NO CARRIER RING CONNECT 4800/ARQ/V32/LAPM NO CARRIER RING CONNECT 4800/ARQ/V32/LAPM 11337 Iridium console active and ready... Vehicle Name: ru01 Curr Time: Sat Mar 21 13:34:48 2009 MT: 11333 DR Location: 4343.313 N 1001.583 E measured 52.834 secs ago GPS TooFar: 69697000.000 N 69697000.000 E measured 1e+308 secs ago GPS Invalid : 4343.176 N 1000.886 E measured 132.403 secs ago GPS Location: 4343.313 N 1001.583 E measured 53.642 secs ago sensor:m_tot_num_inflections(nodim)=51770 207.797 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:m_water_vx(m/s)=-0.039154895425168 64.208 secs ago sensor:m_water_vy(m/s)=-0.00794359004258493 64.272 secs ago sensor:m_final_water_vx(m/s)=-0.039154895425168 64.339 secs ago sensor:m_final_water_vy(m/s)=-0.00794359004258493 64.406 secs ago sensor:c_wpt_lat(lat)=4344.50000007424 11179.6 secs ago sensor:c_wpt_lon(lon)=1006.75230000164 11179.7 secs ago sensor:x_last_wpt_lat(lat)=4347.6153 1e+308 secs ago sensor:x_last_wpt_lon(lon)=1000.8775 1e+308 secs ago sensor:m_tot_ballast_pumped_energy(kjoules)=5582.14330186126 481.6 secs ago sensor:m_battery(volts)=12.8276162445326 11.055 secs ago sensor:m_vacuum(inHg)=8.36350478857755 20.733 secs ago sensor:m_leakdetect_voltage(volts)=2.49697802215815 65.264 secs ago sensor:sci_water_cond(S/m)=4.37969 154.664 secs ago sensor:sci_water_temp(degC)=13.4937 154.782 secs ago 11338 No login script found for processing. 11338 DRIVER_ODDITY:iridium:1853:xxx_ctrl() ran too long ^EExtending surface time by 5 minutes Glider ru01 at surface. Because:timeout expired [behavior surface_6 start_when = 9.0] MissionName:NOPT_1H.MI MissionNum:ru01-2009-079-7-3 (0387.0003) Vehicle Name: ru01 Curr Time: Sat Mar 21 13:35:07 2009 MT: 11352 DR Location: 4343.313 N 1001.583 E measured 71.935 secs ago GPS TooFar: 69697000.000 N 69697000.000 E measured 1e+308 secs ago GPS Invalid : 4343.176 N 1000.886 E measured 151.505 secs ago GPS Location: 4343.313 N 1001.583 E measured 72.743 secs ago sensor:m_tot_num_inflections(nodim)=51770 226.886 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:m_water_vx(m/s)=-0.039154895425168 83.256 secs ago sensor:m_water_vy(m/s)=-0.00794359004258493 83.309 secs ago sensor:m_final_water_vx(m/s)=-0.039154895425168 83.367 secs ago sensor:m_final_water_vy(m/s)=-0.00794359004258493 83.42 secs ago sensor:c_wpt_lat(lat)=4344.50000007424 11198.6 secs ago sensor:c_wpt_lon(lon)=1006.75230000164 11198.7 secs ago sensor:x_last_wpt_lat(lat)=4347.6153 1e+308 secs ago sensor:x_last_wpt_lon(lon)=1000.8775 1e+308 secs ago sensor:m_tot_ballast_pumped_energy(kjoules)=5582.14330186126 500.481 secs ago sensor:m_battery(volts)=12.8079071527522 14.182 secs ago sensor:m_vacuum(inHg)=8.36350478857755 39.567 secs ago sensor:m_leakdetect_voltage(volts)=2.49987789988518 18.296 secs ago sensor:sci_water_cond(S/m)=4.37969 173.449 secs ago sensor:sci_water_temp(degC)=13.4937 173.531 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 2/ 0/ 0 odd: 26/ 5/ 1 ABORT HISTORY: total since reset: 0 Hit Control-R to RESUME the mission, i.e. dive! Hit Control-C to END the mission, i.e. GliderDos Hit Control-E to extend surface time by 5 minutes. Hit Control-W to get device warning reports. Hit Control-F to re-read MAFILES. Hit H to Hangup and call back in minutes. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit C to consci to science computer when comms ready: ... communications ready for consci. Water Velocity Calculations COMPLETE Waypoint: (4344.5000,1006.7523) Range: 7279m, Bearing: 70deg, Age: 3:6h:m Time until diving is: 520 secs ^EExtending surface time by 5 minutes Glider ru01 at surface. Because:timeout expired [behavior surface_6 start_when = 9.0] MissionName:NOPT_1H.MI MissionNum:ru01-2009-079-7-3 (0387.0003) Vehicle Name: ru01 Curr Time: Sat Mar 21 13:35:31 2009 MT: 11377 DR Location: 4343.313 N 1001.583 E measured 96.467 secs ago GPS TooFar: 69697000.000 N 69697000.000 E measured 1e+308 secs ago GPS Invalid : 4343.176 N 1000.886 E measured 176.036 secs ago GPS Location: 4343.313 N 1001.583 E measured 97.275 secs ago sensor:m_tot_num_inflections(nodim)=51770 251.411 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:m_water_vx(m/s)=-0.039154895425168 107.784 secs ago sensor:m_water_vy(m/s)=-0.00794359004258493 107.835 secs ago sensor:m_final_water_vx(m/s)=-0.039154895425168 107.892 secs ago sensor:m_final_water_vy(m/s)=-0.00794359004258493 107.946 secs ago sensor:c_wpt_lat(lat)=4344.50000007424 11223.2 secs ago sensor:c_wpt_lon(lon)=1006.75230000164 11223.2 secs ago sensor:x_last_wpt_lat(lat)=4347.6153 1e+308 secs ago sensor:x_last_wpt_lon(lon)=1000.8775 1e+308 secs ago sensor:m_tot_ballast_pumped_energy(kjoules)=5582.14330186126 525.011 secs ago sensor:m_battery(volts)=12.7893332984347 9.861 secs ago sensor:m_vacuum(inHg)=8.71025751516223 22.349 secs ago sensor:m_leakdetect_voltage(volts)=2.49987789988518 42.825 secs ago sensor:sci_water_cond(S/m)=4.37969 197.978 secs ago sensor:sci_water_temp(degC)=13.4937 198.059 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 2/ 0/ 0 odd: 26/ 5/ 1 ABORT HISTORY: total since reset: 0 Hit Control-R to RESUME the mission, i.e. dive! Hit Control-C to END the mission, i.e. GliderDos Hit Control-E to extend surface time by 5 minutes. Hit Control-W to get device warning reports. Hit Control-F to re-read MAFILES. Hit H to Hangup and call back in minutes. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit C to consci to science computer when comms ready: ... communications ready for consci. Water Velocity Calculations COMPLETE Waypoint: (4344.5000,1006.7523) Range: 7279m, Bearing: 70deg, Age: 3:7h:m Time until diving is: 795 secs Glider ru01 at surface. Because:timeout expired [behavior surface_6 start_when = 9.0] MissionName:NOPT_1H.MI MissionNum:ru01-2009-079-7-3 (0387.0003) Vehicle Name: ru01 Curr Time: Sat Mar 21 13:35:55 2009 MT: 11400 DR Location: 4343.313 N 1001.583 E measured 119.824 secs ago GPS TooFar: 69697000.000 N 69697000.000 E measured 1e+308 secs ago GPS Invalid : 4343.176 N 1000.886 E measured 199.394 secs ago GPS Location: 4343.313 N 1001.583 E measured 120.632 secs ago sensor:m_tot_num_inflections(nodim)=51770 274.775 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:m_water_vx(m/s)=-0.039154895425168 131.145 secs ago sensor:m_water_vy(m/s)=-0.00794359004258493 131.198 secs ago sensor:m_final_water_vx(m/s)=-0.039154895425168 131.253 secs ago sensor:m_final_water_vy(m/s)=-0.00794359004258493 131.309 secs ago sensor:c_wpt_lat(lat)=4344.50000007424 11246.5 secs ago sensor:c_wpt_lon(lon)=1006.75230000164 11246.6 secs ago sensor:x_last_wpt_lat(lat)=4347.6153 1e+308 secs ago sensor:x_last_wpt_lon(lon)=1000.8775 1e+308 secs ago sensor:m_tot_ballast_pumped_energy(kjoules)=5582.14330186126 548.37 secs ago sensor:m_battery(volts)=12.7734675729456 5.524 secs ago sensor:m_vacuum(inHg)=8.07066414669156 5.631 secs ago sensor:m_leakdetect_voltage(volts)=2.49871794879436 5.513 secs ago sensor:sci_water_cond(S/m)=4.37969 221.338 secs ago sensor:sci_water_temp(degC)=13.4937 221.42 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 2/ 0/ 0 odd: 26/ 5/ 1 ABORT HISTORY: total since reset: 0 Hit Control-R to RESUME the mission, i.e. dive! Hit Control-C to END the mission, i.e. GliderDos Hit Control-E to extend surface time by 5 minutes. Hit Control-W to get device warning reports. Hit Control-F to re-read MAFILES. Hit H to Hangup and call back in minutes. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit C to consci to science computer when comms ready: ... communications ready for consci. Water Velocity Calculations COMPLETE Waypoint: (4344.5000,1006.7523) Range: 7279m, Bearing: 70deg, Age: 3:7h:m Time until diving is: 772 secs Glider ru01 at surface. Because:timeout expired [behavior surface_6 start_when = 9.0] MissionName:NOPT_1H.MI MissionNum:ru01-2009-079-7-3 (0387.0003) Vehicle Name: ru01 Curr Time: Sat Mar 21 13:36:18 2009 MT: 11423 DR Location: 4343.313 N 1001.583 E measured 143.04 secs ago GPS TooFar: 69697000.000 N 69697000.000 E measured 1e+308 secs ago GPS Invalid : 4343.176 N 1000.886 E measured 222.609 secs ago GPS Location: 4343.313 N 1001.583 E measured 143.848 secs ago sensor:m_tot_num_inflections(nodim)=51770 297.99 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:m_water_vx(m/s)=-0.039154895425168 154.361 secs ago sensor:m_water_vy(m/s)=-0.00794359004258493 154.414 secs ago sensor:m_final_water_vx(m/s)=-0.039154895425168 154.467 secs ago sensor:m_final_water_vy(m/s)=-0.00794359004258493 154.522 secs ago sensor:c_wpt_lat(lat)=4344.50000007424 11269.7 secs ago sensor:c_wpt_lon(lon)=1006.75230000164 11269.8 secs ago sensor:x_last_wpt_lat(lat)=4347.6153 1e+308 secs ago sensor:x_last_wpt_lon(lon)=1000.8775 1e+308 secs ago sensor:m_tot_ballast_pumped_energy(kjoules)=5582.14330186126 571.585 secs ago sensor:m_battery(volts)=12.7777618698045 14.088 secs ago sensor:m_vacuum(inHg)=8.07066414669156 28.846 secs ago sensor:m_leakdetect_voltage(volts)=2.49871794879436 28.728 secs ago sensor:sci_water_cond(S/m)=4.37969 244.553 secs ago sensor:sci_water_temp(degC)=13.4937 244.636 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 2/ 0/ 0 odd: 26/ 5/ 1 ABORT HISTORY: total since reset: 0 Hit Control-R to RESUME the mission, i.e. dive! Hit Control-C to END the mission, i.e. GliderDos Hit Control-E to extend surface time by 5 minutes. Hit Control-W to get device warning reports. Hit Control-F to re-read MAFILES. Hit H to Hangup and call back in minutes. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit C to consci to science computer when comms ready: ... communications ready for consci. Water Velocity Calculations COMPLETE Waypoint: (4344.5000,1006.7523) Range: 7279m, Bearing: 70deg, Age: 3:7h:m Time until diving is: 749 secs ^C 11441 98 behavior surface_6: User Hit a Control-C, terminating the mission 11441 behavior surface_6: STATE Active -> Mission Complete 11441 behavior ?_-1: layered_control(): Mission completed normally 11441 behavior ?_-1: run_mission(): Mission completed: MS_COMPLETED_NORMALLY(-1) Vehicle Name: ru01 Mission Name: NOPT_1H.MI Mission Number: ru01-2009-079-7-3 (0387.0003) post_mission_cleanup(): End of Mission timestamp: Sat Mar 21 13:36:36 2009 11445 03870003.mlg LOG FILE CLOSED timestamp: Sat Mar 21 13:36:36 2009 Mission completed normally Mission end: grun_mission() NOPT_1H.MI ru01-2009-079-7-3 (0387.0003) GliderDos N -1 > 11445 GliderDos: No keystroke heard for 0 seconds 600 seconds to go before running:SEQUENCE -resume_next GliderDos N -1 >dir Volume in drive C is RU01 Volume Serial Number is CCFD-B2FD Directory of C:\LOGS\ . 02-04-09 2:54p .. 02-04-09 2:54p 03800000.DBD 0 03-21-09 8:06a 03820000.DBD 79,957 03-21-09 8:38a 03800000.MBD 0 03-21-09 8:06a 03800000.SBD 0 03-21-09 8:06a 03800000.MLG 0 03-21-09 8:06a 03810000.DBD 79,221 03-21-09 8:25a 03810000.MBD 61,194 03-21-09 8:25a 03810000.SBD 60,527 03-21-09 8:25a 03810000.MLG 16,524 03-21-09 8:25a 03830000.DBD 74,387 03-21-09 8:44a 03820000.MBD 61,239 03-21-09 8:38a 03820000.SBD 60,493 03-21-09 8:38a 03820000.MLG 17,707 03-21-09 8:38a 03840000.DBD 79,351 03-21-09 8:52a 03830000.MBD 60,834 03-21-09 8:44a 03830000.SBD 60,308 03-21-09 8:44a 03830000.MLG 15,683 03-21-09 8:44a 03850000.DBD 290,532 03-21-09 9:30a 03840000.MBD 61,341 03-21-09 8:52a 03840000.SBD 60,534 03-21-09 8:52a 03840000.MLG 17,448 03-21-09 8:52a 03870000.DBD 617,072 03-21-09 11:34a 03870000.MBD 81,623 03-21-09 11:34a 03850000.SBD 73,156 03-21-09 9:30a 03850000.MLG 41,997 03-21-09 9:30a 03850001.DBD 28,459 03-21-09 9:35a 03860000.DBD 247,418 03-21-09 10:10a 03850001.SBD 1,456 03-21-09 9:35a 03860000.MBD 83,834 03-21-09 10:10a 03870001.DBD 6,769 03-21-09 11:46a 03860000.MLG 43,058 03-21-09 10:10a 03870003.DBD 516,709 03-21-09 1:36p 03870001.MBD 651 03-21-09 11:46a 03870000.MLG 45,300 03-21-09 11:34a 03870001.SBD 571 03-21-09 11:46a 03870001.MLG 3,949 03-21-09 11:46a 03870002.DBD 439,391 03-21-09 12:37p 03870002.MBD 56,361 03-21-09 12:37p 03870002.SBD 26,597 03-21-09 12:37p 03870002.MLG 27,132 03-21-09 12:37p SYS.LOG 5,330 03-21-09 1:36p 03870003.MBD 69,281 03-21-09 1:36p 03870003.SBD 33,216 03-21-09 1:36p 03870003.MLG 27,158 03-21-09 1:36p 44 file(s) 3,633,768 bytes 2 dir(s) 1,009,500,160 bytes free GliderDos N -1 >send 03870003.sbd Enumerating and selecting files About to send 1 files Prechecking is not necessary for this invocation 11542 21 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 11542 save_and_change_sensors().... Changed c_science_printout from 2 to 0 Waiting for motors idle 11543 SCI:Normal program exit from superscience_begin_or_end_proglets(): -100 START **B0000011737 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 11737 restore_sensors().... 11737 restore_sensors().... Restored c_science_printout from 0 to 2 SHUFFLING FILES. Sent 1 file(s): c:\logs\03870003.SBD SUCCESS GliderDos N -1 > 11744 23 SCI:Communication with glider established. 11747 SCI:PROGLET house_elf begin() called 11747 SCI: house_elf: Version 0.2 11747 SCI:PROGLET ctd41cp begin() called 11747 SCI: ctd41cp: Version 0.1 11747 25 SCI: ctd41cp: Will be sending the following data to glider: 11748 SCI: sci_water_cond(S/m) 11748 SCI: sci_water_temp(degC) 11748 SCI: sci_water_pressure(bar) 11748 SCI: sci_ctd41cp_timestamp(timestamp) 11748 SCI:PROGLET bb3slo begin() called 11748 SCI: bb3slo: Version 0.5 11749 SCI: bb3slo: Will be sending following data to glider: 11749 SCI: sci_bb3slo_b470_scaled(nodim) 11749 SCI: sci_bb3slo_b532_scaled(nodim) 11749 SCI: sci_bb3slo_b660_scaled(nodim) 11749 SCI: sci_bb3slo_b470_sig(nodim) 11750 SCI: sci_bb3slo_b532_sig(nodim) 11750 SCI: sci_bb3slo_b660_sig(nodim) 11750 SCI: sci_bb3slo_b470_ref(nodim) 11750 SCI: sci_bb3slo_b532_ref(nodim) 11750 SCI: sci_bb3slo_b660_ref(nodim) 11750 SCI: sci_bb3slo_temp(nodim) 11751 SCI: sci_bb3slo_timestamp(timestamp) 11751 SCI: Opening Bit(29) for output 11751 SCI:PROGLET ocr504I begin() called 11751 SCI: ocr504I: Version 0.1 send 03870002.sbd Enumerating and selecting files About to send 1 files Prechecking is not necessary for this invocation 11753 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 11753 save_and_change_sensors().... Changed c_science_printout from 2 to 0 Waiting for motors idle 11753 SCI: ocr504I: Will be sending following data to glider: 11754 SCI: sci_ocr504I_irrad1(uW/cm^2/nm) START **B00000 11919 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 11919 restore_sensors().... 11919 restore_sensors().... Restored c_science_printout from 0 to 2 SHUFFLING FILES. Sent 1 file(s): c:\logs\03870002.SBD SUCCESS GliderDos N -1 > 11921 GliderDos: No keystroke heard for 0 seconds 600 seconds to go before running:SEQUENCE -resume_next GliderDos N -1 >send 03870001.sbd Enumerating and selecting files About to send 1 files Prechecking is not necessary for this invocation 11927 26 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 11927 save_and_change_sensors().... Changed c_science_printout from 2 to 0 Waiting for motors idle START **B0000011941 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 11941 restore_sensors().... 11941 restore_sensors().... Restored c_science_printout from 0 to 2 SHUFFLING FILES. Sent 1 file(s): c:\logs\03870001.SBD SUCCESS GliderDos N -1 > 11947 28 SCI:Communication with glider established. cd .. GliderDos N -1 > 11950 28 SCI:PROGLET house_elf begin() called 11950 SCI: house_elf: Version 0.2 11950 SCI:PROGLET ctd41cp begin() called 11950 SCI: ctd41cp: Version 0.1 11950 SCI: ctd41cp: Will be sending the following data to glider: 11951 SCI: sci_water_cond(S/m) 11951 SCI: sci_water_temp(degC) 11951 SCI: sci_water_pressure(bar) 11951 SCI: sci_ctd41cp_timestamp(timestamp) 11951 SCI:PROGLET bb3slo begin() called 11951 SCI: bb3slo: Version 0.5 11952 SCI: bb3slo: Will be sending following data to glider: 11952 SCI: sci_bb3slo_b470_scaled(nodim) 11952 SCI: sci_bb3slo_b532_scaled(nodim) 11952 SCI: sci_bb3slo_b660_scaled(nodim) 11952 SCI: sci_bb3slo_b470_sig(nodim) 11953 30 SCI: sci_bb3slo_b532_sig(nodim) 11953 SCI: sci_bb3slo_b660_sig(nodim) 11953 SCI: sci_bb3slo_b470_ref(nodim) 11954 SCI: sci_bb3slo_b532_ref(nodim) 11954 SCI: sci_bb3slo_b660_ref(nodim) 11954 SCI: sci_bb3slo_temp(nodim) 11954 SCI: sci_bb3slo_timestamp(timestamp) 11954 SCI: Opening Bit(29) for output 11954 SCI:PROGLET ocr504I begin() called 11955 SCI: ocr504I: Version 0.1 11955 SCI: ocr504I: Will be sending following data to glider: cd missions \MISSIONS GliderDos N -1 > 11958 32 SCI: sci_ocr504I_fcount(nodim) 11958 SCI: sci_ocr504I_channel1(nodim) 11958 SCI: sci_ocr504I_channel2(nodim) 11959 SCI: sci_ocr504I_channel3(nodim) 11959 SCI: sci_ocr504I_channel4(nodim) 11959 SCI: sci_ocr504I_itemp_raw(nodim) 11959 SCI: sci_ocr504I_Vin_raw(nodim) 11959 SCI: sci_ocr504I_timer(sec) 11959 SCI: sci_ocr504I_delay(msec) 11960 SCI: sci_ocr504I_cksum(nodim) 11960 SCI: Opening Bit(34) for output 11967 33 SCI:PROGLET house_elf start() called 11967 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 11968 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) type opt_3h.mi ################ #### 3 hour #### ### FULL BAY ### ################ # TRANSMIT HEADER : Transmit if this glider hasn't sent it before sensor: u_dbd_sensor_list_xmit_control(enum) 2 # TURN C_SCIENCE_ALL_ON off : allows specific sensor data collection sensor: c_science_all_on_enabled(bool) 1 # in, non-zero enables c_science_all_on # ABORT BEHAVIOR behavior: abend # OVERDEPTH ABORT: if glider finds itself in > f_max_working_depth or 110 m b_arg: overdepth(m) 110 b_arg: overdepth_sample_time(sec) 12.0 # OVERTIME ABORT: disabled b_arg: overtime(sec) -1.0 # COP TICKLE ABORT: watchdog not tickled for 15 hours b_arg: no_cop_tickle_for(sec) 54000.0 # SAMEDEPTH ABORT: b_arg: samedepth_for(sec) 1800.0 b_arg: samedepth_for_sample_time(sec) 60.0 # HARDWARE ABORTS: vacuum, battery b_arg: undervolts(volts) 9.5 b_arg: undervolts_sample_time(sec) 12.0 b_arg: vacuum_max(inHg) 13.0 b_arg: vacuum_sample_time(sec) 36.0 # WAYPOINT TOO FAR ABORT: distance between waypoints is too large ( > 200 km) b_arg: max_wpt_distance(m) 200000.0 # maximum distance between waypoints # SURFACE : NO COMMS : 4 hours behavior: surface b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma b_arg: start_when(enum) 12 # when have not had comms for WHEN_SECS secs b_arg: when_secs(sec) 14400 # 4 hours, How long between surfacing, only if start_when==6,9, or 12 b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist" b_arg: gps_wait_time(sec) 600 # how long to wait for gps b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C # SURFACE : No waypoints commanded behavior: surface b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma b_arg: start_when(enum) 3 # 3-heading idle b_arg: end_action(enum) 0 # 0-quit, 1 wait for ^C quit/resume, 2 resume b_arg: gps_wait_time(sec) 600 # how long to wait for gps b_arg: keystroke_wait_time(sec) 180 # how long to wait for control-C # SURFACE : YO completes (this is caused if an altimeter hit causes a dive & climb in same cycle) behavior: surface b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma b_arg: start_when(enum) 2 # 2-pitch idle b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume b_arg: gps_wait_time(sec) 600 # how long to wait for gps b_arg: keystroke_wait_time(sec) 15 # how long to wait for control-C # SURFACE : HIT A WAYPOINT : 500 meters behavior: surface b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma b_arg: start_when(enum) 8 # 8-when hit waypoint b_arg: when_wpt_dist(m) 500 # how close to waypoint before surface b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume b_arg: report_all(bool) 0 # T->report all sensors once, F->just gps b_arg: gps_wait_time(sec) 600 # how long to wait for gps b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C # SURFACE : SCIENCE REQUEST : has not happened to us yet, in here for safety behavior: surface b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma b_arg: start_when(enum) 11 # BAW_SCI_SURFACE b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume b_arg: report_all(bool) 0 # T->report all sensors once, F->just gps b_arg: gps_wait_time(sec) 600 # how long to wait for gps b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C # SURFACE : SURFACING INTERVAL : 3 hour behavior: surface b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma b_arg: start_when(enum) 9 # 9-every when_secs b_arg: when_secs(sec) 10800 # How long between surfacing, only if start_when==6 or 9 b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume b_arg: report_all(bool) 0 # T->report all sensors once, F->just gps b_arg: gps_wait_time(sec) 600 # how long to wait for gps b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C # GOTO_LIST : WAYPOINTS : 1 km distance seen as 'waypoint reached' behavior: goto_list b_arg: args_from_file(enum) 10 # read from mafiles/goto_l10.ma b_arg: start_when(enum) 0 # 0-immediately, 1-stack idle 2-heading idle # YO : FLIGHT SETTINGS behavior: yo b_arg: args_from_file(enum) 10 # read from mafiles/yo10.ma b_arg: start_when(enum) 2 # 0-immediately, 1-stack idle 2-depth idle b_arg: end_action(enum) 2 # 0-quit, 2 resume # SAMPLE : behavior: sample b_arg: sensor_type(enum) 0 # c_science_all_on b_arg: intersample_time(sec) 4 # if < 0 then off, if = 0 then fast as posible, >0 that number b_arg: sample_time_after_state_change(s) 0 # start sampling immediately b_arg: state_to_sample(enum) 5 # dive, climb # PREPARE TO DIVE : wait 12 min for GPS behavior: prepare_to_dive b_arg: start_when(enum) 0 # 0-immediately, 1-stack idle 2-depth idle b_arg: wait_time(sec) 720 # SENSORS_IN : not sure what this does, assuming remaining sensor update behavior: sensors_in GliderDos N -1 >cd .. GliderDos N -1 >where Vehicle Name: ru01 Curr Time: Sat Mar 21 13:48:07 2009 MT: 12134 DR Location: 4343.313 N 1001.583 E measured 852.77 secs ago GPS TooFar: 69697000.000 N 69697000.000 E measured 1e+308 secs ago GPS Invalid : 4343.176 N 1000.886 E measured 932.349 secs ago GPS Location: 4343.313 N 1001.583 E measured 853.588 secs ago sensor:m_tot_num_inflections(nodim)=51770 1007.74 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:m_water_vx(m/s)=-0.039154895425168 864.11 secs ago sensor:m_water_vy(m/s)=-0.00794359004258493 864.163 secs ago sensor:m_final_water_vx(m/s)=-0.039154895425168 864.218 secs ago sensor:m_final_water_vy(m/s)=-0.00794359004258493 864.273 secs ago sensor:c_wpt_lat(lat)=4344.50000007424 11979.5 secs ago sensor:c_wpt_lon(lon)=1006.75230000164 11979.5 secs ago sensor:x_last_wpt_lat(lat)=4347.6153 1e+308 secs ago sensor:x_last_wpt_lon(lon)=1000.8775 1e+308 secs ago sensor:m_tot_ballast_pumped_energy(kjoules)=5582.14330186126 1281.33 secs ago sensor:m_battery(volts)=12.7743981124298 2.661 secs ago sensor:m_vacuum(inHg)=8.94714394792914 2.768 secs ago sensor:m_leakdetect_voltage(volts)=2.49874847382307 27.087 secs ago sensor:sci_water_cond(S/m)=4.37969 954.299 secs ago sensor:sci_water_temp(degC)=13.4937 954.384 secs ago GliderDos N -1 > 12138 73 NOTE:GPS fix is getting stale: 855 secs old GliderDos N -1 >run nopt_3h.mi Starting Mission: NOPT_3H.MI The instantaneous lag time between the system and gps clock is -2.0 seconds. The average lag time between the system and gps clock is -1.7 seconds. timestamp: Sat Mar 21 13:49:52 2009 load_mission(): Opening Mission file: NOPT_3H.MI Setting SENSOR u_dbd_sensor_list_xmit_control(enum) = 2.000000 Setting SENSOR c_science_all_on_enabled(bool) = 1.000000 Vehicle Name: ru01 Curr Time: Sat Mar 21 13:49:53 2009 MT: 12236 DR Location: 4343.313 N 1001.583 E measured 958.116 secs ago GPS TooFar: 69697000.000 N 69697000.000 E measured 1e+308 secs ago GPS Invalid : 4343.176 N 1000.886 E measured 1037.68 secs ago GPS Location: 4343.313 N 1001.583 E measured 958.921 secs ago sensor:m_tot_num_inflections(nodim)=51770 1113.06 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:m_water_vx(m/s)=-0.039154895425168 969.433 secs ago sensor:m_water_vy(m/s)=-0.00794359004258493 969.485 secs ago sensor:m_final_water_vx(m/s)=-0.039154895425168 969.54 secs ago sensor:m_final_water_vy(m/s)=-0.00794359004258493 969.595 secs ago sensor:c_wpt_lat(lat)=4344.50000007424 12084.8 secs ago sensor:c_wpt_lon(lon)=1006.75230000164 12084.9 secs ago sensor:x_last_wpt_lat(lat)=4347.6153 1e+308 secs ago sensor:x_last_wpt_lon(lon)=1000.8775 1e+308 secs ago sensor:m_tot_ballast_pumped_energy(kjoules)=5582.14330186126 1386.66 secs ago sensor:m_battery(volts)=12.7879140327802 5.937 secs ago sensor:m_vacuum(inHg)=8.94387654885649 6.041 secs ago sensor:m_leakdetect_voltage(volts)=2.49819902330637 9.949 secs ago sensor:sci_water_cond(S/m)=4.37969 1059.63 secs ago sensor:sci_water_temp(degC)=13.4937 1059.71 secs ago start_alldevices() 0.20 0 DRIVER_ODDITY:iridium:0:No commands found in Iridium login script 0.26 (status) of parsed Iridium login script login.exp: empty 58.15 03880000.mlg LOG FILE OPENED MissionSTARTDate: 21 Mar 2009 13:49:54 Z Mission Name: NOPT_3H.MI Mission Number: ru01-2009-079-8-0 (0388.0000) log_c_stack(): 1-abend 2-surface 3-surface 4-surface 5-surface 6-surface 7-goto_list 8-yo 9-sample 10-prepare_to_dive 11-sensors_in report_heap_size(): M_FREE_HEAP=470.0K, M_SPARE_HEAP=465.0K pre_mission_init():End of Initialization 60.87 1 behavior sensors_in_11: STATE UnInited -> Active 60.95 behavior sensors_in_11: argument: c_att_time = -1.000000 sec 61.05 behavior sensors_in_11: argument: c_pressure_time = -1.000000 sec 61.14 behavior sensors_in_11: argument: c_alt_time = -1.000000 sec 61.23 behavior sensors_in_11: argument: u_battery_time = -1.000000 sec 61.32 behavior sensors_in_11: argument: u_vacuum_time = -1.000000 sec 61.42 behavior sensors_in_11: argument: c_profile_on = -1.000000 sec 61.51 behavior sensors_in_11: argument: c_leakdetect_time = -1.000000 sec 61.61 behavior sensors_in_11: argument: c_gps_on = 0.000000 bool 61.70 behavior sensors_in_11: argument: c_science_all_on = -1.000000 sec 61.79 behavior sensors_in_11: argument: c_hs2_on = -1.000000 sec 61.89 behavior sensors_in_11: argument: c_bb2f_on = -1.000000 sec 61.98 behavior sensors_in_11: argument: c_bb2c_on = -1.000000 sec 62.07 behavior sensors_in_11: argument: c_bb2lss_on = -1.000000 sec 62.16 behavior sensors_in_11: argument: c_sam_on = -1.000000 sec 62.25 behavior sensors_in_11: argument: c_whpar_on = -1.000000 sec 62.34 behavior sensors_in_11: argument: c_motebb_on = -1.000000 sec 62.44 behavior sensors_in_11: argument: c_bbfl2s_on = -1.000000 sec 62.53 behavior sensors_in_11: argument: c_fl3slo_on = -1.000000 sec 62.63 behavior sensors_in_11: argument: c_bb3slo_on = -1.000000 sec 62.72 behavior sensors_in_11: argument: c_oxy3835_on = -1.000000 sec 62.81 behavior sensors_in_11: argument: c_oxy3835_wphase_on = -1.000000 sec 62.91 behavior sensors_in_11: argument: c_whfctd_on = -1.000000 sec 63.00 behavior sensors_in_11: argument: c_bam_on = -1.000000 sec 63.09 behavior sensors_in_11: argument: c_ocr504R_on = -1.000000 sec 63.21 behavior sensors_in_11: argument: c_ocr504I_on = -1.000000 sec 63.30 behavior sensors_in_11: argument: c_ocr507R_on = -1.000000 sec 63.39 behavior sensors_in_11: argument: c_ocr507I_on = -1.000000 sec 63.48 behavior sensors_in_11: argument: c_bb2fls_on = -1.000000 sec 63.58 behavior sensors_in_11: argument: c_bb2flsV2_on = -1.000000 sec 63.67 behavior sensors_in_11: argument: c_auvb_on = -1.000000 sec 63.76 behavior sensors_in_11: argument: c_bb2fV2_on = -1.000000 sec 63.86 behavior sensors_in_11: argument: c_tarr_on = -1.000000 sec 63.95 behavior sensors_in_11: argument: c_bbfl2sV2_on = -1.000000 sec 66.77 behavior prepare_to_dive_10: STATE UnInited -> Waiting for Activation 66.86 behavior prepare_to_dive_10: argument: args_from_file = -1.000000 enum 66.96 behavior prepare_to_dive_10: argument: start_when = 0.000000 enum 67.05 behavior prepare_to_dive_10: argument: wait_time = 720.000000 sec 67.14 behavior prepare_to_dive_10: argument: max_thermal_charge_time = 120.000000 sec 67.25 behavior prepare_to_dive_10: argument: max_pumping_charge_time = 300.000000 sec 67.35 behavior prepare_to_dive_10: STATE Waiting for Activation -> Active 67.44 init_gps_input() 67.48 behavior prepare_to_dive_10: SUBSTATE 0 UnInited->1 : Waiting for initial GPS fix 67.60 behavior sample_9: STATE UnInited -> Active 67.67 behavior sample_9: argument: args_from_file = -1.000000 enum 67.77 behavior sample_9: argument: sensor_type = 0.000000 enum 67.85 behavior sample_9: argument: state_to_sample = 5.000000 enum 67.94 behavior sample_9: argument: sample_time_after_state_change = 0.000000 s 68.04 behavior sample_9: argument: intersample_time = 4.000000 s 68.13 behavior sample_9: SUBSTATE 0 UnInited->1 : Diving 68.22 behavior yo_8: Reading b_args from yo10.ma 68.33 behavior yo_8: start_when(enum)=2.000000 68.42 behavior yo_8: num_half_cycles_to_do(nodim)=-1.000000 68.53 behavior yo_8: d_target_depth(m)=98.000000 68.62 behavior yo_8: d_target_altitude(m)=6.000000 68.73 behavior yo_8: d_use_bpump(enum)=2.000000 68.82 behavior yo_8: d_bpump_value(X)=-1000.000000 68.92 behavior yo_8: d_use_pitch(enum)=3.000000 69.02 behavior yo_8: d_pitch_value(X)=-0.454000 69.12 behavior yo_8: d_stop_when_stalled_for(sec)=240.000000 69.22 behavior yo_8: d_stop_when_hover_for(sec)=180.000000 69.33 behavior yo_8: c_target_depth(m)=9.000000 69.42 behavior yo_8: c_target_altitude(m)=-1.000000 69.53 behavior yo_8: c_use_bpump(enum)=2.000000 69.62 behavior yo_8: c_bpump_value(X)=1000.000000 69.72 behavior yo_8: c_use_pitch(enum)=3.000000 69.82 behavior yo_8: c_pitch_value(X)=0.454000 69.93 behavior yo_8: c_stop_when_stalled_for(sec)=240.000000 70.03 behavior yo_8: c_stop_when_hover_for(sec)=180.000000 70.13 behavior yo_8: end_action(enum)=2.000000 70.21 behavior yo_8: STATE UnInited -> Waiting for Activation 70.29 behavior yo_8: argument: args_from_file = 10.000000 enum 70.38 behavior yo_8: argument: start_when = 2.000000 enum 70.47 behavior yo_8: argument: start_diving =