Connection Event: Carrier Detect found. 78066 Iridium console active and ready... Vehicle Name: ru32 Curr Time: Tue Jul 18 11:18:21 2017 MT: 78066 DR Location: 3645.101 N -12201.893 E measured 48.559 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 1e+308 secs ago GPS Invalid : 3645.186 N -12201.994 E measured 104.699 secs ago GPS Location: 3645.101 N -12201.893 E measured 48.911 secs ago sensor:c_thruster_surface_depth(m)=0 3987.8 secs ago sensor:c_wpt_lat(lat)=3645.049 356.507 secs ago sensor:c_wpt_lon(lon)=-12201.76 356.573 secs ago sensor:m_battery(volts)=11.1110452198659 45.493 secs ago sensor:m_coulomb_amphr(amp-hrs)=175.391372680664 5.414 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=178.352059180662 5.435 secs ago sensor:m_depth(m)=0 5.414 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.757 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 49.514 secs ago sensor:m_iridium_attempt_num(nodim)=1 41.332 secs ago sensor:m_iridium_call_num(nodim)=750 0.823 secs ago sensor:m_iridium_dialed_num(nodim)=1028 10.844 secs ago sensor:m_leakdetect_voltage(volts)=2.4746336996337 45.869 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47554945054945 45.888 secs ago sensor:m_tot_num_inflections(nodim)=7226 133.28 secs ago sensor:m_vacuum(inHg)=9.12591910866911 46.121 secs ago sensor:m_water_vx(m/s)=-0.0677544021257656 75.545 secs ago sensor:m_water_vy(m/s)=0.00927709047787355 75.587 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 4970.41 secs ago sensor:x_fin_deadband(rad)=0.04 78068 secs ago sensor:x_last_wpt_lat(lat)=3645.049 357.835 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 357.888 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 78068 No login script found for processing. 78068 DRIVER_ODDITY:iridium:1788:xxx_ctrl() ran too long :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0475 C_FIN:0.0000 Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-197-0-26 (0048.0026) Vehicle Name: ru32 Curr Time: Tue Jul 18 11:18:56 2017 MT: 78102 DR Location: 3645.101 N -12201.893 E measured 83.395 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 1e+308 secs ago GPS Invalid : 3645.186 N -12201.994 E measured 139.535 secs ago GPS Location: 3645.101 N -12201.893 E measured 83.745 secs ago sensor:c_thruster_surface_depth(m)=0 4022.58 secs ago sensor:c_wpt_lat(lat)=3645.049 391.262 secs ago sensor:c_wpt_lon(lon)=-12201.76 391.302 secs ago sensor:m_battery(volts)=11.0974801362187 14.547 secs ago sensor:m_coulomb_amphr(amp-hrs)=175.396133422852 4.581 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=178.35681992285 4.593 secs ago sensor:m_depth(m)=0 4.524 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.73 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 84.154 secs ago sensor:m_iridium_attempt_num(nodim)=1 75.955 secs ago sensor:m_iridium_call_num(nodim)=750 35.427 secs ago sensor:m_iridium_dialed_num(nodim)=1028 45.433 secs ago sensor:m_leakdetect_voltage(volts)=2.47130647130647 19.798 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47664835164835 19.813 secs ago sensor:m_tot_num_inflections(nodim)=7226 167.844 secs ago sensor:m_vacuum(inHg)=9.52384859584859 15.005 secs ago sensor:m_water_vx(m/s)=-0.0677544021257656 110.083 secs ago sensor:m_water_vy(m/s)=0.00927709047787355 110.115 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 5004.86 secs ago sensor:x_fin_deadband(rad)=0.04 78102.4 secs ago sensor:x_last_wpt_lat(lat)=3645.049 392.245 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 392.281 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 42/ 2/ 0 odd:1416/ 94/ 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 -54 secs) Waypoint: (3645.0490,-12201.7600) Range: 220m, Bearing: 102deg, Age: 0:6h:m Time until diving is: 212 secs !put u_use_current_correction 0 -------------------------------- 78122 65 sensor: u_use_current_correction = 0 nodim -------------------------------- 78122 behavior surface_2: ! succeeded:put u_use_current_correction 0 78123 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume s *.sbd *.tbd -------------------------------- 78126 66 00480026.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 78136 69 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 **B0000 Starting zModem transfer of 00480026.tbd to/from ru32 size is 7640 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: 7640 zModem transfer DONE for file 00480026.tbd Starting zModem transfer of 00480025.tbd to/from ru32 size is 2488 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 2488 zModem transfer DONE for file 00480025.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00480026.TBD c:\logs\00480025.TBD SCI: SUCCESS 78218 88 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 78222 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 78222 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00480026.sbd to/from ru32 size is 4533 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 4533 zModem transfer DONE for file 00480026.sbd Starting zModem transfer of 00480025.sbd to/from ru32 size is 946 Total Bytes sent/received: 946 zModem transfer DONE for file 00480025.sbd 78274 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 78274 restore_sensors().... 78274 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\00480026.SBD c:\logs\00480025.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 2.000000 78348 6 SCI:PROGLET house_elf begin() called 78348 SCI: house_elf: Version 1.2 78348 SCI:PROGLET ctd41cp begin() called 78349 SCI: ctd41cp: Version 0.2 78349 SCI: ctd41cp: Will be sending the following data to glider: 78349 SCI: sci_water_cond(s/m) 78349 SCI: sci_water_temp(degc) 78349 SCI: sci_water_pressure(bar) 78349 SCI: sci_ctd41cp_timestamp(timestamp) 78349 SCI:PROGLET flbbcd begin() called 78349 SCI: flbbcd: Version 0.0 78349 SCI: flbbcd: Will be sending following data to glider: 78349 SCI: sci_flbbcd_chlor_units(ug/l) 78349 SCI: sci_flbbcd_bb_units(nodim) 78350 SCI: sci_flbbcd_cdom_units(ppb) 78350 SCI: sci_flbbcd_chlor_sig(nodim) 78350 6 SCI: sci_flbbcd_bb_sig(nodim) 78350 SCI: sci_flbbcd_cdom_sig(nodim) 78350 SCI: sci_flbbcd_chlor_ref(nodim) 78351 SCI: sci_flbbcd_bb_ref(nodim) 78351 SCI: sci_flbbcd_cdom_ref(nodim) 78351 SCI: sci_flbbcd_therm(nodim) 78351 SCI: sci_flbbcd_timestamp(timestamp) 78351 SCI: Opening Bit(0) for output 78351 SCI:Bit(0) use count is now 1. 78351 SCI:Bit(0) raise count is now 0. 78351 SCI:Bit(0) raise count is now 0. 78353 SCI:PROGLET house_elf start() called 78354 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 78354 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 78357 8 SCI:PROGLET ctd41cp start() called 78357 SCI: Opening port 0:SBMB:J0 78357 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 78358 SCI: in queue size: 2048, out queue size: 0 78358 SCI:sci_uart_drain_input(0): 78358 SCI: 78358 SCI:sci_uart_drain_input:Drained 0 chars 78358 SCI:bit_shared_open(): bit(0) is already open. 78358 SCI:Bit(0) use count is now 2. 78359 SCI:bit_shared_raise(): Raising bit(0). 78359 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 78359 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 78371 9 DRIVER_ODDITY:digifin:9519:xxx_ctrl() ran too long 78423 00480027.mlg LOG FILE OPENED -------------------------------- 78424 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:ru32-2017-197-0-27 (0048.0027) Vehicle Name: ru32 Curr Time: Tue Jul 18 11:24:24 2017 MT: 78429 DR Location: 3645.101 N -12201.893 E measured 411.151 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 1e+308 secs ago GPS Invalid : 3645.186 N -12201.994 E measured 467.291 secs ago GPS Location: 3645.101 N -12201.893 E measured 411.501 secs ago sensor:c_thruster_surface_depth(m)=0 4350.34 secs ago sensor:c_wpt_lat(lat)=3645.049 719.023 secs ago sensor:c_wpt_lon(lon)=-12201.76 719.062 secs ago sensor:m_battery(volts)=11.0830151506799 3.271 secs ago sensor:m_coulomb_amphr(amp-hrs)=175.441253662109 3.454 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=178.401940162108 3.468 secs ago sensor:m_depth(m)=0.383375882840553 3.334 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.599 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 411.907 secs ago sensor:m_iridium_attempt_num(nodim)=0 309.719 secs ago sensor:m_iridium_call_num(nodim)=750 363.178 secs ago sensor:m_iridium_dialed_num(nodim)=1028 373.184 secs ago sensor:m_leakdetect_voltage(volts)=2.47484737484738 3.3 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4781746031746 3.317 secs ago sensor:m_tot_num_inflections(nodim)=7226 495.595 secs ago sensor:m_vacuum(inHg)=10.4708878205128 3.722 secs ago sensor:m_water_vx(m/s)=-0.0677544021257656 437.834 secs ago sensor:m_water_vy(m/s)=0.00927709047787355 437.867 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)=0 307.576 secs ago sensor:x_fin_deadband(rad)=0.04 78430.1 secs ago sensor:x_last_wpt_lat(lat)=3645.049 719.995 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 720.03 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 42/ 2/ 0 odd:1417/ 95/ 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 -382 secs) Waypoint: (3645.0490,-12201.7600) Range: 220m, Bearing: 102deg, Age: 0:12h:m Time until diving is: 293 secs !zr -------------------------------- 78450 13 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 78450 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/20170718T112517_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/20170718T112517_goto_l10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/goto_l10.ma< Successful 78479 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 78479 restore_sensors().... 78479 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 78480 behavior surface_2: ! succeeded:zr 78480 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:ru32-2017-197-0-27 (0048.0027) Vehicle Name: ru32 Curr Time: Tue Jul 18 11:25:19 2017 MT: 78485 DR Location: 3645.101 N -12201.893 E measured 466.857 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 1e+308 secs ago GPS Invalid : 3645.186 N -12201.994 E measured 522.997 secs ago GPS Location: 3645.101 N -12201.893 E measured 467.208 secs ago sensor:c_thruster_surface_depth(m)=0 4406.04 secs ago sensor:c_wpt_lat(lat)=3645.049 774.723 secs ago sensor:c_wpt_lon(lon)=-12201.76 774.763 secs ago sensor:m_battery(volts)=11.0830151506799 58.972 secs ago sensor:m_coulomb_amphr(amp-hrs)=175.448364257812 3.143 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=178.409050757811 3.156 secs ago sensor:m_depth(m)=2.24095633511372E-13 3.066 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.285 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 467.604 secs ago sensor:m_iridium_attempt_num(nodim)=0 365.416 secs ago sensor:m_iridium_call_num(nodim)=750 418.875 secs ago sensor:m_iridium_dialed_num(nodim)=1028 428.882 secs ago sensor:m_leakdetect_voltage(volts)=2.47484737484738 58.996 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4781746031746 59.013 secs ago sensor:m_tot_num_inflections(nodim)=7226 551.29 secs ago sensor:m_vacuum(inHg)=10.4708878205128 59.418 secs ago sensor:m_water_vx(m/s)=-0.0677544021257656 493.532 secs ago sensor:m_water_vy(m/s)=0.00927709047787355 493.564 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)=0 363.272 secs ago sensor:x_fin_deadband(rad)=0.04 78485.8 secs ago sensor:x_last_wpt_lat(lat)=3645.049 775.691 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 775.727 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 42/ 2/ 0 odd:1417/ 95/ 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 -437 secs) Waypoint: (3645.0490,-12201.7600) Range: 220m, Bearing: 102deg, Age: 0:12h: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). 78510 19 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized 78510 behavior sample_8: STATE Active -> UnInited 78510 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 78510 behavior sample_7: STATE Active -> UnInited 78510 behavior yo_6: STATE Active -> UnInited 78510 behavior goto_list_5: STATE Active -> UnInited 78511 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 78511 behavior surface_4: STATE Waiting for Activation -> UnInited 78511 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 78511 behavior surface_3: STATE Waiting for Activation -> UnInited 78515 21 behavior sample_8: sample(): reading bargs 78515 behavior sample_8: Reading b_args from sample48.ma 78516 behavior sample_8: sensor_type(enum)=48.000000 78516 behavior sample_8: sample_time_after_state_change(s)=0.000000 78516 behavior sample_8: intersample_time(sec)=1.000000 78516 behavior sample_8: state_to_sample(enum)=7.000000 78516 behavior sample_8: nth_yo_to_sample(nodim)=1.000000 78516 behavior sample_8: min_depth(m)=-5.000000 78516 behavior sample_8: max_depth(m)=2000.000000 78516 behavior sample_8: STATE UnInited -> Active 78516 behavior sample_8: argument: args_from_file = 48.000000 enum 78516 behavior sample_8: argument: sensor_type = 48.000000 enum 78516 behavior sample_8: argument: state_to_sample = 7.000000 enum 78516 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s 78516 behavior sample_8: argument: intersample_time = 1.000000 s 78516 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim 78516 behavior sample_8: argument: intersample_depth = -1.000000 m 78516 behavior sample_8: argument: min_depth = -5.000000 m 78516 behavior sample_8: argument: max_depth = 2000.000000 m 78516 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface 78516 behavior sample_7: sample(): reading bargs 78517 behavior sample_7: Reading b_args from sample01.ma 78517 behavior sample_7: sensor_type(enum)=1.000000 78517 behavior sample_7: sample_time_after_state_change(s)=0.000000 78517 behavior sample_7: intersample_time(sec)=1.000000 78517 behavior sample_7: state_to_sample(enum)=15.000000 78517 behavior sample_7: nth_yo_to_sample(nodim)=1.000000 78517 behavior sample_7: min_depth(m)=-5.000000 78517 behavior sample_7: max_depth(m)=2000.000000 78517 behavior sample_7: STATE UnInited -> Active 78517 behavior sample_7: argument: args_from_file = 1.000000 enum 78517 behavior sample_7: argument: sensor_type = 1.000000 enum 78517 behavior sample_7: argument: state_to_sample = 15.000000 enum 78517 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 78517 behavior sample_7: argument: intersample_time = 1.000000 s 78517 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim 78517 behavior sample_7: argument: intersample_depth = -1.000000 m 78517 behavior sample_7: argument: min_depth = -5.000000 m 78517 behavior sample_7: argument: max_depth = 2000.000000 m 78517 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 78517 behavior yo_6: Reading b_args from yo20.ma 78518 behavior yo_6: num_half_cycles_to_do(nodim)=2.000000 78518 behavior yo_6: end_action(enum)=2.000000 78518 behavior yo_6: d_target_depth(m)=500.000000 78518 behavior yo_6: d_target_altitude(m)=20.000000 78518 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 78518 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 78518 behavior yo_6: d_use_bpump(enum)=2.000000 78518 behavior yo_6: d_bpump_value(X)=-240.000000 78518 behavior yo_6: d_use_pitch(enum)=3.000000 78518 behavior yo_6: d_pitch_value(X)=-0.610900 78518 behavior yo_6: d_use_thruster(enum)=0.000000 78518 behavior yo_6: d_thruster_value(X)=0.000000 78518 behavior yo_6: d_depth_rate_method(enum)=3.000000 78518 behavior yo_6: c_target_depth(m)=10.000000 78518 behavior yo_6: c_target_altitude(m)=-1.000000 78518 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 78518 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 78518 behavior yo_6: c_use_bpump(enum)=2.000000 78518 behavior yo_6: c_bpump_value(X)=1000.000000 78519 behavior yo_6: c_use_pitch(enum)=3.000000 78519 behavior yo_6: c_pitch_value(X)=0.610900 78519 behavior yo_6: c_use_thruster(enum)=0.000000 78519 behavior yo_6: c_thruster_value(X)=0.000000 78519 behavior yo_6: STATE UnInited -> Waiting for Activation 78519 behavior yo_6: argument: args_from_file = 20.000000 enum 78519 behavior yo_6: argument: start_when = 2.000000 enum 78519 behavior yo_6: argument: start_diving = 1.000000 bool 78519 behavior yo_6: argument: num_half_cycles_to_do = 2.000000 nodim 78519 behavior yo_6: argument: d_target_depth = 500.000000 m 78519 behavior yo_6: argument: d_target_altitude = 20.000000 m 78519 behavior yo_6: argument: d_use_bpump = 2.000000 enum 78519 behavior yo_6: argument: d_bpump_value = -240.000000 X 78519 behavior yo_6: argument: d_use_pitch = 3.000000 enum 78519 behavior yo_6: argument: d_pitch_value = -0.610900 X 78519 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 78519 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 78519 behavior yo_6: argument: d_speed_min = -100.000000 m/s 78519 behavior yo_6: argument: d_speed_max = 100.000000 m/s 78519 behavior yo_6: argument: d_use_thruster = 0.000000 enum 78520 behavior yo_6: argument: d_thruster_value = 0.000000 X 78520 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 78520 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 78520 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 78520 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 78520 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 78520 behavior yo_6: argument: d_time_ratio = 1.100000 X 78520 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 78520 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 78520 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 78520 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 78520 behavior yo_6: argument: c_target_depth = 10.000000 m 78520 behavior yo_6: argument: c_target_altitude = -1.000000 m 78520 behavior yo_6: argument: c_use_bpump = 2.000000 enum 78520 behavior yo_6: argument: c_bpump_value = 1000.000000 X 78520 behavior yo_6: argument: c_use_pitch = 3.000000 enum 78520 behavior yo_6: argument: c_pitch_value = 0.610900 X 78520 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 78520 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 78521 behavior yo_6: argument: c_speed_min = 100.000000 m/s 78521 behavior yo_6: argument: c_speed_max = -100.000000 m/s 78521 behavior yo_6: argument: c_use_thruster = 0.000000 enum 78521 behavior yo_6: argument: c_thruster_value = 0.000000 X 78521 behavior yo_6: argument: end_action = 2.000000 enum 78521 behavior yo_6: STATE Waiting for Activation -> Active 78521 behavior dive_to_601: STATE UnInited -> Active 78521 behavior dive_to_601: argument: target_depth = 500.000000 m 78521 behavior dive_to_601: argument: target_altitude = 20.000000 m 78521 behavior dive_to_601: argument: use_bpump = 2.000000 enum 78521 behavior dive_to_601: argument: bpump_value = -240.000000 X 78521 behavior dive_to_601: argument: use_pitch = 3.000000 enum 78521 behavior dive_to_601: argument: pitch_value = -0.610900 X 78521 behavior dive_to_601: argument: start_when = 0.000000 enum 78521 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 78521 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 78521 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 78521 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 78521 behavior dive_to_601: argument: speed_min = -100.000000 m/s 78522 behavior dive_to_601: argument: speed_max = 100.000000 m/s 78522 behavior dive_to_601: argument: use_thruster = 0.000000 enum 78522 behavior dive_to_601: argument: thruster_value = 0.000000 X 78522 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 78522 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 78522 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 78522 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 78522 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 78522 behavior dive_to_601: argument: time_ratio = 1.100000 X 78522 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 78522 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 78522 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 78522 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 78522 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 78522 behavior goto_list_5: Reading b_args from goto_l10.ma 78522 behavior goto_list_5: num_legs_to_run(nodim)=-1.000000 78522 behavior goto_list_5: start_when(enum)=0.000000 78522 behavior goto_list_5: list_stop_when(enum)=7.000000 78522 behavior goto_list_5: list_when_wpt_dist(m)=25.000000 78523 behavior goto_list_5: initial_wpt(enum)=0.000000 78523 behavior goto_list_5: num_waypoints(nodim)=4.000000 78523 behavior goto_list_5: Reading waypoints from file: 78523 behavior goto_list_5: 0 lon: -12201.7600 lat: 3645.1030 78523 behavior goto_list_5: 1 lon: -12201.6930 lat: 3645.1030 78523 ****** 78552 SCI: house_elf: Version 1.2 78555 25 SCI:PROGLET ctd41cp begin() called 78555 SCI: ctd41cp: Version 0.2 78556 SCI: ctd41cp: Will be sending the following data to glider: 78557 SCI: sci_water_cond(s/m) 78557 SCI: sci_water_temp(degc) 78557 SCI: sci_water_pressure(bar) 78557 SCI: sci_ctd41cp_timestamp(timestamp) 78557 SCI:PROGLET flbbcd begin() called 78557 SCI: flbbcd: Version 0.0 78558 SCI: flbbcd: Will be sending following data to glider: 78560 27 SCI: sci_flbbcd_chlor_units(ug/l) 78561 SCI: sci_flbbcd_bb_units(nodim) 78562 SCI: sci_flbbcd_cdom_units(ppb) 78562 SCI: sci_flbbcd_chlor_sig(nodim) 78562 SCI: sci_flbbcd_bb_sig(nodim) 78562 SCI: sci_flbbcd_cdom_sig(nodim) 78562 SCI: sci_flbbcd_chlor_ref(nodim) 78562 SCI: sci_flbbcd_bb_ref(nodim) 78562 SCI: sci_flbbcd_cdom_ref(nodim) 78563 SCI: sci_flbbcd_therm(nodim) 78563 SCI: sci_flbbcd_timestamp(timestamp) 78563 SCI: Opening Bit(0) for output 78566 28 SCI:Bit(0) use count is now 1. 78566 SCI:Bit(0) raise count is now 0. 78567 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:ru32-2017-197-0-27 (0048.0027) Vehicle Name: ru32 Curr Time: Tue Jul 18 11:26:49 2017 MT: 78574 DR Location: 3645.101 N -12201.893 E measured 556.385 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 1e+308 secs ago GPS Invalid : 3645.186 N -12201.994 E measured 612.525 secs ago GPS Location: 3645.101 N -12201.893 E measured 556.734 secs ago sensor:c_thruster_surface_depth(m)=0 46.395 secs ago sensor:c_wpt_lat(lat)=3645.103 48.988 secs ago sensor:c_wpt_lon(lon)=-12201.76 49.027 secs ago sensor:m_battery(volts)=11.0204883770568 23.965 secs ago sensor:m_coulomb_amphr(amp-hrs)=175.460250854492 8.063 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=178.42093735449 8.074 secs ago sensor:m_depth(m)=0.328607899577649 7.988 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 8.206 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 557.135 secs ago sensor:m_iridium_attempt_num(nodim)=0 454.947 secs ago sensor:m_iridium_call_num(nodim)=750 508.406 secs ago sensor:m_iridium_dialed_num(nodim)=1028 518.413 secs ago sensor:m_leakdetect_voltage(volts)=2.47603785103785 24.149 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47936507936508 24.162 secs ago sensor:m_tot_num_inflections(nodim)=7226 640.823 secs ago sensor:m_vacuum(inHg)=10.4638849206349 24.415 secs ago sensor:m_water_vx(m/s)=-0.0677544021257656 583.061 secs ago sensor:m_water_vy(m/s)=0.00927709047787355 583.095 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)=0 452.802 secs ago sensor:x_fin_deadband(rad)=0.04 78575.4 secs ago sensor:x_last_wpt_lat(lat)=3645.049 865.221 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 865.257 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 42/ 2/ 0 odd:1417/ 95/ 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 -527 secs) Waypoint: (3645.1030,-12201.7600) Range: 199m, Bearing: 75deg, Age: 0:0h:m Time until diving is: 504 secs 78582 30 SCI:PROGLET house_elf start() called 78582 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 78582 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 78587 31 SCI:PROGLET ctd41cp start() called 78587 SCI: Opening port 0:SBMB:J0 78587 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 78587 SCI: in queue size: 2048, out queue size: 0 78587 SCI:sci_uart_drain_input(0): 78587 SCI: 78588 SCI:sci_uart_drain_input:Drained 0 chars 78588 SCI:bit_shared_open(): bit(0) is already open. 78588 SCI:Bit(0) use count is now 2. 78588 SCI:bit_shared_raise(): Raising bit(0). 78591 31 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 78592 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] [ 24 2 0] [ 33 12 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 0 [ 0 0 0] [ 4 0 0] [ 0 0 0] 11 ocean_pressure I u 3 20 5 0 12 vacuum I u 3 20 5 0 13 battery I u 3 20 5 0 14lithium_battery - 15 air_pump I u 3 20 5 0 16 pitch_motor I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 26 4 0] 17 science_super I u 3 20 5 0 [ 0 0 0] [ 4 0 0] [ 49 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] [ 535 19 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] [ 774 60 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: 42/ 2/ 0 odd:1417/ 95/ 3 ^R 78606 34 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 497.656250 Megabytes available on CF file system = 1500.312500 78611 00480027.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=206.0K, M_SPARE_HEAP=187.0K 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) -0.258854 m_avg_speed(m/s) 0.377663 m_avg_upward_inflection_time(sec) 331.597000 m_battery(volts) 11.020488 m_coulomb_amphr_total(amp-hrs) 178.426873 m_fin(rad) -0.002795 m_iridium_call_num(nodim) 750.000000 m_iridium_dialed_num(nodim) 1028.000000 m_lat(lat) 3645.100800 m_lon(lon) -12201.893400 m_tot_ballast_pumped_energy(kjoules) 243.417290 m_tot_horz_dist(km) 963.636133 m_tot_num_inflections(nodim) 7226.000000 m_tot_num_thermal_valve_cmd(nodim) 888.000000 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) 3645.049000 x_last_wpt_lon(lon) -12201.693000 The instantaneous lag time between the system and gps clock is 3.0 seconds. The average lag time between the system and gps clock is 2.9 seconds. Housekeeping is done 78685 38 00480028.mlg LOG FILE OPENED Megabytes used on CF file system = 497.781250 Megabytes available on CF file system = 1500.187500 78688 init_gps_input() 78688 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final GPS fix. 78690 disabling Iridium console...