SAGE 17Apr15 *
SG573 *
Dive index
* Mission links
version: 66.07.10.p01
glider: 573
mission: 9
dive: 184
start: 4 30 115 3 30 22
data:
$ID,573
$MISSION,9
$DIVE,184
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,348
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52922
$LENGTH,1.8
$NAV_MODE,2
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-3415
$TGT_DEFAULT_LON,2600
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14102.812
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3020
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1919
$C_ROLL_CLIMB,1758
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2864
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-86.704987
$PRESSURE_SLOPE,0.00011693723
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,183
$GPS1,300415,031923,-3425.918,2546.071,41,1.0,42,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-57.2
$GPS2,300415,032959,-3425.761,2546.351,43,1.3,43,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_NORTH
$TGT_LATLONG,-3423.880,2522.020
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.229,0.204
$KALMAN_X,-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
$KALMAN_Y,-14362.4,-6812.0,-2167.9,-3593.3,-569.5
$MHEAD_RNG_PITCHd_Wd,280.4,37344,-16.9,-10.010
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,24,-1.05,-170.3,0.0,0.0,0,86,0.00,0.00,-59.20,0.000,2,0.000,0.000,78,1933,2918,0,0,0,0,0,0
$GC,88,-1.05,-170.3,3.2,-2.4,7,123,11.27,0.00,-15.15,0.000,6,0.259,0.000,2672,1933,3561,0,0,0,0,0,0
$GC,200,-0.83,-170.3,22.6,-21.3,23,210,0.28,0.00,0.00,0.000,6,0.221,0.000,2743,1934,3565,0,0,0,0,0,0
$GC,283,-0.71,-170.3,36.4,-15.4,36,292,0.17,0.00,0.00,0.000,6,0.203,0.000,2785,1934,3565,0,0,0,0,0,0
$GC,399,-0.71,-170.3,50.9,-11.1,55,407,0.00,2.50,0.00,0.000,4,0.000,0.099,2785,500,3566,0,0,0,0,0,0
$GC,597,-0.71,-170.3,75.4,-11.9,88,606,0.00,2.62,0.00,0.000,6,0.000,0.113,2777,1914,3568,0,0,0,0,0,0
$GC,713,-0.71,-170.3,87.9,-10.8,107,721,0.00,2.42,0.00,0.000,4,0.000,0.096,2765,3355,3569,0,0,0,0,0,0
$GC,810,-0.71,-170.3,97.5,-10.0,123,819,0.10,2.47,0.00,0.000,6,0.181,0.096,2787,1924,3570,0,0,0,0,0,0
$GC,925,-0.71,-170.3,109.8,-11.3,142,937,0.00,2.47,0.00,0.000,4,0.000,0.093,2778,3354,3570,0,0,0,0,0,0
$GC,979,-0.71,-170.3,115.8,-11.7,150,988,0.00,2.50,0.00,0.000,6,0.000,0.093,2778,1923,3571,0,0,0,0,0,0
$GC,1096,-0.71,-170.3,128.7,-10.8,169,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1923,3571,0,0,0,0,0,0
$GC,1209,-0.71,-170.3,139.9,-8.3,188,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1923,3571,0,0,0,0,0,0
$GC,1328,-0.71,-170.3,152.2,-10.3,207,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1923,3572,0,0,0,0,0,0
$GC,1441,-0.71,-170.3,164.4,-10.3,226,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1923,3572,0,0,0,0,0,0
$GC,1556,-0.71,-170.3,176.3,-11.4,245,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1923,3572,0,0,0,0,0,0
$GC,1668,-0.71,-170.3,188.5,-10.6,264,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1923,3572,0,0,0,0,0,0
$GC,1783,-0.71,-170.3,200.4,-10.6,283,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1923,3571,0,0,0,0,0,0
$GC,1897,-0.71,-170.3,213.0,-11.3,302,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1923,3571,0,0,0,0,0,0
$GC,2011,-0.71,-170.3,225.6,-11.0,321,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1923,3571,0,0,0,0,0,0
$GC,2123,-0.71,-170.3,237.5,-10.2,340,2132,0.00,2.50,0.00,0.000,4,0.000,0.103,2778,488,3571,0,0,0,0,0,0
$GC,2158,-0.71,-170.3,241.2,-11.6,345,2165,0.08,2.45,0.00,0.000,6,0.242,0.083,2783,1926,3570,0,0,0,0,0,0
$GC,2273,-0.71,-170.3,254.5,-13.0,364,2282,0.00,2.50,0.00,0.000,4,0.000,0.112,2772,3347,3570,0,0,0,0,0,0
$GC,2312,-0.71,-170.3,258.2,-9.9,370,2322,0.03,2.50,0.00,0.000,6,0.150,0.095,2781,1915,3570,0,0,0,0,0,0
$STATE,2385,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2385,begin apogee
$GC,2389,-0.25,0.0,266.4,12.0,382,2530,0.50,0.00,133.65,0.761,6,0.171,0.000,2931,1758,2864,0,0,0,0,0,0
$STATE,2531,end apogee,CONTROL_FINISHED_OK
$STATE,2531,begin climb
$GC,2532,1.05,170.3,272.7,0.0,401,2680,1.27,0.00,135.30,0.732,6,0.104,0.000,3344,1757,2166,0,0,0,0,0,0
$GC,2787,0.98,170.3,254.7,10.4,439,2795,0.00,2.38,0.00,0.000,4,0.000,0.058,3355,329,2163,0,0,0,0,0,0
$GC,2886,0.89,170.3,243.6,11.2,455,2895,0.17,2.33,0.00,0.000,6,0.156,0.037,3308,1776,2163,0,0,0,0,0,0
$GC,3001,0.86,175.5,231.4,9.8,474,3011,0.00,2.42,4.62,0.531,4,0.000,0.050,3318,329,2149,0,0,0,0,0,0
$GC,3053,0.83,184.4,226.5,9.7,482,3071,0.08,2.33,9.25,0.645,6,0.142,0.041,3294,1754,2112,0,0,0,0,0,0
$GC,3177,0.86,213.7,215.6,8.9,502,3207,0.00,0.00,25.62,0.702,6,0.000,0.000,3294,1754,1991,0,0,0,0,0,0
$GC,3312,0.89,235.5,204.0,9.1,524,3335,0.00,0.00,19.30,0.685,6,0.000,0.000,3294,1754,1903,0,0,0,0,0,0
$GC,3443,0.94,260.1,192.4,9.0,545,3474,0.10,0.00,21.90,0.687,6,0.094,0.000,3351,1755,1802,0,0,0,0,0,0
$GC,3582,0.92,260.1,176.2,12.0,567,3590,0.12,2.33,0.00,0.000,4,0.155,0.064,3318,3179,1798,0,0,0,0,0,0
$GC,3615,0.92,260.1,171.9,11.7,572,3624,0.00,2.42,0.00,0.000,6,0.000,0.072,3326,1758,1797,0,0,0,0,0,0
$GC,3730,0.92,260.1,159.0,11.4,591,3738,0.00,2.33,0.00,0.000,4,0.000,0.059,3338,322,1797,0,0,0,0,0,0
$GC,3796,0.89,260.1,150.9,11.7,602,3806,0.08,2.33,0.00,0.000,6,0.132,0.040,3313,1755,1796,0,0,0,0,0,0
$GC,3913,0.90,271.8,139.1,9.5,621,3928,0.00,0.00,11.00,0.643,6,0.000,0.000,3313,1755,1754,0,0,0,0,0,0
$GC,4035,0.94,284.7,127.2,9.5,641,4057,0.00,2.35,12.20,0.643,4,0.000,0.063,3312,3176,1701,0,0,0,0,0,0
$GC,4070,0.96,284.7,123.3,10.6,646,4079,0.00,2.45,0.00,0.000,6,0.000,0.076,3322,1748,1700,0,0,0,0,0,0
$GC,4185,0.96,284.7,110.7,11.2,665,4192,0.00,2.30,0.00,0.000,4,0.000,0.060,3333,330,1698,0,0,0,0,0,0
$GC,4228,0.96,284.7,105.0,12.9,672,4237,0.00,2.33,0.00,0.000,6,0.000,0.042,3333,1755,1698,0,0,0,0,0,0
$GC,4343,0.96,284.7,91.4,11.3,691,4351,0.00,2.35,0.00,0.000,4,0.000,0.075,3333,3190,1698,0,0,0,0,0,0
$GC,4382,0.96,284.7,86.7,12.2,697,4389,0.00,2.40,0.00,0.000,6,0.000,0.076,3342,1757,1697,0,0,0,0,0,0
$GC,4495,0.96,284.7,74.1,11.4,716,4505,0.00,2.35,0.00,0.000,4,0.000,0.062,3354,332,1697,0,0,0,0,0,0
$GC,4557,0.93,284.7,66.6,12.8,726,4567,0.10,2.33,0.00,0.000,6,0.133,0.042,3320,1765,1696,0,0,0,0,0,0
$GC,4673,0.95,284.7,52.7,10.8,745,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,1765,1696,0,0,0,0,0,0
$GC,4786,0.98,284.7,41.0,11.3,764,4795,0.00,2.35,0.00,0.000,4,0.000,0.055,3330,330,1695,0,0,0,0,0,0
$GC,5060,1.00,284.7,14.2,13.1,809,5069,0.00,2.33,0.00,0.000,6,0.000,0.050,3330,1751,1692,0,0,0,0,0,0
$STATE,5145,end climb,SURFACE_DEPTH_REACHED
$STATE,5145,begin surface coast
$FINISH,1.5,1.022071
$STATE,5166,end surface coast,CONTROL_FINISHED_OK
$STATE,5166,begin surface
$SM_CCo,5182,5.47,0.051,0,0,1639,300.24
$SM_GC,3.12,0.00,0.00,5.47,0.000,0.000,0.051,70,1933,1639,-9.22,0.40,300.24
$IRIDIUM_FIX,-3412.10,2542.51,240208,151501
$TT8_MAMPS,0.026964
$HUMID,61.10
$INTERNAL_PRESSURE,9.36249
$TCM_TEMP,17.20
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,250.1,30.6
$24V_AH,24.0,19.661
$10V_AH,10.2,16.032
$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,23.025,67.925,372.850,5.475,0.000,24.345,27.857,414.073,11.000,0.000,45.171,1952.546,374.395,483.088,2854.805,150.823,0.000,1316.789,0.000,2109.321,0.000,35.928,0.000
$DEVICE_MAMPS,258.570,152.235,761.175,51.255,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,562.187,2141.027,1467.862,2309.879,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331380
$DATA_FILE_SIZE,60453,825
$CAP_FILE_SIZE,102364,0
$CFSIZE,2097086464,2073198592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.452, 78.9,1
$GPS,300415,045805,-3425.727,2546.979,40,1.2,41,-27.8