version: 66.12
revision: eAGLERAY
glider: 523
mission: 6
dive: 15
start: 2 4 123 5 37 5
data:
$ID,523
$MISSION,6
$DIVE,15
$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,2700
$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,1970
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,37
$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
$GPS1,210603,053119,2156.9292,-15816.7363,39,0.9,56,9.9,1.0,270.4,8,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-68.1
$GPS2,210603,053641,2156.9475,-15816.8535,36,0.9,40,9.9,0.6,308.7,8,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,T2
$TGT_LATLONG,2159.257,-15755.364
$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,81.7,37150,-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,-146.0,145,1939,1133,1061,0.0,0.0,0,85,0.00,0.00,-68.22,0.000,16386,0.000,0.000,138,1942,2907,2918,2896,0,0,0,0,0,0,26.15,28.83,26.16
$GC,88,-0.79,-146.0,137,1942,2918,2897,3.6,-7.4,10,111,9.70,2.15,-7.70,0.000,18948,0.243,0.049,2438,572,3317,3339,3295,0,0,0,0,0,0,25.52,24.65,25.69
$GC,211,-0.79,-146.0,2437,572,3340,3296,43.5,-27.6,28,220,0.03,2.17,0.00,0.000,3078,0.236,0.028,2435,1966,3317,3340,3295,0,0,0,0,0,0,25.83,25.96,25.89
$GC,519,-0.79,-146.0,2434,1966,3340,3296,119.2,-22.2,59,521,0.00,0.00,0.00,0.000,2054,0.000,0.000,2435,1967,3317,3339,3296,0,0,0,0,0,0,26.44,26.44,26.44
$GC,820,-0.79,-146.0,2434,1967,3342,3296,179.3,-18.6,89,824,0.00,2.17,0.00,0.000,2308,0.000,0.049,2426,3375,3318,3341,3296,0,0,0,0,0,0,26.53,26.15,26.54
$GC,851,-0.79,-146.0,2425,3375,3341,3296,185.4,-18.6,92,856,0.08,2.08,0.00,0.000,3078,0.164,0.025,2448,1971,3319,3342,3296,0,0,0,0,0,0,26.07,26.25,26.20
$GC,1157,-0.79,-146.0,2448,1969,3342,3296,239.4,-16.4,122,1166,0.00,2.20,0.00,0.000,260,0.000,0.049,2439,3383,3319,3342,3296,0,0,0,0,0,0,26.60,26.21,26.61
$GC,1200,-0.79,-146.0,2438,3383,3342,3296,245.7,-15.5,126,1209,0.00,2.12,0.00,0.000,3078,0.000,0.024,2439,1970,3319,3342,3296,0,0,0,0,0,0,26.36,26.33,26.37
$GC,1509,-0.79,-146.0,2439,1970,3341,3296,292.2,-14.6,157,1518,0.00,2.20,0.00,0.000,2308,0.000,0.049,2429,3379,3319,3342,3296,0,0,0,0,0,0,26.67,26.27,26.67
$GC,1539,-0.79,-146.0,2428,3379,3342,3296,296.6,-14.0,160,1550,0.05,2.08,0.00,0.000,3078,0.182,0.026,2444,1968,3319,3342,3296,0,0,0,0,0,0,26.24,26.37,26.34
$GC,1849,-0.79,-146.0,2443,1967,3342,3295,339.5,-13.5,191,1859,0.00,2.12,0.00,0.000,2564,0.000,0.039,2444,564,3318,3342,3295,0,0,0,0,0,0,26.71,26.35,26.71
$GC,1911,-0.79,-146.0,2443,564,3341,3295,347.9,-13.5,197,1921,0.00,2.12,0.00,0.000,3078,0.000,0.028,2436,1976,3318,3341,3295,0,0,0,0,0,0,26.48,26.38,26.49
$GC,2221,-0.79,-146.0,2435,1976,3341,3292,388.8,-13.4,228,2223,0.00,0.00,0.00,0.000,2054,0.000,0.000,2436,1976,3316,3341,3292,0,0,0,0,0,0,26.74,26.75,26.74
$GC,2522,-0.79,-146.0,2435,1976,3339,3290,426.9,-12.6,258,2532,0.00,2.17,0.00,0.000,2308,0.000,0.053,2425,3376,3314,3339,3290,0,0,0,0,0,0,26.77,26.34,26.77
$GC,2544,-0.79,-146.0,2425,3376,3340,3290,429.8,-12.8,260,2554,0.08,2.08,0.00,0.000,3078,0.161,0.028,2449,1971,3314,3339,3290,0,0,0,0,0,0,26.29,26.46,26.41
$GC,2854,-0.79,-146.0,2448,1970,3338,3288,465.6,-11.0,291,2864,0.00,2.15,0.00,0.000,516,0.000,0.041,2449,565,3312,3337,3288,0,0,0,0,0,0,26.77,26.41,26.79
$GC,2916,-0.79,-146.0,2448,566,3336,3288,472.8,-11.4,297,2926,0.00,2.12,0.00,0.000,3078,0.000,0.031,2441,1966,3311,3335,3288,0,0,0,0,0,0,26.54,26.44,26.56
$GC,3237,-0.79,-146.0,2440,1966,3334,3285,506.9,-9.9,324,3243,0.00,2.20,0.00,0.000,2308,0.000,0.055,2430,3375,3309,3334,3285,0,0,0,0,0,0,26.80,26.36,26.81
$GC,3370,-0.79,-146.0,2429,3375,3333,3283,518.7,-9.9,326,3375,0.05,2.08,0.00,0.000,3078,0.180,0.030,2445,1973,3308,3333,3283,0,0,0,0,0,0,26.36,26.48,26.46
$GC,3717,-0.79,-146.0,2445,1972,3331,3281,553.4,-9.7,332,3723,0.00,2.12,0.00,0.000,516,0.000,0.044,2445,572,3306,3331,3281,0,0,0,0,0,0,26.81,26.44,26.82
$GC,3750,-0.79,-146.0,2444,572,3331,3281,553.4,-9.7,332,3755,0.00,2.12,0.00,0.000,3078,0.000,0.031,2437,1971,3306,3331,3281,0,0,0,0,0,0,26.56,26.46,26.59
$GC,4071,-0.79,-146.0,2437,1971,3329,3278,592.0,-11.0,338,4073,0.00,0.00,0.00,0.000,2054,0.000,0.000,2437,1971,3303,3329,3278,0,0,0,0,0,0,26.83,26.84,26.84
$GC,4373,-0.79,-146.0,2437,1971,3326,3275,625.6,-11.1,343,4379,0.00,2.20,0.00,0.000,2308,0.000,0.057,2427,3375,3301,3326,3276,0,0,0,0,0,0,26.84,26.37,26.84
$GC,4400,-0.79,-146.0,2426,3375,3326,3276,625.6,-11.1,343,4405,0.05,2.15,0.00,0.000,3078,0.153,0.032,2443,1968,3301,3326,3276,0,0,0,0,0,0,26.34,26.50,26.41
$GC,4731,-0.79,-146.0,2442,1968,3324,3274,665.0,-11.0,349,4733,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1968,3299,3324,3274,0,0,0,0,0,0,26.84,26.85,26.85
$GC,5032,-0.79,-146.0,2442,1968,3322,3272,698.2,-11.1,354,5034,0.00,0.00,0.00,0.000,2054,0.000,0.000,2443,1968,3296,3321,3271,0,0,0,0,0,0,26.85,26.86,26.86
$GC,5331,-0.79,-146.0,2442,1968,3321,3269,731.1,-10.9,359,5333,0.00,0.00,0.00,0.000,2054,0.000,0.000,2442,1968,3295,3321,3270,0,0,0,0,0,0,26.86,26.86,26.86
$GC,5631,-0.79,-146.0,2442,1968,3319,3268,762.0,-10.2,364,5638,0.00,2.25,0.00,0.000,2308,0.000,0.058,2434,3378,3294,3319,3269,0,0,0,0,0,0,26.86,26.36,26.87
$GC,5693,-0.79,-146.0,2433,3378,3319,3268,768.2,-10.3,365,5699,0.00,2.12,0.00,0.000,3078,0.000,0.032,2434,1962,3294,3319,3269,0,0,0,0,0,0,26.61,26.51,26.63
$GC,6053,-0.79,-146.0,2433,1962,3317,3267,806.5,-10.7,371,6057,0.00,2.25,0.00,0.000,2308,0.000,0.059,2423,3373,3292,3317,3267,0,0,0,0,0,0,26.86,26.36,26.87
$GC,6088,-0.79,-146.0,2423,3373,3316,3267,806.5,-10.7,371,6094,0.08,2.12,0.00,0.000,3078,0.158,0.035,2447,1967,3292,3317,3267,0,0,0,0,0,0,25.98,26.51,25.49
$GC,6412,-0.79,-146.0,2446,1967,3317,3266,840.0,-9.1,377,6417,0.00,2.22,0.00,0.000,260,0.000,0.059,2438,3372,3291,3317,3266,0,0,0,0,0,0,26.85,26.36,26.86
$GC,6452,-0.79,-146.0,2438,3372,3317,3266,840.0,-9.1,377,6456,0.00,2.12,0.00,0.000,3078,0.000,0.034,2438,1965,3291,3317,3266,0,0,0,0,0,0,26.60,26.50,26.63
$GC,6774,-0.79,-146.0,2439,1965,3316,3265,873.6,-9.3,383,6776,0.00,0.00,0.00,0.000,2054,0.000,0.000,2439,1965,3290,3316,3265,0,0,0,0,0,0,26.86,26.88,26.87
$STATE,7072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7072,begin apogee
$GC,7076,-0.17,0.0,2438,2090,3315,3264,901.9,-9.5,388,7223,0.62,0.00,137.95,1.030,10246,0.119,0.000,2644,2090,2717,2769,2666,0,0,0,0,1,0,26.25,24.56,23.87
$STATE,7224,end apogee,CONTROL_FINISHED_OK
$STATE,7224,begin climb
$GC,7225,0.79,146.0,2644,2090,2766,2665,906.2,0.0,390,7367,0.88,2.45,133.27,1.076,10756,0.063,0.045,2968,663,2120,2187,2053,0,0,0,0,0,0,24.73,24.39,23.73
$GC,7462,0.79,146.0,2967,663,2191,2052,893.4,7.8,394,7467,0.03,2.30,0.00,0.000,5126,0.190,0.035,2962,2061,2121,2191,2052,0,0,0,0,0,0,25.20,25.27,25.27
$GC,7794,0.79,146.0,2962,2062,2190,2052,849.2,12.0,400,7800,0.00,2.30,0.00,0.000,4356,0.000,0.063,2962,3469,2121,2190,2052,0,0,0,0,0,0,26.16,25.78,26.17
$GC,7817,0.79,146.0,2962,3469,2190,2052,849.2,12.0,400,7822,0.05,2.22,0.00,0.000,5126,0.184,0.035,2959,2061,2121,2190,2052,0,0,0,0,0,0,25.72,25.87,25.80
$GC,8154,0.79,146.0,2958,2062,2189,2052,804.9,12.3,406,8161,0.00,2.30,0.00,0.000,4356,0.000,0.062,2958,3470,2120,2189,2052,0,0,0,0,0,0,26.39,25.97,26.39
$GC,8217,0.79,146.0,2958,3470,2188,2051,797.0,12.5,407,8222,0.00,2.20,0.00,0.000,5126,0.000,0.035,2967,2067,2120,2188,2052,0,0,0,0,0,0,26.12,26.08,26.15
$GC,8574,0.79,146.0,2967,2067,2187,2051,749.6,13.3,413,8578,0.00,2.28,0.00,0.000,4356,0.000,0.062,2967,3470,2119,2187,2051,0,0,0,0,0,0,26.51,26.08,26.51
$GC,8623,0.79,146.0,2967,3470,2186,2051,749.6,13.3,413,8628,0.08,2.17,0.00,0.000,5126,0.183,0.035,2958,2077,2119,2187,2051,0,0,0,0,0,0,25.96,26.19,26.06
$GC,8935,0.79,146.0,2957,2077,2186,2051,700.5,13.5,419,8937,0.00,0.00,0.00,0.000,4102,0.000,0.000,2958,2077,2118,2186,2051,0,0,0,0,0,0,26.58,26.59,26.58
$GC,9235,0.79,146.0,2958,2077,2186,2051,660.6,13.2,424,9237,0.00,0.00,0.00,0.000,4102,0.000,0.000,2959,2077,2118,2185,2051,0,0,0,0,0,0,26.63,26.63,26.63
$GC,9535,0.79,146.0,2958,2077,2185,2050,624.0,12.1,429,9542,0.00,2.25,0.00,0.000,4356,0.000,0.060,2958,3470,2117,2185,2050,0,0,0,0,0,0,26.66,26.21,26.67
$GC,9603,0.79,146.0,2958,3471,2185,2050,616.6,12.0,430,9607,0.00,2.15,0.00,0.000,5126,0.000,0.034,2967,2054,2117,2184,2050,0,0,0,0,0,0,26.42,26.32,26.44
$GC,9955,0.79,146.0,2967,2054,2184,2050,577.6,10.5,436,9959,0.00,2.15,0.00,0.000,4612,0.000,0.045,2978,665,2117,2184,2050,0,0,0,0,0,0,26.70,26.29,26.70
$GC,10003,0.79,146.0,2977,664,2183,2050,577.6,10.5,436,10008,0.08,2.20,0.00,0.000,5126,0.161,0.035,2957,2070,2116,2183,2049,0,0,0,0,0,0,26.14,26.32,26.22
$GC,10316,0.79,146.0,2956,2071,2183,2050,539.4,10.5,442,10322,0.00,2.22,0.00,0.000,4356,0.000,0.060,2956,3473,2116,2183,2050,0,0,0,0,0,0,26.72,26.26,26.72
$GC,10378,0.79,146.0,2955,3473,2183,2050,532.4,10.8,443,10383,0.00,2.17,0.00,0.000,5126,0.000,0.034,2965,2061,2116,2183,2050,0,0,0,0,0,0,26.41,26.37,26.43
$GC,10685,0.79,146.0,2965,2061,2183,2049,496.8,11.5,449,10695,0.00,2.25,0.00,0.000,4356,0.000,0.059,2965,3475,2116,2183,2050,0,0,0,0,0,0,26.73,26.27,26.74
$GC,10717,0.79,146.0,2965,3475,2183,2049,492.9,12.2,452,10722,0.08,2.12,0.00,0.000,5126,0.195,0.035,2957,2064,2116,2183,2049,0,0,0,0,0,0,26.17,26.39,26.34
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$STATE,15494,end climb,SURFACE_DEPTH_REACHED
$STATE,15494,begin surface coast
$FINISH,-0.0,1.023053
$STATE,15520,end surface coast,CONTROL_FINISHED_OK
$STATE,15520,begin surface
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$HUMID,38.62
$INTERNAL_PRESSURE,9.32224
$TCM_TEMP,24.10
$XPDR_PINGS,1
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$10V_AH,10.36,5.878
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,340204
$DATA_FILE_SIZE,53558,957
$CAP_FILE_SIZE,146875,0
$CFSIZE,2097086464,2093481984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.131,310.79,1
$GPS,210603,095828,2157.623,-15815.530,44,0.9,49,9.9,0.5,7.9,8,8.0