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 23, 2014 12:07:10.327 SM Not Running File Name = \SD\2014-3-23T12-7-9 Mar 23, 2014 12:07:10.405 SM Not Running Volume Total Size: 3644850176 Mar 23, 2014 12:07:10.484 SM Not Running Volume Free Space: 3615064064 Mar 23, 2014 12:07:08.035 SM Not Running Program Started Mar 23, 2014 12:07:11.587 Initialize State Entry Mar 23, 2014 12:07:12.676 Initialize State timed out, exiting state Mar 23, 2014 12:07:13.741 SurfaceOps State Entry Mar 23, 2014 12:07:13.781 SurfaceOps Waiting for Console Command Mar 23, 2014 12:07:14.916 SurfaceOps SBE41 Message 7.110000 -0.000000 0.000000 0.000000 Mar 23, 2014 12:07:16.097 SurfaceOps ADuC Message 62.340000 30.342960 0.129700 0.172500 0.176800 Mar 23, 2014 12:07:19.212 SurfaceOps Processing Console Command: go Mar 23, 2014 12:07:19.304 SurfaceOps SBE41 Message 7.120000 0.000052 -0.005000 -0.000000 Mar 23, 2014 12:07:20.585 ABSetBellows ADuC Message 62.340000 30.334920 0.129900 0.172600 0.163400 Mar 23, 2014 12:07:20.437 SurfaceOps Normal state exit Mar 23, 2014 12:07:21.713 ABSetBellows State Entry Mar 23, 2014 12:07:23.808 ABSetBellows SBE41 Message 7.120000 0.000037 0.000000 -0.000000 Mar 23, 2014 12:07:24.988 ABSetBellows ADuC Message 62.490000 30.226380 0.129800 0.172400 0.161100 Mar 23, 2014 12:07:27.147 ABSetBellows SBE41 Message 7.090000 -0.000250 0.015000 0.000002 Mar 23, 2014 12:07:29.309 ABSetBellows ADuC Message 62.940000 30.278640 0.129700 0.172100 0.155600 Mar 23, 2014 12:07:31.447 ABSetBellows SBE41 Message 7.100000 -0.000192 -0.005000 0.000001 Mar 23, 2014 12:07:33.634 ABSetBellows ADuC Message 63.380000 30.334920 0.130000 0.172200 0.154600 Mar 23, 2014 12:07:34.754 AB Retract Normal state exit Mar 23, 2014 12:07:34.871 AB Retract SBE41 Message 7.100000 0.000319 0.000000 -0.000006 Mar 23, 2014 12:07:35.990 AB Retract State Entry Mar 23, 2014 12:07:37.185 AB Retract ADuC Message 63.680000 30.455520 0.129900 0.172600 0.158800 Mar 23, 2014 12:07:39.311 AB Retract SBE41 Message 7.100000 0.000570 0.000000 -0.000008 Mar 23, 2014 12:07:41.495 AB Retract ADuC Message 63.560000 30.455520 0.129800 0.172000 0.154400 Mar 23, 2014 12:07:43.622 AB Retract SBE41 Message 7.990000 0.004777 -0.445000 -0.000018 Mar 23, 2014 12:07:44.726 Descend Normal state exit Mar 23, 2014 12:07:45.970 Descend ADuC Message 63.430000 30.443460 0.129800 0.172400 0.156500 Mar 23, 2014 12:07:45.792 Descend State Entry Mar 23, 2014 12:07:45.831 Descend Sampling Instruments Mar 23, 2014 12:07:47.196 Descend Vel PID Values 0.050000 0.010000 0.000769 0.000769 0.000098 9.538462 9.538462 19076.923077 Mar 23, 2014 12:07:47.353 Descend SBE41 Message 7.970000 0.002238 0.010000 0.000016 Mar 23, 2014 12:07:50.538 Descend ADuC Message 63.600000 30.371100 0.129800 0.172700 0.157900 Mar 23, 2014 12:07:51.688 Descend Vel PID Values 0.050000 -0.415000 -0.030740 -0.031509 0.000260 28.751578 28.751578 57503.155503 Mar 23, 2014 12:07:51.847 Descend SBE41 Message 8.800000 -0.005928 -0.415000 0.000107 Mar 23, 2014 12:07:52.959 Descend Starting park period = 00:05:00 Mar 23, 2014 12:07:52.998 Descend Sampling Instruments Mar 23, 2014 12:07:54.159 Descend ADuC Message 64.100000 30.246480 0.130100 0.173500 0.163000 Mar 23, 2014 12:07:55.294 Descend Vel PID Values 0.000000 0.010000 -0.046996 -0.016256 0.000354 15.901944 15.901944 31803.888111 Mar 23, 2014 12:07:55.429 Descend SBE41 Message 8.780000 -0.009468 0.010000 0.000067 Mar 23, 2014 12:07:58.640 Descend ADuC Message 64.830000 30.330900 0.130100 0.172500 0.157200 Mar 23, 2014 12:07:59.780 Descend Vel PID Values 0.000000 0.005000 -0.053000 -0.006004 0.000460 13.002035 13.002035 26004.069092 Mar 23, 2014 12:07:59.907 Descend SBE41 Message 8.770000 -0.006789 0.005000 -0.000155 Mar 23, 2014 12:08:03.129 Descend ADuC Message 65.570000 30.556020 0.130100 0.172600 0.156100 Mar 23, 2014 12:08:03.282 Descend Vel PID Values 0.000000 0.005000 -0.052233 0.000767 0.000564 10.140471 10.140471 20280.941304 Mar 23, 2014 12:08:03.454 Descend SBE41 Message 8.760000 0.016407 0.005000 -0.000426 Mar 23, 2014 12:08:06.639 Descend ADuC Message 66.120000 30.672600 0.130000 0.172300 0.153900 Mar 23, 2014 12:08:07.817 Descend Vel PID Values 0.000000 0.000000 -0.047744 0.004490 0.000660 7.753393 7.753393 15506.785642 Mar 23, 2014 12:08:07.966 Descend SBE41 Message 8.760000 0.030369 0.000000 -0.000227 Mar 23, 2014 12:08:11.166 Descend ADuC Message 66.580000 30.753000 0.130200 0.172300 0.154700 Mar 23, 2014 12:08:11.342 Descend Vel PID Values 0.000000 0.005000 -0.040924 0.006820 0.000742 5.457312 5.457312 10914.624801 Mar 23, 2014 12:08:11.494 Descend SBE41 Message 8.750000 0.009378 0.005000 0.000771 Mar 23, 2014 12:08:15.666 Descend Vel PID Values 0.000000 0.000000 -0.033579 0.007345 0.000809 3.778467 3.778467 7556.933144 Mar 23, 2014 12:08:15.819 Descend SBE41 Message 8.750000 -0.066723 0.000000 0.001784 Mar 23, 2014 12:08:16.053 Descend ADuC Message 66.890000 30.817320 0.130000 0.172200 0.153300 Mar 23, 2014 12:08:19.203 Descend Vel PID Values 0.000000 0.010000 -0.025706 0.007872 0.000860 1.993215 1.993215 3986.429575 Mar 23, 2014 12:08:19.328 Descend SBE41 Message 8.730000 -0.167487 0.010000 0.001273 Mar 23, 2014 12:08:19.565 Descend ADuC Message 67.130000 30.869580 0.129900 0.172200 0.153200 Mar 23, 2014 12:08:23.729 Descend Vel PID Values 0.000000 0.000000 -0.018885 0.006822 0.000898 1.049039 1.049039 2098.077412 Mar 23, 2014 12:08:23.854 Descend SBE41 Message 8.730000 -0.237368 0.000000 -0.001540 Mar 23, 2014 12:08:24.098 Descend ADuC Message 67.250000 30.913800 0.129900 0.172000 0.152000 Mar 23, 2014 12:08:27.277 Descend Vel PID Values 0.000000 0.005000 -0.012849 0.006035 0.000924 0.156615 0.156615 313.230126 Mar 23, 2014 12:08:27.422 Descend SBE41 Message 8.720000 -0.230094 0.005000 -0.004592 Mar 23, 2014 12:08:28.611 Descend ADuC Message 67.320000 30.929880 0.129800 0.172100 0.158200 Mar 23, 2014 12:08:31.785 Descend Vel PID Values 0.000000 0.000000 -0.008147 0.004702 0.000940 -0.250698 -0.250698 -501.396676 Mar 23, 2014 12:08:31.938 Descend SBE41 Message 8.720000 -0.151027 0.000000 -0.003908 Mar 23, 2014 12:08:32.179 Descend ADuC Message 67.340000 30.945960 0.129900 0.171900 0.152200 Mar 23, 2014 12:08:35.319 Descend Vel PID Values 0.000000 0.005000 -0.004242 0.003905 0.000949 -0.712766 -0.712766 -1425.531886 Mar 23, 2014 12:08:35.463 Descend SBE41 Message 8.710000 -0.051765 0.005000 0.002472 Mar 23, 2014 12:08:36.672 Descend ADuC Message 67.330000 30.933900 0.130000 0.172600 0.160400 Mar 23, 2014 12:08:39.816 Descend Vel PID Values 0.000000 -0.005000 -0.001897 0.002345 0.000952 -0.557601 -0.557601 -1115.201870 Mar 23, 2014 12:08:39.951 Descend SBE41 Message 8.720000 0.015201 -0.005000 0.010255 Mar 23, 2014 12:08:41.174 Descend ADuC Message 67.290000 30.925860 0.129900 0.172400 0.160800 Mar 23, 2014 12:08:43.312 Descend Vel PID Values 0.000000 0.015000 0.000846 0.002743 0.000951 -1.265305 -1.265305 -2530.609409 Mar 23, 2014 12:08:43.469 Descend SBE41 Message 8.690000 0.028237 0.015000 0.010270 Mar 23, 2014 12:08:44.649 Descend ADuC Message 67.250000 30.921840 0.129900 0.172400 0.159000 Mar 23, 2014 12:08:47.810 Descend Vel PID Values 0.000000 0.010000 0.003238 0.002392 0.000944 -1.603414 -1.603414 -3206.828709 Mar 23, 2014 12:08:47.962 Descend SBE41 Message 8.670000 0.012996 0.010000 -0.003921 Mar 23, 2014 12:08:49.148 Descend ADuC Message 67.180000 30.913800 0.129900 0.172300 0.158300 Mar 23, 2014 12:08:51.306 Descend Vel PID Values 0.000000 -0.005000 0.004076 0.000838 0.000936 -1.149613 -1.149613 -2299.226070 Mar 23, 2014 12:08:51.431 Descend SBE41 Message 8.680000 -0.005488 -0.005000 -0.027712 Mar 23, 2014 12:08:53.687 Descend ADuC Message 67.100000 30.893700 0.129900 0.172500 0.158100 Mar 23, 2014 12:08:53.579 Descend Sampling Instruments Mar 23, 2014 12:08:54.895 Descend Vel PID Values 0.000000 0.005000 0.004663 0.000587 0.000927 -1.166466 -1.166466 -2332.931671 Mar 23, 2014 12:08:55.041 Descend SBE41 Message 8.670000 -0.003029 0.005000 -0.045665 Mar 23, 2014 12:08:58.244 Descend ADuC Message 67.030000 30.893700 0.130000 0.172400 0.157600 Mar 23, 2014 12:08:59.422 Descend Vel PID Values 0.000000 0.000000 0.004666 0.000003 0.000917 -0.933195 -0.933195 -1866.389605 Mar 23, 2014 12:08:59.560 Descend SBE41 Message 8.670000 0.001397 0.000000 -0.042228 Mar 23, 2014 12:09:01.769 Descend ADuC Message 66.970000 30.881640 0.129800 0.172400 0.157300 Mar 23, 2014 12:09:02.905 Descend Vel PID Values 0.000000 0.010000 0.005077 0.000412 0.000907 -1.179330 -1.179330 -2358.659902 Mar 23, 2014 12:09:03.034 Descend SBE41 Message 8.650000 0.006329 0.010000 -0.015084 Mar 23, 2014 12:09:06.253 Descend ADuC Message 66.930000 30.877620 0.129900 0.171800 0.155400 Mar 23, 2014 12:09:07.397 Descend Vel PID Values 0.000000 0.000000 0.004940 -0.000137 0.000897 -0.932322 -0.932322 -1864.643170 Mar 23, 2014 12:09:07.535 Descend SBE41 Message 8.650000 0.005675 0.000000 0.020828 Mar 23, 2014 12:09:10.748 Descend ADuC Message 66.870000 30.881640 0.130100 0.172000 0.155500 Mar 23, 2014 12:09:10.910 Descend Vel PID Values 0.000000 0.000000 0.004476 -0.000464 0.000888 -0.708533 -0.708533 -1417.066475 Mar 23, 2014 12:09:11.084 Descend SBE41 Message 8.650000 0.001399 0.000000 0.044341 Mar 23, 2014 12:09:14.277 Descend ADuC Message 66.820000 30.873600 0.130000 0.171900 0.154000 Mar 23, 2014 12:09:15.459 Descend Vel PID Values 0.000000 0.005000 0.004230 -0.000245 0.000880 -0.747018 -0.747018 -1494.035703 Mar 23, 2014 12:09:15.606 Descend SBE41 Message 8.640000 0.003335 0.005000 0.043387 Mar 23, 2014 12:09:18.799 Descend ADuC Message 66.780000 30.861540 0.129900 0.172100 0.154000 Mar 23, 2014 12:09:18.983 Descend Vel PID Values 0.000000 0.000000 0.003754 -0.000476 0.000872 -0.559326 -0.559326 -1118.652482 Mar 23, 2014 12:09:19.150 Descend SBE41 Message 8.640000 0.005804 0.000000 0.023523 Mar 23, 2014 12:09:23.353 Descend ADuC Message 66.760000 30.865560 0.129800 0.172000 0.153100 Mar 23, 2014 12:09:23.525 Descend Vel PID Values 0.000000 0.005000 0.003557 -0.000197 0.000865 -0.631502 -0.631502 -1263.004924 Mar 23, 2014 12:09:23.699 Descend SBE41 Message 8.630000 0.006375 0.005000 0.001242 Mar 23, 2014 12:09:26.889 Descend ADuC Message 66.710000 30.853500 0.129800 0.172100 0.153000 Mar 23, 2014 12:09:27.077 Descend Vel PID Values 0.000000 -0.005000 0.002777 -0.000780 0.000860 -0.242661 -0.242661 -485.322971 Mar 23, 2014 12:09:27.230 Descend SBE41 Message 8.640000 0.005065 -0.005000 -0.009866 Mar 23, 2014 12:09:31.417 Descend Vel PID Values 0.000000 0.000000 0.002084 -0.000693 0.000856 -0.138489 -0.138489 -276.978464 Mar 23, 2014 12:09:31.580 Descend SBE41 Message 8.640000 0.003103 0.000000 -0.007950 Mar 23, 2014 12:09:31.827 Descend ADuC Message 66.700000 30.849480 0.129900 0.172000 0.152800 Mar 23, 2014 12:09:34.997 Descend Vel PID Values 0.000000 0.010000 0.002266 0.000182 0.000851 -0.525203 -0.525203 -1050.406578 Mar 23, 2014 12:09:35.122 Descend SBE41 Message 8.620000 0.002088 0.010000 -0.000673 Mar 23, 2014 12:09:35.362 Descend ADuC Message 66.690000 30.849480 0.129700 0.172000 0.156900 Mar 23, 2014 12:09:39.528 Descend Vel PID Values 0.000000 -0.005000 0.001819 -0.000447 0.000847 -0.184256 -0.184256 -368.511065 Mar 23, 2014 12:09:39.654 Descend SBE41 Message 8.630000 0.002538 -0.005000 0.003808 Mar 23, 2014 12:09:39.891 Descend ADuC Message 66.660000 30.853500 0.129800 0.172100 0.151500 Mar 23, 2014 12:09:43.069 Descend Vel PID Values 0.000000 0.005000 0.001789 -0.000030 0.000844 -0.344819 -0.344819 -689.637590 Mar 23, 2014 12:09:43.216 Descend SBE41 Message 8.620000 0.003378 0.005000 0.003172 Mar 23, 2014 12:09:44.414 Descend ADuC Message 66.640000 30.849480 0.129900 0.172600 0.160600 Mar 23, 2014 12:09:47.597 Descend Vel PID Values 0.000000 0.005000 0.002017 0.000228 0.000840 -0.493962 -0.493962 -987.923330 Mar 23, 2014 12:09:47.739 Descend SBE41 Message 8.610000 0.003371 0.005000 0.000421 Mar 23, 2014 12:09:48.943 Descend ADuC Message 66.620000 30.841440 0.129600 0.171900 0.157300 Mar 23, 2014 12:09:51.121 Descend Vel PID Values 0.000000 0.010000 0.002772 0.000755 0.000834 -0.855374 -0.855374 -1710.748144 Mar 23, 2014 12:09:51.267 Descend SBE41 Message 8.590000 0.002613 0.010000 -0.001065 Mar 23, 2014 12:09:52.470 Descend ADuC Message 66.600000 30.845460 0.130100 0.172500 0.160600 Mar 23, 2014 12:09:54.579 Descend Sampling Instruments Mar 23, 2014 12:09:55.675 Descend Vel PID Values 0.000000 -0.010000 0.002254 -0.000518 0.000830 -0.242691 -0.242691 -485.382788 Mar 23, 2014 12:09:55.837 Descend SBE41 Message 8.610000 0.001699 -0.010000 -0.000598 Mar 23, 2014 12:09:57.020 Descend ADuC Message 66.550000 30.845460 0.129900 0.172500 0.162100 Mar 23, 2014 12:09:59.161 Descend Vel PID Values 0.000000 0.005000 0.002146 -0.000108 0.000825 -0.385386 -0.385386 -770.771585 Mar 23, 2014 12:09:59.299 Descend SBE41 Message 8.600000 0.000998 0.005000 0.000245 Mar 23, 2014 12:10:01.497 Descend ADuC Message 66.530000 30.841440 0.130000 0.172300 0.158700 Mar 23, 2014 12:10:03.641 Descend Vel PID Values 0.000000 0.000000 0.001915 -0.000231 0.000822 -0.289644 -0.289644 -579.288415 Mar 23, 2014 12:10:03.789 Descend SBE41 Message 8.600000 0.000595 0.000000 0.000269 Mar 23, 2014 12:10:04.984 Descend ADuC Message 66.510000 30.829380 0.130000 0.172500 0.158700 Mar 23, 2014 12:10:07.155 Descend Vel PID Values 0.000000 0.000000 0.001625 -0.000290 0.000818 -0.208384 -0.208384 -416.767356 Mar 23, 2014 12:10:07.301 Descend SBE41 Message 8.600000 0.000433 0.000000 -0.000360 Mar 23, 2014 12:10:09.502 Descend ADuC Message 66.490000 30.825360 0.129800 0.172300 0.157500 Mar 23, 2014 12:10:11.674 Descend Vel PID Values 0.000000 0.005000 0.001707 0.000081 0.000815 -0.373055 -0.373055 -746.109215 Mar 23, 2014 12:10:11.811 Descend SBE41 Message 8.590000 0.000811 0.005000 -0.000697 Mar 23, 2014 12:10:14.017 Descend ADuC Message 66.490000 30.825360 0.129900 0.172200 0.158200 Mar 23, 2014 12:10:15.215 Descend Vel PID Values 0.000000 0.000000 0.001625 -0.000081 0.000812 -0.291786 -0.291786 -583.572727 Mar 23, 2014 12:10:15.354 Descend SBE41 Message 8.590000 0.002274 0.000000 -0.000390 Mar 23, 2014 12:10:17.566 Descend ADuC Message 66.470000 30.833400 0.129800 0.172200 0.157600 Mar 23, 2014 12:10:19.705 Descend Vel PID Values 0.000000 0.005000 0.001835 0.000210 0.000808 -0.450038 -0.450038 -900.075448 Mar 23, 2014 12:10:19.855 Descend SBE41 Message 8.580000 0.003881 0.005000 0.000097 Mar 23, 2014 12:10:22.052 Descend ADuC Message 66.450000 30.825360 0.129600 0.171900 0.156100 Mar 23, 2014 12:10:23.198 Descend Vel PID Values 0.000000 -0.010000 0.001054 -0.000781 0.000806 0.102640 0.102640 205.280989 Mar 23, 2014 12:10:23.322 Descend SBE41 Message 8.600000 0.004756 -0.010000 0.000289 Mar 23, 2014 12:10:26.548 Descend ADuC Message 66.430000 30.833400 0.129900 0.172000 0.155000 Mar 23, 2014 12:10:27.697 Descend Vel PID Values 0.000000 0.005000 0.000876 -0.000177 0.000804 -0.103544 -0.103544 -207.088972 Mar 23, 2014 12:10:27.824 Descend SBE41 Message 8.590000 0.003758 0.005000 0.000039 Mar 23, 2014 12:10:31.047 Descend ADuC Message 66.430000 30.817320 0.130000 0.171900 0.155200 Mar 23, 2014 12:10:31.201 Descend Vel PID Values 0.000000 0.010000 0.001469 0.000593 0.000801 -0.530093 -0.530093 -1060.186719 Mar 23, 2014 12:10:31.380 Descend SBE41 Message 8.570000 0.001439 0.010000 -0.000334 Mar 23, 2014 12:10:34.573 Descend ADuC Message 66.410000 30.829380 0.129900 0.171900 0.153500 Mar 23, 2014 12:10:35.752 Descend Vel PID Values 0.000000 0.010000 0.002490 0.001021 0.000796 -0.905595 -0.905595 -1811.189431 Mar 23, 2014 12:10:35.900 Descend SBE41 Message 8.550000 -0.000322 0.010000 -0.000525 Mar 23, 2014 12:10:39.097 Descend ADuC Message 66.370000 30.813300 0.129900 0.172000 0.153800 Mar 23, 2014 12:10:39.277 Descend Vel PID Values 0.000000 -0.005000 0.002542 0.000052 0.000791 -0.528491 -0.528491 -1056.982683 Mar 23, 2014 12:10:39.435 Descend SBE41 Message 8.560000 -0.000164 -0.005000 -0.000479 Mar 23, 2014 12:10:43.644 Descend ADuC Message 66.340000 30.813300 0.129800 0.172100 0.153000 Mar 23, 2014 12:10:43.818 Descend Vel PID Values 0.000000 0.000000 0.002379 -0.000163 0.000786 -0.409561 -0.409561 -819.122939 Mar 23, 2014 12:10:43.995 Descend SBE41 Message 8.560000 0.001694 0.000000 -0.000219 Mar 23, 2014 12:10:45.106 Descend State timed out, exiting state Mar 23, 2014 12:10:46.166 Ascend State Entry Mar 23, 2014 12:10:47.275 Ascend SBE41 Message 8.550000 0.002567 0.005000 0.000206 Mar 23, 2014 12:10:47.481 Ascend ADuC Message 66.310000 30.809280 0.129800 0.172600 0.158900 Mar 23, 2014 12:10:48.608 Ascend State timed out, exiting state Mar 23, 2014 12:10:49.673 Surface State Entry Mar 23, 2014 12:10:51.799 Initialize SBE41 Message 8.540000 0.001778 0.005000 0.000647 Mar 23, 2014 12:10:52.009 Initialize ADuC Message 66.290000 30.809280 0.129700 0.172500 0.156400 Mar 23, 2014 12:10:51.735 Surface State timed out, exiting state Mar 23, 2014 12:10:53.186 Initialize State Entry Mar 23, 2014 12:10:53.247 Initialize State timed out, exiting state