------ 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): 2 97.518,SUSR,N,Beginning selftest #7 on glider SG147 Remove old data/log files (for self-test before sea launch)? [N] y 17.988,SUSR,N,Removing old data and log files Deleting SG0000KZ.A... Deleting SG0000KL.A... Deleting SG0000LZ.A... Deleting SG0001KZ.A... Deleting SG0001DZ.A... Deleting SG0001LZ.A... 6 files deleted. 19.097,SUSR,N,Thu Jan 31 10:56:17 2008 Can the antenna be used for GPS and communications? [Y] n 26.846,SUSR,N,---- Checking GPS ---- 26.933,SUSR,N,---- Checking Iridium phone ---- 27.034,SUSR,N,---- Checking bathymetry data ---- 27.138,SUSR,N,Heap: 0+126975 bytes 27.239,SGLMALLOC,N,glcheck: 358352 bytes free, 2 blocks free, 0 bytes alloc, 0 blocks alloc, 31.411,SBATHY,N,Loaded bathymap.004 [112 137] 100m (LL) 48.0667,-122.4833 (UR) 48.1675,-122.2988 36.554,SBATHY,N,Loaded bathymap.001 [101 100] 100m (LL) 47.8833,-122.4000 (UR) 47.9742,-122.2658 42.369,SBATHY,N,Loaded bathymap.002 [102 112] 100m (LL) 47.9500,-122.3833 (UR) 48.0418,-122.2328 46.578,SBATHY,N,Loaded bathymap.003 [ 47 174] 100m (LL) 48.0333,-122.4667 (UR) 48.0756,-122.2325 46.855,SBATHY,N,Current location (2116.474609,-15752.764648) is covered by at least one bathymetry file 47.053,SGLMALLOC,N,glcheck: 341724 bytes free, 4 blocks free, 16532 bytes alloc, 2 blocks alloc, 47.222,SUSR,N,Heap: 0+126975 bytes 47.328,SGLMALLOC,N,glcheck: 341724 bytes free, 4 blocks free, 16532 bytes alloc, 2 blocks alloc, 51.508,SBATHY,N,Loaded bathymap.004 [112 137] 100m (LL) 48.0667,-122.4833 (UR) 48.1675,-122.2988 56.651,SBATHY,N,Loaded bathymap.001 [101 100] 100m (LL) 47.8833,-122.4000 (UR) 47.9742,-122.2658 62.466,SBATHY,N,Loaded bathymap.002 [102 112] 100m (LL) 47.9500,-122.3833 (UR) 48.0418,-122.2328 67.170,SBATHY,N,Loaded bathymap.003 [ 47 174] 100m (LL) 48.0333,-122.4667 (UR) 48.0756,-122.2325 67.446,SBATHY,N,Current location (2116.474609,-15752.764648) is covered by at least one ice map file 67.642,SGLMALLOC,N,glcheck: 341700 bytes free, 5 blocks free, 16532 bytes alloc, 2 blocks alloc, 67.815,SUSR,N,---- Checking compass and calibration files ---- 68.178,HCOMPASS,N,pitch A,B,C,D: -0.041500 0.983200 0.023400 -0.007400 68.473,HCOMPASS,N,roll A,B,C,D: -0.026300 1.065500 -0.069500 0.018300 68.738,HCOMPASS,N,hard iron P,Q,R: -8.525200 -5.739000 -2.856800 68.985,HCOMPASS,N,soft iron: 0.958000 -0.010800 -0.037100 69.214,HCOMPASS,N, 0.000400 1.027000 -0.025500 69.447,HCOMPASS,N, 0.043600 0.027800 1.024800 71.049,HCOMPASS,N,compass filter disabled ok 71.957,HCOMPASS,N,Hdg: 263.63 deg Rol: 2.37 deg Pit: -8.37 deg Tmp: 27.30 C 73.533,SUSR,N,---- Verifying critical operational parameters ---- 73.681,SUSR,N,$RELAUNCH: 1 OK 73.805,SUSR,N,$AD7714Ch0Gain: 128 OK 73.893,SUSR,N,$SIM_PITCH: 0 OK 73.974,SUSR,N,---- Reporting hardware configuration ---- 74.108,SUSR,N,Sensor in slot 1 is SBE_CT on port 2, TPU04/TPU05, nominally 'CT' 74.273,SUSR,N,Sensor in slot 2 is SBE_O2 on port 4, TPU08/TPU09, nominally 'O2' 74.443,SUSR,N,Sensor in slot 3 is Optode on port 5, TPU10/TPU11 (mux channel 0), nominally 'Optics 2' 74.637,SUSR,N,Sensor in slot 4 is WL_BB2F on port 3, TPU06/TPU07, nominally 'Optics 1' 74.817,SUSR,N,Sensor in slot 5 is WL_BBFL2VMT on port 7, TPU10/TPU11 (mux channel 2), nominally 'aux 2' 74.996,SUSR,N,Sensor in slot 6 is not installed 75.103,SUSR,N,Smart Sensor in smart slot 1 is not installed 75.226,SUSR,N,Smart Sensor in smart slot 2 is not installed 75.343,SUSR,N,Motherboard is Rev.B.1 75.427,SUSR,N,Phone is Iridium9522 75.508,SUSR,N,GPS is Garmin_GPS15H 75.590,SUSR,N,Compass is SP3003 75.667,SUSR,N,XPDR is AAE_955 75.803,SUSR,N,External pressure sensor gain (128.000000) consistent with Paine 75.948,SUSR,N,---- Reporting software version ---- 76.086,SUSR,N,Version: 66.03 76.163,SUSR,N,Compiled on: Jan 31 2008 10:54:18 76.926,SUSR,N,From SVN version 1341M 77.009,SUSR,N,Compiler: gcc 77.085,SUSR,N,Compiled with SCENARIO support 77.182,SUSR,N,Compiled without ARS support 77.279,SUSR,N,Compiled without MicroModem support 77.384,SUSR,N,Compiled without RAFOS support 77.482,SUSR,N,Compiled without Kermit support 77.582,SUSR,N,Compiled without DeepGlider support 77.697,SUSR,N,NVRAM: 164 parameters, 660 bytes, 106 bytes in utility storage 77.835,SUSR,N,Buffers: static 77.909,SUSR,N,Active (2Mhz) 77.983,SUSR,N,PicoDOS version: C82#2220-1.63b 78.080,SUSR,N,Launched as: MAIN 78.162,SUSR,N,Heap: 0+126975 bytes 78.269,SGLMALLOC,N,glcheck: 341676 bytes free, 6 blocks free, 16532 bytes alloc, 2 blocks alloc, 78.433,SUSR,N,Sensors: SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT 79.045,SUSR,N,MAIN.RUN: 435840 bytes 79.134,SUSR,N,---- Reporting directory contents ---- THISDIVE.DAT 13907 IOTEST.RUN 49440 THISDIVE.KAP 4183 THISDIVE.LOG 5755 X0010000.KAP 2124 BG020408 511 BATTERY 539 THISDIVE.WRK 7 THISDIVE.DSC 9623 CMDFILE 7 TARGETS 153 SCIENCE 150 TCM2MAT.001 256 TCM00101.AVE 4852 BATHYMAP.004 48787 BATHYMAP.001 33729 BATHYMAP.002 38187 BATHYMAP.003 26629 TCM2MAT.147 256 REV6503.RUN 409428 REV6602.RUN 468736 TCM00101.RAW 85349 TCM00102.AVE 6205 TCM00102.RAW 109225 BG013108 538 BG020508 511 BG032908 538 PDOSLOG.GZ 352 MAIN.RUN 435840 BG021108 519 PDOSLOG 0 BG031808 538 X0010001.KAP 10969 GPS001 54 X0010002.KAP 11697 X0010004.KAP 11829 X0010005.KAP 11854 Z0010001.LOG 5005 Z0010001.DSC 13540 X0010003.KAP 10559 Z0010002.LOG 5118 Z0010002.DSC 13512 Z0010004.LOG 5038 Z0010003.LOG 5048 Z0010003.DSC 13398 Z0010004.DSC 13377 Z0010005.LOG 5215 Z0010005.DSC 13381 1906468 bytes used; 48 files 81.707,SUSR,N,---- Checking pressure sensor ---- Are you at sealevel? [Y] Number of samples to collect and average: [11] Show all samples? [N] 90.981,HPRES,N, A/D Volts Meters 91.223,HPRES,N, Mean: 223527.1 0.259699 -0.04 91.477,HPRES,N, RMS: 223527.5 0.259700 -0.04 91.681,HPRES,N, Min: 222997 0.259083 -0.09 91.885,HPRES,N, Max: 224504 0.260834 0.03 92.054,HPRES,N, Peak-to-peak: 1507 1.750870 uV 92.216,HPRES,N, Volts per bit: 1.161825e-09 92.315,HPRES,N,Y-intercept is set correctly 92.432,SUSR,N,---- Checking pitch, roll, and VBD. ---- Hit ctl-Q to interrupt current test and continue... 92.615,SUSR,N,---- Checking pitch motor ---- Verify pitch SW limits and timeouts? [Y] $PITCH_MIN New value? [485.00] $PITCH_MAX New value? [3757.00] 98.379,SUSR,N,$PITCH_TIMEOUT: 15 OK 98.461,SUSR,N,Pitching up... 98.669,HPITCH,N,Pitch commanded from -13.85 cm (35) to 3.28 cm (3757)... 99.989,HPITCH,N,-13.8 cm (ad: 48) ................... 111.014,HPITCH,N,-7.1 cm (ad: 1511) .....Pitch motor timeout! .114.746,SMOTOR,N,MOTOR_DONE: ticks: 2 max 24v: 0.005A avg 24v: 0.005A 114.879,SMOTOR,N,GC TICKS/TIME: 605/607688 114.968,HPITCH,N,done. 115.117,HPITCH,C,Pitch completed from -13.84 cm (36) to -2.67 cm (2464) took 14.4 sec 0.069A (0.584A peak) 168 AD/sec 57 7 ticks; 23 retries; 1 errors 115.519,HPITCH,N,TRACK: b: 2420 a: 2420 d: 1328 o: 44 115.631,SUSR,N,Measured rate is 168 AD/sec. $PITCH_AD_RATE New value? [175.00] Pitching down... 120.991,HPITCH,N,Pitch commanded from 3.60 cm (3828) to -11.78 cm (485)... 122.295,HPITCH,N,3.1 cm (ad: 3725) ................... 133.270,HPITCH,N,-9.3 cm (ad: 1027) ....MOTOR_DONE: ticks: 8 max 24v: 0.005A avg 24v: 0.004A 135.934,SMOTOR,N,GC TICKS/TIME: 556/558404 136.024,HPITCH,N,done. 136.170,HPITCH,N,Pitch completed from 3.61 cm (3829) to -11.88 cm (463) took 13.6 sec 0.027A (0.307A peak) 247 AD/sec 54 5 ticks 136.517,HPITCH,N,TRACK: b: 492 a: 488 d: 5 o: -25 136.621,SUSR,N,Backing off pitch mass... 136.834,HPITCH,N, Pitch control position = -11.88 cm, (AD#= 463 ) 137.101,HPITCH,N,Pitch commanded from -11.88 cm (463) to -9.88 cm (897)... 138.454,HPITCH,N,-11.4 cm (ad: 561) ...MOTOR_DONE: ticks: 18 max 24v: 0.005A avg 24v: 0.004A 140.547,SMOTOR,N,GC TICKS/TIME: 95/97426 140.634,HPITCH,N,done. 140.781,HPITCH,N,Pitch completed from -11.88 cm (463) to -9.86 cm (902) took 1.9 sec 0.048A (0.161A peak) 237 AD/sec 74 ticks 141.117,HPITCH,N,TRACK: b: 887 a: 890 d: -2 o: 12 141.223,SUSR,N,---- Checking roll motor ---- Verify roll SW limits and timeouts? [Y] $ROLL_MIN New value? [160.00] $ROLL_MAX New value? [3941.00] 148.365,SUSR,N,$ROLL_TIMEOUT: 15 OK 148.447,SUSR,N,Roll to port... 148.653,HROLL,N,Roll commanded from 0.03 deg (2051) to 39.97 deg (3464)... 149.939,HROLL,N,6.7 deg (ad: 2287) ....MOTOR_DONE: ticks: 18 max 24v: 0.005A avg 24v: 0.004A 152.606,SMOTOR,N,GC TICKS/TIME: 115/118425 152.695,HROLL,N,done. 152.836,HROLL,N,Roll completed from 0.06 deg (2052) to 40.23 deg (3473) took 2.3 sec 0.055A (0.448A peak) 604 AD/sec 94 ticks 153.176,HROLL,N,TRACK: b: 3448 a: 3455 d: -5 o: 18 153.281,SUSR,N,Roll to starboard... 153.501,HROLL,N,Roll commanded from 40.23 deg (3473) to -40.00 deg (635)... 154.798,HROLL,N,33.7 deg (ad: 3243) ........MOTOR_DONE: ticks: 9 max 24v: 0.005A avg 24v: 0.004A 159.664,SMOTOR,N,GC TICKS/TIME: 204/207379 159.753,HROLL,N,done. 159.906,HROLL,N,Roll completed from 40.26 deg (3474) to -39.63 deg (648) took 4.8 sec 0.061A (0.436A peak) 588 AD/sec 19 2 ticks 160.249,HROLL,N,TRACK: b: 664 a: 658 d: 1 o: -10 160.351,SUSR,N,Roll to neutral... 160.539,HROLL,N,Roll commanded from -39.63 deg (648) to 0.00 deg (2050)... 161.858,HROLL,N,-33.2 deg (ad: 874) ...Updating parameter $R_STBD_OVSHOOT to 44 164.031,SMOTOR,N,MOTOR_DONE: ticks: 1 max 24v: 0.005A avg 24v: 0.005A 164.164,SMOTOR,N,GC TICKS/TIME: 97/99382 164.251,HROLL,N,done. 164.398,HROLL,N,Roll completed from -39.63 deg (648) to 0.96 deg (2084) took 2.3 sec 0.040A (0.155A peak) 617 AD/sec 93 ticks 164.737,HROLL,N,TRACK: b: 2034 a: 2040 d: -4 o: 44 164.844,SUSR,N,---- Checking VBD and valve ---- Verify VBD SW limits and timeouts? [Y] $VBD_MIN New value? [477.00] $VBD_MAX New value? [3951.00] $VBD_TIMEOUT New value? [720.00] 183.189,HVBD,N, VBD lin pot AD counts: 571 486 183.338,HVBD,N, VBD bladder position = 539.66 cc, (AD#= 528 ) 183.612,HVBD,N,Bleed commanded from 539.41 cc (529) to 452.33 cc (884)... 184.938,HVBD,N,537.2 cc (ad: 538 [587, 499]) ................... 195.963,HVBD,N,477.4 cc (ad: 782 [865, 709]) ........MOTOR_DONE: ticks: 2 max 24v: 1.095A avg 24v: 0.560A 200.824,SMOTOR,N,GC TICKS/TIME: 647/649081 200.913,HVBD,N,done. 201.072,HVBD,N,Bleed completed from 539.41 cc (529) to 452.33 cc (884 [977, 791]) took 16.0 sec 0.000A (1.100A peak) 22 AD/sec 642 ticks 201.416,HVBD,N,TRACK: b: 884 a: 884 d: 0 o: 0 201.517,SUSR,N,Pumping up to maximum buoyancy... 201.765,HVBD,N,Pump commanded from 452.33 cc (884) to 552.17 cc (477)... 203.086,HVBD,N,452.6 cc (ad: 883 [977, 788]) ................... 214.111,HVBD,N,461.9 cc (ad: 845 [936, 753]) ................... 225.136,HVBD,N,471.7 cc (ad: 805 [889, 721]) ................... 236.236,HVBD,N,485.0 cc (ad: 751 [825, 675]) ................... 247.361,HVBD,N,498.0 cc (ad: 698 [764, 631]) ................... 258.386,HVBD,N,510.5 cc (ad: 647 [707, 585]) ................... 269.486,HVBD,N,523.0 cc (ad: 596 [650, 540]) ................... 280.486,HVBD,N,535.7 cc (ad: 544 [593, 494]) ................... 291.486,HVBD,N,548.2 cc (ad: 493 [533, 452]) ......MOTOR_DONE: ticks: 6 max 24v: 0.007A avg 24v: 0.006A 295.207,SMOTOR,N,GC TICKS/TIME: 3696/3698682 295.299,HVBD,N,done. 295.457,HVBD,N,Pump completed from 452.33 cc (884) to 552.42 cc (476 [514, 439]) took 87.2 sec 0.422A (2.848A peak) 4 AD /sec 3486 ticks; 1 retries 295.856,HVBD,N,TRACK: b: 477 a: 477 d: 0 o: -1 295.958,SUSR,N,Measured rate is 4 AD/sec. $VBD_PUMP_AD_RATE_SURFACE New value? [5.00] Bleeding down 10 cc... 306.294,HVBD,N, VBD lin pot AD counts: 515 439 306.443,HVBD,N, VBD bladder position = 552.17 cc, (AD#= 477 ) 306.714,HVBD,N,Bleed commanded from 552.42 cc (476) to 542.36 cc (517)... 308.042,HVBD,N,550.2 cc (ad: 485 [525, 454]) ..MOTOR_DONE: ticks: 2 max 24v: 1.103A avg 24v: 0.565A 309.687,SMOTOR,N,GC TICKS/TIME: 77/79448 309.774,HVBD,N,done. 309.931,HVBD,N,Bleed completed from 552.42 cc (476) to 542.36 cc (517 [558, 477]) took 1.8 sec 0.000A (1.086A peak) 22 A D/sec 72 ticks 310.262,HVBD,N,TRACK: b: 517 a: 517 d: 0 o: 0 310.362,SUSR,N,Pitch retried (23)! 310.446,SUSR,N,Pitch timed out (1)! 310.531,SUSR,N,VBD retried (1)! 310.630,SSURF,N,Initializing data file 310.874,SSURF,N,Initializing log file 312.335,SUSR,N,---- Checking sensors and data file creation ---- 5.651,SUSR,N,entering SD active 9.654,SSENSOR,N,A 5s -0.02m 264.2 #1 9.998,SUSR,N,entering SD passive 13.984,SSENSOR,N,P 9s -0.05m 265.7 #2 14.884,SUSR,N,entering SD active 19.151,SSENSOR,N,A 14s 0.15m 266.4 #3 19.497,SUSR,N,entering SD passive 23.484,SSENSOR,N,P 19s 0.07m 263.9 #4 24.394,SUSR,N,entering SD active 28.391,SSENSOR,N,A 23s -0.04m 265.0 #5 28.754,SUSR,N,entering SD passive 32.998,SSENSOR,N,P 28s 0.01m 266.7 #6 33.918,SUSR,N,entering SD active 37.914,SSENSOR,N,A 33s 0.04m 265.9 #7 38.286,SUSR,N,entering SD passive 42.276,SSENSOR,N,P 38s -0.11m 266.4 #8 43.209,SUSR,N,entering SD active 47.496,SSENSOR,N,A 42s 0.02m 267.7 #9 47.882,SUSR,N,entering SD passive 51.864,SSENSOR,N,P 47s -0.00m 267.1 #10 52.811,SUSR,N,entering SD active 56.807,SSENSOR,N,A 52s 0.03m 265.5 #11 57.204,SUSR,N,entering SD passive 61.448,SSENSOR,N,P 57s -0.02m 264.9 #12 62.405,SUSR,N,entering SD active 66.407,SSENSOR,N,A 61s 0.15m 264.4 #13 66.817,SUSR,N,entering SD passive 70.802,SSENSOR,N,P 66s 0.03m 263.2 #14 71.773,SUSR,N,entering SD active 76.038,SSENSOR,N,A 71s 0.06m 260.5 #15 version: 66.03 glider: 147 mission: 2 selftest: 7 start: 1 31 108 10 56 17 columns: rec,elaps_t,depth,heading,pitch,roll,AD_pitch,AD_roll,AD_vbd,GC_phase,TempFreq,CondFreq,O2Freq,O2,temp,dphase,r edRef,redCount,blueRef,blueCount,fluorCount,VFtemp,600ref,60sig,Chlref,Chlsig,Cdomref,Cdomsig,L2VMTtemp, data: 0 5 -1 2642 -90 13 651 2085 517 6 201820 340850 194312 0 1000 10189 1035 52 1079 73 52 544 1058 74 1127 55 161 56 538 1 9 -4 2657 -98 31 651 2085 517 6 200897 340848 194118 0 1000 10209 1035 52 1079 72 53544 1057 73 1127 55 161 50 537 2 14 14 2663 -62 27 651 2085 517 6 199981 340843 194256 0 1000 10221 1035 52 1080 82 53 544 1056 68 1127 55 162 52 537 3 19 6 2639 -128 20 651 2085 517 6 199832 340856 194101 0 1000 10238 1035 52 1080 87 53 544 1056 69 1128 5 162 60 537 4 23 -4 2650 -43 23 651 2085 517 6 199519 340844 194263 0 1000 10237 1035 52 1080 86 53 544 1056 65 1128 55 162 51 537 5 28 1 2666 -112 31 651 2085 517 6 199215 340850 194085 0 1000 10219 1035 53 1080 83 53 544 1056 77 1128 55 162 53 536 6 333 2659 -75 20 651 2085 517 6 198931 340849 194261 0 1000 10224 1035 53 1080 89 53 543 1056 68 1128 55 162 54 537 7 38 -11 2663 -82 27 651 2085 517 6 198980 340856 194090 0 1000 10219 1035 53 1080 87 53 543 1055 72 1128 55 162 50 536 8 42 2 2677 -103 13 65 2085 517 6 198811 340844 194233 0 1000 10237 1035 52 1080 77 53 543 1055 70 1128 55 162 66 536 9 47 0 2670 -80 28 651 2085 517 6 198698 340843 194064 0 1000 10229 1035 53 1080 74 53 544 1055 68 1128 55 162 51 536 10 52 2 2655 -56 18 651 2085 517 6 198247340844 194221 0 1000 10244 1035 52 1080 75 53 543 1055 72 1128 55 162 52 536 11 57 -1 2648 -69 20 651 2085 517 6 197476 340845 194063 0 1000 10247 1035 53 1080 89 52 543 1055 91 1128 55 162 50 536 12 61 14 2644 -75 10 651 2085 517 6 197073 340855 194234 01000 10245 1035 53 1080 86 53 543 1055 70 1128 55 162 50 536 13 66 2 2632 -50 19 651 2085 517 6 196784 340852 194061 0 1000 10256 1035 53 1080 89 53 543 1055 60 1128 55 162 61 536 14 71 6 2605 -70 34 651 2085 517 6 196906 340846 194185 0 1000 10263 1035 5 1080 79 53 543 1055 71 1128 55 162 59 536 Hit CR to continue 88.922,SUSR,N,---- Writing internal sensors to log ---- 89.273,SUSR,N,internal humidity 1396 counts (29.178440RH) 89.486,SUSR,N,internal pressure 8.314926 psia 89.611,SUSR,N,---- Optode installed - retrieving optode onboad configuration ---- 89.781,HOPTODE,N,Grabbing optode config data ... 92.859,HOPTODE,N,PhaseCoef 5013 20 9.501724E-01 1.094066E+00 0.000000E+00 0.000000E+00 92.991,HOPTODE,N,TempCoef 5013 20 2.535084E+01 -3.113448E-02 2.904304E-06 -4.242455E-09 93.123,HOPTODE,N,FoilNo 5013 20 1707 93.190,HOPTODE,N,C0Coef 5013 20 5.326502E+03 -1.921173E+02 4.143571E+00 -3.786947E-02 93.325,HOPTODE,N,C1Coef 5013 20 -2.920675E+02 9.719927E+00 -2.142946E-01 2.007775E-03 93.453,HOPTODE,N,C2Coef 5013 20 6.475949E+00 -1.980797E-01 4.499402E-03 -4.305303E-05 93.580,HOPTODE,N,C3Coef 5013 20 -6.692884E-02 1.880658E-03 -4.423479E-05 4.283825E-07 93.708,HOPTODE,N,C4Coef 5013 20 2.650423E-04 -6.831853E-06 1.670705E-07 -1.619889E-09 93.831,HOPTODE,N,Salinity 5013 20 0.000000E+00 93.911,HOPTODE,N,CalAirPhase 5013 20 3.171612E+01 93.991,HOPTODE,N,CalAirTemp 5013 20 9.907070E+00 94.071,HOPTODE,N,CalAirPressure 5013 20 1.018820E+03 94.151,HOPTODE,N,CalZeroPhase 5013 20 6.622465E+01 94.231,HOPTODE,N,CalZeroTemp 5013 20 2.056268E+01 94.310,HOPTODE,N,Interval 5013 20 30 94.383,HOPTODE,N,AnCoef 5013 20 0.000000E+00 1.000000E+00 94.478,HOPTODE,N,Output 5013 20 1 94.539,HOPTODE,N,SR10Delay 5013 20 -1 94.610,HOPTODE,N,SoftwareVersion 5013 20 3 94.689,HOPTODE,N,SoftwareBuild 5013 20 10 94.756,HOPTODE,N,done. 94.816,SUSR,N,---- Checking altimeter ---- 95.352,HXPDR,N,ping response: R--------- 95.415,HXPDR,N,range was 999.000000 m 95.740,HTT8,N,Writing NVRAM...done. 103.252,SUSR,N,---- Reporting targets and science specifications ---- 105.252,SNAV,N, Target Latitude Longitude Radius Depth Finish Next target Escp target 105.584,SNAV,N, => WPT1 2109.529 -15754.647 1000.0m 0 -1 WPT2 none 106.525,SNAV,N, WPT2 2102.306 -15746.945 1000.0m 0 -1 WPT1 none 107.343,SSENSOR,N, Depth Time G&C Sensors 107.533,SSENSOR,N, 30.0m 5.0s 300.0s 111 (SBE_CT: 1 SBE_O2: 1 Optode: 1 WL_BB2F: 0 WL_BBFL2VMT: 0) 107.885,SSENSOR,N, 80.0m 10.0s 300.0s 111 (SBE_CT: 1 SBE_O2: 1 Optode: 1 WL_BB2F: 0 WL_BBFL2VMT: 0) 108.240,SSENSOR,N, 150.0m 10.0s 300.0s 111 (SBE_CT: 1 SBE_O2: 1 Optode: 1 WL_BB2F: 0 WL_BBFL2VMT: 0) 108.593,SSENSOR,N, 200.0m 10.0s 300.0s 112 (SBE_CT: 1 SBE_O2: 1 Optode: 2 WL_BB2F: 0 WL_BBFL2VMT: 0) 108.945,SSENSOR,N, 300.0m 20.0s 300.0s 112 (SBE_CT: 1 SBE_O2: 1 Optode: 2 WL_BB2F: 0 WL_BBFL2VMT: 0) 109.301,SSENSOR,N, 1500.0m 40.0s 300.0s 150 (SBE_CT: 1 SBE_O2: 5 Optode: 0 WL_BB2F: 0 WL_BBFL2VMT: 0) 109.572,SUSR,N,---- Reporting battery gauges ---- 114.976,SPOWER,N,------ Fuel gauges (Cumulative Amp-secs) ------- cumulative / since power up 115.265,SPOWER,N, Pitch_motor: 125.35 amp-sec / 29.90 sec 115.476,SPOWER,N, Roll_motor: 52.34 amp-sec / 9.48 sec 115.670,SPOWER,N, VBD_pump_during_apogee: 7827.88 amp-sec / 0.00 sec 115.898,SPOWER,N, VBD_pump_during_surface: 2933.17 amp-sec / 87.15 sec 116.056,SPOWER,N, VBD_valve: 0.00 amp-sec / 0.00 sec 116.244,SPOWER,N, Iridium_during_init: 286.07 amp-sec / 0.00 sec 116.433,SPOWER,N, Iridium_during_connect: 872.58 amp-sec / 0.00 sec 116.630,SPOWER,N, Iridium_during_xfer: 1814.79 amp-sec / 0.00 sec 116.843,SPOWER,N, Transponder_ping: 383.57 amp-sec / 0.25 sec 116.997,SPOWER,N, Mmodem_TX: 0.00 amp-sec / 0.00 sec 117.149,SPOWER,N, Mmodem_RX: 0.00 amp-sec / 0.00 sec 117.328,SPOWER,N, ------------- 24V total = 3.971 AmpHr ----------- 117.511,SPOWER,N, GPS: 196.71 amp-sec / 0.00 sec 117.734,SPOWER,N, TT8: 377.61 amp-sec / 247.80 sec 117.945,SPOWER,N, LPSleep: 28.99 amp-sec / 4.89 sec 118.786,SPOWER,N, TT8_Active: 331.64 amp-sec / 153.87 sec 119.009,SPOWER,N, TT8_Sampling: 1568.59 amp-sec / 63.06 sec 119.228,SPOWER,N, TT8_CF8: 907.58 amp-sec / 57.86 sec 119.408,SPOWER,N, TT8_Kalman: 2.39 amp-sec / 0.00 sec 119.631,SPOWER,N, Analog_circuits: 383.01 amp-sec / 204.68 sec 119.785,SPOWER,N, GPS_charging: 0.00 amp-sec / 0.00 sec 120.003,SPOWER,N, Compass: 282.60 amp-sec / 60.58 sec 120.157,SPOWER,N, RAFOS: 0.00 amp-sec / 0.00 sec 120.357,SPOWER,N, Transponder: 3.80 amp-sec / 1.59 sec 120.576,SPOWER,N, SBE_CT: 145.71 amp-sec / 10.04 sec 120.781,SPOWER,N, SBE_O2: 2.69 amp-sec / 9.31 sec 120.991,SPOWER,N, Optode: 7.04 amp-sec / 20.49 sec 121.202,SPOWER,N, WL_BB2F: 2.71 amp-sec / 25.79 sec 121.412,SPOWER,N, WL_BBFL2VMT: 5.72 amp-sec / 54.46 sec 121.590,SPOWER,N, ------------- 10V total = 1.180 AmpHr ------------ 125.041,HBATT,N, 24V batt pack = 25.18 V, (AD#= 3577 ) 125.273,HBATT,N, 10V batt pack = 10.30 V, (AD#= 2383 ) 125.394,SUSR,N,---- Checking capture vector ---- 125.501,SUSR,N,all capture settings at default values 125.610,SUSR,N,---- Checking flash ---- No flash problems detected 137.211,SUSR,N,*** EOTD *** 139.324,SUSR,N,---- Self test PASSED! ---- 139.419,SUSR,N,Restoring original settings... Compressing THISDIVE.KAP to 5... Unable to gzopen 5, errno=2 140.826,SSYS,C,Failed to gzip file THISDIVE.KAP 142.327,HCF8,N,File open error 5 wb 2 142.383,HCF8,N,File open error 5 wb 2 142.439,HCF8,N,File open error 5 wb 2 142.495,HCF8,N,File open error 5 wb 2 ------ 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): 1 ------ Basic (current value in [])------- 1) $ID,[147] 2) $MISSION,[2] 3) $T_WATCHDOG,[10] 4) $RELAUNCH,[1] 5) $HEAPDBG,[0] 6) $CF8_MAXERRORS,[20] CR) Return to previous menu Enter selection (1-6,CR): 2 $MISSION, New value? [2.00] 0 191.755,HTT8,N,Updating parameter $MISSION to 0 ------ Basic (current value in [])------- 1) $ID,[147] 2) $MISSION,[0] 3) $T_WATCHDOG,[10] 4) $RELAUNCH,[1] 5) $HEAPDBG,[0] 6) $CF8_MAXERRORS,[20] CR) Return to previous menu Enter selection (1-6,CR): 2 $MISSION, New value? [0.00] 1 197.330,HTT8,N,Updating parameter $MISSION to 1 ------ Basic (current value in [])------- 1) $ID,[147] 2) $MISSION,[1] 3) $T_WATCHDOG,[10] 4) $RELAUNCH,[1] 5) $HEAPDBG,[0] 6) $CF8_MAXERRORS,[20] CR) Return to previous menu Enter selection (1-6,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,[45] 4) $D_ABORT,[250] 5) $D_NO_BLEED,[200] 6) $T_DIVE,[15] 7) $T_MISSION,[35] 8) $T_ABORT,[1440] 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): 4 $D_ABORT, New value? [250.00] 60 242.783,HTT8,N,Updating parameter $D_ABORT to 60 ------ Dive (current value in [])------- 1) $DIVE,[1] 2) $D_FLARE,[3] 3) $D_TGT,[45] 4) $D_ABORT,[60] 5) $D_NO_BLEED,[200] 6) $T_DIVE,[15] 7) $T_MISSION,[35] 8) $T_ABORT,[1440] 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): 3 $D_TGT, New value? [45.00] 320 260.021,HTT8,N,Updating parameter $D_TGT to 3 ------ Dive (current value in [])------- 1) $DIVE,[1] 2) $D_FLARE,[3] 3) $D_TGT,[3] 4) $D_ABORT,[60] 5) $D_NO_BLEED,[200] 6) $T_DIVE,[15] 7) $T_MISSION,[35] 8) $T_ABORT,[1440] 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): 3 $D_TGT, New value? [3.00] 25 270.437,HTT8,N,Updating parameter $D_TGT to 25 ------ 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,[15] 7) $T_MISSION,[35] 8) $T_ABORT,[1440] 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): 6 $T_DIVE, New value? [15.00] 10 313.310,HTT8,N,Updating parameter $T_DIVE 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,[35] 8) $T_ABORT,[1440] 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): 8 $T_ABORT, New value? [1440.00] 60 359.859,SUSR,N,WARNING! $T_ABORT,60.0000: Value must be between 720.0000 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,[1440] 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): 8 $T_ABORT, New value? [1440.00] 720 387.158,HTT8,N,Updating parameter $T_ABORT to 720 ------ 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): ------ 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,[1] 12) $HD_A,[0.003] 13) $HD_B,[0.0099999998] 14) $HD_C,[9.9999997e-06] 15) $HEADING,[-1] 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): 15 $HEADING, New value? [-1.00] 105 565.275,HTT8,N,Updating parameter $HEADING to 105 ------ 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,[1] 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): 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): 9 ------ Pitch (current value in [])------- 1) $PITCH_MIN,[485 (-11.8 cm)] 2) $PITCH_MAX,[3757 (3.3 cm)] 3) $C_PITCH,[3045] 4) $PITCH_DBAND,[+/- 0.10] 5) $PITCH_CNV,[0.0046000001] 6) $P_OVSHOOT,[0.039999999] 7) $PITCH_GAIN,[16] 8) $PITCH_TIMEOUT,[15] 9) $PITCH_AD_RATE,[175] 10) $PITCH_MAXERRORS,[0] 11) $PITCH_ADJ_GAIN,[0] 12) $PITCH_ADJ_DBAND,[0] 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): 10 ------ Roll (current value in [])------- 1) $ROLL_MIN,[160 (-53.4 deg)] 2) $ROLL_MAX,[3941 (53.5 deg)] 3) $ROLL_DEG,[40] 4) $C_ROLL_DIVE,[2050] 5) $C_ROLL_CLIMB,[2050] 6) $HEAD_ERRBAND,[+/- 10.00] 7) $ROLL_CNV,[0.028270001] 8) $ROLL_TIMEOUT,[15] 9) $R_PORT_OVSHOOT,[24] 10) $R_STBD_OVSHOOT,[44] 11) $ROLL_AD_RATE,[400] 12) $ROLL_MAXERRORS,[2] 13) $ROLL_ADJ_GAIN,[0] 14) $ROLL_ADJ_DBAND,[0] CR) Return to previous menu Enter selection (1-14,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): 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): ------ 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): 9 ------ Pitch (current value in [])------- 1) $PITCH_MIN,[485 (-11.8 cm)] 2) $PITCH_MAX,[3757 (3.3 cm)] 3) $C_PITCH,[3045] 4) $PITCH_DBAND,[+/- 0.10] 5) $PITCH_CNV,[0.0046000001] 6) $P_OVSHOOT,[0.039999999] 7) $PITCH_GAIN,[16] 8) $PITCH_TIMEOUT,[15] 9) $PITCH_AD_RATE,[175] 10) $PITCH_MAXERRORS,[0] 11) $PITCH_ADJ_GAIN,[0] 12) $PITCH_ADJ_DBAND,[0] 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): 14 ------ IntPressure (current value in [])------- 1) $INT_PRESSURE_SLOPE,[0.0097660003] 2) $INT_PRESSURE_YINT,[-4] CR) Return to previous menu Enter selection (1-2,CR): 1 $INT_PRESSURE_SLOPE, New value? [0.01] 859.535,HTT8,N,Updating parameter $INT_PRESSURE_SLOPE to 0.0097660003 ------ IntPressure (current value in [])------- 1) $INT_PRESSURE_SLOPE,[0.0097660003] 2) $INT_PRESSURE_YINT,[-4] CR) Return to previous menu Enter selection (1-2,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): 18 ------ Power (current value in [])------- 1) $AH0_24V,[91.800003] 2) $AH0_10V,[61.200001] CR) Return to previous menu Enter selection (1-2,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): 877.814,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): ------ 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): 1 935.631,HVBD,N, VBD lin pot AD counts: 558 477 935.780,HVBD,N, VBD bladder position = 542.36 cc, (AD#= 517 ) ------ 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): 3 VBD valve limits: 552.2 and -300.0 cc: Operation will time out in 720 seconds. Move to position (542.36 cc): 552 957.661,HVBD,N,Pump commanded from 542.36 cc (517) to 552.17 cc (477)... 958.997,HVBD,N,542.4 cc (ad: 517 [558, 475]) 959.897,HVBD,N,542.8 cc (ad: 515 [556, 472]) 960.822,HVBD,N,543.3 cc (ad: 513 [554, 469]) 961.722,HVBD,N,544.8 cc (ad: 507 [547, 466]) 962.622,HVBD,N,545.8 cc (ad: 503 [544, 460]) 963.547,HVBD,N,547.0 cc (ad: 498 [537, 458]) 964.472,HVBD,N,548.0 cc (ad: 494 [533, 453]) 965.372,HVBD,N,549.0 cc (ad: 490 [527, 451]) 966.272,HVBD,N,550.2 cc (ad: 485 [523, 445]) 967.172,HVBD,N,551.2 cc (ad: 481 [518, 441]) 968.072,HVBD,N,551.4 cc (ad: 480 [519, 441]) 968.972,HVBD,N,551.7 cc (ad: 479 [519, 441]) 969.872,HVBD,N,551.4 cc (ad: 480 [519, 441]) 970.772,HVBD,N,551.4 cc (ad: 480 [519, 441]) 971.647,HVBD,N,551.4 cc (ad: 480 [518, 441]) 972.547,HVBD,N,551.7 cc (ad: 479 [517, 440]) 973.422,HVBD,N,552.2 cc (ad: 477 [516, 438]) MOTOR_DONE: ticks: 18 max 24v: 0.005A avg 24v: 0.004A 973.958,SMOTOR,N,GC TICKS/TIME: 610/612212 974.048,HVBD,N,done. 974.206,HVBD,N,Pump completed from 542.36 cc (517) to 552.17 cc (477 [517, 438]) took 9.7 sec 0.348A (2.775A peak) 4 AD/ sec 388 ticks; 1 retries 974.599,HVBD,N,TRACK: b: 477 a: 477 d: 0 o: 0 ------ 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): 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): 4 Reset dive/run number to: [0] 1 ------ 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) 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): 8 Restore from which configuration file: [0] File run000.cfg does not exist! ------ 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 ($SM_CC) [552.17] 10) Change mission time (min) [35.00] 11) Change abort depth (m) [60.00] 12) Change heading error band (deg) [10.00] 13) Change time of no vertical velocity (sec) [120.00] 14) Change number of scenario runs to execute before recovery [1] CR) Return to previous menu Enter selection (1-13,CR): 1 Enter up to 20 lines, one line per scene, in the form pitch (cm), roll (deg), VBD (cc), time (secs) Blank line terminates entry -1.0,0,-75, 120 0,0,0,20 ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1 -1.0 0.0 -75.0 120.0 2 0.0 0.0 0.0 20.0 1) Whole scene (pitch, roll, VBD) steps 2) Pitch steps (cm) 3) Roll steps (deg) 4) VBD steps (cc) 5) Passive mode time interval steps (s) 6) Clear all steps 7) Save scenario to file 8) Read scenario from file 9) Change surfacing VBD ($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): 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 -1,0,-75,90 0,0,0,20 1.0,0,100,120 ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1 -1.0 0.0 -75.0 90.0 2 0.0 0.0 0.0 20.0 3 1.0 0.0 100.0 120.0 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 ($SM_CC) [552.17] 10) Change mission time (min) [35.00] 11) Change abort depth (m) [60.00] 12) Change heading error band (deg) [10.00] 13) Change time of no vertical velocity (sec) [120.00] 14) Change number of scenario runs to execute before recovery [1] CR) Return to previous menu Enter selection (1-13,CR): 7 Save to which configuration file: [0] Configuration saved to run000.cfg. ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1 -1.0 0.0 -75.0 90.0 2 0.0 0.0 0.0 20.0 3 1.0 0.0 100.0 120.0 1) Whole scene (pitch, roll, VBD) steps 2) Pitch steps (cm) 3) Roll steps (deg) 4) VBD steps (cc) 5) Passive mode time interval steps (s) 6) Clear all steps 7) Save scenario to file 8) Read scenario from file 9) Change surfacing VBD ($SM_CC) [552.17] 10) Change mission time (min) [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): 5 Quick launch (skips some tests and calls - very dangerous!)? [N] 1643.591,SPOWER,N,All devices are off. Remove all old data and log files? [N] 1647.137,SUSR,N,This is a SCENARIO run. 1647.316,SUSR,N,Warning: $T_NO_W of 120.0 seconds may not be enough for the total scenario time of 234.0 seconds. 1647.541,HTT8,N,Updating parameter $KALMAN_USE to 2 1647.839,HTT8,N,Writing NVRAM...done. 1658.706,SUSR,N, Setting glider to pre-launch state ... 1658.956,HPITCH,N,Pitch commanded from -13.62 cm (85) to -1.09 cm (2807)... 1660.301,HPITCH,N,-13.6 cm (ad: 97) ..............MOTOR_DONE: ticks: 5 max 24v: 0.005A avg 24v: 0.004A 1668.289,SMOTOR,N,GC TICKS/TIME: 331/333373 1668.381,HPITCH,N,done. 1668.527,HPITCH,N,Pitch completed from -13.61 cm (86) to -1.06 cm (2814) took 7.7 sec 0.047A (0.173A peak) 353 AD/sec 30 9 ticks; 14 retries 1668.898,HPITCH,N,TRACK: b: 2795 a: 2799 d: -1 o: 15 1669.104,HROLL,N,Roll commanded from 0.99 deg (2085) to 0.00 deg (2050)... 1670.321,HROLL,N,-0.2 deg (ad: 2042) Updating parameter $R_PORT_OVSHOOT to 31 1670.883,SMOTOR,N,MOTOR_DONE: ticks: 23 max 24v: 0.005A avg 24v: 0.004A 1671.018,SMOTOR,N,GC TICKS/TIME: 28/30779 1671.107,HROLL,N,done. 1671.245,HROLL,N,Roll completed from 0.99 deg (2085) to -0.23 deg (2042) took 0.1 sec 0.139A (0.206A peak) 860 AD/sec 2 ticks 1671.583,HROLL,N,TRACK: b: 2079 a: 2073 d: 1 o: -31 1671.832,HVBD,N,Bleed commanded from 552.17 cc (477) to -74.82 cc (3033)... 1673.150,HVBD,N,550.2 cc (ad: 485 [528, 453]) ................... 1684.225,HVBD,N,491.3 cc (ad: 725 [802, 657]) ................... 1695.350,HVBD,N,433.4 cc (ad: 961 [1076, 857]) ................... 1706.450,HVBD,N,375.8 cc (ad: 1196 [1341, 1058]) ................... 1717.525,HVBD,N,320.6 cc (ad: 1421 [1585, 1265]) ................... 1728.675,HVBD,N,266.2 cc (ad: 1643 [1826, 1468]) ................... 1739.675,HVBD,N,213.4 cc (ad: 1858 [2050, 1672]) ................... 1750.775,HVBD,N,161.4 cc (ad: 2070 [2255, 1892]) ................... 1761.925,HVBD,N,111.1 cc (ad: 2275 [2455, 2105]) ................... 1772.950,HVBD,N,61.8 cc (ad: 2476 [2655, 2303]) ................... 1783.950,HVBD,N,13.0 cc (ad: 2675 [2864, 2494]) ................... 1795.000,HVBD,N,-35.3 cc (ad: 2872 [3063, 2688]) .................MOTOR_DONE: ticks: 12 max 24v: 1.102A avg 24v: 0.098A 1804.641,SMOTOR,N,GC TICKS/TIME: 5271/5273379 1804.735,HVBD,N,done. 1804.891,HVBD,N,Bleed completed from 552.17 cc (477) to -74.82 cc (3033 [3222, 2845]) took 131.4 sec 0.000A (1.097A peak ) 19 AD/sec 5256 ticks 1805.245,HVBD,N,TRACK: b: 3033 a: 3033 d: 0 o: 0 Ready to launch? [N] ------ 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): 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 -1.0 0.0 -75.0 90.0 2 0.0 0.0 0.0 20.0 3 1.0 0.0 100.0 120.0 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) [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 -0 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 ($SM_CC) [552.17] 10) Change mission time (min) [35.00] 11) Change abort depth (m) [60.00] 12) Change heading error band (deg) [10.00] 13) Change time of no vertical velocity (sec) [120.00] 14) Change number of scenario runs to execute before recovery [1] CR) Return to previous menu Enter selection (1-13,CR): 1 Enter up to 20 lines, one line per scene, in the form pitch (cm), roll (deg), VBD (cc), time (secs) Blank line terminates entry 0, invalid entry, try again ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1) Whole scene (pitch, roll, VBD) steps 2) Pitch steps (cm) 3) Roll steps (deg) 4) VBD steps (cc) 5) Passive mode time interval steps (s) 6) Clear all steps 7) Save scenario to file 8) Read scenario from file 9) Change surfacing VBD ($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 -