version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 369
start: 7 15 123 0 7 46
data:
$ID,626
$MISSION,4
$DIVE,369
$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,29
$R_STBD_OVSHOOT,44
$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
$GPS1,150723,000003,2241.0527,-15812.8633,17,0.9,31,9.8,0.0,357.1,10,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-75.7
$GPS2,150723,000721,2241.0950,-15812.9678,7,0.9,15,9.8,1.0,291.4,9,9.5
$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,90.6,57030,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.61,-136.3,116,2067,672,516,0.0,0.0,0,94,0.00,0.00,-75.03,0.000,16386,0.000,0.000,116,2067,2830,2829,2831,0,0,0,0,0,0,15.13,28.83,15.14
$GC,98,-0.61,-136.3,116,2067,2831,2830,4.2,-10.0,11,121,8.00,0.00,-5.95,0.000,18438,0.465,0.000,2397,2067,3217,3194,3240,0,0,0,0,0,0,14.42,14.04,14.67
$GC,366,-0.61,-136.3,2397,2068,3201,3236,70.9,-17.9,42,373,0.00,0.00,0.00,0.000,2054,0.000,0.000,2397,2067,3219,3202,3236,0,0,0,0,0,0,15.22,15.23,15.23
$GC,617,-0.61,-136.3,2397,2067,3202,3236,110.8,-14.9,67,622,0.00,0.00,0.00,0.000,2054,0.000,0.000,2397,2068,3219,3202,3236,0,0,0,0,0,0,15.26,15.27,15.26
$GC,865,-0.61,-136.3,2397,2067,3202,3236,146.4,-14.6,92,870,0.00,2.42,0.00,0.000,2564,0.000,0.057,2401,628,3218,3202,3235,0,0,0,0,0,0,15.29,14.95,15.29
$GC,913,-0.61,-136.3,2401,628,3203,3235,152.6,-13.9,96,922,0.00,2.40,0.00,0.000,3078,0.000,0.048,2393,2045,3218,3203,3234,0,0,0,0,0,0,15.08,14.94,15.10
$GC,1166,-0.61,-136.3,2392,2045,3203,3234,189.8,-15.0,121,1171,0.00,2.35,0.00,0.000,2308,0.000,0.061,2381,3457,3218,3203,3233,0,0,0,0,0,0,15.28,14.95,15.28
$GC,1202,-0.61,-136.3,2381,3457,3203,3233,195.7,-14.6,124,1208,0.08,2.33,0.00,0.000,3078,0.275,0.045,2411,2037,3218,3203,3233,0,0,0,0,0,0,14.52,14.98,14.95
$GC,1457,-0.61,-136.3,2410,2034,3203,3233,225.3,-10.6,149,1462,0.00,2.33,0.00,0.000,516,0.000,0.057,2411,636,3218,3204,3232,0,0,0,0,0,0,15.30,14.95,15.30
$GC,1513,-0.61,-136.3,2411,636,3204,3231,230.9,-9.8,154,1518,0.00,2.35,0.00,0.000,3078,0.000,0.047,2403,2052,3217,3204,3231,0,0,0,0,0,0,15.11,14.98,15.12
$GC,1770,-0.61,-136.3,2403,2052,3205,3229,256.4,-9.7,179,1775,0.00,2.35,0.00,0.000,2308,0.000,0.060,2392,3468,3217,3205,3229,0,0,0,0,0,0,15.30,14.96,15.30
$GC,1798,-0.61,-136.3,2391,3470,3205,3229,258.8,-9.4,181,1806,0.05,2.33,0.00,0.000,3078,0.317,0.042,2413,2044,3217,3205,3229,0,0,0,0,0,0,14.78,15.00,14.99
$GC,2045,-0.61,-136.3,2413,2041,3205,3228,279.3,-9.1,206,2050,0.00,2.33,0.00,0.000,4612,0.000,0.056,2414,648,3216,3205,3227,0,0,0,0,0,0,15.31,14.95,15.31
$GC,2121,-0.61,-136.3,2413,648,3206,3227,287.1,-10.3,213,2127,0.00,2.33,0.00,0.000,3078,0.000,0.047,2405,2052,3216,3206,3227,0,0,0,0,0,0,14.29,14.99,14.69
$GC,2379,-0.61,-136.3,2405,2051,3205,3226,312.1,-9.0,238,2384,0.00,2.35,0.00,0.000,2308,0.000,0.062,2394,3463,3216,3206,3226,0,0,0,0,0,0,15.30,14.95,15.30
$GC,2415,-0.61,-136.3,2394,3463,3205,3227,315.4,-8.9,241,2420,0.00,2.30,0.00,0.000,3078,0.000,0.042,2394,2049,3216,3206,3226,0,0,0,0,0,0,15.11,15.00,15.13
$GC,2671,-0.61,-136.3,2394,2048,3206,3223,338.3,-8.8,266,2676,0.00,2.33,0.00,0.000,2564,0.000,0.056,2394,647,3214,3206,3222,0,0,0,0,0,0,15.30,14.95,15.30
$GC,2727,-0.61,-136.3,2394,645,3206,3223,343.7,-9.3,271,2733,0.08,2.35,0.00,0.000,3078,0.320,0.048,2410,2060,3214,3206,3222,0,0,0,0,0,0,14.70,14.98,14.95
$GC,2983,-0.61,-136.3,2411,2062,3205,3219,365.8,-8.9,296,2988,0.00,2.33,0.00,0.000,260,0.000,0.060,2402,3457,3212,3206,3219,0,0,0,0,0,0,15.30,14.95,15.30
$GC,3084,-0.61,-136.3,2402,3457,3205,3219,374.8,-9.3,305,3092,0.00,2.35,0.00,0.000,3078,0.000,0.041,2403,2054,3211,3205,3218,0,0,0,0,0,0,15.00,14.95,15.03
$GC,3334,-0.61,-136.3,2402,2055,3205,3214,397.7,-8.2,330,3340,0.00,2.38,0.00,0.000,2564,0.000,0.057,2402,631,3209,3205,3214,0,0,0,0,0,0,15.30,14.94,15.30
$GC,3364,-0.61,-136.3,2402,632,3204,3215,400.1,-8.1,332,3371,0.05,2.38,0.00,0.000,3078,0.363,0.050,2410,2051,3209,3204,3214,0,0,0,0,0,0,14.71,14.97,14.95
$GC,3626,-0.61,-136.3,2410,2053,3204,3212,417.0,-6.1,339,3631,0.00,2.33,0.00,0.000,260,0.000,0.059,2402,3457,3208,3205,3211,0,0,0,0,0,0,15.33,14.96,15.33
$GC,3684,-0.61,-136.3,2401,3457,3204,3211,419.6,-6.0,340,3690,0.00,2.30,0.00,0.000,3078,0.000,0.041,2402,2049,3207,3204,3210,0,0,0,0,0,0,15.11,15.00,15.14
$GC,3954,-0.61,-136.3,2401,2047,3204,3207,439.5,-7.4,347,3960,0.00,2.35,0.00,0.000,2564,0.000,0.057,2401,641,3205,3204,3206,0,0,0,0,0,0,15.34,14.96,15.35
$GC,3999,-0.61,-136.3,2401,640,3203,3207,443.3,-7.8,348,4005,0.05,2.35,0.00,0.000,3078,0.369,0.047,2409,2050,3205,3203,3207,0,0,0,0,0,0,14.71,14.99,14.95
$GC,4285,-0.61,-136.3,2408,2052,3203,3203,466.0,-7.9,355,4290,0.00,2.33,0.00,0.000,260,0.000,0.059,2400,3455,3202,3202,3203,0,0,0,0,0,0,15.33,14.95,15.33
$GC,4318,-0.61,-136.3,2400,3456,3203,3204,466.0,-7.9,355,4324,0.00,2.30,0.00,0.000,3078,0.000,0.039,2400,2040,3203,3203,3203,0,0,0,0,0,0,15.12,15.01,15.14
$GC,4572,-0.61,-136.3,2400,2038,3202,3200,489.8,-8.3,362,4578,0.00,2.40,0.00,0.000,2308,0.000,0.059,2390,3458,3201,3203,3200,0,0,0,0,0,0,15.34,14.95,15.35
$GC,4586,-0.61,-136.3,2389,3458,3201,3201,489.8,-8.3,362,4592,0.05,2.30,0.00,0.000,3078,0.317,0.039,2412,2049,3201,3202,3200,0,0,0,0,0,0,14.78,15.02,14.98
$GC,4861,-0.61,-136.3,2411,2046,3202,3197,513.0,-7.9,369,4866,0.00,2.35,0.00,0.000,516,0.000,0.055,2412,642,3199,3202,3196,0,0,0,0,0,0,15.33,14.94,15.34
$GC,4930,-0.61,-136.3,2412,641,3199,3198,516.6,-7.9,370,4935,0.00,2.35,0.00,0.000,3078,0.000,0.044,2404,2053,3198,3199,3197,0,0,0,0,0,0,15.11,14.98,15.13
$GC,5189,-0.61,-136.3,2404,2054,3199,3194,536.2,-6.5,377,5194,0.00,2.38,0.00,0.000,2308,0.000,0.060,2393,3461,3196,3198,3194,0,0,0,0,0,0,15.34,14.92,15.34
$GC,5227,-0.61,-136.3,2393,3461,3198,3194,536.2,-6.5,377,5234,0.00,2.33,0.00,0.000,3078,0.000,0.041,2393,2042,3196,3198,3194,0,0,0,0,0,0,15.11,15.00,15.13
$GC,5474,-0.61,-136.3,2393,2042,3198,3191,555.8,-7.2,384,5479,0.00,2.33,0.00,0.000,2564,0.000,0.056,2393,651,3194,3197,3191,0,0,0,0,0,0,15.33,14.92,15.34
$GC,5538,-0.61,-136.3,2393,651,3196,3192,559.6,-7.6,385,5544,0.08,2.35,0.00,0.000,3078,0.316,0.049,2410,2046,3194,3197,3191,0,0,0,0,0,0,14.65,14.95,14.91
$GC,5803,-0.61,-136.3,2409,2046,3196,3190,580.6,-7.3,392,5808,0.00,2.35,0.00,0.000,516,0.000,0.055,2410,649,3193,3196,3190,0,0,0,0,0,0,15.33,14.92,15.33
$GC,5841,-0.61,-136.3,2409,649,3195,3190,580.6,-7.3,392,5848,0.00,2.35,0.00,0.000,3078,0.000,0.045,2402,2055,3192,3195,3190,0,0,0,0,0,0,15.09,14.97,15.11
$STATE,6044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6044,begin apogee
$GC,6052,-0.14,0.0,2401,1775,3195,3188,601.0,-8.4,398,6171,0.43,0.00,115.72,1.785,10246,0.193,0.000,2567,1773,2659,2750,2569,0,0,0,0,0,0,14.72,14.53,13.80
$STATE,6172,end apogee,CONTROL_FINISHED_OK
$STATE,6172,begin climb
$GC,6175,0.61,136.3,2567,1773,2750,2568,609.8,0.0,401,6308,0.55,2.50,121.25,1.741,11012,0.096,0.058,2817,3205,2103,2199,2007,0,0,0,0,0,0,14.54,14.37,13.80
$GC,6474,0.64,208.9,2816,3205,2196,2005,606.7,6.4,408,6545,0.05,2.35,61.40,1.716,13318,0.454,0.056,2814,1823,1806,1897,1715,0,0,0,0,0,0,14.56,14.84,13.88
$GC,6814,0.64,208.9,2814,1823,1892,1709,568.6,11.3,417,6819,0.00,2.33,0.00,0.000,4356,0.000,0.057,2814,3205,1800,1892,1709,0,0,0,0,0,0,15.21,14.92,15.21
$GC,6837,0.64,208.9,2814,3205,1891,1709,568.6,11.3,417,6842,0.00,2.40,0.00,0.000,5126,0.000,0.059,2823,1803,1800,1891,1709,0,0,0,0,0,0,15.04,14.91,15.06
$GC,7102,0.64,208.9,2822,1803,1891,1706,533.7,11.9,424,7108,0.00,2.42,0.00,0.000,4612,0.000,0.071,2834,382,1798,1891,1706,0,0,0,0,0,0,15.28,14.92,15.28
$GC,7187,0.64,208.9,2834,382,1883,1707,522.5,12.5,426,7193,0.08,2.38,0.00,0.000,5126,0.360,0.047,2810,1797,1795,1883,1707,0,0,0,0,0,0,14.66,14.97,14.97
$GC,7472,0.64,208.9,2810,1799,1883,1706,491.5,10.5,433,7477,0.00,2.35,0.00,0.000,260,0.000,0.054,2810,3212,1794,1883,1706,0,0,0,0,0,0,15.30,14.97,15.31
$GC,7565,0.64,208.9,2810,3213,1883,1706,482.2,10.7,435,7570,0.00,2.40,0.00,0.000,5126,0.000,0.055,2819,1792,1794,1883,1706,0,0,0,0,0,0,15.09,14.95,15.12
$GC,7841,0.64,208.9,2819,1792,1883,1706,452.5,10.4,442,7846,0.00,2.38,0.00,0.000,4612,0.000,0.066,2830,389,1794,1883,1706,0,0,0,0,0,0,15.30,14.93,15.32
$GC,7874,0.64,208.9,2830,389,1881,1706,452.5,10.4,442,7880,0.05,2.38,0.00,0.000,5126,0.416,0.047,2815,1802,1793,1881,1706,0,0,0,0,0,0,14.66,14.97,14.95
$GC,8128,0.64,216.8,2815,1805,1881,1705,423.4,9.6,449,8139,0.00,2.38,5.93,1.323,12548,0.000,0.055,2815,3207,1773,1864,1683,0,0,0,0,0,0,15.33,15.04,14.21
$GC,8214,0.64,216.8,2815,3208,1865,1683,414.5,10.0,451,8219,0.00,2.38,0.00,0.000,5126,0.000,0.055,2824,1802,1774,1865,1683,0,0,0,0,0,0,15.08,14.95,15.10
$GC,8468,0.65,239.9,2823,1801,1865,1684,391.4,8.9,464,8495,0.00,2.40,21.83,1.519,12548,0.000,0.054,2824,3207,1679,1775,1584,0,0,0,0,0,0,15.29,14.77,14.20
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$GC,10630,0.71,368.5,2827,1805,1299,1096,178.6,9.5,673,10648,0.00,2.38,10.30,1.145,10500,0.000,0.060,2827,3196,1155,1258,1052,0,0,0,0,0,0,15.21,14.89,14.26
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$STATE,12544,end climb,SURFACE_DEPTH_REACHED
$STATE,12544,begin surface coast
$FINISH,-0.2,1.022881
$STATE,12577,end surface coast,CONTROL_FINISHED_OK
$STATE,12577,begin surface
$SM_CCo,12658,0.00,0.000,0,0,595,506.29
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$IRIDIUM_FIX,2232.34,-15812.78,150723,000200
$TT8_MAMPS,0.023219,0.341544
$HUMID,52.95
$INTERNAL_PRESSURE,8.8867
$TCM_TEMP,21.20
$XPDR_PINGS,2
$24V_AH,13.80,105.870
$10V_AH,13.37,0.000
$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
$DEVICE_SECS,16.000,171.250,557.725,0.000,0.000,27.206,46.793,203.041,0.500,0.000,17.135,2701.532,6709.006,688.058,2603.863,384.833,0.000,1781.226,0.000,2231.376,0.000,0.551,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,599.578,930.576,1060.412,847.907,997.778,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338504
$DATA_FILE_SIZE,84389,886
$CAP_FILE_SIZE,156003,0
$CFSIZE,1023623168,985317376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$CURRENT,0.144,309.20,1
$GPS,150723,034001,2241.586,-15812.854,17,0.7,40,9.8,0.3,321.2,11,7.2