Connection Event: Carrier Detect found. 2802 Iridium console active and ready... Vehicle Name: ru26d Curr Time: Fri Jan 30 21:12:38 2026 MT: 2801 DR Location: -6448.910 N -6402.426 E measured 72.928 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6448.939 N -6402.272 E measured 1668.23 secs ago GPS Location: -6448.910 N -6402.426 E measured 73.823 secs ago sensor:c_wpt_lat(lat)=-6449.0303 2684.32 secs ago sensor:c_wpt_lon(lon)=-6403.8085 2684.36 secs ago sensor:m_battery(volts)=14.756740724958 4.253 secs ago sensor:m_coulomb_amphr(amp-hrs)=0.819375038146973 4.428 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=2.28118803822334 4.441 secs ago sensor:m_depth(m)=0.0488190440763216 4.312 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.573 secs ago sensor:m_gps_mag_var(rad)=-0.275762021815104 74.214 secs ago sensor:m_iridium_attempt_num(nodim)=1 64.559 secs ago sensor:m_iridium_call_num(nodim)=5525 20.953 secs ago sensor:m_iridium_dialed_num(nodim)=6867 37.264 secs ago sensor:m_leakdetect_voltage(volts)=2.47530525030525 12.652 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48095238095238 12.669 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.796 secs ago sensor:m_tot_num_inflections(nodim)=18476 1673.06 secs ago sensor:m_vacuum(inHg)=10.8491710622711 4.74 secs ago sensor:m_water_vx(m/s)=-0.0146232183983667 1609.56 secs ago sensor:m_water_vy(m/s)=0.0321551607380791 1609.59 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)=-6448.904 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6403.33 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: 2026-01-30T20:21:53 ABORT HISTORY: last abort segment: ru26d-2026-029-0-0 (0148.0000) ABORT HISTORY: last abort mission: OD5.MI GliderDos N -1 >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) -0.454 # 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) 0.454 # 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 >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 20 hours b_arg: no_cop_tickle_for(sec) 72000.0 # 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) 12 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 # SAMPLE : OPTODE OXY4 behavior: sample b_arg: args_from_file(enum) 54 # 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(10) Sequencing missions load_mission(): Opening Mission file: 1K_N.MI for execution 10 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 10 total missions (not counting lastgasp.mi): 1K_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: 2026-01-30T20:21:53 ABORT HISTORY: last abort segment: ru26d-2026-029-0-0 (0148.0000) 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: Fri Jan 30 21:14:15 2026 The instantaneous lag time between the system and gps clock is 1.0 seconds. The average lag time between the system and gps clock is 0.9 seconds. timestamp: Fri Jan 30 21:14:15 2026 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: Fri Jan 30 21:14:16 2026 MT: 2896 DR Location: -6448.910 N -6402.426 E measured 171.182 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6448.939 N -6402.272 E measured 1766.49 secs ago GPS Location: -6448.910 N -6402.426 E measured 172.078 secs ago sensor:c_wpt_lat(lat)=-6449.0303 2782.58 secs ago sensor:c_wpt_lon(lon)=-6403.8085 2782.61 secs ago sensor:m_battery(volts)=14.7298993755428 3.018 secs ago sensor:m_coulomb_amphr(amp-hrs)=0.830062448978424 3.194 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=2.29187544905479 3.206 secs ago sensor:m_depth(m)=0 3.062 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.348 secs ago sensor:m_gps_mag_var(rad)=-0.275762021815104 172.475 secs ago sensor:m_iridium_attempt_num(nodim)=0 85.353 secs ago sensor:m_iridium_call_num(nodim)=5525 119.213 secs ago sensor:m_iridium_dialed_num(nodim)=6867 135.523 secs ago sensor:m_leakdetect_voltage(volts)=2.47545787545788 48.472 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48110500610501 48.486 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3.568 secs ago sensor:m_tot_num_inflections(nodim)=18476 1771.32 secs ago sensor:m_vacuum(inHg)=10.8524301587302 3.511 secs ago sensor:m_water_vx(m/s)=-0.0146232183983667 1707.82 secs ago sensor:m_water_vy(m/s)=0.0321551607380791 1707.86 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)=-6448.904 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6403.33 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 66.63 1 01500000.mlg LOG FILE OPENED MissionSTARTDate: 30 Jan 2026 21:14:17 Z Mission Name: 1K_N.MI Mission Number: ru26d-2026-029-2-0 (0150.0000) log_c_stack(): 1-abend 2-surface 3-surface 4-surface 5-goto_list 6-yo 7-sample 8-sample 9-sample 10-prepare_to_dive 11-sensors_in report_heap_size(): M_FREE_HEAP=75.0K, M_SPARE_HEAP=56.0K pre_mission_init():End of Initialization 67.63 2 behavior sensors_in_11: STATE UnInited -> Active 67.68 behavior sensors_in_11: argument: c_att_time = -1.000000 sec 67.73 behavior sensors_in_11: argument: c_pressure_time = -1.000000 sec 67.80 behavior sensors_in_11: argument: c_alt_time = -1.000000 sec 67.85 behavior sensors_in_11: argument: u_battery_time = -1.000000 sec 67.90 behavior sensors_in_11: argument: u_vacuum_time = -1.000000 sec 67.96 behavior sensors_in_11: argument: c_leakdetect_time = -1.000000 sec 68.02 behavior sensors_in_11: argument: c_gps_on = 0.000000 bool 68.07 behavior sensors_in_11: argument: c_science_all_on = -1.000000 sec 68.12 behavior sensors_in_11: argument: c_profile_on = -1.000000 sec 68.18 behavior sensors_in_11: argument: c_bb2f_on = -1.000000 sec 68.24 behavior sensors_in_11: argument: c_bb2c_on = -1.000000 sec 68.29 behavior sensors_in_11: argument: c_bb2lss_on = -1.000000 sec 68.35 behavior sensors_in_11: argument: c_sam_on = -1.000000 sec 68.40 behavior sensors_in_11: argument: c_moteopd_on = -1.000000 sec 68.46 behavior sensors_in_11: argument: c_bbfl2s_on = -1.000000 sec 68.51 behavior sensors_in_11: argument: c_fl3slo_on = -1.000000 sec 68.57 behavior sensors_in_11: argument: c_bb3slo_on = -1.000000 sec 68.62 behavior sensors_in_11: argument: c_oxy3835_on = -1.000000 sec 68.68 behavior sensors_in_11: argument: c_whfctd_on = -1.000000 sec 68.73 behavior sensors_in_11: argument: c_bam_on = -1.000000 sec 68.79 behavior sensors_in_11: argument: c_ocr504R_on = -1.000000 sec 68.85 behavior sensors_in_11: argument: c_ocr504I_on = -1.000000 sec 68.90 behavior sensors_in_11: argument: c_flntu_on = -1.000000 sec 68.99 behavior sensors_in_11: argument: c_fl3slov2_on = -1.000000 sec 69.05 behavior sensors_in_11: argument: c_bb3slov2_on = -1.000000 sec 69.10 behavior sensors_in_11: argument: c_ocr507R_on = -1.000000 sec 69.16 behavior sensors_in_11: argument: c_ocr507I_on = -1.000000 sec 69.21 behavior sensors_in_11: argument: c_bb3slov3_on = -1.000000 sec 69.27 behavior sensors_in_11: argument: c_bb2fls_on = -1.000000 sec 69.32 behavior sensors_in_11: argument: c_bb2flsV2_on = -1.000000 sec 69.38 behavior sensors_in_11: argument: c_oxy3835_wphase_on = -1.000000 sec 69.44 behavior sensors_in_11: argument: c_auvb_on = -1.000000 sec 69.50 behavior sensors_in_11: argument: c_bb2fV2_on = -1.000000 sec 69.55 behavior sensors_in_11: argument: c_tarr_on = -1.000000 sec 69.60 behavior sensors_in_11: argument: c_bbfl2sV2_on = -1.000000 sec 69.66 behavior sensors_in_11: argument: c_glbps_on = -1.000000 sec 69.72 behavior sensors_in_11: argument: c_sscsd_on = -1.000000 sec 69.77 behavior sensors_in_11: argument: c_bb2flsV3_on = -1.000000 sec 69.83 behavior sensors_in_11: argument: c_fire_on = -1.000000 sec 69.89 behavior sensors_in_11: argument: c_bb2flsV4_on = -1.000000 sec 69.94 behavior sensors_in_11: argument: c_bb2flsV5_on = -1.000000 sec 70.00 behavior sensors_in_11: argument: c_logger_on = -1.000000 sec 70.05 behavior sensors_in_11: argument: c_bbam_on = -1.000000 sec 70.11 behavior sensors_in_11: argument: c_uModem_on = -1.000000 sec 70.16 behavior sensors_in_11: argument: c_rinkoII_on = -1.000000 sec 70.22 behavior sensors_in_11: argument: c_dvl_on = -1.000000 sec 70.27 behavior sensors_in_11: argument: c_bb2flsV6_on = -1.000000 sec