Connection Event: Carrier Detect found.236414 Iridium console active and ready... Vehicle Name: ru32 Curr Time: Thu Jul 20 07:17:30 2017 MT: 236413 DR Location: 3645.187 N -12201.719 E measured 43.769 secs ago GPS TooFar: 3645.105 N -12201.831 E measured 115752 secs ago GPS Invalid : 3645.058 N -12201.858 E measured 106.278 secs ago GPS Location: 3645.187 N -12201.719 E measured 46.149 secs ago sensor:c_thruster_surface_depth(m)=0 3907.47 secs ago sensor:c_wpt_lat(lat)=3645.022 207.698 secs ago sensor:c_wpt_lon(lon)=-12201.676 207.761 secs ago sensor:m_battery(volts)=11.1141909114885 25.247 secs ago sensor:m_coulomb_amphr(amp-hrs)=188.94075012207 5.401 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=191.901436622068 5.421 secs ago sensor:m_depth(m)=0 5.398 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.614 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 46.739 secs ago sensor:m_iridium_attempt_num(nodim)=1 41.089 secs ago sensor:m_iridium_call_num(nodim)=787 0.815 secs ago sensor:m_iridium_dialed_num(nodim)=1075 15.915 secs ago sensor:m_leakdetect_voltage(volts)=2.47619047619048 30.892 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47948717948718 30.912 secs ago sensor:m_tot_num_inflections(nodim)=7292 157.878 secs ago sensor:m_vacuum(inHg)=9.17576327838828 25.88 secs ago sensor:m_water_vx(m/s)=-0.0269244332510997 75.948 secs ago sensor:m_water_vy(m/s)=0.0559015096461602 75.992 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 4491.19 secs ago sensor:x_fin_deadband(rad)=0.04 236415 secs ago sensor:x_last_wpt_lat(lat)=3645.076 209.056 secs ago sensor:x_last_wpt_lon(lon)=-12201.676 209.109 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 236415 No login script found for processing. 236416 DRIVER_ODDITY:iridium:1784:xxx_ctrl() ran too long Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-197-0-92 (0048.0092) Vehicle Name: ru32 Curr Time: Thu Jul 20 07:18:07 2017 MT: 236451 DR Location: 3645.187 N -12201.719 E measured 81.082 secs ago GPS TooFar: 3645.105 N -12201.831 E measured 115790 secs ago GPS Invalid : 3645.058 N -12201.858 E measured 143.592 secs ago GPS Location: 3645.187 N -12201.719 E measured 83.461 secs ago sensor:c_thruster_surface_depth(m)=0 3944.74 secs ago sensor:c_wpt_lat(lat)=3645.022 244.937 secs ago sensor:c_wpt_lon(lon)=-12201.676 244.975 secs ago sensor:m_battery(volts)=11.1141909114885 62.449 secs ago sensor:m_coulomb_amphr(amp-hrs)=188.946685791016 4.768 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=191.907372291014 4.783 secs ago sensor:m_depth(m)=0 4.712 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 9.863 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 83.864 secs ago sensor:m_iridium_attempt_num(nodim)=1 78.196 secs ago sensor:m_iridium_call_num(nodim)=787 37.902 secs ago sensor:m_iridium_dialed_num(nodim)=1075 52.989 secs ago sensor:m_leakdetect_voltage(volts)=2.4720695970696 4.873 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47893772893773 4.887 secs ago sensor:m_tot_num_inflections(nodim)=7292 194.925 secs ago sensor:m_vacuum(inHg)=9.17576327838828 62.912 secs ago sensor:m_water_vx(m/s)=-0.0269244332510997 112.97 secs ago sensor:m_water_vy(m/s)=0.0559015096461602 113.004 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 4528.12 secs ago sensor:x_fin_deadband(rad)=0.04 236452 secs ago sensor:x_last_wpt_lat(lat)=3645.076 245.945 secs ago sensor:x_last_wpt_lon(lon)=-12201.676 245.981 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 45/ 5/ 0 odd:1520/ 198/ 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 -33 secs) Waypoint: (3645.0220,-12201.6760) Range: 311m, Bearing: 154deg, Age: 0:4h:m Time until diving is: 209 secs !put u_use_current_correction 0 -------------------------------- 236472 81 sensor: u_use_current_correction = 0 nodim -------------------------------- 236472 behavior surface_2: ! succeeded:put u_use_current_correction 0 236472 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume s *.sbd *.tbd -------------------------------- 236477 82 00480092.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 236486 86 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 00480092.tbd to/from ru32 size is 7576 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: 7576 zModem transfer DONE for file 00480092.tbd Starting zModem transfer of 00480091.tbd to/from ru32 size is 656 Total Bytes sent/received: 656 zModem transfer DONE for file 00480091.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00480092.TBD c:\logs\00480091.TBD SCI: SUCCESS 236558 1 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 236560 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 236560 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00480092.sbd to/from ru32 size is 4914 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 4914 zModem transfer DONE for file 00480092.sbd Starting zModem transfer of 00480091.sbd to/from ru32 size is 1022 Total Bytes sent/received: 1022 zModem transfer DONE for file 00480091.sbd restore_sensors().... 236615 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.**^XB0800000000022d DEL**^XB0800000000022d DEL. GLD: Sent 2 file(s): c:\logs\00480092.SBD c:\logs\00480091.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 2.000000 236690 19 SCI:PROGLET house_elf begin() called 236690 SCI: house_elf: Version 1.2 236690 SCI:PROGLET ctd41cp begin() called 236691 SCI: ctd41cp: Version 0.2 236691 SCI: ctd41cp: Will be sending the following data to glider: 236691 SCI: sci_water_cond(s/m) 236691 SCI: sci_water_temp(degc) 236691 SCI: sci_water_pressure(bar) 236691 SCI: sci_ctd41cp_timestamp(timestamp) 236691 SCI:PROGLET flbbcd begin() called 236691 SCI: flbbcd: Version 0.0 236691 SCI: flbbcd: Will be sending following data to glider: 236691 SCI: sci_flbbcd_chlor_units(ug/l) 236691 SCI: sci_flbbcd_bb_units(nodim) 236692 SCI: sci_flbbcd_cdom_units(ppb) 236692 SCI: sci_flbbcd_chlor_sig(nodim) 236692 SCI: sci_flbbcd_bb_sig(nodim) 236692 SCI: sci_flbbcd_cdom_sig(nodim) 236692 SCI: sci_flbbcd_chlor_ref(nodim) 236692 SCI: sci_flbbcd_bb_ref(nodim) 236692 SCI: sci_flbbcd_cdom_ref(nodim) 236692 SCI: sci_flbbcd_therm(nodim) 236692 SCI: sci_flbbcd_timestamp(timestamp) 236692 SCI: Opening Bit(0) for output 236692 SCI:Bit(0) use count is now 1. 236692 SCI:Bit(0) raise count is now 0. 236692 SCI:Bit(0) raise count is now 0. 236703 22 SCI:PROGLET house_elf start() called 236703 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 236703 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 236703 SCI:PROGLET ctd41cp start() called 236703 SCI: Opening port 0:SBMB:J0 236703 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 236703 SCI: in queue size: 2048, out queue size: 0 236703 SCI:sci_uart_drain_input(0): 236704 SCI: 236704 SCI:sci_uart_drain_input:Drained 0 chars 236704 SCI:bit_shared_open(): bit(0) is already open. 236704 SCI:Bit(0) use count is now 2. 236704 SCI:bit_shared_raise(): Raising bit(0). 236704 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 236704 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 236762 23 00480093.mlg LOG FILE OPENED -------------------------------- 236763 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:ru32-2017-197-0-93 (0048.0093) Vehicle Name: ru32 Curr Time: Thu Jul 20 07:23:24 2017 MT: 236768 DR Location: 3645.187 N -12201.719 E measured 397.434 secs ago GPS TooFar: 3645.105 N -12201.831 E measured 116106 secs ago GPS Invalid : 3645.058 N -12201.858 E measured 459.944 secs ago GPS Location: 3645.187 N -12201.719 E measured 399.813 secs ago sensor:c_thruster_surface_depth(m)=0 4261.09 secs ago sensor:c_wpt_lat(lat)=3645.022 561.29 secs ago sensor:c_wpt_lon(lon)=-12201.676 561.33 secs ago sensor:m_battery(volts)=11.0913932952043 3.272 secs ago sensor:m_coulomb_amphr(amp-hrs)=188.989440917969 3.452 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=191.950127417967 3.466 secs ago sensor:m_depth(m)=0.128700481120938 3.333 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.6 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 400.21 secs ago sensor:m_iridium_attempt_num(nodim)=0 296.359 secs ago sensor:m_iridium_call_num(nodim)=787 354.247 secs ago sensor:m_iridium_dialed_num(nodim)=1075 369.333 secs ago sensor:m_leakdetect_voltage(volts)=2.4748778998779 3.299 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47857142857143 3.313 secs ago sensor:m_tot_num_inflections(nodim)=7292 511.265 secs ago sensor:m_vacuum(inHg)=10.4395807387057 3.721 secs ago sensor:m_water_vx(m/s)=-0.0269244332510997 429.311 secs ago sensor:m_water_vy(m/s)=0.0559015096461602 429.344 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)=0 296.427 secs ago sensor:x_fin_deadband(rad)=0.04 236769 secs ago sensor:x_last_wpt_lat(lat)=3645.076 562.286 secs ago sensor:x_last_wpt_lon(lon)=-12201.676 562.322 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 45/ 5/ 0 odd:1520/ 198/ 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 -349 secs) Waypoint: (3645.0220,-12201.6760) Range: 311m, Bearing: 154deg, Age: 0:9h:m Time until diving is: 294 secs !zr -------------------------------- 236788 27 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 236788 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/20170720T072425_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/20170720T072425_goto_l10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/goto_l10.ma< Successful 236826 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 236826 restore_sensors().... 236826 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 236826 behavior surface_2: ! succeeded:zr 236826 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:ru32-2017-197-0-93 (0048.0093) Vehicle Name: ru32 Curr Time: Thu Jul 20 07:24:27 2017 MT: 236831 DR Location: 3645.187 N -12201.719 E measured 460.332 secs ago GPS TooFar: 3645.105 N -12201.831 E measured 116169 secs ago GPS Invalid : 3645.058 N -12201.858 E measured 522.841 secs ago GPS Location: 3645.187 N -12201.719 E measured 462.71 secs ago sensor:c_thruster_surface_depth(m)=0 4323.99 secs ago sensor:c_wpt_lat(lat)=3645.022 624.189 secs ago sensor:c_wpt_lon(lon)=-12201.676 624.225 secs ago sensor:m_battery(volts)=11.0827159925459 3.127 secs ago sensor:m_coulomb_amphr(amp-hrs)=188.996566772461 3.319 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=191.957253272459 3.332 secs ago sensor:m_depth(m)=0.210849724389492 3.187 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 36.772 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 463.104 secs ago sensor:m_iridium_attempt_num(nodim)=0 359.254 secs ago sensor:m_iridium_call_num(nodim)=787 417.141 secs ago sensor:m_iridium_dialed_num(nodim)=1075 432.229 secs ago sensor:m_leakdetect_voltage(volts)=2.47576312576313 3.357 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47881562881563 3.371 secs ago sensor:m_tot_num_inflections(nodim)=7292 574.161 secs ago sensor:m_vacuum(inHg)=10.4342255799756 3.579 secs ago sensor:m_water_vx(m/s)=-0.0269244332510997 492.206 secs ago sensor:m_water_vy(m/s)=0.0559015096461602 492.239 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)=0 359.322 secs ago sensor:x_fin_deadband(rad)=0.04 236831 secs ago sensor:x_last_wpt_lat(lat)=3645.076 625.18 secs ago sensor:x_last_wpt_lon(lon)=-12201.676 625.216 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 45/ 5/ 0 odd:1520/ 198/ 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 -412 secs) Waypoint: (3645.0220,-12201.6760) Range: 311m, Bearing: 154deg, Age: 0:10h: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). 236856 33 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized 236856 behavior sample_8: STATE Active -> UnInited 236856 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 236856 behavior sample_7: STATE Active -> UnInited 236856 behavior yo_6: STATE Active -> UnInited 236856 behavior goto_list_5: STATE Active -> UnInited 236856 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 236856 behavior surface_4: STATE Waiting for Activation -> UnInited 236856 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 236856 behavior surface_3: STATE Waiting for Activation -> UnInited 236861 35 behavior sample_8: sample(): reading bargs 236861 behavior sample_8: Reading b_args from sample48.ma 236861 behavior sample_8: sensor_type(enum)=48.000000 236861 behavior sample_8: sample_time_after_state_change(s)=0.000000 236861 behavior sample_8: intersample_time(sec)=1.000000 236861 behavior sample_8: state_to_sample(enum)=7.000000 236861 behavior sample_8: nth_yo_to_sample(nodim)=1.000000 236861 behavior sample_8: min_depth(m)=-5.000000 236861 behavior sample_8: max_depth(m)=2000.000000 236861 behavior sample_8: STATE UnInited -> Active 236861 behavior sample_8: argument: args_from_file = 48.000000 enum 236862 behavior sample_8: argument: sensor_type = 48.000000 enum 236862 behavior sample_8: argument: state_to_sample = 7.000000 enum 236862 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s 236862 behavior sample_8: argument: intersample_time = 1.000000 s 236862 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim 236862 behavior sample_8: argument: intersample_depth = -1.000000 m 236862 behavior sample_8: argument: min_depth = -5.000000 m 236862 behavior sample_8: argument: max_depth = 2000.000000 m 236862 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface 236862 behavior sample_7: sample(): reading bargs 236862 behavior sample_7: Reading b_args from sample01.ma 236862 behavior sample_7: sensor_type(enum)=1.000000 236862 behavior sample_7: sample_time_after_state_change(s)=0.000000 236862 behavior sample_7: intersample_time(sec)=1.000000 236862 behavior sample_7: state_to_sample(enum)=15.000000 236862 behavior sample_7: nth_yo_to_sample(nodim)=1.000000 236862 behavior sample_7: min_depth(m)=-5.000000 236862 behavior sample_7: max_depth(m)=2000.000000 236862 behavior sample_7: STATE UnInited -> Active 236863 behavior sample_7: argument: args_from_file = 1.000000 enum 236863 behavior sample_7: argument: sensor_type = 1.000000 enum 236863 behavior sample_7: argument: state_to_sample = 15.000000 enum 236863 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 236863 behavior sample_7: argument: intersample_time = 1.000000 s 236863 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim 236863 behavior sample_7: argument: intersample_depth = -1.000000 m 236863 behavior sample_7: argument: min_depth = -5.000000 m 236863 behavior sample_7: argument: max_depth = 2000.000000 m 236863 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 236863 behavior yo_6: Reading b_args from yo20.ma 236863 behavior yo_6: num_half_cycles_to_do(nodim)=2.000000 236863 behavior yo_6: end_action(enum)=2.000000 236863 behavior yo_6: d_target_depth(m)=500.000000 236863 behavior yo_6: d_target_altitude(m)=20.000000 236863 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 236863 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 236863 behavior yo_6: d_use_bpump(enum)=2.000000 236863 behavior yo_6: d_bpump_value(X)=-240.000000 236864 behavior yo_6: d_use_pitch(enum)=3.000000 236864 behavior yo_6: d_pitch_value(X)=-0.523600 236864 behavior yo_6: d_use_thruster(enum)=0.000000 236864 behavior yo_6: d_thruster_value(X)=0.000000 236864 behavior yo_6: d_depth_rate_method(enum)=3.000000 236864 behavior yo_6: c_target_depth(m)=10.000000 236864 behavior yo_6: c_target_altitude(m)=-1.000000 236864 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 236864 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 236864 behavior yo_6: c_use_bpump(enum)=2.000000 236864 behavior yo_6: c_bpump_value(X)=1000.000000 236864 behavior yo_6: c_use_pitch(enum)=3.000000 236864 behavior yo_6: c_pitch_value(X)=0.523600 236864 behavior yo_6: c_use_thruster(enum)=0.000000 236864 behavior yo_6: c_thruster_value(X)=0.000000 236864 behavior yo_6: STATE UnInited -> Waiting for Activation 236864 behavior yo_6: argument: args_from_file = 20.000000 enum 236864 behavior yo_6: argument: start_when = 2.000000 enum 236864 behavior yo_6: argument: start_diving = 1.000000 bool 236864 behavior yo_6: argument: num_half_cycles_to_do = 2.000000 nodim 236865 behavior yo_6: argument: d_target_depth = 500.000000 m 236865 behavior yo_6: argument: d_target_altitude = 20.000000 m 236865 behavior yo_6: argument: d_use_bpump = 2.000000 enum 236865 behavior yo_6: argument: d_bpump_value = -240.000000 X 236865 behavior yo_6: argument: d_use_pitch = 3.000000 enum 236865 behavior yo_6: argument: d_pitch_value = -0.523600 X 236865 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 236865 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 236865 behavior yo_6: argument: d_speed_min = -100.000000 m/s 236865 behavior yo_6: argument: d_speed_max = 100.000000 m/s 236865 behavior yo_6: argument: d_use_thruster = 0.000000 enum 236865 behavior yo_6: argument: d_thruster_value = 0.000000 X 236865 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 236865 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 236865 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 236865 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 236865 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 236865 behavior yo_6: argument: d_time_ratio = 1.100000 X 236865 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 236865 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 236866 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 236866 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 236866 behavior yo_6: argument: c_target_depth = 10.000000 m 236866 behavior yo_6: argument: c_target_altitude = -1.000000 m 236866 behavior yo_6: argument: c_use_bpump = 2.000000 enum 236866 behavior yo_6: argument: c_bpump_value = 1000.000000 X 236866 behavior yo_6: argument: c_use_pitch = 3.000000 enum 236866 behavior yo_6: argument: c_pitch_value = 0.523600 X 236866 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 236866 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 236866 behavior yo_6: argument: c_speed_min = 100.000000 m/s 236866 behavior yo_6: argument: c_speed_max = -100.000000 m/s 236866 behavior yo_6: argument: c_use_thruster = 0.000000 enum 236866 behavior yo_6: argument: c_thruster_value = 0.000000 X 236866 behavior yo_6: argument: end_action = 2.000000 enum 236866 behavior yo_6: STATE Waiting for Activation -> Active 236866 behavior dive_to_601: STATE UnInited -> Active 236866 behavior dive_to_601: argument: target_depth = 500.000000 m 236866 behavior dive_to_601: argument: target_altitude = 20.000000 m 236866 behavior dive_to_601: argument: use_bpump = 2.000000 enum 236867 behavior dive_to_601: argument: bpump_value = -240.000000 X 236867 behavior dive_to_601: argument: use_pitch = 3.000000 enum 236867 behavior dive_to_601: argument: pitch_value = -0.523600 X 236867 behavior dive_to_601: argument: start_when = 0.000000 enum 236867 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 236867 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 236867 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 236867 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 236867 behavior dive_to_601: argument: speed_min = -100.000000 m/s 236867 behavior dive_to_601: argument: speed_max = 100.000000 m/s 236867 behavior dive_to_601: argument: use_thruster = 0.000000 enum 236867 behavior dive_to_601: argument: thruster_value = 0.000000 X 236867 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 236867 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 236867 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 236867 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 236867 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 236867 behavior dive_to_601: argument: time_ratio = 1.100000 X 236867 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 236868 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 236868 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 236868 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 236868 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 236868 behavior goto_list_5: Reading b_args from goto_l10.ma 236868 behavior goto_list_5: num_legs_to_run(nodim)=-1.000000 236868 behavior goto_list_5: start_when(enum)=0.000000 236868 behavior goto_list_5: list_stop_when(enum)=7.000000 236868 behavior goto_list_5: list_when_wpt_dist(m)=25.000000 236868 behavior goto_list_5: initial_wpt(enum)=0.000000 236868 behavior goto_list_5: num_waypoints(nodim)=4.000000 236868 behavior goto_list_5: Reading waypoints from file: 236868 behavior goto_list_5: 0 lon: -12201.7260 lat: 3645.0760 236868 behavior goto_list_5: 1 lon: -12201.6590 lat: 3645 ****** 236903 SCI: house_elf: Version 1.2 236904 SCI:PROGLET ctd41cp begin() called 236904 SCI: ctd41cp: Version 0.2 236904 SCI: ctd41cp: Will be sending the following data to glider: 236904 SCI: sci_water_cond(s/m) 236904 SCI: sci_water_temp(degc) 236904 SCI: sci_water_pressure(bar) 236905 SCI: sci_ctd41cp_timestamp(timestamp) 236905 SCI:PROGLET flbbcd begin() called 236905 SCI: flbbcd: Version 0.0 236908 41 SCI: flbbcd: Will be sending following data to glider: 236909 SCI: sci_flbbcd_chlor_units(ug/l) 236909 SCI: sci_flbbcd_bb_units(nodim) 236909 SCI: sci_flbbcd_cdom_units(ppb) 236909 SCI: sci_flbbcd_chlor_sig(nodim) 236909 SCI: sci_flbbcd_bb_sig(nodim) 236910 SCI: sci_flbbcd_cdom_sig(nodim) 236910 SCI: sci_flbbcd_chlor_ref(nodim) 236910 SCI: sci_flbbcd_bb_ref(nodim) 236910 SCI: sci_flbbcd_cdom_ref(nodim) 236910 SCI: sci_flbbcd_therm(nodim) 236913 42 SCI: sci_flbbcd_timestamp(timestamp) 236913 SCI: Opening Bit(0) for output 236914 SCI:Bit(0) use count is now 1. 236914 SCI:Bit(0) raise count is now 0. 236914 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:ru32-2017-197-0-93 (0048.0093) Vehicle Name: ru32 Curr Time: Thu Jul 20 07:25:55 2017 MT: 236919 DR Location: 3645.187 N -12201.719 E measured 548.384 secs ago GPS TooFar: 3645.105 N -12201.831 E measured 116257 secs ago GPS Invalid : 3645.058 N -12201.858 E measured 610.895 secs ago GPS Location: 3645.187 N -12201.719 E measured 550.765 secs ago sensor:c_thruster_surface_depth(m)=0 45.172 secs ago sensor:c_wpt_lat(lat)=3645.076 47.698 secs ago sensor:c_wpt_lon(lon)=-12201.726 47.739 secs ago sensor:m_battery(volts)=11.0533738194208 24.667 secs ago sensor:m_coulomb_amphr(amp-hrs)=189.009628295898 4.967 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=191.970314795896 4.983 secs ago sensor:m_depth(m)=0.156083562210456 4.897 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 10.414 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 551.188 secs ago sensor:m_iridium_attempt_num(nodim)=0 447.339 secs ago sensor:m_iridium_call_num(nodim)=787 505.228 secs ago sensor:m_iridium_dialed_num(nodim)=1075 520.319 secs ago sensor:m_leakdetect_voltage(volts)=2.47628205128205 24.882 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4793956043956 24.895 secs ago sensor:m_tot_num_inflections(nodim)=7292 662.256 secs ago sensor:m_vacuum(inHg)=10.4280465506716 25.145 secs ago sensor:m_water_vx(m/s)=-0.0269244332510997 580.307 secs ago sensor:m_water_vy(m/s)=0.0559015096461602 580.341 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)=0 447.433 secs ago sensor:x_fin_deadband(rad)=0.04 236920 secs ago sensor:x_last_wpt_lat(lat)=3645.076 713.298 secs ago sensor:x_last_wpt_lon(lon)=-12201.676 713.335 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 45/ 5/ 0 odd:1520/ 198/ 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 -500 secs) Waypoint: (3645.0760,-12201.7260) Range: 205m, Bearing: 169deg, Age: 0:0h:m Time until diving is: 506 secs 236920 43 SCI:PROGLET house_elf start() called 236924 43 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 236925 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 236926 SCI:PROGLET ctd41cp start() called 236926 SCI: Opening port 0:SBMB:J0 236926 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 236926 SCI: in queue size: 2048, out queue size: 0 236926 SCI:sci_uart_drain_input(0): 236927 SCI: 236927 SCI:sci_uart_drain_input:Drained 0 chars 236927 SCI:bit_shared_open(): bit(0) is already open. 236930 44 SCI:Bit(0) use count is now 2. 236930 SCI:bit_shared_raise(): Raising bit(0). 236931 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 236931 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] [ 27 5 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] [ 1 1 0] [ 570 54 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] [ 841 127 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: 45/ 5/ 0 odd:1520/ 198/ 2 ^R236950 49 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 532.937500 Megabytes available on CF file system = 1465.031250 236955 00480093.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) 0.140363 m_avg_climb_rate(m/s) -0.226281 m_avg_speed(m/s) 0.382359 m_avg_upward_inflection_time(sec) 98.864097 m_battery(volts) 11.053374 m_coulomb_amphr_total(amp-hrs) 191.976250 m_fin(rad) 0.013974 m_iridium_call_num(nodim) 787.000000 m_iridium_dialed_num(nodim) 1075.000000 m_lat(lat) 3645.186600 m_lon(lon) -12201.718800 m_tot_ballast_pumped_energy(kjoules) 243.417290 m_tot_horz_dist(km) 1012.333881 m_tot_num_inflections(nodim) 7292.000000 m_tot_num_thermal_valve_cmd(nodim) 944.000000 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) 3645.076000 x_last_wpt_lon(lon) -12201.676000 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 237035 54 00480094.mlg LOG FILE OPENED Megabytes used on CF file system = 533.062500 Megabytes available on CF file system = 1464.906250 237038 init_gps_input() 237038 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waitin