version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 10
start: 5 26 123 9 46 54
data:
$ID,626
$MISSION,4
$DIVE,10
$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,2660
$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,2100
$C_ROLL_CLIMB,2170
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,39
$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
$GPS1,260523,093801,2245.3889,-15800.7441,15,0.9,26,9.8,0.6,46.1,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-75.9
$GPS2,260523,094613,2245.4587,-15800.7207,7,0.9,15,9.8,0.5,78.6,8,9.3
$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,131.6,1495,-19.8,-10.000,-22.90,2019
$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,16,-0.78,-131.5,128,2070,1166,1069,0.0,0.0,0,87,0.00,0.00,-68.05,0.000,16390,0.000,0.000,128,2070,3338,3309,3368,0,0,0,0,0,0,15.07,14.03,15.08
$GC,91,-0.79,-137.7,128,2070,3310,3368,4.3,-9.7,10,106,7.82,2.25,-0.35,0.000,18948,0.469,0.062,2403,673,3363,3338,3389,0,0,0,0,0,0,14.57,14.26,14.76
$GC,146,-0.79,-137.7,2403,673,3344,3387,33.2,-41.9,19,155,0.00,2.40,0.00,0.000,3078,0.000,0.048,2395,2097,3365,3345,3385,0,0,0,0,0,0,14.88,14.85,14.91
$GC,412,-0.79,-137.7,2394,2101,3347,3384,114.2,-28.6,68,420,0.00,2.35,0.00,0.000,2308,0.000,0.054,2384,3512,3365,3347,3384,0,0,0,0,0,0,15.16,14.93,15.16
$GC,531,-0.79,-137.7,2384,3513,3348,3384,140.6,-20.3,89,539,0.08,2.30,0.00,0.000,3078,0.361,0.054,2407,2116,3366,3348,3384,0,0,0,0,0,0,14.82,14.97,15.01
$GC,789,-0.79,-137.7,2407,2114,3351,3383,197.6,-20.9,118,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2113,3367,3352,3383,0,0,0,0,0,0,15.24,15.25,15.25
$GC,1048,-0.79,-137.7,2407,2113,3353,3381,244.2,-17.1,126,1053,0.00,2.33,0.00,0.000,516,0.000,0.063,2409,686,3367,3353,3382,0,0,0,0,0,0,15.30,15.07,15.32
$GC,1071,-0.79,-137.7,2410,686,3353,3382,244.2,-17.1,126,1076,0.00,2.30,0.00,0.000,3078,0.000,0.047,2402,2105,3367,3353,3381,0,0,0,0,0,0,15.18,15.09,15.19
$GC,1335,-0.79,-137.7,2402,2105,3355,3382,289.1,-15.4,133,1341,0.00,2.30,0.00,0.000,2308,0.000,0.059,2391,3519,3367,3354,3381,0,0,0,0,0,0,15.35,15.12,15.35
$GC,1353,-0.79,-137.7,2391,3519,3355,3382,289.1,-15.4,133,1359,0.05,2.33,0.00,0.000,3078,0.387,0.053,2407,2088,3368,3355,3381,0,0,0,0,0,0,14.99,15.12,15.16
$GC,1623,-0.79,-137.7,2407,2086,3355,3381,328.0,-13.3,140,1628,0.00,2.28,0.00,0.000,516,0.000,0.065,2408,689,3367,3355,3380,0,0,0,0,0,0,15.37,15.14,15.38
$GC,1671,-0.79,-137.7,2407,689,3355,3381,334.0,-13.3,141,1676,0.00,2.30,0.00,0.000,3078,0.000,0.050,2400,2105,3368,3356,3380,0,0,0,0,0,0,15.24,15.16,15.26
$GC,1949,-0.79,-137.7,2399,2107,3356,3378,374.3,-14.8,148,1955,0.00,2.28,0.00,0.000,2308,0.000,0.063,2389,3509,3366,3355,3377,0,0,0,0,0,0,15.40,15.16,15.40
$GC,1994,-0.79,-137.7,2389,3509,3355,3377,381.0,-15.0,149,2000,0.05,2.30,0.00,0.000,3078,0.388,0.054,2405,2096,3366,3355,3377,0,0,0,0,0,0,15.03,15.17,15.21
$GC,2279,-0.79,-137.7,2404,2093,3356,3374,422.5,-14.8,156,2284,0.00,2.33,0.00,0.000,516,0.000,0.067,2407,684,3364,3355,3374,0,0,0,0,0,0,15.40,15.16,15.41
$GC,2378,-0.79,-137.7,2407,684,3356,3373,434.9,-14.7,158,2383,0.00,2.33,0.00,0.000,3078,0.000,0.054,2400,2106,3364,3356,3373,0,0,0,0,0,0,15.28,15.18,15.28
$GC,2646,-0.79,-137.7,2400,2108,3355,3369,474.9,-14.4,165,2649,0.00,0.00,0.00,0.000,2054,0.000,0.000,2400,2109,3361,3355,3367,0,0,0,0,0,0,15.42,15.42,15.42
$GC,2886,-0.79,-137.7,2400,2109,3355,3366,508.1,-13.4,171,2892,0.00,2.35,0.00,0.000,2564,0.000,0.067,2401,693,3360,3355,3366,0,0,0,0,0,0,15.42,15.18,15.42
$GC,2905,-0.79,-137.7,2400,693,3355,3366,508.1,-13.4,171,2910,0.00,2.33,0.00,0.000,3078,0.000,0.055,2393,2109,3360,3355,3365,0,0,0,0,0,0,15.29,15.19,15.30
$GC,3173,-0.79,-137.7,2392,2109,3355,3361,550.1,-14.9,178,3175,0.00,0.00,0.00,0.000,2054,0.000,0.000,2393,2109,3358,3355,3361,0,0,0,0,0,0,15.43,15.43,15.43
$GC,3413,-0.79,-137.7,2392,2109,3355,3357,585.6,-14.8,184,3418,0.00,2.30,0.00,0.000,2308,0.000,0.070,2382,3508,3355,3354,3357,0,0,0,0,0,0,15.43,15.19,15.44
$GC,3436,-0.79,-137.7,2381,3509,3354,3357,585.6,-14.8,184,3442,0.08,2.33,0.00,0.000,3078,0.364,0.057,2407,2094,3355,3354,3357,0,0,0,0,0,0,15.06,15.20,15.25
$STATE,3538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3538,begin apogee
$GC,3546,-0.16,0.0,2406,2185,3353,3355,603.2,-14.1,187,3664,0.55,0.00,115.10,1.890,10246,0.272,0.000,2610,2186,2799,2876,2723,0,0,0,0,0,0,15.06,14.40,13.71
$STATE,3665,end apogee,CONTROL_FINISHED_OK
$STATE,3665,begin climb
$GC,3668,0.79,137.7,2610,2186,2876,2723,608.1,0.0,190,3802,0.73,2.40,121.38,1.818,10500,0.138,0.067,2912,3568,2237,2338,2136,0,0,0,0,0,0,14.40,14.35,13.68
$GC,3894,0.79,137.7,2911,3568,2334,2136,586.8,13.6,195,3900,0.00,2.38,0.00,0.000,5126,0.000,0.059,2924,2171,2235,2334,2136,0,0,0,0,0,0,14.83,14.73,14.84
$GC,4148,0.79,137.7,2923,2170,2330,2133,534.8,18.5,202,4154,0.00,2.40,0.00,0.000,4612,0.000,0.077,2935,757,2231,2330,2132,0,0,0,0,0,0,15.17,14.94,15.17
$GC,4232,0.79,137.7,2934,757,2322,2132,518.8,18.6,204,4238,0.08,2.35,0.00,0.000,5126,0.402,0.056,2913,2165,2227,2322,2132,0,0,0,0,0,0,14.82,14.99,15.03
$GC,4517,0.79,137.7,2913,2167,2322,2132,467.8,17.6,211,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2167,2227,2322,2132,0,0,0,0,0,0,15.26,15.28,15.27
$GC,4756,0.79,137.7,2913,2167,2322,2130,426.4,17.5,217,4762,0.00,2.38,0.00,0.000,516,0.000,0.072,2923,758,2225,2322,2129,0,0,0,0,0,0,15.31,15.08,15.32
$GC,4790,0.79,137.7,2922,758,2319,2129,426.4,17.5,217,4795,0.00,2.35,0.00,0.000,5126,0.000,0.057,2923,2173,2224,2319,2129,0,0,0,0,0,0,15.18,15.09,15.20
$GC,5044,0.79,137.7,2922,2176,2319,2128,376.8,17.2,224,5049,0.00,2.38,0.00,0.000,4612,0.000,0.073,2934,759,2224,2319,2129,0,0,0,0,0,0,15.35,15.11,15.35
$GC,5117,0.79,137.7,2933,758,2315,2129,369.1,17.3,225,5123,0.08,2.35,0.00,0.000,5126,0.418,0.057,2911,2174,2222,2315,2129,0,0,0,0,0,0,14.95,15.12,15.18
$GC,5371,0.79,137.7,2911,2176,2316,2129,321.6,16.4,232,5376,0.00,2.30,0.00,0.000,260,0.000,0.069,2912,3578,2222,2316,2128,0,0,0,0,0,0,15.36,15.14,15.37
$GC,5444,0.79,137.7,2911,3579,2316,2129,314.7,16.1,233,5450,0.00,2.38,0.00,0.000,5126,0.000,0.062,2922,2160,2222,2316,2129,0,0,0,0,0,0,15.23,15.14,15.25
$GC,5699,0.79,137.7,2923,2157,2316,2129,274.0,13.5,240,5704,0.00,2.33,0.00,0.000,4612,0.000,0.073,2934,753,2222,2316,2128,0,0,0,0,0,0,15.38,15.14,15.38
$GC,5791,0.79,137.7,2934,753,2314,2127,263.0,13.2,242,5797,0.08,2.35,0.00,0.000,5126,0.436,0.058,2913,2170,2219,2313,2126,0,0,0,0,0,0,14.97,15.15,15.20
$GC,6066,0.79,137.7,2913,2173,2313,2127,228.0,11.9,249,6071,0.00,2.38,0.00,0.000,516,0.000,0.070,2924,755,2219,2313,2126,0,0,0,0,0,0,15.38,15.15,15.39
$GC,6099,0.79,137.7,2923,754,2312,2126,228.0,11.9,249,6104,0.00,2.35,0.00,0.000,5126,0.000,0.056,2923,2180,2218,2311,2126,0,0,0,0,0,0,15.26,15.16,15.27
$GC,6354,0.79,137.7,2923,2183,2313,2126,194.9,11.2,259,6362,0.00,0.00,0.00,0.000,4102,0.000,0.000,2924,2183,2219,2313,2126,0,0,0,0,0,0,15.38,15.39,15.39
$GC,6604,0.79,137.7,2923,2183,2313,2126,164.6,12.6,284,6610,0.00,0.00,0.00,0.000,4102,0.000,0.000,2924,2183,2219,2313,2126,0,0,0,0,0,0,15.37,15.37,15.37
$GC,6858,0.79,138.2,2923,2183,2313,2126,137.3,10.0,320,6865,0.00,0.00,0.00,0.000,4102,0.000,0.000,2924,2183,2219,2313,2126,0,0,0,0,0,0,15.33,15.33,15.33
$GC,7116,0.80,147.7,2924,2183,2313,2126,112.9,9.5,369,7130,0.00,2.40,6.78,1.180,12804,0.000,0.064,2934,758,2196,2292,2101,0,0,0,0,0,0,15.29,14.87,14.40
$GC,7230,0.80,151.9,2934,758,2289,2101,102.2,9.8,389,7245,0.05,2.35,5.03,1.071,13318,0.453,0.052,2921,2183,2178,2274,2083,0,0,0,0,0,0,14.85,15.02,14.38
$GC,7502,0.82,167.0,2921,2183,2274,2083,73.8,9.2,439,7524,0.00,2.42,14.18,1.164,8708,0.000,0.063,2930,758,2116,2214,2018,0,0,0,0,0,0,15.19,14.74,14.31
$GC,7601,0.82,167.0,2931,757,2207,2018,62.3,11.5,456,7609,0.00,2.40,0.00,0.000,5126,0.000,0.051,2931,2192,2112,2207,2018,0,0,0,0,0,0,15.00,14.92,15.02
$GC,7864,0.88,215.0,2930,2191,2207,2018,38.5,7.6,505,7913,0.00,2.35,37.95,1.102,10500,0.000,0.062,2931,3573,1921,2014,1828,0,0,0,0,0,0,15.15,14.63,14.23
$GC,7979,0.88,215.0,2930,3573,2014,1828,26.5,11.7,524,7988,0.00,2.40,0.00,0.000,1030,0.000,0.054,2941,2170,1920,2013,1828,0,0,0,0,0,0,14.81,14.76,14.83
$STATE,8157,end climb,SURFACE_DEPTH_REACHED
$STATE,8158,begin surface coast
$FINISH,0.1,1.023191
$STATE,8180,end surface coast,CONTROL_FINISHED_OK
$STATE,8180,begin surface
$SM_CCo,8198,82.35,0.287,0,0,1126,410.13
$SM_GC,0.85,6.50,0.10,82.35,0.077,0.155,0.287,161,2100,1126,-7.62,0.96,410.13,0,0,0,0,0,0,14.94,14.88,14.67
$IRIDIUM_FIX,2234.68,-15802.37,260523,093935
$TT8_MAMPS,0.02247,0.279377
$HUMID,46.57
$INTERNAL_PRESSURE,8.97459
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,13.68,4.424
$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,16.125,89.250,300.400,82.350,0.000,26.068,39.394,290.206,0.000,0.000,16.333,1720.183,4549.999,509.595,1730.081,285.254,0.000,1174.360,0.000,1403.720,0.000,0.552,0.000
$DEVICE_MAMPS,468.945,154.530,1889.550,286.875,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,376.740,331.208,602.670,559.581,665.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339228
$DATA_FILE_SIZE,50662,561
$CAP_FILE_SIZE,93373,0
$CFSIZE,1023623168,1019576320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.029,317.46,1
$GPS,260523,120619,2244.731,-15800.192,14,0.7,43,9.8,0.4,4.8,11,6.0