version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 558
start: 2 19 120 4 7 15
data:
$ID,574
$MISSION,7
$DIVE,558
$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,58
$R_STBD_OVSHOOT,56
$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
$GPS1,190220,035709,-5401.2300,-3.2189,30,1.0,38,-20.4,0.0,123.9,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-70.6
$GPS2,190220,040631,-5401.2148,-3.0934,8,1.0,18,-20.4,0.0,76.7,8,8.8
$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,7.0,13733,-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,-4.9,129,2006,1050,1045,0.0,0.0,0,85,0.00,0.00,-58.62,0.000,16390,0.000,0.000,128,2005,1969,1961,1978,0,0,0,0,0,0,14.78,12.74,14.62
$GC,89,-0.88,-4.9,128,2005,1962,1978,2.4,-3.2,11,114,16.95,2.40,0.00,0.000,2564,0.379,0.060,2617,669,1975,1972,1979,0,0,0,0,0,0,13.93,14.33,14.31
$GC,173,-0.88,-4.9,2616,669,1979,1978,17.7,-14.4,26,180,0.00,2.38,0.00,0.000,3078,0.000,0.032,2622,2035,1978,1979,1978,0,0,0,0,0,0,14.50,14.37,14.53
$GC,245,-0.88,-4.9,2616,2035,1977,1977,28.1,-14.3,39,251,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,2035,1977,1979,1976,0,0,0,0,0,0,14.73,14.73,14.73
$GC,314,-0.88,-4.9,2617,2035,1979,1976,38.9,-14.6,52,320,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,2035,1977,1979,1976,0,0,0,0,0,0,14.76,14.76,14.76
$GC,383,-0.88,-4.9,2617,2035,1979,1976,48.9,-14.2,65,389,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,2035,1978,1980,1976,0,0,0,0,0,0,14.76,14.77,14.77
$GC,457,-0.88,-4.9,2617,2041,1979,1975,59.2,-14.2,73,459,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,2035,1977,1979,1975,0,0,0,0,0,0,14.77,14.77,14.77
$GC,758,-0.88,-4.9,2617,2036,1979,1974,98.8,-13.2,103,763,0.00,2.50,0.00,0.000,2564,0.000,0.065,2617,672,1976,1979,1974,0,0,0,0,0,0,14.78,14.16,14.78
$GC,811,-0.88,-4.9,2617,672,1979,1974,105.7,-13.1,108,816,0.00,2.42,0.00,0.000,3078,0.000,0.034,2617,2051,1976,1979,1974,0,0,0,0,0,0,14.47,14.33,14.49
$GC,1125,-0.88,-4.9,2617,2051,1979,1972,140.6,-11.5,139,1130,0.00,2.55,0.00,0.000,2308,0.000,0.060,2617,3458,1975,1978,1972,0,0,0,0,0,0,14.79,14.00,14.79
$GC,1300,-0.88,-4.9,2617,3457,1978,1972,162.1,-12.4,156,1305,0.00,2.45,0.00,0.000,3078,0.000,0.044,2617,2079,1974,1977,1971,0,0,0,0,0,0,14.16,14.05,14.17
$GC,1613,-0.88,-4.9,2617,2079,1978,1979,198.4,-11.8,187,1616,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,2086,1975,1978,1972,0,0,0,0,0,0,14.75,14.75,14.75
$STATE,1631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1631,begin apogee
$GC,1639,-0.17,0.0,2617,1593,1978,1972,200.7,-11.2,189,1653,1.35,0.00,8.32,1.200,10246,0.249,0.000,2842,1593,1950,1958,1942,0,0,0,0,0,0,13.71,14.38,13.55
$STATE,1655,end apogee,CONTROL_FINISHED_OK
$STATE,1655,begin climb
$GC,1658,0.88,4.9,2842,1593,1958,1942,202.3,0.0,191,1673,1.73,0.00,6.95,1.108,10246,0.142,0.000,3171,1593,1929,1937,1922,0,0,0,0,0,0,14.26,14.10,13.40
$GC,1973,1.07,157.9,3171,1593,1937,1922,216.8,-5.3,222,2135,0.28,2.40,153.07,1.303,11012,0.099,0.083,3242,313,1306,1334,1278,0,0,0,0,0,0,14.31,13.93,13.27
$GC,2571,1.07,157.9,3242,313,1332,1276,155.0,12.7,281,2578,0.00,2.22,0.00,0.000,3078,0.000,0.028,3242,1619,1303,1330,1276,0,0,0,0,0,0,14.47,14.39,14.49
$GC,2877,1.07,157.9,3241,1624,1331,1274,119.1,12.1,312,2883,0.00,2.40,0.00,0.000,2308,0.000,0.045,3242,2991,1303,1331,1275,0,0,0,0,0,0,14.81,14.36,14.81
$GC,2921,1.07,157.9,3241,2991,1330,1274,113.4,13.1,316,2926,0.00,2.53,0.00,0.000,3078,0.000,0.059,3242,1606,1302,1330,1274,0,0,0,0,0,0,14.45,14.27,14.47
$GC,3235,1.07,157.9,3242,1605,1330,1273,76.9,10.7,347,3237,0.00,0.00,0.00,0.000,2054,0.000,0.000,3243,1606,1301,1330,1273,0,0,0,0,0,0,14.80,14.80,14.80
$GC,3535,1.07,157.9,3242,1605,1329,1273,44.6,12.8,381,3542,0.00,2.42,0.00,0.000,2564,0.000,0.080,3242,304,1301,1330,1273,0,0,0,0,0,0,14.78,14.19,14.78
$GC,3748,1.07,157.9,3242,304,1329,1273,20.2,10.2,422,3755,0.00,2.20,0.00,0.000,3078,0.000,0.028,3242,1603,1301,1330,1273,0,0,0,0,0,0,14.37,14.31,14.37
$GC,3820,1.07,157.9,3242,1604,1330,1273,12.5,10.8,435,3825,0.00,0.00,0.00,0.000,2054,0.000,0.000,3242,1604,1301,1330,1272,0,0,0,0,0,0,14.78,14.78,14.78
$GC,3859,1.07,157.9,3241,1604,1330,1272,7.1,12.7,442,3864,0.00,0.00,0.00,0.000,2054,0.000,0.000,3242,1605,1301,1330,1272,0,0,0,0,0,0,14.81,14.81,14.81
$STATE,3895,end climb,SURFACE_DEPTH_REACHED
$STATE,3895,begin surface coast
$FINISH,-0.0,1.020850
$STATE,3916,end surface coast,CONTROL_FINISHED_OK
$STATE,3918,begin surface
$SM_CCo,3947,47.75,0.151,0,0,1053,220.03
$SM_GC,1.31,15.73,0.73,47.75,0.071,0.033,0.151,112,2064,1053,-8.70,-1.75,220.03,0,0,0,0,0,0,14.31,14.56,14.19
$IRIDIUM_FIX,-5339.63,0.00,190220,025033
$TT8_MAMPS,0.021721,0.562499
$HUMID,55.90
$INTERNAL_PRESSURE,9.2342
$TCM_TEMP,13.40
$XPDR_PINGS,0
$SC_FREEKB,3565312
$24V_AH,12.74,255.354
$10V_AH,12.69,0.000
$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,36.025,30.600,168.350,47.750,0.000,23.584,40.523,234.767,0.000,0.000,19.965,1146.411,1672.266,297.134,1209.046,256.842,0.000,750.121,0.000,831.930,0.000,0.538,0.000
$DEVICE_MAMPS,379.440,85.680,1302.795,151.470,0.000,32.890,160.000,223.000,420.000,0.000,10.490,12.070,2.190,12.070,33.040,41.280,0.000,11.900,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3979.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,42.574,0.000,0.000,0.000
$MEM,340228
$DATA_FILE_SIZE,16755,453
$CAP_FILE_SIZE,81426,0
$CFSIZE,2097086464,1973354496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190220,051501,-5400.810,-2.896,8,0.9,26,-20.4,1.0,80.1,9,5.5