version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 381
start: 12 30 119 1 8 11
data:
$ID,574
$MISSION,7
$DIVE,381
$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,220
$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,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
$GPS1,301219,004952,-5358.9858,-4.0247,70,1.0,101,-20.4,0.0,83.1,8,7.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.2
$GPS2,301219,010758,-5358.8535,-3.9314,7,0.9,22,-20.4,0.5,320.5,8,9.3
$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,6.3,9268,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.89,-4.9,92,2072,1164,1149,0.0,0.0,0,77,0.00,0.00,-55.55,0.000,16390,0.000,0.000,91,2072,2081,2052,2110,0,0,0,0,0,0,14.70,12.91,14.65
$GC,80,-0.89,-4.9,93,2071,2056,2113,3.3,-5.7,10,103,16.58,2.60,0.00,0.000,2564,0.363,0.067,2616,635,2087,2063,2112,0,0,0,0,0,0,14.04,14.32,14.36
$GC,173,-0.89,-4.9,2615,636,2074,2109,23.4,-16.1,28,179,0.00,2.50,0.00,0.000,3078,0.000,0.044,2616,2044,2089,2072,2107,0,0,0,0,0,0,14.50,14.36,14.52
$GC,241,-0.89,-4.9,2616,2045,2073,2107,34.0,-17.0,41,247,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,2045,2089,2073,2105,0,0,0,0,0,0,14.73,14.74,14.73
$GC,306,-0.89,-4.9,2615,2045,2074,2105,44.4,-16.7,54,312,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,2044,2089,2073,2105,0,0,0,0,0,0,14.73,14.73,14.73
$GC,372,-0.89,-4.9,2615,2045,2075,2104,55.1,-16.2,64,376,0.00,2.53,0.00,0.000,2308,0.000,0.070,2616,3454,2088,2073,2104,0,0,0,0,0,0,14.76,14.32,14.76
$GC,442,-0.89,-4.9,2616,3453,2074,2103,66.7,-16.9,71,447,0.00,2.50,0.00,0.000,3078,0.000,0.048,2616,2039,2087,2072,2102,0,0,0,0,0,0,14.47,14.37,14.48
$GC,752,-0.89,-4.9,2616,2040,2073,2101,114.7,-14.6,102,756,0.00,2.55,0.00,0.000,2308,0.000,0.066,2616,3455,2087,2073,2101,0,0,0,0,0,0,14.80,14.33,14.80
$GC,848,-0.89,-4.9,2616,3454,2073,2102,127.3,-13.9,111,854,0.00,2.50,0.00,0.000,3078,0.000,0.050,2615,2046,2087,2073,2101,0,0,0,0,0,0,14.44,14.32,14.45
$GC,1152,-0.89,-4.9,2616,2045,2074,2102,172.1,-15.0,142,1156,0.00,2.55,0.00,0.000,2308,0.000,0.067,2615,3454,2087,2073,2101,0,0,0,0,0,0,14.78,14.32,14.78
$GC,1287,-0.89,-4.9,2616,3455,2074,2099,190.6,-13.7,155,1293,0.00,2.50,0.00,0.000,3078,0.000,0.048,2615,2044,2086,2073,2100,0,0,0,0,0,0,14.50,14.39,14.51
$GC,1592,-0.89,-4.9,2615,2046,2074,2099,231.9,-13.1,186,1596,0.00,2.55,0.00,0.000,2308,0.000,0.066,2615,3455,2086,2073,2099,0,0,0,0,0,0,14.77,14.30,14.78
$GC,1757,-0.89,-4.9,2615,3456,2074,2098,252.1,-12.7,202,1763,0.00,2.50,0.00,0.000,3078,0.000,0.048,2615,2051,2084,2072,2097,0,0,0,0,0,0,14.49,14.33,14.51
$GC,2062,-0.89,-4.9,2616,2052,2073,2099,292.2,-13.0,233,2066,0.00,2.53,0.00,0.000,2308,0.000,0.064,2615,3455,2085,2073,2098,0,0,0,0,0,0,14.77,14.28,14.77
$GC,2298,-0.89,-4.9,2615,3455,2074,2099,320.7,-12.1,256,2304,0.00,2.50,0.00,0.000,3078,0.000,0.047,2614,2049,2085,2073,2098,0,0,0,0,0,0,14.38,14.26,14.40
$GC,2602,-0.89,-4.9,2614,2049,2074,2099,357.0,-11.5,287,2607,0.00,2.55,0.00,0.000,2308,0.000,0.063,2614,3459,2085,2073,2098,0,0,0,0,0,0,14.78,14.22,14.78
$GC,2732,-0.89,-4.9,2614,3460,2074,2097,371.9,-11.4,300,2736,0.00,2.50,0.00,0.000,3078,0.000,0.047,2614,2048,2085,2073,2097,0,0,0,0,0,0,14.59,14.45,14.59
$GC,3042,-0.89,-4.9,2614,2049,2074,2098,406.5,-10.6,331,3046,0.00,2.55,0.00,0.000,2308,0.000,0.064,2613,3455,2085,2073,2098,0,0,0,0,0,0,14.71,14.33,14.72
$GC,3107,-0.89,-4.9,2613,3455,2072,2098,413.0,-10.9,337,3113,0.00,2.50,0.00,0.000,3078,0.000,0.047,2613,2049,2085,2073,2097,0,0,0,0,0,0,14.52,14.38,14.54
$GC,3412,-0.89,-4.9,2614,2049,2074,2098,444.8,-10.2,368,3416,0.00,2.55,0.00,0.000,2308,0.000,0.062,2613,3463,2085,2073,2097,0,0,0,0,0,0,14.72,14.35,14.72
$GC,3532,-0.89,-4.9,2614,3464,2075,2098,456.6,-9.6,380,3537,0.00,2.50,0.00,0.000,3078,0.000,0.047,2613,2050,2085,2073,2097,0,0,0,0,0,0,14.52,14.38,14.54
$GC,3842,-0.89,-4.9,2614,2050,2074,2098,486.9,-10.0,411,3843,0.00,0.00,0.00,0.000,2054,0.000,0.000,2613,2050,2085,2073,2097,0,0,0,0,0,0,14.72,14.73,14.73
$GC,4142,-0.89,-4.9,2613,2050,2075,2099,518.5,-10.9,441,4146,0.00,2.53,0.00,0.000,2308,0.000,0.061,2613,3456,2084,2072,2097,0,0,0,0,0,0,14.76,14.34,14.76
$GC,4207,-0.89,-4.9,2613,3456,2075,2098,525.1,-11.2,447,4213,0.00,2.50,0.00,0.000,3078,0.000,0.047,2613,2047,2085,2073,2097,0,0,0,0,0,0,14.52,14.38,14.54
$GC,4512,-0.89,-4.9,2613,2048,2075,2097,560.4,-11.7,478,4513,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,2047,2085,2074,2097,0,0,0,0,0,0,14.73,14.73,14.73
$GC,4812,-0.89,-4.9,2612,2048,2076,2097,594.9,-11.2,508,4816,0.00,2.55,0.00,0.000,2308,0.000,0.062,2612,3460,2086,2075,2097,0,0,0,0,0,0,14.74,14.34,14.74
$GC,4913,-0.89,-4.9,2613,3461,2075,2098,605.9,-10.9,518,4918,0.00,2.50,0.00,0.000,3078,0.000,0.047,2612,2049,2085,2074,2097,0,0,0,0,0,0,14.52,14.38,14.53
$GC,5223,-0.89,-4.9,2612,2049,2076,2096,638.5,-10.3,549,5224,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,2049,2083,2071,2096,0,0,0,0,0,0,14.72,14.73,14.73
$GC,5523,-0.89,-4.9,2612,2049,2075,2097,668.2,-9.7,579,5527,0.00,2.55,0.00,0.000,2308,0.000,0.062,2611,3463,2085,2075,2096,0,0,0,0,0,0,14.73,14.33,14.73
$GC,5633,-0.89,-4.9,2612,3463,2076,2096,678.5,-9.4,590,5638,0.00,2.53,0.00,0.000,3078,0.000,0.047,2612,2044,2085,2075,2096,0,0,0,0,0,0,14.51,14.37,14.53
$GC,5943,-0.89,-4.9,2612,2044,2076,2098,707.7,-9.2,621,5944,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,2044,2086,2076,2096,0,0,0,0,0,0,14.72,14.73,14.73
$GC,6243,-0.89,-4.9,2612,2045,2077,2096,734.6,-9.0,651,6248,0.00,2.55,0.00,0.000,2308,0.000,0.062,2611,3459,2085,2075,2096,0,0,0,0,0,0,14.70,14.33,14.72
$GC,6334,-0.89,-4.9,2612,3460,2076,2096,742.8,-9.3,660,6339,0.00,2.50,0.00,0.000,3078,0.000,0.047,2611,2051,2086,2076,2096,0,0,0,0,0,0,14.50,14.37,14.52
$GC,6644,-0.89,-4.9,2612,2052,2076,2097,772.4,-9.6,691,6646,0.00,0.00,0.00,0.000,2054,0.000,0.000,2611,2051,2086,2076,2096,0,0,0,0,0,0,14.71,14.72,14.72
$GC,6944,-0.89,-4.9,2611,2052,2077,2095,801.5,-9.9,721,6949,0.00,2.53,0.00,0.000,2308,0.000,0.062,2610,3456,2086,2076,2096,0,0,0,0,0,0,14.72,14.33,14.72
$GC,7019,-0.89,-4.9,2611,3456,2076,2097,808.4,-9.9,728,7025,0.00,2.53,0.00,0.000,3078,0.000,0.047,2611,2040,2085,2075,2096,0,0,0,0,0,0,14.50,14.37,14.52
$GC,7324,-0.89,-4.9,2612,2040,2077,2097,838.5,-9.4,759,7329,0.00,2.55,0.00,0.000,2308,0.000,0.061,2610,3456,2086,2076,2096,0,0,0,0,0,0,14.72,14.33,14.71
$GC,7379,-0.89,-4.9,2611,3457,2077,2096,843.2,-9.5,764,7385,0.00,2.50,0.00,0.000,3078,0.000,0.047,2610,2050,2086,2076,2096,0,0,0,0,0,0,14.51,14.38,14.53
$GC,7684,-0.89,-4.9,2611,2050,2077,2098,872.6,-9.6,795,7686,0.00,0.00,0.00,0.000,2054,0.000,0.000,2608,2050,2086,2076,2096,0,0,0,0,0,0,14.71,14.72,14.72
$GC,7984,-0.89,-4.9,2611,2050,2076,2097,900.2,-9.3,825,7986,0.00,0.00,0.00,0.000,2054,0.000,0.000,2610,2050,2085,2076,2095,0,0,0,0,0,0,14.71,14.72,14.72
$GC,8284,-0.89,-4.9,2611,2050,2078,2097,928.2,-9.4,855,8289,0.00,2.55,0.00,0.000,2308,0.000,0.061,2609,3463,2086,2076,2096,0,0,0,0,0,0,14.71,14.31,14.72
$GC,8344,-0.89,-4.9,2610,3463,2077,2097,934.0,-9.6,861,8349,0.03,2.50,0.00,0.000,3078,0.470,0.047,2616,2050,2085,2076,2095,0,0,0,0,0,0,14.16,14.37,14.35
$GC,8656,-0.89,-4.9,2616,2054,2076,2096,962.2,-9.1,892,8657,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2050,2085,2076,2094,0,0,0,0,0,0,14.71,14.71,14.71
$GC,8954,-0.89,-4.9,2616,2050,2077,2097,990.0,-9.6,922,8956,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2050,2086,2076,2096,0,0,0,0,0,0,14.73,14.73,14.73
$STATE,9012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9012,begin apogee
$GC,9017,-0.17,0.0,2617,1598,2078,2095,995.7,-9.5,928,9034,1.35,0.00,9.05,1.874,10246,0.234,0.000,2846,1598,2060,2059,2061,0,0,0,0,0,0,14.00,14.52,13.41
$STATE,9036,end apogee,CONTROL_FINISHED_OK
$STATE,9036,begin climb
$GC,9038,0.89,4.9,2847,1599,2060,2061,997.7,0.0,930,9054,1.70,2.38,7.07,1.707,10756,0.144,0.081,3175,307,2040,2040,2041,0,0,0,0,0,0,14.42,14.27,13.41
$GC,9154,1.11,185.5,3176,307,2041,2042,1001.1,-7.2,941,9356,0.35,2.25,190.75,2.146,11270,0.146,0.031,3246,1629,1304,1337,1272,0,0,0,0,0,0,14.31,14.47,12.66
$GC,9655,1.11,185.5,3246,1629,1335,1271,939.2,18.4,991,9659,0.00,2.40,0.00,0.000,2308,0.000,0.051,3246,2989,1300,1334,1267,0,0,0,0,0,0,14.67,14.38,14.67
$GC,9809,1.11,185.5,3246,2991,1335,1269,912.5,18.2,1006,9816,0.00,2.50,0.00,0.000,3078,0.000,0.065,3241,1608,1301,1334,1268,0,0,0,0,0,0,14.62,14.45,14.63
$GC,10115,1.11,185.5,3247,1609,1335,1267,855.2,18.3,1037,10119,0.00,2.38,0.00,0.000,2564,0.000,0.090,3247,306,1300,1333,1268,0,0,0,0,0,0,14.92,14.49,14.93
$GC,10179,1.11,185.5,3247,306,1334,1269,843.7,19.2,1043,10186,0.00,2.20,0.00,0.000,3078,0.000,0.033,3247,1601,1300,1333,1268,0,0,0,0,0,0,14.65,14.56,14.66
$GC,10484,1.11,185.5,3248,1608,1334,1269,788.0,18.1,1074,10489,0.00,2.38,0.00,0.000,2564,0.000,0.086,3247,305,1300,1333,1267,0,0,0,0,0,0,14.97,14.53,14.97
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$STATE,15438,end climb,SURFACE_DEPTH_REACHED
$STATE,15438,begin surface coast
$FINISH,-0.1,1.021039
$STATE,15458,end surface coast,CONTROL_FINISHED_OK
$STATE,15458,begin surface
$SM_CCo,15485,29.40,0.161,0,0,1163,220.03
$SM_GC,0.61,15.45,3.03,29.40,0.063,0.034,0.161,114,2052,1163,-8.68,-1.41,220.03,0,0,0,0,0,0,14.52,14.55,14.32
$IRIDIUM_FIX,-5336.00,0.00,301219,005433
$TT8_MAMPS,0.041944,0.595455
$HUMID,55.71
$INTERNAL_PRESSURE,9.2342
$TCM_TEMP,13.30
$XPDR_PINGS,0
$SC_FREEKB,3594592
$24V_AH,12.66,162.174
$10V_AH,12.54,0.000
$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,35.450,157.025,206.875,29.400,0.000,78.971,63.165,493.990,0.000,0.000,23.332,0.000,11324.982,473.271,4364.418,412.898,0.000,1839.208,0.000,2871.084,0.000,0.539,0.000
$DEVICE_MAMPS,469.710,89.505,2145.825,161.415,0.000,32.890,160.000,223.000,420.000,0.000,10.490,0.000,2.190,12.070,33.040,41.280,0.000,11.900,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15564.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,46.738,0.000,0.000,0.000
$MEM,340020
$DATA_FILE_SIZE,56666,1609
$CAP_FILE_SIZE,264053,0
$CFSIZE,2097086464,2013069312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,13454.55,0x2131d2,1,24
$GPS,301219,052801,-5357.006,-4.174,39,0.8,51,-20.4,0.4,94.5,10,9.0