Connection Event: Carrier Detect found.470383 Iridium console active and ready... Vehicle Name: ru32 Curr Time: Sun Jul 23 00:17:02 2017 MT: 470383 DR Location: 3645.075 N -12201.612 E measured 48.869 secs ago GPS TooFar: 3645.033 N -12201.608 E measured 13330.3 secs ago GPS Invalid : 3645.038 N -12201.482 E measured 104.173 secs ago GPS Location: 3645.075 N -12201.612 E measured 50.315 secs ago sensor:c_thruster_surface_depth(m)=0 3969.46 secs ago sensor:c_wpt_lat(lat)=3645.049 224.859 secs ago sensor:c_wpt_lon(lon)=-12201.743 224.923 secs ago sensor:m_battery(volts)=11.0797979162729 10.564 secs ago sensor:m_coulomb_amphr(amp-hrs)=208.617630004883 5.494 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=211.578316504881 5.515 secs ago sensor:m_depth(m)=0 5.465 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.73 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 50.884 secs ago sensor:m_iridium_attempt_num(nodim)=2 41.113 secs ago sensor:m_iridium_call_num(nodim)=841 0.791 secs ago sensor:m_iridium_dialed_num(nodim)=1137 16.175 secs ago sensor:m_leakdetect_voltage(volts)=2.47249694749695 11.188 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47970085470086 10.987 secs ago sensor:m_tot_num_inflections(nodim)=7386 142.359 secs ago sensor:m_vacuum(inHg)=9.35619093406594 11.197 secs ago sensor:m_water_vx(m/s)=0.0270730583306974 74.934 secs ago sensor:m_water_vy(m/s)=0.0182078669057522 74.98 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 4698.9 secs ago sensor:x_fin_deadband(rad)=0.04 470385 secs ago sensor:x_last_wpt_lat(lat)=3645.049 226.187 secs ago sensor:x_last_wpt_lon(lon)=-12201.676 226.24 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 470385 No login script found for processing. 470385 DRIVER_ODDITY:iridium:1767:xxx_ctrl() ran too long Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-197-0-186 (0048.0186) Vehicle Name: ru32 Curr Time: Sun Jul 23 00:17:37 2017 MT: 470418 DR Location: 3645.075 N -12201.612 E measured 83.611 secs ago GPS TooFar: 3645.033 N -12201.608 E measured 13365.1 secs ago GPS Invalid : 3645.038 N -12201.482 E measured 138.915 secs ago GPS Location: 3645.075 N -12201.612 E measured 85.059 secs ago sensor:c_thruster_surface_depth(m)=0 4004.18 secs ago sensor:c_wpt_lat(lat)=3645.049 259.552 secs ago sensor:c_wpt_lon(lon)=-12201.743 259.592 secs ago sensor:m_battery(volts)=11.0797979162729 45.222 secs ago sensor:m_coulomb_amphr(amp-hrs)=208.622375488281 4.62 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=211.583061988279 4.633 secs ago sensor:m_depth(m)=0 4.549 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.772 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 85.464 secs ago sensor:m_iridium_attempt_num(nodim)=2 75.675 secs ago sensor:m_iridium_call_num(nodim)=841 35.334 secs ago sensor:m_iridium_dialed_num(nodim)=1137 50.705 secs ago sensor:m_leakdetect_voltage(volts)=2.47249694749695 45.71 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47970085470086 45.503 secs ago sensor:m_tot_num_inflections(nodim)=7386 176.863 secs ago sensor:m_vacuum(inHg)=9.35619093406594 45.683 secs ago sensor:m_water_vx(m/s)=0.0270730583306974 109.41 secs ago sensor:m_water_vy(m/s)=0.0182078669057522 109.444 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 4733.29 secs ago sensor:x_fin_deadband(rad)=0.04 470419 secs ago sensor:x_last_wpt_lat(lat)=3645.049 260.531 secs ago sensor:x_last_wpt_lon(lon)=-12201.676 260.567 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 47/ 7/ 0 odd:1661/ 339/ 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 -44 secs) Waypoint: (3645.0490,-12201.7430) Range: 201m, Bearing: 242deg, Age: 0:4h:m Time until diving is: 212 secs !put u_use_current_correction 0 -------------------------------- 470439 71 sensor: u_use_current_correction = 0 nodim -------------------------------- 470439 behavior surface_2: ! succeeded:put u_use_current_correction 0 470439 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume s *.sbd *.tbd -------------------------------- 470443 72 00480186.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 470453 75 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 00480186.tbd to/from ru32 size is 7593 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: 7593 zModem transfer DONE for file 00480186.tbd Starting zModem transfer of 00480185.tbd to/from ru32 size is 721 Total Bytes sent/received: 721 zModem transfer DONE for file 00480185.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00480186.TBD c:\logs\00480185.TBD SCI: SUCCESS 470529 92 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 470534 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 470534 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00480186.sbd to/from ru32 size is 4995 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 4995 zModem transfer DONE for file 00480186.sbd Starting zModem transfer of 00480185.sbd to/from ru32 size is 1163 Total Bytes sent/received: 1024 Total Bytes sent/received: 1163 zModem transfer DONE for file 00480185.sbd restore_sensors().... 470589 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.**^XB0800000000022d DEL**^XB0800000000022d DEL. GLD: Sent 2 file(s): c:\logs\00480186.SBD c:\logs\00480185.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 2.000000 470603 95 SCI:PROGLET house_elf begin() called 470603 SCI: house_elf: Version 1.2 470603 SCI:PROGLET ctd41cp begin() called 470603 SCI: ctd41cp: Version 0.2 470603 SCI: ctd41cp: Will be sending the following data to glider: 470604 SCI: sci_water_cond(s/m) 470604 SCI: sci_water_temp(degc) 470604 SCI: sci_water_pressure(bar) 470604 SCI: sci_ctd41cp_timestamp(timestamp) 470604 SCI:PROGLET flbbcd begin() called 470604 SCI: flbbcd: Version 0.0 470604 96 SCI: flbbcd: Will be sending following data to glider: 470604 SCI: sci_flbbcd_chlor_units(ug/l) 470604 SCI: sci_flbbcd_bb_units(nodim) 470605 SCI: sci_flbbcd_cdom_units(ppb) 470605 SCI: sci_flbbcd_chlor_sig(nodim) 470605 SCI: sci_flbbcd_bb_sig(nodim) 470606 SCI: sci_flbbcd_cdom_sig(nodim) 470606 SCI: sci_flbbcd_chlor_ref(nodim) 470606 SCI: sci_flbbcd_bb_ref(nodim) 470606 SCI: sci_flbbcd_cdom_ref(nodim) 470606 SCI: sci_flbbcd_therm(nodim) 470606 SCI: sci_flbbcd_timestamp(timestamp) 470606 SCI: Opening Bit(0) for output 470606 SCI:Bit(0) use count is now 1. 470606 SCI:Bit(0) raise count is now 0. 470606 SCI:Bit(0) raise count is now 0. 470612 97 SCI:PROGLET house_elf start() called 470612 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 470613 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 470613 SCI:PROGLET ctd41cp start() called 470613 SCI: Opening port 0:SBMB:J0 470613 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 470613 SCI: in queue size: 2048, out queue size: 0 470613 SCI:sci_uart_drain_input(0): 470613 SCI: 470613 SCI:sci_uart_drain_input:Drained 0 chars 470613 SCI:bit_shared_open(): bit(0) is already open. 470614 SCI:Bit(0) use count is now 2. 470614 SCI:bit_shared_raise(): Raising bit(0). 470614 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 470614 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 470681 0 00480187.mlg LOG FILE OPENED -------------------------------- 470682 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:ru32-2017-197-0-187 (0048.0187) Vehicle Name: ru32 Curr Time: Sun Jul 23 00:22:10 2017 MT: 470691 DR Location: 3645.075 N -12201.612 E measured 356.394 secs ago GPS TooFar: 3645.033 N -12201.608 E measured 13637.9 secs ago GPS Invalid : 3645.038 N -12201.482 E measured 411.698 secs ago GPS Location: 3645.075 N -12201.612 E measured 357.839 secs ago sensor:c_thruster_surface_depth(m)=0 4276.96 secs ago sensor:c_wpt_lat(lat)=3645.049 532.333 secs ago sensor:c_wpt_lon(lon)=-12201.743 532.372 secs ago sensor:m_battery(volts)=11.0569784855632 3.257 secs ago sensor:m_coulomb_amphr(amp-hrs)=208.661560058594 3.441 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=211.622246558592 3.455 secs ago sensor:m_depth(m)=0.125959955687295 3.32 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.584 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 358.234 secs ago sensor:m_iridium_attempt_num(nodim)=0 253.649 secs ago sensor:m_iridium_call_num(nodim)=841 308.105 secs ago sensor:m_iridium_dialed_num(nodim)=1137 323.476 secs ago sensor:m_leakdetect_voltage(volts)=2.4756105006105 3.289 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4792735042735 3.304 secs ago sensor:m_tot_num_inflections(nodim)=7386 449.634 secs ago sensor:m_vacuum(inHg)=10.3992110805861 3.709 secs ago sensor:m_water_vx(m/s)=0.0270730583306974 382.18 secs ago sensor:m_water_vy(m/s)=0.0182078669057522 382.214 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)=0 252.847 secs ago sensor:x_fin_deadband(rad)=0.04 470692 secs ago sensor:x_last_wpt_lat(lat)=3645.049 533.306 secs ago sensor:x_last_wpt_lon(lon)=-12201.676 533.341 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 47/ 7/ 0 odd:1661/ 339/ 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 -316 secs) Waypoint: (3645.0490,-12201.7430) Range: 201m, Bearing: 242deg, Age: 0:8h:m Time until diving is: 290 secs !zr -------------------------------- 470712 4 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 470712 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/20170723T002301_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/20170723T002301_goto_l10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/goto_l10.ma< Successful 470740 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 470740 restore_sensors().... 470740 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 470740 behavior surface_2: ! succeeded:zr 470740 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:ru32-2017-197-0-187 (0048.0187) Vehicle Name: ru32 Curr Time: Sun Jul 23 00:23:03 2017 MT: 470744 DR Location: 3645.075 N -12201.612 E measured 409.666 secs ago GPS TooFar: 3645.033 N -12201.608 E measured 13691.1 secs ago GPS Invalid : 3645.038 N -12201.482 E measured 464.97 secs ago GPS Location: 3645.075 N -12201.612 E measured 411.111 secs ago sensor:c_thruster_surface_depth(m)=0 4330.24 secs ago sensor:c_wpt_lat(lat)=3645.049 585.605 secs ago sensor:c_wpt_lon(lon)=-12201.743 585.644 secs ago sensor:m_battery(volts)=11.0569784855632 56.531 secs ago sensor:m_coulomb_amphr(amp-hrs)=208.667495727539 3.2 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=211.628182227537 3.213 secs ago sensor:m_depth(m)=0.180725153812134 3.127 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.345 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 411.508 secs ago sensor:m_iridium_attempt_num(nodim)=0 306.922 secs ago sensor:m_iridium_call_num(nodim)=841 361.376 secs ago sensor:m_iridium_dialed_num(nodim)=1137 376.746 secs ago sensor:m_leakdetect_voltage(volts)=2.4756105006105 56.558 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4792735042735 56.574 secs ago sensor:m_tot_num_inflections(nodim)=7386 502.903 secs ago sensor:m_vacuum(inHg)=10.3992110805861 56.978 secs ago sensor:m_water_vx(m/s)=0.0270730583306974 435.451 secs ago sensor:m_water_vy(m/s)=0.0182078669057522 435.484 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)=0 306.116 secs ago sensor:x_fin_deadband(rad)=0.04 470745 secs ago sensor:x_last_wpt_lat(lat)=3645.049 586.571 secs ago sensor:x_last_wpt_lon(lon)=-12201.676 586.607 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 47/ 7/ 0 odd:1661/ 339/ 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 -370 secs) Waypoint: (3645.0490,-12201.7430) Range: 201m, Bearing: 242deg, Age: 0:9h: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). 470770 11 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized 470770 behavior sample_8: STATE Active -> UnInited 470770 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 470770 behavior sample_7: STATE Active -> UnInited 470770 behavior yo_6: STATE Active -> UnInited 470770 behavior goto_list_5: STATE Active -> UnInited 470770 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 470770 behavior surface_4: STATE Waiting for Activation -> UnInited 470770 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 470770 behavior surface_3: STATE Waiting for Activation -> UnInited 470775 12 behavior sample_8: sample(): reading bargs 470775 behavior sample_8: Reading b_args from sample48.ma 470775 behavior sample_8: sensor_type(enum)=48.000000 470775 behavior sample_8: sample_time_after_state_change(s)=0.000000 470775 behavior sample_8: intersample_time(sec)=1.000000 470775 behavior sample_8: state_to_sample(enum)=7.000000 470775 behavior sample_8: nth_yo_to_sample(nodim)=1.000000 470775 behavior sample_8: min_depth(m)=-5.000000 470775 behavior sample_8: max_depth(m)=2000.000000 470775 behavior sample_8: STATE UnInited -> Active 470775 behavior sample_8: argument: args_from_file = 48.000000 enum 470775 behavior sample_8: argument: sensor_type = 48.000000 enum 470775 behavior sample_8: argument: state_to_sample = 7.000000 enum 470775 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s 470775 behavior sample_8: argument: intersample_time = 1.000000 s 470776 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim 470776 behavior sample_8: argument: intersample_depth = -1.000000 m 470776 behavior sample_8: argument: min_depth = -5.000000 m 470776 behavior sample_8: argument: max_depth = 2000.000000 m 470776 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface 470776 behavior sample_7: sample(): reading bargs 470776 behavior sample_7: Reading b_args from sample01.ma 470776 behavior sample_7: sensor_type(enum)=1.000000 470776 behavior sample_7: sample_time_after_state_change(s)=0.000000 470776 behavior sample_7: intersample_time(sec)=1.000000 470776 behavior sample_7: state_to_sample(enum)=15.000000 470776 behavior sample_7: nth_yo_to_sample(nodim)=1.000000 470776 behavior sample_7: min_depth(m)=-5.000000 470776 behavior sample_7: max_depth(m)=2000.000000 470776 behavior sample_7: STATE UnInited -> Active 470776 behavior sample_7: argument: args_from_file = 1.000000 enum 470776 behavior sample_7: argument: sensor_type = 1.000000 enum 470776 behavior sample_7: argument: state_to_sample = 15.000000 enum 470776 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 470777 behavior sample_7: argument: intersample_time = 1.000000 s 470777 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim 470777 behavior sample_7: argument: intersample_depth = -1.000000 m 470777 behavior sample_7: argument: min_depth = -5.000000 m 470777 behavior sample_7: argument: max_depth = 2000.000000 m 470777 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 470777 behavior yo_6: Reading b_args from yo20.ma 470777 behavior yo_6: num_half_cycles_to_do(nodim)=2.000000 470777 behavior yo_6: end_action(enum)=2.000000 470777 behavior yo_6: d_target_depth(m)=500.000000 470777 behavior yo_6: d_target_altitude(m)=20.000000 470777 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 470777 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 470777 behavior yo_6: d_use_bpump(enum)=2.000000 470777 behavior yo_6: d_bpump_value(X)=-240.000000 470777 behavior yo_6: d_use_pitch(enum)=3.000000 470777 behavior yo_6: d_pitch_value(X)=-0.610900 470777 behavior yo_6: d_use_thruster(enum)=0.000000 470777 behavior yo_6: d_thruster_value(X)=0.000000 470778 behavior yo_6: d_depth_rate_method(enum)=3.000000 470778 behavior yo_6: c_target_depth(m)=10.000000 470778 behavior yo_6: c_target_altitude(m)=-1.000000 470778 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 470778 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 470778 behavior yo_6: c_use_bpump(enum)=2.000000 470778 behavior yo_6: c_bpump_value(X)=1000.000000 470778 behavior yo_6: c_use_pitch(enum)=3.000000 470778 behavior yo_6: c_pitch_value(X)=0.610900 470778 behavior yo_6: c_use_thruster(enum)=0.000000 470778 behavior yo_6: c_thruster_value(X)=0.000000 470778 behavior yo_6: STATE UnInited -> Waiting for Activation 470778 behavior yo_6: argument: args_from_file = 20.000000 enum 470778 behavior yo_6: argument: start_when = 2.000000 enum 470778 behavior yo_6: argument: start_diving = 1.000000 bool 470778 behavior yo_6: argument: num_half_cycles_to_do = 2.000000 nodim 470778 behavior yo_6: argument: d_target_depth = 500.000000 m 470778 behavior yo_6: argument: d_target_altitude = 20.000000 m 470778 behavior yo_6: argument: d_use_bpump = 2.000000 enum 470779 behavior yo_6: argument: d_bpump_value = -240.000000 X 470779 behavior yo_6: argument: d_use_pitch = 3.000000 enum 470779 behavior yo_6: argument: d_pitch_value = -0.610900 X 470779 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 470779 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 470779 behavior yo_6: argument: d_speed_min = -100.000000 m/s 470779 behavior yo_6: argument: d_speed_max = 100.000000 m/s 470779 behavior yo_6: argument: d_use_thruster = 0.000000 enum 470779 behavior yo_6: argument: d_thruster_value = 0.000000 X 470779 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 470779 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 470779 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 470779 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 470779 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 470779 behavior yo_6: argument: d_time_ratio = 1.100000 X 470779 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 470779 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 470779 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 470779 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 470779 behavior yo_6: argument: c_target_depth = 10.000000 m 470780 behavior yo_6: argument: c_target_altitude = -1.000000 m 470780 behavior yo_6: argument: c_use_bpump = 2.000000 enum 470780 behavior yo_6: argument: c_bpump_value = 1000.000000 X 470780 behavior yo_6: argument: c_use_pitch = 3.000000 enum 470780 behavior yo_6: argument: c_pitch_value = 0.610900 X 470780 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 470780 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 470780 behavior yo_6: argument: c_speed_min = 100.000000 m/s 470780 behavior yo_6: argument: c_speed_max = -100.000000 m/s 470780 behavior yo_6: argument: c_use_thruster = 0.000000 enum 470780 behavior yo_6: argument: c_thruster_value = 0.000000 X 470780 behavior yo_6: argument: end_action = 2.000000 enum 470780 behavior yo_6: STATE Waiting for Activation -> Active 470780 behavior dive_to_601: STATE UnInited -> Active 470780 behavior dive_to_601: argument: target_depth = 500.000000 m 470780 behavior dive_to_601: argument: target_altitude = 20.000000 m 470780 behavior dive_to_601: argument: use_bpump = 2.000000 enum 470780 behavior dive_to_601: argument: bpump_value = -240.000000 X 470780 behavior dive_to_601: argument: use_pitch = 3.000000 enum 470780 behavior dive_to_601: argument: pitch_value = -0.610900 X 470781 behavior dive_to_601: argument: start_when = 0.000000 enum 470781 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 470781 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 470781 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 470781 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 470781 behavior dive_to_601: argument: speed_min = -100.000000 m/s 470781 behavior dive_to_601: argument: speed_max = 100.000000 m/s 470781 behavior dive_to_601: argument: use_thruster = 0.000000 enum 470781 behavior dive_to_601: argument: thruster_value = 0.000000 X 470781 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 470781 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 470781 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 470781 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 470781 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 470781 behavior dive_to_601: argument: time_ratio = 1.100000 X 470781 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 470781 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 470781 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 470781 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 470781 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 470782 behavior goto_list_5: Reading b_args from goto_l10.ma 470782 behavior goto_list_5: num_legs_to_run(nodim)=-1.000000 470782 behavior goto_list_5: start_when(enum)=0.000000 470782 behavior goto_list_5: list_stop_when(enum)=7.000000 470782 behavior goto_list_5: list_when_wpt_dist(m)=25.000000 470782 behavior goto_list_5: initial_wpt(enum)=0.000000 470782 behavior goto_list_5: num_waypoints(nodim)=4.000000 470782 behavior goto_list_5: Reading waypoints from file: 470782 behavior goto_list_5: 0 lon: -12201.6930 lat: 3645.0490 470782 behavior goto_list_5: 1 lon: -12201.7600 lat: 3645.0490 470782 ****** 470812 SCI: house_elf: Version 1.2 470812 SCI:PROGLET ctd41cp begin() called 470812 SCI: ctd41cp: Version 0.2 470812 SCI: ctd41cp: Will be sending the following data to glider: 470812 SCI: sci_water_cond(s/m) 470812 SCI: sci_water_temp(degc) 470812 SCI: sci_water_pressure(bar) 470813 SCI: sci_ctd41cp_timestamp(timestamp) 470816 16 SCI:PROGLET flbbcd begin() called 470816 SCI: flbbcd: Version 0.0 470817 SCI: flbbcd: Will be sending following data to glider: 470817 SCI: sci_flbbcd_chlor_units(ug/l) 470817 SCI: sci_flbbcd_bb_units(nodim) 470818 SCI: sci_flbbcd_cdom_units(ppb) 470818 SCI: sci_flbbcd_chlor_sig(nodim) 470818 SCI: sci_flbbcd_bb_sig(nodim) 470818 SCI: sci_flbbcd_cdom_sig(nodim) 470818 SCI: sci_flbbcd_chlor_ref(nodim) 470818 SCI: sci_flbbcd_bb_ref(nodim) 470821 17 SCI: sci_flbbcd_cdom_ref(nodim) 470821 SCI: sci_flbbcd_therm(nodim) 470822 SCI: sci_flbbcd_timestamp(timestamp) 470822 SCI: Opening Bit(0) for output 470823 SCI:Bit(0) use count is now 1. 470823 SCI:Bit(0) raise count is now 0. 470823 SCI:Bit(0) raise count is now 0. 470828 19 SCI:PROGLET house_elf start() called 470828 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 470828 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 470829 SCI:PROGLET ctd41cp start() called 470829 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:ru32-2017-197-0-187 (0048.0187) Vehicle Name: ru32 Curr Time: Sun Jul 23 00:24:31 2017 MT: 470832 DR Location: 3645.075 N -12201.612 E measured 497.411 secs ago GPS TooFar: 3645.033 N -12201.608 E measured 13778.9 secs ago GPS Invalid : 3645.038 N -12201.482 E measured 552.715 secs ago GPS Location: 3645.075 N -12201.612 E measured 498.856 secs ago sensor:c_thruster_surface_depth(m)=0 44.806 secs ago sensor:c_wpt_lat(lat)=3645.049 47.328 secs ago sensor:c_wpt_lon(lon)=-12201.693 47.366 secs ago sensor:m_battery(volts)=11.0391781166517 15.373 secs ago sensor:m_coulomb_amphr(amp-hrs)=208.679382324219 4.859 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=211.640068824217 4.871 secs ago sensor:m_depth(m)=0.235490351936974 4.774 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.004 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 499.251 secs ago sensor:m_iridium_attempt_num(nodim)=0 394.666 secs ago sensor:m_iridium_call_num(nodim)=841 449.121 secs ago sensor:m_iridium_dialed_num(nodim)=1137 464.491 secs ago sensor:m_leakdetect_voltage(volts)=2.47564102564103 21.667 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47954822954823 21.68 secs ago sensor:m_tot_num_inflections(nodim)=7386 590.649 secs ago sensor:m_vacuum(inHg)=10.3843814102564 15.828 secs ago sensor:m_water_vx(m/s)=0.0270730583306974 523.196 secs ago sensor:m_water_vy(m/s)=0.0182078669057522 523.23 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)=0 393.863 secs ago sensor:x_fin_deadband(rad)=0.04 470833 secs ago sensor:x_last_wpt_lat(lat)=3645.049 674.317 secs ago sensor:x_last_wpt_lon(lon)=-12201.676 674.353 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 47/ 7/ 0 odd:1661/ 339/ 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 -457 secs) Waypoint: (3645.0490,-12201.6930) Range: 130m, Bearing: 234deg, Age: 0:0h:m Time until diving is: 507 secs 470834 20 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 470837 21 SCI: in queue size: 2048, out queue size: 0 470838 SCI:sci_uart_drain_input(0): 470838 SCI: 470839 SCI:sci_uart_drain_input:Drained 0 chars 470839 SCI:bit_shared_open(): bit(0) is already open. 470839 SCI:Bit(0) use count is now 2. 470839 SCI:bit_shared_raise(): Raising bit(0). 470839 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 470839 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] [ 28 6 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] [ 626 110 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] [ 924 210 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: 47/ 7/ 0 odd:1661/ 339/ 2 ^R470869 26 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 584.750000 Megabytes available on CF file system = 1413.218750 470874 00480187.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) 0.140336 m_avg_climb_rate(m/s) -0.235261 m_avg_speed(m/s) 0.381042 m_avg_upward_inflection_time(sec) 74.652230 m_battery(volts) 11.039178 m_coulomb_amphr_total(amp-hrs) 211.648370 m_fin(rad) 0.002795 m_iridium_call_num(nodim) 841.000000 m_iridium_dialed_num(nodim) 1137.000000 m_lat(lat) 3645.075100 m_lon(lon) -12201.611600 m_tot_ballast_pumped_energy(kjoules) 243.417290 m_tot_horz_dist(km) 1084.035405 m_tot_num_inflections(nodim) 7386.000000 m_tot_num_thermal_valve_cmd(nodim) 1017.000000 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) -12201.676000 The instantaneous lag time between the system and gps clock is 3.0 seconds. The average lag time between the system and gps clock is 2.5 seconds. Housekeeping is done 470955 32 00480188.mlg LOG FILE OPENED Megabytes used on CF file system = 584.875000 Megabytes available on CF file system = 1413.093750 470958 init_gps_input() 470958 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final GP�