Connection Event: Carrier Detect found. 94395 Iridium console active and ready... Vehicle Name: ru28 Curr Time: Tue Jul 19 22:39:22 2016 MT: 94394 DR Location: 3931.201 N -7400.841 E measured 219.167 secs ago GPS TooFar: 3933.144 N -7402.100 E measured 15602.3 secs ago GPS Invalid : 3932.153 N -7401.489 E measured 283.144 secs ago GPS Location: 3931.201 N -7400.841 E measured 221.57 secs ago sensor:c_thruster_surface_depth(m)=0 7516.91 secs ago sensor:c_wpt_lat(lat)=3924.4866 16201.8 secs ago sensor:c_wpt_lon(lon)=-7356.9001 16201.9 secs ago sensor:m_battery(volts)=13.4601010352293 18.637 secs ago sensor:m_coulomb_amphr(amp-hrs)=40.8191223144531 5.388 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=42.6183093146059 5.408 secs ago sensor:m_depth(m)=0 5.415 secs ago sensor:m_digifin_leakdetect_reading(nodim)=9 5.598 secs ago sensor:m_gps_mag_var(rad)=0.22165681500328 222.136 secs ago sensor:m_iridium_attempt_num(nodim)=1 84.083 secs ago sensor:m_iridium_call_num(nodim)=4201 0.781 secs ago sensor:m_iridium_dialed_num(nodim)=5372 19.215 secs ago sensor:m_leakdetect_voltage(volts)=2.46907814407814 18.814 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.46843711843712 18.835 secs ago sensor:m_tot_num_inflections(nodim)=122056 316.217 secs ago sensor:m_vacuum(inHg)=8.31424050671551 19.264 secs ago sensor:m_water_vx(m/s)=-0.124832320577432 249.706 secs ago sensor:m_water_vy(m/s)=-0.0180029323084201 249.746 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 94396.1 secs ago sensor:x_last_wpt_lat(lat)=3940.8676 65954.7 secs ago sensor:x_last_wpt_lon(lon)=-7405.5145 65954.7 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 94397 No login script found for processing. 94397 DRIVER_ODDITY:iridium:1778: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:ru28-2016-199-1-23 (0158.0023) Vehicle Name: ru28 Curr Time: Tue Jul 19 22:39:51 2016 MT: 94424 DR Location: 3931.201 N -7400.841 E measured 248.221 secs ago GPS TooFar: 3933.144 N -7402.100 E measured 15631.4 secs ago GPS Invalid : 3932.153 N -7401.489 E measured 312.198 secs ago GPS Location: 3931.201 N -7400.841 E measured 250.626 secs ago sensor:c_thruster_surface_depth(m)=0 7545.95 secs ago sensor:c_wpt_lat(lat)=3924.4866 16230.9 secs ago sensor:c_wpt_lon(lon)=-7356.9001 16230.9 secs ago sensor:m_battery(volts)=13.4601010352293 47.617 secs ago sensor:m_coulomb_amphr(amp-hrs)=40.8238754272461 4.67 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=42.6230624273988 4.685 secs ago sensor:m_depth(m)=0 4.638 secs ago sensor:m_digifin_leakdetect_reading(nodim)=9 4.818 secs ago sensor:m_gps_mag_var(rad)=0.22165681500328 251.037 secs ago sensor:m_iridium_attempt_num(nodim)=1 112.966 secs ago sensor:m_iridium_call_num(nodim)=4201 29.646 secs ago sensor:m_iridium_dialed_num(nodim)=5372 48.067 secs ago sensor:m_leakdetect_voltage(volts)=2.46907814407814 47.66 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.46843711843712 47.675 secs ago sensor:m_tot_num_inflections(nodim)=122056 345.049 secs ago sensor:m_vacuum(inHg)=8.31424050671551 48.078 secs ago sensor:m_water_vx(m/s)=-0.124832320577432 278.496 secs ago sensor:m_water_vy(m/s)=-0.0180029323084201 278.529 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 94424.8 secs ago sensor:x_last_wpt_lat(lat)=3940.8676 65983.3 secs ago sensor:x_last_wpt_lon(lon)=-7405.5145 65983.4 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 3/ 0/ 0 odd: 347/ 76/ 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 -232 secs) Waypoint: (3924.4866,-7356.9001) Range: 13645m, Bearing: 168deg, Age: 18:19h:m Time until diving is: 342 secs s *.sbd *.tbd -------------------------------- 94450 30 01580023.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 94459 33 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 01580023.tbd to/from ru28 size is 462 Total Bytes sent/received: 462 zModem transfer DONE for file 01580023.tbd Starting zModem transfer of 01580022.tbd to/from ru28 size is 25530 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: 13313 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: 21504 Total Bytes sent/received: 22528 Total Bytes sent/received: 23552 Total Bytes sent/received: 24576 Total Bytes sent/received: 25530 zModem transfer DONE for file 01580022.tbd Starting zModem transfer of 01580021.tbd to/from ru28 size is 462 Total Bytes sent/received: 462 zModem transfer DONE for file 01580021.tbd SHUFFLING FILES... SCI: Sent 3 file(s): c:\logs\01580023.TBD c:\logs\01580022.TBD c:\logs\01580021.TBD SCI: SUCCESS 94673 83 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 3 files Prechecking is not necessary for this invocation 94674 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 94674 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 01580023.sbd to/from ru28 size is 840 Total Bytes sent/received: 840 zModem transfer DONE for file 01580023.sbd Starting zModem transfer of 01580022.sbd to/from ru28 size is 14125 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: 14125 zModem transfer DONE for file 01580022.sbd Starting zModem transfer of 01580021.sbd to/from ru28 size is 784 Total Bytes sent/received: 784 zModem transfer DONE for file 01580021.sbd 94791 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 94791 restore_sensors().... 94791 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES... GLD: Sent 3 file(s): c:\logs\01580023.SBD c:\logs\01580022.SBD c:\logs\01580021.SBD GLD: SUCCESS 94799 84 SCI:PROGLET house_elf begin() called 94799 SCI: house_elf: Version 1.2 94799 SCI:PROGLET ctd41cp begin() called 94799 SCI: ctd41cp: Version 0.2 94799 SCI: ctd41cp: Will be sending the following data to glider: 94799 SCI: sci_water_cond(s/m) 94799 SCI: sci_water_temp(degc) 94799 SCI: sci_water_pressure(bar) 94800 SCI: sci_ctd41cp_timestamp(timestamp) 94800 SCI:PROGLET oxy3835_wphase begin() called 94800 SCI: oxy3835_wphase: Version 0.4 94800 SCI: oxy3835_wphase: Will be sending following data to glider: 94800 SCI: sci_oxy3835_wphase_oxygen(nodim) 94800 SCI: sci_oxy3835_wphase_saturation(nodim) 94800 SCI: sci_oxy3835_wphase_temp(nodim) 94800 SCI: sci_oxy3835_wphase_dphase(nodim) 94800 SCI: sci_oxy3835_wphase_bphase(nodim) 94800 SCI: sci_oxy3835_wphase_rphase(nodim) 94801 SCI: sci_oxy3835_wphase_bamp(nodim) 94801 SCI: sci_oxy3835_wphase_bpot(nodim) 94801 SCI: sci_oxy3835_wphase_ramp(nodim) 94801 SCI: sci_oxy3835_wphase_rawtemp(nodim) 94801 86 SCI: sci_oxy3835_wphase_timestamp(timestamp) 94801 SCI: Opening Bit(29) for output 94801 SCI:Bit(29) use count is now 1. 94802 SCI:Bit(29) raise count is now 0. 94802 SCI:Bit(29) raise count is now 0. 94802 SCI:PROGLET flbbcd begin() called 94802 SCI: flbbcd: Version 0.0 94802 SCI: flbbcd: Will be sending following data to glider: 94803 SCI: sci_flbbcd_chlor_units(ug/l) 94803 SCI: sci_flbbcd_bb_units(nodim) 94803 SCI: sci_flbbcd_cdom_units(ppb) 94803 SCI: sci_flbbcd_chlor_sig(nodim) 94803 SCI: sci_flbbcd_bb_sig(nodim) 94803 SCI: sci_flbbcd_cdom_sig(nodim) 94803 SCI: sci_flbbcd_chlor_ref(nodim) 94803 SCI: sci_flbbcd_bb_ref(nodim) 94803 SCI: sci_flbbcd_cdom_ref(nodim) 94803 SCI: sci_flbbcd_therm(nodim) 94803 SCI: sci_flbbcd_timestamp(timestamp) 94803 SCI: Opening Bit(34) for output 94804 SCI:Bit(34) use count is now 1. 94804 SCI:Bit(34) raise count is now 0. 94804 SCI:Bit(34) raise count is now 0. 94807 87 SCI:PROGLET house_elf start() called 94807 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 94808 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 94808 SCI:PROGLET ctd41cp start() called 94808 SCI: Opening port 3:UART4:Chan D SBMB:J6 94808 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 94808 SCI: in queue size: 2048, out queue size: 0 94808 SCI:sci_uart_drain_input(3): 94808 SCI: 94808 SCI:sci_uart_drain_input:Drained 0 chars 94809 SCI: Opening Bit(30) for output 94809 SCI:Bit(30) use count is now 1. 94809 SCI:Bit(30) raise count is now 0. 94809 SCI:bit_shared_raise(): Raising bit(30). 94809 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 94809 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 94809 SCI:PROGLET oxy3835_wphase start() called 94809 SCI: Opening port 0:UART4:Chan A SBMB:J2 94809 SCI: 9600 baud, N81, line buf: 150, no input data timeout(secs): 15 94809 SCI: in queue size: 2048, out queue size: 0 94809 SCI:sci_uart_drain_input(0): 94810 SCI: 94810 SCI:sci_uart_drain_input:Drained 0 chars 94810 SCI:bit_shared_raise(): Raising bit(29). 94810 SCI: oxy3835_wphase_run(): 0 error(s) in a row. (5 is fatal) 94810 SCI: oxy3835_wphase_run(): 0 error(s) since oxy3835_wphase_begin(). (50 is fatal) 94861 88 01580024.mlg LOG FILE OPENED -------------------------------- 94861 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:ru28-2016-199-1-24 (0158.0024) Vehicle Name: ru28 Curr Time: Tue Jul 19 22:47:13 2016 MT: 94866 DR Location: 3931.201 N -7400.841 E measured 690.377 secs ago GPS TooFar: 3933.144 N -7402.100 E measured 16073.5 secs ago GPS Invalid : 3932.153 N -7401.489 E measured 754.354 secs ago GPS Location: 3931.201 N -7400.841 E measured 692.781 secs ago sensor:c_thruster_surface_depth(m)=0 7988.11 secs ago sensor:c_wpt_lat(lat)=3924.4866 16673 secs ago sensor:c_wpt_lon(lon)=-7356.9001 16673 secs ago sensor:m_battery(volts)=13.4516711425651 3.149 secs ago sensor:m_coulomb_amphr(amp-hrs)=40.8880004882812 3.302 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=42.687187488434 3.315 secs ago sensor:m_depth(m)=0 3.222 secs ago sensor:m_digifin_leakdetect_reading(nodim)=9 51.825 secs ago sensor:m_gps_mag_var(rad)=0.22165681500328 693.19 secs ago sensor:m_iridium_attempt_num(nodim)=0 417.947 secs ago sensor:m_iridium_call_num(nodim)=4201 471.798 secs ago sensor:m_iridium_dialed_num(nodim)=5372 490.218 secs ago sensor:m_leakdetect_voltage(volts)=2.46950549450549 3.188 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.46764346764347 3.204 secs ago sensor:m_tot_num_inflections(nodim)=122056 787.199 secs ago sensor:m_vacuum(inHg)=8.51008336385836 3.606 secs ago sensor:m_water_vx(m/s)=-0.124832320577432 720.647 secs ago sensor:m_water_vy(m/s)=-0.0180029323084201 720.678 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 94867 secs ago sensor:x_last_wpt_lat(lat)=3940.8676 66425.5 secs ago sensor:x_last_wpt_lon(lon)=-7405.5145 66425.5 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 3/ 0/ 0 odd: 347/ 76/ 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 -675 secs) Waypoint: (3924.4866,-7356.9001) Range: 13645m, Bearing: 168deg, Age: 18:27h: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 - 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] [ 111 22 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] [ 206 30 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: 347/ 76/ 6 ^R 94891 94 behavior surface_4: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 117.093750 Megabytes available on CF file system = 1880.875000 94895 01580024.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=221.0K, M_SPARE_HEAP=202.0K 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) -0.103453 m_avg_speed(m/s) 0.327934 m_avg_upward_inflection_time(sec) 11.265436 m_battery(volts) 13.451671 m_coulomb_amphr_total(amp-hrs) 42.691937 m_iridium_call_num(nodim) 4201.000000 m_iridium_dialed_num(nodim) 5372.000000 m_lat(lat) 3931.200600 m_lon(lon) -7400.841200 m_tot_ballast_pumped_energy(kjoules) 5668.482416 m_tot_horz_dist(km) 4518.821378 m_tot_num_inflections(nodim) 122056.000000 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) 3940.867600 x_last_wpt_lon(lon) -7405.514500 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 -10.3 seconds. Housekeeping is done 94958 99 01580025.mlg LOG FILE OPENED Megabytes used on CF file system = 117.218750 Megabytes available on CF file system = 1880.750000 94960 init_gps_input() 94960 behavior surface_4: SUBSTATE 7 ->10 : Waiting for final gps fix surface_4: Waiting for final GP�