Connection Event: Carrier Detect found.521389 Iridium console active and ready... Vehicle Name: ru32 Curr Time: Sun Jul 23 14:27:08 2017 MT: 521388 DR Location: 3645.093 N -12201.665 E measured 43.406 secs ago GPS TooFar: 3645.120 N -12201.672 E measured 14781.6 secs ago GPS Invalid : 3645.173 N -12201.584 E measured 105.948 secs ago GPS Location: 3645.092 N -12201.665 E measured 45.779 secs ago sensor:c_thruster_surface_depth(m)=0 4702.51 secs ago sensor:c_wpt_lat(lat)=3645.049 292.93 secs ago sensor:c_wpt_lon(lon)=-12201.693 292.996 secs ago sensor:m_battery(volts)=11.1270843373641 10.263 secs ago sensor:m_coulomb_amphr(amp-hrs)=212.847503662109 5.238 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=215.808190162108 5.26 secs ago sensor:m_depth(m)=0.0794075182100774 5.205 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.469 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 46.31 secs ago sensor:m_iridium_attempt_num(nodim)=1 40.725 secs ago sensor:m_iridium_call_num(nodim)=853 0.753 secs ago sensor:m_iridium_dialed_num(nodim)=1153 10.831 secs ago sensor:m_leakdetect_voltage(volts)=2.47612942612943 10.572 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47960927960928 10.596 secs ago sensor:m_tot_num_inflections(nodim)=7406 162.222 secs ago sensor:m_vacuum(inHg)=9.27092032967033 10.856 secs ago sensor:m_water_vx(m/s)=0.00895918888927302 75.651 secs ago sensor:m_water_vy(m/s)=0.00425652499822684 75.691 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 5327.13 secs ago sensor:x_fin_deadband(rad)=0.04 521390 secs ago sensor:x_last_wpt_lat(lat)=3645.103 294.22 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 294.273 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 521391 No login script found for processing. 521391 DRIVER_ODDITY:iridium:1723:xxx_ctrl() ran too long Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-197-0-206 (0048.0206) Vehicle Name: ru32 Curr Time: Sun Jul 23 14:27:46 2017 MT: 521427 DR Location: 3645.093 N -12201.665 E measured 80.936 secs ago GPS TooFar: 3645.120 N -12201.672 E measured 14819.2 secs ago GPS Invalid : 3645.173 N -12201.584 E measured 143.478 secs ago GPS Location: 3645.092 N -12201.665 E measured 83.308 secs ago sensor:c_thruster_surface_depth(m)=0 4740.02 secs ago sensor:c_wpt_lat(lat)=3645.049 330.41 secs ago sensor:c_wpt_lon(lon)=-12201.693 330.449 secs ago sensor:m_battery(volts)=11.1270843373641 47.705 secs ago sensor:m_coulomb_amphr(amp-hrs)=212.852249145508 4.77 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=215.812935645506 4.785 secs ago sensor:m_depth(m)=0 4.722 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 9.917 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 83.717 secs ago sensor:m_iridium_attempt_num(nodim)=1 78.114 secs ago sensor:m_iridium_call_num(nodim)=853 38.124 secs ago sensor:m_iridium_dialed_num(nodim)=1153 48.188 secs ago sensor:m_leakdetect_voltage(volts)=2.47612942612943 47.922 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47960927960928 47.937 secs ago sensor:m_tot_num_inflections(nodim)=7406 199.55 secs ago sensor:m_vacuum(inHg)=9.27092032967033 48.17 secs ago sensor:m_water_vx(m/s)=0.00895918888927302 112.957 secs ago sensor:m_water_vy(m/s)=0.00425652499822684 112.988 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 5364.35 secs ago sensor:x_fin_deadband(rad)=0.04 521428 secs ago sensor:x_last_wpt_lat(lat)=3645.103 331.394 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 331.43 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 47/ 7/ 0 odd:1700/ 378/ 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 -28 secs) Waypoint: (3645.0490,-12201.6930) Range: 90m, Bearing: 193deg, Age: 0:5h:m Time until diving is: 210 secs !put u_use_current_correction 0 -------------------------------- 521448 73 sensor: u_use_current_correction = 0 nodim -------------------------------- 521448 behavior surface_2: ! succeeded:put u_use_current_correction 0 521448 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume s *.sbd *.tbd -------------------------------- 521452 74 00480206.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 521462 76 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 00480206.tbd to/from ru32 size is 8945 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: 8945 zModem transfer DONE for file 00480206.tbd Starting zModem transfer of 00480205.tbd to/from ru32 size is 625 Total Bytes sent/received: 625 zModem transfer DONE for file 00480205.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00480206.TBD c:\logs\00480205.TBD SCI: SUCCESS 521543 96 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 521547 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 521548 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00480206.sbd to/from ru32 size is 5191 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: 5191 zModem transfer DONE for file 00480206.sbd Starting zModem transfer of 00480205.sbd to/from ru32 size is 983 Total Bytes sent/received: 983 zModem transfer DONE for file 00480205.sbd 21603 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 521603 restore_sensors().... 521603 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\00480206.SBD c:\logs\00480205.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 2.000000 521678 13 SCI:PROGLET house_elf begin() called 521678 SCI: house_elf: Version 1.2 521678 SCI:PROGLET ctd41cp begin() called 521679 SCI: ctd41cp: Version 0.2 521679 SCI: ctd41cp: Will be sending the following data to glider: 521679 SCI: sci_water_cond(s/m) 521679 SCI: sci_water_temp(degc) 521679 SCI: sci_water_pressure(bar) 521679 SCI: sci_ctd41cp_timestamp(timestamp) 521679 SCI:PROGLET flbbcd begin() called 521679 SCI: flbbcd: Version 0.0 521679 SCI: flbbcd: Will be sending following data to glider: 521679 SCI: sci_flbbcd_chlor_units(ug/l) 521680 SCI: sci_flbbcd_bb_units(nodim) 521680 SCI: sci_flbbcd_cdom_units(ppb) 521680 SCI: sci_flbbcd_chlor_sig(nodim) 521680 SCI: sci_flbbcd_bb_sig(nodim) 521680 SCI: sci_flbbcd_cdom_sig(nodim) 521680 SCI: sci_flbbcd_chlor_ref(nodim) 521680 14 SCI: sci_flbbcd_bb_ref(nodim) 521680 SCI: sci_flbbcd_cdom_ref(nodim) 521680 SCI: sci_flbbcd_therm(nodim) 521681 SCI: sci_flbbcd_timestamp(timestamp) 521681 SCI: Opening Bit(0) for output 521681 SCI:Bit(0) use count is now 1. 521681 SCI:Bit(0) raise count is now 0. 521681 SCI:Bit(0) raise count is now 0. 521683 SCI:PROGLET house_elf start() called 521684 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 521684 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 521688 15 SCI:PROGLET ctd41cp start() called 521688 SCI: Opening port 0:SBMB:J0 521688 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 521689 SCI: in queue size: 2048, out queue size: 0 521689 SCI:sci_uart_drain_input(0): 521689 SCI: 521689 SCI:sci_uart_drain_input:Drained 0 chars 521689 SCI:bit_shared_open(): bit(0) is already open. 521689 SCI:Bit(0) use count is now 2. 521689 SCI:bit_shared_raise(): Raising bit(0). 521689 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 521689 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 521757 18 00480207.mlg LOG FILE OPENED -------------------------------- 521758 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:ru32-2017-197-0-207 (0048.0207) Vehicle Name: ru32 Curr Time: Sun Jul 23 14:33:26 2017 MT: 521767 DR Location: 3645.093 N -12201.665 E measured 421.158 secs ago GPS TooFar: 3645.120 N -12201.672 E measured 15159.4 secs ago GPS Invalid : 3645.173 N -12201.584 E measured 483.7 secs ago GPS Location: 3645.092 N -12201.665 E measured 423.531 secs ago sensor:c_thruster_surface_depth(m)=0 5080.25 secs ago sensor:c_wpt_lat(lat)=3645.049 670.635 secs ago sensor:c_wpt_lon(lon)=-12201.693 670.675 secs ago sensor:m_battery(volts)=11.0435098395164 3.26 secs ago sensor:m_coulomb_amphr(amp-hrs)=212.898559570312 7.612 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=215.859246070311 7.627 secs ago sensor:m_depth(m)=0.407990352182255 3.325 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 7.762 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 423.931 secs ago sensor:m_iridium_attempt_num(nodim)=0 320.309 secs ago sensor:m_iridium_call_num(nodim)=853 378.336 secs ago sensor:m_iridium_dialed_num(nodim)=1153 388.401 secs ago sensor:m_leakdetect_voltage(volts)=2.47579365079365 3.296 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47838827838828 3.313 secs ago sensor:m_tot_num_inflections(nodim)=7406 539.765 secs ago sensor:m_vacuum(inHg)=10.4144526862027 3.714 secs ago sensor:m_water_vx(m/s)=0.00895918888927302 453.17 secs ago sensor:m_water_vy(m/s)=0.00425652499822684 453.202 secs ago sensor:u_alt_min_depth(m)=350 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=0 319.641 secs ago sensor:x_fin_deadband(rad)=0.04 521768 secs ago sensor:x_last_wpt_lat(lat)=3645.103 671.607 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 671.643 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 47/ 7/ 0 odd:1700/ 378/ 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 -368 secs) Waypoint: (3645.0490,-12201.6930) Range: 90m, Bearing: 193deg, Age: 0:11h:m Time until diving is: 290 secs !zr -------------------------------- 521788 23 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 521788 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/20170723T143416_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/20170723T143416_goto_l10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru32/to-glider/goto_l10.ma< Successful 521814 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 521814 restore_sensors().... 521814 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 521815 behavior surface_2: ! succeeded:zr 521815 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:ru32-2017-197-0-207 (0048.0207) Vehicle Name: ru32 Curr Time: Sun Jul 23 14:34:18 2017 MT: 521819 DR Location: 3645.093 N -12201.665 E measured 473.124 secs ago GPS TooFar: 3645.120 N -12201.672 E measured 15211.3 secs ago GPS Invalid : 3645.173 N -12201.584 E measured 535.666 secs ago GPS Location: 3645.092 N -12201.665 E measured 475.497 secs ago sensor:c_thruster_surface_depth(m)=0 5132.21 secs ago sensor:c_wpt_lat(lat)=3645.049 722.599 secs ago sensor:c_wpt_lon(lon)=-12201.693 722.637 secs ago sensor:m_battery(volts)=11.0435098395164 55.223 secs ago sensor:m_coulomb_amphr(amp-hrs)=212.905685424805 3.196 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=215.866371924803 3.208 secs ago sensor:m_depth(m)=0.216317032365152 3.123 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.341 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 475.89 secs ago sensor:m_iridium_attempt_num(nodim)=0 372.269 secs ago sensor:m_iridium_call_num(nodim)=853 430.296 secs ago sensor:m_iridium_dialed_num(nodim)=1153 440.361 secs ago sensor:m_leakdetect_voltage(volts)=2.47579365079365 55.255 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47838827838828 55.272 secs ago sensor:m_tot_num_inflections(nodim)=7406 591.723 secs ago sensor:m_vacuum(inHg)=10.4144526862027 55.672 secs ago sensor:m_water_vx(m/s)=0.00895918888927302 505.129 secs ago sensor:m_water_vy(m/s)=0.00425652499822684 505.161 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)=0 371.6 secs ago sensor:x_fin_deadband(rad)=0.04 521820 secs ago sensor:x_last_wpt_lat(lat)=3645.103 723.566 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 723.602 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 47/ 7/ 0 odd:1700/ 378/ 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 -420 secs) Waypoint: (3645.0490,-12201.6930) Range: 90m, Bearing: 193deg, Age: 0:12h: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). 521844 28 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized 521844 behavior sample_8: STATE Active -> UnInited 521844 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 521844 behavior sample_7: STATE Active -> UnInited 521844 behavior yo_6: STATE Active -> UnInited 521844 behavior goto_list_5: STATE Active -> UnInited 521844 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 521844 behavior surface_4: STATE Waiting for Activation -> UnInited 521844 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 521845 behavior surface_3: STATE Waiting for Activation -> UnInited 521849 29 behavior sample_8: sample(): reading bargs 521849 behavior sample_8: Reading b_args from sample48.ma 521849 behavior sample_8: sensor_type(enum)=48.000000 521849 behavior sample_8: sample_time_after_state_change(s)=0.000000 521850 behavior sample_8: intersample_time(sec)=1.000000 521850 behavior sample_8: state_to_sample(enum)=7.000000 521850 behavior sample_8: nth_yo_to_sample(nodim)=1.000000 521850 behavior sample_8: min_depth(m)=-5.000000 521850 behavior sample_8: max_depth(m)=2000.000000 521850 behavior sample_8: STATE UnInited -> Active 521850 behavior sample_8: argument: args_from_file = 48.000000 enum 521850 behavior sample_8: argument: sensor_type = 48.000000 enum 521850 behavior sample_8: argument: state_to_sample = 7.000000 enum 521850 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s 521850 behavior sample_8: argument: intersample_time = 1.000000 s 521850 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim 521850 behavior sample_8: argument: intersample_depth = -1.000000 m 521850 behavior sample_8: argument: min_depth = -5.000000 m 521850 behavior sample_8: argument: max_depth = 2000.000000 m 521850 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface 521850 behavior sample_7: sample(): reading bargs 521850 behavior sample_7: Reading b_args from sample01.ma 521850 behavior sample_7: sensor_type(enum)=1.000000 521851 behavior sample_7: sample_time_after_state_change(s)=0.000000 521851 behavior sample_7: intersample_time(sec)=1.000000 521851 behavior sample_7: state_to_sample(enum)=15.000000 521851 behavior sample_7: nth_yo_to_sample(nodim)=1.000000 521851 behavior sample_7: min_depth(m)=-5.000000 521851 behavior sample_7: max_depth(m)=2000.000000 521851 behavior sample_7: STATE UnInited -> Active 521851 behavior sample_7: argument: args_from_file = 1.000000 enum 521851 behavior sample_7: argument: sensor_type = 1.000000 enum 521851 behavior sample_7: argument: state_to_sample = 15.000000 enum 521851 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 521851 behavior sample_7: argument: intersample_time = 1.000000 s 521851 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim 521851 behavior sample_7: argument: intersample_depth = -1.000000 m 521851 behavior sample_7: argument: min_depth = -5.000000 m 521851 behavior sample_7: argument: max_depth = 2000.000000 m 521851 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 521851 behavior yo_6: Reading b_args from yo20.ma 521851 behavior yo_6: num_half_cycles_to_do(nodim)=2.000000 521851 behavior yo_6: end_action(enum)=2.000000 521852 behavior yo_6: d_target_depth(m)=500.000000 521852 behavior yo_6: d_target_altitude(m)=20.000000 521852 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 521852 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 521852 behavior yo_6: d_use_bpump(enum)=2.000000 521852 behavior yo_6: d_bpump_value(X)=-240.000000 521852 behavior yo_6: d_use_pitch(enum)=3.000000 521852 behavior yo_6: d_pitch_value(X)=-0.610900 521852 behavior yo_6: d_use_thruster(enum)=0.000000 521852 behavior yo_6: d_thruster_value(X)=0.000000 521852 behavior yo_6: d_depth_rate_method(enum)=3.000000 521852 behavior yo_6: c_target_depth(m)=10.000000 521852 behavior yo_6: c_target_altitude(m)=-1.000000 521852 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 521852 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 521852 behavior yo_6: c_use_bpump(enum)=2.000000 521852 behavior yo_6: c_bpump_value(X)=1000.000000 521852 behavior yo_6: c_use_pitch(enum)=3.000000 521852 behavior yo_6: c_pitch_value(X)=0.610900 521853 behavior yo_6: c_use_thruster(enum)=0.000000 521853 behavior yo_6: c_thruster_value(X)=0.000000 521853 behavior yo_6: STATE UnInited -> Waiting for Activation 521853 behavior yo_6: argument: args_from_file = 20.000000 enum 521853 behavior yo_6: argument: start_when = 2.000000 enum 521853 behavior yo_6: argument: start_diving = 1.000000 bool 521853 behavior yo_6: argument: num_half_cycles_to_do = 2.000000 nodim 521853 behavior yo_6: argument: d_target_depth = 500.000000 m 521853 behavior yo_6: argument: d_target_altitude = 20.000000 m 521853 behavior yo_6: argument: d_use_bpump = 2.000000 enum 521853 behavior yo_6: argument: d_bpump_value = -240.000000 X 521853 behavior yo_6: argument: d_use_pitch = 3.000000 enum 521853 behavior yo_6: argument: d_pitch_value = -0.610900 X 521853 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 521853 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 521853 behavior yo_6: argument: d_speed_min = -100.000000 m/s 521853 behavior yo_6: argument: d_speed_max = 100.000000 m/s 521853 behavior yo_6: argument: d_use_thruster = 0.000000 enum 521853 behavior yo_6: argument: d_thruster_value = 0.000000 X 521853 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 521854 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 521854 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 521854 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 521854 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 521854 behavior yo_6: argument: d_time_ratio = 1.100000 X 521854 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 521854 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 521854 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 521854 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 521854 behavior yo_6: argument: c_target_depth = 10.000000 m 521854 behavior yo_6: argument: c_target_altitude = -1.000000 m 521854 behavior yo_6: argument: c_use_bpump = 2.000000 enum 521854 behavior yo_6: argument: c_bpump_value = 1000.000000 X 521854 behavior yo_6: argument: c_use_pitch = 3.000000 enum 521854 behavior yo_6: argument: c_pitch_value = 0.610900 X 521854 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 521854 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 521854 behavior yo_6: argument: c_speed_min = 100.000000 m/s 521854 behavior yo_6: argument: c_speed_max = -100.000000 m/s 521854 behavior yo_6: argument: c_use_thruster = 0.000000 enum 521855 behavior yo_6: argument: c_thruster_value = 0.000000 X 521855 behavior yo_6: argument: end_action = 2.000000 enum 521855 behavior yo_6: STATE Waiting for Activation -> Active 521855 behavior dive_to_601: STATE UnInited -> Active 521855 behavior dive_to_601: argument: target_depth = 500.000000 m 521855 behavior dive_to_601: argument: target_altitude = 20.000000 m 521855 behavior dive_to_601: argument: use_bpump = 2.000000 enum 521855 behavior dive_to_601: argument: bpump_value = -240.000000 X 521855 behavior dive_to_601: argument: use_pitch = 3.000000 enum 521855 behavior dive_to_601: argument: pitch_value = -0.610900 X 521855 behavior dive_to_601: argument: start_when = 0.000000 enum 521855 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 521855 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 521855 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 521855 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 521855 behavior dive_to_601: argument: speed_min = -100.000000 m/s 521855 behavior dive_to_601: argument: speed_max = 100.000000 m/s 521855 behavior dive_to_601: argument: use_thruster = 0.000000 enum 521855 behavior dive_to_601: argument: thruster_value = 0.000000 X 521856 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 521856 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 521856 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 521856 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 521856 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 521856 behavior dive_to_601: argument: time_ratio = 1.100000 X 521856 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 521856 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 521856 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 521856 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 521856 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 521856 behavior goto_list_5: Reading b_args from goto_l10.ma 521856 behavior goto_list_5: num_legs_to_run(nodim)=-1.000000 521856 behavior goto_list_5: start_when(enum)=0.000000 521856 behavior goto_list_5: list_stop_when(enum)=7.000000 521856 behavior goto_list_5: list_when_wpt_dist(m)=25.000000 521856 behavior goto_list_5: initial_wpt(enum)=0.000000 521856 behavior goto_list_5: num_waypoints(nodim)=4.000000 521857 behavior goto_list_5: Reading waypoints from file: 521857 behavior goto_list_5: 0 lon: -12201.6760 lat: 3645.1030 521857 behavior goto_list_5: 1 lon: -12201.6760 lat: 3645.0490 521857 ****** 521886 SCI: house_elf: Version 1.2 521886 SCI:PROGLET ctd41cp begin() called 521886 SCI: ctd41cp: Version 0.2 521887 SCI: ctd41cp: Will be sending the following data to glider: 521887 SCI: sci_water_cond(s/m) 521887 SCI: sci_water_temp(degc) 521890 34 SCI: sci_water_pressure(bar) 521890 SCI: sci_ctd41cp_timestamp(timestamp) 521891 SCI:PROGLET flbbcd begin() called 521892 SCI: flbbcd: Version 0.0 521892 SCI: flbbcd: Will be sending following data to glider: 521892 SCI: sci_flbbcd_chlor_units(ug/l) 521892 SCI: sci_flbbcd_bb_units(nodim) 521892 SCI: sci_flbbcd_cdom_units(ppb) 521892 SCI: sci_flbbcd_chlor_sig(nodim) 521893 SCI: sci_flbbcd_bb_sig(nodim) 521893 SCI: sci_flbbcd_cdom_sig(nodim) 521896 35 SCI: sci_flbbcd_chlor_ref(nodim) 521896 SCI: sci_flbbcd_bb_ref(nodim) 521897 SCI: sci_flbbcd_cdom_ref(nodim) 521897 SCI: sci_flbbcd_therm(nodim) 521897 SCI: sci_flbbcd_timestamp(timestamp) 521897 SCI: Opening Bit(0) for output 521897 SCI:Bit(0) use count is now 1. 521897 SCI:Bit(0) raise count is now 0. 521897 SCI:Bit(0) raise count is now 0. 521903 36 SCI:PROGLET house_elf start() called 521903 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 521903 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:ru32-2017-197-0-207 (0048.0207) Vehicle Name: ru32 Curr Time: Sun Jul 23 14:35:45 2017 MT: 521907 DR Location: 3645.093 N -12201.665 E measured 560.746 secs ago GPS TooFar: 3645.120 N -12201.672 E measured 15299 secs ago GPS Invalid : 3645.173 N -12201.584 E measured 623.288 secs ago GPS Location: 3645.092 N -12201.665 E measured 563.121 secs ago sensor:c_thruster_surface_depth(m)=0 44.648 secs ago sensor:c_wpt_lat(lat)=3645.103 47.223 secs ago sensor:c_wpt_lon(lon)=-12201.676 47.263 secs ago sensor:m_battery(volts)=11.0042860957714 15.365 secs ago sensor:m_coulomb_amphr(amp-hrs)=212.917556762695 4.859 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=215.878243262693 4.871 secs ago sensor:m_depth(m)=0.407990352182255 4.776 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.005 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 563.538 secs ago sensor:m_iridium_attempt_num(nodim)=0 459.915 secs ago sensor:m_iridium_call_num(nodim)=853 517.942 secs ago sensor:m_iridium_dialed_num(nodim)=1153 528.007 secs ago sensor:m_leakdetect_voltage(volts)=2.47173382173382 21.473 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47594627594628 21.485 secs ago sensor:m_tot_num_inflections(nodim)=7406 679.369 secs ago sensor:m_vacuum(inHg)=10.4066259157509 15.821 secs ago sensor:m_water_vx(m/s)=0.00895918888927302 592.774 secs ago sensor:m_water_vy(m/s)=0.00425652499822684 592.806 secs ago sensor:u_alt_min_depth(m)=350 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=0 459.246 secs ago sensor:x_fin_deadband(rad)=0.04 521907 secs ago sensor:x_last_wpt_lat(lat)=3645.103 811.211 secs ago sensor:x_last_wpt_lon(lon)=-12201.693 811.247 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 47/ 7/ 0 odd:1700/ 378/ 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 -508 secs) Waypoint: (3645.1030,-12201.6760) Range: 25m, Bearing: 307deg, Age: 0:0h:m Time until diving is: 507 secs 521908 38 SCI:PROGLET ctd41cp start() called 521908 SCI: Opening port 0:SBMB:J0 521912 39 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 521913 SCI: in queue size: 2048, out queue size: 0 521913 SCI:sci_uart_drain_input(0): 521913 SCI: 521913 SCI:sci_uart_drain_input:Drained 0 chars 521913 SCI:bit_shared_open(): bit(0) is already open. 521914 SCI:Bit(0) use count is now 2. 521914 SCI:bit_shared_raise(): Raising bit(0). 521914 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 521914 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] [ 639 123 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] [ 950 236 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:1700/ 378/ 2 ^R521943 45 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 596.031250 Megabytes available on CF file system = 1401.937500 521948 00480207.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=206.0K, M_SPARE_HEAP=187.0K 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) 0.140296 m_avg_climb_rate(m/s) -0.200765 m_avg_speed(m/s) 0.376275 m_avg_upward_inflection_time(sec) 220.249172 m_battery(volts) 11.004286 m_coulomb_amphr_total(amp-hrs) 215.885384 m_fin(rad) 0.005590 m_iridium_call_num(nodim) 853.000000 m_iridium_dialed_num(nodim) 1153.000000 m_lat(lat) 3645.092500 m_lon(lon) -12201.665400 m_tot_ballast_pumped_energy(kjoules) 243.417290 m_tot_horz_dist(km) 1099.773700 m_tot_num_inflections(nodim) 7406.000000 m_tot_num_thermal_valve_cmd(nodim) 1032.000000 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) 3645.103000 x_last_wpt_lon(lon) -12201.693000 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 2.8 seconds. Housekeeping is done 522024 49 00480208.mlg LOG FILE OPENED Megabytes used on CF file system = 596.156250 Megabytes available on CF file system = 1401.812500 522027 init_gps_input() 522027 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiti