ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 653 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  221 HD_A  0.0042300001 ROLL_DEG  40 ALTIM_TOP_PING_RANGE  0
MISSION  7 HD_B  0.0085000005 C_ROLL_DIVE  2800 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  653 HD_C  1.6100001e-05 C_ROLL_CLIMB  2550 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  36 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LAT  4736 R_STBD_OVSHOOT  22 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  3
D_BOOST  110 SM_CC  399.91037 ROLL_ADJ_GAIN  0 XPDR_INHIBIT  90
T_BOOST  0 N_FILEKB  8 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  280 FILEMGR  2 VBD_MIN  1900 INT_PRESSURE_YINT  0.80000001
D_PITCH  3 CALL_NDIVES  1 VBD_MAX  3960 DEEPGLIDER  0
D_SAFE  500 COMM_SEQ  0 C_VBD  3492 MOTHERBOARD  4
D_CALL  2 PROTOCOL  9 VBD_DBAND  2 DEVICE1  -1
SURFACE_URGENCY  25 N_NOCOMM  0 VBD_CNV  -0.25119999 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  4 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  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  0 T_RSLEEP  120 LOITER_W_DBAND  1 COMPASS2_DEVICE  149
EXEC_DT  0 STROBE  0 LOITER_DBDW  200 PHONE_DEVICE  49
EXEC_T  0 RAFOS_PEAK_OFFSET  0 LOITER_D_NO_PUMP  500 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  200 CF8_MAXERRORS  20 SEABIRD_T_G  0.0044198656
D_OFFGRID  990 PITCH_MAX  3910 AH0_24V  350 SEABIRD_T_H  0.00064431952
T_WATCHDOG  10 C_PITCH  2775 AH0_10V  0 SEABIRD_T_I  2.6320724e-05
RELAUNCH  1 PITCH_DBAND  0.1 MINV_24V  0 SEABIRD_T_J  3.2746798e-06
APOGEE_PITCH  -5 PITCH_CNV  0.0031300001 MINV_10V  0 SEABIRD_C_G  -9.9022408
MAX_BUOY  110 P_OVSHOOT  0.039999999 MAXI_24V  2 SEABIRD_C_H  1.1403944
COURSE_BIAS  0 P_OVSHOOT_WITHG  0 MAXI_10V  2 SEABIRD_C_I  -0.0013212307
GLIDE_SLOPE  45 PITCH_GAIN  22 FG_AHR_10V  0 SEABIRD_C_J  0.00017705678
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  53510 PITCH_MAXERRORS  1 PRESSURE_YINT  -160.68855 SC_XMITPROFILE  3.0
MASS_COMP  0 PITCH_ADJ_GAIN  0 PRESSURE_SLOPE  0.000108275 SC_NDIVE  1.0
NAV_MODE  0 PITCH_ADJ_DBAND  0 AD7714Ch0Gain  1
FERRY_MAX  45 ROLL_MIN  230 COMPASS_USE  4
KALMAN_USE  2 ROLL_MAX  3910 ALTIM_PING_FIT  883

Pre-dive calculations and measurements:
GPS1  111218,031408,-7414.6333,-11229.8340,0,4109.3,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS  0.094,0.239
_CALLS  1 TGT_NAME  inside0
_XMS_NAKs  0 TGT_LATLONG  -7420.000,-11230.000
_XMS_TOUTs  0 TGT_RADIUS  1000.000
_SM_DEPTHo  395.28 MHEAD_RNG_PITCHd_Wd  127.0,9940,-19.3,-9.429,-21.50,1737
_SM_ANGLEo  4.1 D_GRID  990
GPS2  111218,031408,-7414.6333,-11229.8340,0,4109.3,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:
FINISH1  347.4,1.027472,1 _24V_AH  10.81,205.346
FINISH2  346.2 _10V_AH  11.25,0.000
RAFOS_CLK  515 FG_AHR_24Vo  0.000
RAFOS  0,1544508086,6.032355,6.023889,110,63,57,57,55,52,423,216,187,205,173,146 FG_AHR_10Vo  0.000
RAFOS_FIX  -7415.728516,-11227.889648,111218,060628,3,136,0.21 MEM  280268
IRIDIUM_FIX  -7408.15,-11227.51,101218,044119 DATA_FILE_SIZE  33335,982
TT8_MAMPS  0.039697,0.20972 CAP_FILE_SIZE  124844,0
HUMID  51.14 CFSIZE  1024409600,943357952
INTERNAL_PRESSURE  7.93895 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  13.00 SOUNDSPEED  1454.5
XPDR_PINGS  0 GPS  111218,061528,-7415.729,-11227.890,0,4135.7,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING  368.3,27.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor429915.92 nil000.00
Roll_motor859185.24 nil000.00
VBD_pump_during_apogee28730989634.83 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1266591329.11
Iridium_during_xfer000.00 nil000.00
Transponder_ping44420202.04 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8000.00
LPSleep99852259.50
TT8_Active4001049.01
TT8_Sampling211030720.71
TT8_CF829951172.83
TT8_Kalman000.00
Analog_circuits111410126.61
GPS_charging000.00
Compass14066106.66
RAFOS720112.15
Transponder33730113.97

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
977.7 28.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
393.4 53.10 9000.00 0.0 0.00 0.00 53.10 0.0 -0.04 1.00
386.9 46.50 9000.00 0.0 -0.04 0.93 46.50 340.4 1.02 1.00
380.7 40.00 40.00 340.7 1.02 1.00 40.00 340.7 1.05 1.00
368.3 27.50 27.40 340.9 1.02 1.00 27.50 340.8 1.01 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
9 end surface: CONTROL_FINISHED_OK
state 9 begin dive
13 -1.01 -107.1 2791 2810 3536 3529 0.0 0.0 0 16 0.00 0.00 -1.65 0.055 16390 0.000 0.000 2790 2817 3932 3922 3942 0 0 0 0 0 0 14.85 12.54 14.78
19 -1.01 -107.1 2791 2810 3937 3950 0.0 0.0 0 25 1.10 2.45 0.00 0.000 4612 0.148 0.047 2451 1382 3945 3939 3952 0 0 0 0 0 0 14.23 14.44 14.36
46 -1.01 -107.1 2453 1382 3946 3954 396.9 -6.0 5 54 0.00 2.55 0.00 0.000 1062 0.000 0.064 2452 2805 3950 3945 3956 0 0 0 0 0 0 14.54 14.41 14.59
352 -1.01 -107.1 2452 2804 3952 3961 421.1 -8.1 36 357 0.00 2.00 0.00 0.000 260 0.000 0.088 2445 3917 3956 3951 3962 0 0 0 0 0 0 14.83 14.35 14.83
397 -1.01 -107.1 2446 3918 3952 3963 425.1 -8.9 45 404 0.00 1.92 0.00 0.000 1030 0.000 0.047 2445 2777 3956 3951 3961 0 0 0 0 0 0 14.62 14.55 14.64
702 -1.01 -107.1 2446 2778 3953 3963 450.1 -8.1 76 703 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 2777 3957 3953 3962 0 0 0 0 0 0 14.92 14.92 14.93
1002 -1.01 -107.1 2446 2777 3954 3963 475.4 -8.2 106 1007 0.00 2.40 0.00 0.000 516 0.000 0.047 2445 1393 3958 3953 3963 0 0 0 0 0 0 14.93 14.42 14.93
1058 -1.01 -107.1 2446 1392 3955 3963 480.0 -8.3 117 1066 0.00 2.55 0.00 0.000 1030 0.000 0.066 2441 2809 3957 3954 3961 0 0 0 0 0 0 14.50 14.35 14.55
1364 -1.01 -107.1 2442 2809 3955 3963 504.5 -8.1 148 1365 0.00 0.00 0.00 0.000 6 0.000 0.000 2441 2809 3958 3954 3963 0 0 0 0 0 0 14.81 14.81 14.81
1663 -1.01 -107.1 2441 2809 3954 3965 528.4 -7.9 178 1664 0.00 0.00 0.00 0.000 6 0.000 0.000 2441 2809 3958 3954 3963 0 0 0 0 0 0 14.90 14.90 14.90
1963 -1.01 -107.1 2441 2810 3954 3964 552.5 -8.3 208 1968 0.00 2.47 0.00 0.000 516 0.000 0.047 2441 1393 3958 3954 3963 0 0 0 0 0 0 14.90 14.32 14.90
2029 -1.01 -107.1 2441 1394 3955 3964 558.1 -8.3 221 2036 0.00 2.55 0.00 0.000 1030 0.000 0.066 2441 2811 3959 3955 3963 0 0 0 0 0 0 14.49 14.34 14.52
2334 -1.01 -107.1 2440 2812 3955 3964 582.2 -7.4 252 2335 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2811 3959 3955 3963 0 0 0 0 0 0 14.93 14.93 14.93
2634 -1.01 -107.1 2441 2811 3956 3963 604.0 -7.1 282 2639 0.00 2.47 0.00 0.000 548 0.000 0.047 2441 1398 3959 3955 3963 0 0 0 0 0 0 14.93 14.38 14.93
2685 -1.01 -107.1 2440 1399 3955 3964 607.9 -7.7 292 2690 0.00 2.55 0.00 0.000 1030 0.000 0.067 2440 2814 3958 3954 3963 0 0 0 0 0 0 14.48 14.34 14.52
2996 -1.01 -107.1 2439 2814 3954 3965 631.2 -7.9 324 2996 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2814 3958 3954 3963 0 0 0 0 0 0 14.88 14.88 14.88
3296 -1.01 -107.1 2440 2814 3955 3964 655.5 -8.0 354 3301 0.00 2.50 0.00 0.000 516 0.000 0.047 2439 1386 3958 3954 3963 0 0 0 0 0 0 14.88 14.35 14.88
3351 -1.01 -107.1 2440 1385 3955 3964 660.2 -8.2 365 3358 0.00 2.58 0.00 0.000 1030 0.000 0.067 2439 2810 3958 3954 3963 0 0 0 0 0 0 14.46 14.32 14.50
3656 -1.01 -107.1 2439 2810 3955 3963 684.5 -7.9 396 3657 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2810 3958 3953 3963 0 0 0 0 0 0 14.91 14.91 14.90
3956 -1.01 -107.1 2439 2810 3955 3964 707.3 -7.3 420 3961 0.00 2.00 0.00 0.000 292 0.000 0.089 2438 3910 3959 3955 3963 0 0 0 0 0 0 14.92 14.23 14.92
3997 -1.01 -107.1 2438 3911 3956 3964 710.3 -7.6 428 4002 0.00 1.90 0.00 0.000 1030 0.000 0.048 2438 2792 3959 3955 3963 0 0 0 0 0 0 14.54 14.48 14.57
4380 -1.01 -107.1 2438 2791 3957 3963 737.8 -7.4 444 4385 0.00 2.42 0.00 0.000 548 0.000 0.047 2438 1398 3959 3955 3963 0 0 0 0 0 0 14.89 14.36 14.90
4436 -1.01 -107.1 2438 1397 3957 3963 742.2 -7.1 455 4443 0.00 2.55 0.00 0.000 1062 0.000 0.067 2436 2802 3959 3955 3963 0 0 0 0 0 0 14.44 14.29 14.48
4804 -1.01 -107.1 2437 2803 3956 3964 769.2 -7.3 468 4805 0.00 0.00 0.00 0.000 38 0.000 0.000 2437 2802 3959 3955 3963 0 0 0 0 0 0 14.80 14.79 14.79
5162 -1.01 -107.1 2437 2803 3956 3969 795.7 -7.4 480 5167 0.00 2.03 0.00 0.000 292 0.000 0.088 2435 3915 3959 3955 3964 0 0 0 0 0 0 14.79 14.21 14.80
5198 -1.01 -107.1 2435 3915 3956 3965 798.3 -8.1 487 5203 0.00 1.92 0.00 0.000 1030 0.000 0.047 2435 2796 3959 3955 3964 0 0 0 0 0 0 14.52 14.43 14.54
5586 -1.01 -107.1 2435 2797 3956 3967 828.5 -7.6 504 5591 0.00 2.47 0.00 0.000 516 0.000 0.047 2435 1386 3960 3956 3965 0 0 0 0 0 0 14.89 14.31 14.89
5662 -1.01 -107.1 2435 1387 3957 3966 834.1 -7.3 519 5667 0.00 2.58 0.00 0.000 1062 0.000 0.066 2427 2814 3960 3956 3965 0 0 0 0 0 0 14.41 14.26 14.45
6040 -1.01 -107.1 2428 2814 3956 3966 860.6 -7.0 534 6041 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 2814 3961 3956 3966 0 0 0 0 0 0 14.87 14.87 14.87
6400 -1.01 -107.1 2428 2815 3958 3966 886.8 -7.4 546 6401 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 2814 3960 3957 3963 0 0 0 0 0 0 14.87 14.87 14.87
6758 -1.01 -107.1 2428 2815 3958 3967 912.8 -7.3 558 6763 0.00 2.50 0.00 0.000 548 0.000 0.047 2426 1386 3961 3957 3966 0 0 0 0 0 0 14.91 14.32 14.91
6829 -1.01 -107.1 2427 1387 3958 3968 917.9 -7.0 572 6834 0.00 2.55 0.00 0.000 1062 0.000 0.066 2427 2802 3958 3957 3960 0 0 0 0 0 0 14.44 14.27 14.46
7213 -1.01 -107.1 2427 2802 3959 3967 945.4 -7.0 588 7218 0.00 2.50 0.00 0.000 548 0.000 0.047 2427 1384 3963 3959 3967 0 0 0 0 0 0 14.78 14.31 14.77
7254 -1.01 -107.1 2427 1383 3960 3967 947.5 -6.9 596 7259 0.00 2.58 0.00 0.000 1062 0.000 0.066 2427 2809 3963 3959 3968 0 0 0 0 0 0 14.42 14.27 14.46
7637 -1.01 -107.1 2426 2810 3960 3970 972.1 -6.5 612 7638 0.00 0.00 0.00 0.000 38 0.000 0.000 2427 2810 3964 3959 3969 0 0 0 0 0 0 14.87 14.87 14.87
7902 end dive: TARGET_DEPTH_EXCEEDED
state 7902 begin apogee
7909 -0.23 0.0 2427 2541 3960 3970 990.8 -6.8 621 8056 1.02 0.00 142.82 3.097 10246 0.214 0.000 2701 2540 3491 3498 3485 0 0 0 0 0 0 13.83 13.07 11.64
8057 end apogee: CONTROL_FINISHED_OK
state 8057 begin climb
8060 1.01 107.1 2702 2540 3499 3484 991.9 0.0 626 8212 1.38 2.97 144.85 3.098 10500 0.112 0.086 3101 3913 3064 3077 3051 0 0 0 0 0 0 13.16 12.13 10.81
8230 1.01 107.1 3101 3915 3078 3051 973.4 17.8 635 8235 0.00 2.70 0.00 0.000 1030 0.000 0.048 3111 2552 3062 3076 3049 0 0 0 0 0 0 12.78 12.72 12.79
8601 1.01 107.1 3112 2552 3069 3040 915.8 15.6 649 8608 0.00 2.50 0.00 0.000 516 0.000 0.062 3122 1144 3054 3068 3041 0 0 0 0 0 0 14.69 14.29 14.70
8638 1.01 107.1 3123 1145 3070 3040 910.0 15.0 656 8643 0.00 2.53 0.00 0.000 1030 0.000 0.067 3122 2556 3054 3068 3040 0 0 0 0 0 0 14.51 14.38 14.54
9024 1.01 107.1 3122 2557 3068 3040 850.3 15.6 673 9025 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2556 3052 3066 3038 0 0 0 0 0 0 14.89 14.89 14.88
9386 1.01 107.1 3123 2556 3066 3038 793.5 16.1 685 9387 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2556 3051 3065 3038 0 0 0 0 0 0 14.90 14.90 14.90
9746 1.01 107.1 3122 2556 3065 3039 737.1 15.4 697 9747 0.00 0.00 0.00 0.000 6 0.000 0.000 3123 2556 3051 3065 3037 0 0 0 0 0 0 14.90 14.90 14.90
10104 1.01 107.1 3122 2556 3065 3038 682.2 15.2 715 10105 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2556 3050 3064 3037 0 0 0 0 0 0 14.91 14.92 14.91
10404 1.01 107.1 3123 2557 3065 3038 636.5 14.7 745 10405 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2556 3051 3065 3037 0 0 0 0 0 0 14.92 14.92 14.92
10704 1.01 107.1 3121 2555 3064 3038 593.8 14.3 775 10705 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2556 3050 3065 3036 0 0 0 0 0 0 14.91 14.92 14.92
11004 1.01 107.1 3123 2557 3064 3038 551.4 14.0 805 11010 0.00 2.47 0.00 0.000 260 0.000 0.090 3122 3909 3051 3065 3037 0 0 0 0 0 0 14.92 14.31 14.92
11025 1.01 107.1 3123 3909 3067 3037 548.2 15.1 809 11033 0.12 2.38 0.00 0.000 5126 0.299 0.047 3104 2527 3051 3065 3037 0 0 0 0 0 0 14.00 14.54 14.23
11338 1.01 107.1 3104 2528 3065 3038 507.6 12.5 841 11339 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2527 3051 3065 3037 0 0 0 0 0 0 14.94 14.94 14.94
11638 1.01 107.1 3104 2527 3065 3038 470.5 12.1 871 11639 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2527 3051 3065 3037 0 0 0 0 0 0 14.94 14.94 14.94
11938 1.01 107.1 3105 2527 3066 3037 434.2 12.6 901 11944 0.00 2.58 0.00 0.000 260 0.000 0.092 3104 3918 3050 3065 3036 0 0 0 0 0 0 14.94 14.28 14.94
11980 1.01 107.1 3104 3919 3068 3036 428.6 14.2 909 11986 0.00 2.35 0.00 0.000 1030 0.000 0.048 3115 2547 3050 3064 3037 0 0 0 0 0 0 14.59 14.50 14.62
12293 1.01 107.1 3115 2547 3065 3037 389.7 12.4 941 12298 0.00 2.47 0.00 0.000 516 0.000 0.060 3126 1158 3049 3063 3036 0 0 0 0 0 0 14.93 14.12 14.93
12344 1.01 107.1 3125 1159 3062 3038 383.2 12.3 951 12349 0.00 2.50 0.00 0.000 1030 0.000 0.064 3126 2556 3050 3064 3036 0 0 0 0 0 0 14.50 14.35 14.55
12632 end climb: SURFACE_OBSTACLE_DETECTED
state 12632 begin subsurface finish
12639 0.00 1.4 3126 2556 3063 3037 347.4 12.5 981 12647 1.30 0.00 -1.95 0.054 20486 0.238 0.000 2778 2555 3513 3515 3512 0 0 0 0 0 0 13.84 12.71 14.07
12647 end subsurface finish: CONTROL_FINISHED_OK
state 12647 begin surface