version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 559
start: 2 19 120 5 24 51
data:
$ID,574
$MISSION,7
$DIVE,559
$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,66
$R_STBD_OVSHOOT,68
$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
$GPS1,190220,051501,-5400.8101,-2.8960,8,0.9,26,-20.4,1.0,80.1,9,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-71.3
$GPS2,190220,052408,-5400.7759,-2.7982,8,0.9,15,-20.4,0.8,336.3,9,9.5
$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,4.8,13026,-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,-4.9,107,2002,1050,1044,0.0,0.0,0,86,0.00,0.00,-58.45,0.000,16390,0.000,0.000,107,2005,1970,1960,1980,0,0,0,0,0,0,14.77,12.74,14.60
$GC,90,-0.88,-4.9,108,2004,1962,1981,2.3,-2.4,11,115,17.08,2.40,0.00,0.000,2564,0.377,0.058,2619,668,1976,1972,1981,0,0,0,0,0,0,13.81,14.27,14.16
$GC,245,-0.88,-4.9,2618,668,1980,1978,31.4,-16.8,40,251,0.00,2.35,0.00,0.000,3078,0.000,0.033,2619,2020,1978,1980,1977,0,0,0,0,0,0,14.27,14.17,14.28
$GC,317,-0.88,-4.9,2618,2020,1980,1976,42.4,-16.3,53,322,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,2020,1978,1980,1976,0,0,0,0,0,0,14.75,14.76,14.75
$GC,386,-0.88,-4.9,2618,2021,1980,1975,54.0,-17.1,64,388,0.00,0.00,0.00,0.000,2054,0.000,0.000,2619,2021,1977,1980,1975,0,0,0,0,0,0,14.76,14.77,14.76
$GC,686,-0.88,-4.9,2618,2021,1980,1973,99.6,-14.3,94,688,0.00,0.00,0.00,0.000,2054,0.000,0.000,2618,2021,1977,1980,1974,0,0,0,0,0,0,14.77,14.78,14.78
$GC,986,-0.88,-4.9,2618,2021,1980,1973,138.5,-12.1,124,992,0.00,2.62,0.00,0.000,2308,0.000,0.060,2618,3454,1976,1979,1973,0,0,0,0,0,0,14.78,14.16,14.78
$GC,1064,-0.88,-4.9,2618,3454,1978,1972,147.6,-12.2,131,1071,0.00,2.42,0.00,0.000,3078,0.000,0.043,2618,2087,1975,1978,1973,0,0,0,0,0,0,14.46,14.31,14.49
$GC,1370,-0.88,-4.9,2618,2087,1978,1972,185.5,-11.9,162,1376,0.00,2.50,0.00,0.000,2308,0.000,0.057,2618,3455,1975,1978,1972,0,0,0,0,0,0,14.74,13.95,14.75
$GC,1437,-0.88,-4.9,2618,3455,1977,1972,193.2,-12.0,168,1444,0.00,2.55,0.00,0.000,3078,0.000,0.044,2619,2043,1974,1977,1972,0,0,0,0,0,0,14.42,14.28,14.45
$STATE,1501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1501,begin apogee
$GC,1508,-0.17,0.0,2617,1598,1978,1971,201.0,-10.9,175,1523,1.35,0.00,8.52,1.209,10246,0.246,0.000,2844,1597,1949,1958,1941,0,0,0,0,0,0,13.78,14.35,13.49
$STATE,1525,end apogee,CONTROL_FINISHED_OK
$STATE,1525,begin climb
$GC,1528,0.88,4.9,2844,1597,1958,1941,202.4,0.0,177,1543,1.73,0.00,6.88,1.100,10246,0.141,0.000,3173,1597,1929,1937,1921,0,0,0,0,0,0,14.27,14.12,13.50
$GC,1843,1.09,174.4,3173,1597,1937,1920,218.3,-6.9,208,2022,0.30,2.47,169.90,1.305,10756,0.102,0.082,3248,312,1236,1268,1204,0,0,0,0,0,0,14.30,13.93,13.19
$GC,2352,1.09,174.4,3247,313,1267,1202,168.2,15.3,258,2359,0.00,2.22,0.00,0.000,3078,0.000,0.026,3248,1623,1234,1266,1202,0,0,0,0,0,0,14.52,14.43,14.54
$GC,2659,1.09,174.4,3248,1630,1267,1201,123.9,14.0,289,2664,0.00,2.45,0.00,0.000,2564,0.000,0.079,3248,314,1234,1267,1201,0,0,0,0,0,0,14.80,14.02,14.80
$GC,2716,1.09,174.4,3248,314,1267,1201,116.2,14.3,294,2723,0.00,2.20,0.00,0.000,3078,0.000,0.028,3248,1601,1234,1267,1201,0,0,0,0,0,0,14.56,14.47,14.57
$GC,3022,1.09,174.4,3248,1606,1267,1200,76.9,12.0,325,3024,0.00,0.00,0.00,0.000,2054,0.000,0.000,3248,1606,1233,1267,1200,0,0,0,0,0,0,14.81,14.82,14.81
$GC,3324,1.09,174.4,3247,1606,1267,1199,41.5,11.0,362,3331,0.00,2.42,0.00,0.000,2564,0.000,0.080,3249,307,1232,1267,1198,0,0,0,0,0,0,14.78,14.14,14.78
$GC,3405,1.09,174.4,3248,307,1266,1199,31.9,10.7,377,3412,0.00,2.22,0.00,0.000,3078,0.000,0.027,3249,1610,1232,1266,1199,0,0,0,0,0,0,14.47,14.37,14.49
$GC,3478,1.09,174.4,3248,1615,1266,1198,23.9,12.6,390,3484,0.00,0.00,0.00,0.000,2054,0.000,0.000,3248,1615,1232,1266,1198,0,0,0,0,0,0,14.76,14.76,14.76
$GC,3547,1.09,174.4,3248,1615,1266,1201,15.2,13.6,403,3553,0.00,0.00,0.00,0.000,2054,0.000,0.000,3248,1616,1232,1266,1198,0,0,0,0,0,0,14.78,14.78,14.78
$GC,3616,1.09,174.4,3248,1615,1266,1198,5.5,14.1,416,3622,0.00,0.00,0.00,0.000,2054,0.000,0.000,3248,1615,1232,1267,1198,0,0,0,0,0,0,14.77,14.77,14.78
$STATE,3632,end climb,SURFACE_DEPTH_REACHED
$STATE,3632,begin surface coast
$FINISH,-0.1,1.020833
$STATE,3653,end surface coast,CONTROL_FINISHED_OK
$STATE,3653,begin surface
$SM_CCo,3682,34.25,0.148,0,0,1052,220.03
$SM_GC,1.16,15.68,0.70,34.25,0.071,0.031,0.148,124,2070,1052,-8.64,-1.75,220.03,0,0,0,0,0,0,14.42,14.59,14.19
$IRIDIUM_FIX,-5343.28,-3.66,190220,040051
$TT8_MAMPS,0.021721,0.688331
$HUMID,56.69
$INTERNAL_PRESSURE,9.24397
$TCM_TEMP,13.30
$XPDR_PINGS,0
$SC_FREEKB,3565312
$24V_AH,12.74,255.510
$10V_AH,12.70,0.000
$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,36.125,30.450,185.300,34.250,0.000,25.724,16.301,248.331,0.000,0.000,16.429,1049.683,1571.566,297.629,1121.523,252.924,0.000,722.637,0.000,758.299,0.000,0.538,0.000
$DEVICE_MAMPS,377.145,127.755,1305.090,148.410,0.000,32.890,160.000,223.000,420.000,0.000,10.490,12.070,2.190,12.070,33.040,41.280,0.000,11.900,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3717.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,42.363,0.000,0.000,0.000
$MEM,340240
$DATA_FILE_SIZE,13452,423
$CAP_FILE_SIZE,77098,0
$CFSIZE,2097086464,1973190656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190220,062823,-5400.392,-2.725,9,1.5,49,-20.4,0.5,72.3,6,6.6