Connection Event: Carrier Detect found. 10962 Iridium console active and ready...
Vehicle Name: ru26d
Curr Time: Thu Mar 26 12:08:32 2026 MT: 10961
DR Location: -6449.597 N -6405.779 E measured 64.152 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : -6449.606 N -6405.794 E measured 126.66 secs ago
GPS Location: -6449.597 N -6405.779 E measured 66.599 secs ago
sensor:c_wpt_lat(lat)=-6449.646 4796.94 secs ago
sensor:c_wpt_lon(lon)=-6406.337 4797.01 secs ago
sensor:m_battery(volts)=14.455621736015 19.334 secs ago
sensor:m_coulomb_amphr(amp-hrs)=296.727752685547 5.179 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=298.189565685623 5.2 secs ago
sensor:m_depth(m)=0.659169323154625 5.134 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1023 5.363 secs ago
sensor:m_gps_mag_var(rad)=-0.277507351067098 67.088 secs ago
sensor:m_iridium_attempt_num(nodim)=1 61.941 secs ago
sensor:m_iridium_call_num(nodim)=5924 19.821 secs ago
sensor:m_iridium_dialed_num(nodim)=7279 34.123 secs ago
sensor:m_leakdetect_voltage(volts)=2.47478632478632 61.889 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48040293040293 61.914 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 5.661 secs ago
sensor:m_tot_num_inflections(nodim)=20040 136.953 secs ago
sensor:m_vacuum(inHg)=9.92318028083028 57.414 secs ago
sensor:m_water_vx(m/s)=0.0347600768366942 95.477 secs ago
sensor:m_water_vy(m/s)=0.013027455610308 95.525 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)=-6449.507 4798.24 secs ago
sensor:x_last_wpt_lon(lon)=-6405.17 4798.3 secs ago
ABORT HISTORY: total since reset: 58
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: 2026-03-26T08:43:03
ABORT HISTORY: last abort segment: ru26d-2026-084-3-1 (0212.0001)
ABORT HISTORY: last abort mission: lastgasp.mi
10964 DRIVER_ODDITY:iridium:1700:xxx_ctrl() ran too long
!zr
--------------------------------
10971 33 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
10971 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B010008002757
Starting zModem transfer of surfac40.ma to/from ru26d size is 880
Total Bytes sent/received: 880
zModem transfer DONE for file surfac40.ma
sending >surfac40.ma< Sent
archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/surfac40.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/archive/20260326T120859_surfac40.ma< Successful
deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/surfac40.ma< Successful
10994 restore_sensors()....
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
10994 restore_sensors()....
10994 restore_sensors()....
Restored c_science_printout from 0 to 0
Done!
--------------------------------
10994 behavior surface_2: ! succeeded:zr
10994 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-2026-084-4-3 (0213.0003)
Vehicle Name: ru26d
Curr Time: Thu Mar 26 12:09:08 2026 MT: 10998
DR Location: -6449.597 N -6405.779 E measured 99.795 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : -6449.606 N -6405.794 E measured 162.304 secs ago
GPS Location: -6449.597 N -6405.779 E measured 102.243 secs ago
sensor:c_wpt_lat(lat)=-6449.646 4832.56 secs ago
sensor:c_wpt_lon(lon)=-6406.337 4832.6 secs ago
sensor:m_battery(volts)=14.455621736015 54.906 secs ago
sensor:m_coulomb_amphr(amp-hrs)=296.732513427734 2.937 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=298.194326427811 2.949 secs ago
sensor:m_depth(m)=0 2.869 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1023 3.097 secs ago
sensor:m_gps_mag_var(rad)=-0.277507351067098 102.62 secs ago
sensor:m_iridium_attempt_num(nodim)=1 97.455 secs ago
sensor:m_iridium_call_num(nodim)=5924 55.317 secs ago
sensor:m_iridium_dialed_num(nodim)=7279 69.607 secs ago
sensor:m_leakdetect_voltage(volts)=2.47457264957265 34.438 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48089133089133 34.451 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 3.319 secs ago
sensor:m_tot_num_inflections(nodim)=20040 172.407 secs ago
sensor:m_vacuum(inHg)=10.3810833333333 31.389 secs ago
sensor:m_water_vx(m/s)=0.0347600768366942 130.905 secs ago
sensor:m_water_vy(m/s)=0.013027455610308 130.939 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)=-6449.507 4833.56 secs ago
sensor:x_last_wpt_lon(lon)=-6405.17 4833.6 secs ago
devices:(t/m/s) errs: 2/ 0/ 0 warn: 82/ 1/ 0 odd:1776/ 7/ 2
ABORT HISTORY: total since reset: 58
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: 2026-03-26T08:43:03
ABORT HISTORY: last abort segment: ru26d-2026-084-3-1 (0212.0001)
ABORT HISTORY: last abort mission: lastgasp.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 -91 secs)
Waypoint: (-6449.6460,-6406.3370) Range: 451m, Bearing: 242deg, Age: 1:20h:m
Time until diving is: 395 secs
11015 37 SCI:PROGLET house_elf begin() called
11015 SCI: house_elf: Version 1.2
11016 SCI:PROGLET ctd41cp begin() called
11016 SCI: ctd41cp: Version 0.2
11016 SCI: ctd41cp: Will be sending the following data to glider:
11017 SCI: sci_water_cond(s/m)
11017 SCI: sci_water_temp(degc)
11017 SCI: sci_water_pressure(bar)
11017 SCI: sci_ctd41cp_timestamp(timestamp)
11017 SCI:PROGLET flbbcd begin() called
11017 SCI: flbbcd: Version 0.0
^F
MAFILES will be re-read.
Extending surface time by 5 minutes just in case
user might want to verify quality of MAFILE(s).
11020 39 SCI: flbbcd: Will be sending following data to glider:
11021 SCI: sci_flbbcd_chlor_units(ug/l)
11021 SCI: sci_flbbcd_bb_units(nodim)
11022 SCI: sci_flbbcd_cdom_units(ppb)
11022 SCI: sci_flbbcd_chlor_sig(nodim)
11022 SCI: sci_flbbcd_bb_sig(nodim)
11022 SCI: sci_flbbcd_cdom_sig(nodim)
11022 SCI: sci_flbbcd_chlor_ref(nodim)
11022 SCI: sci_flbbcd_bb_ref(nodim)
11022 SCI: sci_flbbcd_cdom_ref(nodim)
11023 SCI: sci_flbbcd_therm(nodim)
11025 39 behavior sample_9: SUBSTATE 4 ->0 UnInited: Unitialized
11025 behavior sample_9: STATE Active -> UnInited
11025 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized
11025 behavior sample_8: STATE Active -> UnInited
11025 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized
11025 behavior sample_7: STATE Active -> UnInited
11025 behavior yo_6: STATE Active -> UnInited
11025 behavior goto_list_5: STATE Active -> UnInited
11026 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file
11026 behavior surface_4: STATE Waiting for Activation -> UnInited
11026 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file
11026 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.
11026 SCI: sci_flbbcd_timestamp(timestamp)
11026 SCI: Opening Bit(0) for output
11027 SCI:Bit(0) use count is now 1.
11027 SCI:Bit(0) raise count is now 0.
11027 SCI:Bit(0) raise count is now 0.
11027 SCI:PROGLET oxy4 begin() called
11028 SCI: oxy4: Version 0.0
11028 SCI: oxy4: Will be sending following data to glider:
11030 41 behavior sample_9: sample(): reading bargs
11030 behavior sample_9: Reading b_args from sample54.ma
11030 behavior sample_9: sensor_type(enum)=54.000000
11030 behavior sample_9: sample_time_after_state_change(s)=0.000000
11030 behavior sample_9: intersample_time(sec)=1.000000
11030 behavior sample_9: state_to_sample(enum)=7.000000
11030 behavior sample_9: nth_yo_to_sample(nodim)=1.000000
11031 behavior sample_9: STATE UnInited -> Active
11031 behavior sample_9: argument: args_from_file = 54.000000 enum
11031 behavior sample_9: argument: sensor_type = 54.000000 enum
11031 behavior sample_9: argument: state_to_sample = 7.000000 enum
11031 behavior sample_9: argument: sample_time_after_state_change = 0.000000 s
11031 behavior sample_9: argument: intersample_time = 1.000000 s
11031 behavior sample_9: argument: nth_yo_to_sample = 1.000000 nodim
11031 behavior sample_9: argument: intersample_depth = -1.000000 m
11031 behavior sample_9: argument: min_depth = -5.000000 m
11031 behavior sample_9: argument: max_depth = 2000.000000 m
11031 behavior sample_9: SUBSTATE 0 UnInited->4 : On Surface
11031 behavior sample_8: sample(): reading bargs
11031 behavior sample_8: Reading b_args from sample48.ma
11031 behavior sample_8: sensor_type(enum)=48.000000
11031 behavior sample_8: sample_time_after_state_change(s)=0.000000
11031 behavior sample_8: intersample_time(sec)=1.000000
11031 behavior sample_8: state_to_sample(enum)=7.000000
11031 behavior sample_8: nth_yo_to_sample(nodim)=1.000000
11031 behavior sample_8: min_depth(m)=-5.000000
11032 behavior sample_8: max_depth(m)=500.000000
11032 behavior sample_8: STATE UnInited -> Active
11032 behavior sample_8: argument: args_from_file = 48.000000 enum
11032 behavior sample_8: argument: sensor_type = 48.000000 enum
11032 behavior sample_8: argument: state_to_sample = 7.000000 enum
11032 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s
11032 behavior sample_8: argument: intersample_time = 1.000000 s
11032 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim
11032 behavior sample_8: argument: intersample_depth = -1.000000 m
11032 behavior sample_8: argument: min_depth = -5.000000 m
11032 behavior sample_8: argument: max_depth = 500.000000 m
11032 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface
11032 behavior sample_7: sample(): reading bargs
11032 behavior sample_7: Reading b_args from sample01.ma
11032 behavior sample_7: sensor_type(enum)=1.000000
11032 behavior sample_7: sample_time_after_state_change(s)=0.000000
11032 behavior sample_7: intersample_time(sec)=1.000000
11032 behavior sample_7: state_to_sample(enum)=7.000000
11032 behavior sample_7: nth_yo_to_sample(nodim)=1.000000
11033 behavior sample_7: STATE UnInited -> Active
11033 behavior sample_7: argument: args_from_file = 1.000000 enum
11033 behavior sample_7: argument: sensor_type = 1.000000 enum
11033 behavior sample_7: argument: state_to_sample = 7.000000 enum
11033 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s
11033 behavior sample_7: argument: intersample_time = 1.000000 s
11033 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim
11033 behavior sample_7: argument: intersample_depth = -1.000000 m
11033 behavior sample_7: argument: min_depth = -5.000000 m
11033 behavior sample_7: argument: max_depth = 2000.000000 m
11033 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface
11033 behavior yo_6: Reading b_args from yo20.ma
11033 behavior yo_6: num_half_cycles_to_do(nodim)=4.000000
11033 behavior yo_6: d_target_depth(m)=250.000000
11033 behavior yo_6: d_target_altitude(m)=30.000000
11033 behavior yo_6: d_use_bpump(enum)=2.000000
11033 behavior yo_6: d_bpump_value(X)=-260.000000
11033 behavior yo_6: d_use_pitch(enum)=3.000000
11033 behavior yo_6: d_pitch_value(X)=-0.454000
11033 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000
11034 behavior yo_6: d_stop_when_hover_for(sec)=180.000000
11034 behavior yo_6: c_target_depth(m)=6.000000
11034 behavior yo_6: c_target_altitude(m)=-1.000000
11034 behavior yo_6: c_use_bpump(enum)=2.000000
11034 behavior yo_6: c_bpump_value(X)=260.000000
11034 behavior yo_6: c_use_pitch(enum)=3.000000
11034 behavior yo_6: c_pitch_value(X)=0.620000
11034 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000
11034 behavior yo_6: c_stop_when_hover_for(sec)=180.000000
11034 behavior yo_6: STATE UnInited -> Waiting for Activation
11034 behavior yo_6: argument: args_from_file = 20.000000 enum
11034 behavior yo_6: argument: start_when = 2.000000 enum
11034 behavior yo_6: argument: start_diving = 1.000000 enum
11034 behavior yo_6: argument: num_half_cycles_to_do = 4.000000 nodim
11034 behavior yo_6: argument: d_target_depth = 250.000000 m
11034 behavior yo_6: argument: d_target_altitude = 30.000000 m
11034 behavior yo_6: argument: d_use_bpump = 2.000000 enum
11034 behavior yo_6: argument: d_bpump_value = -260.000000 X
11034 behavior yo_6: argument: d_use_pitch = 3.000000 enum
11035 behavior yo_6: argument: d_pitch_value = -0.454000 X
11035 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec
11035 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec
11035 behavior yo_6: argument: d_speed_min = -100.000000 m/s
11035 behavior yo_6: argument: d_speed_max = 100.000000 m/s
11035 behavior yo_6: argument: d_use_thruster = 0.000000 enum
11035 behavior yo_6: argument: d_thruster_value = 0.000000 X
11035 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum
11035 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool
11035 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec
11035 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X
11035 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X
11035 behavior yo_6: argument: d_time_ratio = 1.100000 X
11035 behavior yo_6: argument: d_use_sc_model = 0.000000 bool
11035 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec
11035 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec
11035 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim
11035 behavior yo_6: argument: c_target_depth = 6.000000 m
11035 behavior yo_6: argument: c_target_altitude = -1.000000 m
11035 behavior yo_6: argument: c_use_bpump = 2.000000 enum
11036 behavior yo_6: argument: c_bpump_value = 260.000000 X
11036 behavior yo_6: argument: c_use_pitch = 3.000000 enum
11036 behavior yo_6: argument: c_pitch_value = 0.620000 X
11036 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec
11036 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec
11036 behavior yo_6: argument: c_speed_min = 100.000000 m/s
11036 behavior yo_6: argument: c_speed_max = -100.000000 m/s
11036 behavior yo_6: argument: c_use_thruster = 0.000000 enum
11036 behavior yo_6: argument: c_thruster_value = 0.000000 X
11036 behavior yo_6: argument: end_action = 2.000000 enum
11036 behavior yo_6: argument: stop_when = 5.000000 enum
11036 behavior yo_6: argument: when_secs = 1200.000000 sec
11036 behavior yo_6: argument: when_wpt_dist = 10.000000 m
11036 behavior yo_6: STATE Waiting for Activation -> Active
11036 behavior dive_to_601: STATE UnInited -> Active
11036 behavior dive_to_601: argument: target_depth = 250.000000 m
11036 behavior dive_to_601: argument: target_altitude = 30.000000 m
11036 behavior dive_to_601: argument: use_bpump = 2.000000 enum
11036 behavior dive_to_601: argument: bpump_value = -260.000000 X
11036 behavior dive_to_601: argument: use_pitch = 3.000000 enum
11037 behavior dive_to_601: argument: pitch_value = -0.454000 X
11037 behavior dive_to_601: argument: start_when = 0.000000 enum
11037 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec
11037 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec
11037 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool
11037 behavior dive_to_601: argument: initial_inflection = 1.000000 bool
11037 behavior dive_to_601: argument: speed_min = -100.000000 m/s
11037 behavior dive_to_601: argument: speed_
******
11063 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-2026-084-4-3 (0213.0003)
Vehicle Name: ru26d
Curr Time: Thu Mar 26 12:10:41 2026 MT: 11090
DR Location: -6449.597 N -6405.779 E measured 192.449 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : -6449.606 N -6405.794 E measured 254.958 secs ago
GPS Location: -6449.597 N -6405.779 E measured 194.897 secs ago
sensor:
not found>*.dat<
not found>*.ini<
not found>*.cfg<
[dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive]
[-d ] ...
[[-d ... ] ... ]
c_wpt_lat(lat)=-6449.646 48.288 secs ago
sensor:c_wpt_lon(lon)=-6406.337 48.327 secs ago
sensor:m_battery(volts)=14.4242608344994 13.682 secs ago
sensor:m_coulomb_amphr(amp-hrs)=296.745544433594 4.234 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=298.20735743367 4.246 secs ago
sensor:m_depth(m)=0 4.17 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1023 9.209 secs ago
sensor:m_gps_mag_var(rad)=-0.277507351067098 195.276 secs ago
sensor:m_iridium_attempt_num(nodim)=0 71.086 secs ago
sensor:m_iridium_call_num(nodim)=5924 147.971 secs ago
sensor:m_iridium_dialed_num(nodim)=7279 162.261 secs ago
sensor:m_leakdetect_voltage(volts)=2.475 63.958 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48073870573871 63.97 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 4.608 secs ago
sensor:m_tot_num_inflections(nodim)=20040 265.057 secs ago
sensor:m_vacuum(inHg)=10.7896925518926 42.762 secs ago
sensor:m_water_vx(m/s)=0.0347600768366942 223.556 secs ago
sensor:m_water_vy(m/s)=0.013027455610308 223.59 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)=-6449.507 4926.22 secs ago
sensor:x_last_wpt_lon(lon)=-6405.17 4926.25 secs ago
devices:(t/m/s) errs: 2/ 0/ 0 warn: 82/ 1/ 0 odd:1776/ 7/ 2
ABORT HISTORY: total since reset: 58
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: 2026-03-26T08:43:03
ABORT HISTORY: last abort segment: ru26d-2026-084-3-1 (0212.0001)
ABORT HISTORY: last abort mission: lastgasp.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 -184 secs)
Waypoint: (-6449.6460,-6406.3370) Range: 451m, Bearing: 242deg, Age: 1:22h:m
Time until diving is: 602 secs
s -num=6 *.sbd *.tbd *.tcd *.scd *.vem *.azf *.asc *.obs *.mrd
--------------------------------
11116 53 02130003.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
11125 57 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 5 files
Prechecking is not necessary for this invocation
START
**B00000000000000
Starting zModem transfer of 02130003.tbd to/from ru26d size is 4399
Total Bytes sent/received: 1024
Total Bytes sent/received: 2048
Total Bytes sent/received: 3072
Total Bytes sent/received: 4096
Total Bytes sent/received: 4399
zModem transfer DONE for file 02130003.tbd
Starting zModem transfer of 02130002.tbd to/from ru26d size is 4451
Total Bytes sent/received: 1024
Total Bytes sent/received: 2048
Total Bytes sent/received: 3072
Total Bytes sent/received: 4096
Total Bytes sent/received: 4451
zModem transfer DONE for file 02130002.tbd
Starting zModem transfer of 02130001.tbd to/from ru26d size is 491
Total Bytes sent/received: 491
zModem transfer DONE for file 02130001.tbd
Starting zModem transfer of 02060002.tbd to/from ru26d size is 34966
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: 34966
zModem transfer DONE for file 02060002.tbd
Starting zModem transfer of 02060001.tbd to/from ru26d size is 491
Total Bytes sent/received: 491
zModem transfer DONE for file 02060001.tbd
SHUFFLING FILES.....
SCI: Sent 5 file(s):
c:\logs\02130003.TBD c:\logs\02130002.TBD c:\logs\02130001.TBD
c:\logs\02060002.TBD c:\logs\02060001.TBD
SCI: SUCCESS
11308 0 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
11315 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
11315 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B00000000000000
Starting zModem transfer of 02130003.sbd to/from ru26d size is 9512
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: 9512
zModem transfer DONE for file 02130003.sbd
Starting zModem transfer of 02130002.sbd to/from ru26d size is 9223
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: 9223
zModem transfer DONE for file 02130002.sbd
Starting zModem transfer of 02130001.sbd to/from ru26d size is 846
Total Bytes sent/received: 846
zModem transfer DONE for file 02130001.sbd
Starting zModem transfer of 02130000.sbd to/from ru26d size is 8679
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: 8679
zModem transfer DONE for file 02130000.sbd
Starting zModem transfer of 02070037.sbd to/from ru26d size is 1019
Total Bytes sent/received: 1019
zModem transfer DONE for file 02070037.sbd
11526 restore_sensors()....
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
11526 restore_sensors()....
11526 restore_sensors()....
Restored c_science_printout from 0 to 0
SHUFFLING FILES.....
GLD: Sent 5 file(s):
c:\logs\02130003.SBD c:\logs\02130002.SBD c:\logs\02130001.SBD
c:\logs\02130000.SBD c:\logs\02070037.SBD
GLD: SUCCESS
Glider-Science software version match: 8.300000
Science hardware version is 2.000000
11547 1 SCI:PROGLET house_elf begin() called
11547 SCI: house_elf: Version 1.2
11547 SCI:PROGLET ctd41cp begin() called
11547 SCI: ctd41cp: Version 0.2
11547 SCI: ctd41cp: Will be sending the following data to glider:
11547 SCI: sci_water_cond(s/m)
11547 SCI: sci_water_temp(degc)
11547 SCI: sci_water_pressure(bar)
11548 SCI: sci_ctd41cp_timestamp(timestamp)
11548 SCI:PROGLET flbbcd begin() called
11548 SCI: flbbcd: Version 0.0
11548 SCI: flbbcd: Will be sending following data to glider:
11548 SCI: sci_flbbcd_chlor_units(ug/l)
11548 SCI: sci_flbbcd_bb_units(nodim)
11548 SCI: sci_flbbcd_cdom_units(ppb)
11548 SCI: sci_flbbcd_chlor_sig(nodim)
11548 SCI: sci_flbbcd_bb_sig(nodim)
11548 SCI: sci_flbbcd_cdom_sig(nodim)
11548 SCI: sci_flbbcd_chlor_ref(nodim)
11549 SCI: sci_flbbcd_bb_ref(nodim)
11549 SCI: sci_flbbcd_cdom_ref(nodim)
11549 SCI: sci_flbbcd_therm(nodim)
11549 3 SCI: sci_flbbcd_timestamp(timestamp)
11549 SCI: Opening Bit(0) for output
11549 SCI:Bit(0) use count is now 1.
11550 SCI:Bit(0) raise count is now 0.
11550 SCI:Bit(0) raise count is now 0.
11550 SCI:PROGLET oxy4 begin() called
11550 SCI: oxy4: Version 0.0
11550 SCI: oxy4: Will be sending following data to glider:
11550 SCI: sci_oxy4_oxygen(um)
11550 SCI: sci_oxy4_saturation(%)
11551 SCI: sci_oxy4_temp(degc)
11551 SCI: sci_oxy4_calphase(deg)
11551 SCI: sci_oxy4_tcphase(deg)
11551 SCI: sci_oxy4_c1rph(deg)
11551 SCI: sci_oxy4_c2rph(deg)
11551 SCI: sci_oxy4_c1amp(mv)
11551 SCI: sci_oxy4_c2amp(mv)
11551 SCI: sci_oxy4_rawtemp(mv)
11551 SCI: sci_oxy4_timestamp(timestamp)
11551 SCI: Opening Bit(2) for output
11551 SCI:Bit(2) use count is now 1.
11551 SCI:Bit(2) raise count is now 0.
11551 SCI:Bit(2) raise count is now 0.
11559 3 SCI:PROGLET house_elf start() called
11559 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
11559 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
11632 7 02130004.mlg LOG FILE OPENED
--------------------------------
11634 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-2026-084-4-4 (0213.0004)
Vehicle Name: ru26d
Curr Time: Thu Mar 26 12:19:48 2026 MT: 11638
DR Location: -6449.597 N -6405.779 E measured 740.05 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : -6449.606 N -6405.794 E measured 802.559 secs ago
GPS Location: -6449.597 N -6405.779 E measured 742.498 secs ago
sensor:c_wpt_lat(lat)=-6449.646 595.887 secs ago
sensor:c_wpt_lon(lon)=-6406.337 595.925 secs ago
sensor:m_battery(volts)=14.4312237620385 2.956 secs ago
sensor:m_coulomb_amphr(amp-hrs)=296.812072753906 3.131 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=298.273885753983 3.147 secs ago
sensor:m_depth(m)=0 3.029 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 3.292 secs ago
sensor:m_gps_mag_var(rad)=-0.277507351067098 742.877 secs ago
sensor:m_iridium_attempt_num(nodim)=0 618.689 secs ago
sensor:m_iridium_call_num(nodim)=5924 695.573 secs ago
sensor:m_iridium_dialed_num(nodim)=7279 709.862 secs ago
sensor:m_leakdetect_voltage(volts)=2.47518315018315 3.046 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48058608058608 3.064 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 3.094 secs ago
sensor:m_tot_num_inflections(nodim)=20040 812.66 secs ago
sensor:m_vacuum(inHg)=11.139638034188 3.452 secs ago
sensor:m_water_vx(m/s)=0.0347600768366942 771.16 secs ago
sensor:m_water_vy(m/s)=0.013027455610308 771.193 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)=-6449.507 5473.82 secs ago
sensor:x_last_wpt_lon(lon)=-6405.17 5473.86 secs ago
devices:(t/m/s) errs: 2/ 0/ 0 warn: 82/ 1/ 0 odd:1776/ 7/ 2
ABORT HISTORY: total since reset: 58
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: 2026-03-26T08:43:03
ABORT HISTORY: last abort segment: ru26d-2026-084-3-1 (0212.0001)
ABORT HISTORY: last abort mission: lastgasp.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 -731 secs)
Waypoint: (-6449.6460,-6406.3370) Range: 451m, Bearing: 242deg, Age: 1:31h:m
Time until diving is: 695 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 [ 0 0 0] [ 0 0 0] [ 33 0 0]
7 pinger -
8 attitude -
9 attitude_tcm3 -
10 attitude_rev I u 3 20 5 2 [ 2 0 0] [ 14 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 [ 0 0 0] [ 0 0 0] [ 20 0 0]
17 science_super I u 3 20 5 0 [ 0 0 0] [ 2 0 0] [ 54 1 0]
18 roll_motor -
19 fpitch_pump -
20 fin_motor -
21 digifin I u 3 20 5 0 [ 0 0 0] [ 63 1 0] [1127 1 1]
22 altimeter I u 3 20 5 0
23 ctd -
24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 3 0 0] [ 457 5 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] [ 16 0 0]
34 HD_PUMP -
35 thruster_g1 -
36 thruster -
devices:(t/m/s) errs: 2/ 0/ 0 warn: 82/ 1/ 0 odd:1776/ 7/ 2
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-2026-084-4-4 (0213.0004)
Vehicle Name: ru26d
Curr Time: Thu Mar 26 12:20:30 2026 MT: 11679
DR Location: -6449.597 N -6405.779 E measured 781.412 secs ago
GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago
GPS Invalid : -6449.606 N -6405.794 E measured 843.92 secs ago
GPS Location: -6449.597 N -6405.779 E measured 783.859 secs ago
sensor:c_wpt_lat(lat)=-6449.646 637.25 secs ago
sensor:c_wpt_lon(lon)=-6406.337 637.289 secs ago
sensor:m_battery(volts)=14.4312237620385 44.32 secs ago
sensor:m_coulomb_amphr(amp-hrs)=296.815612792969 4.284 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=298.277425793045 4.3 secs ago
sensor:m_depth(m)=0 4.23 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 4.439 secs ago
sensor:m_gps_mag_var(rad)=-0.277507351067098 784.239 secs ago
sensor:m_iridium_attempt_num(nodim)=0 660.05 secs ago
sensor:m_iridium_call_num(nodim)=5924 736.934 secs ago
sensor:m_iridium_dialed_num(nodim)=7279 751.223 secs ago
sensor:m_leakdetect_voltage(volts)=2.47518315018315 44.408 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.48058608058608 44.424 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 4.661 secs ago
sensor:m_tot_num_inflections(nodim)=20040 854.024 secs ago
sensor:m_vacuum(inHg)=11.139638034188 44.815 secs ago
sensor:m_water_vx(m/s)=0.0347600768366942 812.523 secs ago
sensor:m_water_vy(m/s)=0.013027455610308 812.557 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)=-6449.507 5515.18 secs ago
sensor:x_last_wpt_lon(lon)=-6405.17 5515.22 secs ago
devices:(t/m/s) errs: 2/ 0/ 0 warn: 82/ 1/ 0 odd:1776/ 7/ 2
ABORT HISTORY: total since reset: 58
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: 2026-03-26T08:43:03
ABORT HISTORY: last abort segment: ru26d-2026-084-3-1 (0212.0001)
ABORT HISTORY: last abort mission: lastgasp.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 -773 secs)
Waypoint: (-6449.6460,-6406.3370) Range: 451m, Bearing: 242deg, Age: 1:31h:m
Time until diving is: 653 secs
^R 11699 19 behavior surface_2: User typed Control-R, resuming
I heard a Control-R
RESUMING MISSION
Megabytes used on CF file system = 931.250000
Megabytes available on CF file system = 1069.687500
11704 02130004.mlg LOG FILE CLOSED
Doing system wide housekeeping.......
report_heap_size(): M_FREE_HEAP=92.0K, M_SPARE_HEAP=73.0K
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) 0.158107
m_avg_climb_rate(m/s) -0.239250
m_avg_speed(m/s) 0.315720
m_avg_upward_inflection_time(sec) 100.131112
m_battery(volts) 14.431224
m_coulomb_amphr_total(amp-hrs) 298.280996
m_iridium_call_num(nodim) 5924.000000
m_iridium_dialed_num(nodim) 7279.000000
m_lat(lat) -6449.597200
m_lon(lon) -6405.779000
m_pump_effective_num_cycles(nodim) 3129.000000
m_tot_ballast_pumped_energy(kjoules) 0.047744
m_tot_horz_dist(km) 13432.566460
m_tot_num_inflections(nodim) 20040.000000
m_tot_num_thermal_valve_cmd(nodim) 14076.000000
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) -6449.507000
x_last_wpt_lon(lon) -6405.170000
timestamp: Thu Mar 26 12:21:01 2026
The instantaneous lag time between the system and gps clock is -6.0 seconds.
The average lag time between the system and gps clock is -5.5 seconds.
Housekeeping is done
11786 23 02130005.mlg LOG FILE OPENED
Megabytes used on CF file system = 931.375000
Megabytes available on CF file system = 1069.562500
11790 init_gps_input()
11790 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix
surface_2: Waiting for final GPS fix.
11792 disabling Iridium console...