Connection Event: Carrier Detect found.933262 Iridium console active and ready... Vehicle Name: ru32 Curr Time: Sun Jul 16 15:43:34 2017 MT: 933260 DR Location: 3645.239 N -12201.843 E measured 38.73 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 137746 secs ago GPS Invalid : 3645.229 N -12201.839 E measured 100.696 secs ago GPS Location: 3645.239 N -12201.843 E measured 41.104 secs ago sensor:c_thruster_surface_depth(m)=0 4655.96 secs ago sensor:c_wpt_lat(lat)=3645.062 162.397 secs ago sensor:c_wpt_lon(lon)=-12201.844 162.464 secs ago sensor:m_battery(volts)=11.1359298339429 30.596 secs ago sensor:m_coulomb_amphr(amp-hrs)=162.788436889648 5.609 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=165.749123389646 5.632 secs ago sensor:m_depth(m)=0 5.61 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.875 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 41.674 secs ago sensor:m_iridium_attempt_num(nodim)=1 36.132 secs ago sensor:m_iridium_call_num(nodim)=715 0.799 secs ago sensor:m_iridium_dialed_num(nodim)=968 11.005 secs ago sensor:m_leakdetect_voltage(volts)=2.47600732600733 30.976 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47918192918193 31 secs ago sensor:m_tot_num_inflections(nodim)=7168 142.703 secs ago sensor:m_vacuum(inHg)=9.24744001831501 31.234 secs ago sensor:m_water_vx(m/s)=-0.0396884937687235 70.405 secs ago sensor:m_water_vy(m/s)=0.0615144184042112 70.451 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 5271.75 secs ago sensor:x_fin_deadband(rad)=0.04 933262 secs ago sensor:x_last_wpt_lat(lat)=3645.062 163.735 secs ago sensor:x_last_wpt_lon(lon)=-12201.777 163.788 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 933263 No login script found for processing. 933263 DRIVER_ODDITY:iridium:1772:xxx_ctrl() ran too long Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-185-0-334 (0047.0334) Vehicle Name: ru32 Curr Time: Sun Jul 16 15:44:16 2017 MT: 933304 DR Location: 3645.239 N -12201.843 E measured 81.433 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 137789 secs ago GPS Invalid : 3645.229 N -12201.839 E measured 143.399 secs ago GPS Location: 3645.239 N -12201.843 E measured 83.807 secs ago sensor:c_thruster_surface_depth(m)=0 4698.64 secs ago sensor:c_wpt_lat(lat)=3645.062 205.049 secs ago sensor:c_wpt_lon(lon)=-12201.844 205.088 secs ago sensor:m_battery(volts)=11.1270323328441 12.3 secs ago sensor:m_coulomb_amphr(amp-hrs)=162.794372558594 7.529 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=165.755059058592 7.542 secs ago sensor:m_depth(m)=0 7.467 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 7.681 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 84.209 secs ago sensor:m_iridium_attempt_num(nodim)=1 78.647 secs ago sensor:m_iridium_call_num(nodim)=715 43.297 secs ago sensor:m_iridium_dialed_num(nodim)=968 53.488 secs ago sensor:m_leakdetect_voltage(volts)=2.47576312576313 12.535 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47933455433455 12.551 secs ago sensor:m_tot_num_inflections(nodim)=7168 185.156 secs ago sensor:m_vacuum(inHg)=9.5938775946276 12.764 secs ago sensor:m_water_vx(m/s)=-0.0396884937687235 112.834 secs ago sensor:m_water_vy(m/s)=0.0615144184042112 112.867 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 5314.09 secs ago sensor:x_fin_deadband(rad)=0.04 933305 secs ago sensor:x_last_wpt_lat(lat)=3645.062 206.032 secs ago sensor:x_last_wpt_lon(lon)=-12201.777 206.067 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 38/ 14/ 0 odd:1260/ 505/ 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: (3645.0620,-12201.8440) Range: 327m, Bearing: 166deg, Age: 0:3h:m Time until diving is: 209 secs !put u_use_current_correction 0 -------------------------------- 933325 54 sensor: u_use_current_correction = 0 nodim -------------------------------- 933325 behavior surface_2: ! succeeded:put u_use_current_correction 0 933325 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume s *.sbd *.tbd -------------------------------- 933330 55 00470334.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 933340 58 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 **B000000000000 Starting zModem transfer of 00470334.tbd to/from ru32 size is 7073 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: 7073 zModem transfer DONE for file 00470334.tbd Starting zModem transfer of 00470333.tbd to/from ru32 size is 617 Total Bytes sent/received: 617 zModem transfer DONE for file 00470333.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00470334.TBD c:\logs\00470333.TBD SCI: SUCCESS 933408 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 933411 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 933411 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00470334.sbd to/from ru32 size is 4891 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 4891 zModem transfer DONE for file 00470334.sbd Starting zModem transfer of 00470333.sbd to/from ru32 size is 991 Total Bytes sent/received: 991 zModem transfer DONE for file 00470333.sbd 33464 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 933464 restore_sensors().... 933464 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\00470334.SBD c:\logs\00470333.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 2.000000 933473 75 SCI:PROGLET house_elf begin() called 933473 SCI: house_elf: Version 1.2 933473 SCI:PROGLET ctd41cp begin() called 933473 SCI: ctd41cp: Version 0.2 933474 SCI: ctd41cp: Will be sending the following data to glider: 933474 SCI: sci_water_cond(s/m) 933474 SCI: sci_water_temp(degc) 933478 76 SCI: sci_water_pressure(bar) 933478 SCI: sci_ctd41cp_timestamp(timestamp) 933478 SCI:PROGLET flbbcd begin() called 933479 SCI: flbbcd: Version 0.0 933479 SCI: flbbcd: Will be sending following data to glider: 933479 SCI: sci_flbbcd_chlor_units(ug/l) 933479 SCI: sci_flbbcd_bb_units(nodim) 933479 SCI: sci_flbbcd_cdom_units(ppb) 933479 SCI: sci_flbbcd_chlor_sig(nodim) 933479 SCI: sci_flbbcd_bb_sig(nodim) 933480 SCI: sci_flbbcd_cdom_sig(nodim) 933480 SCI: sci_flbbcd_chlor_ref(nodim) 933480 SCI: sci_flbbcd_bb_ref(nodim) 933480 SCI: sci_flbbcd_cdom_ref(nodim) 933480 SCI: sci_flbbcd_therm(nodim) 933480 SCI: sci_flbbcd_timestamp(timestamp) 933480 SCI: Opening Bit(0) for output 933480 SCI:Bit(0) use count is now 1. 933480 SCI:Bit(0) raise count is now 0. 933480 SCI:Bit(0) raise count is now 0. 933482 SCI:PROGLET house_elf start() called 933482 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 933485 77 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 933486 SCI:PROGLET ctd41cp start() called 933486 SCI: Opening port 0:SBMB:J0 933486 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 933486 SCI: in queue size: 2048, out queue size: 0 933486 SCI:sci_uart_drain_input(0): 933486 SCI: 933486 SCI:sci_uart_drain_input:Drained 0 chars 933486 SCI:bit_shared_open(): bit(0) is already open. 933486 SCI:Bit(0) use count is now 2. 933487 SCI:bit_shared_raise(): Raising bit(0). 933487 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 933487 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 933552 80 00470335.mlg LOG FILE OPENED -------------------------------- 933553 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:ru32-2017-185-0-335 (0047.0335) Vehicle Name: ru32 Curr Time: Sun Jul 16 15:48:29 2017 MT: 933557 DR Location: 3645.239 N -12201.843 E measured 334.373 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 138042 secs ago GPS Invalid : 3645.229 N -12201.839 E measured 396.339 secs ago GPS Location: 3645.239 N -12201.843 E measured 336.748 secs ago sensor:c_thruster_surface_depth(m)=0 4951.58 secs ago sensor:c_wpt_lat(lat)=3645.062 457.989 secs ago sensor:c_wpt_lon(lon)=-12201.844 458.029 secs ago sensor:m_battery(volts)=11.0945908822215 3.264 secs ago sensor:m_coulomb_amphr(amp-hrs)=162.831176757812 3.444 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=165.791863257811 3.457 secs ago sensor:m_depth(m)=2.24095633511372E-13 3.325 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.591 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 337.143 secs ago sensor:m_iridium_attempt_num(nodim)=0 232.77 secs ago sensor:m_iridium_call_num(nodim)=715 296.228 secs ago sensor:m_iridium_dialed_num(nodim)=968 306.421 secs ago sensor:m_leakdetect_voltage(volts)=2.47576312576313 3.298 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47921245421245 3.314 secs ago sensor:m_tot_num_inflections(nodim)=7168 438.089 secs ago sensor:m_vacuum(inHg)=10.437932997558 3.721 secs ago sensor:m_water_vx(m/s)=-0.0396884937687235 365.767 secs ago sensor:m_water_vy(m/s)=0.0615144184042112 365.801 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)=0 233.055 secs ago sensor:x_fin_deadband(rad)=0.04 933558 secs ago sensor:x_last_wpt_lat(lat)=3645.062 458.966 secs ago sensor:x_last_wpt_lon(lon)=-12201.777 459.002 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 38/ 14/ 0 odd:1260/ 505/ 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 -295 secs) Waypoint: (3645.0620,-12201.8440) Range: 327m, Bearing: 166deg, Age: 0:7h:m Time until diving is: 294 secs !zr -------------------------------- 933579 85 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 933579 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0419 C_FIN:0.0000 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/20170716T154920_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/20170716T154920_goto_l10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/goto_l10.ma< Successful 933605 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 933605 restore_sensors().... 933605 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 933606 behavior surface_2: ! succeeded:zr 933606 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 933610 DRIVER_ODDITY:digifin:4057:xxx_ctrl() ran too long Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-185-0-335 (0047.0335) Vehicle Name: ru32 Curr Time: Sun Jul 16 15:49:25 2017 MT: 933612 DR Location: 3645.239 N -12201.843 E measured 390.042 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 138097 secs ago GPS Invalid : 3645.229 N -12201.839 E measured 452.008 secs ago GPS Location: 3645.239 N -12201.843 E measured 392.417 secs ago sensor:c_thruster_surface_depth(m)=0 5007.25 secs ago sensor:c_wpt_lat(lat)=3645.062 513.66 secs ago sensor:c_wpt_lon(lon)=-12201.844 513.698 secs ago sensor:m_battery(volts)=11.0945908822215 58.934 secs ago sensor:m_coulomb_amphr(amp-hrs)=162.838317871094 3.138 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=165.799004371092 3.15 secs ago sensor:m_depth(m)=0.602447815892169 3.061 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.319 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 392.81 secs ago sensor:m_iridium_attempt_num(nodim)=0 288.438 secs ago sensor:m_iridium_call_num(nodim)=715 351.895 secs ago sensor:m_iridium_dialed_num(nodim)=968 362.086 secs ago sensor:m_leakdetect_voltage(volts)=2.47576312576313 58.963 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47921245421245 58.979 secs ago sensor:m_tot_num_inflections(nodim)=7168 493.754 secs ago sensor:m_vacuum(inHg)=10.437932997558 59.385 secs ago sensor:m_water_vx(m/s)=-0.0396884937687235 421.433 secs ago sensor:m_water_vy(m/s)=0.0615144184042112 421.466 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)=0 288.72 secs ago sensor:x_fin_deadband(rad)=0.04 933613 secs ago sensor:x_last_wpt_lat(lat)=3645.062 514.632 secs ago sensor:x_last_wpt_lon(lon)=-12201.777 514.668 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 38/ 14/ 0 odd:1261/ 506/ 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 -351 secs) Waypoint: (3645.0620,-12201.8440) Range: 327m, Bearing: 166deg, Age: 0:8h:m Time until diving is: 291 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). 933638 92 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized 933638 behavior sample_8: STATE Active -> UnInited 933638 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 933639 behavior sample_7: STATE Active -> UnInited 933639 behavior yo_6: STATE Active -> UnInited 933639 behavior goto_list_5: STATE Active -> UnInited 933639 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 933639 behavior surface_4: STATE Waiting for Activation -> UnInited 933639 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 933639 behavior surface_3: STATE Waiting for Activation -> UnInited 933644 93 behavior sample_8: sample(): reading bargs 933644 behavior sample_8: Reading b_args from sample48.ma 933644 behavior sample_8: sensor_type(enum)=48.000000 933644 behavior sample_8: sample_time_after_state_change(s)=0.000000 933644 behavior sample_8: intersample_time(sec)=1.000000 933644 behavior sample_8: state_to_sample(enum)=7.000000 933644 behavior sample_8: nth_yo_to_sample(nodim)=1.000000 933644 behavior sample_8: min_depth(m)=-5.000000 933644 behavior sample_8: max_depth(m)=2000.000000 933644 behavior sample_8: STATE UnInited -> Active 933644 behavior sample_8: argument: args_from_file = 48.000000 enum 933644 behavior sample_8: argument: sensor_type = 48.000000 enum 933644 behavior sample_8: argument: state_to_sample = 7.000000 enum 933644 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s 933644 behavior sample_8: argument: intersample_time = 1.000000 s 933644 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim 933644 behavior sample_8: argument: intersample_depth = -1.000000 m 933644 behavior sample_8: argument: min_depth = -5.000000 m 933645 behavior sample_8: argument: max_depth = 2000.000000 m 933645 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface 933645 behavior sample_7: sample(): reading bargs 933645 behavior sample_7: Reading b_args from sample01.ma 933645 behavior sample_7: sensor_type(enum)=1.000000 933645 behavior sample_7: sample_time_after_state_change(s)=0.000000 933645 behavior sample_7: intersample_time(sec)=1.000000 933645 behavior sample_7: state_to_sample(enum)=15.000000 933645 behavior sample_7: nth_yo_to_sample(nodim)=1.000000 933645 behavior sample_7: min_depth(m)=-5.000000 933645 behavior sample_7: max_depth(m)=2000.000000 933645 behavior sample_7: STATE UnInited -> Active 933645 behavior sample_7: argument: args_from_file = 1.000000 enum 933645 behavior sample_7: argument: sensor_type = 1.000000 enum 933645 behavior sample_7: argument: state_to_sample = 15.000000 enum 933645 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 933645 behavior sample_7: argument: intersample_time = 1.000000 s 933645 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim 933645 behavior sample_7: argument: intersample_depth = -1.000000 m 933645 behavior sample_7: argument: min_depth = -5.000000 m 933646 behavior sample_7: argument: max_depth = 2000.000000 m 933646 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 933646 behavior yo_6: Reading b_args from yo20.ma 933646 behavior yo_6: num_half_cycles_to_do(nodim)=2.000000 933646 behavior yo_6: end_action(enum)=2.000000 933646 behavior yo_6: d_target_depth(m)=500.000000 933646 behavior yo_6: d_target_altitude(m)=20.000000 933646 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 933646 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 933646 behavior yo_6: d_use_bpump(enum)=2.000000 933646 behavior yo_6: d_bpump_value(X)=-240.000000 933646 behavior yo_6: d_use_pitch(enum)=3.000000 933646 behavior yo_6: d_pitch_value(X)=-0.610900 933646 behavior yo_6: d_use_thruster(enum)=0.000000 933646 behavior yo_6: d_thruster_value(X)=0.000000 933646 behavior yo_6: d_depth_rate_method(enum)=3.000000 933646 behavior yo_6: c_target_depth(m)=10.000000 933646 behavior yo_6: c_target_altitude(m)=-1.000000 933646 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 933647 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 933647 behavior yo_6: c_use_bpump(enum)=2.000000 933647 behavior yo_6: c_bpump_value(X)=1000.000000 933647 behavior yo_6: c_use_pitch(enum)=3.000000 933647 behavior yo_6: c_pitch_value(X)=0.610900 933647 behavior yo_6: c_use_thruster(enum)=0.000000 933647 behavior yo_6: c_thruster_value(X)=0.000000 933647 behavior yo_6: STATE UnInited -> Waiting for Activation 933647 behavior yo_6: argument: args_from_file = 20.000000 enum 933647 behavior yo_6: argument: start_when = 2.000000 enum 933647 behavior yo_6: argument: start_diving = 1.000000 bool 933647 behavior yo_6: argument: num_half_cycles_to_do = 2.000000 nodim 933647 behavior yo_6: argument: d_target_depth = 500.000000 m 933647 behavior yo_6: argument: d_target_altitude = 20.000000 m 933647 behavior yo_6: argument: d_use_bpump = 2.000000 enum 933647 behavior yo_6: argument: d_bpump_value = -240.000000 X 933647 behavior yo_6: argument: d_use_pitch = 3.000000 enum 933647 behavior yo_6: argument: d_pitch_value = -0.610900 X 933647 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 933647 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 933648 behavior yo_6: argument: d_speed_min = -100.000000 m/s 933648 behavior yo_6: argument: d_speed_max = 100.000000 m/s 933648 behavior yo_6: argument: d_use_thruster = 0.000000 enum 933648 behavior yo_6: argument: d_thruster_value = 0.000000 X 933648 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 933648 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 933648 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 933648 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 933648 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 933648 behavior yo_6: argument: d_time_ratio = 1.100000 X 933648 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 933648 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 933648 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 933648 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 933648 behavior yo_6: argument: c_target_depth = 10.000000 m 933648 behavior yo_6: argument: c_target_altitude = -1.000000 m 933648 behavior yo_6: argument: c_use_bpump = 2.000000 enum 933648 behavior yo_6: argument: c_bpump_value = 1000.000000 X 933648 behavior yo_6: argument: c_use_pitch = 3.000000 enum 933649 behavior yo_6: argument: c_pitch_value = 0.610900 X 933649 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 933649 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 933649 behavior yo_6: argument: c_speed_min = 100.000000 m/s 933649 behavior yo_6: argument: c_speed_max = -100.000000 m/s 933649 behavior yo_6: argument: c_use_thruster = 0.000000 enum 933649 behavior yo_6: argument: c_thruster_value = 0.000000 X 933649 behavior yo_6: argument: end_action = 2.000000 enum 933649 behavior yo_6: STATE Waiting for Activation -> Active 933649 behavior dive_to_601: STATE UnInited -> Active 933649 behavior dive_to_601: argument: target_depth = 500.000000 m 933649 behavior dive_to_601: argument: target_altitude = 20.000000 m 933649 behavior dive_to_601: argument: use_bpump = 2.000000 enum 933649 behavior dive_to_601: argument: bpump_value = -240.000000 X 933649 behavior dive_to_601: argument: use_pitch = 3.000000 enum 933649 behavior dive_to_601: argument: pitch_value = -0.610900 X 933649 behavior dive_to_601: argument: start_when = 0.000000 enum 933649 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 933649 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 933649 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 933650 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 933650 behavior dive_to_601: argument: speed_min = -100.000000 m/s 933650 behavior dive_to_601: argument: speed_max = 100.000000 m/s 933650 behavior dive_to_601: argument: use_thruster = 0.000000 enum 933650 behavior dive_to_601: argument: thruster_value = 0.000000 X 933650 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 933650 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 933650 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 933650 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 933650 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 933650 behavior dive_to_601: argument: time_ratio = 1.100000 X 933650 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 933650 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 933650 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 933650 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 933650 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 933650 behavior goto_list_5: Reading b_args from goto_l10.ma 933650 behavior goto_list_5: num_legs_to_run(nodim)=-1.000000 933651 behavior goto_list_5: start_when(enum)=0.000000 933651 behavior goto_list_5: list_stop_when(enum)=7.000000 933651 behavior goto_list_5: list_when_wpt_dist(m)=25.000000 933651 behavior goto_list_5: initial_wpt(enum)=0.000000 933651 behavior goto_list_5: num_waypoints(nodim)=4.000000 933651 behavior goto_list_5: Reading waypoints from file: 933651 behavior goto_list_5: 0 lon: -12201.8440 lat: 3645.1430 933651 behavior goto_list_5: 1 lon: -12201.7770 lat: 3645.1430 9336 ****** 933679 db(#/min/mn/max/sd) pitch_motor 1800 -46 8 19 7 mV 933679 SCI:PROGLET house_elf begin() called 933679 SCI: house_elf: Version 1.2 933680 SCI:PROGLET ctd41cp begin() called 933681 SCI: ctd41cp: Version 0.2 933681 SCI: ctd41cp: Will be sending the following data to glider: 933681 SCI: sci_water_cond(s/m) 933681 SCI: sci_water_temp(degc) 933681 SCI: sci_water_pressure(bar) 933681 SCI: sci_ctd41cp_timestamp(timestamp) 933684 98 SCI:PROGLET flbbcd begin() called 933684 SCI: flbbcd: Version 0.0 933685 SCI: flbbcd: Will be sending following data to glider: 933686 SCI: sci_flbbcd_chlor_units(ug/l) 933686 SCI: sci_flbbcd_bb_units(nodim) 933686 SCI: sci_flbbcd_cdom_units(ppb) 933686 SCI: sci_flbbcd_chlor_sig(nodim) 933686 SCI: sci_flbbcd_bb_sig(nodim) 933686 SCI: sci_flbbcd_cdom_sig(nodim) 933687 SCI: sci_flbbcd_chlor_ref(nodim) 933687 SCI: sci_flbbcd_bb_ref(nodim) 933689 99 SCI: sci_flbbcd_cdom_ref(nodim) 933690 SCI: sci_flbbcd_therm(nodim) 933691 SCI: sci_flbbcd_timestamp(timestamp) 933691 SCI: Opening Bit(0) for output 933691 SCI:Bit(0) use count is now 1. 933691 SCI:Bit(0) raise count is now 0. 933691 SCI:Bit(0) raise count is now 0. 933696 0 SCI:PROGLET house_elf start() called 933697 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 933697 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 933697 SCI:PROGLET ctd41cp start() called 933698 SCI: Opening port 0:SBMB:J0 Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-185-0-335 (0047.0335) Vehicle Name: ru32 Curr Time: Sun Jul 16 15:50:53 2017 MT: 933700 DR Location: 3645.239 N -12201.843 E measured 477.683 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 138185 secs ago GPS Invalid : 3645.229 N -12201.839 E measured 539.651 secs ago GPS Location: 3645.239 N -12201.843 E measured 480.059 secs ago sensor:c_thruster_surface_depth(m)=0 44.582 secs ago sensor:c_wpt_lat(lat)=3645.143 47.109 secs ago sensor:c_wpt_lon(lon)=-12201.844 47.148 secs ago sensor:m_battery(volts)=11.0469102873711 20.544 secs ago sensor:m_coulomb_amphr(amp-hrs)=162.850189208984 5.117 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=165.810875708982 5.128 secs ago sensor:m_depth(m)=0.328607899577649 5.033 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.263 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 480.453 secs ago sensor:m_iridium_attempt_num(nodim)=0 376.082 secs ago sensor:m_iridium_call_num(nodim)=715 439.539 secs ago sensor:m_iridium_dialed_num(nodim)=968 449.729 secs ago sensor:m_leakdetect_voltage(volts)=2.47591575091575 20.52 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47970085470085 20.533 secs ago sensor:m_tot_num_inflections(nodim)=7168 581.398 secs ago sensor:m_vacuum(inHg)=10.4474075091575 21 secs ago sensor:m_water_vx(m/s)=-0.0396884937687235 509.077 secs ago sensor:m_water_vy(m/s)=0.0615144184042112 509.108 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)=0 376.363 secs ago sensor:x_fin_deadband(rad)=0.04 933701 secs ago sensor:x_last_wpt_lat(lat)=3645.062 602.273 secs ago sensor:x_last_wpt_lon(lon)=-12201.777 602.31 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 38/ 14/ 0 odd:1261/ 506/ 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 -438 secs) Waypoint: (3645.1430,-12201.8440) Range: 178m, Bearing: 166deg, Age: 0:0h:m Time until diving is: 504 secs 933702 0 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 933706 1 SCI: in queue size: 2048, out queue size: 0 933706 SCI:sci_uart_drain_input(0): 933707 SCI: 933707 SCI:sci_uart_drain_input:Drained 0 chars 933707 SCI:bit_shared_open(): bit(0) is already open. 933707 SCI:Bit(0) use count is now 2. 933708 SCI:bit_shared_raise(): Raising bit(0). 933708 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 933708 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0587 C_FIN:0.0000 ^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] [ 497 225 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] [ 674 262 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:1261/ 506/ 3 ^R933737 7 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 464.000000 Megabytes available on CF file system = 1533.968750 933742 00470335.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=208.0K, M_SPARE_HEAP=189.0K 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) -0.216321 m_avg_speed(m/s) 0.381137 m_avg_upward_inflection_time(sec) 218.597930 m_battery(volts) 11.046910 m_coulomb_amphr_total(amp-hrs) 165.818002 m_fin(rad) 0.013974 m_iridium_call_num(nodim) 715.000000 m_iridium_dialed_num(nodim) 968.000000 m_lat(lat) 3645.239100 m_lon(lon) -12201.842700 m_tot_ballast_pumped_energy(kjoules) 243.417290 m_tot_horz_dist(km) 916.135195 m_tot_num_inflections(nodim) 7168.000000 m_tot_num_thermal_valve_cmd(nodim) 851.000000 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) 3645.062000 x_last_wpt_lon(lon) -12201.777000 The instantaneous lag time between the system and gps clock is 2.0 seconds. The average lag time between the system and gps clock is 2.8 seconds. Housekeeping is done 933821 13 00470336.mlg LOG FILE OPENED Megabytes used on CF file system = 464.125000 Megabytes available on CF file system = 1533.843750 933823 init_gps_input() 933823 behavior surface_2: SUBSTATE 7 ->9 : Turning on thruster burst surface_2: Turning thruster on: 6.0 V. 933824 sensor: c_thruster_on = 54.7964880290749 % 933828 14 sensor: c_thruster_on = 56.0753038610483 % 933829 sensor: m_thruster_current = 0.4136 amp 933833 15 sensor: c_thruster_on = 56.0753038610483 % 933834 sensor: m_thruster_current = 0.5264 amp 933839 16 sensor: c_thruster_on = 56.0753038610483 % surface_2: Turning thruster off (secs thr on). 933845 17 behavior surface_2: SUBSTATE 9 ->10 : Waiting for final gps fix surface_2: Waiting for final GPS fix. 933851 18 disabling Iridium console...