version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 15
start: 9 3 120 21 7 6
data:
$ID,148
$MISSION,16
$DIVE,15
$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,380
$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,2772
$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,1700
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3960
$C_VBD,2750
$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
$GPS1,030920,205501,2251.5703,-15807.2988,25,0.8,47,9.8,0.3,143.7,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-61.8
$GPS2,030920,210643,2251.5564,-15807.3223,6,0.8,22,9.8,0.0,104.3,11,9.6
$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,289.9,17633,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.01,-146.6,429,1669,1181,1111,0.0,0.0,0,90,0.00,0.00,-71.90,0.000,16386,0.000,0.000,429,1669,3109,3157,3062,0,0,0,0,0,0,24.77,28.83,24.78
$GC,92,-1.01,-146.6,428,1669,3157,3062,3.8,-8.5,10,115,10.65,2.25,-4.20,0.000,18692,0.151,0.034,2441,3096,3346,3411,3281,0,0,0,0,0,0,24.35,24.05,24.51
$GC,245,-1.01,-146.6,2441,3095,3412,3284,37.9,-16.9,36,253,0.00,2.22,0.00,0.000,3078,0.000,0.028,2441,1722,3348,3412,3284,0,0,0,0,0,0,24.62,24.58,24.63
$GC,523,-1.01,-146.6,2441,1722,3412,3285,84.2,-13.3,83,532,0.00,2.35,0.00,0.000,2564,0.000,0.047,2441,291,3348,3412,3285,0,0,0,0,0,0,24.94,24.60,24.94
$GC,545,-1.01,-146.6,2440,291,3412,3285,87.1,-13.6,85,554,0.00,2.12,0.00,0.000,3078,0.000,0.016,2441,1731,3348,3412,3285,0,0,0,0,0,0,24.77,24.75,24.79
$GC,796,-1.01,-146.6,2441,1732,3413,3286,119.8,-12.8,110,800,0.00,2.38,0.00,0.000,2564,0.000,0.047,2441,293,3349,3412,3287,0,0,0,0,0,0,24.98,24.65,24.98
$GC,822,-1.01,-146.6,2441,293,3412,3286,123.1,-13.0,112,827,0.00,2.08,0.00,0.000,3078,0.000,0.017,2441,1716,3349,3412,3286,0,0,0,0,0,0,24.83,24.80,24.84
$GC,1075,-1.01,-146.6,2441,1718,3412,3287,153.1,-10.2,137,1084,0.00,2.03,0.00,0.000,2308,0.000,0.021,2441,3045,3349,3412,3287,0,0,0,0,0,0,25.02,24.76,25.03
$GC,1099,-1.01,-146.6,2441,3045,3413,3287,155.2,-9.9,139,1106,0.00,2.17,0.00,0.000,3078,0.000,0.024,2441,1688,3350,3413,3287,0,0,0,0,0,0,24.79,24.75,24.81
$GC,1346,-1.01,-146.6,2441,1688,3412,3288,179.6,-10.3,164,1351,0.00,2.10,0.00,0.000,2308,0.000,0.022,2441,3043,3350,3412,3288,0,0,0,0,0,0,25.06,24.78,25.06
$GC,1408,-1.01,-146.6,2441,3043,3413,3288,186.1,-10.1,170,1413,0.00,2.12,0.00,0.000,3078,0.000,0.025,2441,1688,3350,3413,3288,0,0,0,0,0,0,24.87,24.78,24.87
$GC,1660,-1.01,-146.6,2440,1688,3413,3288,212.1,-10.2,195,1671,0.00,2.30,0.00,0.000,2564,0.000,0.050,2441,291,3350,3413,3288,0,0,0,0,0,0,25.08,24.75,25.08
$GC,1765,-1.01,-146.6,2441,291,3412,3288,224.5,-12.1,205,1773,0.00,2.10,0.00,0.000,3078,0.000,0.018,2441,1702,3350,3412,3288,0,0,0,0,0,0,24.91,24.91,24.93
$GC,2014,-1.01,-146.6,2441,1703,3412,3288,250.0,-9.3,230,2018,0.00,2.08,0.00,0.000,2308,0.000,0.024,2441,3042,3350,3413,3288,0,0,0,0,0,0,25.10,24.83,25.10
$GC,2068,-1.01,-146.6,2440,3043,3412,3288,254.7,-9.0,235,2076,0.00,2.17,0.00,0.000,3078,0.000,0.027,2441,1694,3350,3413,3288,0,0,0,0,0,0,24.87,24.82,24.87
$GC,2316,-1.01,-146.6,2441,1694,3412,3288,276.7,-8.6,260,2320,0.00,2.10,0.00,0.000,2308,0.000,0.025,2441,3036,3350,3412,3288,0,0,0,0,0,0,25.11,24.84,25.12
$GC,2338,-1.01,-146.6,2441,3035,3412,3287,278.6,-8.7,262,2342,0.00,2.12,0.00,0.000,3078,0.000,0.028,2441,1692,3350,3412,3288,0,0,0,0,0,0,24.91,24.82,24.93
$GC,2590,-1.01,-146.6,2441,1692,3412,3286,300.8,-8.3,287,2599,0.00,2.10,0.00,0.000,2308,0.000,0.026,2441,3030,3349,3412,3286,0,0,0,0,0,0,25.12,24.84,25.13
$GC,2612,-1.01,-146.6,2440,3030,3412,3286,302.6,-8.4,289,2621,0.00,2.12,0.00,0.000,3078,0.000,0.029,2441,1693,3349,3412,3286,0,0,0,0,0,0,24.92,24.83,24.94
$GC,2863,-1.01,-146.6,2441,1693,3413,3284,323.6,-8.4,314,2867,0.00,2.38,0.00,0.000,2564,0.000,0.064,2441,294,3347,3412,3283,0,0,0,0,0,0,25.13,24.77,25.13
$GC,2908,-1.01,-146.6,2440,294,3412,3283,327.6,-9.3,318,2916,0.00,2.12,0.00,0.000,3078,0.000,0.019,2441,1672,3347,3412,3283,0,0,0,0,0,0,24.94,24.92,24.95
$GC,3158,-1.01,-146.6,2441,1673,3412,3280,349.1,-8.5,343,3166,0.00,2.20,0.00,0.000,2308,0.000,0.030,2441,3069,3346,3412,3280,0,0,0,0,0,0,25.13,24.84,25.13
$GC,3191,-1.01,-146.6,2440,3069,3412,3279,351.9,-8.4,346,3199,0.00,2.20,0.00,0.000,3078,0.000,0.032,2442,1701,3345,3412,3279,0,0,0,0,0,0,24.93,24.83,24.94
$GC,3439,-1.01,-146.6,2440,1701,3412,3275,372.9,-8.3,371,3448,0.00,2.17,0.00,0.000,2308,0.000,0.031,2441,3063,3343,3412,3275,0,0,0,0,0,0,25.13,24.83,25.14
$GC,3463,-1.01,-146.6,2441,3063,3412,3275,374.7,-8.4,373,3470,0.00,2.25,0.00,0.000,3078,0.000,0.040,2441,1696,3343,3412,3275,0,0,0,0,0,0,24.89,24.84,24.90
$GC,3711,-1.01,-146.6,2441,1696,3412,3271,395.0,-8.4,398,3713,0.00,0.00,0.00,0.000,2054,0.000,0.000,2441,1697,3341,3412,3271,0,0,0,0,0,0,25.13,25.15,25.14
$STATE,3779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3779,begin apogee
$GC,3783,-0.23,0.0,2441,2000,3412,3270,400.8,-8.3,405,3908,1.15,0.10,120.38,0.799,10246,0.090,0.089,2695,1929,2749,2809,2689,0,0,0,0,0,0,24.77,24.09,23.60
$STATE,3909,end apogee,CONTROL_FINISHED_OK
$STATE,3909,begin climb
$GC,3911,1.01,146.6,2695,1929,2809,2687,404.8,0.0,408,4044,1.65,2.28,124.45,0.771,10500,0.063,0.042,3076,3277,2151,2205,2097,0,0,0,0,0,0,24.23,24.08,23.58
$GC,4137,1.04,172.1,3075,3277,2204,2090,394.5,8.9,417,4167,0.00,2.17,22.70,0.728,11270,0.000,0.032,3076,1954,2047,2100,1994,0,0,0,0,0,0,24.49,24.39,23.61
$GC,4406,1.04,172.1,3075,1954,2100,1985,367.7,10.3,444,4411,0.00,2.45,0.00,0.000,2564,0.000,0.067,3076,546,2042,2100,1985,0,0,0,0,0,0,24.77,24.42,24.78
$GC,4426,1.04,172.1,3075,546,2099,1985,365.9,10.7,445,4434,0.00,2.15,0.00,0.000,3078,0.000,0.021,3076,1878,2042,2099,1985,0,0,0,0,0,0,24.57,24.55,24.58
$GC,4674,1.05,179.2,3075,1879,2099,1981,340.4,9.7,470,4686,0.05,2.35,6.78,0.607,10500,0.139,0.038,3093,3272,2017,2076,1959,0,0,0,0,0,0,24.63,24.40,23.86
$GC,4719,1.05,179.2,3092,3271,2076,1959,335.8,10.2,474,4730,0.00,2.17,0.00,0.000,3078,0.000,0.031,3093,1939,2017,2076,1959,0,0,0,0,0,0,24.61,24.52,24.63
$GC,4970,1.08,200.4,3093,1939,2076,1954,312.1,9.0,499,5000,0.00,2.47,19.92,0.711,10756,0.000,0.066,3093,543,1930,1986,1875,0,0,0,0,0,0,24.90,24.22,23.70
$GC,5087,1.08,200.4,3093,543,1984,1872,300.0,11.5,510,5096,0.00,2.17,0.00,0.000,3078,0.000,0.021,3093,1889,1928,1984,1872,0,0,0,0,0,0,24.62,24.60,24.63
$GC,5335,1.08,200.4,3093,1890,1984,1869,274.9,10.2,535,5339,0.00,2.25,0.00,0.000,2308,0.000,0.043,3093,3274,1926,1984,1868,0,0,0,0,0,0,24.91,24.60,24.91
$GC,5358,1.08,200.4,3093,3274,1984,1869,272.5,10.6,537,5367,0.00,2.20,0.00,0.000,3078,0.000,0.028,3093,1941,1926,1984,1868,0,0,0,0,0,0,24.68,24.63,24.69
$GC,5607,1.10,216.9,3093,1941,1984,1865,248.2,9.3,562,5628,0.05,0.00,15.60,0.668,10246,0.132,0.000,3112,1941,1862,1918,1806,0,0,0,0,0,0,24.75,24.29,23.80
$GC,5866,1.10,216.9,3111,1941,1916,1803,219.5,11.1,588,5876,0.00,2.17,0.00,0.000,2308,0.000,0.032,3112,3286,1860,1916,1804,0,0,0,0,0,0,24.92,24.63,24.93
$GC,5950,1.10,219.2,3111,3286,1915,1804,210.9,9.9,596,5959,0.00,2.17,0.00,0.000,3078,0.000,0.029,3111,1939,1859,1915,1804,0,0,0,0,0,0,24.75,24.65,24.76
$GC,6201,1.11,227.2,3112,1939,1915,1801,187.4,9.7,621,6220,0.00,2.33,10.15,0.597,10756,0.000,0.054,3112,550,1820,1874,1767,0,0,0,0,0,0,24.98,24.32,23.96
$GC,6294,1.11,227.2,3111,550,1873,1765,176.8,11.5,630,6304,0.00,2.10,0.00,0.000,3078,0.000,0.020,3112,1904,1819,1873,1765,0,0,0,0,0,0,24.72,24.68,24.74
$GC,6545,1.12,238.1,3111,1905,1873,1764,151.6,9.5,655,6564,0.00,2.35,10.70,0.577,10500,0.000,0.037,3112,3337,1777,1830,1725,0,0,0,0,0,0,24.97,24.45,23.95
$GC,6649,1.15,258.8,3111,3337,1830,1725,142.2,9.1,665,6679,0.00,2.20,20.02,0.601,11270,0.000,0.027,3112,1948,1692,1743,1642,0,0,0,0,0,0,24.65,24.63,23.80
$GC,6917,1.16,270.6,3111,1948,1743,1639,117.9,9.5,692,6939,0.05,2.35,11.90,0.550,10756,0.124,0.050,3135,543,1644,1690,1599,0,0,0,0,0,0,24.70,24.37,23.91
$GC,6962,1.16,270.6,3135,543,1690,1599,112.8,11.2,696,6972,0.00,2.20,0.00,0.000,3078,0.000,0.018,3136,1963,1644,1690,1599,0,0,0,0,0,0,24.63,24.58,24.64
$GC,7214,1.16,270.6,3135,1963,1690,1598,86.1,10.5,721,7223,0.00,2.35,0.00,0.000,2564,0.000,0.049,3136,551,1644,1690,1598,0,0,0,0,0,0,24.92,24.60,24.93
$GC,7228,1.16,270.6,3135,551,1690,1598,85.1,10.4,722,7236,0.00,2.20,0.00,0.000,3078,0.000,0.018,3136,1957,1644,1690,1598,0,0,0,0,0,0,24.73,24.71,24.74
$GC,7495,1.21,312.0,3135,1958,1690,1598,61.8,8.1,767,7539,0.00,2.45,38.38,0.535,10756,0.000,0.048,3135,543,1477,1523,1431,0,0,0,0,0,0,24.97,24.23,23.81
$GC,7572,1.24,332.4,3135,544,1523,1431,55.3,9.1,779,7603,0.05,2.20,19.73,0.507,11270,0.093,0.018,3154,1954,1393,1440,1347,0,0,0,0,0,0,24.45,24.56,23.83
$GC,7866,1.24,332.4,3153,1955,1440,1343,24.9,10.8,831,7874,0.00,0.00,0.00,0.000,2054,0.000,0.000,3154,1955,1391,1440,1343,0,0,0,0,0,0,24.87,24.89,24.88
$STATE,8076,end climb,SURFACE_DEPTH_REACHED
$STATE,8076,begin surface coast
$FINISH,0.1,1.007868
$STATE,8105,end surface coast,CONTROL_FINISHED_OK
$STATE,8105,begin surface
$SM_CCo,8124,28.20,0.060,0,0,1199,380.21
$SM_GC,0.90,11.40,0.43,28.20,0.044,0.054,0.060,430,1691,1199,-7.28,0.88,380.21,0,0,0,0,0,0,24.63,24.65,24.56
$IRIDIUM_FIX,2237.01,-15809.75,030920,183441
$TT8_MAMPS,0.020972,0.358771
$HUMID,55.74
$INTERNAL_PRESSURE,9.64279
$TCM_TEMP,23.70
$XPDR_PINGS,6
$24V_AH,23.58,5.418
$10V_AH,10.32,2.872
$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,25.050,102.875,420.700,28.200,0.000,24.048,44.540,522.994,1.500,0.000,23.466,2227.463,3219.453,596.405,2699.702,116.292,0.000,1479.776,0.000,2087.814,0.000,0.540,0.000
$DEVICE_MAMPS,150.705,88.740,798.660,59.670,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,589.106,634.946,926.382,1000.014,1181.385,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,53.930,41.940,68.160,0.000,0.000,0.000,0.000,0.000
$MEM,338980
$DATA_FILE_SIZE,73942,874
$CAP_FILE_SIZE,118574,0
$CFSIZE,259248128,257605632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.031,32.15,1
$GPS,030920,232431,2252.201,-15808.208,26,0.9,60,9.8,0.3,306.0,9,6.4