version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 5
start: 5 25 123 22 21 54
data:
$ID,626
$MISSION,4
$DIVE,5
$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,70
$R_STBD_OVSHOOT,47
$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
$GPS1,250523,221631,2243.0071,-15801.9229,7,0.8,25,9.8,0.0,62.1,11,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.0
$GPS2,250523,222125,2243.0063,-15801.9258,6,0.8,14,9.8,0.6,221.4,11,9.4
$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,48.9,4944,-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,-146.0,125,2224,1279,1194,0.0,0.0,0,82,0.00,0.00,-63.35,0.000,16386,0.000,0.000,125,2225,3252,3228,3276,0,0,0,0,0,0,15.22,28.83,15.23
$GC,86,-0.72,-146.0,125,2225,3228,3276,3.2,-6.1,9,108,7.97,2.35,-4.18,0.000,18692,0.460,0.067,2476,3673,3519,3504,3534,0,0,0,0,0,0,14.68,14.07,14.89
$GC,169,-0.72,-146.0,2475,3675,3507,3534,29.4,-15.1,23,177,0.00,2.28,0.00,0.000,3078,0.000,0.050,2475,2302,3521,3511,3531,0,0,0,0,0,0,15.04,15.00,15.07
$GC,416,-0.72,-146.0,2475,2302,3512,3528,74.0,-16.4,48,423,0.05,2.20,0.00,0.000,2308,0.439,0.051,2483,3668,3520,3513,3528,0,0,0,0,0,0,14.92,15.09,15.12
$GC,545,-0.72,-146.0,2483,3668,3513,3528,88.8,-10.1,60,551,0.00,2.28,0.00,0.000,3078,0.000,0.044,2483,2253,3520,3513,3528,0,0,0,0,0,0,15.21,15.12,15.22
$GC,803,-0.72,-146.0,2482,2253,3515,3528,124.5,-14.7,85,808,0.00,2.28,0.00,0.000,2308,0.000,0.055,2473,3662,3521,3515,3527,0,0,0,0,0,0,15.36,15.14,15.36
$GC,944,-0.72,-146.0,2472,3664,3515,3527,139.7,-10.2,98,952,0.05,2.28,0.00,0.000,3078,0.302,0.044,2491,2260,3521,3515,3527,0,0,0,0,0,0,14.98,15.12,15.11
$GC,1191,-0.72,-146.0,2489,2259,3516,3527,166.3,-9.8,123,1197,0.00,2.25,0.00,0.000,2564,0.000,0.057,2491,865,3521,3516,3527,0,0,0,0,0,0,15.40,15.16,15.40
$GC,1346,-0.72,-146.0,2491,863,3516,3527,181.7,-9.6,138,1352,0.00,2.22,0.00,0.000,3078,0.000,0.048,2485,2255,3522,3517,3527,0,0,0,0,0,0,15.26,15.17,15.27
$STATE,1519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1519,begin apogee
$GC,1527,-0.14,0.0,2485,2064,3517,3526,200.7,-11.6,155,1640,0.50,0.00,107.90,1.247,10246,0.229,0.000,2676,2062,2918,2975,2862,0,0,0,0,0,0,15.05,14.64,14.08
$STATE,1641,end apogee,CONTROL_FINISHED_OK
$STATE,1641,begin climb
$GC,1644,0.72,146.0,2675,2062,2976,2862,206.9,0.0,158,1765,0.65,2.42,112.47,1.224,10500,0.090,0.054,2976,3511,2322,2410,2234,0,0,0,0,0,0,14.66,14.46,14.04
$GC,1908,0.72,146.0,2975,3511,2410,2235,182.4,19.5,169,1914,0.10,2.22,0.00,0.000,5126,0.393,0.044,2956,2132,2322,2409,2235,0,0,0,0,0,0,14.77,14.95,14.97
$GC,2162,0.72,146.0,2955,2128,2410,2230,139.7,13.9,194,2167,0.00,2.22,0.00,0.000,260,0.000,0.053,2956,3518,2319,2409,2229,0,0,0,0,0,0,15.29,15.08,15.30
$GC,2180,0.72,146.0,2955,3518,2409,2230,137.9,13.9,195,2187,0.00,2.28,0.00,0.000,5126,0.000,0.044,2964,2096,2320,2410,2230,0,0,0,0,0,0,15.18,15.09,15.19
$GC,2429,0.72,146.0,2964,2095,2409,2229,107.4,11.1,220,2435,0.00,2.33,0.00,0.000,4356,0.000,0.054,2965,3524,2319,2409,2229,0,0,0,0,0,0,15.35,15.13,15.35
$GC,2520,0.72,146.0,2964,3524,2410,2229,97.2,11.5,228,2528,0.05,2.33,0.00,0.000,5126,0.402,0.046,2945,2101,2319,2409,2229,0,0,0,0,0,0,14.95,15.14,15.16
$GC,2772,0.82,230.2,2944,2101,2409,2228,76.3,6.2,253,2841,0.08,2.40,62.10,1.089,10756,0.187,0.059,3051,691,1979,2063,1895,0,0,0,0,0,0,15.16,14.79,14.30
$GC,2909,0.82,230.2,3051,691,2047,1895,54.4,21.7,265,2915,0.20,2.30,0.00,0.000,5126,0.343,0.045,2985,2110,1971,2047,1895,0,0,0,0,0,0,14.76,14.94,14.97
$GC,3167,0.82,230.2,2986,2113,2047,1893,9.1,17.1,302,3175,0.00,2.28,0.00,0.000,260,0.000,0.056,2986,3499,1970,2047,1893,0,0,0,0,0,0,15.25,15.01,15.26
$GC,3194,0.82,230.2,2986,3499,2047,1893,4.2,17.8,306,3202,0.00,2.30,0.00,0.000,5126,0.000,0.045,2997,2099,1970,2047,1894,0,0,0,0,0,0,15.07,15.04,15.10
$STATE,3209,end climb,SURFACE_DEPTH_REACHED
$STATE,3209,begin surface coast
$FINISH,0.2,1.014057
$STATE,3226,end surface coast,CONTROL_FINISHED_OK
$STATE,3226,begin surface
$SM_CCo,3245,71.18,0.281,0,0,1245,410.13
$SM_GC,1.02,6.57,0.28,71.18,0.080,0.066,0.281,155,2306,1245,-7.86,-1.13,410.13,0,0,0,0,0,0,15.07,15.09,14.82
$IRIDIUM_FIX,2234.68,-15802.37,250523,221754
$TT8_MAMPS,0.02247,0.313082
$HUMID,45.55
$INTERNAL_PRESSURE,9.1699
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,14.04,3.250
$10V_AH,14.02,0.000
$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,16.225,41.725,282.475,71.175,0.000,26.885,41.381,102.302,0.000,0.000,16.011,938.987,1127.858,411.507,998.255,151.431,0.000,800.642,0.000,809.073,0.000,0.554,0.000
$DEVICE_MAMPS,459.765,68.850,1246.950,280.755,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,207.557,221.129,403.193,377.605,441.182,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339172
$DATA_FILE_SIZE,27356,311
$CAP_FILE_SIZE,49006,0
$CFSIZE,1023623168,1019985920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.118,275.30,1
$GPS,250523,231812,2243.132,-15802.106,7,0.8,21,9.8,0.6,272.5,11,8.8