Connection Event: Carrier Detect found. 97970 Iridium console active and ready... Vehicle Name: ru32 Curr Time: Thu Jul 6 23:41:53 2017 MT: 97968 DR Location: 3645.102 N -12201.659 E measured 38.794 secs ago GPS TooFar: 3645.047 N -12201.830 E measured 1e+308 secs ago GPS Invalid : 3644.855 N -12201.510 E measured 100.818 secs ago GPS Location: 3645.102 N -12201.659 E measured 41.175 secs ago sensor:c_thruster_surface_depth(m)=0 5344.52 secs ago sensor:c_wpt_lat(lat)=3645.0972 407.045 secs ago sensor:c_wpt_lon(lon)=-12201.708 407.11 secs ago sensor:m_battery(volts)=11.1661292091914 40.525 secs ago sensor:m_coulomb_amphr(amp-hrs)=96.8394393920898 5.617 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=99.800125892088 5.639 secs ago sensor:m_depth(m)=0.104059575280671 5.583 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.686 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 41.705 secs ago sensor:m_iridium_attempt_num(nodim)=1 36.096 secs ago sensor:m_iridium_call_num(nodim)=545 0.755 secs ago sensor:m_iridium_dialed_num(nodim)=781 11.002 secs ago sensor:m_leakdetect_voltage(volts)=2.47127594627595 46.332 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47432844932845 46.36 secs ago sensor:m_tot_num_inflections(nodim)=6860 142.945 secs ago sensor:m_vacuum(inHg)=9.17164392551893 41.129 secs ago sensor:m_water_vx(m/s)=0.0804946866506449 70.381 secs ago sensor:m_water_vy(m/s)=-0.0052921292482842 70.421 secs ago sensor:u_alt_min_depth(m)=350 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 97970.4 secs ago sensor:x_last_wpt_lat(lat)=3645.0468 408.373 secs ago sensor:x_last_wpt_lon(lon)=-12201.7072 408.423 secs ago ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The thruster device driver returned an error. ABORT HISTORY: last abort time: 2017-06-30T15:07:51 ABORT HISTORY: last abort segment: ru32-2017-180-0-0 (0045.0000) ABORT HISTORY: last abort mission: 1K_N.MI 97971 No login script found for processing. 97971 DRIVER_ODDITY:iridium:1727:xxx_ctrl() ran too long Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-185-0-31 (0047.0031) Vehicle Name: ru32 Curr Time: Thu Jul 6 23:42:36 2017 MT: 98012 DR Location: 3645.102 N -12201.659 E measured 81.655 secs ago GPS TooFar: 3645.047 N -12201.830 E measured 1e+308 secs ago GPS Invalid : 3644.855 N -12201.510 E measured 143.678 secs ago GPS Location: 3645.102 N -12201.659 E measured 84.035 secs ago sensor:c_thruster_surface_depth(m)=0 5387.37 secs ago sensor:c_wpt_lat(lat)=3645.0972 449.859 secs ago sensor:c_wpt_lon(lon)=-12201.708 449.898 secs ago sensor:m_battery(volts)=11.152728986685 17.555 secs ago sensor:m_coulomb_amphr(amp-hrs)=96.8453750610352 7.758 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=99.8060615610333 7.771 secs ago sensor:m_depth(m)=0.02190727900663 7.694 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 12.854 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 84.431 secs ago sensor:m_iridium_attempt_num(nodim)=1 78.805 secs ago sensor:m_iridium_call_num(nodim)=545 43.445 secs ago sensor:m_iridium_dialed_num(nodim)=781 53.679 secs ago sensor:m_leakdetect_voltage(volts)=2.47136752136752 27.908 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47872405372405 27.925 secs ago sensor:m_tot_num_inflections(nodim)=6860 185.593 secs ago sensor:m_vacuum(inHg)=9.55968696581197 18.01 secs ago sensor:m_water_vx(m/s)=0.0804946866506449 113.002 secs ago sensor:m_water_vy(m/s)=-0.0052921292482842 113.036 secs ago sensor:u_alt_min_depth(m)=350 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 98012.9 secs ago sensor:x_last_wpt_lat(lat)=3645.0468 450.866 secs ago sensor:x_last_wpt_lon(lon)=-12201.7072 450.9 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 25/ 1/ 0 odd: 799/ 44/ 2 ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The thruster device driver returned an error. ABORT HISTORY: last abort time: 2017-06-30T15:07:51 ABORT HISTORY: last abort segment: ru32-2017-180-0-0 (0045.0000) 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 -42 secs) Waypoint: (3645.0972,-12201.7080) Range: 73m, Bearing: 249deg, Age: 0:7h:m Time until diving is: 209 secs s *.sbd *.tbd -------------------------------- 98034 50 00470031.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 98043 53 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 00470031.tbd to/from ru32 size is 10020 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: 10020 zModem transfer DONE for file 00470031.tbd Starting zModem transfer of 00470030.tbd to/from ru32 size is 624 Total Bytes sent/received: 624 zModem transfer DONE for file 00470030.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00470031.TBD c:\logs\00470030.TBD SCI: SUCCESS 98127 74 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 98131 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 98131 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00470031.sbd to/from ru32 size is 5486 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: 5486 zModem transfer DONE for file 00470031.sbd Starting zModem transfer of 00470030.sbd to/from ru32 size is 982 Total Bytes sent/received: 982 zModem transfer DONE for file 00470030.sbd 98186 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 98186 restore_sensors().... 98186 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\00470031.SBD c:\logs\00470030.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 2.000000 98259 91 SCI:PROGLET house_elf begin() called 98259 SCI: house_elf: Version 1.2 98259 SCI:PROGLET ctd41cp begin() called 98259 SCI: ctd41cp: Version 0.2 98259 SCI: ctd41cp: Will be sending the following data to glider: 98260 SCI: sci_water_cond(s/m) 98260 SCI: sci_water_temp(degc) 98260 SCI: sci_water_pressure(bar) 98260 SCI: sci_ctd41cp_timestamp(timestamp) 98260 SCI:PROGLET flbbcd begin() called 98260 SCI: flbbcd: Version 0.0 98260 SCI: flbbcd: Will be sending following data to glider: 98260 SCI: sci_flbbcd_chlor_units(ug/l) 98260 SCI: sci_flbbcd_bb_units(nodim) 98260 SCI: sci_flbbcd_cdom_units(ppb) 98260 SCI: sci_flbbcd_chlor_sig(nodim) 98260 SCI: sci_flbbcd_bb_sig(nodim) 98261 SCI: sci_flbbcd_cdom_sig(nodim) 98261 SCI: sci_flbbcd_chlor_ref(nodim) 98261 SCI: sci_flbbcd_bb_ref(nodim) 98261 SCI: sci_flbbcd_cdom_ref(nodim) 98261 SCI: sci_flbbcd_therm(nodim) 98261 SCI: sci_flbbcd_timestamp(timestamp) 98261 SCI: Opening Bit(0) for output 98261 SCI:Bit(0) use count is now 1. 98261 SCI:Bit(0) raise count is now 0. 98261 SCI:Bit(0) raise count is now 0. 98266 93 SCI:PROGLET house_elf start() called 98266 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 98266 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 98266 SCI:PROGLET ctd41cp start() called 98266 SCI: Opening port 0:SBMB:J0 98267 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 98267 SCI: in queue size: 2048, out queue size: 0 98267 SCI:sci_uart_drain_input(0): 98267 SCI: 98267 SCI:sci_uart_drain_input:Drained 0 chars 98267 SCI:bit_shared_open(): bit(0) is already open. 98267 SCI:Bit(0) use count is now 2. 98267 SCI:bit_shared_raise(): Raising bit(0). 98267 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 98267 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 98325 94 00470032.mlg LOG FILE OPENED -------------------------------- 98326 behavior surface_2: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-185-0-32 (0047.0032) Vehicle Name: ru32 Curr Time: Thu Jul 6 23:47:53 2017 MT: 98329 DR Location: 3645.102 N -12201.659 E measured 399.08 secs ago GPS TooFar: 3645.047 N -12201.830 E measured 1e+308 secs ago GPS Invalid : 3644.855 N -12201.510 E measured 461.104 secs ago GPS Location: 3645.102 N -12201.659 E measured 401.461 secs ago sensor:c_thruster_surface_depth(m)=0 5704.79 secs ago sensor:c_wpt_lat(lat)=3645.0972 767.285 secs ago sensor:c_wpt_lon(lon)=-12201.708 767.324 secs ago sensor:m_battery(volts)=11.1352748914353 3.273 secs ago sensor:m_coulomb_amphr(amp-hrs)=96.8881301879883 3.454 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=99.8488166879864 3.467 secs ago sensor:m_depth(m)=0.02190727900663 3.335 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 56.93 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 401.855 secs ago sensor:m_iridium_attempt_num(nodim)=0 297.3 secs ago sensor:m_iridium_call_num(nodim)=545 360.868 secs ago sensor:m_iridium_dialed_num(nodim)=781 371.101 secs ago sensor:m_leakdetect_voltage(volts)=2.4751221001221 3.299 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4784188034188 3.315 secs ago sensor:m_tot_num_inflections(nodim)=6860 503.013 secs ago sensor:m_vacuum(inHg)=10.4029184981685 3.726 secs ago sensor:m_water_vx(m/s)=0.0804946866506449 430.423 secs ago sensor:m_water_vy(m/s)=-0.0052921292482842 430.456 secs ago sensor:u_alt_min_depth(m)=350 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 98330.3 secs ago sensor:x_last_wpt_lat(lat)=3645.0468 768.287 secs ago sensor:x_last_wpt_lon(lon)=-12201.7072 768.322 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 25/ 1/ 0 odd: 799/ 44/ 2 ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The thruster device driver returned an error. ABORT HISTORY: last abort time: 2017-06-30T15:07:51 ABORT HISTORY: last abort segment: ru32-2017-180-0-0 (0045.0000) 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 -360 secs) Waypoint: (3645.0972,-12201.7080) Range: 73m, Bearing: 249deg, Age: 0:12h:m Time until diving is: 294 secs !zr -------------------------------- 98351 0 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 98351 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B01000800275775 � Starting zModem transfer of yo20.ma to/from ru32 size is 2148 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 2148 zModem transfer DONE for file yo20.ma Starting zModem transfer of goto_l10.ma to/from ru32 size is 831 Total Bytes sent/received: 831 zModem transfer DONE for file goto_l10.ma not found>sample*.ma< not found>surfac*.ma< sending >yo20.ma< Sent sending >goto_l10.ma< Sent archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/yo20.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/archive/20170706T234849_yo20.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/yo20.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/goto_l10.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/archive/20170706T234849_goto_l10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/goto_l10.ma< Successful 98382 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 98382 restore_sensors().... 98382 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 98383 behavior surface_2: ! succeeded:zr 98383 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume Glider-Science software version match: 7.210000 Science hardware version is 2.000000 Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-185-0-32 (0047.0032) Vehicle Name: ru32 Curr Time: Thu Jul 6 23:48:51 2017 MT: 98387 DR Location: 3645.102 N -12201.659 E measured 457.015 secs ago GPS TooFar: 3645.047 N -12201.830 E measured 1e+308 secs ago GPS Invalid : 3644.855 N -12201.510 E measured 519.038 secs ago GPS Location: 3645.102 N -12201.659 E measured 459.396 secs ago sensor:c_thruster_surface_depth(m)=0 5762.73 secs ago sensor:c_wpt_lat(lat)=3645.0972 825.219 secs ago sensor:c_wpt_lon(lon)=-12201.708 825.259 secs ago sensor:m_battery(volts)=11.1352748914353 61.208 secs ago sensor:m_coulomb_amphr(amp-hrs)=96.8952560424805 3.145 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=99.8559425424786 3.158 secs ago sensor:m_depth(m)=0.377900562860808 3.071 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 36.809 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 459.79 secs ago sensor:m_iridium_attempt_num(nodim)=0 355.234 secs ago sensor:m_iridium_call_num(nodim)=545 418.801 secs ago sensor:m_iridium_dialed_num(nodim)=781 429.034 secs ago sensor:m_leakdetect_voltage(volts)=2.4751221001221 61.23 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4784188034188 61.249 secs ago sensor:m_tot_num_inflections(nodim)=6860 560.947 secs ago sensor:m_vacuum(inHg)=10.4029184981685 61.658 secs ago sensor:m_water_vx(m/s)=0.0804946866506449 488.356 secs ago sensor:m_water_vy(m/s)=-0.0052921292482842 488.39 secs ago sensor:u_alt_min_depth(m)=350 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 98388.2 secs ago sensor:x_last_wpt_lat(lat)=3645.0468 826.221 secs ago sensor:x_last_wpt_lon(lon)=-12201.7072 826.255 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 25/ 1/ 0 odd: 799/ 44/ 2 ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The thruster device driver returned an error. ABORT HISTORY: last abort time: 2017-06-30T15:07:51 ABORT HISTORY: last abort segment: ru32-2017-180-0-0 (0045.0000) 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: sci_m_science_on = 0 Water Velocity Calculations waiting for final gps fix(ideally -417 secs) Waypoint: (3645.0972,-12201.7080) Range: 73m, Bearing: 249deg, Age: 0:13h:m Time until diving is: 294 secs ^F MAFILES will be re-read. Extending surface time by 5 minutes just in case user might want to verify quality of MAFILE(s). 98418 6 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized 98419 behavior sample_8: STATE Active -> UnInited 98419 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 98419 behavior sample_7: STATE Active -> UnInited 98419 behavior yo_6: STATE Active -> UnInited 98419 behavior goto_list_5: STATE Active -> UnInited 98419 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 98419 behavior surface_4: STATE Waiting for Activation -> UnInited 98419 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 98419 behavior surface_3: STATE Waiting for Activation -> UnInited 98424 8 behavior sample_8: sample(): reading bargs 98424 behavior sample_8: Reading b_args from sample48.ma 98424 behavior sample_8: sensor_type(enum)=48.000000 98424 behavior sample_8: sample_time_after_state_change(s)=0.000000 98424 behavior sample_8: intersample_time(sec)=1.000000 98424 behavior sample_8: state_to_sample(enum)=7.000000 98424 behavior sample_8: nth_yo_to_sample(nodim)=1.000000 98424 behavior sample_8: min_depth(m)=-5.000000 98424 behavior sample_8: max_depth(m)=2000.000000 98424 behavior sample_8: STATE UnInited -> Active 98424 behavior sample_8: argument: args_from_file = 48.000000 enum 98424 behavior sample_8: argument: sensor_type = 48.000000 enum 98424 behavior sample_8: argument: state_to_sample = 7.000000 enum 98424 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s 98424 behavior sample_8: argument: intersample_time = 1.000000 s 98424 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim 98424 behavior sample_8: argument: intersample_depth = -1.000000 m 98424 behavior sample_8: argument: min_depth = -5.000000 m 98424 behavior sample_8: argument: max_depth = 2000.000000 m 98425 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface 98425 behavior sample_7: sample(): reading bargs 98425 behavior sample_7: Reading b_args from sample01.ma 98425 behavior sample_7: sensor_type(enum)=1.000000 98425 behavior sample_7: sample_time_after_state_change(s)=0.000000 98425 behavior sample_7: intersample_time(sec)=1.000000 98425 behavior sample_7: state_to_sample(enum)=15.000000 98425 behavior sample_7: nth_yo_to_sample(nodim)=1.000000 98425 behavior sample_7: min_depth(m)=-5.000000 98425 behavior sample_7: max_depth(m)=2000.000000 98425 behavior sample_7: STATE UnInited -> Active 98425 behavior sample_7: argument: args_from_file = 1.000000 enum 98425 behavior sample_7: argument: sensor_type = 1.000000 enum 98425 behavior sample_7: argument: state_to_sample = 15.000000 enum 98425 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 98425 behavior sample_7: argument: intersample_time = 1.000000 s 98425 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim 98425 behavior sample_7: argument: intersample_depth = -1.000000 m 98425 behavior sample_7: argument: min_depth = -5.000000 m 98425 behavior sample_7: argument: max_depth = 2000.000000 m 98426 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 98426 behavior yo_6: Reading b_args from yo20.ma 98426 behavior yo_6: num_half_cycles_to_do(nodim)=2.000000 98426 behavior yo_6: d_target_depth(m)=500.000000 98426 behavior yo_6: d_target_altitude(m)=20.000000 98426 behavior yo_6: d_use_bpump(enum)=2.000000 98426 behavior yo_6: d_bpump_value(X)=-240.000000 98426 behavior yo_6: d_use_pitch(enum)=3.000000 98426 behavior yo_6: d_pitch_value(X)=-0.454000 98426 behavior yo_6: d_use_thruster(enum)=0.000000 98426 behavior yo_6: d_thruster_value(X)=4.000000 98426 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 98426 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 98426 behavior yo_6: c_target_depth(m)=10.000000 98426 behavior yo_6: c_target_altitude(m)=-1.000000 98426 behavior yo_6: c_use_bpump(enum)=2.000000 98426 behavior yo_6: c_bpump_value(X)=1000.000000 98426 behavior yo_6: c_use_pitch(enum)=3.000000 98427 behavior yo_6: c_pitch_value(X)=0.454000 98427 behavior yo_6: c_use_thruster(enum)=0.000000 98427 behavior yo_6: c_thruster_value(X)=4.000000 98427 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 98427 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 98427 behavior yo_6: end_action(enum)=2.000000 98427 behavior yo_6: STATE UnInited -> Waiting for Activation 98427 behavior yo_6: argument: args_from_file = 20.000000 enum 98427 behavior yo_6: argument: start_when = 2.000000 enum 98427 behavior yo_6: argument: start_diving = 1.000000 bool 98427 behavior yo_6: argument: num_half_cycles_to_do = 2.000000 nodim 98427 behavior yo_6: argument: d_target_depth = 500.000000 m 98427 behavior yo_6: argument: d_target_altitude = 20.000000 m 98427 behavior yo_6: argument: d_use_bpump = 2.000000 enum 98427 behavior yo_6: argument: d_bpump_value = -240.000000 X 98427 behavior yo_6: argument: d_use_pitch = 3.000000 enum 98427 behavior yo_6: argument: d_pitch_value = -0.454000 X 98427 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 98427 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 98428 behavior yo_6: argument: d_speed_min = -100.000000 m/s 98428 behavior yo_6: argument: d_speed_max = 100.000000 m/s 98428 behavior yo_6: argument: d_use_thruster = 0.000000 enum 98428 behavior yo_6: argument: d_thruster_value = 4.000000 X 98428 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 98428 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 98428 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 98428 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 98428 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 98428 behavior yo_6: argument: d_time_ratio = 1.100000 X 98428 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 98428 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 98428 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 98428 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 98428 behavior yo_6: argument: c_target_depth = 10.000000 m 98428 behavior yo_6: argument: c_target_altitude = -1.000000 m 98428 behavior yo_6: argument: c_use_bpump = 2.000000 enum 98428 behavior yo_6: argument: c_bpump_value = 1000.000000 X 98428 behavior yo_6: argument: c_use_pitch = 3.000000 enum 98428 behavior yo_6: argument: c_pitch_value = 0.454000 X 98429 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 98429 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 98429 behavior yo_6: argument: c_speed_min = 100.000000 m/s 98429 behavior yo_6: argument: c_speed_max = -100.000000 m/s 98429 behavior yo_6: argument: c_use_thruster = 0.000000 enum 98429 behavior yo_6: argument: c_thruster_value = 4.000000 X 98429 behavior yo_6: argument: end_action = 2.000000 enum 98429 behavior yo_6: STATE Waiting for Activation -> Active 98429 behavior dive_to_601: STATE UnInited -> Active 98429 behavior dive_to_601: argument: target_depth = 500.000000 m 98429 behavior dive_to_601: argument: target_altitude = 20.000000 m 98429 behavior dive_to_601: argument: use_bpump = 2.000000 enum 98429 behavior dive_to_601: argument: bpump_value = -240.000000 X 98429 behavior dive_to_601: argument: use_pitch = 3.000000 enum 98429 behavior dive_to_601: argument: pitch_value = -0.454000 X 98429 behavior dive_to_601: argument: start_when = 0.000000 enum 98429 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 98429 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 98429 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 98430 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 98430 behavior dive_to_601: argument: speed_min = -100.000000 m/s 98430 behavior dive_to_601: argument: speed_max = 100.000000 m/s 98430 behavior dive_to_601: argument: use_thruster = 0.000000 enum 98430 behavior dive_to_601: argument: thruster_value = 4.000000 X 98430 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 98430 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 98430 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 98430 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 98430 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 98430 behavior dive_to_601: argument: time_ratio = 1.100000 X 98430 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 98430 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 98430 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 98430 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 98430 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 98430 behavior goto_list_5: Reading b_args from goto_l10.ma 98430 behavior goto_list_5: num_legs_to_run(nodim)=-1.000000 98431 behavior goto_list_5: start_when(enum)=0.000000 98431 behavior goto_list_5: list_stop_when(enum)=7.000000 98431 behavior goto_list_5: list_when_wpt_dist(m)=25.000000 98431 behavior goto_list_5: initial_wpt(enum)=-1.000000 98431 behavior goto_list_5: num_waypoints(nodim)=4.000000 98431 behavior goto_list_5: Reading waypoints from file: 98431 behavior goto_list_5: 0 lon: -12201.7080 lat: 3645.0972 98431 behavior goto_list_5: 1 lon: -12201.6247 lat: 3645.0972 98431 behavior goto_list_5: 2 lon: -12201.6263 lat: 3645.0468 98431 behavior ****** 98458 SCI: ctd41cp: Version 0.2 98459 SCI: ctd41cp: Will be sending the following data to glider: 98467 12 SCI: sci_water_cond(s/m) 98467 SCI: sci_water_temp(degc) 98468 SCI: sci_water_pressure(bar) 98468 SCI: sci_ctd41cp_timestamp(timestamp) 98468 SCI:PROGLET flbbcd begin() called 98468 SCI: flbbcd: Version 0.0 98469 SCI: flbbcd: Will be sending following data to glider: 98469 SCI: sci_flbbcd_chlor_units(ug/l) 98469 SCI: sci_flbbcd_bb_units(nodim) 98469 SCI: sci_flbbcd_cdom_units(ppb) 98469 SCI: sci_flbbcd_chlor_sig(nodim) 98469 SCI: sci_flbbcd_bb_sig(nodim) 98470 SCI: sci_flbbcd_cdom_sig(nodim) 98472 13 SCI: sci_flbbcd_chlor_ref(nodim) 98472 SCI: sci_flbbcd_bb_ref(nodim) 98473 SCI: sci_flbbcd_cdom_ref(nodim) 98474 SCI: sci_flbbcd_therm(nodim) 98474 SCI: sci_flbbcd_timestamp(timestamp) 98474 SCI: Opening Bit(0) for output 98474 SCI:Bit(0) use count is now 1. 98474 SCI:Bit(0) raise count is now 0. 98474 SCI:Bit(0) raise count is now 0. Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-185-0-32 (0047.0032) Vehicle Name: ru32 Curr Time: Thu Jul 6 23:50:21 2017 MT: 98477 DR Location: 3645.102 N -12201.659 E measured 546.828 secs ago GPS TooFar: 3645.047 N -12201.830 E measured 1e+308 secs ago GPS Invalid : 3644.855 N -12201.510 E measured 608.851 secs ago GPS Location: 3645.102 N -12201.659 E measured 549.209 secs ago sensor:c_thruster_surface_depth(m)=0 41.6 secs ago sensor:c_wpt_lat(lat)=3645.0972 44.142 secs ago sensor:c_wpt_lon(lon)=-12201.708 44.182 secs ago sensor:m_battery(volts)=11.0942623812323 24.332 secs ago sensor:m_coulomb_amphr(amp-hrs)=96.9071273803711 4.785 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=99.8678138803692 4.798 secs ago sensor:m_depth(m)=0.405284661618821 4.712 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 10.389 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 549.604 secs ago sensor:m_iridium_attempt_num(nodim)=0 445.049 secs ago sensor:m_iridium_call_num(nodim)=545 508.616 secs ago sensor:m_iridium_dialed_num(nodim)=781 518.849 secs ago sensor:m_leakdetect_voltage(volts)=2.4763431013431 24.519 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47912087912088 24.531 secs ago sensor:m_tot_num_inflections(nodim)=6860 650.76 secs ago sensor:m_vacuum(inHg)=10.3950917277167 24.785 secs ago sensor:m_water_vx(m/s)=0.0804946866506449 578.17 secs ago sensor:m_water_vy(m/s)=-0.0052921292482842 578.203 secs ago sensor:u_alt_min_depth(m)=350 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 98478 secs ago sensor:x_last_wpt_lat(lat)=3645.0468 916.035 secs ago sensor:x_last_wpt_lon(lon)=-12201.7072 916.07 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 25/ 1/ 0 odd: 799/ 44/ 2 ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The thruster device driver returned an error. ABORT HISTORY: last abort time: 2017-06-30T15:07:51 ABORT HISTORY: last abort segment: ru32-2017-180-0-0 (0045.0000) 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: sci_m_science_on = 0 Water Velocity Calculations waiting for final gps fix(ideally -507 secs) Waypoint: (3645.0972,-12201.7080) Range: 73m, Bearing: 249deg, Age: 0:15h:m Time until diving is: 504 secs 98485 15 SCI:PROGLET house_elf start() called 98485 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 98485 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 98489 16 SCI:PROGLET ctd41cp start() called 98490 SCI: Opening port 0:SBMB:J0 98490 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 98490 SCI: in queue size: 2048, out queue size: 0 98490 SCI:sci_uart_drain_input(0): 98490 SCI: 98490 SCI:sci_uart_drain_input:Drained 0 chars 98491 SCI:bit_shared_open(): bit(0) is already open. 98491 SCI:Bit(0) use count is now 2. 98491 SCI:bit_shared_raise(): Raising bit(0). 98491 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 98494 18 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) ^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] [ 8 0 0] [ 9 0 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 0 [ 0 0 0] [ 4 1 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] [ 17 0 0] 17 science_super I u 3 20 5 0 [ 0 0 0] [ 3 0 0] [ 45 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] [ 296 24 1] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 432 20 1] 25 leakdetect I u 3 20 5 0 26 recovery - 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 34 HD_PUMP - 35 thruster_g1 - 36 thruster I u 3 20 10 2 [ 2 0 0] [ 10 0 0] [ 0 0 0] devices:(t/m/s) errs: 2/ 0/ 0 warn: 25/ 1/ 0 odd: 799/ 44/ 2 ^R 98515 21 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 280.312500 Megabytes available on CF file system = 1717.656250 98519 00470032.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=213.0K, M_SPARE_HEAP=194.0K 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 f_ocean_pressure_min(volts) 0.140421 m_avg_climb_rate(m/s) -0.167618 m_avg_speed(m/s) 0.370897 m_avg_upward_inflection_time(sec) 77.779050 m_battery(volts) 11.094262 m_coulomb_amphr_total(amp-hrs) 99.876122 m_fin(rad) -0.033539 m_iridium_call_num(nodim) 545.000000 m_iridium_dialed_num(nodim) 781.000000 m_lat(lat) 3645.101700 m_lon(lon) -12201.659400 m_tot_ballast_pumped_energy(kjoules) 243.417290 m_tot_horz_dist(km) 655.315845 m_tot_num_inflections(nodim) 6860.000000 m_tot_num_thermal_valve_cmd(nodim) 619.000000 m_weight_drop(bool) 0.000000 s_water_depth_avg(m) 200.000000 s_water_depth_delta(m) 0.000000 s_water_depth_wavelength(m) 100.000000 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) 3645.046800 x_last_wpt_lon(lon) -12201.707200 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 3.1 seconds. Housekeeping is done 98584 25 00470033.mlg LOG FILE OPENED Megabytes used on CF file system = 280.437500 Megabytes available on CF file system = 1717.531250 98587 init_gps_input() 98587 behavior surface_2: SUBSTATE 7 ->9 : Turning on thruster burst surface_2: Turning thruster on: 6.0 V. 98587 sensor: c_thruster_on = 54.908561713022 % 98592 25 sensor: c_thruster_on = 54.5662416851441 % 98593 sensor: m_thruster_current = 0.3008 amp 98597 27 sensor: c_thruster_on = 54.5662416851441 % 98598 sensor: m_thruster_current = 0.4888 amp 98603 28 sensor: c_thruster_on = 54.5662416851441 % 98604 sensor: m_thruster_current = 0.4512 amp surface_2: Turning thruster off (secs thr on). 98608 28 behavior surface_2: SUBSTATE 9 ->10 : Waiting for final gps fix surface_2: Waiting for final GPS fix. 98614 30 disabling Iridium console...