Connection Event: Carrier Detect found.126352 Iridium console active and ready... Vehicle Name: ru28 Curr Time: Wed Jul 20 07:31:59 2016 MT: 126351 DR Location: 3926.312 N -7357.987 E measured 47.389 secs ago GPS TooFar: 3929.071 N -7358.816 E measured 15379.3 secs ago GPS Invalid : 3927.506 N -7358.268 E measured 102.802 secs ago GPS Location: 3926.312 N -7357.987 E measured 48.888 secs ago sensor:c_thruster_surface_depth(m)=0 7370.31 secs ago sensor:c_wpt_lat(lat)=3924.4866 48158. 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 ... ] ... ] 8 secs ago sensor:c_wpt_lon(lon)=-7356.9001 48158.8 secs ago sensor:m_battery(volts)=13.4228529438313 10.395 secs ago sensor:m_coulomb_amphr(amp-hrs)=43.5325622558594 5.676 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=45.3317492560121 5.696 secs ago sensor:m_depth(m)=0 5.676 secs ago sensor:m_digifin_leakdetect_reading(nodim)=9 0.706 secs ago sensor:m_gps_mag_var(rad)=0.22165681500328 49.456 secs ago sensor:m_iridium_attempt_num(nodim)=1 40.455 secs ago sensor:m_iridium_call_num(nodim)=4206 0.779 secs ago sensor:m_iridium_dialed_num(nodim)=5377 10.965 secs ago sensor:m_leakdetect_voltage(volts)=2.46910866910867 15.7 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.46797924297924 15.724 secs ago sensor:m_tot_num_inflections(nodim)=122283 134.826 secs ago sensor:m_vacuum(inHg)=7.49529932844933 11.021 secs ago sensor:m_water_vx(m/s)=-0.026961717088353 72.946 secs ago sensor:m_water_vy(m/s)=0.000754859989311046 72.984 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 126353 secs ago sensor:x_last_wpt_lat(lat)=3940.8676 97911.6 secs ago sensor:x_last_wpt_lon(lon)=-7405.5145 97911.7 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 126354 No login script found for processing. 126354 DRIVER_ODDITY:iridium:1755: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:ru28-2016-199-1-31 (0158.0031) Vehicle Name: ru28 Curr Time: Wed Jul 20 07:32:43 2016 MT: 126395 DR Location: 3926.312 N -7357.987 E measured 91 secs ago GPS TooFar: 3929.071 N -7358.816 E measured 15422.9 secs ago GPS Invalid : 3927.506 N -7358.268 E measured 146.412 secs ago GPS Location: 3926.312 N -7357.987 E measured 92.498 secs ago sensor:c_thruster_surface_depth(m)=0 7413.9 secs ago sensor:c_wpt_lat(lat)=3924.4866 48202.3 secs ago sensor:c_wpt_lon(lon)=-7356.9001 48202.4 secs ago sensor:m_battery(volts)=13.4228529438313 53.927 secs ago sensor:m_coulomb_amphr(amp-hrs)=43.538501739502 4.478 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=45.3376887396547 4.492 secs ago sensor:m_depth(m)=0 4.453 secs ago sensor:m_digifin_leakdetect_reading(nodim)=9 4.624 secs ago sensor:m_gps_mag_var(rad)=0.22165681500328 92.908 secs ago sensor:m_iridium_attempt_num(nodim)=1 83.89 secs ago sensor:m_iridium_call_num(nodim)=4206 44.196 secs ago sensor:m_iridium_dialed_num(nodim)=5377 54.369 secs ago sensor:m_leakdetect_voltage(volts)=2.46910866910867 59.097 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.46797924297924 59.112 secs ago sensor:m_tot_num_inflections(nodim)=122283 178.206 secs ago sensor:m_vacuum(inHg)=7.49529932844933 54.384 secs ago sensor:m_water_vx(m/s)=-0.026961717088353 116.298 secs ago sensor:m_water_vy(m/s)=0.000754859989311046 116.329 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 126396 secs ago sensor:x_last_wpt_lat(lat)=3940.8676 97954.8 secs ago sensor:x_last_wpt_lon(lon)=-7405.5145 97954.9 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 3/ 0/ 0 odd: 364/ 93/ 4 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 -66 secs) Waypoint: (3924.4866,-7356.9001) Range: 3719m, Bearing: 167deg, Age: 27:12h:m Time until diving is: 504 secs s *.sbd *.tbd -------------------------------- 126415 79 01580031.mlg LOG FILE CLOSED SCIENCE DATA LOGGING: science IS running CONSCI REQUESTED (using IRIDIUM as console) 126424 81 db(#/min/mn/max/sd) pitch_motor 1800 -0.201 -0.020 0.198 0.076 in 126424 db(#/min/mn/max/sd) pitch_motor 1800 -88 -9 87 33 mV 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 126425 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 **B000000000000 Starting zModem transfer of 01580031.tbd to/from ru28 size is 24730 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: 14337 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: 24730 zModem transfer DONE for file 01580031.tbd Starting zModem transfer of 01580030.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 01580030.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\01580031.TBD c:\logs\01580030.TBD SCI: SUCCESS 126625 29 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 126627 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 126627 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 01580031.sbd to/from ru28 size is 13713 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: 13713 zModem transfer DONE for file 01580031.sbd Starting zModem transfer of 01580030.sbd to/from ru28 size is 784 Total Bytes sent/received: 784 zModem transfer DONE for file 01580030.sbd 26732 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 126732 restore_sensors().... 126732 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\01580031.SBD c:\logs\01580030.SBD GLD: SUCCESS 126740 31 SCI:PROGLET house_elf begin() called 126740 SCI: house_elf: Version 1.2 126740 SCI:PROGLET ctd41cp begin() called 126740 SCI: ctd41cp: Version 0.2 126740 SCI: ctd41cp: Will be sending the following data to glider: 126740 SCI: sci_water_cond(s/m) 126741 SCI: sci_water_temp(degc) 126741 SCI: sci_water_pressure(bar) 126741 SCI: sci_ctd41cp_timestamp(timestamp) 126741 SCI:PROGLET oxy3835_wphase begin() called 126741 SCI: oxy3835_wphase: Version 0.4 126741 SCI: oxy3835_wphase: Will be sending following data to glider: 126741 SCI: sci_oxy3835_wphase_oxygen(nodim) 126741 SCI: sci_oxy3835_wphase_saturation(nodim) 126741 SCI: sci_oxy3835_wphase_temp(nodim) 126741 SCI: sci_oxy3835_wphase_dphase(nodim) 126742 SCI: sci_oxy3835_wphase_bphase(nodim) 126742 SCI: sci_oxy3835_wphase_rphase(nodim) 126742 SCI: sci_oxy3835_wphase_bamp(nodim) 126742 SCI: sci_oxy3835_wphase_bpot(nodim) 126742 SCI: sci_oxy3835_wphase_ramp(nodim) 126742 SCI: sci_oxy3835_wphase_rawtemp(nodim) 126742 31 SCI: sci_oxy3835_wphase_timestamp(timestamp) 126742 SCI: Opening Bit(29) for output 126742 SCI:Bit(29) use count is now 1. 126743 SCI:Bit(29) raise count is now 0. 126743 SCI:Bit(29) raise count is now 0. 126743 SCI:PROGLET flbbcd begin() called 126743 SCI: flbbcd: Version 0.0 126744 SCI: flbbcd: Will be sending following data to glider: 126744 SCI: sci_flbbcd_chlor_units(ug/l) 126744 SCI: sci_flbbcd_bb_units(nodim) 126744 SCI: sci_flbbcd_cdom_units(ppb) 126744 SCI: sci_flbbcd_chlor_sig(nodim) 126744 SCI: sci_flbbcd_bb_sig(nodim) 126744 SCI: sci_flbbcd_cdom_sig(nodim) 126744 SCI: sci_flbbcd_chlor_ref(nodim) 126744 SCI: sci_flbbcd_bb_ref(nodim) 126744 SCI: sci_flbbcd_cdom_ref(nodim) 126744 SCI: sci_flbbcd_therm(nodim) 126745 SCI: sci_flbbcd_timestamp(timestamp) 126745 SCI: Opening Bit(34) for output 126745 SCI:Bit(34) use count is now 1. 126745 SCI:Bit(34) raise count is now 0. 126745 SCI:Bit(34) raise count is now 0. 126749 32 SCI:PROGLET house_elf start() called 126749 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 126749 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 126749 SCI:PROGLET ctd41cp start() called 126749 SCI: Opening port 3:UART4:Chan D SBMB:J6 126749 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 126749 SCI: in queue size: 2048, out queue size: 0 126750 SCI:sci_uart_drain_input(3): 126750 SCI: 126750 SCI:sci_uart_drain_input:Drained 0 chars 126750 SCI: Opening Bit(30) for output 126750 SCI:Bit(30) use count is now 1. 126750 SCI:Bit(30) raise count is now 0. 126750 SCI:bit_shared_raise(): Raising bit(30). 126750 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 126750 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 126750 SCI:PROGLET oxy3835_wphase start() called 126750 SCI: Opening port 0:UART4:Chan A SBMB:J2 126751 SCI: 9600 baud, N81, line buf: 150, no input data timeout(secs): 15 126751 SCI: in queue size: 2048, out queue size: 0 126751 SCI:sci_uart_drain_input(0): 126751 SCI: 126751 SCI:sci_uart_drain_input:Drained 0 chars 126751 SCI:bit_shared_raise(): Raising bit(29). 126751 SCI: oxy3835_wphase_run(): 0 error(s) in a row. (5 is fatal) 126751 SCI: oxy3835_wphase_run(): 0 error(s) since oxy3835_wphase_begin(). (50 is fatal) 126806 35 01580032.mlg LOG FILE OPENED -------------------------------- 126807 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:ru28-2016-199-1-32 (0158.0032) Vehicle Name: ru28 Curr Time: Wed Jul 20 07:39:38 2016 MT: 126810 DR Location: 3926.312 N -7357.987 E measured 506.016 secs ago GPS TooFar: 3929.071 N -7358.816 E measured 15837.9 secs ago GPS Invalid : 3927.506 N -7358.268 E measured 561.428 secs ago GPS Location: 3926.312 N -7357.987 E measured 507.513 secs ago sensor:c_thruster_surface_depth(m)=0 7828.92 secs ago sensor:c_wpt_lat(lat)=3924.4866 48617.3 secs ago sensor:c_wpt_lon(lon)=-7356.9001 48617.4 secs ago sensor:m_battery(volts)=13.4179028258953 3.163 secs ago sensor:m_coulomb_amphr(amp-hrs)=43.6026229858398 3.319 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=45.4018099859926 3.332 secs ago sensor:m_depth(m)=0 3.235 secs ago sensor:m_digifin_leakdetect_reading(nodim)=9 50.702 secs ago sensor:m_gps_mag_var(rad)=0.22165681500328 507.925 secs ago sensor:m_iridium_attempt_num(nodim)=0 396.096 secs ago sensor:m_iridium_call_num(nodim)=4206 459.21 secs ago sensor:m_iridium_dialed_num(nodim)=5377 469.382 secs ago sensor:m_leakdetect_voltage(volts)=2.46935286935287 3.196 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.46767399267399 3.213 secs ago sensor:m_tot_num_inflections(nodim)=122283 593.22 secs ago sensor:m_vacuum(inHg)=8.53058827838827 3.622 secs ago sensor:m_water_vx(m/s)=-0.026961717088353 531.315 secs ago sensor:m_water_vy(m/s)=0.000754859989311046 531.345 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 126811 secs ago sensor:x_last_wpt_lat(lat)=3940.8676 98369.8 secs ago sensor:x_last_wpt_lon(lon)=-7405.5145 98369.9 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 3/ 0/ 0 odd: 364/ 93/ 4 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 -481 secs) Waypoint: (3924.4866,-7356.9001) Range: 3719m, Bearing: 167deg, Age: 27:19h:m 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] [ 6 2 1] 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] [ 119 30 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] [ 213 37 1] 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: 364/ 93/ 4 ^R126836 41 behavior surface_4: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 124.281250 Megabytes available on CF file system = 1873.687500 126840 01580032.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) -0.112418 m_avg_speed(m/s) 0.312966 m_avg_upward_inflection_time(sec) 13.259506 m_battery(volts) 13.417903 m_coulomb_amphr_total(amp-hrs) 45.406563 m_iridium_call_num(nodim) 4206.000000 m_iridium_dialed_num(nodim) 5377.000000 m_lat(lat) 3926.311700 m_lon(lon) -7357.987100 m_tot_ballast_pumped_energy(kjoules) 5679.344336 m_tot_horz_dist(km) 4528.944356 m_tot_num_inflections(nodim) 122283.000000 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 -10.2 seconds. Housekeeping is done 126900 43 01580033.mlg LOG FILE OPENED Megabytes used on CF file system = 124.406250 Megabytes available on CF file system = 1873.562500 126902 init_gps_input() 126902 behavior surface_4: SUBSTATE 7 ->10 : Waiting for final gps fix surface_4: Waitin