ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 276 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  222 HD_A  0.00177 ROLL_DEG  40 ALTIM_TOP_PING_RANGE  0
MISSION  8 HD_B  0.0133 C_ROLL_DIVE  2500 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  276 HD_C  9.9999997e-06 C_ROLL_CLIMB  2200 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  10
D_FLARE  3 FIX_MISSING_TIMEOUT  3 R_PORT_OVSHOOT  26 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LAT  4736 R_STBD_OVSHOOT  13 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  110 SM_CC  300 ROLL_ADJ_GAIN  0 XPDR_INHIBIT  90
T_BOOST  0 N_FILEKB  8 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  10 FILEMGR  2 VBD_MIN  900 INT_PRESSURE_YINT  -0.3499999
D_PITCH  3 CALL_NDIVES  1 VBD_MAX  3960 DEEPGLIDER  0
D_SAFE  500 COMM_SEQ  0 C_VBD  2900 MOTHERBOARD  4
D_CALL  2 PROTOCOL  9 VBD_DBAND  2 DEVICE1  -1
SURFACE_URGENCY  0 N_NOCOMM  0 VBD_CNV  -0.24529999 DEVICE2  -1
SURFACE_URGENCY_TRY  100 NOCOMM_ACTION  163 VBD_LP_IGNORE  0 DEVICE3  -1
SURFACE_URGENCY_FORCE  100 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  330 UPLOAD_DIVES_MAX  4 PITCH_VBD_SHIFT  0.0012300001 DEVICE5  -1
T_MISSION  420 CALL_TRIES  3 VBD_PUMP_AD_RATE_SURFACE  1 DEVICE6  -1
T_ABORT  4320 CALL_WAIT  45 VBD_PUMP_AD_RATE_APOGEE  1.5 LOGGERS  1
T_TURN  225 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN_SAMPINT  -7 CAPMAXSIZE  10000 UNCOM_BLEED  200 LOGGERDEVICE2  -1
T_NO_W  120 HEAPDBG  0 VBD_MAXERRORS  5 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  2 T_RSLEEP  120 LOITER_W_DBAND  1 COMPASS2_DEVICE  149
EXEC_DT  0 STROBE  0 LOITER_DBDW  200 PHONE_DEVICE  49
EXEC_T  3974133 RAFOS_PEAK_OFFSET  -1 LOITER_D_NO_PUMP  500 GPS_DEVICE  64
EXEC_N  6 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  0.059999999 PITCH_MIN  210 CF8_MAXERRORS  20 SEABIRD_T_G  0.0044060913
D_OFFGRID  990 PITCH_MAX  3890 AH0_24V  350 SEABIRD_T_H  0.00063889573
T_WATCHDOG  10 C_PITCH  2700 AH0_10V  0 SEABIRD_T_I  2.5185698e-05
RELAUNCH  1 PITCH_DBAND  0.1 MINV_24V  0 SEABIRD_T_J  3.0510489e-06
APOGEE_PITCH  -5 PITCH_CNV  0.0031257649 MINV_10V  0 SEABIRD_C_G  -9.8844519
MAX_BUOY  110 P_OVSHOOT  0.039999999 MAXI_24V  2 SEABIRD_C_H  1.1298814
COURSE_BIAS  0 P_OVSHOOT_WITHG  0 MAXI_10V  2 SEABIRD_C_I  -0.0013862044
GLIDE_SLOPE  45 PITCH_GAIN  22 FG_AHR_10V  0 SEABIRD_C_J  0.00017915672
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  53445 PITCH_MAXERRORS  3 PRESSURE_YINT  -170.62135 SC_XMITPROFILE  3.0
MASS_COMP  0 PITCH_ADJ_GAIN  0 PRESSURE_SLOPE  0.00010921927 SC_NDIVE  1.0
NAV_MODE  0 PITCH_ADJ_DBAND  0 AD7714Ch0Gain  1
FERRY_MAX  45 ROLL_MIN  230 COMPASS_USE  0
KALMAN_USE  2 ROLL_MAX  3750 ALTIM_PING_FIT  883

Pre-dive calculations and measurements:
GPS1  040318,034930,-7406.1665,-11251.2520,25,1.0,25,53.6,1.0,94.7,9,4.0 SPEED_LIMITS  0.100,0.191
_CALLS  1 TGT_NAME  WM0
_XMS_NAKs  0 TGT_LATLONG  -7408.900,-11254.810
_XMS_TOUTs  0 TGT_RADIUS  3000.000
_SM_DEPTHo  0.27 MHEAD_RNG_PITCHd_Wd  145.7,5378,-20.6,-10.000,-27.64,1609
_SM_ANGLEo  -67.4 D_GRID  990
GPS2  040318,040108,-7406.1597,-11251.2920,2,0.9,3,53.6,1.0,82.0,10,4.5

Post-dive calculations and measurements:
FREEZE  0.92,-1.796,-1.863,2,1,0 ALTIM_TOP_PING  10.4,11.7
FINISH  0.9,1.027328 ALTIM_BOTTOM_PING  653.0,10.4
SM_CCo  10901,170.43,0.227,0,0,1676,300.00 _24V_AH  12.12,112.360
SM_GC  0.30,9.00,3.20,170.43,0.122,0.101,0.227,198,2507,1676,-7.76,-0.28,300.00,0,0,0,0,0,0,14.82,14.55,14.40 _10V_AH  12.37,0.000
RAFOS_CLK  408 FG_AHR_24Vo  0.000
RAFOS  0,1520143272,6.032778,6.020000,119,68,58,57,56,54,554,209,157,190,218,171 FG_AHR_10Vo  0.000
RAFOS_FIX  -7406.962402,-11251.889648,040318,060628,3,118,0.19 MEM  278956
IRIDIUM_FIX  -7405.97,-11242.02,030318,235649 DATA_FILE_SIZE  10083,419
TT8_MAMPS  0.039697,0.258405 CAP_FILE_SIZE  94527,0
HUMID  45.39 CFSIZE  1024409600,988217344
INTERNAL_PRESSURE  7.47257 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  13.00 SOUNDSPEED  1447.5
XPDR_PINGS  0 GPS  040318,070700,-7407.199,-11253.884,21,0.7,21,53.7,0.6,303.5,11,3.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor24483144.44 nil000.00
Roll_motor99145174.49 nil000.00
VBD_pump_during_apogee24130288852.82 nil000.00
VBD_pump_during_surface170227469.30 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon108532269.65
Iridium_during_xfer4911951162.94 nil000.00
Transponder_ping25420131.08 nil000.00
GUMSTIX_24V000.00
GPS590.62
TT8000.00
LPSleep93462267.06
TT8_Active71412108.44
TT8_Sampling145831572.59
TT8_CF825845144.40
TT8_Kalman000.00
Analog_circuits157310198.51
GPS_charging000.00
Compass606756.18
RAFOS720113.36
Transponder1833068.17

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
10.8 12.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
32.8 35.10 9000.00 0.0 0.00 0.00 35.10 0.0 1.02 1.00
43.4 45.90 45.90 0.0 1.02 1.00 45.90 0.0 1.02 1.00
612.2 58.70 9000.00 0.0 0.03 0.80 58.70 0.0 0.02 1.00
626.2 41.30 9000.00 0.0 0.01 0.06 41.30 667.5 -1.24 1.00
639.4 25.00 25.00 664.4 -1.24 1.00 25.00 664.4 -1.23 1.00
653.0 10.80 10.40 663.4 -1.14 1.00 10.80 663.8 -1.04 1.00
649.7 6.90 11.40 0.0 -1.21 0.82 6.90 642.8 1.18 1.00
609.0 10.40 9000.00 0.0 -0.03 0.12 10.40 0.0 -0.09 1.00
593.6 26.00 9000.00 0.0 -0.29 0.68 26.00 0.0 -1.01 1.00
89.9 94.20 9000.00 0.0 -0.15 0.98 94.20 0.0 -0.14 1.00
79.8 83.60 9000.00 0.0 -0.12 0.97 83.60 -3.8 1.05 1.00
67.5 70.60 70.60 -3.1 1.05 1.00 70.60 -3.1 1.06 1.00
45.3 47.20 47.20 -1.9 1.06 1.00 47.20 -1.9 1.05 1.00
33.4 35.20 35.00 -1.6 1.04 1.00 35.20 -1.8 1.01 1.00
22.3 24.30 24.20 -1.9 0.99 1.00 24.30 -2.0 0.98 1.00
10.4 11.50 11.70 -1.3 1.03 1.00 11.50 -1.1 1.08 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
7 end surface: CONTROL_FINISHED_OK
state 7 begin dive
9 -1.07 -107.1 190 2500 1659 1646 0.0 0.0 0 103 0.00 0.00 -91.88 0.002 16390 0.000 0.000 189 2499 3338 3411 3265 0 0 0 0 0 0 14.81 12.90 14.84
105 -1.07 -107.1 190 2499 3411 3266 1.7 -2.3 3 127 12.38 2.62 0.00 0.000 2564 0.483 0.091 2353 1081 3342 3415 3269 0 0 0 0 0 0 14.15 14.50 14.54
279 -1.07 -107.1 2354 1081 3419 3269 32.8 -15.5 29 286 0.00 2.70 0.00 0.000 1030 0.000 0.108 2345 2506 3344 3419 3269 0 0 0 0 0 0 14.52 14.40 14.59
628 -1.07 -107.1 2346 2506 3419 3269 85.0 -14.4 43 635 0.00 2.45 0.00 0.000 260 0.000 0.140 2337 3760 3344 3422 3266 0 0 0 0 0 0 15.04 14.43 15.06
677 -1.07 -107.1 2338 3760 3420 3269 92.5 -15.6 50 685 0.00 2.30 0.00 0.000 1030 0.000 0.082 2338 2492 3344 3419 3269 0 0 0 0 0 0 14.76 14.63 14.79
1020 -1.07 -107.1 2338 2492 3420 3269 145.2 -15.6 63 1028 0.00 2.58 0.00 0.000 516 0.000 0.094 2338 1089 3344 3419 3269 0 0 0 0 0 0 15.07 14.50 15.10
1056 -1.07 -107.1 2338 1089 3419 3270 150.8 -16.0 68 1063 0.00 2.67 0.00 0.000 1030 0.000 0.112 2331 2498 3344 3419 3269 0 0 0 0 0 0 14.56 14.45 14.65
1413 -1.07 -107.1 2331 2501 3419 3270 202.6 -13.3 83 1420 0.00 2.45 0.00 0.000 260 0.000 0.145 2324 3750 3343 3418 3269 0 0 0 0 0 0 15.09 14.39 15.11
1462 -1.07 -107.1 2324 3750 3420 3268 209.5 -14.3 90 1470 0.12 2.25 0.00 0.000 3078 0.301 0.083 2354 2497 3344 3419 3269 0 0 0 0 0 0 14.18 14.62 14.41
1805 -1.07 -107.1 2353 2498 3419 3270 253.1 -12.8 97 1806 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2497 3344 3419 3269 0 0 0 0 0 0 15.03 15.06 15.06
2141 -1.07 -107.1 2354 2498 3419 3270 296.3 -12.8 103 2148 0.00 2.60 0.00 0.000 516 0.000 0.096 2353 1090 3344 3419 3269 0 0 0 0 0 0 15.04 14.50 15.07
2168 -1.07 -107.1 2354 1091 3419 3270 300.1 -13.6 107 2175 0.00 2.70 0.00 0.000 1030 0.000 0.111 2346 2512 3344 3419 3269 0 0 0 0 0 0 14.72 14.51 14.78
2532 -1.07 -107.1 2347 2512 3419 3269 350.2 -13.8 117 2540 0.00 2.42 0.00 0.000 260 0.000 0.143 2338 3749 3344 3419 3269 0 0 0 0 0 0 15.15 14.44 15.17
2567 -1.07 -107.1 2338 3752 3419 3269 355.4 -15.1 122 2574 0.00 2.28 0.00 0.000 1030 0.000 0.082 2338 2492 3344 3419 3269 0 0 0 0 0 0 14.80 14.67 14.84
2924 -1.07 -107.1 2338 2493 3419 3270 404.1 -13.4 131 2925 0.00 0.00 0.00 0.000 6 0.000 0.000 2338 2492 3343 3419 3268 0 0 0 0 0 0 15.14 15.16 15.17
3260 -1.07 -107.1 2338 2493 3419 3270 448.9 -13.2 137 3268 0.00 2.60 0.00 0.000 516 0.000 0.093 2338 1082 3343 3418 3269 0 0 0 0 0 0 15.14 14.54 15.16
3309 -1.07 -107.1 2337 1083 3419 3270 455.5 -13.5 144 3318 0.00 2.70 0.00 0.000 1030 0.000 0.110 2330 2503 3341 3419 3264 0 0 0 0 0 0 14.71 14.50 14.77
3652 -1.07 -107.1 2330 2504 3419 3270 503.4 -13.8 151 3659 0.00 2.45 0.00 0.000 260 0.000 0.143 2322 3753 3343 3418 3269 0 0 0 0 0 0 15.14 14.43 15.16
3708 -1.07 -107.1 2322 3753 3419 3270 511.4 -14.2 159 3716 0.15 2.28 0.00 0.000 3078 0.319 0.081 2352 2493 3344 3419 3269 0 0 0 0 0 0 14.21 14.67 14.56
4102 -1.07 -107.1 2352 2494 3420 3269 558.9 -11.5 173 4109 0.00 2.53 0.00 0.000 516 0.000 0.095 2351 1095 3344 3419 3269 0 0 0 0 0 0 15.04 14.53 15.07
4128 -1.07 -107.1 2352 1095 3420 3269 562.1 -11.4 177 4136 0.00 2.65 0.00 0.000 1030 0.000 0.109 2344 2497 3344 3420 3269 0 0 0 0 0 0 14.57 14.45 14.65
4492 -1.07 -107.1 2345 2498 3420 3269 605.7 -12.0 187 4493 0.00 0.00 0.00 0.000 6 0.000 0.000 2344 2497 3344 3419 3269 0 0 0 0 0 0 15.14 15.17 15.16
4828 -1.07 -107.1 2345 2494 3420 3270 646.1 -11.9 193 4829 0.00 0.00 0.00 0.000 6 0.000 0.000 2342 2497 3344 3419 3269 0 0 0 0 0 0 15.13 15.17 15.16
4938 end dive: BOTTOM_OBSTACLE_DETECTED
state 4938 begin apogee
4943 -0.23 0.0 2345 2195 3420 3270 659.1 -11.8 195 5062 1.10 0.00 115.22 3.029 10246 0.259 0.000 2624 2195 2897 2956 2838 0 0 0 0 0 0 14.25 13.73 12.53
5063 end apogee: CONTROL_FINISHED_OK
state 5063 begin climb
5064 1.07 107.1 2625 2195 2957 2838 660.4 0.0 197 5195 1.45 0.00 125.95 2.913 10502 0.135 0.000 3043 2194 2459 2509 2410 0 0 0 0 0 0 13.70 13.26 12.12
5557 1.07 107.1 3044 2194 2503 2392 609.0 11.9 213 5564 0.00 2.65 0.00 0.000 516 0.000 0.105 3054 799 2447 2502 2392 0 0 0 0 0 0 14.64 14.28 14.67
5591 1.07 107.1 3054 798 2502 2393 604.4 13.1 218 5600 0.00 2.65 0.00 0.000 1030 0.000 0.093 3053 2212 2446 2501 2392 0 0 0 0 0 0 14.52 14.36 14.57
5948 1.07 107.1 3054 2212 2502 2388 556.6 13.1 227 5949 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 2212 2444 2500 2388 0 0 0 0 0 0 14.97 14.98 15.00
6284 1.07 107.1 3054 2212 2501 2387 511.7 13.5 233 6292 0.00 2.70 0.00 0.000 260 0.000 0.128 3054 3620 2443 2500 2386 0 0 0 0 0 0 15.05 14.57 15.07
6319 1.07 107.1 3054 3621 2500 2387 506.7 14.4 238 6328 0.00 2.58 0.00 0.000 1030 0.000 0.082 3065 2196 2442 2499 2386 0 0 0 0 0 0 14.81 14.69 14.86
6676 1.07 107.1 3065 2194 2500 2385 458.0 13.8 247 6684 0.00 2.62 0.00 0.000 516 0.000 0.107 3075 784 2442 2499 2385 0 0 0 0 0 0 15.11 14.62 15.14
6711 1.07 107.1 3079 784 2500 2386 453.1 13.8 252 6719 0.15 2.62 0.00 0.000 5126 0.288 0.097 3045 2209 2442 2499 2386 0 0 0 0 0 0 14.40 14.64 14.74
7068 1.07 107.1 3045 2209 2500 2385 409.7 12.0 261 7069 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 2208 2442 2499 2385 0 0 0 0 0 0 15.12 15.15 15.14
7404 1.07 107.1 3045 2209 2499 2385 371.5 11.4 267 7411 0.00 2.65 0.00 0.000 516 0.000 0.106 3054 783 2441 2499 2384 0 0 0 0 0 0 15.11 14.63 15.14
7446 1.07 107.1 3053 783 2500 2384 366.7 11.4 273 7453 0.00 2.62 0.00 0.000 1030 0.000 0.096 3054 2210 2441 2498 2384 0 0 0 0 0 0 14.82 14.65 14.88
7797 1.07 107.1 3055 2210 2499 2383 326.6 11.4 281 7798 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 2210 2441 2498 2384 0 0 0 0 0 0 15.06 15.09 15.09
8133 1.07 107.1 3054 2211 2499 2385 288.6 11.3 287 8139 0.00 2.67 0.00 0.000 260 0.000 0.130 3054 3608 2441 2498 2384 0 0 0 0 0 0 15.06 14.52 15.09
8160 1.07 107.1 3055 3607 2498 2384 285.2 12.2 291 8168 0.00 2.53 0.00 0.000 1030 0.000 0.082 3065 2199 2440 2497 2384 0 0 0 0 0 0 14.74 14.67 14.80
8524 1.07 107.1 3064 2199 2498 2384 245.0 11.0 301 8525 0.00 0.00 0.00 0.000 6 0.000 0.000 3065 2198 2440 2497 2384 0 0 0 0 0 0 15.14 15.17 15.16
8860 1.07 107.1 3065 2199 2497 2384 210.1 10.3 307 8868 0.00 2.62 0.00 0.000 516 0.000 0.107 3076 782 2440 2497 2383 0 0 0 0 0 0 15.14 14.58 15.16
8930 1.07 107.1 3076 784 2497 2384 202.4 10.8 317 8938 0.15 2.62 0.00 0.000 5126 0.288 0.097 3045 2206 2439 2496 2383 0 0 0 0 0 0 14.35 14.63 14.71
9280 1.07 107.1 3045 2206 2498 2383 167.8 10.4 334 9281 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 2206 2439 2496 2383 0 0 0 0 0 0 15.14 15.17 15.16
9616 1.07 107.1 3044 2206 2497 2384 132.7 10.4 346 9624 0.00 2.72 0.00 0.000 260 0.000 0.130 3045 3620 2439 2496 2383 0 0 0 0 0 0 15.16 14.54 15.19
9665 1.07 107.1 3045 3620 2497 2383 127.0 11.6 353 9674 0.00 2.60 0.00 0.000 1030 0.000 0.084 3055 2185 2439 2496 2382 0 0 0 0 0 0 14.82 14.69 14.88
10008 1.07 107.1 3055 2185 2496 2383 91.3 10.3 366 10016 0.00 2.62 0.00 0.000 516 0.000 0.109 3065 782 2439 2496 2382 0 0 0 0 0 0 15.16 14.57 15.18
10071 1.07 107.1 3066 782 2497 2383 84.9 10.1 375 10079 0.00 2.60 0.00 0.000 1030 0.000 0.097 3065 2201 2439 2495 2383 0 0 0 0 0 0 14.66 14.56 14.73
10430 1.07 107.1 3066 2205 2496 2383 47.6 9.8 390 10437 0.00 2.72 0.00 0.000 260 0.000 0.132 3065 3636 2438 2495 2382 0 0 0 0 0 0 15.14 14.48 15.16
10484 1.07 107.1 3066 3636 2496 2383 41.4 11.2 398 10493 0.15 2.62 0.00 0.000 5126 0.303 0.085 3046 2194 2438 2495 2382 0 0 0 0 0 0 14.28 14.65 14.66
10848 1.07 107.1 3046 2194 2496 2382 4.4 10.6 414 10857 0.00 2.62 0.00 0.000 516 0.000 0.109 3055 791 2438 2495 2382 0 0 0 0 0 0 15.15 14.53 15.17
10875 end climb: SURFACE_DEPTH_REACHED
state 10875 begin surface coast
10882 end surface coast: CONTROL_FINISHED_OK
state 10882 begin surface