Connection Event: Carrier Detect found. 19086 Iridium console active and ready...
Vehicle Name: ru26d
Curr Time: Wed Feb 4 18:15:32 2026 MT: 19085
DR Location: -6441.330 N -6500.627 E measured 68.97 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : -6442.487 N -6457.412 E measured 137.516 secs ago
GPS Location: -6441.330 N -6500.627 E measured 71.392 secs ago
sensor:c_wpt_lat(lat)=-6434.5179 18950.4 secs ago
sensor:c_wpt_lon(lon)=-6520.3678 18950.4 secs ago
sensor:m_battery(volts)=14.7895940011649 9.072 secs ago
sensor:m_coulomb_amphr(amp-hrs)=28.7339382171631 9.232 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=30.1957512172394 9.252 secs ago
sensor:m_depth(m)=0 9.204 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1021 9.452 secs ago
sensor:m_gps_mag_var(rad)=-0.284488668075076 71.937 secs ago
sensor:m_iridium_attempt_num(nodim)=1 66.533 secs ago
sensor:m_iridium_call_num(nodim)=5580 23.681 secs ago
sensor:m_iridium_dialed_num(nodim)=6923 38.184 secs ago
sensor:m_leakdetect_voltage(volts)=2.47484737484738 28.317 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48037240537241 28.341 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 9.756 secs ago
sensor:m_tot_num_inflections(nodim)=18620 187.115 secs ago
sensor:m_vacuum(inHg)=10.4947443223443 28.604 secs ago
sensor:m_water_vx(m/s)=-0.0267327774988503 99.767 secs ago
sensor:m_water_vy(m/s)=-0.0339646305830581 99.808 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)=-6445.3787 1e+308 secs ago
sensor:x_last_wpt_lon(lon)=-6452.2847 1e+308 secs ago
ABORT HISTORY: total since reset: 4
ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR
ABORT HISTORY: last abort details: layered_control(): Behavior surface_2 entered B_ERROR state
ABORT HISTORY: last abort time: 2026-02-04T12:45:27
ABORT HISTORY: last abort segment: ru26d-2026-033-0-24 (0153.0024)
ABORT HISTORY: last abort mission: 1K_N.MI
19088 DRIVER_ODDITY:iridium:1718:xxx_ctrl() ran too long
!zr
--------------------------------
19095 56 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
19095 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 1219
Total Bytes sent/received: 1024
Total Bytes sent/received: 1219
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/20260204T181604_yo20.ma< Successful
deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/yo20.ma< Successful
19117 restore_sensors()....
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
19118 restore_sensors()....
19118 restore_sensors()....
Restored c_science_printout from 0 to 0
Done!
--------------------------------
19118 behavior surface_2: ! succeeded:zr
19118 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume
Glider-Science software version match: 8.300000
Science hardware version is 2.000000
Glider ru26d at surface.
Because:nothing commanded [behavior surface_2 start_when = 1.0]
MissionName:1K_N.MI MissionNum:ru26d-2026-034-0-2 (0154.0002)
Vehicle Name: ru26d
Curr Time: Wed Feb 4 18:16:08 2026 MT: 19121
DR Location: -6441.330 N -6500.627 E measured 104.512 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : -6442.487 N -6457.412 E measured 173.059 secs ago
GPS Location: -6441.330 N -6500.627 E measured 106.936 secs ago
sensor:c_wpt_lat(lat)=-6434.5179 18985.9 secs ago
sensor:c_wpt_lon(lon)=-6520.3678 18985.9 secs ago
sensor:m_battery(volts)=14.7895940011649 44.549 secs ago
sensor:m_coulomb_amphr(amp-hrs)=28.7386875152588 2.804 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=30.2005005153352 2.816 secs ago
sensor:m_depth(m)=0.0297288688553848 2.734 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1023 2.955 secs ago
sensor:m_gps_mag_var(rad)=-0.284488668075076 107.325 secs ago
sensor:m_iridium_attempt_num(nodim)=1 101.904 secs ago
sensor:m_iridium_call_num(nodim)=5580 59.035 secs ago
sensor:m_iridium_dialed_num(nodim)=6923 73.524 secs ago
sensor:m_leakdetect_voltage(volts)=2.47481684981685 2.903 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48092185592186 2.917 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 2.945 secs ago
sensor:m_tot_num_inflections(nodim)=18620 222.419 secs ago
sensor:m_vacuum(inHg)=10.4947443223443 63.892 secs ago
sensor:m_water_vx(m/s)=-0.0267327774988503 135.047 secs ago
sensor:m_water_vy(m/s)=-0.0339646305830581 135.079 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)=-6445.3787 1e+308 secs ago
sensor:x_last_wpt_lon(lon)=-6452.2847 1e+308 secs ago
devices:(t/m/s) errs: 1/ 0/ 0 warn: 12/ 1/ 1 odd: 248/ 9/ 4
ABORT HISTORY: total since reset: 4
ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR
ABORT HISTORY: last abort details: layered_control(): Behavior surface_2 entered B_ERROR state
ABORT HISTORY: last abort time: 2026-02-04T12:45:27
ABORT HISTORY: last abort segment: ru26d-2026-033-0-24 (0153.0024)
ABORT HISTORY: last abort mission: 1K_N.MI
Hit Control-R to RESUME the mission, i.e. dive!
Hit Control-C to END the mission, i.e. GliderDos
Hit Control-E to extend surface time by 5 minutes.
Hit Control-W to get device warning reports.
Hit Control-F to re-read yo, goto_l, surface, sample, drift_ mafiles.
Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number.
Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files
Hit ! to execute
Hit Control-T to consci to science computer when comms ready:
... communications NOT ready for consci.
... because: sci_m_science_on = 0
Water Velocity Calculations waiting for final gps fix(ideally -49 secs)
Waypoint: (-6434.5179,-6520.3678) Range: 20188m, Bearing: 291deg, Age: 5:16h:m
Time until diving is: 295 secs
19133 59 SCI:PROGLET house_elf begin() called
19133 SCI: house_elf: Version 1.2
19133 SCI:PROGLET ctd41cp begin() called
19133 SCI: ctd41cp: Version 0.2
19133 SCI: ctd41cp: Will be sending the following data to glider:
19133 SCI: sci_water_cond(s/m)
19133 SCI: sci_water_temp(degc)
19134 SCI: sci_water_pressure(bar)
19134 SCI: sci_ctd41cp_timestamp(timestamp)
19134 SCI:PROGLET flbbcd begin() called
19134 SCI: flbbcd: Version 0.0
19137 60 SCI: flbbcd: Will be sending following data to glider:
19138 SCI: sci_flbbcd_chlor_units(ug/l)
19138 SCI: sci_flbbcd_bb_units(nodim)
19138 SCI: sci_flbbcd_cdom_units(ppb)
19138 SCI: sci_flbbcd_chlor_sig(nodim)
19138 SCI: sci_flbbcd_bb_sig(nodim)
19139 SCI: sci_flbbcd_cdom_sig(nodim)
19139 SCI: sci_flbbcd_chlor_ref(nodim)
19139 SCI: sci_flbbcd_bb_ref(nodim)
19139 SCI: sci_flbbcd_cdom_ref(nodim)
19139 SCI: sci_flbbcd_therm(nodim)
^F
MAFILES will be re-read.
Extending surface time by 5 minutes just in case
user might want to verify quality of MAFILE(s).
19142 60 SCI: sci_flbbcd_timestamp(timestamp)
19143 SCI: Opening Bit(0) for output
19143 SCI:Bit(0) use count is now 1.
19144 SCI:Bit(0) raise count is now 0.
19144 SCI:Bit(0) raise count is now 0.
19144 SCI:PROGLET oxy4 begin() called
19144 SCI: oxy4: Version 0.0
19144 SCI: oxy4: Will be sending following data to glider:
19144 SCI: sci_oxy4_oxygen(um)
19144 SCI: sci_oxy4_saturation(%)
19145 SCI: sci_oxy4_temp(degc)
19145 SCI: sci_oxy4_calphase(deg)
19147 61 behavior sample_9: SUBSTATE 4 ->0 UnInited: Unitialized
19147 behavior sample_9: STATE Active -> UnInited
19147 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized
19147 behavior sample_8: STATE Active -> UnInited
19147 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized
19147 behavior sample_7: STATE Active -> UnInited
19148 behavior yo_6: STATE Active -> UnInited
19148 behavior goto_list_5: STATE Active -> UnInited
19148 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file
19148 behavior surface_4: STATE Waiting for Activation -> UnInited
19148 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file
19148 behavior surface_3: STATE Waiting for Activation -> UnInited
I heard a character ('CR'), but not the right one
There were no pending chars in input buffer to drain.
19148 SCI: sci_oxy4_tcphase(deg)
19148 SCI: sci_oxy4_c1rph(deg)
19149 SCI: sci_oxy4_c2rph(deg)
19149 SCI: sci_oxy4_c1amp(mv)
19149 SCI: sci_oxy4_c2amp(mv)
19149 SCI: sci_oxy4_rawtemp(mv)
19150 SCI: sci_oxy4_timestamp(timestamp)
19150 SCI: Opening Bit(2) for output
19152 63 behavior sample_9: sample(): reading bargs
19152 behavior sample_9: Reading b_args from sample54.ma
19152 behavior sample_9: sensor_type(enum)=54.000000
19152 behavior sample_9: sample_time_after_state_change(s)=0.000000
19152 behavior sample_9: intersample_time(sec)=1.000000
19152 behavior sample_9: state_to_sample(enum)=7.000000
19152 behavior sample_9: nth_yo_to_sample(nodim)=1.000000
19152 behavior sample_9: STATE UnInited -> Active
19152 behavior sample_9: argument: args_from_file = 54.000000 enum
19152 behavior sample_9: argument: sensor_type = 54.000000 enum
19152 behavior sample_9: argument: state_to_sample = 7.000000 enum
19153 behavior sample_9: argument: sample_time_after_state_change = 0.000000 s
19153 behavior sample_9: argument: intersample_time = 1.000000 s
19153 behavior sample_9: argument: nth_yo_to_sample = 1.000000 nodim
19153 behavior sample_9: argument: intersample_depth = -1.000000 m
19153 behavior sample_9: argument: min_depth = -5.000000 m
19153 behavior sample_9: argument: max_depth = 2000.000000 m
19153 behavior sample_9: SUBSTATE 0 UnInited->4 : On Surface
19153 behavior sample_8: sample(): reading bargs
19153 behavior sample_8: Reading b_args from sample48.ma
19153 behavior sample_8: sensor_type(enum)=48.000000
19153 behavior sample_8: sample_time_after_state_change(s)=0.000000
19153 behavior sample_8: intersample_time(sec)=1.000000
19153 behavior sample_8: state_to_sample(enum)=7.000000
19153 behavior sample_8: nth_yo_to_sample(nodim)=1.000000
19153 behavior sample_8: min_depth(m)=-5.000000
19153 behavior sample_8: max_depth(m)=500.000000
19153 behavior sample_8: STATE UnInited -> Active
19153 behavior sample_8: argument: args_from_file = 48.000000 enum
19153 behavior sample_8: argument: sensor_type = 48.000000 enum
19154 behavior sample_8: argument: state_to_sample = 7.000000 enum
19154 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s
19154 behavior sample_8: argument: intersample_time = 1.000000 s
19154 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim
19154 behavior sample_8: argument: intersample_depth = -1.000000 m
19154 behavior sample_8: argument: min_depth = -5.000000 m
19154 behavior sample_8: argument: max_depth = 500.000000 m
19154 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface
19154 behavior sample_7: sample(): reading bargs
19154 behavior sample_7: Reading b_args from sample01.ma
19154 behavior sample_7: sensor_type(enum)=1.000000
19154 behavior sample_7: sample_time_after_state_change(s)=0.000000
19154 behavior sample_7: intersample_time(sec)=1.000000
19154 behavior sample_7: state_to_sample(enum)=7.000000
19154 behavior sample_7: nth_yo_to_sample(nodim)=1.000000
19154 behavior sample_7: STATE UnInited -> Active
19154 behavior sample_7: argument: args_from_file = 1.000000 enum
19154 behavior sample_7: argument: sensor_type = 1.000000 enum
19154 behavior sample_7: argument: state_to_sample = 7.000000 enum
19155 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s
19155 behavior sample_7: argument: intersample_time = 1.000000 s
19155 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim
19155 behavior sample_7: argument: intersample_depth = -1.000000 m
19155 behavior sample_7: argument: min_depth = -5.000000 m
19155 behavior sample_7: argument: max_depth = 2000.000000 m
19155 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface
19155 behavior yo_6: Reading b_args from yo20.ma
19155 behavior yo_6: num_half_cycles_to_do(nodim)=4.000000
19155 behavior yo_6: d_target_depth(m)=950.000000
19155 behavior yo_6: d_target_altitude(m)=20.000000
19155 behavior yo_6: d_use_bpump(enum)=2.000000
19155 behavior yo_6: d_bpump_value(X)=-170.000000
19155 behavior yo_6: d_use_pitch(enum)=3.000000
19155 behavior yo_6: d_pitch_value(X)=-0.454000
19155 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000
19155 behavior yo_6: d_stop_when_hover_for(sec)=180.000000
19155 behavior yo_6: c_target_depth(m)=15.000000
19155 behavior yo_6: c_target_altitude(m)=-1.000000
19156 behavior yo_6: c_use_bpump(enum)=2.000000
19156 behavior yo_6: c_bpump_value(X)=160.000000
19156 behavior yo_6: c_use_pitch(enum)=3.000000
19156 behavior yo_6: c_pitch_value(X)=0.520000
19156 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000
19156 behavior yo_6: c_stop_when_hover_for(sec)=180.000000
19156 behavior yo_6: STATE UnInited -> Waiting for Activation
19156 behavior yo_6: argument: args_from_file = 20.000000 enum
19156 behavior yo_6: argument: start_when = 2.000000 enum
19156 behavior yo_6: argument: start_diving = 1.000000 enum
19156 behavior yo_6: argument: num_half_cycles_to_do = 4.000000 nodim
19156 behavior yo_6: argument: d_target_depth = 950.000000 m
19156 behavior yo_6: argument: d_target_altitude = 20.000000 m
19156 behavior yo_6: argument: d_use_bpump = 2.000000 enum
19156 behavior yo_6: argument: d_bpump_value = -170.000000 X
19156 behavior yo_6: argument: d_use_pitch = 3.000000 enum
19156 behavior yo_6: argument: d_pitch_value = -0.454000 X
19156 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec
19156 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec
19156 behavior yo_6: argument: d_speed_min = -100.000000 m/s
19157 behavior yo_6: argument: d_speed_max = 100.000000 m/s
19157 behavior yo_6: argument: d_use_thruster = 0.000000 enum
19157 behavior yo_6: argument: d_thruster_value = 0.000000 X
19157 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum
19157 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool
19157 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec
19157 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X
19157 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X
19157 behavior yo_6: argument: d_time_ratio = 1.100000 X
19157 behavior yo_6: argument: d_use_sc_model = 0.000000 bool
19157 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec
19157 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec
19157 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim
19157 behavior yo_6: argument: c_target_depth = 15.000000 m
19157 behavior yo_6: argument: c_target_altitude = -1.000000 m
19157 behavior yo_6: argument: c_use_bpump = 2.000000 enum
19157 behavior yo_6: argument: c_bpump_value = 160.000000 X
19157 behavior yo_6: argument: c_use_pitch = 3.000000 enum
19157 behavior yo_6: argument: c_pitch_value = 0.520000 X
19158 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec
19158 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec
19158 behavior yo_6: argument: c_speed_min = 100.000000 m/s
19158 behavior yo_6: argument: c_speed_max = -100.000000 m/s
19158 behavior yo_6: argument: c_use_thruster = 0.000000 enum
19158 behavior yo_6: argument: c_thruster_value = 0.000000 X
19158 behavior yo_6: argument: end_action = 2.000000 enum
19158 behavior yo_6: argument: stop_when = 5.000000 enum
19158 behavior yo_6: argument: when_secs = 1200.000000 sec
19158 behavior yo_6: argument: when_wpt_dist = 10.000000 m
19158 behavior yo_6: STATE Waiting for Activation -> Active
19158 beh
******
19184 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
Glider ru26d at surface.
Because:nothing commanded [behavior surface_2 start_when = 1.0]
MissionName:1K_N.MI MissionNum:ru26d-2026-034-0-2 (0154.0002)
Vehicle Name: ru26d
Curr Time: Wed Feb 4 18:17:38 2026 MT: 19212
DR Location: -6441.330 N -6500.627 E measured 195.271 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : -6442.487 N -6457.412 E measured 263.816 secs ago
GPS Location: -6441.330 N -6500.627 E measured 197.693 secs ago
sensor:c_wp
not found>*.dat<
not found>*.ini<
not found>*.cfg<
[dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive]
[-d ] ...
[[-d ... ] ... ]
t_lat(lat)=-6434.5179 48.428 secs ago
sensor:c_wpt_lon(lon)=-6520.3678 48.467 secs ago
sensor:m_battery(volts)=14.752024571957 4.091 secs ago
sensor:m_coulomb_amphr(amp-hrs)=28.7517490386963 4.243 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=30.2135620387726 4.256 secs ago
sensor:m_depth(m)=0 4.161 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 9.405 secs ago
sensor:m_gps_mag_var(rad)=-0.284488668075076 198.094 secs ago
sensor:m_iridium_attempt_num(nodim)=0 70.645 secs ago
sensor:m_iridium_call_num(nodim)=5580 149.801 secs ago
sensor:m_iridium_dialed_num(nodim)=6923 164.29 secs ago
sensor:m_leakdetect_voltage(volts)=2.47521367521368 28.253 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48089133089133 28.264 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 4.621 secs ago
sensor:m_tot_num_inflections(nodim)=18620 313.187 secs ago
sensor:m_vacuum(inHg)=10.9864605006105 23.946 secs ago
sensor:m_water_vx(m/s)=-0.0267327774988503 225.814 secs ago
sensor:m_water_vy(m/s)=-0.0339646305830581 225.848 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)=-6445.3787 1e+308 secs ago
sensor:x_last_wpt_lon(lon)=-6452.2847 1e+308 secs ago
devices:(t/m/s) errs: 1/ 0/ 0 warn: 12/ 1/ 1 odd: 248/ 9/ 4
ABORT HISTORY: total since reset: 4
ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR
ABORT HISTORY: last abort details: layered_control(): Behavior surface_2 entered B_ERROR state
ABORT HISTORY: last abort time: 2026-02-04T12:45:27
ABORT HISTORY: last abort segment: ru26d-2026-033-0-24 (0153.0024)
ABORT HISTORY: last abort mission: 1K_N.MI
Hit Control-R to RESUME the mission, i.e. dive!
Hit Control-C to END the mission, i.e. GliderDos
Hit Control-E to extend surface time by 5 minutes.
Hit Control-W to get device warning reports.
Hit Control-F to re-read yo, goto_l, surface, sample, drift_ mafiles.
Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number.
Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files
Hit ! to execute
Hit Control-T to consci to science computer when comms ready:
... communications ready for consci.
Water Velocity Calculations waiting for final gps fix(ideally -140 secs)
Waypoint: (-6434.5179,-6520.3678) Range: 20188m, Bearing: 291deg, Age: 5:17h:m
Time until diving is: 504 secs
s -num=4 *.sbd *.tbd *.tcd *.scd *.vem *.azf *.asc *.obs *.mrd
--------------------------------
19237 75 01540002.mlg LOG FILE CLOSED
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
19246 78 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 2 files
Prechecking is not necessary for this invocation
START
**B0000
Starting zModem transfer of 01540002.tbd to/from ru26d size is 28168
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: 12289
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: 25601
Total Bytes sent/received: 25600
Total Bytes sent/received: 26624
Total Bytes sent/received: 27648
Total Bytes sent/received: 28168
zModem transfer DONE for file 01540002.tbd
Starting zModem transfer of 01540001.tbd to/from ru26d size is 3444
Total Bytes sent/received: 1024
Total Bytes sent/received: 2048
Total Bytes sent/received: 3072
Total Bytes sent/received: 3444
zModem transfer DONE for file 01540001.tbd
SHUFFLING FILES..
SCI: Sent 2 file(s):
c:\logs\01540002.TBD c:\logs\01540001.TBD
SCI: SUCCESS
19524 43 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 2 files
Prechecking is not necessary for this invocation
19525 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
19525 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B00000000000000
Starting zModem transfer of 01540002.sbd to/from ru26d size is 12775
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: 12775
zModem transfer DONE for file 01540002.sbd
Starting zModem transfer of 01540001.sbd to/from ru26d size is 922
Total Bytes sent/received: 922
zModem transfer DONE for file 01540001.sbd
s()....
19626 restore_sensors()....
Restored c_science_printout from 0 to 0
SHUFFLING FILES..
GLD: Sent 2 file(s):
c:\logs\01540002.SBD c:\logs\01540001.SBD
GLD: SUCCESS
Glider-Science software version match: 8.300000
Science hardware version is 2.000000
19635 46 SCI:PROGLET house_elf begin() called
19635 SCI: house_elf: Version 1.2
19635 SCI:PROGLET ctd41cp begin() called
19635 SCI: ctd41cp: Version 0.2
19635 SCI: ctd41cp: Will be sending the following data to glider:
19635 SCI: sci_water_cond(s/m)
19635 SCI: sci_water_temp(degc)
19635 SCI: sci_water_pressure(bar)
19636 SCI: sci_ctd41cp_timestamp(timestamp)
19636 SCI:PROGLET flbbcd begin() called
19636 SCI: flbbcd: Version 0.0
19636 SCI: flbbcd: Will be sending following data to glider:
19636 SCI: sci_flbbcd_chlor_units(ug/l)
19636 SCI: sci_flbbcd_bb_units(nodim)
19636 46 SCI: sci_flbbcd_cdom_units(ppb)
19636 SCI: sci_flbbcd_chlor_sig(nodim)
19636 SCI: sci_flbbcd_bb_sig(nodim)
19637 SCI: sci_flbbcd_cdom_sig(nodim)
19637 SCI: sci_flbbcd_chlor_ref(nodim)
19637 SCI: sci_flbbcd_bb_ref(nodim)
19638 SCI: sci_flbbcd_cdom_ref(nodim)
19638 SCI: sci_flbbcd_therm(nodim)
19638 SCI: sci_flbbcd_timestamp(timestamp)
19638 SCI: Opening Bit(0) for output
19638 SCI:Bit(0) use count is now 1.
19638 SCI:Bit(0) raise count is now 0.
19638 SCI:Bit(0) raise count is now 0.
19638 SCI:PROGLET oxy4 begin() called
19638 SCI: oxy4: Version 0.0
19638 SCI: oxy4: Will be sending following data to glider:
19638 SCI: sci_oxy4_oxygen(um)
19638 SCI: sci_oxy4_saturation(%)
19638 SCI: sci_oxy4_temp(degc)
19639 SCI: sci_oxy4_calphase(deg)
19639 SCI: sci_oxy4_tcphase(deg)
19639 SCI: sci_oxy4_c1rph(deg)
19639 SCI: sci_oxy4_c2rph(deg)
19639 SCI: sci_oxy4_c1amp(mv)
19639 SCI: sci_oxy4_c2amp(mv)
19639 SCI: sci_oxy4_rawtemp(mv)
19639 SCI: sci_oxy4_timestamp(timestamp)
19639 SCI: Opening Bit(2) for output
19639 SCI:Bit(2) use count is now 1.
19639 SCI:Bit(2) raise count is now 0.
19639 SCI:Bit(2) raise count is now 0.
19643 47 SCI:PROGLET house_elf start() called
19643 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
19643 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
19706 50 01540003.mlg LOG FILE OPENED
--------------------------------
19706 behavior surface_2: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume
Glider ru26d at surface.
Because:nothing commanded [behavior surface_2 start_when = 1.0]
MissionName:1K_N.MI MissionNum:ru26d-2026-034-0-3 (0154.0003)
Vehicle Name: ru26d
Curr Time: Wed Feb 4 18:25:56 2026 MT: 19709
DR Location: -6441.330 N -6500.627 E measured 692.514 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : -6442.487 N -6457.412 E measured 761.06 secs ago
GPS Location: -6441.330 N -6500.627 E measured 694.936 secs ago
sensor:c_wpt_lat(lat)=-6434.5179 545.671 secs ago
sensor:c_wpt_lon(lon)=-6520.3678 545.711 secs ago
sensor:m_battery(volts)=14.7401793797185 2.874 secs ago
sensor:m_coulomb_amphr(amp-hrs)=28.8099384307861 3.054 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=30.2717514308625 3.067 secs ago
sensor:m_depth(m)=0 2.945 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 60.28 secs ago
sensor:m_gps_mag_var(rad)=-0.284488668075076 695.335 secs ago
sensor:m_iridium_attempt_num(nodim)=0 567.888 secs ago
sensor:m_iridium_call_num(nodim)=5580 647.044 secs ago
sensor:m_iridium_dialed_num(nodim)=6923 661.533 secs ago
sensor:m_leakdetect_voltage(volts)=2.47478632478632 3.027 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48046398046398 3.044 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 3.074 secs ago
sensor:m_tot_num_inflections(nodim)=18620 810.427 secs ago
sensor:m_vacuum(inHg)=11.0874924908425 3.369 secs ago
sensor:m_water_vx(m/s)=-0.0267327774988503 723.054 secs ago
sensor:m_water_vy(m/s)=-0.0339646305830581 723.087 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)=-6445.3787 1e+308 secs ago
sensor:x_last_wpt_lon(lon)=-6452.2847 1e+308 secs ago
devices:(t/m/s) errs: 1/ 0/ 0 warn: 12/ 1/ 1 odd: 248/ 9/ 4
ABORT HISTORY: total since reset: 4
ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR
ABORT HISTORY: last abort details: layered_control(): Behavior surface_2 entered B_ERROR state
ABORT HISTORY: last abort time: 2026-02-04T12:45:27
ABORT HISTORY: last abort segment: ru26d-2026-033-0-24 (0153.0024)
ABORT HISTORY: last abort mission: 1K_N.MI
Hit Control-R to RESUME the mission, i.e. dive!
Hit Control-C to END the mission, i.e. GliderDos
Hit Control-E to extend surface time by 5 minutes.
Hit Control-W to get device warning reports.
Hit Control-F to re-read yo, goto_l, surface, sample, drift_ mafiles.
Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number.
Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files
Hit ! to execute
Hit Control-T to consci to science computer when comms ready:
... communications ready for consci.
Water Velocity Calculations waiting for final gps fix(ideally -637 secs)
Waypoint: (-6434.5179,-6520.3678) Range: 20188m, Bearing: 291deg, Age: 5:26h:m
*
I heard a character ('*'), but not the right one
Drained the following 39 pending chars from input buffer:
2a 18 42 30 38 30 30 30 * ^X B 0 8 0 0 0 *.B08000
30 30 30 30 30 30 32 32 0 0 0 0 0 0 2 2 00000022
64 0d 8a 2a 2a 18 42 30 d CR . * * ^X B 0 d..**.B0
38 30 30 30 30 30 30 30 8 0 0 0 0 0 0 0 80000000
30 30 32 32 64 0d 8a 0 0 2 2 d CR . 0022d..
Time until diving is: 594 secs
^W name in ALLCAPS means CRITICAL device (* => SUPERCRITICAL)
[I Installed] [- Not_Installed]
[u In_use] [- Not_In_use] [X Out_of_Service]
name limits stats (#total/#mission/#segment)
os w/s w/m os errors warnings oddities
0 simdrvr -
1 test_driver -
2 ARGOS* I u -1 20 5 0
3 WATCHDOG I u -1 -1 -1 0
4 DEADMAN I u -1 20 5 0
5 CONSOLE* I u -1 20 5 0
6 GPS I u -1 20 5 0
7 pinger -
8 attitude -
9 attitude_tcm3 -
10 attitude_rev I u 3 20 5 1 [ 1 0 0] [ 2 0 0] [ 0 0 0]
11 ocean_pressure I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 69 0 0]
12 vacuum I u 3 20 5 0
13 battery I u 3 20 5 0
14lithium_battery -
15 air_pump I u 3 20 5 0
16 pitch_motor I u 3 20 5 0
17 science_super I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 1 1 0]
18 roll_motor -
19 fpitch_pump -
20 fin_motor -
21 digifin I u 3 20 5 0 [ 0 0 0] [ 10 1 1] [ 102 4 3]
22 altimeter I u 3 20 5 0
23 ctd -
24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 74 2 1]
25 leakdetect I u 3 20 5 0
26 recovery I u 3 20 5 0
27 coulomb I u 3 20 5 0
28 veh_temp I u 3 20 5 0
29 BUOYANCY_PUMP -
30THERMAL_ACC_PRE -
31 THERMAL_ENGINE -
32 THERMAL_PUMP -
33 DE_PUMP I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 2 2 0]
34 HD_PUMP -
35 thruster_g1 -
36 thruster -
devices:(t/m/s) errs: 1/ 0/ 0 warn: 12/ 1/ 1 odd: 248/ 9/ 4
I heard a character ('CR'), but not the right one
Drained the following 2 pending chars from input buffer:
12 0d ^R CR ..
Glider ru26d at surface.
Because:nothing commanded [behavior surface_2 start_when = 1.0]
MissionName:1K_N.MI MissionNum:ru26d-2026-034-0-3 (0154.0003)
Vehicle Name: ru26d
Curr Time: Wed Feb 4 18:26:37 2026 MT: 19751
DR Location: -6441.330 N -6500.627 E measured 734.074 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : -6442.487 N -6457.412 E measured 802.621 secs ago
GPS Location: -6441.330 N -6500.627 E measured 736.497 secs ago
sensor:c_wpt_lat(lat)=-6434.5179 587.231 secs ago
sensor:c_wpt_lon(lon)=-6520.3678 587.27 secs ago
sensor:m_battery(volts)=14.7401793797185 44.433 secs ago
sensor:m_coulomb_amphr(amp-hrs)=28.8158760070801 4.278 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=30.2776890071564 4.292 secs ago
sensor:m_depth(m)=0 4.226 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1023 9.096 secs ago
sensor:m_gps_mag_var(rad)=-0.284488668075076 736.895 secs ago
sensor:m_iridium_attempt_num(nodim)=0 609.448 secs ago
sensor:m_iridium_call_num(nodim)=5580 688.603 secs ago
sensor:m_iridium_dialed_num(nodim)=6923 703.091 secs ago
sensor:m_leakdetect_voltage(volts)=2.47478632478632 44.586 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48046398046398 44.603 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 4.656 secs ago
sensor:m_tot_num_inflections(nodim)=18620 851.987 secs ago
sensor:m_vacuum(inHg)=11.0874924908425 44.929 secs ago
sensor:m_water_vx(m/s)=-0.0267327774988503 764.615 secs ago
sensor:m_water_vy(m/s)=-0.0339646305830581 764.648 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)=-6445.3787 1e+308 secs ago
sensor:x_last_wpt_lon(lon)=-6452.2847 1e+308 secs ago
devices:(t/m/s) errs: 1/ 0/ 0 warn: 12/ 1/ 1 odd: 248/ 9/ 4
ABORT HISTORY: total since reset: 4
ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR
ABORT HISTORY: last abort details: layered_control(): Behavior surface_2 entered B_ERROR state
ABORT HISTORY: last abort time: 2026-02-04T12:45:27
ABORT HISTORY: last abort segment: ru26d-2026-033-0-24 (0153.0024)
ABORT HISTORY: last abort mission: 1K_N.MI
Hit Control-R to RESUME the mission, i.e. dive!
Hit Control-C to END the mission, i.e. GliderDos
Hit Control-E to extend surface time by 5 minutes.
Hit Control-W to get device warning reports.
Hit Control-F to re-read yo, goto_l, surface, sample, drift_ mafiles.
Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number.
Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files
Hit ! to execute
Hit Control-T to consci to science computer when comms ready:
... communications ready for consci.
Water Velocity Calculations waiting for final gps fix(ideally -679 secs)
Waypoint: (-6434.5179,-6520.3678) Range: 20188m, Bearing: 291deg, Age: 5:26h:m
Time until diving is: 553 secs
^R 19770 63 behavior surface_2: User typed Control-R, resuming
I heard a Control-R
RESUMING MISSION
Megabytes used on CF file system = 97.156250
Megabytes available on CF file system = 1903.781250
19774 01540003.mlg LOG FILE CLOSED
Doing system wide housekeeping.......
report_heap_size(): M_FREE_HEAP=89.0K, M_SPARE_HEAP=70.0K
Running algorithm to free disk space if required
Not necessary to delete any files at this time
Writing longterm state disk file: c:/state/longterm.sta
f_coulomb_battery_capacity(amp-hrs) 500.000000
f_iridium_phone_num_factory(digits) 6977818711051.000000
f_ocean_pressure_min(volts) 0.158758
m_avg_climb_rate(m/s) -0.182783
m_avg_speed(m/s) 0.276323
m_avg_upward_inflection_time(sec) 57.673978
m_battery(volts) 14.740179
m_coulomb_amphr_total(amp-hrs) 30.280062
m_iridium_call_num(nodim) 5580.000000
m_iridium_dialed_num(nodim) 6923.000000
m_lat(lat) -6441.329700
m_lon(lon) -6500.627400
m_pump_effective_num_cycles(nodim) 2419.000000
m_tot_ballast_pumped_energy(kjoules) 0.047744
m_tot_horz_dist(km) 12350.512171
m_tot_num_inflections(nodim) 18620.000000
m_tot_num_thermal_valve_cmd(nodim) 12642.000000
m_weight_drop(bool) 0.000000
s_ini_lat(deg) -6430.000000
s_ini_lon(deg) -6430.000000
s_water_depth_avg(m) 2000.000000
s_water_depth_delta(m) 0.000000
s_water_depth_wavelength(m) 100.000000
u_max_lag_before_syncing_time(sec) 946100000.000000
x_hover_ballast_deep(cc) 132.799913
x_hover_ballast_shallow(cc) 125.976350
x_hover_depth_deep(m) 74.976047
x_hover_depth_shallow(m) 41.729947
x_last_wpt_lat(lat) -6445.378700
x_last_wpt_lon(lon) -6452.284700
timestamp: Wed Feb 4 18:27:07 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 0.0 seconds.
Housekeeping is done
19842 65 01540004.mlg LOG FILE OPENED
Megabytes used on CF file system = 97.281250
Megabytes available on CF file system = 1903.656250
19844 init_gps_input()
19844 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix
surface_2: Waiting for final GPS fix.
19846 disabling Iridium console...