Connection Event: Carrier Detect found. 11489 Iridium console active and ready... Vehicle Name: ud_476 Curr Time: Tue Apr 12 20:48:32 2022 MT: 11488 DR Location: 4013.613 N -7340.948 E measured 1462.44 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 4013.779 N -7341.048 E measured 1557.02 secs ago GPS Location: 4013.613 N -7340.948 E measured 1463.96 secs ago sensor:c_wpt_lat(lat)=3943.979 11344.4 secs ago sensor:c_wpt_lon(lon)=-7326.059 11344.4 secs ago sensor:m_battery(volts)=16.3055611131667 4.2 secs ago sensor:m_coulomb_amphr(amp-hrs)=1.36562502384186 4.356 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=182.674312023994 4.37 secs ago sensor:m_depth(m)=0.370242354987552 4.265 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 4.515 secs ago sensor:m_gps_mag_var(rad)=0.226892802759263 1464.35 secs ago sensor:m_iridium_attempt_num(nodim)=1 37.068 secs ago sensor:m_iridium_call_num(nodim)=4063 0.54 secs ago sensor:m_iridium_dialed_num(nodim)=18278 8.67 secs ago sensor:m_leakdetect_voltage(volts)=2.47738095238095 44.837 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4998778998779 44.856 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.724 secs ago sensor:m_system_clock_lags_gps(sec)=-8 1464.61 secs ago sensor:m_tot_num_inflections(nodim)=8310 1591.11 secs ago sensor:m_vacuum(inHg)=9.44515976800977 4.727 secs ago sensor:m_water_vx(m/s)=-0.018338940557833 1463.3 secs ago sensor:m_water_vy(m/s)=0.0616519905329944 1463.33 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_last_wpt_lat(lat)=3816.941 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7458.981 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: 2022-04-12T16:47:54 ABORT HISTORY: last abort segment: ud_476-2022-101-1-0 (0182.0000) ABORT HISTORY: last abort mission: OD.MI 11490 No login script found for processing. GliderDos N -1 >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 11549 19 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 **B000000 Starting zModem transfer of 01840004.tbd to/from ud_476 size is 11828 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: 11828 zModem transfer DONE for file 01840004.tbd Starting zModem transfer of 01840003.tbd to/from ud_476 size is 860 Total Bytes sent/received: 860 zModem transfer DONE for file 01840003.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\01840004.TBD c:\logs\01840003.TBD SCI: SUCCESS 11637 39 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 4 files Prechecking is not necessary for this invocation 11641 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 11641 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000 Starting zModem transfer of 01840006.sbd to/from ud_476 size is 8867 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: 8867 zModem transfer DONE for file 01840006.sbd Starting zModem transfer of 01840005.sbd to/from ud_476 size is 1765 Total Bytes sent/received: 1024 Total Bytes sent/received: 1765 zModem transfer DONE for file 01840005.sbd Starting zModem transfer of 01840004.sbd to/from ud_476 size is 9543 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: 9543 zModem transfer DONE for file 01840004.sbd Starting zModem transfer of 01840003.sbd to/from ud_476 size is 913 Total Bytes sent/received: 913 zModem transfer DONE for file 01840003.sbd 11793 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 11793 restore_sensors().... 11793 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.... GLD: Sent 4 file(s): c:\logs\01840006.SBD c:\logs\01840005.SBD c:\logs\01840004.SBD c:\logs\01840003.SBD GLD: SUCCESS Glider-Science software version match: 8.200000 Science hardware version is 2.000000 11866 57 SCI:PROGLET house_elf begin() called 11866 SCI: house_elf: Version 1.2 11866 SCI:PROGLET ctd41cp begin() called 11866 SCI: ctd41cp: Version 0.2 11866 SCI: ctd41cp: Will be sending the following data to glider: 11866 SCI: sci_water_cond(s/m) 11867 SCI: sci_water_temp(degc) 11867 57 SCI: sci_water_pressure(bar) 11867 SCI: sci_ctd41cp_timestamp(timestamp) 11867 SCI:PROGLET flbb begin() called 11868 SCI: flbb: Version 0.0 11868 SCI: flbb: Will be sending following data to glider: 11868 SCI: sci_flbb_chlor_units(ug/l) 11868 SCI: sci_flbb_bb_units(nodim) 11868 SCI: sci_flbb_chlor_sig(nodim) 11868 SCI: sci_flbb_bb_sig(nodim) 11868 SCI: sci_flbb_chlor_ref(nodim) 11868 SCI: sci_flbb_bb_ref(nodim) 11869 SCI: sci_flbb_therm(nodim) 11869 SCI: sci_flbb_timestamp(timestamp) 11869 SCI: Opening Bit(0) for output 11869 SCI:Bit(0) use count is now 1. 11869 SCI:Bit(0) raise count is now 0. 11869 SCI:Bit(0) raise count is now 0. 11869 SCI:PROGLET bsipar begin() called 11869 SCI: bsipar: Version 0.0 11869 SCI: bsipar: Will be sending following data to glider: 11869 SCI: sci_bsipar_par(ue/m^2sec) 11869 SCI: sci_bsipar_sensor_volts(volts) 11869 SCI: sci_bsipar_temp(degc) 11869 SCI: sci_bsipar_supply_volts(volts) 11870 SCI: sci_bsipar_timestamp(timestamp) 11870 SCI:PROGLET oxy4 begin() called 11870 SCI: oxy4: Version 0.0 11870 SCI: oxy4: Will be sending following data to glider: 11870 SCI: sci_oxy4_oxygen(um) 11870 SCI: sci_oxy4_saturation(%) 11870 SCI: sci_oxy4_temp(degc) 11870 SCI: sci_oxy4_calphase(deg) 11870 SCI: sci_oxy4_tcphase(deg) 11870 SCI: sci_oxy4_c1rph(deg) 11870 SCI: sci_oxy4_c2rph(deg) 11870 SCI: sci_oxy4_c1amp(mv) 11870 SCI: sci_oxy4_c2amp(mv) 11871 SCI: sci_oxy4_rawtemp(mv) 11871 SCI: sci_oxy4_timestamp(timestamp) 11871 58 SCI: Opening Bit(2) for output 11871 SCI:Bit(2) use count is now 1. 11871 SCI:Bit(2) raise count is now 0. 11871 SCI:Bit(2) raise count is now 0. 11874 SCI:PROGLET house_elf start() called 11874 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 11874 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) GliderDos N -1 > Vehicle Name: ud_476 11875 NOTE:GPS fix is getting stale: 1850 secs old Vehicle Name: ud_476 11875 GliderDos: No keystroke heard for 0 seconds 600 seconds to go before running:SEQUENCE -resume_next GliderDos N -1 > GliderDos N -1 >cd mafiles \MAFILES GliderDos N -1 >type yo14.ma behavior_name=yo # yo14.ma # climb 7m dive 30m alt 9m pitch 26 deg # Basic parameters for Autoballast routine to reduce total drive to d_bpump_value # with minimum vertical speed d_speed_min and c_speed_min # See /doco/how-it-works/autoballast.txt and masterdata for full list of b_args. # 2011-09-19 lcooney@teledyne.com Initial, copied from yo10.ma # 2016-02-04 lcooney@teledyne.com Added d/c_stop_when_hover/stalled_for args, M#2632 # 2017-08-24 lcooney@teledyne.com Changed speed_min to 0.06, increased altitude from 3->5 # 2022-March-02 szmina@udel.edu Changed d_target_altitude and c_target_depth to 2, changed d_target_depth to 100 b_arg: start_when(enum) 2 # pitch idle (see doco below) b_arg: num_half_cycles_to_do(nodim) -1 # Number of dive/climbs to perform # <0 is infinite, i.e. never finishes # arguments for dive_to b_arg: d_target_depth(m) 100 b_arg: d_target_altitude(m) 3 b_arg: d_use_bpump(enum) 2 # 0 Autoballast/Speed control. b_arg: d_bpump_value(X) -260 # use_bpump == 0 Total amt of ballast, stored as C_AUTOBALLAST_VOLUME b_arg: d_use_pitch(enum) 3 # 1:battpos 2:setonce 3:servo # in rad rad, <0 dive b_arg: d_pitch_value(X) -0.4538 # -26 deg b_arg: d_stop_when_hover_for(sec) 45 # changed to 45 sec, no autoballast b_arg: d_stop_when_stalled_for(sec) 45 # changed to 45 sec, no autoballast b_arg: d_speed_min(m/s) 0.06 # minimum depth rate for dive # arguments for climb_to b_arg: c_target_depth(m) 5 b_arg: c_target_altitude(m) -1 b_arg: c_use_bpump(enum) 2 # 2 no autoballast b_arg: c_bpump_value(X) 260 b_arg: c_use_pitch(enum) 3 # 1:battpos 2:setonce 3:servo # in rad rad, >0 climb b_arg: c_pitch_value(X) 0.4538 # 26 deg b_arg: c_stop_when_hover_for(sec) 45 # b_arg: c_stop_when_stalled_for(sec) 45 # b_arg: c_speed_min(m/s) -0.06 # minimum depth rate for climb b_arg: end_action(enum) 2 # 0-quit, 2 resume # NOTE: These are symbolically defined beh_args.h # b_arg: START_WHEN When the behavior should start, i.e. go from UNITIALIZED to ACTIVE # BAW_IMMEDIATELY 0 // immediately # BAW_STK_IDLE 1 // When stack is idle (nothing is being commanded) # BAW_PITCH_IDLE 2 // When pitch is idle(nothing is being commanded) # BAW_HEADING_IDLE 3 // When heading is idle(nothing is being commanded) # BAW_UPDWN_IDLE 4 // When bpump/threng is idle(nothing is being commanded) # BAW_NEVER 5 // Never stop # BAW_WHEN_SECS 6 // After behavior arg "when_secs", from prior END if cycling # BAW_WHEN_WPT_DIST 7 // When sensor(m_dist_to_wpt) < behavior arg "when_wpt_dist" # BAW_WHEN_HIT_WAYPOINT 8 // When X_HIT_A_WAYPOINT is set by goto_wpt behavior # BAW_EVERY_SECS 9 // After behavior arg "when_secs", from prior START if cycling # BAW_EVERY_SECS_UPDWN_IDLE 10 // After behavior arg "when_secs", from prior START AND # // updown is idle, no one commanding vertical motion # BAW_SCI_SURFACE 11 // SCI_WANTS_SURFACE is non-zero # BAW_NOCOMM_SECS 12 // when have not had comms for WHEN_SECS secs # # b_arg: STOP_WHEN # 0 complete # 1-N same as "start_when" GliderDos N -1 >cd .. GliderDos N -1 >