Connection Event: Carrier Detect found.830141 Iridium console active and ready... Vehicle Name: ru39 Curr Time: Sat Nov 2 12:29:55 2024 MT: 830141 DR Location: 3936.429 N -7300.163 E measured 48.727 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3936.347 N -7259.742 E measured 105.792 secs ago GPS Location: 3936.429 N -7300.163 E measured 50.662 secs ago sensor:c_wpt_lat(lat)=3932.0118 68695.9 secs ago sensor:c_wpt_lon(lon)=-7304.8544 6 not found>*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 8695.9 secs ago sensor:m_battery(volts)=15.3954852005962 39.73 secs ago sensor:m_coulomb_amphr(amp-hrs)=71.2173999999997 3.803 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=72.1923999999989 3.808 secs ago sensor:m_depth(m)=0 3.71 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.048 secs ago sensor:m_gps_mag_var(rad)=0.230383461263252 50.709 secs ago sensor:m_iridium_attempt_num(nodim)=1 44.211 secs ago sensor:m_iridium_call_num(nodim)=2478 0.059 secs ago sensor:m_iridium_dialed_num(nodim)=2977 11.926 secs ago sensor:m_leakdetect_voltage(volts)=2.5 19.849 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49401709401709 19.812 secs ago sensor:m_leakdetect_voltage_science(volts)=2.4959706959707 19.777 secs ago sensor:m_tot_num_inflections(nodim)=55336 136.849 secs ago sensor:m_vacuum(inHg)=8.0282462026862 11.624 secs ago sensor:m_water_vx(m/s)=0.118814307706015 72.823 secs ago sensor:m_water_vy(m/s)=0.274964786420863 72.827 secs ago sensor:u_max_altimeter(m)=200 1e+308 secs ago sensor:u_min_water_depth(m)=0 not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 1e+308 secs ago sensor:x_last_wpt_lat(lat)=3929.0386 204592 secs ago sensor:x_last_wpt_lon(lon)=-7245.9957 204592 secs ago ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_3 entered B_ERROR state ABORT HISTORY: last abort time: 2024-10-23T21:43:44 ABORT HISTORY: last abort segment: ru39-2024-294-6-30 (0205.0030) ABORT HISTORY: last abort mission: 100_n.mi 830141 No login script found for processing. Glider ru39 at surface. Because:no comms for a while [behavior surface_3 start_when = 12.0] MissionName:100_n.mi MissionNum:ru39-2024-296-0-172 (0206.0172) Vehicle Name: ru39 Curr Time: Sat Nov 2 12:30:27 2024 MT: 830173 DR Location: 3936.429 N -7300.163 E measured 80.242 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3936.347 N -7259.742 E measured 137.307 secs ago GPS Location: 3936.429 N -7300.163 E measured 82.177 secs ago sensor:c_wpt_lat(lat)=3932.0118 68727.4 secs ago sensor:c_wpt_lon(lon)=-7304.8544 68727.4 secs ago sensor:m_battery(volts)=15.3924875962875 7.219 secs ago sensor:m_coulomb_amphr(amp-hrs)=71.2222799999997 3.306 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=72.1972799999989 3.31 secs ago sensor:m_depth(m)=0 3.213 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 7.55 secs ago sensor:m_gps_mag_var(rad)=0.230383461263252 82.224 secs ago sensor:m_iridium_attempt_num(nodim)=1 75.726 secs ago sensor:m_iridium_call_num(nodim)=2478 31.573 secs ago sensor:m_iridium_dialed_num(nodim)=2977 43.44 secs ago sensor:m_leakdetect_voltage(volts)=2.5 51.363 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49401709401709 51.327 secs ago sensor:m_leakdetect_voltage_science(volts)=2.4959706959707 51.292 secs ago sensor:m_tot_num_inflections(nodim)=55336 168.364 secs ago sensor:m_vacuum(inHg)=8.0282462026862 43.139 secs ago sensor:m_water_vx(m/s)=0.118814307706015 104.337 secs ago sensor:m_water_vy(m/s)=0.274964786420863 104.341 secs ago sensor:u_max_altimeter(m)=200 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)=3929.0386 204624 secs ago sensor:x_last_wpt_lon(lon)=-7245.9957 204624 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 27/ 19/ 0 odd: 304/ 230/ 3 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_3 entered B_ERROR state ABORT HISTORY: last abort time: 2024-10-23T21:43:44 ABORT HISTORY: last abort segment: ru39-2024-294-6-30 (0205.0030) ABORT HISTORY: last abort mission: 100_n.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 -44 secs) Waypoint: (3932.0118,-7304.8544) Range: 10580m, Bearing: 231deg, Age: 56:50h:m Time until diving is: 515 secs s -num=4 *.sbd *.tbd *.tcd *.scd *.vem *.azf *.asc *.obs *.mrd -------------------------------- 830196 83 02060172.mcg 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 830205 86 Neutering the Freewave Console SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size SCI: Enumerating and selecting files About to send 3 files Prechecking is not necessary for this invocation START **B00000000000000 Starting zModem transfer of 02060172.tcd to/from ru39 size is 14121 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: 14121 zModem transfer DONE for file 02060172.tcd Starting zModem transfer of 02060171.tcd to/from ru39 size is 368 Total Bytes sent/received: 368 zModem transfer DONE for file 02060171.tcd Starting zModem transfer of 02060172.azf to/from ru39 size is 4873 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 4873 zModem transfer DONE for file 02060172.azf .. SCI: Sent 3 file(s): 02060172.tcd 02060171.tcd 02060172.azf SCI: SUCCESS 830344 19 Freewave console restored REVERTING FROM SCIENCE COMMAND MODE SCIENCE COMMAND MODE TERMINATED because: Science Program QUIT (cts lowered) 830345 GLD: Enumerating and selecting files About to send 4 files Prechecking is not necessary for this invocation selected IRIDIUM 830346 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 830346 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 Starting zModem transfer of 02060172.scd to/from ru39 size is 11730 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: 11730 zModem transfer DONE for file 02060172.scd Starting zModem transfer of 02060171.scd to/from ru39 size is 1119 Total Bytes sent/received: 1024 Total Bytes sent/received: 1119 zModem transfer DONE for file 02060171.scd Starting zModem transfer of 02060170.scd to/from ru39 size is 12279 Total Bytes sent/received: 8192 Total Bytes sent/received: 9216 Total Bytes sent/received: 10240 Total Bytes sent/received: 11264 Total Bytes sent/received: 12279 zModem transfer DONE for file 02060170.scd Starting zModem transfer of 02060169.scd to/from ru39 size is 817 Total Bytes sent/received: 817 zModem transfer DONE for file 02060169.scd O830471 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 830471 restore_sensors().... 830471 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES .... 830471 GLD: Sent 4 file(s): 02060172.scd 02060171.scd 02060170.scd 02060169.scd GLD: SUCCESS Glider-Science software version match: 10.080000 Science hardware version is 3.000000 830474 20 SCI:PROGLET house_elf begin() called 830474 SCI: house_elf: Version 1.2 830474 SCI:PROGLET ctd41cp begin() called 830474 SCI: ctd41cp: Version 0.2 830474 SCI: ctd41cp: Will be sending the following data to glider: 830474 SCI: sci_water_cond(s/m) 830474 SCI: sci_water_temp(degc) 830475 SCI: sci_water_pressure(bar) 830475 SCI: sci_ctd41cp_timestamp(timestamp) 830475 SCI:PROGLET sbe41n_ph begin() called 830475 SCI:PROGLET flbbcd begin() called 830475 SCI: flbbcd: Version 0.0 830475 SCI: flbbcd: Will be sending following data to glider: 830475 SCI: sci_flbbcd_chlor_units(ug/l) 830475 SCI: sci_flbbcd_bb_units(nodim) 830475 SCI: sci_flbbcd_cdom_units(ppb) 830475 SCI: sci_flbbcd_chlor_sig(nodim) 830475 SCI: sci_flbbcd_bb_sig(nodim) 830475 SCI: sci_flbbcd_cdom_sig(nodim) 830475 SCI: sci_flbbcd_chlor_ref(nodim) 830475 SCI: sci_flbbcd_bb_ref(nodim) 830475 SCI: sci_flbbcd_cdom_ref(nodim) 830475 SCI: sci_flbbcd_therm(nodim) 830475 SCI: sci_flbbcd_timestamp(timestamp) 830475 SCI:Bit(0) raise count is now 0. 830475 SCI:Bit(0) raise count is now 0. 830475 SCI:PROGLET azfp begin() called 830475 SCI:PROGLET house_elf start() called 830475 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 830475 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 830475 SCI:PROGLET ctd41cp start() called 830475 SCI: Opening port 3:J3 830475 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 830475 SCI:bit_raise: Raising bit(0). 830475 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 830475 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 830487 22 02060173.mcg LOG FILE OPENED -------------------------------- 830487 behavior surface_3: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru39 at surface. Because:no comms for a while [behavior surface_3 start_when = 12.0] MissionName:100_n.mi MissionNum:ru39-2024-296-0-173 (0206.0173) Vehicle Name: ru39 Curr Time: Sat Nov 2 12:35:43 2024 MT: 830489 DR Location: 3936.429 N -7300.163 E measured 396.541 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3936.347 N -7259.742 E measured 453.606 secs ago GPS Location: 3936.429 N -7300.163 E measured 398.475 secs ago sensor:c_wpt_lat(lat)=3932.0118 69043.7 secs ago sensor:c_wpt_lon(lon)=-7304.8544 69043.7 secs ago sensor:m_battery(volts)=15.3896823043022 0.322 secs ago sensor:m_coulomb_amphr(amp-hrs)=71.2623119999997 0.418 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=72.2373119999989 0.422 secs ago sensor:m_depth(m)=0 0.234 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 5.814 secs ago sensor:m_gps_mag_var(rad)=0.230383461263252 398.523 secs ago sensor:m_iridium_attempt_num(nodim)=0 296.274 secs ago sensor:m_iridium_call_num(nodim)=2478 347.872 secs ago sensor:m_iridium_dialed_num(nodim)=2977 359.739 secs ago sensor:m_leakdetect_voltage(volts)=2.5 0.217 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49340659340659 0.181 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49618437118437 0.146 secs ago sensor:m_tot_num_inflections(nodim)=55336 484.662 secs ago sensor:m_vacuum(inHg)=8.41494991452991 0.325 secs ago sensor:m_water_vx(m/s)=0.118814307706015 420.636 secs ago sensor:m_water_vy(m/s)=0.274964786420863 420.64 secs ago sensor:u_max_altimeter(m)=200 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)=3929.0386 20494 secs ago sensor:x_last_wpt_lon(lon)=-7245.9957 20494 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 27/ 19/ 0 odd: 304/ 230/ 3 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_3 entered B_ERROR state ABORT HISTORY: last abort time: 2024-10-23T21:43:44 ABORT HISTORY: last abort segment: ru39-2024-294-6-30 (0205.0030) ABORT HISTORY: last abort mission: 100_n.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 -360 secs) Waypoint: (3932.0118,-7304.8544) Range: 10580m, Bearing: 231deg, Age: 56:55h:m Time until diving is: 598 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] [ 27 19 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] [ 4 4 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] [ 0 0 0] [ 235 192 2] 15 altimeter - 16 altimeter_232 I u 3 20 5 0 17 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 46 20 0] 18 leakdetect I u 3 20 5 0 19 recovery - 20 coulomb I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 15 14 1] 21 veh_temp I u 3 20 5 0 22 BUOYANCY_PUMP I u 3 20 3 0 23 DE_PUMP - 24 HD_PUMP - 25 thruster - devices:(t/m/s) errs: 0/ 0/ 0 warn: 27/ 19/ 0 odd: 304/ 230/ 3 I heard a character ('CR'), but not the right one Drained the following 2 pending chars from input buffer: 12 0d ^R CR .. Glider ru39 at surface. Because:no comms for a while [behavior surface_3 start_when = 12.0] MissionName:100_n.mi MissionNum:ru39-2024-296-0-173 (0206.0173) Vehicle Name: ru39 Curr Time: Sat Nov 2 12:36:23 2024 MT: 830529 DR Location: 3936.429 N -7300.163 E measured 436.546 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3936.347 N -7259.742 E measured 493.611 secs ago GPS Location: 3936.429 N -7300.163 E measured 438.481 secs ago sensor:c_wpt_lat(lat)=3932.0118 69083.7 secs ago sensor:c_wpt_lon(lon)=-7304.8544 69083.7 secs ago sensor:m_battery(volts)=15.3896823043022 40.327 secs ago sensor:m_coulomb_amphr(amp-hrs)=71.2674479999997 3.306 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=72.2424479999989 3.31 secs ago sensor:m_depth(m)=0 3.212 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 7.55 secs ago sensor:m_gps_mag_var(rad)=0.230383461263252 438.528 secs ago sensor:m_iridium_attempt_num(nodim)=0 336.28 secs ago sensor:m_iridium_call_num(nodim)=2478 387.878 secs ago sensor:m_iridium_dialed_num(nodim)=2977 399.744 secs ago sensor:m_leakdetect_voltage(volts)=2.5 40.222 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49340659340659 40.186 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49618437118437 40.151 secs ago sensor:m_tot_num_inflections(nodim)=55336 524.668 secs ago sensor:m_vacuum(inHg)=8.41494991452991 40.331 secs ago sensor:m_water_vx(m/s)=0.118814307706015 460.641 secs ago sensor:m_water_vy(m/s)=0.274964786420863 460.645 secs ago sensor:u_max_altimeter(m)=200 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)=3929.0386 20498 secs ago sensor:x_last_wpt_lon(lon)=-7245.9957 20498 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 27/ 19/ 0 odd: 304/ 230/ 3 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_3 entered B_ERROR state ABORT HISTORY: last abort time: 2024-10-23T21:43:44 ABORT HISTORY: last abort segment: ru39-2024-294-6-30 (0205.0030) ABORT HISTORY: last abort mission: 100_n.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 -400 secs) Waypoint: (3932.0118,-7304.8544) Range: 10580m, Bearing: 231deg, Age: 56:56h:m Time until diving is: 558 secs ^R830549 38 behavior surface_3: User typed Control-R, resuming I heard a Control-R RESUMING MISSION 830549 02060173.mcg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=243.2K(249052 bytes) M_MIN_FREE_HEAP=161.2K(165096 bytes) M_SRAM_FREE_HEAP=1293.4K(1324480 bytes) M_SRAM_MIN_FREE_HEAP=1165.4K(1193368 bytes) Running algorithm to free disk space if required Not necessary to delete any files at this time Scanning free space... Megabytes used on c: = 137.089844 Megabytes available on c: = 7737.910156 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) 225.000000 f_ocean_pressure_min(volts) 0.088782 m_avg_climb_rate(m/s) -0.160761 m_avg_speed(m/s) 0.326196 m_avg_upward_inflection_time(sec) 22.643835 m_battery(volts) 15.389682 m_coulomb_amphr_total(amp-hrs) 72.244880 m_iridium_call_num(nodim) 2478.000000 m_iridium_dialed_num(nodim) 2977.000000 m_lat(lat) 3936.428800 m_lon(lon) -7300.162700 m_pump_effective_num_cycles(nodim) 3189.601911 m_tot_ballast_pumped_energy(kjoules) 6364.811561 m_tot_horz_dist(km) 3704.561014 m_tot_num_inflections(nodim) 55336.000000 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) 0.000000 x_hover_ballast_shallow(cc)