RapidMocha Jul10 * SG033 * Dive index * Mission links * Dive 14 * 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  14 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  17 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  -229834.47 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  300710,205337,1835.164,-6600.532,32,1.1,33,-12.7 TGT_NAME  SAN_JUAN_OP
_CALLS  1 TGT_LATLONG  1836.000,-6606.000
_XMS_NAKs  2 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  -54.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  300710,205850,1835.185,-6600.588,13,1.1,13,-12.7 MHEAD_RNG_PITCHd_Wd  291.7,9619,-16.3,-8.000
SPEED_LIMITS  0.080,0.230 D_GRID  1080

Post-dive calculations and measurements:
FINISH  -0.1,0.996958 _24V_AH  23.9,24.849
SM_CCo  19899,0.00,0.000,0,0,729,399.44 _10V_AH  10.5,8.764
SM_GC  0.65,8.40,0.00,0.00,0.062,0.000,0.000,17,2304,729,-8.33,0.11,399.44 FG_AHR_24Vo  0.000
IRIDIUM_FIX  1830.49,-6601.79,230112,090918 FG_AHR_10Vo  0.000
TT8_MAMPS  0.020972 MEM  326564
HUMID  1078603216 DATA_FILE_SIZE  46825,868
INTERNAL_PRESSURE  7.79327 CAP_FILE_SIZE  181979,0
TCM_TEMP  23.90 CFSIZE  260280320,252227584
XPDR_PINGS  20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
ALTIM_TOP_PING  19.4,18.4 GPS  310710,023201,1835.799,-6603.734,37,1.3,37,-12.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1918889.19 SBE_CT58824337.83
Roll_motor178129551.06 nil000.00
VBD_pump_during_apogee414148914748.10 AA43301321331042.42
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2300.00 nil000.00
Iridium_during_connect2800.00 nil000.00
Iridium_during_xfer16900.00 nil000.00
Transponder_ping27420278.55 nil000.00
GUMSTIX_24V000.00
GPS1400.00
TT8244619508.72
LPSleep143302329.53
TT8_Active57519119.68
TT8_Sampling2732391141.74
TT8_CF81244559.99
TT8_Kalman000.00
Analog_circuits182712230.25
GPS_charging000.00
Compass229815362.01
RAFOS000.00
Transponder1463046.22

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
14 -1.20 -146.6 0.0 0.0 0 109 0.00 0.00 -92.70 0.000 2 0.000 0.000 18 2219 2148 0 0 0 0 0 0
111 -1.20 -146.6 3.5 -4.5 9 145 8.25 2.47 -16.30 0.000 4 0.189 0.087 1585 3687 2579 0 0 0 0 0 0
528 -1.16 -146.6 54.8 -11.0 46 532 0.00 2.17 0.00 0.000 6 0.000 0.060 1586 2254 2581 0 0 0 0 0 0
852 -1.16 -146.6 82.9 -8.9 76 856 0.00 2.33 0.00 0.000 4 0.000 0.094 1586 3678 2583 0 0 0 0 0 0
991 -1.14 -146.6 94.4 -7.7 88 998 0.00 2.12 0.00 0.000 6 0.000 0.060 1585 2299 2584 0 0 0 0 0 0
1316 -1.14 -146.6 116.1 -5.9 119 1320 0.00 2.12 0.00 0.000 4 0.000 0.074 1586 916 2585 0 0 0 0 0 0
1379 -1.14 -146.6 120.5 -7.3 124 1383 0.00 2.12 0.00 0.000 6 0.000 0.065 1586 2291 2586 0 0 0 0 0 0
1703 -1.14 -146.6 140.4 -5.8 154 1707 0.00 2.25 0.00 0.000 4 0.000 0.094 1585 3697 2586 0 0 0 0 0 0
1775 -1.14 -146.6 144.9 -6.3 160 1782 0.00 2.12 0.00 0.000 6 0.000 0.062 1586 2300 2587 0 0 0 0 0 0
2094 -1.14 -146.6 165.2 -6.7 180 2098 0.00 2.25 0.00 0.000 4 0.000 0.097 1586 3697 2587 0 0 0 0 0 0
2259 -1.14 -146.6 177.2 -6.6 187 2267 0.00 2.15 0.00 0.000 6 0.000 0.062 1586 2299 2588 0 0 0 0 0 0
2576 -1.14 -146.6 197.5 -6.6 203 2580 0.00 2.28 0.00 0.000 4 0.000 0.087 1586 3697 2588 0 0 0 0 0 0
2710 -1.12 -146.6 207.2 -7.1 209 2714 0.00 2.12 0.00 0.000 6 0.000 0.065 1586 2300 2589 0 0 0 0 0 0
3036 -1.12 -146.6 229.0 -7.1 225 3041 0.10 2.28 0.00 0.000 4 0.159 0.089 1606 3696 2589 0 0 1 0 0 0
3147 -1.12 -146.6 237.4 -7.8 230 3151 0.00 2.15 0.00 0.000 6 0.000 0.065 1606 2310 2589 0 0 0 0 0 0
3476 -1.12 -146.6 261.1 -7.5 246 3477 0.00 0.00 0.00 0.000 6 0.000 0.000 1606 2307 2589 0 0 0 0 0 0
3784 -1.12 -146.6 282.5 -6.9 261 3788 0.00 2.20 0.00 0.000 4 0.000 0.082 1606 908 2589 0 0 0 0 0 0
3823 -1.12 -146.6 285.5 -7.8 263 3827 0.00 2.20 0.00 0.000 6 0.000 0.072 1606 2296 2589 0 0 0 0 0 0
4148 -1.12 -146.6 309.9 -8.1 277 4153 0.00 2.30 0.00 0.000 4 0.000 0.092 1606 3700 2589 0 0 0 0 0 0
4260 -1.12 -146.6 320.0 -10.3 280 4264 0.00 2.15 0.00 0.000 6 0.000 0.067 1606 2304 2589 0 0 0 0 0 0
4583 -1.12 -146.6 346.6 -7.6 291 4584 0.00 0.00 0.00 0.000 6 0.000 0.000 1606 2301 2588 0 0 0 0 0 0
4891 -1.12 -146.6 369.7 -7.8 301 4895 0.00 2.33 0.00 0.000 4 0.000 0.094 1606 3702 2588 0 0 0 0 0 0
5025 -1.12 -146.6 380.9 -8.6 305 5029 0.00 2.20 0.00 0.000 6 0.000 0.070 1606 2303 2588 0 0 0 0 0 0
5359 -1.12 -146.6 410.3 -9.2 316 5363 0.00 2.33 0.00 0.000 4 0.000 0.097 1606 3699 2587 0 0 1 0 0 0
5397 -1.12 -146.6 414.3 -10.0 317 5402 0.00 2.22 0.00 0.000 6 0.000 0.079 1606 2302 2587 0 0 0 0 0 0
5732 -1.12 -146.6 444.5 -8.2 328 5733 0.00 0.00 0.00 0.000 6 0.000 0.000 1606 2300 2587 0 0 0 0 0 0
6039 -1.12 -146.6 472.9 -9.6 338 6043 0.00 2.35 0.00 0.000 4 0.000 0.097 1606 3699 2586 0 0 1 0 0 0
6081 -1.12 -146.6 477.7 -9.7 339 6087 0.00 2.22 0.00 0.000 6 0.000 0.070 1606 2307 2586 0 0 0 0 0 0
6407 -1.12 -146.6 510.2 -10.0 350 6411 0.00 2.35 0.00 0.000 4 0.000 0.099 1606 3699 2585 0 0 0 0 0 0
6445 -1.12 -146.6 514.7 -11.5 351 6449 0.00 2.22 0.00 0.000 6 0.000 0.084 1606 2297 2584 0 0 0 0 0 0
6775 -1.12 -146.6 547.6 -10.3 362 6779 0.00 2.38 0.00 0.000 4 0.000 0.104 1606 3698 2583 0 0 0 0 0 0
6845 -1.12 -146.6 555.4 -11.3 364 6851 0.00 2.25 0.00 0.000 6 0.000 0.074 1606 2303 2583 0 0 0 0 0 0
7176 -1.12 -146.6 589.7 -10.7 375 7181 0.00 2.38 0.00 0.000 4 0.000 0.102 1606 3697 2581 0 0 0 0 0 0
7252 -1.12 -146.6 598.5 -11.6 377 7257 0.00 2.28 0.00 0.000 6 0.000 0.077 1606 2302 2581 0 0 0 0 0 0
7582 -1.12 -146.6 636.1 -11.6 388 7587 0.00 2.40 0.00 0.000 4 0.000 0.107 1606 3697 2580 0 0 1 0 0 0
7648 -1.12 -146.6 644.2 -12.8 390 7653 0.00 2.28 0.00 0.000 6 0.000 0.087 1606 2309 2581 0 0 0 0 0 0
7985 -1.09 -146.6 683.2 -11.8 401 7989 0.00 2.40 0.00 0.000 4 0.000 0.109 1606 3697 2579 0 0 0 0 0 0
8034 -1.09 -146.6 689.6 -12.7 402 8039 0.00 2.30 0.00 0.000 6 0.000 0.087 1607 2305 2579 0 0 0 0 0 0
8353 -1.07 -146.6 727.1 -12.1 413 8354 0.00 0.00 0.00 0.000 6 0.000 0.000 1606 2302 2578 0 0 0 0 0 0
8659 -1.04 -146.6 765.3 -13.0 423 8663 0.00 2.45 0.00 0.000 4 0.000 0.114 1606 3702 2576 0 0 0 0 0 0
8771 -1.02 -146.6 780.2 -13.6 426 8776 0.10 2.30 0.00 0.000 6 0.156 0.084 1626 2297 2575 0 0 0 0 0 0
9088 -1.02 -146.6 814.8 -10.4 437 9093 0.00 2.38 0.00 0.000 4 0.000 0.104 1626 887 2574 0 0 0 0 0 0
9131 -1.02 -146.6 819.3 -9.6 438 9136 0.00 2.35 0.00 0.000 6 0.000 0.094 1626 2278 2573 0 0 1 0 0 0
9457 -1.02 -146.6 851.9 -10.6 449 9461 0.00 2.50 0.00 0.000 4 0.000 0.119 1626 3708 2572 0 0 0 0 0 0
9552 -1.02 -146.6 862.7 -11.9 452 9556 0.00 2.33 0.00 0.000 6 0.000 0.089 1626 2300 2572 0 0 0 0 0 0
9886 -1.02 -146.6 899.1 -12.3 463 9887 0.00 0.00 0.00 0.000 6 0.000 0.000 1626 2299 2570 0 0 0 0 0 0
10193 -1.02 -146.6 932.2 -9.9 473 10197 0.00 2.50 0.00 0.000 4 0.000 0.119 1626 3708 2568 0 0 0 0 0 0
10271 -1.02 -146.6 940.1 -10.5 475 10276 0.00 2.35 0.00 0.000 6 0.000 0.089 1626 2297 2568 0 0 0 0 0 0
10589 -1.05 -146.6 972.9 -10.6 486 10594 0.00 2.55 0.00 0.000 4 0.000 0.127 1626 3709 2567 0 0 0 0 0 0
11055 end dive: NO_VERTICAL_VELOCITY
state 11055 begin apogee
11062 -0.31 0.0 972.6 0.0 500 11172 0.65 0.00 106.85 1.490 6 0.094 0.000 1783 1952 2081 0 0 0 0 0 0
11172 end apogee: CONTROL_FINISHED_OK
state 11172 begin climb
11174 1.20 146.6 972.6 0.0 503 11299 1.42 2.78 111.93 1.458 4 0.099 0.129 2105 3362 1584 0 0 1 0 0 0
11975 1.67 397.9 972.7 -1.2 527 12180 0.45 2.42 195.43 1.467 6 0.070 0.102 2228 1951 734 0 0 1 0 0 0
12499 1.61 397.9 919.3 13.7 544 12504 0.12 2.60 0.00 0.000 4 0.154 0.124 2203 3360 732 0 0 1 0 0 0
12611 1.57 397.9 904.5 11.6 547 12615 0.00 2.45 0.00 0.000 6 0.000 0.102 2203 1952 731 0 0 1 0 0 0
12928 1.54 397.9 866.4 12.0 558 12932 0.00 2.50 0.00 0.000 4 0.000 0.122 2203 531 731 0 0 0 0 0 0
13061 1.50 397.9 849.1 13.0 562 13066 0.12 2.42 0.00 0.000 6 0.154 0.102 2178 1950 731 0 0 1 0 0 0
13395 1.50 397.9 811.7 11.0 573 13396 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 1953 731 0 0 0 0 0 0
13702 1.50 397.9 778.5 10.5 583 13706 0.00 2.50 0.00 0.000 4 0.000 0.122 2178 538 731 0 0 0 0 0 0
13733 1.50 397.9 774.5 12.5 584 13738 0.00 2.42 0.00 0.000 6 0.000 0.099 2178 1947 731 0 0 1 0 0 0
14068 1.50 397.9 736.7 11.6 595 14073 0.00 2.47 0.00 0.000 4 0.000 0.122 2178 538 731 0 0 1 0 0 0
14164 1.50 397.9 724.8 13.1 598 14168 0.00 2.38 0.00 0.000 6 0.000 0.099 2178 1954 731 0 0 1 0 0 0
14497 1.50 397.9 687.5 10.5 609 14499 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 1956 731 0 0 0 0 0 0
14804 1.50 397.9 654.7 11.0 619 14808 0.00 2.47 0.00 0.000 4 0.000 0.117 2178 533 731 0 0 0 0 0 0
14948 1.50 397.9 636.4 12.8 623 14952 0.00 2.42 0.00 0.000 6 0.000 0.097 2178 1952 731 0 0 1 0 0 0
15272 1.50 397.9 599.4 11.0 634 15276 0.00 2.45 0.00 0.000 4 0.000 0.112 2178 537 729 0 0 0 0 0 0
15382 1.47 397.9 586.6 10.8 637 15387 0.00 2.35 0.00 0.000 6 0.000 0.094 2178 1956 729 0 0 1 0 0 0
15706 1.47 397.9 552.4 10.9 648 15710 0.00 2.47 0.00 0.000 4 0.000 0.109 2178 532 729 0 0 0 0 0 0
15743 1.45 397.9 547.8 11.1 649 15748 0.00 2.38 0.00 0.000 6 0.000 0.092 2178 1940 729 0 0 1 0 0 0
16073 1.45 397.9 508.5 12.1 660 16074 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 1942 729 0 0 0 0 0 0
16379 1.42 397.9 467.7 13.7 670 16383 0.00 2.40 0.00 0.000 4 0.000 0.104 2178 537 729 0 0 0 0 0 0
16468 1.39 397.9 454.7 14.5 672 16476 0.08 2.35 0.00 0.000 6 0.132 0.084 2158 1952 729 0 0 1 0 0 0
16781 1.39 397.9 415.0 12.8 683 16785 0.00 2.40 0.00 0.000 4 0.000 0.102 2158 533 729 0 0 0 0 0 0
16829 1.39 397.9 407.9 12.6 684 16834 0.00 2.33 0.00 0.000 6 0.000 0.082 2158 1947 729 0 0 1 0 0 0
17148 1.39 397.9 364.3 14.0 695 17152 0.00 2.40 0.00 0.000 4 0.000 0.102 2158 534 729 0 0 0 0 0 0
17219 1.36 397.9 353.9 14.5 697 17224 0.00 2.33 0.00 0.000 6 0.000 0.079 2158 1955 729 0 0 1 0 0 0
17549 1.34 397.9 307.3 14.3 708 17553 0.00 2.38 0.00 0.000 4 0.000 0.097 2157 531 729 0 0 0 0 0 0
17592 1.31 397.9 300.7 14.1 709 17597 0.08 2.30 0.00 0.000 6 0.134 0.077 2138 1950 729 0 0 1 0 0 0
17918 1.31 397.9 257.4 13.3 725 17922 0.00 2.33 0.00 0.000 4 0.000 0.097 2138 3353 729 0 0 0 0 0 0
17981 1.31 397.9 248.8 13.9 728 17986 0.00 2.30 0.00 0.000 6 0.000 0.077 2139 1934 729 0 0 0 0 0 0
18308 1.31 397.9 204.0 13.9 744 18312 0.00 2.28 0.00 0.000 4 0.000 0.092 2138 537 729 0 0 0 0 0 0
18415 1.29 397.9 187.6 16.5 749 18419 0.00 2.22 0.00 0.000 6 0.000 0.072 2138 1955 729 0 0 1 0 0 0
18732 1.29 397.9 140.5 15.6 767 18733 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 1955 729 0 0 0 0 0 0
19051 1.29 397.9 92.3 15.3 797 19055 0.00 2.30 0.00 0.000 4 0.000 0.087 2138 537 729 0 0 0 0 0 0
19195 1.29 397.9 70.4 15.2 809 19202 0.00 2.22 0.00 0.000 6 0.000 0.067 2138 1947 729 0 0 0 0 0 0
19520 1.29 397.9 31.1 11.9 840 19524 0.00 2.30 0.00 0.000 4 0.000 0.089 2138 3356 729 0 0 0 0 0 0
19551 1.29 397.9 27.1 12.9 842 19559 0.00 2.25 0.00 0.000 6 0.000 0.065 2138 1935 729 0 0 0 0 0 0
19791 end climb: SURFACE_DEPTH_REACHED
state 19791 begin surface coast
19824 end surface coast: CONTROL_FINISHED_OK
state 19824 begin surface