Connection Event: Carrier Detect found. 2200 Iridium console active and ready...
Vehicle Name: sylvia
Curr Time: Thu Oct 15 14:09:00 2020 MT: 2200
DR Location: 3734.624 N -7457.283 E measured 45.513 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : 3734.596 N -7457.332 E measured 157.626 secs ago
GPS Location: 3734.624 N -7457.283 E measured 46.667 secs ago
sensor:c_iridium_current_num(enum)=0 1e+308 secs ago
sensor:c_wpt_lat(lat)=3735 2073.87 secs ago
sensor:c_wpt_lon(lon)=-7456 2073.91 secs ago
sensor:m_battery(volts)=16.4138071915907 4.263 secs ago
sensor:m_bms_aft_current(amp)=0 1e+308 secs ago
sensor:m_bms_ebay_current(amp)=0 1e+308 secs ago
sensor:m_bms_pitch_current(amp)=0 1e+308 secs ago
sensor:m_coulomb_amphr(amp-hrs)=0.812250018119812 4.537 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=1.72187501827255 4.551 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 4.649 secs ago
sensor:m_gps_mag_var(rad)=0.205948851735331 47.179 secs ago
sensor:m_iridium_attempt_num(nodim)=1 41.336 secs ago
sensor:m_iridium_call_num(nodim)=1943 0.664 secs ago
sensor:m_iridium_signal_strength(nodim)=3 12.916 secs ago
sensor:m_leakdetect_voltage(volts)=2.5 4.583 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.49777167277167 4.598 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 4.629 secs ago
sensor:m_lithium_battery_relative_charge(%)=99.2578124921239 4.871 secs ago
sensor:m_tot_num_inflections(nodim)=5512 1503.64 secs ago
sensor:m_vacuum(inHg)=8.61065418192918 4.864 secs ago
sensor:m_water_vx(m/s)=0.188842232723281 1440.02 secs ago
sensor:m_water_vy(m/s)=-0.0396065545866438 1440.05 secs ago
sensor:u_alt_min_depth(m)=2 1e+308 secs ago
sensor:u_min_water_depth(m)=0 1e+308 secs ago
sensor:u_use_current_correction(nodim)=1 1e+308 secs ago
sensor:x_critical_abort_active(int)=0 1e+308 secs ago
sensor:x_last_wpt_lat(lat)=3736.49300005667 1e+308 secs ago
sensor:x_last_wpt_lon(lon)=-7541.16860000053 1e+308 secs ago
ABORT HISTORY: total since reset: 1
ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH
ABORT HISTORY: last abort details:
ABORT HISTORY: last abort time: 2020-10-15T13:26:55
ABORT HISTORY: last abort segment: sylvia-2020-288-1-0 (0109.0000)
ABORT HISTORY: last abort mission: OD.MI
2202 No login script found for processing.
send *.tbd *.sbd
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
2237 63 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 3 files
Prechecking is not necessary for this invocation
START
**B0000000
Starting zModem transfer of 01100000.tbd to/from sylvia size is 10833
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: 10833
zModem transfer DONE for file 01100000.tbd
Starting zModem transfer of 01090000.tbd to/from sylvia size is 1037
Total Bytes sent/received: 1024
Total Bytes sent/received: 1037
zModem transfer DONE for file 01090000.tbd
Starting zModem transfer of 01080000.tbd to/from sylvia size is 515
Total Bytes sent/received: 515
zModem transfer DONE for file 01080000.tbd
SHUFFLING FILES...
SCI: Sent 3 file(s):
c:\logs\01100000.TBD c:\logs\01090000.TBD c:\logs\01080000.TBD
SCI: SUCCESS
2337 87 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 3 files
Prechecking is not necessary for this invocation
2338 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
2338 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B00000000000000
Starting zModem transfer of 01100000.sbd to/from sylvia size is 5085
Total Bytes sent/received: 1024
Total Bytes sent/received: 2048
Total Bytes sent/received: 3072
Total Bytes sent/received: 4096
Total Bytes sent/received: 5085
zModem transfer DONE for file 01100000.sbd
Starting zModem transfer of 01090000.sbd to/from sylvia size is 1601
Total Bytes sent/received: 1024
Total Bytes sent/received: 1601
zModem transfer DONE for file 01090000.sbd
Starting zModem transfer of 01080000.sbd to/from sylvia size is 1525
Total Bytes sent/received: 1024
Total Bytes sent/received: 1525
zModem transfer DONE for file 01080000.sbd
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
2405 restore_sensors()....
2405 restore_sensors()....
Restored c_science_printout from 0 to 0
SHUFFLING FILES...
GLD: Sent 3 file(s):
c:\logs\01100000.SBD c:\logs\01090000.SBD c:\logs\01080000.SBD
GLD: SUCCESS
Glider-Science software version match: 8.500000
Science hardware version is 1.000000
2414 88 SCI:PROGLET house_elf begin() called
2414 SCI: house_elf: Version 1.2
2414 SCI:PROGLET ctd41cp begin() called
2414 SCI: ctd41cp: Version 0.2
2414 SCI: ctd41cp: Will be sending the following data to glider:
2414 SCI: sci_water_cond(s/m)
2414 SCI: sci_water_temp(degc)
2414 SCI: sci_water_pressure(bar)
2414 SCI: sci_ctd41cp_timestamp(timestamp)
2415 SCI:PROGLET flbbcd begin() called
2415 SCI: flbbcd: Version 0.0
2415 SCI: flbbcd: Will be sending following data to glider:
2415 SCI: sci_flbbcd_chlor_units(ug/l)
2415 SCI: sci_flbbcd_bb_units(nodim)
2415 SCI: sci_flbbcd_cdom_units(ppb)
2415 90 SCI: sci_flbbcd_chlor_sig(nodim)
2415 SCI: sci_flbbcd_bb_sig(nodim)
2415 SCI: sci_flbbcd_cdom_sig(nodim)
2416 SCI: sci_flbbcd_chlor_ref(nodim)
2416 SCI: sci_flbbcd_bb_ref(nodim)
2416 SCI: sci_flbbcd_cdom_ref(nodim)
2417 SCI: sci_flbbcd_therm(nodim)
2417 SCI: sci_flbbcd_timestamp(timestamp)
2417 SCI: Opening Bit(34) for output
2417 SCI:Bit(34) use count is now 1.
2417 SCI:Bit(34) raise count is now 0.
2417 SCI:Bit(34) raise count is now 0.
2417 SCI:PROGLET oxy4 begin() called
2417 SCI: oxy4: Version 0.0
2417 SCI: oxy4: Will be sending following data to glider:
2417 SCI: sci_oxy4_oxygen(um)
2417 SCI: sci_oxy4_saturation(%)
2417 SCI: sci_oxy4_temp(degc)
2417 SCI: sci_oxy4_calphase(deg)
2418 SCI: sci_oxy4_tcphase(deg)
2418 SCI: sci_oxy4_c1rph(deg)
2418 SCI: sci_oxy4_c2rph(deg)
2418 SCI: sci_oxy4_c1amp(mv)
2418 SCI: sci_oxy4_c2amp(mv)
2418 SCI: sci_oxy4_rawtemp(mv)
2418 SCI: sci_oxy4_timestamp(timestamp)
2418 SCI: Opening Bit(30) for output
2418 SCI:Bit(30) use count is now 1.
2418 SCI:Bit(30) raise count is now 0.
2418 SCI:Bit(30) raise count is now 0.
2418 SCI:PROGLET bsipar begin() called
2418 SCI: bsipar: Version 0.0
2419 SCI: bsipar: Will be sending following data to glider:
2419 SCI: sci_bsipar_par(ue/m^2sec)
2419 SCI: sci_bsipar_sensor_volts(volts)
2419 SCI: sci_bsipar_temp(degc)
2419 SCI: sci_bsipar_supply_volts(volts)
2419 SCI: sci_bsipar_timestamp(timestamp)
2419 SCI:PROGLET lisst begin() called
2422 91 SCI:PROGLET house_elf start() called
2422 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
2423 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
GliderDos N -1 >**^XB0800000000022d
Bad command or file name
GliderDos N -1 >DEL**^XB0800000000022d
Bad command or file name
GliderDos N -1 >DEL
Bad command or file name
GliderDos N -1 >zr
2589 33 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
2589 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B01000800275775
Starting zModem transfer of yo77.ma to/from sylvia size is 2180
Total Bytes sent/received: 1024
Total Bytes sent/received: 2048
Total Bytes sent/received: 2180
zModem transfer DONE for file yo77.ma
sending >yo77.ma< Sent
archiving >/var/opt/sfmc-dockserver/stations/c2po/gliders/sylvia/to-glider/yo77.ma< as >/var/opt/sfmc-dockserver/stations/c2po/gliders/sylvia/archive/20201015T141600_yo77.ma< Successful
deleting >/var/opt/sfmc-dockserver/stations/c2po/gliders/sylvia/to-glider/yo77.ma< Successful
2619 restore_sensors()....
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
2619 restore_sensors()....
2619 restore_sensors()....
Restored c_science_printout from 0 to 0
Done!
GliderDos N -1 >Glider-Science software version match: 8.500000
Science hardware version is 1.000000
2624 36 SCI:PROGLET house_elf begin() called
2625 SCI: house_elf: Version 1.2
2625 SCI:PROGLET ctd41cp begin() called
2625 SCI: ctd41cp: Version 0.2
2625 SCI: ctd41cp: Will be sending the following data to glider:
2625 SCI: sci_water_cond(s/m)
2625 SCI: sci_water_temp(degc)
2625 SCI: sci_water_pressure(bar)
2625 SCI: sci_ctd41cp_timestamp(timestamp)
2625 SCI:PROGLET flbbcd begin() called
2625 SCI: flbbcd: Version 0.0
2625 SCI: flbbcd: Will be sending following data to glider:
2626 SCI: sci_flbbcd_chlor_units(ug/l)
2626 SCI: sci_flbbcd_bb_units(nodim)
2626 SCI: sci_flbbcd_cdom_units(ppb)
2626 SCI: sci_flbbcd_chlor_sig(nodim)
2626 SCI: sci_flbbcd_bb_sig(nodim)
2626 SCI: sci_flbbcd_cdom_sig(nodim)
2626 SCI: sci_flbbcd_chlor_ref(nodim)
2626 SCI: sci_flbbcd_bb_ref(nodim)
2626 SCI: sci_flbbcd_cdom_ref(nodim)
2626 SCI: sci_flbbcd_therm(nodim)
2626 SCI: sci_flbbcd_timestamp(timestamp)
2627 SCI: Opening Bit(34) for output
2627 SCI:Bit(34) use count is now 1.
2627 SCI:Bit(34) raise count is now 0.
2627 SCI:Bit(34) raise count is now 0.
2627 SCI:PROGLET oxy4 begin() called
2627 SCI: oxy4: Version 0.0
2627 SCI: oxy4: Will be sending following data to glider:
2627 SCI: sci_oxy4_oxygen(um)
2627 SCI: sci_oxy4_saturation(%)
2627 SCI: sci_oxy4_temp(degc)
2627 SCI: sci_oxy4_calphase(deg)
2627 SCI: sci_oxy4_tcphase(deg)
2628 SCI: sci_oxy4_c1rph(deg)
2628 37 SCI: sci_oxy4_c2rph(deg)
2628 SCI: sci_oxy4_c1amp(mv)
2628 SCI: sci_oxy4_c2amp(mv)
2629 SCI: sci_oxy4_rawtemp(mv)
2629 SCI: sci_oxy4_timestamp(timestamp)
2629 SCI: Opening Bit(30) for output
2629 SCI:Bit(30) use count is now 1.
2629 SCI:Bit(30) raise count is now 0.
2629 SCI:Bit(30) raise count is now 0.
2629 SCI:PROGLET bsipar begin() called
2629 SCI: bsipar: Version 0.0
2629 SCI: bsipar: Will be sending following data to glider:
2630 SCI: sci_bsipar_par(ue/m^2sec)
2630 SCI: sci_bsipar_sensor_volts(volts)
2630 SCI: sci_bsipar_temp(degc)
2630 SCI: sci_bsipar_supply_volts(volts)
2630 SCI: sci_bsipar_timestamp(timestamp)
2630 SCI:PROGLET lisst begin() called
2633 37 SCI:PROGLET house_elf start() called
2634 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
2634 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
where
Vehicle Name: sylvia
Curr Time: Thu Oct 15 14:17:42 2020 MT: 2721
DR Location: 3734.624 N -7457.283 E measured 567.024 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : 3734.596 N -7457.332 E measured 679.136 secs ago
GPS Location: 3734.624 N -7457.283 E measured 568.177 secs ago
sensor:c_iridium_current_num(enum)=0 1e+308 secs ago
sensor:c_wpt_lat(lat)=3735 2595.38 secs ago
sensor:c_wpt_lon(lon)=-7456 2595.42 secs ago
sensor:m_battery(volts)=16.4097953707733 0.43 secs ago
sensor:m_bms_aft_current(amp)=0 1e+308 secs ago
sensor:m_bms_ebay_current(amp)=0 1e+308 secs ago
sensor:m_bms_pitch_current(amp)=0 1e+308 secs ago
sensor:m_coulomb_amphr(amp-hrs)=0.858562529087067 0.696 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=1.7681875292398 0.71 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1023 4.057 secs ago
sensor:m_gps_mag_var(rad)=0.205948851735331 568.685 secs ago
sensor:m_iridium_attempt_num(nodim)=0 491.95 secs ago
sensor:m_iridium_call_num(nodim)=1943 522.168 secs ago
sensor:m_iridium_signal_strength(nodim)=3 534.42 secs ago
sensor:m_leakdetect_voltage(volts)=2.5 41.013 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.49761904761905 41.03 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 1.023 secs ago
sensor:m_lithium_battery_relative_charge(%)=99.2378502029139 1.025 secs ago
sensor:m_tot_num_inflections(nodim)=5512 2025.14 secs ago
sensor:m_vacuum(inHg)=8.60131587301587 1.026 secs ago
sensor:m_water_vx(m/s)=0.188842232723281 1961.53 secs ago
sensor:m_water_vy(m/s)=-0.0396065545866438 1961.56 secs ago
sensor:u_alt_min_depth(m)=2 1e+308 secs ago
sensor:u_min_water_depth(m)=0 1e+308 secs ago
sensor:u_use_current_correction(nodim)=1 1e+308 secs ago
sensor:x_critical_abort_active(int)=0 1e+308 secs ago
sensor:x_last_wpt_lat(lat)=3736.49300005667 1e+308 secs ago
sensor:x_last_wpt_lon(lon)=-7541.16860000053 1e+308 secs ago
GliderDos N -1 >type c:\mafiles\surfac81.ma
behavior_name=surface
# climb to surface with ballast pump full out
# pitch servo'ed to 26 degrees
# Hand Written
# 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma
# 2016-02-27 gong@vims.edu
# Come up if haven't had comms for a while, 60 minutes
b_arg: start_when(enum) 12 # BAW_NOCOMM_SECS 12, when have not had comms for WHEN_SECS secs
b_arg: when_secs(sec) 1800 # Surface every X seconds for no comms
b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist"
b_arg: gps_wait_time(s) 600 # how long to wait for gps
b_arg: keystroke_wait_time(sec) 360 # how long to wait for control-C
b_arg: when_wpt_dist(m) 200 # how close to waypoint before surface, only if start_when==7
b_arg: c_bpump_value(x) 300
b_arg: c_use_pitch(enum) 3 # 3:servo
b_arg: c_pitch_value(X) 0.46 # 26 deg
b_arg: c_use_thruster(enum) 0 # 3 Command depth rate. See sensors for use_thruster = depthrate
b_arg: c_thruster_value(X) -0.06 # use_thruster == 3 m/s, desired depth rate. < 0 for climb
b_arg: c_stop_when_air_pump(bool) 0 # Terminate climb once air pump has been inflated. For use with thruster only.
b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog
GliderDos N -1 >type c:\missions\sylvia.mi
# vapinesy.mi
#
# Retrieves waypoints from mafiles/goto_l29.ma
# Retrieves yo envelope from mafiles/yo80.ma
# Retrieves climb to surface controls from mafiles/surfac81 through 87.ma
# All science sensors sample on down/up/hover/surface from mafiles/sample13.ma
#
# 10-July-2010 ballsup@webbresearch.com Initial (based on glmpc.mi)
# 30-Nov-2010 ballsup@webbresearch.com changed abort for cop tickle 13.5 hours and disabled percentage method
# 09-Oct-2013 gong@vims.edu modified for VA line from ESL to slope sea.
# 21-Oct-2013 gong@vims.edu continued optimization for VIMS gliders based on input from Webb and RUCOOL
# 21-Oct-2013 gong@vims.edu cleaned up and removed autoballast controls
# 2015-Sep-02 gong@vims.edu adopted for unit_417, Sylvia (800 cc 200 m pump)
# 2016-Aug-12 gong@vims.edu for MARES 2016 deployment
# 2018-Apr-30 gong@vims.edu adopted from MARES16.MI, configured for VA sampling, updated mafiles number scheme
################################################################################
sensor: c_science_all_on_enabled(bool) 0 # in, non-zero enables c_science_all_on
# disable this sensor to allow for individually
# sampled science sensors ie sample11.ma and greater
sensor: c_science_send_all(bool) 0 # 0: just send standard subset but still log them all on science.
sensor: u_reqd_depth_at_surface(m) 3.0 #! visible = True; min = 1.0; max = 10.0
# in, depths less than this considered "at surface"
sensor: u_use_ctd_depth_for_flying(bool) 0 # true=> use ctd measurement for m_depth
# implemented as emergency workaround for
# broken ocean pressure
sensor: u_use_current_correction(nodim) 1 # 0 calculate, but do not use m_water_vx/y
# 1 use m_water_vx/y to navigate AND aim
sensor: u_dbd_sensor_list_xmit_control(enum) 2 # 0 = always transmit header
# 1 = transmit header on initial mission segment only
# 2 = transmit header if THIS glider hasn't sent it before
# 3 = never transmit header
sensor: u_sci_dbd_sensor_list_xmit_control(enum) 2 # same as above
sensor: c_iridium_no_char_timeout(mins) 15 # How long to wait for a character at all other times
# This is internally to clipped to never be less than 5 minutes
# unless you are in lab_mode. This is catch all to force an iridium
# error (and a redial) if it ever gets "stuck"
sensor: u_max_lag_before_syncing_time(sec) 12 # sync_time when avg lag exceeds 12 secs
sensor: u_alt_min_depth(m) 10
sensor: u_low_power_cycle_time(sec) 0 # in, num of secs/cycle on glider processor
# during low power mode (dive/climbs),
# <=0 disables low power mode
sensor: u_allowable_cycle_overrun(msec) 2000
sensor: u_autoballast_abort(bool) 0 # if autoballast fails to converge, then abort if true. if false, c_autoballast_state will change to 3 and continue with the last ballast amounts
sensor: u_min_thruster_abort_ascent_rate(m/s) -0.07
#sensor: u_autoballast_end_on_converge(bool) 1 #in. If true, end autoballast adjustments to c_[climb/dive] once converged. If false, keep running autoballast.
################################################################################
behavior: abend
b_arg: overdepth(m) 205 # glider finds itself in > 357m of water
b_arg: overdepth_sample_time(s) 30 # how often to check
# MS_ABORT_OVERTIME
b_arg: overtime(s) -1 # < 0 disables, 14400 == 4 hours
# MS_ABORT_WPT_TOOFAR
b_arg: no_cop_tickle_for(sec) 14400 # secs, abort mission if watchdog
# not tickled this often, <0 disables
b_arg: no_cop_tickle_percent(%) 10.0 # 0-100, <0 disables
b_arg: max_wpt_distance(m) 400000 # Maximum allowable distance to a waypoint
b_arg: samedepth_for(sec) 1800
b_arg: samedepth_for_sample_time(s) 30 # how often to check / can be used to stop stuck at depth
b_arg: stalled_for(sec) 900
b_arg: stalled_for_sample_time(sec) 120
b_arg: undervolts(volts) 12.8 # < 0 disables
# Decrease to 9 for Lithium primary batteries
# Increase to 12.8 for lithium ion rechargeable batteries
# Shoreside power supply is at 11.6.
b_arg: undervolts_sample_time(sec) 300 # < 0 disables
b_arg: vacuum_max(inHg) 12
b_arg: vacuum_sample_time(sec) 300
b_arg: reqd_spare_heap(bytes) 32000
b_arg: max_allowable_busy_cpu_cycles(cycles) 75 # busy CPU check
b_arg: use_thruster_for_ascent(bool) 1
################################################################################
# Come up if haven't had comms for a while
behavior: surface
b_arg: args_from_file(enum) 81 # read from mafiles/surfac01.ma
################################################################################
# Come up when mission done
# This is determined by no one steering in x-y plane (no waypoints)
behavior: surface
b_arg: args_from_file(enum) 82 # read from mafiles/surfac02.ma
################################################################################
# Come up briefly if "yo" finishes
# This happens if a bad altimeter hit causes a dive and climb to
# complete in same cycle. We surface and hopefully yo restarts
# or change keystroke_wait_time if surfacing for num_half_cycles_to_do
behavior: surface
b_arg: args_from_file(enum) 83 # read from mafiles/surfac83.ma
################################################################################
# Come up every way point , change to surface by science when want off
behavior: surface
b_arg: args_from_file(enum) 84 # read from mafiles/surfac84.ma
################################################################################
# Come up when requested by science
#behavior: surface
b_arg: args_from_file(enum) 85 # read from mafiles/surfac85.ma
################################################################################
# Come up every x minutes
behavior: surface
b_arg: args_from_file(enum) 86 # read from mafiles/surfac86.ma
################################################################################
# nothing commanded
behavior: surface
b_arg: args_from_file(enum) 87 # read from mafiles/surfac87.ma
################################################################################
behavior: goto_list
b_arg: args_from_file(enum) 77 # read from mafiles/goto_l29.ma
b_arg: start_when(enum) 0 # 0-immediately, 1-stack idle 2-heading idle
################################################################################
behavior: yo
b_arg: args_from_file(enum) 77 # read from mafiles/yo80.ma
b_arg: start_when(enum) 2 # 0-immediately, 1-stack idle 2-depth idle
b_arg: end_action(enum) 2 # 0-quit, 2 resume
################################################################################
# Sample : CTD
behavior: sample
b_arg: args_from_file(enum) 13 # >= 0 enables reading from mafiles/sample13.ma
# Sample : flbbcd
behavior: sample
b_arg: args_from_file(enum) 23
# Sample : oxy4
behavior: sample
b_arg: args_from_file(enum) 33
# Sample : bsipar
behavior: sample
b_arg: args_from_file(enum) 43
# Sample: lisst
behavior: sample
b_arg: args_from_file(enum) 53
################################################################################
behavior: prepare_to_dive
b_arg: start_when(enum) 0 # 0-immediately, 1-stack idle 2-depth idle
b_arg: wait_time(s) 720 # 12 minutes, how long to wait for gps
################################################################################
behavior: sensors_in # Turn most input sensors off
GliderDos N -1 >zr
2938 11 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
2938 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B01000
Starting zModem transfer of surfac81.ma to/from sylvia size is 1507
Total Bytes sent/received: 1024
Total Bytes sent/received: 1507
zModem transfer DONE for file surfac81.ma
sending >surfac81.ma< Sent
archiving >/var/opt/sfmc-dockserver/stations/c2po/gliders/sylvia/to-glider/surfac81.ma< as >/var/opt/sfmc-dockserver/stations/c2po/gliders/sylvia/archive/20201015T142143_surfac81.ma< Successful
deleting >/var/opt/sfmc-dockserver/stations/c2po/gliders/sylvia/to-glider/surfac81.ma< Successful
2962 restore_sensors()....
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
2962 restore_sensors()....
2962 restore_sensors()....
Restored c_science_printout from 0 to 0
Done!
GliderDos N -1 >Glider-Science software version match: 8.500000
Science hardware version is 1.000000
2972 12 SCI:PROGLET house_elf begin() called
2972 SCI: house_elf: Version 1.2
2973 13 SCI:PROGLET ctd41cp begin() called
2973 SCI: ctd41cp: Version 0.2
2973 SCI: ctd41cp: Will be sending the following data to glider:
2973 SCI: sci_water_cond(s/m)
2973 SCI: sci_water_temp(degc)
2973 SCI: sci_water_pressure(bar)
2973 SCI: sci_ctd41cp_timestamp(timestamp)
2973 SCI:PROGLET flbbcd begin() called
2973 SCI: flbbcd: Version 0.0
2974 SCI: flbbcd: Will be sending following data to glider:
2974 SCI: sci_flbbcd_chlor_units(ug/l)
2974 SCI: sci_flbbcd_bb_units(nodim)
2974 SCI: sci_flbbcd_cdom_units(ppb)
2974 SCI: sci_flbbcd_chlor_sig(nodim)
2974 SCI: sci_flbbcd_bb_sig(nodim)
2974 SCI: sci_flbbcd_cdom_sig(nodim)
2974 SCI: sci_flbbcd_chlor_ref(nodim)
2974 SCI: sci_flbbcd_bb_ref(nodim)
2974 SCI: sci_flbbcd_cdom_ref(nodim)
2975 SCI: sci_flbbcd_therm(nodim)
2975 SCI: sci_flbbcd_timestamp(timestamp)
2975 SCI: Opening Bit(34) for output
2975 SCI:Bit(34) use count is now 1.
2975 SCI:Bit(34) raise count is now 0.
2975 SCI:Bit(34) raise co^C^C
Bad command or file name
GliderDos N -1 >
Vehicle Name: sylvia
3105 45 NOTE:GPS fix is getting stale: 952 secs old
GliderDos N -1 >
GliderDos N -1 >
GliderDos N -1 >type c:\mafiles\surfac81.ma
behavior_name=surface
# climb to surface with ballast pump full out
# pitch servo'ed to 26 degrees
# Hand Written
# 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma
# 2016-02-27 gong@vims.edu
# Come up if haven't had comms for a while, 60 minutes
b_arg: start_when(enum) 12 # BAW_NOCOMM_SECS 12, when have not had comms for WHEN_SECS secs
b_arg: when_secs(sec) 900 # Surface every X seconds for no comms
b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist"
b_arg: gps_wait_time(s) 600 # how long to wait for gps
b_arg: keystroke_wait_time(sec) 360 # how long to wait for control-C
b_arg: when_wpt_dist(m) 200 # how close to waypoint before surface, only if start_when==7
b_arg: c_bpump_value(x) 300
b_arg: c_use_pitch(enum) 3 # 3:servo
b_arg: c_pitch_value(X) 0.46 # 26 deg
b_arg: c_use_thruster(enum) 0 # 3 Command depth rate. See sensors for use_thruster = depthrate
b_arg: c_thruster_value(X) -0.06 # use_thruster == 3 m/s, desired depth rate. < 0 for climb
b_arg: c_stop_when_air_pump(bool) 0 # Terminate climb once air pump has been inflated. For use with thruster only.
b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog
GliderDos N -1 >sequence sylvia.mi(5)
Sequencing missions
load_mission(): Opening Mission file: SYLVIA.MI for execution 5 times
Validated SENSOR c_science_all_on_enabled(bool) value 0.000000
Validated SENSOR c_science_send_all(bool) value 0.000000
Validated SENSOR u_reqd_depth_at_surface(m) value 3.000000
Validated SENSOR u_use_ctd_depth_for_flying(bool) value 0.000000
Validated SENSOR u_use_current_correction(nodim) value 1.000000
Validated SENSOR u_dbd_sensor_list_xmit_control(enum) value 2.000000
Validated SENSOR u_sci_dbd_sensor_list_xmit_control(enum) value 2.000000
Validated SENSOR c_iridium_no_char_timeout(mins) value 15.000000
Validated SENSOR u_max_lag_before_syncing_time(sec) value 12.000000
Validated SENSOR u_alt_min_depth(m) value 10.000000
Validated SENSOR u_low_power_cycle_time(sec) value 0.000000
Validated SENSOR u_allowable_cycle_overrun(msec) value 2000.000000
Validated SENSOR u_autoballast_abort(bool) value 0.000000
Validated SENSOR u_min_thruster_abort_ascent_rate(m/s) value -0.070000
load_mission(): Opening Mission file: lastgasp.mi for execution FOREVER
Validated SENSOR u_pitch_motor_test_availability(bool) value 0.000000
1 mission specifiers - sequencing 5 total missions (not counting lastgasp.mi):
SYLVIA.MI(5)
lastgasp.mi
ABORT HISTORY: total since reset: 1
ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH
ABORT HISTORY: last abort details:
ABORT HISTORY: last abort time: 2020-10-15T13:26:55
ABORT HISTORY: last abort segment: sylvia-2020-288-1-0 (0109.0000)
ABORT HISTORY: last abort mission: OD.MI
SEQUENCE: About to run SYLVIA.MI on try 0
You have 120 seconds to type a control-C to terminate the sequence.
The control-P character immediately starts the mission.
All other characters are ignored.
^P
Heard a control-P, starting the sequence
SEQUENCE: Running SYLVIA.MI on try 0
Starting Mission: SYLVIA.MI
timestamp: Thu Oct 15 14:25:20 2020
The instantaneous lag time between the system and gps clock is 1.0 seconds.
The average lag time between the system and gps clock is 0.8 seconds.
timestamp: Thu Oct 15 14:25:21 2020
load_mission(): Opening Mission file: SYLVIA.MI
Setting SENSOR c_science_all_on_enabled(bool) value 0.000000
Setting SENSOR c_science_send_all(bool) value 0.000000
Setting SENSOR u_reqd_depth_at_surface(m) value 3.000000
Setting SENSOR u_use_ctd_depth_for_flying(bool) value 0.000000
Setting SENSOR u_use_current_correction(nodim) value 1.000000
Setting SENSOR u_dbd_sensor_list_xmit_control(enum) value 2.000000
Setting SENSOR u_sci_dbd_sensor_list_xmit_control(enum) value 2.000000
Setting SENSOR c_iridium_no_char_timeout(mins) value 15.000000
Setting SENSOR u_max_lag_before_syncing_time(sec) value 12.000000
Setting SENSOR u_alt_min_depth(m) value 10.000000
Setting SENSOR u_low_power_cycle_time(sec) value 0.000000
Setting SENSOR u_allowable_cycle_overrun(msec) value 2000.000000
Setting SENSOR u_autoballast_abort(bool) value 0.000000
Setting SENSOR u_min_thruster_abort_ascent_rate(m/s) value -0.070000
Vehicle Name: sylvia
Curr Time: Thu Oct 15 14:25:22 2020 MT: 3177
DR Location: 3734.624 N -7457.283 E measured 1026.77 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : 3734.596 N -7457.332 E measured 1138.89 secs ago
GPS Location: 3734.624 N -7457.283 E measured 1027.93 secs ago
sensor:c_iridium_current_num(enum)=0 1e+308 secs ago
sensor:c_wpt_lat(lat)=3735 3055.13 secs ago
sensor:c_wpt_lon(lon)=-7456 3055.17 secs ago
sensor:m_battery(volts)=16.408774640811 3.954 secs ago
sensor:m_bms_aft_current(amp)=0 1e+308 secs ago
sensor:m_bms_ebay_current(amp)=0 1e+308 secs ago
sensor:m_bms_pitch_current(amp)=0 1e+308 secs ago
sensor:m_coulomb_amphr(amp-hrs)=0.897750020027161 4.223 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=1.8073750201799 4.238 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 4.33 secs ago
sensor:m_gps_mag_var(rad)=0.205948851735331 1028.44 secs ago
sensor:m_iridium_attempt_num(nodim)=0 951.7 secs ago
sensor:m_iridium_call_num(nodim)=1943 981.918 secs ago
sensor:m_iridium_signal_strength(nodim)=3 994.169 secs ago
sensor:m_leakdetect_voltage(volts)=2.5 59.321 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.49789377289377 59.333 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 4.551 secs ago
sensor:m_lithium_battery_relative_charge(%)=99.2209590430259 4.551 secs ago
sensor:m_tot_num_inflections(nodim)=5512 2484.89 secs ago
sensor:m_vacuum(inHg)=8.59400763125762 4.549 secs ago
sensor:m_water_vx(m/s)=0.188842232723281 2421.28 secs ago
sensor:m_water_vy(m/s)=-0.0396065545866438 2421.31 secs ago
sensor:u_alt_min_depth(m)=10 1.658 secs ago
sensor:u_min_water_depth(m)=0 1e+308 secs ago
sensor:u_use_current_correction(nodim)=1 2.016 secs ago
sensor:x_critical_abort_active(int)=0 1e+308 secs ago
sensor:x_last_wpt_lat(lat)=3736.49300005667 1e+308 secs ago
sensor:x_last_wpt_lon(lon)=-7541.16860000053 1e+308 secs ago
start_alldevices()
PARSED iridium_phone_data for datum# 0: ===========
predial initialization cmds (from c:\config\iridinit.0):
ATE
AT+cbst=6,0,1
AT+CSQ
dial string: ATD00881600005248
from sensors:
C_IRIDIUM_LEAD_ZEROS
C_IRIDIUM_PHONE_NUM
Iridium login script (from c:\config\loginexp.0): empty or non-existent
PARSED iridium_phone_data for datum# 1: ===========
predial initialization cmds (from c:\config\iridinit.1):
ATE
AT+cbst=6,0,1
AT+CSQ
dial string: ATD0017818711051
from sensors:
C_IRIDIUM_LEAD_ZEROS_ALT
C_IRIDIUM_PHONE_NUM_ALT
Iridium login script (from c:\config\loginexp.1): empty or non-existent
PARSED iridium_phone_data for datum# 2: ===========
predial initialization cmds (from c:\config\iridinit.2):
ATE
AT+cbst=6,0,1
dial string: ATD0017818711051
from sensors:
F_IRIDIUM_LEAD_ZEROS_FACTORY
F_IRIDIUM_PHONE_NUM_FACTORY
Iridium login script (from c:\config\loginexp.2): empty or non-existent
62.64 2 01110000.mlg LOG FILE OPENED
MissionSTARTDate: 15 Oct 2020 14:25:23 Z
Mission Name: SYLVIA.MI
Mission Number: sylvia-2020-288-3-0 (0111.0000)
log_c_stack():
1-abend 2-surface 3-surface 4-surface 5-surface
6-surface 7-surface 8-goto_list 9-yo 10-sample
11-sample 12-sample 13-sample 14-sample 15-prepare_to_dive
16-sensors_in
report_heap_size(): M_FREE_HEAP=70.0K, M_SPARE_HEAP=51.0K
pre_mission_init():End of Initialization
64.00 3 behavior sensors_in_16: STATE UnInited -> Active
64.04 behavior sensors_in_16: argument: c_att_time = -1.000000 sec
64.10 behavior sensors_in_16: argument: c_pressure_time = -1.000000 sec
64.16 behavior sensors_in_16: argument: c_alt_time = -1.000000 sec
64.21 behavior sensors_in_16: argument: u_battery_time = -1.000000 sec
64.27 behavior sensors_in_16: argument: u_vacuum_time = -1.000000 sec
64.33 behavior sensors_in_16: argument: c_leakdetect_time = -1.000000 sec
64.38 behavior sensors_in_16: argument: c_gps_on = 0.000000 bool
64.43 behavior sensors_in_16: argument: c_science_all_on = -1.000000 sec
64.49 behavior sensors_in_16: argument: c_profile_on = -1.000000 sec
64.55 behavior sensors_in_16: argument: c_bb2f_on = -1.000000 sec
64.60 behavior sensors_in_16: argument: c_bb2c_on = -1.000000 sec
64.66 behavior sensors_in_16: argument: c_bb2lss_on = -1.000000 sec
64.71 behavior sensors_in_16: argument: c_sam_on = -1.000000 sec
64.77 behavior sensors_in_16: argument: c_moteopd_on = -1.000000 sec
64.82 behavior sensors_in_16: argument: c_bbfl2s_on = -1.000000 sec
64.88 behavior sensors_in_16: argument: c_fl3slo_on = -1.000000 sec
64.93 behavior sensors_in_16: argument: c_bb3slo_on = -1.000000 sec
64.99 behavior sensors_in_16: argument: c_oxy3835_on = -1.000000 sec
65.04 behavior sensors_in_16: argument: c_whfctd_on = -1.000000 sec
65.10 behavior sensors_in_16: argument: c_bam_on = -1.000000 sec
65.15 behavior sensors_in_16: argument: c_ocr504R_on = -1.000000 sec
65.21 behavior sensors_in_16: argument: c_ocr504I_on = -1.000000 sec
65.26 behavior sensors_in_16: argument: c_flntu_on = -1.000000 sec
65.32 behavior sensors_in_16: argument: c_fl3slov2_on = -1.000000 sec
65.38 behavior sensors_in_16: argument: c_bb3slov2_on = -1.000000 sec
65.44 behavior sensors_in_16: argument: c_ocr507R_on = -1.000000 sec
65.49 behavior sensors_in_16: argument: c_ocr507I_on = -1.000000 sec
65.54 behavior sensors_in_16: argument: c_bb3slov3_on = -1.000000 sec
65.60 behavior sensors_in_16: argument: c_bb2fls_on = -1.000000 sec
65.66 behavior sensors_in_16: argument: c_bb2flsV2_on = -1.000000 sec
65.72 behavior sensors_in_16: argument: c_oxy3835_wphase_on = -1.000000 sec
65.77 behavior sensors_in_16: argument: c_auvb_on = -1.000000 sec
65.83 behavior sensors_in_16: argument: c_bb2fV2_on = -1.000000 sec
65.89 behavior sensors_in_16: argument: c_tarr_on = -1.000000 sec
65.94 behavior sensors_in_16: argument: c_bbfl2sV2_on = -1.000000 sec
66.00 behavior sensors_in_16: argument: c_glbps_on = -1.000000 sec
66.05 behavior sensors_in_16: argument: c_sscsd_on = -1.000000 sec
66.11 behavior sensors_in_16: argument: c_bb2flsV3_on = -1.000000 sec
66.16 behavior sensors_in_16: argument: c_fire_on = -1.000000 sec
66.22 behavior sensors_in_16: argument: c_bb2flsV4_on = -1.000000 sec
66.27 behavior sensors_in_16: argument: c_bb2flsV5_on = -1.000000 sec
66.33 behavior sensors_in_16: argument: c_logger_on = -1.000000 sec
66.38 behavior sensors_in_16: argument: c_bbam_on = -1.000000 sec
66.44 behavior sensors_in_16: argument: c_uModem_on = -1.000000 sec
66.49 behavior sensors_in_16: argument: c_rinkoII_on = -1.000000 sec
66.55 behavior sensors_in_16: argument: c_dvl_on = -1.000000 sec
66.61 behavior sensors_in_16: argument: c_bb2flsV6_on = -1.000000 sec
66.66 behavior sensors_in_16: argument: c_flbbrh_on = -1.000000 sec
66.72 behavior sensors_in_16: argument: c_flur_on = -1.000000 sec
66.78 behavior sensors_in_16: argument: c_bb2flsV7_on = -1.000000 sec
66.83 behavior sensors_in_16: argument: c_flbbcd_on = -1.000000 sec
66.89 behavior sensors_in_16: argument: c_dmon_on = -1.000000 sec
66.94 behavior sensors_in_16: argument: c_c3sfl_on = -1.000000 sec
67.00 behavior sensors_in_16: argument: c_suna_on = -1.000000 sec
67.05 behavior sensors_in_16: argument: c_satpar_on = -1.000000 sec
67.11 behavior sensors_in_16: argument: c_vsf_on = -1.000000 sec
67.16 behavior sensors_in_16: argument: c_oxy4_on = -1.000000 sec
67.21 behavior sensors_in_16: argument: c_bsipar_on = -1.000000 sec
67.27 behavior sensors_in_16: argument: c_flbb_on = -1.000000 sec
67.33 behavior sensors_in_16: argument: c_vr2c_on = -1.000000 sec
67.38 behavior sensors_in_16: argument: c_ctd41cp2_on = -1.000000 sec
67.44 behavior sensors_in_16: argument: c_echosndr853_on = -1.000000 sec
67.49 behavior sensors_in_16: argument: c_flrh_on = -1.000000 sec
67.55 behavior sensors_in_16: argument: c_bb2flsV8_on = -1.000000 sec
67.60 behavior sensors_in_16: argument: c_uviluxPAH_on = -1.000000 sec
67.66 behavior sensors_in_16: argument: c_ad2cp_on = -1.000000 sec
67.72 behavior sensors_in_16: argument: c_miniProCO2_on = -1.000000 sec
67.78 behavior sensors_in_16: argument: c_pCO2_on = -1.000000 sec
67.83 behavior sensors_in_16: argument: c_seaOWL_on = -1.000000 sec
67.88 behavior sensors_in_16: argument: c_azfp_on = -1.000000 sec
67.94 behavior sensors_in_16: argument: c_ubat_on = -1.000000 sec
67.99 behavior sensors_in_16: argument: c_lisst_on = -1.000000 sec
68.05 behavior sensors_in_16: argument: c_lms_on = -1.000000 sec
68.10 b