Connection Event: Carrier Detect found.1012499 Iridium console active and ready... Vehicle Name: ru26d Curr Time: Wed Dec 25 09:42:10 2019 MT: 1012497 DR Location: 3651.399 N -12246.086 E measured 43.683 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3653.150 N -12251.147 E measured 103.202 secs ago GPS Location: 3651.398 N -12246.086 E measured 44.182 secs ago sensor:c_wpt_lat(lat)=3651.729 111721 secs ago sensor:c_wpt_lon(lon)=-12239.794 111722 secs ago sensor:m_battery(volts)=14.8551323216959 55.71 secs ago sensor:m_coulomb_amphr(amp-hrs)=366.996887207031 5.248 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=368.633513207108 5.268 secs ago sensor:m_depth(m)=0.117842764865286 5.206 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1020 5.498 secs ago sensor:m_gps_mag_var(rad)=-0.239110107523223 44.696 secs ago sensor:m_iridium_attempt_num(nodim)=1 36.382 secs ago sensor:m_iridium_call_num(nodim)=2970 0.705 secs ago sensor:m_iridium_dialed_num(nodim)=3854 10.514 secs ago sensor:m_iridium_signal_strength(nodim)=5 10.569 secs ago sensor:m_leakdetect_voltage(volts)=2.4971916971917 15.057 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49728327228327 15.077 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 5.772 secs ago sensor:m_system_clock_lags_gps(sec)=-5 45.081 secs ago sensor:m_tot_num_inflections(nodim)=15744 165.593 secs ago sensor:m_vacuum(inHg)=9.46812893772894 46.478 secs ago sensor:m_water_vx(m/s)=0.00682978302019801 69.581 secs ago sensor:m_water_vy(m/s)=0.0400701592341416 69.626 secs ago sensor:u_alt_min_depth(m)=900 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 22666.9 secs ago sensor:x_last_wpt_lat(lat)=3608.1129 706351 secs ago sensor:x_last_wpt_lon(lon)=-12506.6963 706351 secs ago ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The attitude_rev device driver returned an error. ABORT HISTORY: last abort time: 2019-10-17T22:09:24 ABORT HISTORY: last abort segment: ru26d-2019-269-2-326 (0024.0326) ABORT HISTORY: last abort mission: 1K_N.MI 1012501 No login script found for processing. 1012501 DRIVER_ODDITY:iridium:1757:xxx_ctrl() ran too long !put u_use_current_correction 1 -------------------------------- 1012521 35 sensor: u_use_current_correction = 1 nodim -------------------------------- 1012521 behavior surface_2: ! succeeded:put u_use_current_correction 1 1012521 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume !zr -------------------------------- 1012526 36 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 1012526 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B01000800275775 � Starting zModem transfer of goto_l10.ma to/from ru26d size is 793 Total Bytes sent/received: 793 zModem transfer DONE for file goto_l10.ma not found>yo*.ma< not found>sample*.ma< not found>surfac*.ma< sending >goto_l10.ma< Sent archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/goto_l10.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/archive/20191225T094248_goto_l10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/goto_l10.ma< Successful 1012544 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 1012544 restore_sensors().... 1012544 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 1012544 behavior surface_2: ! succeeded:zr 1012544 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume Glider-Science software version match: 8.300000 Science hardware version is 1.000000 Glider ru26d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru26d-2019-346-0-146 (0031.0146) Vehicle Name: ru26d Curr Time: Wed Dec 25 09:42:58 2019 MT: 1012547 DR Location: 3651.399 N -12246.086 E measured 92.456 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3653.150 N -12251.147 E measured 151.974 secs ago GPS Location: 3651.398 N -12246.086 E measured 92.954 secs ago sensor:c_wpt_lat(lat)=3651.729 111770 secs ago sensor:c_wpt_lon(lon)=-12239.794 111770 secs ago sensor:m_battery(volts)=14.7739013850086 39.026 secs ago sensor:m_coulomb_amphr(amp-hrs)=367.002807617188 2.771 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=368.639433617264 2.784 secs ago sensor:m_depth(m)=0 2.708 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1021 21.064 secs ago sensor:m_gps_mag_var(rad)=-0.239110107523223 93.358 secs ago sensor:m_iridium_attempt_num(nodim)=0 26.939 secs ago sensor:m_iridium_call_num(nodim)=2970 49.333 secs ago sensor:m_iridium_dialed_num(nodim)=3854 59.128 secs ago sensor:m_iridium_signal_strength(nodim)=5 59.172 secs ago sensor:m_leakdetect_voltage(volts)=2.49420024420024 2.91 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49487179487179 2.927 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 2.958 secs ago sensor:m_system_clock_lags_gps(sec)=-5 93.648 secs ago sensor:m_tot_num_inflections(nodim)=15744 214.148 secs ago sensor:m_vacuum(inHg)=9.94966043956045 31.044 secs ago sensor:m_water_vx(m/s)=0.00682978302019801 118.114 secs ago sensor:m_water_vy(m/s)=0.0400701592341416 118.146 secs ago sensor:u_alt_min_depth(m)=900 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 27.374 secs ago sensor:x_last_wpt_lat(lat)=3608.1129 706400 secs ago sensor:x_last_wpt_lon(lon)=-12506.6963 706400 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 42/ 0/ 0 odd:3967/ 282/ 5 ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The attitude_rev device driver returned an error. ABORT HISTORY: last abort time: 2019-10-17T22:09:24 ABORT HISTORY: last abort segment: ru26d-2019-269-2-326 (0024.0326) 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 -24 secs) Waypoint: (3651.7290,-12239.7940) Range: 9367m, Bearing: 72deg, Age: 53:28h:m Time until diving is: 355 secs 1012559 38 SCI:PROGLET house_elf begin() called 1012559 SCI: house_elf: Version 1.2 1012560 SCI:PROGLET ctd41cp begin() called 1012560 SCI: ctd41cp: Version 0.2 1012560 SCI: ctd41cp: Will be sending the following data to glider: 1012563 39 SCI: sci_water_cond(s/m) 1012563 SCI: sci_water_temp(degc) 1012564 SCI: sci_water_pressure(bar) 1012564 SCI: sci_ctd41cp_timestamp(timestamp) 1012565 SCI:PROGLET house_elf start() called ^F MAFILES will be re-read. Extending surface time by 5 minutes just in case user might want to verify quality of MAFILE(s). 1012568 40 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 1012569 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 1012573 41 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 1012573 behavior sample_7: STATE Active -> UnInited 1012573 behavior yo_6: STATE Active -> UnInited 1012573 behavior goto_list_5: STATE Active -> UnInited 1012573 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 1012573 behavior surface_4: STATE Waiting for Activation -> UnInited 1012573 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 1012573 behavior surface_3: STATE Waiting for Activation -> UnInited 1012578 42 behavior sample_7: sample(): reading bargs 1012578 behavior sample_7: Reading b_args from sample01.ma 1012578 behavior sample_7: sensor_type(enum)=1.000000 1012578 behavior sample_7: sample_time_after_state_change(s)=0.000000 1012578 behavior sample_7: intersample_time(sec)=0.000000 1012578 behavior sample_7: state_to_sample(enum)=6.000000 1012578 behavior sample_7: nth_yo_to_sample(nodim)=-3.000000 1012578 behavior sample_7: min_depth(m)=-5.000000 1012578 behavior sample_7: max_depth(m)=2000.000000 1012578 behavior sample_7: STATE UnInited -> Active 1012578 behavior sample_7: argument: args_from_file = 1.000000 enum 1012578 behavior sample_7: argument: sensor_type = 1.000000 enum 1012578 behavior sample_7: argument: state_to_sample = 6.000000 enum 1012578 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 1012578 behavior sample_7: argument: intersample_time = 0.000000 s 1012578 behavior sample_7: argument: nth_yo_to_sample = -3.000000 nodim 1012578 behavior sample_7: argument: intersample_depth = -1.000000 m 1012579 behavior sample_7: argument: min_depth = -5.000000 m 1012579 behavior sample_7: argument: max_depth = 2000.000000 m 1012579 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 1012579 behavior yo_6: Reading b_args from yo20.ma 1012579 behavior yo_6: num_half_cycles_to_do(nodim)=6.000000 1012579 behavior yo_6: d_target_depth(m)=750.000000 1012579 behavior yo_6: d_target_altitude(m)=-1.000000 1012579 behavior yo_6: d_use_bpump(enum)=2.000000 1012579 behavior yo_6: d_bpump_value(X)=-260.000000 1012579 behavior yo_6: d_use_pitch(enum)=3.000000 1012579 behavior yo_6: d_pitch_value(X)=-0.454000 1012579 behavior yo_6: d_use_thruster(enum)=0.000000 1012579 behavior yo_6: d_thruster_value(X)=0.000000 1012579 behavior yo_6: d_depth_rate_method(enum)=3.000000 1012579 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 1012579 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 1012579 behavior yo_6: c_target_depth(m)=10.000000 1012579 behavior yo_6: c_target_altitude(m)=-1.000000 1012579 behavior yo_6: c_use_bpump(enum)=2.000000 1012580 behavior yo_6: c_bpump_value(X)=260.000000 1012580 behavior yo_6: c_use_pitch(enum)=3.000000 1012580 behavior yo_6: c_pitch_value(X)=0.454000 1012580 behavior yo_6: c_use_thruster(enum)=0.000000 1012580 behavior yo_6: c_thruster_value(X)=0.000000 1012580 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 1012580 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 1012580 behavior yo_6: end_action(enum)=2.000000 1012580 behavior yo_6: STATE UnInited -> Waiting for Activation 1012580 behavior yo_6: argument: args_from_file = 20.000000 enum 1012580 behavior yo_6: argument: start_when = 2.000000 enum 1012580 behavior yo_6: argument: start_diving = 1.000000 enum 1012580 behavior yo_6: argument: num_half_cycles_to_do = 6.000000 nodim 1012580 behavior yo_6: argument: d_target_depth = 750.000000 m 1012580 behavior yo_6: argument: d_target_altitude = -1.000000 m 1012580 behavior yo_6: argument: d_use_bpump = 2.000000 enum 1012580 behavior yo_6: argument: d_bpump_value = -260.000000 X 1012580 behavior yo_6: argument: d_use_pitch = 3.000000 enum 1012580 behavior yo_6: argument: d_pitch_value = -0.454000 X 1012580 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 1012581 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 1012581 behavior yo_6: argument: d_speed_min = -100.000000 m/s 1012581 behavior yo_6: argument: d_speed_max = 100.000000 m/s 1012581 behavior yo_6: argument: d_use_thruster = 0.000000 enum 1012581 behavior yo_6: argument: d_thruster_value = 0.000000 X 1012581 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 1012581 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 1012581 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 1012581 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 1012581 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 1012581 behavior yo_6: argument: d_time_ratio = 1.100000 X 1012581 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 1012581 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 1012581 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 1012581 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 1012581 behavior yo_6: argument: c_target_depth = 10.000000 m 1012581 behavior yo_6: argument: c_target_altitude = -1.000000 m 1012581 behavior yo_6: argument: c_use_bpump = 2.000000 enum 1012581 behavior yo_6: argument: c_bpump_value = 260.000000 X 1012582 behavior yo_6: argument: c_use_pitch = 3.000000 enum 1012582 behavior yo_6: argument: c_pitch_value = 0.454000 X 1012582 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 1012582 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 1012582 behavior yo_6: argument: c_speed_min = 100.000000 m/s 1012582 behavior yo_6: argument: c_speed_max = -100.000000 m/s 1012582 behavior yo_6: argument: c_use_thruster = 0.000000 enum 1012582 behavior yo_6: argument: c_thruster_value = 0.000000 X 1012582 behavior yo_6: argument: end_action = 2.000000 enum 1012582 behavior yo_6: argument: stop_when = 5.000000 enum 1012582 behavior yo_6: argument: when_secs = 1200.000000 sec 1012582 behavior yo_6: argument: when_wpt_dist = 10.000000 m 1012582 behavior yo_6: STATE Waiting for Activation -> Active 1012582 behavior dive_to_601: STATE UnInited -> Active 1012582 behavior dive_to_601: argument: target_depth = 750.000000 m 1012582 behavior dive_to_601: argument: target_altitude = -1.000000 m 1012582 behavior dive_to_601: argument: use_bpump = 2.000000 enum 1012582 behavior dive_to_601: argument: bpump_value = -260.000000 X 1012582 behavior dive_to_601: argument: use_pitch = 3.000000 enum 1012582 behavior dive_to_601: argument: pitch_value = -0.454000 X 1012583 behavior dive_to_601: argument: start_when = 0.000000 enum 1012583 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 1012583 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 1012583 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 1012583 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 1012583 behavior dive_to_601: argument: speed_min = -100.000000 m/s 1012583 behavior dive_to_601: argument: speed_max = 100.000000 m/s 1012583 behavior dive_to_601: argument: use_thruster = 0.000000 enum 1012583 behavior dive_to_601: argument: thruster_value = 0.000000 X 1012583 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 1012583 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 1012583 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 1012583 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 1012583 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 1012583 behavior dive_to_601: argument: time_ratio = 1.100000 X 1012583 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 1012583 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 1012583 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 1012583 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 1012584 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 1012584 behavior goto_list_5: Reading b_args from goto_l10.ma 1012584 behavior goto_list_5: num_legs_to_run(nodim)=-1.000000 1012584 behavior goto_list_5: start_when(enum)=0.000000 1012584 behavior goto_list_5: list_stop_when(enum)=7.000000 1012584 behavior goto_list_5: list_when_wpt_dist(m)=5000.000000 1012584 behavior goto_list_5: initial_wpt(enum)=0.000000 1012584 behavior goto_list_5: num_waypoints(nodim)=2.000000 1012584 behavior goto_list_5: Reading waypoints from file: 1012584 behavior goto_list_5: 0 lon: -12218.5600 lat: 3648.0510 1012584 behavior goto_list_5: 1 lon: -12220.2870 lat: 3643.2050 1012584 behavior goto_list_5: STATE UnInited -> Waiting for Activation 1012584 behavior goto_list_5: argument: args_from_file = 10.000000 enum 1012584 behavior goto_list_5: argument: start_when = 0.000000 enum 1012584 behavior goto_list_5: argument: num_waypoints = 2.000000 nodim 1012584 behavior goto_list_5: argument: num_legs_to_run = -1.000000 nodim 1012584 behavior goto_list_5: argument: initial_wpt = 0.000000 enum 1012584 behavior goto_list_5: argument: list_stop_when = 7.000000 enum 1012585 behavior goto_list_5: argument: list_when_wpt_dist = 5000.000000 m 1012585 behavior goto_list_5: argument: end_action = 0.000000 enum 1012585 behavior goto_list_5: argument: primary_wpt = 0.000000 bool 1012585 behavior goto_list_5: argument: primary_stop_when = 15.000000 enum 1012585 behavior goto_list_5: argument: primary_when_wpt_dist = 10.000000 m 1012585 behavior goto_list_5: argument: wpt_uni ****** Glider ru26d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru26d-2019-346-0-146 (0031.0146) Vehicle Name: ru26d Curr Time: Wed Dec 25 09:44:23 2019 MT: 1012632 DR Location: 3651.399 N -12246.086 E measured 177.123 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3653.150 N -12251.147 E measured 236.641 secs ago GPS Location: 3651.398 N -12246.086 E measured 177.621 secs ago sensor:c_wpt_lat(lat)=3648.051 45.883 secs ago sensor:c_wpt_lon(lon)=-12218.56 45.922 secs ago sensor:m_battery(volts)=14.7326626506592 58.473 secs ago sensor:m_coulomb_amphr(amp-hrs)=367.013488769531 4.608 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=368.650114769608 4.62 secs ago sensor:m_depth(m)=0 4.543 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1020 9.747 secs ago sensor:m_gps_mag_var(rad)=-0.239110107523223 178.028 secs ago sensor:m_iridium_attempt_num(nodim)=0 111.609 secs ago sensor:m_iridium_call_num(nodim)=2970 134.002 secs ago sensor:m_iridium_dialed_num(nodim)=3854 143.798 secs ago sensor:m_iridium_signal_strength(nodim)=5 143.841 secs ago sensor:m_leakdetect_voltage(volts)=2.49471916971917 24.063 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49624542124542 24.075 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 5.022 secs ago sensor:m_system_clock_lags_gps(sec)=-5 178.316 secs ago sensor:m_tot_num_inflections(nodim)=15744 298.818 secs ago sensor:m_vacuum(inHg)=10.2364609279609 40.454 secs ago sensor:m_water_vx(m/s)=0.00682978302019801 202.782 secs ago sensor:m_water_vy(m/s)=0.0400701592341416 202.816 secs ago sensor:u_alt_min_depth(m)=900 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 112.043 secs ago sensor:x_last_wpt_lat(lat)=3608.1129 706484 secs ago sensor:x_last_wpt_lon(lon)=-12506.6963 706485 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 42/ 0/ 0 odd:3967/ 282/ 5 ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The attitude_rev device driver returned an error. ABORT HISTORY: last abort time: 2019-10-17T22:09:24 ABORT HISTORY: last abort segment: ru26d-2019-269-2-326 (0024.0326) 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 -108 secs) Waypoint: (3648.0510,-12218.5600) Range: 41376m, Bearing: 84deg, Age: 0:0h:m Time until diving is: 570 secs s *.sbd *.tbd -------------------------------- 1012657 55 00310146.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 1012666 59 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 00310146.tbd to/from ru26d size is 2741 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 2741 zModem transfer DONE for file 00310146.tbd Starting zModem transfer of 00310145.tbd to/from ru26d size is 460 Total Bytes sent/received: 460 zModem transfer DONE for file 00310145.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00310146.TBD c:\logs\00310145.TBD SCI: SUCCESS 1012736 75 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 1012741 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 1012741 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00310146.sbd to/from ru26d size is 23523 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: 9216 Total Bytes sent/received: 10240 Total Bytes sent/received: 11264 Total Bytes sent/received: 12288 Total Bytes sent/received: 13312 Total Bytes sent/received: 14336 Total Bytes sent/received: 15360 Total Bytes sent/received: 16384 Total Bytes sent/received: 17408 Total Bytes sent/received: 18432 Total Bytes sent/received: 19456 Total Bytes sent/received: 20480 Total Bytes sent/received: 21504 Total Bytes sent/received: 22528 Total Bytes sent/received: 23523 zModem transfer DONE for file 00310146.sbd Starting zModem transfer of 00310145.sbd to/from ru26d size is 896 Total Bytes sent/received: 896 zModem transfer DONE for file 00310145.sbd 012908 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 1012909 restore_sensors().... 1012909 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\00310146.SBD c:\logs\00310145.SBD GLD: SUCCESS Glider-Science software version match: 8.300000 Science hardware version is 1.000000 1012926 76 SCI:PROGLET house_elf begin() called 1012926 SCI: house_elf: Version 1.2 1012927 SCI:PROGLET ctd41cp begin() called 1012927 SCI: ctd41cp: Version 0.2 1012927 77 SCI: ctd41cp: Will be sending the following data to glider: 1012927 SCI: sci_water_cond(s/m) 1012927 SCI: sci_water_temp(degc) 1012928 SCI: sci_water_pressure(bar) 1012928 SCI: sci_ctd41cp_timestamp(timestamp) 1012930 SCI:PROGLET house_elf start() called 1012930 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 1012930 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 1013053 88 00310147.mlg LOG FILE OPENED -------------------------------- 1013056 behavior surface_2: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru26d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru26d-2019-346-0-147 (0031.0147) Vehicle Name: ru26d Curr Time: Wed Dec 25 09:51:31 2019 MT: 1013060 DR Location: 3651.399 N -12246.086 E measured 605.39 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3653.150 N -12251.147 E measured 664.908 secs ago GPS Location: 3651.398 N -12246.086 E measured 605.889 secs ago sensor:c_wpt_lat(lat)=3648.051 474.15 secs ago sensor:c_wpt_lon(lon)=-12218.56 474.191 secs ago sensor:m_battery(volts)=14.7157416798788 2.993 secs ago sensor:m_coulomb_amphr(amp-hrs)=367.056243896484 3.18 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=368.692869896561 3.193 secs ago sensor:m_depth(m)=0 3.062 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1020 81.502 secs ago sensor:m_gps_mag_var(rad)=-0.239110107523223 606.292 secs ago sensor:m_iridium_attempt_num(nodim)=0 539.873 secs ago sensor:m_iridium_call_num(nodim)=2970 562.266 secs ago sensor:m_iridium_dialed_num(nodim)=3854 572.062 secs ago sensor:m_iridium_signal_strength(nodim)=5 572.105 secs ago sensor:m_leakdetect_voltage(volts)=2.49710012210012 3.063 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49703907203907 3.077 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3.108 secs ago sensor:m_system_clock_lags_gps(sec)=-5 606.58 secs ago sensor:m_tot_num_inflections(nodim)=15744 727.082 secs ago sensor:m_vacuum(inHg)=10.3362707570208 3.554 secs ago sensor:m_water_vx(m/s)=0.00682978302019801 631.046 secs ago sensor:m_water_vy(m/s)=0.0400701592341416 631.08 secs ago sensor:u_alt_min_depth(m)=900 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 540.307 secs ago sensor:x_last_wpt_lat(lat)=3608.1129 706913 secs ago sensor:x_last_wpt_lon(lon)=-12506.6963 706913 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 42/ 0/ 0 odd:3967/ 282/ 5 ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The attitude_rev device driver returned an error. ABORT HISTORY: last abort time: 2019-10-17T22:09:24 ABORT HISTORY: last abort segment: ru26d-2019-269-2-326 (0024.0326) 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 -537 secs) Waypoint: (3648.0510,-12218.5600) Range: 41376m, Bearing: 84deg, Age: 0:7h:m Time until diving is: 653 secs ^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) os w/s w/m os errors warnings oddities 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] [ 0 0 0] [ 36 0 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 1 [ 1 0 0] [ 17 0 0] [ 0 0 0] 11 ocean_pressure I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 798 2 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] [ 13 0 0] 17 science_super I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 10 2 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [1973 198 4] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 25 0 0] [1127 78 1] 25 leakdetect I u 3 20 5 0 26 recovery I u 3 20 5 0 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 [ 0 0 0] [ 0 0 0] [ 10 2 0] 34 HD_PUMP - 35 thruster_g1 - 36 thruster I u 3 20 5 0 devices:(t/m/s) errs: 1/ 0/ 0 warn: 42/ 0/ 0 odd:3967/ 282/ 5 ^R1013085 95 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 1274.062500 Megabytes available on CF file system = 726.875000 1013091 00310147.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=94.0K, M_SPARE_HEAP=75.0K 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_coulomb_battery_capacity(amp-hrs) 492.000000 f_ocean_pressure_min(volts) 0.162628 m_avg_climb_rate(m/s) -0.181556 m_avg_speed(m/s) 0.363476 m_avg_upward_inflection_time(sec) 84.075868 m_battery(volts) 14.715742 m_coulomb_amphr_total(amp-hrs) 368.696440 m_iridium_call_num(nodim) 2970.000000 m_iridium_dialed_num(nodim) 3854.000000 m_lat(lat) 3651.398500 m_lon(lon) -12246.085600 m_pump_effective_num_cycles(nodim) 978.000000 m_tot_ballast_pumped_energy(kjoules) 0.000000 m_tot_horz_dist(km) 10287.649663 m_tot_num_inflections(nodim) 15744.000000 m_tot_num_thermal_valve_cmd(nodim) 9468.000000 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 u_max_lag_before_syncing_time(sec) 946100000.000000 x_hover_ballast_deep(cc) 132.799913 x_hover_ballast_shallow(cc) 125.976350 x_hover_depth_deep(m) 74.976047 x_hover_depth_shallow(m) 41.729947 x_last_wpt_lat(lat) 3608.112900 x_last_wpt_lon(lon) -12506.696300 timestamp: Wed Dec 25 09:52:08 2019 The instantaneous lag time between the system and gps clock is -5.0 seconds. The average lag time between the system and gps clock is -6.5 seconds. Housekeeping is done 1013226 8 00310148.mlg LOG FILE OPENED Megabytes used on CF file system = 1274.187500 Megabytes available on CF file system = 726.750000 1013230 init_gps_input() 1013230 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Wait