Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 139 * 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 139 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 2100 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 12 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 -64917.004 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 -64917.004

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 2100 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 19 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 12 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 139 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 191352,6218.701,-1038.950,39,3.6,58,-10.4 TGT_NAME CW

_CALLS 3 TGT_LATLONG 6230.000,-1030.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.108,0.190

_SM_DEPTHo -0.34 KALMAN_X -169681.3,1036.7,762.9,57955.5,-11125.8

_SM_ANGLEo -55.3 KALMAN_Y -17107.9,1217.5,1278.5,97263.5,-12569.3

GPS2 192621,6218.651,-1039.046,12,1.4,12,-10.4 MHEAD_RNG_PITCHd_Wd 40.0,22396,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 764

Post-dive calculations and measurements:

FINISH -0.8,1.027328 XPDR_PINGS 2

SM_CCo 19612,40.33,0.711,2,0,1678,300.00 ALTIM_BOTTOM_PING 676.6,83.7

SM_GC -0.52,0.00,0.00,40.33,0.000,0.000,0.711,39,2895,1678,-10.91,-0.17,300.00 _24V_AH 23.4,26.807

IRIDIUM_FIX 6158.08,-1038.60,061207,232305 _10V_AH 10.1,12.319

TT8_MAMPS 0.029146 DATA_FILE_SIZE 47466,951

HUMID 2083 CFSIZE 260165632,250654720

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,37,2,0

TCM_TEMP 15.60 GPS 071207,005625,6218.719,-1040.356,25,0.9,42,-10.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 97.90 SBE_CT 687 24 385.93

Roll_motor 190 94 419.66 SBE_O2 658 19 292.89

VBD_pump_during_apogee 335 1312 10293.55 WL_BB2F 560 105 1378.16

VBD_pump_during_surface 40 711 670.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 116 103 281.59 nil 0 0 0.00

Iridium_during_connect 114 160 430.02 nil 0 0 0.00

Iridium_during_xfer 284 223 1482.56

Transponder_ping 6 420 61.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.53

TT8 1747 19 349.45

LPSleep 15284 2 338.09

TT8_Active 547 19 109.57

TT8_Sampling 2109 39 848.02

TT8_CF8 734 45 339.80

TT8_Kalman 33 81 27.56

Analog_circuits 1614 12 195.73

GPS_charging 0 0 0.00

Compass 2074 8 167.63

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -1.10 -146.6 0.0 0.0 0 91 0.00 0.00 -67.85 0.000 6 0.000 0.000 45 2901 3500

93 -1.10 -146.6 2.3 -6.1 3 107 12.10 0.00 0.00 0.000 6 0.160 0.000 2166 2901 3502

415 -1.10 -146.6 40.6 -7.1 19 418 0.00 1.67 0.00 0.000 4 0.000 0.084 2166 3787 3502

459 -1.10 -146.6 43.8 -6.8 21 463 0.00 1.55 0.00 0.000 6 0.000 0.032 2166 2883 3501

791 -1.10 -146.6 68.7 -8.5 37 796 0.00 2.55 0.00 0.000 4 0.000 0.071 2166 1502 3502

814 -1.10 -146.6 69.9 -5.3 38 818 0.00 2.60 0.00 0.000 6 0.000 0.067 2166 2900 3502

1134 -1.10 -146.6 91.7 -6.8 54 1135 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2901 3501

1443 -1.10 -146.6 114.5 -7.3 69 1447 0.00 2.58 0.00 0.000 4 0.000 0.066 2166 1502 3502

1504 -1.10 -146.6 119.0 -7.9 72 1509 0.00 2.60 0.00 0.000 6 0.000 0.066 2166 2909 3502

1830 -1.10 -146.6 141.7 -6.9 88 1834 0.00 2.60 0.00 0.000 4 0.000 0.066 2166 1499 3502

1861 -1.10 -146.6 143.9 -7.1 89 1868 0.00 2.60 0.00 0.000 6 0.000 0.066 2166 2892 3502

2177 -1.10 -146.6 165.7 -6.7 105 2181 0.00 2.58 0.00 0.000 4 0.000 0.068 2166 1502 3502

2208 -1.10 -146.6 167.8 -6.8 106 2215 0.00 2.60 0.00 0.000 6 0.000 0.066 2166 2898 3502

2524 -1.10 -146.6 191.2 -7.7 122 2525 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2898 3502

2833 -1.10 -146.6 215.1 -7.7 137 2837 0.00 2.58 0.00 0.000 4 0.000 0.066 2166 1500 3502

2909 -1.10 -146.6 220.9 -7.5 140 2917 0.00 2.60 0.00 0.000 6 0.000 0.066 2166 2896 3502

3225 -1.10 -146.6 243.8 -7.5 156 3229 0.00 2.58 0.00 0.000 4 0.000 0.067 2166 1501 3502

3256 -1.10 -146.6 246.1 -7.3 157 3263 0.00 2.60 0.00 0.000 6 0.000 0.065 2166 2899 3502

3572 -1.10 -146.6 270.1 -7.7 173 3577 0.00 2.58 0.00 0.000 4 0.000 0.066 2166 1503 3502

3611 -1.10 -146.6 273.0 -8.0 175 3615 0.00 2.58 0.00 0.000 6 0.000 0.065 2166 2903 3502

3937 -1.10 -146.6 298.0 -8.0 191 3941 0.00 2.58 0.00 0.000 4 0.000 0.066 2166 1502 3502

3965 -1.10 -146.6 300.2 -7.5 192 3970 0.00 2.58 0.00 0.000 6 0.000 0.065 2166 2900 3502

4280 -1.10 -146.6 324.7 -7.7 207 4284 0.00 2.58 0.00 0.000 4 0.000 0.066 2166 1503 3502

4305 -1.10 -146.6 327.0 -8.1 208 4310 0.00 2.60 0.00 0.000 6 0.000 0.065 2166 2900 3502

4632 -1.10 -146.6 353.1 -8.3 224 4636 0.00 2.58 0.00 0.000 4 0.000 0.066 2166 1500 3502

4666 -1.10 -146.6 355.9 -8.4 225 4672 0.00 2.58 0.00 0.000 6 0.000 0.066 2166 2900 3501

4980 -1.10 -146.6 381.8 -8.0 241 4985 0.00 2.58 0.00 0.000 4 0.000 0.065 2166 1500 3502

5019 -1.10 -146.6 384.9 -8.1 243 5024 0.00 2.58 0.00 0.000 6 0.000 0.066 2166 2901 3502

5345 -1.10 -146.6 411.1 -8.1 259 5346 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2901 3502

5654 -1.10 -146.6 436.2 -7.9 274 5659 0.00 2.58 0.00 0.000 4 0.000 0.064 2166 1499 3501

5720 -1.10 -146.6 441.2 -8.2 277 5725 0.00 2.58 0.00 0.000 6 0.000 0.065 2166 2901 3502

6047 -1.10 -146.6 466.0 -7.5 293 6048 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2901 3502

6356 -1.10 -146.6 491.0 -7.4 308 6360 0.00 2.58 0.00 0.000 4 0.000 0.063 2166 1493 3502

6399 -1.10 -146.6 494.6 -8.5 310 6403 0.00 2.58 0.00 0.000 6 0.000 0.064 2166 2900 3502

6726 -1.10 -146.6 517.9 -6.8 326 6727 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2901 3502

7035 -1.10 -146.6 539.7 -6.6 341 7039 0.00 2.55 0.00 0.000 4 0.000 0.061 2166 1500 3502

7112 -1.10 -146.6 544.2 -5.4 344 7119 0.00 2.58 0.00 0.000 6 0.000 0.064 2166 2906 3502

7427 -1.10 -146.6 562.7 -6.2 360 7431 0.00 2.55 0.00 0.000 4 0.000 0.061 2166 1500 3502

7488 -1.10 -146.6 566.3 -6.2 363 7492 0.00 2.58 0.00 0.000 6 0.000 0.065 2166 2906 3502

7813 -1.10 -146.6 585.6 -5.0 379 7818 0.00 2.55 0.00 0.000 4 0.000 0.060 2166 1500 3502

7875 -1.10 -146.6 588.4 -4.8 382 7879 0.00 2.58 0.00 0.000 6 0.000 0.064 2166 2900 3502

8201 -1.10 -146.6 602.0 -4.0 398 8205 0.00 2.55 0.00 0.000 4 0.000 0.061 2166 1492 3502

8267 -1.10 -146.6 605.2 -5.0 401 8271 0.00 2.60 0.00 0.000 6 0.000 0.064 2166 2908 3502

8593 -1.10 -146.6 620.3 -4.6 417 8598 0.00 2.55 0.00 0.000 4 0.000 0.061 2166 1500 3502

8700 -1.10 -146.6 625.9 -6.0 422 8704 0.00 2.58 0.00 0.000 6 0.000 0.065 2166 2899 3502

9025 -1.10 -146.6 646.0 -7.0 438 9029 0.00 2.55 0.00 0.000 4 0.000 0.063 2166 1494 3502

9086 -1.10 -146.6 650.4 -7.4 441 9090 0.00 2.60 0.00 0.000 6 0.000 0.067 2166 2900 3501

9411 -1.10 -146.6 678.6 -9.1 457 9415 0.00 2.58 0.00 0.000 4 0.000 0.063 2166 1492 3502

9521 -1.10 -146.6 688.8 -10.0 462 9526 0.00 2.60 0.00 0.000 6 0.000 0.068 2166 2901 3502

9848 -1.10 -146.6 715.7 -7.1 478 9849 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2901 3502

10157 -1.10 -146.6 738.3 -8.5 493 10160 0.00 1.65 0.00 0.000 4 0.000 0.087 2166 3785 3501

10217 -1.10 -146.6 742.1 -6.8 495 10224 0.00 1.52 0.00 0.000 6 0.000 0.038 2166 2898 3501

10366 end dive: BOTTOM_OBSTACLE_DETECTED

state 10366 begin apogee

10372 -0.42 0.0 751.7 6.0 503 10501 0.73 0.00 125.07 1.312 6 0.077 0.000 2316 2109 2901

10502 end apogee: CONTROL_FINISHED_OK

state 10502 begin climb

10503 1.10 146.6 755.0 0.0 509 10634 1.55 2.72 122.25 1.267 4 0.054 0.065 2648 687 2303

10781 1.10 146.6 741.7 10.1 522 10786 0.00 2.53 0.00 0.000 6 0.000 0.043 2648 2107 2302

11107 1.10 146.6 718.0 8.3 538 11108 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2108 2301

11416 1.23 252.3 708.0 3.1 553 11512 0.15 2.78 87.88 1.266 4 0.044 0.079 2696 3509 1872

11601 1.23 252.3 693.5 9.0 561 11608 0.00 2.58 0.00 0.000 6 0.000 0.047 2696 2098 1871

11917 1.23 252.3 666.5 8.0 577 11921 0.00 2.58 0.00 0.000 4 0.000 0.065 2697 693 1869

11982 1.23 252.3 660.3 9.5 580 11986 0.00 2.55 0.00 0.000 6 0.000 0.047 2696 2097 1869

12309 1.23 252.3 633.9 8.0 596 12313 0.00 2.67 0.00 0.000 4 0.000 0.077 2696 3512 1868

12357 1.23 252.3 629.8 7.7 598 12362 0.00 2.53 0.00 0.000 6 0.000 0.047 2696 2099 1868

12678 1.23 252.3 603.1 9.1 614 12683 0.00 2.58 0.00 0.000 4 0.000 0.062 2696 688 1867

12772 1.23 252.3 594.4 8.4 618 12777 0.00 2.53 0.00 0.000 6 0.000 0.044 2696 2104 1867

13094 1.23 252.3 565.9 9.2 634 13095 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2104 1867

13403 1.23 252.3 539.3 8.4 649 13407 0.00 2.58 0.00 0.000 4 0.000 0.058 2697 688 1866

13451 1.23 252.3 534.9 9.2 651 13455 0.00 2.53 0.00 0.000 6 0.000 0.044 2697 2103 1866

13772 1.23 252.3 508.7 8.3 667 13777 0.00 2.62 0.00 0.000 4 0.000 0.074 2697 3514 1867

13827 1.23 252.3 503.8 9.2 669 13834 0.00 2.53 0.00 0.000 6 0.000 0.046 2696 2100 1867

14142 1.23 252.3 476.2 9.1 685 14144 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2101 1867

14452 1.23 252.3 450.2 8.4 700 14453 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2101 1868

14761 1.23 252.3 425.7 7.9 715 14762 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2101 1868

15070 1.23 252.3 401.1 7.8 730 15074 0.00 2.65 0.00 0.000 4 0.000 0.074 2697 3512 1869

15113 1.23 252.3 397.6 8.8 732 15117 0.00 2.50 0.00 0.000 6 0.000 0.049 2696 2099 1869

15439 1.23 252.3 371.5 8.2 748 15441 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2099 1870

15749 1.23 252.3 345.3 8.3 763 15753 0.00 2.65 0.00 0.000 4 0.000 0.076 2697 3512 1870

15803 1.23 252.3 340.2 9.4 765 15810 0.00 2.53 0.00 0.000 6 0.000 0.048 2697 2105 1870

16118 1.23 252.3 313.4 8.4 781 16120 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2105 1870

16428 1.23 252.3 286.7 8.7 796 16432 0.00 2.65 0.00 0.000 4 0.000 0.077 2696 3512 1871

16472 1.23 252.3 282.6 10.7 798 16476 0.00 2.53 0.00 0.000 6 0.000 0.048 2697 2098 1871

16791 1.23 252.3 254.1 9.0 814 16793 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2098 1871

17101 1.23 252.3 226.7 8.6 829 17105 0.00 2.67 0.00 0.000 4 0.000 0.076 2696 3513 1872

17140 1.23 252.3 223.2 9.7 831 17144 0.00 2.53 0.00 0.000 6 0.000 0.049 2696 2095 1872

17465 1.23 252.3 193.8 8.8 847 17466 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2096 1872

17774 1.23 252.3 167.5 8.3 862 17778 0.00 2.67 0.00 0.000 4 0.000 0.076 2696 3515 1872

17812 1.23 252.3 164.3 9.1 864 17817 0.00 2.53 0.00 0.000 6 0.000 0.048 2696 2094 1872

18138 1.23 252.3 135.0 9.1 880 18139 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2094 1872

18448 1.23 252.3 106.5 9.2 895 18452 0.00 2.67 0.00 0.000 4 0.000 0.077 2697 3512 1872

18496 1.23 252.3 101.9 9.8 897 18501 0.00 2.53 0.00 0.000 6 0.000 0.053 2697 2099 1872

18818 1.23 252.3 72.1 9.3 913 18819 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2099 1873

19127 1.23 252.3 43.0 8.7 928 19131 0.00 2.67 0.00 0.000 4 0.000 0.078 2696 3512 1873

19166 1.23 252.3 39.3 10.5 930 19170 0.00 2.50 0.00 0.000 6 0.000 0.050 2697 2099 1873

19497 1.23 252.3 7.2 9.3 946 19501 0.00 2.58 0.00 0.000 4 0.000 0.071 2697 697 1873

19513 1.23 252.3 5.9 9.8 947 19517 0.00 2.47 0.00 0.000 6 0.000 0.044 2696 2105 1873

19569 end climb: SURFACE_DEPTH_REACHED

state 19569 begin surface coast

19591 end surface coast: CONTROL_FINISHED_OK

state 19591 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	139	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	2100	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	12	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	-64917.004	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	191352,6218.701,-1038.950,39,3.6,58,-10.4	TGT_NAME	CW
_CALLS	3	TGT_LATLONG	6230.000,-1030.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.108,0.190
_SM_DEPTHo	-0.34	KALMAN_X	-169681.3,1036.7,762.9,57955.5,-11125.8
_SM_ANGLEo	-55.3	KALMAN_Y	-17107.9,1217.5,1278.5,97263.5,-12569.3
GPS2	192621,6218.651,-1039.046,12,1.4,12,-10.4	MHEAD_RNG_PITCHd_Wd	40.0,22396,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	764

FINISH	-0.8,1.027328	XPDR_PINGS	2
SM_CCo	19612,40.33,0.711,2,0,1678,300.00	ALTIM_BOTTOM_PING	676.6,83.7
SM_GC	-0.52,0.00,0.00,40.33,0.000,0.000,0.711,39,2895,1678,-10.91,-0.17,300.00	_24V_AH	23.4,26.807
IRIDIUM_FIX	6158.08,-1038.60,061207,232305	_10V_AH	10.1,12.319
TT8_MAMPS	0.029146	DATA_FILE_SIZE	47466,951
HUMID	2083	CFSIZE	260165632,250654720
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,37,2,0
TCM_TEMP	15.60	GPS	071207,005625,6218.719,-1040.356,25,0.9,42,-10.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	97.90	SBE_CT	687	24	385.93
Roll_motor	190	94	419.66	SBE_O2	658	19	292.89
VBD_pump_during_apogee	335	1312	10293.55	WL_BB2F	560	105	1378.16
VBD_pump_during_surface	40	711	670.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	116	103	281.59	nil	0	0	0.00
Iridium_during_connect	114	160	430.02	nil	0	0	0.00
Iridium_during_xfer	284	223	1482.56
Transponder_ping	6	420	61.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.53
TT8	1747	19	349.45
LPSleep	15284	2	338.09
TT8_Active	547	19	109.57
TT8_Sampling	2109	39	848.02
TT8_CF8	734	45	339.80
TT8_Kalman	33	81	27.56
Analog_circuits	1614	12	195.73
GPS_charging	0	0	0.00
Compass	2074	8	167.63
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-1.10	-146.6	0.0	0.0	0	91	0.00	0.00	-67.85	0.000	6	0.000	0.000	45	2901	3500
93	-1.10	-146.6	2.3	-6.1	3	107	12.10	0.00	0.00	0.000	6	0.160	0.000	2166	2901	3502
415	-1.10	-146.6	40.6	-7.1	19	418	0.00	1.67	0.00	0.000	4	0.000	0.084	2166	3787	3502
459	-1.10	-146.6	43.8	-6.8	21	463	0.00	1.55	0.00	0.000	6	0.000	0.032	2166	2883	3501
791	-1.10	-146.6	68.7	-8.5	37	796	0.00	2.55	0.00	0.000	4	0.000	0.071	2166	1502	3502
814	-1.10	-146.6	69.9	-5.3	38	818	0.00	2.60	0.00	0.000	6	0.000	0.067	2166	2900	3502
1134	-1.10	-146.6	91.7	-6.8	54	1135	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2901	3501
1443	-1.10	-146.6	114.5	-7.3	69	1447	0.00	2.58	0.00	0.000	4	0.000	0.066	2166	1502	3502
1504	-1.10	-146.6	119.0	-7.9	72	1509	0.00	2.60	0.00	0.000	6	0.000	0.066	2166	2909	3502
1830	-1.10	-146.6	141.7	-6.9	88	1834	0.00	2.60	0.00	0.000	4	0.000	0.066	2166	1499	3502
1861	-1.10	-146.6	143.9	-7.1	89	1868	0.00	2.60	0.00	0.000	6	0.000	0.066	2166	2892	3502
2177	-1.10	-146.6	165.7	-6.7	105	2181	0.00	2.58	0.00	0.000	4	0.000	0.068	2166	1502	3502
2208	-1.10	-146.6	167.8	-6.8	106	2215	0.00	2.60	0.00	0.000	6	0.000	0.066	2166	2898	3502
2524	-1.10	-146.6	191.2	-7.7	122	2525	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2898	3502
2833	-1.10	-146.6	215.1	-7.7	137	2837	0.00	2.58	0.00	0.000	4	0.000	0.066	2166	1500	3502
2909	-1.10	-146.6	220.9	-7.5	140	2917	0.00	2.60	0.00	0.000	6	0.000	0.066	2166	2896	3502
3225	-1.10	-146.6	243.8	-7.5	156	3229	0.00	2.58	0.00	0.000	4	0.000	0.067	2166	1501	3502
3256	-1.10	-146.6	246.1	-7.3	157	3263	0.00	2.60	0.00	0.000	6	0.000	0.065	2166	2899	3502
3572	-1.10	-146.6	270.1	-7.7	173	3577	0.00	2.58	0.00	0.000	4	0.000	0.066	2166	1503	3502
3611	-1.10	-146.6	273.0	-8.0	175	3615	0.00	2.58	0.00	0.000	6	0.000	0.065	2166	2903	3502
3937	-1.10	-146.6	298.0	-8.0	191	3941	0.00	2.58	0.00	0.000	4	0.000	0.066	2166	1502	3502
3965	-1.10	-146.6	300.2	-7.5	192	3970	0.00	2.58	0.00	0.000	6	0.000	0.065	2166	2900	3502
4280	-1.10	-146.6	324.7	-7.7	207	4284	0.00	2.58	0.00	0.000	4	0.000	0.066	2166	1503	3502
4305	-1.10	-146.6	327.0	-8.1	208	4310	0.00	2.60	0.00	0.000	6	0.000	0.065	2166	2900	3502
4632	-1.10	-146.6	353.1	-8.3	224	4636	0.00	2.58	0.00	0.000	4	0.000	0.066	2166	1500	3502
4666	-1.10	-146.6	355.9	-8.4	225	4672	0.00	2.58	0.00	0.000	6	0.000	0.066	2166	2900	3501
4980	-1.10	-146.6	381.8	-8.0	241	4985	0.00	2.58	0.00	0.000	4	0.000	0.065	2166	1500	3502
5019	-1.10	-146.6	384.9	-8.1	243	5024	0.00	2.58	0.00	0.000	6	0.000	0.066	2166	2901	3502
5345	-1.10	-146.6	411.1	-8.1	259	5346	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2901	3502
5654	-1.10	-146.6	436.2	-7.9	274	5659	0.00	2.58	0.00	0.000	4	0.000	0.064	2166	1499	3501
5720	-1.10	-146.6	441.2	-8.2	277	5725	0.00	2.58	0.00	0.000	6	0.000	0.065	2166	2901	3502
6047	-1.10	-146.6	466.0	-7.5	293	6048	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2901	3502
6356	-1.10	-146.6	491.0	-7.4	308	6360	0.00	2.58	0.00	0.000	4	0.000	0.063	2166	1493	3502
6399	-1.10	-146.6	494.6	-8.5	310	6403	0.00	2.58	0.00	0.000	6	0.000	0.064	2166	2900	3502
6726	-1.10	-146.6	517.9	-6.8	326	6727	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2901	3502
7035	-1.10	-146.6	539.7	-6.6	341	7039	0.00	2.55	0.00	0.000	4	0.000	0.061	2166	1500	3502
7112	-1.10	-146.6	544.2	-5.4	344	7119	0.00	2.58	0.00	0.000	6	0.000	0.064	2166	2906	3502
7427	-1.10	-146.6	562.7	-6.2	360	7431	0.00	2.55	0.00	0.000	4	0.000	0.061	2166	1500	3502
7488	-1.10	-146.6	566.3	-6.2	363	7492	0.00	2.58	0.00	0.000	6	0.000	0.065	2166	2906	3502
7813	-1.10	-146.6	585.6	-5.0	379	7818	0.00	2.55	0.00	0.000	4	0.000	0.060	2166	1500	3502
7875	-1.10	-146.6	588.4	-4.8	382	7879	0.00	2.58	0.00	0.000	6	0.000	0.064	2166	2900	3502
8201	-1.10	-146.6	602.0	-4.0	398	8205	0.00	2.55	0.00	0.000	4	0.000	0.061	2166	1492	3502
8267	-1.10	-146.6	605.2	-5.0	401	8271	0.00	2.60	0.00	0.000	6	0.000	0.064	2166	2908	3502
8593	-1.10	-146.6	620.3	-4.6	417	8598	0.00	2.55	0.00	0.000	4	0.000	0.061	2166	1500	3502
8700	-1.10	-146.6	625.9	-6.0	422	8704	0.00	2.58	0.00	0.000	6	0.000	0.065	2166	2899	3502
9025	-1.10	-146.6	646.0	-7.0	438	9029	0.00	2.55	0.00	0.000	4	0.000	0.063	2166	1494	3502
9086	-1.10	-146.6	650.4	-7.4	441	9090	0.00	2.60	0.00	0.000	6	0.000	0.067	2166	2900	3501
9411	-1.10	-146.6	678.6	-9.1	457	9415	0.00	2.58	0.00	0.000	4	0.000	0.063	2166	1492	3502
9521	-1.10	-146.6	688.8	-10.0	462	9526	0.00	2.60	0.00	0.000	6	0.000	0.068	2166	2901	3502
9848	-1.10	-146.6	715.7	-7.1	478	9849	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2901	3502
10157	-1.10	-146.6	738.3	-8.5	493	10160	0.00	1.65	0.00	0.000	4	0.000	0.087	2166	3785	3501
10217	-1.10	-146.6	742.1	-6.8	495	10224	0.00	1.52	0.00	0.000	6	0.000	0.038	2166	2898	3501
10366	end dive: BOTTOM_OBSTACLE_DETECTED
state	10366	begin apogee
10372	-0.42	0.0	751.7	6.0	503	10501	0.73	0.00	125.07	1.312	6	0.077	0.000	2316	2109	2901
10502	end apogee: CONTROL_FINISHED_OK
state	10502	begin climb
10503	1.10	146.6	755.0	0.0	509	10634	1.55	2.72	122.25	1.267	4	0.054	0.065	2648	687	2303
10781	1.10	146.6	741.7	10.1	522	10786	0.00	2.53	0.00	0.000	6	0.000	0.043	2648	2107	2302
11107	1.10	146.6	718.0	8.3	538	11108	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2108	2301
11416	1.23	252.3	708.0	3.1	553	11512	0.15	2.78	87.88	1.266	4	0.044	0.079	2696	3509	1872
11601	1.23	252.3	693.5	9.0	561	11608	0.00	2.58	0.00	0.000	6	0.000	0.047	2696	2098	1871
11917	1.23	252.3	666.5	8.0	577	11921	0.00	2.58	0.00	0.000	4	0.000	0.065	2697	693	1869
11982	1.23	252.3	660.3	9.5	580	11986	0.00	2.55	0.00	0.000	6	0.000	0.047	2696	2097	1869
12309	1.23	252.3	633.9	8.0	596	12313	0.00	2.67	0.00	0.000	4	0.000	0.077	2696	3512	1868
12357	1.23	252.3	629.8	7.7	598	12362	0.00	2.53	0.00	0.000	6	0.000	0.047	2696	2099	1868
12678	1.23	252.3	603.1	9.1	614	12683	0.00	2.58	0.00	0.000	4	0.000	0.062	2696	688	1867
12772	1.23	252.3	594.4	8.4	618	12777	0.00	2.53	0.00	0.000	6	0.000	0.044	2696	2104	1867
13094	1.23	252.3	565.9	9.2	634	13095	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2104	1867
13403	1.23	252.3	539.3	8.4	649	13407	0.00	2.58	0.00	0.000	4	0.000	0.058	2697	688	1866
13451	1.23	252.3	534.9	9.2	651	13455	0.00	2.53	0.00	0.000	6	0.000	0.044	2697	2103	1866
13772	1.23	252.3	508.7	8.3	667	13777	0.00	2.62	0.00	0.000	4	0.000	0.074	2697	3514	1867
13827	1.23	252.3	503.8	9.2	669	13834	0.00	2.53	0.00	0.000	6	0.000	0.046	2696	2100	1867
14142	1.23	252.3	476.2	9.1	685	14144	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2101	1867
14452	1.23	252.3	450.2	8.4	700	14453	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2101	1868
14761	1.23	252.3	425.7	7.9	715	14762	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2101	1868
15070	1.23	252.3	401.1	7.8	730	15074	0.00	2.65	0.00	0.000	4	0.000	0.074	2697	3512	1869
15113	1.23	252.3	397.6	8.8	732	15117	0.00	2.50	0.00	0.000	6	0.000	0.049	2696	2099	1869
15439	1.23	252.3	371.5	8.2	748	15441	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2099	1870
15749	1.23	252.3	345.3	8.3	763	15753	0.00	2.65	0.00	0.000	4	0.000	0.076	2697	3512	1870
15803	1.23	252.3	340.2	9.4	765	15810	0.00	2.53	0.00	0.000	6	0.000	0.048	2697	2105	1870
16118	1.23	252.3	313.4	8.4	781	16120	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2105	1870
16428	1.23	252.3	286.7	8.7	796	16432	0.00	2.65	0.00	0.000	4	0.000	0.077	2696	3512	1871
16472	1.23	252.3	282.6	10.7	798	16476	0.00	2.53	0.00	0.000	6	0.000	0.048	2697	2098	1871
16791	1.23	252.3	254.1	9.0	814	16793	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2098	1871
17101	1.23	252.3	226.7	8.6	829	17105	0.00	2.67	0.00	0.000	4	0.000	0.076	2696	3513	1872
17140	1.23	252.3	223.2	9.7	831	17144	0.00	2.53	0.00	0.000	6	0.000	0.049	2696	2095	1872
17465	1.23	252.3	193.8	8.8	847	17466	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2096	1872
17774	1.23	252.3	167.5	8.3	862	17778	0.00	2.67	0.00	0.000	4	0.000	0.076	2696	3515	1872
17812	1.23	252.3	164.3	9.1	864	17817	0.00	2.53	0.00	0.000	6	0.000	0.048	2696	2094	1872
18138	1.23	252.3	135.0	9.1	880	18139	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2094	1872
18448	1.23	252.3	106.5	9.2	895	18452	0.00	2.67	0.00	0.000	4	0.000	0.077	2697	3512	1872
18496	1.23	252.3	101.9	9.8	897	18501	0.00	2.53	0.00	0.000	6	0.000	0.053	2697	2099	1872
18818	1.23	252.3	72.1	9.3	913	18819	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2099	1873
19127	1.23	252.3	43.0	8.7	928	19131	0.00	2.67	0.00	0.000	4	0.000	0.078	2696	3512	1873
19166	1.23	252.3	39.3	10.5	930	19170	0.00	2.50	0.00	0.000	6	0.000	0.050	2697	2099	1873
19497	1.23	252.3	7.2	9.3	946	19501	0.00	2.58	0.00	0.000	4	0.000	0.071	2697	697	1873
19513	1.23	252.3	5.9	9.8	947	19517	0.00	2.47	0.00	0.000	6	0.000	0.044	2696	2105	1873
19569	end climb: SURFACE_DEPTH_REACHED
state	19569	begin surface coast
19591	end surface coast: CONTROL_FINISHED_OK
state	19591	begin surface