ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 872 * 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  872 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  27 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LAT  4736 R_STBD_OVSHOOT  14 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  5 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  65 T_RSLEEP  120 LOITER_W_DBAND  1 COMPASS2_DEVICE  149
EXEC_DT  0 STROBE  0 LOITER_DBDW  200 PHONE_DEVICE  49
EXEC_T  9.3000002 RAFOS_PEAK_OFFSET  0 LOITER_D_NO_PUMP  500 GPS_DEVICE  64
EXEC_N  13 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  170119,181424,-7420.4604,-11229.2979,0,4151.3,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS  0.094,0.239
_CALLS  1 TGT_NAME  insideC0
_XMS_NAKs  0 TGT_LATLONG  -7438.000,-11230.000
_XMS_TOUTs  0 TGT_RADIUS  1000.000
_SM_DEPTHo  392.41 MHEAD_RNG_PITCHd_Wd  127.1,32484,-19.3,-9.429,-21.50,1737
_SM_ANGLEo  4.4 D_GRID  990
GPS2  170119,181424,-7420.4604,-11229.2979,0,4151.3,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:
FINISH1  364.9,1.027425,4 _24V_AH  10.00,278.791
FINISH2  362.4 _10V_AH  10.41,0.000
RAFOS_CLK  546 FG_AHR_24Vo  0.000
RAFOS  0,1547758867,21.032354,21.018612,107,75,63,56,54,53,568,193,205,174,145,226 FG_AHR_10Vo  0.000
RAFOS_FIX  -7423.586914,-11230.071289,180119,000032,2,142,0.27 MEM  278824
IRIDIUM_FIX  -7415.88,-11304.63,160119,112744 DATA_FILE_SIZE  33358,1008
TT8_MAMPS  0.049434,0.283122 CAP_FILE_SIZE  127319,0
HUMID  51.02 CFSIZE  1024409600,915652608
INTERNAL_PRESSURE  7.92918 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP  13.30 INTR  0,7679.84,0x214570,0,24
XPDR_PINGS  0 SOUNDSPEED  1456.6
ALTIM_TOP_PING  370.7,12.8 GPS  180119,000832,-7423.587,-11230.071,0,3142.5,0,53.5,0.0,0.0,0,0.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor626616.95 nil000.00
Roll_motor1068490.84 nil000.00
VBD_pump_during_apogee367310611414.66 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon133886887.49
Iridium_during_xfer000.00 nil000.00
Transponder_ping44420184.80 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8000.00
LPSleep105422253.52
TT8_Active4691053.11
TT8_Sampling213330674.09
TT8_CF835451189.40
TT8_Kalman000.00
Analog_circuits120910127.15
GPS_charging000.00
Compass14436101.28
RAFOS1440122.49
Transponder32830102.52

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
417.9 31.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
443.5 57.70 9000.00 0.0 0.00 0.00 57.70 0.0 1.04 1.00
389.5 32.30 9000.00 0.0 0.46 0.69 32.30 357.2 0.47 1.00
383.2 26.10 9000.00 0.0 0.50 0.99 26.10 357.1 0.98 1.00
377.0 19.70 19.70 357.3 1.02 1.00 19.70 357.3 1.03 1.00
370.7 12.70 12.80 357.9 1.07 1.00 12.70 358.0 1.11 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
11 -1.01 -107.1 2784 2799 3522 3518 0.0 0.0 0 14 0.00 0.00 -1.73 0.042 16390 0.000 0.000 2783 2799 3940 3934 3946 0 0 0 0 0 0 11.35 10.60 11.33
18 -1.01 -107.1 2784 2800 3942 3957 0.0 0.0 0 25 1.45 0.00 0.00 0.000 4102 0.146 0.000 2455 2799 3951 3944 3958 0 0 0 0 0 0 11.12 11.21 11.19
323 -1.01 -107.1 2454 2799 3956 3966 415.7 -8.2 31 328 0.00 3.28 0.00 0.000 516 0.000 0.045 2455 1387 3961 3957 3966 0 0 0 0 0 0 11.36 11.18 11.36
359 -1.01 -107.1 2455 1388 3957 3967 418.7 -8.1 38 365 0.00 3.38 0.00 0.000 1030 0.000 0.060 2453 2803 3961 3956 3966 0 0 0 0 0 0 11.24 11.17 11.26
665 -1.01 -107.1 2454 2804 3958 3967 443.5 -8.0 69 666 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2803 3961 3957 3966 0 0 0 0 0 0 11.35 11.35 11.35
964 -1.01 -107.1 2454 2803 3957 3967 467.3 -8.0 99 965 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2803 3962 3958 3967 0 0 0 0 0 0 11.36 11.36 11.36
1264 -1.01 -107.1 2454 2803 3958 3967 490.2 -7.6 129 1270 0.00 3.30 0.00 0.000 516 0.000 0.045 2451 1388 3962 3957 3967 0 0 0 0 0 0 11.36 11.18 11.36
1297 -1.01 -107.1 2454 1391 3958 3968 492.7 -7.7 135 1302 0.00 3.38 0.00 0.000 1030 0.000 0.060 2450 2807 3962 3957 3967 0 0 0 0 0 0 11.24 11.17 11.26
1609 -1.01 -107.1 2453 2808 3958 3968 516.1 -7.6 167 1610 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2807 3962 3957 3967 0 0 0 0 0 0 11.36 11.36 11.36
1909 -1.01 -107.1 2453 2808 3958 3965 539.2 -7.6 197 1915 0.00 3.30 0.00 0.000 516 0.000 0.045 2453 1386 3962 3957 3967 0 0 0 0 0 0 11.36 11.18 11.36
1961 -1.01 -107.1 2453 1387 3957 3968 543.4 -7.8 207 1967 0.00 3.35 0.00 0.000 1030 0.000 0.061 2453 2814 3961 3957 3966 0 0 0 0 0 0 11.24 11.17 11.26
2274 -1.01 -107.1 2453 2815 3958 3968 567.2 -7.5 239 2274 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2813 3962 3957 3967 0 0 0 0 0 0 11.36 11.36 11.36
2574 -1.01 -107.1 2454 2813 3957 3967 589.5 -7.3 269 2574 0.00 0.00 0.00 0.000 38 0.000 0.000 2452 2814 3962 3957 3967 0 0 0 0 0 0 11.36 11.36 11.36
2874 -1.01 -107.1 2454 2814 3957 3967 611.8 -7.3 299 2879 0.00 3.30 0.00 0.000 548 0.000 0.045 2453 1392 3961 3957 3966 0 0 0 0 0 0 11.36 11.18 11.36
2936 -1.01 -107.1 2453 1392 3958 3966 616.4 -7.3 311 2941 0.00 3.38 0.00 0.000 1062 0.000 0.062 2452 2803 3962 3957 3967 0 0 0 0 0 0 11.24 11.17 11.26
3248 -1.01 -107.1 2453 2803 3958 3967 639.1 -7.3 343 3248 0.00 0.00 0.00 0.000 38 0.000 0.000 2452 2803 3961 3957 3966 0 0 0 0 0 0 11.36 11.36 11.36
3548 -1.01 -107.1 2452 2804 3957 3967 660.4 -7.0 373 3548 0.00 0.00 0.00 0.000 38 0.000 0.000 2452 2802 3961 3957 3966 0 0 0 0 0 0 11.36 11.36 11.36
3848 -1.01 -107.1 2452 2802 3957 3967 680.9 -6.8 403 3853 0.00 3.28 0.00 0.000 548 0.000 0.044 2451 1387 3961 3957 3966 0 0 0 0 0 0 11.36 11.18 11.36
3894 -1.01 -107.1 2452 1388 3958 3968 684.1 -7.0 412 3902 0.00 3.38 0.00 0.000 1062 0.000 0.061 2452 2803 3961 3957 3966 0 0 0 0 0 0 11.24 11.17 11.26
4200 -1.01 -107.1 2453 2801 3958 3966 704.5 -6.5 439 4201 0.00 0.00 0.00 0.000 38 0.000 0.000 2452 2804 3961 3957 3966 0 0 0 0 0 0 11.36 11.36 11.36
4560 -1.01 -107.1 2452 2804 3957 3967 728.9 -7.1 451 4565 0.00 3.28 0.00 0.000 548 0.000 0.044 2452 1393 3961 3956 3966 0 0 0 0 0 0 11.36 11.19 11.37
4597 -1.01 -107.1 2452 1394 3958 3967 731.7 -7.3 458 4602 0.00 3.38 0.00 0.000 1062 0.000 0.062 2452 2803 3961 3957 3966 0 0 0 0 0 0 11.25 11.17 11.26
4988 -1.01 -107.1 2452 2803 3958 3966 758.0 -6.8 475 4988 0.00 0.00 0.00 0.000 38 0.000 0.000 2452 2803 3961 3957 3966 0 0 0 0 0 0 11.36 11.36 11.36
5344 -1.01 -107.1 2452 2803 3958 3966 782.4 -6.9 487 5344 0.00 0.00 0.00 0.000 38 0.000 0.000 2451 2803 3961 3957 3966 0 0 0 0 0 0 11.37 11.36 11.37
5704 -1.01 -107.1 2452 2803 3958 3966 805.8 -6.3 499 5709 0.00 3.28 0.00 0.000 548 0.000 0.044 2452 1386 3961 3957 3966 0 0 0 0 0 0 11.37 11.19 11.37
5745 -1.01 -107.1 2452 1386 3958 3966 808.5 -7.6 507 5751 0.00 3.40 0.00 0.000 1030 0.000 0.062 2451 2812 3961 3957 3966 0 0 0 0 0 0 11.24 11.17 11.26
6130 -1.01 -107.1 2452 2814 3957 3967 832.3 -6.3 523 6131 0.00 0.00 0.00 0.000 38 0.000 0.000 2451 2813 3961 3957 3966 0 0 0 0 0 0 11.36 11.36 11.36
6487 -1.01 -107.1 2452 2813 3959 3966 855.5 -6.4 535 6492 0.00 3.30 0.00 0.000 548 0.000 0.044 2451 1386 3961 3957 3966 0 0 0 0 0 0 11.37 11.19 11.36
6544 -1.01 -107.1 2452 1387 3958 3968 859.1 -6.4 546 6550 0.00 3.40 0.00 0.000 1062 0.000 0.062 2451 2813 3961 3957 3966 0 0 0 0 0 0 11.25 11.17 11.26
6910 -1.01 -107.1 2451 2812 3958 3966 882.3 -6.5 559 6911 0.00 0.00 0.00 0.000 38 0.000 0.000 2450 2813 3962 3959 3966 0 0 0 0 0 0 11.37 11.37 11.37
7269 -1.01 -107.1 2452 2813 3958 3966 905.4 -6.4 571 7270 0.00 0.00 0.00 0.000 38 0.000 0.000 2451 2813 3960 3954 3966 0 0 0 0 0 0 11.37 11.37 11.37
7629 -1.01 -107.1 2451 2814 3958 3967 927.6 -6.2 583 7634 0.00 3.30 0.00 0.000 548 0.000 0.044 2451 1389 3961 3957 3966 0 0 0 0 0 0 11.37 11.19 11.37
7676 -1.01 -107.1 2451 1390 3958 3967 930.5 -5.6 592 7681 0.00 3.38 0.00 0.000 1062 0.000 0.062 2450 2803 3961 3957 3966 0 0 0 0 0 0 11.25 11.17 11.26
8053 -1.01 -107.1 2451 2810 3958 3967 953.9 -6.2 607 8054 0.00 0.00 0.00 0.000 38 0.000 0.000 2451 2803 3961 3957 3966 0 0 0 0 0 0 11.37 11.37 11.36
8413 -1.01 -107.1 2451 2804 3958 3968 975.8 -6.0 619 8414 0.00 0.00 0.00 0.000 38 0.000 0.000 2451 2803 3961 3957 3966 0 0 0 0 0 0 11.37 11.37 11.37
8649 end dive: TARGET_DEPTH_EXCEEDED
state 8649 begin apogee
8658 -0.23 0.0 2452 2543 3957 3966 990.3 -6.1 627 8863 1.20 0.00 196.32 3.107 10246 0.200 0.000 2694 2544 3492 3500 3484 0 0 0 0 0 0 11.10 11.03 10.00
8864 end apogee: CONTROL_FINISHED_OK
state 8864 begin climb
8867 1.01 107.1 2696 2544 3501 3484 991.8 0.0 634 9052 1.67 3.45 171.10 3.102 10500 0.105 0.085 3096 3910 3064 3080 3049 0 0 0 0 0 0 11.07 11.02 10.00
9074 1.01 107.1 3097 3910 3080 3047 969.1 18.5 655 9080 0.00 3.15 0.00 0.000 1030 0.000 0.045 3107 2539 3062 3078 3047 0 0 0 0 0 0 11.18 11.14 11.19
9442 1.01 107.1 3108 2539 3072 3040 914.6 14.8 668 9442 0.00 0.00 0.00 0.000 6 0.000 0.000 3107 2539 3053 3070 3037 0 0 0 0 0 0 11.32 11.32 11.32
9802 1.01 107.1 3108 2540 3070 3039 862.1 14.5 680 9807 0.00 3.38 0.00 0.000 260 0.000 0.085 3107 3914 3054 3069 3039 0 0 0 0 0 0 11.33 11.12 11.33
9868 1.01 107.1 3106 3915 3070 3040 850.4 16.8 693 9874 0.00 3.15 0.00 0.000 1030 0.000 0.045 3114 2536 3053 3069 3038 0 0 0 0 0 0 11.22 11.18 11.24
10256 1.01 107.1 3119 2538 3070 3038 792.5 14.8 710 10257 0.00 0.00 0.00 0.000 6 0.000 0.000 3118 2538 3053 3069 3038 0 0 0 0 0 0 11.33 11.33 11.33
10619 1.01 107.1 3118 2539 3069 3039 738.9 14.9 722 10625 0.00 3.38 0.00 0.000 260 0.000 0.085 3118 3912 3053 3069 3038 0 0 0 0 0 0 11.33 11.13 11.34
10671 1.01 107.1 3118 3912 3067 3039 729.8 17.1 732 10676 0.00 3.15 0.00 0.000 1030 0.000 0.045 3129 2539 3053 3068 3038 0 0 0 0 0 0 11.24 11.19 11.25
11044 1.01 107.1 3129 2541 3069 3039 673.8 14.6 756 11044 0.00 0.00 0.00 0.000 6 0.000 0.000 3130 2540 3053 3069 3038 0 0 0 0 0 0 11.33 11.33 11.33
11344 1.01 107.1 3130 2539 3068 3038 629.4 14.6 786 11349 0.00 3.38 0.00 0.000 260 0.000 0.084 3129 3911 3049 3068 3031 0 0 0 0 0 0 11.33 11.14 11.34
11381 1.01 107.1 3129 3912 3069 3039 623.3 16.7 793 11389 0.22 3.12 0.00 0.000 5126 0.267 0.044 3103 2543 3053 3069 3038 0 0 0 0 0 0 11.07 11.20 11.22
11685 1.01 107.1 3103 2543 3069 3038 581.9 13.4 824 11686 0.00 0.00 0.00 0.000 6 0.000 0.000 3102 2543 3052 3068 3037 0 0 0 0 0 0 11.35 11.35 11.35
11985 1.01 107.1 3102 2544 3069 3039 542.6 13.0 854 11986 0.00 0.00 0.00 0.000 6 0.000 0.000 3102 2543 3051 3065 3037 0 0 0 0 0 0 11.35 11.35 11.35
12285 1.01 107.1 3103 2543 3069 3038 503.7 13.0 884 12291 0.00 3.38 0.00 0.000 260 0.000 0.084 3102 3916 3053 3068 3038 0 0 0 0 0 0 11.35 11.15 11.35
12327 1.01 107.1 3103 3916 3070 3034 497.7 14.8 892 12332 0.00 3.15 0.00 0.000 1030 0.000 0.045 3113 2538 3053 3069 3037 0 0 0 0 0 0 11.25 11.21 11.26
12638 1.01 107.1 3114 2538 3070 3037 456.8 12.9 924 12639 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2538 3053 3069 3037 0 0 0 0 0 0 11.35 11.35 11.36
12939 1.01 107.1 3113 2539 3069 3038 419.0 12.4 954 12944 0.00 3.38 0.00 0.000 260 0.000 0.084 3113 3911 3052 3068 3037 0 0 0 0 0 0 11.33 11.15 11.36
12990 1.01 107.1 3113 3912 3069 3038 411.5 14.7 964 12995 0.00 3.12 0.00 0.000 1030 0.000 0.045 3124 2546 3052 3068 3037 0 0 0 0 0 0 11.25 11.20 11.26
13302 1.01 107.1 3124 2548 3069 3038 372.1 12.3 996 13307 0.00 3.35 0.00 0.000 260 0.000 0.085 3124 3914 3052 3068 3037 0 0 0 0 0 0 11.36 11.15 11.36
13350 end climb: SURFACE_OBSTACLE_DETECTED
state 13350 begin subsurface finish
13361 0.00 3.8 3135 2543 3070 3037 364.9 14.7 1006 13377 1.80 0.00 -7.38 0.023 20486 0.244 0.000 2781 2543 3502 3505 3499 0 0 0 0 1 0 11.07 10.61 11.22
13378 end subsurface finish: CONTROL_FINISHED_OK
state 13378 begin surface