Connection Event: Carrier Detect found.882281 Iridium console active and ready... Vehicle Name: ru23 Curr Time: Mon Nov 4 02:24:09 2024 MT: 882279 DR Location: 3924.863 N -7408.683 E measured 46.598 secs ago GPS TooFar: 3923.430 N -7408.702 E measured 90003.7 secs ago GPS Invalid : 3925.126 N -7408.804 E measured 103.809 secs ago GPS Location: 3924.863 N -7408.683 E measured 48.124 secs ago sensor:c_wpt_lat(lat)=3925.046 3545.45 secs ago sensor:c_wpt_lon(lon)=-7408.583 3545.53 secs ago sensor:m_battery(volts)=12.0898042675479 48.78 secs ago sensor:m_coulomb_amphr(amp-hrs)=0 1e+308 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=0 1e+308 secs ago sensor:m_depth(m)=0.416363666283082 not found>*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 6.292 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 6.502 secs ago sensor:m_gps_mag_var(rad)=0.219911485751285 48.751 secs ago sensor:m_iridium_attempt_num(nodim)=1 38.863 secs ago sensor:m_iridium_call_num(nodim)=5876 0.854 secs ago sensor:m_iridium_dialed_num(nodim)=8610 12.059 secs ago sensor:m_leakdetect_voltage(volts)=2.4998778998779 49.236 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 6.74 secs ago sensor:m_tot_num_inflections(nodim)=39106 125.068 secs ago sensor:m_vacuum(inHg)=7.60398891941392 49.495 secs ago sensor:m_water_vx(m/s)=-0.0135182185413354 74.289 secs ago sensor:m_water_vy(m/s)=0.00628610602835488 74.341 secs ago sensor:u_alt_min_depth(m)=2 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)=3924.716 3546.9 secs ago sensor:x_last_wpt_lon(lon)=-7409.369 3546.96 secs ago ABORT HISTORY: total sin not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] ce reset: 1 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2024-10-22T15:38:07 ABORT HISTORY: last abort segment: ru23-2024-295-2-0 (0455.0000) ABORT HISTORY: last abort mission: OD.MI 882282 No login script found for processing. 882282 DRIVER_ODDITY:iridium:1898:xxx_ctrl() ran too long Glider ru23 at surface. Because:no comms for a while [behavior surface_3 start_when = 12.0] MissionName:100_N.MI MissionNum:ru23-2024-297-0-147 (0458.0147) Vehicle Name: ru23 Curr Time: Mon Nov 4 02:24:52 2024 MT: 882323 DR Location: 3924.863 N -7408.683 E measured 89.626 secs ago GPS TooFar: 3923.430 N -7408.702 E measured 90046.8 secs ago GPS Invalid : 3925.126 N -7408.804 E measured 146.837 secs ago GPS Location: 3924.863 N -7408.683 E measured 91.15 secs ago sensor:c_wpt_lat(lat)=3925.046 3588.44 secs ago sensor:c_wpt_lon(lon)=-7408.583 3588.49 secs ago sensor:m_battery(volts)=12.0800951472644 26.388 secs ago sensor:m_coulomb_amphr(amp-hrs)=0 1e+308 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=0 1e+308 secs ago sensor:m_depth(m)=0.39535641773197 4.982 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.124 secs ago sensor:m_gps_mag_var(rad)=0.219911485751285 91.611 secs ago sensor:m_iridium_attempt_num(nodim)=1 81.701 secs ago sensor:m_iridium_call_num(nodim)=5876 43.67 secs ago sensor:m_iridium_dialed_num(nodim)=8610 54.86 secs ago sensor:m_leakdetect_voltage(volts)=2.5 26.629 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 5.34 secs ago sensor:m_tot_num_inflections(nodim)=39106 167.839 secs ago sensor:m_vacuum(inHg)=8.08011733821733 26.914 secs ago sensor:m_water_vx(m/s)=-0.0135182185413354 117.033 secs ago sensor:m_water_vy(m/s)=0.00628610602835488 117.072 secs ago sensor:u_alt_min_depth(m)=2 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)=3924.716 3589.52 secs ago sensor:x_last_wpt_lon(lon)=-7409.369 3589.56 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 2/ 2/ 0 odd: 495/ 395/ 2 ABORT HISTORY: total since reset: 1 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2024-10-22T15:38:07 ABORT HISTORY: last abort segment: ru23-2024-295-2-0 (0455.0000) 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 -68 secs) Waypoint: (3925.0460,-7408.5830) Range: 369m, Bearing: 35deg, Age: 0:59h:m Time until diving is: 505 secs s -num=4 *.sbd *.tbd *.tcd *.scd *.vem *.azf *.asc *.obs *.mrd -------------------------------- 882347 98 04580147.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 882356 0 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 **B00000 Starting zModem transfer of 04580147.tbd to/from ru23 size is 5679 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: 5679 zModem transfer DONE for file 04580147.tbd Starting zModem transfer of 04580146.tbd to/from ru23 size is 471 Total Bytes sent/received: 471 zModem transfer DONE for file 04580146.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\04580147.TBD c:\logs\04580146.TBD SCI: SUCCESS 882416 15 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 882418 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 882418 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000 Starting zModem transfer of 04580147.sbd to/from ru23 size is 13822 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: 13822 zModem transfer DONE for file 04580147.sbd Starting zModem transfer of 04580146.sbd to/from ru23 size is 894 Total Bytes sent/received: 894 zModem transfer DONE for file 04580146.sbd 82530 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 882530 restore_sensors().... 882530 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\04580147.SBD c:\logs\04580146.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 1.000000 882539 17 SCI:PROGLET house_elf begin() called 882539 SCI: house_elf: Version 1.2 882539 SCI:PROGLET ctd41cp begin() called 882539 SCI: ctd41cp: Version 0.2 882539 SCI: ctd41cp: Will be sending the following data to glider: 882539 SCI: sci_water_cond(s/m) 882539 SCI: sci_water_temp(degc) 882540 SCI: sci_water_pressure(bar) 882540 SCI: sci_ctd41cp_timestamp(timestamp) 882540 SCI:PROGLET bb3slo begin() called 882540 SCI: bb3slo: Version 0.5 882540 SCI: bb3slo: Will be sending following data to glider: 882540 SCI: sci_bb3slo_b470_scaled(nodim) 882540 SCI: sci_bb3slo_b532_scaled(nodim) 882540 SCI: sci_bb3slo_b660_scaled(nodim) 882540 SCI: sci_bb3slo_b470_sig(nodim) 882540 SCI: sci_bb3slo_b532_sig(nodim) 882541 SCI: sci_bb3slo_b660_sig(nodim) 882541 SCI: sci_bb3slo_b470_ref(nodim) 882541 18 SCI: sci_bb3slo_b532_ref(nodim) 882541 SCI: sci_bb3slo_b660_ref(nodim) 882542 SCI: sci_bb3slo_temp(nodim) 882542 SCI: sci_bb3slo_timestamp(timestamp) 882542 SCI: Opening Bit(30) for output 882542 SCI:Bit(30) use count is now 1. 882542 SCI:Bit(30) raise count is now 0. 882542 SCI:Bit(30) raise count is now 0. 882542 SCI:PROGLET fl3slo begin() called 882542 SCI: fl3slo: Version 0.3 882543 SCI: fl3slo: Will be sending following data to glider: 882543 SCI: sci_fl3slo_chlor_units(ug/l) 882543 SCI: sci_fl3slo_phyco_units(ppb) 882543 SCI: sci_fl3slo_cdom_units(qsde) 882543 SCI: sci_fl3slo_chlor_sig(nodim) 882543 SCI: sci_fl3slo_phyco_sig(nodim) 882543 SCI: sci_fl3slo_cdom_sig(nodim) 882543 SCI: sci_fl3slo_chlor_ref(nodim) 882543 SCI: sci_fl3slo_phyco_ref(nodim) 882544 SCI: sci_fl3slo_cdom_ref(nodim) 882544 SCI: sci_fl3slo_temp(nodim) 882544 SCI: sci_fl3slo_timestamp(timestamp) 882544 SCI: Opening Bit(29) for output 882544 SCI:Bit(29) use count is now 1. 882544 SCI:Bit(29) raise count is now 0. 882544 SCI:Bit(29) raise count is now 0. 882548 19 SCI:PROGLET house_elf start() called 882548 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 882548 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 882615 22 04580148.mlg LOG FILE OPENED -------------------------------- 882616 behavior surface_3: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru23 at surface. Because:no comms for a while [behavior surface_3 start_when = 12.0] MissionName:100_N.MI MissionNum:ru23-2024-297-0-148 (0458.0148) Vehicle Name: ru23 Curr Time: Mon Nov 4 02:29:49 2024 MT: 882621 DR Location: 3924.863 N -7408.683 E measured 387.157 secs ago GPS TooFar: 3923.430 N -7408.702 E measured 90344.3 secs ago GPS Invalid : 3925.126 N -7408.804 E measured 444.366 secs ago GPS Location: 3924.863 N -7408.683 E measured 388.681 secs ago sensor:c_wpt_lat(lat)=3925.046 3885.97 secs ago sensor:c_wpt_lon(lon)=-7408.583 3886.02 secs ago sensor:m_battery(volts)=12.0727537644061 3.704 secs ago sensor:m_coulomb_amphr(amp-hrs)=0 1e+308 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=0 1e+308 secs ago sensor:m_depth(m)=0.508795559907977 3.785 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 62.583 secs ago sensor:m_gps_mag_var(rad)=0.219911485751285 389.143 secs ago sensor:m_iridium_attempt_num(nodim)=0 280.781 secs ago sensor:m_iridium_call_num(nodim)=5876 341.198 secs ago sensor:m_iridium_dialed_num(nodim)=8610 352.388 secs ago sensor:m_leakdetect_voltage(volts)=2.4998778998779 3.773 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 3.809 secs ago sensor:m_tot_num_inflections(nodim)=39106 465.366 secs ago sensor:m_vacuum(inHg)=9.23317084859584 4.23 secs ago sensor:m_water_vx(m/s)=-0.0135182185413354 414.561 secs ago sensor:m_water_vy(m/s)=0.00628610602835488 414.599 secs ago sensor:u_alt_min_depth(m)=2 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)=3924.716 3887.04 secs ago sensor:x_last_wpt_lon(lon)=-7409.369 3887.08 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 2/ 2/ 0 odd: 495/ 395/ 2 ABORT HISTORY: total since reset: 1 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2024-10-22T15:38:07 ABORT HISTORY: last abort segment: ru23-2024-295-2-0 (0455.0000) 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 -365 secs) Waypoint: (3925.0460,-7408.5830) Range: 369m, Bearing: 35deg, Age: 1:4h:m Time until diving is: 592 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 [ 0 0 0] [ 2 2 0] [ 0 0 0] 7 pinger - 8 attitude - 9 attitude_tcm3 I u 3 20 5 0 10 attitude_rev - 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] [ 90 71 0] 17 science_super I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 5 5 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 254 212 1] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 129 90 1] 25 leakdetect I u 3 20 5 0 26 recovery - 27 coulomb - 28 veh_temp - 29 BUOYANCY_PUMP I u 3 20 3 0 [ 0 0 0] [ 0 0 0] [ 17 17 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: 0/ 0/ 0 warn: 2/ 2/ 0 odd: 495/ 395/ 2 I heard a character ('CR'), but not the right one Drained the following 2 pending chars from input buffer: 12 0d ^R CR .. Glider ru23 at surface. Because:no comms for a while [behavior surface_3 start_when = 12.0] MissionName:100_N.MI MissionNum:ru23-2024-297-0-148 (0458.0148) Vehicle Name: ru23 Curr Time: Mon Nov 4 02:30:34 2024 MT: 882665 DR Location: 3924.863 N -7408.683 E measured 431.644 secs ago GPS TooFar: 3923.430 N -7408.702 E measured 90388.8 secs ago GPS Invalid : 3925.126 N -7408.804 E measured 488.853 secs ago GPS Location: 3924.863 N -7408.683 E measured 433.168 secs ago sensor:c_wpt_lat(lat)=3925.046 3930.46 secs ago sensor:c_wpt_lon(lon)=-7408.583 3930.51 secs ago sensor:m_battery(volts)=12.0727537644061 48.192 secs ago sensor:m_coulomb_amphr(amp-hrs)=0 1e+308 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=0 1e+308 secs ago sensor:m_depth(m)=0.44577381425464 4.968 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 10.448 secs ago sensor:m_gps_mag_var(rad)=0.219911485751285 433.629 secs ago sensor:m_iridium_attempt_num(nodim)=0 325.269 secs ago sensor:m_iridium_call_num(nodim)=5876 385.686 secs ago sensor:m_iridium_dialed_num(nodim)=8610 396.874 secs ago sensor:m_leakdetect_voltage(volts)=2.4998778998779 48.258 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 5.321 secs ago sensor:m_tot_num_inflections(nodim)=39106 509.852 secs ago sensor:m_vacuum(inHg)=9.23317084859584 48.715 secs ago sensor:m_water_vx(m/s)=-0.0135182185413354 459.046 secs ago sensor:m_water_vy(m/s)=0.00628610602835488 459.086 secs ago sensor:u_alt_min_depth(m)=2 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)=3924.716 3931.53 secs ago sensor:x_last_wpt_lon(lon)=-7409.369 3931.57 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 2/ 2/ 0 odd: 495/ 395/ 2 ABORT HISTORY: total since reset: 1 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2024-10-22T15:38:07 ABORT HISTORY: last abort segment: ru23-2024-295-2-0 (0455.0000) 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 -410 secs) Waypoint: (3925.0460,-7408.5830) Range: 369m, Bearing: 35deg, Age: 1:5h:m Time until diving is: 547 secs ^R882683 33 behavior surface_3: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 238.250000 Megabytes available on CF file system = 1762.687500 882688 04580148.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=241.0K, M_SPARE_HEAP=222.0K 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) 0.185314 m_avg_climb_rate(m/s) -0.118304 m_avg_speed(m/s) 0.274630 m_avg_upward_inflection_time(sec) 15.024002 m_battery(volts) 12.072754 m_coulomb_amphr_total(amp-hrs) 0.000000 m_iridium_call_num(nodim) 5876.000000 m_iridium_dialed_num(nodim) 8610.000000 m_lat(lat) 3924.862600 m_lon(lon) -7408.683400 m_pump_stress_remaining_cycles(nodim) 24989.439905 m_pump_stress_track(nodim) 10.560095 m_tcm3_is_calibrated(bool) 1.000000 m_tcm3_magbearth(uT) 48.919800 m_tcm3_stddeverr(uT) 0.033360 m_tcm3_xcoverage(%) 75.411224 m_tcm3_ycoverage(%) 98.750122 m_tcm3_zcoverage(%) 87.012291 m_tot_ballast_pumped_energy(kjoules) 10471.517443 m_tot_horz_dist(km) 8914.528970 m_tot_num_inflections(nodim) 39106.000000 m_tot_num_thermal_valve_cmd(nodim) 0.000000 m_weight_drop(bool) 0.000000 s_water_depth_avg(m) 1000.000000 s_water_depth_delta(m) 5.000000 s_water_depth_wavelength(m) 300.000000 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) 3924.716000 x_last_wpt_lon(lon) -7409.369000 The instantaneous lag time between the system and gps clock is -6.0 seconds. The average lag time between the system and gps clock is -6.6 seconds. Housekeeping is done 882757 36 04580149.mlg LOG FILE OPENED Megabytes used on CF file system = 238.375000 Megabytes available on CF file system = 1762.562500 882760 init_gps_input() 882760 behavior surface_3: SUBSTATE 7 ->10 : Waiting for final gps fix surface_3: Waiti