RapidMocha 18May10 * SG033 * Dive index * Mission links * Dive 48 * 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  17 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DEPTH  2000
DIVE  48 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  1900 ALTIM_PING_DELTA  25
D_SURF  4 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  1650 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LAT  18.5 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_TGT  2400 TGT_DEFAULT_LON  -125 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_ABORT  5800 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  0
D_NO_BLEED  200 SM_CC  350 R_PORT_OVSHOOT  37 XPDR_INHIBIT  90
D_BOOST  0 N_FILEKB  4 R_STBD_OVSHOOT  60 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  163 DEVICE1  2
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_MAX  3981 DEVICE2  -1
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 C_VBD  1735 DEVICE3  101
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_DIVE  1000 CALL_WAIT  60 VBD_CNV  -0.29522699 DEVICE5  -1
T_MISSION  1030 CAPUPLOAD  0 VBD_TIMEOUT  950 DEVICE6  -1
T_ABORT  2160 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  300 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  -221304.28 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  1550 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043575475
GLIDE_SLOPE  45 PITCH_DBAND  0.1 PRESSURE_YINT  -20.171059 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  12.5 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  0.0044716001 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  20
HD_B  0.016021 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  20
HD_C  9.4708003e-06 ROLL_MIN  60 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  260510,060337,1836.471,-6606.908,34,1.8,34,-12.7 TGT_NAME  SAN_JUAN_VM
_CALLS  1 TGT_LATLONG  1836.000,-6600.000
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.022,-0.208
_SM_DEPTHo  0.26 KALMAN_X  38105.8,644.3,-2514.1,-54502.5,11924.2
_SM_ANGLEo  -49.6 KALMAN_Y  -11897.8,-486.3,1316.8,24128.3,5964.9
GPS2  260510,060906,1836.440,-6606.842,12,1.0,28,-12.7 MHEAD_RNG_PITCHd_Wd  106.6,12037,-18.1,-8.000
SPEED_LIMITS  0.080,0.196 D_GRID  2400

Post-dive calculations and measurements:
FINISH  0.5,1.023050 _24V_AH  24.2,9.532
SM_CCo  19540,0.00,0.000,0,0,522,365.79 _10V_AH  10.5,3.378
SM_GC  -0.41,0.12,0.00,0.00,0.129,0.000,0.000,1803,1919,522,1.25,-1.41,365.79 FG_AHR_24Vo  0.000
IRIDIUM_FIX  1832.77,-6608.95,181111,191917 FG_AHR_10Vo  0.000
TT8_MAMPS  0.020972 MEM  325768
HUMID  1078038055 DATA_FILE_SIZE  46952,842
INTERNAL_PRESSURE  8.01789 CAP_FILE_SIZE  165976,11
TCM_TEMP  23.70 CFSIZE  260280320,252010496
XPDR_PINGS  8 ERRORS  0,0,0,0,0,0,0,0,1,0,1,0,27,0,0
ALTIM_TOP_PING  19.6,18.9 GPS  181111,193017,1832.767,-6608.950,0,10000.0,0,-12.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1120156.34 SBE_CT57124332.04
Roll_motor153131490.20 nil000.00
VBD_pump_during_apogee375148913537.96 AA43301284331026.10
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3000.00 nil000.00
Iridium_during_connect4100.00 nil000.00
Iridium_during_xfer15100.00 nil000.00
Transponder_ping242022.87 nil000.00
GUMSTIX_24V000.00
GPS2900.00
TT8171319356.19
LPSleep149132342.93
TT8_Active50419104.82
TT8_Sampling2617391093.75
TT8_CF81184556.98
TT8_Kalman000.00
Analog_circuits170412214.70
GPS_charging000.00
Compass221815349.45
RAFOS000.00
Transponder3300.98

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 -1.63 -146.6 0.0 0.0 0 108 0.00 0.00 -91.75 0.000 2 0.000 0.000 15 1923 1902 0 0 0 0 0 0
110 -1.63 -146.6 3.4 -6.5 9 135 6.25 2.22 -13.02 0.000 4 0.201 0.077 1186 3281 2233 0 0 0 0 0 0
246 -1.51 -146.6 26.5 -16.0 21 254 0.12 2.20 0.00 0.000 6 0.146 0.065 1215 1897 2233 0 0 0 0 0 0
571 -1.43 -146.6 68.7 -12.2 52 576 0.10 2.22 0.00 0.000 4 0.176 0.077 1234 3283 2233 0 0 1 0 0 0
648 -1.39 -146.6 77.4 -11.3 58 654 0.00 2.17 0.00 0.000 6 0.000 0.065 1234 1900 2233 0 0 0 0 0 0
973 -1.36 -146.6 108.0 -8.5 89 974 0.00 0.00 0.00 0.000 6 0.000 0.000 1234 1900 2234 0 0 0 0 0 0
1292 -1.33 -146.6 130.6 -6.8 119 1297 0.12 2.20 0.00 0.000 4 0.159 0.087 1259 3282 2235 0 0 1 0 0 0
1436 -1.33 -146.6 139.9 -7.4 131 1443 0.00 2.15 0.00 0.000 6 0.000 0.065 1259 1903 2237 0 0 0 0 0 0
1768 -1.33 -146.6 158.7 -5.7 156 1772 0.00 2.20 0.00 0.000 4 0.000 0.082 1259 503 2238 0 0 0 0 0 0
1907 -1.33 -146.6 166.8 -5.2 162 1911 0.00 2.12 0.00 0.000 6 0.000 0.062 1259 1896 2238 0 0 0 0 0 0
2228 -1.33 -146.6 181.6 -4.9 178 2232 0.00 2.17 0.00 0.000 4 0.000 0.084 1258 3290 2239 0 0 0 0 0 0
2530 -1.33 -146.6 200.3 -6.4 191 2536 0.00 2.17 0.00 0.000 6 0.000 0.074 1259 1904 2240 0 0 0 0 0 0
2845 -1.33 -146.6 221.0 -6.2 207 2846 0.00 0.00 0.00 0.000 6 0.000 0.000 1259 1904 2239 0 0 0 0 0 0
3155 -1.33 -146.6 242.9 -7.5 222 3158 0.00 2.22 0.00 0.000 4 0.000 0.084 1259 496 2239 0 0 0 0 0 0
3187 -1.31 -146.6 245.5 -8.7 223 3193 0.00 2.15 0.00 0.000 6 0.000 0.067 1259 1888 2239 0 0 0 0 0 0
3504 -1.31 -146.6 269.4 -7.6 239 3507 0.00 2.22 0.00 0.000 4 0.000 0.084 1259 3290 2240 0 0 0 0 0 0
3591 -1.31 -146.6 277.2 -9.5 243 3596 0.00 2.20 0.00 0.000 6 0.000 0.077 1258 1899 2240 0 0 0 0 0 0
3918 -1.31 -146.6 305.7 -9.2 258 3919 0.00 0.00 0.00 0.000 6 0.000 0.000 1259 1899 2239 0 0 0 0 0 0
4224 -1.31 -146.6 333.7 -9.1 268 4228 0.00 2.25 0.00 0.000 4 0.000 0.087 1259 3296 2240 0 0 0 0 0 0
4328 -1.31 -146.6 343.8 -9.9 271 4333 0.00 2.22 0.00 0.000 6 0.000 0.082 1258 1903 2239 0 0 0 0 0 0
4663 -1.31 -146.6 375.1 -9.5 282 4664 0.00 0.00 0.00 0.000 6 0.000 0.000 1259 1903 2239 0 0 0 0 0 0
4969 -1.31 -146.6 406.1 -10.3 292 4973 0.00 2.25 0.00 0.000 4 0.000 0.089 1259 3290 2239 0 0 0 0 0 0
5080 -1.31 -146.6 418.3 -12.3 295 5085 0.00 2.22 0.00 0.000 6 0.000 0.074 1259 1904 2239 0 0 0 0 0 0
5404 -1.31 -146.6 453.5 -11.3 306 5408 0.00 2.25 0.00 0.000 4 0.000 0.092 1259 3286 2239 0 0 0 0 0 0
5499 -1.31 -146.6 464.1 -10.7 309 5503 0.00 2.22 0.00 0.000 6 0.000 0.077 1259 1893 2239 0 0 0 0 0 0
5833 -1.31 -146.6 503.0 -11.6 320 5837 0.00 2.28 0.00 0.000 4 0.000 0.094 1259 3286 2239 0 0 0 0 0 0
5904 -1.31 -146.6 511.6 -11.3 322 5909 0.00 2.25 0.00 0.000 6 0.000 0.079 1259 1901 2239 0 0 0 0 0 0
6234 -1.28 -146.6 550.7 -11.9 333 6235 0.00 0.00 0.00 0.000 6 0.000 0.000 1259 1902 2239 0 0 0 0 0 0
6540 -1.26 -146.6 588.7 -12.4 343 6544 0.00 2.30 0.00 0.000 4 0.000 0.099 1259 3284 2239 0 0 0 0 0 0
6639 -1.23 -146.6 600.9 -12.1 346 6644 0.00 2.25 0.00 0.000 6 0.000 0.084 1259 1905 2239 0 0 1 0 0 0
6974 -1.20 -146.6 643.5 -13.1 357 6979 0.12 2.33 0.00 0.000 4 0.161 0.099 1284 3291 2238 0 0 1 0 0 0
7045 -1.20 -146.6 652.6 -12.6 359 7050 0.00 2.28 0.00 0.000 6 0.000 0.087 1284 1901 2238 0 0 1 0 0 0
7374 -1.20 -146.6 691.0 -11.7 370 7375 0.00 0.00 0.00 0.000 6 0.000 0.000 1284 1902 2238 0 0 0 0 0 0
7680 -1.20 -146.6 729.6 -12.9 380 7684 0.00 2.35 0.00 0.000 4 0.000 0.107 1284 3287 2238 0 0 0 0 0 0
7763 -1.20 -146.6 740.9 -12.5 382 7768 0.00 2.30 0.00 0.000 6 0.000 0.092 1284 1903 2238 0 0 1 0 0 0
8081 -1.20 -146.6 782.3 -13.1 393 8085 0.00 2.35 0.00 0.000 4 0.000 0.109 1284 3282 2237 0 0 0 0 0 0
8152 -1.20 -146.6 791.3 -12.8 395 8156 0.00 2.30 0.00 0.000 6 0.000 0.094 1284 1908 2235 0 0 1 0 0 0
8481 -1.20 -146.6 833.2 -12.5 406 8485 0.00 2.35 0.00 0.000 4 0.000 0.112 1284 3281 2235 0 0 0 0 0 0
8580 -1.20 -146.6 846.0 -13.7 409 8585 0.00 2.33 0.00 0.000 6 0.000 0.097 1284 1897 2234 0 0 1 0 0 0
8915 -1.20 -146.6 886.5 -13.0 420 8917 0.00 0.00 0.00 0.000 6 0.000 0.000 1285 1897 2233 0 0 0 0 0 0
9222 -1.20 -146.6 925.6 -12.8 430 9226 0.00 2.38 0.00 0.000 4 0.000 0.114 1284 3283 2232 0 0 0 0 0 0
9326 -1.20 -146.6 939.6 -13.1 433 9332 0.00 2.35 0.00 0.000 6 0.000 0.099 1284 1900 2230 0 0 1 0 0 0
9656 -1.20 -146.6 978.1 -11.4 444 9660 0.00 2.40 0.00 0.000 4 0.000 0.117 1284 3284 2230 0 0 1 0 0 0
9699 -1.20 -146.6 983.4 -12.3 445 9703 0.00 2.35 0.00 0.000 6 0.000 0.102 1284 1900 2229 0 0 1 0 0 0
10029 -1.50 -146.6 987.2 -0.1 456 10034 0.25 2.45 0.00 0.000 4 0.099 0.124 1213 483 2228 0 0 0 0 0 0
10707 -1.79 -146.6 987.2 -0.0 476 10712 0.17 2.35 0.00 0.000 6 0.074 0.102 1150 1866 2226 0 0 1 0 0 0
10913 end dive: NO_VERTICAL_VELOCITY
state 10913 begin apogee
10916 -0.40 0.0 987.2 0.0 483 11027 1.30 0.00 107.10 1.490 6 0.087 0.000 1466 1645 1735 0 0 0 0 0 0
11028 end apogee: CONTROL_FINISHED_OK
state 11028 begin climb
11030 1.63 146.6 987.1 0.0 486 11152 1.90 2.72 110.47 1.448 4 0.089 0.127 1903 3059 1238 0 0 1 0 0 0
11827 2.08 359.6 986.9 0.2 510 11993 0.40 2.45 157.93 1.460 6 0.070 0.112 2017 1652 516 0 0 1 0 0 0
12316 1.96 359.6 933.2 15.3 526 12322 0.20 2.58 0.00 0.000 4 0.151 0.132 1977 240 516 0 0 0 0 0 0
12513 1.84 359.6 905.3 14.7 532 12518 0.12 2.40 0.00 0.000 6 0.166 0.104 1953 1657 516 0 0 1 0 0 0
12846 1.79 359.6 862.2 13.0 543 12851 0.00 2.55 0.00 0.000 4 0.000 0.129 1953 237 516 0 0 0 0 0 0
12912 1.70 359.6 853.6 12.7 545 12917 0.12 2.40 0.00 0.000 6 0.137 0.099 1913 1648 516 0 0 1 0 0 0
13246 1.70 359.6 816.6 11.2 556 13250 0.00 2.50 0.00 0.000 4 0.000 0.127 1913 240 515 0 0 0 0 0 0
13341 1.67 359.6 805.7 10.8 559 13345 0.00 2.38 0.00 0.000 6 0.000 0.099 1913 1656 516 0 0 1 0 0 0
13674 1.67 359.6 768.7 11.4 570 13678 0.00 2.40 0.00 0.000 4 0.000 0.117 1913 3059 516 0 0 0 0 0 0
13757 1.67 359.6 758.9 10.9 572 13762 0.00 2.42 0.00 0.000 6 0.000 0.104 1913 1654 515 0 0 1 0 0 0
14075 1.67 359.6 725.4 10.4 583 14079 0.00 2.42 0.00 0.000 4 0.000 0.117 1913 3059 515 0 0 0 0 0 0
14112 1.67 359.6 721.3 10.8 584 14117 0.00 2.42 0.00 0.000 6 0.000 0.104 1913 1650 514 0 0 1 0 0 0
14441 1.67 359.6 686.0 10.9 595 14445 0.00 2.50 0.00 0.000 4 0.000 0.127 1913 234 515 0 0 0 0 0 0
14507 1.64 359.6 678.0 12.0 597 14512 0.00 2.38 0.00 0.000 6 0.000 0.097 1913 1655 515 0 0 1 0 0 0
14842 1.64 359.6 640.6 11.8 608 14846 0.00 2.47 0.00 0.000 4 0.000 0.124 1913 239 515 0 0 0 0 0 0
14952 1.60 359.6 626.4 12.8 611 14957 0.00 2.35 0.00 0.000 6 0.000 0.094 1913 1650 515 0 0 1 0 0 0
15275 1.60 359.6 589.8 11.2 622 15280 0.00 2.38 0.00 0.000 4 0.000 0.112 1913 3053 515 0 0 0 0 0 0
15290 1.60 359.6 588.1 11.6 622 15296 0.00 2.38 0.00 0.000 6 0.000 0.097 1913 1649 514 0 0 1 0 0 0
15609 1.60 359.6 551.1 12.1 633 15613 0.00 2.40 0.00 0.000 4 0.000 0.109 1913 3060 514 0 0 1 0 0 0
15647 1.60 359.6 546.2 12.3 634 15651 0.00 2.35 0.00 0.000 6 0.000 0.097 1913 1641 514 0 0 1 0 0 0
15969 1.57 359.6 502.6 13.9 645 15973 0.00 2.38 0.00 0.000 4 0.000 0.117 1913 241 514 0 0 0 0 0 0
16018 1.52 359.6 495.5 13.2 646 16023 0.12 2.30 0.00 0.000 6 0.144 0.087 1885 1652 514 0 0 1 0 0 0
16336 1.52 359.6 456.0 12.3 657 16337 0.00 0.00 0.00 0.000 6 0.000 0.000 1884 1656 515 0 0 0 0 0 0
16642 1.52 359.6 415.8 13.6 667 16646 0.00 2.40 0.00 0.000 4 0.000 0.109 1884 240 515 0 0 0 0 0 0
16670 1.50 359.6 411.7 15.0 668 16674 0.00 2.22 0.00 0.000 6 0.000 0.082 1884 1653 515 0 0 1 0 0 0
17004 1.50 359.6 363.9 14.5 679 17008 0.00 2.28 0.00 0.000 4 0.000 0.097 1884 3052 515 0 0 0 0 0 0
17033 1.50 359.6 359.9 15.3 680 17037 0.00 2.25 0.00 0.000 6 0.000 0.087 1884 1645 514 0 0 1 0 0 0
17366 1.50 359.6 311.9 14.3 691 17367 0.00 0.00 0.00 0.000 6 0.000 0.000 1884 1645 515 0 0 0 0 0 0
17685 1.47 359.6 260.4 16.3 705 17686 0.00 0.00 0.00 0.000 6 0.000 0.000 1884 1645 515 0 0 0 0 0 0
17994 1.44 359.6 211.1 15.7 720 17995 0.00 0.00 0.00 0.000 6 0.000 0.000 1884 1645 516 0 0 0 0 0 0
18303 1.41 359.6 158.7 17.6 735 18305 0.12 0.00 0.00 0.000 6 0.171 0.000 1860 1645 517 0 0 0 0 0 0
18620 1.41 359.6 111.9 15.6 762 18624 0.00 2.28 0.00 0.000 4 0.000 0.097 1860 239 518 0 0 0 0 0 0
18680 1.38 359.6 101.7 17.1 767 18687 0.00 2.20 0.00 0.000 6 0.000 0.065 1860 1665 518 0 0 0 0 0 0
19005 1.38 359.6 60.4 12.3 798 19006 0.00 0.00 0.00 0.000 6 0.000 0.000 1860 1665 519 0 0 0 0 0 0
19325 1.38 359.6 19.6 13.4 828 19326 0.00 0.00 0.00 0.000 6 0.000 0.000 1860 1665 521 0 0 0 0 0 0
19451 end climb: SURFACE_DEPTH_REACHED
state 19451 begin surface coast
19473 end surface coast: CONTROL_FINISHED_OK
state 19473 begin surface