version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 208
start: 9 27 120 13 29 9
data:
$ID,148
$MISSION,16
$DIVE,208
$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,78
$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
$GPS1,270920,132001,2237.2944,-15808.0537,30,0.9,53,9.8,0.3,257.5,8,8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-61.5
$GPS2,270920,132845,2237.3220,-15808.0342,12,0.9,22,9.8,0.0,135.0,8,9.7
$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,211.0,15345,-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,-146.6,429,1626,1287,1220,0.0,0.0,0,91,0.00,0.00,-72.80,0.000,16390,0.000,0.000,429,1626,3324,3378,3270,0,0,0,0,0,0,24.70,23.88,24.72
$GC,93,-1.01,-146.6,429,1627,3378,3271,4.7,-8.8,8,114,10.90,2.30,0.00,0.000,2564,0.160,0.040,2442,260,3327,3382,3272,0,0,0,0,0,0,24.31,24.41,24.40
$GC,266,-1.01,-146.6,2441,261,3383,3272,54.8,-22.5,31,276,0.00,2.15,0.00,0.000,3078,0.000,0.016,2442,1668,3328,3384,3273,0,0,0,0,0,0,24.62,24.60,24.63
$GC,618,-1.01,-146.6,2441,1670,3387,3272,112.3,-12.3,80,627,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1670,3330,3387,3273,0,0,0,0,0,0,24.85,24.86,24.86
$GC,969,-1.01,-146.6,2441,1670,3390,3273,152.8,-10.8,128,980,0.00,2.03,0.00,0.000,2308,0.000,0.021,2442,3002,3331,3390,3273,0,0,0,0,0,0,24.90,24.65,24.91
$GC,1008,-1.01,-146.6,2441,3002,3390,3273,157.1,-10.9,131,1019,0.00,2.10,0.00,0.000,3078,0.000,0.025,2442,1656,3331,3391,3272,0,0,0,0,0,0,24.69,24.64,24.70
$GC,1258,-1.01,-146.6,2441,1657,3390,3273,184.4,-10.7,156,1271,0.00,2.35,0.00,0.000,2564,0.000,0.050,2442,252,3331,3390,3273,0,0,0,0,0,0,24.93,24.62,24.94
$GC,1421,-1.01,-146.6,2441,253,3391,3273,202.9,-10.7,169,1432,0.00,2.08,0.00,0.000,3078,0.000,0.017,2442,1689,3331,3390,3273,0,0,0,0,0,0,24.78,24.77,24.79
$GC,1672,-1.01,-146.6,2441,1688,3391,3274,225.6,-9.6,194,1683,0.00,1.98,0.00,0.000,2308,0.000,0.021,2442,2972,3332,3391,3274,0,0,0,0,0,0,24.96,24.72,24.96
$GC,1698,-1.01,-146.6,2441,2972,3391,3273,228.2,-9.8,196,1710,0.00,2.08,0.00,0.000,3078,0.000,0.027,2442,1646,3332,3391,3273,0,0,0,0,0,0,24.74,24.70,24.76
$GC,1950,-1.01,-146.6,2441,1646,3391,3273,253.8,-9.2,221,1959,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1645,3332,3391,3273,0,0,0,0,0,0,24.97,24.98,24.98
$GC,2200,-1.01,-146.6,2441,1645,3391,3273,276.5,-8.8,246,2210,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1645,3332,3391,3273,0,0,0,0,0,0,24.98,25.00,24.99
$GC,2451,-1.01,-146.6,2441,1645,3390,3273,299.0,-9.1,271,2459,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1645,3332,3391,3273,0,0,0,0,0,0,25.00,25.01,25.01
$GC,2700,-1.01,-146.6,2441,1645,3391,3270,322.0,-8.9,296,2704,0.00,2.40,0.00,0.000,2564,0.000,0.064,2442,257,3330,3391,3270,0,0,0,0,0,0,25.01,24.69,25.01
$GC,2726,-1.01,-146.6,2441,257,3391,3270,324.5,-9.5,298,2731,0.00,2.05,0.00,0.000,3078,0.000,0.018,2442,1579,3330,3391,3270,0,0,0,0,0,0,24.84,24.80,24.85
$GC,2981,-1.01,-146.6,2441,1580,3390,3267,347.6,-8.6,323,2991,0.00,2.20,0.00,0.000,2308,0.000,0.030,2442,2966,3329,3391,3267,0,0,0,0,0,0,25.01,24.74,25.02
$GC,3055,-1.01,-146.6,2441,2966,3391,3266,354.0,-8.5,329,3066,0.00,2.10,0.00,0.000,3078,0.000,0.032,2442,1653,3328,3391,3266,0,0,0,0,0,0,24.79,24.75,24.80
$GC,3307,-1.01,-146.6,2441,1650,3391,3263,376.3,-9.1,354,3317,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1651,3327,3391,3263,0,0,0,0,0,0,25.02,25.03,25.03
$GC,3558,-1.01,-146.6,2441,1650,3390,3260,399.5,-9.3,379,3562,0.00,2.12,0.00,0.000,2308,0.000,0.028,2442,2963,3325,3391,3259,0,0,0,0,0,0,25.03,24.75,25.03
$GC,3603,-1.01,-146.6,2441,2963,3390,3258,403.7,-9.2,381,3609,0.00,2.12,0.00,0.000,3078,0.000,0.034,2442,1650,3325,3391,3259,0,0,0,0,0,0,24.79,24.75,24.82
$GC,3881,-1.01,-146.6,2441,1650,3390,3255,427.7,-8.4,388,3883,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1650,3323,3391,3255,0,0,0,0,0,0,25.03,25.04,25.03
$GC,4122,-1.01,-146.6,2441,1650,3390,3251,448.8,-8.9,394,4124,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1649,3320,3390,3251,0,0,0,0,0,0,25.03,25.04,25.04
$GC,4362,-1.01,-146.6,2441,1650,3391,3247,469.7,-8.6,400,4364,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1650,3318,3390,3247,0,0,0,0,0,0,25.04,25.05,25.05
$GC,4604,-1.01,-146.6,2441,1650,3390,3245,488.7,-7.7,406,4609,0.00,2.12,0.00,0.000,2308,0.000,0.037,2442,2953,3317,3389,3245,0,0,0,0,0,0,25.05,24.76,25.06
$GC,4665,-1.01,-146.6,2441,2952,3388,3245,491.4,-7.3,407,4670,0.00,2.15,0.00,0.000,3078,0.000,0.039,2442,1650,3316,3388,3245,0,0,0,0,0,0,24.86,24.75,24.87
$STATE,4799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4799,begin apogee
$GC,4804,-0.23,0.0,2442,1803,3386,3245,502.1,-6.9,411,4932,1.15,0.00,123.68,0.871,10246,0.079,0.000,2702,1802,2724,2784,2665,0,0,0,0,0,0,24.73,23.99,23.51
$STATE,4933,end apogee,CONTROL_FINISHED_OK
$STATE,4934,begin climb
$GC,4935,1.01,146.6,2702,1802,2784,2663,504.5,0.0,414,5071,1.73,2.40,127.35,0.850,10500,0.057,0.057,3097,3176,2125,2176,2075,0,0,0,0,0,0,24.15,23.94,23.49
$GC,5086,1.01,146.6,3096,3176,2174,2075,501.5,3.9,417,5091,0.00,2.30,0.00,0.000,3078,0.000,0.035,3097,1810,2124,2174,2074,0,0,0,0,0,0,24.32,24.22,24.33
$GC,5354,1.03,165.2,3096,1810,2174,2062,472.1,9.2,424,5373,0.00,0.00,16.65,0.785,10246,0.000,0.000,3097,1810,2050,2098,2002,0,0,0,0,0,0,24.69,24.05,23.59
$GC,5594,1.04,169.4,3096,1810,2096,1995,448.8,9.8,430,5601,0.00,0.00,4.65,0.572,10246,0.000,0.000,3097,1810,2032,2082,1983,0,0,0,0,0,0,24.72,24.32,23.84
$GC,5837,1.05,179.7,3096,1810,2082,1979,426.1,9.6,436,5850,0.00,0.00,10.62,0.749,10246,0.000,0.000,3097,1810,1990,2041,1940,0,0,0,0,0,0,24.77,24.19,23.73
$GC,6074,1.05,179.7,3096,1811,2042,1935,399.4,11.3,442,6075,0.00,0.00,0.00,0.000,2054,0.000,0.000,3097,1810,1988,2041,1935,0,0,0,0,0,0,24.78,24.79,24.79
$GC,6317,1.05,179.7,3096,1810,2041,1932,373.2,10.5,466,6326,0.00,0.00,0.00,0.000,2054,0.000,0.000,3096,1810,1987,2042,1932,0,0,0,0,0,0,24.82,24.84,24.83
$GC,6566,1.05,179.7,3096,1810,2041,1929,347.0,10.4,491,6570,0.00,2.25,0.00,0.000,2308,0.000,0.031,3097,3186,1985,2041,1929,0,0,0,0,0,0,24.85,24.58,24.87
$GC,6628,1.05,179.7,3096,3186,2041,1929,340.5,10.6,496,6632,0.00,2.25,0.00,0.000,3078,0.000,0.034,3097,1824,1985,2041,1929,0,0,0,0,0,0,24.68,24.58,24.69
$GC,6882,1.06,184.9,3096,1824,2041,1928,314.3,9.8,521,6892,0.00,0.00,4.88,0.570,10246,0.000,0.000,3097,1824,1970,2028,1913,0,0,0,0,0,0,24.88,24.47,24.01
$GC,7134,1.06,187.6,3096,1824,2027,1912,290.5,9.9,546,7144,0.00,0.00,4.25,0.517,10246,0.000,0.000,3097,1824,1959,2017,1901,0,0,0,0,0,0,24.87,24.37,24.03
$GC,7384,1.06,187.6,3096,1824,2017,1899,264.6,10.5,571,7388,0.00,2.22,0.00,0.000,2308,0.000,0.029,3097,3190,1958,2017,1899,0,0,0,0,0,0,24.87,24.61,24.89
$GC,7459,1.07,191.1,3096,3191,2017,1899,257.4,9.9,577,7471,0.00,2.20,4.97,0.546,11270,0.000,0.032,3097,1838,1944,2003,1886,0,0,0,0,0,0,24.66,24.62,24.03
$GC,7710,1.07,194.6,3096,1838,2000,1885,232.5,9.9,602,7723,0.00,2.20,4.45,0.503,10500,0.000,0.028,3098,3191,1930,1985,1876,0,0,0,0,0,0,24.87,24.39,24.05
$GC,7751,1.08,201.1,3096,3192,1984,1876,228.5,9.7,605,7764,0.00,2.20,7.82,0.610,11270,0.000,0.030,3097,1833,1905,1959,1852,0,0,0,0,0,0,24.60,24.56,23.91
$GC,8005,1.10,215.1,3096,1833,1957,1848,203.3,9.4,630,8029,0.05,2.47,14.70,0.646,10756,0.122,0.058,3120,434,1846,1901,1791,0,0,0,0,0,0,24.65,24.13,23.81
$GC,8035,1.10,220.8,3120,434,1902,1791,200.8,9.8,632,8047,0.00,2.22,6.82,0.558,11270,0.000,0.021,3120,1808,1823,1875,1771,0,0,0,0,0,0,24.45,24.42,23.81
$GC,8297,1.10,220.8,3120,1811,1874,1767,172.2,10.2,658,8306,0.00,0.00,0.00,0.000,2054,0.000,0.000,3120,1810,1820,1874,1767,0,0,0,0,0,0,24.81,24.82,24.82
$GC,8559,1.10,220.8,3120,1810,1874,1765,145.2,10.6,686,8570,0.00,2.38,0.00,0.000,2564,0.000,0.053,3120,440,1819,1874,1765,0,0,0,0,0,0,24.85,24.55,24.86
$GC,8672,1.10,220.8,3120,440,1874,1765,132.6,10.7,701,8681,0.00,2.22,0.00,0.000,3078,0.000,0.018,3120,1844,1819,1874,1765,0,0,0,0,0,0,24.68,24.66,24.68
$GC,9025,1.15,260.4,3120,1847,1874,1765,104.3,8.2,750,9073,0.00,2.28,36.00,0.574,10500,0.000,0.029,3120,3223,1663,1713,1614,0,0,0,0,0,0,24.90,24.03,23.77
$GC,9139,1.17,276.5,3120,3223,1712,1614,93.8,9.3,764,9169,0.03,2.30,16.85,0.536,11270,0.132,0.027,3143,1824,1596,1642,1550,0,0,0,0,0,0,24.41,24.49,23.82
$GC,9512,1.25,336.7,3143,1824,1642,1546,60.3,7.3,815,9577,0.05,2.38,55.92,0.528,10756,0.119,0.049,3171,433,1350,1392,1309,0,0,0,0,0,0,24.61,24.01,23.76
$GC,9630,1.25,339.9,3170,433,1392,1307,49.0,9.9,829,9641,0.00,2.22,4.25,0.353,11270,0.000,0.017,3171,1841,1338,1381,1295,0,0,0,0,0,0,24.49,24.46,23.99
$GC,9983,1.25,339.9,3170,1843,1381,1292,9.3,11.6,878,9993,0.00,2.22,0.00,0.000,2308,0.000,0.029,3171,3219,1336,1381,1292,0,0,0,0,0,0,24.79,24.53,24.79
$GC,10040,1.25,339.9,3170,3219,1381,1292,3.7,11.5,885,10050,0.00,2.22,0.00,0.000,3078,0.000,0.022,3171,1834,1336,1381,1292,0,0,0,0,0,0,24.59,24.57,24.60
$STATE,10058,end climb,SURFACE_DEPTH_REACHED
$STATE,10058,begin surface coast
$FINISH,0.3,1.022295
$STATE,10096,end surface coast,CONTROL_FINISHED_OK
$STATE,10096,begin surface
$SM_CCo,10116,12.55,0.436,0,0,1256,360.09
$SM_GC,0.71,11.30,0.28,12.55,0.031,0.057,0.436,414,1648,1256,-7.33,1.16,360.09,0,0,0,0,0,0,24.56,24.56,24.01
$IRIDIUM_FIX,2227.67,-15806.28,270920,102233
$TT8_MAMPS,0.020972,0.291361
$HUMID,56.26
$INTERNAL_PRESSURE,9.64279
$TCM_TEMP,24.20
$XPDR_PINGS,4
$24V_AH,23.49,27.201
$10V_AH,10.30,26.951
$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,25.200,75.700,443.875,12.550,0.000,57.091,51.967,230.980,1.000,0.000,23.320,2269.141,3445.083,539.254,4179.964,222.127,0.000,1483.531,0.000,3863.438,0.000,0.539,0.000
$DEVICE_MAMPS,159.885,64.260,871.335,436.050,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,604.105,647.508,3018.723,2136.313,2239.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,53.930,41.940,68.160,0.000,0.000,0.000,0.000,0.000
$MEM,338836
$DATA_FILE_SIZE,73810,892
$CAP_FILE_SIZE,144706,0
$CFSIZE,259248128,244637696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.088,58.62,1
$GPS,270920,161927,2236.598,-15808.560,29,0.9,54,9.8,0.0,38.3,9,10.0