Date Time State Comment Pressure Plat LPF Vel Plat Diff Vel Plat LPF Acc Bel Pos PID SP PID PV y1 y2 I v u uCPS Batt Volt Batt Cur 12V Cur 3.3V Cur Lat Lon Mar 21, 2014 15:03:48.311 SM Not Running File Name = \SD\2014-3-21T15-3-47 Mar 21, 2014 15:03:48.388 SM Not Running Volume Total Size: 3644850176 Mar 21, 2014 15:03:48.465 SM Not Running Volume Free Space: 3615555584 Mar 21, 2014 15:03:46.035 SM Not Running Program Started Mar 21, 2014 15:03:49.561 Initialize State Entry Mar 21, 2014 15:03:50.573 Initialize State timed out, exiting state Mar 21, 2014 15:03:50.749 SurfaceOps State Entry Mar 21, 2014 15:03:52.904 SurfaceOps SBE41 Message 0.060000 -0.000000 0.000000 0.000000 Mar 21, 2014 15:03:53.895 SurfaceOps ADuC Message 62.860000 30.475620 0.129200 0.172400 0.171500 Mar 21, 2014 15:03:56.140 SurfaceOps Processing Console Command: go Mar 21, 2014 15:03:56.302 SurfaceOps Normal state exit Mar 21, 2014 15:03:56.478 ABSetBellows State Entry Mar 21, 2014 15:03:59.478 ABSetBellows SBE41 Message 0.000000 -0.000309 0.030000 0.000002 Mar 21, 2014 15:04:00.664 ABSetBellows ADuC Message 62.910000 30.346980 0.129400 0.172900 0.155900 Mar 21, 2014 15:04:04.902 ABSetBellows ADuC Message 63.360000 30.407280 0.129500 0.175200 0.150200 Mar 21, 2014 15:04:05.104 AB Retract Normal state exit Mar 21, 2014 15:04:05.266 AB Retract State Entry Mar 21, 2014 15:04:09.111 AB Retract ADuC Message 63.380000 30.511800 0.129400 0.176300 0.151400 Mar 21, 2014 15:04:09.250 AB Retract SBE41 Message 0.100000 0.000292 -0.050000 -0.000002 Mar 21, 2014 15:04:13.422 AB Retract ADuC Message 63.270000 30.491700 0.129400 0.176600 0.150300 Mar 21, 2014 15:04:17.593 AB Retract ADuC Message 63.140000 30.483660 0.129400 0.175800 0.149000 Mar 21, 2014 15:04:18.135 AB Retract SBE41 Message 1.230000 0.006771 -0.565000 -0.000039 Mar 21, 2014 15:04:18.319 Descend Normal state exit Mar 21, 2014 15:04:18.486 Descend State Entry Mar 21, 2014 15:04:18.987 Descend Vel PID Values 0.050000 0.006771 0.000521 0.000521 0.000099 9.687506 9.687506 19375.011733 Mar 21, 2014 15:04:20.987 Descend Vel PID Values 0.050000 0.006771 0.001322 0.000801 0.000196 9.415174 9.415174 18830.348083 Mar 21, 2014 15:04:21.788 Descend ADuC Message 63.120000 30.503760 0.129400 0.173300 0.160600 Mar 21, 2014 15:04:22.112 Descend SBE41 Message 1.230000 0.004052 0.000000 -0.000008 Mar 21, 2014 15:04:22.987 Descend Vel PID Values 0.050000 0.004052 0.002025 0.000703 0.000292 9.313933 9.313933 18627.866028 Mar 21, 2014 15:04:24.987 Descend Vel PID Values 0.050000 0.004052 0.002614 0.000589 0.000387 9.242119 9.242119 18484.237854 Mar 21, 2014 15:04:26.007 Descend ADuC Message 63.120000 30.507780 0.129500 0.172500 0.160800 Mar 21, 2014 15:04:26.142 Descend SBE41 Message 1.210000 -0.012123 0.010000 0.000163 Mar 21, 2014 15:04:26.987 Descend Vel PID Values 0.050000 -0.012123 0.001842 -0.000771 0.000483 9.940467 9.940467 19880.933703 Mar 21, 2014 15:04:28.988 Descend Vel PID Values 0.050000 -0.012123 0.000293 -0.001549 0.000583 10.561370 10.561370 21122.739704 Mar 21, 2014 15:04:30.156 Descend SBE41 Message 1.210000 -0.016592 0.000000 0.000151 Mar 21, 2014 15:04:30.339 Descend ADuC Message 63.120000 30.507780 0.129400 0.172100 0.160100 Mar 21, 2014 15:04:30.987 Descend Vel PID Values 0.050000 -0.016592 -0.001959 -0.002252 0.000687 11.293119 11.293119 22586.237141 Mar 21, 2014 15:04:32.988 Descend Vel PID Values 0.050000 -0.016592 -0.004470 -0.002511 0.000796 11.899298 11.899298 23798.595380 Mar 21, 2014 15:04:34.129 Descend SBE41 Message 1.210000 0.000712 0.000000 -0.000267 Mar 21, 2014 15:04:34.484 Descend ADuC Message 63.120000 30.495720 0.129500 0.172100 0.163800 Mar 21, 2014 15:04:34.987 Descend Vel PID Values 0.050000 0.000712 -0.005617 -0.001147 0.000907 11.582939 11.582939 23165.877612 Mar 21, 2014 15:04:36.987 Descend Vel PID Values 0.050000 0.000712 -0.005836 -0.000219 0.001019 11.255637 11.255637 22511.274866 Mar 21, 2014 15:04:38.136 Descend SBE41 Message 1.220000 0.034956 -0.005000 -0.000696 Mar 21, 2014 15:04:38.694 Descend ADuC Message 63.130000 30.503760 0.129400 0.172200 0.162400 Mar 21, 2014 15:04:38.988 Descend Vel PID Values 0.050000 0.034956 -0.002833 0.003003 0.001124 9.366299 9.366299 18732.597030 Mar 21, 2014 15:04:40.987 Descend Vel PID Values 0.050000 0.034956 0.001922 0.004755 0.001220 7.714701 7.714701 15429.401357 Mar 21, 2014 15:04:42.142 Descend SBE41 Message 1.200000 0.039481 0.010000 -0.000199 0.172100 63.120000 30.503760 0.129300 0.172100 0.161700 0.172100 63.120000 30.503760 0.129300 0.172100 0.161700 6.127642 6.127642 12255.284684 Mar 21, 2014 15:04:44.987 Descend Vel PID Values 0.050000 0.039481 0.013758 0.006020 0.001377 4.841591 4.841591 9683.181973 Mar 21, 2014 15:04:46.173 Descend SBE41 Message 1.220000 -0.018736 -0.010000 0.001469 Mar 21, 2014 15:04:46.987 Descend Vel PID Values 0.050000 -0.018736 0.014963 0.001205 0.001447 6.526613 6.526613 13053.226927 Mar 21, 2014 15:04:47.224 Descend ADuC Message 63.130000 30.503760 0.129400 0.171900 0.161400 Mar 21, 2014 15:04:48.987 Descend Vel PID Values 0.050000 -0.018736 0.013113 -0.001850 0.001521 8.119109 8.119109 16238.218229 Mar 21, 2014 15:04:50.160 Descend SBE41 Message 1.210000 -0.124265 0.005000 0.002557 Mar 21, 2014 15:04:50.988 Descend Vel PID Values 0.050000 -0.124265 0.001406 -0.011706 0.001618 14.402774 14.402774 28805.547551 Mar 21, 2014 15:04:51.370 Descend ADuC Message 63.130000 30.503760 0.129300 0.172100 0.166500 Mar 21, 2014 15:04:52.988 Descend Vel PID Values 0.050000 -0.124265 -0.015465 -0.016871 0.001749 19.842915 19.842915 39685.829079 Mar 21, 2014 15:04:54.133 Descend SBE41 Message 1.220000 -0.206512 -0.005000 0.000658 Mar 21, 2014 15:04:54.988 Descend Vel PID Values 0.050000 -0.206512 -0.040543 -0.025078 0.001930 28.141495 28.141495 56282.990442 Mar 21, 2014 15:04:55.673 Descend ADuC Message 63.130000 30.503760 0.129400 0.172200 0.165400 Mar 21, 2014 15:04:56.988 Descend Vel PID Values 0.050000 -0.206512 -0.068742 -0.028199 0.002168 35.030152 35.030152 70060.303106 Mar 21, 2014 15:04:58.133 Descend SBE41 Message 1.220000 -0.202951 0.000000 -0.003975 Mar 21, 2014 15:04:58.987 Descend Vel PID Values 0.050000 -0.202951 -0.096419 -0.027677 0.002461 40.356952 40.356952 80713.903641 Mar 21, 2014 15:04:59.873 Descend ADuC Message 63.140000 30.507780 0.129300 0.172200 0.164500 Mar 21, 2014 15:05:00.988 Descend Vel PID Values 0.050000 -0.202951 -0.121646 -0.025227 0.002804 44.422464 44.422464 88844.927398 Mar 21, 2014 15:05:02.141 Descend SBE41 Message 1.220000 -0.116998 0.000000 -0.006592 Mar 21, 2014 15:05:02.987 Descend Vel PID Values 0.050000 -0.116998 -0.136813 -0.015167 0.003178 43.432079 43.432079 86864.158507 Mar 21, 2014 15:05:04.109 Descend ADuC Message 63.140000 30.503760 0.129400 0.172100 0.165000 Mar 21, 2014 15:05:04.987 Descend Vel PID Values 0.050000 -0.116998 -0.144622 -0.007809 0.003567 42.051267 42.051267 84102.534324 Mar 21, 2014 15:05:06.179 Descend SBE41 Message 1.220000 -0.013621 0.000000 -0.001921 Mar 21, 2014 15:05:06.987 Descend Vel PID Values 0.050000 -0.013621 -0.139351 0.005271 0.003946 35.765165 35.765165 71530.329791 Mar 21, 2014 15:05:08.307 Descend ADuC Message 63.140000 30.503760 0.129400 0.172300 0.164500 Mar 21, 2014 15:05:08.988 Descend Vel PID Values 0.050000 -0.013621 -0.126435 0.012915 0.004298 30.124825 30.124825 60249.649295 Mar 21, 2014 15:05:10.157 Descend SBE41 Message 1.210000 0.039321 0.005000 0.008741 Mar 21, 2014 15:05:10.988 Descend Vel PID Values 0.050000 0.039321 -0.105737 0.020698 0.004610 22.872266 22.872266 45744.531249 Mar 21, 2014 15:05:12.592 Descend ADuC Message 63.140000 30.503760 0.129400 0.172100 0.163000 Mar 21, 2014 15:05:12.988 Descend Vel PID Values 0.050000 0.039321 -0.081841 0.023896 0.004874 16.814458 16.814458 33628.916072 Mar 21, 2014 15:05:14.136 Descend SBE41 Message 1.210000 0.031602 0.000000 0.015090 Mar 21, 2014 15:05:14.987 Descend Vel PID Values 0.050000 0.031602 -0.058409 0.023432 0.005090 12.314154 12.314154 24628.307527 Mar 21, 2014 15:05:16.784 Descend ADuC Message 63.140000 30.503760 0.129600 0.171900 0.161600 Mar 21, 2014 15:05:16.987 Descend Vel PID Values 0.050000 0.031602 -0.037066 0.021343 0.005265 8.880970 8.880970 17761.939875 Mar 21, 2014 15:05:18.138 Descend SBE41 Message 1.220000 -0.001411 -0.005000 0.005832 Mar 21, 2014 15:05:18.987 Descend Vel PID Values 0.050000 -0.001411 -0.021189 0.015877 0.005407 7.892228 7.892228 15784.455512 Mar 21, 2014 15:05:20.998 Descend Vel PID ValuesMar 21, 2014 15:05:20.998 Descend ADuC Message 63.150000 Mar 21, 2014 15:05:20.998 Descend Vel PID ValuesMar 21, 2014 15:05:20.998 Descend ADuC Message 63.150000 30.499740 0.129400 0.171800 0.159800 Mar 21, 2014 15:05:22.146 Descend SBE41 Message 1.220000 -0.016570 0.000000 -0.018631 Mar 21, 2014 15:05:22.988 Descend Vel PID Values 0.050000 -0.016570 -0.003461 0.006436 0.005634 8.123595 8.123595 16247.190909 Mar 21, 2014 15:05:24.987 Descend Vel PID Values 0.050000 -0.016570 -0.000509 0.002952 0.005735 8.926728 8.926728 17853.456439 Mar 21, 2014 15:05:25.246 Descend ADuC Message 63.140000 30.503760 0.129400 0.171600 0.159200 Mar 21, 2014 15:05:26.163 Descend SBE41 Message 1.210000 -0.011656 0.005000 -0.042015 Mar 21, 2014 15:05:26.988 Descend Vel PID Values 0.050000 -0.011656 0.000450 0.000959 0.005834 9.532121 9.532121 19064.241846 Mar 21, 2014 15:05:28.988 Descend Vel PID Values 0.050000 -0.011656 0.000109 -0.000341 0.005934 10.120464 10.120464 20240.928419 Mar 21, 2014 15:05:29.489 Descend ADuC Message 63.140000 30.503760 0.129400 0.171800 0.163900 Mar 21, 2014 15:05:30.074 Descend SBE41 Message 1.200000 0.003063 0.005000 -0.043828 Mar 21, 2014 15:05:30.987 Descend Vel PID Values 0.050000 0.003063 0.000126 0.000017 0.006033 9.973707 9.973707 19947.414497 Mar 21, 2014 15:05:32.988 Descend Vel PID Values 0.050000 0.003063 0.000363 0.000237 0.006133 9.838784 9.838784 19677.568389 Mar 21, 2014 15:05:33.675 Descend ADuC Message 63.140000 30.507780 0.129500 0.172100 0.164200 Mar 21, 2014 15:05:34.149 Descend SBE41 Message 1.200000 0.004395 0.000000 -0.017880 Mar 21, 2014 15:05:34.987 Descend Vel PID Values 0.050000 0.004395 0.000819 0.000456 0.006231 9.660068 9.660068 19320.136487 Mar 21, 2014 15:05:36.987 Descend Vel PID Values 0.050000 0.004395 0.001374 0.000556 0.006328 9.509131 9.509131 19018.262722 Mar 21, 2014 15:05:37.877 Descend ADuC Message 63.140000 30.503760 0.129300 0.171900 0.162300 Mar 21, 2014 15:05:38.130 Descend SBE41 Message 1.200000 -0.000215 0.000000 0.020146 Mar 21, 2014 15:05:38.987 Descend Vel PID Values 0.050000 -0.000215 0.001594 0.000220 0.006425 9.599667 9.599667 19199.333739 Mar 21, 2014 15:05:40.987 Descend Vel PID Values 0.050000 -0.000215 0.001590 -0.000004 0.006522 9.690004 9.690004 19380.008410 Mar 21, 2014 15:05:42.088 Descend ADuC Message 63.150000 30.503760 0.129400 0.172000 0.161700 Mar 21, 2014 15:05:42.274 Descend SBE41 Message 1.240000 0.001526 -0.020000 0.044400 Mar 21, 2014 15:05:42.987 Descend Vel PID Values 0.050000 0.001526 0.001583 -0.000007 0.006619 9.692942 9.692942 19385.884663 Mar 21, 2014 15:05:44.988 Descend Vel PID Values 0.050000 0.001526 0.001574 -0.000009 0.006716 9.695435 9.695435 19390.870162 Mar 21, 2014 15:05:46.165 Descend SBE41 Message 1.220000 0.001551 0.010000 0.040731 Mar 21, 2014 15:05:46.397 Descend ADuC Message 63.150000 30.511800 0.129400 0.172000 0.161100 Mar 21, 2014 15:05:46.988 Descend Vel PID Values 0.050000 0.001551 0.001566 -0.000007 0.006812 9.696311 9.696311 19392.621335 Mar 21, 2014 15:05:48.988 Descend Vel PID Values 0.050000 0.001551 0.001561 -0.000006 0.006909 9.696904 9.696904 19393.807412 Mar 21, 2014 15:05:50.088 Descend SBE41 Message 1.230000 -0.000046 -0.005000 0.016808 Mar 21, 2014 15:05:50.607 Descend ADuC Message 63.150000 30.503760 0.129300 0.172100 0.167600 Mar 21, 2014 15:05:50.989 Descend Vel PID Values 0.050000 -0.000046 0.001434 -0.000127 0.007006 9.770981 9.770981 19541.961998 Mar 21, 2014 15:05:52.987 Descend Vel PID Values 0.050000 -0.000046 0.001242 -0.000192 0.007104 9.835458 9.835458 19670.915909 Mar 21, 2014 15:05:54.142 Descend SBE41 Message 1.230000 -0.001231 0.000000 -0.006779 Mar 21, 2014 15:05:54.824 Descend ADuC Message 63.150000 30.503760 0.129400 0.171900 0.165600 Mar 21, 2014 15:05:54.987 Descend Vel PID Values 0.050000 -0.001231 0.000933 -0.000308 0.007202 9.943757 9.943757 19887.514462 Mar 21, 2014 15:05:56.988 Descend Vel PID Values 0.050000 -0.001231 0.000577 -0.000356 0.007301 10.034246 10.034246 20068.492800 Mar 21, 2014 15:05:58.126 Descend SBE41 Message 1.210000 -0.000389 0.010000 -0.014890 Mar 21, 2014 15:05:59.000 Descend Vel PID Values 0.050000 -0.000389 0.000284 -0.000294 0.007400 10.067980 10.067980 20135.959975 Mar 21, 2014 15:05:59.113 Descend ADuC Message 63.150000 30.507780 0.129500 0.172000 0.162300 Mar 21, 2014 15:06:00.987 Descend Vel PID Values 0.050000 -0.000389 0.000051 -0.000232 0.007500 10.090095 10.090095 20180.190103 Mar 21, 2014 15:06:02.135 Descend SBE41 Message 1.230000 0.002380 -0.010000 -0.008173 Mar 21, 2014 15:06:02.987 Descend Vel PID Values 0.050000 0.002380 0.000087 0.000036 0.007600 9.975571 9.975571 19951.141573 Mar 21, 2014 15:06:03.296 Descend ADuC Message 63.150000 30.503760 0.129400 0.172000 0.162500 Mar 21, 2014 15:06:04.988 Descend Vel PID Values 0.050000 0.002380 0.000286 0.000199 0.007699 9.870975 9.870975 19741.950081 Mar 21, 2014 15:06:06.178 Descend SBE41 Message 1.200000 0.003822 0.015000 0.002138 Mar 21, 2014 15:06:06.987 Descend Vel PID Values 0.050000 0.003822 0.000680 0.000394 0.007798 9.713987 9.713987 19427.974004 Mar 21, 2014 15:06:07.497 Descend ADuC Message 63.150000 30.503760 0.129300 0.171900 0.167500 Mar 21, 2014 15:06:08.989 Descend Vel PID Values 0.050000 0.003822 0.001164 0.000484 0.007896 9.581211 9.581211 19162.421724 Mar 21, 2014 15:06:10.166 Descend SBE41 Message 1.210000 0.002151 -0.005000 0.006511 Mar 21, 2014 15:06:10.987 Descend Vel PID Values 0.050000 0.002151 0.001538 0.000374 0.007993 9.550656 9.550656 19101.312545 Mar 21, 2014 15:06:11.683 Descend ADuC Message 63.150000 30.507780 0.129500 0.172000 0.167100 Mar 21, 2014 15:06:12.988 Descend Vel PID Values 0.050000 0.002151 0.001816 0.000277 0.008089 9.533964 9.533964 19067.928244 Mar 21, 2014 15:06:14.148 Descend SBE41 Message 1.210000 -0.001842 0.000000 0.004070 Mar 21, 2014 15:06:14.988 Descend Vel PID Values 0.050000 -0.001842 0.001705 -0.000111 0.008186 9.711397 9.711397 19422.793890 Mar 21, 2014 15:06:15.974 Descend ADuC Message 63.150000 30.511800 0.129400 0.172200 0.165300 Mar 21, 2014 15:06:16.987 Descend Vel PID Values 0.050000 -0.001842 0.001364 -0.000341 0.008283 9.871782 9.871782 19743.564016 Mar 21, 2014 15:06:18.126 Descend SBE41 Message 1.200000 -0.005380 0.005000 -0.000274 Mar 21, 2014 15:06:18.988 Descend Vel PID Values 0.050000 -0.005380 0.000635 -0.000729 0.008382 10.172636 10.172636 20345.271862 Mar 21, 2014 15:06:20.186 Descend ADuC Message 63.150000 30.511800 0.129400 0.172100 0.163300 Mar 21, 2014 15:06:20.987 Descend Vel PID Values 0.050000 -0.005380 -0.000276 -0.000911 0.008482 10.427939 10.427939 20855.877445 Mar 21, 2014 15:06:22.136 Descend SBE41 Message 1.220000 -0.005382 -0.010000 -0.002311 Mar 21, 2014 15:06:22.987 Descend Vel PID Values 0.050000 -0.005382 -0.001229 -0.000953 0.008585 10.635679 10.635679 21271.357717 Mar 21, 2014 15:06:24.396 Descend ADuC Message 63.150000 30.503760 0.129400 0.171900 0.163300 Mar 21, 2014 15:06:24.987 Descend Vel PID Values 0.050000 -0.005382 -0.002135 -0.000906 0.008689 10.798112 10.798112 21596.224401 Mar 21, 2014 15:06:26.157 Descend SBE41 Message 1.220000 -0.002521 0.000000 -0.001697 Mar 21, 2014 15:06:26.987 Descend Vel PID Values 0.050000 -0.002521 -0.002723 -0.000587 0.008794 10.788131 10.788131 21576.262281 Mar 21, 2014 15:06:28.609 Descend ADuC Message 63.150000 30.503760 0.129400 0.172000 0.162600 Mar 21, 2014 15:06:28.989 Descend Vel PID Values 0.050000 -0.002521 -0.003069 -0.000346 0.008901 10.760856 10.760856 21521.712122 Mar 21, 2014 15:06:30.166 Descend SBE41 Message 1.190000 0.000738 0.015000 -0.000200 Mar 21, 2014 15:06:30.987 Descend Vel PID Values 0.050000 0.000738 -0.002989 0.000080 0.009007 10.574655 10.574655 21149.310965 Mar 21, 2014 15:06:32.804 Descend ADuC Message 63.150000 30.507780 0.129400 0.171900 0.161700 Mar 21, 2014 15:06:32.987 Descend Vel PID Values 0.050000 0.000738 -0.002653 0.000336 0.009112 10.405245 10.405245 20810.489513 Mar 21, 2014 15:06:34.150 Descend SBE41 Message 1.210000 0.002725 -0.010000 0.000787 Mar 21, 2014 15:06:34.987 Descend Vel PID Values 0.050000 0.002725 -0.002032 0.000620 0.009216 10.167480 10.167480 20334.960583 Mar 21, 2014 15:06:36.987 Descend Vel PID Values 0.050000 0.002725 -0.001285 0.000748 0.009318 9.967099 9.967099 19934.197842 Mar 21, 2014 15:06:37.254 Descend ADuC Message 63.150000 30.507780 0.129300 0.171600 0.160100 Mar 21, 2014 15:06:38.127 Descend SBE41 Message 1.220000 0.003435 -0.005000 0.001044 Mar 21, 2014 15:06:38.987 Descend Vel PID Values 0.050000 0.003435 -0.000462 0.000823 0.009419 9.772378 9.772378 19544.755878 Mar 21, 2014 15:06:40.987 Descend Vel PID Values 0.050000 0.003435 0.000345 0.000806 0.009519 9.617970 9.617970 19235.939705 Mar 21, 2014 15:06:41.273 Descend ADuC Message 63.160000 30.503760 0.129300 0.171700 0.160500 Mar 21, 2014 15:06:42.150 Descend SBE41 Message 1.220000 0.002908 0.000000 0.000654 Mar 21, 2014 15:06:42.987 Descend Vel PID Values 0.050000 0.002908 0.001038 0.000693 0.009617 9.524573 9.524573 19049.145395 Mar 21, 2014 15:06:44.988 Descend Vel PID Values 0.050000 0.002908 0.001609 0.000571 0.009713 9.459700 9.459700 18919.400363 Mar 21, 2014 15:06:45.495 Descend ADuC Message 63.150000 30.507780 0.129400 0.171800 0.164400