Connection Event: Carrier Detect found.740.95 Iridium console active and ready... Vehicle Name: silbo Curr Time: Sun Feb 5 04:41:59 2017 MT: 740 DR Location: 4921.558 N -1102.826 E measured 171.362 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 4921.607 N -1102.883 E measured 215.57 secs ago GPS Location: 4921.558 N -1102.826 E measured 173.789 secs ago sensor:c_autoballast_state(enum)=0 1e+308 secs ago sensor:c_climb_bpump(X)=1000 1e+308 secs ago sensor:c_dive_bpump(X)=-1000 1e+308 secs ago sensor:c_wpt_lat(lat)=4921.61600011067 245.114 secs ago sensor:c_wpt_lon(lon)=-1102.89160002604 245.161 secs ago sensor:m_battery(volts)=14.5819742478957 29.27 secs ago sensor:m_coulomb_amphr(amp-hrs)=1.56037509441376 9.956 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=649.689568617302 9.977 secs ago sensor:m_final_water_vx(m/s)=0 1e+308 secs ago sensor:m_final_water_vy(m/s)=0 1e+308 secs ago sensor:m_iridium_signal_strength(nodim)=5 19.907 secs ago sensor:m_leakdetect_voltage(volts)=2.4989010989011 34.316 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49291819291819 34.338 secs ago sensor:m_tot_num_inflections(nodim)=6350 1e+308 secs ago sensor:m_vacuum(inHg)=9.56985653235653 105.329 secs ago sensor:m_water_vx(m/s)=0 1e+308 secs ago sensor:m_water_vy(m/s)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=4921.61600011067 251.569 secs ago sensor:x_last_wpt_lon(lon)=-1102.89160002604 251.607 secs ago 742.28 No login script found for processing. :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0239 C_FIN:0.0000 Glider silbo at surface. Because:Hit a waypoint [behavior surface_2 start_when = 8.0] MissionName:initial.mi MissionNum:silbo-2017-035-13-0 (0178.0000) Vehicle Name: silbo Curr Time: Sun Feb 5 04:42:13 2017 MT: 755 DR Location: 4921.558 N -1102.826 E measured 185.441 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 4921.607 N -1102.883 E measured 229.649 secs ago GPS Location: 4921.558 N -1102.826 E measured 187.868 secs ago sensor:c_autoballast_state(enum)=0 1e+308 secs ago sensor:c_climb_bpump(X)=1000 1e+308 secs ago sensor:c_dive_bpump(X)=-1000 1e+308 secs ago sensor:c_wpt_lat(lat)=4921.61600011067 259.091 secs ago sensor:c_wpt_lon(lon)=-1102.89160002604 259.124 secs ago sensor:m_battery(volts)=14.5819742478957 43.221 secs ago sensor:m_coulomb_amphr(amp-hrs)=1.56274998188019 4.362 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=649.691943504768 4.376 secs ago sensor:m_final_water_vx(m/s)=0 1e+308 secs ago sensor:m_final_water_vy(m/s)=0 1e+308 secs ago sensor:m_iridium_signal_strength(nodim)=5 33.775 secs ago sensor:m_leakdetect_voltage(volts)=2.4989010989011 48.176 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49291819291819 48.191 secs ago sensor:m_tot_num_inflections(nodim)=6350 1e+308 secs ago sensor:m_vacuum(inHg)=9.56985653235653 119.154 secs ago sensor:m_water_vx(m/s)=0 1e+308 secs ago sensor:m_water_vy(m/s)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=4921.61600011067 265.294 secs ago sensor:x_last_wpt_lon(lon)=-1102.89160002604 265.326 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 15/ 13/ 13 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: (4921.6160,-1102.8916) Range: 133m, Bearing: 331deg, Age: -1:-1h:m Drifting toward outer watch circle, centered on waypoint Now 133.0 meters from middle, will dive at 2000.0 meters Time until diving is: 8142 secs(estimated) ^C789.53 32 behavior surface_2: User Hit a Control-C, terminating the mission 789.58 behavior surface_2: STATE Active -> Mission Complete 789.65 behavior ?_-1: layered_control(): Mission completed normally 789.74 behavior ?_-1: run_mission(): Mission completed: MS_COMPLETED_NORMALLY(-1) Vehicle Name: silbo Mission Name: initial.mi Mission Number: silbo-2017-035-13-0 (0178.0000) post_mission_cleanup(): End of Mission timestamp: Sun Feb 5 04:43:04 2017 808.35 01780000.mlg LOG FILE CLOSED timestamp: Sun Feb 5 04:43:11 2017 Mission completed normally Mission end: grun_mission() initial.mi silbo-2017-035-13-0 (0178.0000) SEQUENCE: initial.mi silbo-2017-035-13-0 (0178.0000) completed normally SEQUENCE: About to run lastgasp.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. ^@ I heard a keystroke ('NUL'), but not the right one! There were no pending chars in input buffer to drain. SEQUENCE: About to run lastgasp.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. :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0329 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0209 C_FIN:0.0000 ^C Heard a Control-C, terminating the sequence GliderDos N -1 > 824.59 37 GliderDos: No keystroke heard for 0 seconds 600 seconds to go before running:SEQUENCE -resume_next GliderDos N -1 >use 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 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 17 science_super I u 3 20 5 0 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 10 8 8] 25 leakdetect I u 3 20 5 0 26 recovery I u 3 20 5 0 27 coulomb I u 3 20 5 0 28 veh_temp I u 3 20 5 0 29 BUOYANCY_PUMP - 30THERMAL_ACC_PRE - 31 THERMAL_ENGINE - 32 THERMAL_PUMP - 33 DE_PUMP I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 5 5 5] 34 thruster_g1 - 35 thruster I u 3 20 5 0 devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 15/ 13/ 13 GliderDos N -1 >:OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0209 C_FIN:0.0000 where Vehicle Name: silbo Curr Time: Sun Feb 5 04:43:54 2017 MT: 855 DR Location: 4921.558 N -1102.826 E measured 286.363 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 4921.607 N -1102.883 E measured 330.57 secs ago GPS Location: 4921.558 N -1102.826 E measured 288.788 secs ago sensor:c_autoballast_state(enum)=0 1e+308 secs ago sensor:c_climb_bpump(X)=1000 1e+308 secs ago sensor:c_dive_bpump(X)=-1000 1e+308 secs ago sensor:c_wpt_lat(lat)=4921.61600011067 360.011 secs ago sensor:c_wpt_lon(lon)=-1102.89160002604 360.045 secs ago sensor:m_battery(volts)=14.4131027947261 0.481 secs ago sensor:m_coulomb_amphr(amp-hrs)=1.57225000858307 0.658 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=649.701443531471 0.673 secs ago sensor:m_final_water_vx(m/s)=0 1e+308 secs ago sensor:m_final_water_vy(m/s)=0 1e+308 secs ago sensor:m_iridium_signal_strength(nodim)=5 134.698 secs ago sensor:m_leakdetect_voltage(volts)=2.49899267399267 18.516 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49307081807082 18.533 secs ago sensor:m_tot_num_inflections(nodim)=6350 1e+308 secs ago sensor:m_vacuum(inHg)=9.56571672771672 0.837 secs ago sensor:m_water_vx(m/s)=0 1e+308 secs ago sensor:m_water_vy(m/s)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=4921.61600011067 366.218 secs ago sensor:x_last_wpt_lon(lon)=-1102.89160002604 366.25 secs ago GliderDos N -1 >Hi Ben! Bad command or file name GliderDos N -1 >HHHHIIIII!!!!! Bad command or file name GliderDos N -1 >You're driving! Bad command or file name GliderDos N -1 >Send *.sbd *.tbd -num=3 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 936.35 69 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 01780000.tbd to/from silbo size is 1763 Total Bytes sent/received: 1024 Total Bytes sent/received: 1763 zModem transfer DONE for file 01780000.tbd Starting zModem transfer of 01030844.tbd to/from silbo size is 475 Total Bytes sent/received: 475 zModem transfer DONE for file 01030844.tbd Starting zModem transfer of 01030843.tbd to/from silbo size is 460 Total Bytes sent/received: 460 zModem transfer DONE for file 01030843.tbd SHUFFLING FILES... SCI: Sent 3 file(s): c:\logs\01780000.TBD c:\logs\01030844.TBD c:\logs\01030843.TBD SCI: SUCCESS 1008 86 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 1017 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 1017 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 01780000.sbd to/from silbo size is 92447 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: 28672 Total Bytes sent/received: 29696 Total Bytes sent/received: 30720 Total Bytes sent/received: 31744 Total Bytes sent/received: 32768 Total Bytes sent/received: 33792 Total Bytes sent/received: 34816 Total Bytes sent/received: 35840 Total Bytes sent/received: 36864 Total Bytes sent/received: 37888 Total Bytes sent/received: 38912 Total Bytes sent/received: 39936 Total Bytes sent/received: 40960 Total Bytes sent/received: 41984 Total Bytes sent/received: 43008 Total Bytes sent/received: 44032 Total Bytes sent/received: 45056 Total Bytes sent/received: 46080 Total Bytes sent/received: 47104 Total Bytes sent/received: 48128 Total Bytes sent/received: 49152 Total Bytes sent/received: 50176 Total Bytes sent/received: 51200 Total Bytes sent/received: 52224 Total Bytes sent/received: 53248 Total Bytes sent/received: 54272 Total Bytes sent/received: 55296 Total Bytes sent/received: 56320 Total Bytes sent/received: 57344 Total Bytes sent/received: 58368 Total Bytes sent/received: 59392 Total Bytes sent/received: 60416 Total Bytes sent/received: 61440 Total Bytes sent/received: 62464 Total Bytes sent/received: 63488 Total Bytes sent/received: 64512 Total Bytes sent/received: 65536 Total Bytes sent/received: 66560 Total Bytes sent/received: 67584 Total Bytes sent/received: 68608 Total Bytes sent/received: 69632 Total Bytes sent/received: 70656 Total Bytes sent/received: 71680 Total Bytes sent/received: 72704 Total Bytes sent/received: 73728 Total Bytes sent/received: 74752 Total Bytes sent/received: 75776 Total Bytes sent/received: 76800 Total Bytes sent/received: 77824 Total Bytes sent/received: 78848 Total Bytes sent/received: 79872 Total Bytes sent/received: 80896 Total Bytes sent/received: 81920 Total Bytes sent/received: 82944 Total Bytes sent/received: 83968 Total Bytes sent/received: 84992 Total Bytes sent/received: 86016 Total Bytes sent/received: 87040 Total Bytes sent/received: 88064 Total Bytes sent/received: 89088 Total Bytes sent/received: 90112 Total Bytes sent/received: 91136 Total Bytes sent/received: 92160 Total Bytes sent/received: 92447 zModem transfer DONE for file 01780000.sbd Starting zModem transfer of 01770000.sbd to/from silbo size is 570 Total Bytes sent/received: 570 zModem transfer DONE for file 01770000.sbd Starting zModem transfer of 01760000.sbd to/from silbo size is 570 Total Bytes sent/received: 570 zModem transfer DONE for file 01760000.sbd 1610 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 1610 restore_sensors().... 1610 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES... GLD: Sent 3 file(s): c:\logs\01780000.SBD c:\logs\01770000.SBD c:\logs\01760000.SBD GLD: SUCCESS 1635 87 SCI:PROGLET house_elf begin() called 1635 SCI: house_elf: Version 1.2 1635 SCI:PROGLET ctd41cp begin() called 1635 SCI: ctd41cp: Version 0.2 1635 SCI: ctd41cp: Will be sending the following data to glider: 1635 SCI: sci_water_cond(s/m) 1636 SCI: sci_water_temp(degc) 1636 SCI: sci_water_pressure(bar) 1636 SCI: sci_ctd41cp_timestamp(timestamp) 1638 88 SCI:PROGLET house_elf start() called 1638 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 1638 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) GliderDos N -1 > 1640 NOTE:GPS fix is getting stale: 1073 secs old 1640 GliderDos: No keystroke heard for 0 seconds 600 seconds to go before running:SEQUENCE -resume_next GliderDos N -1 >cd missions \MISSIONS GliderDos N -1 >type 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 sensor: u_pitch_max_delta_battpos(in) .1 # 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 >where? Bad command or file name GliderDos N -1 >get m_why_started = 16.000000 enum GliderDos N -1 >where Vehicle Name: silbo Curr Time: Sun Feb 5 04:58:53 2017 MT: 1753 DR Location: 4921.558 N -1102.826 E measured 1184.63 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 4921.607 N -1102.883 E measured 1228.84 secs ago GPS Location: 4921.558 N -1102.826 E measured 1187.06 secs ago sensor:c_autoballast_state(enum)=0 1e+308 secs ago sensor:c_climb_bpump(X)=1000 1e+308 secs ago sensor:c_dive