Connection Event: Carrier Detect found.183405 Iridium console active and ready... Vehicle Name: ru32 Curr Time: Wed Jul 19 16:34:01 2017 MT: 183405 DR Location: 3645.196 N -12201.836 E measured 48.7 secs ago GPS TooFar: 3645.105 N -12201.831 E measured 62743.7 secs ago GPS Invalid : 3645.260 N -12201.850 E measured 103.234 secs ago GPS Location: 3645.196 N -12201.836 E measured 49.171 secs ago sensor:c_thruster_surface_depth(m)=0 3922.99 secs ago sensor:c_wpt_lat(lat)=3645.103 371.631 secs ago sensor:c_wpt_lon(lon)=-12201.76 371.698 secs ago sensor:m_battery(volts)=11.1185003280117 25.271 secs ago sensor:m_coulomb_amphr(amp-hrs)=184.41162109375 5.273 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=187.372307593748 5.296 secs ago sensor:m_depth(m)=0 5.27 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.489 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 49.751 secs ago sensor:m_iridium_attempt_num(nodim)=1 40.946 secs ago sensor:m_iridium_call_num(nodim)=774 0.798 secs ago sensor:m_iridium_dialed_num(nodim)=1056 15.62 secs ago sensor:m_leakdetect_voltage(volts)=2.47124542124542 30.88 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4748778998779 30.904 secs ago sensor:m_tot_num_inflections(nodim)=7270 147.267 secs ago sensor:m_vacuum(inHg)=9.25403098290598 25.903 secs ago sensor:m_water_vx(m/s)=-0.0430019975485748 75.025 secs ago sensor:m_water_vy(m/s)=0.0474746257767348 75.07 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 4508.38 secs ago sensor:x_fin_deadband(rad)=0.04 183407 secs ago sensor:x_last_wpt_lat(lat)=3645.049 372.996 secs ago sensor:x_last_wpt_lon(lon)=-12201.76 373.051 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 183407 No login script found for processing. 183407 DRIVER_ODDITY:iridium:1770:xxx_ctrl() ran too long Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-197-0-70 (0048.0070) Vehicle Name: ru32 Curr Time: Wed Jul 19 16:34:39 2017 MT: 183443 DR Location: 3645.196 N -12201.836 E measured 86.71 secs ago GPS TooFar: 3645.105 N -12201.831 E measured 62781.7 secs ago GPS Invalid : 3645.260 N -12201.850 E measured 141.244 secs ago GPS Location: 3645.196 N -12201.836 E measured 87.182 secs ago sensor:c_thruster_surface_depth(m)=0 3960.98 secs ago sensor:c_wpt_lat(lat)=3645.103 409.59 secs ago sensor:c_wpt_lon(lon)=-12201.76 409.629 secs ago sensor:m_battery(volts)=11.1185003280117 63.19 secs ago sensor:m_coulomb_amphr(amp-hrs)=184.416366577148 7.811 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=187.377053077146 7.824 secs ago sensor:m_depth(m)=0 7.757 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 12.935 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 87.593 secs ago sensor:m_iridium_attempt_num(nodim)=1 78.771 secs ago sensor:m_iridium_call_num(nodim)=774 38.603 secs ago sensor:m_iridium_dialed_num(nodim)=1056 53.412 secs ago sensor:m_leakdetect_voltage(volts)=2.4726800976801 7.917 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47936507936508 7.931 secs ago sensor:m_tot_num_inflections(nodim)=7270 185.029 secs ago sensor:m_vacuum(inHg)=9.25403098290598 63.652 secs ago sensor:m_water_vx(m/s)=-0.0430019975485748 112.764 secs ago sensor:m_water_vy(m/s)=0.0474746257767348 112.798 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 4546.03 secs ago sensor:x_fin_deadband(rad)=0.04 183444 secs ago sensor:x_last_wpt_lat(lat)=3645.049 410.601 secs ago sensor:x_last_wpt_lon(lon)=-12201.76 410.637 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 44/ 4/ 0 odd:1478/ 156/ 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: 206m, Bearing: 133deg, Age: 0:6h:m Time until diving is: 209 secs !put u_use_current_correction 0 -------------------------------- 183466 6 sensor: u_use_current_correction = 0 nodim -------------------------------- 183466 behavior surface_2: ! succeeded:put u_use_current_correction 0 183466 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume s *.sbd *.tbd -------------------------------- 183470 6 00480070.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 183479 10 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 00480070.tbd to/from ru32 size is 7524 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: 7524 zModem transfer DONE for file 00480070.tbd Starting zModem transfer of 00480069.tbd to/from ru32 size is 2484 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 2484 zModem transfer DONE for file 00480069.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00480070.TBD c:\logs\00480069.TBD SCI: SUCCESS 183562 29 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 183566 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 183567 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00480070.sbd to/from ru32 size is 4630 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 4630 zModem transfer DONE for file 00480070.sbd Starting zModem transfer of 00480069.sbd to/from ru32 size is 982 Total Bytes sent/received: 982 zModem transfer DONE for file 00480069.sbd 83622 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 183622 restore_sensors().... 183622 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\00480070.SBD c:\logs\00480069.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 2.000000 183672 37 DRIVER_ODDITY:digifin:12508:xxx_ctrl() ran too long 183697 43 SCI:PROGLET house_elf begin() called 183697 SCI: house_elf: Version 1.2 183697 SCI:PROGLET ctd41cp begin() called 183697 SCI: ctd41cp: Version 0.2 183697 44 SCI: ctd41cp: Will be sending the following data to glider: 183697 SCI: sci_water_cond(s/m) 183697 SCI: sci_water_temp(degc) 183698 SCI: sci_water_pressure(bar) 183698 SCI: sci_ctd41cp_timestamp(timestamp) 183698 SCI:PROGLET flbbcd begin() called 183698 SCI: flbbcd: Version 0.0 183698 SCI: flbbcd: Will be sending following data to glider: 183698 SCI: sci_flbbcd_chlor_units(ug/l) 183699 SCI: sci_flbbcd_bb_units(nodim) 183699 SCI: sci_flbbcd_cdom_units(ppb) 183699 SCI: sci_flbbcd_chlor_sig(nodim) 183699 SCI: sci_flbbcd_bb_sig(nodim) 183699 SCI: sci_flbbcd_cdom_sig(nodim) 183699 SCI: sci_flbbcd_chlor_ref(nodim) 183704 45 SCI: sci_flbbcd_bb_ref(nodim) 183704 SCI: sci_flbbcd_cdom_ref(nodim) 183704 SCI: sci_flbbcd_therm(nodim) 183705 SCI: sci_flbbcd_timestamp(timestamp) 183705 SCI: Opening Bit(0) for output 183705 SCI:Bit(0) use count is now 1. 183705 SCI:Bit(0) raise count is now 0. 183705 SCI:Bit(0) raise count is now 0. 183706 SCI:PROGLET house_elf start() called 183707 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 183707 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 183707 SCI:PROGLET ctd41cp start() called 183707 SCI: Opening port 0:SBMB:J0 183707 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 183707 SCI: in queue size: 2048, out queue size: 0 183707 SCI:sci_uart_drain_input(0): 183707 SCI: 183708 SCI:sci_uart_drain_input:Drained 0 chars 183708 SCI:bit_shared_open(): bit(0) is already open. 183711 47 SCI:Bit(0) use count is now 2. 183711 SCI:bit_shared_raise(): Raising bit(0). 183711 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 183712 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 183779 50 00480071.mlg LOG FILE OPENED -------------------------------- 183780 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:ru32-2017-197-0-71 (0048.0071) Vehicle Name: ru32 Curr Time: Wed Jul 19 16:40:20 2017 MT: 183784 DR Location: 3645.196 N -12201.836 E measured 427.861 secs ago GPS TooFar: 3645.105 N -12201.831 E measured 63122.8 secs ago GPS Invalid : 3645.260 N -12201.850 E measured 482.398 secs ago GPS Location: 3645.196 N -12201.836 E measured 428.336 secs ago sensor:c_thruster_surface_depth(m)=0 4302.14 secs ago sensor:c_wpt_lat(lat)=3645.103 750.741 secs ago sensor:c_wpt_lon(lon)=-12201.76 750.781 secs ago sensor:m_battery(volts)=11.0600814805856 3.271 secs ago sensor:m_coulomb_amphr(amp-hrs)=184.462692260742 3.454 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=187.42337876074 3.467 secs ago sensor:m_depth(m)=0.0821519748945802 3.333 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 61.344 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 428.734 secs ago sensor:m_iridium_attempt_num(nodim)=0 320.977 secs ago sensor:m_iridium_call_num(nodim)=774 379.744 secs ago sensor:m_iridium_dialed_num(nodim)=1056 394.553 secs ago sensor:m_leakdetect_voltage(volts)=2.47554945054945 3.292 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47826617826618 3.308 secs ago sensor:m_tot_num_inflections(nodim)=7270 526.168 secs ago sensor:m_vacuum(inHg)=10.4552342796093 3.718 secs ago sensor:m_water_vx(m/s)=-0.0430019975485748 453.905 secs ago sensor:m_water_vy(m/s)=0.0474746257767348 453.937 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)=0 319.602 secs ago sensor:x_fin_deadband(rad)=0.04 183785 secs ago sensor:x_last_wpt_lat(lat)=3645.049 751.74 secs ago sensor:x_last_wpt_lon(lon)=-12201.76 751.776 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 44/ 4/ 0 odd:1479/ 157/ 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 -383 secs) Waypoint: (3645.1030,-12201.7600) Range: 206m, Bearing: 133deg, Age: 0:12h:m Time until diving is: 294 secs !zr -------------------------------- 183803 54 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 183803 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/20170719T164113_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/20170719T164113_goto_l10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/goto_l10.ma< Successful 183834 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 183834 restore_sensors().... 183834 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 183835 behavior surface_2: ! succeeded:zr 183835 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:ru32-2017-197-0-71 (0048.0071) Vehicle Name: ru32 Curr Time: Wed Jul 19 16:41:15 2017 MT: 183839 DR Location: 3645.196 N -12201.836 E measured 482.477 secs ago GPS TooFar: 3645.105 N -12201.831 E measured 63177.5 secs ago GPS Invalid : 3645.260 N -12201.850 E measured 537.011 secs ago GPS Location: 3645.196 N -12201.836 E measured 482.949 secs ago sensor:c_thruster_surface_depth(m)=0 4356.75 secs ago sensor:c_wpt_lat(lat)=3645.103 805.355 secs ago sensor:c_wpt_lon(lon)=-12201.76 805.393 secs ago sensor:m_battery(volts)=11.0600814805856 57.883 secs ago sensor:m_coulomb_amphr(amp-hrs)=184.468627929688 3.202 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=187.429314429686 3.214 secs ago sensor:m_depth(m)=0.0273839916316761 3.13 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.345 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 483.347 secs ago sensor:m_iridium_attempt_num(nodim)=0 375.59 secs ago sensor:m_iridium_call_num(nodim)=774 434.356 secs ago sensor:m_iridium_dialed_num(nodim)=1056 449.165 secs ago sensor:m_leakdetect_voltage(volts)=2.47554945054945 57.905 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47826617826618 57.922 secs ago sensor:m_tot_num_inflections(nodim)=7270 580.784 secs ago sensor:m_vacuum(inHg)=10.4552342796093 58.333 secs ago sensor:m_water_vx(m/s)=-0.0430019975485748 508.519 secs ago sensor:m_water_vy(m/s)=0.0474746257767348 508.552 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)=0 374.215 secs ago sensor:x_fin_deadband(rad)=0.04 183840 secs ago sensor:x_last_wpt_lat(lat)=3645.049 806.355 secs ago sensor:x_last_wpt_lon(lon)=-12201.76 806.391 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 44/ 4/ 0 odd:1479/ 157/ 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 -438 secs) Waypoint: (3645.1030,-12201.7600) Range: 206m, Bearing: 133deg, Age: 0:13h:m Time until diving is: 295 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). 183864 60 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized 183864 behavior sample_8: STATE Active -> UnInited 183864 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 183864 behavior sample_7: STATE Active -> UnInited 183864 behavior yo_6: STATE Active -> UnInited 183864 behavior goto_list_5: STATE Active -> UnInited 183864 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 183865 behavior surface_4: STATE Waiting for Activation -> UnInited 183865 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 183865 behavior surface_3: STATE Waiting for Activation -> UnInited 183869 61 behavior sample_8: sample(): reading bargs 183869 behavior sample_8: Reading b_args from sample48.ma 183869 behavior sample_8: sensor_type(enum)=48.000000 183870 behavior sample_8: sample_time_after_state_change(s)=0.000000 183870 behavior sample_8: intersample_time(sec)=1.000000 183870 behavior sample_8: state_to_sample(enum)=7.000000 183870 behavior sample_8: nth_yo_to_sample(nodim)=1.000000 183870 behavior sample_8: min_depth(m)=-5.000000 183870 behavior sample_8: max_depth(m)=2000.000000 183870 behavior sample_8: STATE UnInited -> Active 183870 behavior sample_8: argument: args_from_file = 48.000000 enum 183870 behavior sample_8: argument: sensor_type = 48.000000 enum 183870 behavior sample_8: argument: state_to_sample = 7.000000 enum 183870 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s 183870 behavior sample_8: argument: intersample_time = 1.000000 s 183870 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim 183870 behavior sample_8: argument: intersample_depth = -1.000000 m 183870 behavior sample_8: argument: min_depth = -5.000000 m 183870 behavior sample_8: argument: max_depth = 2000.000000 m 183870 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface 183870 behavior sample_7: sample(): reading bargs 183870 behavior sample_7: Reading b_args from sample01.ma 183871 behavior sample_7: sensor_type(enum)=1.000000 183871 behavior sample_7: sample_time_after_state_change(s)=0.000000 183871 behavior sample_7: intersample_time(sec)=1.000000 183871 behavior sample_7: state_to_sample(enum)=15.000000 183871 behavior sample_7: nth_yo_to_sample(nodim)=1.000000 183871 behavior sample_7: min_depth(m)=-5.000000 183871 behavior sample_7: max_depth(m)=2000.000000 183871 behavior sample_7: STATE UnInited -> Active 183871 behavior sample_7: argument: args_from_file = 1.000000 enum 183871 behavior sample_7: argument: sensor_type = 1.000000 enum 183871 behavior sample_7: argument: state_to_sample = 15.000000 enum 183871 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 183871 behavior sample_7: argument: intersample_time = 1.000000 s 183871 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim 183871 behavior sample_7: argument: intersample_depth = -1.000000 m 183871 behavior sample_7: argument: min_depth = -5.000000 m 183871 behavior sample_7: argument: max_depth = 2000.000000 m 183871 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 183871 behavior yo_6: Reading b_args from yo20.ma 183872 behavior yo_6: num_half_cycles_to_do(nodim)=2.000000 183872 behavior yo_6: end_action(enum)=2.000000 183872 behavior yo_6: d_target_depth(m)=500.000000 183872 behavior yo_6: d_target_altitude(m)=20.000000 183872 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 183872 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 183872 behavior yo_6: d_use_bpump(enum)=2.000000 183872 behavior yo_6: d_bpump_value(X)=-240.000000 183872 behavior yo_6: d_use_pitch(enum)=3.000000 183872 behavior yo_6: d_pitch_value(X)=-0.610900 183872 behavior yo_6: d_use_thruster(enum)=0.000000 183872 behavior yo_6: d_thruster_value(X)=0.000000 183872 behavior yo_6: d_depth_rate_method(enum)=3.000000 183872 behavior yo_6: c_target_depth(m)=10.000000 183872 behavior yo_6: c_target_altitude(m)=-1.000000 183872 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 183872 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 183872 behavior yo_6: c_use_bpump(enum)=2.000000 183872 behavior yo_6: c_bpump_value(X)=1000.000000 183872 behavior yo_6: c_use_pitch(enum)=3.000000 183873 behavior yo_6: c_pitch_value(X)=0.610900 183873 behavior yo_6: c_use_thruster(enum)=0.000000 183873 behavior yo_6: c_thruster_value(X)=0.000000 183873 behavior yo_6: STATE UnInited -> Waiting for Activation 183873 behavior yo_6: argument: args_from_file = 20.000000 enum 183873 behavior yo_6: argument: start_when = 2.000000 enum 183873 behavior yo_6: argument: start_diving = 1.000000 bool 183873 behavior yo_6: argument: num_half_cycles_to_do = 2.000000 nodim 183873 behavior yo_6: argument: d_target_depth = 500.000000 m 183873 behavior yo_6: argument: d_target_altitude = 20.000000 m 183873 behavior yo_6: argument: d_use_bpump = 2.000000 enum 183873 behavior yo_6: argument: d_bpump_value = -240.000000 X 183873 behavior yo_6: argument: d_use_pitch = 3.000000 enum 183873 behavior yo_6: argument: d_pitch_value = -0.610900 X 183873 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 183873 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 183873 behavior yo_6: argument: d_speed_min = -100.000000 m/s 183873 behavior yo_6: argument: d_speed_max = 100.000000 m/s 183873 behavior yo_6: argument: d_use_thruster = 0.000000 enum 183873 behavior yo_6: argument: d_thruster_value = 0.000000 X 183874 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 183874 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 183874 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 183874 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 183874 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 183874 behavior yo_6: argument: d_time_ratio = 1.100000 X 183874 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 183874 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 183874 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 183874 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 183874 behavior yo_6: argument: c_target_depth = 10.000000 m 183874 behavior yo_6: argument: c_target_altitude = -1.000000 m 183874 behavior yo_6: argument: c_use_bpump = 2.000000 enum 183874 behavior yo_6: argument: c_bpump_value = 1000.000000 X 183874 behavior yo_6: argument: c_use_pitch = 3.000000 enum 183874 behavior yo_6: argument: c_pitch_value = 0.610900 X 183874 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 183874 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 183874 behavior yo_6: argument: c_speed_min = 100.000000 m/s 183875 behavior yo_6: argument: c_speed_max = -100.000000 m/s 183875 behavior yo_6: argument: c_use_thruster = 0.000000 enum 183875 behavior yo_6: argument: c_thruster_value = 0.000000 X 183875 behavior yo_6: argument: end_action = 2.000000 enum 183875 behavior yo_6: STATE Waiting for Activation -> Active 183875 behavior dive_to_601: STATE UnInited -> Active 183875 behavior dive_to_601: argument: target_depth = 500.000000 m 183875 behavior dive_to_601: argument: target_altitude = 20.000000 m 183875 behavior dive_to_601: argument: use_bpump = 2.000000 enum 183875 behavior dive_to_601: argument: bpump_value = -240.000000 X 183875 behavior dive_to_601: argument: use_pitch = 3.000000 enum 183875 behavior dive_to_601: argument: pitch_value = -0.610900 X 183875 behavior dive_to_601: argument: start_when = 0.000000 enum 183875 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 183875 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 183875 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 183875 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 183875 behavior dive_to_601: argument: speed_min = -100.000000 m/s 183875 behavior dive_to_601: argument: speed_max = 100.000000 m/s 183875 behavior dive_to_601: argument: use_thruster = 0.000000 enum 183876 behavior dive_to_601: argument: thruster_value = 0.000000 X 183876 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 183876 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 183876 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 183876 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 183876 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 183876 behavior dive_to_601: argument: time_ratio = 1.100000 X 183876 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 183876 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 183876 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 183876 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 183876 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 183876 behavior goto_list_5: Reading b_args from goto_l10.ma 183876 behavior goto_list_5: num_legs_to_run(nodim)=-1.000000 183876 behavior goto_list_5: start_when(enum)=0.000000 183876 behavior goto_list_5: list_stop_when(enum)=7.000000 183876 behavior goto_list_5: list_when_wpt_dist(m)=25.000000 183877 behavior goto_list_5: initial_wpt(enum)=0.000000 183877 behavior goto_list_5: num_waypoints(nodim)=4.000000 183877 behavior goto_list_5: Reading waypoints from file: 183877 behavior goto_list_5: 0 lon: -12201.7600 lat: 3645.1030 183877 behavior goto_list_5: 1 lon: -12201.6930 lat: 3645.1030 183877 ****** 183909 SCI: house_elf: Version 1.2 183910 SCI:PROGLET ctd41cp begin() called 183910 SCI: ctd41cp: Version 0.2 183910 SCI: ctd41cp: Will be sending the following data to glider: 183910 SCI: sci_water_cond(s/m) 183910 SCI: sci_water_temp(degc) 183911 SCI: sci_water_pressure(bar) 183911 SCI: sci_ctd41cp_timestamp(timestamp) 183911 SCI:PROGLET flbbcd begin() called 183911 SCI: flbbcd: Version 0.0 183914 66 SCI: flbbcd: Will be sending following data to glider: 183915 SCI: sci_flbbcd_chlor_units(ug/l) 183915 SCI: sci_flbbcd_bb_units(nodim) 183915 SCI: sci_flbbcd_cdom_units(ppb) 183915 SCI: sci_flbbcd_chlor_sig(nodim) 183916 SCI: sci_flbbcd_bb_sig(nodim) 183916 SCI: sci_flbbcd_cdom_sig(nodim) 183916 SCI: sci_flbbcd_chlor_ref(nodim) 183916 SCI: sci_flbbcd_bb_ref(nodim) 183916 SCI: sci_flbbcd_cdom_ref(nodim) 183916 SCI: sci_flbbcd_therm(nodim) 183919 67 SCI: sci_flbbcd_timestamp(timestamp) 183919 SCI: Opening Bit(0) for output 183920 SCI:Bit(0) use count is now 1. 183920 SCI:Bit(0) raise count is now 0. 183920 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:ru32-2017-197-0-71 (0048.0071) Vehicle Name: ru32 Curr Time: Wed Jul 19 16:42:40 2017 MT: 183925 DR Location: 3645.196 N -12201.836 E measured 567.999 secs ago GPS TooFar: 3645.105 N -12201.831 E measured 63263 secs ago GPS Invalid : 3645.260 N -12201.850 E measured 622.535 secs ago GPS Location: 3645.196 N -12201.836 E measured 568.473 secs ago sensor:c_thruster_surface_depth(m)=0 42.571 secs ago sensor:c_wpt_lat(lat)=3645.103 45.141 secs ago sensor:c_wpt_lon(lon)=-12201.76 45.183 secs ago sensor:m_battery(volts)=11.0157643142927 15.046 secs ago sensor:m_coulomb_amphr(amp-hrs)=184.481689453125 4.744 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=187.442375953123 4.76 secs ago sensor:m_depth(m)=0.0821519748945802 4.677 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 10.162 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 568.9 secs ago sensor:m_iridium_attempt_num(nodim)=0 461.146 secs ago sensor:m_iridium_call_num(nodim)=774 519.915 secs ago sensor:m_iridium_dialed_num(nodim)=1056 534.726 secs ago sensor:m_leakdetect_voltage(volts)=2.47606837606838 15.037 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47985347985348 15.053 secs ago sensor:m_tot_num_inflections(nodim)=7270 666.35 secs ago sensor:m_vacuum(inHg)=10.4449358974359 15.523 secs ago sensor:m_water_vx(m/s)=-0.0430019975485748 594.089 secs ago sensor:m_water_vy(m/s)=0.0474746257767348 594.125 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)=0 459.797 secs ago sensor:x_fin_deadband(rad)=0.04 183926 secs ago sensor:x_last_wpt_lat(lat)=3645.049 891.94 secs ago sensor:x_last_wpt_lon(lon)=-12201.76 891.98 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 44/ 4/ 0 odd:1479/ 157/ 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 not updated this cycle Water Velocity Calculations waiting for final gps fix(ideally -523 secs) Waypoint: (3645.1030,-12201.7600) Range: 206m, Bearing: 133deg, Age: 0:14h:m Time until diving is: 509 secs 183930 68 SCI:PROGLET house_elf start() called 183931 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 183931 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 183932 SCI:PROGLET ctd41cp start() called 183932 SCI: Opening port 0:SBMB:J0 183932 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 183935 69 SCI: in queue size: 2048, out queue size: 0 183935 SCI:sci_uart_drain_input(0): 183936 SCI: 183936 SCI:sci_uart_drain_input:Drained 0 chars 183937 SCI:bit_shared_open(): bit(0) is already open. 183937 SCI:Bit(0) use count is now 2. 183937 SCI:bit_shared_raise(): Raising bit(0). 183937 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 183937 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] [ 26 4 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] [ 559 43 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] [ 812 98 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: 44/ 4/ 0 odd:1479/ 157/ 3 ^R183961 75 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 521.093750 Megabytes available on CF file system = 1476.875000 183966 00480071.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=208.0K, M_SPARE_HEAP=189.0K Running algorithm to free disk space if required Not necessary to delete any files at this time Writing longterm state disk file: c:/state/longterm.sta f_ocean_pressure_min(volts) 0.140415 m_avg_climb_rate(m/s) -0.219325 m_avg_speed(m/s) 0.384175 m_avg_upward_inflection_time(sec) 70.352020 m_battery(volts) 11.015764 m_coulomb_amphr_total(amp-hrs) 187.449502 m_fin(rad) 0.002795 m_iridium_call_num(nodim) 774.000000 m_iridium_dialed_num(nodim) 1056.000000 m_lat(lat) 3645.196300 m_lon(lon) -12201.836000 m_tot_ballast_pumped_energy(kjoules) 243.417290 m_tot_horz_dist(km) 996.064974 m_tot_num_inflections(nodim) 7270.000000 m_tot_num_thermal_valve_cmd(nodim) 925.000000 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 3.0 seconds. The average lag time between the system and gps clock is 3.1 seconds. Housekeeping is done 184046 80 00480072.mlg LOG FILE OPENED Megabytes used on CF file system = 521.218750 Megabytes available on CF file system = 1476.750000 184048 init_gps_input() 184048 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final GP