version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 12
start: 5 26 123 14 35 25
data:
$ID,626
$MISSION,4
$DIVE,12
$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,75
$R_STBD_OVSHOOT,27
$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
$GPS1,260523,142627,2245.1277,-15800.0371,15,1.2,28,9.8,0.0,292.5,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-74.4
$GPS2,260523,143455,2245.1328,-15800.0605,7,0.7,42,9.8,0.3,60.2,11,5.7
$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,110.2,267,-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,17,-0.94,-69.9,127,2091,1161,1076,0.0,0.0,0,82,0.00,0.00,-61.75,0.000,16390,0.000,0.000,127,2091,3087,3067,3108,0,0,0,0,0,0,15.07,14.04,15.07
$GC,86,-0.98,-103.2,127,2091,3067,3108,3.4,-6.8,9,102,7.55,2.30,-2.20,0.000,18948,0.463,0.070,2345,711,3225,3201,3250,0,0,0,0,0,0,14.58,14.03,14.77
$GC,116,-0.98,-103.2,2345,710,3202,3250,18.2,-42.8,13,125,0.00,2.35,0.00,0.000,3078,0.000,0.042,2337,2120,3226,3203,3250,0,0,0,0,0,0,14.89,14.84,14.91
$GC,380,-0.98,-103.2,2336,2123,3205,3250,110.6,-30.6,62,389,0.00,2.30,0.00,0.000,2308,0.000,0.054,2326,3506,3227,3205,3250,0,0,0,0,0,0,15.16,14.91,15.16
$GC,610,-0.98,-103.2,2325,3506,3207,3250,167.7,-23.3,97,618,0.05,2.25,0.00,0.000,3078,0.460,0.056,2340,2142,3228,3207,3250,0,0,0,0,0,0,14.81,14.99,15.02
$GC,867,-0.98,-103.2,2339,2139,3208,3250,229.3,-22.7,114,872,0.00,2.25,0.00,0.000,2308,0.000,0.055,2332,3519,3228,3209,3248,0,0,0,0,0,0,15.28,15.06,15.28
$GC,900,-0.98,-103.2,2331,3519,3209,3250,229.3,-22.7,114,905,0.00,2.33,0.00,0.000,3078,0.000,0.050,2331,2090,3229,3209,3250,0,0,0,0,0,0,15.15,15.07,15.16
$GC,1154,-0.98,-103.2,2331,2090,3210,3250,290.1,-21.3,121,1159,0.00,2.33,0.00,0.000,2308,0.000,0.054,2320,3516,3229,3209,3250,0,0,0,0,0,0,15.33,15.11,15.33
$GC,1172,-0.98,-103.2,2320,3516,3210,3250,290.1,-21.3,121,1178,0.08,2.30,0.00,0.000,3078,0.398,0.049,2343,2094,3230,3210,3250,0,0,0,0,0,0,14.95,15.11,15.14
$GC,1442,-0.98,-103.2,2343,2090,3210,3250,343.7,-18.1,128,1447,0.00,2.30,0.00,0.000,260,0.000,0.057,2334,3509,3230,3210,3250,0,0,0,0,0,0,15.35,15.14,15.36
$GC,1565,-0.98,-103.2,2334,3509,3210,3250,365.5,-17.6,131,1571,0.00,2.28,0.00,0.000,3078,0.000,0.050,2334,2100,3230,3210,3250,0,0,0,0,0,0,15.23,15.15,15.24
$GC,1850,-0.98,-103.2,2334,2100,3210,3248,415.1,-17.4,138,1855,0.00,2.30,0.00,0.000,2564,0.000,0.063,2335,688,3228,3210,3247,0,0,0,0,0,0,15.38,15.15,15.39
$GC,1867,-0.98,-103.2,2334,688,3210,3247,415.1,-17.4,138,1874,0.05,2.30,0.00,0.000,3078,0.504,0.050,2340,2104,3228,3210,3246,0,0,0,0,0,0,14.97,15.16,15.20
$GC,2137,-0.98,-103.2,2339,2107,3210,3244,465.1,-17.2,145,2143,0.00,2.33,0.00,0.000,2564,0.000,0.063,2340,695,3226,3210,3243,0,0,0,0,0,0,15.40,15.16,15.40
$GC,2175,-0.98,-103.2,2339,694,3210,3244,465.1,-17.2,145,2182,0.00,2.30,0.00,0.000,3078,0.000,0.052,2331,2105,3226,3210,3243,0,0,0,0,0,0,15.27,15.18,15.28
$GC,2422,-0.98,-103.2,2330,2106,3210,3240,514.8,-17.7,152,2427,0.00,2.30,0.00,0.000,2308,0.000,0.067,2321,3512,3224,3210,3239,0,0,0,0,0,0,15.41,15.18,15.41
$GC,2655,-0.98,-103.2,2320,3512,3210,3237,550.7,-17.4,157,2661,0.08,2.30,0.00,0.000,3078,0.408,0.054,2343,2103,3223,3210,3236,0,0,0,0,0,0,15.02,15.18,15.22
$GC,2910,-0.98,-103.2,2343,2100,3210,3231,596.4,-15.8,164,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2100,3221,3210,3232,0,0,0,0,0,0,15.40,15.42,15.41
$STATE,2946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2947,begin apogee
$GC,2954,-0.16,0.0,2343,2181,3210,3230,602.4,-15.4,165,3046,0.75,0.00,87.60,1.843,10246,0.319,0.000,2607,2180,2799,2870,2729,0,0,0,0,0,0,15.02,14.47,13.79
$STATE,3047,end apogee,CONTROL_FINISHED_OK
$STATE,3047,begin climb
$GC,3050,0.98,103.2,2607,2180,2870,2729,605.3,0.0,167,3154,0.90,2.40,92.20,1.791,10500,0.145,0.065,2973,3568,2377,2469,2286,0,0,0,0,0,0,14.45,14.38,13.70
$GC,3259,0.98,103.2,2973,3568,2467,2287,577.5,17.3,172,3265,0.00,2.38,0.00,0.000,5126,0.000,0.056,2984,2171,2376,2467,2286,0,0,0,0,0,0,14.85,14.76,14.86
$GC,3523,0.98,103.2,2983,2170,2458,2285,519.4,20.5,179,3528,0.00,2.38,0.00,0.000,4612,0.000,0.073,2994,761,2371,2458,2284,0,0,0,0,0,0,15.19,14.95,15.19
$GC,3576,0.98,103.2,2994,760,2451,2285,510.4,20.5,180,3583,0.05,2.35,0.00,0.000,5126,0.460,0.054,2979,2159,2368,2452,2284,0,0,0,0,0,0,14.82,14.99,15.04
$GC,3852,0.98,103.2,2979,2162,2451,2284,458.3,18.2,187,3857,0.00,2.33,0.00,0.000,4356,0.000,0.063,2979,3580,2368,2452,2284,0,0,0,0,0,0,15.28,15.05,15.28
$GC,3919,0.98,103.2,2978,3580,2451,2284,449.9,18.5,188,3925,0.00,2.35,0.00,0.000,5126,0.000,0.058,2988,2163,2367,2451,2284,0,0,0,0,0,0,15.16,15.06,15.17
$GC,4178,0.98,103.2,2987,2161,2451,2282,400.6,17.1,195,4183,0.00,2.33,0.00,0.000,4612,0.000,0.070,2999,758,2366,2452,2281,0,0,0,0,0,0,15.33,15.09,15.33
$GC,4266,0.98,103.2,2998,757,2446,2281,386.2,16.7,197,4273,0.08,2.35,0.00,0.000,5126,0.431,0.054,2976,2181,2363,2446,2280,0,0,0,0,0,0,14.93,15.11,15.16
$GC,4547,0.98,103.2,2975,2183,2446,2280,344.9,13.8,204,4552,0.00,2.30,0.00,0.000,260,0.000,0.068,2976,3578,2363,2446,2280,0,0,0,0,0,0,15.35,15.12,15.35
$GC,4614,0.98,103.2,2975,3578,2446,2280,338.7,13.6,205,4620,0.00,2.33,0.00,0.000,5126,0.000,0.057,2984,2167,2363,2446,2281,0,0,0,0,0,0,15.23,15.13,15.24
$GC,4873,0.98,103.2,2984,2166,2446,2280,299.2,13.6,212,4878,0.00,2.33,0.00,0.000,4356,0.000,0.064,2984,3575,2363,2446,2280,0,0,0,0,0,0,15.37,15.14,15.38
$GC,4916,0.98,103.2,2984,3576,2446,2280,293.5,13.3,213,4923,0.08,2.33,0.00,0.000,5126,0.447,0.057,2973,2159,2362,2445,2280,0,0,0,0,0,0,14.97,15.15,15.20
$GC,5202,0.98,103.2,2973,2157,2446,2279,259.2,11.7,220,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2157,2362,2446,2279,0,0,0,0,0,0,15.38,15.38,15.38
$GC,5441,0.98,103.2,2973,2156,2446,2278,232.3,11.4,226,5446,0.00,2.38,0.00,0.000,260,0.000,0.067,2973,3587,2362,2447,2278,0,0,0,0,0,0,15.39,15.16,15.40
$GC,5568,0.98,103.2,2972,3587,2446,2278,217.8,11.8,229,5574,0.00,2.33,0.00,0.000,5126,0.000,0.056,2982,2167,2362,2446,2278,0,0,0,0,0,0,15.26,15.17,15.28
$GC,5818,1.00,114.7,2982,2166,2446,2277,194.1,8.9,239,5835,0.00,2.38,8.15,1.338,8708,0.000,0.067,2993,756,2330,2416,2244,0,0,0,0,0,0,15.38,15.09,14.47
$GC,6017,1.02,133.3,2993,756,2411,2244,176.8,8.2,258,6040,0.00,2.33,16.83,1.356,13318,0.000,0.053,2993,2173,2255,2348,2162,0,0,0,0,0,0,15.19,15.10,14.37
$GC,6279,1.02,133.3,2993,2173,2347,2160,146.6,13.0,286,6287,0.00,0.00,0.00,0.000,4102,0.000,0.000,2993,2173,2253,2347,2160,0,0,0,0,0,0,15.23,15.23,15.23
$GC,6545,1.02,133.3,2993,2173,2348,2160,112.5,12.1,335,6552,0.00,2.38,0.00,0.000,4612,0.000,0.065,3003,758,2253,2347,2159,0,0,0,0,0,0,15.23,15.00,15.23
$GC,6667,1.02,133.3,3002,758,2341,2159,99.0,10.7,357,6675,0.05,2.33,0.00,0.000,5126,0.441,0.053,2990,2170,2250,2341,2159,0,0,0,0,0,0,14.85,15.02,15.05
$GC,6936,1.05,159.0,2989,2173,2341,2159,74.4,7.5,406,6965,0.00,2.35,21.42,1.169,10500,0.000,0.060,2990,3576,2151,2248,2055,0,0,0,0,0,0,15.21,14.70,14.29
$GC,7000,1.05,159.0,2989,3576,2248,2055,67.8,12.3,416,7007,0.00,2.38,0.00,0.000,1030,0.000,0.051,2999,2175,2151,2248,2055,0,0,0,0,0,0,14.96,14.86,14.97
$GC,7264,1.05,159.0,2999,2174,2247,2055,40.1,10.0,465,7272,0.00,2.38,0.00,0.000,516,0.000,0.063,3010,751,2150,2247,2054,0,0,0,0,0,0,15.14,14.91,15.14
$GC,7328,1.06,169.1,3010,751,2242,2054,34.2,9.0,476,7344,0.00,2.40,9.60,1.043,13318,0.000,0.052,3010,2189,2108,2203,2013,0,0,0,0,0,0,15.02,14.93,14.37
$GC,7600,1.06,169.1,3010,2192,2203,2012,6.0,12.9,526,7609,0.00,2.33,0.00,0.000,4356,0.000,0.054,3010,3581,2107,2203,2012,0,0,0,0,0,0,15.14,14.91,15.14
$STATE,7620,end climb,SURFACE_DEPTH_REACHED
$STATE,7620,begin surface coast
$FINISH,-0.0,1.023240
$STATE,7643,end surface coast,CONTROL_FINISHED_OK
$STATE,7643,begin surface
$SM_CCo,7665,101.43,0.285,0,0,1125,410.13
$SM_GC,0.94,6.60,2.53,101.43,0.066,0.063,0.285,182,2101,1125,-7.63,1.19,410.13,0,0,0,0,0,0,14.96,14.94,14.68
$IRIDIUM_FIX,2234.68,-15800.20,260523,142801
$TT8_MAMPS,0.023219,0.280875
$HUMID,45.82
$INTERNAL_PRESSURE,8.96482
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,13.70,4.841
$10V_AH,13.48,0.000
$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,16.300,93.550,235.800,101.425,0.000,26.204,39.032,279.573,0.000,0.000,43.291,1755.106,3964.796,464.421,1819.613,281.495,0.000,1140.456,0.000,1462.814,0.000,0.553,0.000
$DEVICE_MAMPS,504.135,162.945,1842.885,284.580,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,358.767,333.323,577.394,546.190,658.727,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339200
$DATA_FILE_SIZE,47157,533
$CAP_FILE_SIZE,94895,0
$CFSIZE,1023623168,1019461632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$CURRENT,0.133,263.30,1
$GPS,260523,164601,2244.599,-15800.012,18,0.7,29,9.8,0.9,228.5,10,7.9