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