version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 28
start: 5 28 123 9 30 6
data:
$ID,626
$MISSION,4
$DIVE,28
$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,16
$R_STBD_OVSHOOT,39
$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
$GPS1,280523,092231,2252.9973,-15752.9854,18,0.9,31,9.9,0.0,228.0,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-74.8
$GPS2,280523,092941,2253.0415,-15753.0029,7,0.8,14,9.9,0.7,25.1,9,9.2
$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,81.5,16480,-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,-126.5,127,2127,1159,1072,0.0,0.0,0,81,0.00,0.00,-61.38,0.000,16386,0.000,0.000,126,2128,3111,3089,3134,0,0,0,0,0,0,15.07,28.83,15.08
$GC,85,-0.69,-126.5,126,2128,3089,3135,3.3,-7.3,9,108,7.88,2.35,-3.38,0.000,18948,0.462,0.066,2442,685,3320,3298,3343,0,0,0,0,0,0,14.61,14.08,14.79
$GC,316,-0.69,-126.5,2442,685,3303,3341,71.1,-22.1,51,325,0.00,2.40,0.00,0.000,3078,0.000,0.049,2431,2126,3322,3305,3339,0,0,0,0,0,0,15.02,14.93,15.03
$GC,578,-0.69,-126.5,2432,2130,3307,3337,129.3,-19.4,100,586,0.00,2.35,0.00,0.000,2308,0.000,0.055,2422,3533,3322,3307,3338,0,0,0,0,0,0,15.19,14.97,15.19
$GC,834,-0.69,-126.5,2421,3534,3309,3338,174.4,-17.9,135,842,0.05,2.40,0.00,0.000,3078,0.340,0.050,2439,2095,3323,3309,3338,0,0,0,0,0,0,14.88,15.02,15.00
$GC,1090,-0.69,-126.5,2439,2093,3311,3338,220.2,-16.6,152,1096,0.00,2.28,0.00,0.000,2564,0.000,0.062,2440,710,3324,3311,3338,0,0,0,0,0,0,15.30,15.07,15.30
$GC,1134,-0.69,-126.5,2440,709,3311,3338,227.8,-16.6,153,1140,0.00,2.30,0.00,0.000,3078,0.000,0.047,2431,2123,3324,3312,3337,0,0,0,0,0,0,15.17,15.09,15.19
$GC,1418,-0.69,-126.5,2431,2124,3313,3338,269.9,-14.3,160,1424,0.00,2.30,0.00,0.000,2308,0.000,0.059,2420,3536,3325,3313,3337,0,0,0,0,0,0,15.35,15.12,15.35
$GC,1446,-0.69,-126.5,2420,3536,3313,3338,269.9,-14.3,160,1452,0.08,2.30,0.00,0.000,3078,0.331,0.048,2447,2113,3325,3313,3337,0,0,0,0,0,0,15.02,15.13,15.17
$GC,1705,-0.69,-126.5,2447,2110,3313,3338,306.3,-12.7,167,1710,0.00,2.28,0.00,0.000,516,0.000,0.060,2447,710,3325,3313,3337,0,0,0,0,0,0,15.37,15.14,15.38
$GC,1823,-0.69,-126.5,2447,709,3313,3337,317.6,-13.3,169,1830,0.00,2.30,0.00,0.000,3078,0.000,0.047,2439,2126,3325,3313,3337,0,0,0,0,0,0,15.25,15.16,15.26
$GC,2071,-0.69,-126.5,2438,2126,3313,3336,356.8,-14.0,176,2073,0.00,0.00,0.00,0.000,2054,0.000,0.000,2439,2127,3324,3313,3336,0,0,0,0,0,0,15.39,15.40,15.40
$GC,2309,-0.69,-126.5,2438,2127,3313,3334,388.5,-13.1,182,2311,0.00,0.00,0.00,0.000,2054,0.000,0.000,2439,2127,3323,3313,3334,0,0,0,0,0,0,15.40,15.41,15.41
$GC,2551,-0.69,-126.5,2438,2127,3313,3331,418.5,-12.4,188,2553,0.00,0.00,0.00,0.000,2054,0.000,0.000,2439,2127,3322,3313,3331,0,0,0,0,0,0,15.41,15.42,15.42
$GC,2789,-0.69,-126.5,2438,2126,3313,3329,447.7,-12.3,194,2791,0.00,0.00,0.00,0.000,2054,0.000,0.000,2439,2126,3320,3313,3328,0,0,0,0,0,0,15.42,15.42,15.43
$GC,3029,-0.69,-126.5,2438,2126,3313,3324,477.7,-12.6,200,3035,0.00,2.38,0.00,0.000,2564,0.000,0.065,2439,710,3318,3313,3324,0,0,0,0,0,0,15.43,15.20,15.43
$GC,3076,-0.69,-126.5,2438,710,3313,3324,483.5,-12.7,201,3082,0.00,2.33,0.00,0.000,3078,0.000,0.054,2430,2122,3318,3313,3323,0,0,0,0,0,0,15.30,15.21,15.31
$GC,3360,-0.69,-126.5,2429,2122,3313,3319,521.3,-13.3,208,3362,0.00,0.00,0.00,0.000,2054,0.000,0.000,2429,2122,3316,3314,3318,0,0,0,0,0,0,15.43,15.44,15.43
$GC,3601,-0.69,-126.5,2429,2122,3313,3316,552.5,-12.9,214,3606,0.00,2.35,0.00,0.000,2564,0.000,0.067,2430,713,3314,3313,3316,0,0,0,0,0,0,15.43,15.20,15.44
$GC,3648,-0.69,-126.5,2429,713,3312,3316,558.4,-12.8,215,3654,0.08,2.33,0.00,0.000,3078,0.388,0.055,2446,2122,3314,3312,3316,0,0,0,0,0,0,15.08,15.21,15.26
$GC,3927,-0.69,-126.5,2446,2125,3312,3311,588.5,-10.2,222,3932,0.00,2.35,0.00,0.000,516,0.000,0.070,2447,710,3311,3312,3311,0,0,0,0,0,0,15.42,15.20,15.43
$GC,3950,-0.69,-126.5,2446,709,3311,3312,588.5,-10.2,222,3955,0.00,2.33,0.00,0.000,3078,0.000,0.057,2438,2120,3311,3311,3312,0,0,0,0,0,0,15.30,15.21,15.31
$STATE,4051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4051,begin apogee
$GC,4058,-0.15,0.0,2438,2120,3311,3310,601.5,-10.2,225,4172,0.47,0.00,106.82,1.831,10246,0.269,0.000,2613,2122,2798,2872,2725,0,0,0,0,0,0,15.09,14.46,13.79
$STATE,4173,end apogee,CONTROL_FINISHED_OK
$STATE,4174,begin climb
$GC,4177,0.69,126.5,2613,2122,2872,2724,604.3,0.0,228,4298,0.62,2.50,112.35,1.775,10500,0.145,0.067,2874,3555,2283,2386,2180,0,0,0,0,0,0,14.47,14.38,13.74
$GC,4363,0.69,126.5,2873,3555,2383,2180,589.2,11.4,232,4368,0.00,2.42,0.00,0.000,1030,0.000,0.057,2885,2139,2281,2382,2180,0,0,0,0,0,0,14.77,14.69,14.78
$GC,4622,0.69,126.5,2884,2138,2376,2176,543.8,15.9,239,4627,0.00,2.42,0.00,0.000,516,0.000,0.076,2896,717,2276,2376,2176,0,0,0,0,0,0,15.15,14.92,15.16
$GC,4690,0.69,126.5,2896,716,2368,2175,536.7,15.9,240,4696,0.00,2.38,0.00,0.000,5126,0.000,0.054,2896,2131,2271,2368,2175,0,0,0,0,0,0,15.07,14.97,15.08
$GC,4950,0.69,126.5,2896,2134,2368,2175,492.5,15.3,247,4955,0.00,2.40,0.00,0.000,4612,0.000,0.073,2906,717,2271,2368,2175,0,0,0,0,0,0,15.26,15.03,15.27
$GC,5002,0.69,126.5,2906,717,2364,2174,485.4,15.3,248,5008,0.05,2.38,0.00,0.000,5126,0.418,0.055,2890,2136,2269,2364,2174,0,0,0,0,0,0,14.92,15.05,15.11
$GC,5277,0.69,126.5,2890,2138,2364,2174,444.2,14.0,255,5279,0.00,0.00,0.00,0.000,4102,0.000,0.000,2890,2138,2269,2364,2174,0,0,0,0,0,0,15.31,15.32,15.33
$GC,5517,0.69,126.5,2890,2139,2364,2173,411.3,13.7,261,5523,0.00,2.40,0.00,0.000,4612,0.000,0.071,2899,709,2268,2364,2173,0,0,0,0,0,0,15.34,15.10,15.35
$GC,5561,0.69,126.5,2898,709,2361,2173,405.3,13.6,262,5567,0.00,2.38,0.00,0.000,5126,0.000,0.054,2899,2140,2266,2360,2172,0,0,0,0,0,0,15.21,15.13,15.23
$GC,5845,0.69,126.5,2899,2142,2360,2172,367.1,13.5,269,5850,0.00,2.30,0.00,0.000,4356,0.000,0.067,2899,3542,2266,2361,2172,0,0,0,0,0,0,15.37,15.14,15.37
$GC,5889,0.69,126.5,2899,3542,2361,2173,360.8,13.7,270,5895,0.08,2.35,0.00,0.000,5126,0.410,0.060,2886,2125,2267,2361,2173,0,0,0,0,0,0,15.00,15.14,15.20
$GC,6174,0.69,126.5,2886,2122,2361,2173,323.4,12.9,277,6179,0.00,2.38,0.00,0.000,516,0.000,0.074,2895,712,2266,2361,2172,0,0,0,0,0,0,15.37,15.14,15.38
$GC,6282,0.69,126.5,2895,710,2358,2171,312.5,12.7,279,6287,0.00,2.35,0.00,0.000,5126,0.000,0.053,2895,2133,2264,2358,2171,0,0,0,0,0,0,15.25,15.16,15.26
$GC,6540,0.69,126.5,2895,2135,2358,2171,277.3,12.1,286,6542,0.00,0.00,0.00,0.000,4102,0.000,0.000,2895,2135,2264,2357,2171,0,0,0,0,0,0,15.39,15.39,15.39
$GC,6781,0.69,126.5,2895,2136,2358,2171,251.1,10.8,292,6786,0.00,2.30,0.00,0.000,4356,0.000,0.067,2895,3539,2264,2358,2171,0,0,0,0,0,0,15.40,15.17,15.40
$GC,6854,0.69,126.5,2895,3539,2358,2171,246.1,11.0,293,6860,0.08,2.33,0.00,0.000,5126,0.400,0.058,2882,2127,2265,2359,2171,0,0,0,0,0,0,15.03,15.17,15.23
$GC,7108,0.71,155.5,2882,2125,2359,2171,219.8,8.5,300,7133,0.00,0.00,22.45,1.392,10246,0.000,0.000,2883,2125,2164,2265,2064,0,0,0,0,0,0,15.40,15.00,14.44
$GC,7349,0.71,155.5,2882,2125,2261,2062,194.6,11.7,309,7356,0.00,2.38,0.00,0.000,2564,0.000,0.073,2891,722,2160,2261,2060,0,0,0,0,0,0,15.27,15.04,15.27
$GC,7425,0.71,155.5,2891,721,2255,2061,185.5,11.7,316,7431,0.00,2.35,0.00,0.000,1030,0.000,0.051,2892,2138,2158,2256,2061,0,0,0,0,0,0,15.14,15.06,15.15
$GC,7682,0.71,163.0,2891,2139,2255,2061,160.6,9.6,341,7696,0.00,2.42,6.95,1.157,8708,0.000,0.070,2902,727,2133,2232,2034,0,0,0,0,0,0,15.27,15.00,14.47
$GC,7717,0.72,171.6,2902,726,2229,2035,157.2,9.5,344,7731,0.00,2.33,8.57,1.178,13318,0.000,0.050,2902,2132,2099,2197,2001,0,0,0,0,0,0,15.11,15.03,14.42
$GC,7982,0.72,171.6,2902,2133,2197,2000,125.3,12.7,387,7988,0.00,0.00,0.00,0.000,4102,0.000,0.000,2902,2134,2098,2197,2000,0,0,0,0,0,0,15.20,15.21,15.21
$GC,8247,0.72,171.6,2902,2133,2197,2000,93.9,11.3,436,8254,0.00,2.40,0.00,0.000,4612,0.000,0.067,2914,717,2098,2197,2000,0,0,0,0,0,0,15.21,14.99,15.22
$GC,8294,0.72,171.6,2913,717,2193,1999,88.7,10.9,444,8302,0.05,2.40,0.00,0.000,5126,0.392,0.050,2897,2155,2096,2193,1999,0,0,0,0,0,0,14.87,15.00,15.04
$GC,8560,0.74,209.9,2897,2157,2193,2000,65.2,8.0,493,8603,0.00,2.50,30.98,1.095,10756,0.000,0.066,2906,716,1940,2032,1849,0,0,0,0,0,0,15.20,14.72,14.33
$GC,8642,0.74,212.1,2906,716,2025,1850,57.8,9.9,506,8652,0.00,2.40,0.00,0.000,5126,0.000,0.047,2906,2128,1937,2025,1850,0,0,0,0,0,0,14.85,14.81,14.88
$GC,8908,0.74,212.1,2906,2130,2025,1850,29.3,11.8,555,8916,0.00,0.00,0.00,0.000,4102,0.000,0.000,2906,2130,1937,2025,1850,0,0,0,0,0,0,15.13,15.13,15.13
$STATE,9159,end climb,SURFACE_DEPTH_REACHED
$STATE,9159,begin surface coast
$FINISH,0.0,1.013060
$STATE,9194,end surface coast,CONTROL_FINISHED_OK
$STATE,9194,begin surface
$SM_CCo,9212,83.82,0.254,0,0,1126,410.13
$SM_GC,0.87,6.40,0.00,83.82,0.073,0.000,0.254,153,2131,1126,-7.68,0.31,410.13,0,0,0,0,0,0,14.99,15.16,14.74
$IRIDIUM_FIX,2244.02,-15753.23,280523,092411
$TT8_MAMPS,0.023219,0.311584
$HUMID,44.40
$INTERNAL_PRESSURE,8.97459
$TCM_TEMP,24.00
$XPDR_PINGS,1
$24V_AH,13.74,8.583
$10V_AH,13.59,0.000
$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,15.825,89.825,288.125,83.825,0.000,31.737,44.360,204.802,0.250,0.000,15.720,1874.334,5206.532,505.717,1882.513,260.943,0.000,1211.515,0.000,1539.471,0.000,0.553,0.000
$DEVICE_MAMPS,462.060,202.725,1831.410,253.980,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,409.599,631.835,654.461,607.447,725.248,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338600
$DATA_FILE_SIZE,54051,608
$CAP_FILE_SIZE,101240,0
$CFSIZE,1023623168,1018265600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,7
$CURRENT,0.110,313.64,1
$GPS,280523,120625,2253.319,-15752.432,19,0.7,42,9.9,0.3,121.9,11,8.1