Glider dive log

ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 122 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 640 HD_C 9.8500004e-06 C_ROLL_DIVE 2100 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 HEADING -1 C_ROLL_CLIMB 2150 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 122 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

N_DIVES 160 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 5

STOP_T 12311812 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 3 TGT_DEFAULT_LAT -5400 R_PORT_OVSHOOT 49 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON 0 R_STBD_OVSHOOT 27 ALTIM_SENSITIVITY 2

D_TGT 350 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 2

D_ABORT 420 SM_CC 220 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097655999

D_BOOST 20 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.60000002

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 602 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3962 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2690 DEVICE1 -1

D_SAFE 0 N_NOCOMM 2 VBD_DBAND 2 DEVICE2 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE3 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE4 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_DIVE 140 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 1

T_MISSION 220 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_ABORT 250 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 COMPASS_DEVICE 33

T_LOITER 3600 T_RSLEEP 3 DBDW 0 COMPASS2_DEVICE -1

T_SLOITER 0 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

USE_BATHY 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_HIT_WINDOW 3600 AH0_24V 310 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 AH0_10V 0 SIM_W 0

D_OFFGRID 100 PITCH_MIN 312 MINV_24V 11.5 SIM_PITCH 0

T_WATCHDOG 10 PITCH_MAX 3939 MINV_10V 10 SEABIRD_T_G 0.0044042631

RELAUNCH 0 C_PITCH 2400 MAXI_24V 3 SEABIRD_T_H 0.0006412621

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_10V 2 SEABIRD_T_I 2.6024412e-05

MAX_BUOY 150 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_J 3.2462635e-06

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_G -10.007382

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_C_H 1.1528281

SPEED_FACTOR 1 PITCH_GAIN 34 PRESSURE_YINT -153.19165 SEABIRD_C_I -0.0017483447

RHO 1.0275 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.000109596 SEABIRD_C_J 0.0001971516

MASS 54260 PITCH_AD_RATE 175 AD7714Ch0Gain 1 SEABIRD_C_Z 2950.7202

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 0 SC_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MIN 217 ALTIM_BOTTOM_PING_RANGE 0 SC_NDIVE 1.0

HD_A 0.0038360001 ROLL_MAX 3851 ALTIM_TOP_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 1 D_SURF 3 PITCH_AD_RATE 175 SIM_PITCH 0

AH0_10V 0 D_TGT 350 PITCH_CNV 0.003125763 SIM_W 0

AH0_24V 310 ESCAPE_HEADING 0 PITCH_DBAND 0.0099999998 SM_CC 220

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 34 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3939 STOP_T 12311812

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_MIN 312 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_TIMEOUT 17 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_W_GAIN 0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0038360001 PRESSURE_SLOPE 0.000109596 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0101 PRESSURE_YINT -153.19165 TGT_DEFAULT_LAT -5400

APOGEE_PITCH -5 HD_C 9.8500004e-06 PROTOCOL 9 TGT_DEFAULT_LON 0

CALL_NDIVES 1 HEADING -1 P_OVSHOOT 0.039999999 T_ABORT 250

CALL_TRIES 5 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0.079999998 T_BOOST 0

CALL_WAIT 60 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_DIVE 140

CAPMAXSIZE 400000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE -1 T_EPIRB 0

CAPUPLOAD 0 ID 640 RAFOS_HIT_WINDOW 3600 T_GPS 15

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_MMODEM 0 T_LOITER 3600

COMM_SEQ 0 INT_PRESSURE_YINT -0.60000002 RAFOS_PEAK_OFFSET 1.5 T_MISSION 220

COMPASS2_DEVICE -1 KALMAN_USE 2 RELAUNCH 0 T_NO_W 120

COMPASS_DEVICE 33 LOGGERDEVICE1 53 RHO 1.0275 T_RSLEEP 3

COMPASS_USE 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_SLOITER 0

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_TURN 500

C_PITCH 2400 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2150 LOGGERS 1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 2100 MASS 54260 ROLL_DEG 40 UNCOM_BLEED 60

C_VBD 2690 MASS_COMP 0 ROLL_MAX 3851 UPLOAD_DIVES_MAX -1

DBDW 0 MAXI_10V 2 ROLL_MAXERRORS 1 USE_BATHY 0

DEEPGLIDER 0 MAXI_24V 3 ROLL_MIN 217 USE_ICE 0

DEVICE1 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 10 R_PORT_OVSHOOT 49 VBD_CNV -0.245296

DEVICE3 -1 MINV_24V 11.5 R_STBD_OVSHOOT 27 VBD_DBAND 2

DEVICE4 -1 MISSION 5 SC_NDIVE 1.0 VBD_LP_IGNORE 0

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAX 3962

DEVICE6 -1 NAV_MODE 2 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DIVE 122 NOCOMM_ACTION 259 SC_XMITPROFILE 3.0 VBD_MIN 602

D_ABORT 420 N_DIVES 160 SEABIRD_C_G -10.007382 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 N_FILEKB 4 SEABIRD_C_H 1.1528281 VBD_PUMP_AD_RATE_SURFACE 4

D_CALL 0 N_GPS 100840 SEABIRD_C_I -0.0017483447 VBD_TIMEOUT 720

D_FINISH 0 N_NOCOMM 2 SEABIRD_C_J 0.0001971516 W_ADJ_DBAND 0

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_Z 2950.7202 XPDR_DEVICE 24

D_NO_BLEED 29 PHONE_DEVICE 49 SEABIRD_T_G 0.0044042631 XPDR_INHIBIT 90

D_OFFGRID 100 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006412621 XPDR_VALID 2

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.6024412e-05

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.2462635e-06

Pre-dive calculations and measurements:

GPS1 281218,084132,-5942.6353,-5.0329,16,0.9,26,-19.7,0.5,52.8,10,9.2 SPEED_LIMITS 0.144,0.244

_CALLS 2 TGT_NAME NORTH

_XMS_NAKs 0 TGT_LATLONG -5900.000,0.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.97 MHEAD_RNG_PITCHd_Wd 19.9,79211,-15.5,-8.333,-18.82,2677

_SM_ANGLEo -69.2 D_GRID 350

GPS2 281218,084836,-5942.6895,-5.1172,10,0.9,17,-19.7,1.0,165.4,10,9.8

Post-dive calculations and measurements:

SM_CCo 8583,66.93,0.250,0,0,1793,220.03 _10V_AH 13.39,0.000

SM_GC 0.83,5.53,2.47,66.93,0.079,0.045,0.250,259,2105,1793,-6.49,1.19,220.03,0,0,0,0,0,0,14.64,14.59,14.36 FG_AHR_24Vo 0.000

IRIDIUM_FIX -5943.02,-4.27,281218,084317 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038199,0.325815 MEM 344092

HUMID 49.25 DATA_FILE_SIZE 17320,681

INTERNAL_PRESSURE 6.10897 CAP_FILE_SIZE 89292,0

TCM_TEMP 0.00 CFSIZE 1023623168,1007484928

XPDR_PINGS 5 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

SC_FREEKB 3858400 CURRENT 0.057,157.02,1

_24V_AH 13.30,28.436 GPS 281218,111401,-5942.446,-4.862,20,0.8,36,-19.7,1.0,207.8,10,8.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 474 81.85 nil 0 0 0.00

Roll_motor 68 2266 2068.09 nil 0 0 0.00

VBD_pump_during_apogee 261 1577 5491.47 nil 0 0 0.00

VBD_pump_during_surface 66 250 222.66 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 61 29 24.51 nil 0 0 0.00

Iridium_during_connect 57 160 123.20 SciCon 4984 11 776.09

Iridium_during_xfer 129 223 384.32 nil 0 0 0.00

Transponder_ping 1 420 6.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.73

TT8 0 0 0.00

LPSleep 6917 2 202.84

TT8_Active 431 11 67.82

TT8_Sampling 1645 32 720.47

TT8_CF8 83 49 56.14

TT8_Kalman 0 0 0.00

Analog_circuits 1046 11 160.99

GPS_charging 0 0 0.00

Compass 1127 19 293.95

RAFOS 0 0 0.00

Transponder 0 5 0.04

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts int_press humidity

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.64 -146.0 234 2081 1769 1795 0.0 0.0 0 105 0.00 0.00 -93.70 0.000 16386 0.000 0.000 233 2081 3186 3264 3108 0 0 0 0 0 0 14.55 28.83 14.55 6.16 50.15

106 -0.64 -146.0 233 2082 3264 3110 3.2 -6.3 19 124 6.05 2.75 -3.90 0.000 18692 0.363 2.267 2179 3506 3286 3377 3196 0 0 0 0 0 0 14.16 13.43 14.33 6.28 49.21

180 -0.64 -146.0 2178 3507 3378 3196 15.7 -15.6 34 184 0.00 2.38 0.00 0.000 3078 0.000 0.042 2179 2121 3286 3378 3195 0 0 0 0 0 0 14.38 14.34 14.43 6.29 48.89

305 -0.64 -146.0 2179 2119 3379 3197 37.5 -18.9 59 306 0.00 0.00 0.00 0.000 2054 0.000 0.000 2179 2119 3287 3379 3196 0 0 0 0 0 0 14.59 14.59 14.60 6.29 48.62

425 -0.64 -146.0 2179 2120 3379 3197 57.8 -15.7 83 426 0.00 0.00 0.00 0.000 2054 0.000 0.000 2179 2119 3286 3379 3193 0 0 0 0 0 0 14.63 14.63 14.64 6.30 48.66

545 -0.64 -146.0 2179 2120 3379 3197 77.4 -16.1 107 549 0.00 2.53 0.00 0.000 2564 0.000 0.065 2185 690 3287 3378 3196 0 0 0 0 0 0 14.66 14.47 14.66 6.29 48.70

575 -0.64 -146.0 2178 690 3379 3200 82.2 -16.1 113 579 0.08 2.45 0.00 0.000 3078 0.338 0.059 2193 2093 3287 3378 3196 0 0 0 0 0 0 14.29 14.42 14.43 6.29 49.01

701 -0.64 -146.0 2194 2094 3380 3196 99.8 -13.5 138 704 0.00 2.47 0.00 0.000 2308 0.000 0.085 2183 3507 3287 3378 3196 0 0 0 0 0 0 14.68 14.45 14.69 6.29 48.38

715 -0.64 -146.0 2183 3509 3379 3197 100.4 -14.0 139 719 0.00 2.40 0.00 0.000 3078 0.000 0.044 2183 2093 3287 3378 3196 0 0 0 0 0 0 14.52 14.47 14.53 6.28 49.01

1020 -0.64 -146.0 2183 2092 3380 3196 142.9 -13.6 155 1024 0.00 2.45 0.00 0.000 2564 0.000 0.067 2182 696 3287 3378 3196 0 0 0 0 0 0 14.74 14.50 14.74 6.29 49.25

1155 -0.64 -146.0 2183 695 3380 3196 158.3 -12.1 161 1160 0.05 2.42 0.00 0.000 3078 0.367 0.057 2188 2101 3287 3378 3196 0 0 0 0 0 0 14.36 14.52 14.59 6.29 49.44

1460 -0.64 -146.0 2188 2101 3379 3197 196.5 -11.9 177 1461 0.00 0.00 0.00 0.000 2054 0.000 0.000 2188 2101 3287 3378 3196 0 0 0 0 0 0 14.78 14.78 14.78 6.31 50.70

1760 -0.64 -146.0 2189 2100 3379 3197 232.7 -12.2 192 1764 0.00 2.47 0.00 0.000 2308 0.000 0.084 2178 3504 3287 3378 3196 0 0 0 0 0 0 14.81 14.54 14.81 6.32 50.90

1790 -0.64 -146.0 2178 3504 3379 3197 235.2 -12.2 193 1794 0.03 2.35 0.00 0.000 3078 0.461 0.043 2186 2096 3287 3378 3196 0 0 0 0 0 0 14.40 14.59 14.54 6.31 51.69

2100 -0.64 -146.0 2187 2096 3379 3196 274.7 -12.5 209 2104 0.00 2.42 0.00 0.000 2564 0.000 0.065 2186 703 3286 3377 3195 0 0 0 0 0 0 14.82 14.59 14.83 6.32 51.22

2170 -0.64 -146.0 2187 704 3379 3195 282.3 -12.7 212 2175 0.00 2.40 0.00 0.000 3078 0.000 0.057 2176 2103 3286 3378 3195 0 0 0 0 0 0 14.64 14.59 14.66 6.32 51.10

2480 -0.64 -146.0 2176 2104 3379 3195 322.8 -12.9 228 2481 0.05 0.00 0.00 0.000 2054 0.474 0.000 2190 2103 3286 3377 3195 0 0 0 0 0 0 14.46 14.69 14.66 6.32 51.18

2719 end dive: TARGET_DEPTH_EXCEEDED

state 2719 begin apogee

2722 -0.15 0.0 2191 2169 3379 3195 351.9 -12.0 240 2855 0.45 0.00 129.90 1.577 10246 0.271 0.000 2351 2168 2688 2747 2629 0 0 0 0 0 0 14.46 13.91 13.30 6.33 51.92

2856 end apogee: CONTROL_FINISHED_OK

state 2856 begin loiter

3140 -0.15 0.0 2352 2168 2740 2614 348.4 3.2 261 3141 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2168 2676 2739 2614 0 0 0 0 0 0 14.54 14.55 14.55 6.29 50.43

3440 -0.15 0.0 2351 2169 2740 2612 338.5 3.3 276 3441 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2675 2739 2611 0 0 0 0 0 0 14.69 14.70 14.69 6.28 50.94

3740 -0.15 0.0 2351 2169 2740 2612 328.1 3.5 291 3741 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2168 2674 2739 2610 0 0 0 0 0 0 14.78 14.78 14.78 6.28 51.37

4040 -0.15 0.0 2351 2169 2740 2610 317.3 3.6 306 4041 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2168 2674 2739 2609 0 0 0 0 0 0 14.83 14.84 14.84 6.28 51.02

4340 -0.15 0.0 2352 2169 2741 2608 306.4 3.6 321 4341 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2168 2673 2739 2608 0 0 0 0 0 0 14.88 14.88 14.89 6.27 51.02

4640 -0.15 0.0 2352 2168 2740 2608 295.4 3.6 336 4641 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2168 2673 2739 2608 0 0 0 0 0 0 14.92 14.92 14.92 6.28 51.06

4940 -0.15 0.0 2351 2169 2740 2609 284.2 3.7 351 4941 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2168 2673 2739 2607 0 0 0 0 0 0 14.95 14.95 14.95 6.28 51.41

5240 -0.15 0.0 2351 2169 2739 2608 273.6 3.4 366 5241 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2168 2672 2739 2606 0 0 0 0 0 0 14.97 14.97 14.97 6.28 51.22

5540 -0.15 0.0 2351 2169 2740 2608 263.6 3.3 381 5541 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2168 2673 2739 2607 0 0 0 0 0 0 14.99 14.99 14.99 6.28 51.41

5840 -0.15 0.0 2351 2169 2740 2608 253.3 3.5 396 5841 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2168 2673 2740 2607 0 0 0 0 0 0 15.00 15.01 15.01 6.27 51.53

6140 -0.15 0.0 2351 2168 2740 2609 242.3 3.8 411 6141 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2168 2673 2739 2607 0 0 0 0 0 0 15.02 15.02 15.02 6.27 51.10

6439 end loiter: LOITER_COMPLETE

state 6439 begin climb

6440 0.64 146.0 2352 2168 2740 2607 230.7 0.0 426 6581 0.60 2.53 131.85 1.412 10500 0.184 0.082 2590 3540 2087 2115 2060 0 0 0 0 0 0 14.70 13.97 13.45 6.27 51.14

6670 0.64 146.0 2591 3540 2114 2052 212.5 11.0 437 6674 0.00 2.38 0.00 0.000 1030 0.000 0.042 2601 2161 2082 2113 2052 0 0 0 0 0 0 14.21 14.16 14.23 6.24 48.97

6980 0.64 146.0 2602 2160 2107 2045 174.4 12.2 453 6985 0.00 2.53 0.00 0.000 516 0.000 0.070 2612 749 2075 2106 2045 0 0 0 0 0 0 14.60 14.34 14.60 6.23 50.19

7040 0.64 146.0 2612 749 2105 2043 167.4 11.9 456 7045 0.00 2.40 0.00 0.000 5126 0.000 0.055 2613 2130 2073 2104 2043 0 0 0 0 0 0 14.42 14.38 14.45 6.23 49.88

7360 0.64 146.0 2613 2130 2101 2041 124.7 13.4 472 7364 0.00 2.45 0.00 0.000 4612 0.000 0.068 2623 746 2072 2104 2040 0 0 0 0 0 0 14.71 14.44 14.71 6.23 50.35

7480 0.64 146.0 2623 746 2103 2041 110.0 11.6 478 7484 0.05 2.42 0.00 0.000 5126 0.313 0.055 2605 2153 2070 2101 2039 0 0 0 0 0 0 14.35 14.47 14.47 6.23 50.31

7785 0.64 146.0 2604 2154 2103 2039 77.2 10.5 524 7790 0.00 2.50 0.00 0.000 260 0.000 0.085 2604 3555 2070 2102 2038 0 0 0 0 0 0 14.76 14.50 14.76 6.21 49.33

7835 0.64 146.0 2604 3556 2102 2039 71.7 11.0 534 7839 0.00 2.38 0.00 0.000 5126 0.000 0.044 2614 2146 2069 2101 2038 0 0 0 0 0 0 14.59 14.55 14.61 6.21 48.89

7960 0.64 146.0 2613 2148 2104 2038 58.4 9.8 559 7964 0.00 2.47 0.00 0.000 4612 0.000 0.069 2624 744 2069 2102 2037 0 0 0 0 0 0 14.77 14.50 14.78 6.20 48.89

8025 0.64 146.0 2625 744 2102 2037 52.4 9.5 572 8030 0.05 2.42 0.00 0.000 5126 0.307 0.056 2605 2152 2069 2101 2037 0 0 0 0 0 0 14.41 14.54 14.54 6.20 48.77

8151 0.64 146.0 2606 2153 2102 2037 40.8 9.1 597 8155 0.00 2.45 0.00 0.000 260 0.000 0.086 2605 3555 2069 2101 2037 0 0 0 0 0 0 14.78 14.53 14.78 6.20 48.62

8230 0.64 146.0 2606 3555 2102 2037 33.2 9.3 613 8234 0.00 2.38 0.00 0.000 5126 0.000 0.044 2614 2138 2069 2101 2037 0 0 0 0 0 0 14.59 14.54 14.59 6.20 49.21

8356 0.64 146.0 2614 2139 2102 2038 20.9 10.1 638 8359 0.00 2.40 0.00 0.000 4612 0.000 0.069 2625 750 2068 2101 2036 0 0 0 0 0 0 14.79 14.55 14.79 6.22 49.37

8405 0.64 146.0 2625 750 2102 2037 15.8 10.2 648 8410 0.05 2.40 0.00 0.000 5126 0.315 0.055 2606 2149 2068 2101 2036 0 0 0 0 0 0 14.42 14.59 14.56 6.20 49.37

8531 0.64 146.0 2606 2149 2102 2036 3.7 8.5 673 8534 0.00 2.45 0.00 0.000 260 0.000 0.082 2605 3557 2067 2100 2035 0 0 0 0 0 0 14.80 14.55 14.80 6.15 49.68

8539 end climb: SURFACE_DEPTH_REACHED

state 8539 begin surface coast

8569 end surface coast: CONTROL_FINISHED_OK

state 8569 begin surface

ID	640	HD_C	9.8500004e-06	C_ROLL_DIVE	2100	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	HEADING	-1	C_ROLL_CLIMB	2150	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	122	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
N_DIVES	160	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	5
STOP_T	12311812	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	3	TGT_DEFAULT_LAT	-5400	R_PORT_OVSHOOT	49	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	0	R_STBD_OVSHOOT	27	ALTIM_SENSITIVITY	2
D_TGT	350	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	420	SM_CC	220	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097655999
D_BOOST	20	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.60000002
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	602	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3962	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2690	DEVICE1	-1
D_SAFE	0	N_NOCOMM	2	VBD_DBAND	2	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_DIVE	140	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	1
T_MISSION	220	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_ABORT	250	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	COMPASS_DEVICE	33
T_LOITER	3600	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	-1
T_SLOITER	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
USE_BATHY	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_HIT_WINDOW	3600	AH0_24V	310	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	AH0_10V	0	SIM_W	0
D_OFFGRID	100	PITCH_MIN	312	MINV_24V	11.5	SIM_PITCH	0
T_WATCHDOG	10	PITCH_MAX	3939	MINV_10V	10	SEABIRD_T_G	0.0044042631
RELAUNCH	0	C_PITCH	2400	MAXI_24V	3	SEABIRD_T_H	0.0006412621
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_10V	2	SEABIRD_T_I	2.6024412e-05
MAX_BUOY	150	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_J	3.2462635e-06
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_G	-10.007382
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_C_H	1.1528281
SPEED_FACTOR	1	PITCH_GAIN	34	PRESSURE_YINT	-153.19165	SEABIRD_C_I	-0.0017483447
RHO	1.0275	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.000109596	SEABIRD_C_J	0.0001971516
MASS	54260	PITCH_AD_RATE	175	AD7714Ch0Gain	1	SEABIRD_C_Z	2950.7202
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	0	SC_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MIN	217	ALTIM_BOTTOM_PING_RANGE	0	SC_NDIVE	1.0
HD_A	0.0038360001	ROLL_MAX	3851	ALTIM_TOP_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	281218,084132,-5942.6353,-5.0329,16,0.9,26,-19.7,0.5,52.8,10,9.2	SPEED_LIMITS	0.144,0.244
_CALLS	2	TGT_NAME	NORTH
_XMS_NAKs	0	TGT_LATLONG	-5900.000,0.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.97	MHEAD_RNG_PITCHd_Wd	19.9,79211,-15.5,-8.333,-18.82,2677
_SM_ANGLEo	-69.2	D_GRID	350
GPS2	281218,084836,-5942.6895,-5.1172,10,0.9,17,-19.7,1.0,165.4,10,9.8

SM_CCo	8583,66.93,0.250,0,0,1793,220.03	_10V_AH	13.39,0.000
SM_GC	0.83,5.53,2.47,66.93,0.079,0.045,0.250,259,2105,1793,-6.49,1.19,220.03,0,0,0,0,0,0,14.64,14.59,14.36	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-5943.02,-4.27,281218,084317	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038199,0.325815	MEM	344092
HUMID	49.25	DATA_FILE_SIZE	17320,681
INTERNAL_PRESSURE	6.10897	CAP_FILE_SIZE	89292,0
TCM_TEMP	0.00	CFSIZE	1023623168,1007484928
XPDR_PINGS	5	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3858400	CURRENT	0.057,157.02,1
_24V_AH	13.30,28.436	GPS	281218,111401,-5942.446,-4.862,20,0.8,36,-19.7,1.0,207.8,10,8.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	474	81.85	nil	0	0	0.00
Roll_motor	68	2266	2068.09	nil	0	0	0.00
VBD_pump_during_apogee	261	1577	5491.47	nil	0	0	0.00
VBD_pump_during_surface	66	250	222.66	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	61	29	24.51	nil	0	0	0.00
Iridium_during_connect	57	160	123.20	SciCon	4984	11	776.09
Iridium_during_xfer	129	223	384.32	nil	0	0	0.00
Transponder_ping	1	420	6.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.73
TT8	0	0	0.00
LPSleep	6917	2	202.84
TT8_Active	431	11	67.82
TT8_Sampling	1645	32	720.47
TT8_CF8	83	49	56.14
TT8_Kalman	0	0	0.00
Analog_circuits	1046	11	160.99
GPS_charging	0	0	0.00
Compass	1127	19	293.95
RAFOS	0	0	0.00
Transponder	0	5	0.04

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts	int_press	humidity
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.64	-146.0	234	2081	1769	1795	0.0	0.0	0	105	0.00	0.00	-93.70	0.000	16386	0.000	0.000	233	2081	3186	3264	3108	0	0	0	0	0	0	14.55	28.83	14.55	6.16	50.15
106	-0.64	-146.0	233	2082	3264	3110	3.2	-6.3	19	124	6.05	2.75	-3.90	0.000	18692	0.363	2.267	2179	3506	3286	3377	3196	0	0	0	0	0	0	14.16	13.43	14.33	6.28	49.21
180	-0.64	-146.0	2178	3507	3378	3196	15.7	-15.6	34	184	0.00	2.38	0.00	0.000	3078	0.000	0.042	2179	2121	3286	3378	3195	0	0	0	0	0	0	14.38	14.34	14.43	6.29	48.89
305	-0.64	-146.0	2179	2119	3379	3197	37.5	-18.9	59	306	0.00	0.00	0.00	0.000	2054	0.000	0.000	2179	2119	3287	3379	3196	0	0	0	0	0	0	14.59	14.59	14.60	6.29	48.62
425	-0.64	-146.0	2179	2120	3379	3197	57.8	-15.7	83	426	0.00	0.00	0.00	0.000	2054	0.000	0.000	2179	2119	3286	3379	3193	0	0	0	0	0	0	14.63	14.63	14.64	6.30	48.66
545	-0.64	-146.0	2179	2120	3379	3197	77.4	-16.1	107	549	0.00	2.53	0.00	0.000	2564	0.000	0.065	2185	690	3287	3378	3196	0	0	0	0	0	0	14.66	14.47	14.66	6.29	48.70
575	-0.64	-146.0	2178	690	3379	3200	82.2	-16.1	113	579	0.08	2.45	0.00	0.000	3078	0.338	0.059	2193	2093	3287	3378	3196	0	0	0	0	0	0	14.29	14.42	14.43	6.29	49.01
701	-0.64	-146.0	2194	2094	3380	3196	99.8	-13.5	138	704	0.00	2.47	0.00	0.000	2308	0.000	0.085	2183	3507	3287	3378	3196	0	0	0	0	0	0	14.68	14.45	14.69	6.29	48.38
715	-0.64	-146.0	2183	3509	3379	3197	100.4	-14.0	139	719	0.00	2.40	0.00	0.000	3078	0.000	0.044	2183	2093	3287	3378	3196	0	0	0	0	0	0	14.52	14.47	14.53	6.28	49.01
1020	-0.64	-146.0	2183	2092	3380	3196	142.9	-13.6	155	1024	0.00	2.45	0.00	0.000	2564	0.000	0.067	2182	696	3287	3378	3196	0	0	0	0	0	0	14.74	14.50	14.74	6.29	49.25
1155	-0.64	-146.0	2183	695	3380	3196	158.3	-12.1	161	1160	0.05	2.42	0.00	0.000	3078	0.367	0.057	2188	2101	3287	3378	3196	0	0	0	0	0	0	14.36	14.52	14.59	6.29	49.44
1460	-0.64	-146.0	2188	2101	3379	3197	196.5	-11.9	177	1461	0.00	0.00	0.00	0.000	2054	0.000	0.000	2188	2101	3287	3378	3196	0	0	0	0	0	0	14.78	14.78	14.78	6.31	50.70
1760	-0.64	-146.0	2189	2100	3379	3197	232.7	-12.2	192	1764	0.00	2.47	0.00	0.000	2308	0.000	0.084	2178	3504	3287	3378	3196	0	0	0	0	0	0	14.81	14.54	14.81	6.32	50.90
1790	-0.64	-146.0	2178	3504	3379	3197	235.2	-12.2	193	1794	0.03	2.35	0.00	0.000	3078	0.461	0.043	2186	2096	3287	3378	3196	0	0	0	0	0	0	14.40	14.59	14.54	6.31	51.69
2100	-0.64	-146.0	2187	2096	3379	3196	274.7	-12.5	209	2104	0.00	2.42	0.00	0.000	2564	0.000	0.065	2186	703	3286	3377	3195	0	0	0	0	0	0	14.82	14.59	14.83	6.32	51.22
2170	-0.64	-146.0	2187	704	3379	3195	282.3	-12.7	212	2175	0.00	2.40	0.00	0.000	3078	0.000	0.057	2176	2103	3286	3378	3195	0	0	0	0	0	0	14.64	14.59	14.66	6.32	51.10
2480	-0.64	-146.0	2176	2104	3379	3195	322.8	-12.9	228	2481	0.05	0.00	0.00	0.000	2054	0.474	0.000	2190	2103	3286	3377	3195	0	0	0	0	0	0	14.46	14.69	14.66	6.32	51.18
2719	end dive: TARGET_DEPTH_EXCEEDED
state	2719	begin apogee
2722	-0.15	0.0	2191	2169	3379	3195	351.9	-12.0	240	2855	0.45	0.00	129.90	1.577	10246	0.271	0.000	2351	2168	2688	2747	2629	0	0	0	0	0	0	14.46	13.91	13.30	6.33	51.92
2856	end apogee: CONTROL_FINISHED_OK
state	2856	begin loiter
3140	-0.15	0.0	2352	2168	2740	2614	348.4	3.2	261	3141	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2168	2676	2739	2614	0	0	0	0	0	0	14.54	14.55	14.55	6.29	50.43
3440	-0.15	0.0	2351	2169	2740	2612	338.5	3.3	276	3441	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2675	2739	2611	0	0	0	0	0	0	14.69	14.70	14.69	6.28	50.94
3740	-0.15	0.0	2351	2169	2740	2612	328.1	3.5	291	3741	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2168	2674	2739	2610	0	0	0	0	0	0	14.78	14.78	14.78	6.28	51.37
4040	-0.15	0.0	2351	2169	2740	2610	317.3	3.6	306	4041	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2168	2674	2739	2609	0	0	0	0	0	0	14.83	14.84	14.84	6.28	51.02
4340	-0.15	0.0	2352	2169	2741	2608	306.4	3.6	321	4341	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2168	2673	2739	2608	0	0	0	0	0	0	14.88	14.88	14.89	6.27	51.02
4640	-0.15	0.0	2352	2168	2740	2608	295.4	3.6	336	4641	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2168	2673	2739	2608	0	0	0	0	0	0	14.92	14.92	14.92	6.28	51.06
4940	-0.15	0.0	2351	2169	2740	2609	284.2	3.7	351	4941	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2168	2673	2739	2607	0	0	0	0	0	0	14.95	14.95	14.95	6.28	51.41
5240	-0.15	0.0	2351	2169	2739	2608	273.6	3.4	366	5241	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2168	2672	2739	2606	0	0	0	0	0	0	14.97	14.97	14.97	6.28	51.22
5540	-0.15	0.0	2351	2169	2740	2608	263.6	3.3	381	5541	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2168	2673	2739	2607	0	0	0	0	0	0	14.99	14.99	14.99	6.28	51.41
5840	-0.15	0.0	2351	2169	2740	2608	253.3	3.5	396	5841	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2168	2673	2740	2607	0	0	0	0	0	0	15.00	15.01	15.01	6.27	51.53
6140	-0.15	0.0	2351	2168	2740	2609	242.3	3.8	411	6141	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2168	2673	2739	2607	0	0	0	0	0	0	15.02	15.02	15.02	6.27	51.10
6439	end loiter: LOITER_COMPLETE
state	6439	begin climb
6440	0.64	146.0	2352	2168	2740	2607	230.7	0.0	426	6581	0.60	2.53	131.85	1.412	10500	0.184	0.082	2590	3540	2087	2115	2060	0	0	0	0	0	0	14.70	13.97	13.45	6.27	51.14
6670	0.64	146.0	2591	3540	2114	2052	212.5	11.0	437	6674	0.00	2.38	0.00	0.000	1030	0.000	0.042	2601	2161	2082	2113	2052	0	0	0	0	0	0	14.21	14.16	14.23	6.24	48.97
6980	0.64	146.0	2602	2160	2107	2045	174.4	12.2	453	6985	0.00	2.53	0.00	0.000	516	0.000	0.070	2612	749	2075	2106	2045	0	0	0	0	0	0	14.60	14.34	14.60	6.23	50.19
7040	0.64	146.0	2612	749	2105	2043	167.4	11.9	456	7045	0.00	2.40	0.00	0.000	5126	0.000	0.055	2613	2130	2073	2104	2043	0	0	0	0	0	0	14.42	14.38	14.45	6.23	49.88
7360	0.64	146.0	2613	2130	2101	2041	124.7	13.4	472	7364	0.00	2.45	0.00	0.000	4612	0.000	0.068	2623	746	2072	2104	2040	0	0	0	0	0	0	14.71	14.44	14.71	6.23	50.35
7480	0.64	146.0	2623	746	2103	2041	110.0	11.6	478	7484	0.05	2.42	0.00	0.000	5126	0.313	0.055	2605	2153	2070	2101	2039	0	0	0	0	0	0	14.35	14.47	14.47	6.23	50.31
7785	0.64	146.0	2604	2154	2103	2039	77.2	10.5	524	7790	0.00	2.50	0.00	0.000	260	0.000	0.085	2604	3555	2070	2102	2038	0	0	0	0	0	0	14.76	14.50	14.76	6.21	49.33
7835	0.64	146.0	2604	3556	2102	2039	71.7	11.0	534	7839	0.00	2.38	0.00	0.000	5126	0.000	0.044	2614	2146	2069	2101	2038	0	0	0	0	0	0	14.59	14.55	14.61	6.21	48.89
7960	0.64	146.0	2613	2148	2104	2038	58.4	9.8	559	7964	0.00	2.47	0.00	0.000	4612	0.000	0.069	2624	744	2069	2102	2037	0	0	0	0	0	0	14.77	14.50	14.78	6.20	48.89
8025	0.64	146.0	2625	744	2102	2037	52.4	9.5	572	8030	0.05	2.42	0.00	0.000	5126	0.307	0.056	2605	2152	2069	2101	2037	0	0	0	0	0	0	14.41	14.54	14.54	6.20	48.77
8151	0.64	146.0	2606	2153	2102	2037	40.8	9.1	597	8155	0.00	2.45	0.00	0.000	260	0.000	0.086	2605	3555	2069	2101	2037	0	0	0	0	0	0	14.78	14.53	14.78	6.20	48.62
8230	0.64	146.0	2606	3555	2102	2037	33.2	9.3	613	8234	0.00	2.38	0.00	0.000	5126	0.000	0.044	2614	2138	2069	2101	2037	0	0	0	0	0	0	14.59	14.54	14.59	6.20	49.21
8356	0.64	146.0	2614	2139	2102	2038	20.9	10.1	638	8359	0.00	2.40	0.00	0.000	4612	0.000	0.069	2625	750	2068	2101	2036	0	0	0	0	0	0	14.79	14.55	14.79	6.22	49.37
8405	0.64	146.0	2625	750	2102	2037	15.8	10.2	648	8410	0.05	2.40	0.00	0.000	5126	0.315	0.055	2606	2149	2068	2101	2036	0	0	0	0	0	0	14.42	14.59	14.56	6.20	49.37
8531	0.64	146.0	2606	2149	2102	2036	3.7	8.5	673	8534	0.00	2.45	0.00	0.000	260	0.000	0.082	2605	3557	2067	2100	2035	0	0	0	0	0	0	14.80	14.55	14.80	6.15	49.68
8539	end climb: SURFACE_DEPTH_REACHED
state	8539	begin surface coast
8569	end surface coast: CONTROL_FINISHED_OK
state	8569	begin surface