Connection Event: Carrier Detect found. 19972 Iridium console active and ready... Vehicle Name: ru43 Curr Time: Mon May 25 02:51:22 2026 MT: 19972 DR Location: 3910.975 N -7323.336 E measured 44.597 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3911.709 N -7323.365 E measured 96.841 secs ago GPS Location: 3910.975 N -7323.336 E measured 47.306 secs ago sensor:c_wpt_lat(lat)=3905.8632 10432.5 secs ago sensor:c_wpt_lon(lon)=-7313.8289 1 not found>*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 0432.5 secs ago sensor:m_battery(volts)=15.1036967187089 59.74 secs ago sensor:m_coulomb_amphr(amp-hrs)=82.8922340000027 3.794 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=84.1259780000027 3.799 secs ago sensor:m_depth(m)=0 3.7 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 0.048 secs ago sensor:m_gps_mag_var(rad)=0.225147473507269 47.352 secs ago sensor:m_iridium_attempt_num(nodim)=1 40.079 secs ago sensor:m_iridium_call_num(nodim)=3093 0.059 secs ago sensor:m_iridium_dialed_num(nodim)=3671 12.062 secs ago sensor:m_leakdetect_voltage(volts)=2.48833943833944 55.285 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49114774114774 not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 55.249 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49078144078144 55.214 secs ago sensor:m_tot_num_inflections(nodim)=72979 117.822 secs ago sensor:m_vacuum(inHg)=7.82531555555556 55.793 secs ago sensor:m_water_vx(m/s)=-0.267335943769028 64.694 secs ago sensor:m_water_vy(m/s)=-0.175410495585449 64.697 secs ago sensor:u_max_altimeter(m)=200 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)=3920.074 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7331.3011 1e+308 secs ago ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_3 entered B_ERROR state ABORT HISTORY: last abort time: 2026-05-24T21:15:08 ABORT HISTORY: last abort segment: ru43-2026-142-0-21 (0223.0021) ABORT HISTORY: last abort mission: 100_n.mi 19972 No login script found for processing. Glider ru43 at surface. Because:no comms for a while [behavior surface_3 start_when = 12.0] MissionName:100_n.mi MissionNum:ru43-2026-143-0-2 (0224.0002) Vehicle Name: ru43 Curr Time: Mon May 25 02:51:58 2026 MT: 20008 DR Location: 3910.975 N -7323.336 E measured 80.106 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3911.709 N -7323.365 E measured 132.349 secs ago GPS Location: 3910.975 N -7323.336 E measured 82.815 secs ago sensor:c_wpt_lat(lat)=3905.8632 10468.1 secs ago sensor:c_wpt_lon(lon)=-7313.8289 10468.1 secs ago sensor:m_battery(volts)=15.0990618453728 31.213 secs ago sensor:m_coulomb_amphr(amp-hrs)=82.8971140000027 3.315 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=84.1308580000027 3.319 secs ago sensor:m_depth(m)=0 3.221 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 3.551 secs ago sensor:m_gps_mag_var(rad)=0.225147473507269 82.861 secs ago sensor:m_iridium_attempt_num(nodim)=1 75.588 secs ago sensor:m_iridium_call_num(nodim)=3093 35.568 secs ago sensor:m_iridium_dialed_num(nodim)=3671 47.57 secs ago sensor:m_leakdetect_voltage(volts)=2.49014041514042 27.157 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49242979242979 27.122 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49160561660562 27.086 secs ago sensor:m_tot_num_inflections(nodim)=72979 153.33 secs ago sensor:m_vacuum(inHg)=8.36350461538462 27.265 secs ago sensor:m_water_vx(m/s)=-0.267335943769028 100.203 secs ago sensor:m_water_vy(m/s)=-0.175410495585449 100.206 secs ago sensor:u_max_altimeter(m)=200 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)=3920.074 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7331.3011 1e+308 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 20/ 0/ 0 odd: 495/ 9/ 2 ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_3 entered B_ERROR state ABORT HISTORY: last abort time: 2026-05-24T21:15:08 ABORT HISTORY: last abort segment: ru43-2026-142-0-21 (0223.0021) 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 waiting for final gps fix(ideally -51 secs) Waypoint: (3905.8632,-7313.8289) Range: 16645m, Bearing: 136deg, Age: 5:32h:m Time until diving is: 515 secs s -num=3 *.sbd *.scd -------------------------------- 20029 68 02240002.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 20041 71 Neutering the Freewave Console SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size SCI: Enumerating and selecting files SCI: No files to send SCI: Sent 0 file(s): SCI: SUCCESS 20043 Freewave console restored REVERTING FROM SCIENCE COMMAND MODE SCIENCE COMMAND MODE TERMINATED because: Science Program QUIT (cts lowered) 20044 GLD: Enumerating and selecting files About to send 3 files Prechecking is not necessary for this invocation selected IRIDIUM 20045 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 20045 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 Starting zModem transfer of 02240002.scd to/from ru43 size is 12660 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: 12660 zModem transfer DONE for file 02240002.scd Starting zModem transfer of 02240001.scd to/from ru43 size is 718 Total Bytes sent/received: 718 zModem transfer DONE for file 02240001.scd Starting zModem transfer of 02240000.scd to/from ru43 size is 12386 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: 12386 zModem transfer DONE for file 02240000.scd 20241 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 20241 restore_sensors().... 20241 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES ... 20242 GLD: Sent 3 file(s): 02240002.scd 02240001.scd 02240000.scd GLD: SUCCESS Glider-Science software version match: 10.080000 Science hardware version is 3.000000 20245 72 SCI:PROGLET house_elf begin() called 20245 SCI: house_elf: Version 1.2 20245 SCI:PROGLET ctd41cp begin() called 20245 SCI: ctd41cp: Version 0.2 20245 SCI: ctd41cp: Will be sending the following data to glider: 20245 SCI: sci_water_cond(s/m) 20245 SCI: sci_water_temp(degc) 20245 SCI: sci_water_pressure(bar) 20245 SCI: sci_ctd41cp_timestamp(timestamp) 20245 SCI:PROGLET dmon begin() called 20245 SCI: dmon: Version 0.0 20245 SCI: dmon: Will be sending following data to glider: 20245 SCI: sci_dmon_msg_byte_count(nodim) 20245 SCI:PROGLET vr2c begin() called 20245 SCI:PROGLET flbbcd begin() called 20245 SCI: flbbcd: Version 0.0 20245 SCI: flbbcd: Will be sending following data to glider: 20245 SCI: sci_flbbcd_chlor_units(ug/l) 20245 SCI: sci_flbbcd_bb_units(nodim) 20245 SCI: sci_flbbcd_cdom_units(ppb) 20245 SCI: sci_flbbcd_chlor_sig(nodim) 20245 SCI: sci_flbbcd_bb_sig(nodim) 20245 SCI: sci_flbbcd_cdom_sig(nodim) 20245 SCI: sci_flbbcd_chlor_ref(nodim) 20245 SCI: sci_flbbcd_bb_ref(nodim) 20245 SCI: sci_flbbcd_cdom_ref(nodim) 20245 SCI: sci_flbbcd_therm(nodim) 20245 SCI: sci_flbbcd_timestamp(timestamp) 20245 SCI:Bit(0) raise count is now 0. 20245 SCI:Bit(0) raise count is now 0. 20245 SCI:PROGLET oxy4 begin() called 20245 SCI: oxy4: Version 0.0 20245 SCI: oxy4: Will be sending following data to glider: 20245 SCI: sci_oxy4_oxygen(um) 20245 SCI: sci_oxy4_saturation(%) 20245 SCI: sci_oxy4_temp(degc) 20245 SCI: sci_oxy4_calphase(deg) 20245 SCI: sci_oxy4_tcphase(deg) 20245 SCI: sci_oxy4_c1rph(deg) 20245 SCI: sci_oxy4_c2rph(deg) 20245 SCI: sci_oxy4_c1amp(mv) 20245 SCI: sci_oxy4_c2amp(mv) 20245 SCI: sci_oxy4_rawtemp(mv) 20245 SCI: sci_oxy4_timestamp(timestamp) 20245 SCI:Bit(2) raise count is now 0. 20245 SCI:Bit(2) raise count is now 0. 20245 SCI:PROGLET house_elf start() called 20245 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 20245 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 20245 SCI:PROGLET vr2c start() called 20245 SCI: vr2c_run(): 0 error(s) in a row. (5 is fatal) 20245 SCI: vr2c_run(): 0 error(s) since vr2c_begin(). (50 is fatal) 20260 75 02240003.mcg LOG FILE OPENED -------------------------------- 20260 behavior surface_3: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru43 at surface. Because:no comms for a while [behavior surface_3 start_when = 12.0] MissionName:100_n.mi MissionNum:ru43-2026-143-0-3 (0224.0003) Vehicle Name: ru43 Curr Time: Mon May 25 02:56:11 2026 MT: 20262 DR Location: 3910.975 N -7323.336 E measured 333.74 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3911.709 N -7323.365 E measured 385.983 secs ago GPS Location: 3910.975 N -7323.336 E measured 336.448 secs ago sensor:c_wpt_lat(lat)=3905.8632 10721.7 secs ago sensor:c_wpt_lon(lon)=-7313.8289 10721.7 secs ago sensor:m_battery(volts)=15.0951698244497 0.321 secs ago sensor:m_coulomb_amphr(amp-hrs)=82.9312900000027 0.419 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=84.1650340000027 0.423 secs ago sensor:m_depth(m)=0.033295809484541 0.234 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 0.654 secs ago sensor:m_gps_mag_var(rad)=0.225147473507269 336.495 secs ago sensor:m_iridium_attempt_num(nodim)=0 233.687 secs ago sensor:m_iridium_call_num(nodim)=3093 289.201 secs ago sensor:m_iridium_dialed_num(nodim)=3671 301.204 secs ago sensor:m_leakdetect_voltage(volts)=2.48940781440781 0.217 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49233821733822 0.181 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49157509157509 0.146 secs ago sensor:m_tot_num_inflections(nodim)=72979 406.964 secs ago sensor:m_vacuum(inHg)=8.86018984126984 0.325 secs ago sensor:m_water_vx(m/s)=-0.267335943769028 353.837 secs ago sensor:m_water_vy(m/s)=-0.175410495585449 353.84 secs ago sensor:u_max_altimeter(m)=200 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)=3920.074 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7331.3011 1e+308 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 20/ 0/ 0 odd: 495/ 9/ 2 ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_3 entered B_ERROR state ABORT HISTORY: last abort time: 2026-05-24T21:15:08 ABORT HISTORY: last abort segment: ru43-2026-142-0-21 (0223.0021) 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 waiting for final gps fix(ideally -305 secs) Waypoint: (3905.8632,-7313.8289) Range: 16645m, Bearing: 136deg, Age: 5:36h: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] [ 19 0 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] [ 1 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] [ 33 0 0] 13 science_super I u 3 20 5 0 [ 0 0 0] [ 1 0 0] [ 32 0 0] 14 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 345 5 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] [ 56 4 0] 18 leakdetect I u 3 20 5 0 19 recovery - 20 coulomb I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 28 0 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 - devices:(t/m/s) errs: 0/ 0/ 0 warn: 20/ 0/ 0 odd: 495/ 9/ 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 ru43 at surface. Because:no comms for a while [behavior surface_3 start_when = 12.0] MissionName:100_n.mi MissionNum:ru43-2026-143-0-3 (0224.0003) Vehicle Name: ru43 Curr Time: Mon May 25 02:56:54 2026 MT: 20305 DR Location: 3910.975 N -7323.336 E measured 376.552 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3911.709 N -7323.365 E measured 428.795 secs ago GPS Location: 3910.975 N -7323.336 E measured 379.26 secs ago sensor:c_wpt_lat(lat)=3905.8632 10764.5 secs ago sensor:c_wpt_lon(lon)=-7313.8289 10764.5 secs ago sensor:m_battery(volts)=15.0951698244497 43.133 secs ago sensor:m_coulomb_amphr(amp-hrs)=82.9361780000027 3.313 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=84.1699220000027 3.317 secs ago sensor:m_depth(m)=0 3.218 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 3.548 secs ago sensor:m_gps_mag_var(rad)=0.225147473507269 379.306 secs ago sensor:m_iridium_attempt_num(nodim)=0 276.499 secs ago sensor:m_iridium_call_num(nodim)=3093 332.013 secs ago sensor:m_iridium_dialed_num(nodim)=3671 344.016 secs ago sensor:m_leakdetect_voltage(volts)=2.48940781440781 43.029 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49233821733822 42.993 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49157509157509 42.958 secs ago sensor:m_tot_num_inflections(nodim)=72979 449.776 secs ago sensor:m_vacuum(inHg)=8.86018984126984 43.137 secs ago sensor:m_water_vx(m/s)=-0.267335943769028 396.649 secs ago sensor:m_water_vy(m/s)=-0.175410495585449 396.651 secs ago sensor:u_max_altimeter(m)=200 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)=3920.074 1e+308 secs ago sensor:x_last_wpt_lon(lon)=-7331.3011 1e+308 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 20/ 0/ 0 odd: 495/ 9/ 2 ABORT HISTORY: total since reset: 5 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_3 entered B_ERROR state ABORT HISTORY: last abort time: 2026-05-24T21:15:08 ABORT HISTORY: last abort segment: ru43-2026-142-0-21 (0223.0021) 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 waiting for final gps fix(ideally -347 secs) Waypoint: (3905.8632,-7313.8289) Range: 16645m, Bearing: 136deg, Age: 5:37h:m Time until diving is: 555 secs ^R 20324 91 behavior surface_3: User typed Control-R, resuming I heard a Control-R RESUMING MISSION 20324 02240003.mcg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=240.6K(246384 bytes) M_MIN_FREE_HEAP=159.9K(163700 bytes) M_SRAM_FREE_HEAP=1293.4K(1324480 bytes) M_SRAM_MIN_FREE_HEAP=1165.4K(1193368 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: = 182.585938 Megabytes available on c: = 7692.414062 Megabytes used on w: = 0.021973 Megabytes available on w: = 0.978027 Writing longterm state disk file: c:/state/longterm.sta f_ocean_pressure_min(volts) 0.089805 m_avg_climb_rate(m/s) -0.134138 m_avg_speed(m/s) 0.263803 m_avg_upward_inflection_time(sec) 20.886373 m_battery(volts) 15.095170 m_coulomb_amphr_total(amp-hrs) 84.173826 m_iridium_call_num(nodim) 3093.000000 m_iridium_dialed_num(nodim) 3671.000000 m_lat(lat) 3910.975300 m_lon(lon) -7323.336200 m_pump_effective_num_cycles(nodim) 4219.782722 m_tot_ballast_pumped_energy(kjoules) 6251.873892 m_tot_horz_dist(km) 4908.856370 m_tot_num_inflections(nodim) 72979.000000 m_tot_num_thermal_valve_cmd(nodim) 10.000000 m_weight_drop(bool) 0.000000 s_water_depth_avg(m) 500.000000 s_water_depth_delta(m) 0.000000 s_water_depth_wavelength(m) 100.000000 x_hover_ballast_deep(cc) -102.781779 x_hover_ballast_shallow(cc) -83.056245 x_hover_depth_deep(m) 47.885838 x_hover_depth_shallow(m) 12.974745 x_last_wpt_lat(lat) 3920.074000 x_last_wpt_lon(lon) -7331.301100 Housekeeping i