Connection Event: Carrier Detect found. 34824 Iridium console active and ready... Vehicle Name: ru26d Curr Time: Wed Jan 8 00:55:44 2025 MT: 34823 DR Location: -6452.812 N -6413.374 E measured 74.439 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6452.260 N -6411.451 E measured 136.225 secs ago GPS Location: -6452.812 N -6413.374 E measured 76.022 secs ago sensor:c_wpt_lat(lat)=-6456.0204 6486.44 secs ago sensor:c_wpt_lon(lon)=-6424.1334 6486.5 secs ago sensor:m_battery(volts)=14.6302957502606 19.281 secs ago sensor:m_coulomb_amphr(amp-hrs)=3.76200008392334 5.159 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=60.8045000839997 5.18 secs ago sensor:m_depth(m)=0 5.151 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.726 secs ago sensor:m_gps_mag_var(rad)=-0.279252680319093 76.562 secs ago sensor:m_iridium_attempt_num(nodim)=1 67.343 secs ago sensor:m_iridium_call_num(nodim)=4843 19.807 secs ago sensor:m_iridium_dialed_num(nodim)=6121 38.804 secs ago sensor:m_leakdetect_voltage(volts)=2.47442002442002 43.547 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48009768009768 43.574 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 5.679 secs ago sensor:m_tot_num_inflections(nodim)=16291 167.74 secs ago sensor:m_vacuum(inHg)=8.95808034188034 38.879 secs ago sensor:m_water_vx(m/s)=0.035876378915933 99.351 secs ago sensor:m_water_vy(m/s)=-0.0169860658559222 99.393 secs ago sensor:u_max_altimeter(m)=100 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)=-6445.2437 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6452.9575 1e+308 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: 2025-01-07T14:56:45 ABORT HISTORY: last abort segment: ru26d-2025-006-2-0 (0117.0000) ABORT HISTORY: last abort mission: 1K_N.MI 34825 DRIVER_ODDITY:iridium:1696:xxx_ctrl() ran too long !zr -------------------------------- 34833 14 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 34833 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B01000800275775 Starting zModem transfer of yo20.ma to/from ru26d size is 1221 Total Bytes sent/received: 1024 Total Bytes sent/received: 1221 zModem transfer DONE for file yo20.ma Starting zModem transfer of surfac40.ma to/from ru26d size is 881 Total Bytes sent/received: 881 zModem transfer DONE for file surfac40.ma Starting zModem transfer of surfac10.ma to/from ru26d size is 870 Total Bytes sent/received: 870 zModem transfer DONE for file surfac10.ma Starting zModem transfer of surfac30.ma to/from ru26d size is 1022 Total Bytes sent/received: 1022 zModem transfer DONE for file surfac30.ma sending >yo20.ma< Sent sending >surfac40.ma< Sent sending >surfac10.ma< Sent sending >surfac30.ma< Sent archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/yo20.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/archive/20250108T005647_yo20.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/yo20.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/surfac40.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/archive/20250108T005647_surfac40.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/surfac40.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/surfac10.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/archive/20250108T005647_surfac10.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/surfac10.ma< Successful archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/surfac30.ma< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/archive/20250108T005647_surfac30.ma< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-glider/surfac30.ma< Successful 34885 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 34885 restore_sensors().... 34885 restore_sensors().... Restored c_science_printout from 0 to 0 Done! -------------------------------- 34886 behavior surface_2: ! succeeded:zr 34886 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume Glider-Science software version match: 8.300000 Science hardware version is 2.000000 Glider ru26d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru26d-2025-006-3-10 (0118.0010) Vehicle Name: ru26d Curr Time: Wed Jan 8 00:56:50 2025 MT: 34890 DR Location: -6452.812 N -6413.374 E measured 140.616 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6452.260 N -6411.451 E measured 202.401 secs ago GPS Location: -6452.812 N -6413.374 E measured 142.198 secs ago sensor:c_wpt_lat(lat)=-6456.0204 6552.59 secs ago sensor:c_wpt_lon(lon)=-6424.1334 6552.63 secs ago sensor:m_battery(volts)=14.6001511569195 3.191 secs ago sensor:m_coulomb_amphr(amp-hrs)=3.76912498474121 3.383 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=60.8116249848176 3.395 secs ago sensor:m_depth(m)=0 3.257 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 56.622 secs ago sensor:m_gps_mag_var(rad)=-0.279252680319093 142.596 secs ago sensor:m_iridium_attempt_num(nodim)=1 133.36 secs ago sensor:m_iridium_call_num(nodim)=4843 85.806 secs ago sensor:m_iridium_dialed_num(nodim)=6121 104.789 secs ago sensor:m_leakdetect_voltage(volts)=2.47515262515262 3.124 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4807387057387 3.137 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3.167 secs ago sensor:m_tot_num_inflections(nodim)=16291 233.689 secs ago sensor:m_vacuum(inHg)=9.56142057387057 3.689 secs ago sensor:m_water_vx(m/s)=0.035876378915933 165.273 secs ago sensor:m_water_vy(m/s)=-0.0169860658559222 165.307 secs ago sensor:u_max_altimeter(m)=100 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)=-6445.2437 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6452.9575 1e+308 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 2/ 0 odd: 46/ 16/ 3 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_UNDERVOLTS ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2025-01-07T14:56:45 ABORT HISTORY: last abort segment: ru26d-2025-006-2-0 (0117.0000) 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 NOT ready for consci. ... because: sci_m_science_on = 0 Water Velocity Calculations waiting for final gps fix(ideally -99 secs) Waypoint: (-6456.0204,-6424.1334) Range: 10371m, Bearing: 218deg, Age: 9:39h:m Time until diving is: 294 secs 34897 15 SCI:PROGLET house_elf begin() called 34897 SCI: house_elf: Version 1.2 34900 17 SCI:PROGLET ctd41cp begin() called 34900 SCI: ctd41cp: Version 0.2 34901 SCI: ctd41cp: Will be sending the following data to glider: 34901 SCI: sci_water_cond(s/m) 34901 SCI: sci_water_temp(degc) 34902 SCI: sci_water_pressure(bar) 34902 SCI: sci_ctd41cp_timestamp(timestamp) 34902 SCI:PROGLET flbbcd begin() called 34902 SCI: flbbcd: Version 0.0 34902 SCI: flbbcd: Will be sending following data to glider: 34905 18 SCI: sci_flbbcd_chlor_units(ug/l) 34905 SCI: sci_flbbcd_bb_units(nodim) 34906 SCI: sci_flbbcd_cdom_units(ppb) 34906 SCI: sci_flbbcd_chlor_sig(nodim) 34906 SCI: sci_flbbcd_bb_sig(nodim) 34906 SCI: sci_flbbcd_cdom_sig(nodim) 34907 SCI: sci_flbbcd_chlor_ref(nodim) 34907 SCI: sci_flbbcd_bb_ref(nodim) 34907 SCI: sci_flbbcd_cdom_ref(nodim) 34907 SCI: sci_flbbcd_therm(nodim) 34907 SCI: sci_flbbcd_timestamp(timestamp) 34907 SCI: Opening Bit(0) for output 34910 18 SCI:Bit(0) use count is now 1. 34910 SCI:Bit(0) raise count is now 0. 34911 SCI:Bit(0) raise count is now 0. ^F MAFILES will be re-read. Extending surface time by 5 minutes just in case user might want to verify quality of MAFILE(s). 34915 20 SCI:PROGLET house_elf start() called 34915 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 34916 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 34917 SCI:PROGLET ctd41cp start() called 34917 SCI: Opening port 0:SBMB:J0 34917 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 34920 20 behavior sample_8: SUBSTATE 4 ->0 UnInited: Unitialized 34920 behavior sample_8: STATE Active -> UnInited 34920 behavior sample_7: SUBSTATE 4 ->0 UnInited: Unitialized 34920 behavior sample_7: STATE Active -> UnInited 34920 behavior yo_6: STATE Active -> UnInited 34920 behavior goto_list_5: STATE Active -> UnInited 34920 behavior surface_4: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 34920 behavior surface_4: STATE Waiting for Activation -> UnInited 34920 behavior surface_3: SUBSTATE 0 UnInited->0 UnInited: rereading .ma file 34920 behavior surface_3: STATE Waiting for Activation -> UnInited I heard a character ('CR'), but not the right one There were no pending chars in input buffer to drain. 34921 SCI: in queue size: 2048, out queue size: 0 34921 SCI:sci_uart_drain_input(0): 34922 SCI: 34922 SCI:sci_uart_drain_input:Drained 0 chars 34922 SCI:bit_shared_open(): bit(0) is already open. 34922 SCI:Bit(0) use count is now 2. 34922 SCI:bit_shared_raise(): Raising bit(0). 34922 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 34925 21 behavior sample_8: sample(): reading bargs 34925 behavior sample_8: Reading b_args from sample48.ma 34925 behavior sample_8: sensor_type(enum)=48.000000 34925 behavior sample_8: sample_time_after_state_change(s)=0.000000 34925 behavior sample_8: intersample_time(sec)=1.000000 34925 behavior sample_8: state_to_sample(enum)=7.000000 34925 behavior sample_8: nth_yo_to_sample(nodim)=1.000000 34925 behavior sample_8: min_depth(m)=-5.000000 34925 behavior sample_8: max_depth(m)=300.000000 34925 behavior sample_8: STATE UnInited -> Active 34925 behavior sample_8: argument: args_from_file = 48.000000 enum 34925 behavior sample_8: argument: sensor_type = 48.000000 enum 34926 behavior sample_8: argument: state_to_sample = 7.000000 enum 34926 behavior sample_8: argument: sample_time_after_state_change = 0.000000 s 34926 behavior sample_8: argument: intersample_time = 1.000000 s 34926 behavior sample_8: argument: nth_yo_to_sample = 1.000000 nodim 34926 behavior sample_8: argument: intersample_depth = -1.000000 m 34926 behavior sample_8: argument: min_depth = -5.000000 m 34926 behavior sample_8: argument: max_depth = 300.000000 m 34926 behavior sample_8: SUBSTATE 0 UnInited->4 : On Surface 34926 behavior sample_7: sample(): reading bargs 34926 behavior sample_7: Reading b_args from sample01.ma 34926 behavior sample_7: sensor_type(enum)=1.000000 34926 behavior sample_7: sample_time_after_state_change(s)=0.000000 34926 behavior sample_7: intersample_time(sec)=1.000000 34926 behavior sample_7: state_to_sample(enum)=15.000000 34926 behavior sample_7: nth_yo_to_sample(nodim)=1.000000 34926 behavior sample_7: STATE UnInited -> Active 34926 behavior sample_7: argument: args_from_file = 1.000000 enum 34926 behavior sample_7: argument: sensor_type = 1.000000 enum 34926 behavior sample_7: argument: state_to_sample = 15.000000 enum 34927 behavior sample_7: argument: sample_time_after_state_change = 0.000000 s 34927 behavior sample_7: argument: intersample_time = 1.000000 s 34927 behavior sample_7: argument: nth_yo_to_sample = 1.000000 nodim 34927 behavior sample_7: argument: intersample_depth = -1.000000 m 34927 behavior sample_7: argument: min_depth = -5.000000 m 34927 behavior sample_7: argument: max_depth = 2000.000000 m 34927 behavior sample_7: SUBSTATE 0 UnInited->4 : On Surface 34927 behavior yo_6: Reading b_args from yo20.ma 34927 behavior yo_6: num_half_cycles_to_do(nodim)=2.000000 34927 behavior yo_6: d_target_depth(m)=800.000000 34927 behavior yo_6: d_target_altitude(m)=20.000000 34927 behavior yo_6: d_use_bpump(enum)=2.000000 34927 behavior yo_6: d_bpump_value(X)=-210.000000 34927 behavior yo_6: d_use_pitch(enum)=3.000000 34927 behavior yo_6: d_pitch_value(X)=-0.520000 34927 behavior yo_6: d_stop_when_stalled_for(sec)=180.000000 34927 behavior yo_6: d_stop_when_hover_for(sec)=180.000000 34927 behavior yo_6: c_target_depth(m)=15.000000 34927 behavior yo_6: c_target_altitude(m)=-1.000000 34928 behavior yo_6: c_use_bpump(enum)=2.000000 34928 behavior yo_6: c_bpump_value(X)=210.000000 34928 behavior yo_6: c_use_pitch(enum)=3.000000 34928 behavior yo_6: c_pitch_value(X)=0.520000 34928 behavior yo_6: c_stop_when_stalled_for(sec)=180.000000 34928 behavior yo_6: c_stop_when_hover_for(sec)=180.000000 34928 behavior yo_6: STATE UnInited -> Waiting for Activation 34928 behavior yo_6: argument: args_from_file = 20.000000 enum 34928 behavior yo_6: argument: start_when = 2.000000 enum 34928 behavior yo_6: argument: start_diving = 1.000000 enum 34928 behavior yo_6: argument: num_half_cycles_to_do = 2.000000 nodim 34928 behavior yo_6: argument: d_target_depth = 800.000000 m 34928 behavior yo_6: argument: d_target_altitude = 20.000000 m 34928 behavior yo_6: argument: d_use_bpump = 2.000000 enum 34928 behavior yo_6: argument: d_bpump_value = -210.000000 X 34928 behavior yo_6: argument: d_use_pitch = 3.000000 enum 34928 behavior yo_6: argument: d_pitch_value = -0.520000 X 34928 behavior yo_6: argument: d_stop_when_hover_for = 180.000000 sec 34928 behavior yo_6: argument: d_stop_when_stalled_for = 180.000000 sec 34928 behavior yo_6: argument: d_speed_min = -100.000000 m/s 34929 behavior yo_6: argument: d_speed_max = 100.000000 m/s 34929 behavior yo_6: argument: d_use_thruster = 0.000000 enum 34929 behavior yo_6: argument: d_thruster_value = 0.000000 X 34929 behavior yo_6: argument: d_depth_rate_method = 3.000000 enum 34929 behavior yo_6: argument: d_wait_for_pitch = 1.000000 bool 34929 behavior yo_6: argument: d_wait_for_ballast = 100.000000 sec 34929 behavior yo_6: argument: d_delta_bpump_speed = 50.000000 X 34929 behavior yo_6: argument: d_delta_bpump_ballast = 25.000000 X 34929 behavior yo_6: argument: d_time_ratio = 1.100000 X 34929 behavior yo_6: argument: d_use_sc_model = 0.000000 bool 34929 behavior yo_6: argument: d_max_thermal_charge_time = 1200.000000 sec 34929 behavior yo_6: argument: d_max_pumping_charge_time = 300.000000 sec 34929 behavior yo_6: argument: d_thr_reqd_pres_mul = 1.500000 nodim 34929 behavior yo_6: argument: c_target_depth = 15.000000 m 34929 behavior yo_6: argument: c_target_altitude = -1.000000 m 34929 behavior yo_6: argument: c_use_bpump = 2.000000 enum 34929 behavior yo_6: argument: c_bpump_value = 210.000000 X 34929 behavior yo_6: argument: c_use_pitch = 3.000000 enum 34929 behavior yo_6: argument: c_pitch_value = 0.520000 X 34929 behavior yo_6: argument: c_stop_when_hover_for = 180.000000 sec 34930 behavior yo_6: argument: c_stop_when_stalled_for = 180.000000 sec 34930 behavior yo_6: argument: c_speed_min = 100.000000 m/s 34930 behavior yo_6: argument: c_speed_max = -100.000000 m/s 34930 behavior yo_6: argument: c_use_thruster = 0.000000 enum 34930 behavior yo_6: argument: c_thruster_value = 0.000000 X 34930 behavior yo_6: argument: end_action = 2.000000 enum 34930 behavior yo_6: argument: stop_when = 5.000000 enum 34930 behavior yo_6: argument: when_secs = 1200.000000 sec 34930 behavior yo_6: argument: when_wpt_dist = 10.000000 m 34930 behavior yo_6: STATE Waiting for Activation -> Active 34930 behavior dive_to_601: STATE UnInited -> Active 34930 behavior dive_to_601: argument: target_depth = 800.000000 m 34930 behavior dive_to_601: argument: target_altitude = 20.000000 m 34930 behavior dive_to_601: argument: use_bpump = 2.000000 enum 34930 behavior dive_to_601: argument: bpump_value = -210.000000 X 34930 behavior dive_to_601: argument: use_pitch = 3.000000 enum 34930 behavior dive_to_601: argument: pitch_value = -0.520000 X 34930 behavior dive_to_601: argument: start_when = 0.000000 enum 34930 behavior dive_to_601: argument: stop_when_hover_for = 180.000000 sec 34931 behavior dive_to_601: argument: stop_when_stalled_for = 180.000000 sec 34931 behavior dive_to_601: argument: stop_when_air_pump = 0.000000 bool 34931 behavior dive_to_601: argument: initial_inflection = 1.000000 bool 34931 behavior dive_to_601: argument: speed_min = -100.000000 m/s 34931 behavior dive_to_601: argument: speed_max = 100.000000 m/s 34931 behavior dive_to_601: argument: use_thruster = 0.000000 enum 34931 behavior dive_to_601: argument: thruster_value = 0.000000 X 34931 behavior dive_to_601: argument: depth_rate_method = 3.000000 enum 34931 behavior dive_to_601: argument: wait_for_pitch = 1.000000 bool 34931 behavior dive_to_601: argument: wait_for_ballast = 100.000000 sec 34931 behavior dive_to_601: argument: delta_bpump_speed = 50.000000 X 34931 behavior dive_to_601: argument: delta_bpump_ballast = 25.000000 X 34931 behavior dive_to_601: argument: time_ratio = 1.100000 X 34931 behavior dive_to_601: argument: use_sc_model = 0.000000 bool 34931 behavior dive_to_601: argument: max_thermal_charge_time = 1200.000000 sec 34931 behavior dive_to_601: argument: max_pumping_charge_time = 300.000000 sec 34931 behavior dive_to_601: argument: thr_reqd_pres_mul = 1.500000 nodim 34931 behavior dive_to_601: SUBSTATE 0 UnInited->1 : waiting for initial depth reading 34931 behavior goto_list_5: Reading b_args from goto_l10.ma 34932 behavior goto_list_5: num_leg ****** Glider ru26d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru26d-2025-006-3-10 (0118.0010) Vehicle Name: ru26d Curr Time: Wed Jan 8 00:58:25 2025 MT: 34984 DR Location: -6452.812 N -6413.374 E measured 235.253 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6452.260 N -6411.451 E measured 297.038 secs ago GPS Location: -6452.812 N -6413.374 E measured 236.835 secs ago sensor:c_wpt_lat(lat)=-6456.0204 48.381 secs ago sensor:c_wpt_lon(lon)=-6424.1334 48.421 secs ago sensor:m_battery(volts)=14.5758361633277 32.997 secs ago sensor:m_coulomb_amphr(amp-hrs)=3.78218746185303 4.239 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=60.8246874619294 4.253 secs ago sensor:m_depth(m)=0 4.176 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 9.183 secs ago sensor:m_gps_mag_var(rad)=-0.279252680319093 237.238 secs ago sensor:m_iridium_attempt_num(nodim)=0 70.118 secs ago sensor:m_iridium_call_num(nodim)=4843 180.447 secs ago sensor:m_iridium_dialed_num(nodim)=6121 199.429 secs ago sensor:m_leakdetect_voltage(volts)=2.47509157509158 33.229 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48064713064713 33.242 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.615 secs ago sensor:m_tot_num_inflections(nodim)=16291 328.33 secs ago sensor:m_vacuum(inHg)=9.55856886446887 33.493 secs ago sensor:m_water_vx(m/s)=0.035876378915933 259.912 secs ago sensor:m_water_vy(m/s)=-0.0169860658559222 259.946 secs ago sensor:u_max_altimeter(m)=100 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)=-6445.2437 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6452.9575 1e+308 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 2/ 0 odd: 46/ 16/ 3 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_UNDERVOLTS ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2025-01-07T14:56:45 ABORT HISTORY: last abort segment: ru26d-2025-006-2-0 (0117.0000) 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 -193 secs) Waypoint: (-6456.0204,-6424.1334) Range: 10371m, Bearing: 218deg, Age: 9:41h:m Time until diving is: 500 secs !szr -------------------------------- 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 34999 34 Neutering the Freewave Console START **B01000800275775 Starting zModem transfer of tbdlist.dat to/from ru26d size is 1140 Total Bytes sent/received: 1024 Total Bytes sent/received: 1140 zModem transfer DONE for file tbdlist.dat not found>*.ini< not found>*.cfg< sending >tbdlist.dat< Sent archiving >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-science/tbdlist.dat< as >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/archive/20250108T005913_tbdlist.dat< Successful deleting >/var/opt/sfmc-dockserver/stations/default/gliders/ru26d/to-science/tbdlist.dat< Successful Done! 35036 43 Freewave console restored REVERTING FROM SCIENCE COMMAND MODE SCIENCE COMMAND MODE TERMINATED because: Science Program QUIT (cts lowered) -------------------------------- 35039 behavior surface_2: ! succeeded:szr 35039 behavior surface_2: SUBSTATE 7 ->7 : After ! command, waiting for control-C to exit/resume Glider ru26d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru26d-2025-006-3-10 (0118.0010) Vehicle Name: ru26d Curr Time: Wed Jan 8 00:59:22 2025 MT: 35042 DR Location: -6452.812 N -6413.374 E measured 292.928 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6452.260 N -6411.451 E measured 354.715 secs ago GPS Location: -6452.812 N -6413.374 E measured 294.512 secs ago sensor:c_wpt_lat(lat)=-6456.0204 106.054 secs ago sensor:c_wpt_lon(lon)=-6424.1334 106.093 secs ago sensor:m_battery(volts)=14.5590027301451 2.773 secs ago sensor:m_coulomb_amphr(amp-hrs)=3.78812503814697 2.959 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=60.8306250382233 2.972 secs ago sensor:m_depth(m)=0 2.837 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.12 secs ago sensor:m_gps_mag_var(rad)=-0.279252680319093 294.912 secs ago sensor:m_iridium_attempt_num(nodim)=0 127.793 secs ago sensor:m_iridium_call_num(nodim)=4843 238.12 secs ago sensor:m_iridium_dialed_num(nodim)=6121 257.104 secs ago sensor:m_leakdetect_voltage(volts)=2.47457264957265 3.015 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48052503052503 3.031 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3.063 secs ago sensor:m_tot_num_inflections(nodim)=16291 386.005 secs ago sensor:m_vacuum(inHg)=9.5512358974359 3.273 secs ago sensor:m_water_vx(m/s)=0.035876378915933 317.59 secs ago sensor:m_water_vy(m/s)=-0.0169860658559222 317.623 secs ago sensor:u_max_altimeter(m)=100 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)=-6445.2437 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6452.9575 1e+308 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 2/ 0 odd: 46/ 16/ 3 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_UNDERVOLTS ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2025-01-07T14:56:45 ABORT HISTORY: last abort segment: ru26d-2025-006-2-0 (0117.0000) 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 -251 secs) Waypoint: (-6456.0204,-6424.1334) Range: 10371m, Bearing: 218deg, Age: 9:41h:m Time until diving is: 595 secs s -num=4 *.sbd *.tbd *.tcd *.scd *.vem *.azf *.asc *.obs *.mrd -------------------------------- 35065 48 01180010.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 35075 51 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 01180010.tbd to/from ru26d size is 17854 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: 13245 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: 17854 zModem transfer DONE for file 01180010.tbd Starting zModem transfer of 01180009.tbd to/from ru26d size is 481 Total Bytes sent/received: 481 zModem transfer DONE for file 01180009.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\01180010.TBD c:\logs\01180009.TBD SCI: SUCCESS 35250 92 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 35253 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 35253 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 Starting zModem transfer of 01180010.sbd to/from ru26d size is 10449 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: 10449 zModem transfer DONE for file 01180010.sbd Starting zModem transfer of 01180009.sbd to/from ru26d size is 958 Total Bytes sent/received: 958 zModem transfer DONE for file 01180009.sbd 35339 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 35340 restore_sensors().... 35340 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\01180010.SBD c:\logs\01180009.SBD GLD: SUCCESS Glider-Science software version match: 8.300000 Science hardware version is 2.000000 35346 93 SCI:PROGLET house_elf begin() called 35346 SCI: house_elf: Version 1.2 35347 SCI:PROGLET ctd41cp begin() called 35347 SCI: ctd41cp: Version 0.2 35347 SCI: ctd41cp: Will be sending the following data to glider: 35347 SCI: sci_water_cond(s/m) 35347 SCI: sci_water_temp(degc) 35347 SCI: sci_water_pressure(bar) 35347 SCI: sci_ctd41cp_timestamp(timestamp) 35347 SCI:PROGLET flbbcd begin() called 35347 SCI: flbbcd: Version 0.0 35347 SCI: flbbcd: Will be sending following data to glider: 35347 SCI: sci_flbbcd_chlor_units(ug/l) 35348 SCI: sci_flbbcd_bb_units(nodim) 35348 SCI: sci_flbbcd_cdom_units(ppb) 35348 SCI: sci_flbbcd_chlor_sig(nodim) 35348 SCI: sci_flbbcd_bb_sig(nodim) 35348 SCI: sci_flbbcd_cdom_sig(nodim) 35348 SCI: sci_flbbcd_chlor_ref(nodim) 35348 SCI: sci_flbbcd_bb_ref(nodim) 35348 SCI: sci_flbbcd_cdom_ref(nodim) 35348 SCI: sci_flbbcd_therm(nodim) 35348 95 SCI: sci_flbbcd_timestamp(timestamp) 35349 SCI: Opening Bit(0) for output 35349 SCI:Bit(0) use count is now 1. 35350 SCI:Bit(0) raise count is now 0. 35350 SCI:Bit(0) raise count is now 0. 35352 SCI:PROGLET house_elf start() called 35352 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 35352 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 35352 SCI:PROGLET ctd41cp start() called 35352 SCI: Opening port 0:SBMB:J0 35352 SCI: 9600 baud, N81, line buf: 50, no input data timeout(secs): 15 35352 SCI: in queue size: 2048, out queue size: 0 35353 SCI:sci_uart_drain_input(0): 35353 95 SCI: 35353 SCI:sci_uart_drain_input:Drained 0 chars 35353 SCI:bit_shared_open(): bit(0) is already open. 35354 SCI:Bit(0) use count is now 2. 35354 SCI:bit_shared_raise(): Raising bit(0). 35355 SCI: ctd41cp_run(): 0 error(s) in a row. (5 is fatal) 35355 SCI: ctd41cp_run(): 0 error(s) since ctd41cp_begin(). (50 is fatal) 35413 96 01180011.mlg LOG FILE OPENED -------------------------------- 35413 behavior surface_2: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru26d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru26d-2025-006-3-11 (0118.0011) Vehicle Name: ru26d Curr Time: Wed Jan 8 01:05:38 2025 MT: 35418 DR Location: -6452.812 N -6413.374 E measured 668.762 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6452.260 N -6411.451 E measured 730.549 secs ago GPS Location: -6452.812 N -6413.374 E measured 670.346 secs ago sensor:c_wpt_lat(lat)=-6456.0204 481.888 secs ago sensor:c_wpt_lon(lon)=-6424.1334 481.927 secs ago sensor:m_battery(volts)=14.5403713215995 3.013 secs ago sensor:m_coulomb_amphr(amp-hrs)=3.83087491989136 3.196 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=60.8733749199677 3.209 secs ago sensor:m_depth(m)=0.0269472257830565 3.071 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 60.338 secs ago sensor:m_gps_mag_var(rad)=-0.279252680319093 670.732 secs ago sensor:m_iridium_attempt_num(nodim)=0 503.613 secs ago sensor:m_iridium_call_num(nodim)=4843 613.94 secs ago sensor:m_iridium_dialed_num(nodim)=6121 632.924 secs ago sensor:m_leakdetect_voltage(volts)=2.47484737484738 3.039 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48089133089133 3.055 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3.084 secs ago sensor:m_tot_num_inflections(nodim)=16291 761.826 secs ago sensor:m_vacuum(inHg)=9.53656996336996 3.499 secs ago sensor:m_water_vx(m/s)=0.035876378915933 693.41 secs ago sensor:m_water_vy(m/s)=-0.0169860658559222 693.442 secs ago sensor:u_max_altimeter(m)=100 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)=-6445.2437 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6452.9575 1e+308 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 2/ 0 odd: 46/ 16/ 3 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_UNDERVOLTS ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2025-01-07T14:56:45 ABORT HISTORY: last abort segment: ru26d-2025-006-2-0 (0117.0000) 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 NOT ready for consci. ... because: m_science_clothesline_lag > u_max_clothesline_lag_for_consci Water Velocity Calculations waiting for final gps fix(ideally -627 secs) Waypoint: (-6456.0204,-6424.1334) Range: 10371m, Bearing: 218deg, Age: 9:48h: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 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 0 [ 0 0 0] [ 1 0 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 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] [ 2 2 0] [ 10 8 2] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 36 8 1] 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 - devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 2/ 0 odd: 46/ 16/ 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 ru26d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru26d-2025-006-3-11 (0118.0011) Vehicle Name: ru26d Curr Time: Wed Jan 8 01:06:21 2025 MT: 35461 DR Location: -6452.812 N -6413.374 E measured 711.936 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6452.260 N -6411.451 E measured 773.721 secs ago GPS Location: -6452.812 N -6413.374 E measured 713.518 secs ago sensor:c_wpt_lat(lat)=-6456.0204 525.061 secs ago sensor:c_wpt_lon(lon)=-6424.1334 525.1 secs ago sensor:m_battery(volts)=14.5403713215995 46.186 secs ago sensor:m_coulomb_amphr(amp-hrs)=3.8356249332428 4.246 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=60.8781249333192 4.261 secs ago sensor:m_depth(m)=0.053894451566162 4.186 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 4.394 secs ago sensor:m_gps_mag_var(rad)=-0.279252680319093 713.91 secs ago sensor:m_iridium_attempt_num(nodim)=0 546.792 secs ago sensor:m_iridium_call_num(nodim)=4843 657.119 secs ago sensor:m_iridium_dialed_num(nodim)=6121 676.101 secs ago sensor:m_leakdetect_voltage(volts)=2.47484737484738 46.216 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48089133089133 46.232 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.617 secs ago sensor:m_tot_num_inflections(nodim)=16291 805.003 secs ago sensor:m_vacuum(inHg)=9.53656996336996 46.676 secs ago sensor:m_water_vx(m/s)=0.035876378915933 736.586 secs ago sensor:m_water_vy(m/s)=-0.0169860658559222 736.619 secs ago sensor:u_max_altimeter(m)=100 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)=-6445.2437 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6452.9575 1e+308 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 2/ 0 odd: 46/ 16/ 3 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_UNDERVOLTS ABORT HISTORY: last abort details: ABORT HISTORY: last abort time: 2025-01-07T14:56:45 ABORT HISTORY: last abort segment: ru26d-2025-006-2-0 (0117.0000) 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 -670 secs) Waypoint: (-6456.0204,-6424.1334) Range: 10371m, Bearing: 218deg, Age: 9:48h:m Time until diving is: 550 secs ^R 35484 10 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 21.968750 Megabytes available on CF file system = 1978.968750 35488 01180011.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=91.0K, M_SPARE_HEAP=72.0K 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_coulomb_battery_capacity(amp-hrs) 500.000000 f_iridium_phone_num_factory(digits) 6977818711051.000000 f_ocean_pressure_min(volts) 0.154121 m_avg_climb_rate(m/s) -0.218445 m_avg_speed(m/s) 0.372534 m_avg_upward_inflection_time(sec) 65.499493 m_battery(volts) 14.497085 m_coulomb_amphr_total(amp-hrs) 60.881688 m_iridium_call_num(nodim) 4843.000000 m_iridium_dialed_num(nodim) 6121.000000 m_lat(lat) -6452.811500 m_lon(lon) -6413.373500 m_pump_effective_num_cycles(nodim) 1254.000000 m_tot_ballast_pumped_energy(kjoules) 0.047744 m_tot_horz_dist(km) 10658.647033 m_tot_num_inflections(nodim) 16291.000000 m_tot_num_thermal_valve_cmd(nodim) 10257.000000 m_weight_drop(bool) 0.000000 s_ini_lat(deg) -6430.000000 s_ini_lon(deg) -6430.000000 s_water_depth_avg(m) 2000.000000 s_water_depth_delta(m) 0.000000 s_water_depth_wavelength(m) 100.000000 u_max_lag_before_syncing_time(sec) 946100000.000000 x_hover_ballast_deep(cc) 132.799913 x_hover_ballast_shallow(cc) 125.976350 x_hover_depth_deep(m) 74.976047 x_hover_depth_shallow(m) 41.729947 x_last_wpt_lat(lat) -6445.243700 x_last_wpt_lon(lon) -6452.957500 timestamp: Wed Jan 8 01:06:55 2025 The instantaneous lag time between the system and gps clock is 2.0 seconds. The average lag time between the system and gps clock is 1.6 seconds. Housekeeping is done 35551 12 01180012.mlg LOG FILE OPENED Megabytes used on CF file system = 22.093750 Megabytes available on CF file system = 1978.843750 35553 init_gps_input() 35553 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final GPS fi