version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 14
start: 5 26 123 19 31 54
data:
$ID,626
$MISSION,4
$DIVE,14
$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,67
$R_STBD_OVSHOOT,41
$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
$GPS1,260523,192519,2245.3601,-15800.1641,19,0.8,42,9.8,0.7,347.2,10,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-77.7
$GPS2,260523,193129,2245.3782,-15800.1973,8,0.8,18,9.8,0.6,298.8,10,9.7
$SPEED_LIMITS,0.173,0.249
$TGT_NAME,BNE
$TGT_LATLONG,2258.560,-15745.420
$TGT_RADIUS,1000.000
$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,76.4,35083,-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,-146.0,128,2056,1164,1071,0.0,0.0,0,88,0.00,0.00,-68.28,0.000,16386,0.000,0.000,128,2056,3327,3294,3361,0,0,0,0,0,0,15.05,28.83,15.06
$GC,92,-0.76,-146.0,128,2056,3295,3361,4.2,-9.3,10,107,7.90,2.38,-1.02,0.000,18692,0.474,0.063,2397,3520,3399,3368,3430,0,0,0,0,0,0,14.55,14.26,14.76
$GC,162,-0.76,-146.0,2396,3524,3374,3427,34.7,-24.5,22,170,0.00,2.38,0.00,0.000,3078,0.000,0.063,2399,2144,3400,3378,3423,0,0,0,0,0,0,14.96,14.83,14.97
$GC,428,-0.76,-146.0,2400,2143,3382,3418,110.9,-26.4,71,435,0.00,2.45,0.00,0.000,2564,0.000,0.070,2409,686,3400,3383,3417,0,0,0,0,0,0,15.14,14.91,15.14
$GC,519,-0.76,-146.0,2408,685,3385,3417,134.6,-23.5,87,526,0.00,2.33,0.00,0.000,3078,0.000,0.047,2400,2103,3400,3385,3416,0,0,0,0,0,0,15.04,14.95,15.04
$GC,773,-0.76,-146.0,2399,2106,3388,3417,198.8,-25.3,117,778,0.00,2.30,0.00,0.000,2308,0.000,0.055,2388,3516,3402,3388,3416,0,0,0,0,0,0,15.23,15.00,15.23
$GC,787,-0.76,-146.0,2388,3517,3388,3416,202.1,-24.7,118,793,0.08,2.33,0.00,0.000,3078,0.356,0.049,2412,2090,3402,3388,3417,0,0,0,0,0,0,14.86,15.00,15.04
$GC,1061,-0.76,-146.0,2412,2087,3391,3417,254.1,-17.6,125,1067,0.00,2.30,0.00,0.000,2564,0.000,0.064,2412,688,3403,3391,3416,0,0,0,0,0,0,15.29,15.06,15.30
$GC,1085,-0.76,-146.0,2411,687,3391,3416,254.1,-17.6,125,1091,0.00,2.30,0.00,0.000,3078,0.000,0.047,2403,2105,3403,3391,3416,0,0,0,0,0,0,15.16,15.08,15.17
$GC,1350,-0.76,-146.0,2403,2107,3392,3416,302.7,-17.2,132,1352,0.00,0.00,0.00,0.000,2054,0.000,0.000,2404,2107,3404,3392,3416,0,0,0,0,0,0,15.33,15.34,15.34
$GC,1589,-0.76,-146.0,2403,2107,3391,3416,341.4,-16.0,138,1591,0.00,0.00,0.00,0.000,2054,0.000,0.000,2403,2108,3404,3392,3416,0,0,0,0,0,0,15.36,15.37,15.36
$GC,1830,-0.76,-146.0,2403,2108,3392,3415,379.9,-15.9,144,1835,0.00,2.35,0.00,0.000,2564,0.000,0.062,2402,686,3403,3392,3414,0,0,0,0,0,0,15.38,15.15,15.38
$GC,1857,-0.76,-146.0,2403,686,3392,3414,379.9,-15.9,144,1863,0.05,2.30,0.00,0.000,3078,0.448,0.051,2410,2099,3402,3390,3414,0,0,0,0,0,0,15.00,15.16,15.20
$GC,2117,-0.76,-146.0,2410,2102,3391,3412,422.3,-14.5,151,2122,0.00,2.30,0.00,0.000,2308,0.000,0.064,2402,3508,3402,3392,3412,0,0,0,0,0,0,15.40,15.16,15.40
$GC,2154,-0.76,-146.0,2402,3508,3392,3412,422.3,-14.5,151,2161,0.00,2.30,0.00,0.000,3078,0.000,0.053,2402,2099,3402,3392,3412,0,0,0,0,0,0,15.27,15.17,15.28
$GC,2401,-0.76,-146.0,2402,2099,3392,3408,463.0,-14.3,158,2406,0.00,2.33,0.00,0.000,2564,0.000,0.069,2402,690,3400,3392,3408,0,0,0,0,0,0,15.40,15.16,15.41
$GC,2434,-0.76,-146.0,2402,689,3392,3408,463.0,-14.3,158,2440,0.08,2.30,0.00,0.000,3078,0.387,0.053,2416,2100,3400,3392,3408,0,0,0,0,0,0,15.03,15.19,15.22
$GC,2688,-0.76,-146.0,2416,2103,3392,3404,500.8,-12.8,165,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2103,3398,3392,3404,0,0,0,0,0,0,15.40,15.42,15.41
$GC,2929,-0.76,-146.0,2415,2103,3393,3400,532.1,-13.4,171,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2103,3396,3392,3400,0,0,0,0,0,0,15.41,15.42,15.42
$GC,3168,-0.76,-146.0,2416,2103,3391,3396,564.9,-13.6,177,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2103,3393,3392,3395,0,0,0,0,0,0,15.42,15.42,15.42
$GC,3409,-0.76,-146.0,2415,2103,3392,3393,597.2,-13.5,183,3414,0.00,2.35,0.00,0.000,516,0.000,0.070,2417,690,3392,3392,3392,0,0,0,0,0,0,15.42,15.19,15.43
$GC,3446,-0.76,-146.0,2416,689,3391,3393,597.2,-13.5,183,3454,0.00,2.33,0.00,0.000,3078,0.000,0.057,2409,2096,3391,3391,3392,0,0,0,0,0,0,15.30,15.20,15.30
$STATE,3489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3489,begin apogee
$GC,3497,-0.16,0.0,2408,2197,3391,3391,608.4,-13.4,185,3624,0.55,0.00,122.65,1.880,10246,0.275,0.000,2608,2198,2799,2876,2723,0,0,0,0,0,0,15.07,14.38,13.69
$STATE,3625,end apogee,CONTROL_FINISHED_OK
$STATE,3625,begin climb
$GC,3628,0.76,146.0,2608,2197,2876,2723,613.2,0.0,188,3768,0.73,2.38,128.95,1.821,10500,0.143,0.066,2907,3557,2202,2302,2103,0,0,0,0,0,0,14.38,14.22,13.69
$GC,3831,0.76,146.0,2906,3558,2300,2103,592.6,13.7,193,3837,0.00,2.38,0.00,0.000,5126,0.000,0.060,2918,2173,2201,2300,2103,0,0,0,0,0,0,14.76,14.66,14.77
$GC,4100,0.76,146.0,2918,2173,2295,2099,534.7,20.6,200,4105,0.00,2.40,0.00,0.000,4612,0.000,0.078,2929,760,2197,2295,2099,0,0,0,0,0,0,15.15,14.92,15.16
$GC,4187,0.76,146.0,2929,760,2287,2098,516.7,20.9,202,4194,0.08,2.33,0.00,0.000,5126,0.396,0.056,2907,2151,2192,2287,2098,0,0,0,0,0,0,14.83,14.97,15.02
$GC,4468,0.76,146.0,2906,2153,2287,2098,462.9,18.4,209,4473,0.00,2.35,0.00,0.000,516,0.000,0.072,2915,759,2192,2287,2097,0,0,0,0,0,0,15.26,15.03,15.27
$GC,4506,0.76,146.0,2915,757,2285,2096,462.9,18.4,209,4513,0.00,2.35,0.00,0.000,5126,0.000,0.056,2915,2171,2190,2285,2096,0,0,0,0,0,0,15.14,15.05,15.16
$GC,4752,0.76,146.0,2915,2173,2285,2096,412.2,17.7,216,4757,0.00,2.33,0.00,0.000,4356,0.000,0.068,2915,3585,2190,2285,2096,0,0,0,0,0,0,15.30,15.08,15.31
$GC,4799,0.76,146.0,2915,3585,2285,2096,404.5,17.7,217,4806,0.08,2.38,0.00,0.000,5126,0.438,0.062,2905,2159,2190,2285,2096,0,0,0,0,0,0,14.92,15.09,15.14
$GC,5080,0.76,146.0,2904,2156,2285,2096,362.1,14.2,224,5086,0.00,2.33,0.00,0.000,516,0.000,0.076,2914,760,2189,2284,2095,0,0,0,0,0,0,15.33,15.11,15.34
$GC,5108,0.76,146.0,2914,760,2285,2094,362.1,14.2,224,5113,0.00,2.33,0.00,0.000,5126,0.000,0.054,2914,2171,2189,2285,2094,0,0,0,0,0,0,15.22,15.12,15.23
$GC,5367,0.76,146.0,2914,2173,2284,2093,318.4,15.9,231,5372,0.00,2.35,0.00,0.000,4612,0.000,0.073,2925,761,2189,2284,2094,0,0,0,0,0,0,15.36,15.13,15.36
$GC,5384,0.76,146.0,2925,761,2282,2093,318.4,15.9,231,5390,0.08,2.33,0.00,0.000,5126,0.422,0.055,2902,2176,2187,2282,2093,0,0,0,0,0,0,14.98,15.14,15.19
$GC,5654,0.76,146.0,2902,2179,2282,2093,275.9,14.2,238,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2179,2187,2282,2093,0,0,0,0,0,0,15.36,15.38,15.38
$GC,5894,0.76,146.0,2902,2178,2282,2093,243.2,13.0,244,5899,0.00,2.38,0.00,0.000,516,0.000,0.071,2910,760,2187,2282,2093,0,0,0,0,0,0,15.38,15.15,15.39
$GC,5942,0.76,146.0,2911,760,2280,2092,237.7,12.9,245,5948,0.00,2.33,0.00,0.000,5126,0.000,0.056,2911,2176,2186,2280,2092,0,0,0,0,0,0,15.26,15.16,15.27
$GC,6222,0.76,146.0,2911,2179,2280,2092,202.5,11.6,252,6224,0.00,0.00,0.00,0.000,4102,0.000,0.000,2911,2179,2186,2281,2092,0,0,0,0,0,0,15.39,15.40,15.39
$GC,6462,0.76,146.0,2910,2179,2281,2092,176.1,10.4,273,6467,0.00,2.35,0.00,0.000,4612,0.000,0.070,2922,760,2186,2281,2092,0,0,0,0,0,0,15.38,15.14,15.38
$GC,6591,0.76,146.0,2922,759,2279,2092,162.1,11.2,285,6599,0.05,2.38,0.00,0.000,5126,0.425,0.055,2907,2173,2185,2279,2092,0,0,0,0,0,0,15.00,15.12,15.19
$GC,6848,0.76,146.0,2907,2174,2279,2092,132.1,11.0,324,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2174,2185,2279,2092,0,0,0,0,0,0,15.30,15.33,15.32
$GC,7116,0.78,158.1,2906,2174,2279,2092,103.5,9.4,373,7132,0.00,2.35,8.45,1.180,8452,0.000,0.063,2907,3577,2154,2251,2057,0,0,0,0,0,0,15.27,15.00,14.46
$GC,7140,0.79,168.4,2906,3577,2251,2057,100.9,9.5,376,7161,0.00,2.38,10.05,1.154,9222,0.000,0.055,2915,2169,2112,2211,2013,0,0,0,0,0,0,15.09,14.99,14.38
$GC,7423,0.84,208.1,2915,2169,2210,2013,75.1,8.2,427,7465,0.00,2.42,32.25,1.153,10756,0.000,0.067,2927,758,1948,2041,1856,0,0,0,0,0,0,15.18,14.69,14.26
$GC,7474,0.85,219.0,2926,757,2038,1857,70.2,9.5,434,7491,0.00,2.40,9.62,1.073,11270,0.000,0.050,2927,2186,1905,1997,1814,0,0,0,0,0,0,14.87,14.78,14.23
$GC,7746,0.85,219.0,2926,2187,1994,1812,38.1,12.2,484,7754,0.00,2.45,0.00,0.000,2564,0.000,0.067,2938,751,1903,1994,1812,0,0,0,0,0,0,15.10,14.88,15.10
$GC,7831,0.85,219.0,2937,752,1987,1812,27.5,12.9,499,7839,0.00,2.40,0.00,0.000,5126,0.000,0.049,2938,2191,1899,1987,1811,0,0,0,0,0,0,15.00,14.91,15.01
$STATE,8013,end climb,SURFACE_DEPTH_REACHED
$STATE,8013,begin surface coast
$FINISH,-0.0,0.999885
$STATE,8036,end surface coast,CONTROL_FINISHED_OK
$STATE,8036,begin surface
$SM_CCo,8056,80.75,0.286,0,0,1125,410.13
$SM_GC,0.93,6.68,0.17,80.75,0.108,0.091,0.286,136,2078,1125,-7.68,0.76,410.13,0,0,0,0,0,0,14.97,14.97,14.70
$IRIDIUM_FIX,2237.01,-15802.37,260523,192652
$TT8_MAMPS,0.023219,0.338548
$HUMID,45.66
$INTERNAL_PRESSURE,8.97459
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,13.69,5.278
$10V_AH,13.49,0.000
$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,16.325,89.600,311.975,80.750,0.000,24.109,41.097,164.055,0.000,0.000,19.135,1594.188,4612.713,513.535,1550.558,240.636,0.000,1140.219,0.000,1309.017,0.000,0.551,0.000
$DEVICE_MAMPS,473.535,136.935,1880.370,286.110,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,360.356,313.316,573.298,528.948,635.963,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338736
$DATA_FILE_SIZE,47316,537
$CAP_FILE_SIZE,91362,0
$CFSIZE,1023623168,1019330560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.170,303.99,1
$GPS,260523,214849,2245.954,-15759.694,15,0.8,38,9.8,0.9,281.5,10,5.8