149375 Iridium console active and ready... Vehicle Name: unit_191 Curr Time: Sun Feb 22 05:02:08 2015 MT: 149374 DR Location: -6456.898 N -6418.072 E measured 70.806 secs ago GPS TooFar: -6455.528 N -6415.072 E measured 19300.9 secs ago GPS Invalid : -6456.401 N -6417.088 E measured 169.914 secs ago GPS Location: -6456.898 N -6418.072 E measured 72.272 secs ago sensor:c_wpt_lat(lat)=-6457.0254 129620 secs ago sensor:c_wpt_lon(lon)=-6418.8256 129620 secs ago sensor:m_battery(volts)=10.7659233564739 46.159 secs ago sensor:m_coulomb_amphr(amp-hrs)=295.080688476562 5.183 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=295.091400146484 5.204 secs ago sensor:m_depth(m)=0 5.208 secs ago sensor:m_final_water_vx(m/s)=0.023160610994592 6493.22 secs ago sensor:m_final_water_vy(m/s)=0.045758629495811 6493.26 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 72.821 secs ago sensor:m_iridium_attempt_num(nodim)=1 63.738 secs ago sensor:m_iridium_call_num(nodim)=1518 19.973 secs ago sensor:m_iridium_dialed_num(nodim)=2901 34.172 secs ago sensor:m_leakdetect_voltage(volts)=2.4956043956044 53.883 secs ago sensor:m_tot_num_inflections(nodim)=6038 244.947 secs ago sensor:m_vacuum(inHg)=9.28659108669109 46.785 secs ago sensor:m_water_vx(m/s)=0.0386008235092701 141.002 secs ago sensor:m_water_vy(m/s)=0.013012164071992 141.047 secs ago sensor:sci_m_disk_free(Mbytes)=1463.75 6610.02 secs ago sensor:u_min_water_depth(m)=40 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=-6449.54 129621 secs ago sensor:x_last_wpt_lon(lon)=-6405.1 129621 secs ago ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_LOW_REL_CHARGE ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2015-02-20T11:13:47 ABORT HISTORY: last abort segment: unit_191-2015-050-0-0 (0197.0000) ABORT HISTORY: last abort mission: 200_NW.MI 149376 DRIVER_ODDITY:iridium:1627: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_191-2015-050-1-41 (0198.0041) Vehicle Name: unit_191 Curr Time: Sun Feb 22 05:02:26 2015 MT: 149393 DR Location: -6456.898 N -6418.072 E measured 89.4 secs ago GPS TooFar: -6455.528 N -6415.072 E measured 19319.5 secs ago GPS Invalid : -6456.401 N -6417.088 E measured 188.508 secs ago GPS Location: -6456.898 N -6418.072 E measured 90.865 secs ago sensor:c_wpt_lat(lat)=-6457.0254 129638 secs ago sensor:c_wpt_lon(lon)=-6418.8256 129638 secs ago sensor:m_battery(volts)=10.7659233564739 64.691 secs ago sensor:m_coulomb_amphr(amp-hrs)=295.084228515625 4.293 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=295.094940185547 4.308 secs ago sensor:m_depth(m)=0 4.265 secs ago sensor:m_final_water_vx(m/s)=0.023160610994592 6511.68 secs ago sensor:m_final_water_vy(m/s)=0.045758629495811 6511.71 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 91.264 secs ago sensor:m_iridium_attempt_num(nodim)=1 82.164 secs ago sensor:m_iridium_call_num(nodim)=1518 38.381 secs ago sensor:m_iridium_dialed_num(nodim)=2901 52.566 secs ago sensor:m_leakdetect_voltage(volts)=2.4948717948718 9.281 secs ago sensor:m_tot_num_inflections(nodim)=6038 263.321 secs ago sensor:m_vacuum(inHg)=9.28659108669109 65.143 secs ago sensor:m_water_vx(m/s)=0.0386008235092701 159.347 secs ago sensor:m_water_vy(m/s)=0.013012164071992 159.381 secs ago sensor:sci_m_disk_free(Mbytes)=1463.75 6628.34 secs ago sensor:u_min_water_depth(m)=40 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=-6449.54 129639 secs ago sensor:x_last_wpt_lon(lon)=-6405.1 129639 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 34/ 0/ 0 odd:2064/ 78/ 3 ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_LOW_REL_CHARGE ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2015-02-20T11:13:47 ABORT HISTORY: last abort segment: unit_191-2015-050-0-0 (0197.0000) 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 -62 secs) Waypoint: (-6457.0254,-6418.8256) Range: 639m, Bearing: 231deg, Age: 36:0h:m Time until diving is: 206 secs Glider unit_191 at surface. Because:nothing commanded [behavior surface_3 start_when = 1.0] MissionName:200_NW.MI MissionNum:unit_191-2015-050-1-41 (0198.0041) Vehicle Name: unit_191 Curr Time: Sun Feb 22 05:03:08 2015 MT: 149435 DR Location: -6456.898 N -6418.072 E measured 131.135 secs ago GPS TooFar: -6455.528 N -6415.072 E measured 19361.2 secs ago GPS Invalid : -6456.401 N -6417.088 E measured 230.242 secs ago GPS Location: -6456.898 N -6418.072 E measured 132.6 secs ago sensor:c_wpt_lat(lat)=-6457.0254 129680 secs ago sensor:c_wpt_lon(lon)=-6418.8256 129680 secs ago sensor:m_battery(volts)=10.7174589817544 39.598 secs ago sensor:m_coulomb_amphr(amp-hrs)=295.091369628906 4.32 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=295.102081298828 4.333 secs ago sensor:m_depth(m)=0 4.277 secs ago sensor:m_final_water_vx(m/s)=0.023160610994592 6553.41 secs ago sensor:m_final_water_vy(m/s)=0.045758629495811 6553.45 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 133.002 secs ago sensor:m_iridium_attempt_num(nodim)=1 123.902 secs ago sensor:m_iridium_call_num(nodim)=1518 80.12 secs ago sensor:m_iridium_dialed_num(nodim)=2901 94.305 secs ago sensor:m_leakdetect_voltage(volts)=2.4948717948718 51.022 secs ago sensor:m_tot_num_inflections(nodim)=6038 305.062 secs ago sensor:m_vacuum(inHg)=9.58704768009768 40.059 secs ago sensor:m_water_vx(m/s)=0.0386008235092701 201.088 secs ago sensor:m_water_vy(m/s)=0.013012164071992 201.122 secs ago sensor:sci_m_disk_free(Mbytes)=1463.75 6670.08 secs ago sensor:u_min_water_depth(m)=40 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=-6449.54 129681 secs ago sensor:x_last_wpt_lon(lon)=-6405.1 129681 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 34/ 0/ 0 odd:2064/ 78/ 3 ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_LOW_REL_CHARGE ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2015-02-20T11:13:47 ABORT HISTORY: last abort segment: unit_191-2015-050-0-0 (0197.0000) 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 -104 secs) Waypoint: (-6457.0254,-6418.8256) Range: 639m, Bearing: 231deg, Age: 36:1h:m Time until diving is: 165 secs s -num=4 *.sbd *.tbd -------------------------------- 149455 95 01980041.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 149464 99 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\01980041.TBD c:\logs\01980040.TBD SCI: SUCCESS 149733 62 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 149740 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 149740 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 �49887 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 149887 restore_sensors().... 149887 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\01980041.SBD c:\logs\01980040.SBD GLD: SUCCESS 149903 63 SCI:PROGLET house_elf begin() called 149903 SCI: house_elf: Version 1.2 149904 SCI:PROGLET ctd41cp begin() called 149904 SCI: ctd41cp: Version 0.2 149904 SCI: ctd41cp: Will be sending the following data to glider: 149904 SCI: sci_water_cond(s/m) 149904 SCI: sci_water_temp(degc) 149904 SCI: sci_water_pressure(bar) 149904 SCI: sci_ctd41cp_timestamp(timestamp) 149904 SCI:PROGLET flbbcd begin() called 149905 SCI: flbbcd: Version 0.0 149905 SCI: flbbcd: Will be sending following data to glider: 149905 SCI: sci_flbbcd_chlor_units(ug/l) 149905 SCI: sci_flbbcd_bb_units(nodim) 149905 SCI: sci_flbbcd_cdom_units(ppb) 149905 64 SCI: sci_flbbcd_chlor_sig(nodim) 149905 SCI: sci_flbbcd_bb_sig(nodim) 149905 SCI: sci_flbbcd_cdom_sig(nodim) 149906 SCI: sci_flbbcd_chlor_ref(nodim) 149906 SCI: sci_flbbcd_bb_ref(nodim) 149906 SCI: sci_flbbcd_cdom_ref(nodim) 149907 SCI: sci_flbbcd_therm(nodim) 149907 SCI: sci_flbbcd_timestamp(timestamp) 149907 SCI: Opening Bit(29) for output 149909 SCI:PROGLET house_elf start() called 149909 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 149909 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 150024 76 01980042.mlg LOG FILE OPENED -------------------------------- 150026 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_191-2015-050-1-42 (0198.0042) Vehicle Name: unit_191 Curr Time: Sun Feb 22 05:13:02 2015 MT: 150029 DR Location: -6456.898 N -6418.072 E measured 725.343 secs ago GPS TooFar: -6455.528 N -6415.072 E measured 19955.4 secs ago GPS Invalid : -6456.401 N -6417.088 E measured 824.451 secs ago GPS Location: -6456.898 N -6418.072 E measured 726.808 secs ago sensor:c_wpt_lat(lat)=-6457.0254 130274 secs ago sensor:c_wpt_lon(lon)=-6418.8256 130274 secs ago sensor:m_battery(volts)=10.7050654645314 2.962 secs ago sensor:m_coulomb_amphr(amp-hrs)=295.187561035156 3.116 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=295.198272705078 3.134 secs ago sensor:m_depth(m)=0 3.036 secs ago sensor:m_final_water_vx(m/s)=0.023160610994592 7147.62 secs ago sensor:m_final_water_vy(m/s)=0.045758629495811 7147.66 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 727.212 secs ago sensor:m_iridium_attempt_num(nodim)=0 575.056 secs ago sensor:m_iridium_call_num(nodim)=1518 674.326 secs ago sensor:m_iridium_dialed_num(nodim)=2901 688.511 secs ago sensor:m_leakdetect_voltage(volts)=2.49615384615385 3.034 secs ago sensor:m_tot_num_inflections(nodim)=6038 899.266 secs ago sensor:m_vacuum(inHg)=10.1397394383394 3.415 secs ago sensor:m_water_vx(m/s)=0.0386008235092701 795.292 secs ago sensor:m_water_vy(m/s)=0.013012164071992 795.326 secs ago sensor:sci_m_disk_free(Mbytes)=1463.125 66.965 secs ago sensor:u_min_water_depth(m)=40 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=-6449.54 130275 secs ago sensor:x_last_wpt_lon(lon)=-6405.1 130275 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 34/ 0/ 0 odd:2064/ 78/ 3 ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_LOW_REL_CHARGE ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2015-02-20T11:13:47 ABORT HISTORY: last abort segment: unit_191-2015-050-0-0 (0197.0000) 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 -698 secs) Waypoint: (-6457.0254,-6418.8256) Range: 639m, Bearing: 231deg, Age: 36:11h: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] [ 23 0 0] [ 11 0 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 1 [ 1 0 0] [ 5 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] [ 958 33 2] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 2 0 0] [1083 45 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: 34/ 0/ 0 odd:2064/ 78/ 3 Glider unit_191 at surface. Because:nothing commanded [behavior surface_3 start_when = 1.0] MissionName:200_NW.MI MissionNum:unit_191-2015-050-1-42 (0198.0042) Vehicle Name: unit_191 Curr Time: Sun Feb 22 05:13:43 2015 MT: 150070 DR Location: -6456.898 N -6418.072 E measured 765.796 secs ago GPS TooFar: -6455.528 N -6415.072 E measured 19995.9 secs ago GPS Invalid : -6456.401 N -6417.088 E measured 864.906 secs ago GPS Location: -6456.898 N -6418.072 E measured 767.263 secs ago sensor:c_wpt_lat(lat)=-6457.0254 130315 secs ago sensor:c_wpt_lon(lon)=-6418.8256 130315 secs ago sensor:m_battery(volts)=10.7050654645314 43.417 secs ago sensor:m_coulomb_amphr(amp-hrs)=295.194702148438 4.481 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=295.205413818359 4.496 secs ago sensor:m_depth(m)=0 4.446 secs ago sensor:m_final_water_vx(m/s)=0.023160610994592 7188.08 secs ago sensor:m_final_water_vy(m/s)=0.045758629495811 7188.11 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 767.663 secs ago sensor:m_iridium_attempt_num(nodim)=0 615.509 secs ago sensor:m_iridium_call_num(nodim)=1518 714.78 secs ago sensor:m_iridium_dialed_num(nodim)=2901 728.964 secs ago sensor:m_leakdetect_voltage(volts)=2.49615384615385 43.487 secs ago sensor:m_tot_num_inflections(nodim)=6038 939.719 secs ago sensor:m_vacuum(inHg)=10.1397394383394 43.869 secs ago sensor:m_water_vx(m/s)=0.0386008235092701 835.746 secs ago sensor:m_water_vy(m/s)=0.013012164071992 835.779 secs ago sensor:sci_m_disk_free(Mbytes)=1463.125 107.42 secs ago sensor:u_min_water_depth(m)=40 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=-6449.54 130316 secs ago sensor:x_last_wpt_lon(lon)=-6405.1 130316 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 34/ 0/ 0 odd:2064/ 78/ 3 ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_LOW_REL_CHARGE ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2015-02-20T11:13:47 ABORT HISTORY: last abort segment: unit_191-2015-050-0-0 (0197.0000) 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 -738 secs) Waypoint: (-6457.0254,-6418.8256) Range: 639m, Bearing: 231deg, Age: 36:11h:m Time until diving is: 254 secs ^R150089 89 behavior surface_3: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 1099.250000 Megabytes available on CF file system = 901.687500 150095 01980042.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) 0.122653 m_avg_climb_rate(m/s) -0.115454 m_avg_speed(m/s) 0.233511 m_avg_upward_inflection_time(sec) 44.397930 m_battery(volts) 10.705065 m_coulomb_amphr_total(amp-hrs) 295.210144 m_iridium_call_num(nodim) 1518.000000 m_iridium_dialed_num(nodim) 2901.000000 m_lat(lat) -6456.897700 m_lon(lon) -6418.071800 m_tot_ballast_pumped_energy(kjoules) 3808.939290 m_tot_horz_dist(km) 3086.610717 m_tot_num_inflections(nodim) 6038.000000 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 4.0 seconds. The average lag time between the system and gps clock is 2.8 seconds. Housekeeping is done 150212 1 01980043.mlg LOG FILE OPENED Megabytes used on CF file system = 1099.375000 Megabytes available on CF file system = 901.562500 150216 init_gps_input() 150216 behavior surface_3: SUBSTATE 7 ->10 : Waiting for final gps fix surface_3: Waiting for f