296755 Iridium console active and ready... Vehicle Name: ru24 Curr Time: Sat Jan 10 20:11:43 2015 MT: 296754 DR Location: -6453.202 N -6420.485 E measured 890.642 secs ago GPS TooFar: -6452.673 N -6407.944 E measured 122447 secs ago GPS Invalid : -6453.196 N -6420.516 E measured 992.137 secs ago GPS Location: -6453.202 N -6420.485 E measured 893.004 secs ago sensor:c_wpt_lat(lat)=-6448.6858 10907.7 secs ago sensor:c_wpt_lon(lon)=-6403.6371 10907.7 secs ago sensor:m_battery(volts)=13.0297135400074 4.317 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)=1.16262156865161 4.391 secs ago sensor:m_final_water_vx(m/s)=0.037352869834989 896.495 secs ago sensor:m_final_water_vy(m/s)=0.0976876129432758 896.532 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 893.495 secs ago sensor:m_iridium_attempt_num(nodim)=1 61.003 secs ago sensor:m_iridium_call_num(nodim)=1532 20.955 secs ago sensor:m_iridium_dialed_num(nodim)=3776 33.229 secs ago sensor:m_leakdetect_voltage(volts)=2.5 4.64 secs ago sensor:m_tot_num_inflections(nodim)=20218 1258.22 secs ago sensor:m_vacuum(inHg)=9.57549481074481 4.842 secs ago sensor:m_water_vx(m/s)=0.037352869834989 896.861 secs ago sensor:m_water_vy(m/s)=0.0976876129432758 896.899 secs ago sensor:sci_m_disk_free(Mbytes)=415.8984375 10210.8 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)=-6454 10908.8 secs ago sensor:x_last_wpt_lon(lon)=-6424.7 10908.8 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 296781 60 NOTE:GPS fix is getting stale: 920 secs old 296781 GliderDos: No keystroke heard for 0 seconds 900 seconds to go before running:SEQUENCE -resume_next GliderDos N -1 >zr 296788 61 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 296788 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B01000800275775 ?296862 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 296862 restore_sensors().... 296862 restore_sensors().... Restored c_science_printout from 0 to 0 Done! GliderDos N -1 >296872 62 SCI:PROGLET house_elf begin() called 296872 SCI: house_elf: Version 1.2 296873 SCI:PROGLET ctd41cp begin() called 296873 SCI: ctd41cp: Version 0.2 296873 SCI: ctd41cp: Will be sending the following data to glider: 296873 SCI: sci_water_cond(s/m) 296873 SCI: sci_water_temp(degc) 296873 SCI: sci_water_pressure(bar) 296874 SCI: sci_ctd41cp_timestamp(timestamp) 296874 SCI:PROGLET FIRe begin() called 296874 SCI: FIRe: Version 0.1 296874 SCI: FIRe: Will be sending following data to glider: 296874 63 SCI: sci_fire_timestamp(timestamp) 296874 SCI: sci_fire_fo(nodim) 296874 SCI: sci_fire_fm(nodim) 296875 SCI: sci_fire_fvfm(nodim) 296875 SCI: sci_fire_s(nodim) 296875 SCI: sci_fire_p(nodim) 296875 SCI: sci_fire_par(nodim) 296876 SCI: sci_fire_battery(volts) 296876 SCI: sci_fire_temp(degc) 296876 SCI: sci_fire_frame_count(nodim) 296876 SCI: sci_fire_error(nodim) 296878 SCI:PROGLET house_elf start() called 296878 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 296878 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) type ..\mafiles\yo11.ma behavior_name=yo # Number of yo's: -1 infinite, n half-yos b_arg: num_half_cycles_to_do(nodim) 2 # DIVE_TO ARGUMENTS # Depth Arguments b_arg: d_target_depth(m) 97 b_arg: d_target_altitude(m) 5 # Advanced Flight Controls # Ballast Pump Controls (absolute) b_arg: d_use_bpump(enum) 2 b_arg: d_bpump_value(X) -1000.0 # Dive Angle Arguments (using AP) b_arg: d_use_pitch(enum) 3 b_arg: d_pitch_value(X) -0.454 # Dive Angle Arguments (using battpos) # b_arg: d_use_pitch(enum) 1 # b_arg: d_pitch_value(X) 0.362 # Dive Stuck Scenario b_arg: d_stop_when_stalled_for(sec) 45 b_arg: d_stop_when_hover_for(sec) 45 # CLIMB_TO ARGUMENTS # Depth Arguments b_arg: c_target_depth(m) 7 b_arg: c_target_altitude(m) -1 # Advanced Flight Controls # Ballast Pump Controls (absolute) b_arg: c_use_bpump(enum) 2 b_arg: c_bpump_value(X) 1000.0 # Dive Angle Arguments (using AP) b_arg: c_use_pitch(enum) 3 b_arg: c_pitch_value(X) 0.454 # Dive Angle Arguments (using battpos) # b_arg: c_use_pitch(enum) 1 # b_arg: c_pitch_value(X) 0.362 # Climb Stuck Scenario b_arg: c_stop_when_stalled_for(sec) 45 b_arg: c_stop_when_hover_for(sec) 45 GliderDos N -1 >type ..\mafiles\surfac35.ma Not found error GliderDos N -1 >type ..\mafiles\sample35.ma behavior_name=sample # SAMPLE35.MA (FIRe) b_arg: sensor_type(enum) 35 # c_fire_on b_arg: sample_time_after_state_change(s) 0 # start sampling right away # Sampling Arguments b_arg: intersample_time(sec) 1 # if < 0 then off, if = 0 then fast as posible, >0 that number b_arg: state_to_sample(enum) 7 # all b_arg: nth_yo_to_sample(nodim) 1 # After the first yo, sample only # on every nth yo. If argument is # negative then exclude first yo. GliderDos N -1 >type ..\missions\100_d.mi #################### # 100 meter Slocum # # ru24 drift/sample# #################### sensor: c_science_send_all(bool) 0 # turn off just in case sensor: c_science_all_on_enabled(bool) 0 # control science individually sensor: u_dbd_sensor_list_xmit_control(enum) 3 # 3 = never transmit header sensor: u_sci_dbd_sensor_list_xmit_control(enum) 2 # -1 = always transmit header, compatibility mode sensor: c_iridium_no_char_timeout(mins) 46 sensor: f_fin_offset(rad) -1 sensor: u_stable_comms_reqd_secs(sec) 45.0 # ABORT BEHAVIOR behavior: abend # OVERDEPTH: glider finds itself in > 204m of water b_arg: overdepth(m) 104 b_arg: overdepth_sample_time(sec) 30 # OVERTIME: mission has run too long: 30 min b_arg: overtime(sec) 43200 # COP TICKLE: watchdog not tickled for 8 hours b_arg: no_cop_tickle_for(sec) 28800.0 # SAMEDEPTH: 15 min every 60 seconds b_arg: samedepth_for(sec) 900.0 b_arg: samedepth_for_sample_time(sec) 30.0 # 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) 60.0 b_arg: vacuum_max(inHg) 12.0 b_arg: vacuum_sample_time(sec) 60.0 # WAYPOINT TOO FAR ABORT: 500km (500,000m) b_arg: max_wpt_distance(m) 500000 # BUSY CPU CHECK b_arg: max_allowable_busy_cpu_cycles(cycles) 75 # 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 # SURFACE : Nothing commanded behavior: surface b_arg: args_from_file(enum) 11 # mafiles/surfac11.ma b_arg: start_when(enum) 1 # 1-stack idle # 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) 11 # mafiles/yo11.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 # SAMPLE : FIRE behavior: sample b_arg: args_from_file(enum) 35 # c_fire_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 N -1 >run 100_d.mi Starting Mission: 100_D.MI The instantaneous lag time between the system and gps clock is -5.0 seconds. The average lag time between the system and gps clock is -4.3 seconds. timestamp: Sat Jan 10 20:14:54 2015 load_mission(): Opening Mission file: 100_D.MI Setting SENSOR c_science_send_all(bool) = 0.000000 Setting SENSOR c_science_all_on_enabled(bool) = 0.000000 Setting SENSOR u_dbd_sensor_list_xmit_control(enum) = 3.000000 Setting SENSOR u_sci_dbd_sensor_list_xmit_control(enum) = 2.000000 Setting SENSOR c_iridium_no_char_timeout(mins) = 46.000000 Setting SENSOR f_fin_offset(rad) = -1.000000 Setting SENSOR u_stable_comms_reqd_secs(sec) = 45.000000 Vehicle Name: ru24 Curr Time: Sat Jan 10 20:14:55 2015 MT: 296945 DR Location: -6453.202 N -6420.485 E measured 1083.11 secs ago GPS TooFar: -6452.673 N -6407.944 E measured 122640 secs ago GPS Invalid : -6453.196 N -6420.516 E measured 1184.61 secs ago GPS Location: -6453.202 N -6420.485 E measured 1085.48 secs ago sensor:c_wpt_lat(lat)=-6448.6858 11100.2 secs ago sensor:c_wpt_lon(lon)=-6403.6371 11100.2 secs ago sensor:m_battery(volts)=13.018133199539 1.348 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)=1.14994303464233 1.425 secs ago sensor:m_final_water_vx(m/s)=0.037352869834989 1088.97 secs ago sensor:m_final_water_vy(m/s)=0.0976876129432758 1089.01 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 1085.97 secs ago sensor:m_iridium_attempt_num(nodim)=0 67.391 secs ago sensor:m_iridium_call_num(nodim)=1532 213.431 secs ago sensor:m_iridium_dialed_num(nodim)=3776 225.704 secs ago sensor:m_leakdetect_voltage(volts)=2.5 22.182 secs ago sensor:m_tot_num_inflections(nodim)=20218 1450.69 secs ago sensor:m_vacuum(inHg)=9.5937406898657 1.872 secs ago sensor:m_water_vx(m/s)=0.037352869834989 1089.33 secs ago sensor:m_water_vy(m/s)=0.0976876129432758 1089.37 secs ago sensor:sci_m_disk_free(Mbytes)=415.8984375 10403.3 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)=-6454 11101.3 secs ago sensor:x_last_wpt_lon(lon)=-6424.7 11101.3 secs ago start_alldevices() PARSED iridium_phone_data for datum# 0: =========== predial initialization cmds (from c:\config\iridinit.0): ATE AT+cbst=6,0,1 AT+CSQ dial string: ATD0088160000500 from sensors: C_IRIDIUM_LEAD_ZEROS C_IRIDIUM_PHONE_NUM Iridium login script (from c:\config\loginexp.0): (pending):expect 60 "Open[0D][0A]" 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: ATD006975085482446 from sensors: C_IRIDIUM_LEAD_ZEROS_ALT C_IRIDIUM_PHONE_NUM_ALT Iridium login script (from c:\config\loginexp.1): empty or non-existent 74.94 5 02200000.mlg LOG FILE OPENED MissionSTARTDate: 10 Jan 2015 20:14:56 Z Mission Name: 100_D.MI Mission Number: ru24-2015-009-0-0 (0220.0000) log_c_stack(): 1-abend 2-surface 3-surface 4-goto_list 5-yo 6-sample 7-sample 8-prepare_to_dive 9-sensors_in report_heap_size(): M_FREE_HEAP=261.0K, M_SPARE_HEAP=242.0K pre_mission_init():End of Initialization 79.74 6 behavior sensors_in_9: STATE UnInited -> Active 79.80 behavior sensors_in_9: argument: c_att_time = -1.000000 sec 79.86 behavior sensors_in_9: argument: c_pressure_time = -1.000000 sec 79.92 behavior sensors_in_9: argument: c_alt_time = -1.000000 sec 79.99 behavior sensors_in_9: argument: u_battery_time = -1.000000 sec 80.06 behavior sensors_in_9: argument: u_vacuum_time = -1.000000 sec 80.12 behavior sensors_in_9: argument: c_leakdetect_time = -1.000000 sec 80.19 behavior sensors_in_9: argument: c_gps_on = 0.000000 bool 80.25 behavior sensors_in_9: argument: c_science_all_on = -1.000000 sec 80.31 behavior sensors_in_9: argument: c_profile_on = -1.000000 sec 80.38 behavior sensors_in_9: argument: c_bb2f_on = -1.000000 sec 80.44 behavior sensors_in_9: argument: c_bb2c_on = -1.000000 sec 80.51 behavior sensors_in_9: argument: c_bb2lss_on = -1.000000 sec 80.57 behavior sensors_in_9: argument: c_sam_on = -1.000000 sec 80.64 behavior sensors_in_9: argument: c_moteopd_on = -1.000000 sec 80.70 behavior sensors_in_9: argument: c_bbfl2s_on = -1.000000 sec 80.76 behavior sensors_in_9: argument: c_fl3slo_on = -1.000000 sec 80.83 behavior sensors_in_9: argument: c_bb3slo_on = -1.000000 sec 80.90 behavior sensors_in_9: argument: c_oxy3835_on = -1.000000 sec 80.96 behavior sensors_in_9: argument: c_whfctd_on = -1.000000 sec 81.03 behavior sensors_in_9: argument: c_bam_on = -1.000000 sec 81.09 behavior sensors_in_9: argument: c_ocr504R_on = -1.000000 sec 81.15 behavior sensors_in_9: argument: c_ocr504I_on = -1.000000 sec 81.22 behavior sensors_in_9: argument: c_flntu_on = -1.000000 sec 81.28 behavior sensors_in_9: argument: c_fl3slov2_on = -1.000000 sec 81.35 behavior sensors_in_9: argument: c_bb3slov2_on = -1.000000 sec 81.43 behavior sensors_in_9: argument: c_ocr507R_on = -1.000000 sec 81.50 behavior sensors_in_9: argument: c_ocr507I_on = -1.000000 sec 81.56 behavior sensors_in_9: argument: c_bb3slov3_on = -1.000000 sec 81.63 behavior sensors_in_9: argument: c_bb2fls_on = -1.000000 sec 81.69 behavior sensors_in_9: argument: c_bb2flsV2_on = -1.000000 sec 81.76 behavior sensors_in_9: argument: c_oxy3835_wphase_on = -1.000000 sec 81.83 behavior sensors_in_9: argument: c_auvb_on = -1.000000 sec 81.89 behavior sensors_in_9: argument: c_bb2fV2_on = -1.000000 sec 81.96 behavior sensors_in_9: argument: c_tarr_on = -1.000000 sec 82.02 behavior sensors_in_9: argument: c_bbfl2sV2_on = -1.000000 sec 82.08 behavior sensors_in_9: argument: c_glbps_on = -1.000000 sec 82.15 behavior sensors_in_9: argument: c_sscsd_on = -1.000000 sec 82.21 behavior sensors_in_9: argument: c_bb2flsV3_on = -1.000000 sec 82.28 behavior sensors_in_9: argument: c_fire_on = -1.000000 sec 82.35 behavior sensors_in_9: argument: c_bb2flsV4_on = -1.000000 sec 82.42 behavior sensors_in_9: argument: c_bb2flsV5_on = -1.000000 sec 82.48 behavior sensors_in_9: argument: c_logger_on = -1.000000 sec 82.55 behavior sensors_in_9: argument: c_bbam_on = -1.000000 sec 82.61 behavior sensors_in_9: argument: c_uModem_on = -1.000000 sec 82.68 behavior sensors_in_9: argument: c_rinkoII_on = -1.000000 sec 82.74 behavior sensors_in_9: argument: c_dvl_on = -1.000000 sec 82.80 behavior sensors_in_9: argument: c_bb2flsV6_on = -1.000000 sec 82.87 behavior sensors_in_9: argument: c_flbbrh_on = -1.000000 sec 82.94 behavior sensors_in_9: argument: c_flur_on = -1.000000 sec