version: 66.12 revision: eAGLERAY glider: 148 mission: 16 dive: 202 start: 9 26 120 19 58 42 data: $ID,148 $MISSION,16 $DIVE,202 $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,35 $R_STBD_OVSHOOT,75 $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 $GPS1,260920,195131,2239.9514,-15804.9053,20,0.8,54,9.8,0.3,66.5,10,6.3 $_CALLS,1 $_XMS_NAKs,0 $_XMS_TOUTs,0 $_SM_DEPTHo,1.03 $_SM_ANGLEo,-62.7 $GPS2,260920,195819,2239.9749,-15804.8877,12,0.9,25,9.8,0.0,7.2,9,9.9 $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,214.7,22625,-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,-146.6,414,1633,1289,1217,0.0,0.0,0,84,0.00,0.00,-65.88,0.000,16386,0.000,0.000,414,1633,3043,3090,2997,0,0,0,0,0,0,24.70,28.83,24.72 $GC,87,-1.01,-146.6,414,1633,3090,2998,3.2,-5.2,7,117,11.23,2.35,-5.03,0.000,18948,0.161,0.057,2443,250,3326,3391,3261,0,0,0,0,0,0,24.31,23.82,24.39 $GC,263,-1.01,-146.6,2442,250,3391,3263,46.0,-21.0,30,273,0.00,2.17,0.00,0.000,3078,0.000,0.015,2443,1667,3327,3391,3263,0,0,0,0,0,0,24.61,24.60,24.62 $GC,615,-1.01,-146.6,2442,1669,3391,3266,106.7,-14.2,79,624,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1668,3328,3391,3266,0,0,0,0,0,0,24.85,24.86,24.86 $GC,967,-1.01,-146.6,2442,1668,3391,3269,150.1,-10.8,128,975,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1668,3330,3391,3269,0,0,0,0,0,0,24.90,24.91,24.91 $GC,1216,-1.01,-146.6,2443,1668,3391,3270,179.0,-11.0,153,1227,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1669,3330,3391,3270,0,0,0,0,0,0,24.92,24.94,24.94 $GC,1470,-1.01,-146.6,2442,1668,3391,3271,203.7,-9.4,178,1480,0.00,2.38,0.00,0.000,2564,0.000,0.054,2443,250,3331,3391,3271,0,0,0,0,0,0,24.94,24.64,24.96 $GC,1520,-1.01,-146.6,2442,250,3391,3271,209.3,-10.3,182,1531,0.00,2.08,0.00,0.000,3078,0.000,0.017,2443,1660,3331,3391,3271,0,0,0,0,0,0,24.78,24.77,24.79 $GC,1771,-1.01,-146.6,2442,1660,3392,3271,234.4,-9.2,207,1781,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1660,3331,3392,3271,0,0,0,0,0,0,24.96,24.97,24.97 $GC,2023,-1.01,-146.6,2442,1660,3392,3271,256.3,-9.1,232,2032,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1660,3331,3392,3271,0,0,0,0,0,0,24.98,24.98,24.98 $GC,2272,-1.01,-146.6,2442,1660,3392,3271,278.7,-8.3,257,2281,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1660,3331,3392,3271,0,0,0,0,0,0,24.99,25.00,25.00 $GC,2522,-1.01,-146.6,2442,1660,3392,3270,298.0,-7.5,282,2534,0.00,2.40,0.00,0.000,2564,0.000,0.059,2443,258,3331,3392,3270,0,0,0,0,0,0,25.00,24.69,25.01 $GC,2548,-1.01,-146.6,2442,258,3392,3270,300.2,-7.9,284,2559,0.00,2.08,0.00,0.000,3078,0.000,0.019,2443,1613,3331,3392,3270,0,0,0,0,0,0,24.81,24.79,24.82 $GC,2799,-1.01,-146.6,2442,1614,3391,3268,321.5,-8.8,309,2803,0.00,2.25,0.00,0.000,2308,0.000,0.028,2443,3032,3329,3392,3267,0,0,0,0,0,0,25.01,24.74,25.01 $GC,2862,-1.01,-146.6,2442,3032,3392,3267,327.0,-9.0,314,2873,0.00,2.20,0.00,0.000,3078,0.000,0.031,2443,1656,3329,3392,3266,0,0,0,0,0,0,24.68,24.74,24.22 $GC,3112,-1.01,-146.6,2442,1657,3392,3264,348.9,-8.6,339,3123,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1657,3328,3392,3264,0,0,0,0,0,0,25.01,25.03,25.02 $GC,3364,-1.01,-146.6,2442,1656,3391,3261,370.1,-8.4,364,3372,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1657,3326,3392,3260,0,0,0,0,0,0,25.02,25.03,25.03 $GC,3612,-1.01,-146.6,2442,1656,3391,3257,391.4,-8.7,389,3623,0.00,2.20,0.00,0.000,2308,0.000,0.031,2443,3026,3324,3392,3257,0,0,0,0,0,0,25.03,24.75,25.03 $GC,3652,-1.01,-146.6,2443,3026,3392,3256,394.7,-8.8,392,3662,0.00,2.28,0.00,0.000,3078,0.000,0.037,2443,1656,3324,3392,3256,0,0,0,0,0,0,24.79,24.75,24.82 $GC,3909,-1.01,-146.6,2442,1656,3392,3252,417.2,-8.6,403,3911,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1656,3322,3392,3253,0,0,0,0,0,0,25.03,25.04,25.03 $GC,4149,-1.01,-146.6,2443,1657,3392,3249,436.2,-7.8,409,4156,0.00,2.25,0.00,0.000,2308,0.000,0.034,2443,3033,3320,3392,3249,0,0,0,0,0,0,25.03,24.75,25.04 $GC,4183,-1.01,-146.6,2442,3033,3392,3248,436.2,-7.8,409,4189,0.00,2.28,0.00,0.000,3078,0.000,0.036,2443,1645,3320,3392,3248,0,0,0,0,0,0,24.84,24.75,24.86 $GC,4432,-1.01,-146.6,2442,1645,3392,3246,456.7,-7.3,416,4436,0.00,2.25,0.00,0.000,2308,0.000,0.034,2443,3023,3319,3392,3246,0,0,0,0,0,0,25.03,24.75,25.04 $GC,4477,-1.01,-146.6,2442,3024,3392,3245,459.9,-7.2,417,4482,0.00,2.28,0.00,0.000,3078,0.000,0.037,2443,1642,3318,3392,3245,0,0,0,0,0,0,24.84,24.75,24.87 $GC,4749,-1.01,-146.6,2442,1643,3388,3243,479.3,-7.1,424,4752,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1643,3316,3389,3243,0,0,0,0,0,0,25.03,25.05,25.05 $GC,4989,-1.01,-146.6,2442,1643,3386,3242,497.4,-7.7,430,4996,0.00,2.28,0.00,0.000,2308,0.000,0.034,2443,3029,3313,3386,3241,0,0,0,0,0,0,25.04,24.75,25.05 $STATE,5028,end dive,TARGET_DEPTH_EXCEEDED $STATE,5028,begin apogee $GC,5034,-0.23,0.0,2443,1839,3384,3241,500.6,-7.8,431,5162,1.12,0.00,123.12,0.879,10246,0.076,0.000,2699,1840,2724,2785,2663,0,0,0,0,0,0,24.73,23.99,23.51 $STATE,5163,end apogee,CONTROL_FINISHED_OK $STATE,5163,begin climb $GC,5164,1.01,146.6,2698,1840,2785,2661,504.2,0.0,434,5302,1.75,2.47,127.05,0.853,10500,0.056,0.059,3100,3206,2125,2174,2076,0,0,0,0,0,0,24.14,23.97,23.48 $GC,5369,1.11,224.1,3099,3206,2173,2070,494.2,6.5,439,5446,0.05,2.30,70.18,0.833,11270,0.119,0.037,3121,1836,1810,1853,1767,0,0,0,0,0,0,24.32,24.31,23.49 $GC,5707,1.11,224.1,3121,1836,1852,1755,447.7,13.3,448,5714,0.00,2.53,0.00,0.000,2564,0.000,0.079,3121,428,1804,1853,1755,0,0,0,0,0,0,24.68,24.35,24.69 $GC,5731,1.11,224.1,3120,428,1852,1754,447.7,13.3,448,5735,0.00,2.28,0.00,0.000,3078,0.000,0.021,3121,1832,1803,1852,1754,0,0,0,0,0,0,24.51,24.46,24.53 $GC,5988,1.11,224.1,3121,1832,1852,1752,411.0,12.9,455,5992,0.00,2.35,0.00,0.000,2308,0.000,0.057,3121,3229,1802,1852,1752,0,0,0,0,0,0,24.75,24.45,24.76 $GC,6037,1.11,224.1,3121,3229,1852,1751,405.7,12.9,456,6043,0.00,2.30,0.00,0.000,3078,0.000,0.033,3121,1835,1802,1852,1752,0,0,0,0,0,0,24.58,24.49,24.59 $GC,6285,1.11,224.1,3121,1835,1852,1748,372.2,13.7,476,6287,0.00,0.00,0.00,0.000,2054,0.000,0.000,3121,1835,1800,1852,1748,0,0,0,0,0,0,24.80,24.81,24.81 $GC,6527,1.11,224.1,3121,1835,1852,1746,339.3,13.6,500,6536,0.00,0.00,0.00,0.000,2054,0.000,0.000,3121,1835,1799,1852,1746,0,0,0,0,0,0,24.83,24.84,24.84 $GC,6777,1.11,224.1,3120,1835,1852,1744,306.3,12.8,525,6787,0.00,0.00,0.00,0.000,2054,0.000,0.000,3121,1835,1798,1852,1744,0,0,0,0,0,0,24.86,24.87,24.87 $GC,7028,1.11,224.1,3121,1835,1852,1743,276.1,11.8,550,7037,0.00,0.00,0.00,0.000,2054,0.000,0.000,3121,1835,1797,1852,1743,0,0,0,0,0,0,24.88,24.89,24.89 $GC,7277,1.11,224.1,3121,1835,1852,1740,245.4,12.4,575,7288,0.00,2.40,0.00,0.000,2564,0.000,0.063,3121,427,1796,1852,1740,0,0,0,0,0,0,24.90,24.58,24.91 $GC,7315,1.11,224.1,3121,427,1852,1740,240.3,13.4,578,7327,0.00,2.22,0.00,0.000,3078,0.000,0.021,3121,1849,1796,1853,1739,0,0,0,0,0,0,24.70,24.68,24.72 $GC,7567,1.11,224.1,3121,1852,1852,1738,212.4,10.9,603,7580,0.00,2.40,0.00,0.000,2564,0.000,0.056,3121,434,1795,1852,1738,0,0,0,0,0,0,24.91,24.61,24.92 $GC,7584,1.11,224.1,3121,434,1852,1738,211.1,11.0,604,7595,0.00,2.28,0.00,0.000,3078,0.000,0.021,3121,1853,1795,1852,1738,0,0,0,0,0,0,24.72,24.70,24.73 $GC,7835,1.11,224.1,3121,1855,1852,1737,181.7,11.5,629,7846,0.00,2.40,0.00,0.000,2564,0.000,0.054,3121,430,1794,1852,1736,0,0,0,0,0,0,24.92,24.62,24.93 $GC,7960,1.11,224.1,3121,430,1852,1736,166.5,11.8,639,7972,0.00,2.20,0.00,0.000,3078,0.000,0.019,3121,1850,1794,1852,1736,0,0,0,0,0,0,24.73,24.72,24.75 $GC,8241,1.11,228.5,3121,1852,1852,1736,139.6,9.8,671,8250,0.00,2.45,0.00,0.000,2564,0.000,0.052,3121,432,1794,1852,1736,0,0,0,0,0,0,24.94,24.63,24.94 $GC,8283,1.13,238.8,3121,432,1852,1736,135.7,9.6,676,8303,0.00,2.22,11.32,0.568,11270,0.000,0.018,3121,1847,1750,1804,1696,0,0,0,0,0,0,24.75,24.72,24.01 $GC,8646,1.15,262.0,3121,1847,1804,1694,102.3,9.0,726,8674,0.00,0.00,22.62,0.562,10246,0.000,0.000,3121,1847,1655,1706,1604,0,0,0,0,0,0,24.89,24.19,23.84 $GC,9016,1.23,324.1,3121,1847,1706,1602,70.0,7.2,777,9082,0.10,2.22,58.67,0.538,10500,0.077,0.028,3159,3214,1401,1446,1357,0,0,0,0,0,0,24.62,24.01,23.76 $GC,9144,1.23,324.1,3159,3214,1445,1355,57.9,10.7,792,9154,0.00,2.28,0.00,0.000,3078,0.000,0.027,3159,1829,1400,1446,1355,0,0,0,0,0,0,24.49,24.43,24.49 $GC,9496,1.23,324.1,3159,1829,1446,1354,20.1,10.9,841,9507,0.00,2.38,0.00,0.000,2564,0.000,0.050,3159,436,1400,1446,1354,0,0,0,0,0,0,24.80,24.52,24.81 $GC,9516,1.23,324.1,3159,436,1446,1354,17.8,11.1,843,9526,0.00,2.20,0.00,0.000,3078,0.000,0.016,3160,1845,1400,1446,1354,0,0,0,0,0,0,24.62,24.60,24.63 $STATE,9658,end climb,SURFACE_DEPTH_REACHED $STATE,9658,begin surface coast $FINISH,0.3,1.022260 $STATE,9696,end surface coast,CONTROL_FINISHED_OK $STATE,9696,begin surface $SM_CCo,9716,21.25,0.457,0,0,1256,360.09 $SM_GC,1.15,11.32,0.32,21.25,0.038,0.044,0.457,426,1636,1256,-7.30,0.85,360.09,0,0,0,0,0,0,24.57,24.60,23.93 $IRIDIUM_FIX,2230.01,-15803.24,260920,165602 $TT8_MAMPS,0.021721,0.237433 $HUMID,56.85 $INTERNAL_PRESSURE,9.64279 $TCM_TEMP,24.20 $XPDR_PINGS,4 $24V_AH,23.48,26.535 $10V_AH,10.30,25.761 $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,25.575,77.900,412.975,21.250,0.000,24.705,44.994,215.673,1.000,0.000,26.364,2205.068,3181.226,554.270,4021.484,185.904,0.000,1504.120,0.000,3734.965,0.000,0.541,0.000 $DEVICE_MAMPS,161.415,78.795,878.985,456.705,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000 $SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil $SENSOR_SECS,586.832,623.684,2852.282,2069.691,2185.983,0.000,0.000,0.000,0.000,0.000 $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,70616,867 $CAP_FILE_SIZE,137924,0 $CFSIZE,259248128,245067776 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0 $CURRENT,0.143,33.24,1 $GPS,260920,224231,2239.643,-15805.422,26,0.8,56,9.8,0.0,43.8,11,6.5