Connection Event: Carrier Detect found.150262 Iridium console active and ready... Vehicle Name: ru26d Curr Time: Wed Jan 10 07:09:41 2018 MT: 150261 DR Location: -6309.185 N -5945.077 E measured 151.698 secs ago GPS TooFar: -6308.642 N -5941.064 E measured 10548.3 secs ago GPS Invalid : -6308.886 N -5943.294 E measured 214.206 secs ago GPS Location: -6309.185 N -5945.077 E measured 153.227 secs ago sensor:c_thruster_surface_depth(m)=0 4737.4 secs ago s 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 ... ] ... ] ensor:c_wpt_lat(lat)=-6311.1842 33406.8 secs ago sensor:c_wpt_lon(lon)=-5957.0544 33406.9 secs ago sensor:m_battery(volts)=10.8980655915627 15.445 secs ago sensor:m_coulomb_amphr(amp-hrs)=208.327865600586 5.543 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=213.573928600662 5.565 secs ago sensor:m_depth(m)=0 5.539 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.776 secs ago sensor:m_gps_mag_var(rad)=-0.211184839491314 153.818 secs ago sensor:m_iridium_attempt_num(nodim)=2 55.878 secs ago sensor:m_iridium_call_num(nodim)=4451 20.728 secs ago sensor:m_iridium_dialed_num(nodim)=9444 31.094 secs ago sensor:m_leakdetect_voltage(volts)=2.48684371184371 35.919 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48910256410256 35.944 secs ago sensor:m_tot_num_inflections(nodim)=13411 256.206 secs ago sensor:m_vacuum(inHg)=10.102837973138 16.071 secs ago sensor:m_water_vx(m/s)=-0.126370158131775 178.255 secs ago sensor:m_water_vy(m/s)=0.0944526921465787 178.297 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 150263 secs ago sensor:x_last_wpt_lat(lat)=-6307.5199 33408.2 secs ago sensor:x_last_wpt_lon(lon)=-5932.0273 33408.2 secs ago ABORT HISTORY: total since reset: 10 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: 2018-01-08T12:33:39 ABORT HISTORY: last abort segment: ru26d-2018-007-1-1 (0428.0001) ABORT HISTORY: last abort mission: 1K_N.MI 150264 DRIVER_ODDITY:iridium:1794: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-2018-007-2-32 (0429.0032) Vehicle Name: ru26d Curr Time: Wed Jan 10 07:10:03 2018 MT: 150284 DR Location: -6309.185 N -5945.077 E measured 173.177 secs ago GPS TooFar: -6308.642 N -5941.064 E measured 10569.8 secs ago GPS Invalid : -6308.886 N -5943.294 E measured 235.685 secs ago GPS Location: -6309.185 N -5945.077 E measured 174.707 secs ago sensor:c_thruster_surface_depth(m)=0 4758.87 secs ago sensor:c_wpt_lat(lat)=-6311.1842 33428.3 secs ago sensor:c_wpt_lon(lon)=-5957.0544 33428.3 secs ago sensor:m_battery(volts)=10.8980655915627 36.842 secs ago sensor:m_coulomb_amphr(amp-hrs)=208.331436157226 2.945 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=213.577499157303 2.958 secs ago sensor:m_depth(m)=0 2.889 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 11.466 secs ago sensor:m_gps_mag_var(rad)=-0.211184839491314 175.138 secs ago sensor:m_iridium_attempt_num(nodim)=2 77.181 secs ago sensor:m_iridium_call_num(nodim)=4451 42.013 secs ago sensor:m_iridium_dialed_num(nodim)=9444 52.366 secs ago sensor:m_leakdetect_voltage(volts)=2.48684371184371 57.184 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48910256410256 57.202 secs ago sensor:m_tot_num_inflections(nodim)=13411 277.452 secs ago sensor:m_vacuum(inHg)=10.102837973138 37.3 secs ago sensor:m_water_vx(m/s)=-0.126370158131775 199.475 secs ago sensor:m_water_vy(m/s)=0.0944526921465787 199.508 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 150284 secs ago sensor:x_last_wpt_lat(lat)=-6307.5199 33429.3 secs ago sensor:x_last_wpt_lon(lon)=-5932.0273 33429.3 secs ago devices:(t/m/s) errs: 17/ 0/ 0 warn: 43/ 0/ 0 odd:1514/ 65/ 4 ABORT HISTORY: total since reset: 10 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: 2018-01-08T12:33:39 ABORT HISTORY: last abort segment: ru26d-2018-007-1-1 (0428.0001) 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 -123 secs) Waypoint: (-6311.1842,-5957.0544) Range: 10719m, Bearing: 235deg, Age: 9:17h:m Time until diving is: 123 secs s *.sbd *.tbd -------------------------------- 150305 20 04290032.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 150314 24 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 04290032.tbd to/from ru26d size is 11414 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: 11414 zModem transfer DONE for file 04290032.tbd Starting zModem transfer of 04290031.tbd to/from ru26d size is 482 Total Bytes sent/received: 482 zModem transfer DONE for file 04290031.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\04290032.TBD c:\logs\04290031.TBD SCI: SUCCESS 150410 45 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 150413 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 150413 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 04290032.sbd to/from ru26d size is 5923 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: 5923 zModem transfer DONE for file 04290032.sbd Starting zModem transfer of 04290031.sbd to/from ru26d size is 783 Total Bytes sent/received: 783 zModem transfer DONE for file 04290031.sbd restore_sensors().... 150473 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.**^XB0800000000022d DEL*.*^XB0800000000022d DEL GLD: Sent 2 file(s): c:\logs\04290032.SBD c:\logs\04290031.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 1.000000 150483 48 SCI:PROGLET house_elf begin() called 150483 SCI: house_elf: Version 1.2 150484 SCI:PROGLET ctd41cp begin() called 150484 SCI: ctd41cp: Version 0.2 150484 SCI: ctd41cp: Will be sending the following data to glider: 150484 SCI: sci_water_cond(s/m) 150484 SCI: sci_water_temp(degc) 150484 SCI: sci_water_pressure(bar) 150484 SCI: sci_ctd41cp_timestamp(timestamp) 150484 SCI:PROGLET flbbcd begin() called 150484 SCI: flbbcd: Version 0.0 150484 SCI: flbbcd: Will be sending following data to glider: 150484 SCI: sci_flbbcd_chlor_units(ug/l) 150485 SCI: sci_flbbcd_bb_units(nodim) 150485 SCI: sci_flbbcd_cdom_units(ppb) 150485 SCI: sci_flbbcd_chlor_sig(nodim) 150485 SCI: sci_flbbcd_bb_sig(nodim) 150485 SCI: sci_flbbcd_cdom_sig(nodim) 150485 SCI: sci_flbbcd_chlor_ref(nodim) 150485 SCI: sci_flbbcd_bb_ref(nodim) 150485 SCI: sci_flbbcd_cdom_ref(nodim) 150485 SCI: sci_flbbcd_therm(nodim) 150485 SCI: sci_flbbcd_timestamp(timestamp) 150485 SCI: Opening Bit(30) for output 150486 SCI:Bit(30) use count is now 1. 150486 SCI:Bit(30) raise count is now 0. 150486 49 SCI:Bit(30) raise count is now 0. 150489 SCI:PROGLET house_elf start() called 150489 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 150489 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 150489 SCI:PROGLET ctd41cp start() called 150489 SCI: Opening port 2:UART4:Chan C SBMB:J4(ctd) 150489 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 150490 SCI: in queue size: 2048, out queue size: 0 150490 SCI:sci_uart_drain_input(2): 150492 50 SCI: 150492 SCI:sci_uart_drain_input:Drained 0 chars 150492 SCI: Opening Bit(27) for output 150492 SCI:Bit(27) use count is now 1. 150493 SCI:Bit(27) raise count is now 0. 150493 SCI: Opening Bit(26) for output 150493 SCI:Bit(26) use count is now 1. 150493 SCI:Bit(26) raise count is now 0. 150493 SCI:bit_shared_raise(): Raising bit(27). 150493 SCI:bit_shared_raise(): Raising bit(26). 150494 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 150494 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 150554 51 04290033.mlg LOG FILE OPENED -------------------------------- 150555 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-2018-007-2-33 (0429.0033) Vehicle Name: ru26d Curr Time: Wed Jan 10 07:14:40 2018 MT: 150560 DR Location: -6309.185 N -5945.077 E measured 450.006 secs ago GPS TooFar: -6308.642 N -5941.064 E measured 10846.6 secs ago GPS Invalid : -6308.886 N -5943.294 E measured 512.514 secs ago GPS Location: -6309.185 N -5945.077 E measured 451.536 secs ago sensor:c_thruster_surface_depth(m)=0 5035.69 secs ago sensor:c_wpt_lat(lat)=-6311.1842 33705.1 secs ago sensor:c_wpt_lon(lon)=-5957.0544 33705.1 secs ago sensor:m_battery(volts)=10.8811498748973 3.29 secs ago sensor:m_coulomb_amphr(amp-hrs)=208.371810913086 3.467 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=213.617873913162 3.482 secs ago sensor:m_depth(m)=0 3.361 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 3.624 secs ago sensor:m_gps_mag_var(rad)=-0.211184839491314 451.97 secs ago sensor:m_iridium_attempt_num(nodim)=0 256.701 secs ago sensor:m_iridium_call_num(nodim)=4451 318.841 secs ago sensor:m_iridium_dialed_num(nodim)=9444 329.194 secs ago sensor:m_leakdetect_voltage(volts)=2.48946886446886 3.324 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48959096459096 3.339 secs ago sensor:m_tot_num_inflections(nodim)=13411 554.282 secs ago sensor:m_vacuum(inHg)=10.9811644688645 3.748 secs ago sensor:m_water_vx(m/s)=-0.126370158131775 476.302 secs ago sensor:m_water_vy(m/s)=0.0944526921465787 476.334 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 150561 secs ago sensor:x_last_wpt_lat(lat)=-6307.5199 33706.1 secs ago sensor:x_last_wpt_lon(lon)=-5932.0273 33706.1 secs ago devices:(t/m/s) errs: 17/ 0/ 0 warn: 43/ 0/ 0 odd:1514/ 65/ 4 ABORT HISTORY: total since reset: 10 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: 2018-01-08T12:33:39 ABORT HISTORY: last abort segment: ru26d-2018-007-1-1 (0428.0001) 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 -400 secs) Waypoint: (-6311.1842,-5957.0544) Range: 10719m, Bearing: 235deg, Age: 9:21h:m Time until diving is: 293 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] [ 16 0 0] [ 0 0 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 1 [ 1 0 0] [ 16 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 13 [ 13 0 0] [ 0 0 0] [ 28 1 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 604 36 1] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 3 [ 3 0 0] [ 10 0 0] [ 751 27 3] 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] [ 126 1 0] 34 HD_PUMP - 35 thruster_g1 - 36 thruster - devices:(t/m/s) errs: 17/ 0/ 0 warn: 43/ 0/ 0 odd:1514/ 65/ 4 ^R150586 57 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 547.031250 Megabytes available on CF file system = 1453.906250 150591 04290033.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=212.0K, M_SPARE_HEAP=193.0K 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) 0.359484 m_battery(volts) 10.881150 m_coulomb_amphr_total(amp-hrs) 213.622619 m_iridium_call_num(nodim) 4451.000000 m_iridium_dialed_num(nodim) 9444.000000 m_lat(lat) -6309.185200 m_lon(lon) -5945.077100 m_pump_stress_track(nodim) 121.890348 m_tot_ballast_pumped_energy(kjoules) 0.000000 m_tot_horz_dist(km) 8204.718010 m_tot_num_inflections(nodim) 13411.000000 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) -6307.519900 x_last_wpt_lon(lon) -5932.027300 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 150662 62 04290034.mlg LOG FILE OPENED Megabytes used on CF file system = 547.156250 Megabytes available on CF file system = 1453.781250 150665 init_gps_input() 150665 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final GPS fix. 150667 disabling Iridium cons