Connection Event: Carrier Detect found.116100 Iridium console active and ready... Vehicle Name: ru34 Curr Time: Fri Oct 9 21:59:58 2020 MT: 116100 DR Location: 3859.411 N -7402.171 E measured 88.646 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3900.250 N -7402.441 E measured 139.729 secs ago GPS Location: 3859.411 N -7402.171 E measured 89.217 secs ago sensor:c_wpt_lat(lat)=3826.981 225.157 secs ago sensor:c_wpt_lon(lon)=-7324.034 225.161 secs ago sensor:m_battery(volts)=15.7577230142236 35.718 secs ago sensor:m_coulomb_amphr(amp-hrs)=35.3799480000005 3.805 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=35.5486960000002 3.809 secs ago sensor:m_depth(m)=0 3.709 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.048 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:m_gps_mag_var(rad)=0.218166156499291 89.265 secs ago sensor:m_iridium_attempt_num(nodim)=2 40.068 secs ago sensor:m_iridium_call_num(nodim)=780 0.059 secs ago sensor:m_iridium_dialed_num(nodim)=1225 12.058 secs ago sensor:m_leakdetect_voltage(volts)=2.49258241758242 23.708 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48253968253968 23.673 secs ago sensor:m_leakdetect_voltage_science(volts)=2.48125763125763 23.638 secs ago sensor:m_tot_num_inflections(nodim)=19020 148.766 secs ago sensor:m_vacuum(inHg)=8.63771157509158 15.767 secs ago sensor:m_water_vx(m/s)=0.158774187692776 108.744 secs ago sensor:m_water_vy(m/s)=0.05875154495763 108.748 secs ago sensor:u_alt_min_depth(m)=2 1e+308 secs ago sensor:u_min_water_depth(m)=11 1e+308 secs ago sensor:u_reqd_depth_at_surface(m)=1.75 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3858.885 225.249 secs ago sensor:x_last not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] _wpt_lon(lon)=-7403.262 225.253 secs ago ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_4 entered B_ERROR state ABORT HISTORY: last abort time: 2020-10-08T13:42:44 ABORT HISTORY: last abort segment: ru34-2020-278-0-62 (0092.0062) ABORT HISTORY: last abort mission: 100_nw.mi 116100 No login script found for processing. Glider ru34 at surface. Because:Hit a waypoint [behavior surface_3 start_when = 8.0] MissionName:100_nw.mi MissionNum:ru34-2020-281-0-18 (0093.0018) Vehicle Name: ru34 Curr Time: Fri Oct 9 22:00:30 2020 MT: 116133 DR Location: 3859.411 N -7402.171 E measured 120.671 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3900.250 N -7402.441 E measured 171.753 secs ago GPS Location: 3859.411 N -7402.171 E measured 121.241 secs ago sensor:c_wpt_lat(lat)=3826.981 257.181 secs ago sensor:c_wpt_lon(lon)=-7324.034 257.185 secs ago sensor:m_battery(volts)=15.7577230142236 67.742 secs ago sensor:m_coulomb_amphr(amp-hrs)=35.3823960000005 7.82 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=35.5511440000002 7.824 secs ago sensor:m_depth(m)=0.65580365960344 7.725 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 8.055 secs ago sensor:m_gps_mag_var(rad)=0.218166156499291 121.289 secs ago sensor:m_iridium_attempt_num(nodim)=2 72.092 secs ago sensor:m_iridium_call_num(nodim)=780 32.084 secs ago sensor:m_iridium_dialed_num(nodim)=1225 44.083 secs ago sensor:m_leakdetect_voltage(volts)=2.49258241758242 55.733 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48253968253968 55.697 secs ago sensor:m_leakdetect_voltage_science(volts)=2.48125763125763 55.662 secs ago sensor:m_tot_num_inflections(nodim)=19020 180.791 secs ago sensor:m_vacuum(inHg)=8.63771157509158 47.792 secs ago sensor:m_water_vx(m/s)=0.158774187692776 140.769 secs ago sensor:m_water_vy(m/s)=0.05875154495763 140.773 secs ago sensor:u_alt_min_depth(m)=2 1e+308 secs ago sensor:u_min_water_depth(m)=11 1e+308 secs ago sensor:u_reqd_depth_at_surface(m)=1.75 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3858.885 257.273 secs ago sensor:x_last_wpt_lon(lon)=-7403.262 257.277 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 37/ 1/ 0 odd: 207/ 38/ 4 ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_4 entered B_ERROR state ABORT HISTORY: last abort time: 2020-10-08T13:42:44 ABORT HISTORY: last abort segment: ru34-2020-278-0-62 (0092.0062) ABORT HISTORY: last abort mission: 100_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 -105 secs) Waypoint: (3826.9810,-7324.0340) Range: 81563m, Bearing: 149deg, Age: 0:4h:m Time until diving is: 175 secs s -num=3 *.sbd *.tbd *.vem *.azf *.asc -------------------------------- 116149 18 00930018.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 116159 21 Neutering the Freewave Console SciDos>SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size SCI: Enumerating and selecting files About to send 6 files Prechecking is not necessary for this invocation START **B000000 Starting zModem transfer of 00930018.tbd to/from ru34 size is 22671 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: 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: 22671 zModem transfer DONE for file 00930018.tbd Starting zModem transfer of 00930017.tbd to/from ru34 size is 467 Total Bytes sent/received: 467 zModem transfer DONE for file 00930017.tbd Starting zModem transfer of tj091919.vem to/from ru34 size is 751 Total Bytes sent/received: 751 zModem transfer DONE for file tj091919.vem Starting zModem transfer of tj091918.asc to/from ru34 size is 38525 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: 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: 38525 zModem transfer DONE for file tj091918.asc Starting zModem transfer of tj091915.asc to/from ru34 size is 249 Total Bytes sent/received: 249 zModem transfer DONE for file tj091915.asc Starting zModem transfer of tj080054.asc to/from ru34 size is 498 Total Bytes sent/received: 498 zModem transfer DONE for file tj080054.asc ... SCI: Sent 6 file(s): 00930018.tbd 00930017.tbd TJ091919.vem TJ091918.asc TJ091915.asc TJ080054.asc SCI: SUCCESS 116597 87 Freewave console restored REVERTING FROM SCIENCE COMMAND MODE SCIENCE COMMAND MODE TERMINATED because: Science Program QUIT (cts lowered) 116600 GLD: Enumerating and selecting files About to send 3 files Prechecking is not necessary for this invocation selected IRIDIUM 116600 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 116600 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 � Starting zModem transfer of 00930018.sbd to/from ru34 size is 21626 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: 18432 Total Bytes sent/received: 19456 Total Bytes sent/received: 20480 Total Bytes sent/received: 21504 Total Bytes sent/received: 21626 zModem transfer DONE for file 00930018.sbd Starting zModem transfer of 00930017.sbd to/from ru34 size is 922 Total Bytes sent/received: 922 zModem transfer DONE for file 00930017.sbd Starting zModem transfer of 00930004.sbd to/from ru34 size is 23518 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: 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: 23518 zModem transfer DONE for file 00930004.sbd 116866 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 116866 restore_sensors().... 116866 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES ... 116866 GLD: Sent 3 file(s): 00930018.sbd 00930017.sbd 00930004.sbd GLD: SUCCESS Glider-Science software version match: 10.010000 Science hardware version is 3.000000 116868 88 SCI:PROGLET house_elf begin() called 116868 SCI: house_elf: Version 1.2 116868 SCI:PROGLET ctd41cp begin() called 116868 SCI: ctd41cp: Version 0.2 116868 SCI: ctd41cp: Will be sending the following data to glider: 116868 SCI: sci_water_cond(s/m) 116868 SCI: sci_water_temp(degc) 116868 SCI: sci_water_pressure(bar) 116868 SCI: sci_ctd41cp_timestamp(timestamp) 116868 SCI:PROGLET dmon begin() called 116868 SCI: dmon: Version 0.0 116868 SCI: dmon: Will be sending following data to glider: 116868 SCI: sci_dmon_msg_byte_count(nodim) 116868 SCI:PROGLET vr2c begin() called 116868 SCI:PROGLET oxy3835_wphase begin() called 116868 SCI: oxy3835_wphase: Version 0.4 116868 SCI: oxy3835_wphase: Will be sending following data to glider: 116868 SCI: sci_oxy3835_wphase_oxygen(nodim) 116868 SCI: sci_oxy3835_wphase_saturation(nodim) 116868 SCI: sci_oxy3835_wphase_temp(nodim) 116868 SCI: sci_oxy3835_wphase_dphase(nodim) 116868 SCI: sci_oxy3835_wphase_bphase(nodim) 116868 SCI: sci_oxy3835_wphase_rphase(nodim) 116868 SCI: sci_oxy3835_wphase_bamp(nodim) 116868 SCI: sci_oxy3835_wphase_bpot(nodim) 116868 SCI: sci_oxy3835_wphase_ramp(nodim) 116868 SCI: sci_oxy3835_wphase_rawtemp(nodim) 116868 SCI: sci_oxy3835_wphase_timestamp(timestamp) 116868 SCI:Bit(2) raise count is now 0. 116868 SCI:Bit(2) raise count is now 0. 116868 SCI:PROGLET house_elf start() called 116868 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 116868 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 116868 SCI:PROGLET vr2c start() called 116868 SCI: vr2c_run(): 0 error(s) in a row. (5 is fatal) 116868 SCI: vr2c_run(): 0 error(s) since vr2c_begin(). (50 is fatal) 116886 89 00930019.mlg LOG FILE OPENED -------------------------------- 116886 behavior surface_3: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru34 at surface. Because:Hit a waypoint [behavior surface_3 start_when = 8.0] MissionName:100_nw.mi MissionNum:ru34-2020-281-0-19 (0093.0019) Vehicle Name: ru34 Curr Time: Fri Oct 9 22:13:06 2020 MT: 116888 DR Location: 3859.411 N -7402.171 E measured 875.882 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3900.250 N -7402.441 E measured 926.964 secs ago GPS Location: 3859.411 N -7402.171 E measured 876.453 secs ago sensor:c_wpt_lat(lat)=3826.981 1012.39 secs ago sensor:c_wpt_lon(lon)=-7324.034 1012.4 secs ago sensor:m_battery(volts)=15.7541933460388 0.321 secs ago sensor:m_coulomb_amphr(amp-hrs)=35.4749240000005 0.417 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=35.6436720000002 0.422 secs ago sensor:m_depth(m)=0.428685509091432 0.233 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.568 secs ago sensor:m_gps_mag_var(rad)=0.218166156499291 876.5 secs ago sensor:m_iridium_attempt_num(nodim)=0 739.262 secs ago sensor:m_iridium_call_num(nodim)=780 787.295 secs ago sensor:m_iridium_dialed_num(nodim)=1225 799.294 secs ago sensor:m_leakdetect_voltage(volts)=2.49230769230769 0.217 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48217338217338 0.181 secs ago sensor:m_leakdetect_voltage_science(volts)=2.48131868131868 0.146 secs ago sensor:m_tot_num_inflections(nodim)=19020 936.002 secs ago sensor:m_vacuum(inHg)=8.68982241758242 0.325 secs ago sensor:m_water_vx(m/s)=0.158774187692776 895.98 secs ago sensor:m_water_vy(m/s)=0.05875154495763 895.984 secs ago sensor:u_alt_min_depth(m)=2 1e+308 secs ago sensor:u_min_water_depth(m)=11 1e+308 secs ago sensor:u_reqd_depth_at_surface(m)=1.75 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3858.885 1012.49 secs ago sensor:x_last_wpt_lon(lon)=-7403.262 1012.49 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 37/ 1/ 0 odd: 207/ 38/ 4 ABORT HISTORY: total since reset: 3 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_4 entered B_ERROR state ABORT HISTORY: last abort time: 2020-10-08T13:42:44 ABORT HISTORY: last abort segment: ru34-2020-278-0-62 (0092.0062) ABORT HISTORY: last abort mission: 100_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 -860 secs) Waypoint: (3826.9810,-7324.0340) Range: 81563m, Bearing: 149deg, Age: 0:16h:m Time until diving is: 299 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 [ 0 0 0] [ 33 0 0] [ 0 0 0] 7 attitude_rev I u 3 20 5 0 8 ocean_pressure I u 3 20 5 0 9 vacuum I u 3 20 5 0 10 battery I u 3 20 5 0 11 air_pump I u 3 20 5 0 12 pitch_motor I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 44 2 0] 13 science_super I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 4 0 0] 14 digifin I u 3 20 5 0 [ 0 0 0] [ 4 1 0] [ 122 27 2] 15 altimeter I u 3 20 5 0 16 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 20 6 2] 17 leakdetect I u 3 20 5 0 18 recovery - 19 coulomb I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 17 3 0] 20 veh_temp I u 3 20 5 0 21 BUOYANCY_PUMP I u 3 20 3 0 22 DE_PUMP - 23 HD_PUMP - 24 thruster - devices:(t/m/s) errs: 0/ 0/ 0 warn: 37/ 1/ 0 odd: 207/ 38/ 4 ^R116907 95 behavior surface_3: User typed Control-R, resuming I heard a Control-R RESUMING MISSION 116908 00930019.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=233.7K(239300 bytes) M_MIN_FREE_HEAP=151.9K(155548 bytes) M_SRAM_FREE_HEAP=1399.4K(1433016 bytes) M_SRAM_MIN_FREE_HEAP=1395.4K(1428880 bytes) Running algorithm to free disk space if required Not necessary to delete any files at this time Scanning free space... Megabytes used on d: = 145.585938 Megabytes available on d: = 7729.414062 Megabytes used on w: = 0.021973 Megabytes available on w: = 0.978027 Writing longterm state disk file: c:/state/longterm.sta f_coulomb_battery_capacity(amp-hrs) 215.000000 f_fin_safety_max(rad) 0.470000 f_ocean_pressure_min(volts) 0.133703 m_avg_climb_rate(m/s) -0.221990 m_avg_speed(m/s) 0.284309 m_avg_upward_inflection_time(sec) 10.370085 m_battery(volts) 15.754193 m_coulomb_amphr_total(amp-hrs) 35.646232 m_iridium_call_num(nodim) 780.000000 m_iridium_dialed_num(nodim) 1225.000000 m_lat(lat) 3859.411400 m_lon(lon) -7402.171400 m_pump_effective_num_cycles(nodim) 172.865602 m_tot_ballast_pumped_energy(kjoules) 868.543981 m_tot_horz_dist(km) 686.769042 m_tot_num_inflections(nodim) 19020.000000 m_tot_num_thermal_valve_cmd(nodim) 0.000000 m_weight_drop(bool) 0.000000 s_ini_lat(deg) 3900.000000 s_ini_lon(deg) -7400.000000 s_water_depth_avg(m) 1200.000000 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) 3858.885000 x_last_wpt_lon(lon) -7403.262000 Housekeeping is done 116932 97 00930020.mlg LOG FILE OPENED 116932 init_gps_input() 116932 behavior surface_3: SUBSTATE 7 ->10 : Waiting for final gps fix surface_3: Waiting for final GPS