version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 2
start: 10 19 119 7 47 12
data:
$ID,574
$MISSION,7
$DIVE,2
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,80
$D_ABORT,1030
$D_NO_BLEED,29
$D_BOOST,0
$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,27
$T_MISSION,37
$T_ABORT,90
$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,150
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$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,2759
$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,2118
$C_ROLL_CLIMB,2118
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2601
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,0
$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
$GPS1,191019,074310,-5400.6753,-0.1250,6,0.9,15,-20.4,1.3,144.4,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-69.3
$GPS2,191019,074634,-5400.6880,-0.1010,6,0.9,14,-20.4,0.0,117.0,8,9.9
$SPEED_LIMITS,0.171,0.181
$TGT_NAME,WP1
$TGT_LATLONG,-3411.620,2507.270
$TGT_RADIUS,100.000
$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,66.8,3190828,-26.4,-9.877,-28.61,1076
$D_GRID,80
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,20,-0.88,-4.9,75,2118,633,552,0.0,0.0,0,144,0.00,0.00,-121.72,0.000,16386,0.000,0.000,50,2118,2466,2420,2513,0,0,0,0,0,0,15.02,28.83,15.03
$GC,147,-0.88,-4.9,51,2118,2421,2514,3.8,-4.4,12,172,14.27,2.53,-3.97,0.000,18948,0.323,0.112,2464,704,2625,2612,2639,0,0,0,0,0,0,14.63,13.90,14.78
$GC,369,-0.88,-4.9,2464,704,2622,2639,77.5,-31.8,34,375,0.08,2.47,0.00,0.000,3078,0.377,0.076,2467,2117,2630,2622,2639,0,0,0,0,0,0,14.69,14.81,14.88
$STATE,380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,380,begin apogee
$GC,383,-0.17,0.0,2468,2118,2619,2639,81.2,-31.4,35,402,1.30,0.00,11.77,1.161,10246,0.259,0.000,2697,2119,2602,2597,2607,0,0,0,0,0,0,14.69,14.67,14.26
$STATE,404,end apogee,CONTROL_FINISHED_OK
$STATE,404,begin climb
$GC,405,0.88,4.9,2697,2119,2597,2606,86.4,0.0,37,423,1.70,0.00,9.68,1.062,10246,0.197,0.000,3020,2123,2581,2578,2584,0,0,0,0,0,0,14.66,14.61,14.21
$GC,452,1.03,120.5,3020,2122,2579,2584,89.0,-1.2,42,634,0.22,2.62,141.27,1.095,11012,0.117,0.089,3077,3537,2107,2103,2111,0,0,0,0,6,0,14.71,14.16,13.82
$GC,725,1.21,273.3,3076,3537,2097,2110,104.0,-4.7,69,887,0.25,2.58,152.35,1.120,11270,0.110,0.079,3139,2110,1485,1508,1462,0,0,0,0,0,0,14.45,14.43,13.75
$GC,916,1.27,314.4,3147,2109,1506,1458,104.9,5.9,88,966,0.00,2.67,41.45,1.074,10500,0.000,0.090,3140,3523,1317,1358,1277,0,0,0,0,0,0,14.47,14.18,13.71
$GC,1142,1.28,330.3,3140,3522,1352,1273,85.5,8.4,110,1178,0.00,2.55,20.70,0.951,11270,0.000,0.083,3141,2114,1252,1299,1205,0,0,0,0,1,0,14.65,14.54,14.04
$GC,1208,1.31,348.2,3140,2115,1298,1204,79.5,8.2,117,1244,0.08,2.65,22.12,0.969,10756,0.216,0.106,3165,707,1179,1231,1127,0,0,0,0,1,0,14.45,14.39,13.92
$GC,1334,1.32,363.0,3165,707,1231,1126,68.7,8.5,129,1366,0.00,2.53,20.98,0.945,11270,0.000,0.072,3165,2128,1121,1173,1069,0,0,0,0,1,0,14.65,14.54,13.93
$GC,1402,1.33,370.0,3165,2128,1172,1066,62.4,9.2,136,1418,0.00,2.62,9.02,0.952,10756,0.000,0.106,3165,708,1090,1144,1036,0,0,0,0,0,0,14.72,14.44,14.07
$GC,1485,1.33,370.0,3165,708,1144,1036,52.7,12.0,144,1490,0.00,2.50,0.00,0.000,3078,0.000,0.070,3166,2121,1090,1144,1036,0,0,0,0,0,0,14.66,14.55,14.67
$GC,1527,1.33,370.0,3165,2123,1144,1035,47.1,13.2,148,1532,0.00,2.62,0.00,0.000,2564,0.000,0.106,3166,707,1089,1144,1035,0,0,0,0,0,0,14.79,14.54,14.80
$GC,1552,1.33,370.0,3166,707,1144,1035,44.4,13.2,150,1559,0.00,2.50,0.00,0.000,3078,0.000,0.070,3167,2114,1089,1144,1035,0,0,0,0,0,0,14.71,14.60,14.72
$GC,1588,1.33,370.0,3166,2117,1144,1035,39.4,12.1,154,1594,0.00,2.60,0.00,0.000,2564,0.000,0.107,3168,710,1089,1144,1034,0,0,0,0,0,0,14.83,14.59,14.83
$GC,1640,1.33,370.0,3167,710,1144,1035,32.7,12.6,159,1646,0.00,2.50,0.00,0.000,3078,0.000,0.071,3168,2128,1089,1144,1034,0,0,0,0,0,0,14.71,14.60,14.72
$GC,1682,1.33,370.0,3166,2131,1144,1034,27.7,12.0,163,1684,0.00,0.00,0.00,0.000,2054,0.000,0.000,3168,2131,1089,1144,1034,0,0,0,0,0,0,14.87,14.88,14.88
$GC,1712,1.34,375.9,3167,2131,1144,1038,24.9,9.3,166,1727,0.00,2.60,8.45,0.939,10756,0.000,0.106,3170,709,1069,1124,1014,0,0,0,0,0,0,14.89,14.58,14.19
$GC,1757,1.34,375.9,3170,709,1123,1013,20.2,11.4,170,1764,0.00,2.50,0.00,0.000,3078,0.000,0.071,3170,2121,1068,1124,1013,0,0,0,0,0,0,14.76,14.64,14.76
$GC,1794,1.34,375.9,3169,2125,1124,1013,15.8,11.3,174,1799,0.00,2.60,0.00,0.000,2564,0.000,0.106,3172,709,1068,1124,1013,0,0,0,0,0,0,14.87,14.64,14.88
$GC,1826,1.34,375.9,3172,708,1124,1013,12.5,10.3,177,1831,0.00,2.50,0.00,0.000,3078,0.000,0.073,3172,2121,1068,1124,1012,0,0,0,0,0,0,14.74,14.63,14.75
$GC,1868,1.37,395.6,3172,2125,1123,1012,9.1,8.0,181,1889,0.00,2.70,15.32,1.168,10756,0.000,0.114,3172,705,984,1040,928,0,0,0,0,0,0,14.90,14.57,14.12
$GC,1925,1.42,441.5,3172,704,1040,927,5.3,5.5,186,1954,0.10,2.50,22.45,1.121,11266,0.193,0.071,3198,2124,866,918,815,0,0,0,0,0,0,14.61,14.62,14.71
$STATE,1955,end climb,SURFACE_DEPTH_REACHED
$STATE,1955,begin surface coast
$FINISH,-0.1,1.014212
$STATE,1976,end surface coast,CONTROL_FINISHED_OK
$STATE,1976,begin surface
$SM_CCo,2059,0.00,0.000,0,0,862,426.57
$SM_GC,0.82,15.43,0.00,0.00,0.092,0.000,0.000,120,2124,862,-8.22,0.17,426.57,0,0,0,0,0,0,14.53,14.76,14.62
$IRIDIUM_FIX,-5339.63,0.00,191019,073934
$TT8_MAMPS,0.021721,0.907039
$HUMID,56.41
$INTERNAL_PRESSURE,9.20491
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,3816320
$24V_AH,13.71,4.581
$10V_AH,13.05,0.000
$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,33.425,51.350,475.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,16.136,526.584,490.663,573.576,530.782,26.847,0.000,957.185,0.000,492.582,0.000,0.539,0.000
$DEVICE_MAMPS,377.145,113.985,1168.155,0.000,0.000,0.000,0.000,0.000,420.000,0.000,10.490,12.070,2.190,12.070,33.040,41.280,0.000,11.900,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1961.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.187,0.000,0.000,0.000
$MEM,341184
$DATA_FILE_SIZE,3504,191
$CAP_FILE_SIZE,69601,0
$CFSIZE,2097086464,2093711360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,2,0
$GPS,191019,082253,-5400.843,0.298,7,1.5,47,-20.5,0.7,269.2,6,9.3