927945 Iridium console active and ready... Vehicle Name: unit_191 Curr Time: Fri Jan 16 09:25:31 2015 MT: 927944 DR Location: -6456.260 N -6417.952 E measured 64.902 secs ago GPS TooFar: -6454.630 N -6414.492 E measured 34031.6 secs ago GPS Invalid : -6456.582 N -6418.366 E measured 169.059 secs ago GPS Location: -6456.260 N -6417.952 E measured 67.291 secs ago sensor:c_wpt_lat(lat)=-6448.6858 5281.92 secs ago sensor:c_wpt_lon(lon)=-6403.6371 5281.99 secs ago sensor:m_battery(volts)=10.881784715044 38.18 secs ago sensor:m_coulomb_amphr(amp-hrs)=68.0164413452148 5.236 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=431.321384845289 5.258 secs ago sensor:m_depth(m)=0 5.247 secs ago sensor:m_final_water_vx(m/s)=0.00202050611622377 2856.65 secs ago sensor:m_final_water_vy(m/s)=0.0269241410241976 2856.69 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 67.864 secs ago sensor:m_iridium_attempt_num(nodim)=1 62.52 secs ago sensor:m_iridium_call_num(nodim)=913 19.851 secs ago sensor:m_iridium_dialed_num(nodim)=2240 34.077 secs ago sensor:m_leakdetect_voltage(volts)=2.49612332112332 38.599 secs ago sensor:m_tot_num_inflections(nodim)=4033 242.185 secs ago sensor:m_vacuum(inHg)=9.2025126984127 38.805 secs ago sensor:m_water_vx(m/s)=-0.043054539923249 139.784 secs ago sensor:m_water_vy(m/s)=0.0111174914401963 139.828 secs ago sensor:sci_m_disk_free(Mbytes)=1803 2904.2 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 5283.18 secs ago sensor:x_last_wpt_lon(lon)=-6418.8256 5283.23 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 927946 DRIVER_ODDITY:iridium:1629:xxx_ctrl() ran too long Glider unit_191 at surface. Because:nothing commanded [behavior surface_3 start_when = 1.0] MissionName:200_NW.MI MissionNum:unit_191-2015-004-4-298 (0194.0298) Vehicle Name: unit_191 Curr Time: Fri Jan 16 09:25:50 2015 MT: 927963 DR Location: -6456.260 N -6417.952 E measured 83.317 secs ago GPS TooFar: -6454.630 N -6414.492 E measured 34050 secs ago GPS Invalid : -6456.582 N -6418.366 E measured 187.474 secs ago GPS Location: -6456.260 N -6417.952 E measured 85.707 secs ago sensor:c_wpt_lat(lat)=-6448.6858 5300.31 secs ago sensor:c_wpt_lon(lon)=-6403.6371 5300.35 secs ago sensor:m_battery(volts)=10.881784715044 56.528 secs ago sensor:m_coulomb_amphr(amp-hrs)=68.0199966430664 4.291 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=431.324940143141 4.305 secs ago sensor:m_depth(m)=0 4.265 secs ago sensor:m_final_water_vx(m/s)=0.00202050611622377 2874.93 secs ago sensor:m_final_water_vy(m/s)=0.0269241410241976 2874.96 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 86.133 secs ago sensor:m_iridium_attempt_num(nodim)=1 80.772 secs ago sensor:m_iridium_call_num(nodim)=913 38.082 secs ago sensor:m_iridium_dialed_num(nodim)=2240 52.293 secs ago sensor:m_leakdetect_voltage(volts)=2.49612332112332 56.808 secs ago sensor:m_tot_num_inflections(nodim)=4033 260.382 secs ago sensor:m_vacuum(inHg)=9.2025126984127 56.985 secs ago sensor:m_water_vx(m/s)=-0.043054539923249 157.954 secs ago sensor:m_water_vy(m/s)=0.0111174914401963 157.988 secs ago sensor:sci_m_disk_free(Mbytes)=1803 2922.34 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 5301.26 secs ago sensor:x_last_wpt_lon(lon)=-6418.8256 5301.3 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 6/ 4/ 0 odd: 490/ 486/ 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 -76 secs) Waypoint: (-6448.6858,-6403.6371) Range: 18048m, Bearing: 21deg, Age: 1:28h:m Time until diving is: 208 secs Glider unit_191 at surface. Because:nothing commanded [behavior surface_3 start_when = 1.0] MissionName:200_NW.MI MissionNum:unit_191-2015-004-4-298 (0194.0298) Vehicle Name: unit_191 Curr Time: Fri Jan 16 09:26:33 2015 MT: 928006 DR Location: -6456.260 N -6417.952 E measured 126.386 secs ago GPS TooFar: -6454.630 N -6414.492 E measured 34093.1 secs ago GPS Invalid : -6456.582 N -6418.366 E measured 230.543 secs ago GPS Location: -6456.260 N -6417.952 E measured 128.776 secs ago sensor:c_wpt_lat(lat)=-6448.6858 5343.38 secs ago sensor:c_wpt_lon(lon)=-6403.6371 5343.42 secs ago sensor:m_battery(volts)=10.8717835329169 37.505 secs ago sensor:m_coulomb_amphr(amp-hrs)=68.0259323120117 4.287 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=431.330875812086 4.301 secs ago sensor:m_depth(m)=0 4.26 secs ago sensor:m_final_water_vx(m/s)=0.00202050611622377 2918 secs ago sensor:m_final_water_vy(m/s)=0.0269241410241976 2918.03 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 129.201 secs ago sensor:m_iridium_attempt_num(nodim)=1 123.84 secs ago sensor:m_iridium_call_num(nodim)=913 81.152 secs ago sensor:m_iridium_dialed_num(nodim)=2240 95.362 secs ago sensor:m_leakdetect_voltage(volts)=2.4967032967033 37.757 secs ago sensor:m_tot_num_inflections(nodim)=4033 303.451 secs ago sensor:m_vacuum(inHg)=9.48030109890109 37.964 secs ago sensor:m_water_vx(m/s)=-0.043054539923249 201.022 secs ago sensor:m_water_vy(m/s)=0.0111174914401963 201.056 secs ago sensor:sci_m_disk_free(Mbytes)=1803 2965.41 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 5344.33 secs ago sensor:x_last_wpt_lon(lon)=-6418.8256 5344.36 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 6/ 4/ 0 odd: 490/ 486/ 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 -119 secs) Waypoint: (-6448.6858,-6403.6371) Range: 18048m, Bearing: 21deg, Age: 1:29h:m Time until diving is: 165 secs s *.sbd *.tbd -------------------------------- 928027 60 01940298.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 928037 64 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\01940298.TBD c:\logs\01940297.TBD SCI: SUCCESS 928074 73 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 928081 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 928081 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 ?s().... 928175 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.**^XB0800000000022d DEL.**^XB0800000000022d DEL GLD: Sent 2 file(s): c:\logs\01940298.SBD c:\logs\01940297.SBD GLD: SUCCESS 928186 75 SCI:PROGLET house_elf begin() called 928186 SCI: house_elf: Version 1.2 928186 SCI:PROGLET ctd41cp begin() called 928186 SCI: ctd41cp: Version 0.2 928187 SCI: ctd41cp: Will be sending the following data to glider: 928187 SCI: sci_water_cond(s/m) 928187 SCI: sci_water_temp(degc) 928187 SCI: sci_water_pressure(bar) 928187 SCI: sci_ctd41cp_timestamp(timestamp) 928187 SCI:PROGLET flbbcd begin() called 928187 SCI: flbbcd: Version 0.0 928187 SCI: flbbcd: Will be sending following data to glider: 928187 SCI: sci_flbbcd_chlor_units(ug/l) 928187 SCI: sci_flbbcd_bb_units(nodim) 928188 SCI: sci_flbbcd_cdom_units(ppb) 928188 SCI: sci_flbbcd_chlor_sig(nodim) 928188 75 SCI: sci_flbbcd_bb_sig(nodim) 928188 SCI: sci_flbbcd_cdom_sig(nodim) 928188 SCI: sci_flbbcd_chlor_ref(nodim) 928189 SCI: sci_flbbcd_bb_ref(nodim) 928189 SCI: sci_flbbcd_cdom_ref(nodim) 928189 SCI: sci_flbbcd_therm(nodim) 928189 SCI: sci_flbbcd_timestamp(timestamp) 928189 SCI: Opening Bit(29) for output 928191 SCI:PROGLET house_elf start() called 928191 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 928192 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 928269 82 01940299.mlg LOG FILE OPENED -------------------------------- 928270 behavior surface_3: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider unit_191 at surface. Because:nothing commanded [behavior surface_3 start_when = 1.0] MissionName:200_NW.MI MissionNum:unit_191-2015-004-4-299 (0194.0299) Vehicle Name: unit_191 Curr Time: Fri Jan 16 09:31:02 2015 MT: 928275 DR Location: -6456.260 N -6417.952 E measured 395.546 secs ago GPS TooFar: -6454.630 N -6414.492 E measured 34362.2 secs ago GPS Invalid : -6456.582 N -6418.366 E measured 499.703 secs ago GPS Location: -6456.260 N -6417.952 E measured 397.937 secs ago sensor:c_wpt_lat(lat)=-6448.6858 5612.54 secs ago sensor:c_wpt_lon(lon)=-6403.6371 5612.58 secs ago sensor:m_battery(volts)=10.8375536533737 3.048 secs ago sensor:m_coulomb_amphr(amp-hrs)=68.0675048828125 3.207 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=431.372448382887 3.219 secs ago sensor:m_depth(m)=0 3.115 secs ago sensor:m_final_water_vx(m/s)=0.00202050611622377 3187.16 secs ago sensor:m_final_water_vy(m/s)=0.0269241410241976 3187.2 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 398.364 secs ago sensor:m_iridium_attempt_num(nodim)=0 250.22 secs ago sensor:m_iridium_call_num(nodim)=913 350.312 secs ago sensor:m_iridium_dialed_num(nodim)=2240 364.523 secs ago sensor:m_leakdetect_voltage(volts)=2.49590964590965 3.112 secs ago sensor:m_tot_num_inflections(nodim)=4033 572.611 secs ago sensor:m_vacuum(inHg)=10.0457694749695 3.502 secs ago sensor:m_water_vx(m/s)=-0.043054539923249 470.184 secs ago sensor:m_water_vy(m/s)=0.0111174914401963 470.217 secs ago sensor:sci_m_disk_free(Mbytes)=1802.65625 4.575 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 5613.48 secs ago sensor:x_last_wpt_lon(lon)=-6418.8256 5613.52 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 6/ 4/ 0 odd: 490/ 486/ 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 NOT ready for consci. ... because: m_science_clothesline_lag > u_max_clothesline_lag_for_consci Water Velocity Calculations waiting for final gps fix(ideally -388 secs) Waypoint: (-6448.6858,-6403.6371) Range: 18048m, Bearing: 21deg, Age: 1:33h:m Time until diving is: 294 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] [ 2 2 0] [ 11 11 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 [ 0 0 0] [ 1 1 0] [ 2 2 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 219 219 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] [ 257 253 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: 6/ 4/ 0 odd: 490/ 486/ 2 Glider unit_191 at surface. Because:nothing commanded [behavior surface_3 start_when = 1.0] MissionName:200_NW.MI MissionNum:unit_191-2015-004-4-299 (0194.0299) Vehicle Name: unit_191 Curr Time: Fri Jan 16 09:31:46 2015 MT: 928319 DR Location: -6456.260 N -6417.952 E measured 439.154 secs ago GPS TooFar: -6454.630 N -6414.492 E measured 34405.8 secs ago GPS Invalid : -6456.582 N -6418.366 E measured 543.311 secs ago GPS Location: -6456.260 N -6417.952 E measured 441.544 secs ago sensor:c_wpt_lat(lat)=-6448.6858 5656.15 secs ago sensor:c_wpt_lon(lon)=-6403.6371 5656.19 secs ago sensor:m_battery(volts)=10.8375536533737 46.653 secs ago sensor:m_coulomb_amphr(amp-hrs)=68.0746231079102 4.451 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=431.379566607985 4.465 secs ago sensor:m_depth(m)=0 4.421 secs ago sensor:m_final_water_vx(m/s)=0.00202050611622377 3230.77 secs ago sensor:m_final_water_vy(m/s)=0.0269241410241976 3230.8 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 441.97 secs ago sensor:m_iridium_attempt_num(nodim)=0 293.824 secs ago sensor:m_iridium_call_num(nodim)=913 393.918 secs ago sensor:m_iridium_dialed_num(nodim)=2240 408.127 secs ago sensor:m_leakdetect_voltage(volts)=2.49590964590965 46.718 secs ago sensor:m_tot_num_inflections(nodim)=4033 616.218 secs ago sensor:m_vacuum(inHg)=10.0457694749695 47.108 secs ago sensor:m_water_vx(m/s)=-0.043054539923249 513.789 secs ago sensor:m_water_vy(m/s)=0.0111174914401963 513.823 secs ago sensor:sci_m_disk_free(Mbytes)=1802.65625 48.18 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 5657.09 secs ago sensor:x_last_wpt_lon(lon)=-6418.8256 5657.13 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 6/ 4/ 0 odd: 490/ 486/ 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 -432 secs) Waypoint: (-6448.6858,-6403.6371) Range: 18048m, Bearing: 21deg, Age: 1:34h:m Time until diving is: 250 secs ^R928338 97 behavior surface_3: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 454.625000 Megabytes available on CF file system = 1546.312500 928343 01940299.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=243.0K, M_SPARE_HEAP=224.0K 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) 0.123333 m_avg_climb_rate(m/s) -0.085964 m_avg_speed(m/s) 0.271842 m_avg_upward_inflection_time(sec) 74.263000 m_battery(volts) 10.816267 m_coulomb_amphr_total(amp-hrs) 431.385502 m_iridium_call_num(nodim) 913.000000 m_iridium_dialed_num(nodim) 2240.000000 m_lat(lat) -6456.260400 m_lon(lon) -6417.951500 m_tot_ballast_pumped_energy(kjoules) 3013.590608 m_tot_horz_dist(km) 2493.550901 m_tot_num_inflections(nodim) 4033.000000 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 0.0 seconds. The average lag time between the system and gps clock is 0.4 seconds. Housekeeping is done 928425 3 01940300.mlg LOG FILE OPENED Megabytes used on CF file system = 454.750000 Megabytes available on CF file system = 1546.187500 928427 init_gps_inpu