version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 375
start: 7 15 123 22 42 19
data:
$ID,626
$MISSION,4
$DIVE,375
$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,32
$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
$GPS1,150723,223304,2241.5415,-15814.5713,19,0.9,47,9.8,0.9,323.7,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-77.2
$GPS2,150723,224120,2241.5752,-15814.6777,8,0.9,20,9.8,0.6,352.5,9,9.5
$SPEED_LIMITS,0.173,0.249
$TGT_NAME,BNE
$TGT_LATLONG,2258.560,-15745.420
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.204487,0.141210
$KALMAN_X,-903.683716,-903.683716,-903.683716,1590.613403,457.605652
$KALMAN_Y,-274.772675,-274.772675,-274.772675,1359.614502,139.138855
$MHEAD_RNG_PITCHd_Wd,85.4,58976,-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,-146.0,130,2026,675,517,0.0,0.0,0,95,0.00,0.00,-75.38,0.000,16386,0.000,0.000,130,2026,2778,2764,2793,0,0,0,0,0,0,15.14,28.83,15.15
$GC,99,-0.59,-146.0,130,2026,2765,2794,3.4,-6.5,11,122,8.02,0.00,-7.18,0.000,18950,0.466,0.000,2417,2026,3226,3203,3250,0,0,0,0,0,0,14.41,14.07,14.67
$GC,374,-0.59,-146.0,2416,2026,3210,3244,66.7,-15.9,43,379,0.00,2.30,0.00,0.000,2308,0.000,0.061,2409,3392,3227,3210,3244,0,0,0,0,0,0,15.23,14.88,15.23
$GC,402,-0.59,-146.0,2409,3392,3210,3245,70.5,-15.6,45,410,0.05,2.40,0.00,0.000,3078,0.336,0.049,2429,1970,3227,3210,3244,0,0,0,0,0,0,14.71,14.90,14.93
$GC,651,-0.59,-146.0,2429,1968,3211,3244,104.0,-12.8,70,657,0.00,2.42,0.00,0.000,260,0.000,0.065,2420,3388,3227,3211,3243,0,0,0,0,0,0,15.25,14.91,15.26
$GC,686,-0.59,-146.0,2420,3388,3212,3244,108.5,-12.4,73,692,0.00,2.30,0.00,0.000,3078,0.000,0.047,2420,1994,3227,3212,3243,0,0,0,0,0,0,15.08,14.95,15.09
$GC,942,-0.59,-146.0,2420,1993,3213,3242,140.8,-12.7,98,950,0.00,0.00,0.00,0.000,2054,0.000,0.000,2420,1993,3227,3213,3242,0,0,0,0,0,0,15.28,15.28,15.28
$GC,1192,-0.59,-146.0,2420,1993,3213,3242,168.0,-9.4,123,1197,0.00,2.35,0.00,0.000,2308,0.000,0.063,2410,3390,3226,3212,3241,0,0,0,0,0,0,15.29,14.94,15.29
$GC,1248,-0.59,-146.0,2410,3391,3213,3242,173.3,-9.0,128,1254,0.05,2.28,0.00,0.000,3078,0.328,0.044,2430,1996,3227,3213,3241,0,0,0,0,0,0,14.76,14.97,14.97
$GC,1504,-0.59,-146.0,2430,1994,3214,3240,197.5,-9.4,153,1509,0.00,2.33,0.00,0.000,516,0.000,0.057,2431,593,3226,3214,3239,0,0,0,0,0,0,15.29,14.95,15.30
$GC,1551,-0.59,-146.0,2431,593,3214,3239,202.0,-9.9,157,1556,0.00,2.30,0.00,0.000,3078,0.000,0.044,2422,1988,3227,3215,3239,0,0,0,0,0,0,15.10,14.99,15.11
$GC,1807,-0.59,-146.0,2422,1988,3214,3238,223.7,-7.4,182,1812,0.00,2.35,0.00,0.000,2308,0.000,0.062,2412,3402,3226,3215,3238,0,0,0,0,0,0,15.30,14.95,15.30
$GC,1832,-0.59,-146.0,2411,3402,3215,3238,225.6,-7.2,184,1838,0.05,2.30,0.00,0.000,3078,0.317,0.043,2434,1992,3226,3214,3238,0,0,0,0,0,0,14.78,14.99,14.99
$GC,2088,-0.59,-146.0,2433,1990,3215,3237,243.9,-7.5,209,2093,0.00,2.40,0.00,0.000,4356,0.000,0.060,2424,3411,3226,3215,3237,0,0,0,0,0,0,15.31,14.95,15.31
$GC,2178,-0.59,-146.0,2425,3410,3215,3237,251.3,-8.9,217,2185,0.00,2.33,0.00,0.000,3078,0.000,0.044,2425,1994,3226,3215,3237,0,0,0,0,0,0,15.10,14.97,15.12
$GC,2428,-0.59,-146.0,2425,1994,3215,3235,274.5,-8.6,242,2433,0.00,2.38,0.00,0.000,2308,0.000,0.061,2415,3403,3225,3215,3235,0,0,0,0,0,0,15.30,14.94,15.30
$GC,2446,-0.59,-146.0,2415,3403,3214,3235,275.8,-8.4,243,2454,0.00,2.35,0.00,0.000,3078,0.000,0.041,2415,2009,3224,3215,3234,0,0,0,0,0,0,14.97,14.90,15.08
$GC,2697,-0.59,-146.0,2414,2008,3214,3234,292.6,-5.4,268,2703,0.00,2.38,0.00,0.000,2564,0.000,0.058,2415,585,3224,3215,3233,0,0,0,0,0,0,15.30,14.96,15.30
$GC,2742,-0.59,-146.0,2415,585,3215,3234,295.6,-6.1,272,2748,0.08,2.35,0.00,0.000,3078,0.304,0.047,2435,2003,3223,3214,3233,0,0,0,0,0,0,14.71,14.97,14.95
$GC,2998,-0.59,-146.0,2434,2005,3214,3230,310.1,-6.6,297,3003,0.00,2.35,0.00,0.000,4356,0.000,0.063,2425,3407,3221,3214,3229,0,0,0,0,0,0,15.32,14.93,15.32
$GC,3068,-0.59,-146.0,2425,3406,3214,3229,315.1,-8.0,303,3076,0.00,2.38,0.00,0.000,3078,0.000,0.043,2425,2007,3221,3214,3229,0,0,0,0,0,0,14.88,14.83,14.91
$GC,3318,-0.59,-146.0,2425,2006,3215,3227,338.2,-9.5,328,3324,0.00,0.00,0.00,0.000,2054,0.000,0.000,2425,2006,3220,3214,3227,0,0,0,0,0,0,15.30,15.30,15.30
$GC,3565,-0.59,-146.0,2425,2006,3214,3224,358.9,-7.5,353,3571,0.00,2.40,0.00,0.000,2564,0.000,0.058,2425,586,3219,3214,3224,0,0,0,0,0,0,15.31,14.95,15.32
$GC,3605,-0.59,-146.0,2425,586,3214,3225,361.6,-7.5,356,3612,0.00,2.38,0.00,0.000,3078,0.000,0.046,2419,2007,3218,3214,3223,0,0,0,0,0,0,15.09,14.97,15.11
$GC,3856,-0.59,-146.0,2418,2007,3214,3221,381.0,-8.2,381,3862,0.00,2.35,0.00,0.000,2308,0.000,0.066,2408,3404,3217,3214,3221,0,0,0,0,0,0,15.30,14.92,15.30
$GC,3903,-0.59,-146.0,2408,3405,3214,3221,385.3,-8.6,385,3910,0.05,2.33,0.00,0.000,3078,0.328,0.044,2429,1991,3217,3214,3220,0,0,0,0,0,0,14.75,14.97,14.96
$GC,4172,-0.59,-146.0,2429,1990,3214,3217,406.4,-7.5,405,4177,0.00,2.40,0.00,0.000,260,0.000,0.063,2421,3406,3215,3214,3216,0,0,0,0,0,0,15.30,14.92,15.30
$GC,4263,-0.59,-146.0,2421,3406,3214,3215,413.1,-7.4,407,4268,0.00,2.33,0.00,0.000,3078,0.000,0.046,2421,2000,3214,3214,3215,0,0,0,0,0,0,15.09,14.97,15.11
$GC,4542,-0.59,-146.0,2421,1998,3213,3213,430.9,-6.0,414,4547,0.00,2.40,0.00,0.000,2308,0.000,0.065,2412,3405,3212,3213,3212,0,0,0,0,0,0,15.34,14.92,15.35
$GC,4560,-0.59,-146.0,2411,3405,3212,3213,430.9,-6.0,414,4566,0.05,2.33,0.00,0.000,3078,0.313,0.043,2436,1993,3212,3212,3212,0,0,0,0,0,0,14.78,15.00,14.98
$GC,4833,-0.59,-146.0,2435,1990,3212,3210,450.2,-7.0,421,4839,0.00,2.40,0.00,0.000,4356,0.000,0.066,2427,3405,3210,3212,3209,0,0,0,0,0,0,15.33,14.92,15.33
$GC,4961,-0.59,-146.0,2427,3405,3210,3209,461.0,-8.3,424,4967,0.00,2.33,0.00,0.000,1030,0.000,0.045,2428,1998,3209,3211,3208,0,0,0,0,0,0,15.08,14.98,15.11
$GC,5250,-0.59,-146.0,2427,1996,3210,3205,484.3,-7.8,431,5256,0.00,2.40,0.00,0.000,260,0.000,0.067,2420,3411,3208,3210,3206,0,0,0,0,0,0,15.33,14.91,15.33
$GC,5365,-0.59,-146.0,2420,3411,3209,3205,491.2,-7.7,433,5370,0.00,2.35,0.00,0.000,3078,0.000,0.048,2420,2001,3207,3210,3205,0,0,0,0,0,0,15.09,14.95,15.11
$GC,5619,-0.59,-146.0,2419,1999,3209,3202,510.2,-6.4,440,5624,0.00,2.40,0.00,0.000,2564,0.000,0.061,2420,585,3206,3209,3203,0,0,0,0,0,0,15.33,14.92,15.34
$GC,5705,-0.59,-146.0,2419,585,3208,3204,516.0,-6.6,442,5710,0.00,2.38,0.00,0.000,3078,0.000,0.049,2416,1999,3205,3207,3204,0,0,0,0,0,0,15.09,14.95,15.11
$GC,5989,-0.59,-146.0,2416,2000,3207,3201,534.8,-6.7,449,5996,0.00,2.38,0.00,0.000,2308,0.000,0.068,2406,3404,3203,3206,3201,0,0,0,0,0,0,15.33,14.89,15.34
$GC,6069,-0.59,-146.0,2406,3404,3206,3201,538.0,-6.7,450,6077,0.08,2.40,0.00,0.000,3078,0.265,0.047,2438,1989,3203,3206,3200,0,0,0,0,0,0,14.72,14.90,14.93
$GC,6316,-0.59,-146.0,2437,1989,3206,3198,555.9,-6.2,457,6321,0.00,2.45,0.00,0.000,4356,0.000,0.069,2429,3412,3201,3205,3198,0,0,0,0,0,0,15.33,14.88,15.33
$GC,6374,-0.59,-146.0,2429,3412,3205,3198,559.1,-6.5,458,6380,0.00,2.35,0.00,0.000,1030,0.000,0.047,2430,1999,3201,3205,3197,0,0,0,0,0,0,15.06,14.95,15.09
$GC,6644,-0.59,-146.0,2429,1997,3204,3196,578.5,-6.9,465,6649,0.00,2.40,0.00,0.000,260,0.000,0.065,2427,3407,3200,3204,3196,0,0,0,0,0,0,15.33,14.87,15.33
$GC,6771,-0.59,-146.0,2427,3407,3203,3195,589.3,-8.2,468,6777,0.00,2.35,0.00,0.000,1030,0.000,0.048,2427,2000,3199,3204,3195,0,0,0,0,0,0,15.05,14.94,15.07
$STATE,6933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6933,begin apogee
$GC,6941,-0.14,0.0,2427,1700,3203,3193,602.8,-8.1,472,7069,0.38,0.00,124.47,1.781,10246,0.151,0.000,2583,1698,2629,2726,2532,0,0,0,0,0,0,14.78,14.52,13.78
$STATE,7070,end apogee,CONTROL_FINISHED_OK
$STATE,7070,begin climb
$GC,7074,0.59,146.0,2582,1698,2726,2532,612.0,0.0,475,7218,0.52,2.53,128.62,1.746,10500,0.099,0.060,2820,3123,2032,2124,1940,0,0,0,0,0,0,14.53,14.49,13.81
$GC,7352,0.62,198.0,2820,3123,2122,1938,607.4,7.6,482,7402,0.00,2.38,44.08,1.704,13318,0.000,0.057,2832,1741,1821,1911,1732,0,0,0,0,0,0,14.94,14.82,13.91
$GC,7667,0.62,198.0,2831,1741,1902,1725,568.1,12.7,490,7672,0.00,2.35,0.00,0.000,4356,0.000,0.060,2832,3127,1814,1903,1725,0,0,0,0,0,0,15.21,14.90,15.21
$GC,7724,0.62,198.0,2831,3127,1903,1725,562.1,12.8,491,7730,0.08,2.40,0.00,0.000,5126,0.389,0.060,2820,1720,1814,1903,1725,0,0,0,0,0,0,14.62,14.91,14.94
$GC,7994,0.62,198.0,2819,1716,1902,1721,525.9,12.8,498,8000,0.00,2.40,0.00,0.000,260,0.000,0.060,2820,3130,1811,1902,1721,0,0,0,0,0,0,15.28,14.95,15.29
$GC,8042,0.62,198.0,2819,3131,1902,1721,519.9,13.1,499,8048,0.00,2.40,0.00,0.000,5126,0.000,0.058,2829,1716,1811,1902,1721,0,0,0,0,0,0,15.09,14.94,15.11
$GC,8322,0.62,198.0,2828,1716,1902,1719,482.4,13.0,506,8327,0.00,2.40,0.00,0.000,4356,0.000,0.058,2829,3132,1810,1902,1719,0,0,0,0,0,0,15.30,14.95,15.31
$GC,8366,0.62,198.0,2828,3133,1902,1718,476.8,12.9,507,8372,0.08,2.40,0.00,0.000,5126,0.395,0.059,2816,1720,1810,1902,1719,0,0,0,0,0,0,14.59,14.94,14.95
$GC,8652,0.62,202.4,2816,1717,1900,1718,447.9,9.8,514,8657,0.00,2.38,0.00,0.000,260,0.000,0.058,2816,3128,1809,1900,1718,0,0,0,0,0,0,15.30,14.93,15.31
$GC,8720,0.62,213.9,2816,3128,1900,1718,443.8,9.5,515,8741,0.00,2.40,12.85,1.521,13318,0.000,0.059,2825,1712,1756,1847,1666,0,0,0,0,0,0,15.08,14.92,14.24
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$GC,10996,0.66,311.0,2838,308,1509,1314,200.7,9.4,700,11018,0.00,2.42,12.57,1.193,13318,0.000,0.048,2838,1729,1359,1461,1257,0,0,0,0,0,0,14.99,14.87,14.21
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$STATE,13244,end climb,SURFACE_DEPTH_REACHED
$STATE,13244,begin surface coast
$FINISH,0.0,1.022853
$STATE,13278,end surface coast,CONTROL_FINISHED_OK
$STATE,13278,begin surface
$SM_CCo,13357,0.00,0.000,0,0,594,499.42
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$IRIDIUM_FIX,2230.01,-15815.82,150723,183701
$TT8_MAMPS,0.023219,0.338548
$HUMID,52.59
$INTERNAL_PRESSURE,8.89646
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,13.78,108.085
$10V_AH,13.13,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.800,177.625,553.150,0.000,0.000,32.894,65.014,227.427,0.000,0.000,22.073,2994.115,6796.621,702.341,2937.531,413.465,30.329,1885.234,0.000,2460.638,0.000,0.551,0.000
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$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,338480
$DATA_FILE_SIZE,90732,949
$CAP_FILE_SIZE,166355,0
$CFSIZE,1023623168,984711168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,30
$CURRENT,0.225,288.00,1
$GPS,160723,022606,2242.284,-15815.072,15,0.8,32,9.8,0.5,315.2,10,8.7