version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 373
start: 7 15 123 14 58 0
data:
$ID,626
$MISSION,4
$DIVE,373
$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,27
$R_STBD_OVSHOOT,50
$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
$GPS1,150723,144920,2241.6807,-15813.5820,23,1.0,40,9.8,0.0,172.0,9,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-75.9
$GPS2,150723,145733,2241.6462,-15813.6465,8,0.9,21,9.8,0.7,251.0,9,9.8
$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,92.1,57425,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.59,-146.0,104,2032,674,519,0.0,0.0,0,96,0.00,0.00,-76.45,0.000,16386,0.000,0.000,104,2033,2857,2857,2857,0,0,0,0,0,0,15.14,28.83,15.14
$GC,100,-0.59,-146.0,104,2033,2858,2858,4.1,-9.1,11,123,8.05,0.00,-5.70,0.000,18950,0.464,0.000,2406,2033,3226,3202,3251,0,0,0,0,0,0,14.40,14.04,14.66
$GC,368,-0.59,-146.0,2406,2032,3210,3246,70.8,-18.4,42,373,0.00,2.45,0.00,0.000,2564,0.000,0.060,2413,599,3227,3210,3245,0,0,0,0,0,0,15.22,14.90,15.23
$GC,393,-0.59,-146.0,2412,599,3210,3244,75.2,-18.4,44,399,0.00,2.38,0.00,0.000,3078,0.000,0.054,2404,2002,3227,3211,3244,0,0,0,0,0,0,15.04,14.91,15.06
$GC,651,-0.59,-146.0,2404,2002,3211,3244,112.9,-14.0,69,656,0.00,2.40,0.00,0.000,2308,0.000,0.066,2393,3431,3227,3211,3243,0,0,0,0,0,0,15.26,14.92,15.26
$GC,716,-0.59,-146.0,2393,3430,3212,3244,121.4,-11.3,75,722,0.05,2.33,0.00,0.000,3078,0.347,0.044,2412,2008,3227,3212,3243,0,0,0,0,0,0,14.74,14.97,14.96
$GC,974,-0.59,-146.0,2412,2006,3213,3244,150.5,-11.0,100,979,0.00,2.33,0.00,0.000,516,0.000,0.058,2413,615,3227,3213,3242,0,0,0,0,0,0,15.28,14.95,15.28
$GC,991,-0.59,-146.0,2413,614,3214,3242,152.3,-11.1,101,999,0.00,2.38,0.00,0.000,3078,0.000,0.050,2405,2028,3227,3214,3241,0,0,0,0,0,0,15.09,14.97,15.11
$GC,1242,-0.59,-146.0,2405,2027,3214,3241,182.5,-13.1,126,1248,0.00,2.35,0.00,0.000,2308,0.000,0.066,2394,3432,3227,3214,3241,0,0,0,0,0,0,15.28,14.94,15.29
$GC,1310,-0.59,-146.0,2394,3433,3214,3241,191.1,-11.8,132,1319,0.05,2.38,0.00,0.000,3078,0.266,0.042,2414,2015,3227,3214,3240,0,0,0,0,0,0,14.60,14.83,14.75
$GC,1559,-0.59,-146.0,2414,2014,3214,3240,218.8,-10.1,157,1564,0.00,2.30,0.00,0.000,516,0.000,0.056,2414,620,3227,3214,3240,0,0,0,0,0,0,15.29,14.96,15.30
$GC,1587,-0.59,-146.0,2414,620,3214,3240,221.2,-9.8,159,1596,0.00,2.40,0.00,0.000,3078,0.000,0.049,2406,2034,3226,3214,3239,0,0,0,0,0,0,15.09,14.95,15.11
$GC,1839,-0.59,-146.0,2406,2034,3214,3239,243.3,-8.6,184,1844,0.00,2.35,0.00,0.000,2308,0.000,0.064,2395,3434,3226,3214,3238,0,0,0,0,0,0,15.30,14.95,15.30
$GC,1878,-0.59,-146.0,2395,3435,3214,3238,246.6,-8.6,187,1886,0.05,2.30,0.00,0.000,3078,0.336,0.041,2415,2018,3226,3214,3238,0,0,0,0,0,0,14.76,14.99,14.98
$GC,2126,-0.59,-146.0,2415,2018,3214,3237,268.1,-8.8,212,2131,0.00,2.33,0.00,0.000,516,0.000,0.057,2415,622,3225,3214,3237,0,0,0,0,0,0,15.30,14.96,15.31
$GC,2173,-0.59,-146.0,2415,621,3214,3237,272.6,-9.9,216,2178,0.00,2.33,0.00,0.000,3078,0.000,0.049,2408,2021,3225,3214,3236,0,0,0,0,0,0,15.11,14.97,15.12
$GC,2430,-0.59,-146.0,2407,2022,3214,3235,296.7,-9.1,241,2435,0.00,2.35,0.00,0.000,2308,0.000,0.065,2396,3428,3224,3214,3234,0,0,0,0,0,0,15.30,14.94,15.31
$GC,2496,-0.59,-146.0,2396,3428,3214,3234,302.6,-8.4,247,2502,0.05,2.30,0.00,0.000,3078,0.333,0.042,2416,2017,3224,3214,3234,0,0,0,0,0,0,14.76,14.99,14.98
$GC,2752,-0.59,-146.0,2416,2015,3214,3231,322.5,-7.3,272,2757,0.00,2.33,0.00,0.000,516,0.000,0.056,2417,618,3222,3214,3230,0,0,0,0,0,0,15.30,14.96,15.32
$GC,2797,-0.59,-146.0,2417,618,3214,3230,326.0,-7.5,276,2803,0.00,2.35,0.00,0.000,3078,0.000,0.047,2408,2030,3222,3214,3230,0,0,0,0,0,0,15.11,14.98,15.12
$GC,3055,-0.59,-146.0,2408,2030,3214,3227,344.7,-7.3,301,3061,0.00,0.00,0.00,0.000,2054,0.000,0.000,2408,2030,3220,3214,3227,0,0,0,0,0,0,15.30,15.30,15.30
$GC,3302,-0.59,-146.0,2408,2030,3214,3225,363.6,-7.9,326,3308,0.00,2.35,0.00,0.000,2308,0.000,0.065,2398,3429,3219,3214,3225,0,0,0,0,0,0,15.32,14.93,15.32
$GC,3367,-0.59,-146.0,2397,3429,3214,3224,368.9,-8.0,332,3374,0.00,2.33,0.00,0.000,3078,0.000,0.044,2398,2016,3219,3214,3224,0,0,0,0,0,0,15.10,14.98,15.12
$GC,3625,-0.59,-146.0,2397,2015,3214,3221,389.5,-8.1,357,3630,0.00,2.40,0.00,0.000,2308,0.000,0.063,2388,3429,3217,3214,3220,0,0,0,0,0,0,15.30,14.92,15.30
$GC,3700,-0.59,-146.0,2387,3429,3214,3219,395.8,-8.5,364,3707,0.08,2.33,0.00,0.000,3078,0.287,0.044,2416,2013,3216,3214,3219,0,0,0,0,0,0,14.72,14.97,14.95
$GC,3956,-0.59,-146.0,2416,2012,3214,3217,415.2,-7.4,374,3961,0.00,2.35,0.00,0.000,516,0.000,0.057,2417,606,3215,3214,3217,0,0,0,0,0,0,15.33,14.95,15.33
$GC,3994,-0.59,-146.0,2416,606,3212,3218,415.2,-7.4,374,4001,0.00,2.38,0.00,0.000,3078,0.000,0.048,2408,2025,3215,3212,3218,0,0,0,0,0,0,15.11,14.97,15.12
$GC,4243,-0.59,-146.0,2408,2025,3212,3214,437.9,-8.1,381,4248,0.00,2.38,0.00,0.000,2308,0.000,0.066,2397,3432,3212,3211,3214,0,0,0,0,0,0,15.33,14.93,15.33
$GC,4322,-0.59,-146.0,2397,3432,3211,3213,441.8,-8.2,382,4331,0.05,2.33,0.00,0.000,3078,0.328,0.044,2417,2017,3212,3211,3213,0,0,0,0,0,0,14.76,14.99,14.97
$GC,4568,-0.59,-146.0,2417,2016,3211,3211,466.2,-8.6,389,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2016,3211,3211,3211,0,0,0,0,0,0,15.33,15.34,15.34
$GC,4809,-0.59,-146.0,2417,2016,3211,3208,485.5,-7.8,395,4814,0.00,2.35,0.00,0.000,4612,0.000,0.060,2418,620,3209,3210,3208,0,0,0,0,0,0,15.34,14.94,15.34
$GC,4889,-0.59,-146.0,2418,620,3208,3209,489.1,-7.8,396,4897,0.00,2.40,0.00,0.000,3078,0.000,0.048,2410,2021,3208,3209,3208,0,0,0,0,0,0,15.08,14.92,15.11
$GC,5136,-0.59,-146.0,2409,2021,3209,3206,510.1,-7.3,403,5141,0.00,2.40,0.00,0.000,2308,0.000,0.067,2399,3434,3207,3208,3206,0,0,0,0,0,0,15.33,14.92,15.33
$GC,5180,-0.59,-146.0,2398,3434,3208,3206,513.5,-7.3,404,5186,0.00,2.33,0.00,0.000,3078,0.000,0.045,2399,2022,3206,3207,3206,0,0,0,0,0,0,15.10,14.97,15.11
$GC,5467,-0.59,-146.0,2398,2022,3208,3203,535.4,-7.7,411,5472,0.00,2.42,0.00,0.000,2308,0.000,0.066,2389,3434,3205,3208,3203,0,0,0,0,0,0,15.33,14.90,15.33
$GC,5505,-0.59,-146.0,2388,3434,3206,3204,535.4,-7.7,411,5514,0.08,2.40,0.00,0.000,3078,0.282,0.046,2417,2010,3204,3206,3203,0,0,0,0,0,0,14.71,14.92,14.93
$GC,5752,-0.59,-146.0,2417,2009,3205,3202,557.2,-7.6,418,5757,0.00,2.42,0.00,0.000,260,0.000,0.063,2409,3438,3203,3206,3201,0,0,0,0,0,0,15.33,14.90,15.33
$GC,5780,-0.59,-146.0,2409,3438,3205,3202,557.2,-7.6,418,5786,0.00,2.33,0.00,0.000,3078,0.000,0.041,2409,2018,3203,3205,3201,0,0,0,0,0,0,15.10,14.99,15.11
$GC,6040,-0.59,-146.0,2409,2017,3205,3198,583.3,-9.5,425,6045,0.00,2.38,0.00,0.000,2564,0.000,0.060,2409,612,3201,3204,3198,0,0,0,0,0,0,15.33,14.91,15.33
$GC,6105,-0.59,-146.0,2409,611,3203,3200,588.1,-9.9,426,6110,0.00,2.40,0.00,0.000,3078,0.000,0.050,2399,2023,3201,3203,3199,0,0,0,0,0,0,15.08,14.94,15.10
$STATE,6205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6205,begin apogee
$GC,6213,-0.14,0.0,2399,1761,3204,3198,601.0,-10.5,429,6341,0.43,0.00,124.40,1.767,10246,0.175,0.000,2568,1758,2629,2726,2532,0,0,0,0,0,0,14.75,14.53,13.81
$STATE,6342,end apogee,CONTROL_FINISHED_OK
$STATE,6342,begin climb
$GC,6345,0.59,146.0,2568,1758,2726,2532,611.5,0.0,432,6484,0.52,2.42,128.05,1.741,10756,0.107,0.063,2814,373,2033,2127,1940,0,0,0,0,0,0,14.52,14.36,13.80
$GC,6646,0.62,201.7,2814,372,2104,1942,607.0,7.4,439,6699,0.00,2.38,46.95,1.709,13318,0.000,0.049,2814,1773,1806,1895,1717,0,0,0,0,0,0,14.96,14.85,13.92
$GC,6980,0.62,201.7,2815,1773,1890,1711,563.1,12.5,448,6986,0.00,2.38,0.00,0.000,4356,0.000,0.061,2814,3181,1800,1890,1711,0,0,0,0,0,0,15.20,14.90,15.20
$GC,7034,0.62,201.7,2814,3182,1890,1711,557.0,12.6,449,7040,0.08,2.38,0.00,0.000,5126,0.383,0.057,2802,1787,1800,1889,1711,0,0,0,0,0,0,14.63,14.91,14.92
$GC,7309,0.62,201.7,2802,1784,1890,1709,524.6,11.1,456,7315,0.00,2.42,0.00,0.000,516,0.000,0.070,2812,358,1799,1890,1708,0,0,0,0,0,0,15.28,14.93,15.29
$GC,7333,0.62,201.7,2811,358,1886,1710,524.6,11.1,456,7338,0.00,2.38,0.00,0.000,5126,0.000,0.049,2812,1771,1798,1886,1710,0,0,0,0,0,0,15.10,14.97,15.12
$GC,7597,0.62,201.7,2811,1771,1885,1709,493.1,10.7,463,7602,0.00,2.35,0.00,0.000,4356,0.000,0.059,2811,3176,1797,1885,1709,0,0,0,0,0,0,15.31,14.95,15.32
$GC,7690,0.62,201.7,2811,3176,1885,1709,483.6,10.9,465,7696,0.05,2.40,0.00,0.000,5126,0.451,0.058,2807,1763,1796,1884,1709,0,0,0,0,0,0,14.63,14.95,14.96
$GC,7967,0.63,226.9,2807,1758,1885,1709,457.1,8.8,472,7997,0.00,2.45,21.42,1.592,8452,0.000,0.057,2808,3179,1703,1797,1609,0,0,0,0,0,0,15.30,14.91,14.21
$GC,8019,0.64,249.9,2807,3179,1797,1610,453.3,8.9,473,8046,0.00,2.42,21.23,1.556,13318,0.000,0.060,2816,1763,1610,1707,1513,0,0,0,0,0,0,14.99,14.85,14.08
$GC,8285,0.64,249.9,2816,1763,1705,1507,424.0,10.0,480,8290,0.00,2.40,0.00,0.000,4612,0.000,0.069,2827,359,1606,1705,1507,0,0,0,0,0,0,15.21,14.87,15.21
$GC,8359,0.64,251.6,2827,358,1699,1508,419.3,9.9,481,8365,0.05,2.40,0.00,0.000,5126,0.396,0.050,2811,1775,1603,1698,1508,0,0,0,0,0,0,14.66,14.92,14.91
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$STATE,12822,end climb,SURFACE_DEPTH_REACHED
$STATE,12822,begin surface coast
$FINISH,-0.1,1.006143
$STATE,12852,end surface coast,CONTROL_FINISHED_OK
$STATE,12852,begin surface
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$TT8_MAMPS,0.023219,0.338548
$HUMID,52.95
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$TCM_TEMP,20.60
$XPDR_PINGS,4
$24V_AH,13.80,107.344
$10V_AH,13.34,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.125,176.675,561.500,0.000,0.000,26.458,48.316,246.490,1.000,0.000,22.457,2829.650,6697.057,699.908,2775.728,412.328,0.000,1826.940,0.000,2315.054,0.000,0.551,0.000
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$SENSOR_SECS,628.977,999.662,1126.904,872.998,1018.919,0.000,0.000,0.000,0.000,0.000
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$MEM,338480
$DATA_FILE_SIZE,87526,928
$CAP_FILE_SIZE,161802,0
$CFSIZE,1023623168,984924160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,24
$CURRENT,0.148,273.99,1
$GPS,150723,183449,2241.338,-15813.869,19,0.8,41,9.8,0.7,272.2,10,8.1