SOSCEx Feb12 *
SG573 *
Dive index
* Mission links
version: 66.07.10.p01
glider: 573
mission: 4
dive: 443
start: 1 8 113 4 42 9
data:
$ID,573
$MISSION,4
$DIVE,443
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1100
$D_NO_BLEED,200
$D_BOOST,0
$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,340
$T_MISSION,355
$T_ABORT,720
$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,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52752
$LENGTH,1.8
$NAV_MODE,1
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,0
$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,-4235
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$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,-5723.9336
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3052
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$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,1890
$C_ROLL_CLIMB,1572
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0.5
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2862
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,4.9999999e-05
$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,-87.947678
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,20
$DEVICE4,134
$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,20
$GC_LAST_COLLECTION,422
$GPS1,080113,043305,-4221.030,-428.789,36,1.5,36,-22.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.98
$_SM_ANGLEo,-68.7
$GPS2,080113,044115,-4220.976,-428.741,48,5.1,67,-22.2
$SPEED_LIMITS,0.170,0.273
$TGT_NAME,ACC_WP1
$TGT_LATLONG,-4220.000,-430.000
$TGT_RADIUS,6000.000
$KALMAN_CONTROL,0.010,0.273
$KALMAN_X,-109191.1,304.2,245.7,235859.7,-1412.4
$KALMAN_Y,-114455.6,-68.1,-178.4,66941.7,-4319.5
$MHEAD_RNG_PITCHd_Wd,24.3,2497,-16.8,-9.804
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.94,-165.4,0.0,0.0,0,35,0.00,0.00,-6.03,0.000,2,0.000,0.000,82,1900,1020,0,0,0,0,0,0
$GC,37,-0.94,-165.4,3.0,-0.0,1,177,10.55,2.40,-119.05,0.000,4,0.213,0.073,2748,483,3534,0,0,0,0,0,0
$GC,290,-0.94,-165.4,17.2,-16.7,43,297,0.00,2.28,0.00,0.000,6,0.000,0.048,2737,1885,3536,0,0,0,0,0,0
$GC,371,-0.94,-165.4,24.4,-9.4,56,378,0.00,1.48,0.00,0.000,4,0.000,0.058,2731,2794,3536,0,0,0,0,0,0
$GC,421,-0.96,-165.4,28.8,-8.7,64,429,0.00,1.48,0.00,0.000,6,0.000,0.050,2731,1878,3536,0,0,0,0,0,0
$GC,501,-0.99,-165.4,36.5,-9.5,77,506,0.00,0.93,0.00,0.000,4,0.000,0.060,2731,1298,3536,0,0,0,0,0,0
$GC,537,-0.99,-165.4,39.8,-8.7,83,542,0.00,0.95,0.00,0.000,6,0.000,0.052,2727,1893,3536,0,0,0,0,0,0
$GC,775,-0.99,-165.4,62.4,-9.5,123,779,0.00,0.62,0.00,0.000,4,0.000,0.060,2723,2302,3536,0,0,0,0,0,0
$GC,830,-0.99,-165.4,68.5,-11.0,128,834,0.00,0.65,0.00,0.000,6,0.000,0.055,2723,1886,3536,0,0,0,0,0,0
$GC,1157,-1.01,-165.4,102.5,-9.9,158,1160,0.00,0.95,0.00,0.000,4,0.000,0.057,2723,1286,3537,0,0,0,0,0,0
$GC,1212,-1.01,-165.4,107.7,-10.1,161,1215,0.00,0.95,0.00,0.000,6,0.000,0.051,2719,1889,3537,0,0,0,0,0,0
$GC,1543,-1.01,-165.4,139.6,-9.5,182,1546,0.00,1.83,0.00,0.000,4,0.000,0.060,2710,3045,3537,0,0,0,0,0,0
$GC,1616,-1.01,-165.4,146.8,-9.4,186,1620,0.00,1.85,0.00,0.000,6,0.000,0.047,2710,1880,3538,0,0,0,0,0,0
$GC,1943,-1.01,-165.4,178.3,-9.8,207,1947,0.05,1.80,0.00,0.000,4,0.213,0.060,2714,2978,3537,0,0,0,0,0,0
$GC,2015,-1.01,-165.4,185.6,-9.9,211,2019,0.00,1.73,0.00,0.000,6,0.000,0.047,2714,1888,3537,0,0,0,0,0,0
$GC,2349,-1.01,-165.4,216.4,-9.3,230,2352,0.00,1.02,0.00,0.000,4,0.000,0.057,2710,2528,3537,0,0,0,0,0,0
$GC,2421,-1.01,-165.4,223.2,-9.3,233,2425,0.00,1.02,0.00,0.000,6,0.000,0.051,2710,1881,3537,0,0,0,0,0,0
$GC,2748,-1.01,-165.4,253.5,-9.2,249,2753,0.05,1.17,0.00,0.000,4,0.218,0.058,2716,2602,3537,0,0,0,0,0,0
$GC,2818,-1.03,-165.4,259.6,-8.5,252,2822,0.00,1.12,0.00,0.000,6,0.000,0.050,2717,1891,3537,0,0,0,0,0,0
$GC,3153,-1.06,-165.4,290.3,-9.2,268,3156,0.00,1.60,0.00,0.000,4,0.000,0.057,2708,2887,3537,0,0,0,0,0,0
$GC,3213,-1.06,-165.4,296.8,-10.6,270,3221,0.00,1.58,0.00,0.000,6,0.000,0.047,2709,1890,3538,0,0,0,0,0,0
$GC,3537,-1.06,-165.4,329.8,-10.3,282,3540,0.00,0.68,0.00,0.000,4,0.000,0.057,2706,2326,3537,0,0,0,0,0,0
$GC,3676,-1.06,-165.4,344.4,-10.2,286,3680,0.00,0.70,0.00,0.000,6,0.000,0.052,2706,1877,3537,0,0,0,0,0,0
$GC,4012,-1.06,-165.4,377.9,-9.7,297,4016,0.00,2.30,0.00,0.000,4,0.000,0.060,2696,3299,3537,0,0,0,0,0,0
$GC,4080,-1.06,-165.4,384.2,-8.6,299,4085,0.05,2.17,0.00,0.000,6,0.200,0.046,2708,1893,3537,0,0,0,0,0,0
$GC,4415,-1.06,-165.4,413.5,-8.7,310,4419,0.00,0.77,0.00,0.000,4,0.000,0.056,2705,2390,3537,0,0,0,0,0,0
$GC,4492,-1.06,-165.4,420.4,-8.8,312,4496,0.00,0.77,0.00,0.000,6,0.000,0.051,2705,1888,3536,0,0,0,0,0,0
$GC,4822,-1.06,-165.4,450.8,-9.3,323,4826,0.00,0.98,0.00,0.000,4,0.000,0.057,2701,2500,3536,0,0,0,0,0,0
$GC,4872,-1.06,-165.4,455.5,-9.6,324,4876,0.00,0.95,0.00,0.000,6,0.000,0.050,2701,1897,3536,0,0,0,0,0,0
$GC,5196,-1.06,-165.4,487.5,-10.1,335,5199,0.00,1.50,0.00,0.000,4,0.000,0.058,2694,2825,3536,0,0,0,0,0,0
$GC,5245,-1.06,-165.4,492.9,-10.8,336,5250,0.03,1.48,0.00,0.000,6,0.181,0.048,2705,1891,3536,0,0,0,0,0,0
$GC,5569,-1.06,-165.4,528.2,-11.0,347,5573,0.00,0.55,0.00,0.000,4,0.000,0.058,2703,2255,3534,0,0,0,0,0,0
$GC,5636,-1.06,-165.4,535.6,-11.5,349,5640,0.00,0.55,0.00,0.000,6,0.000,0.054,2703,1893,3535,0,0,0,0,0,0
$GC,5977,-1.06,-165.4,574.6,-11.4,360,5981,0.00,1.10,0.00,0.000,4,0.000,0.057,2698,2580,3534,0,0,0,0,0,0
$GC,6048,-1.06,-165.4,583.4,-11.7,362,6053,0.00,1.10,0.00,0.000,6,0.000,0.052,2698,1887,3534,0,0,0,0,0,0
$GC,6384,-1.06,-165.4,621.0,-11.2,373,6388,0.00,1.85,0.00,0.000,4,0.000,0.060,2690,3013,3534,0,0,0,0,0,0
$GC,6444,-1.06,-165.4,627.6,-10.5,374,6450,0.05,1.80,0.00,0.000,6,0.142,0.049,2709,1887,3534,0,0,0,0,0,0
$GC,6757,-1.08,-165.4,659.0,-9.8,385,6761,0.00,0.65,0.00,0.000,4,0.000,0.058,2706,2313,3533,0,0,0,0,0,0
$GC,6807,-1.10,-165.4,664.4,-9.7,386,6811,0.00,0.65,0.00,0.000,6,0.000,0.055,2706,1893,3533,0,0,0,0,0,0
$GC,7131,-1.10,-165.4,697.3,-10.3,397,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1893,3532,0,0,0,0,0,0
$GC,7437,-1.10,-165.4,729.9,-10.8,407,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1893,3531,0,0,0,0,0,0
$GC,7744,-1.13,-165.4,763.8,-11.2,417,7748,0.00,0.77,0.00,0.000,4,0.000,0.059,2702,2387,3530,0,0,0,0,0,0
$GC,7821,-1.15,-165.4,772.9,-11.5,419,7826,0.03,0.77,0.00,0.000,6,0.099,0.054,2667,1893,3530,0,0,0,0,0,0
$GC,8151,-1.11,-165.4,812.9,-12.1,430,8156,0.10,0.98,0.00,0.000,4,0.185,0.060,2688,2497,3530,0,0,0,0,0,0
$GC,8219,-1.11,-165.4,821.1,-12.1,432,8222,0.00,0.98,0.00,0.000,6,0.000,0.054,2688,1884,3530,0,0,0,0,0,0
$GC,8559,-1.11,-165.4,862.0,-12.0,443,8563,0.00,1.98,0.00,0.000,4,0.000,0.061,2679,3082,3529,0,0,0,0,0,0
$GC,8619,-1.09,-165.4,869.4,-11.9,444,8625,0.03,1.92,0.00,0.000,6,0.175,0.050,2689,1887,3529,0,0,0,0,0,0
$GC,8932,-1.09,-165.4,904.0,-10.9,455,8936,0.00,2.03,0.00,0.000,4,0.000,0.063,2680,3130,3528,0,0,0,0,0,0
$GC,8992,-1.09,-165.4,910.7,-10.8,456,8999,0.05,2.00,0.00,0.000,6,0.148,0.050,2698,1892,3528,0,0,0,0,0,0
$GC,9306,-1.09,-165.4,939.7,-8.9,467,9310,0.00,1.65,0.00,0.000,4,0.000,0.061,2691,2929,3527,0,0,0,0,0,0
$GC,9367,-1.09,-165.4,945.0,-9.0,468,9372,0.00,1.67,0.00,0.000,6,0.000,0.050,2691,1882,3527,0,0,0,0,0,0
$GC,9680,-1.09,-165.4,969.9,-7.9,479,9684,0.00,1.60,0.00,0.000,4,0.000,0.060,2684,2861,3526,0,0,0,0,0,0
$GC,9735,-1.09,-165.4,974.3,-8.1,480,9740,0.03,1.55,0.00,0.000,6,0.173,0.051,2695,1893,3526,0,0,0,0,0,0
$GC,10053,-1.09,-165.4,998.2,-7.6,491,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1893,3526,0,0,0,0,0,0
$STATE,10082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10082,begin apogee
$GC,10087,-0.28,0.0,1000.5,7.6,492,10234,0.82,0.00,143.48,1.254,6,0.117,0.000,2958,1561,2862,0,0,0,0,0,0
$STATE,10235,end apogee,CONTROL_FINISHED_OK
$STATE,10235,begin climb
$GC,10237,0.94,165.4,1008.7,0.0,497,10397,1.15,2.55,149.73,1.224,4,0.063,0.062,3368,172,2188,0,0,0,0,0,0
$GC,10522,0.77,250.8,1001.7,6.4,506,10609,0.25,2.33,77.60,1.205,6,0.158,0.045,3302,1572,1839,0,0,0,0,0,0
$GC,10922,0.77,320.3,973.3,7.0,519,10991,0.00,2.40,63.15,1.201,4,0.000,0.059,3302,2968,1555,0,0,0,0,0,0
$GC,11065,0.82,365.3,962.2,8.0,523,11115,0.00,2.30,42.38,1.177,6,0.000,0.054,3311,1576,1371,0,0,0,0,0,0
$GC,11451,0.91,396.8,930.8,8.5,536,11486,0.10,2.30,29.30,1.164,4,0.096,0.069,3379,234,1243,0,0,0,0,0,0
$GC,11537,0.91,400.8,922.3,9.6,538,11548,0.12,2.20,4.80,0.832,6,0.157,0.048,3346,1581,1227,0,0,0,0,0,0
$GC,11855,0.96,400.8,891.3,9.8,549,11856,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,1581,1223,0,0,0,0,0,0
$GC,12161,1.02,400.8,860.2,10.3,559,12166,0.10,1.60,0.00,0.000,4,0.102,0.067,3404,644,1222,0,0,0,0,0,0
$GC,12213,0.96,400.8,854.5,11.5,560,12217,0.12,1.50,0.00,0.000,6,0.141,0.050,3363,1567,1222,0,0,0,0,0,0
$GC,12536,0.99,400.8,819.7,10.8,571,12540,0.00,0.70,0.00,0.000,4,0.000,0.054,3363,2027,1221,0,0,0,0,0,0
$GC,12580,1.02,400.8,814.7,11.2,572,12584,0.00,0.73,0.00,0.000,6,0.000,0.060,3366,1571,1221,0,0,0,0,0,0
$GC,12910,1.05,400.8,779.3,10.7,583,12915,0.05,0.93,0.00,0.000,4,0.162,0.066,3407,1012,1220,0,0,0,0,0,0
$GC,12959,1.01,400.8,773.7,10.7,584,12964,0.08,0.90,0.00,0.000,6,0.145,0.052,3382,1572,1221,0,0,0,0,0,0
$GC,13283,1.01,400.8,739.3,10.4,595,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1572,1220,0,0,0,0,0,0
$GC,13589,1.01,400.8,707.7,10.4,605,13592,0.00,0.55,0.00,0.000,4,0.000,0.058,3381,1936,1220,0,0,0,0,0,0
$GC,13644,1.01,400.8,701.7,11.5,606,13648,0.00,0.60,0.00,0.000,6,0.000,0.063,3384,1570,1220,0,0,0,0,0,0
$GC,13962,1.01,400.8,666.3,11.3,617,13966,0.00,0.45,0.00,0.000,4,0.000,0.062,3384,1862,1220,0,0,0,0,0,0
$GC,14034,1.01,400.8,658.0,11.0,619,14038,0.00,0.47,0.00,0.000,6,0.000,0.067,3386,1573,1219,0,0,0,0,0,0
$GC,14369,1.01,400.8,618.5,12.1,630,14373,0.00,0.62,0.00,0.000,4,0.000,0.060,3386,1973,1220,0,0,0,0,0,0
$GC,14437,1.01,400.8,610.2,13.1,632,14441,0.00,0.65,0.00,0.000,6,0.000,0.063,3388,1568,1220,0,0,0,0,0,0
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$STATE,20000,end climb,SURFACE_DEPTH_REACHED
$STATE,20000,begin surface coast
$FINISH,2.2,1.017115
$STATE,20031,end surface coast,CONTROL_FINISHED_OK
$STATE,20032,begin surface
$SM_CCo,20109,0.00,0.000,0,0,1048,444.97
$SM_GC,3.15,8.85,0.00,0.00,0.041,0.000,0.000,89,1906,1048,-9.18,0.45,444.97
$IRIDIUM_FIX,-4204.08,-428.17,070113,222225
$TT8_MAMPS,0.026964
$HUMID,47.71
$INTERNAL_PRESSURE,9.05974
$TCM_TEMP,14.60
$XPDR_PINGS,2
$24V_AH,22.2,74.240
$10V_AH,9.9,59.735
$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,22.900,113.075,550.100,0.000,0.000,26.990,36.302,233.361,0.500,0.000,71.135,2493.603,14063.152,599.805,3182.026,254.403,33.377,1949.452,0.000,2785.314,0.000,1.008,0.000
$DEVICE_MAMPS,227.205,73.440,1253.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,SBE_O2,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,637.875,919.271,645.617,77.277,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,19.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354576
$DATA_FILE_SIZE,57037,950
$CAP_FILE_SIZE,185983,0
$CFSIZE,2097086464,2035810304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080113,101853,-4220.638,-428.760,60,1.6,60,-22.2