Connection Event: Carrier Detect found.777715 Iridium console active and ready...
Vehicle Name: ru28
Curr Time: Fri Jul 26 16:28:13 2019 MT: 777715
DR Location: 3923.203 N -7414.240 E measured 47.768 secs ago
GPS TooFar: 3936.079 N -7402.298 E measured 282944 secs ago
GPS Invalid : 3923.252 N -7412.616 E measured 103.049 secs ago
GPS Location: 3923.203 N -7414.240 E measured 48.106 secs ago
sensor:c_wpt_lat(lat)=3923.1063 8326.34 secs ago
sensor:c_wpt_lon(lon)=-7416.1592 8326.42 secs ago
sensor:m_battery(volts)=10.9142843417421 9.254 secs ago
sensor:m_coulomb_amphr(amp-hrs)=74.7008743286133 4.756 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=77.7717508158579 4.781 secs ago
sensor:m_depth(m)=0.146622549570562 4.701 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 0.766 secs ago
sensor:m_gps_mag_var(rad)=0.218166156499291 48.691 secs ago
sensor:m_iridium_attempt_num(nodim)=2 41.248 secs ago
sensor:m_iridium_call_num(nodim)=6998 0.844 secs ago
sensor:m_iridium_dialed_num(nodim)=9807 14.328 secs ago
sensor:m_leakdetect_voltage(volts)=2.47716727716728 63.345 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.49108669108669 63.377 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 5.313 secs ago
sensor:m_tot_num_inflections(nodim)=236340 140.89 secs ago
sensor:m_vacuum(inHg)=7.65303571428572 9.991 secs ago
sensor:m_wa
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 ... ] ... ]
ter_vx(m/s)=-0.0903131518464826 71.401 secs ago
sensor:m_water_vy(m/s)=-0.074867415912143 71.453 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_last_wpt_lat(lat)=3924.4866 133264 secs ago
sensor:x_last_wpt_lon(lon)=-7356.9001 133264 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: 2019-07-17T15:22:42
ABORT HISTORY: last abort segment: ru28-2019-197-1-0 (0420.0000)
ABORT HISTORY: last abort mission: OD.MI
777717 No login script found for processing.
777717 DRIVER_ODDITY:iridium:1928:xxx_ctrl() ran too long
Glider ru28 at surface.
Because:no comms for a while [behavior surface_4 start_when = 12.0]
MissionName:30_NW.MI MissionNum:ru28-2019-197-4-205 (0423.0205)
Vehicle Name: ru28
Curr Time: Fri Jul 26 16:28:49 2019 MT: 777751
DR Location: 3923.203 N -7414.240 E measured 83.22 secs ago
GPS TooFar: 3936.079 N -7402.298 E measured 282979 secs ago
GPS Invalid : 3923.252 N -7412.616 E measured 138.498 secs ago
GPS Location: 3923.203 N -7414.240 E measured 83.555 secs ago
sensor:c_wpt_lat(lat)=3923.1063 8361.73 secs ago
sensor:c_wpt_lon(lon)=-7416.1592 8361.77 secs ago
sensor:m_battery(volts)=10.9142843417421 44.589 secs ago
sensor:m_coulomb_amphr(amp-hrs)=74.7068099975586 3.948 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=77.7776864848032 3.959 secs ago
sensor:m_depth(m)=0.14211108650685 3.848 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 8.487 secs ago
sensor:m_gps_mag_var(rad)=0.218166156499291 83.939 secs ago
sensor:m_iridium_attempt_num(nodim)=2 76.471 secs ago
sensor:m_iridium_call_num(nodim)=6998 36.043 secs ago
sensor:m_iridium_dialed_num(nodim)=9807 49.504 secs ago
sensor:m_leakdetect_voltage(volts)=2.47777777777778 33.946 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.49184981684982 33.96 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 4.318 secs ago
sensor:m_tot_num_inflections(nodim)=236340 176.007 secs ago
sensor:m_vacuum(inHg)=7.65303571428572 45.081 secs ago
sensor:m_water_vx(m/s)=-0.0903131518464826 106.474 secs ago
sensor:m_water_vy(m/s)=-0.074867415912143 106.508 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_last_wpt_lat(lat)=3924.4866 133299 secs ago
sensor:x_last_wpt_lon(lon)=-7356.9001 133299 secs ago
devices:(t/m/s) errs: 1/ 0/ 0 warn: 9/ 7/ 0 odd: 335/ 317/ 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: 2019-07-17T15:22:42
ABORT HISTORY: last abort segment: ru28-2019-197-1-0 (0420.0000)
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 -39 secs)
Waypoint: (3923.1063,-7416.1592) Range: 2761m, Bearing: 279deg, Age: 37:1h:m
Time until diving is: 512 secs
s *.sbd *.tbd
--------------------------------
777770 60 04230205.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
777779 64 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 04230205.tbd to/from ru28 size is 38913
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: 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: 26625
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: 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: 38913
zModem transfer DONE for file 04230205.tbd
Starting zModem transfer of 04230204.tbd to/from ru28 size is 4221
Total Bytes sent/received: 1024
Total Bytes sent/received: 2048
Total Bytes sent/received: 3072
Total Bytes sent/received: 4096
Total Bytes sent/received: 4221
zModem transfer DONE for file 04230204.tbd
SHUFFLING FILES..
SCI: Sent 2 file(s):
c:\logs\04230205.TBD c:\logs\04230204.TBD
SCI: SUCCESS
778171 55 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
778173 save_and_change_sensors()....
Changed u_use_ctd_depth_for_flying from 0 to 0
Changed c_science_on from 1 to 0
778173 save_and_change_sensors()....
Changed c_science_printout from 0 to 0
Waiting for motors idle
START
**B00000000000000
�
Starting zModem transfer of 04230205.sbd to/from ru28 size is 18061
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: 15360
Total Bytes sent/received: 16384
Total Bytes sent/received: 17408
Total Bytes sent/received: 18061
zModem transfer DONE for file 04230205.sbd
Starting zModem transfer of 04230204.sbd to/from ru28 size is 1053
Total Bytes sent/received: 1024
Total Bytes sent/received: 1053
zModem transfer DONE for file 04230204.sbd
78366 restore_sensors()....
Restored u_use_ctd_depth_for_flying from 0 to 0
Restored c_science_on from 0 to 1
778366 restore_sensors()....
778366 restore_sensors()....
Restored c_science_printout from 0 to 0
SHUFFLING FILES..
GLD: Sent 2 file(s):
c:\logs\04230205.SBD c:\logs\04230204.SBD
GLD: SUCCESS
Glider-Science software version match: 8.000000
Science hardware version is 2.000000
778374 57 SCI:PROGLET house_elf begin() called
778374 SCI: house_elf: Version 1.2
778374 SCI:PROGLET ctd41cp begin() called
778374 SCI: ctd41cp: Version 0.2
778375 SCI: ctd41cp: Will be sending the following data to glider:
778375 SCI: sci_water_cond(s/m)
778375 SCI: sci_water_temp(degc)
778375 SCI: sci_water_pressure(bar)
778375 SCI: sci_ctd41cp_timestamp(timestamp)
778375 SCI:PROGLET lisst begin() called
778375 SCI:PROGLET oxy3835_wphase begin() called
778375 SCI: oxy3835_wphase: Version 0.4
778375 SCI: oxy3835_wphase: Will be sending following data to glider:
778375 SCI: sci_oxy3835_wphase_oxygen(nodim)
778375 SCI: sci_oxy3835_wphase_saturation(nodim)
778376 SCI: sci_oxy3835_wphase_temp(nodim)
778376 SCI: sci_oxy3835_wphase_dphase(nodim)
778376 SCI: sci_oxy3835_wphase_bphase(nodim)
778376 SCI: sci_oxy3835_wphase_rphase(nodim)
778376 58 SCI: sci_oxy3835_wphase_bamp(nodim)
778376 SCI: sci_oxy3835_wphase_bpot(nodim)
778376 SCI: sci_oxy3835_wphase_ramp(nodim)
778377 SCI: sci_oxy3835_wphase_rawtemp(nodim)
778377 SCI: sci_oxy3835_wphase_timestamp(timestamp)
778378 SCI: Opening Bit(2) for output
778378 SCI:Bit(2) use count is now 1.
778378 SCI:Bit(2) raise count is now 0.
778378 SCI:Bit(2) raise count is now 0.
778378 SCI:PROGLET flbbcd begin() called
778378 SCI: flbbcd: Version 0.0
778378 SCI: flbbcd: Will be sending following data to glider:
778378 SCI: sci_flbbcd_chlor_units(ug/l)
778378 SCI: sci_flbbcd_bb_units(nodim)
778378 SCI: sci_flbbcd_cdom_units(ppb)
778378 SCI: sci_flbbcd_chlor_sig(nodim)
778378 SCI: sci_flbbcd_bb_sig(nodim)
778378 SCI: sci_flbbcd_cdom_sig(nodim)
778379 SCI: sci_flbbcd_chlor_ref(nodim)
778379 SCI: sci_flbbcd_bb_ref(nodim)
778379 SCI: sci_flbbcd_cdom_ref(nodim)
778379 SCI: sci_flbbcd_therm(nodim)
778379 SCI: sci_flbbcd_timestamp(timestamp)
778379 SCI: Opening Bit(0) for output
778379 SCI:Bit(0) use count is now 1.
778379 SCI:Bit(0) raise count is now 0.
778379 SCI:Bit(0) raise count is now 0.
778379 SCI:PROGLET svs603 begin() called
778383 59 SCI:PROGLET house_elf start() called
778383 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal)
778383 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal)
778383 SCI:PROGLET oxy3835_wphase start() called
778384 SCI: Opening port 1:SBMB:J1
778384 SCI: 9600 baud, N81, line buf: 150, no input data timeout(secs): 15
778384 SCI: in queue size: 2048, out queue size: 0
778384 SCI:sci_uart_drain_input(1):
778384 SCI:
778384 SCI:sci_uart_drain_input:Drained 0 chars
778384 SCI:bit_shared_raise(): Raising bit(2).
778384 SCI: oxy3835_wphase_run(): 0 error(s) in a row. (5 is fatal)
778390 60 SCI: oxy3835_wphase_run(): 0 error(s) since oxy3835_wphase_begin(). (50 is fatal)
778391 61 SCI:PROGLET ctd41cp start() called
778391 SCI: Opening port 0:SBMB:J0
778391 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15
778392 SCI: in queue size: 2048, out queue size: 0
778392 SCI:sci_uart_drain_input(0):
778392 SCI:
778392 SCI:sci_uart_drain_input:Drained 0 chars
778392 SCI:bit_shared_open(): bit(0) is already open.
778392 SCI:Bit(0) use count is now 2.
778393 SCI:bit_shared_raise(): Raising bit(0).
778393 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal)
778393 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal)
778452 64 04230206.mlg LOG FILE OPENED
--------------------------------
778453 behavior surface_4: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume
Glider ru28 at surface.
Because:no comms for a while [behavior surface_4 start_when = 12.0]
MissionName:30_NW.MI MissionNum:ru28-2019-197-4-206 (0423.0206)
Vehicle Name: ru28
Curr Time: Fri Jul 26 16:40:34 2019 MT: 778456
DR Location: 3923.203 N -7414.240 E measured 788.587 secs ago
GPS TooFar: 3936.079 N -7402.298 E measured 283685 secs ago
GPS Invalid : 3923.252 N -7412.616 E measured 843.864 secs ago
GPS Location: 3923.203 N -7414.240 E measured 788.919 secs ago
sensor:c_wpt_lat(lat)=3923.1063 9067.1 secs ago
sensor:c_wpt_lon(lon)=-7416.1592 9067.14 secs ago
sensor:m_battery(volts)=10.906470071182 2.737 secs ago
sensor:m_coulomb_amphr(amp-hrs)=74.8184356689453 2.907 secs ago
sensor:m_coulomb_amphr_total(amp-hrs)=77.8893121561899 2.917 secs ago
sensor:m_depth(m)=0.0879735297423059 2.794 secs ago
sensor:m_digifin_leakdetect_reading(nodim)=1022 56.974 secs ago
sensor:m_gps_mag_var(rad)=0.218166156499291 789.306 secs ago
sensor:m_iridium_attempt_num(nodim)=0 687.817 secs ago
sensor:m_iridium_call_num(nodim)=6998 741.406 secs ago
sensor:m_iridium_dialed_num(nodim)=9807 754.866 secs ago
sensor:m_leakdetect_voltage(volts)=2.47912087912088 2.729 secs ago
sensor:m_leakdetect_voltage_forward(volts)=2.49236874236874 2.744 secs ago
sensor:m_leakdetect_voltage_science(volts)=-1 2.774 secs ago
sensor:m_tot_num_inflections(nodim)=236340 881.368 secs ago
sensor:m_vacuum(inHg)=8.56980918803419 3.221 secs ago
sensor:m_water_vx(m/s)=-0.0903131518464826 811.834 secs ago
sensor:m_water_vy(m/s)=-0.074867415912143 811.868 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_last_wpt_lat(lat)=3924.4866 134004 secs ago
sensor:x_last_wpt_lon(lon)=-7356.9001 134004 secs ago
devices:(t/m/s) errs: 1/ 0/ 0 warn: 9/ 7/ 0 odd: 335/ 317/ 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: 2019-07-17T15:22:42
ABORT HISTORY: last abort segment: ru28-2019-197-1-0 (0420.0000)
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 -744 secs)
Waypoint: (3923.1063,-7416.1592) Range: 2761m, Bearing: 279deg, Age: 37:13h:m
Time until diving is: 594 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 1 [ 1 0 0] [ 8 6 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] [ 4 2 0]
17 science_super I u 3 20 5 0 [ 0 0 0] [ 1 1 0] [ 16 16 0]
18 roll_motor -
19 fpitch_pump -
20 fin_motor -
21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 184 183 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] [ 131 116 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: 1/ 0/ 0 warn: 9/ 7/ 0 odd: 335/ 317/ 3
^R778482 70 behavior surface_4: User typed Control-R, resuming
I heard a Control-R
RESUMING MISSION
Megabytes used on CF file system = 175.500000
Megabytes available on CF file system = 1822.468750
778487 04230206.mlg LOG FILE CLOSED
Doing system wide housekeeping.......
report_heap_size(): M_FREE_HEAP=184.0K, M_SPARE_HEAP=165.0K
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_coulomb_battery_capacity(amp-hrs) 200.000000
f_ocean_pressure_min(volts) 0.158135
m_avg_climb_rate(m/s) -0.118932
m_avg_speed(m/s) 0.264066
m_avg_upward_inflection_time(sec) 27.368559
m_battery(volts) 10.906470
m_coulomb_amphr_total(amp-hrs) 77.895248
m_iridium_call_num(nodim) 6998.000000
m_iridium_dialed_num(nodim) 9807.000000
m_lat(lat) 3923.202700
m_lon(lon) -7414.239800
m_pump_stress_remaining_cycles(nodim) 24987.767567
m_pump_stress_track(nodim) 12.232433
m_tot_ballast_pumped_energy(kjoules) 10000.461389
m_tot_horz_dist(km) 7821.099052
m_tot_num_inflections(nodim) 236340.000000
s_ini_lat(deg) 4026.200000
s_ini_lon(deg) -7401.200000
s_water_depth_avg(m) 10.000000
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) 3924.486600
x_last_wpt_lon(lon) -7356.900100
The instantaneous lag time between the system and gps clock is 0.0 seconds.
The average lag time between the system and gps clock is -0.5 seconds.
Housekeeping is done
778556 74 04230207.mlg LOG FILE OPENED
Megabytes used on CF file system = 175.625000
Megabytes available on CF file system = 1822.343750
778558 init_gps_input()
778558 behavior surface_4: SUBSTATE 7 ->10 : Waiting for final gps