Connection Event: Carrier Detect found. 15546 Iridium console active and ready... Vehicle Name: ru28 Curr Time: Tue Jul 19 00:45:13 2016 MT: 15545 DR Location: 3942.242 N -7403.862 E measured 121.239 secs ago GPS TooFar: 3956.446 N -7400.449 E measured 1e+308 secs ago GPS Invalid : 3942.881 N -7402.962 E measured 179.196 secs ago GPS Location: 3942.242 N -7403.862 E measured 122.777 secs ago sensor:c_thruster_surface_depth(m)=0 7398.94 secs ago sensor:c_wpt_lat(lat)=3940.8676 15428. 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 15428.2 secs ago sensor:m_battery(volts)=13.5975509803182 45.163 secs ago sensor:m_coulomb_amphr(amp-hrs)=33.5278739929199 5.374 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=35.3270609930726 5.395 secs ago sensor:m_depth(m)=0 5.402 secs ago sensor:m_digifin_leakdetect_reading(nodim)=9 0.721 secs ago sensor:m_gps_mag_var(rad)=0.22165681500328 123.34 secs ago sensor:m_iridium_attempt_num(nodim)=2 45.639 secs ago sensor:m_iridium_call_num(nodim)=4188 0.795 secs ago sensor:m_iridium_dialed_num(nodim)=5359 14.049 secs ago sensor:m_leakdetect_voltage(volts)=2.46941391941392 13.906 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.46733821733822 13.929 secs ago sensor:m_tot_num_inflections(nodim)=121343 213.408 secs ago sensor:m_vacuum(inHg)=7.9832326007326 45.788 secs ago sensor:m_water_vx(m/s)=0.0190167340913393 146.785 secs ago sensor:m_water_vy(m/s)=0.065633646809917 146.832 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 15546.9 secs ago sensor:x_last_wpt_lat(lat)=3947.406 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7354.5462 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: 2016-07-14T13:02:55 ABORT HISTORY: last abort segment: ru28-2016-195-3-0 (0154.0000) ABORT HISTORY: last abort mission: SHALLOW.MI 15547 No login script found for processing. 15547 DRIVER_ODDITY:iridium:1777: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:ru28-2016-199-1-2 (0158.0002) Vehicle Name: ru28 Curr Time: Tue Jul 19 00:45:22 2016 MT: 15555 DR Location: 3942.242 N -7403.862 E measured 130.764 secs ago GPS TooFar: 3956.446 N -7400.449 E measured 1e+308 secs ago GPS Invalid : 3942.881 N -7402.962 E measured 188.722 secs ago GPS Location: 3942.242 N -7403.862 E measured 132.302 secs ago sensor:c_thruster_surface_depth(m)=0 7408.45 secs ago sensor:c_wpt_lat(lat)=3940.8676 15437.7 secs ago sensor:c_wpt_lon(lon)=-7405.5145 15437.7 secs ago sensor:m_battery(volts)=13.5975509803182 54.608 secs ago sensor:m_coulomb_amphr(amp-hrs)=33.5290641784668 4.74 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=35.3282511786195 4.753 secs ago sensor:m_depth(m)=0 4.708 secs ago sensor:m_digifin_leakdetect_reading(nodim)=9 10.1 secs ago sensor:m_gps_mag_var(rad)=0.22165681500328 132.712 secs ago sensor:m_iridium_attempt_num(nodim)=2 54.994 secs ago sensor:m_iridium_call_num(nodim)=4188 10.131 secs ago sensor:m_iridium_dialed_num(nodim)=5359 23.371 secs ago sensor:m_leakdetect_voltage(volts)=2.46941391941392 23.221 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.46733821733822 23.236 secs ago sensor:m_tot_num_inflections(nodim)=121343 222.707 secs ago sensor:m_vacuum(inHg)=7.9832326007326 55.068 secs ago sensor:m_water_vx(m/s)=0.0190167340913393 156.055 secs ago sensor:m_water_vy(m/s)=0.065633646809917 156.088 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 15556 secs ago sensor:x_last_wpt_lat(lat)=3947.406 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7354.5462 1e+308 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 3/ 0/ 0 odd: 309/ 38/ 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: 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: 3470m, Bearing: 235deg, Age: 4:17h:m Time until diving is: 464 secs s *.sbd *.tbd -------------------------------- 15581 11 01580002.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 15590 14 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 3 files Prechecking is not necessary for this invocation START **B00000000000000 � Starting zModem transfer of 01580002.tbd to/from ru28 size is 25237 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: 13143 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: 19608 Total Bytes sent/received: 20480 Total Bytes sent/received: 21504 Total Bytes sent/received: 22528 Total Bytes sent/received: 23552 Total Bytes sent/received: 24576 Total Bytes sent/received: 25237 zModem transfer DONE for file 01580002.tbd Starting zModem transfer of 01580001.tbd to/from ru28 size is 2884 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 2884 zModem transfer DONE for file 01580001.tbd Starting zModem transfer of 01580000.tbd to/from ru28 size is 17157 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: 13121 Total Bytes sent/received: 13312 Total Bytes sent/received: 14336 Total Bytes sent/received: 15360 Total Bytes sent/received: 16384 Total Bytes sent/received: 17157 zModem transfer DONE for file 01580000.tbd SHUFFLING FILES... SCI: Sent 3 file(s): c:\logs\01580002.TBD c:\logs\01580001.TBD c:\logs\01580000.TBD SCI: SUCCESS 16045 22 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 16047 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 16047 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 01580002.sbd to/from ru28 size is 15153 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: 15153 zModem transfer DONE for file 01580002.sbd Starting zModem transfer of 01580001.sbd to/from ru28 size is 783 Total Bytes sent/received: 783 zModem transfer DONE for file 01580001.sbd ().... 16160 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\01580002.SBD c:\logs\01580001.SBD GLD: SUCCESS 16167 25 SCI:PROGLET house_elf begin() called 16167 SCI: house_elf: Version 1.2 16167 SCI:PROGLET ctd41cp begin() called 16167 SCI: ctd41cp: Version 0.2 16168 SCI: ctd41cp: Will be sending the following data to glider: 16168 SCI: sci_water_cond(s/m) 16168 SCI: sci_water_temp(degc) 16168 SCI: sci_water_pressure(bar) 16168 SCI: sci_ctd41cp_timestamp(timestamp) 16168 SCI:PROGLET oxy3835_wphase begin() called 16168 SCI: oxy3835_wphase: Version 0.4 16168 SCI: oxy3835_wphase: Will be sending following data to glider: 16168 SCI: sci_oxy3835_wphase_oxygen(nodim) 16169 SCI: sci_oxy3835_wphase_saturation(nodim) 16169 SCI: sci_oxy3835_wphase_temp(nodim) 16169 SCI: sci_oxy3835_wphase_dphase(nodim) 16169 SCI: sci_oxy3835_wphase_bphase(nodim) 16169 SCI: sci_oxy3835_wphase_rphase(nodim) 16169 SCI: sci_oxy3835_wphase_bamp(nodim) 16169 SCI: sci_oxy3835_wphase_bpot(nodim) 16169 SCI: sci_oxy3835_wphase_ramp(nodim) 16169 SCI: sci_oxy3835_wphase_rawtemp(nodim) 16170 25 SCI: sci_oxy3835_wphase_timestamp(timestamp) 16170 SCI: Opening Bit(29) for output 16170 SCI:Bit(29) use count is now 1. 16171 SCI:Bit(29) raise count is now 0. 16171 SCI:Bit(29) raise count is now 0. 16171 SCI:PROGLET flbbcd begin() called 16171 SCI: flbbcd: Version 0.0 16171 SCI: flbbcd: Will be sending following data to glider: 16171 SCI: sci_flbbcd_chlor_units(ug/l) 16171 SCI: sci_flbbcd_bb_units(nodim) 16171 SCI: sci_flbbcd_cdom_units(ppb) 16171 SCI: sci_flbbcd_chlor_sig(nodim) 16171 SCI: sci_flbbcd_bb_sig(nodim) 16171 SCI: sci_flbbcd_cdom_sig(nodim) 16171 SCI: sci_flbbcd_chlor_ref(nodim) 16172 SCI: sci_flbbcd_bb_ref(nodim) 16172 SCI: sci_flbbcd_cdom_ref(nodim) 16172 SCI: sci_flbbcd_therm(nodim) 16172 SCI: sci_flbbcd_timestamp(timestamp) 16172 SCI: Opening Bit(34) for output 16172 SCI:Bit(34) use count is now 1. 16172 SCI:Bit(34) raise count is now 0. 16172 SCI:Bit(34) raise count is now 0. 16176 27 SCI:PROGLET house_elf start() called 16176 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 16176 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 16176 SCI:PROGLET ctd41cp start() called 16176 SCI: Opening port 3:UART4:Chan D SBMB:J6 16177 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 16177 SCI: in queue size: 2048, out queue size: 0 16177 SCI:sci_uart_drain_input(3): 16177 SCI: 16177 SCI:sci_uart_drain_input:Drained 0 chars 16177 SCI: Opening Bit(30) for output 16177 SCI:Bit(30) use count is now 1. 16177 SCI:Bit(30) raise count is now 0. 16177 SCI:bit_shared_raise(): Raising bit(30). 16177 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 16177 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 16178 SCI:PROGLET oxy3835_wphase start() called 16178 SCI: Opening port 0:UART4:Chan A SBMB:J2 16178 SCI: 9600 baud, N81, line buf: 150, no input data timeout(secs): 15 16178 SCI: in queue size: 2048, out queue size: 0 16178 SCI:sci_uart_drain_input(0): 16178 SCI: 16178 SCI:sci_uart_drain_input:Drained 0 chars 16178 SCI:bit_shared_raise(): Raising bit(29). 16178 SCI: oxy3835_wphase_run(): 0 error(s) in a row. (5 is fatal) 16178 SCI: oxy3835_wphase_run(): 0 error(s) since oxy3835_wphase_begin(). (50 is fatal) 16229 28 01580003.mlg LOG FILE OPENED -------------------------------- 16230 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:ru28-2016-199-1-3 (0158.0003) Vehicle Name: ru28 Curr Time: Tue Jul 19 00:56:41 2016 MT: 16233 DR Location: 3942.242 N -7403.862 E measured 809.094 secs ago GPS TooFar: 3956.446 N -7400.449 E measured 1e+308 secs ago GPS Invalid : 3942.881 N -7402.962 E measured 867.051 secs ago GPS Location: 3942.242 N -7403.862 E measured 810.631 secs ago sensor:c_thruster_surface_depth(m)=0 8086.77 secs ago sensor:c_wpt_lat(lat)=3940.8676 16116 secs ago sensor:c_wpt_lon(lon)=-7405.5145 16116 secs ago sensor:m_battery(volts)=13.5888941450956 3.156 secs ago sensor:m_coulomb_amphr(amp-hrs)=33.6311874389648 3.31 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=35.4303744391176 3.325 secs ago sensor:m_depth(m)=0 3.228 secs ago sensor:m_digifin_leakdetect_reading(nodim)=9 50.826 secs ago sensor:m_gps_mag_var(rad)=0.22165681500328 811.039 secs ago sensor:m_iridium_attempt_num(nodim)=0 653.944 secs ago sensor:m_iridium_call_num(nodim)=4188 688.456 secs ago sensor:m_iridium_dialed_num(nodim)=5359 701.696 secs ago sensor:m_leakdetect_voltage(volts)=2.46913919413919 3.191 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.46727716727717 3.207 secs ago sensor:m_tot_num_inflections(nodim)=121343 901.03 secs ago sensor:m_vacuum(inHg)=8.80886926129425 3.614 secs ago sensor:m_water_vx(m/s)=0.0190167340913393 834.381 secs ago sensor:m_water_vy(m/s)=0.065633646809917 834.414 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 16234.4 secs ago sensor:x_last_wpt_lat(lat)=3947.406 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7354.5462 1e+308 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 3/ 0/ 0 odd: 309/ 38/ 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: 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 -784 secs) Waypoint: (3940.8676,-7405.5145) Range: 3470m, Bearing: 235deg, Age: 4:28h: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 0 0] 17 science_super I u 3 20 5 0 [ 0 0 0] [ 1 0 0] [ 26 24 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 92 3 1] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 187 11 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/ 0/ 0 odd: 309/ 38/ 5 ^R 16258 34 behavior surface_4: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 99.281250 Megabytes available on CF file system = 1898.687500 16262 01580003.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=222.0K, M_SPARE_HEAP=203.0K 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) -0.133084 m_avg_speed(m/s) 0.320167 m_avg_upward_inflection_time(sec) 14.299388 m_battery(volts) 13.588894 m_coulomb_amphr_total(amp-hrs) 35.435124 m_iridium_call_num(nodim) 4188.000000 m_iridium_dialed_num(nodim) 5359.000000 m_lat(lat) 3942.241900 m_lon(lon) -7403.862200 m_tot_ballast_pumped_energy(kjoules) 5642.074390 m_tot_horz_dist(km) 4496.079784 m_tot_num_inflections(nodim) 121343.000000 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 -10.0 seconds. The average lag time between the system and gps clock is -9.9 seconds. Housekeeping is done 16320 36 01580004.mlg LOG FILE OPENED Megabytes used on CF file system = 99.406250 Megabytes available on CF file system = 1898.562500 16322 init_gps_input() 16322 behavior surface_4: SUBSTATE 7 ->10 : Waiting for final gps fix surface_4: Waiting for fin