version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 561
start: 2 19 120 7 58 41
data:
$ID,574
$MISSION,7
$DIVE,561
$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,24
$R_STBD_OVSHOOT,33
$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
$GPS1,190220,074537,-5359.8906,-2.5465,8,1.1,48,-20.4,0.7,46.3,7,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-70.0
$GPS2,190220,075801,-5359.7920,-2.4175,8,0.8,37,-20.4,0.4,58.0,10,4.8
$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,0.4,11417,-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,-4.9,107,2042,1055,1036,0.0,0.0,0,85,0.00,0.00,-58.05,0.000,16390,0.000,0.000,106,2042,1970,1961,1979,0,0,0,0,0,0,14.77,12.72,14.62
$GC,89,-0.88,-4.9,106,2042,1963,1980,2.5,-3.9,11,113,17.05,0.00,0.00,0.000,2566,0.374,0.000,2616,2042,1975,1972,1979,0,0,0,0,0,0,13.91,14.29,14.24
$GC,146,-0.88,-4.9,2616,2041,1977,1978,15.4,-17.3,21,152,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2042,1977,1977,1978,0,0,0,0,0,0,14.74,14.75,14.74
$GC,215,-0.88,-4.9,2616,2042,1977,1977,26.2,-13.7,34,222,0.00,2.58,0.00,0.000,2564,0.000,0.070,2617,641,1977,1978,1977,0,0,0,0,0,0,14.73,14.15,14.73
$GC,260,-0.88,-4.9,2616,640,1979,1976,33.1,-15.3,42,267,0.00,2.50,0.00,0.000,3078,0.000,0.040,2612,2055,1976,1978,1975,0,0,0,0,0,0,14.28,14.15,14.31
$GC,331,-0.88,-4.9,2616,2052,1978,1975,43.6,-15.3,55,336,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,2052,1976,1978,1975,0,0,0,0,0,0,14.75,14.75,14.75
$GC,405,-0.88,-4.9,2616,2052,1978,1974,54.6,-14.4,66,410,0.00,2.53,0.00,0.000,2308,0.000,0.062,2617,3452,1976,1978,1974,0,0,0,0,0,0,14.76,14.04,14.77
$GC,468,-0.88,-4.9,2616,3453,1977,1973,63.8,-14.4,72,474,0.00,2.50,0.00,0.000,3078,0.000,0.047,2617,2048,1975,1978,1973,0,0,0,0,0,0,14.38,14.23,14.40
$GC,782,-0.88,-4.9,2616,2048,1977,1972,103.5,-11.4,103,784,0.00,0.00,0.00,0.000,2054,0.000,0.000,2617,2048,1975,1978,1973,0,0,0,0,0,0,14.78,14.78,14.78
$GC,1083,-0.88,-4.9,2616,2048,1977,1972,141.6,-13.3,133,1085,0.00,0.00,0.00,0.000,2054,0.000,0.000,2616,2048,1974,1977,1972,0,0,0,0,0,0,14.76,14.77,14.76
$GC,1383,-0.88,-4.9,2616,2048,1978,1972,181.2,-13.0,163,1389,0.00,2.55,0.00,0.000,2308,0.000,0.059,2617,3454,1974,1977,1971,0,0,0,0,0,0,14.73,14.21,14.73
$GC,1437,-0.88,-4.9,2617,3454,1977,1970,188.1,-12.6,168,1442,0.00,2.53,0.00,0.000,3078,0.000,0.044,2617,2047,1973,1977,1970,0,0,0,0,0,0,14.41,14.26,14.45
$STATE,1538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1538,begin apogee
$GC,1545,-0.17,0.0,2617,1598,1977,1970,200.2,-11.6,178,1560,1.38,0.00,8.25,1.192,10246,0.249,0.000,2845,1598,1950,1959,1941,0,0,0,0,0,0,13.66,14.37,13.47
$STATE,1562,end apogee,CONTROL_FINISHED_OK
$STATE,1562,begin climb
$GC,1565,0.88,4.9,2845,1597,1959,1941,202.4,0.0,180,1579,1.70,0.00,6.95,1.105,10246,0.138,0.000,3172,1597,1929,1938,1920,0,0,0,0,0,0,14.26,14.09,13.40
$GC,1880,1.07,159.3,3171,1598,1938,1919,216.3,-5.4,211,2044,0.28,2.58,153.25,1.310,10500,0.092,0.043,3245,3001,1299,1333,1266,0,0,0,0,0,0,14.32,13.95,13.23
$GC,2153,1.07,159.3,3245,3001,1330,1265,198.5,14.6,238,2159,0.00,2.55,0.00,0.000,3078,0.000,0.058,3245,1609,1297,1330,1265,0,0,0,0,0,0,14.32,14.16,14.34
$GC,2467,1.07,159.3,3244,1609,1330,1263,154.3,13.9,269,2472,0.00,2.42,0.00,0.000,2564,0.000,0.082,3245,306,1296,1330,1263,0,0,0,0,0,0,14.74,14.18,14.74
$GC,2592,1.07,159.3,3244,306,1330,1261,137.0,14.0,281,2598,0.00,2.25,0.00,0.000,3078,0.000,0.028,3246,1619,1296,1330,1262,0,0,0,0,0,0,14.54,14.45,14.56
$GC,2906,1.07,159.3,3245,1625,1330,1261,98.9,11.6,312,2911,0.00,2.47,0.00,0.000,2564,0.000,0.080,3245,304,1296,1330,1262,0,0,0,0,0,0,14.80,14.15,14.80
$GC,3081,1.07,159.3,3244,304,1330,1262,77.2,12.6,329,3086,0.00,2.22,0.00,0.000,3078,0.000,0.027,3245,1601,1295,1330,1261,0,0,0,0,0,0,14.42,14.34,14.45
$GC,3393,1.07,159.3,3244,1608,1330,1261,44.8,12.1,364,3398,0.00,0.00,0.00,0.000,2054,0.000,0.000,3245,1607,1295,1330,1261,0,0,0,0,0,0,14.79,14.79,14.79
$GC,3462,1.07,159.3,3244,1607,1330,1261,35.8,11.6,377,3467,0.00,0.00,0.00,0.000,2054,0.000,0.000,3245,1608,1295,1330,1261,0,0,0,0,0,0,14.77,14.78,14.78
$GC,3530,1.07,159.3,3245,1607,1330,1261,28.2,11.6,390,3536,0.00,0.00,0.00,0.000,2054,0.000,0.000,3245,1607,1295,1330,1261,0,0,0,0,0,0,14.79,14.80,14.79
$GC,3599,1.07,159.3,3244,1607,1330,1261,20.2,12.6,403,3605,0.00,0.00,0.00,0.000,2054,0.000,0.000,3245,1608,1295,1330,1261,0,0,0,0,0,0,14.81,14.81,14.81
$GC,3668,1.07,161.0,3245,1607,1330,1260,12.6,9.4,416,3675,0.00,2.40,0.00,0.000,2564,0.000,0.076,3245,303,1295,1330,1261,0,0,0,0,0,0,14.78,14.23,14.78
$STATE,3748,end climb,SURFACE_DEPTH_REACHED
$STATE,3748,begin surface coast
$FINISH,0.7,1.020830
$STATE,3764,end surface coast,CONTROL_FINISHED_OK
$STATE,3764,begin surface
$SM_CCo,3795,47.38,0.148,0,0,1052,220.03
$SM_GC,0.93,15.52,3.08,47.38,0.062,0.035,0.148,126,2049,1052,-8.65,-1.36,220.03,0,0,0,0,0,0,14.40,14.45,14.19
$IRIDIUM_FIX,-5336.00,-105.82,190220,074928
$TT8_MAMPS,0.021721,0.883071
$HUMID,56.06
$INTERNAL_PRESSURE,9.24397
$TCM_TEMP,13.40
$XPDR_PINGS,0
$SC_FREEKB,3565312
$24V_AH,12.72,255.818
$10V_AH,12.68,0.000
$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,35.925,35.950,168.450,47.375,0.000,46.717,83.921,266.241,0.000,0.000,38.155,1084.062,1693.947,315.680,1260.502,257.291,0.000,742.677,0.000,769.086,0.000,0.538,0.000
$DEVICE_MAMPS,374.085,81.855,1309.680,147.645,0.000,32.890,160.000,223.000,420.000,0.000,10.490,12.070,2.190,12.070,33.040,41.280,0.000,11.900,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3828.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,42.216,0.000,0.000,0.000
$MEM,340216
$DATA_FILE_SIZE,13460,434
$CAP_FILE_SIZE,80713,0
$CFSIZE,2097086464,1972862976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190220,090349,-5359.247,-2.352,9,1.0,21,-20.4,0.0,1.0,8,9.9