version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 371
start: 7 15 123 7 29 59
data:
$ID,626
$MISSION,4
$DIVE,371
$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,150
$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,2020
$C_ROLL_CLIMB,1770
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2630
$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
$GPS1,150723,072149,2241.8179,-15813.0693,27,0.8,45,9.8,0.4,348.4,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-77.3
$GPS2,150723,072934,2241.8276,-15813.1494,8,0.9,18,9.8,0.0,255.1,8,9.4
$SPEED_LIMITS,0.173,0.249
$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,92.0,56531,-18.7,-10.000,-21.92,2240
$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,-0.59,-146.0,127,2048,673,517,0.0,0.0,0,92,0.00,0.00,-72.95,0.000,16386,0.000,0.000,127,2049,2752,2739,2765,0,0,0,0,0,0,15.13,28.83,15.14
$GC,96,-0.59,-146.0,127,2048,2739,2765,4.1,-9.3,11,120,7.97,2.35,-7.53,0.000,18692,0.462,0.076,2400,3439,3228,3206,3251,0,0,0,0,0,0,14.40,13.62,14.67
$GC,134,-0.59,-146.0,2399,3438,3209,3251,20.8,-40.8,16,143,0.00,2.45,0.00,0.000,3078,0.000,0.050,2401,2010,3230,3211,3249,0,0,0,0,0,0,14.81,14.76,14.84
$GC,393,-0.59,-146.0,2401,2009,3214,3246,69.5,-17.3,45,399,0.00,2.35,0.00,0.000,2564,0.000,0.057,2402,608,3229,3214,3245,0,0,0,0,0,0,15.23,14.90,15.23
$GC,422,-0.59,-146.0,2401,607,3215,3245,73.8,-16.8,47,430,0.05,2.40,0.00,0.000,3078,0.385,0.050,2410,2018,3229,3215,3244,0,0,0,0,0,0,14.66,14.90,14.90
$GC,673,-0.59,-146.0,2410,2018,3215,3244,112.1,-15.6,72,678,0.00,2.35,0.00,0.000,2308,0.000,0.064,2402,3428,3229,3215,3243,0,0,0,0,0,0,15.26,14.91,15.26
$GC,728,-0.59,-146.0,2401,3428,3216,3243,119.9,-12.6,77,734,0.00,2.30,0.00,0.000,3078,0.000,0.044,2402,2013,3229,3215,3244,0,0,0,0,0,0,15.07,14.96,15.09
$GC,985,-0.59,-146.0,2401,2013,3216,3243,155.8,-13.1,102,990,0.00,2.35,0.00,0.000,2564,0.000,0.057,2402,606,3229,3216,3243,0,0,0,0,0,0,15.28,14.94,15.28
$GC,1023,-0.59,-146.0,2401,606,3217,3243,160.3,-12.9,105,1031,0.08,2.38,0.00,0.000,3078,0.326,0.050,2415,2028,3229,3217,3242,0,0,0,0,0,0,14.68,14.96,14.94
$GC,1272,-0.59,-146.0,2417,2028,3217,3242,186.8,-10.6,130,1277,0.00,2.35,0.00,0.000,260,0.000,0.064,2408,3428,3229,3217,3241,0,0,0,0,0,0,15.28,14.92,15.29
$GC,1348,-0.59,-146.0,2408,3428,3216,3241,194.5,-9.7,137,1354,0.00,2.30,0.00,0.000,3078,0.000,0.041,2409,2008,3229,3217,3241,0,0,0,0,0,0,15.09,14.97,15.11
$GC,1605,-0.59,-146.0,2408,2007,3218,3240,222.6,-10.1,162,1610,0.00,2.40,0.00,0.000,2308,0.000,0.061,2398,3435,3229,3218,3240,0,0,0,0,0,0,15.29,14.94,15.30
$GC,1629,-0.59,-146.0,2398,3436,3218,3240,225.1,-9.8,164,1634,0.00,2.30,0.00,0.000,3078,0.000,0.042,2398,2018,3229,3218,3240,0,0,0,0,0,0,15.10,14.99,15.12
$GC,1886,-0.59,-146.0,2397,2017,3218,3239,250.5,-10.3,189,1892,0.00,2.33,0.00,0.000,2564,0.000,0.056,2398,617,3227,3216,3238,0,0,0,0,0,0,15.30,14.95,15.30
$GC,1921,-0.59,-146.0,2397,617,3218,3239,254.4,-10.2,192,1927,0.08,2.35,0.00,0.000,3078,0.318,0.050,2415,2023,3228,3218,3239,0,0,0,0,0,0,14.70,14.97,14.95
$GC,2177,-0.59,-146.0,2414,2025,3218,3238,275.5,-8.3,217,2184,0.00,2.33,0.00,0.000,260,0.000,0.060,2406,3434,3227,3218,3237,0,0,0,0,0,0,15.30,14.95,15.30
$GC,2213,-0.59,-146.0,2406,3434,3218,3237,278.5,-8.5,220,2219,0.00,2.30,0.00,0.000,3078,0.000,0.042,2407,2015,3227,3218,3237,0,0,0,0,0,0,15.10,14.98,15.11
$GC,2470,-0.59,-146.0,2406,2014,3218,3235,302.4,-9.3,245,2476,0.00,2.40,0.00,0.000,2308,0.000,0.062,2396,3435,3226,3218,3235,0,0,0,0,0,0,15.30,14.94,15.30
$GC,2516,-0.59,-146.0,2396,3435,3218,3235,306.8,-9.1,249,2523,0.05,2.30,0.00,0.000,3078,0.331,0.041,2416,2018,3226,3218,3235,0,0,0,0,0,0,14.76,15.00,14.97
$GC,2774,-0.59,-146.0,2416,2017,3218,3232,326.0,-6.7,274,2779,0.00,2.33,0.00,0.000,516,0.000,0.057,2416,619,3224,3218,3230,0,0,0,0,0,0,15.30,14.95,15.31
$GC,2822,-0.59,-146.0,2416,618,3218,3231,329.4,-7.4,278,2829,0.00,2.35,0.00,0.000,3078,0.000,0.047,2408,2029,3224,3218,3231,0,0,0,0,0,0,15.10,14.97,15.11
$GC,3071,-0.59,-146.0,2408,2029,3218,3228,346.3,-6.8,303,3077,0.00,2.35,0.00,0.000,2308,0.000,0.064,2397,3429,3223,3218,3228,0,0,0,0,0,0,15.30,14.93,15.30
$GC,3171,-0.59,-146.0,2397,3430,3215,3227,353.7,-8.2,312,3179,0.00,2.38,0.00,0.000,3078,0.000,0.041,2397,2027,3222,3218,3227,0,0,0,0,0,0,14.96,14.90,15.07
$GC,3421,-0.59,-146.0,2397,2026,3218,3223,377.6,-9.7,337,3428,0.05,2.38,0.00,0.000,2564,0.381,0.055,2415,610,3220,3217,3223,0,0,0,0,0,0,14.79,14.93,14.96
$GC,3473,-0.59,-146.0,2414,610,3216,3223,382.4,-9.5,341,3481,0.00,2.42,0.00,0.000,3078,0.000,0.050,2407,2021,3219,3217,3222,0,0,0,0,0,0,14.97,14.92,15.01
$GC,3752,-0.59,-146.0,2406,2021,3216,3219,407.5,-8.4,363,3757,0.00,2.40,0.00,0.000,2564,0.000,0.057,2407,615,3217,3216,3219,0,0,0,0,0,0,15.30,14.94,15.30
$GC,3806,-0.59,-146.0,2406,614,3215,3219,411.5,-8.4,364,3812,0.05,2.38,0.00,0.000,3078,0.383,0.050,2413,2026,3217,3215,3219,0,0,0,0,0,0,14.68,14.96,14.93
$GC,4083,-0.59,-146.0,2413,2027,3215,3215,431.5,-6.6,371,4088,0.00,2.35,0.00,0.000,260,0.000,0.064,2405,3428,3215,3215,3215,0,0,0,0,0,0,15.33,14.93,15.33
$GC,4128,-0.59,-146.0,2404,3428,3214,3215,434.5,-6.5,372,4133,0.00,2.33,0.00,0.000,3078,0.000,0.043,2405,2009,3214,3214,3215,0,0,0,0,0,0,15.10,14.98,15.12
$GC,4413,-0.59,-146.0,2404,2009,3215,3211,454.7,-7.3,379,4418,0.00,2.35,0.00,0.000,2564,0.000,0.060,2404,617,3212,3214,3210,0,0,0,0,0,0,15.33,14.94,15.34
$GC,4471,-0.59,-146.0,2404,616,3213,3212,458.8,-7.9,380,4477,0.05,2.38,0.00,0.000,3078,0.375,0.050,2412,2026,3212,3213,3212,0,0,0,0,0,0,14.70,14.97,14.94
$GC,4741,-0.59,-146.0,2411,2026,3213,3209,483.8,-8.9,387,4747,0.00,2.35,0.00,0.000,260,0.000,0.064,2403,3427,3210,3212,3209,0,0,0,0,0,0,15.33,14.92,15.34
$GC,4795,-0.59,-146.0,2403,3427,3211,3208,487.8,-8.9,388,4801,0.00,2.33,0.00,0.000,3078,0.000,0.044,2403,2013,3209,3211,3208,0,0,0,0,0,0,15.10,14.97,15.12
$GC,5070,-0.59,-146.0,2403,2012,3211,3206,512.6,-8.4,395,5075,0.00,2.42,0.00,0.000,2308,0.000,0.063,2393,3431,3208,3211,3206,0,0,0,0,0,0,15.34,14.92,15.35
$GC,5146,-0.59,-146.0,2393,3431,3210,3205,516.2,-8.2,396,5152,0.05,2.33,0.00,0.000,3078,0.334,0.044,2413,2019,3207,3210,3205,0,0,0,0,0,0,14.73,14.96,14.94
$GC,5403,-0.59,-146.0,2412,2017,3210,3203,536.3,-6.6,403,5408,0.00,2.35,0.00,0.000,516,0.000,0.059,2413,612,3206,3210,3203,0,0,0,0,0,0,15.33,14.92,15.33
$GC,5441,-0.59,-146.0,2413,612,3208,3204,536.3,-6.6,403,5449,0.00,2.40,0.00,0.000,3078,0.000,0.050,2404,2030,3206,3209,3204,0,0,0,0,0,0,15.09,14.95,15.11
$GC,5687,-0.59,-146.0,2405,2030,3209,3202,554.6,-6.2,410,5689,0.00,0.00,0.00,0.000,2054,0.000,0.000,2405,2031,3205,3209,3202,0,0,0,0,0,0,15.34,15.34,15.34
$GC,5928,-0.59,-146.0,2405,2030,3208,3199,570.5,-6.8,416,5933,0.00,2.38,0.00,0.000,2308,0.000,0.066,2394,3428,3203,3207,3199,0,0,0,0,0,0,15.33,14.90,15.34
$GC,6001,-0.59,-146.0,2394,3427,3206,3200,573.9,-7.1,417,6007,0.05,2.33,0.00,0.000,3078,0.327,0.046,2414,2020,3203,3206,3200,0,0,0,0,0,0,14.71,14.95,14.92
$GC,6257,-0.59,-146.0,2414,2018,3206,3197,596.3,-8.1,424,6262,0.00,2.40,0.00,0.000,260,0.000,0.067,2407,3426,3201,3206,3197,0,0,0,0,0,0,15.32,14.88,15.33
$GC,6275,-0.59,-146.0,2406,3426,3205,3197,596.3,-8.1,424,6280,0.00,2.33,0.00,0.000,3078,0.000,0.043,2406,2016,3201,3205,3197,0,0,0,0,0,0,15.09,14.97,15.11
$STATE,6300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6300,begin apogee
$GC,6308,-0.14,0.0,2406,1736,3205,3197,600.6,-8.4,425,6437,0.40,0.00,124.47,1.771,10246,0.200,0.000,2562,1733,2628,2725,2532,0,0,0,0,0,0,14.71,14.52,13.80
$STATE,6438,end apogee,CONTROL_FINISHED_OK
$STATE,6438,begin climb
$GC,6441,0.59,146.0,2562,1733,2726,2532,610.4,0.0,428,6585,0.55,2.58,128.80,1.744,10500,0.109,0.055,2809,3180,2031,2124,1939,0,0,0,0,0,0,14.53,14.51,13.81
$GC,6689,0.65,285.9,2809,3180,2123,1938,611.4,3.6,434,6813,0.00,2.35,116.50,1.727,13318,0.000,0.054,2820,1801,1462,1555,1370,0,0,0,0,0,0,14.91,14.79,13.84
$GC,7074,0.65,285.9,2820,1800,1551,1363,560.4,14.1,444,7076,0.00,0.00,0.00,0.000,4102,0.000,0.000,2820,1801,1457,1552,1363,0,0,0,0,0,0,15.20,15.20,15.20
$GC,7314,0.65,285.9,2820,1801,1552,1361,525.9,14.2,450,7319,0.00,2.33,0.00,0.000,4356,0.000,0.057,2820,3177,1456,1552,1361,0,0,0,0,0,0,15.28,14.95,15.28
$GC,7332,0.65,285.9,2820,3178,1551,1361,525.9,14.2,450,7339,0.05,2.40,0.00,0.000,5126,0.416,0.063,2816,1774,1456,1551,1361,0,0,0,0,0,0,14.70,14.95,15.00
$GC,7605,0.65,285.9,2815,1771,1552,1358,487.1,13.0,457,7610,0.00,2.40,0.00,0.000,516,0.000,0.073,2823,358,1454,1551,1358,0,0,0,0,0,0,15.29,14.94,15.30
$GC,7643,0.65,285.9,2825,357,1547,1358,487.1,13.0,457,7649,0.00,2.40,0.00,0.000,5126,0.000,0.050,2825,1776,1452,1547,1358,0,0,0,0,0,0,15.11,14.99,15.14
$GC,7889,0.65,285.9,2825,1778,1547,1357,450.2,12.6,464,7894,0.00,2.33,0.00,0.000,4356,0.000,0.055,2825,3179,1452,1547,1357,0,0,0,0,0,0,15.32,14.96,15.33
$GC,7975,0.65,285.9,2826,3179,1547,1357,440.0,12.3,466,7981,0.08,2.40,0.00,0.000,5126,0.381,0.060,2813,1765,1452,1547,1357,0,0,0,0,0,0,14.62,14.94,14.96
$GC,8260,0.65,285.9,2812,1762,1547,1357,409.0,10.8,473,8265,0.00,2.40,0.00,0.000,516,0.000,0.069,2821,347,1452,1547,1357,0,0,0,0,0,0,15.32,14.92,15.33
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$STATE,12346,end climb,SURFACE_DEPTH_REACHED
$STATE,12346,begin surface coast
$FINISH,0.2,1.022968
$STATE,12384,end surface coast,CONTROL_FINISHED_OK
$STATE,12384,begin surface
$SM_CCo,12463,0.00,0.000,0,0,596,498.93
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$IRIDIUM_FIX,2232.34,-15812.78,150723,072348
$TT8_MAMPS,0.02247,0.343042
$HUMID,52.40
$INTERNAL_PRESSURE,8.90623
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,13.62,106.602
$10V_AH,13.35,0.000
$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
$DEVICE_SECS,15.975,167.175,549.650,0.000,0.000,26.045,46.490,225.472,0.000,0.000,19.860,2754.344,6393.017,686.613,2690.590,393.268,0.000,1780.042,0.000,2259.492,0.000,0.551,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,604.774,1038.798,1078.307,849.906,984.638,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338544
$DATA_FILE_SIZE,84224,893
$CAP_FILE_SIZE,154788,0
$CFSIZE,1023623168,985120768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,8
$CURRENT,0.271,273.30,1
$GPS,150723,105903,2241.698,-15813.270,24,0.9,43,9.8,0.0,279.0,9,8.5