version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 142
start: 9 19 120 13 37 56
data:
$ID,148
$MISSION,16
$DIVE,142
$N_DIVES,0
$STOP_T,3102110
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,550
$D_NO_BLEED,44
$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,166
$T_MISSION,350
$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,360
$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,2778
$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,1650
$C_ROLL_CLIMB,1840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3960
$C_VBD,2725
$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,1
$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
$GPS1,190920,133137,2258.1345,-15814.6416,18,0.8,47,9.8,0.3,310.3,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-61.4
$GPS2,190920,133731,2258.1008,-15814.6787,6,0.8,18,9.8,0.0,242.5,9,10.0
$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,21.3,1013,-27.8,-10.040,-30.00,970
$D_GRID,500
$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,-1.34,-63.7,430,1629,1281,1223,0.0,0.0,0,88,0.00,0.00,-65.32,0.000,16390,0.000,0.000,430,1629,2985,3033,2937,0,0,0,0,0,0,24.70,24.14,24.72
$GC,90,-1.38,-92.0,430,1629,3033,2937,3.9,-7.1,8,111,10.52,2.22,-2.03,0.000,18692,0.168,0.031,2324,3045,3101,3155,3047,0,0,0,0,0,0,24.30,24.08,24.40
$GC,167,-1.38,-92.0,2323,3045,3156,3049,25.8,-20.5,18,177,0.00,2.25,0.00,0.000,3078,0.000,0.027,2324,1664,3102,3156,3049,0,0,0,0,0,0,24.53,24.49,24.56
$GC,500,-1.38,-92.0,2324,1665,3156,3052,91.5,-16.7,67,509,0.00,2.40,0.00,0.000,2564,0.000,0.048,2324,251,3104,3156,3052,0,0,0,0,0,0,24.84,24.54,24.84
$GC,598,-1.38,-92.0,2324,251,3156,3053,108.0,-17.3,81,607,0.00,2.20,0.00,0.000,3078,0.000,0.016,2324,1732,3105,3157,3053,0,0,0,0,0,0,24.70,24.68,24.70
$GC,917,-1.38,-92.0,2324,1732,3158,3054,153.2,-13.0,128,929,0.00,2.45,0.00,0.000,2564,0.000,0.047,2324,253,3106,3159,3054,0,0,0,0,0,0,24.89,24.60,24.90
$GC,984,-1.38,-92.0,2324,253,3159,3055,162.5,-15.3,133,993,0.00,2.20,0.00,0.000,3078,0.000,0.016,2324,1711,3107,3159,3055,0,0,0,0,0,0,24.75,24.73,24.75
$GC,1232,-1.38,-92.0,2323,1711,3159,3056,196.9,-12.8,158,1241,0.00,0.00,0.00,0.000,2054,0.000,0.000,2324,1711,3107,3159,3056,0,0,0,0,0,0,24.93,24.94,24.93
$GC,1500,-1.38,-92.0,2324,1712,3159,3057,231.1,-12.5,167,1502,0.00,0.00,0.00,0.000,2054,0.000,0.000,2324,1712,3108,3160,3057,0,0,0,0,0,0,24.95,24.96,24.96
$GC,1740,-1.38,-92.0,2324,1712,3160,3057,260.2,-12.0,173,1746,0.00,2.50,0.00,0.000,2564,0.000,0.051,2324,241,3108,3160,3057,0,0,0,0,0,0,24.97,24.66,24.97
$GC,1843,-1.38,-92.0,2324,241,3160,3058,270.4,-12.0,175,1848,0.00,2.20,0.00,0.000,3078,0.000,0.018,2324,1672,3108,3159,3057,0,0,0,0,0,0,24.81,24.77,24.82
$GC,2095,-1.38,-92.0,2323,1674,3160,3057,300.5,-10.7,182,2102,0.00,2.47,0.00,0.000,2564,0.000,0.068,2324,244,3108,3160,3057,0,0,0,0,0,0,24.98,24.67,24.99
$GC,2128,-1.38,-92.0,2324,244,3159,3057,300.5,-10.7,182,2135,0.00,2.17,0.00,0.000,3078,0.000,0.018,2324,1639,3108,3159,3057,0,0,0,0,0,0,24.82,24.77,24.82
$GC,2376,-1.38,-92.0,2324,1643,3159,3057,331.1,-10.8,189,2381,0.00,2.25,0.00,0.000,2308,0.000,0.028,2324,3044,3108,3159,3057,0,0,0,0,0,0,24.99,24.73,25.00
$GC,2388,-1.38,-92.0,2323,3044,3159,3057,331.1,-10.8,189,2393,0.00,2.25,0.00,0.000,3078,0.000,0.028,2324,1646,3108,3159,3057,0,0,0,0,0,0,24.81,24.72,24.82
$GC,2655,-1.38,-92.0,2324,1646,3159,3053,360.2,-10.4,196,2662,0.00,2.42,0.00,0.000,2564,0.000,0.069,2324,248,3106,3159,3054,0,0,0,0,0,0,25.00,24.68,25.01
$GC,2738,-1.38,-92.0,2324,248,3159,3053,369.5,-10.9,198,2743,0.00,2.25,0.00,0.000,3078,0.000,0.018,2324,1671,3106,3159,3053,0,0,0,0,0,0,24.82,24.79,24.82
$GC,3016,-1.38,-92.0,2324,1673,3159,3049,398.9,-10.4,205,3018,0.00,0.00,0.00,0.000,2054,0.000,0.000,2324,1673,3104,3159,3049,0,0,0,0,0,0,25.01,25.02,25.02
$GC,3255,-1.38,-94.3,2324,1673,3159,3046,422.7,-9.8,211,3262,0.00,2.53,0.00,0.000,2564,0.000,0.074,2324,251,3102,3159,3046,0,0,0,0,0,0,25.02,24.69,25.03
$GC,3304,-1.38,-96.0,2323,251,3159,3046,426.8,-9.9,212,3309,0.00,2.20,0.00,0.000,3078,0.000,0.022,2324,1635,3102,3159,3046,0,0,0,0,0,0,24.84,24.77,24.85
$GC,3571,-1.39,-104.3,2324,1635,3159,3042,453.1,-9.2,219,3575,0.00,2.45,0.00,0.000,2564,0.000,0.073,2324,251,3100,3159,3042,0,0,0,0,0,0,25.02,24.69,25.03
$GC,3680,-1.39,-104.3,2324,251,3159,3041,461.9,-10.1,221,3685,0.00,2.25,0.00,0.000,3078,0.000,0.028,2324,1639,3100,3159,3041,0,0,0,0,0,0,24.84,24.76,24.85
$GC,3933,-1.40,-108.8,2323,1639,3159,3037,488.7,-9.6,228,3939,0.00,2.47,0.00,0.000,2564,0.000,0.075,2324,247,3098,3159,3037,0,0,0,0,0,0,25.03,24.70,25.03
$GC,3956,-1.40,-113.2,2324,247,3159,3037,488.7,-9.6,228,3961,0.00,2.30,0.00,0.000,3078,0.000,0.031,2324,1656,3098,3159,3037,0,0,0,0,0,0,24.84,24.76,24.86
$STATE,4046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4046,begin apogee
$GC,4051,-0.23,0.0,2324,1859,3159,3035,501.3,-10.7,231,4135,1.77,0.00,78.80,0.880,10246,0.106,0.000,2698,1859,2724,2779,2670,0,0,0,0,0,0,24.68,24.01,23.55
$STATE,4136,end apogee,CONTROL_FINISHED_OK
$STATE,4136,begin climb
$GC,4137,1.40,113.2,2697,1859,2779,2669,503.9,0.0,233,4250,2.28,2.40,99.60,0.855,10500,0.073,0.060,3212,3231,2261,2312,2210,0,0,0,0,0,0,24.16,23.99,23.52
$GC,4255,1.40,113.2,3211,3231,2312,2209,500.2,4.3,236,4260,0.00,2.38,0.00,0.000,3078,0.000,0.035,3212,1848,2260,2312,2208,0,0,0,0,0,0,24.25,24.20,24.28
$GC,4533,1.40,113.2,3211,1848,2310,2197,470.0,11.1,243,4535,0.00,0.00,0.00,0.000,2054,0.000,0.000,3213,1848,2253,2310,2197,0,0,0,0,0,0,24.70,24.72,24.72
$GC,4774,1.40,113.2,3212,1848,2309,2193,442.4,11.4,249,4780,0.00,2.53,0.00,0.000,2564,0.000,0.079,3212,430,2251,2309,2193,0,0,0,0,0,0,24.77,24.44,24.77
$GC,4872,1.40,113.2,3211,430,2307,2193,432.5,11.9,251,4877,0.00,2.28,0.00,0.000,3078,0.000,0.022,3212,1836,2250,2307,2194,0,0,0,0,0,0,24.61,24.54,24.63
$GC,5129,1.40,113.2,3211,1836,2307,2189,401.7,10.9,258,5135,0.00,2.47,0.00,0.000,2564,0.000,0.065,3212,423,2248,2307,2189,0,0,0,0,0,0,24.82,24.51,24.84
$GC,5147,1.40,113.2,3211,423,2306,2189,401.7,10.9,258,5151,0.00,2.33,0.00,0.000,3078,0.000,0.023,3212,1839,2247,2306,2189,0,0,0,0,0,0,24.66,24.59,24.68
$GC,5409,1.40,113.2,3211,1839,2306,2187,372.5,10.4,265,5413,0.00,2.35,0.00,0.000,2308,0.000,0.054,3212,3235,2246,2306,2187,0,0,0,0,0,0,24.87,24.56,24.87
$GC,5433,1.40,113.2,3211,3235,2305,2187,372.5,10.4,265,5438,0.00,2.30,0.00,0.000,3078,0.000,0.031,3212,1831,2246,2305,2187,0,0,0,0,0,0,24.68,24.58,24.70
$GC,5686,1.40,113.2,3211,1831,2304,2185,342.6,10.8,272,5692,0.00,2.47,0.00,0.000,2564,0.000,0.076,3212,434,2245,2305,2185,0,0,0,0,0,0,24.89,24.56,24.90
$GC,5793,1.40,113.2,3211,434,2303,2186,332.5,11.6,274,5797,0.00,2.25,0.00,0.000,3078,0.000,0.021,3212,1848,2244,2303,2185,0,0,0,0,0,0,24.73,24.67,24.75
$GC,6045,1.41,115.9,3211,1850,2303,2184,303.3,9.8,281,6052,0.00,2.28,0.00,0.000,2308,0.000,0.044,3212,3226,2243,2303,2184,0,0,0,0,0,0,24.92,24.63,24.93
$GC,6128,1.41,120.5,3212,3226,2302,2184,295.6,9.6,283,6138,0.00,2.28,4.30,0.526,11270,0.000,0.033,3212,1830,2231,2289,2173,0,0,0,0,0,0,24.74,24.65,24.08
$GC,6406,1.42,126.7,3211,1830,2289,2171,269.0,9.4,290,6418,0.00,2.33,6.78,0.623,10500,0.000,0.029,3212,3225,2207,2265,2149,0,0,0,0,0,0,24.91,24.46,24.01
$GC,6438,1.43,132.8,3211,3225,2265,2149,269.0,9.4,290,6453,0.00,2.28,6.97,0.622,11270,0.000,0.029,3212,1836,2182,2239,2126,0,0,0,0,0,0,24.61,24.53,23.90
$GC,6725,1.43,137.0,3212,1835,2239,2122,238.1,9.6,298,6733,0.00,0.00,5.10,0.550,10246,0.000,0.000,3212,1835,2165,2223,2107,0,0,0,0,0,0,24.86,24.45,24.03
$GC,6966,1.45,148.2,3211,1835,2223,2104,216.6,8.9,304,6980,0.00,0.00,11.80,0.656,10246,0.000,0.000,3212,1836,2118,2175,2062,0,0,0,0,0,0,24.87,24.28,23.89
$GC,7207,1.45,148.2,3212,1836,2175,2057,192.0,10.2,313,7215,0.00,2.25,0.00,0.000,2308,0.000,0.030,3212,3237,2116,2175,2058,0,0,0,0,0,0,24.84,24.57,24.84
$GC,7311,1.45,148.2,3212,3237,2174,2057,181.5,10.0,323,7318,0.00,2.28,0.00,0.000,3078,0.000,0.027,3212,1825,2115,2174,2057,0,0,0,0,0,0,24.68,24.60,24.70
$GC,7559,1.48,173.8,3211,1825,2174,2056,161.8,7.3,348,7589,0.08,2.38,22.50,0.639,10756,0.099,0.052,3237,441,2014,2065,1964,0,0,0,0,0,0,24.66,24.08,23.78
$GC,7603,1.49,182.3,3237,442,2064,1964,157.8,9.1,352,7622,0.00,2.22,9.02,0.568,11270,0.000,0.019,3237,1856,1980,2030,1930,0,0,0,0,0,0,24.47,24.41,23.80
$GC,7873,1.49,182.3,3237,1856,2030,1924,128.3,10.6,396,7881,0.00,2.22,0.00,0.000,2308,0.000,0.031,3237,3219,1976,2029,1924,0,0,0,0,0,0,24.81,24.56,24.82
$GC,8016,1.49,182.3,3237,3219,2029,1924,114.3,10.4,422,8024,0.00,2.25,0.00,0.000,3078,0.000,0.027,3237,1840,1976,2029,1924,0,0,0,0,0,0,24.63,24.59,24.64
$GC,8285,1.49,182.3,3237,1839,2029,1923,86.3,11.4,471,8294,0.00,2.38,0.00,0.000,2564,0.000,0.050,3237,443,1976,2029,1923,0,0,0,0,0,0,24.87,24.58,24.88
$GC,8363,1.49,185.0,3237,443,2030,1923,77.9,9.8,482,8374,0.00,2.20,0.00,0.000,3078,0.000,0.018,3238,1847,1976,2029,1923,0,0,0,0,0,0,24.70,24.68,24.71
$GC,8695,1.53,215.3,3237,1849,2029,1923,53.5,6.8,531,8733,0.05,2.45,30.23,0.531,10756,0.132,0.047,3257,438,1845,1895,1796,0,0,0,0,0,0,24.70,24.19,23.84
$GC,8781,1.53,215.3,3257,439,1894,1794,46.2,10.7,542,8791,0.00,2.20,0.00,0.000,3078,0.000,0.017,3257,1832,1844,1894,1794,0,0,0,0,0,0,24.53,24.51,24.53
$GC,9114,1.54,225.8,3257,1835,1894,1793,13.3,8.9,591,9133,0.00,2.35,10.52,0.451,10756,0.000,0.046,3257,439,1803,1853,1754,0,0,0,0,0,0,24.85,24.31,24.08
$GC,9141,1.54,225.8,3257,439,1854,1754,10.1,10.7,594,9152,0.00,2.20,0.00,0.000,3078,0.000,0.017,3258,1838,1803,1854,1753,0,0,0,0,0,0,24.54,24.51,24.55
$STATE,9206,end climb,SURFACE_DEPTH_REACHED
$STATE,9207,begin surface coast
$FINISH,0.2,1.022649
$STATE,9242,end surface coast,CONTROL_FINISHED_OK
$STATE,9242,begin surface
$SM_CCo,9261,74.88,0.480,0,0,1256,360.09
$SM_GC,1.14,11.80,0.32,74.88,0.041,0.045,0.480,432,1611,1256,-7.28,0.65,360.09,0,0,0,0,0,0,24.55,24.59,23.82
$IRIDIUM_FIX,2246.36,-15817.57,190920,102545
$TT8_MAMPS,0.021721,0.249417
$HUMID,54.76
$INTERNAL_PRESSURE,9.62326
$TCM_TEMP,23.60
$XPDR_PINGS,4
$24V_AH,23.52,19.919
$10V_AH,10.30,17.581
$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,26.500,107.350,285.625,74.875,0.000,30.946,44.411,171.815,1.000,0.000,19.681,1664.859,5024.062,485.446,2410.542,115.686,0.000,1268.075,0.000,2131.464,0.000,0.539,0.000
$DEVICE_MAMPS,167.535,78.795,879.750,480.420,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,407.681,346.783,1271.282,0.000,806.056,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,53.930,0.000,68.160,0.000,0.000,0.000,0.000,0.000
$MEM,338864
$DATA_FILE_SIZE,47354,608
$CAP_FILE_SIZE,115109,0
$CFSIZE,259248128,249028608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063,328.71,1
$GPS,190920,161449,2259.260,-15814.402,14,1.0,43,9.8,0.0,192.2,8,8.7