,3114,1901,1895,1953,1838,0,0,0,0,0,0,24.72,24.67,24.72
$GC,5701,1.07,195.6,3114,1901,1953,1836,239.6,11.0,579,5703,0.00,0.00,0.00,0.000,2054,0.000,0.000,3114,1901,1894,1953,1836,0,0,0,0,0,0,25.00,25.01,25.01
$GC,5941,1.07,195.6,3113,1901,1953,1834,212.4,11.1,603,5952,0.00,2.38,0.00,0.000,2564,0.000,0.058,3114,485,1893,1953,1834,0,0,0,0,0,0,25.03,24.68,25.04
$GC,5987,1.07,195.6,3113,485,1952,1835,207.6,11.1,607,5995,0.00,2.15,0.00,0.000,3078,0.000,0.020,3114,1855,1893,1952,1834,0,0,0,0,0,0,24.84,24.82,24.85
$GC,6235,1.09,209.7,3113,1857,1952,1833,183.6,9.4,632,6256,0.00,0.00,12.55,0.607,10758,0.000,0.000,3114,1857,1844,1903,1785,0,0,0,0,0,0,25.06,24.32,23.98
$GC,6495,1.10,222.3,3113,1857,1903,1780,157.2,9.4,658,6514,0.00,0.00,12.75,0.588,10502,0.000,0.000,3114,1857,1790,1843,1738,0,0,0,0,0,0,24.99,24.28,23.93
$GC,6755,1.12,236.7,3113,1858,1843,1736,132.3,9.4,684,6776,0.05,2.33,13.82,0.575,10756,0.132,0.051,3137,489,1733,1785,1681,0,0,0,0,0,0,24.75,24.26,23.92
$GC,6798,1.13,240.2,3136,488,1785,1681,128.0,9.9,688,6810,0.00,2.20,4.95,0.438,11270,0.000,0.018,3137,1907,1718,1769,1667,0,0,0,0,0,0,24.65,24.60,23.96
$GC,7050,1.13,241.0,3136,1909,1769,1666,103.8,10.0,713,7054,0.00,2.20,0.00,0.000,2308,0.000,0.031,3137,3294,1717,1769,1666,0,0,0,0,0,0,24.95,24.67,24.96
$GC,7081,1.14,252.2,3136,3294,1769,1666,100.6,9.5,716,7102,0.00,2.22,11.85,0.536,11270,0.000,0.026,3137,1890,1670,1719,1622,0,0,0,0,0,0,24.76,24.68,23.96
$GC,7357,1.17,275.6,3136,1890,1719,1621,75.2,9.0,745,7389,0.00,2.35,23.12,0.540,10756,0.000,0.049,3137,500,1574,1617,1532,0,0,0,0,0,0,24.96,24.18,23.87
$GC,7428,1.17,275.6,3136,500,1617,1532,67.8,11.0,756,7437,0.00,2.20,0.00,0.000,3078,0.000,0.018,3137,1907,1574,1617,1532,0,0,0,0,0,0,24.64,24.62,24.64
$GC,7702,1.19,288.3,3136,1911,1617,1531,44.4,9.4,805,7724,0.00,2.20,13.00,0.486,10500,0.000,0.029,3137,3274,1522,1566,1479,0,0,0,0,0,0,24.95,24.43,24.00
$GC,7747,1.21,310.4,3136,3274,1565,1479,40.1,9.0,812,7777,0.05,2.22,20.70,0.498,11270,0.080,0.026,3171,1903,1433,1481,1386,0,0,0,0,0,0,24.53,24.57,23.88
$GC,8046,1.23,326.8,3170,1902,1481,1385,4.0,9.3,864,8063,0.00,0.00,11.00,0.067,10242,0.000,0.000,3170,1902,1419,1471,1368,0,0,0,0,1,0,24.92,28.83,24.58
$STATE,8064,end climb,SURFACE_DEPTH_REACHED
$STATE,8064,begin surface coast
$FINISH,0.2,1.021734
$STATE,8096,end surface coast,CONTROL_FINISHED_OK
$STATE,8096,begin surface
$SM_CCo,8115,52.38,0.060,0,0,1067,400.08
$SM_GC,1.02,11.48,0.43,52.38,0.045,0.052,0.060,430,1631,1067,-7.32,0.85,400.08,0,0,0,0,0,0,24.61,24.65,24.53
$IRIDIUM_FIX,2241.69,-15808.88,030920,160321
$TT8_MAMPS,0.020972,0.363265
$HUMID,55.90
$INTERNAL_PRESSURE,9.63303
$TCM_TEMP,23.90
$XPDR_PINGS,6
$24V_AH,23.58,5.198
$10V_AH,10.36,2.655
$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,25.050,80.000,412.625,52.375,0.000,296.431,377.312,246.382,1.500,0.000,60.249,2204.772,3734.706,623.606,3042.131,136.335,0.000,1434.510,0.000,2065.869,0.000,0.543,0.000
$DEVICE_MAMPS,148.410,110.160,796.365,59.670,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,587.809,649.190,1022.619,1016.024,1207.680,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,53.930,41.940,68.160,0.000,0.000,0.000,0.000,0.000
$MEM,338892
$DATA_FILE_SIZE,74102,872
$CAP_FILE_SIZE,115365,0
$CFSIZE,259248128,257744896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.139,22.83,1
$GPS,030920,183325,2250.872,-15806.435,30,0.8,53,9.8,0.8,247.2,10,8.3