Connection Event: Carrier Detect found. 87249 Iridium console active and ready... Vehicle Name: ru32 Curr Time: Tue Jul 18 13:51:24 2017 MT: 87249 DR Location: 3645.110 N -12201.917 E measured 38.824 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 1e+308 secs ago GPS Invalid : 3645.077 N -12201.989 E measured 105.633 secs ago GPS Location: 3645.110 N -12201.917 E measured 41.204 secs ago sensor:c_thruster_surface_depth(m)=0 3961.44 secs ago sensor:c_wpt_lat(lat)=3645.103 333.938 secs ago sensor:c_wpt_lon(lon)=-12201.76 334.004 secs ago sensor:m_battery(volts)=11.1340796277504 10.397 secs ago sensor:m_coulomb_amphr(amp-hrs)=176.1953125 5.631 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=179.155998999998 5.653 secs ago sensor:m_depth(m)=0 5.616 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.896 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 41.77 secs ago sensor:m_iridium_attempt_num(nodim)=1 36.141 secs ago sensor:m_iridium_call_num(nodim)=752 0.791 secs ago sensor:m_iridium_dialed_num(nodim)=1030 10.995 secs ago sensor:m_leakdetect_voltage(volts)=2.47600732600733 16.036 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4792735042735 16.061 secs ago sensor:m_tot_num_inflections(nodim)=7230 142.869 secs ago sensor:m_vacuum(inHg)=9.39244123931624 11.025 secs ago sensor:m_water_vx(m/s)=-0.0656633209263231 70.543 secs ago sensor:m_water_vy(m/s)=-0.0011069585598787 70.584 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 4578.84 secs ago sensor:x_fin_deadband(rad)=0.04 87250.8 secs ago sensor:x_last_wpt_lat(lat)=3645.049 335.294 secs ago sensor:x_last_wpt_lon(lon)=-12201.76 335.348 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 87251 No login script found for processing. 87251 DRIVER_ODDITY:iridium:1759:xxx_ctrl() ran too long :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0503 C_FIN:0.0000 Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-197-0-30 (0048.0030) Vehicle Name: ru32 Curr Time: Tue Jul 18 13:52:07 2017 MT: 87292 DR Location: 3645.110 N -12201.917 E measured 81.464 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 1e+308 secs ago GPS Invalid : 3645.077 N -12201.989 E measured 148.274 secs ago GPS Location: 3645.110 N -12201.917 E measured 83.845 secs ago sensor:c_thruster_surface_depth(m)=0 4004.06 secs ago sensor:c_wpt_lat(lat)=3645.103 376.53 secs ago sensor:c_wpt_lon(lon)=-12201.76 376.57 secs ago sensor:m_battery(volts)=11.1340796277504 52.951 secs ago sensor:m_coulomb_amphr(amp-hrs)=176.201263427734 7.501 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=179.161949927732 7.516 secs ago sensor:m_depth(m)=0 7.409 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 7.654 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 84.249 secs ago sensor:m_iridium_attempt_num(nodim)=1 78.603 secs ago sensor:m_iridium_call_num(nodim)=752 43.234 secs ago sensor:m_iridium_dialed_num(nodim)=1030 53.425 secs ago sensor:m_leakdetect_voltage(volts)=2.47600732600733 58.459 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4792735042735 58.475 secs ago sensor:m_tot_num_inflections(nodim)=7230 185.271 secs ago sensor:m_vacuum(inHg)=9.39244123931624 53.411 secs ago sensor:m_water_vx(m/s)=-0.0656633209263231 112.921 secs ago sensor:m_water_vy(m/s)=-0.0011069585598787 112.951 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 4621.13 secs ago sensor:x_fin_deadband(rad)=0.04 87293.1 secs ago sensor:x_last_wpt_lat(lat)=3645.049 377.544 secs ago sensor:x_last_wpt_lon(lon)=-12201.76 377.58 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 42/ 2/ 0 odd:1421/ 99/ 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: (3645.1030,-12201.7600) Range: 234m, Bearing: 79deg, Age: 0:6h:m Time until diving is: 209 secs !put u_use_current_correction 0 -------------------------------- 87313 0 sensor: u_use_current_correction = 0 nodim -------------------------------- 87314 behavior surface_2: ! succeeded:put u_use_current_correction 0 87314 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume s *.sbd *.tbd -------------------------------- 87318 2 00480030.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 87327 5 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 00480030.tbd to/from ru32 size is 7596 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: 7596 zModem transfer DONE for file 00480030.tbd Starting zModem transfer of 00480029.tbd to/from ru32 size is 592 Total Bytes sent/received: 592 zModem transfer DONE for file 00480029.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00480030.TBD c:\logs\00480029.TBD SCI: SUCCESS 87403 22 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 87407 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 87407 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00480030.sbd to/from ru32 size is 4750 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 4750 zModem transfer DONE for file 00480030.sbd Starting zModem transfer of 00480029.sbd to/from ru32 size is 978 Total Bytes sent/received: 978 zModem transfer DONE for file 00480029.sbd 87462 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 87462 restore_sensors().... 87462 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\00480030.SBD c:\logs\00480029.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 2.000000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0419 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0475 C_FIN:0.0000 87537 40 SCI:PROGLET house_elf begin() called 87537 SCI: house_elf: Version 1.2 87537 SCI:PROGLET ctd41cp begin() called 87537 SCI: ctd41cp: Version 0.2 87538 SCI: ctd41cp: Will be sending the following data to glider: 87538 SCI: sci_water_cond(s/m) 87538 SCI: sci_water_temp(degc) 87538 SCI: sci_water_pressure(bar) 87538 SCI: sci_ctd41cp_timestamp(timestamp) 87538 SCI:PROGLET flbbcd begin() called 87538 SCI: flbbcd: Version 0.0 87538 SCI: flbbcd: Will be sending following data to glider: 87538 SCI: sci_flbbcd_chlor_units(ug/l) 87538 SCI: sci_flbbcd_bb_units(nodim) 87538 SCI: sci_flbbcd_cdom_units(ppb) 87538 SCI: sci_flbbcd_chlor_sig(nodim) 87539 SCI: sci_flbbcd_bb_sig(nodim) 87539 SCI: sci_flbbcd_cdom_sig(nodim) 87539 SCI: sci_flbbcd_chlor_ref(nodim) 87539 SCI: sci_flbbcd_bb_ref(nodim) 87539 SCI: sci_flbbcd_cdom_ref(nodim) 87539 SCI: sci_flbbcd_therm(nodim) 87539 SCI: sci_flbbcd_timestamp(timestamp) 87539 SCI: Opening Bit(0) for output 87539 SCI:Bit(0) use count is now 1. 87539 SCI:Bit(0) raise count is now 0. 87539 SCI:Bit(0) raise count is now 0. 87545 41 SCI:PROGLET house_elf start() called 87545 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 87545 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 87546 SCI:PROGLET ctd41cp start() called 87546 SCI: Opening port 0:SBMB:J0 87546 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 87546 SCI: in queue size: 2048, out queue size: 0 87546 SCI:sci_uart_drain_input(0): 87546 SCI: 87546 SCI:sci_uart_drain_input:Drained 0 chars 87546 SCI:bit_shared_open(): bit(0) is already open. 87546 SCI:Bit(0) use count is now 2. 87546 SCI:bit_shared_raise(): Raising bit(0). 87546 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 87546 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 87609 43 00480031.mlg LOG FILE OPENED -------------------------------- 87610 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:ru32-2017-197-0-31 (0048.0031) Vehicle Name: ru32 Curr Time: Tue Jul 18 13:57:28 2017 MT: 87614 DR Location: 3645.110 N -12201.917 E measured 403.215 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 1e+308 secs ago GPS Invalid : 3645.077 N -12201.989 E measured 470.024 secs ago GPS Location: 3645.110 N -12201.917 E measured 405.594 secs ago sensor:c_thruster_surface_depth(m)=0 4325.81 secs ago sensor:c_wpt_lat(lat)=3645.103 698.278 secs ago sensor:c_wpt_lon(lon)=-12201.76 698.318 secs ago sensor:m_battery(volts)=11.0843437902971 3.273 secs ago sensor:m_coulomb_amphr(amp-hrs)=176.245193481445 3.453 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=179.205879981443 3.466 secs ago sensor:m_depth(m)=0.0273839916316761 3.334 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 61.026 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 405.986 secs ago sensor:m_iridium_attempt_num(nodim)=0 301.517 secs ago sensor:m_iridium_call_num(nodim)=752 364.969 secs ago sensor:m_iridium_dialed_num(nodim)=1030 375.159 secs ago sensor:m_leakdetect_voltage(volts)=2.47509157509158 3.299 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47863247863248 3.313 secs ago sensor:m_tot_num_inflections(nodim)=7230 507.005 secs ago sensor:m_vacuum(inHg)=10.4778907203907 3.722 secs ago sensor:m_water_vx(m/s)=-0.0656633209263231 434.656 secs ago sensor:m_water_vy(m/s)=-0.0011069585598787 434.689 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)=0 301.19 secs ago sensor:x_fin_deadband(rad)=0.04 87614.8 secs ago sensor:x_last_wpt_lat(lat)=3645.049 699.276 secs ago sensor:x_last_wpt_lon(lon)=-12201.76 699.312 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 42/ 2/ 0 odd:1421/ 99/ 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: (3645.1030,-12201.7600) Range: 234m, Bearing: 79deg, Age: 0:11h:m Time until diving is: 294 secs !zr -------------------------------- 87634 49 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 87635 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/20170718T135820_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/20170718T135820_goto_l10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/goto_l10.ma< Successful 87663 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 87663 restore_sensors().... 87663 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 87663 behavior surface_2: ! succeeded:zr 87663 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:ru32-2017-197-0-31 (0048.0031) Vehicle Name: ru32 Curr Time: Tue Jul 18 13:58:23 2017 MT: 87668 DR Location: 3645.110 N -12201.917 E measured 457.689 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 1e+308 secs ago GPS Invalid : 3645.077 N -12201.989 E measured 524.498 secs ago GPS Location: 3645.110 N -12201.917 E measured 460.068 secs ago sensor:c_thruster_surface_depth(m)=0 4380.29 secs ago sensor:c_wpt_lat(lat)=3645.103 752.752 secs ago sensor:c_wpt_lon(lon)=-12201.76 752.792 secs ago sensor:m_battery(volts)=11.0843437902971 57.749 secs ago sensor:m_coulomb_amphr(amp-hrs)=176.251129150391 3.143 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=179.211815650389 3.155 secs ago sensor:m_depth(m)=0.328607899577649 3.07 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 33.295 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 460.461 secs ago sensor:m_iridium_attempt_num(nodim)=0 355.992 secs ago sensor:m_iridium_call_num(nodim)=752 419.444 secs ago sensor:m_iridium_dialed_num(nodim)=1030 429.635 secs ago sensor:m_leakdetect_voltage(volts)=2.47509157509158 57.774 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47863247863248 57.789 secs ago sensor:m_tot_num_inflections(nodim)=7230 561.48 secs ago sensor:m_vacuum(inHg)=10.4778907203907 58.197 secs ago sensor:m_water_vx(m/s)=-0.0656633209263231 489.131 secs ago sensor:m_water_vy(m/s)=-0.0011069585598787 489.162 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)=0 355.664 secs ago sensor:x_fin_deadband(rad)=0.04 87669.3 secs ago sensor:x_last_wpt_lat(lat)=3645.049 753.749 secs ago sensor:x_last_wpt_lon(lon)=-12201.76 753.786 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 42/ 2/ 0 odd:1421/ 99/ 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 -419 secs) Waypoint: (3645.1030,-12201.7600) Range: 234m, Bearing: 79deg, 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). 87694 55 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized 87694 behavior sample_8: STATE Active -> UnInited 87694 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 87694 behavior sample_7: STATE Active -> UnInited 87694 behavior yo_6: STATE Active -> UnInited 87694 behavior goto_list_5: STATE Active -> UnInited 87694 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 87694 behavior surface_4: STATE Waiting for Activation -> UnInited 87694 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 87694 behavior surface_3: STATE Waiting for Activation -> UnInited 87699 56 behavior sample_8: sample(): reading bargs 87699 behavior sample_8: Reading b_args from sample48.ma 87699 behavior sample_8: sensor_type(enum)=48.000000 87699 behavior sample_8: sample_time_after_state_change(s)=0.000000 87699 behavior sample_8: intersample_time(sec)=1.000000 87699 behavior sample_8: state_to_sample(enum)=7.000000 87699 behavior sample_8: nth_yo_to_sample(nodim)=1.000000 87699 behavior sample_8: min_depth(m)=-5.000000 87699 behavior sample_8: max_depth(m)=2000.000000 87699 behavior sample_8: STATE UnInited -> Active 87699 behavior sample_8: argument: args_from_file = 48.000000 enum 87699 behavior sample_8: argument: sensor_type = 48.000000 enum 87699 behavior sample_8: argument: state_to_sample = 7.000000 enum 87699 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s 87699 behavior sample_8: argument: intersample_time = 1.000000 s 87700 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim 87700 behavior sample_8: argument: intersample_depth = -1.000000 m 87700 behavior sample_8: argument: min_depth = -5.000000 m 87700 behavior sample_8: argument: max_depth = 2000.000000 m 87700 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface 87700 behavior sample_7: sample(): reading bargs 87700 behavior sample_7: Reading b_args from sample01.ma 87700 behavior sample_7: sensor_type(enum)=1.000000 87700 behavior sample_7: sample_time_after_state_change(s)=0.000000 87700 behavior sample_7: intersample_time(sec)=1.000000 87700 behavior sample_7: state_to_sample(enum)=15.000000 87700 behavior sample_7: nth_yo_to_sample(nodim)=1.000000 87700 behavior sample_7: min_depth(m)=-5.000000 87700 behavior sample_7: max_depth(m)=2000.000000 87700 behavior sample_7: STATE UnInited -> Active 87700 behavior sample_7: argument: args_from_file = 1.000000 enum 87700 behavior sample_7: argument: sensor_type = 1.000000 enum 87700 behavior sample_7: argument: state_to_sample = 15.000000 enum 87700 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 87701 behavior sample_7: argument: intersample_time = 1.000000 s 87701 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim 87701 behavior sample_7: argument: intersample_depth = -1.000000 m 87701 behavior sample_7: argument: min_depth = -5.000000 m 87701 behavior sample_7: argument: max_depth = 2000.000000 m 87701 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 87701 behavior yo_6: Reading b_args from yo20.ma 87701 behavior yo_6: num_half_cycles_to_do(nodim)=2.000000 87701 behavior yo_6: end_action(enum)=2.000000 87701 behavior yo_6: d_target_depth(m)=500.000000 87701 behavior yo_6: d_target_altitude(m)=20.000000 87701 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 87701 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 87701 behavior yo_6: d_use_bpump(enum)=2.000000 87701 behavior yo_6: d_bpump_value(X)=-240.000000 87701 behavior yo_6: d_use_pitch(enum)=3.000000 87701 behavior yo_6: d_pitch_value(X)=-0.610900 87701 behavior yo_6: d_use_thruster(enum)=0.000000 87701 behavior yo_6: d_thruster_value(X)=0.000000 87702 behavior yo_6: d_depth_rate_method(enum)=3.000000 87702 behavior yo_6: c_target_depth(m)=10.000000 87702 behavior yo_6: c_target_altitude(m)=-1.000000 87702 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 87702 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 87702 behavior yo_6: c_use_bpump(enum)=2.000000 87702 behavior yo_6: c_bpump_value(X)=1000.000000 87702 behavior yo_6: c_use_pitch(enum)=3.000000 87702 behavior yo_6: c_pitch_value(X)=0.610900 87702 behavior yo_6: c_use_thruster(enum)=0.000000 87702 behavior yo_6: c_thruster_value(X)=0.000000 87702 behavior yo_6: STATE UnInited -> Waiting for Activation 87702 behavior yo_6: argument: args_from_file = 20.000000 enum 87702 behavior yo_6: argument: start_when = 2.000000 enum 87702 behavior yo_6: argument: start_diving = 1.000000 bool 87702 behavior yo_6: argument: num_half_cycles_to_do = 2.000000 nodim 87702 behavior yo_6: argument: d_target_depth = 500.000000 m 87702 behavior yo_6: argument: d_target_altitude = 20.000000 m 87702 behavior yo_6: argument: d_use_bpump = 2.000000 enum 87703 behavior yo_6: argument: d_bpump_value = -240.000000 X 87703 behavior yo_6: argument: d_use_pitch = 3.000000 enum 87703 behavior yo_6: argument: d_pitch_value = -0.610900 X 87703 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 87703 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 87703 behavior yo_6: argument: d_speed_min = -100.000000 m/s 87703 behavior yo_6: argument: d_speed_max = 100.000000 m/s 87703 behavior yo_6: argument: d_use_thruster = 0.000000 enum 87703 behavior yo_6: argument: d_thruster_value = 0.000000 X 87703 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 87703 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 87703 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 87703 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 87703 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 87703 behavior yo_6: argument: d_time_ratio = 1.100000 X 87703 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 87703 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 87703 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 87703 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 87703 behavior yo_6: argument: c_target_depth = 10.000000 m 87704 behavior yo_6: argument: c_target_altitude = -1.000000 m 87704 behavior yo_6: argument: c_use_bpump = 2.000000 enum 87704 behavior yo_6: argument: c_bpump_value = 1000.000000 X 87704 behavior yo_6: argument: c_use_pitch = 3.000000 enum 87704 behavior yo_6: argument: c_pitch_value = 0.610900 X 87704 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 87704 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 87704 behavior yo_6: argument: c_speed_min = 100.000000 m/s 87704 behavior yo_6: argument: c_speed_max = -100.000000 m/s 87704 behavior yo_6: argument: c_use_thruster = 0.000000 enum 87704 behavior yo_6: argument: c_thruster_value = 0.000000 X 87704 behavior yo_6: argument: end_action = 2.000000 enum 87704 behavior yo_6: STATE Waiting for Activation -> Active 87704 behavior dive_to_601: STATE UnInited -> Active 87704 behavior dive_to_601: argument: target_depth = 500.000000 m 87704 behavior dive_to_601: argument: target_altitude = 20.000000 m 87704 behavior dive_to_601: argument: use_bpump = 2.000000 enum 87704 behavior dive_to_601: argument: bpump_value = -240.000000 X 87704 behavior dive_to_601: argument: use_pitch = 3.000000 enum 87705 behavior dive_to_601: argument: pitch_value = -0.610900 X 87705 behavior dive_to_601: argument: start_when = 0.000000 enum 87705 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 87705 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 87705 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 87705 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 87705 behavior dive_to_601: argument: speed_min = -100.000000 m/s 87705 behavior dive_to_601: argument: speed_max = 100.000000 m/s 87705 behavior dive_to_601: argument: use_thruster = 0.000000 enum 87705 behavior dive_to_601: argument: thruster_value = 0.000000 X 87705 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 87705 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 87705 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 87705 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 87705 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 87705 behavior dive_to_601: argument: time_ratio = 1.100000 X 87705 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 87705 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 87705 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 87705 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 87706 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 87706 behavior goto_list_5: Reading b_args from goto_l10.ma 87706 behavior goto_list_5: num_legs_to_run(nodim)=-1.000000 87706 behavior goto_list_5: start_when(enum)=0.000000 87706 behavior goto_list_5: list_stop_when(enum)=7.000000 87706 behavior goto_list_5: list_when_wpt_dist(m)=25.000000 87706 behavior goto_list_5: initial_wpt(enum)=0.000000 87706 behavior goto_list_5: num_waypoints(nodim)=4.000000 87706 behavior goto_list_5: Reading waypoints from file: 87706 behavior goto_list_5: 0 lon: -12201.7600 lat: 3645.1030 87706 behavior goto_list_5: 1 lon: -12201.6930 lat: 3645.1030 87706 behavio ****** 87735 SCI: house_elf: Version 1.2 87739 61 SCI:PROGLET ctd41cp begin() called 87739 SCI: ctd41cp: Version 0.2 87740 SCI: ctd41cp: Will be sending the following data to glider: 87747 62 SCI: sci_water_cond(s/m) 87747 SCI: sci_water_temp(degc) 87748 SCI: sci_water_pressure(bar) 87748 SCI: sci_ctd41cp_timestamp(timestamp) 87748 SCI:PROGLET flbbcd begin() called 87748 SCI: flbbcd: Version 0.0 87748 SCI: flbbcd: Will be sending following data to glider: 87749 SCI: sci_flbbcd_chlor_units(ug/l) 87749 SCI: sci_flbbcd_bb_units(nodim) 87749 SCI: sci_flbbcd_cdom_units(ppb) 87749 SCI: sci_flbbcd_chlor_sig(nodim) 87752 62 SCI: sci_flbbcd_bb_sig(nodim) 87752 SCI: sci_flbbcd_cdom_sig(nodim) 87753 SCI: sci_flbbcd_chlor_ref(nodim) 87753 SCI: sci_flbbcd_bb_ref(nodim) 87753 SCI: sci_flbbcd_cdom_ref(nodim) 87753 SCI: sci_flbbcd_therm(nodim) 87754 SCI: sci_flbbcd_timestamp(timestamp) 87754 SCI: Opening Bit(0) for output 87754 SCI:Bit(0) use count is now 1. 87754 SCI:Bit(0) raise count is now 0. 87754 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:ru32-2017-197-0-31 (0048.0031) Vehicle Name: ru32 Curr Time: Tue Jul 18 13:59:52 2017 MT: 87757 DR Location: 3645.110 N -12201.917 E measured 546.428 secs ago GPS TooFar: 3645.047 N -12201.844 E measured 1e+308 secs ago GPS Invalid : 3645.077 N -12201.989 E measured 613.237 secs ago GPS Location: 3645.110 N -12201.917 E measured 548.809 secs ago sensor:c_thruster_surface_depth(m)=0 45.738 secs ago sensor:c_wpt_lat(lat)=3645.103 48.281 secs ago sensor:c_wpt_lon(lon)=-12201.76 48.321 secs ago sensor:m_battery(volts)=11.0685408877231 17.548 secs ago sensor:m_coulomb_amphr(amp-hrs)=176.264175415039 4.532 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=179.224861915037 4.545 secs ago sensor:m_depth(m)=0 4.469 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 9.865 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 549.209 secs ago sensor:m_iridium_attempt_num(nodim)=0 444.74 secs ago sensor:m_iridium_call_num(nodim)=752 508.193 secs ago sensor:m_iridium_dialed_num(nodim)=1030 518.385 secs ago sensor:m_leakdetect_voltage(volts)=2.47600732600733 13.586 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47973137973138 13.601 secs ago sensor:m_tot_num_inflections(nodim)=7230 650.231 secs ago sensor:m_vacuum(inHg)=10.4692400793651 18.011 secs ago sensor:m_water_vx(m/s)=-0.0656633209263231 577.88 secs ago sensor:m_water_vy(m/s)=-0.0011069585598787 577.911 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)=0 444.413 secs ago sensor:x_fin_deadband(rad)=0.04 87758 secs ago sensor:x_last_wpt_lat(lat)=3645.049 842.501 secs ago sensor:x_last_wpt_lon(lon)=-12201.76 842.537 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 42/ 2/ 0 odd:1421/ 99/ 2 ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The thruster device driver returned an error. ABORT HISTORY: last abort time: 2017-06-30T15:07:51 ABORT HISTORY: last abort segment: ru32-2017-180-0-0 (0045.0000) ABORT HISTORY: last abort mission: 1K_N.MI Hit Control-R to RESUME the mission, i.e. dive! Hit Control-C to END the mission, i.e. GliderDos Hit Control-E to extend surface time by 5 minutes. Hit Control-W to get device warning reports. Hit Control-F to re-read yo, goto_l, surface, sample, drift_ mafiles. Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit Control-T to consci to science computer when comms ready: ... communications NOT ready for consci. ... because: sci_m_science_on = 0 Water Velocity Calculations waiting for final gps fix(ideally -507 secs) Waypoint: (3645.1030,-12201.7600) Range: 234m, Bearing: 79deg, Age: 0:14h:m Time until diving is: 505 secs 87764 65 SCI:PROGLET house_elf start() called 87765 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 87765 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 87769 65 SCI:PROGLET ctd41cp start() called 87769 SCI: Opening port 0:SBMB:J0 87770 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 87770 SCI: in queue size: 2048, out queue size: 0 87770 SCI:sci_uart_drain_input(0): 87770 SCI: 87770 SCI:sci_uart_drain_input:Drained 0 chars 87770 SCI:bit_shared_open(): bit(0) is already open. 87771 SCI:Bit(0) use count is now 2. 87771 SCI:bit_shared_raise(): Raising bit(0). 87774 66 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 87775 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] [ 537 21 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] [ 776 62 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:1421/ 99/ 2 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0503 C_FIN:0.0000 ^R 87789 69 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 499.687500 Megabytes available on CF file system = 1498.281250 87794 00480031.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) -0.256505 m_avg_speed(m/s) 0.379546 m_avg_upward_inflection_time(sec) 151.851246 m_battery(volts) 11.068541 m_coulomb_amphr_total(amp-hrs) 179.230813 m_fin(rad) -0.005590 m_iridium_call_num(nodim) 752.000000 m_iridium_dialed_num(nodim) 1030.000000 m_lat(lat) 3645.110200 m_lon(lon) -12201.917000 m_tot_ballast_pumped_energy(kjoules) 243.417290 m_tot_horz_dist(km) 966.437000 m_tot_num_inflections(nodim) 7230.000000 m_tot_num_thermal_valve_cmd(nodim) 891.000000 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) -12201.760000 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 2.7 seconds. Housekeeping is done 87868 74 00480032.mlg LOG FILE OPENED Megabytes used on CF file system = 499.812500 Megabytes available on CF file system = 1498.156250 87870 init_gps_input() 87870 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final GPS fix. :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0559 C_FIN:0.0000 87873 dis