version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 69
start: 9 10 120 13 10 43
data:
$ID,148
$MISSION,16
$DIVE,69
$N_DIVES,0
$STOP_T,3102110
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,550
$D_NO_BLEED,44
$D_BOOST,25
$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,350
$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,2768
$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,1680
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3960
$C_VBD,2730
$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
$GPS1,100920,130249,2242.3069,-15803.2979,40,0.9,73,9.8,0.4,108.7,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-61.4
$GPS2,100920,131020,2242.3372,-15803.3213,15,0.9,29,9.8,0.0,292.3,8,9.7
$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,199.2,27629,-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,-146.6,427,1674,1324,1276,0.0,0.0,0,83,0.00,0.00,-64.93,0.000,16386,0.000,0.000,427,1674,3041,3090,2992,0,0,0,0,0,0,24.70,28.83,24.72
$GC,85,-1.01,-146.6,427,1674,3090,2993,3.3,-6.3,9,110,11.20,2.35,-5.15,0.000,18948,0.169,0.059,2433,277,3328,3393,3263,0,0,0,0,0,0,24.30,24.07,24.39
$GC,326,-1.01,-146.6,2432,277,3393,3265,59.3,-17.6,51,333,0.00,2.20,0.00,0.000,3078,0.000,0.015,2432,1716,3329,3393,3265,0,0,0,0,0,0,24.63,24.62,24.63
$GC,598,-1.01,-146.6,2432,1718,3393,3267,100.8,-13.1,100,608,0.00,2.45,0.00,0.000,2564,0.000,0.050,2433,275,3330,3393,3267,0,0,0,0,0,0,24.84,24.55,24.85
$GC,643,-1.01,-146.6,2432,275,3393,3268,107.0,-14.4,106,653,0.00,2.15,0.00,0.000,3078,0.000,0.015,2433,1703,3330,3393,3268,0,0,0,0,0,0,24.73,24.68,24.69
$GC,975,-1.01,-146.6,2432,1703,3394,3270,147.5,-12.1,155,984,0.00,0.00,0.00,0.000,2054,0.000,0.000,2433,1702,3332,3394,3270,0,0,0,0,0,0,24.90,24.91,24.90
$GC,1232,-1.01,-146.6,2432,1702,3394,3271,176.0,-11.1,181,1236,0.00,2.38,0.00,0.000,2564,0.000,0.048,2433,279,3332,3394,3271,0,0,0,0,0,0,24.93,24.63,24.94
$GC,1415,-1.01,-146.6,2432,278,3394,3272,199.6,-13.3,196,1426,0.00,2.10,0.00,0.000,3078,0.000,0.016,2433,1680,3333,3394,3272,0,0,0,0,0,0,24.79,24.77,24.79
$GC,1666,-1.01,-146.6,2432,1680,3394,3272,224.6,-10.8,221,1675,0.00,0.00,0.00,0.000,2054,0.000,0.000,2433,1680,3333,3394,3272,0,0,0,0,0,0,24.96,24.97,24.96
$GC,1913,-1.01,-146.6,2432,1681,3394,3272,249.6,-9.7,246,1923,0.00,2.38,0.00,0.000,2564,0.000,0.050,2433,277,3333,3395,3272,0,0,0,0,0,0,24.98,24.68,24.98
$GC,1947,-1.01,-146.6,2432,277,3394,3272,253.0,-10.1,249,1956,0.00,2.12,0.00,0.000,3078,0.000,0.018,2433,1651,3333,3394,3272,0,0,0,0,0,0,24.80,24.79,24.81
$GC,2196,-1.01,-146.6,2432,1654,3395,3272,276.3,-9.3,274,2206,0.00,2.20,0.00,0.000,2308,0.000,0.034,2433,3050,3333,3394,3272,0,0,0,0,0,0,24.98,24.72,24.99
$GC,2229,-1.01,-146.6,2433,3050,3394,3272,279.2,-9.2,277,2239,0.00,2.20,0.00,0.000,3078,0.000,0.028,2433,1674,3333,3394,3272,0,0,0,0,0,0,24.80,24.72,24.82
$GC,2480,-1.01,-146.6,2433,1674,3394,3272,303.3,-9.8,302,2489,0.00,2.20,0.00,0.000,2308,0.000,0.028,2433,3052,3333,3394,3272,0,0,0,0,0,0,25.00,24.73,25.01
$GC,2512,-1.01,-146.6,2432,3052,3394,3272,306.6,-10.1,305,2522,0.00,2.22,0.00,0.000,3078,0.000,0.031,2433,1673,3333,3394,3272,0,0,0,0,0,0,24.81,24.72,24.82
$GC,2763,-1.01,-146.6,2432,1671,3394,3269,331.1,-9.6,330,2765,0.00,0.00,0.00,0.000,2054,0.000,0.000,2433,1671,3331,3394,3269,0,0,0,0,0,0,25.01,25.01,25.01
$GC,3002,-1.01,-146.6,2432,1671,3394,3267,354.2,-9.8,354,3012,0.00,2.20,0.00,0.000,2308,0.000,0.031,2433,3040,3330,3394,3266,0,0,0,0,0,0,25.01,24.75,25.03
$GC,3035,-1.01,-146.6,2432,3039,3394,3266,357.4,-9.5,357,3045,0.00,2.22,0.00,0.000,3078,0.000,0.034,2433,1671,3330,3394,3266,0,0,0,0,0,0,24.83,24.74,24.84
$GC,3285,-1.01,-146.6,2432,1672,3394,3263,381.2,-9.2,382,3287,0.00,0.00,0.00,0.000,2054,0.000,0.000,2433,1671,3328,3394,3263,0,0,0,0,0,0,25.02,25.03,25.03
$GC,3544,-1.01,-146.6,2432,1672,3394,3259,404.2,-8.4,405,3548,0.00,2.45,0.00,0.000,2564,0.000,0.074,2433,271,3326,3394,3259,0,0,0,0,0,0,25.03,24.70,25.03
$GC,3569,-1.01,-146.6,2432,271,3394,3259,404.2,-8.4,405,3574,0.00,2.17,0.00,0.000,3078,0.000,0.021,2433,1670,3326,3394,3259,0,0,0,0,0,0,24.86,24.80,24.87
$GC,3822,-1.01,-146.6,2432,1672,3394,3256,428.0,-8.5,412,3824,0.00,0.00,0.00,0.000,2054,0.000,0.000,2433,1672,3324,3394,3255,0,0,0,0,0,0,25.03,25.04,25.03
$GC,4061,-1.01,-146.6,2432,1672,3394,3252,449.0,-8.8,418,4068,0.00,2.25,0.00,0.000,2308,0.000,0.039,2433,3055,3323,3394,3252,0,0,0,0,0,0,25.03,24.75,25.04
$GC,4124,-1.01,-146.6,2432,3055,3394,3251,452.6,-8.8,419,4129,0.00,2.25,0.00,0.000,3078,0.000,0.035,2433,1685,3322,3393,3251,0,0,0,0,0,0,24.84,24.75,24.86
$GC,4382,-1.01,-146.6,2432,1685,3394,3247,476.8,-8.6,426,4388,0.00,2.53,0.00,0.000,2564,0.000,0.083,2432,267,3320,3394,3247,0,0,0,0,0,0,25.04,24.70,25.05
$GC,4400,-1.01,-146.6,2432,267,3394,3247,476.8,-8.6,426,4405,0.00,2.22,0.00,0.000,3078,0.000,0.025,2433,1656,3321,3394,3248,0,0,0,0,0,0,24.85,24.78,24.87
$STATE,4655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4655,begin apogee
$GC,4660,-0.23,0.0,2433,1869,3391,3246,500.9,-8.6,433,4787,1.17,0.00,122.65,0.889,10246,0.095,0.000,2689,1870,2729,2790,2669,0,0,0,0,0,0,24.70,23.98,23.50
$STATE,4788,end apogee,CONTROL_FINISHED_OK
$STATE,4788,begin climb
$GC,4789,1.01,146.6,2689,1869,2790,2668,504.1,0.0,436,4926,1.70,2.38,126.75,0.861,10500,0.074,0.055,3070,3235,2130,2179,2082,0,0,0,0,0,0,24.12,23.96,23.47
$GC,4956,1.01,146.6,3070,3235,2177,2079,498.8,4.6,440,4960,0.00,2.33,0.00,0.000,3078,0.000,0.035,3070,1852,2127,2177,2078,0,0,0,0,0,0,24.34,24.25,24.36
$GC,5218,1.07,194.6,3069,1851,2178,2069,476.2,7.8,447,5267,0.10,2.55,42.50,0.838,10756,0.082,0.077,3106,441,1935,1979,1891,0,0,0,0,0,0,24.45,23.99,23.51
$GC,5324,1.11,223.8,3105,441,1977,1888,468.1,8.7,449,5358,0.00,2.28,28.50,0.812,11270,0.000,0.026,3106,1844,1816,1858,1775,0,0,0,0,0,0,24.45,24.39,23.52
$GC,5615,1.11,223.8,3105,1844,1857,1765,429.8,12.8,457,5619,0.00,2.38,0.00,0.000,2308,0.000,0.050,3106,3243,1811,1857,1765,0,0,0,0,0,0,24.70,24.39,24.71
$GC,5649,1.11,223.8,3105,3243,1857,1765,429.8,12.8,457,5657,0.00,2.33,0.00,0.000,3078,0.000,0.032,3106,1838,1811,1857,1765,0,0,0,0,0,0,24.53,24.44,24.54
$GC,5898,1.11,223.8,3105,1838,1857,1762,392.0,13.5,467,5907,0.00,2.42,0.00,0.000,2564,0.000,0.073,3106,445,1809,1857,1762,0,0,0,0,0,0,24.77,24.44,24.77
$GC,5963,1.11,223.8,3104,445,1857,1760,382.5,15.3,473,5972,0.00,2.30,0.00,0.000,3078,0.000,0.022,3106,1857,1808,1857,1760,0,0,0,0,0,0,24.58,24.55,24.59
$GC,6212,1.11,223.8,3105,1858,1856,1757,350.3,12.3,498,6214,0.00,0.00,0.00,0.000,2054,0.000,0.000,3106,1858,1807,1857,1757,0,0,0,0,0,0,24.82,24.83,24.82
$GC,6451,1.11,223.8,3106,1858,1857,1754,321.8,11.9,522,6462,0.00,2.25,0.00,0.000,2308,0.000,0.039,3106,3232,1805,1857,1754,0,0,0,0,0,0,24.84,24.55,24.86
$GC,6487,1.11,223.8,3105,3232,1856,1754,317.8,12.3,525,6495,0.00,2.30,0.00,0.000,3078,0.000,0.031,3106,1850,1805,1857,1754,0,0,0,0,0,0,24.63,24.58,24.65
$GC,6735,1.11,223.8,3106,1850,1857,1753,286.3,12.2,550,6746,0.00,2.25,0.00,0.000,2308,0.000,0.030,3106,3236,1805,1857,1753,0,0,0,0,0,0,24.87,24.60,24.88
$GC,6842,1.11,223.8,3105,3236,1856,1753,273.7,12.2,560,6855,0.00,2.28,0.00,0.000,3078,0.000,0.031,3106,1838,1804,1856,1753,0,0,0,0,0,0,24.70,24.61,24.72
$GC,7095,1.11,223.8,3105,1838,1856,1750,246.5,11.0,585,7104,0.00,2.35,0.00,0.000,2564,0.000,0.063,3106,447,1803,1856,1751,0,0,0,0,0,0,24.91,24.58,24.91
$GC,7151,1.11,223.8,3105,448,1857,1750,239.6,12.4,590,7161,0.00,2.28,0.00,0.000,3078,0.000,0.021,3106,1866,1803,1856,1750,0,0,0,0,0,0,24.71,24.69,24.72
$GC,7402,1.11,223.8,3105,1869,1856,1748,211.7,11.4,615,7410,0.00,2.17,0.00,0.000,2308,0.000,0.031,3106,3242,1802,1856,1748,0,0,0,0,0,0,24.92,24.65,24.93
$GC,7465,1.11,223.8,3105,3241,1856,1748,204.9,10.3,621,7474,0.00,2.22,0.00,0.000,3078,0.000,0.028,3106,1847,1802,1856,1748,0,0,0,0,0,0,24.70,24.66,24.72
$GC,7715,1.14,249.8,3106,1846,1856,1747,182.3,8.8,646,7746,0.00,0.00,22.15,0.652,10502,0.000,0.000,3106,1847,1709,1760,1658,0,0,0,0,0,0,24.94,24.17,23.77
$GC,7987,1.14,249.8,3105,1847,1760,1654,154.9,10.2,673,7995,0.00,2.35,0.00,0.000,2564,0.000,0.053,3106,446,1707,1760,1654,0,0,0,0,0,0,24.83,24.53,24.84
$GC,8102,1.14,249.8,3105,446,1760,1652,142.0,10.5,690,8109,0.00,2.22,0.00,0.000,3078,0.000,0.018,3106,1852,1706,1760,1652,0,0,0,0,0,0,24.67,24.64,24.68
$GC,8367,1.17,276.7,3105,1855,1760,1651,118.1,8.8,739,8401,0.08,2.25,25.90,0.588,10500,0.102,0.028,3133,3241,1600,1646,1554,0,0,0,0,0,0,24.65,24.06,23.78
$GC,8505,1.17,276.7,3132,3241,1646,1554,103.9,10.3,761,8514,0.00,2.28,0.00,0.000,3078,0.000,0.026,3133,1850,1600,1646,1554,0,0,0,0,0,0,24.56,24.51,24.57
$GC,8840,1.18,282.7,3132,1849,1646,1553,72.3,9.8,810,8850,0.00,0.00,6.82,0.464,10246,0.000,0.000,3133,1849,1576,1619,1533,0,0,0,0,0,0,24.85,24.42,24.07
$GC,9191,1.21,306.3,3132,1849,1619,1533,40.9,9.0,859,9222,0.00,2.38,22.90,0.510,10756,0.000,0.049,3133,442,1481,1524,1438,0,0,0,0,0,0,24.87,24.13,23.88
$GC,9301,1.21,306.3,3132,442,1524,1437,29.1,10.9,877,9310,0.00,2.20,0.00,0.000,3078,0.000,0.016,3133,1857,1480,1524,1436,0,0,0,0,0,0,24.58,24.56,24.59
$STATE,9571,end climb,SURFACE_DEPTH_REACHED
$STATE,9571,begin surface coast
$FINISH,0.3,1.009739
$STATE,9606,end surface coast,CONTROL_FINISHED_OK
$STATE,9606,begin surface
$SM_CCo,9624,25.62,0.060,0,0,1302,350.04
$SM_GC,1.30,11.30,0.30,25.62,0.041,0.050,0.060,416,1660,1302,-7.30,0.79,350.04,0,0,0,0,0,0,24.58,24.62,24.50
$IRIDIUM_FIX,2234.68,-15800.20,100920,100422
$TT8_MAMPS,0.020972,0.35952
$HUMID,54.56
$INTERNAL_PRESSURE,9.63303
$TCM_TEMP,24.00
$XPDR_PINGS,6
$24V_AH,23.47,11.556
$10V_AH,10.28,9.216
$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,25.550,96.575,398.175,25.625,0.000,28.208,41.462,260.558,1.500,0.000,30.104,2375.771,3885.561,572.024,3131.627,137.701,0.000,1510.920,0.000,2779.831,0.000,0.540,0.000
$DEVICE_MAMPS,169.065,83.385,888.930,59.670,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,629.403,651.866,1534.074,1385.202,1661.218,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,53.930,41.940,68.160,0.000,0.000,0.000,0.000,0.000
$MEM,338760
$DATA_FILE_SIZE,80630,931
$CAP_FILE_SIZE,125875,0
$CFSIZE,259248128,253792256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.115,23.42,1
$GPS,100920,155312,2241.763,-15803.658,51,0.9,65,9.8,0.7,306.6,8,10.0