version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 237
start: 10 1 120 2 15 0
data:
$ID,148
$MISSION,16
$DIVE,237
$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,43
$R_STBD_OVSHOOT,62
$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
$GPS1,011020,020733,2241.0400,-15803.9609,24,0.8,42,9.8,0.5,109.3,11,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.2
$GPS2,011020,021437,2241.0435,-15803.9248,13,0.8,25,9.8,0.5,7.6,11,10.0
$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,214.2,25188,-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,-146.6,429,1625,1292,1219,0.0,0.0,0,84,0.00,0.00,-66.05,0.000,16386,0.000,0.000,430,1626,3069,3118,3020,0,0,0,0,0,0,24.70,28.83,24.72
$GC,87,-1.01,-146.6,429,1626,3118,3022,3.2,-5.8,7,108,10.70,2.28,-4.50,0.000,18692,0.151,0.032,2444,3044,3326,3391,3262,0,0,0,0,0,0,24.33,23.84,24.41
$GC,146,-1.01,-146.6,2443,3045,3391,3265,21.3,-20.8,14,156,0.00,2.25,0.00,0.000,3078,0.000,0.026,2444,1658,3328,3391,3265,0,0,0,0,0,0,24.52,24.48,24.53
$GC,481,-1.01,-146.6,2443,1658,3391,3267,83.3,-16.6,63,490,0.00,2.20,0.00,0.000,2308,0.000,0.023,2443,3036,3329,3391,3267,0,0,0,0,0,0,24.82,24.58,24.83
$GC,534,-1.01,-146.6,2443,3036,3392,3268,91.2,-13.8,70,544,0.00,2.22,0.00,0.000,3078,0.000,0.025,2444,1650,3330,3392,3268,0,0,0,0,0,0,24.62,24.60,24.63
$GC,866,-1.01,-146.6,2442,1650,3393,3270,133.2,-10.4,119,875,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1650,3331,3393,3270,0,0,0,0,0,0,24.89,24.89,24.89
$GC,1153,-1.01,-146.6,2443,1650,3394,3270,166.4,-11.9,154,1162,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1650,3332,3394,3271,0,0,0,0,0,0,24.91,24.93,24.92
$GC,1403,-1.01,-146.6,2443,1650,3395,3272,192.4,-9.9,179,1409,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1650,3333,3395,3272,0,0,0,0,0,0,24.94,24.94,24.94
$GC,1650,-1.01,-146.6,2443,1650,3395,3272,217.3,-10.4,204,1663,0.00,2.17,0.00,0.000,2308,0.000,0.021,2443,3043,3333,3395,3272,0,0,0,0,0,0,24.96,24.71,24.96
$GC,1678,-1.01,-146.6,2444,3043,3395,3272,220.0,-10.4,206,1689,0.00,2.20,0.00,0.000,3078,0.000,0.025,2444,1641,3333,3395,3272,0,0,0,0,0,0,24.74,24.70,24.76
$GC,1929,-1.01,-146.6,2443,1640,3395,3272,245.2,-10.0,231,1937,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,1640,3333,3395,3272,0,0,0,0,0,0,24.97,24.98,24.98
$GC,2178,-1.01,-146.6,2443,1640,3395,3272,267.7,-8.9,256,2187,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1640,3333,3395,3272,0,0,0,0,0,0,24.98,24.99,24.99
$GC,2429,-1.01,-146.6,2443,1640,3395,3272,289.6,-8.5,281,2435,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1640,3333,3395,3272,0,0,0,0,0,0,24.99,25.00,25.00
$GC,2677,-1.01,-146.6,2443,1640,3394,3270,311.3,-8.6,306,2681,0.00,2.22,0.00,0.000,2308,0.000,0.026,2444,3037,3332,3395,3270,0,0,0,0,0,0,25.01,24.74,25.01
$GC,2704,-1.01,-146.6,2443,3037,3395,3269,313.2,-8.6,308,2713,0.00,2.28,0.00,0.000,3078,0.000,0.030,2444,1654,3332,3395,3270,0,0,0,0,0,0,24.77,24.72,24.79
$GC,2952,-1.01,-146.6,2443,1654,3395,3268,334.1,-7.9,333,2962,0.00,2.17,0.00,0.000,2308,0.000,0.028,2444,3023,3331,3395,3268,0,0,0,0,0,0,25.01,24.74,25.01
$GC,2977,-1.01,-146.6,2443,3023,3395,3267,336.0,-7.7,335,2986,0.00,2.25,0.00,0.000,3078,0.000,0.031,2444,1639,3331,3395,3267,0,0,0,0,0,0,24.82,24.74,24.84
$GC,3225,-1.01,-146.6,2443,1639,3395,3265,355.5,-7.8,360,3227,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,1639,3330,3395,3265,0,0,0,0,0,0,25.01,25.02,25.02
$GC,3464,-1.01,-146.6,2443,1639,3395,3262,374.5,-8.1,384,3469,0.00,2.25,0.00,0.000,2308,0.000,0.033,2443,3030,3328,3395,3262,0,0,0,0,0,0,25.02,24.74,25.03
$GC,3511,-1.01,-146.6,2443,3030,3395,3261,378.1,-8.2,388,3515,0.00,2.25,0.00,0.000,3078,0.000,0.033,2443,1644,3328,3395,3261,0,0,0,0,0,0,24.83,24.75,24.84
$GC,3765,-1.01,-146.6,2443,1644,3395,3257,398.5,-8.0,413,3771,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,1644,3326,3395,3257,0,0,0,0,0,0,25.02,25.03,25.03
$GC,4025,-1.01,-146.6,2443,1641,3394,3254,420.6,-8.7,421,4030,0.00,2.22,0.00,0.000,2308,0.000,0.032,2443,3022,3323,3394,3253,0,0,0,0,0,0,25.03,24.75,25.04
$GC,4066,-1.01,-146.6,2443,3022,3394,3253,424.0,-8.7,422,4070,0.00,2.25,0.00,0.000,3078,0.000,0.034,2444,1643,3323,3394,3253,0,0,0,0,0,0,24.84,24.75,24.85
$GC,4338,-1.01,-146.6,2443,1643,3394,3249,446.2,-7.8,429,4340,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,1644,3321,3394,3249,0,0,0,0,0,0,25.03,25.04,25.04
$GC,4578,-1.01,-146.6,2443,1644,3394,3246,463.1,-6.9,435,4584,0.00,2.25,0.00,0.000,2308,0.000,0.034,2444,3021,3320,3394,3246,0,0,0,0,0,0,25.04,24.75,25.04
$GC,4621,-1.01,-146.6,2443,3021,3393,3245,465.7,-6.7,436,4626,0.00,2.22,0.00,0.000,3078,0.000,0.036,2444,1653,3319,3394,3245,0,0,0,0,0,0,24.81,24.75,24.82
$GC,4899,-1.01,-146.6,2443,1654,3391,3243,487.1,-8.0,443,4906,0.00,2.25,0.00,0.000,2308,0.000,0.034,2444,3031,3317,3392,3243,0,0,0,0,0,0,25.03,24.75,25.04
$GC,4916,-1.01,-146.6,2443,3031,3391,3243,487.1,-8.0,443,4921,0.00,2.28,0.00,0.000,3078,0.000,0.037,2443,1651,3316,3390,3243,0,0,0,0,0,0,24.85,24.75,24.86
$STATE,5052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5052,begin apogee
$GC,5057,-0.23,0.0,2443,1895,3389,3242,500.6,-8.7,447,5186,1.15,0.10,123.05,0.877,10246,0.082,0.092,2701,1827,2724,2786,2662,0,0,0,0,0,0,24.72,23.99,23.53
$STATE,5187,end apogee,CONTROL_FINISHED_OK
$STATE,5187,begin climb
$GC,5188,1.01,146.6,2701,1828,2785,2661,504.9,0.0,450,5324,1.73,2.45,125.93,0.853,10500,0.062,0.056,3095,3211,2125,2175,2076,0,0,0,0,0,0,24.15,23.86,23.51
$GC,5377,1.12,236.1,3094,3211,2173,2071,496.2,5.9,455,5465,0.10,2.28,80.88,0.835,11270,0.074,0.035,3134,1853,1759,1794,1725,0,0,0,0,0,0,24.33,24.30,23.51
$GC,5733,1.12,236.1,3134,1853,1793,1712,444.8,15.1,464,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1853,1752,1793,1712,0,0,0,0,0,0,24.66,24.69,24.68
$GC,5972,1.12,236.1,3134,1853,1793,1709,410.7,13.9,470,5976,0.00,2.53,0.00,0.000,516,0.000,0.076,3134,433,1750,1793,1708,0,0,0,0,0,0,24.72,24.41,24.75
$GC,5997,1.12,236.1,3134,433,1793,1707,410.7,13.9,470,6002,0.00,2.25,0.00,0.000,1030,0.000,0.021,3134,1820,1750,1793,1707,0,0,0,0,0,0,24.56,24.50,24.58
$GC,6249,1.12,236.1,3134,1820,1793,1704,373.9,12.9,492,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1820,1748,1793,1704,0,0,0,0,0,0,24.77,24.79,24.79
$GC,6490,1.12,236.1,3134,1820,1793,1700,340.7,14.2,516,6495,0.00,2.35,0.00,0.000,260,0.000,0.044,3134,3233,1746,1793,1700,0,0,0,0,0,0,24.81,24.53,24.82
$GC,6517,1.12,236.1,3134,3233,1793,1700,337.2,13.8,518,6526,0.00,2.35,0.00,0.000,1030,0.000,0.031,3134,1828,1746,1793,1700,0,0,0,0,0,0,24.60,24.56,24.63
$GC,6768,1.12,236.1,3133,1828,1793,1698,303.6,13.3,543,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1828,1745,1793,1698,0,0,0,0,0,0,24.83,24.86,24.86
$GC,7015,1.12,236.1,3134,1828,1793,1694,271.7,12.4,568,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1828,1744,1793,1695,0,0,0,0,0,0,24.86,24.88,24.88
$GC,7255,1.12,236.1,3134,1828,1793,1693,243.4,11.5,592,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1828,1743,1793,1693,0,0,0,0,0,0,24.87,24.90,24.89
$GC,7495,1.12,236.1,3134,1828,1793,1691,215.0,12.5,616,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1828,1741,1793,1690,0,0,0,0,0,0,24.89,24.91,24.91
$GC,7735,1.12,236.1,3134,1828,1793,1689,184.5,12.5,640,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1828,1740,1792,1689,0,0,0,0,0,0,24.90,24.92,24.91
$GC,7975,1.12,236.1,3134,1828,1793,1688,157.5,11.4,664,7987,0.00,2.33,0.00,0.000,516,0.000,0.054,3134,435,1740,1793,1687,0,0,0,0,0,0,24.91,24.63,24.93
$GC,8013,1.12,236.1,3134,435,1792,1687,153.4,11.8,667,8022,0.00,2.20,0.00,0.000,1030,0.000,0.019,3134,1862,1739,1792,1687,0,0,0,0,0,0,24.73,24.71,24.75
$GC,8335,1.12,236.1,3134,1865,1792,1687,119.9,10.5,714,8344,0.00,2.20,0.00,0.000,260,0.000,0.031,3134,3225,1740,1793,1687,0,0,0,0,0,0,24.92,24.68,24.94
$GC,8447,1.12,236.1,3134,3226,1793,1687,108.3,10.2,730,8457,0.00,2.28,0.00,0.000,1030,0.000,0.028,3134,1826,1740,1793,1687,0,0,0,0,0,0,24.72,24.68,24.74
$GC,8780,1.19,290.0,3134,1826,1792,1687,79.6,7.6,779,8834,0.00,2.38,46.60,0.549,10756,0.000,0.049,3134,432,1540,1587,1494,0,0,0,0,0,0,24.94,24.04,23.79
$GC,8877,1.19,290.0,3134,432,1587,1493,71.0,10.2,791,8886,0.00,2.25,0.00,0.000,3078,0.000,0.018,3134,1856,1539,1587,1492,0,0,0,0,0,0,24.50,24.48,24.51
$GC,9208,1.24,328.2,3134,1860,1587,1491,41.7,8.3,840,9253,0.10,0.00,35.83,0.504,10758,0.084,0.000,3174,1859,1386,1431,1341,0,0,0,0,0,0,24.60,24.06,23.82
$STATE,9563,end climb,SURFACE_DEPTH_REACHED
$STATE,9563,begin surface coast
$FINISH,0.1,0.997579
$STATE,9602,end surface coast,CONTROL_FINISHED_OK
$STATE,9602,begin surface
$SM_CCo,9622,18.40,0.453,0,0,1256,360.09
$SM_GC,1.15,11.40,0.35,18.40,0.038,0.046,0.453,432,1630,1256,-7.29,0.74,360.09,0,0,0,0,0,0,24.54,24.57,23.95
$IRIDIUM_FIX,2230.01,-15803.24,300920,231002
$TT8_MAMPS,0.021721,0.236684
$HUMID,57.16
$INTERNAL_PRESSURE,9.64279
$TCM_TEMP,24.10
$XPDR_PINGS,3
$24V_AH,23.51,30.410
$10V_AH,10.29,32.224
$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,25.175,68.775,412.275,18.400,0.000,32.885,45.698,221.281,0.750,0.000,26.976,2274.495,3578.141,504.641,3529.239,180.422,0.000,1412.434,0.000,3215.016,0.000,0.539,0.000
$DEVICE_MAMPS,150.705,91.800,877.455,452.880,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,604.877,634.844,2198.262,1776.718,1464.167,0.000,0.000,0.000,0.000,0.000
$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,74058,894
$CAP_FILE_SIZE,130162,0
$CFSIZE,259248128,242630656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.104,42.66,1
$GPS,011020,045702,2240.570,-15804.599,22,1.0,46,9.8,0.5,25.2,8,9.6