18121 Iridium console active and ready... Vehicle Name: ru24 Curr Time: Tue Jan 6 01:46:48 2015 MT: 18121 DR Location: -6452.438 N -6409.922 E measured 384.197 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6452.431 N -6409.914 E measured 467.207 secs ago GPS Location: -6452.438 N -6409.922 E measured 386.562 secs ago sensor:c_wpt_lat(lat)=-6457.0254 9209.92 secs ago sensor:c_wpt_lon(lon)=-6418.8256 9210 secs ago sensor:m_battery(volts)=14.1805557096598 34.506 secs ago sensor:m_coulomb_amphr(amp-hrs)=0 1e+308 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=0 1e+308 secs ago sensor:m_depth(m)=1.09502552593285 5.725 secs ago sensor:m_final_water_vx(m/s)=0.00336256236053871 395.146 secs ago sensor:m_final_water_vy(m/s)=-0.0334827659072023 395.193 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 387.232 secs ago sensor:m_iridium_attempt_num(nodim)=1 109.715 secs ago sensor:m_iridium_call_num(nodim)=1453 16.063 secs ago sensor:m_iridium_dialed_num(nodim)=3681 35.144 secs ago sensor:m_leakdetect_voltage(volts)=2.49966422466422 34.777 secs ago sensor:m_tot_num_inflections(nodim)=19576 510.379 secs ago sensor:m_vacuum(inHg)=9.61604120879121 35.229 secs ago sensor:m_water_vx(m/s)=0.00336256236053871 395.638 secs ago sensor:m_water_vy(m/s)=-0.0334827659072023 395.687 secs ago sensor:sci_m_disk_free(Mbytes)=433.609375 87.403 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=-6449.9 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6405.7 1e+308 secs ago ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): The surface behavior entered B_ERROR state. ABORT HISTORY: last abort time: 2015-01-05T20:25:56 ABORT HISTORY: last abort segment: ru24-2015-004-3-6 (0216.0006) ABORT HISTORY: last abort mission: 100_NW.MI 18123 DRIVER_ODDITY:iridium:1912:xxx_ctrl() ran too long Glider ru24 at surface. Because:no comms for a while [behavior surface_2 start_when = 12.0] MissionName:100_NW.MI MissionNum:ru24-2015-004-4-6 (0217.0006) Vehicle Name: ru24 Curr Time: Tue Jan 6 01:46:58 2015 MT: 18132 DR Location: -6452.438 N -6409.922 E measured 394.205 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6452.431 N -6409.914 E measured 477.215 secs ago GPS Location: -6452.438 N -6409.922 E measured 396.57 secs ago sensor:c_wpt_lat(lat)=-6457.0254 9219.9 secs ago sensor:c_wpt_lon(lon)=-6418.8256 9219.95 secs ago sensor:m_battery(volts)=14.1805557096598 44.437 secs ago sensor:m_coulomb_amphr(amp-hrs)=0 1e+308 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=0 1e+308 secs ago sensor:m_depth(m)=1.35292729072785 5.005 secs ago sensor:m_final_water_vx(m/s)=0.00336256236053871 404.997 secs ago sensor:m_final_water_vy(m/s)=-0.0334827659072023 405.038 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 397.067 secs ago sensor:m_iridium_attempt_num(nodim)=1 119.531 secs ago sensor:m_iridium_call_num(nodim)=1453 25.856 secs ago sensor:m_iridium_dialed_num(nodim)=3681 44.92 secs ago sensor:m_leakdetect_voltage(volts)=2.49966422466422 44.545 secs ago sensor:m_tot_num_inflections(nodim)=19576 520.134 secs ago sensor:m_vacuum(inHg)=9.61604120879121 44.964 secs ago sensor:m_water_vx(m/s)=0.00336256236053871 405.364 secs ago sensor:m_water_vy(m/s)=-0.0334827659072023 405.4 secs ago sensor:sci_m_disk_free(Mbytes)=433.609375 97.105 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=-6449.9 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6405.7 1e+308 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 1/ 0/ 0 odd: 33/ 11/ 5 ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): The surface behavior entered B_ERROR state. ABORT HISTORY: last abort time: 2015-01-05T20:25:56 ABORT HISTORY: last abort segment: ru24-2015-004-3-6 (0216.0006) ABORT HISTORY: last abort mission: 100_NW.MI 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 yo, goto_l, surface, sample, drift_ mafiles. Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit Control-T to consci to science computer when comms ready: ... communications ready for consci. Water Velocity Calculations COMPLETE Waypoint: (-6457.0254,-6418.8256) Range: 11041m, Bearing: 202deg, Age: 4:59h:m Time until diving is: 195 secs 18137 32 db(#/min/mn/max/sd) pitch_motor 1800 -0.149 0.004 0.193 0.059 in 18137 db(#/min/mn/max/sd) pitch_motor 1800 -62 2 80 25 mV s *.sbd *.tbd -------------------------------- 18158 35 02170006.mlg LOG FILE CLOSED SCIENCE DATA LOGGING: science IS running CONSCI REQUESTED (using IRIDIUM as console) ASKING SCIENCE COMPUTER TO SWITCH TO COMMAND MODE via IRIDIUM SWITCHING TO SCIENCE COMMAND MODE over IRIDIUM Normal operation resumes when: SciDos> QUIT -or- Lose CD (unplug freewave/hangup iridium) -or- run longer than U_SCI_CMD_MAX_CONSCI_TIME(3600)s 18170 39 Neutering the Freewave Console SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size SCI: Enumerating and selecting files SCI: About to send 1 files Prechecking is not necessary for this invocation START **B00000000000000 � SHUFFLING FILES. SCI: Sent 1 file(s): c:\logs\02170006.TBD SCI: SUCCESS 18190 42 Freewave console restored REVERTING FROM SCIENCE COMMAND MODE SCIENCE COMMAND MODE TERMINATED because: Science Program QUIT (cts lowered) GLD: Enumerating and selecting files GLD: About to send 3 files Prechecking is not necessary for this invocation 18190 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 18191 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 �().... 18313 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES..*.*^XB0800000000022d DEL**^XB0800000000022d DEL GLD: Sent 3 file(s): c:\logs\02170006.SBD c:\logs\02170005.SBD c:\logs\02170004.SBD GLD: SUCCESS 18322 45 SCI:PROGLET house_elf begin() called 18322 SCI: house_elf: Version 1.2 18323 SCI:PROGLET ctd41cp begin() called 18323 SCI: ctd41cp: Version 0.2 18323 SCI: ctd41cp: Will be sending the following data to glider: 18323 SCI: sci_water_cond(s/m) 18323 SCI: sci_water_temp(degc) 18323 SCI: sci_water_pressure(bar) 18323 SCI: sci_ctd41cp_timestamp(timestamp) 18323 SCI:PROGLET FIRe begin() called 18323 SCI: FIRe: Version 0.1 18324 SCI: FIRe: Will be sending following data to glider: 18324 SCI: sci_fire_timestamp(timestamp) 18324 SCI: sci_fire_fo(nodim) 18324 SCI: sci_fire_fm(nodim) 18324 SCI: sci_fire_fvfm(nodim) 18324 SCI: sci_fire_s(nodim) 18324 SCI: sci_fire_p(nodim) 18324 46 SCI: sci_fire_par(nodim) 18324 SCI: sci_fire_battery(volts) 18324 SCI: sci_fire_temp(degc) 18325 SCI: sci_fire_frame_count(nodim) 18325 SCI: sci_fire_error(nodim) 18327 SCI:PROGLET house_elf start() called 18327 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 18327 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 18403 52 02170007.mlg LOG FILE OPENED -------------------------------- 18404 behavior surface_2: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru24 at surface. Because:no comms for a while [behavior surface_2 start_when = 12.0] MissionName:100_NW.MI MissionNum:ru24-2015-004-4-7 (0217.0007) Vehicle Name: ru24 Curr Time: Tue Jan 6 01:51:35 2015 MT: 18408 DR Location: -6452.438 N -6409.922 E measured 670.952 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6452.431 N -6409.914 E measured 753.962 secs ago GPS Location: -6452.438 N -6409.922 E measured 673.317 secs ago sensor:c_wpt_lat(lat)=-6457.0254 9496.65 secs ago sensor:c_wpt_lon(lon)=-6418.8256 9496.7 secs ago sensor:m_battery(volts)=14.1592388427731 3.363 secs ago sensor:m_coulomb_amphr(amp-hrs)=0 1e+308 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=0 1e+308 secs ago sensor:m_depth(m)=1.10770921928342 3.44 secs ago sensor:m_final_water_vx(m/s)=0.00336256236053871 681.748 secs ago sensor:m_final_water_vy(m/s)=-0.0334827659072023 681.787 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 673.816 secs ago sensor:m_iridium_attempt_num(nodim)=0 251.093 secs ago sensor:m_iridium_call_num(nodim)=1453 302.604 secs ago sensor:m_iridium_dialed_num(nodim)=3681 321.667 secs ago sensor:m_leakdetect_voltage(volts)=2.5 3.471 secs ago sensor:m_tot_num_inflections(nodim)=19576 796.882 secs ago sensor:m_vacuum(inHg)=9.62820512820513 3.885 secs ago sensor:m_water_vx(m/s)=0.00336256236053871 682.111 secs ago sensor:m_water_vy(m/s)=-0.0334827659072023 682.148 secs ago sensor:sci_m_disk_free(Mbytes)=433.578125 57.537 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=-6449.9 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6405.7 1e+308 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 1/ 0/ 0 odd: 33/ 11/ 5 ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): The surface behavior entered B_ERROR state. ABORT HISTORY: last abort time: 2015-01-05T20:25:56 ABORT HISTORY: last abort segment: ru24-2015-004-3-6 (0216.0006) ABORT HISTORY: last abort mission: 100_NW.MI 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 yo, goto_l, surface, sample, drift_ mafiles. Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit Control-T to consci to science computer when comms ready: ... communications NOT ready for consci. ... because: m_science_clothesline_lag > u_max_clothesline_lag_for_consci Water Velocity Calculations COMPLETE Waypoint: (-6457.0254,-6418.8256) Range: 11041m, Bearing: 202deg, Age: 5:4h:m Time until diving is: 593 secs ^W name in ALLCAPS means CRITICAL device (* => SUPERCRITICAL) [I Installed] [- Not_Installed] [u In_use] [- Not_In_use] [X Out_of_Service] name limits stats (#total/#mission/#segment) 0 simdrvr - 1 test_driver - 2 ARGOS* I u -1 20 5 0 3 WATCHDOG I u -1 -1 -1 0 4 DEADMAN I u -1 20 5 0 5 CONSOLE* I u -1 20 5 0 6 GPS I u -1 20 5 0 7 pinger - 8 attitude - 9 attitude_tcm3 I u 3 20 5 0 10 attitude_rev - 11 ocean_pressure I u 3 20 5 0 12 vacuum I u 3 20 5 0 13 battery I u 3 20 5 0 14lithium_battery - 15 air_pump I u 3 20 5 0 16 pitch_motor I u 3 20 5 0 17 science_super I u 3 20 5 0 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 9 4 1] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 1 0 0] [ 24 7 4] 25 leakdetect I u 3 20 5 0 26 recovery - 27 coulomb - 28 veh_temp - 29 BUOYANCY_PUMP I u 3 20 3 0 30THERMAL_ACC_PRE - 31 THERMAL_ENGINE - 32 THERMAL_PUMP - 33 DE_PUMP - 34 thruster_g1 - 35 thruster - devices:(t/m/s) errs: 0/ 0/ 0 warn: 1/ 0/ 0 odd: 33/ 11/ 5 Glider ru24 at surface. Because:no comms for a while [behavior surface_2 start_when = 12.0] MissionName:100_NW.MI MissionNum:ru24-2015-004-4-7 (0217.0007) Vehicle Name: ru24 Curr Time: Tue Jan 6 01:52:20 2015 MT: 18453 DR Location: -6452.438 N -6409.922 E measured 715.475 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6452.431 N -6409.914 E measured 798.484 secs ago GPS Location: -6452.438 N -6409.922 E measured 717.84 secs ago sensor:c_wpt_lat(lat)=-6457.0254 9541.17 secs ago sensor:c_wpt_lon(lon)=-6418.8256 9541.22 secs ago sensor:m_battery(volts)=14.1592388427731 47.881 secs ago sensor:m_coulomb_amphr(amp-hrs)=0 1e+308 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=0 1e+308 secs ago sensor:m_depth(m)=1.1034813214999 4.782 secs ago sensor:m_final_water_vx(m/s)=0.00336256236053871 726.266 secs ago sensor:m_final_water_vy(m/s)=-0.0334827659072023 726.304 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 718.336 secs ago sensor:m_iridium_attempt_num(nodim)=0 295.61 secs ago sensor:m_iridium_call_num(nodim)=1453 347.124 secs ago sensor:m_iridium_dialed_num(nodim)=3681 366.185 secs ago sensor:m_leakdetect_voltage(volts)=2.5 47.989 secs ago sensor:m_tot_num_inflections(nodim)=19576 841.399 secs ago sensor:m_vacuum(inHg)=9.62820512820513 48.403 secs ago sensor:m_water_vx(m/s)=0.00336256236053871 726.629 secs ago sensor:m_water_vy(m/s)=-0.0334827659072023 726.668 secs ago sensor:sci_m_disk_free(Mbytes)=433.578125 102.057 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=-6449.9 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6405.7 1e+308 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 1/ 0/ 0 odd: 33/ 11/ 5 ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): The surface behavior entered B_ERROR state. ABORT HISTORY: last abort time: 2015-01-05T20:25:56 ABORT HISTORY: last abort segment: ru24-2015-004-3-6 (0216.0006) ABORT HISTORY: last abort mission: 100_NW.MI 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 yo, goto_l, surface, sample, drift_ mafiles. Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit Control-T to consci to science computer when comms ready: ... communications ready for consci. Water Velocity Calculations COMPLETE Waypoint: (-6457.0254,-6418.8256) Range: 11041m, Bearing: 202deg, Age: 5:5h:m Time until diving is: 549 secs ^R 18474 64 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 179.187500 Megabytes available on CF file system = 1821.750000 18478 02170007.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=278.0K, M_SPARE_HEAP=259.0K Running algorithm to free disk space if required Not necessary to delete any files at this time Writing longterm state disk file: c:/state/longterm.sta f_ocean_pressure_min(volts) 0.272222 m_avg_speed(m/s) 0.286573 m_battery(volts) 14.156795 m_iridium_call_num(nodim) 1453.000000 m_iridium_dialed_num(nodim) 3681.000000 m_lat(lat) -6452.438100 m_lon(lon) -6409.922300 m_tcm3_is_calibrated(bool) 1.000000 m_tcm3_magbearth(uT) 50.274689 m_tcm3_stddeverr(uT) 0.276070 m_tcm3_xcoverage(%) 97.199867 m_tcm3_ycoverage(%) 95.593719 m_tcm3_zcoverage(%) 69.695251 m_tot_ballast_pumped_energy(kjoules) 1679.955335 m_tot_horz_dist(km) 1524.739517 m_tot_num_inflections(nodim) 19576.000000 s_ini_lat(deg) 3900.000000 s_ini_lon(deg) -7400.000000 s_water_depth_avg(m) 30.000000 s_water_depth_delta(m) 0.000000 s_water_depth_wavelength(m) 100.000000 x_hover_ballast_deep(cc) 0.000000 x_hover_ballast_shallow(cc) 0.000000 x_hover_depth_deep(m) 0.000000 x_hover_depth_shallow(m) 0.000000 x_last_wpt_lat(lat) -6449.900000 x_last_wpt_lon(lon) -6405.700000 The instantaneous lag time between the system and gps clock is -7.0 seconds. The average lag time between the system and gps clock is -7.1 seconds. Housekeeping is done 18554 71 02170008.mlg LOG FILE OPENED Megabytes used on CF file system = 179.312500 Megabytes available on CF file system = 1821.625000 18557 init_gps_input() 18557 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final GPS fix. 18559 disabling Iridium cons