Connection Event: Carrier Detect found.313341 Iridium console active and ready... Vehicle Name: ru28 Curr Time: Thu May 10 05:06:03 2018 MT: 313339 DR Location: 3946.735 N -7403.756 E measured 46.29 secs ago GPS TooFar: 3959.653 N -7358.192 E measured 1e+308 secs ago GPS Invalid : 3946.746 N -7403.393 E measured 105.603 secs ago GPS Location: 3946.735 N -7403.756 E measured 46.658 secs ago sensor:c_thruster_surface_depth(m)=0 2162.69 secs ago sensor:c_wpt_lat(lat)=3946.015 160.44 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 ... ] ... ] 7 secs ago sensor:c_wpt_lon(lon)=-7404.325 160.524 secs ago sensor:m_battery(volts)=12.953190146674 35.358 secs ago sensor:m_coulomb_amphr(amp-hrs)=61.232250213623 5.168 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=62.4969997140999 5.2 secs ago sensor:m_depth(m)=0 5.197 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1021 0.867 secs ago sensor:m_gps_mag_var(rad)=0.22165681500328 47.388 secs ago sensor:m_iridium_attempt_num(nodim)=1 40.275 secs ago sensor:m_iridium_call_num(nodim)=6136 0.95 secs ago sensor:m_iridium_dialed_num(nodim)=8620 14.372 secs ago sensor:m_leakdetect_voltage(volts)=2.4763431013431 48.759 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48898046398046 48.792 secs ago sensor:m_tot_num_inflections(nodim)=192702 113.341 secs ago sensor:m_vacuum(inHg)=7.6746753968254 31.831 secs ago sensor:m_water_vx(m/s)=-0.0270625141385443 69.92 secs ago sensor:m_water_vy(m/s)=-0.0272089189751551 69.969 secs ago sensor:u_alt_min_depth(m)=1 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 313342 secs ago sensor:x_last_wpt_lat(lat)=3946.625 162.018 secs ago sensor:x_last_wpt_lon(lon)=-7404.065 162.08 secs ago ABORT HISTORY: total since reset: 4 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The science_super device driver returned an error. ABORT HISTORY: last abort time: 2018-05-06T13:44:35 ABORT HISTORY: last abort segment: ru28-2018-125-2-0 (0301.0000) ABORT HISTORY: last abort mission: 30_NW.MI 313343 No login script found for processing. 313343 DRIVER_ODDITY:iridium:2092:xxx_ctrl() ran too long Glider ru28 at surface. Because:Hit a waypoint [behavior surface_4 start_when = 8.0] MissionName:30_NW.MI MissionNum:ru28-2018-125-3-87 (0302.0087) Vehicle Name: ru28 Curr Time: Thu May 10 05:06:43 2018 MT: 313380 DR Location: 3946.735 N -7403.756 E measured 86.3 secs ago GPS TooFar: 3959.653 N -7358.192 E measured 1e+308 secs ago GPS Invalid : 3946.746 N -7403.393 E measured 145.608 secs ago GPS Location: 3946.735 N -7403.756 E measured 86.662 secs ago sensor:c_thruster_surface_depth(m)=0 2202.63 secs ago sensor:c_wpt_lat(lat)=3946.015 200.346 secs ago sensor:c_wpt_lon(lon)=-7404.325 200.388 secs ago sensor:m_battery(volts)=12.9510950636306 12.753 secs ago sensor:m_coulomb_amphr(amp-hrs)=61.2369995117188 4.145 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=62.5017490121956 4.155 secs ago sensor:m_depth(m)=0 4.075 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.303 secs ago sensor:m_gps_mag_var(rad)=0.22165681500328 87.099 secs ago sensor:m_iridium_attempt_num(nodim)=1 79.961 secs ago sensor:m_iridium_call_num(nodim)=6136 40.61 secs ago sensor:m_iridium_dialed_num(nodim)=8620 54.013 secs ago sensor:m_leakdetect_voltage(volts)=2.47600732600733 26.034 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48916361416361 26.048 secs ago sensor:m_tot_num_inflections(nodim)=192702 152.934 secs ago sensor:m_vacuum(inHg)=8.09623305860806 8.805 secs ago sensor:m_water_vx(m/s)=-0.0270625141385443 109.471 secs ago sensor:m_water_vy(m/s)=-0.0272089189751551 109.504 secs ago sensor:u_alt_min_depth(m)=1 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 313381 secs ago sensor:x_last_wpt_lat(lat)=3946.625 201.37 secs ago sensor:x_last_wpt_lon(lon)=-7404.065 201.407 secs ago devices:(t/m/s) errs: 3/ 0/ 0 warn: 71/ 1/ 0 odd:2860/ 178/ 2 ABORT HISTORY: total since reset: 4 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The science_super device driver returned an error. ABORT HISTORY: last abort time: 2018-05-06T13:44:35 ABORT HISTORY: last abort segment: ru28-2018-125-2-0 (0301.0000) ABORT HISTORY: last abort mission: 30_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 -68 secs) Waypoint: (3946.0150,-7404.3250) Range: 1560m, Bearing: 224deg, Age: 0:3h:m Time until diving is: 210 secs s *.sbd *.tbd -------------------------------- 313404 95 03020087.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 313414 98 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 03020087.tbd to/from ru28 size is 9810 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: 9810 zModem transfer DONE for file 03020087.tbd Starting zModem transfer of 03020086.tbd to/from ru28 size is 536 Total Bytes sent/received: 536 zModem transfer DONE for file 03020086.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\03020087.TBD c:\logs\03020086.TBD SCI: SUCCESS 313502 19 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 313505 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 313505 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle 313549 SCI:PROGLET house_elf begin() called 313549 SCI: house_elf: Version 1.2 313551 SCI:PROGLET ctd41cp begin() called 313551 SCI: ctd41cp: Version 0.2 313551 SCI: ctd41cp: Will be sending the following data to glider: 313551 SCI: sci_water_cond(s/m) 313551 SCI: sci_water_temp(degc) 313551 SCI: sci_water_pressure(bar) 313551 SCI: sci_ctd41cp_timestamp(timestamp) 313551 SCI:PROGLET lisst begin() called 313551 SCI:PROGLET oxy3835_wphase begin() called 313551 SCI: oxy3835_wphase: Version 0.4 313552 SCI: oxy3835_wphase: Will be sending following data to glider: 313552 SCI: sci_oxy3835_wphase_oxygen(nodim) 313552 SCI: sci_oxy3835_wphase_saturation(nodim) 313552 SCI: sci_oxy3835_wphase_temp(nodim) 313552 SCI: sci_oxy3835_wphase_dphase(nodim) 313552 SCI: sci_oxy3835_wphase_bphase(nodim) 313552 SCI: sci_oxy3835_wphase_rphase(nodim) 313552 SCI: sci_oxy3835_wphase_bamp(nodim) 313552 SCI: sci_oxy3835_wphase_bpot(nodim) 313553 SCI: sci_oxy3835_wphase_ramp(nodim) 313553 SCI: sci_oxy3835_wphase_rawtemp(nodim) 313553 SCI: sci_oxy3835_wphase_timestamp(timestamp) 313553 SCI: Opening Bit(2) for output 313553 SCI:Bit(2) use count is now 1. 313553 SCI:Bit(2) raise count is now 0. 313553 SCI:Bit(2) raise count is now 0. 313553 SCI:PROGLET flbbcd begin() called 313553 SCI: flbbcd: Version 0.0 313554 SCI: flbbcd: Will be sending following data to glider: 313554 SCI: sci_flbbcd_chlor_units(ug/l) 313555 SCI: sci_flbbcd_bb_units(nodim) 313555 SCI: sci_flbbcd_cdom_units(ppb) 313555 SCI: sci_flbbcd_chlor_sig(nodim) 313555 SCI: sci_flbbcd_bb_sig(nodim) 313555 SCI: sci_flbbcd_cdom_sig(nodim) 313555 SCI: sci_flbbcd_chlor_ref(nodim) 313555 SCI: sci_flbbcd_bb_ref(nodim) 313555 SCI: sci_flbbcd_cdom_ref(nodim) 313555 SCI: sci_flbbcd_therm(nodim) 313555 SCI: sci_flbbcd_timestamp(timestamp) 313555 SCI: Opening Bit(0) for output 313556 SCI:Bit(0) use count is now 1. 313556 SCI:Bit(0) raise count is now 0. 313556 SCI:Bit(0) raise count is now 0. 313556 SCI:PROGLET svs603 begin() called START **B000000000000 Starting zModem transfer of 03020087.sbd to/from ru28 size is 6026 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: 6026 zModem transfer DONE for file 03020087.sbd Starting zModem transfer of 03020086.sbd to/from ru28 size is 822 Total Bytes sent/received: 822 zModem transfer DONE for file 03020086.sbd 13641 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 313641 restore_sensors().... 313641 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\03020087.SBD c:\logs\03020086.SBD GLD: SUCCESS Glider-Science software version match: 8.000000 Science hardware version is 2.000000 313649 21 SCI:PROGLET house_elf begin() called 313649 SCI: house_elf: Version 1.2 313650 SCI:PROGLET ctd41cp begin() called 313650 SCI: ctd41cp: Version 0.2 313650 SCI: ctd41cp: Will be sending the following data to glider: 313650 SCI: sci_water_cond(s/m) 313650 SCI: sci_water_temp(degc) 313650 SCI: sci_water_pressure(bar) 313650 SCI: sci_ctd41cp_timestamp(timestamp) 313650 SCI:PROGLET lisst begin() called 313650 SCI:PROGLET oxy3835_wphase begin() called 313650 SCI: oxy3835_wphase: Version 0.4 313651 SCI: oxy3835_wphase: Will be sending following data to glider: 313651 SCI: sci_oxy3835_wphase_oxygen(nodim) 313651 SCI: sci_oxy3835_wphase_saturation(nodim) 313651 SCI: sci_oxy3835_wphase_temp(nodim) 313651 SCI: sci_oxy3835_wphase_dphase(nodim) 313651 SCI: sci_oxy3835_wphase_bphase(nodim) 313651 SCI: sci_oxy3835_wphase_rphase(nodim) 313651 22 SCI: sci_oxy3835_wphase_bamp(nodim) 313652 SCI: sci_oxy3835_wphase_bpot(nodim) 313652 SCI: sci_oxy3835_wphase_ramp(nodim) 313653 SCI: sci_oxy3835_wphase_rawtemp(nodim) 313653 SCI: sci_oxy3835_wphase_timestamp(timestamp) 313653 SCI: Opening Bit(2) for output 313653 SCI:Bit(2) use count is now 1. 313653 SCI:Bit(2) raise count is now 0. 313653 SCI:Bit(2) raise count is now 0. 313653 SCI:PROGLET flbbcd begin() called 313653 SCI: flbbcd: Version 0.0 313653 SCI: flbbcd: Will be sending following data to glider: 313653 SCI: sci_flbbcd_chlor_units(ug/l) 313653 SCI: sci_flbbcd_bb_units(nodim) 313654 SCI: sci_flbbcd_cdom_units(ppb) 313654 SCI: sci_flbbcd_chlor_sig(nodim) 313654 SCI: sci_flbbcd_bb_sig(nodim) 313654 SCI: sci_flbbcd_cdom_sig(nodim) 313654 SCI: sci_flbbcd_chlor_ref(nodim) 313654 SCI: sci_flbbcd_bb_ref(nodim) 313654 SCI: sci_flbbcd_cdom_ref(nodim) 313654 SCI: sci_flbbcd_therm(nodim) 313654 SCI: sci_flbbcd_timestamp(timestamp) 313654 SCI: Opening Bit(0) for output 313654 SCI:Bit(0) use count is now 1. 313654 SCI:Bit(0) raise count is now 0. 313654 SCI:Bit(0) raise count is now 0. 313655 SCI:PROGLET svs603 begin() called 313658 23 SCI:PROGLET house_elf start() called 313658 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 313658 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 313659 SCI:PROGLET ctd41cp start() called 313659 SCI: Opening port 0:SBMB:J0 313659 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 313659 SCI: in queue size: 2048, out queue size: 0 313659 SCI:sci_uart_drain_input(0): 313659 SCI: 313659 SCI:sci_uart_drain_input:Drained 0 chars 313659 SCI:bit_shared_open(): bit(0) is already open. 313659 SCI:Bit(0) use count is now 2. 313660 SCI:bit_shared_raise(): Raising bit(0). 313660 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 313661 24 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 313723 25 03020088.mlg LOG FILE OPENED -------------------------------- 313723 behavior surface_4: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru28 at surface. Because:Hit a waypoint [behavior surface_4 start_when = 8.0] MissionName:30_NW.MI MissionNum:ru28-2018-125-3-88 (0302.0088) Vehicle Name: ru28 Curr Time: Thu May 10 05:12:29 2018 MT: 313726 DR Location: 3946.735 N -7403.756 E measured 432.574 secs ago GPS TooFar: 3959.653 N -7358.192 E measured 1e+308 secs ago GPS Invalid : 3946.746 N -7403.393 E measured 491.882 secs ago GPS Location: 3946.735 N -7403.756 E measured 432.934 secs ago sensor:c_thruster_surface_depth(m)=0 2548.91 secs ago sensor:c_wpt_lat(lat)=3946.015 546.62 secs ago sensor:c_wpt_lon(lon)=-7404.325 546.659 secs ago sensor:m_battery(volts)=12.9328988661808 2.737 secs ago sensor:m_coulomb_amphr(amp-hrs)=61.2845001220703 2.907 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=62.5492496225472 2.918 secs ago sensor:m_depth(m)=0 2.803 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 54.824 secs ago sensor:m_gps_mag_var(rad)=0.22165681500328 433.372 secs ago sensor:m_iridium_attempt_num(nodim)=0 324.243 secs ago sensor:m_iridium_call_num(nodim)=6136 386.881 secs ago sensor:m_iridium_dialed_num(nodim)=8620 400.282 secs ago sensor:m_leakdetect_voltage(volts)=2.47741147741148 2.742 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49050671550672 2.758 secs ago sensor:m_tot_num_inflections(nodim)=192702 499.204 secs ago sensor:m_vacuum(inHg)=8.91978943833944 3.203 secs ago sensor:m_water_vx(m/s)=-0.0270625141385443 455.74 secs ago sensor:m_water_vy(m/s)=-0.0272089189751551 455.774 secs ago sensor:u_alt_min_depth(m)=1 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 313727 secs ago sensor:x_last_wpt_lat(lat)=3946.625 547.639 secs ago sensor:x_last_wpt_lon(lon)=-7404.065 547.676 secs ago devices:(t/m/s) errs: 3/ 0/ 0 warn: 71/ 1/ 0 odd:2860/ 178/ 2 ABORT HISTORY: total since reset: 4 ABORT HISTORY: last abort cause: MS_ABORT_DEVICE_ERROR ABORT HISTORY: last abort details: The science_super device driver returned an error. ABORT HISTORY: last abort time: 2018-05-06T13:44:35 ABORT HISTORY: last abort segment: ru28-2018-125-2-0 (0301.0000) ABORT HISTORY: last abort mission: 30_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 -414 secs) Waypoint: (3946.0150,-7404.3250) Range: 1560m, Bearing: 224deg, Age: 0:9h: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 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 0 [ 0 0 0] [ 5 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] [ 14 9 0] 17 science_super I u 3 20 5 3 [ 3 0 0] [ 65 0 0] [2535 25 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 173 74 1] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 1 0 0] [ 138 70 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 I u 3 20 3 0 30THERMAL_ACC_PRE - 31 THERMAL_ENGINE - 32 THERMAL_PUMP - 33 DE_PUMP - 34 HD_PUMP - 35 thruster_g1 - 36 thruster - devices:(t/m/s) errs: 3/ 0/ 0 warn: 71/ 1/ 0 odd:2860/ 178/ 2 ^R313750 32 behavior surface_4: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 165.468750 Megabytes available on CF file system = 1832.500000 313754 03020088.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=177.0K, M_SPARE_HEAP=158.0K 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) 0.161999 m_avg_climb_rate(m/s) -0.115842 m_avg_speed(m/s) 0.276655 m_avg_upward_inflection_time(sec) 16.738538 m_battery(volts) 12.932899 m_coulomb_amphr_total(amp-hrs) 62.553999 m_iridium_call_num(nodim) 6136.000000 m_iridium_dialed_num(nodim) 8620.000000 m_lat(lat) 3946.735000 m_lon(lon) -7403.756500 m_pump_stress_remaining_cycles(nodim) 24993.687565 m_pump_stress_track(nodim) 6.312435 m_tot_ballast_pumped_energy(kjoules) 8414.255773 m_tot_horz_dist(km) 6637.001326 m_tot_num_inflections(nodim) 192702.000000 s_ini_lat(deg) 4021.168000 s_ini_lon(deg) -7352.853000 s_water_depth_avg(m) 20.000000 s_water_depth_delta(m) 0.000000 s_water_depth_wavelength(m) 0.000000 x_de_avg_oil_vol_ierr_on_ascent(cc) 0.000000 x_de_avg_oil_vol_ierr_on_descent(cc) 0.000000 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) 3946.625000 x_last_wpt_lon(lon) -7404.065000 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 4.0 seconds. Housekeeping is done 313821 36 03020089.mlg LOG FILE OPENED Megabytes used on CF file system = 165.593750 Megabytes available on CF file system = 1832.375000 313823 init_gps_input() 313823 behavior surface_4: SUBSTATE 7 ->10 : Waiting for final gps fix surf