Connection Event: Carrier Detect found.586501 Iridium console active and ready... Vehicle Name: ru32 Curr Time: Wed Jul 12 15:24:09 2017 MT: 586499 DR Location: 3645.090 N -12201.676 E measured 43.432 secs ago GPS TooFar: 3645.060 N -12201.751 E measured 15111.7 secs ago GPS Invalid : 3645.199 N -12201.635 E measured 106.018 secs ago GPS Location: 3645.090 N -12201.676 E measured 45.806 secs ago sensor:c_thruster_surface_depth(m)=0 4728.34 secs ago sensor:c_wpt_lat(lat)=3645.035 323.892 secs ago sensor:c_wpt_lon(lon)=-12201.844 323.957 secs ago sensor:m_battery(volts)=11.1612750256232 20.23 secs ago sensor:m_coulomb_amphr(amp-hrs)=133.835998535156 5.241 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=136.796685035154 5.261 secs ago sensor:m_depth(m)=0 5.237 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.504 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 46.372 secs ago sensor:m_iridium_attempt_num(nodim)=1 40.778 secs ago sensor:m_iridium_call_num(nodim)=635 0.79 secs ago sensor:m_iridium_dialed_num(nodim)=876 10.888 secs ago sensor:m_leakdetect_voltage(volts)=2.47631257631258 35.699 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47945665445665 35.72 secs ago sensor:m_tot_num_inflections(nodim)=7030 162.324 secs ago sensor:m_vacuum(inHg)=9.22066422466423 20.869 secs ago sensor:m_water_vx(m/s)=0.0446866748279177 75.734 secs ago sensor:m_water_vy(m/s)=0.0458625329839555 75.776 secs ago sensor:u_alt_min_depth(m)=350 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=0 5224.42 secs ago sensor:x_fin_deadband(rad)=0.04 586502 secs ago sensor:x_last_wpt_lat(lat)=3644.981 325.254 secs ago sensor:x_last_wpt_lon(lon)=-12201.844 325.307 secs ago ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The thruster device driver returned an error. ABORT HISTORY: last abort time: 2017-06-30T15:07:51 ABORT HISTORY: last abort segment: ru32-2017-180-0-0 (0045.0000) ABORT HISTORY: last abort mission: 1K_N.MI 586502 No login script found for processing. 586502 DRIVER_ODDITY:iridium:1765:xxx_ctrl() ran too long Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-185-0-199 (0047.0199) Vehicle Name: ru32 Curr Time: Wed Jul 12 15:24:47 2017 MT: 586538 DR Location: 3645.090 N -12201.676 E measured 80.923 secs ago GPS TooFar: 3645.060 N -12201.751 E measured 15149.2 secs ago GPS Invalid : 3645.199 N -12201.635 E measured 143.509 secs ago GPS Location: 3645.090 N -12201.676 E measured 83.296 secs ago sensor:c_thruster_surface_depth(m)=0 4765.81 secs ago sensor:c_wpt_lat(lat)=3645.035 361.336 secs ago sensor:c_wpt_lon(lon)=-12201.844 361.375 secs ago sensor:m_battery(volts)=11.1612750256232 57.637 secs ago sensor:m_coulomb_amphr(amp-hrs)=133.840744018555 4.745 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=136.801430518553 4.759 secs ago sensor:m_depth(m)=0 4.686 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 9.888 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 83.7 secs ago sensor:m_iridium_attempt_num(nodim)=1 78.089 secs ago sensor:m_iridium_call_num(nodim)=635 38.086 secs ago sensor:m_iridium_dialed_num(nodim)=876 48.167 secs ago sensor:m_leakdetect_voltage(volts)=2.47539682539683 9.859 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47967032967033 9.874 secs ago sensor:m_tot_num_inflections(nodim)=7030 199.576 secs ago sensor:m_vacuum(inHg)=9.22066422466423 58.106 secs ago sensor:m_water_vx(m/s)=0.0446866748279177 112.96 secs ago sensor:m_water_vy(m/s)=0.0458625329839555 112.993 secs ago sensor:u_alt_min_depth(m)=350 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=0 5261.56 secs ago sensor:x_fin_deadband(rad)=0.04 586539 secs ago sensor:x_last_wpt_lat(lat)=3644.981 362.349 secs ago sensor:x_last_wpt_lon(lon)=-12201.844 362.385 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 34/ 10/ 0 odd:1040/ 285/ 2 ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The thruster device driver returned an error. ABORT HISTORY: last abort time: 2017-06-30T15:07:51 ABORT HISTORY: last abort segment: ru32-2017-180-0-0 (0045.0000) ABORT HISTORY: last abort mission: 1K_N.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 -28 secs) Waypoint: (3645.0350,-12201.8440) Range: 269m, Bearing: 234deg, Age: 0:6h:m Time until diving is: 210 secs !put u_use_current_correction 0 -------------------------------- 586560 46 sensor: u_use_current_correction = 0 nodim -------------------------------- 586560 behavior surface_2: ! succeeded:put u_use_current_correction 0 586560 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume s *.sbd *.tbd -------------------------------- 586564 47 00470199.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 586573 50 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 00470199.tbd to/from ru32 size is 8865 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: 8865 zModem transfer DONE for file 00470199.tbd Starting zModem transfer of 00470198.tbd to/from ru32 size is 621 Total Bytes sent/received: 621 zModem transfer DONE for file 00470198.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00470199.TBD c:\logs\00470198.TBD SCI: SUCCESS 586654 69 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 586658 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 586658 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00470199.sbd to/from ru32 size is 5071 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 5071 zModem transfer DONE for file 00470199.sbd Starting zModem transfer of 00470198.sbd to/from ru32 size is 847 Total Bytes sent/received: 847 zModem transfer DONE for file 00470198.sbd 86714 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 586714 restore_sensors().... 586714 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\00470199.SBD c:\logs\00470198.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 2.000000 586724 71 SCI:PROGLET house_elf begin() called 586724 SCI: house_elf: Version 1.2 586725 SCI:PROGLET ctd41cp begin() called 586725 SCI: ctd41cp: Version 0.2 586725 SCI: ctd41cp: Will be sending the following data to glider: 586725 SCI: sci_water_cond(s/m) 586725 SCI: sci_water_temp(degc) 586725 SCI: sci_water_pressure(bar) 586725 SCI: sci_ctd41cp_timestamp(timestamp) 586725 SCI:PROGLET flbbcd begin() called 586725 SCI: flbbcd: Version 0.0 586725 SCI: flbbcd: Will be sending following data to glider: 586726 SCI: sci_flbbcd_chlor_units(ug/l) 586726 SCI: sci_flbbcd_bb_units(nodim) 586726 SCI: sci_flbbcd_cdom_units(ppb) 586726 SCI: sci_flbbcd_chlor_sig(nodim) 586726 SCI: sci_flbbcd_bb_sig(nodim) 586726 SCI: sci_flbbcd_cdom_sig(nodim) 586726 SCI: sci_flbbcd_chlor_ref(nodim) 586726 SCI: sci_flbbcd_bb_ref(nodim) 586726 SCI: sci_flbbcd_cdom_ref(nodim) 586726 SCI: sci_flbbcd_therm(nodim) 586726 SCI: sci_flbbcd_timestamp(timestamp) 586726 SCI: Opening Bit(0) for output 586727 SCI:Bit(0) use count is now 1. 586727 SCI:Bit(0) raise count is now 0. 586727 SCI:Bit(0) raise count is now 0. 586730 72 SCI:PROGLET house_elf start() called 586730 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 586730 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 586730 SCI:PROGLET ctd41cp start() called 586730 SCI: Opening port 0:SBMB:J0 586730 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 586731 SCI: in queue size: 2048, out queue size: 0 586731 SCI:sci_uart_drain_input(0): 586731 SCI: 586731 SCI:sci_uart_drain_input:Drained 0 chars 586731 SCI:bit_shared_open(): bit(0) is already open. 586731 SCI:Bit(0) use count is now 2. 586731 SCI:bit_shared_raise(): Raising bit(0). 586731 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 586734 73 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 586796 75 00470200.mlg LOG FILE OPENED -------------------------------- 586796 behavior surface_2: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-185-0-200 (0047.0200) Vehicle Name: ru32 Curr Time: Wed Jul 12 15:29:10 2017 MT: 586801 DR Location: 3645.090 N -12201.676 E measured 344.105 secs ago GPS TooFar: 3645.060 N -12201.751 E measured 15412.4 secs ago GPS Invalid : 3645.199 N -12201.635 E measured 406.691 secs ago GPS Location: 3645.090 N -12201.676 E measured 346.481 secs ago sensor:c_thruster_surface_depth(m)=0 5028.99 secs ago sensor:c_wpt_lat(lat)=3645.035 624.521 secs ago sensor:c_wpt_lon(lon)=-12201.844 624.56 secs ago sensor:m_battery(volts)=11.1050525998146 3.266 secs ago sensor:m_coulomb_amphr(amp-hrs)=133.879943847656 3.445 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=136.840630347654 3.459 secs ago sensor:m_depth(m)=0.079412177759895 3.33 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.589 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 346.877 secs ago sensor:m_iridium_attempt_num(nodim)=0 243.276 secs ago sensor:m_iridium_call_num(nodim)=635 301.257 secs ago sensor:m_iridium_dialed_num(nodim)=876 311.337 secs ago sensor:m_leakdetect_voltage(volts)=2.47503052503052 3.299 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4791514041514 3.315 secs ago sensor:m_tot_num_inflections(nodim)=7030 462.746 secs ago sensor:m_vacuum(inHg)=10.3917962454212 3.72 secs ago sensor:m_water_vx(m/s)=0.0446866748279177 376.133 secs ago sensor:m_water_vy(m/s)=0.0458625329839555 376.164 secs ago sensor:u_alt_min_depth(m)=350 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=0 242.593 secs ago sensor:x_fin_deadband(rad)=0.04 586802 secs ago sensor:x_last_wpt_lat(lat)=3644.981 625.518 secs ago sensor:x_last_wpt_lon(lon)=-12201.844 625.554 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 34/ 10/ 0 odd:1040/ 285/ 2 ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The thruster device driver returned an error. ABORT HISTORY: last abort time: 2017-06-30T15:07:51 ABORT HISTORY: last abort segment: ru32-2017-180-0-0 (0045.0000) ABORT HISTORY: last abort mission: 1K_N.MI Hit Control-R to RESUME the mission, i.e. dive 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 ... ] ... ] ! 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 -291 secs) Waypoint: (3645.0350,-12201.8440) Range: 269m, Bearing: 234deg, Age: 0:10h:m Time until diving is: 293 secs Glider ru32 at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru32-2017-185-0-200 (0047.0200) Vehicle Name: ru32 Curr Time: Wed Jul 12 15:29:51 2017 MT: 586842 DR Location: 3645.090 N -12201.676 E measured 384.87 secs ago GPS TooFar: 3645.060 N -12201.751 E measured 15453.1 secs ago GPS Invalid : 3645.199 N -12201.635 E measured 447.456 secs ago GPS Location: 3645.090 N -12201.676 E measured 387.244 secs ago sensor:c_thruster_surface_depth(m)=0 5069.75 secs ago sensor:c_wpt_lat(lat)=3645.035 665.283 secs ago sensor:c_wpt_lon(lon)=-12201.844 665.323 secs ago sensor:m_battery(volts)=11.1050525998146 44.027 secs ago sensor:m_coulomb_amphr(amp-hrs)=133.884674072266 4.603 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=136.845360572264 4.618 secs ago sensor:m_depth(m)=0.161562706476786 4.54 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.747 secs ago sensor:m_gps_mag_var(rad)=-0.237364778271229 387.638 secs ago sensor:m_iridium_attempt_num(nodim)=0 284.037 secs ago sensor:m_iridium_call_num(nodim)=635 342.018 secs ago sensor:m_iridium_dialed_num(nodim)=876 352.098 secs ago sensor:m_leakdetect_voltage(volts)=2.47503052503052 44.059 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4791514041514 44.075 secs ago sensor:m_tot_num_inflections(nodim)=7030 503.507 secs ago sensor:m_vacuum(inHg)=10.3917962454212 44.479 secs ago sensor:m_water_vx(m/s)=0.0446866748279177 416.891 secs ago sensor:m_water_vy(m/s)=0.0458625329839555 416.923 secs ago sensor:u_alt_min_depth(m)=350 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=0 283.353 secs ago sensor:x_fin_deadband(rad)=0.04 586843 secs ago sensor:x_last_wpt_lat(lat)=3644.981 666.279 secs ago sensor:x_last_wpt_lon(lon)=-12201.844 666.315 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 34/ 10/ 0 odd:1040/ 285/ 2 ABORT HISTORY: total since reset: 6 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The thruster device driver returned an error. ABORT HISTORY: last abort time: 2017-06-30T15:07:51 ABORT HISTORY: last abort segment: ru32-2017-180-0-0 (0045.0000) ABORT HISTORY: last abort mission: 1K_N.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 -332 secs) Waypoint: (3645.0350,-12201.8440) Range: 269m, Bearing: 234deg, Age: 0:11h:m Time until diving is: 253 secs 586858 86 db(#/min/mn/max/sd) pitch_motor 1800 -0.045 -0.008 0.035 0.020 in 586858 db(#/min/mn/max/sd) pitch_motor 1800 -21 -4 16 9 mV ^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] [ 17 9 0] [ 21 12 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 0 [ 0 0 0] [ 4 1 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] [ 19 2 0] 17 science_super I u 3 20 5 0 [ 0 0 0] [ 3 0 0] [ 45 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] [ 413 141 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] [ 542 130 1] 25 leakdetect I u 3 20 5 0 26 recovery - 27 coulomb I u 3 20 5 0 28 veh_temp I u 3 20 5 0 29 BUOYANCY_PUMP - 30THERMAL_ACC_PRE - 31 THERMAL_ENGINE - 32 THERMAL_PUMP - 33 DE_PUMP I u 3 20 5 0 34 HD_PUMP - 35 thruster_g1 - 36 thruster I u 3 20 10 2 [ 2 0 0] [ 10 0 0] [ 0 0 0] devices:(t/m/s) errs: 2/ 0/ 0 warn: 34/ 10/ 0 odd:1040/ 285/ 2 ^R586868 89 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 387.187500 Megabytes available on CF file system = 1610.781250 586873 00470200.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=214.0K, M_SPARE_HEAP=195.0K 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) 0.140388 m_avg_climb_rate(m/s) -0.173644 m_avg_speed(m/s) 0.376760 m_avg_upward_inflection_time(sec) 70.148862 m_battery(volts) 11.083126 m_coulomb_amphr_total(amp-hrs) 136.851311 m_fin(rad) 0.008385 m_iridium_call_num(nodim) 635.000000 m_iridium_dialed_num(nodim) 876.000000 m_lat(lat) 3645.089500 m_lon(lon) -12201.676200 m_tot_ballast_pumped_energy(kjoules) 243.417290 m_tot_horz_dist(km) 808.718350 m_tot_num_inflections(nodim) 7030.000000 m_tot_num_thermal_valve_cmd(nodim) 745.000000 m_weight_drop(bool) 0.000000 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) 3644.981000 x_last_wpt_lon(lon) -12201.844000 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 2.8 seconds. Housekeeping is done 586944 93 00470201.mlg LOG FILE OPENED Megabytes used on CF file system = 387.312500 Megabytes available on CF file system = 1610.656250 586946 init_gps_input() 586946 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final GP