RapidMocha Sep10 * SG033 * Dive index * Mission links * Dive 13 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  33 HEADING  -1 ROLL_MAX  3837 ALTIM_TOP_MIN_OBSTACLE  1
MISSION  24 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DEPTH  200
DIVE  13 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  1900 ALTIM_PING_DELTA  5
D_SURF  4 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  1750 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LAT  18.5 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_TGT  1080 TGT_DEFAULT_LON  -66 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_ABORT  6099 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  0
D_NO_BLEED  200 SM_CC  500 R_PORT_OVSHOOT  25 XPDR_INHIBIT  90
D_BOOST  0 N_FILEKB  4 R_STBD_OVSHOOT  51 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  0 FILEMGR  0 ROLL_AD_RATE  340 INT_PRESSURE_YINT  0
D_FINISH  0 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDER  1
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  1
D_SAFE  0 KERMIT  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  0 N_NOCOMM  1 VBD_MIN  146 DEVICE1  2
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE2  -1
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 C_VBD  2082 DEVICE3  101
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_DIVE  450 CALL_WAIT  60 VBD_CNV  -0.29522699 DEVICE5  -1
T_MISSION  480 CAPUPLOAD  0 VBD_TIMEOUT  950 DEVICE6  -1
T_ABORT  2880 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_TURN  600 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  2 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  2 LOGGERDEVICE2  -1
T_NO_W  180 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_CHARGE  -237156.7 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  0 T_RSLEEP  2 CF8_MAXERRORS  2 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_24V  151 PHONE_DEVICE  48
D_OFFGRID  6084 RAFOS_PEAK_OFFSET  1.5 AH0_10V  122.2 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  27 FG_AHR_10V  0 SIM_W  0
MAX_BUOY  150 PITCH_MAX  2563 FG_AHR_24V  0 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  1835 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043575475
GLIDE_SLOPE  45 PITCH_DBAND  0.1 PRESSURE_YINT  -19.047844 SEABIRD_T_H  0.00062940316
SPEED_FACTOR  1 PITCH_CNV  0.0046000001 PRESSURE_SLOPE  0.00093601202 SEABIRD_T_I  2.4306677e-05
RHO  1.023 P_OVSHOOT  0.039999999 AD7714Ch0Gain  32 SEABIRD_T_J  2.6223986e-06
MASS  52000 PITCH_GAIN  16 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.332057
NAV_MODE  1 PITCH_TIMEOUT  20 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.2094743
FERRY_MAX  2 PITCH_AD_RATE  160 COMPASS_USE  0 SEABIRD_C_I  -0.0016192879
KALMAN_USE  2 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00021825745
HD_A  0.0048177 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  20
HD_B  0.011392 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  20
HD_C  1.0709e-05 ROLL_MIN  60 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  060910,004936,1835.722,-6600.024,41,1.1,42,-12.7 TGT_NAME  66W_1830N_S
_CALLS  3 TGT_LATLONG  1830.000,-6600.000
_XMS_NAKs  11 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.59 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -45.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  060910,010137,1835.680,-6600.118,10,2.0,15,-12.7 MHEAD_RNG_PITCHd_Wd  191.6,10522,-16.3,-8.000
SPEED_LIMITS  0.080,0.230 D_GRID  1080

Post-dive calculations and measurements:
FINISH  -0.2,0.996885 _24V_AH  24.0,43.743
SM_CCo  19304,89.40,0.737,0,0,388,500.11 _10V_AH  10.4,15.634
SM_GC  0.71,0.00,0.00,89.40,0.000,0.000,0.737,18,1943,388,-8.36,1.19,500.11 FG_AHR_24Vo  0.000
IRIDIUM_FIX  1828.22,-6559.71,050910,151517 FG_AHR_10Vo  0.000
TT8_MAMPS  0.021721 MEM  327836
HUMID  50.11 DATA_FILE_SIZE  46861,855
INTERNAL_PRESSURE  8.04718 CAP_FILE_SIZE  199211,0
TCM_TEMP  24.30 CFSIZE  260280320,249602048
XPDR_PINGS  0 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
ALTIM_TOP_PING  19.7,19.0 GPS  060910,062625,1833.193,-6558.487,38,1.8,39,-12.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2019192.92 SBE_CT57824333.16
Roll_motor220129682.58 nil000.00
VBD_pump_during_apogee395143013571.24 AA43301301331030.95
VBD_pump_during_surface897371582.27 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init96103238.58 nil000.00
Iridium_during_connect85160327.19 nil000.00
Iridium_during_xfer3232231732.07 nil000.00
Transponder_ping36420362.88 nil000.00
GUMSTIX_24V000.00
GPS16508.52
TT8247519509.77
LPSleep136542311.00
TT8_Active66319136.67
TT8_Sampling3172391313.28
TT8_CF81444568.70
TT8_Kalman000.00
Analog_circuits200112249.75
GPS_charging000.00
Compass241115376.26
RAFOS000.00
Transponder2433075.95

Guidance and control:
st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors
12 end surface: CONTROL_FINISHED_OK
state 13 begin dive
14 -1.20 -146.6 0.0 0.0 0 136 0.00 0.00 -119.50 0.000 2 0.000 0.000 18 1929 1964 0 0 0 0 0 0
139 -1.20 -146.6 3.0 -6.5 11 176 8.25 2.70 -23.45 0.000 4 0.191 0.079 1568 482 2579 0 0 0 0 0 0
226 -1.16 -146.6 14.2 -12.9 18 234 0.00 2.53 0.00 0.000 6 0.000 0.060 1568 1910 2579 0 0 0 0 0 0
551 -1.16 -146.6 52.7 -11.2 49 556 0.00 2.53 0.00 0.000 4 0.000 0.077 1568 3296 2579 0 0 0 0 0 0
594 -1.16 -146.6 57.3 -9.7 52 603 0.00 2.55 0.00 0.000 6 0.000 0.065 1568 1888 2579 0 0 0 0 0 0
920 -1.16 -146.6 83.9 -8.4 83 925 0.00 2.58 0.00 0.000 4 0.000 0.074 1568 3296 2579 0 0 0 0 0 0
1017 -1.16 -146.6 91.1 -7.5 91 1021 0.00 2.50 0.00 0.000 6 0.000 0.067 1568 1895 2580 0 0 0 0 0 0
1341 -1.18 -146.6 114.6 -7.3 121 1346 0.00 2.58 0.00 0.000 4 0.000 0.077 1567 3302 2580 0 0 0 0 0 0
1393 -1.20 -146.6 118.2 -6.5 125 1397 0.00 2.50 0.00 0.000 6 0.000 0.067 1568 1893 2580 0 0 0 0 0 0
1718 -1.23 -146.6 140.9 -7.0 155 1722 0.00 2.53 0.00 0.000 4 0.000 0.079 1568 497 2580 0 0 0 0 0 0
1757 -1.23 -146.6 143.8 -7.6 158 1761 0.00 2.45 0.00 0.000 6 0.000 0.065 1568 1900 2581 0 0 0 0 0 0
2087 -1.25 -146.6 165.8 -7.5 178 2092 0.00 2.55 0.00 0.000 4 0.000 0.079 1568 3299 2580 0 0 0 0 0 0
2311 -1.28 -146.6 182.9 -7.7 188 2315 0.00 2.50 0.00 0.000 6 0.000 0.070 1568 1902 2580 0 0 0 0 0 0
2639 -1.31 -146.6 206.7 -6.9 204 2643 0.00 2.58 0.00 0.000 4 0.000 0.082 1568 491 2581 0 0 0 0 0 0
2768 -1.31 -146.6 215.9 -7.8 210 2772 0.00 2.47 0.00 0.000 6 0.000 0.067 1568 1894 2580 0 0 0 0 0 0
3095 -1.33 -146.6 239.7 -7.8 226 3100 0.10 2.60 0.00 0.000 4 0.117 0.087 1530 3300 2580 0 0 0 0 0 0
3234 -1.31 -146.6 253.4 -10.5 232 3238 0.00 2.58 0.00 0.000 6 0.000 0.072 1530 1902 2579 0 0 0 0 0 0
3562 -1.28 -146.6 287.1 -10.4 248 3567 0.12 2.65 0.00 0.000 4 0.144 0.087 1556 3305 2579 0 0 0 0 0 0
3616 -1.28 -146.6 292.8 -9.1 250 3624 0.00 2.60 0.00 0.000 6 0.000 0.072 1556 1903 2579 0 0 0 0 0 0
3952 -1.28 -146.6 325.8 -10.3 263 3956 0.00 2.65 0.00 0.000 4 0.000 0.089 1555 3302 2578 0 0 0 0 0 0
4047 -1.28 -146.6 336.1 -10.3 266 4052 0.00 2.55 0.00 0.000 6 0.000 0.074 1555 1902 2578 0 0 0 0 0 0
4381 -1.28 -146.6 370.0 -9.8 277 4386 0.00 2.65 0.00 0.000 4 0.000 0.089 1556 3304 2577 0 0 0 0 0 0
4448 -1.28 -146.6 376.7 -10.8 279 4452 0.00 2.60 0.00 0.000 6 0.000 0.074 1555 1898 2577 0 0 0 0 0 0
4782 -1.28 -146.6 409.4 -9.7 290 4787 0.00 2.67 0.00 0.000 4 0.000 0.092 1556 3304 2576 0 0 0 0 0 0
4831 -1.28 -146.6 414.1 -10.0 291 4836 0.00 2.60 0.00 0.000 6 0.000 0.077 1555 1900 2576 0 0 0 0 0 0
5143 -1.28 -146.6 443.7 -9.8 301 5148 0.00 2.70 0.00 0.000 4 0.000 0.092 1556 3305 2574 0 0 0 0 0 0
5231 -1.28 -146.6 453.1 -10.9 303 5239 0.00 2.62 0.00 0.000 6 0.000 0.077 1555 1905 2575 0 0 0 0 0 0
5544 -1.28 -146.6 484.1 -9.8 314 5548 0.00 2.70 0.00 0.000 4 0.000 0.094 1555 3302 2574 0 0 0 0 0 0
5626 -1.28 -146.6 492.5 -9.9 316 5631 0.00 2.65 0.00 0.000 6 0.000 0.079 1555 1902 2574 0 0 0 0 0 0
5946 -1.28 -146.6 527.0 -11.0 327 5951 0.00 2.72 0.00 0.000 4 0.000 0.097 1556 3301 2572 0 0 0 0 0 0
6000 -1.28 -146.6 533.3 -10.4 328 6008 0.00 2.67 0.00 0.000 6 0.000 0.082 1555 1897 2572 0 0 0 0 0 0
6316 -1.28 -146.6 567.6 -11.2 339 6320 0.00 2.72 0.00 0.000 4 0.000 0.099 1555 3299 2570 0 0 0 0 0 0
6397 -1.28 -146.6 577.0 -11.2 341 6402 0.00 2.67 0.00 0.000 6 0.000 0.084 1556 1903 2569 0 0 0 0 0 0
6718 -1.28 -146.6 612.4 -11.2 352 6722 0.00 2.75 0.00 0.000 4 0.000 0.102 1556 3304 2568 0 0 0 0 0 0
6771 -1.28 -146.6 619.4 -12.3 353 6779 0.00 2.70 0.00 0.000 6 0.000 0.084 1555 1902 2567 0 0 0 0 0 0
7086 -1.28 -146.6 655.7 -11.7 364 7090 0.00 2.78 0.00 0.000 4 0.000 0.104 1555 3298 2565 0 0 0 0 0 0
7207 -1.28 -146.6 669.6 -10.3 367 7218 0.00 2.72 0.00 0.000 6 0.000 0.087 1556 1896 2565 0 0 0 0 0 0
7521 -1.28 -146.6 705.4 -11.5 378 7522 0.00 0.00 0.00 0.000 6 0.000 0.000 1555 1896 2564 0 0 0 0 0 0
7826 -1.28 -146.6 739.0 -11.0 388 7830 0.00 2.83 0.00 0.000 4 0.000 0.109 1555 3298 2563 0 0 0 0 0 0
7921 -1.28 -146.6 750.9 -12.1 391 7925 0.00 2.72 0.00 0.000 6 0.000 0.092 1555 1900 2563 0 0 0 0 0 0
8256 -1.26 -146.6 786.7 -11.1 402 8261 0.00 2.85 0.00 0.000 4 0.000 0.112 1556 3302 2562 0 0 0 0 0 0
8317 -1.26 -146.6 794.6 -12.3 404 8321 0.00 2.70 0.00 0.000 6 0.000 0.092 1555 1900 2560 0 0 0 0 0 0
8659 -1.24 -146.6 838.4 -14.2 415 8663 0.00 2.88 0.00 0.000 4 0.000 0.114 1555 3302 2559 0 0 0 0 0 0
8747 -1.24 -146.6 850.3 -11.6 417 8754 0.00 2.75 0.00 0.000 6 0.000 0.094 1556 1899 2558 0 0 0 0 0 0
9060 -1.24 -146.6 889.6 -13.0 428 9067 0.00 2.85 0.00 0.000 4 0.000 0.119 1556 3290 2557 0 0 0 0 0 0
9076 -1.24 -146.6 891.8 -12.4 428 9081 0.00 2.78 0.00 0.000 6 0.000 0.097 1556 1905 2557 0 0 0 0 0 0
9401 -1.24 -146.6 905.8 -0.0 439 9406 0.00 2.83 0.00 0.000 4 0.000 0.109 1556 486 2555 0 0 0 0 0 0
9933 end dive: NO_VERTICAL_VELOCITY
state 9933 begin apogee
9939 -0.31 0.0 905.6 0.0 455 10047 0.93 0.00 101.90 1.430 6 0.114 0.000 1763 1743 2081 0 0 0 0 0 0
10047 end apogee: CONTROL_FINISHED_OK
state 10048 begin climb
10049 1.20 146.6 905.6 0.0 458 10168 1.50 3.08 109.97 1.398 4 0.114 0.129 2090 3160 1585 0 0 1 0 0 0
10840 1.70 341.2 905.3 0.9 482 10999 0.47 2.78 150.02 1.413 6 0.077 0.099 2214 1748 926 0 0 0 0 0 0
11324 1.61 341.2 867.0 15.7 498 11329 0.15 2.90 0.00 0.000 4 0.151 0.122 2185 3161 923 0 0 0 0 0 0
11454 1.55 341.2 849.0 11.8 502 11459 0.00 2.80 0.00 0.000 6 0.000 0.102 2185 1745 922 0 0 0 0 0 0
11789 1.53 375.9 817.4 6.7 513 11823 0.00 2.95 27.83 1.309 4 0.000 0.122 2185 334 808 0 0 0 0 0 0
12170 1.46 375.9 777.7 10.8 524 12176 0.15 2.78 0.00 0.000 6 0.149 0.099 2155 1752 806 0 0 1 0 0 0
12500 1.46 375.9 746.2 9.9 535 12505 0.00 2.85 0.00 0.000 4 0.000 0.114 2155 340 805 0 0 0 0 0 0
12615 1.42 375.9 734.1 10.7 538 12620 0.00 2.75 0.00 0.000 6 0.000 0.099 2155 1751 805 0 0 1 0 0 0
12934 1.42 375.9 702.1 10.8 549 12938 0.00 2.85 0.00 0.000 4 0.000 0.112 2155 338 806 0 0 0 0 0 0
12962 1.37 375.9 698.5 12.2 550 12967 0.12 2.72 0.00 0.000 6 0.156 0.094 2132 1754 805 0 0 1 0 0 0
13296 1.37 375.9 667.2 8.9 561 13301 0.00 2.83 0.00 0.000 4 0.000 0.119 2132 3158 805 0 0 0 0 0 0
13338 1.37 375.9 663.2 8.6 562 13343 0.00 2.80 0.00 0.000 6 0.000 0.097 2132 1749 804 0 0 0 0 0 0
13663 1.37 375.9 636.4 8.5 573 13667 0.00 2.80 0.00 0.000 4 0.000 0.109 2132 335 804 0 0 0 0 0 0
13813 1.37 375.9 623.2 9.1 577 13817 0.00 2.72 0.00 0.000 6 0.000 0.092 2132 1751 804 0 0 1 0 0 0
14131 1.38 382.3 599.2 7.8 588 14139 0.00 0.00 5.65 0.934 6 0.000 0.000 2132 1759 787 0 0 0 0 0 0
14437 1.38 382.3 572.4 9.1 598 14442 0.00 2.80 0.00 0.000 4 0.000 0.104 2132 335 787 0 0 0 0 0 0
14519 1.36 382.3 563.7 9.9 600 14524 0.00 2.67 0.00 0.000 6 0.000 0.087 2132 1749 787 0 0 1 0 0 0
14838 1.36 382.3 532.2 10.1 611 14842 0.00 2.80 0.00 0.000 4 0.000 0.102 2132 331 787 0 0 0 0 0 0
14937 1.33 382.3 520.9 12.0 614 14941 0.00 2.65 0.00 0.000 6 0.000 0.084 2132 1751 787 0 0 1 0 0 0
15272 1.33 382.3 486.6 10.0 625 15277 0.00 2.75 0.00 0.000 4 0.000 0.104 2132 3158 787 0 0 0 0 0 0
15299 1.33 382.3 483.9 10.0 626 15304 0.00 2.72 0.00 0.000 6 0.000 0.089 2132 1741 787 0 0 0 0 0 0
15633 1.33 382.3 444.8 13.0 637 15638 0.00 2.70 0.00 0.000 4 0.000 0.099 2132 340 787 0 0 0 0 0 0
15738 1.30 382.3 430.0 13.8 640 15742 0.00 2.67 0.00 0.000 6 0.000 0.079 2132 1748 787 0 0 0 0 0 0
16068 1.30 382.3 385.0 13.7 651 16069 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 1752 787 0 0 0 0 0 0
16374 1.30 382.3 343.7 13.2 661 16378 0.00 2.75 0.00 0.000 4 0.000 0.094 2132 332 787 0 0 0 0 0 0
16473 1.26 382.3 329.4 14.1 664 16478 0.12 2.65 0.00 0.000 6 0.161 0.074 2109 1747 787 0 0 0 0 0 0
16787 1.26 382.3 292.1 11.6 675 16792 0.00 2.72 0.00 0.000 4 0.000 0.092 2109 334 787 0 0 0 0 0 0
16852 1.26 382.3 283.5 13.2 678 16857 0.00 2.65 0.00 0.000 6 0.000 0.072 2109 1754 787 0 0 0 0 0 0
17179 1.26 382.3 243.5 12.3 694 17184 0.00 2.70 0.00 0.000 4 0.000 0.089 2109 338 787 0 0 0 0 0 0
17267 1.26 382.3 232.2 12.7 698 17272 0.00 2.62 0.00 0.000 6 0.000 0.070 2109 1751 787 0 0 0 0 0 0
17594 1.26 382.3 189.7 13.6 714 17599 0.00 2.70 0.00 0.000 4 0.000 0.089 2109 337 787 0 0 0 0 0 0
17637 1.26 382.3 183.4 15.4 716 17642 0.00 2.62 0.00 0.000 6 0.000 0.070 2109 1755 787 0 0 0 0 0 0
17956 1.26 382.3 142.3 13.6 734 17960 0.00 2.67 0.00 0.000 4 0.000 0.087 2109 336 787 0 0 0 0 0 0
18028 1.24 382.3 132.0 12.4 740 18033 0.00 2.55 0.00 0.000 6 0.000 0.065 2109 1759 787 0 0 0 0 0 0
18353 1.24 382.3 91.6 12.6 770 18357 0.00 2.58 0.00 0.000 4 0.000 0.082 2109 3154 787 0 0 0 0 0 0
18447 1.24 382.3 80.0 11.7 778 18452 0.00 2.58 0.00 0.000 6 0.000 0.070 2109 1736 787 0 0 0 0 0 0
18772 1.27 382.3 44.8 10.7 808 18776 0.00 2.58 0.00 0.000 4 0.000 0.084 2109 340 787 0 0 0 0 0 0
19006 1.27 382.3 24.0 8.7 828 19014 0.00 2.53 0.00 0.000 6 0.000 0.060 2109 1763 787 0 0 0 0 0 0
19245 end climb: SURFACE_DEPTH_REACHED
state 19246 begin surface coast
19289 end surface coast: CONTROL_FINISHED_OK
state 19289 begin surface