SAGE 17Apr15 * SG573 * Dive index * Mission links
version: 66.07.10.p01
glider: 573
mission: 9
dive: 200
start: 5 1 115 18 6 28
data:
$ID,573
$MISSION,9
$DIVE,200
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$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,-14159.085
$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,16
$R_STBD_OVSHOOT,19
$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,199
$GPS1,010515,175654,-3427.662,2539.111,41,1.2,42,-27.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-68.8
$GPS2,010515,180605,-3427.689,2539.154,35,1.2,36,-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,322.0,27116,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.05,-170.3,0.0,0.0,0,71,0.00,0.00,-44.12,0.000,2,0.000,0.000,68,1933,2670,0,0,0,0,0,0
$GC,73,-1.05,-170.3,3.3,-3.5,5,119,11.50,2.58,-26.75,0.000,4,0.263,0.108,2674,497,3562,0,0,0,0,0,0
$GC,177,-0.84,-170.3,17.4,-20.9,19,187,0.30,2.58,0.00,0.000,6,0.214,0.101,2742,1904,3565,0,0,0,0,0,0
$GC,262,-0.73,-170.3,32.7,-16.3,32,271,0.15,2.53,0.00,0.000,4,0.195,0.100,2768,3337,3566,0,0,0,0,0,0
$GC,370,-0.73,-170.3,46.8,-10.7,50,380,0.03,2.50,0.00,0.000,6,0.130,0.093,2777,1926,3567,0,0,0,0,0,0
$GC,488,-0.73,-170.3,57.7,-9.3,69,496,0.00,2.50,0.00,0.000,4,0.000,0.099,2777,478,3568,0,0,0,0,0,0
$GC,528,-0.73,-170.3,61.8,-10.3,75,535,0.05,2.53,0.00,0.000,6,0.231,0.092,2776,1920,3568,0,0,0,0,0,0
$GC,644,-0.73,-170.3,73.8,-10.4,94,653,0.00,2.45,0.00,0.000,4,0.000,0.096,2766,3341,3569,0,0,0,0,0,0
$GC,770,-0.73,-170.3,85.7,-8.4,115,778,0.08,2.53,0.00,0.000,6,0.171,0.106,2781,1914,3570,0,0,0,0,0,0
$GC,888,-0.73,-170.3,96.2,-8.5,134,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1915,3570,0,0,0,0,0,0
$GC,1003,-0.73,-170.3,106.5,-8.8,153,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1915,3571,0,0,0,0,0,0
$GC,1114,-0.73,-170.3,116.3,-8.3,172,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1915,3571,0,0,0,0,0,0
$GC,1228,-0.73,-170.3,126.0,-8.2,191,1235,0.00,2.42,0.00,0.000,4,0.000,0.093,2782,481,3572,0,0,0,0,0,0
$GC,1256,-0.73,-170.3,128.4,-9.2,195,1263,0.00,2.50,0.00,0.000,6,0.000,0.090,2773,1921,3571,0,0,0,0,0,0
$GC,1370,-0.73,-170.3,140.1,-10.5,214,1379,0.00,2.45,0.00,0.000,4,0.000,0.096,2762,3347,3571,0,0,0,0,0,0
$GC,1456,-0.73,-170.3,149.5,-10.7,228,1469,0.05,2.53,0.00,0.000,6,0.155,0.102,2777,1925,3572,0,0,0,0,0,0
$GC,1576,-0.73,-170.3,162.3,-10.6,247,1583,0.00,2.45,0.00,0.000,4,0.000,0.096,2777,483,3572,0,0,0,0,0,0
$GC,1596,-0.73,-170.3,165.0,-11.8,250,1605,0.00,2.47,0.00,0.000,6,0.000,0.080,2768,1918,3571,0,0,0,0,0,0
$GC,1713,-0.73,-170.3,178.6,-12.0,269,1721,0.05,2.47,0.00,0.000,4,0.251,0.103,2766,3360,3572,0,0,0,0,0,0
$GC,1777,-0.73,-170.3,186.3,-11.6,279,1785,0.08,2.50,0.00,0.000,6,0.176,0.097,2781,1916,3571,0,0,0,0,0,0
$GC,1893,-0.73,-170.3,199.2,-11.4,298,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1916,3571,0,0,0,0,0,0
$GC,2011,-0.73,-170.3,212.4,-11.3,317,2019,0.00,2.42,0.00,0.000,4,0.000,0.093,2781,477,3571,0,0,0,0,0,0
$GC,2045,-0.73,-170.3,216.3,-11.9,322,2054,0.00,2.53,0.00,0.000,6,0.000,0.088,2773,1917,3571,0,0,0,0,0,0
$GC,2162,-0.73,-170.3,229.5,-11.1,341,2170,0.00,2.42,0.00,0.000,4,0.000,0.098,2762,3362,3571,0,0,0,0,0,0
$GC,2230,-0.73,-170.3,237.2,-10.5,352,2240,0.05,2.58,0.00,0.000,6,0.166,0.105,2776,1919,3571,0,0,0,0,0,0
$GC,2348,-0.73,-170.3,248.9,-10.9,371,2355,0.00,2.40,0.00,0.000,4,0.000,0.093,2776,488,3571,0,0,0,0,0,0
$GC,2375,-0.73,-170.3,252.0,-10.8,375,2383,0.05,2.45,0.00,0.000,6,0.255,0.082,2776,1925,3571,0,0,0,0,0,0
$GC,2489,-0.73,-170.3,264.4,-11.8,394,2498,0.00,2.50,0.00,0.000,4,0.000,0.109,2765,3348,3571,0,0,0,0,0,0
$GC,2560,-0.73,-170.3,271.7,-10.5,405,2569,0.08,2.55,0.00,0.000,6,0.181,0.112,2780,1916,3570,0,0,0,0,0,0
$GC,2674,-0.73,-170.3,283.9,-10.2,424,2683,0.00,2.45,0.00,0.000,4,0.000,0.093,2780,490,3570,0,0,0,0,0,0
$GC,2702,-0.73,-170.3,286.9,-11.3,428,2711,0.00,2.47,0.00,0.000,6,0.000,0.083,2771,1913,3570,0,0,0,0,0,0
$GC,2817,-0.73,-170.3,299.7,-11.5,447,2830,0.00,2.47,0.00,0.000,4,0.000,0.105,2760,3355,3570,0,0,0,0,0,0
$GC,2907,-0.73,-170.3,309.9,-10.8,461,2915,0.08,2.58,0.00,0.000,6,0.182,0.114,2777,1916,3570,0,0,0,0,0,0
$STATE,2981,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2981,begin apogee
$GC,2985,-0.25,0.0,318.2,10.7,473,3130,0.55,0.00,135.23,0.802,6,0.194,0.000,2933,1760,2862,0,0,0,0,0,0
$STATE,3130,end apogee,CONTROL_FINISHED_OK
$STATE,3131,begin climb
$GC,3132,1.05,170.3,325.2,0.0,492,3280,1.27,2.60,136.30,0.773,4,0.105,0.078,3345,3186,2166,0,0,0,0,0,0
$GC,3317,0.95,170.3,314.5,11.6,518,3327,0.08,2.58,0.00,0.000,6,0.144,0.078,3333,1746,2164,0,0,0,0,0,0
$GC,3434,0.89,170.3,302.2,10.4,537,3443,0.10,2.33,0.00,0.000,4,0.194,0.054,3320,338,2163,0,0,0,0,0,0
$GC,3464,0.84,170.3,299.2,10.2,541,3472,0.10,2.33,0.00,0.000,6,0.161,0.035,3294,1775,2163,0,0,0,0,0,0
$GC,3577,0.88,201.0,288.7,8.8,560,3607,0.00,0.00,25.90,0.744,6,0.000,0.000,3294,1775,2043,0,0,0,0,0,0
$GC,3714,0.89,214.5,276.2,9.5,582,3729,0.00,0.00,12.45,0.700,6,0.000,0.000,3294,1775,1989,0,0,0,0,0,0
$GC,3835,0.93,243.3,265.0,8.9,602,3867,0.08,2.47,25.58,0.735,4,0.112,0.052,3352,332,1871,0,0,0,0,0,0
$GC,3928,0.87,243.3,254.5,12.7,616,3937,0.15,2.35,0.00,0.000,6,0.135,0.037,3304,1761,1867,0,0,0,0,0,0
$GC,4044,0.88,250.2,242.5,9.7,635,4059,0.00,0.00,6.70,0.625,6,0.000,0.000,3304,1761,1844,0,0,0,0,0,0
$GC,4166,0.88,255.7,230.3,9.8,655,4181,0.00,0.00,6.25,0.613,6,0.000,0.000,3304,1761,1822,0,0,0,0,0,0
$GC,4288,0.91,258.2,218.0,9.9,675,4304,0.00,2.35,3.92,0.443,4,0.000,0.050,3313,343,1811,0,0,0,0,0,0
$GC,4323,0.91,258.2,214.3,10.6,680,4331,0.00,2.30,0.00,0.000,6,0.000,0.039,3313,1759,1810,0,0,0,0,0,0
$GC,4437,0.91,258.2,202.5,10.3,699,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1759,1809,0,0,0,0,0,0
$GC,4549,0.91,258.2,190.6,10.1,718,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1759,1809,0,0,0,0,0,0
$GC,4664,0.91,258.2,178.7,11.5,737,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1759,1809,0,0,0,0,0,0
$GC,4778,0.91,258.2,166.8,10.6,756,4786,0.00,2.33,0.00,0.000,4,0.000,0.053,3323,335,1809,0,0,0,0,0,0
$GC,4827,0.91,258.2,161.1,11.7,764,4836,0.00,2.28,0.00,0.000,6,0.000,0.038,3323,1751,1808,0,0,0,0,0,0
$GC,4944,0.91,258.2,148.9,10.8,783,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1751,1808,0,0,0,0,0,0
$GC,5056,0.91,258.2,137.0,10.3,802,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1751,1808,0,0,0,0,0,0
$GC,5172,0.91,258.2,124.9,10.6,821,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1751,1807,0,0,0,0,0,0
$GC,5284,0.91,258.2,112.9,10.0,840,5293,0.00,2.33,0.00,0.000,4,0.000,0.071,3323,3172,1807,0,0,0,0,0,0
$GC,5319,0.91,258.2,109.4,11.0,845,5328,0.08,2.30,0.00,0.000,6,0.195,0.067,3316,1758,1807,0,0,0,0,0,0
$GC,5433,0.91,258.2,97.6,10.6,864,5442,0.00,2.30,0.00,0.000,4,0.000,0.058,3326,339,1807,0,0,0,0,0,0
$GC,5506,0.91,258.2,90.1,11.1,876,5516,0.03,2.28,0.00,0.000,6,0.152,0.037,3316,1761,1807,0,0,0,0,0,0
$GC,5622,0.91,258.3,78.9,10.0,895,5629,0.00,2.28,0.00,0.000,4,0.000,0.067,3316,3186,1806,0,0,0,0,0,0
$GC,5667,0.91,258.3,74.1,11.1,902,5675,0.00,2.38,0.00,0.000,6,0.000,0.068,3325,1753,1806,0,0,0,0,0,0
$GC,5782,0.91,258.3,61.4,10.9,921,5790,0.00,2.25,0.00,0.000,4,0.000,0.057,3336,337,1806,0,0,0,0,0,0
$GC,5862,0.88,258.3,51.6,12.4,934,5872,0.08,2.28,0.00,0.000,6,0.131,0.038,3309,1761,1806,0,0,0,0,0,0
$GC,5979,0.91,258.3,39.0,10.6,953,5987,0.00,2.28,0.00,0.000,4,0.000,0.054,3319,339,1805,0,0,0,0,0,0
$GC,6047,0.95,269.6,32.0,9.6,964,6064,0.00,2.28,9.50,0.575,6,0.000,0.042,3319,1758,1765,0,0,0,0,0,0
$GC,6179,1.03,302.6,20.7,8.7,984,6207,0.10,2.33,16.77,0.579,4,0.095,0.066,3386,3177,1627,0,0,0,0,0,0
$GC,6235,0.96,302.6,13.9,13.8,991,6245,0.17,2.35,0.00,0.000,6,0.141,0.060,3340,1746,1623,0,0,0,0,0,0
$GC,6322,0.96,302.6,3.1,12.0,1004,6331,0.00,2.30,0.00,0.000,4,0.000,0.060,3351,348,1620,0,0,0,0,0,0
$STATE,6338,end climb,SURFACE_DEPTH_REACHED
$STATE,6338,begin surface coast
$FINISH,1.4,1.011831
$STATE,6358,end surface coast,CONTROL_FINISHED_OK
$STATE,6358,begin surface
$SM_CCo,6437,0.00,0.000,0,0,1617,305.64
$SM_GC,2.42,8.77,0.00,0.00,0.050,0.000,0.000,76,1931,1617,-9.08,0.34,305.64
$IRIDIUM_FIX,-3412.10,2540.16,260208,050524
$TT8_MAMPS,0.026964
$HUMID,59.37
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.6,32.5
$24V_AH,23.9,21.611
$10V_AH,10.3,19.096
$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,24.075,126.600,378.600,0.000,0.000,25.497,19.574,353.947,6.750,0.000,38.304,2417.403,526.701,563.851,3293.540,179.436,0.000,1579.344,0.000,2571.311,0.000,43.521,0.000
$DEVICE_MAMPS,263.160,151.470,801.720,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.639,2612.928,1781.538,2822.634,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331352
$DATA_FILE_SIZE,73889,1009
$CAP_FILE_SIZE,129157,0
$CFSIZE,2097086464,2071003136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.031,296.9,1
$GPS,010515,195504,-3427.193,2538.068,41,1.2,47,-27.8