version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 176
start: 11 20 119 10 11 44
data:
$ID,574
$MISSION,7
$DIVE,176
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,100
$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,70
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$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,3936
$C_ROLL_CLIMB,3936
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,45
$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
$GPS1,201119,100025,-5407.3965,3.1635,7,0.9,37,-20.5,0.0,96.6,9,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-75.0
$GPS2,201119,101119,-5407.4048,3.2152,6,1.0,15,-20.5,0.0,288.8,8,9.0
$SPEED_LIMITS,0.143,0.180
$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,351.9,13867,-26.8,-10.000,-29.04,1047
$D_GRID,300
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.98,-68.1,123,3181,624,572,0.0,0.0,0,119,0.00,0.00,-98.72,0.000,16386,0.000,0.000,121,3181,2205,2171,2240,0,0,0,0,0,0,14.64,28.83,14.64
$GC,122,-0.98,-68.1,122,3182,2173,2242,3.6,-7.2,18,145,16.55,0.00,-3.47,0.000,18438,0.412,0.000,2575,3195,2343,2323,2364,0,0,0,0,0,0,14.19,13.35,14.49
$GC,174,-0.98,-68.1,2575,3196,2332,2364,19.2,-22.6,28,181,0.00,0.00,0.00,0.000,2054,0.000,0.000,2577,3195,2347,2332,2363,0,0,0,0,0,0,14.65,14.65,14.65
$GC,240,-0.98,-68.1,2576,3195,2333,2363,33.0,-20.8,41,246,0.00,0.00,0.00,0.000,2054,0.000,0.000,2575,3194,2347,2332,2363,0,0,0,0,0,0,14.68,14.68,14.68
$GC,305,-0.98,-68.1,2576,3194,2333,2365,46.5,-20.6,54,312,0.00,0.00,0.00,0.000,2054,0.000,0.000,2576,3195,2347,2332,2363,0,0,0,0,0,0,14.69,14.70,14.69
$GC,371,-0.98,-68.1,2576,3195,2333,2364,60.2,-21.0,67,377,0.00,0.00,0.00,0.000,2054,0.000,0.000,2575,3195,2347,2332,2363,0,0,0,0,0,0,14.71,14.71,14.71
$GC,677,-0.98,-68.1,2576,3195,2333,2362,125.1,-21.2,128,682,0.00,0.00,0.00,0.000,2054,0.000,0.000,2575,3195,2346,2332,2361,0,0,0,0,0,0,14.76,14.76,14.76
$GC,981,-0.98,-68.1,2576,3196,2333,2358,190.6,-21.3,189,988,0.00,0.00,0.00,0.000,2054,0.000,0.000,2575,3195,2345,2333,2358,0,0,0,0,0,0,14.78,14.78,14.77
$GC,1287,-0.98,-68.1,2575,3196,2334,2356,252.0,-18.0,250,1293,0.00,0.00,0.00,0.000,2054,0.000,0.000,2576,3195,2344,2332,2356,0,0,0,0,0,0,14.78,14.78,14.78
$STATE,1541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1541,begin apogee
$GC,1546,-0.17,0.0,2576,3910,2334,2356,300.0,-18.7,301,1617,1.48,0.00,67.43,1.418,10246,0.269,0.000,2841,3910,2057,2071,2044,0,0,0,0,0,0,14.36,14.21,13.63
$STATE,1619,end apogee,CONTROL_FINISHED_OK
$STATE,1619,begin climb
$GC,1621,0.98,68.1,2841,3911,2072,2043,304.8,0.0,314,1693,1.83,0.00,66.50,1.308,10246,0.150,0.000,3194,3910,1780,1799,1762,0,0,0,0,0,0,14.19,14.03,13.49
$GC,1993,1.05,128.1,3194,3909,1792,1755,295.0,4.1,386,2049,0.10,0.00,54.05,1.324,10246,0.197,0.000,3218,3909,1535,1575,1496,0,0,0,0,0,0,14.38,14.16,13.59
$GC,2349,1.05,128.1,3218,3910,1572,1489,252.8,12.6,456,2355,0.00,0.00,0.00,0.000,2054,0.000,0.000,3219,3910,1530,1571,1489,0,0,0,0,0,0,14.63,14.64,14.64
$GC,2655,1.05,128.1,3219,3910,1571,1487,216.6,10.6,517,2661,0.00,0.00,0.00,0.000,2054,0.000,0.000,3219,3910,1529,1570,1489,0,0,0,0,0,0,14.73,14.73,14.73
$GC,2960,1.05,128.1,3219,3911,1571,1488,185.5,10.1,578,2966,0.00,0.00,0.00,0.000,2054,0.000,0.000,3218,3910,1528,1569,1488,0,0,0,0,0,0,14.76,14.76,14.76
$GC,3265,1.05,128.1,3219,3910,1570,1488,155.0,10.6,639,3271,0.00,0.00,0.00,0.000,2054,0.000,0.000,3218,3910,1528,1569,1488,0,0,0,0,0,0,14.78,14.78,14.78
$GC,3570,1.06,132.2,3219,3911,1570,1487,123.2,9.6,700,3577,0.00,0.00,0.00,0.000,2054,0.000,0.000,3218,3910,1528,1569,1488,0,0,0,0,0,0,14.80,14.81,14.81
$GC,3876,1.06,134.4,3219,3909,1570,1487,93.2,9.8,761,3884,0.00,0.00,5.95,0.966,10246,0.000,0.000,3219,3910,1515,1558,1473,0,0,0,0,0,0,14.82,14.59,13.97
$GC,4183,1.07,140.4,3219,3911,1556,1468,63.3,9.4,822,4195,0.00,0.00,8.10,1.017,10246,0.000,0.000,3219,3910,1486,1530,1443,0,0,0,0,0,0,14.81,14.57,13.95
$GC,4494,1.07,140.4,3219,3910,1531,1443,32.1,10.1,884,4501,0.00,0.00,0.00,0.000,2054,0.000,0.000,3219,3910,1485,1530,1441,0,0,0,0,0,0,14.78,14.79,14.79
$GC,4560,1.07,141.6,3219,3911,1531,1441,25.6,9.9,897,4566,0.00,0.00,0.00,0.000,2054,0.000,0.000,3219,3905,1485,1529,1441,0,0,0,0,0,0,14.78,14.79,14.79
$GC,4625,1.07,145.7,3219,3910,1531,1442,19.3,9.6,910,4632,0.00,0.00,4.30,0.262,10246,0.000,0.000,3218,3910,1462,1509,1416,0,0,0,0,0,0,14.80,14.62,14.38
$GC,4692,1.07,145.7,3219,3910,1511,1420,12.6,10.6,923,4698,0.00,0.00,0.00,0.000,2054,0.000,0.000,3219,3910,1464,1510,1419,0,0,0,0,0,0,14.81,14.81,14.81
$GC,4727,1.07,145.7,3218,3911,1512,1420,8.7,11.0,930,4733,0.00,0.00,0.00,0.000,2054,0.000,0.000,3218,3910,1465,1511,1419,0,0,0,0,0,0,14.81,14.81,14.81
$GC,4762,1.07,145.7,3218,3912,1513,1420,5.1,10.4,937,4769,0.00,0.00,0.00,0.000,2054,0.000,0.000,3219,3910,1465,1511,1420,0,0,0,0,0,0,14.81,14.81,14.81
$STATE,4781,end climb,SURFACE_DEPTH_REACHED
$STATE,4781,begin surface coast
$FINISH,0.3,1.021076
$STATE,4807,end surface coast,CONTROL_FINISHED_OK
$STATE,4807,begin surface
$SM_CCo,4828,207.02,0.158,0,0,598,358.38
$SM_GC,0.84,15.30,0.00,207.02,0.083,0.000,0.158,131,3910,598,-8.61,-0.74,358.38,0,0,0,0,0,0,14.59,14.83,14.45
$IRIDIUM_FIX,-5346.92,0.00,201119,080618
$TT8_MAMPS,0.039697,0.892808
$HUMID,51.96
$INTERNAL_PRESSURE,9.13655
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3714176
$24V_AH,13.35,74.900
$10V_AH,12.87,0.000
$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,35.250,14.925,206.325,207.025,0.000,23.233,22.482,368.980,0.000,0.000,16.634,0.000,2645.646,558.222,2333.448,154.954,0.000,1250.485,0.000,1436.657,0.000,0.538,0.000
$DEVICE_MAMPS,412.335,575.280,1418.310,157.590,0.000,32.890,160.000,223.000,420.000,0.000,10.490,0.000,2.190,12.070,33.040,41.280,0.000,11.900,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4907.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,57.079,0.000,0.000,0.000
$MEM,340124
$DATA_FILE_SIZE,30032,946
$CAP_FILE_SIZE,131458,8
$CFSIZE,2097086464,2054651904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,201119,113631,-5407.257,3.563,7,0.8,28,-20.5,0.4,245.1,11,4.9