version: 66.12
revision: eAGLERAY
glider: 523
mission: 6
dive: 22
start: 2 5 123 12 41 1
data:
$ID,523
$MISSION,6
$DIVE,22
$N_DIVES,0
$STOP_T,5152312
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,300
$T_MISSION,750
$T_ABORT,720
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51994
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,200
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2138
$TGT_DEFAULT_LON,-15740.7
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,225
$PITCH_MAX,3926
$C_PITCH,2697
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,297
$ROLL_MAX,3910
$ROLL_DEG,40
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,2130
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2720
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-158.06126
$PRESSURE_SLOPE,0.00013944101
$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,0.25
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$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,0.0043356586
$SEABIRD_T_H,0.00062231533
$SEABIRD_T_I,2.2795146e-05
$SEABIRD_T_J,2.3735117e-06
$SEABIRD_C_G,-10.054367
$SEABIRD_C_H,1.1578499
$SEABIRD_C_I,-0.0023114539
$SEABIRD_C_J,0.00026133118
$GPS1,220603,123534,2159.2075,-15809.0371,57,1.0,86,9.9,0.8,355.7,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-69.7
$GPS2,220603,124037,2159.2776,-15809.1406,30,1.0,32,9.9,1.5,306.1,8,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T2a
$TGT_LATLONG,2157.354,-15755.295
$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,121.8,24047,-18.3,-10.000,-21.04,2236
$D_GRID,900
$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,15,-0.79,-146.0,133,1993,1135,1059,0.0,0.0,0,85,0.00,0.00,-67.45,0.000,16386,0.000,0.000,128,1991,2895,2909,2881,0,0,0,0,0,0,26.16,28.83,26.17
$GC,87,-0.79,-146.0,127,1991,2909,2882,3.7,-8.4,10,110,9.77,2.17,-8.02,0.000,18948,0.245,0.047,2435,597,3319,3340,3298,0,0,0,0,0,0,25.54,24.70,25.71
$GC,211,-0.79,-146.0,2435,597,3340,3298,44.5,-28.9,28,220,0.00,2.15,0.00,0.000,3078,0.000,0.024,2427,1994,3319,3340,3298,0,0,0,0,0,0,26.02,25.99,26.04
$GC,519,-0.79,-146.0,2426,1994,3341,3298,120.4,-22.3,59,529,0.05,2.15,0.00,0.000,2308,0.211,0.046,2430,3382,3319,3340,3298,0,0,0,0,0,0,26.13,26.07,26.18
$GC,563,-0.79,-146.0,2430,3382,3341,3298,129.2,-20.4,63,572,0.00,2.10,0.00,0.000,3078,0.000,0.023,2430,1993,3319,3341,3298,0,0,0,0,0,0,26.22,26.19,26.23
$GC,872,-0.79,-146.0,2430,1993,3341,3298,191.0,-19.4,94,881,0.00,2.12,0.00,0.000,2564,0.000,0.036,2430,587,3320,3342,3298,0,0,0,0,0,0,26.55,26.22,26.56
$GC,904,-0.79,-146.0,2429,587,3342,3298,197.3,-19.6,97,909,0.08,2.10,0.00,0.000,3078,0.186,0.026,2441,1993,3319,3341,3298,0,0,0,0,0,0,26.07,26.25,26.22
$GC,1215,-0.79,-146.0,2440,1993,3342,3298,249.7,-14.7,128,1220,0.00,2.15,0.00,0.000,2308,0.000,0.048,2432,3386,3320,3342,3298,0,0,0,0,0,0,26.63,26.25,26.63
$GC,1256,-0.79,-146.0,2431,3386,3342,3298,255.0,-12.9,132,1261,0.00,2.05,0.00,0.000,3078,0.000,0.024,2431,1985,3320,3342,3298,0,0,0,0,0,0,26.42,26.35,26.44
$GC,1569,-0.79,-146.0,2431,1985,3342,3298,296.6,-12.6,163,1574,0.00,2.10,0.00,0.000,2564,0.000,0.038,2432,595,3320,3342,3298,0,0,0,0,0,0,26.68,26.34,26.68
$GC,1603,-0.79,-146.0,2431,595,3342,3298,301.1,-13.4,166,1611,0.05,2.12,0.00,0.000,3078,0.180,0.025,2437,1987,3319,3342,3297,0,0,0,0,0,0,26.20,26.37,26.29
$GC,1910,-0.79,-146.0,2436,1987,3341,3296,338.8,-12.5,197,1912,0.00,0.00,0.00,0.000,2054,0.000,0.000,2436,1987,3319,3342,3296,0,0,0,0,0,0,26.72,26.73,26.72
$GC,2211,-0.79,-146.0,2435,1987,3341,3294,379.6,-13.7,227,2213,0.00,0.00,0.00,0.000,2054,0.000,0.000,2436,1987,3317,3341,3294,0,0,0,0,0,0,26.75,26.76,26.75
$GC,2511,-0.79,-146.0,2435,1987,3340,3291,419.5,-12.6,257,2513,0.00,0.00,0.00,0.000,2054,0.000,0.000,2436,1987,3315,3339,3291,0,0,0,0,0,0,26.77,26.78,26.78
$GC,2811,-0.79,-146.0,2435,1987,3338,3289,456.6,-12.0,287,2815,0.00,2.17,0.00,0.000,2308,0.000,0.053,2427,3386,3313,3337,3289,0,0,0,0,0,0,26.79,26.38,26.79
$GC,2855,-0.79,-146.0,2426,3386,3337,3289,461.4,-11.4,291,2863,0.05,2.05,0.00,0.000,3078,0.181,0.028,2442,1995,3313,3337,3289,0,0,0,0,0,0,26.36,26.48,26.46
$GC,3162,-0.79,-146.0,2442,1996,3335,3286,495.8,-11.1,322,3166,0.00,2.15,0.00,0.000,516,0.000,0.043,2442,595,3310,3334,3286,0,0,0,0,0,0,26.79,26.44,26.81
$GC,3222,-0.79,-146.0,2442,595,3333,3286,502.9,-12.0,327,3227,0.00,2.10,0.00,0.000,3078,0.000,0.028,2435,1991,3310,3334,3286,0,0,0,0,0,0,26.58,26.47,26.59
$GC,3584,-0.79,-146.0,2434,1991,3331,3282,543.7,-11.2,333,3590,0.00,2.17,0.00,0.000,2308,0.000,0.054,2424,3387,3307,3332,3283,0,0,0,0,0,0,26.82,26.39,26.83
$GC,3636,-0.79,-146.0,2423,3388,3331,3282,543.7,-11.2,333,3645,0.05,2.12,0.00,0.000,3078,0.153,0.029,2440,1990,3307,3331,3283,0,0,0,0,0,0,26.34,26.50,26.42
$GC,3943,-0.79,-146.0,2439,1990,3330,3281,582.0,-10.6,339,3950,0.00,2.15,0.00,0.000,2564,0.000,0.043,2440,585,3304,3329,3280,0,0,0,0,0,0,26.83,26.46,26.84
$GC,3977,-0.79,-146.0,2438,585,3329,3280,582.0,-10.6,339,3982,0.00,2.12,0.00,0.000,3078,0.000,0.031,2432,1990,3304,3329,3280,0,0,0,0,0,0,26.59,26.48,26.61
$GC,4300,-0.79,-146.0,2431,1990,3327,3278,621.5,-11.0,345,4306,0.00,2.20,0.00,0.000,2308,0.000,0.057,2421,3392,3301,3326,3277,0,0,0,0,0,0,26.84,26.40,26.84
$GC,4333,-0.79,-146.0,2420,3392,3327,3278,621.5,-11.0,345,4339,0.08,2.10,0.00,0.000,3078,0.164,0.031,2444,1986,3301,3326,3277,0,0,0,0,0,0,26.34,26.51,26.48
$GC,4657,-0.79,-146.0,2444,1986,3324,3276,656.7,-9.7,351,4662,0.00,2.10,0.00,0.000,516,0.000,0.044,2445,594,3300,3324,3276,0,0,0,0,0,0,26.84,26.46,26.84
$GC,4704,-0.79,-146.0,2444,594,3323,3275,656.7,-9.7,351,4708,0.00,2.12,0.00,0.000,3078,0.000,0.031,2437,1993,3299,3323,3275,0,0,0,0,0,0,26.60,26.49,26.61
$GC,5017,-0.79,-146.0,2436,1993,3322,3273,695.4,-10.8,357,5023,0.00,2.20,0.00,0.000,2564,0.000,0.044,2436,582,3298,3322,3274,0,0,0,0,0,0,26.85,26.45,26.86
$GC,5054,-0.79,-146.0,2436,582,3322,3274,695.4,-10.8,357,5058,0.05,2.15,0.00,0.000,3078,0.204,0.032,2440,1999,3298,3322,3274,0,0,0,0,0,0,26.36,26.49,26.48
$GC,5377,-0.79,-146.0,2439,1999,3320,3272,736.6,-11.1,363,5381,0.00,2.20,0.00,0.000,2308,0.000,0.057,2432,3393,3296,3321,3271,0,0,0,0,0,0,26.85,26.39,26.86
$GC,5396,-0.79,-146.0,2431,3393,3321,3271,736.6,-11.1,363,5401,0.00,2.15,0.00,0.000,3078,0.000,0.031,2431,1991,3296,3320,3272,0,0,0,0,0,0,26.56,26.52,26.58
$GC,5738,-0.79,-146.0,2431,1991,3319,3269,774.6,-10.3,369,5742,0.00,2.17,0.00,0.000,2564,0.000,0.044,2432,578,3294,3319,3269,0,0,0,0,0,0,26.86,26.45,26.86
$GC,5771,-0.79,-146.0,2431,578,3318,3269,774.6,-10.3,369,5777,0.05,2.20,0.00,0.000,3078,0.180,0.032,2436,1988,3293,3318,3269,0,0,0,0,0,0,26.32,26.49,26.39
$GC,6099,-0.79,-146.0,2436,1989,3317,3269,809.9,-9.5,375,6105,0.00,2.22,0.00,0.000,2308,0.000,0.059,2427,3396,3293,3317,3269,0,0,0,0,0,0,26.86,26.38,26.86
$GC,6137,-0.79,-146.0,2426,3397,3318,3268,809.9,-9.5,375,6142,0.05,2.12,0.00,0.000,3078,0.183,0.033,2442,1979,3292,3317,3268,0,0,0,0,0,0,26.39,26.51,26.50
$GC,6459,-0.79,-146.0,2441,1979,3317,3268,841.7,-8.7,381,6466,0.00,2.25,0.00,0.000,260,0.000,0.059,2434,3396,3292,3317,3268,0,0,0,0,0,0,26.85,26.38,26.86
$GC,6492,-0.79,-146.0,2433,3396,3316,3267,841.7,-8.7,381,6496,0.00,2.12,0.00,0.000,3078,0.000,0.034,2434,1985,3292,3317,3267,0,0,0,0,0,0,26.61,26.51,26.63
$GC,6819,-0.79,-146.0,2433,1985,3316,3267,873.0,-8.8,387,6821,0.00,0.00,0.00,0.000,2054,0.000,0.000,2434,1985,3291,3316,3267,0,0,0,0,0,0,26.86,26.87,26.87
$STATE,7118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7118,begin apogee
$GC,7122,-0.17,0.0,2432,2159,3315,3266,901.7,-9.7,392,7286,0.65,0.00,160.52,0.942,10246,0.168,0.000,2644,2159,2720,2770,2671,0,0,0,0,0,0,26.27,24.57,23.92
$STATE,7287,end apogee,CONTROL_FINISHED_OK
$STATE,7287,begin climb
$GC,7288,0.79,146.0,2644,2159,2769,2670,906.1,0.0,394,7434,0.85,2.40,136.05,1.074,10756,0.063,0.045,2960,731,2122,2188,2056,0,0,0,0,0,0,24.73,24.41,23.79
$GC,7475,0.79,146.0,2960,731,2181,2051,898.2,6.3,398,7480,0.00,2.22,0.00,0.000,5126,0.000,0.035,2960,2105,2116,2181,2051,0,0,0,0,0,0,25.11,25.01,25.13
$GC,7837,0.79,146.0,2960,2105,2179,2043,854.3,12.3,404,7843,0.00,2.33,0.00,0.000,4356,0.000,0.064,2961,3527,2111,2179,2043,0,0,0,0,0,0,26.15,25.76,26.15
$GC,7920,0.79,146.0,2960,3527,2178,2043,846.2,12.6,405,7925,0.05,2.20,0.00,0.000,5126,0.193,0.034,2959,2130,2110,2178,2043,0,0,0,0,0,0,25.75,25.91,25.84
$GC,8257,0.79,146.0,2958,2130,2177,2043,801.1,12.4,411,8263,0.00,2.28,0.00,0.000,4356,0.000,0.064,2958,3526,2110,2177,2043,0,0,0,0,0,0,26.41,25.98,26.41
$GC,8355,0.79,146.0,2958,3526,2176,2042,793.2,12.6,412,8360,0.05,2.17,0.00,0.000,5126,0.190,0.034,2954,2130,2109,2176,2042,0,0,0,0,0,0,25.94,26.12,26.03
$GC,8678,0.79,146.0,2954,2130,2176,2042,749.1,12.2,418,8685,0.00,2.20,0.00,0.000,4612,0.000,0.050,2963,727,2108,2175,2042,0,0,0,0,0,0,26.53,26.15,26.53
$GC,8730,0.79,146.0,2963,727,2174,2042,749.1,12.2,418,8737,0.00,2.22,0.00,0.000,5126,0.000,0.039,2963,2118,2108,2174,2042,0,0,0,0,0,0,26.22,26.16,26.25
$GC,9037,0.79,146.0,2963,2118,2174,2042,701.7,13.3,424,9039,0.00,0.00,0.00,0.000,4102,0.000,0.000,2963,2118,2108,2175,2041,0,0,0,0,0,0,26.59,26.60,26.60
$GC,9337,0.79,146.0,2962,2118,2174,2042,662.2,13.1,429,9339,0.00,0.00,0.00,0.000,4102,0.000,0.000,2964,2118,2108,2174,2042,0,0,0,0,0,0,26.63,26.64,26.64
$GC,9637,0.79,146.0,2963,2118,2174,2042,624.1,12.5,434,9643,0.00,2.17,0.00,0.000,4612,0.000,0.045,2973,717,2108,2174,2042,0,0,0,0,0,0,26.67,26.28,26.67
$GC,9725,0.79,146.0,2973,717,2174,2041,616.4,12.5,435,9730,0.08,2.25,0.00,0.000,5126,0.162,0.037,2951,2140,2107,2173,2041,0,0,0,0,0,0,26.13,26.29,26.22
$GC,10057,0.79,146.0,2951,2141,2174,2042,575.2,11.1,441,10064,0.00,2.22,0.00,0.000,260,0.000,0.063,2952,3539,2107,2174,2041,0,0,0,0,0,0,26.69,26.25,26.70
$GC,10100,0.79,146.0,2951,3539,2173,2041,575.2,11.1,441,10105,0.00,2.17,0.00,0.000,5126,0.000,0.034,2961,2127,2107,2174,2041,0,0,0,0,0,0,26.42,26.38,26.44
$GC,10417,0.79,146.0,2960,2127,2174,2041,534.7,11.0,447,10419,0.00,0.00,0.00,0.000,4102,0.000,0.000,2961,2128,2107,2174,2041,0,0,0,0,0,0,26.72,26.73,26.73
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$GC,12856,0.83,182.7,2963,3533,2105,1975,288.2,9.1,660,12879,0.00,2.10,17.88,0.692,13318,0.000,0.028,2975,2121,1977,2042,1912,0,0,0,0,0,0,26.34,26.27,25.36
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$STATE,15798,end climb,SURFACE_DEPTH_REACHED
$STATE,15798,begin surface coast
$FINISH,0.2,1.023148
$STATE,15825,end surface coast,CONTROL_FINISHED_OK
$STATE,15825,begin surface
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$TT8_MAMPS,0.023219,0.220206
$HUMID,39.36
$INTERNAL_PRESSURE,9.31248
$TCM_TEMP,23.80
$XPDR_PINGS,1
$24V_AH,23.79,6.023
$10V_AH,10.35,6.544
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,74.150,7.490,54.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,340108
$DATA_FILE_SIZE,57012,983
$CAP_FILE_SIZE,150476,0
$CFSIZE,2097086464,2092564480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.134,320.84,1
$GPS,220603,170707,2158.749,-15808.187,32,0.9,34,9.9,0.9,316.2,9,9.0