Connection Event: Carrier Detect found. 42277 Iridium console active and ready... Vehicle Name: ru23 Curr Time: Thu Feb 27 06:18:29 2025 MT: 42276 DR Location: 3924.242 N -7408.659 E measured 301.916 secs ago GPS TooFar: 3924.926 N -7409.600 E measured 6056.51 secs ago GPS Invalid : 3924.649 N -7409.323 E measured 365.823 secs ago GPS Location: 3924.242 N -7408.659 E measured 304.296 secs ago sensor:c_wpt_lat(lat)=3916.667 4297.55 secs ago sensor:c_wpt_lon(lon)=-7355.72 4297.63 secs ago sensor:m_battery(volts)=14.5357221693993 63.316 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)=0.377566701170551 6.234 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 6.386 secs ago sensor:m_gps_mag_var(rad)=0.219911485751285 304.947 secs ago sensor:m_iridium_attempt_num(nodim)=3 42.427 secs ago sensor:m_iridium_call_num(nodim)=5920 0.872 secs ago sensor:m_iridium_dialed_num(nodim)=8675 17.439 secs ago sensor:m_leakdetect_voltage(volts)=2.49996947496947 11.987 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 6.682 secs ago sensor:m_tot_num_inflections(nodim)=39838 379.759 secs ago sensor:m_vacuum(inHg)=9.418082997558 64.042 secs ago sensor:m_water_vx(m/s)=-0.026560543765116 334.496 secs ago sensor:m_water_vy(m/s)=-0.0755315466753616 334.545 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)=3924.594 4883.5 secs ago sensor:x_last_wpt_lon(lon)=-7409.08 4883.58 secs ago ABORT HISTORY: total since reset: 1 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2025-02-26T17:17:06 ABORT HISTORY: last abort segment: ru23-2025-056-0-0 (0469.0000) ABORT HISTORY: last abort mission: OD.MI 42279 No login script found for processing. 42279 DRIVER_ODDITY:iridium:1938:xxx_ctrl() ran too long Glider ru23 at surface. Because:no comms for a while [behavior surface_4 start_when = 12.0] MissionName:100_NW.MI MissionNum:ru23-2025-056-2-19 (0471.0019) Vehicle Name: ru23 Curr Time: Thu Feb 27 06:19:13 2025 MT: 42320 DR Location: 3924.242 N -7408.659 E measured 345.241 secs ago GPS TooFar: 3924.926 N -7409.600 E measured 6099.84 secs ago GPS Invalid : 3924.649 N -7409.323 E measured 409.149 secs ago GPS Location: 3924.242 N -7408.659 E measured 347.623 secs ago sensor:c_wpt_lat(lat)=3916.667 4340.83 secs ago sensor:c_wpt_lon(lon)=-7355.72 4340.88 secs ago sensor:m_battery(volts)=14.5363096594191 41.705 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)=0.331265321985757 5.164 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 5.304 secs ago sensor:m_gps_mag_var(rad)=0.219911485751285 348.088 secs ago sensor:m_iridium_attempt_num(nodim)=3 85.548 secs ago sensor:m_iridium_call_num(nodim)=5920 43.971 secs ago sensor:m_iridium_dialed_num(nodim)=8675 60.525 secs ago sensor:m_leakdetect_voltage(volts)=2.49996947496947 55.065 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 5.519 secs ago sensor:m_tot_num_inflections(nodim)=39838 422.815 secs ago sensor:m_vacuum(inH not found>yo*.ma< not found>goto_l*.ma< not found>sample*.ma< not found>surfac*.ma< not found>set_he*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] g)=9.94308687423688 42.232 secs ago sensor:m_water_vx(m/s)=-0.026560543765116 377.515 secs ago sensor:m_water_vy(m/s)=-0.0755315466753616 377.553 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)=3924.594 4926.39 secs ago sensor:x_last_wpt_lon(lon)=-7409.08 not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 4926.44 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 58/ 31/ 9 ABORT HISTORY: total since reset: 1 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2025-02-26T17:17:06 ABORT HISTORY: last abort segment: ru23-2025-056-0-0 (0469.0000) 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 -334 secs) Waypoint: (3916.6670,-7355.7200) Range: 23275m, Bearing: 139deg, Age: 1:22h:m Time until diving is: 309 secs !put f_coulomb_battery_capacity 600 -------------------------------- 42341 89 sensor: f_coulomb_battery_capacity = 600 amp-hrs -------------------------------- 42341 behavior surface_4: ! succeeded:put f_coulomb_battery_capacity 600 42341 behavior surface_4: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume s -num=3 *.sbd *.tbd *.vem *.azf *.asc *.mrd *.obs -------------------------------- 42346 90 04710019.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 42355 93 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 04710019.tbd to/from ru23 size is 4315 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 4315 zModem transfer DONE for file 04710019.tbd Starting zModem transfer of 04710018.tbd to/from ru23 size is 471 Total Bytes sent/received: 471 zModem transfer DONE for file 04710018.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\04710019.TBD c:\logs\04710018.TBD SCI: SUCCESS 42403 4 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 42404 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 42404 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000 Starting zModem transfer of 04710019.sbd to/from ru23 size is 8723 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: 8723 zModem transfer DONE for file 04710019.sbd Starting zModem transfer of 04710018.sbd to/from ru23 size is 1170 Total Bytes sent/received: 1024 Total Bytes sent/received: 1170 zModem transfer DONE for file 04710018.sbd 42478 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 42478 restore_sensors().... 42478 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\04710019.SBD c:\logs\04710018.SBD GLD: SUCCESS Glider-Science software version match: 7.210000 Science hardware version is 1.000000 42486 6 SCI:PROGLET house_elf begin() called 42486 SCI: house_elf: Version 1.2 42486 SCI:PROGLET ctd41cp begin() called 42486 SCI: ctd41cp: Version 0.2 42486 SCI: ctd41cp: Will be sending the following data to glider: 42486 SCI: sci_water_cond(s/m) 42486 SCI: sci_water_temp(degc) 42486 SCI: sci_water_pressure(bar) 42486 SCI: sci_ctd41cp_timestamp(timestamp) 42487 SCI:PROGLET bb3slo begin() called 42487 SCI: bb3slo: Version 0.5 42487 SCI: bb3slo: Will be sending following data to glider: 42487 SCI: sci_bb3slo_b470_scaled(nodim) 42487 SCI: sci_bb3slo_b532_scaled(nodim) 42487 SCI: sci_bb3slo_b660_scaled(nodim) 42487 SCI: sci_bb3slo_b470_sig(nodim) 42487 SCI: sci_bb3slo_b532_sig(nodim) 42487 SCI: sci_bb3slo_b660_sig(nodim) 42488 SCI: sci_bb3slo_b470_ref(nodim) 42488 6 SCI: sci_bb3slo_b532_ref(nodim) 42488 SCI: sci_bb3slo_b660_ref(nodim) 42489 SCI: sci_bb3slo_temp(nodim) 42489 SCI: sci_bb3slo_timestamp(timestamp) 42489 SCI: Opening Bit(30) for output 42489 SCI:Bit(30) use count is now 1. 42489 SCI:Bit(30) raise count is now 0. 42489 SCI:Bit(30) raise count is now 0. 42489 SCI:PROGLET fl3slo begin() called 42489 SCI: fl3slo: Version 0.3 42489 SCI: fl3slo: Will be sending following data to glider: 42490 SCI: sci_fl3slo_chlor_units(ug/l) 42490 SCI: sci_fl3slo_phyco_units(ppb) 42490 SCI: sci_fl3slo_cdom_units(qsde) 42490 SCI: sci_fl3slo_chlor_sig(nodim) 42490 SCI: sci_fl3slo_phyco_sig(nodim) 42490 SCI: sci_fl3slo_cdom_sig(nodim) 42490 SCI: sci_fl3slo_chlor_ref(nodim) 42490 SCI: sci_fl3slo_phyco_ref(nodim) 42490 SCI: sci_fl3slo_cdom_ref(nodim) 42491 SCI: sci_fl3slo_temp(nodim) 42491 SCI: sci_fl3slo_timestamp(timestamp) 42491 SCI: Opening Bit(29) for output 42491 SCI:Bit(29) use count is now 1. 42491 SCI:Bit(29) raise count is now 0. 42491 SCI:Bit(29) raise count is now 0. 42494 7 SCI:PROGLET house_elf start() called 42495 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 42495 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 42558 10 04710020.mlg LOG FILE OPENED -------------------------------- 42558 behavior surface_4: 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_4 start_when = 12.0] MissionName:100_NW.MI MissionNum:ru23-2025-056-2-20 (0471.0020) Vehicle Name: ru23 Curr Time: Thu Feb 27 06:23:16 2025 MT: 42563 DR Location: 3924.242 N -7408.659 E measured 588.363 secs ago GPS TooFar: 3924.926 N -7409.600 E measured 6342.96 secs ago GPS Invalid : 3924.649 N -7409.323 E measured 652.271 secs ago GPS Location: 3924.242 N -7408.659 E measured 590.744 secs ago sensor:c_wpt_lat(lat)=3916.667 4583.95 secs ago sensor:c_wpt_lon(lon)=-7355.72 4584 secs ago sensor:m_battery(volts)=14.5327348290135 3.707 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)=0.377566701170551 3.781 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 59.156 secs ago sensor:m_gps_mag_var(rad)=0.219911485751285 591.208 secs ago sensor:m_iridium_attempt_num(nodim)=0 223.88 secs ago sensor:m_iridium_call_num(nodim)=5920 287.091 secs ago sensor:m_iridium_dialed_num(nodim)=8675 303.642 secs ago sensor:m_leakdetect_voltage(volts)=2.5 3.775 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 3.811 secs ago sensor:m_tot_num_inflections(nodim)=39838 665.936 secs ago sensor:m_vacuum(inHg)=10.0497982905983 4.234 secs ago sensor:m_water_vx(m/s)=-0.026560543765116 620.634 secs ago sensor:m_water_vy(m/s)=-0.0755315466753616 620.674 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)=3924.594 5169.51 secs ago sensor:x_last_wpt_lon(lon)=-7409.08 5169.56 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 58/ 31/ 9 ABORT HISTORY: total since reset: 1 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2025-02-26T17:17:06 ABORT HISTORY: last abort segment: ru23-2025-056-0-0 (0469.0000) 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 -577 secs) Waypoint: (3916.6670,-7355.7200) Range: 23275m, Bearing: 139deg, Age: 1:26h: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 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] [ 2 2 0] 17 science_super I u 3 20 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] [ 11 10 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] [ 45 19 8] 25 leakdetect I u 3 20 5 0 26 recovery - 27 coulomb - 28 veh_temp - 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 - devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 58/ 31/ 9 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_4 start_when = 12.0] MissionName:100_NW.MI MissionNum:ru23-2025-056-2-20 (0471.0020) Vehicle Name: ru23 Curr Time: Thu Feb 27 06:24:00 2025 MT: 42608 DR Location: 3924.242 N -7408.659 E measured 633.039 secs ago GPS TooFar: 3924.926 N -7409.600 E measured 6387.64 secs ago GPS Invalid : 3924.649 N -7409.323 E measured 696.946 secs ago GPS Location: 3924.242 N -7408.659 E measured 635.419 secs ago sensor:c_wpt_lat(lat)=3916.667 4628.63 secs ago sensor:c_wpt_lon(lon)=-7355.72 4628.68 secs ago sensor:m_battery(volts)=14.5327348290135 48.383 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)=0.352311403433391 4.961 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 10.434 secs ago sensor:m_gps_mag_var(rad)=0.219911485751285 635.883 secs ago sensor:m_iridium_attempt_num(nodim)=0 268.554 secs ago sensor:m_iridium_call_num(nodim)=5920 331.766 secs ago sensor:m_iridium_dialed_num(nodim)=8675 348.319 secs ago sensor:m_leakdetect_voltage(volts)=2.5 48.451 secs ago sensor:m_leakdetect_voltage_forward(volts)=-1 5.318 secs ago sensor:m_tot_num_inflections(nodim)=39838 710.609 secs ago sensor:m_vacuum(inHg)=10.0497982905983 48.909 secs ago sensor:m_water_vx(m/s)=-0.026560543765116 665.31 secs ago sensor:m_water_vy(m/s)=-0.0755315466753616 665.35 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)=3924.594 5214.19 secs ago sensor:x_last_wpt_lon(lon)=-7409.08 5214.23 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 0/ 0/ 0 odd: 58/ 31/ 9 ABORT HISTORY: total since reset: 1 ABORT HISTORY: last abort cause: MS_ABORT_OVERDEPTH ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2025-02-26T17:17:06 ABORT HISTORY: last abort segment: ru23-2025-056-0-0 (0469.0000) 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 -622 secs) Waypoint: (3916.6670,-7355.7200) Range: 23275m, Bearing: 139deg, Age: 1:26h:m Time until diving is: 547 secs ^R 42627 23 behavior surface_4: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 20.937500 Megabytes available on CF file system = 1980.000000 42631 04710020.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=227.0K, M_SPARE_HEAP=208.0K 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) 0.188532 m_avg_climb_rate(m/s) -0.177740 m_avg_speed(m/s) 0.310491 m_avg_upward_inflection_time(sec) 15.142389 m_battery(volts) 14.534158 m_coulomb_amphr_total(amp-hrs) 0.000000 m_iridium_call_num(nodim) 5920.000000 m_iridium_dialed_num(nodim) 8675.000000 m_lat(lat) 3924.242100 m_lon(lon) -7408.658900 m_pump_stress_remaining_cycles(nodim) 24989.335542 m_pump_stress_track(nodim) 10.664458 m_tcm3_is_calibrated(bool) 1.000000 m_tcm3_magbearth(uT) 48.707329 m_tcm3_stddeverr(uT) 0.044035 m_tcm3_xcoverage(%) 76.814903 m_tcm3_ycoverage(%) 98.483078 m_tcm3_zcoverage(%) 69.792015 m_tot_ballast_pumped_energy(kjoules) 10497.072364 m_tot_horz_dist(km) 8935.732870 m_tot_num_inflections(nodim) 39838.000000 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) 3924.594000 x_last_wpt_lon(lon) -7409.080000 The instantaneous lag time between the system and gps clock is 0.0 seconds. The average lag time between the system and gps clock is 1.1 seconds. Housekeeping is done 42697 26 04710021.mlg LOG FILE OPENED Megabytes used on CF file system = 21.062500 Megabytes available on CF file system = 1979.875000 42699 init_gps_input() 42699 behavior surface_4: SUBSTATE 7 ->10 : Waiting for final gps fix surface_4: Waiting for final