1996931 Iridium console active and ready... Vehicle Name: unit_191 Curr Time: Wed Jan 28 18:22:12 2015 MT: 1996930 DR Location: -6449.709 N -6405.675 E measured 65.273 secs ago GPS TooFar: -6451.250 N -6408.439 E measured 11833.1 secs ago GPS Invalid : -6450.314 N -6406.970 E measured 169.361 secs ago GPS Location: -6449.709 N -6405.675 E measured 67.658 secs ago sensor:c_wpt_lat(lat)=-6457.0254 883.112 secs ago sensor:c_wpt_lon(lon)=-6418.8256 883.175 secs ago sensor:m_battery(volts)=10.9063400247335 42.982 secs ago sensor:m_coulomb_amphr(amp-hrs)=146.277450561523 5.242 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=509.582394061598 5.262 secs ago sensor:m_depth(m)=0 5.241 secs ago sensor:m_final_water_vx(m/s)=0.0801577858983598 5489.24 secs ago sensor:m_final_water_vy(m/s)=0.0965775439675969 5489.28 secs ago sensor:m_gps_mag_var(rad)=-0.287979326579064 68.232 secs ago sensor:m_iridium_attempt_num(nodim)=1 62.881 secs ago sensor:m_iridium_call_num(nodim)=1126 19.974 secs ago sensor:m_iridium_dialed_num(nodim)=2462 34.236 secs ago sensor:m_leakdetect_voltage(volts)=2.49545177045177 53.025 secs ago sensor:m_tot_num_inflections(nodim)=4733 235.647 secs ago sensor:m_vacuum(inHg)=9.20210054945055 43.605 secs ago sensor:m_water_vx(m/s)=0.0445688115228964 140.197 secs ago sensor:m_water_vy(m/s)=0.0582923020373788 140.242 secs ago sensor:sci_m_disk_free(Mbytes)=1687.3125 5538.82 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)=-6449.54 884.355 secs ago sensor:x_last_wpt_lon(lon)=-6405.1 884.415 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 1996933 DRIVER_ODDITY:iridium:1619:xxx_ctrl() ran too long Glider unit_191 at surface. Because:Hit a waypoint [behavior surface_4 start_when = 8.0] MissionName:200_NW.MI MissionNum:unit_191-2015-004-4-664 (0194.0664) Vehicle Name: unit_191 Curr Time: Wed Jan 28 18:22:30 2015 MT: 1996950 DR Location: -6449.709 N -6405.675 E measured 83.83 secs ago GPS TooFar: -6451.250 N -6408.439 E measured 11851.6 secs ago GPS Invalid : -6450.314 N -6406.970 E measured 187.917 secs ago GPS Location: -6449.709 N -6405.675 E measured 86.216 secs ago sensor:c_wpt_lat(lat)=-6457.0254 901.642 secs ago sensor:c_wpt_lon(lon)=-6418.8256 901.68 secs ago sensor:m_battery(volts)=10.9063400247335 61.475 secs ago sensor:m_coulomb_amphr(amp-hrs)=146.279800415039 4.481 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=509.584743915114 4.496 secs ago sensor:m_depth(m)=0 4.452 secs ago sensor:m_final_water_vx(m/s)=0.0801577858983598 5507.67 secs ago sensor:m_final_water_vy(m/s)=0.0965775439675969 5507.7 secs ago sensor:m_gps_mag_var(rad)=-0.287979326579064 86.645 secs ago sensor:m_iridium_attempt_num(nodim)=1 81.279 secs ago sensor:m_iridium_call_num(nodim)=1126 38.352 secs ago sensor:m_iridium_dialed_num(nodim)=2462 52.6 secs ago sensor:m_leakdetect_voltage(volts)=2.49478021978022 9.443 secs ago sensor:m_tot_num_inflections(nodim)=4733 253.995 secs ago sensor:m_vacuum(inHg)=9.20210054945055 61.937 secs ago sensor:m_water_vx(m/s)=0.0445688115228964 158.519 secs ago sensor:m_water_vy(m/s)=0.0582923020373788 158.553 secs ago sensor:sci_m_disk_free(Mbytes)=1687.3125 5557.12 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)=-6449.54 902.591 secs ago sensor:x_last_wpt_lon(lon)=-6405.1 902.63 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 16/ 14/ 0 odd:1013/1009/ 3 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 -69 secs) Waypoint: (-6457.0254,-6418.8256) Range: 17100m, Bearing: 200deg, Age: 0:15h:m Time until diving is: 207 secs Glider unit_191 at surface. Because:Hit a waypoint [behavior surface_4 start_when = 8.0] MissionName:200_NW.MI MissionNum:unit_191-2015-004-4-664 (0194.0664) Vehicle Name: unit_191 Curr Time: Wed Jan 28 18:23:13 2015 MT: 1996992 DR Location: -6449.709 N -6405.675 E measured 126.46 secs ago GPS TooFar: -6451.250 N -6408.439 E measured 11894.3 secs ago GPS Invalid : -6450.314 N -6406.970 E measured 230.548 secs ago GPS Location: -6449.709 N -6405.675 E measured 128.845 secs ago sensor:c_wpt_lat(lat)=-6457.0254 944.276 secs ago sensor:c_wpt_lon(lon)=-6418.8256 944.314 secs ago sensor:m_battery(volts)=10.8965050454592 40.491 secs ago sensor:m_coulomb_amphr(amp-hrs)=146.28694152832 4.302 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=509.591885028395 4.316 secs ago sensor:m_depth(m)=0 4.272 secs ago sensor:m_final_water_vx(m/s)=0.0801577858983598 5550.3 secs ago sensor:m_final_water_vy(m/s)=0.0965775439675969 5550.33 secs ago sensor:m_gps_mag_var(rad)=-0.287979326579064 129.274 secs ago sensor:m_iridium_attempt_num(nodim)=1 123.907 secs ago sensor:m_iridium_call_num(nodim)=1126 80.98 secs ago sensor:m_iridium_dialed_num(nodim)=2462 95.227 secs ago sensor:m_leakdetect_voltage(volts)=2.49478021978022 52.069 secs ago sensor:m_tot_num_inflections(nodim)=4733 296.621 secs ago sensor:m_vacuum(inHg)=9.48442258852258 40.944 secs ago sensor:m_water_vx(m/s)=0.0445688115228964 201.145 secs ago sensor:m_water_vy(m/s)=0.0582923020373788 201.179 secs ago sensor:sci_m_disk_free(Mbytes)=1687.3125 5599.75 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)=-6449.54 945.216 secs ago sensor:x_last_wpt_lon(lon)=-6405.1 945.255 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 16/ 14/ 0 odd:1013/1009/ 3 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: 17100m, Bearing: 200deg, Age: 0:15h:m Time until diving is: 164 secs s *.sbd *.tbd -------------------------------- 1997013 18 01940664.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 1997022 22 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\01940664.TBD c:\logs\01940663.TBD SCI: SUCCESS 1997266 78 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 1997271 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 1997271 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 �997424 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 1997424 restore_sensors().... 1997424 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\01940664.SBD c:\logs\01940663.SBD GLD: SUCCESS 1997437 81 SCI:PROGLET house_elf begin() called 1997437 SCI: house_elf: Version 1.2 1997437 SCI:PROGLET ctd41cp begin() called 1997437 SCI: ctd41cp: Version 0.2 1997437 SCI: ctd41cp: Will be sending the following data to glider: 1997438 SCI: sci_water_cond(s/m) 1997438 SCI: sci_water_temp(degc) 1997438 SCI: sci_water_pressure(bar) 1997438 SCI: sci_ctd41cp_timestamp(timestamp) 1997438 SCI:PROGLET flbbcd begin() called 1997438 SCI: flbbcd: Version 0.0 1997438 SCI: flbbcd: Will be sending following data to glider: 1997438 SCI: sci_flbbcd_chlor_units(ug/l) 1997438 SCI: sci_flbbcd_bb_units(nodim) 1997438 SCI: sci_flbbcd_cdom_units(ppb) 1997439 81 SCI: sci_flbbcd_chlor_sig(nodim) 1997439 SCI: sci_flbbcd_bb_sig(nodim) 1997439 SCI: sci_flbbcd_cdom_sig(nodim) 1997440 SCI: sci_flbbcd_chlor_ref(nodim) 1997440 SCI: sci_flbbcd_bb_ref(nodim) 1997440 SCI: sci_flbbcd_cdom_ref(nodim) 1997440 SCI: sci_flbbcd_therm(nodim) 1997440 SCI: sci_flbbcd_timestamp(timestamp) 1997440 SCI: Opening Bit(29) for output 1997442 SCI:PROGLET house_elf start() called 1997442 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 1997442 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 1997533 90 01940665.mlg LOG FILE OPENED -------------------------------- 1997535 behavior surface_4: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider unit_191 at surface. Because:Hit a waypoint [behavior surface_4 start_when = 8.0] MissionName:200_NW.MI MissionNum:unit_191-2015-004-4-665 (0194.0665) Vehicle Name: unit_191 Curr Time: Wed Jan 28 18:32:19 2015 MT: 1997539 DR Location: -6449.709 N -6405.675 E measured 673.205 secs ago GPS TooFar: -6451.250 N -6408.439 E measured 12441 secs ago GPS Invalid : -6450.314 N -6406.970 E measured 777.293 secs ago GPS Location: -6449.709 N -6405.675 E measured 675.592 secs ago sensor:c_wpt_lat(lat)=-6457.0254 1491.02 secs ago sensor:c_wpt_lon(lon)=-6418.8256 1491.06 secs ago sensor:m_battery(volts)=10.8752970317557 2.957 secs ago sensor:m_coulomb_amphr(amp-hrs)=146.373626708984 3.109 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=509.678570209059 3.122 secs ago sensor:m_depth(m)=0 3.028 secs ago sensor:m_final_water_vx(m/s)=0.0801577858983598 6097.04 secs ago sensor:m_final_water_vy(m/s)=0.0965775439675969 6097.08 secs ago sensor:m_gps_mag_var(rad)=-0.287979326579064 676.02 secs ago sensor:m_iridium_attempt_num(nodim)=0 527.467 secs ago sensor:m_iridium_call_num(nodim)=1126 627.724 secs ago sensor:m_iridium_dialed_num(nodim)=2462 641.972 secs ago sensor:m_leakdetect_voltage(volts)=2.49615384615385 3.025 secs ago sensor:m_tot_num_inflections(nodim)=4733 843.365 secs ago sensor:m_vacuum(inHg)=9.9761163003663 3.41 secs ago sensor:m_water_vx(m/s)=0.0445688115228964 747.89 secs ago sensor:m_water_vy(m/s)=0.0582923020373788 747.924 secs ago sensor:sci_m_disk_free(Mbytes)=1686.78125 58.696 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)=-6449.54 1491.96 secs ago sensor:x_last_wpt_lon(lon)=-6405.1 1492 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 16/ 14/ 0 odd:1013/1009/ 3 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 -659 secs) Waypoint: (-6457.0254,-6418.8256) Range: 17100m, Bearing: 200deg, Age: 0:24h: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] [ 10 10 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] [ 3 3 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] [ 467 467 2] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 526 522 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: 16/ 14/ 0 odd:1013/1009/ 3 Glider unit_191 at surface. Because:Hit a waypoint [behavior surface_4 start_when = 8.0] MissionName:200_NW.MI MissionNum:unit_191-2015-004-4-665 (0194.0665) Vehicle Name: unit_191 Curr Time: Wed Jan 28 18:33:03 2015 MT: 1997583 DR Location: -6449.709 N -6405.675 E measured 716.674 secs ago GPS TooFar: -6451.250 N -6408.439 E measured 12484.5 secs ago GPS Invalid : -6450.314 N -6406.970 E measured 820.762 secs ago GPS Location: -6449.709 N -6405.675 E measured 719.06 secs ago sensor:c_wpt_lat(lat)=-6457.0254 1534.49 secs ago sensor:c_wpt_lon(lon)=-6418.8256 1534.53 secs ago sensor:m_battery(volts)=10.8752970317557 46.428 secs ago sensor:m_coulomb_amphr(amp-hrs)=146.37956237793 4.474 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=509.684505878004 4.488 secs ago sensor:m_depth(m)=0 4.44 secs ago sensor:m_final_water_vx(m/s)=0.0801577858983598 6140.51 secs ago sensor:m_final_water_vy(m/s)=0.0965775439675969 6140.55 secs ago sensor:m_gps_mag_var(rad)=-0.287979326579064 719.49 secs ago sensor:m_iridium_attempt_num(nodim)=0 570.938 secs ago sensor:m_iridium_call_num(nodim)=1126 671.195 secs ago sensor:m_iridium_dialed_num(nodim)=2462 685.444 secs ago sensor:m_leakdetect_voltage(volts)=2.49615384615385 46.496 secs ago sensor:m_tot_num_inflections(nodim)=4733 886.837 secs ago sensor:m_vacuum(inHg)=9.9761163003663 46.882 secs ago sensor:m_water_vx(m/s)=0.0445688115228964 791.363 secs ago sensor:m_water_vy(m/s)=0.0582923020373788 791.395 secs ago sensor:sci_m_disk_free(Mbytes)=1686.78125 102.169 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)=-6449.54 1535.43 secs ago sensor:x_last_wpt_lon(lon)=-6405.1 1535.47 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 16/ 14/ 0 odd:1013/1009/ 3 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 -702 secs) Waypoint: (-6457.0254,-6418.8256) Range: 17100m, Bearing: 200deg, Age: 0:25h:m Time until diving is: 250 secs ^R1997602 5 behavior surface_4: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 673.656250 Megabytes available on CF file system = 1327.281250 1997607 01940665.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) 0.122781 m_avg_climb_rate(m/s) -0.142257 m_avg_speed(m/s) 0.273299 m_avg_upward_inflection_time(sec) 74.241750 m_battery(volts) 10.835494 m_coulomb_amphr_total(amp-hrs) 509.690442 m_iridium_call_num(nodim) 1126.000000 m_iridium_dialed_num(nodim) 2462.000000 m_lat(lat) -6449.708900 m_lon(lon) -6405.675400 m_tot_ballast_pumped_energy(kjoules) 3318.207890 m_tot_horz_dist(km) 2700.411422 m_tot_num_inflections(nodim) 4733.000000 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) -6449.540000 x_last_wpt_lon(lon) -6405.100000 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 1.5 seconds. Housekeeping is done