version: 66.12
revision: eAGLERAY
glider: 574
mission: 7
dive: 562
start: 2 19 120 9 14 32
data:
$ID,574
$MISSION,7
$DIVE,562
$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,67
$T_MISSION,77
$T_ABORT,92
$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,19
$R_STBD_OVSHOOT,43
$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
$GPS1,190220,090349,-5359.2466,-2.3519,9,1.0,21,-20.4,0.0,1.0,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-71.4
$GPS2,190220,091349,-5359.1650,-2.3376,10,1.9,51,-20.4,0.6,16.4,6,6.2
$SPEED_LIMITS,0.172,0.182
$TGT_NAME,WPNW
$TGT_LATLONG,-5400.000,0.000
$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,141.7,2978,-26.4,-9.950,-28.62,1079
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.89,-4.9,121,2058,1058,1032,0.0,0.0,0,85,0.00,0.00,-58.38,0.000,16390,0.000,0.000,121,2058,1972,1965,1979,0,0,0,0,0,0,14.78,12.73,14.61
$GC,89,-0.89,-4.9,121,2058,1964,1980,2.4,-2.7,11,113,16.88,2.50,0.00,0.000,2820,0.373,0.056,2613,3452,1974,1969,1979,0,0,0,0,0,0,13.81,14.26,14.16
$GC,552,-0.89,-4.9,2613,3452,1973,1977,70.8,-12.4,86,558,0.00,2.53,0.00,0.000,3078,0.000,0.046,2613,2037,1975,1973,1977,0,0,0,0,0,0,14.46,14.30,14.48
$GC,866,-0.89,-4.9,2613,2037,1976,1975,112.7,-13.8,117,871,0.00,2.58,0.00,0.000,2564,0.000,0.069,2613,639,1975,1976,1975,0,0,0,0,0,0,14.77,14.22,14.77
$GC,1015,-0.89,-4.9,2613,642,1978,1974,135.6,-15.8,131,1022,0.00,2.47,0.00,0.000,3078,0.000,0.034,2613,2045,1976,1978,1974,0,0,0,0,0,0,14.28,14.18,14.30
$GC,1321,-0.89,-4.9,2613,2044,1978,1973,174.8,-11.6,162,1327,0.00,2.55,0.00,0.000,2308,0.000,0.060,2613,3451,1975,1978,1973,0,0,0,0,0,0,14.71,14.15,14.72
$GC,1395,-0.89,-4.9,2613,3451,1977,1972,182.8,-10.6,169,1401,0.00,2.53,0.00,0.000,3078,0.000,0.044,2613,2045,1974,1977,1972,0,0,0,0,0,0,14.26,14.11,14.31
$STATE,1556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1556,begin apogee
$GC,1563,-0.17,0.0,2613,1597,1977,1972,200.3,-9.9,185,1578,1.40,0.00,8.25,1.216,10246,0.250,0.000,2846,1597,1950,1959,1942,0,0,0,0,0,0,13.77,14.38,13.50
$STATE,1580,end apogee,CONTROL_FINISHED_OK
$STATE,1580,begin climb
$GC,1583,0.89,4.9,2846,1598,1958,1942,201.9,0.0,187,1602,1.70,2.38,6.50,1.102,10756,0.138,0.080,3172,316,1930,1939,1922,0,0,0,0,0,0,14.26,14.12,13.53
$GC,1707,1.08,164.3,3172,316,1939,1922,204.7,-5.2,198,1876,0.32,2.20,156.88,1.296,11270,0.094,0.028,3250,1620,1279,1314,1244,0,0,0,0,0,0,14.28,14.47,13.12
$GC,2176,1.08,164.3,3249,1620,1311,1242,153.1,15.0,245,2181,0.00,2.42,0.00,0.000,260,0.000,0.046,3250,2991,1277,1311,1243,0,0,0,0,0,0,14.73,14.32,14.74
$GC,2325,1.08,164.3,3249,2991,1309,1240,131.8,13.4,259,2332,0.00,2.53,0.00,0.000,3078,0.000,0.059,3250,1604,1274,1309,1239,0,0,0,0,0,0,14.47,14.30,14.50
$GC,2631,1.08,164.3,3250,1604,1309,1239,96.1,10.3,290,2633,0.00,0.00,0.00,0.000,2054,0.000,0.000,3250,1610,1274,1309,1240,0,0,0,0,0,0,14.80,14.80,14.80
$GC,2932,1.09,167.7,3250,1604,1309,1238,65.1,9.6,320,2937,0.00,2.40,0.00,0.000,2564,0.000,0.081,3250,307,1274,1309,1240,0,0,0,0,0,0,14.81,14.01,14.82
$GC,3340,1.09,167.7,3250,307,1309,1238,16.2,13.9,386,3347,0.00,2.20,0.00,0.000,3078,0.000,0.028,3250,1598,1274,1309,1239,0,0,0,0,0,0,14.47,14.38,14.48
$GC,3412,1.09,167.7,3250,1600,1309,1238,7.1,12.1,399,3418,0.00,0.00,0.00,0.000,2054,0.000,0.000,3250,1601,1274,1309,1239,0,0,0,0,0,0,14.75,14.75,14.75
$GC,3451,1.09,167.7,3250,1600,1309,1239,3.0,10.9,406,3457,0.00,0.00,0.00,0.000,2054,0.000,0.000,3250,1601,1274,1309,1239,0,0,0,0,0,0,14.81,14.78,14.81
$STATE,3461,end climb,SURFACE_DEPTH_REACHED
$STATE,3462,begin surface coast
$FINISH,-0.4,1.020830
$STATE,3483,end surface coast,CONTROL_FINISHED_OK
$STATE,3483,begin surface
$SM_CCo,3512,43.53,0.150,0,0,1052,220.03
$SM_GC,1.24,15.77,0.75,43.53,0.077,0.039,0.150,128,2045,1052,-8.65,-1.58,220.03,0,0,0,0,0,0,14.35,14.50,14.20
$IRIDIUM_FIX,-5339.63,0.00,190220,075136
$TT8_MAMPS,0.020972,0.710801
$HUMID,55.86
$INTERNAL_PRESSURE,9.24397
$TCM_TEMP,13.50
$XPDR_PINGS,0
$SC_FREEKB,3565312
$24V_AH,12.73,255.969
$10V_AH,12.67,0.000
$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,36.075,30.825,171.625,43.525,0.000,25.534,19.872,255.151,0.000,0.000,54.265,1056.993,1403.772,285.605,1184.327,252.897,0.000,707.323,0.000,780.778,0.000,0.538,0.000
$DEVICE_MAMPS,372.555,81.090,1295.910,149.940,0.000,32.890,160.000,223.000,420.000,0.000,10.490,12.070,2.190,12.070,33.040,41.280,0.000,11.900,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3542.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,42.235,0.000,0.000,0.000
$MEM,340560
$DATA_FILE_SIZE,13478,412
$CAP_FILE_SIZE,73778,0
$CFSIZE,2097086464,1972699136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190220,101520,-5359.057,-2.133,8,1.5,48,-20.4,0.0,286.8,6,6.5