4786 Iridium console active and ready... Vehicle Name: ru16 Curr Time: Fri Aug 20 15:47:56 2010 MT: 4784 DR Location: 4020.407 N -7353.102 E measured 1385.75 secs ago GPS TooFar: 4020.316 N -7353.168 E measured 2902.76 secs ago GPS Invalid : 4020.308 N -7353.169 E measured 1478.19 secs ago GPS Location: 4020.407 N -7353.102 E measured 1387.94 secs ago sensor:c_science_send_all(bool)=1 1e+308 secs ago sensor:c_wpt_lat(lat)=4015.669 1199.11 secs ago sensor:c_wpt_lon(lon)=-7341.7095 1199.17 secs ago sensor:m_battery(volts)=15.3131054710271 4.462 secs ago sensor:m_coulomb_amphr(amp-hrs)=0.7249999 8.516 secs ago sensor:m_final_water_vx(m/s)=0.0310107970105044 1411.58 secs ago sensor:m_final_water_vy(m/s)=0.0133429745117961 1411.63 secs ago sensor:m_gps_mag_var(rad)=0.2460914245312 1388.54 secs ago sensor:m_iridium_call_num(nodim)=13 0.778 secs ago sensor:m_iridium_dialed_num(nodim)=133 8.984 secs ago sensor:m_leakdetect_voltage(volts)=2.49960317460317 1244.12 secs ago sensor:m_tot_num_inflections(nodim)=15 1580.11 secs ago sensor:m_vacuum(inHg)=8.49999175824175 4.993 secs ago sensor:m_water_vx(m/s)=0.0310107970105044 1412.02 secs ago sensor:m_water_vy(m/s)=0.0133429745117961 1412.07 secs ago sensor:sci_m_disk_free(Mbytes)=996.375 3009.45 secs ago sensor:sci_water_cond(S/m)=4.65795 1281.13 secs ago sensor:sci_water_temp(degC)=24.2565 1281.17 secs ago sensor:u_alt_reduced_usage_mode(bool)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3925.48 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7407.8024 1e+308 secs ago ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_NOINPUT ABORT HISTORY: last abort time: 2010-08-20T15:27:59 ABORT HISTORY: last abort segment: ru16-2010-231-2-2 (0006.0002) ABORT HISTORY: last abort mission: 100_TN.MI 4787 No login script found for processing. 4787 DRIVER_ODDITY:iridium:1757:xxx_ctrl() ran too long GliderDos A 12 >zr 4904 30 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 4904 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B01000800275775 � 4940 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 4940 restore_sensors().... 4940 restore_sensors().... Restored c_science_printout from 0 to 0 Done! GliderDos A 12 > 4941 NOTE:GPS fix is getting stale: 1543 secs old 4941 GliderDos: No keystroke heard for 0 seconds 600 seconds to go before running:SEQUENCE -resume_next GliderDos A 12 >Heap is adequate; enabling enhanced input ringbuffer size on uart at slot 15 type ..\missions\100_tn.mi #################### # 100 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 > 204m of water b_arg: overdepth(m) 104 b_arg: overdepth_sample_time(sec) 12 # OVERTIME: disabled b_arg: overtime(sec) -1.0 # COP TICKLE: watchdog not tickled for 12.5% before hardware jumper b_arg: no_cop_tickle_percent(%) 12.5 # SAMEDEPTH: 15 min every 60 seconds b_arg: samedepth_for(sec) 900.0 b_arg: samedepth_for_sample_time(sec) 60.0 # STALLED FOR: 15 min every 60 seconds b_arg: stalled_for(sec) 900.0 b_arg: stalled_for_sample_time(sec) 60.0 # HARDWARE: vacuum, battery b_arg: undervolts(volts) 9.5 b_arg: undervolts_sample_time(sec) 36.0 b_arg: vacuum_max(inHg) 12.0 b_arg: vacuum_sample_time(sec) 36.0 # WAYPOINT TOO FAR ABORT: 500km (500,000m) 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 : 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 # mafiles/surfac10.ma b_arg: start_when(enum) 2 # 2-pitch idle # SURFACE : Surfacing interval behavior: surface b_arg: args_from_file(enum) 20 # mafiles/surfac20.ma b_arg: start_when(enum) 9 # 9-every when_secs # SURFACE : Hit a waypoint behavior: surface b_arg: args_from_file(enum) 30 # mafiles/surfac30.ma b_arg: start_when(enum) 8 # 8-when hit waypoint # 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 # 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 : BBFL2S behavior: sample b_arg: args_from_file(enum) 10 # c_bbfl2s_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 12 > 4956 33 SCI:PROGLET house_elf begin() called 4956 SCI: house_elf: Version 1.1 4956 SCI:PROGLET ctd41cp begin() called 4956 SCI: ctd41cp: Version 0.2 4956 SCI: ctd41cp: Will be sending the following data to glider: 4956 SCI: sci_water_cond(s/m) 4957 SCI: sci_water_temp(degc) 4957 SCI: sci_water_pressure(bar) 4957 SCI: sci_ctd41cp_timestamp(timestamp) 4957 SCI:PROGLET bbfl2s begin() called 4957 SCI: bbfl2s: Version 0.4 4957 SCI: bbfl2s: Will be sending following data to glider: 4957 SCI: sci_bbfl2s_bb_scaled(nodim) 4957 SCI: sci_bbfl2s_chlor_scaled(ug/l) 4958 34 SCI: sci_bbfl2s_cdom_scaled(ppb) 4958 SCI: sci_bbfl2s_bb_sig(nodim) 4959 SCI: sci_bbfl2s_chlor_sig(nodim) 4959 SCI: sci_bbfl2s_cdom_sig(nodim) 4959 SCI: sci_bbfl2s_bb_ref(nodim) 4959 SCI: sci_bbfl2s_chlor_ref(nodim) 4959 SCI: sci_bbfl2s_cdom_ref(nodim) 4960 SCI: sci_bbfl2s_temp(nodim) 4960 SCI: sci_bbfl2s_timestamp(timestamp) 4960 SCI: Opening Bit(29) for output 4960 SCI:PROGLET oxy3835 begin() called 4960 SCI: oxy3835: Version 0.3 4960 SCI: oxy3835: Will be sending following data to glider: 4960 SCI: sci_oxy3835_oxygen(nodim) 4960 SCI: sci_oxy3835_saturation(nodim) 4960 SCI: sci_oxy3835_temp(nodim) 4961 SCI: sci_oxy3835_timestamp(timestamp) 4961 SCI: Opening Bit(34) for output 4964 36 SCI:PROGLET house_elf start() called 4964 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 4964 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) sbd load sblist.dat WARNING! SBLIST.DAT modification date unknown. Error loading GliderDos A 12 >sbd load sbdlist.dat ---Writing new *.sbd config file to disk GliderDos A 12 >sbd list c_alt_time 120 15 2 c_heading 360 7 -1 3 f_fin_offset m_battpos 60 5 4 m_coulomb_amphr 240 m_fin 60 7 -1 3 m_final_water_vx m_final_water_vy m_gps_full_status m_gps_lat m_gps_lon m_heading 60 7 -1 3 m_leakdetect_voltage 180 m_pitch 0 7 -1 2 m_present_time m_pressure 45 7 m_roll 30 5 6 m_tot_num_inflections m_vacuum 600 m_water_depth sci_bbfl2s_bb_scaled 0 7 -1 2 sci_bbfl2s_cdom_scaled 0 7 -1 2 sci_bbfl2s_chlor_scaled 0 7 -1 2 sci_ctd41cp_timestamp 0 7 -1 2 sci_m_disk_free 600 sci_oxy3835_oxygen 0 7 -1 2 sci_oxy3835_saturation 0 7 -1 2 sci_oxy3835_temp 0 7 -1 2 sci_water_cond 0 7 -1 2 sci_water_pressure 0 7 -1 2 sci_water_temp 0 7 -1 2 u_hd_fin_ap_gain u_hd_fin_ap_hardover_holdoff u_hd_fin_ap_igain u_hd_fin_ap_inflection_holdoff u_min_water_depth u_pitch_ap_deadband u_pitch_ap_gain u_pitch_max_delta_battpos # 39 sensors being logged to *.sbd file GliderDos A 12 >run 100_tn.mi Starting Mission: 100_TN.MI The instantaneous lag time between the system and gps clock is 4.0 seconds. The average lag time between the system and gps clock is 0.8 seconds. timestamp: Fri Aug 20 15:51:29 2010 load_mission(): Opening Mission file: 100_TN.MI Setting SENSOR c_science_all_on_enabled(bool) = 0.000000 Setting SENSOR u_dbd_sensor_list_xmit_control(enum) = 2.000000 Vehicle Name: ru16 Curr Time: Fri Aug 20 15:51:29 2010 MT: 4996 DR Location: 4020.407 N -7353.102 E measured 1599.36 secs ago GPS TooFar: 4020.316 N -7353.168 E measured 3116.37 secs ago GPS Invalid : 4020.308 N -7353.169 E measured 1691.8 secs ago GPS Location: 4020.407 N -7353.102 E measured 1601.54 secs ago sensor:c_science_send_all(bool)=1 1e+308 secs ago sensor:c_wpt_lat(lat)=4015.669 1412.64 secs ago sensor:c_wpt_lon(lon)=-7341.7095 1412.68 secs ago sensor:m_battery(volts)=15.2714038277897 2.222 secs ago sensor:m_coulomb_amphr(amp-hrs)=0.7387499 27.449 secs ago sensor:m_final_water_vx(m/s)=0.0310107970105044 1625.05 secs ago sensor:m_final_water_vy(m/s)=0.0133429745117961 1625.09 secs ago sensor:m_gps_mag_var(rad)=0.2460914245312 1601.99 secs ago sensor:m_iridium_call_num(nodim)=13 214.209 secs ago sensor:m_iridium_dialed_num(nodim)=133 222.4 secs ago sensor:m_leakdetect_voltage(volts)=2.49960317460317 1457.53 secs ago sensor:m_tot_num_inflections(nodim)=15 1793.49 secs ago sensor:m_vacuum(inHg)=8.49999175824175 2.627 secs ago sensor:m_water_vx(m/s)=0.0310107970105044 1625.38 secs ago sensor:m_water_vy(m/s)=0.0133429745117961 1625.42 secs ago sensor:sci_m_disk_free(Mbytes)=996.375 3222.79 secs ago sensor:sci_water_cond(S/m)=4.65795 1494.44 secs ago sensor:sci_water_temp(degC)=24.2565 1494.47 secs ago sensor:u_alt_reduced_usage_mode(bool)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3925.48 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7407.8024 1e+308 secs ago start_alldevices() PARSED iridium_phone_data for datum# 0: =========== predial initialization cmds (from c:\config\iridinit.0): ATE AT+cbst=0,0,1 AT+CSQ dial string: ATD0088160000592 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+cbst=6,0,1 AT+CSQ dial string: ATD0015085482446 from sensors: C_IRIDIUM_LEAD_ZEROS_ALT C_IRIDIUM_PHONE_NUM_ALT Iridium login script (from c:\config\loginexp.1): empty or non-existent 53.21 3 00070000.mlg LOG FILE OPENED MissionSTARTDate: 20 Aug 2010 15:51:30 Z Mission Name: 100_TN.MI Mission Number: ru16-2010-231-3-0 (0007.0000) log_c_stack(): 1-abend 2-surface 3-surface 4-surface 5-surface 6-surface 7-surface 8-goto_list 9-yo 10-sample 11-sample 12-sample 13-prepare_to_dive 14-sensors_in report_heap_size(): M_FREE_HEAP=377.0K, M_SPARE_HEAP=358.0K pre_mission_init():End of Initialization 54.43 4 behavior sensors_in_14: STATE UnInited -> Active 54.49 behavior sensors_in_14: argument: c_att_time = -1.000000 sec 54.56 behavior sensors_in_14: argument: c_pressure_time = -1.000000 sec 54.62 behavior sensors_in_14: argument: c_alt_time = -1.000000 sec 54.69 behavior sensors_in_14: argument: u_battery_time = -1.000000 sec 54.76 behavior sensors_in_14: argument: u_vacuum_time = -1.000000 sec 54.82 behavior sensors_in_14: argument: c_leakdetect_time = -1.000000 sec 54.89 behavior sensors_in_14: argument: c_gps_on = 0.000000 bool 54.95 behavior sensors_in_14: argument: c_science_all_on = -1.000000 sec 55.02 behavior sensors_in_14: argument: c_profile_on = -1.000000 sec 55.08 behavior sensors_in_14: argument: c_hs2_on = -1.000000 sec 55.15 behavior sensors_in_14: argument: c_bb2f_on = -1.000000 sec 55.21 behavior sensors_in_14: argument: c_bb2c_on = -1.000000 sec 55.28 behavior sensors_in_14: argument: c_bb2lss_on = -1.000000 sec 55.34 behavior sensors_in_14: argument: c_sam_on = -1.000000 sec 55.40 behavior sensors_in_14: argument: c_whpar_on = -1.000000 sec 55.47 behavior sensors_in_14: argument: c_whgpbm_on = -1.000000 sec 55.54 behavior sensors_in_14: argument: c_motebb_on = -1.000000 sec 55.60 behavior sensors_in_14: argument: c_bbfl2s_on = -1.000000 sec 55.67 behavior sensors_in_14: argument: c_fl3slo_on = -1.000000 sec 55.73 behavior sensors_in_14: argument: c_bb3slo_on = -1.000000 sec 55.80 behavior sensors_in_14: argument: c_oxy3835_on = -1.000000 sec 55.86 behavior sensors_in_14: argument: c_whfctd_on = -1.000000 sec 55.93 behavior sensors_in_14: argument: c_bam_on = -1.000000 sec 55.99 behavior sensors_in_14: argument: c_ocr504R_on = -1.000000 sec 56.07 behavior sensors_in_14: argument: c_ocr504I_on = -1.000000 sec 56.14 behavior sensors_in_14: argument: c_flntu_on = -1.000000 sec 56.21 behavior sensors_in_14: argument: c_fl3slov2_on = -1.000000 sec 56.27 behavior sensors_in_14: argument: c_bb3slov2_on = -1.000000 sec 56.34 behavior sensors_in_14: argument: c_ocr507R_on = -1.000000 sec 56.40 behavior sensors_in_14: argument: c_ocr507I_on = -1.000000 sec 56.47 behavior sensors_in_14: argument: c_bb3slov3_on = -1.000000 sec 56.54 behavior sensors_in_14: argument: c_bb2fls_on = -1.000000 sec 56.60 behavior sensors_in_14: argument: c_bb2flsV2_on = -1.000000 sec 56.67 behavior sensors_in_14: argument: c_oxy3835_wphase_on = -1.000000 sec 56.74 behavior sensors_in_14: argument: c_auvb_on = -1.000000 sec 56.80 behavior sensors_in_14: argument: c_bb2fV2_on = -1.000000 sec 56.87 behavior sensors_in_14: argument: c_tarr_on = -1.000000 sec 56.93 behavior sensors_in_14: argument: c_bbfl2sV2_on = -1.000000 sec 57.00 behavior sensors_in_14: argument: c_glbps_on = -1.000000 sec 57.06 behavior sensors_in_14: argument: c_sscsd_on = -1.000000 sec 57.13 behavior sensors_in_14: argument: c_bb2flsV3_on = -1.000000 sec 57.19 behavior sensors_in_14: argument: c_fire_on = -1.000000 sec 57.26 behavior sensors_in_14: argument: c_ohf_on = -1.000000 sec 57.32 behavior sensors_in_14: argument: c_bb2flsV4_on = -1.000000 sec 57.39 behavior sensors_in_14: argument: c_bb2flsV5_on = -1.000000 sec 57.46 behavior sensors_in_14: argument: c_logger_on = -1.000000 sec 57.52 behavior sensors_in_14: argument: c_bbam_on = -1.000000 sec 57.59 behavior sensors_in_14: argument: c_uModem_on = -1.000000 sec 57.65 behavior sensors_in_14: argument: c_rinkoII_on = -1.000000 sec 57.72 behavior sensors_in_14: argument: c_dvl_on = -1.000000 sec 57.78 behavior sensors_in_14: argument: c_bb2flsV6_on = -1.000000 sec 57.85 behavior sensors_in_14: argument: c_flbbrh_on = -1.000000 sec 57.92 behavior sensors_in_14: argument: c_flur_on = -1.000000 sec 57.98 behavior sensors_in_14: argument: c_bb2flsV7_on = -1.000000 sec 58.05 behavior sensors_in_14: argument: c_flbbcd_on = -1.000000 sec 58.15 behavior prepare_to_dive_13: STATE UnInited -> Waiting for Activation 58.22 behavior prepare_to_dive_13: argument: args_from_file = -1.000000 enum 58.28 behavior prepare_to_dive_13: argument: start_when = 0.000000 enum 58.35 behavior prepare_to_dive_13: argument: wait_time = 720.000000 sec 58.42 behavior prepare_to_dive_13: argument: max_thermal_charge_time = 120.000000 sec 58.49 behavior prepare_to_dive_13: argument: max_pumping_charge_time = 1000.000000 sec 58.56 OK