version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 7
start: 5 26 123 2 8 5
data:
$ID,626
$MISSION,4
$DIVE,7
$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,54
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$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,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
$GPS1,260523,020131,2243.8906,-15802.1133,19,1.0,36,9.8,0.9,280.7,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-71.7
$GPS2,260523,020740,2243.9021,-15802.1934,6,1.0,16,9.8,0.0,308.8,9,9.6
$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,65.6,4263,-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,-146.0,125,2237,1277,1195,0.0,0.0,0,81,0.00,0.00,-61.62,0.000,16386,0.000,0.000,125,2239,3223,3196,3251,0,0,0,0,0,0,15.11,28.83,15.11
$GC,85,-0.76,-146.0,125,2239,3196,3252,3.8,-8.6,9,100,7.88,0.00,-2.62,0.000,18950,0.459,0.000,2435,2238,3400,3377,3423,0,0,0,0,0,0,14.57,14.00,14.78
$GC,356,-0.76,-146.0,2435,2238,3389,3415,87.0,-22.7,59,363,0.00,2.28,0.00,0.000,2564,0.000,0.063,2438,872,3402,3390,3414,0,0,0,0,0,0,15.17,14.94,15.18
$GC,423,-0.76,-146.0,2437,872,3391,3413,102.2,-21.7,71,431,0.00,2.30,0.00,0.000,3078,0.000,0.051,2429,2273,3402,3391,3413,0,0,0,0,0,0,15.06,14.96,15.07
$GC,684,-0.76,-146.0,2429,2274,3393,3412,156.3,-19.1,117,689,0.00,2.33,0.00,0.000,2564,0.000,0.060,2430,870,3403,3393,3413,0,0,0,0,0,0,15.24,15.00,15.24
$GC,722,-0.76,-146.0,2429,869,3394,3413,163.1,-20.5,120,731,0.05,2.35,0.00,0.000,3078,0.366,0.052,2438,2270,3403,3394,3413,0,0,0,0,0,0,14.81,14.97,14.96
$GC,972,-0.76,-146.0,2438,2273,3396,3413,206.8,-16.3,142,977,0.00,2.30,0.00,0.000,2564,0.000,0.059,2439,875,3404,3396,3413,0,0,0,0,0,0,15.28,15.06,15.29
$GC,1025,-0.76,-146.0,2438,875,3396,3413,214.2,-16.4,143,1030,0.00,2.30,0.00,0.000,3078,0.000,0.050,2430,2274,3404,3396,3413,0,0,0,0,0,0,15.17,15.07,15.18
$GC,1299,-0.76,-146.0,2430,2276,3397,3413,257.5,-14.7,150,1305,0.00,2.33,0.00,0.000,2564,0.000,0.059,2431,872,3405,3397,3413,0,0,0,0,0,0,15.35,15.11,15.36
$GC,1337,-0.76,-146.0,2430,871,3398,3413,257.5,-14.7,150,1345,0.08,2.28,0.00,0.000,3078,0.378,0.050,2448,2273,3405,3398,3412,0,0,0,0,0,0,14.97,15.13,15.16
$GC,1583,-0.76,-146.0,2448,2276,3398,3413,293.9,-11.8,157,1588,0.00,2.28,0.00,0.000,516,0.000,0.058,2448,876,3405,3398,3413,0,0,0,0,0,0,15.38,15.14,15.39
$GC,1691,-0.76,-146.0,2448,875,3398,3413,304.2,-12.0,159,1697,0.00,2.28,0.00,0.000,3078,0.000,0.050,2441,2264,3405,3398,3412,0,0,0,0,0,0,15.25,15.16,15.26
$GC,1951,-0.76,-146.0,2440,2265,3398,3412,338.8,-12.2,166,1956,0.00,2.28,0.00,0.000,2564,0.000,0.060,2440,876,3405,3398,3412,0,0,0,0,0,0,15.41,15.16,15.41
$GC,2009,-0.76,-146.0,2440,875,3398,3412,344.6,-12.5,167,2015,0.00,2.30,0.00,0.000,3078,0.000,0.054,2432,2274,3404,3398,3411,0,0,0,0,0,0,15.27,15.17,15.28
$GC,2278,-0.76,-146.0,2432,2274,3398,3409,381.4,-12.8,174,2283,0.00,2.33,0.00,0.000,2564,0.000,0.061,2432,877,3403,3398,3408,0,0,0,0,0,0,15.42,15.18,15.42
$GC,2381,-0.76,-146.0,2432,876,3398,3409,392.3,-12.8,176,2387,0.08,2.28,0.00,0.000,3078,0.389,0.054,2449,2269,3403,3398,3408,0,0,0,0,0,0,15.02,15.18,15.22
$GC,2646,-0.76,-146.0,2449,2273,3398,3404,423.9,-10.8,183,2648,0.00,0.00,0.00,0.000,4102,0.000,0.000,2449,2273,3401,3398,3405,0,0,0,0,0,0,15.42,15.43,15.43
$GC,2886,-0.76,-146.0,2449,2273,3398,3401,448.2,-10.0,189,2891,0.00,2.30,0.00,0.000,4612,0.000,0.064,2449,877,3399,3398,3401,0,0,0,0,0,0,15.44,15.19,15.44
$GC,3036,-0.76,-146.0,2449,877,3397,3401,461.2,-10.4,192,3042,0.00,2.28,0.00,0.000,1030,0.000,0.058,2443,2263,3398,3398,3398,0,0,0,0,0,0,15.28,15.19,15.29
$GC,3296,-0.76,-146.0,2443,2263,3397,3396,491.0,-10.4,199,3301,0.00,2.30,0.00,0.000,516,0.000,0.065,2443,869,3396,3397,3395,0,0,0,0,0,0,15.42,15.19,15.43
$GC,3354,-0.76,-146.0,2443,868,3397,3395,495.9,-10.5,200,3360,0.00,2.30,0.00,0.000,3078,0.000,0.059,2436,2266,3396,3397,3395,0,0,0,0,0,0,15.30,15.19,15.30
$GC,3624,-0.76,-146.0,2436,2266,3396,3392,522.6,-9.1,207,3629,0.00,2.30,0.00,0.000,2564,0.000,0.063,2436,873,3394,3397,3391,0,0,0,0,0,0,15.44,15.19,15.44
$GC,3712,-0.76,-146.0,2436,873,3395,3392,530.5,-9.1,209,3718,0.00,2.30,0.00,0.000,3078,0.000,0.060,2428,2268,3393,3395,3391,0,0,0,0,0,0,15.29,15.19,15.30
$GC,3993,-0.76,-146.0,2428,2268,3394,3387,555.0,-8.4,216,3998,0.00,2.30,0.00,0.000,2564,0.000,0.064,2429,877,3391,3395,3387,0,0,0,0,0,0,15.44,15.19,15.44
$GC,4077,-0.76,-146.0,2428,877,3394,3387,563.0,-8.8,218,4083,0.08,2.30,0.00,0.000,3078,0.392,0.060,2447,2270,3390,3394,3387,0,0,0,0,0,0,15.02,15.19,15.23
$GC,4362,-0.76,-146.0,2447,2274,3394,3383,587.5,-8.5,225,4367,0.00,2.33,0.00,0.000,516,0.000,0.068,2447,869,3388,3394,3383,0,0,0,0,0,0,15.42,15.18,15.44
$GC,4470,-0.76,-146.0,2447,869,3392,3383,595.3,-8.9,227,4476,0.00,2.35,0.00,0.000,1030,0.000,0.062,2443,2270,3387,3392,3383,0,0,0,0,0,0,15.28,15.18,15.29
$STATE,4527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4527,begin apogee
$GC,4534,-0.16,0.0,2443,2099,3392,3382,602.9,-9.2,229,4657,0.52,0.00,118.88,1.942,10246,0.255,0.000,2639,2098,2798,2878,2719,0,0,0,0,0,0,15.04,14.38,13.67
$STATE,4658,end apogee,CONTROL_FINISHED_OK
$STATE,4658,begin climb
$GC,4661,0.76,146.0,2639,2097,2878,2720,606.2,0.0,232,4800,0.70,2.53,126.00,1.873,10500,0.090,0.068,2955,3509,2202,2296,2108,0,0,0,0,0,0,14.42,14.34,13.66
$GC,4843,0.76,146.0,2955,3509,2295,2108,592.3,12.2,236,4849,0.10,2.38,0.00,0.000,5126,0.423,0.060,2938,2128,2201,2295,2108,0,0,0,0,0,0,14.46,14.64,14.68
$GC,5097,0.76,146.0,2937,2125,2290,2104,532.2,20.9,243,5102,0.00,2.42,0.00,0.000,4612,0.000,0.075,2947,688,2196,2290,2103,0,0,0,0,0,0,15.16,14.92,15.16
$GC,5115,0.76,146.0,2947,688,2284,2104,532.2,20.9,243,5120,0.00,2.40,0.00,0.000,5126,0.000,0.056,2947,2107,2193,2284,2103,0,0,0,0,0,0,15.04,14.95,15.05
$GC,5385,0.76,146.0,2947,2110,2283,2103,474.1,19.7,250,5390,0.00,2.42,0.00,0.000,4612,0.000,0.074,2957,688,2193,2283,2104,0,0,0,0,0,0,15.26,15.02,15.26
$GC,5422,0.76,146.0,2956,688,2280,2104,474.1,19.7,250,5431,0.08,2.35,0.00,0.000,5126,0.401,0.057,2935,2100,2192,2280,2104,0,0,0,0,0,0,14.87,15.04,15.09
$GC,5669,0.76,146.0,2934,2102,2280,2103,423.1,16.9,257,5674,0.00,2.40,0.00,0.000,516,0.000,0.072,2944,680,2191,2280,2103,0,0,0,0,0,0,15.30,15.07,15.31
$GC,5706,0.76,146.0,2943,679,2276,2103,423.1,16.9,257,5713,0.00,2.38,0.00,0.000,5126,0.000,0.057,2943,2106,2190,2277,2103,0,0,0,0,0,0,15.19,15.08,15.20
$GC,5953,0.76,146.0,2943,2109,2277,2103,374.3,16.9,264,5958,0.00,2.30,0.00,0.000,4356,0.000,0.068,2944,3509,2190,2277,2103,0,0,0,0,0,0,15.34,15.11,15.35
$GC,5980,0.76,146.0,2943,3509,2277,2103,374.3,16.9,264,5987,0.08,2.38,0.00,0.000,5126,0.457,0.062,2933,2096,2189,2276,2103,0,0,0,0,0,0,14.92,15.11,15.16
$GC,6240,0.76,146.0,2933,2093,2277,2104,323.8,17.2,271,6245,0.00,2.35,0.00,0.000,516,0.000,0.076,2942,687,2190,2277,2104,0,0,0,0,0,0,15.35,15.11,15.36
$GC,6273,0.76,146.0,2942,687,2276,2102,323.8,17.2,271,6279,0.00,2.35,0.00,0.000,5126,0.000,0.058,2942,2105,2189,2276,2102,0,0,0,0,0,0,15.23,15.14,15.25
$GC,6527,0.76,146.0,2942,2107,2276,2102,275.8,15.8,278,6529,0.00,0.00,0.00,0.000,4102,0.000,0.000,2942,2107,2189,2276,2102,0,0,0,0,0,0,15.38,15.38,15.38
$GC,6767,0.76,146.0,2942,2107,2276,2101,241.3,14.1,284,6772,0.00,2.38,0.00,0.000,4612,0.000,0.071,2954,682,2188,2276,2101,0,0,0,0,0,0,15.39,15.14,15.40
$GC,6795,0.76,146.0,2953,682,2275,2100,241.3,14.1,284,6801,0.05,2.35,0.00,0.000,5126,0.465,0.057,2939,2105,2187,2275,2100,0,0,0,0,0,0,14.97,15.16,15.21
$GC,7055,0.76,146.0,2939,2108,2274,2100,206.9,11.6,291,7060,0.00,2.30,0.00,0.000,4356,0.000,0.068,2940,3516,2187,2275,2099,0,0,0,0,0,0,15.40,15.16,15.40
$GC,7139,0.76,146.0,2939,3516,2274,2101,196.1,12.2,293,7145,0.00,2.35,0.00,0.000,5126,0.000,0.061,2947,2092,2187,2275,2100,0,0,0,0,0,0,15.26,15.16,15.28
$GC,7395,0.76,146.0,2948,2091,2275,2101,163.4,11.9,318,7402,0.00,0.00,0.00,0.000,4102,0.000,0.000,2949,2090,2188,2275,2101,0,0,0,0,0,0,15.36,15.37,15.37
$GC,7648,0.76,146.0,2948,2089,2275,2101,131.5,11.0,357,7654,0.00,0.00,0.00,0.000,4102,0.000,0.000,2949,2089,2187,2274,2101,0,0,0,0,0,0,15.33,15.33,15.33
$GC,7906,0.76,146.0,2948,2089,2275,2101,103.3,10.3,406,7913,0.00,0.00,0.00,0.000,4102,0.000,0.000,2949,2089,2188,2275,2101,0,0,0,0,0,0,15.28,15.29,15.29
$GC,8170,0.83,203.7,2948,2089,2275,2101,79.8,7.4,455,8220,0.00,2.42,43.83,1.204,10756,0.000,0.070,2960,690,1966,2055,1878,0,0,0,0,0,0,15.26,14.72,14.21
$GC,8382,0.83,203.7,2959,690,2040,1879,53.2,14.0,492,8390,0.00,2.40,0.00,0.000,1030,0.000,0.054,2959,2115,1959,2040,1878,0,0,0,0,0,0,14.95,14.87,14.97
$GC,8645,0.83,203.7,2959,2118,2040,1878,20.8,11.9,541,8654,0.00,2.35,0.00,0.000,260,0.000,0.063,2959,3511,1958,2039,1878,0,0,0,0,0,0,15.13,14.87,15.14
$GC,8731,0.83,203.7,2959,3511,2040,1879,8.3,15.8,556,8738,0.00,2.40,0.00,0.000,5126,0.000,0.057,2970,2081,1959,2040,1879,0,0,0,0,0,0,15.02,14.92,15.04
$STATE,8766,end climb,SURFACE_DEPTH_REACHED
$STATE,8766,begin surface coast
$FINISH,0.3,1.023203
$STATE,8789,end surface coast,CONTROL_FINISHED_OK
$STATE,8789,begin surface
$SM_CCo,8808,86.00,0.287,0,0,1124,410.13
$SM_GC,0.79,6.55,0.32,86.00,0.074,0.064,0.287,155,2291,1124,-7.75,-0.85,410.13,0,0,0,0,0,0,14.97,14.97,14.69
$IRIDIUM_FIX,2234.68,-15802.37,260523,020307
$TT8_MAMPS,0.023219,0.312333
$HUMID,48.18
$INTERNAL_PRESSURE,8.96482
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,13.66,3.716
$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,16.225,103.400,288.700,86.000,0.000,27.143,39.687,163.274,0.000,0.000,17.556,1834.743,4896.395,513.242,1773.503,250.215,0.000,1234.608,0.000,1507.199,0.000,0.552,0.000
$DEVICE_MAMPS,465.120,76.500,1942.335,286.875,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,381.034,352.075,586.970,534.688,643.552,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339100
$DATA_FILE_SIZE,50864,566
$CAP_FILE_SIZE,97743,0
$CFSIZE,1023623168,1019772928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$CURRENT,0.117,295.33,1
$GPS,260523,043731,2244.617,-15801.831,14,0.7,31,9.8,0.0,254.5,11,6.1