Connection Event: Carrier Detect found.749440 Iridium console active and ready... Vehicle Name: ru32 Curr Time: Sun Jan 26 07:37:06 2020 MT: 749439 DR Location: -6450.600 N -6405.787 E measured 69.279 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6450.946 N -6407.497 E measured 130.79 secs ago GPS Location: -6450.600 N -6405.787 E measured 71.694 secs ago sensor:c_wpt_lat(lat)=-6450.8639 1639.86 secs ago sensor:c_wpt_lon(lon)=-6407.9446 1639.92 secs ago sensor:m_battery(volts)=10.9704606740919 37.95 secs ago sensor:m_coulomb_amphr(amp-hrs)=105.42862701416 5.368 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=112.046815514158 5.389 secs ago sensor:m_depth(m)=0 5.373 secs ago sens 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 ... ] ... ] or:m_digifin_leakdetect_reading(nodim)=1023 5.582 secs ago sensor:m_gps_mag_var(rad)=-0.277507351067098 72.23 secs ago sensor:m_iridium_attempt_num(nodim)=1 66.838 secs ago sensor:m_iridium_call_num(nodim)=1937 19.579 secs ago sensor:m_iridium_dialed_num(nodim)=3258 38.525 secs ago sensor:m_leakdetect_voltage(volts)=2.48800366300366 33.462 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48690476190476 33.484 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 5.885 secs ago sensor:m_system_clock_lags_gps(sec)=0 72.58 secs ago sensor:m_tot_num_inflections(nodim)=9292 163.598 secs ago sensor:m_vacuum(inHg)=8.79843055555556 33.79 secs ago sensor:m_water_vx(m/s)=0.0290935469313291 99.572 secs ago sensor:m_water_vy(m/s)=0.0757210312465188 99.618 secs ago sensor:u_alt_min_depth(m)=300 1e+308 secs ago sensor:u_min_water_depth(m)=250 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=-6450.648 1641.24 secs ago sensor:x_last_wpt_lon(lon)=-6405.4558 1641.3 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: 2020-01-11T13:31:27 ABORT HISTORY: last abort segment: ru32-2020-010-0-0 (0123.0000) ABORT HISTORY: last abort mission: OD5.MI 749441 DRIVER_ODDITY:iridium:1748:xxx_ctrl() ran too long !put u_alt_reqd_good_in_a_row 3 -------------------------------- 749450 0 sensor: u_alt_reqd_good_in_a_row = 3 nodim -------------------------------- 749450 behavior surface_2: ! succeeded:put u_alt_reqd_good_in_a_row 3 749450 behavior surface_2: SUBSTATE 7 ->7 : After ! command, 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:ru32-2020-016-0-230 (0128.0230) Vehicle Name: ru32 Curr Time: Sun Jan 26 07:37:20 2020 MT: 749454 DR Location: -6450.600 N -6405.787 E measured 83.381 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6450.946 N -6407.497 E measured 144.893 secs ago GPS Location: -6450.600 N -6405.787 E measured 85.796 secs ago sensor:c_wpt_lat(lat)=-6450.8639 1653.93 secs ago sensor:c_wpt_lon(lon)=-6407.9446 1653.97 secs ago sensor:m_battery(volts)=10.9704606740919 51.989 secs ago sensor:m_coulomb_amphr(amp-hrs)=105.430999755859 2.76 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=112.049188255858 2.773 secs ago sensor:m_depth(m)=0 2.7 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 9.724 secs ago sensor:m_gps_mag_var(rad)=-0.277507351067098 86.193 secs ago sensor:m_iridium_attempt_num(nodim)=0 5.516 secs ago sensor:m_iridium_call_num(nodim)=1937 33.505 secs ago sensor:m_iridium_dialed_num(nodim)=3258 52.437 secs ago sensor:m_leakdetect_voltage(volts)=2.48800366300366 47.366 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48690476190476 47.381 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3.136 secs ago sensor:m_system_clock_lags_gps(sec)=0 86.449 secs ago sensor:m_tot_num_inflections(nodim)=9292 177.456 secs ago sensor:m_vacuum(inHg)=8.79843055555556 47.631 secs ago sensor:m_water_vx(m/s)=0.0290935469313291 113.404 secs ago sensor:m_water_vy(m/s)=0.0757210312465188 113.437 secs ago sensor:u_alt_min_depth(m)=300 1e+308 secs ago sensor:u_min_water_depth(m)=250 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=-6450.648 1654.97 secs ago sensor:x_last_wpt_lon(lon)=-6405.4558 1655.01 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 1/ 0/ 0 odd: 565/ 336/ 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: 2020-01-11T13:31:27 ABORT HISTORY: last abort segment: ru32-2020-010-0-0 (0123.0000) 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 -51 secs) Waypoint: (-6450.8639,-6407.9446) Range: 1775m, Bearing: 237deg, Age: 0:27h:m Time until diving is: 295 secs s *.sbd *.tbd -------------------------------- 749478 5 01280230.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 749488 8 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 01280230.tbd to/from ru32 size is 43166 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: 14337 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: 27649 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: 39936 Total Bytes sent/received: 40960 Total Bytes sent/received: 41984 Total Bytes sent/received: 42122 Total Bytes sent/received: 43008 Total Bytes sent/received: 43166 zModem transfer DONE for file 01280230.tbd Starting zModem transfer of 01280229.tbd to/from ru32 size is 4020 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4020 zModem transfer DONE for file 01280229.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\01280230.TBD c:\logs\01280229.TBD SCI: SUCCESS 749950 18 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 749953 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 749953 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 01280230.sbd to/from ru32 size is 8576 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: 8576 zModem transfer DONE for file 01280230.sbd Starting zModem transfer of 01280229.sbd to/from ru32 size is 863 Total Bytes sent/received: 863 zModem transfer DONE for file 01280229.sbd ().... 750031 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES..**^XB0800000000022d DEL**^XB0800000000022d DEL GLD: Sent 2 file(s): c:\logs\01280230.SBD c:\logs\01280229.SBD GLD: SUCCESS Glider-Science software version match: 8.300000 Science hardware version is 2.000000 750041 20 SCI:PROGLET house_elf begin() called 750041 SCI: house_elf: Version 1.2 750041 SCI:PROGLET ctd41cp begin() called 750041 SCI: ctd41cp: Version 0.2 750041 SCI: ctd41cp: Will be sending the following data to glider: 750041 SCI: sci_water_cond(s/m) 750041 SCI: sci_water_temp(degc) 750042 SCI: sci_water_pressure(bar) 750042 SCI: sci_ctd41cp_timestamp(timestamp) 750042 SCI:PROGLET azfp begin() called 750042 SCI:PROGLET oxy4 begin() called 750042 SCI: oxy4: Version 0.0 750042 SCI: oxy4: Will be sending following data to glider: 750042 SCI: sci_oxy4_oxygen(um) 750042 SCI: sci_oxy4_saturation(%) 750042 SCI: sci_oxy4_temp(degc) 750042 SCI: sci_oxy4_calphase(deg) 750042 SCI: sci_oxy4_tcphase(deg) 750042 SCI: sci_oxy4_c1rph(deg) 750043 SCI: sci_oxy4_c2rph(deg) 750043 SCI: sci_oxy4_c1amp(mv) 750043 SCI: sci_oxy4_c2amp(mv) 750043 SCI: sci_oxy4_rawtemp(mv) 750043 SCI: sci_oxy4_timestamp(timestamp) 750043 SCI: Opening Bit(2) for output 750043 SCI:Bit(2) use count is now 1. 750043 SCI:Bit(2) raise count is now 0. 750043 21 SCI:Bit(2) raise count is now 0. 750043 SCI:PROGLET flbbcd begin() called 750043 SCI: flbbcd: Version 0.0 750043 SCI: flbbcd: Will be sending following data to glider: 750044 SCI: sci_flbbcd_chlor_units(ug/l) 750044 SCI: sci_flbbcd_bb_units(nodim) 750045 SCI: sci_flbbcd_cdom_units(ppb) 750045 SCI: sci_flbbcd_chlor_sig(nodim) 750045 SCI: sci_flbbcd_bb_sig(nodim) 750045 SCI: sci_flbbcd_cdom_sig(nodim) 750045 SCI: sci_flbbcd_chlor_ref(nodim) 750045 SCI: sci_flbbcd_bb_ref(nodim) 750045 SCI: sci_flbbcd_cdom_ref(nodim) 750045 SCI: sci_flbbcd_therm(nodim) 750045 SCI: sci_flbbcd_timestamp(timestamp) 750045 SCI:bit_shared_open(): bit(0) is already open. 750045 SCI:Bit(0) use count is now 2. 750045 SCI:Bit(0) raise count is now 0. 750050 22 SCI:PROGLET house_elf start() called 750051 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 750051 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 750051 SCI:PROGLET flbbcd start() called 750051 SCI: Opening port 4:SBMB:J4 750051 SCI: 19200 baud, N81, line buf: 256, no input data timeout(secs): 15 750051 SCI: in queue size: 2048, out queue size: 0 750051 SCI:sci_uart_drain_input(4): 750051 SCI: 750051 SCI:sci_uart_drain_input:Drained 0 chars 750052 SCI:bit_shared_raise(): Raising bit(0). 750052 SCI: flbbcd_run(): 0 error(s) in a row. (5 is fatal) 750052 SCI: flbbcd_run(): 0 error(s) since flbbcd_begin(). (50 is fatal) 750052 SCI:PROGLET oxy4 start() called 750052 SCI: Opening port 1:SBMB:J1 750052 SCI: 9600 baud, N81, line buf: 150, no input data timeout(secs): 60 750052 SCI: in queue size: 2048, out queue size: 2048 750052 SCI:sci_uart_drain_input(1): 750052 SCI: 750052 SCI:sci_uart_drain_input:Drained 0 chars 750052 SCI:bit_shared_raise(): Raising bit(2). 750053 SCI: oxy4_run(): 0 error(s) in a row. (5 is fatal) 750053 SCI: oxy4_run(): 0 error(s) since oxy4_begin(). (50 is fatal) 750053 SCI:PROGLET ctd41cp start() called 750053 SCI: Opening port 0:SBMB:J0 750053 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 750053 23 SCI: in queue size: 2048, out queue size: 0 750053 SCI:sci_uart_drain_input(0): 750053 SCI: 750053 SCI:sci_uart_drain_input:Drained 0 chars 750054 SCI:bit_shared_open(): bit(0) is already open. 750054 SCI:Bit(0) use count is now 3. 750054 SCI:bit_shared_raise(): Raising bit(0). 750054 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 750055 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 750122 25 01280231.mlg LOG FILE OPENED -------------------------------- 750122 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:ru32-2020-016-0-231 (0128.0231) Vehicle Name: ru32 Curr Time: Sun Jan 26 07:48:34 2020 MT: 750127 DR Location: -6450.600 N -6405.787 E measured 757.072 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6450.946 N -6407.497 E measured 818.584 secs ago GPS Location: -6450.600 N -6405.787 E measured 759.486 secs ago sensor:c_wpt_lat(lat)=-6450.8639 2327.62 secs ago sensor:c_wpt_lon(lon)=-6407.9446 2327.66 secs ago sensor:m_battery(volts)=10.9318249408862 3.01 secs ago sensor:m_coulomb_amphr(amp-hrs)=105.535499572754 3.19 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=112.153688072752 3.203 secs ago sensor:m_depth(m)=1.60647711589755 3.072 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 65.991 secs ago sensor:m_gps_mag_var(rad)=-0.277507351067098 759.876 secs ago sensor:m_iridium_attempt_num(nodim)=0 679.2 secs ago sensor:m_iridium_call_num(nodim)=1937 707.188 secs ago sensor:m_iridium_dialed_num(nodim)=3258 726.119 secs ago sensor:m_leakdetect_voltage(volts)=2.48861416361416 3.038 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48693528693529 3.054 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3.084 secs ago sensor:m_system_clock_lags_gps(sec)=0 760.131 secs ago sensor:m_tot_num_inflections(nodim)=9292 851.138 secs ago sensor:m_vacuum(inHg)=10.023938034188 3.529 secs ago sensor:m_water_vx(m/s)=0.0290935469313291 787.084 secs ago sensor:m_water_vy(m/s)=0.0757210312465188 787.118 secs ago sensor:u_alt_min_depth(m)=300 1e+308 secs ago sensor:u_min_water_depth(m)=250 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=-6450.648 2328.65 secs ago sensor:x_last_wpt_lon(lon)=-6405.4558 2328.69 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 1/ 0/ 0 odd: 565/ 336/ 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: 2020-01-11T13:31:27 ABORT HISTORY: last abort segment: ru32-2020-010-0-0 (0123.0000) 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 -725 secs) Waypoint: (-6450.8639,-6407.9446) Range: 1775m, Bearing: 237deg, Age: 0:38h: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) os w/s w/m os errors warnings oddities 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 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 [ 0 0 0] [ 1 0 0] [ 23 21 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 302 177 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] [ 238 136 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 - devices:(t/m/s) errs: 0/ 0/ 0 warn: 1/ 0/ 0 odd: 565/ 336/ 3 ^R750156 31 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 272.906250 Megabytes available on CF file system = 1725.062500 750161 01280231.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=92.0K, M_SPARE_HEAP=73.0K 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) 525.000000 f_ocean_pressure_min(volts) 0.136819 m_avg_climb_rate(m/s) -0.122013 m_avg_speed(m/s) 0.282507 m_avg_upward_inflection_time(sec) 79.772802 m_battery(volts) 10.931825 m_coulomb_amphr_total(amp-hrs) 112.159631 m_iridium_call_num(nodim) 1937.000000 m_iridium_dialed_num(nodim) 3258.000000 m_lat(lat) -6450.599700 m_lon(lon) -6405.787300 m_pump_effective_num_cycles(nodim) 205.000000 m_tot_ballast_pumped_energy(kjoules) 243.417290 m_tot_horz_dist(km) 3066.472252 m_tot_num_inflections(nodim) 9292.000000 m_tot_num_thermal_valve_cmd(nodim) 3042.000000 m_weight_drop(bool) 0.000000 s_water_depth_avg(m) 3000.000000 s_water_depth_delta(m) 0.000000 s_water_depth_wavelength(m) 100.000000 u_max_lag_before_syncing_time(sec) 946100000.000000 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) -6450.648000 x_last_wpt_lon(lon) -6405.455800 timestamp: Sun Jan 26 07:49:15 2020 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 -0.1 seconds. Housekeeping is done 750241 35 01280232.mlg LOG FILE OPENED Megabytes used on CF file system = 273.031250 Megabytes available on CF file system = 1724.937500 750243 init_gps_input() 750243 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiti