58160 Iridium console active and ready... Vehicle Name: ru21 Curr Time: Sun Jul 25 17:33:34 2010 MT: 58159 DR Location: 3915.880 N -7349.089 E measured 55.021 secs ago GPS TooFar: 3916.508 N -7350.087 E measured 6380.37 secs ago GPS Invalid : 3915.891 N -7349.089 E measured 157.875 secs ago GPS Location: 3915.880 N -7349.090 E measured 57.196 secs ago sensor:c_science_send_all(bool)=1 1e+308 secs ago sensor:c_wpt_lat(lat)=3900 58006.7 secs ago sensor:c_wpt_lon(lon)=-7252.5 58006.8 secs ago sensor:m_battery(volts)=13.6197362783602 9.881 secs ago sensor:m_coulomb_amphr(amp-hrs)=21.50874 10.142 secs ago sensor:m_final_water_vx(m/s)=-0.0583794645637242 77.294 secs ago sensor:m_final_water_vy(m/s)=-0.147000964793206 77.342 secs ago sensor:m_gps_mag_var(rad)=0.226892802759263 57.812 secs ago sensor:m_iridium_call_num(nodim)=1145 0.779 secs ago sensor:m_iridium_dialed_num(nodim)=1405 10.599 secs ago sensor:m_leakdetect_voltage(volts)=2.49822954822955 9.957 secs ago sensor:m_tot_num_inflections(nodim)=27740 366.676 secs ago sensor:m_vacuum(inHg)=7.9538234126984 25.458 secs ago sensor:m_water_vx(m/s)=-0.0583794645637242 77.721 secs ago sensor:m_water_vy(m/s)=-0.147000964793206 77.771 secs ago sensor:sci_m_disk_free(Mbytes)=1975.59375 6482.44 secs ago sensor:sci_water_cond(S/m)=4.67368 2.047 secs ago sensor:sci_water_temp(degC)=26.2776 2.103 secs ago sensor:u_pitch_max_delta_battpos(in)=1.05 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3926.25 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7414 1e+308 secs ago ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_NOINPUT ABORT HISTORY: last abort time: 2010-07-25T01:10:57 ABORT HISTORY: last abort segment: ru21-2010-204-0-19 (0116.0019) ABORT HISTORY: last abort mission: 200_TN.MI 58162 No login script found for processing. 58162 DRIVER_ODDITY:iridium:1885:xxx_ctrl() ran too long Glider ru21 at surface. Because:timeout expired [behavior surface_5 start_when = 9.0] MissionName:200_TN.MI MissionNum:ru21-2010-205-0-15 (0117.0015) Vehicle Name: ru21 Curr Time: Sun Jul 25 17:34:06 2010 MT: 58192 DR Location: 3915.880 N -7349.089 E measured 86.771 secs ago GPS TooFar: 3916.508 N -7350.087 E measured 6412.12 secs ago GPS Invalid : 3915.891 N -7349.089 E measured 189.625 secs ago GPS Location: 3915.880 N -7349.090 E measured 88.946 secs ago sensor:c_science_send_all(bool)=1 1e+308 secs ago sensor:c_wpt_lat(lat)=3900 58038.4 secs ago sensor:c_wpt_lon(lon)=-7252.5 58038.5 secs ago sensor:m_battery(volts)=13.6197362783602 41.52 secs ago sensor:m_coulomb_amphr(amp-hrs)=21.51124 20.489 secs ago sensor:m_final_water_vx(m/s)=-0.0583794645637242 108.907 secs ago sensor:m_final_water_vy(m/s)=-0.147000964793206 108.946 secs ago sensor:m_gps_mag_var(rad)=0.226892802759263 89.409 secs ago sensor:m_iridium_call_num(nodim)=1145 32.355 secs ago sensor:m_iridium_dialed_num(nodim)=1405 42.16 secs ago sensor:m_leakdetect_voltage(volts)=2.49822954822955 41.51 secs ago sensor:m_tot_num_inflections(nodim)=27740 398.216 secs ago sensor:m_vacuum(inHg)=8.17387301587301 10.434 secs ago sensor:m_water_vx(m/s)=-0.0583794645637242 109.229 secs ago sensor:m_water_vy(m/s)=-0.147000964793206 109.268 secs ago sensor:sci_m_disk_free(Mbytes)=1975.59375 6513.93 secs ago sensor:sci_water_cond(S/m)=4.67638 10.444 secs ago sensor:sci_water_temp(degC)=26.3033 10.476 secs ago sensor:u_pitch_max_delta_battpos(in)=1.05 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3926.25 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7414 1e+308 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 118/ 4/ 0 odd:4653/ 942/ 117 ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_NOINPUT ABORT HISTORY: last abort time: 2010-07-25T01:10:57 ABORT HISTORY: last abort segment: ru21-2010-204-0-19 (0116.0019) ABORT HISTORY: last abort mission: 200_TN.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, 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 COMPLETE Waypoint: (3900.0000,-7252.5000) Range: 86669m, Bearing: 122deg, Age: 16:7h:m Time until diving is: 198 secs !zr -------------------------------- 58215 21 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 58215 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B01000800275775 � 58230 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 58230 restore_sensors().... 58230 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 58230 behavior surface_5: ! succeeded:zr 58230 behavior surface_5: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume Heap is adequate; enabling enhanced input ringbuffer size on uart at slot 15 Glider ru21 at surface. Because:timeout expired [behavior surface_5 start_when = 9.0] MissionName:200_TN.MI MissionNum:ru21-2010-205-0-15 (0117.0015) Vehicle Name: ru21 Curr Time: Sun Jul 25 17:34:54 2010 MT: 58240 DR Location: 3915.880 N -7349.089 E measured 135.12 secs ago GPS TooFar: 3916.508 N -7350.087 E measured 6460.47 secs ago GPS Invalid : 3915.891 N -7349.089 E measured 237.975 secs ago GPS Location: 3915.880 N -7349.090 E measured 137.296 secs ago sensor:c_science_send_all(bool)=1 1e+308 secs ago sensor:c_wpt_lat(lat)=3900 58086.8 secs ago sensor:c_wpt_lon(lon)=-7252.5 58086.8 secs ago sensor:m_battery(volts)=13.6140156419772 45.64 secs ago sensor:m_coulomb_amphr(amp-hrs)=21.51874 9.049 secs ago sensor:m_final_water_vx(m/s)=-0.0583794645637242 157.25 secs ago sensor:m_final_water_vy(m/s)=-0.147000964793206 157.288 secs ago sensor:m_gps_mag_var(rad)=0.226892802759263 137.753 secs ago sensor:m_iridium_call_num(nodim)=1145 80.699 secs ago sensor:m_iridium_dialed_num(nodim)=1405 90.504 secs ago sensor:m_leakdetect_voltage(volts)=2.49929792429792 8.74 secs ago sensor:m_tot_num_inflections(nodim)=27740 446.561 secs ago sensor:m_vacuum(inHg)=8.25603037240537 9.146 secs ago sensor:m_water_vx(m/s)=-0.0583794645637242 157.573 secs ago sensor:m_water_vy(m/s)=-0.147000964793206 157.611 secs ago sensor:sci_m_disk_free(Mbytes)=1975.59375 6562.27 secs ago sensor:sci_water_cond(S/m)=4.6762 24.791 secs ago sensor:sci_water_temp(degC)=26.3 24.824 secs ago sensor:u_pitch_max_delta_battpos(in)=1.05 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3926.25 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7414 1e+308 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 118/ 4/ 0 odd:4653/ 942/ 117 ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_NOINPUT ABORT HISTORY: last abort time: 2010-07-25T01:10:57 ABORT HISTORY: last abort segment: ru21-2010-204-0-19 (0116.0019) ABORT HISTORY: last abort mission: 200_TN.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, 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 COMPLETE Waypoint: (3900.0000,-7252.5000) Range: 86669m, Bearing: 122deg, Age: 16:8h:m Time until diving is: 289 secs ^F MAFILES will be re-read. Extending surface time by 5 minutes just in case user might want to verify quality of MAFILE(s). 58261 27 behavior sample_17: SUBSTATE 4 ->0 UnInited: Unitialized 58261 behavior sample_17: STATE Active -> UnInited 58261 behavior sample_16: SUBSTATE 4 ->0 UnInited: Unitialized 58261 behavior sample_16: STATE Active -> UnInited 58261 behavior sample_15: SUBSTATE 4 ->0 UnInited: Unitialized 58261 behavior sample_15: STATE Active -> UnInited 58261 behavior sample_14: SUBSTATE 4 ->0 UnInited: Unitialized 58261 behavior sample_14: STATE Active -> UnInited 58261 behavior sample_13: SUBSTATE 4 ->0 UnInited: Unitialized 58261 behavior sample_13: STATE Active -> UnInited 58261 behavior sample_12: SUBSTATE 4 ->0 UnInited: Unitialized 58262 behavior sample_12: STATE Active -> UnInited 58262 behavior sample_11: SUBSTATE 4 ->0 UnInited: Unitialized 58262 behavior sample_11: STATE Active -> UnInited 58262 behavior sample_10: SUBSTATE 4 ->0 UnInited: Unitialized 58262 behavior sample_10: STATE Active -> UnInited 58262 behavior yo_9: STATE Active -> UnInited 58262 behavior goto_list_8: STATE Active -> UnInited 58266 28 behavior sample_17: sample(): reading bargs 58266 behavior sample_17: Reading b_args from sample13.ma 58266 behavior sample_17: sensor_type(enum)=13.000000 58266 behavior sample_17: sample_time_after_state_change(s)=0.000000 58266 behavior sample_17: intersample_time(sec)=0.000000 58266 behavior sample_17: state_to_sample(enum)=7.000000 58266 behavior sample_17: STATE UnInited -> Active 58266 behavior sample_17: argument: args_from_file = 13.000000 enum 58266 behavior sample_17: argument: sensor_type = 13.000000 enum 58266 behavior sample_17: argument: state_to_sample = 7.000000 enum 58266 behavior sample_17: argument: sample_time_after_state_change = 0.000000 s 58266 behavior sample_17: argument: intersample_time = 0.000000 s 58267 behavior sample_17: argument: nth_yo_to_sample = 1.000000 nodim 58267 behavior sample_17: argument: intersample_depth = -1.000000 m 58267 behavior sample_17: argument: min_depth = -5.000000 m 58267 behavior sample_17: argument: max_depth = 2000.000000 m 58267 behavior sample_17: SUBSTATE 0 UnInited->4 : On Surface 58267 behavior sample_16: sample(): reading bargs 58267 behavior sample_16: Reading b_args from sample17.ma 58267 behavior sample_16: sensor_type(enum)=17.000000 58267 behavior sample_16: sample_time_after_state_change(s)=0.000000 58267 behavior sample_16: intersample_time(sec)=0.000000 58267 behavior sample_16: state_to_sample(enum)=7.000000 58267 behavior sample_16: STATE UnInited -> Active 58267 behavior sample_16: argument: args_from_file = 17.000000 enum 58267 behavior sample_16: argument: sensor_type = 17.000000 enum 58267 behavior sample_16: argument: state_to_sample = 7.000000 enum 58267 behavior sample_16: argument: sample_time_after_state_change = 0.000000 s 58267 behavior sample_16: argument: intersample_time = 0.000000 s 58268 behavior sample_16: argument: nth_yo_to_sample = 1.000000 nodim 58268 behavior sample_16: argument: intersample_depth = -1.000000 m 58268 behavior sample_16: argument: min_depth = -5.000000 m 58268 behavior sample_16: argument: max_depth = 2000.000000 m 58268 behavior sample_16: SUBSTATE 0 UnInited->4 : On Surface 58268 behavior sample_15: sample(): reading bargs 58268 behavior sample_15: Reading b_args from sample40.ma 58268 behavior sample_15: sensor_type(enum)=40.000000 58268 behavior sample_15: sample_time_after_state_change(s)=0.000000 58268 behavior sample_15: intersample_time(sec)=0.000000 58268 behavior sample_15: state_to_sample(enum)=7.000000 58268 behavior sample_15: STATE UnInited -> Active 58268 behavior sample_15: argument: args_from_file = 40.000000 enum 58268 behavior sample_15: argument: sensor_type = 40.000000 enum 58268 behavior sample_15: argument: state_to_sample = 7.000000 enum 58268 behavior sample_15: argument: sample_time_after_state_change = 0.000000 s 58269 behavior sample_15: argument: intersample_time = 0.000000 s 58269 behavior sample_15: argument: nth_yo_to_sample = 1.000000 nodim 58269 behavior sample_15: argument: intersample_depth = -1.000000 m 58269 behavior sample_15: argument: min_depth = -5.000000 m 58269 behavior sample_15: argument: max_depth = 2000.000000 m 58269 behavior sample_15: SUBSTATE 0 UnInited->4 : On Surface 58269 behavior sample_14: sample(): reading bargs 58269 behavior sample_14: Reading b_args from sample43.ma 58269 behavior sample_14: sensor_type(enum)=43.000000 58269 behavior sample_14: state_to_sample(enum)=5.000000 58269 behavior sample_14: sample_time_after_state_change(s)=0.000000 58269 behavior sample_14: intersample_time(s)=1.000000 58269 behavior sample_14: nth_yo_to_sample(nodim)=1.000000 58269 behavior sample_14: intersample_depth(m)=-1.000000 58269 behavior sample_14: min_depth(m)=-5.000000 58270 behavior sample_14: max_depth(m)=2000.000000 58270 behavior sample_14: STATE UnInited -> Active 58270 behavior sample_14: argument: args_from_file = 43.000000 enum 58270 behavior sample_14: argument: sensor_type = 43.000000 enum 58270 behavior sample_14: argument: state_to_sample = 5.000000 enum 58270 behavior sample_14: argument: sample_time_after_state_change = 0.000000 s 58270 behavior sample_14: argument: intersample_time = 1.000000 s 58270 behavior sample_14: argument: nth_yo_to_sample = 1.000000 nodim 58270 behavior sample_14: argument: intersample_depth = -1.000000 m 58270 behavior sample_14: argument: min_depth = -5.000000 m 58270 behavior sample_14: argument: max_depth = 2000.000000 m 58270 behavior sample_14: SUBSTATE 0 UnInited->4 : On Surface 58270 behavior sample_13: sample(): reading bargs 58270 behavior sample_13: Reading b_args from sample10.ma 58270 behavior sample_13: sensor_type(enum)=10.000000 58270 behavior sample_13: sample_time_after_state_change(s)=0.000000 58271 behavior sample_13: intersample_time(sec)=0.000000 58271 behavior sample_13: state_to_sample(enum)=7.000000 58271 behavior sample_13: STATE UnInited -> Active 58271 behavior sample_13: argument: args_from_file = 10.000000 enum 58271 behavior sample_13: argument: sensor_type = 10.000000 enum 58271 behavior sample_13: argument: state_to_sample = 7.000000 enum 58271 behavior sample_13: argument: sample_time_after_state_change = 0.000000 s 58271 behavior sample_13: argument: intersample_time = 0.000000 s 58271 behavior sample_13: argument: nth_yo_to_sample = 1.000000 nodim 58271 behavior sample_13: argument: intersample_depth = -1.000000 m 58271 behavior sample_13: argument: min_depth = -5.000000 m 58271 behavior sample_13: argument: max_depth = 2000.000000 m 58271 behavior sample_13: SUBSTATE 0 UnInited->4 : On Surface 58271 behavior sample_12: sample(): reading bargs 58271 behavior sample_12: Reading b_args from sample11.ma 58271 behavior sample_12: sensor_type(enum)=11.000000 58271 behavior sample_12: sample_time_after_state_change(s)=0.000000 58272 behavior sample_12: intersample_time(sec)=0.000000 58272 behavior sample_12: state_to_sample(enum)=7.000000 58272 behavior sample_12: STATE UnInited -> Active 58272 behavior sample_12: argument: args_from_file = 11.000000 enum 58272 behavior sample_12: argument: sensor_type = 11.000000 enum 58272 behavior sample_12: argument: state_to_sample = 7.000000 enum 58272 behavior sample_12: argument: sample_time_after_state_change = 0.000000 s 58272 behavior sample_12: argument: intersample_time = 0.000000 s 58272 behavior sample_12: argument: nth_yo_to_sample = 1.000000 nodim 58272 behavior sample_12: argument: intersample_depth = -1.000000 m 58272 behavior sample_12: argument: min_depth = -5.000000 m 58272 behavior sample_12: argument: max_depth = 2000.000000 m 58272 behavior sample_12: SUBSTATE 0 UnInited->4 : On Surface 58272 behavior sample_11: sample(): reading bargs 58272 behavior sample_11: Reading b_args from sample12.ma 58272 behavior sample_11: sensor_type(enum)=12.000000 58273 behavior sample_11: sample_time_after_state_change(s)=0.000000 58273 behavior sample_11: intersample_time(sec)=0.000000 58273 behavior sample_11: state_to_sample(enum)=7.000000 58273 behavior sample_11: STATE UnInited -> Active 58273 behavior sample_11: argument: args_from_file = 12.000000 enum 58273 behavior sample_11: argument: sensor_type = 12.000000 enum 58273 behavior sample_11: argument: state_to_sample = 7.000000 enum 58273 behavior sample_11: argument: sample_time_after_state_change = 0.000000 s 58273 behavior sample_11: argument: intersample_time = 0.000000 s 58273 behavior sample_11: argument: nth_yo_to_sample = 1.000000 nodim 58273 behavior sample_11: argument: intersample_depth = -1.000000 m 58273 behavior sample_11: argument: min_depth = -5.000000 m 58273 behavior sample_11: argument: max_depth = 2000.000000 m 58273 behavior sample_11: SUBSTATE 0 UnInited->4 : On Surface 58273 behavior sample_10: sample(): reading bargs 58273 behavior sample_10: Reading b_args from sample01.ma 58273 behavior sample_10: sensor_type(enum)=1.000000 58274 behavior sample_10: sample_time_after_state_change(s)=0.000000 58274 behavior sample_10: intersample_time(sec)=1.000000 58274 behavior sample_10: state_to_sample(enum)=15.000000 58274 behavior sample_10: STATE UnInited -> Active 58274 behavior sample_10: argument: args_from_file = 1.000000 enum 58274 behavior sample_10: argument: sensor_type = 1.000000 enum 58274 behavior sample_10: argument: state_to_sample = 15.000000 enum 58274 behavior sample_10: argument: sample_time_after_state_change = 0.000000 s 58274 behavior sample_10: argument: intersample_time = 1.000000 s 58274 behavior sample_10: argument: nth_yo_to_sample = 1.000000 nodim 58274 behavior sample_10: argument: intersample_depth = -1.000000 m 58274 behavior sample_10: argument: min_depth = -5.000000 m 58274 beha ****** 58302 SCI: house_elf: Version 1.1 58302 SCI:PROGLET ctd41cp begin() called 58302 SCI: ctd41cp: Version 0.2 58302 SCI: ctd41cp: Will be sending the following data to glider: 58303 SCI: sci_water_cond(s/m) 58303 SCI: sci_water_temp(degc) 58303 SCI: sci_water_pressure(bar) 58303 SCI: sci_ctd41cp_timestamp(timestamp) 58306 32 SCI:PROGLET dvl begin() called 58306 SCI: dvl: Version 0.0 58307 SCI: sci_dvl_error(nodim) 58307 SCI: sci_dvl_sa_pitch(deg) 58307 SCI: sci_dvl_sa_roll(deg) 58308 SCI: sci_dvl_sa_heading(deg) 58308 SCI: sci_dvl_ts_timestamp(timestamp) 58308 SCI: sci_dvl_ts_sal(ppt) 58308 SCI: sci_dvl_ts_temp(degc) 58308 SCI: sci_dvl_ts_depth(m) 58309 SCI: sci_dvl_ts_sound_speed(m/s) 58311 34 SCI: sci_dvl_ts_bit(nodim) 58312 SCI: sci_dvl_wi_x_vel(mm/s) 58313 SCI: sci_dvl_wi_y_vel(mm/s) 58313 SCI: sci_dvl_wi_z_vel(mm/s) 58313 SCI: sci_dvl_wi_err_vel(mm/s) 58313 SCI: sci_dvl_wi_vel_good(bool) 58313 SCI: sci_dvl_bi_x_vel(mm/s) 58314 SCI: sci_dvl_bi_y_vel(mm/s) 58314 SCI: sci_dvl_bi_z_vel(mm/s) 58314 SCI: sci_dvl_bi_err_vel(mm/s) 58317 35 SCI: sci_dvl_bi_vel_good(bool) 58317 SCI: sci_dvl_ws_transverse_vel(mm/s) 58318 SCI: sci_dvl_ws_longitudinal_vel(mm/s) 58318 SCI: sci_dvl_ws_normal_vel(mm/s) 58318 SCI: sci_dvl_ws_vel_good(bool) 58318 SCI: sci_dvl_bs_transverse_vel(mm/s) Glider ru21 at surface. Because:timeout expired [behavior surface_5 start_when = 9.0] MissionName:200_TN.MI MissionNum:ru21-2010-205-0-15 (0117.0015) Vehicle Name: ru21 Curr Time: Sun Jul 25 17:36:19 2010 MT: 58325 DR Location: 3915.880 N -7349.089 E measured 220.268 secs ago GPS TooFar: 3916.508 N -7350.087 E measured 6545.61 secs ago GPS Invalid : 3915.891 N -7349.089 E measured 323.121 secs ago GPS Location: 3915.880 N -7349.090 E measured 222.441 secs ago sensor:c_science_send_all(bool)=1 1e+308 secs ago sensor:c_wpt_lat(lat)=3926 44.691 secs ago sensor:c_wpt_lon(lon)=-7341 44.742 secs ago sensor:m_battery(volts)=13.5879850509539 41.998 secs ago sensor:m_coulomb_amphr(amp-hrs)=21.52874 13.086 secs ago sensor:m_final_water_vx(m/s)=-0.0583794645637242 242.4 secs ago sensor:m_final_water_vy(m/s)=-0.147000964793206 242.438 secs ago sensor:m_gps_mag_var(rad)=0.226892802759263 222.9 secs ago sensor:m_iridium_call_num(nodim)=1145 165.849 secs ago sensor:m_iridium_dialed_num(nodim)=1405 175.652 secs ago sensor:m_leakdetect_voltage(volts)=2.4997557997558 28.573 secs ago sensor:m_tot_num_inflections(nodim)=27741 37.357 secs ago sensor:m_vacuum(inHg)=8.41456517094016 42.393 secs ago sensor:m_water_vx(m/s)=-0.0583794645637242 242.72 secs ago sensor:m_water_vy(m/s)=-0.147000964793206 242.758 secs ago sensor:sci_m_disk_free(Mbytes)=1975.59375 6647.42 secs ago sensor:sci_water_cond(S/m)=4.6762 109.94 secs ago sensor:sci_water_temp(degC)=26.3 109.976 secs ago sensor:u_pitch_max_delta_battpos(in)=1.05 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3926.25 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7414 1e+308 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 118/ 4/ 0 odd:4653/ 942/ 117 ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_NOINPUT ABORT HISTORY: last abort time: 2010-07-25T01:10:57 ABORT HISTORY: last abort segment: ru21-2010-204-0-19 (0116.0019) ABORT HISTORY: last abort mission: 200_TN.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, 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 COMPLETE Waypoint: (3926.0000,-7341.0000) Range: 86669m, Bearing: 44deg, Age: 0:0h:m Time until diving is: 503 secs 58327 35 SCI: sci_dvl_bs_longitudinal_vel(mm/s) 58331 36 SCI: sci_dvl_bs_normal_vel(mm/s) 58331 SCI: sci_dvl_bs_vel_good(bool) 58332 SCI: sci_dvl_we_u_vel(mm/s) 58332 SCI: sci_dvl_we_v_vel(mm/s) 58332 SCI: sci_dvl_we_w_vel(mm/s) 58333 SCI: sci_dvl_we_vel_good(bool) 58333 SCI: sci_dvl_be_u_vel(mm/s) 58333 SCI: sci_dvl_be_v_vel(mm/s) 58333 SCI: sci_dvl_be_w_vel(mm/s) 58333 SCI: sci_dvl_be_vel_good(bool) 58336 38 SCI: sci_dvl_wd_u_dist(m) 58336 SCI: sci_dvl_wd_v_dist(m) 58337 SCI: sci_dvl_wd_w_dist(m) 58337 SCI: sci_dvl_wd_range_to_water_mass_center(m) 58337 SCI: sci_dvl_wd_time_since_last_good_vel(sec) 58338 SCI: sci_dvl_bd_u_dist(m) 58338 SCI: sci_dvl_bd_v_dist(m) 58338 SCI: sci_dvl_bd_w_dist(m) 58338 SCI: sci_dvl_bd_range_to_bottom(m) 58338 SCI: sci_dvl_bd_time_since_last_good_vel(sec) 58348 39 SCI:PROGLET house_elf start() called 58348 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 58348 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) Glider ru21 at surface. Because:timeout expired [behavior surface_5 start_when = 9.0] MissionName:200_TN.MI MissionNum:ru21-2010-205-0-15 (0117.0015) Vehicle Name: ru21 Curr Time: Sun Jul 25 17:37:00 2010 MT: 58366 DR Location: 3915.880 N -7349.089 E measured 260.784 secs ago GPS TooFar: 3916.508 N -7350.087 E measured 6586.13 secs ago GPS Invalid : 3915.891 N -7349.089 E measured 363.638 secs ago GPS Location: 3915.880 N -7349.090 E measured 262.96 secs ago sensor:c_science_send_all(bool)=1 1e+308 secs ago sensor:c_wpt_lat(lat)=3926 85.216 secs ago sensor:c_wpt_lon(lon)=-7341 85.265 secs ago sensor:m_battery(volts)=13.5730185360905 37.783 secs ago sensor:m_coulomb_amphr(amp-hrs)=21.53499 8.334 secs ago sensor:m_final_water_vx(m/s)=-0.0583794645637242 282.926 secs ago sensor:m_final_water_vy(m/s)=-0.147000964793206 282.966 secs ago sensor:m_gps_mag_var(rad)=0.226892802759263 263.428 secs ago sensor:m_iridium_call_num(nodim)=1145 206.374 secs ago sensor:m_iridium_dialed_num(nodim)=1405 216.179 secs ago sensor:m_leakdetect_voltage(volts)=2.49908424908425 8.045 secs ago sensor:m_tot_num_inflections(nodim)=27741 77.883 secs ago sensor:m_vacuum(inHg)=8.42818925518925 38.181 secs ago sensor:m_water_vx(m/s)=-0.0583794645637242 283.25 secs ago sensor:m_water_vy(m/s)=-0.147000964793206 283.288 secs ago sensor:sci_m_disk_free(Mbytes)=1975.125 9.831 secs ago sensor:sci_water_cond(S/m)=4.679 8.079 secs ago sensor:sci_water_temp(degC)=26.3133 8.071 secs ago sensor:u_pitch_max_delta_battpos(in)=1.05 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3926.25 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7414 1e+308 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 118/ 4/ 0 odd:4653/ 942/ 117 ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_NOINPUT ABORT HISTORY: last abort time: 2010-07-25T01:10:57 ABORT HISTORY: last abort segment: ru21-2010-204-0-19 (0116.0019) ABORT HISTORY: last abort mission: 200_TN.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, 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 COMPLETE Waypoint: (3926.0000,-7341.0000) Range: 86669m, Bearing: 44deg, Age: 0:1h:m Time until diving is: 463 secs s *.sbd -------------------------------- 58387 45 01170015.mlg LOG FILE CLOSED SCIENCE DATA LOGGING: science IS running 58392 46 DRIVER_ODDITY:coulomb:13050:gdd_read_regs_and_publish() from gdd_ctrl_normal_cycle() CONSCI REQUESTED (using IRIDIUM as console) ASKING SCIENCE COMPUTER TO SWITCH TO COMMAND MODE via IRIDIUM 58395 47 db(#/min/mn/max/sd) buoyancy_pump 1800 -10.606 -0.165 4.818 1.585 cc 58396 db(#/min/mn/max/sd) buoyancy_pump 1800 -21 0 10 3 mV 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 58396 Neutering the Freewave Console SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size SCI: Enumerating and selecting files SCI: NO TRANSMISSION: the overall list of files is empty 58397 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 58399 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 58399 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � restore_sensors().... 58777 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES..* GLD: Sent 2 file(s): c:\logs\01170015.SBD c:\logs\01170014.SBD GLD: SUCCESS Heap is adequate; enabling enhanced input ringbuffer size on uart at slot 15 58788 50 SCI:PROGLET house_elf begin() called 58788 SCI: house_elf: Version 1.1 58788 SCI:PROGLET ctd41cp begin() called 58788 SCI: ctd41cp: Version 0.2 58788 SCI: ctd41cp: Will be sending the following data to glider: 58788 SCI: sci_water_cond(s/m) 58788 SCI: sci_water_temp(degc) 58789 SCI: sci_water_pressure(bar) 58789 SCI: sci_ctd41cp_timestamp(timestamp) 58789 SCI:PROGLET dvl begin() called 58789 SCI: dvl: Version 0.0 58789 SCI: sci_dvl_error(nodim) 58789 SCI: sci_dvl_sa_pitch(deg) 58789 SCI: sci_dvl_sa_roll(deg) 58789 SCI: sci_dvl_sa_heading(deg) 58789 SCI: sci_dvl_ts_timestamp(timestamp) 58789 SCI: sci_dvl_ts_sal(ppt) 58789 SCI: sci_dvl_ts_temp(degc) 58790 SCI: sci_dvl_ts_depth(m) 58790 SCI: sci_dvl_ts_sound_speed(m/s) 58790 SCI: sci_dvl_ts_bit(nodim) 58790 SCI: sci_dvl_wi_x_vel(mm/s) 58790 SCI: sci_dvl_wi_y_vel(mm/s) 58790 SCI: sci_dvl_wi_z_vel(mm/s) 58790 SCI: sci_dvl_wi_err_vel(mm/s) 58790 SCI: sci_dvl_wi_vel_good(bool) 58790 SCI: sci_dvl_bi_x_vel(mm/s) 58790 SCI: sci_dvl_bi_y_vel(mm/s) 58790 SCI: sci_dvl_bi_z_vel(mm/s) 58791 SCI: sci_dvl_bi_err_vel(mm/s) 58791 52 SCI: sci_dvl_bi_vel_good(bool) 58791 SCI: sci_dvl_ws_transverse_vel(mm/s) 58792 SCI: sci_dvl_ws_longitudinal_vel(mm/s) 58792 SCI: sci_dvl_ws_normal_vel(mm/s) 58792 SCI: sci_dvl_ws_vel_good(bool) 58792 SCI: sci_dvl_bs_transverse_vel(mm/s) 58792 SCI: sci_dvl_bs_longitudinal_vel(mm/s) 58792 SCI: sci_dvl_bs_normal_vel(mm/s) 58792 SCI: sci_dvl_bs_vel_good(bool) 58793 SCI: sci_dvl_we_u_vel(mm/s) 58793 SCI: sci_dvl_we_v_vel(mm/s) 58793 SCI: sci_dvl_we_w_vel(mm/s) 58793 SCI: sci_dvl_we_vel_good(bool) 58793 SCI: sci_dvl_be_u_vel(mm/s) 58793 SCI: sci_dvl_be_v_vel(mm/s) 58793 SCI: sci_dvl_be_w_vel(mm/s) 58793 SCI: sci_dvl_be_vel_good(bool) 58793 SCI: sci_dvl_wd_u_dist(m) 58793 SCI: sci_dvl_wd_v_dist(m) 58793 SCI: sci_dvl_wd_w_dist(m) 58794 SCI: sci_dvl_wd_range_to_water_mass_center(m) 58794 SCI: sci_dvl_wd_time_since_last_good_vel(sec) 58794 SCI: sci_dvl_bd_u_dist(m) 58794 SCI: sci_dvl_bd_v_dist(m) 58794 SCI: sci_dvl_bd_w_dist(m) 58794 SCI: sci_dvl_bd_range_to_bottom(m) 58794 SCI: sci_dvl_bd_time_since_last_good_vel(sec) 58798 53 SCI:PROGLET house_elf start() called 58799 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 58799 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 58853 56 01170016.mlg LOG FILE OPENED -------------------------------- 58853 behavior surface_5: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru21 at surface. Because:timeout expired [behavior surface_5 start_when = 9.0] MissionName:200_TN.MI MissionNum:ru21-2010-205-0-16 (0117.0016) Vehicle Name: ru21 Curr Time: Sun Jul 25 17:45:17 2010 MT: 58863 DR Location: 3915.880 N -7349.089 E measured 758.285 secs ago GPS TooFar: 3916.508 N -7350.087 E measured 7083.63 secs ago GPS Invalid : 3915.891 N -7349.089 E measured 861.137 secs ago GPS Location: 3915.880 N -7349.090 E measured 760.458 secs ago sensor:c_science_send_all(bool)=1 1e+308 secs ago sensor:c_wpt_lat(lat)=3926 582.708 secs ago sensor:c_wpt_lon(lon)=-7341 582.758 secs ago sensor:m_battery(volts)=13.5669319251002 9.053 secs ago sensor:m_coulomb_amphr(amp-hrs)=21.59124 9.342 secs ago sensor:m_final_water_vx(m/s)=-0.0583794645637242 780.414 secs ago sensor:m_final_water_vy(m/s)=-0.147000964793206 780.454 secs ago sensor:m_gps_mag_var(rad)=0.226892802759263 760.916 secs ago sensor:m_iridium_call_num(nodim)=1145 703.862 secs ago sensor:m_iridium_dialed_num(nodim)=1405 713.666 secs ago sensor:m_leakdetect_voltage(volts)=2.49954212454212 8.999 secs ago sensor:m_tot_num_inflections(nodim)=27741 575.37 secs ago sensor:m_vacuum(inHg)=8.46328159340659 9.445 secs ago sensor:m_water_vx(m/s)=-0.0583794645637242 780.735 secs ago sensor:m_water_vy(m/s)=-0.147000964793206 780.773 secs ago sensor:sci_m_disk_free(Mbytes)=1975.125 10.806 secs ago sensor:sci_water_cond(S/m)=0 9.31 secs ago sensor:sci_water_temp(degC)=26.3251 470.318 secs ago sensor:u_pitch_max_delta_battpos(in)=1.05 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3926.25 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7414 1e+308 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 118/ 4/ 0 odd:4654/ 943/ 118 ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_NOINPUT ABORT HISTORY: last abort time: 2010-07-25T01:10:57 ABORT HISTORY: last abort segment: ru21-2010-204-0-19 (0116.0019) ABORT HISTORY: last abort mission: 200_TN.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, 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: m_science_clothesline_lag > u_max_clothesline_lag_for_consci Water Velocity Calculations COMPLETE Waypoint: (3926.0000,-7341.0000) Range: 86669m, Bearing: 44deg, Age: 0:9h:m * I heard a character ('*'), but not the right one Drained the following 38 pending chars from input buffer: 18 42 30 38 30 30 30 30 ^X B 0 8 0 0 0 0 .B080000 30 30 30 30 30 32 32 64 0 0 0 0 0 2 2 d 0000022d 0d 8a 2a 2a 18 42 30 38 CR . * * ^X B 0 8 ..**.B08 30 30 30 30 30 30 30 30 0 0 0 0 0 0 0 0 00000000 30 32 32 64 0d 8a 0 2 2 d CR . 022d.. Time until diving is: 588 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) 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] [ 4 2 0] [ 13 4 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 0 [ 0 0 0] [ 112 2 0] [ 0 0 0] 11 ocean_pressure I u 3 20 5 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] [ 19 0 0] 17 science_super I u 3 20 5 0 [ 0 0 0] [ 2 0 0] [ 37 0 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 57 10 1] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 2 [ 2 0 0] [ 0 0 0] [ 61 8 1] 25 leakdetect I u 3 20 5 0 26 recovery - 27 coulomb I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [4467 921 116] 28 veh_temp - 29 avbot - 30 BUOYANCY_PUMP I u 3 20 3 0 31THERMAL_ACC_PRE - 32 THERMAL_ENGINE - 33 THERMAL_PUMP - 34 DE_PUMP - devices:(t/m/s) errs: 2/ 0/ 0 warn: 118/ 4/ 0 odd:4654/ 943/ 118 Glider ru21 at surface. Because:timeout expired [behavior surface_5 start_when = 9.0] MissionName:200_TN.MI MissionNum:ru21-2010-205-0-16 (0117.0016) Vehicle Name: ru21 Curr Time: Sun Jul 25 17:46:00 2010 MT: 58906 DR Location: 3915.880 N -7349.089 E measured 801.206 secs ago GPS TooFar: 3916.508 N -7350.087 E measured 7126.55 secs ago GPS Invalid : 3915.891 N -7349.089 E measured 904.058 secs ago GPS Location: 3915.880 N -7349.090 E measured 803.379 secs ago sensor:c_science_send_all(bool)=1 1e+308 secs ago sensor:c_wpt_lat(lat)=3926 625.628 secs ago sensor:c_wpt_lon(lon)=-7341 625.678 secs ago sensor:m_battery(volts)=13.5653957533472 10.257 secs ago sensor:m_coulomb_amphr(amp-hrs)=21.59499 18.191 secs ago sensor:m_final_water_vx(m/s)=-0.0583794645637242 823.335 secs ago sensor:m_final_water_vy(m/s)=-0.147000964793206 823.375 secs ago sensor:m_gps_mag_var(rad)=0.226892802759263 803.837 secs ago sensor:m_iridium_call_num(nodim)=1145 746.783 secs ago sensor:m_iridium_dialed_num(nodim)=1405 756.588 secs ago sensor:m_leakdetect_voltage(volts)=2.49954212454212 51.922 secs ago sensor:m_tot_num_inflections(nodim)=27741 618.296 secs ago sensor:m_vacuum(inHg)=8.45007036019535 10.663 secs ago sensor:m_water_vx(m/s)=-0.0583794645637242 823.664 secs ago sensor:m_water_vy(m/s)=-0.147000964793206 823.704 secs ago sensor:sci_m_disk_free(Mbytes)=1975.125 53.733 secs ago sensor:sci_water_cond(S/m)=4.68073 9.606 secs ago sensor:sci_water_temp(degC)=26.331 9.606 secs ago sensor:u_pitch_max_delta_battpos(in)=1.05 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3926.25 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7414 1e+308 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 118/ 4/ 0 odd:4654/ 943/ 118 ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_NOINPUT ABORT HISTORY: last abort time: 2010-07-25T01:10:57 ABORT HISTORY: last abort segment: ru21-2010-204-0-19 (0116.0019) ABORT HISTORY: last abort mission: 200_TN.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, 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: m_science_clothesline_lag > u_max_clothesline_lag_for_consci Water Velocity Calculations COMPLETE Waypoint: (3926.0000,-7341.0000) Range: 86669m, Bearing: 44deg, Age: 0:10h:m Time until diving is: 545 secs ^R 58927 63 behavior surface_5: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 90.562500 Megabytes available on CF file system = 1910.375000 58931 01170016.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=363.0K, M_SPARE_HEAP=344.0K 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_ocean_pressure_min(volts) 0.308223 m_avg_speed(m/s) 0.306125 m_battery(volts) 13.565396 m_iridium_call_num(nodim) 1145.000000 m_iridium_dialed_num(nodim) 1405.000000 m_lat(lat) 3915.880300 m_lon(lon) -7349.089500 m_tot_ballast_pumped_energy(kjoules) 2719.038644 m_tot_horz_dist(km) 2489.523663 m_tot_num_inflections(nodim) 27741.000000 s_ini_lat(deg) 3900.000000 s_ini_lon(deg) -7400.000000 s_water_depth_avg(m) 30.000000 s_water_depth_delta(m) 0.000000 s_water_depth_wavelength(m) 100.000000 x_hover_ballast_deep(cc) 0.000000 x_hover_ballast_shallow(cc) 0.000000 x_hover_depth_deep(m) 0.000000 x_hover_depth_shallow(m) 0.000000 x_last_wpt_lat(lat) 3926.250000 x_last_wpt_lon(lon) -7414.000000 The instantaneous lag time between the system and gps clock is -7.0 seconds. The average lag time between the system and gps clock is -8.4 seconds. Housekeeping is done 58951 67 DRIVER_ODDITY:coulomb:13050:gdd_read_regs_and_publish() from gdd_ctrl_normal_cycle() 58998 67 01170017.mlg LOG FILE OPENED Megabytes used on CF file system = 90.687500 Megabytes available on CF file system = 1910.250000 59001 init_gps_input() 59001 behavior surface_5: SUBSTATE 7 ->9 : Waiting for final gps fix surface_ OK