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 Apr 02, 2014 14:02:50.321 SM Not Running File Name = \SD\2014-4-2T14-2-49 Apr 02, 2014 14:02:50.416 SM Not Running Volume Total Size: 3644850176 Apr 02, 2014 14:02:50.512 SM Not Running Volume Free Space: 3612278784 Apr 02, 2014 14:02:50.609 SM Not Running Vel PID K = 45 Apr 02, 2014 14:02:50.707 SM Not Running Vel PID Ti = 50000 Apr 02, 2014 14:02:50.805 SM Not Running Vel PID Td = 1 Apr 02, 2014 14:02:50.900 SM Not Running Vel PID Tf = 2 Apr 02, 2014 14:02:50.995 SM Not Running Vel PID Tt = 2 Apr 02, 2014 14:02:51.090 SM Not Running Vel PID B = 1 Apr 02, 2014 14:02:51.187 SM Not Running Vel PID uLow = -50 Apr 02, 2014 14:02:51.283 SM Not Running Vel PID uHigh = 50 Apr 02, 2014 14:02:51.381 SM Not Running Vel PID h = 2 Apr 02, 2014 14:02:48.039 SM Not Running Program Started Apr 02, 2014 14:02:53.525 Initialize State Entry Apr 02, 2014 14:02:56.649 Initialize SBE41 Message -0.030000 0.000000 0.000000 -0.000000 Apr 02, 2014 14:02:56.866 Initialize ADuC Message 73.940000 32.590140 0.130700 0.174200 0.167200 Apr 02, 2014 14:02:59.011 Initialize State timed out, exiting state Apr 02, 2014 14:03:00.218 PreMissionDelay SBE41 Message -0.030000 0.000000 0.000000 -0.000000 Apr 02, 2014 14:03:00.099 SOSetBellows bellows set position = 74.00 mm at 20000 CPS State Entry Apr 02, 2014 14:03:00.142 SOSetBellows bellows set position = 74.00 mm at 20000 CPS Normal state exit Apr 02, 2014 14:03:01.562 PreMissionDelay 2 seconds ADuC Message 73.930000 32.578080 0.130700 0.175900 0.170700 Apr 02, 2014 14:03:01.445 PreMissionDelay State Entry Apr 02, 2014 14:03:02.759 PreMissionDelay State timed out, exiting state Apr 02, 2014 14:03:04.009 SurfaceOps SBE41 Message -0.130000 -0.000516 0.050000 0.000003 Apr 02, 2014 14:03:03.864 SurfaceOps State Entry Apr 02, 2014 14:03:03.919 SurfaceOps Waiting for Console Command Apr 02, 2014 14:03:05.324 SurfaceOps ADuC Message 73.930000 32.586120 0.130800 0.175900 0.170100 Apr 02, 2014 14:03:08.501 SurfaceOps SBE41 Message -0.040000 0.000092 -0.045000 -0.000001 Apr 02, 2014 14:03:09.678 SurfaceOps ADuC Message 73.930000 32.590140 0.130900 0.174500 0.160500 Apr 02, 2014 14:03:11.826 SurfaceOps SBE41 Message -0.040000 0.001284 0.000000 -0.000013 Apr 02, 2014 14:03:14.019 SurfaceOps ADuC Message 73.930000 32.586120 0.130800 0.173800 0.156500 Apr 02, 2014 14:03:16.196 SurfaceOps SBE41 Message -0.020000 0.000565 -0.010000 -0.000002 Apr 02, 2014 14:03:18.382 SurfaceOps ADuC Message 73.940000 32.590140 0.130700 0.173700 0.155500 Apr 02, 2014 14:03:20.534 SurfaceOps SBE41 Message -0.060000 -0.001287 0.020000 0.000031 Apr 02, 2014 14:03:22.739 SurfaceOps ADuC Message 73.930000 32.586120 0.130900 0.173800 0.155800 Apr 02, 2014 14:03:23.930 SurfaceOps SBE41 Message -0.150000 -0.003536 0.045000 0.000041 Apr 02, 2014 14:03:27.126 SurfaceOps ADuC Message 73.940000 32.586120 0.130800 0.173500 0.155200 Apr 02, 2014 14:03:28.274 SurfaceOps SBE41 Message -0.080000 -0.000515 -0.035000 -0.000034 Apr 02, 2014 14:03:31.452 SurfaceOps ADuC Message 73.940000 32.582100 0.130800 0.173700 0.154300 Apr 02, 2014 14:03:31.609 SurfaceOps Processing Console Command: go Apr 02, 2014 14:03:32.774 ABSetBellows SBE41 Message 1.900000 0.016241 -0.990000 -0.000203 Apr 02, 2014 14:03:32.703 SurfaceOps Normal state exit Apr 02, 2014 14:03:33.950 ABSetBellows bellows set position = 70.00 mm at 20000 CPS State Entry Apr 02, 2014 14:03:35.117 ABSetBellows bellows set position = 70.00 mm at 20000 CPS ADuC Message 73.920000 32.445420 0.130900 0.175100 0.161900 Apr 02, 2014 14:03:36.309 ABSetBellows bellows set position = 70.00 mm at 20000 CPS SBE41 Message -0.100000 0.007023 1.000000 -0.000077 Apr 02, 2014 14:03:39.513 ABSetBellows bellows set position = 70.00 mm at 20000 CPS ADuC Message 73.410000 32.401200 0.130900 0.173800 0.156000 Apr 02, 2014 14:03:40.664 ABSetBellows bellows set position = 70.00 mm at 20000 CPS SBE41 Message -0.170000 -0.019936 0.035000 0.000436 Apr 02, 2014 14:03:43.848 ABSetBellows bellows set position = 70.00 mm at 20000 CPS ADuC Message 72.870000 32.336880 0.130800 0.173500 0.154000 Apr 02, 2014 14:03:44.036 ABSetBellows bellows set position = 70.00 mm at 20000 CPS SBE41 Message -0.170000 -0.009612 0.000000 0.000427 Apr 02, 2014 14:03:48.230 ABSetBellows bellows set position = 70.00 mm at 20000 CPS ADuC Message 72.340000 32.264520 0.130800 0.173400 0.152400 Apr 02, 2014 14:03:48.410 ABSetBellows bellows set position = 70.00 mm at 20000 CPS SBE41 Message -0.020000 0.019601 -0.075000 -0.000419 Apr 02, 2014 14:03:52.630 ABSetBellows bellows set position = 70.00 mm at 20000 CPS ADuC Message 71.820000 32.200200 0.130900 0.173500 0.154200 Apr 02, 2014 14:03:52.815 ABSetBellows bellows set position = 70.00 mm at 20000 CPS SBE41 Message 0.020000 0.052445 -0.020000 -0.001176 Apr 02, 2014 14:03:55.989 ABSetBellows bellows set position = 70.00 mm at 20000 CPS SBE41 Message -0.020000 0.012748 0.020000 -0.000262 Apr 02, 2014 14:03:56.226 ABSetBellows bellows set position = 70.00 mm at 20000 CPS ADuC Message 71.300000 32.139900 0.130900 0.173600 0.153000 Apr 02, 2014 14:04:00.404 ABSetBellows bellows set position = 70.00 mm at 20000 CPS SBE41 Message -0.100000 -0.085235 0.040000 0.002178 Apr 02, 2014 14:04:00.639 ABSetBellows bellows set position = 70.00 mm at 20000 CPS ADuC Message 70.780000 32.075580 0.130800 0.173400 0.151900 Apr 02, 2014 14:04:03.793 ABSetBellows bellows set position = 70.00 mm at 20000 CPS SBE41 Message 0.080000 -0.164444 -0.090000 0.002853 Apr 02, 2014 14:04:04.970 ABSetBellows bellows set position = 70.00 mm at 20000 CPS ADuC Message 70.270000 32.007240 0.130800 0.174200 0.156900 Apr 02, 2014 14:04:06.125 ABSetBellows Normal state exit Apr 02, 2014 14:04:07.242 AB Retract Retracting to -0.050 dBar/sec at 5000 CPS State Entry Apr 02, 2014 14:04:07.314 AB Retract Retracting to -0.050 dBar/sec at 5000 CPS Normal state exit Apr 02, 2014 14:04:08.557 Descend Descend Depth Num = 0 Vel PID Values -0.050000 0.510000 0.204000 0.204000 -0.000457 -16.020000 -16.020000 -32040.000000 Apr 02, 2014 14:04:08.707 Descend Descend Depth Num = 0 SBE41 Message -0.940000 -0.134755 0.510000 -0.000649 Apr 02, 2014 14:04:08.961 Descend Descend Depth Num = 0 ADuC Message 70.000000 32.107740 0.130700 0.174900 0.160700 Apr 02, 2014 14:04:08.467 Descend Descend Depth Num = 0 State Entry Apr 02, 2014 14:04:12.220 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -0.505000 -0.038800 -0.242800 -0.000477 4.958543 4.958543 9917.000000 Apr 02, 2014 14:04:12.397 Descend Descend Depth Num = 0 SBE41 Message 0.070000 0.010469 -0.505000 -0.005662 Apr 02, 2014 14:04:13.640 Descend Descend Depth Num = 0 ADuC Message 69.460000 31.959000 0.130800 0.175200 0.167300 Apr 02, 2014 14:04:15.852 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -0.020000 -0.079840 -0.041040 -0.000424 2.265723 2.265723 4531.000000 Apr 02, 2014 14:04:16.025 Descend Descend Depth Num = 0 SBE41 Message 0.110000 0.156830 -0.020000 -0.004834 Apr 02, 2014 14:04:17.283 Descend Descend Depth Num = 0 ADuC Message 69.680000 32.047440 0.130600 0.174900 0.165200 Apr 02, 2014 14:04:20.496 Descend Descend Depth Num = 0 Vel PID Values -0.050000 0.030000 -0.044112 0.035728 -0.000434 -1.069264 -1.069264 -2138.000000 Apr 02, 2014 14:04:20.690 Descend Descend Depth Num = 0 SBE41 Message 0.050000 0.170349 0.030000 0.004962 Apr 02, 2014 14:04:21.942 Descend Descend Depth Num = 0 ADuC Message 69.790000 32.039400 0.130800 0.175000 0.165200 Apr 02, 2014 14:04:24.171 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -0.005000 -0.021322 0.022790 -0.000486 -1.803746 -1.803746 -3607.000000 Apr 02, 2014 14:04:24.364 Descend Descend Depth Num = 0 SBE41 Message 0.060000 0.062761 -0.005000 0.015018 Apr 02, 2014 14:04:25.633 Descend Descend Depth Num = 0 ADuC Message 69.730000 32.051460 0.130700 0.174300 0.164000 Apr 02, 2014 14:04:27.855 Descend Descend Depth Num = 0 Vel PID Values -0.050000 0.005000 -0.006235 0.015087 -0.000565 -2.309367 -2.309367 -4618.000000 Apr 02, 2014 14:04:28.045 Descend Descend Depth Num = 0 SBE41 Message 0.050000 -0.055326 0.005000 0.010239 Apr 02, 2014 14:04:30.302 Descend Descend Depth Num = 0 ADuC Message 69.630000 32.035380 0.130500 0.174500 0.161600 Apr 02, 2014 14:04:32.533 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -0.020000 -0.008724 -0.002489 -0.000639 -1.802008 -1.802008 -3604.000000 Apr 02, 2014 14:04:32.731 Descend Descend Depth Num = 0 SBE41 Message 0.090000 -0.070474 -0.020000 -0.013418 Apr 02, 2014 14:04:33.954 Descend Descend Depth Num = 0 ADuC Message 69.510000 32.027340 0.130900 0.174700 0.162100 Apr 02, 2014 14:04:36.178 Descend Descend Depth Num = 0 Vel PID Values -0.050000 0.010000 -0.001732 0.006992 -0.000726 -2.330017 -2.330017 -4660.000000 Apr 02, 2014 14:04:36.370 Descend Descend Depth Num = 0 SBE41 Message 0.070000 0.015838 0.010000 -0.038398 Apr 02, 2014 14:04:38.602 Descend Descend Depth Num = 0 ADuC Message 69.400000 32.007240 0.130600 0.174000 0.160300 Apr 02, 2014 14:04:39.827 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -0.005000 -0.001641 0.000091 -0.000813 -2.178940 -2.178940 -4357.000000 Apr 02, 2014 14:04:40.011 Descend Descend Depth Num = 0 SBE41 Message 0.080000 0.086652 -0.005000 -0.037330 Apr 02, 2014 14:04:43.256 Descend Descend Depth Num = 0 ADuC Message 69.280000 31.995180 0.130500 0.174000 0.158800 Apr 02, 2014 14:04:44.501 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -0.025000 -0.010966 -0.009325 -0.000883 -1.547508 -1.547508 -3095.000000 Apr 02, 2014 14:04:44.685 Descend Descend Depth Num = 0 SBE41 Message 0.130000 0.080731 -0.025000 -0.001458 Apr 02, 2014 14:04:46.946 Descend Descend Depth Num = 0 ADuC Message 69.170000 31.971060 0.130900 0.173800 0.160300 Apr 02, 2014 14:04:48.207 Descend Descend Depth Num = 0 Vel PID Values -0.050000 0.010000 -0.004445 0.006521 -0.000965 -2.197597 -2.197597 -4395.000000 Apr 02, 2014 14:04:48.375 Descend Descend Depth Num = 0 SBE41 Message 0.110000 -0.015250 0.010000 0.044907 Apr 02, 2014 14:04:51.638 Descend Descend Depth Num = 0 ADuC Message 69.120000 31.950960 0.130400 0.173800 0.158900 Apr 02, 2014 14:04:51.914 Descend Descend Depth Num = 0 Vel PID Values -0.050000 0.070000 0.026637 0.031082 -0.001103 -4.148997 -4.148997 -8297.000000 Apr 02, 2014 14:04:52.078 Descend Descend Depth Num = 0 SBE41 Message -0.030000 -0.090103 0.070000 0.062433 Apr 02, 2014 14:04:55.336 Descend Descend Depth Num = 0 ADuC Message 68.890000 31.918800 0.130800 0.173600 0.157800 Apr 02, 2014 14:04:56.554 Descend Descend Depth Num = 0 Vel PID Values -0.050000 0.925000 0.392199 0.365561 -0.001899 -28.125186 -28.125186 -56250.000000 Apr 02, 2014 14:04:56.751 Descend Descend Depth Num = 0 SBE41 Message -1.880000 -0.094120 0.925000 0.033533 Apr 02, 2014 14:05:00.001 Descend Descend Depth Num = 0 ADuC Message 68.360000 31.593180 0.130600 0.174000 0.158000 Apr 02, 2014 14:05:00.261 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -1.005000 -0.093568 -0.485767 -0.001821 12.888441 12.888441 25776.000000 Apr 02, 2014 14:05:00.451 Descend Descend Depth Num = 0 SBE41 Message 0.130000 -0.032582 -1.005000 -0.017322 Apr 02, 2014 14:05:03.714 Descend Descend Depth Num = 0 ADuC Message 68.490000 31.762020 0.130700 0.174200 0.156800 Apr 02, 2014 14:05:03.992 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -0.085000 -0.187294 -0.093726 -0.001573 8.285268 8.285268 16570.000000 Apr 02, 2014 14:05:04.157 Descend Descend Depth Num = 0 SBE41 Message 0.300000 0.037110 -0.085000 -0.046452 Apr 02, 2014 14:05:08.420 Descend Descend Depth Num = 0 ADuC Message 68.900000 31.874580 0.130900 0.173700 0.155500 Apr 02, 2014 14:05:08.666 Descend Descend Depth Num = 0 Vel PID Values -0.050000 0.015000 -0.125122 0.062173 -0.001438 1.980029 1.980029 3960.000000 Apr 02, 2014 14:05:08.867 Descend Descend Depth Num = 0 SBE41 Message 0.270000 0.030746 0.015000 -0.031305 Apr 02, 2014 14:05:12.116 Descend Descend Depth Num = 0 Vel PID Values -0.050000 0.005000 -0.060639 0.064483 -0.001419 -0.973574 -0.973574 -1947.000000 Apr 02, 2014 14:05:12.305 Descend Descend Depth Num = 0 SBE41 Message 0.260000 -0.026379 0.005000 0.008271 Apr 02, 2014 14:05:12.585 Descend Descend Depth Num = 0 ADuC Message 69.130000 31.975080 0.130400 0.174300 0.155800 Apr 02, 2014 14:05:15.821 Descend Descend Depth Num = 0 Vel PID Values -0.050000 0.080000 0.008513 0.069152 -0.001524 -4.190448 -4.190448 -8380.000000 Apr 02, 2014 14:05:15.999 Descend Descend Depth Num = 0 SBE41 Message 0.100000 -0.069560 0.080000 0.031332 Apr 02, 2014 14:05:16.279 Descend Descend Depth Num = 0 ADuC Message 69.120000 31.950960 0.130400 0.174000 0.160400 Apr 02, 2014 14:05:20.516 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -0.015000 0.012939 0.004425 -0.001638 -2.933320 -2.933320 -5866.000000 Apr 02, 2014 14:05:20.710 Descend Descend Depth Num = 0 SBE41 Message 0.130000 -0.020474 -0.015000 0.016726 Apr 02, 2014 14:05:20.995 Descend Descend Depth Num = 0 ADuC Message 68.910000 31.918800 0.130800 0.173500 0.153600 Apr 02, 2014 14:05:24.216 Descend Descend Depth Num = 0 Vel PID Values -0.050000 0.005000 0.010648 -0.002290 -0.001747 -2.679269 -2.679269 -5358.000000 Apr 02, 2014 14:05:24.409 Descend Descend Depth Num = 0 SBE41 Message 0.120000 0.106699 0.005000 -0.018035 Apr 02, 2014 14:05:24.691 Descend Descend Depth Num = 0 ADuC Message 68.740000 31.910760 0.130500 0.173300 0.160800 Apr 02, 2014 14:05:27.927 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -0.040000 -0.010069 -0.020717 -0.001819 -1.332493 -1.332493 -2664.000000 Apr 02, 2014 14:05:28.113 Descend Descend Depth Num = 0 SBE41 Message 0.200000 0.194166 -0.040000 -0.036399 Apr 02, 2014 14:05:29.392 Descend Descend Depth Num = 0 ADuC Message 68.590000 31.918800 0.130800 0.174900 0.164800 Apr 02, 2014 14:05:32.591 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -0.025000 -0.020185 -0.010116 -0.001872 -1.115889 -1.115889 -2231.000000 Apr 02, 2014 14:05:32.791 Descend Descend Depth Num = 0 SBE41 Message 0.250000 0.134455 -0.025000 -0.020545 Apr 02, 2014 14:05:34.023 Descend Descend Depth Num = 0 ADuC Message 68.510000 31.894680 0.130000 0.174400 0.162100 Apr 02, 2014 14:05:36.254 Descend Descend Depth Num = 0 Vel PID Values -0.050000 0.010000 -0.010134 0.010051 -0.001944 -2.021980 -2.021980 -4043.000000 Apr 02, 2014 14:05:36.450 Descend Descend Depth Num = 0 SBE41 Message 0.230000 -0.034092 0.010000 0.011633 Apr 02, 2014 14:05:37.687 Descend Descend Depth Num = 0 ADuC Message 68.440000 31.890660 0.130500 0.175800 0.164400 Apr 02, 2014 14:05:39.923 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -0.035000 -0.018070 -0.007936 -0.002002 -1.260216 -1.260216 -2520.000000 Apr 02, 2014 14:05:40.121 Descend Descend Depth Num = 0 SBE41 Message 0.300000 -0.185737 -0.035000 0.026715 Apr 02, 2014 14:05:42.361 Descend Descend Depth Num = 0 ADuC Message 68.340000 31.882620 0.130600 0.176500 0.162200 Apr 02, 2014 14:05:44.566 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -0.005000 -0.014429 0.003641 -0.002066 -1.684598 -1.684598 -3369.000000 Apr 02, 2014 14:05:44.743 Descend Descend Depth Num = 0 SBE41 Message 0.310000 -0.202877 -0.005000 0.011331 Apr 02, 2014 14:05:46.013 Descend Descend Depth Num = 0 ADuC Message 68.260000 31.870560 0.130600 0.176600 0.163200 Apr 02, 2014 14:05:48.216 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -0.045000 -0.025929 -0.011500 -0.002109 -0.826488 -0.826488 -1652.000000 Apr 02, 2014 14:05:48.398 Descend Descend Depth Num = 0 SBE41 Message 0.400000 -0.086617 -0.045000 -0.014517 Apr 02, 2014 14:05:50.655 Descend Descend Depth Num = 0 ADuC Message 68.180000 31.870560 0.130600 0.177700 0.161400 Apr 02, 2014 14:05:51.906 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -0.025000 -0.027858 -0.001928 -0.002149 -0.955128 -0.955128 -1910.000000 Apr 02, 2014 14:05:52.070 Descend Descend Depth Num = 0 SBE41 Message 0.450000 0.042150 -0.025000 -0.018032 Apr 02, 2014 14:05:54.332 Descend Descend Depth Num = 0 ADuC Message 68.130000 31.854480 0.130600 0.176600 0.160300 Apr 02, 2014 14:05:56.606 Descend Descend Depth Num = 0 Vel PID Values -0.050000 -0.060000 -0.041100 -0.013243 -0.002165 -0.104679 -0.104679 -209.000000 Apr 02, 2014 14:05:56.802 Descend Descend Depth Num = 0 SBE41 Message 0.570000 0.087056 -0.060000 0.010039 Apr 02, 2014 14:05:59.065 Descend Descend Depth Num = 0 ADuC Message 68.100000 31.854480 0.130600 0.176700 0.161000 Apr 02, 2014 14:06:00.290 Descend Descend Depth Num = 0 Vel PID Values -0.050000 0.005000 -0.025309 0.015792 -0.002209 -1.468586 -1.468586 -2937.000000 Apr 02, 2014 14:06:00.450 Descend Descend Depth Num = 0 SBE41 Message 0.560000 0.033106 0.005000 0.043365