version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 6
start: 5 25 123 23 24 5
data:
$ID,626
$MISSION,4
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,200
$T_MISSION,400
$T_ABORT,450
$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,2690
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,32
$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,42
$R_STBD_OVSHOOT,77
$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
$GPS1,250523,231812,2243.1318,-15802.1064,7,0.8,21,9.8,0.6,272.5,11,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-72.6
$GPS2,250523,232337,2243.1194,-15802.1279,7,0.8,19,9.8,0.0,349.3,11,9.4
$SPEED_LIMITS,0.173,0.249
$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,57.5,5033,-18.7,-10.000,-21.92,2240
$D_GRID,600
$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,17,-0.76,-146.0,125,2315,1281,1195,0.0,0.0,0,86,0.00,0.00,-66.65,0.000,16386,0.000,0.000,125,2315,3394,3367,3421,0,0,0,0,0,0,15.21,28.83,15.23
$GC,90,-0.76,-146.0,125,2315,3367,3422,4.0,-8.9,10,106,7.80,2.17,-1.80,0.000,19204,0.458,0.070,2427,3655,3519,3499,3539,0,0,0,0,0,0,14.67,14.09,14.88
$GC,145,-0.76,-146.0,2427,3659,3502,3540,31.2,-33.8,19,154,0.03,2.33,0.00,0.000,3078,0.392,0.060,2437,2278,3520,3507,3533,0,0,0,0,0,0,14.81,14.96,14.95
$GC,410,-0.76,-146.0,2437,2277,3512,3529,90.2,-20.9,68,418,0.00,2.40,0.00,0.000,2564,0.000,0.062,2438,844,3520,3513,3527,0,0,0,0,0,0,15.28,15.02,15.28
$GC,544,-0.76,-146.0,2437,845,3514,3528,118.7,-20.5,92,552,0.00,2.28,0.00,0.000,3078,0.000,0.047,2430,2224,3521,3514,3528,0,0,0,0,0,0,15.10,15.05,15.12
$GC,805,-0.76,-146.0,2430,2226,3515,3528,173.9,-19.7,130,810,0.00,2.25,0.00,0.000,2564,0.000,0.057,2430,842,3521,3516,3527,0,0,0,0,0,0,15.34,15.11,15.35
$GC,839,-0.76,-146.0,2430,842,3516,3528,180.9,-19.7,133,846,0.08,2.30,0.00,0.000,3078,0.371,0.047,2447,2275,3521,3516,3527,0,0,0,0,0,0,14.96,15.12,15.15
$GC,1125,-0.76,-146.0,2447,2279,3517,3527,223.7,-13.9,149,1130,0.00,2.33,0.00,0.000,516,0.000,0.057,2448,839,3521,3516,3527,0,0,0,0,0,0,15.40,15.16,15.40
$GC,1183,-0.76,-146.0,2447,838,3517,3527,229.7,-13.6,150,1189,0.00,2.30,0.00,0.000,3078,0.000,0.047,2439,2265,3522,3517,3527,0,0,0,0,0,0,15.27,15.19,15.28
$GC,1452,-0.76,-146.0,2439,2265,3517,3526,265.1,-12.8,157,1458,0.00,2.30,0.00,0.000,2564,0.000,0.057,2439,846,3521,3516,3527,0,0,0,0,0,0,15.44,15.20,15.45
$GC,1520,-0.76,-146.0,2438,846,3517,3527,271.0,-13.1,158,1526,0.00,2.28,0.00,0.000,3078,0.000,0.049,2430,2262,3522,3517,3527,0,0,0,0,0,0,15.30,15.21,15.31
$GC,1780,-0.76,-146.0,2429,2262,3517,3526,308.4,-13.2,165,1785,0.00,2.30,0.00,0.000,2564,0.000,0.057,2430,846,3521,3517,3525,0,0,0,0,0,0,15.46,15.21,15.46
$GC,1888,-0.76,-146.0,2429,846,3517,3525,319.7,-13.2,167,1894,0.08,2.30,0.00,0.000,3078,0.364,0.050,2447,2275,3521,3517,3525,0,0,0,0,0,0,15.07,15.22,15.26
$GC,2147,-0.76,-146.0,2447,2278,3517,3522,352.8,-11.9,174,2152,0.00,2.33,0.00,0.000,516,0.000,0.059,2448,840,3519,3517,3521,0,0,0,0,0,0,15.46,15.23,15.47
$GC,2225,-0.76,-146.0,2447,839,3517,3521,358.4,-12.0,175,2232,0.00,2.30,0.00,0.000,3078,0.000,0.052,2439,2264,3519,3517,3521,0,0,0,0,0,0,15.33,15.23,15.34
$GC,2472,-0.76,-146.0,2439,2265,3517,3517,391.6,-11.7,182,2477,0.00,2.33,0.00,0.000,2564,0.000,0.064,2439,843,3517,3517,3517,0,0,0,0,0,0,15.47,15.23,15.47
$GC,2579,-0.76,-146.0,2439,843,3516,3516,401.1,-11.4,184,2585,0.00,2.30,0.00,0.000,3078,0.000,0.054,2430,2262,3516,3517,3516,0,0,0,0,0,0,15.33,15.23,15.34
$GC,2839,-0.76,-146.0,2430,2263,3516,3512,431.4,-10.7,191,2844,0.00,2.33,0.00,0.000,2564,0.000,0.062,2430,846,3513,3515,3512,0,0,0,0,0,0,15.47,15.23,15.47
$GC,2872,-0.76,-146.0,2430,846,3516,3512,431.4,-10.7,191,2878,0.08,2.33,0.00,0.000,3078,0.371,0.055,2449,2272,3513,3516,3511,0,0,0,0,0,0,15.08,15.23,15.27
$GC,3127,-0.76,-146.0,2449,2276,3516,3508,456.0,-8.0,198,3133,0.00,2.35,0.00,0.000,4612,0.000,0.063,2450,842,3512,3516,3508,0,0,0,0,0,0,15.47,15.22,15.47
$GC,3235,-0.76,-146.0,2449,842,3515,3508,462.9,-8.0,200,3241,0.00,2.33,0.00,0.000,1030,0.000,0.056,2443,2264,3511,3515,3507,0,0,0,0,0,0,15.32,15.23,15.33
$GC,3494,-0.76,-146.0,2443,2264,3515,3502,487.9,-9.1,207,3500,0.00,2.33,0.00,0.000,516,0.000,0.064,2443,849,3508,3515,3502,0,0,0,0,0,0,15.46,15.22,15.47
$GC,3552,-0.76,-146.0,2443,849,3513,3502,492.1,-9.2,208,3558,0.00,2.33,0.00,0.000,3078,0.000,0.057,2437,2268,3507,3513,3502,0,0,0,0,0,0,15.33,15.23,15.34
$GC,3822,-0.76,-146.0,2436,2269,3513,3497,520.4,-10.1,215,3827,0.00,2.35,0.00,0.000,2564,0.000,0.066,2437,845,3505,3513,3497,0,0,0,0,0,0,15.47,15.21,15.47
$GC,3920,-0.76,-146.0,2436,846,3512,3497,529.4,-10.4,217,3925,0.00,2.33,0.00,0.000,3078,0.000,0.058,2430,2266,3504,3512,3497,0,0,0,0,0,0,15.33,15.21,15.34
$GC,4189,-0.76,-146.0,2430,2266,3512,3494,560.7,-11.0,224,4194,0.00,2.35,0.00,0.000,2564,0.000,0.067,2430,849,3503,3512,3494,0,0,0,0,0,0,15.47,15.21,15.47
$GC,4257,-0.76,-146.0,2430,849,3511,3494,565.6,-11.1,225,4263,0.05,2.33,0.00,0.000,3078,0.454,0.059,2439,2266,3502,3510,3494,0,0,0,0,0,0,15.02,15.21,15.25
$GC,4518,-0.76,-146.0,2439,2269,3510,3489,593.9,-9.7,232,4523,0.00,2.35,0.00,0.000,2564,0.000,0.067,2440,850,3499,3510,3489,0,0,0,0,0,0,15.46,15.21,15.47
$STATE,4599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4599,begin apogee
$GC,4608,-0.16,0.0,2437,2101,3508,3489,602.6,-10.0,234,4724,0.55,0.00,111.72,1.950,10246,0.256,0.000,2642,2101,2920,2981,2859,0,0,0,0,0,0,15.06,14.44,13.73
$STATE,4725,end apogee,CONTROL_FINISHED_OK
$STATE,4725,begin climb
$GC,4728,0.76,146.0,2642,2101,2980,2859,607.5,0.0,237,4863,0.68,2.42,122.50,1.880,10500,0.083,0.066,2957,3512,2322,2414,2231,0,0,0,0,0,0,14.50,14.42,13.73
$GC,5043,0.76,146.0,2957,3512,2408,2231,574.2,20.2,244,5051,0.10,2.38,0.00,0.000,5126,0.433,0.057,2939,2094,2319,2408,2230,0,0,0,0,0,0,14.71,14.91,14.95
$GC,5286,0.76,146.0,2938,2091,2404,2228,517.6,19.6,251,5288,0.00,0.00,0.00,0.000,4102,0.000,0.000,2938,2090,2315,2404,2227,0,0,0,0,0,0,15.27,15.28,15.27
$GC,5527,0.76,146.0,2938,2090,2402,2227,470.2,19.4,257,5532,0.00,2.33,0.00,0.000,4612,0.000,0.071,2948,687,2314,2402,2226,0,0,0,0,0,0,15.33,15.08,15.34
$GC,5604,0.76,146.0,2948,686,2395,2226,461.0,19.8,258,5612,0.00,2.35,0.00,0.000,5126,0.000,0.056,2948,2109,2310,2395,2226,0,0,0,0,0,0,15.21,15.11,15.22
$GC,5851,0.76,146.0,2948,2112,2395,2226,409.5,18.2,265,5856,0.00,2.38,0.00,0.000,4612,0.000,0.070,2959,684,2310,2395,2226,0,0,0,0,0,0,15.38,15.13,15.38
$GC,5863,0.76,146.0,2958,684,2395,2226,409.5,18.2,265,5869,0.08,2.35,0.00,0.000,5126,0.416,0.057,2936,2104,2309,2393,2226,0,0,0,0,0,0,14.95,15.14,15.19
$GC,6138,0.76,146.0,2936,2106,2393,2226,364.1,15.1,272,6143,0.00,2.30,0.00,0.000,260,0.000,0.068,2936,3509,2309,2393,2226,0,0,0,0,0,0,15.39,15.15,15.40
$GC,6150,0.76,146.0,2936,3509,2393,2226,364.1,15.1,272,6156,0.00,2.33,0.00,0.000,5126,0.000,0.061,2945,2101,2309,2393,2226,0,0,0,0,0,0,15.26,15.16,15.28
$GC,6424,0.76,146.0,2945,2099,2394,2226,321.2,14.8,279,6426,0.00,0.00,0.00,0.000,4102,0.000,0.000,2945,2099,2310,2394,2226,0,0,0,0,0,0,15.41,15.42,15.42
$GC,6665,0.76,146.0,2945,2098,2393,2225,289.5,12.4,285,6670,0.00,2.30,0.00,0.000,4612,0.000,0.070,2956,691,2309,2394,2225,0,0,0,0,0,0,15.42,15.18,15.42
$GC,6724,0.76,146.0,2956,691,2390,2225,283.3,12.5,286,6730,0.08,2.33,0.00,0.000,5126,0.422,0.057,2934,2104,2307,2390,2224,0,0,0,0,0,0,14.99,15.19,15.23
$GC,6994,0.76,146.0,2934,2108,2390,2224,249.0,11.1,293,6999,0.00,2.30,0.00,0.000,260,0.000,0.068,2934,3521,2307,2390,2224,0,0,0,0,0,0,15.42,15.19,15.43
$GC,7016,0.76,146.0,2934,3521,2390,2225,249.0,11.1,293,7022,0.00,2.35,0.00,0.000,5126,0.000,0.058,2942,2098,2308,2391,2225,0,0,0,0,0,0,15.29,15.19,15.30
$GC,7281,0.76,146.0,2943,2096,2390,2225,218.8,10.2,300,7287,0.00,2.33,0.00,0.000,4356,0.000,0.066,2943,3513,2307,2390,2224,0,0,0,0,0,0,15.43,15.19,15.44
$GC,7568,0.76,146.0,2942,3513,2391,2225,186.4,10.9,313,7574,0.05,2.33,0.00,0.000,5126,0.500,0.058,2940,2093,2307,2390,2225,0,0,0,0,0,0,14.95,15.18,15.23
$GC,7825,0.79,170.0,2940,2091,2391,2225,160.6,8.9,338,7848,0.00,2.42,17.98,1.394,10500,0.000,0.064,2940,3518,2225,2317,2134,0,0,0,0,0,0,15.39,15.00,14.40
$GC,7895,0.79,170.0,2940,3519,2318,2134,153.1,11.7,344,7903,0.00,2.35,0.00,0.000,5126,0.000,0.056,2950,2097,2225,2317,2134,0,0,0,0,0,0,15.12,15.02,15.13
$GC,8158,0.79,170.0,2949,2096,2318,2133,119.4,12.5,391,8165,0.00,2.35,0.00,0.000,4356,0.000,0.063,2950,3510,2225,2318,2133,0,0,0,0,0,0,15.26,15.02,15.26
$GC,8174,0.79,170.0,2949,3509,2317,2133,117.4,12.2,393,8181,0.05,2.33,0.00,0.000,5126,0.487,0.055,2947,2099,2225,2317,2133,0,0,0,0,0,0,14.83,15.04,15.07
$GC,8443,0.81,181.7,2947,2097,2318,2133,88.1,9.5,442,8465,0.00,2.40,10.65,1.206,8452,0.000,0.062,2947,3516,2177,2272,2083,0,0,0,0,0,0,15.26,14.88,14.38
$GC,8480,0.82,193.4,2947,3517,2271,2083,84.6,9.5,447,8500,0.00,2.35,10.90,1.177,9222,0.000,0.054,2956,2094,2129,2223,2035,0,0,0,0,0,0,15.05,14.97,14.31
$GC,8758,0.82,193.4,2956,2094,2221,2033,53.2,12.2,498,8767,0.00,2.38,0.00,0.000,516,0.000,0.065,2967,688,2126,2220,2033,0,0,0,0,0,0,15.16,14.90,15.17
$GC,8896,0.82,193.4,2967,688,2214,2033,38.2,11.9,523,8904,0.00,2.38,0.00,0.000,5126,0.000,0.050,2967,2101,2123,2214,2033,0,0,0,0,0,0,15.07,14.95,15.08
$GC,9160,0.83,202.6,2967,2102,2214,2033,12.0,9.6,572,9169,0.00,2.38,3.55,0.401,12548,0.000,0.062,2967,3520,2091,2183,2000,0,0,0,0,0,0,15.19,14.95,14.76
$STATE,9237,end climb,SURFACE_DEPTH_REACHED
$STATE,9238,begin surface coast
$FINISH,0.1,1.023306
$STATE,9263,end surface coast,CONTROL_FINISHED_OK
$STATE,9263,begin surface
$SM_CCo,9283,86.03,0.298,0,0,1246,410.13
$SM_GC,0.97,6.47,2.08,86.03,0.068,0.040,0.298,180,2245,1246,-7.71,1.07,410.13,0,0,0,0,0,0,15.00,15.00,14.71
$IRIDIUM_FIX,2232.34,-15803.24,250523,231936
$TT8_MAMPS,0.020972,0.282373
$HUMID,50.31
$INTERNAL_PRESSURE,9.00388
$TCM_TEMP,23.30
$XPDR_PINGS,2
$24V_AH,13.73,3.482
$10V_AH,13.42,0.000
$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,16.150,120.700,277.300,86.025,0.000,26.720,41.288,123.525,0.500,0.000,20.543,1985.053,5073.416,522.075,1882.200,248.528,0.000,1293.419,0.000,1646.719,0.000,0.553,0.000
$DEVICE_MAMPS,499.545,71.145,1949.985,298.350,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,397.128,334.715,610.793,576.861,698.829,0.000,0.000,0.000,0.000,0.000
$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,53927,590
$CAP_FILE_SIZE,104834,0
$CFSIZE,1023623168,1019822080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.107,275.50,1
$GPS,260523,020131,2243.891,-15802.113,19,1.0,36,9.8,0.9,280.7,9,9.7