version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 365
start: 7 14 123 10 0 42
data:
$ID,626
$MISSION,4
$DIVE,365
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,760
$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,200
$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,140
$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,2605
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,35
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2660
$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
$GPS1,140723,095252,2241.0334,-15811.9424,40,0.9,44,9.8,0.5,156.2,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-75.6
$GPS2,140723,100017,2241.0273,-15811.9834,8,0.9,15,9.8,0.0,15.3,9,9.7
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,BNE
$TGT_LATLONG,2258.560,-15745.420
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.113239,0.217157
$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,82.6,55729,-19.4,-10.000,-22.56,2091
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.61,-136.3,104,2080,672,516,0.0,0.0,0,95,0.00,0.00,-75.28,0.000,16386,0.000,0.000,104,2080,2804,2802,2806,0,0,0,0,0,0,15.13,28.83,15.14
$GC,99,-0.61,-136.3,104,2080,2805,2805,3.8,-8.6,11,122,7.97,2.45,-6.55,0.000,18948,0.459,0.072,2408,633,3217,3196,3239,0,0,0,0,0,0,14.42,14.02,14.68
$GC,136,-0.61,-136.3,2408,634,3201,3237,21.0,-43.4,16,145,0.00,2.40,0.00,0.000,3078,0.000,0.050,2400,2016,3219,3202,3236,0,0,0,0,0,0,14.83,14.76,14.85
$GC,390,-0.61,-136.3,2400,2016,3203,3235,75.4,-19.9,44,395,0.00,2.42,0.00,0.000,2308,0.000,0.063,2389,3464,3218,3203,3234,0,0,0,0,0,0,15.23,14.89,15.23
$GC,438,-0.61,-136.3,2389,3465,3203,3235,83.1,-17.1,48,449,0.05,2.42,0.00,0.000,3078,0.266,0.047,2409,2034,3219,3204,3234,0,0,0,0,0,0,14.59,14.81,14.74
$GC,691,-0.61,-136.3,2409,2033,3204,3234,122.0,-13.7,73,696,0.00,2.30,0.00,0.000,516,0.000,0.057,2410,645,3219,3204,3234,0,0,0,0,0,0,15.26,14.93,15.26
$GC,737,-0.61,-136.3,2409,645,3205,3233,128.1,-12.6,77,742,0.00,2.38,0.00,0.000,3078,0.000,0.050,2402,2066,3218,3205,3232,0,0,0,0,0,0,15.08,14.95,15.10
$GC,993,-0.61,-136.3,2401,2066,3205,3232,158.9,-12.1,102,999,0.00,2.33,0.00,0.000,2308,0.000,0.062,2391,3458,3218,3205,3232,0,0,0,0,0,0,15.28,14.95,15.28
$GC,1022,-0.61,-136.3,2390,3459,3206,3232,162.0,-12.2,104,1032,0.05,2.38,0.00,0.000,3078,0.314,0.046,2412,2055,3218,3206,3231,0,0,0,0,0,0,14.78,14.91,14.98
$GC,1272,-0.61,-136.3,2412,2053,3206,3231,191.0,-11.8,129,1277,0.00,2.35,0.00,0.000,516,0.000,0.056,2412,636,3219,3207,3231,0,0,0,0,0,0,15.29,14.95,15.30
$GC,1331,-0.61,-136.3,2412,636,3207,3230,197.5,-11.3,134,1340,0.00,2.42,0.00,0.000,3078,0.000,0.049,2405,2045,3218,3207,3230,0,0,0,0,0,0,14.90,14.84,14.92
$GC,1582,-0.61,-136.3,2404,2045,3208,3229,225.4,-10.2,159,1587,0.00,2.35,0.00,0.000,2308,0.000,0.063,2394,3457,3217,3207,3228,0,0,0,0,0,0,15.29,14.95,15.30
$GC,1637,-0.61,-136.3,2393,3457,3208,3229,230.7,-8.7,164,1642,0.00,2.30,0.00,0.000,3078,0.000,0.043,2394,2047,3218,3208,3228,0,0,0,0,0,0,15.11,15.00,15.12
$GC,1894,-0.61,-136.3,2393,2045,3208,3228,256.3,-9.8,189,1899,0.00,2.35,0.00,0.000,2564,0.000,0.057,2393,633,3217,3207,3228,0,0,0,0,0,0,15.30,14.96,15.30
$GC,1932,-0.61,-136.3,2393,632,3208,3227,259.8,-9.7,192,1942,0.05,2.45,0.00,0.000,3078,0.304,0.050,2401,2057,3218,3208,3228,0,0,0,0,0,0,14.56,14.83,14.73
$GC,2184,-0.61,-136.3,2402,2057,3208,3227,282.9,-10.2,217,2189,0.00,2.35,0.00,0.000,2308,0.000,0.062,2393,3467,3217,3207,3227,0,0,0,0,0,0,15.30,14.96,15.30
$GC,2262,-0.61,-136.3,2393,3468,3207,3227,290.9,-10.1,224,2271,0.00,2.33,0.00,0.000,3078,0.000,0.042,2393,2051,3217,3208,3226,0,0,0,0,0,0,15.11,15.00,15.13
$GC,2512,-0.61,-136.3,2393,2050,3208,3225,319.2,-11.6,249,2517,0.00,2.35,0.00,0.000,2564,0.000,0.057,2393,638,3215,3207,3224,0,0,0,0,0,0,15.30,14.95,15.30
$GC,2549,-0.61,-136.3,2393,637,3208,3224,323.5,-11.6,252,2559,0.08,2.40,0.00,0.000,3078,0.325,0.050,2410,2052,3215,3208,3223,0,0,0,0,0,0,14.69,14.95,14.95
$GC,2799,-0.61,-136.3,2409,2053,3205,3221,349.0,-9.1,277,2805,0.00,2.33,0.00,0.000,260,0.000,0.057,2401,3467,3213,3207,3220,0,0,0,0,0,0,15.30,14.95,15.30
$GC,2845,-0.61,-136.3,2401,3467,3208,3221,352.8,-8.3,281,2850,0.00,2.30,0.00,0.000,3078,0.000,0.040,2401,2045,3214,3207,3221,0,0,0,0,0,0,14.17,15.00,14.63
$GC,3101,-0.61,-136.3,2400,2044,3208,3218,371.9,-7.3,306,3106,0.00,2.40,0.00,0.000,2308,0.000,0.060,2390,3465,3213,3208,3218,0,0,0,0,0,0,15.30,14.95,15.30
$GC,3130,-0.61,-136.3,2390,3465,3207,3218,373.9,-7.1,308,3139,0.05,2.33,0.00,0.000,3078,0.324,0.042,2411,2049,3212,3207,3217,0,0,0,0,0,0,14.77,15.00,14.98
$GC,3378,-0.61,-136.3,2411,2049,3207,3213,393.6,-8.4,333,3383,0.00,2.40,0.00,0.000,260,0.000,0.059,2403,3466,3210,3207,3213,0,0,0,0,0,0,15.30,14.95,15.31
$GC,3424,-0.61,-136.3,2403,3466,3207,3213,397.6,-8.9,337,3430,0.00,2.33,0.00,0.000,3078,0.000,0.040,2403,2036,3210,3207,3213,0,0,0,0,0,0,15.11,14.99,15.12
$GC,3689,-0.61,-136.3,2403,2033,3207,3209,423.3,-9.6,345,3694,0.00,2.33,0.00,0.000,2564,0.000,0.057,2403,642,3208,3207,3209,0,0,0,0,0,0,15.33,14.96,15.34
$GC,3736,-0.61,-136.3,2403,642,3206,3210,427.5,-9.6,346,3741,0.00,2.35,0.00,0.000,3078,0.000,0.048,2393,2051,3207,3206,3209,0,0,0,0,0,0,15.11,14.99,15.14
$GC,4015,-0.61,-136.3,2392,2051,3206,3206,456.3,-10.3,353,4021,0.00,2.35,0.00,0.000,2308,0.000,0.061,2382,3457,3206,3206,3206,0,0,0,0,0,0,15.35,14.95,15.35
$GC,4049,-0.61,-136.3,2381,3457,3205,3206,456.3,-10.3,353,4055,0.08,2.30,0.00,0.000,3078,0.281,0.041,2411,2049,3205,3205,3206,0,0,0,0,0,0,14.75,15.00,14.97
$GC,4304,-0.61,-136.3,2410,2046,3204,3203,478.6,-7.3,360,4309,0.00,2.33,0.00,0.000,516,0.000,0.057,2411,648,3203,3204,3203,0,0,0,0,0,0,15.34,14.95,15.35
$GC,4383,-0.61,-136.3,2411,647,3203,3203,481.7,-7.1,361,4389,0.00,2.35,0.00,0.000,3078,0.000,0.046,2403,2055,3203,3204,3202,0,0,0,0,0,0,15.11,14.99,15.13
$GC,4628,-0.61,-136.3,2402,2054,3203,3199,501.3,-7.1,368,4635,0.00,2.35,0.00,0.000,2308,0.000,0.063,2392,3457,3201,3203,3199,0,0,0,0,0,0,15.34,14.94,15.35
$GC,4647,-0.61,-136.3,2391,3457,3203,3199,501.3,-7.1,368,4653,0.05,2.30,0.00,0.000,3078,0.324,0.041,2413,2047,3201,3203,3199,0,0,0,0,0,0,14.77,15.00,14.98
$GC,4917,-0.61,-136.3,2413,2044,3203,3196,518.5,-5.7,375,4923,0.00,2.40,0.00,0.000,4356,0.000,0.063,2406,3454,3199,3203,3196,0,0,0,0,0,0,15.34,14.94,15.35
$GC,4946,-0.61,-136.3,2405,3454,3202,3196,518.5,-5.7,375,4951,0.00,2.30,0.00,0.000,3078,0.000,0.040,2405,2039,3199,3202,3196,0,0,0,0,0,0,15.11,14.99,15.13
$GC,5207,-0.61,-136.3,2405,2036,3202,3191,538.7,-7.4,382,5214,0.00,2.33,0.00,0.000,2564,0.000,0.058,2405,652,3197,3202,3193,0,0,0,0,0,0,15.33,14.93,15.33
$GC,5282,-0.61,-136.3,2405,652,3200,3194,542.8,-7.8,383,5287,0.00,2.35,0.00,0.000,3078,0.000,0.048,2395,2053,3196,3200,3193,0,0,0,0,0,0,15.09,14.97,15.12
$GC,5536,-0.61,-136.3,2394,2054,3200,3190,569.0,-9.4,390,5541,0.00,2.35,0.00,0.000,2308,0.000,0.063,2384,3454,3194,3199,3190,0,0,0,0,0,0,15.34,14.91,15.34
$GC,5595,-0.61,-136.3,2383,3455,3198,3190,573.1,-9.4,391,5601,0.08,2.30,0.00,0.000,3078,0.290,0.042,2412,2048,3194,3198,3190,0,0,0,0,0,0,14.70,14.97,14.93
$GC,5865,-0.61,-136.3,2412,2045,3197,3189,594.7,-7.1,398,5872,0.00,2.38,0.00,0.000,260,0.000,0.061,2405,3457,3193,3198,3188,0,0,0,0,0,0,15.33,14.92,15.33
$GC,5925,-0.61,-136.3,2404,3457,3197,3189,597.7,-6.9,399,5930,0.00,2.33,0.00,0.000,3078,0.000,0.041,2404,2041,3192,3197,3188,0,0,0,0,0,0,15.10,14.97,15.11
$STATE,5951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5951,begin apogee
$GC,5959,-0.14,0.0,2404,1774,3197,3188,600.7,-6.8,400,6079,0.40,0.00,116.20,1.775,10246,0.190,0.000,2561,1771,2658,2749,2568,0,0,0,0,0,0,14.73,14.54,13.81
$STATE,6080,end apogee,CONTROL_FINISHED_OK
$STATE,6080,begin climb
$GC,6083,0.61,136.3,2561,1771,2749,2568,607.6,0.0,403,6213,0.60,2.38,122.05,1.740,10756,0.110,0.065,2831,417,2101,2197,2005,0,0,0,0,0,0,14.55,14.38,13.81
$GC,6286,0.69,316.9,2831,417,2182,2006,607.6,1.1,408,6448,0.00,2.38,149.80,1.718,13318,0.000,0.049,2831,1806,1364,1453,1276,0,0,0,0,0,0,14.87,14.76,13.85
$GC,6722,0.69,316.9,2831,1806,1450,1271,541.4,15.9,419,6727,0.00,2.35,0.00,0.000,4356,0.000,0.060,2831,3205,1360,1450,1271,0,0,0,0,0,0,15.21,14.92,15.21
$GC,6765,0.69,316.9,2831,3205,1450,1270,534.7,15.6,420,6771,0.05,2.33,0.00,0.000,5126,0.414,0.060,2826,1835,1360,1450,1271,0,0,0,0,0,0,14.70,14.92,14.95
$GC,7051,0.69,316.9,2825,1832,1450,1268,493.2,14.6,427,7057,0.00,2.45,0.00,0.000,516,0.000,0.071,2836,390,1359,1450,1268,0,0,0,0,0,0,15.28,14.95,15.29
$GC,7104,0.69,316.9,2836,389,1446,1267,487.1,14.2,428,7110,0.00,2.38,0.00,0.000,5126,0.000,0.049,2836,1798,1357,1447,1267,0,0,0,0,0,0,15.11,15.00,15.13
$GC,7378,0.69,316.9,2836,1801,1446,1266,449.1,13.2,435,7383,0.00,2.35,0.00,0.000,4356,0.000,0.057,2836,3215,1356,1446,1266,0,0,0,0,0,0,15.32,14.98,15.32
$GC,7422,0.69,316.9,2835,3215,1447,1266,443.0,13.4,436,7429,0.08,2.40,0.00,0.000,5126,0.360,0.058,2822,1794,1356,1446,1266,0,0,0,0,0,0,14.69,14.97,15.01
$GC,7708,0.69,316.9,2822,1794,1446,1265,408.3,11.9,443,7713,0.00,2.38,0.00,0.000,516,0.000,0.070,2832,391,1355,1446,1265,0,0,0,0,0,0,15.32,14.94,15.33
$GC,7793,0.69,316.9,2831,389,1445,1265,398.3,11.8,445,7798,0.00,2.38,0.00,0.000,5126,0.000,0.047,2832,1804,1355,1445,1265,0,0,0,0,0,0,15.11,15.00,15.14
$GC,8051,0.69,316.9,2831,1807,1445,1264,367.5,11.9,470,8056,0.00,2.33,0.00,0.000,4356,0.000,0.055,2831,3206,1354,1445,1264,0,0,0,0,0,0,15.29,14.95,15.30
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$STATE,11583,end climb,SURFACE_DEPTH_REACHED
$STATE,11583,begin surface coast
$FINISH,0.1,1.023051
$STATE,11609,end surface coast,CONTROL_FINISHED_OK
$STATE,11609,begin surface
$SM_CCo,11690,0.00,0.000,0,0,595,506.54
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$IRIDIUM_FIX,2232.34,-15812.78,140723,095446
$TT8_MAMPS,0.02247,0.343791
$HUMID,52.36
$INTERNAL_PRESSURE,8.8867
$TCM_TEMP,19.90
$XPDR_PINGS,3
$24V_AH,13.81,104.451
$10V_AH,13.10,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.000,171.500,547.100,0.000,0.000,23.377,47.946,214.513,0.750,0.000,16.166,2570.261,6075.361,697.975,2407.564,375.463,0.000,1718.685,0.000,2100.043,0.000,0.551,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,564.904,557.134,1005.171,782.690,923.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338560
$DATA_FILE_SIZE,77241,834
$CAP_FILE_SIZE,144169,0
$CFSIZE,1023623168,985743360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.235,285.55,1
$GPS,140723,131649,2241.174,-15811.979,26,0.8,39,9.8,0.0,241.3,9,10.0