version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 196
start: 6 21 123 15 39 22
data:
$ID,626
$MISSION,4
$DIVE,196
$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,36
$R_STBD_OVSHOOT,64
$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
$GPS1,210623,153201,2300.9658,-15753.2285,18,0.9,41,9.9,0.4,354.4,8,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-73.6
$GPS2,210623,153856,2301.0154,-15753.3398,6,0.9,15,9.9,0.7,24.3,8,8.9
$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,130.2,56424,-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,-126.5,127,2042,1197,1104,0.0,0.0,0,81,0.00,0.00,-62.20,0.000,16386,0.000,0.000,127,2041,3173,3137,3210,0,0,0,0,0,0,15.15,28.83,15.16
$GC,86,-0.75,-126.5,127,2041,3137,3213,3.4,-7.1,9,102,7.78,2.30,-0.88,0.000,18948,0.448,0.068,2438,630,3229,3196,3262,0,0,0,0,0,0,14.64,14.14,14.97
$GC,133,-0.75,-126.5,2438,630,3207,3253,26.1,-43.9,16,140,0.00,2.35,0.00,0.000,3078,0.000,0.046,2429,2017,3230,3208,3252,0,0,0,0,0,0,14.97,14.92,15.04
$GC,391,-0.75,-126.5,2429,2019,3211,3251,97.8,-23.8,42,396,0.00,2.38,0.00,0.000,2308,0.000,0.059,2419,3459,3231,3211,3252,0,0,0,0,0,0,15.25,15.01,15.26
$GC,447,-0.75,-126.5,2418,3458,3211,3252,109.8,-20.3,47,453,0.00,2.33,0.00,0.000,3078,0.000,0.053,2421,2054,3231,3211,3252,0,0,0,0,0,0,15.13,15.02,15.14
$GC,704,-0.75,-126.5,2421,2054,3214,3252,162.4,-18.9,72,709,0.00,2.35,0.00,0.000,2564,0.000,0.063,2428,631,3233,3214,3252,0,0,0,0,0,0,15.30,15.04,15.30
$GC,722,-0.75,-126.5,2429,630,3214,3251,165.2,-18.4,73,729,0.00,2.33,0.00,0.000,3078,0.000,0.046,2420,2052,3233,3215,3251,0,0,0,0,0,0,15.16,15.07,15.18
$GC,969,-0.75,-126.5,2420,2052,3216,3252,208.2,-17.6,98,974,0.00,2.30,0.00,0.000,2308,0.000,0.057,2409,3460,3233,3216,3251,0,0,0,0,0,0,15.33,15.07,15.33
$GC,1003,-0.75,-126.5,2409,3460,3216,3252,213.6,-16.1,101,1010,0.05,2.33,0.00,0.000,3078,0.404,0.050,2432,2048,3234,3217,3251,0,0,0,0,0,0,14.88,15.08,15.10
$GC,1258,-0.75,-126.5,2432,2045,3217,3252,252.7,-14.4,126,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2045,3234,3217,3252,0,0,0,0,0,0,15.33,15.33,15.34
$GC,1509,-0.75,-126.5,2432,2045,3216,3252,287.9,-13.8,151,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2045,3234,3217,3252,0,0,0,0,0,0,15.34,15.35,15.34
$GC,1761,-0.75,-126.5,2432,2045,3217,3252,321.1,-12.7,176,1766,0.00,2.33,0.00,0.000,260,0.000,0.056,2424,3460,3234,3217,3252,0,0,0,0,0,0,15.34,15.09,15.35
$GC,1791,-0.75,-126.5,2423,3460,3217,3252,324.6,-12.6,178,1799,0.00,2.35,0.00,0.000,3078,0.000,0.049,2423,2054,3234,3217,3252,0,0,0,0,0,0,15.14,15.09,15.16
$GC,2040,-0.75,-126.5,2424,2053,3217,3251,357.7,-14.1,203,2047,0.00,0.00,0.00,0.000,2054,0.000,0.000,2424,2053,3234,3217,3251,0,0,0,0,0,0,15.34,15.34,15.34
$GC,2290,-0.75,-126.5,2423,2053,3216,3249,390.1,-12.5,228,2296,0.00,2.35,0.00,0.000,2564,0.000,0.064,2429,638,3233,3217,3249,0,0,0,0,0,0,15.35,15.07,15.35
$GC,2331,-0.75,-126.5,2429,638,3217,3249,395.1,-12.9,231,2340,0.00,2.38,0.00,0.000,3078,0.000,0.050,2421,2043,3232,3217,3248,0,0,0,0,0,0,15.12,15.06,15.15
$GC,2611,-0.75,-126.5,2420,2043,3217,3245,428.7,-11.5,241,2617,0.00,2.33,0.00,0.000,2308,0.000,0.063,2410,3457,3230,3217,3244,0,0,0,0,0,0,15.37,15.10,15.37
$GC,2725,-0.75,-126.5,2410,3457,3217,3243,438.1,-11.0,243,2731,0.05,2.33,0.00,0.000,3078,0.390,0.050,2430,2046,3230,3217,3243,0,0,0,0,0,0,14.91,15.11,15.14
$GC,2981,-0.75,-126.5,2430,2043,3217,3240,468.4,-11.0,250,2986,0.00,2.35,0.00,0.000,2308,0.000,0.062,2422,3458,3228,3217,3240,0,0,0,0,0,0,15.38,15.11,15.38
$GC,3040,-0.75,-126.5,2422,3458,3217,3239,473.7,-11.3,251,3046,0.00,2.33,0.00,0.000,3078,0.000,0.051,2422,2052,3227,3217,3238,0,0,0,0,0,0,15.23,15.11,15.24
$GC,3310,-0.75,-126.5,2422,2052,3217,3236,509.5,-13.1,258,3315,0.00,2.35,0.00,0.000,2564,0.000,0.066,2428,635,3226,3217,3236,0,0,0,0,0,0,15.39,15.10,15.39
$GC,3398,-0.75,-126.5,2429,635,3216,3236,521.0,-13.5,260,3403,0.00,2.35,0.00,0.000,3078,0.000,0.050,2420,2053,3226,3216,3236,0,0,0,0,0,0,15.23,15.11,15.24
$GC,3677,-0.75,-126.5,2420,2053,3216,3231,558.4,-13.2,267,3682,0.00,2.33,0.00,0.000,2308,0.000,0.066,2410,3455,3223,3216,3230,0,0,0,0,0,0,15.39,15.10,15.39
$GC,3714,-0.75,-126.5,2409,3456,3215,3230,558.4,-13.2,267,3723,0.05,2.38,0.00,0.000,3078,0.376,0.052,2429,2053,3222,3215,3230,0,0,0,0,0,0,14.91,15.07,15.14
$GC,3962,-0.75,-126.5,2429,2051,3216,3228,591.4,-11.2,274,3968,0.00,2.38,0.00,0.000,2308,0.000,0.063,2421,3467,3221,3215,3227,0,0,0,0,0,0,15.38,15.09,15.38
$GC,4000,-0.75,-126.5,2420,3467,3215,3227,591.4,-11.2,274,4008,0.00,2.35,0.00,0.000,3078,0.000,0.052,2421,2049,3221,3215,3227,0,0,0,0,0,0,15.23,15.11,15.24
$STATE,4044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4044,begin apogee
$GC,4052,-0.15,0.0,2421,1983,3215,3227,600.9,-11.1,276,4167,0.57,0.00,108.15,1.755,10246,0.269,0.000,2628,1982,2709,2788,2630,0,0,0,0,0,0,14.89,14.57,13.95
$STATE,4168,end apogee,CONTROL_FINISHED_OK
$STATE,4168,begin climb
$GC,4171,0.75,126.5,2628,1982,2788,2630,603.4,0.0,279,4287,0.68,0.00,111.38,1.714,10502,0.129,0.000,2915,1980,2192,2285,2100,0,0,0,0,0,0,14.59,14.52,13.91
$GC,4528,0.75,126.5,2915,1980,2276,2094,549.2,18.3,288,4535,0.00,2.42,0.00,0.000,4356,0.000,0.062,2915,3414,2184,2275,2094,0,0,0,0,0,0,15.18,14.94,15.18
$GC,4622,0.75,126.5,2915,3414,2276,2094,533.1,18.1,290,4628,0.00,2.35,0.00,0.000,5126,0.000,0.057,2926,2019,2185,2276,2094,0,0,0,0,0,0,15.09,14.98,15.11
$GC,4896,0.75,126.5,2926,2019,2273,2092,485.4,16.3,297,4902,0.00,2.40,0.00,0.000,4612,0.000,0.072,2937,588,2182,2274,2091,0,0,0,0,0,0,15.31,15.04,15.31
$GC,4975,0.75,126.5,2937,587,2266,2092,478.5,16.0,298,4982,0.08,2.38,0.00,0.000,5126,0.402,0.052,2913,2009,2178,2266,2091,0,0,0,0,0,0,14.85,15.07,15.11
$GC,5220,0.75,126.5,2913,2010,2266,2091,434.3,15.9,305,5226,0.00,2.33,0.00,0.000,260,0.000,0.063,2913,3414,2178,2266,2090,0,0,0,0,0,0,15.34,15.08,15.35
$GC,5356,0.75,126.5,2914,3414,2265,2090,413.9,16.5,308,5362,0.00,2.38,0.00,0.000,5126,0.000,0.057,2922,1999,2178,2266,2090,0,0,0,0,0,0,15.20,15.09,15.22
$GC,5612,0.75,126.5,2922,1998,2266,2089,370.6,16.5,325,5618,0.00,2.38,0.00,0.000,4612,0.000,0.071,2934,580,2177,2266,2089,0,0,0,0,0,0,15.34,15.08,15.35
$GC,5701,0.75,126.5,2933,579,2261,2087,355.2,17.0,333,5708,0.08,2.38,0.00,0.000,5126,0.418,0.051,2911,2005,2174,2261,2087,0,0,0,0,0,0,14.83,15.09,15.12
$GC,5958,0.75,126.5,2911,2007,2261,2087,316.9,14.3,358,5964,0.00,2.33,0.00,0.000,260,0.000,0.064,2911,3407,2174,2261,2087,0,0,0,0,0,0,15.32,15.06,15.33
$GC,6079,0.75,126.5,2911,3407,2261,2087,299.6,14.4,369,6085,0.00,2.35,0.00,0.000,5126,0.000,0.059,2920,2000,2174,2261,2087,0,0,0,0,0,0,15.18,15.06,15.20
$GC,6337,0.75,126.5,2920,2000,2261,2087,265.6,12.5,394,6343,0.00,2.38,0.00,0.000,4612,0.000,0.071,2931,590,2173,2261,2086,0,0,0,0,0,0,15.31,15.04,15.32
$GC,6374,0.75,126.5,2931,589,2259,2084,260.6,12.5,397,6381,0.08,2.38,0.00,0.000,5126,0.415,0.052,2908,2011,2171,2259,2084,0,0,0,0,0,0,14.80,15.07,15.10
$GC,6630,0.75,126.5,2908,2013,2259,2084,231.1,12.6,422,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2013,2171,2259,2084,0,0,0,0,0,0,15.31,15.33,15.32
$GC,6880,0.75,126.5,2908,2013,2259,2084,200.7,12.1,447,6885,0.00,2.42,0.00,0.000,516,0.000,0.068,2917,586,2171,2259,2083,0,0,0,0,0,0,15.32,15.04,15.33
$GC,6898,0.75,126.5,2917,585,2259,2083,199.0,12.3,448,6906,0.00,2.42,0.00,0.000,5126,0.000,0.053,2918,1992,2170,2259,2082,0,0,0,0,0,0,15.10,15.04,15.12
$GC,7149,0.76,166.7,2917,1992,2257,2083,173.4,9.5,473,7187,0.00,2.45,30.62,1.254,8708,0.000,0.070,2929,589,2027,2116,1938,0,0,0,0,0,0,15.30,14.87,14.36
$GC,7217,0.77,190.5,2928,589,2110,1938,166.4,10.5,479,7245,0.00,2.40,20.42,1.206,13318,0.000,0.051,2929,2007,1930,2014,1847,0,0,0,0,0,0,15.00,14.91,14.28
$GC,7494,0.77,190.5,2928,2007,2010,1843,129.8,13.3,506,7500,0.00,2.42,0.00,0.000,4612,0.000,0.070,2939,589,1926,2010,1843,0,0,0,0,0,0,15.20,14.95,15.21
$GC,7531,0.77,190.5,2939,587,2004,1843,125.1,13.1,509,7537,0.05,2.38,0.00,0.000,5126,0.430,0.050,2924,2000,1923,2004,1843,0,0,0,0,0,0,14.76,14.97,15.02
$GC,7789,0.77,190.5,2924,2003,2004,1843,88.2,14.5,534,7794,0.00,2.33,0.00,0.000,4356,0.000,0.060,2925,3412,1923,2004,1843,0,0,0,0,0,0,15.26,15.00,15.26
$GC,7867,0.77,190.5,2924,3411,2004,1843,77.5,13.3,541,7876,0.00,2.40,0.00,0.000,5126,0.000,0.058,2934,1992,1923,2003,1843,0,0,0,0,0,0,15.13,15.00,15.14
$GC,8118,0.79,240.4,2934,1992,2004,1843,50.3,8.9,566,8164,0.00,2.40,39.17,1.032,12804,0.000,0.068,2945,586,1727,1814,1641,0,0,0,0,0,0,15.27,14.76,14.38
$GC,8187,0.80,257.7,2945,586,1808,1640,43.2,10.9,572,8212,0.05,2.40,14.73,0.985,13318,0.417,0.048,2930,2003,1655,1744,1567,0,0,0,0,0,0,14.70,14.88,14.36
$GC,8468,0.80,257.7,2929,2003,1744,1563,8.3,12.1,614,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2003,1653,1744,1563,0,0,0,0,0,0,15.16,15.17,15.17
$STATE,8503,end climb,SURFACE_DEPTH_REACHED
$STATE,8503,begin surface coast
$FINISH,0.0,1.022928
$STATE,8525,end surface coast,CONTROL_FINISHED_OK
$STATE,8526,begin surface
$SM_CCo,8544,51.42,0.207,0,0,1157,380.21
$SM_GC,1.03,6.30,0.05,51.42,0.043,0.189,0.207,154,2054,1157,-7.69,-1.13,380.21,0,0,0,0,0,0,15.00,14.95,14.78
$IRIDIUM_FIX,2251.04,-15754.52,210623,153342
$TT8_MAMPS,0.02247,0.286867
$HUMID,48.62
$INTERNAL_PRESSURE,8.94529
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,13.91,54.224
$10V_AH,13.64,0.000
$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,15.800,104.125,324.475,51.425,0.000,25.851,44.068,200.744,0.000,0.000,17.324,1897.813,4306.219,518.642,2001.335,291.674,0.000,1255.761,0.000,1542.375,0.000,0.551,0.000
$DEVICE_MAMPS,447.525,209.610,1754.910,206.550,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,422.583,1045.415,755.989,602.244,708.799,0.000,0.000,0.000,0.000,0.000
$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,60946,624
$CAP_FILE_SIZE,103873,0
$CFSIZE,1023623168,1002356736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,25
$CURRENT,0.225,325.46,1
$GPS,210623,180401,2301.088,-15753.230,18,0.6,41,9.9,0.5,15.1,12,7.0