Connection Event: Carrier Detect found.245670 Iridium console active and ready... Vehicle Name: silbo Curr Time: Tue Jul 26 17:08:23 2016 MT: 245669 DR Location: 4359.805 N -3508.515 E measured 107.499 secs ago GPS TooFar: 4432.147 N -3613.584 E measured 1e+308 secs ago GPS Invalid : 4400.942 N -3515.532 E measured 170.999 secs ago GPS Location: 4359.805 N -3508.515 E measured 109.909 secs ago sensor:c_autoballast_state(enum)=2 141777 secs ago sensor:c_climb_bpump(X)=150 1.171 secs ago sensor:c_dive_bpump(X)=-200 1.249 secs ago sensor:c_wpt_lat(lat)=4430 245509 secs ago sensor:c_wpt_lon(lon)=-3000 245510 secs ago sensor:m_battery(volts)=15.0316340904719 45.773 secs ago sensor:m_coulomb_amphr(amp-hrs)=19.3764381408691 5.562 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=262.799683492371 5.583 secs ago sensor:m_final_water_vx(m/s)=-0.0367844537471494 118.509 secs ago sensor:m_final_water_vy(m/s)=-0.100015152260222 118.548 secs ago sensor:m_iridium_signal_strength(nodim)=4 15.67 secs ago sensor:m_leakdetect_voltage(volts)=2.49688644688644 45.937 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49020146520146 45.955 secs ago sensor:m_tot_num_inflections(nodim)=1594 157.327 secs ago sensor:m_vacuum(inHg)=9.25026361416361 41.407 secs ago sensor:m_water_vx(m/s)=-0.0367844537471494 118.821 secs ago sensor:m_water_vy(m/s)=-0.100015152260222 118.865 secs ago sensor:u_use_current_correction(nodim)=0 1e+308 secs ago sensor:x_last_wpt_lat(lat)=4432.58940007421 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-3619.71619987368 1e+308 secs ago 245671 No login script found for processing. Glider silbo at surface. Because:pitch not commanded [behavior surface_4 start_when = 2.0] MissionName:CCEXIT.MI MissionNum:silbo-2016-204-0-12 (0046.0012) Vehicle Name: silbo Curr Time: Tue Jul 26 17:08:37 2016 MT: 245684 DR Location: 4359.805 N -3508.515 E measured 121.612 secs ago GPS TooFar: 4432.147 N -3613.584 E measured 1e+308 secs ago GPS Invalid : 4400.942 N -3515.532 E measured 185.112 secs ago GPS Location: 4359.805 N -3508.515 E measured 124.022 secs ago sensor:c_autoballast_state(enum)=2 141791 secs ago sensor:c_climb_bpump(X)=150 0.33 secs ago sensor:c_dive_bpump(X)=-200 0.372 secs ago sensor:c_wpt_lat(lat)=4430 245523 secs ago sensor:c_wpt_lon(lon)=-3000 245523 secs ago sensor:m_battery(volts)=15.0316340904719 59.713 secs ago sensor:m_coulomb_amphr(amp-hrs)=19.378812789917 4.602 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=262.802058141418 4.616 secs ago sensor:m_final_water_vx(m/s)=-0.0367844537471494 132.429 secs ago sensor:m_final_water_vy(m/s)=-0.100015152260222 132.461 secs ago sensor:m_iridium_signal_strength(nodim)=4 29.573 secs ago sensor:m_leakdetect_voltage(volts)=2.49688644688644 59.831 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49020146520146 59.841 secs ago sensor:m_tot_num_inflections(nodim)=1594 171.2 secs ago sensor:m_vacuum(inHg)=9.25026361416361 55.266 secs ago sensor:m_water_vx(m/s)=-0.0367844537471494 132.672 secs ago sensor:m_water_vy(m/s)=-0.100015152260222 132.704 secs ago sensor:u_use_current_correction(nodim)=0 1e+308 secs ago sensor:x_last_wpt_lat(lat)=4432.58940007421 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-3619.71619987368 1e+308 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 85/ 45/ 10 ABORT HISTORY: total since reset: 0 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: (4430.0000,-3000.0000) Range: 414188m, Bearing: 97deg, Age: 68:12h:m Time until diving is: 169 secs s *.sbd *.tbd -------------------------------- 245709 6 00460012.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 245718 9 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 00460012.tbd to/from silbo size is 8742 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: 8742 zModem transfer DONE for file 00460012.tbd Starting zModem transfer of 00460011.tbd to/from silbo size is 457 Total Bytes sent/received: 457 zModem transfer DONE for file 00460011.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00460012.TBD c:\logs\00460011.TBD SCI: SUCCESS 245800 28 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 245804 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 245804 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00460012.sbd to/from silbo size is 28443 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: 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: 25600 Total Bytes sent/received: 26624 Total Bytes sent/received: 27648 Total Bytes sent/received: 28443 zModem transfer DONE for file 00460012.sbd Starting zModem transfer of 00460011.sbd to/from silbo size is 588 Total Bytes sent/received: 588 zModem transfer DONE for file 00460011.sbd s().... 246002 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.**^XB0800000000022d DEL**^XB0800000000022d DEL. GLD: Sent 2 file(s): c:\logs\00460012.SBD c:\logs\00460011.SBD GLD: SUCCESS 246043 37 SCI:PROGLET house_elf begin() called 246043 SCI: house_elf: Version 1.2 246043 SCI:PROGLET ctd41cp begin() called 246043 SCI: ctd41cp: Version 0.2 246044 38 SCI: ctd41cp: Will be sending the following data to glider: 246044 SCI: sci_water_cond(s/m) 246044 SCI: sci_water_temp(degc) 246045 SCI: sci_water_pressure(bar) 246045 SCI: sci_ctd41cp_timestamp(timestamp) 246046 SCI:PROGLET house_elf start() called 246046 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 246046 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 246111 41 00460013.mlg LOG FILE OPENED -------------------------------- 246112 behavior surface_4: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider silbo at surface. Because:pitch not commanded [behavior surface_4 start_when = 2.0] MissionName:CCEXIT.MI MissionNum:silbo-2016-204-0-13 (0046.0013) Vehicle Name: silbo Curr Time: Tue Jul 26 17:15:50 2016 MT: 246117 DR Location: 4359.805 N -3508.515 E measured 554.866 secs ago GPS TooFar: 4432.147 N -3613.584 E measured 1e+308 secs ago GPS Invalid : 4400.942 N -3515.532 E measured 618.366 secs ago GPS Location: 4359.805 N -3508.515 E measured 557.276 secs ago sensor:c_autoballast_state(enum)=2 142224 secs ago sensor:c_climb_bpump(X)=150 0.33 secs ago sensor:c_dive_bpump(X)=-200 0.374 secs ago sensor:c_wpt_lat(lat)=4430 245957 secs ago sensor:c_wpt_lon(lon)=-3000 245957 secs ago sensor:m_battery(volts)=15.0092085705472 3.12 secs ago sensor:m_coulomb_amphr(amp-hrs)=19.4180011749268 3.301 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=262.841246526428 3.314 secs ago sensor:m_final_water_vx(m/s)=-0.0367844537471494 565.683 secs ago sensor:m_final_water_vy(m/s)=-0.100015152260222 565.715 secs ago sensor:m_iridium_signal_strength(nodim)=4 462.827 secs ago sensor:m_leakdetect_voltage(volts)=2.49972527472528 3.167 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49358974358974 3.182 secs ago sensor:m_tot_num_inflections(nodim)=1594 604.455 secs ago sensor:m_vacuum(inHg)=9.32685 3.468 secs ago sensor:m_water_vx(m/s)=-0.0367844537471494 565.931 secs ago sensor:m_water_vy(m/s)=-0.100015152260222 565.964 secs ago sensor:u_use_current_correction(nodim)=0 1e+308 secs ago sensor:x_last_wpt_lat(lat)=4432.58940007421 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-3619.71619987368 1e+308 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 85/ 45/ 10 ABORT HISTORY: total since reset: 0 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: (4430.0000,-3000.0000) Range: 414188m, Bearing: 97deg, Age: 68:19h:m ^EExtending surface time by 5 minutes Time until diving is: 294 secs ^EExtending surface time by 5 minutes ^EExtending surface time by 5 minutes !put u_low_power_cycle_time 30 -------------------------------- 246142 47 sensor: u_low_power_cycle_time = 30 sec -------------------------------- 246142 behavior surface_4: ! succeeded:put u_low_power_cycle_time 30 246142 behavior surface_4: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume !put u_science_low_power 0 -------------------------------- 246152 50 sensor: u_science_low_power = 0 sec -------------------------------- 246152 behavior surface_4: ! succeeded:put u_science_low_power 0 246152 behavior surface_4: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0239 C_FIN:0.0000 !zr -------------------------------- 246167 53 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 246167 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B01000800275775 � Starting zModem transfer of ccexit.mi to/from silbo size is 6622 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: 6622 zModem transfer DONE for file ccexit.mi Starting zModem transfer of yo14.ma to/from silbo size is 2759 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 2759 zModem transfer DONE for file yo14.ma sending >ccexit.mi< Sent sending >yo14.ma< Sent archiving >/var/opt/sfmc-dockserver/stations/twr/gliders/silbo/to-glider/ccexit.mi< as >/var/opt/sfmc-dockserver/stations/twr/gliders/silbo/archive/20160726T171745_ccexit.mi< Successful deleting >/var/opt/sfmc-dockserver/stations/twr/gliders/silbo/to-glider/ccexit.mi< Successful archiving >/var/opt/sfmc-dockserver/stations/twr/gliders/silbo/to-glider/yo14.ma< as >/var/opt/sfmc-dockserver/stations/twr/gliders/silbo/archive/20160726T171745_yo14.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/twr/gliders/silbo/to-glider/yo14.ma< Successful 246232 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 246232 restore_sensors().... 246232 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 246232 behavior surface_4: ! succeeded:zr 246232 behavior surface_4: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume Glider silbo at surface. Because:pitch not commanded [behavior surface_4 start_when = 2.0] MissionName:CCEXIT.MI MissionNum:silbo-2016-204-0-13 (0046.0013) Vehicle Name: silbo Curr Time: Tue Jul 26 17:17:50 2016 MT: 246237 DR Location: 4359.805 N -3508.515 E measured 674.707 secs ago GPS TooFar: 4432.147 N -3613.584 E measured 1e+308 secs ago GPS Invalid : 4400.942 N -3515.532 E measured 738.207 secs ago GPS Location: 4359.805 N -3508.515 E measured 677.117 secs ago sensor:c_autoballast_state(enum)=2 142344 secs ago sensor:c_climb_bpump(X)=150 0.329 secs ago sensor:c_dive_bpump(X)=-200 0.373 secs ago sensor:c_wpt_lat(lat)=4430 246077 secs ago sensor:c_wpt_lon(lon)=-3000 246077 secs ago sensor:m_battery(volts)=14.9518745266793 3.122 secs ago sensor:m_coulomb_amphr(amp-hrs)=19.4263114929199 3.289 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=262.849556844421 3.301 secs ago sensor:m_final_water_vx(m/s)=-0.0367844537471494 685.525 secs ago sensor:m_final_water_vy(m/s)=-0.100015152260222 685.556 secs ago sensor:m_iridium_signal_strength(nodim)=4 582.668 secs ago sensor:m_leakdetect_voltage(volts)=2.4997557997558 3.036 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49337606837607 3.051 secs ago sensor:m_tot_num_inflections(nodim)=1594 724.295 secs ago sensor:m_vacuum(inHg)=9.32685 123.308 secs ago sensor:m_water_vx(m/s)=-0.0367844537471494 685.77 secs ago sensor:m_water_vy(m/s)=-0.100015152260222 685.804 secs ago sensor:u_use_current_correction(nodim)=0 1e+308 secs ago sensor:x_last_wpt_lat(lat)=4432.58940007421 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-3619.71619987368 1e+308 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 85/ 45/ 10 ABORT HISTORY: total since reset: 0 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: sci_m_science_on = 0 Water Velocity Calculations COMPLETE Waypoint: (4430.0000,-3000.0000) Range: 414188m, Bearing: 97deg, Age: 68:21h:m Time until diving is: 1194 secs ^C246242 55 behavior surface_4: User Hit a Control-C, terminating the mission 246242 behavior surface_4: STATE Active -> Mission Complete 246242 behavior ?_-1: layered_control(): Mission completed normally 246242 behavior ?_-1: run_mission(): Mission completed: MS_COMPLETED_NORMALLY(-1) Vehicle Name: silbo Mission Name: CCEXIT.MI Mission Number: silbo-2016-204-0-13 (0046.0013) post_mission_cleanup(): End of Mission timestamp: Tue Jul 26 17:18:02 2016 246251 00460013.mlg LOG FILE CLOSED 246268 59 SCI:PROGLET house_elf begin() called 246268 SCI: house_elf: Version 1.2 246268 SCI:PROGLET ctd41cp begin() called 246269 SCI: ctd41cp: Version 0.2 246269 SCI: ctd41cp: Will be sending the following data to glider: 246269 SCI: sci_water_cond(s/m) 246269 SCI: sci_water_temp(degc) 246269 SCI: sci_water_pressure(bar) 246269 SCI: sci_ctd41cp_timestamp(timestamp) 246271 SCI:PROGLET house_elf start() called 246271 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 246271 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) timestamp: Tue Jul 26 17:18:35 2016 Mission completed normally Mission end: grun_mission() CCEXIT.MI silbo-2016-204-0-13 (0046.0013) SEQUENCE: CCEXIT.MI silbo-2016-204-0-13 (0046.0013) completed normally SEQUENCE: About to run CCEXIT.MI on try 1 You have 120 seconds to type a control-C to terminate the sequence. The control-P character immediately starts the mission. All other characters are ignored. ^@ I heard a keystroke ('NUL'), but not the right one! Drained the following 1 pending chars from input buffer: 03 ^C . SEQUENCE: About to run CCEXIT.MI on try 1 You have 120 seconds to type a control-C to terminate the sequence. The control-P character immediately starts the mission. All other characters are ignored. ^C Heard a Control-C, terminating the sequence GliderDos N -1 > 246293 65 NOTE:GPS fix is getting stale: 733 secs old 246293 GliderDos: No keystroke heard for 0 seconds 600 seconds to go before running:SEQUENCE -resume_next GliderDos N -1 >type c:\mafiles\yo14.ma behavior_name=yo # yo14.ma # climb 3m dive 12m alt 9m pitch 26 deg # Basic parameters for Autoballast routine to reduce total drive to d_bpump_value # with minimum vertical speed d_speed_min and c_speed_min # See /doco/how-it-works/autoballast.txt and masterdata for full list of b_args. # 2011-09-19 lcooney@teledyne.com Initial, copied from yo10.ma # 20160429 JASS fly with fixed battpos b_arg: start_when(enum) 2 # pitch idle (see doco below) b_arg: num_half_cycles_to_do(nodim) 4 # Number of dive/climbs to perform # <0 is infinite, i.e. never finishes # arguments for dive_to b_arg: d_target_depth(m) 980 b_arg: d_target_altitude(m) -1 b_arg: d_use_bpump(enum) 0 # 0 Autoballast/Speed control. #b_arg: d_use_bpump(enum) 2 # set bpump manually b_arg: d_bpump_value(X) 300.0 # change to positive if autoballast = Total amt of ballast, stored as C_AUTOBALLAST_VOLUME b_arg: d_use_pitch(enum) 1 # 1:battpos 2:setonce 3:servo # in rad rad, <0 dive b_arg: d_pitch_value(X) 0 # battpos 0 inches for dives b_arg: d_speed_min(m/s) 0.04 # minimum depth rate for dive ##############################################Dive Thruster########################################## b_arg: d_use_thruster(enum) 0 # b_arg: d_thruster_value(X) 1.0 # b_arg: d_stop_when_hover_for(sec) 3600.0 # b_arg: d_stop_when_stalled_for(sec) 3600.0 # #########################------------>climb<---------------################################# # arguments for climb_to b_arg: c_target_depth(m) 50 b_arg: c_target_altitude(m) -1 b_arg: c_use_bpump(enum) 0 # 0 Autoballast/Speed control. #b_arg: c_use_bpump(enum) 2 # 2 set manually #b_arg: c_bpump_value(X) 115.0 # this many cc - comment out if autoballast b_arg: c_use_pitch(enum) 1 # 1:battpos 2:setonce 3:servo # in rad rad, >0 climb b_arg: c_pitch_value(X) 0 # 0 inches for climb b_arg: c_speed_min(m/s) -0.04 # minimum depth rate for climb ##############################################Climb Thruster######################################### b_arg: c_use_thruster(enum) 0 # b_arg: c_thruster_value(X) 1.0 # b_arg: c_stop_when_hover_for(sec) 3600.0 # b_arg: c_stop_when_stalled_for(sec) 3600.0 # b_arg: end_action(enum) 2 # 0-quit, 2 resume GliderDos N -1 >type c:\missions\ccexit.mi # ccexit.mi # # Retrieves waypoints from mafiles/goto_l10.ma # Retrieves yo envelope from mafiles/yo10.ma # Retrieves climb to surface controls from mafiles/surfac01 through 06.ma # Surfaces: # if haven't had comms as controlled by surfac01.ma # mission done (finished all the waypoints) surfac02.ma # Bad altimeter or half yo's finish surfac03.ma # Every waypoint surfac04.ma # If requested by science surfac05.ma # Every x minutes surfac06.ma # All science sensors sample on only downcast from sample10.ma # # 10-July-2010 ballsup@webbresearch.com Initial (based on glmpc.mi) # 30-Nov-2010 ballsup@webbresearch.com changed abort for cop tickle 13.5 hours and disabled percentage method # 01-12-15 changed abstock to fly long shallow angle thruster on missions # 2016-04-19 lcooney Added f_min_ballast and f_speed_min # 2016-04-28 cdecollibus Added Low Power settings. enabled 30s LP fligh, enabled LP SCI, changed u_alt_min_depth to 500m. Also deleted surfac14,15,16. ################################################################################ sensor: c_science_all_on_enabled(bool) 1 sensor: u_alt_reduced_usage_mode(bool) 1 sensor: u_use_ctd_depth_for_flying(bool) 0 # true=> use ctd measurement for m_depth # implemented as emergency workaround for # broken ocean pressure sensor: u_use_current_correction(nodim) 0 # 0 calculate, but do not use m_water_vx/y # 1 use m_water_vx/y to navigate AND steer sensor: u_dbd_sensor_list_xmit_control(enum) 2 # 0 = always transmit header # 1 = transmit header on initial mission segment only # 2 = transmit header if THIS glider hasn't sent it before # 3 = never transmit header sensor: u_sci_dbd_sensor_list_xmit_control(enum) 2 # 0 = always transmit header # 1 = transmit header on initial mission segment only # 2 = transmit header if THIS glider hasn't sent it before # 3 = never transmit header sensor: u_pitch_ap_deadband(rad) 0.10 # 6 deg. Deadband for thruster not commanded # sensors to allow for very small total drive sensor: f_min_ballast(X) 100.0 # in, the minimum amt of total ballast, limits c_autoballast_volume. sensor: f_speed_min(m/s) 0.03 #in, minimum allowable speed input. Protects against excessively low c_speed_min b_args that could cause stall #Low Power Settings sensor: u_low_power_cycle_time(sec) 30 # in, num of secs/cycle on glider processor # during low power mode (dive/climbs), # <=0 disables low power mode sensor: u_science_low_power(sec) 0 # -1 = disabled, science always on # 0 = power down science when not sampling # x = power down science when not sampling and # power up science x seconds prior to inflection sensor: u_alt_min_depth(m) 1200 ################################################################################ behavior: abend b_arg: overdepth_sample_time(s) 25.0 # how often to check # MS_ABORT_OVERTIME b_arg: overtime(s) -1.0 # < 0 disables # MS_ABORT_WPT_TOOFAR b_arg: max_wpt_distance(m) -1 # Maximum allowable distance to a waypoint b_arg: samedepth_for_sample_time(s) 30.0 # how often to check b_arg: undervolts(volts) 9.5 # < 0 disables Decrease to 9 # for Lithium primary batteries b_arg: no_cop_tickle_for(sec) 48600.0 # secs, abort mission if watchdog # not tickled this often, <0 disables b_arg: no_cop_tickle_percent(%) -1 # 0-100, <0 disables ################################################################################ # Come up if haven't had comms for a while behavior: surface b_arg: args_from_file(enum) 11 # read from mafiles/surfac01.ma ################################################################################ # Come up when mission done # This is determined by no one steering in x-y plane (no waypoints) behavior: surface b_arg: args_from_file(enum) 12 # read from mafiles/surfac02.ma ################################################################################ # Come up briefly if "yo" finishes # This happens if a bad altimeter hit causes a dive and climb to # complete in same cycle. We surface and hopefully yo restarts # or change keystroke_wait_time if surfacing for num_half_cycles_to_do behavior: surface b_arg: args_from_file(enum) 13 # read from mafiles/surfac03.ma ################################################################################ behavior: goto_list b_arg: args_from_file(enum) 10 # read from mafiles/goto_l10.ma b_arg: start_when(enum) 0 # 0-immediately, 1-stack idle 2-heading idle ################################################################################ behavior: yo b_arg: args_from_file(enum) 14 # read from mafiles/yo14.ma b_arg: start_when(enum) 2 # 0-immediately, 1-stack idle 2-depth idle b_arg: end_action(enum) 2 # 0-quit, 2 resume ################################################################################ # Sample all science sensors only on downcast behavior: sample b_arg: args_from_file(enum) 10 # >= 0 enables reading from mafiles/sample10.ma ################################################################################ # Sample ctd only on downcast # sensor c_science_all_on_enabled must be set to 0 to uncouple science sensor union #behavior: sample #b_arg: args_from_file(enum) 11 # >= 0 enables reading from mafiles/sample11.ma ################################################################################ behavior: prepare_to_dive b_arg: start_when(enum) 0 # 0-immediately, 1-stack idle 2-depth idle b_arg: wait_time(s) 720 # 12 minutes, how long to wait for gps ################################################################################ behavior: sensors_in # Turn most input sensors off GliderDos N -1 >put c_autoballast_state 0 246376 88 sensor: c_autoballast_state = 0 enum GliderDos N -1 >sequence ccexit.mi(3) Sequencing missions load_mission(): Opening Mission file: CCEXIT.MI for execution 3 times Setting SENSOR c_science_all_on_enabled(bool) = 1.000000 Setting SENSOR u_alt_reduced_usage_mode(bool) = 1.000000 Setting SENSOR u_use_ctd_depth_for_flying(bool) = 0.000000 Setting SENSOR u_use_current_correction(nodim) = 0.000000 Setting SENSOR u_dbd_sensor_list_xmit_control(enum) = 2.000000 Setting SENSOR u_sci_dbd_sensor_list_xmit_control(enum) = 2.000000 Setting SENSOR u_pitch_ap_deadband(rad) = 0.100000 Setting SENSOR f_min_ballast(x) = 100.000000 Setting SENSOR f_speed_min(m/s) = 0.030000 Setting SENSOR u_low_power_cycle_time(sec) = 30.000000 Setting SENSOR u_science_low_power(sec) = 0.000000 Setting SENSOR u_alt_min_depth(m) = 1200.000000 load_mission(): Opening Mission file: lastgasp.mi for execution FOREVER 1 mission specifiers - sequencing 3 total missions (not counting lastgasp.mi): CCEXIT.MI(3) lastgasp.mi SEQUENCE: About to run CCEXIT.MI on try 0 You have 120 seconds to type a control-C to terminate the sequence. The control-P character immediately starts the mission. All other characters are ignored. ^P Heard a control-P, starting the sequence SEQUENCE: Running CCEXIT.MI on try 0 Starting Mission: CCEXIT.MI The instantaneous lag time between the system and gps clock is 0.0 seconds. The average lag time between the system and gps clock is 0.4 seconds. timestamp: Tue Jul 26 17:20:32 2016 load_mission(): Opening Mission file: CCEXIT.MI Setting SENSOR c_science_all_on_enabled(bool) = 1.000000 Setting SENSOR u_alt_reduced_usage_mode(bool) = 1.000000 Setting SENSOR u_use_ctd_depth_for_flying(bool) = 0.000000 Setting SENSOR u_use_current_correction(nodim) = 0.000000 Setting SENSOR u_dbd_sensor_list_xmit_control(enum) = 2.000000 Setting SENSOR u_sci_dbd_sensor_list_xmit_control(enum) = 2.000000 Setting SENSOR u_pitch_ap_deadband(rad) = 0.100000 Setting SENSOR f_min_ballast(x) = 100.000000 Setting SENSOR f_speed_min(m/s) = 0.030000 Setting SENSOR u_low_power_cycle_time(sec) = 30.000000 Setting SENSOR u_science_low_power(sec) = 0.000000 Setting SENSOR u_alt_min_depth(m) = 1200.000000 Vehicle Name: silbo Curr Time: Tue Jul 26 17:20:33 2016 MT: 246397 DR Location: 4359.805 N -3508.515 E measured 837.821 secs ago GPS TooFar: 4432.147 N -3613.584 E measured 1e+308 secs ago GPS Invalid : 4400.942 N -3515.532 E measured 901.321 secs ago GPS Location: 4359.805 N -3508.515 E measured 840.23 secs ago sensor:c_autoballast_state(enum)=0 24.949 secs ago sensor:c_climb_bpump(X)=150 158.431 secs ago sensor:c_dive_bpump(X)=-200 158.475 secs ago sensor:c_wpt_lat(lat)=4430 246240 secs ago sensor:c_wpt_lon(lon)=-3000 246240 secs ago sensor:m_battery(volts)=14.7601140344912 3.043 secs ago sensor:m_coulomb_amphr(amp-hrs)=19.4429378509521 3.223 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=262.866183202454 3.236 secs ago sensor:m_final_water_vx(m/s)=-0.0367844537471494 848.633 secs ago sensor:m_final_water_vy(m/s)=-0.100015152260222 848.666 secs ago sensor:m_iridium_signal_strength(nodim)=4 745.778 secs ago sensor:m_leakdetect_voltage(volts)=2.49960317460318 35.076 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49322344322344 35.089 secs ago sensor:m_tot_num_inflections(nodim)=1594 887.405 secs ago sensor:m_vacuum(inHg)=9.2738605006105 3.385 secs ago sensor:m_water_vx(m/s)=-0.0367844537471494 848.876 secs ago sensor:m_water_vy(m/s)=-0.100015152260222 848.909 secs ago sensor:u_use_current_correction(nodim)=0 1.467 secs ago sensor:x_last_wpt_lat(lat)=4432.58940007421 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-3619.71619987368 1e+308 secs ago start_alldevices() PARSED iridium_phone_data for datum# 0: =========== predial initialization cmds (from c:\config\iridinit.0): ATE AT+cbst=6,0,1 AT+CSQ dial string: ATD00881600005140 from sensors: C_IRIDIUM_LEAD_ZEROS C_IRIDIUM_PHONE_NUM Iridium login script (from c:\config\loginexp.0): empty or non-existent PARSED iridium_phone_data for datum# 1: =========== predial initialization cmds (from c:\config\iridinit.1): ATE AT+cbst=6,0,1 AT+CSQ dial string: ATD0017818711051 from sensors: C_IRIDIUM_LEAD_ZEROS_ALT C_IRIDIUM_PHONE_NUM_ALT Iridium login script (from c:\config\loginexp.1): empty or non-existent 64.25 3 00470000.mlg LOG FILE OPENED MissionSTARTDate: 26 Jul 2016 17:20:35 Z Mission Name: CCEXIT.MI Mission Number: silbo-2016-207-0-0 (0047.0000) log_c_stack(): 1-abend 2-surface 3-surface 4-surface 5-goto_list 6-yo 7-sample 8-prepare_to_dive 9-sensors_in report_heap_size(): M_FREE_HEAP=203.0K, M_SPARE_HEAP=184.0K pre_mission_init():End of Initialization not found>*< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 70.79 4 behavior sensors_in_9: STATE UnInited -> Active 70.84 behavior sensors_in_9: argument: c_att_time = -1.000000 sec 70.90 behavior sensors_in_9: argument: c_pressure_time = -1.000000 sec 70.95 behavior sensors_in_9: argument: c_alt_time = -1.000000 sec 71.01 behavior sensors_in_9: argument: u_battery_time = -1.000000 sec 71.06 behavior sensors_in_9: argument: u_vacuum_time = -1.000000 sec 71.12 behavior sensors_in_9: argument: c_leakdetect_time = -1.000000 sec 71.18 behavior sensors_in_9: argument: c_gps_on = 0.000000 bool 71.23 behavior sensors_in_9: argument: c_science_all_on = -1.000000 sec 71.28 behavior sensors_in_9: argument: c_profile_on = -1.000000 sec 71.34 behavior sensors_in_9: argument: c_bb2f_on = -1.000000 sec 71.40 behavior sensors_in_9: argument: c_bb2c_on = -1.000000 sec 71.45 behavior sensors_in_9: argument: c_bb2lss_on = -1.000000 sec 71.50 behavior sensors_in_9: argument: c_sam_on = -1.000000 sec 71.56 behavior sensors_in_9: argument: c_moteopd_on = -1.000000 sec 71.61 behavior sensors_in_9: argument: c_bbfl2s_on = -1.000000 sec 71.67 behavior sensors_in_9: argument: c_fl3slo_on = -1.000000 sec 71.72 behavior sensors_in_9: argument: c_bb3slo_on = -1.000000 sec 71.78 behavior sensors_in_9: argument: c_oxy3835_on = -1.000000 sec 71.83 behavior sensors_in_9: argument: c_whfctd_on = -1.000000 sec 71.89 behavior sensors_in_9: argument: c_bam_on = -1.000000 sec 71.94 behavior sensors_in_9: argument: c_ocr504R_on = -1.000000 sec 72.00 behavior sensors_in_9: argument: c_ocr504I_on = -1.000000 sec 72.05 behavior sensors_in_9: argument: c_flntu_on = -1.000000 sec 72.11 behavior sensors_in_9: argument: c_fl3slov2_on = -1.000000 sec 72.16 behavior sensors_in_9: argument: c_bb3slov2_on = -1.000000 sec 72.24 behavior sensors_in_9: argument: c_ocr507R_on = -1.000000 sec 72.29 behavior sensors_in_9: argument: c_ocr507I_on = -1.000000 sec 72.35 behavior sensors_in_9: argument: c_bb3slov3_on = -1.000000 sec 72.40 behavior sensors_in_9: argument: c_bb2fls_on = -1.000000 sec 72.46 behavior sensors_in_9: argument: c_bb2flsV2_on = -1.000000 sec 72.51 behavior sensors_in_9: argument: c_oxy3835_wphase_on = -1.000000 sec 72.57 behavior sensors_in_9: argument: c_auvb_on = -1.000000 sec 72.62 behavior sensors_in_9: argument: c_bb2fV2_on = -1.000000 sec 72.68 behavior sensors_in_9: argument: c_tarr_on = -1.000000 sec 72.74 behavior sensors_in_9: argument: c_bbfl2sV2_on = -1.000000 sec 72.79 behavior sensors_in_9: argument: c_glbps_on = -1.000000 sec 72.84 behavior sensors_in_9: argument: c_sscsd_on = -1.000000 sec 72.90 behavior sensors_in_9: argument: c_bb2flsV3_on = -1.000000 sec 72.96 behavior sensors_in_9: argument: c_fire_on = -1.000000 sec 73.01 behavior sensors_in_9: argument: c_bb2flsV4_on = -1.000000 sec 73.06 behavior sensors_in_9: argument: c_bb2flsV5_on = -1.000000 sec 73.12 behavior sensors_in_9: argument: c_logger_on = -1.000000 sec 73.18 behavior sensors_in_9: argument: c_bbam_on = -1.000000 sec 73.23 behavior sensors_in_9: argument: c_uModem_on = -1.000000 sec 73.28 behavior sensors_in_9: argument: c_rinkoII_on = -1.000000 sec 73.34 behavior sensors_in_9: a