ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 730 * 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  730 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  10
D_FLARE  3 FIX_MISSING_TIMEOUT  3 R_PORT_OVSHOOT  35 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LAT  4736 R_STBD_OVSHOOT  24 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  350 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  0.25
D_PITCH  3 CALL_NDIVES  1 VBD_MAX  3960 DEEPGLIDER  0
D_SAFE  500 COMM_SEQ  0 C_VBD  2560 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  5 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  10029665 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  225 CF8_MAXERRORS  20 SEABIRD_T_G  0.0044087539
D_OFFGRID  990 PITCH_MAX  3880 AH0_24V  350 SEABIRD_T_H  0.00063761615
T_WATCHDOG  10 C_PITCH  2870 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  110 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  2 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  131218,205530,-7408.7593,-11309.5928,23,0.9,23,53.8,0.2,167.7,10,4.1 SPEED_LIMITS  0.100,0.239
_CALLS  1 TGT_NAME  W0
_XMS_NAKs  0 TGT_LATLONG  -7408.220,-11312.000
_XMS_TOUTs  0 TGT_RADIUS  1000.000
_SM_DEPTHo  0.76 MHEAD_RNG_PITCHd_Wd  241.0,1560,-43.7,-10.000,-45.00,362
_SM_ANGLEo  -63.6 D_GRID  990
GPS2  131218,210214,-7408.7407,-11309.5762,2,0.7,3,53.8,0.1,0.0,12,7.4

Post-dive calculations and measurements:
FREEZE  0.97,-0.967,-1.860,2,1,0 ALTIM_BOTTOM_PING  639.5,6.4
FINISH  1.0,1.027254 _24V_AH  12.75,242.317
SM_CCo  11887,207.85,0.225,0,0,1132,350.04 _10V_AH  13.40,0.000
SM_GC  0.79,10.25,2.92,207.85,0.097,0.059,0.225,211,2305,1132,-8.24,-0.57,350.04,0,0,0,0,0,0,14.52,14.46,14.38 FG_AHR_24Vo  0.000
RAFOS_CLK  468 FG_AHR_10Vo  0.000
RAFOS  1,1544735229,21.133333,21.119167,110,61,60,55,53,53,525,177,190,212,232,135 MEM  279820
RAFOS_FIX  -7409.076660,-11304.162109,141218,000056,3,115,0.24 DATA_FILE_SIZE  23413,654
IRIDIUM_FIX  -7407.96,-11309.85,131218,173639 CAP_FILE_SIZE  108128,0
TT8_MAMPS  0.038948,0.27713 CFSIZE  1024409600,936624128
HUMID  47.51 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  8.08233 SOUNDSPEED  1434.8
TCM_TEMP  12.10 CURRENT  0.012,144.26,1
XPDR_PINGS  0 GPS  141218,002530,-7408.723,-11311.704,26,0.7,26,53.8,0.1,0.0,11,3.7
ALTIM_TOP_PING  10.7,11.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor25415136.78 nil000.00
Roll_motor11396139.46 nil000.00
VBD_pump_during_apogee9729753701.25 nil000.00
VBD_pump_during_surface207224596.03 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon58463270.19
Iridium_during_xfer220167471.54 nil000.00
Transponder_ping26420143.25 nil000.00
GUMSTIX_24V000.00
GPS5100.71
TT8000.00
LPSleep99452307.86
TT8_Active57913107.35
TT8_Sampling164034764.62
TT8_CF834752245.84
TT8_Kalman000.00
Analog_circuits131310191.79
GPS_charging000.00
Compass937794.07
RAFOS1200124.12
Transponder1953078.55

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
10.7 11.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
21.2 22.70 9000.00 0.0 0.00 0.00 22.70 0.0 1.03 1.00
32.1 34.10 34.10 0.0 1.04 1.00 34.10 0.0 1.05 1.00
615.9 34.30 9000.00 0.0 0.01 0.28 34.30 0.0 0.00 1.00
626.6 20.00 9000.00 0.0 -0.01 0.25 20.00 646.6 -1.34 1.00
639.5 7.00 6.40 645.9 -1.15 0.99 7.00 646.5 -1.01 1.00
629.7 14.20 15.80 0.0 -0.94 0.95 14.20 0.0 -0.73 1.00
155.7 161.80 9000.00 0.0 -0.32 1.00 161.80 0.0 -0.31 1.00
143.9 149.40 9000.00 0.0 -0.29 0.99 149.40 -5.5 1.05 1.00
121.7 126.60 126.50 -4.8 1.03 1.00 126.60 -4.9 1.03 1.00
110.0 114.00 114.10 -4.1 1.04 1.00 114.00 -4.0 1.08 1.00
99.9 103.70 103.60 -3.7 1.05 1.00 103.70 -3.8 1.02 1.00
69.1 71.70 71.70 -2.6 1.04 1.00 71.70 -2.6 1.04 1.00
56.5 58.80 58.70 -2.2 1.04 1.00 58.80 -2.3 1.02 1.00
44.0 45.50 45.60 -1.6 1.04 1.00 45.50 -1.5 1.06 1.00
34.0 34.90 34.90 -0.9 1.06 1.00 34.90 -0.9 1.06 1.00
23.1 24.10 24.00 -0.9 1.02 1.00 24.10 -1.0 0.99 1.00
10.7 10.90 11.00 -0.3 1.03 1.00 10.90 -0.2 1.06 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 -2.01 -23.5 211 2317 1160 1070 0.0 0.0 0 101 0.00 0.00 -85.80 0.002 16390 0.000 0.000 211 2317 2655 2660 2651 0 0 0 0 0 0 15.00 12.93 14.98
105 -2.01 -23.5 213 2318 2662 2653 1.5 -1.2 3 120 9.82 2.55 0.00 0.000 2564 0.415 0.063 2217 881 2657 2663 2652 0 0 0 0 0 0 14.14 14.56 14.40
350 -2.01 -23.5 2218 882 2666 2651 35.4 -15.4 39 356 0.00 2.60 0.00 0.000 1030 0.000 0.062 2208 2303 2657 2665 2650 0 0 0 0 0 0 14.50 14.43 14.56
717 -2.01 -23.5 2209 2304 2669 2647 91.9 -15.6 55 722 0.00 2.55 0.00 0.000 516 0.000 0.063 2208 889 2656 2667 2646 0 0 0 0 0 0 15.12 14.32 15.15
952 -2.01 -23.5 2208 890 2667 2647 127.9 -15.4 89 959 0.00 2.60 0.00 0.000 1030 0.000 0.059 2198 2304 2656 2667 2646 0 0 0 0 0 0 14.38 14.31 14.44
1305 -2.01 -23.5 2199 2306 2669 2647 177.1 -13.7 103 1310 0.00 2.58 0.00 0.000 516 0.000 0.062 2198 889 2657 2668 2646 0 0 0 0 0 0 15.16 14.24 15.18
1541 -2.01 -23.5 2199 890 2669 2647 210.3 -12.9 137 1548 0.17 2.60 0.00 0.000 3078 0.365 0.057 2216 2315 2656 2667 2646 0 0 0 0 0 0 13.66 14.28 14.12
1922 -2.01 -23.5 2215 2316 2668 2646 256.0 -12.0 149 1928 0.00 2.62 0.00 0.000 516 0.000 0.061 2216 885 2656 2668 2645 0 0 0 0 0 0 14.85 14.19 14.88
1983 -2.01 -23.5 2217 886 2670 2646 263.1 -10.7 158 1989 0.00 2.62 0.00 0.000 1030 0.000 0.060 2207 2302 2656 2668 2645 0 0 0 0 0 0 14.27 14.21 14.34
2369 -2.01 -23.5 2209 2302 2671 2646 303.1 -10.1 171 2374 0.00 2.70 0.00 0.000 260 0.000 0.096 2196 3719 2656 2668 2644 0 0 0 0 0 0 14.85 14.12 14.88
2431 -2.01 -23.5 2198 3720 2670 2645 309.6 -10.5 180 2437 0.00 2.53 0.00 0.000 1030 0.000 0.041 2197 2280 2656 2669 2644 0 0 0 0 0 0 14.40 14.35 14.42
2820 -2.01 -23.5 2197 2281 2671 2645 348.8 -10.0 193 2826 0.00 2.50 0.00 0.000 516 0.000 0.061 2197 901 2656 2669 2644 0 0 0 0 0 0 14.83 14.15 14.85
2944 -2.01 -23.5 2198 901 2672 2645 362.3 -10.4 211 2950 0.15 2.60 0.00 0.000 3078 0.348 0.058 2216 2302 2656 2669 2644 0 0 0 0 0 0 13.59 14.16 14.24
3323 -2.01 -23.5 2217 2302 2671 2645 397.9 -9.1 223 3328 0.00 2.55 0.00 0.000 516 0.000 0.062 2216 906 2656 2669 2644 0 0 0 0 0 0 14.85 14.12 14.87
3461 -2.01 -23.5 2215 907 2669 2644 411.4 -9.1 243 3468 0.00 2.60 0.00 0.000 1030 0.000 0.058 2207 2306 2656 2669 2643 0 0 0 0 0 0 14.23 14.14 14.28
3826 -2.01 -23.5 2207 2306 2669 2644 443.3 -8.8 253 3833 0.00 2.60 0.00 0.000 516 0.000 0.061 2207 903 2656 2669 2643 0 0 0 0 0 0 15.18 13.99 15.20
3938 -2.02 -31.0 2209 904 2672 2644 452.4 -7.9 269 3945 0.00 2.62 -0.15 0.606 17446 0.000 0.060 2197 2306 2706 2725 2687 0 0 0 0 0 0 14.38 14.14 14.37
4333 -2.02 -31.0 2196 2308 2725 2688 492.8 -10.6 283 4338 0.00 2.60 0.00 0.000 516 0.000 0.060 2197 898 2706 2725 2687 0 0 0 0 0 0 14.83 14.10 14.85
4457 -2.02 -31.0 2198 899 2727 2688 507.1 -11.3 301 4464 0.17 2.60 0.00 0.000 3078 0.364 0.059 2215 2314 2706 2725 2687 0 0 0 0 0 0 13.59 14.19 14.06
4834 -2.02 -31.0 2214 2314 2725 2688 545.2 -9.8 313 4841 0.00 2.60 0.00 0.000 516 0.000 0.060 2215 912 2706 2725 2688 0 0 0 0 0 0 15.17 14.02 15.20
4876 -2.02 -31.0 2214 912 2725 2688 549.2 -9.4 319 4882 0.00 2.62 0.00 0.000 1030 0.000 0.060 2206 2310 2706 2725 2687 0 0 0 0 0 0 14.19 14.12 14.26
5226 -2.02 -31.0 2208 2310 2727 2688 580.9 -9.0 327 5235 0.00 2.60 0.00 0.000 516 0.000 0.060 2206 912 2707 2726 2688 0 0 0 0 0 0 15.17 13.97 15.20
5311 -2.02 -31.0 2206 912 2725 2688 588.9 -9.5 339 5317 0.00 2.60 0.00 0.000 1030 0.000 0.058 2196 2306 2706 2726 2687 0 0 0 0 0 0 14.19 14.12 14.24
5675 -2.02 -31.0 2197 2307 2728 2689 620.7 -8.5 349 5682 0.00 2.67 0.00 0.000 260 0.000 0.093 2185 3715 2706 2726 2687 0 0 0 0 0 0 15.17 13.98 15.19
5780 -2.02 -31.0 2185 3715 2726 2688 630.3 -8.8 364 5788 0.15 2.50 0.00 0.000 3078 0.356 0.038 2214 2283 2706 2725 2688 0 0 0 0 0 0 13.52 14.27 13.83
5897 end dive: BOTTOM_OBSTACLE_DETECTED
state 5897 begin apogee
5905 -0.23 0.0 2216 2091 2728 2689 639.5 -7.8 367 5956 2.47 0.00 41.33 2.976 10246 0.321 0.000 2791 2087 2558 2586 2530 0 0 0 0 0 0 14.07 14.26 13.05
5957 end apogee: CONTROL_FINISHED_OK
state 5957 begin climb
5960 2.02 31.0 2793 2088 2588 2530 640.9 0.0 368 6002 2.38 0.00 38.17 2.933 10246 0.130 0.000 3521 2088 2431 2453 2410 0 0 0 0 0 0 14.25 13.96 12.75
6293 2.02 31.0 3522 2088 2446 2403 596.1 15.0 374 6293 0.00 0.00 0.00 0.000 6 0.000 0.000 3521 2088 2424 2445 2403 0 0 0 0 0 0 15.00 15.02 15.02
6628 2.02 31.0 3521 2088 2444 2402 547.1 14.4 380 6634 0.00 2.62 0.00 0.000 260 0.000 0.088 3521 3518 2422 2444 2401 0 0 0 0 0 0 15.01 14.59 15.03
6655 2.02 31.0 3523 3520 2445 2403 542.9 14.7 384 6661 0.00 2.42 0.00 0.000 1030 0.000 0.040 3532 2109 2422 2443 2402 0 0 0 0 0 0 14.72 14.67 14.76
7020 2.02 31.0 3533 2112 2444 2401 493.3 13.3 394 7026 0.00 2.62 0.00 0.000 260 0.000 0.088 3532 3522 2419 2438 2401 0 0 0 0 0 0 15.09 14.45 15.11
7097 2.02 31.0 3531 3521 2441 2401 482.8 13.9 405 7103 0.00 2.47 0.00 0.000 1030 0.000 0.040 3542 2093 2421 2442 2401 0 0 0 0 0 0 14.65 14.59 14.70
7468 2.02 31.0 3542 2094 2441 2401 435.8 12.5 416 7469 0.00 0.00 0.00 0.000 6 0.000 0.000 3542 2093 2421 2442 2400 0 0 0 0 0 0 14.96 14.98 14.98
7804 2.02 31.0 3544 2093 2443 2401 396.5 11.7 422 7810 0.00 2.53 0.00 0.000 516 0.000 0.076 3554 705 2420 2441 2400 0 0 0 0 0 0 14.94 14.43 14.97
7859 2.02 31.0 3554 707 2443 2401 389.4 13.0 430 7866 0.12 2.50 0.00 0.000 5126 0.369 0.053 3524 2106 2420 2441 2400 0 0 0 0 0 0 13.92 14.49 14.21
8255 2.02 31.0 3527 2107 2443 2400 343.8 11.7 444 8260 0.00 2.60 0.00 0.000 260 0.000 0.091 3525 3512 2417 2435 2399 0 0 0 0 0 0 14.92 14.41 14.95
8409 2.02 31.0 3526 3512 2442 2400 324.7 12.7 466 8414 0.00 2.45 0.00 0.000 1030 0.000 0.040 3535 2090 2423 2447 2399 0 0 0 0 0 0 14.69 14.60 14.73
8758 2.02 31.0 3535 2091 2442 2400 287.1 10.4 474 8759 0.00 0.00 0.00 0.000 6 0.000 0.000 3534 2090 2419 2440 2398 0 0 0 0 0 0 14.90 14.93 14.93
9094 2.02 31.0 3533 2091 2439 2399 253.7 10.0 480 9099 0.00 2.67 0.00 0.000 260 0.000 0.091 3533 3513 2419 2440 2398 0 0 0 0 0 0 14.90 14.30 14.92
9148 2.02 31.0 3534 3514 2442 2399 248.2 9.9 488 9154 0.00 2.50 0.00 0.000 1030 0.000 0.039 3542 2082 2419 2440 2398 0 0 0 0 0 0 14.52 14.48 14.57
9544 2.02 31.0 3544 2082 2441 2400 210.4 9.6 502 9549 0.00 2.67 0.00 0.000 260 0.000 0.088 3536 3508 2419 2440 2398 0 0 0 0 0 0 14.90 14.36 14.92
9780 2.03 38.5 3535 3508 2439 2399 189.6 7.9 536 9795 0.00 2.45 6.32 2.232 9254 0.000 0.039 3545 2084 2402 2423 2381 0 0 0 0 0 0 14.65 14.56 13.45
10132 2.04 47.7 3546 2085 2425 2381 163.2 7.4 550 10145 0.00 0.00 11.73 2.425 8230 0.000 0.000 3545 2084 2364 2385 2343 0 0 0 0 0 0 15.06 14.56 13.43
10468 2.04 47.7 3546 2085 2386 2341 129.1 10.6 562 10473 0.00 2.47 0.00 0.000 516 0.000 0.078 3555 708 2362 2384 2340 0 0 0 0 0 0 15.09 14.53 15.11
10594 2.06 47.7 3557 709 2385 2341 116.2 9.4 580 10599 0.00 2.45 0.00 0.000 1094 0.000 0.052 3554 2113 2362 2384 2340 0 0 0 0 0 0 14.66 14.54 14.70
10944 2.08 47.7 3557 2114 2386 2340 84.7 9.0 594 10949 0.00 2.55 0.00 0.000 580 0.000 0.074 3566 708 2361 2383 2339 0 0 0 0 0 0 15.03 14.44 15.05
11054 2.09 47.7 3566 709 2383 2340 74.3 9.3 610 11061 0.00 2.45 0.00 0.000 1094 0.000 0.050 3566 2105 2361 2383 2340 0 0 0 0 0 0 14.57 14.45 14.61
11419 2.11 47.7 3567 2106 2384 2340 41.5 8.9 626 11424 0.00 2.60 0.00 0.000 324 0.000 0.089 3566 3508 2361 2383 2339 0 0 0 0 0 0 15.07 14.39 15.09
11474 2.11 47.7 3567 3509 2384 2340 36.0 10.1 634 11480 0.12 2.47 0.00 0.000 5126 0.371 0.039 3545 2091 2360 2382 2339 0 0 0 0 0 0 13.88 14.42 14.32
11838 2.14 47.7 3546 2092 2384 2340 3.6 8.6 650 11843 0.00 2.53 0.00 0.000 580 0.000 0.076 3554 701 2360 2382 2339 0 0 0 0 0 0 15.07 14.33 15.09
11855 end climb: SURFACE_DEPTH_REACHED
state 11855 begin surface coast
11862 end surface coast: CONTROL_FINISHED_OK
state 11862 begin surface