version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 63
start: 6 1 123 12 36 51
data:
$ID,626
$MISSION,4
$DIVE,63
$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,31
$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,2650
$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
$GPS1,010623,122950,2240.8284,-15746.7461,19,0.8,40,9.8,0.4,355.4,10,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-76.6
$GPS2,010623,123627,2240.8733,-15746.8154,6,0.8,13,9.8,0.9,296.3,10,9.9
$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,128.0,17633,-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,-126.5,127,2069,1003,930,0.0,0.0,0,87,0.00,0.00,-67.30,0.000,16386,0.000,0.000,127,2069,3156,3126,3187,0,0,0,0,0,0,15.10,28.83,15.11
$GC,91,-0.65,-126.5,127,2069,3127,3188,3.4,-6.3,10,106,7.90,2.28,0.00,0.000,2564,0.460,0.042,2463,673,3159,3130,3188,0,0,0,0,0,0,14.63,14.89,14.83
$GC,135,-0.65,-126.5,2463,673,3138,3181,24.2,-41.6,17,143,0.00,2.38,0.00,0.000,3078,0.000,0.044,2454,2091,3160,3140,3180,0,0,0,0,0,0,15.01,14.90,15.02
$GC,390,-0.65,-126.5,2454,2095,3144,3177,93.6,-25.1,43,395,0.00,2.30,0.00,0.000,2308,0.000,0.048,2443,3525,3160,3144,3176,0,0,0,0,0,0,15.21,15.01,15.21
$GC,437,-0.65,-126.5,2442,3526,3145,3177,105.4,-24.3,47,443,0.05,2.35,0.00,0.000,3078,0.422,0.050,2458,2090,3161,3145,3177,0,0,0,0,0,0,14.87,15.02,15.05
$GC,694,-0.65,-126.5,2457,2088,3149,3176,152.5,-14.3,72,702,0.00,0.00,0.00,0.000,2054,0.000,0.000,2458,2088,3162,3149,3176,0,0,0,0,0,0,15.27,15.28,15.28
$GC,944,-0.65,-126.5,2457,2088,3151,3176,195.5,-16.4,97,950,0.00,0.00,0.00,0.000,2054,0.000,0.000,2458,2088,3163,3151,3176,0,0,0,0,0,0,15.30,15.30,15.30
$GC,1192,-0.65,-126.5,2457,2088,3152,3176,230.5,-12.2,122,1197,0.00,2.30,0.00,0.000,2564,0.000,0.060,2459,683,3164,3152,3176,0,0,0,0,0,0,15.32,15.10,15.33
$GC,1231,-0.65,-126.5,2458,683,3152,3176,234.8,-12.6,125,1238,0.00,2.30,0.00,0.000,3078,0.000,0.044,2449,2103,3164,3152,3176,0,0,0,0,0,0,15.20,15.11,15.21
$GC,1478,-0.65,-126.5,2449,2104,3153,3176,262.7,-11.4,150,1486,0.00,0.00,0.00,0.000,2054,0.000,0.000,2449,2104,3165,3154,3176,0,0,0,0,0,0,15.33,15.33,15.33
$GC,1727,-0.65,-126.5,2448,2104,3154,3176,292.0,-12.2,175,1733,0.00,2.28,0.00,0.000,2308,0.000,0.057,2438,3511,3164,3153,3176,0,0,0,0,0,0,15.34,15.12,15.35
$GC,1823,-0.65,-126.5,2438,3512,3153,3176,303.5,-11.6,184,1829,0.08,2.30,0.00,0.000,3078,0.342,0.046,2464,2087,3164,3153,3176,0,0,0,0,0,0,15.00,15.14,15.17
$GC,2077,-0.65,-126.5,2463,2084,3153,3175,330.4,-10.9,209,2083,0.00,2.28,0.00,0.000,516,0.000,0.060,2464,689,3163,3153,3174,0,0,0,0,0,0,15.34,15.12,15.35
$GC,2103,-0.65,-126.5,2464,689,3154,3174,333.0,-10.5,211,2109,0.00,2.30,0.00,0.000,3078,0.000,0.047,2454,2105,3164,3154,3174,0,0,0,0,0,0,15.22,15.14,15.23
$GC,2360,-0.65,-126.5,2454,2106,3153,3171,360.0,-11.1,236,2365,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,2106,3162,3154,3171,0,0,0,0,0,0,15.34,15.35,15.35
$GC,2608,-0.65,-126.5,2454,2106,3153,3167,385.5,-9.9,261,2616,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,2106,3160,3154,3167,0,0,0,0,0,0,15.35,15.36,15.35
$GC,2878,-0.65,-126.5,2454,2106,3153,3164,411.8,-9.7,279,2880,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,2105,3158,3153,3164,0,0,0,0,0,0,15.37,15.38,15.38
$GC,3117,-0.65,-126.5,2454,2106,3153,3161,435.9,-10.3,285,3119,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,2106,3157,3154,3161,0,0,0,0,0,0,15.39,15.40,15.40
$GC,3358,-0.65,-126.5,2454,2105,3153,3158,461.5,-10.8,291,3363,0.00,2.35,0.00,0.000,2564,0.000,0.063,2454,696,3155,3153,3158,0,0,0,0,0,0,15.40,15.18,15.41
$GC,3428,-0.65,-126.5,2454,696,3153,3158,466.8,-11.2,292,3434,0.05,2.30,0.00,0.000,3078,0.454,0.051,2460,2097,3155,3153,3157,0,0,0,0,0,0,15.02,15.19,15.22
$GC,3687,-0.65,-126.5,2459,2100,3152,3154,498.0,-10.8,299,3689,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,2101,3153,3153,3153,0,0,0,0,0,0,15.41,15.41,15.41
$GC,3928,-0.65,-126.5,2459,2100,3152,3150,522.6,-9.9,305,3933,0.00,2.33,0.00,0.000,2308,0.000,0.067,2450,3516,3151,3152,3150,0,0,0,0,0,0,15.41,15.19,15.42
$GC,3976,-0.65,-126.5,2450,3516,3151,3150,526.9,-9.8,306,3981,0.00,2.30,0.00,0.000,3078,0.000,0.050,2450,2104,3150,3151,3150,0,0,0,0,0,0,15.28,15.20,15.30
$GC,4256,-0.65,-126.5,2450,2103,3151,3147,552.3,-8.6,313,4261,0.00,2.35,0.00,0.000,2564,0.000,0.070,2450,686,3149,3151,3147,0,0,0,0,0,0,15.41,15.16,15.42
$GC,4396,-0.65,-126.5,2450,685,3149,3146,563.7,-8.9,316,4402,0.08,2.35,0.00,0.000,3078,0.371,0.054,2466,2104,3148,3151,3145,0,0,0,0,0,0,15.05,15.19,15.23
$GC,4667,-0.65,-126.5,2465,2107,3150,3143,586.4,-7.8,323,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2107,3146,3150,3143,0,0,0,0,0,0,15.40,15.41,15.41
$STATE,4863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4864,begin apogee
$GC,4871,-0.14,0.0,2466,2002,3150,3140,602.6,-8.1,328,4987,0.43,0.00,106.28,1.833,10246,0.254,0.000,2626,2001,2649,2740,2559,0,0,0,0,0,0,15.08,14.33,13.80
$STATE,4988,end apogee,CONTROL_FINISHED_OK
$STATE,4988,begin climb
$GC,4991,0.65,126.5,2625,2001,2741,2558,605.1,0.0,331,5116,0.60,2.58,113.20,1.773,10500,0.149,0.062,2874,3443,2132,2239,2025,0,0,0,0,0,0,14.51,14.40,13.77
$GC,5145,0.65,126.5,2874,3443,2237,2025,594.6,11.5,334,5153,0.00,2.38,0.00,0.000,1030,0.000,0.057,2886,2075,2131,2237,2025,0,0,0,0,0,0,14.69,14.61,14.71
$GC,5392,0.65,126.5,2885,2074,2231,2022,545.0,17.2,341,5397,0.00,2.47,0.00,0.000,4612,0.000,0.076,2897,628,2126,2232,2021,0,0,0,0,0,0,15.14,14.91,15.15
$GC,5469,0.65,126.5,2896,628,2222,2021,537.2,17.3,342,5477,0.00,2.40,0.00,0.000,5126,0.000,0.050,2897,2047,2121,2222,2021,0,0,0,0,0,0,15.06,14.97,15.07
$GC,5717,0.65,126.5,2897,2050,2222,2021,485.9,18.1,349,5722,0.00,2.33,0.00,0.000,4356,0.000,0.061,2896,3454,2121,2222,2021,0,0,0,0,0,0,15.26,15.04,15.26
$GC,5749,0.65,126.5,2896,3455,2221,2021,485.9,18.1,349,5755,0.08,2.38,0.00,0.000,5126,0.409,0.058,2886,2037,2121,2222,2021,0,0,0,0,0,0,14.90,15.04,15.11
$GC,6004,0.65,126.5,2886,2034,2222,2019,436.4,16.9,356,6009,0.00,2.35,0.00,0.000,4612,0.000,0.073,2895,629,2120,2222,2018,0,0,0,0,0,0,15.31,15.08,15.31
$GC,6067,0.65,126.5,2894,629,2217,2018,429.0,16.7,357,6072,0.00,2.35,0.00,0.000,5126,0.000,0.050,2895,2045,2117,2216,2018,0,0,0,0,0,0,15.19,15.11,15.21
$GC,6321,0.65,126.5,2894,2048,2217,2018,381.4,17.4,369,6330,0.00,0.00,0.00,0.000,4102,0.000,0.000,2895,2048,2117,2217,2018,0,0,0,0,0,0,15.33,15.33,15.33
$GC,6572,0.65,126.5,2895,2048,2217,2018,340.4,17.0,394,6577,0.00,2.40,0.00,0.000,4612,0.000,0.073,2905,630,2117,2216,2018,0,0,0,0,0,0,15.33,15.09,15.33
$GC,6647,0.65,126.5,2905,630,2212,2018,327.7,15.8,401,6653,0.08,2.35,0.00,0.000,5126,0.370,0.050,2880,2045,2115,2212,2018,0,0,0,0,0,0,14.97,15.11,15.16
$GC,6901,0.65,126.5,2879,2047,2212,2018,291.5,12.8,426,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2046,2115,2212,2018,0,0,0,0,0,0,15.32,15.33,15.33
$GC,7152,0.65,126.5,2879,2047,2212,2018,261.1,12.6,451,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2047,2115,2212,2018,0,0,0,0,0,0,15.31,15.33,15.33
$GC,7402,0.65,126.5,2879,2047,2212,2018,231.3,10.2,476,7407,0.00,2.40,0.00,0.000,2564,0.000,0.071,2888,630,2114,2212,2017,0,0,0,0,0,0,15.33,15.09,15.33
$GC,7477,0.65,126.5,2888,630,2209,2017,223.1,10.5,483,7482,0.00,2.35,0.00,0.000,5126,0.000,0.050,2889,2049,2113,2210,2017,0,0,0,0,0,0,15.20,15.11,15.21
$GC,7733,0.65,126.5,2888,2050,2210,2017,197.7,10.6,508,7739,0.00,2.40,0.00,0.000,4612,0.000,0.070,2899,624,2113,2210,2017,0,0,0,0,0,0,15.31,15.09,15.31
$GC,7822,0.65,126.5,2899,625,2210,2018,187.4,11.9,516,7830,0.05,2.40,0.00,0.000,5126,0.396,0.050,2882,2064,2113,2210,2017,0,0,0,0,0,0,14.96,15.10,15.15
$GC,8072,0.68,162.7,2881,2066,2210,2017,166.4,8.1,541,8108,0.00,2.35,27.70,1.275,10500,0.000,0.060,2882,3452,1983,2081,1886,0,0,0,0,0,0,15.30,14.84,14.37
$GC,8162,0.68,162.7,2881,3452,2081,1886,156.8,11.6,550,8168,0.00,2.38,0.00,0.000,1030,0.000,0.056,2891,2036,1983,2081,1886,0,0,0,0,0,0,15.00,14.92,15.02
$GC,8421,0.68,166.6,2890,2035,2078,1885,129.8,9.8,575,8433,0.00,2.35,4.25,0.951,8708,0.000,0.069,2902,626,1967,2062,1873,0,0,0,0,0,0,15.20,14.97,14.42
$GC,8541,0.68,171.5,2902,626,2053,1874,117.3,9.7,586,8554,0.00,2.35,4.88,0.978,13318,0.000,0.047,2902,2050,1949,2038,1860,0,0,0,0,0,0,15.09,15.01,14.43
$GC,8793,0.70,196.6,2902,2051,2038,1860,93.8,8.7,611,8822,0.00,2.45,21.65,1.110,12804,0.000,0.065,2913,624,1845,1937,1754,0,0,0,0,0,0,15.23,14.81,14.40
$GC,8895,0.70,203.3,2912,623,1927,1754,84.6,9.6,620,8909,0.05,2.40,6.18,0.975,13318,0.357,0.047,2895,2056,1818,1907,1730,0,0,0,0,0,0,14.81,14.93,14.39
$GC,9159,0.72,234.4,2895,2057,1907,1730,62.3,8.4,646,9188,0.00,0.00,25.83,1.053,10246,0.000,0.000,2895,2057,1691,1789,1594,0,0,0,0,0,0,15.19,14.85,14.38
$GC,9431,0.72,234.4,2895,2056,1789,1591,35.6,10.9,673,9436,0.00,2.42,0.00,0.000,2564,0.000,0.067,2904,624,1690,1789,1591,0,0,0,0,0,0,15.17,14.95,15.17
$GC,9492,0.72,234.4,2903,625,1783,1591,28.7,11.3,679,9501,0.00,2.38,0.00,0.000,1030,0.000,0.044,2904,2039,1686,1782,1590,0,0,0,0,0,0,14.99,14.95,15.01
$STATE,9704,end climb,SURFACE_DEPTH_REACHED
$STATE,9705,begin surface coast
$FINISH,0.1,1.014198
$STATE,9728,end surface coast,CONTROL_FINISHED_OK
$STATE,9728,begin surface
$SM_CCo,9746,72.70,0.227,0,0,976,410.13
$SM_GC,0.95,6.28,0.08,72.70,0.058,0.135,0.227,179,2142,976,-7.67,-1.10,410.13,0,0,0,0,0,0,15.02,15.00,14.81
$IRIDIUM_FIX,2232.34,-15752.82,010623,123147
$TT8_MAMPS,0.02247,0.342293
$HUMID,45.03
$INTERNAL_PRESSURE,8.97459
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,13.77,16.852
$10V_AH,13.56,0.000
$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,15.700,89.825,309.950,72.700,0.000,32.923,48.500,172.721,0.250,0.000,15.174,2105.359,5324.471,530.665,1976.447,279.191,0.000,1311.921,0.000,1702.012,0.000,0.552,0.000
$DEVICE_MAMPS,459.765,134.640,1832.940,227.205,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,489.686,489.600,866.380,691.849,820.702,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338496
$DATA_FILE_SIZE,67276,722
$CAP_FILE_SIZE,105533,0
$CFSIZE,1023623168,1015283712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$CURRENT,0.146,301.44,1
$GPS,010623,152149,2240.358,-15746.712,15,0.8,38,9.8,0.0,242.2,9,8.5