version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 374
start: 7 15 123 18 43 50
data:
$ID,626
$MISSION,4
$DIVE,374
$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,0
$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,2620
$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,2000
$C_ROLL_CLIMB,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,57
$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
$GPS1,150723,183449,2241.3379,-15813.8691,19,0.8,41,9.8,0.7,272.2,10,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-76.1
$GPS2,150723,184254,2241.3010,-15813.9688,8,0.8,14,9.8,0.0,154.7,10,9.9
$SPEED_LIMITS,0.173,0.249
$TGT_NAME,BNE
$TGT_LATLONG,2258.560,-15745.420
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.207858,0.136199
$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,68.0,58234,-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,14,begin dive
$GC,17,-0.59,-146.0,130,2045,673,517,0.0,0.0,0,88,0.00,0.00,-68.60,0.000,16386,0.000,0.000,130,2045,2553,2549,2558,0,0,0,0,0,0,15.14,28.83,15.15
$GC,92,-0.59,-146.0,130,2046,2550,2557,3.1,-6.9,10,122,8.00,2.30,-11.77,0.000,18692,0.464,0.082,2408,3387,3227,3211,3244,0,0,0,0,0,0,14.40,13.62,14.68
$GC,151,-0.59,-146.0,2408,3388,3213,3245,20.4,-18.8,19,161,0.05,2.38,0.00,0.000,3078,0.276,0.048,2428,1997,3229,3214,3244,0,0,0,0,0,0,14.63,14.82,14.78
$GC,415,-0.59,-146.0,2428,1996,3214,3244,66.2,-16.7,49,420,0.00,2.35,0.00,0.000,516,0.000,0.057,2427,582,3228,3215,3242,0,0,0,0,0,0,15.22,14.92,15.23
$GC,462,-0.59,-146.0,2429,582,3216,3241,73.0,-14.2,53,467,0.00,2.33,0.00,0.000,3078,0.000,0.050,2420,1976,3228,3216,3240,0,0,0,0,0,0,15.05,14.94,15.07
$GC,718,-0.59,-146.0,2420,1976,3215,3240,108.9,-13.4,78,724,0.00,2.40,0.00,0.000,2308,0.000,0.065,2408,3410,3228,3216,3240,0,0,0,0,0,0,15.26,14.92,15.26
$GC,806,-0.59,-146.0,2409,3410,3217,3240,119.2,-10.5,86,813,0.05,2.30,0.00,0.000,3078,0.317,0.043,2430,1998,3228,3216,3240,0,0,0,0,0,0,14.62,14.97,14.93
$GC,1065,-0.59,-146.0,2430,1996,3217,3240,147.1,-10.8,111,1070,0.00,2.35,0.00,0.000,260,0.000,0.061,2422,3408,3228,3217,3239,0,0,0,0,0,0,15.27,14.94,15.28
$GC,1092,-0.59,-146.0,2421,3408,3217,3240,150.1,-10.8,113,1097,0.00,2.30,0.00,0.000,3078,0.000,0.044,2422,2000,3227,3216,3239,0,0,0,0,0,0,15.10,14.99,15.11
$GC,1348,-0.59,-146.0,2421,2000,3218,3239,179.3,-11.6,138,1353,0.00,2.35,0.00,0.000,2564,0.000,0.057,2422,586,3228,3218,3238,0,0,0,0,0,0,15.28,14.96,15.29
$GC,1366,-0.59,-146.0,2421,586,3218,3238,181.1,-11.4,139,1376,0.03,2.40,0.00,0.000,3078,0.399,0.050,2422,1998,3228,3219,3238,0,0,0,0,0,0,14.69,14.95,14.82
$GC,1614,-0.59,-146.0,2422,1998,3218,3238,205.1,-9.0,164,1620,0.00,2.38,0.00,0.000,2564,0.000,0.055,2423,586,3228,3218,3238,0,0,0,0,0,0,15.29,14.96,15.30
$GC,1692,-0.59,-146.0,2422,585,3218,3238,212.2,-9.5,171,1697,0.00,2.35,0.00,0.000,3078,0.000,0.047,2414,2008,3227,3218,3237,0,0,0,0,0,0,15.11,14.98,15.12
$GC,1950,-0.59,-146.0,2414,2008,3218,3237,235.0,-8.1,196,1955,0.00,2.33,0.00,0.000,2308,0.000,0.061,2403,3406,3227,3218,3236,0,0,0,0,0,0,15.30,14.95,15.30
$GC,2026,-0.59,-146.0,2402,3406,3218,3236,242.2,-9.5,203,2032,0.08,2.30,0.00,0.000,3078,0.288,0.041,2432,1989,3227,3218,3236,0,0,0,0,0,0,14.75,15.00,14.97
$GC,2281,-0.59,-146.0,2432,1987,3218,3236,260.4,-6.3,228,2286,0.00,2.38,0.00,0.000,260,0.000,0.062,2424,3405,3226,3218,3235,0,0,0,0,0,0,15.31,14.95,15.32
$GC,2381,-0.59,-146.0,2423,3405,3218,3235,266.0,-5.9,237,2389,0.00,2.38,0.00,0.000,3078,0.000,0.043,2423,2002,3226,3218,3234,0,0,0,0,0,0,15.10,14.92,15.11
$GC,2633,-0.59,-146.0,2423,2002,3218,3232,282.5,-7.3,262,2638,0.00,2.38,0.00,0.000,2308,0.000,0.060,2414,3409,3225,3218,3232,0,0,0,0,0,0,15.30,14.95,15.30
$GC,2651,-0.59,-146.0,2413,3409,3218,3232,283.9,-7.4,263,2658,0.00,2.33,0.00,0.000,3078,0.000,0.041,2413,1989,3225,3218,3232,0,0,0,0,0,0,15.11,15.00,15.13
$GC,2899,-0.59,-146.0,2413,1989,3218,3229,305.3,-8.4,288,2904,0.00,2.40,0.00,0.000,2308,0.000,0.061,2403,3410,3223,3218,3228,0,0,0,0,0,0,15.30,14.95,15.30
$GC,2955,-0.59,-146.0,2403,3410,3218,3228,310.2,-8.6,293,2960,0.08,2.30,0.00,0.000,3078,0.265,0.043,2434,1998,3223,3218,3228,0,0,0,0,0,0,14.78,15.00,14.98
$GC,3209,-0.59,-146.0,2434,1996,3218,3227,327.4,-5.9,318,3214,0.00,2.38,0.00,0.000,4356,0.000,0.062,2426,3406,3222,3218,3226,0,0,0,0,0,0,15.32,14.94,15.32
$GC,3289,-0.59,-146.0,2426,3406,3218,3226,332.1,-6.4,325,3296,0.00,2.33,0.00,0.000,3078,0.000,0.046,2426,2000,3221,3218,3225,0,0,0,0,0,0,15.10,14.99,15.12
$GC,3539,-0.59,-146.0,2426,2000,3218,3222,349.6,-7.9,350,3544,0.00,2.40,0.00,0.000,2308,0.000,0.063,2417,3406,3220,3218,3222,0,0,0,0,0,0,15.30,14.93,15.30
$GC,3661,-0.59,-146.0,2417,3406,3217,3221,360.1,-8.7,361,3666,0.00,2.30,0.00,0.000,3078,0.000,0.040,2417,1989,3219,3218,3220,0,0,0,0,0,0,15.11,15.00,15.12
$GC,3918,-0.59,-146.0,2417,1990,3218,3218,381.1,-7.3,386,3926,0.00,0.00,0.00,0.000,2054,0.000,0.000,2417,1990,3217,3218,3217,0,0,0,0,0,0,15.30,15.30,15.30
$GC,4165,-0.59,-146.0,2416,1988,3217,3214,396.9,-6.2,411,4171,0.00,2.35,0.00,0.000,2564,0.000,0.060,2417,592,3216,3217,3215,0,0,0,0,0,0,15.31,14.94,15.32
$GC,4211,-0.59,-146.0,2417,592,3215,3215,400.1,-7.1,415,4218,0.00,2.35,0.00,0.000,3078,0.000,0.048,2414,1999,3215,3215,3215,0,0,0,0,0,0,15.09,14.97,15.11
$GC,4497,-0.59,-146.0,2413,1999,3215,3212,423.2,-8.6,422,4502,0.00,2.38,0.00,0.000,2308,0.000,0.067,2403,3406,3213,3214,3212,0,0,0,0,0,0,15.33,14.92,15.34
$GC,4575,-0.59,-146.0,2403,3406,3214,3211,427.5,-9.0,423,4584,0.08,2.38,0.00,0.000,3078,0.271,0.044,2434,2007,3212,3214,3211,0,0,0,0,0,0,14.75,14.89,14.96
$GC,4822,-0.59,-146.0,2434,2006,3214,3208,452.3,-8.5,430,4828,0.00,2.38,0.00,0.000,4356,0.000,0.063,2426,3405,3211,3214,3208,0,0,0,0,0,0,15.33,14.93,15.34
$GC,4883,-0.59,-146.0,2426,3405,3214,3207,456.1,-8.4,431,4888,0.00,2.30,0.00,0.000,3078,0.000,0.042,2426,1997,3210,3214,3207,0,0,0,0,0,0,15.11,15.00,15.13
$GC,5152,-0.59,-146.0,2426,1995,3214,3204,477.4,-7.1,438,5158,0.00,2.38,0.00,0.000,2564,0.000,0.059,2426,590,3209,3213,3205,0,0,0,0,0,0,15.34,14.95,15.34
$GC,5216,-0.59,-146.0,2426,589,3211,3206,480.7,-7.2,439,5221,0.00,2.38,0.00,0.000,3078,0.000,0.049,2420,2007,3208,3211,3206,0,0,0,0,0,0,15.10,14.97,15.11
$GC,5480,-0.59,-146.0,2419,2008,3211,3202,501.5,-7.3,446,5486,0.00,2.35,0.00,0.000,2308,0.000,0.064,2409,3405,3207,3211,3203,0,0,0,0,0,0,15.34,14.92,15.35
$GC,5574,-0.59,-146.0,2409,3405,3210,3202,507.8,-7.4,448,5581,0.05,2.33,0.00,0.000,3078,0.304,0.044,2434,1997,3206,3210,3202,0,0,0,0,0,0,14.76,14.97,14.96
$GC,5849,-0.59,-146.0,2433,1996,3210,3199,527.9,-7.3,455,5855,0.00,2.40,0.00,0.000,4356,0.000,0.065,2426,3407,3204,3210,3199,0,0,0,0,0,0,15.33,14.91,15.34
$GC,5943,-0.59,-146.0,2425,3407,3210,3199,534.4,-7.5,457,5948,0.00,2.33,0.00,0.000,3078,0.000,0.044,2425,1994,3203,3209,3198,0,0,0,0,0,0,15.09,14.97,15.11
$GC,6217,-0.59,-146.0,2425,1993,3209,3196,556.3,-7.6,464,6224,0.00,2.38,0.00,0.000,2564,0.000,0.060,2425,592,3202,3208,3197,0,0,0,0,0,0,15.33,14.91,15.34
$GC,6231,-0.59,-146.0,2425,592,3208,3198,556.3,-7.6,464,6236,0.00,2.38,0.00,0.000,3078,0.000,0.050,2422,2000,3202,3208,3197,0,0,0,0,0,0,15.09,14.96,15.11
$GC,6505,-0.59,-146.0,2422,2000,3207,3194,576.0,-6.5,471,6510,0.00,2.40,0.00,0.000,2308,0.000,0.068,2412,3413,3201,3208,3194,0,0,0,0,0,0,15.33,14.89,15.33
$GC,6553,-0.59,-146.0,2411,3413,3207,3194,578.9,-6.4,472,6559,0.05,2.35,0.00,0.000,3078,0.316,0.046,2435,1993,3200,3207,3194,0,0,0,0,0,0,14.73,14.95,14.94
$GC,6833,-0.59,-146.0,2435,1992,3207,3192,595.0,-5.6,479,6838,0.00,2.42,0.00,0.000,4356,0.000,0.065,2428,3407,3198,3206,3191,0,0,0,0,0,0,15.33,14.89,15.33
$GC,6867,-0.59,-146.0,2428,3407,3206,3191,595.0,-5.6,479,6873,0.00,2.33,0.00,0.000,1030,0.000,0.041,2428,1989,3199,3207,3191,0,0,0,0,0,0,15.07,14.97,15.09
$STATE,6958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6958,begin apogee
$GC,6966,-0.14,0.0,2428,1704,3206,3190,602.3,-5.6,482,7093,0.38,0.00,124.40,1.779,10246,0.138,0.000,2586,1703,2628,2725,2532,0,0,0,0,0,0,14.82,14.52,13.79
$STATE,7094,end apogee,CONTROL_FINISHED_OK
$STATE,7094,begin climb
$GC,7098,0.59,146.0,2586,1703,2725,2532,608.2,0.0,485,7235,0.52,2.50,128.65,1.740,11012,0.099,0.057,2825,3130,2032,2125,1939,0,0,0,0,0,0,14.53,14.37,13.81
$GC,7245,0.59,146.0,2825,3130,2125,1939,611.6,-1.3,489,7251,0.08,2.40,0.00,0.000,5126,0.413,0.050,2814,1731,2031,2125,1938,0,0,0,0,0,0,14.40,14.61,14.63
$GC,7531,0.60,168.4,2814,1728,2120,1931,585.6,9.0,496,7558,0.00,2.42,19.15,1.651,8452,0.000,0.057,2814,3129,1940,2032,1849,0,0,0,0,0,0,15.20,14.81,14.10
$GC,7648,0.61,186.5,2814,3130,2032,1849,577.7,9.2,498,7673,0.00,2.45,16.73,1.632,13318,0.000,0.057,2824,1729,1867,1959,1775,0,0,0,0,0,0,14.88,14.81,14.04
$GC,7937,0.61,186.5,2823,1729,1956,1772,544.2,10.3,506,7943,0.00,2.38,0.00,0.000,4356,0.000,0.056,2824,3129,1863,1955,1772,0,0,0,0,0,0,15.23,14.92,15.23
$GC,7965,0.61,186.5,2823,3129,1955,1772,544.2,10.3,506,7971,0.05,2.40,0.00,0.000,5126,0.447,0.057,2820,1712,1863,1955,1771,0,0,0,0,0,0,14.64,14.92,14.92
$GC,8225,0.61,186.5,2820,1709,1955,1769,513.8,10.7,513,8230,0.00,2.40,0.00,0.000,4356,0.000,0.057,2820,3128,1862,1955,1769,0,0,0,0,0,0,15.29,14.95,15.29
$GC,8278,0.61,186.5,2820,3129,1955,1769,508.8,11.0,514,8284,0.00,2.40,0.00,0.000,5126,0.000,0.058,2829,1714,1862,1955,1769,0,0,0,0,0,0,15.09,14.95,15.11
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$STATE,13552,end climb,SURFACE_DEPTH_REACHED
$STATE,13552,begin surface coast
$FINISH,-0.0,1.022981
$STATE,13591,end surface coast,CONTROL_FINISHED_OK
$STATE,13591,begin surface
$SM_CCo,13670,0.00,0.000,0,0,595,499.18
$SM_GC,0.88,6.25,0.47,0.00,0.050,0.053,0.000,158,2018,595,-7.54,-1.05,499.18,0,0,0,0,0,0,14.95,14.97,15.01
$IRIDIUM_FIX,2230.01,-15812.78,150723,183650
$TT8_MAMPS,0.02247,0.340795
$HUMID,53.26
$INTERNAL_PRESSURE,8.8867
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,13.62,107.717
$10V_AH,13.40,0.000
$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
$DEVICE_SECS,15.975,186.875,555.800,0.000,0.000,27.061,46.772,247.771,0.250,0.000,15.160,3002.814,7028.623,709.997,2982.385,421.817,29.355,1892.320,0.000,2434.746,0.000,0.551,0.000
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$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,663.637,1213.138,1183.206,938.346,1087.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338520
$DATA_FILE_SIZE,94068,977
$CAP_FILE_SIZE,168561,0
$CFSIZE,1023623168,984809472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,59
$CURRENT,0.217,281.95,1
$GPS,150723,223304,2241.542,-15814.571,19,0.9,47,9.8,0.9,323.7,9,9.0