Connection Event: Carrier Detect found.644643 Iridium console active and ready... Vehicle Name: ru32 Curr Time: Thu Jul 13 07:33:13 2017 MT: 644642 DR Location: 3645.223 N -12201.706 E measured 48.878 secs ago GPS TooFar: 3645.122 N -12201.409 E measured 46980.9 secs ago GPS Invalid : 3645.290 N -12201.591 E measured 105.023 secs ago GPS Location: 3645.223 N -12201.706 E measured 51.265 secs ago sensor:c_thruster_surface_depth(m)=0 5753.73 secs ago sensor:c_wpt_lat(lat)=3644.981 226.834 secs ago sensor:c_wpt_lon(lon)=-12201.642 226.9 secs ago sensor:m_battery(volts)=11.167641469442 20.486 secs ago sensor:m_coulomb_amphr(amp-hrs)=138.27961730957 5.535 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=141.240303809568 5.555 secs ago sensor:m_depth(m)=0 5.533 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.757 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 51.838 secs ago sensor:m_iridium_attempt_num(nodim)=1 46.266 secs ago sensor:m_iridium_call_num(nodim)=645 0.799 secs ago sensor:m_iridium_dialed_num(nodim)=887 21.089 secs ago sensor:m_leakdetect_voltage(volts)=2.47600732600733 20.871 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47942612942613 20.892 secs ago sensor:m_tot_num_inflections(nodim)=7050 144.206 secs ago sensor:m_vacuum(inHg)=9.29810805860806 21.119 secs ago sensor:m_water_vx(m/s)=-0.032647285186201 76.799 secs ago sensor:m_water_vy(m/s)=0.0593434439877349 76.841 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)=0 6354.73 secs ago sensor:x_fin_deadband(rad)=0.04 644644 secs ago sensor:x_last_wpt_lat(lat)=3645.035 228.233 secs ago sensor:x_last_wpt_lon(lon)=-12201.642 228.288 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 644645 No login script found for processing. 644645 DRIVER_ODDITY:iridium:1840:xxx_ctrl() ran too long Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-185-0-219 (0047.0219) Vehicle Name: ru32 Curr Time: Thu Jul 13 07:33:42 2017 MT: 644673 DR Location: 3645.223 N -12201.706 E measured 78.728 secs ago GPS TooFar: 3645.122 N -12201.409 E measured 47010.8 secs ago GPS Invalid : 3645.290 N -12201.591 E measured 134.872 secs ago GPS Location: 3645.223 N -12201.706 E measured 81.113 secs ago sensor:c_thruster_surface_depth(m)=0 5783.56 secs ago sensor:c_wpt_lat(lat)=3644.981 256.632 secs ago sensor:c_wpt_lon(lon)=-12201.642 256.672 secs ago sensor:m_battery(volts)=11.167641469442 50.245 secs ago sensor:m_coulomb_amphr(amp-hrs)=138.284378051758 4.621 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=141.245064551756 4.637 secs ago sensor:m_depth(m)=0 4.563 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.774 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 81.525 secs ago sensor:m_iridium_attempt_num(nodim)=1 75.935 secs ago sensor:m_iridium_call_num(nodim)=645 30.448 secs ago sensor:m_iridium_dialed_num(nodim)=887 50.723 secs ago sensor:m_leakdetect_voltage(volts)=2.47600732600733 50.498 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47942612942613 50.512 secs ago sensor:m_tot_num_inflections(nodim)=7050 173.816 secs ago sensor:m_vacuum(inHg)=9.29810805860806 50.711 secs ago sensor:m_water_vx(m/s)=-0.032647285186201 106.379 secs ago sensor:m_water_vy(m/s)=0.0593434439877349 106.412 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)=0 6384.23 secs ago sensor:x_fin_deadband(rad)=0.04 644674 secs ago sensor:x_last_wpt_lat(lat)=3645.035 257.684 secs ago sensor:x_last_wpt_lon(lon)=-12201.642 257.719 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 35/ 11/ 0 odd:1066/ 311/ 3 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 -41 secs) Waypoint: (3644.9810,-12201.6420) Range: 458m, Bearing: 154deg, Age: 0:4h:m Time until diving is: 212 secs !put u_use_current_correction 0 -------------------------------- 644697 13 sensor: u_use_current_correction = 0 nodim -------------------------------- 644697 behavior surface_2: ! succeeded:put u_use_current_correction 0 644697 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume s *.sbd *.tbd -------------------------------- 644702 14 00470219.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 644712 17 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 00470219.tbd to/from ru32 size is 10833 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: 10833 zModem transfer DONE for file 00470219.tbd Starting zModem transfer of 00470218.tbd to/from ru32 size is 657 Total Bytes sent/received: 657 zModem transfer DONE for file 00470218.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00470219.TBD c:\logs\00470218.TBD SCI: SUCCESS 644808 39 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 644810 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 644810 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00470219.sbd to/from ru32 size is 5299 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: 5299 zModem transfer DONE for file 00470219.sbd Starting zModem transfer of 00470218.sbd to/from ru32 size is 991 Total Bytes sent/received: 991 zModem transfer DONE for file 00470218.sbd 44868 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 644868 restore_sensors().... 644868 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\00470219.SBD c:\logs\00470218.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 2.000000 644942 56 SCI:PROGLET house_elf begin() called 644942 SCI: house_elf: Version 1.2 644942 SCI:PROGLET ctd41cp begin() called 644942 SCI: ctd41cp: Version 0.2 644942 SCI: ctd41cp: Will be sending the following data to glider: 644942 SCI: sci_water_cond(s/m) 644942 SCI: sci_water_temp(degc) 644942 SCI: sci_water_pressure(bar) 644942 SCI: sci_ctd41cp_timestamp(timestamp) 644942 SCI:PROGLET flbbcd begin() called 644942 SCI: flbbcd: Version 0.0 644942 SCI: flbbcd: Will be sending following data to glider: 644943 SCI: sci_flbbcd_chlor_units(ug/l) 644943 SCI: sci_flbbcd_bb_units(nodim) 644943 SCI: sci_flbbcd_cdom_units(ppb) 644947 57 SCI: sci_flbbcd_chlor_sig(nodim) 644947 SCI: sci_flbbcd_bb_sig(nodim) 644947 SCI: sci_flbbcd_cdom_sig(nodim) 644948 SCI: sci_flbbcd_chlor_ref(nodim) 644948 SCI: sci_flbbcd_bb_ref(nodim) 644949 SCI: sci_flbbcd_cdom_ref(nodim) 644949 SCI: sci_flbbcd_therm(nodim) 644949 SCI: sci_flbbcd_timestamp(timestamp) 644949 SCI: Opening Bit(0) for output 644949 SCI:Bit(0) use count is now 1. 644949 SCI:Bit(0) raise count is now 0. 644949 SCI:Bit(0) raise count is now 0. 644950 SCI:PROGLET house_elf start() called 644951 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 644951 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 644951 SCI:PROGLET ctd41cp start() called 644951 SCI: Opening port 0:SBMB:J0 644951 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 644951 SCI: in queue size: 2048, out queue size: 0 644954 58 SCI:sci_uart_drain_input(0): 644954 SCI: 644954 SCI:sci_uart_drain_input:Drained 0 chars 644954 SCI:bit_shared_open(): bit(0) is already open. 644955 SCI:Bit(0) use count is now 2. 644955 SCI:bit_shared_raise(): Raising bit(0). 644955 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 644955 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 645016 60 00470220.mlg LOG FILE OPENED -------------------------------- 645017 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:ru32-2017-185-0-220 (0047.0220) Vehicle Name: ru32 Curr Time: Thu Jul 13 07:39:30 2017 MT: 645021 DR Location: 3645.223 N -12201.706 E measured 426.458 secs ago GPS TooFar: 3645.122 N -12201.409 E measured 47358.5 secs ago GPS Invalid : 3645.290 N -12201.591 E measured 482.602 secs ago GPS Location: 3645.223 N -12201.706 E measured 428.843 secs ago sensor:c_thruster_surface_depth(m)=0 6131.29 secs ago sensor:c_wpt_lat(lat)=3644.981 604.364 secs ago sensor:c_wpt_lon(lon)=-12201.642 604.404 secs ago sensor:m_battery(volts)=11.1097667331051 3.3 secs ago sensor:m_coulomb_amphr(amp-hrs)=138.333068847656 3.492 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=141.293755347654 3.504 secs ago sensor:m_depth(m)=0.191684192078737 3.361 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.642 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 429.241 secs ago sensor:m_iridium_attempt_num(nodim)=0 324.435 secs ago sensor:m_iridium_call_num(nodim)=645 378.163 secs ago sensor:m_iridium_dialed_num(nodim)=887 398.436 secs ago sensor:m_leakdetect_voltage(volts)=2.47619047619048 3.327 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4797619047619 3.341 secs ago sensor:m_tot_num_inflections(nodim)=7050 521.529 secs ago sensor:m_vacuum(inHg)=10.4210436507937 3.753 secs ago sensor:m_water_vx(m/s)=-0.032647285186201 454.094 secs ago sensor:m_water_vy(m/s)=0.0593434439877349 454.127 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)=0 324.77 secs ago sensor:x_fin_deadband(rad)=0.04 645021 secs ago sensor:x_last_wpt_lat(lat)=3645.035 605.402 secs ago sensor:x_last_wpt_lon(lon)=-12201.642 605.438 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 35/ 11/ 0 odd:1066/ 311/ 3 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: m_science_clothesline_lag > u_max_clothesline_lag_for_consci Water Velocity Calculations waiting for final gps fix(ideally -388 secs) Waypoint: (3644.9810,-12201.6420) Range: 458m, Bearing: 154deg, Age: 0:10h:m Time until diving is: 294 secs !zr -------------------------------- 645043 66 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 645043 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 1438 Total Bytes sent/received: 1024 Total Bytes sent/received: 1438 zModem transfer DONE for file yo20.ma Starting zModem transfer of goto_l10.ma to/from ru32 size is 717 Total Bytes sent/received: 717 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/20170713T074030_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/20170713T074030_goto_l10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/goto_l10.ma< Successful 645078 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 645078 restore_sensors().... 645078 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 645078 behavior surface_2: ! succeeded:zr 645078 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:ru32-2017-185-0-220 (0047.0220) Vehicle Name: ru32 Curr Time: Thu Jul 13 07:40:32 2017 MT: 645082 DR Location: 3645.223 N -12201.706 E measured 487.807 secs ago GPS TooFar: 3645.122 N -12201.409 E measured 47419.8 secs ago GPS Invalid : 3645.290 N -12201.591 E measured 543.951 secs ago GPS Location: 3645.223 N -12201.706 E measured 490.193 secs ago sensor:c_thruster_surface_depth(m)=0 6192.64 secs ago sensor:c_wpt_lat(lat)=3644.981 665.714 secs ago sensor:c_wpt_lon(lon)=-12201.642 665.754 secs ago sensor:m_battery(volts)=11.0744100842146 3.131 secs ago sensor:m_coulomb_amphr(amp-hrs)=138.338989257812 3.323 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=141.299675757811 3.336 secs ago sensor:m_depth(m)=0.24645110410117 3.192 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.471 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 490.591 secs ago sensor:m_iridium_attempt_num(nodim)=0 385.786 secs ago sensor:m_iridium_call_num(nodim)=645 439.513 secs ago sensor:m_iridium_dialed_num(nodim)=887 459.787 secs ago sensor:m_leakdetect_voltage(volts)=2.47557997557998 3.362 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47921245421245 3.377 secs ago sensor:m_tot_num_inflections(nodim)=7050 582.88 secs ago sensor:m_vacuum(inHg)=10.4144526862027 3.586 secs ago sensor:m_water_vx(m/s)=-0.032647285186201 515.444 secs ago sensor:m_water_vy(m/s)=0.0593434439877349 515.477 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)=0 386.117 secs ago sensor:x_fin_deadband(rad)=0.04 645083 secs ago sensor:x_last_wpt_lat(lat)=3645.035 666.747 secs ago sensor:x_last_wpt_lon(lon)=-12201.642 666.783 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 35/ 11/ 0 odd:1066/ 311/ 3 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 -450 secs) Waypoint: (3644.9810,-12201.6420) Range: 458m, Bearing: 154deg, Age: 0:11h: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). 645108 72 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized 645108 behavior sample_8: STATE Active -> UnInited 645108 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 645108 behavior sample_7: STATE Active -> UnInited 645108 behavior yo_6: STATE Active -> UnInited 645108 behavior goto_list_5: STATE Active -> UnInited 645108 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 645108 behavior surface_4: STATE Waiting for Activation -> UnInited 645108 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 645108 behavior surface_3: STATE Waiting for Activation -> UnInited 645113 73 behavior sample_8: sample(): reading bargs 645113 behavior sample_8: Reading b_args from sample48.ma 645113 behavior sample_8: sensor_type(enum)=48.000000 645113 behavior sample_8: sample_time_after_state_change(s)=0.000000 645113 behavior sample_8: intersample_time(sec)=1.000000 645113 behavior sample_8: state_to_sample(enum)=7.000000 645113 behavior sample_8: nth_yo_to_sample(nodim)=1.000000 645113 behavior sample_8: min_depth(m)=-5.000000 645113 behavior sample_8: max_depth(m)=2000.000000 645113 behavior sample_8: STATE UnInited -> Active 645113 behavior sample_8: argument: args_from_file = 48.000000 enum 645113 behavior sample_8: argument: sensor_type = 48.000000 enum 645114 behavior sample_8: argument: state_to_sample = 7.000000 enum 645114 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s 645114 behavior sample_8: argument: intersample_time = 1.000000 s 645114 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim 645114 behavior sample_8: argument: intersample_depth = -1.000000 m 645114 behavior sample_8: argument: min_depth = -5.000000 m 645114 behavior sample_8: argument: max_depth = 2000.000000 m 645114 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface 645114 behavior sample_7: sample(): reading bargs 645114 behavior sample_7: Reading b_args from sample01.ma 645114 behavior sample_7: sensor_type(enum)=1.000000 645114 behavior sample_7: sample_time_after_state_change(s)=0.000000 645114 behavior sample_7: intersample_time(sec)=1.000000 645114 behavior sample_7: state_to_sample(enum)=15.000000 645114 behavior sample_7: nth_yo_to_sample(nodim)=1.000000 645114 behavior sample_7: min_depth(m)=-5.000000 645114 behavior sample_7: max_depth(m)=2000.000000 645114 behavior sample_7: STATE UnInited -> Active 645114 behavior sample_7: argument: args_from_file = 1.000000 enum 645115 behavior sample_7: argument: sensor_type = 1.000000 enum 645115 behavior sample_7: argument: state_to_sample = 15.000000 enum 645115 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 645115 behavior sample_7: argument: intersample_time = 1.000000 s 645115 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim 645115 behavior sample_7: argument: intersample_depth = -1.000000 m 645115 behavior sample_7: argument: min_depth = -5.000000 m 645115 behavior sample_7: argument: max_depth = 2000.000000 m 645115 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 645115 behavior yo_6: Reading b_args from yo20.ma 645115 behavior yo_6: num_half_cycles_to_do(nodim)=2.000000 645115 behavior yo_6: end_action(enum)=2.000000 645115 behavior yo_6: d_target_depth(m)=500.000000 645115 behavior yo_6: d_target_altitude(m)=20.000000 645115 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 645115 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 645115 behavior yo_6: d_use_bpump(enum)=2.000000 645115 behavior yo_6: d_bpump_value(X)=-240.000000 645116 behavior yo_6: d_use_pitch(enum)=3.000000 645116 behavior yo_6: d_pitch_value(X)=-0.610900 645116 behavior yo_6: d_use_thruster(enum)=0.000000 645116 behavior yo_6: d_thruster_value(X)=0.000000 645116 behavior yo_6: d_depth_rate_method(enum)=3.000000 645116 behavior yo_6: c_target_depth(m)=10.000000 645116 behavior yo_6: c_target_altitude(m)=-1.000000 645116 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 645116 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 645116 behavior yo_6: c_use_bpump(enum)=2.000000 645116 behavior yo_6: c_bpump_value(X)=1000.000000 645116 behavior yo_6: c_use_pitch(enum)=3.000000 645116 behavior yo_6: c_pitch_value(X)=0.610900 645116 behavior yo_6: c_use_thruster(enum)=0.000000 645116 behavior yo_6: c_thruster_value(X)=0.000000 645116 behavior yo_6: STATE UnInited -> Waiting for Activation 645116 behavior yo_6: argument: args_from_file = 20.000000 enum 645116 behavior yo_6: argument: start_when = 2.000000 enum 645116 behavior yo_6: argument: start_diving = 1.000000 bool 645116 behavior yo_6: argument: num_half_cycles_to_do = 2.000000 nodim 645117 behavior yo_6: argument: d_target_depth = 500.000000 m 645117 behavior yo_6: argument: d_target_altitude = 20.000000 m 645117 behavior yo_6: argument: d_use_bpump = 2.000000 enum 645117 behavior yo_6: argument: d_bpump_value = -240.000000 X 645117 behavior yo_6: argument: d_use_pitch = 3.000000 enum 645117 behavior yo_6: argument: d_pitch_value = -0.610900 X 645117 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 645117 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 645117 behavior yo_6: argument: d_speed_min = -100.000000 m/s 645117 behavior yo_6: argument: d_speed_max = 100.000000 m/s 645117 behavior yo_6: argument: d_use_thruster = 0.000000 enum 645117 behavior yo_6: argument: d_thruster_value = 0.000000 X 645117 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 645117 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 645117 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 645117 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 645117 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 645117 behavior yo_6: argument: d_time_ratio = 1.100000 X 645117 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 645117 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 645118 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 645118 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 645118 behavior yo_6: argument: c_target_depth = 10.000000 m 645118 behavior yo_6: argument: c_target_altitude = -1.000000 m 645118 behavior yo_6: argument: c_use_bpump = 2.000000 enum 645118 behavior yo_6: argument: c_bpump_value = 1000.000000 X 645118 behavior yo_6: argument: c_use_pitch = 3.000000 enum 645118 behavior yo_6: argument: c_pitch_value = 0.610900 X 645118 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 645118 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 645118 behavior yo_6: argument: c_speed_min = 100.000000 m/s 645118 behavior yo_6: argument: c_speed_max = -100.000000 m/s 645118 behavior yo_6: argument: c_use_thruster = 0.000000 enum 645118 behavior yo_6: argument: c_thruster_value = 0.000000 X 645118 behavior yo_6: argument: end_action = 2.000000 enum 645118 behavior yo_6: STATE Waiting for Activation -> Active 645118 behavior dive_to_601: STATE UnInited -> Active 645118 behavior dive_to_601: argument: target_depth = 500.000000 m 645118 behavior dive_to_601: argument: target_altitude = 20.000000 m 645118 behavior dive_to_601: argument: use_bpump = 2.000000 enum 645119 behavior dive_to_601: argument: bpump_value = -240.000000 X 645119 behavior dive_to_601: argument: use_pitch = 3.000000 enum 645119 behavior dive_to_601: argument: pitch_value = -0.610900 X 645119 behavior dive_to_601: argument: start_when = 0.000000 enum 645119 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 645119 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 645119 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 645119 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 645119 behavior dive_to_601: argument: speed_min = -100.000000 m/s 645119 behavior dive_to_601: argument: speed_max = 100.000000 m/s 645119 behavior dive_to_601: argument: use_thruster = 0.000000 enum 645119 behavior dive_to_601: argument: thruster_value = 0.000000 X 645119 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 645119 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 645119 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 645119 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 645119 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 645119 behavior dive_to_601: argument: time_ratio = 1.100000 X 645119 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 645120 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 645120 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 645120 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 645120 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 645120 behavior goto_list_5: Reading b_args from goto_l10.ma 645120 behavior goto_list_5: num_legs_to_run(nodim)=-1.000000 645120 behavior goto_list_5: start_when(enum)=0.000000 645120 behavior goto_list_5: list_stop_when(enum)=7.000000 645120 behavior goto_list_5: list_when_wpt_dist(m)=25.000000 645120 behavior goto_list_5: initial_wpt(enum)=0.000000 645120 behavior goto_list_5: num_waypoints(nodim)=4.000000 645120 behavior goto_list_5: Reading waypoints from file: 645120 behavior goto_list_5: 0 lon: -12201.7100 lat: 3645.0350 645120 behavior goto_list_5: 1 lon: -12201.6420 lat: 3645.0350 645 ****** 645152 SCI: house_elf: Version 1.2 645153 SCI:PROGLET ctd41cp begin() called 645153 SCI: ctd41cp: Version 0.2 645154 SCI: ctd41cp: Will be sending the following data to glider: 645154 SCI: sci_water_cond(s/m) 645154 SCI: sci_water_temp(degc) 645154 SCI: sci_water_pressure(bar) 645154 SCI: sci_ctd41cp_timestamp(timestamp) 645154 SCI:PROGLET flbbcd begin() called 645155 SCI: flbbcd: Version 0.0 645157 77 SCI: flbbcd: Will be sending following data to glider: 645158 SCI: sci_flbbcd_chlor_units(ug/l) 645159 SCI: sci_flbbcd_bb_units(nodim) 645159 SCI: sci_flbbcd_cdom_units(ppb) 645159 SCI: sci_flbbcd_chlor_sig(nodim) 645159 SCI: sci_flbbcd_bb_sig(nodim) 645159 SCI: sci_flbbcd_cdom_sig(nodim) 645159 SCI: sci_flbbcd_chlor_ref(nodim) 645159 SCI: sci_flbbcd_bb_ref(nodim) 645160 SCI: sci_flbbcd_cdom_ref(nodim) 645160 SCI: sci_flbbcd_therm(nodim) 645163 78 SCI: sci_flbbcd_timestamp(timestamp) 645163 SCI: Opening Bit(0) for output 645164 SCI:Bit(0) use count is now 1. 645164 SCI:Bit(0) raise count is now 0. 645164 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:ru32-2017-185-0-220 (0047.0220) Vehicle Name: ru32 Curr Time: Thu Jul 13 07:41:57 2017 MT: 645167 DR Location: 3645.223 N -12201.706 E measured 573.3 secs ago GPS TooFar: 3645.122 N -12201.409 E measured 47505.3 secs ago GPS Invalid : 3645.290 N -12201.591 E measured 629.445 secs ago GPS Location: 3645.223 N -12201.706 E measured 575.688 secs ago sensor:c_thruster_surface_depth(m)=0 42.613 secs ago sensor:c_wpt_lat(lat)=3645.035 45.141 secs ago sensor:c_wpt_lon(lon)=-12201.71 45.185 secs ago sensor:m_battery(volts)=11.0681402601644 25.886 secs ago sensor:m_coulomb_amphr(amp-hrs)=138.35205078125 4.758 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=141.312737281248 4.772 secs ago sensor:m_depth(m)=0.520285664213331 4.688 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 10.208 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 576.113 secs ago sensor:m_iridium_attempt_num(nodim)=0 471.31 secs ago sensor:m_iridium_call_num(nodim)=645 525.038 secs ago sensor:m_iridium_dialed_num(nodim)=887 545.317 secs ago sensor:m_leakdetect_voltage(volts)=2.4764652014652 26.139 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4797619047619 26.155 secs ago sensor:m_tot_num_inflections(nodim)=7050 668.416 secs ago sensor:m_vacuum(inHg)=10.4099213980464 26.371 secs ago sensor:m_water_vx(m/s)=-0.032647285186201 600.984 secs ago sensor:m_water_vy(m/s)=0.0593434439877349 601.018 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)=0 471.666 secs ago sensor:x_fin_deadband(rad)=0.04 645168 secs ago sensor:x_last_wpt_lat(lat)=3645.035 752.303 secs ago sensor:x_last_wpt_lon(lon)=-12201.642 752.34 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 35/ 11/ 0 odd:1066/ 311/ 3 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: m_science_clothesline_lag not updated this cycle Water Velocity Calculations waiting for final gps fix(ideally -535 secs) Waypoint: (3645.0350,-12201.7100) Range: 348m, Bearing: 167deg, Age: 0:0h:m Time until diving is: 509 secs 645174 80 SCI:PROGLET house_elf start() called 645175 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 645175 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 645175 SCI:PROGLET ctd41cp start() called 645176 SCI: Opening port 0:SBMB:J0 645176 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 645179 81 SCI: in queue size: 2048, out queue size: 0 645179 SCI:sci_uart_drain_input(0): 645180 SCI: 645180 SCI:sci_uart_drain_input:Drained 0 chars 645180 SCI:bit_shared_open(): bit(0) is already open. 645180 SCI:Bit(0) use count is now 2. 645180 SCI:bit_shared_raise(): Raising bit(0). 645181 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 645181 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] [ 18 10 0] [ 21 12 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] [ 19 2 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] [ 427 155 2] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 554 142 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: 35/ 11/ 0 odd:1066/ 311/ 3 ^R645205 86 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 399.812500 Megabytes available on CF file system = 1598.156250 645209 00470220.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) 0.140385 m_avg_climb_rate(m/s) -0.162135 m_avg_speed(m/s) 0.363475 m_avg_upward_inflection_time(sec) 83.818434 m_battery(volts) 11.068140 m_coulomb_amphr_total(amp-hrs) 141.319878 m_fin(rad) -0.016769 m_iridium_call_num(nodim) 645.000000 m_iridium_dialed_num(nodim) 887.000000 m_lat(lat) 3645.223400 m_lon(lon) -12201.706200 m_tot_ballast_pumped_energy(kjoules) 243.417290 m_tot_horz_dist(km) 826.798975 m_tot_num_inflections(nodim) 7050.000000 m_tot_num_thermal_valve_cmd(nodim) 761.000000 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) 3645.035000 x_last_wpt_lon(lon) -12201.642000 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 2.5 seconds. Housekeeping is done 645278 90 00470221.mlg LOG FILE OPENED Megabytes used on CF file system = 399.937500 Megabytes available on CF file system = 1598.031250 645281 init_gps_input() 645281 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waitin