RapidMocha Jul10 * SG033 * Dive index * Mission links * Dive 13 * 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  13 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2200 ALTIM_PING_DELTA  10
D_SURF  4 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  2050 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  20 XPDR_INHIBIT  90
D_BOOST  0 N_FILEKB  4 R_STBD_OVSHOOT  36 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  1800 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  -229833.22 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 ALTIM_TOP_PING_RANGE  20
HD_B  0.011392 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  20
HD_C  1.0709e-05 ROLL_MIN  60 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  300710,153307,1834.804,-6602.096,42,1.1,43,-12.7 TGT_NAME  SAN_JUAN_VM
_CALLS  1 TGT_LATLONG  1836.000,-6600.000
_XMS_NAKs  2 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.245,-0.034
_SM_DEPTHo  0.79 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -53.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  300710,153813,1834.792,-6602.171,11,1.2,16,-12.7 MHEAD_RNG_PITCHd_Wd  72.3,4419,-23.6,-8.000
SPEED_LIMITS  0.080,0.230 D_GRID  1080

Post-dive calculations and measurements:
FINISH  0.4,1.022494 _24V_AH  23.1,24.659
SM_CCo  18838,0.00,0.000,0,0,764,389.11 _10V_AH  10.4,8.672
SM_GC  1.15,8.95,0.00,0.00,0.067,0.000,0.000,18,2216,764,-8.34,0.45,389.11 FG_AHR_24Vo  0.000
IRIDIUM_FIX  1825.94,-6604.79,230112,040415 FG_AHR_10Vo  0.000
TT8_MAMPS  0.021721 MEM  326628
HUMID  1078685797 DATA_FILE_SIZE  43541,790
INTERNAL_PRESSURE  7.76397 CAP_FILE_SIZE  165871,0
TCM_TEMP  23.20 CFSIZE  260280320,252321792
XPDR_PINGS  12 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
ALTIM_TOP_PING  19.2,18.4 GPS  300710,205337,1835.164,-6600.532,32,1.1,33,-12.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2019389.81 SBE_CT53624297.54
Roll_motor131131399.07 nil000.00
VBD_pump_during_apogee404144713518.68 AA4330120333917.27
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2800.00 nil000.00
Iridium_during_connect2900.00 nil000.00
Iridium_during_xfer15500.00 nil000.00
Transponder_ping23420223.15 nil000.00
GUMSTIX_24V000.00
GPS1700.00
TT8226519466.58
LPSleep133922305.03
TT8_Active54519112.25
TT8_Sampling2820391167.53
TT8_CF81154555.17
TT8_Kalman000.00
Analog_circuits179912224.55
GPS_charging000.00
Compass240715375.59
RAFOS000.00
Transponder1283039.98

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
15 -1.56 -70.7 0.0 0.0 0 105 0.00 0.00 -88.10 0.000 2 0.000 0.000 12 2206 2114 0 0 0 0 0 0
107 -1.60 -100.6 3.1 -5.7 9 134 7.88 2.28 -13.68 0.000 4 0.194 0.082 1494 3600 2423 0 0 0 0 0 0
325 -1.60 -100.6 32.2 -14.9 28 329 0.00 2.20 0.00 0.000 6 0.000 0.062 1495 2155 2424 0 0 0 0 0 0
651 -1.61 -106.7 64.8 -7.5 58 656 0.00 2.35 -0.25 0.000 4 0.000 0.084 1495 3609 2452 0 0 0 0 0 0
735 -1.61 -106.7 72.3 -9.2 65 739 0.00 2.15 0.00 0.000 6 0.000 0.062 1495 2197 2451 0 0 0 0 0 0
1059 -1.62 -113.6 98.8 -7.5 95 1064 0.00 2.28 -0.17 0.000 4 0.000 0.084 1495 3605 2476 0 0 0 0 0 0
1403 -1.63 -124.2 125.3 -7.2 125 1407 0.00 2.15 -0.25 0.000 6 0.000 0.062 1495 2193 2513 0 0 0 0 0 0
1727 -1.65 -136.5 148.2 -7.1 155 1732 0.00 2.15 -0.25 0.000 4 0.000 0.084 1494 812 2554 0 0 0 0 0 0
1848 -1.65 -139.5 157.5 -7.8 161 1856 0.00 2.17 0.00 0.000 6 0.000 0.065 1494 2209 2555 0 0 0 0 0 0
2165 -1.66 -144.8 181.0 -7.6 177 2170 0.00 2.25 -0.17 0.000 4 0.000 0.087 1494 3603 2588 0 0 0 0 0 0
2432 -1.66 -146.6 203.7 -7.4 189 2437 0.00 2.15 0.00 0.000 6 0.000 0.062 1494 2210 2588 0 0 0 0 0 0
2760 -1.66 -146.6 229.9 -9.1 205 2761 0.00 0.00 0.00 0.000 6 0.000 0.000 1494 2210 2589 0 0 0 0 0 0
3069 -1.66 -146.6 258.6 -9.6 220 3073 0.00 2.28 0.00 0.000 4 0.000 0.089 1494 3597 2589 0 0 0 0 0 0
3287 -1.66 -146.6 280.8 -10.0 230 3291 0.00 2.15 0.00 0.000 6 0.000 0.067 1494 2205 2589 0 0 0 0 0 0
3611 -1.66 -146.6 313.9 -10.3 244 3615 0.00 2.28 0.00 0.000 4 0.000 0.092 1494 3600 2589 0 0 0 0 0 0
3833 -1.66 -146.6 338.9 -12.1 250 3841 0.00 2.20 0.00 0.000 6 0.000 0.077 1494 2211 2589 0 0 0 0 0 0
4147 -1.66 -146.6 374.3 -11.2 261 4151 0.00 2.28 0.00 0.000 4 0.000 0.094 1494 3602 2588 0 0 0 0 0 0
4243 -1.66 -146.6 386.4 -11.6 264 4247 0.00 2.17 0.00 0.000 6 0.000 0.070 1494 2201 2588 0 0 0 0 0 0
4577 -1.66 -146.6 427.2 -12.4 275 4581 0.00 2.30 0.00 0.000 4 0.000 0.092 1494 3593 2587 0 0 1 0 0 0
4743 -1.66 -146.6 449.4 -12.7 280 4749 0.00 2.22 0.00 0.000 6 0.000 0.077 1494 2206 2587 0 0 0 0 0 0
5079 -1.66 -146.6 495.1 -13.9 291 5083 0.00 2.30 0.00 0.000 4 0.000 0.097 1494 3592 2587 0 0 0 0 0 0
5229 -1.66 -146.6 518.5 -15.8 295 5234 0.00 2.25 0.00 0.000 6 0.000 0.074 1494 2200 2586 0 0 0 0 0 0
5554 -1.66 -146.6 566.3 -14.9 306 5558 0.00 2.35 0.00 0.000 4 0.000 0.097 1494 3597 2585 0 0 0 0 0 0
5658 -1.66 -146.6 582.9 -16.0 309 5663 0.00 2.28 0.00 0.000 6 0.000 0.087 1494 2198 2585 0 0 0 0 0 0
5990 -1.66 -146.6 633.6 -15.9 320 5994 0.00 2.38 0.00 0.000 4 0.000 0.102 1494 3597 2583 0 0 0 0 0 0
6100 -1.66 -146.6 652.7 -17.3 323 6105 0.00 2.30 0.00 0.000 6 0.000 0.082 1495 2203 2582 0 0 0 0 0 0
6425 -1.66 -146.6 704.6 -16.3 334 6429 0.00 2.38 0.00 0.000 4 0.000 0.107 1495 3590 2580 0 0 0 0 0 0
6580 -1.66 -146.6 731.7 -17.2 338 6588 0.00 2.30 0.00 0.000 6 0.000 0.082 1495 2210 2579 0 0 0 0 0 0
6894 -1.66 -146.6 783.4 -16.6 349 6898 0.00 2.40 0.00 0.000 4 0.000 0.109 1494 3589 2578 0 0 0 0 0 0
7037 -1.66 -146.6 808.3 -18.3 353 7043 0.00 2.33 0.00 0.000 6 0.000 0.087 1494 2203 2577 0 0 0 0 0 0
7363 -1.66 -146.6 865.4 -18.1 364 7368 0.00 2.42 0.00 0.000 4 0.000 0.114 1494 3589 2576 0 0 0 0 0 0
8041 -1.66 -146.6 875.5 0.4 384 8045 0.00 2.38 0.00 0.000 6 0.000 0.092 1494 2199 2572 0 0 0 0 0 0
8371 -1.66 -146.6 875.7 -0.1 395 8372 0.00 0.00 0.00 0.000 6 0.000 0.000 1494 2193 2570 0 0 0 0 0 0
8677 -1.66 -146.6 875.8 -0.1 405 8678 0.00 0.00 0.00 0.000 6 0.000 0.000 1494 2192 2568 0 0 0 0 0 0
8983 -1.66 -146.6 875.7 -0.1 415 8984 0.00 0.00 0.00 0.000 6 0.000 0.000 1494 2193 2566 0 0 0 0 0 0
9289 -1.66 -146.6 875.7 -0.1 425 9291 0.00 0.00 0.00 0.000 6 0.000 0.000 1494 2193 2565 0 0 0 0 0 0
9596 -1.66 -146.6 876.2 -0.5 435 9600 0.00 2.50 0.00 0.000 4 0.000 0.124 1494 3588 2565 0 0 0 0 0 0
10273 -1.66 -146.6 876.5 0.9 455 10278 0.00 2.40 0.00 0.000 6 0.000 0.094 1494 2197 2562 0 0 0 0 0 0
10603 -1.66 -146.6 876.5 -0.0 466 10604 0.00 0.00 0.00 0.000 6 0.000 0.000 1494 2193 2562 0 0 0 0 0 0
10909 -1.66 -146.6 876.5 0.0 476 10911 0.00 0.00 0.00 0.000 6 0.000 0.000 1494 2193 2561 0 0 0 0 0 0
11216 -1.66 -146.6 876.4 0.1 486 11217 0.00 0.00 0.00 0.000 6 0.000 0.000 1494 2192 2560 0 0 0 0 0 0
11522 -1.66 -146.6 876.5 -0.0 496 11523 0.00 0.00 0.00 0.000 6 0.000 0.000 1494 2193 2559 0 0 0 0 0 0
11828 -1.66 -146.6 876.5 0.1 506 11829 0.00 0.00 0.00 0.000 6 0.000 0.000 1494 2192 2558 0 0 0 0 0 0
12102 end dive: NO_VERTICAL_VELOCITY
state 12102 begin apogee
12106 -0.31 0.0 876.5 0.0 515 12214 1.23 0.00 104.35 1.448 6 0.094 0.000 1781 2045 2082 0 0 0 0 0 0
12215 end apogee: CONTROL_FINISHED_OK
state 12215 begin climb
12217 1.66 146.6 876.4 0.0 518 12337 1.92 2.67 111.05 1.410 4 0.099 0.132 2210 3434 1585 0 0 1 0 0 0
13010 1.79 255.2 876.3 -0.2 542 13100 0.10 2.40 82.93 1.418 6 0.074 0.102 2256 2052 1217 0 0 1 0 0 0
13413 1.92 361.3 876.2 -0.0 556 13507 0.00 2.67 83.40 1.430 4 0.000 0.129 2256 3434 857 0 0 1 0 0 0
13529 1.95 388.1 873.4 6.0 559 13557 0.00 2.50 22.55 1.326 6 0.000 0.099 2256 2056 767 0 0 1 0 0 0
13875 1.95 388.1 827.2 12.7 571 13879 0.00 2.53 0.00 0.000 4 0.000 0.129 2256 637 766 0 0 0 0 0 0
14041 1.95 388.1 804.5 14.7 576 14046 0.00 2.40 0.00 0.000 6 0.000 0.102 2256 2017 766 0 0 1 0 0 0
14377 1.95 388.1 755.6 14.5 587 14378 0.00 0.00 0.00 0.000 6 0.000 0.000 2256 2018 765 0 0 0 0 0 0
14683 1.95 388.1 711.5 14.2 597 14687 0.00 2.42 0.00 0.000 4 0.000 0.119 2257 637 765 0 0 0 0 0 0
14804 1.95 388.1 693.1 14.8 600 14812 0.00 2.40 0.00 0.000 6 0.000 0.097 2256 2042 766 0 0 1 0 0 0
15117 1.95 388.1 649.2 14.3 611 15121 0.00 2.47 0.00 0.000 4 0.000 0.114 2256 631 764 0 0 0 0 0 0
15267 1.95 388.1 625.3 16.0 615 15271 0.00 2.42 0.00 0.000 6 0.000 0.097 2256 2052 764 0 0 1 0 0 0
15585 1.95 388.1 577.8 15.0 626 15590 0.00 2.47 0.00 0.000 4 0.000 0.112 2256 629 764 0 0 0 0 0 0
15763 1.95 388.1 549.2 16.0 631 15768 0.00 2.40 0.00 0.000 6 0.000 0.092 2256 2052 764 0 0 1 0 0 0
16088 1.95 388.1 500.0 15.7 642 16092 0.00 2.42 0.00 0.000 4 0.000 0.107 2256 628 764 0 0 0 0 0 0
16209 1.95 388.1 479.1 16.7 645 16217 0.00 2.38 0.00 0.000 6 0.000 0.089 2256 2050 764 0 0 1 0 0 0
16523 1.95 388.1 426.1 17.2 656 16528 0.00 2.40 0.00 0.000 4 0.000 0.102 2256 628 764 0 0 1 0 0 0
16695 1.95 388.1 393.2 17.6 661 16701 0.00 2.35 0.00 0.000 6 0.000 0.084 2255 2046 764 0 0 1 0 0 0
17026 1.95 388.1 332.3 19.3 672 17030 0.00 2.38 0.00 0.000 4 0.000 0.097 2256 633 764 0 0 0 0 0 0
17154 1.95 388.1 306.2 20.8 676 17159 0.00 2.28 0.00 0.000 6 0.000 0.082 2256 2054 765 0 0 1 0 0 0
17481 1.95 388.1 239.9 20.4 691 17485 0.00 2.38 0.00 0.000 4 0.000 0.094 2256 630 764 0 0 0 0 0 0
17580 1.95 388.1 218.3 19.7 695 17588 0.00 2.30 0.00 0.000 6 0.000 0.077 2256 2045 764 0 0 1 0 0 0
17898 1.95 388.1 154.9 19.6 711 17902 0.00 2.33 0.00 0.000 4 0.000 0.092 2256 625 764 0 0 0 0 0 0
17974 1.95 388.1 138.0 19.7 716 17982 0.00 2.30 0.00 0.000 6 0.000 0.072 2256 2048 764 0 0 0 0 0 0
18300 1.95 388.1 75.0 17.5 747 18304 0.00 2.30 0.00 0.000 4 0.000 0.087 2256 625 764 0 0 0 0 0 0
18331 1.95 388.1 69.2 15.6 749 18339 0.00 2.28 0.00 0.000 6 0.000 0.070 2256 2047 764 0 0 0 0 0 0
18657 1.95 388.1 16.2 14.1 780 18658 0.00 0.00 0.00 0.000 6 0.000 0.000 2255 2047 764 0 0 0 0 0 0
18740 end climb: SURFACE_DEPTH_REACHED
state 18740 begin surface coast
18763 end surface coast: CONTROL_FINISHED_OK
state 18763 begin surface