version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 275
start: 10 6 120 14 20 25
data:
$ID,148
$MISSION,16
$DIVE,275
$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,380
$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,42
$R_STBD_OVSHOOT,76
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3960
$C_VBD,2735
$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
$GPS1,061020,140752,2235.6968,-15748.9951,28,0.9,53,9.8,0.2,353.9,8,9.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-61.5
$GPS2,061020,142002,2235.7998,-15748.9854,14,0.9,27,9.8,0.0,323.3,8,9.6
$SPEED_LIMITS,0.174,0.261
$TGT_NAME,B1
$TGT_LATLONG,2258.550,-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,284.8,60367,-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,-146.6,424,1630,1217,1143,0.0,0.0,0,93,0.00,0.00,-74.30,0.000,16386,0.000,0.000,424,1630,3221,3272,3171,0,0,0,0,0,0,24.69,28.83,24.70
$GC,95,-1.01,-146.6,424,1630,3272,3172,3.7,-6.2,8,117,10.98,2.30,-1.88,0.000,18948,0.161,0.054,2442,257,3334,3395,3273,0,0,0,0,0,0,24.30,24.06,24.39
$GC,382,-1.01,-146.6,2441,257,3395,3275,68.6,-16.8,49,392,0.00,2.15,0.00,0.000,3078,0.000,0.015,2442,1671,3335,3396,3275,0,0,0,0,0,0,24.64,24.63,24.65
$GC,715,-1.01,-146.6,2441,1671,3397,3276,122.0,-14.4,98,724,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1671,3337,3397,3277,0,0,0,0,0,0,24.85,24.87,24.86
$GC,1018,-1.01,-146.6,2441,1672,3399,3277,162.6,-12.2,138,1030,0.00,2.38,0.00,0.000,2564,0.000,0.046,2441,258,3338,3399,3277,0,0,0,0,0,0,24.89,24.60,24.90
$GC,1077,-1.01,-146.6,2441,258,3399,3278,170.0,-13.0,143,1087,0.00,2.05,0.00,0.000,3078,0.000,0.016,2442,1681,3338,3399,3278,0,0,0,0,0,0,24.75,24.73,24.75
$GC,1326,-1.01,-146.6,2441,1681,3399,3278,195.1,-9.6,168,1328,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1681,3339,3400,3278,0,0,0,0,0,0,24.92,24.93,24.93
$GC,1566,-1.01,-146.6,2441,1681,3399,3279,221.3,-10.0,192,1578,0.00,2.00,0.00,0.000,2308,0.000,0.021,2442,2972,3339,3400,3279,0,0,0,0,0,0,24.94,24.70,24.95
$GC,1605,-1.01,-146.6,2441,2972,3400,3279,224.5,-9.1,195,1615,0.00,2.08,0.00,0.000,3078,0.000,0.026,2442,1653,3339,3400,3279,0,0,0,0,0,0,24.72,24.69,24.74
$GC,1854,-1.01,-146.6,2441,1653,3400,3279,248.2,-9.6,220,1863,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1653,3339,3400,3279,0,0,0,0,0,0,24.96,24.97,24.97
$GC,2104,-1.01,-146.6,2441,1653,3400,3279,271.7,-10.1,245,2112,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1653,3340,3401,3279,0,0,0,0,0,0,24.97,24.98,24.98
$GC,2352,-1.01,-146.6,2442,1653,3400,3279,299.2,-10.8,270,2354,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1653,3339,3400,3279,0,0,0,0,0,0,24.98,24.99,24.99
$GC,2592,-1.01,-146.6,2441,1653,3400,3276,323.9,-9.8,294,2594,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1653,3338,3400,3276,0,0,0,0,0,0,24.99,25.01,25.00
$GC,2832,-1.01,-146.6,2442,1652,3400,3273,346.7,-9.1,318,2846,0.00,2.10,0.00,0.000,2308,0.000,0.027,2442,2967,3336,3400,3273,0,0,0,0,0,0,25.00,24.75,25.01
$GC,2872,-1.01,-146.6,2441,2966,3400,3273,349.8,-8.9,321,2881,0.00,2.17,0.00,0.000,3078,0.000,0.031,2442,1653,3336,3400,3272,0,0,0,0,0,0,24.77,24.73,24.79
$GC,3121,-1.01,-146.6,2442,1654,3399,3269,370.4,-7.8,346,3123,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1653,3334,3400,3269,0,0,0,0,0,0,25.01,25.02,25.01
$GC,3361,-1.01,-146.6,2441,1653,3400,3266,391.1,-9.1,370,3365,0.00,2.12,0.00,0.000,2308,0.000,0.030,2442,2958,3333,3400,3266,0,0,0,0,0,0,25.01,24.74,25.02
$GC,3400,-1.01,-146.6,2441,2958,3400,3265,394.1,-9.2,373,3407,0.00,2.12,0.00,0.000,3078,0.000,0.034,2442,1653,3332,3400,3265,0,0,0,0,0,0,24.83,24.73,24.84
$GC,3667,-1.01,-146.6,2442,1650,3399,3262,419.7,-9.5,385,3673,0.00,2.12,0.00,0.000,2308,0.000,0.030,2442,2967,3330,3399,3261,0,0,0,0,0,0,25.02,24.75,25.02
$GC,3709,-1.01,-146.6,2441,2968,3399,3261,423.6,-9.6,386,3715,0.00,2.12,0.00,0.000,3078,0.000,0.035,2442,1652,3329,3399,3260,0,0,0,0,0,0,24.78,24.74,24.81
$GC,3989,-1.01,-146.6,2441,1652,3399,3256,450.1,-9.2,393,3991,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1652,3327,3399,3256,0,0,0,0,0,0,25.02,25.03,25.03
$GC,4227,-1.01,-146.6,2441,1652,3399,3252,470.8,-8.5,399,4233,0.00,2.12,0.00,0.000,2308,0.000,0.032,2442,2955,3325,3399,3252,0,0,0,0,0,0,25.03,24.75,25.04
$GC,4268,-1.01,-146.6,2441,2955,3399,3251,474.1,-8.4,400,4274,0.00,2.15,0.00,0.000,3078,0.000,0.037,2442,1647,3325,3399,3251,0,0,0,0,0,0,24.84,24.74,24.85
$GC,4547,-1.01,-146.6,2442,1647,3396,3250,496.9,-8.1,407,4549,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1647,3323,3396,3250,0,0,0,0,0,0,25.03,25.04,25.03
$STATE,4586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4586,begin apogee
$GC,4591,-0.23,0.0,2442,1809,3395,3250,500.1,-8.1,408,4718,1.15,0.00,122.72,0.862,10246,0.080,0.000,2701,1809,2734,2797,2672,0,0,0,0,0,0,24.72,23.99,23.50
$STATE,4719,end apogee,CONTROL_FINISHED_OK
$STATE,4719,begin climb
$GC,4721,1.01,146.6,2701,1809,2797,2670,502.6,0.0,411,4857,1.67,2.55,126.20,0.839,10756,0.061,0.077,3084,432,2135,2185,2086,0,0,0,0,0,0,24.14,23.85,23.49
$GC,4872,1.01,146.6,3084,432,2184,2084,496.9,4.8,415,4877,0.00,2.22,0.00,0.000,3078,0.000,0.024,3085,1797,2133,2184,2083,0,0,0,0,0,0,24.34,24.27,24.35
$GC,5145,1.07,190.9,3084,1798,2184,2073,473.8,8.0,422,5188,0.08,0.00,39.22,0.814,10246,0.100,0.000,3113,1798,1955,2003,1908,0,0,0,0,0,0,24.46,23.99,23.52
$GC,5425,1.07,190.9,3112,1798,2001,1898,444.7,10.9,429,5431,0.00,2.42,0.00,0.000,2308,0.000,0.052,3113,3222,1949,2001,1898,0,0,0,0,0,0,24.71,24.40,24.72
$GC,5443,1.07,190.9,3112,3222,2001,1898,444.7,10.9,429,5448,0.00,2.30,0.00,0.000,3078,0.000,0.031,3112,1835,1949,2001,1898,0,0,0,0,0,0,24.53,24.44,24.54
$GC,5703,1.07,190.9,3112,1835,2001,1895,413.6,11.5,436,5705,0.00,0.00,0.00,0.000,2054,0.000,0.000,3113,1835,1948,2001,1895,0,0,0,0,0,0,24.77,24.78,24.78
$GC,5944,1.07,190.9,3112,1835,2001,1892,385.2,11.2,451,5952,0.00,2.28,0.00,0.000,2308,0.000,0.031,3113,3227,1946,2001,1892,0,0,0,0,0,0,24.81,24.53,24.82
$GC,5969,1.07,190.9,3112,3227,2001,1892,382.5,11.3,453,5979,0.00,2.28,0.00,0.000,3078,0.000,0.031,3113,1836,1946,2000,1892,0,0,0,0,0,0,24.58,24.53,24.60
$GC,6216,1.07,190.9,3112,1836,2000,1890,355.3,10.1,478,6218,0.00,0.00,0.00,0.000,2054,0.000,0.000,3113,1837,1945,2001,1890,0,0,0,0,0,0,24.84,24.86,24.85
$GC,6457,1.08,201.1,3112,1836,2000,1889,333.0,9.6,502,6468,0.00,0.00,8.68,0.674,10246,0.000,0.000,3113,1836,1914,1968,1861,0,0,0,0,0,0,24.87,24.34,23.87
$GC,6708,1.08,201.1,3112,1837,1968,1857,307.6,10.5,527,6712,0.00,2.30,0.00,0.000,2308,0.000,0.031,3113,3233,1912,1968,1857,0,0,0,0,0,0,24.84,24.56,24.84
$GC,6745,1.08,201.1,3112,3233,1968,1856,303.8,10.6,530,6754,0.00,2.33,0.00,0.000,3078,0.000,0.031,3113,1839,1912,1968,1856,0,0,0,0,0,0,24.62,24.58,24.64
$GC,6994,1.09,207.7,3112,1839,1968,1854,277.4,9.7,555,7008,0.00,2.50,7.45,0.624,10756,0.000,0.064,3113,429,1886,1942,1831,0,0,0,0,0,0,24.87,24.37,23.94
$GC,7061,1.09,207.7,3112,429,1942,1830,270.1,11.4,561,7066,0.00,2.25,0.00,0.000,3078,0.000,0.021,3113,1845,1886,1942,1830,0,0,0,0,0,0,24.63,24.57,24.63
$GC,7314,1.12,235.1,3112,1848,1942,1828,246.2,8.8,586,7347,0.00,0.00,26.75,0.692,10246,0.000,0.000,3113,1848,1774,1825,1723,0,0,0,0,0,0,24.86,23.98,23.66
$GC,7588,1.12,235.1,3112,1848,1824,1717,217.4,11.0,613,7594,0.00,0.00,0.00,0.000,2054,0.000,0.000,3113,1848,1771,1825,1717,0,0,0,0,0,0,24.79,24.80,24.79
$GC,7835,1.13,240.5,3112,1848,1825,1714,190.4,9.8,638,7847,0.00,2.25,5.22,0.501,10500,0.000,0.028,3113,3230,1753,1807,1700,0,0,0,0,0,0,24.84,24.34,24.01
$GC,7939,1.16,271.0,3112,3230,1807,1700,181.1,8.6,647,7980,0.08,2.28,30.00,0.630,11270,0.090,0.029,3148,1825,1627,1674,1581,0,0,0,0,0,0,24.55,24.53,23.70
$GC,8221,1.16,271.0,3147,1825,1674,1578,149.3,12.6,675,8231,0.00,2.40,0.00,0.000,2564,0.000,0.051,3148,438,1626,1674,1578,0,0,0,0,0,0,24.77,24.48,24.78
$GC,8246,1.16,271.0,3147,438,1674,1577,145.7,13.1,678,8256,0.00,2.28,0.00,0.000,1030,0.000,0.019,3148,1856,1625,1674,1577,0,0,0,0,0,0,24.58,24.56,24.60
$GC,8579,1.19,288.9,3147,1860,1674,1576,109.1,9.2,727,8598,0.00,0.00,17.52,0.549,10246,0.000,0.000,3148,1860,1555,1600,1511,0,0,0,0,0,0,24.84,24.22,23.87
$GC,8921,1.23,321.4,3147,1860,1600,1510,77.9,8.5,777,8958,0.00,2.50,31.00,0.532,10756,0.000,0.049,3147,433,1423,1468,1378,0,0,0,0,0,0,24.82,24.15,23.79
$GC,9021,1.23,321.4,3147,434,1468,1377,67.4,12.0,790,9031,0.00,2.25,0.00,0.000,3078,0.000,0.017,3148,1851,1422,1468,1376,0,0,0,0,0,0,24.51,24.50,24.53
$GC,9354,1.23,326.1,3147,1854,1468,1374,34.3,9.8,839,9365,0.00,2.25,5.80,0.396,10500,0.000,0.029,3148,3228,1404,1451,1357,0,0,0,0,0,0,24.82,24.46,24.10
$GC,9395,1.24,334.6,3147,3229,1451,1357,30.3,9.6,844,9414,0.00,2.28,9.00,0.436,11270,0.000,0.025,3148,1831,1371,1418,1324,0,0,0,0,0,0,24.56,24.52,24.01
$STATE,9671,end climb,SURFACE_DEPTH_REACHED
$STATE,9672,begin surface coast
$FINISH,0.2,1.022505
$STATE,9709,end surface coast,CONTROL_FINISHED_OK
$STATE,9709,begin surface
$SM_CCo,9728,26.02,0.454,0,0,1184,380.21
$SM_GC,0.92,11.23,0.28,26.02,0.035,0.053,0.454,427,1640,1184,-7.30,1.05,380.21,0,0,0,0,0,0,24.57,24.59,23.90
$IRIDIUM_FIX,2225.34,-15748.50,061020,140934
$TT8_MAMPS,0.021721,0.289863
$HUMID,57.95
$INTERNAL_PRESSURE,9.63303
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,23.49,35.850
$10V_AH,10.20,38.690
$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,25.175,72.325,429.575,26.025,0.000,90.803,110.895,269.011,0.250,0.000,28.644,2252.141,3862.297,531.112,3649.649,190.114,0.000,1436.907,0.000,3163.863,0.000,0.540,0.000
$DEVICE_MAMPS,160.650,77.265,862.155,454.410,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,599.450,628.069,2144.371,1706.831,1430.941,0.000,0.000,0.000,0.000,0.000
$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,70598,887
$CAP_FILE_SIZE,133427,0
$CFSIZE,259248128,239919104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.157,42.84,1
$GPS,061020,170426,2236.921,-15749.636,27,0.9,51,9.8,0.8,57.1,10,9.7