128481 Iridium console active and ready... Vehicle Name: amelia Curr Time: Sun Feb 28 17:47:50 2016 MT: 128480 DR Location: 3818.360 N -7332.487 E measured 48.531 secs ago GPS TooFar: 3825.833 N -7329.501 E measured 90646.7 secs ago GPS Invalid : 3818.463 N -7334.028 E measured 161.334 secs ago GPS Location: 3818.360 N -7332.487 E measured 50.942 secs ago sensor:c_wpt_lat(lat)=3818.1 39921.4 secs ago sensor:c_wpt_lon(lon)=-7329.2 39921.5 secs ago sensor:m_battery(volts)=13.9559576700955 55.437 secs ago sensor:m_coulomb_amphr(amp-hrs)=12.5780000686645 5.264 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=14.0105625133514 5.285 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.382 secs ago sensor:m_final_water_vx(m/s)=-0.0782608314242477 49.099 secs ago sensor:m_final_water_vy(m/s)=-0.00137910229575046 49.138 secs ago sensor:m_iridium_signal_strength(nodim)=4 13.434 secs ago sensor:m_leakdetect_voltage(volts)=2.48556166056166 10.041 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48699633699634 10.062 secs ago sensor:m_lithium_battery_relative_charge(%)=98.0540885398123 5.585 secs ago sensor:m_thruster_power_spike(enum)=40 1e+308 secs ago sensor:m_tot_num_inflections(nodim)=4337 486.152 secs ago sensor:m_vacuum(inHg)=8.56289218559218 76.024 secs ago sensor:m_water_vx(m/s)=-0.0782608314242477 49.506 secs ago sensor:m_water_vy(m/s)=-0.00137910229575046 49.548 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3819.1 39922.5 secs ago sensor:x_last_wpt_lon(lon)=-7338.7 39922.5 secs ago ABORT HISTORY: total since reset: 1 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): The yo behavior entered B_ERROR state. ABORT HISTORY: last abort time: 2016-02-27T05:28:29 ABORT HISTORY: last abort segment: amelia-2016-057-3-0 (0117.0000) ABORT HISTORY: last abort mission: VAPINE.MI 128482 No login script found for processing. Glider amelia at surface. Because:timeout expired [behavior surface_7 start_when = 9.0] MissionName:VALINE.MI MissionNum:amelia-2016-057-4-38 (0118.0038) Vehicle Name: amelia Curr Time: Sun Feb 28 17:47:59 2016 MT: 128490 DR Location: 3818.360 N -7332.487 E measured 57.447 secs ago GPS TooFar: 3825.833 N -7329.501 E measured 90655.6 secs ago GPS Invalid : 3818.463 N -7334.028 E measured 170.25 secs ago GPS Location: 3818.360 N -7332.487 E measured 59.858 secs ago sensor:c_wpt_lat(lat)=3818.1 39930.3 secs ago sensor:c_wpt_lon(lon)=-7329.2 39930.3 secs ago sensor:m_battery(volts)=13.9559576700955 64.278 secs ago sensor:m_coulomb_amphr(amp-hrs)=12.5791873931885 4.434 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=14.0117498378754 4.445 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.538 secs ago sensor:m_final_water_vx(m/s)=-0.0782608314242477 57.911 secs ago sensor:m_final_water_vy(m/s)=-0.00137910229575046 57.944 secs ago sensor:m_iridium_signal_strength(nodim)=4 22.228 secs ago sensor:m_leakdetect_voltage(volts)=2.48556166056166 18.825 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48699633699634 18.838 secs ago sensor:m_lithium_battery_relative_charge(%)=98.0539236336284 4.689 secs ago sensor:m_thruster_power_spike(enum)=40 1e+308 secs ago sensor:m_tot_num_inflections(nodim)=4337 494.894 secs ago sensor:m_vacuum(inHg)=8.56289218559218 84.75 secs ago sensor:m_water_vx(m/s)=-0.0782608314242477 58.225 secs ago sensor:m_water_vy(m/s)=-0.00137910229575046 58.257 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3819.1 39931.2 secs ago sensor:x_last_wpt_lon(lon)=-7338.7 39931.2 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 8/ 2/ 0 odd: 656/ 232/ 2 ABORT HISTORY: total since reset: 1 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): The yo behavior entered B_ERROR state. ABORT HISTORY: last abort time: 2016-02-27T05:28:29 ABORT HISTORY: last abort segment: amelia-2016-057-3-0 (0117.0000) ABORT HISTORY: last abort mission: VAPINE.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: (3818.1000,-7329.2000) Range: 4815m, Bearing: 108deg, Age: 11:5h:m Time until diving is: 234 secs s *.sbd *.tbd -------------------------------- 128514 38 01180038.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 128524 42 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\01180038.TBD c:\logs\01180037.TBD SCI: SUCCESS 128950 41 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 128953 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 128953 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 �29081 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 129081 restore_sensors().... 129081 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\01180038.SBD c:\logs\01180037.SBD GLD: SUCCESS 129089 43 SCI:PROGLET house_elf begin() called 129089 SCI: house_elf: Version 1.2 129090 SCI:PROGLET ctd41cp begin() called 129090 SCI: ctd41cp: Version 0.2 129090 SCI: ctd41cp: Will be sending the following data to glider: 129090 SCI: sci_water_cond(s/m) 129090 SCI: sci_water_temp(degc) 129090 SCI: sci_water_pressure(bar) 129090 SCI: sci_ctd41cp_timestamp(timestamp) 129091 SCI:PROGLET flbbcd begin() called 129091 SCI: flbbcd: Version 0.0 129091 SCI: flbbcd: Will be sending following data to glider: 129091 SCI: sci_flbbcd_chlor_units(ug/l) 129091 SCI: sci_flbbcd_bb_units(nodim) 129091 43 SCI: sci_flbbcd_cdom_units(ppb) 129091 SCI: sci_flbbcd_chlor_sig(nodim) 129091 SCI: sci_flbbcd_bb_sig(nodim) 129092 SCI: sci_flbbcd_cdom_sig(nodim) 129092 SCI: sci_flbbcd_chlor_ref(nodim) 129093 SCI: sci_flbbcd_bb_ref(nodim) 129093 SCI: sci_flbbcd_cdom_ref(nodim) 129093 SCI: sci_flbbcd_therm(nodim) 129093 SCI: sci_flbbcd_timestamp(timestamp) 129093 SCI: Opening Bit(29) for output 129093 SCI:PROGLET oxy4 begin() called 129093 SCI: oxy4: Version 0.0 129093 SCI: oxy4: Will be sending following data to glider: 129093 SCI: sci_oxy4_oxygen(um) 129093 SCI: sci_oxy4_saturation(%) 129093 SCI: sci_oxy4_temp(degc) 129093 SCI: sci_oxy4_calphase(deg) 129093 SCI: sci_oxy4_tcphase(deg) 129094 SCI: sci_oxy4_c1rph(deg) 129094 SCI: sci_oxy4_c2rph(deg) 129094 SCI: sci_oxy4_c1amp(mv) 129094 SCI: sci_oxy4_c2amp(mv) 129094 SCI: sci_oxy4_rawtemp(mv) 129094 SCI: sci_oxy4_timestamp(timestamp) 129094 SCI: Opening Bit(34) for output 129098 44 SCI:PROGLET house_elf start() called 129098 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 129098 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 129098 SCI:PROGLET flbbcd start() called 129098 SCI: Opening port 0:UART4:Chan A SBMB:J2 129098 SCI: 19200 baud, N81, line buf: 85, no input data timeout(secs): 15 129099 SCI: in queue size: 2048, out queue size: 0 129099 SCI:sci_uart_drain_input(0): 129099 SCI: 129099 SCI:sci_uart_drain_input:Drained 0 chars 129099 SCI:bit_shared_raise(): Raising bit(29). 129099 SCI: flbbcd_run(): 0 error(s) in a row. (5 is fatal) 129099 SCI: flbbcd_run(): 0 error(s) since flbbcd_begin(). (50 is fatal) 129099 SCI:PROGLET oxy4 start() called 129099 SCI: Opening port 4:U4SOEM pins Tx:2 Rx:4 (2 is UL) 129099 SCI: 9600 baud, N81, line buf: 150, no input data timeout(secs): 60 129099 SCI: in queue size: 2048, out queue size: 2048 129100 SCI:sci_uart_drain_input(4): 129100 SCI: 129100 SCI:sci_uart_drain_input:Drained 0 chars 129100 SCI:bit_shared_raise(): Raising bit(34). 129100 SCI: oxy4_run(): 0 error(s) in a row. (5 is fatal) 129100 SCI: oxy4_run(): 0 error(s) since oxy4_begin(). (50 is fatal) 129158 48 01180039.mlg LOG FILE OPENED -------------------------------- 129159 behavior surface_7: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider amelia at surface. Because:timeout expired [behavior surface_7 start_when = 9.0] MissionName:VALINE.MI MissionNum:amelia-2016-057-4-39 (0118.0039) Vehicle Name: amelia Curr Time: Sun Feb 28 17:59:12 2016 MT: 129163 DR Location: 3818.360 N -7332.487 E measured 730.528 secs ago GPS TooFar: 3825.833 N -7329.501 E measured 91328.7 secs ago GPS Invalid : 3818.463 N -7334.028 E measured 843.331 secs ago GPS Location: 3818.360 N -7332.487 E measured 732.939 secs ago sensor:c_wpt_lat(lat)=3818.1 40603.4 secs ago sensor:c_wpt_lon(lon)=-7329.2 40603.4 secs ago sensor:m_battery(volts)=13.9268288629605 3.095 secs ago sensor:m_coulomb_amphr(amp-hrs)=12.6646881103516 3.277 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=14.0972505550384 3.29 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 3.384 secs ago sensor:m_final_water_vx(m/s)=-0.0782608314242477 730.992 secs ago sensor:m_final_water_vy(m/s)=-0.00137910229575046 731.024 secs ago sensor:m_iridium_signal_strength(nodim)=4 695.31 secs ago sensor:m_leakdetect_voltage(volts)=2.48479853479854 3.024 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48608058608058 3.038 secs ago sensor:m_lithium_battery_relative_charge(%)=98.0420485340224 3.533 secs ago sensor:m_thruster_power_spike(enum)=40 1e+308 secs ago sensor:m_tot_num_inflections(nodim)=4337 1167.97 secs ago sensor:m_vacuum(inHg)=9.49507087912088 3.541 secs ago sensor:m_water_vx(m/s)=-0.0782608314242477 731.307 secs ago sensor:m_water_vy(m/s)=-0.00137910229575046 731.338 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3819.1 40604.2 secs ago sensor:x_last_wpt_lon(lon)=-7338.7 40604.3 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 8/ 2/ 0 odd: 657/ 233/ 3 ABORT HISTORY: total since reset: 1 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): The yo behavior entered B_ERROR state. ABORT HISTORY: last abort time: 2016-02-27T05:28:29 ABORT HISTORY: last abort segment: amelia-2016-057-3-0 (0117.0000) ABORT HISTORY: last abort mission: VAPINE.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: (3818.1000,-7329.2000) Range: 4815m, Bearing: 108deg, Age: 11:16h:m Time until diving is: 295 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 1 [ 1 0 0] [ 5 2 0] [ 0 0 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 1 [ 1 0 0] [ 3 0 0] [ 0 0 0] 11 ocean_pressure I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 394 0 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 [ 0 0 0] [ 0 0 0] [ 210 196 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 34 32 3] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 19 5 0] 25 leakdetect I u 3 20 5 0 26 recovery I u 3 20 5 0 27 coulomb I u 3 20 5 0 28 veh_temp I u 3 20 5 0 29 BUOYANCY_PUMP - 30THERMAL_ACC_PRE - 31 THERMAL_ENGINE - 32 THERMAL_PUMP - 33 DE_PUMP I u 3 20 5 0 34 thruster_g1 - 35 thruster I u 3 20 5 0 devices:(t/m/s) errs: 2/ 0/ 0 warn: 8/ 2/ 0 odd: 657/ 233/ 3 ^R129187 54 behavior surface_7: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 43.156250 Megabytes available on CF file system = 1956.781250 129191 01180039.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=219.0K, M_SPARE_HEAP=200.0K 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) 0.132836 m_avg_climb_rate(m/s) -0.205004 m_avg_speed(m/s) 0.369407 m_avg_upward_inflection_time(sec) 56.704982 m_battery(volts) 13.926829 m_coulomb_amphr_total(amp-hrs) 14.102000 m_iridium_call_num(nodim) 316.000000 m_iridium_dialed_num(nodim) 1334.000000 m_lat(lat) 3818.359800 m_lon(lon) -7332.486900 m_thruster_amphr(amp-hrs) 8.438665 m_thruster_power_spike(enum) 40.000000 m_thruster_watthr(watt-hrs) 34.292668 m_tot_ballast_pumped_energy(kjoules) 0.000000 m_tot_horz_dist(km) 571.612079 m_tot_num_inflections(nodim) 4337.000000 s_water_depth_avg(m) 30.000000 s_water_depth_delta(m) 10.000000 s_water_depth_wavelength(m) 200.000000 x_hover_ballast_deep(cc) -16.445307 x_hover_ballast_shallow(cc) -24.277571 x_hover_depth_deep(m) 14.898411 x_hover_depth_shallow(m) 10.316390 x_last_wpt_lat(lat) 3819.100000 x_last_wpt_lon(lon) -7338.700000 The instantaneous lag time between the system and gps clock is 1.0 seconds. The average lag time between the system and gps clock is 0.8 seconds. Housekeeping is done 129257 58 01180040.mlg LOG FILE OPENED Megabytes used on CF file system = 43.281250 Megabytes available on CF file system = 1956.656250 129259 init_gps_input() 129259 behavior surface_7: SUBSTATE 7 ->9 : Turning on thruster burst surface_7: Turning thruster on: 6.0 V. 129259 sensor: c_thruster_on = 43.5753262562889 % 129263 60 sensor: c_thruster_on = 43.2781327238344 % 129264 sensor: m_thruster_current = 0.5418 amp 129268 61 sensor: c_thruster_on = 43.2781327238344 % 129269 sensor: m_thruster_current = 0.4644 amp 129273 62 sensor: c_thruster_on = 43.2781327238344 % 129274 sensor: m_thruster_current = 0.5031 amp 129278 62 sensor: c_thruster_on = 43.2781327238344 % surface_7: Turning thruster off (secs thr on). 129286 63 behavior surface_7: SUBSTATE 9 ->10 : Waiting for final gps fix surface_7: Waiting for final GPS fix. 129291 64 disabling Iridium console...