version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 52
start: 5 31 123 4 54 51
data:
$ID,626
$MISSION,4
$DIVE,52
$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,20
$R_STBD_OVSHOOT,72
$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
$GPS1,310523,044801,2248.5068,-15745.8838,15,0.9,37,9.9,0.0,346.7,10,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-74.1
$GPS2,310523,045425,2248.5486,-15745.9170,7,0.9,17,9.9,0.0,49.0,10,8.0
$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,150.8,31697,-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,14,begin dive
$GC,17,-0.65,-126.5,125,2109,1132,1062,0.0,0.0,0,80,0.00,0.00,-60.65,0.000,16386,0.000,0.000,125,2107,3073,3054,3092,0,0,0,0,0,0,15.11,28.83,15.11
$GC,84,-0.65,-126.5,125,2108,3054,3093,3.2,-7.8,9,102,7.90,2.40,-3.65,0.000,18948,0.456,0.070,2468,666,3299,3275,3323,0,0,0,0,0,0,14.67,14.11,14.95
$GC,136,-0.65,-126.5,2467,666,3281,3320,24.3,-31.2,17,144,0.00,2.35,0.00,0.000,3078,0.000,0.044,2459,2068,3300,3282,3319,0,0,0,0,0,0,14.96,14.92,15.01
$GC,214,-0.65,-126.5,2458,2072,3283,3318,46.1,-29.7,26,221,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,2071,3300,3283,3318,0,0,0,0,0,0,15.16,15.16,15.16
$GC,463,-0.65,-126.5,2458,2071,3284,3318,117.4,-27.0,51,470,0.00,2.33,0.00,0.000,2308,0.000,0.049,2447,3513,3301,3285,3318,0,0,0,0,0,0,15.23,15.02,15.23
$GC,539,-0.65,-126.5,2447,3513,3286,3318,134.1,-19.1,58,544,0.00,2.35,0.00,0.000,3078,0.000,0.051,2447,2088,3302,3286,3318,0,0,0,0,0,0,15.12,15.03,15.14
$GC,796,-0.65,-126.5,2447,2087,3288,3318,183.1,-19.6,83,804,0.00,0.00,0.00,0.000,2054,0.000,0.000,2447,2086,3303,3289,3318,0,0,0,0,0,0,15.27,15.28,15.28
$GC,1044,-0.65,-126.5,2447,2087,3290,3318,222.4,-14.6,108,1050,0.00,2.33,0.00,0.000,2564,0.000,0.061,2447,683,3304,3290,3318,0,0,0,0,0,0,15.30,15.08,15.31
$GC,1101,-0.65,-126.5,2446,683,3290,3318,231.2,-15.2,113,1107,0.08,2.30,0.00,0.000,3078,0.392,0.046,2462,2101,3304,3290,3318,0,0,0,0,0,0,14.96,15.10,15.14
$GC,1357,-0.65,-126.5,2462,2104,3292,3318,266.6,-12.8,138,1363,0.00,2.28,0.00,0.000,260,0.000,0.057,2453,3511,3304,3292,3317,0,0,0,0,0,0,15.31,15.10,15.33
$GC,1393,-0.65,-126.5,2452,3510,3292,3317,271.3,-13.1,141,1399,0.00,2.33,0.00,0.000,3078,0.000,0.050,2452,2092,3304,3292,3317,0,0,0,0,0,0,15.17,14.66,15.19
$GC,1651,-0.65,-126.5,2452,2092,3292,3318,302.6,-12.4,166,1657,0.00,2.30,0.00,0.000,2564,0.000,0.062,2452,689,3304,3292,3317,0,0,0,0,0,0,15.33,15.10,15.33
$GC,1741,-0.65,-126.5,2452,688,3293,3317,313.9,-11.9,174,1747,0.05,2.30,0.00,0.000,3078,0.435,0.047,2460,2104,3305,3293,3317,0,0,0,0,0,0,14.98,15.13,15.16
$GC,1997,-0.65,-126.5,2459,2106,3293,3315,339.9,-9.6,199,2004,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,2107,3303,3292,3315,0,0,0,0,0,0,15.34,15.34,15.34
$GC,2248,-0.65,-126.5,2459,2106,3292,3313,365.4,-10.6,224,2255,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,2106,3302,3292,3313,0,0,0,0,0,0,15.34,15.35,15.34
$GC,2499,-0.65,-126.5,2459,2107,3292,3310,389.8,-9.6,249,2506,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,2107,3301,3292,3310,0,0,0,0,0,0,15.35,15.35,15.35
$GC,2766,-0.65,-126.5,2459,2107,3293,3306,416.3,-9.8,264,2772,0.00,2.38,0.00,0.000,2564,0.000,0.062,2459,683,3298,3292,3305,0,0,0,0,0,0,15.37,15.14,15.38
$GC,2851,-0.65,-126.5,2459,683,3292,3305,424.9,-10.0,266,2858,0.00,2.33,0.00,0.000,3078,0.000,0.050,2450,2097,3298,3292,3304,0,0,0,0,0,0,15.24,15.15,15.26
$GC,3136,-0.65,-126.5,2450,2097,3292,3301,455.3,-10.8,273,3138,0.00,0.00,0.00,0.000,2054,0.000,0.000,2450,2097,3296,3292,3301,0,0,0,0,0,0,15.39,15.40,15.39
$GC,3376,-0.65,-126.5,2450,2097,3292,3297,482.9,-11.8,279,3378,0.00,0.00,0.00,0.000,2054,0.000,0.000,2450,2097,3294,3292,3297,0,0,0,0,0,0,15.40,15.40,15.40
$GC,3616,-0.65,-126.5,2450,2097,3292,3295,511.1,-11.7,285,3618,0.00,0.00,0.00,0.000,2054,0.000,0.000,2450,2098,3293,3291,3295,0,0,0,0,0,0,15.41,15.42,15.41
$GC,3856,-0.65,-126.5,2450,2097,3291,3290,536.4,-10.4,291,3858,0.00,0.00,0.00,0.000,2054,0.000,0.000,2450,2097,3290,3291,3290,0,0,0,0,0,0,15.42,15.42,15.42
$GC,4096,-0.65,-126.5,2450,2097,3290,3289,561.0,-10.3,297,4101,0.00,2.38,0.00,0.000,2564,0.000,0.067,2450,684,3289,3290,3288,0,0,0,0,0,0,15.42,15.19,15.42
$GC,4143,-0.65,-126.5,2450,683,3289,3289,565.7,-10.3,298,4149,0.08,2.35,0.00,0.000,3078,0.369,0.054,2466,2104,3289,3289,3289,0,0,0,0,0,0,15.07,15.20,15.25
$GC,4423,-0.65,-126.5,2466,2107,3289,3285,588.9,-7.9,305,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2107,3287,3289,3285,0,0,0,0,0,0,15.41,15.42,15.42
$STATE,4580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4580,begin apogee
$GC,4587,-0.14,0.0,2466,2002,3289,3283,601.1,-7.6,309,4702,0.43,0.00,106.22,1.832,10246,0.245,0.000,2628,2002,2778,2853,2704,0,0,0,0,0,0,15.09,14.48,13.83
$STATE,4703,end apogee,CONTROL_FINISHED_OK
$STATE,4703,begin climb
$GC,4706,0.65,126.5,2627,2002,2853,2704,603.2,0.0,312,4823,0.65,0.00,113.15,1.780,10246,0.125,0.000,2899,2001,2263,2365,2161,0,0,0,0,0,0,14.51,14.40,13.76
$GC,5063,0.65,126.5,2899,2001,2355,2156,551.9,17.8,321,5070,0.05,2.28,0.00,0.000,4612,0.443,0.067,2893,661,2255,2355,2156,0,0,0,0,0,0,14.77,14.90,14.95
$GC,5097,0.65,126.5,2893,661,2349,2156,551.9,17.8,321,5103,0.00,2.33,0.00,0.000,5126,0.000,0.050,2893,2047,2252,2348,2156,0,0,0,0,0,0,15.02,14.93,15.03
$GC,5352,0.65,126.5,2893,2050,2348,2155,505.1,16.1,328,5354,0.00,0.00,0.00,0.000,4102,0.000,0.000,2893,2050,2251,2348,2155,0,0,0,0,0,0,15.24,15.24,15.24
$GC,5592,0.65,126.5,2892,2049,2349,2153,468.8,15.1,334,5598,0.00,2.30,0.00,0.000,4356,0.000,0.063,2893,3446,2251,2349,2153,0,0,0,0,0,0,15.29,15.07,15.30
$GC,5621,0.65,126.5,2893,3446,2348,2153,468.8,15.1,334,5627,0.08,2.30,0.00,0.000,5126,0.404,0.057,2881,2069,2250,2348,2153,0,0,0,0,0,0,14.93,15.08,15.14
$GC,5880,0.65,126.5,2880,2066,2348,2152,425.1,15.2,341,5885,0.00,2.40,0.00,0.000,516,0.000,0.073,2890,632,2250,2349,2152,0,0,0,0,0,0,15.33,15.10,15.33
$GC,5938,0.65,126.5,2889,632,2342,2152,418.4,15.3,342,5944,0.00,2.35,0.00,0.000,5126,0.000,0.051,2890,2041,2246,2342,2151,0,0,0,0,0,0,15.21,15.12,15.23
$GC,6187,0.65,126.5,2889,2042,2342,2152,379.6,14.5,359,6193,0.00,2.40,0.00,0.000,4612,0.000,0.070,2900,626,2247,2342,2152,0,0,0,0,0,0,15.34,15.11,15.34
$GC,6215,0.65,126.5,2900,626,2340,2152,376.1,14.4,361,6223,0.05,2.35,0.00,0.000,5126,0.422,0.051,2884,2040,2245,2340,2151,0,0,0,0,0,0,14.97,15.12,15.17
$GC,6464,0.65,126.5,2884,2042,2341,2152,342.6,13.9,386,6470,0.00,2.35,0.00,0.000,260,0.000,0.063,2884,3453,2246,2341,2151,0,0,0,0,0,0,15.31,15.10,15.33
$GC,6539,0.65,126.5,2883,3453,2340,2152,332.0,13.5,393,6544,0.00,2.35,0.00,0.000,5126,0.000,0.058,2892,2041,2246,2341,2152,0,0,0,0,0,0,15.20,15.10,15.21
$GC,6796,0.65,126.5,2892,2039,2340,2152,297.9,12.8,418,6802,0.00,2.35,0.00,0.000,4612,0.000,0.072,2904,629,2246,2340,2152,0,0,0,0,0,0,15.31,15.09,15.32
$GC,6871,0.65,126.5,2904,629,2337,2151,287.2,12.9,425,6877,0.08,2.35,0.00,0.000,5126,0.371,0.049,2879,2050,2244,2337,2151,0,0,0,0,0,0,14.97,15.11,15.16
$GC,7126,0.65,126.5,2878,2052,2337,2151,257.8,10.6,450,7134,0.00,0.00,0.00,0.000,2054,0.000,0.000,2878,2052,2244,2337,2151,0,0,0,0,0,0,15.32,15.33,15.33
$GC,7377,0.66,141.8,2879,2052,2337,2151,231.9,9.2,475,7395,0.00,0.00,11.23,1.346,10246,0.000,0.000,2879,2052,2200,2298,2102,0,0,0,0,0,0,15.32,14.88,14.41
$GC,7638,0.67,148.4,2878,2052,2298,2100,206.9,9.6,501,7652,0.00,2.47,7.07,1.222,10756,0.000,0.069,2888,626,2172,2272,2072,0,0,0,0,0,0,15.26,14.98,14.41
$GC,7699,0.67,148.4,2887,626,2266,2073,200.6,10.3,506,7704,0.00,2.38,0.00,0.000,1030,0.000,0.051,2888,2048,2169,2266,2072,0,0,0,0,0,0,15.09,15.01,15.10
$GC,7956,0.67,148.4,2888,2050,2266,2073,174.7,10.2,531,7961,0.00,2.42,0.00,0.000,516,0.000,0.068,2898,625,2169,2266,2072,0,0,0,0,0,0,15.23,15.02,15.25
$GC,8002,0.67,148.4,2898,624,2264,2073,169.7,10.3,535,8008,0.00,2.35,0.00,0.000,5126,0.000,0.050,2898,2041,2168,2264,2073,0,0,0,0,0,0,15.14,15.04,15.14
$GC,8261,0.68,164.6,2898,2041,2263,2072,146.6,9.1,560,8284,0.00,2.38,14.45,1.209,12548,0.000,0.060,2898,3450,2107,2206,2008,0,0,0,0,0,0,15.27,14.95,14.42
$GC,8321,0.68,164.6,2898,3450,2206,2009,140.6,10.0,565,8327,0.05,2.35,0.00,0.000,5126,0.438,0.054,2894,2039,2107,2205,2009,0,0,0,0,0,0,14.81,14.96,15.01
$GC,8576,0.70,208.7,2894,2039,2206,2008,120.4,7.7,590,8620,0.00,2.40,36.12,1.180,10756,0.000,0.067,2903,632,1927,2021,1833,0,0,0,0,0,0,15.23,14.70,14.29
$GC,8935,0.71,212.1,2903,632,2001,1833,83.5,9.8,624,8940,0.00,2.33,0.00,0.000,5126,0.000,0.046,2903,2043,1917,2001,1833,0,0,0,0,0,0,15.07,14.98,15.07
$GC,9192,0.72,237.0,2903,2044,2001,1833,61.6,8.7,649,9216,0.00,0.00,22.25,1.059,8454,0.000,0.000,2903,2045,1811,1901,1722,0,0,0,0,0,0,15.21,14.89,14.42
$GC,9458,0.72,238.3,2902,2046,1899,1719,36.5,9.9,675,9463,0.00,2.38,0.00,0.000,516,0.000,0.066,2914,630,1809,1899,1719,0,0,0,0,0,0,15.17,14.96,15.19
$GC,9494,0.73,247.0,2913,629,1895,1719,32.8,9.5,678,9510,0.00,2.33,8.88,0.957,13318,0.000,0.044,2914,2047,1770,1860,1681,0,0,0,0,0,0,15.07,14.99,14.47
$STATE,9748,end climb,SURFACE_DEPTH_REACHED
$STATE,9748,begin surface coast
$FINISH,0.2,1.022955
$STATE,9772,end surface coast,CONTROL_FINISHED_OK
$STATE,9772,begin surface
$SM_CCo,9791,68.62,0.236,0,0,1102,410.13
$SM_GC,1.09,6.35,0.05,68.62,0.064,0.182,0.236,163,2135,1102,-7.67,-1.22,410.13,0,0,0,0,0,0,15.00,14.97,14.79
$IRIDIUM_FIX,2237.01,-15700.68,310523,044950
$TT8_MAMPS,0.02247,0.280875
$HUMID,45.43
$INTERNAL_PRESSURE,8.97459
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,13.76,14.164
$10V_AH,13.57,0.000
$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,15.825,84.825,319.375,68.625,0.000,37.083,40.216,165.167,0.500,0.000,18.273,2110.501,5275.042,543.006,2042.120,278.976,0.000,1281.603,0.000,1654.727,0.000,0.552,0.000
$DEVICE_MAMPS,455.940,182.070,1832.175,236.385,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,494.561,1217.572,877.245,697.976,808.981,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338556
$DATA_FILE_SIZE,70969,728
$CAP_FILE_SIZE,103551,0
$CFSIZE,1023623168,1016283136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,7
$CURRENT,0.108,259.03,1
$GPS,310523,074031,2247.341,-15746.129,16,0.9,39,9.9,0.3,248.6,10,7.0