Connection Event: Carrier Detect found.1939098 Iridium console active and ready... Vehicle Name: ru39 Curr Time: Fri Nov 15 08:43:17 2024 MT: 1939098 DR Location: 3849.901 N -7354.584 E measured 44.594 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3848.933 N -7352.307 E measured 97.602 secs ago GPS Location: 3849.901 N -7354.584 E measured 47.303 secs ago sensor:c_wpt_lat(lat)=3915.0033 106961 secs ago sensor:c_wpt_lon(lon)=-7352.0374 106961 secs ago sensor:m_battery(volts)=14.2859644084677 59.736 secs ago sensor:m_coulomb_amphr(amp-hrs)=138.67 not found>*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 5879999997 3.799 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=139.650879999993 3.804 secs ago sensor:m_depth(m)=0 3.705 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.048 secs ago sensor:m_gps_mag_var(rad)=0.218166156499291 47.349 secs ago sensor:m_iridium_attempt_num(nodim)=1 40.078 secs ago sensor:m_iridium_call_num(nodim)=2610 0.059 secs ago sensor:m_iridium_dialed_num(nodim)=3112 12.065 secs ago sensor:m_leakdetect_voltage(volts)=2.49911477411477 35.583 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49053724053724 35.547 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49285714285714 35.512 secs ago sensor:m_tot_num_inflections(nodim)=58526 117.195 secs ago sensor:m_vacuum(inHg)=7.76750129426129 27.761 secs ago sensor:m_water_vx(m/s)=-0.40659020777919 64.69 secs ago sensor:m_water_vy(m/s)=-0.012233521906063 64.694 secs ago sensor:u_max_altimeter(m)=200 1e+308 secs ago sensor:u_min_water_depth(m)= not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 0 1e+308 secs ago sensor:u_use_current_correction(nodim)=0 9671.99 secs ago sensor:x_last_wpt_lat(lat)=3913.5895 648644 secs ago sensor:x_last_wpt_lon(lon)=-7319.6766 648644 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 1939098 No login script found for processing. !put u_use_current_correction 0 -------------------------------- 1939117 4 sensor: u_use_current_correction = 0 nodim -------------------------------- 1939117 behavior surface_3: ! succeeded:put u_use_current_correction 0 1939117 behavior surface_3: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0868 C_FIN:0.0000 Glider ru39 at surface. Because:no comms for a while [behavior surface_3 start_when = 12.0] MissionName:100_n.mi MissionNum:ru39-2024-296-0-398 (0206.0398) Vehicle Name: ru39 Curr Time: Fri Nov 15 08:43:53 2024 MT: 1939134 DR Location: 3849.901 N -7354.584 E measured 80.106 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3848.933 N -7352.307 E measured 133.113 secs ago GPS Location: 3849.901 N -7354.584 E measured 82.814 secs ago sensor:c_wpt_lat(lat)=3915.0033 106997 secs ago sensor:c_wpt_lon(lon)=-7352.0374 106997 secs ago sensor:m_battery(volts)=14.2866212032741 31.218 secs ago sensor:m_coulomb_amphr(amp-hrs)=138.680999999997 3.185 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=139.655999999993 3.189 secs ago sensor:m_depth(m)=0 3.091 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.55 secs ago sensor:m_gps_mag_var(rad)=0.218166156499291 82.861 secs ago sensor:m_iridium_attempt_num(nodim)=0 16.063 secs ago sensor:m_iridium_call_num(nodim)=2610 35.57 secs ago sensor:m_iridium_dialed_num(nodim)=3112 47.576 secs ago sensor:m_leakdetect_voltage(volts)=2.5 7.194 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49423076923077 7.158 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49612332112332 7.123 secs ago sensor:m_tot_num_inflections(nodim)=58526 152.705 secs ago sensor:m_vacuum(inHg)=7.76750129426129 63.272 secs ago sensor:m_water_vx(m/s)=-0.40659020777919 100.201 secs ago sensor:m_water_vy(m/s)=-0.012233521906063 100.205 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)=0 16.105 secs ago sensor:x_last_wpt_lat(lat)=3913.5895 648679 secs ago sensor:x_last_wpt_lon(lon)=-7319.6766 648679 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 50/ 42/ 0 odd: 954/ 880/ 2 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 -52 secs) Waypoint: (3915.0033,-7352.0374) Range: 46577m, Bearing: 17deg, Age: 29:43h:m Time until diving is: 583 secs s -num=4 *.sbd *.tbd *.tcd *.scd *.vem *.azf *.asc *.obs *.mrd -------------------------------- 1939156 13 02060398.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 1939166 16 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 02060398.tcd to/from ru39 size is 14581 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: 14581 zModem transfer DONE for file 02060398.tcd Starting zModem transfer of 02060397.tcd to/from ru39 size is 368 Total Bytes sent/received: 368 zModem transfer DONE for file 02060397.tcd Starting zModem transfer of 02060398.azf to/from ru39 size is 4656 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 4656 zModem transfer DONE for file 02060398.azf ..* SCI: Sent 3 file(s): 02060398.tcd 02060397.tcd 02060398.azf SCI: SUCCESS 1939301 49 Freewave console restored REVERTING FROM SCIENCE COMMAND MODE SCIENCE COMMAND MODE TERMINATED because: Science Program QUIT (cts lowered) 1939304 GLD: Enumerating and selecting files 000000About to send 2 files Prechecking is not necessary for this invocation selected IRIDIUM 1939306 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 1939306 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000 Starting zModem transfer of 02060398.scd to/from ru39 size is 11949 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: 11949 zModem transfer DONE for file 02060398.scd Starting zModem transfer of 02060397.scd to/from ru39 size is 806 Total Bytes sent/received: 806 zModem transfer DONE for file 02060397.scd 1939399 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 1939399 restore_sensors().... 1939399 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES .. 1939401 GLD: Sent 2 file(s): 02060398.scd 02060397.scd GLD: SUCCESS Glider-Science software version match: 10.080000 Science hardware version is 3.000000 1939403 50 SCI:PROGLET house_elf begin() called 1939403 SCI: house_elf: Version 1.2 1939404 SCI:PROGLET ctd41cp begin() called 1939404 SCI: ctd41cp: Version 0.2 1939404 SCI: ctd41cp: Will be sending the following data to glider: 1939404 SCI: sci_water_cond(s/m) 1939404 SCI: sci_water_temp(degc) 1939404 SCI: sci_water_pressure(bar) 1939404 SCI: sci_ctd41cp_timestamp(timestamp) 1939404 SCI:PROGLET sbe41n_ph begin() called 1939404 SCI:PROGLET flbbcd begin() called 1939404 SCI: flbbcd: Version 0.0 1939404 SCI: flbbcd: Will be sending following data to glider: 1939404 SCI: sci_flbbcd_chlor_units(ug/l) 1939404 SCI: sci_flbbcd_bb_units(nodim) 1939404 SCI: sci_flbbcd_cdom_units(ppb) 1939404 SCI: sci_flbbcd_chlor_sig(nodim) 1939404 SCI: sci_flbbcd_bb_sig(nodim) 1939404 SCI: sci_flbbcd_cdom_sig(nodim) 1939404 SCI: sci_flbbcd_chlor_ref(nodim) 1939404 SCI: sci_flbbcd_bb_ref(nodim) 1939404 SCI: sci_flbbcd_cdom_ref(nodim) 1939404 SCI: sci_flbbcd_therm(nodim) 1939404 SCI: sci_flbbcd_timestamp(timestamp) 1939404 SCI:Bit(0) raise count is now 0. 1939404 SCI:Bit(0) raise count is now 0. 1939404 SCI:PROGLET azfp begin() called 1939404 SCI:PROGLET house_elf start() called 1939404 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 1939404 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 1939420 53 02060399.mcg LOG FILE OPENED -------------------------------- 1939420 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:ru39-2024-296-0-399 (0206.0399) Vehicle Name: ru39 Curr Time: Fri Nov 15 08:48:44 2024 MT: 1939425 DR Location: 3849.901 N -7354.584 E measured 371.765 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3848.933 N -7352.307 E measured 424.772 secs ago GPS Location: 3849.901 N -7354.584 E measured 374.474 secs ago sensor:c_wpt_lat(lat)=3915.0033 107288 secs ago sensor:c_wpt_lon(lon)=-7352.0374 107288 secs ago sensor:m_battery(volts)=14.2868040157917 0.271 secs ago sensor:m_coulomb_amphr(amp-hrs)=138.721047999997 0.418 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=139.696047999993 0.422 secs ago sensor:m_depth(m)=0 0.234 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 10.508 secs ago sensor:m_gps_mag_var(rad)=0.218166156499291 374.52 secs ago sensor:m_iridium_attempt_num(nodim)=0 307.722 secs ago sensor:m_iridium_call_num(nodim)=2610 327.23 secs ago sensor:m_iridium_dialed_num(nodim)=3112 339.235 secs ago sensor:m_leakdetect_voltage(volts)=2.5 0.217 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49331501831502 0.181 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49590964590965 0.146 secs ago sensor:m_tot_num_inflections(nodim)=58526 444.365 secs ago sensor:m_vacuum(inHg)=8.45127765567765 0.365 secs ago sensor:m_water_vx(m/s)=-0.40659020777919 391.86 secs ago sensor:m_water_vy(m/s)=-0.012233521906063 391.864 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)=0 307.764 secs ago sensor:x_last_wpt_lat(lat)=3913.5895 648971 secs ago sensor:x_last_wpt_lon(lon)=-7319.6766 648971 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 50/ 42/ 0 odd: 954/ 880/ 2 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 -343 secs) Waypoint: (3915.0033,-7352.0374) Range: 46577m, Bearing: 17deg, Age: 29:48h: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 [ 0 0 0] [ 46 38 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] [ 19 19 0] 13 science_super I u 3 20 5 0 [ 0 0 0] [ 1 1 0] [ 360 356 0] 14 digifin I u 3 20 5 0 [ 0 0 0] [ 3 3 0] [ 493 450 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] [ 52 26 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] [ 30 29 0] 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: 50/ 42/ 0 odd: 954/ 880/ 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 ru39 at surface. Because:no comms for a while [behavior surface_3 start_when = 12.0] MissionName:100_n.mi MissionNum:ru39-2024-296-0-399 (0206.0399) Vehicle Name: ru39 Curr Time: Fri Nov 15 08:49:24 2024 MT: 1939465 DR Location: 3849.901 N -7354.584 E measured 411.77 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3848.933 N -7352.307 E measured 464.778 secs ago GPS Location: 3849.901 N -7354.584 E measured 414.479 secs ago sensor:c_wpt_lat(lat)=3915.0033 107328 secs ago sensor:c_wpt_lon(lon)=-7352.0374 107328 secs ago sensor:m_battery(volts)=14.2868040157917 40.277 secs ago sensor:m_coulomb_amphr(amp-hrs)=138.725927999997 3.305 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=139.700927999993 3.309 secs ago sensor:m_depth(m)=0 3.21 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 7.549 secs ago sensor:m_gps_mag_var(rad)=0.218166156499291 414.525 secs ago sensor:m_iridium_attempt_num(nodim)=0 347.727 secs ago sensor:m_iridium_call_num(nodim)=2610 367.235 secs ago sensor:m_iridium_dialed_num(nodim)=3112 379.241 secs ago sensor:m_leakdetect_voltage(volts)=2.5 40.223 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49331501831502 40.187 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49590964590965 40.151 secs ago sensor:m_tot_num_inflections(nodim)=58526 484.37 secs ago sensor:m_vacuum(inHg)=8.45127765567765 40.37 secs ago sensor:m_water_vx(m/s)=-0.40659020777919 431.866 secs ago sensor:m_water_vy(m/s)=-0.012233521906063 431.87 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)=0 347.77 secs ago sensor:x_last_wpt_lat(lat)=3913.5895 649011 secs ago sensor:x_last_wpt_lon(lon)=-7319.6766 649011 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 50/ 42/ 0 odd: 954/ 880/ 2 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 -383 secs) Waypoint: (3915.0033,-7352.0374) Range: 46577m, Bearing: 17deg, Age: 29:48h:m Time until diving is: 554 secs ^R1939485 69 behavior surface_3: User typed Control-R, resuming I heard a Control-R RESUMING MISSION 1939485 02060399.mcg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=246.6K(252540 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: = 260.289062 Megabytes available on c: = 7614.710938 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) 0.088480 m_avg_climb_rate(m/s) -0.152942 m_avg_speed(m/s) 0.303226 m_avg_upward_inflection_time(sec) 82.000000 m_battery(volts) 14.286804 m_coulomb_amphr_total(amp-hrs) 139.704832 m_iridium_call_num(nodim) 2610.000000 m_iridium_dialed_num(nodim) 3112.000000 m_lat(lat) 3849.901200 m_lon(lon) -7354.583700 m_pump_effective_num_cycles(nodim) 3387.224983 m_tot_ballast_pumped_energy(kjoules) 6802.131951 m_tot_horz_dist(km) 3963.537183 m_tot_num_inflections(nodim) 58526.000000 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) 0.000000 x_hover_depth_deep(m) 0.000000 x_hover_depth_shallow(m) 0.000000 x_last_wpt_lat(lat) 3913.589500 x_last_wpt_lon(lon) -7319.676600 Housekeeping is done 1939497 71 02060400.mcg LOG FILE OPENED 1939497 init_gps_input() 1939497 behavior surface_3: SUBSTATE 7 ->10 : Waiting f