version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 394
start: 1 1 120 15 42 30
data:
$ID,574
$MISSION,7
$DIVE,394
$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,29
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2030
$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
$GPS1,010120,152838,-5406.2583,5.0029,39,0.8,46,-20.5,0.5,329.0,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-73.4
$GPS2,010120,154218,-5406.2368,4.9781,7,0.8,21,-20.5,0.0,220.5,9,8.8
$SPEED_LIMITS,0.170,0.180
$TGT_NAME,WPNE
$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,23.3,22690,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.88,-4.9,94,2066,1159,1155,0.0,0.0,0,81,0.00,0.00,-57.38,0.000,16390,0.000,0.000,92,2066,2052,2026,2079,0,0,0,0,0,0,14.71,12.88,14.68
$GC,84,-0.88,-4.9,92,2066,2027,2081,3.0,-7.2,11,107,16.73,2.58,0.00,0.000,2564,0.369,0.060,2616,634,2055,2032,2078,0,0,0,0,0,0,14.02,14.42,14.33
$GC,252,-0.88,-4.9,2616,634,2048,2072,36.8,-16.0,44,258,0.00,2.47,0.00,0.000,3078,0.000,0.044,2615,2036,2059,2047,2071,0,0,0,0,0,0,14.44,14.30,14.45
$GC,320,-0.88,-4.9,2616,2037,2049,2069,46.5,-14.1,57,325,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2036,2058,2047,2069,0,0,0,0,0,0,14.74,14.74,14.75
$GC,385,-0.88,-4.9,2616,2036,2048,2070,55.6,-14.0,66,390,0.00,2.58,0.00,0.000,2308,0.000,0.069,2615,3462,2059,2050,2069,0,0,0,0,0,0,14.76,14.40,14.76
$GC,470,-0.88,-4.9,2616,3462,2048,2068,66.6,-13.7,74,476,0.00,2.50,0.00,0.000,3078,0.000,0.048,2616,2053,2057,2047,2067,0,0,0,0,0,0,14.52,14.38,14.54
$GC,775,-0.88,-4.9,2616,2053,2048,2068,106.5,-12.8,105,780,0.00,2.55,0.00,0.000,2308,0.000,0.063,2615,3460,2056,2047,2066,0,0,0,0,0,0,14.81,14.40,14.81
$GC,835,-0.88,-4.9,2615,3461,2047,2065,114.0,-12.5,111,840,0.00,2.50,0.00,0.000,3078,0.000,0.047,2615,2048,2056,2047,2065,0,0,0,0,0,0,14.62,14.47,14.64
$GC,1145,-0.88,-4.9,2616,2048,2048,2066,156.5,-13.9,142,1150,0.00,2.55,0.00,0.000,2308,0.000,0.063,2614,3462,2056,2047,2065,0,0,0,0,0,0,14.78,14.37,14.78
$GC,1405,-0.88,-4.9,2614,3463,2049,2064,191.6,-13.4,168,1410,0.00,2.50,0.00,0.000,3078,0.000,0.047,2615,2051,2055,2047,2064,0,0,0,0,0,0,14.59,14.45,14.61
$GC,1715,-0.88,-4.9,2615,2051,2048,2065,232.5,-12.8,199,1720,0.00,2.55,0.00,0.000,2308,0.000,0.063,2615,3455,2054,2046,2062,0,0,0,0,0,0,14.77,14.38,14.77
$GC,1817,-0.88,-4.9,2615,3455,2047,2064,245.1,-12.4,209,1821,0.00,2.50,0.00,0.000,3078,0.000,0.047,2614,2047,2055,2047,2063,0,0,0,0,0,0,14.50,14.34,14.51
$GC,2126,-0.88,-4.9,2614,2048,2047,2063,283.7,-12.0,240,2131,0.00,2.55,0.00,0.000,2308,0.000,0.061,2614,3455,2054,2046,2063,0,0,0,0,0,0,14.76,14.32,14.76
$GC,2246,-0.88,-4.9,2614,3455,2048,2064,298.1,-11.9,252,2251,0.00,2.50,0.00,0.000,3078,0.000,0.046,2614,2048,2054,2046,2062,0,0,0,0,0,0,14.45,14.31,14.47
$GC,2556,-0.88,-4.9,2614,2048,2048,2064,334.0,-11.5,283,2561,0.00,2.55,0.00,0.000,2308,0.000,0.060,2613,3458,2055,2047,2063,0,0,0,0,0,0,14.76,14.32,14.76
$GC,2641,-0.88,-4.9,2613,3459,2048,2063,343.3,-11.5,291,2647,0.00,2.50,0.00,0.000,3078,0.000,0.046,2612,2046,2054,2047,2062,0,0,0,0,0,0,14.57,14.43,14.59
$GC,2946,-0.88,-4.9,2613,2047,2048,2063,377.8,-10.9,322,2951,0.00,2.55,0.00,0.000,2308,0.000,0.060,2612,3459,2055,2047,2063,0,0,0,0,0,0,14.76,14.31,14.79
$GC,3006,-0.88,-4.9,2613,3460,2048,2062,384.2,-10.7,328,3011,0.00,2.53,0.00,0.000,3078,0.000,0.045,2613,2046,2054,2047,2062,0,0,0,0,0,0,14.45,14.31,14.48
$GC,3316,-0.88,-4.9,2613,2046,2048,2064,416.7,-10.4,359,3321,0.00,2.55,0.00,0.000,2308,0.000,0.060,2612,3456,2058,2055,2062,0,0,0,0,0,0,14.71,14.33,14.71
$GC,3381,-0.88,-4.9,2612,3457,2048,2062,423.1,-10.7,365,3387,0.00,2.50,0.00,0.000,3078,0.000,0.046,2612,2050,2054,2047,2062,0,0,0,0,0,0,14.50,14.37,14.52
$GC,3686,-0.88,-4.9,2613,2049,2048,2064,455.7,-10.6,396,3688,0.00,0.00,0.00,0.000,2054,0.000,0.000,2612,2050,2054,2047,2062,0,0,0,0,0,0,14.71,14.72,14.71
$GC,3986,-0.88,-4.9,2613,2050,2049,2064,487.1,-10.7,426,3991,0.00,2.53,0.00,0.000,2308,0.000,0.060,2611,3454,2055,2048,2062,0,0,0,0,0,0,14.71,14.33,14.72
$GC,4066,-0.88,-4.9,2612,3454,2048,2063,495.7,-10.6,434,4071,0.00,2.50,0.00,0.000,3078,0.000,0.046,2611,2047,2054,2047,2062,0,0,0,0,0,0,14.51,14.37,14.52
$GC,4376,-0.88,-4.9,2612,2048,2049,2062,527.8,-10.5,465,4378,0.00,0.00,0.00,0.000,2054,0.000,0.000,2611,2047,2054,2047,2062,0,0,0,0,0,0,14.71,14.72,14.72
$GC,4676,-0.88,-4.9,2612,2047,2049,2062,558.5,-10.5,495,4681,0.00,2.55,0.00,0.000,2308,0.000,0.060,2610,3456,2054,2048,2061,0,0,0,0,0,0,14.71,14.35,14.72
$GC,4756,-0.88,-4.9,2611,3457,2049,2062,566.9,-10.5,503,4761,0.05,2.50,0.00,0.000,3078,0.339,0.044,2618,2047,2055,2048,2062,0,0,0,0,0,0,14.14,14.37,14.35
$GC,5066,-0.88,-4.9,2619,2047,2049,2063,598.7,-10.3,534,5071,0.00,2.55,0.00,0.000,2308,0.000,0.060,2618,3454,2055,2048,2062,0,0,0,0,0,0,14.71,14.33,14.72
$GC,5141,-0.88,-4.9,2618,3455,2046,2063,606.0,-10.5,541,5147,0.00,2.50,0.00,0.000,3078,0.000,0.045,2617,2049,2055,2049,2062,0,0,0,0,0,0,14.52,14.36,14.52
$GC,5446,-0.88,-4.9,2618,2050,2050,2062,639.2,-10.8,572,5451,0.00,2.55,0.00,0.000,2308,0.000,0.060,2618,3463,2055,2049,2062,0,0,0,0,0,0,14.73,14.32,14.73
$GC,5526,-0.88,-4.9,2618,3463,2049,2063,647.9,-10.9,580,5531,0.00,2.50,0.00,0.000,3078,0.000,0.045,2618,2050,2055,2049,2062,0,0,0,0,0,0,14.50,14.36,14.52
$GC,5836,-0.88,-4.9,2618,2051,2051,2062,680.6,-10.5,611,5838,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,2050,2055,2049,2062,0,0,0,0,0,0,14.73,14.73,14.73
$GC,6137,-0.88,-4.9,2618,2050,2050,2063,710.2,-9.3,641,6138,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,2050,2056,2050,2062,0,0,0,0,0,0,14.71,14.71,14.71
$GC,6436,-0.88,-4.9,2616,2050,2050,2063,738.0,-9.3,671,6438,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,2050,2056,2050,2062,0,0,0,0,0,0,14.71,14.72,14.71
$GC,6736,-0.88,-4.9,2618,2051,2051,2062,764.9,-8.9,701,6738,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,2050,2055,2049,2062,0,0,0,0,0,0,14.71,14.72,14.72
$GC,7036,-0.88,-4.9,2618,2051,2051,2062,791.3,-8.7,731,7041,0.00,2.55,0.00,0.000,2308,0.000,0.060,2617,3462,2055,2050,2060,0,0,0,0,0,0,14.71,14.32,14.71
$GC,7096,-0.88,-4.9,2617,3462,2050,2063,796.6,-8.8,737,7101,0.00,2.50,0.00,0.000,3078,0.000,0.045,2617,2049,2056,2050,2062,0,0,0,0,0,0,14.50,14.36,14.52
$GC,7406,-0.88,-4.9,2617,2051,2051,2062,823.3,-8.6,768,7408,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,2049,2054,2046,2062,0,0,0,0,0,0,14.73,14.73,14.73
$GC,7706,-0.88,-4.9,2616,2050,2050,2062,848.4,-8.1,798,7711,0.00,2.55,0.00,0.000,2308,0.000,0.060,2617,3462,2056,2050,2062,0,0,0,0,0,0,14.71,14.32,14.71
$GC,7788,-0.88,-4.9,2617,3462,2050,2063,854.8,-8.1,806,7792,0.00,2.50,0.00,0.000,3078,0.000,0.044,2617,2049,2055,2049,2062,0,0,0,0,0,0,14.50,14.37,14.52
$GC,8097,-0.88,-4.9,2617,2048,2050,2063,879.8,-8.2,837,8099,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,2049,2056,2050,2062,0,0,0,0,0,0,14.72,14.73,14.72
$GC,8397,-0.88,-4.9,2617,2048,2050,2063,904.2,-8.1,867,8402,0.00,2.55,0.00,0.000,2308,0.000,0.060,2617,3458,2055,2050,2061,0,0,0,0,0,0,14.72,14.31,14.73
$GC,8467,-0.88,-4.9,2617,3459,2051,2061,910.0,-8.3,874,8472,0.00,2.50,0.00,0.000,3078,0.000,0.046,2616,2050,2056,2050,2062,0,0,0,0,0,0,14.49,14.35,14.51
$GC,8777,-0.88,-4.9,2617,2051,2051,2059,935.0,-8.0,905,8779,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,2050,2055,2050,2061,0,0,0,0,0,0,14.72,14.71,14.72
$GC,9077,-0.88,-4.9,2617,2050,2051,2062,958.4,-7.6,935,9079,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,2050,2054,2049,2060,0,0,0,0,0,0,14.72,14.73,14.73
$GC,9377,-0.88,-4.9,2617,2050,2051,2063,980.7,-7.5,965,9379,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2048,2056,2050,2062,0,0,0,0,0,0,14.73,14.73,14.73
$STATE,9575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9575,begin apogee
$GC,9581,-0.17,0.0,2617,1599,2052,2062,995.6,-7.6,985,9593,1.38,0.00,9.12,1.872,10246,0.235,0.000,2849,1598,2030,2031,2029,0,0,0,0,0,0,13.96,14.52,13.40
$STATE,9594,end apogee,CONTROL_FINISHED_OK
$STATE,9594,begin climb
$GC,9596,0.88,4.9,2850,1598,2031,2030,997.0,0.0,986,9613,1.65,2.38,7.22,1.677,10756,0.136,0.080,3171,306,2010,2011,2010,0,0,0,0,0,0,14.47,14.27,13.45
$GC,9738,1.08,165.0,3171,307,2013,2010,999.0,-5.5,999,9916,0.32,2.22,170.90,2.130,11270,0.147,0.031,3237,1625,1357,1389,1325,0,0,0,0,0,0,14.36,14.57,12.80
$GC,10213,1.08,165.0,3237,1625,1387,1323,938.1,18.1,1047,10218,0.00,2.40,0.00,0.000,2308,0.000,0.052,3234,2983,1354,1386,1323,0,0,0,0,0,0,14.69,14.38,14.69
$GC,10343,1.08,165.0,3238,2986,1386,1322,915.8,17.7,1060,10348,0.00,2.53,0.00,0.000,3078,0.000,0.064,3237,1601,1353,1385,1322,0,0,0,0,0,0,14.60,14.43,14.62
$GC,10653,1.08,165.0,3237,1602,1385,1321,859.0,18.0,1091,10655,0.00,0.00,0.00,0.000,2054,0.000,0.000,3237,1601,1353,1386,1321,0,0,0,0,0,0,14.92,14.92,14.92
$GC,10953,1.08,165.0,3237,1602,1387,1320,806.1,17.5,1121,10958,0.00,2.38,0.00,0.000,2564,0.000,0.089,3237,300,1352,1385,1320,0,0,0,0,0,0,14.97,14.51,14.97
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$STATE,16495,end climb,SURFACE_DEPTH_REACHED
$STATE,16495,begin surface coast
$FINISH,-0.2,1.012804
$STATE,16531,end surface coast,CONTROL_FINISHED_OK
$STATE,16532,begin surface
$SM_CCo,16560,48.35,0.158,0,0,1132,220.03
$SM_GC,1.42,15.52,3.08,48.35,0.070,0.038,0.158,116,2059,1132,-8.68,-1.24,220.03,0,0,0,0,0,0,14.50,14.61,14.31
$IRIDIUM_FIX,-5343.28,0.00,010120,110012
$TT8_MAMPS,0.041944,0.551264
$HUMID,54.80
$INTERNAL_PRESSURE,9.22444
$TCM_TEMP,13.10
$XPDR_PINGS,0
$SC_FREEKB,3587104
$24V_AH,12.80,167.727
$10V_AH,12.77,0.000
$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,35.650,133.800,187.250,48.350,0.000,26.216,27.788,442.276,0.000,0.000,22.525,0.000,12187.476,451.018,4342.980,420.888,0.000,1843.747,0.000,2972.378,0.000,0.538,0.000
$DEVICE_MAMPS,368.730,90.270,2129.760,158.355,0.000,32.890,160.000,223.000,420.000,0.000,10.490,0.000,2.190,12.070,33.040,41.280,0.000,11.900,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16644.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,46.747,0.000,0.000,0.000
$MEM,339944
$DATA_FILE_SIZE,59905,1725
$CAP_FILE_SIZE,270472,0
$CFSIZE,2097086464,2010415104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010120,202039,-5404.695,5.293,46,0.9,55,-20.5,0.0,277.7,9,9.2