Connection Event: Carrier Detect found. 20759 Iridium console active and ready... Vehicle Name: ru36 Curr Time: Tue Mar 15 20:38:25 2022 MT: 20759 DR Location: 1805.777 N -6451.200 E measured 0.508 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 1805.760 N -6451.058 E measured 735.982 secs ago GPS Location: 1805.778 N -6451.197 E measured 56.567 secs ago sensor:c_wpt_lat(lat)=1808.9098 1e+308 secs ago sensor:c_wpt_lon(lon)=-6448.1233 1e+308 secs ago sensor:m_battery(volts)=14.0321675492451 3.698 secs ago sensor:m_coulomb_amphr(amp-hrs)=161.757128000018 3.833 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=162.458378000015 3.837 secs ago sensor:m_depth(m)=0 3.611 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.048 secs ago sensor:m_gps_mag_var(rad)=0.235619449019234 56.614 secs ago sensor:m_iridium_attempt_num(nodim)=1 47.452 secs ago sensor:m_iridium_call_num(nodim)=310 0.058 secs ago sensor:m_iridium_dialed_num(nodim)=413 20.179 secs ago sensor:m_leakdetect_voltage(volts)=2.49642857142857 4918.89 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.5 4918.86 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49993894993895 4918.82 secs ago sensor:m_tot_num_inflections(nodim)=406 5136.5 secs ago sensor:m_vacuum(inHg)=8.88128014652015 3.701 secs ago sensor:m_water_vx(m/s)=-0.071729146767926 4898 secs ago sensor:m_water_vy(m/s)=0.003607258817971 4898 secs ago sensor:u_max_altimeter(m)=100 1e+308 secs ago sensor:u_min_water_depth(m)=300 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=1801.276 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6451.05 1e+308 secs ago ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_3 entered B_ERROR state ABORT HISTORY: last abort time: 2022-03-02T16:26:55 ABORT HISTORY: last abort segment: ru36-2022-058-0-29 (0033.0029) ABORT HISTORY: last abort mission: 1k_n.mi GliderDos N -1 > 20759 No login script found for processing. :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0724 C_FIN:0.0000 GliderDos N -1 >type c:/missions/1k_n_h.mi ##################### # 1000 meter Slocum # ##################### # 2015/05/14 dkaragon@marine cleaned up mission, changed some of the timers sensor: c_science_all_on_enabled(bool) 0 # control science individually sensor: c_science_send_all(bool) 0 sensor: u_dbd_sensor_list_xmit_control(enum) 3 # never sensor: u_sci_dbd_sensor_list_xmit_control(enum) 2 # if haven't sent # ABORT BEHAVIOR behavior: abend # OVERDEPTH: glider finds itself in > 1015 m of water b_arg: overdepth(m) 1015 b_arg: overdepth_sample_time(sec) 30 # OVERTIME: disabled b_arg: overtime(sec) 86400 # COP TICKLE: watchdog not tickled for 12 hours b_arg: no_cop_tickle_for(sec) 43200.0 # SAMEDEPTH / STALLED FOR: 15 min every 60 seconds b_arg: samedepth_for(sec) 900.0 b_arg: samedepth_for_sample_time(sec) 60.0 b_arg: stalled_for(sec) 900.0 b_arg: stalled_for_sample_time(sec) 60.0 # HARDWARE: vacuum, battery; 10.75V alkaline, 9-10V Li3S, 13.5V Li4S, 12.75V LiIon b_arg: undervolts(volts) 12.75 b_arg: undervolts_sample_time(sec) 60.0 b_arg: vacuum_max(inHg) 12.0 b_arg: vacuum_sample_time(sec) 60.0 # WAYPOINT TOO FAR ABORT: 1,000 km b_arg: max_wpt_distance(m) 1000000 b_arg: max_allowable_busy_cpu_cycles(cycles) 75 # SURFACE : Nothing commanded behavior: surface b_arg: args_from_file(enum) 10 # mafiles/surfac10.ma b_arg: start_when(enum) 1 # 1-stack idle # SURFACE : No comms 0 behavior: surface b_arg: args_from_file(enum) 40 # mafiles/surfac40.ma b_arg: start_when(enum) 12 # 12 No comms # SURFACE : No comms 2 - mission end behavior: surface b_arg: args_from_file(enum) 42 # mafiles/surfac42.ma b_arg: start_when(enum) 12 # 12 No comms # SET HEADING : Fly by heading behavior: set_heading b_arg: args_from_file(enum) 10 # mafiles/set_he.ma b_arg: start_when(enum) 0 # See doco above b_arg: stop_when(enum) 5 # Never # YO : Flight params behavior: yo b_arg: args_from_file(enum) 20 # mafiles/yo20.ma b_arg: start_when(enum) 2 # 2-depth idle b_arg: end_action(enum) 2 # 2 resume # SAMPLE : CTD behavior: sample b_arg: args_from_file(enum) 01 # c_profile_on # SAMPLE : OPTODE 4330 behavior: sample b_arg: args_from_file(enum) 54 # c_oxy4_on # SAMPLE : DVL behavior: sample b_arg: args_from_file(enum) 43 # c_dvl_on # PREPARE TO DIVE : wait 12 min for GPS behavior: prepare_to_dive b_arg: start_when(enum) 0 # 0-immediately b_arg: wait_time(sec) 720 # wait time # SENSORS_IN : not sure what this does, assuming remaining sensor update behavior: sensors_in GliderDos N -1 >get M_WATER_VEL_DIR = 4.762637 rad GliderDos N -1 >srf_display + m_water_vel_dir GliderDos N -1 >srf_display + m_water_vel_mag GliderDos N -1 >where Vehicle Name: ru36 Curr Time: Tue Mar 15 20:40:24 2022 MT: 20877 DR Location: 1805.777 N -6451.204 E measured 0.001 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 1805.760 N -6451.058 E measured 854.471 secs ago GPS Location: 1805.778 N -6451.197 E measured 175.056 secs ago sensor:c_wpt_lat(lat)=1808.9098 1e+308 secs ago sensor:c_wpt_lon(lon)=-6448.1233 1e+308 secs ago sensor:m_battery(volts)=14.0275136626002 0.131 secs ago sensor:m_coulomb_amphr(amp-hrs)=161.769576000018 0.266 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=162.470826000015 0.27 secs ago sensor:m_depth(m)=0.347814205104801 0.044 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 1.645 secs ago sensor:m_gps_mag_var(rad)=0.235619449019234 175.103 secs ago sensor:m_iridium_attempt_num(nodim)=0 75.171 secs ago sensor:m_iridium_call_num(nodim)=310 118.548 secs ago sensor:m_iridium_dialed_num(nodim)=413 138.669 secs ago sensor:m_leakdetect_voltage(volts)=2.49642857142857 5037.38 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.5 5037.35 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49993894993895 5037.31 secs ago sensor:m_tot_num_inflections(nodim)=406 5254.99 secs ago sensor:m_vacuum(inHg)=8.87690268620268 0.135 secs ago sensor:m_water_vel_dir(rad)=4.76263664909818 5016.49 secs ago sensor:m_water_vel_mag(m/s)=0.071819794014147 5016.49 secs ago sensor:m_water_vx(m/s)=-0.071729146767926 5016.49 secs ago sensor:m_water_vy(m/s)=0.003607258817971 5016.5 secs ago sensor:u_max_altimeter(m)=100 1e+308 secs ago sensor:u_min_water_depth(m)=300 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=1801.276 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6451.05 1e+308 secs ago GliderDos N -1 >type c:\mafiles\set_he10.ma # SET HEADING 10 .ma behavior_name=set_heading b_arg: use_heading(bool) 5 # in, 1 HM_HEADING # in, 2 HM_ROLL # in, 3 HM_BATTROLL # in, 4 HM_FIN # in, 5 HM_CURRENT, steer heading_value(rad) relative to M_WATER_VEL_DIR b_arg: heading_value(X) 3.1415 # use_heading == 1 C_HEADING(rad) desired heading # use_heading == 2 C_ROLL(rad), >0 bank right # use_heading == 3 C_BATTROLL(rad) >0 puts stbd wing down # use_heading == 4 C_FIN(rad), >0 turns to stbd # use_heading == 5 C_HEADING(rad) = heading_value(rad) + M_WATER_VEL_DIR(rad) # HM_CURRENT usage examples: this is wrong see email # heading_value = 0: Steer WITH the water velocity direction # heading_value = 1.57,4.71: Steer perpendicular to the current # heading_value = 3.14: Steer AGAINST the water velocity direction GliderDos N -1 >zr Choosing console...using IRIDIUM 20983 79 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 20983 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B01000 Starting zModem transfer of surfac10.ma to/from ru36 size is 805 Total Bytes sent/received: 805 zModem transfer DONE for file surfac10.ma Starting zModem transfer of yo20.ma to/from ru36 size is 1229 Total Bytes sent/received: 1024 Total Bytes sent/received: 1229 zModem transfer DONE for file yo20.ma sending >surfac10.ma< Sent sending >yo20.ma< Sent archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru36/to-glider/surfac10.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru36/archive/20220315T204236_surfac10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru36/to-glider/surfac10.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru36/to-glider/yo20.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru36/archive/20220315T204236_yo20.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru36/to-glider/yo20.ma< Successful 21009 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 21009 restore_sensors().... 21009 restore_sensors().... Restored c_science_printout from 0 to 0 Done! GliderDos N -1 >Glider-Science software version match: 10.050000 Science hardware version is 3.000000 21012 80 SCI:PROGLET house_elf begin() called 21012 SCI: house_elf: Version 1.2 21012 SCI:PROGLET rbrctd begin() called 21012 SCI:PROGLET oxy4 begin() called 21012 SCI: oxy4: Version 0.0 21012 SCI: oxy4: Will be sending following data to glider: 21012 SCI: sci_oxy4_oxygen(um) 21012 SCI: sci_oxy4_saturation(%) 21012 SCI: sci_oxy4_temp(degc) 21012 SCI: sci_oxy4_calphase(deg) 21012 SCI: sci_oxy4_tcphase(deg) 21012 SCI: sci_oxy4_c1rph(deg) 21012 SCI: sci_oxy4_c2rph(deg) 21012 SCI: sci_oxy4_c1amp(mv) 21012 SCI: sci_oxy4_c2amp(mv) 21012 SCI: sci_oxy4_rawtemp(mv) 21012 SCI: sci_oxy4_timestamp(timestamp) 21012 SCI:Bit(2) raise count is now 0. 21012 SCI:Bit(2) raise count is now 0. 21012 SCI:PROGLET dvl begin() called 21012 SCI:PROGLET house_elf start() called 21012 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 21012 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) run 1k_n_h.mi Starting Mission: 1k_n_h.mi timestamp: Tue Mar 15 20:42:56 2022 load_mission(): Opening Mission file: 1k_n_h.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_dbd_sensor_list_xmit_control(enum) value 3.000000 Setting SENSOR u_sci_dbd_sensor_list_xmit_control(enum) value 2.000000 Vehicle Name: ru36 Curr Time: Tue Mar 15 20:42:56 2022 MT: 21025 DR Location: 1805.776 N -6451.209 E measured 1.376 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 1805.760 N -6451.058 E measured 1006.44 secs ago GPS Location: 1805.778 N -6451.197 E measured 327.025 secs ago sensor:c_wpt_lat(lat)=1808.9098 1e+308 secs ago sensor:c_wpt_lon(lon)=-6448.1233 1e+308 secs ago sensor:m_battery(volts)=14.0196883559528 3.596 secs ago sensor:m_coulomb_amphr(amp-hrs)=161.785688000018 3.731 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=162.486938000015 3.735 secs ago sensor:m_depth(m)=0 3.508 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 3.964 secs ago sensor:m_gps_mag_var(rad)=0.235619449019234 327.072 secs ago sensor:m_iridium_attempt_num(nodim)=0 227.14 secs ago sensor:m_iridium_call_num(nodim)=310 270.517 secs ago sensor:m_iridium_dialed_num(nodim)=413 290.638 secs ago sensor:m_leakdetect_voltage(volts)=2.49642857142857 5189.35 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.5 5189.31 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49993894993895 5189.28 secs ago sensor:m_tot_num_inflections(nodim)=406 5406.95 secs ago sensor:m_vacuum(inHg)=8.86915794871795 3.599 secs ago sensor:m_water_vel_dir(rad)=4.76263664909818 5168.46 secs ago sensor:m_water_vel_mag(m/s)=0.071819794014147 5168.46 secs ago sensor:m_water_vx(m/s)=-0.071729146767926 5168.46 secs ago sensor:m_water_vy(m/s)=0.003607258817971 5168.47 secs ago sensor:u_max_altimeter(m)=100 1e+308 secs ago sensor:u_min_water_depth(m)=300 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=1801.276 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6451.05 1e+308 secs ago