Glider dive log

OcnStnPapa 14Jun09 * SG144 * Dive index * Mission links * Dive 534 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 15 ESCAPE_HEADING 0 ROLL_MIN 150 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 534 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3809 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_DIVE 2303 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12223 C_ROLL_CLIMB 2303 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 600 UPLOAD_DIVES_MAX -1 VBD_MIN 480 DEVICE2 20

T_MISSION 630 CALL_TRIES 5 VBD_MAX 3950 DEVICE3 53

T_ABORT 1440 CALL_WAIT 60 C_VBD 2931 DEVICE4 35

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -1 T_GPS 10 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -72370.664 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 57 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 120 RAFOS_HIT_WINDOW 3600 AH0_24V 147 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 120 AH0_10V 122.2 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3976 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2000 PRESSURE_YINT -1.9652373 SEABIRD_T_G 0.0043441742

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011159377 SEABIRD_T_H 0.00062523223

MASS 51458 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 1.8114715e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.1782754e-06

FERRY_MAX 45 PITCH_GAIN 23 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.019677

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1227477

HD_A 0.0037098001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00077646878

HD_B 0.012019 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00015901824

HD_C 3.2039999e-05 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 23 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3976 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 120 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011159377 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -1.9652373 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_DIVE 600

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 10

CALL_TRIES 5 HD_A 0.0037098001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.012019 RELAUNCH 1 T_GPS_CHARGE -72370.664

CAPMAXSIZE 100000 HD_C 3.2039999e-05 RHO 1.023 T_MISSION 630

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 57

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 144 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3809 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2000 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY -1

C_ROLL_CLIMB 2303 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2303 MASS 51458 R_PORT_OVSHOOT 35 VBD_BLEED_AD_RATE 8

C_VBD 2931 MAX_BUOY 120 R_STBD_OVSHOOT 33 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 15 SEABIRD_C_G -10.019677 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1227477 VBD_MAX 3950

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00077646878 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00015901824 VBD_MIN 480

DEVICE3 53 N_GPS 20 SEABIRD_T_G 0.0043441742 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 35 N_NOCOMM 1 SEABIRD_T_H 0.00062523223 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 1.8114715e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 1.1782754e-06 XPDR_DEVICE 24

DIVE 534 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.02 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 102015,5007.284,-14448.538,38,2.2,57,18.5 TGT_NAME C_NW

_CALLS 3 TGT_LATLONG 5007.510,-14450.889

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.051,0.020

_SM_DEPTHo 2.53 KALMAN_X -97552.9,252.7,295.8,123110.0,-1851.3

_SM_ANGLEo -57.6 KALMAN_Y 26812.4,22.3,158.7,-52176.7,-140.2

GPS2 103428,5007.380,-14448.468,12,2.2,31,18.5 MHEAD_RNG_PITCHd_Wd 272.4,2884,-42.5,-5.500

SPEED_LIMITS 0.055,0.168 D_GRID 1001

Post-dive calculations and measurements:

FINISH 1.6,1.025518 XPDR_PINGS 45

SM_CCo 23320,112.22,0.604,0,0,1707,300.00 _24V_AH 23.4,77.399

SM_GC 2.39,0.00,0.00,112.22,0.000,0.000,0.604,97,2295,1707,-8.75,-0.23,300.00 _10V_AH 10.5,67.212

IRIDIUM_FIX 4946.36,-14446.46,030399,101053 DATA_FILE_SIZE 34890,570

TT8_MAMPS 0.029146 CAP_FILE_SIZE 169857,0

HUMID 1691 CFSIZE 260165632,217108480

INTERNAL_PRESSURE 7.3831 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 15.70 GPS 071209,170736,5007.579,-14450.434,44,1.9,56,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 246 102.44 SBE_CT 400 24 225.15

Roll_motor 171 61 246.89 SBE_O2 459 19 204.40

VBD_pump_during_apogee 172 1245 5026.44 Optode 584 33 451.42

VBD_pump_during_surface 112 604 1587.18 WL_BB2F 978 105 2403.65

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 90 103 219.10 nil 0 0 0.00

Iridium_during_connect 92 160 345.03 nil 0 0 0.00

Iridium_during_xfer 355 223 1856.27

Transponder_ping 11 420 110.56

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 19.10

TT8 1490 19 309.92

LPSleep 18657 2 429.04

TT8_Active 412 19 85.86

TT8_Sampling 2691 39 1124.76

TT8_CF8 1025 45 493.03

TT8_Kalman 33 81 28.66

Analog_circuits 1658 12 209.02

GPS_charging 0 0 0.00

Compass 2622 8 220.32

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.86 -13.1 0.0 0.0 0 49 0.00 0.00 -30.60 0.000 2 0.000 0.000 98 2293 2504

53 -1.87 -18.3 3.2 -4.0 3 79 6.07 2.38 -13.68 0.000 4 0.232 0.061 1572 3699 3008

335 -1.90 -18.3 78.0 -27.4 28 339 0.00 2.20 0.00 0.000 6 0.000 0.033 1575 2306 3009

668 -2.01 -18.3 156.5 -21.1 44 672 0.00 2.28 0.00 0.000 4 0.000 0.047 1567 3709 3009

738 -2.07 -18.3 171.0 -19.8 46 742 0.00 2.22 0.00 0.000 6 0.000 0.036 1570 2298 3009

1073 -2.18 -18.3 232.5 -17.8 57 1078 0.15 2.28 0.00 0.000 4 0.073 0.050 1518 886 3010

1331 -2.22 -18.3 283.8 -20.1 64 1337 0.00 2.25 0.00 0.000 6 0.000 0.044 1510 2304 3010

1673 -2.26 -18.3 348.4 -18.9 72 1677 0.00 2.30 0.00 0.000 4 0.000 0.049 1510 881 3010

1931 -2.30 -18.3 397.3 -18.5 75 1938 0.00 2.28 0.00 0.000 6 0.000 0.038 1499 2300 3010

2242 -2.33 -18.3 453.7 -18.3 81 2245 0.00 2.25 0.00 0.000 4 0.000 0.044 1503 885 3009

2449 -2.37 -18.3 492.4 -19.2 84 2453 0.00 2.28 0.00 0.000 6 0.000 0.038 1495 2311 3009

2815 -2.39 -18.3 560.2 -18.4 90 2819 0.00 2.28 0.00 0.000 4 0.000 0.044 1495 889 3009

2872 -2.42 -18.3 570.9 -18.0 90 2879 0.00 2.25 0.00 0.000 6 0.000 0.041 1485 2303 3009

3183 -2.42 -18.3 626.5 -17.8 96 3187 0.00 2.28 0.00 0.000 4 0.000 0.044 1489 885 3008

3205 -2.42 -18.3 630.6 -17.1 96 3209 0.00 2.28 0.00 0.000 6 0.000 0.044 1481 2306 3008

3543 -2.42 -18.3 687.3 -16.8 102 3544 0.00 0.00 0.00 0.000 6 0.000 0.000 1481 2306 3008

3847 -2.42 -18.3 734.1 -15.3 107 3851 0.00 2.28 0.00 0.000 4 0.000 0.047 1470 3713 3008

3903 -2.35 -18.3 743.0 -15.5 107 3910 0.00 2.20 0.00 0.000 6 0.000 0.033 1469 2298 3008

4213 -2.35 -18.3 787.0 -14.1 113 4215 0.00 0.00 0.00 0.000 6 0.000 0.000 1470 2298 3007

4516 -2.35 -18.3 829.8 -14.2 118 4520 0.00 2.28 0.00 0.000 4 0.000 0.044 1471 885 3007

4580 -2.35 -18.3 838.9 -13.9 119 4585 0.12 2.28 0.00 0.000 6 0.219 0.044 1487 2304 3007

4952 -2.35 -18.3 888.3 -13.2 125 4954 0.00 0.00 0.00 0.000 6 0.000 0.000 1487 2304 3007

5256 -2.35 -18.3 929.0 -13.4 130 5260 0.00 2.30 0.00 0.000 4 0.000 0.045 1491 889 3007

5324 -2.35 -18.3 938.6 -13.7 131 5328 0.00 2.28 0.00 0.000 6 0.000 0.039 1482 2310 3006

5685 -2.35 -18.3 988.1 -13.6 137 5689 0.00 2.28 0.00 0.000 4 0.000 0.049 1471 3718 3006

5698 end dive: TARGET_DEPTH_EXCEEDED

state 5698 begin apogee

5708 -0.22 0.0 990.6 13.6 137 5731 1.77 0.00 17.05 1.211 6 0.202 0.000 1943 2296 2931

5731 end apogee: CONTROL_FINISHED_OK

state 5731 begin climb

5735 1.87 18.3 992.9 0.0 137 5756 1.30 0.00 16.90 1.186 6 0.077 0.000 2406 2296 2856

6056 1.91 51.3 999.5 -3.8 143 6090 0.00 2.42 28.38 1.246 4 0.000 0.053 2398 3707 2721

6346 1.87 51.3 983.4 8.6 147 6350 0.00 2.25 0.00 0.000 6 0.000 0.041 2407 2306 2720

6696 1.90 51.3 956.2 7.8 153 6700 0.00 2.30 0.00 0.000 4 0.000 0.054 2398 3709 2719

6954 1.85 51.3 933.9 9.2 156 6960 0.00 2.28 0.00 0.000 6 0.000 0.040 2407 2292 2719

7265 1.88 51.3 908.9 8.1 162 7269 0.00 2.33 0.00 0.000 4 0.000 0.051 2398 3708 2718

7523 1.84 51.3 886.3 8.5 165 7529 0.00 2.25 0.00 0.000 6 0.000 0.035 2407 2293 2718

7834 1.86 51.3 862.5 7.7 171 7838 0.00 2.30 0.00 0.000 4 0.000 0.048 2398 3710 2718

8092 1.81 51.3 841.8 8.5 174 8098 0.00 2.28 0.00 0.000 6 0.000 0.034 2407 2301 2718

8402 1.84 51.3 820.8 6.6 180 8404 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2301 2718

8705 1.87 51.3 802.8 5.8 185 8709 0.00 2.30 0.00 0.000 4 0.000 0.045 2417 889 2717

8837 1.90 51.3 795.4 5.8 187 8841 0.00 2.28 0.00 0.000 6 0.000 0.041 2410 2302 2717

9204 1.93 51.8 775.7 5.4 193 9205 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2302 2717

9507 1.95 52.2 759.3 5.4 198 9511 0.00 2.30 0.00 0.000 4 0.000 0.053 2410 3708 2717

9524 1.95 52.8 758.3 5.3 198 9528 0.00 2.22 0.00 0.000 6 0.000 0.034 2418 2290 2716

9874 1.96 53.9 740.1 5.2 204 9878 0.00 2.30 0.00 0.000 4 0.000 0.048 2410 3710 2717

9903 1.91 55.7 738.5 5.0 204 9912 0.00 2.20 4.55 0.758 6 0.000 0.034 2418 2299 2702

10241 1.91 55.7 718.6 6.0 210 10245 0.00 2.30 0.00 0.000 4 0.000 0.049 2410 3714 2703

10432 1.85 55.7 706.3 6.4 212 10438 0.00 2.20 0.00 0.000 6 0.000 0.034 2418 2302 2702

10742 1.85 55.7 689.3 5.5 218 10743 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 2302 2702

11046 1.85 56.2 673.2 5.4 223 11050 0.00 2.30 0.00 0.000 4 0.000 0.055 2410 3720 2702

11304 1.79 56.4 659.4 5.4 226 11311 0.15 2.22 0.00 0.000 6 0.247 0.033 2389 2292 2702

11616 1.85 61.5 646.6 4.1 232 11629 0.00 2.35 6.50 0.841 4 0.000 0.048 2379 3709 2679

11709 1.85 61.5 642.0 6.0 233 11712 0.00 2.20 0.00 0.000 6 0.000 0.034 2388 2299 2679

12054 1.91 62.1 623.9 5.3 239 12056 0.10 0.00 0.00 0.000 6 0.100 0.000 2423 2299 2678

12356 1.91 62.7 607.7 5.3 244 12357 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 2299 2678

12659 1.91 64.5 592.6 5.0 249 12665 0.00 0.00 3.92 0.635 6 0.000 0.000 2423 2299 2668

12962 1.91 64.5 576.2 5.5 254 12966 0.00 2.30 0.00 0.000 4 0.000 0.048 2414 3715 2668

13134 1.85 64.5 566.3 6.0 256 13137 0.00 2.20 0.00 0.000 6 0.000 0.033 2423 2305 2668

13467 1.85 64.5 547.9 5.5 262 13471 0.00 2.28 0.00 0.000 4 0.000 0.048 2415 3718 2668

13506 1.78 64.5 545.6 5.6 262 13511 0.15 2.20 0.00 0.000 6 0.242 0.034 2393 2302 2668

13828 1.84 66.6 529.7 4.9 268 13837 0.00 2.30 3.60 0.572 4 0.000 0.047 2384 3707 2659

13918 1.84 67.1 524.9 5.4 269 13922 0.00 2.20 0.00 0.000 6 0.000 0.034 2392 2293 2659

14263 1.90 69.4 508.2 4.8 275 14273 0.08 2.33 4.18 0.632 4 0.107 0.048 2412 3714 2647

14414 1.85 69.4 499.5 5.7 277 14417 0.00 2.20 0.00 0.000 6 0.000 0.033 2421 2293 2647

14770 1.86 71.7 482.4 4.9 283 14771 0.00 0.00 0.00 0.000 6 0.000 0.000 2421 2293 2647

15072 1.86 74.7 468.2 4.6 288 15080 0.00 0.00 5.90 0.736 6 0.000 0.000 2421 2293 2626

15376 1.89 74.7 450.0 6.2 293 15377 0.00 0.00 0.00 0.000 6 0.000 0.000 2421 2293 2625

15679 1.92 74.7 432.0 5.8 298 15683 0.00 2.33 0.00 0.000 4 0.000 0.048 2412 3718 2625

15754 1.87 74.7 427.5 6.2 299 15758 0.00 2.22 0.00 0.000 6 0.000 0.033 2421 2298 2625

16110 1.90 74.7 405.2 6.4 305 16114 0.00 2.30 0.00 0.000 4 0.000 0.047 2412 3718 2625

16367 1.86 74.7 388.8 5.9 308 16374 0.00 2.25 0.00 0.000 6 0.000 0.033 2421 2301 2625

16678 1.89 77.5 373.9 4.7 314 16687 0.00 2.33 3.88 0.561 4 0.000 0.047 2413 3707 2615

16763 1.84 79.5 369.9 5.0 315 16767 0.00 2.20 0.00 0.000 6 0.000 0.032 2421 2304 2615

17114 1.88 82.3 353.2 4.7 321 17121 0.00 0.00 5.68 0.665 6 0.000 0.000 2421 2304 2595

17416 1.92 82.3 336.3 5.7 326 17417 0.00 0.00 0.00 0.000 6 0.000 0.000 2421 2304 2595

17719 1.95 82.3 317.2 6.3 331 17722 0.00 2.25 0.00 0.000 4 0.000 0.044 2431 896 2594

17977 2.00 82.3 301.7 6.8 334 17981 0.00 2.25 0.00 0.000 6 0.000 0.038 2424 2314 2594

18290 2.04 83.1 285.7 5.3 343 18294 0.00 2.28 0.00 0.000 4 0.000 0.043 2432 890 2595

18476 2.09 89.2 276.9 3.8 348 18489 0.12 2.22 7.05 0.675 6 0.086 0.037 2469 2306 2566

18794 2.09 89.2 259.0 5.9 359 18798 0.00 2.25 0.00 0.000 4 0.000 0.045 2463 3719 2566

18890 2.00 89.2 253.3 6.3 361 18897 0.17 2.20 0.00 0.000 6 0.235 0.031 2434 2300 2566

19204 2.03 91.2 237.7 4.9 372 19205 0.00 0.00 0.00 0.000 6 0.000 0.000 2434 2301 2566

19511 2.06 94.7 223.5 4.5 382 19519 0.00 0.00 6.15 0.627 6 0.000 0.000 2434 2301 2543

19816 2.09 94.7 205.7 6.3 392 19820 0.00 2.25 0.00 0.000 4 0.000 0.044 2424 3707 2543

20075 2.06 94.7 190.2 5.7 399 20079 0.00 2.17 0.00 0.000 6 0.000 0.032 2433 2300 2542

20394 2.10 104.9 180.2 2.6 410 20409 0.08 2.28 9.43 0.660 4 0.097 0.045 2459 3706 2502

20665 2.03 104.9 163.3 6.7 418 20670 0.12 2.17 0.00 0.000 6 0.235 0.031 2443 2300 2500

20997 2.07 108.5 145.1 4.5 430 21007 0.00 2.28 4.35 0.508 4 0.000 0.044 2435 3719 2488

21049 2.04 113.5 142.8 4.1 432 21059 0.00 2.20 5.80 0.569 6 0.000 0.031 2443 2292 2467

21371 2.10 121.1 129.5 3.3 447 21385 0.00 2.28 7.47 0.603 4 0.000 0.042 2454 890 2436

21520 2.18 134.2 126.4 1.8 453 21537 0.10 2.22 12.05 0.647 6 0.085 0.035 2486 2310 2383

21862 2.18 134.2 107.0 5.9 470 21866 0.00 2.25 0.00 0.000 4 0.000 0.043 2479 3712 2380

22121 2.16 157.0 107.6 -0.9 481 22146 0.00 2.20 19.62 0.663 6 0.000 0.030 2487 2293 2290

22464 2.19 157.0 86.5 8.5 498 22468 0.00 2.30 0.00 0.000 4 0.000 0.044 2478 3715 2285

22722 2.15 157.0 63.2 8.7 517 22728 0.00 2.20 0.00 0.000 6 0.000 0.031 2487 2305 2284

23051 2.17 157.0 29.6 11.1 548 23055 0.00 2.25 0.00 0.000 4 0.000 0.043 2479 3710 2284

23286 end climb: SURFACE_DEPTH_REACHED

state 23286 begin surface coast

23298 end surface coast: CONTROL_FINISHED_OK

state 23298 begin surface

ID	144	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	15	ESCAPE_HEADING	0	ROLL_MIN	150	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	534	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3809	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_DIVE	2303	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12223	C_ROLL_CLIMB	2303	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	600	UPLOAD_DIVES_MAX	-1	VBD_MIN	480	DEVICE2	20
T_MISSION	630	CALL_TRIES	5	VBD_MAX	3950	DEVICE3	53
T_ABORT	1440	CALL_WAIT	60	C_VBD	2931	DEVICE4	35
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-1	T_GPS	10	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-72370.664	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	57	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	120	RAFOS_HIT_WINDOW	3600	AH0_24V	147	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	120	AH0_10V	122.2	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3976	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2000	PRESSURE_YINT	-1.9652373	SEABIRD_T_G	0.0043441742
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011159377	SEABIRD_T_H	0.00062523223
MASS	51458	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	1.8114715e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.1782754e-06
FERRY_MAX	45	PITCH_GAIN	23	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.019677
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1227477
HD_A	0.0037098001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00077646878
HD_B	0.012019	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00015901824
HD_C	3.2039999e-05	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	102015,5007.284,-14448.538,38,2.2,57,18.5	TGT_NAME	C_NW
_CALLS	3	TGT_LATLONG	5007.510,-14450.889
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.051,0.020
_SM_DEPTHo	2.53	KALMAN_X	-97552.9,252.7,295.8,123110.0,-1851.3
_SM_ANGLEo	-57.6	KALMAN_Y	26812.4,22.3,158.7,-52176.7,-140.2
GPS2	103428,5007.380,-14448.468,12,2.2,31,18.5	MHEAD_RNG_PITCHd_Wd	272.4,2884,-42.5,-5.500
SPEED_LIMITS	0.055,0.168	D_GRID	1001

FINISH	1.6,1.025518	XPDR_PINGS	45
SM_CCo	23320,112.22,0.604,0,0,1707,300.00	_24V_AH	23.4,77.399
SM_GC	2.39,0.00,0.00,112.22,0.000,0.000,0.604,97,2295,1707,-8.75,-0.23,300.00	_10V_AH	10.5,67.212
IRIDIUM_FIX	4946.36,-14446.46,030399,101053	DATA_FILE_SIZE	34890,570
TT8_MAMPS	0.029146	CAP_FILE_SIZE	169857,0
HUMID	1691	CFSIZE	260165632,217108480
INTERNAL_PRESSURE	7.3831	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	15.70	GPS	071209,170736,5007.579,-14450.434,44,1.9,56,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	246	102.44	SBE_CT	400	24	225.15
Roll_motor	171	61	246.89	SBE_O2	459	19	204.40
VBD_pump_during_apogee	172	1245	5026.44	Optode	584	33	451.42
VBD_pump_during_surface	112	604	1587.18	WL_BB2F	978	105	2403.65
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	90	103	219.10	nil	0	0	0.00
Iridium_during_connect	92	160	345.03	nil	0	0	0.00
Iridium_during_xfer	355	223	1856.27
Transponder_ping	11	420	110.56
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	19.10
TT8	1490	19	309.92
LPSleep	18657	2	429.04
TT8_Active	412	19	85.86
TT8_Sampling	2691	39	1124.76
TT8_CF8	1025	45	493.03
TT8_Kalman	33	81	28.66
Analog_circuits	1658	12	209.02
GPS_charging	0	0	0.00
Compass	2622	8	220.32
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.86	-13.1	0.0	0.0	0	49	0.00	0.00	-30.60	0.000	2	0.000	0.000	98	2293	2504
53	-1.87	-18.3	3.2	-4.0	3	79	6.07	2.38	-13.68	0.000	4	0.232	0.061	1572	3699	3008
335	-1.90	-18.3	78.0	-27.4	28	339	0.00	2.20	0.00	0.000	6	0.000	0.033	1575	2306	3009
668	-2.01	-18.3	156.5	-21.1	44	672	0.00	2.28	0.00	0.000	4	0.000	0.047	1567	3709	3009
738	-2.07	-18.3	171.0	-19.8	46	742	0.00	2.22	0.00	0.000	6	0.000	0.036	1570	2298	3009
1073	-2.18	-18.3	232.5	-17.8	57	1078	0.15	2.28	0.00	0.000	4	0.073	0.050	1518	886	3010
1331	-2.22	-18.3	283.8	-20.1	64	1337	0.00	2.25	0.00	0.000	6	0.000	0.044	1510	2304	3010
1673	-2.26	-18.3	348.4	-18.9	72	1677	0.00	2.30	0.00	0.000	4	0.000	0.049	1510	881	3010
1931	-2.30	-18.3	397.3	-18.5	75	1938	0.00	2.28	0.00	0.000	6	0.000	0.038	1499	2300	3010
2242	-2.33	-18.3	453.7	-18.3	81	2245	0.00	2.25	0.00	0.000	4	0.000	0.044	1503	885	3009
2449	-2.37	-18.3	492.4	-19.2	84	2453	0.00	2.28	0.00	0.000	6	0.000	0.038	1495	2311	3009
2815	-2.39	-18.3	560.2	-18.4	90	2819	0.00	2.28	0.00	0.000	4	0.000	0.044	1495	889	3009
2872	-2.42	-18.3	570.9	-18.0	90	2879	0.00	2.25	0.00	0.000	6	0.000	0.041	1485	2303	3009
3183	-2.42	-18.3	626.5	-17.8	96	3187	0.00	2.28	0.00	0.000	4	0.000	0.044	1489	885	3008
3205	-2.42	-18.3	630.6	-17.1	96	3209	0.00	2.28	0.00	0.000	6	0.000	0.044	1481	2306	3008
3543	-2.42	-18.3	687.3	-16.8	102	3544	0.00	0.00	0.00	0.000	6	0.000	0.000	1481	2306	3008
3847	-2.42	-18.3	734.1	-15.3	107	3851	0.00	2.28	0.00	0.000	4	0.000	0.047	1470	3713	3008
3903	-2.35	-18.3	743.0	-15.5	107	3910	0.00	2.20	0.00	0.000	6	0.000	0.033	1469	2298	3008
4213	-2.35	-18.3	787.0	-14.1	113	4215	0.00	0.00	0.00	0.000	6	0.000	0.000	1470	2298	3007
4516	-2.35	-18.3	829.8	-14.2	118	4520	0.00	2.28	0.00	0.000	4	0.000	0.044	1471	885	3007
4580	-2.35	-18.3	838.9	-13.9	119	4585	0.12	2.28	0.00	0.000	6	0.219	0.044	1487	2304	3007
4952	-2.35	-18.3	888.3	-13.2	125	4954	0.00	0.00	0.00	0.000	6	0.000	0.000	1487	2304	3007
5256	-2.35	-18.3	929.0	-13.4	130	5260	0.00	2.30	0.00	0.000	4	0.000	0.045	1491	889	3007
5324	-2.35	-18.3	938.6	-13.7	131	5328	0.00	2.28	0.00	0.000	6	0.000	0.039	1482	2310	3006
5685	-2.35	-18.3	988.1	-13.6	137	5689	0.00	2.28	0.00	0.000	4	0.000	0.049	1471	3718	3006
5698	end dive: TARGET_DEPTH_EXCEEDED
state	5698	begin apogee
5708	-0.22	0.0	990.6	13.6	137	5731	1.77	0.00	17.05	1.211	6	0.202	0.000	1943	2296	2931
5731	end apogee: CONTROL_FINISHED_OK
state	5731	begin climb
5735	1.87	18.3	992.9	0.0	137	5756	1.30	0.00	16.90	1.186	6	0.077	0.000	2406	2296	2856
6056	1.91	51.3	999.5	-3.8	143	6090	0.00	2.42	28.38	1.246	4	0.000	0.053	2398	3707	2721
6346	1.87	51.3	983.4	8.6	147	6350	0.00	2.25	0.00	0.000	6	0.000	0.041	2407	2306	2720
6696	1.90	51.3	956.2	7.8	153	6700	0.00	2.30	0.00	0.000	4	0.000	0.054	2398	3709	2719
6954	1.85	51.3	933.9	9.2	156	6960	0.00	2.28	0.00	0.000	6	0.000	0.040	2407	2292	2719
7265	1.88	51.3	908.9	8.1	162	7269	0.00	2.33	0.00	0.000	4	0.000	0.051	2398	3708	2718
7523	1.84	51.3	886.3	8.5	165	7529	0.00	2.25	0.00	0.000	6	0.000	0.035	2407	2293	2718
7834	1.86	51.3	862.5	7.7	171	7838	0.00	2.30	0.00	0.000	4	0.000	0.048	2398	3710	2718
8092	1.81	51.3	841.8	8.5	174	8098	0.00	2.28	0.00	0.000	6	0.000	0.034	2407	2301	2718
8402	1.84	51.3	820.8	6.6	180	8404	0.00	0.00	0.00	0.000	6	0.000	0.000	2407	2301	2718
8705	1.87	51.3	802.8	5.8	185	8709	0.00	2.30	0.00	0.000	4	0.000	0.045	2417	889	2717
8837	1.90	51.3	795.4	5.8	187	8841	0.00	2.28	0.00	0.000	6	0.000	0.041	2410	2302	2717
9204	1.93	51.8	775.7	5.4	193	9205	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2302	2717
9507	1.95	52.2	759.3	5.4	198	9511	0.00	2.30	0.00	0.000	4	0.000	0.053	2410	3708	2717
9524	1.95	52.8	758.3	5.3	198	9528	0.00	2.22	0.00	0.000	6	0.000	0.034	2418	2290	2716
9874	1.96	53.9	740.1	5.2	204	9878	0.00	2.30	0.00	0.000	4	0.000	0.048	2410	3710	2717
9903	1.91	55.7	738.5	5.0	204	9912	0.00	2.20	4.55	0.758	6	0.000	0.034	2418	2299	2702
10241	1.91	55.7	718.6	6.0	210	10245	0.00	2.30	0.00	0.000	4	0.000	0.049	2410	3714	2703
10432	1.85	55.7	706.3	6.4	212	10438	0.00	2.20	0.00	0.000	6	0.000	0.034	2418	2302	2702
10742	1.85	55.7	689.3	5.5	218	10743	0.00	0.00	0.00	0.000	6	0.000	0.000	2418	2302	2702
11046	1.85	56.2	673.2	5.4	223	11050	0.00	2.30	0.00	0.000	4	0.000	0.055	2410	3720	2702
11304	1.79	56.4	659.4	5.4	226	11311	0.15	2.22	0.00	0.000	6	0.247	0.033	2389	2292	2702
11616	1.85	61.5	646.6	4.1	232	11629	0.00	2.35	6.50	0.841	4	0.000	0.048	2379	3709	2679
11709	1.85	61.5	642.0	6.0	233	11712	0.00	2.20	0.00	0.000	6	0.000	0.034	2388	2299	2679
12054	1.91	62.1	623.9	5.3	239	12056	0.10	0.00	0.00	0.000	6	0.100	0.000	2423	2299	2678
12356	1.91	62.7	607.7	5.3	244	12357	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	2299	2678
12659	1.91	64.5	592.6	5.0	249	12665	0.00	0.00	3.92	0.635	6	0.000	0.000	2423	2299	2668
12962	1.91	64.5	576.2	5.5	254	12966	0.00	2.30	0.00	0.000	4	0.000	0.048	2414	3715	2668
13134	1.85	64.5	566.3	6.0	256	13137	0.00	2.20	0.00	0.000	6	0.000	0.033	2423	2305	2668
13467	1.85	64.5	547.9	5.5	262	13471	0.00	2.28	0.00	0.000	4	0.000	0.048	2415	3718	2668
13506	1.78	64.5	545.6	5.6	262	13511	0.15	2.20	0.00	0.000	6	0.242	0.034	2393	2302	2668
13828	1.84	66.6	529.7	4.9	268	13837	0.00	2.30	3.60	0.572	4	0.000	0.047	2384	3707	2659
13918	1.84	67.1	524.9	5.4	269	13922	0.00	2.20	0.00	0.000	6	0.000	0.034	2392	2293	2659
14263	1.90	69.4	508.2	4.8	275	14273	0.08	2.33	4.18	0.632	4	0.107	0.048	2412	3714	2647
14414	1.85	69.4	499.5	5.7	277	14417	0.00	2.20	0.00	0.000	6	0.000	0.033	2421	2293	2647
14770	1.86	71.7	482.4	4.9	283	14771	0.00	0.00	0.00	0.000	6	0.000	0.000	2421	2293	2647
15072	1.86	74.7	468.2	4.6	288	15080	0.00	0.00	5.90	0.736	6	0.000	0.000	2421	2293	2626
15376	1.89	74.7	450.0	6.2	293	15377	0.00	0.00	0.00	0.000	6	0.000	0.000	2421	2293	2625
15679	1.92	74.7	432.0	5.8	298	15683	0.00	2.33	0.00	0.000	4	0.000	0.048	2412	3718	2625
15754	1.87	74.7	427.5	6.2	299	15758	0.00	2.22	0.00	0.000	6	0.000	0.033	2421	2298	2625
16110	1.90	74.7	405.2	6.4	305	16114	0.00	2.30	0.00	0.000	4	0.000	0.047	2412	3718	2625
16367	1.86	74.7	388.8	5.9	308	16374	0.00	2.25	0.00	0.000	6	0.000	0.033	2421	2301	2625
16678	1.89	77.5	373.9	4.7	314	16687	0.00	2.33	3.88	0.561	4	0.000	0.047	2413	3707	2615
16763	1.84	79.5	369.9	5.0	315	16767	0.00	2.20	0.00	0.000	6	0.000	0.032	2421	2304	2615
17114	1.88	82.3	353.2	4.7	321	17121	0.00	0.00	5.68	0.665	6	0.000	0.000	2421	2304	2595
17416	1.92	82.3	336.3	5.7	326	17417	0.00	0.00	0.00	0.000	6	0.000	0.000	2421	2304	2595
17719	1.95	82.3	317.2	6.3	331	17722	0.00	2.25	0.00	0.000	4	0.000	0.044	2431	896	2594
17977	2.00	82.3	301.7	6.8	334	17981	0.00	2.25	0.00	0.000	6	0.000	0.038	2424	2314	2594
18290	2.04	83.1	285.7	5.3	343	18294	0.00	2.28	0.00	0.000	4	0.000	0.043	2432	890	2595
18476	2.09	89.2	276.9	3.8	348	18489	0.12	2.22	7.05	0.675	6	0.086	0.037	2469	2306	2566
18794	2.09	89.2	259.0	5.9	359	18798	0.00	2.25	0.00	0.000	4	0.000	0.045	2463	3719	2566
18890	2.00	89.2	253.3	6.3	361	18897	0.17	2.20	0.00	0.000	6	0.235	0.031	2434	2300	2566
19204	2.03	91.2	237.7	4.9	372	19205	0.00	0.00	0.00	0.000	6	0.000	0.000	2434	2301	2566
19511	2.06	94.7	223.5	4.5	382	19519	0.00	0.00	6.15	0.627	6	0.000	0.000	2434	2301	2543
19816	2.09	94.7	205.7	6.3	392	19820	0.00	2.25	0.00	0.000	4	0.000	0.044	2424	3707	2543
20075	2.06	94.7	190.2	5.7	399	20079	0.00	2.17	0.00	0.000	6	0.000	0.032	2433	2300	2542
20394	2.10	104.9	180.2	2.6	410	20409	0.08	2.28	9.43	0.660	4	0.097	0.045	2459	3706	2502
20665	2.03	104.9	163.3	6.7	418	20670	0.12	2.17	0.00	0.000	6	0.235	0.031	2443	2300	2500
20997	2.07	108.5	145.1	4.5	430	21007	0.00	2.28	4.35	0.508	4	0.000	0.044	2435	3719	2488
21049	2.04	113.5	142.8	4.1	432	21059	0.00	2.20	5.80	0.569	6	0.000	0.031	2443	2292	2467
21371	2.10	121.1	129.5	3.3	447	21385	0.00	2.28	7.47	0.603	4	0.000	0.042	2454	890	2436
21520	2.18	134.2	126.4	1.8	453	21537	0.10	2.22	12.05	0.647	6	0.085	0.035	2486	2310	2383
21862	2.18	134.2	107.0	5.9	470	21866	0.00	2.25	0.00	0.000	4	0.000	0.043	2479	3712	2380
22121	2.16	157.0	107.6	-0.9	481	22146	0.00	2.20	19.62	0.663	6	0.000	0.030	2487	2293	2290
22464	2.19	157.0	86.5	8.5	498	22468	0.00	2.30	0.00	0.000	4	0.000	0.044	2478	3715	2285
22722	2.15	157.0	63.2	8.7	517	22728	0.00	2.20	0.00	0.000	6	0.000	0.031	2487	2305	2284
23051	2.17	157.0	29.6	11.1	548	23055	0.00	2.25	0.00	0.000	4	0.000	0.043	2479	3710	2284
23286	end climb: SURFACE_DEPTH_REACHED
state	23286	begin surface coast
23298	end surface coast: CONTROL_FINISHED_OK
state	23298	begin surface