Connection Event: Carrier Detect found. 7105 Iridium console active and ready... Vehicle Name: electa Curr Time: Wed Jun 7 17:28:19 2023 MT: 7105 DR Location: 3756.332 N -6209.590 E measured 72.628 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3756.578 N -6209.948 E measured 128.788 secs ago GPS Location: 3756.332 N -6209.590 E measured 73.648 secs ago sensor:c_climb_target_depth(m)=6 164.754 secs ago sensor:c_dive_target_depth(m)=345 164.758 secs ago sensor:c_wpt_lat(lat)=3700 7056.08 secs ago sensor:c_wpt_lon(lon)=-6250 7056.09 secs ago sensor:m_avg_climb_rate(m/s)=-0.243407011959715 156.868 secs ago sensor:m_avg_dive_rate(m/s)=0.178589567483802 1844.52 secs ago sensor:m_avg_speed(m/s)=0.440991458367383 116.712 secs ago sensor:m_battery(volts)=15.3244240159943 35.695 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=68.966169999998 3.822 secs ago sensor:m_depth(m)=0 3.685 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.063 secs ago sensor:m_gps_mag_var(rad)=0.284488668075076 73.709 secs ago sensor:m_iridium_attempt_num(nodim)=3 36.067 secs ago sensor:m_iridium_call_num(nodim)=1683 0.074 secs ago sensor:m_iridium_dialed_num(nodim)=2638 8.084 secs ago sensor:m_leakdetect_voltage(volts)=2.49697802197802 7.686 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.5 7.65 secs ago sensor:m_leakdetect_voltage_science(volts)=2.5 7.614 secs ago sensor:m_tot_num_inflections(nodim)=10221 112.749 secs ago sensor:m_vacuum(inHg)=8.64602791208791 119.837 secs ago sensor:m_water_vx(m/s)=0.491631215139975 72.728 secs ago sensor:m_water_vy(m/s)=0.02473724440227 72.732 secs ago sensor:u_use_current_correction(nodim)=0 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3742.838 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6223.236 1e+308 secs ago ABORT HISTORY: total since reset: 10 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: 2023-06-06T01:21:37 ABORT HISTORY: last abort segment: electa-2023-155-0-15 (0144.0015) ABORT HISTORY: last abort mission: electa.mi 7105 No login script found for processing. 7108 28 sensor: c_thruster_on = 0 % Glider electa at surface. Because:nothing commanded [behavior surface_6 start_when = 1.0] MissionName:electa.mi MissionNum:electa-2023-157-0-0 (0146.0000) Vehicle Name: electa Curr Time: Wed Jun 7 17:28:26 2023 MT: 7113 DR Location: 3756.332 N -6209.590 E measured 80.134 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3756.578 N -6209.948 E measured 136.295 secs ago GPS Location: 3756.332 N -6209.590 E measured 81.154 secs ago sensor:c_climb_target_depth(m)=6 172.261 secs ago sensor:c_dive_target_depth(m)=345 172.264 secs ago sensor:c_wpt_lat(lat)=3700 7063.59 secs ago sensor:c_wpt_lon(lon)=-6250 7063.59 secs ago sensor:m_avg_climb_rate(m/s)=-0.243407011959715 164.374 secs ago sensor:m_avg_dive_rate(m/s)=0.178589567483802 1852.02 secs ago sensor:m_avg_speed(m/s)=0.440991458367383 124.218 secs ago sensor:m_battery(volts)=15.3244240159943 43.201 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=68.967385999998 3.322 secs ago sensor:m_depth(m)=0 3.184 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 7.569 secs ago sensor:m_gps_mag_var(rad)=0.284488668075076 81.215 secs ago sensor:m_iridium_attempt_num(nodim)=3 43.573 secs ago sensor:m_iridium_call_num(nodim)=1683 7.58 secs ago sensor:m_iridium_dialed_num(nodim)=2638 15.59 secs ago sensor:m_leakdetect_voltage(volts)=2.49697802197802 15.192 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.5 15.156 secs ago sensor:m_leakdetect_voltage_science(volts)=2.5 15.12 secs ago sensor:m_tot_num_inflections(nodim)=10221 120.255 secs ago sensor:m_vacuum(inHg)=8.64602791208791 127.343 secs ago sensor:m_water_vx(m/s)=0.491631215139975 80.234 secs ago sensor:m_water_vy(m/s)=0.02473724440227 80.238 secs ago sensor:u_use_current_correction(nodim)=0 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3742.838 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6223.236 1e+308 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 13/ 1/ 1 odd: 726/ 5/ 5 ABORT HISTORY: total since reset: 10 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: 2023-06-06T01:21:37 ABORT HISTORY: last abort segment: electa-2023-155-0-15 (0144.0015) ABORT HISTORY: last abort mission: electa.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 COMPLETE Waypoint: (3700.0000,-6250.0000) Range: 119986m, Bearing: 226deg, Age: 1:57h:m Time until diving is: 336 secs 7112 29 sensor: c_thruster_on = 0 % 7116 30 sensor: c_thruster_on = 0 % 7120 31 sensor: c_thruster_on = 0 % 7124 32 sensor: c_thruster_on = 0 % ^C 7128 33 behavior surface_6: User Hit a Control-C, terminating the mission 7128 behavior surface_6: STATE Active -> Mission Complete 7128 behavior ?_-1: layered_control(): Mission completed normally 7128 behavior ?_-1: run_mission(): Mission completed: MS_COMPLETED_NORMALLY(-1) Vehicle Name: electa Mission Name: electa.mi Mission Number: electa-2023-157-0-0 (0146.0000) post_mission_cleanup(): End of Mission timestamp: Wed Jun 7 17:28:47 2023 7133 01460000.mlg LOG FILE CLOSED timestamp: Wed Jun 7 17:28:51 2023 Mission completed normally Mission end: grun_mission() electa.mi electa-2023-157-0-0 (0146.0000) 7137 34 sensor: c_thruster_on = 0 % 7137 sensor: c_thruster_on = 0 % GliderDos N -1 >^@^C GliderDos N -1 >send *.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 7166 44 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 1 files Prechecking is not necessary for this invocation START **B00000000000 Starting zModem transfer of 01460000.tbd to/from electa size is 31216 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: 31216 zModem transfer DONE for file 01460000.tbd SCI: Sent 1 file(s): 01460000.tbd SCI: SUCCESS 7387 96 Freewave console restored REVERTING FROM SCIENCE COMMAND MODE SCIENCE COMMAND MODE TERMINATED because: Science Program QUIT (cts lowered) 7389 GLD: Enumerating and selecting files About to send 1 files Prechecking is not necessary for this invocation selected IRIDIUM 7389 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 7389 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000 Starting zModem transfer of 01460000.sbd to/from electa size is 12735 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: 12735 zModem transfer DONE for file 01460000.sbd 7489 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 7489 restore_sensors().... 7489 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES . 7489 GLD: Sent 1 file(s): 01460000.sbd GLD: SUCCESS Glider-Science software version match: 10.080000 Science hardware version is 3.000000 7492 97 SCI:PROGLET house_elf begin() called 7492 SCI: house_elf: Version 1.2 7492 SCI:PROGLET rbrctd begin() called 7492 SCI:PROGLET flbbcd begin() called 7492 SCI: flbbcd: Version 0.0 7492 SCI: flbbcd: Will be sending following data to glider: 7492 SCI: sci_flbbcd_chlor_units(ug/l) 7492 SCI: sci_flbbcd_bb_units(nodim) 7492 SCI: sci_flbbcd_cdom_units(ppb) 7492 SCI: sci_flbbcd_chlor_sig(nodim) 7492 SCI: sci_flbbcd_bb_sig(nodim) 7492 SCI: sci_flbbcd_cdom_sig(nodim) 7492 SCI: sci_flbbcd_chlor_ref(nodim) 7492 SCI: sci_flbbcd_bb_ref(nodim) 7492 SCI: sci_flbbcd_cdom_ref(nodim) 7492 SCI: sci_flbbcd_therm(nodim) 7492 SCI: sci_flbbcd_timestamp(timestamp) 7492 SCI:Bit(0) raise count is now 0. 7492 SCI:Bit(0) raise count is now 0. 7492 SCI:PROGLET bsipar begin() called 7492 SCI: bsipar: Version 0.0 7492 SCI: bsipar: Will be sending following data to glider: 7492 SCI: sci_bsipar_par(ue/m^2sec) 7492 SCI: sci_bsipar_sensor_volts(volts) 7492 SCI: sci_bsipar_temp(degc) 7492 SCI: sci_bsipar_supply_volts(volts) 7492 SCI: sci_bsipar_timestamp(timestamp) 7492 SCI:PROGLET house_elf start() called 7492 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 7492 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) GliderDos N -1 >zr Choosing console...using IRIDIUM 7517 4 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 7517 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B0100000027fed4 Starting zModem transfer of surfac81.ma to/from electa size is 2157 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 2157 zModem transfer DONE for file surfac81.ma Starting zModem transfer of surfac87.ma to/from electa size is 1530 Total Bytes sent/received: 1024 Total Bytes sent/received: 1530 zModem transfer DONE for file surfac87.ma Starting zModem transfer of sample71.ma to/from electa size is 3798 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 3798 zModem transfer DONE for file sample71.ma Starting zModem transfer of sample72.ma to/from electa size is 3798 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 3798 zModem transfer DONE for file sample72.ma Starting zModem transfer of sample73.ma to/from electa size is 3800 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 3800 zModem transfer DONE for file sample73.ma Starting zModem transfer of sample74.ma to/from electa size is 3800 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 3800 zModem transfer DONE for file sample74.ma Starting zModem transfer of surfac71.ma to/from electa size is 2157 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 2157 zModem transfer DONE for file surfac71.ma Starting zModem transfer of surfac72.ma to/from electa size is 1349 Total Bytes sent/received: 1024 Total Bytes sent/received: 1349 zModem transfer DONE for file surfac72.ma Starting zModem transfer of surfac73.ma to/from electa size is 1494 Total Bytes sent/received: 1024 Total Bytes sent/received: 1494 zModem transfer DONE for file surfac73.ma Starting zModem transfer of surfac74.ma to/from electa size is 1419 Total Bytes sent/received: 1024 Total Bytes sent/received: 1419 zModem transfer DONE for file surfac74.ma Starting zModem transfer of surfac76.ma to/from electa size is 1790 Total Bytes sent/received: 1024 Total Bytes sent/received: 1790 zModem transfer DONE for file surfac76.ma Starting zModem transfer of surfac77.ma to/from electa size is 1530 Total Bytes sent/received: 1024 Total Bytes sent/received: 1530 zModem transfer DONE for file surfac77.ma sending >surfac81.ma< Sent sending >surfac87.ma< Sent sending >sample71.ma< Sent sending >sample72.ma< Sent sending >sample73.ma< Sent sending >sample74.ma< Sent sending >surfac71.ma< Sent sending >surfac72.ma< Sent sending >surfac73.ma< Sent sending >surfac74.ma< Sent sending >surfac76.ma< Sent sending >surfac77.ma< Sent archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac81.ma< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230607T174022_surfac81.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac81.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac87.ma< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230607T174022_surfac87.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac87.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/sample71.ma< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230607T174022_sample71.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/sample71.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/sample72.ma< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230607T174022_sample72.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/sample72.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/sample73.ma< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230607T174022_sample73.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/sample73.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/sample74.ma< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230607T174022_sample74.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/sample74.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac71.ma< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230607T174022_surfac71.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac71.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac72.ma< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230607T174022_surfac72.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac72.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac73.ma< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230607T174022_surfac73.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac73.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac74.ma< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230607T174022_surfac74.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac74.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac76.ma< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230607T174022_surfac76.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac76.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac77.ma< as >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/archive/20230607T174022_surfac77.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/surfac77.ma< Successful Vehicle Name: electa 7838 19 NOTE:GPS fix is getting stale: 807 secs old GliderDos N -1 >:OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0724 C_FIN:0.0000 GliderDos N -1 >zr Choosing console...using IRIDIUM 7902 35 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 7902 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/20230607T174444_electa.mi< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/electa.mi< Successful GliderDos N -1 >cd .. c:/ 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 Command error: error reading file 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 Command error: error reading file GliderDos N -1 > Vehicle Name: electa 8150 57 NOTE:GPS fix is getting stale: 1119 secs old GliderDos N -1 >zr Choosing console...using IRIDIUM 8173 63 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 8173 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/20230607T174755_electa.mi< Successful deleting >/var/opt/sfmc-dockserver/stations/passengers/gliders/electa/to-glider/electa.mi< Successful Parse error: Command not found 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) 71 # 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) 72 # 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) 73 # 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) 74 # 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) 75 # read from mafiles/surfac85.ma ################################################################################ # Come up no comms x hours behavior: surface b_arg: args_from_file(enum) 76 # 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) 77 # 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) 71 # >= 0 enables reading from mafiles/sample13.ma # Sample : flbbcd behavior: sample b_arg: args_from_file(enum) 72 # Sample : oxy4 behavior: sample b_arg: args_from_file(enum) 73 # Sample : bsipar behavior: sample b_arg: args_from_file(enum) 74 ################################################################################ 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 >run electa.mi Starting Mission: electa.mi timestamp: Wed Jun 7 17:49:56 2023 load_mission(): Opening Mission file: electa.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_reqd_depth_at_surface(m) value 3.000000 Setting SENSOR u_use_ctd_depth_for_flying(bool) value 0.000000 Setting SENSOR u_use_current_correction(nodim) value 0.000000 Setting SENSOR u_dbd_sensor_list_xmit_control(enum) value 2.000000 Setting SENSOR u_sci_dbd_sensor_list_xmit_control(enum) value 2.000000 Setting SENSOR c_iridium_no_char_timeout(mins) value 10.000000 Setting SENSOR u_alt_min_depth(m) value 500.000000 Setting SENSOR u_low_power_cycle_time(sec) value 6.000000 Setting SENSOR u_science_low_power(sec) value -1.000000 Setting SENSOR u_use_current_correction(nodim) value 0.000000 Setting SENSOR u_autoballast_abort(bool) value 0.000000 Setting SENSOR u_min_thruster_abort_ascent_rate(m/s) value -0.050000 Setting SENSOR x_fin_deadband(rad) value 0.070000 Setting SENSOR f_fin_deadzone_width(rad) value 0.070000 Vehicle Name: electa Curr Time: Wed Jun 7 17:49:56 2023 MT: 8401 DR Location: 3756.332 N -6209.590 E measured 1369.42 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3756.578 N -6209.948 E measured 1425.58 secs ago GPS Location: 3756.332 N -6209.590 E measured 1370.44 secs ago sensor:c_climb_target_depth(m)=6 1461.55 secs ago sensor:c_dive_target_depth(m)=345 1461.55 secs ago sensor:c_wpt_lat(lat)=3700 8352.88 secs ago sensor:c_wpt_lon(lon)=-6250 8352.88 secs ago sensor:m_avg_climb_rate(m/s)=-0.243407011959715 1453.66 secs ago sensor:m_avg_dive_rate(m/s)=0.178589567483802 3141.31 secs ago sensor:m_avg_speed(m/s)=0.440991458367383 1413.51 secs ago sensor:m_battery(volts)=15.2982644965295 0.275 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=69.104841999998 0.41 secs ago sensor:m_depth(m)=0 0.183 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.639 secs ago sensor:m_gps_mag_var(rad)=0.284488668075076 1370.5 secs ago sensor:m_iridium_attempt_num(nodim)=0 1244.47 secs ago sensor:m_iridium_call_num(nodim)=1683 1296.87 secs ago sensor:m_iridium_dialed_num(nodim)=2638 1304.88 secs ago sensor:m_leakdetect_voltage(volts)=2.4971916971917 34.418 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.5 34.382 secs ago sensor:m_leakdetect_voltage_science(volts)=2.5 34.346 secs ago sensor:m_tot_num_inflections(nodim)=10221 1409.54 secs ago sensor:m_vacuum(inHg)=10.2430465934066 0.273 secs ago sensor:m_water_vx(m/s)=0.491631215139975 1369.52 secs ago sensor:m_water_vy(m/s)=0.02473724440227 1369.53 secs ago sensor:u_use_current_correction(nodim)=0 0.159 secs ago sensor:x_last_wpt_lat(lat)=3742.838 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6223.236 1e+308 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_IRIDIUM_PHONE_NUM Iridium login script (from c:/config/loginexp.0): empty or non-existent PARSED iridium_phone_data for datum# 1: =========== predial initialization cmds (from c:/config/iridinit.1): ATE AT+cbst=6,0,1 AT+CSQ dial string: ATD0017818711614 from sensors: C_IRIDIUM_LEAD_ZEROS_ALT C_IRIDIUM_PHONE_NUM_ALT Iridium login script (from c:/config/loginexp.1): empty or non-existent PARSED iridium_phone_data for datum# 2: =========== predial initialization cmds (from c:/config/iridinit.2): ATE AT+cbst=6,0,1 dial string: ATD0017818711051 from sensors: F_IRIDIUM_LEAD_ZEROS_FACTORY F_IRIDIUM_PHONE_NUM_FACTORY Iridium login script (from c:/config/loginexp.2): empty or non-existent 0.10 0 sensor: c_thruster_on = 0 % Running algorithm to free disk space if required Not necessary to delete any files at this time Scanning free space... Megabytes used on c: = 243.437500 Megabytes available on c: = 7631.562500 Megabytes used on w: = 0.021973 Megabytes available on w: = 0.978027 7.51 1 01470000.mlg LOG FILE OPENED MissionSTARTDate: 07 Jun 2023 17:49:56 Z Mission Name: electa.mi Mission Number: electa-2023-157-1-0 (0147.0000) log_c_stack(): 1-abend 2-surface 3-surface 4-surface 5-surface 6-surface 7-goto_list 8-yo 9-sample 10-sample 11-sample 12-sample 13-prepare_to_dive 14-sensors_in report_heap_size(): M_FREE_HEAP=186.0K(190488 bytes) M_MIN_FREE_HEAP=164.1K(168012 bytes) M_SRAM_FREE_HEAP=1389.9K(1423216 bytes) M_SRAM_MIN_FREE_HEAP=1385.8K(1419080 bytes) pre_mission_init():End of Initialization 12.85 2 behavior sensors_in_14: STATE UnInited -> Active 12.87 behavior prepare_to_dive_13: STATE UnInited -> Waiting for Activation 12.87 behavior prepare_to_dive_13: STATE Waiting for Activation -> Active 12.88 init_gps_input() 12.88 behavior prepare_to_dive_13: SUBSTATE 0 UnInited->1 : Waiting for initial GPS fix 12.88 behavior sample_12: sample(): reading bargs 12.88 behavior sample_12: Reading b_args from sample74.ma 12.90 behavior sample_12: sensor_type(enum)=56.000000 12.91 behavior sample_12: state_to_sample(enum)=15.000000 12.91 behavior sample_12: sample_time_after_state_change(s)=15.000000 12.92 behavior sample_12: intersample_time(s)=0.000000 12.93 behavior sample_12: nth_yo_to_sample(nodim)=1.000000 12.93 behavior sample_12: intersample_depth(m)=-1.000000 12.94 behavior sample_12: min_depth(m)=-5.000000 12.94 behavior sample_12: max_depth(m)=2000.000000 12.95 behavior sample_12: STATE UnInited -> Active 12.95 behavior sample_12: SUBSTATE 0 UnInited->1 : Diving 12.96 behavior sample_11: sample(): reading bargs 12.96 behavior sample_11: Reading b_args from sample73.ma 12.97 behavior sample_11: sensor_type(enum)=54.000000 12.98 behavior sample_11: state_to_sample(enum)=15.000000 12.99 behavior sample_11: sample_time_after_state_change(s)=15.000000 12.99 behavior sample_11: intersample_time(s)=0.000000 13.00 behavior sample_11: nth_yo_to_sample(nodim)=1.000000 13.00 behavior sample_11: intersample_depth(m)=-1.000000 13.01 behavior sample_11: min_depth(m)=-5.000000 13.01 behavior sample_11: max_depth(m)=2000.000000 13.02 behavior sample_11: STATE UnInited -> Active 13.02 behavior sample_11: SUBSTATE 0 UnInited->1 : Diving 13.03 behavior sample_10: sample(): reading bargs 13.03 behavior sample_10: Reading b_args from sample72.ma 13.04 behavior sample_10: sensor_type(enum)=48.000000 13.05 behavior sample_10: state_to_sample(enum)=15.000000 13.06 behavior sample_10: sample_time_after_state_change(s)=15.000000 13.06 behavior sample_10: intersample_time(s)=0.000000 13.07 behavior sample_10: nth_yo_to_sample(nodim)=1.000000 13.07 behavior sample_10: intersample_depth(m)=-1.000000 13.08 behavior sample_10: min_depth(m)=-5.000000 13.08 behavior sample_10: max_depth(m)=2000.000000 13.09 behavior sample_10: STATE UnInited -> Active 13.09 behavior sample_10: SUBSTATE 0 UnInited->1 : Diving 13.10 behavior sample_9: sample(): reading bargs 13.10 behavior sample_9: Reading b_args from sample71.ma 13.11 behavior sample_9: sensor_type(enum)=1.000000 13.12 behavior sample_9: state_to_sample(enum)=15.000000 13.13 behavior sample_9: sample_time_after_state_change(s)=15.000000 13.13 behavior sample_9: intersample_time(s)=0.000000 13.14 behavior sample_9: nth_yo_to_sample(nodim)=1.000000 13.14 behavior sample_9: intersample_depth(m)=-1.000000 13.15 behavior sample_9: min_depth(m)=-5.000000 13.15 behavior sample_9: max_depth(m)=2000.000000 13.16 behavior sample_9: STATE UnInited -> Active 13.16 behavior sample_9: SUBSTATE 0 UnInited->1 : Diving 13.17 behavior yo_8: Reading b_args from yo77.ma 13.18 behavior yo_8: num_half_cycles_to_do(nodim)=4.000000 13.18 behavior yo_8: d_target_depth(m)=345.000000 13.19 behavior yo_8: d_target_altitude(m)=6.000000 13.19 behavior yo_8: d_use_bpump(enum)=2.000000 13.19 behavior yo_8: d_bpump_value(x)=-420.000000 13.20 behavior yo_8: d_use_pitch(enum)=3.000000 13.20 behavior yo_8: d_pitch_value(X)=-0.400000 13.21 behavior yo_8: d_use_thruster(enum)=0.000000 13.21 behavior yo_8: d_thruster_value(X)=3.000000 13.22 behavior yo_8: c_target_depth(m)=6.000000 13.22 behavior yo_8: c_target_altitude(m)=-1.000000 13.22 behavior yo_8: c_use_bpump(enum)=2.000000 13.23 behavior yo_8: c_bpump_value(x)=420.000000 13.23 behavior yo_8: c_use_pitch(enum)=3.000000 13.23 behavior yo_8: c_pitch_value(X)=0.400000 13.24 behavior yo_8: c_use_thruster(enum)=0.000000 13.24 behavior yo_8: c_thruster_value(X)=-0.060000 13.25 behavior yo_8: STATE UnInited -> Waiting for Activation 13.50 behavior goto_list_7: Reading b_args from goto_l77.ma 13.51 behavior goto_list_7: num_legs_to_run(nodim)=-2.000000 13.52 behavior goto_list_7: start_when(enum)=0.000000 13.52 behavior goto_list_7: list_stop_when(enum)=7.000000 13.52 behavior goto_list_7: list_when_wpt_dist(m)=1500.000000 13.53 behavior goto_list_7: initial_wpt(enum)=0.000000 13.53 behavior goto_list_7: num_waypoints(nodim)=2.000000 13.54 behavior goto_list_7: Reading waypoints from file: 13.55 behavior goto_list_7: 0 lon: -6250.0000 lat: 3700.0000 13.55 behavior goto_list_7: 1 lon: -6300.0000 lat: 3740.0000 13.56 behavior goto_list_7: STATE UnInited -> Waiting for Activation 13.57 behavior goto_list_7: STATE Waiting for Activation -> Active 13.57 behavior goto_list_7: SUBSTATE 0 UnInited->1 : waiting for LMC to be established 13.57 behavior surface_6: Reading b_args from surfac77.ma 13.59 ERROR behavior surface_6: beh_read_bargs_from_file(): Didn't find behavior_name= line 13.59 behavior surface_6: STATE UnInited -> ERROR 13.60 ERROR behavior surface_6: Entered B_ERROR State 13.60 behavior surface_5: Reading b_args from surfac76.ma 13.62 behavior surface_5: end_action(enum)=1.000000 13.62 behavior surface_5: when_secs(s)=20000.000000 13.62 behavior surface_5: gps_wait_time(s)=600.000000 13.63 behavior surface_5: keystroke_wait_time(sec)=420.000000 13.63 behavior surface_5: when_wpt_dist(m)=1000.000000 13.64 behavior surface_5: c_bpump_value(x)=1000.000000 13.64 behavior surface_5: c_use_pitch(enum)=3.000000 13.64 behavior surface_5: c_pitch_value(X)=0.452800 13.65 behavior surface_5: c_use_thruster(enum)=3.000000 13.65 behavior surface_5: c_thruster_value(X)=-0.060000 13.65 behavior surface_5: c_stop_when_air_pump(bool)=1.000000 13.66 behavior surface_5: printout_cycle_time(sec)=60.000000 13.66 behavior surface_5: thruster_burst(bool)=0.000000 13.67 behavior surface_5: STATE UnInited -> Waiting for Activation 13.68 behavior surface_4: Reading b_args from surfac74.ma 13.69 behavior surface_4: end_action(enum)=1.000000 13.69 behavior surface_4: gps_wait_time(s)=600.000000 13.70 behavior surface_4: keystroke_wait_time(sec)=420.000000 13.70 behavior surface_4: when_wpt_dist(m)=1000.000000 13.71 behavior surface_4: c_bpump_value(x)=300.000000 13.71 behavior surface_4: c_use_pitch(enum)=3.000000 13.71 behavior surface_4: c_pitch_value(X)=0.400000 13.72 behavior surface_4: c_use_thruster(enum)=0.000000 13.72 behavior surface_4: c_thruster_value(X)=-0.050000 13.72 behavior surface_4: c_stop_when_air_pump(bool)=1.000000 13.73 behavior surface_4: printout_cycle_time(sec)=40.000000 13.73 behavior surface_4: STATE UnInited -> Waiting for Activation 13.74 behavior surface_3: Reading b_args from surfac72.ma 13.76 behavior surface_3: end_action(enum)=0.000000 13.76 behavior surface_3: gps_wait_time(s)=600.000000 13.76 behavior surface_3: keystroke_wait_time(sec)=420.000000 13.77 behavior surface_3: when_wpt_dist(m)=1000.000000 13.77 behavior surface_3: c_bpump_value(x)=300.000000 13.77 behavior surface_3: c_use_pitch(enum)=3.000000 13.78 behavior surface_3: c_pitch_value(X)=0.400000 13.78 behavior surface_3: c_use_thruster(enum)=3.000000 13.79 behavior surface_3: c_thruster_value(X)=-0.050000 13.79 behavior surface_3: c_stop_when_air_pump(bool)=1.000000 13.80 behavior surface_3: STATE UnInited -> Waiting for Activation 13.80 behavior surface_2: Reading b_args from surfac71.ma 13.82 behavior surface_2: end_action(enum)=1.000000 13.82 behavior surface_2: when_secs(sec)=10800.000000 13.82 behavior surface_2: gps_wait_time(s)=600.000000 13.83 behavior surface_2: keystroke_wait_time(sec)=420.000000 13.83 behavior surface_2: when_wpt_dist(m)=300.000000 13.84 behavior surface_2: c_use_bpump(enum)=2.000000 13.84 behavior surface_2: c_bpump_value(x)=420.000000 13.84 behavior surface_2: c_use_pitch(enum)=3.000000 13.85 behavior surface_2: c_pitch_value(X)=0.400000 13.85 behavior surface_2: c_use_thruster(enum)=3.000000 13.86 behavior surface_2: c_thruster_value(X)=-0.050000 13.86 behavior surface_2: c_stop_when_air_pump(bool)=1.000000 13.86 behavior surface_2: printout_cycle_time(sec)=60.000000 13.87 behavior surface_2: STATE UnInited -> Waiting for Activation 13.93 handle_cop_tickle(14400.000000,10.000000) hardware supports cop timeout jumper readback. NO_COP_TICKLE_PERCENT is enabled. Ignoring NO_COP_TICKLE_FOR. MS_ABORT_NO_TICKLE is ENABLED Will abort after no tickles for 864 minutes (14.40 hours). 13.95 behavior abend_1: STATE UnInited -> Active 13.96 ERROR behavior ?_-1: layered_control(): Behavior surface_6 entered B_ERROR state 18.99 ERROR behavior ?_-1: abort_the_mission(0): (6)MS_ABORT_BEH_ERROR 18.99 behavior ?_-1: abort_the_mission(): Changing U_CYCLE_TIME from 4.000000 to 15.000000 19.00 sensor: c_thruster_on = 0 % 19.00 save_and_change_sensors().... Changed u_depth_rate_filter_factor from 4 to -1 19.01 Attempting to put only critical devices back into service 19.01 behavior ?_-1: Vehicle Name: electa 19.01 behavior ?_-1: abort_the_mission(): (6)MS_ABORT_BEH_ERROR 19.02 behavior ?_-1: secs since abort started: 0 try num: 0 19.02 behavior ?_-1: depths ini: 0 working: 360 at risk: 396 crush: 400 19.03 behavior ?_-1: expected time/tries to surface: 301 20 19.03 behavior ?_-1: max time/tries to go up: 300 20 19.03 behavior ?_-1: too long: 0, not going up: 0, depth sensor busted:0 19.04 behavior ?_-1: abort burn time/tries min: 600 40 19.04 behavior ?_-1: abort burn time/tries max: 14400 960 19.05 behavior ?_-1: ABOVE WORKING DEPTH 19.05 behavior ?_-1: drop_the_weight = 0 19.05 sensor: c_thruster_on = 0 % 19.05 Not recommended, but if in infinite loop, hit Control-C 21.96 sensor: m_depth = 0 m report_heap_size(): M_FREE_HEAP=185.4K(189896 bytes) M_MIN_FREE_HEAP=164.1K(168012 bytes) M_SRAM_FREE_HEAP=1389.9K(1423216 bytes) M_SRAM_MIN_FREE_HEAP=1385.8K(1419080 bytes) 27.34 3 Attempting to put only critical devices back into service 27.35 behavior ?_-1: Vehicle Name: electa 27.35 behavior ?_-1: abort_the_mission(): (6)MS_ABORT_BEH_ERROR 27.35 behavior ?_-1: secs since abort started: 8 try num: 1 27.36 behavior ?_-1: depths ini: 0 working: 360 at risk: 396 crush: 400 27.36 behavior ?_-1: expected time/tries to surface: 301 20 27.36 behavior ?_-1: max time/tries to go up: 300 20 27.37 behavior ?_-1: too long: 0, not going up: 0, depth sensor busted:0 27.37 behavior ?_-1: abort burn time/tries min: 600 40 27.38 behavior ?_-1: abort burn time/tries max: 14400 960 27.38 behavior ?_-1: ABOVE WORKING DEPTH 27.38 behavior ?_-1: drop_the_weight = 0 27.39 sensor: c_thruster_on = 0 % 27.39 Not recommended, but if in infinite loop, hit Control-C 29.27 sensor: m_depth = 0 m 42.34 4 Attempting to put only critical devices back into service 42.34 behavior ?_-1: Vehicle Name: electa 42.35 behavior ?_-1: abort_the_mission(): (6)MS_ABORT_BEH_ERROR 42.35 behavior ?_-1: secs since abort started: 23 try num: 2 42.35 behavior ?_-1: depths ini: 0 working: 360 at risk: 396 crush: 400 42.36 behavior ?_-1: expected time/tries to surface: 301 20 42.36 behavior ?_-1: max time/tries to go up: 300 20 42.37 behavior ?_-1: too long: 0, not going up: 0, depth sensor busted:0 42.37 behavior ?_-1: abort burn time/tries min: 600 40 42.38 behavior ?_-1: abort burn time/tries max: 14400 960 42.38 ERROR behavior ?_-1: we_are_done(): At the surface, return (-2)MS_COMPLETED_ABNORMALLY 42.38 behavior ?_-1: we_are_done(): Restoring U_CYCLE_TIME from 15.000000 to 4.000000 42.39 restore_sensors().... Restored u_depth_rate_filter_factor from -1 to 4 42.39 behavior ?_-1: ABOVE WORKING DEPTH 42.40 behavior ?_-1: drop_the_weight = 0 42.40 sensor: c_thruster_on = 0 % 42.40 Not recommended, but if in infinite loop, hit Control-C 43.41 behavior ?_-1: run_mission(): Mission completed: MS_COMPLETED_ABNORMALLY(-2) Vehicle Name: electa Mission Name: electa.mi Mission Number: electa-2023-157-1-0 (0147.0000) post_mission_cleanup(): End of Mission timestamp: Wed Jun 7 17:50:45 2023 48.73 01470000.mlg LOG FILE CLOSED timestamp: Wed Jun 7 17:50:49 2023 Mission completed ABNORMALLY, ret = -3 Mission end: grun_mission() electa.mi electa-2023-157-1-0 (0147.0000) 52.79 5 sensor: c_thruster_on = 0 % 52.79 sensor: c_thruster_on = 0 % GliderDos A 6 > GliderDos A 6 >why? ABORT HISTORY: total since reset: 11 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: 2023-06-07T17:50:10 ABORT HISTORY: last abort segment: electa-2023-157-1-0 (0147.0000) ABORT HISTORY: last abort mission: electa.mi BOOT: Last reboot reason was REBOOT_POWER_DOWN - Power Down/Cold Boot Boot number : 177 CORE: Core dump present GliderDos A 6 >173.04 34 DRIVER_ODDITY:digifin:10607:xxx_ctrl() ran too long GliderDos A 6 > GliderDos A 6 > GliderDos A 6 > GliderDos A 6 >:OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0724 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0724 C_FIN:0.0000 GliderDos A 6 >