Connection Event: Carrier Detect found.218786 Iridium console active and ready... Vehicle Name: ru26d Curr Time: Mon Feb 3 10:01:49 2025 MT: 218784 DR Location: -6452.785 N -6433.789 E measured 64.921 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6452.236 N -6435.675 E measured 123.172 secs ago GPS Location: -6452.785 N -6433.789 E measured 67.375 secs ago sensor:c_wpt_lat(lat)=-6456.0204 43492.4 secs ago sensor:c_wp not found>*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] t_lon(lon)=-6424.1334 43492.4 secs ago sensor:m_battery(volts)=14.6369498669638 44.142 secs ago sensor:m_coulomb_amphr(amp-hrs)=137.722686767578 5.374 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=194.765186767654 5.395 secs ago sensor:m_de not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] pth(m)=0 5.375 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 0.729 secs ago sensor:m_gps_mag_var(rad)=-0.282743338823081 67.917 secs ago sensor:m_iridium_attempt_num(nodim)=1 62.708 secs ago sensor:m_iridium_call_num(nodim)=5064 20.983 secs ago sensor:m_iridium_dialed_num(nodim)=6352 35.261 secs ago sensor:m_leakdetect_voltage(volts)=2.4743894993895 5.621 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48028083028083 5.644 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 5.681 secs ago sensor:m_tot_num_inflections(nodim)=17385 131.104 secs ago sensor:m_vacuum(inHg)=8.42195897435898 58.196 secs ago sensor:m_water_vx(m/s)=0.0940733251846453 94.324 secs ago sensor:m_water_vy(m/s)=0.0087558585984641 94.37 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 43493.7 secs ago sensor:x_last_wpt_lon(lon)=-6443.3715 43493.7 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 218787 DRIVER_ODDITY:iridium:1719: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-2025-030-2-42 (0127.0042) Vehicle Name: ru26d Curr Time: Mon Feb 3 10:02:08 2025 MT: 218804 DR Location: -6452.785 N -6433.789 E measured 83.462 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6452.236 N -6435.675 E measured 141.712 secs ago GPS Location: -6452.785 N -6433.789 E measured 85.915 secs ago sensor:c_wpt_lat(lat)=-6456.0204 43510.9 secs ago sensor:c_wpt_lon(lon)=-6424.1334 43510.9 secs ago sensor:m_battery(volts)=14.6369498669638 62.615 secs ago sensor:m_coulomb_amphr(amp-hrs)=137.726257324219 4.235 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=194.768757324295 4.248 secs ago sensor:m_depth(m)=0 4.18 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 9.18 secs ago sensor:m_gps_mag_var(rad)=-0.282743338823081 86.319 secs ago sensor:m_iridium_attempt_num(nodim)=1 81.093 secs ago sensor:m_iridium_call_num(nodim)=5064 39.349 secs ago sensor:m_iridium_dialed_num(nodim)=6352 53.614 secs ago sensor:m_leakdetect_voltage(volts)=2.4743894993895 23.967 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48028083028083 23.982 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.613 secs ago sensor:m_tot_num_inflections(nodim)=17385 149.423 secs ago sensor:m_vacuum(inHg)=9.06359358974358 14.36 secs ago sensor:m_water_vx(m/s)=0.0940733251846453 112.618 secs ago sensor:m_water_vy(m/s)=0.0087558585984641 112.65 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 43511.9 secs ago sensor:x_last_wpt_lon(lon)=-6443.3715 43511.9 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 33/ 5/ 1 odd: 865/ 81/ 2 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 -78 secs) Waypoint: (-6456.0204,-6424.1334) Range: 9701m, Bearing: 110deg, Age: 12:5h:m Time until diving is: 208 secs s -num=6 *.sbd *.tbd *.tcd *.scd *.vem *.azf *.asc *.obs *.mrd -------------------------------- 218829 99 01270042.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 218840 1 Neutering the Freewave Console SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size 01270042.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 01270042.tbd to/from ru26d size is 9497 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: 9497 zModem transfer DONE for file 01270042.tbd Starting zModem transfer of 01270041.tbd to/from ru26d size is 473 Total Bytes sent/received: 473 zModem transfer DONE for file 01270041.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\01270042.TBD c:\logs\01270041.TBD SCI: SUCCESS report_heap_size(): SCI_M_FREE_HEAP=598.0K, SCI_M_SPARE_HEAP=598.0K Megabytes used on CF file system = 211.875000 Megabytes available on CF file system = 1741.812500 Running algorithm to free disk space if required Not necessary to delete any files at this time initiate_open_helper(): ERROR on 01270042.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 218931 24 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 218937 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 218937 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 Starting zModem transfer of 01270042.sbd to/from ru26d size is 9253 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: 9253 zModem transfer DONE for file 01270042.sbd Starting zModem transfer of 01270041.sbd to/from ru26d size is 915 Total Bytes sent/received: 915 zModem transfer DONE for file 01270041.sbd s().... 219018 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.*.*^XB0800000000022d DEL**^XB0800000000022d DEL GLD: Sent 2 file(s): c:\logs\01270042.SBD c:\logs\01270041.SBD GLD: SUCCESS Glider-Science software version match: 8.300000 Science hardware version is 2.000000 219028 25 SCI:PROGLET house_elf begin() called 219028 SCI: house_elf: Version 1.2 219028 SCI:PROGLET ctd41cp begin() called 219028 SCI: ctd41cp: Version 0.2 219029 SCI: ctd41cp: Will be sending the following data to glider: 219029 SCI: sci_water_cond(s/m) 219029 SCI: sci_water_temp(degc) 219029 SCI: sci_water_pressure(bar) 219029 SCI: sci_ctd41cp_timestamp(timestamp) 219029 SCI:PROGLET flbbcd begin() called 219029 SCI: flbbcd: Version 0.0 219029 SCI: flbbcd: Will be sending following data to glider: 219029 SCI: sci_flbbcd_chlor_units(ug/l) 219029 SCI: sci_flbbcd_bb_units(nodim) 219029 SCI: sci_flbbcd_cdom_units(ppb) 219030 SCI: sci_flbbcd_chlor_sig(nodim) 219030 SCI: sci_flbbcd_bb_sig(nodim) 219030 SCI: sci_flbbcd_cdom_sig(nodim) 219030 SCI: sci_flbbcd_chlor_ref(nodim) 219030 SCI: sci_flbbcd_bb_ref(nodim) 219030 SCI: sci_flbbcd_cdom_ref(nodim) 219030 SCI: sci_flbbcd_therm(nodim) 219030 26 SCI: sci_flbbcd_timestamp(timestamp) 219030 SCI: Opening Bit(0) for output 219030 SCI:Bit(0) use count is now 1. 219030 SCI:Bit(0) raise count is now 0. 219031 SCI:Bit(0) raise count is now 0. 219033 SCI:PROGLET house_elf start() called 219033 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 219034 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 219105 30 01270043.mlg LOG FILE OPENED -------------------------------- 219105 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-2025-030-2-43 (0127.0043) Vehicle Name: ru26d Curr Time: Mon Feb 3 10:07:14 2025 MT: 219110 DR Location: -6452.785 N -6433.789 E measured 389.611 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6452.236 N -6435.675 E measured 447.862 secs ago GPS Location: -6452.785 N -6433.789 E measured 392.065 secs ago sensor:c_wpt_lat(lat)=-6456.0204 43817 secs ago sensor:c_wpt_lon(lon)=-6424.1334 43817.1 secs ago sensor:m_battery(volts)=14.6027972799086 2.914 secs ago sensor:m_coulomb_amphr(amp-hrs)=137.760681152344 3.091 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=194.80318115242 3.105 secs ago sensor:m_depth(m)=0 2.986 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.249 secs ago sensor:m_gps_mag_var(rad)=-0.282743338823081 392.469 secs ago sensor:m_iridium_attempt_num(nodim)=0 287.31 secs ago sensor:m_iridium_call_num(nodim)=5064 345.499 secs ago sensor:m_iridium_dialed_num(nodim)=6352 359.763 secs ago sensor:m_leakdetect_voltage(volts)=2.47469474969475 3.036 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48067765567766 3.052 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3.081 secs ago sensor:m_tot_num_inflections(nodim)=17385 455.572 secs ago sensor:m_vacuum(inHg)=9.48157271062271 3.409 secs ago sensor:m_water_vx(m/s)=0.0940733251846453 418.766 secs ago sensor:m_water_vy(m/s)=0.0087558585984641 418.799 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 43818 secs ago sensor:x_last_wpt_lon(lon)=-6443.3715 43818.1 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 33/ 5/ 1 odd: 865/ 81/ 2 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 -384 secs) Waypoint: (-6456.0204,-6424.1334) Range: 9701m, Bearing: 110deg, Age: 12:10h: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] [ 26 5 1] [ 559 51 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] [ 292 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: 33/ 5/ 1 odd: 865/ 81/ 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-2025-030-2-43 (0127.0043) Vehicle Name: ru26d Curr Time: Mon Feb 3 10:07:57 2025 MT: 219153 DR Location: -6452.785 N -6433.789 E measured 432.598 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6452.236 N -6435.675 E measured 490.848 secs ago GPS Location: -6452.785 N -6433.789 E measured 435.053 secs ago sensor:c_wpt_lat(lat)=-6456.0204 43860 secs ago sensor:c_wpt_lon(lon)=-6424.1334 43860.1 secs ago sensor:m_battery(volts)=14.6027972799086 45.901 secs ago sensor:m_coulomb_amphr(amp-hrs)=137.765441894531 4.28 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=194.807941894608 4.294 secs ago sensor:m_depth(m)=0 4.2 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 9.084 secs ago sensor:m_gps_mag_var(rad)=-0.282743338823081 435.457 secs ago sensor:m_iridium_attempt_num(nodim)=0 330.298 secs ago sensor:m_iridium_call_num(nodim)=5064 388.486 secs ago sensor:m_iridium_dialed_num(nodim)=6352 402.75 secs ago sensor:m_leakdetect_voltage(volts)=2.47469474969475 46.025 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48067765567766 46.039 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.658 secs ago sensor:m_tot_num_inflections(nodim)=17385 498.561 secs ago sensor:m_vacuum(inHg)=9.48157271062271 46.398 secs ago sensor:m_water_vx(m/s)=0.0940733251846453 461.754 secs ago sensor:m_water_vy(m/s)=0.0087558585984641 461.788 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 43861 secs ago sensor:x_last_wpt_lon(lon)=-6443.3715 43861.1 secs ago devices:(t/m/s) errs: 1/ 0/ 0 warn: 33/ 5/ 1 odd: 865/ 81/ 2 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 -427 secs) Waypoint: (-6456.0204,-6424.1334) Range: 9701m, Bearing: 110deg, Age: 12:11h:m Time until diving is: 251 secs ^R219177 44 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 470.968750 Megabytes available on CF file system = 1529.968750 219182 01270043.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) 0.151603 m_avg_climb_rate(m/s) -0.187996 m_avg_speed(m/s) 0.275742 m_avg_upward_inflection_time(sec) 57.129942 m_battery(volts) 14.552903 m_coulomb_amphr_total(amp-hrs) 194.811497 m_iridium_call_num(nodim) 5064.000000 m_iridium_dialed_num(nodim) 6352.000000 m_lat(lat) -6452.785300 m_lon(lon) -6433.788900 m_pump_effective_num_cycles(nodim) 1801.000000 m_tot_ballast_pumped_energy(kjoules) 0.047744 m_tot_horz_dist(km) 11215.417759 m_tot_num_inflections(nodim) 17385.000000 m_tot_num_thermal_valve_cmd(nodim) 11351.000000 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 10:08:32 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 -1.0 seconds. Housekeeping is done 219259 48 01270044.mlg LOG FILE OPENED Megabytes used on CF file system = 471.093750 Megabytes available on CF file system = 1529.843750 219261 init_gps_input() 219261 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiti