38300 Iridium console active and ready... Vehicle Name: unit_191 Curr Time: Tue Jan 6 02:17:55 2015 MT: 38299 DR Location: -6451.766 N -6408.338 E measured 64.886 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6451.236 N -6407.580 E measured 177.284 secs ago GPS Location: -6451.766 N -6408.338 E measured 67.272 secs ago sensor:c_wpt_lat(lat)=-6457.0254 10026 secs ago sensor:c_wpt_lon(lon)=-6418.8256 10026.1 secs ago sensor:m_battery(volts)=10.8544562760807 23.92 secs ago sensor:m_coulomb_amphr(amp-hrs)=3.55656266212463 5.25 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=366.861506162199 5.272 secs ago sensor:m_depth(m)=0 5.272 secs ago sensor:m_final_water_vx(m/s)=0.0311338149624218 4438.62 secs ago sensor:m_final_water_vy(m/s)=0.0703013966008392 4438.66 secs ago sensor:m_gps_mag_var(rad)=-0.287979326579064 67.851 secs ago sensor:m_iridium_attempt_num(nodim)=1 62.507 secs ago sensor:m_iridium_call_num(nodim)=736 19.842 secs ago sensor:m_iridium_dialed_num(nodim)=2047 34.097 secs ago sensor:m_leakdetect_voltage(volts)=2.49636752136752 29.226 secs ago sensor:m_tot_num_inflections(nodim)=3358 255.167 secs ago sensor:m_vacuum(inHg)=9.38674328449328 24.549 secs ago sensor:m_water_vx(m/s)=0.0342508517941554 140.046 secs ago sensor:m_water_vy(m/s)=-0.017505189487817 140.089 secs ago sensor:sci_m_disk_free(Mbytes)=1898.1875 4538.74 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)=-6449.9 21197.3 secs ago sensor:x_last_wpt_lon(lon)=-6405.7 21197.3 secs ago ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_WPT_TOOFAR ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2015-01-05T14:45:49 ABORT HISTORY: last abort segment: unit_191-2015-004-2-0 (0192.0000) ABORT HISTORY: last abort mission: SHALLOW.MI 38301 DRIVER_ODDITY:iridium:1626:xxx_ctrl() ran too long Glider unit_191 at surface. Because:no comms for a while [behavior surface_2 start_when = 12.0] MissionName:200_NW.MI MissionNum:unit_191-2015-004-4-14 (0194.0014) Vehicle Name: unit_191 Curr Time: Tue Jan 6 02:18:14 2015 MT: 38318 DR Location: -6451.766 N -6408.338 E measured 83.456 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6451.236 N -6407.580 E measured 195.854 secs ago GPS Location: -6451.766 N -6408.338 E measured 85.842 secs ago sensor:c_wpt_lat(lat)=-6457.0254 10044.6 secs ago sensor:c_wpt_lon(lon)=-6418.8256 10044.6 secs ago sensor:m_battery(volts)=10.8544562760807 42.426 secs ago sensor:m_coulomb_amphr(amp-hrs)=3.56012487411499 4.306 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=366.86506837419 4.319 secs ago sensor:m_depth(m)=0 4.274 secs ago sensor:m_final_water_vx(m/s)=0.0311338149624218 4457.06 secs ago sensor:m_final_water_vy(m/s)=0.0703013966008392 4457.09 secs ago sensor:m_gps_mag_var(rad)=-0.287979326579064 86.27 secs ago sensor:m_iridium_attempt_num(nodim)=1 80.91 secs ago sensor:m_iridium_call_num(nodim)=736 38.225 secs ago sensor:m_iridium_dialed_num(nodim)=2047 52.465 secs ago sensor:m_leakdetect_voltage(volts)=2.49636752136752 47.588 secs ago sensor:m_tot_num_inflections(nodim)=3358 273.515 secs ago sensor:m_vacuum(inHg)=9.38674328449328 42.88 secs ago sensor:m_water_vx(m/s)=0.0342508517941554 158.368 secs ago sensor:m_water_vy(m/s)=-0.017505189487817 158.399 secs ago sensor:sci_m_disk_free(Mbytes)=1898.1875 4557.03 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)=-6449.9 21215.5 secs ago sensor:x_last_wpt_lon(lon)=-6405.7 21215.5 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 2/ 0/ 0 odd: 21/ 17/ 2 ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_WPT_TOOFAR ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2015-01-05T14:45:49 ABORT HISTORY: last abort segment: unit_191-2015-004-2-0 (0192.0000) ABORT HISTORY: last abort mission: SHALLOW.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 -77 secs) Waypoint: (-6457.0254,-6418.8256) Range: 12802m, Bearing: 203deg, Age: 5:31h:m Time until diving is: 506 secs Glider unit_191 at surface. Because:no comms for a while [behavior surface_2 start_when = 12.0] MissionName:200_NW.MI MissionNum:unit_191-2015-004-4-14 (0194.0014) Vehicle Name: unit_191 Curr Time: Tue Jan 6 02:18:57 2015 MT: 38361 DR Location: -6451.766 N -6408.338 E measured 126.369 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6451.236 N -6407.580 E measured 238.767 secs ago GPS Location: -6451.766 N -6408.338 E measured 128.756 secs ago sensor:c_wpt_lat(lat)=-6457.0254 10087.5 secs ago sensor:c_wpt_lon(lon)=-6418.8256 10087.5 secs ago sensor:m_battery(volts)=10.8440504531124 22.819 secs ago sensor:m_coulomb_amphr(amp-hrs)=3.56725001335144 4.308 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=366.872193513426 4.321 secs ago sensor:m_depth(m)=0 4.275 secs ago sensor:m_final_water_vx(m/s)=0.0311338149624218 4499.97 secs ago sensor:m_final_water_vy(m/s)=0.0703013966008392 4500 secs ago sensor:m_gps_mag_var(rad)=-0.287979326579064 129.186 secs ago sensor:m_iridium_attempt_num(nodim)=1 123.825 secs ago sensor:m_iridium_call_num(nodim)=736 81.14 secs ago sensor:m_iridium_dialed_num(nodim)=2047 95.381 secs ago sensor:m_leakdetect_voltage(volts)=2.4954822954823 27.964 secs ago sensor:m_tot_num_inflections(nodim)=3358 316.431 secs ago sensor:m_vacuum(inHg)=9.66247094017093 23.275 secs ago sensor:m_water_vx(m/s)=0.0342508517941554 201.282 secs ago sensor:m_water_vy(m/s)=-0.017505189487817 201.315 secs ago sensor:sci_m_disk_free(Mbytes)=1898.1875 4599.95 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)=-6449.9 21258.4 secs ago sensor:x_last_wpt_lon(lon)=-6405.7 21258.4 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 2/ 0/ 0 odd: 21/ 17/ 2 ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_WPT_TOOFAR ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2015-01-05T14:45:49 ABORT HISTORY: last abort segment: unit_191-2015-004-2-0 (0192.0000) ABORT HISTORY: last abort mission: SHALLOW.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 -120 secs) Waypoint: (-6457.0254,-6418.8256) Range: 12802m, Bearing: 203deg, Age: 5:31h:m Time until diving is: 464 secs s *.sbd *.tbd -------------------------------- 38381 89 01940014.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 38390 92 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 **B00000000000000 � SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\01940014.TBD c:\logs\01940013.TBD SCI: SUCCESS 38499 17 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 38501 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 38501 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 �38621 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 38621 restore_sensors().... 38621 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\01940014.SBD c:\logs\01940013.SBD GLD: SUCCESS 38629 18 SCI:PROGLET house_elf begin() called 38630 SCI: house_elf: Version 1.2 38630 SCI:PROGLET ctd41cp begin() called 38630 SCI: ctd41cp: Version 0.2 38630 SCI: ctd41cp: Will be sending the following data to glider: 38630 SCI: sci_water_cond(s/m) 38630 SCI: sci_water_temp(degc) 38630 SCI: sci_water_pressure(bar) 38631 SCI: sci_ctd41cp_timestamp(timestamp) 38631 SCI:PROGLET flbbcd begin() called 38631 SCI: flbbcd: Version 0.0 38631 SCI: flbbcd: Will be sending following data to glider: 38631 SCI: sci_flbbcd_chlor_units(ug/l) 38631 SCI: sci_flbbcd_bb_units(nodim) 38631 SCI: sci_flbbcd_cdom_units(ppb) 38631 20 SCI: sci_flbbcd_chlor_sig(nodim) 38632 SCI: sci_flbbcd_bb_sig(nodim) 38632 SCI: sci_flbbcd_cdom_sig(nodim) 38632 SCI: sci_flbbcd_chlor_ref(nodim) 38633 SCI: sci_flbbcd_bb_ref(nodim) 38633 SCI: sci_flbbcd_cdom_ref(nodim) 38633 SCI: sci_flbbcd_therm(nodim) 38633 SCI: sci_flbbcd_timestamp(timestamp) 38633 SCI: Opening Bit(29) for output 38635 SCI:PROGLET house_elf start() called 38635 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 38635 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 38705 26 01940015.mlg LOG FILE OPENED -------------------------------- 38705 behavior surface_2: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider unit_191 at surface. Because:no comms for a while [behavior surface_2 start_when = 12.0] MissionName:200_NW.MI MissionNum:unit_191-2015-004-4-15 (0194.0015) Vehicle Name: unit_191 Curr Time: Tue Jan 6 02:24:45 2015 MT: 38709 DR Location: -6451.766 N -6408.338 E measured 474.157 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6451.236 N -6407.580 E measured 586.555 secs ago GPS Location: -6451.766 N -6408.338 E measured 476.543 secs ago sensor:c_wpt_lat(lat)=-6457.0254 10435.3 secs ago sensor:c_wpt_lon(lon)=-6418.8256 10435.3 secs ago sensor:m_battery(volts)=10.8250578620136 2.96 secs ago sensor:m_coulomb_amphr(amp-hrs)=3.62543749809265 3.116 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=366.930380998167 3.13 secs ago sensor:m_depth(m)=0 3.031 secs ago sensor:m_final_water_vx(m/s)=0.0311338149624218 4847.76 secs ago sensor:m_final_water_vy(m/s)=0.0703013966008392 4847.79 secs ago sensor:m_gps_mag_var(rad)=-0.287979326579064 476.974 secs ago sensor:m_iridium_attempt_num(nodim)=0 328.999 secs ago sensor:m_iridium_call_num(nodim)=736 428.926 secs ago sensor:m_iridium_dialed_num(nodim)=2047 443.167 secs ago sensor:m_leakdetect_voltage(volts)=2.49612332112332 3.032 secs ago sensor:m_tot_num_inflections(nodim)=3358 664.217 secs ago sensor:m_vacuum(inHg)=10.2370065934066 3.416 secs ago sensor:m_water_vx(m/s)=0.0342508517941554 549.069 secs ago sensor:m_water_vy(m/s)=-0.017505189487817 549.102 secs ago sensor:sci_m_disk_free(Mbytes)=1897.71875 50.477 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)=-6449.9 21606.2 secs ago sensor:x_last_wpt_lon(lon)=-6405.7 21606.2 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 2/ 0/ 0 odd: 21/ 17/ 2 ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_WPT_TOOFAR ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2015-01-05T14:45:49 ABORT HISTORY: last abort segment: unit_191-2015-004-2-0 (0192.0000) ABORT HISTORY: last abort mission: SHALLOW.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 -468 secs) Waypoint: (-6457.0254,-6418.8256) Range: 12802m, Bearing: 203deg, Age: 5:37h:m 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) 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 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] [ 1 1 0] 17 science_super I u 3 20 5 0 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 8 8 1] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 12 8 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 I u 3 20 3 0 30THERMAL_ACC_PRE - 31 THERMAL_ENGINE - 32 THERMAL_PUMP - 33 DE_PUMP - 34 thruster_g1 - 35 thruster - devices:(t/m/s) errs: 1/ 0/ 0 warn: 2/ 0/ 0 odd: 21/ 17/ 2 Glider unit_191 at surface. Because:no comms for a while [behavior surface_2 start_when = 12.0] MissionName:200_NW.MI MissionNum:unit_191-2015-004-4-15 (0194.0015) Vehicle Name: unit_191 Curr Time: Tue Jan 6 02:25:25 2015 MT: 38750 DR Location: -6451.766 N -6408.338 E measured 514.75 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6451.236 N -6407.580 E measured 627.148 secs ago GPS Location: -6451.766 N -6408.338 E measured 517.137 secs ago sensor:c_wpt_lat(lat)=-6457.0254 10475.9 secs ago sensor:c_wpt_lon(lon)=-6418.8256 10475.9 secs ago sensor:m_battery(volts)=10.8250578620136 43.553 secs ago sensor:m_coulomb_amphr(amp-hrs)=3.6313750743866 4.461 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=366.936318574461 4.476 secs ago sensor:m_depth(m)=0 4.431 secs ago sensor:m_final_water_vx(m/s)=0.0311338149624218 4888.35 secs ago sensor:m_final_water_vy(m/s)=0.0703013966008392 4888.38 secs ago sensor:m_gps_mag_var(rad)=-0.287979326579064 517.563 secs ago sensor:m_iridium_attempt_num(nodim)=0 369.588 secs ago sensor:m_iridium_call_num(nodim)=736 469.514 secs ago sensor:m_iridium_dialed_num(nodim)=2047 483.755 secs ago sensor:m_leakdetect_voltage(volts)=2.49612332112332 43.62 secs ago sensor:m_tot_num_inflections(nodim)=3358 704.805 secs ago sensor:m_vacuum(inHg)=10.2370065934066 44.005 secs ago sensor:m_water_vx(m/s)=0.0342508517941554 589.659 secs ago sensor:m_water_vy(m/s)=-0.017505189487817 589.691 secs ago sensor:sci_m_disk_free(Mbytes)=1897.71875 91.066 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)=-6449.9 21646.8 secs ago sensor:x_last_wpt_lon(lon)=-6405.7 21646.8 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 2/ 0/ 0 odd: 21/ 17/ 2 ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_WPT_TOOFAR ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2015-01-05T14:45:49 ABORT HISTORY: last abort segment: unit_191-2015-004-2-0 (0192.0000) ABORT HISTORY: last abort mission: SHALLOW.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 -508 secs) Waypoint: (-6457.0254,-6418.8256) Range: 12802m, Bearing: 203deg, Age: 5:38h:m Time until diving is: 553 secs ^R 38774 40 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 272.968750 Megabytes available on CF file system = 1727.968750 38778 01940015.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=244.0K, M_SPARE_HEAP=225.0K 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 c_iridium_phone_num(digits) 88160000500.000000 f_ocean_pressure_min(volts) 0.123877 m_avg_climb_rate(m/s) -0.111591 m_avg_speed(m/s) 0.270924 m_avg_upward_inflection_time(sec) 22.525149 m_battery(volts) 10.807062 m_coulomb_amphr_total(amp-hrs) 366.941069 m_iridium_call_num(nodim) 736.000000 m_iridium_dialed_num(nodim) 2047.000000 m_lat(lat) -6451.765600 m_lon(lon) -6408.337900 m_tot_ballast_pumped_energy(kjoules) 2756.723583 m_tot_horz_dist(km) 2321.787674 m_tot_num_inflections(nodim) 3358.000000 s_water_depth_avg(m) 200.000000 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) -6449.900000 x_last_wpt_lon(lon) -6405.700000 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 0.6 seconds. Housekeeping is done 38849 45 01940016.mlg LOG FILE OPENED Megabytes used on CF file system = 273.093750 Megabytes available on CF file system = 1727.843750 38852 init_gps_input() 38852 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiti