version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 65
start: 6 1 123 18 20 13
data:
$ID,626
$MISSION,4
$DIVE,65
$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,26
$R_STBD_OVSHOOT,74
$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
$GPS1,010623,181319,2239.7075,-15746.8174,14,0.8,43,9.8,1.0,231.4,9,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-74.0
$GPS2,010623,181948,2239.7241,-15746.8887,7,0.8,16,9.8,0.6,272.0,9,9.7
$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,130.1,15547,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.65,-126.5,125,2103,998,938,0.0,0.0,0,87,0.00,0.00,-67.00,0.000,16390,0.000,0.000,125,2103,3167,3137,3198,0,0,0,0,0,0,15.11,14.12,15.12
$GC,91,-0.65,-126.5,125,2103,3138,3199,3.7,-7.8,10,106,7.85,2.30,0.00,0.000,2564,0.456,0.038,2462,663,3169,3140,3199,0,0,0,0,0,0,14.66,14.88,14.82
$GC,130,-0.65,-126.5,2461,663,3149,3194,22.6,-45.9,16,139,0.00,2.35,0.00,0.000,3078,0.000,0.045,2453,2060,3171,3151,3191,0,0,0,0,0,0,14.96,14.92,15.01
$GC,390,-0.65,-126.5,2453,2064,3155,3190,95.7,-25.3,43,396,0.00,0.00,0.00,0.000,2054,0.000,0.000,2453,2064,3173,3156,3190,0,0,0,0,0,0,15.22,15.22,15.22
$GC,637,-0.65,-126.5,2453,2063,3156,3190,148.8,-17.6,68,646,0.00,0.00,0.00,0.000,2054,0.000,0.000,2453,2063,3173,3157,3189,0,0,0,0,0,0,15.28,15.28,15.28
$GC,888,-0.65,-126.5,2453,2063,3158,3189,192.8,-17.3,93,894,0.00,2.35,0.00,0.000,2308,0.000,0.054,2441,3510,3173,3158,3189,0,0,0,0,0,0,15.30,15.08,15.30
$GC,1030,-0.65,-126.5,2441,3510,3158,3189,211.6,-13.2,106,1039,0.05,2.30,0.00,0.000,3078,0.402,0.048,2457,2090,3173,3158,3189,0,0,0,0,0,0,14.96,15.10,15.14
$GC,1279,-0.65,-126.5,2457,2087,3160,3190,245.3,-13.4,131,1285,0.00,2.28,0.00,0.000,2564,0.000,0.058,2458,693,3174,3160,3189,0,0,0,0,0,0,15.33,15.11,15.33
$GC,1335,-0.65,-126.5,2458,693,3161,3189,252.7,-12.7,136,1340,0.00,2.28,0.00,0.000,3078,0.000,0.044,2449,2102,3175,3161,3189,0,0,0,0,0,0,15.21,15.13,15.22
$GC,1592,-0.65,-126.5,2449,2103,3161,3189,284.7,-12.4,161,1597,0.00,2.30,0.00,0.000,2308,0.000,0.057,2438,3514,3175,3161,3189,0,0,0,0,0,0,15.33,15.12,15.34
$GC,1687,-0.65,-126.5,2438,3514,3160,3189,296.5,-12.0,170,1693,0.08,2.28,0.00,0.000,3078,0.347,0.046,2464,2098,3175,3161,3189,0,0,0,0,0,0,15.00,15.14,15.16
$GC,1944,-0.65,-126.5,2464,2095,3161,3188,323.2,-9.9,195,1949,0.00,2.28,0.00,0.000,516,0.000,0.059,2464,694,3174,3161,3188,0,0,0,0,0,0,15.34,15.13,15.35
$GC,1993,-0.65,-126.5,2464,693,3161,3187,327.9,-10.2,199,2000,0.00,2.30,0.00,0.000,3078,0.000,0.047,2454,2107,3174,3162,3187,0,0,0,0,0,0,15.23,15.14,15.23
$GC,2241,-0.65,-126.5,2454,2108,3161,3186,354.2,-10.4,224,2247,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,2108,3173,3161,3185,0,0,0,0,0,0,15.35,15.35,15.34
$GC,2489,-0.65,-126.5,2454,2108,3161,3182,381.9,-11.1,249,2497,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,2108,3172,3162,3182,0,0,0,0,0,0,15.35,15.36,15.36
$GC,2739,-0.65,-126.5,2454,2108,3161,3179,408.3,-10.4,268,2745,0.00,2.35,0.00,0.000,2564,0.000,0.060,2454,691,3170,3161,3179,0,0,0,0,0,0,15.37,15.14,15.37
$GC,2773,-0.65,-126.5,2454,692,3161,3179,408.3,-10.4,268,2779,0.05,2.30,0.00,0.000,3078,0.449,0.048,2460,2099,3170,3161,3179,0,0,0,0,0,0,15.00,15.16,15.19
$GC,3028,-0.65,-126.5,2460,2103,3162,3176,436.8,-9.5,275,3030,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,2103,3169,3162,3176,0,0,0,0,0,0,15.39,15.40,15.40
$GC,3268,-0.65,-126.5,2460,2102,3161,3172,459.7,-9.6,281,3273,0.00,2.35,0.00,0.000,2564,0.000,0.063,2460,689,3166,3162,3171,0,0,0,0,0,0,15.40,15.17,15.40
$GC,3346,-0.65,-126.5,2460,689,3161,3171,464.3,-9.8,282,3353,0.00,2.38,0.00,0.000,3078,0.000,0.050,2451,2101,3166,3161,3171,0,0,0,0,0,0,15.28,15.18,15.29
$GC,3593,-0.65,-126.5,2451,2103,3162,3167,493.0,-10.2,289,3598,0.00,2.30,0.00,0.000,2308,0.000,0.063,2440,3511,3164,3161,3167,0,0,0,0,0,0,15.40,15.19,15.41
$GC,3640,-0.65,-126.5,2439,3511,3161,3167,497.7,-10.1,290,3646,0.08,2.30,0.00,0.000,3078,0.347,0.050,2466,2094,3164,3161,3167,0,0,0,0,0,0,15.06,15.19,15.23
$GC,3920,-0.65,-126.5,2466,2092,3161,3163,522.7,-8.8,297,3926,0.00,2.30,0.00,0.000,516,0.000,0.065,2467,695,3162,3161,3163,0,0,0,0,0,0,15.40,15.19,15.41
$GC,4006,-0.65,-126.5,2466,694,3160,3163,530.3,-8.8,299,4011,0.00,2.33,0.00,0.000,3078,0.000,0.051,2457,2109,3161,3160,3162,0,0,0,0,0,0,15.28,15.19,15.29
$GC,4291,-0.65,-126.5,2457,2109,3160,3158,554.3,-8.3,306,4293,0.00,0.00,0.00,0.000,2054,0.000,0.000,2457,2109,3159,3160,3158,0,0,0,0,0,0,15.41,15.42,15.41
$GC,4530,-0.65,-126.5,2457,2109,3160,3155,574.2,-8.4,312,4535,0.00,2.38,0.00,0.000,2564,0.000,0.064,2457,686,3157,3160,3155,0,0,0,0,0,0,15.42,15.19,15.42
$GC,4598,-0.65,-126.5,2457,686,3158,3156,578.1,-8.5,313,4605,0.03,2.35,0.00,0.000,3078,0.597,0.053,2455,2107,3157,3159,3155,0,0,0,0,0,0,15.03,15.19,15.23
$STATE,4856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4856,begin apogee
$GC,4864,-0.14,0.0,2455,2002,3158,3152,602.6,-8.6,320,4978,0.45,0.00,108.60,1.825,10246,0.263,0.000,2623,2001,2649,2741,2558,0,0,0,0,0,0,15.07,14.49,13.83
$STATE,4979,end apogee,CONTROL_FINISHED_OK
$STATE,4979,begin climb
$GC,4982,0.65,126.5,2623,2001,2740,2557,604.9,0.0,323,5100,0.65,0.00,114.07,1.771,10246,0.145,0.000,2885,2001,2131,2239,2024,0,0,0,0,0,0,14.49,14.41,13.78
$GC,5338,0.65,126.5,2885,2000,2229,2019,550.7,17.7,332,5345,0.00,2.28,0.00,0.000,516,0.000,0.072,2895,661,2124,2229,2019,0,0,0,0,0,0,15.11,14.89,15.13
$GC,5392,0.65,126.5,2895,661,2222,2019,542.5,17.6,333,5398,0.00,2.33,0.00,0.000,5126,0.000,0.051,2895,2039,2120,2222,2019,0,0,0,0,0,0,15.04,14.95,15.04
$GC,5667,0.65,126.5,2895,2042,2222,2018,490.0,18.4,340,5672,0.00,2.35,0.00,0.000,4612,0.000,0.072,2905,657,2120,2222,2018,0,0,0,0,0,0,15.25,15.02,15.26
$GC,5690,0.65,126.5,2905,656,2219,2018,490.0,18.4,340,5696,0.08,2.33,0.00,0.000,5126,0.372,0.051,2879,2051,2118,2218,2018,0,0,0,0,0,0,14.91,15.05,15.10
$GC,5954,0.65,126.5,2879,2053,2218,2018,440.2,17.1,347,5960,0.00,2.35,0.00,0.000,516,0.000,0.072,2888,660,2118,2218,2018,0,0,0,0,0,0,15.30,15.08,15.31
$GC,5998,0.65,126.5,2888,659,2215,2017,432.3,17.3,348,6005,0.00,2.30,0.00,0.000,5126,0.000,0.050,2888,2049,2116,2215,2017,0,0,0,0,0,0,15.19,15.11,15.20
$GC,6254,0.65,126.5,2888,2051,2215,2018,388.5,16.5,358,6261,0.00,0.00,0.00,0.000,4102,0.000,0.000,2888,2051,2116,2216,2017,0,0,0,0,0,0,15.33,15.33,15.33
$GC,6503,0.65,126.5,2888,2051,2215,2017,346.3,17.9,383,6508,0.00,2.35,0.00,0.000,4612,0.000,0.071,2899,658,2116,2216,2016,0,0,0,0,0,0,15.33,15.09,15.33
$GC,6567,0.65,126.5,2898,657,2211,2016,335.0,17.4,389,6573,0.05,2.30,0.00,0.000,5126,0.422,0.049,2882,2041,2113,2211,2016,0,0,0,0,0,0,14.97,15.12,15.16
$GC,6822,0.65,126.5,2881,2043,2211,2016,295.7,14.1,414,6828,0.00,2.33,0.00,0.000,516,0.000,0.071,2890,665,2113,2211,2016,0,0,0,0,0,0,15.32,15.09,15.33
$GC,6897,0.65,126.5,2890,665,2210,2016,285.6,13.5,421,6903,0.00,2.28,0.00,0.000,5126,0.000,0.048,2890,2043,2113,2210,2016,0,0,0,0,0,0,15.20,15.11,15.21
$GC,7155,0.65,126.5,2890,2044,2210,2015,254.2,12.1,446,7161,0.00,2.30,0.00,0.000,4356,0.000,0.060,2890,3447,2113,2210,2016,0,0,0,0,0,0,15.32,15.10,15.32
$GC,7224,0.65,126.5,2890,3447,2210,2016,245.1,13.1,452,7232,0.05,2.30,0.00,0.000,5126,0.461,0.057,2887,2067,2113,2210,2016,0,0,0,0,0,0,14.94,15.09,15.16
$GC,7470,0.65,126.5,2886,2065,2210,2016,213.9,12.5,477,7475,0.00,2.40,0.00,0.000,4612,0.000,0.070,2895,625,2113,2210,2016,0,0,0,0,0,0,15.31,15.09,15.32
$GC,7576,0.65,126.5,2895,625,2207,2014,200.6,13.1,487,7582,0.00,2.35,0.00,0.000,5126,0.000,0.049,2895,2050,2110,2207,2014,0,0,0,0,0,0,15.19,15.11,15.21
$GC,7833,0.67,157.6,2896,2050,2206,2014,173.4,8.4,512,7860,0.00,0.00,23.23,1.295,12806,0.000,0.000,2896,2050,2004,2104,1905,0,0,0,0,0,0,15.30,14.93,14.38
$GC,8105,0.67,157.6,2895,2051,2099,1902,144.6,11.0,539,8111,0.00,2.30,0.00,0.000,4356,0.000,0.059,2895,3446,2001,2099,1904,0,0,0,0,0,0,15.21,15.00,15.22
$GC,8191,0.67,157.6,2895,3447,2099,1904,134.5,11.2,547,8198,0.05,2.35,0.00,0.000,5126,0.419,0.056,2890,2034,2001,2099,1904,0,0,0,0,0,0,14.88,15.01,15.06
$GC,8447,0.69,179.2,2890,2034,2099,1905,110.7,8.9,572,8470,0.00,2.40,18.00,1.144,8708,0.000,0.067,2899,630,1916,2012,1821,0,0,0,0,0,0,15.26,14.92,14.42
$GC,8621,0.69,187.3,2899,629,1999,1821,95.3,9.6,588,8635,0.00,2.38,7.18,1.028,13318,0.000,0.046,2899,2036,1884,1974,1795,0,0,0,0,0,0,15.08,14.97,14.42
$GC,8885,0.71,214.5,2899,2036,1974,1794,71.6,8.6,614,8918,0.00,2.38,22.75,1.071,8452,0.000,0.055,2900,3446,1773,1867,1679,0,0,0,0,0,0,15.21,14.87,14.40
$GC,8933,0.72,227.7,2899,3446,1868,1679,67.1,9.3,618,8950,0.00,2.35,12.18,1.021,13318,0.000,0.054,2910,2039,1718,1816,1621,0,0,0,0,0,0,14.97,14.88,14.35
$GC,9200,0.72,227.7,2910,2039,1815,1619,35.9,12.2,644,9205,0.00,2.38,0.00,0.000,4612,0.000,0.069,2921,621,1716,1815,1618,0,0,0,0,0,0,15.17,14.95,15.18
$GC,9320,0.72,227.7,2921,622,1807,1618,20.8,12.1,661,9329,0.05,2.38,0.00,0.000,5126,0.375,0.044,2904,2038,1712,1807,1618,0,0,0,0,0,0,14.85,14.97,15.03
$STATE,9467,end climb,SURFACE_DEPTH_REACHED
$STATE,9468,begin surface coast
$FINISH,0.2,1.022962
$STATE,9498,end surface coast,CONTROL_FINISHED_OK
$STATE,9499,begin surface
$SM_CCo,9517,75.45,0.230,0,0,975,410.13
$SM_GC,0.91,6.32,0.08,75.45,0.070,0.135,0.230,158,2150,975,-7.65,-1.16,410.13,0,0,0,0,0,0,15.02,15.00,14.81
$IRIDIUM_FIX,2232.34,-15745.45,010623,181501
$TT8_MAMPS,0.023219,0.310835
$HUMID,45.47
$INTERNAL_PRESSURE,8.97459
$TCM_TEMP,23.60
$XPDR_PINGS,2
$24V_AH,13.78,17.327
$10V_AH,13.49,0.000
$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,15.825,98.025,306.000,75.450,0.000,27.138,40.015,177.789,0.500,0.000,17.143,2093.156,5148.004,550.614,1912.776,279.518,0.000,1294.349,0.000,1651.093,0.000,0.553,0.000
$DEVICE_MAMPS,596.700,198.135,1824.525,229.500,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,470.028,467.293,829.182,661.205,773.959,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338480
$DATA_FILE_SIZE,64181,693
$CAP_FILE_SIZE,106289,0
$CFSIZE,1023623168,1015119872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.139,283.44,1
$GPS,010623,210125,2238.943,-15746.896,15,0.7,38,9.8,0.0,291.6,11,5.8