Summary of Changes when Doing Scenario with sg147 at haleiwa 23 apr 2008 ag147_23apr_haleiwa_tethered: VBD: 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)... 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 Dive Parameters - Changed the following- $D_ABORT, New value? [250.00] 60 242.783,HTT8,N,Updating parameter $D_ABORT to 60 $D_TGT, New value? [45.00] 25 270.437,HTT8,N,Updating parameter $D_TGT to 25 $T_DIVE, New value? [15.00] 10 313.310,HTT8,N,Updating parameter $T_DIVE to 10 $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! $T_ABORT, New value? [1440.00] 720 387.158,HTT8,N,Updating parameter $T_ABORT to 720 Flight Parameters- $HEADING, so goes south somewhat instead of fix New value? [-1.00] 105 565.275,HTT8,N,Updating parameter $HEADING to 105 Then go to Scenario Test Mode****************** ------ Launch Menu ------ 1 [scene ] Set scenario mode 2 [selftest] Perform interactive self test 3 [autotest] Perform autonomous self test 4 [reset ] Reset dive/run number 5 [test ] Test Launch! 6 [sea ] Sea Launch! CR) Return to previous Enter selection (1-6,CR): 1 ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1) Whole scene (pitch, roll, VBD) steps 2) Pitch steps (cm) 3) Roll steps (deg) 4) VBD steps (cc) 5) Passive mode time interval steps (s) 6) Clear all steps 7) Save scenario to file 8) Read scenario from file 9) Change surfacing VBD ($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! <---just checking to see if a file? ------ Steady-state G&C menu ------- First setup of Scneario 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) ... ... 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 Enter selection (1-13,CR): 7 Save to which configuration file: [0] Configuration saved to run000.cfg. or assume run001.cfg or run002.cfg etc. ------ 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) ... ... 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! < ---- in Scenario have to use 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, ------ 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, Enter selection (1-13,CR): 1 Enter up to 20 lines, one line per scene, in the form pitch (cm), roll (deg), VBD (cc), time (secs) Blank line terminates entry -10,0,540,180 -1,0,-75,90 0,0,0,20 1,0,100,90 ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1 -10.0 0.0 540.0 180.0 2 -1.0 0.0 -75.0 90.0 3 0.0 0.0 0.0 20.0 4 1.0 0.0 100.0 90.0 Enter selection (1-13,CR): 7 Save to which configuration file: [0] Configuration saved to run000.cfg. Back to Dive Parameters- $T_MISSION, New value? [35.00] 10 2481.443,HTT8,N,Updating parameter $T_MISSION to 10 Later on VBD Parameters - changed VBD center of gravity to be a bit lighter Enter selection (1-12,CR): 3 $C_VBD, New value? [2728.00] 2540 3305.507,HTT8,N,Updating parameter $C_VBD to 2540 Now back to Scenario mode - ------ Steady-state G&C menu ------- Steady-state scenario <-- This was existing when bringing up menu. pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1 -10.0 0.0 540.0 180.0 2 -1.0 0.0 -75.0 90.0 3 0.0 0.0 0.0 20.0 4 1.0 0.0 100.0 90.0 1) Whole scene (pitch, roll, VBD) steps 2) Pitch steps (cm) 3) Roll steps (deg) 4) VBD steps (cc) 5) Passive mode time interval steps (s) 6) Clear all steps 7) Save scenario to file 8) Read scenario from file 9) Change surfacing VBD ($SM_CC) [552.17] 10) Change mission time (min) [10.00] 11) Change abort depth (m) [60.00] 12) Change heading error band (deg) [10.00] 13) Change time of no vertical velocity (sec) [120.00] 14) Change number of scenario runs to execute before recovery [1] CR) Return to previous menu Enter selection (1-13,CR): 1 Enter up to 20 lines, one line per scene, in the form pitch (cm), roll (deg), VBD (cc), time (secs) Blank line terminates entry -10,0,400,90 -10,0,-150,20 -1.5,0,-150,90 0,0,0,15 1.5,0,150,90 ------ Steady-state G&C menu ------- Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- 1 -10.0 0.0 400.0 90.0 2 -10.0 0.0 -150.0 20.0 3 -1.5 0.0 -150.0 90.0 4 0.0 0.0 0.0 15.0 5 1.5 0.0 150.0 90.0 Ok now save to a config file Enter selection (1-13,CR): 7 Save to which configuration file: [0] 2 Configuration saved to run002.cfg. Now go to Test Launch - but wait - go back to scenario and edit again Steady-state scenario pitch roll Vbd time scene cm deg cc sec ---------------------------------------- system first preps and pitches,rolls,pumps to following first 1 -10.0 0.0 400.0 90.0 once here then the timer begins Note timer can take only 2 digits so nothing greater than 99 secs. If need more than 2 digits - just repeat the line as necessary. It then at end of time goes to next scene and pitches first, then does roll, then does pump 2 -10.0 0.0 -200.0 120.0 when the pitch,roll,pump are done - then begins the timer 3 -1.5 0.0 -150.0 90.0 suggested would have been not to go to flat apogee but something more like: (-5 degs or -.3 or -.4cm) avoiding abrupt negative to positive pitches while it continues to pump to neutral. So leave a bit negative pitch as it pumps to neutral 0.0 3a -0.3 0.0 0.0 60.0 3b 0.4 0.0 10.0 60.0 4 0.0 0.0 0.0 15.0 < -- skip and do scene 5 5 1.5 0.0 150.0 120.0 Go back to Test Launch and select. 5 [test ] Test Launch! 6 [sea ] Sea Launch! CR) Return to previous Enter selection (1-6,CR): 5 Quick launch (skips some tests and calls - very dangerous!)? [N] y (go ahead and skip calls etc.) Ready to launch? [N] y 5317.466,SUSR,N,For a fresh start, reset the dive number to 1 Reset dive/run number to: [0] ------- At this point can disconnect the communications cable ------------- 5336.740,SSURF,N,Initializing data file 5337.031,SSURF,N,Initializing log file 5338.480,SUSR,N, Now wait for the phone call and confirm that QUIT is parsed and RECOVERY is entered before disconnecting comms cable and placing the glider in the water. If possible, confirm positive buoyancy and surface position before releasing. 0.825,SSURF,N,Entering surface state 0.909,SSYS,N,Capture file closed Compressing THISDIVE.KAP to sg0000kz.a... 3.124,SSYS,N,Capture file opened Compressing THISDIVE.LOG to sg0000lz.x... 0.119,SSURF,N,Dive started Thu Jan 31 13:22:12 2008 0.238,SUSR,N,Heap: 0+126975 bytes 0.357,SGLMALLOC,N,glcheck: 357528 bytes free, 10 blocks free, 320 bytes alloc, 13 blocks alloc, 0.580,HTT8,N,Updating parameter $KALMAN_USE to 2 0.874,HTT8,N,Writing NVRAM...done. 11.122,SUSR,N,Heap: 0+126975 bytes 11.236,SGLMALLOC,N,glcheck: 357720 bytes free, 2 blocks free, 320 bytes alloc, 13 blocks alloc, 11.513,HTT8,N,Updating parameter $DIVE to 1 11.799,HTT8,N,Writing NVRAM...done. 19.321,SSURF,N,Initializing data file 19.523,SSURF,N,Initializing log file 21.526,SSURF,N,Starting dive at 21s 21.610,SSURF,N,Leaving surface state 21.782,SUSR,N,Step 1, pitch= -9.5, roll = 0.0, vbd = 400.0 23.253,SDIVE,N,exiting active w/o sampling due to early MOTOR_DONE 23.682,SMOTOR,N,MOTOR_DONE: ticks: 13 max 24v: 0.004A avg 24v: 0.004A 23.815,SMOTOR,N,GC TICKS/TIME: 16/17355 23.931,SDIVE,N,Exiting active in GCPHASE_DONE(6) after 1 samples 24.068,HTT8,N,TT8 state: Normal (2MHz); analog off; TPU TCR1 480000Hz, tick rate 40000Hz 24.235,SPOWER,N,All devices are off. 28.207,SSENSOR,N,P 26s 0.29m 11.2 #1 Now since didn't seem to behave correctly - go to Dive Params Enter selection (1-15,CR): 3 $D_TGT, New value? [25.00] 45 1599.106,HTT8,N,Updating parameter $D_TGT to 45 and Enter selection (1-15,CR): 6 $T_DIVE, New value? [10.00] 15 1613.663,HTT8,N,Updating parameter $T_DIVE to 15 and Enter selection (1-15,CR): 7 $T_MISSION, New value? [10.00] 25 1622.455,HTT8,N,Updating parameter $T_MISSION to 25 and checking params again ------ VBD (current value in [])------- 1) $VBD_MIN,[477 (506.1 cc)] 2) $VBD_MAX,[3951 (-346.1 cc)] 3) $C_VBD,[2540] <---- 4) $VBD_DBAND,[+/- 2.00] 5) $VBD_CNV,[-0.24529999] 6) $VBD_TIMEOUT,[720] 7) $PITCH_VBD_SHIFT,[0.0012300001] 8) $VBD_PUMP_AD_RATE_SURFACE,[5] 9) $VBD_PUMP_AD_RATE_APOGEE,[4] 10) $VBD_BLEED_AD_RATE,[8] 11) $UNCOM_BLEED,[20] 12) $VBD_MAXERRORS,[1] CR) Return to previous menu Enter selection (1-12,CR): Try again to Launch and execute ------ 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): 6 1718.739,SUSR,N,Scenario mode not supported with SeaLaunch - please use TestLaunch instead Basically ran out of PC power - when wanting to have it dive to 45meters in normal mode.