version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 416
start: 10 24 120 3 8 21
data:
$ID,148
$MISSION,16
$DIVE,416
$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,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2792
$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,1670
$C_ROLL_CLIMB,1840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$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,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
$GPS1,241020,030009,2218.7817,-15712.4795,39,1.0,48,9.8,0.4,63.7,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.0
$GPS2,241020,030758,2218.8330,-15712.4453,13,1.0,26,9.8,0.5,38.9,8,9.9
$SPEED_LIMITS,0.174,0.261
$TGT_NAME,B4
$TGT_LATLONG,2231.430,-15745.420
$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,254.5,61044,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.01,-146.6,424,1647,1222,1129,0.0,0.0,0,95,0.00,0.00,-76.32,0.000,16386,0.000,0.000,424,1648,3280,3333,3227,0,0,0,0,0,0,24.68,28.83,24.69
$GC,98,-1.01,-146.6,424,1648,3333,3227,4.6,-11.1,11,121,10.57,2.30,-0.85,0.000,18948,0.140,0.051,2459,273,3332,3390,3274,0,0,0,0,0,0,24.30,23.72,24.44
$GC,242,-1.01,-146.6,2458,274,3391,3275,42.2,-19.3,37,250,0.00,2.17,0.00,0.000,3078,0.000,0.015,2459,1696,3333,3391,3275,0,0,0,0,0,0,24.58,24.57,24.59
$GC,497,-1.01,-146.6,2459,1698,3392,3275,87.1,-14.1,86,504,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,1698,3333,3392,3275,0,0,0,0,0,0,24.80,24.82,24.81
$GC,750,-1.01,-146.6,2458,1698,3393,3277,122.0,-14.2,135,757,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,1698,3335,3393,3277,0,0,0,0,0,0,24.84,24.86,24.85
$GC,1008,-1.01,-146.6,2458,1698,3395,3278,153.4,-10.5,182,1010,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,1698,3336,3394,3278,0,0,0,0,0,0,24.88,24.89,24.89
$GC,1248,-1.01,-146.6,2458,1698,3395,3279,179.6,-10.8,206,1250,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,1698,3337,3395,3279,0,0,0,0,0,0,24.90,24.91,24.91
$GC,1488,-1.01,-146.6,2458,1698,3395,3280,206.4,-10.3,230,1490,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,1698,3337,3396,3279,0,0,0,0,0,0,24.92,24.93,24.93
$GC,1728,-1.01,-146.6,2458,1698,3396,3279,230.6,-9.5,254,1737,0.00,2.38,0.00,0.000,2564,0.000,0.050,2459,279,3338,3396,3280,0,0,0,0,0,0,24.94,24.63,24.94
$GC,1793,-1.01,-146.6,2458,279,3396,3280,237.2,-11.1,260,1800,0.00,2.10,0.00,0.000,3078,0.000,0.017,2459,1683,3338,3396,3280,0,0,0,0,0,0,24.79,24.75,24.79
$GC,2042,-1.01,-146.6,2458,1686,3396,3280,258.9,-7.9,285,2049,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,1685,3338,3396,3280,0,0,0,0,0,0,24.95,24.96,24.96
$GC,2292,-1.01,-146.6,2458,1685,3396,3280,278.9,-8.8,310,2297,0.00,2.40,0.00,0.000,2564,0.000,0.059,2459,274,3338,3396,3280,0,0,0,0,0,0,24.96,24.65,24.97
$GC,2344,-1.01,-146.6,2458,274,3396,3280,284.3,-10.3,315,2355,0.00,2.10,0.00,0.000,3078,0.000,0.018,2459,1642,3338,3396,3280,0,0,0,0,0,0,24.79,24.75,24.80
$GC,2597,-1.01,-146.6,2458,1645,3396,3279,309.0,-9.7,340,2604,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,1645,3338,3396,3280,0,0,0,0,0,0,24.96,24.98,24.97
$GC,2845,-1.01,-146.6,2458,1645,3395,3279,329.2,-7.0,365,2854,0.00,2.22,0.00,0.000,2308,0.000,0.028,2459,3051,3337,3396,3279,0,0,0,0,0,0,24.98,24.71,24.98
$GC,2868,-1.01,-146.6,2458,3051,3396,3279,330.7,-6.9,367,2876,0.00,2.17,0.00,0.000,3078,0.000,0.029,2459,1685,3337,3396,3278,0,0,0,0,0,0,24.75,24.70,24.77
$GC,3118,-1.01,-146.6,2458,1685,3396,3275,350.1,-8.7,392,3125,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,1685,3335,3396,3275,0,0,0,0,0,0,24.98,24.99,24.99
$GC,3367,-1.01,-146.6,2458,1685,3395,3272,371.8,-7.7,417,3371,0.00,2.22,0.00,0.000,2308,0.000,0.030,2459,3054,3333,3395,3272,0,0,0,0,0,0,24.99,24.71,25.00
$GC,3401,-1.01,-146.6,2458,3055,3396,3271,374.2,-7.6,420,3410,0.00,2.22,0.00,0.000,3078,0.000,0.031,2459,1671,3333,3396,3271,0,0,0,0,0,0,24.76,24.72,24.78
$GC,3651,-1.01,-146.6,2458,1671,3396,3268,394.3,-7.9,445,3658,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,1671,3332,3396,3268,0,0,0,0,0,0,24.99,25.01,25.00
$GC,3920,-1.01,-146.6,2458,1671,3396,3264,414.6,-7.1,457,3922,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,1671,3329,3395,3264,0,0,0,0,0,0,25.00,25.01,25.01
$GC,4159,-1.01,-146.6,2458,1671,3396,3261,434.0,-8.5,463,4161,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,1671,3328,3395,3261,0,0,0,0,0,0,25.01,25.02,25.01
$GC,4399,-1.01,-146.6,2458,1668,3394,3258,455.6,-9.0,469,4404,0.00,2.25,0.00,0.000,2308,0.000,0.034,2459,3038,3326,3394,3258,0,0,0,0,0,0,25.01,24.72,25.02
$GC,4449,-1.01,-146.6,2458,3038,3394,3257,459.1,-8.7,470,4454,0.00,2.25,0.00,0.000,3078,0.000,0.034,2459,1665,3326,3395,3257,0,0,0,0,0,0,24.82,24.72,24.84
$GC,4718,-1.01,-146.6,2458,1665,3394,3254,479.2,-7.0,477,4720,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,1665,3323,3394,3253,0,0,0,0,0,0,25.01,25.03,25.02
$GC,4957,-1.01,-146.6,2458,1665,3391,3252,496.0,-7.1,483,4964,0.00,2.50,0.00,0.000,2564,0.000,0.082,2459,265,3322,3392,3252,0,0,0,0,0,0,25.02,24.68,25.03
$GC,5000,-1.01,-146.6,2458,265,3391,3252,499.3,-7.4,484,5004,0.00,2.22,0.00,0.000,3078,0.000,0.026,2459,1648,3321,3391,3252,0,0,0,0,0,0,24.84,24.76,24.85
$STATE,5035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5035,begin apogee
$GC,5041,-0.23,0.0,2458,1875,3391,3252,502.4,-7.6,485,5170,1.15,0.08,124.00,0.867,10246,0.086,0.103,2713,1829,2729,2791,2668,0,0,0,0,0,0,24.68,23.97,23.46
$STATE,5171,end apogee,CONTROL_FINISHED_OK
$STATE,5171,begin climb
$GC,5173,1.01,146.6,2713,1830,2791,2666,504.8,0.0,488,5310,1.75,2.45,127.45,0.845,10500,0.057,0.058,3113,3197,2130,2181,2080,0,0,0,0,0,0,24.15,23.96,23.44
$GC,5331,1.01,146.6,3113,3197,2180,2075,497.4,6.1,492,5336,0.00,2.25,0.00,0.000,1030,0.000,0.034,3113,1856,2127,2180,2075,0,0,0,0,0,0,24.32,24.22,24.33
$GC,5599,1.01,146.6,3113,1856,2180,2066,467.3,10.5,499,5606,0.00,2.55,0.00,0.000,516,0.000,0.079,3113,430,2123,2180,2066,0,0,0,0,0,0,24.66,24.34,24.68
$GC,5697,1.01,146.6,3113,430,2179,2064,458.2,10.9,501,5702,0.00,2.25,0.00,0.000,1030,0.000,0.022,3113,1825,2121,2179,2064,0,0,0,0,0,0,24.34,24.47,24.45
$GC,5955,1.03,158.2,3113,1825,2179,2061,431.0,9.5,508,5967,0.00,0.00,10.07,0.723,10246,0.000,0.000,3113,1825,2082,2142,2023,0,0,0,0,0,0,24.76,24.20,23.70
$GC,6194,1.03,158.2,3113,1825,2142,2017,405.4,10.8,514,6200,0.00,2.45,0.00,0.000,2564,0.000,0.063,3113,429,2079,2142,2017,0,0,0,0,0,0,24.77,24.44,24.77
$GC,6248,1.03,158.2,3113,429,2142,2017,401.1,10.8,515,6253,0.00,2.28,0.00,0.000,3078,0.000,0.021,3113,1851,2079,2142,2017,0,0,0,0,0,0,24.61,24.56,24.62
$GC,6502,1.09,214.2,3113,1851,2142,2014,379.0,7.5,539,6561,0.00,0.00,50.75,0.789,10758,0.000,0.000,3113,1851,1854,1904,1805,0,0,0,0,0,0,24.82,24.00,23.52
$GC,6801,1.09,214.2,3113,1851,1904,1796,345.2,12.3,569,6810,0.00,2.33,0.00,0.000,2308,0.000,0.047,3113,3229,1850,1904,1797,0,0,0,0,0,0,24.72,24.41,24.72
$GC,6856,1.09,214.2,3113,3229,1904,1796,338.8,12.4,574,6864,0.00,2.33,0.00,0.000,3078,0.000,0.037,3113,1828,1850,1904,1796,0,0,0,0,0,0,24.55,24.45,24.56
$GC,7105,1.09,214.2,3113,1828,1904,1793,309.8,10.1,599,7114,0.00,2.40,0.00,0.000,2564,0.000,0.065,3113,437,1848,1904,1793,0,0,0,0,0,0,24.78,24.46,24.79
$GC,7137,1.09,214.2,3113,437,1903,1792,306.2,10.3,602,7148,0.00,2.25,0.00,0.000,3078,0.000,0.021,3113,1845,1847,1903,1792,0,0,0,0,0,0,24.62,24.56,24.63
$GC,7389,1.09,214.2,3112,1847,1903,1791,283.0,10.2,627,7397,0.00,0.00,0.00,0.000,2054,0.000,0.000,3113,1847,1847,1903,1791,0,0,0,0,0,0,24.82,24.83,24.82
$GC,7640,1.09,214.2,3113,1849,1903,1788,255.0,11.0,652,7646,0.00,0.00,0.00,0.000,2054,0.000,0.000,3113,1849,1845,1902,1789,0,0,0,0,0,0,24.84,24.86,24.85
$GC,7888,1.16,268.6,3113,1849,1903,1787,232.7,7.5,677,7941,0.12,0.00,49.35,0.682,10246,0.070,0.000,3154,1849,1633,1680,1586,0,0,0,0,0,0,24.63,24.03,23.60
$GC,8179,1.16,268.6,3153,1849,1679,1581,197.1,11.6,706,8184,0.00,2.45,0.00,0.000,2564,0.000,0.054,3154,422,1630,1680,1580,0,0,0,0,0,0,24.73,24.42,24.74
$GC,8235,1.16,268.6,3153,422,1679,1580,191.0,11.9,711,8242,0.00,2.30,0.00,0.000,3078,0.000,0.020,3154,1848,1629,1679,1580,0,0,0,0,0,0,24.56,24.53,24.57
$GC,8483,1.16,268.6,3153,1848,1679,1578,161.5,11.3,736,8488,0.00,2.22,0.00,0.000,2308,0.000,0.031,3154,3235,1628,1679,1578,0,0,0,0,0,0,24.79,24.53,24.79
$GC,8535,1.16,268.6,3153,3235,1679,1578,156.1,10.2,741,8546,0.00,2.28,0.00,0.000,3078,0.000,0.028,3154,1822,1628,1679,1578,0,0,0,0,0,0,24.62,24.53,24.63
$GC,8791,1.16,268.6,3153,1822,1679,1578,128.1,11.3,784,8798,0.00,0.00,0.00,0.000,2054,0.000,0.000,3154,1822,1628,1679,1578,0,0,0,0,0,0,24.83,24.84,24.84
$GC,9046,1.18,286.7,3153,1822,1679,1578,102.0,9.2,833,9068,0.00,2.33,17.27,0.535,10500,0.000,0.026,3154,3229,1559,1607,1512,0,0,0,0,0,0,24.86,24.27,23.87
$GC,9102,1.20,302.5,3154,3229,1607,1512,96.9,9.3,842,9124,0.00,2.28,16.08,0.523,11270,0.000,0.027,3154,1841,1495,1544,1447,0,0,0,0,0,0,24.48,24.43,23.80
$GC,9372,1.26,344.9,3154,1842,1544,1446,72.1,8.1,893,9416,0.08,0.00,39.85,0.521,10246,0.086,0.000,3193,1841,1323,1367,1280,0,0,0,0,0,0,24.58,24.09,23.75
$GC,9664,1.26,344.9,3193,1841,1367,1276,37.5,12.6,947,9671,0.00,2.28,0.00,0.000,260,0.000,0.027,3193,3229,1321,1367,1276,0,0,0,0,0,0,24.74,24.49,24.75
$GC,9689,1.26,344.9,3193,3229,1367,1276,34.3,12.9,951,9697,0.00,2.28,0.00,0.000,1030,0.000,0.026,3193,1833,1321,1367,1275,0,0,0,0,0,0,24.53,24.50,24.56
$STATE,9931,end climb,SURFACE_DEPTH_REACHED
$STATE,9931,begin surface coast
$FINISH,0.2,1.022536
$STATE,9953,end surface coast,CONTROL_FINISHED_OK
$STATE,9953,begin surface
$SM_CCo,9975,20.88,0.448,0,0,1179,380.21
$SM_GC,1.19,11.45,0.25,20.88,0.033,0.056,0.448,413,1659,1179,-7.38,0.93,380.21,0,0,0,0,0,0,24.54,24.56,23.90
$IRIDIUM_FIX,2204.37,-15721.73,241020,000828
$TT8_MAMPS,0.021721,0.301098
$HUMID,59.52
$INTERNAL_PRESSURE,9.64279
$TCM_TEMP,24.00
$XPDR_PINGS,5
$24V_AH,23.44,52.256
$10V_AH,9.92,58.100
$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,25.125,74.075,434.825,20.875,0.000,28.644,59.811,241.944,1.250,0.000,27.021,2519.672,4607.255,603.143,2535.367,198.419,0.000,1529.620,0.000,2173.537,0.000,0.539,0.000
$DEVICE_MAMPS,139.995,103.275,866.745,448.290,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,674.074,698.806,0.000,1290.899,918.145,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,0.000,41.940,68.160,0.000,0.000,0.000,0.000,0.000
$MEM,338852
$DATA_FILE_SIZE,80708,1002
$CAP_FILE_SIZE,116016,0
$CFSIZE,259248128,230174720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.154,0.93,1
$GPS,241020,055625,2219.564,-15713.878,32,0.9,52,9.8,0.3,337.4,8,8.0