Connection Event: Carrier Detect found. 76467 Iridium console active and ready... Vehicle Name: ru34 Curr Time: Sat Aug 15 04:49:46 2026 MT: 76467 DR Location: 3902.333 N -7423.194 E measured 84.618 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3902.990 N -7422.443 E measured 131.678 secs ago GPS Location: 3902.333 N -7423.194 E measured 86.699 secs ago sensor:c_wpt_lat(lat)=3903.216 9667.27 secs ago sensor:c_wpt_lon(lon)=-7436.7607 not found>*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 9667.27 secs ago sensor:m_battery(volts)=14.9211331393718 51.757 secs ago sensor:m_coulomb_amphr(amp-hrs)=87.8536580000034 3.812 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=87.9911560000029 3.816 secs ago sensor:m_depth(m)=0.43216689985324 3.717 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 4.047 secs ago sensor:m_gps_mag_var(rad)=0.216420827247297 86.741 secs ago sensor:m_iridium_attempt_num(nodim)=2 36.084 secs ago sensor:m_iridium_call_num(nodim)=8605 0.055 secs ago sensor:m_iridium_dialed_num(nodim)=11064 8.067 secs ago sensor:m_leakdetect_voltage(volts)=2.48962148962149 51.651 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.47921245421245 51.615 secs ago sensor:m_leakdetect_voltage_science(volts)=2.478663003663 51.579 secs ago sensor:m_tot_num_inflections(nodim)=195120 108.791 secs ago sensor:m_vacuum(inHg)=7.52076974358975 51.757 secs ago sensor:m_water_vx(m/s)=0.065447313733882 88.699 secs ago sensor:m_water_vy(m/s)=-0.1301736852736 not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 7 88.702 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)=3902.9223 21578.3 secs ago sensor:x_last_wpt_lon(lon)=-7419.0801 21578.3 secs ago ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_ABORT_NOINPUT ABORT HISTORY: last abort details: M_DEPTH not updating ABORT HISTORY: last abort time: 2026-08-14T07:29:51 ABORT HISTORY: last abort segment: ru34-2026-222-1-50 (0415.0050) ABORT HISTORY: last abort mission: 100_n.mi 76467 No login script found for processing. Glider ru34 at surface. Because:no comms for a while [behavior surface_3 start_when = 12.0] MissionName:100_n.mi MissionNum:ru34-2026-225-0-14 (0416.0014) Vehicle Name: ru34 Curr Time: Sat Aug 15 04:50:22 2026 MT: 76503 DR Location: 3902.333 N -7423.194 E measured 120.126 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3902.990 N -7422.443 E measured 167.185 secs ago GPS Location: 3902.333 N -7423.194 E measured 122.206 secs ago sensor:c_wpt_lat(lat)=3903.216 9702.77 secs ago sensor:c_wpt_lon(lon)=-7436.7607 9702.78 secs ago sensor:m_battery(volts)=14.9168107900255 23.176 secs ago sensor:m_coulomb_amphr(amp-hrs)=87.8575620000034 3.308 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=87.9950600000029 3.311 secs ago sensor:m_depth(m)=0.315365035028038 3.213 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 7.552 secs ago sensor:m_gps_mag_var(rad)=0.216420827247297 122.249 secs ago sensor:m_iridium_attempt_num(nodim)=2 71.592 secs ago sensor:m_iridium_call_num(nodim)=8605 35.562 secs ago sensor:m_iridium_dialed_num(nodim)=11064 43.575 secs ago sensor:m_leakdetect_voltage(volts)=2.49288766788767 23.119 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48238705738706 23.083 secs ago sensor:m_leakdetect_voltage_science(volts)=2.48171550671551 23.048 secs ago sensor:m_tot_num_inflections(nodim)=195120 144.298 secs ago sensor:m_vacuum(inHg)=7.88751208791209 23.267 secs ago sensor:m_water_vx(m/s)=0.065447313733882 124.207 secs ago sensor:m_water_vy(m/s)=-0.13017368527367 124.21 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)=3902.9223 21613.9 secs ago sensor:x_last_wpt_lon(lon)=-7419.0801 21613.9 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 33/ 4/ 0 odd: 491/ 25/ 4 ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_ABORT_NOINPUT ABORT HISTORY: last abort details: M_DEPTH not updating ABORT HISTORY: last abort time: 2026-08-14T07:29:51 ABORT HISTORY: last abort segment: ru34-2026-222-1-50 (0415.0050) ABORT HISTORY: last abort mission: 100_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 COMPLETE Waypoint: (3903.2160,-7436.7607) Range: 19635m, Bearing: 287deg, Age: 6:0h:m Time until diving is: 475 secs s *.sbd *.tbd *.tcd *.scd *.vem *.azf *.asc *.obs *.mrd -------------------------------- 76527 26 04160014.mcg 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 76536 29 Neutering the Freewave Console SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size SCI: Enumerating and selecting files About to send 2 files Prechecking is not necessary for this invocation START **B00000000000000 Starting zModem transfer of 04160014.tcd to/from ru34 size is 15705 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: 14336 Total Bytes sent/received: 15360 Total Bytes sent/received: 15705 zModem transfer DONE for file 04160014.tcd Starting zModem transfer of 04160013.tcd to/from ru34 size is 364 Total Bytes sent/received: 364 zModem transfer DONE for file 04160013.tcd . SCI: Sent 2 file(s): 04160014.tcd 04160013.tcd SCI: SUCCESS 76645 55 Freewave console restored REVERTING FROM SCIENCE COMMAND MODE SCIENCE COMMAND MODE TERMINATED because: Science Program QUIT (cts lowered) 76646 GLD: Enumerating and selecting files About to send 2 files Prechecking is not necessary for this invocation selected IRIDIUM 76647 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 76647 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 Starting zModem transfer of 04160014.scd to/from ru34 size is 11723 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: 11723 zModem transfer DONE for file 04160014.scd Starting zModem transfer of 04160013.scd to/from ru34 size is 778 Total Bytes sent/received: 778 zModem transfer DONE for file 04160013.scd 76742 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 76742 restore_sensors().... 76742 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES .. 76742 GLD: Sent 2 file(s): 04160014.scd 04160013.scd GLD: SUCCESS Glider-Science software version match: 311349.400000 Science hardware version is 3.000000 76745 56 SCI:PROGLET house_elf begin() called 76745 SCI: house_elf: Version 1.2 76746 SCI:PROGLET ctd41cp begin() called 76746 SCI: ctd41cp: Version 0.2 76746 SCI: ctd41cp: Will be sending the following data to glider: 76746 SCI: sci_water_cond(s/m) 76746 SCI: sci_water_temp(degc) 76746 SCI: sci_water_pressure(bar) 76746 SCI: sci_ctd41cp_timestamp(timestamp) 76746 SCI:PROGLET sbe41n_ph begin() called 76746 SCI:PROGLET flbbcd begin() called 76746 SCI: flbbcd: Version 0.0 76746 SCI: flbbcd: Will be sending following data to glider: 76746 SCI: sci_flbbcd_chlor_units(ug/l) 76746 SCI: sci_flbbcd_bb_units(nodim) 76746 SCI: sci_flbbcd_cdom_units(ppb) 76746 SCI: sci_flbbcd_chlor_sig(nodim) 76746 SCI: sci_flbbcd_bb_sig(nodim) 76746 SCI: sci_flbbcd_cdom_sig(nodim) 76746 SCI: sci_flbbcd_chlor_ref(nodim) 76746 SCI: sci_flbbcd_bb_ref(nodim) 76746 SCI: sci_flbbcd_cdom_ref(nodim) 76746 SCI: sci_flbbcd_therm(nodim) 76746 SCI: sci_flbbcd_timestamp(timestamp) 76746 SCI:Bit(0) raise count is now 0. 76746 SCI:Bit(0) raise count is now 0. 76746 SCI:PROGLET oxy3835_wphase begin() called 76746 SCI: oxy3835_wphase: Version 0.4 76746 SCI: oxy3835_wphase: Will be sending following data to glider: 76746 SCI: sci_oxy3835_wphase_oxygen(nodim) 76746 SCI: sci_oxy3835_wphase_saturation(nodim) 76746 SCI: sci_oxy3835_wphase_temp(nodim) 76746 SCI: sci_oxy3835_wphase_dphase(nodim) 76746 SCI: sci_oxy3835_wphase_bphase(nodim) 76746 SCI: sci_oxy3835_wphase_rphase(nodim) 76746 SCI: sci_oxy3835_wphase_bamp(nodim) 76746 SCI: sci_oxy3835_wphase_bpot(nodim) 76746 SCI: sci_oxy3835_wphase_ramp(nodim) 76746 SCI: sci_oxy3835_wphase_rawtemp(nodim) 76746 SCI: sci_oxy3835_wphase_timestamp(timestamp) 76746 SCI:Bit(2) raise count is now 0. 76746 SCI:Bit(2) raise count is now 0. 76746 SCI:PROGLET house_elf start() called 76746 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 76746 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 76761 59 04160015.mcg LOG FILE OPENED -------------------------------- 76761 behavior surface_3: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru34 at surface. Because:no comms for a while [behavior surface_3 start_when = 12.0] MissionName:100_n.mi MissionNum:ru34-2026-225-0-15 (0416.0015) Vehicle Name: ru34 Curr Time: Sat Aug 15 04:54:41 2026 MT: 76763 DR Location: 3902.333 N -7423.194 E measured 379.923 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3902.990 N -7422.443 E measured 426.983 secs ago GPS Location: 3902.333 N -7423.194 E measured 382.004 secs ago sensor:c_wpt_lat(lat)=3903.216 9962.57 secs ago sensor:c_wpt_lon(lon)=-7436.7607 9962.58 secs ago sensor:m_battery(volts)=14.9152845339778 0.321 secs ago sensor:m_coulomb_amphr(amp-hrs)=87.8922340000034 0.418 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=88.0297320000029 0.422 secs ago sensor:m_depth(m)=0 0.232 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 6.289 secs ago sensor:m_gps_mag_var(rad)=0.216420827247297 382.047 secs ago sensor:m_iridium_attempt_num(nodim)=0 240.869 secs ago sensor:m_iridium_call_num(nodim)=8605 295.36 secs ago sensor:m_iridium_dialed_num(nodim)=11064 303.372 secs ago sensor:m_leakdetect_voltage(volts)=2.49288766788767 0.214 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48284493284493 0.178 secs ago sensor:m_leakdetect_voltage_science(volts)=2.48168498168498 0.142 secs ago sensor:m_tot_num_inflections(nodim)=195120 404.096 secs ago sensor:m_vacuum(inHg)=7.75674336996337 0.32 secs ago sensor:m_water_vx(m/s)=0.065447313733882 384.004 secs ago sensor:m_water_vy(m/s)=-0.13017368527367 384.007 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)=3902.9223 21873.6 secs ago sensor:x_last_wpt_lon(lon)=-7419.0801 21873.7 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 33/ 4/ 0 odd: 491/ 25/ 4 ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_ABORT_NOINPUT ABORT HISTORY: last abort details: M_DEPTH not updating ABORT HISTORY: last abort time: 2026-08-14T07:29:51 ABORT HISTORY: last abort segment: ru34-2026-222-1-50 (0415.0050) ABORT HISTORY: last abort mission: 100_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 COMPLETE Waypoint: (3903.2160,-7436.7607) Range: 19635m, Bearing: 287deg, Age: 6:4h:m Time until diving is: 598 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] [ 32 4 0] [ 0 0 0] 7 attitude_rev I u 3 20 5 0 8 ocean_pressure I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 100 0 0] 9 vacuum I u 3 20 5 0 10 battery I u 3 20 5 0 11 air_pump I u 3 20 5 0 12 pitch_motor I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 3 0 0] 13 science_super I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 11 0 0] 14 digifin I u 3 20 5 0 [ 0 0 0] [ 1 0 0] [ 288 18 2] 15 altimeter I u 3 20 5 0 16 altimeter_232 - 17 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 66 6 2] 18 leakdetect I u 3 20 5 0 19 recovery - 20 coulomb I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 23 1 0] 21 veh_temp I u 3 20 5 0 22 BUOYANCY_PUMP I u 3 20 3 0 23 DE_PUMP - 24 HD_PUMP - 25 thruster I u 3 20 5 0 devices:(t/m/s) errs: 0/ 0/ 0 warn: 33/ 4/ 0 odd: 491/ 25/ 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 ru34 at surface. Because:no comms for a while [behavior surface_3 start_when = 12.0] MissionName:100_n.mi MissionNum:ru34-2026-225-0-15 (0416.0015) Vehicle Name: ru34 Curr Time: Sat Aug 15 04:55:22 2026 MT: 76803 DR Location: 3902.333 N -7423.194 E measured 420.557 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3902.990 N -7422.443 E measured 467.616 secs ago GPS Location: 3902.333 N -7423.194 E measured 422.638 secs ago sensor:c_wpt_lat(lat)=3903.216 10003.2 secs ago sensor:c_wpt_lon(lon)=-7436.7607 10003.2 secs ago sensor:m_battery(volts)=14.9152845339778 40.954 secs ago sensor:m_coulomb_amphr(amp-hrs)=87.8971140000034 3.313 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=88.0346120000029 3.317 secs ago sensor:m_depth(m)=0 3.218 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 3.547 secs ago sensor:m_gps_mag_var(rad)=0.216420827247297 422.68 secs ago sensor:m_iridium_attempt_num(nodim)=0 281.503 secs ago sensor:m_iridium_call_num(nodim)=8605 335.993 secs ago sensor:m_iridium_dialed_num(nodim)=11064 344.006 secs ago sensor:m_leakdetect_voltage(volts)=2.49288766788767 40.847 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.48284493284493 40.812 secs ago sensor:m_leakdetect_voltage_science(volts)=2.48168498168498 40.776 secs ago sensor:m_tot_num_inflections(nodim)=195120 444.73 secs ago sensor:m_vacuum(inHg)=7.75674336996337 40.954 secs ago sensor:m_water_vx(m/s)=0.065447313733882 424.638 secs ago sensor:m_water_vy(m/s)=-0.13017368527367 424.641 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)=3902.9223 21914.3 secs ago sensor:x_last_wpt_lon(lon)=-7419.0801 21914.3 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 33/ 4/ 0 odd: 491/ 25/ 4 ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_ABORT_NOINPUT ABORT HISTORY: last abort details: M_DEPTH not updating ABORT HISTORY: last abort time: 2026-08-14T07:29:51 ABORT HISTORY: last abort segment: ru34-2026-222-1-50 (0415.0050) ABORT HISTORY: last abort mission: 100_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 COMPLETE Waypoint: (3903.2160,-7436.7607) Range: 19635m, Bearing: 287deg, Age: 6:5h:m Time until diving is: 557 secs ^R 76819 73 behavior surface_3: User typed Control-R, resuming I heard a Control-R RESUMING MISSION 76819 04160015.mcg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=267.5K(273880 bytes) M_MIN_FREE_HEAP=186.8K(191276 bytes) M_SRAM_FREE_HEAP=2301.8K(2357040 bytes) M_SRAM_MIN_FREE_HEAP=2173.8K(2225928 bytes) Running algorithm to free disk space if required Not necessary to delete any files at this time Scanning free space... Megabytes used on c: = 166.500000 Megabytes available on c: = 7708.500000 Megabytes used on w: = 0.021973 Megabytes available on w: = 0.978027 Writing longterm state disk file: c:/state/longterm.sta f_coulomb_battery_capacity(amp-hrs) 225.000000 f_max_working_depth(m) 102.000000 f_ocean_pressure_min(volts) 0.175495 m_avg_climb_rate(m/s) -0.154590 m_avg_speed(m/s) 0.277304 m_avg_upward_inflection_time(sec) 22.867268 m_battery(volts) 14.915285 m_coulomb_amphr_total(amp-hrs) 88.037540 m_iridium_call_num(nodim) 8605.000000 m_iridium_dialed_num(nodim) 11064.000000 m_lat(lat) 3902.332700 m_lon(lon) -7423.194300 m_pump_effective_num_cycles(nodim) 11245.830952 m_tot_ballast_pumped_energy(kjoules) 13125.518387 m_tot_horz_dist(km) 10269.886325 m_tot_num_inflections(nodim) 195120.000000 m_tot_num_thermal_valve_cmd(nodim) 0.000000 m_weight_drop(bool) 0.000000 s_ini_lat(deg) 4119.617000 s_ini_lon(deg) -7125.947000 s_water_depth_avg(m) 55.000000 s_water_depth_delta(m) 0.000000 s_water_depth_wavelength(m) 100.000000 x_hover_ballast_deep(cc) -50.000000 x_hover_ballast_shallow(cc) 29.876416 x_hover_depth_deep(m) 25.000000 x_hover_depth_shallow(m) 23.187972 x_last_wpt_