version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 195
start: 6 21 123 13 7 49
data:
$ID,626
$MISSION,4
$DIVE,195
$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,53
$R_STBD_OVSHOOT,79
$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
$GPS1,210623,130019,2301.1104,-15753.0342,18,0.9,41,9.9,0.7,294.1,9,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-77.3
$GPS2,210623,130724,2301.1831,-15753.0996,7,0.8,22,9.9,0.6,345.7,10,8.2
$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,134.5,56629,-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,-126.5,127,2028,1186,1104,0.0,0.0,0,79,0.00,0.00,-59.55,0.000,16386,0.000,0.000,127,2028,3055,3026,3084,0,0,0,0,0,0,15.16,28.83,15.17
$GC,83,-0.75,-126.5,127,2028,3028,3084,3.1,-6.2,9,100,7.75,2.28,-2.85,0.000,18948,0.445,0.067,2435,649,3229,3200,3259,0,0,0,0,0,0,14.64,13.89,14.97
$GC,120,-0.75,-126.5,2435,648,3208,3253,20.2,-46.5,14,127,0.00,2.28,0.00,0.000,3078,0.000,0.041,2427,2005,3230,3209,3252,0,0,0,0,0,0,14.97,14.92,14.99
$GC,376,-0.75,-126.5,2427,2007,3212,3252,93.4,-24.8,41,382,0.00,2.38,0.00,0.000,2308,0.000,0.057,2416,3454,3232,3213,3252,0,0,0,0,0,0,15.26,15.01,15.26
$GC,442,-0.75,-126.5,2415,3454,3213,3253,108.5,-21.1,47,448,0.00,2.28,0.00,0.000,3078,0.000,0.052,2419,2069,3232,3213,3252,0,0,0,0,0,0,15.13,15.03,15.14
$GC,698,-0.75,-126.5,2418,2068,3215,3252,162.7,-19.2,72,706,0.00,0.00,0.00,0.000,2054,0.000,0.000,2418,2068,3233,3215,3252,0,0,0,0,0,0,15.30,15.30,15.30
$GC,947,-0.75,-126.5,2417,2068,3215,3252,206.7,-17.2,97,953,0.00,2.35,0.00,0.000,2564,0.000,0.059,2427,636,3233,3215,3252,0,0,0,0,0,0,15.33,15.07,15.33
$GC,982,-0.75,-126.5,2427,635,3218,3252,212.6,-17.1,100,987,0.00,2.33,0.00,0.000,3078,0.000,0.045,2418,2059,3235,3218,3252,0,0,0,0,0,0,15.19,15.09,15.20
$GC,1239,-0.75,-126.5,2418,2059,3219,3252,253.4,-15.7,125,1244,0.00,2.28,0.00,0.000,2308,0.000,0.057,2408,3454,3235,3219,3252,0,0,0,0,0,0,15.33,15.08,15.33
$GC,1358,-0.75,-126.5,2408,3454,3219,3252,271.1,-14.1,136,1366,0.05,2.30,0.00,0.000,3078,0.405,0.049,2430,2046,3235,3219,3252,0,0,0,0,0,0,14.89,15.09,15.11
$GC,1605,-0.75,-126.5,2430,2043,3219,3252,304.8,-13.6,161,1612,0.00,0.00,0.00,0.000,2054,0.000,0.000,2431,2043,3235,3219,3252,0,0,0,0,0,0,15.35,15.35,15.35
$GC,1855,-0.75,-126.5,2430,2043,3219,3251,337.3,-12.3,186,1863,0.00,0.00,0.00,0.000,2054,0.000,0.000,2430,2043,3235,3219,3251,0,0,0,0,0,0,15.35,15.35,15.35
$GC,2106,-0.75,-126.5,2430,2043,3219,3250,368.0,-12.2,211,2111,0.00,2.33,0.00,0.000,2564,0.000,0.060,2431,641,3234,3219,3250,0,0,0,0,0,0,15.35,15.09,15.35
$GC,2145,-0.75,-126.5,2431,641,3219,3250,372.6,-11.9,214,2151,0.00,2.33,0.00,0.000,3078,0.000,0.047,2422,2052,3234,3219,3250,0,0,0,0,0,0,15.21,15.11,15.21
$GC,2402,-0.75,-126.5,2422,2053,3219,3246,405.0,-12.3,236,2408,0.00,2.30,0.00,0.000,2308,0.000,0.060,2412,3457,3232,3219,3246,0,0,0,0,0,0,15.35,15.09,15.35
$GC,2471,-0.75,-126.5,2411,3457,3219,3246,410.7,-12.2,237,2477,0.05,2.30,0.00,0.000,3078,0.396,0.050,2434,2052,3232,3219,3245,0,0,0,0,0,0,14.89,15.11,15.13
$GC,2732,-0.75,-126.5,2434,2050,3219,3243,441.8,-11.1,244,2738,0.00,2.35,0.00,0.000,516,0.000,0.063,2434,638,3231,3219,3243,0,0,0,0,0,0,15.37,15.10,15.38
$GC,2765,-0.75,-126.5,2435,638,3219,3243,441.8,-11.1,244,2771,0.00,2.33,0.00,0.000,3078,0.000,0.049,2427,2050,3230,3218,3243,0,0,0,0,0,0,15.23,15.12,15.24
$GC,3022,-0.75,-126.5,2426,2050,3220,3239,479.9,-13.8,251,3028,0.00,2.33,0.00,0.000,2308,0.000,0.062,2415,3462,3228,3219,3238,0,0,0,0,0,0,15.38,15.11,15.38
$GC,3107,-0.75,-126.5,2415,3462,3219,3238,491.5,-13.7,253,3114,0.05,2.33,0.00,0.000,3078,0.396,0.053,2435,2051,3228,3219,3238,0,0,0,0,0,0,14.90,15.11,15.14
$GC,3393,-0.75,-126.5,2435,2048,3219,3235,525.7,-11.5,260,3398,0.00,2.33,0.00,0.000,516,0.000,0.064,2435,641,3227,3219,3235,0,0,0,0,0,0,15.38,15.11,15.39
$GC,3441,-0.75,-126.5,2435,640,3218,3236,530.8,-11.3,261,3447,0.00,2.35,0.00,0.000,3078,0.000,0.050,2427,2057,3227,3219,3235,0,0,0,0,0,0,15.23,15.13,15.24
$GC,3721,-0.75,-126.5,2427,2057,3219,3230,562.3,-10.9,268,3723,0.00,0.00,0.00,0.000,2054,0.000,0.000,2427,2057,3224,3219,3229,0,0,0,0,0,0,15.38,15.39,15.39
$GC,3962,-0.75,-126.5,2426,2057,3218,3227,588.3,-10.9,274,3967,0.00,2.33,0.00,0.000,2308,0.000,0.066,2416,3458,3222,3218,3227,0,0,0,0,0,0,15.38,15.10,15.39
$GC,4040,-0.75,-126.5,2416,3459,3218,3227,593.4,-11.0,275,4048,0.05,2.38,0.00,0.000,3078,0.382,0.054,2434,2042,3222,3218,3226,0,0,0,0,0,0,14.90,15.11,15.14
$STATE,4083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4083,begin apogee
$GC,4091,-0.15,0.0,2433,2039,3217,3226,601.7,-10.7,277,4206,0.52,0.03,108.32,1.766,10246,0.266,0.115,2625,1989,2709,2788,2630,0,0,0,0,0,0,14.89,14.44,13.93
$STATE,4207,end apogee,CONTROL_FINISHED_OK
$STATE,4207,begin climb
$GC,4211,0.75,126.5,2626,1989,2787,2630,603.8,0.0,280,4332,0.65,2.53,110.53,1.727,10500,0.130,0.063,2902,3408,2192,2283,2101,0,0,0,0,0,0,14.58,14.50,13.91
$GC,4396,0.75,126.5,2902,3408,2281,2101,585.5,13.5,284,4402,0.00,2.38,0.00,0.000,1030,0.000,0.057,2913,2015,2191,2281,2101,0,0,0,0,0,0,14.86,14.78,14.88
$GC,4656,0.75,126.5,2911,2015,2277,2095,530.6,19.6,291,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2015,2186,2277,2096,0,0,0,0,0,0,15.22,15.23,15.23
$GC,4896,0.75,126.5,2912,2015,2276,2094,487.7,17.5,297,4901,0.00,2.40,0.00,0.000,516,0.000,0.072,2924,587,2184,2275,2094,0,0,0,0,0,0,15.30,15.04,15.30
$GC,4963,0.75,126.5,2923,587,2269,2093,479.8,17.2,298,4969,0.00,2.35,0.00,0.000,5126,0.000,0.048,2924,2001,2180,2268,2093,0,0,0,0,0,0,15.17,15.07,15.19
$GC,5222,0.75,126.5,2923,2000,2268,2093,429.9,18.2,305,5227,0.00,2.33,0.00,0.000,4356,0.000,0.063,2924,3411,2181,2268,2094,0,0,0,0,0,0,15.35,15.08,15.35
$GC,5307,0.75,126.5,2924,3411,2268,2093,414.1,18.7,307,5313,0.08,2.38,0.00,0.000,5126,0.416,0.059,2912,1988,2180,2268,2092,0,0,0,0,0,0,14.84,15.09,15.13
$GC,5562,0.75,126.5,2911,1985,2268,2092,373.0,15.8,326,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1986,2180,2268,2092,0,0,0,0,0,0,15.33,15.35,15.34
$GC,5812,0.75,126.5,2912,1985,2268,2092,332.4,16.6,351,5817,0.00,2.35,0.00,0.000,516,0.000,0.071,2921,587,2180,2268,2092,0,0,0,0,0,0,15.33,15.07,15.34
$GC,5861,0.75,126.5,2921,586,2265,2090,324.8,16.3,355,5870,0.00,2.40,0.00,0.000,5126,0.000,0.052,2921,1994,2177,2265,2090,0,0,0,0,0,0,15.12,15.07,15.14
$GC,6111,0.75,126.5,2921,1994,2265,2090,288.6,12.7,380,6117,0.00,2.35,0.00,0.000,4356,0.000,0.063,2921,3412,2177,2265,2090,0,0,0,0,0,0,15.32,15.05,15.32
$GC,6247,0.75,126.5,2921,3413,2265,2090,270.2,13.3,392,6257,0.05,2.40,0.00,0.000,5126,0.395,0.057,2917,2002,2177,2265,2090,0,0,0,0,0,0,14.78,15.04,14.98
$GC,6497,0.75,126.9,2917,2000,2265,2091,241.0,12.0,417,6504,0.00,0.00,0.00,0.000,4102,0.000,0.000,2917,2000,2177,2265,2090,0,0,0,0,0,0,15.32,15.33,15.32
$GC,6747,0.76,149.8,2917,2000,2265,2090,212.2,10.6,442,6772,0.00,2.38,18.08,1.303,8452,0.000,0.059,2917,3409,2098,2189,2008,0,0,0,0,0,0,15.32,14.88,14.42
$GC,6887,0.76,149.8,2917,3410,2189,2007,194.5,12.7,454,6892,0.00,2.38,0.00,0.000,5126,0.000,0.061,2926,2005,2098,2188,2008,0,0,0,0,0,0,15.09,14.97,15.10
$GC,7146,0.76,167.3,2926,2004,2188,2003,162.4,10.9,479,7169,0.00,2.40,15.62,1.203,12804,0.000,0.068,2938,582,2025,2114,1936,0,0,0,0,0,0,15.27,14.86,14.42
$GC,7292,0.77,175.1,2937,582,2103,1936,145.3,11.6,492,7306,0.05,2.40,6.85,1.069,13318,0.429,0.049,2923,2006,1994,2078,1910,0,0,0,0,0,0,14.76,14.97,14.38
$GC,7555,0.77,175.1,2923,2007,2078,1909,112.5,12.9,518,7560,0.00,2.33,0.00,0.000,4356,0.000,0.060,2923,3404,1993,2078,1909,0,0,0,0,0,0,15.26,15.00,15.26
$GC,7583,0.77,175.1,2923,3403,2078,1909,109.2,13.7,520,7591,0.00,2.40,0.00,0.000,5126,0.000,0.058,2932,1987,1993,2078,1908,0,0,0,0,0,0,15.11,15.00,15.12
$GC,7834,0.77,175.1,2931,1987,2078,1910,74.4,12.7,545,7840,0.00,2.38,0.00,0.000,4612,0.000,0.073,2943,582,1993,2078,1909,0,0,0,0,0,0,15.27,15.02,15.28
$GC,7894,0.77,175.1,2943,580,2072,1909,66.5,12.3,550,7900,0.08,2.35,0.00,0.000,5126,0.382,0.047,2919,1999,1990,2071,1909,0,0,0,0,0,0,14.82,15.04,15.07
$GC,8150,0.83,336.5,2920,2004,2072,1910,45.5,1.8,575,8284,0.00,2.40,123.35,1.014,10500,0.000,0.056,2920,3409,1335,1426,1245,0,0,0,0,0,0,15.29,14.53,14.19
$GC,8326,0.84,357.4,2920,3409,1425,1244,28.1,10.7,592,8344,0.00,2.42,11.62,0.925,11270,0.000,0.060,2931,1997,1251,1344,1158,0,0,0,0,0,0,14.87,14.76,14.31
$STATE,8520,end climb,SURFACE_DEPTH_REACHED
$STATE,8520,begin surface coast
$FINISH,0.1,1.022932
$STATE,8542,end surface coast,CONTROL_FINISHED_OK
$STATE,8542,begin surface
$SM_CCo,8560,8.88,0.218,0,0,1157,380.21
$SM_GC,1.13,6.35,0.10,8.88,0.048,0.119,0.218,165,2087,1157,-7.68,-0.85,380.21,0,0,0,0,0,0,14.97,14.92,14.79
$IRIDIUM_FIX,2253.38,-15756.69,210623,130206
$TT8_MAMPS,0.023219,0.340046
$HUMID,49.48
$INTERNAL_PRESSURE,8.95506
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,13.89,53.989
$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,15.725,94.275,394.375,8.875,0.000,36.847,39.946,196.054,0.000,0.000,23.392,1903.312,4295.708,497.619,2012.150,289.660,0.000,1258.259,0.000,1577.757,0.000,0.552,0.000
$DEVICE_MAMPS,445.230,149.175,1766.385,218.025,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,426.942,937.718,767.512,615.555,721.371,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338620
$DATA_FILE_SIZE,60664,631
$CAP_FILE_SIZE,103504,0
$CFSIZE,1023623168,1002438656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,19
$CURRENT,0.205,314.48,1
$GPS,210623,153201,2300.966,-15753.229,18,0.9,41,9.9,0.4,354.4,8,6.7