version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 583
start: 11 16 120 16 18 34
data:
$ID,148
$MISSION,16
$DIVE,583
$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,450
$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,410
$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,2790
$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,41
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3960
$C_VBD,2740
$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
$GPS1,161120,161038,2231.9531,-15745.1514,41,0.9,48,9.8,0.8,34.3,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-59.4
$GPS2,161120,161810,2232.0659,-15745.1123,14,1.0,29,9.8,0.8,8.1,8,9.7
$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,183.7,1290,-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,17,-1.01,-146.6,423,1655,1120,1004,0.0,0.0,0,95,0.00,0.00,-75.70,0.000,16386,0.000,0.000,423,1656,3089,3139,3040,0,0,0,0,0,0,24.65,28.83,24.67
$GC,99,-1.01,-146.6,423,1656,3139,3042,3.3,-7.1,11,122,10.60,2.33,-4.55,0.000,18948,0.143,0.055,2456,270,3339,3406,3272,0,0,0,0,0,0,24.25,23.93,24.39
$GC,319,-1.01,-146.6,2455,270,3406,3275,50.8,-18.5,52,326,0.00,2.20,0.00,0.000,3078,0.000,0.015,2456,1727,3340,3406,3275,0,0,0,0,0,0,24.58,24.58,24.60
$GC,573,-1.01,-146.6,2455,1729,3406,3275,97.1,-16.7,101,580,0.00,0.00,0.00,0.000,2054,0.000,0.000,2456,1729,3340,3406,3275,0,0,0,0,0,0,24.79,24.80,24.79
$GC,827,-1.01,-146.6,2455,1729,3406,3277,132.8,-13.7,150,834,0.00,0.00,0.00,0.000,2054,0.000,0.000,2456,1729,3341,3406,3277,0,0,0,0,0,0,24.83,24.84,24.83
$GC,1083,-1.01,-146.6,2455,1729,3406,3280,163.2,-11.2,189,1087,0.00,2.42,0.00,0.000,2564,0.000,0.046,2456,278,3343,3406,3280,0,0,0,0,0,0,24.86,24.54,24.87
$GC,1105,-1.01,-146.6,2455,278,3406,3280,165.8,-11.1,191,1109,0.00,2.15,0.00,0.000,3078,0.000,0.015,2456,1733,3343,3406,3280,0,0,0,0,0,0,24.71,24.68,24.71
$GC,1359,-1.01,-146.6,2455,1734,3406,3281,195.0,-10.3,216,1366,0.00,0.00,0.00,0.000,2054,0.000,0.000,2456,1735,3343,3406,3281,0,0,0,0,0,0,24.88,24.89,24.88
$GC,1618,-1.01,-146.6,2455,1735,3406,3281,219.8,-9.5,227,1622,0.00,2.08,0.00,0.000,2308,0.000,0.020,2456,3074,3343,3406,3281,0,0,0,0,0,0,24.89,24.64,24.90
$GC,1643,-1.01,-146.6,2455,3075,3406,3281,219.8,-9.5,227,1648,0.00,2.22,0.00,0.000,3078,0.000,0.024,2456,1678,3343,3406,3281,0,0,0,0,0,0,24.70,24.63,24.72
$GC,1896,-1.01,-146.6,2455,1678,3406,3281,246.2,-9.9,234,1901,0.00,2.35,0.00,0.000,2564,0.000,0.050,2456,267,3343,3406,3281,0,0,0,0,0,0,24.91,24.60,24.91
$GC,1924,-1.01,-146.6,2455,267,3406,3281,246.2,-9.9,234,1929,0.00,2.17,0.00,0.000,3078,0.000,0.017,2456,1716,3343,3406,3281,0,0,0,0,0,0,24.75,24.72,24.76
$GC,2177,-1.01,-146.6,2455,1718,3406,3281,274.0,-9.8,241,2179,0.00,0.00,0.00,0.000,2054,0.000,0.000,2456,1718,3343,3406,3281,0,0,0,0,0,0,24.92,24.93,24.93
$GC,2417,-1.01,-146.6,2455,1718,3406,3281,297.3,-9.7,247,2423,0.00,2.05,0.00,0.000,2308,0.000,0.024,2456,3020,3343,3406,3281,0,0,0,0,0,0,24.94,24.66,24.94
$GC,2482,-1.01,-146.6,2455,3020,3406,3281,301.1,-9.6,248,2489,0.00,2.17,0.00,0.000,3078,0.000,0.028,2456,1669,3343,3406,3281,0,0,0,0,0,0,24.72,24.66,24.73
$GC,2737,-1.01,-146.6,2455,1670,3406,3281,326.6,-9.3,255,2739,0.00,0.00,0.00,0.000,2054,0.000,0.000,2456,1670,3343,3406,3281,0,0,0,0,0,0,24.94,24.95,24.95
$GC,2977,-1.01,-146.6,2455,1670,3406,3281,347.4,-8.3,261,2983,0.00,2.17,0.00,0.000,2308,0.000,0.028,2456,3022,3343,3406,3281,0,0,0,0,0,0,24.95,24.68,24.96
$GC,3021,-1.01,-146.6,2455,3022,3406,3280,350.2,-7.9,262,3028,0.00,2.20,0.00,0.000,3078,0.000,0.031,2456,1670,3343,3406,3280,0,0,0,0,0,0,24.76,24.67,24.77
$GC,3297,-1.01,-146.6,2455,1670,3406,3277,369.8,-6.8,269,3299,0.00,0.00,0.00,0.000,2054,0.000,0.000,2456,1670,3341,3406,3277,0,0,0,0,0,0,24.96,24.96,24.96
$GC,3537,-1.01,-146.6,2455,1670,3406,3274,388.6,-8.1,275,3539,0.00,0.00,0.00,0.000,2054,0.000,0.000,2456,1670,3340,3406,3274,0,0,0,0,0,0,24.96,24.98,24.98
$GC,3778,-1.01,-146.6,2455,1670,3406,3270,410.2,-9.2,281,3780,0.00,0.00,0.00,0.000,2054,0.000,0.000,2456,1670,3338,3406,3271,0,0,0,0,0,0,24.97,24.98,24.98
$GC,4017,-1.01,-146.6,2455,1669,3406,3268,432.5,-9.3,287,4019,0.00,0.00,0.00,0.000,2054,0.000,0.000,2456,1669,3337,3406,3268,0,0,0,0,0,0,24.98,24.99,24.98
$GC,4257,-1.01,-146.6,2455,1668,3406,3265,452.3,-8.0,293,4261,0.00,2.20,0.00,0.000,2308,0.000,0.044,2456,3005,3335,3406,3265,0,0,0,0,0,0,24.98,24.68,24.99
$GC,4303,-1.01,-146.6,2455,3005,3406,3263,455.3,-7.6,294,4310,0.00,2.20,0.00,0.000,3078,0.000,0.037,2456,1676,3334,3406,3263,0,0,0,0,0,0,24.78,24.68,24.80
$GC,4580,-1.01,-146.6,2455,1676,3406,3260,476.1,-7.6,301,4585,0.00,2.20,0.00,0.000,2308,0.000,0.037,2456,3010,3332,3406,3259,0,0,0,0,0,0,24.98,24.01,24.99
$GC,4613,-1.01,-146.6,2455,3010,3406,3259,476.1,-7.6,301,4620,0.00,2.22,0.00,0.000,3078,0.000,0.040,2456,1671,3332,3406,3258,0,0,0,0,0,0,24.78,24.68,24.80
$GC,4860,-1.01,-146.6,2455,1671,3406,3256,499.9,-8.6,308,4862,0.00,0.00,0.00,0.000,2054,0.000,0.000,2456,1671,3330,3405,3256,0,0,0,0,0,0,24.98,25.00,24.99
$STATE,4897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4897,begin apogee
$GC,4904,-0.23,0.0,2455,1865,3404,3256,503.4,-8.6,309,5033,1.12,0.05,124.22,0.861,10246,0.074,0.155,2711,1827,2739,2802,2676,0,0,0,0,0,0,24.65,23.88,23.30
$STATE,5034,end apogee,CONTROL_FINISHED_OK
$STATE,5034,begin climb
$GC,5037,1.01,146.6,2711,1827,2802,2674,506.9,0.0,312,5170,1.73,0.00,129.00,0.840,10246,0.051,0.000,3111,1827,2141,2191,2091,0,0,0,0,0,0,24.13,23.87,23.28
$GC,5380,1.02,151.7,3110,1827,2191,2077,481.9,9.8,321,5388,0.00,0.00,4.95,0.575,10246,0.000,0.000,3111,1827,2120,2176,2065,0,0,0,0,0,0,24.64,24.15,23.55
$GC,5619,1.02,151.7,3110,1827,2176,2060,457.8,10.1,327,5621,0.00,0.00,0.00,0.000,2054,0.000,0.000,3111,1827,2118,2176,2060,0,0,0,0,0,0,24.70,24.71,24.70
$GC,5859,1.05,175.7,3110,1828,2176,2057,435.6,8.9,333,5887,0.00,2.28,21.88,0.796,10500,0.000,0.044,3111,3154,2022,2076,1968,0,0,0,0,0,0,24.75,24.01,23.37
$GC,5924,1.08,201.0,3110,3154,2074,1968,432.3,8.9,334,5956,0.00,2.17,24.38,0.783,11270,0.000,0.034,3111,1850,1919,1975,1863,0,0,0,0,0,0,24.44,24.34,23.34
$GC,6216,1.08,201.0,3110,1851,1975,1853,398.7,10.7,342,6221,0.00,2.50,0.00,0.000,2564,0.000,0.073,3111,436,1914,1975,1853,0,0,0,0,0,0,24.70,24.36,24.70
$GC,6258,1.08,201.0,3110,436,1975,1853,394.0,10.9,343,6263,0.00,2.15,0.00,0.000,3078,0.000,0.021,3111,1772,1914,1975,1853,0,0,0,0,0,0,24.53,24.47,24.55
$GC,6531,1.08,201.0,3110,1772,1975,1849,364.0,10.7,350,6533,0.00,0.00,0.00,0.000,2054,0.000,0.000,3110,1772,1912,1975,1849,0,0,0,0,0,0,24.76,24.77,24.77
$GC,6770,1.08,201.0,3110,1773,1975,1848,338.1,10.6,356,6773,0.00,0.00,0.00,0.000,2054,0.000,0.000,3111,1773,1911,1975,1848,0,0,0,0,0,0,24.79,24.80,24.80
$GC,7011,1.08,201.0,3110,1773,1975,1846,313.2,10.5,362,7017,0.00,2.28,0.00,0.000,2308,0.000,0.034,3111,3167,1910,1975,1846,0,0,0,0,0,0,24.82,24.51,24.82
$GC,7173,1.08,201.0,3110,3167,1974,1845,296.2,10.7,366,7178,0.00,2.20,0.00,0.000,3078,0.000,0.032,3111,1827,1910,1975,1845,0,0,0,0,0,0,24.64,24.55,24.66
$GC,7446,1.08,201.0,3110,1827,1975,1843,267.8,10.4,373,7448,0.00,0.00,0.00,0.000,2054,0.000,0.000,3111,1827,1909,1975,1843,0,0,0,0,0,0,24.84,24.86,24.85
$GC,7687,1.10,220.4,3110,1827,1974,1841,244.9,9.1,379,7712,0.05,2.22,17.12,0.662,10500,0.118,0.027,3139,3176,1839,1895,1784,0,0,0,0,0,0,24.66,23.97,23.58
$GC,7759,1.14,248.3,3138,3176,1895,1784,241.4,8.8,380,7793,0.00,2.20,26.88,0.672,11270,0.000,0.030,3139,1840,1725,1776,1674,0,0,0,0,0,0,24.51,24.42,23.46
$GC,8047,1.14,248.3,3138,1840,1776,1668,205.6,12.4,388,8049,0.00,0.00,0.00,0.000,2054,0.000,0.000,3139,1840,1722,1775,1669,0,0,0,0,0,0,24.72,24.73,24.72
$GC,8287,1.14,248.3,3138,1840,1776,1667,175.8,12.1,406,8296,0.00,2.12,0.00,0.000,2308,0.000,0.026,3139,3172,1721,1775,1667,0,0,0,0,0,0,24.77,24.51,24.77
$GC,8338,1.14,248.3,3138,3172,1775,1667,169.8,11.4,411,8349,0.00,2.17,0.00,0.000,3078,0.000,0.028,3139,1830,1721,1776,1667,0,0,0,0,0,0,24.59,24.51,24.60
$GC,8594,1.14,248.3,3138,1830,1776,1666,143.3,11.2,441,8601,0.00,0.00,0.00,0.000,2054,0.000,0.000,3139,1830,1721,1776,1666,0,0,0,0,0,0,24.81,24.82,24.82
$GC,8847,1.15,257.6,3138,1830,1775,1666,115.7,9.6,490,8863,0.00,0.00,9.05,0.507,10246,0.000,0.000,3139,1830,1687,1741,1634,0,0,0,0,0,0,24.84,24.30,23.84
$GC,9113,1.25,337.6,3139,1830,1741,1633,93.8,6.4,540,9197,0.10,2.17,74.95,0.544,10500,0.068,0.024,3186,3174,1360,1404,1317,0,0,0,0,0,0,24.60,23.89,23.58
$GC,9272,1.25,337.6,3186,3174,1404,1315,77.9,11.2,566,9279,0.00,2.20,0.00,0.000,1030,0.000,0.025,3186,1837,1359,1404,1315,0,0,0,0,0,0,24.41,24.37,24.43
$GC,9527,1.25,337.6,3186,1837,1404,1313,46.4,12.9,615,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1837,1358,1404,1313,0,0,0,0,0,0,24.70,24.72,24.72
$GC,9783,1.25,337.6,3186,1837,1404,1313,14.6,11.2,664,9790,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1837,1358,1404,1313,0,0,0,0,0,0,24.75,24.78,24.77
$STATE,9883,end climb,SURFACE_DEPTH_REACHED
$STATE,9883,begin surface coast
$FINISH,0.4,1.022679
$STATE,9905,end surface coast,CONTROL_FINISHED_OK
$STATE,9907,begin surface
$SM_CCo,9929,44.00,0.459,0,0,1068,410.13
$SM_GC,0.94,11.30,0.28,44.00,0.029,0.056,0.459,421,1654,1068,-7.34,0.71,410.13,0,0,0,0,0,0,24.53,24.53,23.70
$IRIDIUM_FIX,2220.67,-15912.16,161120,131826
$TT8_MAMPS,0.021721,0.23219
$HUMID,60.75
$INTERNAL_PRESSURE,9.63303
$TCM_TEMP,23.60
$XPDR_PINGS,10
$24V_AH,23.28,72.605
$10V_AH,9.83,75.525
$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,24.900,62.525,432.425,44.000,0.000,30.964,42.443,226.685,2.500,0.000,30.747,1821.237,5822.042,596.229,1973.999,216.193,0.000,1323.554,0.000,1636.364,0.000,0.540,0.000
$DEVICE_MAMPS,143.055,154.530,861.390,459.000,0.000,66.560,160.000,223.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,460.013,403.215,0.000,990.665,619.486,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,0.000,41.940,68.160,0.000,0.000,0.000,0.000,0.000
$MEM,338832
$DATA_FILE_SIZE,53892,687
$CAP_FILE_SIZE,99879,0
$CFSIZE,259248128,218198016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.254,0.33,1
$GPS,161120,190625,2232.148,-15745.354,31,1.0,59,9.8,0.6,345.5,8,8.4