ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 909 * 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  909 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  16 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  12 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  230119,001456,-7438.7549,-11153.1025,0,4138.3,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS  0.094,0.239
_CALLS  1 TGT_NAME  insideC2
_XMS_NAKs  0 TGT_LATLONG  -7438.000,-11230.000
_XMS_TOUTs  0 TGT_RADIUS  1000.000
_SM_DEPTHo  421.54 MHEAD_RNG_PITCHd_Wd  220.9,18162,-19.3,-9.429,-21.50,1737
_SM_ANGLEo  3.5 D_GRID  990
GPS2  230119,001456,-7438.7549,-11153.1025,0,4138.3,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:
FINISH1  399.2,1.027449,3 _24V_AH  9.91,292.197
FINISH2  399.2 _10V_AH  10.22,0.000
RAFOS_CLK  469 FG_AHR_24Vo  0.000
RAFOS  0,1548212462,3.032355,3.017222,136,63,62,61,60,57,702,155,192,119,205,171 FG_AHR_10Vo  0.000
RAFOS_FIX  -7439.569824,-11201.926758,230119,030316,3,121,0.42 MEM  278872
IRIDIUM_FIX  -7415.88,-11304.63,160119,112744 DATA_FILE_SIZE  36672,1060
TT8_MAMPS  0.044191,0.275632 CAP_FILE_SIZE  128177,0
HUMID  50.59 CFSIZE  1024409600,911065088
INTERNAL_PRESSURE  7.89988 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP  13.50 SOUNDSPEED  1456.2
XPDR_PINGS  0 GPS  230119,031616,-7439.570,-11201.927,0,4121.0,0,53.5,0.0,0.0,0,0.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor625715.97 nil000.00
Roll_motor16186138.14 nil000.00
VBD_pump_during_apogee367310611301.16 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon116156766.48
Iridium_during_xfer000.00 nil000.00
Transponder_ping40420166.49 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8000.00
LPSleep86412204.01
TT8_Active4991055.50
TT8_Sampling219130679.62
TT8_CF837951199.13
TT8_Kalman000.00
Analog_circuits130610134.91
GPS_charging000.00
Compass15156104.40
RAFOS720111.04
Transponder3003092.12

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
422.2 6.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
428.4 13.10 9000.00 0.0 0.00 0.00 13.10 0.0 1.00 1.00
945.3 20.10 9000.00 0.0 0.02 0.79 20.10 0.0 0.01 1.00
952.4 12.00 9000.00 0.0 0.01 0.15 12.00 964.4 -1.14 1.00
955.0 13.40 9000.00 0.0 -0.79 0.84 13.40 0.0 0.54 1.00
909.8 16.20 9000.00 0.0 -0.08 0.86 16.20 0.0 -0.06 1.00
473.9 89.00 9000.00 0.0 -0.16 1.00 89.00 0.0 -0.17 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
12 -1.01 -107.1 2789 2813 3540 3532 0.0 0.0 0 24 0.00 0.00 -7.03 0.024 16390 0.000 0.000 2788 2812 3947 3939 3955 0 0 0 0 1 0 11.35 10.60 11.32
28 -1.01 -107.1 2790 2812 3943 3958 422.2 0.0 1 34 1.42 2.70 0.00 0.000 4356 0.129 0.086 2456 3916 3950 3942 3959 0 0 0 0 0 0 11.12 11.14 11.19
158 -1.01 -107.1 2456 3917 3951 3964 432.9 -9.3 26 165 0.00 2.58 0.00 0.000 1030 0.000 0.046 2456 2794 3957 3951 3963 0 0 0 0 0 0 11.25 11.20 11.26
461 -1.01 -107.1 2456 2794 3954 3966 462.6 -10.1 57 468 0.00 3.28 0.00 0.000 516 0.000 0.045 2456 1386 3959 3953 3966 0 0 0 0 0 0 11.36 11.18 11.36
505 -1.01 -107.1 2456 1386 3956 3966 466.8 -10.0 65 511 0.00 3.40 0.00 0.000 1030 0.000 0.062 2454 2802 3960 3954 3966 0 0 0 0 0 0 11.24 11.17 11.26
818 -1.01 -107.1 2455 2802 3955 3966 491.8 -7.5 97 824 0.00 2.70 0.00 0.000 260 0.000 0.083 2453 3919 3960 3954 3966 0 0 0 0 0 0 11.36 11.14 11.36
865 -1.01 -107.1 2453 3919 3956 3966 495.6 -8.0 106 871 0.00 2.58 0.00 0.000 1030 0.000 0.045 2453 2790 3960 3954 3966 0 0 0 0 0 0 11.25 11.21 11.31
1170 -1.01 -107.1 2454 2790 3961 3967 520.8 -8.7 137 1171 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2790 3960 3954 3966 0 0 0 0 0 0 11.36 11.36 11.36
1470 -1.01 -107.1 2454 2790 3956 3966 546.0 -8.0 167 1475 0.00 2.75 0.00 0.000 260 0.000 0.085 2452 3917 3960 3955 3966 0 0 0 0 0 0 11.37 11.16 11.37
1497 -1.01 -107.1 2453 3917 3956 3966 548.3 -8.3 172 1503 0.00 2.55 0.00 0.000 1030 0.000 0.046 2452 2801 3960 3955 3966 0 0 0 0 0 0 11.26 11.21 11.27
1802 -1.01 -107.1 2453 2802 3955 3967 574.9 -9.3 203 1807 0.00 3.28 0.00 0.000 516 0.000 0.047 2452 1385 3960 3954 3966 0 0 0 0 0 0 11.37 11.17 11.36
1859 -1.01 -107.1 2453 1385 3956 3966 580.3 -9.6 214 1865 0.00 3.40 0.00 0.000 1030 0.000 0.063 2455 2803 3960 3953 3967 0 0 0 0 0 0 11.25 11.17 11.26
2164 -1.01 -107.1 2451 2806 3955 3967 607.7 -8.4 245 2164 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2805 3960 3954 3966 0 0 0 0 0 0 11.36 11.37 11.36
2464 -1.01 -107.1 2452 2806 3955 3967 631.8 -7.6 275 2469 0.00 3.33 0.00 0.000 516 0.000 0.046 2452 1381 3960 3954 3966 0 0 0 0 0 0 11.37 11.18 11.36
2506 -1.01 -107.1 2452 1382 3956 3967 635.2 -8.2 283 2511 0.00 3.42 0.00 0.000 1030 0.000 0.062 2452 2810 3960 3954 3966 0 0 0 0 0 0 11.24 11.17 11.26
2820 -1.01 -107.1 2452 2811 3955 3967 660.5 -8.0 315 2825 0.00 2.67 0.00 0.000 260 0.000 0.085 2445 3915 3960 3954 3966 0 0 0 0 0 0 11.36 11.16 11.36
2881 -1.01 -107.1 2446 3917 3955 3967 665.9 -8.9 327 2890 0.00 2.55 0.00 0.000 1030 0.000 0.047 2445 2793 3960 3954 3966 0 0 0 0 0 0 11.23 11.20 11.24
3196 -1.01 -107.1 2446 2788 3955 3965 692.0 -8.4 359 3197 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2793 3960 3954 3966 0 0 0 0 0 0 11.36 11.36 11.36
3510 -1.01 -107.1 2446 2793 3956 3965 716.7 -7.6 376 3515 0.00 3.25 0.00 0.000 516 0.000 0.046 2445 1387 3959 3954 3965 0 0 0 0 0 0 11.36 11.19 11.37
3551 -1.01 -107.1 2446 1386 3955 3965 720.2 -7.8 384 3557 0.00 3.33 0.00 0.000 1030 0.000 0.062 2440 2801 3959 3954 3965 0 0 0 0 0 0 11.25 11.17 11.26
3938 -1.01 -107.1 2440 2801 3955 3959 749.9 -7.6 400 3939 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2802 3959 3954 3965 0 0 0 0 0 0 11.36 11.36 11.36
4295 -1.01 -107.1 2440 2802 3955 3966 778.6 -8.1 412 4300 0.00 3.30 0.00 0.000 516 0.000 0.045 2440 1382 3959 3954 3965 0 0 0 0 0 0 11.36 11.19 11.36
4357 -1.01 -107.1 2440 1383 3956 3963 783.5 -8.1 424 4362 0.00 3.40 0.00 0.000 1030 0.000 0.062 2439 2804 3959 3954 3965 0 0 0 0 0 0 11.26 11.18 11.26
4753 -1.01 -107.1 2439 2805 3955 3966 813.3 -7.6 442 4754 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2804 3959 3954 3965 0 0 0 0 0 0 11.36 11.36 11.36
5109 -1.01 -107.1 2439 2804 3955 3965 840.4 -8.1 454 5114 0.00 3.30 0.00 0.000 516 0.000 0.045 2439 1388 3957 3954 3961 0 0 0 0 0 0 11.38 11.19 11.38
5191 -1.01 -107.1 2440 1389 3955 3966 845.7 -6.6 470 5196 0.00 3.40 0.00 0.000 1062 0.000 0.062 2439 2810 3959 3954 3965 0 0 0 0 0 0 11.25 11.17 11.26
5567 -1.01 -107.1 2440 2811 3956 3965 883.5 -10.6 484 5572 0.00 2.67 0.00 0.000 260 0.000 0.084 2436 3916 3959 3954 3965 0 0 0 0 0 0 11.36 11.17 11.36
5649 -1.01 -107.1 2436 3916 3955 3963 892.8 -9.9 500 5654 0.00 2.55 0.00 0.000 1030 0.000 0.046 2436 2796 3959 3954 3965 0 0 0 0 0 0 11.26 11.21 11.27
6024 -1.01 -107.1 2436 2797 3955 3966 921.3 -8.3 514 6029 0.00 2.72 0.00 0.000 260 0.000 0.086 2435 3914 3959 3954 3964 0 0 0 0 0 0 11.37 11.17 11.38
6100 -1.01 -107.1 2436 3915 3956 3964 928.2 -8.6 529 6106 0.00 2.55 0.00 0.000 1030 0.000 0.046 2435 2794 3959 3954 3965 0 0 0 0 0 0 11.26 11.22 11.28
6482 -1.01 -107.1 2436 2795 3956 3966 954.6 -6.1 544 6487 0.00 3.25 0.00 0.000 548 0.000 0.047 2435 1387 3960 3955 3966 0 0 0 0 0 0 11.37 11.19 11.37
6640 end dive: NO_VERTICAL_VELOCITY
state 6640 begin apogee
6651 -0.23 0.0 2436 2560 3956 3965 954.4 0.0 576 6854 1.12 0.00 195.65 3.107 10246 0.112 0.000 2702 2560 3492 3501 3484 0 0 0 0 0 0 11.16 10.87 9.91
6855 end apogee: CONTROL_FINISHED_OK
state 6855 begin climb
6859 1.01 107.1 2704 2560 3501 3483 955.4 0.0 583 7041 1.62 3.40 171.43 3.101 10756 0.108 0.057 3103 1148 3063 3083 3043 0 0 0 0 0 0 11.05 10.98 9.93
7111 1.01 107.1 3104 1146 3080 3039 932.6 10.6 630 7117 0.00 3.38 0.00 0.000 1030 0.000 0.061 3103 2550 3058 3079 3038 0 0 0 0 0 0 11.17 11.09 11.18
7477 1.01 107.1 3103 2551 3075 3037 887.3 12.6 643 7482 0.00 3.35 0.00 0.000 260 0.000 0.086 3103 3917 3056 3075 3038 0 0 0 0 0 0 11.31 11.11 11.31
7597 1.01 107.1 3103 3916 3076 3036 869.5 14.6 666 7603 0.00 3.17 0.00 0.000 1030 0.000 0.047 3114 2539 3055 3075 3035 0 0 0 0 0 0 11.21 11.17 11.23
7963 1.01 107.1 3114 2540 3074 3036 819.3 13.1 679 7968 0.00 3.33 0.00 0.000 516 0.000 0.058 3124 1139 3054 3074 3034 0 0 0 0 0 0 11.33 11.12 11.33
8024 1.01 107.1 3128 1140 3076 3035 811.0 12.8 691 8030 0.00 3.40 0.00 0.000 1030 0.000 0.062 3125 2561 3053 3073 3034 0 0 0 0 0 0 11.21 11.14 11.23
8416 1.01 107.1 3125 2562 3074 3034 757.9 13.5 709 8422 0.00 3.38 0.00 0.000 516 0.000 0.057 3136 1144 3054 3074 3034 0 0 0 0 0 0 11.35 11.14 11.35
8459 1.01 107.1 3136 1140 3075 3034 752.4 12.8 717 8465 0.20 3.38 0.00 0.000 5126 0.233 0.061 3101 2553 3054 3074 3034 0 0 0 0 0 0 11.07 11.14 11.21
8842 1.01 107.1 3104 2553 3074 3034 704.9 11.6 733 8849 0.00 3.35 0.00 0.000 516 0.000 0.057 3112 1145 3053 3073 3034 0 0 0 0 0 0 11.34 11.14 11.34
8875 1.01 107.1 3113 1145 3074 3035 701.0 12.1 739 8880 0.00 3.38 0.00 0.000 1030 0.000 0.060 3110 2562 3053 3073 3034 0 0 0 0 0 0 11.23 11.15 11.24
9247 1.01 107.1 3113 2562 3075 3034 654.8 12.4 779 9252 0.00 3.38 0.00 0.000 516 0.000 0.056 3123 1143 3053 3073 3033 0 0 0 0 0 0 11.35 11.14 11.35
9279 1.01 107.1 3124 1139 3075 3034 650.9 11.8 785 9285 0.00 3.38 0.00 0.000 1030 0.000 0.060 3123 2555 3054 3075 3034 0 0 0 0 0 0 11.24 11.15 11.25
9591 1.01 107.1 3124 2556 3076 3035 612.1 12.0 817 9597 0.00 3.33 0.00 0.000 260 0.000 0.086 3123 3916 3054 3074 3035 0 0 0 0 0 0 11.36 11.13 11.36
9649 1.01 107.1 3123 3917 3074 3037 604.1 14.3 828 9656 0.20 3.17 0.00 0.000 5126 0.258 0.046 3101 2537 3055 3074 3036 0 0 0 0 0 0 11.07 11.19 11.23
9954 1.01 107.1 3101 2538 3074 3037 568.0 11.6 859 9960 0.00 3.30 0.00 0.000 516 0.000 0.056 3111 1141 3055 3074 3036 0 0 0 0 0 0 11.36 11.14 11.35
10007 1.01 107.1 3112 1142 3074 3037 561.9 11.5 869 10014 0.00 3.30 0.00 0.000 1030 0.000 0.060 3112 2554 3055 3074 3036 0 0 0 0 0 0 11.24 11.16 11.25
10321 1.01 107.1 3113 2553 3075 3036 525.1 11.7 901 10327 0.00 3.33 0.00 0.000 260 0.000 0.086 3112 3912 3055 3074 3036 0 0 0 0 0 0 11.36 11.13 11.36
10368 1.01 107.1 3111 3913 3074 3037 519.1 12.9 910 10375 0.00 3.15 0.00 0.000 1030 0.000 0.046 3122 2538 3055 3074 3037 0 0 0 0 0 0 11.25 11.21 11.26
10674 1.01 107.1 3123 2539 3076 3037 482.9 11.5 941 10680 0.00 3.28 0.00 0.000 516 0.000 0.057 3134 1146 3055 3074 3037 0 0 0 0 0 0 11.36 11.15 11.36
10701 1.01 107.1 3133 1147 3075 3038 479.8 11.2 946 10708 0.17 3.35 0.00 0.000 5126 0.239 0.060 3104 2551 3056 3075 3037 0 0 0 0 0 0 11.07 11.16 11.22
11006 1.01 107.1 3104 2551 3076 3037 447.2 10.6 977 11012 0.00 3.33 0.00 0.000 260 0.000 0.086 3103 3914 3056 3075 3037 0 0 0 0 0 0 11.36 11.14 11.36
11107 1.01 107.1 3104 3914 3076 3037 435.5 11.9 996 11113 0.00 3.15 0.00 0.000 1030 0.000 0.047 3114 2541 3056 3075 3037 0 0 0 0 0 0 11.25 11.21 11.26
11410 1.01 107.1 3115 2542 3076 3038 401.9 11.5 1027 11415 0.00 3.35 0.00 0.000 260 0.000 0.086 3114 3907 3056 3075 3037 0 0 0 0 0 0 11.36 11.15 11.36
11568 end climb: NO_VERTICAL_VELOCITY
state 11568 begin subsurface finish
11580 0.00 2.6 3124 2543 3076 3038 399.2 0.0 1059 11586 1.50 0.00 -2.92 0.027 20738 0.148 0.000 2783 2542 3055 3074 3037 0 0 0 0 0 0 11.11 28.83 11.25
11586 end subsurface finish: NO_VERTICAL_VELOCITY
state 11586 begin surface