version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 11
start: 5 26 123 12 14 55
data:
$ID,626
$MISSION,4
$DIVE,11
$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,31
$R_STBD_OVSHOOT,37
$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
$GPS1,260523,120619,2244.7307,-15800.1924,14,0.7,43,9.8,0.4,4.8,11,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-69.7
$GPS2,260523,121425,2244.7480,-15800.1865,6,0.7,16,9.8,0.0,256.0,11,9.6
$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,34.0,565,-27.4,-10.000,-30.00,1075
$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,-0.94,-69.9,127,2089,1164,1070,0.0,0.0,0,80,0.00,0.00,-61.50,0.000,16390,0.000,0.000,127,2089,3086,3066,3107,0,0,0,0,0,0,15.07,14.03,15.07
$GC,85,-0.98,-101.1,126,2089,3067,3107,3.2,-7.0,9,100,7.53,2.38,-2.10,0.000,18692,0.462,0.068,2324,3526,3215,3192,3238,0,0,0,0,0,0,14.56,14.02,14.76
$GC,222,-0.98,-101.1,2324,3529,3195,3239,53.6,-30.8,33,230,0.08,2.40,0.00,0.000,3078,0.411,0.057,2347,2099,3217,3196,3239,0,0,0,0,0,0,14.73,14.89,14.93
$GC,482,-0.98,-101.1,2346,2098,3197,3238,133.7,-27.0,82,490,0.00,2.38,0.00,0.000,260,0.000,0.053,2338,3538,3217,3197,3238,0,0,0,0,0,0,15.17,14.95,15.18
$GC,554,-0.98,-101.1,2337,3539,3198,3238,150.6,-24.1,94,562,0.00,2.38,0.00,0.000,3078,0.000,0.054,2337,2099,3217,3197,3238,0,0,0,0,0,0,15.06,14.97,15.07
$GC,831,-0.98,-101.1,2337,2098,3201,3238,219.0,-21.9,116,836,0.00,2.33,0.00,0.000,2308,0.000,0.054,2326,3522,3219,3201,3238,0,0,0,0,0,0,15.27,15.04,15.27
$GC,898,-0.98,-101.1,2326,3522,3201,3238,227.8,-21.2,117,904,0.05,2.33,0.00,0.000,3078,0.438,0.052,2341,2098,3219,3201,3238,0,0,0,0,0,0,14.89,15.05,15.09
$GC,1158,-0.98,-101.1,2341,2094,3202,3238,281.0,-18.8,124,1164,0.00,2.33,0.00,0.000,2308,0.000,0.057,2332,3522,3220,3202,3238,0,0,0,0,0,0,15.33,15.10,15.33
$GC,1207,-0.98,-101.1,2332,3522,3202,3238,289.2,-18.6,125,1212,0.00,2.30,0.00,0.000,3078,0.000,0.049,2333,2097,3220,3202,3238,0,0,0,0,0,0,15.21,15.11,15.21
$GC,1486,-0.98,-101.1,2332,2097,3202,3238,342.3,-18.6,132,1491,0.00,2.30,0.00,0.000,2308,0.000,0.057,2322,3511,3220,3202,3238,0,0,0,0,0,0,15.37,15.14,15.37
$GC,1609,-0.98,-101.1,2321,3510,3202,3237,365.6,-18.7,135,1615,0.08,2.28,0.00,0.000,3078,0.384,0.050,2345,2101,3220,3202,3238,0,0,0,0,0,0,14.99,15.14,15.18
$GC,1894,-0.98,-101.1,2345,2097,3202,3237,417.1,-18.0,142,1900,0.00,2.30,0.00,0.000,260,0.000,0.059,2336,3512,3219,3202,3237,0,0,0,0,0,0,15.38,15.16,15.39
$GC,1907,-0.98,-101.1,2336,3512,3202,3237,417.1,-18.0,142,1912,0.00,2.30,0.00,0.000,3078,0.000,0.051,2336,2099,3219,3202,3237,0,0,0,0,0,0,15.26,15.16,15.27
$GC,2180,-0.98,-101.1,2336,2099,3202,3234,469.4,-18.3,149,2186,0.00,2.30,0.00,0.000,2564,0.000,0.065,2336,693,3217,3202,3232,0,0,0,0,0,0,15.40,15.16,15.41
$GC,2228,-0.98,-101.1,2336,692,3202,3233,477.4,-18.2,150,2234,0.05,2.30,0.00,0.000,3078,0.516,0.053,2341,2099,3217,3202,3233,0,0,0,0,0,0,14.99,15.18,15.21
$GC,2508,-0.98,-101.1,2340,2102,3202,3228,528.0,-17.5,157,2514,0.00,2.30,0.00,0.000,2308,0.000,0.066,2332,3511,3215,3202,3228,0,0,0,0,0,0,15.41,15.18,15.41
$GC,2753,-0.98,-101.1,2330,3511,3202,3225,568.0,-15.8,163,2759,0.00,2.30,0.00,0.000,3078,0.000,0.054,2331,2102,3213,3202,3225,0,0,0,0,0,0,15.27,15.18,15.28
$STATE,2954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2954,begin apogee
$GC,2962,-0.16,0.0,2331,2200,3202,3222,600.1,-15.8,168,3052,0.80,0.00,85.65,1.856,10246,0.323,0.000,2610,2202,2799,2870,2729,0,0,0,0,0,0,15.02,14.48,13.80
$STATE,3052,end apogee,CONTROL_FINISHED_OK
$STATE,3053,begin climb
$GC,3056,0.98,101.1,2610,2202,2869,2729,602.2,0.0,170,3155,0.90,2.35,90.30,1.799,10500,0.142,0.064,2976,3563,2386,2476,2296,0,0,0,0,0,0,14.48,14.38,13.69
$GC,3235,0.98,101.1,2976,3564,2473,2296,581.3,16.3,174,3240,0.00,2.38,0.00,0.000,5126,0.000,0.057,2986,2164,2384,2472,2296,0,0,0,0,0,0,14.81,14.71,14.81
$GC,3491,0.98,101.1,2986,2164,2465,2295,520.4,21.0,181,3496,0.00,2.35,0.00,0.000,4356,0.000,0.063,2987,3562,2380,2466,2295,0,0,0,0,0,0,15.16,14.95,15.16
$GC,3508,0.98,101.1,2986,3562,2465,2295,520.4,21.0,181,3515,0.08,2.35,0.00,0.000,5126,0.436,0.059,2975,2171,2380,2465,2295,0,0,0,0,0,0,14.78,14.95,14.99
$GC,3780,0.98,101.1,2975,2169,2463,2292,468.4,17.2,188,3785,0.00,2.33,0.00,0.000,260,0.000,0.063,2975,3565,2377,2463,2292,0,0,0,0,0,0,15.25,15.04,15.26
$GC,3803,0.98,101.1,2975,3566,2463,2292,468.4,17.2,188,3809,0.00,2.33,0.00,0.000,5126,0.000,0.058,2983,2166,2377,2463,2292,0,0,0,0,0,0,15.14,15.04,15.15
$GC,4067,0.98,101.1,2984,2165,2461,2291,417.9,17.0,195,4072,0.00,2.33,0.00,0.000,4612,0.000,0.072,2996,761,2376,2461,2291,0,0,0,0,0,0,15.30,15.07,15.32
$GC,4105,0.98,101.1,2995,760,2456,2291,417.9,17.0,195,4114,0.05,2.35,0.00,0.000,5126,0.393,0.054,2981,2157,2373,2456,2291,0,0,0,0,0,0,14.92,15.09,15.07
$GC,4351,0.98,101.1,2980,2158,2456,2290,372.4,16.0,202,4356,0.00,2.33,0.00,0.000,4612,0.000,0.067,2989,760,2373,2456,2290,0,0,0,0,0,0,15.34,15.11,15.35
$GC,4369,0.98,101.1,2989,759,2453,2290,372.4,16.0,202,4375,0.05,2.33,0.00,0.000,5126,0.464,0.055,2976,2169,2371,2453,2290,0,0,0,0,0,0,14.95,15.12,15.17
$GC,4639,0.98,101.1,2976,2171,2452,2290,331.7,13.8,209,4644,0.00,2.30,0.00,0.000,260,0.000,0.068,2976,3575,2371,2453,2290,0,0,0,0,0,0,15.35,15.13,15.36
$GC,4686,0.98,101.1,2975,3576,2452,2290,325.2,14.1,210,4693,0.00,2.33,0.00,0.000,5126,0.000,0.057,2985,2166,2371,2452,2290,0,0,0,0,0,0,15.23,15.14,15.25
$GC,4967,0.98,101.1,2985,2164,2453,2289,287.2,12.9,217,4972,0.00,2.33,0.00,0.000,4356,0.000,0.065,2985,3575,2370,2453,2287,0,0,0,0,0,0,15.38,15.15,15.38
$GC,5128,0.98,101.1,2985,3576,2452,2289,270.8,13.2,220,5137,0.08,2.33,0.00,0.000,5126,0.450,0.058,2974,2167,2371,2453,2289,0,0,0,0,0,0,14.97,15.15,15.20
$GC,5371,0.99,108.2,2974,2166,2452,2287,242.1,9.3,227,5382,0.00,2.38,4.60,1.260,8452,0.000,0.064,2973,3587,2356,2441,2271,0,0,0,0,0,0,15.38,15.00,14.44
$GC,5546,0.99,108.2,2973,3587,2440,2272,224.4,10.7,231,5551,0.00,2.33,0.00,0.000,5126,0.000,0.057,2983,2172,2356,2441,2272,0,0,0,0,0,0,15.22,15.13,15.23
$GC,5821,1.01,124.1,2982,2171,2440,2272,197.8,8.5,238,5844,0.00,2.38,14.85,1.402,8452,0.000,0.064,2983,3577,2292,2383,2201,0,0,0,0,0,0,15.36,15.00,14.42
$GC,5943,1.01,124.1,2983,3578,2382,2200,185.0,11.5,249,5948,0.00,2.33,0.00,0.000,5126,0.000,0.056,2995,2168,2291,2382,2201,0,0,0,0,0,0,15.13,15.03,15.14
$GC,6200,1.01,124.1,2995,2167,2382,2198,156.1,11.2,274,6205,0.00,2.35,0.00,0.000,4612,0.000,0.068,3006,756,2290,2382,2198,0,0,0,0,0,0,15.27,15.05,15.27
$GC,6309,1.01,124.1,3005,755,2376,2198,143.4,12.3,289,6317,0.08,2.35,0.00,0.000,5126,0.407,0.054,2984,2178,2287,2376,2198,0,0,0,0,0,0,14.88,15.06,15.09
$GC,6578,1.02,134.9,2983,2179,2376,2198,114.9,9.0,338,6592,0.00,2.35,9.70,1.200,8452,0.000,0.063,2983,3574,2248,2341,2156,0,0,0,0,0,0,15.23,14.95,14.40
$GC,6626,1.02,134.9,2983,3576,2341,2157,109.5,11.5,346,6635,0.00,2.38,0.00,0.000,5126,0.000,0.052,2994,2167,2249,2342,2157,0,0,0,0,0,0,14.98,14.92,15.00
$GC,6896,1.04,152.5,2994,2166,2342,2157,83.9,8.3,395,6918,0.00,2.40,15.75,1.170,8452,0.000,0.060,2995,3575,2176,2272,2081,0,0,0,0,0,0,15.19,14.88,14.35
$GC,7033,1.04,152.5,2994,3576,2272,2081,68.5,12.5,419,7040,0.00,2.38,0.00,0.000,5126,0.000,0.052,3007,2172,2176,2271,2081,0,0,0,0,0,0,14.95,14.90,14.97
$GC,7295,1.07,169.8,3007,2172,2272,2080,42.0,8.3,468,7320,0.00,2.40,15.05,1.095,12804,0.000,0.065,3018,761,2104,2199,2009,0,0,0,0,0,0,15.15,14.79,14.34
$GC,7377,1.07,169.8,3018,761,2194,2009,33.5,10.1,481,7385,0.05,2.38,0.00,0.000,5126,0.448,0.047,3004,2172,2101,2194,2009,0,0,0,0,0,0,14.70,14.86,14.90
$GC,7640,1.07,169.8,3004,2171,2194,2009,7.9,11.8,530,7648,0.00,2.35,0.00,0.000,4356,0.000,0.058,3005,3572,2101,2194,2009,0,0,0,0,0,0,15.14,14.90,15.14
$GC,7672,1.07,169.8,3005,3572,2194,2009,3.6,14.1,535,7680,0.00,2.38,0.00,0.000,5126,0.000,0.054,3013,2166,2101,2194,2009,0,0,0,0,0,0,15.02,14.91,15.03
$STATE,7687,end climb,SURFACE_DEPTH_REACHED
$STATE,7687,begin surface coast
$FINISH,0.0,1.012111
$STATE,7704,end surface coast,CONTROL_FINISHED_OK
$STATE,7704,begin surface
$SM_CCo,7723,100.85,0.277,0,0,1127,410.13
$SM_GC,0.97,6.60,0.10,100.85,0.060,0.127,0.277,160,2051,1127,-7.68,0.82,410.13,0,0,0,0,0,0,14.95,14.94,14.69
$IRIDIUM_FIX,2234.68,-15802.37,260523,120753
$TT8_MAMPS,0.023219,0.281624
$HUMID,45.07
$INTERNAL_PRESSURE,8.97459
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,13.69,4.633
$10V_AH,13.43,0.000
$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,16.450,103.175,235.900,100.850,0.000,26.386,39.830,283.386,0.000,0.000,17.976,1788.203,3929.244,466.123,1845.806,291.573,0.000,1164.067,0.000,1490.922,0.000,0.554,0.000
$DEVICE_MAMPS,516.375,126.990,1855.890,276.930,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,362.920,486.710,589.601,555.986,665.013,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339148
$DATA_FILE_SIZE,47218,540
$CAP_FILE_SIZE,96891,0
$CFSIZE,1023623168,1019527168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,11
$CURRENT,0.106,255.58,1
$GPS,260523,142627,2245.128,-15800.037,15,1.2,28,9.8,0.0,292.5,8,10.0