Connection Event: Carrier Detect found. 16272 Iridium console active and ready...
Vehicle Name: ru38
Curr Time: Tue Jul 8 23:41:13 2025 MT: 16272
DR Location: 2717.732 N -8407.692 E measured 0.508 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : 2717.564 N -8407.904 E measured 5784.69 secs ago
GPS Location: 2717.627 N -8407.525 E measured 5690.87 secs ago
sensor:c_thruster_surface_depth(m)=0 5750.67 secs ago
sensor:c_wpt_lat(lat)=2719.582 14144.4 secs ago
sensor:c_wpt_lon(lon)=-8248.51 14144.4 secs ago
sensor:m_battery(volts)=14.6258239836883 3.791 secs ago
sensor:m_coulomb_amphr(amp-hrs)=57.6625939999995 3.837 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=466.952786999865 3.841 secs ago
sensor:m_depth(m)=1.11323022767085 3.703 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 0.05 secs ago
sensor:m_gps_mag_var(rad)=0.069813170079773 5690.91 secs ago
sensor:m_iridium_attempt_num(nodim)=3 36.268 secs ago
sensor:m_iridium_call_num(nodim)=1975 0.06 secs ago
sensor:m_iridium_dialed_num(nodim)=2768 8.112 secs ago
sensor:m_leakdetect_voltage(volts)=2.48537851037851 310.531 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.5 310.495 secs ago
sensor:m_leakdetect_voltage_science(volts)=2.5 310.459 secs ago
sensor:m_tot_num_inflections(nodim)=5568 14306.1 secs ago
sensor:m_vacuum(inHg)=7.87904405372405 3.792 secs ago
sensor:m_water_vel_dir(rad)=0.819415841209723 6220.96 secs ago
sensor:m_water_vel_mag(m/s)=0.140189208384899 6220.97 secs ago
sensor:m_water_vx(m/s)=0.102442868621607 6220.97 secs ago
sensor:m_water_vy(m/s)=0.095699910220233 6220.98 secs ago
sensor:u_alt_min_depth(m)=2 1e+308 secs ago
sensor:u_use_current_correction(nodim)=1 1e+308 secs ago
sensor:x_last_wpt_lat(lat)=2717.48 1e+308 secs ago
sensor:x_last_wpt_lon(lon)=-8410.267 1e+308 secs ago
ABORT HISTORY: total since reset: 4
ABORT HISTORY: last abort cause: MS_ABORT_SAMEDEPTH_FOR
ABORT HISTORY: last abort details: Hovering at 28 m
ABORT HISTORY: last abort time: 2025-07-08T23:36:42
ABORT HISTORY: last abort segment: ru38-2025-188-3-5 (0161.0005)
ABORT HISTORY: last abort mission: 1kd_n.mi
GliderDos A 10 > 16272 No login script found for processing.
GliderDos A 10 >!zr
Parse error: Command not found
GliderDos A 10 > 16332 63 DRIVER_ODDITY:digifin:9508:xxx_ctrl() ran too long
GliderDos A 10 >
GliderDos A 10 >
GliderDos A 10 >
Vehicle Name: ru38
16535 12 NOTE:GPS fix is getting stale: 5953 secs old
GliderDos A 10 >
Vehicle Name: ru38
16596 27 GliderDos: No keystroke heard for 300 seconds
600 seconds to go before running:SEQUENCE -resume_next
GliderDos A 10 >Why?
ABORT HISTORY: total since reset: 4
ABORT HISTORY: last abort cause: MS_ABORT_SAMEDEPTH_FOR
ABORT HISTORY: last abort details: Hovering at 28 m
ABORT HISTORY: last abort time: 2025-07-08T23:36:42
ABORT HISTORY: last abort segment: ru38-2025-188-3-5 (0161.0005)
ABORT HISTORY: last abort mission: 1kd_n.mi
BOOT: Last reboot reason was REBOOT_IWDG - Independent Watchdog Reset
Boot number : 262
CORE: Core dump present
GliderDos A 10 >Send -num=1 *.scd *.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
16649 41 Neutering the Freewave Console
SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size
SCI: Enumerating and selecting files
SCI: No files to send
SCI: Sent 0 file(s):
SCI: SUCCESS
16651 Freewave console restored
REVERTING FROM SCIENCE COMMAND MODE
SCIENCE COMMAND MODE TERMINATED because:
Science Program QUIT (cts lowered)
16652 GLD: Enumerating and selecting files
About to send 1 files
Prechecking is not necessary for this invocation
selected IRIDIUM
16653 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
16653 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B00000
Starting zModem transfer of 01610005.scd to/from ru38 size is 6147
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: 6147
zModem transfer DONE for file 01610005.scd
16698 restore_sensors()....
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
16698 restore_sensors()....
16698 restore_sensors()....
Restored c_science_printout from 0 to 0
SHUFFLING FILES .
16699 GLD: Sent 1 file(s):
01610005.scd
GLD: SUCCESS
Glider-Science software version match: 311349.100000
Science hardware version is 3.000000
16702 42 SCI:PROGLET house_elf begin() called
16702 SCI: house_elf: Version 1.2
16702 SCI:PROGLET ctd41cp begin() called
16702 SCI: ctd41cp: Version 0.2
16702 SCI: ctd41cp: Will be sending the following data to glider:
16702 SCI: sci_water_cond(s/m)
16702 SCI: sci_water_temp(degc)
16702 SCI: sci_water_pressure(bar)
16702 SCI: sci_ctd41cp_timestamp(timestamp)
16702 SCI:PROGLET oxy4 begin() called
16702 SCI: oxy4: Version 0.0
16702 SCI: oxy4: Will be sending following data to glider:
16702 SCI: sci_oxy4_oxygen(um)
16702 SCI: sci_oxy4_saturation(%)
16702 SCI: sci_oxy4_temp(degc)
16702 SCI: sci_oxy4_calphase(deg)
16702 SCI: sci_oxy4_tcphase(deg)
16702 SCI: sci_oxy4_c1rph(deg)
16702 SCI: sci_oxy4_c2rph(deg)
16702 SCI: sci_oxy4_c1amp(mv)
16702 SCI: sci_oxy4_c2amp(mv)
16702 SCI: sci_oxy4_rawtemp(mv)
16702 SCI: sci_oxy4_timestamp(timestamp)
16702 SCI:Bit(2) raise count is now 0.
16702 SCI:Bit(2) raise count is now 0.
16702 SCI:PROGLET ad2cp begin() called
16702 SCI:PROGLET house_elf start() called
16702 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
16702 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
GliderDos A 10 >
GliderDos A 10 >
GliderDos A 10 >
Vehicle Name: ru38
16844 77 NOTE:GPS fix is getting stale: 6262 secs old
GliderDos A 10 >
GliderDos A 10 >zr
Choosing console...using IRIDIUM
16918 96 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
16918 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B0100000027fed4
Starting zModem transfer of drift_10.ma to/from ru38 size is 4621
Total Bytes sent/received: 1024
Total Bytes sent/received: 2048
Total Bytes sent/received: 3072
Total Bytes sent/received: 4096
Total Bytes sent/received: 4621
zModem transfer DONE for file drift_10.ma
sending >drift_10.ma< Sent
archiving >/var/opt/sfmc-dockserver/stations/ugos/gliders/ru38/to-glider/drift_10.ma< as >/var/opt/sfmc-dockserver/stations/ugos/gliders/ru38/archive/20250708T235227_drift_10.ma< Successful
deleting >/var/opt/sfmc-dockserver/stations/ugos/gliders/ru38/to-glider/drift_10.ma< Successful
16945 restore_sensors()....
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
16945 restore_sensors()....
16945 restore_sensors()....
Restored c_science_printout from 0 to 0
Done!
GliderDos A 10 >Glider-Science software version match: 311349.100000
Science hardware version is 3.000000
16947 97 SCI:PROGLET house_elf begin() called
16947 SCI: house_elf: Version 1.2
16947 SCI:PROGLET ctd41cp begin() called
16947 SCI: ctd41cp: Version 0.2
16947 SCI: ctd41cp: Will be sending the following data to glider:
16947 SCI: sci_water_cond(s/m)
16947 SCI: sci_water_temp(degc)
16947 SCI: sci_water_pressure(bar)
16947 SCI: sci_ctd41cp_timestamp(timestamp)
16947 SCI:PROGLET oxy4 begin() called
16947 SCI: oxy4: Version 0.0
16947 SCI: oxy4: Will be sending following data to glider:
16947 SCI: sci_oxy4_oxygen(um)
16947 SCI: sci_oxy4_saturation(%)
16947 SCI: sci_oxy4_temp(degc)
16947 SCI: sci_oxy4_calphase(deg)
16947 SCI: sci_oxy4_tcphase(deg)
16947 SCI: sci_oxy4_c1rph(deg)
16947 SCI: sci_oxy4_c2rph(deg)
16947 SCI: sci_oxy4_c1amp(mv)
16947 SCI: sci_oxy4_c2amp(mv)
16947 SCI: sci_oxy4_rawtemp(mv)
16947 SCI: sci_oxy4_timestamp(timestamp)
16947 SCI:Bit(2) raise count is now 0.
16947 SCI:Bit(2) raise count is now 0.
16947 SCI:PROGLET ad2cp begin() called
16947 SCI:PROGLET house_elf start() called
16947 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
16947 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
16974 4 db(#/min/mn/max/sd) pitch_motor 1800 -0.191 -0.004 0.188 0.048 in
16974 db(#/min/mn/max/sd) pitch_motor 1800 -77 -2 75 19 mV
GliderDos A 10 >
Vehicle Name: ru38
17070 26 GliderDos: No keystroke heard for 120 seconds
780 seconds to go before running:SEQUENCE -resume_next
GliderDos A 10 >type c:/mafiles/drift_10.ma
behavior_name=drift_at_depth
# drift_10.ma
# 2016/9/1 dkaragon initial for ud_134 100 m glider
# 2020/12/8 dkaragon modified for L3 shallow hover 2-3 m; uncomment thruster section for ru33!
# 2022/10/25 dkaragon modified for passengers with thruster
# 2022/11/8 dkaragon some changes after test dive. it was thrusting down pitch OK but was adjusting the pump eventhough it was in deadband, not really sure why, increased the time to adjust pump
# 2022/11/9 dkaragon the 240 sec previous max time at pitch limit seems strange, it really shouldnt adjust pitch angle until outside deadband, not based on time limit. Seems to ignore the deadband. Set it to 10 min want to disable but don't know if we can.
# 2023/06/06 dkargon ru30 did well using this, +- 20 m hover thrust
# b_arg: depth_p_gain(X) -0.002 # proportional gain: should always be < 0, -.15 default
# b_arg: depth_i_gain(X) -0.000005 #integral gain: should be < 0, default: -0.0001
# Going to try again lowering pump movement from 1800 to 2700, wish could disable it somehow
b_arg: end_action(enum) 2 # 2-resume
# Should be ignored if start_when not UTC
b_arg: when_utc_timestamp(dtime) -1
b_arg: when_secs(sec) 180 # in surface beh 0 means UTC just once
b_arg: stop_when_hover_for(sec) 7200.0 # terminate hover when depth does not change for
b_arg: est_time_to_settle(s) 180.0 # Not sure, how long it should take to get to hover pos?
b_arg: target_depth(m) 35 # depth to drift at
b_arg: target_altitude(m) -1 # altitude to drift at, <=0 disables
b_arg: alt_time(s) -1 # time spacing for altimeter pings
b_arg: target_deadband(m) 20 # +/- around target depth
b_arg: start_dist_from_target(m) 5 # Start drift x m away: -1 means use the target_deadband
b_arg: depth_ctrl(enum) 2 # 0 = Buoyancy pump, 2 = pitch
b_arg: bpump_delta_value(cc) 50.0 # Increments to adjust x_hover_ballast(cc) for nuetral
b_arg: bpump_deadz_width(cc) 30.0 # For temporarily adjusting the buoyancy pump
b_arg: bpump_db_frac_dz(nodim) 0.66 # deadband during the drift_at_depth behavior
b_arg: bpump_delay(s) 1800 # mininum time between adjustments
# Pitch/steering Parameters
b_arg: use_pitch(enum) 3 # 3 Servo on Pitch
b_arg: pitch_value(X) 0.0 # radians or in
b_arg: wait_for_pitch(bool) 1 # wait to adjust ballast when pitch in deadband
b_arg: enable_steering(bool) 1
# Thruster
b_arg: use_thruster(enum) 4 # 0 Not in use, 1 % glider V, 2 % max thruster V, 4 Watts
b_arg: thruster_value(X) 4 # based on above
# Dive to hover zone
b_arg: d_use_bpump(enum) 2 # 2 absolute
b_arg: d_bpump_value(X) -150.0
b_arg: d_use_pitch(enum) 3 # servo on pitch
b_arg: d_pitch_value(X) -0.3 # dive a little slower?
# Climb to hover zone (likely brought to surface by surfacing behavior, not hover)
b_arg: c_use_bpump(enum) 2
b_arg: c_bpump_value(X) 260.0
b_arg: c_use_pitch(enum) 3 # servo on pitch
b_arg: c_pitch_value(X) 0.3 # 20 degrees
b_arg: battpos_db(nodim) .5 # .2 is TWR default, might be too twitchy, try .5 first
# Thruster Settings
# b_arg: use_thruster(enum) 0 # 0 Not in use
# b_arg: thruster_value(X) 0 # use_thruster == 0 None
# Arguments for pitch depth controller (depth_ctrl = 2 )
b_arg: depth_pitch_limit(rad) 0.26 # 15 deg - something ~ 12 deg
b_arg: depth_gain_scale(bool) 0 # whether or not to use X_HOVER_DEPTH_P_GAIN = m * speed + b
b_arg: depth_p_gain(X) -0.015 # proportional gain: should always be < 0, -.15 default
b_arg: depth_i_gain(X) -0.00005 #integral gain: should be < 0, default: -0.0001
b_arg: depth_d_gain(X) 0.1 #derivative gain: should be > 0
b_arg: depth_pitch_deadband(m/s) 0.03 #don't adjust bouyancy until depth rate is less than this, .0349 default
b_arg: depth_pitch_max_time(s) 2700 # Max time at maximum u_hover_depth_pitch_limit before we start to adjust ballast
b_arg: pressure_median(bool) 1 # If pressure median should be enabled
b_arg: battpos_db(nodim) 1 # How much to scale battpos deadband, f_battpos_db_frac_dz
GliderDos A 10 >sequence -resume
SEQUENCE 1kd_n.mi(3)
Sequencing missions
load_mission(): Opening Mission file: 1kd_n.mi for execution 3 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 2.00^C
Heard a Control-C, terminating the sequence
GliderDos A 10 >
Vehicle Name: ru38
17198 60 NOTE:GPS fix is getting stale: 6616 secs old
GliderDos A 10 >
GliderDos A 10 >sequence -resume
SEQUENCE 1kd_n.mi(3)
Sequencing missions
load_mission(): Opening Mission file: 1kd_n.mi for execution 3 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
Validated SENSOR u_pitch_ap_deadband_thruster(rad) value 0.087000
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 3 total missions (not counting lastgasp.mi):
1kd_n.mi(3)
lastgasp.mi
ABORT HISTORY: total since reset: 4
ABORT HISTORY: last abort cause: MS_ABORT_SAMEDEPTH_FOR
ABORT HISTORY: last abort details: Hovering at 28 m
ABORT HISTORY: last abort time: 2025-07-08T23:36:42
ABORT HISTORY: last abort segment: ru38-2025-188-3-5 (0161.0005)
ABORT HISTORY: last abort mission: 1kd_n.mi
Vehicle Name: ru38
SEQUENCE: About to run 1kd_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 1kd_n.mi on try 0
Starting Mission: 1kd_n.mi
timestamp: Tue Jul 8 23:57:09 2025
load_mission(): Opening Mission file: 1kd_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
Setting SENSOR u_pitch_ap_deadband_thruster(rad) value 0.087000
Vehicle Name: ru38
Curr Time: Tue Jul 8 23:57:10 2025 MT: 17221
DR Location: 2717.783 N -8407.635 E measured 0.341 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : 2717.564 N -8407.904 E measured 6740.39 secs ago
GPS Location: 2717.627 N -8407.525 E measured 6646.57 secs ago
sensor:c_thruster_surface_depth(m)=0 6706.37 secs ago
sensor:c_wpt_lat(lat)=2719.582 15100.1 secs ago
sensor:c_wpt_lon(lon)=-8248.51 15100.1 secs ago
sensor:m_battery(volts)=14.6288028939997 7.222 secs ago
sensor:m_coulomb_amphr(amp-hrs)=57.7563379999995 7.268 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=467.046530999865 7.272 secs ago
sensor:m_depth(m)=0.05 7.135 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1023 7.5 secs ago
sensor:m_gps_mag_var(rad)=0.069813170079773 6646.61 secs ago
sensor:m_iridium_attempt_num(nodim)=0 622.66 secs ago
sensor:m_iridium_call_num(nodim)=1975 955.761 secs ago
sensor:m_iridium_dialed_num(nodim)=2768 963.813 secs ago
sensor:m_leakdetect_voltage(volts)=2.48537851037851 1266.23 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.5 1266.2 secs ago
sensor:m_leakdetect_voltage_science(volts)=2.5 1266.16 secs ago
sensor:m_tot_num_inflections(nodim)=5568 15261.8 secs ago
sensor:m_vacuum(inHg)=8.51649826617826 7.223 secs ago
sensor:m_water_vel_dir(rad)=0.819415841209723 7176.66 secs ago
sensor:m_water_vel_mag(m/s)=0.140189208384899 7176.67 secs ago
sensor:m_water_vx(m/s)=0.102442868621607 7176.67 secs ago
sensor:m_water_vy(m/s)=0.095699910220233 7176.68 secs ago
sensor:u_alt_min_depth(m)=2 1e+308 secs ago
sensor:u_use_current_correction(nodim)=1 1e+308 secs ago
sensor:x_last_wpt_lat(lat)=2717.48 1e+308 secs ago
sensor:x_last_wpt_lon(lon)=-8410.267 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
Running algorithm to free disk space if required
Not necessary to delete any files at this time
Scanning free space...
Megabytes used on c: = 802.894531
Megabytes available on c: = 7072.105469
Megabytes used on w: = 0.021973
Megabytes available on w: = 0.978027
2.62 1 SENSOR WARNING: U_ABORT_MAX_BURN_TIME(100800) > 18000 secs
6.62 2 SENSOR WARNING: U_ABORT_MAX_BURN_TIME(100800) > 18000 secs
10.62 3 SENSOR WARNING: U_ABORT_MAX_BURN_TIME(100800) > 18000 secs
18.32 01620000.mcg LOG FILE OPENED
MissionSTARTDate: 08 Jul 2025 23:57:10 Z
Mission Name: 1kd_n.mi
Mission Number: ru38-2025-188-4-0 (0162.0000)
log_c_stack():
1-abend 2-surface 3-surface 4-surface 5-goto_list
6-drift_at_depth 7-sample 8-sample 9-sample 10-prepare_to_dive
11-sensors_in
report_heap_size(): M_FREE_HEAP=218.0K(223236 bytes)
M_MIN_FREE_HEAP=199.1K(203916 bytes)
M_SRAM_FREE_HEAP=2185.5K(2237936 bytes)
M_SRAM_MIN_FREE_HEAP=2185.5K(2237928 bytes)
pre_mission_init():End of Initialization
25.58 4 behavior sensors_in_11: STATE UnInited -> Active
25.60 behavior prepare_to_dive_10: STATE UnInited -> Waiting for Activation
25.61 behavior prepare_to_dive_10: STATE Waiting for Activation -> Active
25.61 init_gps_input()
25.61 behavior prepare_to_dive_10: SUBSTATE 0 UnInited->1 : Waiting for initial GPS fix
25.62 behavior sample_9: sample(): reading bargs
25.62 behavior sample_9: Reading b_args from sample64.ma
25.64