Connection Event: Carrier Detect found. 49423 Iridium console active and ready... Vehicle Name: ru36 Curr Time: Tue Apr 19 13:20:50 2022 MT: 49423 DR Location: 1801.838 N -6447.986 E measured 48.635 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 1803.219 N -6448.032 E measured 116.581 secs ago GPS Location: 1801.838 N -6447.986 E measured 51.296 secs ago sensor:c_wpt_lat(lat)=1754.5 9489.51 secs ago sensor:c_wpt_lon(lon)=-6448 9489.51 secs ago sensor:m_battery(volts)=15.6610521341801 7.671 secs ago sensor:m_coulomb_amphr(amp-hrs)=34.4463280000002 3.804 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=34.7238279999999 3.808 secs ago sensor:m_depth(m)=0 3.672 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 0.048 secs ago sensor:m_gps_mag_var(rad)=0.235619449019234 51.342 secs ago sensor:m_iridium_attempt_num(nodim)=1 44.056 secs ago sensor:m_iridium_call_num(nodim)=431 0.059 secs ago sensor:m_iridium_dialed_num(nodim)=581 16.069 secs ago sensor:m_leakdetect_voltage(volts)=2.49688644688645 31.676 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.5 31.641 secs ago sensor:m_leakdetect_voltage_science(volts)=2.4996336996337 31.605 secs ago sensor:m_tot_num_inflections(nodim)=574 136.74 secs ago sensor:m_vacuum(inHg)=8.61526525030525 27.723 secs ago sensor:m_water_vel_dir(rad)=4.84191878591418 5847.74 secs ago sensor:m_water_vel_mag(m/s)=0.089526179387606 84.731 secs ago sensor:m_water_vx(m/s)=-0.086672829476404 84.735 secs ago sensor:m_water_vy(m/s)=0.022422252926413 84.739 secs ago sensor:u_max_altimeter(m)=100 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_last_wpt_lat(lat)=1804 9489.6 secs ago sensor:x_last_wpt_lon(lon)=-6448 9489.6 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_2 entered B_ERROR state ABORT HISTORY: last abort time: 2022-04-15T14:12:31 ABORT HISTORY: last abort segment: ru36-2022-103-0-13 (0055.0013) ABORT HISTORY: last abort mission: 1k_n.mi 49423 No login script found for processing. !zr -------------------------------- Choosing console...using IRIDIUM 49434 8 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 49434 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B0100000027fed4 Starting zModem transfer of yo20.ma to/from ru36 size is 1221 Total Bytes sent/received: 1024 Total Bytes sent/received: 1221 zModem transfer DONE for file yo20.ma Starting zModem transfer of set_he10.ma to/from ru36 size is 1002 Total Bytes sent/received: 1002 zModem transfer DONE for file set_he10.ma not found>goto_l*.ma< not found>sample*.ma< not found>surfac*.ma< sending >yo20.ma< Sent sending >set_he10.ma< Sent archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru36/to-glider/yo20.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru36/archive/20220419T132131_yo20.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru36/to-glider/yo20.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru36/to-glider/set_he10.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru36/archive/20220419T132131_set_he10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru36/to-glider/set_he10.ma< Successful 49463 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 49463 restore_sensors().... 49463 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 49463 behavior surface_2: ! succeeded:zr 49463 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume Glider-Science software version match: 10.050000 Science hardware version is 3.000000 Glider ru36 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1k_n.mi MissionNum:ru36-2022-107-1-14 (0058.0014) Vehicle Name: ru36 Curr Time: Tue Apr 19 13:21:31 2022 MT: 49464 DR Location: 1801.838 N -6447.986 E measured 89.559 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 1803.219 N -6448.032 E measured 157.505 secs ago GPS Location: 1801.838 N -6447.986 E measured 92.219 secs ago sensor:c_wpt_lat(lat)=1754.5 9530.43 secs ago sensor:c_wpt_lon(lon)=-6448 9530.43 secs ago sensor:m_battery(volts)=15.6610521341801 48.595 secs ago sensor:m_coulomb_amphr(amp-hrs)=34.4513200000002 0.416 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=34.7288199999999 0.42 secs ago sensor:m_depth(m)=0 0.233 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.649 secs ago sensor:m_gps_mag_var(rad)=0.235619449019234 92.266 secs ago sensor:m_iridium_attempt_num(nodim)=0 23.435 secs ago sensor:m_iridium_call_num(nodim)=431 40.982 secs ago sensor:m_iridium_dialed_num(nodim)=581 56.993 secs ago sensor:m_leakdetect_voltage(volts)=2.49581807081807 0.216 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.5 0.18 secs ago sensor:m_leakdetect_voltage_science(volts)=2.4995115995116 0.144 secs ago sensor:m_tot_num_inflections(nodim)=574 177.663 secs ago sensor:m_vacuum(inHg)=8.96647225885226 0.323 secs ago sensor:m_water_vel_dir(rad)=4.84191878591418 5888.66 secs ago sensor:m_water_vel_mag(m/s)=0.089526179387606 125.655 secs ago sensor:m_water_vx(m/s)=-0.086672829476404 125.659 secs ago sensor:m_water_vy(m/s)=0.022422252926413 125.663 secs ago sensor:u_max_altimeter(m)=100 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_last_wpt_lat(lat)=1804 9530.52 secs ago sensor:x_last_wpt_lon(lon)=-6448 9530.53 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 1/ 1 odd: 206/ 23/ 2 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_2 entered B_ERROR state ABORT HISTORY: last abort time: 2022-04-15T14:12:31 ABORT HISTORY: last abort segment: ru36-2022-103-0-13 (0055.0013) 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 -77 secs) Waypoint: (1754.5000,-6448.0000) Range: 13536m, Bearing: 194deg, Age: 2:38h:m Time until diving is: 299 secs 49465 9 SCI:PROGLET house_elf begin() called 49465 SCI: house_elf: Version 1.2 49465 SCI:PROGLET rbrctd begin() called 49465 SCI:PROGLET oxy4 begin() called 49465 SCI: oxy4: Version 0.0 49465 SCI: oxy4: Will be sending following data to glider: 49465 SCI: sci_oxy4_oxygen(um) 49465 SCI: sci_oxy4_saturation(%) 49465 SCI: sci_oxy4_temp(degc) 49465 SCI: sci_oxy4_calphase(deg) 49465 SCI: sci_oxy4_tcphase(deg) 49465 SCI: sci_oxy4_c1rph(deg) 49465 SCI: sci_oxy4_c2rph(deg) 49465 SCI: sci_oxy4_c1amp(mv) 49465 SCI: sci_oxy4_c2amp(mv) 49465 SCI: sci_oxy4_rawtemp(mv) 49465 SCI: sci_oxy4_timestamp(timestamp) 49465 SCI:Bit(2) raise count is now 0. 49465 SCI:Bit(2) raise count is now 0. 49465 SCI:PROGLET dvl begin() called 49465 SCI:PROGLET house_elf start() called 49465 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 49465 SCI: house_elf_run(): 0 error(s) since house_elf_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) 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] [ 3 1 1] [ 0 0 0] 7 attitude_rev I u 3 20 5 0 8 ocean_pressure I u 3 20 5 0 9 vacuum I u 3 20 5 0 10 battery I u 3 20 5 0 11 air_pump I u 3 20 5 0 12 pitch_motor I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 3 0 0] 13 science_super I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 3 0 0] 14 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 112 11 1] 15 altimeter I u 3 20 5 0 16 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 76 10 0] 17 leakdetect I u 3 20 5 0 18 recovery I u 3 20 5 0 19 coulomb I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 12 2 1] 20 veh_temp I u 3 20 5 0 21 BUOYANCY_PUMP - 22 DE_PUMP - 23 HD_PUMP I u 3 20 5 0 24 thruster I u 3 20 5 0 devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 1/ 1 odd: 206/ 23/ 2 Glider ru36 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1k_n.mi MissionNum:ru36-2022-107-1-14 (0058.0014) Vehicle Name: ru36 Curr Time: Tue Apr 19 13:22:14 2022 MT: 49507 DR Location: 1801.838 N -6447.986 E measured 132.576 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 1803.219 N -6448.032 E measured 200.523 secs ago GPS Location: 1801.838 N -6447.986 E measured 135.237 secs ago sensor:c_wpt_lat(lat)=1754.5 9573.45 secs ago sensor:c_wpt_lon(lon)=-6448 9573.45 secs ago sensor:m_battery(volts)=15.6599071161222 27.186 secs ago sensor:m_coulomb_amphr(amp-hrs)=34.4563280000002 3.315 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=34.7338279999999 3.32 secs ago sensor:m_depth(m)=0 3.183 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 3.549 secs ago sensor:m_gps_mag_var(rad)=0.235619449019234 135.283 secs ago sensor:m_iridium_attempt_num(nodim)=0 66.453 secs ago sensor:m_iridium_call_num(nodim)=431 84 secs ago sensor:m_iridium_dialed_num(nodim)=581 100.011 secs ago sensor:m_leakdetect_voltage(volts)=2.49581807081807 43.234 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.5 43.198 secs ago sensor:m_leakdetect_voltage_science(volts)=2.4995115995116 43.162 secs ago sensor:m_tot_num_inflections(nodim)=574 220.681 secs ago sensor:m_vacuum(inHg)=8.96647225885226 43.341 secs ago sensor:m_water_vel_dir(rad)=4.84191878591418 5931.68 secs ago sensor:m_water_vel_mag(m/s)=0.089526179387606 168.672 secs ago sensor:m_water_vx(m/s)=-0.086672829476404 168.677 secs ago sensor:m_water_vy(m/s)=0.022422252926413 168.68 secs ago sensor:u_max_altimeter(m)=100 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_last_wpt_lat(lat)=1804 9573.54 secs ago sensor:x_last_wpt_lon(lon)=-6448 9573.55 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 1/ 1 odd: 206/ 23/ 2 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_2 entered B_ERROR state ABORT HISTORY: last abort time: 2022-04-15T14:12:31 ABORT HISTORY: last abort segment: ru36-2022-103-0-13 (0055.0013) 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 -121 secs) Waypoint: (1754.5000,-6448.0000) Range: 13536m, Bearing: 194deg, Age: 2:39h:m Time until diving is: 256 secs ^C 49511 20 behavior surface_2: User Hit a Control-C, terminating the mission 49511 behavior surface_2: STATE Active -> Mission Complete 49511 behavior ?_-1: layered_control(): Mission completed normally 49511 behavior ?_-1: run_mission(): Mission completed: MS_COMPLETED_NORMALLY(-1) Vehicle Name: ru36 Mission Name: 1k_n.mi Mission Number: ru36-2022-107-1-14 (0058.0014) post_mission_cleanup(): End of Mission timestamp: Tue Apr 19 13:22:24 2022 49516 00580014.mlg LOG FILE CLOSED timestamp: Tue Apr 19 13:22:28 2022 Mission completed normally Mission end: grun_mission() 1k_n.mi ru36-2022-107-1-14 (0058.0014) SEQUENCE: 1k_n.mi ru36-2022-107-1-14 (0058.0014) completed normally ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_2 entered B_ERROR state ABORT HISTORY: last abort time: 2022-04-15T14:12:31 ABORT HISTORY: last abort segment: ru36-2022-103-0-13 (0055.0013) ABORT HISTORY: last abort mission: 1k_n.mi Vehicle Name: ru36 SEQUENCE: About to run 1k_n.mi on try 1 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. ^@ I heard a keystroke ('NUL'), but not the right one! There were no pending chars in input buffer to drain. ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_2 entered B_ERROR state ABORT HISTORY: last abort time: 2022-04-15T14:12:31 ABORT HISTORY: last abort segment: ru36-2022-103-0-13 (0055.0013) ABORT HISTORY: last abort mission: 1k_n.mi Vehicle Name: ru36 SEQUENCE: About to run 1k_n.mi on try 1 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. ^C Heard a Control-C, terminating the sequence GliderDos N -1 > Vehicle Name: ru36 49536 26 GliderDos: No keystroke heard for 0 seconds 900 seconds to go before running:SEQUENCE -resume_next GliderDos N -1 >type c:/mafiles/set_he10.ma # SET HEADING 10 .ma behavior_name=set_heading b_arg: use_heading(bool) 1 # in, 1 HM_HEADING - command c_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) 3.14159 # for speed tests 0 north, 3.14159 south # 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 >:OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0608 C_FIN:0.0000 type c:/mafiles/yo20.ma behavior_name=yo # HALF-YO'S (2 = 1 yo) b_arg: num_half_cycles_to_do(nodim) 2 # DIVE_TO ARGUMENTS b_arg: d_target_depth(m) 950 b_arg: d_target_altitude(m) 45 # Ballast Pump b_arg: d_use_bpump(enum) 2 # 2 =Buoyancy Pump absolute b_arg: d_bpump_value(X) -600.0 # Dive Angle b_arg: d_use_pitch(enum) 3 # 3 = AP, 1 = battpos b_arg: d_pitch_value(X) -0.61 # .45=25.5, .52=30, .61=35, # Thruster b_arg: d_use_thruster(enum) 2 # 0=off 2=% voltage 3=depthrate 4=1-9Watt b_arg: d_thruster_value(X) 75 b_arg: d_depth_rate_method(enum) 3 # 3=average # STUCK SCENARIO b_arg: d_stop_when_stalled_for(sec) 180 b_arg: d_stop_when_hover_for(sec) 180 # CLIMB_TO ARGUMENTS b_arg: c_target_depth(m) 5 b_arg: c_target_altitude(m) -1 # Ballast Pump b_arg: c_use_bpump(enum) 2 b_arg: c_bpump_value(X) 600.0 # Dive Angle b_arg: c_use_pitch(enum) 3 b_arg: c_pitch_value(X) 0.61 # Thruster b_arg: c_use_thruster(enum) 2 b_arg: c_thruster_value(X) 75 # STUCK SCENARIO b_arg: c_stop_when_stalled_for(sec) 180 b_arg: c_stop_when_hover_for(sec) 180 GliderDos N -1 >:OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0724 C_FIN:0.0000 send *.sbd *.tbd 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 49613 46 Neutering the Freewave Console SciDos>SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size SCI: Enumerating and selecting files About to send 2 files Prechecking is not necessary for this invocation START **B00000000000000 Starting zModem transfer of 00580014.tbd to/from ru36 size is 12336 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: 12336 zModem transfer DONE for file 00580014.tbd Starting zModem transfer of 00580013.tbd to/from ru36 size is 487 Total Bytes sent/received: 487 zModem transfer DONE for file 00580013.tbd .* SCI: Sent 2 file(s): 00580014.tbd 00580013.tbd SCI: SUCCESS 49727 73 Freewave console restored REVERTING FROM SCIENCE COMMAND MODE SCIENCE COMMAND MODE TERMINATED because: Science Program QUIT (cts lowered) 49728 GLD: Enumerating and selecting files About to send 2 files Prechecking is not necessary for this invocation selected IRIDIUM 49729 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 49729 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 Starting zModem transfer of 00580014.sbd to/from ru36 size is 13489 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: 13489 zModem transfer DONE for file 00580014.sbd Starting zModem transfer of 00580013.sbd to/from ru36 size is 932 Total Bytes sent/received: 932 zModem transfer DONE for file 00580013.sbd 49826 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 49826 restore_sensors().... 49826 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES .. 49828 GLD: Sent 2 file(s): 00580014.sbd 00580013.sbd GLD: SUCCESS Glider-Science software version match: 10.050000 Science hardware version is 3.000000 49832 74 SCI:PROGLET house_elf begin() called 49832 SCI: house_elf: Version 1.2 49832 SCI:PROGLET rbrctd begin() called 49833 75 SCI:PROGLET oxy4 begin() called 49833 SCI: oxy4: Version 0.0 49833 SCI: oxy4: Will be sending following data to glider: 49833 SCI: sci_oxy4_oxygen(um) 49833 SCI: sci_oxy4_saturation(%) 49833 SCI: sci_oxy4_temp(degc) 49833 SCI: sci_oxy4_calphase(deg) 49833 SCI: sci_oxy4_tcphase(deg) 49833 SCI: sci_oxy4_c1rph(deg) 49833 SCI: sci_oxy4_c2rph(deg) 49833 SCI: sci_oxy4_c1amp(mv) 49833 SCI: sci_oxy4_c2amp(mv) 49833 SCI: sci_oxy4_rawtemp(mv) 49833 SCI: sci_oxy4_timestamp(timestamp) 49833 SCI:Bit(2) raise count is now 0. 49833 SCI:Bit(2) raise count is now 0. 49833 SCI:PROGLET dvl begin() called 49833 SCI:PROGLET house_elf start() called 49833 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 49833 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) GliderDos N -1 >:OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0753 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0782 C_FIN:0.0000 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 >run 1k_n_h.mi Starting Mission: 1k_n_h.mi timestamp: Tue Apr 19 13:28:57 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 Apr 19 13:28:57 2022 MT: 49909 DR Location: 1801.838 N -6447.986 E measured 535.306 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 1803.219 N -6448.032 E measured 603.252 secs ago GPS Location: 1801.838 N -6447.986 E measured 537.966 secs ago sensor:c_wpt_lat(lat)=1754.5 9976.18 secs ago sensor:c_wpt_lon(lon)=-6448 9976.18 secs ago sensor:m_battery(volts)=15.6377379314357 0.262 secs ago sensor:m_coulomb_amphr(amp-hrs)=34.5013680000002 0.398 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=34.7788679999999 0.402 secs ago sensor:m_depth(m)=0 0.175 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 0.631 secs ago sensor:m_gps_mag_var(rad)=0.235619449019234 538.013 secs ago sensor:m_iridium_attempt_num(nodim)=0 469.183 secs ago sensor:m_iridium_call_num(nodim)=431 486.729 secs ago sensor:m_iridium_dialed_num(nodim)=581 502.74 secs ago sensor:m_leakdetect_voltage(volts)=2.49618437118437 16.313 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.5 16.277 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49996947496948 16.242 secs ago sensor:m_tot_num_inflections(nodim)=574 623.41 secs ago sensor:m_vacuum(inHg)=9.09106151404151 0.265 secs ago sensor:m_water_vel_dir(rad)=4.96381070249569 389.068 secs ago sensor:m_water_vel_mag(m/s)=0.088928047163792 389.072 secs ago sensor:m_water_vx(m/s)=-0.086132122942375 389.077 secs ago sensor:m_water_vy(m/s)=0.02212362921867 389.08 secs ago sensor:u_max_altimeter(m)=100 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_last_wpt_lat(lat)=1804 9976.27 secs ago sensor:x_last_wpt_lon(lon)=-6448 9976.28 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: ATD0088160000592 from sensors: C_IRIDIUM_LEAD_ZEROS C_IRIDIU