version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 22
start: 5 27 123 16 43 32
data:
$ID,626
$MISSION,4
$DIVE,22
$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,31
$R_STBD_OVSHOOT,38
$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
$GPS1,270523,163702,2249.5803,-15755.8975,15,0.7,32,9.8,0.6,150.0,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-75.4
$GPS2,270523,164307,2249.5701,-15755.9180,7,0.7,14,9.8,0.5,226.3,10,9.6
$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,61.7,24445,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.69,-126.5,125,2137,1163,1069,0.0,0.0,0,86,0.00,0.00,-66.57,0.000,16386,0.000,0.000,126,2138,3262,3229,3295,0,0,0,0,0,0,15.07,28.83,15.08
$GC,90,-0.69,-126.5,125,2138,3230,3295,3.7,-7.4,10,106,7.93,2.30,-0.82,0.000,18692,0.467,0.064,2426,3552,3318,3289,3347,0,0,0,0,0,0,14.59,14.31,14.78
$GC,340,-0.69,-126.5,2425,3556,3299,3343,72.2,-20.3,56,349,0.05,2.42,0.00,0.000,3078,0.405,0.061,2442,2119,3320,3299,3342,0,0,0,0,0,0,14.78,14.92,14.97
$GC,609,-0.69,-126.5,2442,2117,3303,3338,131.3,-20.9,105,615,0.00,2.35,0.00,0.000,516,0.000,0.067,2442,698,3321,3304,3338,0,0,0,0,0,0,15.19,14.96,15.19
$GC,677,-0.69,-126.5,2443,697,3306,3336,145.2,-19.1,117,686,0.00,2.38,0.00,0.000,3078,0.000,0.050,2435,2112,3321,3306,3336,0,0,0,0,0,0,15.03,14.98,15.05
$GC,938,-0.69,-126.5,2434,2114,3307,3336,191.8,-18.0,144,945,0.00,0.00,0.00,0.000,2054,0.000,0.000,2435,2114,3321,3307,3336,0,0,0,0,0,0,15.24,15.25,15.25
$GC,1184,-0.69,-126.5,2434,2115,3310,3336,231.6,-15.1,154,1190,0.00,2.33,0.00,0.000,2564,0.000,0.058,2435,705,3322,3309,3336,0,0,0,0,0,0,15.30,15.08,15.30
$GC,1231,-0.69,-126.5,2434,704,3310,3336,238.4,-15.0,155,1238,0.05,2.30,0.00,0.000,3078,0.454,0.047,2440,2123,3322,3309,3336,0,0,0,0,0,0,14.93,15.10,15.13
$GC,1511,-0.69,-126.5,2440,2126,3311,3336,276.6,-12.9,162,1513,0.00,0.00,0.00,0.000,2054,0.000,0.000,2440,2126,3323,3311,3336,0,0,0,0,0,0,15.35,15.35,15.35
$GC,1751,-0.69,-126.5,2440,2125,3311,3336,310.9,-14.8,168,1753,0.00,0.00,0.00,0.000,2054,0.000,0.000,2440,2125,3323,3310,3336,0,0,0,0,0,0,15.38,15.38,15.38
$GC,1991,-0.69,-126.5,2441,2126,3311,3336,341.4,-12.2,174,1993,0.00,0.00,0.00,0.000,2054,0.000,0.000,2440,2126,3323,3311,3336,0,0,0,0,0,0,15.39,15.40,15.40
$GC,2231,-0.69,-126.5,2440,2125,3310,3335,370.0,-11.7,180,2237,0.00,2.38,0.00,0.000,2564,0.000,0.063,2441,703,3322,3311,3334,0,0,0,0,0,0,15.41,15.18,15.41
$GC,2280,-0.69,-126.5,2440,702,3310,3335,375.1,-11.6,181,2285,0.00,2.33,0.00,0.000,3078,0.000,0.051,2431,2123,3322,3311,3334,0,0,0,0,0,0,15.28,15.19,15.29
$GC,2558,-0.69,-126.5,2431,2123,3311,3331,409.5,-12.4,188,2560,0.00,0.00,0.00,0.000,2054,0.000,0.000,2431,2123,3320,3310,3331,0,0,0,0,0,0,15.42,15.42,15.42
$GC,2798,-0.69,-126.5,2431,2123,3311,3329,438.6,-12.3,194,2804,0.00,2.35,0.00,0.000,2564,0.000,0.065,2431,707,3319,3311,3328,0,0,0,0,0,0,15.42,15.19,15.42
$GC,2857,-0.69,-126.5,2431,707,3310,3328,444.2,-12.5,195,2863,0.08,2.35,0.00,0.000,3078,0.373,0.054,2449,2123,3318,3310,3327,0,0,0,0,0,0,15.08,15.20,15.24
$GC,3128,-0.69,-126.5,2448,2127,3310,3324,474.3,-10.3,202,3134,0.00,2.30,0.00,0.000,4356,0.000,0.067,2439,3528,3317,3310,3324,0,0,0,0,0,0,15.42,15.20,15.42
$GC,3172,-0.69,-126.5,2438,3527,3310,3324,479.1,-10.4,203,3179,0.00,2.30,0.00,0.000,3078,0.000,0.054,2439,2117,3316,3310,3323,0,0,0,0,0,0,15.30,15.20,15.30
$GC,3457,-0.69,-126.5,2439,2116,3310,3319,509.4,-10.4,210,3462,0.00,2.33,0.00,0.000,2564,0.000,0.070,2439,710,3313,3309,3318,0,0,0,0,0,0,15.42,15.19,15.42
$GC,3510,-0.69,-126.5,2438,710,3310,3319,514.2,-10.6,211,3517,0.00,2.35,0.00,0.000,3078,0.000,0.055,2430,2120,3314,3310,3318,0,0,0,0,0,0,15.29,15.20,15.30
$GC,3785,-0.69,-126.5,2429,2120,3309,3314,545.8,-11.3,218,3787,0.00,0.00,0.00,0.000,2054,0.000,0.000,2430,2121,3311,3309,3314,0,0,0,0,0,0,15.42,15.43,15.42
$GC,4025,-0.69,-126.5,2429,2121,3309,3311,572.6,-11.1,224,4030,0.00,2.38,0.00,0.000,2564,0.000,0.069,2430,703,3309,3309,3310,0,0,0,0,0,0,15.43,15.19,15.43
$GC,4078,-0.69,-126.5,2430,702,3308,3312,577.9,-11.3,225,4085,0.08,2.35,0.00,0.000,3078,0.390,0.058,2449,2119,3309,3307,3311,0,0,0,0,0,0,15.08,15.20,15.25
$STATE,4311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4311,begin apogee
$GC,4318,-0.15,0.0,2449,2123,3307,3307,602.2,-9.7,231,4432,0.45,0.00,106.88,1.863,10246,0.261,0.000,2618,2122,2798,2872,2725,0,0,0,0,0,0,15.08,14.31,13.76
$STATE,4433,end apogee,CONTROL_FINISHED_OK
$STATE,4433,begin climb
$GC,4436,0.69,126.5,2618,2123,2871,2725,605.1,0.0,234,4558,0.65,2.47,113.20,1.805,10500,0.132,0.067,2892,3538,2282,2382,2182,0,0,0,0,0,0,14.45,14.36,13.71
$GC,4613,0.69,126.5,2891,3538,2380,2182,589.8,11.8,238,4620,0.05,2.45,0.00,0.000,5126,0.464,0.060,2891,2128,2281,2380,2182,0,0,0,0,0,0,14.50,14.64,14.69
$GC,4883,0.69,126.5,2890,2125,2374,2177,542.5,16.6,245,4889,0.00,2.40,0.00,0.000,4612,0.000,0.076,2901,719,2275,2374,2176,0,0,0,0,0,0,15.15,14.92,15.15
$GC,4986,0.69,126.5,2901,719,2364,2176,529.0,16.4,247,4992,0.05,2.38,0.00,0.000,5126,0.442,0.054,2886,2136,2270,2364,2176,0,0,0,0,0,0,14.83,14.97,15.03
$GC,5251,0.69,126.5,2886,2139,2364,2175,487.8,14.3,254,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2139,2270,2365,2175,0,0,0,0,0,0,15.26,15.26,15.26
$GC,5491,0.69,126.5,2886,2138,2364,2173,454.8,13.9,260,5496,0.00,2.33,0.00,0.000,260,0.000,0.067,2886,3542,2268,2364,2173,0,0,0,0,0,0,15.30,15.08,15.30
$GC,5528,0.69,126.5,2886,3542,2364,2173,454.8,13.9,260,5535,0.00,2.35,0.00,0.000,5126,0.000,0.059,2895,2128,2267,2364,2171,0,0,0,0,0,0,15.18,15.09,15.20
$GC,5775,0.69,126.5,2894,2128,2364,2172,410.2,16.0,267,5780,0.00,2.35,0.00,0.000,4612,0.000,0.076,2906,720,2268,2364,2172,0,0,0,0,0,0,15.33,15.09,15.34
$GC,5883,0.69,126.5,2906,720,2358,2171,395.9,16.8,269,5888,0.08,2.35,0.00,0.000,5126,0.387,0.055,2882,2132,2264,2358,2171,0,0,0,0,0,0,14.97,15.12,15.17
$GC,6142,0.69,126.5,2882,2135,2358,2171,354.9,14.0,276,6147,0.00,2.38,0.00,0.000,2564,0.000,0.073,2891,720,2264,2358,2171,0,0,0,0,0,0,15.35,15.12,15.36
$GC,6200,0.69,126.5,2891,719,2356,2170,349.5,13.3,277,6205,0.00,2.35,0.00,0.000,5126,0.000,0.056,2890,2133,2262,2354,2170,0,0,0,0,0,0,15.23,15.14,15.24
$GC,6469,0.69,126.5,2890,2135,2356,2171,316.9,11.2,284,6471,0.00,0.00,0.00,0.000,4102,0.000,0.000,2891,2135,2263,2356,2170,0,0,0,0,0,0,15.37,15.38,15.38
$GC,6708,0.69,126.5,2890,2135,2356,2170,290.7,10.9,290,6714,0.00,2.35,0.00,0.000,4356,0.000,0.069,2891,3548,2263,2356,2170,0,0,0,0,0,0,15.38,15.16,15.39
$GC,6736,0.69,126.5,2889,3548,2356,2170,290.7,10.9,290,6743,0.05,2.35,0.00,0.000,5126,0.478,0.060,2888,2130,2263,2356,2170,0,0,0,0,0,0,15.00,15.16,15.21
$GC,6997,0.69,126.5,2888,2127,2356,2170,251.9,13.6,297,7002,0.00,2.33,0.00,0.000,4612,0.000,0.073,2897,719,2263,2356,2170,0,0,0,0,0,0,15.38,15.15,15.39
$GC,7025,0.69,126.5,2897,718,2355,2168,251.9,13.6,297,7030,0.00,2.35,0.00,0.000,5126,0.000,0.055,2897,2136,2261,2354,2168,0,0,0,0,0,0,15.26,15.17,15.27
$GC,7283,0.69,126.5,2896,2138,2355,2168,218.7,10.7,304,7285,0.00,0.00,0.00,0.000,4102,0.000,0.000,2898,2138,2261,2355,2167,0,0,0,0,0,0,15.40,15.40,15.40
$GC,7524,0.72,176.1,2897,2138,2355,2167,199.4,7.4,310,7567,0.00,2.47,37.67,1.398,8708,0.000,0.070,2908,719,2080,2181,1980,0,0,0,0,0,0,15.40,14.86,14.31
$GC,7676,0.72,176.1,2908,719,2169,1981,184.5,12.1,324,7683,0.00,2.40,0.00,0.000,5126,0.000,0.052,2908,2140,2074,2169,1980,0,0,0,0,0,0,15.02,14.93,15.03
$GC,7927,0.72,176.1,2908,2141,2169,1980,151.6,15.0,349,7932,0.00,2.42,0.00,0.000,4612,0.000,0.073,2919,712,2074,2169,1979,0,0,0,0,0,0,15.20,14.98,15.20
$GC,8112,0.72,176.1,2919,711,2164,1979,123.5,12.8,383,8120,0.08,2.35,0.00,0.000,5126,0.368,0.051,2896,2132,2071,2164,1979,0,0,0,0,0,0,14.85,15.00,15.05
$GC,8374,0.72,176.1,2895,2134,2164,1979,96.3,11.2,432,8381,0.00,2.42,0.00,0.000,516,0.000,0.070,2904,714,2071,2164,1979,0,0,0,0,0,0,15.20,14.98,15.21
$GC,8452,0.73,190.5,2903,714,2163,1979,88.6,9.2,446,8472,0.00,2.40,11.90,1.148,13318,0.000,0.050,2904,2155,2021,2114,1928,0,0,0,0,0,0,15.09,15.00,14.40
$GC,8729,0.74,201.7,2903,2155,2114,1928,63.6,9.4,497,8745,0.00,2.50,10.32,1.081,12804,0.000,0.066,2915,713,1974,2065,1883,0,0,0,0,0,0,15.14,14.86,14.39
$GC,8796,0.74,201.7,2914,713,2057,1884,56.4,11.1,508,8804,0.00,2.40,0.00,0.000,5126,0.000,0.049,2915,2145,1970,2057,1884,0,0,0,0,0,0,14.98,14.90,15.00
$GC,9060,0.75,223.4,2915,2147,2056,1884,29.1,8.9,557,9075,0.00,0.00,10.30,1.011,12294,0.000,0.000,2915,2146,1887,1976,1798,0,0,0,0,0,0,15.14,14.88,14.40
$STATE,9290,end climb,SURFACE_DEPTH_REACHED
$STATE,9290,begin surface coast
$FINISH,0.1,1.023167
$STATE,9313,end surface coast,CONTROL_FINISHED_OK
$STATE,9314,begin surface
$SM_CCo,9331,79.45,0.266,0,0,1126,410.13
$SM_GC,0.81,6.47,0.00,79.45,0.080,0.000,0.266,160,2149,1126,-7.65,0.79,410.13,0,0,0,0,0,0,14.95,15.13,14.71
$IRIDIUM_FIX,2239.35,-15756.28,270523,163838
$TT8_MAMPS,0.02247,0.337799
$HUMID,44.88
$INTERNAL_PRESSURE,8.96482
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,13.71,7.174
$10V_AH,13.52,0.000
$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,16.050,90.025,290.275,79.450,0.000,26.680,39.651,161.020,0.000,0.000,15.631,1830.714,5422.123,496.429,1775.881,255.869,0.000,1189.054,0.000,1495.046,0.000,0.551,0.000
$DEVICE_MAMPS,478.125,76.500,1862.775,266.220,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,406.394,525.839,634.967,596.048,705.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338604
$DATA_FILE_SIZE,53826,604
$CAP_FILE_SIZE,98493,0
$CFSIZE,1023623168,1018740736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,9
$CURRENT,0.145,292.71,1
$GPS,270523,192131,2250.079,-15755.566,16,0.8,27,9.8,0.9,250.0,10,9.6