version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 194
start: 6 21 123 10 38 4
data:
$ID,626
$MISSION,4
$DIVE,194
$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,166
$T_MISSION,500
$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,380
$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,34
$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,2050
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2710
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00041499999
$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
$GPS1,210623,102935,2301.4458,-15752.7080,18,0.7,33,9.9,0.7,101.2,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-73.9
$GPS2,210623,103740,2301.5518,-15752.7666,6,0.8,14,9.9,0.0,323.1,10,9.5
$SPEED_LIMITS,0.209,0.245
$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,153.0,57166,-23.6,-12.048,-26.18,1615
$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,-0.75,-126.5,128,2021,904,763,0.0,0.0,0,88,0.00,0.00,-68.70,0.000,16386,0.000,0.000,128,2021,3134,3098,3171,0,0,0,0,0,0,15.16,28.83,15.16
$GC,92,-0.75,-126.5,128,2021,3100,3171,3.7,-8.3,10,108,7.80,2.33,-1.42,0.000,18948,0.454,0.064,2432,618,3228,3195,3262,0,0,0,0,0,0,14.57,13.91,14.78
$GC,142,-0.75,-126.5,2432,618,3206,3253,27.3,-38.7,18,150,0.00,2.40,0.00,0.000,3078,0.000,0.044,2423,2060,3229,3207,3252,0,0,0,0,0,0,15.04,14.95,15.06
$GC,401,-0.75,-126.5,2423,2061,3209,3252,99.6,-24.2,44,407,0.00,2.30,0.00,0.000,2308,0.000,0.056,2413,3466,3230,3209,3252,0,0,0,0,0,0,15.26,15.02,15.26
$GC,518,-0.75,-126.5,2412,3464,3210,3252,122.7,-18.8,55,524,0.05,2.33,0.00,0.000,3078,0.420,0.049,2433,2045,3231,3210,3252,0,0,0,0,0,0,14.83,15.04,15.07
$GC,775,-0.75,-126.5,2433,2042,3214,3250,172.4,-19.4,80,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2042,3231,3213,3250,0,0,0,0,0,0,15.31,15.32,15.32
$GC,1023,-0.75,-126.5,2433,2042,3214,3250,218.9,-17.5,105,1029,0.00,2.30,0.00,0.000,516,0.000,0.059,2437,632,3232,3214,3250,0,0,0,0,0,0,15.33,15.08,15.34
$GC,1057,-0.75,-126.5,2436,632,3215,3249,224.7,-17.1,108,1062,0.00,2.33,0.00,0.000,3078,0.000,0.049,2428,2053,3232,3215,3249,0,0,0,0,0,0,15.20,15.09,15.21
$GC,1315,-0.75,-126.5,2428,2052,3215,3249,264.9,-14.5,133,1320,0.00,2.30,0.00,0.000,2308,0.000,0.060,2417,3462,3231,3214,3248,0,0,0,0,0,0,15.34,15.09,15.34
$GC,1407,-0.75,-126.5,2417,3462,3215,3249,277.1,-12.3,141,1415,0.00,2.35,0.00,0.000,3078,0.000,0.048,2419,2055,3231,3215,3248,0,0,0,0,0,0,15.09,15.04,15.10
$GC,1657,-0.75,-126.5,2418,2055,3215,3246,311.2,-14.8,166,1662,0.00,2.33,0.00,0.000,2564,0.000,0.061,2428,640,3230,3215,3246,0,0,0,0,0,0,15.34,15.09,15.35
$GC,1693,-0.75,-126.5,2427,640,3216,3246,317.0,-15.5,169,1699,0.00,2.33,0.00,0.000,3078,0.000,0.049,2419,2060,3231,3216,3246,0,0,0,0,0,0,15.21,15.11,15.22
$GC,1950,-0.75,-126.5,2419,2060,3216,3244,355.9,-15.1,194,1955,0.00,2.35,0.00,0.000,2564,0.000,0.057,2425,640,3230,3216,3244,0,0,0,0,0,0,15.35,15.10,15.35
$GC,1984,-0.75,-126.5,2424,638,3216,3245,361.7,-16.0,197,1990,0.05,2.33,0.00,0.000,3078,0.440,0.048,2432,2056,3230,3216,3245,0,0,0,0,0,0,14.88,15.11,15.13
$GC,2239,-0.75,-126.5,2432,2057,3216,3243,396.4,-13.0,222,2246,0.00,0.00,0.00,0.000,2054,0.000,0.000,2432,2057,3229,3216,3242,0,0,0,0,0,0,15.35,15.36,15.36
$GC,2509,-0.75,-126.5,2430,2057,3216,3238,429.4,-12.2,231,2515,0.00,2.33,0.00,0.000,2308,0.000,0.062,2422,3459,3227,3216,3238,0,0,0,0,0,0,15.38,15.11,15.38
$GC,2588,-0.75,-126.5,2422,3460,3215,3237,435.2,-12.6,232,2594,0.00,2.30,0.00,0.000,3078,0.000,0.050,2423,2052,3226,3216,3237,0,0,0,0,0,0,15.23,15.12,15.24
$GC,2834,-0.75,-126.5,2422,2052,3216,3235,470.9,-13.0,239,2836,0.00,0.00,0.00,0.000,2054,0.000,0.000,2422,2051,3225,3215,3235,0,0,0,0,0,0,15.39,15.40,15.40
$GC,3074,-0.75,-126.5,2422,2052,3216,3229,503.0,-13.4,245,3080,0.00,2.35,0.00,0.000,2564,0.000,0.065,2428,636,3222,3215,3230,0,0,0,0,0,0,15.40,15.11,15.40
$GC,3162,-0.75,-126.5,2427,635,3215,3230,513.9,-13.1,247,3168,0.00,2.35,0.00,0.000,3078,0.000,0.051,2419,2053,3222,3215,3229,0,0,0,0,0,0,15.23,15.13,15.25
$GC,3441,-0.75,-126.5,2418,2053,3215,3225,548.0,-12.1,254,3443,0.00,0.00,0.00,0.000,2054,0.000,0.000,2418,2052,3219,3214,3225,0,0,0,0,0,0,15.40,15.40,15.39
$GC,3682,-0.75,-126.5,2418,2053,3215,3222,575.8,-11.4,260,3684,0.03,0.00,0.00,0.000,2054,0.616,0.000,2426,2053,3217,3214,3221,0,0,0,0,0,0,15.01,15.20,15.16
$STATE,3918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3918,begin apogee
$GC,3926,-0.15,0.0,2426,1972,3214,3218,601.9,-10.9,266,4042,0.55,0.00,107.00,1.746,10246,0.269,0.000,2626,1970,2709,2787,2631,0,0,0,0,0,0,14.92,14.47,13.95
$STATE,4043,end apogee,CONTROL_FINISHED_OK
$STATE,4043,begin climb
$GC,4046,0.75,126.5,2626,1970,2787,2631,603.7,0.0,269,4166,0.65,2.40,110.85,1.704,10756,0.132,0.070,2914,615,2192,2284,2100,0,0,0,0,0,0,14.59,14.51,13.93
$GC,4186,0.75,126.5,2914,615,2277,2100,592.7,11.8,272,4192,0.00,2.40,0.00,0.000,1030,0.000,0.051,2913,2007,2187,2276,2099,0,0,0,0,0,0,14.76,14.68,14.77
$GC,4450,0.75,126.5,2913,2008,2274,2094,535.1,20.2,279,4455,0.00,2.40,0.00,0.000,516,0.000,0.070,2924,605,2184,2274,2094,0,0,0,0,0,0,15.21,14.96,15.22
$GC,4478,0.75,126.5,2923,605,2270,2094,535.1,20.2,279,4484,0.00,2.35,0.00,0.000,5126,0.000,0.050,2924,2005,2182,2270,2094,0,0,0,0,0,0,15.09,15.00,15.11
$GC,4738,0.75,126.5,2923,2006,2270,2093,479.7,19.1,286,4741,0.00,0.00,0.00,0.000,4102,0.000,0.000,2924,2006,2181,2270,2093,0,0,0,0,0,0,15.30,15.31,15.30
$GC,4978,0.75,126.5,2923,2006,2269,2092,435.8,18.5,292,4983,0.00,2.33,0.00,0.000,4356,0.000,0.063,2924,3412,2180,2270,2091,0,0,0,0,0,0,15.34,15.08,15.35
$GC,5011,0.75,126.5,2923,3412,2270,2091,435.8,18.5,292,5017,0.08,2.33,0.00,0.000,5126,0.422,0.058,2912,2021,2181,2270,2092,0,0,0,0,0,0,14.85,15.09,15.14
$GC,5266,0.75,126.5,2912,2018,2269,2090,388.2,14.3,302,5272,0.00,2.33,0.00,0.000,260,0.000,0.064,2912,3410,2180,2270,2090,0,0,0,0,0,0,15.35,15.09,15.36
$GC,5315,0.75,126.5,2912,3410,2270,2090,381.4,15.2,306,5322,0.00,2.40,0.00,0.000,5126,0.000,0.058,2921,1989,2179,2269,2090,0,0,0,0,0,0,15.20,15.08,15.22
$GC,5564,0.75,126.5,2920,1988,2269,2088,345.0,13.7,331,5569,0.00,2.35,0.00,0.000,4612,0.000,0.070,2932,579,2179,2270,2088,0,0,0,0,0,0,15.33,15.07,15.33
$GC,5623,0.75,126.5,2932,579,2263,2087,336.6,14.8,336,5631,0.08,2.40,0.00,0.000,5126,0.418,0.053,2910,2004,2175,2264,2087,0,0,0,0,0,0,14.83,15.09,15.12
$GC,5871,0.75,126.5,2909,2005,2263,2087,304.4,13.1,361,5876,0.00,2.33,0.00,0.000,260,0.000,0.062,2909,3402,2175,2264,2086,0,0,0,0,0,0,15.33,15.06,15.33
$GC,5898,0.75,126.5,2909,3402,2263,2087,300.6,14.3,363,5906,0.00,2.42,0.00,0.000,5126,0.000,0.060,2918,1996,2174,2263,2086,0,0,0,0,0,0,15.11,15.04,15.13
$GC,6149,0.75,126.5,2918,1996,2263,2087,265.0,13.2,388,6155,0.00,0.00,0.00,0.000,4102,0.000,0.000,2918,1996,2175,2263,2087,0,0,0,0,0,0,15.32,15.33,15.32
$GC,6396,0.75,142.3,2917,1996,2263,2086,235.5,11.0,413,6413,0.00,2.38,11.52,1.294,12804,0.000,0.067,2929,587,2127,2218,2037,0,0,0,0,0,0,15.33,14.92,14.45
$GC,6446,0.75,145.0,2929,586,2213,2036,229.9,11.9,417,6452,0.05,2.35,0.00,0.000,5126,0.429,0.050,2915,1998,2124,2213,2035,0,0,0,0,0,0,14.83,15.03,15.05
$GC,6702,0.76,157.7,2914,1999,2213,2035,200.1,11.2,442,6726,0.00,2.38,14.02,1.247,8452,0.000,0.062,2914,3401,2064,2156,1972,0,0,0,0,0,0,15.28,14.95,14.42
$GC,6924,0.76,157.7,2912,3401,2156,1973,170.6,14.1,462,6932,0.00,2.42,0.00,0.000,5126,0.000,0.059,2924,1994,2064,2156,1972,0,0,0,0,0,0,15.11,14.98,15.13
$GC,7174,0.76,157.7,2924,1993,2156,1971,135.3,13.3,487,7179,0.00,2.38,0.00,0.000,4612,0.000,0.069,2935,578,2063,2156,1970,0,0,0,0,0,0,15.27,15.02,15.28
$GC,7225,0.76,157.7,2935,576,2151,1970,128.7,13.3,491,7233,0.05,2.40,0.00,0.000,5126,0.366,0.048,2920,2002,2060,2152,1969,0,0,0,0,0,0,14.80,15.03,14.97
$GC,7474,0.77,177.3,2920,2002,2152,1969,99.6,10.8,516,7499,0.00,2.33,16.58,1.098,8452,0.000,0.057,2920,3401,1984,2073,1896,0,0,0,0,0,0,15.30,14.88,14.47
$GC,7568,0.77,177.3,2919,3401,2073,1896,88.5,12.2,524,7573,0.00,2.35,0.00,0.000,5126,0.000,0.057,2928,1996,1984,2073,1896,0,0,0,0,0,0,15.09,14.98,15.10
$GC,7826,0.79,227.2,2928,1996,2073,1895,60.6,8.9,549,7874,0.00,0.00,40.05,1.043,8710,0.000,0.000,2928,1996,1780,1870,1691,0,0,0,0,0,0,15.25,14.69,14.34
$GC,8114,0.79,231.3,2928,1995,1869,1686,27.2,11.8,580,8121,0.00,0.00,1.35,0.416,12294,0.000,0.000,2928,1995,1764,1855,1673,0,0,0,0,0,0,15.20,14.84,14.68
$STATE,8331,end climb,SURFACE_DEPTH_REACHED
$STATE,8331,begin surface coast
$FINISH,-0.1,1.002987
$STATE,8371,end surface coast,CONTROL_FINISHED_OK
$STATE,8371,begin surface
$SM_CCo,8390,62.72,0.208,0,0,1159,380.21
$SM_GC,0.84,6.45,0.10,62.72,0.073,0.117,0.208,159,2097,1159,-7.69,-0.99,380.21,0,0,0,0,0,0,15.02,15.01,14.81
$IRIDIUM_FIX,2251.04,-15752.35,210623,064442
$TT8_MAMPS,0.02247,0.342293
$HUMID,48.62
$INTERNAL_PRESSURE,8.94529
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,13.91,53.738
$10V_AH,13.99,0.000
$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,15.825,84.875,301.375,62.725,0.000,32.944,56.757,238.456,0.000,0.000,15.357,1821.461,4437.741,486.847,1891.579,293.078,0.000,1180.154,0.000,1471.932,0.000,0.553,0.000
$DEVICE_MAMPS,615.825,123.930,1745.730,208.080,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,425.180,966.005,761.181,620.924,720.897,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338644
$DATA_FILE_SIZE,60866,628
$CAP_FILE_SIZE,96980,0
$CFSIZE,1023623168,1002536960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,10
$CURRENT,0.173,314.34,1
$GPS,210623,130019,2301.110,-15753.034,18,0.9,41,9.9,0.7,294.1,9,7.3