version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 229
start: 9 30 120 3 0 8
data:
$ID,148
$MISSION,16
$DIVE,229
$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,40
$R_STBD_OVSHOOT,63
$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
$GPS1,300920,025202,2245.2939,-15759.9336,19,1.0,47,9.8,0.4,36.1,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.9
$GPS2,300920,025930,2245.3401,-15759.8750,13,1.0,27,9.8,0.0,80.2,8,9.9
$SPEED_LIMITS,0.174,0.261
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$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,213.4,665,-20.8,-10.040,-23.38,1735
$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,-1.09,-114.1,432,1634,1279,1224,0.0,0.0,0,90,0.00,0.00,-70.20,0.000,16390,0.000,0.000,432,1634,3192,3244,3141,0,0,0,0,0,0,24.70,23.65,24.72
$GC,93,-1.12,-144.9,432,1634,3244,3142,4.5,-8.2,8,114,10.48,2.30,-2.00,0.000,18948,0.148,0.054,2409,257,3316,3375,3258,0,0,0,0,0,0,24.27,23.96,24.37
$GC,386,-1.12,-144.9,2409,257,3375,3262,77.3,-18.4,50,396,0.00,2.17,0.00,0.000,3078,0.000,0.015,2410,1665,3320,3378,3262,0,0,0,0,0,0,24.63,24.61,24.63
$GC,718,-1.12,-144.9,2409,1667,3377,3262,126.9,-16.6,99,727,0.00,2.40,0.00,0.000,2564,0.000,0.046,2410,257,3320,3377,3263,0,0,0,0,0,0,24.87,24.53,24.87
$GC,751,-1.12,-144.9,2409,257,3377,3263,132.6,-17.7,103,760,0.00,2.15,0.00,0.000,3078,0.000,0.015,2410,1653,3320,3377,3263,0,0,0,0,0,0,24.68,24.67,24.69
$GC,1036,-1.12,-144.9,2409,1655,3379,3264,169.7,-11.0,137,1044,0.00,0.00,0.00,0.000,2054,0.000,0.000,2410,1655,3321,3379,3264,0,0,0,0,0,0,24.91,24.91,24.91
$GC,1286,-1.12,-144.9,2409,1654,3380,3265,196.9,-11.1,162,1298,0.00,2.33,0.00,0.000,2564,0.000,0.047,2409,258,3322,3380,3265,0,0,0,0,0,0,24.93,24.61,24.94
$GC,1357,-1.12,-144.9,2409,259,3380,3265,205.9,-13.7,168,1367,0.00,2.15,0.00,0.000,3078,0.000,0.016,2410,1680,3322,3380,3265,0,0,0,0,0,0,24.77,24.77,24.77
$GC,1608,-1.12,-144.9,2409,1680,3380,3265,234.2,-10.9,193,1617,0.00,2.03,0.00,0.000,2308,0.000,0.021,2409,2999,3322,3380,3265,0,0,0,0,0,0,24.96,24.68,24.96
$GC,1633,-1.12,-144.9,2409,2999,3380,3265,236.8,-11.0,195,1643,0.00,2.10,0.00,0.000,3078,0.000,0.026,2409,1657,3322,3380,3265,0,0,0,0,0,0,24.72,24.69,24.75
$GC,1882,-1.12,-144.9,2409,1657,3380,3265,262.1,-10.2,220,1892,0.00,2.35,0.00,0.000,2564,0.000,0.054,2410,256,3322,3380,3265,0,0,0,0,0,0,24.97,24.59,24.98
$GC,1950,-1.12,-144.9,2409,255,3380,3265,270.0,-11.9,226,1961,0.00,2.05,0.00,0.000,3078,0.000,0.018,2410,1620,3322,3380,3265,0,0,0,0,0,0,24.79,24.77,24.79
$GC,2201,-1.12,-144.9,2409,1620,3380,3265,297.9,-11.1,251,2207,0.00,0.00,0.00,0.000,2054,0.000,0.000,2410,1620,3322,3380,3265,0,0,0,0,0,0,24.98,24.99,24.99
$GC,2448,-1.12,-144.9,2409,1620,3380,3265,324.5,-10.4,276,2450,0.00,0.00,0.00,0.000,2054,0.000,0.000,2410,1620,3322,3380,3265,0,0,0,0,0,0,25.00,25.01,25.01
$GC,2689,-1.13,-146.6,2409,1620,3380,3262,346.7,-8.8,300,2693,0.00,2.22,0.00,0.000,2308,0.000,0.028,2410,3015,3321,3380,3262,0,0,0,0,0,0,25.01,24.73,25.01
$GC,2725,-1.13,-146.6,2409,3015,3380,3262,349.7,-8.8,303,2735,0.00,2.20,0.00,0.000,3078,0.000,0.032,2409,1654,3321,3380,3262,0,0,0,0,0,0,24.82,24.72,24.83
$GC,2974,-1.13,-146.6,2409,1654,3380,3258,372.5,-9.2,328,2976,0.00,0.00,0.00,0.000,2054,0.000,0.000,2410,1654,3319,3380,3258,0,0,0,0,0,0,25.01,25.03,25.02
$GC,3214,-1.13,-146.6,2409,1654,3380,3255,395.6,-9.9,352,3216,0.00,0.00,0.00,0.000,2054,0.000,0.000,2410,1654,3317,3380,3255,0,0,0,0,0,0,25.02,25.03,25.03
$GC,3465,-1.13,-146.6,2409,1650,3380,3251,418.6,-9.0,362,3467,0.00,0.00,0.00,0.000,2054,0.000,0.000,2410,1650,3315,3380,3251,0,0,0,0,0,0,25.03,25.03,25.03
$GC,3704,-1.13,-146.6,2409,1650,3380,3247,438.9,-8.5,368,3706,0.00,0.00,0.00,0.000,2054,0.000,0.000,2409,1650,3313,3380,3247,0,0,0,0,0,0,25.03,25.04,25.04
$GC,3943,-1.13,-146.6,2409,1650,3380,3244,460.8,-9.4,374,3949,0.00,2.50,0.00,0.000,2564,0.000,0.080,2410,250,3312,3380,3244,0,0,0,0,0,0,25.04,24.68,25.05
$GC,3977,-1.13,-146.6,2409,250,3380,3244,460.8,-9.4,374,3984,0.00,2.20,0.00,0.000,3078,0.000,0.026,2410,1613,3311,3380,3243,0,0,0,0,0,0,24.85,24.77,24.87
$GC,4225,-1.13,-146.6,2409,1614,3379,3239,489.1,-10.1,381,4230,0.00,2.38,0.00,0.000,2308,0.000,0.049,2410,3053,3309,3379,3239,0,0,0,0,0,0,25.03,24.74,25.04
$GC,4255,-1.13,-146.6,2409,3053,3378,3238,489.1,-10.1,381,4259,0.00,2.35,0.00,0.000,3078,0.000,0.039,2410,1657,3308,3378,3238,0,0,0,0,0,0,24.79,24.75,24.82
$STATE,4345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4345,begin apogee
$GC,4350,-0.23,0.0,2409,1934,3377,3238,501.1,-9.8,384,4477,1.33,0.17,121.18,0.868,10246,0.092,0.068,2701,1828,2724,2783,2666,0,0,0,0,0,0,24.70,24.00,23.53
$STATE,4478,end apogee,CONTROL_FINISHED_OK
$STATE,4478,begin climb
$GC,4480,1.13,146.6,2700,1828,2782,2666,504.2,0.0,387,4617,1.83,2.47,126.53,0.842,10500,0.060,0.054,3118,3239,2126,2176,2076,0,0,0,0,0,0,24.15,23.99,23.51
$GC,4670,1.17,185.0,3118,3239,2174,2071,491.7,7.8,392,4711,0.08,2.33,34.55,0.809,11270,0.084,0.034,3150,1848,1969,2015,1924,0,0,0,0,0,0,24.33,24.30,23.53
$GC,4988,1.17,185.0,3150,1849,2014,1911,448.3,13.6,400,4990,0.00,0.00,0.00,0.000,2054,0.000,0.000,3150,1849,1963,2015,1911,0,0,0,0,0,0,24.70,24.71,24.70
$GC,5230,1.17,185.0,3149,1849,2014,1907,415.8,13.4,406,5235,0.00,2.53,0.00,0.000,2564,0.000,0.074,3150,423,1960,2014,1907,0,0,0,0,0,0,24.75,24.43,24.77
$GC,5250,1.17,185.0,3149,422,2014,1907,415.8,13.4,406,5255,0.00,2.33,0.00,0.000,3078,0.000,0.021,3150,1858,1959,2013,1906,0,0,0,0,0,0,24.58,24.51,24.60
$GC,5504,1.17,185.0,3150,1858,2014,1903,382.5,11.1,424,5513,0.00,0.00,0.00,0.000,2054,0.000,0.000,3150,1858,1958,2014,1903,0,0,0,0,0,0,24.80,24.82,24.82
$GC,5754,1.17,185.0,3149,1858,2014,1900,353.6,12.2,449,5763,0.00,2.47,0.00,0.000,2564,0.000,0.063,3151,426,1956,2014,1899,0,0,0,0,0,0,24.84,24.05,24.85
$GC,5778,1.17,185.0,3149,427,2014,1899,350.5,13.1,451,5787,0.00,2.30,0.00,0.000,1030,0.000,0.021,3150,1857,1957,2014,1900,0,0,0,0,0,0,24.65,24.60,24.66
$GC,6025,1.17,185.0,3149,1857,2014,1897,319.1,12.1,476,6029,0.00,2.25,0.00,0.000,2308,0.000,0.042,3150,3226,1955,2013,1897,0,0,0,0,0,0,24.87,24.57,24.87
$GC,6073,1.17,185.0,3149,3226,2013,1897,313.9,11.8,480,6083,0.00,2.33,0.00,0.000,1030,0.000,0.032,3150,1830,1955,2014,1897,0,0,0,0,0,0,24.64,24.60,24.66
$GC,6323,1.17,185.0,3149,1830,2014,1895,283.6,11.6,505,6329,0.00,0.00,0.00,0.000,2054,0.000,0.000,3150,1830,1954,2013,1895,0,0,0,0,0,0,24.89,24.90,24.90
$GC,6570,1.19,198.8,3149,1830,2014,1893,257.8,9.2,530,6583,0.00,0.00,10.75,0.663,10246,0.000,0.000,3150,1830,1913,1966,1861,0,0,0,0,0,0,24.91,24.34,23.92
$GC,6822,1.19,198.8,3150,1830,1965,1856,233.4,10.6,555,6827,0.00,2.40,0.00,0.000,2564,0.000,0.062,3150,438,1910,1965,1856,0,0,0,0,0,0,24.85,24.53,24.86
$GC,6848,1.19,198.8,3150,438,1963,1856,230.4,11.7,557,6856,0.00,2.25,0.00,0.000,3078,0.000,0.021,3150,1854,1909,1963,1856,0,0,0,0,0,0,24.69,24.63,24.70
$GC,7095,1.19,198.8,3149,1858,1963,1855,200.7,12.2,582,7108,0.00,2.22,0.00,0.000,2308,0.000,0.031,3150,3240,1909,1963,1855,0,0,0,0,0,0,24.89,24.63,24.89
$GC,7142,1.19,198.8,3150,3240,1963,1856,195.6,11.0,586,7154,0.00,2.28,0.00,0.000,3078,0.000,0.028,3150,1836,1909,1963,1855,0,0,0,0,0,0,24.71,24.63,24.72
$GC,7394,1.20,207.6,3150,1836,1963,1854,169.4,9.5,611,7416,0.00,2.35,9.02,0.574,10756,0.000,0.052,3150,442,1876,1928,1824,0,0,0,0,0,0,24.91,24.33,24.03
$GC,7485,1.20,207.6,3149,442,1928,1823,159.2,11.5,619,7489,0.00,2.20,0.00,0.000,3078,0.000,0.018,3150,1847,1876,1929,1823,0,0,0,0,0,0,24.65,24.60,24.66
$GC,7785,1.20,207.6,3149,1850,1929,1822,127.2,10.3,659,7793,0.00,0.00,0.00,0.000,2054,0.000,0.000,3150,1850,1875,1928,1822,0,0,0,0,0,0,24.89,24.89,24.89
$GC,8116,1.26,254.6,3150,1850,1928,1822,98.0,7.3,708,8169,0.05,2.28,43.60,0.565,10500,0.127,0.029,3177,3223,1684,1736,1632,0,0,0,0,0,0,24.71,24.03,23.78
$GC,8327,1.27,260.8,3176,3223,1736,1632,79.4,9.7,737,8346,0.00,2.28,6.68,0.450,11270,0.000,0.027,3176,1833,1661,1709,1613,0,0,0,0,0,0,24.55,24.51,24.02
$GC,8669,1.30,285.0,3176,1833,1709,1613,47.5,8.6,787,8695,0.00,0.00,23.98,0.503,10246,0.000,0.000,3176,1833,1562,1607,1518,0,0,0,0,0,0,24.83,24.19,23.88
$GC,9029,1.30,288.4,3176,1832,1607,1517,12.3,9.8,838,9040,0.00,2.28,4.68,0.356,10500,0.000,0.026,3176,3226,1547,1592,1502,0,0,0,0,0,0,24.83,24.49,24.16
$GC,9073,1.30,288.4,3176,3227,1592,1503,8.0,10.3,843,9083,0.00,2.25,0.00,0.000,3078,0.000,0.025,3177,1839,1547,1593,1502,0,0,0,0,0,0,24.58,24.55,24.60
$STATE,9120,end climb,SURFACE_DEPTH_REACHED
$STATE,9120,begin surface coast
$FINISH,0.1,0.997126
$STATE,9157,end surface coast,CONTROL_FINISHED_OK
$STATE,9158,begin surface
$SM_CCo,9177,42.00,0.467,0,0,1257,360.09
$SM_GC,0.99,11.38,0.30,42.00,0.037,0.048,0.467,431,1631,1257,-7.29,0.82,360.09,0,0,0,0,0,0,24.56,24.58,23.85
$IRIDIUM_FIX,2232.34,-15802.37,300920,001934
$TT8_MAMPS,0.020972,0.290612
$HUMID,56.18
$INTERNAL_PRESSURE,9.64279
$TCM_TEMP,24.00
$XPDR_PINGS,3
$24V_AH,23.51,29.522
$10V_AH,10.22,30.945
$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,25.125,78.425,380.950,42.000,0.000,27.719,49.123,247.030,0.750,0.000,28.127,2182.892,3391.704,520.310,3410.446,181.035,0.000,1408.471,0.000,3077.635,0.000,0.539,0.000
$DEVICE_MAMPS,148.410,80.325,867.510,467.415,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,576.954,608.468,2094.233,1694.789,1408.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,53.930,41.940,68.160,0.000,0.000,0.000,0.000,0.000
$MEM,339484
$DATA_FILE_SIZE,70585,854
$CAP_FILE_SIZE,128513,0
$CFSIZE,259248128,243187712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.138,78.99,1
$GPS,300920,053519,2244.514,-15759.853,19,0.9,56,9.8,0.4,79.8,8,5.8