Connection Event: Carrier Detect found.244498 Iridium console active and ready... Vehicle Name: ru30 Curr Time: Wed Jul 21 13:18:43 2021 MT: 244497 DR Location: 3859.436 N -7318.739 E measured 50.465 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3901.126 N -7321.159 E measured 107.213 secs ago GPS Location: 3859.436 N -7318.739 E measured 52.042 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 ... ] ... ] secs ago sensor:c_wpt_lat(lat)=3845.8883 36616.8 secs ago sensor:c_wpt_lon(lon)=-7250.8986 36616.9 secs ago sensor:m_battery(volts)=15.8649527954436 43.37 secs ago sensor:m_coulomb_amphr(amp-hrs)=29.7623138427734 4.98 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=30.5686258429262 5.001 secs ago sensor:m_depth(m)=0 5.001 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 5.193 secs ago sensor:m_gps_mag_var(rad)=0.225147473507268 52.618 secs ago sensor:m_iridium_attempt_num(nodim)=1 43.813 secs ago sensor:m_iridium_call_num(nodim)=4096 0.767 secs ago sensor:m_iridium_dialed_num(nodim)=5455 15.376 secs ago sensor:m_leakdetect_voltage(volts)=2.47539682539683 15.205 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48092185592186 15.229 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 5.492 secs ago sensor:m_tot_num_inflections(nodim)=66345 126.316 secs ago sensor:m_vacuum(inHg)=8.06247802197802 62.79 secs ago senso not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] r:m_water_vx(m/s)=0.0905495369468375 75.428 secs ago sensor:m_water_vy(m/s)=-0.0983364225991308 75.469 secs ago sensor:u_max_altimeter(m)=50 172310 secs ago sensor:u_min_altimeter(m)=2 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3901.787 36618.2 secs ago sensor:x_last_wpt_lon(lon)=-7324.02 36618.3 secs ago ABORT HISTORY: total since reset: 2 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: 2021-07-18T17:05:38 ABORT HISTORY: last abort segment: ru30-2021-196-5-48 (0416.0048) ABORT HISTORY: last abort mission: 200_NW.MI 244499 No login script found for processing. 244499 DRIVER_ODDITY:iridium:1733:xxx_ctrl() ran too long Glider ru30 at surface. Because:no comms for a while [behavior surface_4 start_when = 12.0] MissionName:200_NW.MI MissionNum:ru30-2021-198-0-40 (0417.0040) Vehicle Name: ru30 Curr Time: Wed Jul 21 13:19:21 2021 MT: 244536 DR Location: 3859.436 N -7318.739 E measured 88.463 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3901.126 N -7321.159 E measured 145.21 secs ago GPS Location: 3859.436 N -7318.739 E measured 90.038 secs ago sensor:c_wpt_lat(lat)=3845.8883 36654.8 secs ago sensor:c_wpt_lon(lon)=-7250.8986 36654.8 secs ago sensor:m_battery(volts)=15.8642411544829 18.348 secs ago sensor:m_coulomb_amphr(amp-hrs)=29.7670631408691 4.483 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=30.5733751410219 4.497 secs ago sensor:m_depth(m)=0 4.425 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.636 secs ago sensor:m_gps_mag_var(rad)=0.225147473507268 90.439 secs ago sensor:m_iridium_attempt_num(nodim)=1 81.617 secs ago sensor:m_iridium_call_num(nodim)=4096 38.553 secs ago sensor:m_iridium_dialed_num(nodim)=5455 53.148 secs ago sensor:m_leakdetect_voltage(volts)=2.47539682539683 52.969 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48092185592186 52.986 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.856 secs ago sensor:m_tot_num_inflections(nodim)=66345 164.054 secs ago sensor:m_vacuum(inHg)=8.45068159340659 36.946 secs ago sensor:m_water_vx(m/s)=0.0905495369468375 113.138 secs ago sensor:m_water_vy(m/s)=-0.0983364225991308 113.172 secs ago sensor:u_max_altimeter(m)=50 172348 secs ago sensor:u_min_altimeter(m)=2 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3901.787 36655.8 secs ago sensor:x_last_wpt_lon(lon)=-7324.02 36655.8 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 27/ 0/ 0 odd:3259/ 222/ 4 ABORT HISTORY: total since reset: 2 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: 2021-07-18T17:05:38 ABORT HISTORY: last abort segment: ru30-2021-196-5-48 (0416.0048) ABORT HISTORY: last abort mission: 200_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 -64 secs) Waypoint: (3845.8883,-7250.8986) Range: 47426m, Bearing: 133deg, Age: 10:10h:m Time until diving is: 506 secs s -num=4 *.sbd *.tbd *.vem *.azf *.asc -------------------------------- 244559 24 04170040.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 244569 26 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 04170040.tbd to/from ru30 size is 43243 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: 27648 Total Bytes sent/received: 27854 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: 42190 Total Bytes sent/received: 43008 Total Bytes sent/received: 43243 zModem transfer DONE for file 04170040.tbd Starting zModem transfer of 04170039.tbd to/from ru30 size is 3757 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 3757 zModem transfer DONE for file 04170039.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\04170040.TBD c:\logs\04170039.TBD SCI: SUCCESS 245025 34 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 245028 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 245028 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle 245040 db(#/min/mn/max/sd) pitch_motor 1800 -0.119 0.036 0.145 0.067 in 245040 db(#/min/mn/max/sd) pitch_motor 1800 -53 16 65 30 mV START **B00000 Starting zModem transfer of 04170040.sbd to/from ru30 size is 28420 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: 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: 28420 zModem transfer DONE for file 04170040.sbd Starting zModem transfer of 04170039.sbd to/from ru30 size is 934 Total Bytes sent/received: 934 zModem transfer DONE for file 04170039.sbd 45276 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 245276 restore_sensors().... 245276 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\04170040.SBD c:\logs\04170039.SBD GLD: SUCCESS Glider-Science software version match: 8.500000 Science hardware version is 2.000000 245348 50 SCI:PROGLET house_elf begin() called 245348 SCI: house_elf: Version 1.2 245349 51 SCI:PROGLET ctd41cp begin() called 245349 SCI: ctd41cp: Version 0.2 245349 SCI: ctd41cp: Will be sending the following data to glider: 245349 SCI: sci_water_cond(s/m) 245349 SCI: sci_water_temp(degc) 245349 SCI: sci_water_pressure(bar) 245349 SCI: sci_ctd41cp_timestamp(timestamp) 245349 SCI:PROGLET oxy4 begin() called 245349 SCI: oxy4: Version 0.0 245349 SCI: oxy4: Will be sending following data to glider: 245349 SCI: sci_oxy4_oxygen(um) 245350 SCI: sci_oxy4_saturation(%) 245350 SCI: sci_oxy4_temp(degc) 245350 SCI: sci_oxy4_calphase(deg) 245350 SCI: sci_oxy4_tcphase(deg) 245350 SCI: sci_oxy4_c1rph(deg) 245350 SCI: sci_oxy4_c2rph(deg) 245350 SCI: sci_oxy4_c1amp(mv) 245350 SCI: sci_oxy4_c2amp(mv) 245350 SCI: sci_oxy4_rawtemp(mv) 245350 SCI: sci_oxy4_timestamp(timestamp) 245350 SCI: Opening Bit(2) for output 245350 SCI:Bit(2) use count is now 1. 245350 SCI:Bit(2) raise count is now 0. 245350 SCI:Bit(2) raise count is now 0. 245351 SCI:PROGLET flbbcd begin() called 245351 SCI: flbbcd: Version 0.0 245351 SCI: flbbcd: Will be sending following data to glider: 245351 SCI: sci_flbbcd_chlor_units(ug/l) 245351 SCI: sci_flbbcd_bb_units(nodim) 245351 SCI: sci_flbbcd_cdom_units(ppb) 245351 SCI: sci_flbbcd_chlor_sig(nodim) 245351 SCI: sci_flbbcd_bb_sig(nodim) 245351 SCI: sci_flbbcd_cdom_sig(nodim) 245351 SCI: sci_flbbcd_chlor_ref(nodim) 245351 SCI: sci_flbbcd_bb_ref(nodim) 245352 SCI: sci_flbbcd_cdom_ref(nodim) 245352 SCI: sci_flbbcd_therm(nodim) 245352 SCI: sci_flbbcd_timestamp(timestamp) 245352 SCI: Opening Bit(0) for output 245352 52 SCI:Bit(0) use count is now 1. 245352 SCI:Bit(0) raise count is now 0. 245352 SCI:Bit(0) raise count is now 0. 245352 SCI:PROGLET sbe41n_ph begin() called 245355 SCI:PROGLET house_elf start() called 245355 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 245355 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 245357 53 SCI:PROGLET ctd41cp start() called 245357 SCI: Opening port 3:SBMB:J3 245357 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 245358 SCI: in queue size: 2048, out queue size: 0 245358 SCI:sci_uart_drain_input(3): 245358 SCI: 245358 SCI:sci_uart_drain_input:Drained 0 chars 245358 SCI:bit_shared_open(): bit(0) is already open. 245358 SCI:Bit(0) use count is now 2. 245359 SCI:bit_shared_raise(): Raising bit(0). 245359 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 245359 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 245359 SCI:PROGLET sbe41n_ph start() called 245359 SCI: sbe41n_ph_run(): 0 error(s) in a row. (5 is fatal) 245359 SCI: sbe41n_ph_run(): 0 error(s) since sbe41n_ph_begin(). (50 is fatal) 245428 57 04170041.mlg LOG FILE OPENED -------------------------------- 245429 behavior surface_4: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru30 at surface. Because:no comms for a while [behavior surface_4 start_when = 12.0] MissionName:200_NW.MI MissionNum:ru30-2021-198-0-41 (0417.0041) Vehicle Name: ru30 Curr Time: Wed Jul 21 13:34:18 2021 MT: 245433 DR Location: 3859.436 N -7318.739 E measured 985.398 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3901.126 N -7321.159 E measured 1042.14 secs ago GPS Location: 3859.436 N -7318.739 E measured 986.973 secs ago sensor:c_wpt_lat(lat)=3845.8883 37551.7 secs ago sensor:c_wpt_lon(lon)=-7250.8986 37551.7 secs ago sensor:m_battery(volts)=15.863106416324 3.022 secs ago sensor:m_coulomb_amphr(amp-hrs)=29.8775005340576 3.186 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=30.6838125342104 3.197 secs ago sensor:m_depth(m)=1.40965258842139 3.084 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 63.401 secs ago sensor:m_gps_mag_var(rad)=0.225147473507268 987.367 secs ago sensor:m_iridium_attempt_num(nodim)=0 874.535 secs ago sensor:m_iridium_call_num(nodim)=4096 935.479 secs ago sensor:m_iridium_dialed_num(nodim)=5455 950.074 secs ago sensor:m_leakdetect_voltage(volts)=2.47564102564103 3.049 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48162393162393 3.064 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3.093 secs ago sensor:m_tot_num_inflections(nodim)=66345 1060.98 secs ago sensor:m_vacuum(inHg)=9.01846510989012 3.502 secs ago sensor:m_water_vx(m/s)=0.0905495369468375 1010.06 secs ago sensor:m_water_vy(m/s)=-0.0983364225991308 1010.1 secs ago sensor:u_max_altimeter(m)=50 173245 secs ago sensor:u_min_altimeter(m)=2 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3901.787 37552.7 secs ago sensor:x_last_wpt_lon(lon)=-7324.02 37552.8 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 27/ 0/ 0 odd:3259/ 222/ 4 ABORT HISTORY: total since reset: 2 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: 2021-07-18T17:05:38 ABORT HISTORY: last abort segment: ru30-2021-196-5-48 (0416.0048) ABORT HISTORY: last abort mission: 200_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 NOT ready for consci. ... because: m_science_clothesline_lag > u_max_clothesline_lag_for_consci Water Velocity Calculations waiting for final gps fix(ideally -961 secs) Waypoint: (3845.8883,-7250.8986) Range: 47426m, Bearing: 133deg, Age: 10:25h: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) 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 1 [ 1 0 0] [ 4 0 0] [ 0 0 0] 11 ocean_pressure I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 6 0 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] [ 295 76 0] 17 science_super I u 3 20 5 1 [ 1 0 0] [ 23 0 0] [2786 65 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 97 57 3] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 75 24 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 I u 3 20 5 0 devices:(t/m/s) errs: 2/ 0/ 0 warn: 27/ 0/ 0 odd:3259/ 222/ 4 ^R245457 62 behavior surface_4: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 150.781250 Megabytes available on CF file system = 1847.187500 245461 04170041.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=83.0K, M_SPARE_HEAP=64.0K 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) 225.000000 f_ocean_pressure_min(volts) 0.088495 m_avg_climb_rate(m/s) -0.130238 m_avg_speed(m/s) 0.276378 m_avg_upward_inflection_time(sec) 22.510759 m_battery(volts) 15.863106 m_coulomb_amphr_total(amp-hrs) 30.688562 m_iridium_call_num(nodim) 4096.000000 m_iridium_dialed_num(nodim) 5455.000000 m_lat(lat) 3859.436000 m_lon(lon) -7318.738700 m_pump_effective_num_cycles(nodim) 969.169104 m_tot_ballast_pumped_energy(kjoules) 6110.225567 m_tot_horz_dist(km) 5390.368881 m_tot_num_inflections(nodim) 66345.000000 m_tot_num_thermal_valve_cmd(nodim) 0.000000 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) 100.000000 x_hover_ballast_shallow(cc) 100.000000 x_hover_depth_deep(m) 20.000000 x_hover_depth_shallow(m) 5.000000 x_last_wpt_lat(lat) 3901.787000 x_last_wpt_lon(lon) -7324.020000 timestamp: Wed Jul 21 13:34:53 2021 The instantaneous lag time between the system and gps clock is -11.0 seconds. The average lag time between the system and gps clock is -11.3 seconds. Housekeeping is done 245531 65 04170042.mlg LOG FILE OPENED Megabytes used on CF file system = 150.906250 Megabytes available on CF file system = 1847.062500 245533 init_gps_input() 245533 behavior surface_4: SUBSTATE 7 ->10 : Waiting for final gps fix surface_4: Waiti