version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 390
start: 12 31 119 20 47 33
data:
$ID,574
$MISSION,7
$DIVE,390
$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,338
$T_MISSION,348
$T_ABORT,363
$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,20
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,1919
$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
$GPS1,311219,202953,-5400.8257,-0.1633,40,0.8,44,-20.4,0.0,160.0,10,9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-73.8
$GPS2,311219,204720,-5400.8115,0.0787,6,0.9,14,-20.5,0.5,203.0,9,9.9
$SPEED_LIMITS,0.170,0.180
$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,166.7,11562,-26.3,-9.813,-28.60,1073
$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,-0.88,-4.9,92,2072,986,1039,0.0,0.0,0,82,0.00,0.00,-59.75,0.000,16390,0.000,0.000,89,2072,1939,1917,1961,0,0,0,0,0,0,14.69,12.88,14.65
$GC,84,-0.88,-4.9,89,2072,1922,1961,2.2,-3.2,11,108,16.80,2.60,0.00,0.000,2820,0.372,0.064,2621,633,1945,1933,1957,0,0,0,0,0,0,14.04,14.40,14.37
$GC,462,-0.88,-4.9,2616,634,1943,1947,58.5,-14.2,79,469,0.00,2.47,0.00,0.000,3078,0.000,0.045,2616,2033,1944,1942,1946,0,0,0,0,0,0,14.45,14.32,14.47
$GC,768,-0.88,-4.9,2617,2033,1942,1945,97.2,-12.4,110,772,0.00,2.58,0.00,0.000,2308,0.000,0.071,2616,3458,1946,1949,1943,0,0,0,0,0,0,14.81,14.30,14.81
$GC,1052,-0.88,-4.9,2617,3459,1943,1942,129.1,-11.0,138,1059,0.00,2.53,0.00,0.000,3078,0.000,0.050,2616,2041,1942,1942,1942,0,0,0,0,0,0,14.45,14.31,14.47
$GC,1358,-0.88,-4.9,2617,2042,1942,1942,164.0,-11.1,169,1362,0.00,2.58,0.00,0.000,2308,0.000,0.067,2616,3454,1941,1941,1941,0,0,0,0,0,0,14.79,14.26,14.79
$GC,1459,-0.88,-4.9,2617,3454,1943,1941,175.2,-11.0,179,1464,0.00,2.50,0.00,0.000,3078,0.000,0.049,2616,2048,1940,1941,1940,0,0,0,0,0,0,14.59,14.44,14.62
$GC,1769,-0.88,-4.9,2617,2049,1943,1941,211.2,-11.8,210,1770,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2049,1940,1941,1940,0,0,0,0,0,0,14.78,14.78,14.78
$GC,2069,-0.88,-4.9,2617,2049,1942,1940,245.5,-11.3,240,2073,0.00,2.58,0.00,0.000,2308,0.000,0.067,2616,3455,1941,1942,1940,0,0,0,0,0,0,14.78,14.35,14.79
$GC,2273,-0.88,-4.9,2617,3455,1942,1941,267.9,-10.7,260,2280,0.00,2.50,0.00,0.000,3078,0.000,0.047,2616,2049,1940,1941,1939,0,0,0,0,0,0,14.49,14.35,14.51
$GC,2579,-0.88,-4.9,2617,2048,1942,1940,299.7,-9.7,291,2583,0.00,2.58,0.00,0.000,2564,0.000,0.073,2616,640,1940,1942,1939,0,0,0,0,0,0,14.79,14.38,14.80
$GC,2623,-0.88,-4.9,2616,641,1943,1939,303.8,-10.5,295,2630,0.00,2.50,0.00,0.000,3078,0.000,0.041,2616,2059,1940,1941,1939,0,0,0,0,0,0,14.50,14.37,14.52
$GC,2929,-0.88,-4.9,2616,2059,1942,1940,332.5,-8.9,326,2930,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2059,1940,1941,1939,0,0,0,0,0,0,14.78,14.78,14.78
$GC,3229,-0.88,-4.9,2616,2060,1943,1939,358.2,-7.9,356,3230,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2059,1940,1941,1939,0,0,0,0,0,0,14.80,14.80,14.80
$GC,3529,-0.88,-4.9,2617,2059,1942,1940,380.9,-7.4,386,3533,0.00,2.53,0.00,0.000,2308,0.000,0.069,2616,3454,1940,1942,1939,0,0,0,0,0,0,14.78,14.37,14.78
$GC,3610,-0.88,-4.9,2616,3453,1942,1939,387.0,-7.5,394,3615,0.00,2.50,0.00,0.000,3078,0.000,0.045,2616,2044,1937,1942,1933,0,0,0,0,0,0,14.45,14.33,14.47
$GC,3920,-0.88,-4.9,2617,2042,1942,1938,410.1,-7.8,425,3921,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2043,1939,1941,1938,0,0,0,0,0,0,14.71,14.71,14.71
$GC,4220,-0.88,-4.9,2617,2043,1942,1939,431.8,-7.0,455,4221,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2043,1940,1942,1938,0,0,0,0,0,0,14.71,14.71,14.72
$GC,4520,-0.88,-4.9,2617,2043,1942,1939,452.9,-6.9,485,4521,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2043,1942,1942,1943,0,0,0,0,0,0,14.73,14.73,14.73
$GC,4820,-0.88,-4.9,2617,2041,1943,1938,474.2,-7.0,515,4821,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2043,1940,1942,1938,0,0,0,0,0,0,14.72,14.72,14.72
$GC,5120,-0.88,-4.9,2617,2043,1942,1939,495.0,-7.0,545,5121,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2043,1940,1942,1938,0,0,0,0,0,0,14.72,14.72,14.72
$GC,5420,-0.88,-4.9,2617,2043,1942,1937,515.1,-6.5,575,5422,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2043,1939,1941,1938,0,0,0,0,0,0,14.72,14.72,14.72
$GC,5720,-0.88,-4.9,2616,2044,1943,1938,535.2,-6.9,605,5721,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2043,1939,1941,1938,0,0,0,0,0,0,14.72,14.72,14.72
$GC,6020,-0.88,-4.9,2616,2044,1943,1938,556.5,-7.1,635,6021,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2043,1940,1942,1938,0,0,0,0,0,0,14.72,14.72,14.72
$GC,6320,-0.88,-4.9,2617,2043,1942,1939,578.3,-7.2,665,6324,0.00,2.55,0.00,0.000,2308,0.000,0.060,2616,3452,1940,1942,1938,0,0,0,0,0,0,14.71,14.33,14.72
$GC,6421,-0.88,-4.9,2616,3452,1942,1939,585.8,-7.6,675,6426,0.00,2.47,0.00,0.000,3078,0.000,0.046,2616,2049,1939,1941,1938,0,0,0,0,0,0,14.50,14.37,14.52
$GC,6731,-0.88,-4.9,2616,2050,1943,1938,609.9,-7.8,706,6735,0.00,2.55,0.00,0.000,2308,0.000,0.062,2615,3457,1940,1942,1938,0,0,0,0,0,0,14.71,14.32,14.71
$GC,6812,-0.88,-4.9,2616,3457,1942,1939,616.3,-8.1,714,6817,0.00,2.50,0.00,0.000,3078,0.000,0.046,2616,2049,1940,1942,1938,0,0,0,0,0,0,14.50,14.36,14.52
$GC,7122,-0.88,-4.9,2616,2049,1942,1939,640.7,-7.7,745,7124,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2049,1940,1942,1938,0,0,0,0,0,0,14.71,14.71,14.71
$GC,7422,-0.88,-4.9,2615,2050,1943,1938,664.3,-7.9,775,7427,0.00,2.55,0.00,0.000,2308,0.000,0.061,2615,3458,1940,1942,1938,0,0,0,0,0,0,14.71,14.32,14.71
$GC,7497,-0.88,-4.9,2615,3459,1943,1938,669.9,-8.1,782,7503,0.00,2.50,0.00,0.000,3078,0.000,0.045,2615,2053,1940,1942,1938,0,0,0,0,0,0,14.50,14.36,14.54
$GC,7802,-0.88,-4.9,2615,2046,1943,1938,694.4,-7.8,813,7804,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,2046,1940,1942,1938,0,0,0,0,0,0,14.71,14.71,14.71
$GC,8102,-0.88,-4.9,2615,2047,1941,1938,717.3,-7.5,843,8107,0.00,2.55,0.00,0.000,2308,0.000,0.060,2615,3455,1940,1942,1938,0,0,0,0,0,0,14.72,14.32,14.71
$GC,8198,-0.88,-4.9,2615,3455,1942,1939,724.2,-7.7,852,8204,0.00,2.50,0.00,0.000,3078,0.000,0.045,2614,2043,1940,1942,1938,0,0,0,0,0,0,14.50,14.36,14.52
$GC,8502,-0.88,-4.9,2615,2044,1943,1938,746.6,-7.1,883,8504,0.00,0.00,0.00,0.000,2054,0.000,0.000,2615,2043,1940,1942,1938,0,0,0,0,0,0,14.71,14.71,14.71
$GC,8802,-0.88,-4.9,2613,2044,1943,1939,767.2,-6.8,913,8804,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,2043,1940,1942,1938,0,0,0,0,0,0,14.71,14.71,14.71
$GC,9102,-0.88,-4.9,2614,2044,1944,1938,786.6,-6.3,943,9104,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,2043,1940,1942,1938,0,0,0,0,0,0,14.71,14.71,14.71
$GC,9402,-0.88,-4.9,2614,2043,1942,1939,805.1,-6.1,973,9404,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,2043,1940,1942,1938,0,0,0,0,0,0,14.71,14.71,14.71
$GC,9702,-0.88,-4.9,2615,2044,1943,1938,823.2,-5.8,1003,9707,0.00,2.55,0.00,0.000,2308,0.000,0.060,2614,3458,1939,1942,1937,0,0,0,0,0,0,14.71,14.33,14.71
$GC,9822,-0.88,-4.9,2614,3459,1943,1937,830.5,-6.0,1015,9827,0.00,2.50,0.00,0.000,3078,0.000,0.045,2614,2045,1940,1942,1938,0,0,0,0,0,0,14.49,14.35,14.50
$GC,10134,-0.88,-4.9,2613,2045,1942,1939,848.0,-5.5,1046,10135,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,2044,1939,1942,1937,0,0,0,0,0,0,14.69,14.69,14.69
$GC,10432,-0.88,-4.9,2615,2045,1943,1939,864.8,-5.6,1076,10434,0.00,0.00,0.00,0.000,2054,0.000,0.000,2614,2045,1940,1942,1938,0,0,0,0,0,0,14.71,14.71,14.71
$STATE,10450,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10450,begin apogee
$GC,10455,-0.17,0.0,2613,1600,1947,1939,865.9,-5.6,1078,10466,1.38,0.00,7.93,1.666,10246,0.244,0.000,2845,1600,1919,1927,1911,0,0,0,0,0,0,14.00,14.52,13.46
$STATE,10468,end apogee,CONTROL_FINISHED_OK
$STATE,10468,begin climb
$GC,10470,0.88,4.9,2846,1601,1928,1910,866.3,0.0,1079,10483,1.70,0.00,7.65,1.602,10246,0.137,0.000,3175,1600,1898,1906,1890,0,0,0,0,0,0,14.45,14.26,13.51
$GC,10780,1.05,138.7,3176,1600,1906,1891,870.4,-3.0,1110,10930,0.22,2.62,143.10,1.976,11012,0.148,0.047,3227,3005,1353,1384,1322,0,0,0,0,0,0,14.34,13.66,12.96
$GC,11175,1.05,138.7,3227,3005,1381,1320,822.8,16.3,1149,11182,0.00,2.55,0.00,0.000,3078,0.000,0.063,3226,1609,1350,1380,1320,0,0,0,0,0,0,14.38,14.23,14.40
$GC,11480,1.05,138.7,3227,1608,1381,1320,772.0,16.7,1180,11485,0.00,2.40,0.00,0.000,2564,0.000,0.086,3227,302,1349,1380,1319,0,0,0,0,0,0,14.88,14.45,14.88
$GC,11540,1.05,138.7,3227,300,1381,1320,761.6,17.4,1186,11545,0.00,2.22,0.00,0.000,3078,0.000,0.031,3227,1614,1349,1380,1318,0,0,0,0,0,0,14.71,14.62,14.72
$GC,11852,1.05,138.7,3228,1621,1381,1319,710.4,16.4,1217,11857,0.00,2.42,0.00,0.000,2564,0.000,0.084,3227,301,1349,1380,1318,0,0,0,0,0,0,14.94,14.50,14.94
$GC,11933,1.05,138.7,3227,303,1380,1318,696.5,17.1,1225,11938,0.00,2.20,0.00,0.000,3078,0.000,0.031,3227,1606,1349,1380,1318,0,0,0,0,0,0,14.76,14.69,14.78
$GC,12244,1.05,138.7,3227,1614,1381,1317,646.5,16.0,1256,12246,0.00,0.00,0.00,0.000,2054,0.000,0.000,3227,1614,1348,1380,1317,0,0,0,0,0,0,14.97,14.97,14.97
$GC,12543,1.05,138.7,3227,1614,1381,1317,599.3,15.5,1286,12547,0.00,2.40,0.00,0.000,2564,0.000,0.086,3227,305,1348,1380,1317,0,0,0,0,0,0,15.02,14.51,15.02
$GC,12624,1.05,138.7,3227,305,1380,1317,586.3,16.4,1294,12629,0.00,2.20,0.00,0.000,3078,0.000,0.033,3227,1601,1349,1381,1317,0,0,0,0,0,0,14.78,14.69,14.82
$GC,12935,1.05,138.7,3227,1607,1380,1317,539.5,14.8,1325,12937,0.00,0.00,0.00,0.000,2054,0.000,0.000,3227,1608,1348,1380,1316,0,0,0,0,0,0,15.00,15.00,15.00
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$STATE,16904,end climb,SURFACE_DEPTH_REACHED
$STATE,16904,begin surface coast
$FINISH,0.0,1.021029
$STATE,16929,end surface coast,CONTROL_FINISHED_OK
$STATE,16931,begin surface
$SM_CCo,16955,75.18,0.159,0,0,1021,220.03
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$IRIDIUM_FIX,-5339.63,0.00,311219,203503
$TT8_MAMPS,0.041944,0.646387
$HUMID,55.04
$INTERNAL_PRESSURE,9.20491
$TCM_TEMP,13.10
$XPDR_PINGS,0
$SC_FREEKB,3589408
$24V_AH,12.88,166.007
$10V_AH,12.43,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,35.650,99.525,158.675,75.175,0.000,48.624,64.298,539.060,0.000,0.000,16.865,0.000,12615.032,431.136,4568.586,436.793,0.000,1824.397,0.000,3000.169,0.000,0.538,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,48.005,0.000,0.000,0.000
$MEM,339996
$DATA_FILE_SIZE,59934,1771
$CAP_FILE_SIZE,274187,0
$CFSIZE,2097086464,2011201536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010120,013236,-5402.080,1.042,41,1.0,46,-20.5,1.4,77.7,8,9.9