version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 19
start: 5 27 123 8 36 27
data:
$ID,626
$MISSION,4
$DIVE,19
$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,130
$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,2665
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,33
$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,2120
$C_ROLL_CLIMB,2130
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,33
$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,0.00061500003
$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
$GPS1,270523,082631,2248.3176,-15757.5107,18,0.9,41,9.8,0.9,346.0,9,7.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-74.9
$GPS2,270523,083603,2248.3750,-15757.5322,7,0.9,17,9.8,0.8,311.2,9,9.7
$SPEED_LIMITS,0.173,0.232
$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,72.9,27970,-20.2,-10.000,-23.27,1942
$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,-0.69,-126.5,126,2149,1161,1073,0.0,0.0,0,87,0.00,0.00,-67.35,0.000,16390,0.000,0.000,126,2150,3316,3289,3344,0,0,0,0,0,0,15.09,14.10,15.09
$GC,91,-0.69,-126.5,126,2149,3289,3346,4.1,-8.6,10,105,7.90,0.00,0.00,0.000,2566,0.463,0.000,2439,2150,3318,3290,3346,0,0,0,0,0,0,14.62,14.85,14.80
$GC,360,-0.69,-126.5,2439,2150,3301,3339,89.1,-22.8,60,369,0.00,2.45,0.00,0.000,2564,0.000,0.064,2441,714,3319,3302,3337,0,0,0,0,0,0,15.16,14.92,15.15
$GC,384,-0.69,-126.5,2441,714,3303,3336,95.0,-24.8,63,391,0.00,2.33,0.00,0.000,3078,0.000,0.047,2432,2127,3320,3304,3336,0,0,0,0,0,0,15.04,14.95,15.05
$GC,652,-0.69,-126.5,2432,2130,3305,3336,157.6,-21.2,109,657,0.00,2.38,0.00,0.000,2564,0.000,0.063,2432,709,3321,3306,3336,0,0,0,0,0,0,15.21,14.98,15.21
$GC,686,-0.69,-126.5,2432,709,3306,3336,165.7,-21.7,112,692,0.08,2.30,0.00,0.000,3078,0.396,0.048,2448,2120,3320,3306,3335,0,0,0,0,0,0,14.86,15.01,15.04
$GC,963,-0.69,-126.5,2447,2123,3307,3335,214.1,-16.1,133,969,0.00,2.33,0.00,0.000,260,0.000,0.059,2438,3529,3321,3307,3335,0,0,0,0,0,0,15.27,15.06,15.28
$GC,991,-0.69,-126.5,2437,3529,3307,3336,214.1,-16.1,133,996,0.00,2.33,0.00,0.000,3078,0.000,0.055,2437,2114,3321,3307,3335,0,0,0,0,0,0,15.16,15.07,15.16
$GC,1250,-0.69,-126.5,2437,2113,3308,3335,258.2,-14.9,140,1255,0.00,2.30,0.00,0.000,2564,0.000,0.063,2437,705,3322,3309,3335,0,0,0,0,0,0,15.33,14.59,15.34
$GC,1278,-0.69,-126.5,2437,704,3309,3336,258.2,-14.9,140,1284,0.05,2.30,0.00,0.000,3078,0.418,0.048,2445,2120,3322,3309,3335,0,0,0,0,0,0,14.97,15.12,15.16
$GC,1538,-0.69,-126.5,2445,2123,3309,3335,295.3,-12.7,147,1544,0.00,2.30,0.00,0.000,260,0.000,0.060,2436,3532,3322,3309,3335,0,0,0,0,0,0,15.36,15.14,15.36
$GC,1571,-0.69,-126.5,2435,3532,3309,3335,295.3,-12.7,147,1577,0.00,2.30,0.00,0.000,3078,0.000,0.050,2436,2114,3322,3309,3335,0,0,0,0,0,0,15.23,15.15,15.25
$GC,1825,-0.69,-126.5,2435,2114,3309,3335,331.8,-12.5,154,1830,0.00,2.30,0.00,0.000,2564,0.000,0.064,2436,709,3322,3309,3335,0,0,0,0,0,0,15.39,15.16,15.39
$GC,1858,-0.69,-126.5,2435,708,3309,3335,331.8,-12.5,154,1864,0.05,2.30,0.00,0.000,3078,0.410,0.050,2445,2122,3322,3309,3335,0,0,0,0,0,0,15.03,15.17,15.21
$GC,2113,-0.69,-126.5,2445,2125,3309,3332,367.2,-12.0,161,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2125,3320,3309,3332,0,0,0,0,0,0,15.40,15.40,15.40
$GC,2352,-0.69,-126.5,2445,2125,3309,3330,394.7,-11.2,167,2358,0.00,2.33,0.00,0.000,516,0.000,0.064,2445,710,3319,3309,3330,0,0,0,0,0,0,15.41,15.18,15.42
$GC,2399,-0.69,-126.5,2445,710,3309,3330,399.9,-11.3,168,2406,0.00,2.30,0.00,0.000,3078,0.000,0.052,2436,2117,3319,3309,3329,0,0,0,0,0,0,15.28,15.19,15.30
$GC,2680,-0.69,-126.5,2436,2118,3309,3325,432.1,-11.3,175,2682,0.00,0.00,0.00,0.000,2054,0.000,0.000,2436,2118,3317,3309,3325,0,0,0,0,0,0,15.42,15.42,15.42
$GC,2920,-0.69,-126.5,2436,2118,3309,3322,458.4,-10.9,181,2922,0.00,0.00,0.00,0.000,2054,0.000,0.000,2436,2118,3315,3309,3322,0,0,0,0,0,0,15.41,15.43,15.42
$GC,3160,-0.69,-126.5,2436,2118,3309,3318,483.4,-10.3,187,3165,0.00,2.35,0.00,0.000,2564,0.000,0.066,2436,709,3314,3310,3318,0,0,0,0,0,0,15.43,15.20,15.44
$GC,3187,-0.69,-126.5,2436,709,3309,3318,483.4,-10.3,187,3193,0.00,2.35,0.00,0.000,3078,0.000,0.055,2429,2120,3314,3310,3318,0,0,0,0,0,0,15.30,15.21,15.31
$GC,3446,-0.69,-126.5,2428,2121,3309,3314,513.8,-10.7,194,3451,0.00,2.35,0.00,0.000,2564,0.000,0.069,2429,714,3311,3309,3314,0,0,0,0,0,0,15.43,15.19,15.43
$GC,3484,-0.69,-126.5,2428,713,3309,3314,513.8,-10.7,194,3491,0.08,2.33,0.00,0.000,3078,0.378,0.056,2447,2121,3311,3309,3314,0,0,0,0,0,0,15.08,15.21,15.25
$GC,3732,-0.69,-126.5,2446,2124,3309,3310,543.3,-10.1,201,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2124,3309,3308,3310,0,0,0,0,0,0,15.42,15.43,15.43
$GC,3970,-0.69,-126.5,2445,2124,3309,3306,568.4,-10.6,207,3975,0.00,2.35,0.00,0.000,516,0.000,0.070,2446,710,3306,3308,3305,0,0,0,0,0,0,15.42,15.20,15.44
$GC,4017,-0.69,-126.5,2446,709,3306,3306,573.3,-10.7,208,4024,0.00,2.33,0.00,0.000,3078,0.000,0.057,2439,2118,3306,3306,3306,0,0,0,0,0,0,15.30,15.21,15.31
$STATE,4295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4295,begin apogee
$GC,4302,-0.15,0.0,2438,2120,3306,3303,604.0,-10.7,215,4408,0.47,0.00,102.95,1.875,10246,0.268,0.000,2614,2121,2798,2873,2723,0,0,0,0,0,0,15.09,14.45,13.78
$STATE,4409,end apogee,CONTROL_FINISHED_OK
$STATE,4410,begin climb
$GC,4413,0.69,126.5,2613,2121,2873,2724,606.4,0.0,217,4535,0.68,2.55,112.15,1.815,10500,0.141,0.068,2895,3542,2282,2383,2182,0,0,0,0,0,0,14.44,14.36,13.70
$GC,4589,0.69,126.5,2894,3540,2381,2182,595.4,10.4,221,4595,0.08,2.42,0.00,0.000,5126,0.415,0.059,2883,2134,2281,2381,2182,0,0,0,0,0,0,14.50,14.64,14.69
$GC,4843,0.69,126.5,2885,2133,2374,2177,549.4,15.8,228,4849,0.00,2.40,0.00,0.000,516,0.000,0.075,2894,716,2276,2376,2177,0,0,0,0,0,0,15.14,14.91,15.14
$GC,4957,0.69,126.5,2894,714,2366,2176,536.0,16.0,230,4962,0.00,2.38,0.00,0.000,5126,0.000,0.054,2895,2130,2271,2366,2176,0,0,0,0,0,0,15.07,14.97,15.07
$GC,5211,0.69,126.5,2894,2133,2365,2176,491.1,16.1,237,5216,0.00,2.42,0.00,0.000,4612,0.000,0.075,2905,716,2271,2366,2176,0,0,0,0,0,0,15.26,15.02,15.26
$GC,5298,0.69,126.5,2905,716,2363,2175,477.9,15.8,239,5304,0.05,2.40,0.00,0.000,5126,0.433,0.054,2890,2139,2269,2363,2175,0,0,0,0,0,0,14.91,15.05,15.11
$GC,5579,0.69,126.5,2889,2141,2363,2175,435.1,15.3,246,5581,0.00,0.00,0.00,0.000,4102,0.000,0.000,2890,2141,2269,2363,2175,0,0,0,0,0,0,15.31,15.32,15.31
$GC,5818,0.69,126.5,2889,2141,2363,2175,398.8,15.0,252,5823,0.00,2.40,0.00,0.000,4612,0.000,0.072,2898,715,2268,2363,2174,0,0,0,0,0,0,15.34,15.11,15.34
$GC,5841,0.69,126.5,2898,714,2361,2174,398.8,15.0,252,5847,0.00,2.38,0.00,0.000,5126,0.000,0.055,2899,2140,2267,2361,2174,0,0,0,0,0,0,15.21,15.12,15.23
$GC,6105,0.69,126.5,2898,2143,2361,2173,358.8,13.6,259,6110,0.00,2.40,0.00,0.000,4612,0.000,0.074,2909,716,2267,2361,2173,0,0,0,0,0,0,15.36,15.12,15.36
$GC,6158,0.69,126.5,2910,716,2359,2173,352.4,13.8,260,6164,0.08,2.35,0.00,0.000,5126,0.380,0.056,2885,2130,2266,2359,2173,0,0,0,0,0,0,15.00,15.14,15.19
$GC,6433,0.69,126.5,2885,2133,2359,2173,313.1,14.0,267,6438,0.00,2.33,0.00,0.000,260,0.000,0.068,2885,3546,2266,2359,2173,0,0,0,0,0,0,15.36,15.14,15.38
$GC,6497,0.69,126.5,2884,3546,2359,2174,307.1,13.9,268,6502,0.00,2.35,0.00,0.000,5126,0.000,0.060,2893,2127,2266,2359,2174,0,0,0,0,0,0,15.24,15.14,15.26
$GC,6760,0.69,126.5,2893,2126,2358,2173,273.7,11.4,275,6766,0.00,2.35,0.00,0.000,4612,0.000,0.073,2905,711,2266,2359,2173,0,0,0,0,0,0,15.38,15.14,15.38
$GC,6783,0.69,126.5,2904,710,2359,2172,273.7,11.4,275,6790,0.05,2.35,0.00,0.000,5126,0.435,0.055,2890,2132,2265,2359,2172,0,0,0,0,0,0,15.01,15.16,15.21
$GC,7049,0.71,157.8,2889,2134,2359,2172,247.1,8.3,282,7081,0.00,2.38,24.48,1.470,8452,0.000,0.067,2889,3536,2154,2254,2054,0,0,0,0,0,0,15.38,14.93,14.36
$GC,7123,0.73,192.2,2889,3536,2254,2054,243.4,8.2,283,7162,0.00,2.35,29.27,1.431,9222,0.000,0.058,2898,2128,2014,2113,1915,0,0,0,0,0,0,15.05,14.97,14.16
$GC,7412,0.73,192.2,2898,2129,2105,1913,196.9,15.6,291,7417,0.00,2.40,0.00,0.000,516,0.000,0.076,2910,714,2008,2105,1912,0,0,0,0,0,0,15.16,14.93,15.16
$GC,7498,0.73,192.2,2910,714,2096,1912,183.4,15.6,299,7503,0.00,2.38,0.00,0.000,5126,0.000,0.053,2910,2134,2004,2097,1912,0,0,0,0,0,0,15.07,14.96,15.08
$GC,7751,0.73,192.2,2910,2137,2096,1912,146.6,14.6,325,7758,0.00,2.40,0.00,0.000,4612,0.000,0.073,2921,720,2004,2096,1912,0,0,0,0,0,0,15.21,14.99,15.22
$GC,7841,0.73,192.2,2921,720,2094,1912,133.2,14.4,341,7848,0.08,2.35,0.00,0.000,5126,0.371,0.052,2897,2135,2002,2093,1912,0,0,0,0,0,0,14.87,15.01,15.05
$GC,8100,0.73,192.2,2896,2137,2093,1912,99.1,12.3,390,8109,0.00,2.45,0.00,0.000,516,0.000,0.070,2905,720,2001,2091,1912,0,0,0,0,0,0,15.21,14.95,15.21
$GC,8127,0.73,192.2,2905,720,2093,1912,95.8,11.9,394,8135,0.00,2.40,0.00,0.000,5126,0.000,0.051,2906,2154,2002,2093,1912,0,0,0,0,0,0,15.09,15.00,15.11
$GC,8389,0.73,192.2,2905,2156,2093,1912,67.8,11.1,443,8398,0.00,2.45,0.00,0.000,4612,0.000,0.069,2917,712,2002,2093,1912,0,0,0,0,0,0,15.19,14.97,15.19
$GC,8490,0.73,192.2,2916,711,2092,1912,56.2,10.6,461,8498,0.05,2.40,0.00,0.000,5126,0.401,0.050,2901,2152,2002,2092,1912,0,0,0,0,0,0,14.84,14.98,15.03
$GC,8756,0.74,202.8,2901,2154,2092,1912,31.1,9.4,510,8771,0.00,2.45,4.62,0.929,8708,0.000,0.066,2909,726,1970,2058,1882,0,0,0,0,0,0,15.17,14.86,14.44
$GC,8816,0.75,221.7,2909,726,2054,1882,25.5,9.0,520,8831,0.00,2.38,8.62,0.998,13318,0.000,0.048,2909,2130,1893,1982,1805,0,0,0,0,0,0,15.04,14.94,14.42
$STATE,9011,end climb,SURFACE_DEPTH_REACHED
$STATE,9011,begin surface coast
$FINISH,0.1,1.023268
$STATE,9033,end surface coast,CONTROL_FINISHED_OK
$STATE,9033,begin surface
$SM_CCo,9051,80.22,0.269,0,0,1125,410.38
$SM_GC,1.00,6.25,0.00,80.22,0.044,0.000,0.269,183,2134,1125,-7.65,0.37,410.38,0,0,0,0,0,0,14.97,15.14,14.71
$IRIDIUM_FIX,2239.35,-15756.28,270523,083302
$TT8_MAMPS,0.02247,0.340046
$HUMID,45.47
$INTERNAL_PRESSURE,8.95506
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,13.70,6.482
$10V_AH,13.55,0.000
$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,15.925,108.825,282.100,80.225,0.000,50.799,85.692,226.047,0.250,0.000,18.670,1749.999,5349.104,497.482,1833.587,277.823,0.000,1185.857,0.000,1431.402,0.000,0.552,0.000
$DEVICE_MAMPS,462.825,76.500,1875.015,269.280,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,377.363,452.709,580.432,548.090,656.282,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338596
$DATA_FILE_SIZE,50694,560
$CAP_FILE_SIZE,103337,0
$CFSIZE,1023623168,1018953728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,3
$CURRENT,0.125,318.78,1
$GPS,270523,111001,2248.864,-15756.735,18,0.8,41,9.8,0.0,245.6,10,5.3