Connection Event: Carrier Detect found.869012 Iridium console active and ready...
Vehicle Name: ru29
Curr Time: Sun Oct 3 23:43:15 2021 MT: 869024
DR Location: 1804.770 N -6454.558 E measured 47.243 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : 1803.716 N -6453.169 E measured 111.26 secs ago
GPS Location: 1804.770 N -6454.558 E measured 49.664 secs ago
sensor:c_wpt_lat(lat)=1807.1548 12759.6 secs ago
sensor:c_wpt_lon(lon)=-6452.5772 12759.7 secs ago
sensor:m_battery(volts)=14.2149396263132 59.114 secs ago
sensor:m_coulomb_amphr(amp-hrs)=144.958114624023 4.948 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=145.1481156241 4.968 secs ago
sensor:m_depth(m)=
not found>yo*.ma<
not found>goto_l*.ma<
not found>sample*.ma<
not found>surfac*.ma<
[dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive]
[-d ] ...
[[-d ... ] ... ]
0.132660554805637 4.91 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 5.126 secs ago
sensor:m_gps_mag_var(rad)=0.23387411976724 50.142 secs ago
sensor:m_iridium_attempt_num(nodim)=1 44.772 secs ago
sensor:m_iridium_call_num(nodim)=6455 0.695 secs ago
sensor:m_iridium_dialed_num(nodim)=11422 18.067 secs ago
sensor:m_leakdetect_voltage(volts)=2.4997557997558 25.673 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.49578754578755 25.695 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 5.424 secs ago
sensor:m_tot_num_inflections(nodim)=33322 285.059 secs ago
sensor:m_vacuum(inHg)=9.161793009768 10.259 secs ago
sensor:m_water_vx(m/s)=-0.0524588845972607 78.14 secs ago
sensor:m_water_vy(m/s)=-0.0352916631846066 78.183 secs ago
sensor:u_max_altimeter(m)=100 1e+308 secs ago
sensor:u_min_water_depth(m)=100 1e+308 secs ago
sensor
not found>*.dat<
not found>*.ini<
not found>*.cfg<
[dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive]
[-d ] ...
[[-d ... ] ... ]
:u_use_current_correction(nodim)=1 462839 secs ago
sensor:x_last_wpt_lat(lat)=1807.838 67414.2 secs ago
sensor:x_last_wpt_lon(lon)=-6446.166 67414.2 secs ago
ABORT HISTORY: total since reset: 4
ABORT HISTORY: last abort cause: MS_ABORT_OVERTIME
ABORT HISTORY: last abort details:
ABORT HISTORY: last abort time: 2021-09-23T19:12:50
ABORT HISTORY: last abort segment: ru29-2021-265-2-0 (0594.0000)
ABORT HISTORY: last abort mission: INI0.MI
869014 No login script found for processing.
869014 DRIVER_ODDITY:iridium:1628:xxx_ctrl() ran too long
Glider ru29 at surface.
Because:nothing commanded [behavior surface_2 start_when = 1.0]
MissionName:1K_N.MI MissionNum:ru29-2021-265-6-155 (0598.0155)
Vehicle Name: ru29
Curr Time: Sun Oct 3 23:43:53 2021 MT: 869062
DR Location: 1804.770 N -6454.558 E measured 84.615 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : 1803.716 N -6453.169 E measured 148.633 secs ago
GPS Location: 1804.770 N -6454.558 E measured 87.037 secs ago
sensor:c_wpt_lat(lat)=1807.1548 12797 secs ago
sensor:c_wpt_lon(lon)=-6452.5772 12797 secs ago
sensor:m_battery(volts)=14.2060874219237 32.507 secs ago
sensor:m_coulomb_amphr(amp-hrs)=144.961685180664 4.244 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=145.15168618074 4.259 secs ago
sensor:m_depth(m)=0.049747708052268 4.182 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 4.39 secs ago
sensor:m_gps_mag_var(rad)=0.23387411976724 87.402 secs ago
sensor:m_iridium_attempt_num(nodim)=1 82.015 secs ago
sensor:m_iridium_call_num(nodim)=6455 37.92 secs ago
sensor:m_iridium_dialed_num(nodim)=11422 55.279 secs ago
sensor:m_leakdetect_voltage(volts)=2.4997557997558 62.878 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.49578754578755 62.893 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 4.609 secs ago
sensor:m_tot_num_inflections(nodim)=33322 322.241 secs ago
sensor:m_vacuum(inHg)=9.161793009768 47.421 secs ago
sensor:m_water_vx(m/s)=-0.0524588845972607 115.293 secs ago
sensor:m_water_vy(m/s)=-0.0352916631846066 115.324 secs ago
sensor:u_max_altimeter(m)=100 1e+308 secs ago
sensor:u_min_water_depth(m)=100 1e+308 secs ago
sensor:u_use_current_correction(nodim)=1 462876 secs ago
sensor:x_last_wpt_lat(lat)=1807.838 67451.2 secs ago
sensor:x_last_wpt_lon(lon)=-6446.166 67451.3 secs ago
devices:(t/m/s) errs: 0/ 0/ 0 warn: 12/ 0/ 0 odd:1011/ 63/ 4
ABORT HISTORY: total since reset: 4
ABORT HISTORY: last abort cause: MS_ABORT_OVERTIME
ABORT HISTORY: last abort details:
ABORT HISTORY: last abort time: 2021-09-23T19:12:50
ABORT HISTORY: last abort segment: ru29-2021-265-2-0 (0594.0000)
ABORT HISTORY: last abort mission: INI0.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 90 secs)
Waypoint: (1807.1548,-6452.5772) Range: 5619m, Bearing: 53deg, Age: 3:33h:m
^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] [ 12 0 0]
7 pinger -
8 attitude -
9 attitude_tcm3 -
10 attitude_rev I u 3 20 5 0 [ 0 0 0] [ 1 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] [ 1 0 0]
17 science_super I u 3 20 5 0 [ 0 0 0] [ 1 0 0] [ 81 4 0]
18 roll_motor -
19 fpitch_pump -
20 fin_motor -
21 digifin I u 3 20 5 0 [ 0 0 0] [ 10 0 0] [ 516 34 3]
22 altimeter I u 3 20 5 0
23 ctd -
24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 401 25 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 5 0
devices:(t/m/s) errs: 0/ 0/ 0 warn: 12/ 0/ 0 odd:1011/ 63/ 4
Time until diving is: 205 secs
^C869056 67 behavior surface_2: User Hit a Control-C, terminating the mission
869056 behavior surface_2: STATE Active -> Mission Complete
869056 behavior ?_-1: layered_control(): Mission completed normally
869056 behavior ?_-1: run_mission(): Mission completed: MS_COMPLETED_NORMALLY(-1)
Vehicle Name: ru29
Mission Name: 1K_N.MI
Mission Number: ru29-2021-265-6-155 (0598.0155)
post_mission_cleanup(): End of Mission
timestamp: Sun Oct 3 23:44:06 2021
869063 05980155.mlg LOG FILE CLOSED
timestamp: Sun Oct 3 23:44:10 2021
Mission completed normally
Mission end: grun_mission() 1K_N.MI ru29-2021-265-6-155 (0598.0155)
GliderDos N -1 >
Vehicle Name: ru29
869068 68 GliderDos: No keystroke heard for 0 seconds
600 seconds to go before running:SEQUENCE -resume_next
GliderDos N -1 >^@^C^C
Bad command or file name
GliderDos N -1 >get f_fin_safety_max
= 0.450000 rad
GliderDos N -1 >get f_fin_deadzone_width
= 0.050000 rad
GliderDos N -1 >get x_fin_max
= 0.400000 rad
GliderDos N -1 >CD MISSIONS
error code -1
GliderDos N -1 >get u_hd_fin_ap_gain
= 1.500000 1/rad
GliderDos N -1 >get u_hd_fin_ap_igain
= 0.020000 1/rad-sec
GliderDos N -1 >cd c:\missions
\MISSIONS
GliderDos N -1 >put u_hd_fin_ap_gain 1.75
869298 26 sensor: u_hd_fin_ap_gain = 1.75 1/rad
GliderDos N -1 >type ru29.mi
# 2015/6/24 dkaragon initial
# 2015/7/22 dkaragon iridium problems, set failover to 5
# 2016/01/14 dkaragon updated, fin offset to 0; pitch db back to 3; steering params; fin deadband
# 2021/6/29 dkaragon updated for Caribb
# Critical Settings
sensor: u_reqd_depth_at_surface(m) 4 # from 7
sensor: u_iridium_failover_retries(nodim) 7
sensor: u_abort_max_burn_time(sec) 28800 # drop weight after 8 hours in abort mode, up from 4
# Low Power
#sensor: u_low_power_cycle_time(sec) 30
#sensor: u_science_low_power(sec) 0
#sensor: u_alt_min_depth(m) 1050
# Flight Parameters
#sensor: f_fin_deadzone_width(rad) 0.040 # .04 vs .02
#sensor: x_fin_deadband(rad) 0.04 # vs .02
#sensor: u_pitch_ap_deadband(rad) 0.0524 # 3
sensor: u_thruster_burst_freq(hours) 24
#sensor: u_use_current_correction(nodim) 0
# Steering
#sensor: f_fin_offset(rad) 0.052
#sensor: u_low_power_hd_fin_ap_gain(1/rad) 0.5
#sensor: u_low_power_hd_fin_ap_igain(1/rad-sec) 0.001
#sensor: u_low_power_hd_fin_ap_dgain(sec/rad) 0.0
sensor: u_hd_fin_ap_gain(1/rad) 1.50
sensor: u_hd_fin_ap_igain(1/rad-sec) 0.02
sensor: u_hd_fin_ap_dgain(sec/rad) 4.00
#sensor: u_heading_deadband(rad) 0.045 # 2.6 deg
GliderDos N -1 >put f_fin_safety_max .47
869345 40 sensor: f_fin_safety_max = 0.47 rad
GliderDos N -1 >put f_fin_deadzone_width .025
869346 41 sensor: f_fin_deadzone_width = 0.025 rad
GliderDos N -1 >put x_fin_max .445
869382 50 sensor: x_fin_max = 0.445 rad
GliderDos N -1 >
Vehicle Name: ru29
869382 GliderDos: No keystroke heard for 0 seconds
600 seconds to go before running:SEQUENCE -resume_next
GliderDos N -1 >sequence 1k_n.mi(5)
Sequencing missions
load_mission(): Opening Mission file: 1K_N.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_dbd_sensor_list_xmit_control(enum) value 3.000000
Validated SENSOR u_sci_dbd_sensor_list_xmit_control(enum) value 2.000000
load_mission(): Opening Mission file: lastgasp.mi for execution FOREVER
Validated SENSOR c_science_send_all(bool) value 0.000000
Validated SENSOR u_dbd_sensor_list_xmit_control(enum) value 3.000000
1 mission specifi