Connection Event: Carrier Detect found.163090 Iridium console active and ready...
Vehicle Name: ru26d
Curr Time: Wed Jan 10 10:43:29 2018 MT: 163089
DR Location: -6309.803 N -5949.163 E measured 63.727 secs ago
GPS TooFar: -6308.642 N -5941.064 E measured 23375.9 secs ago
GPS Invalid : -6309.551 N -5947.924 E measured 126.45 secs ago
GPS Location: -6309.803 N -5949.163 E measured 66.083 secs ago
sensor:c_thruster_surface_depth(m)=0 3686.85 se
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 ... ] ... ]
cs ago
sensor:c_wpt_lat(lat)=-6311.1842 46234.4 secs ago
sensor:c_wpt_lon(lon)=-5957.0544 46234.5 secs ago
sensor:m_battery(volts)=10.8631035388919 25.222 secs ago
sensor:m_coulomb_amphr(amp-hrs)=209.457183837891 5.666 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=214.703246837967 5.685 secs ago
sensor:m_depth(m)=0.0136162345977557 5.624 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 0.729 secs ago
sensor:m_gps_mag_var(rad)=-0.211184839491314 66.63 secs ago
sensor:m_iridium_attempt_num(nodim)=1 61.024 secs ago
sensor:m_iridium_call_num(nodim)=4454 20.846 secs ago
sensor:m_iridium_dialed_num(nodim)=9448 35.876 secs ago
sensor:m_leakdetect_voltage(volts)=2.48894993894994 30.717 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48940781440782 30.739 secs ago
sensor:m_tot_num_inflections(nodim)=13417 168.466 secs ago
sensor:m_vacuum(inHg)=9.59971495726496 25.813 secs ago
sensor:m_water_vx(m/s)=-0.105854661042894 95.241 secs ago
sensor:m_water_vy(m/s)=0.0762429862025458 95.284 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 163091 secs ago
sensor:x_last_wpt_lat(lat)=-6307.5199 46235.7 secs ago
sensor:x_last_wpt_lon(lon)=-5932.0273 46235.8 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
163091 DRIVER_ODDITY:iridium:1742: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-2018-007-2-38 (0429.0038)
Vehicle Name: ru26d
Curr Time: Wed Jan 10 10:43:46 2018 MT: 163107
DR Location: -6309.803 N -5949.163 E measured 80.941 secs ago
GPS TooFar: -6308.642 N -5941.064 E measured 23393.1 secs ago
GPS Invalid : -6309.551 N -5947.924 E measured 143.664 secs ago
GPS Location: -6309.803 N -5949.163 E measured 83.298 secs ago
sensor:c_thruster_surface_depth(m)=0 3704.05 secs ago
sensor:c_wpt_lat(lat)=-6311.1842 46251.6 secs ago
sensor:c_wpt_lon(lon)=-5957.0544 46251.6 secs ago
sensor:m_battery(volts)=10.8631035388919 42.354 secs ago
sensor:m_coulomb_amphr(amp-hrs)=209.459564208984 7.32 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=214.705627209061 7.332 secs ago
sensor:m_depth(m)=0.0136162345977557 7.207 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1023 7.467 secs ago
sensor:m_gps_mag_var(rad)=-0.211184839491314 83.717 secs ago
sensor:m_iridium_attempt_num(nodim)=1 78.094 secs ago
sensor:m_iridium_call_num(nodim)=4454 37.898 secs ago
sensor:m_iridium_dialed_num(nodim)=9448 52.914 secs ago
sensor:m_leakdetect_voltage(volts)=2.48894993894994 47.749 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48940781440782 47.764 secs ago
sensor:m_tot_num_inflections(nodim)=13417 185.482 secs ago
sensor:m_vacuum(inHg)=9.59971495726496 42.815 secs ago
sensor:m_water_vx(m/s)=-0.105854661042894 112.231 secs ago
sensor:m_water_vy(m/s)=0.0762429862025458 112.265 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 163108 secs ago
sensor:x_last_wpt_lat(lat)=-6307.5199 46252.6 secs ago
sensor:x_last_wpt_lon(lon)=-5932.0273 46252.6 secs ago
devices:(t/m/s) errs: 17/ 0/ 0 warn: 43/ 0/ 0 odd:1520/ 71/ 1
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 -41 secs)
Waypoint: (-6311.1842,-5957.0544) Range: 7104m, Bearing: 234deg, Age: 12:50h:m
Time until diving is: 210 secs
s *.sbd *.tbd
--------------------------------
163128 88 04290038.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
163137 92 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 04290038.tbd to/from ru26d size is 8766
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: 8766
zModem transfer DONE for file 04290038.tbd
Starting zModem transfer of 04290037.tbd to/from ru26d size is 482
Total Bytes sent/received: 549
Total Bytes sent/received: 482
zModem transfer DONE for file 04290037.tbd
SHUFFLING FILES..
SCI: Sent 2 file(s):
c:\logs\04290038.TBD c:\logs\04290037.TBD
SCI: SUCCESS
163225 12 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
163227 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
163227 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B00000000000000
�
Starting zModem transfer of 04290038.sbd to/from ru26d size is 6332
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: 6332
zModem transfer DONE for file 04290038.sbd
Starting zModem transfer of 04290037.sbd to/from ru26d size is 783
Total Bytes sent/received: 783
zModem transfer DONE for file 04290037.sbd
63289 restore_sensors()....
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
163289 restore_sensors()....
163289 restore_sensors()....
Restored c_science_printout from 0 to 0
SHUFFLING FILES..
GLD: Sent 2 file(s):
c:\logs\04290038.SBD c:\logs\04290037.SBD
GLD: SUCCESS
Glider-Science software version match: 7.210000
Science hardware version is 1.000000
163299 13 SCI:PROGLET house_elf begin() called
163299 SCI: house_elf: Version 1.2
163299 SCI:PROGLET ctd41cp begin() called
163299 SCI: ctd41cp: Version 0.2
163300 SCI: ctd41cp: Will be sending the following data to glider:
163300 SCI: sci_water_cond(s/m)
163300 SCI: sci_water_temp(degc)
163300 SCI: sci_water_pressure(bar)
163300 SCI: sci_ctd41cp_timestamp(timestamp)
163300 SCI:PROGLET flbbcd begin() called
163300 SCI: flbbcd: Version 0.0
163300 SCI: flbbcd: Will be sending following data to glider:
163300 SCI: sci_flbbcd_chlor_units(ug/l)
163300 SCI: sci_flbbcd_bb_units(nodim)
163300 SCI: sci_flbbcd_cdom_units(ppb)
163300 SCI: sci_flbbcd_chlor_sig(nodim)
163301 SCI: sci_flbbcd_bb_sig(nodim)
163301 SCI: sci_flbbcd_cdom_sig(nodim)
163301 SCI: sci_flbbcd_chlor_ref(nodim)
163301 SCI: sci_flbbcd_bb_ref(nodim)
163301 SCI: sci_flbbcd_cdom_ref(nodim)
163301 SCI: sci_flbbcd_therm(nodim)
163301 SCI: sci_flbbcd_timestamp(timestamp)
163301 SCI: Opening Bit(30) for output
163301 SCI:Bit(30) use count is now 1.
163301 14 SCI:Bit(30) raise count is now 0.
163302 SCI:Bit(30) raise count is now 0.
163304 SCI:PROGLET house_elf start() called
163304 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
163305 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
163305 SCI:PROGLET ctd41cp start() called
163305 SCI: Opening port 2:UART4:Chan C SBMB:J4(ctd)
163305 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15
163305 SCI: in queue size: 2048, out queue size: 0
163305 SCI:sci_uart_drain_input(2):
163308 16 SCI:
163308 SCI:sci_uart_drain_input:Drained 0 chars
163308 SCI: Opening Bit(27) for output
163308 SCI:Bit(27) use count is now 1.
163309 SCI:Bit(27) raise count is now 0.
163309 SCI: Opening Bit(26) for output
163309 SCI:Bit(26) use count is now 1.
163309 SCI:Bit(26) raise count is now 0.
163309 SCI:bit_shared_raise(): Raising bit(27).
163309 SCI:bit_shared_raise(): Raising bit(26).
163309 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal)
163309 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal)
163370 18 04290039.mlg LOG FILE OPENED
--------------------------------
163371 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-2018-007-2-39 (0429.0039)
Vehicle Name: ru26d
Curr Time: Wed Jan 10 10:48:15 2018 MT: 163376
DR Location: -6309.803 N -5949.163 E measured 350.204 secs ago
GPS TooFar: -6308.642 N -5941.064 E measured 23662.4 secs ago
GPS Invalid : -6309.551 N -5947.924 E measured 412.927 secs ago
GPS Location: -6309.803 N -5949.163 E measured 352.56 secs ago
sensor:c_thruster_surface_depth(m)=0 3973.31 secs ago
sensor:c_wpt_lat(lat)=-6311.1842 46520.9 secs ago
sensor:c_wpt_lon(lon)=-5957.0544 46520.9 secs ago
sensor:m_battery(volts)=10.8463316465412 3.289 secs ago
sensor:m_coulomb_amphr(amp-hrs)=209.498748779297 3.461 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=214.744811779373 3.476 secs ago
sensor:m_depth(m)=0.476568210916399 3.352 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 60.411 secs ago
sensor:m_gps_mag_var(rad)=-0.211184839491314 352.983 secs ago
sensor:m_iridium_attempt_num(nodim)=0 249.101 secs ago
sensor:m_iridium_call_num(nodim)=4454 307.161 secs ago
sensor:m_iridium_dialed_num(nodim)=9448 322.176 secs ago
sensor:m_leakdetect_voltage(volts)=2.48833943833944 3.319 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48956043956044 3.335 secs ago
sensor:m_tot_num_inflections(nodim)=13417 454.741 secs ago
sensor:m_vacuum(inHg)=10.7518055555556 3.74 secs ago
sensor:m_water_vx(m/s)=-0.105854661042894 381.488 secs ago
sensor:m_water_vy(m/s)=0.0762429862025458 381.521 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 163377 secs ago
sensor:x_last_wpt_lat(lat)=-6307.5199 46521.8 secs ago
sensor:x_last_wpt_lon(lon)=-5932.0273 46521.9 secs ago
devices:(t/m/s) errs: 17/ 0/ 0 warn: 43/ 0/ 0 odd:1520/ 71/ 1
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 -310 secs)
Waypoint: (-6311.1842,-5957.0544) Range: 7104m, Bearing: 234deg, Age: 12:55h: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] [ 605 37 0]
22 altimeter I u 3 20 5 0
23 ctd -
24 IRIDIUM* I u -1 20 5 3 [ 3 0 0] [ 10 0 0] [ 756 32 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] [ 126 1 0]
34 HD_PUMP -
35 thruster_g1 -
36 thruster -
devices:(t/m/s) errs: 17/ 0/ 0 warn: 43/ 0/ 0 odd:1520/ 71/ 1
^R163402 24 behavior surface_2: User typed Control-R, resuming
I heard a Control-R
RESUMING MISSION
Megabytes used on CF file system = 549.937500
Megabytes available on CF file system = 1451.000000
163407 04290039.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) 0.350520
m_battery(volts) 10.846332
m_coulomb_amphr_total(amp-hrs) 214.750747
m_iridium_call_num(nodim) 4454.000000
m_iridium_dialed_num(nodim) 9448.000000
m_lat(lat) -6309.802800
m_lon(lon) -5949.162800
m_pump_stress_track(nodim) 122.142372
m_tot_ballast_pumped_energy(kjoules) 0.000000
m_tot_horz_dist(km) 8208.434098
m_tot_num_inflections(nodim) 13417.000000
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 -3.4 seconds.
Housekeeping is done
163428 25 DRIVER_ODDITY:digifin:12504:xxx_ctrl() ran too long
163483 26 04290040.mlg LOG FILE OPENED
Megabytes used on CF file system = 550.062500
Megabytes available on CF file system = 1450.875000
163486 init_gps_input()
163486 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix
surface_2: Waiting for final GPS fix.
163488 disabling Iridium console...