RapidMocha Jul10 * SG033 * Dive index * Mission links * Dive 15 * 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  22 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DEPTH  100
DIVE  15 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2300 ALTIM_PING_DELTA  10
D_SURF  4 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  1950 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  5800 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  0
D_NO_BLEED  200 SM_CC  300 R_PORT_OVSHOOT  41 XPDR_INHIBIT  90
D_BOOST  0 N_FILEKB  4 R_STBD_OVSHOOT  27 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  0 FILEMGR  0 ROLL_AD_RATE  400 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  720 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  -229835.72 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  0 T_RSLEEP  12 CF8_MAXERRORS  2 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_24V  151 PHONE_DEVICE  48
D_OFFGRID  5761 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  1850 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043575475
GLIDE_SLOPE  45 PITCH_DBAND  0.1 PRESSURE_YINT  -20.341413 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  310710,023201,1835.799,-6603.734,37,1.3,37,-12.7 TGT_NAME  SAN_JUAN_OP
_CALLS  1 TGT_LATLONG  1836.000,-6606.000
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.245,-0.034
_SM_DEPTHo  0.64 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -53.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  310710,023714,1835.815,-6603.816,14,1.4,14,-12.7 MHEAD_RNG_PITCHd_Wd  287.8,3849,-27.1,-8.000
SPEED_LIMITS  0.080,0.230 D_GRID  1080

Post-dive calculations and measurements:
FINISH  -0.2,0.997764 _24V_AH  24.0,24.998
SM_CCo  18082,16.92,0.742,0,0,1065,300.25 _10V_AH  10.4,8.849
SM_GC  3.21,0.00,0.00,16.92,0.000,0.000,0.742,21,2300,1065,-8.41,0.00,300.25 FG_AHR_24Vo  0.000
IRIDIUM_FIX  1825.94,-6547.48,230112,151537 FG_AHR_10Vo  0.000
TT8_MAMPS  0.021721 MEM  326652
HUMID  1078529668 DATA_FILE_SIZE  40265,742
INTERNAL_PRESSURE  7.8128 CAP_FILE_SIZE  163149,0
TCM_TEMP  23.70 CFSIZE  260280320,252178432
XPDR_PINGS  11 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,14,0,0
ALTIM_TOP_PING  19.3,18.6 GPS  310710,074037,1836.803,-6605.893,48,1.1,48,-12.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21193101.91 SBE_CT50424290.66
Roll_motor122126373.59 nil000.00
VBD_pump_during_apogee305154111305.53 AA4330113133895.96
VBD_pump_during_surface16742301.57 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3100.00 nil000.00
Iridium_during_connect2600.00 nil000.00
Iridium_during_xfer16000.00 nil000.00
Transponder_ping27420277.20 nil000.00
GUMSTIX_24V000.00
GPS1500.00
TT8220119453.38
LPSleep129032293.89
TT8_Active4831999.59
TT8_Sampling2687391112.40
TT8_CF81314562.63
TT8_Kalman000.00
Analog_circuits164812205.76
GPS_charging000.00
Compass226915354.08
RAFOS000.00
Transponder1573049.21

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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
15 -1.76 -53.8 0.0 0.0 0 110 0.00 0.00 -92.80 0.000 2 0.000 0.000 17 2308 2122 0 0 0 0 0 0
112 -1.79 -81.4 3.2 -5.3 9 136 7.62 2.35 -9.90 0.000 4 0.194 0.082 1454 3711 2358 0 0 0 0 0 0
350 -1.79 -81.4 39.9 -14.3 30 354 0.00 2.17 0.00 0.000 6 0.000 0.060 1454 2276 2359 0 0 0 0 0 0
674 -1.83 -81.4 76.4 -8.2 60 678 0.00 2.33 0.00 0.000 4 0.000 0.092 1454 3714 2361 0 0 0 0 0 0
1353 -1.86 -107.3 123.9 -5.4 120 1359 0.00 2.15 -0.68 0.000 6 0.000 0.062 1455 2288 2457 0 0 0 0 0 0
1678 -1.91 -118.2 146.2 -6.9 150 1683 0.00 2.30 -0.25 0.000 4 0.000 0.092 1454 3713 2498 0 0 0 0 0 0
2356 -1.91 -118.2 208.9 -11.1 182 2361 0.00 2.15 0.00 0.000 6 0.000 0.062 1455 2310 2499 0 0 0 0 0 0
2679 -1.94 -118.2 241.6 -10.0 198 2684 0.12 2.22 0.00 0.000 4 0.107 0.079 1412 905 2499 0 0 0 0 0 0
2756 -1.92 -118.2 251.3 -13.6 201 2764 0.00 2.20 0.00 0.000 6 0.000 0.070 1412 2301 2499 0 0 0 0 0 0
3074 -1.92 -118.2 291.4 -13.5 217 3078 0.00 2.25 0.00 0.000 4 0.000 0.089 1412 3704 2499 0 0 0 0 0 0
3409 -1.88 -118.2 343.4 -17.4 228 3414 0.08 2.17 0.00 0.000 6 0.151 0.067 1437 2309 2498 0 0 0 0 0 0
3745 -1.88 -118.2 393.7 -15.8 239 3746 0.00 0.00 0.00 0.000 6 0.000 0.000 1436 2306 2498 0 0 0 0 0 0
4052 -1.88 -118.2 440.8 -15.7 249 4056 0.00 2.28 0.00 0.000 4 0.000 0.092 1437 3699 2498 0 0 0 0 0 0
4186 -1.88 -118.2 464.3 -16.6 253 4190 0.00 2.22 0.00 0.000 6 0.000 0.082 1437 2306 2498 0 0 0 0 0 0
4522 -1.88 -118.2 520.3 -17.0 264 4526 0.00 2.33 0.00 0.000 4 0.000 0.094 1437 3698 2496 0 0 0 0 0 0
4655 -1.88 -118.2 544.5 -17.5 268 4659 0.00 2.25 0.00 0.000 6 0.000 0.082 1437 2302 2496 0 0 0 0 0 0
4991 -1.88 -118.2 605.9 -18.2 279 4994 0.00 2.35 0.00 0.000 4 0.000 0.099 1437 3696 2494 0 0 0 0 0 0
5107 -1.88 -118.2 629.7 -21.1 282 5115 0.00 2.28 0.00 0.000 6 0.000 0.077 1437 2301 2493 0 0 0 0 0 0
5435 -1.88 -118.2 692.9 -19.7 293 5439 0.00 2.40 0.00 0.000 4 0.000 0.104 1437 3702 2492 0 0 1 0 0 0
5553 -1.86 -118.2 717.6 -22.8 296 5557 0.00 2.28 0.00 0.000 6 0.000 0.087 1437 2302 2491 0 0 0 0 0 0
5867 -1.86 -118.2 781.2 -20.9 306 5871 0.00 2.40 0.00 0.000 4 0.000 0.107 1437 3695 2490 0 0 0 0 0 0
5973 -1.84 -118.2 804.1 -21.5 309 5977 0.00 2.30 0.00 0.000 6 0.000 0.092 1437 2298 2489 0 0 0 0 0 0
6303 -1.84 -118.2 874.5 -21.7 320 6307 0.00 2.42 0.00 0.000 4 0.000 0.112 1437 3701 2487 0 0 0 0 0 0
6441 -1.84 -118.2 906.4 -22.3 324 6446 0.00 2.35 0.00 0.000 6 0.000 0.084 1437 2303 2486 0 0 0 0 0 0
6772 -1.84 -118.2 977.7 -22.2 335 6776 0.00 2.42 0.00 0.000 4 0.000 0.114 1437 3693 2484 0 0 0 0 0 0
6932 -1.84 -118.2 1015.4 -22.1 339 6937 0.00 2.35 0.00 0.000 6 0.000 0.089 1437 2303 2483 0 0 0 0 0 0
7274 -1.94 -118.2 1075.6 -17.6 345 7275 0.00 0.00 0.00 0.000 6 0.000 0.000 1438 2303 2482 0 0 0 0 0 0
7574 -2.45 -146.6 1075.7 0.0 350 7577 0.50 0.00 0.00 0.000 6 0.082 0.000 1314 2303 2480 0 0 0 0 0 0
7633 end dive: NO_VERTICAL_VELOCITY
state 7633 begin apogee
7637 -0.31 0.0 1075.7 0.0 351 7730 2.00 0.00 88.57 1.542 6 0.089 0.000 1786 1944 2081 0 0 0 0 0 0
7731 end apogee: CONTROL_FINISHED_OK
state 7731 begin climb
7732 1.87 146.6 1075.6 0.0 352 7850 2.00 0.00 111.68 1.527 6 0.074 0.000 2269 1944 1585 0 0 0 0 0 0
8153 2.27 226.6 1075.4 0.1 358 8218 0.30 0.00 62.33 1.505 6 0.077 0.000 2355 1944 1314 0 0 0 0 0 0
8516 2.30 253.6 1060.9 5.3 364 8545 0.00 2.62 21.55 1.438 4 0.000 0.127 2355 537 1221 0 0 0 0 0 0
8808 2.26 253.6 1035.1 8.8 368 8813 0.00 2.45 0.00 0.000 6 0.000 0.104 2355 1928 1220 0 0 1 0 0 0
9152 2.26 253.6 1005.2 8.7 374 9153 0.00 0.00 0.00 0.000 6 0.000 0.000 2355 1931 1218 0 0 0 0 0 0
9457 2.26 253.7 981.2 8.0 382 9458 0.00 0.00 0.00 0.000 6 0.000 0.000 2355 1930 1217 0 0 0 0 0 0
9763 2.28 266.3 958.8 6.7 392 9775 0.00 0.00 9.93 1.296 6 0.000 0.000 2355 1931 1179 0 0 0 0 0 0
10070 2.28 270.7 935.9 7.6 402 10080 0.00 2.47 4.97 1.038 4 0.000 0.124 2355 537 1164 0 0 1 0 0 0
10198 2.24 270.7 924.8 9.2 406 10203 0.00 2.42 0.00 0.000 6 0.000 0.104 2355 1953 1164 0 0 1 0 0 0
10533 2.24 270.7 895.5 8.5 417 10534 0.00 0.00 0.00 0.000 6 0.000 0.000 2355 1956 1163 0 0 0 0 0 0
10839 2.24 270.7 870.3 8.3 427 10843 0.00 2.50 0.00 0.000 4 0.000 0.122 2355 531 1163 0 0 0 0 0 0
11272 2.20 270.7 835.1 8.9 440 11277 0.12 2.40 0.00 0.000 6 0.169 0.104 2331 1952 1162 0 0 1 0 0 0
11606 2.21 277.3 811.1 7.3 451 11619 0.00 2.50 6.47 1.115 4 0.000 0.124 2331 3362 1142 0 0 0 0 0 0
11990 2.21 277.3 778.5 10.5 462 11995 0.00 2.45 0.00 0.000 6 0.000 0.102 2331 1944 1141 0 0 1 0 0 0
12314 2.21 277.3 750.5 8.8 473 12319 0.00 2.45 0.00 0.000 4 0.000 0.117 2331 537 1141 0 0 0 0 0 0
12486 2.21 277.3 733.5 9.2 478 12491 0.00 2.40 0.00 0.000 6 0.000 0.099 2331 1943 1141 0 0 1 0 0 0
12817 2.21 277.3 703.8 8.9 489 12818 0.00 0.00 0.00 0.000 6 0.000 0.000 2331 1945 1141 0 0 0 0 0 0
13123 2.21 277.3 676.0 9.9 499 13127 0.00 2.47 0.00 0.000 4 0.000 0.119 2331 3362 1140 0 0 0 0 0 0
13193 2.21 277.3 668.5 10.3 501 13198 0.00 2.40 0.00 0.000 6 0.000 0.097 2331 1957 1140 0 0 1 0 0 0
13524 2.21 277.3 636.0 9.4 512 13528 0.00 2.42 0.00 0.000 4 0.000 0.114 2331 537 1140 0 0 0 0 0 0
13707 2.19 277.3 615.9 12.8 517 13711 0.00 2.40 0.00 0.000 6 0.000 0.094 2331 1952 1140 0 0 1 0 0 0
14026 2.19 277.3 581.5 10.7 528 14030 0.00 2.45 0.00 0.000 4 0.000 0.112 2331 540 1140 0 0 0 0 0 0
14087 2.16 277.3 574.3 11.0 530 14092 0.00 2.35 0.00 0.000 6 0.000 0.094 2331 1952 1140 0 0 1 0 0 0
14422 2.16 277.3 534.4 12.5 541 14423 0.00 0.00 0.00 0.000 6 0.000 0.000 2331 1955 1139 0 0 0 0 0 0
14728 2.16 277.3 496.1 13.2 551 14732 0.00 2.40 0.00 0.000 4 0.000 0.107 2331 546 1140 0 0 0 0 0 0
14855 2.13 277.3 477.6 14.7 554 14863 0.00 2.35 0.00 0.000 6 0.000 0.089 2331 1949 1140 0 0 1 0 0 0
15168 2.13 277.3 431.1 15.5 565 15172 0.00 2.40 0.00 0.000 4 0.000 0.104 2331 3356 1140 0 0 0 0 0 0
15222 2.10 277.3 422.1 16.2 566 15231 0.08 2.33 0.00 0.000 6 0.156 0.084 2313 1951 1140 0 0 1 0 0 0
15535 2.10 277.3 376.6 14.3 577 15539 0.00 2.35 0.00 0.000 4 0.000 0.099 2313 536 1140 0 0 0 0 0 0
15741 2.10 277.3 344.9 14.6 583 15746 0.00 2.30 0.00 0.000 6 0.000 0.082 2314 1959 1140 0 0 1 0 0 0
16055 2.10 277.3 295.2 16.8 594 16056 0.00 0.00 0.00 0.000 6 0.000 0.000 2314 1961 1140 0 0 0 0 0 0
16364 2.10 277.3 240.5 18.7 609 16368 0.00 2.35 0.00 0.000 4 0.000 0.092 2314 540 1140 0 0 0 0 0 0
16583 2.08 277.3 198.2 20.5 619 16587 0.00 2.25 0.00 0.000 6 0.000 0.077 2314 1954 1140 0 0 1 0 0 0
16899 2.08 277.3 141.8 18.0 636 16900 0.00 0.00 0.00 0.000 6 0.000 0.000 2314 1955 1140 0 0 0 0 0 0
17218 2.08 277.3 87.7 17.1 666 17222 0.00 2.30 0.00 0.000 4 0.000 0.097 2314 3355 1141 0 0 0 0 0 0
17272 2.08 277.3 78.3 16.4 670 17280 0.00 2.28 0.00 0.000 6 0.000 0.074 2313 1939 1141 0 0 0 0 0 0
17598 2.10 277.3 41.4 9.1 701 17602 0.00 2.22 0.00 0.000 4 0.000 0.084 2314 541 1142 0 0 0 0 0 0
18007 2.10 277.3 6.1 10.5 737 18011 0.00 2.17 0.00 0.000 6 0.000 0.065 2314 1962 1145 0 0 0 0 0 0
18032 end climb: SURFACE_DEPTH_REACHED
state 18033 begin surface coast
18066 end surface coast: CONTROL_FINISHED_OK
state 18066 begin surface