version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 8
start: 5 26 123 4 43 55
data:
$ID,626
$MISSION,4
$DIVE,8
$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,33
$R_STBD_OVSHOOT,53
$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
$GPS1,260523,043731,2244.6167,-15801.8311,14,0.7,31,9.8,0.0,254.5,11,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-73.0
$GPS2,260523,044330,2244.6797,-15801.8682,7,0.8,15,9.8,1.1,297.1,10,9.7
$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,85.7,3246,-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,-146.0,125,2299,1167,1069,0.0,0.0,0,81,0.00,0.00,-61.58,0.000,16386,0.000,0.000,124,2299,3084,3066,3102,0,0,0,0,0,0,15.08,28.83,15.09
$GC,85,-0.76,-146.0,124,2299,3066,3103,3.2,-7.1,9,108,7.88,2.42,-5.05,0.000,18948,0.461,0.068,2445,837,3399,3382,3417,0,0,0,0,0,0,14.57,13.97,14.76
$GC,116,-0.76,-146.0,2445,837,3384,3417,18.4,-40.5,13,124,0.00,2.38,0.00,0.000,3078,0.000,0.045,2437,2252,3400,3384,3416,0,0,0,0,0,0,14.97,14.85,14.98
$GC,380,-0.76,-146.0,2436,2257,3390,3414,94.7,-21.8,62,388,0.00,2.38,0.00,0.000,2308,0.000,0.057,2426,3670,3401,3390,3413,0,0,0,0,0,0,15.15,14.90,15.16
$GC,396,-0.76,-146.0,2426,3670,3390,3414,98.3,-22.6,64,404,0.05,2.38,0.00,0.000,3078,0.409,0.052,2442,2262,3401,3390,3413,0,0,0,0,0,0,14.78,14.92,14.97
$GC,653,-0.76,-146.0,2441,2259,3393,3413,150.4,-18.1,113,659,0.00,2.33,0.00,0.000,2564,0.000,0.065,2445,853,3403,3393,3413,0,0,0,0,0,0,15.20,14.96,15.20
$GC,794,-0.76,-146.0,2444,851,3394,3413,177.7,-19.6,126,802,0.00,2.38,0.00,0.000,3078,0.000,0.051,2436,2267,3403,3394,3413,0,0,0,0,0,0,15.11,14.99,15.11
$GC,1060,-0.76,-146.0,2436,2267,3396,3413,229.4,-18.1,141,1066,0.00,2.35,0.00,0.000,2564,0.000,0.060,2436,845,3404,3396,3413,0,0,0,0,0,0,15.29,15.05,15.30
$GC,1123,-0.76,-146.0,2436,844,3396,3413,237.5,-17.9,142,1130,0.05,2.33,0.00,0.000,3078,0.427,0.050,2442,2273,3404,3396,3413,0,0,0,0,0,0,14.90,15.08,15.11
$GC,1389,-0.76,-146.0,2442,2277,3398,3413,275.7,-12.5,149,1394,0.00,2.33,0.00,0.000,516,0.000,0.060,2443,852,3405,3398,3413,0,0,0,0,0,0,15.34,15.11,15.35
$GC,1487,-0.76,-146.0,2443,851,3398,3413,286.4,-12.4,151,1492,0.00,2.30,0.00,0.000,3078,0.000,0.050,2436,2264,3405,3398,3412,0,0,0,0,0,0,15.21,15.12,15.23
$GC,1756,-0.76,-146.0,2435,2266,3398,3413,324.5,-13.8,158,1762,0.00,2.33,0.00,0.000,2564,0.000,0.060,2436,853,3405,3398,3413,0,0,0,0,0,0,15.38,15.14,15.38
$GC,1804,-0.76,-146.0,2436,853,3399,3413,330.7,-13.9,159,1810,0.05,2.30,0.00,0.000,3078,0.432,0.051,2443,2267,3405,3398,3413,0,0,0,0,0,0,14.97,15.15,15.19
$GC,2083,-0.76,-146.0,2443,2270,3398,3411,364.1,-11.5,166,2089,0.00,2.33,0.00,0.000,516,0.000,0.061,2444,847,3404,3398,3411,0,0,0,0,0,0,15.39,15.16,15.40
$GC,2146,-0.76,-146.0,2443,848,3397,3411,369.4,-11.7,167,2152,0.00,2.33,0.00,0.000,3078,0.000,0.054,2437,2268,3404,3398,3410,0,0,0,0,0,0,15.26,15.16,15.27
$GC,2410,-0.76,-146.0,2436,2269,3398,3408,404.4,-12.3,174,2416,0.00,2.38,0.00,0.000,2564,0.000,0.063,2436,848,3402,3397,3408,0,0,0,0,0,0,15.40,15.16,15.41
$GC,2509,-0.76,-146.0,2436,847,3398,3407,415.3,-12.6,176,2514,0.00,2.33,0.00,0.000,3078,0.000,0.055,2430,2265,3402,3398,3407,0,0,0,0,0,0,15.27,15.17,15.28
$GC,2778,-0.76,-146.0,2429,2266,3398,3403,450.5,-12.3,183,2780,0.00,0.00,0.00,0.000,2054,0.000,0.000,2430,2266,3400,3398,3403,0,0,0,0,0,0,15.42,15.42,15.42
$GC,3018,-0.76,-146.0,2429,2266,3398,3399,476.9,-11.0,189,3024,0.00,2.35,0.00,0.000,2564,0.000,0.065,2430,848,3398,3398,3399,0,0,0,0,0,0,15.42,15.19,15.43
$GC,3131,-0.76,-146.0,2429,847,3398,3398,486.0,-10.8,191,3137,0.08,2.35,0.00,0.000,3078,0.382,0.058,2447,2274,3398,3398,3398,0,0,0,0,0,0,15.04,15.19,15.23
$GC,3386,-0.76,-146.0,2447,2277,3397,3395,513.8,-9.7,198,3391,0.00,2.35,0.00,0.000,516,0.000,0.066,2447,853,3396,3398,3394,0,0,0,0,0,0,15.42,15.18,15.42
$GC,3454,-0.76,-146.0,2448,853,3397,3394,518.2,-9.8,199,3459,0.00,2.33,0.00,0.000,3078,0.000,0.059,2440,2264,3395,3397,3394,0,0,0,0,0,0,15.29,15.19,15.30
$GC,3713,-0.76,-146.0,2439,2265,3396,3388,546.3,-9.7,206,3719,0.00,2.35,0.00,0.000,2564,0.000,0.068,2440,854,3392,3397,3388,0,0,0,0,0,0,15.42,15.18,15.43
$GC,3812,-0.76,-146.0,2439,854,3395,3388,555.0,-9.9,208,3817,0.00,2.33,0.00,0.000,3078,0.000,0.061,2435,2264,3392,3396,3388,0,0,0,0,0,0,15.28,15.19,15.30
$GC,4081,-0.76,-146.0,2435,2264,3395,3385,584.9,-10.9,215,4086,0.00,2.35,0.00,0.000,2564,0.000,0.070,2435,856,3390,3395,3385,0,0,0,0,0,0,15.42,15.17,15.43
$GC,4179,-0.76,-146.0,2435,856,3394,3386,594.8,-11.4,217,4184,0.00,2.35,0.00,0.000,3078,0.000,0.062,2429,2272,3389,3394,3385,0,0,0,0,0,0,15.28,15.18,15.30
$STATE,4245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4245,begin apogee
$GC,4253,-0.16,0.0,2430,2073,3394,3384,604.7,-11.9,219,4377,0.57,0.00,120.68,1.910,10246,0.263,0.000,2643,2072,2799,2877,2721,0,0,0,0,0,0,15.04,14.37,13.66
$STATE,4378,end apogee,CONTROL_FINISHED_OK
$STATE,4378,begin climb
$GC,4381,0.76,146.0,2643,2071,2877,2721,610.6,0.0,222,4519,0.70,2.55,126.72,1.846,10500,0.090,0.067,2958,3518,2201,2296,2107,0,0,0,0,0,0,14.42,14.21,13.66
$GC,4592,0.76,146.0,2958,3518,2294,2107,591.4,13.7,227,4598,0.10,2.40,0.00,0.000,5126,0.424,0.062,2941,2126,2200,2294,2107,0,0,0,0,0,0,14.51,14.69,14.73
$GC,4856,0.76,146.0,2941,2123,2289,2104,535.3,19.3,234,4861,0.00,2.42,0.00,0.000,4612,0.000,0.075,2950,687,2196,2289,2103,0,0,0,0,0,0,15.16,14.92,15.16
$GC,4889,0.76,146.0,2950,687,2282,2104,535.3,19.3,234,4895,0.05,2.38,0.00,0.000,5126,0.457,0.055,2936,2107,2192,2282,2103,0,0,0,0,0,0,14.79,14.96,15.01
$GC,5144,0.76,146.0,2936,2110,2282,2103,478.9,19.5,241,5150,0.00,2.33,0.00,0.000,260,0.000,0.068,2936,3509,2192,2281,2104,0,0,0,0,0,0,15.25,15.02,15.26
$GC,5156,0.76,146.0,2936,3509,2282,2103,478.9,19.5,241,5162,0.00,2.38,0.00,0.000,5126,0.000,0.061,2945,2091,2192,2281,2103,0,0,0,0,0,0,15.13,15.02,15.14
$GC,5430,0.76,146.0,2944,2090,2282,2102,424.5,19.6,248,5435,0.00,2.35,0.00,0.000,4612,0.000,0.076,2956,682,2192,2282,2102,0,0,0,0,0,0,15.30,15.06,15.30
$GC,5483,0.76,146.0,2956,682,2277,2102,415.9,19.8,249,5490,0.08,2.38,0.00,0.000,5126,0.420,0.058,2934,2097,2189,2277,2102,0,0,0,0,0,0,14.91,15.08,15.14
$GC,5759,0.76,146.0,2934,2100,2277,2102,366.3,17.3,256,5764,0.00,2.38,0.00,0.000,516,0.000,0.075,2942,690,2189,2277,2102,0,0,0,0,0,0,15.33,15.09,15.34
$GC,5811,0.76,146.0,2942,689,2276,2101,358.3,17.3,257,5817,0.00,2.35,0.00,0.000,5126,0.000,0.058,2942,2104,2188,2276,2101,0,0,0,0,0,0,15.21,15.11,15.22
$GC,6085,0.76,146.0,2942,2106,2276,2101,310.4,16.5,264,6091,0.00,2.33,0.00,0.000,4356,0.000,0.069,2942,3519,2188,2276,2101,0,0,0,0,0,0,15.35,15.12,15.36
$GC,6264,0.76,146.0,2942,3521,2274,2101,283.2,16.5,268,6270,0.05,2.38,0.00,0.000,5126,0.529,0.062,2940,2091,2188,2276,2101,0,0,0,0,0,0,14.92,15.12,15.18
$GC,6534,0.76,146.0,2940,2088,2276,2100,242.7,14.6,275,6539,0.00,2.33,0.00,0.000,4612,0.000,0.073,2950,686,2188,2276,2100,0,0,0,0,0,0,15.38,15.13,15.38
$GC,6597,0.76,146.0,2950,685,2273,2099,236.5,13.8,276,6603,0.05,2.35,0.00,0.000,5126,0.457,0.057,2936,2108,2185,2273,2098,0,0,0,0,0,0,14.97,15.14,15.19
$GC,6862,0.76,146.0,2936,2110,2273,2099,197.8,13.6,283,6867,0.00,2.33,0.00,0.000,260,0.000,0.069,2936,3513,2186,2273,2099,0,0,0,0,0,0,15.38,15.14,15.39
$GC,6948,0.76,146.0,2936,3514,2273,2099,185.6,14.3,291,6953,0.00,2.35,0.00,0.000,5126,0.000,0.059,2945,2098,2186,2273,2099,0,0,0,0,0,0,15.24,15.14,15.25
$GC,7206,0.76,146.0,2945,2097,2273,2099,155.1,11.9,316,7211,0.00,2.33,0.00,0.000,4356,0.000,0.063,2945,3510,2186,2273,2099,0,0,0,0,0,0,15.34,15.12,15.35
$GC,7233,0.76,146.0,2945,3510,2274,2099,151.8,11.8,318,7241,0.08,2.38,0.00,0.000,5126,0.441,0.058,2934,2105,2186,2274,2099,0,0,0,0,0,0,14.93,15.10,15.17
$GC,7498,0.77,148.2,2933,2102,2274,2099,123.8,9.9,366,7506,0.00,2.40,0.00,0.000,516,0.000,0.068,2943,669,2185,2272,2099,0,0,0,0,0,0,15.29,15.06,15.30
$GC,7598,0.77,148.2,2943,669,2273,2099,112.9,11.5,384,7607,0.00,2.40,0.00,0.000,5126,0.000,0.052,2943,2098,2186,2273,2099,0,0,0,0,0,0,15.10,15.05,15.12
$GC,7865,0.80,176.6,2943,2098,2273,2099,86.6,8.7,433,7898,0.00,2.42,23.02,1.204,8708,0.000,0.067,2954,692,2078,2172,1984,0,0,0,0,0,0,15.26,14.81,14.33
$GC,7955,0.80,176.6,2954,691,2165,1984,77.0,12.5,448,7963,0.00,2.40,0.00,0.000,5126,0.000,0.053,2954,2122,2074,2165,1983,0,0,0,0,0,0,14.99,14.90,15.00
$GC,8219,0.80,176.6,2953,2123,2165,1983,49.0,10.4,497,8226,0.00,0.00,0.00,0.000,4102,0.000,0.000,2954,2123,2074,2165,1983,0,0,0,0,0,0,15.15,15.16,15.16
$GC,8481,0.84,205.1,2953,2124,2165,1983,25.8,8.7,546,8503,0.00,2.33,12.73,1.039,10500,0.000,0.062,2954,3508,1960,2048,1873,0,0,0,0,0,0,15.16,14.81,14.37
$GC,8649,0.84,205.1,2954,3508,2048,1873,4.2,13.3,576,8658,0.00,2.40,0.00,0.000,5126,0.000,0.054,2965,2095,1960,2048,1872,0,0,0,0,0,0,14.91,14.87,14.93
$STATE,8664,end climb,SURFACE_DEPTH_REACHED
$STATE,8664,begin surface coast
$FINISH,0.1,1.015100
$STATE,8686,end surface coast,CONTROL_FINISHED_OK
$STATE,8686,begin surface
$SM_CCo,8704,86.15,0.288,0,0,1124,410.13
$SM_GC,0.96,6.47,0.30,86.15,0.057,0.066,0.288,157,2298,1124,-7.77,-0.88,410.13,0,0,0,0,0,0,14.95,14.95,14.67
$IRIDIUM_FIX,2237.01,-15802.37,260523,043906
$TT8_MAMPS,0.023219,0.342293
$HUMID,47.12
$INTERNAL_PRESSURE,8.97459
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,13.66,3.950
$10V_AH,13.39,0.000
$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,16.250,113.875,283.150,86.150,0.000,26.384,45.602,150.871,0.000,0.000,16.348,1935.777,4578.778,515.628,1874.495,251.134,0.000,1273.776,0.000,1608.354,0.000,0.551,0.000
$DEVICE_MAMPS,528.615,75.735,1910.205,288.405,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,391.768,447.859,614.847,578.765,690.604,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339136
$DATA_FILE_SIZE,50668,582
$CAP_FILE_SIZE,102264,0
$CFSIZE,1023623168,1019691008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.143,323.59,1
$GPS,260523,071149,2245.461,-15801.339,19,0.8,42,9.8,0.6,273.7,10,5.9