RapidMocha Jul10 * SG033 * Dive index * Mission links * Dive 19 * Log results * Raw log file
prev dive * next dive * dive

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  19 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  32 XPDR_INHIBIT  90
D_BOOST  0 N_FILEKB  4 R_STBD_OVSHOOT  29 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  -229840.81 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  310710,234524,1835.460,-6600.554,74,1.9,93,-12.7 TGT_NAME  66W_PR
_CALLS  1 TGT_LATLONG  1830.000,-6600.000
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.245,-0.034
_SM_DEPTHo  1.09 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -58.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  310710,235004,1835.491,-6600.603,14,3.1,33,-12.7 MHEAD_RNG_PITCHd_Wd  186.8,10224,-16.3,-8.000
SPEED_LIMITS  0.080,0.230 D_GRID  1080

Post-dive calculations and measurements:
FINISH  0.0,1.022662 _24V_AH  23.3,25.739
SM_CCo  18847,0.00,0.000,0,0,857,361.65 _10V_AH  10.5,9.209
SM_GC  1.50,8.40,0.00,0.00,0.065,0.000,0.000,13,2309,857,-8.34,0.25,361.65 FG_AHR_24Vo  0.000
IRIDIUM_FIX  1828.22,-6554.63,240112,131320 FG_AHR_10Vo  0.000
TT8_MAMPS  0.021721 MEM  326632
HUMID  1078549023 DATA_FILE_SIZE  46762,841
INTERNAL_PRESSURE  7.8128 CAP_FILE_SIZE  170667,0
TCM_TEMP  23.90 CFSIZE  260280320,251842560
XPDR_PINGS  9 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
ALTIM_TOP_PING  19.8,19.0 GPS  010810,050537,1832.896,-6601.316,31,1.7,32,-12.7
ALTIM_BOTTOM_PING  894.1,28.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1918684.83 SBE_CT57024318.89
Roll_motor168124486.48 nil000.00
VBD_pump_during_apogee381142512681.36 AA4330128133984.98
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2700.00 nil000.00
Iridium_during_connect2600.00 nil000.00
Iridium_during_xfer11800.00 nil000.00
Transponder_ping23420225.08 nil000.00
GUMSTIX_24V000.00
GPS3500.00
TT8233419485.35
LPSleep136242313.30
TT8_Active51819107.83
TT8_Sampling2521391053.65
TT8_CF81284561.60
TT8_Kalman000.00
Analog_circuits168312212.18
GPS_charging000.00
Compass212715335.11
RAFOS000.00
Transponder1343042.44

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
14 -1.20 -146.6 0.0 0.0 0 79 0.00 0.00 -62.53 0.000 2 0.000 0.000 18 2320 2051 0 0 0 0 0 0
81 -1.20 -146.6 4.2 -7.5 6 115 8.12 2.30 -18.62 0.000 4 0.186 0.074 1583 889 2579 0 0 0 0 0 0
228 -1.15 -146.6 24.2 -12.5 19 232 0.00 2.20 0.00 0.000 6 0.000 0.065 1583 2310 2579 0 0 0 0 0 0
552 -1.15 -146.6 57.5 -9.5 49 556 0.00 2.25 0.00 0.000 4 0.000 0.087 1583 3696 2581 0 0 0 0 0 0
757 -1.15 -146.6 75.0 -8.7 67 765 0.00 2.20 0.00 0.000 6 0.000 0.060 1583 2268 2582 0 0 0 0 0 0
1084 -1.15 -146.6 100.2 -7.9 98 1088 0.00 2.30 0.00 0.000 4 0.000 0.084 1583 3696 2584 0 0 0 0 0 0
1144 -1.15 -146.6 104.8 -7.6 103 1152 0.00 2.15 0.00 0.000 6 0.000 0.060 1583 2287 2585 0 0 0 0 0 0
1470 -1.15 -146.6 125.0 -6.5 134 1474 0.00 2.25 0.00 0.000 4 0.000 0.084 1583 3696 2586 0 0 0 0 0 0
1490 -1.15 -146.6 126.4 -6.3 135 1498 0.00 2.12 0.00 0.000 6 0.000 0.062 1583 2300 2586 0 0 0 0 0 0
1816 -1.15 -146.6 146.9 -6.5 166 1820 0.00 2.25 0.00 0.000 4 0.000 0.094 1583 3696 2587 0 0 0 0 0 0
2041 -1.15 -146.6 162.2 -6.1 179 2045 0.00 2.12 0.00 0.000 6 0.000 0.062 1583 2298 2588 0 0 0 0 0 0
2367 -1.15 -146.6 182.1 -6.1 195 2368 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2293 2589 0 0 0 0 0 0
2676 -1.15 -146.6 203.6 -7.9 210 2680 0.00 2.28 0.00 0.000 4 0.000 0.087 1583 3697 2589 0 0 0 0 0 0
2742 -1.13 -146.6 209.1 -7.3 213 2746 0.00 2.15 0.00 0.000 6 0.000 0.065 1583 2311 2590 0 0 0 0 0 0
3069 -1.13 -146.6 234.0 -7.7 229 3071 0.10 0.00 0.00 0.000 6 0.154 0.000 1605 2306 2590 0 0 0 0 0 0
3378 -1.13 -146.6 257.0 -8.2 244 3379 0.00 0.00 0.00 0.000 6 0.000 0.000 1605 2304 2590 0 0 0 0 0 0
3687 -1.13 -146.6 282.5 -8.1 259 3691 0.00 2.28 0.00 0.000 4 0.000 0.089 1605 3695 2590 0 0 0 0 0 0
3727 -1.13 -146.6 286.1 -8.6 261 3731 0.00 2.12 0.00 0.000 6 0.000 0.067 1605 2304 2590 0 0 0 0 0 0
4053 -1.13 -146.6 310.4 -7.6 275 4057 0.00 2.30 0.00 0.000 4 0.000 0.092 1605 3701 2589 0 0 0 0 0 0
4152 -1.13 -146.6 318.7 -7.9 278 4157 0.00 2.20 0.00 0.000 6 0.000 0.067 1605 2302 2589 0 0 0 0 0 0
4487 -1.13 -146.6 346.5 -8.3 289 4491 0.00 2.33 0.00 0.000 4 0.000 0.102 1605 3698 2589 0 0 0 0 0 0
4621 -1.13 -146.6 358.7 -9.5 293 4625 0.00 2.20 0.00 0.000 6 0.000 0.070 1604 2303 2589 0 0 0 0 0 0
4956 -1.13 -146.6 387.5 -8.8 304 4957 0.00 0.00 0.00 0.000 6 0.000 0.000 1605 2300 2589 0 0 0 0 0 0
5262 -1.13 -146.6 414.7 -8.9 314 5267 0.00 2.33 0.00 0.000 4 0.000 0.094 1605 3697 2588 0 0 1 0 0 0
5316 -1.13 -146.6 419.6 -9.0 315 5325 0.00 2.22 0.00 0.000 6 0.000 0.070 1605 2298 2588 0 0 0 0 0 0
5630 -1.13 -146.6 447.3 -9.4 326 5634 0.00 2.33 0.00 0.000 4 0.000 0.097 1605 3692 2587 0 0 0 0 0 0
5691 -1.13 -146.6 452.8 -8.9 328 5695 0.00 2.17 0.00 0.000 6 0.000 0.072 1605 2300 2587 0 0 0 0 0 0
6025 -1.13 -146.6 484.2 -9.5 339 6026 0.00 0.00 0.00 0.000 6 0.000 0.000 1605 2297 2587 0 0 0 0 0 0
6331 -1.13 -146.6 514.6 -10.0 349 6335 0.00 2.35 0.00 0.000 4 0.000 0.097 1605 3693 2586 0 0 0 0 0 0
6379 -1.13 -146.6 519.4 -9.4 350 6384 0.00 2.22 0.00 0.000 6 0.000 0.072 1605 2309 2586 0 0 0 0 0 0
6700 -1.13 -146.6 551.4 -10.7 361 6704 0.00 2.35 0.00 0.000 4 0.000 0.099 1605 3697 2585 0 0 0 0 0 0
6778 -1.13 -146.6 560.1 -12.0 363 6783 0.00 2.22 0.00 0.000 6 0.000 0.074 1605 2294 2585 0 0 0 0 0 0
7096 -1.13 -146.6 593.3 -10.1 374 7100 0.00 2.40 0.00 0.000 4 0.000 0.104 1604 3694 2584 0 0 0 0 0 0
7217 -1.13 -146.6 605.9 -10.3 377 7225 0.00 2.28 0.00 0.000 6 0.000 0.087 1605 2307 2583 0 0 0 0 0 0
7531 -1.13 -146.6 641.7 -12.1 388 7532 0.00 0.00 0.00 0.000 6 0.000 0.000 1605 2306 2582 0 0 0 0 0 0
7836 -1.13 -146.6 678.6 -12.0 398 7837 0.00 0.00 0.00 0.000 6 0.000 0.000 1605 2306 2581 0 0 0 0 0 0
8143 -1.11 -146.6 715.4 -12.3 408 8145 0.00 0.00 0.00 0.000 6 0.000 0.000 1605 2306 2580 0 0 0 0 0 0
8450 -1.08 -146.6 750.9 -11.3 418 8455 0.00 2.40 0.00 0.000 4 0.000 0.109 1605 3689 2579 0 0 0 0 0 0
8483 -1.06 -146.6 754.9 -11.9 419 8487 0.00 2.33 0.00 0.000 6 0.000 0.084 1605 2299 2579 0 0 0 0 0 0
8819 -1.04 -146.6 795.5 -13.7 430 8823 0.00 2.42 0.00 0.000 4 0.000 0.112 1605 3689 2577 0 0 0 0 0 0
8861 -1.04 -146.6 801.4 -12.9 431 8866 0.00 2.33 0.00 0.000 6 0.000 0.084 1605 2300 2576 0 0 0 0 0 0
9187 -1.01 -146.6 836.6 -9.9 442 9192 0.12 2.47 0.00 0.000 4 0.149 0.124 1630 3693 2575 0 0 1 0 0 0
9215 -1.01 -146.6 839.6 -11.2 443 9219 0.00 2.33 0.00 0.000 6 0.000 0.092 1630 2293 2575 0 0 0 0 0 0
9555 -1.01 -146.6 873.7 -8.8 454 9556 0.00 0.00 0.00 0.000 6 0.000 0.000 1630 2286 2574 0 0 0 0 0 0
9798 end dive: BOTTOM_OBSTACLE_DETECTED
state 9798 begin apogee
9802 -0.31 0.0 906.2 13.6 462 9913 0.68 0.00 107.62 1.425 6 0.114 0.000 1783 1953 2082 0 0 0 0 0 0
9914 end apogee: CONTROL_FINISHED_OK
state 9914 begin climb
9915 1.20 146.6 911.0 0.0 465 10035 1.42 2.65 110.62 1.398 4 0.092 0.124 2110 542 1585 0 0 0 0 0 0
10710 1.62 359.2 917.8 0.2 488 10882 0.38 2.38 163.62 1.413 6 0.072 0.099 2213 1940 865 0 0 1 0 0 0
11200 1.58 359.2 872.9 13.4 504 11204 0.00 2.47 0.00 0.000 4 0.000 0.119 2213 541 862 0 0 0 0 0 0
11389 1.51 359.2 845.4 14.6 509 11397 0.12 2.42 0.00 0.000 6 0.127 0.099 2182 1946 862 0 0 1 0 0 0
11701 1.51 359.2 813.4 9.3 520 11706 0.00 2.50 0.00 0.000 4 0.000 0.119 2182 536 862 0 0 1 0 0 0
11880 1.48 359.2 795.1 10.0 525 11884 0.00 2.42 0.00 0.000 6 0.000 0.097 2182 1950 862 0 0 1 0 0 0
12204 1.48 359.2 760.4 10.5 536 12208 0.00 2.47 0.00 0.000 4 0.000 0.119 2182 541 861 0 0 0 0 0 0
12337 1.45 359.2 745.5 10.3 540 12341 0.00 2.35 0.00 0.000 6 0.000 0.097 2182 1951 860 0 0 1 0 0 0
12672 1.45 359.2 710.8 10.8 551 12676 0.00 2.47 0.00 0.000 4 0.000 0.117 2182 541 859 0 0 0 0 0 0
12759 1.41 359.2 700.8 10.8 553 12768 0.08 2.40 0.00 0.000 6 0.132 0.097 2162 1950 859 0 0 1 0 0 0
13072 1.41 359.2 670.2 9.6 564 13077 0.00 2.45 0.00 0.000 4 0.000 0.119 2162 3357 859 0 0 0 0 0 0
13115 1.41 359.2 665.7 9.2 565 13120 0.00 2.40 0.00 0.000 6 0.000 0.097 2162 1952 858 0 0 1 0 0 0
13440 1.41 359.2 634.1 9.5 576 13444 0.00 2.45 0.00 0.000 4 0.000 0.114 2162 538 858 0 0 0 0 0 0
13578 1.41 359.2 619.7 9.5 580 13583 0.00 2.38 0.00 0.000 6 0.000 0.094 2162 1950 858 0 0 1 0 0 0
13908 1.41 359.2 587.3 9.6 591 13912 0.00 2.45 0.00 0.000 4 0.000 0.112 2162 540 858 0 0 0 0 0 0
13969 1.41 359.2 580.8 10.6 593 13974 0.00 2.33 0.00 0.000 6 0.000 0.092 2162 1956 858 0 0 1 0 0 0
14304 1.41 359.2 545.8 10.4 604 14308 0.00 2.45 0.00 0.000 4 0.000 0.109 2162 540 858 0 0 0 0 0 0
14369 1.39 359.2 537.8 12.1 606 14373 0.00 2.33 0.00 0.000 6 0.000 0.089 2162 1950 857 0 0 1 0 0 0
14704 1.39 359.2 499.0 11.7 617 14708 0.00 2.40 0.00 0.000 4 0.000 0.109 2162 3356 858 0 0 0 0 0 0
14748 1.37 359.2 493.5 12.6 618 14752 0.00 2.35 0.00 0.000 6 0.000 0.087 2162 1954 857 0 0 1 0 0 0
15072 1.37 359.2 455.3 11.9 629 15076 0.00 2.40 0.00 0.000 4 0.000 0.104 2162 536 857 0 0 0 0 0 0
15201 1.34 359.2 440.4 10.4 633 15206 0.00 2.30 0.00 0.000 6 0.000 0.084 2162 1954 857 0 0 1 0 0 0
15536 1.32 359.2 402.5 11.9 644 15541 0.12 2.40 0.00 0.000 4 0.156 0.102 2136 540 857 0 0 0 0 0 0
15601 1.32 359.2 394.7 11.3 646 15606 0.00 2.30 0.00 0.000 6 0.000 0.079 2136 1946 857 0 0 1 0 0 0
15937 1.32 359.2 358.2 11.1 657 15941 0.00 2.40 0.00 0.000 4 0.000 0.099 2136 533 857 0 0 0 0 0 0
16019 1.32 359.2 348.5 12.3 659 16023 0.00 2.30 0.00 0.000 6 0.000 0.079 2136 1949 857 0 0 1 0 0 0
16337 1.32 359.2 311.5 12.0 670 16341 0.00 2.38 0.00 0.000 4 0.000 0.097 2136 535 857 0 0 0 0 0 0
16386 1.32 359.2 305.2 12.6 671 16391 0.00 2.28 0.00 0.000 6 0.000 0.077 2136 1947 857 0 0 1 0 0 0
16718 1.32 359.2 263.0 13.2 687 16722 0.00 2.33 0.00 0.000 4 0.000 0.097 2136 3354 857 0 0 0 0 0 0
16756 1.32 359.2 258.0 14.9 689 16761 0.00 2.28 0.00 0.000 6 0.000 0.077 2137 1937 857 0 0 0 0 0 0
17083 1.32 359.2 213.5 14.1 705 17087 0.00 2.30 0.00 0.000 4 0.000 0.094 2136 538 857 0 0 0 0 0 0
17194 1.29 359.2 197.8 15.4 710 17199 0.00 2.22 0.00 0.000 6 0.000 0.074 2137 1963 857 0 0 1 0 0 0
17515 1.29 359.2 154.0 14.3 726 17519 0.00 2.35 0.00 0.000 4 0.000 0.092 2136 538 857 0 0 0 0 0 0
17637 1.27 359.2 135.6 14.2 735 17644 0.00 2.25 0.00 0.000 6 0.000 0.070 2136 1947 857 0 0 0 0 0 0
17962 1.27 359.2 92.8 12.5 766 17966 0.00 2.30 0.00 0.000 4 0.000 0.099 2136 3358 857 0 0 0 0 0 0
18043 1.27 359.2 82.7 13.2 773 18052 0.00 2.28 0.00 0.000 6 0.000 0.067 2136 1937 857 0 0 0 0 0 0
18369 1.27 359.2 45.1 11.0 804 18373 0.00 2.22 0.00 0.000 4 0.000 0.089 2136 545 857 0 0 0 0 0 0
18458 1.27 359.2 34.5 12.0 812 18462 0.00 2.17 0.00 0.000 6 0.000 0.065 2136 1969 857 0 0 0 0 0 0
18739 end climb: SURFACE_DEPTH_REACHED
state 18739 begin surface coast
18772 end surface coast: CONTROL_FINISHED_OK
state 18772 begin surface