version: 66.12
revision: eAGLERAY
glider: 626
mission: 4
dive: 380
start: 7 16 123 16 43 36
data:
$ID,626
$MISSION,4
$DIVE,380
$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,2590
$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,1720
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2600
$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
$GPS1,160723,163135,2242.6855,-15816.0029,22,0.7,47,9.8,1.1,225.4,11,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-76.3
$GPS2,160723,164235,2242.6970,-15816.1045,8,0.8,19,9.8,0.0,243.6,10,9.8
$SPEED_LIMITS,0.173,0.249
$TGT_NAME,BSE
$TGT_LATLONG,2231.440,-15745.420
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.244259,0.045748
$KALMAN_X,-18497.687500,427.038025,80.901634,14345.829102,-3590.773193
$KALMAN_Y,1608.559692,526.319641,98.871460,351.207947,-286.643555
$MHEAD_RNG_PITCHd_Wd,146.9,56480,-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,-146.0,127,2065,673,525,0.0,0.0,0,89,0.00,0.00,-69.50,0.000,16386,0.000,0.000,127,2066,2590,2589,2591,0,0,0,0,0,0,15.14,28.83,15.15
$GC,94,-0.59,-146.0,127,2066,2590,2591,3.0,-5.3,10,117,7.97,2.47,-10.20,0.000,18948,0.469,0.072,2400,626,3196,3181,3212,0,0,0,0,0,0,14.42,13.61,14.69
$GC,160,-0.59,-146.0,2400,626,3187,3213,23.4,-21.8,20,168,0.00,2.45,0.00,0.000,3078,0.000,0.054,2392,2047,3199,3187,3212,0,0,0,0,0,0,14.99,14.85,15.00
$GC,420,-0.59,-146.0,2392,2047,3188,3210,78.3,-20.9,48,426,0.00,2.40,0.00,0.000,2308,0.000,0.066,2381,3470,3198,3186,3210,0,0,0,0,0,0,15.22,14.88,15.22
$GC,488,-0.59,-146.0,2381,3470,3188,3210,88.9,-13.2,54,497,0.05,2.40,0.00,0.000,3078,0.366,0.047,2400,2042,3199,3188,3210,0,0,0,0,0,0,14.68,14.90,14.92
$GC,740,-0.59,-146.0,2398,2040,3188,3209,119.6,-11.5,79,745,0.00,2.30,0.00,0.000,516,0.000,0.056,2400,642,3199,3189,3209,0,0,0,0,0,0,15.26,14.93,15.27
$GC,785,-0.59,-146.0,2400,641,3189,3208,125.2,-11.3,83,791,0.00,2.38,0.00,0.000,3078,0.000,0.050,2392,2064,3198,3189,3208,0,0,0,0,0,0,15.07,14.95,15.09
$GC,1042,-0.59,-146.0,2391,2064,3190,3208,163.1,-16.6,108,1048,0.00,2.33,0.00,0.000,2308,0.000,0.067,2381,3457,3198,3190,3207,0,0,0,0,0,0,15.28,14.92,15.28
$GC,1080,-0.59,-146.0,2381,3457,3190,3207,168.8,-15.6,111,1088,0.05,2.33,0.00,0.000,3078,0.341,0.044,2400,2042,3198,3189,3207,0,0,0,0,0,0,14.73,14.96,14.95
$GC,1330,-0.59,-146.0,2400,2039,3190,3207,195.9,-9.4,136,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2039,3198,3190,3207,0,0,0,0,0,0,15.28,15.29,15.29
$GC,1577,-0.59,-146.0,2399,2039,3189,3207,215.9,-7.7,161,1582,0.00,2.38,0.00,0.000,260,0.000,0.061,2391,3461,3198,3190,3206,0,0,0,0,0,0,15.30,14.93,15.30
$GC,1605,-0.59,-146.0,2391,3461,3190,3206,217.9,-8.1,163,1612,0.00,2.33,0.00,0.000,3078,0.000,0.044,2391,2045,3198,3189,3207,0,0,0,0,0,0,15.09,14.95,15.11
$GC,1855,-0.59,-146.0,2391,2045,3190,3206,243.6,-10.9,188,1861,0.00,2.33,0.00,0.000,2564,0.000,0.057,2391,646,3197,3190,3205,0,0,0,0,0,0,15.30,14.95,15.30
$GC,1900,-0.59,-146.0,2391,646,3190,3205,249.2,-11.2,192,1907,0.05,2.35,0.00,0.000,3078,0.399,0.050,2397,2058,3197,3190,3204,0,0,0,0,0,0,14.67,14.96,14.93
$GC,2157,-0.59,-146.0,2397,2060,3190,3203,275.6,-9.5,217,2162,0.00,2.35,0.00,0.000,260,0.000,0.063,2389,3464,3196,3190,3203,0,0,0,0,0,0,15.30,14.92,15.30
$GC,2232,-0.59,-146.0,2389,3464,3190,3203,282.4,-8.9,224,2238,0.00,2.33,0.00,0.000,3078,0.000,0.044,2389,2043,3196,3190,3203,0,0,0,0,0,0,15.09,14.97,15.11
$GC,2489,-0.59,-146.0,2388,2043,3190,3201,306.6,-9.0,249,2496,0.00,0.00,0.00,0.000,2054,0.000,0.000,2388,2043,3195,3190,3200,0,0,0,0,0,0,15.30,15.30,15.30
$GC,2737,-0.59,-146.0,2388,2043,3190,3198,328.7,-9.1,274,2744,0.00,0.00,0.00,0.000,2054,0.000,0.000,2389,2043,3194,3190,3198,0,0,0,0,0,0,15.30,15.31,15.31
$GC,2987,-0.59,-146.0,2388,2042,3190,3194,352.1,-9.6,299,2993,0.00,2.40,0.00,0.000,2308,0.000,0.063,2378,3456,3191,3190,3193,0,0,0,0,0,0,15.30,14.92,15.31
$GC,3018,-0.59,-146.0,2378,3456,3190,3194,354.5,-9.5,301,3025,0.05,2.33,0.00,0.000,3078,0.361,0.045,2395,2050,3191,3190,3193,0,0,0,0,0,0,14.71,14.96,14.94
$GC,3264,-0.59,-146.0,2395,2048,3190,3190,377.1,-8.4,326,3269,0.00,2.35,0.00,0.000,2564,0.000,0.057,2396,643,3189,3189,3190,0,0,0,0,0,0,15.30,14.93,15.30
$GC,3325,-0.59,-146.0,2395,643,3189,3189,382.1,-9.3,331,3334,0.00,2.40,0.00,0.000,3078,0.000,0.051,2388,2042,3189,3189,3189,0,0,0,0,0,0,14.97,14.90,15.00
$GC,3593,-0.59,-146.0,2387,2042,3189,3186,408.3,-9.6,352,3599,0.00,2.38,0.00,0.000,2308,0.000,0.066,2377,3456,3187,3189,3186,0,0,0,0,0,0,15.31,14.91,15.32
$GC,3646,-0.59,-146.0,2376,3457,3189,3186,412.5,-9.5,353,3654,0.08,2.33,0.00,0.000,3078,0.314,0.044,2403,2051,3187,3189,3186,0,0,0,0,0,0,14.66,14.96,14.91
$GC,3923,-0.59,-146.0,2403,2049,3189,3182,436.4,-8.2,360,3929,0.00,2.38,0.00,0.000,4612,0.000,0.057,2403,636,3184,3188,3181,0,0,0,0,0,0,15.33,14.94,15.34
$GC,3957,-0.59,-146.0,2403,636,3188,3182,436.4,-8.2,360,3962,0.00,2.38,0.00,0.000,3078,0.000,0.050,2394,2050,3185,3188,3182,0,0,0,0,0,0,15.09,14.96,15.11
$GC,4212,-0.59,-146.0,2394,2050,3188,3179,460.8,-8.2,367,4217,0.00,2.40,0.00,0.000,2564,0.000,0.058,2394,636,3183,3188,3179,0,0,0,0,0,0,15.33,14.92,15.34
$GC,4260,-0.59,-146.0,2395,636,3187,3179,464.8,-8.3,368,4265,0.00,2.38,0.00,0.000,3078,0.000,0.052,2384,2051,3183,3187,3179,0,0,0,0,0,0,15.09,14.95,15.11
$GC,4539,-0.59,-146.0,2384,2051,3187,3176,487.9,-7.9,375,4541,0.00,0.00,0.00,0.000,2054,0.000,0.000,2385,2051,3181,3187,3176,0,0,0,0,0,0,15.34,15.34,15.34
$GC,4783,-0.59,-146.0,2384,2051,3187,3172,509.0,-9.2,381,4788,0.00,2.38,0.00,0.000,2308,0.000,0.068,2373,3455,3179,3186,3172,0,0,0,0,0,0,15.33,14.90,15.33
$GC,4806,-0.59,-146.0,2373,3455,3186,3172,509.0,-9.2,381,4812,0.08,2.33,0.00,0.000,3078,0.301,0.047,2401,2052,3179,3186,3172,0,0,0,0,0,0,14.68,14.95,14.92
$GC,5072,-0.59,-146.0,2401,2049,3186,3169,533.7,-8.2,388,5079,0.00,2.40,0.00,0.000,260,0.000,0.069,2394,3456,3177,3185,3169,0,0,0,0,0,0,15.33,14.90,15.33
$GC,5106,-0.59,-146.0,2393,3456,3185,3169,533.7,-8.2,388,5111,0.00,2.35,0.00,0.000,3078,0.000,0.047,2393,2037,3177,3185,3169,0,0,0,0,0,0,15.08,14.94,15.10
$GC,5360,-0.59,-146.0,2393,2036,3183,3168,560.0,-9.2,395,5365,0.00,2.45,0.00,0.000,2308,0.000,0.070,2383,3458,3175,3183,3168,0,0,0,0,0,0,15.33,14.88,15.33
$GC,5388,-0.59,-146.0,2382,3458,3183,3168,560.0,-9.2,395,5394,0.00,2.33,0.00,0.000,3078,0.000,0.047,2383,2054,3174,3182,3167,0,0,0,0,0,0,15.08,14.95,15.10
$GC,5647,-0.59,-146.0,2382,2054,3182,3164,590.1,-10.8,402,5653,0.00,2.38,0.00,0.000,2564,0.000,0.063,2383,645,3173,3182,3164,0,0,0,0,0,0,15.33,14.88,15.34
$GC,5677,-0.59,-146.0,2382,645,3181,3165,590.1,-10.8,402,5682,0.08,2.40,0.00,0.000,3078,0.330,0.054,2398,2055,3173,3181,3165,0,0,0,0,0,0,14.61,14.92,14.88
$STATE,5773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5773,begin apogee
$GC,5781,-0.14,0.0,2398,1702,3182,3164,602.7,-10.0,405,5909,0.38,0.00,125.45,1.767,10246,0.212,0.000,2543,1701,2599,2699,2499,0,0,0,0,0,0,14.65,14.53,13.79
$STATE,5910,end apogee,CONTROL_FINISHED_OK
$STATE,5910,begin climb
$GC,5914,0.59,146.0,2543,1701,2699,2500,611.2,0.0,408,6052,0.57,2.40,128.38,1.742,10756,0.109,0.065,2809,328,2001,2099,1904,0,0,0,0,0,0,14.53,14.38,13.81
$GC,6084,0.59,146.0,2809,328,2083,1908,614.4,-0.5,412,6090,0.08,2.40,0.00,0.000,5126,0.343,0.050,2785,1722,1994,2082,1907,0,0,0,0,0,0,14.47,14.68,14.72
$GC,6344,0.61,175.4,2784,1724,2082,1898,589.5,8.7,419,6376,0.00,2.42,24.27,1.677,8452,0.000,0.060,2785,3131,1882,1975,1789,0,0,0,0,0,0,15.21,14.78,14.06
$GC,6476,0.61,188.0,2784,3132,1975,1789,577.7,9.4,422,6495,0.00,2.38,12.43,1.581,13318,0.000,0.056,2794,1736,1831,1927,1736,0,0,0,0,0,0,14.98,14.85,14.05
$GC,6749,0.62,197.5,2794,1736,1927,1729,550.0,9.6,429,6763,0.00,2.38,9.12,1.514,12548,0.000,0.056,2794,3138,1792,1890,1695,0,0,0,0,0,0,15.23,14.78,14.15
$GC,6813,0.62,204.3,2794,3139,1889,1696,545.6,9.7,430,6827,0.05,2.42,7.60,1.454,13318,0.419,0.057,2789,1707,1765,1864,1667,0,0,0,0,0,0,14.66,14.91,14.10
$GC,7076,0.62,204.3,2789,1707,1864,1663,517.0,10.1,437,7081,0.00,2.40,0.00,0.000,260,0.000,0.058,2789,3133,1763,1864,1662,0,0,0,0,0,0,15.25,14.94,15.26
$GC,7109,0.62,204.3,2789,3133,1864,1662,517.0,10.1,437,7114,0.00,2.40,0.00,0.000,5126,0.000,0.059,2800,1718,1763,1864,1662,0,0,0,0,0,0,15.08,14.95,15.09
$GC,7363,0.62,204.3,2799,1718,1864,1661,484.8,11.3,444,7365,0.00,0.00,0.00,0.000,4102,0.000,0.000,2799,1717,1762,1864,1661,0,0,0,0,0,0,15.30,15.30,15.30
$GC,7603,0.62,204.3,2799,1718,1864,1659,459.6,10.2,450,7608,0.00,2.40,0.00,0.000,4356,0.000,0.057,2800,3130,1761,1864,1659,0,0,0,0,0,0,15.32,14.96,15.33
$GC,7701,0.62,204.3,2799,3130,1864,1659,450.5,10.5,452,7707,0.08,2.40,0.00,0.000,5126,0.379,0.061,2786,1719,1762,1864,1660,0,0,0,0,0,0,14.62,14.95,14.92
$GC,7971,0.64,245.4,2786,1716,1864,1659,426.4,8.1,459,8015,0.00,2.47,35.60,1.591,10756,0.000,0.071,2796,313,1596,1699,1494,0,0,0,0,0,0,15.32,14.78,14.12
$GC,8038,0.65,291.0,2795,313,1694,1494,423.4,7.9,460,8087,0.00,2.40,39.88,1.552,11270,0.000,0.047,2796,1723,1410,1515,1305,0,0,0,0,0,0,14.91,14.81,13.97
$GC,8340,0.66,297.4,2795,1725,1515,1299,393.6,9.7,471,8353,0.00,2.38,6.32,1.295,10500,0.000,0.058,2796,3128,1383,1490,1277,0,0,0,0,0,0,15.17,14.74,14.13
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$GC,9698,0.69,374.6,2819,1720,1212,1010,258.5,9.5,600,9715,0.00,2.42,9.98,1.265,12548,0.000,0.061,2820,3127,1069,1171,967,0,0,0,0,0,0,15.20,14.88,14.21
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$STATE,12276,end climb,SURFACE_DEPTH_REACHED
$STATE,12276,begin surface coast
$FINISH,-0.0,1.010035
$STATE,12303,end surface coast,CONTROL_FINISHED_OK
$STATE,12303,begin surface
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$TT8_MAMPS,0.023219,0.342293
$HUMID,53.38
$INTERNAL_PRESSURE,8.87693
$TCM_TEMP,20.10
$XPDR_PINGS,2
$24V_AH,13.61,109.991
$10V_AH,13.40,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.750,154.325,557.375,0.000,0.000,24.091,46.488,424.717,0.500,0.000,20.336,2666.177,6489.256,673.240,2767.471,439.892,33.483,1741.753,0.000,2180.126,0.000,0.551,0.000
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$SENSOR_SECS,594.235,921.781,1055.792,822.934,952.832,0.000,0.000,0.000,0.000,0.000
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$MEM,338600
$DATA_FILE_SIZE,83981,875
$CAP_FILE_SIZE,151476,0
$CFSIZE,1023623168,984236032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,36
$CURRENT,0.324,316.49,1
$GPS,160723,201119,2242.004,-15816.670,22,0.8,44,9.8,0.0,262.5,10,8.3