version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 200
start: 9 26 120 14 0 37
data:
$ID,148
$MISSION,16
$DIVE,200
$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,44
$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,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
$GPS1,260920,135302,2241.0549,-15803.6270,25,0.8,42,9.8,0.0,341.1,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-62.7
$GPS2,260920,140014,2241.0696,-15803.6250,13,0.8,25,9.8,0.0,349.4,9,9.4
$SPEED_LIMITS,0.174,0.261
$TGT_NAME,B3
$TGT_LATLONG,2231.430,-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,216.6,25588,-18.3,-10.040,-21.06,2228
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.01,-146.6,432,1636,1292,1219,0.0,0.0,0,92,0.00,0.00,-73.10,0.000,16390,0.000,0.000,432,1637,3323,3377,3270,0,0,0,0,0,0,24.69,23.87,24.71
$GC,94,-1.01,-146.6,432,1637,3377,3272,4.6,-8.8,8,115,10.48,2.33,0.00,0.000,2564,0.143,0.042,2444,264,3327,3382,3272,0,0,0,0,0,0,24.33,24.40,24.41
$GC,295,-1.01,-146.6,2444,264,3383,3273,56.5,-21.1,35,305,0.00,2.17,0.00,0.000,3078,0.000,0.015,2444,1661,3328,3383,3273,0,0,0,0,0,0,24.60,24.58,24.62
$GC,648,-1.01,-146.6,2444,1664,3388,3273,107.0,-13.4,84,658,0.00,2.40,0.00,0.000,2564,0.000,0.047,2444,259,3330,3388,3273,0,0,0,0,0,0,24.85,24.55,24.85
$GC,752,-1.01,-146.6,2444,259,3388,3273,120.7,-12.7,98,762,0.00,2.15,0.00,0.000,3078,0.000,0.015,2444,1676,3331,3389,3273,0,0,0,0,0,0,24.70,24.68,24.70
$GC,1076,-1.01,-146.6,2444,1675,3391,3273,158.1,-10.9,140,1087,0.00,2.03,0.00,0.000,2308,0.000,0.021,2445,3004,3332,3391,3273,0,0,0,0,0,0,24.90,24.66,24.91
$GC,1116,-1.01,-146.6,2444,3004,3391,3273,162.3,-10.8,143,1126,0.00,2.17,0.00,0.000,3078,0.000,0.025,2444,1654,3332,3391,3273,0,0,0,0,0,0,24.68,24.65,24.70
$GC,1368,-1.01,-146.6,2444,1655,3392,3274,189.3,-10.6,168,1377,0.00,0.00,0.00,0.000,2054,0.000,0.000,2445,1654,3333,3392,3274,0,0,0,0,0,0,24.93,24.94,24.94
$GC,1617,-1.01,-146.6,2444,1654,3392,3275,215.5,-10.2,193,1622,0.00,2.38,0.00,0.000,2564,0.000,0.051,2444,246,3333,3392,3274,0,0,0,0,0,0,24.95,24.65,24.96
$GC,1645,-1.01,-146.6,2444,246,3392,3274,218.3,-10.5,195,1655,0.00,2.12,0.00,0.000,3078,0.000,0.018,2445,1649,3333,3392,3274,0,0,0,0,0,0,24.79,24.77,24.79
$GC,1895,-1.01,-146.6,2444,1650,3392,3274,242.4,-8.8,220,1904,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,1650,3333,3392,3274,0,0,0,0,0,0,24.96,24.98,24.97
$GC,2144,-1.01,-146.6,2444,1650,3392,3274,263.0,-8.4,245,2153,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,1650,3333,3392,3274,0,0,0,0,0,0,24.98,24.98,24.98
$GC,2394,-1.01,-146.6,2444,1650,3392,3274,285.6,-9.3,270,2405,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,1650,3333,3392,3274,0,0,0,0,0,0,24.99,25.00,25.00
$GC,2646,-1.01,-146.6,2444,1650,3392,3272,307.7,-8.7,295,2650,0.00,2.15,0.00,0.000,2308,0.000,0.026,2444,2997,3332,3392,3273,0,0,0,0,0,0,25.00,24.74,25.01
$GC,2696,-1.01,-146.6,2443,2998,3392,3272,312.3,-9.0,299,2707,0.00,2.15,0.00,0.000,3078,0.000,0.032,2444,1649,3332,3392,3272,0,0,0,0,0,0,24.72,24.66,24.77
$GC,2947,-1.01,-146.6,2444,1649,3392,3269,334.2,-8.3,324,2959,0.00,2.12,0.00,0.000,2308,0.000,0.028,2444,2989,3330,3391,3269,0,0,0,0,0,0,25.01,24.75,25.01
$GC,2986,-1.01,-146.6,2444,2989,3391,3269,337.2,-7.8,327,2998,0.00,2.15,0.00,0.000,3078,0.000,0.033,2445,1650,3330,3392,3269,0,0,0,0,0,0,24.77,24.73,24.79
$GC,3239,-1.01,-146.6,2444,1648,3392,3266,355.4,-7.3,352,3247,0.00,0.00,0.00,0.000,2054,0.000,0.000,2445,1648,3328,3391,3266,0,0,0,0,0,0,25.01,25.02,25.02
$GC,3488,-1.01,-146.6,2444,1649,3391,3263,375.3,-8.2,377,3498,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,1649,3326,3391,3262,0,0,0,0,0,0,25.02,25.03,25.03
$GC,3738,-1.01,-146.6,2444,1649,3392,3259,395.5,-7.7,402,3748,0.00,0.00,0.00,0.000,2054,0.000,0.000,2445,1648,3324,3391,3258,0,0,0,0,0,0,25.03,25.04,25.03
$GC,3996,-1.01,-146.6,2444,1649,3391,3256,416.4,-8.1,413,4000,0.00,2.15,0.00,0.000,2308,0.000,0.031,2444,2980,3324,3392,3256,0,0,0,0,0,0,25.03,24.75,25.04
$GC,4065,-1.01,-146.6,2444,2979,3391,3254,420.1,-8.3,414,4070,0.00,2.17,0.00,0.000,3078,0.000,0.035,2445,1651,3322,3391,3254,0,0,0,0,0,0,24.84,24.75,24.86
$GC,4313,-1.01,-146.6,2444,1651,3391,3251,442.4,-7.9,420,4319,0.00,2.50,0.00,0.000,2564,0.000,0.080,2445,248,3321,3391,3251,0,0,0,0,0,0,25.03,24.70,25.04
$GC,4357,-1.01,-146.6,2444,248,3391,3251,445.7,-7.8,421,4361,0.00,2.17,0.00,0.000,3078,0.000,0.022,2444,1595,3321,3391,3251,0,0,0,0,0,0,24.83,24.80,24.84
$GC,4635,-1.01,-146.6,2444,1595,3391,3247,467.6,-7.8,428,4642,0.00,2.25,0.00,0.000,2308,0.000,0.036,2445,2978,3318,3391,3246,0,0,0,0,0,0,25.03,24.75,25.04
$GC,4704,-1.01,-146.6,2444,2978,3390,3246,470.6,-7.8,429,4709,0.00,2.20,0.00,0.000,3078,0.000,0.037,2444,1642,3318,3390,3246,0,0,0,0,0,0,24.84,24.75,24.86
$GC,4950,-1.01,-146.6,2444,1642,3387,3246,491.4,-7.5,435,4952,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,1642,3316,3387,3246,0,0,0,0,0,0,25.03,25.05,25.04
$STATE,5108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5108,begin apogee
$GC,5113,-0.23,0.0,2444,1831,3386,3244,502.7,-7.1,439,5240,1.15,0.00,123.40,0.881,10246,0.085,0.000,2700,1831,2724,2785,2664,0,0,0,0,0,0,24.72,23.99,23.49
$STATE,5241,end apogee,CONTROL_FINISHED_OK
$STATE,5241,begin climb
$GC,5243,1.01,146.6,2701,1831,2785,2662,504.9,0.0,442,5376,1.73,0.00,127.45,0.852,10758,0.061,0.000,3095,1831,2125,2175,2076,0,0,0,0,0,0,24.13,23.94,23.46
$GC,5593,1.02,152.2,3095,1831,2174,2064,478.4,9.8,451,5601,0.00,0.00,5.43,0.616,10246,0.000,0.000,3096,1831,2103,2158,2048,0,0,0,0,0,0,24.67,24.23,23.75
$GC,5830,1.03,163.3,3095,1831,2158,2043,455.4,9.5,457,5844,0.00,0.00,11.23,0.751,10246,0.000,0.000,3096,1831,2057,2108,2007,0,0,0,0,0,0,24.72,24.13,23.65
$GC,6069,1.03,163.3,3095,1831,2105,2003,429.3,11.0,463,6074,0.00,2.50,0.00,0.000,2564,0.000,0.070,3096,429,2054,2105,2003,0,0,0,0,0,0,24.75,24.42,24.76
$GC,6134,1.03,163.3,3095,428,2104,2003,424.4,11.2,464,6139,0.00,2.20,0.00,0.000,3078,0.000,0.022,3096,1795,2053,2104,2003,0,0,0,0,0,0,24.60,24.53,24.60
$GC,6390,1.04,173.5,3095,1795,2104,2000,396.5,9.6,471,6405,0.00,2.42,9.80,0.726,10500,0.000,0.046,3096,3234,2016,2068,1964,0,0,0,0,0,0,24.81,24.26,23.75
$GC,6450,1.07,193.3,3095,3234,2067,1963,390.8,9.1,476,6477,0.00,2.30,19.70,0.779,11270,0.000,0.033,3095,1838,1934,1983,1885,0,0,0,0,0,0,24.50,24.45,23.57
$GC,6726,1.07,193.3,3095,1838,1983,1878,362.4,10.7,503,6738,0.00,2.45,0.00,0.000,2564,0.000,0.070,3096,437,1930,1983,1878,0,0,0,0,0,0,24.77,24.45,24.77
$GC,6803,1.07,193.3,3095,437,1981,1877,353.4,12.1,509,6814,0.00,2.25,0.00,0.000,3078,0.000,0.021,3096,1848,1929,1981,1877,0,0,0,0,0,0,24.59,24.56,24.60
$GC,7053,1.07,193.3,3095,1848,1981,1875,326.2,10.7,534,7066,0.00,2.25,0.00,0.000,2308,0.000,0.038,3096,3231,1928,1981,1875,0,0,0,0,0,0,24.82,24.53,24.84
$GC,7080,1.07,193.3,3095,3232,1981,1876,323.3,10.6,536,7092,0.00,2.28,0.00,0.000,3078,0.000,0.031,3095,1833,1928,1981,1876,0,0,0,0,0,0,24.61,24.56,24.63
$GC,7332,1.07,193.3,3095,1832,1981,1873,296.8,10.3,561,7344,0.00,2.25,0.00,0.000,2308,0.000,0.031,3096,3230,1927,1981,1873,0,0,0,0,0,0,24.86,24.59,24.87
$GC,7396,1.07,193.3,3095,3230,1980,1873,290.3,10.2,566,7409,0.00,2.28,0.00,0.000,3078,0.000,0.031,3096,1827,1927,1981,1873,0,0,0,0,0,0,24.64,24.60,24.66
$GC,7649,1.09,213.6,3095,1827,1981,1872,266.0,9.1,591,7674,0.05,2.53,18.73,0.709,10756,0.128,0.065,3116,427,1853,1908,1798,0,0,0,0,0,0,24.68,24.16,23.71
$GC,7727,1.09,213.6,3116,427,1906,1795,257.7,11.5,597,7739,0.00,2.25,0.00,0.000,3078,0.000,0.020,3116,1849,1851,1907,1795,0,0,0,0,0,0,24.53,24.51,24.55
$GC,7979,1.10,215.1,3116,1852,1907,1792,229.8,10.0,622,7991,0.00,2.20,0.00,0.000,2308,0.000,0.031,3116,3224,1849,1907,1792,0,0,0,0,0,0,24.82,24.56,24.84
$GC,8055,1.11,228.8,3116,3224,1906,1792,222.5,9.4,628,8078,0.00,2.28,14.88,0.661,11270,0.000,0.029,3117,1831,1789,1839,1740,0,0,0,0,0,0,24.66,24.58,23.80
$GC,8318,1.11,228.8,3115,1831,1838,1736,195.2,11.3,654,8330,0.00,2.35,0.00,0.000,2564,0.000,0.056,3116,440,1787,1838,1736,0,0,0,0,0,0,24.81,24.51,24.82
$GC,8359,1.11,228.8,3116,440,1838,1735,190.6,11.8,657,8370,0.00,2.25,0.00,0.000,3078,0.000,0.020,3117,1842,1786,1838,1735,0,0,0,0,0,0,24.62,24.61,24.64
$GC,8610,1.11,228.8,3116,1845,1838,1735,163.7,10.1,682,8622,0.00,2.38,0.00,0.000,2564,0.000,0.051,3116,438,1786,1838,1734,0,0,0,0,0,0,24.85,24.54,24.86
$GC,8651,1.11,228.8,3116,439,1838,1734,159.2,11.2,685,8661,0.00,2.25,0.00,0.000,3078,0.000,0.019,3117,1845,1786,1838,1734,0,0,0,0,0,0,24.67,24.65,24.68
$GC,8970,1.14,253.3,3116,1848,1838,1734,127.3,8.9,726,8999,0.00,0.00,23.10,0.593,10246,0.000,0.000,3117,1848,1690,1745,1636,0,0,0,0,0,0,24.89,24.08,23.81
$GC,9344,1.19,288.1,3116,1848,1744,1632,96.3,8.4,777,9383,0.10,2.50,33.22,0.559,10756,0.087,0.050,3153,428,1549,1594,1504,0,0,0,0,0,0,24.59,24.13,23.77
$GC,9520,1.19,288.1,3152,428,1594,1502,74.9,13.0,800,9530,0.00,2.25,0.00,0.000,3078,0.000,0.018,3153,1847,1548,1594,1502,0,0,0,0,0,0,24.56,24.55,24.58
$GC,9874,1.25,336.7,3152,1850,1593,1501,41.5,7.8,849,9929,0.00,0.00,45.38,0.506,10758,0.000,0.000,3153,1850,1349,1393,1306,0,0,0,0,0,0,24.83,24.03,23.80
$STATE,10270,end climb,SURFACE_DEPTH_REACHED
$STATE,10270,begin surface coast
$FINISH,0.2,1.004242
$STATE,10309,end surface coast,CONTROL_FINISHED_OK
$STATE,10309,begin surface
$SM_CCo,10328,13.90,0.444,0,0,1256,360.09
$SM_GC,0.76,11.25,0.32,13.90,0.035,0.048,0.444,428,1641,1256,-7.29,0.93,360.09,0,0,0,0,0,0,24.55,24.56,23.99
$IRIDIUM_FIX,2232.34,-15802.37,260920,105737
$TT8_MAMPS,0.021721,0.240429
$HUMID,56.30
$INTERNAL_PRESSURE,9.64279
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,23.46,26.313
$10V_AH,10.30,25.369
$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,24.750,86.700,432.300,13.900,0.000,30.946,43.535,234.611,0.500,0.000,26.615,2302.827,3439.805,551.188,4271.459,210.865,0.000,1560.196,0.000,3975.890,0.000,0.540,0.000
$DEVICE_MAMPS,143.055,80.325,880.515,444.465,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,614.503,653.069,3071.654,2177.287,2292.616,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,53.930,41.940,68.160,0.000,0.000,0.000,0.000,0.000
$MEM,338876
$DATA_FILE_SIZE,73850,908
$CAP_FILE_SIZE,147020,0
$CFSIZE,259248128,245194752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.079,69.07,1
$GPS,260920,165430,2240.331,-15804.234,50,0.8,56,9.8,0.3,91.2,10,9.7