101826 Iridium console active and ready... Vehicle Name: ru24 Curr Time: Wed Jan 7 01:01:53 2015 MT: 101826 DR Location: -6451.719 N -6410.908 E measured 65.012 secs ago GPS TooFar: -6452.785 N -6412.410 E measured 6007.68 secs ago GPS Invalid : -6452.784 N -6412.406 E measured 162.96 secs ago GPS Location: -6451.718 N -6410.908 E measured 67.379 secs ago sensor:c_wpt_lat(lat)=-6451.5 39189.6 secs ago sensor:c_wpt_lon(lon)=-6410 39189.7 secs ago sensor:m_battery(volts)=13.8538224813064 15.909 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)=0.959732796860063 5.89 secs ago sensor:m_final_water_vx(m/s)=-0.013801933899298 71.055 secs ago sensor:m_final_water_vy(m/s)=0.104770693651336 71.103 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 68.068 secs ago sensor:m_iridium_attempt_num(nodim)=1 62.363 secs ago sensor:m_iridium_call_num(nodim)=1468 20.009 secs ago sensor:m_iridium_dialed_num(nodim)=3698 37.035 secs ago sensor:m_leakdetect_voltage(volts)=2.5 16.366 secs ago sensor:m_tot_num_inflections(nodim)=19701 227.253 secs ago sensor:m_vacuum(inHg)=8.8764749084249 16.64 secs ago sensor:m_water_vx(m/s)=-0.013801933899298 71.566 secs ago sensor:m_water_vy(m/s)=0.104770693651336 71.618 secs ago sensor:sci_m_disk_free(Mbytes)=430.03125 6111.67 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 101828 DRIVER_ODDITY:iridium:1961: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:ru24-2015-004-4-32 (0217.0032) Vehicle Name: ru24 Curr Time: Wed Jan 7 01:02:08 2015 MT: 101842 DR Location: -6451.719 N -6410.908 E measured 80.019 secs ago GPS TooFar: -6452.785 N -6412.410 E measured 6022.68 secs ago GPS Invalid : -6452.784 N -6412.406 E measured 177.967 secs ago GPS Location: -6451.718 N -6410.908 E measured 82.386 secs ago sensor:c_wpt_lat(lat)=-6451.5 39204.6 secs ago sensor:c_wpt_lon(lon)=-6410 39204.6 secs ago sensor:m_battery(volts)=13.8538224813064 30.823 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)=0.78216108995203 4.727 secs ago sensor:m_final_water_vx(m/s)=-0.013801933899298 85.887 secs ago sensor:m_final_water_vy(m/s)=0.104770693651336 85.927 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 82.882 secs ago sensor:m_iridium_attempt_num(nodim)=1 77.158 secs ago sensor:m_iridium_call_num(nodim)=1468 34.783 secs ago sensor:m_iridium_dialed_num(nodim)=3698 51.794 secs ago sensor:m_leakdetect_voltage(volts)=2.5 31.109 secs ago sensor:m_tot_num_inflections(nodim)=19701 241.984 secs ago sensor:m_vacuum(inHg)=8.8764749084249 31.351 secs ago sensor:m_water_vx(m/s)=-0.013801933899298 86.258 secs ago sensor:m_water_vy(m/s)=0.104770693651336 86.296 secs ago sensor:sci_m_disk_free(Mbytes)=430.03125 6126.33 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: 76/ 54/ 2 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: (-6451.5000,-6410.0000) Range: 824m, Bearing: 43deg, Age: 10:53h:m Time until diving is: 509 secs Glider ru24 at surface. Because:no comms for a while [behavior surface_2 start_when = 12.0] MissionName:100_NW.MI MissionNum:ru24-2015-004-4-32 (0217.0032) Vehicle Name: ru24 Curr Time: Wed Jan 7 01:02:50 2015 MT: 101883 DR Location: -6451.719 N -6410.908 E measured 121.419 secs ago GPS TooFar: -6452.785 N -6412.410 E measured 6064.08 secs ago GPS Invalid : -6452.784 N -6412.406 E measured 219.369 secs ago GPS Location: -6451.718 N -6410.908 E measured 123.788 secs ago sensor:c_wpt_lat(lat)=-6451.5 39246 secs ago sensor:c_wpt_lon(lon)=-6410 39246 secs ago sensor:m_battery(volts)=13.8469349828705 9.533 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)=0.659552054229818 4.673 secs ago sensor:m_final_water_vx(m/s)=-0.013801933899298 127.291 secs ago sensor:m_final_water_vy(m/s)=0.104770693651336 127.329 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 124.284 secs ago sensor:m_iridium_attempt_num(nodim)=1 118.56 secs ago sensor:m_iridium_call_num(nodim)=1468 76.186 secs ago sensor:m_iridium_dialed_num(nodim)=3698 93.196 secs ago sensor:m_leakdetect_voltage(volts)=2.49984737484737 9.849 secs ago sensor:m_tot_num_inflections(nodim)=19701 283.384 secs ago sensor:m_vacuum(inHg)=9.18178928571428 10.056 secs ago sensor:m_water_vx(m/s)=-0.013801933899298 127.658 secs ago sensor:m_water_vy(m/s)=0.104770693651336 127.696 secs ago sensor:sci_m_disk_free(Mbytes)=430.03125 6167.73 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: 76/ 54/ 2 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: (-6451.5000,-6410.0000) Range: 824m, Bearing: 43deg, Age: 10:54h:m Time until diving is: 468 secs s *.sbd *.tbd -------------------------------- 101905 93 02170032.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 101914 96 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 2 files Prechecking is not necessary for this invocation START **B00000000000000 � SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\02170032.TBD c:\logs\02170031.TBD SCI: SUCCESS 102121 46 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 2 files Prechecking is not necessary for this invocation 102124 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 102124 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 �02251 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 102251 restore_sensors().... 102251 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\02170032.SBD c:\logs\02170031.SBD GLD: SUCCESS 102260 47 SCI:PROGLET house_elf begin() called 102260 SCI: house_elf: Version 1.2 102261 SCI:PROGLET ctd41cp begin() called 102261 SCI: ctd41cp: Version 0.2 102261 SCI: ctd41cp: Will be sending the following data to glider: 102261 SCI: sci_water_cond(s/m) 102261 SCI: sci_water_temp(degc) 102261 49 SCI: sci_water_pressure(bar) 102261 SCI: sci_ctd41cp_timestamp(timestamp) 102262 SCI:PROGLET FIRe begin() called 102262 SCI: FIRe: Version 0.1 102262 SCI: FIRe: Will be sending following data to glider: 102263 SCI: sci_fire_timestamp(timestamp) 102263 SCI: sci_fire_fo(nodim) 102263 SCI: sci_fire_fm(nodim) 102263 SCI: sci_fire_fvfm(nodim) 102263 SCI: sci_fire_s(nodim) 102263 SCI: sci_fire_p(nodim) 102263 SCI: sci_fire_par(nodim) 102263 SCI: sci_fire_battery(volts) 102263 SCI: sci_fire_temp(degc) 102263 SCI: sci_fire_frame_count(nodim) 102263 SCI: sci_fire_error(nodim) 102265 SCI:PROGLET house_elf start() called 102265 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 102267 50 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 102339 55 02170033.mlg LOG FILE OPENED -------------------------------- 102340 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:ru24-2015-004-4-33 (0217.0033) Vehicle Name: ru24 Curr Time: Wed Jan 7 01:10:32 2015 MT: 102345 DR Location: -6451.719 N -6410.908 E measured 583.579 secs ago GPS TooFar: -6452.785 N -6412.410 E measured 6526.24 secs ago GPS Invalid : -6452.784 N -6412.406 E measured 681.527 secs ago GPS Location: -6451.718 N -6410.908 E measured 585.946 secs ago sensor:c_wpt_lat(lat)=-6451.5 39708.2 secs ago sensor:c_wpt_lon(lon)=-6410 39708.2 secs ago sensor:m_battery(volts)=13.8384368447788 3.37 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)=1.00623967247883 3.45 secs ago sensor:m_final_water_vx(m/s)=-0.013801933899298 589.447 secs ago sensor:m_final_water_vy(m/s)=0.104770693651336 589.487 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 586.442 secs ago sensor:m_iridium_attempt_num(nodim)=0 440.877 secs ago sensor:m_iridium_call_num(nodim)=1468 538.341 secs ago sensor:m_iridium_dialed_num(nodim)=3698 555.354 secs ago sensor:m_leakdetect_voltage(volts)=2.5 3.483 secs ago sensor:m_tot_num_inflections(nodim)=19701 745.543 secs ago sensor:m_vacuum(inHg)=9.59090244200244 3.897 secs ago sensor:m_water_vx(m/s)=-0.013801933899298 589.814 secs ago sensor:m_water_vy(m/s)=0.104770693651336 589.853 secs ago sensor:sci_m_disk_free(Mbytes)=429.765625 57.454 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: 76/ 54/ 2 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: (-6451.5000,-6410.0000) Range: 824m, Bearing: 43deg, Age: 11:1h:m Time until diving is: 592 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] [ 28 23 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] [ 48 31 1] 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: 76/ 54/ 2 Glider ru24 at surface. Because:no comms for a while [behavior surface_2 start_when = 12.0] MissionName:100_NW.MI MissionNum:ru24-2015-004-4-33 (0217.0033) Vehicle Name: ru24 Curr Time: Wed Jan 7 01:11:13 2015 MT: 102387 DR Location: -6451.719 N -6410.908 E measured 625.218 secs ago GPS TooFar: -6452.785 N -6412.410 E measured 6567.88 secs ago GPS Invalid : -6452.784 N -6412.406 E measured 723.164 secs ago GPS Location: -6451.718 N -6410.908 E measured 627.583 secs ago sensor:c_wpt_lat(lat)=-6451.5 39749.8 secs ago sensor:c_wpt_lon(lon)=-6410 39749.8 secs ago sensor:m_battery(volts)=13.8384368447788 45.01 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)=1.43325734861481 4.845 secs ago sensor:m_final_water_vx(m/s)=-0.013801933899298 631.087 secs ago sensor:m_final_water_vy(m/s)=0.104770693651336 631.124 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 628.08 secs ago sensor:m_iridium_attempt_num(nodim)=0 482.515 secs ago sensor:m_iridium_call_num(nodim)=1468 579.979 secs ago sensor:m_iridium_dialed_num(nodim)=3698 596.99 secs ago sensor:m_leakdetect_voltage(volts)=2.5 45.118 secs ago sensor:m_tot_num_inflections(nodim)=19701 787.178 secs ago sensor:m_vacuum(inHg)=9.59090244200244 45.531 secs ago sensor:m_water_vx(m/s)=-0.013801933899298 631.449 secs ago sensor:m_water_vy(m/s)=0.104770693651336 631.489 secs ago sensor:sci_m_disk_free(Mbytes)=429.765625 99.089 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: 76/ 54/ 2 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: (-6451.5000,-6410.0000) Range: 824m, Bearing: 43deg, Age: 11:2h:m Time until diving is: 551 secs ^R102407 68 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 196.500000 Megabytes available on CF file system = 1804.437500 102412 02170033.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=279.0K, M_SPARE_HEAP=260.0K 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) 0.300493 m_battery(volts) 13.830574 m_iridium_call_num(nodim) 1468.000000 m_iridium_dialed_num(nodim) 3698.000000 m_lat(lat) -6451.718500 m_lon(lon) -6410.907700 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) 1704.341248 m_tot_horz_dist(km) 1546.452377 m_tot_num_inflections(nodim) 19701.000000 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 -6.0 seconds. The average lag time between the system and gps clock is -6.0 seconds. Housekeeping is done 102488 72 02170034.mlg LOG FILE OPENED Megabytes used on CF file system = 196.625000 Megabytes available on CF file system = 1804.312500 102491 init_gps_input() 102491 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final G