Connection Event: Carrier Detect found.320459 Iridium console active and ready... Vehicle Name: ru26d Curr Time: Fri Dec 15 07:41:07 2017 MT: 320458 DR Location: -6437.862 N -6429.403 E measured 76.35 secs ago GPS TooFar: -6440.790 N -6449.212 E measured 55771.1 secs ago GPS Invalid : -6438.035 N -6431.712 E measured 137.315 secs ago GPS Location: -6437.862 N -6429.403 E measured 76.858 secs ago sensor:c_thruster_surface_depth(m)=0 5477.06 secs ago sensor:c_wpt_lat(lat)=-6437.044 56308.3 secs ago sensor:c_wpt_lon(lon)=-6425.2371 56308.3 secs ago sensor:m_battery(volts)=10.8865338095514 38.087 secs ago sensor:m_coulomb_amphr(amp-hrs)=25.7734985351562 5.459 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=31.0195615352326 5.492 secs ago sensor:m_depth(m)=0.00817613417590672 5.434 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 0.736 secs ago sensor:m_gps_mag_var(rad)=-0.279252680319093 77.421 secs ago sensor:m_iridium_attempt_num(nodim)=1 68.534 secs ago sensor:m_iridium_call_num(nodim)=4129 23.447 secs ago sensor:m_iridium_dialed_num(nodim)=8965 38.655 secs ago sensor:m_leakdetect_voltage(volts)=2.48910256410256 38.402 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48974358974359 38.425 secs ago sensor:m_tot_num_inflections(nodim)=12459 189.918 secs ago sensor:m_vacuum(inHg)=9.58504902319903 38.683 secs ago sensor:m_water_vx(m/s)=0.046132549788542 103.356 secs ago sensor:m_water_vy(m/s)=-0.0227495305935071 103.396 secs ago sensor:u_alt_min_depth(m)=80 141795 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 320460 secs ago sensor:x_last_wpt_lat(lat)=-6440.6567 56793.7 secs ago sensor:x_last_wpt_lon(lon)=-6449.6584 56793.8 secs ago ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2017-12-11T13:48:54 ABORT HISTORY: last abort segment: ru26d-2017-344-4-0 (0419.0000) ABORT HISTORY: last abort mission: OD5.MI 320460 DRIVER_ODDITY:iridium:1723:xxx_ctrl() ran too long Glider ru26d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru26d-2017-344-6-93 (0421.0093) Vehicle Name: ru26d Curr Time: Fri Dec 15 07:41:17 2017 MT: 320468 DR Location: -6437.862 N -6429.403 E measured 86.043 secs ago GPS TooFar: -6440.790 N -6449.212 E measured 55780.8 secs ago GPS Invalid : -6438.035 N -6431.712 E measured 147.008 secs ago GPS Location: -6437.862 N -6429.403 E measured 86.549 secs ago sensor:c_thruster_surface_depth(m)=0 5486.73 secs ago sensor:c_wpt_lat(lat)=-6437.044 56317.9 secs ago sensor:c_wpt_lon(lon)=-6425.2371 56317.9 secs ago sensor:m_battery(volts)=10.8865338095514 47.698 secs ago sensor:m_coulomb_amphr(amp-hrs)=25.7746887207031 4.86 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=31.0207517207795 4.872 secs ago sensor:m_depth(m)=0.00817613417590672 4.792 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 10.296 secs ago sensor:m_gps_mag_var(rad)=-0.279252680319093 86.975 secs ago sensor:m_iridium_attempt_num(nodim)=1 78.072 secs ago sensor:m_iridium_call_num(nodim)=4129 32.969 secs ago sensor:m_iridium_dialed_num(nodim)=8965 48.164 secs ago sensor:m_leakdetect_voltage(volts)=2.48910256410256 47.903 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48974358974359 47.918 secs ago sensor:m_tot_num_inflections(nodim)=12459 199.4 secs ago sensor:m_vacuum(inHg)=9.58504902319903 48.151 secs ago sensor:m_water_vx(m/s)=0.046132549788542 112.809 secs ago sensor:m_water_vy(m/s)=-0.0227495305935071 112.843 secs ago sensor:u_alt_min_depth(m)=80 141805 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 320469 secs ago sensor:x_last_wpt_lat(lat)=-6440.6567 56803 secs ago sensor:x_last_wpt_lon(lon)=-6449.6584 56803.1 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 2/ 1/ 0 odd: 192/ 187/ 2 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2017-12-11T13:48:54 ABORT HISTORY: last abort segment: ru26d-2017-344-4-0 (0419.0000) ABORT HISTORY: last abort mission: OD5.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 -28 secs) Waypoint: (-6437.0440,-6425.2371) Range: 3651m, Bearing: 48deg, Age: 15:46h:m !zr -------------------------------- 320470 2 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 320470 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B010008002757 Starting zModem transfer of goto_l10.ma to/from ru26d size is 1104 Total Bytes sent/received: 1024 Total Bytes sent/received: 1104 zModem transfer DONE for file goto_l10.ma not found>yo*.ma< not found>sample*.ma< not found>surfac*.ma< sending >goto_l10.ma< Sent archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/goto_l10.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/archive/20171215T074157_goto_l10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/goto_l10.ma< Successful 320509 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 320510 restore_sensors().... 320510 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 320510 behavior surface_2: ! succeeded:zr 320510 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume Time until diving is: 300 secs Glider-Science software version match: 7.210000 Science hardware version is 1.000000 Glider ru26d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru26d-2017-344-6-93 (0421.0093) Vehicle Name: ru26d Curr Time: Fri Dec 15 07:42:03 2017 MT: 320514 DR Location: -6437.862 N -6429.403 E measured 131.988 secs ago GPS TooFar: -6440.790 N -6449.212 E measured 55826.7 secs ago GPS Invalid : -6438.035 N -6431.712 E measured 192.953 secs ago GPS Location: -6437.862 N -6429.403 E measured 132.496 secs ago sensor:c_thruster_surface_depth(m)=0 5532.68 secs ago sensor:c_wpt_lat(lat)=-6437.044 56363.8 secs ago sensor:c_wpt_lon(lon)=-6425.2371 56363.9 secs ago sensor:m_battery(volts)=10.8800547875706 3.425 secs ago sensor:m_coulomb_amphr(amp-hrs)=25.7818126678467 3.614 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=31.027875667923 3.626 secs ago sensor:m_depth(m)=0 3.493 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 43.899 secs ago sensor:m_gps_mag_var(rad)=-0.279252680319093 132.926 secs ago sensor:m_iridium_attempt_num(nodim)=1 124.023 secs ago sensor:m_iridium_call_num(nodim)=4129 78.919 secs ago sensor:m_iridium_dialed_num(nodim)=8965 94.114 secs ago sensor:m_leakdetect_voltage(volts)=2.49188034188034 3.391 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49404761904762 3.403 secs ago sensor:m_tot_num_inflections(nodim)=12459 245.351 secs ago sensor:m_vacuum(inHg)=10.0482481074481 3.893 secs ago sensor:m_water_vx(m/s)=0.046132549788542 158.762 secs ago sensor:m_water_vy(m/s)=-0.0227495305935071 158.793 secs ago sensor:u_alt_min_depth(m)=80 141851 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 320515 secs ago sensor:x_last_wpt_lat(lat)=-6440.6567 56849 secs ago sensor:x_last_wpt_lon(lon)=-6449.6584 56849 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 2/ 1/ 0 odd: 192/ 187/ 2 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2017-12-11T13:48:54 ABORT HISTORY: last abort segment: ru26d-2017-344-4-0 (0419.0000) ABORT HISTORY: last abort mission: OD5.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: sci_m_science_on = 0 Water Velocity Calculations waiting for final gps fix(ideally -74 secs) Waypoint: (-6437.0440,-6425.2371) Range: 3651m, Bearing: 48deg, Age: 15:47h:m Time until diving is: 294 secs 320522 4 SCI:PROGLET house_elf begin() called 320522 SCI: house_elf: Version 1.2 320525 5 SCI:PROGLET ctd41cp begin() called 320525 SCI: ctd41cp: Version 0.2 320526 SCI: ctd41cp: Will be sending the following data to glider: 320526 SCI: sci_water_cond(s/m) 320526 SCI: sci_water_temp(degc) 320527 SCI: sci_water_pressure(bar) 320527 SCI: sci_ctd41cp_timestamp(timestamp) 320527 SCI:PROGLET flbbcd begin() called 320527 SCI: flbbcd: Version 0.0 320527 SCI: flbbcd: Will be sending following data to glider: 320527 SCI: sci_flbbcd_chlor_units(ug/l) 320528 SCI: sci_flbbcd_bb_units(nodim) 320530 7 SCI: sci_flbbcd_cdom_units(ppb) 320531 SCI: sci_flbbcd_chlor_sig(nodim) 320531 SCI: sci_flbbcd_bb_sig(nodim) 320532 SCI: sci_flbbcd_cdom_sig(nodim) 320532 SCI: sci_flbbcd_chlor_ref(nodim) 320532 SCI: sci_flbbcd_bb_ref(nodim) 320532 SCI: sci_flbbcd_cdom_ref(nodim) 320532 SCI: sci_flbbcd_therm(nodim) 320532 SCI: sci_flbbcd_timestamp(timestamp) 320533 SCI: Opening Bit(30) for output 320533 SCI:Bit(30) use count is now 1. 320533 SCI:Bit(30) raise count is now 0. ^F MAFILES will be re-read. Extending surface time by 5 minutes just in case user might want to verify quality of MAFILE(s). 320536 8 SCI:Bit(30) raise count is now 0. 320544 9 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized 320544 behavior sample_8: STATE Active -> UnInited 320544 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 320544 behavior sample_7: STATE Active -> UnInited 320544 behavior yo_6: STATE Active -> UnInited 320544 behavior goto_list_5: STATE Active -> UnInited 320544 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 320545 behavior surface_4: STATE Waiting for Activation -> UnInited 320545 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 320545 behavior surface_3: STATE Waiting for Activation -> UnInited 320546 SCI:PROGLET house_elf start() called 320546 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 320547 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 320550 10 behavior sample_8: sample(): reading bargs 320550 behavior sample_8: Reading b_args from sample48.ma 320550 behavior sample_8: sensor_type(enum)=48.000000 320550 behavior sample_8: sample_time_after_state_change(s)=0.000000 320550 behavior sample_8: intersample_time(sec)=1.000000 320550 behavior sample_8: state_to_sample(enum)=7.000000 320550 behavior sample_8: nth_yo_to_sample(nodim)=1.000000 320550 behavior sample_8: min_depth(m)=-5.000000 320550 behavior sample_8: max_depth(m)=2000.000000 320550 behavior sample_8: STATE UnInited -> Active 320550 behavior sample_8: argument: args_from_file = 48.000000 enum 320550 behavior sample_8: argument: sensor_type = 48.000000 enum 320550 behavior sample_8: argument: state_to_sample = 7.000000 enum 320550 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s 320551 behavior sample_8: argument: intersample_time = 1.000000 s 320551 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim 320551 behavior sample_8: argument: intersample_depth = -1.000000 m 320551 behavior sample_8: argument: min_depth = -5.000000 m 320551 behavior sample_8: argument: max_depth = 2000.000000 m 320551 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface 320551 behavior sample_7: sample(): reading bargs 320551 behavior sample_7: Reading b_args from sample01.ma 320551 behavior sample_7: sensor_type(enum)=1.000000 320551 behavior sample_7: sample_time_after_state_change(s)=0.000000 320551 behavior sample_7: intersample_time(sec)=1.000000 320551 behavior sample_7: state_to_sample(enum)=15.000000 320551 behavior sample_7: nth_yo_to_sample(nodim)=1.000000 320551 behavior sample_7: min_depth(m)=-5.000000 320551 behavior sample_7: max_depth(m)=2000.000000 320551 behavior sample_7: STATE UnInited -> Active 320551 behavior sample_7: argument: args_from_file = 1.000000 enum 320551 behavior sample_7: argument: sensor_type = 1.000000 enum 320551 behavior sample_7: argument: state_to_sample = 15.000000 enum 320551 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 320552 behavior sample_7: argument: intersample_time = 1.000000 s 320552 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim 320552 behavior sample_7: argument: intersample_depth = -1.000000 m 320552 behavior sample_7: argument: min_depth = -5.000000 m 320552 behavior sample_7: argument: max_depth = 2000.000000 m 320552 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 320552 behavior yo_6: Reading b_args from yo20.ma 320552 behavior yo_6: num_half_cycles_to_do(nodim)=4.000000 320552 behavior yo_6: d_target_depth(m)=970.000000 320552 behavior yo_6: d_target_altitude(m)=20.000000 320552 behavior yo_6: d_use_bpump(enum)=2.000000 320552 behavior yo_6: d_bpump_value(X)=-230.000000 320552 behavior yo_6: d_use_pitch(enum)=3.000000 320552 behavior yo_6: d_pitch_value(X)=-0.454000 320552 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 320552 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 320552 behavior yo_6: c_target_depth(m)=15.000000 320552 behavior yo_6: c_target_altitude(m)=-1.000000 320553 behavior yo_6: c_use_bpump(enum)=2.000000 320553 behavior yo_6: c_bpump_value(X)=1000.000000 320553 behavior yo_6: c_use_pitch(enum)=3.000000 320553 behavior yo_6: c_pitch_value(X)=0.454000 320553 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 320553 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 320553 behavior yo_6: end_action(enum)=2.000000 320553 behavior yo_6: STATE UnInited -> Waiting for Activation 320553 behavior yo_6: argument: args_from_file = 20.000000 enum 320553 behavior yo_6: argument: start_when = 2.000000 enum 320553 behavior yo_6: argument: start_diving = 1.000000 bool 320553 behavior yo_6: argument: num_half_cycles_to_do = 4.000000 nodim 320553 behavior yo_6: argument: d_target_depth = 970.000000 m 320553 behavior yo_6: argument: d_target_altitude = 20.000000 m 320553 behavior yo_6: argument: d_use_bpump = 2.000000 enum 320553 behavior yo_6: argument: d_bpump_value = -230.000000 X 320553 behavior yo_6: argument: d_use_pitch = 3.000000 enum 320553 behavior yo_6: argument: d_pitch_value = -0.454000 X 320553 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 320553 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 320554 behavior yo_6: argument: d_speed_min = -100.000000 m/s 320554 behavior yo_6: argument: d_speed_max = 100.000000 m/s 320554 behavior yo_6: argument: d_use_thruster = 0.000000 enum 320554 behavior yo_6: argument: d_thruster_value = 0.000000 X 320554 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 320554 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 320554 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 320554 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 320554 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 320554 behavior yo_6: argument: d_time_ratio = 1.100000 X 320554 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 320554 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 320554 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 320554 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 320554 behavior yo_6: argument: c_target_depth = 15.000000 m 320554 behavior yo_6: argument: c_target_altitude = -1.000000 m 320554 behavior yo_6: argument: c_use_bpump = 2.000000 enum 320555 behavior yo_6: argument: c_bpump_value = 1000.000000 X 320555 behavior yo_6: argument: c_use_pitch = 3.000000 enum 320555 behavior yo_6: argument: c_pitch_value = 0.454000 X 320555 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 320555 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 320555 behavior yo_6: argument: c_speed_min = 100.000000 m/s 320555 behavior yo_6: argument: c_speed_max = -100.000000 m/s 320555 behavior yo_6: argument: c_use_thruster = 0.000000 enum 320555 behavior yo_6: argument: c_thruster_value = 0.000000 X 320555 behavior yo_6: argument: end_action = 2.000000 enum 320555 behavior yo_6: STATE Waiting for Activation -> Active 320555 behavior dive_to_601: STATE UnInited -> Active 320555 behavior dive_to_601: argument: target_depth = 970.000000 m 320555 behavior dive_to_601: argument: target_altitude = 20.000000 m 320555 behavior dive_to_601: argument: use_bpump = 2.000000 enum 320555 behavior dive_to_601: argument: bpump_value = -230.000000 X 320555 behavior dive_to_601: argument: use_pitch = 3.000000 enum 320555 behavior dive_to_601: argument: pitch_value = -0.454000 X 320555 behavior dive_to_601: argument: start_when = 0.000000 enum 320555 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 320556 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 320556 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 320556 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 320556 behavior dive_to_601: argument: speed_min = -100.000000 m/s 320556 behavior dive_to_601: argument: speed_max = 100.000000 m/s 320556 behavior dive_to_601: argument: use_thruster = 0.000000 enum 320556 behavior dive_to_601: argument: thruster_value = 0.000000 X 320556 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 320556 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 320556 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 320556 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 320556 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 320556 behavior dive_to_601: argument: time_ratio = 1.100000 X 320556 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 320556 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 320556 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 320556 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 320556 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 320557 behavior goto_list_5: Reading b_args from goto_l10.ma 320557 behavior goto_list_5: num_legs_to_run(nodim)=-1.000000 320557 behavior goto_list_5: start_when(enum)=0.000000 320557 behavior goto_list_5: list_stop_when(enum)=7.000000 320557 behavior goto_list_5: list_when_wpt_dist(m)=500.000000 320557 behavior goto_list_5: initial_wpt(enum)=-1.000000 320557 behavior goto_list_5: num_waypoints(nodim)=12.000000 320557 behavior goto_list_5: Reading waypoints from file: 320557 behavior goto_list_5: 0 lon: -6404.5396 lat:-6448.1897 320557 behavior goto_list_5: 1 lon: -6411.3721 lat:-6452.2063 320557 behavior goto_list_5: 2 lon: -6422.6361 lat:-6455.4588 320557 behavior goto_list_5: 3 lon: -6441.8562 lat:-6454.8451 320557 behavior goto_list_5: 4 lon: -6458.2556 lat:-6453.6809 320557 behavior goto_list_5: 5 lon: -6449.6584 lat:-6440.6567 320557 behavior goto_list_5: 6 lon: -64 ****** Glider ru26d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru26d-2017-344-6-93 (0421.0093) Vehicle Name: ru26d Curr Time: Fri Dec 15 07:43:35 2017 MT: 320606 DR Location: -6437.862 N -6429.403 E measured 224.256 secs ago GPS TooFar: -6440.790 N -6449.212 E measured 55919 secs ago GPS Invalid : -6438.035 N -6431.712 E measured 285.221 secs ago GPS Location: -6437.862 N -6429.403 E measured 224.763 secs ago sensor:c_thruster_surface_depth(m)=0 43.036 secs ago sensor:c_wpt_lat(lat)=-6437.044 45.521 secs ago sensor:c_wpt_lon(lon)=-6425.2371 45.56 secs ago sensor:m_battery(volts)=10.8685718973361 30.391 secs ago sensor:m_coulomb_amphr(amp-hrs)=25.7972507476807 4.753 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=31.043313747757 4.766 secs ago sensor:m_depth(m)=0 4.691 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 10 secs ago sensor:m_gps_mag_var(rad)=-0.279252680319093 225.199 secs ago sensor:m_iridium_attempt_num(nodim)=0 71.637 secs ago sensor:m_iridium_call_num(nodim)=4129 171.19 secs ago sensor:m_iridium_dialed_num(nodim)=8965 186.385 secs ago sensor:m_leakdetect_voltage(volts)=2.49252136752137 30.373 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49014041514042 30.387 secs ago sensor:m_tot_num_inflections(nodim)=12459 337.621 secs ago sensor:m_vacuum(inHg)=10.3008280830281 30.853 secs ago sensor:m_water_vx(m/s)=0.046132549788542 251.03 secs ago sensor:m_water_vy(m/s)=-0.0227495305935071 251.064 secs ago sensor:u_alt_min_depth(m)=80 141943 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 320607 secs ago sensor:x_last_wpt_lat(lat)=-6440.6567 56941.3 secs ago sensor:x_last_wpt_lon(lon)=-6449.6584 56941.3 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 2/ 1/ 0 odd: 192/ 187/ 2 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2017-12-11T13:48:54 ABORT HISTORY: last abort segment: ru26d-2017-344-4-0 (0419.0000) ABORT HISTORY: last abort mission: OD5.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 -166 secs) Waypoint: (-6437.0440,-6425.2371) Range: 3651m, Bearing: 48deg, Age: 15:49h:m Time until diving is: 502 secs s *.sbd *.tbd -------------------------------- 320630 22 04210093.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 320639 25 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 04210093.tbd to/from ru26d size is 13450 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: 13136 Total Bytes sent/received: 13312 Total Bytes sent/received: 13450 zModem transfer DONE for file 04210093.tbd Starting zModem transfer of 04210092.tbd to/from ru26d size is 482 Total Bytes sent/received: 482 zModem transfer DONE for file 04210092.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\04210093.TBD c:\logs\04210092.TBD SCI: SUCCESS 320785 60 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 320789 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 320789 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 04210093.sbd to/from ru26d size is 7036 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: 7036 zModem transfer DONE for file 04210093.sbd Starting zModem transfer of 04210092.sbd to/from ru26d size is 811 Total Bytes sent/received: 811 zModem transfer DONE for file 04210092.sbd 20854 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 320854 restore_sensors().... 320854 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\04210093.SBD c:\logs\04210092.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 1.000000 320861 62 SCI:PROGLET house_elf begin() called 320861 SCI: house_elf: Version 1.2 320861 SCI:PROGLET ctd41cp begin() called 320861 SCI: ctd41cp: Version 0.2 320861 SCI: ctd41cp: Will be sending the following data to glider: 320861 SCI: sci_water_cond(s/m) 320861 SCI: sci_water_temp(degc) 320862 SCI: sci_water_pressure(bar) 320862 SCI: sci_ctd41cp_timestamp(timestamp) 320862 SCI:PROGLET flbbcd begin() called 320862 SCI: flbbcd: Version 0.0 320862 SCI: flbbcd: Will be sending following data to glider: 320862 SCI: sci_flbbcd_chlor_units(ug/l) 320862 SCI: sci_flbbcd_bb_units(nodim) 320862 SCI: sci_flbbcd_cdom_units(ppb) 320862 SCI: sci_flbbcd_chlor_sig(nodim) 320862 SCI: sci_flbbcd_bb_sig(nodim) 320862 SCI: sci_flbbcd_cdom_sig(nodim) 320863 SCI: sci_flbbcd_chlor_ref(nodim) 320863 SCI: sci_flbbcd_bb_ref(nodim) 320863 SCI: sci_flbbcd_cdom_ref(nodim) 320863 SCI: sci_flbbcd_therm(nodim) 320863 SCI: sci_flbbcd_timestamp(timestamp) 320863 SCI: Opening Bit(30) for output 320863 SCI:Bit(30) use count is now 1. 320863 SCI:Bit(30) raise count is now 0. 320863 62 SCI:Bit(30) raise count is now 0. 320866 SCI:PROGLET house_elf start() called 320866 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 320866 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 320867 SCI:PROGLET ctd41cp start() called 320867 SCI: Opening port 2:UART4:Chan C SBMB:J4(ctd) 320867 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 320867 SCI: in queue size: 2048, out queue size: 0 320867 SCI:sci_uart_drain_input(2): 320867 SCI: 320867 SCI:sci_uart_drain_input:Drained 0 chars 320867 SCI: Opening Bit(27) for output 320867 SCI:Bit(27) use count is now 1. 320868 63 SCI:Bit(27) raise count is now 0. 320868 SCI: Opening Bit(26) for output 320868 SCI:Bit(26) use count is now 1. 320869 SCI:Bit(26) raise count is now 0. 320869 SCI:bit_shared_raise(): Raising bit(27). 320870 SCI:bit_shared_raise(): Raising bit(26). 320870 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 320870 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 320920 64 04210094.mlg LOG FILE OPENED -------------------------------- 320921 behavior surface_2: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru26d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru26d-2017-344-6-94 (0421.0094) Vehicle Name: ru26d Curr Time: Fri Dec 15 07:48:55 2017 MT: 320926 DR Location: -6437.862 N -6429.403 E measured 543.531 secs ago GPS TooFar: -6440.790 N -6449.212 E measured 56238.3 secs ago GPS Invalid : -6438.035 N -6431.712 E measured 604.496 secs ago GPS Location: -6437.862 N -6429.403 E measured 544.037 secs ago sensor:c_thruster_surface_depth(m)=0 362.307 secs ago sensor:c_wpt_lat(lat)=-6437.044 364.792 secs ago sensor:c_wpt_lon(lon)=-6425.2371 364.831 secs ago sensor:m_battery(volts)=10.8539608614487 3.319 secs ago sensor:m_coulomb_amphr(amp-hrs)=25.843563079834 3.508 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=31.0896260799104 3.52 secs ago sensor:m_depth(m)=0.0626836953479904 3.378 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 3.658 secs ago sensor:m_gps_mag_var(rad)=-0.279252680319093 544.458 secs ago sensor:m_iridium_attempt_num(nodim)=0 390.894 secs ago sensor:m_iridium_call_num(nodim)=4129 490.449 secs ago sensor:m_iridium_dialed_num(nodim)=8965 505.643 secs ago sensor:m_leakdetect_voltage(volts)=2.48894993894994 3.338 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48928571428572 3.35 secs ago sensor:m_tot_num_inflections(nodim)=12459 656.881 secs ago sensor:m_vacuum(inHg)=10.9477587301587 3.774 secs ago sensor:m_water_vx(m/s)=0.046132549788542 570.293 secs ago sensor:m_water_vy(m/s)=-0.0227495305935071 570.325 secs ago sensor:u_alt_min_depth(m)=80 142262 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 320926 secs ago sensor:x_last_wpt_lat(lat)=-6440.6567 57260.5 secs ago sensor:x_last_wpt_lon(lon)=-6449.6584 57260.6 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 2/ 1/ 0 odd: 192/ 187/ 2 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2017-12-11T13:48:54 ABORT HISTORY: last abort segment: ru26d-2017-344-4-0 (0419.0000) ABORT HISTORY: last abort mission: OD5.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 -485 secs) Waypoint: (-6437.0440,-6425.2371) Range: 3651m, Bearing: 48deg, Age: 15:54h: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 [ 0 0 0] [ 1 1 0] [ 0 0 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 0 [ 0 0 0] [ 1 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 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 [ 0 0 0] [ 0 0 0] [ 77 76 1] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 109 105 1] 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] [ 6 6 0] 34 HD_PUMP - 35 thruster_g1 - 36 thruster - devices:(t/m/s) errs: 0/ 0/ 0 warn: 2/ 1/ 0 odd: 192/ 187/ 2 ^R320952 71 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 83.937500 Megabytes available on CF file system = 1917.000000 320955 04210094.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=211.0K, M_SPARE_HEAP=192.0K 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 c_science_on(bool) 1.000000 f_ocean_pressure_min(volts) 0.153959 m_avg_speed(m/s) 0.361462 m_battery(volts) 10.853961 m_coulomb_amphr_total(amp-hrs) 31.094375 m_iridium_call_num(nodim) 4129.000000 m_iridium_dialed_num(nodim) 8965.000000 m_lat(lat) -6437.862200 m_lon(lon) -6429.402700 m_pump_stress_track(nodim) 14.308069 m_tot_ballast_pumped_energy(kjoules) 0.000000 m_tot_horz_dist(km) 7473.473016 m_tot_num_inflections(nodim) 12459.000000 s_ini_lat(deg) 3900.000000 s_ini_lon(deg) -7400.000000 s_water_depth_avg(m) 400.000000 s_water_depth_delta(m) 0.000000 s_water_depth_wavelength(m) 100.000000 u_max_water_depth_lifetime(yos) 0.000000 u_use_current_correction(nodim) 1.000000 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) -6440.656700 x_last_wpt_lon(lon) -6449.658400 The instantaneous lag time between the system and gps clock is -1.0 seconds. The average lag time between the system and gps clock is -1.2 seconds. Housekeeping is done 321015 74 04210095.mlg LOG FILE OPENED Megabytes used on CF file system = 84.062500 Megabytes available on CF file system = 1916.875000 321017 init_gps_input() 321017 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final GPS fix. 321019 disabling Iridium cons