1452362 Iridium console active and ready... Vehicle Name: unit_191 Curr Time: Thu Jan 22 11:05:55 2015 MT: 1452361 DR Location: -6452.565 N -6410.017 E measured 66.999 secs ago GPS TooFar: -6452.013 N -6408.824 E measured 11772.6 secs ago GPS Invalid : -6452.262 N -6409.242 E measured 166.499 secs ago GPS Location: -6452.565 N -6410.017 E measured 67.529 secs ago sensor:c_wpt_lat(lat)=-6457.0254 22450.5 secs ago sensor:c_wpt_lon(lon)=-6418.8256 22450.5 secs ago sensor:m_battery(volts)=10.8870086830789 34.764 secs ago sensor:m_coulomb_amphr(amp-hrs)=106.441558837891 5.217 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=469.746502337965 5.241 secs ago sensor:m_depth(m)=0 5.242 secs ago sensor:m_final_water_vx(m/s)=0.0903739500039863 5408.71 secs ago sensor:m_final_water_vy(m/s)=0.1073399245401 5408.75 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 68.097 secs ago sensor:m_iridium_attempt_num(nodim)=1 59.934 secs ago sensor:m_iridium_call_num(nodim)=1019 19.65 secs ago sensor:m_iridium_dialed_num(nodim)=2352 30.603 secs ago sensor:m_leakdetect_voltage(volts)=2.49490231990232 47.879 secs ago sensor:m_tot_num_inflections(nodim)=4379 243.383 secs ago sensor:m_vacuum(inHg)=9.3018405982906 35.39 secs ago sensor:m_water_vx(m/s)=0.0492297100241369 137.412 secs ago sensor:m_water_vy(m/s)=0.097555755410798 137.457 secs ago sensor:sci_m_disk_free(Mbytes)=1745.75 5514.17 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)=-6451.427 22451.7 secs ago sensor:x_last_wpt_lon(lon)=-6408.5017 22451.8 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 1452363 DRIVER_ODDITY:iridium:1624: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_191-2015-004-4-482 (0194.0482) Vehicle Name: unit_191 Curr Time: Thu Jan 22 11:06:18 2015 MT: 1452385 DR Location: -6452.565 N -6410.017 E measured 90.423 secs ago GPS TooFar: -6452.013 N -6408.824 E measured 11796 secs ago GPS Invalid : -6452.262 N -6409.242 E measured 189.924 secs ago GPS Location: -6452.565 N -6410.017 E measured 90.954 secs ago sensor:c_wpt_lat(lat)=-6457.0254 22473.9 secs ago sensor:c_wpt_lon(lon)=-6418.8256 22473.9 secs ago sensor:m_battery(volts)=10.8870086830789 58.126 secs ago sensor:m_coulomb_amphr(amp-hrs)=106.445129394531 4.457 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=469.750072894606 4.471 secs ago sensor:m_depth(m)=0.0593166958745023 4.419 secs ago sensor:m_final_water_vx(m/s)=0.0903739500039863 5432 secs ago sensor:m_final_water_vy(m/s)=0.1073399245401 5432.03 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 91.368 secs ago sensor:m_iridium_attempt_num(nodim)=1 83.186 secs ago sensor:m_iridium_call_num(nodim)=1019 42.885 secs ago sensor:m_iridium_dialed_num(nodim)=2352 53.824 secs ago sensor:m_leakdetect_voltage(volts)=2.49331501831502 9.483 secs ago sensor:m_tot_num_inflections(nodim)=4379 266.585 secs ago sensor:m_vacuum(inHg)=9.3018405982906 58.574 secs ago sensor:m_water_vx(m/s)=0.0492297100241369 160.586 secs ago sensor:m_water_vy(m/s)=0.097555755410798 160.618 secs ago sensor:sci_m_disk_free(Mbytes)=1745.75 5537.31 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)=-6451.427 22474.8 secs ago sensor:x_last_wpt_lon(lon)=-6408.5017 22474.9 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 11/ 9/ 0 odd: 754/ 750/ 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 -70 secs) Waypoint: (-6457.0254,-6418.8256) Range: 10811m, Bearing: 202deg, Age: 6:14h:m Time until diving is: 205 secs Glider unit_191 at surface. Because:nothing commanded [behavior surface_3 start_when = 1.0] MissionName:200_NW.MI MissionNum:unit_191-2015-004-4-482 (0194.0482) Vehicle Name: unit_191 Curr Time: Thu Jan 22 11:07:00 2015 MT: 1452426 DR Location: -6452.565 N -6410.017 E measured 131.864 secs ago GPS TooFar: -6452.013 N -6408.824 E measured 11837.4 secs ago GPS Invalid : -6452.262 N -6409.242 E measured 231.366 secs ago GPS Location: -6452.565 N -6410.017 E measured 132.396 secs ago sensor:c_wpt_lat(lat)=-6457.0254 22515.3 secs ago sensor:c_wpt_lon(lon)=-6418.8256 22515.4 secs ago sensor:m_battery(volts)=10.8785051285683 35.865 secs ago sensor:m_coulomb_amphr(amp-hrs)=106.452247619629 4.322 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=469.757191119703 4.34 secs ago sensor:m_depth(m)=0 4.291 secs ago sensor:m_final_water_vx(m/s)=0.0903739500039863 5473.45 secs ago sensor:m_final_water_vy(m/s)=0.1073399245401 5473.49 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 132.827 secs ago sensor:m_iridium_attempt_num(nodim)=1 124.645 secs ago sensor:m_iridium_call_num(nodim)=1019 84.344 secs ago sensor:m_iridium_dialed_num(nodim)=2352 95.283 secs ago sensor:m_leakdetect_voltage(volts)=2.49331501831502 50.94 secs ago sensor:m_tot_num_inflections(nodim)=4379 308.042 secs ago sensor:m_vacuum(inHg)=9.57591965811965 36.324 secs ago sensor:m_water_vx(m/s)=0.0492297100241369 202.041 secs ago sensor:m_water_vy(m/s)=0.097555755410798 202.074 secs ago sensor:sci_m_disk_free(Mbytes)=1745.75 5578.77 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)=-6451.427 22516.3 secs ago sensor:x_last_wpt_lon(lon)=-6408.5017 22516.3 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 11/ 9/ 0 odd: 754/ 750/ 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 -112 secs) Waypoint: (-6457.0254,-6418.8256) Range: 10811m, Bearing: 202deg, Age: 6:15h:m Time until diving is: 164 secs s *.sbd *.tbd -------------------------------- 1452446 46 01940482.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 1452455 50 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\01940482.TBD c:\logs\01940481.TBD SCI: SUCCESS 1452654 96 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 1452657 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 1452657 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 �452812 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 1452812 restore_sensors().... 1452812 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\01940482.SBD c:\logs\01940481.SBD GLD: SUCCESS 1452824 98 SCI:PROGLET house_elf begin() called 1452824 SCI: house_elf: Version 1.2 1452824 SCI:PROGLET ctd41cp begin() called 1452824 SCI: ctd41cp: Version 0.2 1452824 SCI: ctd41cp: Will be sending the following data to glider: 1452824 SCI: sci_water_cond(s/m) 1452824 SCI: sci_water_temp(degc) 1452825 SCI: sci_water_pressure(bar) 1452825 SCI: sci_ctd41cp_timestamp(timestamp) 1452825 SCI:PROGLET flbbcd begin() called 1452825 SCI: flbbcd: Version 0.0 1452825 SCI: flbbcd: Will be sending following data to glider: 1452825 SCI: sci_flbbcd_chlor_units(ug/l) 1452825 SCI: sci_flbbcd_bb_units(nodim) 1452825 SCI: sci_flbbcd_cdom_units(ppb) 1452825 0 SCI: sci_flbbcd_chlor_sig(nodim) 1452826 SCI: sci_flbbcd_bb_sig(nodim) 1452826 SCI: sci_flbbcd_cdom_sig(nodim) 1452827 SCI: sci_flbbcd_chlor_ref(nodim) 1452827 SCI: sci_flbbcd_bb_ref(nodim) 1452827 SCI: sci_flbbcd_cdom_ref(nodim) 1452827 SCI: sci_flbbcd_therm(nodim) 1452827 SCI: sci_flbbcd_timestamp(timestamp) 1452827 SCI: Opening Bit(29) for output 1452829 SCI:PROGLET house_elf start() called 1452829 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 1452829 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 1452914 7 01940483.mlg LOG FILE OPENED -------------------------------- 1452915 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_191-2015-004-4-483 (0194.0483) Vehicle Name: unit_191 Curr Time: Thu Jan 22 11:15:12 2015 MT: 1452918 DR Location: -6452.565 N -6410.017 E measured 624.084 secs ago GPS TooFar: -6452.013 N -6408.824 E measured 12329.6 secs ago GPS Invalid : -6452.262 N -6409.242 E measured 723.585 secs ago GPS Location: -6452.565 N -6410.017 E measured 624.615 secs ago sensor:c_wpt_lat(lat)=-6457.0254 23007.5 secs ago sensor:c_wpt_lon(lon)=-6418.8256 23007.6 secs ago sensor:m_battery(volts)=10.8593334923904 3.038 secs ago sensor:m_coulomb_amphr(amp-hrs)=106.531814575195 3.201 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=469.83675807527 3.214 secs ago sensor:m_depth(m)=0 3.107 secs ago sensor:m_final_water_vx(m/s)=0.0903739500039863 5965.67 secs ago sensor:m_final_water_vy(m/s)=0.1073399245401 5965.7 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 625.039 secs ago sensor:m_iridium_attempt_num(nodim)=0 473.111 secs ago sensor:m_iridium_call_num(nodim)=1019 576.554 secs ago sensor:m_iridium_dialed_num(nodim)=2352 587.491 secs ago sensor:m_leakdetect_voltage(volts)=2.49639804639804 3.102 secs ago sensor:m_tot_num_inflections(nodim)=4379 800.251 secs ago sensor:m_vacuum(inHg)=10.0614311355311 3.491 secs ago sensor:m_water_vx(m/s)=0.0492297100241369 694.25 secs ago sensor:m_water_vy(m/s)=0.097555755410798 694.283 secs ago sensor:sci_m_disk_free(Mbytes)=1745.21875 55.274 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)=-6451.427 23008.5 secs ago sensor:x_last_wpt_lon(lon)=-6408.5017 23008.5 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 11/ 9/ 0 odd: 754/ 750/ 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 -604 secs) Waypoint: (-6457.0254,-6418.8256) Range: 10811m, Bearing: 202deg, Age: 6:23h:m Time until diving is: 295 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] [ 5 5 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] [ 2 2 0] 17 science_super I u 3 20 5 0 [ 0 0 0] [ 3 3 0] [ 6 6 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 342 342 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] [ 393 389 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: 11/ 9/ 0 odd: 754/ 750/ 2 Glider unit_191 at surface. Because:nothing commanded [behavior surface_3 start_when = 1.0] MissionName:200_NW.MI MissionNum:unit_191-2015-004-4-483 (0194.0483) Vehicle Name: unit_191 Curr Time: Thu Jan 22 11:15:53 2015 MT: 1452960 DR Location: -6452.565 N -6410.017 E measured 665.223 secs ago GPS TooFar: -6452.013 N -6408.824 E measured 12370.8 secs ago GPS Invalid : -6452.262 N -6409.242 E measured 764.722 secs ago GPS Location: -6452.565 N -6410.017 E measured 665.753 secs ago sensor:c_wpt_lat(lat)=-6457.0254 23048.7 secs ago sensor:c_wpt_lon(lon)=-6418.8256 23048.7 secs ago sensor:m_battery(volts)=10.8593334923904 44.176 secs ago sensor:m_coulomb_amphr(amp-hrs)=106.538932800293 4.466 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=469.843876300367 4.479 secs ago sensor:m_depth(m)=0 4.434 secs ago sensor:m_final_water_vx(m/s)=0.0903739500039863 6006.8 secs ago sensor:m_final_water_vy(m/s)=0.1073399245401 6006.84 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 666.177 secs ago sensor:m_iridium_attempt_num(nodim)=0 514.248 secs ago sensor:m_iridium_call_num(nodim)=1019 617.691 secs ago sensor:m_iridium_dialed_num(nodim)=2352 628.629 secs ago sensor:m_leakdetect_voltage(volts)=2.49639804639804 44.24 secs ago sensor:m_tot_num_inflections(nodim)=4379 841.389 secs ago sensor:m_vacuum(inHg)=10.0614311355311 44.63 secs ago sensor:m_water_vx(m/s)=0.0492297100241369 735.39 secs ago sensor:m_water_vy(m/s)=0.097555755410798 735.424 secs ago sensor:sci_m_disk_free(Mbytes)=1745.21875 96.414 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)=-6451.427 23049.6 secs ago sensor:x_last_wpt_lon(lon)=-6408.5017 23049.7 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 11/ 9/ 0 odd: 754/ 750/ 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 -645 secs) Waypoint: (-6457.0254,-6418.8256) Range: 10811m, Bearing: 202deg, Age: 6:24h:m Time until diving is: 254 secs ^R1452979 19 behavior surface_3: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 562.500000 Megabytes available on CF file system = 1438.437500 1452984 01940483.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=242.0K, M_SPARE_HEAP=223.0K 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) 0.123043 m_avg_climb_rate(m/s) -0.115221 m_avg_speed(m/s) 0.272175 m_avg_upward_inflection_time(sec) 74.297750 m_battery(volts) 10.859333 m_coulomb_amphr_total(amp-hrs) 469.848637 m_iridium_call_num(nodim) 1019.000000 m_iridium_dialed_num(nodim) 2352.000000 m_lat(lat) -6452.565200 m_lon(lon) -6410.016900 m_tot_ballast_pumped_energy(kjoules) 3163.139964 m_tot_horz_dist(km) 2595.088060 m_tot_num_inflections(nodim) 4379.000000 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) -6451.427000 x_last_wpt_lon(lon) -6408.501700 The instantaneous lag time between the system and gps clock is 2.0 seconds. The average lag time between the system and gps clock is 1.4 seconds. Housekeeping is done