Connection Event: Carrier Detect found.347681 Iridium console active and ready... Vehicle Name: ru32 Curr Time: Fri Jul 21 14:11:59 2017 MT: 347681 DR Location: 3645.048 N -12201.636 E measured 43.54 secs ago GPS TooFar: 3645.270 N -12201.827 E measured 89246.6 secs ago GPS Invalid : 3645.161 N -12201.587 E measured 111.139 secs ago GPS Location: 3645.048 N -12201.636 E measured 45.922 secs ago sensor:c_thruster_surface_depth(m)=0 3935.53 secs ago sensor:c_wpt_lat(lat)=3645.049 231.705 secs ago sensor:c_wpt_lon(lon)=-12201.76 231.772 secs ago sensor:m_battery(volts)=11.1071775004056 35.207 secs ago sensor:m_coulomb_amphr(amp-hrs)=198.188995361328 5.371 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=201.149681861326 5.392 secs ago sensor:m_depth(m)=0 5.373 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.731 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 46.493 secs ago sensor:m_iridium_attempt_num(nodim)=1 40.942 secs ago sensor:m_iridium_call_num(nodim)=811 0.799 secs ago sensor:m_iridium_dialed_num(nodim)=1103 10.97 secs ago sensor:m_leakdetect_voltage(volts)=2.47600732600733 40.87 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47960927960928 40.892 secs ago sensor:m_tot_num_inflections(nodim)=7336 167.511 secs ago sensor:m_vacuum(inHg)=9.16175747863247 35.834 secs ago sensor:m_water_vx(m/s)=0.0251564068045983 76.09 secs ago sensor:m_water_vy(m/s)=0.00257015662376652 76.131 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 4484.5 secs ago sensor:x_fin_deadband(rad)=0.04 347683 secs ago sensor:x_last_wpt_lat(lat)=3645.049 233.073 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 233.126 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 347683 No login script found for processing. 347683 DRIVER_ODDITY:iridium:1765:xxx_ctrl() ran too long Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-197-0-136 (0048.0136) Vehicle Name: ru32 Curr Time: Fri Jul 21 14:12:36 2017 MT: 347719 DR Location: 3645.048 N -12201.636 E measured 80.692 secs ago GPS TooFar: 3645.270 N -12201.827 E measured 89283.7 secs ago GPS Invalid : 3645.161 N -12201.587 E measured 148.288 secs ago GPS Location: 3645.048 N -12201.636 E measured 83.072 secs ago sensor:c_thruster_surface_depth(m)=0 3972.66 secs ago sensor:c_wpt_lat(lat)=3645.049 268.801 secs ago sensor:c_wpt_lon(lon)=-12201.76 268.841 secs ago sensor:m_battery(volts)=11.1007899090952 9.575 secs ago sensor:m_coulomb_amphr(amp-hrs)=198.194946289062 4.603 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=201.155632789061 4.618 secs ago sensor:m_depth(m)=0 4.542 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.754 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 83.473 secs ago sensor:m_iridium_attempt_num(nodim)=1 77.902 secs ago sensor:m_iridium_call_num(nodim)=811 37.74 secs ago sensor:m_iridium_dialed_num(nodim)=1103 47.899 secs ago sensor:m_leakdetect_voltage(volts)=2.47588522588522 14.834 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47942612942613 14.85 secs ago sensor:m_tot_num_inflections(nodim)=7336 204.413 secs ago sensor:m_vacuum(inHg)=9.53167536630037 10.037 secs ago sensor:m_water_vx(m/s)=0.0251564068045983 112.965 secs ago sensor:m_water_vy(m/s)=0.00257015662376652 112.996 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 4521.3 secs ago sensor:x_fin_deadband(rad)=0.04 347720 secs ago sensor:x_last_wpt_lat(lat)=3645.049 269.82 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 269.855 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 46/ 6/ 0 odd:1583/ 261/ 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 -23 secs) Waypoint: (3645.0490,-12201.7600) Range: 184m, Bearing: 256deg, Age: 0:4h:m Time until diving is: 210 secs !put u_use_current_correction 0 -------------------------------- 347740 55 sensor: u_use_current_correction = 0 nodim -------------------------------- 347740 behavior surface_2: ! succeeded:put u_use_current_correction 0 347740 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume s *.sbd *.tbd -------------------------------- 347745 57 00480136.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 347754 60 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 00480136.tbd to/from ru32 size is 7493 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: 7493 zModem transfer DONE for file 00480136.tbd Starting zModem transfer of 00480135.tbd to/from ru32 size is 637 Total Bytes sent/received: 637 zModem transfer DONE for file 00480135.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00480136.TBD c:\logs\00480135.TBD SCI: SUCCESS 347828 76 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 347830 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 347830 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00480136.sbd to/from ru32 size is 4751 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 4751 zModem transfer DONE for file 00480136.sbd Starting zModem transfer of 00480135.sbd to/from ru32 size is 963 Total Bytes sent/received: 963 zModem transfer DONE for file 00480135.sbd 47883 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 347883 restore_sensors().... 347883 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\00480136.SBD c:\logs\00480135.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 2.000000 347962 95 SCI:PROGLET house_elf begin() called 347963 SCI: house_elf: Version 1.2 347963 SCI:PROGLET ctd41cp begin() called 347963 SCI: ctd41cp: Version 0.2 347963 SCI: ctd41cp: Will be sending the following data to glider: 347963 SCI: sci_water_cond(s/m) 347963 SCI: sci_water_temp(degc) 347963 96 SCI: sci_water_pressure(bar) 347963 SCI: sci_ctd41cp_timestamp(timestamp) 347963 SCI:PROGLET flbbcd begin() called 347964 SCI: flbbcd: Version 0.0 347964 SCI: flbbcd: Will be sending following data to glider: 347964 SCI: sci_flbbcd_chlor_units(ug/l) 347965 SCI: sci_flbbcd_bb_units(nodim) 347965 SCI: sci_flbbcd_cdom_units(ppb) 347965 SCI: sci_flbbcd_chlor_sig(nodim) 347965 SCI: sci_flbbcd_bb_sig(nodim) 347965 SCI: sci_flbbcd_cdom_sig(nodim) 347965 SCI: sci_flbbcd_chlor_ref(nodim) 347965 SCI: sci_flbbcd_bb_ref(nodim) 347965 SCI: sci_flbbcd_cdom_ref(nodim) 347965 SCI: sci_flbbcd_therm(nodim) 347965 SCI: sci_flbbcd_timestamp(timestamp) 347965 SCI: Opening Bit(0) for output 347965 SCI:Bit(0) use count is now 1. 347966 SCI:Bit(0) raise count is now 0. 347966 SCI:Bit(0) raise count is now 0. 347972 97 SCI:PROGLET house_elf start() called 347972 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 347972 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 347972 SCI:PROGLET ctd41cp start() called 347972 SCI: Opening port 0:SBMB:J0 347972 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 347972 SCI: in queue size: 2048, out queue size: 0 347972 SCI:sci_uart_drain_input(0): 347972 SCI: 347972 SCI:sci_uart_drain_input:Drained 0 chars 347973 SCI:bit_shared_open(): bit(0) is already open. 347973 SCI:Bit(0) use count is now 2. 347973 SCI:bit_shared_raise(): Raising bit(0). 347973 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 347973 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 348040 0 00480137.mlg LOG FILE OPENED -------------------------------- 348041 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:ru32-2017-197-0-137 (0048.0137) Vehicle Name: ru32 Curr Time: Fri Jul 21 14:18:02 2017 MT: 348045 DR Location: 3645.048 N -12201.636 E measured 406.854 secs ago GPS TooFar: 3645.270 N -12201.827 E measured 89609.9 secs ago GPS Invalid : 3645.161 N -12201.587 E measured 474.451 secs ago GPS Location: 3645.048 N -12201.636 E measured 409.234 secs ago sensor:c_thruster_surface_depth(m)=0 4298.83 secs ago sensor:c_wpt_lat(lat)=3645.049 594.964 secs ago sensor:c_wpt_lon(lon)=-12201.76 595.004 secs ago sensor:m_battery(volts)=11.0738308205056 3.265 secs ago sensor:m_coulomb_amphr(amp-hrs)=198.24006652832 3.441 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=201.200753028318 3.455 secs ago sensor:m_depth(m)=0.0985792847370892 3.328 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.585 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 409.626 secs ago sensor:m_iridium_attempt_num(nodim)=0 306.232 secs ago sensor:m_iridium_call_num(nodim)=811 363.891 secs ago sensor:m_iridium_dialed_num(nodim)=1103 374.049 secs ago sensor:m_leakdetect_voltage(volts)=2.4759768009768 3.294 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47765567765568 3.31 secs ago sensor:m_tot_num_inflections(nodim)=7336 530.563 secs ago sensor:m_vacuum(inHg)=10.4457597680098 3.713 secs ago sensor:m_water_vx(m/s)=0.0251564068045983 439.115 secs ago sensor:m_water_vy(m/s)=0.00257015662376652 439.148 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)=0 306.184 secs ago sensor:x_fin_deadband(rad)=0.04 348046 secs ago sensor:x_last_wpt_lat(lat)=3645.049 595.968 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 596.004 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 46/ 6/ 0 odd:1583/ 261/ 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: (3645.0490,-12201.7600) Range: 184m, Bearing: 256deg, Age: 0:9h:m Time until diving is: 294 secs !zr -------------------------------- 348065 3 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 348065 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/20170721T141852_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/20170721T141852_goto_l10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/goto_l10.ma< Successful 348092 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 348092 restore_sensors().... 348092 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 348092 behavior surface_2: ! succeeded:zr 348092 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:ru32-2017-197-0-137 (0048.0137) Vehicle Name: ru32 Curr Time: Fri Jul 21 14:18:54 2017 MT: 348096 DR Location: 3645.048 N -12201.636 E measured 458.322 secs ago GPS TooFar: 3645.270 N -12201.827 E measured 89661.4 secs ago GPS Invalid : 3645.161 N -12201.587 E measured 525.919 secs ago GPS Location: 3645.048 N -12201.636 E measured 460.703 secs ago sensor:c_thruster_surface_depth(m)=0 4350.3 secs ago sensor:c_wpt_lat(lat)=3645.049 646.432 secs ago sensor:c_wpt_lon(lon)=-12201.76 646.474 secs ago sensor:m_battery(volts)=11.0738308205056 54.735 secs ago sensor:m_coulomb_amphr(amp-hrs)=198.245986938476 3.201 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=201.206673438475 3.213 secs ago sensor:m_depth(m)=0.125962419386221 3.124 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 31.166 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 461.097 secs ago sensor:m_iridium_attempt_num(nodim)=0 357.703 secs ago sensor:m_iridium_call_num(nodim)=811 415.362 secs ago sensor:m_iridium_dialed_num(nodim)=1103 425.519 secs ago sensor:m_leakdetect_voltage(volts)=2.4759768009768 54.764 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47765567765568 54.78 secs ago sensor:m_tot_num_inflections(nodim)=7336 582.033 secs ago sensor:m_vacuum(inHg)=10.4457597680098 55.181 secs ago sensor:m_water_vx(m/s)=0.0251564068045983 490.584 secs ago sensor:m_water_vy(m/s)=0.00257015662376652 490.616 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)=0 357.653 secs ago sensor:x_fin_deadband(rad)=0.04 348097 secs ago sensor:x_last_wpt_lat(lat)=3645.049 647.437 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 647.473 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 46/ 6/ 0 odd:1583/ 261/ 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 -401 secs) Waypoint: (3645.0490,-12201.7600) Range: 184m, Bearing: 256deg, Age: 0:10h: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). 348122 10 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized 348122 behavior sample_8: STATE Active -> UnInited 348122 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 348122 behavior sample_7: STATE Active -> UnInited 348122 behavior yo_6: STATE Active -> UnInited 348122 behavior goto_list_5: STATE Active -> UnInited 348122 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 348122 behavior surface_4: STATE Waiting for Activation -> UnInited 348122 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 348122 behavior surface_3: STATE Waiting for Activation -> UnInited 348127 11 behavior sample_8: sample(): reading bargs 348127 behavior sample_8: Reading b_args from sample48.ma 348127 behavior sample_8: sensor_type(enum)=48.000000 348127 behavior sample_8: sample_time_after_state_change(s)=0.000000 348127 behavior sample_8: intersample_time(sec)=1.000000 348127 behavior sample_8: state_to_sample(enum)=7.000000 348127 behavior sample_8: nth_yo_to_sample(nodim)=1.000000 348127 behavior sample_8: min_depth(m)=-5.000000 348127 behavior sample_8: max_depth(m)=2000.000000 348127 behavior sample_8: STATE UnInited -> Active 348127 behavior sample_8: argument: args_from_file = 48.000000 enum 348127 behavior sample_8: argument: sensor_type = 48.000000 enum 348127 behavior sample_8: argument: state_to_sample = 7.000000 enum 348127 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s 348127 behavior sample_8: argument: intersample_time = 1.000000 s 348128 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim 348128 behavior sample_8: argument: intersample_depth = -1.000000 m 348128 behavior sample_8: argument: min_depth = -5.000000 m 348128 behavior sample_8: argument: max_depth = 2000.000000 m 348128 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface 348128 behavior sample_7: sample(): reading bargs 348128 behavior sample_7: Reading b_args from sample01.ma 348128 behavior sample_7: sensor_type(enum)=1.000000 348128 behavior sample_7: sample_time_after_state_change(s)=0.000000 348128 behavior sample_7: intersample_time(sec)=1.000000 348128 behavior sample_7: state_to_sample(enum)=15.000000 348128 behavior sample_7: nth_yo_to_sample(nodim)=1.000000 348128 behavior sample_7: min_depth(m)=-5.000000 348128 behavior sample_7: max_depth(m)=2000.000000 348128 behavior sample_7: STATE UnInited -> Active 348128 behavior sample_7: argument: args_from_file = 1.000000 enum 348128 behavior sample_7: argument: sensor_type = 1.000000 enum 348128 behavior sample_7: argument: state_to_sample = 15.000000 enum 348128 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 348129 behavior sample_7: argument: intersample_time = 1.000000 s 348129 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim 348129 behavior sample_7: argument: intersample_depth = -1.000000 m 348129 behavior sample_7: argument: min_depth = -5.000000 m 348129 behavior sample_7: argument: max_depth = 2000.000000 m 348129 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 348129 behavior yo_6: Reading b_args from yo20.ma 348129 behavior yo_6: num_half_cycles_to_do(nodim)=2.000000 348129 behavior yo_6: end_action(enum)=2.000000 348129 behavior yo_6: d_target_depth(m)=500.000000 348129 behavior yo_6: d_target_altitude(m)=20.000000 348129 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 348129 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 348129 behavior yo_6: d_use_bpump(enum)=2.000000 348129 behavior yo_6: d_bpump_value(X)=-240.000000 348129 behavior yo_6: d_use_pitch(enum)=3.000000 348129 behavior yo_6: d_pitch_value(X)=-0.610900 348129 behavior yo_6: d_use_thruster(enum)=0.000000 348129 behavior yo_6: d_thruster_value(X)=0.000000 348130 behavior yo_6: d_depth_rate_method(enum)=3.000000 348130 behavior yo_6: c_target_depth(m)=10.000000 348130 behavior yo_6: c_target_altitude(m)=-1.000000 348130 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 348130 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 348130 behavior yo_6: c_use_bpump(enum)=2.000000 348130 behavior yo_6: c_bpump_value(X)=1000.000000 348130 behavior yo_6: c_use_pitch(enum)=3.000000 348130 behavior yo_6: c_pitch_value(X)=0.610900 348130 behavior yo_6: c_use_thruster(enum)=0.000000 348130 behavior yo_6: c_thruster_value(X)=0.000000 348130 behavior yo_6: STATE UnInited -> Waiting for Activation 348130 behavior yo_6: argument: args_from_file = 20.000000 enum 348130 behavior yo_6: argument: start_when = 2.000000 enum 348130 behavior yo_6: argument: start_diving = 1.000000 bool 348130 behavior yo_6: argument: num_half_cycles_to_do = 2.000000 nodim 348130 behavior yo_6: argument: d_target_depth = 500.000000 m 348130 behavior yo_6: argument: d_target_altitude = 20.000000 m 348130 behavior yo_6: argument: d_use_bpump = 2.000000 enum 348131 behavior yo_6: argument: d_bpump_value = -240.000000 X 348131 behavior yo_6: argument: d_use_pitch = 3.000000 enum 348131 behavior yo_6: argument: d_pitch_value = -0.610900 X 348131 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 348131 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 348131 behavior yo_6: argument: d_speed_min = -100.000000 m/s 348131 behavior yo_6: argument: d_speed_max = 100.000000 m/s 348131 behavior yo_6: argument: d_use_thruster = 0.000000 enum 348131 behavior yo_6: argument: d_thruster_value = 0.000000 X 348131 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 348131 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 348131 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 348131 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 348131 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 348131 behavior yo_6: argument: d_time_ratio = 1.100000 X 348131 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 348131 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 348131 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 348131 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 348131 behavior yo_6: argument: c_target_depth = 10.000000 m 348132 behavior yo_6: argument: c_target_altitude = -1.000000 m 348132 behavior yo_6: argument: c_use_bpump = 2.000000 enum 348132 behavior yo_6: argument: c_bpump_value = 1000.000000 X 348132 behavior yo_6: argument: c_use_pitch = 3.000000 enum 348132 behavior yo_6: argument: c_pitch_value = 0.610900 X 348132 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 348132 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 348132 behavior yo_6: argument: c_speed_min = 100.000000 m/s 348132 behavior yo_6: argument: c_speed_max = -100.000000 m/s 348132 behavior yo_6: argument: c_use_thruster = 0.000000 enum 348132 behavior yo_6: argument: c_thruster_value = 0.000000 X 348132 behavior yo_6: argument: end_action = 2.000000 enum 348132 behavior yo_6: STATE Waiting for Activation -> Active 348132 behavior dive_to_601: STATE UnInited -> Active 348132 behavior dive_to_601: argument: target_depth = 500.000000 m 348132 behavior dive_to_601: argument: target_altitude = 20.000000 m 348132 behavior dive_to_601: argument: use_bpump = 2.000000 enum 348132 behavior dive_to_601: argument: bpump_value = -240.000000 X 348132 behavior dive_to_601: argument: use_pitch = 3.000000 enum 348132 behavior dive_to_601: argument: pitch_value = -0.610900 X 348133 behavior dive_to_601: argument: start_when = 0.000000 enum 348133 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 348133 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 348133 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 348133 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 348133 behavior dive_to_601: argument: speed_min = -100.000000 m/s 348133 behavior dive_to_601: argument: speed_max = 100.000000 m/s 348133 behavior dive_to_601: argument: use_thruster = 0.000000 enum 348133 behavior dive_to_601: argument: thruster_value = 0.000000 X 348133 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 348133 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 348133 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 348133 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 348133 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 348133 behavior dive_to_601: argument: time_ratio = 1.100000 X 348133 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 348133 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 348133 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 348133 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 348133 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 348134 behavior goto_list_5: Reading b_args from goto_l10.ma 348134 behavior goto_list_5: num_legs_to_run(nodim)=-1.000000 348134 behavior goto_list_5: start_when(enum)=0.000000 348134 behavior goto_list_5: list_stop_when(enum)=7.000000 348134 behavior goto_list_5: list_when_wpt_dist(m)=25.000000 348134 behavior goto_list_5: initial_wpt(enum)=0.000000 348134 behavior goto_list_5: num_waypoints(nodim)=4.000000 348134 behavior goto_list_5: Reading waypoints from file: 348134 behavior goto_list_5: 0 lon: -12201.6760 lat: 3645.0490 348134 behavior goto_list_5: 1 lon: -12201.7430 lat: 3645.0490 348134 ****** 348165 SCI: house_elf: Version 1.2 348165 SCI:PROGLET ctd41cp begin() called 348165 SCI: ctd41cp: Version 0.2 348165 SCI: ctd41cp: Will be sending the following data to glider: 348166 SCI: sci_water_cond(s/m) 348166 SCI: sci_water_temp(degc) 348166 SCI: sci_water_pressure(bar) 348166 SCI: sci_ctd41cp_timestamp(timestamp) 348169 15 SCI:PROGLET flbbcd begin() called 348169 SCI: flbbcd: Version 0.0 348170 SCI: flbbcd: Will be sending following data to glider: 348171 SCI: sci_flbbcd_chlor_units(ug/l) 348171 SCI: sci_flbbcd_bb_units(nodim) 348171 SCI: sci_flbbcd_cdom_units(ppb) 348171 SCI: sci_flbbcd_chlor_sig(nodim) 348171 SCI: sci_flbbcd_bb_sig(nodim) 348172 SCI: sci_flbbcd_cdom_sig(nodim) 348172 SCI: sci_flbbcd_chlor_ref(nodim) 348172 SCI: sci_flbbcd_bb_ref(nodim) 348175 16 SCI: sci_flbbcd_cdom_ref(nodim) 348175 SCI: sci_flbbcd_therm(nodim) 348176 SCI: sci_flbbcd_timestamp(timestamp) 348176 SCI: Opening Bit(0) for output 348176 SCI:Bit(0) use count is now 1. 348176 SCI:Bit(0) raise count is now 0. 348176 SCI:Bit(0) raise count is now 0. 348182 17 SCI:PROGLET house_elf start() called 348182 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 348182 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 348183 SCI:PROGLET ctd41cp start() called 348183 SCI: Opening port 0:SBMB:J0 Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-197-0-137 (0048.0137) Vehicle Name: ru32 Curr Time: Fri Jul 21 14:20:23 2017 MT: 348186 DR Location: 3645.048 N -12201.636 E measured 547.599 secs ago GPS TooFar: 3645.270 N -12201.827 E measured 89750.6 secs ago GPS Invalid : 3645.161 N -12201.587 E measured 615.196 secs ago GPS Location: 3645.048 N -12201.636 E measured 549.98 secs ago sensor:c_thruster_surface_depth(m)=0 46.378 secs ago sensor:c_wpt_lat(lat)=3645.049 48.898 secs ago sensor:c_wpt_lon(lon)=-12201.676 48.938 secs ago sensor:m_battery(volts)=11.0153978852444 15.461 secs ago sensor:m_coulomb_amphr(amp-hrs)=198.257873535156 4.88 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=201.218560035154 4.889 secs ago sensor:m_depth(m)=0.125962419386221 4.797 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 10.409 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 550.373 secs ago sensor:m_iridium_attempt_num(nodim)=0 446.979 secs ago sensor:m_iridium_call_num(nodim)=811 504.638 secs ago sensor:m_iridium_dialed_num(nodim)=1103 514.795 secs ago sensor:m_leakdetect_voltage(volts)=2.47664835164835 15.452 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47933455433455 15.465 secs ago sensor:m_tot_num_inflections(nodim)=7336 671.309 secs ago sensor:m_vacuum(inHg)=10.4354613858364 15.913 secs ago sensor:m_water_vx(m/s)=0.0251564068045983 579.86 secs ago sensor:m_water_vy(m/s)=0.00257015662376652 579.892 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)=0 446.929 secs ago sensor:x_fin_deadband(rad)=0.04 348187 secs ago sensor:x_last_wpt_lat(lat)=3645.049 736.715 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 736.751 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 46/ 6/ 0 odd:1583/ 261/ 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 -490 secs) Waypoint: (3645.0490,-12201.6760) Range: 59m, Bearing: 258deg, Age: 0:0h:m Time until diving is: 505 secs 348187 19 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 348191 20 SCI: in queue size: 2048, out queue size: 0 348191 SCI:sci_uart_drain_input(0): 348192 SCI: 348192 SCI:sci_uart_drain_input:Drained 0 chars 348192 SCI:bit_shared_open(): bit(0) is already open. 348193 SCI:Bit(0) use count is now 2. 348193 SCI:bit_shared_raise(): Raising bit(0). 348193 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 348193 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] [ 27 5 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] [ 597 81 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] [ 877 163 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: 46/ 6/ 0 odd:1583/ 261/ 2 ^R348217 25 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 557.593750 Megabytes available on CF file system = 1440.375000 348222 00480137.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) 0.140366 m_avg_climb_rate(m/s) -0.234949 m_avg_speed(m/s) 0.382038 m_avg_upward_inflection_time(sec) 76.198521 m_battery(volts) 11.015398 m_coulomb_amphr_total(amp-hrs) 201.225686 m_fin(rad) 0.011180 m_iridium_call_num(nodim) 811.000000 m_iridium_dialed_num(nodim) 1103.000000 m_lat(lat) 3645.047900 m_lon(lon) -12201.636400 m_tot_ballast_pumped_energy(kjoules) 243.417290 m_tot_horz_dist(km) 1046.673858 m_tot_num_inflections(nodim) 7336.000000 m_tot_num_thermal_valve_cmd(nodim) 979.000000 m_weight_drop(bool) 0.000000 s_water_depth_avg(m) 200.000000 s_water_depth_delta(m) 0.000000 s_water_depth_wavelength(m) 100.000000 x_hover_ballast_deep(cc) 0.000000 x_hover_ballast_shallow(cc) 0.000000 x_hover_depth_deep(m) 0.000000 x_hover_depth_shallow(m) 0.000000 x_last_wpt_lat(lat) 3645.049000 x_last_wpt_lon(lon) -12201.693000 The instantaneous lag time between the system and gps clock is 2.0 seconds. The average lag time between the system and gps clock is 2.7 seconds. Housekeeping is done 348301 29 00480138.mlg LOG FILE OPENED Megabytes used on CF file system = 557.718750 Megabytes available on CF file system = 1440.250000 348304 init_gps_input() 348304 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waitin