Connection Event: Carrier Detect found.901626 Iridium console active and ready... Vehicle Name: ru26d Curr Time: Wed Feb 19 05:14:58 2025 MT: 901625 DR Location: -6456.605 N -6417.825 E measured 134.472 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6455.179 N -6420.115 E measured 189.962 secs ago GPS Location: -6456.605 N -6417.825 E measured 136.056 secs ago sensor:c_wpt_lat(lat)=-6458.2993 7320.42 secs ago sensor:c_ not found>*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] wpt_lon(lon)=-6414.3716 7320.48 secs ago sensor:m_battery(volts)=14.5887834581726 43.181 secs ago sensor:m_coulomb_amphr(amp-hrs)=209.644821166992 5.215 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=266.687321167068 5.236 secs ago sensor:m_depth(m)=0 not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 5.191 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 0.737 secs ago sensor:m_gps_mag_var(rad)=-0.280998009571087 136.608 secs ago sensor:m_iridium_attempt_num(nodim)=2 57.67 secs ago sensor:m_iridium_call_num(nodim)=5192 19.875 secs ago sensor:m_iridium_dialed_num(nodim)=6485 34.413 secs ago sensor:m_leakdetect_voltage(volts)=2.47429792429792 14.939 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48034188034188 14.96 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 5.734 secs ago sensor:m_tot_num_inflections(nodim)=17841 243.027 secs ago sensor:m_vacuum(inHg)=9.55856886446887 15.203 secs ago sensor:m_water_vx(m/s)=0.0257680170366814 156.633 secs ago sensor:m_water_vy(m/s)=0.00924624271220193 156.673 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)=-6455.9261 7321.73 secs ago sensor:x_last_wpt_lon(lon)=-6418.9683 7321.79 secs ago ABORT HISTORY: total since reset: 14 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: 2025-02-08T18:42:17 ABORT HISTORY: last abort segment: ru26d-2025-037-1-19 (0130.0019) ABORT HISTORY: last abort mission: 1K_N.MI 901628 DRIVER_ODDITY:iridium:1727: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-2025-038-0-169 (0131.0169) Vehicle Name: ru26d Curr Time: Wed Feb 19 05:15:33 2025 MT: 901661 DR Location: -6456.605 N -6417.825 E measured 169.511 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6455.179 N -6420.115 E measured 225.003 secs ago GPS Location: -6456.605 N -6417.825 E measured 171.099 secs ago sensor:c_wpt_lat(lat)=-6458.2993 7355.42 secs ago sensor:c_wpt_lon(lon)=-6414.3716 7355.46 secs ago sensor:m_battery(volts)=14.5730621331123 15.752 secs ago sensor:m_coulomb_amphr(amp-hrs)=209.648376464844 2.621 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=266.69087646492 2.635 secs ago sensor:m_depth(m)=0 2.568 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 2.777 secs ago sensor:m_gps_mag_var(rad)=-0.280998009571087 171.499 secs ago sensor:m_iridium_attempt_num(nodim)=2 92.544 secs ago sensor:m_iridium_call_num(nodim)=5192 54.731 secs ago sensor:m_iridium_dialed_num(nodim)=6485 69.255 secs ago sensor:m_leakdetect_voltage(volts)=2.47429792429792 49.772 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48034188034188 49.786 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3 secs ago sensor:m_tot_num_inflections(nodim)=17841 277.836 secs ago sensor:m_vacuum(inHg)=9.55856886446887 49.998 secs ago sensor:m_water_vx(m/s)=0.0257680170366814 191.418 secs ago sensor:m_water_vy(m/s)=0.00924624271220193 191.45 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)=-6455.9261 7356.42 secs ago sensor:x_last_wpt_lon(lon)=-6418.9683 7356.45 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 50/ 11/ 0 odd:1385/ 362/ 6 ABORT HISTORY: total since reset: 14 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: 2025-02-08T18:42:17 ABORT HISTORY: last abort segment: ru26d-2025-037-1-19 (0130.0019) 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 -107 secs) Waypoint: (-6458.2993,-6414.3716) Range: 4159m, Bearing: 122deg, Age: 2:2h:m Time until diving is: 126 secs s -num=6 *.sbd *.tbd *.tcd *.scd *.vem *.azf *.asc *.obs *.mrd -------------------------------- 901692 93 01310169.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 901701 96 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 01310169.tbd to/from ru26d size is 16982 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: 7169 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: 14336 Total Bytes sent/received: 15360 Total Bytes sent/received: 16384 Total Bytes sent/received: 16982 zModem transfer DONE for file 01310169.tbd Starting zModem transfer of 01310168.tbd to/from ru26d size is 474 Total Bytes sent/received: 474 zModem transfer DONE for file 01310168.tbd SHUFFLING FILES.. SCI: Sent 2 file(s): c:\logs\01310169.TBD c:\logs\01310168.TBD SCI: SUCCESS 901926 47 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 901933 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 901933 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 Starting zModem transfer of 01310169.sbd to/from ru26d size is 11769 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: 11769 zModem transfer DONE for file 01310169.sbd Starting zModem transfer of 01310168.sbd to/from ru26d size is 962 Total Bytes sent/received: 962 zModem transfer DONE for file 01310168.sbd 02031 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 902031 restore_sensors().... 902031 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES.. GLD: Sent 2 file(s): c:\logs\01310169.SBD c:\logs\01310168.SBD GLD: SUCCESS Glider-Science software version match: 8.300000 Science hardware version is 2.000000 902042 49 SCI:PROGLET house_elf begin() called 902042 SCI: house_elf: Version 1.2 902042 SCI:PROGLET ctd41cp begin() called 902042 SCI: ctd41cp: Version 0.2 902042 SCI: ctd41cp: Will be sending the following data to glider: 902042 SCI: sci_water_cond(s/m) 902043 SCI: sci_water_temp(degc) 902043 SCI: sci_water_pressure(bar) 902043 SCI: sci_ctd41cp_timestamp(timestamp) 902043 SCI:PROGLET flbbcd begin() called 902043 SCI: flbbcd: Version 0.0 902043 SCI: flbbcd: Will be sending following data to glider: 902043 SCI: sci_flbbcd_chlor_units(ug/l) 902043 SCI: sci_flbbcd_bb_units(nodim) 902043 SCI: sci_flbbcd_cdom_units(ppb) 902043 SCI: sci_flbbcd_chlor_sig(nodim) 902043 SCI: sci_flbbcd_bb_sig(nodim) 902044 SCI: sci_flbbcd_cdom_sig(nodim) 902044 SCI: sci_flbbcd_chlor_ref(nodim) 902044 SCI: sci_flbbcd_bb_ref(nodim) 902044 SCI: sci_flbbcd_cdom_ref(nodim) 902044 SCI: sci_flbbcd_therm(nodim) 902044 50 SCI: sci_flbbcd_timestamp(timestamp) 902044 SCI: Opening Bit(0) for output 902044 SCI:Bit(0) use count is now 1. 902044 SCI:Bit(0) raise count is now 0. 902045 SCI:Bit(0) raise count is now 0. 902047 SCI:PROGLET house_elf start() called 902047 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 902047 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 902122 52 01310170.mlg LOG FILE OPENED -------------------------------- 902124 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-2025-038-0-170 (0131.0170) Vehicle Name: ru26d Curr Time: Wed Feb 19 05:23:21 2025 MT: 902128 DR Location: -6456.605 N -6417.825 E measured 636.76 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6455.179 N -6420.115 E measured 692.251 secs ago GPS Location: -6456.605 N -6417.825 E measured 638.346 secs ago sensor:c_wpt_lat(lat)=-6458.2993 7822.67 secs ago sensor:c_wpt_lon(lon)=-6414.3716 7822.71 secs ago sensor:m_battery(volts)=14.562286811132 2.988 secs ago sensor:m_coulomb_amphr(amp-hrs)=209.700622558594 3.165 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=266.74312255867 3.179 secs ago sensor:m_depth(m)=0 3.06 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.323 secs ago sensor:m_gps_mag_var(rad)=-0.280998009571087 638.748 secs ago sensor:m_iridium_attempt_num(nodim)=0 439.144 secs ago sensor:m_iridium_call_num(nodim)=5192 521.979 secs ago sensor:m_iridium_dialed_num(nodim)=6485 536.503 secs ago sensor:m_leakdetect_voltage(volts)=2.47484737484738 3.023 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4804945054945 3.038 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 3.068 secs ago sensor:m_tot_num_inflections(nodim)=17841 745.081 secs ago sensor:m_vacuum(inHg)=9.53127393162393 3.481 secs ago sensor:m_water_vx(m/s)=0.0257680170366814 658.663 secs ago sensor:m_water_vy(m/s)=0.00924624271220193 658.694 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)=-6455.9261 7823.66 secs ago sensor:x_last_wpt_lon(lon)=-6418.9683 7823.7 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 50/ 11/ 0 odd:1386/ 363/ 7 ABORT HISTORY: total since reset: 14 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: 2025-02-08T18:42:17 ABORT HISTORY: last abort segment: ru26d-2025-037-1-19 (0130.0019) 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 -574 secs) Waypoint: (-6458.2993,-6414.3716) Range: 4159m, Bearing: 122deg, Age: 2:10h: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 [ 0 0 0] [ 0 0 0] [ 9 9 0] 7 pinger - 8 attitude - 9 attitude_tcm3 - 10 attitude_rev I u 3 20 5 2 [ 2 0 0] [ 11 2 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] [ 16 0 0] 17 science_super I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 33 32 0] 18 roll_motor - 19 fpitch_pump - 20 fin_motor - 21 digifin I u 3 20 5 0 [ 0 0 0] [ 38 9 0] [ 884 215 4] 22 altimeter I u 3 20 5 0 23 ctd - 24 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 1 0 0] [ 444 107 3] 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: 2/ 0/ 0 warn: 50/ 11/ 0 odd:1386/ 363/ 7 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-2025-038-0-170 (0131.0170) Vehicle Name: ru26d Curr Time: Wed Feb 19 05:24:04 2025 MT: 902171 DR Location: -6456.605 N -6417.825 E measured 679.75 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : -6455.179 N -6420.115 E measured 735.242 secs ago GPS Location: -6456.605 N -6417.825 E measured 681.335 secs ago sensor:c_wpt_lat(lat)=-6458.2993 7865.66 secs ago sensor:c_wpt_lon(lon)=-6414.3716 7865.7 secs ago sensor:m_battery(volts)=14.562286811132 45.979 secs ago sensor:m_coulomb_amphr(amp-hrs)=209.706558227539 4.291 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=266.749058227615 4.305 secs ago sensor:m_depth(m)=0 4.212 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 9.098 secs ago sensor:m_gps_mag_var(rad)=-0.280998009571087 681.739 secs ago sensor:m_iridium_attempt_num(nodim)=0 482.135 secs ago sensor:m_iridium_call_num(nodim)=5192 564.97 secs ago sensor:m_iridium_dialed_num(nodim)=6485 579.494 secs ago sensor:m_leakdetect_voltage(volts)=2.47484737484738 46.014 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.4804945054945 46.029 secs ago sensor:m_leakdetect_voltage_science(volts)=-1 4.667 secs ago sensor:m_tot_num_inflections(nodim)=17841 788.072 secs ago sensor:m_vacuum(inHg)=9.53127393162393 46.471 secs ago sensor:m_water_vx(m/s)=0.0257680170366814 701.654 secs ago sensor:m_water_vy(m/s)=0.00924624271220193 701.685 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)=-6455.9261 7866.65 secs ago sensor:x_last_wpt_lon(lon)=-6418.9683 7866.69 secs ago devices:(t/m/s) errs: 2/ 0/ 0 warn: 50/ 11/ 0 odd:1386/ 363/ 7 ABORT HISTORY: total since reset: 14 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: 2025-02-08T18:42:17 ABORT HISTORY: last abort segment: ru26d-2025-037-1-19 (0130.0019) 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 -617 secs) Waypoint: (-6458.2993,-6414.3716) Range: 4159m, Bearing: 122deg, Age: 2:11h:m Time until diving is: 251 secs ^R902191 67 behavior surface_2: User typed Control-R, resuming I heard a Control-R RESUMING MISSION Megabytes used on CF file system = 740.468750 Megabytes available on CF file system = 1260.468750 902195 01310170.mlg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=88.0K, M_SPARE_HEAP=69.0K 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) 0.151245 m_avg_climb_rate(m/s) -0.161634 m_avg_speed(m/s) 0.279065 m_avg_upward_inflection_time(sec) 47.527463 m_battery(volts) 14.488958 m_coulomb_amphr_total(amp-hrs) 266.751439 m_iridium_call_num(nodim) 5192.000000 m_iridium_dialed_num(nodim) 6485.000000 m_lat(lat) -6456.605100 m_lon(lon) -6417.824900 m_pump_effective_num_cycles(nodim) 2029.000000 m_tot_ballast_pumped_energy(kjoules) 0.047744 m_tot_horz_dist(km) 11560.525015 m_tot_num_inflections(nodim) 17841.000000 m_tot_num_thermal_valve_cmd(nodim) 11806.000000 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) -6455.926100 x_last_wpt_lon(lon) -6418.968300 timestamp: Wed Feb 19 05:24:34 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 -2.2 seconds. Housekeeping is done 902277 71 01310171.mlg LOG FILE OPENED Megabytes used on CF file system = 740.593750 Megabytes available on CF file system = 1260.343750 902280 init_gps_input() 902280 behavior surface_2: SUBSTATE 7 ->10 : Waiting for final gps fix surface_2: Waiti