RapidMocha Jul10 * SG033 * Dive index * Mission links * Dive 23 * 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  23 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  33 XPDR_INHIBIT  90
D_BOOST  0 N_FILEKB  4 R_STBD_OVSHOOT  11 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  -229845.81 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  010810,143337,1830.478,-6601.101,36,1.3,36,-12.7 TGT_NAME  66W_1906N_N
_CALLS  1 TGT_LATLONG  1906.000,-6600.000
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.245,-0.034
_SM_DEPTHo  0.98 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -56.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  010810,143832,1830.480,-6601.189,15,1.4,15,-12.7 MHEAD_RNG_PITCHd_Wd  14.5,65817,-16.3,-8.000
SPEED_LIMITS  0.080,0.230 D_GRID  1080

Post-dive calculations and measurements:
FINISH  -0.1,1.022339 _24V_AH  24.4,26.190
SM_CCo  13878,0.00,0.000,0,0,956,332.43 _10V_AH  10.5,9.470
SM_GC  1.14,8.32,0.00,0.00,0.065,0.000,0.000,10,2258,956,-8.35,-1.19,332.43 FG_AHR_24Vo  0.000
IRIDIUM_FIX  1825.94,-6602.71,250112,060657 FG_AHR_10Vo  0.000
TT8_MAMPS  0.021721 MEM  327748
HUMID  1078576119 DATA_FILE_SIZE  40256,716
INTERNAL_PRESSURE  7.90069 CAP_FILE_SIZE  133807,0
TCM_TEMP  24.70 CFSIZE  260280320,251633664
XPDR_PINGS  13 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
ALTIM_TOP_PING  19.9,19.2 GPS  010810,183125,1832.226,-6601.490,42,0.9,42,-12.7
ALTIM_BOTTOM_PING  570.5,52.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1918887.95 SBE_CT48224282.31
Roll_motor130109348.88 nil000.00
VBD_pump_during_apogee34211819864.95 AA4330109033877.96
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2500.00 nil000.00
Iridium_during_connect3000.00 nil000.00
Iridium_during_xfer15200.00 nil000.00
Transponder_ping15420161.41 nil000.00
GUMSTIX_24V000.00
GPS1500.00
TT8194219403.80
LPSleep96102220.99
TT8_Active4531994.26
TT8_Sampling206239861.80
TT8_CF81114553.59
TT8_Kalman000.00
Analog_circuits139012175.26
GPS_charging000.00
Compass169915267.63
RAFOS000.00
Transponder823025.89

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 -1.20 -146.6 0.0 0.0 0 85 0.00 0.00 -68.18 0.000 2 0.000 0.000 15 2321 2211 0 0 0 0 0 0
87 -1.20 -146.6 3.5 -5.0 7 114 8.18 2.28 -14.07 0.000 4 0.189 0.082 1584 3728 2579 0 0 0 0 0 0
497 -1.17 -146.6 47.3 -10.6 43 501 0.00 2.20 0.00 0.000 6 0.000 0.060 1585 2270 2579 0 0 0 0 0 0
822 -1.14 -146.6 75.5 -8.0 73 826 0.00 2.08 0.00 0.000 4 0.000 0.079 1584 917 2580 0 0 0 0 0 0
901 -1.14 -146.6 81.7 -7.3 80 905 0.00 2.15 0.00 0.000 6 0.000 0.065 1584 2332 2580 0 0 0 0 0 0
1225 -1.14 -146.6 102.5 -6.0 110 1229 0.00 2.20 0.00 0.000 4 0.000 0.074 1585 908 2581 0 0 0 0 0 0
1367 -1.14 -146.6 111.8 -6.2 122 1371 0.00 2.12 0.00 0.000 6 0.000 0.065 1585 2302 2581 0 0 0 0 0 0
1693 -1.14 -146.6 130.0 -6.4 152 1697 0.00 2.22 0.00 0.000 4 0.000 0.084 1584 3697 2581 0 0 0 0 0 0
1770 -1.14 -146.6 134.6 -5.2 158 1778 0.00 2.12 0.00 0.000 6 0.000 0.062 1584 2296 2582 0 0 0 0 0 0
2105 -1.14 -146.6 153.5 -5.7 187 2109 0.00 2.25 0.00 0.000 4 0.000 0.084 1584 3698 2582 0 0 0 0 0 0
2440 -1.14 -146.6 173.7 -4.7 202 2445 0.00 2.12 0.00 0.000 6 0.000 0.062 1585 2311 2583 0 0 0 0 0 0
2768 -1.14 -146.6 194.5 -6.7 218 2772 0.00 2.22 0.00 0.000 4 0.000 0.087 1584 3691 2583 0 0 0 0 0 0
2856 -1.14 -146.6 201.0 -7.9 222 2860 0.00 2.15 0.00 0.000 6 0.000 0.065 1585 2302 2582 0 0 0 0 0 0
3183 -1.14 -146.6 224.2 -7.2 238 3185 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2298 2582 0 0 0 0 0 0
3493 -1.14 -146.6 248.1 -7.9 253 3494 0.00 0.00 0.00 0.000 6 0.000 0.000 1585 2298 2582 0 0 0 0 0 0
3803 -1.14 -146.6 270.3 -7.5 268 3807 0.00 2.28 0.00 0.000 4 0.000 0.089 1584 3694 2581 0 0 0 0 0 0
3891 -1.14 -146.6 277.2 -7.6 272 3895 0.00 2.15 0.00 0.000 6 0.000 0.067 1585 2310 2581 0 0 0 0 0 0
4221 -1.14 -146.6 301.8 -7.7 288 4225 0.00 2.25 0.00 0.000 4 0.000 0.089 1584 3689 2581 0 0 0 0 0 0
4321 -1.12 -146.6 311.1 -9.8 291 4325 0.00 2.17 0.00 0.000 6 0.000 0.067 1584 2300 2581 0 0 0 0 0 0
4656 -1.12 -146.6 343.2 -9.5 302 4660 0.00 2.28 0.00 0.000 4 0.000 0.089 1584 3688 2579 0 0 0 0 0 0
4773 -1.10 -146.6 355.2 -10.0 305 4778 0.08 2.17 0.00 0.000 6 0.124 0.067 1605 2307 2579 0 0 0 0 0 0
5093 -1.10 -146.6 382.2 -8.6 316 5097 0.00 2.25 0.00 0.000 4 0.000 0.092 1605 3688 2577 0 0 0 0 0 0
5180 -1.10 -146.6 390.4 -8.7 318 5188 0.00 2.20 0.00 0.000 6 0.000 0.067 1605 2296 2577 0 0 0 0 0 0
5493 -1.10 -146.6 418.7 -9.3 329 5494 0.00 0.00 0.00 0.000 6 0.000 0.000 1605 2296 2576 0 0 0 0 0 0
5799 -1.10 -146.6 448.5 -9.6 339 5803 0.00 2.30 0.00 0.000 4 0.000 0.094 1605 3693 2574 0 0 0 0 0 0
5861 -1.10 -146.6 454.7 -9.4 341 5865 0.00 2.20 0.00 0.000 6 0.000 0.072 1605 2299 2574 0 0 0 0 0 0
6196 -1.10 -146.6 488.7 -10.2 352 6200 0.00 2.25 0.00 0.000 4 0.000 0.087 1605 895 2573 0 0 0 0 0 0
6246 -1.10 -146.6 493.6 -9.5 353 6250 0.00 2.20 0.00 0.000 6 0.000 0.077 1605 2284 2573 0 0 0 0 0 0
6558 -1.10 -146.6 524.9 -10.4 363 6562 0.00 2.38 0.00 0.000 4 0.000 0.099 1605 3709 2572 0 0 0 0 0 0
6634 -1.10 -146.6 533.2 -10.6 365 6639 0.00 2.28 0.00 0.000 6 0.000 0.082 1605 2304 2571 0 0 0 0 0 0
6958 -1.10 -146.6 564.8 -10.0 376 6959 0.00 0.00 0.00 0.000 6 0.000 0.000 1605 2301 2570 0 0 0 0 0 0
7265 -1.10 -146.6 594.7 -9.7 386 7269 0.00 2.40 0.00 0.000 4 0.000 0.109 1605 3708 2568 0 0 0 0 0 0
7341 -1.10 -146.6 602.5 -9.3 388 7346 0.00 2.28 0.00 0.000 6 0.000 0.077 1605 2304 2568 0 0 0 0 0 0
7351 end dive: BOTTOM_OBSTACLE_DETECTED
state 7351 begin apogee
7355 -0.31 0.0 603.7 10.2 388 7460 0.75 0.00 101.70 1.182 6 0.117 0.000 1777 1940 2082 0 0 0 0 0 0
7461 end apogee: CONTROL_FINISHED_OK
state 7461 begin climb
7462 1.20 146.6 606.8 0.0 392 7575 1.42 2.45 104.90 1.162 4 0.092 0.104 2111 544 1584 0 0 0 0 0 0
7816 1.37 287.9 601.5 2.8 402 7926 0.12 2.33 102.85 1.162 6 0.072 0.087 2158 1959 1105 0 0 1 0 0 0
8255 1.37 287.9 563.7 9.4 417 8259 0.00 2.40 0.00 0.000 4 0.000 0.102 2158 538 1103 0 0 0 0 0 0
8298 1.37 287.9 559.4 9.5 418 8303 0.00 2.33 0.00 0.000 6 0.000 0.092 2158 1942 1102 0 0 1 0 0 0
8622 1.37 287.9 529.5 9.5 429 8626 0.00 2.35 0.00 0.000 4 0.000 0.102 2158 543 1101 0 0 0 0 0 0
8670 1.35 287.9 524.4 10.9 430 8675 0.00 2.30 0.00 0.000 6 0.000 0.089 2157 1945 1101 0 0 1 0 0 0
8989 1.35 287.9 493.3 9.8 441 8993 0.00 2.35 0.00 0.000 4 0.000 0.102 2157 541 1101 0 0 0 0 0 0
9060 1.32 287.9 485.7 10.8 443 9064 0.00 2.30 0.00 0.000 6 0.000 0.082 2158 1950 1100 0 0 1 0 0 0
9389 1.32 287.9 450.7 10.9 454 9393 0.00 2.38 0.00 0.000 4 0.000 0.099 2158 540 1100 0 0 0 0 0 0
9500 1.29 287.9 438.0 10.2 457 9506 0.10 2.28 0.00 0.000 6 0.124 0.079 2131 1946 1100 0 0 1 0 0 0
9824 1.29 287.9 407.4 9.5 468 9828 0.00 2.35 0.00 0.000 4 0.000 0.099 2132 3359 1099 0 0 0 0 0 0
9906 1.29 287.9 398.4 11.6 470 9911 0.00 2.30 0.00 0.000 6 0.000 0.082 2132 1953 1098 0 0 1 0 0 0
10231 1.29 287.9 366.2 10.1 481 10235 0.00 2.33 0.00 0.000 4 0.000 0.099 2131 544 1098 0 0 0 0 0 0
10268 1.29 287.9 362.1 10.9 482 10273 0.00 2.25 0.00 0.000 6 0.000 0.074 2131 1946 1098 0 0 1 0 0 0
10598 1.29 287.9 327.6 10.9 493 10602 0.00 2.33 0.00 0.000 4 0.000 0.097 2131 3352 1098 0 0 0 0 0 0
10625 1.29 287.9 324.3 12.3 494 10630 0.00 2.25 0.00 0.000 6 0.000 0.079 2131 1948 1097 0 0 0 0 0 0
10950 1.29 287.9 289.4 10.9 506 10951 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 1948 1097 0 0 0 0 0 0
11261 1.29 287.9 254.5 11.8 521 11265 0.00 2.28 0.00 0.000 4 0.000 0.094 2131 545 1097 0 0 0 0 0 0
11315 1.26 287.9 247.6 11.2 523 11323 0.00 2.22 0.00 0.000 6 0.000 0.072 2131 1944 1098 0 0 1 0 0 0
11631 1.26 287.9 211.0 11.4 539 11635 0.00 2.30 0.00 0.000 4 0.000 0.092 2131 544 1097 0 0 0 0 0 0
11671 1.22 287.9 205.9 12.6 541 11675 0.00 2.20 0.00 0.000 6 0.000 0.072 2131 1952 1097 0 0 0 0 0 0
11998 1.22 287.9 168.7 11.4 557 12002 0.00 2.28 0.00 0.000 4 0.000 0.092 2131 3353 1097 0 0 0 0 0 0
12086 1.20 287.9 157.3 12.4 561 12090 0.00 2.25 0.00 0.000 6 0.000 0.072 2131 1952 1097 0 0 0 0 0 0
12410 1.17 287.9 120.2 12.2 588 12415 0.12 2.28 0.00 0.000 4 0.151 0.087 2105 544 1097 0 0 0 0 0 0
12432 1.17 287.9 117.7 11.2 589 12438 0.00 2.22 0.00 0.000 6 0.000 0.077 2105 1964 1097 0 0 0 0 0 0
12756 1.17 287.9 85.5 9.6 620 12760 0.00 2.33 0.00 0.000 4 0.000 0.087 2105 541 1097 0 0 0 0 0 0
12820 1.17 287.9 79.1 8.4 625 12828 0.00 2.20 0.00 0.000 6 0.000 0.065 2105 1946 1097 0 0 0 0 0 0
13146 1.17 287.9 50.9 8.7 656 13150 0.00 2.28 0.00 0.000 4 0.000 0.094 2105 541 1097 0 0 0 0 0 0
13326 1.19 299.9 35.0 7.6 672 13339 0.00 2.15 8.55 0.675 6 0.000 0.065 2105 1956 1066 0 0 0 0 0 0
13655 1.26 331.3 10.6 6.9 703 13689 0.00 2.28 24.08 0.725 4 0.000 0.082 2105 3339 959 0 0 0 0 0 0
13745 end climb: SURFACE_DEPTH_REACHED
state 13745 begin surface coast
13802 end surface coast: CONTROL_FINISHED_OK
state 13802 begin surface