version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 169
start: 11 19 119 13 36 9
data:
$ID,574
$MISSION,7
$DIVE,169
$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,130
$T_MISSION,140
$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,250
$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,2900
$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,0
$C_ROLL_DIVE,301
$C_ROLL_CLIMB,301
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,52
$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
$GPS1,191119,133215,-5411.0811,-1.8001,6,1.0,14,-20.4,0.6,68.0,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-71.2
$GPS2,191119,133558,-5411.0845,-1.7945,6,1.0,14,-20.4,0.4,358.5,9,9.5
$SPEED_LIMITS,0.442,0.452
$TGT_NAME,WPNW
$TGT_LATLONG,-5400.834,-2.894
$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,16.8,19022,-28.1,-25.513,-29.45,1614
$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,18,-1.24,-243.3,122,290,628,561,0.0,0.0,0,119,0.00,0.00,-98.72,0.000,16386,0.000,0.000,121,291,2184,2143,2226,0,0,0,0,0,0,14.85,28.83,14.85
$GC,122,-1.24,-243.3,122,292,2145,2228,3.6,-7.3,18,162,15.27,0.00,-19.75,0.000,18438,0.376,0.000,2494,288,3056,3039,3074,0,0,0,0,0,0,14.31,13.42,14.61
$GC,191,-1.24,-243.3,2494,289,3041,3074,27.5,-35.3,31,197,0.00,0.00,0.00,0.000,2054,0.000,0.000,2494,288,3057,3040,3074,0,0,0,0,0,0,14.76,14.76,14.76
$GC,256,-1.24,-243.3,2494,288,3040,3075,50.3,-34.5,44,262,0.00,0.00,0.00,0.000,2054,0.000,0.000,2494,289,3056,3040,3073,0,0,0,0,0,0,14.76,14.76,14.76
$GC,562,-1.24,-243.3,2494,288,3041,3073,152.8,-33.2,105,567,0.00,0.00,0.00,0.000,2054,0.000,0.000,2494,288,3056,3041,3071,0,0,0,0,0,0,14.76,14.77,14.76
$GC,867,-1.24,-243.3,2495,289,3042,3070,253.1,-32.5,166,873,0.00,0.00,0.00,0.000,2054,0.000,0.000,2494,287,3055,3041,3069,0,0,0,0,0,0,14.78,14.78,14.77
$GC,1172,-1.24,-243.3,2494,288,3042,3070,351.0,-31.6,227,1178,0.00,0.00,0.00,0.000,2054,0.000,0.000,2494,288,3055,3041,3069,0,0,0,0,0,0,14.76,14.77,14.77
$GC,1477,-1.24,-243.3,2495,288,3047,3070,449.5,-31.7,288,1484,0.00,0.00,0.00,0.000,2054,0.000,0.000,2494,288,3055,3041,3069,0,0,0,0,0,0,14.77,14.77,14.77
$GC,1783,-1.24,-243.3,2494,289,3043,3069,545.1,-30.9,349,1789,0.00,0.00,0.00,0.000,2054,0.000,0.000,2494,288,3055,3041,3069,0,0,0,0,0,0,14.78,14.78,14.78
$GC,2088,-1.24,-243.3,2495,289,3039,3069,637.8,-30.2,410,2094,0.00,0.00,0.00,0.000,2054,0.000,0.000,2494,288,3055,3041,3069,0,0,0,0,0,0,14.77,14.78,14.77
$GC,2393,-1.24,-243.3,2494,288,3043,3070,727.7,-29.2,471,2400,0.00,0.00,0.00,0.000,2054,0.000,0.000,2494,288,3054,3040,3068,0,0,0,0,0,0,14.78,14.79,14.79
$GC,2699,-1.24,-243.3,2494,289,3044,3069,815.1,-28.8,532,2705,0.00,0.00,0.00,0.000,2054,0.000,0.000,2494,287,3055,3042,3069,0,0,0,0,0,0,14.78,14.79,14.78
$GC,3004,-1.24,-243.3,2494,289,3044,3069,902.3,-28.3,593,3011,0.00,0.00,0.00,0.000,2054,0.000,0.000,2494,288,3056,3043,3069,0,0,0,0,0,0,14.78,14.79,14.78
$GC,3310,-1.24,-243.3,2494,288,3045,3070,989.3,-28.4,654,3316,0.00,0.00,0.00,0.000,2054,0.000,0.000,2494,288,3056,3044,3069,0,0,0,0,0,0,14.78,14.79,14.78
$STATE,3329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3329,begin apogee
$GC,3332,-0.17,0.0,2494,289,3045,3069,995.1,-27.4,658,3573,1.95,0.00,231.40,2.148,10246,0.268,0.000,2836,288,2060,2095,2025,0,0,0,0,0,0,14.35,13.30,12.72
$STATE,3575,end apogee,CONTROL_FINISHED_OK
$STATE,3575,begin climb
$GC,3576,1.24,243.3,2838,288,2095,2024,1009.7,0.0,702,3830,2.47,0.00,243.65,2.092,10246,0.161,0.000,3276,288,1067,1125,1010,0,0,0,0,0,0,13.44,13.23,12.57
$GC,4131,1.25,254.4,3276,287,1122,1009,899.6,24.8,816,4148,0.00,0.00,13.45,1.707,10246,0.000,0.000,3276,287,1026,1076,976,0,0,0,0,0,0,14.42,14.15,13.36
$GC,4447,1.25,257.4,3276,288,1072,972,819.2,25.3,879,4454,0.00,0.00,4.97,1.271,10246,0.000,0.000,3276,288,1009,1054,964,0,0,0,0,0,0,14.67,14.44,13.55
$GC,4753,1.25,257.4,3276,289,1058,963,740.4,25.6,940,4760,0.00,0.00,0.00,0.000,2054,0.000,0.000,3276,288,1008,1054,963,0,0,0,0,0,0,14.79,14.81,14.81
$GC,5059,1.27,270.7,3276,287,1056,965,664.4,24.7,1001,5082,0.00,0.00,16.83,1.491,10246,0.000,0.000,3276,288,958,999,917,0,0,0,0,0,0,14.88,14.43,13.91
$GC,5381,1.29,285.0,3275,289,997,916,585.2,24.6,1065,5405,0.08,0.00,19.60,1.424,10246,0.226,0.000,3296,288,898,935,862,0,0,0,0,0,0,14.61,14.54,13.93
$GC,5704,1.29,285.0,3297,288,935,862,497.9,27.0,1129,5710,0.00,0.00,0.00,0.000,2054,0.000,0.000,3296,288,897,934,860,0,0,0,0,0,0,14.85,14.86,14.86
$GC,6010,1.29,285.0,3296,289,935,860,415.2,26.7,1190,6016,0.00,0.00,0.00,0.000,2054,0.000,0.000,3296,288,897,934,860,0,0,0,0,0,0,14.92,14.92,14.93
$GC,6315,1.29,285.0,3297,288,934,861,333.6,27.0,1251,6321,0.00,0.00,0.00,0.000,2054,0.000,0.000,3297,288,897,934,860,0,0,0,0,0,0,14.87,14.88,14.88
$GC,6620,1.29,285.0,3296,288,935,859,250.8,26.1,1312,6626,0.00,0.00,0.00,0.000,2054,0.000,0.000,3296,288,896,933,860,0,0,0,0,0,0,14.85,14.86,14.85
$GC,6926,1.33,319.8,3296,289,935,860,173.6,23.3,1373,6977,0.00,0.00,49.12,1.104,10246,0.000,0.000,3296,288,756,784,729,0,0,0,0,0,0,14.85,14.41,13.90
$GC,7276,1.36,347.4,3297,287,782,726,88.5,23.8,1442,7310,0.10,0.00,32.30,1.055,10246,0.186,0.000,3323,286,641,665,617,0,0,0,0,0,0,14.52,14.42,13.90
$STATE,7593,end climb,SURFACE_DEPTH_REACHED
$STATE,7593,begin surface coast
$FINISH,0.1,1.021099
$STATE,7603,end surface coast,CONTROL_FINISHED_OK
$STATE,7603,begin surface
$SM_CCo,7626,8.57,0.171,0,0,600,358.38
$SM_GC,1.21,15.88,0.00,8.57,0.076,0.000,0.171,128,288,600,-8.62,-0.37,358.38,0,0,0,0,0,0,14.57,14.78,14.47
$IRIDIUM_FIX,-5350.58,0.00,191119,132829
$TT8_MAMPS,0.041195,0.460635
$HUMID,53.30
$INTERNAL_PRESSURE,9.15608
$TCM_TEMP,13.40
$XPDR_PINGS,0
$SC_FREEKB,3717504
$24V_AH,12.57,72.745
$10V_AH,12.35,0.000
$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,35.750,0.000,611.325,8.575,0.000,0.000,0.000,0.000,0.000,0.000,15.332,0.000,4108.791,643.709,2810.670,117.870,0.000,1759.902,0.000,2283.554,0.000,0.539,0.000
$DEVICE_MAMPS,375.615,0.000,2148.120,170.595,0.000,0.000,0.000,0.000,420.000,0.000,10.490,0.000,2.190,12.070,33.040,41.280,0.000,11.900,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7590.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,42.830,0.000,0.000,0.000
$MEM,340152
$DATA_FILE_SIZE,53332,1507
$CAP_FILE_SIZE,220881,0
$CFSIZE,2097086464,2055831552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,191119,154419,-5411.059,-1.588,13,1.0,42,-20.4,1.3,104.8,9,6.0