SAGE 17Apr15 *
SG573 *
Dive index
* Mission links
version: 66.07.10.p01
glider: 573
mission: 9
dive: 454
start: 5 17 115 14 30 49
data:
$ID,573
$MISSION,9
$DIVE,454
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,10
$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,611.52295
$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,-14910.8
$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,3034
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$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,14
$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,2902
$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,453
$GPS1,170515,142205,-3439.623,2510.906,31,1.5,31,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-62.9
$GPS2,170515,143029,-3439.696,2510.677,43,1.0,43,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3429.061,2512.952
$TGT_RADIUS,1852.000
$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,37.8,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.05,-170.3,0.0,0.0,0,103,0.00,0.00,-73.03,0.000,2,0.000,0.000,75,1921,2239,0,0,0,0,0,0
$GC,106,-1.05,-170.3,3.2,-3.9,12,162,11.20,2.45,-38.92,0.000,4,0.247,0.104,2678,3345,3595,0,0,0,0,0,0
$GC,251,-0.86,-170.3,24.8,-22.3,35,257,0.28,2.55,0.00,0.000,6,0.168,0.103,2753,1923,3597,0,0,0,0,0,0
$GC,398,-0.79,-170.3,49.8,-16.7,60,409,0.10,2.45,0.00,0.000,4,0.205,0.083,2766,3349,3599,0,0,0,0,0,0
$GC,456,-0.79,-170.3,58.3,-13.2,69,463,0.00,2.58,0.00,0.000,6,0.000,0.103,2766,1924,3599,0,0,0,0,0,0
$GC,811,-0.79,-170.3,101.6,-10.3,130,815,0.00,2.45,0.00,0.000,4,0.000,0.091,2757,3355,3601,0,0,0,0,0,0
$GC,918,-0.79,-170.3,113.4,-10.7,139,924,0.08,2.60,0.00,0.000,6,0.174,0.109,2772,1917,3601,0,0,0,0,0,0
$GC,1246,-0.79,-170.3,150.1,-12.0,169,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1917,3602,0,0,0,0,0,0
$GC,1571,-0.79,-170.3,189.6,-11.9,200,1578,0.00,2.42,0.00,0.000,4,0.000,0.091,2773,476,3602,0,0,0,0,0,0
$GC,1600,-0.79,-170.3,193.4,-12.2,202,1606,0.00,2.53,0.00,0.000,6,0.000,0.089,2764,1919,3602,0,0,0,0,0,0
$GC,1928,-0.79,-170.3,234.8,-12.9,233,1933,0.03,2.47,0.00,0.000,4,0.290,0.103,2761,3355,3602,0,0,0,0,0,0
$GC,2096,-0.82,-170.3,255.0,-11.8,247,2101,0.00,2.60,0.00,0.000,6,0.000,0.112,2760,1917,3600,0,0,0,0,0,0
$GC,2421,-0.82,-170.3,294.6,-12.4,278,2425,0.00,2.38,0.00,0.000,4,0.000,0.084,2760,486,3600,0,0,0,0,0,0
$GC,2517,-0.82,-170.3,307.4,-12.8,286,2522,0.08,2.45,0.00,0.000,6,0.212,0.075,2764,1925,3599,0,0,0,0,0,0
$GC,2842,-0.82,-170.3,349.3,-13.0,316,2849,0.00,2.47,0.00,0.000,4,0.000,0.111,2754,3343,3599,0,0,0,0,0,0
$GC,3054,-0.82,-170.3,374.9,-12.7,334,3060,0.05,2.62,0.00,0.000,6,0.157,0.116,2766,1911,3597,0,0,0,0,0,0
$GC,3376,-0.82,-170.3,414.9,-11.7,359,3380,0.00,2.40,0.00,0.000,4,0.000,0.086,2765,486,3596,0,0,0,0,0,0
$GC,3469,-0.82,-170.3,426.7,-12.6,363,3474,0.00,2.47,0.00,0.000,6,0.000,0.080,2757,1924,3596,0,0,0,0,0,0
$GC,3793,-0.82,-170.3,470.6,-13.3,379,3798,0.00,2.55,0.00,0.000,4,0.000,0.112,2746,3352,3596,0,0,0,0,0,0
$GC,3911,-0.82,-170.3,485.0,-11.2,384,3916,0.08,2.62,0.00,0.000,6,0.148,0.113,2762,1921,3595,0,0,0,0,0,0
$STATE,4041,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4041,begin apogee
$GC,4047,-0.25,0.0,500.0,11.9,390,4185,0.68,0.00,134.98,0.888,6,0.186,0.000,2947,1759,2902,0,0,0,0,0,0
$STATE,4186,end apogee,CONTROL_FINISHED_OK
$STATE,4186,begin climb
$GC,4188,1.05,170.3,506.9,0.0,397,4342,1.27,2.75,141.93,0.861,4,0.091,0.098,3365,3173,2207,0,0,0,0,0,0
$GC,4594,0.93,188.7,483.8,9.3,416,4619,0.15,2.58,16.27,0.806,6,0.175,0.100,3337,1742,2132,0,0,0,0,0,0
$GC,4941,0.88,227.8,453.9,8.5,433,4982,0.08,2.33,33.85,0.842,4,0.210,0.054,3332,338,1973,0,0,0,0,0,0
$GC,5055,0.83,239.8,443.5,9.5,438,5072,0.12,2.28,11.50,0.766,6,0.155,0.033,3298,1772,1924,0,0,0,0,0,0
$GC,5400,0.85,261.8,412.8,9.1,455,5425,0.00,2.33,19.65,0.810,4,0.000,0.048,3307,328,1833,0,0,0,0,0,0
$GC,5460,0.84,269.8,407.4,9.7,458,5475,0.00,2.28,8.38,0.718,6,0.000,0.034,3307,1756,1801,0,0,0,0,0,0
$GC,5798,0.85,281.8,375.6,9.5,486,5812,0.00,0.00,11.60,0.760,6,0.000,0.000,3307,1756,1753,0,0,0,0,0,0
$GC,6129,0.89,310.9,345.2,8.9,517,6157,0.00,0.00,25.83,0.795,6,0.000,0.000,3307,1756,1634,0,0,0,0,0,0
$GC,6475,0.89,310.9,312.5,10.2,550,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1756,1630,0,0,0,0,0,0
$GC,6795,0.89,310.9,280.5,10.6,580,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1756,1629,0,0,0,0,0,0
$GC,7114,0.89,310.9,247.6,11.1,610,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1756,1629,0,0,0,0,0,0
$GC,7433,0.89,310.9,212.1,10.8,640,7437,0.00,2.30,0.00,0.000,4,0.000,0.072,3307,3178,1628,0,0,0,0,0,0
$GC,7461,0.89,310.9,208.8,10.8,642,7466,0.00,2.45,0.00,0.000,6,0.000,0.090,3317,1757,1628,0,0,0,0,0,0
$GC,7786,0.89,310.9,172.4,11.0,672,7790,0.00,2.28,0.00,0.000,4,0.000,0.056,3328,327,1628,0,0,0,0,0,0
$GC,7898,0.86,310.9,158.6,11.9,681,7904,0.08,2.22,0.00,0.000,6,0.169,0.033,3309,1759,1627,0,0,0,0,0,0
$GC,8224,0.86,310.9,123.9,10.2,712,8228,0.00,2.28,0.00,0.000,4,0.000,0.070,3309,3183,1627,0,0,0,0,0,0
$GC,8252,0.86,310.9,120.7,11.3,714,8256,0.00,2.47,0.00,0.000,6,0.000,0.090,3318,1748,1627,0,0,0,0,0,0
$GC,8589,0.86,316.7,81.3,9.8,758,8602,0.00,2.30,5.22,0.519,4,0.000,0.055,3330,327,1610,0,0,0,0,0,0
$GC,8718,0.86,316.7,67.5,11.2,780,8726,0.03,2.28,0.00,0.000,6,0.141,0.036,3319,1758,1611,0,0,0,0,0,0
$GC,9073,0.88,331.1,34.3,9.4,841,9090,0.00,2.30,12.43,0.585,4,0.000,0.067,3319,3189,1552,0,0,0,0,0,0
$GC,9221,0.89,336.0,19.2,9.8,866,9229,0.00,2.47,2.60,0.253,6,0.000,0.083,3328,1754,1532,0,0,0,0,0,0
$GC,9280,0.91,336.0,13.6,10.2,875,9287,0.00,2.30,0.00,0.000,4,0.000,0.056,3339,329,1532,0,0,0,0,0,0
$GC,9393,0.99,369.8,3.3,8.7,893,9402,0.00,2.33,3.62,0.046,2,0.000,0.044,3339,1760,1502,0,0,0,0,0,0
$STATE,9402,end climb,SURFACE_DEPTH_REACHED
$STATE,9403,begin surface coast
$FINISH,1.6,1.021025
$STATE,9416,end surface coast,CONTROL_FINISHED_OK
$STATE,9416,begin surface
$SM_CCo,9434,123.35,0.046,0,0,408,611.52
$SM_GC,1.98,0.00,0.00,123.35,0.000,0.000,0.046,73,1939,408,-9.26,0.57,611.52
$IRIDIUM_FIX,-3427.77,2513.04,130308,000009
$TT8_MAMPS,0.026964
$HUMID,57.67
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,480.4,34.1
$24V_AH,23.3,45.741
$10V_AH,10.1,36.737
$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,23.050,88.200,427.850,123.350,0.000,27.458,40.722,264.628,11.250,0.000,45.912,2158.792,4455.842,592.505,2633.916,219.800,0.000,1516.746,0.000,2147.662,0.000,70.955,0.000
$DEVICE_MAMPS,289.935,154.530,888.165,45.900,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,611.541,1503.287,893.784,338.297,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330836
$DATA_FILE_SIZE,63837,896
$CAP_FILE_SIZE,115071,0
$CFSIZE,2097086464,2044329984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,170515,171135,-3438.686,2510.535,51,1.1,51,-27.8