RapidMocha Jan11 * SG034 * Dive index * Mission links * Dive 9 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  34 HEADING  -1 ROLL_MAX  3968 ALTIM_TOP_MIN_OBSTACLE  1
MISSION  9 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DEPTH  200
DIVE  9 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2577 ALTIM_PING_DELTA  10
D_SURF  4 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  2577 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LAT  18.5 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_TGT  990 TGT_DEFAULT_LON  -66 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_ABORT  6099 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  2
D_NO_BLEED  200 SM_CC  300 R_PORT_OVSHOOT  59 XPDR_INHIBIT  90
D_BOOST  0 N_FILEKB  4 R_STBD_OVSHOOT  29 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  151 DEVICE1  2
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_MAX  3963 DEVICE2  -1
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 C_VBD  2057 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  101
T_DIVE  440 CALL_WAIT  60 VBD_CNV  -0.29519999 DEVICE5  -1
T_MISSION  480 CAPUPLOAD  0 VBD_TIMEOUT  950 DEVICE6  -1
T_ABORT  2880 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_TURN  225 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  2 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 T_GPS  5 VBD_PUMP_AD_RATE_APOGEE  2 LOGGERDEVICE2  -1
T_NO_W  300 N_GPS  20 VBD_BLEED_AD_RATE  7 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_BATHY  -10 T_GPS_CHARGE  -12374.754 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  0 T_RSLEEP  12 CF8_MAXERRORS  3 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_24V  151 PHONE_DEVICE  48
D_OFFGRID  6084 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  366 FG_AHR_10V  0 SIM_W  0
MAX_BUOY  150 PITCH_MAX  2908 FG_AHR_24V  0 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2460 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043511861
GLIDE_SLOPE  45 PITCH_DBAND  0.1 PRESSURE_YINT  -16.883896 SEABIRD_T_H  0.0006267078
SPEED_FACTOR  1 PITCH_CNV  0.0046000001 PRESSURE_SLOPE  0.00094911997 SEABIRD_T_I  2.3336246e-05
RHO  1.023 P_OVSHOOT  0.039999999 AD7714Ch0Gain  32 SEABIRD_T_J  2.4288879e-06
MASS  52000 PITCH_GAIN  17 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.094185
NAV_MODE  1 PITCH_TIMEOUT  20 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1592568
FERRY_MAX  45 PITCH_AD_RATE  160 COMPASS_USE  0 SEABIRD_C_I  -0.0011433914
KALMAN_USE  13 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00016895766
HD_A  0.0047458 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  20
HD_B  0.011518 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  20
HD_C  5.7096e-05 ROLL_MIN  247 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  290111,044637,1835.551,-6601.206,33,1.2,34,-12.7 TGT_NAME  SAN_JUAN_VM
_CALLS  4 TGT_LATLONG  1836.000,-6600.000
_XMS_NAKs  2 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.209,0.041
_SM_DEPTHo  1.51 KALMAN_X  -3109.9,0.0,0.0,10411.8,-2895.2
_SM_ANGLEo  -59.5 KALMAN_Y  -323.1,0.0,0.0,1745.9,-344.3
GPS2  290111,050207,1835.602,-6601.400,12,1.1,29,-12.7 MHEAD_RNG_PITCHd_Wd  91.5,2566,-15.9,-7.500
SPEED_LIMITS  0.075,0.213 D_GRID  930

Post-dive calculations and measurements:
FINISH  1.1,1.000438 _24V_AH  23.8,8.694
SM_CCo  14135,0.00,0.000,0,0,144,564.72 _10V_AH  10.4,2.474
SM_GC  1.87,12.05,0.00,0.00,0.084,0.000,0.000,345,2547,144,-9.59,-0.85,564.72 FG_AHR_24Vo  0.000
IRIDIUM_FIX  1825.94,-6602.71,290111,040450 FG_AHR_10Vo  0.000
TT8_MAMPS  0.023219 MEM  327556
HUMID  65.00 DATA_FILE_SIZE  33584,612
INTERNAL_PRESSURE  8.97495 CAP_FILE_SIZE  164319,0
TCM_TEMP  21.70 CFSIZE  260165632,252874752
XPDR_PINGS  0 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
ALTIM_TOP_PING  18.5,16.7 GPS  290111,085937,1836.031,-6559.412,31,1.2,32,-12.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor26178112.22 SBE_CT41324235.91
Roll_motor145124430.58 nil000.00
VBD_pump_during_apogee567142519261.06 nil000.00
VBD_pump_during_surface000.00 AA43301820331430.03
VBD_valve000.00 nil000.00
Iridium_during_init113103277.54 nil000.00
Iridium_during_connect197160753.79 nil000.00
Iridium_during_xfer2932231555.38 nil000.00
Transponder_ping18420187.43 nil000.00
GUMSTIX_24V000.00
GPS325016.82
TT8167119344.24
LPSleep94562215.38
TT8_Active62819129.41
TT8_Sampling3207391327.68
TT8_CF81324563.23
TT8_Kalman0810.33
Analog_circuits163012203.44
GPS_charging000.00
Compass149715233.62
RAFOS000.00
Transponder1273039.65

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 -1.12 -146.6 0.0 0.0 0 169 0.00 0.00 -151.75 0.000 2 0.000 0.000 344 2562 2132 0 0 0 0 0 0
171 -1.12 -146.6 3.3 -3.4 14 209 10.77 2.33 -21.15 0.000 4 0.179 0.099 2213 3955 2554 0 0 1 0 0 0
325 -1.12 -146.6 21.5 -13.9 27 333 0.00 2.15 0.00 0.000 6 0.000 0.070 2213 2607 2554 0 0 0 0 0 0
651 -1.12 -146.6 61.2 -11.4 58 655 0.00 2.22 0.00 0.000 4 0.000 0.102 2213 3956 2555 0 0 0 0 0 0
690 -1.12 -146.6 65.6 -11.1 61 694 0.00 2.17 0.00 0.000 6 0.000 0.072 2213 2569 2556 0 0 0 0 0 0
1017 -1.12 -146.6 99.9 -9.8 91 1021 0.00 2.22 0.00 0.000 4 0.000 0.094 2213 1172 2557 0 0 0 0 0 0
1067 -1.12 -146.6 105.2 -10.1 95 1071 0.00 2.25 0.00 0.000 6 0.000 0.084 2213 2579 2557 0 0 0 0 0 0
1393 -1.12 -146.6 132.4 -6.6 125 1397 0.00 2.28 0.00 0.000 4 0.000 0.104 2213 3962 2558 0 0 0 0 0 0
1432 -1.12 -146.6 135.8 -7.6 128 1437 0.00 2.12 0.00 0.000 6 0.000 0.072 2213 2574 2558 0 0 0 0 0 0
1766 -1.12 -146.6 154.0 -5.5 156 1770 0.00 2.22 0.00 0.000 4 0.000 0.094 2213 1172 2559 0 0 0 0 0 0
1823 -1.12 -146.6 156.5 -6.3 158 1827 0.00 2.28 0.00 0.000 6 0.000 0.087 2214 2581 2559 0 0 0 0 0 0
2150 -1.12 -146.6 177.1 -5.1 174 2154 0.00 2.25 0.00 0.000 4 0.000 0.104 2213 3968 2560 0 0 0 0 0 0
2266 -1.12 -146.6 182.9 -5.4 179 2271 0.00 2.17 0.00 0.000 6 0.000 0.072 2213 2581 2559 0 0 0 0 0 0
2589 -1.12 -146.6 203.1 -6.6 195 2593 0.00 2.28 0.00 0.000 4 0.000 0.104 2213 3969 2560 0 0 0 0 0 0
2637 -1.12 -146.6 205.6 -6.3 197 2642 0.00 2.20 0.00 0.000 6 0.000 0.072 2213 2574 2560 0 0 0 0 0 0
2959 -1.12 -146.6 226.4 -7.0 213 2963 0.00 2.28 0.00 0.000 4 0.000 0.104 2213 3963 2560 0 0 0 0 0 0
3054 -1.12 -146.6 233.1 -8.0 217 3057 0.00 2.17 0.00 0.000 6 0.000 0.074 2213 2569 2560 0 0 0 0 0 0
3369 -1.12 -146.6 256.2 -7.3 232 3373 0.00 2.25 0.00 0.000 4 0.000 0.099 2213 1165 2560 0 0 0 0 0 0
3453 -1.12 -146.6 263.1 -8.1 236 3457 0.00 2.25 0.00 0.000 6 0.000 0.087 2213 2576 2560 0 0 0 0 0 0
3779 -1.12 -146.6 287.7 -7.3 252 3783 0.00 2.25 0.00 0.000 4 0.000 0.104 2213 3962 2560 0 0 0 0 0 0
3822 -1.12 -146.6 290.8 -7.6 254 3826 0.00 2.15 0.00 0.000 6 0.000 0.074 2213 2569 2560 0 0 0 0 0 0
4141 -1.12 -146.6 315.0 -7.5 267 4145 0.00 2.25 0.00 0.000 4 0.000 0.099 2213 1165 2559 0 0 0 0 0 0
4195 -1.12 -146.6 317.1 -7.5 268 4218 0.00 2.28 0.00 0.000 6 0.000 0.087 2213 2570 2559 0 0 0 0 0 0
4508 -1.12 -146.6 343.6 -7.9 279 4512 0.00 2.30 0.00 0.000 4 0.000 0.104 2213 3968 2559 0 0 0 0 0 0
4654 -1.12 -146.6 354.9 -8.8 283 4659 0.00 2.20 0.00 0.000 6 0.000 0.074 2213 2578 2559 0 0 0 0 0 0
4990 -1.12 -146.6 384.4 -7.7 294 4994 0.00 2.25 0.00 0.000 4 0.000 0.099 2213 1167 2559 0 0 0 0 0 0
5033 -1.12 -146.6 386.4 -7.5 295 5038 0.00 2.30 0.00 0.000 6 0.000 0.087 2213 2583 2559 0 0 0 0 0 0
5359 -1.12 -146.6 410.7 -7.8 306 5363 0.00 2.25 0.00 0.000 4 0.000 0.094 2213 1170 2558 0 0 0 0 0 0
5404 -1.12 -146.6 413.0 -8.0 307 5409 0.00 2.28 0.00 0.000 6 0.000 0.087 2213 2571 2558 0 0 0 0 0 0
5740 -1.12 -146.6 443.6 -8.4 318 5744 0.00 2.30 0.00 0.000 4 0.000 0.107 2213 3963 2557 0 0 0 0 0 0
5836 -1.12 -146.6 452.9 -9.5 321 5840 0.00 2.17 0.00 0.000 6 0.000 0.077 2213 2575 2557 0 0 0 0 0 0
6176 -1.12 -146.6 487.1 -10.1 332 6177 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2575 2556 0 0 0 0 0 0
6482 -1.12 -146.6 516.9 -9.6 342 6484 0.00 0.00 0.00 0.000 6 0.000 0.000 2213 2575 2554 0 0 0 0 0 0
6789 -1.12 -146.6 545.9 -9.6 352 6793 0.00 2.28 0.00 0.000 4 0.000 0.099 2213 1165 2553 0 0 0 0 0 0
6843 -1.12 -146.6 548.9 -9.7 353 6852 0.00 2.30 0.00 0.000 6 0.000 0.089 2213 2570 2553 0 0 0 0 0 0
7157 -1.12 -146.6 582.4 -9.6 364 7161 0.00 2.33 0.00 0.000 4 0.000 0.109 2214 3966 2551 0 0 0 0 0 0
7243 -1.12 -146.6 591.1 -10.8 366 7247 0.00 2.17 0.00 0.000 6 0.000 0.079 2213 2578 2551 0 0 0 0 0 0
7566 -1.12 -146.6 626.0 -9.9 377 7570 0.00 2.25 0.00 0.000 4 0.000 0.102 2213 1170 2549 0 0 0 0 0 0
7612 -1.12 -146.6 628.7 -9.8 378 7617 0.00 2.30 0.00 0.000 6 0.000 0.092 2213 2567 2549 0 0 0 0 0 0
7948 -1.12 -146.6 663.0 -9.7 389 7952 0.00 2.33 0.00 0.000 4 0.000 0.112 2213 3968 2547 0 0 0 0 0 0
7979 -1.12 -146.6 665.7 -9.5 390 7984 0.00 2.22 0.00 0.000 6 0.000 0.077 2213 2582 2548 0 0 0 0 0 0
8315 -1.12 -146.6 698.5 -9.6 401 8319 0.00 2.30 0.00 0.000 4 0.000 0.102 2213 1165 2545 0 0 0 0 0 0
8376 -1.12 -146.6 704.4 -9.9 403 8380 0.00 2.30 0.00 0.000 6 0.000 0.092 2213 2578 2545 0 0 0 0 0 0
8710 -1.12 -146.6 735.1 -9.8 414 8714 0.00 2.33 0.00 0.000 4 0.000 0.114 2213 3968 2544 0 0 0 0 0 0
8755 -1.12 -146.6 738.3 -10.3 415 8760 0.00 2.25 0.00 0.000 6 0.000 0.079 2213 2577 2544 0 0 0 0 0 0
9090 -1.12 -146.6 776.9 -11.0 426 9094 0.00 2.30 0.00 0.000 4 0.000 0.102 2213 1162 2542 0 0 0 0 0 0
9165 -1.12 -146.6 780.8 -11.2 427 9173 0.00 2.35 0.00 0.000 6 0.000 0.094 2213 2577 2541 0 0 0 0 0 0
9478 -1.12 -146.6 817.6 -10.2 438 9482 0.00 2.33 0.00 0.000 4 0.000 0.114 2213 3965 2540 0 0 0 0 0 0
9509 -1.12 -146.6 820.3 -9.8 439 9514 0.00 2.25 0.00 0.000 6 0.000 0.079 2213 2575 2539 0 0 0 0 0 0
9863 -1.12 -146.6 854.1 -10.7 450 9867 0.00 2.28 0.00 0.000 4 0.000 0.102 2213 1167 2538 0 0 0 0 0 0
9948 -1.12 -146.6 862.6 -10.9 452 9953 0.00 2.35 0.00 0.000 6 0.000 0.094 2213 2579 2538 0 0 0 0 0 0
10278 -1.12 -146.6 899.1 -10.4 463 10282 0.00 2.35 0.00 0.000 4 0.000 0.119 2213 3964 2536 0 0 0 0 0 0
10330 -1.12 -146.6 902.6 -10.4 464 10336 0.00 2.25 0.00 0.000 6 0.000 0.079 2213 2578 2536 0 0 0 0 0 0
10574 end dive: TARGET_DEPTH_EXCEEDED
state 10574 begin apogee
10578 -0.29 0.0 930.8 10.6 472 10690 0.95 0.00 106.78 1.425 6 0.166 0.000 2385 2578 2057 0 0 0 0 0 0
10691 end apogee: CONTROL_FINISHED_OK
state 10691 begin climb
10693 1.12 146.6 934.5 0.0 474 10816 1.73 2.67 112.68 1.405 4 0.142 0.124 2696 1167 1561 0 0 0 0 0 0
10854 1.66 586.3 948.0 -8.3 479 11213 0.55 2.55 348.38 1.405 6 0.074 0.112 2831 2572 150 0 0 0 0 0 0
11519 1.66 586.3 826.3 27.5 500 11524 0.00 2.38 0.00 0.000 4 0.000 0.094 2831 1162 147 0 0 0 0 0 0
11568 1.66 586.3 818.6 27.4 501 11573 0.00 2.38 0.00 0.000 6 0.000 0.084 2831 2577 147 0 0 0 0 0 0
11887 1.66 586.3 725.6 27.6 512 11891 0.00 2.33 0.00 0.000 4 0.000 0.092 2831 1168 147 0 0 0 0 0 0
11966 1.66 586.3 704.2 28.0 514 11971 0.00 2.33 0.00 0.000 6 0.000 0.084 2831 2572 146 0 0 0 0 0 0
12302 1.66 586.3 610.3 28.2 525 12306 0.00 2.30 0.00 0.000 4 0.000 0.092 2831 1167 146 0 0 0 0 0 0
12339 1.66 586.3 602.4 28.3 526 12344 0.00 2.33 0.00 0.000 6 0.000 0.084 2831 2577 145 0 0 0 0 0 0
12686 1.66 586.3 504.4 29.3 537 12690 0.00 2.28 0.00 0.000 4 0.000 0.089 2831 1167 145 0 0 0 0 0 0
12706 2.92 1609.7 504.4 -29.3 537 12715 0.32 2.30 0.00 0.000 6 0.084 0.082 2909 2577 145 0 0 0 0 0 0
13035 2.92 1609.7 385.8 35.5 548 13036 0.00 0.00 0.00 0.000 6 0.000 0.000 2909 2577 144 0 0 0 0 0 0
13326 2.92 1609.7 273.6 37.6 559 13330 0.00 2.30 0.00 0.000 4 0.000 0.089 2909 1167 144 0 0 0 0 0 0
13391 2.92 1609.7 250.1 37.8 562 13397 0.00 2.28 0.00 0.000 6 0.000 0.077 2909 2576 143 0 0 0 0 0 0
13710 2.92 1609.7 125.2 37.7 580 13714 0.00 2.25 0.00 0.000 4 0.000 0.099 2909 3957 144 0 0 0 0 0 0
13742 2.92 1609.7 114.6 37.2 582 13750 0.00 2.20 0.00 0.000 6 0.000 0.067 2909 2554 144 0 0 0 0 0 0
14045 end climb: SURFACE_DEPTH_REACHED
state 14045 begin surface coast
14057 end surface coast: CONTROL_FINISHED_OK
state 14057 begin surface