Connection Event: Carrier Detect found. 96528 Iridium console active and ready... Vehicle Name: ru32 Curr Time: Tue Jul 18 16:26:03 2017 MT: 96527 DR Location: 3645.160 N -12201.895 E measured 56.375 secs ago GPS TooFar: 3645.088 N -12201.960 E measured 4065.11 secs ago GPS Invalid : 3645.086 N -12201.978 E measured 124.126 secs ago GPS Location: 3645.160 N -12201.895 E measured 58.756 secs ago sensor:c_thruster_surface_depth(m)=0 4054.8 secs ago sensor:c_wpt_lat(lat)=3645.089 300.328 secs ago sensor:c_wpt_lon(lon)=-12201.693 300.393 secs ago sensor:m_battery(volts)=11.1163590529381 48.223 secs ago sensor:m_coulomb_amphr(amp-hrs)=177.004013061523 8.531 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=179.964699561522 8.553 secs ago sensor:m_depth(m)=0 8.529 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.736 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 59.325 secs ago sensor:m_iridium_attempt_num(nodim)=1 53.733 secs ago sensor:m_iridium_call_num(nodim)=754 0.792 secs ago sensor:m_iridium_dialed_num(nodim)=1032 23.816 secs ago sensor:m_leakdetect_voltage(volts)=2.47606837606838 53.647 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4792735042735 53.668 secs ago sensor:m_tot_num_inflections(nodim)=7234 185.829 secs ago sensor:m_vacuum(inHg)=9.18606166056166 48.855 secs ago sensor:m_water_vx(m/s)=-0.0674940117737166 88.9 secs ago sensor:m_water_vy(m/s)=0.0207569301053222 88.946 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 4686.76 secs ago sensor:x_fin_deadband(rad)=0.04 96529.1 secs ago sensor:x_last_wpt_lat(lat)=3645.089 301.663 secs ago sensor:x_last_wpt_lon(lon)=-12201.76 301.718 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 96529 No login script found for processing. 96529 DRIVER_ODDITY:iridium:1773:xxx_ctrl() ran too long Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-197-0-34 (0048.0034) Vehicle Name: ru32 Curr Time: Tue Jul 18 16:26:27 2017 MT: 96553 DR Location: 3645.160 N -12201.895 E measured 81.207 secs ago GPS TooFar: 3645.088 N -12201.960 E measured 4089.94 secs ago GPS Invalid : 3645.086 N -12201.978 E measured 148.957 secs ago GPS Location: 3645.160 N -12201.895 E measured 83.587 secs ago sensor:c_thruster_surface_depth(m)=0 4079.61 secs ago sensor:c_wpt_lat(lat)=3645.089 325.11 secs ago sensor:c_wpt_lon(lon)=-12201.693 325.148 secs ago sensor:m_battery(volts)=11.1061307178519 9.355 secs ago sensor:m_coulomb_amphr(amp-hrs)=177.007553100586 4.591 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=179.968239600584 4.604 secs ago sensor:m_depth(m)=0 4.533 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.74 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 83.99 secs ago sensor:m_iridium_attempt_num(nodim)=1 78.38 secs ago sensor:m_iridium_call_num(nodim)=754 25.421 secs ago sensor:m_iridium_dialed_num(nodim)=1032 48.433 secs ago sensor:m_leakdetect_voltage(volts)=2.47652625152625 14.931 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4790293040293 14.944 secs ago sensor:m_tot_num_inflections(nodim)=7234 210.415 secs ago sensor:m_vacuum(inHg)=9.55433180708181 9.816 secs ago sensor:m_water_vx(m/s)=-0.0674940117737166 113.463 secs ago sensor:m_water_vy(m/s)=0.0207569301053222 113.496 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 4711.23 secs ago sensor:x_fin_deadband(rad)=0.04 96553.6 secs ago sensor:x_last_wpt_lat(lat)=3645.089 326.093 secs ago sensor:x_last_wpt_lon(lon)=-12201.76 326.131 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 42/ 2/ 0 odd:1425/ 103/ 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 -18 secs) Waypoint: (3645.0890,-12201.6930) Range: 328m, Bearing: 99deg, Age: 0:5h:m Time until diving is: 209 secs !put u_use_current_correction 0 -------------------------------- 96574 49 sensor: u_use_current_correction = 0 nodim -------------------------------- 96574 behavior surface_2: ! succeeded:put u_use_current_correction 0 96574 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume s *.sbd *.tbd -------------------------------- 96579 50 00480034.mlg LOG FILE CLOSED :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0503 C_FIN:0.0000 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 96588 53 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 **B00000000000 Starting zModem transfer of 00480034.tbd to/from ru32 size is 7712 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: 7712 zModem transfer DONE for file 00480034.tbd Starting zModem transfer of 00480033.tbd to/from ru32 size is 2456 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 2456 zModem transfer DONE for file 00480033.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00480034.TBD c:\logs\00480033.TBD SCI: SUCCESS 96673 72 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 96679 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 96679 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00480034.sbd to/from ru32 size is 4770 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 4770 zModem transfer DONE for file 00480034.sbd Starting zModem transfer of 00480033.sbd to/from ru32 size is 982 Total Bytes sent/received: 982 zModem transfer DONE for file 00480033.sbd restore_sensors().... 96732 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.**^XB0800000000022d DEL**^XB0800000000022d DEL. GLD: Sent 2 file(s): c:\logs\00480034.SBD c:\logs\00480033.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 2.000000 96743 75 SCI:PROGLET house_elf begin() called 96743 SCI: house_elf: Version 1.2 96743 SCI:PROGLET ctd41cp begin() called 96744 SCI: ctd41cp: Version 0.2 96744 SCI: ctd41cp: Will be sending the following data to glider: 96744 SCI: sci_water_cond(s/m) 96744 SCI: sci_water_temp(degc) 96744 SCI: sci_water_pressure(bar) 96744 SCI: sci_ctd41cp_timestamp(timestamp) 96744 SCI:PROGLET flbbcd begin() called 96744 SCI: flbbcd: Version 0.0 96744 SCI: flbbcd: Will be sending following data to glider: 96744 SCI: sci_flbbcd_chlor_units(ug/l) 96745 SCI: sci_flbbcd_bb_units(nodim) 96745 SCI: sci_flbbcd_cdom_units(ppb) 96745 SCI: sci_flbbcd_chlor_sig(nodim) 96745 SCI: sci_flbbcd_bb_sig(nodim) 96745 SCI: sci_flbbcd_cdom_sig(nodim) 96745 SCI: sci_flbbcd_chlor_ref(nodim) 96745 SCI: sci_flbbcd_bb_ref(nodim) 96745 SCI: sci_flbbcd_cdom_ref(nodim) 96745 SCI: sci_flbbcd_therm(nodim) 96745 SCI: sci_flbbcd_timestamp(timestamp) 96745 SCI: Opening Bit(0) for output 96745 SCI:Bit(0) use count is now 1. 96746 SCI:Bit(0) raise count is now 0. 96746 SCI:Bit(0) raise count is now 0. 96748 75 SCI:PROGLET house_elf start() called 96749 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 96749 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 96749 SCI:PROGLET ctd41cp start() called 96749 SCI: Opening port 0:SBMB:J0 96749 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 96749 SCI: in queue size: 2048, out queue size: 0 96750 SCI:sci_uart_drain_input(0): 96750 SCI: 96750 SCI:sci_uart_drain_input:Drained 0 chars 96750 SCI:bit_shared_open(): bit(0) is already open. 96750 SCI:Bit(0) use count is now 2. 96750 SCI:bit_shared_raise(): Raising bit(0). 96750 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 96753 77 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 96817 78 00480035.mlg LOG FILE OPENED -------------------------------- 96818 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:ru32-2017-197-0-35 (0048.0035) Vehicle Name: ru32 Curr Time: Tue Jul 18 16:30:58 2017 MT: 96823 DR Location: 3645.160 N -12201.895 E measured 351.911 secs ago GPS TooFar: 3645.088 N -12201.960 E measured 4360.65 secs ago GPS Invalid : 3645.086 N -12201.978 E measured 419.661 secs ago GPS Location: 3645.160 N -12201.895 E measured 354.293 secs ago sensor:c_thruster_surface_depth(m)=0 4350.32 secs ago sensor:c_wpt_lat(lat)=3645.089 595.815 secs ago sensor:c_wpt_lon(lon)=-12201.693 595.853 secs ago sensor:m_battery(volts)=11.0921974995465 3.263 secs ago sensor:m_coulomb_amphr(amp-hrs)=177.047943115234 3.444 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=180.008629615232 3.457 secs ago sensor:m_depth(m)=0.0821519748945802 3.326 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.587 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 354.685 secs ago sensor:m_iridium_attempt_num(nodim)=0 250.583 secs ago sensor:m_iridium_call_num(nodim)=754 296.115 secs ago sensor:m_iridium_dialed_num(nodim)=1032 319.126 secs ago sensor:m_leakdetect_voltage(volts)=2.4747557997558 3.291 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47847985347985 3.307 secs ago sensor:m_tot_num_inflections(nodim)=7234 481.108 secs ago sensor:m_vacuum(inHg)=10.444112026862 3.711 secs ago sensor:m_water_vx(m/s)=-0.0674940117737166 384.157 secs ago sensor:m_water_vy(m/s)=0.0207569301053222 384.19 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)=0 250.13 secs ago sensor:x_fin_deadband(rad)=0.04 96824.3 secs ago sensor:x_last_wpt_lat(lat)=3645.089 596.79 secs ago sensor:x_last_wpt_lon(lon)=-12201.76 596.828 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 42/ 2/ 0 odd:1425/ 103/ 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 -289 secs) Waypoint: (3645.0890,-12201.6930) Range: 328m, Bearing: 99deg, Age: 0:9h:m Time until diving is: 293 secs !zr -------------------------------- 96844 84 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 96844 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/20170718T163152_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/20170718T163152_goto_l10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/goto_l10.ma< Successful 96874 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 96874 restore_sensors().... 96874 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 96875 behavior surface_2: ! succeeded:zr 96875 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume Glider-Science software version match: 7.210000 Science hardware version is 2.000000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0419 C_FIN:0.0000 Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-197-0-35 (0048.0035) Vehicle Name: ru32 Curr Time: Tue Jul 18 16:31:58 2017 MT: 96883 DR Location: 3645.160 N -12201.895 E measured 411.689 secs ago GPS TooFar: 3645.088 N -12201.960 E measured 4420.43 secs ago GPS Invalid : 3645.086 N -12201.978 E measured 479.439 secs ago GPS Location: 3645.160 N -12201.895 E measured 414.07 secs ago sensor:c_thruster_surface_depth(m)=0 4410.1 secs ago sensor:c_wpt_lat(lat)=3645.089 655.593 secs ago sensor:c_wpt_lon(lon)=-12201.693 655.631 secs ago sensor:m_battery(volts)=11.0921974995465 63.04 secs ago sensor:m_coulomb_amphr(amp-hrs)=177.055053710938 3.122 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=180.015740210936 3.137 secs ago sensor:m_depth(m)=0.136919958157484 3.05 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.455 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 414.463 secs ago sensor:m_iridium_attempt_num(nodim)=0 310.363 secs ago sensor:m_iridium_call_num(nodim)=754 355.894 secs ago sensor:m_iridium_dialed_num(nodim)=1032 378.905 secs ago sensor:m_leakdetect_voltage(volts)=2.4747557997558 63.071 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47847985347985 63.085 secs ago sensor:m_tot_num_inflections(nodim)=7234 540.887 secs ago sensor:m_vacuum(inHg)=10.444112026862 63.49 secs ago sensor:m_water_vx(m/s)=-0.0674940117737166 443.936 secs ago sensor:m_water_vy(m/s)=0.0207569301053222 443.97 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)=0 309.909 secs ago sensor:x_fin_deadband(rad)=0.04 96884.1 secs ago sensor:x_last_wpt_lat(lat)=3645.089 656.566 secs ago sensor:x_last_wpt_lon(lon)=-12201.76 656.602 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 42/ 2/ 0 odd:1425/ 103/ 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 -349 secs) Waypoint: (3645.0890,-12201.6930) Range: 328m, Bearing: 99deg, Age: 0:10h:m Time until diving is: 290 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). 96908 90 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized 96908 behavior sample_8: STATE Active -> UnInited 96909 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 96909 behavior sample_7: STATE Active -> UnInited 96909 behavior yo_6: STATE Active -> UnInited 96909 behavior goto_list_5: STATE Active -> UnInited 96909 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 96909 behavior surface_4: STATE Waiting for Activation -> UnInited 96909 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 96909 behavior surface_3: STATE Waiting for Activation -> UnInited 96914 90 behavior sample_8: sample(): reading bargs 96914 behavior sample_8: Reading b_args from sample48.ma 96914 behavior sample_8: sensor_type(enum)=48.000000 96914 behavior sample_8: sample_time_after_state_change(s)=0.000000 96914 behavior sample_8: intersample_time(sec)=1.000000 96914 behavior sample_8: state_to_sample(enum)=7.000000 96914 behavior sample_8: nth_yo_to_sample(nodim)=1.000000 96914 behavior sample_8: min_depth(m)=-5.000000 96914 behavior sample_8: max_depth(m)=2000.000000 96914 behavior sample_8: STATE UnInited -> Active 96914 behavior sample_8: argument: args_from_file = 48.000000 enum 96914 behavior sample_8: argument: sensor_type = 48.000000 enum 96914 behavior sample_8: argument: state_to_sample = 7.000000 enum 96914 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s 96914 behavior sample_8: argument: intersample_time = 1.000000 s 96914 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim 96914 behavior sample_8: argument: intersample_depth = -1.000000 m 96915 behavior sample_8: argument: min_depth = -5.000000 m 96915 behavior sample_8: argument: max_depth = 2000.000000 m 96915 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface 96915 behavior sample_7: sample(): reading bargs 96915 behavior sample_7: Reading b_args from sample01.ma 96915 behavior sample_7: sensor_type(enum)=1.000000 96915 behavior sample_7: sample_time_after_state_change(s)=0.000000 96915 behavior sample_7: intersample_time(sec)=1.000000 96915 behavior sample_7: state_to_sample(enum)=15.000000 96915 behavior sample_7: nth_yo_to_sample(nodim)=1.000000 96915 behavior sample_7: min_depth(m)=-5.000000 96915 behavior sample_7: max_depth(m)=2000.000000 96915 behavior sample_7: STATE UnInited -> Active 96915 behavior sample_7: argument: args_from_file = 1.000000 enum 96915 behavior sample_7: argument: sensor_type = 1.000000 enum 96915 behavior sample_7: argument: state_to_sample = 15.000000 enum 96915 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 96915 behavior sample_7: argument: intersample_time = 1.000000 s 96915 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim 96916 behavior sample_7: argument: intersample_depth = -1.000000 m 96916 behavior sample_7: argument: min_depth = -5.000000 m 96916 behavior sample_7: argument: max_depth = 2000.000000 m 96916 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 96916 behavior yo_6: Reading b_args from yo20.ma 96916 behavior yo_6: num_half_cycles_to_do(nodim)=2.000000 96916 behavior yo_6: end_action(enum)=2.000000 96916 behavior yo_6: d_target_depth(m)=500.000000 96916 behavior yo_6: d_target_altitude(m)=20.000000 96916 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 96916 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 96916 behavior yo_6: d_use_bpump(enum)=2.000000 96916 behavior yo_6: d_bpump_value(X)=-240.000000 96916 behavior yo_6: d_use_pitch(enum)=3.000000 96916 behavior yo_6: d_pitch_value(X)=-0.610900 96916 behavior yo_6: d_use_thruster(enum)=0.000000 96916 behavior yo_6: d_thruster_value(X)=0.000000 96916 behavior yo_6: d_depth_rate_method(enum)=3.000000 96916 behavior yo_6: c_target_depth(m)=10.000000 96917 behavior yo_6: c_target_altitude(m)=-1.000000 96917 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 96917 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 96917 behavior yo_6: c_use_bpump(enum)=2.000000 96917 behavior yo_6: c_bpump_value(X)=1000.000000 96917 behavior yo_6: c_use_pitch(enum)=3.000000 96917 behavior yo_6: c_pitch_value(X)=0.610900 96917 behavior yo_6: c_use_thruster(enum)=0.000000 96917 behavior yo_6: c_thruster_value(X)=0.000000 96917 behavior yo_6: STATE UnInited -> Waiting for Activation 96917 behavior yo_6: argument: args_from_file = 20.000000 enum 96917 behavior yo_6: argument: start_when = 2.000000 enum 96917 behavior yo_6: argument: start_diving = 1.000000 bool 96917 behavior yo_6: argument: num_half_cycles_to_do = 2.000000 nodim 96917 behavior yo_6: argument: d_target_depth = 500.000000 m 96917 behavior yo_6: argument: d_target_altitude = 20.000000 m 96917 behavior yo_6: argument: d_use_bpump = 2.000000 enum 96917 behavior yo_6: argument: d_bpump_value = -240.000000 X 96917 behavior yo_6: argument: d_use_pitch = 3.000000 enum 96917 behavior yo_6: argument: d_pitch_value = -0.610900 X 96918 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 96918 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 96918 behavior yo_6: argument: d_speed_min = -100.000000 m/s 96918 behavior yo_6: argument: d_speed_max = 100.000000 m/s 96918 behavior yo_6: argument: d_use_thruster = 0.000000 enum 96918 behavior yo_6: argument: d_thruster_value = 0.000000 X 96918 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 96918 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 96918 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 96918 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 96918 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 96918 behavior yo_6: argument: d_time_ratio = 1.100000 X 96918 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 96918 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 96918 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 96918 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 96918 behavior yo_6: argument: c_target_depth = 10.000000 m 96918 behavior yo_6: argument: c_target_altitude = -1.000000 m 96918 behavior yo_6: argument: c_use_bpump = 2.000000 enum 96918 behavior yo_6: argument: c_bpump_value = 1000.000000 X 96919 behavior yo_6: argument: c_use_pitch = 3.000000 enum 96919 behavior yo_6: argument: c_pitch_value = 0.610900 X 96919 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 96919 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 96919 behavior yo_6: argument: c_speed_min = 100.000000 m/s 96919 behavior yo_6: argument: c_speed_max = -100.000000 m/s 96919 behavior yo_6: argument: c_use_thruster = 0.000000 enum 96919 behavior yo_6: argument: c_thruster_value = 0.000000 X 96919 behavior yo_6: argument: end_action = 2.000000 enum 96919 behavior yo_6: STATE Waiting for Activation -> Active 96919 behavior dive_to_601: STATE UnInited -> Active 96919 behavior dive_to_601: argument: target_depth = 500.000000 m 96919 behavior dive_to_601: argument: target_altitude = 20.000000 m 96919 behavior dive_to_601: argument: use_bpump = 2.000000 enum 96919 behavior dive_to_601: argument: bpump_value = -240.000000 X 96919 behavior dive_to_601: argument: use_pitch = 3.000000 enum 96919 behavior dive_to_601: argument: pitch_value = -0.610900 X 96919 behavior dive_to_601: argument: start_when = 0.000000 enum 96919 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 96920 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 96920 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 96920 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 96920 behavior dive_to_601: argument: speed_min = -100.000000 m/s 96920 behavior dive_to_601: argument: speed_max = 100.000000 m/s 96920 behavior dive_to_601: argument: use_thruster = 0.000000 enum 96920 behavior dive_to_601: argument: thruster_value = 0.000000 X 96920 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 96920 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 96920 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 96920 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 96920 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 96920 behavior dive_to_601: argument: time_ratio = 1.100000 X 96920 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 96920 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 96920 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 96920 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 96920 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 96920 behavior goto_list_5: Reading b_args from goto_l10.ma 96921 behavior goto_list_5: num_legs_to_run(nodim)=-1.000000 96921 behavior goto_list_5: start_when(enum)=0.000000 96921 behavior goto_list_5: list_stop_when(enum)=7.000000 96921 behavior goto_list_5: list_when_wpt_dist(m)=25.000000 96921 behavior goto_list_5: initial_wpt(enum)=0.000000 96921 behavior goto_list_5: num_waypoints(nodim)=4.000000 96921 behavior goto_list_5: Reading waypoints from file: 96921 behavior goto_list_5: 0 lon: -12201.7600 lat: 3645.1030 96921 behavior goto_list_5: 1 lon: -12201.6930 lat: 3645.1030 96921 behavi ****** 96950 SCI: house_elf: Version 1.2 96950 SCI:PROGLET ctd41cp begin() called 96950 SCI: ctd41cp: Version 0.2 96951 SCI: ctd41cp: Will be sending the following data to glider: 96954 96 SCI: sci_water_cond(s/m) 96954 SCI: sci_water_temp(degc) 96955 SCI: sci_water_pressure(bar) 96955 SCI: sci_ctd41cp_timestamp(timestamp) 96955 SCI:PROGLET flbbcd begin() called 96955 SCI: flbbcd: Version 0.0 96955 SCI: flbbcd: Will be sending following data to glider: 96956 SCI: sci_flbbcd_chlor_units(ug/l) 96956 SCI: sci_flbbcd_bb_units(nodim) 96956 SCI: sci_flbbcd_cdom_units(ppb) 96956 SCI: sci_flbbcd_chlor_sig(nodim) 96959 96 SCI: sci_flbbcd_bb_sig(nodim) 96959 SCI: sci_flbbcd_cdom_sig(nodim) 96960 SCI: sci_flbbcd_chlor_ref(nodim) 96960 SCI: sci_flbbcd_bb_ref(nodim) 96960 SCI: sci_flbbcd_cdom_ref(nodim) 96961 SCI: sci_flbbcd_therm(nodim) 96961 SCI: sci_flbbcd_timestamp(timestamp) 96961 SCI: Opening Bit(0) for output 96961 SCI:Bit(0) use count is now 1. 96961 SCI:Bit(0) raise count is now 0. 96961 SCI:Bit(0) raise count is now 0. 96966 97 SCI:PROGLET house_elf start() called 96966 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-197-0-35 (0048.0035) Vehicle Name: ru32 Curr Time: Tue Jul 18 16:33:24 2017 MT: 96970 DR Location: 3645.160 N -12201.895 E measured 498.109 secs ago GPS TooFar: 3645.088 N -12201.960 E measured 4506.85 secs ago GPS Invalid : 3645.086 N -12201.978 E measured 565.86 secs ago GPS Location: 3645.160 N -12201.895 E measured 500.491 secs ago sensor:c_thruster_surface_depth(m)=0 43.352 secs ago sensor:c_wpt_lat(lat)=3645.103 45.895 secs ago sensor:c_wpt_lon(lon)=-12201.76 45.938 secs ago sensor:m_battery(volts)=11.0716725021052 20.808 secs ago sensor:m_coulomb_amphr(amp-hrs)=177.066940307617 4.836 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=180.027626807615 4.848 secs ago sensor:m_depth(m)=0.0821519748945802 4.748 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.992 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 500.914 secs ago sensor:m_iridium_attempt_num(nodim)=0 396.814 secs ago sensor:m_iridium_call_num(nodim)=754 442.348 secs ago sensor:m_iridium_dialed_num(nodim)=1032 465.361 secs ago sensor:m_leakdetect_voltage(volts)=2.47655677655678 21.012 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4795177045177 21.027 secs ago sensor:m_tot_num_inflections(nodim)=7234 627.349 secs ago sensor:m_vacuum(inHg)=10.456882020757 21.285 secs ago sensor:m_water_vx(m/s)=-0.0674940117737166 530.404 secs ago sensor:m_water_vy(m/s)=0.0207569301053222 530.438 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)=0 396.385 secs ago sensor:x_fin_deadband(rad)=0.04 96970.5 secs ago sensor:x_last_wpt_lat(lat)=3645.089 743.048 secs ago sensor:x_last_wpt_lon(lon)=-12201.76 743.087 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 42/ 2/ 0 odd:1425/ 103/ 2 ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The thruster device driver returned an error. ABORT HISTORY: last abort time: 2017-06-30T15:07:51 ABORT HISTORY: last abort segment: ru32-2017-180-0-0 (0045.0000) ABORT HISTORY: last abort mission: 1K_N.MI Hit Control-R to RESUME the mission, i.e. dive! Hit Control-C to END the mission, i.e. GliderDos Hit Control-E to extend surface time by 5 minutes. Hit Control-W to get device warning reports. Hit Control-F to re-read yo, goto_l, surface, sample, drift_ mafiles. Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit Control-T to consci to science computer when comms ready: ... communications NOT ready for consci. ... because: m_science_clothesline_lag not updated this cycle Water Velocity Calculations waiting for final gps fix(ideally -435 secs) Waypoint: (3645.1030,-12201.7600) Range: 227m, Bearing: 103deg, Age: 0:0h:m Time until diving is: 504 secs 96971 99 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 96983 0 SCI:PROGLET ctd41cp start() called 96983 SCI: Opening port 0:SBMB:J0 96984 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 96984 SCI: in queue size: 2048, out queue size: 0 96984 SCI:sci_uart_drain_input(0): 96984 SCI: 96984 SCI:sci_uart_drain_input:Drained 0 chars 96985 SCI:bit_shared_open(): bit(0) is already open. 96985 SCI:Bit(0) use count is now 2. 96985 SCI:bit_shared_raise(): Raising bit(0). 96985 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 96988 2 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] [ 539 23 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] [ 778 64 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:1425/ 103/ 2 ^R 97003 5 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 501.718750 Megabytes available on CF file system = 1496.250000 97008 00480035.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) -0.266427 m_avg_speed(m/s) 0.381261 m_avg_upward_inflection_time(sec) 126.281135 m_battery(volts) 11.071673 m_coulomb_amphr_total(amp-hrs) 180.034753 m_fin(rad) 0.008385 m_iridium_call_num(nodim) 754.000000 m_iridium_dialed_num(nodim) 1032.000000 m_lat(lat) 3645.159500 m_lon(lon) -12201.895300 m_tot_ballast_pumped_energy(kjoules) 243.417290 m_tot_horz_dist(km) 969.272462 m_tot_num_inflections(nodim) 7234.000000 m_tot_num_thermal_valve_cmd(nodim) 895.000000 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) 3645.089000 x_last_wpt_lon(lon) -12201.760000 The instantaneous lag time between the system and gps clock is 1.0 seconds. The average lag time between the system and gps clock is 2.3 seconds. Housekeeping is done 97082 9 00480036.mlg LOG FILE OPENED Megabytes used on CF file system = 501.843750 Megabytes available on CF file system = 1496.125000 97085 init_gps_input() 97085 behavior surface_2: SUBSTATE 7 ->9 : Turning on thruster burst surface_2: Turning thruster on: 6.0 V. 97085 sensor: c_thruster_on = 54.6752331207742 % 97090 9 sensor: c_thruster_on = 56.1147490663529 % 97092 sensor: m_thruster_current = 0.3384 amp 97096 11 sensor: c_thruster_on = 56.1147490663529 % 97097 sensor: m_thruster_current = 0.5264 amp 97101 12 sensor: c_thruster_on = 56.1147490663529 % 97102 sensor: m_thruster_current = 0.3384 amp surface_2: Turning thruster off (secs thr on). 97106 12 behavior surface_2: SUBSTATE 9 ->10 : Waiting for final gps fix surface_2: Waiting for final GPS fix. 97112 13 disabling Iridium cons