version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 246
start: 10 3 120 1 6 25
data:
$ID,148
$MISSION,16
$DIVE,246
$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,34
$R_STBD_OVSHOOT,65
$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
$GPS1,031020,005909,2235.0759,-15808.1113,46,0.8,54,9.8,0.4,174.3,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.3
$GPS2,031020,010601,2235.0723,-15808.0918,6,0.8,20,9.8,0.0,0.0,11,9.8
$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,229.9,12640,-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,-146.6,428,1636,1288,1223,0.0,0.0,0,82,0.00,0.00,-63.72,0.000,16386,0.000,0.000,428,1636,2954,3004,2904,0,0,0,0,0,0,24.70,28.83,24.71
$GC,85,-1.01,-146.6,428,1636,3004,2905,3.0,-5.8,9,110,10.90,2.35,-6.88,0.000,18948,0.158,0.057,2442,242,3324,3392,3257,0,0,0,0,0,0,24.31,24.08,24.39
$GC,430,-1.01,-146.6,2442,242,3392,3261,79.7,-20.0,73,438,0.00,2.20,0.00,0.000,3078,0.000,0.015,2442,1669,3326,3392,3261,0,0,0,0,0,0,24.65,24.63,24.65
$GC,758,-1.01,-146.6,2442,1671,3392,3264,127.7,-14.3,122,768,0.00,2.42,0.00,0.000,2564,0.000,0.046,2442,246,3328,3392,3264,0,0,0,0,0,0,24.87,24.57,24.87
$GC,870,-1.01,-146.6,2442,246,3392,3265,145.5,-14.5,138,880,0.00,2.17,0.00,0.000,3078,0.000,0.016,2442,1685,3328,3392,3265,0,0,0,0,0,0,24.72,24.71,24.72
$GC,1129,-1.01,-146.6,2442,1685,3392,3267,175.1,-10.6,165,1138,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1685,3329,3392,3266,0,0,0,0,0,0,24.91,24.92,24.92
$GC,1379,-1.01,-146.6,2442,1685,3392,3267,201.5,-10.7,190,1388,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1685,3329,3392,3267,0,0,0,0,0,0,24.94,24.95,24.94
$GC,1629,-1.01,-146.6,2441,1685,3392,3268,227.7,-10.1,215,1638,0.00,2.40,0.00,0.000,2564,0.000,0.048,2442,247,3330,3392,3268,0,0,0,0,0,0,24.96,24.65,24.96
$GC,1685,-1.01,-146.6,2442,246,3392,3268,234.1,-11.5,220,1690,0.00,2.08,0.00,0.000,3078,0.000,0.017,2442,1616,3330,3392,3268,0,0,0,0,0,0,24.80,24.77,24.81
$GC,1939,-1.01,-146.6,2442,1618,3392,3268,257.1,-8.8,245,1948,0.00,2.17,0.00,0.000,2308,0.000,0.023,2442,3021,3330,3392,3268,0,0,0,0,0,0,24.97,24.72,24.98
$GC,2062,-1.01,-146.6,2442,3021,3392,3268,267.9,-9.2,256,2066,0.00,2.17,0.00,0.000,3078,0.000,0.028,2442,1649,3329,3392,3267,0,0,0,0,0,0,24.79,24.72,24.82
$GC,2316,-1.01,-146.6,2442,1649,3392,3268,291.5,-8.9,281,2324,0.00,2.35,0.00,0.000,2564,0.000,0.059,2442,257,3330,3392,3268,0,0,0,0,0,0,24.99,24.68,25.00
$GC,2419,-1.01,-146.6,2441,257,3392,3268,301.8,-10.5,290,2427,0.00,2.17,0.00,0.000,3078,0.000,0.018,2442,1631,3330,3392,3268,0,0,0,0,0,0,24.80,24.77,24.82
$GC,2668,-1.01,-146.6,2442,1633,3392,3267,325.1,-9.4,315,2676,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1633,3329,3392,3266,0,0,0,0,0,0,25.01,25.01,25.01
$GC,2917,-1.01,-146.6,2442,1636,3392,3263,349.2,-9.8,340,2928,0.00,2.22,0.00,0.000,2308,0.000,0.028,2442,3034,3327,3392,3263,0,0,0,0,0,0,25.01,24.75,25.02
$GC,2956,-1.01,-146.6,2442,3034,3392,3263,352.7,-9.7,343,2965,0.00,2.20,0.00,0.000,3078,0.000,0.031,2442,1659,3327,3392,3263,0,0,0,0,0,0,24.79,24.75,24.80
$GC,3202,-1.01,-146.6,2442,1660,3392,3260,376.4,-9.2,368,3204,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1659,3326,3392,3260,0,0,0,0,0,0,25.02,25.03,25.03
$GC,3442,-1.01,-146.6,2442,1660,3392,3257,397.7,-8.3,392,3454,0.00,2.22,0.00,0.000,2308,0.000,0.030,2442,3036,3324,3392,3256,0,0,0,0,0,0,25.03,24.75,25.03
$GC,3494,-1.01,-146.6,2442,3037,3392,3256,401.5,-8.1,396,3499,0.00,2.25,0.00,0.000,3078,0.000,0.033,2442,1652,3323,3392,3255,0,0,0,0,0,0,24.84,24.75,24.85
$GC,3771,-1.01,-146.6,2442,1652,3392,3252,424.3,-8.1,403,3774,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1652,3321,3392,3251,0,0,0,0,0,0,25.03,25.04,25.04
$GC,4011,-1.01,-146.6,2442,1652,3392,3247,444.8,-8.7,409,4014,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1652,3319,3392,3247,0,0,0,0,0,0,25.03,25.05,25.04
$GC,4252,-1.01,-146.6,2442,1652,3391,3244,466.2,-8.9,415,4254,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1652,3317,3392,3243,0,0,0,0,0,0,25.04,25.06,25.05
$GC,4494,-1.01,-146.6,2442,1652,3392,3240,487.9,-9.0,421,4496,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1652,3315,3392,3239,0,0,0,0,0,0,25.05,25.06,25.06
$STATE,4650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4651,begin apogee
$GC,4655,-0.23,0.0,2442,1914,3392,3237,501.6,-8.6,425,4784,1.15,0.15,123.38,0.868,10246,0.083,0.073,2700,1824,2724,2787,2661,0,0,0,0,0,0,24.73,24.00,23.52
$STATE,4785,end apogee,CONTROL_FINISHED_OK
$STATE,4785,begin climb
$GC,4787,1.01,146.6,2699,1824,2787,2659,504.7,0.0,428,4920,1.67,0.00,126.90,0.844,10502,0.061,0.000,3085,1824,2125,2173,2078,0,0,0,0,0,0,24.17,23.96,23.49
$GC,5131,1.02,156.2,3085,1824,2172,2065,479.4,9.6,437,5147,0.00,2.53,8.95,0.715,10756,0.000,0.079,3086,445,2086,2140,2033,0,0,0,0,0,0,24.66,24.04,23.68
$GC,5171,1.04,166.4,3085,445,2139,2032,475.4,9.6,438,5188,0.00,2.25,10.80,0.734,11270,0.000,0.028,3085,1832,2044,2099,1989,0,0,0,0,0,0,24.46,24.39,23.63
$GC,5451,1.06,185.2,3085,1832,2098,1980,448.8,9.2,445,5472,0.05,0.00,17.23,0.779,10246,0.127,0.000,3107,1832,1968,2020,1917,0,0,0,0,0,0,24.53,24.07,23.61
$GC,5693,1.06,185.2,3106,1832,2020,1911,424.7,10.2,451,5695,0.00,0.00,0.00,0.000,2054,0.000,0.000,3107,1832,1965,2019,1911,0,0,0,0,0,0,24.75,24.76,24.75
$GC,5931,1.06,185.2,3106,1832,2018,1909,400.3,10.3,457,5933,0.00,0.00,0.00,0.000,2054,0.000,0.000,3107,1832,1963,2018,1909,0,0,0,0,0,0,24.79,24.81,24.80
$GC,6174,1.06,185.2,3107,1832,2018,1907,375.3,10.4,478,6185,0.00,2.30,0.00,0.000,2308,0.000,0.043,3107,3221,1962,2017,1907,0,0,0,0,0,0,24.83,24.54,24.84
$GC,6197,1.06,185.2,3106,3221,2017,1907,372.5,10.6,480,6210,0.00,2.25,0.00,0.000,3078,0.000,0.029,3107,1846,1962,2017,1907,0,0,0,0,0,0,24.65,24.57,24.67
$GC,6451,1.07,194.8,3106,1846,2017,1905,347.5,9.6,505,6469,0.00,0.00,9.15,0.698,10246,0.000,0.000,3107,1846,1928,1983,1874,0,0,0,0,0,0,24.86,24.31,23.85
$GC,6711,1.07,194.8,3106,1846,1983,1871,321.5,10.7,531,6720,0.00,2.25,0.00,0.000,2308,0.000,0.031,3107,3231,1926,1983,1870,0,0,0,0,0,0,24.84,24.58,24.84
$GC,6767,1.07,194.8,3106,3231,1983,1870,315.3,10.5,536,6771,0.00,2.28,0.00,0.000,3078,0.000,0.031,3107,1840,1927,1983,1871,0,0,0,0,0,0,24.67,24.58,24.68
$GC,7022,1.07,194.8,3106,1840,1983,1869,288.7,10.5,561,7032,0.00,2.40,0.00,0.000,2564,0.000,0.063,3107,440,1926,1983,1869,0,0,0,0,0,0,24.88,24.56,24.89
$GC,7068,1.07,194.8,3106,440,1983,1869,283.4,11.5,565,7077,0.00,2.22,0.00,0.000,3078,0.000,0.021,3107,1856,1925,1983,1868,0,0,0,0,0,0,24.68,24.66,24.70
$GC,7315,1.08,198.5,3106,1858,1983,1867,256.7,9.9,590,7328,0.00,2.50,4.28,0.505,10756,0.000,0.057,3107,440,1913,1970,1856,0,0,0,0,0,0,24.90,24.41,24.07
$GC,7409,1.08,198.5,3106,440,1970,1856,247.2,10.5,598,7419,0.00,2.28,0.00,0.000,3078,0.000,0.021,3107,1849,1913,1970,1856,0,0,0,0,0,0,24.67,24.65,24.69
$GC,7659,1.12,233.3,3107,1852,1970,1854,226.3,8.4,623,7700,0.00,2.28,33.17,0.698,10500,0.000,0.029,3107,3227,1771,1823,1720,0,0,0,0,0,0,24.89,23.98,23.66
$GC,7725,1.13,242.4,3107,3227,1823,1720,220.2,9.6,629,7747,0.05,2.30,9.62,0.610,11270,0.085,0.029,3134,1835,1735,1783,1687,0,0,0,0,0,0,24.35,24.38,23.76
$GC,7987,1.13,242.4,3133,1835,1783,1683,186.5,12.5,655,7996,0.00,2.35,0.00,0.000,2564,0.000,0.054,3134,440,1733,1783,1683,0,0,0,0,0,0,24.77,24.48,24.78
$GC,8023,1.13,242.4,3132,440,1782,1682,182.0,12.3,658,8032,0.00,2.25,0.00,0.000,3078,0.000,0.020,3133,1838,1731,1781,1682,0,0,0,0,0,0,24.59,24.58,24.60
$GC,8272,1.13,242.4,3133,1841,1782,1682,153.9,10.5,683,8280,0.00,2.20,0.00,0.000,2308,0.000,0.031,3134,3221,1731,1782,1681,0,0,0,0,0,0,24.83,24.57,24.84
$GC,8365,1.13,242.4,3133,3221,1782,1682,143.9,10.7,694,8375,0.00,2.28,0.00,0.000,3078,0.000,0.028,3133,1834,1732,1782,1682,0,0,0,0,0,0,24.63,24.60,24.65
$GC,8698,1.18,281.0,3133,1834,1782,1680,113.0,8.3,743,8742,0.00,2.42,35.88,0.583,10756,0.000,0.050,3134,443,1577,1623,1532,0,0,0,0,0,0,24.88,24.02,23.75
$GC,8793,1.18,281.0,3133,443,1623,1531,103.8,11.0,755,8802,0.00,2.25,0.00,0.000,3078,0.000,0.018,3134,1853,1577,1623,1531,0,0,0,0,0,0,24.51,24.50,24.51
$GC,9124,1.25,341.0,3133,1857,1623,1529,75.7,7.3,804,9188,0.10,2.22,55.55,0.539,10500,0.080,0.028,3175,3219,1332,1376,1288,0,0,0,0,0,0,24.59,24.01,23.75
$GC,9291,1.25,341.0,3174,3219,1377,1284,58.6,11.3,826,9301,0.00,2.28,0.00,0.000,1030,0.000,0.027,3175,1831,1330,1376,1284,0,0,0,0,0,0,24.49,24.46,24.51
$GC,9627,1.25,341.0,3174,1831,1376,1283,21.8,11.4,875,9637,0.00,2.38,0.00,0.000,2564,0.000,0.048,3175,432,1329,1376,1283,0,0,0,0,0,0,24.80,24.51,24.81
$GC,9659,1.25,341.0,3174,432,1377,1283,17.6,12.3,880,9667,0.00,2.22,0.00,0.000,3078,0.000,0.016,3175,1852,1329,1376,1283,0,0,0,0,0,0,24.60,24.59,24.63
$STATE,9788,end climb,SURFACE_DEPTH_REACHED
$STATE,9789,begin surface coast
$FINISH,0.1,1.021895
$STATE,9821,end surface coast,CONTROL_FINISHED_OK
$STATE,9821,begin surface
$SM_CCo,9840,12.27,0.438,0,0,1256,360.09
$SM_GC,0.77,11.30,0.32,12.27,0.033,0.037,0.438,426,1617,1256,-7.30,0.99,360.09,0,0,0,0,0,0,24.57,24.62,24.03
$IRIDIUM_FIX,2223.01,-15809.31,021020,220630
$TT8_MAMPS,0.021721,0.301098
$HUMID,58.23
$INTERNAL_PRESSURE,9.64279
$TCM_TEMP,24.00
$XPDR_PINGS,3
$24V_AH,23.49,32.553
$10V_AH,10.22,34.073
$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,25.225,82.825,434.900,12.275,0.000,31.633,44.879,215.909,0.750,0.000,21.181,2291.934,3875.277,556.107,3359.268,184.509,0.000,1485.229,0.000,3059.888,0.000,0.540,0.000
$DEVICE_MAMPS,158.355,78.795,868.275,438.345,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,612.386,635.400,1936.389,1621.233,1338.859,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,53.930,41.940,68.160,0.000,0.000,0.000,0.000,0.000
$MEM,338796
$DATA_FILE_SIZE,74072,908
$CAP_FILE_SIZE,130443,0
$CFSIZE,259248128,241934336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.093,33.73,1
$GPS,031020,035201,2234.785,-15808.931,21,0.8,48,9.8,0.0,339.0,9,8.3