Connection Event: Carrier Detect found.327551 Iridium console active and ready... Vehicle Name: ru26d Curr Time: Wed Jan 22 22:55:21 2025 MT: 327550 DR Location: -6449.490 N -6442.417 E measured 64.727 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6449.019 N -6443.791 E measured 126.047 secs ago GPS Location: -6449.490 N -6442.417 E me not found>*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] asured 67.178 secs ago sensor:c_wpt_lat(lat)=-6456.0204 44572.4 secs ago sensor:c_wpt_lon(lon)=-6424.1334 44572.4 secs ago sensor:m_battery(volts)=14.587703314708 29.441 secs ago sensor:m_coulomb_amphr(amp-hrs)=76.5106201171875 5.149 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=133.553120117264 5. not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 172 secs ago sensor:m_depth(m)=0 5.149 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.724 secs ago sensor:m_gps_mag_var(rad)=-0.282743338823081 67.72 secs ago sensor:m_iridium_attempt_num(nodim)=1 62.526 secs ago sensor:m_iridium_call_num(nodim)=4955 25.074 secs ago sensor:m_iridium_dialed_num(nodim)=6239 34.892 secs ago sensor:m_leakdetect_voltage(volts)=2.4746336996337 57.784 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48025030525031 57.808 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 5.666 secs ago sensor:m_tot_num_inflections(nodim)=16793 136.075 secs ago sensor:m_vacuum(inHg)=8.62361556776556 39.7 secs ago sensor:m_water_vx(m/s)=0.0220802065053012 94.459 secs ago sensor:m_water_vy(m/s)=-0.0475996702972098 94.5 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 44573.7 secs ago sensor:x_last_wpt_lon(lon)=-6452.9575 44573.7 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 327553 DRIVER_ODDITY:iridium:1718: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-2025-018-0-44 (0123.0044) Vehicle Name: ru26d Curr Time: Wed Jan 22 22:55:40 2025 MT: 327570 DR Location: -6449.490 N -6442.417 E measured 83.277 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6449.019 N -6443.791 E measured 144.596 secs ago GPS Location: -6449.490 N -6442.417 E measured 85.729 secs ago sensor:c_wpt_lat(lat)=-6456.0204 44590.9 secs ago sensor:c_wpt_lon(lon)=-6424.1334 44590.9 secs ago sensor:m_battery(volts)=14.587703314708 47.931 secs ago sensor:m_coulomb_amphr(amp-hrs)=76.5130004882812 4.243 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=133.555500488358 4.256 secs ago sensor:m_depth(m)=1.4099883141642 4.183 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 9.181 secs ago sensor:m_gps_mag_var(rad)=-0.282743338823081 86.122 secs ago sensor:m_iridium_attempt_num(nodim)=1 80.912 secs ago sensor:m_iridium_call_num(nodim)=4955 43.442 secs ago sensor:m_iridium_dialed_num(nodim)=6239 53.246 secs ago sensor:m_leakdetect_voltage(volts)=2.47420634920635 14.162 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48061660561661 14.175 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.613 secs ago sensor:m_tot_num_inflections(nodim)=16793 154.396 secs ago sensor:m_vacuum(inHg)=8.62361556776556 58.006 secs ago sensor:m_water_vx(m/s)=0.0220802065053012 112.752 secs ago sensor:m_water_vy(m/s)=-0.0475996702972098 112.783 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 44591.9 secs ago sensor:x_last_wpt_lon(lon)=-6452.9575 44591.9 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 19/ 3/ 1 odd: 499/ 119/ 2 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 -73 secs) Waypoint: (-6456.0204,-6424.1334) Range: 18856m, Bearing: 112deg, Age: 12:23h:m Time until diving is: 208 secs s -num=4 *.sbd *.tbd *.tcd *.scd *.vem *.azf *.asc *.obs *.mrd -------------------------------- 327594 42 01230044.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 327605 46 Neutering the Freewave Console SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size 01230044.nlg LOG FILE CLOSED SCI: Enumerating and selecting files SCI: About to send 2 files Prechecking is not necessary for this invocation START **B0000000 Starting zModem transfer of 01230044.tbd to/from ru26d size is 11546 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: 11546 zModem transfer DONE for file 01230044.tbd Starting zModem transfer of 01230043.tbd to/from ru26d size is 482 Total Bytes sent/received: 482 zModem transfer DONE for file 01230043.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\01230044.TBD c:\logs\01230043.TBD SCI: SUCCESS report_heap_size(): SCI_M_FREE_HEAP=598.0K, SCI_M_SPARE_HEAP=598.0K Megabytes used on CF file system = 118.000000 Megabytes available on CF file system = 1835.687500 Running algorithm to free disk space if required Not necessary to delete any files at this time initiate_open_helper(): ERROR on 01230044.tbd from fopen(): Unknown Error (17) report_heap_size(): SCI_M_FREE_HEAP=598.0K, SCI_M_SPARE_HEAP=598.0K SCI: SCI ERROR resuming logging on science 327712 71 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 327714 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 327714 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 Starting zModem transfer of 01230044.sbd to/from ru26d size is 8185 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: 8185 zModem transfer DONE for file 01230044.sbd Starting zModem transfer of 01230043.sbd to/from ru26d size is 923 Total Bytes sent/received: 923 zModem transfer DONE for file 01230043.sbd 27791 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 327791 restore_sensors().... 327791 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\01230044.SBD c:\logs\01230043.SBD GLD: SUCCESS Glider-Science software version match: 8.300000 Science hardware version is 2.000000 327799 73 SCI:PROGLET house_elf begin() called 327799 SCI: house_elf: Version 1.2 327800 SCI:PROGLET ctd41cp begin() called 327800 SCI: ctd41cp: Version 0.2 327800 SCI: ctd41cp: Will be sending the following data to glider: 327800 SCI: sci_water_cond(s/m) 327800 SCI: sci_water_temp(degc) 327800 SCI: sci_water_pressure(bar) 327800 SCI: sci_ctd41cp_timestamp(timestamp) 327800 SCI:PROGLET flbbcd begin() called 327800 SCI: flbbcd: Version 0.0 327800 SCI: flbbcd: Will be sending following data to glider: 327801 SCI: sci_flbbcd_chlor_units(ug/l) 327801 SCI: sci_flbbcd_bb_units(nodim) 327801 SCI: sci_flbbcd_cdom_units(ppb) 327801 SCI: sci_flbbcd_chlor_sig(nodim) 327801 SCI: sci_flbbcd_bb_sig(nodim) 327801 SCI: sci_flbbcd_cdom_sig(nodim) 327801 SCI: sci_flbbcd_chlor_ref(nodim) 327801 SCI: sci_flbbcd_bb_ref(nodim) 327801 SCI: sci_flbbcd_cdom_ref(nodim) 327801 SCI: sci_flbbcd_therm(nodim) 327802 74 SCI: sci_flbbcd_timestamp(timestamp) 327802 SCI: Opening Bit(0) for output 327802 SCI:Bit(0) use count is now 1. 327802 SCI:Bit(0) raise count is now 0. 327803 SCI:Bit(0) raise count is now 0. 327805 SCI:PROGLET house_elf start() called 327805 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 327805 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 327873 76 01230045.mlg LOG FILE OPENED -------------------------------- 327873 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-2025-018-0-45 (0123.0045) Vehicle Name: ru26d Curr Time: Wed Jan 22 23:00:48 2025 MT: 327878 DR Location: -6449.490 N -6442.417 E measured 391.734 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6449.019 N -6443.791 E measured 453.054 secs ago GPS Location: -6449.490 N -6442.417 E measured 394.185 secs ago sensor:c_wpt_lat(lat)=-6456.0204 44899.3 secs ago sensor:c_wpt_lon(lon)=-6424.1334 44899.4 secs ago sensor:m_battery(volts)=14.5265213454752 2.877 secs ago sensor:m_coulomb_amphr(amp-hrs)=76.5474395751953 3.053 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=133.589939575272 3.068 secs ago sensor:m_depth(m)=0 2.949 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 63.349 secs ago sensor:m_gps_mag_var(rad)=-0.282743338823081 394.587 secs ago sensor:m_iridium_attempt_num(nodim)=0 289.601 secs ago sensor:m_iridium_call_num(nodim)=4955 351.904 secs ago sensor:m_iridium_dialed_num(nodim)=6239 361.708 secs ago sensor:m_leakdetect_voltage(volts)=2.47484737484738 3.022 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48052503052503 3.037 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3.068 secs ago sensor:m_tot_num_inflections(nodim)=16793 462.859 secs ago sensor:m_vacuum(inHg)=9.44531526251526 3.372 secs ago sensor:m_water_vx(m/s)=0.0220802065053012 421.214 secs ago sensor:m_water_vy(m/s)=-0.0475996702972098 421.246 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 44900.3 secs ago sensor:x_last_wpt_lon(lon)=-6452.9575 44900.4 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 19/ 3/ 1 odd: 499/ 119/ 2 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 -381 secs) Waypoint: (-6456.0204,-6424.1334) Range: 18856m, Bearing: 112deg, Age: 12:28h: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] [ 5 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] [ 13 10 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] [ 13 2 1] [ 321 79 1] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 1 0 0] [ 165 30 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: 19/ 3/ 1 odd: 499/ 119/ 2 I heard a character ('CR'), but not the right one Drained the following 2 pending chars from input buffer: 12 0d ^R CR .. Glider ru26d at surface. Because:nothing commanded [behavior surface_2 start_when = 1.0] MissionName:1K_N.MI MissionNum:ru26d-2025-018-0-45 (0123.0045) Vehicle Name: ru26d Curr Time: Wed Jan 22 23:01:32 2025 MT: 327921 DR Location: -6449.490 N -6442.417 E measured 434.754 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6449.019 N -6443.791 E measured 496.074 secs ago GPS Location: -6449.490 N -6442.417 E measured 437.206 secs ago sensor:c_wpt_lat(lat)=-6456.0204 44942.4 secs ago sensor:c_wpt_lon(lon)=-6424.1334 44942.4 secs ago sensor:m_battery(volts)=14.5265213454752 45.898 secs ago sensor:m_coulomb_amphr(amp-hrs)=76.5521926879883 4.252 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=133.594692688065 4.269 secs ago sensor:m_depth(m)=0 4.205 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1019 4.41 secs ago sensor:m_gps_mag_var(rad)=-0.282743338823081 437.608 secs ago sensor:m_iridium_attempt_num(nodim)=0 332.622 secs ago sensor:m_iridium_call_num(nodim)=4955 394.925 secs ago sensor:m_iridium_dialed_num(nodim)=6239 404.729 secs ago sensor:m_leakdetect_voltage(volts)=2.47484737484738 46.044 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48052503052503 46.058 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.632 secs ago sensor:m_tot_num_inflections(nodim)=16793 505.881 secs ago sensor:m_vacuum(inHg)=9.44531526251526 46.393 secs ago sensor:m_water_vx(m/s)=0.0220802065053012 464.236 secs ago sensor:m_water_vy(m/s)=-0.0475996702972098 464.268 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 44943.3 secs ago sensor:x_last_wpt_lon(lon)=-6452.9575 44943.4 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 19/ 3/ 1 odd: 499/ 119/ 2 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 -424 secs) Waypoint: (-6456.0204,-6424.1334) Range: 18856m, Bearing: 112deg, Age: 12:29h:m Time until diving is: 251 secs ^R327940 90 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 273.687500 Megabytes available on CF file system = 1727.250000 327944 01230045.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) 0.151819 m_avg_climb_rate(m/s) -0.185010 m_avg_speed(m/s) 0.273208 m_avg_upward_inflection_time(sec) 51.185101 m_battery(volts) 14.486683 m_coulomb_amphr_total(amp-hrs) 133.598248 m_iridium_call_num(nodim) 4955.000000 m_iridium_dialed_num(nodim) 6239.000000 m_lat(lat) -6449.490100 m_lon(lon) -6442.416800 m_pump_effective_num_cycles(nodim) 1505.000000 m_tot_ballast_pumped_energy(kjoules) 0.047744 m_tot_horz_dist(km) 10986.198375 m_tot_num_inflections(nodim) 16793.000000 m_tot_num_thermal_valve_cmd(nodim) 10759.000000 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 22 23:02:01 2025 The instantaneous lag time between the system and gps clock is 1.0 seconds. The average lag time between the system and gps clock is 0.4 seconds. Housekeeping is done 328017 94 01230046.mlg LOG FILE OPENED Megabytes used on CF file system = 273.812500 Megabytes available on CF file system = 1727.125000 328020 init_gps_input() 328020 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiting for final GPS