ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 817 * 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  817 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  33 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LAT  4736 R_STBD_OVSHOOT  25 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  2575 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  3 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  040119,204830,-7405.0103,-11257.6973,31,0.9,31,53.6,0.3,333.0,10,3.8 SPEED_LIMITS  0.100,0.239
_CALLS  2 TGT_NAME  hold
_XMS_NAKs  0 TGT_LATLONG  -7404.000,-11225.000
_XMS_TOUTs  0 TGT_RADIUS  3000.000
_SM_DEPTHo  0.72 MHEAD_RNG_PITCHd_Wd  32.9,16793,-20.3,-10.000,-22.71,1648
_SM_ANGLEo  -66.7 D_GRID  990
GPS2  040119,205855,-7405.0000,-11257.8291,2,0.8,4,53.6,0.2,0.0,12,5.9

Post-dive calculations and measurements:
FREEZE  -0.18,0.473,-1.860,2,1,0 ALTIM_BOTTOM_PING  574.9,10.9
FINISH  -0.2,1.027205 _24V_AH  11.50,266.539
SM_CCo  10587,178.93,0.228,0,0,1146,350.04 _10V_AH  11.78,0.000
SM_GC  0.76,9.12,0.43,178.93,0.070,0.089,0.228,209,2309,1146,-8.25,-0.45,350.04,0,0,0,0,0,0,14.42,14.33,14.31 FG_AHR_24Vo  0.000
RAFOS_CLK  399 FG_AHR_10Vo  0.000
RAFOS  0,1546635666,21.032778,21.018333,135,67,61,53,50,46,590,167,207,218,125,1044 MEM  279944
RAFOS_FIX  -7404.916016,-11250.494141,040119,212144,3,93,3.71 DATA_FILE_SIZE  16776,462
IRIDIUM_FIX  -7404.37,-11256.48,040119,205221 CAP_FILE_SIZE  94947,0
TT8_MAMPS  0.039697,0.325815 CFSIZE  1024409600,927252480
HUMID  48.62 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  8.08233 SOUNDSPEED  1447.8
TCM_TEMP  12.00 CURRENT  0.034,288.15,1
XPDR_PINGS  1 GPS  050119,000001,-7404.762,-11253.875,6,0.8,24,53.5,0.1,0.0,12,2.8
ALTIM_TOP_PING  14.5,14.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23403109.04 nil000.00
Roll_motor104172207.37 nil000.00
VBD_pump_during_apogee25429318585.61 nil000.00
VBD_pump_during_surface178227469.08 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon105646770.22
Iridium_during_xfer352187760.69 nil000.00
Transponder_ping24420119.54 nil000.00
GUMSTIX_24V000.00
GPS6100.79
TT8000.00
LPSleep89062242.36
TT8_Active69213112.81
TT8_Sampling140134574.41
TT8_CF839752247.38
TT8_Kalman000.00
Analog_circuits144910186.17
GPS_charging000.00
Compass667758.86
RAFOS720112.72
Transponder1803063.71

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
10.0 10.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
20.4 21.70 9000.00 0.0 0.00 0.00 21.70 0.0 1.04 1.00
30.7 32.60 32.60 0.0 1.05 1.00 32.60 0.0 1.06 1.00
45.1 48.30 48.20 0.0 1.08 1.00 48.30 0.0 1.09 1.00
533.1 53.40 9000.00 0.0 0.03 0.50 53.40 0.0 0.01 1.00
547.2 36.70 9000.00 0.0 -0.01 0.06 36.70 583.9 -1.18 1.00
561.1 22.60 22.20 583.3 -1.10 1.00 22.60 583.7 -1.01 1.00
574.9 11.40 10.90 585.8 -0.91 1.00 11.40 586.3 -0.81 1.00
570.6 21.80 9000.00 0.0 -0.68 0.61 21.80 0.0 -2.42 1.00
559.1 43.00 9000.00 0.0 -1.96 1.00 43.00 0.0 -1.84 1.00
155.4 161.30 9000.00 0.0 -0.32 0.99 161.30 0.0 -0.29 1.00
122.9 127.80 9000.00 0.0 -0.24 0.89 127.80 -4.9 1.03 1.00
111.5 115.70 115.80 -4.3 1.04 1.00 115.70 -4.2 1.06 1.00
79.9 82.50 82.50 -2.6 1.05 1.00 82.50 -2.6 1.05 1.00
68.6 71.20 71.00 -2.4 1.04 1.00 71.20 -2.6 1.00 1.00
57.6 59.80 59.90 -2.3 1.02 1.00 59.80 -2.2 1.04 1.00
46.9 48.40 48.40 -1.5 1.05 1.00 48.40 -1.5 1.07 1.00
35.9 37.50 37.40 -1.5 1.02 1.00 37.50 -1.6 0.99 1.00
24.5 25.20 25.40 -0.9 1.03 1.00 25.20 -0.7 1.08 1.00
14.5 14.70 14.60 -0.1 1.07 1.00 14.70 -0.2 1.05 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
8 end surface: CONTROL_FINISHED_OK
state 8 begin dive
12 -1.06 -107.1 210 2308 1164 1097 0.0 0.0 0 118 0.00 0.00 -103.62 0.002 16390 0.000 0.000 208 2313 3010 3014 3006 0 0 0 0 0 0 14.87 12.76 14.85
122 -1.06 -107.1 210 2310 3016 3008 1.3 -0.8 3 138 11.15 2.62 0.00 0.000 2308 0.404 0.090 2518 3707 3011 3016 3007 0 0 0 0 0 0 14.14 14.45 14.54
333 -1.06 -107.1 2519 3708 3025 3002 39.7 -15.9 34 341 0.00 2.47 0.00 0.000 1030 0.000 0.040 2517 2286 3011 3023 3000 0 0 0 0 0 0 14.48 14.46 14.52
680 -1.06 -107.1 2519 2287 3026 3000 94.2 -15.8 47 684 0.00 2.50 0.00 0.000 516 0.000 0.067 2517 910 3012 3025 2999 0 0 0 0 0 0 14.88 14.23 14.90
726 -1.06 -107.1 2519 911 3026 2999 101.9 -15.7 54 733 0.00 2.53 0.00 0.000 1030 0.000 0.061 2507 2313 3011 3025 2998 0 0 0 0 0 0 14.44 14.28 14.50
1072 -1.06 -107.1 2508 2314 3027 2995 152.5 -14.5 67 1077 0.00 2.55 0.00 0.000 516 0.000 0.063 2507 908 3011 3025 2998 0 0 0 0 0 0 14.84 14.12 14.86
1104 -1.06 -107.1 2514 908 3027 2998 157.7 -14.8 72 1110 0.15 2.60 0.00 0.000 3078 0.289 0.063 2527 2318 3011 3025 2997 0 0 0 0 0 0 13.95 14.26 14.28
1489 -1.06 -107.1 2528 2320 3028 2997 207.3 -12.8 87 1495 0.00 2.58 0.00 0.000 516 0.000 0.063 2526 903 3011 3026 2996 0 0 0 0 0 0 14.92 14.18 14.95
1538 -1.06 -107.1 2526 904 3026 2996 213.7 -12.3 94 1545 0.00 2.55 0.00 0.000 1030 0.000 0.060 2518 2311 3011 3027 2995 0 0 0 0 0 0 14.39 14.23 14.45
1881 -1.06 -107.1 2517 2311 3026 2996 258.2 -13.0 101 1888 0.00 2.55 0.00 0.000 516 0.000 0.063 2518 909 3011 3027 2996 0 0 0 0 0 0 14.90 14.14 14.92
1937 -1.06 -107.1 2519 910 3029 2996 265.6 -13.8 109 1944 0.00 2.53 0.00 0.000 1030 0.000 0.060 2507 2309 3012 3027 2997 0 0 0 0 0 0 14.38 14.23 14.45
2331 -1.06 -107.1 2507 2310 3029 2996 317.6 -13.2 123 2331 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2309 3011 3027 2995 0 0 0 0 0 0 14.73 14.76 14.75
2666 -1.06 -107.1 2507 2309 3027 2996 362.1 -13.2 129 2672 0.00 2.55 0.00 0.000 516 0.000 0.063 2507 912 3011 3027 2995 0 0 0 0 0 0 14.69 14.16 14.72
2735 -1.06 -107.1 2506 911 3025 2995 372.0 -14.4 139 2742 0.15 2.58 0.00 0.000 3078 0.288 0.059 2526 2337 3011 3027 2995 0 0 0 0 0 0 13.83 14.18 14.16
3117 -1.06 -107.1 2525 2334 3027 2995 421.5 -12.8 151 3121 0.00 2.65 0.00 0.000 260 0.000 0.103 2517 3715 3010 3027 2994 0 0 0 0 0 0 14.85 14.09 14.88
3226 -1.06 -107.1 2519 3716 3030 2995 437.2 -14.5 167 3231 0.00 2.47 0.00 0.000 1030 0.000 0.041 2517 2289 3011 3028 2994 0 0 0 0 0 0 14.46 14.38 14.49
3618 -1.06 -107.1 2519 2289 3030 2995 489.3 -13.2 181 3624 0.00 2.58 0.00 0.000 516 0.000 0.064 2517 908 3010 3028 2993 0 0 0 0 0 0 14.88 14.04 14.90
3695 -1.06 -107.1 2517 908 3028 2994 499.4 -13.2 192 3700 0.00 2.58 0.00 0.000 1030 0.000 0.059 2507 2305 3011 3028 2994 0 0 0 0 0 0 14.33 14.16 14.39
4069 -1.06 -107.1 2508 2305 3030 2995 547.2 -12.7 203 4070 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2305 3011 3028 2994 0 0 0 0 0 0 14.70 14.72 14.72
4343 end dive: BOTTOM_OBSTACLE_DETECTED
state 4343 begin apogee
4351 -0.23 0.0 2507 2070 3028 2994 581.6 -12.3 208 4471 1.12 0.08 117.32 2.931 10246 0.233 0.173 2795 2112 2574 2605 2544 0 0 0 0 0 0 13.93 13.35 12.32
4472 end apogee: CONTROL_FINISHED_OK
state 4472 begin climb
4476 1.06 107.1 2797 2113 2607 2543 585.8 0.0 210 4617 1.45 0.00 137.35 2.803 10246 0.129 0.000 3208 2112 2139 2178 2100 0 0 0 0 0 0 13.35 12.52 11.50
4910 1.06 107.1 3209 2112 2171 2084 548.1 10.0 218 4915 0.00 2.90 0.00 0.000 260 0.000 0.095 3208 3500 2127 2169 2085 0 0 0 0 0 0 13.49 13.12 13.50
4949 1.06 107.1 3208 3499 2168 2085 543.5 10.4 224 4955 0.00 2.60 0.00 0.000 1030 0.000 0.041 3218 2133 2127 2169 2085 0 0 0 0 0 0 13.37 13.26 13.41
5299 1.06 107.1 3217 2134 2164 2083 507.4 10.3 232 5300 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2134 2124 2165 2083 0 0 0 0 0 0 14.16 14.19 14.19
5635 1.06 107.1 3219 2134 2165 2083 473.4 10.1 238 5641 0.00 2.67 0.00 0.000 516 0.000 0.080 3228 703 2122 2163 2082 0 0 0 0 0 0 14.63 14.10 14.65
5684 1.06 107.1 3228 703 2161 2083 468.1 11.0 245 5692 0.00 2.55 0.00 0.000 1030 0.000 0.054 3227 2103 2121 2161 2082 0 0 0 0 0 0 14.23 14.17 14.40
6028 1.06 107.1 3229 2104 2162 2082 431.8 10.3 252 6033 0.00 2.65 0.00 0.000 260 0.000 0.097 3228 3513 2120 2160 2081 0 0 0 0 0 0 14.74 14.29 14.76
6069 1.06 107.1 3227 3513 2160 2083 427.2 11.2 258 6075 0.00 2.53 0.00 0.000 1030 0.000 0.044 3239 2064 2121 2160 2082 0 0 0 0 0 0 14.53 14.41 14.58
6419 1.06 107.1 3239 2065 2161 2083 391.8 10.0 266 6425 0.00 2.72 0.00 0.000 260 0.000 0.096 3239 3512 2120 2158 2082 0 0 0 0 0 0 14.90 14.34 14.92
6489 1.06 107.1 3238 3512 2159 2082 384.3 10.9 276 6495 0.15 2.50 0.00 0.000 5126 0.244 0.043 3210 2100 2120 2159 2082 0 0 0 0 0 0 14.09 14.42 14.27
6870 1.07 107.1 3210 2100 2160 2082 349.3 9.5 288 6875 0.00 2.58 0.00 0.000 580 0.000 0.082 3217 697 2120 2158 2082 0 0 0 0 0 0 14.88 14.31 14.90
6909 1.07 107.1 3217 692 2157 2082 345.1 10.0 294 6916 0.00 2.53 0.00 0.000 1030 0.000 0.056 3217 2126 2119 2158 2081 0 0 0 0 0 0 14.54 14.40 14.61
7260 1.08 107.1 3219 2127 2159 2082 311.8 9.4 302 7265 0.00 2.60 0.00 0.000 324 0.000 0.096 3217 3515 2119 2157 2081 0 0 0 0 0 0 14.77 14.31 14.81
7350 1.08 107.1 3217 3519 2157 2082 302.5 10.5 315 7357 0.00 2.53 0.00 0.000 1030 0.000 0.043 3227 2085 2119 2157 2081 0 0 0 0 0 0 14.45 14.40 14.60
7708 1.10 107.1 3228 2086 2159 2082 269.6 9.1 324 7716 0.00 2.67 0.00 0.000 324 0.000 0.095 3226 3510 2118 2156 2081 0 0 0 0 0 0 14.90 14.25 14.92
7757 1.10 107.1 3226 3509 2157 2082 264.7 10.0 331 7764 0.00 2.50 0.00 0.000 1030 0.000 0.042 3237 2096 2119 2157 2081 0 0 0 0 0 0 14.43 14.37 14.48
8101 1.11 107.1 3236 2094 2156 2082 233.3 9.2 338 8101 0.00 0.00 0.00 0.000 70 0.000 0.000 3237 2096 2119 2157 2081 0 0 0 0 0 0 14.90 14.93 14.92
8437 1.14 107.1 3238 2097 2158 2082 204.6 8.4 344 8442 0.00 2.70 0.00 0.000 324 0.000 0.099 3237 3516 2118 2156 2081 0 0 0 0 0 0 14.90 14.20 14.92
8507 1.16 107.1 3238 3517 2158 2082 198.2 9.3 354 8513 0.00 2.53 0.00 0.000 1094 0.000 0.042 3247 2093 2118 2156 2081 0 0 0 0 0 0 14.33 14.28 14.39
8860 1.18 107.1 3247 2093 2155 2081 167.9 8.8 368 8861 0.00 0.00 0.00 0.000 70 0.000 0.000 3248 2093 2121 2162 2081 0 0 0 0 0 0 14.76 14.78 14.78
9193 1.20 107.1 3247 2093 2155 2081 137.3 9.3 380 9198 0.00 2.72 0.00 0.000 324 0.000 0.096 3247 3518 2118 2155 2081 0 0 0 0 0 0 14.90 14.22 14.92
9220 1.20 107.1 3249 3518 2157 2081 134.4 10.5 384 9226 0.00 2.50 0.00 0.000 1030 0.000 0.043 3258 2091 2118 2155 2081 0 0 0 0 0 0 14.50 14.38 14.55
9587 1.20 107.1 3260 2092 2157 2082 97.6 9.8 400 9592 0.00 2.72 0.00 0.000 260 0.000 0.096 3258 3515 2117 2154 2081 0 0 0 0 0 0 14.87 14.21 14.89
9647 1.20 107.1 3259 3515 2156 2082 90.7 11.1 409 9657 0.00 2.55 0.00 0.000 1030 0.000 0.043 3269 2088 2117 2154 2081 0 0 0 0 0 0 14.50 14.31 14.55
10006 1.20 107.1 3268 2089 2154 2081 55.0 9.6 424 10012 0.00 2.62 0.00 0.000 516 0.000 0.084 3280 702 2117 2153 2081 0 0 0 0 0 0 14.86 14.09 14.91
10027 1.20 107.1 3281 704 2155 2082 52.9 9.6 427 10034 0.00 2.55 0.00 0.000 1030 0.000 0.058 3280 2103 2117 2153 2081 0 0 0 0 0 0 14.49 14.26 14.54
10374 1.20 107.1 3279 2104 2153 2081 18.9 10.0 440 10379 0.00 2.67 0.00 0.000 260 0.000 0.099 3280 3512 2117 2153 2081 0 0 0 0 0 0 14.86 14.19 14.88
10500 1.20 107.1 3279 3512 2148 2081 5.8 10.5 458 10506 0.17 2.47 0.00 0.000 5126 0.303 0.042 3256 2087 2117 2153 2081 0 0 0 0 0 0 13.85 14.38 14.26
10536 end climb: SURFACE_DEPTH_REACHED
state 10536 begin surface coast
10565 end surface coast: CONTROL_FINISHED_OK
state 10565 begin surface