version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 45
start: 5 30 123 8 54 11
data:
$ID,626
$MISSION,4
$DIVE,45
$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,2673
$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,2100
$C_ROLL_CLIMB,2040
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,79
$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
$GPS1,300523,084703,2253.7144,-15745.9385,16,0.9,33,9.9,0.0,351.8,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-74.2
$GPS2,300523,085346,2253.7942,-15745.9639,7,0.9,16,9.9,0.8,57.9,9,10.0
$SPEED_LIMITS,0.173,0.232
$TGT_NAME,BSE
$TGT_LATLONG,2231.440,-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,143.9,41411,-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,-0.65,-126.5,125,2095,1142,1046,0.0,0.0,0,80,0.00,0.00,-61.28,0.000,16386,0.000,0.000,125,2094,3084,3062,3107,0,0,0,0,0,0,15.09,28.83,15.10
$GC,84,-0.65,-126.5,125,2094,3063,3108,3.1,-6.3,9,102,7.88,2.35,-3.50,0.000,19204,0.455,0.069,2465,677,3299,3275,3324,0,0,0,0,0,0,14.62,14.09,14.81
$GC,141,-0.65,-126.5,2464,677,3281,3322,26.6,-33.6,18,150,0.00,2.30,0.00,0.000,3078,0.000,0.041,2456,2057,3300,3282,3318,0,0,0,0,0,0,14.92,14.88,14.94
$GC,409,-0.65,-126.5,2455,2060,3284,3319,99.4,-24.3,67,415,0.00,0.00,0.00,0.000,2054,0.000,0.000,2455,2060,3301,3284,3319,0,0,0,0,0,0,15.17,15.18,15.18
$GC,676,-0.65,-126.5,2455,2060,3288,3319,156.0,-19.3,114,682,0.00,2.35,0.00,0.000,2308,0.000,0.054,2444,3506,3303,3288,3319,0,0,0,0,0,0,15.23,15.01,15.23
$GC,795,-0.65,-126.5,2444,3506,3289,3319,173.7,-14.2,125,802,0.05,2.33,0.00,0.000,3078,0.400,0.048,2460,2090,3302,3286,3319,0,0,0,0,0,0,14.90,15.03,15.07
$GC,1066,-0.65,-126.5,2460,2087,3290,3319,213.0,-14.6,146,1072,0.00,2.30,0.00,0.000,2564,0.000,0.059,2461,687,3304,3290,3319,0,0,0,0,0,0,15.28,15.07,15.29
$GC,1159,-0.65,-126.5,2461,687,3290,3319,225.6,-14.4,148,1165,0.00,2.30,0.00,0.000,3078,0.000,0.046,2452,2103,3304,3290,3319,0,0,0,0,0,0,15.19,15.10,15.19
$GC,1433,-0.65,-126.5,2452,2104,3291,3318,262.9,-12.6,155,1438,0.00,2.33,0.00,0.000,2564,0.000,0.057,2452,693,3305,3291,3319,0,0,0,0,0,0,15.35,15.13,15.35
$GC,1461,-0.65,-126.5,2451,692,3292,3319,262.9,-12.6,155,1467,0.05,2.30,0.00,0.000,3078,0.421,0.047,2458,2110,3305,3292,3319,0,0,0,0,0,0,15.00,15.14,15.18
$GC,1720,-0.65,-126.5,2458,2113,3292,3319,296.9,-12.1,162,1722,0.00,0.00,0.00,0.000,2054,0.000,0.000,2458,2112,3305,3292,3319,0,0,0,0,0,0,15.38,15.38,15.38
$GC,1960,-0.65,-126.5,2457,2112,3293,3318,326.0,-12.1,168,1962,0.00,0.00,0.00,0.000,2054,0.000,0.000,2458,2113,3304,3290,3318,0,0,0,0,0,0,15.40,15.40,15.40
$GC,2200,-0.65,-126.5,2457,2112,3292,3317,354.6,-11.9,174,2206,0.00,2.35,0.00,0.000,2564,0.000,0.061,2458,690,3304,3292,3316,0,0,0,0,0,0,15.41,15.18,15.41
$GC,2238,-0.65,-126.5,2458,689,3292,3316,354.6,-11.9,174,2245,0.00,2.30,0.00,0.000,3078,0.000,0.049,2449,2099,3303,3291,3316,0,0,0,0,0,0,15.28,15.19,15.29
$GC,2487,-0.65,-126.5,2448,2099,3292,3314,389.2,-11.8,181,2489,0.00,0.00,0.00,0.000,2054,0.000,0.000,2449,2099,3302,3292,3313,0,0,0,0,0,0,15.41,15.42,15.42
$GC,2724,-0.65,-126.5,2448,2099,3292,3310,415.1,-10.7,187,2730,0.00,2.33,0.00,0.000,2564,0.000,0.062,2448,694,3301,3293,3309,0,0,0,0,0,0,15.42,15.20,15.42
$GC,2778,-0.65,-126.5,2448,693,3292,3310,420.1,-10.8,188,2784,0.08,2.30,0.00,0.000,3078,0.353,0.051,2466,2099,3300,3292,3309,0,0,0,0,0,0,15.09,15.21,15.25
$GC,3052,-0.65,-126.5,2465,2102,3292,3305,448.5,-10.3,195,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2102,3298,3292,3305,0,0,0,0,0,0,15.42,15.44,15.43
$GC,3293,-0.65,-126.5,2465,2103,3292,3302,474.7,-11.0,201,3299,0.00,2.33,0.00,0.000,516,0.000,0.064,2466,695,3297,3292,3302,0,0,0,0,0,0,15.42,15.20,15.43
$GC,3323,-0.65,-126.5,2466,695,3292,3302,474.7,-11.0,201,3328,0.00,2.30,0.00,0.000,3078,0.000,0.051,2457,2098,3297,3292,3302,0,0,0,0,0,0,15.30,15.21,15.31
$GC,3582,-0.65,-126.5,2457,2098,3291,3297,506.6,-10.7,208,3587,0.00,2.38,0.00,0.000,2564,0.000,0.064,2457,689,3294,3292,3297,0,0,0,0,0,0,15.43,15.20,15.43
$GC,3615,-0.65,-126.5,2456,688,3291,3298,506.6,-10.7,208,3621,0.05,2.33,0.00,0.000,3078,0.438,0.053,2463,2101,3294,3291,3297,0,0,0,0,0,0,15.07,15.21,15.26
$GC,3870,-0.65,-126.5,2463,2103,3291,3294,534.8,-9.4,215,3876,0.00,2.33,0.00,0.000,516,0.000,0.065,2463,696,3292,3291,3294,0,0,0,0,0,0,15.42,15.20,15.43
$GC,3899,-0.65,-126.5,2463,696,3290,3295,534.8,-9.4,215,3905,0.00,2.33,0.00,0.000,3078,0.000,0.054,2454,2107,3292,3290,3294,0,0,0,0,0,0,15.30,15.21,15.31
$GC,4158,-0.65,-126.5,2454,2108,3291,3290,564.6,-10.5,222,4161,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,2107,3290,3291,3289,0,0,0,0,0,0,15.43,15.43,15.43
$GC,4398,-0.65,-126.5,2454,2108,3290,3287,590.1,-10.7,228,4404,0.00,2.38,0.00,0.000,2564,0.000,0.067,2454,688,3289,3290,3288,0,0,0,0,0,0,15.43,15.20,15.44
$GC,4477,-0.65,-126.5,2454,687,3289,3289,595.2,-10.9,229,4484,0.05,2.35,0.00,0.000,3078,0.439,0.054,2462,2105,3288,3289,3288,0,0,0,0,0,0,15.06,15.21,15.25
$STATE,4521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4521,begin apogee
$GC,4529,-0.14,0.0,2462,1998,3289,3287,603.6,-10.9,231,4643,0.45,0.05,107.07,1.837,10246,0.250,0.096,2631,2051,2778,2852,2704,0,0,0,0,0,0,15.09,14.34,13.81
$STATE,4644,end apogee,CONTROL_FINISHED_OK
$STATE,4644,begin climb
$GC,4647,0.65,126.5,2631,2051,2852,2704,608.1,0.0,234,4768,0.62,2.45,113.35,1.779,10756,0.123,0.071,2904,670,2262,2364,2160,0,0,0,0,0,0,14.50,14.38,13.76
$GC,4791,0.65,126.5,2904,669,2356,2160,601.7,8.1,237,4797,0.08,2.35,0.00,0.000,5126,0.373,0.050,2881,2035,2258,2356,2160,0,0,0,0,0,0,14.44,14.57,14.62
$GC,5050,0.65,126.5,2881,2037,2355,2154,558.3,15.2,244,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2037,2254,2356,2153,0,0,0,0,0,0,15.14,15.14,15.14
$GC,5291,0.65,126.5,2881,2037,2355,2151,520.5,15.7,250,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2037,2253,2355,2151,0,0,0,0,0,0,15.23,15.24,15.24
$GC,5530,0.65,126.5,2881,2037,2355,2149,481.3,16.2,256,5536,0.00,2.35,0.00,0.000,516,0.000,0.072,2889,665,2253,2356,2150,0,0,0,0,0,0,15.28,15.07,15.30
$GC,5574,0.65,126.5,2889,664,2348,2150,474.0,16.5,257,5580,0.00,2.30,0.00,0.000,5126,0.000,0.050,2890,2043,2249,2348,2150,0,0,0,0,0,0,15.18,15.09,15.19
$GC,5859,0.65,126.5,2889,2045,2348,2150,427.6,16.1,264,5861,0.00,0.00,0.00,0.000,4102,0.000,0.000,2890,2045,2249,2348,2150,0,0,0,0,0,0,15.33,15.34,15.33
$GC,6098,0.65,126.5,2889,2045,2347,2149,391.2,15.1,270,6100,0.00,0.00,0.00,0.000,4102,0.000,0.000,2890,2045,2249,2348,2150,0,0,0,0,0,0,15.36,15.36,15.36
$GC,6339,0.65,126.5,2889,2045,2348,2149,357.9,13.8,276,6344,0.00,2.33,0.00,0.000,4612,0.000,0.070,2900,667,2248,2348,2149,0,0,0,0,0,0,15.38,15.14,15.38
$GC,6362,0.65,126.5,2900,666,2343,2149,357.9,13.8,276,6368,0.05,2.28,0.00,0.000,5126,0.424,0.052,2884,2039,2246,2343,2149,0,0,0,0,0,0,15.02,15.16,15.21
$GC,6626,0.65,126.5,2884,2042,2343,2149,322.4,12.3,283,6632,0.00,2.30,0.00,0.000,260,0.000,0.062,2884,3446,2246,2343,2149,0,0,0,0,0,0,15.38,15.16,15.38
$GC,6689,0.65,126.5,2884,3448,2343,2150,316.8,12.5,284,6695,0.00,2.30,0.00,0.000,5126,0.000,0.058,2893,2072,2245,2342,2149,0,0,0,0,0,0,15.26,15.16,15.27
$GC,6954,0.65,126.5,2894,2071,2343,2149,278.8,13.5,291,6959,0.00,2.40,0.00,0.000,4612,0.000,0.073,2905,626,2245,2342,2149,0,0,0,0,0,0,15.39,15.16,15.39
$GC,6977,0.65,126.5,2905,626,2340,2149,278.8,13.5,291,6983,0.08,2.35,0.00,0.000,5126,0.378,0.050,2880,2047,2244,2340,2148,0,0,0,0,0,0,15.03,15.18,15.23
$GC,7241,0.65,126.5,2880,2049,2340,2148,245.8,11.3,298,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2048,2244,2340,2149,0,0,0,0,0,0,15.39,15.40,15.40
$GC,7482,0.68,167.7,2880,2049,2340,2149,226.7,7.8,304,7522,0.00,2.42,31.80,1.410,10756,0.000,0.069,2889,631,2094,2196,1992,0,0,0,0,0,0,15.40,14.83,14.36
$GC,7632,0.68,171.3,2889,631,2184,1992,213.5,9.8,307,7637,0.00,2.35,0.00,0.000,1030,0.000,0.048,2889,2042,2088,2184,1992,0,0,0,0,0,0,15.06,14.98,15.07
$GC,7882,0.68,171.3,2889,2043,2184,1991,179.4,11.7,325,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2043,2087,2183,1991,0,0,0,0,0,0,15.23,15.25,15.25
$GC,8131,0.68,171.3,2889,2043,2183,1990,151.3,10.5,350,8136,0.00,2.30,0.00,0.000,260,0.000,0.059,2889,3449,2086,2183,1990,0,0,0,0,0,0,15.26,15.05,15.27
$GC,8197,0.68,171.3,2888,3450,2184,1990,143.3,12.3,361,8204,0.00,2.35,0.00,0.000,5126,0.000,0.055,2900,2035,2087,2184,1990,0,0,0,0,0,0,15.14,15.04,15.15
$GC,8463,0.69,187.3,2900,2035,2183,1991,114.9,9.2,410,8486,0.00,0.00,16.12,1.171,12294,0.000,0.000,2901,2035,2013,2111,1916,0,0,0,0,0,0,15.24,14.78,14.39
$GC,8748,0.72,235.5,2900,2035,2109,1915,91.4,7.5,461,8793,0.00,2.40,38.42,1.135,10500,0.000,0.055,2900,3452,1819,1912,1726,0,0,0,0,0,0,15.19,14.64,14.26
$GC,8860,0.73,257.4,2900,3452,1912,1726,82.3,8.8,479,8889,0.00,2.42,18.55,1.085,9222,0.000,0.056,2911,2042,1728,1825,1632,0,0,0,0,0,0,14.86,14.81,14.22
$GC,9144,0.73,257.4,2911,2042,1824,1627,49.8,13.8,531,9151,0.00,2.40,0.00,0.000,516,0.000,0.071,2922,630,1724,1823,1626,0,0,0,0,0,0,15.09,14.88,15.10
$GC,9295,0.73,257.4,2922,630,1814,1627,29.5,13.3,558,9303,0.00,2.38,0.00,0.000,5126,0.000,0.044,2922,2043,1720,1814,1627,0,0,0,0,0,0,15.02,14.92,15.04
$STATE,9478,end climb,SURFACE_DEPTH_REACHED
$STATE,9478,begin surface coast
$FINISH,0.1,1.022987
$STATE,9500,end surface coast,CONTROL_FINISHED_OK
$STATE,9501,begin surface
$SM_CCo,9519,63.80,0.246,0,0,1107,410.13
$SM_GC,1.07,6.30,0.08,63.80,0.049,0.132,0.246,147,2143,1107,-7.67,-0.99,410.13,0,0,0,0,0,0,14.98,14.97,14.77
$IRIDIUM_FIX,2244.02,-15745.85,300523,084843
$TT8_MAMPS,0.023219,0.279377
$HUMID,45.19
$INTERNAL_PRESSURE,8.96482
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,13.76,12.506
$10V_AH,13.63,0.000
$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,15.725,89.300,325.325,63.800,0.000,27.061,39.846,194.752,0.250,0.000,17.150,1791.714,5657.570,533.053,1747.740,260.691,0.000,1202.490,0.000,1421.962,0.000,0.553,0.000
$DEVICE_MAMPS,455.175,172.890,1836.765,246.330,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,401.007,641.119,618.590,546.261,655.283,0.000,0.000,0.000,0.000,0.000
$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,54410,596
$CAP_FILE_SIZE,100594,0
$CFSIZE,1023623168,1016872960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,15
$INTR,0,7519.80,0x2131ca,1,24
$CURRENT,0.130,290.02,1
$GPS,300523,113519,2252.955,-15746.146,19,0.8,43,9.9,0.7,26.8,10,5.5