Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 115 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 115 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 229 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3788 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 8 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 572 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3921 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2901 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -3 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -64485.16 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 55 AH0_24V 91.800003 SEABIRD_T_G 0.0043712188

SPEED_FACTOR 1 PITCH_MAX 3362 AH0_10V 61.200001 SEABIRD_T_H 0.00064056052

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -14.98249 SEABIRD_T_I 2.37435e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_J 2.3296527e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8560104

FERRY_MAX 55 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1097485

KALMAN_USE 1 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0009817977

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017126031

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -14.98249 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -64485.16

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 103 ROLL_MAX 3788 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2000 INT_PRESSURE_YINT 0 ROLL_MIN 229 UNCOM_BLEED 20

C_ROLL_DIVE 2900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 20 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 8 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.8560104 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1097485 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0009817977 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017126031 VBD_MAX 3921

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043712188 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064056052 VBD_MIN 572

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.37435e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 115 PHONE_DEVICE 48 SEABIRD_T_J 2.3296527e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 132802,6210.653,-950.566,39,1.2,39,-9.9 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.198,0.095

_SM_DEPTHo -0.32 KALMAN_X -99208.0,331.8,272.6,31398.5,-4629.3

_SM_ANGLEo -55.5 KALMAN_Y 63169.5,-92.3,506.4,4309.1,-2582.1

GPS2 133339,6210.650,-950.615,11,1.9,11,-9.9 MHEAD_RNG_PITCHd_Wd 74.3,17324,-11.0,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 700

Post-dive calculations and measurements:

FINISH -1.0,1.027530 XPDR_PINGS 1

SM_CCo 18845,55.85,0.737,1,0,1678,300.00 ALTIM_BOTTOM_PING 575.7,98.3

SM_GC -0.41,0.00,0.00,55.85,0.000,0.000,0.737,38,2901,1678,-10.91,0.03,300.00 _24V_AH 23.5,23.311

IRIDIUM_FIX 6144.36,-956.48,011207,111110 _10V_AH 10.1,10.262

TT8_MAMPS 0.029146 DATA_FILE_SIZE 47478,915

HUMID 2046 CFSIZE 260165632,252198912

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,47,1,0

TCM_TEMP 17.40 GPS 011207,185107,6210.699,-947.338,38,1.8,43,-9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 161 97.37 SBE_CT 650 24 366.71

Roll_motor 208 93 457.72 SBE_O2 655 19 292.63

VBD_pump_during_apogee 322 1187 8992.09 WL_BB2F 586 105 1446.87

VBD_pump_during_surface 55 737 967.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 94.35 nil 0 0 0.00

Iridium_during_connect 40 160 152.39 nil 0 0 0.00

Iridium_during_xfer 160 223 842.15

Transponder_ping 5 420 49.35

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.78

TT8 1705 19 341.10

LPSleep 14481 2 320.31

TT8_Active 557 19 111.48

TT8_Sampling 2072 39 833.04

TT8_CF8 438 45 202.93

TT8_Kalman 33 81 27.56

Analog_circuits 1616 12 195.94

GPS_charging 0 0 0.00

Compass 2038 8 164.75

RAFOS 0 0 0.00

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

17 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -1.10 -146.6 0.0 0.0 0 83 0.00 0.00 -61.05 0.000 2 0.000 0.000 48 2898 3376

85 -1.10 -146.6 3.7 -9.8 3 107 12.05 2.67 -2.20 0.000 4 0.161 0.094 2166 1492 3502

153 -1.10 -146.6 16.7 -9.3 6 158 0.00 2.70 0.00 0.000 6 0.000 0.081 2166 2903 3503

480 -1.10 -146.6 39.5 -6.8 22 484 0.00 2.62 0.00 0.000 4 0.000 0.068 2166 1489 3503

511 -1.10 -146.6 41.9 -7.4 23 518 0.00 2.67 0.00 0.000 6 0.000 0.072 2166 2900 3503

827 -1.10 -146.6 64.3 -7.1 39 828 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2900 3503

1136 -1.10 -146.6 85.8 -7.0 54 1140 0.00 2.62 0.00 0.000 4 0.000 0.067 2166 1488 3503

1197 -1.10 -146.6 90.0 -6.5 57 1201 0.00 2.67 0.00 0.000 6 0.000 0.077 2166 2899 3503

1522 -1.10 -146.6 111.9 -6.7 73 1527 0.00 2.60 0.00 0.000 4 0.000 0.067 2166 1490 3503

1549 -1.10 -146.6 113.8 -6.3 74 1553 0.00 2.65 0.00 0.000 6 0.000 0.072 2166 2891 3503

1872 -1.10 -146.6 135.7 -6.9 90 1873 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2891 3503

2179 -1.10 -146.6 158.1 -7.5 105 2183 0.00 2.60 0.00 0.000 4 0.000 0.067 2166 1489 3503

2218 -1.10 -146.6 160.9 -7.6 107 2222 0.00 2.65 0.00 0.000 6 0.000 0.074 2166 2899 3503

2543 -1.10 -146.6 184.3 -7.4 123 2547 0.00 2.58 0.00 0.000 4 0.000 0.067 2166 1492 3503

2574 -1.10 -146.6 186.7 -7.3 124 2582 0.00 2.65 0.00 0.000 6 0.000 0.074 2166 2895 3503

2890 -1.10 -146.6 209.3 -7.1 140 2894 0.00 2.60 0.00 0.000 4 0.000 0.066 2166 1485 3503

2921 -1.10 -146.6 211.6 -7.2 141 2928 0.00 2.65 0.00 0.000 6 0.000 0.071 2166 2892 3503

3237 -1.10 -146.6 234.2 -7.4 157 3241 0.00 2.58 0.00 0.000 4 0.000 0.066 2166 1482 3503

3285 -1.10 -146.6 238.1 -7.5 159 3290 0.00 2.62 0.00 0.000 6 0.000 0.070 2166 2901 3503

3606 -1.10 -146.6 263.4 -8.3 175 3610 0.00 2.60 0.00 0.000 4 0.000 0.064 2166 1484 3503

3649 -1.10 -146.6 267.2 -8.9 177 3654 0.00 2.65 0.00 0.000 6 0.000 0.070 2166 2900 3503

3976 -1.10 -146.6 294.9 -8.4 193 3978 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2900 3503

4286 -1.10 -146.6 319.8 -7.5 208 4290 0.00 2.60 0.00 0.000 4 0.000 0.065 2166 1485 3503

4319 -1.10 -146.6 322.3 -7.6 209 4325 0.00 2.65 0.00 0.000 6 0.000 0.070 2166 2906 3503

4634 -1.10 -146.6 341.9 -5.8 225 4638 0.00 2.60 0.00 0.000 4 0.000 0.065 2166 1491 3503

4672 -1.10 -146.6 344.2 -6.1 227 4676 0.00 2.60 0.00 0.000 6 0.000 0.068 2166 2899 3503

4997 -1.10 -146.6 364.2 -6.3 243 5001 0.00 2.58 0.00 0.000 4 0.000 0.064 2166 1487 3503

5028 -1.10 -146.6 366.4 -6.4 244 5035 0.00 2.62 0.00 0.000 6 0.000 0.068 2167 2905 3503

5344 -1.10 -146.6 386.6 -6.3 260 5348 0.00 2.58 0.00 0.000 4 0.000 0.065 2166 1488 3503

5382 -1.10 -146.6 388.9 -6.6 262 5386 0.00 2.60 0.00 0.000 6 0.000 0.069 2167 2900 3503

5707 -1.10 -146.6 408.1 -6.1 278 5711 0.00 2.60 0.00 0.000 4 0.000 0.065 2167 1484 3503

5761 -1.10 -146.6 411.9 -7.6 280 5768 0.00 2.65 0.00 0.000 6 0.000 0.071 2166 2899 3503

6077 -1.10 -146.6 433.6 -6.8 296 6078 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2899 3503

6387 -1.10 -146.6 452.0 -5.4 311 6391 0.00 2.58 0.00 0.000 4 0.000 0.064 2166 1491 3503

6441 -1.10 -146.6 455.1 -4.9 313 6448 0.00 2.60 0.00 0.000 6 0.000 0.067 2167 2900 3503

6756 -1.10 -146.6 472.4 -6.1 329 6760 0.00 2.58 0.00 0.000 4 0.000 0.065 2166 1482 3503

6840 -1.10 -146.6 478.0 -7.1 333 6844 0.00 2.60 0.00 0.000 6 0.000 0.067 2166 2902 3503

7165 -1.10 -146.6 502.3 -8.1 349 7168 0.00 1.65 0.00 0.000 4 0.000 0.081 2166 3792 3503

7214 -1.10 -146.6 506.7 -9.3 351 7219 0.00 1.52 0.00 0.000 6 0.000 0.032 2166 2890 3503

7541 -1.10 -146.6 529.0 -6.2 367 7545 0.00 2.53 0.00 0.000 4 0.000 0.065 2166 1500 3503

7611 -1.10 -146.6 533.8 -6.5 370 7616 0.00 2.60 0.00 0.000 6 0.000 0.067 2166 2900 3503

7933 -1.10 -146.6 554.0 -6.2 386 7934 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2901 3503

8242 -1.10 -146.6 574.2 -7.0 401 8243 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2901 3503

8551 -1.10 -146.6 595.7 -6.8 416 8556 0.00 2.55 0.00 0.000 4 0.000 0.062 2166 1495 3503

8595 -1.10 -146.6 598.9 -7.4 418 8600 0.00 2.60 0.00 0.000 6 0.000 0.066 2166 2898 3503

8922 -1.10 -146.6 621.1 -6.6 434 8926 0.00 2.55 0.00 0.000 4 0.000 0.062 2166 1495 3503

9010 -1.10 -146.6 626.9 -5.9 438 9014 0.00 2.58 0.00 0.000 6 0.000 0.067 2166 2899 3503

9336 -1.10 -146.6 649.0 -7.1 454 9337 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2899 3503

9561 end dive: BOTTOM_OBSTACLE_DETECTED

state 9561 begin apogee

9567 -0.42 0.0 664.4 6.9 465 9696 0.75 0.00 125.32 1.187 6 0.084 0.000 2318 2006 2901

9696 end apogee: CONTROL_FINISHED_OK

state 9697 begin climb

9698 1.10 146.6 668.3 0.0 471 9829 1.52 2.67 121.85 1.173 4 0.053 0.061 2648 596 2302

9891 1.10 153.6 664.0 5.8 480 9908 0.00 2.50 7.70 0.966 6 0.000 0.038 2648 2016 2274

10216 1.10 153.6 644.6 6.5 496 10217 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2016 2273

10526 1.11 154.9 624.9 6.0 511 10530 0.00 2.58 0.00 0.000 4 0.000 0.068 2648 3405 2272

10597 1.11 159.7 620.3 5.9 514 10609 0.00 2.50 6.22 0.941 6 0.000 0.042 2648 1994 2250

10917 1.11 159.7 601.2 6.1 530 10922 0.00 2.58 0.00 0.000 4 0.000 0.063 2648 588 2250

10979 1.17 205.2 597.9 4.8 533 11023 0.00 2.50 39.03 1.154 6 0.000 0.041 2648 1997 2064

11351 1.20 230.7 578.8 5.3 551 11381 0.10 2.72 22.15 1.109 4 0.051 0.071 2678 3399 1960

11504 1.20 230.7 569.2 6.2 558 11508 0.00 2.50 0.00 0.000 6 0.000 0.045 2678 1999 1960

11830 1.20 230.7 548.0 6.7 574 11834 0.00 2.62 0.00 0.000 4 0.000 0.069 2678 3406 1959

11885 1.20 230.7 544.1 7.1 576 11891 0.00 2.50 0.00 0.000 6 0.000 0.041 2679 2000 1959

12200 1.20 230.7 521.2 7.3 592 12201 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2000 1959

12509 1.20 230.7 497.9 7.8 607 12513 0.00 2.65 0.00 0.000 4 0.000 0.069 2679 3412 1959

12580 1.20 230.7 492.0 8.2 610 12584 0.00 2.53 0.00 0.000 6 0.000 0.043 2679 1983 1959

12901 1.20 230.7 465.8 8.3 626 12906 0.00 2.65 0.00 0.000 4 0.000 0.069 2679 3406 1959

12933 1.20 230.7 462.9 8.7 627 12940 0.00 2.50 0.00 0.000 6 0.000 0.042 2678 2004 1959

13249 1.20 230.7 435.5 8.7 643 13253 0.00 2.62 0.00 0.000 4 0.000 0.068 2679 3409 1959

13287 1.20 230.7 432.1 8.9 645 13291 0.00 2.47 0.00 0.000 6 0.000 0.043 2679 2001 1959

13612 1.20 230.7 405.6 8.0 661 13617 0.00 2.62 0.00 0.000 4 0.000 0.068 2678 3407 1959

13656 1.20 230.7 401.9 8.5 663 13660 0.00 2.50 0.00 0.000 6 0.000 0.043 2679 2000 1959

13982 1.20 230.7 376.4 7.9 679 13987 0.00 2.60 0.00 0.000 4 0.000 0.068 2678 3406 1959

14022 1.20 230.7 373.3 8.0 681 14026 0.00 2.47 0.00 0.000 6 0.000 0.043 2679 2000 1959

14347 1.20 230.7 347.5 7.6 697 14351 0.00 2.62 0.00 0.000 4 0.000 0.068 2678 3413 1959

14395 1.20 230.7 343.5 8.6 699 14400 0.00 2.50 0.00 0.000 6 0.000 0.044 2679 2009 1960

14716 1.20 230.7 316.8 8.4 715 14717 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2008 1960

15026 1.20 230.7 289.3 9.2 730 15030 0.00 2.60 0.00 0.000 4 0.000 0.069 2679 3409 1960

15096 1.20 230.7 282.5 9.7 733 15101 0.00 2.53 0.00 0.000 6 0.000 0.044 2679 1996 1960

15418 1.20 230.7 254.2 8.0 749 15422 0.00 2.62 0.00 0.000 4 0.000 0.068 2679 3407 1961

15483 1.20 230.7 248.7 8.9 752 15487 0.00 2.47 0.00 0.000 6 0.000 0.044 2679 1997 1961

15809 1.20 230.7 224.1 7.6 768 15810 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 1997 1961

16119 1.20 230.7 200.3 7.9 783 16123 0.00 2.60 0.00 0.000 4 0.000 0.068 2678 3408 1961

16180 1.20 230.7 195.1 8.1 786 16185 0.00 2.47 0.00 0.000 6 0.000 0.044 2679 2000 1961

16506 1.20 230.7 168.6 8.1 802 16510 0.00 2.60 0.00 0.000 4 0.000 0.068 2678 3407 1961

16549 1.20 230.7 164.7 8.8 804 16553 0.00 2.50 0.00 0.000 6 0.000 0.045 2679 2007 1961

16876 1.20 230.7 139.0 7.6 820 16880 0.00 2.60 0.00 0.000 4 0.000 0.068 2678 3407 1962

16924 1.20 230.7 135.1 7.8 822 16929 0.00 2.50 0.00 0.000 6 0.000 0.045 2679 2007 1962

17246 1.20 230.7 112.7 6.7 838 17250 0.00 2.60 0.00 0.000 4 0.000 0.070 2679 3407 1962

17307 1.20 230.7 108.6 6.4 841 17311 0.00 2.47 0.00 0.000 6 0.000 0.044 2679 1997 1962

17632 1.20 230.7 86.6 7.0 857 17636 0.00 2.62 0.00 0.000 4 0.000 0.067 2679 3413 1962

17693 1.20 230.7 82.2 7.2 860 17698 0.00 2.50 0.00 0.000 6 0.000 0.044 2679 1992 1962

18021 1.20 230.7 61.3 6.5 876 18025 0.00 2.62 0.00 0.000 4 0.000 0.069 2679 3406 1962

18091 1.20 230.7 55.5 8.1 879 18096 0.00 2.50 0.00 0.000 6 0.000 0.044 2679 1999 1962

18413 1.20 230.7 33.2 6.4 895 18414 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 1999 1962

18722 1.20 230.7 9.5 10.2 910 18727 0.00 2.62 0.00 0.000 4 0.000 0.071 2678 3412 1962

18761 1.20 230.7 5.2 11.1 912 18765 0.00 2.47 0.00 0.000 6 0.000 0.044 2679 1998 1962

18804 end climb: SURFACE_DEPTH_REACHED

state 18804 begin surface coast

18824 end surface coast: CONTROL_FINISHED_OK

state 18825 begin surface

ID	103	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	115	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	229	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3788	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2000	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	8	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	572	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3921	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2901	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-3	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-64485.16	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	55	AH0_24V	91.800003	SEABIRD_T_G	0.0043712188
SPEED_FACTOR	1	PITCH_MAX	3362	AH0_10V	61.200001	SEABIRD_T_H	0.00064056052
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-14.98249	SEABIRD_T_I	2.37435e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_J	2.3296527e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8560104
FERRY_MAX	55	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1097485
KALMAN_USE	1	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0009817977
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017126031

GPS1	132802,6210.653,-950.566,39,1.2,39,-9.9	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.198,0.095
_SM_DEPTHo	-0.32	KALMAN_X	-99208.0,331.8,272.6,31398.5,-4629.3
_SM_ANGLEo	-55.5	KALMAN_Y	63169.5,-92.3,506.4,4309.1,-2582.1
GPS2	133339,6210.650,-950.615,11,1.9,11,-9.9	MHEAD_RNG_PITCHd_Wd	74.3,17324,-11.0,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	700

FINISH	-1.0,1.027530	XPDR_PINGS	1
SM_CCo	18845,55.85,0.737,1,0,1678,300.00	ALTIM_BOTTOM_PING	575.7,98.3
SM_GC	-0.41,0.00,0.00,55.85,0.000,0.000,0.737,38,2901,1678,-10.91,0.03,300.00	_24V_AH	23.5,23.311
IRIDIUM_FIX	6144.36,-956.48,011207,111110	_10V_AH	10.1,10.262
TT8_MAMPS	0.029146	DATA_FILE_SIZE	47478,915
HUMID	2046	CFSIZE	260165632,252198912
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,47,1,0
TCM_TEMP	17.40	GPS	011207,185107,6210.699,-947.338,38,1.8,43,-9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	161	97.37	SBE_CT	650	24	366.71
Roll_motor	208	93	457.72	SBE_O2	655	19	292.63
VBD_pump_during_apogee	322	1187	8992.09	WL_BB2F	586	105	1446.87
VBD_pump_during_surface	55	737	967.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	94.35	nil	0	0	0.00
Iridium_during_connect	40	160	152.39	nil	0	0	0.00
Iridium_during_xfer	160	223	842.15
Transponder_ping	5	420	49.35
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.78
TT8	1705	19	341.10
LPSleep	14481	2	320.31
TT8_Active	557	19	111.48
TT8_Sampling	2072	39	833.04
TT8_CF8	438	45	202.93
TT8_Kalman	33	81	27.56
Analog_circuits	1616	12	195.94
GPS_charging	0	0	0.00
Compass	2038	8	164.75
RAFOS	0	0	0.00

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
17	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-1.10	-146.6	0.0	0.0	0	83	0.00	0.00	-61.05	0.000	2	0.000	0.000	48	2898	3376
85	-1.10	-146.6	3.7	-9.8	3	107	12.05	2.67	-2.20	0.000	4	0.161	0.094	2166	1492	3502
153	-1.10	-146.6	16.7	-9.3	6	158	0.00	2.70	0.00	0.000	6	0.000	0.081	2166	2903	3503
480	-1.10	-146.6	39.5	-6.8	22	484	0.00	2.62	0.00	0.000	4	0.000	0.068	2166	1489	3503
511	-1.10	-146.6	41.9	-7.4	23	518	0.00	2.67	0.00	0.000	6	0.000	0.072	2166	2900	3503
827	-1.10	-146.6	64.3	-7.1	39	828	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2900	3503
1136	-1.10	-146.6	85.8	-7.0	54	1140	0.00	2.62	0.00	0.000	4	0.000	0.067	2166	1488	3503
1197	-1.10	-146.6	90.0	-6.5	57	1201	0.00	2.67	0.00	0.000	6	0.000	0.077	2166	2899	3503
1522	-1.10	-146.6	111.9	-6.7	73	1527	0.00	2.60	0.00	0.000	4	0.000	0.067	2166	1490	3503
1549	-1.10	-146.6	113.8	-6.3	74	1553	0.00	2.65	0.00	0.000	6	0.000	0.072	2166	2891	3503
1872	-1.10	-146.6	135.7	-6.9	90	1873	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2891	3503
2179	-1.10	-146.6	158.1	-7.5	105	2183	0.00	2.60	0.00	0.000	4	0.000	0.067	2166	1489	3503
2218	-1.10	-146.6	160.9	-7.6	107	2222	0.00	2.65	0.00	0.000	6	0.000	0.074	2166	2899	3503
2543	-1.10	-146.6	184.3	-7.4	123	2547	0.00	2.58	0.00	0.000	4	0.000	0.067	2166	1492	3503
2574	-1.10	-146.6	186.7	-7.3	124	2582	0.00	2.65	0.00	0.000	6	0.000	0.074	2166	2895	3503
2890	-1.10	-146.6	209.3	-7.1	140	2894	0.00	2.60	0.00	0.000	4	0.000	0.066	2166	1485	3503
2921	-1.10	-146.6	211.6	-7.2	141	2928	0.00	2.65	0.00	0.000	6	0.000	0.071	2166	2892	3503
3237	-1.10	-146.6	234.2	-7.4	157	3241	0.00	2.58	0.00	0.000	4	0.000	0.066	2166	1482	3503
3285	-1.10	-146.6	238.1	-7.5	159	3290	0.00	2.62	0.00	0.000	6	0.000	0.070	2166	2901	3503
3606	-1.10	-146.6	263.4	-8.3	175	3610	0.00	2.60	0.00	0.000	4	0.000	0.064	2166	1484	3503
3649	-1.10	-146.6	267.2	-8.9	177	3654	0.00	2.65	0.00	0.000	6	0.000	0.070	2166	2900	3503
3976	-1.10	-146.6	294.9	-8.4	193	3978	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2900	3503
4286	-1.10	-146.6	319.8	-7.5	208	4290	0.00	2.60	0.00	0.000	4	0.000	0.065	2166	1485	3503
4319	-1.10	-146.6	322.3	-7.6	209	4325	0.00	2.65	0.00	0.000	6	0.000	0.070	2166	2906	3503
4634	-1.10	-146.6	341.9	-5.8	225	4638	0.00	2.60	0.00	0.000	4	0.000	0.065	2166	1491	3503
4672	-1.10	-146.6	344.2	-6.1	227	4676	0.00	2.60	0.00	0.000	6	0.000	0.068	2166	2899	3503
4997	-1.10	-146.6	364.2	-6.3	243	5001	0.00	2.58	0.00	0.000	4	0.000	0.064	2166	1487	3503
5028	-1.10	-146.6	366.4	-6.4	244	5035	0.00	2.62	0.00	0.000	6	0.000	0.068	2167	2905	3503
5344	-1.10	-146.6	386.6	-6.3	260	5348	0.00	2.58	0.00	0.000	4	0.000	0.065	2166	1488	3503
5382	-1.10	-146.6	388.9	-6.6	262	5386	0.00	2.60	0.00	0.000	6	0.000	0.069	2167	2900	3503
5707	-1.10	-146.6	408.1	-6.1	278	5711	0.00	2.60	0.00	0.000	4	0.000	0.065	2167	1484	3503
5761	-1.10	-146.6	411.9	-7.6	280	5768	0.00	2.65	0.00	0.000	6	0.000	0.071	2166	2899	3503
6077	-1.10	-146.6	433.6	-6.8	296	6078	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2899	3503
6387	-1.10	-146.6	452.0	-5.4	311	6391	0.00	2.58	0.00	0.000	4	0.000	0.064	2166	1491	3503
6441	-1.10	-146.6	455.1	-4.9	313	6448	0.00	2.60	0.00	0.000	6	0.000	0.067	2167	2900	3503
6756	-1.10	-146.6	472.4	-6.1	329	6760	0.00	2.58	0.00	0.000	4	0.000	0.065	2166	1482	3503
6840	-1.10	-146.6	478.0	-7.1	333	6844	0.00	2.60	0.00	0.000	6	0.000	0.067	2166	2902	3503
7165	-1.10	-146.6	502.3	-8.1	349	7168	0.00	1.65	0.00	0.000	4	0.000	0.081	2166	3792	3503
7214	-1.10	-146.6	506.7	-9.3	351	7219	0.00	1.52	0.00	0.000	6	0.000	0.032	2166	2890	3503
7541	-1.10	-146.6	529.0	-6.2	367	7545	0.00	2.53	0.00	0.000	4	0.000	0.065	2166	1500	3503
7611	-1.10	-146.6	533.8	-6.5	370	7616	0.00	2.60	0.00	0.000	6	0.000	0.067	2166	2900	3503
7933	-1.10	-146.6	554.0	-6.2	386	7934	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2901	3503
8242	-1.10	-146.6	574.2	-7.0	401	8243	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2901	3503
8551	-1.10	-146.6	595.7	-6.8	416	8556	0.00	2.55	0.00	0.000	4	0.000	0.062	2166	1495	3503
8595	-1.10	-146.6	598.9	-7.4	418	8600	0.00	2.60	0.00	0.000	6	0.000	0.066	2166	2898	3503
8922	-1.10	-146.6	621.1	-6.6	434	8926	0.00	2.55	0.00	0.000	4	0.000	0.062	2166	1495	3503
9010	-1.10	-146.6	626.9	-5.9	438	9014	0.00	2.58	0.00	0.000	6	0.000	0.067	2166	2899	3503
9336	-1.10	-146.6	649.0	-7.1	454	9337	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2899	3503
9561	end dive: BOTTOM_OBSTACLE_DETECTED
state	9561	begin apogee
9567	-0.42	0.0	664.4	6.9	465	9696	0.75	0.00	125.32	1.187	6	0.084	0.000	2318	2006	2901
9696	end apogee: CONTROL_FINISHED_OK
state	9697	begin climb
9698	1.10	146.6	668.3	0.0	471	9829	1.52	2.67	121.85	1.173	4	0.053	0.061	2648	596	2302
9891	1.10	153.6	664.0	5.8	480	9908	0.00	2.50	7.70	0.966	6	0.000	0.038	2648	2016	2274
10216	1.10	153.6	644.6	6.5	496	10217	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2016	2273
10526	1.11	154.9	624.9	6.0	511	10530	0.00	2.58	0.00	0.000	4	0.000	0.068	2648	3405	2272
10597	1.11	159.7	620.3	5.9	514	10609	0.00	2.50	6.22	0.941	6	0.000	0.042	2648	1994	2250
10917	1.11	159.7	601.2	6.1	530	10922	0.00	2.58	0.00	0.000	4	0.000	0.063	2648	588	2250
10979	1.17	205.2	597.9	4.8	533	11023	0.00	2.50	39.03	1.154	6	0.000	0.041	2648	1997	2064
11351	1.20	230.7	578.8	5.3	551	11381	0.10	2.72	22.15	1.109	4	0.051	0.071	2678	3399	1960
11504	1.20	230.7	569.2	6.2	558	11508	0.00	2.50	0.00	0.000	6	0.000	0.045	2678	1999	1960
11830	1.20	230.7	548.0	6.7	574	11834	0.00	2.62	0.00	0.000	4	0.000	0.069	2678	3406	1959
11885	1.20	230.7	544.1	7.1	576	11891	0.00	2.50	0.00	0.000	6	0.000	0.041	2679	2000	1959
12200	1.20	230.7	521.2	7.3	592	12201	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2000	1959
12509	1.20	230.7	497.9	7.8	607	12513	0.00	2.65	0.00	0.000	4	0.000	0.069	2679	3412	1959
12580	1.20	230.7	492.0	8.2	610	12584	0.00	2.53	0.00	0.000	6	0.000	0.043	2679	1983	1959
12901	1.20	230.7	465.8	8.3	626	12906	0.00	2.65	0.00	0.000	4	0.000	0.069	2679	3406	1959
12933	1.20	230.7	462.9	8.7	627	12940	0.00	2.50	0.00	0.000	6	0.000	0.042	2678	2004	1959
13249	1.20	230.7	435.5	8.7	643	13253	0.00	2.62	0.00	0.000	4	0.000	0.068	2679	3409	1959
13287	1.20	230.7	432.1	8.9	645	13291	0.00	2.47	0.00	0.000	6	0.000	0.043	2679	2001	1959
13612	1.20	230.7	405.6	8.0	661	13617	0.00	2.62	0.00	0.000	4	0.000	0.068	2678	3407	1959
13656	1.20	230.7	401.9	8.5	663	13660	0.00	2.50	0.00	0.000	6	0.000	0.043	2679	2000	1959
13982	1.20	230.7	376.4	7.9	679	13987	0.00	2.60	0.00	0.000	4	0.000	0.068	2678	3406	1959
14022	1.20	230.7	373.3	8.0	681	14026	0.00	2.47	0.00	0.000	6	0.000	0.043	2679	2000	1959
14347	1.20	230.7	347.5	7.6	697	14351	0.00	2.62	0.00	0.000	4	0.000	0.068	2678	3413	1959
14395	1.20	230.7	343.5	8.6	699	14400	0.00	2.50	0.00	0.000	6	0.000	0.044	2679	2009	1960
14716	1.20	230.7	316.8	8.4	715	14717	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2008	1960
15026	1.20	230.7	289.3	9.2	730	15030	0.00	2.60	0.00	0.000	4	0.000	0.069	2679	3409	1960
15096	1.20	230.7	282.5	9.7	733	15101	0.00	2.53	0.00	0.000	6	0.000	0.044	2679	1996	1960
15418	1.20	230.7	254.2	8.0	749	15422	0.00	2.62	0.00	0.000	4	0.000	0.068	2679	3407	1961
15483	1.20	230.7	248.7	8.9	752	15487	0.00	2.47	0.00	0.000	6	0.000	0.044	2679	1997	1961
15809	1.20	230.7	224.1	7.6	768	15810	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	1997	1961
16119	1.20	230.7	200.3	7.9	783	16123	0.00	2.60	0.00	0.000	4	0.000	0.068	2678	3408	1961
16180	1.20	230.7	195.1	8.1	786	16185	0.00	2.47	0.00	0.000	6	0.000	0.044	2679	2000	1961
16506	1.20	230.7	168.6	8.1	802	16510	0.00	2.60	0.00	0.000	4	0.000	0.068	2678	3407	1961
16549	1.20	230.7	164.7	8.8	804	16553	0.00	2.50	0.00	0.000	6	0.000	0.045	2679	2007	1961
16876	1.20	230.7	139.0	7.6	820	16880	0.00	2.60	0.00	0.000	4	0.000	0.068	2678	3407	1962
16924	1.20	230.7	135.1	7.8	822	16929	0.00	2.50	0.00	0.000	6	0.000	0.045	2679	2007	1962
17246	1.20	230.7	112.7	6.7	838	17250	0.00	2.60	0.00	0.000	4	0.000	0.070	2679	3407	1962
17307	1.20	230.7	108.6	6.4	841	17311	0.00	2.47	0.00	0.000	6	0.000	0.044	2679	1997	1962
17632	1.20	230.7	86.6	7.0	857	17636	0.00	2.62	0.00	0.000	4	0.000	0.067	2679	3413	1962
17693	1.20	230.7	82.2	7.2	860	17698	0.00	2.50	0.00	0.000	6	0.000	0.044	2679	1992	1962
18021	1.20	230.7	61.3	6.5	876	18025	0.00	2.62	0.00	0.000	4	0.000	0.069	2679	3406	1962
18091	1.20	230.7	55.5	8.1	879	18096	0.00	2.50	0.00	0.000	6	0.000	0.044	2679	1999	1962
18413	1.20	230.7	33.2	6.4	895	18414	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	1999	1962
18722	1.20	230.7	9.5	10.2	910	18727	0.00	2.62	0.00	0.000	4	0.000	0.071	2678	3412	1962
18761	1.20	230.7	5.2	11.1	912	18765	0.00	2.47	0.00	0.000	6	0.000	0.044	2679	1998	1962
18804	end climb: SURFACE_DEPTH_REACHED
state	18804	begin surface coast
18824	end surface coast: CONTROL_FINISHED_OK
state	18825	begin surface