RapidMocha Jul10 * SG033 * Dive index * Mission links * Dive 20 * 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  20 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  37 XPDR_INHIBIT  90
D_BOOST  0 N_FILEKB  4 R_STBD_OVSHOOT  47 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  -229842.06 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  010810,050537,1832.896,-6601.316,31,1.7,32,-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  0.81 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -55.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  010810,051101,1832.912,-6601.380,14,1.9,31,-12.7 MHEAD_RNG_PITCHd_Wd  168.5,5912,-17.2,-8.000
SPEED_LIMITS  0.080,0.230 D_GRID  1080

Post-dive calculations and measurements:
FINISH  -0.2,0.996810 _24V_AH  24.1,25.899
SM_CCo  13170,0.00,0.000,0,0,701,407.71 _10V_AH  10.5,9.274
SM_GC  0.83,8.40,0.00,0.00,0.062,0.000,0.000,13,2311,701,-8.35,0.28,407.71 FG_AHR_24Vo  0.000
IRIDIUM_FIX  1828.22,-6559.71,240112,181827 FG_AHR_10Vo  0.000
TT8_MAMPS  0.021721 MEM  326620
HUMID  1078630313 DATA_FILE_SIZE  33557,646
INTERNAL_PRESSURE  7.83233 CAP_FILE_SIZE  130564,0
TCM_TEMP  24.00 CFSIZE  260280320,251817984
XPDR_PINGS  21 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
ALTIM_TOP_PING  18.8,17.8 GPS  010810,085207,1831.184,-6601.198,41,1.1,42,-12.7
ALTIM_BOTTOM_PING  681.3,34.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1919190.77 SBE_CT43524251.84
Roll_motor138111371.68 nil000.00
VBD_pump_during_apogee409125812420.80 AA433098233781.40
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2700.00 nil000.00
Iridium_during_connect3100.00 nil000.00
Iridium_during_xfer15300.00 nil000.00
Transponder_ping20420210.03 nil000.00
GUMSTIX_24V000.00
GPS3200.00
TT8176519366.99
LPSleep92362212.40
TT8_Active52619109.38
TT8_Sampling185839776.67
TT8_CF81034549.95
TT8_Kalman000.00
Analog_circuits138712174.76
GPS_charging000.00
Compass148115233.40
RAFOS000.00
Transponder1013031.89

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 -1.24 -131.9 0.0 0.0 0 109 0.00 0.00 -92.45 0.000 2 0.000 0.000 12 2307 2322 0 0 0 0 0 0
111 -1.26 -146.6 4.5 -6.1 9 135 8.18 2.25 -8.45 0.000 4 0.191 0.072 1570 892 2579 0 0 0 0 0 0
203 -1.20 -146.6 20.4 -14.5 17 208 0.00 2.20 0.00 0.000 6 0.000 0.065 1570 2299 2580 0 0 0 0 0 0
528 -1.18 -146.6 55.4 -9.3 47 532 0.10 2.28 0.00 0.000 4 0.156 0.087 1591 3691 2582 0 0 0 0 0 0
628 -1.18 -146.6 65.1 -9.9 56 632 0.00 2.15 0.00 0.000 6 0.000 0.062 1592 2270 2582 0 0 0 0 0 0
953 -1.20 -146.6 92.3 -7.1 86 957 0.00 2.33 0.00 0.000 4 0.000 0.092 1592 3691 2584 0 0 0 0 0 0
1077 -1.20 -146.6 100.3 -5.7 97 1081 0.00 2.12 0.00 0.000 6 0.000 0.062 1592 2292 2584 0 0 0 0 0 0
1404 -1.23 -146.6 120.0 -5.3 127 1408 0.00 2.25 0.00 0.000 4 0.000 0.084 1592 3695 2585 0 0 0 0 0 0
1459 -1.23 -146.6 123.9 -5.8 131 1467 0.00 2.12 0.00 0.000 6 0.000 0.062 1592 2299 2585 0 0 0 0 0 0
1785 -1.26 -146.6 143.6 -6.9 162 1789 0.00 2.28 0.00 0.000 4 0.000 0.087 1592 3701 2586 0 0 0 0 0 0
1981 -1.26 -146.6 156.1 -5.2 175 1985 0.00 2.10 0.00 0.000 6 0.000 0.062 1592 2302 2587 0 0 0 0 0 0
2309 -1.28 -146.6 176.8 -6.4 191 2313 0.00 2.17 0.00 0.000 4 0.000 0.082 1592 904 2587 0 0 0 0 0 0
2329 -1.28 -146.6 178.1 -5.7 192 2334 0.00 2.17 0.00 0.000 6 0.000 0.072 1592 2287 2587 0 0 0 0 0 0
2657 -1.28 -146.6 200.0 -6.8 208 2658 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2286 2587 0 0 0 0 0 0
2966 -1.28 -146.6 222.4 -7.3 223 2970 0.00 2.17 0.00 0.000 4 0.000 0.084 1592 907 2587 0 0 0 0 0 0
2998 -1.28 -146.6 225.1 -8.1 224 3006 0.00 2.20 0.00 0.000 6 0.000 0.074 1592 2296 2587 0 0 0 0 0 0
3315 -1.28 -146.6 249.3 -7.3 240 3319 0.00 2.28 0.00 0.000 4 0.000 0.089 1592 3710 2587 0 0 0 0 0 0
3346 -1.28 -146.6 252.0 -8.1 241 3354 0.00 2.17 0.00 0.000 6 0.000 0.065 1592 2309 2587 0 0 0 0 0 0
3662 -1.28 -146.6 276.7 -8.2 257 3666 0.00 2.30 0.00 0.000 4 0.000 0.089 1592 3709 2587 0 0 0 0 0 0
3683 -1.28 -146.6 278.5 -8.5 258 3688 0.00 2.20 0.00 0.000 6 0.000 0.065 1592 2303 2587 0 0 0 0 0 0
4010 -1.28 -146.6 305.1 -8.4 273 4014 0.00 2.30 0.00 0.000 4 0.000 0.092 1592 3702 2587 0 0 1 0 0 0
4126 -1.28 -146.6 316.4 -8.3 276 4131 0.00 2.20 0.00 0.000 6 0.000 0.067 1591 2299 2587 0 0 0 0 0 0
4445 -1.28 -146.6 346.0 -9.6 287 4449 0.00 2.33 0.00 0.000 4 0.000 0.092 1592 3704 2586 0 0 0 0 0 0
4488 -1.28 -146.6 350.2 -10.1 288 4493 0.00 2.20 0.00 0.000 6 0.000 0.067 1592 2307 2586 0 0 0 0 0 0
4812 -1.28 -146.6 379.3 -9.4 299 4816 0.00 2.30 0.00 0.000 4 0.000 0.094 1591 3705 2586 0 0 0 0 0 0
4854 -1.28 -146.6 383.6 -9.7 300 4859 0.00 2.22 0.00 0.000 6 0.000 0.067 1592 2300 2586 0 0 0 0 0 0
5184 -1.28 -146.6 414.8 -10.1 311 5186 0.00 0.00 0.00 0.000 6 0.000 0.000 1592 2299 2585 0 0 0 0 0 0
5491 -1.28 -146.6 446.2 -10.1 321 5495 0.00 2.35 0.00 0.000 4 0.000 0.094 1592 3705 2584 0 0 0 0 0 0
5606 -1.28 -146.6 458.0 -10.3 324 5611 0.00 2.25 0.00 0.000 6 0.000 0.070 1591 2301 2584 0 0 0 0 0 0
5925 -1.28 -146.6 489.6 -10.3 335 5930 0.00 2.38 0.00 0.000 4 0.000 0.107 1592 3705 2583 0 0 1 0 0 0
5958 -1.28 -146.6 492.7 -9.6 336 5962 0.00 2.22 0.00 0.000 6 0.000 0.079 1592 2295 2583 0 0 0 0 0 0
6292 -1.28 -146.6 526.2 -10.7 347 6296 0.00 2.38 0.00 0.000 4 0.000 0.109 1592 3699 2581 0 0 0 0 0 0
6387 -1.28 -146.6 536.4 -11.3 350 6391 0.00 2.25 0.00 0.000 6 0.000 0.084 1591 2296 2580 0 0 0 0 0 0
6721 -1.28 -146.6 574.6 -12.2 361 6725 0.00 2.38 0.00 0.000 4 0.000 0.102 1591 3700 2580 0 0 0 0 0 0
6764 -1.28 -146.6 580.1 -13.4 362 6768 0.00 2.28 0.00 0.000 6 0.000 0.074 1592 2297 2579 0 0 0 0 0 0
7088 -1.28 -146.6 619.2 -12.4 373 7092 0.00 2.40 0.00 0.000 4 0.000 0.104 1592 3701 2578 0 0 0 0 0 0
7124 -1.28 -146.6 623.9 -12.2 374 7129 0.00 2.28 0.00 0.000 6 0.000 0.087 1591 2306 2578 0 0 0 0 0 0
7457 -1.28 -146.6 662.8 -12.1 385 7458 0.00 0.00 0.00 0.000 6 0.000 0.000 1591 2305 2577 0 0 0 0 0 0
7760 end dive: BOTTOM_OBSTACLE_DETECTED
state 7760 begin apogee
7764 -0.31 0.0 699.1 11.5 395 7873 0.85 0.00 105.50 1.259 6 0.119 0.000 1781 1951 2082 0 0 0 0 0 0
7873 end apogee: CONTROL_FINISHED_OK
state 7874 begin climb
7875 1.26 146.6 703.6 0.0 398 7993 1.48 2.60 107.32 1.242 4 0.092 0.112 2122 547 1584 0 0 0 0 0 0
8009 1.62 406.0 708.5 -2.5 402 8218 0.35 2.38 196.57 1.237 6 0.077 0.087 2213 1953 706 0 0 1 0 0 0
8522 1.62 406.0 652.6 14.0 419 8526 0.00 2.42 0.00 0.000 4 0.000 0.109 2213 3346 704 0 0 0 0 0 0
8604 1.59 406.0 641.2 13.8 421 8608 0.00 2.38 0.00 0.000 6 0.000 0.092 2213 1955 703 0 0 1 0 0 0
8923 1.57 406.0 599.1 13.5 432 8928 0.10 2.45 0.00 0.000 4 0.159 0.109 2193 537 703 0 0 0 0 0 0
9052 1.57 406.0 581.7 13.3 436 9056 0.00 2.30 0.00 0.000 6 0.000 0.087 2193 1944 703 0 0 1 0 0 0
9386 1.57 406.0 537.9 13.1 447 9390 0.00 2.38 0.00 0.000 4 0.000 0.107 2193 540 702 0 0 0 0 0 0
9457 1.54 406.0 527.5 14.2 449 9461 0.00 2.33 0.00 0.000 6 0.000 0.084 2193 1948 703 0 0 1 0 0 0
9787 1.52 406.0 482.4 14.0 460 9791 0.00 2.38 0.00 0.000 4 0.000 0.104 2193 3363 703 0 0 0 0 0 0
9841 1.49 406.0 473.8 13.6 461 9849 0.00 2.35 0.00 0.000 6 0.000 0.087 2193 1945 701 0 0 1 0 0 0
10154 1.46 406.0 427.5 15.0 472 10159 0.12 2.38 0.00 0.000 4 0.154 0.102 2167 540 701 0 0 0 0 0 0
10249 1.46 406.0 413.2 14.4 475 10254 0.00 2.25 0.00 0.000 6 0.000 0.079 2167 1957 701 0 0 1 0 0 0
10584 1.46 406.0 366.7 13.8 486 10587 0.00 2.38 0.00 0.000 4 0.000 0.099 2167 538 701 0 0 0 0 0 0
10632 1.44 406.0 358.9 15.3 487 10637 0.00 2.28 0.00 0.000 6 0.000 0.077 2167 1940 701 0 0 1 0 0 0
10957 1.44 406.0 311.6 14.4 498 10961 0.00 2.33 0.00 0.000 4 0.000 0.097 2167 537 701 0 0 0 0 0 0
11005 1.41 406.0 303.7 16.0 499 11010 0.00 2.28 0.00 0.000 6 0.000 0.074 2167 1951 701 0 0 1 0 0 0
11339 1.38 406.0 250.8 16.3 515 11343 0.00 2.35 0.00 0.000 4 0.000 0.094 2167 539 701 0 0 0 0 0 0
11400 1.34 406.0 239.8 17.6 518 11405 0.12 2.20 0.00 0.000 6 0.151 0.074 2141 1954 701 0 0 1 0 0 0
11727 1.34 406.0 190.8 15.0 534 11731 0.00 2.35 0.00 0.000 4 0.000 0.092 2141 533 701 0 0 0 0 0 0
11804 1.32 406.0 178.2 15.8 537 11811 0.00 2.28 0.00 0.000 6 0.000 0.072 2142 1949 701 0 0 0 0 0 0
12123 1.32 406.0 127.8 15.4 559 12127 0.00 2.33 0.00 0.000 4 0.000 0.089 2141 535 701 0 0 0 0 0 0
12266 1.32 406.0 105.9 14.4 571 12270 0.00 2.25 0.00 0.000 6 0.000 0.074 2141 1962 701 0 0 0 0 0 0
12590 1.32 406.0 63.2 12.5 601 12594 0.00 2.25 0.00 0.000 4 0.000 0.092 2141 3347 701 0 0 0 0 0 0
12651 1.32 406.0 54.9 14.9 606 12655 0.00 2.20 0.00 0.000 6 0.000 0.070 2141 1935 701 0 0 0 0 0 0
12975 1.32 406.0 14.8 12.5 636 12979 0.00 2.22 0.00 0.000 4 0.000 0.094 2141 545 701 0 0 0 0 0 0
13058 end climb: SURFACE_DEPTH_REACHED
state 13059 begin surface coast
13093 end surface coast: CONTROL_FINISHED_OK
state 13093 begin surface