Connection Event: Carrier Detect found.351227 Iridium console active and ready... Vehicle Name: ru28 Curr Time: Mon Jul 18 15:45:36 2016 MT: 351226 DR Location: 3944.299 N -7359.722 E measured 116.873 secs ago GPS TooFar: 3956.446 N -7400.449 E measured 125866 secs ago GPS Invalid : 3945.468 N -7358.858 E measured 182.03 secs ago GPS Location: 3944.299 N -7359.722 E measured 119.278 secs ago sensor:c_thruster_surface_depth(m)=0 7416.94 secs ago sensor:c_wpt_lat(lat)=3940.8676 45226. not found>yo*.ma< not found>goto_l*.ma< not found>sample*.ma< not found>surfac*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 2 secs ago sensor:c_wpt_lon(lon)=-7405.5145 45226.3 secs ago sensor:m_battery(volts)=13.6992798496838 18.491 secs ago sensor:m_coulomb_amphr(amp-hrs)=30.5009384155273 5.525 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=32.3001254156801 5.547 secs ago sensor:m_depth(m)=0.014876698094247 5.509 secs ago sensor:m_digifin_leakdetect_reading(nodim)=9 0.676 secs ago sensor:m_gps_mag_var(rad)=0.22165681500328 119.808 secs ago sensor:m_iridium_attempt_num(nodim)=2 40.766 secs ago sensor:m_iridium_call_num(nodim)=4178 0.746 secs ago sensor:m_iridium_dialed_num(nodim)=5349 15.718 secs ago sensor:m_leakdetect_voltage(volts)=2.46971916971917 55.398 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47029914529914 55.419 secs ago sensor:m_tot_num_inflections(nodim)=121003 204.783 secs ago sensor:m_vacuum(inHg)=8.0568829059829 19.079 secs ago sensor:m_water_vx(m/s)=0.0528255643952482 147.566 secs ago sensor:m_water_vy(m/s)=-0.106616167071096 147.61 secs ago sensor:u_alt_min_depth(m)=2 1e+308 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_fin_deadband(rad)=0.02 351228 secs ago sensor:x_last_wpt_lat(lat)=3947.406 45227.5 secs ago sensor:x_last_wpt_lon(lon)=-7354.5462 45227.6 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: 2016-07-14T13:02:55 ABORT HISTORY: last abort segment: ru28-2016-195-3-0 (0154.0000) ABORT HISTORY: last abort mission: SHALLOW.MI 351228 No login script found for processing. 351228 DRIVER_ODDITY:iridium:1721:xxx_ctrl() ran too long Glider ru28 at surface. Because:no comms for a while [behavior surface_4 start_when = 12.0] MissionName:30_NW.MI MissionNum:ru28-2016-195-5-89 (0156.0089) Vehicle Name: ru28 Curr Time: Mon Jul 18 15:45:45 2016 MT: 351236 DR Location: 3944.299 N -7359.722 E measured 126.225 secs ago GPS TooFar: 3956.446 N -7400.449 E measured 125875 secs ago GPS Invalid : 3945.468 N -7358.858 E measured 191.383 secs ago GPS Location: 3944.299 N -7359.722 E measured 128.63 secs ago sensor:c_thruster_surface_depth(m)=0 7426.27 secs ago sensor:c_wpt_lat(lat)=3940.8676 45235.5 secs ago sensor:c_wpt_lon(lon)=-7405.5145 45235.6 secs ago sensor:m_battery(volts)=13.6992798496838 27.758 secs ago sensor:m_coulomb_amphr(amp-hrs)=30.5021228790283 4.608 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=32.301309879181 4.621 secs ago sensor:m_depth(m)=0 4.572 secs ago sensor:m_digifin_leakdetect_reading(nodim)=9 9.912 secs ago sensor:m_gps_mag_var(rad)=0.22165681500328 129.038 secs ago sensor:m_iridium_attempt_num(nodim)=2 49.977 secs ago sensor:m_iridium_call_num(nodim)=4178 9.94 secs ago sensor:m_iridium_dialed_num(nodim)=5349 24.9 secs ago sensor:m_leakdetect_voltage(volts)=2.46971916971917 64.574 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47029914529914 64.587 secs ago sensor:m_tot_num_inflections(nodim)=121003 213.943 secs ago sensor:m_vacuum(inHg)=8.0568829059829 28.222 secs ago sensor:m_water_vx(m/s)=0.0528255643952482 156.697 secs ago sensor:m_water_vy(m/s)=-0.106616167071096 156.731 secs ago sensor:u_alt_min_depth(m)=2 1e+308 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_fin_deadband(rad)=0.02 351237 secs ago sensor:x_last_wpt_lat(lat)=3947.406 45236.5 secs ago sensor:x_last_wpt_lon(lon)=-7354.5462 45236.6 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 3/ 1/ 0 odd: 259/ 237/ 6 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: 2016-07-14T13:02:55 ABORT HISTORY: last abort segment: ru28-2016-195-3-0 (0154.0000) ABORT HISTORY: last abort mission: SHALLOW.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 waiting for final gps fix(ideally -106 secs) Waypoint: (3940.8676,-7405.5145) Range: 10430m, Bearing: 245deg, Age: 12:33h:m Time until diving is: 464 secs s *.sbd *.tbd -------------------------------- 351262 86 01560089.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 351271 88 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 � Starting zModem transfer of 01560089.tbd to/from ru28 size is 26090 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 5120 Total Bytes sent/received: 6144 Total Bytes sent/received: 7168 Total Bytes sent/received: 8192 Total Bytes sent/received: 9216 Total Bytes sent/received: 10240 Total Bytes sent/received: 11264 Total Bytes sent/received: 12288 Total Bytes sent/received: 13002 Total Bytes sent/received: 13312 Total Bytes sent/received: 14336 Total Bytes sent/received: 15360 Total Bytes sent/received: 16384 Total Bytes sent/received: 17408 Total Bytes sent/received: 18432 Total Bytes sent/received: 19456 Total Bytes sent/received: 20480 Total Bytes sent/received: 21505 Total Bytes sent/received: 21504 Total Bytes sent/received: 22528 Total Bytes sent/received: 23552 Total Bytes sent/received: 24576 Total Bytes sent/received: 25600 Total Bytes sent/received: 26090 zModem transfer DONE for file 01560089.tbd Starting zModem transfer of 01560088.tbd to/from ru28 size is 2885 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 2885 zModem transfer DONE for file 01560088.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\01560089.TBD c:\logs\01560088.TBD SCI: SUCCESS 351530 50 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 351531 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 351531 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 01560089.sbd to/from ru28 size is 14489 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 5120 Total Bytes sent/received: 6144 Total Bytes sent/received: 7168 Total Bytes sent/received: 8192 Total Bytes sent/received: 9216 Total Bytes sent/received: 10240 Total Bytes sent/received: 11264 Total Bytes sent/received: 12288 Total Bytes sent/received: 13312 Total Bytes sent/received: 14336 Total Bytes sent/received: 14489 zModem transfer DONE for file 01560089.sbd Starting zModem transfer of 01560088.sbd to/from ru28 size is 784 Total Bytes sent/received: 784 zModem transfer DONE for file 01560088.sbd restore_sensors().... 351640 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\01560089.SBD c:\logs\01560088.SBD GLD: SUCCESS 351647 51 SCI:PROGLET house_elf begin() called 351647 SCI: house_elf: Version 1.2 351648 SCI:PROGLET ctd41cp begin() called 351648 SCI: ctd41cp: Version 0.2 351648 SCI: ctd41cp: Will be sending the following data to glider: 351648 SCI: sci_water_cond(s/m) 351648 SCI: sci_water_temp(degc) 351648 SCI: sci_water_pressure(bar) 351648 SCI: sci_ctd41cp_timestamp(timestamp) 351648 SCI:PROGLET oxy3835_wphase begin() called 351648 SCI: oxy3835_wphase: Version 0.4 351648 SCI: oxy3835_wphase: Will be sending following data to glider: 351649 SCI: sci_oxy3835_wphase_oxygen(nodim) 351649 SCI: sci_oxy3835_wphase_saturation(nodim) 351649 SCI: sci_oxy3835_wphase_temp(nodim) 351649 SCI: sci_oxy3835_wphase_dphase(nodim) 351649 SCI: sci_oxy3835_wphase_bphase(nodim) 351649 SCI: sci_oxy3835_wphase_rphase(nodim) 351649 SCI: sci_oxy3835_wphase_bamp(nodim) 351649 SCI: sci_oxy3835_wphase_bpot(nodim) 351649 SCI: sci_oxy3835_wphase_ramp(nodim) 351649 SCI: sci_oxy3835_wphase_rawtemp(nodim) 351650 52 SCI: sci_oxy3835_wphase_timestamp(timestamp) 351650 SCI: Opening Bit(29) for output 351650 SCI:Bit(29) use count is now 1. 351651 SCI:Bit(29) raise count is now 0. 351651 SCI:Bit(29) raise count is now 0. 351651 SCI:PROGLET flbbcd begin() called 351651 SCI: flbbcd: Version 0.0 351651 SCI: flbbcd: Will be sending following data to glider: 351651 SCI: sci_flbbcd_chlor_units(ug/l) 351651 SCI: sci_flbbcd_bb_units(nodim) 351651 SCI: sci_flbbcd_cdom_units(ppb) 351651 SCI: sci_flbbcd_chlor_sig(nodim) 351651 SCI: sci_flbbcd_bb_sig(nodim) 351651 SCI: sci_flbbcd_cdom_sig(nodim) 351652 SCI: sci_flbbcd_chlor_ref(nodim) 351652 SCI: sci_flbbcd_bb_ref(nodim) 351652 SCI: sci_flbbcd_cdom_ref(nodim) 351652 SCI: sci_flbbcd_therm(nodim) 351652 SCI: sci_flbbcd_timestamp(timestamp) 351652 SCI: Opening Bit(34) for output 351652 SCI:Bit(34) use count is now 1. 351652 SCI:Bit(34) raise count is now 0. 351652 SCI:Bit(34) raise count is now 0. 351656 53 SCI:PROGLET house_elf start() called 351656 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 351656 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 351656 SCI:PROGLET ctd41cp start() called 351657 SCI: Opening port 3:UART4:Chan D SBMB:J6 351657 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 351657 SCI: in queue size: 2048, out queue size: 0 351657 SCI:sci_uart_drain_input(3): 351657 SCI: 351657 SCI:sci_uart_drain_input:Drained 0 chars 351657 SCI: Opening Bit(30) for output 351657 SCI:Bit(30) use count is now 1. 351657 SCI:Bit(30) raise count is now 0. 351657 SCI:bit_shared_raise(): Raising bit(30). 351657 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 351657 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 351658 SCI:PROGLET oxy3835_wphase start() called 351658 SCI: Opening port 0:UART4:Chan A SBMB:J2 351658 SCI: 9600 baud, N81, line buf: 150, no input data timeout(secs): 15 351658 SCI: in queue size: 2048, out queue size: 0 351658 SCI:sci_uart_drain_input(0): 351658 SCI: 351658 SCI:sci_uart_drain_input:Drained 0 chars 351658 SCI:bit_shared_raise(): Raising bit(29). 351658 SCI: oxy3835_wphase_run(): 0 error(s) in a row. (5 is fatal) 351658 SCI: oxy3835_wphase_run(): 0 error(s) since oxy3835_wphase_begin(). (50 is fatal) 351714 55 01560090.mlg LOG FILE OPENED -------------------------------- 351714 behavior surface_4: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru28 at surface. Because:no comms for a while [behavior surface_4 start_when = 12.0] MissionName:30_NW.MI MissionNum:ru28-2016-195-5-90 (0156.0090) Vehicle Name: ru28 Curr Time: Mon Jul 18 15:53:47 2016 MT: 351718 DR Location: 3944.299 N -7359.722 E measured 607.953 secs ago GPS TooFar: 3956.446 N -7400.449 E measured 126357 secs ago GPS Invalid : 3945.468 N -7358.858 E measured 673.11 secs ago GPS Location: 3944.299 N -7359.722 E measured 610.357 secs ago sensor:c_thruster_surface_depth(m)=0 7908 secs ago sensor:c_wpt_lat(lat)=3940.8676 45717.3 secs ago sensor:c_wpt_lon(lon)=-7405.5145 45717.3 secs ago sensor:m_battery(volts)=13.6800390442026 3.149 secs ago sensor:m_coulomb_amphr(amp-hrs)=30.5745620727539 3.3 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=32.3737490729066 3.315 secs ago sensor:m_depth(m)=0 3.222 secs ago sensor:m_digifin_leakdetect_reading(nodim)=9 3.45 secs ago sensor:m_gps_mag_var(rad)=0.22165681500328 610.764 secs ago sensor:m_iridium_attempt_num(nodim)=0 457.214 secs ago sensor:m_iridium_call_num(nodim)=4178 491.663 secs ago sensor:m_iridium_dialed_num(nodim)=5349 506.624 secs ago sensor:m_leakdetect_voltage(volts)=2.46929181929182 3.187 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.46758241758242 3.204 secs ago sensor:m_tot_num_inflections(nodim)=121003 695.666 secs ago sensor:m_vacuum(inHg)=8.66951953601953 3.606 secs ago sensor:m_water_vx(m/s)=0.0528255643952482 638.42 secs ago sensor:m_water_vy(m/s)=-0.106616167071096 638.454 secs ago sensor:u_alt_min_depth(m)=2 1e+308 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_fin_deadband(rad)=0.02 351719 secs ago sensor:x_last_wpt_lat(lat)=3947.406 45718.3 secs ago sensor:x_last_wpt_lon(lon)=-7354.5462 45718.3 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 3/ 1/ 0 odd: 259/ 237/ 6 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: 2016-07-14T13:02:55 ABORT HISTORY: last abort segment: ru28-2016-195-3-0 (0154.0000) ABORT HISTORY: last abort mission: SHALLOW.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 waiting for final gps fix(ideally -588 secs) Waypoint: (3940.8676,-7405.5145) Range: 10430m, Bearing: 245deg, Age: 12:41h:m * I heard a character ('*'), but not the right one Drained the following 39 pending chars from input buffer: 2a 18 42 30 38 30 30 30 * ^X B 0 8 0 0 0 *.B08000 30 30 30 30 30 30 32 32 0 0 0 0 0 0 2 2 00000022 64 0d 8a 2a 2a 18 42 30 d CR . * * ^X B 0 d..**.B0 38 30 30 30 30 30 30 30 8 0 0 0 0 0 0 0 80000000 30 30 32 32 64 0d 8a 0 0 2 2 d CR . 0022d.. 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 - 10 attitude_rev I u 3 20 5 1 [ 1 0 0] [ 2 0 0] [ 0 0 0] 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 [ 0 0 0] [ 0 0 0] [ 4 4 0] 17 science_super I u 3 20 5 0 [ 0 0 0] [ 1 1 0] [ 2 2 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 85 84 2] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 168 147 4] 25 leakdetect I u 3 20 5 0 26 recovery - 27 coulomb I u 3 20 5 0 28 veh_temp I u 3 20 5 0 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: 1/ 0/ 0 warn: 3/ 1/ 0 odd: 259/ 237/ 6 ^R351743 62 behavior surface_4: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 91.968750 Megabytes available on CF file system = 1906.000000 351747 01560090.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=223.0K, M_SPARE_HEAP=204.0K 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_fin_safety_max(rad) 0.450000 f_ocean_pressure_min(volts) 0.156920 m_avg_climb_rate(m/s) -0.201025 m_avg_speed(m/s) 0.331017 m_avg_upward_inflection_time(sec) 15.592440 m_battery(volts) 13.680039 m_coulomb_amphr_total(amp-hrs) 32.379685 m_iridium_call_num(nodim) 4178.000000 m_iridium_dialed_num(nodim) 5349.000000 m_lat(lat) 3944.298800 m_lon(lon) -7359.721700 m_tot_ballast_pumped_energy(kjoules) 5631.339893 m_tot_horz_dist(km) 4487.202376 m_tot_num_inflections(nodim) 121003.000000 s_water_depth_avg(m) 30.000000 s_water_depth_delta(m) 0.000000 s_water_depth_wavelength(m) 100.000000 x_de_avg_oil_vol_ierr_on_ascent(cc) 0.000000 x_de_avg_oil_vol_ierr_on_descent(cc) 0.000000 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) 3947.406000 x_last_wpt_lon(lon) -7354.546200 The instantaneous lag time between the system and gps clock is -11.0 seconds. The average lag time between the system and gps clock is -10.4 seconds. Housekeeping is done 351807 64 01560091.mlg LOG FILE OPENED Megabytes used on CF file system = 92.093750 Megabytes available on CF file system = 1905.875000 351809 init_gps_input() 351809 behavior surface_4: SUBSTATE 7 ->10 : Waiting for final gps fix surface_4: Waiting