Connection Event: Carrier Detect found.494271 Iridium console active and ready... Vehicle Name: ru26d Curr Time: Tue Jan 16 21:40:20 2018 MT: 494269 DR Location: -6337.193 N -6209.133 E measured 63.103 secs ago GPS TooFar: -6337.196 N -6209.129 E measured 95.888 secs ago GPS Invalid : -6337.437 N -6208.128 E measured 131.09 secs ago GPS Location: -6337.193 N -6209.133 E measured 65.471 secs ago sensor:c_thruster_surface_depth(m)=0 871 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 ... ] ... ] 1.66 secs ago sensor:c_wpt_lat(lat)=-6403.7392 132895 secs ago sensor:c_wpt_lon(lon)=-6318.3458 132895 secs ago sensor:m_battery(volts)=10.9205242342755 54.941 secs ago sensor:m_coulomb_amphr(amp-hrs)=249.050811767578 5.64 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=254.296874767654 5.663 secs ago sensor:m_depth(m)=0 5.64 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 0.791 secs ago sensor:m_gps_mag_var(rad)=-0.242600766027212 66.06 secs ago sensor:m_iridium_attempt_num(nodim)=5 60.441 secs ago sensor:m_iridium_call_num(nodim)=4502 20.499 secs ago sensor:m_iridium_dialed_num(nodim)=9519 30.53 secs ago sensor:m_leakdetect_voltage(volts)=2.48836996336996 60.352 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48949938949939 60.376 secs ago sensor:m_tot_num_inflections(nodim)=13580 199.639 secs ago sensor:m_vacuum(inHg)=9.50112728937729 55.572 secs ago sensor:m_water_vx(m/s)=0.103575176166568 95.655 secs ago sensor:m_water_vy(m/s)=0.284944903953194 95.699 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 494271 secs ago sensor:x_last_wpt_lat(lat)=-6333.605 304117 secs ago sensor:x_last_wpt_lon(lon)=-6111.7553 304117 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 494272 DRIVER_ODDITY:iridium:1810: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-2018-010-0-73 (0430.0073) Vehicle Name: ru26d Curr Time: Tue Jan 16 21:40:35 2018 MT: 494285 DR Location: -6337.193 N -6209.133 E measured 77.896 secs ago GPS TooFar: -6337.196 N -6209.129 E measured 110.682 secs ago GPS Invalid : -6337.437 N -6208.128 E measured 145.883 secs ago GPS Location: -6337.193 N -6209.133 E measured 80.265 secs ago sensor:c_thruster_surface_depth(m)=0 8726.44 secs ago sensor:c_wpt_lat(lat)=-6403.7392 132909 secs ago sensor:c_wpt_lon(lon)=-6318.3458 132909 secs ago sensor:m_battery(volts)=10.869815888992 4.526 secs ago sensor:m_coulomb_amphr(amp-hrs)=249.053192138672 4.713 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=254.299255138748 4.727 secs ago sensor:m_depth(m)=0 4.594 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 4.871 secs ago sensor:m_gps_mag_var(rad)=-0.242600766027212 80.698 secs ago sensor:m_iridium_attempt_num(nodim)=5 75.062 secs ago sensor:m_iridium_call_num(nodim)=4502 35.105 secs ago sensor:m_iridium_dialed_num(nodim)=9519 45.123 secs ago sensor:m_leakdetect_voltage(volts)=2.49261294261294 13.507 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49215506715507 13.521 secs ago sensor:m_tot_num_inflections(nodim)=13580 214.208 secs ago sensor:m_vacuum(inHg)=9.82174090354091 4.995 secs ago sensor:m_water_vx(m/s)=0.103575176166568 110.195 secs ago sensor:m_water_vy(m/s)=0.284944903953194 110.228 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 494286 secs ago sensor:x_last_wpt_lat(lat)=-6333.605 304131 secs ago sensor:x_last_wpt_lon(lon)=-6111.7553 304131 secs ago devices:(t/m/s) errs: 18/ 0/ 0 warn: 48/ 4/ 0 odd:1812/ 243/ 5 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 -8 secs) Waypoint: (-6403.7392,-6318.3458) Range: 75167m, Bearing: 217deg, Age: 36:55h:m Time until diving is: 213 secs s *.sbd *.tbd -------------------------------- 494306 64 04300073.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 494315 67 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 5 files Prechecking is not necessary for this invocation START **B00000000000000 � Starting zModem transfer of 04300073.tbd to/from ru26d size is 21598 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: 13541 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: 20480 Total Bytes sent/received: 21504 Total Bytes sent/received: 21598 zModem transfer DONE for file 04300073.tbd Starting zModem transfer of 04300072.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 04300072.tbd Starting zModem transfer of 04300071.tbd to/from ru26d size is 482 Total Bytes sent/received: 482 zModem transfer DONE for file 04300071.tbd Starting zModem transfer of 04300070.tbd to/from ru26d size is 13650 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: 13152 Total Bytes sent/received: 13312 Total Bytes sent/received: 13650 zModem transfer DONE for file 04300070.tbd Starting zModem transfer of 04300069.tbd to/from ru26d size is 482 Total Bytes sent/received: 482 zModem transfer DONE for file 04300069.tbd SHUFFLING FILES..... SCI: Sent 5 file(s): c:\logs\04300073.TBD c:\logs\04300072.TBD c:\logs\04300071.TBD c:\logs\04300070.TBD c:\logs\04300069.TBD SCI: SUCCESS 494678 54 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 3 files Prechecking is not necessary for this invocation 494682 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 494682 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 04300073.sbd to/from ru26d size is 8187 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: 8187 zModem transfer DONE for file 04300073.sbd Starting zModem transfer of 04300072.sbd to/from ru26d size is 895 Total Bytes sent/received: 895 zModem transfer DONE for file 04300072.sbd Starting zModem transfer of 04300071.sbd to/from ru26d size is 975 Total Bytes sent/received: 975 zModem transfer DONE for file 04300071.sbd 94769 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 494769 restore_sensors().... 494769 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES... GLD: Sent 3 file(s): c:\logs\04300073.SBD c:\logs\04300072.SBD c:\logs\04300071.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 1.000000 494783 56 SCI:PROGLET house_elf begin() called 494783 SCI: house_elf: Version 1.2 494783 SCI:PROGLET ctd41cp begin() called 494783 SCI: ctd41cp: Version 0.2 494783 SCI: ctd41cp: Will be sending the following data to glider: 494783 SCI: sci_water_cond(s/m) 494783 SCI: sci_water_temp(degc) 494783 SCI: sci_water_pressure(bar) 494783 SCI: sci_ctd41cp_timestamp(timestamp) 494783 SCI:PROGLET flbbcd begin() called 494784 SCI: flbbcd: Version 0.0 494784 SCI: flbbcd: Will be sending following data to glider: 494784 SCI: sci_flbbcd_chlor_units(ug/l) 494784 SCI: sci_flbbcd_bb_units(nodim) 494784 SCI: sci_flbbcd_cdom_units(ppb) 494784 SCI: sci_flbbcd_chlor_sig(nodim) 494784 SCI: sci_flbbcd_bb_sig(nodim) 494784 SCI: sci_flbbcd_cdom_sig(nodim) 494784 SCI: sci_flbbcd_chlor_ref(nodim) 494784 SCI: sci_flbbcd_bb_ref(nodim) 494784 SCI: sci_flbbcd_cdom_ref(nodim) 494785 SCI: sci_flbbcd_therm(nodim) 494785 SCI: sci_flbbcd_timestamp(timestamp) 494785 SCI: Opening Bit(30) for output 494785 SCI:Bit(30) use count is now 1. 494785 SCI:Bit(30) raise count is now 0. 494785 57 SCI:Bit(30) raise count is now 0. 494788 SCI:PROGLET house_elf start() called 494788 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 494788 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 494788 SCI:PROGLET ctd41cp start() called 494789 SCI: Opening port 2:UART4:Chan C SBMB:J4(ctd) 494789 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 494789 SCI: in queue size: 2048, out queue size: 0 494789 SCI:sci_uart_drain_input(2): 494791 58 SCI: 494792 SCI:sci_uart_drain_input:Drained 0 chars 494792 SCI: Opening Bit(27) for output 494792 SCI:Bit(27) use count is now 1. 494793 SCI:Bit(27) raise count is now 0. 494793 SCI: Opening Bit(26) for output 494793 SCI:Bit(26) use count is now 1. 494793 SCI:Bit(26) raise count is now 0. 494793 SCI:bit_shared_raise(): Raising bit(27). 494793 SCI:bit_shared_raise(): Raising bit(26). 494793 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 494793 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 494860 60 04300074.mlg LOG FILE OPENED -------------------------------- 494861 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-2018-010-0-74 (0430.0074) Vehicle Name: ru26d Curr Time: Tue Jan 16 21:50:15 2018 MT: 494864 DR Location: -6337.193 N -6209.133 E measured 657.555 secs ago GPS TooFar: -6337.196 N -6209.129 E measured 690.341 secs ago GPS Invalid : -6337.437 N -6208.128 E measured 725.542 secs ago GPS Location: -6337.193 N -6209.133 E measured 659.924 secs ago sensor:c_thruster_surface_depth(m)=0 9306.1 secs ago sensor:c_wpt_lat(lat)=-6403.7392 133489 secs ago sensor:c_wpt_lon(lon)=-6318.3458 133489 secs ago sensor:m_battery(volts)=10.8609900998486 3.277 secs ago sensor:m_coulomb_amphr(amp-hrs)=249.139877319336 3.455 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=254.385940319412 3.469 secs ago sensor:m_depth(m)=0 3.35 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1021 3.615 secs ago sensor:m_gps_mag_var(rad)=-0.242600766027212 660.358 secs ago sensor:m_iridium_attempt_num(nodim)=0 559.531 secs ago sensor:m_iridium_call_num(nodim)=4502 614.761 secs ago sensor:m_iridium_dialed_num(nodim)=9519 624.778 secs ago sensor:m_leakdetect_voltage(volts)=2.48907203907204 3.315 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48946886446886 3.33 secs ago sensor:m_tot_num_inflections(nodim)=13580 793.863 secs ago sensor:m_vacuum(inHg)=11.0479759462759 3.74 secs ago sensor:m_water_vx(m/s)=0.103575176166568 689.851 secs ago sensor:m_water_vy(m/s)=0.284944903953194 689.883 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 494865 secs ago sensor:x_last_wpt_lat(lat)=-6333.605 304711 secs ago sensor:x_last_wpt_lon(lon)=-6111.7553 304711 secs ago devices:(t/m/s) errs: 18/ 0/ 0 warn: 48/ 4/ 0 odd:1812/ 243/ 5 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 -588 secs) Waypoint: (-6403.7392,-6318.3458) Range: 75167m, Bearing: 217deg, Age: 37:4h:m Time until diving is: 294 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] [ 78 50 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 739 118 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] [ 858 69 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] [ 132 6 2] 34 HD_PUMP - 35 thruster_g1 - 36 thruster - devices:(t/m/s) errs: 18/ 0/ 0 warn: 48/ 4/ 0 odd:1812/ 243/ 5 ^R494891 67 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 661.593750 Megabytes available on CF file system = 1339.343750 494896 04300074.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) 0.335460 m_battery(volts) 10.860990 m_coulomb_amphr_total(amp-hrs) 254.390701 m_iridium_call_num(nodim) 4502.000000 m_iridium_dialed_num(nodim) 9519.000000 m_lat(lat) -6337.192700 m_lon(lon) -6209.132800 m_pump_stress_track(nodim) 149.096524 m_tot_ballast_pumped_energy(kjoules) 0.000000 m_tot_horz_dist(km) 8373.756787 m_tot_num_inflections(nodim) 13580.000000 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 -5.0 seconds. The average lag time between the system and gps clock is -4.8 seconds. Housekeeping is done 494968 71 04300075.mlg LOG FILE OPENED Megabytes used on CF file system = 661.718750 Megabytes available on CF file system = 1339.218750 494972 init_gps_input() 494972 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiti