Connection Event: Carrier Detect found. 25571 Iridium console active and ready... Vehicle Name: electa Curr Time: Tue May 30 20:05:10 2023 MT: 25571 DR Location: 3801.273 N -6224.163 E measured 200.353 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3801.932 N -6223.855 E measured 246.255 secs ago GPS Location: 3801.273 N -6224.163 E measured 201.023 secs ago sensor:c_climb_target_depth(m)=6 276.325 secs ago sensor:c_dive_target_depth(m)=345 276.328 secs ago sensor:c_wpt_lat(lat)=3755 25526 secs ago sensor:c_wpt_lon(lon)=-6236 25526 secs ago sensor:m_avg_climb_rate(m/s)=-0.119756557173713 264.422 secs ago sensor:m_avg_dive_rate(m/s)=0.175216062882913 2255.92 secs ago sensor:m_avg_speed(m/s)=0.381844786287733 224.403 secs ago sensor:m_battery(volts)=16.0130556370445 187.477 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=32.192434 3.852 secs ago sensor:m_depth(m)=0 3.714 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.081 secs ago sensor:m_gps_mag_var(rad)=0.284488668075076 201.084 secs ago sensor:m_iridium_attempt_num(nodim)=1 36.103 secs ago sensor:m_iridium_call_num(nodim)=1564 0.074 secs ago sensor:m_iridium_dialed_num(nodim)=2493 8.089 secs ago sensor:m_leakdetect_voltage(volts)=2.49710012210012 40.763 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.5 40.727 secs ago sensor:m_leakdetect_voltage_science(volts)=2.5 40.691 secs ago sensor:m_tot_num_inflections(nodim)=9919 220.451 secs ago sensor:m_vacuum(inHg)=8.64500527472527 227.527 secs ago sensor:m_water_vx(m/s)=0.268033051006086 204.454 secs ago sensor:m_water_vy(m/s)=-0.119070654968405 204.458 secs ago sensor:u_use_current_correction(nodim)=0 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3740.3 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6217 1e+308 secs ago ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_6 entered B_ERROR state ABORT HISTORY: last abort time: 2023-05-30T01:38:24 ABORT HISTORY: last abort segment: electa-2023-148-1-3 (0137.0003) ABORT HISTORY: last abort mission: electa.mi 25571 No login script found for processing. ^C 25590 3 behavior surface_6: User Hit a Control-C, terminating the mission 25590 behavior surface_6: STATE Active -> Mission Complete 25590 behavior ?_-1: layered_control(): Mission completed normally 25590 behavior ?_-1: run_mission(): Mission completed: MS_COMPLETED_NORMALLY(-1) Vehicle Name: electa Mission Name: electa.mi Mission Number: electa-2023-149-1-4 (0139.0004) post_mission_cleanup(): End of Mission timestamp: Tue May 30 20:05:33 2023 25594 01390004.mlg LOG FILE CLOSED timestamp: Tue May 30 20:05:37 2023 Mission completed normally Mission end: grun_mission() electa.mi electa-2023-149-1-4 (0139.0004) GliderDos N -1 >^@ GliderDos N -1 >zr Choosing console...using IRIDIUM 25621 11 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 25621 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B0100000027fed4 Starting zModem transfer of goto_l77.ma to/from electa size is 849 Total Bytes sent/received: 849 zModem transfer DONE for file goto_l77.ma Starting zModem transfer of yo77.ma to/from electa size is 3329 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 3329 zModem transfer DONE for file yo77.ma sending >goto_l77.ma< Sent sending >yo77.ma< Sent archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/goto_l77.ma< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230530T200648_goto_l77.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/goto_l77.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/yo77.ma< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230530T200648_yo77.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/yo77.ma< Successful 25672 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 25672 restore_sensors().... 25672 restore_sensors().... Restored c_science_printout from 0 to 0 Done! GliderDos N -1 >Glider-Science software version match: 10.080000 Science hardware version is 3.000000 25675 12 SCI:PROGLET house_elf begin() called 25675 SCI: house_elf: Version 1.2 25675 SCI:PROGLET rbrctd begin() called 25675 SCI:PROGLET flbbcd begin() called 25675 SCI: flbbcd: Version 0.0 25675 SCI: flbbcd: Will be sending following data to glider: 25675 SCI: sci_flbbcd_chlor_units(ug/l) 25675 SCI: sci_flbbcd_bb_units(nodim) 25675 SCI: sci_flbbcd_cdom_units(ppb) 25675 SCI: sci_flbbcd_chlor_sig(nodim) 25675 SCI: sci_flbbcd_bb_sig(nodim) 25675 SCI: sci_flbbcd_cdom_sig(nodim) 25675 SCI: sci_flbbcd_chlor_ref(nodim) 25675 SCI: sci_flbbcd_bb_ref(nodim) 25675 SCI: sci_flbbcd_cdom_ref(nodim) 25675 SCI: sci_flbbcd_therm(nodim) 25675 SCI: sci_flbbcd_timestamp(timestamp) 25675 SCI:Bit(0) raise count is now 0. 25675 SCI:Bit(0) raise count is now 0. 25675 SCI:PROGLET bsipar begin() called 25675 SCI: bsipar: Version 0.0 25675 SCI: bsipar: Will be sending following data to glider: 25675 SCI: sci_bsipar_par(ue/m^2sec) 25675 SCI: sci_bsipar_sensor_volts(volts) 25675 SCI: sci_bsipar_temp(degc) 25675 SCI: sci_bsipar_supply_volts(volts) 25675 SCI: sci_bsipar_timestamp(timestamp) 25675 SCI:PROGLET house_elf start() called 25675 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 25675 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) GliderDos N -1 >zr Choosing console...using IRIDIUM 25703 20 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 25703 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B0100000027fed4 Starting zModem transfer of electa.mi to/from electa size is 9929 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: 9929 zModem transfer DONE for file electa.mi sending >electa.mi< Sent archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/electa.mi< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230530T200824_electa.mi< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/electa.mi< Successful 25764 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 25764 restore_sensors().... 25764 restore_sensors().... Restored c_science_printout from 0 to 0 Done! GliderDos N -1 >Glider-Science software version match: 10.080000 Science hardware version is 3.000000 ^XB0800000000022d Parse error: Command not found GliderDos N -1 > 25767 22 SCI:PROGLET house_elf begin() called 25767 SCI: house_elf: Version 1.2 DEL**^XB0800000000022d Parse error: Command not found GliderDos N -1 > 25768 23 SCI:PROGLET rbrctd begin() called 25768 SCI:PROGLET flbbcd begin() called 25768 SCI: flbbcd: Version 0.0 25768 SCI: flbbcd: Will be sending following data to glider: 25768 SCI: sci_flbbcd_chlor_units(ug/l) 25768 SCI: sci_flbbcd_bb_units(nodim) 25768 SCI: sci_flbbcd_cdom_units(ppb) 25768 SCI: sci_flbbcd_chlor_sig(nodim) 25768 SCI: sci_flbbcd_bb_sig(nodim) 25768 SCI: sci_flbbcd_cdom_sig(nodim) 25768 SCI: sci_flbbcd_chlor_ref(nodim) 25768 SCI: sci_flbbcd_bb_ref(nodim) 25768 SCI: sci_flbbcd_cdom_ref(nodim) 25768 SCI: sci_flbbcd_therm(nodim) 25768 SCI: sci_flbbcd_timestamp(timestamp) 25768 SCI:Bit(0) raise count is now 0. 25768 SCI:Bit(0) raise count is now 0. 25768 SCI:PROGLET bsipar begin() called 25768 SCI: bsipar: Version 0.0 25768 SCI: bsipar: Will be sending following data to glider: 25768 SCI: sci_bsipar_par(ue/m^2sec) 25768 SCI: sci_bsipar_sensor_volts(volts) 25768 SCI: sci_bsipar_temp(degc) 25768 SCI: sci_bsipar_supply_volts(volts) 25768 SCI: sci_bsipar_timestamp(timestamp) 25768 SCI:PROGLET house_elf start() called 25768 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 25768 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) DELOO GliderDos N -1 > GliderDos N -1 >cd .. c:/ GliderDos N -1 >dir Directory of c:// mafiles/ missions/ bin/ config/ state/ logs/ sentlogs/ 7 files GliderDos N -1 >cd missions c:/missions GliderDos N -1 >type electa.mi # electa.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 # 2021-Aug-25 gong@vims.edu adopted from sylvia.mi for electa.mi # 2022-Apr-12 gong@vims.edu updated for MARACOOS W line from NJ (shelf flight # 2023-Mar-20 gong@vims.edu updated for MARACOOS W line after PASSENGERS 2022, alkaline batt ################################################################################ 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) 0 # 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) 10 # 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_alt_min_depth(m) 500 # !put u_alt_min_depth 35 sensor: u_low_power_cycle_time(sec) 6 # in, num of secs/cycle on glider processor # during low power mode (dive/climbs), # <=0 disables low power mode sensor: u_science_low_power(sec) -1 # -1 = disabled, science always on # 0 = power down science when not sampling # x = power down science when not sampling and # power up science x seconds prior to inflection #sensor: u_allowable_cycle_overrun(msec) 2000 sensor: u_use_current_correction(nodim) 0 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) -0.05 #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. sensor: x_fin_deadband(rad) 0.07 # this appears to be needed for glider with new fin on G3S to avoid digifin OOD causing science logging errors and mission abort sensor: f_fin_deadzone_width(rad) 0.07 # this works in concert with x_fin_deadband, also for glider with new fin on G3S ################################################################################ behavior: abend b_arg: overdepth(m) 357 # glider finds itself in > 357m of water b_arg: overdepth_sample_time(s) 20 # 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) 1200 b_arg: samedepth_for_sample_time(s) 120 # how often to check / can be used to stop stuck at depth b_arg: stalled_for(sec) 1800 b_arg: stalled_for_sample_time(sec) 180 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_free_heap(bytes) 50000 # b_arg: max_allowable_busy_cpu_cycles(cycles) 75 # busy CPU check b_arg: use_thruster_for_ascent(bool) 0 ################################################################################ # Come up if haven't had comms for a while behavior: surface b_arg: args_from_file(enum) 81 # read from mafiles/surfac81.ma b_arg: start_when(enum) 12 # BAW_NOCOMM_SECS 12, when have not had comms for WHEN_SECS secs ################################################################################ # 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/surfac82.ma b_arg: start_when(enum) 3 # 0-immediately, 1-stack idle 2-pitch idle 3-heading idle ################################################################################ # 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 b_arg: start_when(enum) 8 # 8-when hit waypoint, 5-never stop ################################################################################ # Come up when requested by science #behavior: surface # b_arg: args_from_file(enum) 85 # read from mafiles/surfac85.ma ################################################################################ # Come up no comms x hours behavior: surface b_arg: args_from_file(enum) 86 # read from mafiles/surfac86.ma b_arg: start_when(enum) 12 # 9-every when_secs, 12 no comms ################################################################################ # nothing commanded behavior: surface b_arg: args_from_file(enum) 87 # read from mafiles/surfac87.ma b_arg: start_when(enum) 1 # 1-stack idle ################################################################################ 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 ################################################################################ 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 > GliderDos N -1 >szr 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 25951 70 Neutering the Freewave Console START **B01000800275775 Starting zModem transfer of tbdlist.dat to/from electa size is 2388 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 2388 zModem transfer DONE for file tbdlist.dat sending >tbdlist.dat< Sent archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-science/tbdlist.dat< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230530T201203_tbdlist.dat< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-science/tbdlist.dat< Successful Done! 25985 78 Freewave console restored REVERTING FROM SCIENCE COMMAND MODE SCIENCE COMMAND MODE TERMINATED because: Science Program QUIT (cts lowered) GliderDos N -1 >send -num=3 *.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 26036 91 Neutering the Freewave Console SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size SCI: Enumerating and selecting files About to send 3 files Prechecking is not necessary for this invocation START **B00000000000000 Starting zModem transfer of 01390004.tbd to/from electa size is 35137 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: 14336 Total Bytes sent/received: 15360 Total Bytes sent/received: 16384 Total Bytes sent/received: 17408 Total Bytes sent/received: 18432 Total Bytes sent/received: 19456 Total Bytes sent/received: 20480 Total Bytes sent/received: 21504 Total Bytes sent/received: 22528 Total Bytes sent/received: 23552 Total Bytes sent/received: 24576 Total Bytes sent/received: 25600 Total Bytes sent/received: 26624 Total Bytes sent/received: 27648 Total Bytes sent/received: 28672 Total Bytes sent/received: 29696 Total Bytes sent/received: 30720 Total Bytes sent/received: 31744 Total Bytes sent/received: 32768 Total Bytes sent/received: 33792 Total Bytes sent/received: 34816 Total Bytes sent/received: 35137 zModem transfer DONE for file 01390004.tbd Starting zModem transfer of 01390003.tbd to/from electa size is 1141 Total Bytes sent/received: 1024 Total Bytes sent/received: 1141 zModem transfer DONE for file 01390003.tbd Starting zModem transfer of 01390002.tbd to/from electa size is 35146 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: 14336 Total Bytes sent/received: 15360 Total Bytes sent/received: 16384 Total Bytes sent/received: 17408 Total Bytes sent/received: 18253