RapidMocha Jul10 * SG033 * Dive index * Mission links * Dive 26 * 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  26 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  18 XPDR_INHIBIT  90
D_BOOST  0 N_FILEKB  4 R_STBD_OVSHOOT  41 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  -229849.56 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  020810,044807,1837.473,-6600.797,32,1.5,32,-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  0.64 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -50.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  020810,045322,1837.475,-6600.863,11,2.6,30,-12.7 MHEAD_RNG_PITCHd_Wd  14.3,52849,-16.3,-8.000
SPEED_LIMITS  0.080,0.230 D_GRID  1080

Post-dive calculations and measurements:
FINISH  -0.3,1.022447 _24V_AH  23.4,26.808
SM_CCo  18894,0.00,0.000,0,0,341,513.99 _10V_AH  10.4,9.722
SM_GC  0.84,8.38,0.00,0.00,0.062,0.000,0.000,14,2305,341,-8.33,0.14,513.99 FG_AHR_24Vo  0.000
IRIDIUM_FIX  1825.94,-6600.64,250112,171744 FG_AHR_10Vo  0.000
TT8_MAMPS  0.021721 MEM  326660
HUMID  1078662571 DATA_FILE_SIZE  43512,804
INTERNAL_PRESSURE  7.76397 CAP_FILE_SIZE  173395,0
TCM_TEMP  23.70 CFSIZE  260280320,251367424
XPDR_PINGS  13 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
ALTIM_TOP_PING  19.5,18.4 GPS  020810,100937,1840.714,-6600.646,27,1.2,27,-12.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1919188.58 SBE_CT54524306.11
Roll_motor184126546.56 nil000.00
VBD_pump_during_apogee518155918931.89 AA4330122433945.59
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2400.00 nil000.00
Iridium_during_connect2800.00 nil000.00
Iridium_during_xfer15100.00 nil000.00
Transponder_ping28420277.64 nil000.00
GUMSTIX_24V000.00
GPS3200.00
TT8225019463.52
LPSleep137142312.36
TT8_Active65019133.86
TT8_Sampling2450391014.43
TT8_CF81394566.26
TT8_Kalman000.00
Analog_circuits182412227.65
GPS_charging000.00
Compass203215317.11
RAFOS000.00
Transponder1583049.37

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 14 begin dive
15 -1.20 -146.6 0.0 0.0 0 130 0.00 0.00 -112.55 0.000 2 0.000 0.000 16 2307 2229 0 0 0 0 0 0
132 -1.20 -146.6 4.2 -6.5 11 158 8.27 2.33 -11.60 0.000 4 0.191 0.092 1583 3695 2581 0 0 0 0 0 0
445 -1.18 -146.6 43.6 -8.4 39 449 0.00 2.17 0.00 0.000 6 0.000 0.060 1584 2258 2582 0 0 0 0 0 0
770 -1.18 -146.6 66.9 -7.5 69 774 0.00 2.35 0.00 0.000 4 0.000 0.084 1584 3695 2583 0 0 0 0 0 0
892 -1.18 -146.6 76.3 -8.0 79 899 0.00 2.12 0.00 0.000 6 0.000 0.060 1584 2294 2584 0 0 0 0 0 0
1218 -1.18 -146.6 97.6 -6.0 110 1222 0.00 2.28 0.00 0.000 4 0.000 0.087 1583 3695 2585 0 0 0 0 0 0
1370 -1.18 -146.6 107.4 -6.5 123 1374 0.00 2.08 0.00 0.000 6 0.000 0.062 1584 2307 2586 0 0 0 0 0 0
1694 -1.18 -146.6 128.0 -5.5 153 1696 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2301 2586 0 0 0 0 0 0
2013 -1.18 -146.6 147.1 -6.4 183 2017 0.00 2.25 0.00 0.000 4 0.000 0.087 1584 3694 2587 0 0 0 0 0 0
2381 -1.18 -146.6 171.5 -6.6 201 2388 0.00 2.12 0.00 0.000 6 0.000 0.062 1584 2307 2587 0 0 0 0 0 0
2699 -1.18 -146.6 191.0 -5.7 217 2703 0.00 2.17 0.00 0.000 4 0.000 0.077 1584 911 2588 0 0 0 0 0 0
2760 -1.18 -146.6 194.1 -5.2 220 2764 0.00 2.12 0.00 0.000 6 0.000 0.067 1584 2297 2588 0 0 0 0 0 0
3087 -1.18 -146.6 217.6 -7.8 236 3091 0.00 2.28 0.00 0.000 4 0.000 0.087 1583 3704 2588 0 0 0 0 0 0
3181 -1.18 -146.6 225.9 -9.1 240 3186 0.00 2.15 0.00 0.000 6 0.000 0.062 1583 2309 2588 0 0 0 0 0 0
3510 -1.18 -146.6 250.5 -7.6 256 3512 0.00 0.00 0.00 0.000 6 0.000 0.000 1584 2303 2588 0 0 0 0 0 0
3818 -1.18 -146.6 275.0 -8.3 271 3822 0.00 2.28 0.00 0.000 4 0.000 0.089 1584 3698 2588 0 0 0 0 0 0
3884 -1.18 -146.6 280.7 -7.9 274 3888 0.00 2.17 0.00 0.000 6 0.000 0.067 1583 2307 2588 0 0 0 0 0 0
4201 -1.18 -146.6 308.2 -8.5 288 4205 0.00 2.28 0.00 0.000 4 0.000 0.089 1584 3703 2588 0 0 0 0 0 0
4288 -1.18 -146.6 316.1 -8.8 290 4297 0.00 2.20 0.00 0.000 6 0.000 0.067 1584 2298 2588 0 0 0 0 0 0
4603 -1.18 -146.6 342.1 -8.5 301 4607 0.00 2.30 0.00 0.000 4 0.000 0.089 1584 3695 2588 0 0 0 0 0 0
4685 -1.18 -146.6 349.8 -10.0 303 4691 0.00 2.20 0.00 0.000 6 0.000 0.067 1584 2306 2588 0 0 0 0 0 0
5004 -1.18 -146.6 378.7 -9.3 314 5005 0.00 0.00 0.00 0.000 6 0.000 0.000 1583 2303 2586 0 0 0 0 0 0
5310 -1.18 -146.6 407.7 -9.4 324 5314 0.00 2.33 0.00 0.000 4 0.000 0.102 1584 3697 2586 0 0 0 0 0 0
5426 -1.15 -146.6 419.8 -9.9 327 5431 0.00 2.22 0.00 0.000 6 0.000 0.070 1583 2270 2586 0 0 0 0 0 0
5745 -1.13 -146.6 452.3 -10.3 338 5749 0.00 2.38 0.00 0.000 4 0.000 0.094 1584 3695 2585 0 0 0 0 0 0
5851 -1.10 -146.6 463.8 -10.0 341 5856 0.08 2.20 0.00 0.000 6 0.129 0.070 1610 2310 2585 0 0 0 0 0 0
6180 -1.10 -146.6 494.7 -9.5 352 6181 0.00 0.00 0.00 0.000 6 0.000 0.000 1610 2307 2584 0 0 0 0 0 0
6486 -1.10 -146.6 523.8 -9.8 362 6490 0.00 2.33 0.00 0.000 4 0.000 0.099 1610 3695 2583 0 0 0 0 0 0
6548 -1.10 -146.6 529.8 -9.7 364 6553 0.00 2.20 0.00 0.000 6 0.000 0.074 1610 2302 2582 0 0 0 0 0 0
6889 -1.10 -146.6 561.8 -9.7 375 6893 0.00 2.30 0.00 0.000 4 0.000 0.092 1610 898 2581 0 0 0 0 0 0
6926 -1.10 -146.6 565.8 -10.5 376 6931 0.00 2.28 0.00 0.000 6 0.000 0.089 1610 2287 2581 0 0 1 0 0 0
7262 -1.10 -146.6 599.2 -10.2 387 7266 0.00 2.40 0.00 0.000 4 0.000 0.109 1610 3706 2580 0 0 0 0 0 0
7311 -1.10 -146.6 604.3 -9.9 388 7315 0.00 2.22 0.00 0.000 6 0.000 0.074 1610 2303 2579 0 0 0 0 0 0
7623 -1.10 -146.6 633.5 -9.5 398 7624 0.00 0.00 0.00 0.000 6 0.000 0.000 1610 2301 2579 0 0 0 0 0 0
7930 -1.10 -146.6 666.6 -11.2 408 7934 0.00 2.40 0.00 0.000 4 0.000 0.107 1610 3705 2578 0 0 0 0 0 0
7991 -1.10 -146.6 674.1 -11.4 410 7995 0.00 2.28 0.00 0.000 6 0.000 0.079 1610 2297 2577 0 0 0 0 0 0
8327 -1.10 -146.6 711.2 -10.9 421 8331 0.00 2.45 0.00 0.000 4 0.000 0.109 1610 3704 2576 0 0 0 0 0 0
8364 -1.10 -146.6 715.5 -11.5 422 8369 0.00 2.33 0.00 0.000 6 0.000 0.079 1610 2302 2576 0 0 0 0 0 0
8695 -1.10 -146.6 750.8 -10.5 433 8699 0.00 2.47 0.00 0.000 4 0.000 0.112 1610 3710 2573 0 0 1 0 0 0
8737 -1.10 -146.6 755.6 -11.5 434 8742 0.00 2.35 0.00 0.000 6 0.000 0.082 1610 2299 2573 0 0 0 0 0 0
9062 -1.10 -146.6 786.5 -9.4 445 9063 0.00 0.00 0.00 0.000 6 0.000 0.000 1610 2296 2572 0 0 0 0 0 0
9369 -1.10 -146.6 820.3 -11.7 455 9373 0.00 2.47 0.00 0.000 4 0.000 0.114 1610 3702 2570 0 0 0 0 0 0
9430 -1.10 -146.6 827.8 -11.9 457 9434 0.00 2.30 0.00 0.000 6 0.000 0.087 1610 2302 2570 0 0 0 0 0 0
9770 -1.10 -146.6 865.9 -11.4 468 9774 0.00 2.50 0.00 0.000 4 0.000 0.114 1610 3708 2569 0 0 0 0 0 0
9801 -1.10 -146.6 869.7 -11.7 469 9806 0.00 2.35 0.00 0.000 6 0.000 0.084 1610 2307 2569 0 0 0 0 0 0
10136 -1.10 -146.6 909.0 -12.0 480 10137 0.00 0.00 0.00 0.000 6 0.000 0.000 1610 2305 2567 0 0 0 0 0 0
10442 -1.10 -146.6 945.9 -12.0 490 10446 0.00 2.50 0.00 0.000 4 0.000 0.117 1610 3704 2565 0 0 0 0 0 0
10504 -1.10 -146.6 953.4 -12.6 492 10508 0.00 2.33 0.00 0.000 6 0.000 0.087 1610 2302 2565 0 0 0 0 0 0
10838 -1.10 -146.6 989.9 -10.7 503 10843 0.00 2.50 0.00 0.000 4 0.000 0.122 1610 3701 2563 0 0 1 0 0 0
10920 -1.10 -146.6 999.2 -12.2 505 10925 0.00 2.38 0.00 0.000 6 0.000 0.089 1610 2306 2563 0 0 0 0 0 0
11244 -1.10 -146.6 1036.6 -11.9 511 11248 0.00 2.42 0.00 0.000 4 0.000 0.109 1610 888 2562 0 0 0 0 0 0
11292 -1.10 -146.6 1042.7 -12.2 511 11297 0.00 2.42 0.00 0.000 6 0.000 0.102 1610 2286 2561 0 0 1 0 0 0
11608 -1.10 -146.6 1078.8 -11.5 517 11612 0.00 2.58 0.00 0.000 4 0.000 0.124 1610 3714 2560 0 0 0 0 0 0
11623 end dive: TARGET_DEPTH_EXCEEDED
state 11623 begin apogee
11630 -0.31 0.0 1080.9 11.5 517 11741 0.75 0.00 107.38 1.559 6 0.119 0.000 1779 1943 2082 0 0 0 0 0 0
11742 end apogee: CONTROL_FINISHED_OK
state 11742 begin climb
11743 1.20 146.6 1086.9 0.0 519 11868 1.45 2.67 112.62 1.532 4 0.094 0.124 2110 548 1585 0 0 0 0 0 0
11884 1.70 511.8 1094.7 -5.4 521 12193 0.47 2.50 298.85 1.522 6 0.072 0.099 2229 1954 347 0 0 1 0 0 0
12542 1.64 511.8 1011.9 17.4 532 12547 0.10 2.58 0.00 0.000 4 0.161 0.127 2209 3360 345 0 0 0 0 0 0
12590 1.60 511.8 1003.3 15.9 532 12595 0.00 2.47 0.00 0.000 6 0.000 0.102 2209 1954 344 0 0 1 0 0 0
12909 1.57 511.8 952.0 16.6 542 12913 0.00 2.47 0.00 0.000 4 0.000 0.122 2209 538 343 0 0 0 0 0 0
13026 1.53 511.8 931.7 15.9 545 13031 0.12 2.40 0.00 0.000 6 0.154 0.112 2184 1947 343 0 0 1 0 0 0
13343 1.53 511.8 885.8 14.6 556 13348 0.00 2.50 0.00 0.000 4 0.000 0.119 2184 538 343 0 0 0 0 0 0
13439 1.53 511.8 871.0 14.8 559 13443 0.00 2.38 0.00 0.000 6 0.000 0.102 2184 1950 341 0 0 1 0 0 0
13773 1.53 511.8 820.5 15.4 570 13777 0.00 2.50 0.00 0.000 4 0.000 0.119 2184 532 341 0 0 0 0 0 0
13843 1.53 511.8 809.2 17.3 572 13848 0.00 2.42 0.00 0.000 6 0.000 0.099 2184 1946 342 0 0 1 0 0 0
14173 1.53 511.8 758.4 15.2 583 14178 0.00 2.47 0.00 0.000 4 0.000 0.119 2184 537 341 0 0 0 0 0 0
14256 1.53 511.8 744.9 15.3 585 14260 0.00 2.42 0.00 0.000 6 0.000 0.097 2184 1953 341 0 0 1 0 0 0
14575 1.53 511.8 699.0 14.5 596 14579 0.00 2.50 0.00 0.000 4 0.000 0.117 2184 538 341 0 0 0 0 0 0
14656 1.53 511.8 686.5 14.6 598 14661 0.00 2.40 0.00 0.000 6 0.000 0.097 2184 1947 341 0 0 1 0 0 0
14975 1.53 511.8 640.9 14.6 609 14979 0.00 2.47 0.00 0.000 4 0.000 0.114 2184 532 341 0 0 0 0 0 0
15062 1.53 511.8 627.0 15.0 611 15070 0.00 2.40 0.00 0.000 6 0.000 0.094 2184 1947 341 0 0 1 0 0 0
15376 1.53 511.8 579.3 15.4 622 15380 0.00 2.45 0.00 0.000 4 0.000 0.112 2184 534 342 0 0 0 0 0 0
15498 1.50 511.8 558.8 16.9 625 15505 0.00 2.35 0.00 0.000 6 0.000 0.092 2184 1953 341 0 0 1 0 0 0
15812 1.47 511.8 507.9 16.5 636 15816 0.00 2.42 0.00 0.000 4 0.000 0.107 2184 535 341 0 0 0 0 0 0
15928 1.43 511.8 487.4 16.9 639 15933 0.08 2.35 0.00 0.000 6 0.129 0.087 2164 1943 341 0 0 1 0 0 0
16246 1.43 511.8 436.5 16.4 650 16247 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 1944 341 0 0 0 0 0 0
16553 1.40 511.8 381.3 18.0 660 16557 0.00 2.40 0.00 0.000 4 0.000 0.099 2164 534 341 0 0 0 0 0 0
16635 1.37 511.8 365.7 17.2 662 16640 0.00 2.30 0.00 0.000 6 0.000 0.082 2164 1962 341 0 0 1 0 0 0
16954 1.34 511.8 309.9 17.4 673 16958 0.00 2.40 0.00 0.000 4 0.000 0.097 2164 527 341 0 0 0 0 0 0
17002 1.31 511.8 300.4 19.4 674 17007 0.10 2.33 0.00 0.000 6 0.124 0.077 2138 1953 341 0 0 1 0 0 0
17323 1.31 511.8 244.3 17.7 690 17327 0.00 2.38 0.00 0.000 4 0.000 0.094 2138 533 341 0 0 0 0 0 0
17344 1.31 511.8 240.2 18.1 691 17349 0.00 2.25 0.00 0.000 6 0.000 0.074 2138 1957 341 0 0 1 0 0 0
17665 1.31 511.8 183.4 16.8 707 17669 0.00 2.38 0.00 0.000 4 0.000 0.092 2138 528 341 0 0 0 0 0 0
17741 1.31 511.8 169.1 17.0 710 17749 0.00 2.30 0.00 0.000 6 0.000 0.072 2138 1953 341 0 0 0 0 0 0
18064 1.28 511.8 114.5 16.9 735 18068 0.00 2.35 0.00 0.000 4 0.000 0.089 2138 524 341 0 0 0 0 0 0
18119 1.26 511.8 104.1 20.2 739 18127 0.00 2.28 0.00 0.000 6 0.000 0.067 2138 1946 341 0 0 0 0 0 0
18444 1.26 511.8 48.9 17.0 770 18448 0.00 2.30 0.00 0.000 4 0.000 0.089 2138 3357 341 0 0 0 0 0 0
18494 1.26 511.8 41.0 14.1 774 18499 0.00 2.25 0.00 0.000 6 0.000 0.067 2138 1922 341 0 0 0 0 0 0
18785 end climb: SURFACE_DEPTH_REACHED
state 18786 begin surface coast
18819 end surface coast: CONTROL_FINISHED_OK
state 18819 begin surface