ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 156 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  223 HD_A  0.00375924 ROLL_DEG  40 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_B  0.0090143103 C_ROLL_DIVE  2300 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  156 HD_C  2.26105e-06 C_ROLL_CLIMB  2100 ALTIM_TOP_TURN_MARGIN  7
N_DIVES  0 HEADING  -1 HEAD_ERRBAND  10 ALTIM_TOP_MIN_OBSTACLE  1.8
STOP_T  0 ESCAPE_HEADING  0 ROLL_CNV  0.028270001 ALTIM_PING_DEPTH  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_TIMEOUT  30 ALTIM_PING_DELTA  6
D_FLARE  3 FIX_MISSING_TIMEOUT  1 R_PORT_OVSHOOT  38 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LAT  4736 R_STBD_OVSHOOT  21 ALTIM_PULSE  1
D_ABORT  1020 TGT_DEFAULT_LON  -12218 ROLL_AD_RATE  50 ALTIM_SENSITIVITY  4
D_NO_BLEED  500 TGT_AUTO_DEFAULT  0 ROLL_MAXERRORS  0 XPDR_VALID  6
D_BOOST  100 SM_CC  350 ROLL_ADJ_GAIN  0 XPDR_INHIBIT  90
T_BOOST  15 N_FILEKB  8 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  280 FILEMGR  2 VBD_MIN  500 INT_PRESSURE_YINT  0.25
D_PITCH  3 CALL_NDIVES  1 VBD_MAX  3960 DEEPGLIDER  0
D_SAFE  500 COMM_SEQ  0 C_VBD  2782 MOTHERBOARD  4
D_CALL  2 PROTOCOL  9 VBD_DBAND  2 DEVICE1  -1
SURFACE_URGENCY  25 N_NOCOMM  0 VBD_CNV  -0.24529999 DEVICE2  -1
SURFACE_URGENCY_TRY  25 NOCOMM_ACTION  163 VBD_LP_IGNORE  0 DEVICE3  -1
SURFACE_URGENCY_FORCE  50 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  350 UPLOAD_DIVES_MAX  3 PITCH_VBD_SHIFT  0.0012300001 DEVICE5  -1
T_MISSION  390 CALL_TRIES  3 VBD_PUMP_AD_RATE_SURFACE  1 DEVICE6  -1
T_ABORT  1440 CALL_WAIT  45 VBD_PUMP_AD_RATE_APOGEE  1 LOGGERS  1
T_TURN  225 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN_SAMPINT  -5 CAPMAXSIZE  10000 UNCOM_BLEED  200 LOGGERDEVICE2  -1
T_NO_W  120 HEAPDBG  0 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS  3 W_ADJ_DBAND  2 LOGGERDEVICE4  -1
T_EPIRB  0 N_GPS  100440 DBDW  0 COMPASS_DEVICE  97
EXEC_P  0 T_RSLEEP  10 LOITER_W_DBAND  1 COMPASS2_DEVICE  149
EXEC_DT  0 STROBE  0 LOITER_DBDW  400 PHONE_DEVICE  49
EXEC_T  0 RAFOS_PEAK_OFFSET  -1 LOITER_D_NO_PUMP  400 GPS_DEVICE  64
EXEC_N  0 RAFOS_CORR_THRESH  60 LOITER_N_DIVE  0 RAFOS_DEVICE  32
USE_BATHY  0 RAFOS_HIT_WINDOW  3600 PITCH_W_GAIN  2 XPDR_DEVICE  24
USE_ICE  1 RAFOS_MMODEM  0 PITCH_W_DBAND  0.5 SIM_W  0
ICE_FREEZE_MARGIN  20 PITCH_MIN  225 CF8_MAXERRORS  2 SEABIRD_T_G  0.0044087539
D_OFFGRID  990 PITCH_MAX  3880 AH0_24V  350 SEABIRD_T_H  0.00063761615
T_WATCHDOG  10 C_PITCH  2800 AH0_10V  0 SEABIRD_T_I  2.5496534e-05
RELAUNCH  1 PITCH_DBAND  0.1 MINV_24V  0 SEABIRD_T_J  3.0755168e-06
APOGEE_PITCH  -5 PITCH_CNV  0.0031256899 MINV_10V  0 SEABIRD_C_G  -9.8995104
MAX_BUOY  150 P_OVSHOOT  0.039999999 MAXI_24V  2 SEABIRD_C_H  1.1242845
COURSE_BIAS  0 P_OVSHOOT_WITHG  0 MAXI_10V  2 SEABIRD_C_I  -0.0021703816
GLIDE_SLOPE  45 PITCH_GAIN  22 FG_AHR_10V  0 SEABIRD_C_J  0.00023950715
SPEED_FACTOR  1 PITCH_TIMEOUT  40 FG_AHR_24V  0 SC_RECORDABOVE  2000.0
RHO  1.0275 PITCH_AD_RATE  20 PHONE_SUPPLY  -2 SC_PROFILE  3.0
MASS  53553 PITCH_MAXERRORS  1 PRESSURE_YINT  -185.88379 SC_XMITPROFILE  3.0
MASS_COMP  0 PITCH_ADJ_GAIN  0 PRESSURE_SLOPE  0.0001081376 SC_NDIVE  1.0
NAV_MODE  0 PITCH_ADJ_DBAND  0 AD7714Ch0Gain  1
FERRY_MAX  45 ROLL_MIN  245 COMPASS_USE  4
KALMAN_USE  2 ROLL_MAX  3890 ALTIM_PING_FIT  883

Pre-dive calculations and measurements:
GPS1  160218,121600,-7416.6211,-11213.9355,0,4139.7,0,53.3,0.0,0.0,0,0.0 SPEED_LIMITS  0.094,0.270
_CALLS  1 TGT_NAME  inside0
_XMS_NAKs  0 TGT_LATLONG  -7427.000,-11215.000
_XMS_TOUTs  0 TGT_RADIUS  1000.000
_SM_DEPTHo  364.72 MHEAD_RNG_PITCHd_Wd  128.2,19229,-16.5,-9.429,-19.22,2384
_SM_ANGLEo  0.6 D_GRID  990
GPS2  160218,121600,-7416.6211,-11213.9355,0,4139.7,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:
FINISH1  360.5,1.027450,3 ALTIM_BOTTOM_PING  972.5,14.4
FINISH2  359.6 _24V_AH  13.03,66.267
RAFOS_CLK  388 _10V_AH  12.47,0.000
RAFOS  0,1518793287,15.032778,15.024167,140,66,63,61,58,54,431,145,182,573,206,223 FG_AHR_24Vo  0.000
RAFOS_FIX  -7418.659668,-11214.219727,160218,151548,2,136,0.36 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -7412.42,-11208.63,140218,203555 MEM  280072
TT8_MAMPS  0.040446,0.294357 DATA_FILE_SIZE  33309,936
HUMID  49.17 CAP_FILE_SIZE  121724,0
INTERNAL_PRESSURE  8.24835 CFSIZE  1024409600,1001668608
TCM_TEMP  12.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 SOUNDSPEED  1457.3
ALTIM_TOP_PING  365.9,12.2 GPS  160218,150848,-7418.660,-11214.220,0,3135.5,0,53.3,0.0,0.0,0,0.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor427316.68 nil000.00
Roll_motor106156217.27 nil000.00
VBD_pump_during_apogee677147713046.37 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon105915725.75
Iridium_during_xfer000.00 nil000.00
Transponder_ping45420249.00 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8000.00
LPSleep78462226.01
TT8_Active74213128.00
TT8_Sampling197034854.68
TT8_CF8985264.89
TT8_Kalman000.00
Analog_circuits148810202.26
GPS_charging000.00
Compass13397125.15
RAFOS720113.47
Transponder32630122.03

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R
956.6 32.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
963.9 24.70 9000.00 0.0 0.00 0.00 24.70 988.6 -1.00 1.00
972.5 14.10 14.40 986.9 -1.13 0.99 14.10 986.6 -1.23 1.00
968.0 16.00 18.50 0.0 -1.22 0.86 16.00 0.0 -0.42 1.00
961.3 21.00 9000.00 0.0 -0.63 0.98 21.00 0.0 -0.75 1.00
954.9 35.10 9000.00 0.0 -1.45 0.92 35.10 0.0 -2.20 1.00
942.0 39.90 9000.00 0.0 -0.89 0.79 39.90 0.0 -0.37 1.00
935.8 32.80 9000.00 0.0 0.05 0.02 32.80 903.0 1.15 1.00
929.4 30.90 9000.00 0.0 0.71 0.89 30.90 898.5 0.30 1.00
919.1 28.30 9000.00 0.0 0.27 1.00 28.30 890.8 0.25 1.00
429.6 77.20 9000.00 0.0 -0.10 1.00 77.20 0.0 -0.10 1.00
410.2 59.60 9000.00 0.0 -0.08 0.85 59.60 350.6 0.91 1.00
404.1 53.30 53.60 350.5 0.93 1.00 53.30 350.8 1.03 1.00
397.7 47.30 47.20 350.5 0.99 1.00 47.30 350.4 0.94 1.00
391.5 41.00 41.10 350.4 0.98 1.00 41.00 350.5 1.02 1.00
384.9 33.50 33.70 351.2 1.07 1.00 33.50 351.4 1.14 1.00
378.7 26.20 26.20 352.5 1.16 1.00 26.20 352.5 1.18 1.00
372.3 19.00 18.90 353.4 1.16 1.00 19.00 353.3 1.13 1.00
365.9 12.30 12.20 353.7 1.09 1.00 12.30 353.6 1.05 1.00

Guidance and control:
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
6 end surface: CONTROL_FINISHED_OK
state 6 begin dive
8 -0.93 -146.0 2802 2289 2827 2762 0.0 0.0 0 11 0.00 0.00 -2.10 0.046 16390 0.000 0.000 2801 2288 3395 3421 3370 0 0 0 0 0 0 15.08 13.53 15.07
13 -0.93 -146.0 2803 2289 3419 3373 0.0 0.0 0 19 0.90 2.42 0.00 0.000 4612 0.117 0.087 2501 898 3396 3420 3372 0 0 0 0 0 0 14.79 14.78 14.86
68 -0.93 -146.0 2502 899 3423 3373 370.2 -11.2 11 75 0.00 2.53 0.00 0.000 1030 0.000 0.081 2493 2299 3396 3421 3372 0 0 0 0 0 0 14.87 14.80 14.91
373 -0.93 -146.0 2494 2300 3423 3371 409.1 -12.5 42 374 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2300 3395 3420 3370 0 0 0 0 0 0 15.09 15.13 15.12
673 -0.93 -146.0 2494 2301 3422 3371 446.1 -11.9 72 679 0.00 2.55 0.00 0.000 516 0.000 0.089 2493 899 3395 3421 3370 0 0 0 0 0 0 15.10 14.76 15.13
743 -0.93 -146.0 2494 900 3422 3371 454.8 -12.7 86 749 0.00 2.53 0.00 0.000 1030 0.000 0.079 2483 2305 3395 3420 3370 0 0 0 0 0 0 14.87 14.80 14.91
1053 -0.93 -146.0 2484 2306 3422 3371 496.4 -13.3 118 1059 0.00 2.58 0.00 0.000 260 0.000 0.111 2472 3723 3394 3420 3369 0 0 0 0 0 0 15.10 14.76 15.13
1083 -0.93 -146.0 2472 3724 3420 3370 500.7 -14.6 124 1090 0.00 2.45 0.00 0.000 1030 0.000 0.049 2472 2300 3394 3420 3369 0 0 0 0 0 0 14.90 14.83 14.92
1394 -0.93 -146.0 2473 2300 3422 3369 542.4 -13.2 156 1401 0.00 2.53 0.00 0.000 516 0.000 0.083 2472 894 3394 3421 3367 0 0 0 0 0 0 15.11 14.76 15.13
1455 -0.93 -146.0 2473 895 3423 3369 550.7 -13.9 168 1461 0.12 2.55 0.00 0.000 3078 0.263 0.076 2494 2308 3394 3420 3368 0 0 0 0 0 0 14.60 14.78 14.92
1765 -0.93 -146.0 2495 2308 3422 3369 589.4 -12.8 200 1766 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2308 3394 3421 3368 0 0 0 0 0 0 15.11 15.14 15.14
2065 -0.93 -146.0 2496 2309 3422 3364 629.2 -11.8 230 2071 0.00 2.55 0.00 0.000 516 0.000 0.085 2494 875 3394 3421 3368 0 0 0 0 0 0 15.11 14.78 15.16
2100 -0.93 -146.0 2494 876 3420 3368 633.8 -13.2 237 2108 0.00 2.58 0.00 0.000 1030 0.000 0.076 2486 2309 3393 3420 3367 0 0 0 0 0 0 14.86 14.78 14.91
2405 -0.93 -146.0 2485 2310 3420 3368 672.9 -12.7 268 2411 0.00 2.60 0.00 0.000 260 0.000 0.112 2475 3744 3393 3420 3367 0 0 0 0 0 0 15.11 14.76 15.14
2445 -0.93 -146.0 2475 3745 3420 3368 678.3 -13.6 276 2451 0.00 2.50 0.00 0.000 1030 0.000 0.051 2475 2295 3394 3421 3368 0 0 0 0 0 0 14.89 14.84 14.92
2776 -0.93 -146.0 2474 2294 3419 3368 719.2 -12.6 300 2781 0.00 2.47 0.00 0.000 516 0.000 0.083 2475 895 3394 3421 3367 0 0 0 0 0 0 15.07 14.78 15.09
2835 -0.93 -146.0 2474 895 3421 3369 727.1 -13.3 312 2842 0.12 2.53 0.00 0.000 3078 0.271 0.076 2498 2300 3393 3420 3367 0 0 0 0 0 0 14.59 14.81 14.77
3226 -0.93 -146.0 2501 2301 3420 3368 773.1 -11.3 330 3226 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2300 3394 3421 3367 0 0 0 0 0 0 15.13 15.16 15.15
3586 -0.93 -146.0 2497 2300 3420 3368 814.0 -11.4 342 3592 0.00 2.50 0.00 0.000 516 0.000 0.083 2498 888 3393 3420 3367 0 0 0 0 0 0 15.13 14.79 15.14
3635 -0.93 -146.0 2498 889 3420 3367 819.8 -12.5 352 3641 0.00 2.55 0.00 0.000 1030 0.000 0.074 2489 2311 3393 3420 3367 0 0 0 0 0 0 14.88 14.78 14.91
4006 -0.93 -146.0 2490 2312 3422 3368 868.1 -12.7 366 4007 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2311 3393 3420 3366 0 0 0 0 0 0 15.14 15.16 15.16
4366 -0.93 -146.0 2490 2312 3422 3368 910.2 -11.3 378 4372 0.00 2.50 0.00 0.000 516 0.000 0.083 2488 901 3393 3420 3367 0 0 0 0 0 0 15.14 14.79 15.16
4396 -0.93 -146.0 2488 901 3420 3368 912.8 -6.0 384 4403 0.00 2.53 0.00 0.000 1062 0.000 0.076 2479 2310 3394 3421 3367 0 0 0 0 0 0 14.98 14.81 15.00
4787 -0.93 -146.0 2478 2311 3420 3367 954.2 -11.9 402 4792 0.00 2.55 0.00 0.000 516 0.000 0.082 2479 898 3394 3421 3367 0 0 0 0 0 0 15.13 14.76 15.16
4827 -0.93 -146.0 2480 898 3422 3367 958.5 -8.0 410 4833 0.00 2.53 0.00 0.000 1030 0.000 0.079 2476 2299 3394 3421 3367 0 0 0 0 0 0 14.87 14.79 14.91
5026 end dive: BOTTOM_OBSTACLE_DETECTED
state 5026 begin apogee
5030 -0.23 0.0 2476 2070 3419 3368 979.2 -10.4 420 5420 0.90 0.10 384.95 1.317 10246 0.230 0.157 2720 2131 2782 2820 2744 0 0 0 0 0 0 14.66 13.70 13.19
5422 end apogee: CONTROL_FINISHED_OK
state 5422 begin climb
5423 0.93 146.0 2724 2131 2817 2741 978.4 0.0 433 5728 1.25 2.72 292.85 1.477 10756 0.129 0.093 3107 723 2182 2226 2139 0 0 0 0 0 0 13.70 13.50 13.03
5837 0.93 146.0 3108 723 2216 2133 930.9 12.9 512 5843 0.00 2.58 0.00 0.000 1030 0.000 0.065 3107 2093 2172 2214 2131 0 0 0 0 0 0 14.00 13.95 14.03
6223 0.93 146.0 3107 2094 2210 2128 877.5 13.3 529 6229 0.00 2.62 0.00 0.000 260 0.000 0.103 3107 3513 2169 2209 2129 0 0 0 0 0 0 14.66 14.43 14.69
6287 0.93 146.0 3108 3514 2211 2128 867.6 15.5 542 6294 0.00 2.45 0.00 0.000 1030 0.000 0.051 3117 2126 2168 2209 2127 0 0 0 0 0 0 14.57 14.52 14.61
6674 0.93 146.0 3119 2127 2210 2126 816.6 13.0 559 6675 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2126 2167 2208 2126 0 0 0 0 0 0 14.90 14.92 14.92
7035 0.93 146.0 3119 2127 2209 2126 768.8 13.0 571 7040 0.00 2.53 0.00 0.000 260 0.000 0.102 3115 3516 2165 2206 2125 0 0 0 0 0 0 14.97 14.72 15.00
7080 0.93 146.0 3119 3517 2208 2126 762.6 14.7 580 7085 0.00 2.42 0.00 0.000 1030 0.000 0.052 3126 2093 2165 2206 2125 0 0 0 0 0 0 14.88 14.78 14.90
7454 0.93 146.0 3125 2093 2205 2125 714.8 12.1 595 7455 0.00 0.00 0.00 0.000 6 0.000 0.000 3126 2092 2165 2205 2125 0 0 0 0 0 0 15.06 15.09 15.08
7814 0.93 146.0 3127 2093 2206 2125 668.7 13.4 621 7820 0.00 2.58 0.00 0.000 260 0.000 0.098 3126 3521 2165 2205 2125 0 0 0 0 0 0 15.07 14.78 15.10
7864 0.93 146.0 3125 3522 2204 2125 661.5 14.4 631 7871 0.12 2.47 0.00 0.000 5126 0.241 0.052 3100 2087 2164 2204 2124 0 0 0 0 0 0 14.67 14.83 14.81
8175 0.93 146.0 3101 2088 2206 2125 626.8 11.1 663 8180 0.00 2.58 0.00 0.000 260 0.000 0.100 3099 3516 2164 2204 2124 0 0 0 0 0 0 15.09 14.80 15.11
8269 0.93 146.0 3099 3516 2204 2125 615.3 12.3 682 8278 0.00 2.45 0.00 0.000 1030 0.000 0.051 3108 2093 2164 2204 2124 0 0 0 0 0 0 14.90 14.84 14.92
8575 0.93 146.0 3108 2093 2205 2125 580.5 11.5 713 8580 0.00 2.60 0.00 0.000 260 0.000 0.098 3109 3544 2163 2203 2124 0 0 0 0 0 0 15.11 14.80 15.13
8594 0.93 146.0 3108 3544 2203 2125 578.0 12.3 717 8602 0.00 2.50 0.00 0.000 1030 0.000 0.051 3119 2096 2163 2203 2124 0 0 0 0 0 0 14.90 14.84 14.93
8906 0.93 146.0 3118 2096 2201 2125 542.1 11.6 749 8911 0.00 2.60 0.00 0.000 260 0.000 0.099 3119 3538 2163 2203 2124 0 0 0 0 0 0 15.11 14.81 15.14
8941 0.93 146.0 3118 3539 2203 2125 537.6 13.1 756 8949 0.00 2.50 0.00 0.000 1030 0.000 0.051 3128 2089 2163 2203 2124 0 0 0 0 0 0 14.90 14.85 14.93
9246 0.93 146.0 3127 2090 2201 2124 499.7 12.6 787 9252 0.00 2.58 0.00 0.000 260 0.000 0.098 3128 3524 2163 2203 2124 0 0 0 0 0 0 15.07 14.78 15.10
9306 0.93 146.0 3128 3525 2202 2124 491.5 13.7 799 9312 0.17 2.42 0.00 0.000 5126 0.274 0.050 3098 2090 2163 2203 2124 0 0 0 0 0 0 14.68 14.86 14.92
9616 0.93 146.0 3099 2091 2205 2124 458.4 9.9 831 9622 0.00 2.58 0.00 0.000 260 0.000 0.098 3098 3525 2162 2202 2123 0 0 0 0 0 0 15.11 14.78 15.14
9651 0.93 146.0 3097 3525 2201 2124 454.6 10.9 838 9659 0.00 2.47 0.00 0.000 1030 0.000 0.050 3106 2089 2166 2203 2130 0 0 0 0 0 0 14.90 14.85 14.93
9957 0.93 146.0 3105 2089 2202 2123 423.4 10.5 869 9958 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2088 2162 2202 2123 0 0 0 0 0 0 15.07 15.10 15.10
10256 0.93 146.0 3105 2089 2202 2124 392.5 10.3 899 10262 0.00 2.58 0.00 0.000 260 0.000 0.097 3106 3524 2162 2202 2123 0 0 0 0 0 0 15.12 14.78 15.15
10296 0.93 146.0 3105 3524 2202 2124 388.1 11.3 907 10302 0.00 2.42 0.00 0.000 1030 0.000 0.050 3115 2087 2162 2202 2123 0 0 0 0 0 0 14.93 14.85 14.95
10555 end climb: SURFACE_OBSTACLE_DETECTED
state 10555 begin subsurface finish
10558 0.00 2.5 3115 2087 2201 2123 360.5 10.8 934 10572 1.08 2.62 -2.28 0.052 20740 0.207 0.120 2801 3516 2793 2825 2761 0 0 0 0 0 0 14.66 13.52 14.80
10572 end subsurface finish: CONTROL_FINISHED_OK
state 10572 begin surface