version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 265
start: 12 7 119 6 26 52
data:
$ID,574
$MISSION,7
$DIVE,265
$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,358.37747
$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,20
$R_STBD_OVSHOOT,37
$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
$GPS1,071219,055700,-5405.3413,3.3166,40,1.2,81,-20.5,0.3,82.0,7,4.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-71.9
$GPS2,071219,062641,-5405.2695,3.2720,7,0.9,15,-20.5,0.8,175.4,9,9.5
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,WPSE
$TGT_LATLONG,-5406.000,6.000
$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,135.0,3257,-27.8,-9.960,-30.00,969
$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,-0.93,-4.9,87,2079,623,568,0.0,0.0,0,110,0.00,0.00,-88.12,0.000,16386,0.000,0.000,81,2077,2029,2002,2056,0,0,0,0,0,0,14.69,28.83,14.69
$GC,113,-0.93,-4.9,82,2078,2004,2057,3.0,-4.6,16,137,16.42,2.62,-1.65,0.000,18948,0.366,0.084,2601,627,2083,2068,2098,0,0,0,0,0,0,14.12,13.54,14.46
$GC,381,-0.93,-4.9,2602,627,2077,2099,51.0,-17.8,68,388,0.00,2.50,0.00,0.000,3078,0.000,0.045,2600,2046,2086,2075,2097,0,0,0,0,0,0,14.64,14.50,14.66
$GC,686,-0.93,-4.9,2600,2047,2077,2092,99.9,-15.5,99,691,0.00,2.53,0.00,0.000,2308,0.000,0.070,2600,3460,2089,2086,2092,0,0,0,0,0,0,14.78,14.45,14.79
$GC,891,-0.93,-4.9,2600,3461,2077,2089,130.3,-14.8,119,898,0.00,2.50,0.00,0.000,3078,0.000,0.050,2600,2042,2082,2075,2089,0,0,0,0,0,0,14.67,14.54,14.69
$GC,1197,-0.93,-4.9,2600,2043,2077,2087,175.4,-14.4,150,1201,0.00,2.55,0.00,0.000,2308,0.000,0.068,2600,3456,2081,2076,2087,0,0,0,0,0,0,14.78,14.41,14.78
$GC,1376,-0.93,-4.9,2600,3456,2077,2086,200.1,-13.6,168,1381,0.00,2.47,0.00,0.000,3078,0.000,0.050,2600,2051,2080,2076,2085,0,0,0,0,0,0,14.58,14.44,14.60
$GC,1686,-0.93,-4.9,2601,2051,2077,2085,243.5,-13.7,199,1688,0.00,0.00,0.00,0.000,2054,0.000,0.000,2600,2051,2080,2076,2085,0,0,0,0,0,0,14.78,14.78,14.78
$GC,1986,-0.93,-4.9,2600,2051,2076,2085,285.1,-13.8,229,1991,0.00,2.53,0.00,0.000,2308,0.000,0.067,2600,3455,2079,2076,2083,0,0,0,0,0,0,14.78,14.44,14.78
$GC,2201,-0.93,-4.9,2600,3455,2077,2083,313.3,-13.1,250,2208,0.00,2.47,0.00,0.000,3078,0.000,0.050,2598,2051,2079,2076,2082,0,0,0,0,0,0,14.66,14.52,14.68
$GC,2506,-0.93,-4.9,2600,2051,2077,2082,351.5,-11.6,281,2508,0.00,0.00,0.00,0.000,2054,0.000,0.000,2600,2051,2079,2076,2082,0,0,0,0,0,0,14.78,14.78,14.78
$GC,2806,-0.93,-4.9,2600,2049,2069,2083,387.4,-12.2,311,2811,0.00,2.55,0.00,0.000,2308,0.000,0.066,2600,3463,2079,2076,2082,0,0,0,0,0,0,14.78,14.44,14.78
$GC,2941,-0.93,-4.9,2600,3464,2077,2081,403.0,-11.5,324,2948,0.00,2.47,0.00,0.000,3078,0.000,0.048,2600,2051,2078,2076,2081,0,0,0,0,0,0,14.66,14.52,14.68
$GC,3247,-0.93,-4.9,2600,2052,2077,2081,439.6,-11.8,355,3251,0.00,2.50,0.00,0.000,2308,0.000,0.065,2600,3455,2078,2076,2081,0,0,0,0,0,0,14.85,14.49,14.85
$GC,3356,-0.93,-4.9,2600,3455,2077,2080,452.5,-11.6,366,3361,0.00,2.45,0.00,0.000,3078,0.000,0.048,2599,2050,2078,2076,2081,0,0,0,0,0,0,14.70,14.57,14.71
$GC,3667,-0.93,-4.9,2599,2050,2077,2082,489.3,-12.1,397,3671,0.00,2.50,0.00,0.000,2308,0.000,0.065,2599,3456,2078,2076,2081,0,0,0,0,0,0,14.86,14.50,14.86
$GC,3741,-0.93,-4.9,2600,3456,2077,2081,497.7,-12.1,404,3748,0.03,2.45,0.00,0.000,3078,0.477,0.048,2603,2049,2077,2075,2080,0,0,0,0,0,0,14.45,14.57,14.60
$GC,4047,-0.93,-4.9,2603,2049,2077,2081,534.0,-11.6,435,4048,0.00,0.00,0.00,0.000,2054,0.000,0.000,2603,2049,2077,2075,2080,0,0,0,0,0,0,14.87,14.88,14.88
$GC,4346,-0.93,-4.9,2604,2049,2077,2082,566.9,-10.4,465,4351,0.00,2.50,0.00,0.000,2308,0.000,0.064,2603,3456,2078,2076,2081,0,0,0,0,0,0,14.88,14.54,14.88
$GC,4433,-0.93,-4.9,2603,3457,2077,2079,574.9,-9.9,473,4438,0.00,2.47,0.00,0.000,3078,0.000,0.048,2603,2044,2078,2076,2080,0,0,0,0,0,0,14.59,14.47,14.60
$GC,4737,-0.93,-4.9,2602,2044,2077,2082,605.0,-9.4,504,4741,0.00,2.53,0.00,0.000,2308,0.000,0.064,2603,3460,2078,2076,2080,0,0,0,0,0,0,14.88,14.52,14.88
$GC,4797,-0.93,-4.9,2603,3460,2077,2081,610.8,-9.6,510,4801,0.00,2.45,0.00,0.000,3078,0.000,0.047,2603,2050,2078,2076,2080,0,0,0,0,0,0,14.69,14.59,14.70
$GC,5107,-0.93,-4.9,2604,2051,2077,2080,639.5,-9.2,541,5111,0.00,2.50,0.00,0.000,2308,0.000,0.064,2602,3455,2078,2076,2080,0,0,0,0,0,0,14.88,14.52,14.88
$GC,5216,-0.93,-4.9,2603,3457,2077,2080,649.5,-9.0,552,5221,0.00,2.45,0.00,0.000,3078,0.000,0.047,2604,2049,2078,2076,2080,0,0,0,0,0,0,14.73,14.59,14.74
$GC,5527,-0.93,-4.9,2604,2049,2077,2081,677.9,-9.6,583,5531,0.00,2.53,0.00,0.000,2308,0.000,0.064,2602,3463,2077,2075,2080,0,0,0,0,0,0,14.88,14.52,14.88
$GC,5636,-0.93,-4.9,2603,3463,2076,2081,688.4,-9.6,594,5641,0.00,2.47,0.00,0.000,3078,0.000,0.047,2602,2047,2078,2076,2080,0,0,0,0,0,0,14.72,14.59,14.74
$GC,5946,-0.93,-4.9,2603,2048,2077,2080,718.9,-9.8,625,5951,0.00,2.50,0.00,0.000,2308,0.000,0.064,2600,3455,2078,2076,2080,0,0,0,0,0,0,14.88,14.52,14.88
$GC,6016,-0.93,-4.9,2601,3455,2076,2082,725.9,-10.1,632,6022,0.00,2.50,0.00,0.000,3078,0.000,0.048,2601,2052,2078,2076,2080,0,0,0,0,0,0,14.62,14.56,14.64
$GC,6326,-0.93,-4.9,2602,2051,2077,2081,757.7,-10.2,663,6328,0.00,0.00,0.00,0.000,2054,0.000,0.000,2601,2052,2077,2075,2079,0,0,0,0,0,0,14.88,14.88,14.88
$GC,6626,-0.93,-4.9,2601,2053,2077,2079,788.9,-10.6,693,6632,0.00,2.50,0.00,0.000,2308,0.000,0.065,2601,3456,2077,2076,2079,0,0,0,0,0,0,14.88,14.53,14.89
$GC,6736,-0.93,-4.9,2600,3457,2076,2080,800.3,-10.3,704,6741,0.00,2.45,0.00,0.000,3078,0.000,0.047,2600,2047,2078,2076,2080,0,0,0,0,0,0,14.72,14.59,14.74
$GC,7047,-0.93,-4.9,2600,2048,2077,2081,832.5,-10.5,735,7048,0.00,0.00,0.00,0.000,2054,0.000,0.000,2600,2047,2078,2076,2080,0,0,0,0,0,0,14.90,14.88,14.88
$GC,7346,-0.93,-4.9,2600,2045,2077,2081,864.9,-11.0,765,7351,0.00,2.53,0.00,0.000,2308,0.000,0.065,2600,3462,2078,2076,2080,0,0,0,0,0,0,14.88,14.51,14.89
$GC,7432,-0.93,-4.9,2600,3463,2077,2079,873.7,-11.0,773,7438,0.00,2.47,0.00,0.000,3078,0.000,0.049,2600,2050,2078,2076,2080,0,0,0,0,0,0,14.57,14.42,14.59
$GC,7737,-0.93,-4.9,2600,2050,2077,2081,907.3,-11.0,804,7738,0.00,0.00,0.00,0.000,2054,0.000,0.000,2600,2051,2078,2076,2080,0,0,0,0,0,0,14.88,14.88,14.88
$GC,8036,-0.93,-4.9,2600,2050,2076,2081,940.1,-10.8,834,8041,0.00,2.50,0.00,0.000,2308,0.000,0.064,2600,3457,2078,2076,2080,0,0,0,0,0,0,14.88,14.52,14.89
$GC,8122,-0.93,-4.9,2600,3457,2076,2081,948.6,-10.6,842,8128,0.00,2.45,0.00,0.000,3078,0.000,0.047,2600,2050,2077,2076,2079,0,0,0,0,0,0,14.65,14.52,14.66
$GC,8427,-0.93,-4.9,2600,2051,2077,2079,980.4,-10.0,873,8431,0.00,2.50,0.00,0.000,2308,0.000,0.063,2600,3455,2077,2076,2079,0,0,0,0,0,0,14.88,14.50,14.92
$GC,8486,-0.93,-4.9,2600,3455,2076,2080,986.5,-10.1,879,8491,0.00,2.45,0.00,0.000,3078,0.000,0.047,2599,2046,2077,2076,2079,0,0,0,0,0,0,14.72,14.59,14.73
$STATE,8575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8575,begin apogee
$GC,8579,-0.17,0.0,2601,1594,2077,2081,995.5,-10.2,888,8589,1.45,0.00,6.65,1.678,10246,0.246,0.000,2848,1594,2061,2069,2054,0,0,0,0,0,0,14.23,14.65,13.54
$STATE,8590,end apogee,CONTROL_FINISHED_OK
$STATE,8590,begin climb
$GC,8592,0.93,4.9,2848,1593,2069,2056,997.2,0.0,889,8605,1.75,0.00,7.93,1.704,10246,0.145,0.000,3187,1594,2039,2048,2031,0,0,0,0,0,0,14.54,14.38,13.57
$GC,8900,1.13,162.2,3188,1594,2050,2032,1013.6,-6.7,920,9075,0.30,2.47,166.65,2.139,10756,0.153,0.086,3253,316,1398,1461,1335,0,0,0,0,0,0,14.28,13.57,12.77
$GC,9414,1.13,162.2,3253,317,1459,1334,946.3,18.5,971,9421,0.00,2.28,0.00,0.000,3078,0.000,0.036,3253,1603,1395,1457,1333,0,0,0,0,0,0,14.38,14.34,14.40
$GC,9720,1.13,162.2,3253,1609,1457,1334,890.3,18.0,1002,9725,0.00,2.40,0.00,0.000,2564,0.000,0.089,3254,311,1394,1457,1332,0,0,0,0,0,0,14.77,14.40,14.77
$GC,9774,1.13,162.2,3254,312,1458,1332,881.5,19.0,1007,9781,0.00,2.28,0.00,0.000,3078,0.000,0.040,3254,1609,1395,1457,1333,0,0,0,0,0,0,14.57,14.52,14.59
$GC,10080,1.13,162.2,3255,1614,1457,1333,824.9,18.2,1038,10085,0.00,2.40,0.00,0.000,2564,0.000,0.089,3254,307,1394,1456,1332,0,0,0,0,0,0,14.85,14.47,14.85
$GC,10144,1.13,162.2,3254,308,1457,1332,813.4,19.4,1044,10151,0.00,2.25,0.00,0.000,3078,0.000,0.040,3257,1602,1394,1456,1332,0,0,0,0,0,0,14.64,14.59,14.65
$GC,10450,1.13,162.2,3255,1609,1456,1333,757.6,17.9,1075,10451,0.00,0.00,0.00,0.000,2054,0.000,0.000,3254,1608,1393,1456,1331,0,0,0,0,0,0,14.89,14.90,14.90
$GC,10750,1.13,162.2,3255,1609,1456,1333,702.2,18.3,1105,10755,0.00,2.38,0.00,0.000,2564,0.000,0.090,3254,311,1393,1455,1331,0,0,0,0,0,0,14.92,14.52,14.92
$GC,10831,1.13,162.2,3255,312,1457,1332,686.7,19.4,1113,10835,0.00,2.20,0.00,0.000,3078,0.000,0.040,3254,1600,1397,1455,1340,0,0,0,0,0,0,14.71,14.63,14.73
$GC,11140,1.13,162.2,3253,1607,1456,1332,629.4,18.5,1144,11141,0.00,0.00,0.00,0.000,2054,0.000,0.000,3254,1607,1393,1455,1331,0,0,0,0,0,0,14.94,14.95,14.95
$GC,11440,1.13,162.2,3254,1608,1456,1331,574.0,18.2,1174,11445,0.00,2.38,0.00,0.000,2564,0.000,0.088,3254,307,1393,1455,1331,0,0,0,0,0,0,14.95,14.53,14.96
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$GC,13840,1.13,162.2,3255,311,1455,1332,182.9,14.6,1414,13845,0.00,2.22,0.00,0.000,3078,0.000,0.040,3255,1607,1392,1454,1331,0,0,0,0,0,0,14.60,14.50,14.63
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$STATE,15308,end climb,SURFACE_DEPTH_REACHED
$STATE,15308,begin surface coast
$FINISH,0.6,1.021066
$STATE,15333,end surface coast,CONTROL_FINISHED_OK
$STATE,15334,begin surface
$SM_CCo,15358,182.77,0.160,0,0,599,358.38
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$IRIDIUM_FIX,-5343.28,0.00,071219,061541
$TT8_MAMPS,0.041944,0.911533
$HUMID,52.87
$INTERNAL_PRESSURE,9.15608
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3661856
$24V_AH,12.77,112.116
$10V_AH,12.48,0.000
$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
$DEVICE_SECS,35.575,123.500,181.225,182.775,0.000,124.527,150.556,829.593,0.000,0.000,16.334,0.000,11403.416,608.315,4918.894,364.756,0.000,1957.715,0.000,2849.927,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,42.529,0.000,0.000,0.000
$MEM,340032
$DATA_FILE_SIZE,56569,1607
$CAP_FILE_SIZE,266997,0
$CFSIZE,2097086464,2036203520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,071219,104704,-5406.080,5.149,39,0.9,48,-20.5,0.7,249.6,10,9.9