278081 Iridium console active and ready... Vehicle Name: unit_191 Curr Time: Mon Feb 16 21:46:39 2015 MT: 278081 DR Location: -6454.776 N -6412.303 E measured 72.698 secs ago GPS TooFar: -6454.417 N -6410.763 E measured 12553.8 secs ago GPS Invalid : -6454.536 N -6411.257 E measured 171.674 secs ago GPS Location: -6454.776 N -6412.302 E measured 73.167 secs ago sensor:c_wpt_lat(lat)=-6457.0254 69492 secs ago sensor:c_wpt_lon(lon)=-6418.8256 69492 secs ago sensor:m_battery(volts)=10.7970465860286 55.645 secs ago sensor:m_coulomb_amphr(amp-hrs)=263.300811767578 5.354 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=626.605755267653 5.376 secs ago sensor:m_depth(m)=0 5.38 secs ago sensor:m_final_water_vx(m/s)=0.0503638930077781 5785.76 secs ago sensor:m_final_water_vy(m/s)=0.120604285316646 5785.8 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 73.742 secs ago sensor:m_iridium_attempt_num(nodim)=1 65.604 secs ago sensor:m_iridium_call_num(nodim)=1424 19.975 secs ago sensor:m_iridium_dialed_num(nodim)=2794 37.127 secs ago sensor:m_leakdetect_voltage(volts)=2.49600122100122 56.041 secs ago sensor:m_tot_num_inflections(nodim)=5759 231.902 secs ago sensor:m_vacuum(inHg)=9.09246892551892 56.266 secs ago sensor:m_water_vx(m/s)=0.00716142049030193 141.451 secs ago sensor:m_water_vy(m/s)=0.0781969180784298 141.493 secs ago sensor:sci_m_disk_free(Mbytes)=1512.3125 5899.06 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 132329 secs ago sensor:x_last_wpt_lon(lon)=-6405.1 132329 secs ago ABORT HISTORY: total since reset: 4 ABORT HISTORY: last abort cause: MS_ABORT_USER_INTERRUPT ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2015-02-13T16:28:41 ABORT HISTORY: last abort segment: unit_191-2015-043-0-0 (0195.0000) ABORT HISTORY: last abort mission: 200_NW.MI 278083 DRIVER_ODDITY:iridium:1620: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_191-2015-043-1-84 (0196.0084) Vehicle Name: unit_191 Curr Time: Mon Feb 16 21:46:58 2015 MT: 278100 DR Location: -6454.776 N -6412.303 E measured 91.267 secs ago GPS TooFar: -6454.417 N -6410.763 E measured 12572.4 secs ago GPS Invalid : -6454.536 N -6411.257 E measured 190.242 secs ago GPS Location: -6454.776 N -6412.302 E measured 91.736 secs ago sensor:c_wpt_lat(lat)=-6457.0254 69510.5 secs ago sensor:c_wpt_lon(lon)=-6418.8256 69510.6 secs ago sensor:m_battery(volts)=10.7740940641779 9.13 secs ago sensor:m_coulomb_amphr(amp-hrs)=263.305572509766 4.453 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=626.61051600984 4.466 secs ago sensor:m_depth(m)=0 4.423 secs ago sensor:m_final_water_vx(m/s)=0.0503638930077781 5804.19 secs ago sensor:m_final_water_vy(m/s)=0.120604285316646 5804.22 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 92.158 secs ago sensor:m_iridium_attempt_num(nodim)=1 84.002 secs ago sensor:m_iridium_call_num(nodim)=1424 38.356 secs ago sensor:m_iridium_dialed_num(nodim)=2794 55.495 secs ago sensor:m_leakdetect_voltage(volts)=2.49600122100122 9.39 secs ago sensor:m_tot_num_inflections(nodim)=5759 250.25 secs ago sensor:m_vacuum(inHg)=9.43867405372405 9.588 secs ago sensor:m_water_vx(m/s)=0.00716142049030193 159.775 secs ago sensor:m_water_vy(m/s)=0.0781969180784298 159.81 secs ago sensor:sci_m_disk_free(Mbytes)=1512.3125 5917.36 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 132347 secs ago sensor:x_last_wpt_lon(lon)=-6405.1 132347 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 29/ 1/ 0 odd:1815/ 136/ 2 ABORT HISTORY: total since reset: 4 ABORT HISTORY: last abort cause: MS_ABORT_USER_INTERRUPT ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2015-02-13T16:28:41 ABORT HISTORY: last abort segment: unit_191-2015-043-0-0 (0195.0000) ABORT HISTORY: last abort mission: 200_NW.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: (-6457.0254,-6418.8256) Range: 6624m, Bearing: 213deg, Age: 19:18h: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_191-2015-043-1-84 (0196.0084) Vehicle Name: unit_191 Curr Time: Mon Feb 16 21:47:38 2015 MT: 278141 DR Location: -6454.776 N -6412.303 E measured 131.848 secs ago GPS TooFar: -6454.417 N -6410.763 E measured 12613 secs ago GPS Invalid : -6454.536 N -6411.257 E measured 230.825 secs ago GPS Location: -6454.776 N -6412.302 E measured 132.317 secs ago sensor:c_wpt_lat(lat)=-6457.0254 69551.1 secs ago sensor:c_wpt_lon(lon)=-6418.8256 69551.1 secs ago sensor:m_battery(volts)=10.7740940641779 49.713 secs ago sensor:m_coulomb_amphr(amp-hrs)=263.3115234375 6.555 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=626.616466937574 6.568 secs ago sensor:m_depth(m)=0.0141197752290841 6.49 secs ago sensor:m_final_water_vx(m/s)=0.0503638930077781 5844.76 secs ago sensor:m_final_water_vy(m/s)=0.120604285316646 5844.79 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 132.731 secs ago sensor:m_iridium_attempt_num(nodim)=1 124.574 secs ago sensor:m_iridium_call_num(nodim)=1424 78.928 secs ago sensor:m_iridium_dialed_num(nodim)=2794 96.066 secs ago sensor:m_leakdetect_voltage(volts)=2.49600122100122 49.961 secs ago sensor:m_tot_num_inflections(nodim)=5759 290.82 secs ago sensor:m_vacuum(inHg)=9.43867405372405 50.158 secs ago sensor:m_water_vx(m/s)=0.00716142049030193 200.346 secs ago sensor:m_water_vy(m/s)=0.0781969180784298 200.378 secs ago sensor:sci_m_disk_free(Mbytes)=1512.3125 5957.93 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 132388 secs ago sensor:x_last_wpt_lon(lon)=-6405.1 132388 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 29/ 1/ 0 odd:1815/ 136/ 2 ABORT HISTORY: total since reset: 4 ABORT HISTORY: last abort cause: MS_ABORT_USER_INTERRUPT ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2015-02-13T16:28:41 ABORT HISTORY: last abort segment: unit_191-2015-043-0-0 (0195.0000) ABORT HISTORY: last abort mission: 200_NW.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 -116 secs) Waypoint: (-6457.0254,-6418.8256) Range: 6624m, Bearing: 213deg, Age: 19:19h:m Time until diving is: 164 secs s -num=4 *.sbd *.tbd -------------------------------- 278160 60 01960084.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 278169 62 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\01960084.TBD c:\logs\01960083.TBD SCI: SUCCESS 278390 14 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 278395 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 278395 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 �s().... 278522 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.**^XB0800000000022d DEL**^XB0800000000022d DEL. GLD: Sent 2 file(s): c:\logs\01960084.SBD c:\logs\01960083.SBD GLD: SUCCESS 278538 16 SCI:PROGLET house_elf begin() called 278538 SCI: house_elf: Version 1.2 278538 SCI:PROGLET ctd41cp begin() called 278538 SCI: ctd41cp: Version 0.2 278539 SCI: ctd41cp: Will be sending the following data to glider: 278539 SCI: sci_water_cond(s/m) 278539 SCI: sci_water_temp(degc) 278539 SCI: sci_water_pressure(bar) 278539 SCI: sci_ctd41cp_timestamp(timestamp) 278539 SCI:PROGLET flbbcd begin() called 278539 SCI: flbbcd: Version 0.0 278539 SCI: flbbcd: Will be sending following data to glider: 278540 SCI: sci_flbbcd_chlor_units(ug/l) 278540 SCI: sci_flbbcd_bb_units(nodim) 278540 SCI: sci_flbbcd_cdom_units(ppb) 278540 SCI: sci_flbbcd_chlor_sig(nodim) 278540 SCI: sci_flbbcd_bb_sig(nodim) 278540 17 SCI: sci_flbbcd_cdom_sig(nodim) 278540 SCI: sci_flbbcd_chlor_ref(nodim) 278540 SCI: sci_flbbcd_bb_ref(nodim) 278541 SCI: sci_flbbcd_cdom_ref(nodim) 278541 SCI: sci_flbbcd_therm(nodim) 278541 SCI: sci_flbbcd_timestamp(timestamp) 278541 SCI: Opening Bit(29) for output 278543 SCI:PROGLET house_elf start() called 278544 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 278544 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 278656 29 01960085.mlg LOG FILE OPENED -------------------------------- 278658 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_191-2015-043-1-85 (0196.0085) Vehicle Name: unit_191 Curr Time: Mon Feb 16 21:56:20 2015 MT: 278662 DR Location: -6454.776 N -6412.303 E measured 653.745 secs ago GPS TooFar: -6454.417 N -6410.763 E measured 13134.9 secs ago GPS Invalid : -6454.536 N -6411.257 E measured 752.721 secs ago GPS Location: -6454.776 N -6412.302 E measured 654.214 secs ago sensor:c_wpt_lat(lat)=-6457.0254 70073 secs ago sensor:c_wpt_lon(lon)=-6418.8256 70073 secs ago sensor:m_battery(volts)=10.6986545802625 2.955 secs ago sensor:m_coulomb_amphr(amp-hrs)=263.395812988281 3.109 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=626.700756488356 3.121 secs ago sensor:m_depth(m)=0 3.028 secs ago sensor:m_final_water_vx(m/s)=0.0503638930077781 6366.67 secs ago sensor:m_final_water_vy(m/s)=0.120604285316646 6366.7 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 654.638 secs ago sensor:m_iridium_attempt_num(nodim)=0 503.079 secs ago sensor:m_iridium_call_num(nodim)=1424 600.834 secs ago sensor:m_iridium_dialed_num(nodim)=2794 617.972 secs ago sensor:m_leakdetect_voltage(volts)=2.4962148962149 3.029 secs ago sensor:m_tot_num_inflections(nodim)=5759 812.725 secs ago sensor:m_vacuum(inHg)=10.1088282661783 3.405 secs ago sensor:m_water_vx(m/s)=0.00716142049030193 722.25 secs ago sensor:m_water_vy(m/s)=0.0781969180784298 722.283 secs ago sensor:sci_m_disk_free(Mbytes)=1511.71875 67.025 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 132910 secs ago sensor:x_last_wpt_lon(lon)=-6405.1 132910 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 29/ 1/ 0 odd:1815/ 136/ 2 ABORT HISTORY: total since reset: 4 ABORT HISTORY: last abort cause: MS_ABORT_USER_INTERRUPT ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2015-02-13T16:28:41 ABORT HISTORY: last abort segment: unit_191-2015-043-0-0 (0195.0000) ABORT HISTORY: last abort mission: 200_NW.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 -638 secs) Waypoint: (-6457.0254,-6418.8256) Range: 6624m, Bearing: 213deg, Age: 19:27h: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] [ 21 1 0] [ 11 0 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 1 [ 1 0 0] [ 4 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] [ 3 0 0] 17 science_super I u 3 20 5 0 [ 0 0 0] [ 4 0 0] [ 9 0 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 852 64 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] [ 940 72 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: 29/ 1/ 0 odd:1815/ 136/ 2 Glider unit_191 at surface. Because:nothing commanded [behavior surface_3 start_when = 1.0] MissionName:200_NW.MI MissionNum:unit_191-2015-043-1-85 (0196.0085) Vehicle Name: unit_191 Curr Time: Mon Feb 16 21:57:01 2015 MT: 278704 DR Location: -6454.776 N -6412.303 E measured 694.829 secs ago GPS TooFar: -6454.417 N -6410.763 E measured 13176 secs ago GPS Invalid : -6454.536 N -6411.257 E measured 793.806 secs ago GPS Location: -6454.776 N -6412.302 E measured 695.299 secs ago sensor:c_wpt_lat(lat)=-6457.0254 70114.1 secs ago sensor:c_wpt_lon(lon)=-6418.8256 70114.1 secs ago sensor:m_battery(volts)=10.6986545802625 44.04 secs ago sensor:m_coulomb_amphr(amp-hrs)=263.402923583984 4.454 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=626.707867084059 4.469 secs ago sensor:m_depth(m)=0 4.426 secs ago sensor:m_final_water_vx(m/s)=0.0503638930077781 6407.75 secs ago sensor:m_final_water_vy(m/s)=0.120604285316646 6407.78 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 695.723 secs ago sensor:m_iridium_attempt_num(nodim)=0 544.163 secs ago sensor:m_iridium_call_num(nodim)=1424 641.918 secs ago sensor:m_iridium_dialed_num(nodim)=2794 659.055 secs ago sensor:m_leakdetect_voltage(volts)=2.4962148962149 44.113 secs ago sensor:m_tot_num_inflections(nodim)=5759 853.81 secs ago sensor:m_vacuum(inHg)=10.1088282661783 44.49 secs ago sensor:m_water_vx(m/s)=0.00716142049030193 763.334 secs ago sensor:m_water_vy(m/s)=0.0781969180784298 763.368 secs ago sensor:sci_m_disk_free(Mbytes)=1511.71875 108.109 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 132951 secs ago sensor:x_last_wpt_lon(lon)=-6405.1 132951 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 29/ 1/ 0 odd:1815/ 136/ 2 ABORT HISTORY: total since reset: 4 ABORT HISTORY: last abort cause: MS_ABORT_USER_INTERRUPT ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2015-02-13T16:28:41 ABORT HISTORY: last abort segment: unit_191-2015-043-0-0 (0195.0000) ABORT HISTORY: last abort mission: 200_NW.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 -679 secs) Waypoint: (-6457.0254,-6418.8256) Range: 6624m, Bearing: 213deg, Age: 19:28h:m Time until diving is: 254 secs ^R278723 42 behavior surface_3: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 1007.125000 Megabytes available on CF file system = 993.812500 278728 01960085.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) 0.122695 m_avg_climb_rate(m/s) -0.122409 m_avg_speed(m/s) 0.243719 m_avg_upward_inflection_time(sec) 69.274250 m_battery(volts) 10.698655 m_coulomb_amphr_total(amp-hrs) 626.712628 m_iridium_call_num(nodim) 1424.000000 m_iridium_dialed_num(nodim) 2794.000000 m_lat(lat) -6454.775900 m_lon(lon) -6412.302500 m_tot_ballast_pumped_energy(kjoules) 3716.407925 m_tot_horz_dist(km) 3007.270663 m_tot_num_inflections(nodim) 5759.000000 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 3.0 seconds. The average lag time between the system and gps clock is 2.6 seconds. Housekeeping is done 278841 54 01960086.mlg LOG FILE OPENED Megabytes used on CF file system = 1007.250000 Megabytes available on CF file system = 993.687500 278845 init_gps_input() 278845 behavior surface_3: SUBSTATE 7 ->10 : Waiting for final gps fix sur