Connection Event: Carrier Detect found. 1360 Iridium console active and ready...
Vehicle Name: ru26d
Curr Time: Tue Jan 7 14:10:17 2025 MT: 1359
DR Location: -6449.023 N -6403.360 E measured 69.513 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : -6448.971 N -6403.160 E measured 118.455 secs ago
GPS Location: -6449.023 N -6403.360 E measured 70.104 secs ago
sensor:c_wpt_lat(lat)=-6456.0204 1238.43 secs ago
sensor:c_wpt_lon(lon)=-6424.1334 1238.47 secs ago
sensor:m_battery(volts)=14.3611060486598 4.247 secs ago
sensor:m_coulomb_amphr(amp-hrs)=0.634124994277954 4.423 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=57.6766249943543 4.438 secs ago
sensor:m_depth(m)=0.00539513589930566 4.304 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 0.49 secs ago
sensor:m_gps_mag_var(rad)=-0.275762021815104 70.498 secs ago
sensor:m_iridium_attempt_num(nodim)=1 61.482 secs ago
sensor:m_iridium_call_num(nodim)=4835 20.921 secs ago
sensor:m_iridium_dialed_num(nodim)=6107 33.141 secs ago
sensor:m_leakdetect_voltage(volts)=2.47493894993895 24.844 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48052503052503 24.862 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 4.793 secs ago
sensor:m_tot_num_inflections(nodim)=16274 139.244 secs ago
sensor:m_vacuum(inHg)=8.95685818070817 4.735 secs ago
sensor:m_water_vx(m/s)=-0.0581809506140512 62.583 secs ago
sensor:m_water_vy(m/s)=0.0108313217877992 62.616 secs ago
sensor:u_max_altimeter(m)=100 1e+308 secs ago
sensor:u_min_water_depth(m)=0 1e+308 secs ago
sensor:u_use_current_correction(nodim)=1 1e+308 secs ago
sensor:x_last_wpt_lat(lat)=-6445.2437 1e+308 secs ago
sensor:x_last_wpt_lon(lon)=-6452.9575 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: 2025-01-07T13:41:23
ABORT HISTORY: last abort segment: ru26d-2025-006-0-0 (0115.0000)
ABORT HISTORY: last abort mission: OD5.MI
GliderDos N -1 >send -num=1 *.mbd *.nbd
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
1409 89 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 1 files
Prechecking is not necessary for this invocation
START
**B00000000000000
Starting zModem transfer of 01160000.nbd to/from ru26d size is 47493
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: 13661
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: 27649
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: 35840
Total Bytes sent/received: 36864
Total Bytes sent/received: 37888
Total Bytes sent/received: 38912
Total Bytes sent/received: 39936
Total Bytes sent/received: 40961
Total Bytes sent/received: 40960
Total Bytes sent/received: 41984
Total Bytes sent/received: 43008
Total Bytes sent/received: 44032
Total Bytes sent/received: 45056
Total Bytes sent/received: 46080
Total Bytes sent/received: 47104
Total Bytes sent/received: 47493
zModem transfer DONE for file 01160000.nbd
SHUFFLING FILES.
SCI: Sent 1 file(s):
c:\logs\01160000.NBD
SCI: SUCCESS
1911 8 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 1 files
Prechecking is not necessary for this invocation
1913 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
1913 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B00000000000000
Starting zModem transfer of 01160000.mbd to/from ru26d size is 39200
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: 35840
Total Bytes sent/received: 36864
Total Bytes sent/received: 37888
Total Bytes sent/received: 38912
Total Bytes sent/received: 39200
zModem transfer DONE for file 01160000.mbd
2170 restore_sensors()....
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
2170 restore_sensors()....
2170 restore_sensors()....
Restored c_science_printout from 0 to 0
SHUFFLING FILES.
GLD: Sent 1 file(s):
c:\logs\01160000.MBD
GLD: SUCCESS
Glider-Science software version match: 8.300000
Science hardware version is 2.000000
2176 9 SCI:PROGLET house_elf begin() called
2176 SCI: house_elf: Version 1.2
2177 SCI:PROGLET ctd41cp begin() called
2177 SCI: ctd41cp: Version 0.2
2177 SCI: ctd41cp: Will be sending the following data to glider:
2177 SCI: sci_water_cond(s/m)
2177 SCI: sci_water_temp(degc)
2177 SCI: sci_water_pressure(bar)
2177 SCI: sci_ctd41cp_timestamp(timestamp)
2177 SCI:PROGLET flbbcd begin() called
2177 SCI: flbbcd: Version 0.0
2178 SCI: flbbcd: Will be sending following data to glider:
2178 SCI: sci_flbbcd_chlor_units(ug/l)
2178 SCI: sci_flbbcd_bb_units(nodim)
2178 SCI: sci_flbbcd_cdom_units(ppb)
2178 SCI: sci_flbbcd_chlor_sig(nodim)
2178 SCI: sci_flbbcd_bb_sig(nodim)
2178 SCI: sci_flbbcd_cdom_sig(nodim)
2178 SCI: sci_flbbcd_chlor_ref(nodim)
2178 SCI: sci_flbbcd_bb_ref(nodim)
2178 SCI: sci_flbbcd_cdom_ref(nodim)
2179 11 SCI: sci_flbbcd_therm(nodim)
2179 SCI: sci_flbbcd_timestamp(timestamp)
2179 SCI: Opening Bit(0) for output
2180 SCI:Bit(0) use count is now 1.
2180 SCI:Bit(0) raise count is now 0.
2180 SCI:Bit(0) raise count is now 0.
2182 SCI:PROGLET house_elf start() called
2182 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
2182 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
GliderDos N -1 >
Vehicle Name: ru26d
2183 NOTE:GPS fix is getting stale: 892 secs old
Vehicle Name: ru26d
2183 GliderDos: No keystroke heard for 0 seconds
1800 seconds to go before running:SEQUENCE -resume_next
GliderDos N -1 >
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
2390 62 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 4 files
Prechecking is not necessary for this invocation
START
**B00000000000000
Starting zModem transfer of 01160000.tbd to/from ru26d size is 2845
Total Bytes sent/received: 1024
Total Bytes sent/received: 2048
Total Bytes sent/received: 2845
zModem transfer DONE for file 01160000.tbd
Starting zModem transfer of 01150000.tbd to/from ru26d size is 560
Total Bytes sent/received: 560
zModem transfer DONE for file 01150000.tbd
Starting zModem transfer of 01140000.tbd to/from ru26d size is 484
Total Bytes sent/received: 484
zModem transfer DONE for file 01140000.tbd
Starting zModem transfer of 01130000.tbd to/from ru26d size is 0
Total Bytes sent/received: 0
zModem transfer DONE for file 01130000.tbd
SHUFFLING FILES....
SCI: Sent 4 file(s):
c:\logs\01160000.TBD c:\logs\01150000.TBD c:\logs\01140000.TBD
c:\logs\01130000.TBD
SCI: SUCCESS
2449 76 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 5 files
Prechecking is not necessary for this invocation
2451 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
2452 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B00000000000000
Starting zModem transfer of 01160000.sbd to/from ru26d size is 6187
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: 6187
zModem transfer DONE for file 01160000.sbd
Starting zModem transfer of 01150000.sbd to/from ru26d size is 4150
Total Bytes sent/received: 1024
Total Bytes sent/received: 2048
Total Bytes sent/received: 3072
Total Bytes sent/received: 4096
Total Bytes sent/received: 4150
zModem transfer DONE for file 01150000.sbd
Starting zModem transfer of 01140000.sbd to/from ru26d size is 1619
Total Bytes sent/received: 1024
Total Bytes sent/received: 1619
zModem transfer DONE for file 01140000.sbd
Starting zModem transfer of 01130000.sbd to/from ru26d size is 0
Total Bytes sent/received: 0
zModem transfer DONE for file 01130000.sbd
Starting zModem transfer of 01110000.sbd to/from ru26d size is 883
Total Bytes sent/received: 883
zModem transfer DONE for file 01110000.sbd
s()....
2564 restore_sensors()....
Restored c_science_printout from 0 to 0
SHUFFLING FILES.....
GLD: Sent 5 file(s):
c:\logs\01160000.SBD c:\logs\01150000.SBD c:\logs\01140000.SBD
c:\logs\01130000.SBD c:\logs\01110000.SBD
GLD: SUCCESS
Glider-Science software version match: 8.300000
Science hardware version is 2.000000
2575 79 SCI:PROGLET house_elf begin() called
2575 SCI: house_elf: Version 1.2
2575 SCI:PROGLET ctd41cp begin() called
2576 SCI: ctd41cp: Version 0.2
2576 SCI: ctd41cp: Will be sending the following data to glider:
2576 SCI: sci_water_cond(s/m)
2576 SCI: sci_water_temp(degc)
2576 79 SCI: sci_water_pressure(bar)
2576 SCI: sci_ctd41cp_timestamp(timestamp)
2576 SCI:PROGLET flbbcd begin() called
2577 SCI: flbbcd: Version 0.0
2577 SCI: flbbcd: Will be sending following data to glider:
2577 SCI: sci_flbbcd_chlor_units(ug/l)
2577 SCI: sci_flbbcd_bb_units(nodim)
2578 SCI: sci_flbbcd_cdom_units(ppb)
2578 SCI: sci_flbbcd_chlor_sig(nodim)
2578 SCI: sci_flbbcd_bb_sig(nodim)
2578 SCI: sci_flbbcd_cdom_sig(nodim)
2578 SCI: sci_flbbcd_chlor_ref(nodim)
2578 SCI: sci_flbbcd_bb_ref(nodim)
2578 SCI: sci_flbbcd_cdom_ref(nodim)
2578 SCI: sci_flbbcd_therm(nodim)
2578 SCI: sci_flbbcd_timestamp(timestamp)
2578 SCI: Opening Bit(0) for output
2578 SCI:Bit(0) use count is now 1.
2578 SCI:Bit(0) raise count is now 0.
2579 SCI:Bit(0) raise count is now 0.
GliderDos N -1 >
Vehicle Name: ru26d
2580 NOTE:GPS fix is getting stale: 1290 secs old
GliderDos N -1 > 2581 80 SCI:PROGLET house_elf start() called
2581 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
2582 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
**^XB0800000000022d
Bad command or file name
GliderDos N -1 >DEL**^XB0800000000022d
Bad command or file name
GliderDos N -1 >DEL
Bad command or file name
GliderDos N -1 >zr
2617 91 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
2617 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B01000800275775
Starting zModem transfer of yo20.ma to/from ru26d size is 1221
Total Bytes sent/received: 1024
Total Bytes sent/received: 1221
zModem transfer DONE for file yo20.ma
sending >yo20.ma< Sent
archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/yo20.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/archive/20250107T143136_yo20.ma< Successful
deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/yo20.ma< Successful
2638 restore_sensors()....
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
2638 restore_sensors()....
2638 restore_sensors()....
Restored c_science_printout from 0 to 0
Done!
GliderDos N -1 >Glider-Science software version match: 8.300000
Science hardware version is 2.000000
2643 92 SCI:PROGLET house_elf begin() called
2643 SCI: house_elf: Version 1.2
2643 SCI:PROGLET ctd41cp begin() called
2643 SCI: ctd41cp: Version 0.2
2643 SCI: ctd41cp: Will be sending the following data to glider:
2643 SCI: sci_water_cond(s/m)
2643 SCI: sci_water_temp(degc)
2643 SCI: sci_water_pressure(bar)
2644 SCI: sci_ctd41cp_timestamp(timestamp)
2644 SCI:PROGLET flbbcd begin() called
2644 SCI: flbbcd: Version 0.0
2644 SCI: flbbcd: Will be sending following data to glider:
2644 SCI: sci_flbbcd_chlor_units(ug/l)
2644 SCI: sci_flbbcd_bb_units(nodim)
2644 SCI: sci_flbbcd_cdom_units(ppb)
2644 SCI: sci_flbbcd_chlor_sig(nodim)
2644 SCI: sci_flbbcd_bb_sig(nodim)
2644 SCI: sci_flbbcd_cdom_sig(nodim)
2645 SCI: sci_flbbcd_chlor_ref(nodim)
2645 SCI: sci_flbbcd_bb_ref(nodim)
2645 SCI: sci_flbbcd_cdom_ref(nodim)
2645 SCI: sci_flbbcd_therm(nodim)
2645 SCI: sci_flbbcd_timestamp(timestamp)
2645 SCI: Opening Bit(0) for output
2645 SCI:Bit(0) use count is now 1.
2645 SCI:Bit(0) raise count is now 0.
2645 SCI:Bit(0) raise count is now 0.
GliderDos N -1 > 2648 94 SCI:PROGLET house_elf start() called
2648 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
2648 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
type c:\mafiles\yo20.ma
behavior_name=yo
# HALF-YO'S (2 = 1 yo)
b_arg: num_half_cycles_to_do(nodim) 2
### DIVE_TO ARGUMENTS ###
b_arg: d_target_depth(m) 200
b_arg: d_target_altitude(m) 20
# Ballast Pump (absolute)
b_arg: d_use_bpump(enum) 2
b_arg: d_bpump_value(X) -260.0
# Dive Angle
b_arg: d_use_pitch(enum) 3 # 3 = AP, 1 = battpos
b_arg: d_pitch_value(X) -0.52 # 30 degrees
# Thruster
# b_arg: d_use_thruster(enum) 0 # 0=off 2=% voltage 3=depthrate 4=1-9Watt
# b_arg: d_thruster_value(X) 0.0
# b_arg: d_depth_rate_method(enum) 3 # 3=average
# STUCK SCENARIO
b_arg: d_stop_when_stalled_for(sec) 180
b_arg: d_stop_when_hover_for(sec) 180
### CLIMB_TO ARGUMENTS ###
b_arg: c_target_depth(m) 15
b_arg: c_target_altitude(m) -1
# Ballast Pump
b_arg: c_use_bpump(enum) 2
b_arg: c_bpump_value(X) 260.0
# Dive Angle
b_arg: c_use_pitch(enum) 3
b_arg: c_pitch_value(X) 0.52 #30 degrees
# Thruster
#b_arg: c_use_thruster(enum) 0
#b_arg: c_thruster_value(X) 0.0
# STUCK SCENARIO
b_arg: c_stop_when_stalled_for(sec) 180
b_arg: c_stop_when_hover_for(sec) 180
GliderDos N -1 >zr
2703 7 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
2703 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B01000800275775
Starting zModem transfer of yo20.ma to/from ru26d size is 1221
Total Bytes sent/received: 1024
Total Bytes sent/received: 1221
zModem transfer DONE for file yo20.ma
sending >yo20.ma< Sent
archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/yo20.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/archive/20250107T143303_yo20.ma< Successful
deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/yo20.ma< Successful
2724 restore_sensors()....
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
2725 restore_sensors()....
2725 restore_sensors()....
Restored c_science_printout from 0 to 0
Done!
GliderDos N -1 >Glider-Science software version match: 8.300000
Science hardware version is 2.000000
2730 8 SCI:PROGLET house_elf begin() called
2730 SCI: house_elf: Version 1.2
2730 SCI:PROGLET ctd41cp begin() called
2730 SCI: ctd41cp: Version 0.2
2730 SCI: ctd41cp: Will be sending the following data to glider:
2730 SCI: sci_water_cond(s/m)
2730 SCI: sci_water_temp(degc)
2730 SCI: sci_water_pressure(bar)
2731 SCI: sci_ctd41cp_timestamp(timestamp)
2731 SCI:PROGLET flbbcd begin() called
2731 SCI: flbbcd: Version 0.0
2731 SCI: flbbcd: Will be sending following data to glider:
2731 SCI: sci_flbbcd_chlor_units(ug/l)
2731 SCI: sci_flbbcd_bb_units(nodim)
2731 SCI: sci_flbbcd_cdom_units(ppb)
2731 SCI: sci_flbbcd_chlor_sig(nodim)
2731 SCI: sci_flbbcd_bb_sig(nodim)
2731 SCI: sci_flbbcd_cdom_sig(nodim)
2732 SCI: sci_flbbcd_chlor_ref(nodim)
2732 SCI: sci_flbbcd_bb_ref(nodim)
2732 SCI: sci_flbbcd_cdom_ref(nodim)
2732 SCI: sci_flbbcd_therm(nodim)
2732 SCI: sci_flbbcd_timestamp(timestamp)
2732 SCI: Opening Bit(0) for output
2732 SCI:Bit(0) use count is now 1.
2732 SCI:Bit(0) raise count is now 0.
2732 SCI:Bit(0) raise count is now 0.
2735 9 SCI:PROGLET house_elf start() called
2735 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
2735 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
GliderDos N -1 >type c:\mafiles\surfac40.ma
behavior_name=surface
# SURFAC40.MA (No Comms)
b_arg: when_secs(sec) 5400
# Flight Controls
b_arg: c_use_bpump(enum) 2 # 0=AB 2=BP_abs 3=surf pump
b_arg: c_bpump_value(X) 1000
b_arg: c_use_pitch(enum) 3 # 3 = AP, 1 = battpos
b_arg: c_pitch_value(X) 0.4528 # .45=26
b_arg: strobe_on(bool) 1
# Thruster
#b_arg: c_stop_when_air_pump(bool) 0
#b_arg: c_use_thruster(enum) 0 # 0=off 2=% voltage 3=depthrate 4=1-9Watt
#b_arg: c_thruster_value(X) 0.0
# Other Params
b_arg: end_action(enum) 1 # 1=menu
b_arg: gps_wait_time(sec) 300
b_arg: keystroke_wait_time(sec) 599
b_arg: printout_cycle_time(sec) 40.0 # menu rate
b_arg: gps_postfix_wait_time(sec) 16.0 # extra gps
GliderDos N -1 >type c:\missions\1k_n.mi
#####################
# 1000 meter Slocum #
#####################
# 2015/05/14 dkaragon@marine cleaned up mission, changed some of the timers
# 2022/12/14 dkaragon@marine samedepth and stalled to 2700, they are useless kind of
sensor: c_science_all_on_enabled(bool) 0 # control science individually
sensor: c_science_send_all(bool) 0
sensor: u_dbd_sensor_list_xmit_control(enum) 3 # never
sensor: u_sci_dbd_sensor_list_xmit_control(enum) 2 # if haven't sent
# ABORT BEHAVIOR
behavior: abend
# OVERDEPTH: glider finds itself in > 1015 m of water
b_arg: overdepth(m) 1015
b_arg: overdepth_sample_time(sec) 30
# OVERTIME: disabled
b_arg: overtime(sec) -1.0
# COP TICKLE: watchdog not tickled for 12 hours
b_arg: no_cop_tickle_for(sec) 43200.0
# SAMEDEPTH / STALLED FOR: 45 min every 60 seconds
b_arg: samedepth_for(sec) 2700.0
b_arg: samedepth_for_sample_time(sec) 60.0
b_arg: stalled_for(sec) 2700.0
b_arg: stalled_for_sample_time(sec) 60.0
# HARDWARE: vacuum, battery; 10.75V alkaline, 9-10V Li3S, 13.5V Li4S, 12.75V LiIon
b_arg: undervolts(volts) 13.5
b_arg: undervolts_sample_time(sec) 60.0
b_arg: vacuum_max(inHg) 12.0
b_arg: vacuum_sample_time(sec) 60.0
# WAYPOINT TOO FAR ABORT: 1,000 km
b_arg: max_wpt_distance(m) 1000000
b_arg: max_allowable_busy_cpu_cycles(cycles) 75
# SURFACE : Nothing commanded
behavior: surface
b_arg: args_from_file(enum) 10 # mafiles/surfac10.ma
b_arg: start_when(enum) 1 # 1-stack idle
# SURFACE : No comms 0
behavior: surface
b_arg: args_from_file(enum) 40 # mafiles/surfac40.ma
b_arg: start_when(enum) 12 # 12 No comms
# SURFACE : No comms 2 - mission end
behavior: surface
b_arg: args_from_file(enum) 42 # mafiles/surfac42.ma
b_arg: start_when(enum) 12 # 12 No comms
# GOTO_LIST : Waypoint list
behavior: goto_list
b_arg: args_from_file(enum) 10 # mafiles/goto_l10.ma
b_arg: start_when(enum) 0 # 0-immediately
# YO : Flight params
behavior: yo
b_arg: args_from_file(enum) 20 # mafiles/yo20.ma
b_arg: start_when(enum) 2 # 2-depth idle
b_arg: end_action(enum) 2 # 2 resume
# SAMPLE : CTD
behavior: sample
b_arg: args_from_file(enum) 01
# SAMPLE : FLBBCD
behavior: sample
b_arg: args_from_file(enum) 48
# PREPARE TO DIVE : wait 12 min for GPS
behavior: prepare_to_dive
b_arg: start_when(enum) 0 # 0-immediately
b_arg: wait_time(sec) 720 # wait time
# SENSORS_IN : not sure what this does, assuming remaining sensor update
behavior: sensors_in
GliderDos N -1 >sequence 1k_n.mi(5)
Sequencing missions
load_mission(): Opening Mission file: 1K_N.MI for execution 5 times
Validated SENSOR c_science_all_on_enabled(bool) value 0.000000
Validated SENSOR c_science_send_all(bool) value 0.000000
Validated SENSOR u_dbd_sensor_list_xmit_control(enum) value 3.000000
Validated SENSOR u_sci_dbd_sensor_list_xmit_control(enum) value 2.000000
load_mission(): Opening Mission file: lastgasp.mi for execution FOREVER
Validated SENSOR u_pitch_motor_test_availability(bool) value 0.000000
1 mission specifiers - sequencing 5 total missions (not counting lastgasp.mi):
1K_N.MI(5)
lastgasp.mi
ABORT HISTORY: total since reset: 1
ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH
ABORT HISTORY: last abort details:
ABORT HISTORY: last abort time: 2025-01-07T13:41:23
ABORT HISTORY: last abort segment: ru26d-2025-006-0-0 (0115.0000)
ABORT HISTORY: last abort mission: OD5.MI
SEQUENCE: About to run 1K_N.MI on try 0
You have 240 seconds to type a control-C to terminate the sequence.
The control-P character immediately starts the mission.
All other characters are ignored.
^P
Heard a control-P, starting the sequence
SEQUENCE: Running 1K_N.MI on try 0
Starting Mission: 1K_N.MI
timestamp: Tue Jan 7 14:34:42 2025
The instantaneous lag time between the system and gps clock is 3.0 seconds.
The average lag time between the system and gps clock is 1.7 seconds.
timestamp: Tue Jan 7 14:34:42 2025
load_mission(): Opening Mission file: 1K_N.MI
Setting SENSOR c_science_all_on_enabled(bool) value 0.000000
Setting SENSOR c_science_send_all(bool) value 0.000000
Setting SENSOR u_dbd_sensor_list_xmit_control(enum) value 3.000000
Setting SENSOR u_sci_dbd_sensor_list_xmit_control(enum) value 2.000000
Vehicle Name: ru26d
Curr Time: Tue Jan 7 14:34:43 2025 MT: 2821
DR Location: -6449.023 N -6403.360 E measured 1534.6 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : -6448.971 N -6403.160 E measured 1583.54 secs ago
GPS Location: -6449.023 N -6403.360 E measured 1535.19 secs ago
sensor:c_wpt_lat(lat)=-6456.0204 2703.51 secs ago
sensor:c_wpt_lon(lon)=-6424.1334 2703.55 secs ago
sensor:m_battery(volts)=14.378624026347 3.125 secs ago
sensor:m_coulomb_amphr(amp-hrs)=0.807500004768372 3.304 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=57.8500000048447 3.319 secs ago
sensor:m_depth(m)=0 3.174 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 3.46 secs ago
sensor:m_gps_mag_var(rad)=-0.275762021815104 1535.6 secs ago
sensor:m_iridium_attempt_num(nodim)=0 1421.9 secs ago
sensor:m_iridium_call_num(nodim)=4835 1486.02 secs ago
sensor:m_iridium_dialed_num(nodim)=6107 1498.24 secs ago
sensor:m_leakdetect_voltage(volts)=2.47503052503052 62.168 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48064713064713 62.183 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 3.684 secs ago
sensor:m_tot_num_inflections(nodim)=16274 1604.34 secs ago
sensor:m_vacuum(inHg)=9.4000952991453 3.625 secs ago
sensor:m_water_vx(m/s)=-0.0581809506140512 1527.68 secs ago
sensor:m_water_vy(m/s)=0.0108313217877992 1527.72 secs ago
sensor:u_max_altimeter(m)=100 1e+308 secs ago
sensor:u_min_water_depth(m)=0 1e+308 secs ago
sensor:u_use_current_correction(nodim)=1 1e+308 secs ago
sensor:x_last_wpt_lat(lat)=-6445.2437 1e+308 secs ago
sensor:x_last_wpt_lon(lon)=-6452.9575 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: ATD0088160000500
from sensors:
C_IRIDIUM_LEAD_ZEROS
C_IRIDIUM_PHONE_NUM
Iridium login script (from c:\config\loginexp.0):
(pending):expect 60 "Open[0D][0A]"
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: ATD006977818711614
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: ATD006977818711051
from sensors:
F_IRIDIUM_LEAD_ZEROS_FACTORY
F_IRIDIUM_PHONE_NUM_FACTORY
Iridium login script (from c:\config\loginexp.2): empty or non-existent
57.53 1 01170000.mlg LOG FILE OPENED
MissionSTARTDate: 07 Jan 2025 14:34:44 Z
Mission Name: 1K_N.MI
Mission Number: ru26d-2025-006-2-0 (0117.0000)
log_c_stack():
1-abend 2-surface 3-surface 4-surface 5-goto_list
6-yo 7-sample 8-sample 9-prepare_to_dive 10-sensors_in
report_heap_size(): M_FREE_HEAP=75.0K, M_SPARE_HEAP=56.0K
pre_mission_init():End of Initialization
58.63 2 behavior sensors_in_10: STATE UnInited -> Active
58.68 behavior sensors_in_10: argument: c_att_time = -1.000000 sec
58.74 behavior sensors_in_10: argument: c_pressure_time = -1.000000 sec
58.79 behavior sensors_in_10: argument: c_alt_time = -1.000000 sec
58.85 behavior sensors_in_10: argument: u_battery_time = -1.000000 sec
58.91 behavior sensors_in_10: argument: u_vacuum_time = -1.000000 sec
58.96 behavior sensors_in_10: argument: c_leakdetect_time = -1.000000 sec
59.02 behavior sensors_in_10: argument: c_gps_on = 0.000000 bool
59.07 behavior sensors_in_10: argument: c_science_all_on = -1.000000 sec
59.13 behavior sensors_in_10: argument: c_profile_on = -1.000000 sec
59.18 behavior sensors_in_10: argument: c_bb2f_on = -1.000000 sec
59.24 behavior sensors_in_10: argument: c_bb2c_on = -1.000000 sec
59.29 behavior sensors_in_10: argument: c_bb2lss_on = -1.000000 sec
59.35 behavior sensors_in_10: argument: c_sam_on = -1.000000 sec
59.40 behavior sensors_in_10: argument: c_moteopd_on = -1.000000 sec
59.46 behavior sensors_in_10: argument: c_bbfl2s_on = -1.000000 sec
59.52 behavior sensors_in_10: argument: c_fl3slo_on = -1.000000 sec
59.57 behavior sensors_in_10: argument: c_bb3slo_on = -1.000000 sec
59.63 behavior sensors_in_10: argument: c_oxy3835_on = -1.000000 sec
59.69 behavior sensors_in_10: argument: c_whfctd_on = -1.000000 sec
59.74 behavior sensors_in_10: argument: c_bam_on = -1.000000 sec
59.80 behavior sensors_in_10: argument: c_ocr504R_on = -1.000000 sec
59.86 behavior sensors_in_10: argument: c_ocr504I_on = -1.000000 sec
59.91 behavior sensors_in_10: argument: c_flntu_on = -1.000000 sec
59.97 behavior sensors_in_10: argument: c_fl3slov2_on = -1.000000 sec
60.02 behavior sensors_in_10: argument: c_bb3slov2_on = -1.000000 sec
60.08 behavior sensors_in_10: argument: c_ocr507R_on = -1.000000 sec
60.14 behavior sensors_in_10: argument: c_ocr507I_on = -1.000000 sec
60.19 behavior sensors_in_10: argument: c_bb3slov3_on = -1.000000 sec
60.25 behavior sensors_in_10: argument: c_bb2fls_on = -1.000000 sec
60.30 behavior sensors_in_10: argument: c_bb2flsV2_on = -1.000000 sec
60.36 behavior sensors_in_10: argument: c_oxy3835_wphase_on = -1.000000 sec
60.42 behavior sensors_in_10: argument: c_auvb_on = -1.000000 sec
60.48 behavior sensors_in_10: argument: c_bb2fV2_on = -1.000000 sec
60.53 behavior sensors_in_10: argument: c_tarr_on = -1.000000 sec
60.58 behavior sensors_in_10: argument: c_bbfl2sV2_on = -1.000000 sec
60.64 behavior sensors_in_10: argument: c_glbps_on = -1.000000 sec
60.70 behavior sensors_in_10: argument: c_sscsd_on = -1.000000 sec
60.75 behavior sensors_in_10: argument: c_bb2flsV3_on = -1.000000 sec
60.81 behavior sensors_in_10: argument: c_fire_on = -1.000000 sec
60.86 behavior sensors_in_10: argument: c_bb2flsV4_on = -1.000000 sec
60.92 behavior sensors_in_10: argument: c_bb2flsV5_on = -1.000000 sec
60.98 behavior sensors_in_10: argument: c_logger_on = -1.000000 sec
61.03 behavior sensors_in_10: argument: c_bbam_on = -1.000000 sec
61.09 behavior sensors_in_10: argument: c_uModem_on = -1.000000 sec
61.14 behavior sensors_in_10: argument: c_rinkoII_on = -1.000000 sec
61.20 behavior sensors_in_10: argument: c_dvl_on = -1.000000 sec
61.2