version: 66.12
revision: eAGLERAY
glider: 148
mission: 16
dive: 5
start: 9 3 120 0 28 23
data:
$ID,148
$MISSION,16
$DIVE,5
$N_DIVES,0
$STOP_T,3102110
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$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,50
$T_MISSION,110
$T_ABORT,60
$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,450
$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,2800
$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,1800
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,91
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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
$GPS1,030920,002402,2245.6555,-15804.7383,10,0.9,22,9.8,0.0,289.8,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-61.1
$GPS2,030920,002759,2245.6770,-15804.7637,8,0.9,17,9.8,0.0,299.6,9,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,A2
$TGT_LATLONG,2247.500,-15840.000
$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,234.8,60258,-18.2,-10.000,-21.02,2236
$D_GRID,150
$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,13,begin dive
$GC,15,-1.01,-146.6,413,1770,1032,896,0.0,0.0,0,97,0.00,0.00,-79.43,0.000,16386,0.000,0.000,413,1770,3093,3142,3045,0,0,0,0,0,0,25.01,28.83,25.03
$GC,99,-1.01,-146.6,413,1770,3143,3046,3.9,-8.0,11,124,10.43,2.12,-5.47,0.000,18948,0.139,0.051,2471,452,3398,3466,3330,0,0,0,0,0,0,24.57,24.25,24.73
$GC,394,-1.01,-146.6,2471,452,3466,3331,63.4,-16.5,63,402,0.00,2.10,0.00,0.000,3078,0.000,0.015,2471,1855,3399,3467,3331,0,0,0,0,0,0,24.95,24.94,24.96
$GC,655,-1.01,-146.6,2471,1858,3467,3331,103.0,-13.5,97,660,0.00,2.08,0.00,0.000,2308,0.000,0.024,2471,3218,3399,3467,3331,0,0,0,0,0,0,25.18,24.89,25.18
$GC,679,-1.01,-146.6,2471,3218,3466,3331,105.8,-13.0,99,687,0.00,2.15,0.00,0.000,3078,0.000,0.022,2471,1848,3399,3467,3331,0,0,0,0,0,0,24.93,24.90,24.95
$GC,927,-1.01,-146.6,2471,1847,3466,3331,135.7,-11.1,124,937,0.00,2.33,0.00,0.000,2564,0.000,0.043,2472,400,3398,3466,3331,0,0,0,0,0,0,25.20,24.84,25.20
$GC,1022,-1.01,-146.6,2471,400,3466,3331,146.9,-11.8,133,1027,0.00,2.15,0.00,0.000,3078,0.000,0.015,2471,1857,3398,3466,3331,0,0,0,0,0,0,25.03,24.98,25.03
$STATE,1052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1052,begin apogee
$GC,1056,-0.23,0.0,2471,2107,3466,3331,150.5,-11.5,136,1177,1.10,0.17,114.88,0.559,10246,0.085,0.058,2720,1968,2799,2863,2735,0,0,0,0,0,0,24.79,24.32,23.89
$STATE,1178,end apogee,CONTROL_FINISHED_OK
$STATE,1178,begin climb
$GC,1179,1.01,146.6,2719,1968,2863,2735,153.9,0.0,148,1306,1.60,2.35,117.93,0.552,10500,0.049,0.028,3107,3409,2201,2262,2140,0,0,0,0,0,0,24.45,24.32,23.88
$GC,1352,1.18,284.6,3106,3409,2262,2138,153.2,3.7,165,1474,0.20,2.22,115.12,0.544,11270,0.041,0.022,3174,2011,1637,1682,1593,0,0,0,0,0,0,24.57,24.56,23.89
$GC,1722,1.18,284.6,3173,2011,1681,1590,110.4,11.5,202,1732,0.00,2.33,0.00,0.000,516,0.000,0.046,3174,596,1635,1681,1590,0,0,0,0,0,0,24.95,24.64,24.97
$GC,1828,1.18,284.6,3174,596,1681,1589,97.6,12.5,212,1838,0.00,2.22,0.00,0.000,1030,0.000,0.017,3174,2023,1635,1681,1589,0,0,0,0,0,0,24.80,24.78,24.82
$GC,2088,1.21,306.6,3174,2023,1681,1587,70.4,9.0,245,2110,0.00,0.00,20.27,0.497,10246,0.000,0.000,3174,2023,1549,1595,1503,0,0,0,0,0,0,25.10,24.46,24.06
$GC,2377,1.21,309.9,3173,2024,1595,1499,41.1,9.8,296,2387,0.00,2.38,3.97,0.327,10756,0.000,0.043,3174,603,1535,1585,1485,0,0,0,0,0,0,25.09,24.71,24.23
$GC,2442,1.21,309.9,3173,604,1585,1485,34.1,10.9,307,2451,0.00,2.17,0.00,0.000,3078,0.000,0.018,3174,2015,1535,1585,1485,0,0,0,0,0,0,24.88,24.86,24.89
$GC,2715,1.21,309.9,3174,2018,1585,1485,6.5,10.4,356,2722,0.00,2.35,0.00,0.000,2564,0.000,0.044,3174,601,1535,1585,1485,0,0,0,0,0,0,25.15,24.82,25.15
$STATE,2743,end climb,SURFACE_DEPTH_REACHED
$STATE,2744,begin surface coast
$FINISH,0.3,1.022279
$STATE,2767,end surface coast,CONTROL_FINISHED_OK
$STATE,2767,begin surface
$SM_CCo,2785,80.97,0.054,0,0,964,450.12
$SM_GC,1.11,11.20,1.85,80.97,0.039,0.017,0.054,432,1787,964,-7.35,-1.78,450.12,0,0,0,0,0,0,24.84,24.94,24.72
$IRIDIUM_FIX,2234.68,-15749.78,030920,001842
$TT8_MAMPS,0.020972,0.362516
$HUMID,52.71
$INTERNAL_PRESSURE,9.76974
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.88,4.298
$10V_AH,10.47,1.888
$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,24.525,31.175,372.175,80.975,0.000,0.000,0.000,0.000,0.000,0.000,18.148,868.546,569.954,465.612,997.542,40.128,0.000,885.607,0.000,996.963,0.000,0.543,0.000
$DEVICE_MAMPS,139.230,58.140,559.215,53.550,0.000,0.000,0.000,0.000,420.000,0.000,15.730,13.370,2.190,13.370,39.580,49.320,0.000,11.350,0.000,14.980,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,239.680,254.198,371.250,609.054,750.047,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.990,53.930,41.940,68.160,0.000,0.000,0.000,0.000,0.000
$MEM,339396
$DATA_FILE_SIZE,30495,365
$CAP_FILE_SIZE,60568,0
$CFSIZE,259248128,258285568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.162,358.27,1
$GPS,030920,011731,2245.763,-15805.086,12,0.8,49,9.8,0.5,353.4,11,6.8