Connection Event: Carrier Detect found.850.72 Iridium console active and ready...
Vehicle Name: ru43
Curr Time: Fri Oct 24 16:05:18 2025 MT: 850
DR Location: 4015.432 N -7351.439 E measured 485.613 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : 4015.439 N -7351.557 E measured 537.783 secs ago
GPS Location: 4015.432 N -7351.439 E measured 488.324 secs ago
sensor:c_wpt_lat(lat)=4012.6669 809.875 secs ago
sensor:c_wpt_lon(lon)=-7341.9775 809.879 secs ago
sensor:m_battery(volts)=16.3557729065616 3.745 secs ago
sensor:m_coulomb_amphr(amp-hrs)=0.638746 3.842 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=0.642496 3.846 secs ago
sensor:m_depth(m)=0.213888464507007 3.657 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1023 0.047 secs ago
sensor:m_gps_mag_var(rad)=0.225147473507269 488.37 secs ago
sensor:m_iridium_attempt_num(nodim)=1 37.21 secs ago
sensor:m_iridium_call_num(nodim)=2223 0.058 secs ago
sensor:m_iridium_dialed_num(nodim)=2664 8.126 secs ago
sensor:m_leakdetect_voltage(volts)=2.49072039072039 62.226 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.49352869352869 62.19 secs ago
sensor:m_leakdetect_voltage_science(volts)=2.49322344322344 62.155 secs ago
sensor:m_tot_num_inflections(nodim)=55119 557.768 secs ago
sensor:m_vacuum(inHg)=8.7969135042735 3.749 secs ago
sensor:m_water_vx(m/s)=0.049219412350201 481.139 secs ago
sensor:m_water_vy(m/s)=0.094905868849759 481.142 secs ago
sensor:u_max_altimeter(m)=200 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)=3924.9305 1e+308 secs ago
sensor:x_last_wpt_lon(lon)=-7408.8691 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: 2025-10-24T14:53:03
ABORT HISTORY: last abort segment: ru43-2025-296-0-0 (0155.0000)
ABORT HISTORY: last abort mission: od.mi
GliderDos N -1 >850.85 No login script found for processing.
GliderDos N -1 >send *.sbd *.tbd *.asc *.vem
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
901.46 94 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 4 files
Prechecking is not necessary for this invocation
START
**B00000000000000
Starting zModem transfer of 01570000.tbd to/from ru43 size is 531
Total Bytes sent/received: 531
zModem transfer DONE for file 01570000.tbd
Starting zModem transfer of yj241552.asc to/from ru43 size is 4264
Total Bytes sent/received: 1024
Total Bytes sent/received: 2048
Total Bytes sent/received: 3072
Total Bytes sent/received: 4096
Total Bytes sent/received: 4264
zModem transfer DONE for file yj241552.asc
Starting zModem transfer of yj241551.asc to/from ru43 size is 1000
Total Bytes sent/received: 1000
zModem transfer DONE for file yj241551.asc
Starting zModem transfer of yj241552.vem to/from ru43 size is 380
Total Bytes sent/received: 380
zModem transfer DONE for file yj241552.vem
58.60 7 Freewave console restored
REVERTING FROM SCIENCE COMMAND MODE
SCIENCE COMMAND MODE TERMINATED because:
Science Program QUIT (cts lowered)
959.61 GLD: Enumerating and selecting files
About to send 1 files
Prechecking is not necessary for this invocation
selected IRIDIUM
959.63 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
959.64 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B00000000000000
**B
Starting zModem transfer of 01570000.sbd to/from ru43 size is 2989
Total Bytes sent/received: 1024
Total Bytes sent/received: 2048
Total Bytes sent/received: 2989
zModem transfer DONE for file 01570000.sbd
987.17 restore_sensors()....
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
987.18 restore_sensors()....
987.18 restore_sensors()....
Restored c_science_printout from 0 to 0
SHUFFLING FILES .
987.20 GLD: Sent 1 file(s):
01570000.sbd
GLD: SUCCESS
Glider-Science software version match: 10.080000
Science hardware version is 3.000000
988.99 8 SCI:PROGLET house_elf begin() called
988.99 SCI: house_elf: Version 1.2
989.02 SCI:PROGLET ctd41cp begin() called
989.02 SCI: ctd41cp: Version 0.2
989.03 SCI: ctd41cp: Will be sending the following data to glider:
989.03 SCI: sci_water_cond(s/m)
989.04 SCI: sci_water_temp(degc)
989.04 SCI: sci_water_pressure(bar)
989.05 SCI: sci_ctd41cp_timestamp(timestamp)
989.05 SCI:PROGLET dmon begin() called
989.06 SCI: dmon: Version 0.0
989.06 SCI: dmon: Will be sending following data to glider:
989.07 SCI: sci_dmon_msg_byte_count(nodim)
989.07 SCI:PROGLET flbbcd begin() called
989.08 SCI: flbbcd: Version 0.0
989.08 SCI: flbbcd: Will be sending following data to glider:
989.09 SCI: sci_flbbcd_chlor_units(ug/l)
989.09 SCI: sci_flbbcd_bb_units(nodim)
989.10 SCI: sci_flbbcd_cdom_units(ppb)
989.10 SCI: sci_flbbcd_chlor_sig(nodim)
989.11 SCI: sci_flbbcd_bb_sig(nodim)
989.11 SCI: sci_flbbcd_cdom_sig(nodim)
989.12 SCI: sci_flbbcd_chlor_ref(nodim)
989.12 SCI: sci_flbbcd_bb_ref(nodim)
989.13 SCI: sci_flbbcd_cdom_ref(nodim)
989.13 SCI: sci_flbbcd_therm(nodim)
989.14 SCI: sci_flbbcd_timestamp(timestamp)
989.14 SCI:Bit(0) raise count is now 0.
989.14 SCI:Bit(0) raise count is now 0.
989.15 SCI:PROGLET vr2c begin() called
989.15 SCI:PROGLET oxy4 begin() called
989.16 SCI: oxy4: Version 0.0
989.16 SCI: oxy4: Will be sending following data to glider:
989.17 SCI: sci_oxy4_oxygen(um)
989.17 SCI: sci_oxy4_saturation(%)
989.17 SCI: sci_oxy4_temp(degc)
989.18 SCI: sci_oxy4_calphase(deg)
989.18 SCI: sci_oxy4_tcphase(deg)
989.19 SCI: sci_oxy4_c1rph(deg)
989.19 SCI: sci_oxy4_c2rph(deg)
989.20 SCI: sci_oxy4_c1amp(mv)
989.20 SCI: sci_oxy4_c2amp(mv)
989.21 SCI: sci_oxy4_rawtemp(mv)
989.21 SCI: sci_oxy4_timestamp(timestamp)
989.22 SCI:Bit(2) raise count is now 0.
989.22 SCI:Bit(2) raise count is now 0.
989.33 SCI:PROGLET house_elf start() called
989.34 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
989.34 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
989.35 SCI:PROGLET vr2c start() called
989.35 SCI: vr2c_run(): 0 error(s) in a row. (5 is fatal)
989.36 SCI: vr2c_run(): 0 error(s) since vr2c_begin(). (50 is fatal)
GliderDos N -1 >
GliderDos N -1 >zr
Choosing console...using IRIDIUM
1040 20 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
1040 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B0100000027fed4
Starting zModem transfer of yo10.ma to/from ru43 size is 1274
Total Bytes sent/received: 1024
Total Bytes sent/received: 1274
zModem transfer DONE for file yo10.ma
sending >yo10.ma< Sent
archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru43/to-glider/yo10.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru43/archive/20251024T160846_yo10.ma< Successful
deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru43/to-glider/yo10.ma< Successful
1058 restore_sensors()....
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
1058 restore_sensors()....
1058 restore_sensors()....
Restored c_science_printout from 0 to 0
Done!
GliderDos N -1 >Glider-Science software version match: 10.080000
Science hardware version is 3.000000
1060 21 SCI:PROGLET house_elf begin() called
1060 SCI: house_elf: Version 1.2
1060 SCI:PROGLET ctd41cp begin() called
1060 SCI: ctd41cp: Version 0.2
1060 SCI: ctd41cp: Will be sending the following data to glider:
1060 SCI: sci_water_cond(s/m)
1060 SCI: sci_water_temp(degc)
1060 SCI: sci_water_pressure(bar)
1060 SCI: sci_ctd41cp_timestamp(timestamp)
1060 SCI:PROGLET dmon begin() called
1060 SCI: dmon: Version 0.0
1060 SCI: dmon: Will be sending following data to glider:
1060 SCI: sci_dmon_msg_byte_count(nodim)
1060 SCI:PROGLET flbbcd begin() called
1060 SCI: flbbcd: Version 0.0
1060 SCI: flbbcd: Will be sending following data to glider:
1060 SCI: sci_flbbcd_chlor_units(ug/l)
1060 SCI: sci_flbbcd_bb_units(nodim)
1060 SCI: sci_flbbcd_cdom_units(ppb)
1060 SCI: sci_flbbcd_chlor_sig(nodim)
1060 SCI: sci_flbbcd_bb_sig(nodim)
1060 SCI: sci_flbbcd_cdom_sig(nodim)
1060 SCI: sci_flbbcd_chlor_ref(nodim)
1060 SCI: sci_flbbcd_bb_ref(nodim)
1060 SCI: sci_flbbcd_cdom_ref(nodim)
1060 SCI: sci_flbbcd_therm(nodim)
1060 SCI: sci_flbbcd_timestamp(timestamp)
1060 SCI:Bit(0) raise count is now 0.
1060 SCI:Bit(0) raise count is now 0.
1060 SCI:PROGLET vr2c begin() called
1060 SCI:PROGLET oxy4 begin() called
1060 SCI: oxy4: Version 0.0
1060 SCI: oxy4: Will be sending following data to glider:
1060 SCI: sci_oxy4_oxygen(um)
1060 SCI: sci_oxy4_saturation(%)
1061 SCI: sci_oxy4_temp(degc)
1061 SCI: sci_oxy4_calphase(deg)
1061 SCI: sci_oxy4_tcphase(deg)
1061 SCI: sci_oxy4_c1rph(deg)
1061 SCI: sci_oxy4_c2rph(deg)
1061 SCI: sci_oxy4_c1amp(mv)
1061 SCI: sci_oxy4_c2amp(mv)
1061 SCI: sci_oxy4_rawtemp(mv)
1061 SCI: sci_oxy4_timestamp(timestamp)
1061 SCI:Bit(2) raise count is now 0.
1061 SCI:Bit(2) raise count is now 0.
1061 SCI:PROGLET house_elf start() called
1061 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
1061 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
1061 SCI:PROGLET vr2c start() called
1061 SCI: vr2c_run(): 0 error(s) in a row. (5 is fatal)
1061 SCI: vr2c_run(): 0 error(s) since vr2c_begin(). (50 is fatal)
type c:/mafiles/goto_l10.ma
# https://marine.rutgers.edu/~dkaragon/kml_routes/ru39/20240215T160115_retask/ru39_20240215T160115.kmz
behavior_name=goto_list
b_arg: num_legs_to_run(nodim) -1 # -1 loop, -2 run once, > 0 = this many waypoints
b_arg: start_when(enum) 0 # 0 baw_immediately
b_arg: list_stop_when(enum) 7 # 7 baw_when_wpt_dist
# SATISFYING RADIUS
b_arg: list_when_wpt_dist(m) 750
# LIST PARAMETERS
b_arg: initial_wpt(enum) -1 # 0 to n-1, -1 first after last, -2 closest
# LONGITUDE LATITUDE
-7352.5390 4013.2250
-7341.9775 4012.6669 # 1
-7336.5488 4004.7578 # 2
-7316.3818 3948.7809 # 3
-7310.2699 3944.2089 # 4
-7306.3960 3943.5320 # 5
-7305.3889 3940.7613 # 6
-7245.9957 3929.0386 # 7
-7304.8544 3932.0118 # 8
-7321.0128 3934.1085 # 9
-7335.4234 3934.7923 # 10
-7333.6181 3924.1916 # 11
-7319.6766 3913.5895 # 12
-7300.1406 3850.4035 # 13
-7329.0818 3903.9913 # 14
-7352.0374 3915.0033 # 15
-7409.6741 3923.4591 # 16
-7408.6604 3910.5019 # 17
-7355.4693 3924.7498 # 18
-7408.8961 3924.9305 # 19
GliderDos N -1 >get x_last_wpt_lat
= 3924.930500 lat
GliderDos N -1 >get x_last_wpt_lon
= -7408.869100 lon
GliderDos N -1 >put x_last_wpt_lon -7408.8961
1145 42 sensor: x_last_wpt_lon = -7408.8961 lon
GliderDos N -1 >type c:/mafiles/surfac40.ma
behavior_name=surface
# SURFAC40.MA (No Comms)
# Surface for no comms (file transfer uncompleted)
b_arg: when_secs(sec) 3600
# Flight Controls
b_arg: c_use_bpump(enum) 2
b_arg: c_bpump_value(X) 1000
b_arg: c_use_pitch(enum) 3 # servo, rad, >0 = climb
b_arg: c_pitch_value(X) 0.4528 # 26 degrees
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
# Surface Timeouts & Other Params
b_arg: report_all(bool) 0 # F->just gps
b_arg: end_action(enum) 1 # Surface menu
b_arg: gps_wait_time(sec) 300 # GPS wait
b_arg: gps_postfix_wait_time(sec) 16.0 # GPS postfix time
b_arg: keystroke_wait_time(sec) 599 # Surface time
b_arg: printout_cycle_time(sec) 40.0 # Surface menu print rate
b_arg: force_iridium_use(nodim) 1
GliderDos N -1 >loadmission ru43.ma
load_mission(): Opening Mission file: ru43.ma
Couldn't open mission file: ru43.ma
FAILURE load_mission(c:/missions,ru43.ma)
GliderDos N -1 >
Vehicle Name: ru43
1184 54 NOTE:GPS fix is getting stale: 822 secs old
GliderDos N -1 >loadmission ru43.mi
load_mission(): Opening Mission file: ru43.mi
Setting SENSOR u_abort_min_burn_time(sec) value 600.000000
Setting SENSOR u_abort_max_burn_time(sec) value 86400.000000
Setting SENSOR u_reqd_depth_at_surface(m) value 2.000000
Setting SENSOR u_hd_fin_ap_run_time(secs) value 20.000000
Setting SENSOR u_hd_fin_ap_gain(1/rad) value 1.500000
Setting SENSOR u_hd_fin_ap_igain(1/rad-sec) value 0.015000
Setting SENSOR u_hd_fin_ap_dgain(sec/rad) value 8.000000
Setting SENSOR u_hd_fin_ap_hardover_holdoff(sec) value 30.000000
Setting SENSOR u_pitch_ap_gain(1/rad) value -2.000000
Setting SENSOR u_pitch_ap_dgain(s/rad) value -1.000000
Setting SENSOR u_pitch_ap_deadband(rad) value 0.087000
Setting SENSOR u_min_pitch_ap_period(sec) value 30.000000
Setting SENSOR u_max_pitch_ap_period(sec) value 60.000000
GliderDos N -1 >put u_use_file_compression 1
1231 67 sensor: u_use_file_compression = 1 bool
GliderDos N -1 >whoru
Vehicle Name: ru43
GliderDos N -1 >sequence 100_n.mi(10)
Sequencing missions
load_mission(): Opening Mission file: 100_n.mi for execution 10 times
Validated SENSOR c_science_send_all(bool) value 0.000000
Validated SENSOR c_science_all_on_enabled(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 10 total missions (not counting lastgasp.mi):
100_n.mi(10)
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: 2025-10-24T14:53:03
ABORT HISTORY: last abort segment: ru43-2025-296-0-0 (0155.0000)
ABORT HISTORY: last abort mission: od.mi
Vehicle Name: ru43
SEQUENCE: About to run 100_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 100_n.mi on try 0
Starting Mission: 100_n.mi
timestamp: Fri Oct 24 16:12:25 2025
load_mission(): Opening Mission file: 100_n.mi
Setting SENSOR c_science_send_all(bool) value 0.000000
Setting SENSOR c_science_all_on_enabled(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: ru43
Curr Time: Fri Oct 24 16:12:25 2025 MT: 1276
DR Location: 4015.432 N -7351.439 E measured 912.692 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : 4015.439 N -7351.557 E measured 964.861 secs ago
GPS Location: 4015.432 N -7351.439 E measured 915.402 secs ago
sensor:c_wpt_lat(lat)=4012.6669 1236.95 secs ago
sensor:c_wpt_lon(lon)=-7341.9775 1236.96 secs ago
sensor:m_battery(volts)=16.3488175332368 0.906 secs ago
sensor:m_coulomb_amphr(amp-hrs)=0.677498 1.002 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=0.681248 1.006 secs ago
sensor:m_depth(m)=0 0.818 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1023 5.271 secs ago
sensor:m_gps_mag_var(rad)=0.225147473507269 915.449 secs ago
sensor:m_iridium_attempt_num(nodim)=0 383.668 secs ago
sensor:m_iridium_call_num(nodim)=2223 427.137 secs ago
sensor:m_iridium_dialed_num(nodim)=2664 435.204 secs ago
sensor:m_leakdetect_voltage(volts)=2.49059829059829 29.318 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.49349816849817 29.283 secs ago
sensor:m_leakdetect_voltage_science(volts)=2.49300976800977 29.248 secs ago
sensor:m_tot_num_inflections(nodim)=55119 984.846 secs ago
sensor:m_vacuum(inHg)=8.78228510378511 0.909 secs ago
sensor:m_water_vx(m/s)=0.049219412350201 908.218 secs ago
sensor:m_water_vy(m/s)=0.094905868849759 908.221 secs ago
sensor:u_max_altimeter(m)=200 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)=3924.9305 1e+308 secs ago
sensor:x_last_wpt_lon(lon)=-7408.8961 132.764 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