Connection Event: Carrier Detect found.533590 Iridium console active and ready... Vehicle Name: ru25d Curr Time: Fri Jan 5 05:10:32 2018 MT: 533577 DR Location: -6613.750 N -6906.902 E measured 68.818 secs ago GPS TooFar: -6554.665 N -6822.706 E measured 168686 secs ago GPS Invalid : -6612.341 N -6903.220 E measured 118.398 secs ago GPS Location: -6613.750 N -6906.902 E measured 69.045 secs a 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 ... ] ... ] go sensor:c_thruster_surface_depth(m)=0 13171.9 secs ago sensor:c_wpt_lat(lat)=-6630.3262 187039 secs ago sensor:c_wpt_lon(lon)=-6953.402 187039 secs ago sensor:m_battery(volts)=10.7916816392066 11.058 secs ago sensor:m_coulomb_amphr(amp-hrs)=107.7074 5.903 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=108.459902237026 5.798 secs ago sensor:m_depth(m)=0 5.753 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 6.313 secs ago sensor:m_gps_mag_var(rad)=-0.357792496658837 69.751 secs ago sensor:m_iridium_attempt_num(nodim)=1 60.284 secs ago sensor:m_iridium_call_num(nodim)=2069 22.378 secs ago sensor:m_iridium_dialed_num(nodim)=3220 33.551 secs ago sensor:m_leakdetect_voltage(volts)=2.48617216117216 11.512 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 6.62 secs ago sensor:m_tot_num_inflections(nodim)=3987 270.17 secs ago sensor:m_vacuum(inHg)=9.91456721611722 11.804 secs ago sensor:m_water_vx(m/s)=0.0276486497831689 95.304 secs ago sensor:m_water_vy(m/s)=0.00687332029252787 95.351 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)=0.04 53615.6 secs ago sensor:x_last_wpt_lat(lat)=-6552.8714 187041 secs ago sensor:x_last_wpt_lon(lon)=-6817.7434 187041 secs ago ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_UNDERVOLTS ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2017-12-29T23:29:41 ABORT HISTORY: last abort segment: ru25d-2017-355-3-129 (0129.0129) ABORT HISTORY: last abort mission: 1K_N.MI 533591 DRIVER_ODDITY:iridium:2094:xxx_ctrl() ran too long Glider ru25d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru25d-2017-363-0-90 (0130.0090) Vehicle Name: ru25d Curr Time: Fri Jan 5 05:10:54 2018 MT: 533600 DR Location: -6613.750 N -6906.902 E measured 91.525 secs ago GPS TooFar: -6554.665 N -6822.706 E measured 168708 secs ago GPS Invalid : -6612.341 N -6903.220 E measured 141.103 secs ago GPS Location: -6613.750 N -6906.902 E measured 91.753 secs ago sensor:c_thruster_surface_depth(m)=0 13194.6 secs ago sensor:c_wpt_lat(lat)=-6630.3262 187062 secs ago sensor:c_wpt_lon(lon)=-6953.402 187062 secs ago sensor:m_battery(volts)=10.7916816392066 33.669 secs ago sensor:m_coulomb_amphr(amp-hrs)=107.7112 4.846 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=108.46370223709 4.722 secs ago sensor:m_depth(m)=0 4.68 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.183 secs ago sensor:m_gps_mag_var(rad)=-0.357792496658837 92.267 secs ago sensor:m_iridium_attempt_num(nodim)=1 82.778 secs ago sensor:m_iridium_call_num(nodim)=2069 44.852 secs ago sensor:m_iridium_dialed_num(nodim)=3220 56.006 secs ago sensor:m_leakdetect_voltage(volts)=2.48617216117216 33.96 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 5.399 secs ago sensor:m_tot_num_inflections(nodim)=3987 292.591 secs ago sensor:m_vacuum(inHg)=9.91456721611722 34.208 secs ago sensor:m_water_vx(m/s)=0.0276486497831689 117.695 secs ago sensor:m_water_vy(m/s)=0.00687332029252787 117.732 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)=0.04 53637.8 secs ago sensor:x_last_wpt_lat(lat)=-6552.8714 187063 secs ago sensor:x_last_wpt_lon(lon)=-6817.7434 187063 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 0/ 0 odd: 846/ 18/ 4 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_UNDERVOLTS ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2017-12-29T23:29:41 ABORT HISTORY: last abort segment: ru25d-2017-355-3-129 (0129.0129) ABORT HISTORY: last abort mission: 1K_N.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 55 secs) Waypoint: (-6630.3262,-6953.4020) Range: 46370m, Bearing: 209deg, Age: 51:57h:m Time until diving is: 204 secs s *.sbd *.tbd -------------------------------- 533636 34 01300090.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 533645 38 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 01300090.tbd to/from ru25d size is 43885 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: 13814 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: 27165 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: 40633 Total Bytes sent/received: 40960 Total Bytes sent/received: 41984 Total Bytes sent/received: 43008 Total Bytes sent/received: 43885 zModem transfer DONE for file 01300090.tbd Starting zModem transfer of 01300089.tbd to/from ru25d size is 2953 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 2953 zModem transfer DONE for file 01300089.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\01300090.TBD c:\logs\01300089.TBD SCI: SUCCESS 534163 58 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 534164 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 534164 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 01300090.sbd to/from ru25d size is 8180 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: 8180 zModem transfer DONE for file 01300090.sbd Starting zModem transfer of 01300089.sbd to/from ru25d size is 779 Total Bytes sent/received: 779 zModem transfer DONE for file 01300089.sbd restore_sensors().... 534240 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES..**^XB0800000000022d DEL**^XB0800000000022d DEL GLD: Sent 2 file(s): c:\logs\01300090.SBD c:\logs\01300089.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 1.000000 534249 60 SCI:PROGLET house_elf begin() called 534249 SCI: house_elf: Version 1.2 534249 SCI:PROGLET ctd41cp begin() called 534249 SCI: ctd41cp: Version 0.2 534249 SCI: ctd41cp: Will be sending the following data to glider: 534249 SCI: sci_water_cond(s/m) 534249 SCI: sci_water_temp(degc) 534249 SCI: sci_water_pressure(bar) 534250 SCI: sci_ctd41cp_timestamp(timestamp) 534250 SCI:PROGLET flbbcd begin() called 534250 SCI: flbbcd: Version 0.0 534250 SCI: flbbcd: Will be sending following data to glider: 534250 SCI: sci_flbbcd_chlor_units(ug/l) 534250 SCI: sci_flbbcd_bb_units(nodim) 534250 SCI: sci_flbbcd_cdom_units(ppb) 534250 SCI: sci_flbbcd_chlor_sig(nodim) 534250 SCI: sci_flbbcd_bb_sig(nodim) 534250 SCI: sci_flbbcd_cdom_sig(nodim) 534251 SCI: sci_flbbcd_chlor_ref(nodim) 534251 61 SCI: sci_flbbcd_bb_ref(nodim) 534251 SCI: sci_flbbcd_cdom_ref(nodim) 534251 SCI: sci_flbbcd_therm(nodim) 534252 SCI: sci_flbbcd_timestamp(timestamp) 534252 SCI: Opening Bit(30) for output 534252 SCI:Bit(30) use count is now 1. 534252 SCI:Bit(30) raise count is now 0. 534253 SCI:Bit(30) raise count is now 0. 534253 SCI:PROGLET oxy3835_wphase begin() called 534253 SCI: oxy3835_wphase: Version 0.4 534253 SCI: oxy3835_wphase: Will be sending following data to glider: 534253 SCI: sci_oxy3835_wphase_oxygen(nodim) 534253 SCI: sci_oxy3835_wphase_saturation(nodim) 534253 SCI: sci_oxy3835_wphase_temp(nodim) 534253 SCI: sci_oxy3835_wphase_dphase(nodim) 534253 SCI: sci_oxy3835_wphase_bphase(nodim) 534254 SCI: sci_oxy3835_wphase_rphase(nodim) 534254 SCI: sci_oxy3835_wphase_bamp(nodim) 534254 SCI: sci_oxy3835_wphase_bpot(nodim) 534254 SCI: sci_oxy3835_wphase_ramp(nodim) 534254 SCI: sci_oxy3835_wphase_rawtemp(nodim) 534254 SCI: sci_oxy3835_wphase_timestamp(timestamp) 534254 SCI: Opening Bit(34) for output 534254 SCI:Bit(34) use count is now 1. 534254 SCI:Bit(34) raise count is now 0. 534255 SCI:Bit(34) raise count is now 0. 534258 63 SCI:PROGLET house_elf start() called 534258 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 534258 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 534259 SCI:PROGLET ctd41cp start() called 534259 SCI: Opening port 2:UART4:Chan C SBMB:J4(ctd) 534260 64 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 534261 SCI: in queue size: 2048, out queue size: 0 534262 SCI:sci_uart_drain_input(2): 534262 SCI: 534262 SCI:sci_uart_drain_input:Drained 0 chars 534262 SCI: Opening Bit(27) for output 534262 SCI:Bit(27) use count is now 1. 534262 SCI:Bit(27) raise count is now 0. 534262 SCI: Opening Bit(26) for output 534262 SCI:Bit(26) use count is now 1. 534262 SCI:Bit(26) raise count is now 0. 534263 SCI:bit_shared_raise(): Raising bit(27). 534263 SCI:bit_shared_raise(): Raising bit(26). 534263 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 534263 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 534263 SCI:PROGLET oxy3835_wphase start() called 534263 SCI: Opening port 3:UART4:Chan D SBMB:J6 534263 SCI: 9600 baud, N81, line buf: 150, no input data timeout(secs): 15 534263 SCI: in queue size: 2048, out queue size: 0 534264 SCI:sci_uart_drain_input(3): 534264 SCI: 534264 SCI:sci_uart_drain_input:Drained 0 chars 534264 SCI:bit_shared_raise(): Raising bit(34). 534264 SCI: oxy3835_wphase_run(): 0 error(s) in a row. (5 is fatal) 534264 SCI: oxy3835_wphase_run(): 0 error(s) since oxy3835_wphase_begin(). (50 is fatal) 534325 66 01300091.mlg LOG FILE OPENED -------------------------------- 534326 behavior surface_2: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru25d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru25d-2017-363-0-91 (0130.0091) Vehicle Name: ru25d Curr Time: Fri Jan 5 05:22:54 2018 MT: 534320 DR Location: -6613.750 N -6906.902 E measured 811.197 secs ago GPS TooFar: -6554.665 N -6822.706 E measured 169428 secs ago GPS Invalid : -6612.341 N -6903.220 E measured 860.778 secs ago GPS Location: -6613.750 N -6906.902 E measured 811.427 secs ago sensor:c_thruster_surface_depth(m)=0 13914.3 secs ago sensor:c_wpt_lat(lat)=-6630.3262 187782 secs ago sensor:c_wpt_lon(lon)=-6953.402 187782 secs ago sensor:m_battery(volts)=10.7785491285216 3.739 secs ago sensor:m_coulomb_amphr(amp-hrs)=107.8074 4.045 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=108.559902238981 3.931 secs ago sensor:m_depth(m)=0.634754799383946 3.815 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 63.408 secs ago sensor:m_gps_mag_var(rad)=-0.357792496658837 811.932 secs ago sensor:m_iridium_attempt_num(nodim)=0 697.201 secs ago sensor:m_iridium_call_num(nodim)=2069 764.516 secs ago sensor:m_iridium_dialed_num(nodim)=3220 775.668 secs ago sensor:m_leakdetect_voltage(volts)=2.48458485958486 3.821 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 3.857 secs ago sensor:m_tot_num_inflections(nodim)=3987 1012.25 secs ago sensor:m_vacuum(inHg)=11.0378196581196 4.267 secs ago sensor:m_water_vx(m/s)=0.0276486497831689 837.356 secs ago sensor:m_water_vy(m/s)=0.00687332029252787 837.395 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)=0.04 54357.5 secs ago sensor:x_last_wpt_lat(lat)=-6552.8714 187783 secs ago sensor:x_last_wpt_lon(lon)=-6817.7434 187783 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 0/ 0 odd: 846/ 18/ 4 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_UNDERVOLTS ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2017-12-29T23:29:41 ABORT HISTORY: last abort segment: ru25d-2017-355-3-129 (0129.0129) ABORT HISTORY: last abort mission: 1K_N.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 NOT ready for consci. ... because: m_science_clothesline_lag > u_max_clothesline_lag_for_consci Water Velocity Calculations waiting for final gps fix(ideally -664 secs) Waypoint: (-6630.3262,-6953.4020) Range: 46370m, Bearing: 209deg, Age: 52:9h:m Time until diving is: 292 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 I u 3 20 5 0 10 attitude_rev - 11 ocean_pressure I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 67 0 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] [ 1 0 0] [ 69 0 0] 17 science_super I u 3 20 5 0 [ 0 0 0] [ 2 0 0] [ 4 0 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 282 12 3] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 254 4 1] 25 leakdetect I u 3 20 5 0 26 recovery - 27 coulomb I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 23 2 0] 28 veh_temp - 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] [ 147 0 0] 34 HD_PUMP - 35 thruster_g1 - 36 thruster - devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 0/ 0 odd: 846/ 18/ 4 ^R534360 72 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 249.750000 Megabytes available on CF file system = 1751.187500 534365 01300091.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=234.0K, M_SPARE_HEAP=215.0K 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_ocean_pressure_min(volts) 0.131902 m_avg_climb_rate(m/s) -0.190783 m_avg_speed(m/s) 0.311896 m_avg_upward_inflection_time(sec) 95.705953 m_battery(volts) 10.778549 m_coulomb_amphr_total(amp-hrs) 108.564902 m_iridium_call_num(nodim) 2069.000000 m_iridium_dialed_num(nodim) 3220.000000 m_lat(lat) -6613.749900 m_lon(lon) -6906.902100 m_tcm3_is_calibrated(bool) 1.000000 m_tcm3_magbearth(uT) 51.059391 m_tcm3_stddeverr(uT) 0.117471 m_tcm3_xcoverage(%) 93.230316 m_tcm3_ycoverage(%) 95.455070 m_tcm3_zcoverage(%) 94.693626 m_tot_ballast_pumped_energy(kjoules) 0.000000 m_tot_horz_dist(km) 3364.836784 m_tot_num_inflections(nodim) 3987.000000 m_tot_num_thermal_valve_cmd(nodim) 730.000000 m_weight_drop(bool) 0.000000 s_water_depth_avg(m) 500.000000 s_water_depth_delta(m) 0.000000 s_water_depth_wavelength(m) 100.000000 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) -6552.871400 x_last_wpt_lon(lon) -6817.743400 The instantaneous lag time between the system and gps clock is 2.0 seconds. The average lag time between the system and gps clock is 1.5 seconds. Housekeeping is done 534435 75 01300092.mlg LOG FILE OPENED Megabytes used on CF file system = 249.875000 Megabytes available on CF file system = 1751.062500 534437 init_gps_input() 534437 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final GPS fix. 534439 disabling Iridium cons