version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 219
start: 11 28 119 11 6 47
data:
$ID,574
$MISSION,7
$DIVE,219
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,995
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,20
$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,333
$T_MISSION,343
$T_ABORT,350
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,9
$NOCOMM_ACTION,291
$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,2910
$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,2050
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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,2061
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$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,4
$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
$GPS1,281119,105324,-5402.0854,-3.7794,37,0.9,43,-20.4,0.4,33.7,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.8
$GPS2,281119,110636,-5402.0425,-3.7517,7,0.8,13,-20.4,0.4,8.2,11,9.2
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,WPNW
$TGT_LATLONG,-5354.000,-6.000
$TGT_RADIUS,3000.000
$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,11.0,15095,-26.4,-9.960,-28.62,1079
$D_GRID,995
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.89,-4.9,133,2071,1140,1089,0.0,0.0,0,85,0.00,0.00,-60.92,0.000,16390,0.000,0.000,128,2070,2079,2053,2106,0,0,0,0,0,0,14.65,13.57,14.63
$GC,88,-0.89,-4.9,137,2070,2054,2108,3.4,-7.4,12,111,16.20,2.60,0.00,0.000,2564,0.367,0.074,2618,644,2084,2062,2107,0,0,0,0,0,0,14.18,14.36,14.47
$GC,145,-0.89,-4.9,2619,644,2068,2108,17.2,-18.1,23,152,0.00,2.47,0.00,0.000,3078,0.000,0.049,2618,2042,2087,2068,2107,0,0,0,0,0,0,14.58,14.47,14.59
$GC,212,-0.89,-4.9,2618,2043,2068,2107,27.6,-15.6,36,218,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,2042,2087,2068,2107,0,0,0,0,0,0,14.69,14.68,14.69
$GC,277,-0.89,-4.9,2619,2044,2069,2107,37.8,-15.6,49,283,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,2043,2087,2068,2107,0,0,0,0,0,0,14.71,14.71,14.71
$GC,343,-0.89,-4.9,2619,2044,2069,2107,48.2,-15.5,62,349,0.00,2.55,0.00,0.000,2308,0.000,0.074,2618,3459,2087,2068,2106,0,0,0,0,0,0,14.72,14.42,14.72
$GC,413,-0.89,-4.9,2618,3459,2066,2106,58.8,-14.9,71,418,0.00,2.50,0.00,0.000,3078,0.000,0.052,2619,2050,2086,2068,2105,0,0,0,0,0,0,14.59,14.47,14.60
$GC,723,-0.89,-4.9,2620,2049,2068,2105,105.8,-15.2,102,728,0.00,2.55,0.00,0.000,2308,0.000,0.073,2618,3460,2086,2068,2105,0,0,0,0,0,0,14.81,14.49,14.81
$GC,843,-0.89,-4.9,2619,3461,2069,2102,123.7,-14.7,114,848,0.00,2.50,0.00,0.000,3078,0.000,0.054,2618,2052,2084,2067,2102,0,0,0,0,0,0,14.64,14.50,14.64
$GC,1153,-0.89,-4.9,2618,2051,2067,2103,170.6,-14.8,145,1158,0.00,2.55,0.00,0.000,2308,0.000,0.073,2617,3461,2084,2067,2102,0,0,0,0,0,0,14.81,14.50,14.81
$GC,1348,-0.89,-4.9,2618,3461,2068,2101,198.7,-15.4,164,1355,0.00,2.55,0.00,0.000,3078,0.000,0.054,2617,2051,2084,2067,2101,0,0,0,0,0,0,14.46,14.40,14.49
$GC,1653,-0.89,-4.9,2617,2052,2069,2103,243.4,-13.2,195,1658,0.00,2.55,0.00,0.000,2308,0.000,0.073,2617,3458,2085,2068,2102,0,0,0,0,0,0,14.81,14.49,14.81
$GC,1823,-0.89,-4.9,2617,3458,2069,2101,265.8,-13.0,212,1829,0.00,2.55,0.00,0.000,3078,0.000,0.054,2617,2046,2084,2067,2101,0,0,0,0,0,0,14.55,14.49,14.58
$GC,2133,-0.89,-4.9,2613,2046,2068,2102,306.3,-12.3,243,2138,0.00,2.55,0.00,0.000,2308,0.000,0.072,2617,3454,2083,2066,2101,0,0,0,0,0,0,14.81,14.49,14.81
$GC,2298,-0.89,-4.9,2617,3455,2069,2101,325.2,-11.7,259,2305,0.00,2.55,0.00,0.000,3078,0.000,0.054,2617,2046,2084,2068,2101,0,0,0,0,0,0,14.47,14.40,14.49
$GC,2603,-0.89,-4.9,2617,2047,2069,2100,359.0,-10.5,290,2608,0.00,2.55,0.00,0.000,2308,0.000,0.071,2617,3456,2084,2068,2101,0,0,0,0,0,0,14.81,14.50,14.81
$GC,2763,-0.89,-4.9,2617,3456,2068,2101,375.4,-10.2,306,2768,0.00,2.50,0.00,0.000,3078,0.000,0.052,2617,2045,2083,2067,2100,0,0,0,0,0,0,14.62,14.51,14.64
$GC,3073,-0.89,-4.9,2617,2044,2069,2101,406.5,-10.0,337,3078,0.00,2.55,0.00,0.000,2308,0.000,0.071,2617,3462,2084,2068,2100,0,0,0,0,0,0,14.83,14.50,14.84
$GC,3193,-0.89,-4.9,2617,3463,2069,2100,418.5,-10.1,349,3199,0.00,2.53,0.00,0.000,3078,0.000,0.053,2617,2052,2084,2068,2100,0,0,0,0,0,0,14.55,14.49,14.59
$GC,3503,-0.89,-4.9,2617,2051,2069,2100,451.4,-11.1,380,3508,0.00,2.53,0.00,0.000,2308,0.000,0.071,2616,3457,2084,2068,2100,0,0,0,0,0,0,14.88,14.52,14.88
$GC,3599,-0.89,-4.9,2617,3456,2068,2101,461.5,-11.2,389,3605,0.00,2.47,0.00,0.000,3078,0.000,0.052,2616,2048,2083,2067,2100,0,0,0,0,0,0,14.73,14.61,14.75
$GC,3903,-0.89,-4.9,2617,2046,2068,2101,495.5,-11.0,420,3908,0.00,2.53,0.00,0.000,2308,0.000,0.070,2616,3455,2084,2068,2100,0,0,0,0,0,0,14.88,14.54,14.89
$GC,3973,-0.89,-4.9,2615,3455,2068,2100,503.3,-11.2,427,3979,0.00,2.53,0.00,0.000,3078,0.000,0.053,2616,2046,2084,2068,2100,0,0,0,0,0,0,14.60,14.54,14.63
$GC,4283,-0.89,-4.9,2616,2046,2078,2101,538.2,-11.5,458,4288,0.00,2.53,0.00,0.000,2308,0.000,0.070,2613,3455,2082,2064,2100,0,0,0,0,0,0,14.90,14.55,14.91
$GC,4413,-0.89,-4.9,2612,3457,2068,2100,553.1,-11.4,471,4418,0.00,2.47,0.00,0.000,3078,0.000,0.052,2613,2047,2084,2068,2100,0,0,0,0,0,0,14.69,14.57,14.71
$GC,4723,-0.89,-4.9,2614,2048,2069,2100,589.7,-12.0,502,4729,0.00,2.55,0.00,0.000,2308,0.000,0.071,2613,3461,2083,2067,2100,0,0,0,0,0,0,14.90,14.54,14.90
$GC,4798,-0.89,-4.9,2613,3462,2069,2100,598.1,-12.1,509,4805,0.00,2.53,0.00,0.000,3078,0.000,0.052,2613,2050,2084,2068,2100,0,0,0,0,0,0,14.59,14.53,14.65
$GC,5103,-0.89,-4.9,2613,2051,2069,2100,635.2,-11.8,540,5108,0.00,2.53,0.00,0.000,2308,0.000,0.071,2613,3459,2084,2068,2100,0,0,0,0,0,0,14.90,14.55,14.90
$GC,5168,-0.89,-4.9,2614,3458,2068,2101,642.3,-11.9,546,5175,0.00,2.50,0.00,0.000,3078,0.000,0.051,2613,2034,2083,2068,2099,0,0,0,0,0,0,14.69,14.55,14.71
$GC,5474,-0.89,-4.9,2614,2035,2069,2101,677.7,-11.3,577,5475,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2033,2084,2068,2100,0,0,0,0,0,0,14.90,14.90,14.90
$GC,5773,-0.89,-4.9,2613,2034,2070,2101,711.1,-11.1,607,5778,0.00,2.55,0.00,0.000,2308,0.000,0.070,2613,3456,2084,2068,2100,0,0,0,0,0,0,14.90,14.56,14.91
$GC,5869,-0.89,-4.9,2613,3456,2068,2101,721.1,-10.9,616,5875,0.00,2.47,0.00,0.000,3078,0.000,0.051,2613,2046,2084,2069,2100,0,0,0,0,0,0,14.76,14.64,14.77
$GC,6173,-0.89,-4.9,2613,2047,2070,2101,754.6,-10.3,647,6178,0.00,2.53,0.00,0.000,2308,0.000,0.070,2613,3455,2084,2069,2100,0,0,0,0,0,0,14.90,14.55,14.90
$GC,6243,-0.89,-4.9,2613,3456,2070,2100,761.8,-10.3,654,6248,0.00,2.47,0.00,0.000,3078,0.000,0.051,2613,2043,2084,2069,2100,0,0,0,0,0,0,14.70,14.57,14.71
$GC,6553,-0.89,-4.9,2614,2044,2070,2101,792.9,-10.1,685,6558,0.00,2.53,0.00,0.000,2308,0.000,0.070,2613,3453,2084,2069,2100,0,0,0,0,0,0,14.90,14.55,14.91
$GC,6644,-0.89,-4.9,2613,3454,2070,2099,801.9,-10.0,694,6649,0.00,2.45,0.00,0.000,3078,0.000,0.052,2613,2050,2084,2069,2100,0,0,0,0,0,0,14.76,14.63,14.77
$GC,6954,-0.89,-4.9,2613,2048,2069,2101,832.1,-9.5,725,6958,0.00,2.53,0.00,0.000,2308,0.000,0.070,2612,3462,2084,2069,2099,0,0,0,0,0,0,14.90,14.60,14.90
$GC,7028,-0.89,-4.9,2612,3463,2070,2100,838.8,-9.5,732,7035,0.00,2.47,0.00,0.000,3078,0.000,0.051,2612,2049,2085,2070,2100,0,0,0,0,0,0,14.69,14.56,14.71
$GC,7334,-0.89,-4.9,2613,2050,2071,2100,868.4,-9.4,763,7338,0.00,2.53,0.00,0.000,2308,0.000,0.070,2606,3457,2085,2070,2100,0,0,0,0,0,0,14.90,14.60,14.90
$GC,7429,-0.89,-4.9,2613,3457,2070,2101,876.8,-9.4,772,7435,0.00,2.47,0.00,0.000,3078,0.000,0.051,2612,2046,2085,2070,2100,0,0,0,0,0,0,14.76,14.62,14.77
$GC,7733,-0.89,-4.9,2612,2046,2071,2101,905.0,-9.1,803,7735,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,2046,2085,2070,2100,0,0,0,0,0,0,14.90,14.91,14.90
$GC,8033,-0.89,-4.9,2612,2047,2070,2100,932.1,-8.9,833,8038,0.00,2.53,0.00,0.000,2308,0.000,0.069,2608,3456,2085,2070,2100,0,0,0,0,0,0,14.91,14.59,14.91
$GC,8153,-0.89,-4.9,2611,3455,2070,2099,943.1,-9.2,845,8158,0.00,2.47,0.00,0.000,3078,0.000,0.052,2610,2049,2084,2070,2099,0,0,0,0,0,0,14.69,14.57,14.71
$GC,8463,-0.89,-4.9,2611,2049,2071,2101,971.3,-9.0,876,8465,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,2049,2085,2070,2100,0,0,0,0,0,0,14.91,14.91,14.91
$STATE,8732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8732,begin apogee
$GC,8736,-0.17,0.0,2611,1597,2071,2101,995.1,-8.6,903,8747,1.35,0.00,8.68,1.822,10246,0.236,0.000,2847,1597,2061,2059,2063,0,0,0,0,0,0,14.38,14.66,13.70
$STATE,8749,end apogee,CONTROL_FINISHED_OK
$STATE,8749,begin climb
$GC,8750,0.89,4.9,2847,1598,2060,2063,996.4,0.0,904,8766,1.65,2.38,7.62,1.687,10756,0.139,0.088,3172,309,2039,2039,2039,0,0,0,0,0,0,14.58,14.42,13.64
$GC,8871,1.09,169.0,3172,309,2040,2049,998.0,-5.7,915,9052,0.32,2.28,173.73,2.117,11270,0.138,0.039,3239,1618,1371,1425,1317,0,0,0,0,0,0,14.43,14.51,12.86
$GC,9356,1.09,169.0,3239,1618,1423,1314,933.9,18.5,964,9361,0.00,2.45,0.00,0.000,2308,0.000,0.056,3240,2991,1368,1422,1314,0,0,0,0,0,0,14.56,14.28,14.56
$GC,9511,1.09,169.0,3240,2991,1422,1314,906.7,18.6,979,9518,0.00,2.53,0.00,0.000,3078,0.000,0.068,3240,1597,1367,1422,1313,0,0,1,0,0,0,14.50,14.36,14.52
$GC,9816,1.09,169.0,3241,1598,1422,1312,847.8,18.8,1010,9818,0.00,0.00,0.00,0.000,2054,0.000,0.000,3240,1597,1367,1421,1313,0,0,0,0,0,0,14.81,14.81,14.82
$GC,10116,1.09,169.0,3241,1597,1422,1314,791.5,19.2,1040,10118,0.00,0.00,0.00,0.000,2054,0.000,0.000,3240,1597,1366,1420,1312,0,0,0,0,0,0,14.88,14.88,14.88
$GC,10416,1.09,169.0,3240,1598,1422,1312,735.1,18.6,1070,10418,0.00,0.00,0.00,0.000,2054,0.000,0.000,3240,1598,1366,1420,1312,0,0,0,0,0,0,14.91,14.90,14.92
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$STATE,15208,end climb,SURFACE_DEPTH_REACHED
$STATE,15208,begin surface coast
$FINISH,0.1,1.020921
$STATE,15228,end surface coast,CONTROL_FINISHED_OK
$STATE,15228,begin surface
$SM_CCo,15251,27.33,0.167,0,0,1244,200.16
$SM_GC,1.98,15.43,0.80,27.33,0.076,0.049,0.167,129,2051,1244,-8.66,-1.27,200.16,0,0,0,0,0,0,14.58,14.66,14.46
$IRIDIUM_FIX,-5343.28,-3.67,281119,060537
$TT8_MAMPS,0.041195,0.954226
$HUMID,54.29
$INTERNAL_PRESSURE,9.22444
$TCM_TEMP,13.10
$XPDR_PINGS,0
$SC_FREEKB,3688960
$24V_AH,12.86,92.806
$10V_AH,12.44,0.000
$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,34.950,125.875,190.025,27.325,0.000,21.106,44.801,442.627,0.000,0.000,14.141,0.000,11120.827,459.667,4191.510,273.636,0.000,1791.288,0.000,2825.746,0.000,0.538,0.000
$DEVICE_MAMPS,367.200,92.565,2116.755,166.770,0.000,32.890,160.000,223.000,420.000,0.000,10.490,0.000,2.190,12.070,33.040,41.280,0.000,11.900,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15343.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,41.442,0.000,0.000,0.000
$MEM,340052
$DATA_FILE_SIZE,56545,1592
$CAP_FILE_SIZE,254214,0
$CFSIZE,2097086464,2045476864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,2,0
$GPS,281119,152312,-5400.474,-3.775,71,1.2,83,-20.4,0.4,203.3,8,9.8