Connection Event: Carrier Detect found.177192 Iridium console active and ready... Vehicle Name: ru24 Curr Time: Thu Jan 26 03:27:44 2017 MT: 177191 DR Location: -6452.528 N -6411.230 E measured 77.781 secs ago GPS TooFar: -6450.436 N -6407.188 E measured 109619 secs ago GPS Invalid : -6452.275 N -6410.364 E measured 135.55 secs ago GPS Location: -6452.528 N -6411.230 E measured 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 ... ] ... ] 80.136 secs ago sensor:c_thruster_surface_depth(m)=0 3652.24 secs ago sensor:c_wpt_lat(lat)=-6455.998 21287.5 secs ago sensor:c_wpt_lon(lon)=-6424 21287.6 secs ago sensor:m_battery(volts)=12.7426340857034 53.487 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)=0.566973176829512 6.03 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.943 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 80.87 secs ago sensor:m_iridium_attempt_num(nodim)=3 74.957 secs ago sensor:m_iridium_call_num(nodim)=2810 22.078 secs ago sensor:m_iridium_dialed_num(nodim)=5365 48.622 secs ago sensor:m_leakdetect_voltage(volts)=2.5 53.909 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 6.5 secs ago sensor:m_tot_num_inflections(nodim)=24919 188.473 secs ago sensor:m_vacuum(inHg)=8.10609334554334 54.223 secs ago sensor:m_water_vx(m/s)=0.053855309455047 109.788 secs ago sensor:m_water_vy(m/s)=0.0242137549086847 109.84 secs ago sensor:u_alt_min_depth(m)=2 1e+308 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_fin_deadband(rad)=0.035 177193 secs ago sensor:x_last_wpt_lat(lat)=-6451.3292 22198.9 secs ago sensor:x_last_wpt_lon(lon)=-6408.3828 22199 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 177194 DRIVER_ODDITY:iridium:2129:xxx_ctrl() ran too long Glider ru24 at surface. Because:nothing commanded [behavior surface_3 start_when = 1.0] MissionName:100S_NW.MI MissionNum:ru24-2017-023-0-45 (0287.0045) Vehicle Name: ru24 Curr Time: Thu Jan 26 03:27:49 2017 MT: 177197 DR Location: -6452.528 N -6411.230 E measured 82.857 secs ago GPS TooFar: -6450.436 N -6407.188 E measured 109624 secs ago GPS Invalid : -6452.275 N -6410.364 E measured 140.626 secs ago GPS Location: -6452.528 N -6411.230 E measured 85.212 secs ago sensor:c_thruster_surface_depth(m)=0 3657.26 secs ago sensor:c_wpt_lat(lat)=-6455.998 21292.5 secs ago sensor:c_wpt_lon(lon)=-6424 21292.5 secs ago sensor:m_battery(volts)=12.7426340857034 58.419 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)=1.04580702572141 3.492 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.796 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 85.714 secs ago sensor:m_iridium_attempt_num(nodim)=3 79.779 secs ago sensor:m_iridium_call_num(nodim)=2810 26.88 secs ago sensor:m_iridium_dialed_num(nodim)=5365 53.407 secs ago sensor:m_leakdetect_voltage(volts)=2.5 58.676 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 3.858 secs ago sensor:m_tot_num_inflections(nodim)=24919 193.218 secs ago sensor:m_vacuum(inHg)=8.10609334554334 58.951 secs ago sensor:m_water_vx(m/s)=0.053855309455047 114.504 secs ago sensor:m_water_vy(m/s)=0.0242137549086847 114.542 secs ago sensor:u_alt_min_depth(m)=2 1e+308 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_fin_deadband(rad)=0.035 177198 secs ago sensor:x_last_wpt_lat(lat)=-6451.3292 22203.5 secs ago sensor:x_last_wpt_lon(lon)=-6408.3828 22203.5 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 586/ 108/ 2 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 -52 secs) Waypoint: (-6455.9980,-6424.0000) Range: 11959m, Bearing: 220deg, Age: 5:54h:m Time until diving is: 208 secs s -num=4 *.sbd *.tbd -------------------------------- 177228 60 02870045.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 177237 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 � Starting zModem transfer of 02870045.tbd to/from ru24 size is 26488 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: 13313 Total Bytes sent/received: 13312 Total Bytes sent/received: 14336 Total Bytes sent/received: 15360 Total Bytes sent/received: 16385 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: 26488 zModem transfer DONE for file 02870045.tbd Starting zModem transfer of 02870044.tbd to/from ru24 size is 3936 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 3936 zModem transfer DONE for file 02870044.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\02870045.TBD c:\logs\02870044.TBD SCI: SUCCESS 177536 31 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 4 files Prechecking is not necessary for this invocation 177540 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 177540 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 02870045.sbd to/from ru24 size is 10793 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: 10793 zModem transfer DONE for file 02870045.sbd Starting zModem transfer of 02870044.sbd to/from ru24 size is 755 Total Bytes sent/received: 755 zModem transfer DONE for file 02870044.sbd Starting zModem transfer of 02870043.sbd to/from ru24 size is 10739 Total Bytes sent/received: 9216 Total Bytes sent/received: 10240 Total Bytes sent/received: 10739 zModem transfer DONE for file 02870043.sbd Starting zModem transfer of 02870042.sbd to/from ru24 size is 13211 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: 13211 zModem transfer DONE for file 02870042.sbd restore_sensors().... 177734 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES..*.*^XB0800000000022d DEL**^XB0800000000022d DEL. GLD: Sent 4 file(s): c:\logs\02870045.SBD c:\logs\02870044.SBD c:\logs\02870043.SBD c:\logs\02870042.SBD GLD: SUCCESS 177744 33 SCI:PROGLET house_elf begin() called 177744 SCI: house_elf: Version 1.2 177744 SCI:PROGLET ctd41cp begin() called 177744 SCI: ctd41cp: Version 0.2 177744 SCI: ctd41cp: Will be sending the following data to glider: 177744 SCI: sci_water_cond(s/m) 177744 SCI: sci_water_temp(degc) 177745 SCI: sci_water_pressure(bar) 177745 SCI: sci_ctd41cp_timestamp(timestamp) 177745 SCI:PROGLET oxy3835_wphase begin() called 177745 SCI: oxy3835_wphase: Version 0.4 177745 SCI: oxy3835_wphase: Will be sending following data to glider: 177745 SCI: sci_oxy3835_wphase_oxygen(nodim) 177745 SCI: sci_oxy3835_wphase_saturation(nodim) 177745 SCI: sci_oxy3835_wphase_temp(nodim) 177745 SCI: sci_oxy3835_wphase_dphase(nodim) 177746 SCI: sci_oxy3835_wphase_bphase(nodim) 177746 SCI: sci_oxy3835_wphase_rphase(nodim) 177746 SCI: sci_oxy3835_wphase_bamp(nodim) 177746 SCI: sci_oxy3835_wphase_bpot(nodim) 177746 SCI: sci_oxy3835_wphase_ramp(nodim) 177746 SCI: sci_oxy3835_wphase_rawtemp(nodim) 177746 SCI: sci_oxy3835_wphase_timestamp(timestamp) 177746 SCI: Opening Bit(30) for output 177747 35 SCI:Bit(30) use count is now 1. 177747 SCI:Bit(30) raise count is now 0. 177747 SCI:Bit(30) raise count is now 0. 177748 SCI:PROGLET bb3slo begin() called 177748 SCI: bb3slo: Version 0.5 177748 SCI: bb3slo: Will be sending following data to glider: 177748 SCI: sci_bb3slo_b470_scaled(nodim) 177748 SCI: sci_bb3slo_b532_scaled(nodim) 177748 SCI: sci_bb3slo_b660_scaled(nodim) 177748 SCI: sci_bb3slo_b470_sig(nodim) 177748 SCI: sci_bb3slo_b532_sig(nodim) 177748 SCI: sci_bb3slo_b660_sig(nodim) 177749 SCI: sci_bb3slo_b470_ref(nodim) 177749 SCI: sci_bb3slo_b532_ref(nodim) 177749 SCI: sci_bb3slo_b660_ref(nodim) 177749 SCI: sci_bb3slo_temp(nodim) 177749 SCI: sci_bb3slo_timestamp(timestamp) 177749 SCI: Opening Bit(34) for output 177749 SCI:Bit(34) use count is now 1. 177749 SCI:Bit(34) raise count is now 0. 177749 SCI:Bit(34) raise count is now 0. 177749 SCI:PROGLET bbfl2s begin() called 177749 SCI: bbfl2s: Version 0.4 177750 SCI: bbfl2s: Will be sending following data to glider: 177750 SCI: sci_bbfl2s_bb_scaled(nodim) 177750 SCI: sci_bbfl2s_chlor_scaled(ug/l) 177750 SCI: sci_bbfl2s_cdom_scaled(ppb) 177750 SCI: sci_bbfl2s_bb_sig(nodim) 177750 SCI: sci_bbfl2s_chlor_sig(nodim) 177750 SCI: sci_bbfl2s_cdom_sig(nodim) 177750 SCI: sci_bbfl2s_bb_ref(nodim) 177750 SCI: sci_bbfl2s_chlor_ref(nodim) 177751 36 SCI: sci_bbfl2s_cdom_ref(nodim) 177751 SCI: sci_bbfl2s_temp(nodim) 177751 SCI: sci_bbfl2s_timestamp(timestamp) 177752 SCI:bit_shared_open(): bit(34) is already open. 177752 SCI:Bit(34) use count is now 2. 177752 SCI:Bit(34) raise count is now 0. 177752 SCI:PROGLET FIRe begin() called 177752 SCI: FIRe: Version 0.1 177752 SCI: FIRe: Will be sending following data to glider: 177752 SCI: sci_fire_timestamp(timestamp) 177752 SCI: sci_fire_fo(nodim) 177752 SCI: sci_fire_fm(nodim) 177753 SCI: sci_fire_fvfm(nodim) 177753 SCI: sci_fire_s(nodim) 177753 SCI: sci_fire_p(nodim) 177753 SCI: sci_fire_par(nodim) 177753 SCI: sci_fire_battery(volts) 177753 SCI: sci_fire_temp(degc) 177753 SCI: sci_fire_frame_count(nodim) 177753 SCI: sci_fire_error(nodim) 177758 37 SCI:PROGLET house_elf start() called 177758 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 177759 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 177759 SCI:PROGLET ctd41cp start() called 177759 SCI: Opening port 2:UART4:Chan C SBMB:J4(ctd) 177759 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 177759 SCI: in queue size: 2048, out queue size: 0 177759 SCI:sci_uart_drain_input(2): 177760 SCI: 177760 SCI:sci_uart_drain_input:Drained 0 chars 177760 SCI: Opening Bit(27) for output 177760 SCI:Bit(27) use count is now 1. 177760 SCI:Bit(27) raise count is now 0. 177760 SCI: Opening Bit(26) for output 177760 SCI:Bit(26) use count is now 1. 177760 SCI:Bit(26) raise count is now 0. 177760 37 SCI:bit_shared_raise(): Raising bit(27). 177760 SCI:bit_shared_raise(): Raising bit(26). 177761 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 177761 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 177819 38 02870046.mlg LOG FILE OPENED -------------------------------- 177819 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:ru24-2017-023-0-46 (0287.0046) Vehicle Name: ru24 Curr Time: Thu Jan 26 03:38:16 2017 MT: 177824 DR Location: -6452.528 N -6411.230 E measured 710.186 secs ago GPS TooFar: -6450.436 N -6407.188 E measured 110252 secs ago GPS Invalid : -6452.275 N -6410.364 E measured 767.954 secs ago GPS Location: -6452.528 N -6411.230 E measured 712.54 secs ago sensor:c_thruster_surface_depth(m)=0 4284.59 secs ago sensor:c_wpt_lat(lat)=-6455.998 21919.8 secs ago sensor:c_wpt_lon(lon)=-6424 21919.9 secs ago sensor:m_battery(volts)=12.7125484079545 3.712 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)=1.37209203779819 3.786 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 4 secs ago sensor:m_gps_mag_var(rad)=-0.289724655831059 713.048 secs ago sensor:m_iridium_attempt_num(nodim)=0 597.288 secs ago sensor:m_iridium_call_num(nodim)=2810 654.21 secs ago sensor:m_iridium_dialed_num(nodim)=5365 680.737 secs ago sensor:m_leakdetect_voltage(volts)=2.5 3.778 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 3.811 secs ago sensor:m_tot_num_inflections(nodim)=24919 820.546 secs ago sensor:m_vacuum(inHg)=9.30018476800976 4.246 secs ago sensor:m_water_vx(m/s)=0.053855309455047 741.831 secs ago sensor:m_water_vy(m/s)=0.0242137549086847 741.87 secs ago sensor:u_alt_min_depth(m)=2 1e+308 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_fin_deadband(rad)=0.035 177825 secs ago sensor:x_last_wpt_lat(lat)=-6451.3292 22830.8 secs ago sensor:x_last_wpt_lon(lon)=-6408.3828 22830.8 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 587/ 109/ 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 NOT ready for consci. ... because: m_science_clothesline_lag > u_max_clothesline_lag_for_consci Water Velocity Calculations waiting for final gps fix(ideally -679 secs) Waypoint: (-6455.9980,-6424.0000) Range: 11959m, Bearing: 220deg, Age: 6:5h: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 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] [ 131 12 1] 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] [ 176 43 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] [ 202 54 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 0 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: 587/ 109/ 3 ^R177847 43 behavior surface_3: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 165.000000 Megabytes available on CF file system = 1835.937500 177852 02870046.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=261.0K, M_SPARE_HEAP=242.0K 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) 0.276136 m_avg_speed(m/s) 0.306339 m_battery(volts) 12.712548 m_iridium_call_num(nodim) 2810.000000 m_iridium_dialed_num(nodim) 5365.000000 m_lat(lat) -6452.527600 m_lon(lon) -6411.230100 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) 2598.441858 m_tot_horz_dist(km) 2196.084335 m_tot_num_inflections(nodim) 24919.000000 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) -6451.329200 x_last_wpt_lon(lon) -6408.382800 The instantaneous lag time between the system and gps clock is 1.0 seconds. The average lag time between the system and gps clock is 1.6 seconds. Housekeeping is done 177918 47 02870047.mlg LOG FILE OPENED Megabytes used on CF file system = 165.125000 Megabytes available on CF file system = 1835.812500 177921 init_gps_input() 177921 behavior surface_3: SUBSTATE 7 ->10 : Waiting for final gps fix surface_3: Waiting for final GPS fix. 177923 disabling Iridium cons