version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 3
start: 10 19 119 8 39 20
data:
$ID,574
$MISSION,7
$DIVE,3
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,167
$T_MISSION,177
$T_ABORT,90
$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,5
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52719
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,150
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,117
$PITCH_MAX,3869
$C_PITCH,2759
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,301
$ROLL_MAX,3936
$ROLL_DEG,40
$C_ROLL_DIVE,2118
$C_ROLL_CLIMB,2118
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2650
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-148.55536
$PRESSURE_SLOPE,0.0001058
$AD7714Ch0Gain,1
$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,20
$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,3.1600001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$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,0.0042907312
$SEABIRD_T_H,0.00061813911
$SEABIRD_T_I,2.1013675e-05
$SEABIRD_T_J,2.0586713e-06
$SEABIRD_C_G,-9.7689371
$SEABIRD_C_H,1.1415389
$SEABIRD_C_I,-0.0022330475
$SEABIRD_C_J,0.00024789109
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,191019,083501,-5400.8672,0.3923,7,0.9,39,-20.5,0.7,166.1,8,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-67.3
$GPS2,191019,083842,-5400.8716,0.4207,6,0.9,21,-20.5,0.0,53.0,8,10.0
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,WP1
$TGT_LATLONG,-3411.620,2507.270
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000000,0.000000
$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,66.8,3190484,-26.4,-9.980,-28.62,1080
$D_GRID,500
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.89,-4.9,74,2127,903,810,0.0,0.0,0,115,0.00,0.00,-92.57,0.000,16386,0.000,0.000,56,2127,2253,2212,2295,0,0,0,0,0,0,14.95,28.83,14.97
$GC,117,-0.89,-4.9,55,2127,2214,2297,3.1,-2.9,9,152,14.43,2.58,-11.95,0.000,18948,0.328,0.116,2463,712,2674,2671,2678,0,0,0,0,0,0,14.55,13.83,14.72
$GC,358,-0.89,-4.9,2463,712,2677,2681,83.2,-34.6,33,364,0.08,2.50,0.00,0.000,3078,0.374,0.080,2466,2121,2679,2677,2681,0,0,0,0,0,0,14.62,14.74,14.81
$GC,401,-0.89,-4.9,2466,2120,2676,2681,97.5,-33.1,37,403,0.00,0.00,0.00,0.000,2054,0.000,0.000,2466,2120,2679,2677,2681,0,0,0,0,0,0,14.97,14.98,14.97
$GC,431,-0.89,-4.9,2466,2120,2676,2681,107.4,-33.2,40,433,0.00,0.00,0.00,0.000,2054,0.000,0.000,2466,2120,2678,2676,2681,0,0,0,0,0,0,14.97,14.98,14.98
$GC,461,-0.89,-4.9,2466,2120,2676,2681,117.2,-32.8,43,466,0.00,2.53,0.00,0.000,2308,0.000,0.101,2458,3529,2680,2676,2685,0,0,0,0,0,0,14.98,14.72,14.98
$GC,503,-0.89,-4.9,2457,3529,2674,2681,131.2,-34.0,47,509,0.05,2.47,0.00,0.000,3078,0.374,0.073,2465,2117,2678,2675,2681,0,0,0,0,0,0,14.64,14.75,14.83
$GC,545,-0.89,-4.9,2465,2116,2674,2681,145.1,-32.2,51,550,0.00,2.55,0.00,0.000,2308,0.000,0.099,2458,3529,2677,2674,2681,0,0,0,0,0,0,14.97,14.71,14.98
$GC,567,-0.89,-4.9,2457,3529,2673,2681,152.5,-34.3,53,573,0.05,2.47,0.00,0.000,3078,0.373,0.072,2465,2116,2677,2673,2681,0,0,0,0,0,0,14.64,14.76,14.83
$GC,610,-0.89,-4.9,2465,2116,2674,2681,165.7,-30.8,57,612,0.00,0.00,0.00,0.000,2054,0.000,0.000,2465,2116,2677,2674,2681,0,0,0,0,0,0,14.97,14.98,14.98
$GC,639,-0.89,-4.9,2464,2115,2674,2681,175.3,-31.8,60,645,0.00,2.55,0.00,0.000,2308,0.000,0.096,2458,3530,2677,2673,2681,0,0,0,0,0,0,14.98,14.71,14.98
$GC,684,-0.89,-4.9,2457,3530,2672,2680,188.2,-30.7,64,692,0.05,2.50,0.00,0.000,3078,0.371,0.073,2465,2113,2676,2672,2680,0,0,0,0,0,0,14.61,14.71,14.78
$GC,721,-0.89,-4.9,2465,2113,2672,2680,200.5,-30.6,68,723,0.00,0.00,0.00,0.000,2054,0.000,0.000,2465,2113,2676,2672,2681,0,0,0,0,0,0,14.99,15.00,15.00
$GC,751,-0.89,-4.9,2464,2113,2673,2681,209.8,-30.7,71,753,0.00,0.00,0.00,0.000,2054,0.000,0.000,2465,2113,2676,2672,2681,0,0,0,0,0,0,15.00,15.00,15.00
$GC,781,-0.89,-4.9,2465,2113,2673,2681,218.8,-30.5,74,783,0.00,0.00,0.00,0.000,2054,0.000,0.000,2465,2113,2677,2673,2681,0,0,0,0,0,0,15.01,15.01,15.01
$GC,811,-0.89,-4.9,2465,2113,2673,2681,227.9,-30.0,77,813,0.00,0.00,0.00,0.000,2054,0.000,0.000,2465,2113,2676,2672,2681,0,0,0,0,0,0,15.00,15.01,15.00
$GC,841,-0.89,-4.9,2465,2113,2672,2681,237.0,-30.5,80,847,0.00,2.50,0.00,0.000,2564,0.000,0.095,2465,707,2677,2673,2681,0,0,0,0,0,0,15.01,14.76,15.01
$GC,857,-0.89,-4.9,2465,709,2673,2681,240.5,-30.8,81,864,0.00,2.47,0.00,0.000,3078,0.000,0.076,2459,2119,2676,2673,2680,0,0,0,0,0,0,14.89,14.77,14.90
$GC,893,-0.89,-4.9,2457,2118,2673,2681,253.2,-30.9,85,896,0.03,0.00,0.00,0.000,2054,0.574,0.000,2464,2120,2677,2673,2681,0,0,0,0,0,0,14.64,14.85,14.82
$GC,923,-0.89,-4.9,2464,2119,2672,2681,262.3,-30.6,88,928,0.00,2.53,0.00,0.000,2308,0.000,0.099,2457,3532,2676,2672,2681,0,0,0,0,0,0,15.00,14.76,15.00
$GC,965,-0.89,-4.9,2457,3532,2672,2680,274.5,-29.9,92,971,0.05,2.47,0.00,0.000,3078,0.374,0.071,2465,2117,2676,2672,2681,0,0,0,0,0,0,14.64,14.75,14.83
$GC,1007,-0.89,-4.9,2465,2117,2672,2680,286.8,-28.5,96,1009,0.00,0.00,0.00,0.000,2054,0.000,0.000,2464,2117,2676,2672,2680,0,0,0,0,0,0,15.01,15.02,15.01
$GC,1037,-0.89,-4.9,2464,2117,2672,2680,295.3,-28.3,99,1042,0.00,2.55,0.00,0.000,2308,0.000,0.097,2457,3532,2681,2682,2680,0,0,0,0,0,0,15.02,14.78,15.02
$GC,1079,-0.89,-4.9,2457,3532,2671,2681,307.0,-27.8,103,1085,0.05,2.47,0.00,0.000,3078,0.369,0.073,2466,2118,2675,2671,2680,0,0,0,0,0,0,14.63,14.78,14.81
$GC,1121,-0.89,-4.9,2465,2117,2671,2680,319.1,-28.8,107,1123,0.00,0.00,0.00,0.000,2054,0.000,0.000,2466,2117,2675,2671,2680,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1152,-0.89,-4.9,2465,2119,2671,2680,327.7,-28.5,110,1157,0.00,2.55,0.00,0.000,2308,0.000,0.096,2459,3533,2675,2671,2680,0,0,0,0,0,0,15.02,14.78,15.02
$GC,1214,-0.89,-4.9,2459,3533,2671,2680,345.2,-28.1,116,1219,0.00,2.47,0.00,0.000,3078,0.000,0.072,2460,2117,2675,2670,2680,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1255,-0.89,-4.9,2459,2117,2671,2680,357.1,-28.3,120,1258,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,2117,2675,2671,2680,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1285,-0.89,-4.9,2459,2117,2669,2680,365.7,-28.8,123,1291,0.03,2.53,0.00,0.000,2308,0.544,0.096,2458,3529,2675,2671,2680,0,0,0,0,0,0,14.69,14.78,14.88
$GC,1321,-0.89,-4.9,2458,3529,2671,2680,375.1,-28.6,126,1328,0.00,2.47,0.00,0.000,3078,0.000,0.070,2459,2116,2675,2671,2680,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1358,-0.89,-4.9,2458,2116,2671,2680,386.6,-28.2,130,1361,0.05,0.00,0.00,0.000,2054,0.398,0.000,2466,2116,2675,2671,2680,0,0,0,0,0,0,14.67,14.89,14.85
$GC,1388,-0.89,-4.9,2465,2116,2669,2680,395.0,-28.3,133,1393,0.00,2.55,0.00,0.000,2308,0.000,0.096,2460,3536,2675,2670,2680,0,0,0,0,0,0,15.02,14.78,15.02
$GC,1420,-0.89,-4.9,2460,3536,2670,2680,403.9,-28.7,136,1425,0.00,2.47,0.00,0.000,3078,0.000,0.071,2460,2118,2675,2671,2680,0,0,0,0,0,0,14.87,14.76,14.88
$GC,1461,-0.89,-4.9,2459,2117,2670,2680,415.7,-28.0,140,1464,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,2118,2675,2670,2680,0,0,0,0,0,0,15.01,15.02,15.02
$GC,1491,-0.89,-4.9,2459,2117,2671,2680,424.2,-28.3,143,1493,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,2118,2675,2671,2680,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1522,-0.89,-4.9,2459,2117,2670,2680,432.8,-28.8,146,1524,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,2118,2675,2670,2680,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1552,-0.89,-4.9,2460,2117,2671,2680,441.3,-28.3,149,1557,0.00,2.55,0.00,0.000,2308,0.000,0.096,2451,3534,2675,2670,2680,0,0,0,0,0,0,15.02,14.78,15.02
$GC,1607,-0.89,-4.9,2453,3533,2670,2680,455.7,-27.3,154,1615,0.08,2.50,0.00,0.000,3078,0.336,0.071,2465,2113,2675,2670,2680,0,0,0,0,0,0,14.67,14.79,14.85
$GC,1643,-0.89,-4.9,2465,2113,2670,2680,466.8,-27.6,158,1645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2465,2113,2674,2670,2678,0,0,0,0,0,0,15.01,15.02,15.01
$GC,1673,-0.89,-4.9,2465,2113,2670,2680,475.0,-27.5,161,1679,0.00,2.55,0.00,0.000,2308,0.000,0.095,2458,3532,2675,2670,2680,0,0,0,0,0,0,15.01,14.78,15.01
$GC,1719,-0.89,-4.9,2458,3532,2668,2680,486.4,-27.1,165,1726,0.05,2.47,0.00,0.000,3078,0.376,0.070,2465,2115,2675,2670,2680,0,0,0,0,0,0,14.66,14.79,14.85
$GC,1755,-0.89,-4.9,2465,2115,2670,2680,497.3,-27.4,169,1757,0.00,0.00,0.00,0.000,2054,0.000,0.000,2466,2115,2675,2670,2680,0,0,0,0,0,0,15.01,15.02,15.02
$STATE,1764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1764,begin apogee
$GC,1767,-0.17,0.0,2466,2115,2670,2679,500.0,-27.5,170,1780,1.33,0.00,8.55,1.422,10246,0.260,0.000,2699,2114,2649,2649,2650,0,0,0,0,0,0,14.66,14.75,14.12
$STATE,1782,end apogee,CONTROL_FINISHED_OK
$STATE,1782,begin climb
$GC,1783,0.89,4.9,2699,2114,2649,2650,502.4,0.0,171,1799,1.70,0.00,7.28,1.314,10758,0.197,0.000,3020,2114,2629,2631,2628,0,0,0,0,0,0,14.66,14.59,14.10
$GC,1826,0.89,4.9,3020,2114,2631,2628,505.0,1.6,175,1828,0.00,0.00,0.00,0.000,2054,0.000,0.000,3020,2114,2629,2631,2627,0,0,0,0,0,0,14.90,14.90,14.91
$GC,1856,1.09,168.2,3021,2114,2631,2627,507.0,-5.6,178,2028,0.32,2.70,161.35,1.609,11012,0.106,0.088,3097,3541,1961,1965,1958,0,0,0,0,0,0,14.70,13.92,13.50
$GC,2290,1.23,287.6,3097,3535,1954,1961,520.3,-1.4,221,2412,0.17,2.53,111.20,1.558,11270,0.146,0.071,3138,2116,1474,1504,1445,0,0,0,0,0,0,14.54,14.55,13.51
$GC,2440,1.25,298.0,3138,2116,1502,1443,512.8,9.0,236,2461,0.00,2.72,10.65,1.341,10756,0.000,0.105,3138,709,1432,1467,1398,0,0,0,0,0,0,14.40,14.14,13.59
$GC,2575,1.25,298.0,3138,709,1467,1391,497.8,11.3,249,2583,0.00,2.53,0.00,0.000,3078,0.000,0.067,3139,2119,1427,1464,1391,0,0,0,0,0,0,14.53,14.43,14.54
$GC,2613,1.25,298.0,3138,2123,1467,1390,493.3,11.2,253,2615,0.00,0.00,0.00,0.000,2054,0.000,0.000,3139,2123,1428,1467,1390,0,0,0,0,0,0,14.68,14.68,14.68
$GC,2642,1.25,298.0,3138,2123,1467,1390,490.0,10.9,256,2647,0.00,2.62,0.00,0.000,2564,0.000,0.105,3139,714,1428,1467,1390,0,0,0,0,0,0,14.70,14.45,14.70
$GC,2697,1.25,298.0,3138,714,1467,1389,484.2,11.3,261,2705,0.00,2.53,0.00,0.000,3078,0.000,0.067,3139,2128,1428,1467,1389,0,0,0,0,0,0,14.61,14.51,14.62
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$STATE,5411,end climb,ABORT_TIME_EXCEEDED
$SM_CCo,5423,214.95,1.016,19,0,599,502.86
$SM_GC,0.88,14.95,2.50,0.00,0.106,0.071,0.000,129,2121,593,-8.17,-0.71,504.57,0,0,0,0,0,0,14.91,14.90,14.98
$IRIDIUM_FIX,-5339.63,0.00,191019,083101
$TT8_MAMPS,0.041944,0.71155
$HUMID,57.91
$INTERNAL_PRESSURE,9.15608
$TCM_TEMP,13.50
$XPDR_PINGS,0
$SC_FREEKB,3815808
$24V_AH,13.50,4.899
$10V_AH,13.08,0.000
$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
$DEVICE_SECS,33.450,191.225,338.775,214.950,0.000,0.000,0.000,0.000,0.000,0.000,22.916,1686.196,3074.467,940.229,1308.626,75.946,0.000,1772.921,0.000,1197.784,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5402.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.615,0.000,0.000,0.000
$MEM,341132
$DATA_FILE_SIZE,13409,526
$CAP_FILE_SIZE,193607,0
$CFSIZE,2097086464,2093449216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
$EOP_CODE,ABORT_TIME_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_TIME
$GPS,191019,103649,-5400.822,1.535,8,0.9,38,-20.5,0.8,112.4,8,5.9