Connection Event: Carrier Detect found.913930 Iridium console active and ready... Vehicle Name: ru32 Curr Time: Sun Jul 16 10:21:22 2017 MT: 913929 DR Location: 3645.019 N -12201.758 E measured 38.783 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 118415 secs ago GPS Invalid : 3645.119 N -12201.776 E measured 100.097 secs ago GPS Location: 3645.019 N -12201.758 E measured 41.175 secs ago sensor:c_thruster_surface_depth(m)=0 3966.84 secs ago sensor:c_wpt_lat(lat)=3644.954 351.531 secs ago sensor:c_wpt_lon(lon)=-12201.676 351.595 secs ago sensor:m_battery(volts)=11.1243062567542 5.417 secs ago sensor:m_coulomb_amphr(amp-hrs)=161.13069152832 5.601 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=164.091378028318 5.622 secs ago sensor:m_depth(m)=0 5.552 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.724 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 41.741 secs ago sensor:m_iridium_attempt_num(nodim)=1 36.127 secs ago sensor:m_iridium_call_num(nodim)=710 0.794 secs ago sensor:m_iridium_dialed_num(nodim)=963 11.044 secs ago sensor:m_leakdetect_voltage(volts)=2.47600732600733 10.865 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47954822954823 10.883 secs ago sensor:m_tot_num_inflections(nodim)=7160 133.57 secs ago sensor:m_vacuum(inHg)=9.35619093406593 6.053 secs ago sensor:m_water_vx(m/s)=-0.0358945469306912 69.878 secs ago sensor:m_water_vy(m/s)=0.0132727408443858 69.922 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 4793.19 secs ago sensor:x_fin_deadband(rad)=0.04 913931 secs ago sensor:x_last_wpt_lat(lat)=3645.008 352.899 secs ago sensor:x_last_wpt_lon(lon)=-12201.676 352.95 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 913932 No login script found for processing. 913932 DRIVER_ODDITY:iridium:1770:xxx_ctrl() ran too long Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-185-0-326 (0047.0326) Vehicle Name: ru32 Curr Time: Sun Jul 16 10:22:02 2017 MT: 913970 DR Location: 3645.019 N -12201.758 E measured 78.697 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 118455 secs ago GPS Invalid : 3645.119 N -12201.776 E measured 140.01 secs ago GPS Location: 3645.019 N -12201.758 E measured 81.089 secs ago sensor:c_thruster_surface_depth(m)=0 4006.74 secs ago sensor:c_wpt_lat(lat)=3644.954 391.396 secs ago sensor:c_wpt_lon(lon)=-12201.676 391.435 secs ago sensor:m_battery(volts)=11.1243062567542 45.245 secs ago sensor:m_coulomb_amphr(amp-hrs)=161.136611938476 4.596 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=164.097298438475 4.609 secs ago sensor:m_depth(m)=0 4.538 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 9.895 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 81.49 secs ago sensor:m_iridium_attempt_num(nodim)=1 75.858 secs ago sensor:m_iridium_call_num(nodim)=710 40.507 secs ago sensor:m_iridium_dialed_num(nodim)=963 50.741 secs ago sensor:m_leakdetect_voltage(volts)=2.47600732600733 50.552 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47954822954823 50.564 secs ago sensor:m_tot_num_inflections(nodim)=7160 173.24 secs ago sensor:m_vacuum(inHg)=9.35619093406593 45.706 secs ago sensor:m_water_vx(m/s)=-0.0358945469306912 109.524 secs ago sensor:m_water_vy(m/s)=0.0132727408443858 109.557 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 4832.76 secs ago sensor:x_fin_deadband(rad)=0.04 913971 secs ago sensor:x_last_wpt_lat(lat)=3645.008 392.411 secs ago sensor:x_last_wpt_lon(lon)=-12201.676 392.445 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 38/ 14/ 0 odd:1248/ 493/ 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 -48 secs) Waypoint: (3644.9540,-12201.6760) Range: 171m, Bearing: 120deg, Age: 0:6h:m Time until diving is: 212 secs !put u_use_current_correction 0 -------------------------------- 913992 84 sensor: u_use_current_correction = 0 nodim -------------------------------- 913992 behavior surface_2: ! succeeded:put u_use_current_correction 0 913992 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume s *.sbd *.tbd -------------------------------- 913996 85 00470326.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 914005 89 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 00470326.tbd to/from ru32 size is 7629 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: 7629 zModem transfer DONE for file 00470326.tbd Starting zModem transfer of 00470325.tbd to/from ru32 size is 693 Total Bytes sent/received: 693 zModem transfer DONE for file 00470325.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00470326.TBD c:\logs\00470325.TBD SCI: SUCCESS 914079 5 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 914082 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 914082 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00470326.sbd to/from ru32 size is 4618 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 4618 zModem transfer DONE for file 00470326.sbd Starting zModem transfer of 00470325.sbd to/from ru32 size is 1179 Total Bytes sent/received: 1024 Total Bytes sent/received: 1179 zModem transfer DONE for file 00470325.sbd restore_sensors().... 914135 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.**^XB0800000000022d DEL**^XB0800000000022d DEL. GLD: Sent 2 file(s): c:\logs\00470326.SBD c:\logs\00470325.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 2.000000 914208 23 SCI:PROGLET house_elf begin() called 914208 SCI: house_elf: Version 1.2 914208 SCI:PROGLET ctd41cp begin() called 914208 SCI: ctd41cp: Version 0.2 914209 SCI: ctd41cp: Will be sending the following data to glider: 914209 SCI: sci_water_cond(s/m) 914209 SCI: sci_water_temp(degc) 914209 SCI: sci_water_pressure(bar) 914209 SCI: sci_ctd41cp_timestamp(timestamp) 914209 SCI:PROGLET flbbcd begin() called 914209 SCI: flbbcd: Version 0.0 914209 SCI: flbbcd: Will be sending following data to glider: 914209 SCI: sci_flbbcd_chlor_units(ug/l) 914209 SCI: sci_flbbcd_bb_units(nodim) 914209 SCI: sci_flbbcd_cdom_units(ppb) 914210 SCI: sci_flbbcd_chlor_sig(nodim) 914210 24 SCI: sci_flbbcd_bb_sig(nodim) 914210 SCI: sci_flbbcd_cdom_sig(nodim) 914210 SCI: sci_flbbcd_chlor_ref(nodim) 914211 SCI: sci_flbbcd_bb_ref(nodim) 914211 SCI: sci_flbbcd_cdom_ref(nodim) 914211 SCI: sci_flbbcd_therm(nodim) 914211 SCI: sci_flbbcd_timestamp(timestamp) 914211 SCI: Opening Bit(0) for output 914211 SCI:Bit(0) use count is now 1. 914211 SCI:Bit(0) raise count is now 0. 914211 SCI:Bit(0) raise count is now 0. 914213 SCI:PROGLET house_elf start() called 914214 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 914214 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 914217 25 SCI:PROGLET ctd41cp start() called 914217 SCI: Opening port 0:SBMB:J0 914217 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 914218 SCI: in queue size: 2048, out queue size: 0 914218 SCI:sci_uart_drain_input(0): 914218 SCI: 914218 SCI:sci_uart_drain_input:Drained 0 chars 914218 SCI:bit_shared_open(): bit(0) is already open. 914218 SCI:Bit(0) use count is now 2. 914218 SCI:bit_shared_raise(): Raising bit(0). 914218 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 914219 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 914280 26 00470327.mlg LOG FILE OPENED -------------------------------- 914281 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:ru32-2017-185-0-327 (0047.0327) Vehicle Name: ru32 Curr Time: Sun Jul 16 10:27:18 2017 MT: 914286 DR Location: 3645.019 N -12201.758 E measured 394.706 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 118771 secs ago GPS Invalid : 3645.119 N -12201.776 E measured 456.02 secs ago GPS Location: 3645.019 N -12201.758 E measured 397.099 secs ago sensor:c_thruster_surface_depth(m)=0 4322.75 secs ago sensor:c_wpt_lat(lat)=3644.954 707.406 secs ago sensor:c_wpt_lon(lon)=-12201.676 707.444 secs ago sensor:m_battery(volts)=11.0757375429404 3.306 secs ago sensor:m_coulomb_amphr(amp-hrs)=161.180572509766 3.493 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=164.141259009764 3.505 secs ago sensor:m_depth(m)=0.0547679832631282 3.367 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.638 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 397.49 secs ago sensor:m_iridium_attempt_num(nodim)=0 297.694 secs ago sensor:m_iridium_call_num(nodim)=710 356.504 secs ago sensor:m_iridium_dialed_num(nodim)=963 366.74 secs ago sensor:m_leakdetect_voltage(volts)=2.47591575091575 3.327 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4792735042735 3.341 secs ago sensor:m_tot_num_inflections(nodim)=7160 489.239 secs ago sensor:m_vacuum(inHg)=10.4531746031746 3.759 secs ago sensor:m_water_vx(m/s)=-0.0358945469306912 425.523 secs ago sensor:m_water_vy(m/s)=0.0132727408443858 425.555 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)=0 295.376 secs ago sensor:x_fin_deadband(rad)=0.04 914287 secs ago sensor:x_last_wpt_lat(lat)=3645.008 708.409 secs ago sensor:x_last_wpt_lon(lon)=-12201.676 708.443 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 38/ 14/ 0 odd:1248/ 493/ 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: m_science_clothesline_lag > u_max_clothesline_lag_for_consci Water Velocity Calculations waiting for final gps fix(ideally -364 secs) Waypoint: (3644.9540,-12201.6760) Range: 171m, Bearing: 120deg, Age: 0:11h:m Time until diving is: 293 secs !zr -------------------------------- 914307 31 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 914307 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/20170716T102809_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/20170716T102809_goto_l10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/goto_l10.ma< Successful 914334 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 914334 restore_sensors().... 914334 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 914335 behavior surface_2: ! succeeded:zr 914335 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 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0447 C_FIN:0.0000 Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-185-0-327 (0047.0327) Vehicle Name: ru32 Curr Time: Sun Jul 16 10:28:12 2017 MT: 914339 DR Location: 3645.019 N -12201.758 E measured 448.322 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 118825 secs ago GPS Invalid : 3645.119 N -12201.776 E measured 509.636 secs ago GPS Location: 3645.019 N -12201.758 E measured 450.714 secs ago sensor:c_thruster_surface_depth(m)=0 4376.36 secs ago sensor:c_wpt_lat(lat)=3644.954 761.021 secs ago sensor:c_wpt_lon(lon)=-12201.676 761.06 secs ago sensor:m_battery(volts)=11.0757375429404 56.922 secs ago sensor:m_coulomb_amphr(amp-hrs)=161.186492919922 3.138 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=164.14717941992 3.15 secs ago sensor:m_depth(m)=0.164303949788936 3.063 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.47 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 451.105 secs ago sensor:m_iridium_attempt_num(nodim)=0 351.309 secs ago sensor:m_iridium_call_num(nodim)=710 410.12 secs ago sensor:m_iridium_dialed_num(nodim)=963 420.356 secs ago sensor:m_leakdetect_voltage(volts)=2.47591575091575 56.943 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4792735042735 56.956 secs ago sensor:m_tot_num_inflections(nodim)=7160 542.853 secs ago sensor:m_vacuum(inHg)=10.4531746031746 57.374 secs ago sensor:m_water_vx(m/s)=-0.0358945469306912 479.137 secs ago sensor:m_water_vy(m/s)=0.0132727408443858 479.17 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)=0 348.99 secs ago sensor:x_fin_deadband(rad)=0.04 914340 secs ago sensor:x_last_wpt_lat(lat)=3645.008 762.024 secs ago sensor:x_last_wpt_lon(lon)=-12201.676 762.059 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 38/ 14/ 0 odd:1248/ 493/ 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: (3644.9540,-12201.6760) Range: 171m, Bearing: 120deg, Age: 0:12h:m Time until diving is: 293 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). 914365 38 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized 914365 behavior sample_8: STATE Active -> UnInited 914365 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 914365 behavior sample_7: STATE Active -> UnInited 914366 behavior yo_6: STATE Active -> UnInited 914366 behavior goto_list_5: STATE Active -> UnInited 914366 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 914366 behavior surface_4: STATE Waiting for Activation -> UnInited 914366 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 914366 behavior surface_3: STATE Waiting for Activation -> UnInited 914371 39 behavior sample_8: sample(): reading bargs 914371 behavior sample_8: Reading b_args from sample48.ma 914371 behavior sample_8: sensor_type(enum)=48.000000 914371 behavior sample_8: sample_time_after_state_change(s)=0.000000 914371 behavior sample_8: intersample_time(sec)=1.000000 914371 behavior sample_8: state_to_sample(enum)=7.000000 914371 behavior sample_8: nth_yo_to_sample(nodim)=1.000000 914371 behavior sample_8: min_depth(m)=-5.000000 914371 behavior sample_8: max_depth(m)=2000.000000 914371 behavior sample_8: STATE UnInited -> Active 914371 behavior sample_8: argument: args_from_file = 48.000000 enum 914371 behavior sample_8: argument: sensor_type = 48.000000 enum 914371 behavior sample_8: argument: state_to_sample = 7.000000 enum 914371 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s 914371 behavior sample_8: argument: intersample_time = 1.000000 s 914371 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim 914371 behavior sample_8: argument: intersample_depth = -1.000000 m 914371 behavior sample_8: argument: min_depth = -5.000000 m 914372 behavior sample_8: argument: max_depth = 2000.000000 m 914372 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface 914372 behavior sample_7: sample(): reading bargs 914372 behavior sample_7: Reading b_args from sample01.ma 914372 behavior sample_7: sensor_type(enum)=1.000000 914372 behavior sample_7: sample_time_after_state_change(s)=0.000000 914372 behavior sample_7: intersample_time(sec)=1.000000 914372 behavior sample_7: state_to_sample(enum)=15.000000 914372 behavior sample_7: nth_yo_to_sample(nodim)=1.000000 914372 behavior sample_7: min_depth(m)=-5.000000 914372 behavior sample_7: max_depth(m)=2000.000000 914372 behavior sample_7: STATE UnInited -> Active 914372 behavior sample_7: argument: args_from_file = 1.000000 enum 914372 behavior sample_7: argument: sensor_type = 1.000000 enum 914372 behavior sample_7: argument: state_to_sample = 15.000000 enum 914372 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 914372 behavior sample_7: argument: intersample_time = 1.000000 s 914372 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim 914372 behavior sample_7: argument: intersample_depth = -1.000000 m 914372 behavior sample_7: argument: min_depth = -5.000000 m 914373 behavior sample_7: argument: max_depth = 2000.000000 m 914373 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 914373 behavior yo_6: Reading b_args from yo20.ma 914373 behavior yo_6: num_half_cycles_to_do(nodim)=2.000000 914373 behavior yo_6: end_action(enum)=2.000000 914373 behavior yo_6: d_target_depth(m)=500.000000 914373 behavior yo_6: d_target_altitude(m)=20.000000 914373 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 914373 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 914373 behavior yo_6: d_use_bpump(enum)=2.000000 914373 behavior yo_6: d_bpump_value(X)=-240.000000 914373 behavior yo_6: d_use_pitch(enum)=3.000000 914373 behavior yo_6: d_pitch_value(X)=-0.610900 914373 behavior yo_6: d_use_thruster(enum)=0.000000 914373 behavior yo_6: d_thruster_value(X)=0.000000 914373 behavior yo_6: d_depth_rate_method(enum)=3.000000 914373 behavior yo_6: c_target_depth(m)=10.000000 914373 behavior yo_6: c_target_altitude(m)=-1.000000 914373 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 914374 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 914374 behavior yo_6: c_use_bpump(enum)=2.000000 914374 behavior yo_6: c_bpump_value(X)=1000.000000 914374 behavior yo_6: c_use_pitch(enum)=3.000000 914374 behavior yo_6: c_pitch_value(X)=0.610900 914374 behavior yo_6: c_use_thruster(enum)=0.000000 914374 behavior yo_6: c_thruster_value(X)=0.000000 914374 behavior yo_6: STATE UnInited -> Waiting for Activation 914374 behavior yo_6: argument: args_from_file = 20.000000 enum 914374 behavior yo_6: argument: start_when = 2.000000 enum 914374 behavior yo_6: argument: start_diving = 1.000000 bool 914374 behavior yo_6: argument: num_half_cycles_to_do = 2.000000 nodim 914374 behavior yo_6: argument: d_target_depth = 500.000000 m 914374 behavior yo_6: argument: d_target_altitude = 20.000000 m 914374 behavior yo_6: argument: d_use_bpump = 2.000000 enum 914374 behavior yo_6: argument: d_bpump_value = -240.000000 X 914374 behavior yo_6: argument: d_use_pitch = 3.000000 enum 914374 behavior yo_6: argument: d_pitch_value = -0.610900 X 914374 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 914374 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 914375 behavior yo_6: argument: d_speed_min = -100.000000 m/s 914375 behavior yo_6: argument: d_speed_max = 100.000000 m/s 914375 behavior yo_6: argument: d_use_thruster = 0.000000 enum 914375 behavior yo_6: argument: d_thruster_value = 0.000000 X 914375 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 914375 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 914375 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 914375 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 914375 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 914375 behavior yo_6: argument: d_time_ratio = 1.100000 X 914375 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 914375 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 914375 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 914375 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 914375 behavior yo_6: argument: c_target_depth = 10.000000 m 914375 behavior yo_6: argument: c_target_altitude = -1.000000 m 914375 behavior yo_6: argument: c_use_bpump = 2.000000 enum 914375 behavior yo_6: argument: c_bpump_value = 1000.000000 X 914375 behavior yo_6: argument: c_use_pitch = 3.000000 enum 914375 behavior yo_6: argument: c_pitch_value = 0.610900 X 914376 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 914376 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 914376 behavior yo_6: argument: c_speed_min = 100.000000 m/s 914376 behavior yo_6: argument: c_speed_max = -100.000000 m/s 914376 behavior yo_6: argument: c_use_thruster = 0.000000 enum 914376 behavior yo_6: argument: c_thruster_value = 0.000000 X 914376 behavior yo_6: argument: end_action = 2.000000 enum 914376 behavior yo_6: STATE Waiting for Activation -> Active 914376 behavior dive_to_601: STATE UnInited -> Active 914376 behavior dive_to_601: argument: target_depth = 500.000000 m 914376 behavior dive_to_601: argument: target_altitude = 20.000000 m 914376 behavior dive_to_601: argument: use_bpump = 2.000000 enum 914376 behavior dive_to_601: argument: bpump_value = -240.000000 X 914376 behavior dive_to_601: argument: use_pitch = 3.000000 enum 914376 behavior dive_to_601: argument: pitch_value = -0.610900 X 914376 behavior dive_to_601: argument: start_when = 0.000000 enum 914376 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 914376 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 914377 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 914377 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 914377 behavior dive_to_601: argument: speed_min = -100.000000 m/s 914377 behavior dive_to_601: argument: speed_max = 100.000000 m/s 914377 behavior dive_to_601: argument: use_thruster = 0.000000 enum 914377 behavior dive_to_601: argument: thruster_value = 0.000000 X 914377 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 914377 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 914377 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 914377 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 914377 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 914377 behavior dive_to_601: argument: time_ratio = 1.100000 X 914377 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 914377 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 914377 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 914377 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 914377 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 914377 behavior goto_list_5: Reading b_args from goto_l10.ma 914377 behavior goto_list_5: num_legs_to_run(nodim)=-1.000000 914378 behavior goto_list_5: start_when(enum)=0.000000 914378 behavior goto_list_5: list_stop_when(enum)=7.000000 914378 behavior goto_list_5: list_when_wpt_dist(m)=25.000000 914378 behavior goto_list_5: initial_wpt(enum)=0.000000 914378 behavior goto_list_5: num_waypoints(nodim)=4.000000 914378 behavior goto_list_5: Reading waypoints from file: 914378 behavior goto_list_5: 0 lon: -12201.7430 lat: 3645.0080 914378 behavior goto_list_5: 1 lon: -12201.6760 lat: 3645.0080 914378 b ****** 914407 SCI: house_elf: Version 1.2 914410 44 SCI:PROGLET ctd41cp begin() called 914411 SCI: ctd41cp: Version 0.2 914412 SCI: ctd41cp: Will be sending the following data to glider: 914412 SCI: sci_water_cond(s/m) 914412 SCI: sci_water_temp(degc) 914412 SCI: sci_water_pressure(bar) 914412 SCI: sci_ctd41cp_timestamp(timestamp) 914412 SCI:PROGLET flbbcd begin() called 914413 SCI: flbbcd: Version 0.0 914413 SCI: flbbcd: Will be sending following data to glider: 914416 45 SCI: sci_flbbcd_chlor_units(ug/l) 914416 SCI: sci_flbbcd_bb_units(nodim) 914417 SCI: sci_flbbcd_cdom_units(ppb) 914417 SCI: sci_flbbcd_chlor_sig(nodim) 914417 SCI: sci_flbbcd_bb_sig(nodim) 914417 SCI: sci_flbbcd_cdom_sig(nodim) 914417 SCI: sci_flbbcd_chlor_ref(nodim) 914418 SCI: sci_flbbcd_bb_ref(nodim) 914418 SCI: sci_flbbcd_cdom_ref(nodim) 914418 SCI: sci_flbbcd_therm(nodim) 914418 SCI: sci_flbbcd_timestamp(timestamp) 914418 SCI: Opening Bit(0) for output 914421 46 SCI:Bit(0) use count is now 1. 914421 SCI:Bit(0) raise count is now 0. 914422 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:ru32-2017-185-0-327 (0047.0327) Vehicle Name: ru32 Curr Time: Sun Jul 16 10:29:38 2017 MT: 914426 DR Location: 3645.019 N -12201.758 E measured 534.645 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 118911 secs ago GPS Invalid : 3645.119 N -12201.776 E measured 595.962 secs ago GPS Location: 3645.019 N -12201.758 E measured 537.039 secs ago sensor:c_thruster_surface_depth(m)=0 43.338 secs ago sensor:c_wpt_lat(lat)=3645.008 45.867 secs ago sensor:c_wpt_lon(lon)=-12201.743 45.91 secs ago sensor:m_battery(volts)=11.0628699494642 15.17 secs ago sensor:m_coulomb_amphr(amp-hrs)=161.198364257812 4.883 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=164.159050757811 4.9 secs ago sensor:m_depth(m)=0.301223907946197 4.813 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.035 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 537.461 secs ago sensor:m_iridium_attempt_num(nodim)=0 437.666 secs ago sensor:m_iridium_call_num(nodim)=710 496.48 secs ago sensor:m_iridium_dialed_num(nodim)=963 506.718 secs ago sensor:m_leakdetect_voltage(volts)=2.4764652014652 15.163 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4800061050061 15.179 secs ago sensor:m_tot_num_inflections(nodim)=7160 629.221 secs ago sensor:m_vacuum(inHg)=10.4498791208791 15.654 secs ago sensor:m_water_vx(m/s)=-0.0358945469306912 565.51 secs ago sensor:m_water_vy(m/s)=0.0132727408443858 565.544 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)=0 435.374 secs ago sensor:x_fin_deadband(rad)=0.04 914427 secs ago sensor:x_last_wpt_lat(lat)=3645.008 848.412 secs ago sensor:x_last_wpt_lon(lon)=-12201.676 848.448 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 38/ 14/ 0 odd:1248/ 493/ 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: m_science_clothesline_lag not updated this cycle Water Velocity Calculations waiting for final gps fix(ideally -503 secs) Waypoint: (3645.0080,-12201.7430) Range: 30m, Bearing: 118deg, Age: 0:0h:m Time until diving is: 507 secs 914428 47 SCI:PROGLET house_elf start() called 914428 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 914436 48 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 914441 49 SCI:PROGLET ctd41cp start() called 914441 SCI: Opening port 0:SBMB:J0 914441 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 914442 SCI: in queue size: 2048, out queue size: 0 914442 SCI:sci_uart_drain_input(0): 914442 SCI: 914442 SCI:sci_uart_drain_input:Drained 0 chars 914442 SCI:bit_shared_open(): bit(0) is already open. 914442 SCI:Bit(0) use count is now 2. 914442 SCI:bit_shared_raise(): Raising bit(0). 914445 50 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 914446 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] [ 20 12 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] [ 20 3 0] 17 science_super I u 3 20 5 0 [ 0 0 0] [ 4 1 0] [ 49 4 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 491 219 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] [ 667 255 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: 38/ 14/ 0 odd:1248/ 493/ 2 ^R914460 52 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 459.687500 Megabytes available on CF file system = 1538.281250 914465 00470327.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=207.0K, M_SPARE_HEAP=188.0K 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) 0.140415 m_avg_climb_rate(m/s) -0.224671 m_avg_speed(m/s) 0.383132 m_avg_upward_inflection_time(sec) 116.437041 m_battery(volts) 11.062870 m_coulomb_amphr_total(amp-hrs) 164.166192 m_fin(rad) -0.030744 m_iridium_call_num(nodim) 710.000000 m_iridium_dialed_num(nodim) 963.000000 m_lat(lat) 3645.018900 m_lon(lon) -12201.757800 m_tot_ballast_pumped_energy(kjoules) 243.417290 m_tot_horz_dist(km) 910.185798 m_tot_num_inflections(nodim) 7160.000000 m_tot_num_thermal_valve_cmd(nodim) 847.000000 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) 3645.008000 x_last_wpt_lon(lon) -12201.676000 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 2.8 seconds. Housekeeping is done 914538 56 00470328.mlg LOG FILE OPENED Megabytes used on CF file system = 459.812500 Megabytes available on CF file system = 1538.156250 914541 init_gps_input() 914541 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final GPS fix. 914543 disabling Iridium console...