Connection Event: Carrier Detect found.478326 Iridium console active and ready... Vehicle Name: ru26d Curr Time: Tue Jan 16 17:14:35 2018 MT: 478324 DR Location: -6337.899 N -6209.582 E measured 80.997 secs ago GPS TooFar: -6335.463 N -6203.201 E measured 26995.9 secs ago GPS Invalid : -6337.437 N -6209.137 E measured 142.253 secs ago GPS Location: -6337.899 N -6209.582 E measured 81.508 secs ago sensor:c_thruster_surface_depth(m)=0 7977.77 secs 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 ... ] ... ] ago sensor:c_wpt_lat(lat)=-6403.7392 116950 secs ago sensor:c_wpt_lon(lon)=-6318.3458 116950 secs ago sensor:m_battery(volts)=10.9091117664251 62.758 secs ago sensor:m_coulomb_amphr(amp-hrs)=247.752883911133 5.58 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=252.998946911209 5.601 secs ago sensor:m_depth(m)=0 5.579 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.797 secs ago sensor:m_gps_mag_var(rad)=-0.242600766027212 82.108 secs ago sensor:m_iridium_attempt_num(nodim)=1 73.208 secs ago sensor:m_iridium_call_num(nodim)=4499 15.573 secs ago sensor:m_iridium_dialed_num(nodim)=9513 34 secs ago sensor:m_leakdetect_voltage(volts)=2.48449328449328 10.796 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48687423687424 10.817 secs ago sensor:m_tot_num_inflections(nodim)=13572 200.748 secs ago sensor:m_vacuum(inHg)=9.49175738705739 63.387 secs ago sensor:m_water_vx(m/s)=0.163467029503105 108.276 secs ago sensor:m_water_vy(m/s)=0.149508310316991 108.322 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 478326 secs ago sensor:x_last_wpt_lat(lat)=-6333.605 288172 secs ago sensor:x_last_wpt_lon(lon)=-6111.7553 288172 secs ago ABORT HISTORY: total since reset: 11 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The attitude_rev device driver returned an error. ABORT HISTORY: last abort time: 2018-01-11T03:49:39 ABORT HISTORY: last abort segment: ru26d-2018-007-2-50 (0429.0050) ABORT HISTORY: last abort mission: 1K_N.MI 478327 DRIVER_ODDITY:iridium:1812: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-2018-010-0-68 (0430.0068) Vehicle Name: ru26d Curr Time: Tue Jan 16 17:14:45 2018 MT: 478335 DR Location: -6337.899 N -6209.582 E measured 90.808 secs ago GPS TooFar: -6335.463 N -6203.201 E measured 27005.8 secs ago GPS Invalid : -6337.437 N -6209.137 E measured 152.065 secs ago GPS Location: -6337.899 N -6209.582 E measured 91.32 secs ago sensor:c_thruster_surface_depth(m)=0 7987.55 secs ago sensor:c_wpt_lat(lat)=-6403.7392 116959 secs ago sensor:c_wpt_lon(lon)=-6318.3458 116959 secs ago sensor:m_battery(volts)=10.8640145091965 8.258 secs ago sensor:m_coulomb_amphr(amp-hrs)=247.75407409668 4.709 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=253.000137096756 4.722 secs ago sensor:m_depth(m)=0 4.649 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 4.87 secs ago sensor:m_gps_mag_var(rad)=-0.242600766027212 91.757 secs ago sensor:m_iridium_attempt_num(nodim)=1 82.84 secs ago sensor:m_iridium_call_num(nodim)=4499 25.189 secs ago sensor:m_iridium_dialed_num(nodim)=9513 43.6 secs ago sensor:m_leakdetect_voltage(volts)=2.48449328449328 20.388 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48687423687424 20.404 secs ago sensor:m_tot_num_inflections(nodim)=13572 210.322 secs ago sensor:m_vacuum(inHg)=9.79892722832723 8.727 secs ago sensor:m_water_vx(m/s)=0.163467029503105 117.822 secs ago sensor:m_water_vy(m/s)=0.149508310316991 117.857 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 478336 secs ago sensor:x_last_wpt_lat(lat)=-6333.605 288181 secs ago sensor:x_last_wpt_lon(lon)=-6111.7553 288181 secs ago devices:(t/m/s) errs: 18/ 0/ 0 warn: 48/ 4/ 0 odd:1750/ 181/ 3 ABORT HISTORY: total since reset: 11 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The attitude_rev device driver returned an error. ABORT HISTORY: last abort time: 2018-01-11T03:49:39 ABORT HISTORY: last abort segment: ru26d-2018-007-2-50 (0429.0050) 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 -27 secs) Waypoint: (-6403.7392,-6318.3458) Range: 74024m, Bearing: 217deg, Age: 32:29h:m Time until diving is: 205 secs s *.sbd *.tbd -------------------------------- 478362 62 04300068.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 478371 65 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 **B00000000000 Starting zModem transfer of 04300068.tbd to/from ru26d size is 19894 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: 13313 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: 19894 zModem transfer DONE for file 04300068.tbd Starting zModem transfer of 04300067.tbd to/from ru26d size is 2346 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 2346 zModem transfer DONE for file 04300067.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\04300068.TBD c:\logs\04300067.TBD SCI: SUCCESS 478547 7 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 478552 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 478552 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 04300068.sbd to/from ru26d size is 7390 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: 7390 zModem transfer DONE for file 04300068.sbd Starting zModem transfer of 04300067.sbd to/from ru26d size is 815 Total Bytes sent/received: 815 zModem transfer DONE for file 04300067.sbd 78621 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 478621 restore_sensors().... 478621 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\04300068.SBD c:\logs\04300067.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 1.000000 478632 9 SCI:PROGLET house_elf begin() called 478633 SCI: house_elf: Version 1.2 478633 SCI:PROGLET ctd41cp begin() called 478633 SCI: ctd41cp: Version 0.2 478633 SCI: ctd41cp: Will be sending the following data to glider: 478633 SCI: sci_water_cond(s/m) 478633 SCI: sci_water_temp(degc) 478633 SCI: sci_water_pressure(bar) 478633 SCI: sci_ctd41cp_timestamp(timestamp) 478633 SCI:PROGLET flbbcd begin() called 478633 SCI: flbbcd: Version 0.0 478633 SCI: flbbcd: Will be sending following data to glider: 478634 SCI: sci_flbbcd_chlor_units(ug/l) 478634 SCI: sci_flbbcd_bb_units(nodim) 478634 SCI: sci_flbbcd_cdom_units(ppb) 478634 SCI: sci_flbbcd_chlor_sig(nodim) 478634 SCI: sci_flbbcd_bb_sig(nodim) 478634 SCI: sci_flbbcd_cdom_sig(nodim) 478634 SCI: sci_flbbcd_chlor_ref(nodim) 478634 SCI: sci_flbbcd_bb_ref(nodim) 478634 SCI: sci_flbbcd_cdom_ref(nodim) 478634 SCI: sci_flbbcd_therm(nodim) 478635 SCI: sci_flbbcd_timestamp(timestamp) 478635 SCI: Opening Bit(30) for output 478635 SCI:Bit(30) use count is now 1. 478635 10 SCI:Bit(30) raise count is now 0. 478635 SCI:Bit(30) raise count is now 0. 478638 SCI:PROGLET house_elf start() called 478638 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 478638 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 478638 SCI:PROGLET ctd41cp start() called 478638 SCI: Opening port 2:UART4:Chan C SBMB:J4(ctd) 478639 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 478639 SCI: in queue size: 2048, out queue size: 0 478639 SCI:sci_uart_drain_input(2): 478641 11 SCI: 478641 SCI:sci_uart_drain_input:Drained 0 chars 478641 SCI: Opening Bit(27) for output 478641 SCI:Bit(27) use count is now 1. 478642 SCI:Bit(27) raise count is now 0. 478642 SCI: Opening Bit(26) for output 478643 SCI:Bit(26) use count is now 1. 478643 SCI:Bit(26) raise count is now 0. 478643 SCI:bit_shared_raise(): Raising bit(27). 478643 SCI:bit_shared_raise(): Raising bit(26). 478643 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 478643 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 478705 12 04300069.mlg LOG FILE OPENED -------------------------------- 478706 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-2018-010-0-69 (0430.0069) Vehicle Name: ru26d Curr Time: Tue Jan 16 17:21:01 2018 MT: 478711 DR Location: -6337.899 N -6209.582 E measured 466.818 secs ago GPS TooFar: -6335.463 N -6203.201 E measured 27381.8 secs ago GPS Invalid : -6337.437 N -6209.137 E measured 528.075 secs ago GPS Location: -6337.899 N -6209.582 E measured 467.329 secs ago sensor:c_thruster_surface_depth(m)=0 8363.56 secs ago sensor:c_wpt_lat(lat)=-6403.7392 117335 secs ago sensor:c_wpt_lon(lon)=-6318.3458 117335 secs ago sensor:m_battery(volts)=10.8474093952732 3.27 secs ago sensor:m_coulomb_amphr(amp-hrs)=247.812255859375 3.443 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=253.058318859451 3.458 secs ago sensor:m_depth(m)=0 3.343 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1021 61.907 secs ago sensor:m_gps_mag_var(rad)=-0.242600766027212 467.763 secs ago sensor:m_iridium_attempt_num(nodim)=0 350.795 secs ago sensor:m_iridium_call_num(nodim)=4499 401.191 secs ago sensor:m_iridium_dialed_num(nodim)=9513 419.604 secs ago sensor:m_leakdetect_voltage(volts)=2.48855311355311 3.308 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48937728937729 3.324 secs ago sensor:m_tot_num_inflections(nodim)=13572 586.324 secs ago sensor:m_vacuum(inHg)=10.9856457264957 3.729 secs ago sensor:m_water_vx(m/s)=0.163467029503105 493.825 secs ago sensor:m_water_vy(m/s)=0.149508310316991 493.86 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 478712 secs ago sensor:x_last_wpt_lat(lat)=-6333.605 288557 secs ago sensor:x_last_wpt_lon(lon)=-6111.7553 288557 secs ago devices:(t/m/s) errs: 18/ 0/ 0 warn: 48/ 4/ 0 odd:1750/ 181/ 3 ABORT HISTORY: total since reset: 11 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The attitude_rev device driver returned an error. ABORT HISTORY: last abort time: 2018-01-11T03:49:39 ABORT HISTORY: last abort segment: ru26d-2018-007-2-50 (0429.0050) 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 -403 secs) Waypoint: (-6403.7392,-6318.3458) Range: 74024m, Bearing: 217deg, Age: 32:35h: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] [ 19 2 0] [ 0 0 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 2 [ 2 0 0] [ 18 2 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] [ 34 6 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 736 115 2] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 3 [ 3 0 0] [ 10 0 0] [ 845 56 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] [ 130 4 0] 34 HD_PUMP - 35 thruster_g1 - 36 thruster - devices:(t/m/s) errs: 18/ 0/ 0 warn: 48/ 4/ 0 odd:1750/ 181/ 3 ^R478737 19 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 658.250000 Megabytes available on CF file system = 1342.687500 478742 04300069.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=210.0K, M_SPARE_HEAP=191.0K 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) 0.152579 m_avg_speed(m/s) 0.340894 m_battery(volts) 10.847409 m_coulomb_amphr_total(amp-hrs) 253.063049 m_iridium_call_num(nodim) 4499.000000 m_iridium_dialed_num(nodim) 9513.000000 m_lat(lat) -6337.898800 m_lon(lon) -6209.582100 m_pump_stress_track(nodim) 148.720293 m_tot_ballast_pumped_energy(kjoules) 0.000000 m_tot_horz_dist(km) 8372.177820 m_tot_num_inflections(nodim) 13572.000000 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) -6333.605000 x_last_wpt_lon(lon) -6111.755300 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 -4.7 seconds. Housekeeping is done 478819 24 04300070.mlg LOG FILE OPENED Megabytes used on CF file system = 658.375000 Megabytes available on CF file system = 1342.562500 478823 init_gps_input() 478823 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiti