version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 4
start: 5 25 123 21 15 44
data:
$ID,626
$MISSION,4
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,250
$D_NO_BLEED,50
$D_BOOST,20
$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,66
$T_MISSION,140
$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,1.0275
$MASS,54664
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003548
$HD_B,0.0112
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15809
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,199
$PITCH_MAX,3921
$C_PITCH,2725
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,183
$ROLL_MAX,3761
$ROLL_DEG,40
$C_ROLL_DIVE,2265
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,81
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2920
$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,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-176.0238
$PRESSURE_SLOPE,0.000140886
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,0
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044069826
$SEABIRD_T_H,0.00063813623
$SEABIRD_T_I,2.8130115e-05
$SEABIRD_T_J,3.650594e-06
$SEABIRD_C_G,-10.07238
$SEABIRD_C_H,1.1361538
$SEABIRD_C_I,-0.0036773519
$SEABIRD_C_J,0.00034109052
$GPS1,250523,211021,2242.8279,-15801.7959,6,1.0,14,9.8,0.0,259.9,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-76.9
$GPS2,250523,211515,2242.8418,-15801.7881,6,1.0,14,9.8,0.6,120.4,8,9.7
$SPEED_LIMITS,0.175,0.249
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$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,39.7,5030,-18.9,-10.101,-22.06,2218
$D_GRID,200
$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,16,-0.72,-146.0,125,2232,1281,1194,0.0,0.0,0,82,0.00,0.00,-63.22,0.000,16386,0.000,0.000,125,2231,3270,3244,3297,0,0,0,0,0,0,15.23,28.83,15.23
$GC,86,-0.72,-146.0,125,2232,3246,3297,3.6,-7.8,9,109,7.95,2.28,-3.78,0.000,18692,0.457,0.067,2473,3643,3517,3501,3534,0,0,0,0,0,0,14.66,14.05,14.89
$GC,170,-0.72,-146.0,2472,3645,3506,3533,29.6,-13.7,23,179,0.05,2.22,0.00,0.000,3078,0.292,0.048,2492,2294,3519,3510,3529,0,0,0,0,0,0,14.86,14.98,14.98
$GC,421,-0.72,-146.0,2492,2293,3512,3527,70.7,-17.9,48,426,0.00,2.17,0.00,0.000,260,0.000,0.054,2485,3635,3519,3512,3527,0,0,0,0,0,0,15.30,15.09,15.31
$GC,549,-0.72,-146.0,2485,3635,3512,3528,86.4,-10.3,60,554,0.00,2.17,0.00,0.000,3078,0.000,0.043,2485,2260,3519,3512,3527,0,0,0,0,0,0,15.21,15.13,15.22
$GC,806,-0.72,-146.0,2485,2260,3513,3527,117.5,-12.2,85,811,0.00,2.25,0.00,0.000,2308,0.000,0.057,2475,3637,3519,3513,3525,0,0,0,0,0,0,15.36,15.14,15.37
$GC,942,-0.72,-146.0,2474,3637,3513,3527,131.8,-10.5,98,948,0.05,2.20,0.00,0.000,3078,0.347,0.044,2494,2262,3519,3512,3527,0,0,0,0,0,0,15.01,15.16,15.19
$GC,1197,-0.72,-146.0,2494,2258,3514,3526,163.2,-11.8,123,1202,0.00,2.22,0.00,0.000,516,0.000,0.057,2494,860,3520,3514,3526,0,0,0,0,0,0,15.39,15.16,15.40
$GC,1349,-0.72,-146.0,2494,859,3515,3526,178.2,-9.6,137,1357,0.00,2.17,0.00,0.000,3078,0.000,0.048,2487,2221,3520,3515,3525,0,0,0,0,0,0,15.26,15.17,15.28
$STATE,1553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1553,begin apogee
$GC,1560,-0.14,0.0,2487,2064,3516,3525,200.7,-11.2,158,1674,0.50,0.00,106.82,1.243,10246,0.223,0.000,2678,2062,2919,2975,2864,0,0,0,0,0,0,15.04,14.50,14.07
$STATE,1675,end apogee,CONTROL_FINISHED_OK
$STATE,1675,begin climb
$GC,1678,0.72,146.0,2678,2062,2975,2863,207.3,0.0,161,1800,0.62,2.22,112.35,1.203,10756,0.079,0.053,2989,721,2322,2409,2235,0,0,0,0,0,0,14.69,14.59,14.04
$GC,1962,0.72,146.0,2988,722,2394,2236,182.6,17.9,174,1968,0.10,2.25,0.00,0.000,5126,0.383,0.046,2958,2113,2314,2393,2235,0,0,0,0,0,0,14.79,14.97,15.02
$GC,2217,0.72,146.0,2958,2116,2393,2236,145.2,12.6,199,2222,0.00,2.22,0.00,0.000,260,0.000,0.054,2958,3511,2314,2393,2235,0,0,0,0,0,0,15.30,15.09,15.31
$GC,2296,0.72,146.0,2957,3511,2393,2236,134.5,14.1,206,2303,0.00,2.25,0.00,0.000,5126,0.000,0.044,2967,2130,2315,2394,2236,0,0,0,0,0,0,15.12,15.09,15.15
$GC,2547,0.72,146.0,2967,2130,2393,2236,106.2,10.3,231,2552,0.00,2.30,0.00,0.000,4612,0.000,0.055,2978,685,2314,2393,2235,0,0,0,0,0,0,15.36,15.14,15.37
$GC,2592,0.73,155.6,2978,684,2393,2233,101.4,9.7,235,2606,0.05,2.28,7.53,1.081,13318,0.433,0.045,2963,2107,2284,2370,2198,0,0,0,0,0,0,14.96,15.16,14.52
$GC,2846,0.73,159.2,2963,2107,2370,2197,78.3,9.9,260,2858,0.00,2.33,4.22,0.946,8708,0.000,0.052,2973,684,2269,2358,2181,0,0,0,0,0,0,15.36,14.94,14.50
$GC,2907,0.77,189.7,2972,684,2353,2181,73.2,8.7,265,2939,0.00,2.30,24.05,1.104,9222,0.000,0.044,2973,2095,2144,2238,2050,0,0,0,0,0,0,15.15,15.11,14.43
$GC,3179,0.77,189.7,2973,2096,2238,2045,35.5,13.6,292,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2096,2141,2237,2045,0,0,0,0,0,0,15.30,15.31,15.30
$GC,3437,0.77,189.7,2972,2097,2237,2044,4.4,13.9,337,3445,0.00,2.30,0.00,0.000,260,0.000,0.057,2973,3500,2140,2237,2044,0,0,0,0,0,0,15.30,15.06,15.30
$STATE,3450,end climb,SURFACE_DEPTH_REACHED
$STATE,3450,begin surface coast
$FINISH,0.0,1.009963
$STATE,3472,end surface coast,CONTROL_FINISHED_OK
$STATE,3472,begin surface
$SM_CCo,3493,88.07,0.291,0,0,1246,410.13
$SM_GC,1.05,6.45,2.00,88.07,0.073,0.034,0.291,170,2230,1246,-7.83,1.10,410.13,0,0,0,0,0,0,15.12,15.13,14.82
$IRIDIUM_FIX,2232.34,-15802.37,250523,211142
$TT8_MAMPS,0.023219,0.310835
$HUMID,45.62
$INTERNAL_PRESSURE,9.18943
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,14.04,3.099
$10V_AH,13.49,0.000
$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,15.775,40.400,254.975,88.075,0.000,24.199,42.282,102.648,0.250,0.000,15.492,1020.746,1240.332,412.748,1066.772,150.284,0.000,815.409,0.000,878.713,0.000,0.555,0.000
$DEVICE_MAMPS,456.705,190.485,1243.125,291.465,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,229.421,244.003,445.750,431.260,504.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339160
$DATA_FILE_SIZE,30766,343
$CAP_FILE_SIZE,50747,0
$CFSIZE,1023623168,1020035072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.080,288.04,1
$GPS,250523,221631,2243.007,-15801.923,7,0.8,25,9.8,0.0,62.1,11,7.7