127988 Iridium console active and ready... Vehicle Name: unit_191 Curr Time: Wed Jan 7 03:12:45 2015 MT: 127987 DR Location: -6452.732 N -6411.459 E measured 71.008 secs ago GPS TooFar: -6455.847 N -6416.946 E measured 44361.7 secs ago GPS Invalid : -6453.479 N -6412.776 E measured 170.066 secs ago GPS Location: -6452.732 N -6411.459 E measured 72.542 secs ago sensor:c_wpt_lat(lat)=-6448.6858 21492.5 secs ago sensor:c_wpt_lon(lon)=-6403.6371 21492.6 secs ago sensor:m_battery(volts)=10.8587448880708 38.444 secs ago sensor:m_coulomb_amphr(amp-hrs)=10.2196245193481 5.237 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=373.524568019423 5.258 secs ago sensor:m_depth(m)=0 5.264 secs ago sensor:m_final_water_vx(m/s)=-0.0269228172542424 6322.21 secs ago sensor:m_final_water_vy(m/s)=0.0750614880666724 6322.25 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 73.114 secs ago sensor:m_iridium_attempt_num(nodim)=1 63.942 secs ago sensor:m_iridium_call_num(nodim)=750 20.028 secs ago sensor:m_iridium_dialed_num(nodim)=2061 34.278 secs ago sensor:m_leakdetect_voltage(volts)=2.49697802197802 59.124 secs ago sensor:m_tot_num_inflections(nodim)=3487 256.075 secs ago sensor:m_vacuum(inHg)=9.2816452991453 39.07 secs ago sensor:m_water_vx(m/s)=-0.0623295024658696 141.165 secs ago sensor:m_water_vy(m/s)=0.0450957091853015 141.209 secs ago sensor:sci_m_disk_free(Mbytes)=1888.625 6416.18 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)=-6457.0254 34982.7 secs ago sensor:x_last_wpt_lon(lon)=-6418.8256 34982.8 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 127990 DRIVER_ODDITY:iridium:1628: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_191-2015-004-4-42 (0194.0042) Vehicle Name: unit_191 Curr Time: Wed Jan 7 03:13:04 2015 MT: 128007 DR Location: -6452.732 N -6411.459 E measured 89.591 secs ago GPS TooFar: -6455.847 N -6416.946 E measured 44380.3 secs ago GPS Invalid : -6453.479 N -6412.776 E measured 188.65 secs ago GPS Location: -6452.732 N -6411.459 E measured 91.124 secs ago sensor:c_wpt_lat(lat)=-6448.6858 21511 secs ago sensor:c_wpt_lon(lon)=-6403.6371 21511.1 secs ago sensor:m_battery(volts)=10.8587448880708 56.965 secs ago sensor:m_coulomb_amphr(amp-hrs)=10.2231874465942 4.467 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=373.528130946669 4.481 secs ago sensor:m_depth(m)=0 4.436 secs ago sensor:m_final_water_vx(m/s)=-0.0269228172542424 6340.66 secs ago sensor:m_final_water_vy(m/s)=0.0750614880666724 6340.7 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 91.552 secs ago sensor:m_iridium_attempt_num(nodim)=1 82.363 secs ago sensor:m_iridium_call_num(nodim)=750 38.428 secs ago sensor:m_iridium_dialed_num(nodim)=2061 52.665 secs ago sensor:m_leakdetect_voltage(volts)=2.4954822954823 14.337 secs ago sensor:m_tot_num_inflections(nodim)=3487 274.443 secs ago sensor:m_vacuum(inHg)=9.2816452991453 57.422 secs ago sensor:m_water_vx(m/s)=-0.0623295024658696 159.506 secs ago sensor:m_water_vy(m/s)=0.0450957091853015 159.539 secs ago sensor:sci_m_disk_free(Mbytes)=1888.625 6434.5 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)=-6457.0254 35001 secs ago sensor:x_last_wpt_lon(lon)=-6418.8256 35001 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 4/ 2/ 0 odd: 58/ 54/ 4 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 -74 secs) Waypoint: (-6448.6858,-6403.6371) Range: 9733m, Bearing: 22deg, Age: 9:43h:m Time until diving is: 505 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_191-2015-004-4-42 (0194.0042) Vehicle Name: unit_191 Curr Time: Wed Jan 7 03:13:45 2015 MT: 128049 DR Location: -6452.732 N -6411.459 E measured 131.252 secs ago GPS TooFar: -6455.847 N -6416.946 E measured 44422 secs ago GPS Invalid : -6453.479 N -6412.776 E measured 230.311 secs ago GPS Location: -6452.732 N -6411.459 E measured 132.787 secs ago sensor:c_wpt_lat(lat)=-6448.6858 21552.7 secs ago sensor:c_wpt_lon(lon)=-6403.6371 21552.8 secs ago sensor:m_battery(volts)=10.8415062966996 36.234 secs ago sensor:m_coulomb_amphr(amp-hrs)=10.2291250228882 4.325 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=373.534068522963 4.338 secs ago sensor:m_depth(m)=0 4.295 secs ago sensor:m_final_water_vx(m/s)=-0.0269228172542424 6382.32 secs ago sensor:m_final_water_vy(m/s)=0.0750614880666724 6382.36 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 133.213 secs ago sensor:m_iridium_attempt_num(nodim)=1 124.023 secs ago sensor:m_iridium_call_num(nodim)=750 80.088 secs ago sensor:m_iridium_dialed_num(nodim)=2061 94.325 secs ago sensor:m_leakdetect_voltage(volts)=2.4954822954823 55.996 secs ago sensor:m_tot_num_inflections(nodim)=3487 316.101 secs ago sensor:m_vacuum(inHg)=9.58251404151404 36.689 secs ago sensor:m_water_vx(m/s)=-0.0623295024658696 201.166 secs ago sensor:m_water_vy(m/s)=0.0450957091853015 201.197 secs ago sensor:sci_m_disk_free(Mbytes)=1888.625 6476.16 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)=-6457.0254 35042.6 secs ago sensor:x_last_wpt_lon(lon)=-6418.8256 35042.7 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 4/ 2/ 0 odd: 58/ 54/ 4 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 -115 secs) Waypoint: (-6448.6858,-6403.6371) Range: 9733m, Bearing: 22deg, Age: 9:44h:m Time until diving is: 464 secs s *.sbd *.tbd -------------------------------- 128073 37 01940042.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 128082 39 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\01940042.TBD c:\logs\01940041.TBD SCI: SUCCESS 128362 6 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 128367 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 128367 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 �28632 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 128632 restore_sensors().... 128632 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\01940042.SBD c:\logs\01940041.SBD GLD: SUCCESS 128641 7 SCI:PROGLET house_elf begin() called 128641 SCI: house_elf: Version 1.2 128642 SCI:PROGLET ctd41cp begin() called 128642 SCI: ctd41cp: Version 0.2 128642 SCI: ctd41cp: Will be sending the following data to glider: 128642 SCI: sci_water_cond(s/m) 128642 SCI: sci_water_temp(degc) 128642 SCI: sci_water_pressure(bar) 128642 SCI: sci_ctd41cp_timestamp(timestamp) 128642 SCI:PROGLET flbbcd begin() called 128643 SCI: flbbcd: Version 0.0 128643 SCI: flbbcd: Will be sending following data to glider: 128643 SCI: sci_flbbcd_chlor_units(ug/l) 128643 SCI: sci_flbbcd_bb_units(nodim) 128643 SCI: sci_flbbcd_cdom_units(ppb) 128643 SCI: sci_flbbcd_chlor_sig(nodim) 128643 8 SCI: sci_flbbcd_bb_sig(nodim) 128643 SCI: sci_flbbcd_cdom_sig(nodim) 128644 SCI: sci_flbbcd_chlor_ref(nodim) 128644 SCI: sci_flbbcd_bb_ref(nodim) 128644 SCI: sci_flbbcd_cdom_ref(nodim) 128645 SCI: sci_flbbcd_therm(nodim) 128645 SCI: sci_flbbcd_timestamp(timestamp) 128645 SCI: Opening Bit(29) for output 128647 SCI:PROGLET house_elf start() called 128647 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 128647 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 128717 13 01940043.mlg LOG FILE OPENED -------------------------------- 128718 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_191-2015-004-4-43 (0194.0043) Vehicle Name: unit_191 Curr Time: Wed Jan 7 03:24:59 2015 MT: 128722 DR Location: -6452.732 N -6411.459 E measured 804.327 secs ago GPS TooFar: -6455.847 N -6416.946 E measured 45095 secs ago GPS Invalid : -6453.479 N -6412.776 E measured 903.386 secs ago GPS Location: -6452.732 N -6411.459 E measured 805.861 secs ago sensor:c_wpt_lat(lat)=-6448.6858 22225.8 secs ago sensor:c_wpt_lon(lon)=-6403.6371 22225.8 secs ago sensor:m_battery(volts)=10.8202108562849 2.963 secs ago sensor:m_coulomb_amphr(amp-hrs)=10.3419370651245 3.115 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=373.646880565199 3.127 secs ago sensor:m_depth(m)=0.0762926456715532 3.026 secs ago sensor:m_final_water_vx(m/s)=-0.0269228172542424 7055.39 secs ago sensor:m_final_water_vy(m/s)=0.0750614880666724 7055.42 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 806.275 secs ago sensor:m_iridium_attempt_num(nodim)=0 649.402 secs ago sensor:m_iridium_call_num(nodim)=750 753.148 secs ago sensor:m_iridium_dialed_num(nodim)=2061 767.384 secs ago sensor:m_leakdetect_voltage(volts)=2.4960927960928 3.025 secs ago sensor:m_tot_num_inflections(nodim)=3487 989.162 secs ago sensor:m_vacuum(inHg)=10.1788935897436 3.406 secs ago sensor:m_water_vx(m/s)=-0.0623295024658696 874.225 secs ago sensor:m_water_vy(m/s)=0.0450957091853015 874.258 secs ago sensor:sci_m_disk_free(Mbytes)=1888 50.648 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)=-6457.0254 35715.7 secs ago sensor:x_last_wpt_lon(lon)=-6418.8256 35715.7 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 4/ 2/ 0 odd: 58/ 54/ 4 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 -788 secs) Waypoint: (-6448.6858,-6403.6371) Range: 9733m, Bearing: 22deg, Age: 9:55h: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 [ 0 0 0] [ 1 1 0] [ 0 0 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 1 [ 1 0 0] [ 3 1 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] [ 31 31 3] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 26 22 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: 4/ 2/ 0 odd: 58/ 54/ 4 Glider unit_191 at surface. Because:no comms for a while [behavior surface_2 start_when = 12.0] MissionName:200_NW.MI MissionNum:unit_191-2015-004-4-43 (0194.0043) Vehicle Name: unit_191 Curr Time: Wed Jan 7 03:25:40 2015 MT: 128763 DR Location: -6452.732 N -6411.459 E measured 846.097 secs ago GPS TooFar: -6455.847 N -6416.946 E measured 45136.8 secs ago GPS Invalid : -6453.479 N -6412.776 E measured 945.156 secs ago GPS Location: -6452.732 N -6411.459 E measured 847.631 secs ago sensor:c_wpt_lat(lat)=-6448.6858 22267.6 secs ago sensor:c_wpt_lon(lon)=-6403.6371 22267.6 secs ago sensor:m_battery(volts)=10.8202108562849 44.739 secs ago sensor:m_coulomb_amphr(amp-hrs)=10.3490629196167 4.488 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=373.654006419691 4.502 secs ago sensor:m_depth(m)=0 4.441 secs ago sensor:m_final_water_vx(m/s)=-0.0269228172542424 7097.17 secs ago sensor:m_final_water_vy(m/s)=0.0750614880666724 7097.2 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 848.06 secs ago sensor:m_iridium_attempt_num(nodim)=0 691.188 secs ago sensor:m_iridium_call_num(nodim)=750 794.934 secs ago sensor:m_iridium_dialed_num(nodim)=2061 809.171 secs ago sensor:m_leakdetect_voltage(volts)=2.4960927960928 44.811 secs ago sensor:m_tot_num_inflections(nodim)=3487 1030.95 secs ago sensor:m_vacuum(inHg)=10.1788935897436 45.191 secs ago sensor:m_water_vx(m/s)=-0.0623295024658696 916.01 secs ago sensor:m_water_vy(m/s)=0.0450957091853015 916.042 secs ago sensor:sci_m_disk_free(Mbytes)=1888 92.432 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)=-6457.0254 35757.5 secs ago sensor:x_last_wpt_lon(lon)=-6418.8256 35757.5 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 4/ 2/ 0 odd: 58/ 54/ 4 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 -830 secs) Waypoint: (-6448.6858,-6403.6371) Range: 9733m, Bearing: 22deg, Age: 9:55h:m Time until diving is: 552 secs ^R128783 26 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 291.656250 Megabytes available on CF file system = 1709.281250 128787 01940043.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) 0.123605 m_avg_climb_rate(m/s) -0.113370 m_avg_speed(m/s) 0.273769 m_avg_upward_inflection_time(sec) 22.923095 m_battery(volts) 10.820211 m_coulomb_amphr_total(amp-hrs) 373.658757 m_iridium_call_num(nodim) 750.000000 m_iridium_dialed_num(nodim) 2061.000000 m_lat(lat) -6452.732300 m_lon(lon) -6411.458900 m_tot_ballast_pumped_energy(kjoules) 2782.635259 m_tot_horz_dist(km) 2342.208942 m_tot_num_inflections(nodim) 3487.000000 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) -6457.025400 x_last_wpt_lon(lon) -6418.825600 The instantaneous lag time between the system and gps clock is 1.0 seconds. The average lag time between the system and gps clock is 0.9 seconds. Housekeeping is done 128860 32 01940044.mlg LOG FILE OPENED Megabytes used on CF file system = 291.781250 Megabytes available on CF file system = 1709.156250 128862 init_gps_input() 128862 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final GPS fix.