Connection Event: Carrier Detect found. 8260 Iridium console active and ready... Vehicle Name: ru26d Curr Time: Sat Jan 6 23:21:39 2018 MT: 8259 DR Location: -6307.596 N -5913.959 E measured 70.158 secs ago GPS TooFar: -6247.461 N -5829.855 E measured 1e+308 secs ago GPS Invalid : -6305.844 N -5913.260 E measured 124.557 secs ago GPS Location: -6307.596 N -5913.959 E measured 70.682 sec 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 ... ] ... ] s ago sensor:c_thruster_surface_depth(m)=0 8177.1 secs ago sensor:c_wpt_lat(lat)=-6315.8928 8124.53 secs ago sensor:c_wpt_lon(lon)=-5920.0239 8124.6 secs ago sensor:m_battery(volts)=10.9336371061455 51.889 secs ago sensor:m_coulomb_amphr(amp-hrs)=186.95524597168 5.511 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=192.201308971756 5.53 secs ago sensor:m_depth(m)=0 5.513 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 5.724 secs ago sensor:m_gps_mag_var(rad)=-0.205948851735331 71.271 secs ago sensor:m_iridium_attempt_num(nodim)=1 62.533 secs ago sensor:m_iridium_call_num(nodim)=4406 17.457 secs ago sensor:m_iridium_dialed_num(nodim)=9358 32.642 secs ago sensor:m_leakdetect_voltage(volts)=2.48846153846154 52.258 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48901098901099 52.282 secs ago sensor:m_tot_num_inflections(nodim)=13349 190.447 secs ago sensor:m_vacuum(inHg)=9.38624413919414 52.514 secs ago sensor:m_water_vx(m/s)=0.0568320921064769 94.192 secs ago sensor:m_water_vy(m/s)=-0.069644115085388 94.236 secs ago sensor:u_alt_min_depth(m)=40 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_fin_deadband(rad)=0.02 8261.36 secs ago sensor:x_last_wpt_lat(lat)=-6256.3266 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-5909.1607 1e+308 secs ago ABORT HISTORY: total since reset: 7 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): The surface behavior entered B_ERROR state. ABORT HISTORY: last abort time: 2018-01-06T20:52:27 ABORT HISTORY: last abort segment: ru26d-2018-005-0-0 (0425.0000) ABORT HISTORY: last abort mission: 1K_N.MI 8262 DRIVER_ODDITY:iridium:1792: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-2018-005-1-0 (0426.0000) Vehicle Name: ru26d Curr Time: Sat Jan 6 23:21:58 2018 MT: 8280 DR Location: -6307.596 N -5913.959 E measured 90.015 secs ago GPS TooFar: -6247.461 N -5829.855 E measured 1e+308 secs ago GPS Invalid : -6305.844 N -5913.260 E measured 144.414 secs ago GPS Location: -6307.596 N -5913.959 E measured 90.541 secs ago sensor:c_thruster_surface_depth(m)=0 8196.94 secs ago sensor:c_wpt_lat(lat)=-6315.8928 8144.35 secs ago sensor:c_wpt_lon(lon)=-5920.0239 8144.39 secs ago sensor:m_battery(volts)=10.9227486092062 9.503 secs ago sensor:m_coulomb_amphr(amp-hrs)=186.95881652832 4.617 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=192.204879528397 4.631 secs ago sensor:m_depth(m)=0 4.529 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 4.773 secs ago sensor:m_gps_mag_var(rad)=-0.205948851735331 90.972 secs ago sensor:m_iridium_attempt_num(nodim)=1 82.217 secs ago sensor:m_iridium_call_num(nodim)=4406 37.124 secs ago sensor:m_iridium_dialed_num(nodim)=9358 52.296 secs ago sensor:m_leakdetect_voltage(volts)=2.48501221001221 9.744 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48717948717949 9.756 secs ago sensor:m_tot_num_inflections(nodim)=13349 210.077 secs ago sensor:m_vacuum(inHg)=9.67874804639805 9.966 secs ago sensor:m_water_vx(m/s)=0.0568320921064769 113.796 secs ago sensor:m_water_vy(m/s)=-0.069644115085388 113.829 secs ago sensor:u_alt_min_depth(m)=40 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_fin_deadband(rad)=0.02 8280.85 secs ago sensor:x_last_wpt_lat(lat)=-6256.3266 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-5909.1607 1e+308 secs ago devices:(t/m/s) errs: 15/ 0/ 0 warn: 38/ 0/ 0 odd:1293/ 3/ 3 ABORT HISTORY: total since reset: 7 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): The surface behavior entered B_ERROR state. ABORT HISTORY: last abort time: 2018-01-06T20:52:27 ABORT HISTORY: last abort segment: ru26d-2018-005-0-0 (0425.0000) 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 -19 secs) Waypoint: (-6315.8928,-5920.0239) Range: 16228m, Bearing: 185deg, Age: 2:15h:m Time until diving is: 206 secs s *.sbd *.tbd -------------------------------- 8301 26 04260000.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 8310 30 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 1 files Prechecking is not necessary for this invocation START **B00000000000000 � Starting zModem transfer of 04260000.tbd to/from ru26d size is 20141 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: 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: 20141 zModem transfer DONE for file 04260000.tbd SHUFFLING FILES. SCI: Sent 1 file(s): c:\logs\04260000.TBD SCI: SUCCESS 8460 64 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 1 files Prechecking is not necessary for this invocation 8462 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 8462 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 04260000.sbd to/from ru26d size is 8050 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: 8050 zModem transfer DONE for file 04260000.sbd 8524 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 8524 restore_sensors().... 8524 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES. GLD: Sent 1 file(s): c:\logs\04260000.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 1.000000 8531 67 db(#/min/mn/max/sd) pitch_motor 1800 -0.117 0.031 0.087 0.047 in 8531 db(#/min/mn/max/sd) pitch_motor 1800 -49 13 36 19 mV 8532 SCI:PROGLET house_elf begin() called 8532 SCI: house_elf: Version 1.2 8532 SCI:PROGLET ctd41cp begin() called 8533 SCI: ctd41cp: Version 0.2 8533 SCI: ctd41cp: Will be sending the following data to glider: 8533 SCI: sci_water_cond(s/m) 8533 SCI: sci_water_temp(degc) 8533 SCI: sci_water_pressure(bar) 8533 SCI: sci_ctd41cp_timestamp(timestamp) 8533 SCI:PROGLET flbbcd begin() called 8533 SCI: flbbcd: Version 0.0 8533 SCI: flbbcd: Will be sending following data to glider: 8533 SCI: sci_flbbcd_chlor_units(ug/l) 8533 SCI: sci_flbbcd_bb_units(nodim) 8534 SCI: sci_flbbcd_cdom_units(ppb) 8534 SCI: sci_flbbcd_chlor_sig(nodim) 8534 SCI: sci_flbbcd_bb_sig(nodim) 8534 SCI: sci_flbbcd_cdom_sig(nodim) 8534 SCI: sci_flbbcd_chlor_ref(nodim) 8534 SCI: sci_flbbcd_bb_ref(nodim) 8534 SCI: sci_flbbcd_cdom_ref(nodim) 8534 SCI: sci_flbbcd_therm(nodim) 8534 SCI: sci_flbbcd_timestamp(timestamp) 8534 SCI: Opening Bit(30) for output 8534 SCI:Bit(30) use count is now 1. 8534 SCI:Bit(30) raise count is now 0. 8535 SCI:Bit(30) raise count is now 0. 8537 67 SCI:PROGLET house_elf start() called 8538 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 8538 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 8538 SCI:PROGLET ctd41cp start() called 8538 SCI: Opening port 2:UART4:Chan C SBMB:J4(ctd) 8538 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 8538 SCI: in queue size: 2048, out queue size: 0 8539 SCI:sci_uart_drain_input(2): 8539 SCI: 8539 SCI:sci_uart_drain_input:Drained 0 chars 8539 SCI: Opening Bit(27) for output 8539 SCI:Bit(27) use count is now 1. 8541 69 SCI:Bit(27) raise count is now 0. 8541 SCI: Opening Bit(26) for output 8541 SCI:Bit(26) use count is now 1. 8542 SCI:Bit(26) raise count is now 0. 8542 SCI:bit_shared_raise(): Raising bit(27). 8542 SCI:bit_shared_raise(): Raising bit(26). 8542 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 8542 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 8603 71 04260001.mlg LOG FILE OPENED -------------------------------- 8604 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-2018-005-1-1 (0426.0001) Vehicle Name: ru26d Curr Time: Sat Jan 6 23:27:30 2018 MT: 8611 DR Location: -6307.596 N -5913.959 E measured 421.493 secs ago GPS TooFar: -6247.461 N -5829.855 E measured 1e+308 secs ago GPS Invalid : -6305.844 N -5913.260 E measured 475.892 secs ago GPS Location: -6307.596 N -5913.959 E measured 422.019 secs ago sensor:c_thruster_surface_depth(m)=0 8528.42 secs ago sensor:c_wpt_lat(lat)=-6315.8928 8475.82 secs ago sensor:c_wpt_lon(lon)=-5920.0239 8475.86 secs ago sensor:m_battery(volts)=10.9009362635481 3.268 secs ago sensor:m_coulomb_amphr(amp-hrs)=187.009872436523 3.441 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=192.2559354366 3.455 secs ago sensor:m_depth(m)=0 3.336 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 3.597 secs ago sensor:m_gps_mag_var(rad)=-0.205948851735331 422.449 secs ago sensor:m_iridium_attempt_num(nodim)=0 311.406 secs ago sensor:m_iridium_call_num(nodim)=4406 368.599 secs ago sensor:m_iridium_dialed_num(nodim)=9358 383.771 secs ago sensor:m_leakdetect_voltage(volts)=2.48879731379731 3.3 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48904151404151 3.317 secs ago sensor:m_tot_num_inflections(nodim)=13349 541.551 secs ago sensor:m_vacuum(inHg)=10.8104692918193 3.726 secs ago sensor:m_water_vx(m/s)=0.0568320921064769 445.269 secs ago sensor:m_water_vy(m/s)=-0.069644115085388 445.303 secs ago sensor:u_alt_min_depth(m)=40 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_fin_deadband(rad)=0.02 8612.33 secs ago sensor:x_last_wpt_lat(lat)=-6256.3266 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-5909.1607 1e+308 secs ago devices:(t/m/s) errs: 15/ 0/ 0 warn: 38/ 0/ 0 odd:1293/ 3/ 3 ABORT HISTORY: total since reset: 7 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): The surface behavior entered B_ERROR state. ABORT HISTORY: last abort time: 2018-01-06T20:52:27 ABORT HISTORY: last abort segment: ru26d-2018-005-0-0 (0425.0000) 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 -351 secs) Waypoint: (-6315.8928,-5920.0239) Range: 16228m, Bearing: 185deg, Age: 2:21h:m Time until diving is: 291 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] [ 14 0 0] [ 0 0 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 1 [ 1 0 0] [ 15 0 0] [ 0 0 0] 11 ocean_pressure I u 3 20 5 0 12 vacuum I u 3 20 5 0 13 battery I u 3 20 5 0 14lithium_battery - 15 air_pump I u 3 20 5 0 16 pitch_motor I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 5 0 0] 17 science_super I u 10 20 5 11 [ 11 0 0] [ 0 0 0] [ 27 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] [ 540 2 2] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 3 [ 3 0 0] [ 8 0 0] [ 627 1 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] [ 1 0 0] [ 94 0 0] 34 HD_PUMP - 35 thruster_g1 - 36 thruster - devices:(t/m/s) errs: 15/ 0/ 0 warn: 38/ 0/ 0 odd:1293/ 3/ 3 ^R 8637 76 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 489.218750 Megabytes available on CF file system = 1511.718750 8642 04260001.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=213.0K, M_SPARE_HEAP=194.0K 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) 0.152732 m_avg_speed(m/s) 0.354099 m_battery(volts) 10.900936 m_coulomb_amphr_total(amp-hrs) 192.261871 m_iridium_call_num(nodim) 4406.000000 m_iridium_dialed_num(nodim) 9358.000000 m_lat(lat) -6307.595700 m_lon(lon) -5913.958900 m_pump_stress_track(nodim) 104.015167 m_tot_ballast_pumped_energy(kjoules) 0.000000 m_tot_horz_dist(km) 8102.515474 m_tot_num_inflections(nodim) 13349.000000 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) -6256.326600 x_last_wpt_lon(lon) -5909.160700 The instantaneous lag time between the system and gps clock is -3.0 seconds. The average lag time between the system and gps clock is -3.7 seconds. Housekeeping is done 8708 80 04260002.mlg LOG FILE OPENED Megabytes used on CF file system = 489.343750 Megabytes available on CF file system = 1511.593750 8711 init_gps_input() 8711 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final GPS fix. 8713 disabling Iridium cons