Bench tests - time tests for run003.cfg Overall time ~ 24mins ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1 -10.0 0.0 400.0 60.0 2 -10.0 0.0 -150.0 10.0 3 -1.5 0.0 -150.0 20.0 4 -0.3 0.0 0.0 15.0 5 1.5 0.0 150.0 10.0 6 1.5 0.0 200.0 10.0 time at scene = 2min 5 sec 1) Whole scene (pitch, roll, VBD) steps 2) Pitch steps (cm) 3) Roll steps (deg) 4) VBD steps (cc) 5) Passive mode time interval steps (s) 6) Clear all steps 7) Save scenario to file 8) Read scenario from file 9) Change surfacing VBD ($SM_CC) [496.05] 10) Change mission time (min) [25.00] 11) Change abort depth (m) [60.00] 12) Change heading error band (deg) [10.00] 13) Change time of no vertical velocity (sec) [120.00] 14) Change number of scenario runs to execute before recovery [1] CR) Return to previous menu Enter selection (1-13,CR): 7 Save to which configuration file: [2] 3 Configuration saved to run003.cfg. ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1 -10.0 0.0 400.0 60.0 2 -10.0 0.0 -150.0 10.0 3 -1.5 0.0 -150.0 20.0 4 -0.3 0.0 0.0 15.0 5 1.5 0.0 150.0 10.0 6 1.5 0.0 200.0 10.0 1) Whole scene (pitch, roll, VBD) steps 2) Pitch steps (cm) 3) Roll steps (deg) 4) VBD steps (cc) 5) Passive mode time interval steps (s) 6) Clear all steps 7) Save scenario to file 8) Read scenario from file 9) Change surfacing VBD ($SM_CC) [496.05] 10) Change mission time (min) [25.00] 11) Change abort depth (m) [60.00] 12) Change heading error band (deg) [10.00] 13) Change time of no vertical velocity (sec) [120.00] 14) Change number of scenario runs to execute before recovery [1] CR) Return to previous menu Enter selection (1-13,CR): ------ Launch Menu ------ 1 [scene ] Set scenario mode 2 [selftest] Perform interactive self test 3 [autotest] Perform autonomous self test 4 [reset ] Reset dive/run number 5 [test ] Test Launch! 6 [sea ] Sea Launch! CR) Return to previous Enter selection (1-6,CR): 5 Quick launch (skips some tests and calls - very dangerous!)? [N] Y 328.829,SPOWER,N,All devices are off. Remove all old data and log files? [N] 331.181,SUSR,N,This is a SCENARIO run. 331.362,SUSR,N,Warning: $T_NO_W of 120.0 seconds may not be enough for the total scenario time of 129.0 seconds. 331.586,HTT8,N,Updating parameter $KALMAN_USE to 2 331.882,HTT8,N,Writing NVRAM...done. 342.698,SUSR,N, Setting glider to pre-launch state ... 342.941,HPITCH,N,Pitch commanded from -11.83 cm (474) to -9.51 cm (978)... 344.263,HPITCH,N,-11.4 cm (ad: 557) ...MOTOR_DONE: ticks: 2 max 24v: 0.004A avg 24v: 0.004A 346.396,SMOTOR,N,GC TICKS/TIME: 98/100088 346.485,HPITCH,N,done. 346.633,HPITCH,N,Pitch completed from -11.83 cm (474) to -9.43 cm (994) took 2.3 sec 0.047A (0.166A peak) 226 AD/sec 92 ticks; 1 retries 347.002,HPITCH,N,TRACK: b: 969 a: 973 d: -4 o: 21 347.192,HROLL,N,Roll commanded from 0.17 deg (2056) to 0.00 deg (2050)... 348.433,HROLL,N,0.2 deg (ad: 2057) MOTOR_DONE: ticks: 26 max 24v: 0.005A avg 24v: 0.004A 348.866,SMOTOR,N,GC TICKS/TIME: 29/30567 348.953,HROLL,N,done. 349.020,HROLL,N,Roll: No motion occurred. 349.251,HVBD,N,Bleed commanded from 493.30 cc (529) to 400.08 cc (909)... 350.576,HVBD,N,490.8 cc (ad: 539 [579, 508]) ................... 361.601,HVBD,N,432.2 cc (ad: 778 [848, 717]) ...........MOTOR_DONE: ticks: 6 max 24v: 1.066A avg 24v: 0.185A 368.030,SMOTOR,N,GC TICKS/TIME: 710/712341 368.120,HVBD,N,done. 368.277,HVBD,N,Bleed completed from 493.30 cc (529) to 399.84 cc (910 [997, 823]) took 17.5 sec 0.000A (1.043A peak) 21 AD/sec 701 ticks 368.622,HVBD,N,TRACK: b: 909 a: 909 d: 0 o: 1 Ready to launch? [N] y 377.592,SUSR,N,For a fresh start, reset the dive number to 1 Reset dive/run number to: [0] 1 388.725,SSURF,N,Initializing data file 388.915,SSURF,N,Initializing log file 390.352,SUSR,N, Now wait for the phone call and confirm that QUIT is parsed and RECOVERY is entered before disconnecting comms cable and placing the glider in the water. If possible, confirm positive buoyancy and surface position before releasing. 0.219,SSURF,N,Entering surface state [*****] 0.304,SSYS,N,Capture file closed Compressing THISDIVE.KAP to sg0000kz.a... 2.473,SSYS,N,Capture file opened Compressing THISDIVE.LOG to sg0000lz.x... 0.481,SSURF,N,Dive started Thu Jan 31 11:00:55 2008 0.600,SUSR,N,Heap: 0+126975 bytes 0.717,SGLMALLOC,N,glcheck: 357752 bytes free, 9 blocks free, 144 bytes alloc, 12 blocks alloc, 0.937,HTT8,N,Updating parameter $KALMAN_USE to 2 1.230,HTT8,N,Writing NVRAM...done. 11.411,SUSR,N,Heap: 0+126975 bytes 11.524,SGLMALLOC,N,glcheck: 357720 bytes free, 2 blocks free, 320 bytes alloc, 13 blocks alloc, 11.793,HTT8,N,Updating parameter $DIVE to 1 12.080,HTT8,N,Writing NVRAM...done. 19.595,SSURF,N,Initializing data file 19.766,SSURF,N,Initializing log file 21.845,SSURF,N,Starting dive at 21s 21.929,SSURF,N,Leaving surface state [entering scene 1 *****] 22.101,SUSR,N,Step 1, pitch= -9.5, roll = 0.0, vbd = 400.0 23.532,SDIVE,N,exiting active w/o sampling due to early MOTOR_DONE 23.946,SMOTOR,N,MOTOR_DONE: ticks: 13 max 24v: 0.004A avg 24v: 0.004A 24.078,SMOTOR,N,GC TICKS/TIME: 16/17353 24.187,SDIVE,N,Exiting active in GCPHASE_DONE(6) after 1 samples 24.324,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 24.491,SPOWER,N,All devices are off. 28.000,HCOMPASS,N,compass filter disabled ok 28.336,SSENSOR,N,P 26s 0.30m 223.2 #1 33.787,SSENSOR,N,P 32s 0.20m 223.5 #2 39.388,SSENSOR,N,P 37s 0.20m 223.5 #3 44.992,SSENSOR,N,P 43s 0.17m 223.4 #4 [ 60 secs ] 50.594,SSENSOR,N,P 49s 0.24m 223.6 #5 56.194,SSENSOR,N,P 54s 0.19m 223.3 #6 61.793,SSENSOR,N,P 60s 0.22m 223.2 #7 67.398,SSENSOR,N,P 65s 0.31m 223.2 #8 72.997,SSENSOR,N,P 71s 0.30m 223.5 #9 78.597,SSENSOR,N,P 77s 0.22m 223.3 #10 84.195,SSENSOR,N,P 82s 0.21m 223.2 #11 89.801,SSENSOR,N,P 88s 0.26m 223.3 #12 90.971,SDIVE,N,turn rate during steady passive flight = -0.011 deg/s 91.103,SDIVE,N,Exiting passive after 12 samples 91.217,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 91.384,SPOWER,N,All devices are off. 91.631,SUSR,N,Step 2, pitch= -10.2, roll = 0.0, vbd = -150.0 94.908,SSENSOR,N,A 93s 0.25m 223.3 #13 99.883,SSENSOR,N,A 98s 0.21m 223.0 #14 104.883,SSENSOR,N,A 103s 0.20m 223.3 #15 [ now bleeding fm 400 -> -150 cc ] 109.883,SSENSOR,N,A 108s 0.23m 223.3 #16 114.883,SSENSOR,N,A 113s 0.23m 223.2 #17 [ ** time =~ 115s ] 119.883,SSENSOR,N,A 118s 0.22m 223.3 #18 124.858,SSENSOR,N,A 123s 0.23m 223.2 #19 129.858,SSENSOR,N,A 128s 0.26m 223.1 #20 134.833,SSENSOR,N,A 133s 0.17m 223.3 #21 139.833,SSENSOR,N,A 138s 0.18m 223.2 #22 144.808,SSENSOR,N,A 143s 0.26m 223.4 #23 149.808,SSENSOR,N,A 148s 0.24m 223.4 #24 154.808,SSENSOR,N,A 153s 0.25m 223.3 #25 159.783,SSENSOR,N,A 158s 0.27m 223.3 #26 164.758,SSENSOR,N,A 163s 0.22m 223.3 #27 169.758,SSENSOR,N,A 168s 0.20m 222.9 #28 174.758,SSENSOR,N,A 173s 0.25m 223.2 #29 179.758,SSENSOR,N,A 178s 0.26m 223.1 #30 184.733,SSENSOR,N,A 183s 0.26m 223.0 #31 189.758,SSENSOR,N,A 189s 0.28m 223.0 #32 194.758,SSENSOR,N,A 194s 0.29m 223.0 #33 199.758,SSENSOR,N,A 199s 0.20m 223.1 #34 204.733,SSENSOR,N,A 204s 0.25m 223.1 #35 209.683,SSENSOR,N,A 209s 0.22m 223.4 #36 213.312,SMOTOR,N,MOTOR_DONE: ticks: 114 max 24v: 1.069A avg 24v: 0.014A 213.447,SMOTOR,N,GC TICKS/TIME: 4762/4808468 213.634,HPITCH,N,Pitch completed from -9.43 cm (996) to -10.23 cm (821) took 0.7 sec 0.036A (0.159A peak) 250 AD/sec 28 ticks 213.973,HPITCH,N,TRACK: b: 841 a: 840 d: -2 o: -19 214.171,HVBD,N,Bleed completed from 399.35 cc (912) to -149.39 cc (3149 [3333, 2965]) took 115.4 sec 0.000A (1.176A peak ) 19 AD/sec 4617 ticks 214.528,HVBD,N,TRACK: b: 3151 a: 3149 d: 2 o: 0 214.637,SDIVE,N,Exiting active in GCPHASE_DONE(6) after 24 samples 214.777,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 214.945,SPOWER,N,All devices are off. 216.640,SSENSOR,N,P 215s 0.32m 223.1 #37 222.247,SSENSOR,N,P 220s 0.24m 223.3 #38 227.846,SSENSOR,N,P 226s 0.25m 223.1 #39 233.455,SSENSOR,N,P 231s 0.26m 223.3 #40 239.057,SSENSOR,N,P 237s 0.36m 223.2 #41 244.658,SSENSOR,N,P 243s 0.29m 223.4 #42 250.259,SSENSOR,N,P 248s 0.28m 223.3 #43 255.860,SSENSOR,N,P 254s 0.24m 223.2 #44 [ scene 2 *** should now hold for 10s ****** ] 261.467,SSENSOR,N,P 259s 0.26m 223.2 #45 267.067,SSENSOR,N,P 265s 0.25m 223.3 #46 272.668,SSENSOR,N,P 271s 0.21m 223.4 #47 278.270,SSENSOR,N,P 276s 0.24m 223.1 #48 283.872,SSENSOR,N,P 282s 0.22m 223.2 #49 289.472,SSENSOR,N,P 287s 0.15m 223.3 #50 295.075,SSENSOR,N,P 293s 0.36m 223.0 #51 300.678,SSENSOR,N,P 299s 0.26m 223.3 #52 306.283,SSENSOR,N,P 304s 0.17m 223.3 #53 311.885,SSENSOR,N,P 310s 0.21m 223.3 #54 317.489,SSENSOR,N,P 315s 0.22m 223.4 #55 323.092,SSENSOR,N,P 321s 0.39m 223.4 #56 328.690,SSENSOR,N,P 327s 0.23m 223.3 #57 334.296,SSENSOR,N,P 332s 0.25m 223.4 #58 339.895,SSENSOR,N,P 338s 0.24m 223.2 #59 345.496,SSENSOR,N,P 343s 0.24m 223.3 #60 351.101,SSENSOR,N,P 349s 0.28m 223.1 #61 356.700,SSENSOR,N,P 355s 0.30m 223.3 #62 362.299,SSENSOR,N,P 360s 0.19m 223.3 #63 367.902,SSENSOR,N,P 366s 0.25m 223.3 #64 373.504,SSENSOR,N,P 371s 0.23m 223.2 #65 379.104,SSENSOR,N,P 377s 0.28m 223.2 #66 384.706,SSENSOR,N,P 383s 0.28m 223.3 #67 390.313,SSENSOR,N,P 388s 0.26m 222.9 #68 395.913,SSENSOR,N,P 394s 0.23m 223.3 #69 401.513,SSENSOR,N,P 399s 0.29m 223.3 #70 407.115,SSENSOR,N,P 405s 0.27m 223.4 #71 412.717,SSENSOR,N,P 411s 0.18m 223.1 #72 418.320,SSENSOR,N,P 416s 0.25m 223.3 #73 423.919,SSENSOR,N,P 422s 0.29m 223.3 #74 429.518,SSENSOR,N,P 427s 0.14m 223.1 #75 435.123,SSENSOR,N,P 433s 0.29m 223.2 #76 440.721,SSENSOR,N,P 439s 0.26m 223.3 #77 446.323,SSENSOR,N,P 444s 0.35m 223.2 #78 451.926,SSENSOR,N,P 450s 0.24m 223.2 #79 457.532,SSENSOR,N,P 455s 0.18m 223.3 #80 463.136,SSENSOR,N,P 461s 0.29m 223.2 #81 468.733,SSENSOR,N,P 467s 0.24m 223.3 #82 474.335,SSENSOR,N,P 472s 0.27m 223.2 #83 479.939,SSENSOR,N,P 478s 0.27m 223.2 #84 485.542,SSENSOR,N,P 483s 0.19m 223.3 #85 491.141,SSENSOR,N,P 489s 0.15m 223.2 #86 496.739,SSENSOR,N,P 495s 0.24m 223.2 #87 502.340,SSENSOR,N,P 500s 0.31m 223.2 #88 507.945,SSENSOR,N,P 506s 0.22m 223.3 #89 513.546,SSENSOR,N,P 511s 0.23m 223.2 #90 519.147,SSENSOR,N,P 517s 0.21m 223.1 #91 524.749,SSENSOR,N,P 523s 0.25m 223.2 #92 530.356,SSENSOR,N,P 528s 0.28m 223.4 #93 535.957,SSENSOR,N,P 534s 0.24m 223.4 #94 541.565,SSENSOR,N,P 539s 0.22m 223.3 #95 547.164,SSENSOR,N,P 545s 0.30m 223.2 #96 548.922,SDIVE,N,turn rate during steady passive flight = 0.000 deg/s 549.054,SDIVE,N,Exiting passive after 60 samples 549.170,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 549.338,SPOWER,N,All devices are off. [ scene 2 end ******** ] 549.645,SUSR,N,Step 3, pitch= -1.7, roll = 0.0, vbd = -150.0 552.641,SSENSOR,N,A 550s 0.20m 223.4 #97 557.566,SSENSOR,N,A 555s 0.10m 223.4 #98 560.546,SMOTOR,N,MOTOR_DONE: ticks: 44 max 24v: 0.005A avg 24v: 0.004A 560.680,SMOTOR,N,GC TICKS/TIME: 373/378451 560.863,HPITCH,N,Pitch completed from -10.23 cm (821) to -1.66 cm (2684) took 8.1 sec 0.047A (0.882A peak) 228 AD/sec 32 6 ticks 561.205,HPITCH,N,TRACK: b: 2669 a: 2673 d: -4 o: 11 561.321,SDIVE,N,Exiting active in GCPHASE_DONE(6) after 2 samples 561.459,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 561.627,SPOWER,N,All devices are off. 563.324,SSENSOR,N,P 561s 0.24m 223.1 #99 568.926,SSENSOR,N,P 567s 0.28m 223.1 #100 [ scene 3 time 578-550=28s ******** ] 574.523,SSENSOR,N,P 572s 0.15m 223.3 #101 580.129,SSENSOR,N,P 578s 0.26m 223.2 #102 581.274,SDIVE,N,turn rate during steady passive flight = 0.005 deg/s 581.406,SDIVE,N,Exiting passive after 4 samples 581.519,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 581.687,SPOWER,N,All devices are off. 581.902,SUSR,N,Step 4, pitch= -0.3, roll = 0.0, vbd = 0.0 [ Transition to scene 4 ] 585.259,SSENSOR,N,A 583s 0.29m 223.2 #103 590.234,SSENSOR,N,A 588s 0.25m 223.2 #104 [ begin pump -150 to 0 ] 595.234,SSENSOR,N,A 593s 0.28m 223.3 #105 600.234,SSENSOR,N,A 598s 0.31m 223.1 #106 605.234,SSENSOR,N,A 603s 0.30m 223.2 #107 610.234,SSENSOR,N,A 608s 0.30m 223.4 #108 615.209,SSENSOR,N,A 613s 0.34m 223.2 #109 620.209,SSENSOR,N,A 618s 0.27m 223.2 #110 625.209,SSENSOR,N,A 623s 0.26m 223.3 #111 [ time takes ~97s ] 630.209,SSENSOR,N,A 628s 0.28m 223.2 #112 635.184,SSENSOR,N,A 634s 0.31m 223.2 #113 640.184,SSENSOR,N,A 639s 0.25m 223.2 #114 645.184,SSENSOR,N,A 644s 0.25m 223.4 #115 650.159,SSENSOR,N,A 649s 0.29m 223.2 #116 655.159,SSENSOR,N,A 654s 0.33m 223.3 #117 660.134,SSENSOR,N,A 659s 0.31m 223.4 #118 665.134,SSENSOR,N,A 664s 0.34m 223.2 #119 670.109,SSENSOR,N,A 669s 0.29m 223.3 #120 675.084,SSENSOR,N,A 674s 0.25m 223.3 #121 680.084,SSENSOR,N,A 679s 0.23m 223.2 #122 683.830,SMOTOR,N,MOTOR_DONE: ticks: 31 max 24v: 0.007A avg 24v: 0.005A 683.964,SMOTOR,N,GC TICKS/TIME: 3980/4018481 684.142,HPITCH,N,Pitch completed from -1.66 cm (2684) to -0.30 cm (2979) took 1.3 sec 0.045A (0.170A peak) 231 AD/sec 51 ticks 684.479,HPITCH,N,TRACK: b: 2967 a: 2967 d: 3 o: 12 684.668,HVBD,N,Pump completed from -149.63 cc (3150) to 0.25 cc (2539 [2627, 2451]) took 97.4 sec 0.436A (2.638A peak) 6 AD/sec 3895 ticks 685.046,HVBD,N,TRACK: b: 2540 a: 2540 d: 0 o: -1 685.158,SDIVE,N,Exiting active in GCPHASE_DONE(6) after 20 samples 685.297,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 685.465,SPOWER,N,All devices are off. 687.163,SSENSOR,N,P 685s 0.36m 223.3 #123 692.763,SSENSOR,N,P 691s 0.28m 223.2 #124 698.368,SSENSOR,N,P 696s 0.28m 223.0 #125 [ scene 4 time wait = 15s ] 699.547,SDIVE,N,turn rate during steady passive flight = -0.039 deg/s 699.680,SDIVE,N,Exiting passive after 3 samples 699.794,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 699.962,SPOWER,N,All devices are off. 700.287,SUSR,N,Step 5, pitch= 1.7, roll = 0.0, vbd = 150.0 [now read scene 5 ] 703.519,SSENSOR,N,A 701s 0.23m 223.2 #126 708.444,SSENSOR,N,A 706s 0.26m 223.1 #127 [ transition - pitch ] 713.444,SSENSOR,N,A 711s 0.23m 223.2 #128 [ transition - pump 0-> 150cc ] 718.444,SSENSOR,N,A 716s 0.27m 223.2 #129 723.419,SSENSOR,N,A 721s 0.22m 223.2 #130 728.419,SSENSOR,N,A 727s 0.25m 223.4 #131 733.419,SSENSOR,N,A 732s 0.27m 223.2 #132 738.419,SSENSOR,N,A 737s 0.25m 223.2 #133 743.394,SSENSOR,N,A 742s 0.30m 223.3 #134 748.394,SSENSOR,N,A 747s 0.19m 223.2 #135 753.394,SSENSOR,N,A 752s 0.27m 223.4 #136 758.394,SSENSOR,N,A 757s 0.26m 223.2 #137 763.369,SSENSOR,N,A 762s 0.13m 223.2 #138 768.369,SSENSOR,N,A 767s 0.24m 223.3 #139 773.369,SSENSOR,N,A 772s 0.26m 223.2 #140 778.344,SSENSOR,N,A 777s 0.22m 223.5 #141 783.344,SSENSOR,N,A 782s 0.22m 223.3 #142 788.319,SSENSOR,N,A 787s 0.22m 223.4 #143 793.319,SSENSOR,N,A 792s 0.21m 223.4 #144 798.319,SSENSOR,N,A 797s 0.27m 223.2 #145 [ transition time = 107s pump 0->150cc ] 803.294,SSENSOR,N,A 802s 0.21m 223.0 #146 808.294,SSENSOR,N,A 807s 0.22m 223.2 #147 812.058,SMOTOR,N,MOTOR_DONE: ticks: 40 max 24v: 0.007A avg 24v: 0.005A 812.192,SMOTOR,N,GC TICKS/TIME: 4365/4407213 812.370,HPITCH,N,Pitch completed from -0.30 cm (2979) to 1.70 cm (3415) took 1.9 sec 0.050A (0.344A peak) 232 AD/sec 75 ticks 812.704,HPITCH,N,TRACK: b: 3401 a: 3404 d: -2 o: 11 812.868,HVBD,N,Pump completed from 0.00 cc (2540) to 150.61 cc (1926 [1971, 1882]) took 106.2 sec 0.428A (2.558A peak) 5 AD/sec 4247 ticks 813.248,HVBD,N,TRACK: b: 1928 a: 1928 d: 0 o: -2 813.359,SDIVE,N,Exiting active in GCPHASE_DONE(6) after 22 samples 813.498,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 813.666,SPOWER,N,All devices are off. 815.364,SSENSOR,N,P 813s 0.24m 223.0 #148 820.968,SSENSOR,N,P 819s 0.27m 223.0 #149 826.568,SSENSOR,N,P 824s 0.28m 223.0 #150 832.173,SSENSOR,N,P 830s 0.29m 222.9 #151 837.777,SSENSOR,N,P 836s 0.26m 223.1 #152 843.382,SSENSOR,N,P 841s 0.28m 223.1 #153 848.987,SSENSOR,N,P 847s 0.25m 223.3 #154 854.587,SSENSOR,N,P 853s 0.30m 223.1 #155 860.185,SSENSOR,N,P 858s 0.32m 223.1 #156 865.787,SSENSOR,N,P 864s 0.27m 223.0 #157 871.390,SSENSOR,N,P 869s 0.19m 223.3 #158 876.992,SSENSOR,N,P 875s 0.20m 223.3 #159 882.591,SSENSOR,N,P 881s 0.28m 223.1 #160 888.194,SSENSOR,N,P 886s 0.22m 223.1 #161 893.793,SSENSOR,N,P 892s 0.16m 223.3 #162 899.394,SSENSOR,N,P 897s 0.24m 223.2 #163 905.003,SSENSOR,N,P 903s 0.25m 223.1 #164 910.598,SSENSOR,N,P 909s 0.27m 223.0 #165 916.197,SSENSOR,N,P 914s 0.18m 223.1 #166 921.801,SSENSOR,N,P 920s 0.21m 223.2 #167 927.403,SSENSOR,N,P 925s 0.25m 223.1 #168 933.005,SSENSOR,N,P 931s 0.29m 223.2 #169 938.604,SSENSOR,N,P 937s 0.29m 222.9 #170 944.205,SSENSOR,N,P 942s 0.26m 223.2 #171 949.806,SSENSOR,N,P 948s 0.26m 223.2 #172 955.405,SSENSOR,N,P 953s 0.29m 223.0 #173 961.012,SSENSOR,N,P 959s 0.24m 223.2 #174 966.611,SSENSOR,N,P 965s 0.15m 223.2 #175 972.212,SSENSOR,N,P 970s 0.19m 223.1 #176 977.810,SSENSOR,N,P 976s 0.20m 223.2 #177 983.411,SSENSOR,N,P 981s 0.10m 223.1 #178 989.016,SSENSOR,N,P 987s 0.15m 223.2 #179 994.617,SSENSOR,N,P 993s 0.29m 223.2 #180 1000.216,SSENSOR,N,P 998s 0.19m 223.2 #181 1005.820,SSENSOR,N,P 1004s 0.21m 222.9 #182 1011.422,SSENSOR,N,P 1009s 0.13m 223.2 #183 1017.022,SSENSOR,N,P 1015s 0.31m 223.1 #184 1022.621,SSENSOR,N,P 1021s 0.29m 223.2 #185 1028.222,SSENSOR,N,P 1026s 0.19m 223.0 #186 1033.824,SSENSOR,N,P 1032s 0.19m 223.1 #187 1039.428,SSENSOR,N,P 1037s 0.27m 223.2 #188 1045.031,SSENSOR,N,P 1043s 0.22m 223.4 #189 1050.633,SSENSOR,N,P 1049s 0.18m 223.3 #190 1056.232,SSENSOR,N,P 1054s 0.19m 223.3 #191 1061.834,SSENSOR,N,P 1060s 0.23m 223.3 #192 1067.436,SSENSOR,N,P 1065s 0.26m 223.4 #193 1073.042,SSENSOR,N,P 1071s 0.22m 223.0 #194 1078.649,SSENSOR,N,P 1077s 0.26m 223.0 #195 1084.253,SSENSOR,N,P 1082s 0.25m 223.1 #196 1089.854,SSENSOR,N,P 1088s 0.29m 223.2 #197 1095.454,SSENSOR,N,P 1093s 0.21m 223.0 #198 1101.058,SSENSOR,N,P 1099s 0.27m 223.2 #199 1106.660,SSENSOR,N,P 1105s 0.19m 222.9 #200 1112.264,SSENSOR,N,P 1110s 0.19m 223.1 #201 1117.867,SSENSOR,N,P 1116s 0.23m 223.1 #202 1123.467,SSENSOR,N,P 1121s 0.25m 223.0 #203 1129.071,SSENSOR,N,P 1127s 0.19m 223.0 #204 1134.668,SSENSOR,N,P 1133s 0.22m 223.2 #205 1140.276,SSENSOR,N,P 1138s 0.23m 223.2 #206 1145.879,SSENSOR,N,P 1144s 0.22m 223.0 #207 [ wait too long time=330s ] 1147.051,SDIVE,N,turn rate during steady passive flight = -0.001 deg/s 1147.186,SDIVE,N,Exiting passive after 60 samples 1147.303,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 1147.473,SPOWER,N,All devices are off. 1147.868,SUSR,N,Step 6, pitch= 1.7, roll = 0.0, vbd = 200.0 [ read scene 6 ] 1150.942,SSENSOR,N,A 1149s 0.22m 223.2 #208 1155.942,SSENSOR,N,A 1154s 0.21m 223.3 #209 [ transition pump 150->200 ] 1160.917,SSENSOR,N,A 1159s 0.27m 223.1 #210 1165.892,SSENSOR,N,A 1164s 0.24m 223.0 #211 1170.892,SSENSOR,N,A 1169s 0.22m 223.4 #212 [ time = 37 secs ] 1175.892,SSENSOR,N,A 1174s 0.30m 223.3 #213 1180.892,SSENSOR,N,A 1179s 0.21m 223.2 #214 1185.892,SSENSOR,N,A 1184s 0.30m 223.2 #215 1188.969,SMOTOR,N,MOTOR_DONE: ticks: 59 max 24v: 0.007A avg 24v: 0.005A 1189.104,SMOTOR,N,GC TICKS/TIME: 1569/1587294 1189.305,HVBD,N,Pump completed from 151.60 cc (1922) to 200.41 cc (1723 [1773, 1673]) took 37.7 sec 0.420A (2.605A peak) 5 AD/sec 1507 ticks 1189.686,HVBD,N,TRACK: b: 1724 a: 1724 d: 0 o: -1 1189.798,SDIVE,N,Exiting active in GCPHASE_DONE(6) after 8 samples 1189.937,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 1190.107,SPOWER,N,All devices are off. 1191.802,SSENSOR,N,P 1190s 0.31m 223.1 #216 [ scene 6 short time at this step=10s ] 1197.405,SSENSOR,N,P 1195s 0.24m 223.2 #217 1198.591,SDIVE,N,turn rate during steady passive flight = -27.363 deg/s 1198.727,SDIVE,N,Exiting passive after 2 samples 1198.843,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 1199.012,SPOWER,N,All devices are off. 1199.191,SDIVE,N,Scenario run 1 of 1 finished. 1199.303,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 1199.473,SPOWER,N,All devices are off. 1199.563,SDIVE,N,Entering End of Scenario Phase [ End of Scenario run ] 1199.674,SSURF,N,Entering recovery state, force_to_surface=1, flush_data=1 1199.825,SPOWER,N,powerOFF (23,SBE_CT) without corresponding powerON! 1199.970,SPOWER,N,powerOFF (24,SBE_O2) without corresponding powerON! 1200.115,SPOWER,N,powerOFF (25,Optode) without corresponding powerON! 1200.260,SPOWER,N,powerOFF (26,WL_BB2F) without corresponding powerON! 1200.406,SPOWER,N,powerOFF (27,WL_BBFL2VMT) without corresponding powerON! 1200.545,SSURF,N,Starting surface maneuver... 1201.211,SSURF,N,disabling surface maneuver aborts 1202.423,SSURF,N,d= 0.24m 1202.587,HROLL,N,Roll commanded from 0.17 deg (2056) to 0.00 deg (2050)... 1203.824,HROLL,N,0.2 deg (ad: 2057) MOTOR_DONE: ticks: 26 max 24v: 0.005A avg 24v: 0.004A 1204.261,SMOTOR,N,GC TICKS/TIME: 29/30748 1204.350,HROLL,N,done. 1204.418,HROLL,N,Roll: No motion occurred. 1204.638,HPITCH,N,Pitch commanded from 1.70 cm (3414) to -11.78 cm (485)... 1205.902,HPITCH,N,1.3 cm (ad: 3317) ................... 1217.002,HPITCH,N,-10.5 cm (ad: 756) ..MOTOR_DONE: ticks: 8 max 24v: 0.005A avg 24v: 0.004A 1218.568,SMOTOR,N,GC TICKS/TIME: 518/520399 1218.659,HPITCH,N,done. 1218.806,HPITCH,N,Pitch completed from 1.70 cm (3415) to -11.81 cm (477) took 12.7 sec 0.031A (0.364A peak) 231 AD/sec 5 07 ticks 1219.155,HPITCH,N,TRACK: b: 497 a: 493 d: 0 o: -16 1219.404,HVBD,N,Pump commanded from 201.15 cc (1720) to 496.24 cc (517)... 1220.725,HVBD,N,201.6 cc (ad: 1718 [1772, 1665]) ................... 1231.850,HVBD,N,214.6 cc (ad: 1665 [1718, 1611]) ................... 1242.850,HVBD,N,228.6 cc (ad: 1608 [1658, 1556]) ................... 1253.950,HVBD,N,243.3 cc (ad: 1548 [1599, 1498]) ................... 1265.000,HVBD,N,256.8 cc (ad: 1493 [1543, 1441]) ................... 1276.075,HVBD,N,270.3 cc (ad: 1438 [1488, 1385]) ................... 1287.100,HVBD,N,284.3 cc (ad: 1381 [1430, 1331]) ................... 1298.175,HVBD,N,298.5 cc (ad: 1323 [1370, 1274]) ................... 1309.225,HVBD,N,312.3 cc (ad: 1267 [1315, 1218]) ................... 1320.350,HVBD,N,325.5 cc (ad: 1213 [1261, 1164]) ................... 1331.475,HVBD,N,338.8 cc (ad: 1159 [1207, 1109]) ................... 1342.575,HVBD,N,352.3 cc (ad: 1104 [1150, 1056]) ................... 1353.625,HVBD,N,365.7 cc (ad: 1049 [1095, 1002]) ................... 1364.775,HVBD,N,379.5 cc (ad: 993 [1037, 948]) ................... 1375.850,HVBD,N,392.7 cc (ad: 939 [982, 895]) ................... 1386.950,HVBD,N,405.7 cc (ad: 886 [926, 844]) ................... 1397.975,HVBD,N,419.2 cc (ad: 831 [868, 792]) ................... 1409.050,HVBD,N,433.0 cc (ad: 775 [810, 738]) ................... 1420.125,HVBD,N,445.7 cc (ad: 723 [757, 688]) ................... 1431.225,HVBD,N,458.7 cc (ad: 670 [701, 637]) ................... 1442.300,HVBD,N,471.7 cc (ad: 617 [646, 586]) ................... 1453.350,HVBD,N,485.2 cc (ad: 562 [588, 534]) .................MOTOR_DONE: ticks: 19 max 24v: 0.007A avg 24v: 0.005A 1462.941,SMOTOR,N,GC TICKS/TIME: 9701/9703254 1463.035,HVBD,N,done. 1463.192,HVBD,N,Pump completed from 201.15 cc (1720) to 496.49 cc (516 [539, 493]) took 242.0 sec 0.423A (2.609A peak) 4 AD/sec 9679 ticks 1463.575,HVBD,N,TRACK: b: 517 a: 517 d: 0 o: -1 1464.688,SSURF,N,Depth at end of surface maneuver = 0.225608 1466.256,SSURF,N,Finished surface maneuver... 1466.949,SSURF,N,in recovery because of CONTROL_FINISHED_OK/END_OF_SCENARIO_RUNS after 1 profiles... 1467.136,SSYS,N,Capture file closed Compressing THISDIVE.KAP to sg0001kz.a... 1470.664,SSYS,N,Capture file opened Compressing THISDIVE.DAT to sg0001dz.x... Compressing THISDIVE.LOG to sg0001lz.x... 1473.857,SSURF,N,Leaving recovery state ------ Main Menu ------ 1 [param ] Parameters and configuration 2 [hw ] Hardware tests and monitoring 3 [modes ] Test operation modes and files 4 [pdos ] PicoDOS commands (and exit) 5 [launch ] Pre-launch Enter selection (1-5,CR):