Connection Event: Carrier Detect found.381043 Iridium console active and ready... Vehicle Name: ru32 Curr Time: Fri Jul 21 23:28:00 2017 MT: 381042 DR Location: 3645.136 N -12201.581 E measured 48.474 secs ago GPS TooFar: 3645.059 N -12201.552 E measured 9528.81 secs ago GPS Invalid : 3645.064 N -12201.566 E measured 110.98 secs ago GPS Location: 3645.136 N -12201.581 E measured 48.99 secs ago sensor:c_thruster_surface_depth(m)=0 4766.6 secs ago sensor:c_wpt_lat(lat)=3645.022 264.437 secs ago sensor:c_wpt_lon(lon)=-12201.693 264.5 secs ago sensor:m_battery(volts)=11.1203125521187 15.377 secs ago sensor:m_coulomb_amphr(amp-hrs)=201.057998657226 5.23 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=204.018685157225 5.251 secs ago sensor:m_depth(m)=0 5.224 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.72 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 49.557 secs ago sensor:m_iridium_attempt_num(nodim)=1 40.738 secs ago sensor:m_iridium_call_num(nodim)=820 0.788 secs ago sensor:m_iridium_dialed_num(nodim)=1114 10.963 secs ago sensor:m_leakdetect_voltage(volts)=2.47603785103785 15.759 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4796398046398 15.782 secs ago sensor:m_tot_num_inflections(nodim)=7350 172.109 secs ago sensor:m_vacuum(inHg)=9.25650259462759 16.011 secs ago sensor:m_water_vx(m/s)=0.0310526554627002 75.77 secs ago sensor:m_water_vy(m/s)=0.0377838508949679 75.814 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 5386.91 secs ago sensor:x_fin_deadband(rad)=0.04 381044 secs ago sensor:x_last_wpt_lat(lat)=3645.076 265.775 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 265.826 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 381044 No login script found for processing. 381044 DRIVER_ODDITY:iridium:1760:xxx_ctrl() ran too long Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-197-0-150 (0048.0150) Vehicle Name: ru32 Curr Time: Fri Jul 21 23:28:38 2017 MT: 381080 DR Location: 3645.136 N -12201.581 E measured 85.988 secs ago GPS TooFar: 3645.059 N -12201.552 E measured 9566.32 secs ago GPS Invalid : 3645.064 N -12201.566 E measured 148.494 secs ago GPS Location: 3645.136 N -12201.581 E measured 86.505 secs ago sensor:c_thruster_surface_depth(m)=0 4804.09 secs ago sensor:c_wpt_lat(lat)=3645.022 301.905 secs ago sensor:c_wpt_lon(lon)=-12201.693 301.944 secs ago sensor:m_battery(volts)=11.1203125521187 52.808 secs ago sensor:m_coulomb_amphr(amp-hrs)=201.062759399414 4.623 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=204.023445899412 4.637 secs ago sensor:m_depth(m)=0 4.566 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.773 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 86.91 secs ago sensor:m_iridium_attempt_num(nodim)=1 78.074 secs ago sensor:m_iridium_call_num(nodim)=820 38.105 secs ago sensor:m_iridium_dialed_num(nodim)=1114 48.267 secs ago sensor:m_leakdetect_voltage(volts)=2.47603785103785 53.051 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4796398046398 53.068 secs ago sensor:m_tot_num_inflections(nodim)=7350 209.381 secs ago sensor:m_vacuum(inHg)=9.25650259462759 53.269 secs ago sensor:m_water_vx(m/s)=0.0310526554627002 113.017 secs ago sensor:m_water_vy(m/s)=0.0377838508949679 113.049 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 5424.07 secs ago sensor:x_fin_deadband(rad)=0.04 381081 secs ago sensor:x_last_wpt_lat(lat)=3645.076 302.887 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 302.922 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 46/ 6/ 0 odd:1609/ 287/ 2 ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The thruster device driver returned an error. ABORT HISTORY: last abort time: 2017-06-30T15:07:51 ABORT HISTORY: last abort segment: ru32-2017-180-0-0 (0045.0000) ABORT HISTORY: last abort mission: 1K_N.MI Hit Control-R to RESUME the mission, i.e. dive! Hit Control-C to END the mission, i.e. GliderDos Hit Control-E to extend surface time by 5 minutes. Hit Control-W to get device warning reports. Hit Control-F to re-read yo, goto_l, surface, sample, drift_ mafiles. Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit Control-T to consci to science computer when comms ready: ... communications ready for consci. Water Velocity Calculations waiting for final gps fix(ideally -18 secs) Waypoint: (3645.0220,-12201.6930) Range: 268m, Bearing: 204deg, Age: 0:5h:m Time until diving is: 210 secs !put u_use_current_correction 0 -------------------------------- 381101 22 sensor: u_use_current_correction = 0 nodim -------------------------------- 381101 behavior surface_2: ! succeeded:put u_use_current_correction 0 381101 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume s *.sbd *.tbd -------------------------------- 381106 23 00480150.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 381115 25 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 00480150.tbd to/from ru32 size is 8969 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: 8192 Total Bytes sent/received: 8969 zModem transfer DONE for file 00480150.tbd Starting zModem transfer of 00480149.tbd to/from ru32 size is 593 Total Bytes sent/received: 593 zModem transfer DONE for file 00480149.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00480150.TBD c:\logs\00480149.TBD SCI: SUCCESS 381196 44 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 381199 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 381199 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00480150.sbd to/from ru32 size is 5306 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: 5306 zModem transfer DONE for file 00480150.sbd Starting zModem transfer of 00480149.sbd to/from ru32 size is 991 Total Bytes sent/received: 991 zModem transfer DONE for file 00480149.sbd 81254 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 381254 restore_sensors().... 381254 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\00480150.SBD c:\logs\00480149.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 2.000000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0615 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0419 C_FIN:0.0000 381330 61 SCI:PROGLET house_elf begin() called 381330 SCI: house_elf: Version 1.2 381330 SCI:PROGLET ctd41cp begin() called 381330 SCI: ctd41cp: Version 0.2 381330 SCI: ctd41cp: Will be sending the following data to glider: 381330 SCI: sci_water_cond(s/m) 381330 SCI: sci_water_temp(degc) 381330 SCI: sci_water_pressure(bar) 381330 SCI: sci_ctd41cp_timestamp(timestamp) 381331 SCI:PROGLET flbbcd begin() called 381331 SCI: flbbcd: Version 0.0 381331 SCI: flbbcd: Will be sending following data to glider: 381331 SCI: sci_flbbcd_chlor_units(ug/l) 381331 SCI: sci_flbbcd_bb_units(nodim) 381331 SCI: sci_flbbcd_cdom_units(ppb) 381331 SCI: sci_flbbcd_chlor_sig(nodim) 381331 SCI: sci_flbbcd_bb_sig(nodim) 381331 SCI: sci_flbbcd_cdom_sig(nodim) 381331 SCI: sci_flbbcd_chlor_ref(nodim) 381331 SCI: sci_flbbcd_bb_ref(nodim) 381332 62 SCI: sci_flbbcd_cdom_ref(nodim) 381332 SCI: sci_flbbcd_therm(nodim) 381332 SCI: sci_flbbcd_timestamp(timestamp) 381333 SCI: Opening Bit(0) for output 381333 SCI:Bit(0) use count is now 1. 381333 SCI:Bit(0) raise count is now 0. 381333 SCI:Bit(0) raise count is now 0. 381335 SCI:PROGLET house_elf start() called 381335 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 381335 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 381336 SCI:PROGLET ctd41cp start() called 381336 SCI: Opening port 0:SBMB:J0 381339 62 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 381339 SCI: in queue size: 2048, out queue size: 0 381339 SCI:sci_uart_drain_input(0): :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0559 C_FIN:0.0000 381340 SCI: 381340 SCI:sci_uart_drain_input:Drained 0 chars 381340 SCI:bit_shared_open(): bit(0) is already open. 381340 SCI:Bit(0) use count is now 2. 381341 SCI:bit_shared_raise(): Raising bit(0). 381341 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 381341 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 381408 65 00480151.mlg LOG FILE OPENED -------------------------------- 381409 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:ru32-2017-197-0-151 (0048.0151) Vehicle Name: ru32 Curr Time: Fri Jul 21 23:34:12 2017 MT: 381415 DR Location: 3645.136 N -12201.581 E measured 420.301 secs ago GPS TooFar: 3645.059 N -12201.552 E measured 9900.63 secs ago GPS Invalid : 3645.064 N -12201.566 E measured 482.807 secs ago GPS Location: 3645.136 N -12201.581 E measured 420.816 secs ago sensor:c_thruster_surface_depth(m)=0 5138.41 secs ago sensor:c_wpt_lat(lat)=3645.022 636.217 secs ago sensor:c_wpt_lon(lon)=-12201.693 636.257 secs ago sensor:m_battery(volts)=11.0767532893163 3.275 secs ago sensor:m_coulomb_amphr(amp-hrs)=201.107879638672 3.457 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=204.06856613867 3.47 secs ago sensor:m_depth(m)=0.208111823333592 3.335 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.6 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 421.214 secs ago sensor:m_iridium_attempt_num(nodim)=0 314.223 secs ago sensor:m_iridium_call_num(nodim)=820 372.407 secs ago sensor:m_iridium_dialed_num(nodim)=1114 382.567 secs ago sensor:m_leakdetect_voltage(volts)=2.47576312576313 3.301 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4785409035409 3.314 secs ago sensor:m_tot_num_inflections(nodim)=7350 543.683 secs ago sensor:m_vacuum(inHg)=10.4037423687424 3.724 secs ago sensor:m_water_vx(m/s)=0.0310526554627002 447.319 secs ago sensor:m_water_vy(m/s)=0.0377838508949679 447.352 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)=0 314.396 secs ago sensor:x_fin_deadband(rad)=0.04 381416 secs ago sensor:x_last_wpt_lat(lat)=3645.076 637.189 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 637.226 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 46/ 6/ 0 odd:1609/ 287/ 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 -353 secs) Waypoint: (3645.0220,-12201.6930) Range: 268m, Bearing: 204deg, Age: 0:10h:m Time until diving is: 293 secs !zr -------------------------------- 381435 71 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 381435 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/20170721T233506_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/20170721T233506_goto_l10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/goto_l10.ma< Successful 381466 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 381466 restore_sensors().... 381466 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 381466 behavior surface_2: ! succeeded:zr 381466 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:ru32-2017-197-0-151 (0048.0151) Vehicle Name: ru32 Curr Time: Fri Jul 21 23:35:08 2017 MT: 381470 DR Location: 3645.136 N -12201.581 E measured 476.003 secs ago GPS TooFar: 3645.059 N -12201.552 E measured 9956.34 secs ago GPS Invalid : 3645.064 N -12201.566 E measured 538.509 secs ago GPS Location: 3645.136 N -12201.581 E measured 476.52 secs ago sensor:c_thruster_surface_depth(m)=0 5194.1 secs ago sensor:c_wpt_lat(lat)=3645.022 691.917 secs ago sensor:c_wpt_lon(lon)=-12201.693 691.957 secs ago sensor:m_battery(volts)=11.0767532893163 58.975 secs ago sensor:m_coulomb_amphr(amp-hrs)=201.114990234375 3.2 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=204.075676734373 3.215 secs ago sensor:m_depth(m)=0.125962419386196 3.128 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.345 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 476.915 secs ago sensor:m_iridium_attempt_num(nodim)=0 369.924 secs ago sensor:m_iridium_call_num(nodim)=820 428.107 secs ago sensor:m_iridium_dialed_num(nodim)=1114 438.268 secs ago sensor:m_leakdetect_voltage(volts)=2.47576312576313 59.001 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4785409035409 59.015 secs ago sensor:m_tot_num_inflections(nodim)=7350 599.383 secs ago sensor:m_vacuum(inHg)=10.4037423687424 59.424 secs ago sensor:m_water_vx(m/s)=0.0310526554627002 503.019 secs ago sensor:m_water_vy(m/s)=0.0377838508949679 503.052 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)=0 370.096 secs ago sensor:x_fin_deadband(rad)=0.04 381471 secs ago sensor:x_last_wpt_lat(lat)=3645.076 692.889 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 692.925 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 46/ 6/ 0 odd:1609/ 287/ 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 -408 secs) Waypoint: (3645.0220,-12201.6930) Range: 268m, Bearing: 204deg, Age: 0:11h: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). 381496 76 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized 381496 behavior sample_8: STATE Active -> UnInited 381496 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 381496 behavior sample_7: STATE Active -> UnInited 381496 behavior yo_6: STATE Active -> UnInited 381496 behavior goto_list_5: STATE Active -> UnInited 381496 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 381496 behavior surface_4: STATE Waiting for Activation -> UnInited 381496 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 381496 behavior surface_3: STATE Waiting for Activation -> UnInited 381501 77 behavior sample_8: sample(): reading bargs 381501 behavior sample_8: Reading b_args from sample48.ma 381501 behavior sample_8: sensor_type(enum)=48.000000 381501 behavior sample_8: sample_time_after_state_change(s)=0.000000 381501 behavior sample_8: intersample_time(sec)=1.000000 381501 behavior sample_8: state_to_sample(enum)=7.000000 381501 behavior sample_8: nth_yo_to_sample(nodim)=1.000000 381501 behavior sample_8: min_depth(m)=-5.000000 381501 behavior sample_8: max_depth(m)=2000.000000 381501 behavior sample_8: STATE UnInited -> Active 381501 behavior sample_8: argument: args_from_file = 48.000000 enum 381501 behavior sample_8: argument: sensor_type = 48.000000 enum 381501 behavior sample_8: argument: state_to_sample = 7.000000 enum 381501 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s 381502 behavior sample_8: argument: intersample_time = 1.000000 s 381502 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim 381502 behavior sample_8: argument: intersample_depth = -1.000000 m 381502 behavior sample_8: argument: min_depth = -5.000000 m 381502 behavior sample_8: argument: max_depth = 2000.000000 m 381502 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface 381502 behavior sample_7: sample(): reading bargs 381502 behavior sample_7: Reading b_args from sample01.ma 381502 behavior sample_7: sensor_type(enum)=1.000000 381502 behavior sample_7: sample_time_after_state_change(s)=0.000000 381502 behavior sample_7: intersample_time(sec)=1.000000 381502 behavior sample_7: state_to_sample(enum)=15.000000 381502 behavior sample_7: nth_yo_to_sample(nodim)=1.000000 381502 behavior sample_7: min_depth(m)=-5.000000 381502 behavior sample_7: max_depth(m)=2000.000000 381502 behavior sample_7: STATE UnInited -> Active 381502 behavior sample_7: argument: args_from_file = 1.000000 enum 381502 behavior sample_7: argument: sensor_type = 1.000000 enum 381502 behavior sample_7: argument: state_to_sample = 15.000000 enum 381503 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 381503 behavior sample_7: argument: intersample_time = 1.000000 s 381503 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim 381503 behavior sample_7: argument: intersample_depth = -1.000000 m 381503 behavior sample_7: argument: min_depth = -5.000000 m 381503 behavior sample_7: argument: max_depth = 2000.000000 m 381503 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 381503 behavior yo_6: Reading b_args from yo20.ma 381503 behavior yo_6: num_half_cycles_to_do(nodim)=2.000000 381503 behavior yo_6: end_action(enum)=2.000000 381503 behavior yo_6: d_target_depth(m)=500.000000 381503 behavior yo_6: d_target_altitude(m)=20.000000 381503 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 381503 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 381503 behavior yo_6: d_use_bpump(enum)=2.000000 381503 behavior yo_6: d_bpump_value(X)=-240.000000 381503 behavior yo_6: d_use_pitch(enum)=3.000000 381503 behavior yo_6: d_pitch_value(X)=-0.523600 381503 behavior yo_6: d_use_thruster(enum)=0.000000 381504 behavior yo_6: d_thruster_value(X)=0.000000 381504 behavior yo_6: d_depth_rate_method(enum)=3.000000 381504 behavior yo_6: c_target_depth(m)=10.000000 381504 behavior yo_6: c_target_altitude(m)=-1.000000 381504 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 381504 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 381504 behavior yo_6: c_use_bpump(enum)=2.000000 381504 behavior yo_6: c_bpump_value(X)=1000.000000 381504 behavior yo_6: c_use_pitch(enum)=3.000000 381504 behavior yo_6: c_pitch_value(X)=0.523600 381504 behavior yo_6: c_use_thruster(enum)=0.000000 381504 behavior yo_6: c_thruster_value(X)=0.000000 381504 behavior yo_6: STATE UnInited -> Waiting for Activation 381504 behavior yo_6: argument: args_from_file = 20.000000 enum 381504 behavior yo_6: argument: start_when = 2.000000 enum 381504 behavior yo_6: argument: start_diving = 1.000000 bool 381504 behavior yo_6: argument: num_half_cycles_to_do = 2.000000 nodim 381504 behavior yo_6: argument: d_target_depth = 500.000000 m 381504 behavior yo_6: argument: d_target_altitude = 20.000000 m 381505 behavior yo_6: argument: d_use_bpump = 2.000000 enum 381505 behavior yo_6: argument: d_bpump_value = -240.000000 X 381505 behavior yo_6: argument: d_use_pitch = 3.000000 enum 381505 behavior yo_6: argument: d_pitch_value = -0.523600 X 381505 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 381505 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 381505 behavior yo_6: argument: d_speed_min = -100.000000 m/s 381505 behavior yo_6: argument: d_speed_max = 100.000000 m/s 381505 behavior yo_6: argument: d_use_thruster = 0.000000 enum 381505 behavior yo_6: argument: d_thruster_value = 0.000000 X 381505 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 381505 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 381505 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 381505 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 381505 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 381505 behavior yo_6: argument: d_time_ratio = 1.100000 X 381505 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 381505 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 381505 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 381505 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 381506 behavior yo_6: argument: c_target_depth = 10.000000 m 381506 behavior yo_6: argument: c_target_altitude = -1.000000 m 381506 behavior yo_6: argument: c_use_bpump = 2.000000 enum 381506 behavior yo_6: argument: c_bpump_value = 1000.000000 X 381506 behavior yo_6: argument: c_use_pitch = 3.000000 enum 381506 behavior yo_6: argument: c_pitch_value = 0.523600 X 381506 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 381506 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 381506 behavior yo_6: argument: c_speed_min = 100.000000 m/s 381506 behavior yo_6: argument: c_speed_max = -100.000000 m/s 381506 behavior yo_6: argument: c_use_thruster = 0.000000 enum 381506 behavior yo_6: argument: c_thruster_value = 0.000000 X 381506 behavior yo_6: argument: end_action = 2.000000 enum 381506 behavior yo_6: STATE Waiting for Activation -> Active 381506 behavior dive_to_601: STATE UnInited -> Active 381506 behavior dive_to_601: argument: target_depth = 500.000000 m 381506 behavior dive_to_601: argument: target_altitude = 20.000000 m 381506 behavior dive_to_601: argument: use_bpump = 2.000000 enum 381506 behavior dive_to_601: argument: bpump_value = -240.000000 X 381506 behavior dive_to_601: argument: use_pitch = 3.000000 enum 381507 behavior dive_to_601: argument: pitch_value = -0.523600 X 381507 behavior dive_to_601: argument: start_when = 0.000000 enum 381507 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 381507 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 381507 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 381507 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 381507 behavior dive_to_601: argument: speed_min = -100.000000 m/s 381507 behavior dive_to_601: argument: speed_max = 100.000000 m/s 381507 behavior dive_to_601: argument: use_thruster = 0.000000 enum 381507 behavior dive_to_601: argument: thruster_value = 0.000000 X 381507 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 381507 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 381507 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 381507 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 381507 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 381507 behavior dive_to_601: argument: time_ratio = 1.100000 X 381507 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 381507 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 381507 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 381508 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 381508 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 381508 behavior goto_list_5: Reading b_args from goto_l10.ma 381508 behavior goto_list_5: num_legs_to_run(nodim)=-1.000000 381508 behavior goto_list_5: start_when(enum)=0.000000 381508 behavior goto_list_5: list_stop_when(enum)=7.000000 381508 behavior goto_list_5: list_when_wpt_dist(m)=25.000000 381508 behavior goto_list_5: initial_wpt(enum)=0.000000 381508 behavior goto_list_5: num_waypoints(nodim)=4.000000 381508 behavior goto_list_5: Reading waypoints from file: 381508 behavior goto_list_5: 0 lon: -12201.6930 lat: 3645.0760 381508 behavior goto_list_5: 1 lon: -12201.6930 lat: 3645.0220 381508 ****** 381538 SCI: house_elf: Version 1.2 381538 SCI:PROGLET ctd41cp begin() called 381538 SCI: ctd41cp: Version 0.2 381538 SCI: ctd41cp: Will be sending the following data to glider: 381538 SCI: sci_water_cond(s/m) 381538 SCI: sci_water_temp(degc) 381541 83 SCI: sci_water_pressure(bar) 381542 SCI: sci_ctd41cp_timestamp(timestamp) 381543 SCI:PROGLET flbbcd begin() called 381543 SCI: flbbcd: Version 0.0 381543 SCI: flbbcd: Will be sending following data to glider: 381543 SCI: sci_flbbcd_chlor_units(ug/l) 381543 SCI: sci_flbbcd_bb_units(nodim) 381543 SCI: sci_flbbcd_cdom_units(ppb) 381544 SCI: sci_flbbcd_chlor_sig(nodim) 381544 SCI: sci_flbbcd_bb_sig(nodim) 381544 SCI: sci_flbbcd_cdom_sig(nodim) 381547 84 SCI: sci_flbbcd_chlor_ref(nodim) 381547 SCI: sci_flbbcd_bb_ref(nodim) 381548 SCI: sci_flbbcd_cdom_ref(nodim) 381548 SCI: sci_flbbcd_therm(nodim) 381548 SCI: sci_flbbcd_timestamp(timestamp) 381548 SCI: Opening Bit(0) for output 381548 SCI:Bit(0) use count is now 1. 381549 SCI:Bit(0) raise count is now 0. 381549 SCI:Bit(0) raise count is now 0. 381554 85 SCI:PROGLET house_elf start() called 381554 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 381554 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-197-0-151 (0048.0151) Vehicle Name: ru32 Curr Time: Fri Jul 21 23:36:35 2017 MT: 381558 DR Location: 3645.136 N -12201.581 E measured 563.447 secs ago GPS TooFar: 3645.059 N -12201.552 E measured 10043.8 secs ago GPS Invalid : 3645.064 N -12201.566 E measured 625.954 secs ago GPS Location: 3645.136 N -12201.581 E measured 563.964 secs ago sensor:c_thruster_surface_depth(m)=0 44.464 secs ago sensor:c_wpt_lat(lat)=3645.076 46.988 secs ago sensor:c_wpt_lon(lon)=-12201.693 47.028 secs ago sensor:m_battery(volts)=11.0602737052497 21.09 secs ago sensor:m_coulomb_amphr(amp-hrs)=201.126861572266 4.854 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=204.087548072264 4.866 secs ago sensor:m_depth(m)=0.208111823333592 4.772 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 564.381 secs ago sensor:m_iridium_attempt_num(nodim)=0 457.39 secs ago sensor:m_iridium_call_num(nodim)=820 515.574 secs ago sensor:m_iridium_dialed_num(nodim)=1114 525.734 secs ago sensor:m_leakdetect_voltage(volts)=2.47570207570208 21.277 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47921245421245 21.289 secs ago sensor:m_tot_num_inflections(nodim)=7350 686.849 secs ago sensor:m_vacuum(inHg)=10.3901485042735 21.547 secs ago sensor:m_water_vx(m/s)=0.0310526554627002 590.486 secs ago sensor:m_water_vy(m/s)=0.0377838508949679 590.518 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)=0 457.564 secs ago sensor:x_fin_deadband(rad)=0.04 381559 secs ago sensor:x_last_wpt_lat(lat)=3645.076 780.356 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 780.391 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 46/ 6/ 0 odd:1609/ 287/ 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 -496 secs) Waypoint: (3645.0760,-12201.6930) Range: 200m, Bearing: 222deg, Age: 0:0h:m Time until diving is: 507 secs 381559 86 SCI:PROGLET ctd41cp start() called 381559 SCI: Opening port 0:SBMB:J0 381563 87 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 381564 SCI: in queue size: 2048, out queue size: 0 381564 SCI:sci_uart_drain_input(0): 381564 SCI: 381564 SCI:sci_uart_drain_input:Drained 0 chars 381565 SCI:bit_shared_open(): bit(0) is already open. 381565 SCI:Bit(0) use count is now 2. 381565 SCI:bit_shared_raise(): Raising bit(0). 381565 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 381565 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] [ 29 7 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] [ 605 89 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] [ 893 179 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:1609/ 287/ 2 ^R381595 92 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 565.031250 Megabytes available on CF file system = 1432.937500 381601 00480151.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) 0.140366 m_avg_climb_rate(m/s) -0.180139 m_avg_speed(m/s) 0.372685 m_avg_upward_inflection_time(sec) 540.000000 m_battery(volts) 11.060274 m_coulomb_amphr_total(amp-hrs) 204.095879 m_fin(rad) 0.016769 m_iridium_call_num(nodim) 820.000000 m_iridium_dialed_num(nodim) 1114.000000 m_lat(lat) 3645.135700 m_lon(lon) -12201.581300 m_tot_ballast_pumped_energy(kjoules) 243.417290 m_tot_horz_dist(km) 1056.745441 m_tot_num_inflections(nodim) 7350.000000 m_tot_num_thermal_valve_cmd(nodim) 990.000000 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) -12201.693000 The instantaneous lag time between the system and gps clock is 4.0 seconds. The average lag time between the system and gps clock is 2.4 seconds. Housekeeping is done 381676 97 00480152.mlg LOG FILE OPENED Megabytes used on CF file system = 565.156250 Megabytes available on CF file system = 1432.812500 381679 init_gps_input() 381679 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix