Connection Event: Carrier Detect found. 19623 Iridium console active and ready... Vehicle Name: ru26d Curr Time: Sun Jan 19 09:23:12 2025 MT: 19622 DR Location: -6421.987 N -6551.348 E measured 64.307 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6421.734 N -6552.242 E measured 122.375 secs ago GPS Location: -6421.986 N -6551.348 E measured 66.761 secs ago sensor:c_wpt_lat(lat)=-6434.4789 19492 secs ago not found>*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] sensor:c_wpt_lon(lon)=-6520.8181 19492.1 secs ago sensor:m_battery(volts)=14.6749991375108 47.514 secs ago sensor:m_coulomb_amphr(amp-hrs)=59.4320030212402 5.166 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=116.474503021317 5.19 secs ago sensor:m_depth(m)=0 5.174 secs ago sensor:m_digifin_leakdetect not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] _reading(nodim)=1023 0.724 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 67.301 secs ago sensor:m_iridium_attempt_num(nodim)=1 62.123 secs ago sensor:m_iridium_call_num(nodim)=4932 19.661 secs ago sensor:m_iridium_dialed_num(nodim)=6215 34.148 secs ago sensor:m_leakdetect_voltage(volts)=2.47408424908425 24.082 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48003663003663 24.106 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 5.687 secs ago sensor:m_tot_num_inflections(nodim)=16667 143.784 secs ago sensor:m_vacuum(inHg)=8.56169273504273 62.301 secs ago sensor:m_water_vx(m/s)=-0.00317231280676243 93.705 secs ago sensor:m_water_vy(m/s)=0.0554196986627742 93.748 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)=-6415.3287 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6609.4828 1e+308 secs ago ABORT HISTORY: total since reset: 7 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_2 entered B_ERROR state ABORT HISTORY: last abort time: 2025-01-19T03:50:28 ABORT HISTORY: last abort segment: ru26d-2025-017-0-11 (0122.0011) ABORT HISTORY: last abort mission: 1K_N.MI 19625 DRIVER_ODDITY:iridium:1712:xxx_ctrl() ran too long Glider ru26d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru26d-2025-018-0-2 (0123.0002) Vehicle Name: ru26d Curr Time: Sun Jan 19 09:23:30 2025 MT: 19642 DR Location: -6421.987 N -6551.348 E measured 83.055 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6421.734 N -6552.242 E measured 141.124 secs ago GPS Location: -6421.986 N -6551.348 E measured 85.509 secs ago sensor:c_wpt_lat(lat)=-6434.4789 19510.7 secs ago sensor:c_wpt_lon(lon)=-6520.8181 19510.8 secs ago sensor:m_battery(volts)=14.6220535583141 4.315 secs ago sensor:m_coulomb_amphr(amp-hrs)=59.4355621337891 4.461 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=116.478062133865 4.475 secs ago sensor:m_depth(m)=0 4.36 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 9.425 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 85.908 secs ago sensor:m_iridium_attempt_num(nodim)=1 80.712 secs ago sensor:m_iridium_call_num(nodim)=4932 38.233 secs ago sensor:m_iridium_dialed_num(nodim)=6215 52.707 secs ago sensor:m_leakdetect_voltage(volts)=2.47408424908425 42.632 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48003663003663 42.649 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.842 secs ago sensor:m_tot_num_inflections(nodim)=16667 162.311 secs ago sensor:m_vacuum(inHg)=9.18458754578754 17.76 secs ago sensor:m_water_vx(m/s)=-0.00317231280676243 112.21 secs ago sensor:m_water_vy(m/s)=0.0554196986627742 112.243 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)=-6415.3287 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6609.4828 1e+308 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 16/ 0/ 0 odd: 387/ 7/ 3 ABORT HISTORY: total since reset: 7 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_2 entered B_ERROR state ABORT HISTORY: last abort time: 2025-01-19T03:50:28 ABORT HISTORY: last abort segment: ru26d-2025-017-0-11 (0122.0011) 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 -64 secs) Waypoint: (-6434.4789,-6520.8181) Range: 33727m, Bearing: 114deg, Age: 5:25h:m Time until diving is: 208 secs s -num=4 *.sbd *.tbd *.tcd *.scd *.vem *.azf *.asc *.obs *.mrd -------------------------------- 19666 95 01230002.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 19675 97 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 01230002.tbd to/from ru26d size is 20605 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: 13412 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: 20605 zModem transfer DONE for file 01230002.tbd Starting zModem transfer of 01230001.tbd to/from ru26d size is 481 Total Bytes sent/received: 481 zModem transfer DONE for file 01230001.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\01230002.TBD c:\logs\01230001.TBD SCI: SUCCESS 19866 40 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 19870 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 19870 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 Starting zModem transfer of 01230002.sbd to/from ru26d size is 10801 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: 10801 zModem transfer DONE for file 01230002.sbd Starting zModem transfer of 01230001.sbd to/from ru26d size is 948 Total Bytes sent/received: 948 zModem transfer DONE for file 01230001.sbd 19961 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 19961 restore_sensors().... 19961 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\01230002.SBD c:\logs\01230001.SBD GLD: SUCCESS Glider-Science software version match: 8.300000 Science hardware version is 2.000000 19969 42 SCI:PROGLET house_elf begin() called 19969 SCI: house_elf: Version 1.2 19969 SCI:PROGLET ctd41cp begin() called 19969 SCI: ctd41cp: Version 0.2 19969 SCI: ctd41cp: Will be sending the following data to glider: 19969 SCI: sci_water_cond(s/m) 19969 SCI: sci_water_temp(degc) 19969 SCI: sci_water_pressure(bar) 19970 SCI: sci_ctd41cp_timestamp(timestamp) 19970 SCI:PROGLET flbbcd begin() called 19970 SCI: flbbcd: Version 0.0 19970 SCI: flbbcd: Will be sending following data to glider: 19970 SCI: sci_flbbcd_chlor_units(ug/l) 19970 SCI: sci_flbbcd_bb_units(nodim) 19970 SCI: sci_flbbcd_cdom_units(ppb) 19970 SCI: sci_flbbcd_chlor_sig(nodim) 19970 SCI: sci_flbbcd_bb_sig(nodim) 19970 SCI: sci_flbbcd_cdom_sig(nodim) 19970 SCI: sci_flbbcd_chlor_ref(nodim) 19971 SCI: sci_flbbcd_bb_ref(nodim) 19971 SCI: sci_flbbcd_cdom_ref(nodim) 19971 SCI: sci_flbbcd_therm(nodim) 19971 43 SCI: sci_flbbcd_timestamp(timestamp) 19971 SCI: Opening Bit(0) for output 19971 SCI:Bit(0) use count is now 1. 19972 SCI:Bit(0) raise count is now 0. 19972 SCI:Bit(0) raise count is now 0. 19974 SCI:PROGLET house_elf start() called 19974 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 19974 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 20041 46 01230003.mlg LOG FILE OPENED -------------------------------- 20042 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-2025-018-0-3 (0123.0003) Vehicle Name: ru26d Curr Time: Sun Jan 19 09:30:15 2025 MT: 20046 DR Location: -6421.987 N -6551.348 E measured 487.779 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6421.734 N -6552.242 E measured 545.848 secs ago GPS Location: -6421.986 N -6551.348 E measured 490.232 secs ago sensor:c_wpt_lat(lat)=-6434.4789 19915.5 secs ago sensor:c_wpt_lon(lon)=-6520.8181 19915.5 secs ago sensor:m_battery(volts)=14.6031986298331 2.884 secs ago sensor:m_coulomb_amphr(amp-hrs)=59.4818725585938 3.061 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=116.52437255867 3.075 secs ago sensor:m_depth(m)=0 2.956 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 62.533 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 490.633 secs ago sensor:m_iridium_attempt_num(nodim)=0 381.526 secs ago sensor:m_iridium_call_num(nodim)=4932 442.955 secs ago sensor:m_iridium_dialed_num(nodim)=6215 457.429 secs ago sensor:m_leakdetect_voltage(volts)=2.47442002442002 3.029 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48040293040293 3.044 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3.077 secs ago sensor:m_tot_num_inflections(nodim)=16667 567.031 secs ago sensor:m_vacuum(inHg)=9.51538583638583 3.376 secs ago sensor:m_water_vx(m/s)=-0.00317231280676243 516.93 secs ago sensor:m_water_vy(m/s)=0.0554196986627742 516.962 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)=-6415.3287 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6609.4828 1e+308 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 16/ 0/ 0 odd: 388/ 8/ 4 ABORT HISTORY: total since reset: 7 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_2 entered B_ERROR state ABORT HISTORY: last abort time: 2025-01-19T03:50:28 ABORT HISTORY: last abort segment: ru26d-2025-017-0-11 (0122.0011) 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 -469 secs) Waypoint: (-6434.4789,-6520.8181) Range: 33727m, Bearing: 114deg, Age: 5:31h: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 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 1 [ 1 0 0] [ 4 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 [ 0 0 0] [ 0 0 0] [ 3 0 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] [ 11 0 0] [ 248 6 3] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 1 0 0] [ 137 2 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: 1/ 0/ 0 warn: 16/ 0/ 0 odd: 388/ 8/ 4 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-2025-018-0-3 (0123.0003) Vehicle Name: ru26d Curr Time: Sun Jan 19 09:30:58 2025 MT: 20090 DR Location: -6421.987 N -6551.348 E measured 530.979 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6421.734 N -6552.242 E measured 589.048 secs ago GPS Location: -6421.986 N -6551.348 E measured 533.433 secs ago sensor:c_wpt_lat(lat)=-6434.4789 19958.7 secs ago sensor:c_wpt_lon(lon)=-6520.8181 19958.7 secs ago sensor:m_battery(volts)=14.6031986298331 46.083 secs ago sensor:m_coulomb_amphr(amp-hrs)=59.4866256713867 4.288 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=116.529125671463 4.302 secs ago sensor:m_depth(m)=0 4.211 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.444 secs ago sensor:m_gps_mag_var(rad)=-0.291469985083053 533.832 secs ago sensor:m_iridium_attempt_num(nodim)=0 424.727 secs ago sensor:m_iridium_call_num(nodim)=4932 486.156 secs ago sensor:m_iridium_dialed_num(nodim)=6215 500.629 secs ago sensor:m_leakdetect_voltage(volts)=2.47442002442002 46.228 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48040293040293 46.245 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.663 secs ago sensor:m_tot_num_inflections(nodim)=16667 610.232 secs ago sensor:m_vacuum(inHg)=9.51538583638583 46.577 secs ago sensor:m_water_vx(m/s)=-0.00317231280676243 560.13 secs ago sensor:m_water_vy(m/s)=0.0554196986627742 560.163 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)=-6415.3287 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-6609.4828 1e+308 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 16/ 0/ 0 odd: 388/ 8/ 4 ABORT HISTORY: total since reset: 7 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_2 entered B_ERROR state ABORT HISTORY: last abort time: 2025-01-19T03:50:28 ABORT HISTORY: last abort segment: ru26d-2025-017-0-11 (0122.0011) 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 -512 secs) Waypoint: (-6434.4789,-6520.8181) Range: 33727m, Bearing: 114deg, Age: 5:32h:m Time until diving is: 251 secs ^R 20114 61 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 213.875000 Megabytes available on CF file system = 1787.062500 20118 01230003.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=90.0K, M_SPARE_HEAP=71.0K 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) 0.151810 m_avg_climb_rate(m/s) -0.192488 m_avg_speed(m/s) 0.282753 m_avg_upward_inflection_time(sec) 75.542087 m_battery(volts) 14.516044 m_coulomb_amphr_total(amp-hrs) 116.532689 m_iridium_call_num(nodim) 4932.000000 m_iridium_dialed_num(nodim) 6215.000000 m_lat(lat) -6421.986500 m_lon(lon) -6551.347600 m_pump_effective_num_cycles(nodim) 1442.000000 m_tot_ballast_pumped_energy(kjoules) 0.047744 m_tot_horz_dist(km) 10910.052118 m_tot_num_inflections(nodim) 16667.000000 m_tot_num_thermal_valve_cmd(nodim) 10633.000000 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) -6415.328700 x_last_wpt_lon(lon) -6609.482800 timestamp: Sun Jan 19 09:31:35 2025 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 0.3 seconds. Housekeeping is done 20189 64 01230004.mlg LOG FILE OPENED Megabytes used on CF file system = 214.000000 Megabytes available on CF file system = 1786.937500 20191 init_gps_input() 20191 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiti