NO CARRIER RING CONNECT 4800/ARQ/V32/LAPM 200.29 Iridium console active and ready... Vehicle Name: ru25d Curr Time: Wed Nov 11 12:57:20 2009 MT: 199 DR Location: -6449.068 N -6402.552 E measured 1e+308 secs ago GPS TooFar: -6448.498 N -6402.852 E measured 1e+308 secs ago GPS Invalid : -6449.077 N -6402.624 E measured 62.561 secs ago GPS Location: -6449.077 N -6402.624 E measured 1e+308 secs ago sensor:c_wpt_lat(lat)=0 1e+308 secs ago sensor:c_wpt_lon(lon)=0 1e+308 secs ago sensor:m_battery(volts)=14.9468981671467 4.729 secs ago sensor:m_final_water_vx(m/s)=0 1e+308 secs ago sensor:m_final_water_vy(m/s)=0 1e+308 secs ago sensor:m_iridium_call_num(nodim)=296 0.99 secs ago sensor:m_iridium_dialed_num(nodim)=558 13.374 secs ago sensor:m_leakdetect_voltage(volts)=2.49362026862027 24.962 secs ago sensor:m_tot_num_inflections(nodim)=753 1e+308 secs ago sensor:m_vacuum(inHg)=11.3739784798535 5.389 secs ago sensor:m_water_vx(m/s)=0 1e+308 secs ago sensor:m_water_vy(m/s)=0 1e+308 secs ago sensor:sci_water_cond(S/m)=-5E-05 1e+308 secs ago sensor:sci_water_temp(degC)=-2.336 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=-6356.9908 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6650.9947 1e+308 secs ago ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_VACUUM ABORT HISTORY: last abort time: 2009-11-11T12:56:15 ABORT HISTORY: last abort segment: ru25d-2009-314-2-0 (0087.0000) ABORT HISTORY: last abort mission: 1000_N3.MI 202.55 No login script found for processing. 202.61 DRIVER_ODDITY:iridium:2456:xxx_ctrl() ran too long GliderDos A 25 >zr 351.40 51 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 351.52 save_and_change_sensors().... Changed c_science_printout from 2 to 0 Waiting for motors idle 352.85 SCI:Normal program exit from superscience_begin_or_end_proglets(): -100 START **B01000375.58 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 375.70 restore_sensors().... 375.74 restore_sensors().... Restored c_science_printout from 0 to 2 Done! GliderDos A 25 >Heap is adequate; enabling enhanced input ringbuffer size on uart at slot 15 381.62 53 SCI:Communication with glider established. 384.29 SCI:PROGLET house_elf begin() called 384.42 SCI: house_elf: Version 0.2 384.80 54 SCI:PROGLET ctd41cp begin() called 384.96 SCI: ctd41cp: Version 0.1 386.13 SCI: ctd41cp: Will be sending the following data to glider: 386.42 SCI: sci_water_cond(S/m) 386.59 SCI: sci_water_temp(degC) 386.78 SCI: sci_water_pressure(bar) 386.93 SCI: sci_ctd41cp_timestamp(timestamp) 387.10 SCI:PROGLET bb2flsV2 begin() called 387.22 SCI: bb2flsV2: Version 0.1 387.42 SCI: bb2flsV2: Will be sending following data to glider: 387.63 SCI: sci_bb2flsV2_b470_scaled(nodim) 387.79 SCI: sci_bb2flsV2_b532_scaled(nodim) 388.01 SCI: sci_bb2flsV2_chl_scaled(ug/l) 388.17 SCI: sci_bb2flsV2_b470_sig(nodim) 388.34 SCI: sci_bb2flsV2_b532_sig(nodim) 388.49 SCI: sci_bb2flsV2_chl_sig(nodim) 388.70 SCI: sci_bb2flsV2_b470_ref(nodim) 388.85 SCI: sci_bb2flsV2_b532_ref(nodim) 389.22 55 SCI: sci_bb2flsV2_chl_ref(nodim) 389.41 SCI: sci_bb2flsV2_therm(nodim) 390.56 SCI: sci_bb2flsV2_timestamp(timestamp) 390.79 SCI: Opening Bit(29) for output 392.62 SCI:PROGLET house_elf start() called 392.82 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 393.16 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) type ..\missions\1000_n3.mi ##################### # 1000 meter Slocum # ##################### sensor: c_science_all_on_enabled(bool) 0 # control science individually sensor: u_dbd_sensor_list_xmit_control(enum) 2 # 2 = transmit header if THIS glider hasn't sent it before # ABORT BEHAVIOR behavior: abend # OVERDEPTH: glider finds itself in > 1025 m of water b_arg: overdepth(m) 1025 b_arg: overdepth_sample_time(sec) 30 # OVERTIME: disabled b_arg: overtime(sec) -1.0 # COP TICKLE: watchdog not tickled for 12.5% before hardware jumper : 14 for 16 hour jumper b_arg: no_cop_tickle_percent(%) 12.5 # SAMEDEPTH / STALLED FOR: 15 min every 60 seconds b_arg: samedepth_for(sec) 900.0 b_arg: samedepth_for_sample_time(sec) 60.0 b_arg: stalled_for(sec) 900.0 b_arg: stalled_for_sample_time(sec) 60.0 # HARDWARE: vacuum, battery b_arg: undervolts(volts) 10 b_arg: undervolts_sample_time(sec) 30.0 b_arg: vacuum_max(inHg) 13.0 b_arg: vacuum_sample_time(sec) 60.0 # WAYPOINT TOO FAR ABORT: 500km b_arg: max_wpt_distance(m) 500000 # SURFACE : No waypoints commanded behavior: surface b_arg: args_from_file(enum) 10 # mafiles/surfac10.ma b_arg: start_when(enum) 3 # 3-heading idle # SURFACE : Nothing commanded behavior: surface b_arg: args_from_file(enum) 10 # mafiles/surfac10.ma b_arg: start_when(enum) 1 # 1-stack idle # SURFACE : No comms 0 behavior: surface b_arg: args_from_file(enum) 40 # mafiles/surfac40.ma b_arg: start_when(enum) 12 # 12 No comms # SURFACE : No comms 1 behavior: surface b_arg: args_from_file(enum) 41 # mafiles/surfac41.ma b_arg: start_when(enum) 12 # 12 No comms # SURFACE : No comms 2 behavior: surface b_arg: args_from_file(enum) 42 # mafiles/surfac41.ma b_arg: start_when(enum) 12 # 12 No comms # GOTO_LIST : Waypoint list behavior: goto_list b_arg: args_from_file(enum) 10 # mafiles/goto_l10.ma b_arg: start_when(enum) 0 # 0-immediately # YO : Flight params behavior: yo b_arg: args_from_file(enum) 10 # mafiles/yo10.ma b_arg: start_when(enum) 2 # 2-depth idle b_arg: end_action(enum) 2 # 2 resume # SAMPLE : CTD behavior: sample b_arg: args_from_file(enum) 01 # c_profile_on # SAMPLE : BB2FLSV2 behavior: sample b_arg: args_from_file(enum) 26 # c_bb2flsv2_on # SAMPLE : OPTODE behavior: sample b_arg: args_from_file(enum) 13 # c_oxy3835_on # PREPARE TO DIVE : wait 12 min for GPS behavior: prepare_to_dive b_arg: start_when(enum) 0 # 0-immediately b_arg: wait_time(sec) 720 # wait time # SENSORS_IN : not sure what this does, assuming remaining sensor update behavior: sensors_in GliderDos A 25 >get m_vacuum = 11.364992 inHg GliderDos A 25 >get m_vacuum = 11.385007 inHg GliderDos A 25 >get m_Vacuum = 11.378880 inHg GliderDos A 25 >get m_Vacuum = 10.971650 inHg GliderDos A 25 >sequence 1000_n3.mi(5) Sequencing missions load_mission(): Opening Mission file: 1000_N3.MI for execution 5 times Setting SENSOR c_science_all_on_enabled(bool) = 0.000000 Setting SENSOR u_dbd_sensor_list_xmit_control(enum) = 2.000000 load_mission(): Opening Mission file: lastgasp.mi for execution FOREVER 1 mission specifiers - sequencing 5 total missions (not counting lastgasp.mi): 1000_N3.MI(5) lastgasp.mi ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_VACUUM ABORT HISTORY: last abort time: 2009-11-11T12:56:15 ABORT HISTORY: last abort segment: ru25d-2009-314-2-0 (0087.0000) ABORT HISTORY: last abort mission: 1000_N3.MI SEQUENCE: About to run 1000_N3.MI on try 0 You have 120 seconds to type a control-C to terminate the sequence. The control-P character immediately starts the mission. All other characters are ignored. Vehicle Name: ru25d Curr Time: Wed Nov 11 13:02:18 2009 MT: 498 DR Location: -6449.068 N -6402.552 E measured 1e+308 secs ago GPS TooFar: -6448.498 N -6402.852 E measured 1e+308 secs ago GPS Invalid : -6449.077 N -6402.624 E measured 360.462 secs ago GPS Location: -6449.077 N -6402.624 E measured 1e+308 secs ago ^P Heard a control-P, starting the sequence SEQUENCE: Running 1000_N3.MI on try 0 Starting Mission: 1000_N3.MI The instantaneous lag time between the system and gps clock is 0.0 seconds. The average lag time between the system and gps clock is -0.3 seconds. timestamp: Wed Nov 11 13:02:20 2009 load_mission(): Opening Mission file: 1000_N3.MI Setting SENSOR c_science_all_on_enabled(bool) = 0.000000 Setting SENSOR u_dbd_sensor_list_xmit_control(enum) = 2.000000 Vehicle Name: ru25d Curr Time: Wed Nov 11 13:02:21 2009 MT: 498 DR Location: -6449.068 N -6402.552 E measured 1e+308 secs ago GPS TooFar: -6448.498 N -6402.852 E measured 1e+308 secs ago GPS Invalid : -6449.077 N -6402.624 E measured 363.866 secs ago GPS Location: -6449.077 N -6402.624 E measured 1e+308 secs ago sensor:c_wpt_lat(lat)=0 1e+308 secs ago sensor:c_wpt_lon(lon)=0 1e+308 secs ago sensor:m_battery(volts)=14.956528956111 2.328 secs ago sensor:m_final_water_vx(m/s)=0 1e+308 secs ago sensor:m_final_water_vy(m/s)=0 1e+308 secs ago sensor:m_iridium_call_num(nodim)=296 302.321 secs ago sensor:m_iridium_dialed_num(nodim)=558 314.707 secs ago sensor:m_leakdetect_voltage(volts)=2.49322344322344 60.64 secs ago sensor:m_tot_num_inflections(nodim)=753 1e+308 secs ago sensor:m_vacuum(inHg)=11.3886828754579 3.014 secs ago sensor:m_water_vx(m/s)=0 1e+308 secs ago sensor:m_water_vy(m/s)=0 1e+308 secs ago sensor:sci_water_cond(S/m)=-5E-05 1e+308 secs ago sensor:sci_water_temp(degC)=-2.336 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=-6356.9908 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6650.9947 1e+308 secs ago start_alldevices() PARSED iridium_phone_data for datum# 0: =========== predial initialization cmds (from c:\config\iridinit.0): ATE AT+CSQ AT+cbst=6,0,1 dial string: ATD0017329322865 from sensors: C_IRIDIUM_LEAD_ZEROS C_IRIDIUM_PHONE_NUM Iridium login script (from c:\config\loginexp.0): empty or non-existent PARSED iridium_phone_data for datum# 1: =========== predial initialization cmds (from c:\config\iridinit.1): ATE AT+CSQ AT+cbst=6,0,1 dial string: ATD0015085485196 from sensors: C_IRIDIUM_LEAD_ZEROS_ALT C_IRIDIUM_PHONE_NUM_ALT Iridium login script (from c:\config\loginexp.1): empty or non-existent 66.16 0 00880000.mlg LOG FILE OPENED MissionSTARTDate: 11 Nov 2009 13:02:23 Z Mission Name: 1000_N3.MI Mission Number: ru25d-2009-314-3-0 (0088.0000) log_c_stack(): 1-abend 2-surface 3-surface 4-surface 5-surface 6-surface 7-goto_list 8-yo 9-sample 10-sample 11-sample 12-prepare_to_dive 13-sensors_in report_heap_size(): M_FREE_HEAP=429.0K, M_SPARE_HEAP=413.0K pre_mission_init():End of Initialization 68.50 1 behavior sensors_in_13: STATE UnInited -> Active 68.62 behavior sensors_in_13: argument: c_att_time = -1.000000 sec 68.77 behavior sensors_in_13: argument: c_pressure_time = -1.000000 sec 68.92 behavior sensors_in_13: argument: c_alt_time = -1.000000 sec 69.05 behavior sensors_in_13: argument: u_battery_time = -1.000000 sec 69.20 behavior sensors_in_13: argument: u_vacuum_time = -1.000000 sec 69.34 behavior sensors_in_13: argument: c_leakdetect_time = -1.000000 sec 69.49 behavior sensors_in_13: argument: c_gps_on = 0.000000 bool 69.63 behavior sensors_in_13: argument: c_science_all_on = -1.000000 sec 69.78 behavior sensors_in_13: argument: c_profile_on = -1.000000 sec 69.92 behavior sensors_in_13: argument: c_hs2_on = -1.000000 sec 70.06 behavior sensors_in_13: argument: c_bb2f_on = -1.000000 sec 70.21 behavior sensors_in_13: argument: c_bb2c_on = -1.000000 sec 70.35 behavior sensors_in_13: argument: c_bb2lss_on = -1.000000 sec 70.50 behavior sensors_in_13: argument: c_sam_on = -1.000000 sec 70.64 behavior sensors_in_13: argument: c_whpar_on = -1.000000 sec 70.79 behavior sensors_in_13: argument: c_whgpbm_on = -1.000000 sec 70.94 behavior sensors_in_13: argument: c_motebb_on = -1.000000 sec 71.09 behavior sensors_in_13: argument: c_bbfl2s_on = -1.000000 sec 71.23 behavior sensors_in_13: argument: c_fl3slo_on = -1.000000 sec 71.38 behavior sensors_in_13: argument: c_bb3slo_on = -1.000000 sec 71.53 behavior sensors_in_13: argument: c_oxy3835_on = -1.000000 sec 71.68 behavior sensors_in_13: argument: c_whfctd_on = -1.000000 sec 71.84 behavior sensors_in_13: argument: c_bam_on = -1.000000 sec 71.98 behavior sensors_in_13: argument: c_ocr504R_on = -1.000000 sec 72.15 behavior sensors_in_13: argument: c_ocr504I_on = -1.000000 sec 72.30 behavior sensors_in_13: argument: c_flntu_on = -1.000000 sec 72.45 behavior sensors_in_13: argument: c_fl3slov2_on = -1.000000 sec 72.60 behavior sensors_in_13: argument: c_bb3slov2_on = -1.000000 sec 72.75 behavior sensors_in_13: argument: c_ocr507R_on = -1.000000 sec 72.90 behavior sensors_in_13: argument: c_ocr507I_on = -1.000000 sec 73.05 behavior sensors_in_13: argument: c_bb3slov3_on = -1.000000 sec 73.21 behavior sensors_in_13: argument: c_bb2fls_on = -1.000000 sec 73.36 behavior sensors_in_13: argument: c_bb2flsV2_on = -1.000000 sec 73.51 behavior sensors_in_13: argument: c_oxy3835_wphase_on = -1.000000 sec 73.67 behavior sensors_in_13: argument: c_auvb_on = -1.000000 sec 73.82 behavior sensors_in_13: argument: c_bb2fV2_on = -1.000000 sec 73.96 behavior sensors_in_13: argument: c_tarr_on = -1.000000 sec 74.11 behavior sensors_in_13: argument: c_bbfl2sV2_on = -1.000000 sec 74.26 behavior sensors_in_13: argument: c_glbps_on = -1.000000 sec 74.42 behavior sensors_in_13: argument: c_sscsd_on = -1.000000 sec 74.57 behavior sensors_in_13: argument: c_bb2flsV3_on = -1.000000 sec 74.72 behavior sensors_in_13: argument: c_fire_on = -1.000000 sec 74.87 behavior sensors_in_13: argument: c_ohf_on = -1.000000 sec 75.01 behavior sensors_in_13: argument: c_bb2flsV4_on = -1.000000 sec 75.16 behavior sensors_in_13: argument: c_bb2flsV5_on = -1.000000 sec 75.32 behavior sensors_in_13: argument: c_logger_on = -1.000000 sec 75.47 behavior sensors_in_13: argument: c_bbam_on = -1.000000 sec 75.62 behavior sensors_in_13: argument: c_uModem_on = -1.000000 sec 75.84 behavior prepare_to_dive_12: STATE UnInited -> Waiting for Activation 75.99 behavior prepare_to_dive_12: argument: args_from_file = -1.000000 enum 76.14 behavior prepare_to_dive_12: argument: start_when = 0.000000 enum 76.29 behavior prepare_to_dive_12: argument: wait_time = 720.000000 sec 76.45 behavior prepare_to_dive_12: argument: max_thermal_charge_time = 120.000000 sec 76.62 behavior prepare_to_dive_12: argument: max_pumping_charge_time = 300.000000 sec 76.79 behavior prepare_to_dive_12: STATE Waiting for Activation -> Active 76.93 init_gps_input() 77.00 behavior prepare_to_dive_12: SUBSTATE 0 UnInited->1 : Waiting for initial GPS fix 77.18 behavior sample_11: sample(): reading bargs 77.30 behavior sample_11: Reading b_args from sample13.ma 77.49 behavior sample_11: sensor_type(enum)=13.000000 77.64 behavior sample_11: sample_time_after_state_change(s)=0.000000 77.80 behavior sample_11: intersample_time(sec)=4.000000 77.96 behavior sample_11: state_to_sample(enum)=7.000000 78.09 behavior sample_11: STATE UnInited -> Active 78.21 behavior sample_11: argument: args_from_file = 13.000000 enum 78.36 behavior sample_11: argument: sensor_type = 13.000000 enum 78.50 behavior sample_11: argument: state_to_sample = 7.000000 enum 78.66 behavior sample_11: argument: sample_time_after_state_change = 0.000000 s 78.81 behavior sample_11: argument: intersample_time = 4.000000 s 78.95 behavior sample_11: argument: min_depth = -5.000000 m 79.09 behavior sample_11: argument: max_depth = 2000.000000 m 79.24 behavior sample_11: SUBSTATE 0 UnInited->4 : On Surface 79.39 behavior sample_10: sample(): reading bargs 79.51 behavior sample_10: Reading b_args from sample26.ma 79.69 behavior sample_10: sensor_type(enum)=10.000000 79.84 behavior sample_10: sample_time_after_state_change(s)=0.000000 80.00 behavior sample_10: intersample_time(sec)=0.000000 80.14 behavior sample_10: state_to_sample(enum)=7.000000 80.28 behavior sample_10: STATE UnInited -> Active 80.40 behavior sample_10: argument: args_from_file = 26.000000 enum 80.55 behavior sample_10: argument: sensor_type = 10.000000 enum 80.69 behavior sample_10: argument: state_to_sample = 7.000000 enum 80.84 behavior sample_10: argument: sample_time_after_state_change = 0.000000 s 80.99 behavior sample_10: argument: intersample_time = 0.000000 s 81.12 behavior sample_10: argument: min_depth = -5.000000 m 81.26 behavior sample_10: argument: max_depth = 2000.000000 m 81.40 behavior sample_10: SUBSTATE 0 UnInited->4 : On Surface 81.55 behavior sample_9: sample(): reading bargs 81.67 behavior sample_9: Reading b_args from sample01.ma 81.84 behavior sample_9: sensor_type(enum)=1.000000 81.99 behavior sample_9: sample_time_after_state_change(s)=0.000000 82.14 behavior sample_9: intersample_time(sec)=0.000000 82.27 behavior sample_9: state_to_sample(enum)=7.000000 82.42 behavior sample_9: STATE UnInited -> Active 82.53 behavior sample_9: argument: args_from_file = 1.000000 enum 82.67 behavior sample_9: argument: sensor_type = 1.000000 enum 82.81 behavior sample_9: argument: state_to_sample = 7.000000 enum 82.95 behavior sample_9: argument: sample_time_after_state_change = 0.000000 s 83.10 behavior sample_9: argument: intersample_time = 0.000000 s 83.23 behavior sample_9: argument: min_depth = -5.000000 m 83.37 behavior sample_9: argument: max_depth = 2000.000000 m 83.51 behavior sample_9: SUBSTATE 0 UnInited->4 : On Surface 83.66 behavior yo_8: Reading b_args from yo10.ma 83.83 behavior yo_8: start_when(enum)=2.000000 83.97 behavior yo_8: num_half_cycles_to_do(nodim)=2.000000 84.13 behavior yo_8: d_target_depth(m)=150.000000 84.27 behavior yo_8: d_target_altitude(m)=30.000000 84.45 behavior yo_8: d_use_bpump(enum)=2.000000 84.59 behavior yo_8: d_bpump_value(X)=-1000.000000 84.75 behavior yo_8: d_use_pitch(enum)=3.000000 84.89 behavior yo_8: d_pitch_value(X)=-0.454000 85.06 behavior yo_8: d_stop_when_stalled_for(sec)=240.000000 85.22 behavior yo_8: d_stop_when_hover_for(sec)=180.000000 85.38 behavior yo_8: c_target_depth(m)=30.000000 85.52 behavior yo_8: c_target_altitude(m)=-1.000000 85.70 behavior yo_8: c_use_bpump(enum)=2.000000 85.84 behavior yo_8: c_bpump_value(X)=1000.000000 86.00 behavior yo_8: c_use_pitch(enum)=3.000000 86.14 behavior yo_8: c_pitch_value(X)=0.454000 86.31 behavior yo_8: c_stop_when_stalled_for(sec)=240.000000 86.47 behavior yo_8: c_stop_when_hover_for(sec)=180.000000 86.62 behavior yo_8: end_action(enum)=2.000000 86.75 behavior yo_8: STATE UnInited -> Waiting for Activation 86.88 behavior yo_8: argument: args_from_file = 10.000000 enum 87.02 behavior yo_8: argument: start_when = 2.000000 enum 87.15 behavior yo_8: argument: start_diving = 1.000000 bool 87.29 behavior yo_8: argument: num_half_cycles_to_do = 2.000000 nodim 87.44 behavior yo_8: a