Connection Event: Carrier Detect found.3076716 Iridium console active and ready... Vehicle Name: stommel Curr Time: Sat Mar 9 00:35:42 2024 MT: 3076728 DR Location: 2033.920 N -8523.267 E measured 46.055 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 2035.677 N -8522.791 E measured 100.699 secs ago GPS Location: 2033.920 N -8523.267 E measured 46.555 secs ago sensor:c_wpt_lat(lat)=1954.96 22949.8 secs ago sensor:c_wpt_lon(lon)=-8537.07 not found>*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 22949.9 secs ago sensor:m_battery(volts)=15.0703115529376 53.105 secs ago sensor:m_coulomb_amphr(amp-hrs)=188.389739990234 5.443 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=192.921239975929 5.463 secs ago sensor:m_depth(m)=0.234017692389604 5.406 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 0.64 secs ago sensor:m_gps_mag_var(rad)=0.0383972435438752 47.075 secs ago sensor:m_iridium_attempt_num(nodim)=1 38.769 secs ago sensor:m_iridium_call_num(nodim)=3329 0.71 secs ago sensor:m_iridium_dialed_num(nodim)=9079 10.702 secs ago sensor:m_leakdetect_voltage(volts)=2.48434065934066 53.244 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48769841269841 53.265 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 5.926 secs ago sensor:m_tot_num_inflections(nodim)=2307 167.076 secs ago sensor:m_vacuum(inHg)=8.78248247863248 48.78 secs ago sensor:m_water_vx(m/s)=0.0335309744158799 71.815 secs ago sensor:m_water_vy(m/s)=0.0272334089428534 71.858 secs a not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] go 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 11420.4 secs ago sensor:x_last_wpt_lat(lat)=2101.96 524107 secs ago sensor:x_last_wpt_lon(lon)=-8617.61 524108 secs ago ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_UNDERVOLTS ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2024-02-02T08:59:14 ABORT HISTORY: last abort segment: stommel-2024-029-0-44 (0044.0044) ABORT HISTORY: last abort mission: 1K_N.MI 3076718 No login script found for processing. 3076718 DRIVER_ODDITY:iridium:1653:xxx_ctrl() ran too long !put u_use_current_correction 1 -------------------------------- 3076736 55 sensor: u_use_current_correction = 1 nodim -------------------------------- 3076736 behavior surface_2: ! succeeded:put u_use_current_correction 1 3076736 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume Glider stommel at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:stommel-2024-032-0-494 (0045.0494) Vehicle Name: stommel Curr Time: Sat Mar 9 00:36:25 2024 MT: 3076771 DR Location: 2033.920 N -8523.267 E measured 88.825 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 2035.677 N -8522.791 E measured 143.469 secs ago GPS Location: 2033.920 N -8523.267 E measured 89.325 secs ago sensor:c_wpt_lat(lat)=1954.96 22992.6 secs ago sensor:c_wpt_lon(lon)=-8537.07 22992.6 secs ago sensor:m_battery(volts)=15.0225976137611 33.116 secs ago sensor:m_coulomb_amphr(amp-hrs)=188.394500732422 4.247 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=192.926000718117 4.261 secs ago sensor:m_depth(m)=0.205478949415231 4.183 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 9.052 secs ago sensor:m_gps_mag_var(rad)=0.0383972435438752 89.719 secs ago sensor:m_iridium_attempt_num(nodim)=0 28.029 secs ago sensor:m_iridium_call_num(nodim)=3329 43.317 secs ago sensor:m_iridium_dialed_num(nodim)=9079 53.296 secs ago sensor:m_leakdetect_voltage(volts)=2.48962148962149 33.342 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49310134310134 33.354 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.611 secs ago sensor:m_tot_num_inflections(nodim)=2307 209.634 secs ago sensor:m_vacuum(inHg)=9.25390726495726 21.768 secs ago sensor:m_water_vx(m/s)=0.0335309744158799 114.347 secs ago sensor:m_water_vy(m/s)=0.0272334089428534 114.381 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 24.185 secs ago sensor:x_last_wpt_lat(lat)=2101.96 524150 secs ago sensor:x_last_wpt_lon(lon)=-8617.61 524150 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 93/ 56/ 0 odd:1340/ 528/ 6 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_UNDERVOLTS ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2024-02-02T08:59:14 ABORT HISTORY: last abort segment: stommel-2024-029-0-44 (0044.0044) ABORT HISTORY: last abort mission: 1K_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 -21 secs) Waypoint: (1954.9600,-8537.0700) Range: 75791m, Bearing: 199deg, Age: 6:23h:m Time until diving is: 275 secs s -num=4 *.sbd *.tbd *.tcd *.scd *.vem *.azf *.asc *.obs *.mrd -------------------------------- 3076785 64 00450494.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 3076794 67 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 00450494.tbd to/from stommel size is 40634 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: 27649 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: 38912 Total Bytes sent/received: 39936 Total Bytes sent/received: 40634 zModem transfer DONE for file 00450494.tbd Starting zModem transfer of 00450493.tbd to/from stommel size is 462 Total Bytes sent/received: 462 zModem transfer DONE for file 00450493.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\00450494.TBD c:\logs\00450493.TBD SCI: SUCCESS 3077169 56 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 3077174 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 3077174 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 Starting zModem transfer of 00450494.sbd to/from stommel size is 15540 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: 15540 zModem transfer DONE for file 00450494.sbd Starting zModem transfer of 00450493.sbd to/from stommel size is 976 Total Bytes sent/received: 976 zModem transfer DONE for file 00450493.sbd e_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 3077297 restore_sensors().... 3077297 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.**^XB0800000000022d DEL**^XB0800000000022d DEL. GLD: Sent 2 file(s): c:\logs\00450494.SBD c:\logs\00450493.SBD GLD: SUCCESS Glider-Science software version match: 8.300000 Science hardware version is 1.000000 3077308 57 SCI:PROGLET house_elf begin() called 3077308 SCI: house_elf: Version 1.2 3077309 SCI:PROGLET ctd41cp begin() called 3077309 SCI: ctd41cp: Version 0.2 3077309 SCI: ctd41cp: Will be sending the following data to glider: 3077309 SCI: sci_water_cond(s/m) 3077309 SCI: sci_water_temp(degc) 3077309 SCI: sci_water_pressure(bar) 3077309 SCI: sci_ctd41cp_timestamp(timestamp) 3077314 59 SCI:PROGLET house_elf start() called 3077314 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 3077314 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 3077385 60 00450495.mlg LOG FILE OPENED -------------------------------- 3077387 behavior surface_2: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider stommel at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:stommel-2024-032-0-495 (0045.0495) Vehicle Name: stommel Curr Time: Sat Mar 9 00:46:57 2024 MT: 3077404 DR Location: 2033.920 N -8523.267 E measured 721.104 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 2035.677 N -8522.791 E measured 775.749 secs ago GPS Location: 2033.920 N -8523.267 E measured 721.605 secs ago sensor:c_wpt_lat(lat)=1954.96 23624.9 secs ago sensor:c_wpt_lon(lon)=-8537.07 23624.9 secs ago sensor:m_battery(volts)=15.0136731393202 2.907 secs ago sensor:m_coulomb_amphr(amp-hrs)=188.466934204102 3.085 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=192.998434189796 3.1 secs ago sensor:m_depth(m)=0.747715065928316 2.966 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.233 secs ago sensor:m_gps_mag_var(rad)=0.0383972435438752 721.998 secs ago sensor:m_iridium_attempt_num(nodim)=0 660.309 secs ago sensor:m_iridium_call_num(nodim)=3329 675.597 secs ago sensor:m_iridium_dialed_num(nodim)=9079 685.575 secs ago sensor:m_leakdetect_voltage(volts)=2.48980463980464 2.99 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49328449328449 3.005 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3.034 secs ago sensor:m_tot_num_inflections(nodim)=2307 841.914 secs ago sensor:m_vacuum(inHg)=9.58623675213675 3.389 secs ago sensor:m_water_vx(m/s)=0.0335309744158799 746.628 secs ago sensor:m_water_vy(m/s)=0.0272334089428534 746.661 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)=1 656.464 secs ago sensor:x_last_wpt_lat(lat)=2101.96 524782 secs ago sensor:x_last_wpt_lon(lon)=-8617.61 524782 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 93/ 56/ 0 odd:1340/ 528/ 6 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_UNDERVOLTS ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2024-02-02T08:59:14 ABORT HISTORY: last abort segment: stommel-2024-029-0-44 (0044.0044) ABORT HISTORY: last abort mission: 1K_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 -653 secs) Waypoint: (1954.9600,-8537.0700) Range: 75791m, Bearing: 199deg, Age: 6:33h:m Time until diving is: 294 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] [ 0 0 0] [ 5 5 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 0 [ 0 0 0] [ 2 1 0] [ 0 0 0] 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] [ 19 5 0] 17 science_super I u 3 20 5 0 [ 0 0 0] [ 2 2 0] [ 26 26 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 88 53 0] [ 832 334 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] [ 450 156 3] 25 leakdetect I u 3 20 5 0 26 recovery I u 3 20 5 0 27 coulomb I u 3 20 5 0 28 veh_temp I u 3 20 5 0 29 BUOYANCY_PUMP - 30THERMAL_ACC_PRE - 31 THERMAL_ENGINE - 32 THERMAL_PUMP - 33 DE_PUMP I u 3 20 5 0 34 HD_PUMP - 35 thruster_g1 - 36 thruster I u 3 20 5 0 [ 0 0 0] [ 1 0 0] [ 8 2 0] devices:(t/m/s) errs: 0/ 0/ 0 warn: 93/ 56/ 0 odd:1340/ 528/ 6 I heard a character ('CR'), but not the right one Drained the following 2 pending chars from input buffer: 12 0d ^R CR .. Glider stommel at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:stommel-2024-032-0-495 (0045.0495) Vehicle Name: stommel Curr Time: Sat Mar 9 00:47:40 2024 MT: 3077447 DR Location: 2033.920 N -8523.267 E measured 764.106 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 2035.677 N -8522.791 E measured 818.751 secs ago GPS Location: 2033.920 N -8523.267 E measured 764.609 secs ago sensor:c_wpt_lat(lat)=1954.96 23667.9 secs ago sensor:c_wpt_lon(lon)=-8537.07 23667.9 secs ago sensor:m_battery(volts)=15.0136731393202 45.91 secs ago sensor:m_coulomb_amphr(amp-hrs)=188.471694946289 4.247 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=193.003194931984 4.261 secs ago sensor:m_depth(m)=0.690637579979571 4.183 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 9.067 secs ago sensor:m_gps_mag_var(rad)=0.0383972435438752 765.002 secs ago sensor:m_iridium_attempt_num(nodim)=0 703.312 secs ago sensor:m_iridium_call_num(nodim)=3329 718.598 secs ago sensor:m_iridium_dialed_num(nodim)=9079 728.577 secs ago sensor:m_leakdetect_voltage(volts)=2.48980463980464 45.993 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49328449328449 46.006 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.611 secs ago sensor:m_tot_num_inflections(nodim)=2307 884.915 secs ago sensor:m_vacuum(inHg)=9.58623675213675 46.391 secs ago sensor:m_water_vx(m/s)=0.0335309744158799 789.63 secs ago sensor:m_water_vy(m/s)=0.0272334089428534 789.662 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)=1 699.466 secs ago sensor:x_last_wpt_lat(lat)=2101.96 524825 secs ago sensor:x_last_wpt_lon(lon)=-8617.61 524825 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 93/ 56/ 0 odd:1340/ 528/ 6 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_UNDERVOLTS ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2024-02-02T08:59:14 ABORT HISTORY: last abort segment: stommel-2024-029-0-44 (0044.0044) ABORT HISTORY: last abort mission: 1K_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 -696 secs) Waypoint: (1954.9600,-8537.0700) Range: 75791m, Bearing: 199deg, Age: 6:34h:m Time until diving is: 251 secs ^R3077454 75 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 714.343750 Megabytes available on CF file system = 1283.625000 3077459 00450495.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=94.0K, M_SPARE_HEAP=75.0K 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) 0.144560 m_avg_climb_rate(m/s) -0.151114 m_avg_speed(m/s) 0.353363 m_avg_upward_inflection_time(sec) 136.836364 m_battery(volts) 15.013673 m_coulomb_amphr_total(amp-hrs) 193.006750 m_iridium_call_num(nodim) 3329.000000 m_iridium_dialed_num(nodim) 9079.000000 m_lat(lat) 2033.919900 m_lon(lon) -8523.266600 m_tot_ballast_pumped_energy(kjoules) 3178.238105 m_tot_horz_dist(km) 4115.539247 m_tot_num_inflections(nodim) 2307.000000 m_tot_num_thermal_valve_cmd(nodim) 2858.000000 m_weight_drop(bool) 0.000000 s_ini_lat(deg) 6450.000000 s_ini_lon(deg) -6648.000000 s_water_depth_avg(m) 2000.000000 s_water_depth_delta(m) 0.000000 s_water_depth_wavelength(m) 100.000000 u_max_time_in_gliderdos(sec) 900.000000 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) 2101.960000 x_last_wpt_lon(lon) -8617.610000 timestamp: Sat Mar 9 00:48:12 2024 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 -6.4 seconds. Housekeeping is done 3077541 78 00450496.mlg LOG FILE OPENED Megabytes used on CF file system = 714.468750 Megabytes available on CF file system = 1283.500000 3077544 init_gps_input() 3077544 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final GPS