Connection Event: Carrier Detect found.123089 Iridium console active and ready... Vehicle Name: ru25d Curr Time: Sat Dec 23 23:57:18 2017 MT: 123088 DR Location: -6454.906 N -6427.136 E measured 64.81 secs ago GPS TooFar: -6453.315 N -6414.284 E measured 42537.2 secs ago GPS Invalid : -6455.883 N -6423.833 E measured 116.364 secs ago GPS Location: -6454.906 N -6427.136 E measured 67.133 secs ago sensor:c_thruster_surface_depth(m)=0 10767.5 secs ago 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 ... ] ... ] sensor:c_wpt_lat(lat)=-6451.5371 13066.8 secs ago sensor:c_wpt_lon(lon)=-6436.7928 13066.9 secs ago sensor:m_battery(volts)=10.8795243806668 33.944 secs ago sensor:m_coulomb_amphr(amp-hrs)=13.25874 6.09 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=14.0112428759182 5.976 secs ago sensor:m_depth(m)=1.12069148790764 5.948 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 6.462 secs ago sensor:m_gps_mag_var(rad)=-0.293215314335047 67.794 secs ago sensor:m_iridium_attempt_num(nodim)=2 61.777 secs ago sensor:m_iridium_call_num(nodim)=1947 17.38 secs ago sensor:m_iridium_dialed_num(nodim)=3068 34.866 secs ago sensor:m_leakdetect_voltage(volts)=2.48528693528694 45.196 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 6.765 secs ago sensor:m_tot_num_inflections(nodim)=3464 305.609 secs ago sensor:m_vacuum(inHg)=9.92804624542125 34.648 secs ago sensor:m_water_vx(m/s)=0.0416016421711102 94.399 secs ago sensor:m_water_vy(m/s)=-0.0294486879029588 94.449 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)=0.04 123090 secs ago sensor:x_last_wpt_lat(lat)=-6456.1431 13068.3 secs ago sensor:x_last_wpt_lon(lon)=-6423.9342 13068.4 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: 2017-12-22T12:44:07 ABORT HISTORY: last abort segment: ru25d-2017-355-1-0 (0127.0000) ABORT HISTORY: last abort mission: OD5.MI 123091 DRIVER_ODDITY:iridium:2061:xxx_ctrl() ran too long Glider ru25d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru25d-2017-355-3-28 (0129.0028) Vehicle Name: ru25d Curr Time: Sat Dec 23 23:57:40 2017 MT: 123110 DR Location: -6454.906 N -6427.136 E measured 86.572 secs ago GPS TooFar: -6453.315 N -6414.284 E measured 42558.9 secs ago GPS Invalid : -6455.883 N -6423.833 E measured 138.128 secs ago GPS Location: -6454.906 N -6427.136 E measured 88.898 secs ago sensor:c_thruster_surface_depth(m)=0 10789.2 secs ago sensor:c_wpt_lat(lat)=-6451.5371 13088.5 secs ago sensor:c_wpt_lon(lon)=-6436.7928 13088.5 secs ago sensor:m_battery(volts)=10.8795243806668 55.614 secs ago sensor:m_coulomb_amphr(amp-hrs)=13.26249 4.832 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=14.0149928758344 4.716 secs ago sensor:m_depth(m)=0 4.674 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 5.172 secs ago sensor:m_gps_mag_var(rad)=-0.293215314335047 89.408 secs ago sensor:m_iridium_attempt_num(nodim)=2 83.369 secs ago sensor:m_iridium_call_num(nodim)=1947 38.95 secs ago sensor:m_iridium_dialed_num(nodim)=3068 56.419 secs ago sensor:m_leakdetect_voltage(volts)=2.48537851037851 4.844 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 4.88 secs ago sensor:m_tot_num_inflections(nodim)=3464 327.134 secs ago sensor:m_vacuum(inHg)=9.92804624542125 56.155 secs ago sensor:m_water_vx(m/s)=0.0416016421711102 115.894 secs ago sensor:m_water_vy(m/s)=-0.0294486879029588 115.931 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)=0.04 123111 secs ago sensor:x_last_wpt_lat(lat)=-6456.1431 13089.6 secs ago sensor:x_last_wpt_lon(lon)=-6423.9342 13089.7 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 82/ 67/ 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: 2017-12-22T12:44:07 ABORT HISTORY: last abort segment: ru25d-2017-355-1-0 (0127.0000) ABORT HISTORY: last abort mission: OD5.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 94 secs) Waypoint: (-6451.5371,-6436.7928) Range: 9862m, Bearing: 292deg, Age: 3:38h:m Time until diving is: 203 secs s *.sbd *.tbd -------------------------------- 123134 88 01290028.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 123148 91 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 4 files Prechecking is not necessary for this invocation START **B00000000000000 � Starting zModem transfer of 01290028.tbd to/from ru25d size is 33910 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: 13766 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: 27648 Total Bytes sent/received: 27746 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: 33910 zModem transfer DONE for file 01290028.tbd Starting zModem transfer of 01290027.tbd to/from ru25d size is 492 Total Bytes sent/received: 492 zModem transfer DONE for file 01290027.tbd Starting zModem transfer of 01290026.tbd to/from ru25d size is 33181 Total Bytes sent/received: 19456 Total Bytes sent/received: 20480 Total Bytes sent/received: 21504 Total Bytes sent/received: 22529 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: 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: 33181 zModem transfer DONE for file 01290026.tbd Starting zModem transfer of 01290025.tbd to/from ru25d size is 492 Total Bytes sent/received: 492 zModem transfer DONE for file 01290025.tbd SHUFFLING FILES.... SCI: Sent 4 file(s): c:\logs\01290028.TBD c:\logs\01290027.TBD c:\logs\01290026.TBD c:\logs\01290025.TBD SCI: SUCCESS 123676 13 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 123678 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 123678 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 01290028.sbd to/from ru25d size is 9413 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: 9413 zModem transfer DONE for file 01290028.sbd Starting zModem transfer of 01290027.sbd to/from ru25d size is 751 Total Bytes sent/received: 751 zModem transfer DONE for file 01290027.sbd Starting zModem transfer of 01290026.sbd to/from ru25d size is 8820 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: 8820 zModem transfer DONE for file 01290026.sbd Starting zModem transfer of 01290025.sbd to/from ru25d size is 783 Total Bytes sent/received: 783 zModem transfer DONE for file 01290025.sbd 23831 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 123831 restore_sensors().... 123831 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.... GLD: Sent 4 file(s): c:\logs\01290028.SBD c:\logs\01290027.SBD c:\logs\01290026.SBD c:\logs\01290025.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 1.000000 123838 15 SCI:PROGLET house_elf begin() called 123839 SCI: house_elf: Version 1.2 123839 SCI:PROGLET ctd41cp begin() called 123839 SCI: ctd41cp: Version 0.2 123839 SCI: ctd41cp: Will be sending the following data to glider: 123839 SCI: sci_water_cond(s/m) 123839 SCI: sci_water_temp(degc) 123839 SCI: sci_water_pressure(bar) 123839 SCI: sci_ctd41cp_timestamp(timestamp) 123839 SCI:PROGLET flbbcd begin() called 123839 SCI: flbbcd: Version 0.0 123840 SCI: flbbcd: Will be sending following data to glider: 123840 SCI: sci_flbbcd_chlor_units(ug/l) 123840 SCI: sci_flbbcd_bb_units(nodim) 123840 SCI: sci_flbbcd_cdom_units(ppb) 123840 SCI: sci_flbbcd_chlor_sig(nodim) 123840 SCI: sci_flbbcd_bb_sig(nodim) 123840 SCI: sci_flbbcd_cdom_sig(nodim) 123840 SCI: sci_flbbcd_chlor_ref(nodim) 123841 16 SCI: sci_flbbcd_bb_ref(nodim) 123841 SCI: sci_flbbcd_cdom_ref(nodim) 123841 SCI: sci_flbbcd_therm(nodim) 123842 SCI: sci_flbbcd_timestamp(timestamp) 123842 SCI: Opening Bit(30) for output 123842 SCI:Bit(30) use count is now 1. 123842 SCI:Bit(30) raise count is now 0. 123842 SCI:Bit(30) raise count is now 0. 123842 SCI:PROGLET oxy3835_wphase begin() called 123843 SCI: oxy3835_wphase: Version 0.4 123843 SCI: oxy3835_wphase: Will be sending following data to glider: 123843 SCI: sci_oxy3835_wphase_oxygen(nodim) 123843 SCI: sci_oxy3835_wphase_saturation(nodim) 123843 SCI: sci_oxy3835_wphase_temp(nodim) 123843 SCI: sci_oxy3835_wphase_dphase(nodim) 123843 SCI: sci_oxy3835_wphase_bphase(nodim) 123843 SCI: sci_oxy3835_wphase_rphase(nodim) 123844 SCI: sci_oxy3835_wphase_bamp(nodim) 123844 SCI: sci_oxy3835_wphase_bpot(nodim) 123844 SCI: sci_oxy3835_wphase_ramp(nodim) 123844 SCI: sci_oxy3835_wphase_rawtemp(nodim) 123844 SCI: sci_oxy3835_wphase_timestamp(timestamp) 123844 SCI: Opening Bit(34) for output 123844 SCI:Bit(34) use count is now 1. 123844 SCI:Bit(34) raise count is now 0. 123844 SCI:Bit(34) raise count is now 0. 123848 18 SCI:PROGLET house_elf start() called 123848 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 123848 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 123849 SCI:PROGLET ctd41cp start() called 123849 SCI: Opening port 2:UART4:Chan C SBMB:J4(ctd) 123850 18 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 123850 SCI: in queue size: 2048, out queue size: 0 123851 SCI:sci_uart_drain_input(2): 123851 SCI: 123851 SCI:sci_uart_drain_input:Drained 0 chars 123851 SCI: Opening Bit(27) for output 123856 19 SCI:Bit(27) use count is now 1. 123856 SCI:Bit(27) raise count is now 0. 123856 SCI: Opening Bit(26) for output 123857 SCI:Bit(26) use count is now 1. 123857 SCI:Bit(26) raise count is now 0. 123857 SCI:bit_shared_raise(): Raising bit(27). 123857 SCI:bit_shared_raise(): Raising bit(26). 123858 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 123858 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 123858 SCI:PROGLET oxy3835_wphase start() called 123858 SCI: Opening port 3:UART4:Chan D SBMB:J6 123858 SCI: 9600 baud, N81, line buf: 150, no input data timeout(secs): 15 123858 SCI: in queue size: 2048, out queue size: 0 123858 SCI:sci_uart_drain_input(3): 123858 SCI: 123858 SCI:sci_uart_drain_input:Drained 0 chars 123859 SCI:bit_shared_raise(): Raising bit(34). 123859 SCI: oxy3835_wphase_run(): 0 error(s) in a row. (5 is fatal) 123859 SCI: oxy3835_wphase_run(): 0 error(s) since oxy3835_wphase_begin(). (50 is fatal) 123910 01290029.mlg LOG FILE OPENED -------------------------------- 123910 behavior surface_2: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru25d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru25d-2017-355-3-29 (0129.0029) Vehicle Name: ru25d Curr Time: Sun Dec 24 00:11:04 2017 MT: 123915 DR Location: -6454.906 N -6427.136 E measured 891.114 secs ago GPS TooFar: -6453.315 N -6414.284 E measured 43363.5 secs ago GPS Invalid : -6455.883 N -6423.833 E measured 942.669 secs ago GPS Location: -6454.906 N -6427.136 E measured 893.436 secs ago sensor:c_thruster_surface_depth(m)=0 11593.7 secs ago sensor:c_wpt_lat(lat)=-6451.5371 13893 secs ago sensor:c_wpt_lon(lon)=-6436.7928 13893.1 secs ago sensor:m_battery(volts)=10.8401324528578 3.733 secs ago sensor:m_coulomb_amphr(amp-hrs)=13.36624 4.045 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=14.1187428743304 3.929 secs ago sensor:m_depth(m)=0 3.822 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1021 4.386 secs ago sensor:m_gps_mag_var(rad)=-0.293215314335047 893.956 secs ago sensor:m_iridium_attempt_num(nodim)=0 782.047 secs ago sensor:m_iridium_call_num(nodim)=1947 843.498 secs ago sensor:m_iridium_dialed_num(nodim)=3068 860.965 secs ago sensor:m_leakdetect_voltage(volts)=2.48266178266178 3.828 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 3.864 secs ago sensor:m_tot_num_inflections(nodim)=3464 1131.68 secs ago sensor:m_vacuum(inHg)=11.0043263125763 4.277 secs ago sensor:m_water_vx(m/s)=0.0416016421711102 920.438 secs ago sensor:m_water_vy(m/s)=-0.0294486879029588 920.476 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)=0.04 123916 secs ago sensor:x_last_wpt_lat(lat)=-6456.1431 13894.2 secs ago sensor:x_last_wpt_lon(lon)=-6423.9342 13894.2 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 83/ 68/ 4 ABORT HISTORY: total since reset: 1 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2017-12-22T12:44:07 ABORT HISTORY: last abort segment: ru25d-2017-355-1-0 (0127.0000) ABORT HISTORY: last abort mission: OD5.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 -711 secs) Waypoint: (-6451.5371,-6436.7928) Range: 9862m, Bearing: 292deg, Age: 3:51h: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] [ 2 2 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] [ 31 30 3] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 45 35 1] 25 leakdetect I u 3 20 5 0 26 recovery - 27 coulomb I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 1 1 0] 28 veh_temp - 29 BUOYANCY_PUMP - 30THERMAL_ACC_PRE - 31 THERMAL_ENGINE - 32 THERMAL_PUMP - 33 DE_PUMP I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 4 0 0] 34 HD_PUMP - 35 thruster_g1 - 36 thruster - devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 83/ 68/ 4 ^R123946 25 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 40.375000 Megabytes available on CF file system = 1960.562500 123951 01290029.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=236.0K, M_SPARE_HEAP=217.0K 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) 0.131902 m_avg_climb_rate(m/s) -0.207465 m_avg_speed(m/s) 0.401077 m_avg_upward_inflection_time(sec) 87.047425 m_battery(volts) 10.840132 m_coulomb_amphr_total(amp-hrs) 14.123753 m_iridium_call_num(nodim) 1947.000000 m_iridium_dialed_num(nodim) 3068.000000 m_lat(lat) -6454.905700 m_lon(lon) -6427.136100 m_tcm3_is_calibrated(bool) 1.000000 m_tcm3_magbearth(uT) 51.059391 m_tcm3_stddeverr(uT) 0.117471 m_tcm3_xcoverage(%) 93.230316 m_tcm3_ycoverage(%) 95.455070 m_tcm3_zcoverage(%) 94.693626 m_tot_ballast_pumped_energy(kjoules) 0.000000 m_tot_horz_dist(km) 3029.680568 m_tot_num_inflections(nodim) 3464.000000 m_tot_num_thermal_valve_cmd(nodim) 362.000000 m_weight_drop(bool) 0.000000 s_water_depth_avg(m) 500.000000 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) -6456.143100 x_last_wpt_lon(lon) -6423.934200 The instantaneous lag time between the system and gps clock is 9.0 seconds. The average lag time between the system and gps clock is 8.4 seconds. Housekeeping is done 124016 28 01290030.mlg LOG FILE OPENED Megabytes used on CF file system = 40.500000 Megabytes available on CF file system = 1960.437500 124019 init_gps_input() 124019 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for fi