Connection Event: Carrier Detect found.183195 Iridium console active and ready... Vehicle Name: ru26d Curr Time: Mon Feb 3 00:08:38 2025 MT: 183194 DR Location: -6449.898 N -6440.940 E measured 70.062 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6449.229 N -6442.307 E measured 123.941 secs ago GPS Location: -6449.898 N -6440.940 E measured 72.515 secs ago sensor:c_wpt_lat(lat)=-6456.0204 7901.45 secs ago sensor:c_wpt_ not found>*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] lon(lon)=-6424.1334 7901.51 secs ago sensor:m_battery(volts)=14.5979610305786 52.174 secs ago sensor:m_coulomb_amphr(amp-hrs)=135.033004760742 5.169 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=192.075504760818 5.193 secs ago sensor:m_dept not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] h(m)=0 5.172 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 0.723 secs ago sensor:m_gps_mag_var(rad)=-0.282743338823081 73.051 secs ago sensor:m_iridium_attempt_num(nodim)=1 67.857 secs ago sensor:m_iridium_call_num(nodim)=5058 19.623 secs ago sensor:m_iridium_dialed_num(nodim)=6345 38.774 secs ago sensor:m_leakdetect_voltage(volts)=2.4748778998779 52.53 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48046398046398 52.554 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 5.688 secs ago sensor:m_tot_num_inflections(nodim)=17349 154.435 secs ago sensor:m_vacuum(inHg)=8.7547942002442 52.847 secs ago sensor:m_water_vx(m/s)=0.0850622459763366 99.779 secs ago sensor:m_water_vy(m/s)=0.0446026589071304 99.822 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)=-6448.9421 7902.78 secs ago sensor:x_last_wpt_lon(lon)=-6443.3715 7902.83 secs ago ABORT HISTORY: total since reset: 10 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: 2025-01-31T16:17:57 ABORT HISTORY: last abort segment: ru26d-2025-030-0-7 (0125.0007) ABORT HISTORY: last abort mission: 1K_N.MI 183196 DRIVER_ODDITY:iridium:1711: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-2025-030-2-30 (0127.0030) Vehicle Name: ru26d Curr Time: Mon Feb 3 00:08:52 2025 MT: 183208 DR Location: -6449.898 N -6440.940 E measured 83.937 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6449.229 N -6442.307 E measured 137.816 secs ago GPS Location: -6449.898 N -6440.940 E measured 86.39 secs ago sensor:c_wpt_lat(lat)=-6456.0204 7915.3 secs ago sensor:c_wpt_lon(lon)=-6424.1334 7915.34 secs ago sensor:m_battery(volts)=14.5443597993156 4.174 secs ago sensor:m_coulomb_amphr(amp-hrs)=135.034194946289 4.359 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=192.076694946365 4.372 secs ago sensor:m_depth(m)=0 4.242 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.521 secs ago sensor:m_gps_mag_var(rad)=-0.282743338823081 86.79 secs ago sensor:m_iridium_attempt_num(nodim)=1 81.579 secs ago sensor:m_iridium_call_num(nodim)=5058 33.33 secs ago sensor:m_iridium_dialed_num(nodim)=6345 52.467 secs ago sensor:m_leakdetect_voltage(volts)=2.47496947496947 4.413 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48076923076923 4.427 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.456 secs ago sensor:m_tot_num_inflections(nodim)=17349 168.091 secs ago sensor:m_vacuum(inHg)=9.2896934065934 4.673 secs ago sensor:m_water_vx(m/s)=0.0850622459763366 113.409 secs ago sensor:m_water_vy(m/s)=0.0446026589071304 113.441 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)=-6448.9421 7916.31 secs ago sensor:x_last_wpt_lon(lon)=-6443.3715 7916.34 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 31/ 3/ 1 odd: 850/ 66/ 3 ABORT HISTORY: total since reset: 10 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: 2025-01-31T16:17:57 ABORT HISTORY: last abort segment: ru26d-2025-030-0-7 (0125.0007) 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 -60 secs) Waypoint: (-6456.0204,-6424.1334) Range: 17475m, Bearing: 113deg, Age: 2:11h:m Time until diving is: 207 secs s -num=6 *.sbd *.tbd *.tcd *.scd *.vem *.azf *.asc *.obs *.mrd -------------------------------- 183234 29 01270030.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 183243 31 Neutering the Freewave Console SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size 01270030.nlg LOG FILE CLOSED SCI: Enumerating and selecting files SCI: About to send 2 files Prechecking is not necessary for this invocation START **B00000000000000 Starting zModem transfer of 01270030.tbd to/from ru26d size is 9933 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: 9933 zModem transfer DONE for file 01270030.tbd Starting zModem transfer of 01270029.tbd to/from ru26d size is 473 Total Bytes sent/received: 473 zModem transfer DONE for file 01270029.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\01270030.TBD c:\logs\01270029.TBD SCI: SUCCESS report_heap_size(): SCI_M_FREE_HEAP=598.0K, SCI_M_SPARE_HEAP=598.0K Megabytes used on CF file system = 207.750000 Megabytes available on CF file system = 1745.937500 Running algorithm to free disk space if required Not necessary to delete any files at this time initiate_open_helper(): ERROR on 01270030.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 183336 52 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 183340 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 183340 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 Starting zModem transfer of 01270030.sbd to/from ru26d size is 8902 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: 8902 zModem transfer DONE for file 01270030.sbd Starting zModem transfer of 01270029.sbd to/from ru26d size is 915 Total Bytes sent/received: 915 zModem transfer DONE for file 01270029.sbd s().... 183419 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES..**^XB0800000000022d DEL**^XB0800000000022d DEL GLD: Sent 2 file(s): c:\logs\01270030.SBD c:\logs\01270029.SBD GLD: SUCCESS Glider-Science software version match: 8.300000 Science hardware version is 2.000000 183428 55 SCI:PROGLET house_elf begin() called 183428 SCI: house_elf: Version 1.2 183429 SCI:PROGLET ctd41cp begin() called 183429 SCI: ctd41cp: Version 0.2 183429 SCI: ctd41cp: Will be sending the following data to glider: 183429 SCI: sci_water_cond(s/m) 183429 SCI: sci_water_temp(degc) 183429 SCI: sci_water_pressure(bar) 183429 SCI: sci_ctd41cp_timestamp(timestamp) 183429 SCI:PROGLET flbbcd begin() called 183429 SCI: flbbcd: Version 0.0 183429 SCI: flbbcd: Will be sending following data to glider: 183429 SCI: sci_flbbcd_chlor_units(ug/l) 183430 SCI: sci_flbbcd_bb_units(nodim) 183430 SCI: sci_flbbcd_cdom_units(ppb) 183430 SCI: sci_flbbcd_chlor_sig(nodim) 183430 SCI: sci_flbbcd_bb_sig(nodim) 183430 SCI: sci_flbbcd_cdom_sig(nodim) 183430 SCI: sci_flbbcd_chlor_ref(nodim) 183430 SCI: sci_flbbcd_bb_ref(nodim) 183430 SCI: sci_flbbcd_cdom_ref(nodim) 183430 SCI: sci_flbbcd_therm(nodim) 183430 56 SCI: sci_flbbcd_timestamp(timestamp) 183431 SCI: Opening Bit(0) for output 183431 SCI:Bit(0) use count is now 1. 183432 SCI:Bit(0) raise count is now 0. 183432 SCI:Bit(0) raise count is now 0. 183434 SCI:PROGLET house_elf start() called 183434 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 183434 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 183505 58 01270031.mlg LOG FILE OPENED -------------------------------- 183505 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-2025-030-2-31 (0127.0031) Vehicle Name: ru26d Curr Time: Mon Feb 3 00:13:54 2025 MT: 183510 DR Location: -6449.898 N -6440.940 E measured 385.643 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6449.229 N -6442.307 E measured 439.523 secs ago GPS Location: -6449.898 N -6440.940 E measured 388.097 secs ago sensor:c_wpt_lat(lat)=-6456.0204 8217.01 secs ago sensor:c_wpt_lon(lon)=-6424.1334 8217.05 secs ago sensor:m_battery(volts)=14.5286539781142 2.896 secs ago sensor:m_coulomb_amphr(amp-hrs)=135.068634033203 3.074 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=192.111134033279 3.088 secs ago sensor:m_depth(m)=0 2.968 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 3.231 secs ago sensor:m_gps_mag_var(rad)=-0.282743338823081 388.496 secs ago sensor:m_iridium_attempt_num(nodim)=0 279.104 secs ago sensor:m_iridium_call_num(nodim)=5058 335.033 secs ago sensor:m_iridium_dialed_num(nodim)=6345 354.171 secs ago sensor:m_leakdetect_voltage(volts)=2.4748778998779 3.016 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48049450549451 3.033 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3.064 secs ago sensor:m_tot_num_inflections(nodim)=17349 469.796 secs ago sensor:m_vacuum(inHg)=9.47586929181929 3.391 secs ago sensor:m_water_vx(m/s)=0.0850622459763366 415.113 secs ago sensor:m_water_vy(m/s)=0.0446026589071304 415.146 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)=-6448.9421 8218.01 secs ago sensor:x_last_wpt_lon(lon)=-6443.3715 8218.04 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 31/ 3/ 1 odd: 850/ 66/ 3 ABORT HISTORY: total since reset: 10 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: 2025-01-31T16:17:57 ABORT HISTORY: last abort segment: ru26d-2025-030-0-7 (0125.0007) 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 -362 secs) Waypoint: (-6456.0204,-6424.1334) Range: 17475m, Bearing: 113deg, Age: 2:16h: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] [ 6 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] [ 13 0 0] 17 science_super I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 1 0 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 24 3 1] [ 552 44 2] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 1 0 0] [ 284 22 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: 31/ 3/ 1 odd: 850/ 66/ 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-2025-030-2-31 (0127.0031) Vehicle Name: ru26d Curr Time: Mon Feb 3 00:14:37 2025 MT: 183553 DR Location: -6449.898 N -6440.940 E measured 428.642 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6449.229 N -6442.307 E measured 482.521 secs ago GPS Location: -6449.898 N -6440.940 E measured 431.095 secs ago sensor:c_wpt_lat(lat)=-6456.0204 8260.01 secs ago sensor:c_wpt_lon(lon)=-6424.1334 8260.04 secs ago sensor:m_battery(volts)=14.5286539781142 45.894 secs ago sensor:m_coulomb_amphr(amp-hrs)=135.073364257812 4.282 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=192.115864257889 4.297 secs ago sensor:m_depth(m)=0.336306280856124 4.195 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 9.091 secs ago sensor:m_gps_mag_var(rad)=-0.282743338823081 431.487 secs ago sensor:m_iridium_attempt_num(nodim)=0 322.094 secs ago sensor:m_iridium_call_num(nodim)=5058 378.023 secs ago sensor:m_iridium_dialed_num(nodim)=6345 397.159 secs ago sensor:m_leakdetect_voltage(volts)=2.4748778998779 46.007 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48049450549451 46.023 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.651 secs ago sensor:m_tot_num_inflections(nodim)=17349 512.786 secs ago sensor:m_vacuum(inHg)=9.47586929181929 46.381 secs ago sensor:m_water_vx(m/s)=0.0850622459763366 458.101 secs ago sensor:m_water_vy(m/s)=0.0446026589071304 458.135 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)=-6448.9421 8261 secs ago sensor:x_last_wpt_lon(lon)=-6443.3715 8261.03 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 31/ 3/ 1 odd: 850/ 66/ 3 ABORT HISTORY: total since reset: 10 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: 2025-01-31T16:17:57 ABORT HISTORY: last abort segment: ru26d-2025-030-0-7 (0125.0007) 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 -405 secs) Waypoint: (-6456.0204,-6424.1334) Range: 17475m, Bearing: 113deg, Age: 2:17h:m Time until diving is: 251 secs ^R183572 73 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 463.437500 Megabytes available on CF file system = 1537.500000 183577 01270031.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=89.0K, M_SPARE_HEAP=70.0K 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) 0.151603 m_avg_climb_rate(m/s) -0.183850 m_avg_speed(m/s) 0.275615 m_avg_upward_inflection_time(sec) 54.602163 m_battery(volts) 14.507986 m_coulomb_amphr_total(amp-hrs) 192.118245 m_iridium_call_num(nodim) 5058.000000 m_iridium_dialed_num(nodim) 6345.000000 m_lat(lat) -6449.897800 m_lon(lon) -6440.940200 m_pump_effective_num_cycles(nodim) 1783.000000 m_tot_ballast_pumped_energy(kjoules) 0.047744 m_tot_horz_dist(km) 11206.968174 m_tot_num_inflections(nodim) 17349.000000 m_tot_num_thermal_valve_cmd(nodim) 11315.000000 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) -6448.942100 x_last_wpt_lon(lon) -6443.371500 timestamp: Mon Feb 3 00:15:10 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 -1.2 seconds. Housekeeping is done 183653 75 01270032.mlg LOG FILE OPENED Megabytes used on CF file system = 463.562500 Megabytes available on CF file system = 1537.375000 183656 init_gps_input() 183656 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiti