97781 Iridium console active and ready... Vehicle Name: ru21 Curr Time: Tue May 18 20:01:04 2010 MT: 97780 DR Location: 2658.059 N -8249.697 E measured 0.878 secs ago GPS TooFar: 2700.946 N -8246.761 E measured 36104.1 secs ago GPS Invalid : 2658.457 N -8248.980 E measured 6124.03 secs ago GPS Location: 2658.457 N -8248.980 E measured 10750.1 secs ago sensor:c_wpt_lat(lat)=2653.13 22481.8 secs ago sensor:c_wpt_lon(lon)=-8258.55 22481.9 secs ago sensor:m_battery(volts)=14.7652392616258 4.923 secs ago sensor:m_final_water_vx(m/s)=0.0352133480316981 11878.6 secs ago sensor:m_final_water_vy(m/s)=-0.0280176641210184 11878.7 secs ago sensor:m_gps_mag_var(rad)=0.0715584993317675 10750.9 secs ago sensor:m_iridium_call_num(nodim)=846 1.112 secs ago sensor:m_iridium_dialed_num(nodim)=1055 10.825 secs ago sensor:m_leakdetect_voltage(volts)=2.49960317460317 2376.52 secs ago sensor:m_tot_num_inflections(nodim)=20423 2338.97 secs ago sensor:m_vacuum(inHg)=8.75227731990231 5.701 secs ago sensor:m_water_vx(m/s)=0.0352133480316981 11879.4 secs ago sensor:m_water_vy(m/s)=-0.0280176641210184 11879.5 secs ago sensor:sci_water_cond(S/m)=5.42101 2313.64 secs ago sensor:sci_water_temp(degC)=25.5606 2313.76 secs ago sensor:u_use_current_correction(nodim)=0 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3927.6004 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7408.4126 1e+308 secs ago ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_SAMEDEPTH_FOR ABORT HISTORY: last abort time: 2010-05-18T19:22:14 ABORT HISTORY: last abort segment: ru21-2010-136-4-32 (0101.0032) ABORT HISTORY: last abort mission: 100_TN.MI 97784 No login script found for processing. 97784 DRIVER_ODDITY:iridium:2552:xxx_ctrl() ran too long type ..\mafiles\yo10.ma behavior_name=yo b_arg: start_when(enum) 2 # pitch idle b_arg: num_half_cycles_to_do(nodim) -1 # infinite dive/climbs # DIVE_TO ARGUMENTS ################################### # Depth Arguments b_arg: d_target_depth(m) 15 b_arg: d_target_altitude(m) 3.5 ################################### ########################################################## # Advanced Flight Controls (do not change) # Ballast Pump Controls b_arg: d_use_bpump(enum) 2 # 2 Buoyancy Pump absolute b_arg: d_bpump_value(X) -1000.0 # Dive Angle Arguments (using AP) b_arg: d_use_pitch(enum) 3 # servo, rad, < 0 dive b_arg: d_pitch_value(X) -0.454 # Dive Angle Arguments (using battpos) # b_arg: d_use_pitch(enum) 1 # 1 BattPos in # b_arg: d_pitch_value(X) 0.362 ########################################################## # STUCK SCENARIO b_arg: d_stop_when_stalled_for(sec) 240 b_arg: d_stop_when_hover_for(sec) 180 # CLIMB_TO ARGUMENTS ################################### # Depth Arguments b_arg: c_target_depth(m) 3 b_arg: c_target_altitude(m) -1 ################################### ########################################################## # Advanced Flight Controls (do not change) # Ballast Pump Controls b_arg: c_use_bpump(enum) 2 # 2 Buoyancy Pump absolute b_arg: c_bpump_value(X) 1000.0 # Dive Angle Arguments (using AP) b_arg: c_use_pitch(enum) 3 # servo, rad, < 0 dive b_arg: c_pitch_value(X) 0.454 # Dive Angle Arguments (using battpos) # b_arg: c_use_pitch(enum) 1 # 1 BattPos in # b_arg: c_pitch_value(X) 0.362 ########################################################## # STUCK SCENARIO b_arg: c_stop_when_stalled_for(sec) 240 b_arg: c_stop_when_hover_for(sec) 180 b_arg: end_action(enum) 2 GliderDos A 10 > 97807 2 GliderDos: No keystroke heard for 0 seconds 900 seconds to go before running:SEQUENCE -resume_next GliderDos A 10 > 97935 31 NOTE:GPS fix is getting stale: 10904 secs old GliderDos A 10 >get x_last_wpt_lon = -7408.412600 lon GliderDos A 10 >put x_last_wpt_lon -8244.978 97954 36 sensor: x_last_wpt_lon = -8244.978 lon GliderDos A 10 >put x_last_wpt_lat 2657.720 97965 37 sensor: x_last_wpt_lat = 2657.72 lat GliderDos A 10 >zr 97985 41 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 97985 save_and_change_sensors().... Changed c_science_printout from 2 to 0 Waiting for motors idle 97986 SCI:Normal program exit from superscience_begin_or_end_proglets(): -100 START **B01000800275775 � 98016 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 98016 restore_sensors().... 98016 restore_sensors().... Restored c_science_printout from 0 to 2 Done! GliderDos A 10 >Heap is adequate; enabling enhanced input ringbuffer size on uart at slot 15 98021 43 SCI:Communication with glider established. 98022 SCI:PROGLET house_elf begin() called 98023 SCI: house_elf: Version 0.2 98023 SCI:PROGLET ctd41cp begin() called 98023 SCI: ctd41cp: Version 0.1 98023 SCI: ctd41cp: Will be sending the following data to glider: 98024 SCI: sci_water_cond(S/m) 98024 SCI: sci_water_temp(degC) 98024 SCI: sci_water_pressure(bar) 98024 SCI: sci_ctd41cp_timestamp(timestamp) 98024 SCI:PROGLET bbfl2s begin() called 98024 SCI: bbfl2s: Version 0.4 98025 SCI: bbfl2s: Will be sending following data to glider: 98025 SCI: sci_bbfl2s_bb_scaled(nodim) 98025 SCI: sci_bbfl2s_chlor_scaled(ug/l) 98025 SCI: sci_bbfl2s_cdom_scaled(ppb) 98025 SCI: sci_bbfl2s_bb_sig(nodim) sequence 100_tn.mi(5) Sequencing missions load_mission(): Opening Mission file: 100_TN.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): 100_TN.MI(5) lastgasp.mi ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_SAMEDEPTH_FOR ABORT HISTORY: last abort time: 2010-05-18T19:22:14 ABORT HISTORY: last abort segment: ru21-2010-136-4-32 (0101.0032) ABORT HISTORY: last abort mission: 100_TN.MI SEQUENCE: About to run 100_TN.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. 98030 44 SCI: sci_bbfl2s_chlor_sig(nodim) 98031 SCI: sci_bbfl2s_cdom_sig(nodim) 98032 SCI: sci_bbfl2s_bb_ref(nodim) 98032 SCI: sci_bbfl2s_chlor_ref(nodim) 98032 SCI: sci_bbfl2s_cdom_ref(nodim) 98032 SCI: sci_bbfl2s_temp(nodim) 98032 SCI: sci_bbfl2s_timestamp(timestamp) 98033 SCI: Opening Bit(29) for output 98035 46 SCI:PROGLET house_elf start() called 98035 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 98036 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) I heard a keystroke ('LF'), but not the right one! There were no pending chars in input buffer to drain. ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_SAMEDEPTH_FOR ABORT HISTORY: last abort time: 2010-05-18T19:22:14 ABORT HISTORY: last abort segment: ru21-2010-136-4-32 (0101.0032) ABORT HISTORY: last abort mission: 100_TN.MI SEQUENCE: About to run 100_TN.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. ^P Heard a control-P, starting the sequence SEQUENCE: Running 100_TN.MI on try 0 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 -5.8 seconds. timestamp: Tue May 18 20:05:40 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: ru21 Curr Time: Tue May 18 20:05:41 2010 MT: 98055 DR Location: 2658.059 N -8249.697 E measured 1.175 secs ago GPS TooFar: 2700.946 N -8246.761 E measured 36380.5 secs ago GPS Invalid : 2658.457 N -8248.980 E measured 6400.34 secs ago GPS Location: 2658.457 N -8248.980 E measured 11026.4 secs ago sensor:c_wpt_lat(lat)=2653.13 22758 secs ago sensor:c_wpt_lon(lon)=-8258.55 22758 secs ago sensor:m_battery(volts)=14.7519121114956 2.146 secs ago sensor:m_final_water_vx(m/s)=0.0352133480316981 12154.8 secs ago sensor:m_final_water_vy(m/s)=-0.0280176641210184 12154.8 secs ago sensor:m_gps_mag_var(rad)=0.0715584993317675 11027 secs ago sensor:m_iridium_call_num(nodim)=846 277.145 secs ago sensor:m_iridium_dialed_num(nodim)=1055 286.834 secs ago sensor:m_leakdetect_voltage(volts)=2.49960317460317 2652.5 secs ago sensor:m_tot_num_inflections(nodim)=20423 2614.93 secs ago sensor:m_vacuum(inHg)=8.73989178876678 2.715 secs ago sensor:m_water_vx(m/s)=0.0352133480316981 12155.3 secs ago sensor:m_water_vy(m/s)=-0.0280176641210184 12155.3 secs ago sensor:sci_water_cond(S/m)=5.42101 2589.49 secs ago sensor:sci_water_temp(degC)=25.5606 2589.59 secs ago sensor:u_use_current_correction(nodim)=0 1e+308 secs ago sensor:x_last_wpt_lat(lat)=2657.72 94.578 secs ago sensor:x_last_wpt_lon(lon)=-8244.978 104.896 secs ago start_alldevices() PARSED iridium_phone_data for datum# 0: =========== predial initialization cmds (from c:\config\iridinit.0): ATE AT+CSQ AT+cbst=0,0,1 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+CSQ AT+cbst=6,0,1 dial string: ATD0017329322865 from sensors: C_IRIDIUM_LEAD_ZEROS_ALT C_IRIDIUM_PHONE_NUM_ALT Iridium login script (from c:\config\loginexp.1): empty or non-existent 72.32 0 01020000.mlg LOG FILE OPENED MissionSTARTDate: 18 May 2010 20:05:42 Z Mission Name: 100_TN.MI Mission Number: ru21-2010-137-0-0 (0102.0000) 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-sample 14-sample 15-sample 16-sample 17-prepare_to_dive 18-sensors_in report_heap_size(): M_FREE_HEAP=400.0K, M_SPARE_HEAP=383.0K pre_mission_init():End of Initialization 75.06 1 behavior sensors_in_18: STATE UnInited -> Active 75.15 behavior sensors_in_18: argument: c_att_time = -1.000000 sec 75.25 behavior sensors_in_18: argument: c_pressure_time = -1.000000 sec 75.36 behavior sensors_in_18: argument: c_alt_time = -1.000000 sec 75.47 behavior sensors_in_18: argument: u_battery_time = -1.000000 sec 75.57 behavior sensors_in_18: argument: u_vacuum_time = -1.000000 sec 75.68 behavior sensors_in_18: argument: c_leakdetect_time = -1.000000 sec 75.79 behavior sensors_in_18: argument: c_gps_on = 0.000000 bool 75.88 behavior sensors_in_18: argument: c_science_all_on = -1.000000 sec 76.00 behavior sensors_in_18: argument: c_profile_on = -1.000000 sec 76.10 behavior sensors_in_18: argument: c_hs2_on = -1.000000 sec 76.20 behavior sensors_in_18: argument: c_bb2f_on = -1.000000 sec 76.30 behavior sensors_in_18: argument: c_bb2c_on = -1.000000 sec 76.40 behavior sensors_in_18: argument: c_bb2lss_on = -1.000000 sec 76.51 behavior sensors_in_18: argument: c_sam_on = -1.000000 sec 76.61 behavior sensors_in_18: argument: c_whpar_on = -1.000000 sec 76.72 behavior sensors_in_18: argument: c_whgpbm_on = -1.000000 sec 76.82 behavior sensors_in_18: argument: c_motebb_on = -1.000000 sec 76.93 behavior sensors_in_18: argument: c_bbfl2s_on = -1.000000 sec 77.03 behavior sensors_in_18: argument: c_fl3slo_on = -1.000000 sec 77.14 behavior sensors_in_18: argument: c_bb3slo_on = -1.000000 sec 77.24 behavior sensors_in_18: argument: c_oxy3835_on = -1.000000 sec 77.35 behavior sensors_in_18: argument: c_whfctd_on = -1.000000 sec 77.45 behavior sensors_in_18: argument: c_bam_on = -1.000000 sec 77.57 behavior sensors_in_18: argument: c_ocr504R_on = -1.000000 sec 77.67 behavior sensors_in_18: argument: c_ocr504I_on = -1.000000 sec 77.78 behavior sensors_in_18: argument: c_flntu_on = -1.000000 sec 77.88 behavior sensors_in_18: argument: c_fl3slov2_on = -1.000000 sec 77.99 behavior sensors_in_18: argument: c_bb3slov2_on = -1.000000 sec 78.09 behavior sensors_in_18: argument: c_ocr507R_on = -1.000000 sec 78.19 behavior sensors_in_18: argument: c_ocr507I_on = -1.000000 sec 78.30 behavior sensors_in_18: argument: c_bb3slov3_on = -1.000000 sec 78.41 behavior sensors_in_18: argument: c_bb2fls_on = -1.000000 sec 78.52 behavior sensors_in_18: argument: c_bb2flsV2_on = -1.000000 sec 78.62 behavior sensors_in_18: argument: c_oxy3835_wphase_on = -1.000000 sec 78.73 behavior sensors_in_18: argument: c_auvb_on = -1.000000 sec 78.83 behavior sensors_in_18: argument: c_bb2fV2_on = -1.000000 sec 78.94 behavior sensors_in_18: argument: c_tarr_on = -1.000000 sec 79.04 behavior sensors_in_18: argument: c_bbfl2sV2_on = -1.000000 sec 79.15 behavior sensors_in_18: argument: c_glbps_on = -1.000000 sec 79.25 behavior sensors_in_18: argument: c_sscsd_on = -1.000000 sec 79.35 behavior sensors_in_18: argument: c_bb2flsV3_on = -1.000000 sec 79.46 behavior sensors_in_18: argument: c_fire_on = -1.000000 sec 79.56 behavior sensors_in_18: argument: c_ohf_on = -1.000000 sec 79.66 behavior sensors_in_18: argument: c_bb2flsV4_on = -1.000000 sec 79.77 behavior sensors_in_18: argument: c_bb2flsV5_on = -1.000000 sec 79.88 behavior sensors_in_18: argument: c_logger_on = -1.000000 sec 79.99 behavior sensors_in_18: argument: c_bbam_on = -1.000000 sec 80.09 behavior sensors_in_18: argument: c_uModem_on = -1.000000 sec 80.24 behavior prepare_to_dive_17: STATE UnInited -> Waiting for Activation 80.34 behavior prepare_to_dive_17: argument: args_from_file = -1.000000 enum 80.45 behavior prepare_to_dive_17: argument: start_when = 0.000000 enum 80.56 behavior prepare_to_dive_17: argument: wait_time = 720.000000 sec 80.66 behavior prepare_to_dive_17: argument: max_thermal_charge_time = 120.000000 sec 80.78 behavior prepare_to_dive_17: argument: max_pumping_charge_time = 300.000000 sec 80.90 behavior prepare_to_dive_17: STATE Waiting for Activation -> Active 81.00 init_gps_input() 81.05 behavior prepare_to_dive_17: SUBSTATE 0 UnInited->1 : Waiting for initial GPS fix 81.19 behavior sample_16: sample(): reading bargs 81.27 behavior sample_16: Reading b_args from sample13.ma 81.40 behavior sample_16: sensor_type(enum)=13.000000 81.51 behavior sample_16: sample_time_after_state_change(s)=0.000000 81.62 behavior sample_16: intersample_time(sec)=2.000000 81.73 behavior sample_16: state_to_sample(enum)=7.000000 81.84 behavior sample_16: STATE UnInited -> Active 81.92 behavior sample_16: argument: args_from_file = 13.000000 enum 82.03 behavior sample_16: argument: sensor_type = 13.000000 enum 82.14 behavior sample_16: argument: state_to_sample = 7.000000 enum 82.24 behavior sample_16: argument: sample_time_after_state_change = 0.000000 s 82.35 behavior sample_16: argument: intersample_time = 2.000000 s 82.46 behavior sample_16: argument: min_depth = -5.000000 m 82.56 behavior sample_16: argument: max_depth = 2000.000000 m 82.67 behavior sample_16: SUBSTATE 0 UnInited->3 : Climbing 82.78 behavior sample_15: sample(): reading bargs 82.86 behavior sample_15: Reading b_args from sample17.ma 83.00 behavior sample_15: sensor_type(enum)=17.000000 83.11 behavior sample_15: sample_time_after_state_change(s)=0.000000 83.22 behavior sample_15: intersample_time(sec)=2.000000 83.33 behavior sample_15: state_to_sample(enum)=7.000000 83.43 behavior sample_15: STATE UnInited -> Active 83.52 behavior sample_15: argument: args_from_file = 17.000000 enum 83.63 behavior sample_15: argument: sensor_type = 17.000000 enum 83.74 behavior sample_15: argument: state_to_sample = 7.000000 enum 83.84 behavior sample_15: argument: sample_time_after_state_change = 0.000000 s 83.95 behavior sample_15: argument: intersample_time = 2.000000 s 84.06 behavior sample_15: argument: min_depth = -5.000000 m 84.16 behavior sample_15: argument: max_depth = 2000.000000 m 84.26 behavior sample_15: SUBSTATE 0 UnInited->3 : Climbing 84.38 behavior sample_14: sample(): reading bargs 84.46 behavior sample_14: Reading b_args from sample40.ma 84.60 behavior sample_14: sensor_type(enum)=40.000000 84.71 behavior sample_14: sample_time_after_state_change(s)=0.000000 84.82 behavior sample_14: intersample_time(sec)=1.000000 84.93 behavior sample_14: state_to_sample(enum)=3.000000 85.03 behavior sample_14: STATE UnInited -> Active 85.12 behavior sample_14: argument: args_from_file = 40.000000 enum 85.22 behavior sample_14: argument: sensor_type = 40.000000 enum 85.33 behavior sample_14: argument: state_to_sample = 3.000000 enum 85.44 behavior sample_14: argument: sample_time_after_state_change = 0.000000 s 85.55 behavior sample_14: argument: intersample_time = 1.000000 s 85.66 behavior sample_14: argument: min_depth = -5.000000 m 85.76 behavior sample_14: argument: max_depth = 2000.000000 m 85.86 behavior sample_14: SUBSTATE 0 UnInited->3 : Climbing 85.97 behavior sample_13: sample(): reading bargs 86.06 behavior sample_13: Reading b_args from sample10.ma 86.19 behavior sample_13: sensor_type(enum)=10.000000 86.30 behavior sample_13: sample_time_after_state_change(s)=0.000000 86.42 behavior sample_13: intersample_time(sec)=1.000000 86.53 behavior sample_13: state_to_sample(enum)=7.000000 86.63 behavior sample_13: STATE UnInited -> Active 86.72 behavior sample_13: argument: args_from_file = 10.000000 enum 86.83 behavior sample_13: argument: sensor_type = 10.000000 enum 86.93 behavior sample_13: argument: state_to_sample = 7.000000 enum 87.04 behavior sample_13: argument: sample_time_after_state_change = 0.000000 s 87.14 behavior sample_13: argument: intersample_time = 1.000000 s 87.25 behavior sample_13: argument: min_depth = -5.000000 m 87.35 behavior sample_13: argument: max_depth = 2000.000000 m 87.46 behavior sample_13: SUBSTATE 0 UnInited->3 : Climbing 87.57 behavior sample_12: sample(): reading bargs 87.65 OK