Connection Event: Carrier Detect found.874.82 Iridium console active and ready... Vehicle Name: sylvia Curr Time: Mon Sep 11 14:06:28 2023 MT: 874 DR Location: 3653.479 N -7542.448 E measured 0.805 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3653.459 N -7542.646 E measured 821.804 secs ago GPS Location: 3653.480 N -7542.452 E measured 768.556 secs ago sensor:c_climb_target_depth(m)=-1 1e+308 secs ago sensor:c_dive_target_depth(m)=-1 1e+308 secs ago sensor:c_wpt_lat(lat)=0 1e+308 secs ago sensor:c_wpt_lon(lon)=0 1e+308 secs ago sensor:m_avg_climb_rate(m/s)=-0.149049 1e+308 secs ago sensor:m_avg_dive_rate(m/s)=0.0165754972200209 728.77 secs ago sensor:m_avg_speed(m/s)=0.0764362963690683 1.36 secs ago sensor:m_battery(volts)=11.009379044225 4.538 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=28.4287479600984 4.707 secs ago sensor:m_depth(m)=0 4.585 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 4.889 secs ago sensor:m_gps_mag_var(rad)=0.193731546971371 769.212 secs ago sensor:m_iridium_attempt_num(nodim)=2 38.087 secs ago sensor:m_iridium_call_num(nodim)=3208 0.83 secs ago sensor:m_iridium_dialed_num(nodim)=5339 9.169 secs ago sensor:m_leakdetect_voltage(volts)=2.49996947496947 828.03 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49310134310134 828.052 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 5.136 secs ago sensor:m_tot_num_inflections(nodim)=250 1e+308 secs ago sensor:m_vacuum(inHg)=9.17947899877901 5.09 secs ago sensor:m_water_vx(m/s)=0 1e+308 secs ago sensor:m_water_vy(m/s)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3727.4 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7516.5 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: 2023-09-11T13:54:38 ABORT HISTORY: last abort segment: sylvia-2023-253-1-0 (0184.0000) ABORT HISTORY: last abort mission: OD.MI 876.30 No login script found for processing. 876.33 DRIVER_ODDITY:iridium:1541:xxx_ctrl() ran too long type sylvia.mi Not found error GliderDos A 7 >dir Volume in drive C is UNIT 417 MB Volume Serial Number is 0405-7AC2 Directory of C:\LOGS\ . 09-06-23 1:18p .. 10-08-20 2:06a 01840000.DBD 18,355 09-11-23 1:55p 01820000.DBD 24,679 09-07-23 7:31p 01820000.MBD 3,695 09-07-23 7:31p 01820000.MLG 25,181 09-07-23 7:31p 01830000.DBD 24,258 09-11-23 10:18a 01830000.MBD 3,463 09-11-23 10:18a 01830000.MLG 22,311 09-11-23 10:18a 01840000.MBD 3,065 09-11-23 1:55p 01840000.MLG 27,881 09-11-23 1:55p SYS.LOG 879 09-11-23 1:55p 10 file(s) 153,767 bytes 2 dir(s) 2,068,217,856 bytes free GliderDos A 7 >cd .. GliderDos A 7 >cd missions \MISSIONS GliderDos A 7 >type sylvia.mi # vapinesy.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 ################################################################################ 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) 15 # 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_max_lag_before_syncing_time(sec) 12 # sync_time when avg lag exceeds 12 secs sensor: u_alt_min_depth(m) 8 sensor: u_low_power_cycle_time(sec) 4 # in, num of secs/cycle on glider processor # during low power mode (dive/climbs), # <=0 disables low power mode sensor: u_allowable_cycle_overrun(msec) 2000 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. ################################################################################ behavior: abend b_arg: overdepth(m) 205 # glider finds itself in > 357m of water b_arg: overdepth_sample_time(s) 30 # 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) 1800 b_arg: samedepth_for_sample_time(s) 30 # how often to check / can be used to stop stuck at depth b_arg: stalled_for(sec) 900 b_arg: stalled_for_sample_time(sec) 120 b_arg: undervolts(volts) 9.0 # < 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_spare_heap(bytes) 32000 b_arg: max_allowable_busy_cpu_cycles(cycles) 75 # busy CPU check b_arg: use_thruster_for_ascent(bool) 1 ################################################################################ # Come up if haven't had comms for a while behavior: surface b_arg: args_from_file(enum) 81 # read from mafiles/surfac01.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/surfac02.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 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) 88 # 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) 88 # 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) 81 # >= 0 enables reading from mafiles/sample13.ma # Sample : flbbcd #behavior: sample # b_arg: args_from_file(enum) 82 # Sample : oxy4 #behavior: sample # b_arg: args_from_file(enum) 83 # Sample : bsipar #behavior: sample # b_arg: args_from_file(enum) 84 # Sample: lisst #behavior: sample # b_arg: args_from_file(enum) 85 ################################################################################ behavior: prepare_to_dive b_arg: start_when(enum) 0 # 0-immediately, 1-stack idle 2-depth idle ****** cd .. GliderDos A 7 > Vehicle Name: sylvia 1008 4 NOTE:GPS fix is getting stale: 902 secs old GliderDos A 7 >cd mafiles \MAFILES GliderDos A 7 >type surfac81.ma behavior_name=surface # climb to surface with ballast pump full out # pitch servo'ed to 26 degrees # Hand Written # 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma # 2016-02-27 gong@vims.edu # Come up if haven't had comms for a while, 60 minutes b_arg: start_when(enum) 12 # BAW_NOCOMM_SECS 12, when have not had comms for WHEN_SECS secs b_arg: when_secs(sec) 600 # Surface every X seconds for no comms b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist" b_arg: gps_wait_time(s) 600 # how long to wait for gps b_arg: keystroke_wait_time(sec) 420 # how long to wait for control-C b_arg: when_wpt_dist(m) 2000 # how close to waypoint before surface, only if start_when==7 #b_arg: c_bpump_value(x) 180 b_arg: c_use_pitch(enum) 3 # 3:servo b_arg: c_pitch_value(X) 0.4 # 26 deg b_arg: c_bpump_value(x) 230 #b_arg: c_use_pitch(enum) 1 # 3:servo #b_arg: c_pitch_value(X) 0.05 # 26 deg b_arg: c_use_thruster(enum) 0 # 3 Command depth rate. See sensors for use_thruster = depthrate b_arg: c_thruster_value(X) -0.06 # use_thruster == 3 m/s, desired depth rate. < 0 for climb b_arg: c_stop_when_air_pump(bool) 0 # Terminate climb once air pump has been inflated. For use with thruster only. b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog GliderDos A 7 >run sylvia.mi Starting Mission: SYLVIA.MI timestamp: Mon Sep 11 14:09:36 2023 The instantaneous lag time between the system and gps clock is -4.0 seconds. The average lag time between the system and gps clock is -2.4 seconds. timestamp: Mon Sep 11 14:09:37 2023 load_mission(): Opening Mission file: SYLVIA.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 15.000000 Setting SENSOR u_max_lag_before_syncing_time(sec) value 12.000000 Setting SENSOR u_alt_min_depth(m) value 8.000000 Setting SENSOR u_low_power_cycle_time(sec) value 4.000000 Setting SENSOR u_allowable_cycle_overrun(msec) value 2000.000000 Setting SENSOR u_autoballast_abort(bool) value 0.000000 Setting SENSOR u_min_thruster_abort_ascent_rate(m/s) value -0.050000 Vehicle Name: sylvia Curr Time: Mon Sep 11 14:09:38 2023 MT: 1061 DR Location: 3653.479 N -7542.448 E measured 2.219 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3653.459 N -7542.646 E measured 1011.58 secs ago GPS Location: 3653.480 N -7542.452 E measured 958.332 secs ago sensor:c_climb_target_depth(m)=-1 1e+308 secs ago sensor:c_dive_target_depth(m)=-1 1e+308 secs ago sensor:c_wpt_lat(lat)=0 1e+308 secs ago sensor:c_wpt_lon(lon)=0 1e+308 secs ago sensor:m_avg_climb_rate(m/s)=-0.149049 1e+308 secs ago sensor:m_avg_dive_rate(m/s)=0.0165754972200209 918.484 secs ago sensor:m_avg_speed(m/s)=0.0729981903690478 2.705 secs ago sensor:m_battery(volts)=10.9845487098038 2.876 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=28.4524980268556 3.03 secs ago sensor:m_depth(m)=0.0168730671299274 2.899 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 3.172 secs ago sensor:m_gps_mag_var(rad)=0.193731546971371 958.876 secs ago sensor:m_iridium_attempt_num(nodim)=0 158.585 secs ago sensor:m_iridium_call_num(nodim)=3208 190.48 secs ago sensor:m_iridium_dialed_num(nodim)=5339 198.813 secs ago sensor:m_leakdetect_voltage(volts)=2.49996947496947 1017.67 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49310134310134 1017.68 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3.389 secs ago sensor:m_tot_num_inflections(nodim)=250 1e+308 secs ago sensor:m_vacuum(inHg)=9.18150906593407 3.336 secs ago sensor:m_water_vx(m/s)=0 1e+308 secs ago sensor:m_water_vy(m/s)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=0 1.956 secs ago sensor:x_last_wpt_lat(lat)=3727.4 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7516.5 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 66.06 2 01850000.mlg LOG FILE OPENED MissionSTARTDate: 11 Sep 2023 14:10:40 Z Mission Name: SYLVIA.MI Mission Number: sylvia-2023-253-2-0 (0185.0000) log_c_stack(): 1-abend 2-surface 3-surface 4-surface 5-surface 6-surface 7-surface 8-goto_list 9-yo 10-sample 11-prepare_to_dive 12-sensors_in report_heap_size(): M_FREE_HEAP=71.0K, M_SPARE_HEAP=52.0K pre_mission_init():End of Initialization 68.55 3 behavior sensors_in_12: STATE UnInited -> Active 68.60 behavior sensors_in_12: argument: c_att_time = -1.000000 sec 68.66 behavior sensors_in_12: argument: c_pressure_time = -1.000000 sec 68.71 behavior sensors_in_12: argument: c_alt_time = -1.000000 sec 68.77 behavior sensors_in_12: argument: u_battery_time = -1.000000 sec 68.83 behavior sensors_in_12: argument: u_vacuum_time = -1.000000 sec 68.88 behavior sensors_in_12: argument: c_leakdetect_time = -1.000000 sec 68.94 behavior sensors_in_12: argument: c_gps_on = 0.000000 bool 68.99 behavior sensors_in_12: argument: c_science_all_on = -1.000000 sec 69.05 behavior sensors_in_12: argument: c_profile_on = -1.000000 sec 69.10 behavior sensors_in_12: argument: c_bb2f_on = -1.000000 sec 69.16 behavior sensors_in_12: argument: c_bb2c_on = -1.000000 sec 69.21 behavior sensors_in_12: argument: c_bb2lss_on = -1.000000 sec 69.26 behavior sensors_in_12: argument: c_sam_on = -1.000000 sec 69.32 behavior sensors_in_12: argument: c_moteopd_on = -1.000000 sec 69.38 behavior sensors_in_12: argument: c_bbfl2s_on = -1.000000 sec 69.43 behavior sensors_in_12: argument: c_fl3slo_on = -1.000000 sec 69.49 behavior sensors_in_12: argument: c_bb3slo_on = -1.000000 sec 69.54 behavior sensors_in_12: argument: c_oxy3835_on = -1.000000 sec 69.60 behavior sensors_in_12: argument: c_whfctd_on = -1.000000 sec 69.65 behavior sensors_in_12: argument: c_bam_on = -1.000000 sec 69.71 behavior sensors_in_12: argument: c_ocr504R_on = -1.000000 sec 69.76 behavior sensors_in_12: argument: c_ocr504I_on = -1.000000 sec 69.82 behavior sensors_in_12: argument: c_flntu_on = -1.000000 sec 69.88 behavior sensors_in_12: argument: c_fl3slov2_on = -1.000000 sec 69.97 behavior sensors_in_12: argument: c_bb3slov2_on = -1.000000 sec 70.02 behavior sensors_in_12: argument: c_ocr507R_on = -1.000000 sec 70.08 behavior sensors_in_12: argument: c_ocr507I_on = -1.000000 sec 70.14 behavior sensors_in_12: argument: c_bb3slov3_on = -1.000000 sec 70.19 behavior sensors_in_12: argument: c_bb2fls_on = -1.000000 sec 70.25 behavior sensors_in_12: argument: c_bb2flsV2_on = -1.000000 sec 70.30 behavior sensors_in_12: argument: c_oxy3835_wphase_on = -1.000000 sec 70.36 behavior sensors_in_12: argument: c_auvb_on = -1.000000 sec 70.42 behavior sensors_in_12: argument: c_bb2fV2_on = -1.000000 sec 70.47 behavior sensors_in_12: argument: c_tarr_on = -1.000000 sec 70.53 behavior sensors_in_12: argument: c_bbfl2sV2_on = -1.000000 sec 70.58 behavior sensors_in_12: argument: c_glbps_on = -1.000000 sec 70.64 behavior sensors_in_12: argument: c_sscsd_on = -1.000000 sec 70.69 behavior sensors_in_12: argument: c_bb2flsV3_on = -1.000000 sec 70.75 behavior sensors_in_12: argument: c_fire_on = -1.000000 sec 70.81 behavior sensors_in_12: argument: c_bb2flsV4_on = -1.000000 sec 70.86 behavior sensors_in_12: argument: c_bb2flsV5_on = -1.000000 sec 70.92 behavior sensors_in_12: argument: c_logger_on = -1.000000 sec 70.97 behavior sensors_in_12: argument: c_bbam_on = -1.000000 sec 71.03 behavior sensors_in_12: argument: c_uModem_on = -1.000000 sec 71.08 behavior sensors_in_12: argument: c_rinkoII_on = -1.000000 sec 71.18 behavior sensors_in_12: argument: c_dvl_on = -1.000000 sec 71.23 behavior sensors_in_12: argument: c_bb2flsV6_on = -1.000000 sec 71.29 behavior sensors_in_12: argument: c_flbbrh_on = -1.000000 sec 71.34 behavior sensors_in_12: argument: c_flur_on = -1.000000 sec 71.40 behavior sensors_in_12: argument: c_bb2flsV7_on = -1.000000 sec 71.45 behavior sensors_in_12: argument: c_flbbcd_on = -1.000000 sec 71.51 behavior sensors_in_12: argument: c_dmon_on = -1.000000 sec 71.56 behavior sensors_in_12: argument: c_c3sfl_on = -1.000000 sec 71.62 behavior sensors_in_12: argument: c_suna_on = -1.000000 sec 71.68 behavior sensors_in_12: argument: c_satpar_on = -1.000000 sec 71.73 behavior sensors_in_12: argument: c_vsf_on = -1.000000 sec 71.78 behavior sensors_in_12: argument: c_oxy4_on = -1.000000 sec 71.84 behavior sensors_in_12: argument: c_bsipar_on = -1.000000 sec 71.89 behavior sensors_i