version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 279
start: 12 9 119 23 48 47
data:
$ID,574
$MISSION,7
$DIVE,279
$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,21
$R_STBD_OVSHOOT,38
$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
$GPS1,091219,233423,-5400.2534,-1.3529,46,0.8,50,-20.4,0.6,138.4,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-65.6
$GPS2,091219,234834,-5400.2783,-1.2296,8,0.9,20,-20.4,0.9,316.1,8,9.5
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,WPSW
$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,226.5,11795,-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,-4.9,102,2056,613,579,0.0,0.0,0,114,0.00,0.00,-92.88,0.000,16390,0.000,0.000,100,2056,2082,2056,2108,0,0,0,0,0,0,14.66,13.04,14.66
$GC,117,-0.89,-4.9,101,2054,2058,2112,3.0,-5.6,17,141,16.52,2.53,0.00,0.000,2308,0.369,0.066,2616,3451,2087,2063,2111,0,0,0,0,0,0,14.04,14.36,14.34
$GC,370,-0.89,-4.9,2616,3451,2066,2110,44.5,-14.1,67,377,0.00,2.50,0.00,0.000,3078,0.000,0.051,2615,2044,2086,2065,2108,0,0,0,0,0,0,14.54,14.42,14.56
$GC,441,-0.89,-4.9,2616,2044,2066,2108,54.5,-13.8,78,443,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,2044,2086,2066,2107,0,0,0,0,0,0,14.76,14.76,14.76
$GC,741,-0.89,-4.9,2615,2044,2067,2102,100.6,-15.0,108,746,0.00,2.55,0.00,0.000,2308,0.000,0.067,2615,3455,2084,2066,2102,0,0,0,0,0,0,14.83,14.36,14.80
$GC,916,-0.89,-4.9,2616,3456,2067,2101,124.5,-13.7,125,922,0.00,2.47,0.00,0.000,3078,0.000,0.050,2615,2050,2083,2065,2101,0,0,0,0,0,0,14.59,14.43,14.61
$GC,1221,-0.89,-4.9,2614,2050,2066,2100,169.2,-15.0,156,1226,0.00,2.50,0.00,0.000,2308,0.000,0.067,2615,3446,2082,2065,2099,0,0,0,0,0,0,14.80,14.39,14.80
$GC,1421,-0.89,-4.9,2616,3447,2066,2097,198.5,-14.2,176,1426,0.00,2.47,0.00,0.000,3078,0.000,0.049,2616,2045,2081,2065,2098,0,0,0,0,0,0,14.59,14.53,14.59
$GC,1731,-0.89,-4.9,2616,2046,2067,2097,237.7,-11.5,207,1733,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2045,2081,2065,2098,0,0,0,0,0,0,14.79,14.80,14.79
$GC,2031,-0.89,-4.9,2616,2045,2066,2098,274.2,-12.1,237,2036,0.00,2.53,0.00,0.000,2308,0.000,0.066,2615,3452,2081,2066,2096,0,0,0,0,0,0,14.79,14.38,14.80
$GC,2226,-0.89,-4.9,2616,3453,2066,2096,298.1,-12.4,256,2232,0.00,2.47,0.00,0.000,3078,0.000,0.050,2616,2050,2080,2065,2095,0,0,0,0,0,0,14.57,14.43,14.59
$GC,2531,-0.89,-4.9,2616,2052,2067,2095,337.7,-12.5,287,2536,0.00,2.53,0.00,0.000,2308,0.000,0.065,2612,3453,2080,2066,2095,0,0,0,0,0,0,14.78,14.38,14.79
$GC,2611,-0.89,-4.9,2615,3454,2067,2094,347.6,-12.5,295,2616,0.00,2.47,0.00,0.000,3078,0.000,0.049,2613,2050,2080,2066,2095,0,0,0,0,0,0,14.54,14.48,14.55
$GC,2921,-0.89,-4.9,2613,2050,2067,2094,387.0,-12.8,326,2926,0.00,2.53,0.00,0.000,2308,0.000,0.064,2613,3455,2080,2066,2095,0,0,0,0,0,0,14.79,14.38,14.79
$GC,3046,-0.89,-4.9,2614,3455,2066,2094,401.9,-12.0,338,3052,0.00,2.47,0.00,0.000,3078,0.000,0.048,2613,2045,2079,2065,2094,0,0,0,0,0,0,14.65,14.51,14.66
$GC,3351,-0.89,-4.9,2614,2045,2067,2095,439.2,-11.7,369,3356,0.00,2.53,0.00,0.000,2308,0.000,0.066,2613,3456,2080,2066,2094,0,0,0,0,0,0,14.85,14.47,14.85
$GC,3486,-0.89,-4.9,2614,3456,2066,2095,454.4,-11.5,382,3492,0.00,2.47,0.00,0.000,3078,0.000,0.049,2613,2043,2079,2066,2093,0,0,0,0,0,0,14.69,14.54,14.71
$GC,3791,-0.89,-4.9,2613,2044,2067,2094,490.4,-11.5,413,3796,0.00,2.53,0.00,0.000,2308,0.000,0.064,2613,3456,2079,2065,2093,0,0,0,0,0,0,14.87,14.47,14.87
$GC,3877,-0.89,-4.9,2613,3456,2067,2094,499.3,-11.1,421,3883,0.00,2.47,0.00,0.000,3078,0.000,0.048,2613,2050,2079,2066,2093,0,0,0,0,0,0,14.64,14.51,14.66
$GC,4181,-0.89,-4.9,2614,2049,2067,2094,534.7,-11.5,452,4183,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2049,2080,2067,2093,0,0,0,0,0,0,14.88,14.88,14.88
$GC,4481,-0.89,-4.9,2614,2049,2068,2101,568.2,-11.2,482,4486,0.00,2.50,0.00,0.000,2308,0.000,0.064,2613,3451,2080,2066,2094,0,0,0,0,0,0,14.88,14.48,14.88
$GC,4551,-0.89,-4.9,2614,3451,2068,2094,576.0,-11.0,489,4556,0.00,2.45,0.00,0.000,3078,0.000,0.048,2613,2048,2080,2067,2093,0,0,0,0,0,0,14.66,14.55,14.67
$GC,4861,-0.89,-4.9,2614,2049,2068,2094,610.5,-11.3,520,4866,0.00,2.50,0.00,0.000,2308,0.000,0.064,2613,3451,2080,2067,2093,0,0,0,0,0,0,14.89,14.49,14.89
$GC,4941,-0.89,-4.9,2613,3450,2068,2093,619.5,-11.2,528,4946,0.00,2.45,0.00,0.000,3078,0.000,0.047,2613,2050,2079,2067,2092,0,0,0,0,0,0,14.67,14.57,14.69
$GC,5251,-0.89,-4.9,2613,2050,2068,2094,654.4,-11.3,559,5256,0.00,2.50,0.00,0.000,2308,0.000,0.063,2613,3449,2079,2067,2092,0,0,0,0,0,0,14.89,14.50,14.89
$GC,5326,-0.89,-4.9,2613,3450,2069,2092,662.0,-10.9,566,5332,0.00,2.45,0.00,0.000,3078,0.000,0.047,2613,2046,2079,2067,2092,0,0,0,0,0,0,14.70,14.58,14.71
$GC,5631,-0.89,-4.9,2613,2047,2068,2092,695.1,-10.6,597,5633,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,2046,2079,2067,2092,0,0,0,0,0,0,14.89,14.89,14.89
$GC,5931,-0.89,-4.9,2613,2046,2068,2093,725.8,-10.3,627,5933,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2046,2078,2066,2091,0,0,0,0,0,0,14.90,14.90,14.90
$GC,6231,-0.89,-4.9,2613,2046,2068,2093,754.7,-9.3,657,6236,0.00,2.50,0.00,0.000,2308,0.000,0.064,2613,3449,2080,2068,2092,0,0,0,0,0,0,14.90,14.48,14.91
$GC,6291,-0.89,-4.9,2613,3450,2069,2092,760.3,-9.4,663,6296,0.00,2.45,0.00,0.000,3078,0.000,0.047,2613,2046,2079,2067,2092,0,0,0,0,0,0,14.64,14.52,14.65
$GC,6601,-0.89,-4.9,2612,2047,2069,2095,789.9,-9.5,694,6603,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2046,2079,2067,2092,0,0,0,0,0,0,14.93,14.90,14.90
$GC,6901,-0.89,-4.9,2613,2047,2069,2092,817.6,-9.2,724,6903,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2046,2080,2068,2092,0,0,0,0,0,0,14.89,14.90,14.90
$GC,7202,-0.89,-4.9,2612,2047,2069,2092,845.2,-9.3,754,7206,0.00,2.50,0.00,0.000,2308,0.000,0.065,2613,3449,2080,2068,2092,0,0,0,0,0,0,14.89,14.48,14.89
$GC,7306,-0.89,-4.9,2613,3450,2069,2092,854.3,-9.2,764,7312,0.00,2.45,0.00,0.000,3078,0.000,0.047,2613,2045,2080,2068,2092,0,0,0,0,0,0,14.68,14.58,14.69
$GC,7611,-0.89,-4.9,2613,2045,2069,2093,883.0,-9.3,795,7616,0.00,2.50,0.00,0.000,2308,0.000,0.063,2613,3449,2080,2068,2092,0,0,0,0,0,0,14.89,14.47,14.90
$GC,7671,-0.89,-4.9,2613,3449,2069,2093,888.6,-9.4,801,7676,0.00,2.45,0.00,0.000,3078,0.000,0.047,2613,2044,2080,2068,2092,0,0,0,0,0,0,14.64,14.51,14.65
$GC,7981,-0.89,-4.9,2613,2044,2069,2093,917.2,-9.2,832,7983,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2044,2079,2068,2091,0,0,0,0,0,0,14.89,14.90,14.90
$GC,8281,-0.89,-4.9,2614,2044,2068,2093,945.1,-9.3,862,8286,0.00,2.53,0.00,0.000,2308,0.000,0.064,2613,3456,2080,2068,2092,0,0,0,0,0,0,14.89,14.47,14.90
$GC,8351,-0.89,-4.9,2614,3456,2069,2093,951.6,-9.2,869,8356,0.00,2.45,0.00,0.000,3078,0.000,0.047,2613,2050,2080,2068,2092,0,0,0,0,0,0,14.63,14.51,14.65
$GC,8661,-0.89,-4.9,2613,2050,2069,2093,979.6,-8.9,900,8663,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2050,2079,2068,2091,0,0,0,0,0,0,14.89,14.90,14.89
$STATE,8839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8839,begin apogee
$GC,8844,-0.17,0.0,2614,1598,2070,2092,995.4,-8.7,918,8855,1.38,0.00,7.88,1.771,10246,0.243,0.000,2848,1597,2061,2062,2060,0,0,0,0,0,0,14.20,14.65,13.69
$STATE,8856,end apogee,CONTROL_FINISHED_OK
$STATE,8856,begin climb
$GC,8858,0.89,4.9,2849,1597,2063,2061,996.8,0.0,919,8871,1.67,0.00,7.35,1.671,10246,0.143,0.000,3174,1597,2039,2043,2036,0,0,0,0,0,0,14.55,14.38,13.54
$GC,9166,1.08,165.0,3174,1598,2045,2036,1008.8,-5.3,950,9347,0.30,2.67,170.27,2.138,11012,0.149,0.050,3238,2997,1387,1451,1323,0,0,0,0,0,0,14.25,13.57,12.82
$GC,9587,1.08,165.0,3238,2997,1446,1322,958.5,17.8,992,9592,0.00,2.53,0.00,0.000,3078,0.000,0.064,3238,1608,1383,1446,1321,0,0,1,0,0,0,14.32,14.19,14.33
$GC,9897,1.08,165.0,3239,1608,1447,1320,902.3,18.1,1023,9902,0.00,2.38,0.00,0.000,2564,0.000,0.086,3239,307,1385,1446,1325,0,0,0,0,0,0,14.76,14.38,14.76
$GC,9942,1.08,165.0,3239,306,1446,1321,895.4,17.7,1027,9948,0.00,2.25,0.00,0.000,3078,0.000,0.034,3238,1604,1382,1446,1319,0,0,0,0,0,0,14.54,14.50,14.56
$GC,10247,1.08,165.0,3239,1610,1446,1320,839.8,17.3,1058,10249,0.00,0.00,0.00,0.000,2054,0.000,0.000,3239,1610,1382,1446,1319,0,0,0,0,0,0,14.87,14.88,14.88
$GC,10547,1.08,165.0,3239,1610,1446,1320,788.2,17.3,1088,10552,0.00,2.38,0.00,0.000,2564,0.000,0.088,3239,307,1382,1446,1319,0,0,0,0,0,0,14.90,14.49,14.91
$GC,10628,1.08,165.0,3239,307,1446,1320,773.7,18.2,1096,10632,0.00,2.20,0.00,0.000,3078,0.000,0.036,3238,1607,1383,1447,1319,0,0,0,0,0,0,14.70,14.62,14.71
$GC,10937,1.08,165.0,3239,1613,1446,1320,720.7,17.0,1127,10942,0.00,2.38,0.00,0.000,2564,0.000,0.086,3239,304,1382,1445,1319,0,0,0,0,0,0,14.93,14.50,14.93
$GC,10987,1.08,165.0,3239,305,1447,1318,711.6,18.2,1132,10992,0.00,2.22,0.00,0.000,3078,0.000,0.036,3239,1620,1382,1446,1318,0,0,0,0,0,0,14.73,14.66,14.74
$GC,11298,1.08,165.0,3239,1627,1447,1318,658.1,17.1,1163,11303,0.00,2.40,0.00,0.000,2564,0.000,0.085,3239,307,1381,1445,1318,0,0,0,0,0,0,14.93,14.50,14.94
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$STATE,15858,end climb,SURFACE_DEPTH_REACHED
$STATE,15858,begin surface coast
$FINISH,0.2,1.021067
$STATE,15883,end surface coast,CONTROL_FINISHED_OK
$STATE,15883,begin surface
$SM_CCo,15907,180.75,0.159,0,0,600,358.38
$SM_GC,0.68,15.40,0.77,180.75,0.067,0.062,0.159,129,2057,600,-8.66,-0.99,358.38,0,0,0,0,0,0,14.50,14.59,14.35
$IRIDIUM_FIX,-5339.63,29.29,091219,183836
$TT8_MAMPS,0.041944,0.653128
$HUMID,53.26
$INTERNAL_PRESSURE,9.15608
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3653408
$24V_AH,12.82,117.904
$10V_AH,12.45,0.000
$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,35.275,123.075,185.500,180.750,0.000,25.351,24.485,479.483,0.000,0.000,21.068,0.000,11655.480,613.409,4315.557,327.406,0.000,1979.426,0.000,2894.144,0.000,0.539,0.000
$DEVICE_MAMPS,369.495,87.975,2138.175,159.120,0.000,32.890,160.000,223.000,420.000,0.000,10.490,0.000,2.190,12.070,33.040,41.280,0.000,11.900,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16017.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,42.176,0.000,0.000,0.000
$MEM,339944
$DATA_FILE_SIZE,56553,1664
$CAP_FILE_SIZE,265418,0
$CFSIZE,2097086464,2033483776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$GPS,101219,041805,-5401.603,-3.433,43,0.8,47,-20.4,0.9,288.1,9,9.1