SODA Sep18 *
SG228 *
Dive index
* Mission links
version: 66.13
glider: 228
mission: 14
dive: 74
start: 10 1 118 4 52 48
data:
$ID,228
$MISSION,14
$DIVE,74
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,4
$T_BOOST,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,200
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72009
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025631799
$HD_B,0.0154106
$HD_C,6.0999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7545
$TGT_DEFAULT_LON,-15041
$TGT_AUTO_DEFAULT,0
$SM_CC,653.96979
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3810
$C_PITCH,2270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,46
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3950
$ROLL_DEG,80
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2854
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,4
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-148.83669
$PRESSURE_SLOPE,0.0001081732
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.8
$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,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,1123
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044279573
$SEABIRD_T_H,0.000658612
$SEABIRD_T_I,2.7901522e-05
$SEABIRD_T_J,3.4987197e-06
$SEABIRD_C_G,-9.9235325
$SEABIRD_C_H,1.1433685
$SEABIRD_C_I,-0.0023654797
$SEABIRD_C_J,0.00025343007
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,011018,044540,7413.3096,-14627.0986,33,1.0,34,18.4,0.3,220.3,9,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-76.1
$GPS2,011018,045209,7413.3262,-14627.0742,4,1.0,5,18.4,0.1,0.0,9,6.4
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,AB2
$TGT_LATLONG,7415.000,-14625.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,23.4,3271,-22.0,-10.000,-29.22,1661
$D_GRID,600
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.92,-146.0,203,2404,449,544,0.0,0.0,0,83,0.00,0.00,-72.05,0.003,16386,0.000,0.000,203,2404,1930,2030,1830,0,0,0,0,0,0,14.42,28.83,14.45
$GC,86,-0.92,-146.0,204,2405,2030,1835,4.5,-9.9,7,132,9.45,4.68,-28.80,0.005,18692,0.466,0.090,1947,3947,3454,3572,3337,0,0,0,0,0,0,14.06,13.52,14.29
$GC,352,-0.92,-146.0,1947,3947,3563,3347,111.3,-28.1,59,357,0.00,4.47,0.00,0.000,1030,0.000,0.046,1962,2400,3454,3562,3346,0,0,0,0,0,0,14.41,14.35,14.42
$GC,542,-0.92,-146.0,1963,2400,3564,3347,156.8,-22.8,79,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2399,3454,3563,3346,0,0,0,0,0,0,14.59,14.60,14.59
$GC,722,-0.92,-146.0,1963,2400,3565,3347,197.1,-21.6,97,723,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2399,3454,3562,3346,0,0,0,0,0,0,14.62,14.64,14.64
$GC,902,-0.92,-146.0,1964,2400,3563,3347,234.9,-20.8,115,908,0.00,4.68,0.00,0.000,260,0.000,0.089,1946,3947,3454,3562,3346,0,0,0,0,0,0,14.65,14.46,14.66
$GC,998,-0.92,-146.0,1946,3948,3560,3350,255.8,-22.2,134,1005,0.00,4.45,0.00,0.000,1030,0.000,0.044,1962,2391,3454,3559,3349,0,0,0,0,0,0,14.57,14.51,14.58
$GC,1303,-0.92,-146.0,1962,2391,3559,3349,304.1,-14.9,150,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2391,3454,3559,3349,0,0,0,0,0,0,14.72,14.73,14.73
$GC,1603,-0.92,-146.0,1963,2391,3560,3350,346.4,-14.2,165,1609,0.00,4.85,0.00,0.000,516,0.000,0.067,1974,710,3454,3559,3349,0,0,0,0,0,0,14.76,14.57,14.77
$GC,1624,-0.92,-146.0,1974,708,3559,3349,349.7,-15.5,169,1631,0.00,4.88,0.00,0.000,1030,0.000,0.056,1955,2401,3454,3559,3349,0,0,0,0,0,0,14.65,14.57,14.66
$GC,1946,-0.92,-146.0,1954,2402,3559,3349,396.1,-14.6,188,1957,0.00,4.90,0.00,0.000,516,0.000,0.070,1960,711,3453,3558,3349,0,0,0,0,0,0,14.78,14.59,14.79
$GC,1982,-0.92,-146.0,1960,712,3559,3350,401.4,-15.3,195,1989,0.15,4.88,0.00,0.000,3078,0.349,0.057,1968,2402,3453,3558,3349,0,0,0,0,0,0,14.45,14.60,14.64
$GC,2287,-0.92,-146.0,1969,2403,3559,3350,442.5,-13.1,211,2296,0.00,4.90,0.00,0.000,516,0.000,0.070,1974,709,3453,3558,3349,0,0,0,0,0,0,14.80,14.61,14.82
$GC,2322,-0.92,-146.0,1975,709,3559,3350,447.4,-13.8,218,2328,0.00,4.88,0.00,0.000,1030,0.000,0.055,1955,2406,3453,3557,3349,0,0,0,0,0,0,14.69,14.62,14.71
$GC,2627,-0.92,-146.0,1955,2407,3557,3350,489.2,-13.8,234,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2407,3454,3559,3349,0,0,0,0,0,0,14.80,14.83,14.83
$GC,2927,-0.92,-146.0,1956,2407,3559,3355,530.1,-13.5,249,2933,0.00,4.90,0.00,0.000,516,0.000,0.068,1959,707,3453,3557,3349,0,0,0,0,0,0,14.83,14.64,14.85
$GC,2973,-0.92,-146.0,1959,708,3557,3356,536.9,-14.9,258,2983,0.15,4.85,0.00,0.000,3078,0.346,0.056,1967,2402,3453,3557,3349,0,0,0,0,0,0,14.51,14.65,14.70
$GC,3288,-0.92,-146.0,1967,2402,3557,3350,577.7,-12.8,276,3299,0.00,4.88,0.00,0.000,516,0.000,0.070,1974,710,3453,3557,3350,0,0,0,0,0,0,14.85,14.66,14.87
$GC,3309,-0.92,-146.0,1975,711,3558,3351,580.5,-13.2,280,3320,0.00,4.85,0.00,0.000,1030,0.000,0.057,1955,2403,3453,3557,3350,0,0,0,0,0,0,14.74,14.66,14.76
$STATE,3467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3467,begin apogee
$GC,3473,-0.11,0.0,1956,2185,3558,3351,601.9,-13.2,291,3613,1.08,0.05,136.80,2.128,10246,0.311,0.210,2226,2209,2853,2918,2788,0,0,0,0,0,0,14.54,13.91,13.24
$STATE,3614,end apogee,CONTROL_FINISHED_OK
$STATE,3614,begin climb
$GC,3617,0.92,146.0,2226,2209,2917,2788,606.7,0.0,298,3759,1.23,0.00,138.40,2.039,10246,0.200,0.000,2560,2208,2254,2281,2228,0,0,0,0,0,0,13.89,13.74,13.05
$GC,4050,0.92,146.0,2561,2209,2279,2211,557.2,12.7,320,4060,0.00,5.12,0.00,0.000,516,0.000,0.080,2581,515,2243,2276,2210,0,0,0,0,0,0,14.38,14.18,14.39
$GC,4070,0.92,146.0,2581,516,2276,2212,554.5,13.5,324,4081,0.00,4.95,0.00,0.000,1030,0.000,0.055,2581,2196,2242,2275,2210,0,0,0,0,0,0,14.28,14.21,14.30
$GC,4391,0.92,146.0,2581,2197,2276,2209,509.4,14.1,343,4400,0.00,5.15,0.00,0.000,260,0.000,0.091,2581,3892,2241,2274,2208,0,0,0,0,0,0,14.54,14.33,14.55
$GC,4411,0.92,146.0,2580,3893,2272,2210,506.4,15.3,347,4421,0.17,4.88,0.00,0.000,5126,0.322,0.047,2567,2206,2241,2274,2209,0,0,0,0,0,0,14.24,14.38,14.42
$GC,4731,0.92,146.0,2567,2205,2275,2206,463.9,13.0,366,4741,0.00,5.00,0.00,0.000,516,0.000,0.073,2586,499,2239,2274,2205,0,0,0,0,0,0,14.64,14.44,14.65
$GC,4781,0.92,146.0,2587,499,2273,2206,457.2,12.7,376,4792,0.00,4.93,0.00,0.000,1030,0.000,0.054,2586,2203,2239,2273,2205,0,0,0,0,0,0,14.54,14.47,14.55
$GC,5091,0.92,146.0,2586,2204,2274,2204,413.9,14.1,393,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2239,2274,2204,0,0,0,0,0,0,14.70,14.72,14.72
$GC,5391,0.92,146.0,2587,2205,2275,2204,371.5,13.9,408,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2238,2274,2203,0,0,0,0,0,0,14.74,14.76,14.76
$GC,5691,0.92,146.0,2586,2210,2275,2204,331.0,12.9,423,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2238,2274,2203,0,0,0,0,0,0,14.78,14.79,14.79
$GC,5991,0.92,146.0,2587,2205,2275,2203,293.3,11.7,438,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2238,2274,2202,0,0,0,0,0,0,14.80,14.81,14.81
$GC,6291,0.92,146.0,2587,2205,2275,2203,261.2,10.4,453,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2204,2238,2274,2202,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6593,1.00,146.0,2586,2205,2274,2202,237.5,7.3,476,6594,0.00,0.00,0.00,0.000,70,0.000,0.000,2586,2204,2238,2274,2203,0,0,0,0,0,0,14.81,14.83,14.83
$GC,6771,1.21,217.3,2586,2204,2274,2202,226.1,5.6,494,6834,0.22,0.00,60.78,1.713,10278,0.145,0.000,2655,2204,1967,2002,1932,0,0,0,0,0,0,14.59,14.34,13.72
$GC,7013,1.21,217.3,2655,2205,1995,1922,204.2,9.5,518,7023,0.00,5.10,0.00,0.000,260,0.000,0.092,2655,3887,1958,1993,1923,0,0,0,0,0,0,14.57,14.38,14.59
$GC,7068,1.21,217.3,2655,3888,1992,1923,198.3,10.6,529,7075,0.00,4.88,0.00,0.000,1030,0.000,0.046,2677,2195,1957,1992,1923,0,0,0,0,0,0,14.49,14.42,14.51
$GC,7253,1.21,217.3,2676,2194,1992,1920,180.7,9.6,548,7265,0.00,4.95,0.00,0.000,516,0.000,0.073,2698,507,1954,1990,1919,0,0,0,0,0,0,14.64,14.45,14.66
$GC,7300,1.21,217.3,2700,508,1989,1921,175.9,10.4,557,7307,0.17,4.90,0.00,0.000,5126,0.300,0.054,2662,2208,1953,1989,1918,0,0,0,0,0,0,14.35,14.48,14.54
$GC,7487,1.26,217.3,2663,2208,1991,1917,160.4,8.2,576,7498,0.00,5.05,0.00,0.000,324,0.000,0.090,2662,3891,1953,1988,1918,0,0,0,0,0,0,14.68,14.45,14.69
$GC,7532,1.26,217.3,2663,3892,1988,1921,155.9,9.8,585,7540,0.00,4.85,0.00,0.000,1030,0.000,0.045,2682,2193,1953,1988,1919,0,0,0,0,0,0,14.59,14.53,14.60
$GC,7718,1.32,217.3,2682,2192,1988,1916,140.1,8.1,604,7729,0.00,4.93,0.00,0.000,580,0.000,0.073,2703,497,1952,1988,1916,0,0,0,0,0,0,14.71,14.50,14.72
$GC,7754,1.35,217.3,2704,498,1989,1917,136.9,9.1,611,7761,0.00,4.90,0.00,0.000,1094,0.000,0.053,2703,2205,1951,1987,1916,0,0,0,0,0,0,14.60,14.54,14.62
$GC,7939,1.42,217.3,2703,2206,1988,1915,122.1,7.7,630,7940,0.00,0.00,0.00,0.000,70,0.000,0.000,2704,2206,1951,1988,1915,0,0,0,0,0,0,14.73,14.75,14.74
$GC,8119,1.52,217.3,2703,2206,1989,1915,109.4,6.4,648,8121,0.20,0.00,0.00,0.000,2118,0.155,0.000,2763,2205,1951,1988,1914,0,0,0,0,0,0,14.52,14.64,14.62
$GC,8299,1.64,217.3,2764,2205,1989,1914,97.1,6.1,666,8300,0.00,0.00,0.00,0.000,70,0.000,0.000,2764,2205,1951,1988,1914,0,0,0,0,0,0,14.75,14.75,14.74
$GC,8479,1.88,298.0,2764,2206,1989,1914,87.5,5.0,684,8559,0.32,5.18,67.78,1.567,10532,0.148,0.090,2867,3890,1635,1669,1601,0,0,0,0,0,0,14.52,14.22,13.69
$GC,8581,1.88,298.0,2867,3891,1668,1602,78.8,11.3,702,8591,0.00,4.93,0.00,0.000,1030,0.000,0.047,2886,2198,1633,1667,1599,0,0,0,0,0,0,14.31,14.28,14.33
$GC,8769,2.18,397.6,2887,2199,1667,1591,66.7,3.8,722,8860,0.25,5.10,82.18,1.496,10788,0.153,0.070,2988,509,1228,1249,1207,0,0,0,0,0,0,14.31,14.04,13.51
$GC,8940,2.18,397.6,2988,510,1233,1210,53.1,9.8,755,8947,0.00,5.00,0.00,0.000,1030,0.000,0.051,2988,2206,1221,1233,1209,0,0,0,0,0,0,14.23,14.16,14.25
$GC,9125,2.47,491.8,2988,2207,1233,1202,41.6,4.2,774,9212,0.20,5.18,74.57,1.447,10532,0.158,0.085,3052,3890,845,837,854,0,0,0,0,0,0,14.24,13.93,13.48
$GC,9432,2.56,491.8,3052,3890,830,849,15.4,6.7,834,9443,0.00,4.95,0.00,0.000,1094,0.000,0.044,3072,2195,839,831,847,0,0,0,0,0,0,14.30,14.24,14.31
$GC,9622,2.64,491.8,3073,2196,832,844,2.5,7.5,854,9633,0.12,4.95,0.00,0.000,2628,0.183,0.067,3133,509,836,829,844,0,0,0,0,0,0,14.28,14.29,14.34
$STATE,9636,end climb,SURFACE_DEPTH_REACHED
$STATE,9636,begin surface coast
$FINISH,0.3,1.021248
$STATE,9646,end surface coast,CONTROL_FINISHED_OK
$STATE,9646,begin surface
$SM_CCo,9671,112.55,0.978,1,0,497,577.44
$SM_CCo,9791,-0.03,1.462,0,0,497,577.44
$SM_CCo,9795,-0.03,1.320,0,0,498,577.19
$SM_GC,-0.20,10.68,5.57,-0.03,0.233,0.050,1.320,202,2400,498,-6.43,-0.85,577.19,0,0,0,0,0,0,14.29,14.34,13.23
$RAFOS_CLK,607
$RAFOS_FIX,7414.205566,-14628.055664,011018,070726,0,1,0.18
$IRIDIUM_FIX,7412.27,-14631.74,011018,020313
$TT8_MAMPS,0.041944,0.364014
$HUMID,46.06
$INTERNAL_PRESSURE,8.88035
$TCM_TEMP,14.70
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.7,5.7
$24V_AH,13.05,37.492
$10V_AH,13.37,0.000
$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,24.400,178.100,560.500,112.550,0.000,0.000,0.000,235.600,3.500,0.000,14.939,0.000,7140.693,911.769,1929.606,225.428,0.000,1855.275,0.000,1233.482,0.000,2.511,0.000
$DEVICE_MAMPS,465.885,209.610,2128.230,977.670,0.000,0.000,0.000,186.660,420.000,0.000,6.740,0.000,2.310,11.570,31.040,36.290,0.000,10.900,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9655.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.889,0.000,0.000,0.000
$MEM,334560
$DATA_FILE_SIZE,30064,859
$CAP_FILE_SIZE,103364,0
$CFSIZE,2097872896,2081619968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1447.5
$CURRENT,0.085,304.81,1
$GPS,011018,073710,7414.463,-14625.421,15,1.3,16,18.4,0.1,0.0,5,6.1