version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 39
start: 5 29 123 15 49 40
data:
$ID,626
$MISSION,4
$DIVE,39
$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,2670
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$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,2090
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2780
$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
$GPS1,290523,154235,2258.1399,-15746.2783,19,1.0,28,9.9,1.0,290.7,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-72.1
$GPS2,290523,154914,2258.1736,-15746.2803,7,1.0,22,9.9,0.5,291.1,8,9.8
$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,88.5,1631,-27.4,-10.000,-30.00,1075
$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,-0.83,-69.9,125,2128,1141,1051,0.0,0.0,0,85,0.00,0.00,-61.40,0.000,16390,0.000,0.000,125,2128,3066,3046,3087,0,0,0,0,0,0,15.09,14.33,15.08
$GC,89,-0.84,-91.5,125,2128,3046,3087,3.9,-7.9,9,104,7.68,2.38,-1.38,0.000,18948,0.458,0.067,2397,693,3157,3135,3180,0,0,0,0,0,0,14.62,14.10,14.81
$GC,114,-0.84,-91.5,2397,693,3138,3179,16.8,-39.4,12,122,0.00,2.40,0.00,0.000,3078,0.000,0.041,2389,2149,3158,3139,3178,0,0,0,0,0,0,14.98,14.90,15.00
$GC,375,-0.84,-91.5,2389,2152,3143,3176,98.7,-24.4,61,382,0.00,2.22,0.00,0.000,2308,0.000,0.051,2378,3527,3159,3143,3176,0,0,0,0,0,0,15.16,14.96,15.16
$GC,599,-0.84,-91.5,2378,3529,3144,3177,146.7,-19.9,103,607,0.05,2.33,0.00,0.000,3078,0.441,0.051,2395,2110,3160,3145,3176,0,0,0,0,0,0,14.84,15.00,15.03
$GC,850,-0.84,-91.5,2394,2108,3150,3176,200.2,-21.9,129,856,0.00,2.33,0.00,0.000,2308,0.000,0.051,2386,3529,3163,3150,3176,0,0,0,0,0,0,15.26,15.05,15.26
$GC,909,-0.84,-91.5,2386,3529,3150,3176,209.0,-20.7,130,914,0.00,2.30,0.00,0.000,3078,0.000,0.048,2386,2113,3163,3150,3176,0,0,0,0,0,0,15.15,15.06,15.16
$GC,1177,-0.84,-91.5,2385,2112,3152,3176,259.5,-17.2,137,1183,0.00,2.28,0.00,0.000,2564,0.000,0.058,2386,710,3164,3152,3176,0,0,0,0,0,0,15.33,15.11,15.33
$GC,1196,-0.84,-91.5,2387,710,3152,3176,259.5,-17.2,137,1202,0.08,2.28,0.00,0.000,3078,0.424,0.044,2401,2121,3164,3152,3176,0,0,0,0,0,0,14.95,15.13,15.15
$GC,1465,-0.84,-91.5,2399,2123,3152,3176,301.3,-14.1,144,1470,0.00,2.25,0.00,0.000,260,0.000,0.055,2392,3525,3163,3152,3175,0,0,0,0,0,0,15.36,15.14,15.37
$GC,1550,-0.84,-91.5,2391,3525,3153,3176,312.9,-14.0,146,1556,0.00,2.28,0.00,0.000,3078,0.000,0.045,2392,2105,3164,3153,3175,0,0,0,0,0,0,15.24,15.16,15.26
$GC,1834,-0.84,-91.5,2391,2104,3153,3175,354.1,-14.9,153,1840,0.00,2.28,0.00,0.000,2564,0.000,0.060,2391,710,3164,3153,3175,0,0,0,0,0,0,15.39,15.16,15.39
$GC,1943,-0.84,-91.5,2391,710,3154,3175,368.0,-15.6,155,1949,0.05,2.30,0.00,0.000,3078,0.475,0.047,2395,2127,3164,3153,3175,0,0,0,0,0,0,15.01,15.18,15.21
$GC,2203,-0.84,-91.5,2394,2130,3153,3172,408.0,-13.8,162,2208,0.00,2.28,0.00,0.000,2308,0.000,0.060,2386,3526,3162,3153,3171,0,0,0,0,0,0,15.40,15.18,15.40
$GC,2281,-0.84,-91.5,2386,3526,3153,3171,414.3,-13.9,163,2287,0.00,2.28,0.00,0.000,3078,0.000,0.047,2386,2117,3161,3152,3171,0,0,0,0,0,0,15.28,15.19,15.28
$GC,2526,-0.84,-91.5,2386,2116,3152,3168,453.0,-13.9,170,2528,0.00,0.00,0.00,0.000,2054,0.000,0.000,2386,2116,3160,3153,3168,0,0,0,0,0,0,15.41,15.42,15.42
$GC,2766,-0.84,-91.5,2386,2116,3153,3164,486.2,-13.9,176,2772,0.00,2.30,0.00,0.000,2564,0.000,0.064,2386,709,3158,3152,3164,0,0,0,0,0,0,15.42,15.19,15.42
$GC,2804,-0.84,-91.5,2385,709,3152,3164,486.2,-13.9,176,2812,0.08,2.30,0.00,0.000,3078,0.426,0.050,2398,2117,3158,3153,3163,0,0,0,0,0,0,15.04,15.20,15.24
$GC,3050,-0.84,-91.5,2398,2119,3152,3160,524.7,-13.2,183,3056,0.00,2.33,0.00,0.000,2564,0.000,0.063,2398,714,3156,3152,3160,0,0,0,0,0,0,15.42,15.19,15.42
$GC,3104,-0.84,-91.5,2398,713,3152,3160,530.4,-12.9,184,3109,0.00,2.33,0.00,0.000,3078,0.000,0.053,2389,2121,3155,3152,3159,0,0,0,0,0,0,15.30,15.21,15.30
$GC,3378,-0.84,-91.5,2389,2122,3152,3156,566.0,-12.4,191,3383,0.00,2.33,0.00,0.000,2308,0.000,0.065,2379,3531,3153,3152,3155,0,0,0,0,0,0,15.42,15.20,15.42
$GC,3421,-0.84,-91.5,2378,3532,3152,3156,571.3,-12.3,192,3428,0.08,2.33,0.00,0.000,3078,0.389,0.051,2402,2115,3153,3151,3155,0,0,0,0,0,0,15.05,15.21,15.24
$STATE,3703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3703,begin apogee
$GC,3710,-0.14,0.0,2402,2112,3151,3150,602.9,-11.0,199,3793,0.60,0.00,78.55,1.813,10246,0.288,0.000,2620,2112,2779,2847,2711,0,0,0,0,0,0,15.07,14.56,13.89
$STATE,3793,end apogee,CONTROL_FINISHED_OK
$STATE,3794,begin climb
$GC,3797,0.84,91.5,2620,2111,2847,2710,604.4,0.0,201,3890,0.77,2.45,83.25,1.754,10500,0.140,0.063,2942,3492,2404,2496,2312,0,0,0,0,0,0,14.53,14.40,13.78
$GC,3917,0.84,91.5,2941,3492,2494,2313,593.6,11.9,204,3923,0.00,2.40,0.00,0.000,5126,0.000,0.054,2952,2092,2403,2494,2312,0,0,0,0,0,0,14.69,14.61,14.71
$GC,4193,0.84,91.5,2952,2092,2483,2312,542.7,18.1,211,4198,0.00,2.38,0.00,0.000,4356,0.000,0.062,2952,3506,2397,2483,2312,0,0,0,0,0,0,15.16,14.94,15.16
$GC,4220,0.84,91.5,2952,3506,2483,2312,542.7,18.1,211,4227,0.08,2.38,0.00,0.000,5126,0.425,0.057,2941,2088,2397,2482,2312,0,0,0,0,0,0,14.80,14.95,15.01
$GC,4481,0.84,91.5,2941,2086,2482,2310,497.8,14.7,218,4486,0.00,2.38,0.00,0.000,516,0.000,0.071,2951,674,2396,2482,2310,0,0,0,0,0,0,15.25,15.02,15.26
$GC,4534,0.84,91.5,2950,674,2473,2310,491.2,14.6,219,4539,0.00,2.35,0.00,0.000,5126,0.000,0.051,2951,2090,2391,2473,2310,0,0,0,0,0,0,15.14,15.06,15.16
$GC,4808,0.84,91.5,2951,2092,2473,2310,447.4,15.7,226,4810,0.00,0.00,0.00,0.000,4102,0.000,0.000,2951,2092,2391,2473,2310,0,0,0,0,0,0,15.31,15.31,15.32
$GC,5048,0.84,91.5,2950,2092,2473,2309,410.1,15.4,232,5053,0.00,2.33,0.00,0.000,4356,0.000,0.065,2951,3506,2391,2473,2309,0,0,0,0,0,0,15.34,15.11,15.35
$GC,5140,0.84,91.5,2950,3506,2473,2310,396.6,15.8,234,5146,0.08,2.35,0.00,0.000,5126,0.462,0.054,2939,2081,2391,2473,2309,0,0,0,0,0,0,14.95,15.12,15.18
$GC,5417,0.84,91.5,2939,2078,2473,2307,357.5,13.9,241,5422,0.00,2.35,0.00,0.000,260,0.000,0.061,2938,3502,2390,2473,2307,0,0,0,0,0,0,15.35,15.14,15.36
$GC,5480,0.84,91.5,2939,3502,2473,2307,351.4,13.6,242,5485,0.00,2.33,0.00,0.000,5126,0.000,0.056,2948,2092,2390,2473,2307,0,0,0,0,0,0,15.23,15.14,15.25
$GC,5744,0.84,91.5,2948,2092,2473,2306,316.0,12.5,249,5750,0.00,2.35,0.00,0.000,4612,0.000,0.071,2959,681,2389,2473,2305,0,0,0,0,0,0,15.37,15.15,15.38
$GC,5885,0.84,91.5,2959,681,2467,2305,299.6,13.1,252,5892,0.08,2.35,0.00,0.000,5126,0.431,0.053,2937,2095,2386,2467,2305,0,0,0,0,0,0,15.00,15.16,15.21
$GC,6156,0.84,91.5,2937,2097,2467,2305,269.5,10.1,259,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2097,2386,2467,2305,0,0,0,0,0,0,15.38,15.39,15.39
$GC,6396,0.85,110.2,2937,2097,2467,2305,249.0,8.2,265,6418,0.00,2.33,14.05,1.405,10500,0.000,0.062,2937,3493,2328,2417,2239,0,0,0,0,0,0,15.40,15.04,14.47
$GC,6509,0.86,120.4,2937,3493,2417,2239,241.0,9.0,267,6526,0.00,2.35,10.40,1.330,9222,0.000,0.054,2946,2083,2286,2379,2193,0,0,0,0,0,0,15.15,15.07,14.40
$GC,6805,0.86,123.1,2946,2084,2377,2190,209.7,9.7,275,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2083,2283,2377,2189,0,0,0,0,0,0,15.28,15.28,15.28
$GC,7045,0.86,127.0,2946,2083,2377,2188,186.5,9.6,290,7058,0.00,2.35,6.35,1.170,8452,0.000,0.058,2945,3499,2260,2356,2165,0,0,0,0,0,0,15.29,14.94,14.46
$GC,7171,0.86,127.0,2946,3499,2355,2165,174.1,11.6,301,7179,0.00,2.38,0.00,0.000,5126,0.000,0.055,2956,2093,2260,2355,2165,0,0,0,0,0,0,15.09,15.04,15.11
$GC,7422,0.86,127.0,2955,2093,2355,2165,144.4,11.8,330,7429,0.00,2.40,0.00,0.000,4612,0.000,0.068,2967,664,2260,2355,2165,0,0,0,0,0,0,15.27,15.04,15.27
$GC,7551,0.86,127.0,2967,664,2348,2165,129.5,11.1,353,7560,0.05,2.40,0.00,0.000,5126,0.396,0.050,2951,2094,2256,2348,2165,0,0,0,0,0,0,14.88,15.04,15.02
$GC,7820,0.88,151.4,2950,2094,2348,2165,107.7,7.7,402,7847,0.00,2.38,21.12,1.153,8452,0.000,0.058,2951,3503,2160,2258,2062,0,0,0,0,0,0,15.23,14.88,14.40
$GC,7933,0.88,151.4,2950,3505,2259,2062,96.3,11.5,421,7940,0.00,2.38,0.00,0.000,5126,0.000,0.051,2960,2084,2160,2259,2062,0,0,0,0,0,0,15.02,14.92,15.03
$GC,8200,0.89,175.6,2959,2083,2259,2062,72.7,7.7,470,8229,0.00,2.38,20.35,1.084,12804,0.000,0.066,2971,688,2061,2161,1961,0,0,0,0,0,0,15.17,14.80,14.37
$GC,8278,0.89,175.6,2970,688,2152,1961,65.1,10.7,483,8286,0.00,2.38,0.00,0.000,5126,0.000,0.048,2971,2088,2056,2152,1961,0,0,0,0,0,0,14.96,14.86,14.97
$GC,8543,0.89,175.6,2970,2090,2151,1961,37.6,10.2,532,8551,0.05,0.00,0.00,0.000,4102,0.477,0.000,2956,2091,2056,2152,1961,0,0,0,0,0,0,14.77,14.95,14.94
$GC,8805,0.89,177.5,2956,2091,2152,1961,11.5,9.8,581,8813,0.00,2.35,0.00,0.000,260,0.000,0.052,2956,3509,2056,2152,1961,0,0,0,0,0,0,15.16,14.93,15.16
$GC,8869,0.89,177.5,2956,3509,2152,1961,4.1,12.8,592,8877,0.00,2.38,0.00,0.000,5126,0.000,0.047,2966,2086,2056,2152,1961,0,0,0,0,0,0,15.05,14.95,15.06
$STATE,8884,end climb,SURFACE_DEPTH_REACHED
$STATE,8884,begin surface coast
$FINISH,0.2,1.023083
$STATE,8913,end surface coast,CONTROL_FINISHED_OK
$STATE,8913,begin surface
$SM_CCo,8931,97.43,0.237,0,0,1104,410.13
$SM_GC,1.00,6.55,0.00,97.43,0.076,0.000,0.237,132,2083,1104,-7.69,-1.05,410.13,0,0,0,0,0,0,15.00,15.16,14.76
$IRIDIUM_FIX,2248.70,-15747.13,290523,154411
$TT8_MAMPS,0.02247,0.282373
$HUMID,44.05
$INTERNAL_PRESSURE,8.98435
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.78,11.099
$10V_AH,13.58,0.000
$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,16.250,102.850,234.075,97.425,0.000,25.983,39.658,185.929,0.000,0.000,23.109,1906.815,4887.764,472.747,1902.353,264.151,0.000,1204.264,0.000,1573.227,0.000,0.552,0.000
$DEVICE_MAMPS,476.595,71.145,1813.050,237.150,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,402.799,532.753,647.986,596.240,714.671,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338532
$DATA_FILE_SIZE,54124,599
$CAP_FILE_SIZE,105073,0
$CFSIZE,1023623168,1017413632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,9
$CURRENT,0.078,316.62,1
$GPS,290523,182134,2258.338,-15745.624,41,0.8,44,9.9,1.0,24.6,9,9.6