Connection Event: Carrier Detect found.214907 Iridium console active and ready... Vehicle Name: ru24 Curr Time: Sun Jan 22 08:40:02 2017 MT: 214905 DR Location: -6450.566 N -6409.209 E measured 66.652 secs ago GPS TooFar: -6451.562 N -6407.907 E measured 37918.1 secs ago GPS Invalid : -6450.652 N -6409.071 E measured 118.075 secs ago GPS Location: -6450.566 N -6409.209 E measured 68.166 secs ago sensor:c_thruster_surface_depth(m)=0 5463.24 secs a not found>yo*.ma< not found>goto_l*.ma< not found>sample*.ma< not found>surfac*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] go sensor:c_wpt_lat(lat)=-6449.065 36244.6 secs ago sensor:c_wpt_lon(lon)=-6416.6196 36244.6 secs ago sensor:m_battery(volts)=13.1456197774679 63.675 secs ago sensor:m_coulomb_amphr(amp-hrs)=0 1e+308 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=0 1e+308 secs ago sensor:m_depth(m)=0.603977100260439 5.988 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 6.131 secs ago sensor:m_gps_mag_var(rad)=-0.287979326579064 68.876 secs ago sensor:m_iridium_attempt_num(nodim)=1 59.388 secs ago sensor:m_iridium_call_num(nodim)=2749 21.866 secs ago sensor:m_iridium_dialed_num(nodim)=5297 32.985 secs ago sensor:m_leakdetect_voltage(volts)=2.5 64.134 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 6.452 secs ago sensor:m_tot_num_inflections(nodim)=24428 167.313 secs ago sensor:m_vacuum(inHg)=8.1482615995116 59.649 secs ago sensor:m_water_vx(m/s)=0.224517591417314 93.476 secs ago sensor:m_water_vy(m/s)=0.00999036988048084 93.525 secs ago sensor:u_alt_min_depth(m)=2 1e+308 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_fin_deadband(rad)=0.035 214908 secs ago sensor:x_last_wpt_lat(lat)=-6451.2933 36246.1 secs ago sensor:x_last_wpt_lon(lon)=-6408.2951 36246.2 secs ago ABORT HISTORY: total since reset: 1 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2017-01-17T17:05:16 ABORT HISTORY: last abort segment: ru24-2017-016-1-0 (0281.0000) ABORT HISTORY: last abort mission: OD.MI 214908 DRIVER_ODDITY:iridium:2096:xxx_ctrl() ran too long !zero_ocean_pressure -------------------------------- -------------------------------- 214913 72 behavior surface_3: ! succeeded:zero_ocean_pressure 214913 behavior surface_3: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume 214915 Pressure sensor has been re-calibrated, i.e. ZEROed F_OCEAN_PRESSURE_MIN: 0.275 ==> 0.281 delta volts: 0.006, delta bar: -0.083, delta meters: -1.028 Glider ru24 at surface. Because:nothing commanded [behavior surface_3 start_when = 1.0] MissionName:100S_NW.MI MissionNum:ru24-2017-018-0-79 (0285.0079) Vehicle Name: ru24 Curr Time: Sun Jan 22 08:40:24 2017 MT: 214928 DR Location: -6450.566 N -6409.209 E measured 88.654 secs ago GPS TooFar: -6451.562 N -6407.907 E measured 37940.1 secs ago GPS Invalid : -6450.652 N -6409.071 E measured 140.077 secs ago GPS Location: -6450.566 N -6409.209 E measured 90.17 secs ago sensor:c_thruster_surface_depth(m)=0 5485.2 secs ago sensor:c_wpt_lat(lat)=-6449.065 36266.5 secs ago sensor:c_wpt_lon(lon)=-6416.6196 36266.5 secs ago sensor:m_battery(volts)=13.1278060292694 20.327 secs ago sensor:m_coulomb_amphr(amp-hrs)=0 1e+308 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=0 1e+308 secs ago sensor:m_depth(m)=0 4.865 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5 secs ago sensor:m_gps_mag_var(rad)=-0.287979326579064 90.689 secs ago sensor:m_iridium_attempt_num(nodim)=0 17.524 secs ago sensor:m_iridium_call_num(nodim)=2749 43.635 secs ago sensor:m_iridium_dialed_num(nodim)=5297 54.735 secs ago sensor:m_leakdetect_voltage(volts)=2.49993894993895 20.573 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 5.224 secs ago sensor:m_tot_num_inflections(nodim)=24428 189.021 secs ago sensor:m_vacuum(inHg)=8.49250051892552 15.139 secs ago sensor:m_water_vx(m/s)=0.224517591417314 115.148 secs ago sensor:m_water_vy(m/s)=0.00999036988048084 115.189 secs ago sensor:u_alt_min_depth(m)=2 1e+308 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_fin_deadband(rad)=0.035 214929 secs ago sensor:x_last_wpt_lat(lat)=-6451.2933 36267.6 secs ago sensor:x_last_wpt_lon(lon)=-6408.2951 36267.7 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 393/ 180/ 3 ABORT HISTORY: total since reset: 1 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2017-01-17T17:05:16 ABORT HISTORY: last abort segment: ru24-2017-016-1-0 (0281.0000) ABORT HISTORY: last abort mission: OD.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 -57 secs) Waypoint: (-6449.0650,-6416.6196) Range: 6491m, Bearing: 278deg, Age: 10:4h:m Time until diving is: 283 secs s *.sbd *.tbd -------------------------------- 214948 77 02850079.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 214957 81 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 � Starting zModem transfer of 02850079.tbd to/from ru24 size is 44998 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 5120 Total Bytes sent/received: 6144 Total Bytes sent/received: 7168 Total Bytes sent/received: 8192 Total Bytes sent/received: 9216 Total Bytes sent/received: 10240 Total Bytes sent/received: 11264 Total Bytes sent/received: 12288 Total Bytes sent/received: 13312 Total Bytes sent/received: 13735 Total Bytes sent/received: 14336 Total Bytes sent/received: 15360 Total Bytes sent/received: 16384 Total Bytes sent/received: 17408 Total Bytes sent/received: 18432 Total Bytes sent/received: 19456 Total Bytes sent/received: 20480 Total Bytes sent/received: 21504 Total Bytes sent/received: 22528 Total Bytes sent/received: 23552 Total Bytes sent/received: 24576 Total Bytes sent/received: 25600 Total Bytes sent/received: 26624 Total Bytes sent/received: 27649 Total Bytes sent/received: 27648 Total Bytes sent/received: 28672 Total Bytes sent/received: 29696 Total Bytes sent/received: 30720 Total Bytes sent/received: 31744 Total Bytes sent/received: 32768 Total Bytes sent/received: 33792 Total Bytes sent/received: 34816 Total Bytes sent/received: 35840 Total Bytes sent/received: 36864 Total Bytes sent/received: 37888 Total Bytes sent/received: 38912 Total Bytes sent/received: 39936 Total Bytes sent/received: 40960 Total Bytes sent/received: 41127 Total Bytes sent/received: 41984 Total Bytes sent/received: 43008 Total Bytes sent/received: 44032 Total Bytes sent/received: 44998 zModem transfer DONE for file 02850079.tbd Starting zModem transfer of 02850078.tbd to/from ru24 size is 523 Total Bytes sent/received: 523 zModem transfer DONE for file 02850078.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\02850079.TBD c:\logs\02850078.TBD SCI: SUCCESS 215454 98 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 215456 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 215457 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 02850079.sbd to/from ru24 size is 14985 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 5120 Total Bytes sent/received: 6144 Total Bytes sent/received: 7168 Total Bytes sent/received: 8192 Total Bytes sent/received: 9216 Total Bytes sent/received: 10240 Total Bytes sent/received: 11264 Total Bytes sent/received: 12288 Total Bytes sent/received: 13312 Total Bytes sent/received: 14336 Total Bytes sent/received: 14985 zModem transfer DONE for file 02850079.sbd Starting zModem transfer of 02850078.sbd to/from ru24 size is 808 Total Bytes sent/received: 808 zModem transfer DONE for file 02850078.sbd 15570 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 215570 restore_sensors().... 215571 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\02850079.SBD c:\logs\02850078.SBD GLD: SUCCESS 215608 6 SCI:PROGLET house_elf begin() called 215608 SCI: house_elf: Version 1.2 215609 7 SCI:PROGLET ctd41cp begin() called 215609 SCI: ctd41cp: Version 0.2 215609 SCI: ctd41cp: Will be sending the following data to glider: 215610 SCI: sci_water_cond(s/m) 215610 SCI: sci_water_temp(degc) 215610 SCI: sci_water_pressure(bar) 215610 SCI: sci_ctd41cp_timestamp(timestamp) 215610 SCI:PROGLET oxy3835_wphase begin() called 215610 SCI: oxy3835_wphase: Version 0.4 215610 SCI: oxy3835_wphase: Will be sending following data to glider: 215610 SCI: sci_oxy3835_wphase_oxygen(nodim) 215611 SCI: sci_oxy3835_wphase_saturation(nodim) 215611 SCI: sci_oxy3835_wphase_temp(nodim) 215611 SCI: sci_oxy3835_wphase_dphase(nodim) 215611 SCI: sci_oxy3835_wphase_bphase(nodim) 215611 SCI: sci_oxy3835_wphase_rphase(nodim) 215611 SCI: sci_oxy3835_wphase_bamp(nodim) 215611 SCI: sci_oxy3835_wphase_bpot(nodim) 215611 SCI: sci_oxy3835_wphase_ramp(nodim) 215611 SCI: sci_oxy3835_wphase_rawtemp(nodim) 215612 SCI: sci_oxy3835_wphase_timestamp(timestamp) 215612 SCI: Opening Bit(30) for output 215612 SCI:Bit(30) use count is now 1. 215612 SCI:Bit(30) raise count is now 0. 215612 SCI:Bit(30) raise count is now 0. 215612 SCI:PROGLET bb3slo begin() called 215612 SCI: bb3slo: Version 0.5 215612 SCI: bb3slo: Will be sending following data to glider: 215612 SCI: sci_bb3slo_b470_scaled(nodim) 215612 SCI: sci_bb3slo_b532_scaled(nodim) 215613 8 SCI: sci_bb3slo_b660_scaled(nodim) 215613 SCI: sci_bb3slo_b470_sig(nodim) 215614 SCI: sci_bb3slo_b532_sig(nodim) 215614 SCI: sci_bb3slo_b660_sig(nodim) 215614 SCI: sci_bb3slo_b470_ref(nodim) 215614 SCI: sci_bb3slo_b532_ref(nodim) 215614 SCI: sci_bb3slo_b660_ref(nodim) 215614 SCI: sci_bb3slo_temp(nodim) 215614 SCI: sci_bb3slo_timestamp(timestamp) 215614 SCI: Opening Bit(34) for output 215614 SCI:Bit(34) use count is now 1. 215615 SCI:Bit(34) raise count is now 0. 215615 SCI:Bit(34) raise count is now 0. 215615 SCI:PROGLET bbfl2s begin() called 215615 SCI: bbfl2s: Version 0.4 215615 SCI: bbfl2s: Will be sending following data to glider: 215615 SCI: sci_bbfl2s_bb_scaled(nodim) 215615 SCI: sci_bbfl2s_chlor_scaled(ug/l) 215615 SCI: sci_bbfl2s_cdom_scaled(ppb) 215615 SCI: sci_bbfl2s_bb_sig(nodim) 215615 SCI: sci_bbfl2s_chlor_sig(nodim) 215616 SCI: sci_bbfl2s_cdom_sig(nodim) 215616 SCI: sci_bbfl2s_bb_ref(nodim) 215616 SCI: sci_bbfl2s_chlor_ref(nodim) 215616 SCI: sci_bbfl2s_cdom_ref(nodim) 215616 SCI: sci_bbfl2s_temp(nodim) 215616 SCI: sci_bbfl2s_timestamp(timestamp) 215616 SCI:bit_shared_open(): bit(34) is already open. 215616 SCI:Bit(34) use count is now 2. 215616 SCI:Bit(34) raise count is now 0. 215616 SCI:PROGLET FIRe begin() called 215617 SCI: FIRe: Version 0.1 215617 SCI: FIRe: Will be sending following data to glider: 215617 10 SCI: sci_fire_timestamp(timestamp) 215617 SCI: sci_fire_fo(nodim) 215617 SCI: sci_fire_fm(nodim) 215618 SCI: sci_fire_fvfm(nodim) 215618 SCI: sci_fire_s(nodim) 215618 SCI: sci_fire_p(nodim) 215618 SCI: sci_fire_par(nodim) 215618 SCI: sci_fire_battery(volts) 215618 SCI: sci_fire_temp(degc) 215618 SCI: sci_fire_frame_count(nodim) 215619 SCI: sci_fire_error(nodim) 215623 11 SCI:PROGLET house_elf start() called 215623 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 215624 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 215624 SCI:PROGLET ctd41cp start() called 215624 SCI: Opening port 2:UART4:Chan C SBMB:J4(ctd) 215624 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 215624 SCI: in queue size: 2048, out queue size: 0 215625 SCI:sci_uart_drain_input(2): 215625 SCI: 215625 SCI:sci_uart_drain_input:Drained 0 chars 215625 SCI: Opening Bit(27) for output 215625 SCI:Bit(27) use count is now 1. 215625 SCI:Bit(27) raise count is now 0. 215625 SCI: Opening Bit(26) for output 215625 SCI:Bit(26) use count is now 1. 215625 SCI:Bit(26) raise count is now 0. 215625 SCI:bit_shared_raise(): Raising bit(27). 215625 SCI:bit_shared_raise(): Raising bit(26). 215625 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 215626 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 215688 13 02850080.mlg LOG FILE OPENED -------------------------------- 215688 behavior surface_3: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru24 at surface. Because:nothing commanded [behavior surface_3 start_when = 1.0] MissionName:100S_NW.MI MissionNum:ru24-2017-018-0-80 (0285.0080) Vehicle Name: ru24 Curr Time: Sun Jan 22 08:53:08 2017 MT: 215693 DR Location: -6450.566 N -6409.209 E measured 853.338 secs ago GPS TooFar: -6451.562 N -6407.907 E measured 38704.8 secs ago GPS Invalid : -6450.652 N -6409.071 E measured 904.759 secs ago GPS Location: -6450.566 N -6409.209 E measured 854.851 secs ago sensor:c_thruster_surface_depth(m)=0 6249.88 secs ago sensor:c_wpt_lat(lat)=-6449.065 37031.2 secs ago sensor:c_wpt_lon(lon)=-6416.6196 37031.2 secs ago sensor:m_battery(volts)=13.1028124837295 3.64 secs ago sensor:m_coulomb_amphr(amp-hrs)=0 1e+308 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=0 1e+308 secs ago sensor:m_depth(m)=0.312382126217207 3.715 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 58.748 secs ago sensor:m_gps_mag_var(rad)=-0.287979326579064 855.358 secs ago sensor:m_iridium_attempt_num(nodim)=0 782.194 secs ago sensor:m_iridium_call_num(nodim)=2749 808.304 secs ago sensor:m_iridium_dialed_num(nodim)=5297 819.404 secs ago sensor:m_leakdetect_voltage(volts)=2.5 3.72 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 3.756 secs ago sensor:m_tot_num_inflections(nodim)=24428 953.693 secs ago sensor:m_vacuum(inHg)=9.39425241147741 4.169 secs ago sensor:m_water_vx(m/s)=0.224517591417314 879.819 secs ago sensor:m_water_vy(m/s)=0.00999036988048084 879.859 secs ago sensor:u_alt_min_depth(m)=2 1e+308 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_fin_deadband(rad)=0.035 215694 secs ago sensor:x_last_wpt_lat(lat)=-6451.2933 37032.3 secs ago sensor:x_last_wpt_lon(lon)=-6408.2951 37032.4 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 393/ 180/ 3 ABORT HISTORY: total since reset: 1 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2017-01-17T17:05:16 ABORT HISTORY: last abort segment: ru24-2017-016-1-0 (0281.0000) ABORT HISTORY: last abort mission: OD.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 -822 secs) Waypoint: (-6449.0650,-6416.6196) Range: 6491m, Bearing: 278deg, Age: 10:17h:m Time until diving is: 293 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 7 pinger - 8 attitude - 9 attitude_tcm3 I u 3 20 5 0 10 attitude_rev - 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] [ 103 50 0] 17 science_super I u 3 20 5 0 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 98 53 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] [ 114 66 1] 25 leakdetect I u 3 20 5 0 26 recovery - 27 coulomb - 28 veh_temp - 29 BUOYANCY_PUMP I u 3 20 3 0 [ 0 0 0] [ 0 0 0] [ 78 11 0] 30THERMAL_ACC_PRE - 31 THERMAL_ENGINE - 32 THERMAL_PUMP - 33 DE_PUMP - 34 thruster_g1 - 35 thruster - devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 393/ 180/ 3 ^R215721 19 behavior surface_3: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 99.406250 Megabytes available on CF file system = 1901.531250 215725 02850080.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=260.0K, M_SPARE_HEAP=241.0K 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 f_ocean_pressure_min(volts) 0.281273 m_avg_speed(m/s) 0.265082 m_battery(volts) 13.102812 m_iridium_call_num(nodim) 2749.000000 m_iridium_dialed_num(nodim) 5297.000000 m_lat(lat) -6450.566400 m_lon(lon) -6409.208600 m_tcm3_is_calibrated(bool) 1.000000 m_tcm3_magbearth(uT) 49.572536 m_tcm3_stddeverr(uT) 0.100072 m_tcm3_xcoverage(%) 93.722382 m_tcm3_ycoverage(%) 93.630005 m_tcm3_zcoverage(%) 98.529266 m_tot_ballast_pumped_energy(kjoules) 2503.110981 m_tot_horz_dist(km) 2146.089668 m_tot_num_inflections(nodim) 24428.000000 s_ini_lat(deg) 3900.000000 s_ini_lon(deg) -7400.000000 s_water_depth_avg(m) 30.000000 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) -6451.293300 x_last_wpt_lon(lon) -6408.295100 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 0.7 seconds. Housekeeping is done 215796 24 02850081.mlg LOG FILE OPENED Megabytes used on CF file system = 99.531250 Megabytes available on CF file system = 1901.406250 215798 init_gps_input() 215798 behavior surface_3: SUBSTATE 7 ->10 : Waiting for final gps fix surface_3: Waiting