version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 248
start: 10 3 120 7 0 54
data:
$ID,148
$MISSION,16
$DIVE,248
$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,41
$R_STBD_OVSHOOT,72
$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
$GPS1,031020,065336,2234.0632,-15809.4277,41,0.8,46,9.8,0.7,150.5,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-62.9
$GPS2,031020,070030,2234.0295,-15809.4150,14,0.8,26,9.8,0.6,132.9,9,9.7
$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,233.9,9703,-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,-146.6,426,1636,1289,1221,0.0,0.0,0,83,0.00,0.00,-65.03,0.000,16386,0.000,0.000,426,1637,3029,3077,2981,0,0,0,0,0,0,24.70,28.83,24.71
$GC,86,-1.01,-146.6,426,1637,3077,2982,3.3,-5.7,7,116,10.77,2.20,-5.25,0.000,18692,0.154,0.032,2444,3029,3325,3390,3261,0,0,0,0,0,0,24.32,23.81,24.40
$GC,277,-1.01,-146.6,2443,3029,3391,3263,46.0,-18.5,33,286,0.00,2.22,0.00,0.000,3078,0.000,0.026,2443,1652,3327,3391,3263,0,0,0,0,0,0,24.56,24.53,24.58
$GC,610,-1.01,-146.6,2443,1653,3391,3266,103.5,-14.5,82,619,0.00,2.20,0.00,0.000,2308,0.000,0.021,2443,3037,3328,3391,3266,0,0,0,0,0,0,24.84,24.60,24.85
$GC,635,-1.01,-146.6,2443,3037,3391,3266,107.3,-14.3,85,645,0.00,2.25,0.00,0.000,3078,0.000,0.024,2443,1635,3328,3391,3266,0,0,0,0,0,0,24.65,24.60,24.65
$GC,968,-1.01,-146.6,2443,1635,3391,3269,149.4,-13.7,134,978,0.00,2.33,0.00,0.000,2564,0.000,0.048,2443,258,3330,3391,3269,0,0,0,0,0,0,24.89,24.60,24.90
$GC,1089,-1.01,-146.6,2443,259,3391,3270,164.8,-11.8,145,1097,0.00,2.10,0.00,0.000,3078,0.000,0.015,2443,1679,3330,3391,3269,0,0,0,0,0,0,24.74,24.72,24.75
$GC,1335,-1.01,-146.6,2443,1680,3393,3270,192.2,-11.7,170,1337,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1680,3331,3393,3270,0,0,0,0,0,0,24.93,24.94,24.94
$GC,1574,-1.01,-146.6,2443,1680,3392,3270,217.3,-10.1,194,1587,0.00,2.08,0.00,0.000,2308,0.000,0.022,2443,3017,3331,3393,3270,0,0,0,0,0,0,24.95,24.70,24.96
$GC,1645,-1.01,-146.6,2443,3017,3393,3271,224.4,-10.0,200,1657,0.00,2.17,0.00,0.000,3078,0.000,0.025,2443,1641,3331,3393,3270,0,0,0,0,0,0,24.77,24.70,24.78
$GC,1897,-1.01,-146.6,2443,1641,3393,3270,249.7,-9.7,225,1907,0.00,2.30,0.00,0.000,2564,0.000,0.061,2443,258,3331,3393,3270,0,0,0,0,0,0,24.97,24.66,24.98
$GC,1992,-1.01,-146.6,2443,258,3393,3270,259.1,-9.9,233,1999,0.00,2.10,0.00,0.000,3078,0.000,0.018,2443,1641,3331,3393,3270,0,0,0,0,0,0,24.82,24.78,24.82
$GC,2239,-1.01,-146.6,2443,1643,3393,3270,282.2,-9.7,258,2252,0.00,2.38,0.00,0.000,2564,0.000,0.056,2443,254,3331,3393,3270,0,0,0,0,0,0,24.98,24.67,24.99
$GC,2309,-1.01,-146.6,2443,254,3393,3270,289.7,-10.9,264,2322,0.00,2.12,0.00,0.000,3078,0.000,0.018,2443,1628,3331,3393,3270,0,0,0,0,0,0,24.82,24.77,24.83
$GC,2564,-1.01,-146.6,2443,1630,3393,3269,312.4,-8.6,289,2572,0.00,2.22,0.00,0.000,2308,0.000,0.028,2443,3039,3331,3393,3269,0,0,0,0,0,0,24.99,24.73,25.01
$GC,2610,-1.01,-146.6,2443,3039,3393,3268,316.6,-8.7,293,2619,0.00,2.25,0.00,0.000,3078,0.000,0.031,2443,1651,3330,3393,3268,0,0,0,0,0,0,24.81,24.72,24.82
$GC,2857,-1.01,-146.6,2443,1651,3393,3266,338.6,-8.6,318,2859,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1651,3329,3393,3266,0,0,0,0,0,0,25.01,25.01,25.01
$GC,3097,-1.01,-146.6,2443,1649,3393,3262,359.3,-8.6,342,3099,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,1649,3327,3393,3262,0,0,0,0,0,0,25.01,25.02,25.02
$GC,3337,-1.01,-146.6,2443,1649,3393,3258,380.4,-8.6,366,3351,0.00,2.22,0.00,0.000,2308,0.000,0.030,2443,3032,3325,3393,3258,0,0,0,0,0,0,25.02,24.74,25.03
$GC,3378,-1.01,-146.6,2443,3032,3393,3257,383.6,-8.7,369,3386,0.00,2.30,0.00,0.000,3078,0.000,0.034,2443,1649,3325,3393,3257,0,0,0,0,0,0,24.78,24.75,24.83
$GC,3658,-1.01,-146.6,2443,1649,3393,3254,407.3,-8.5,391,3662,0.00,2.25,0.00,0.000,2308,0.000,0.032,2443,3033,3323,3393,3253,0,0,0,0,0,0,25.02,24.74,25.03
$GC,3699,-1.01,-146.6,2443,3033,3393,3253,411.1,-8.5,392,3704,0.00,2.25,0.00,0.000,3078,0.000,0.041,2443,1651,3323,3393,3253,0,0,0,0,0,0,24.84,24.74,24.85
$GC,3983,-1.01,-146.6,2443,1651,3393,3248,435.3,-8.5,399,3985,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1651,3320,3393,3248,0,0,0,0,0,0,25.03,25.03,25.03
$GC,4221,-1.01,-146.6,2443,1651,3393,3245,454.0,-7.7,405,4223,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,1651,3319,3393,3245,0,0,0,0,0,0,25.03,25.04,25.04
$GC,4463,-1.01,-146.6,2443,1651,3392,3241,472.4,-7.6,411,4469,0.00,2.25,0.00,0.000,2308,0.000,0.035,2444,3031,3317,3393,3241,0,0,0,0,0,0,25.04,24.75,25.05
$GC,4489,-1.01,-146.6,2443,3031,3392,3240,472.4,-7.6,411,4494,0.00,2.28,0.00,0.000,3078,0.000,0.043,2443,1647,3316,3393,3240,0,0,0,0,0,0,24.85,24.75,24.87
$GC,4743,-1.01,-146.6,2443,1647,3390,3238,493.7,-7.7,418,4748,0.00,2.25,0.00,0.000,2308,0.000,0.033,2444,3026,3314,3390,3239,0,0,0,0,0,0,25.04,24.75,25.05
$GC,4763,-1.01,-146.6,2443,3026,3389,3238,493.7,-7.7,418,4768,0.00,2.28,0.00,0.000,3078,0.000,0.037,2443,1647,3313,3389,3238,0,0,0,0,0,0,24.85,24.75,24.87
$STATE,4824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4824,begin apogee
$GC,4829,-0.23,0.0,2443,1893,3389,3238,500.5,-8.0,420,4957,1.15,0.10,123.28,0.881,10246,0.084,0.093,2700,1828,2723,2786,2661,0,0,0,0,0,0,24.72,23.99,23.51
$STATE,4958,end apogee,CONTROL_FINISHED_OK
$STATE,4958,begin climb
$GC,4960,1.01,146.6,2700,1828,2786,2659,504.0,0.0,423,5098,1.67,2.42,126.38,0.851,10500,0.063,0.052,3084,3212,2125,2175,2075,0,0,0,0,0,0,24.15,23.85,23.49
$GC,5133,1.01,146.6,3083,3212,2174,2071,498.6,4.8,427,5137,0.00,2.28,0.00,0.000,3078,0.000,0.034,3084,1855,2122,2174,2070,0,0,0,0,0,0,24.37,24.27,24.39
$GC,5380,1.04,167.0,3083,1855,2174,2062,473.5,9.1,433,5401,0.00,0.00,18.17,0.796,10246,0.000,0.000,3084,1855,2043,2096,1991,0,0,0,0,0,0,24.68,24.03,23.57
$GC,5620,1.04,171.6,3084,1855,2096,1982,450.1,9.8,439,5632,0.00,2.35,5.03,0.601,10500,0.000,0.037,3084,3218,2024,2081,1968,0,0,0,0,0,0,24.72,24.30,23.82
$GC,5649,1.05,176.2,3084,3218,2081,1968,450.1,9.8,439,5661,0.00,2.30,5.97,0.641,11270,0.000,0.042,3084,1839,2005,2062,1949,0,0,0,0,0,0,24.49,24.38,23.75
$GC,5902,1.05,176.2,3084,1839,2062,1943,421.8,10.2,446,5908,0.00,2.50,0.00,0.000,2564,0.000,0.076,3084,425,2002,2062,1943,0,0,0,0,0,0,24.76,24.44,24.77
$GC,5943,1.05,176.2,3084,425,2061,1943,417.3,10.5,447,5947,0.00,2.25,0.00,0.000,3078,0.000,0.021,3084,1824,2002,2061,1943,0,0,0,0,0,0,24.60,24.53,24.60
$GC,6194,1.06,187.9,3084,1825,2062,1941,392.2,9.5,457,6214,0.05,0.00,11.18,0.741,10246,0.126,0.000,3103,1825,1957,2011,1904,0,0,0,0,0,0,24.60,24.10,23.75
$GC,6454,1.10,220.0,3103,1825,2008,1902,368.9,8.6,483,6496,0.00,2.42,30.90,0.791,10500,0.000,0.049,3103,3224,1827,1879,1775,0,0,0,0,0,0,24.80,23.92,23.57
$GC,6531,1.12,233.8,3102,3224,1878,1775,361.6,9.4,490,6553,0.05,2.28,14.48,0.738,11270,0.081,0.037,3130,1836,1769,1817,1722,0,0,0,0,0,0,24.34,24.13,23.61
$GC,6790,1.12,233.8,3129,1836,1817,1715,330.8,12.1,516,6792,0.00,0.00,0.00,0.000,2054,0.000,0.000,3130,1837,1765,1817,1714,0,0,0,0,0,0,24.75,24.76,24.75
$GC,7030,1.12,233.8,3129,1836,1817,1712,303.6,10.3,540,7032,0.00,0.00,0.00,0.000,2054,0.000,0.000,3130,1836,1764,1817,1712,0,0,0,0,0,0,24.79,24.80,24.80
$GC,7270,1.12,233.8,3129,1836,1817,1710,275.0,12.8,564,7272,0.00,0.00,0.00,0.000,2054,0.000,0.000,3130,1836,1763,1817,1710,0,0,0,0,0,0,24.83,24.84,24.84
$GC,7510,1.12,233.8,3129,1836,1817,1707,247.7,11.5,588,7512,0.00,0.00,0.00,0.000,2054,0.000,0.000,3130,1836,1762,1817,1707,0,0,0,0,0,0,24.86,24.87,24.87
$GC,7750,1.12,233.8,3130,1836,1817,1705,218.7,12.5,612,7763,0.00,2.40,0.00,0.000,2564,0.000,0.060,3130,430,1761,1817,1705,0,0,0,0,0,0,24.88,24.56,24.89
$GC,7813,1.12,233.8,3129,430,1817,1704,211.4,12.6,617,7820,0.00,2.28,0.00,0.000,3078,0.000,0.020,3130,1874,1760,1817,1704,0,0,0,0,0,0,24.72,24.67,24.73
$GC,8060,1.12,233.8,3129,1877,1817,1703,185.0,10.6,642,8064,0.00,2.17,0.00,0.000,2308,0.000,0.031,3130,3234,1760,1817,1703,0,0,0,0,0,0,24.90,24.64,24.91
$GC,8133,1.12,233.8,3129,3234,1817,1703,177.1,10.9,648,8137,0.00,2.25,0.00,0.000,3078,0.000,0.028,3130,1834,1760,1817,1703,0,0,0,0,0,0,24.68,24.23,24.71
$GC,8388,1.13,246.3,3129,1834,1816,1701,151.8,9.5,673,8408,0.00,2.33,10.57,0.584,10500,0.000,0.028,3130,3235,1718,1771,1665,0,0,0,0,0,0,24.91,24.29,23.99
$GC,8477,1.13,246.3,3129,3235,1771,1665,142.4,10.8,685,8487,0.00,2.30,0.00,0.000,3078,0.000,0.028,3130,1836,1718,1771,1665,0,0,0,0,0,0,24.59,24.56,24.62
$GC,8811,1.22,313.1,3129,1836,1772,1664,109.8,7.0,734,8882,0.08,2.40,62.20,0.584,10756,0.091,0.050,3161,434,1447,1491,1404,0,0,0,0,0,0,24.67,23.99,23.72
$GC,9053,1.22,313.1,3161,434,1491,1402,80.3,14.5,767,9062,0.00,2.25,0.00,0.000,3078,0.000,0.018,3161,1850,1446,1491,1401,0,0,0,0,0,0,24.54,24.53,24.56
$GC,9387,1.26,345.7,3160,1852,1491,1400,46.9,8.5,816,9423,0.00,2.28,30.60,0.507,10500,0.000,0.028,3161,3233,1313,1358,1268,0,0,0,0,0,0,24.81,24.15,23.82
$GC,9500,1.26,345.7,3160,3232,1358,1265,35.8,10.8,831,9510,0.00,2.28,0.00,0.000,3078,0.000,0.026,3161,1839,1311,1359,1264,0,0,0,0,0,0,24.51,24.46,24.51
$STATE,9821,end climb,SURFACE_DEPTH_REACHED
$STATE,9821,begin surface coast
$FINISH,0.1,1.002178
$STATE,9867,end surface coast,CONTROL_FINISHED_OK
$STATE,9867,begin surface
$SM_CCo,9887,8.77,0.418,0,0,1256,360.09
$SM_GC,0.82,11.23,0.30,8.77,0.033,0.047,0.418,430,1628,1256,-7.28,0.82,360.09,0,0,0,0,0,0,24.56,24.58,24.07
$IRIDIUM_FIX,2225.34,-15806.28,031020,035542
$TT8_MAMPS,0.021721,0.234437
$HUMID,58.07
$INTERNAL_PRESSURE,9.64279
$TCM_TEMP,23.90
$XPDR_PINGS,7
$24V_AH,23.49,32.778
$10V_AH,10.26,34.392
$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,25.000,91.400,438.750,8.775,0.000,24.110,49.119,213.702,1.750,0.000,27.044,2256.907,3841.386,529.757,3505.153,178.657,0.000,1481.027,0.000,3196.677,0.000,0.539,0.000
$DEVICE_MAMPS,153.765,93.330,880.515,417.690,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,596.127,620.159,2131.279,1702.435,1432.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,53.930,41.940,68.160,0.000,0.000,0.000,0.000,0.000
$MEM,338824
$DATA_FILE_SIZE,70511,882
$CAP_FILE_SIZE,136915,0
$CFSIZE,259248128,241790976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.064,70.74,1
$GPS,031020,094719,2233.607,-15810.261,20,0.9,54,9.8,0.6,192.0,8,9.2