version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 557
start: 2 19 120 2 54 47
data:
$ID,574
$MISSION,7
$DIVE,557
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,300
$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,70
$T_MISSION,85
$T_ABORT,120
$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,37
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,1950
$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
$GPS1,190220,024949,-5401.5220,-3.4367,8,1.0,23,-20.4,0.0,287.5,8,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-69.1
$GPS2,190220,025407,-5401.5225,-3.3796,7,1.0,24,-20.4,0.8,147.8,8,9.4
$SPEED_LIMITS,0.165,0.175
$TGT_NAME,WPNW
$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,8.8,14222,-26.3,-9.524,-28.56,1061
$D_GRID,200
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.88,-4.9,107,2080,771,770,0.0,0.0,0,102,0.00,0.00,-74.65,0.000,16390,0.000,0.000,107,2080,1970,1959,1981,0,0,0,0,0,0,14.85,12.78,14.60
$GC,106,-0.88,-4.9,107,2080,1961,1982,2.5,-4.1,14,130,16.98,2.55,0.00,0.000,2564,0.376,0.053,2617,647,1975,1969,1981,0,0,0,0,0,0,13.88,14.23,14.10
$GC,245,-0.88,-4.9,2616,647,1976,1974,27.5,-16.2,40,252,0.00,2.40,0.00,0.000,3078,0.000,0.034,2617,2021,1974,1975,1974,0,0,0,0,0,0,14.27,14.16,14.28
$GC,318,-0.88,-4.9,2617,2021,1976,1972,37.8,-14.5,53,323,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,2021,1974,1976,1972,0,0,0,0,0,0,14.74,14.74,14.74
$GC,387,-0.88,-4.9,2616,2021,1976,1970,47.9,-14.4,66,392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,2021,1973,1977,1970,0,0,0,0,0,0,14.76,14.76,14.76
$GC,456,-0.88,-4.9,2616,2021,1976,1969,57.9,-14.5,74,458,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2022,1972,1976,1969,0,0,0,0,0,0,14.78,14.78,14.78
$GC,756,-0.88,-4.9,2616,2021,1975,1966,96.4,-11.5,104,761,0.00,2.53,0.00,0.000,2564,0.000,0.064,2617,652,1970,1975,1966,0,0,0,0,0,0,14.78,14.05,14.77
$GC,891,-0.88,-4.9,2616,653,1976,1966,114.0,-11.5,117,896,0.00,2.47,0.00,0.000,3078,0.000,0.035,2617,2054,1970,1976,1965,0,0,0,0,0,0,14.31,14.17,14.33
$GC,1204,-0.88,-4.9,2616,2054,1975,1963,145.9,-9.7,148,1210,0.00,2.53,0.00,0.000,2308,0.000,0.061,2617,3450,1968,1975,1962,0,0,0,0,0,0,14.79,13.95,14.79
$GC,1446,-0.88,-4.9,2616,3451,1972,1961,168.9,-9.4,171,1453,0.00,2.50,0.00,0.000,3078,0.000,0.045,2616,2059,1971,1972,1970,0,0,0,0,0,0,14.23,14.09,14.26
$STATE,1748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1748,begin apogee
$GC,1756,-0.17,0.0,2617,1599,1972,1961,200.5,-10.7,202,1770,1.38,0.00,5.60,1.089,10246,0.247,0.000,2844,1599,1952,1962,1943,0,0,0,0,0,0,13.71,14.37,13.59
$STATE,1772,end apogee,CONTROL_FINISHED_OK
$STATE,1772,begin climb
$GC,1775,0.88,4.9,2844,1599,1961,1943,202.5,0.0,204,1794,1.70,2.40,7.80,1.138,10756,0.139,0.079,3170,303,1928,1939,1918,0,0,0,0,0,0,14.23,14.16,13.55
$GC,1909,1.09,176.0,3169,303,1939,1918,208.0,-7.1,216,2089,0.35,2.22,168.20,1.290,11270,0.097,0.028,3250,1627,1231,1261,1201,0,0,0,0,0,0,14.31,14.50,13.11
$GC,2388,1.09,176.0,3250,1627,1259,1198,161.3,14.8,264,2394,0.00,2.40,0.00,0.000,2308,0.000,0.044,3250,2991,1228,1259,1198,0,0,0,0,0,0,14.74,14.33,14.74
$GC,2543,1.09,176.0,3250,2991,1258,1198,138.9,13.6,279,2549,0.00,2.53,0.00,0.000,3078,0.000,0.058,3251,1595,1227,1258,1197,0,0,0,0,0,0,14.49,14.31,14.52
$GC,2857,1.09,176.0,3251,1595,1257,1196,95.0,13.5,310,2863,0.00,2.47,0.00,0.000,2308,0.000,0.044,3251,2991,1227,1257,1197,0,0,0,0,0,0,14.80,14.36,14.80
$GC,2921,1.09,176.0,3251,2992,1257,1196,86.7,13.0,316,2926,0.00,2.55,0.00,0.000,3078,0.000,0.059,3251,1599,1226,1257,1196,0,0,0,0,0,0,14.50,14.31,14.52
$GC,3230,1.09,176.0,3251,1599,1256,1196,47.6,12.1,348,3236,0.00,2.40,0.00,0.000,2564,0.000,0.083,3251,309,1225,1256,1195,0,0,0,0,0,0,14.81,14.00,14.81
$GC,3481,1.09,176.0,3251,309,1256,1195,13.0,14.7,397,3488,0.00,2.20,0.00,0.000,3078,0.000,0.028,3251,1588,1226,1256,1196,0,0,0,0,0,0,14.54,14.45,14.57
$GC,3521,1.09,176.0,3251,1599,1256,1195,7.8,12.0,404,3527,0.00,0.00,0.00,0.000,2054,0.000,0.000,3251,1594,1225,1256,1195,0,0,0,0,0,0,14.78,14.79,14.78
$GC,3560,1.09,176.0,3251,1594,1256,1195,3.5,11.5,411,3566,0.00,0.00,0.00,0.000,2054,0.000,0.000,3251,1594,1225,1256,1195,0,0,0,0,0,0,14.78,14.79,14.79
$STATE,3571,end climb,SURFACE_DEPTH_REACHED
$STATE,3571,begin surface coast
$FINISH,-0.2,1.020744
$STATE,3598,end surface coast,CONTROL_FINISHED_OK
$STATE,3598,begin surface
$SM_CCo,3627,32.45,0.145,0,0,1052,220.03
$SM_GC,1.04,15.65,0.77,32.45,0.070,0.030,0.145,130,2068,1052,-8.64,-1.19,220.03,0,0,0,0,0,0,14.34,14.57,14.19
$IRIDIUM_FIX,-5339.63,-3.66,190220,024600
$TT8_MAMPS,0.020972,0.873334
$HUMID,56.14
$INTERNAL_PRESSURE,9.24397
$TCM_TEMP,13.50
$XPDR_PINGS,0
$SC_FREEKB,3565312
$24V_AH,12.78,255.197
$10V_AH,12.63,0.000
$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,36.050,35.750,181.600,32.450,0.000,0.000,0.000,0.000,0.000,0.000,25.776,1050.208,1479.592,305.439,820.602,110.434,0.000,736.770,0.000,778.545,0.000,0.539,0.000
$DEVICE_MAMPS,376.380,82.620,1289.790,145.350,0.000,0.000,0.000,0.000,420.000,0.000,10.490,12.070,2.190,12.070,33.040,41.280,0.000,11.900,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3577.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,43.304,0.000,0.000,0.000
$MEM,340272
$DATA_FILE_SIZE,13464,418
$CAP_FILE_SIZE,167445,0
$CFSIZE,2097086464,1973452800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190220,035709,-5401.230,-3.219,30,1.0,38,-20.4,0.0,123.9,8,9.1