Connection Event: Carrier Detect found.169229 Iridium console active and ready... Vehicle Name: ru26d Curr Time: Sun Jan 21 10:05:43 2018 MT: 169228 DR Location: -6406.795 N -6401.035 E measured 66.954 secs ago GPS TooFar: -6357.503 N -6306.016 E measured 164923 secs ago GPS Invalid : -6405.787 N -6356.791 E measured 129.19 secs ago GPS Location: -6406.795 N -6401.035 E measured 69.316 secs ago sensor:c_thruster_surface_depth(m)=0 11726.3 secs ago 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 ... ] ... ] sensor:c_wpt_lat(lat)=-6407.098 55564.3 secs ago sensor:c_wpt_lon(lon)=-6403.2705 55564.3 secs ago sensor:m_battery(volts)=10.9263333119285 15.296 secs ago sensor:m_coulomb_amphr(amp-hrs)=280.972015380859 5.537 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=286.218078380936 5.557 secs ago sensor:m_depth(m)=0 5.541 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.752 secs ago sensor:m_gps_mag_var(rad)=-0.268780704807127 69.903 secs ago sensor:m_iridium_attempt_num(nodim)=2 64.294 secs ago sensor:m_iridium_call_num(nodim)=4569 20.902 secs ago sensor:m_iridium_dialed_num(nodim)=9595 34.4 secs ago sensor:m_leakdetect_voltage(volts)=2.48952991452992 24.258 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48974358974359 24.278 secs ago sensor:m_tot_num_inflections(nodim)=13781 207.123 secs ago sensor:m_vacuum(inHg)=9.89710750915751 15.923 secs ago sensor:m_water_vx(m/s)=0.0176547950585171 99.384 secs ago sensor:m_water_vy(m/s)=-0.0248720622465787 99.424 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)=0.04 169230 secs ago sensor:x_last_wpt_lat(lat)=-6402.4749 55565.6 secs ago sensor:x_last_wpt_lon(lon)=-6343.9245 55565.6 secs ago ABORT HISTORY: total since reset: 14 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: 2018-01-19T10:52:01 ABORT HISTORY: last abort segment: ru26d-2018-018-1-1 (0432.0001) ABORT HISTORY: last abort mission: 1K_N.MI 169231 DRIVER_ODDITY:iridium:1789: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-2018-018-2-26 (0433.0026) Vehicle Name: ru26d Curr Time: Sun Jan 21 10:05:58 2018 MT: 169244 DR Location: -6406.795 N -6401.035 E measured 81.804 secs ago GPS TooFar: -6357.503 N -6306.016 E measured 164938 secs ago GPS Invalid : -6405.787 N -6356.791 E measured 144.039 secs ago GPS Location: -6406.795 N -6401.035 E measured 84.163 secs ago sensor:c_thruster_surface_depth(m)=0 11741.2 secs ago sensor:c_wpt_lat(lat)=-6407.098 55579.1 secs ago sensor:c_wpt_lon(lon)=-6403.2705 55579.1 secs ago sensor:m_battery(volts)=10.9263333119285 30.062 secs ago sensor:m_coulomb_amphr(amp-hrs)=280.9755859375 4.902 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=286.221648937576 4.915 secs ago sensor:m_depth(m)=0 4.838 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 10.146 secs ago sensor:m_gps_mag_var(rad)=-0.268780704807127 84.592 secs ago sensor:m_iridium_attempt_num(nodim)=2 78.967 secs ago sensor:m_iridium_call_num(nodim)=4569 35.558 secs ago sensor:m_iridium_dialed_num(nodim)=9595 49.042 secs ago sensor:m_leakdetect_voltage(volts)=2.48952991452992 38.891 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48974358974359 38.907 secs ago sensor:m_tot_num_inflections(nodim)=13781 221.739 secs ago sensor:m_vacuum(inHg)=9.89710750915751 30.525 secs ago sensor:m_water_vx(m/s)=0.0176547950585171 113.974 secs ago sensor:m_water_vy(m/s)=-0.0248720622465787 114.007 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)=0.04 169245 secs ago sensor:x_last_wpt_lat(lat)=-6402.4749 55580 secs ago sensor:x_last_wpt_lon(lon)=-6343.9245 55580.1 secs ago devices:(t/m/s) errs: 20/ 0/ 0 warn: 52/ 1/ 0 odd:2021/ 76/ 3 ABORT HISTORY: total since reset: 14 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: 2018-01-19T10:52:01 ABORT HISTORY: last abort segment: ru26d-2018-018-1-1 (0432.0001) 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 -8 secs) Waypoint: (-6407.0980,-6403.2705) Range: 1901m, Bearing: 237deg, Age: 15:26h:m Time until diving is: 209 secs s *.sbd *.tbd -------------------------------- 169265 18 04330026.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 169274 22 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 4 files Prechecking is not necessary for this invocation START **B00000000000000 � Starting zModem transfer of 04330026.tbd to/from ru26d size is 30086 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: 20480 Total Bytes sent/received: 21504 Total Bytes sent/received: 22528 Total Bytes sent/received: 23552 Total Bytes sent/received: 24576 Total Bytes sent/received: 25600 Total Bytes sent/received: 26589 Total Bytes sent/received: 26624 Total Bytes sent/received: 27648 Total Bytes sent/received: 28672 Total Bytes sent/received: 29696 Total Bytes sent/received: 30086 zModem transfer DONE for file 04330026.tbd Starting zModem transfer of 04330025.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 04330025.tbd Starting zModem transfer of 04330024.tbd to/from ru26d size is 32038 Total Bytes sent/received: 10240 Total Bytes sent/received: 11264 Total Bytes sent/received: 12288 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: 20480 Total Bytes sent/received: 21504 Total Bytes sent/received: 22528 Total Bytes sent/received: 22674 Total Bytes sent/received: 23552 Total Bytes sent/received: 24576 Total Bytes sent/received: 25600 Total Bytes sent/received: 26624 Total Bytes sent/received: 27648 Total Bytes sent/received: 28672 Total Bytes sent/received: 29696 Total Bytes sent/received: 30720 Total Bytes sent/received: 31744 Total Bytes sent/received: 32038 zModem transfer DONE for file 04330024.tbd Starting zModem transfer of 04330023.tbd to/from ru26d size is 482 Total Bytes sent/received: 482 zModem transfer DONE for file 04330023.tbd SHUFFLING FILES.... SCI: Sent 4 file(s): c:\logs\04330026.TBD c:\logs\04330025.TBD c:\logs\04330024.TBD c:\logs\04330023.TBD SCI: SUCCESS 169824 50 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 4 files Prechecking is not necessary for this invocation 169827 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 169827 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 04330026.sbd to/from ru26d size is 7452 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: 7452 zModem transfer DONE for file 04330026.sbd Starting zModem transfer of 04330025.sbd to/from ru26d size is 779 Total Bytes sent/received: 779 zModem transfer DONE for file 04330025.sbd Starting zModem transfer of 04330024.sbd to/from ru26d size is 8896 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: 8896 zModem transfer DONE for file 04330024.sbd Starting zModem transfer of 04330023.sbd to/from ru26d size is 779 Total Bytes sent/received: 779 zModem transfer DONE for file 04330023.sbd 69972 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 169972 restore_sensors().... 169972 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.... GLD: Sent 4 file(s): c:\logs\04330026.SBD c:\logs\04330025.SBD c:\logs\04330024.SBD c:\logs\04330023.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 1.000000 169989 51 SCI:PROGLET house_elf begin() called 169989 SCI: house_elf: Version 1.2 169989 SCI:PROGLET ctd41cp begin() called 169989 SCI: ctd41cp: Version 0.2 169989 SCI: ctd41cp: Will be sending the following data to glider: 169989 SCI: sci_water_cond(s/m) 169989 SCI: sci_water_temp(degc) 169989 SCI: sci_water_pressure(bar) 169989 SCI: sci_ctd41cp_timestamp(timestamp) 169990 SCI:PROGLET flbbcd begin() called 169990 SCI: flbbcd: Version 0.0 169990 SCI: flbbcd: Will be sending following data to glider: 169990 SCI: sci_flbbcd_chlor_units(ug/l) 169990 SCI: sci_flbbcd_bb_units(nodim) 169990 SCI: sci_flbbcd_cdom_units(ppb) 169990 SCI: sci_flbbcd_chlor_sig(nodim) 169990 SCI: sci_flbbcd_bb_sig(nodim) 169990 SCI: sci_flbbcd_cdom_sig(nodim) 169990 SCI: sci_flbbcd_chlor_ref(nodim) 169990 SCI: sci_flbbcd_bb_ref(nodim) 169991 SCI: sci_flbbcd_cdom_ref(nodim) 169991 SCI: sci_flbbcd_therm(nodim) 169991 SCI: sci_flbbcd_timestamp(timestamp) 169991 SCI: Opening Bit(30) for output 169991 SCI:Bit(30) use count is now 1. 169991 52 SCI:Bit(30) raise count is now 0. 169991 SCI:Bit(30) raise count is now 0. 169994 SCI:PROGLET house_elf start() called 169994 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 169994 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 169995 SCI:PROGLET ctd41cp start() called 169995 SCI: Opening port 2:UART4:Chan C SBMB:J4(ctd) 169995 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 169995 SCI: in queue size: 2048, out queue size: 0 169995 SCI:sci_uart_drain_input(2): 169998 54 SCI: 169998 SCI:sci_uart_drain_input:Drained 0 chars 169998 SCI: Opening Bit(27) for output 169998 SCI:Bit(27) use count is now 1. 169999 SCI:Bit(27) raise count is now 0. 169999 SCI: Opening Bit(26) for output 169999 SCI:Bit(26) use count is now 1. 169999 SCI:Bit(26) raise count is now 0. 169999 SCI:bit_shared_raise(): Raising bit(27). 169999 SCI:bit_shared_raise(): Raising bit(26). 169999 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 170000 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 170063 56 04330027.mlg LOG FILE OPENED -------------------------------- 170064 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-2018-018-2-27 (0433.0027) Vehicle Name: ru26d Curr Time: Sun Jan 21 10:19:43 2018 MT: 170069 DR Location: -6406.795 N -6401.035 E measured 907.125 secs ago GPS TooFar: -6357.503 N -6306.016 E measured 165764 secs ago GPS Invalid : -6405.787 N -6356.791 E measured 969.361 secs ago GPS Location: -6406.795 N -6401.035 E measured 909.488 secs ago sensor:c_thruster_surface_depth(m)=0 12566.5 secs ago sensor:c_wpt_lat(lat)=-6407.098 56404.4 secs ago sensor:c_wpt_lon(lon)=-6403.2705 56404.4 secs ago sensor:m_battery(volts)=10.9110176852534 3.279 secs ago sensor:m_coulomb_amphr(amp-hrs)=281.099060058594 3.467 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=286.34512305867 3.48 secs ago sensor:m_depth(m)=0 3.351 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1021 3.625 secs ago sensor:m_gps_mag_var(rad)=-0.268780704807127 909.919 secs ago sensor:m_iridium_attempt_num(nodim)=0 805.221 secs ago sensor:m_iridium_call_num(nodim)=4569 860.884 secs ago sensor:m_iridium_dialed_num(nodim)=9595 874.366 secs ago sensor:m_leakdetect_voltage(volts)=2.48968253968254 3.315 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48989621489622 3.332 secs ago sensor:m_tot_num_inflections(nodim)=13781 1047.06 secs ago sensor:m_vacuum(inHg)=11.0724191697192 3.739 secs ago sensor:m_water_vx(m/s)=0.0176547950585171 939.298 secs ago sensor:m_water_vy(m/s)=-0.0248720622465787 939.33 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)=0.04 170070 secs ago sensor:x_last_wpt_lat(lat)=-6402.4749 56405.4 secs ago sensor:x_last_wpt_lon(lon)=-6343.9245 56405.4 secs ago devices:(t/m/s) errs: 20/ 0/ 0 warn: 52/ 1/ 0 odd:2022/ 77/ 4 ABORT HISTORY: total since reset: 14 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: 2018-01-19T10:52:01 ABORT HISTORY: last abort segment: ru26d-2018-018-1-1 (0432.0001) 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 -833 secs) Waypoint: (-6407.0980,-6403.2705) Range: 1901m, Bearing: 237deg, Age: 15:40h: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] [ 21 1 0] [ 12 12 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 2 [ 2 0 0] [ 18 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] [ 10 5 0] 17 science_super I u 10 20 5 14 [ 14 0 0] [ 0 0 0] [ 78 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] [ 829 40 3] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 4 [ 4 0 0] [ 12 0 0] [ 949 20 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] [ 144 0 0] 34 HD_PUMP - 35 thruster_g1 - 36 thruster - devices:(t/m/s) errs: 20/ 0/ 0 warn: 52/ 1/ 0 odd:2022/ 77/ 4 ^R170095 62 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 742.937500 Megabytes available on CF file system = 1258.000000 170100 04330027.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) 0.152299 m_avg_speed(m/s) 0.347034 m_battery(volts) 10.911018 m_coulomb_amphr_total(amp-hrs) 286.349884 m_iridium_call_num(nodim) 4569.000000 m_iridium_dialed_num(nodim) 9595.000000 m_lat(lat) -6406.794600 m_lon(lon) -6401.034800 m_pump_stress_track(nodim) 159.736023 m_tot_ballast_pumped_energy(kjoules) 0.000000 m_tot_horz_dist(km) 8489.348734 m_tot_num_inflections(nodim) 13781.000000 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) -6402.474900 x_last_wpt_lon(lon) -6343.924500 The instantaneous lag time between the system and gps clock is -4.0 seconds. The average lag time between the system and gps clock is -4.6 seconds. Housekeeping is done 170179 67 04330028.mlg LOG FILE OPENED Megabytes used on CF file system = 743.062500 Megabytes available on CF file system = 1257.875000 170183 init_gps_input() 170183 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiti