invalid entry, try again ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc 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 ($SM_CC) [552.17] 10) Change mission time (min) [35.00] 11) Change abort depth (m) [60.00] 12) Change heading error band (deg) [10.00] 13) Change time of no vertical velocity (sec) [120.00] 14) Change number of scenario runs to execute before recovery [1] CR) Return to previous menu Enter selection (1-13,CR): 1 Enter up to 20 lines, one line per scene, in the form pitch (cm), roll (deg), VBD (cc), time (secs) Blank line terminates entry -10,0,540,180 -1,0,-75,90 0,0,0,20 1,0,100,90 ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1 -10.0 0.0 540.0 180.0 2 -1.0 0.0 -75.0 90.0 3 0.0 0.0 0.0 20.0 4 1.0 0.0 100.0 90.0 1) Whole scene (pitch, roll, VBD) steps 2) Pitch steps (cm) 3) Roll steps (deg) 4) VBD steps (cc) 5) Passive mode time interval steps (s) 6) Clear all steps 7) Save scenario to file 8) Read scenario from file 9) Change surfacing VBD ($SM_CC) [552.17] 10) Change mission time (min) [35.00] 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: [0] Configuration saved to run000.cfg. ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1 -10.0 0.0 540.0 180.0 2 -1.0 0.0 -75.0 90.0 3 0.0 0.0 0.0 20.0 4 1.0 0.0 100.0 90.0 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) [552.17] 10) Change mission time (min) [35.00] 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): ------ 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): 1 ------ Edit parameters ------ *Flight control and mission definition 1 [basic ] Basic mission and glider parameters 2 [dive ] Dive parameters 3 [flight ] Flight parameters 4 [surface ] Surface parameters 5 [rafos ] RAFOS parameters 6 [password] Set/show glider login password 7 [telnum ] Set/show basestation phone number 8 [altnum ] Set/show basestation alternate phone number *Pitch, roll, VBD 9 [pitch ] Pitch parameters 10 [roll ] Roll parameters 11 [vbd ] VBD parameters *Sensors and peripherals 12 [config ] Hardware configuration parameters 13 [pressure] Pressure (external) parameters 14 [intpress] Pressure (internal) parameters 15 [compass ] Compass paramaters 16 [altim ] Altimetry parameters 17 [seabird ] Seabird CT calibration 18 [power ] Power parameters *Utility 19 [all ] Edit all parameters 20 [validate] Validate parameters 21 [details ] Show parameter details 22 [show ] Show changed parameters 23 [clear ] Clear changed parameters 24 [save ] Save parameters by name to file 25 [dump ] Dump parameters to screen 26 [load ] Load parameters from file 27 [reset ] Reset to defaults CR) Return to previous Enter selection (1-27,CR): 2 ------ Dive (current value in [])------- 1) $DIVE,[1] 2) $D_FLARE,[3] 3) $D_TGT,[25] 4) $D_ABORT,[60] 5) $D_NO_BLEED,[200] 6) $T_DIVE,[10] 7) $T_MISSION,[35] 8) $T_ABORT,[720] 9) $T_TURN,[225] 10) $T_TURN_SAMPINT,[5] 11) $T_NO_W,[120] 12) $USE_BATHY,[0] 13) $D_OFFGRID,[100] 14) $SIM_W,[0] 15) $SIM_PITCH,[0] CR) Return to previous menu Enter selection (1-15,CR): 7 $T_MISSION, New value? [35.00] 8 2463.558,SUSR,N,WARNING! $T_MISSION,8.0000: Value must be between 10.0000 and 4320.0000! Make the change anyway? [N] Change ignored! ------ Dive (current value in [])------- 1) $DIVE,[1] 2) $D_FLARE,[3] 3) $D_TGT,[25] 4) $D_ABORT,[60] 5) $D_NO_BLEED,[200] 6) $T_DIVE,[10] 7) $T_MISSION,[35] 8) $T_ABORT,[720] 9) $T_TURN,[225] 10) $T_TURN_SAMPINT,[5] 11) $T_NO_W,[120] 12) $USE_BATHY,[0] 13) $D_OFFGRID,[100] 14) $SIM_W,[0] 15) $SIM_PITCH,[0] CR) Return to previous menu Enter selection (1-15,CR): 7 $T_MISSION, New value? [35.00] 10 2481.443,HTT8,N,Updating parameter $T_MISSION to 10 ------ Dive (current value in [])------- 1) $DIVE,[1] 2) $D_FLARE,[3] 3) $D_TGT,[25] 4) $D_ABORT,[60] 5) $D_NO_BLEED,[200] 6) $T_DIVE,[10] 7) $T_MISSION,[10] 8) $T_ABORT,[720] 9) $T_TURN,[225] 10) $T_TURN_SAMPINT,[5] 11) $T_NO_W,[120] 12) $USE_BATHY,[0] 13) $D_OFFGRID,[100] 14) $SIM_W,[0] 15) $SIM_PITCH,[0] CR) Return to previous menu Enter selection (1-15,CR): ------ Edit parameters ------ *Flight control and mission definition 1 [basic ] Basic mission and glider parameters 2 [dive ] Dive parameters 3 [flight ] Flight parameters 4 [surface ] Surface parameters 5 [rafos ] RAFOS parameters 6 [password] Set/show glider login password 7 [telnum ] Set/show basestation phone number 8 [altnum ] Set/show basestation alternate phone number *Pitch, roll, VBD 9 [pitch ] Pitch parameters 10 [roll ] Roll parameters 11 [vbd ] VBD parameters *Sensors and peripherals 12 [config ] Hardware configuration parameters 13 [pressure] Pressure (external) parameters 14 [intpress] Pressure (internal) parameters 15 [compass ] Compass paramaters 16 [altim ] Altimetry parameters 17 [seabird ] Seabird CT calibration 18 [power ] Power parameters *Utility 19 [all ] Edit all parameters 20 [validate] Validate parameters 21 [details ] Show parameter details 22 [show ] Show changed parameters 23 [clear ] Clear changed parameters 24 [save ] Save parameters by name to file 25 [dump ] Dump parameters to screen 26 [load ] Load parameters from file 27 [reset ] Reset to defaults CR) Return to previous Enter selection (1-27,CR): 2495.136,HTT8,N,Writing NVRAM...done. ------ 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): 5 ------ 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 2526.888,SPOWER,N,All devices are off. Remove all old data and log files? [N] 2535.510,SUSR,N,This is a SCENARIO run. 2535.687,SUSR,N,Warning: $T_NO_W of 120.0 seconds may not be enough for the total scenario time of 384.0 seconds. 2535.912,HTT8,N,Updating parameter $KALMAN_USE to 2 2536.210,HTT8,N,Writing NVRAM...done. 2547.070,SUSR,N, Setting glider to pre-launch state ... 2547.315,HPITCH,N,Pitch commanded from -1.07 cm (2812) to -9.34 cm (1015)... 2548.686,HPITCH,N,-1.5 cm (ad: 2710) .............MOTOR_DONE: ticks: 15 max 24v: 0.005A avg 24v: 0.004A 2556.180,SMOTOR,N,GC TICKS/TIME: 310/312469 2556.271,HPITCH,N,done. 2556.411,HPITCH,N,Pitch completed from -1.06 cm (2814) to -9.38 cm (1005) took 7.3 sec 0.027A (0.165A peak) 247 AD/sec 2 92 ticks 2556.755,HPITCH,N,TRACK: b: 1027 a: 1023 d: 0 o: -18 2556.960,HROLL,N,Roll commanded from -0.23 deg (2042) to 0.00 deg (2050)... 2558.231,HROLL,N,-0.2 deg (ad: 2042) MOTOR_DONE: ticks: 26 max 24v: 0.005A avg 24v: 0.004A 2558.685,SMOTOR,N,GC TICKS/TIME: 29/30702 2558.774,HROLL,N,done. 2558.842,HROLL,N,Roll: No motion occurred. 2559.079,HVBD,N,Pump commanded from -74.82 cc (3033) to 540.15 cc (526)... 2560.372,HVBD,N,-74.3 cc (ad: 3031 [3214, 2846]) ................... 2571.447,HVBD,N,-56.4 cc (ad: 2958 [3122, 2792]) ................... 2582.497,HVBD,N,-38.3 cc (ad: 2884 [3038, 2729]) ................... 2593.497,HVBD,N,-20.9 cc (ad: 2813 [2956, 2668]) ................... 2604.547,HVBD,N,-2.7 cc (ad: 2739 [2874, 2605]) ................... 2615.597,HVBD,N,14.7 cc (ad: 2668 [2789, 2544]) ................... 2626.697,HVBD,N,32.9 cc (ad: 2594 [2705, 2481]) ................... 2637.772,HVBD,N,50.5 cc (ad: 2522 [2620, 2423]) ................... 2648.747,HVBD,N,67.7 cc (ad: 2452 [2537, 2366]) ................... 2659.772,HVBD,N,84.9 cc (ad: 2382 [2447, 2313]) ................... 2670.822,HVBD,N,101.8 cc (ad: 2313 [2357, 2266]) ................... 2681.847,HVBD,N,118.7 cc (ad: 2244 [2257, 2229]) ................... 2692.922,HVBD,N,134.2 cc (ad: 2181 [2170, 2191]) ................... 2703.947,HVBD,N,150.1 cc (ad: 2116 [2133, 2098]) ................... 2714.997,HVBD,N,165.8 cc (ad: 2052 [2075, 2028]) ................... 2726.022,HVBD,N,181.5 cc (ad: 1988 [2009, 1967]) ................... 2737.097,HVBD,N,196.5 cc (ad: 1927 [1945, 1906]) ................... 2748.197,HVBD,N,211.2 cc (ad: 1867 [1888, 1844]) ................... 2759.222,HVBD,N,226.2 cc (ad: 1806 [1821, 1788]) ................... 2770.297,HVBD,N,241.4 cc (ad: 1744 [1765, 1722]) ................... 2781.422,HVBD,N,255.8 cc (ad: 1685 [1719, 1649]) ................... 2792.572,HVBD,N,270.6 cc (ad: 1625 [1660, 1588]) ................... 2803.622,HVBD,N,285.3 cc (ad: 1565 [1601, 1528]) ................... 2814.647,HVBD,N,299.8 cc (ad: 1506 [1546, 1465]) ................... 2825.697,HVBD,N,313.7 cc (ad: 1449 [1490, 1406]) ................... 2836.822,HVBD,N,328.0 cc (ad: 1391 [1430, 1349]) ................... 2847.922,HVBD,N,342.9 cc (ad: 1330 [1368, 1290]) ................... 2859.022,HVBD,N,356.9 cc (ad: 1273 [1316, 1229]) ................... 2870.047,HVBD,N,370.2 cc (ad: 1219 [1258, 1179]) ................... 2881.147,HVBD,N,383.9 cc (ad: 1163 [1205, 1119]) ................... 2892.172,HVBD,N,397.6 cc (ad: 1107 [1146, 1066]) ................... 2903.247,HVBD,N,411.6 cc (ad: 1050 [1089, 1010]) ................... 2914.297,HVBD,N,425.4 cc (ad: 994 [1029, 958]) ................... 2925.422,HVBD,N,438.8 cc (ad: 939 [977, 900]) ................... 2936.497,HVBD,N,452.6 cc (ad: 883 [916, 848]) ................... 2947.522,HVBD,N,466.6 cc (ad: 826 [858, 793]) ................... 2958.622,HVBD,N,480.8 cc (ad: 768 [800, 736]) ................... 2969.647,HVBD,N,493.8 cc (ad: 715 [745, 684]) ................... 2980.722,HVBD,N,507.0 cc (ad: 661 [690, 630]) ................... 2991.697,HVBD,N,520.8 cc (ad: 605 [635, 574]) ................... 3002.672,HVBD,N,534.3 cc (ad: 550 [576, 524]) .........MOTOR_DONE: ticks: 15 max 24v: 0.007A avg 24v: 0.005A 3008.636,SMOTOR,N,GC TICKS/TIME: 17917/17918949 3008.733,HVBD,N,done. 3008.887,HVBD,N,Pump completed from -74.82 cc (3033) to 540.40 cc (525 [552, 498]) took 447.5 sec 0.411A (2.812A peak) 5 AD/sec 17899 ticks 3009.271,HVBD,N,TRACK: b: 526 a: 526 d: 0 o: -1 Ready to launch? [N] y 3100.224,SUSR,N,For a fresh start, reset the dive number to 1 Reset dive/run number to: [0] 1 3109.107,SSURF,N,Initializing data file 3109.309,SSURF,N,Initializing log file 3110.774,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. 0.121,SSURF,N,Entering surface state 0.205,SSYS,N,Capture file closed 1.292,SSYS,N,uploading complete capture due to forcing Compressing THISDIVE.KAP to sg0000kz.x... 2.810,SSYS,N,Capture file opened Compressing THISDIVE.LOG to sg0000lz.x... 0.848,SSURF,N,Dive started Thu Jan 31 11:53:07 2008 0.967,SUSR,N,Heap: 0+126975 bytes 1.092,SGLMALLOC,N,glcheck: 340892 bytes free, 10 blocks free, 16788 bytes alloc, 20 blocks alloc, 1.331,HTT8,N,Updating parameter $KALMAN_USE to 2 1.624,HTT8,N,Writing NVRAM...done. 11.877,SUSR,N,Heap: 0+126975 bytes 11.990,SGLMALLOC,N,glcheck: 357720 bytes free, 2 blocks free, 320 bytes alloc, 13 blocks alloc, 12.267,HTT8,N,Updating parameter $DIVE to 1 12.554,HTT8,N,Writing NVRAM...done. 20.079,SSURF,N,Initializing data file 20.260,SSURF,N,Initializing log file 22.130,SSURF,N,Starting dive at 22s 22.213,SSURF,N,Leaving surface state 22.394,SUSR,N,Step 1, pitch= -9.3, roll = 0.0, vbd = 540.0 23.865,SDIVE,N,exiting active w/o sampling due to early MOTOR_DONE 24.293,SMOTOR,N,MOTOR_DONE: ticks: 13 max 24v: 0.005A avg 24v: 0.004A 24.425,SMOTOR,N,GC TICKS/TIME: 16/17261 24.541,SDIVE,N,Exiting active in GCPHASE_DONE(6) after 1 samples 24.678,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 24.845,SPOWER,N,All devices are off. 29.205,SSENSOR,N,P 27s 0.28m 19.2 #1 34.821,SSENSOR,N,P 33s 0.34m 22.9 #2 40.438,SSENSOR,N,P 38s 0.22m 19.6 #3 46.054,SSENSOR,N,P 44s 0.33m 9.5 #4 51.678,SSENSOR,N,P 50s 0.27m 15.6 #5 57.297,SSENSOR,N,P 55s 0.35m 10.7 #6 62.920,SSENSOR,N,P 61s 0.13m 35.1 #7 68.547,SSENSOR,N,P 66s 0.35m 9.3 #8 74.152,SSENSOR,N,P 72s 0.17m 16.3 #9 79.768,SSENSOR,N,P 78s 0.30m 31.0 #10 85.385,SSENSOR,N,P 83s 0.39m 19.7 #11 91.003,SSENSOR,N,P 89s 0.19m 21.8 #12 96.618,SSENSOR,N,P 95s 0.28m 27.8 #13 102.238,SSENSOR,N,P 100s 0.30m 37.9 #14 107.858,SSENSOR,N,P 106s 0.32m 14.7 #15 113.475,SSENSOR,N,P 111s 0.15m 30.2 #16 119.091,SSENSOR,N,P 117s 0.26m 17.4 #17 124.711,SSENSOR,N,P 123s 0.23m 14.0 #18 130.325,SSENSOR,N,P 128s 0.22m 20.9 #19 135.941,SSENSOR,N,P 134s 0.30m 25.7 #20 141.560,SSENSOR,N,P 139s 0.29m 23.9 #21 147.173,SSENSOR,N,P 145s 0.26m 34.8 #22 152.794,SSENSOR,N,P 151s 0.39m 31.8 #23 158.408,SSENSOR,N,P 156s 0.23m 18.9 #24 164.031,SSENSOR,N,P 162s 0.22m 31.2 #25 169.648,SSENSOR,N,P 168s 0.31m 16.8 #26 175.267,SSENSOR,N,P 173s 0.30m 18.8 #27 180.884,SSENSOR,N,P 179s 0.31m 27.7 #28 186.503,SSENSOR,N,P 184s 0.19m 30.8 #29 192.120,SSENSOR,N,P 190s 0.27m 16.1 #30 197.736,SSENSOR,N,P 196s 0.14m 15.5 #31 203.357,SSENSOR,N,P 201s 0.36m 14.7 #32 208.971,SSENSOR,N,P 207s 0.19m 25.3 #33 214.591,SSENSOR,N,P 213s 0.39m 11.6 #34 220.206,SSENSOR,N,P 218s 0.20m 21.3 #35 225.822,SSENSOR,N,P 224s 0.17m 15.6 #36 231.441,SSENSOR,N,P 229s 0.25m 24.9 #37 237.060,SSENSOR,N,P 235s 0.18m 35.5 #38 242.679,SSENSOR,N,P 241s 0.24m 24.7 #39 248.297,SSENSOR,N,P 246s 0.27m 28.2 #40 253.919,SSENSOR,N,P 252s 0.26m 29.1 #41 259.535,SSENSOR,N,P 257s 0.13m 38.2 #42 265.158,SSENSOR,N,P 263s 0.16m 19.1 #43 270.777,SSENSOR,N,P 269s 0.21m 24.4 #44 276.392,SSENSOR,N,P 274s 0.22m 12.5 #45 282.010,SSENSOR,N,P 280s 0.32m 34.6 #46 287.624,SSENSOR,N,P 286s 0.42m 6.7 #47 293.251,SSENSOR,N,P 291s 0.15m 59.1 #48 298.871,SSENSOR,N,P 297s 0.19m 36.3 #49 304.494,SSENSOR,N,P 302s 0.14m 70.6 #50 310.111,SSENSOR,N,P 308s -0.06m 70.0 #51 315.723,SSENSOR,N,P 314s 0.01m 52.4 #52 321.343,SSENSOR,N,P 319s 0.09m 10.4 #53 326.968,SSENSOR,N,P 325s 0.37m 25.8 #54 332.582,SSENSOR,N,P 331s 0.31m 30.2 #55 338.208,SSENSOR,N,P 336s 0.38m 30.1 #56 343.831,SSENSOR,N,P 342s 0.58m 16.7 #57 349.450,SSENSOR,N,P 347s 0.73m 12.1 #58 355.065,SSENSOR,N,P 353s 0.63m 9.1 #59 360.686,SSENSOR,N,P 359s 0.48m 18.1 #60 362.015,SDIVE,N,turn rate during steady passive flight = -0.084 deg/s 362.149,SDIVE,N,Exiting passive after 60 samples 362.265,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 362.433,SPOWER,N,All devices are off. 362.742,SUSR,N,Step 2, pitch= -1.1, roll = 0.0, vbd = -75.0 365.891,SSENSOR,N,A 364s 0.53m 45.9 #61 371.041,SSENSOR,N,A 369s 0.04m 52.7 #62 376.066,SSENSOR,N,A 374s 0.01m 57.7 #63 381.041,SSENSOR,N,A 379s 0.06m 43.8 #64 386.016,SSENSOR,N,A 384s -0.01m 25.6 #65 391.041,SSENSOR,N,A 389s 0.11m 15.1 #66 396.041,SSENSOR,N,A 394s 0.17m 353.7 #67 401.016,SSENSOR,N,A 399s 0.25m 329.7 #68 406.016,SSENSOR,N,A 404s 0.31m 322.7 #69 410.991,SSENSOR,N,A 409s 0.01m 318.4 #70 415.966,SSENSOR,N,A 414s -0.00m 345.9 #71 420.916,SSENSOR,N,A 419s 0.03m 8.7 #72 425.916,SSENSOR,N,A 424s 0.03m 32.1 #73 430.916,SSENSOR,N,A 429s 0.34m 42.4 #74 435.941,SSENSOR,N,A 434s 0.22m 42.5 #75 440.916,SSENSOR,N,A 439s 0.00m 43.0 #76 445.941,SSENSOR,N,A 445s 0.02m 31.3 #77 450.966,SSENSOR,N,A 450s 0.53m 18.9 #78 455.916,SSENSOR,N,A 455s 0.50m 1.2 #79 460.941,SSENSOR,N,A 460s 0.06m 356.5 #80 465.916,SSENSOR,N,A 465s 0.32m 5.1 #81 470.916,SSENSOR,N,A 470s 0.77m 17.1 #82 475.916,SSENSOR,N,A 475s 0.31m 18.8 #83 480.891,SSENSOR,N,A 480s 0.23m 15.1 #84 485.891,SSENSOR,N,A 485s 0.45m 16.0 #85 490.866,SSENSOR,N,A 490s 0.24m 26.1 #86 494.920,SMOTOR,N,MOTOR_DONE: ticks: 129 max 24v: 1.108A avg 24v: 0.013A 495.055,SMOTOR,N,GC TICKS/TIME: 5176/5225614 495.242,HPITCH,N,Pitch completed from -9.39 cm (1003) to -1.05 cm (2816) took 8.1 sec 0.081A (0.222A peak) 223 AD/sec 32 4 ticks 495.585,HPITCH,N,TRACK: b: 2798 a: 2801 d: -3 o: 15 495.782,HVBD,N,Bleed completed from 542.11 cc (518) to -74.82 cc (3033 [3213, 2854]) took 118.0 sec 0.000A (1.085A peak) 21 AD/sec 4720 ticks 496.136,HVBD,N,TRACK: b: 3033 a: 3033 d: 0 o: 0 496.246,SDIVE,N,Exiting active in GCPHASE_DONE(6) after 26 samples 496.385,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 496.553,SPOWER,N,All devices are off. 498.288,SSENSOR,N,P 496s 0.15m 30.4 #87 503.905,SSENSOR,N,P 502s 0.45m 38.3 #88 509.524,SSENSOR,N,P 507s 0.35m 36.7 #89 515.133,SSENSOR,N,P 513s 0.09m 30.5 #90 520.756,SSENSOR,N,P 519s 0.30m 19.0 #91 526.371,SSENSOR,N,P 524s 0.10m 13.5 #92 531.993,SSENSOR,N,P 530s -0.01m 359.5 #93 537.615,SSENSOR,N,P 536s 0.58m 356.6 #94 543.224,SSENSOR,N,P 541s 0.58m 4.5 #95 548.841,SSENSOR,N,P 547s 0.31m 3.6 #96 554.459,SSENSOR,N,P 552s 0.36m 6.6 #97 560.076,SSENSOR,N,P 558s 0.08m 12.9 #98 565.692,SSENSOR,N,P 564s -0.03m 12.7 #99 571.317,SSENSOR,N,P 569s 0.32m 14.7 #100 576.935,SSENSOR,N,P 575s 0.16m 12.1 #101 582.553,SSENSOR,N,P 580s 0.20m 24.7 #102 588.171,SSENSOR,N,P 586s 0.08m 33.1 #103 593.791,SSENSOR,N,P 592s 0.36m 18.3 #104 595.126,SDIVE,N,turn rate during steady passive flight = 0.482 deg/s 595.258,SDIVE,N,Exiting passive after 18 samples 595.374,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 595.542,SPOWER,N,All devices are off. 595.748,SUSR,N,Step 3, pitch= 0.0, roll = 0.0, vbd = 0.0 598.941,SSENSOR,N,A 597s 0.16m 10.4 #105 603.966,SSENSOR,N,A 602s 0.14m 11.4 #106 607.889,SMOTOR,N,MOTOR_DONE: no ticks 607.979,SMOTOR,N,GC TICKS/TIME: 403/407759 608.157,HPITCH,N,Pitch completed from -1.05 cm (2816) to 0.02 cm (3049) took 0.9 sec 0.053A (0.217A peak) 245 AD/sec 38 ticks 608.496,HPITCH,N,TRACK: b: 3035 a: 3035 d: 1 o: 14 608.687,HVBD,N,Pump completed from -75.31 cc (3035) to -61.82 cc (2980 [3146, 2814]) took 9.1 sec 0.381A (2.833A peak) 6 AD/sec 363 ticks 609.059,HVBD,N,TRACK: b: 2980 a: 2980 d: -252 o: 0 609.173,SDIVE,N,Exiting active in GCPHASE_VBD(2) after 2 samples 609.309,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 609.477,SPOWER,N,All devices are off. 611.210,SSENSOR,N,P 609s 0.83m 20.1 #107 612.500,SDIVE,C,T_MISSION time exceeded, will pump to max 612.619,SDIVE,N,Exiting passive after 1 samples 612.733,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 612.901,SPOWER,N,All devices are off. 613.183,SUSR,N,Step 4, pitch= 1.1, roll = 0.0, vbd = 100.0 616.305,SSENSOR,N,A 614s 1.12m 28.7 #108 621.305,SSENSOR,N,A 619s 0.67m 24.4 #109 626.305,SSENSOR,N,A 624s 0.88m 13.6 #110 631.330,SSENSOR,N,A 629s 1.61m 12.4 #111 636.230,SSENSOR,N,A 634s 1.33m 17.4 #112 641.205,SSENSOR,N,A 639s 1.24m 25.9 #113 646.230,SSENSOR,N,A 644s 2.07m 33.9 #114 651.230,SSENSOR,N,A 649s 2.56m 25.4 #115 656.255,SSENSOR,N,A 654s 2.10m 23.6 #116 661.230,SSENSOR,N,A 659s 2.58m 23.5 #117 666.230,SSENSOR,N,A 665s 3.22m 27.4 #118 671.230,SSENSOR,N,A 670s 3.35m 24.6 #119 676.205,SSENSOR,N,A 675s 3.37m 12.2 #120 681.155,SSENSOR,N,A 680s 3.94m 1.6 #121 686.155,SSENSOR,N,A 685s 4.41m 353.0 #122 691.155,SSENSOR,N,A 690s 4.24m 353.5 #123 696.130,SSENSOR,N,A 695s 4.54m 13.1 #124 701.130,SSENSOR,N,A 700s 5.12m 15.9 #125 706.130,SSENSOR,N,A 705s 4.98m 24.2 #126 711.105,SSENSOR,N,A 710s 5.13m 23.7 #127 716.105,SSENSOR,N,A 715s 5.96m 17.3 #128 726.055,SSENSOR,N,A 725s 5.90m 4.9 #130 731.030,SSENSOR,N,A 730s 6.07m 7.2 #131 735.382,SMOTOR,N,MOTOR_DONE: ticks: 33 max 24v: 0.007A avg 24v: 0.005A 735.516,SMOTOR,N,GC TICKS/TIME: 4780/4826543 735.696,HPITCH,N,Pitch completed from 0.02 cm (3049) to 1.09 cm (3281) took 1.1 sec 0.095A (0.193A peak) 215 AD/sec 43 t icks 736.030,HPITCH,N,TRACK: b: 3277 a: 3277 d: 3 o: 4 736.222,HVBD,N,Pump completed from -61.82 cc (2980) to 100.33 cc (2319 [2384, 2255]) took 117.5 sec 0.431A (2.848A peak) 5 AD/sec 4701 ticks 736.609,HVBD,N,TRACK: b: 2320 a: 2320 d: 0 o: -1 736.720,SDIVE,N,Exiting active in GCPHASE_DONE(6) after 24 samples 736.859,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 737.027,SPOWER,N,All devices are off. 738.760,SSENSOR,N,P 737s 6.33m 18.0 #132 744.383,SSENSOR,N,P 742s 6.99m 22.8 #133 750.004,SSENSOR,N,P 748s 7.13m 24.0 #134 755.620,SSENSOR,N,P 754s 7.19m 32.8 #135 761.236,SSENSOR,N,P 759s 7.58m 26.5 #136 766.852,SSENSOR,N,P 765s 7.63m 44.7 #137 772.471,SSENSOR,N,P 770s 7.57m 24.2 #138 778.088,SSENSOR,N,P 776s 7.29m 18.5 #139 783.699,SSENSOR,N,P 782s 7.56m 1.8 #140 789.326,SSENSOR,N,P 787s 7.47m 20.7 #141 794.940,SSENSOR,N,P 793s 7.32m 4.1 #142 800.553,SSENSOR,N,P 798s 7.64m 3.0 #143 806.184,SSENSOR,N,P 804s 7.55m 16.0 #144 811.806,SSENSOR,N,P 810s 7.53m 14.8 #145 817.416,SSENSOR,N,P 815s 7.61m 9.7 #146 823.035,SSENSOR,N,P 821s 7.89m 12.7 #147 828.650,SSENSOR,N,P 827s 8.03m 9.2 #148 834.271,SSENSOR,N,P 832s 8.07m 18.8 #149 835.595,SDIVE,N,turn rate during steady passive flight = 0.007 deg/s 835.728,SDIVE,N,Exiting passive after 18 samples 835.843,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 836.011,SPOWER,N,All devices are off. 836.317,SDIVE,N,Scenario run 1 of 1 finished. 836.428,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 836.596,SPOWER,N,All devices are off. 836.685,SDIVE,N,Entering End of Scenario Phase 836.794,SSURF,N,Entering recovery state, force_to_surface=1, flush_data=1 836.944,SPOWER,N,powerOFF (23,SBE_CT) without corresponding powerON! 837.088,SPOWER,N,powerOFF (24,SBE_O2) without corresponding powerON! 837.231,SPOWER,N,powerOFF (25,Optode) without corresponding powerON! 837.375,SPOWER,N,powerOFF (26,WL_BB2F) without corresponding powerON! 837.520,SPOWER,N,powerOFF (27,WL_BBFL2VMT) without corresponding powerON! 837.657,SSURF,N,Starting surface maneuver... 838.435,SSURF,N,disabling surface maneuver aborts 839.661,SSURF,N,d= 8.08m 839.761,SSURF,N,below depth goal (2.000000 m) 839.858,SSURF,N,pumping to max CC 840.091,HVBD,N,Pump commanded from 100.82 cc (2317) to 552.17 cc (477)... 841.386,HVBD,N,100.6 cc (ad: 2318 [2384, 2253]) ................... 852.461,HVBD,N,109.9 cc (ad: 2280 [2346, 2215]) ................... 863.486,HVBD,N,118.2 cc (ad: 2246 [2304, 2184]) ................... 874.461,HVBD,N,123.6 cc (ad: 2224 [2269, 2176]) ................... 885.511,HVBD,N,130.0 cc (ad: 2198 [2228, 2168]) ................... 896.536,HVBD,N,138.3 cc (ad: 2164 [2176, 2153]) ................... 907.611,HVBD,N,152.1 cc (ad: 2108 [2126, 2088]) ................... 918.761,HVBD,N,166.8 cc (ad: 2048 [2069, 2025]) ................... 929.786,HVBD,N,182.3 cc (ad: 1985 [2016, 1952]) ................... 940.811,HVBD,N,197.2 cc (ad: 1924 [1954, 1893]) ................... 951.936,HVBD,N,211.7 cc (ad: 1865 [1894, 1835]) ................... 963.011,HVBD,N,226.4 cc (ad: 1805 [1840, 1768]) ................... 974.186,HVBD,N,241.9 cc (ad: 1742 [1782, 1700]) ................... 985.286,HVBD,N,256.8 cc (ad: 1681 [1721, 1640]) ................... 996.361,HVBD,N,271.3 cc (ad: 1622 [1662, 1578]) ................... 1007.461,HVBD,N,286.3 cc (ad: 1561 [1606, 1514]) ................... 1018.486,HVBD,N,300.5 cc (ad: 1503 [1548, 1457]) ................... 1029.536,HVBD,N,314.5 cc (ad: 1446 [1496, 1394]) ................... 1040.586,HVBD,N,328.9 cc (ad: 1387 [1438, 1334]) ................... 1051.636,HVBD,N,343.7 cc (ad: 1327 [1377, 1275]) ................... 1062.736,HVBD,N,358.1 cc (ad: 1268 [1317, 1218]) ................... 1073.761,HVBD,N,371.6 cc (ad: 1213 [1255, 1169]) ................... 1084.836,HVBD,N,385.1 cc (ad: 1158 [1189, 1125]) ................... 1095.911,HVBD,N,398.6 cc (ad: 1103 [1138, 1067]) ................... 1106.986,HVBD,N,412.8 cc (ad: 1045 [1087, 1002]) ................... 1118.061,HVBD,N,427.3 cc (ad: 986 [1022, 951]) ................... 1129.111,HVBD,N,440.8 cc (ad: 931 [965, 896]) ................... 1140.186,HVBD,N,454.8 cc (ad: 874 [909, 838]) ................... 1151.261,HVBD,N,468.3 cc (ad: 819 [840, 797]) ................... 1162.311,HVBD,N,481.3 cc (ad: 766 [783, 747]) ................... 1173.336,HVBD,N,494.8 cc (ad: 711 [740, 683]) ................... 1184.436,HVBD,N,508.5 cc (ad: 655 [686, 623]) ................... 1195.411,HVBD,N,522.2 cc (ad: 599 [628, 569]) ................... 1206.486,HVBD,N,536.7 cc (ad: 540 [565, 514]) ................... 1217.536,HVBD,N,550.7 cc (ad: 483 [509, 456]) ..MOTOR_DONE: ticks: 7 max 24v: 0.007A avg 24v: 0.006A 1219.162,SMOTOR,N,GC TICKS/TIME: 15122/15123869 1219.258,HVBD,N,done. 1219.416,HVBD,N,Pump completed from 100.57 cc (2318) to 552.42 cc (476 [501, 451]) took 357.7 sec 0.420A (2.850A peak) 5 AD/sec 14308 ticks; 4 retries 1219.827,HVBD,N,TRACK: b: 477 a: 477 d: 0 o: -1 1220.062,SSURF,N,waiting 30 sec for glider to ascend ... 1251.279,SSURF,N,d= -0.00m 1251.454,HROLL,N,Roll commanded from -0.31 deg (2039) to 0.00 deg (2050)... 1252.724,HROLL,N,-0.3 deg (ad: 2040) MOTOR_DONE: ticks: 26 max 24v: 0.005A avg 24v: 0.004A 1253.176,SMOTOR,N,GC TICKS/TIME: 29/30697 1253.265,HROLL,N,done. 1253.333,HROLL,N,Roll: No motion occurred. 1253.561,HPITCH,N,Pitch commanded from 1.08 cm (3280) to -11.78 cm (485)... 1254.859,HPITCH,N,0.6 cm (ad: 3184) ................... 1265.909,HPITCH,N,-11.5 cm (ad: 554) MOTOR_DONE: ticks: 1 max 24v: 0.004A avg 24v: 0.004A 1266.474,SMOTOR,N,GC TICKS/TIME: 475/477401 1266.565,HPITCH,N,done. 1266.710,HPITCH,N,Pitch completed from 1.09 cm (3281) to -11.84 cm (471) took 11.8 sec 0.035A (0.185A peak) 238 AD/sec 4 71 ticks 1267.060,HPITCH,N,TRACK: b: 494 a: 491 d: 2 o: -20 1268.052,SSURF,N,Depth at end of surface maneuver = 0.947835 1269.682,SSURF,N,Finished surface maneuver... 1270.362,SSURF,N,in recovery because of CONTROL_FINISHED_OK/END_OF_SCENARIO_RUNS after 1 profiles... 1270.549,SSYS,N,Capture file closed 1271.610,SSYS,N,uploading complete capture due to forcing Compressing THISDIVE.KAP to sg0001kz.x... 1273.769,SSYS,N,Capture file opened Compressing THISDIVE.DAT to sg0001dz.x... Compressing THISDIVE.LOG to sg0001lz.x... 1276.569,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): 2 ------ Hardware Menu ------ *Motors and VBD 1 [pitch ] Pitch control 2 [roll ] Roll control 3 [vbd ] VBD control *Fixed Devices 4 [pressure] Pressure sensor 5 [compass ] Compass (tcm2) 6 [gps ] GPS 7 [modem ] Modem (xmodem mode) 8 [intpress] Internal pressure 9 [altim ] Altimeter *Sensors 10 [ct ] C,T sensors 11 [nullct ] NULL C,T sensors 12 [o2 ] O2 sensor 13 [wetlabs ] WETLabs VSF & fluorometer 14 [optode ] Optode *Other 15 [batt ] Batteries and fuel gauges 16 [lowlevel] Low-level hardware (IO,A-D,CF) 17 [misc ] Miscellaneous (travel, timeouts, date/time) 18 [develop ] Developer tests CR) Return to previous Enter selection (1-18,CR): 4 ------ Pressure menu ------ 1 [selftest] Basic self-test 2 [param ] Edit pressure parameters CR) Return to previous Enter selection (1-2,CR): 1 Are you at sealevel? [Y] Number of samples to collect and average: [11] Show all samples? [N] 1413.721,HPRES,N, A/D Volts Meters 1413.970,HPRES,N, Mean: 268623.2 0.312093 3.55 1414.244,HPRES,N, RMS: 268623.2 0.312093 3.55 1414.454,HPRES,N, Min: 267989 0.311356 3.50 1414.663,HPRES,N, Max: 269307 0.312888 3.61 1414.837,HPRES,N, Peak-to-peak: 1318 1.531285 uV 1415.004,HPRES,N, Volts per bit: 1.161825e-09 1415.161,HPRES,N,Current pressure y-intercept is -26.072701 (psig). 1415.347,HPRES,N,If truly at sealevel, this data suggests it should be -31.257235 (psig). Accept new value? [N] ------ Pressure menu ------ 1 [selftest] Basic self-test 2 [param ] Edit pressure parameters CR) Return to previous Enter selection (1-2,CR): 2 ------ Pressure (current value in [])------- 1) $PRESSURE_YINT,[-26.072701] 2) $PRESSURE_SLOPE,[0.0001163609] 3) $AD7714Ch0Gain,[128] CR) Return to previous menu Enter selection (1-3,CR): ------ Pressure menu ------ 1 [selftest] Basic self-test 2 [param ] Edit pressure parameters CR) Return to previous Enter selection (1-2,CR): ------ Hardware Menu ------ *Motors and VBD 1 [pitch ] Pitch control 2 [roll ] Roll control 3 [vbd ] VBD control *Fixed Devices 4 [pressure] Pressure sensor 5 [compass ] Compass (tcm2) 6 [gps ] GPS 7 [modem ] Modem (xmodem mode) 8 [intpress] Internal pressure 9 [altim ] Altimeter *Sensors 10 [ct ] C,T sensors 11 [nullct ] NULL C,T sensors 12 [o2 ] O2 sensor 13 [wetlabs ] WETLabs VSF & fluorometer 14 [optode ] Optode *Other 15 [batt ] Batteries and fuel gauges 16 [lowlevel] Low-level hardware (IO,A-D,CF) 17 [misc ] Miscellaneous (travel, timeouts, date/time) 18 [develop ] Developer tests CR) Return to previous Enter selection (1-18,CR): 16 ------ Lowlevel hardware functions ------ *I/O lines 1 [io ] Set and read IO lines 2 [watchdog] Hang and test the watchdog *A/D converters 3 [int ] Internal A/D 4 [ext ] External A/D (AD7714) *Power control 5 [measure ] Measure device power 6 [report ] Report active devices *CompactFlash 7 [cf ] CF card evaluation 8 [size ] Report CF card size *TPU 9 [terminal] Serial port terminal mode CR) Return to previous Enter selection (1-10,CR): ------ Hardware Menu ------ *Motors and VBD 1 [pitch ] Pitch control 2 [roll ] Roll control 3 [vbd ] VBD control *Fixed Devices 4 [pressure] Pressure sensor 5 [compass ] Compass (tcm2) 6 [gps ] GPS 7 [modem ] Modem (xmodem mode) 8 [intpress] Internal pressure 9 [altim ] Altimeter *Sensors 10 [ct ] C,T sensors 11 [nullct ] NULL C,T sensors 12 [o2 ] O2 sensor 13 [wetlabs ] WETLabs VSF & fluorometer 14 [optode ] Optode *Other 15 [batt ] Batteries and fuel gauges 16 [lowlevel] Low-level hardware (IO,A-D,CF) 17 [misc ] Miscellaneous (travel, timeouts, date/time) 18 [develop ] Developer tests CR) Return to previous Enter selection (1-18,CR): ------ 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): 1 ------ Edit parameters ------ *Flight control and mission definition 1 [basic ] Basic mission and glider parameters 2 [dive ] Dive parameters 3 [flight ] Flight parameters 4 [surface ] Surface parameters 5 [rafos ] RAFOS parameters 6 [password] Set/show glider login password 7 [telnum ] Set/show basestation phone number 8 [altnum ] Set/show basestation alternate phone number *Pitch, roll, VBD 9 [pitch ] Pitch parameters 10 [roll ] Roll parameters 11 [vbd ] VBD parameters *Sensors and peripherals 12 [config ] Hardware configuration parameters 13 [pressure] Pressure (external) parameters 14 [intpress] Pressure (internal) parameters 15 [compass ] Compass paramaters 16 [altim ] Altimetry parameters 17 [seabird ] Seabird CT calibration 18 [power ] Power parameters *Utility 19 [all ] Edit all parameters 20 [validate] Validate parameters 21 [details ] Show parameter details 22 [show ] Show changed parameters 23 [clear ] Clear changed parameters 24 [save ] Save parameters by name to file 25 [dump ] Dump parameters to screen 26 [load ] Load parameters from file 27 [reset ] Reset to defaults CR) Return to previous Enter selection (1-27,CR): 13 ------ Pressure (current value in [])------- 1) $PRESSURE_YINT,[-26.072701] 2) $PRESSURE_SLOPE,[0.0001163609] 3) $AD7714Ch0Gain,[128] CR) Return to previous menu Enter selection (1-3,CR): ------ Edit parameters ------ *Flight control and mission definition 1 [basic ] Basic mission and glider parameters 2 [dive ] Dive parameters 3 [flight ] Flight parameters 4 [surface ] Surface parameters 5 [rafos ] RAFOS parameters 6 [password] Set/show glider login password 7 [telnum ] Set/show basestation phone number 8 [altnum ] Set/show basestation alternate phone number *Pitch, roll, VBD 9 [pitch ] Pitch parameters 10 [roll ] Roll parameters 11 [vbd ] VBD parameters *Sensors and peripherals 12 [config ] Hardware configuration parameters 13 [pressure] Pressure (external) parameters 14 [intpress] Pressure (internal) parameters 15 [compass ] Compass paramaters 16 [altim ] Altimetry parameters 17 [seabird ] Seabird CT calibration 18 [power ] Power parameters *Utility 19 [all ] Edit all parameters 20 [validate] Validate parameters 21 [details ] Show parameter details 22 [show ] Show changed parameters 23 [clear ] Clear changed parameters 24 [save ] Save parameters by name to file 25 [dump ] Dump parameters to screen 26 [load ] Load parameters from file 27 [reset ] Reset to defaults CR) Return to previous Enter selection (1-27,CR): ------ 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): 2 ------ Hardware Menu ------ *Motors and VBD 1 [pitch ] Pitch control 2 [roll ] Roll control 3 [vbd ] VBD control *Fixed Devices 4 [pressure] Pressure sensor 5 [compass ] Compass (tcm2) 6 [gps ] GPS 7 [modem ] Modem (xmodem mode) 8 [intpress] Internal pressure 9 [altim ] Altimeter *Sensors 10 [ct ] C,T sensors 11 [nullct ] NULL C,T sensors 12 [o2 ] O2 sensor 13 [wetlabs ] WETLabs VSF & fluorometer 14 [optode ] Optode *Other 15 [batt ] Batteries and fuel gauges 16 [lowlevel] Low-level hardware (IO,A-D,CF) 17 [misc ] Miscellaneous (travel, timeouts, date/time) 18 [develop ] Developer tests CR) Return to previous Enter selection (1-18,CR): 1 ------ Pitch Control Menu ------ 1 [read ] Current position 2 [ad ] Move to position (AD counts) 3 [eu ] Move to position (cm, - for fwd) 4 [edit ] Edit pitch parameters 5 [cycle ] Run pitch duty cycles 6 [cyclepr ] Run pitch & roll duty cycles (CTL-Q to quit) 7 [pitch ] Pitch test CR) Return to previous Enter selection (1-7,CR): 1 1531.513,HPITCH,N, Pitch control position = -11.85 cm, (AD#= 470 ) ------ Pitch Control Menu ------ 1 [read ] Current position 2 [ad ] Move to position (AD counts) 3 [eu ] Move to position (cm, - for fwd) 4 [edit ] Edit pitch parameters 5 [cycle ] Run pitch duty cycles 6 [cyclepr ] Run pitch & roll duty cycles (CTL-Q to quit) 7 [pitch ] Pitch test CR) Return to previous Enter selection (1-7,CR): ------ Hardware Menu ------ *Motors and VBD 1 [pitch ] Pitch control 2 [roll ] Roll control 3 [vbd ] VBD control *Fixed Devices 4 [pressure] Pressure sensor 5 [compass ] Compass (tcm2) 6 [gps ] GPS 7 [modem ] Modem (xmodem mode) 8 [intpress] Internal pressure 9 [altim ] Altimeter *Sensors 10 [ct ] C,T sensors 11 [nullct ] NULL C,T sensors 12 [o2 ] O2 sensor 13 [wetlabs ] WETLabs VSF & fluorometer 14 [optode ] Optode *Other 15 [batt ] Batteries and fuel gauges 16 [lowlevel] Low-level hardware (IO,A-D,CF) 17 [misc ] Miscellaneous (travel, timeouts, date/time) 18 [develop ] Developer tests CR) Return to previous Enter selection (1-18,CR): 3 ------ VBD menu ------ 1 [read ] Current position 2 [ad ] Move to position (AD counts) 3 [eu ] Move to position (cc) 4 [param ] Edit vbd parameters 5 [timing ] Characterize valve 6 [noise ] Valve noise test 7 [open ] Open valve 8 [close ] Close valve 9 [cycle ] Cycle valve 10 [pump ] Pump & bleed cycles (pressure chamber or AD) 11 [soak ] Pump and hold at pressure (pressure chamber or AD) 12 [special ] Special test #1 (motor current, amb pressure & pot) CR) Return to previous Enter selection (1-12,CR): 1 1550.359,HVBD,N, VBD lin pot AD counts: 472 470 1550.509,HVBD,N, VBD bladder position = 553.64 cc, (AD#= 471 ) ------ VBD menu ------ 1 [read ] Current position 2 [ad ] Move to position (AD counts) 3 [eu ] Move to position (cc) 4 [param ] Edit vbd parameters 5 [timing ] Characterize valve 6 [noise ] Valve noise test 7 [open ] Open valve 8 [close ] Close valve 9 [cycle ] Cycle valve 10 [pump ] Pump & bleed cycles (pressure chamber or AD) 11 [soak ] Pump and hold at pressure (pressure chamber or AD) 12 [special ] Special test #1 (motor current, amb pressure & pot) CR) Return to previous Enter selection (1-12,CR): ------ Hardware Menu ------ *Motors and VBD 1 [pitch ] Pitch control 2 [roll ] Roll control 3 [vbd ] VBD control *Fixed Devices 4 [pressure] Pressure sensor 5 [compass ] Compass (tcm2) 6 [gps ] GPS 7 [modem ] Modem (xmodem mode) 8 [intpress] Internal pressure 9 [altim ] Altimeter *Sensors 10 [ct ] C,T sensors 11 [nullct ] NULL C,T sensors 12 [o2 ] O2 sensor 13 [wetlabs ] WETLabs VSF & fluorometer 14 [optode ] Optode *Other 15 [batt ] Batteries and fuel gauges 16 [lowlevel] Low-level hardware (IO,A-D,CF) 17 [misc ] Miscellaneous (travel, timeouts, date/time) 18 [develop ] Developer tests CR) Return to previous Enter selection (1-18,CR): 4 ------ Pressure menu ------ 1 [selftest] Basic self-test 2 [param ] Edit pressure parameters CR) Return to previous Enter selection (1-2,CR): 1 Are you at sealevel? [Y] n Number of samples to collect and average: [11] Show all samples? [N] y 1582.987,HPRES,N,smp#: A/D 1583.247,HPRES,N,0000: 00262776 1583.499,HPRES,N,0001: 00261826 1584.149,HPRES,N,0002: 00262876 1584.599,HPRES,N,0003: 00262309 1584.699,HPRES,N,0004: 00261891 1584.899,HPRES,N,0005: 00261575 1585.098,HPRES,N,0006: 00262215 1585.299,HPRES,N,0007: 00261707 1585.499,HPRES,N,0008: 00262270 1585.699,HPRES,N,0009: 00261894 1585.899,HPRES,N,0010: 00262214 1585.995,HPRES,N, A/D Volts Meters 1586.245,HPRES,N, Mean: 262141.2 0.304562 3.03 1586.503,HPRES,N, RMS: 262141.4 0.304562 3.03 1586.713,HPRES,N, Min: 261575 0.303904 2.99 1586.923,HPRES,N, Max: 262876 0.305416 3.09 1587.097,HPRES,N, Peak-to-peak: 1301 1.511534 uV 1587.261,HPRES,N, Volts per bit: 1.161825e-09 1587.363,HPRES,N,Not changing pressure Y-intercept ------ Pressure menu ------ 1 [selftest] Basic self-test 2 [param ] Edit pressure parameters CR) Return to previous Enter selection (1-2,CR): ------ Hardware Menu ------ *Motors and VBD 1 [pitch ] Pitch control 2 [roll ] Roll control 3 [vbd ] VBD control *Fixed Devices 4 [pressure] Pressure sensor 5 [compass ] Compass (tcm2) 6 [gps ] GPS 7 [modem ] Modem (xmodem mode) 8 [intpress] Internal pressure 9 [altim ] Altimeter *Sensors 10 [ct ] C,T sensors 11 [nullct ] NULL C,T sensors 12 [o2 ] O2 sensor 13 [wetlabs ] WETLabs VSF & fluorometer 14 [optode ] Optode *Other 15 [batt ] Batteries and fuel gauges 16 [lowlevel] Low-level hardware (IO,A-D,CF) 17 [misc ] Miscellaneous (travel, timeouts, date/time) 18 [develop ] Developer tests CR) Return to previous Enter selection (1-18,CR): ------ 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): ------ 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): ”ype tt8: Type tt8: Type tt8: ªype tt8: Type tt8: Type tt8: ------ 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): go ------ 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): 5 ------ 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): ------ 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): 1 ------ Edit parameters ------ *Flight control and mission definition 1 [basic ] Basic mission and glider parameters 2 [dive ] Dive parameters 3 [flight ] Flight parameters 4 [surface ] Surface parameters 5 [rafos ] RAFOS parameters 6 [password] Set/show glider login password 7 [telnum ] Set/show basestation phone number 8 [altnum ] Set/show basestation alternate phone number *Pitch, roll, VBD 9 [pitch ] Pitch parameters 10 [roll ] Roll parameters 11 [vbd ] VBD parameters *Sensors and peripherals 12 [config ] Hardware configuration parameters 13 [pressure] Pressure (external) parameters 14 [intpress] Pressure (internal) parameters 15 [compass ] Compass paramaters 16 [altim ] Altimetry parameters 17 [seabird ] Seabird CT calibration 18 [power ] Power parameters *Utility 19 [all ] Edit all parameters 20 [validate] Validate parameters 21 [details ] Show parameter details 22 [show ] Show changed parameters 23 [clear ] Clear changed parameters 24 [save ] Save parameters by name to file 25 [dump ] Dump parameters to screen 26 [load ] Load parameters from file 27 [reset ] Reset to defaults CR) Return to previous Enter selection (1-27,CR): 4 ------ Parameters (current value in [])------- 1) $D_SURF,[2] 2) $D_FINISH,[0] 3) $D_PITCH,[0] 4) $D_CALL,[0] 5) $SURFACE_URGENCY,[0] 6) $SURFACE_URGENCY_TRY,[0] 7) $SURFACE_URGENCY_FORCE,[0] 8) $USE_ICE,[0] 9) $ICE_FREEZE_MARGIN,[0.30000001] 10) $SM_CC,[552.17029] 11) $N_FILEKB,[4] 12) $FILEMGR,[0] 13) $CALL_NDIVES,[1] 14) $COMM_SEQ,[0] 15) $KERMIT,[0] 16) $N_NOCOMM,[1] 17) $N_NOSURFACE,[0] 18) $UPLOAD_DIVES_MAX,[-1] 19) $CALL_TRIES,[5] 20) $CALL_WAIT,[60] 21) $CAPUPLOAD,[0] 22) $CAPMAXSIZE,[100000] 23) $T_GPS,[15] 24) $N_GPS,[20] 25) $T_GPS_ALMANAC,[0] 26) $T_GPS_CHARGE,[-7908.415] 27) $T_RSLEEP,[2] CR) Return to previous menu Enter selection (1-27,CR): ------ Edit parameters ------ *Flight control and mission definition 1 [basic ] Basic mission and glider parameters 2 [dive ] Dive parameters 3 [flight ] Flight parameters 4 [surface ] Surface parameters 5 [rafos ] RAFOS parameters 6 [password] Set/show glider login password 7 [telnum ] Set/show basestation phone number 8 [altnum ] Set/show basestation alternate phone number *Pitch, roll, VBD 9 [pitch ] Pitch parameters 10 [roll ] Roll parameters 11 [vbd ] VBD parameters *Sensors and peripherals 12 [config ] Hardware configuration parameters 13 [pressure] Pressure (external) parameters 14 [intpress] Pressure (internal) parameters 15 [compass ] Compass paramaters 16 [altim ] Altimetry parameters 17 [seabird ] Seabird CT calibration 18 [power ] Power parameters *Utility 19 [all ] Edit all parameters 20 [validate] Validate parameters 21 [details ] Show parameter details 22 [show ] Show changed parameters 23 [clear ] Clear changed parameters 24 [save ] Save parameters by name to file 25 [dump ] Dump parameters to screen 26 [load ] Load parameters from file 27 [reset ] Reset to defaults CR) Return to previous Enter selection (1-27,CR): 3 ------ Flight (current value in [])------- 1) $D_SAFE,[0] 2) $APOGEE_PITCH,[-5] 3) $MAX_BUOY,[125] 4) $COURSE_BIAS,[0] 5) $GLIDE_SLOPE,[30] 6) $SPEED_FACTOR,[1] 7) $RHO,[1.023] 8) $MASS,[52000] 9) $NAV_MODE,[1] 10) $FERRY_MAX,[45] 11) $KALMAN_USE,[2] 12) $HD_A,[0.003] 13) $HD_B,[0.0099999998] 14) $HD_C,[9.9999997e-06] 15) $HEADING,[105] 16) $ESCAPE_HEADING,[0] 17) $ESCAPE_HEADING_DELTA,[10] 18) $FIX_MISSING_TIMEOUT,[0] 19) $TGT_DEFAULT_LAT,[47.360001] 20) $TGT_DEFAULT_LON,[-122.18] 21) $TGT_AUTO_DEFAULT,[0] CR) Return to previous menu Enter selection (1-21,CR): ------ Edit parameters ------ *Flight control and mission definition 1 [basic ] Basic mission and glider parameters 2 [dive ] Dive parameters 3 [flight ] Flight parameters 4 [surface ] Surface parameters 5 [rafos ] RAFOS parameters 6 [password] Set/show glider login password 7 [telnum ] Set/show basestation phone number 8 [altnum ] Set/show basestation alternate phone number *Pitch, roll, VBD 9 [pitch ] Pitch parameters 10 [roll ] Roll parameters 11 [vbd ] VBD parameters *Sensors and peripherals 12 [config ] Hardware configuration parameters 13 [pressure] Pressure (external) parameters 14 [intpress] Pressure (internal) parameters 15 [compass ] Compass paramaters 16 [altim ] Altimetry parameters 17 [seabird ] Seabird CT calibration 18 [power ] Power parameters *Utility 19 [all ] Edit all parameters 20 [validate] Validate parameters 21 [details ] Show parameter details 22 [show ] Show changed parameters 23 [clear ] Clear changed parameters 24 [save ] Save parameters by name to file 25 [dump ] Dump parameters to screen 26 [load ] Load parameters from file 27 [reset ] Reset to defaults CR) Return to previous Enter selection (1-27,CR): 2 ------ Dive (current value in [])------- 1) $DIVE,[1] 2) $D_FLARE,[3] 3) $D_TGT,[25] 4) $D_ABORT,[60] 5) $D_NO_BLEED,[200] 6) $T_DIVE,[10] 7) $T_MISSION,[10] 8) $T_ABORT,[720] 9) $T_TURN,[225] 10) $T_TURN_SAMPINT,[5] 11) $T_NO_W,[120] 12) $USE_BATHY,[0] 13) $D_OFFGRID,[100] 14) $SIM_W,[0] 15) $SIM_PITCH,[0] CR) Return to previous menu Enter selection (1-15,CR): ------ Edit parameters ------ *Flight control and mission definition 1 [basic ] Basic mission and glider parameters 2 [dive ] Dive parameters 3 [flight ] Flight parameters 4 [surface ] Surface parameters 5 [rafos ] RAFOS parameters 6 [password] Set/show glider login password 7 [telnum ] Set/show basestation phone number 8 [altnum ] Set/show basestation alternate phone number *Pitch, roll, VBD 9 [pitch ] Pitch parameters 10 [roll ] Roll parameters 11 [vbd ] VBD parameters *Sensors and peripherals 12 [config ] Hardware configuration parameters 13 [pressure] Pressure (external) parameters 14 [intpress] Pressure (internal) parameters 15 [compass ] Compass paramaters 16 [altim ] Altimetry parameters 17 [seabird ] Seabird CT calibration 18 [power ] Power parameters *Utility 19 [all ] Edit all parameters 20 [validate] Validate parameters 21 [details ] Show parameter details 22 [show ] Show changed parameters 23 [clear ] Clear changed parameters 24 [save ] Save parameters by name to file 25 [dump ] Dump parameters to screen 26 [load ] Load parameters from file 27 [reset ] Reset to defaults CR) Return to previous Enter selection (1-27,CR): ------ 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): 2 ------ Hardware Menu ------ *Motors and VBD 1 [pitch ] Pitch control 2 [roll ] Roll control 3 [vbd ] VBD control *Fixed Devices 4 [pressure] Pressure sensor 5 [compass ] Compass (tcm2) 6 [gps ] GPS 7 [modem ] Modem (xmodem mode) 8 [intpress] Internal pressure 9 [altim ] Altimeter *Sensors 10 [ct ] C,T sensors 11 [nullct ] NULL C,T sensors 12 [o2 ] O2 sensor 13 [wetlabs ] WETLabs VSF & fluorometer 14 [optode ] Optode *Other 15 [batt ] Batteries and fuel gauges 16 [lowlevel] Low-level hardware (IO,A-D,CF) 17 [misc ] Miscellaneous (travel, timeouts, date/time) 18 [develop ] Developer tests CR) Return to previous Enter selection (1-18,CR): 3 ------ VBD menu ------ 1 [read ] Current position 2 [ad ] Move to position (AD counts) 3 [eu ] Move to position (cc) 4 [param ] Edit vbd parameters 5 [timing ] Characterize valve 6 [noise ] Valve noise test 7 [open ] Open valve 8 [close ] Close valve 9 [cycle ] Cycle valve 10 [pump ] Pump & bleed cycles (pressure chamber or AD) 11 [soak ] Pump and hold at pressure (pressure chamber or AD) 12 [special ] Special test #1 (motor current, amb pressure & pot) CR) Return to previous Enter selection (1-12,CR): ------ Hardware Menu ------ *Motors and VBD 1 [pitch ] Pitch control 2 [roll ] Roll control 3 [vbd ] VBD control *Fixed Devices 4 [pressure] Pressure sensor 5 [compass ] Compass (tcm2) 6 [gps ] GPS 7 [modem ] Modem (xmodem mode) 8 [intpress] Internal pressure 9 [altim ] Altimeter *Sensors 10 [ct ] C,T sensors 11 [nullct ] NULL C,T sensors 12 [o2 ] O2 sensor 13 [wetlabs ] WETLabs VSF & fluorometer 14 [optode ] Optode *Other 15 [batt ] Batteries and fuel gauges 16 [lowlevel] Low-level hardware (IO,A-D,CF) 17 [misc ] Miscellaneous (travel, timeouts, date/time) 18 [develop ] Developer tests CR) Return to previous Enter selection (1-18,CR): ------ 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): 1 ------ Edit parameters ------ *Flight control and mission definition 1 [basic ] Basic mission and glider parameters 2 [dive ] Dive parameters 3 [flight ] Flight parameters 4 [surface ] Surface parameters 5 [rafos ] RAFOS parameters 6 [password] Set/show glider login password 7 [telnum ] Set/show basestation phone number 8 [altnum ] Set/show basestation alternate phone number *Pitch, roll, VBD 9 [pitch ] Pitch parameters 10 [roll ] Roll parameters 11 [vbd ] VBD parameters *Sensors and peripherals 12 [config ] Hardware configuration parameters 13 [pressure] Pressure (external) parameters 14 [intpress] Pressure (internal) parameters 15 [compass ] Compass paramaters 16 [altim ] Altimetry parameters 17 [seabird ] Seabird CT calibration 18 [power ] Power parameters *Utility 19 [all ] Edit all parameters 20 [validate] Validate parameters 21 [details ] Show parameter details 22 [show ] Show changed parameters 23 [clear ] Clear changed parameters 24 [save ] Save parameters by name to file 25 [dump ] Dump parameters to screen 26 [load ] Load parameters from file 27 [reset ] Reset to defaults CR) Return to previous Enter selection (1-27,CR): 11 ------ VBD (current value in [])------- 1) $VBD_MIN,[477 (552.2 cc)] 2) $VBD_MAX,[3951 (-300.0 cc)] 3) $C_VBD,[2728] 4) $VBD_DBAND,[+/- 2.00] 5) $VBD_CNV,[-0.24529999] 6) $VBD_TIMEOUT,[720] 7) $PITCH_VBD_SHIFT,[0.0012300001] 8) $VBD_PUMP_AD_RATE_SURFACE,[5] 9) $VBD_PUMP_AD_RATE_APOGEE,[4] 10) $VBD_BLEED_AD_RATE,[8] 11) $UNCOM_BLEED,[20] 12) $VBD_MAXERRORS,[1] CR) Return to previous menu Enter selection (1-12,CR): 3 $C_VBD, New value? [2728.00] 2540 3305.507,HTT8,N,Updating parameter $C_VBD to 2540 ------ VBD (current value in [])------- 1) $VBD_MIN,[477 (506.1 cc)] 2) $VBD_MAX,[3951 (-346.1 cc)] 3) $C_VBD,[2540] 4) $VBD_DBAND,[+/- 2.00] 5) $VBD_CNV,[-0.24529999] 6) $VBD_TIMEOUT,[720] 7) $PITCH_VBD_SHIFT,[0.0012300001] 8) $VBD_PUMP_AD_RATE_SURFACE,[5] 9) $VBD_PUMP_AD_RATE_APOGEE,[4] 10) $VBD_BLEED_AD_RATE,[8] 11) $UNCOM_BLEED,[20] 12) $VBD_MAXERRORS,[1] CR) Return to previous menu Enter selection (1-12,CR): ------ Edit parameters ------ *Flight control and mission definition 1 [basic ] Basic mission and glider parameters 2 [dive ] Dive parameters 3 [flight ] Flight parameters 4 [surface ] Surface parameters 5 [rafos ] RAFOS parameters 6 [password] Set/show glider login password 7 [telnum ] Set/show basestation phone number 8 [altnum ] Set/show basestation alternate phone number *Pitch, roll, VBD 9 [pitch ] Pitch parameters 10 [roll ] Roll parameters 11 [vbd ] VBD parameters *Sensors and peripherals 12 [config ] Hardware configuration parameters 13 [pressure] Pressure (external) parameters 14 [intpress] Pressure (internal) parameters 15 [compass ] Compass paramaters 16 [altim ] Altimetry parameters 17 [seabird ] Seabird CT calibration 18 [power ] Power parameters *Utility 19 [all ] Edit all parameters 20 [validate] Validate parameters 21 [details ] Show parameter details 22 [show ] Show changed parameters 23 [clear ] Clear changed parameters 24 [save ] Save parameters by name to file 25 [dump ] Dump parameters to screen 26 [load ] Load parameters from file 27 [reset ] Reset to defaults CR) Return to previous Enter selection (1-27,CR): 3321.794,HTT8,N,Writing NVRAM...done. ------ 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): 5 ------ 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): 1 ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1 -10.0 0.0 540.0 180.0 2 -1.0 0.0 -75.0 90.0 3 0.0 0.0 0.0 20.0 4 1.0 0.0 100.0 90.0 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) [552.17] 10) Change mission time (min) [10.00] 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): 1 Enter up to 20 lines, one line per scene, in the form pitch (cm), roll (deg), VBD (cc), time (secs) Blank line terminates entry -10,0,400,90 -10,0,-150,20 -1.5,0,-150,90 0,0,0,15 1.5,0,150,90 ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1 -10.0 0.0 400.0 90.0 2 -10.0 0.0 -150.0 20.0 3 -1.5 0.0 -150.0 90.0 4 0.0 0.0 0.0 15.0 5 1.5 0.0 150.0 90.0 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 ($SM_CC) [552.17] 10) Change mission time (min) [10.00] 11) Change abort depth (m) [60.00] 12) Change heading error band (deg) [10.00] 13) Change time of no vertical velocity (sec) [120.00] 14) Change number of scenario runs to execute before recovery [1] CR) Return to previous menu Enter selection (1-13,CR): 7 Save to which configuration file: [0] 2 Configuration saved to run002.cfg. ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1 -10.0 0.0 400.0 90.0 2 -10.0 0.0 -150.0 20.0 3 -1.5 0.0 -150.0 90.0 4 0.0 0.0 0.0 15.0 5 1.5 0.0 150.0 90.0 1) Whole scene (pitch, roll, VBD) steps 2) Pitch steps (cm) 3) Roll steps (deg) 4) VBD steps (cc) 5) Passive mode time interval steps (s) 6) Clear all steps 7) Save scenario to file 8) Read scenario from file 9) Change surfacing VBD ($SM_CC) [552.17] 10) Change mission time (min) [10.00] 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 3564.290,SPOWER,N,All devices are off. Remove all old data and log files? [N] 3569.195,SUSR,N,This is a SCENARIO run. 3569.375,SUSR,N,Warning: $T_NO_W of 120.0 seconds may not be enough for the total scenario time of 309.0 seconds. 3570.190,HTT8,N,Updating parameter $KALMAN_USE to 2 3570.488,HTT8,N,Writing NVRAM...done. 3581.362,SUSR,N, Setting glider to pre-launch state ... 3581.614,HPITCH,N,Pitch commanded from -13.97 cm (8) to -9.51 cm (978)... 3582.977,HPITCH,N,-13.9 cm (ad: 14) ......MOTOR_DONE: ticks: 4 max 24v: 0.004A avg 24v: 0.004A 3586.717,SMOTOR,N,GC TICKS/TIME: 161/163463 3586.808,HPITCH,N,done. 3586.957,HPITCH,N,Pitch completed from -13.97 cm (7) to -8.28 cm (1246) took 3.6 sec 0.059A (0.179A peak) 346 AD/sec 143 ticks; 11 retries (4 w/o motion) 3587.358,HPITCH,N,TRACK: b: 1227 a: 1256 d: -287 o: -10 3587.568,HROLL,N,Roll commanded from -0.31 deg (2039) to 0.00 deg (2050)... 3588.833,HROLL,N,-0.3 deg (ad: 2040) MOTOR_DONE: ticks: 26 max 24v: 0.005A avg 24v: 0.004A 3589.286,SMOTOR,N,GC TICKS/TIME: 29/30704 3589.375,HROLL,N,done. 3589.443,HROLL,N,Roll: No motion occurred. 3589.683,HVBD,N,Bleed commanded from 508.26 cc (468) to 400.08 cc (909)... 3590.972,HVBD,N,505.8 cc (ad: 478 [505, 460]) ................... 3601.997,HVBD,N,445.5 cc (ad: 724 [790, 666]) ....... ------ Launch Menu ------ 1 [scene ] Set scenario mode 2 [selftest] Perform interactive self test 3 [autotest] Perform autonomous self test 4 [reset ] Reset dive/run number 5 [test ] Test Launch! 6 [sea ] Sea Launch! CR) Return to previous Enter selection (1-6,CR): 1 ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1 -10.0 0.0 400.0 90.0 2 -10.0 0.0 -150.0 20.0 3 -1.5 0.0 -150.0 90.0 4 0.0 0.0 0.0 15.0 5 1.5 0.0 150.0 90.0 1) Whole scene (pitch, roll, VBD) steps 2) Pitch steps (cm) 3) Roll steps (deg) 4) VBD steps (cc) 5) Passive mode time interval steps (s) 6) Clear all steps 7) Save scenario to file 8) Read scenario from file 9) Change surfacing VBD ($SM_CC) [552.17] 10) Change mission time (min) [10.00] 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): 1 Enter up to 20 lines, one line per scene, in the form pitch (cm), roll (deg), VBD (cc), time (secs) Blank line terminates entry -10,0,400,90 -10,0,-1200,120 invalid entry, try again -10,0,-120,,, invalid entry, try again -10,0,-200,120 -1.50,-150,90 invalid entry, try again -1.5,0,-150,90 0,0,0,15 1.5,0,150,120 ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1 -10.0 0.0 400.0 90.0 2 -10.0 0.0 -200.0 120.0 3 -1.5 0.0 -150.0 90.0 4 0.0 0.0 0.0 15.0 5 1.5 0.0 150.0 120.0 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) [552.17] 10) Change mission time (min) [10.00] 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 5282.073,SPOWER,N,All devices are off. Remove all old data and log files? [N] 5284.867,SUSR,N,This is a SCENARIO run. 5285.047,SUSR,N,Warning: $T_NO_W of 120.0 seconds may not be enough for the total scenario time of 439.0 seconds. 5285.273,HTT8,N,Updating parameter $KALMAN_USE to 2 5285.570,HTT8,N,Writing NVRAM...done. 5296.423,SUSR,N, Setting glider to pre-launch state ... 5296.667,HPITCH,N,Pitch commanded from -7.78 cm (1354) to -9.51 cm (978)... 5297.974,HPITCH,N,-8.2 cm (ad: 1252) ..MOTOR_DONE: ticks: 9 max 24v: 0.004A avg 24v: 0.004A 5299.564,SMOTOR,N,GC TICKS/TIME: 74/76413 5299.652,HPITCH,N,done. 5299.795,HPITCH,N,Pitch completed from -7.78 cm (1354) to -9.55 cm (968) took 1.5 sec 0.035A (0.165A peak) 249 AD/sec 62 ticks 5300.132,HPITCH,N,TRACK: b: 990 a: 986 d: 0 o: -18 5300.334,HROLL,N,Roll commanded from -0.34 deg (2038) to 0.00 deg (2050)... 5301.631,HROLL,N,-0.3 deg (ad: 2039) MOTOR_DONE: ticks: 26 max 24v: 0.005A avg 24v: 0.004A 5302.084,SMOTOR,N,GC TICKS/TIME: 29/30741 5302.173,HROLL,N,done. 5302.242,HROLL,N,Roll: No motion occurred. 5302.481,HVBD,N,Pump commanded from 399.35 cc (912) to 400.08 cc (909)... 5303.773,HVBD,N,399.8 cc (ad: 910 [962, 859]) .MOTOR_DONE: ticks: 12 max 24v: 0.005A avg 24v: 0.004A 5304.890,SMOTOR,N,GC TICKS/TIME: 54/57416 5304.978,HVBD,N,done. 5305.138,HVBD,N,Pump completed from 399.59 cc (911) to 399.84 cc (910 [961, 859]) took 1.0 sec 0.074A (0.285A peak) 1 AD /sec 39 ticks 5305.498,HVBD,N,TRACK: b: 909 a: 909 d: 0 o: 1 Ready to launch? [N] y 5317.466,SUSR,N,For a fresh start, reset the dive number to 1 Reset dive/run number to: [0] 5336.740,SSURF,N,Initializing data file 5337.031,SSURF,N,Initializing log file 5338.480,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. 0.825,SSURF,N,Entering surface state 0.909,SSYS,N,Capture file closed Compressing THISDIVE.KAP to sg0000kz.a... 3.124,SSYS,N,Capture file opened Compressing THISDIVE.LOG to sg0000lz.x... 0.119,SSURF,N,Dive started Thu Jan 31 13:22:12 2008 0.238,SUSR,N,Heap: 0+126975 bytes 0.357,SGLMALLOC,N,glcheck: 357528 bytes free, 10 blocks free, 320 bytes alloc, 13 blocks alloc, 0.580,HTT8,N,Updating parameter $KALMAN_USE to 2 0.874,HTT8,N,Writing NVRAM...done. 11.122,SUSR,N,Heap: 0+126975 bytes 11.236,SGLMALLOC,N,glcheck: 357720 bytes free, 2 blocks free, 320 bytes alloc, 13 blocks alloc, 11.513,HTT8,N,Updating parameter $DIVE to 1 11.799,HTT8,N,Writing NVRAM...done. 19.321,SSURF,N,Initializing data file 19.523,SSURF,N,Initializing log file 21.526,SSURF,N,Starting dive at 21s 21.610,SSURF,N,Leaving surface state 21.782,SUSR,N,Step 1, pitch= -9.5, roll = 0.0, vbd = 400.0 23.253,SDIVE,N,exiting active w/o sampling due to early MOTOR_DONE 23.682,SMOTOR,N,MOTOR_DONE: ticks: 13 max 24v: 0.004A avg 24v: 0.004A 23.815,SMOTOR,N,GC TICKS/TIME: 16/17355 23.931,SDIVE,N,Exiting active in GCPHASE_DONE(6) after 1 samples 24.068,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 24.235,SPOWER,N,All devices are off. 28.207,SSENSOR,N,P 26s 0.29m 11.2 #1 34.081,SSENSOR,N,P 32s 0.45m 11.8 #2 39.449,SSENSOR,N,P 37s 0.44m 16.2 #3 45.068,SSENSOR,N,P 43s 0.38m 17.6 #4