metadata_filename = /nfs/nsyt/mdev/spex/surface/sol/0001/ids/downlink/products/ida/edr/A0086_0001_596619277_596626857_181127222903_012.meta Timestamp for set 0: 596626857.427451 Parameter Set: RA_ARM_PARAMS dh.a = [ 0.024812000 0.975342989 0.856760025 0.000000000 ] dh.d = [ -0.059898000 -0.138431996 0.000000000 0.000000000 ] dh.alpha = [ 1.570799947 0.000000000 0.000000000 1.570799947 ] x_blade_1 = [ -0.015010000 0.000000000 0.105240002 0.000000000 ] x_blade_2 = [ -0.015010000 0.000000000 0.105240002 0.000000000 ] x_rac = [ -0.560000002 -0.055000000 -0.150000006 1.570799947 ] x_scoop = [ 0.077880003 0.000000000 0.112910002 1.431169987 ] x_wrist = [ 0.000000000 0.000000000 0.000000000 0.000000000 ] x_grapple_attach = [ 0.000000000 -0.040940002 0.000000000 3.141592979 ] dist_grapple = [ 0.000000000 0.000000000 0.298999995 0.000000000 ] dist_seis = [ 0.000000000 0.000000000 0.625000000 0.000000000 ] dist_wts = [ 0.000000000 0.000000000 0.816999972 0.000000000 ] dist_hp3 = [ 0.000000000 0.000000000 0.732999980 0.000000000 ] Parameter Set: RA_JOINT_PARAMS q_min = [ -3.5287 -2.4196 -0.601 -0.1692 ] q_max = [ 1.3067 1.357 4.0359 3.5835 ] pot.b = [ 1405.94 2051.89 630.94 1409.28 ] pot.m = [ -689.496 679.391 687.09 681.37 ] current.b = [ 2048 2048 2048 2048 ] current.m = [ 0.00032143 0.00032143 0.00032143 0.00032143 ] vref.b = [ 2048 2048 ] vref.m = [ 0.00225 0.00225 ] gear_ratio = [ -12500 16000 10000 4000 ] rad_per_enc = [ 3.1416 3.1416 3.1416 3.1416 ] enc_offset = [ -0.49594 0.832679987 0.291299999 0.303860009 ] htr_power = [ 14.1 3.1 11.2 11.2 ] start_count = [ 5 3 3 3 ] nonstart_count= [ 1 1 1 1 ] direction_crnt = [ 85 85 85 85 ] direction_delay = [ 50 50 50 50 ] Parameter Set: RA_CTRL_PARAMS mtr_volt_max = [ 30 30 30 30 ] mtr_volt_min = [ 1 1 1 1 ] mtr_volt_init= [ 0 0 0 0 ] acc_max =[ 0.013962 0.010908 0.017453 0.043633 ] vel_max =[ 0.020944 0.016362 0.02618 0.06545 ] vel_min =[ 0 0 0 0 ] eps_joint = [ 0.03 0.03 0.03 0.05 ] deadband_strt= [ 3 3 3 3 ] deadband_final_via_only = 1 deadband_end = [ 0.001 0.001 0.001 0.001 ] eps_time = 0.4 p_gain = [ 2750 3520 2200 880 ] i_gain = [ 2291.7 2933.3 1833.3 733.33 ] d_gain = [ 0 0 0 0 ] filter_p_gain = 0.0025 filter_i_gain = 0.0127 loop_time = 0.1 loop_time_thermostat = 10 loop_time_cooldown = 0.2 delta_via_period = 4 paci_timeout = 1000 stop_to_no_op_time_delay = 5 power_on_time_delay = 1 off_count = 2 Parameter Set: RA_LANDER_TO_RA frame.x = [ 0 0 0 ] frame.q = [ 1 0 0 0 ] Parameter Set: RA_PATH_PARAMS path.cart.type = 0 path.cart.error = 0.01 path.cart.delta = 0.05 path.joint_delta = 0.085 path.time_delta = 5 Parameter Set: RA_TASK_ALGO [op_code algo_code delta_via_code] = [ 11 3 3 ] [op_code algo_code delta_via_code] = [ 13 1 1 ] [op_code algo_code delta_via_code] = [ 18 3 3 ] [op_code algo_code delta_via_code] = [ 22 1 2 ] [op_code algo_code delta_via_code] = [ 47 3 3 ] [op_code algo_code delta_via_code] = [ 48 3 3 ] [op_code algo_code delta_via_code] = [ 49 2 3 ] [op_code algo_code delta_via_code] = [ 0 0 0 ] [op_code algo_code delta_via_code] = [ 0 0 0 ] [op_code algo_code delta_via_code] = [ 0 0 0 ] [op_code algo_code delta_via_code] = [ 0 0 0 ] [op_code algo_code delta_via_code] = [ 0 0 0 ] Parameter Set: RA_ACT_ALGO [op_code algo_code delta_via_code] = [ 17 2 3 ] [op_code algo_code delta_via_code] = [ 19 2 3 ] [op_code algo_code delta_via_code] = [ 20 3 3 ] delta_via_user = [ 0 0 -1 ] dvia_thresh = 0.01 Parameter Set: RA_TAU_PARAMS limit = [ 26 91 53 10 ] thresh_a = [ 26 91 53 10 ] thresh_c = [ 35 120 65 10.5 ] thresh_f = [ 35 120 65 10.5 ] thresh_d = [ 29.125 37.28 23.3 9.32 ] fit_nl = [ 2 2 2 2 ] c_nl_0 = [ 0.014134 0.016033 0.014041 0.0054075 ] c_nl_1 = [ 0.0021647 0.0008571 0.0007949 0.0078765 ] c_nl_2 = [ 0.028697 0.052189 0.052205 0.0078644 ] c_nl_3 = [ 0.0081567 0.0115545 0.009798 0.0041967 ] c_nl_4 = [ 0.01211 0.024053 0.020149 0 ] temp.b = [ 3155.2 3156.05 3157.72 3159.89 613.327 ] temp.m = [ 0.241458 0.23976 0.239508 0.237072 0.4469 ] mtr_volt_max = [ 30 30 30 30 ] Parameter Set: RA_TAU_PARAMS2 current_limit = [ 110 260 210 110 ] torque_limit = [ 35 120 65 10.5 ] no_load_volt = [ 0 0 0 0 ] current_delta = [ 1 1 1 1 ] tau_detent = [ 29.125 37.28 23.3 9.32 ] speed_detent = [ 0.018 0.0098 0.0158 0.048 ] fit_ka = [ 1 1 1 1 ] c_ka_0 = [ 468.72 574.79 371.6 116.53 ] c_ka_1 = [ 0 0 0 0 ] c_ka_2 = [ 0 0 0 0 ] c_ka_3 = [ 0 0 0 0 ] c_ka_4 = [ 0 0 0 0 ] Parameter Set: RA_SCIENCE_DATA_PERIOD science data period = 1 Parameter Set: RA_FAULT_DETECT enc_pot_delta = [ 0.1 0.1 0.1 0.1 ] runaway_joint_delta = 0.1745 runaway_pos_delta = 0.1 runaway_ori_delta = 3.14 runaway_time_delta = 5 joint_delta = [ 0.01 0.034 0.034 0.034 ] vref_nominal = [ 4.5 -4.5 ] vref_delta = [ 0.03 0.03 ] enc_delta = 2 pot_delta = 20 tau = [ 10 29.2 17.2 3 ] motor_samples = 100 current_epsilon = 1 heater_time = [ 1200 1200 180 180 ] temp_delta = [ 20 20 20 20 5 ] impeded_samples = [ 2 2 2 2 ] pot_samples = 20 encoder_samples = 20 enc_pot_samples = 2 vref_samples = 3 runaway_samples = 2 kinematic_samples = 2 heater_rtd_samples = 3 htr_crnt = [ 120 80 200 200 ] htr_crnt_offset = 2048 ace_cal_samples = 3 power_30v_samples = 10 stopped_samples = 100 stalled_samples = 100 deflection_limit = 0.5 subtrench_attempts = 2 dvia_mag_limit = 0.4 default_cmd_token = 1 collision_mode = 2 lander_tol = 0.015 Parameter Set: RA_TASK_C calibrate.home = [ -3.313 -2.21 -0.401 0.2 ] calibrate.angle = [ 0.2 0.2 0.2 0.2 ] calibrate.current = [ 30 120 40 18 ] calibrate.time = [ 40 40 40 40 ] calibrate.delta = [ 0 0 0 0 ] Parameter Set: RA_TASK_DT dig_trench.height = -0.2 dig_trench.[depth width length] = [ 0.002 0.073 0.25 ] dig_trench.corner = 0.15 dig_trench.scoop_angle = 0.125 dig_trench.carry_angle = 2.5 dig_trench.dump_angle = 7.7125 dig_trench.return_angle = 2 dig_trench.way_point = [ 0.1 0.1 0 ] Parameter Set: RA_TASK_SC scrape.guard_angle = 1.629 scrape.guard_depth = 0.1 scrape.rake = [ 0 0 1.5368] scrape.backoff = 0.06 scrape.height_initial = 0 Parameter Set: RA_COMPRESS_PARAMS compress.wSyncInterval = 1024 compress.wBlockSize = 16 compress.wSegmentSize = 1024 compress.type = 0 Parameter Set: RA_MAX_FAULTS max_fault.ace_reset = 0 max_fault.motion_impeded = 4 max_fault.file_io = 0 max_fault.paci = 0 max_fault.tv_power = 0 max_fault.stopped = 3 max_fault.stalled = 3 max_fault.overheat = 3 Parameter Set: RA_FAULT_PARAMS fault_params.dt_backup = 0.03 fault_params.scr_initial = 0.005 fault_params.scr_delta = 0.001 fault_params.scr_total = 0.003 fault_params.ignore_col_blade_1 = 0 fault_params.ignore_col_blade_2 = 0 fault_params.ignore_col_rac = 0 fault_params.ignore_col_scoop = 0 fault_params.ignore_col_wrist = 0 fault_params.ignore_col_grapple_attach = 0 fault_params.ignore_col_grapple = 0 fault_params.ignore_col_seis = 0 fault_params.ignore_col_wts = 0 fault_params.ignore_col_hp3 = 0 Parameter Set: RA_POWER_STATES power_states.power = [ 11 18 43] eps_switch = 0 Parameter Set: RA_GRAVITY gravity_params.acc_g = 3.711 gravity_params.grav_vect = [ 0 0 1] Parameter Set: RA_DEFL_GENERAL defl_params.enable_abs = 1 defl_params.enable_rel = 0 defl_params.enable_tool = 0 defl_params.enable_jnt_abs = 0 defl_params.enable_jnt_rel = 0 seis_mass = 8.900000 wts_mass = 7.300000 hp3_mass = 2.700000 compliance_scale = 1.092301 Parameter Set: RA_DEFL_LINK_0 mass = 0 cm_x = 0 cm_y = 0 cm_z = 0 vCf = [ 5.710000e-09 -5.620000e-25 -3.010000e-24 -1.230000e-24 5.710000e-09 -2.060000e-24 2.810000e-24 1.240000e-24 5.710000e-09 ] wCf = [ -9.560000e-26 -1.980000e-23 7.580000e-25 3.290000e-24 2.430000e-25 4.560000e-24 9.160000e-24 6.570000e-24 4.230000e-25 ] vCm = [ 3.020000e-25 4.940000e-24 7.990000e-24 -3.060000e-24 3.750000e-25 7.010000e-24 4.930000e-25 5.290000e-24 -8.830000e-26 ] wCm = [ 8.850000e-08 -2.280000e-25 7.170000e-24 1.050000e-23 8.850000e-08 -5.630000e-24 7.840000e-24 -6.390000e-24 8.850000e-08 ] Parameter Set: RA_DEFL_LINK_1 mass = 0.509 cm_x = 0.025 cm_y = 0.0579 cm_z = -0.0556 vCf = [ 3.840000e-08 2.310000e-08 -2.730000e-21 2.310000e-08 2.250000e-08 -2.010000e-21 -4.050000e-21 -2.900000e-21 3.060000e-07 ] wCf = [ 9.620000e-22 -5.420000e-09 -8.470000e-07 5.420000e-09 1.060000e-19 -9.820000e-06 8.470000e-07 6.030000e-07 -7.470000e-20 ] vCm = [ -2.520000e-20 5.420000e-09 8.470000e-07 -5.420000e-09 9.950000e-20 6.030000e-07 -8.470000e-07 -9.820000e-06 -1.050000e-19 ] wCm = [ 2.220000e-05 5.130000e-18 1.820000e-20 6.060000e-18 3.603190e-04 3.840000e-18 -6.660000e-19 3.670000e-18 2.220000e-05 ] Parameter Set: RA_DEFL_LINK_2 mass = 1.2381 cm_x = 0.708 cm_y = 0 cm_z = -0.0762 vCf = [ 6.180000e-06 -4.110000e-06 6.530000e-05 -4.110000e-06 1.730570e-04 5.340000e-07 6.530000e-05 5.340000e-07 7.940660e-04 ] wCf = [ -3.250000e-07 8.270000e-05 7.000000e-06 -7.690000e-05 3.250000e-07 -8.573120e-04 -6.870000e-06 2.152100e-04 -6.990000e-12 ] vCm = [ -3.250000e-07 -7.690000e-05 -6.870000e-06 8.270000e-05 3.250000e-07 2.152100e-04 7.000000e-06 -8.573120e-04 -6.990000e-12 ] wCm = [ 1.085949e-03 4.260000e-06 -4.010000e-09 4.260000e-06 1.008957e-03 -2.210000e-10 -4.010000e-09 -2.210000e-10 3.512170e-04 ] Parameter Set: RA_DEFL_LINK_3_STOWED mass = 1.9854 cm_x = 0.522 cm_y = 0.026 cm_z = -0.024 vCf = [ 1.020000e-07 -1.720000e-26 -4.830000e-08 3.940000e-28 2.526130e-04 -2.830000e-24 -4.830000e-08 9.850000e-27 1.019379e-03 ] wCf = [ -4.220000e-26 -5.870000e-08 8.920000e-22 5.950000e-08 -1.240000e-26 -1.275284e-03 5.940000e-28 3.824210e-04 -4.240000e-24 ] vCm = [ -4.290000e-31 5.950000e-08 -3.390000e-26 -5.870000e-08 3.540000e-24 3.824210e-04 6.670000e-29 -1.275284e-03 1.940000e-26 ] wCm = [ 1.969914e-03 -1.120000e-21 9.440000e-09 -9.370000e-29 1.791046e-03 -2.440000e-26 9.440000e-09 5.300000e-24 7.513490e-04 ] Parameter Set: RA_DEFL_LINK_3_UNSTOWED mass = 1.4944 cm_x = 0.481 cm_y = 0.031 cm_z = -0.017 vCf = [ 1.020000e-07 -1.720000e-26 -4.830000e-08 3.940000e-28 2.526130e-04 -2.830000e-24 -4.830000e-08 9.850000e-27 1.019379e-03 ] wCf = [ -4.220000e-26 -5.870000e-08 8.920000e-22 5.950000e-08 -1.240000e-26 -1.275284e-03 5.940000e-28 3.824210e-04 -4.240000e-24 ] vCm = [ -4.290000e-31 5.950000e-08 -3.390000e-26 -5.870000e-08 3.540000e-24 3.824210e-04 6.670000e-29 -1.275284e-03 1.940000e-26 ] wCm = [ 1.969914e-03 -1.120000e-21 9.440000e-09 -9.370000e-29 1.791046e-03 -2.440000e-26 9.440000e-09 5.300000e-24 7.513490e-04 ] Parameter Set: RA_DEFL_LINK_4_STOWED mass = 0.1481 cm_x = 0.0114 cm_y = -0.0673 cm_z = -0.008 vCf = [ 5.710000e-09 -2.160000e-17 1.840000e-18 -2.160000e-17 5.710000e-09 2.650000e-18 1.840000e-18 2.650000e-18 5.710000e-09 ] wCf = [ -1.220000e-35 -6.090000e-13 -2.140000e-10 1.830000e-11 -2.150000e-37 1.490000e-10 2.140000e-10 -4.960000e-12 9.290000e-36 ] vCm = [ -1.160000e-35 1.830000e-11 2.140000e-10 -6.090000e-13 2.340000e-36 -4.960000e-12 -2.140000e-10 1.490000e-10 1.240000e-35 ] wCm = [ 4.930000e-05 -9.850000e-28 -0.000000e+00 -9.850000e-28 1.475213e-03 1.230000e-28 1.280000e-31 9.770000e-29 4.930000e-05 ] Parameter Set: RA_DEFL_LINK_4_UNSTOWED mass = 0.6391 cm_x = 0.0026 cm_y = -0.0156 cm_z = 0.0323 vCf = [ 5.710000e-09 -2.160000e-17 1.840000e-18 -2.160000e-17 5.710000e-09 2.650000e-18 1.840000e-18 2.650000e-18 5.710000e-09 ] wCf = [ -1.220000e-35 -6.090000e-13 -2.140000e-10 1.830000e-11 -2.150000e-37 1.490000e-10 2.140000e-10 -4.960000e-12 9.290000e-36 ] vCm = [ -1.160000e-35 1.830000e-11 2.140000e-10 -6.090000e-13 2.340000e-36 -4.960000e-12 -2.140000e-10 1.490000e-10 1.240000e-35 ] wCm = [ 4.930000e-05 -9.850000e-28 -0.000000e+00 -9.850000e-28 1.475213e-03 1.230000e-28 1.280000e-31 9.770000e-29 4.930000e-05 ] Parameter Set: RA_DEFL_LINK_5 mass = 0 cm_x = 0 cm_y = 0 cm_z = 0 vCf = [ 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 ] wCf = [ 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 ] vCm = [ 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 ] wCm = [ 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 ] Parameter Set: RA_THERMAL temp_min = [ -55 -55 -55 -55 -55 ] temp_delta = [ 20 20 20 20 20 ] temp_max_rotor = [ 95 95 95 95 ] temp_max_case = [ 75 75 75 75 ] temp_cooldown = [ 45 45 45 45 ] CM_r = [ 0.1014 0.1014 0.1014 0.1014 ] R_rtc = [ 0.0885 0.0885 0.0885 0.0885 ] I_nl = [ 0.008 0.008 0.008 0.008 ] R_cal = [ 42 42 42 42 ] T_cal = [ 20 20 20 20 ] alpha = [ 0.00393 0.00393 0.00393 0.00393 ] filter_alpha = 0.05 filter_dt = 900 filter_c_0 = 4.429 filter_c_1 = 0.154 filter_c_2 = 0 filter_c_3 = 0 filter_c_4 = 0 Parameter Set: RA_GRAPPLE_PARAMS grapple_heater = 1 max_temperature = 106.0 overheat_persistence = 2 limit_switch_persistence = 2 Parameter Set: RA_ACTIVE_HOLD_PARAMS active_hold = 0 hold_time = 5.0 move_time_multiple = 2.0 Parameter Set: PAYLOAD_COL_PARAMS seis_q_(i,j,k,r) = [ 0.000000 0.000000 0.177944 0.984041 ] seis_t_(x,y,z) = [ -0.408000 -0.319000 -0.334000 ] wts_q_(i,j,k,r) = [ 0.000000 0.000000 0.000000 1.000000 ] wts_t_(x,y,z) = [ -0.996000 -0.459000 -0.261000 ] hp3_q_(i,j,k,r) = [ 0.000000 0.000000 -0.175796 0.984427 ] hp3_t_(x,y,z) = [ -0.861000 -0.008000 -0.455000 ]