version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 13
start: 5 26 123 16 54 43
data:
$ID,626
$MISSION,4
$DIVE,13
$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,35
$R_STBD_OVSHOOT,36
$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
$GPS1,260523,164601,2244.5991,-15800.0117,18,0.7,29,9.8,0.9,228.5,10,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-75.5
$GPS2,260523,165413,2244.5669,-15800.0645,7,0.8,14,9.8,0.0,238.5,10,9.3
$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,43.0,810,-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,-69.9,127,2090,1161,1074,0.0,0.0,0,86,0.00,0.00,-62.15,0.000,16390,0.000,0.000,126,2090,3087,3066,3109,0,0,0,0,0,0,15.06,14.25,15.06
$GC,90,-0.95,-74.6,126,2090,3067,3110,4.4,-9.6,10,105,7.60,2.35,-0.28,0.000,18692,0.465,0.068,2335,3528,3108,3088,3128,0,0,0,0,0,0,14.57,14.24,14.76
$GC,215,-0.95,-74.6,2334,3531,3091,3127,49.0,-25.8,32,224,0.05,2.40,0.00,0.000,3078,0.457,0.061,2348,2107,3109,3094,3125,0,0,0,0,0,0,14.72,14.88,14.93
$GC,482,-0.95,-74.6,2348,2106,3098,3122,120.0,-23.6,81,489,0.00,2.33,0.00,0.000,2308,0.000,0.053,2339,3521,3110,3098,3122,0,0,0,0,0,0,15.17,14.96,15.17
$GC,575,-0.95,-74.6,2339,3521,3098,3122,140.4,-21.7,97,582,0.05,2.35,0.00,0.000,3078,0.458,0.051,2352,2088,3110,3098,3122,0,0,0,0,0,0,14.80,14.97,15.01
$GC,832,-0.95,-74.6,2352,2085,3101,3122,196.7,-20.1,126,837,0.00,2.35,0.00,0.000,2308,0.000,0.056,2343,3520,3112,3102,3122,0,0,0,0,0,0,15.24,15.02,15.26
$GC,911,-0.95,-74.6,2343,3520,3102,3122,205.1,-19.1,129,917,0.00,2.33,0.00,0.000,3078,0.000,0.050,2343,2093,3111,3102,3121,0,0,0,0,0,0,15.14,15.04,15.14
$GC,1156,-0.95,-74.6,2343,2092,3104,3122,255.9,-18.1,136,1162,0.00,2.33,0.00,0.000,2308,0.000,0.056,2333,3515,3113,3104,3122,0,0,0,0,0,0,15.32,15.09,15.33
$GC,1250,-0.95,-74.6,2332,3515,3104,3122,270.3,-17.6,138,1256,0.08,2.30,0.00,0.000,3078,0.399,0.048,2355,2094,3112,3104,3121,0,0,0,0,0,0,14.94,15.11,15.14
$GC,1524,-0.95,-74.6,2355,2090,3105,3122,312.9,-14.6,145,1529,0.00,2.30,0.00,0.000,260,0.000,0.057,2346,3511,3113,3105,3121,0,0,0,0,0,0,15.35,15.14,15.36
$GC,1665,-0.95,-74.6,2346,3511,3104,3121,330.1,-14.0,148,1670,0.00,2.30,0.00,0.000,3078,0.000,0.049,2347,2089,3113,3105,3121,0,0,0,0,0,0,15.23,15.14,15.24
$GC,1934,-0.95,-74.6,2346,2089,3105,3119,374.4,-16.0,155,1936,0.00,0.00,0.00,0.000,2054,0.000,0.000,2347,2088,3112,3105,3119,0,0,0,0,0,0,15.38,15.39,15.39
$GC,2174,-0.95,-74.6,2346,2089,3104,3117,412.1,-15.6,161,2179,0.00,2.38,0.00,0.000,2308,0.000,0.062,2335,3519,3110,3105,3116,0,0,0,0,0,0,15.40,15.17,15.40
$GC,2222,-0.95,-74.6,2335,3519,3104,3116,419.2,-15.7,162,2228,0.05,2.30,0.00,0.000,3078,0.441,0.050,2350,2099,3110,3105,3116,0,0,0,0,0,0,15.02,15.19,15.21
$GC,2501,-0.95,-74.6,2349,2096,3104,3114,460.9,-14.5,169,2507,0.00,2.33,0.00,0.000,2308,0.000,0.061,2340,3514,3108,3104,3113,0,0,0,0,0,0,15.41,15.18,15.42
$GC,2546,-0.95,-74.6,2340,3513,3104,3113,467.5,-14.6,170,2552,0.00,2.30,0.00,0.000,3078,0.000,0.052,2341,2098,3109,3105,3113,0,0,0,0,0,0,15.28,15.19,15.29
$GC,2830,-0.95,-74.6,2340,2097,3104,3108,511.5,-15.2,177,2835,0.00,2.30,0.00,0.000,2564,0.000,0.066,2341,692,3106,3104,3108,0,0,0,0,0,0,15.42,15.19,15.42
$GC,2893,-0.95,-74.6,2341,692,3104,3108,517.6,-14.5,178,2899,0.08,2.30,0.00,0.000,3078,0.447,0.054,2355,2098,3106,3104,3108,0,0,0,0,0,0,15.02,15.19,15.23
$GC,3158,-0.95,-74.6,2354,2101,3104,3104,554.9,-13.0,185,3164,0.00,2.33,0.00,0.000,260,0.000,0.067,2346,3510,3103,3104,3103,0,0,0,0,0,0,15.41,15.19,15.42
$GC,3317,-0.95,-74.6,2345,3509,3104,3101,571.5,-13.1,188,3323,0.00,2.30,0.00,0.000,3078,0.000,0.054,2345,2100,3102,3104,3101,0,0,0,0,0,0,15.28,15.19,15.30
$STATE,3521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3521,begin apogee
$GC,3529,-0.16,0.0,2345,2196,3104,3099,604.2,-13.7,194,3596,0.75,0.00,63.67,1.876,10246,0.327,0.000,2605,2196,2798,2864,2733,0,0,0,0,0,0,15.02,14.58,13.89
$STATE,3597,end apogee,CONTROL_FINISHED_OK
$STATE,3597,begin climb
$GC,3600,0.95,74.6,2605,2196,2864,2734,606.5,0.0,195,3674,0.88,0.00,69.40,1.820,10246,0.154,0.000,2962,2195,2494,2591,2397,0,0,0,0,0,0,14.53,14.38,13.71
$GC,3883,0.95,74.6,2962,2195,2584,2394,567.7,16.1,203,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2195,2488,2583,2394,0,0,0,0,0,0,15.07,15.08,15.08
$GC,4123,0.95,74.6,2962,2196,2581,2393,531.1,14.9,209,4129,0.00,2.28,0.00,0.000,260,0.000,0.067,2962,3565,2487,2581,2393,0,0,0,0,0,0,15.20,14.99,15.21
$GC,4187,0.95,74.6,2962,3565,2581,2393,524.7,14.6,210,4193,0.00,2.33,0.00,0.000,5126,0.000,0.055,2972,2166,2487,2581,2393,0,0,0,0,0,0,15.09,15.00,15.11
$GC,4451,0.95,74.6,2972,2166,2582,2390,487.2,12.9,217,4457,0.00,2.33,0.00,0.000,4356,0.000,0.066,2972,3560,2484,2580,2389,0,0,0,0,0,0,15.28,15.06,15.28
$GC,4474,0.95,74.6,2971,3561,2581,2390,487.2,12.9,217,4480,0.05,2.33,0.00,0.000,5126,0.506,0.057,2968,2164,2485,2581,2390,0,0,0,0,0,0,14.88,15.07,15.11
$GC,4739,0.95,74.6,2967,2161,2579,2389,453.6,11.8,224,4741,0.00,0.00,0.00,0.000,4102,0.000,0.000,2968,2161,2484,2579,2389,0,0,0,0,0,0,15.32,15.33,15.33
$GC,4979,0.95,74.6,2967,2161,2578,2388,424.8,11.8,230,4984,0.00,2.33,0.00,0.000,4356,0.000,0.067,2967,3567,2482,2578,2387,0,0,0,0,0,0,15.35,15.12,15.35
$GC,5134,0.95,74.6,2967,3567,2578,2389,409.3,12.4,233,5140,0.00,2.30,0.00,0.000,5126,0.000,0.058,2976,2170,2483,2578,2389,0,0,0,0,0,0,15.22,15.13,15.23
$GC,5388,0.95,74.6,2975,2170,2578,2386,375.4,11.5,240,5394,0.00,2.30,0.00,0.000,4356,0.000,0.066,2976,3562,2482,2578,2386,0,0,0,0,0,0,15.36,15.14,15.37
$GC,5547,0.95,74.6,2975,3562,2578,2386,362.1,10.8,243,5554,0.08,2.30,0.00,0.000,5126,0.454,0.058,2965,2162,2482,2578,2386,0,0,0,0,0,0,14.95,15.14,15.19
$GC,5793,0.97,90.7,2964,2162,2576,2385,337.3,8.5,250,5812,0.00,2.35,12.52,1.581,10756,0.000,0.070,2974,757,2427,2520,2335,0,0,0,0,0,0,15.38,14.91,14.36
$GC,5885,0.97,94.7,2973,756,2508,2339,328.8,9.6,252,5896,0.00,2.33,4.30,1.235,9222,0.000,0.056,2973,2156,2412,2498,2327,0,0,0,0,0,0,15.13,15.05,14.31
$GC,6159,0.97,94.7,2973,2157,2497,2328,295.6,11.5,259,6165,0.00,2.35,0.00,0.000,260,0.000,0.067,2974,3584,2412,2497,2328,0,0,0,0,0,0,15.28,15.06,15.29
$GC,6172,0.97,94.7,2973,3584,2497,2329,295.6,11.5,259,6177,0.00,2.33,0.00,0.000,5126,0.000,0.054,2982,2171,2412,2497,2328,0,0,0,0,0,0,15.16,15.07,15.18
$GC,6446,0.98,99.9,2982,2170,2497,2328,266.4,9.5,266,6460,0.00,2.40,6.28,1.348,12548,0.000,0.065,2983,3580,2390,2474,2307,0,0,0,0,0,0,15.33,15.03,14.39
$GC,6580,0.98,99.9,2982,3580,2474,2308,252.1,10.9,269,6587,0.08,2.33,0.00,0.000,5126,0.459,0.055,2973,2168,2391,2474,2308,0,0,0,0,0,0,14.88,15.07,15.10
$GC,6856,0.99,109.1,2972,2166,2474,2307,225.4,9.1,276,6871,0.00,2.38,9.62,1.384,10500,0.000,0.061,2972,3581,2352,2440,2265,0,0,0,0,0,0,15.32,14.90,14.38
$GC,6878,1.00,118.4,2971,3581,2440,2265,225.4,9.1,276,6893,0.00,2.35,9.38,1.344,9222,0.000,0.058,2981,2168,2316,2407,2225,0,0,0,0,0,0,15.09,15.01,14.33
$GC,7144,1.01,124.8,2981,2168,2405,2224,195.5,9.4,286,7156,0.00,2.42,6.65,1.254,8452,0.000,0.063,2981,3584,2289,2382,2197,0,0,0,0,0,0,15.23,14.96,14.35
$GC,7231,1.01,124.8,2981,3584,2382,2197,186.4,10.6,294,7236,0.00,2.35,0.00,0.000,5126,0.000,0.055,2993,2165,2289,2382,2197,0,0,0,0,0,0,15.07,14.99,15.09
$GC,7488,1.02,135.0,2993,2165,2382,2197,162.7,9.0,319,7504,0.00,2.35,10.18,1.284,12804,0.000,0.066,3004,757,2247,2342,2152,0,0,0,0,0,0,15.23,14.90,14.36
$GC,7527,1.04,146.1,3003,757,2338,2153,159.2,8.9,322,7546,0.00,2.35,10.68,1.269,13318,0.000,0.053,3004,2172,2202,2297,2107,0,0,0,0,0,0,15.04,14.95,14.29
$GC,7789,1.04,146.1,3004,2172,2297,2105,122.4,15.3,366,7797,0.00,2.38,0.00,0.000,4356,0.000,0.061,3004,3571,2200,2297,2104,0,0,0,0,0,0,15.15,14.90,15.15
$GC,7805,1.04,146.1,3004,3571,2297,2104,119.8,16.5,368,7814,0.08,2.38,0.00,0.000,5126,0.448,0.057,2995,2175,2201,2297,2105,0,0,0,0,0,0,14.75,14.91,14.97
$GC,8069,1.04,146.1,2994,2173,2297,2105,85.8,13.2,417,8075,0.00,2.35,0.00,0.000,4356,0.000,0.060,2995,3581,2200,2297,2104,0,0,0,0,0,0,15.17,14.95,15.17
$GC,8095,1.04,146.1,2994,3581,2297,2104,82.6,12.6,421,8101,0.00,2.35,0.00,0.000,5126,0.000,0.054,3002,2159,2200,2297,2104,0,0,0,0,0,0,15.05,14.96,15.06
$GC,8361,1.08,181.4,3003,2160,2296,2105,59.1,6.6,470,8396,0.00,2.38,29.12,1.144,8708,0.000,0.063,3014,757,2057,2157,1957,0,0,0,0,0,0,15.16,14.64,14.24
$GC,8446,1.08,181.4,3014,757,2149,1958,51.4,12.1,484,8454,0.00,2.40,0.00,0.000,5126,0.000,0.049,3014,2184,2053,2149,1957,0,0,0,0,0,0,14.89,14.80,14.90
$GC,8709,1.08,181.4,3014,2186,2149,1957,17.8,11.8,533,8716,0.00,2.42,0.00,0.000,4612,0.000,0.061,3025,754,2053,2149,1957,0,0,0,0,0,0,15.09,14.88,15.10
$GC,8746,1.08,181.4,3025,753,2146,1957,12.5,14.9,539,8755,0.05,2.38,0.00,0.000,5126,0.431,0.046,3011,2169,2051,2146,1957,0,0,0,0,0,0,14.73,14.88,14.94
$STATE,8813,end climb,SURFACE_DEPTH_REACHED
$STATE,8813,begin surface coast
$FINISH,0.0,1.021588
$STATE,8838,end surface coast,CONTROL_FINISHED_OK
$STATE,8838,begin surface
$SM_CCo,8857,96.45,0.283,0,0,1126,410.13
$SM_GC,0.90,6.62,0.12,96.45,0.066,0.104,0.283,154,2061,1126,-7.66,0.90,410.13,0,0,0,0,0,0,14.93,14.92,14.66
$IRIDIUM_FIX,2237.01,-15759.32,260523,164734
$TT8_MAMPS,0.023219,0.280126
$HUMID,45.03
$INTERNAL_PRESSURE,8.96482
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,13.71,5.045
$10V_AH,13.45,0.000
$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,16.475,107.875,231.800,96.450,0.000,25.066,39.475,293.194,0.250,0.000,15.467,1851.260,4962.935,495.447,1837.044,309.859,0.000,1194.235,0.000,1501.726,0.000,0.553,0.000
$DEVICE_MAMPS,506.430,113.220,1875.780,283.050,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,373.678,326.303,577.362,538.538,643.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339152
$DATA_FILE_SIZE,50747,555
$CAP_FILE_SIZE,105165,0
$CFSIZE,1023623168,1019363328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.171,295.97,1
$GPS,260523,192519,2245.360,-15800.164,19,0.8,42,9.8,0.7,347.2,10,5.6