version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 375
start: 12 28 119 20 30 9
data:
$ID,574
$MISSION,7
$DIVE,375
$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,28
$R_STBD_OVSHOOT,43
$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
$GPS1,281219,201623,-5402.9053,-5.6227,37,1.0,42,-20.4,1.5,263.9,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-65.4
$GPS2,281219,202957,-5402.8154,-5.4966,7,0.8,14,-20.4,1.1,97.7,10,9.7
$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,205.7,5923,-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,20,-0.89,-4.9,92,2054,605,585,0.0,0.0,0,114,0.00,0.00,-89.57,0.000,16390,0.000,0.000,87,2052,2084,2058,2111,0,0,0,0,0,0,14.69,12.88,14.66
$GC,118,-0.89,-4.9,88,2053,2059,2108,3.4,-6.8,17,141,16.75,2.53,0.00,0.000,2308,0.371,0.070,2616,3445,2085,2063,2107,0,0,0,0,0,0,14.00,14.40,14.30
$GC,516,-0.89,-4.9,2616,3446,2065,2097,65.0,-13.1,84,522,0.00,2.47,0.00,0.000,3078,0.000,0.052,2616,2050,2080,2064,2097,0,0,0,0,0,0,14.50,14.37,14.52
$GC,821,-0.89,-4.9,2616,2050,2065,2095,110.5,-13.7,115,826,0.00,2.53,0.00,0.000,2308,0.000,0.067,2616,3447,2078,2064,2093,0,0,0,0,0,0,14.80,14.45,14.81
$GC,896,-0.89,-4.9,2616,3448,2065,2092,120.3,-14.1,122,902,0.00,2.47,0.00,0.000,3078,0.000,0.050,2616,2043,2078,2064,2092,0,0,0,0,0,0,14.54,14.42,14.54
$GC,1201,-0.89,-4.9,2617,2043,2065,2092,164.4,-13.9,153,1206,0.00,2.53,0.00,0.000,2308,0.000,0.067,2616,3445,2078,2064,2092,0,0,0,0,0,0,14.78,14.45,14.78
$GC,1311,-0.89,-4.9,2616,3446,2065,2091,179.3,-13.4,164,1316,0.00,2.47,0.00,0.000,3078,0.000,0.050,2616,2049,2077,2064,2091,0,0,0,0,0,0,14.61,14.45,14.63
$GC,1621,-0.89,-4.9,2616,2049,2065,2090,216.9,-11.8,195,1623,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2049,2077,2064,2090,0,0,0,0,0,0,14.78,14.78,14.78
$GC,1921,-0.89,-4.9,2615,2050,2066,2089,250.5,-10.8,225,1926,0.00,2.53,0.00,0.000,2308,0.000,0.067,2616,3451,2076,2064,2088,0,0,0,0,0,0,14.78,14.43,14.78
$GC,2017,-0.89,-4.9,2616,3452,2065,2087,260.2,-10.8,234,2023,0.00,2.47,0.00,0.000,3078,0.000,0.050,2616,2050,2074,2062,2087,0,0,0,0,0,0,14.52,14.38,14.54
$GC,2321,-0.89,-4.9,2616,2051,2066,2087,293.8,-11.3,265,2323,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2050,2075,2064,2087,0,0,0,0,0,0,14.79,14.79,14.80
$GC,2621,-0.89,-4.9,2617,2050,2059,2088,327.0,-11.3,295,2623,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2050,2075,2064,2087,0,0,0,0,0,0,14.78,14.78,14.78
$GC,2921,-0.89,-4.9,2616,2050,2065,2088,361.3,-11.7,325,2926,0.00,2.53,0.00,0.000,2308,0.000,0.066,2616,3447,2075,2064,2086,0,0,0,0,0,0,14.78,14.41,14.78
$GC,3031,-0.89,-4.9,2616,3448,2058,2085,374.1,-11.4,336,3036,0.00,2.47,0.00,0.000,3078,0.000,0.049,2616,2048,2072,2060,2085,0,0,0,0,0,0,14.59,14.45,14.61
$GC,3341,-0.89,-4.9,2616,2051,2065,2085,409.7,-11.3,367,3343,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2048,2074,2064,2085,0,0,0,0,0,0,14.72,14.73,14.72
$GC,3641,-0.89,-4.9,2616,2050,2065,2085,444.3,-11.7,397,3646,0.00,2.53,0.00,0.000,2308,0.000,0.064,2616,3449,2074,2064,2085,0,0,0,0,0,0,14.73,14.35,14.73
$GC,3716,-0.89,-4.9,2616,3450,2065,2085,452.4,-11.5,404,3722,0.00,2.47,0.00,0.000,3078,0.000,0.047,2616,2048,2074,2064,2085,0,0,0,0,0,0,14.42,14.31,14.43
$GC,4021,-0.89,-4.9,2617,2049,2064,2086,487.7,-11.6,435,4026,0.00,2.53,0.00,0.000,2308,0.000,0.064,2615,3447,2074,2064,2085,0,0,0,0,0,0,14.73,14.35,14.73
$GC,4112,-0.89,-4.9,2616,3448,2064,2085,497.9,-11.2,444,4117,0.00,2.47,0.00,0.000,3078,0.000,0.047,2616,2046,2074,2064,2085,0,0,0,0,0,0,14.52,14.38,14.54
$GC,4422,-0.89,-4.9,2617,2046,2065,2085,533.7,-11.7,475,4424,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,2046,2074,2064,2084,0,0,0,0,0,0,14.74,14.74,14.74
$GC,4722,-0.89,-4.9,2616,2046,2064,2086,568.2,-11.4,505,4726,0.00,2.53,0.00,0.000,2308,0.000,0.064,2616,3448,2074,2064,2084,0,0,0,0,0,0,14.73,14.35,14.73
$GC,4792,-0.89,-4.9,2616,3442,2065,2082,576.1,-11.4,512,4796,0.00,2.45,0.00,0.000,3078,0.000,0.048,2616,2051,2074,2064,2084,0,0,0,0,0,0,14.52,14.38,14.54
$GC,5102,-0.89,-4.9,2616,2052,2065,2084,610.0,-10.7,543,5106,0.00,2.53,0.00,0.000,2308,0.000,0.063,2616,3449,2074,2064,2084,0,0,0,0,0,0,14.73,14.34,14.73
$GC,5176,-0.89,-4.9,2616,3450,2066,2084,617.4,-10.6,550,5183,0.00,2.47,0.00,0.000,3078,0.000,0.048,2615,2051,2074,2064,2084,0,0,0,0,0,0,14.42,14.29,14.45
$GC,5482,-0.89,-4.9,2617,2052,2065,2084,648.4,-9.7,581,5483,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2051,2074,2064,2084,0,0,0,0,0,0,14.73,14.73,14.73
$GC,5782,-0.89,-4.9,2616,2052,2065,2084,678.2,-10.0,611,5786,0.00,2.53,0.00,0.000,2308,0.000,0.065,2615,3445,2074,2064,2084,0,0,0,0,0,0,14.73,14.33,14.72
$GC,5862,-0.89,-4.9,2615,3445,2065,2085,686.4,-10.2,619,5866,0.00,2.47,0.00,0.000,3078,0.000,0.048,2615,2048,2072,2063,2082,0,0,0,0,0,0,14.52,14.38,14.53
$GC,6172,-0.89,-4.9,2616,2048,2065,2085,717.2,-9.9,650,6174,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,2048,2074,2064,2084,0,0,0,0,0,0,14.73,14.73,14.73
$GC,6472,-0.89,-4.9,2616,2048,2065,2085,746.4,-9.8,680,6473,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,2048,2074,2064,2084,0,0,0,0,0,0,14.73,14.73,14.73
$GC,6772,-0.89,-4.9,2616,2049,2066,2084,775.7,-9.7,710,6776,0.00,2.53,0.00,0.000,2308,0.000,0.066,2615,3444,2074,2064,2084,0,0,0,0,0,0,14.73,14.33,14.73
$GC,6832,-0.89,-4.9,2615,3444,2065,2084,781.6,-9.9,716,6837,0.00,2.50,0.00,0.000,3078,0.000,0.049,2615,2044,2074,2064,2085,0,0,0,0,0,0,14.52,14.38,14.54
$GC,7142,-0.89,-4.9,2615,2045,2065,2084,812.8,-10.3,747,7146,0.00,2.55,0.00,0.000,2308,0.000,0.065,2614,3452,2074,2064,2084,0,0,0,0,0,0,14.73,14.34,14.73
$GC,7216,-0.89,-4.9,2615,3453,2065,2084,820.1,-10.5,754,7223,0.00,2.50,0.00,0.000,3078,0.000,0.047,2614,2040,2073,2063,2084,0,0,0,0,0,0,14.41,14.28,14.44
$GC,7522,-0.89,-4.9,2615,2040,2065,2085,851.3,-9.9,785,7523,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,2040,2074,2064,2084,0,0,0,0,0,0,14.72,14.72,14.73
$GC,7822,-0.89,-4.9,2614,2041,2066,2084,880.7,-9.6,815,7823,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,2040,2074,2064,2084,0,0,0,0,0,0,14.73,14.73,14.73
$GC,8122,-0.89,-4.9,2615,2041,2065,2084,910.0,-9.7,845,8123,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,2040,2074,2064,2084,0,0,0,0,0,0,14.73,14.73,14.73
$GC,8422,-0.89,-4.9,2615,2040,2064,2085,939.0,-9.7,875,8423,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,2040,2074,2064,2084,0,0,0,0,0,0,14.72,14.73,14.73
$GC,8722,-0.89,-4.9,2615,2040,2065,2085,968.0,-9.6,905,8723,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,2040,2073,2064,2083,0,0,0,0,0,0,14.72,14.73,14.73
$STATE,9009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9010,begin apogee
$GC,9015,-0.17,0.0,2615,1594,2066,2084,995.6,-9.5,934,9024,1.38,0.00,5.47,1.570,10246,0.241,0.000,2846,1593,2060,2061,2060,0,0,0,0,0,0,14.03,14.54,13.38
$STATE,9025,end apogee,CONTROL_FINISHED_OK
$STATE,9025,begin climb
$GC,9027,0.89,4.9,2846,1594,2062,2061,997.2,0.0,935,9040,1.67,0.00,7.80,1.758,10246,0.141,0.000,3171,1593,2039,2042,2037,0,0,0,0,0,0,14.46,14.28,13.45
$GC,9336,1.10,177.4,3171,1595,2043,2038,1012.8,-6.5,966,9527,0.32,2.53,181.18,2.181,10756,0.139,0.088,3240,310,1335,1369,1302,0,0,0,0,0,0,14.30,13.52,12.74
$GC,9866,1.10,177.4,3240,311,1369,1301,943.9,18.8,1019,9871,0.00,2.22,0.00,0.000,3078,0.000,0.031,3241,1617,1334,1368,1301,0,0,0,0,0,0,14.55,14.47,14.57
$GC,10177,1.10,177.4,3241,1623,1368,1301,888.5,17.6,1050,10181,0.00,2.42,0.00,0.000,2564,0.000,0.088,3240,307,1334,1368,1300,0,0,0,0,0,0,14.88,14.46,14.88
$GC,10241,1.10,177.4,3239,308,1369,1300,878.0,18.8,1056,10248,0.00,2.17,0.00,0.000,3078,0.000,0.033,3241,1598,1334,1368,1300,0,0,0,0,0,0,14.63,14.52,14.64
$GC,10546,1.10,177.4,3241,1605,1368,1301,822.3,17.9,1087,10548,0.00,0.00,0.00,0.000,2054,0.000,0.000,3240,1604,1333,1367,1299,0,0,0,0,0,0,14.96,14.96,14.95
$GC,10846,1.10,177.4,3241,1605,1368,1300,768.6,18.2,1117,10851,0.00,2.38,0.00,0.000,2564,0.000,0.088,3241,307,1333,1367,1299,0,0,0,0,0,0,14.99,14.52,14.99
$GC,10906,1.10,177.4,3241,308,1368,1299,757.3,18.9,1123,10911,0.00,2.20,0.00,0.000,3078,0.000,0.035,3241,1601,1333,1367,1299,0,0,0,0,0,0,14.77,14.66,14.79
$GC,11218,1.10,177.4,3241,1608,1368,1298,702.2,17.5,1154,11220,0.00,0.00,0.00,0.000,2054,0.000,0.000,3241,1609,1333,1367,1299,0,0,0,0,0,0,14.99,15.00,15.00
$GC,11517,1.10,177.4,3240,1609,1368,1299,649.4,17.3,1184,11521,0.00,2.38,0.00,0.000,2564,0.000,0.088,3240,308,1333,1367,1299,0,0,0,0,0,0,15.01,14.54,15.02
$GC,11581,1.10,177.4,3241,308,1368,1300,638.6,18.3,1190,11587,0.00,2.17,0.00,0.000,3078,0.000,0.036,3240,1599,1333,1367,1299,0,0,0,0,0,0,14.67,14.57,14.69
$GC,11886,1.10,177.4,3241,1606,1368,1299,585.5,17.1,1221,11888,0.00,0.00,0.00,0.000,2054,0.000,0.000,3241,1605,1332,1366,1298,0,0,0,0,0,0,15.02,15.02,15.02
$GC,12186,1.10,177.4,3241,1605,1367,1299,534.5,17.0,1251,12191,0.00,2.38,0.00,0.000,2564,0.000,0.086,3240,305,1333,1367,1299,0,0,0,0,0,0,15.02,14.54,15.03
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$STATE,15864,end climb,SURFACE_DEPTH_REACHED
$STATE,15864,begin surface coast
$FINISH,0.2,1.021046
$STATE,15890,end surface coast,CONTROL_FINISHED_OK
$STATE,15890,begin surface
$SM_CCo,15916,151.80,0.155,0,0,599,358.38
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$IRIDIUM_FIX,-5339.63,-3.66,281219,152244
$TT8_MAMPS,0.040446,0.375998
$HUMID,53.46
$INTERNAL_PRESSURE,9.16584
$TCM_TEMP,13.30
$XPDR_PINGS,0
$SC_FREEKB,3598048
$24V_AH,12.74,159.506
$10V_AH,12.44,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,35.625,98.500,216.725,151.800,0.000,25.362,22.858,453.872,0.000,0.000,15.144,0.000,11725.230,570.709,4166.090,392.593,0.000,1901.502,0.000,2814.007,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,46.735,0.000,0.000,0.000
$MEM,340100
$DATA_FILE_SIZE,56536,1663
$CAP_FILE_SIZE,257668,0
$CFSIZE,2097086464,2014347264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,291219,005907,-5404.278,-6.045,38,0.9,44,-20.4,0.4,320.5,10,10.0