Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 142 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 ESCAPE_HEADING 180 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 142 FIX_MISSING_TIMEOUT 4 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 7100 ROLL_TIMEOUT 15 XPDR_VALID 2

D_SURF 2 TGT_DEFAULT_LON -14430 R_PORT_OVSHOOT 23 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 669.66901 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.6

D_ABORT 800 N_FILEKB 8 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 2 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 9 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 1.75 N_NOCOMM 6 C_VBD 3230 DEVICE4 -1

D_SAFE 500 NOCOMM_ACTION 161 VBD_DBAND 2 DEVICE5 -1

D_CALL 4.5 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 5 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 10 CALL_TRIES 3 PITCH_VBD_SHIFT 0.001 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 20 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 215 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 250 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 2 PHONE_DEVICE 49

T_NO_W 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -21773.818 PITCH_W_GAIN 4 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 1 RAFOS_PEAK_OFFSET 1 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.079999998 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044001359

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00063958467

T_WATCHDOG 10 PITCH_MIN 200 MINV_10V 11 SEABIRD_T_I 2.6420161e-05

RELAUNCH 1 PITCH_MAX 3900 FG_AHR_10V 0 SEABIRD_T_J 3.2747387e-06

APOGEE_PITCH -5 C_PITCH 2435 FG_AHR_24V 0 SEABIRD_C_G -9.7531748

MAX_BUOY 180 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1147131

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -64.963387 SEABIRD_C_I -0.0015239087

GLIDE_SLOPE 40 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001159754 SEABIRD_C_J 0.00019379995

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 35.5 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54269 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 160 COMPASS_USE 4 TM_RECORDABOVE 2000.0

NAV_MODE 0 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HD_A 0.0031999999 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3771 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 2.1999999e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2360 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 750 PITCH_GAIN 35.5 SURFACE_URGENCY_FORCE 20

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3900 SURFACE_URGENCY_TRY 10

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 200 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 7100

ALTIM_PING_DEPTH 0 FILEMGR 2 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -14430

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 4 PITCH_W_GAIN 4 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 40 PRESSURE_SLOPE 0.0001159754 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -64.963387 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0031999999 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 2.1999999e-06 P_OVSHOOT_WITHG 0 T_ABORT 1440

CALL_NDIVES 1 HEADING -1 RAFOS_CORR_THRESH 60 T_BOOST 4

CALL_TRIES 3 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 215

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.079999998 RAFOS_PEAK_OFFSET 1 T_GPS 3

CAPUPLOAD 0 ID 199 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -21773.818

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_MISSION 250

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 360

COMPASS_USE 4 LOGGERDEVICE2 71 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_DEG 40 T_TURN 225

C_PITCH 2435 LOGGERDEVICE4 -1 ROLL_MAX 3771 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 3 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2360 MASS 54269 ROLL_MIN 218 UNCOM_BLEED 60

C_VBD 3230 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 180 R_PORT_OVSHOOT 23 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 18 USE_ICE 1

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 5 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 0 SEABIRD_C_G -9.7531748 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1147131 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0015239087 VBD_MIN 500

DIVE 142 N_FILEKB 8 SEABIRD_C_J 0.00019379995 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 800 N_GPS -20 SEABIRD_T_G 0.0044001359 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00063958467 VBD_TIMEOUT 720

D_CALL 4.5 N_NOSURFACE 0 SEABIRD_T_I 2.6420161e-05 W_ADJ_DBAND 2

D_FINISH 9 PHONE_DEVICE 49 SEABIRD_T_J 3.2747387e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 2 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0 SM_CC 669.66901

D_PITCH 1.75 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 500 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 150814,073254,7216.112,-14552.715,31,0.8,51,22.2 SPEED_LIMITS 0.139,0.275

_CALLS 3 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7305.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.25 MHEAD_RNG_PITCHd_Wd 338.8,90431,-19.5,-11.628,-22.92,2318

_SM_ANGLEo -70.0 D_GRID 1000

GPS2 150814,074231,7216.178,-14552.824,4,0.8,24,22.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20140815081641.188261,3,130,21,0127,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,10.7,1.0,-100,2.0,-01,0.6,28,900,0025*24 TM_FREEKB 5537824

FREEZE 1.17,4.134,-0.727,2,2,0 _24V_AH 12.19,108.085

FINISH 1.2,1.010651 _10V_AH 12.28,0.000

SM_CCo 12047,0.30,0.440,0,0,498,669.67 FG_AHR_24Vo 0.000

SM_GC 2.44,8.15,0.43,0.30,0.089,0.100,0.440,190,2365,498,-6.96,1.07,669.67,0,0,0,0,0,0,14.36,14.35,14.26 FG_AHR_10Vo 0.000

RAFOS_CLK 478 MEM 276680

RAFOS_FIX 7210.390625,-14553.904297,150814,000043,2,255,0.00 DATA_FILE_SIZE 26757,826

IRIDIUM_FIX 7146.24,-14549.16,150814,073721 CAP_FILE_SIZE 135201,0

TT8_MAMPS 0.046438,0.046438 CFSIZE 2097872896,2056093696

HUMID 52.08 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.4655 INTR 0,12880.29,0x2378b6,7,5

TCM_TEMP 11.90 SOUNDSPEED 1451.1

XPDR_PINGS 0 GPS 150814,110512,7217.881,-14552.596,35,0.8,55,22.2

SC_FREEKB 4000880

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 464 120.57 nil 0 0 0.00

Roll_motor 45 143 79.73 nil 0 0 0.00

VBD_pump_during_apogee 658 2111 16956.17 nil 0 0 0.00

VBD_pump_during_surface 0 439 1.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 12058 11 1758.41

Iridium_during_xfer 170 90 187.64 TMICL 12106 43 6433.41

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 20 6.50

TT8 0 0 0.00

LPSleep 9731 2 276.06

TT8_Active 665 10 89.61

TT8_Sampling 2068 29 754.57

TT8_CF8 164 36 73.39

TT8_Kalman 0 0 0.00

Analog_circuits 1612 10 198.04

GPS_charging 0 0 0.00

Compass 1227 5 75.37

RAFOS 1493 48 880.03

Transponder 0 5 0.03

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.72 -175.1 171 2367 518 482 0.0 0.0 0 73 0.00 0.00 -50.88 0.000 16386 0.000 0.000 170 2366 1784 1794 1775 0 0 0 0 0 0 28.83 28.83 28.83

75 -0.72 -175.1 172 2367 1795 1775 3.2 -2.8 5 136 10.82 2.62 -43.28 0.000 19204 0.464 0.144 2178 3773 3946 4004 3889 0 0 0 0 0 0 14.12 14.30 14.59

360 -0.72 -175.1 2178 3773 4005 3895 85.4 -24.5 62 368 0.00 2.42 0.00 0.000 1030 0.000 0.080 2178 2355 3948 4003 3894 0 0 0 0 0 0 28.83 14.34 28.83

665 -0.72 -175.1 2174 2354 4005 3896 149.8 -20.1 93 672 0.00 2.55 0.00 0.000 260 0.000 0.122 2168 3767 3949 4004 3895 0 0 0 0 0 0 28.83 14.37 28.83

867 -0.72 -175.1 2167 3771 4005 3895 190.0 -19.9 133 874 0.15 2.42 0.00 0.000 3078 0.307 0.080 2197 2350 3949 4003 3895 0 0 0 0 0 0 14.24 14.42 28.83

1190 -0.72 -175.1 2201 2349 4003 3895 238.2 -13.8 165 1193 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2349 3949 4004 3894 0 0 0 0 0 0 28.83 28.83 28.83

1490 -0.72 -175.1 2197 2349 4005 3895 278.8 -13.2 181 1492 0.00 0.00 0.00 0.000 6 0.000 0.000 2202 2348 3949 4003 3895 0 0 0 0 0 0 28.83 28.83 28.83

1790 -0.72 -175.1 2195 2350 4001 3895 317.5 -12.7 191 1792 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2349 3949 4004 3894 0 0 0 0 0 0 28.83 28.83 28.83

2090 -0.72 -175.1 2196 2350 4005 3894 354.5 -12.1 201 2093 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2349 3948 4003 3894 0 0 0 0 0 0 28.83 28.83 28.83

2390 -0.72 -175.1 2196 2350 4005 3894 390.1 -11.7 211 2392 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2349 3946 4003 3889 0 0 0 0 0 0 28.83 28.83 28.83

2691 -0.72 -175.1 2198 2349 4003 3893 425.0 -11.6 221 2694 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 2347 3948 4003 3893 0 0 0 0 0 0 28.83 28.83 28.83

2990 -0.72 -175.1 2198 2349 4002 3889 459.6 -11.5 231 2996 0.00 2.60 0.00 0.000 260 0.000 0.125 2187 3768 3947 4003 3892 0 0 0 0 0 0 28.83 14.34 28.83

3036 -0.72 -175.1 2188 3769 4005 3893 465.5 -13.2 240 3042 0.00 2.42 0.00 0.000 1030 0.000 0.080 2187 2355 3948 4004 3892 0 0 0 0 0 0 28.83 14.44 28.83

3352 -0.72 -175.1 2188 2356 4005 3893 504.2 -12.3 253 3355 0.00 0.00 0.00 0.000 6 0.000 0.000 2188 2355 3948 4004 3892 0 0 0 0 0 0 28.83 28.83 28.83

3651 -0.72 -175.1 2188 2355 4005 3893 540.4 -12.0 263 3654 0.00 0.00 0.00 0.000 6 0.000 0.000 2187 2355 3947 4003 3892 0 0 0 0 0 0 28.83 28.83 28.83

3951 -0.72 -175.1 2189 2355 4003 3892 576.5 -12.0 273 3955 0.00 0.00 0.00 0.000 6 0.000 0.000 2187 2355 3947 4003 3892 0 0 0 0 0 0 28.83 28.83 28.83

4251 -0.72 -175.1 2189 2355 4003 3892 612.6 -12.1 283 4254 0.00 0.00 0.00 0.000 6 0.000 0.000 2184 2355 3947 4003 3892 0 0 0 0 0 0 28.83 28.83 28.83

4551 -0.72 -175.1 2187 2356 4005 3891 649.0 -12.2 293 4554 0.00 0.00 0.00 0.000 6 0.000 0.000 2187 2355 3947 4003 3892 0 0 0 0 0 0 28.83 28.83 28.83

4851 -0.72 -175.1 2187 2359 4004 3892 685.5 -12.1 303 4854 0.00 0.00 0.00 0.000 6 0.000 0.000 2187 2354 3947 4004 3891 0 0 0 0 0 0 28.83 28.83 28.83

5151 -0.72 -175.1 2187 2355 4005 3892 721.7 -12.0 313 5154 0.00 0.00 0.00 0.000 6 0.000 0.000 2187 2355 3947 4003 3891 0 0 0 0 0 0 28.83 28.83 28.83

5390 end dive: TARGET_DEPTH_EXCEEDED

state 5390 begin apogee

5394 -0.14 0.0 2187 2604 4004 3891 750.2 -11.8 321 5621 0.77 0.00 222.88 1.815 10246 0.272 0.000 2377 2602 3231 3284 3179 0 0 0 0 0 0 14.32 28.83 12.81

5623 end apogee: CONTROL_FINISHED_OK

state 5623 begin climb

5626 0.72 175.1 2382 2603 3280 3174 757.9 0.0 328 5799 0.98 2.38 159.70 2.111 10500 0.161 0.119 2656 3768 2507 2571 2443 0 0 0 0 0 0 13.43 12.86 12.19

5978 0.72 175.1 2656 3769 2567 2427 720.2 15.3 401 5985 0.00 2.10 0.00 0.000 1030 0.000 0.077 2665 2599 2498 2566 2430 0 0 0 0 0 0 28.83 13.67 28.83

6305 0.72 175.1 2667 2600 2565 2428 676.3 13.5 416 6307 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2597 2497 2565 2429 0 0 0 0 0 0 28.83 28.83 28.83

6604 0.72 175.1 2666 2599 2565 2429 636.1 13.4 426 6606 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2599 2497 2566 2428 0 0 0 0 0 0 28.83 28.83 28.83

6904 0.72 175.1 2665 2600 2567 2429 595.5 13.5 436 6908 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2599 2497 2566 2428 0 0 0 0 0 0 28.83 28.83 28.83

7204 0.72 175.1 2667 2600 2565 2429 555.0 13.4 446 7206 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2599 2496 2566 2427 0 0 0 0 0 0 28.83 28.83 28.83

7504 0.72 175.1 2667 2600 2565 2432 514.8 13.3 456 7506 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2599 2496 2566 2427 0 0 0 0 0 0 28.83 28.83 28.83

7804 0.72 175.1 2667 2606 2565 2427 475.1 13.3 466 7807 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2599 2496 2565 2427 0 0 0 0 0 0 28.83 28.83 28.83

8104 0.72 175.1 2667 2600 2565 2427 436.0 13.1 476 8110 0.00 2.42 0.00 0.000 516 0.000 0.088 2676 1187 2496 2566 2427 0 0 0 0 0 0 28.83 14.45 28.83

8124 0.72 175.1 2677 1185 2565 2427 433.4 12.1 480 8131 0.00 2.50 0.00 0.000 1030 0.000 0.100 2673 2599 2495 2565 2426 0 0 0 0 0 0 28.83 14.44 28.83

8436 0.72 175.1 2677 2600 2567 2427 391.7 13.3 492 8439 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2599 2496 2565 2427 0 0 0 0 0 0 28.83 28.83 28.83

8735 0.72 175.1 2678 2600 2565 2427 351.5 13.3 502 8738 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2600 2496 2566 2426 0 0 0 0 0 0 28.83 28.83 28.83

9035 0.72 175.1 2677 2599 2565 2427 311.9 13.0 512 9038 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2599 2496 2566 2426 0 0 0 0 0 0 28.83 28.83 28.83

9335 0.72 175.1 2677 2600 2565 2427 273.7 12.8 522 9338 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2599 2495 2565 2426 0 0 0 0 0 0 28.83 28.83 28.83

9635 0.72 175.1 2674 2602 2567 2427 237.3 11.9 538 9639 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2599 2495 2565 2426 0 0 0 0 0 0 28.83 28.83 28.83

9935 0.78 175.1 2676 2600 2567 2427 203.8 10.3 568 9942 0.00 2.45 0.00 0.000 516 0.000 0.088 2686 1187 2496 2566 2426 0 0 0 0 0 0 28.83 14.46 28.83

9971 0.82 222.1 2687 1188 2565 2427 200.4 9.5 575 10019 0.00 2.53 39.60 1.431 9222 0.000 0.100 2686 2603 2315 2386 2244 0 0 0 0 0 0 28.83 14.36 13.57

10316 0.87 222.1 2686 2604 2379 2232 163.0 10.4 614 10322 0.00 2.47 0.00 0.000 516 0.000 0.087 2696 1188 2304 2378 2231 0 0 0 0 0 0 28.83 14.33 28.83

10372 0.92 272.3 2696 1188 2379 2231 157.6 9.4 625 10424 0.12 2.53 42.33 1.392 11270 0.154 0.101 2741 2599 2113 2192 2034 0 0 0 0 0 0 14.33 14.30 13.52

10729 0.92 272.3 2741 2600 2187 2015 112.6 12.9 666 10732 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2599 2100 2185 2015 0 0 0 0 0 0 28.83 28.83 28.83

11029 0.94 272.3 2741 2600 2187 2014 76.7 11.1 696 11031 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2599 2098 2185 2012 0 0 0 0 0 0 28.83 28.83 28.83

11329 1.09 421.3 2741 2600 2187 2013 52.9 5.0 726 11407 0.15 2.55 70.93 0.324 10756 0.142 0.090 2809 1194 1511 1603 1419 0 0 0 0 0 0 14.39 14.21 14.11

11452 1.09 421.3 2809 1196 1613 1426 41.0 12.5 750 11458 0.00 2.55 0.00 0.000 1030 0.000 0.102 2809 2609 1518 1611 1425 0 0 0 0 0 0 28.83 14.25 28.83

11764 1.34 670.6 2811 2604 1610 1429 13.8 0.6 782 11897 0.15 2.50 122.90 0.218 10756 0.142 0.087 2876 1192 498 518 479 0 0 0 0 0 0 14.33 14.23 14.12

11943 1.42 744.7 2875 1193 529 480 6.9 8.3 817 11951 0.00 2.55 0.47 0.353 9222 0.000 0.103 2876 2600 498 518 479 0 0 0 0 0 0 28.83 14.24 14.19

12006 end climb: SURFACE_DEPTH_REACHED

state 12006 begin surface coast

12025 end surface coast: CONTROL_FINISHED_OK

state 12026 begin surface

ID	199	ESCAPE_HEADING	180	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	142	FIX_MISSING_TIMEOUT	4	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	7100	ROLL_TIMEOUT	15	XPDR_VALID	2
D_SURF	2	TGT_DEFAULT_LON	-14430	R_PORT_OVSHOOT	23	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	669.66901	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.6
D_ABORT	800	N_FILEKB	8	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	2	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	9	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	1.75	N_NOCOMM	6	C_VBD	3230	DEVICE4	-1
D_SAFE	500	NOCOMM_ACTION	161	VBD_DBAND	2	DEVICE5	-1
D_CALL	4.5	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	5	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	10	CALL_TRIES	3	PITCH_VBD_SHIFT	0.001	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	20	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	215	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	250	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	2	PHONE_DEVICE	49
T_NO_W	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-21773.818	PITCH_W_GAIN	4	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	1	RAFOS_PEAK_OFFSET	1	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.079999998	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044001359
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00063958467
T_WATCHDOG	10	PITCH_MIN	200	MINV_10V	11	SEABIRD_T_I	2.6420161e-05
RELAUNCH	1	PITCH_MAX	3900	FG_AHR_10V	0	SEABIRD_T_J	3.2747387e-06
APOGEE_PITCH	-5	C_PITCH	2435	FG_AHR_24V	0	SEABIRD_C_G	-9.7531748
MAX_BUOY	180	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1147131
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-64.963387	SEABIRD_C_I	-0.0015239087
GLIDE_SLOPE	40	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001159754	SEABIRD_C_J	0.00019379995
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	35.5	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54269	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	160	COMPASS_USE	4	TM_RECORDABOVE	2000.0
NAV_MODE	0	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HD_A	0.0031999999	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3771	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	2.1999999e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2360	ALTIM_PING_DELTA	5

GPS1	150814,073254,7216.112,-14552.715,31,0.8,51,22.2	SPEED_LIMITS	0.139,0.275
_CALLS	3	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7305.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.25	MHEAD_RNG_PITCHd_Wd	338.8,90431,-19.5,-11.628,-22.92,2318
_SM_ANGLEo	-70.0	D_GRID	1000
GPS2	150814,074231,7216.178,-14552.824,4,0.8,24,22.2

MODEM_MSG	CACST,6,1,20140815081641.188261,3,130,21,0127,0150,100,00,00,00,02,-1,-01,-01,1,3,0,0,150,10.7,1.0,-100,2.0,-01,0.6,28,900,0025*24	TM_FREEKB	5537824
FREEZE	1.17,4.134,-0.727,2,2,0	_24V_AH	12.19,108.085
FINISH	1.2,1.010651	_10V_AH	12.28,0.000
SM_CCo	12047,0.30,0.440,0,0,498,669.67	FG_AHR_24Vo	0.000
SM_GC	2.44,8.15,0.43,0.30,0.089,0.100,0.440,190,2365,498,-6.96,1.07,669.67,0,0,0,0,0,0,14.36,14.35,14.26	FG_AHR_10Vo	0.000
RAFOS_CLK	478	MEM	276680
RAFOS_FIX	7210.390625,-14553.904297,150814,000043,2,255,0.00	DATA_FILE_SIZE	26757,826
IRIDIUM_FIX	7146.24,-14549.16,150814,073721	CAP_FILE_SIZE	135201,0
TT8_MAMPS	0.046438,0.046438	CFSIZE	2097872896,2056093696
HUMID	52.08	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.4655	INTR	0,12880.29,0x2378b6,7,5
TCM_TEMP	11.90	SOUNDSPEED	1451.1
XPDR_PINGS	0	GPS	150814,110512,7217.881,-14552.596,35,0.8,55,22.2
SC_FREEKB	4000880

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	464	120.57	nil	0	0	0.00
Roll_motor	45	143	79.73	nil	0	0	0.00
VBD_pump_during_apogee	658	2111	16956.17	nil	0	0	0.00
VBD_pump_during_surface	0	439	1.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	12058	11	1758.41
Iridium_during_xfer	170	90	187.64	TMICL	12106	43	6433.41
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	20	6.50
TT8	0	0	0.00
LPSleep	9731	2	276.06
TT8_Active	665	10	89.61
TT8_Sampling	2068	29	754.57
TT8_CF8	164	36	73.39
TT8_Kalman	0	0	0.00
Analog_circuits	1612	10	198.04
GPS_charging	0	0	0.00
Compass	1227	5	75.37
RAFOS	1493	48	880.03
Transponder	0	5	0.03

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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.72	-175.1	171	2367	518	482	0.0	0.0	0	73	0.00	0.00	-50.88	0.000	16386	0.000	0.000	170	2366	1784	1794	1775	0	0	0	0	0	0	28.83	28.83	28.83
75	-0.72	-175.1	172	2367	1795	1775	3.2	-2.8	5	136	10.82	2.62	-43.28	0.000	19204	0.464	0.144	2178	3773	3946	4004	3889	0	0	0	0	0	0	14.12	14.30	14.59
360	-0.72	-175.1	2178	3773	4005	3895	85.4	-24.5	62	368	0.00	2.42	0.00	0.000	1030	0.000	0.080	2178	2355	3948	4003	3894	0	0	0	0	0	0	28.83	14.34	28.83
665	-0.72	-175.1	2174	2354	4005	3896	149.8	-20.1	93	672	0.00	2.55	0.00	0.000	260	0.000	0.122	2168	3767	3949	4004	3895	0	0	0	0	0	0	28.83	14.37	28.83
867	-0.72	-175.1	2167	3771	4005	3895	190.0	-19.9	133	874	0.15	2.42	0.00	0.000	3078	0.307	0.080	2197	2350	3949	4003	3895	0	0	0	0	0	0	14.24	14.42	28.83
1190	-0.72	-175.1	2201	2349	4003	3895	238.2	-13.8	165	1193	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2349	3949	4004	3894	0	0	0	0	0	0	28.83	28.83	28.83
1490	-0.72	-175.1	2197	2349	4005	3895	278.8	-13.2	181	1492	0.00	0.00	0.00	0.000	6	0.000	0.000	2202	2348	3949	4003	3895	0	0	0	0	0	0	28.83	28.83	28.83
1790	-0.72	-175.1	2195	2350	4001	3895	317.5	-12.7	191	1792	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2349	3949	4004	3894	0	0	0	0	0	0	28.83	28.83	28.83
2090	-0.72	-175.1	2196	2350	4005	3894	354.5	-12.1	201	2093	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2349	3948	4003	3894	0	0	0	0	0	0	28.83	28.83	28.83
2390	-0.72	-175.1	2196	2350	4005	3894	390.1	-11.7	211	2392	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2349	3946	4003	3889	0	0	0	0	0	0	28.83	28.83	28.83
2691	-0.72	-175.1	2198	2349	4003	3893	425.0	-11.6	221	2694	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	2347	3948	4003	3893	0	0	0	0	0	0	28.83	28.83	28.83
2990	-0.72	-175.1	2198	2349	4002	3889	459.6	-11.5	231	2996	0.00	2.60	0.00	0.000	260	0.000	0.125	2187	3768	3947	4003	3892	0	0	0	0	0	0	28.83	14.34	28.83
3036	-0.72	-175.1	2188	3769	4005	3893	465.5	-13.2	240	3042	0.00	2.42	0.00	0.000	1030	0.000	0.080	2187	2355	3948	4004	3892	0	0	0	0	0	0	28.83	14.44	28.83
3352	-0.72	-175.1	2188	2356	4005	3893	504.2	-12.3	253	3355	0.00	0.00	0.00	0.000	6	0.000	0.000	2188	2355	3948	4004	3892	0	0	0	0	0	0	28.83	28.83	28.83
3651	-0.72	-175.1	2188	2355	4005	3893	540.4	-12.0	263	3654	0.00	0.00	0.00	0.000	6	0.000	0.000	2187	2355	3947	4003	3892	0	0	0	0	0	0	28.83	28.83	28.83
3951	-0.72	-175.1	2189	2355	4003	3892	576.5	-12.0	273	3955	0.00	0.00	0.00	0.000	6	0.000	0.000	2187	2355	3947	4003	3892	0	0	0	0	0	0	28.83	28.83	28.83
4251	-0.72	-175.1	2189	2355	4003	3892	612.6	-12.1	283	4254	0.00	0.00	0.00	0.000	6	0.000	0.000	2184	2355	3947	4003	3892	0	0	0	0	0	0	28.83	28.83	28.83
4551	-0.72	-175.1	2187	2356	4005	3891	649.0	-12.2	293	4554	0.00	0.00	0.00	0.000	6	0.000	0.000	2187	2355	3947	4003	3892	0	0	0	0	0	0	28.83	28.83	28.83
4851	-0.72	-175.1	2187	2359	4004	3892	685.5	-12.1	303	4854	0.00	0.00	0.00	0.000	6	0.000	0.000	2187	2354	3947	4004	3891	0	0	0	0	0	0	28.83	28.83	28.83
5151	-0.72	-175.1	2187	2355	4005	3892	721.7	-12.0	313	5154	0.00	0.00	0.00	0.000	6	0.000	0.000	2187	2355	3947	4003	3891	0	0	0	0	0	0	28.83	28.83	28.83
5390	end dive: TARGET_DEPTH_EXCEEDED
state	5390	begin apogee
5394	-0.14	0.0	2187	2604	4004	3891	750.2	-11.8	321	5621	0.77	0.00	222.88	1.815	10246	0.272	0.000	2377	2602	3231	3284	3179	0	0	0	0	0	0	14.32	28.83	12.81
5623	end apogee: CONTROL_FINISHED_OK
state	5623	begin climb
5626	0.72	175.1	2382	2603	3280	3174	757.9	0.0	328	5799	0.98	2.38	159.70	2.111	10500	0.161	0.119	2656	3768	2507	2571	2443	0	0	0	0	0	0	13.43	12.86	12.19
5978	0.72	175.1	2656	3769	2567	2427	720.2	15.3	401	5985	0.00	2.10	0.00	0.000	1030	0.000	0.077	2665	2599	2498	2566	2430	0	0	0	0	0	0	28.83	13.67	28.83
6305	0.72	175.1	2667	2600	2565	2428	676.3	13.5	416	6307	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2597	2497	2565	2429	0	0	0	0	0	0	28.83	28.83	28.83
6604	0.72	175.1	2666	2599	2565	2429	636.1	13.4	426	6606	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2599	2497	2566	2428	0	0	0	0	0	0	28.83	28.83	28.83
6904	0.72	175.1	2665	2600	2567	2429	595.5	13.5	436	6908	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2599	2497	2566	2428	0	0	0	0	0	0	28.83	28.83	28.83
7204	0.72	175.1	2667	2600	2565	2429	555.0	13.4	446	7206	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2599	2496	2566	2427	0	0	0	0	0	0	28.83	28.83	28.83
7504	0.72	175.1	2667	2600	2565	2432	514.8	13.3	456	7506	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2599	2496	2566	2427	0	0	0	0	0	0	28.83	28.83	28.83
7804	0.72	175.1	2667	2606	2565	2427	475.1	13.3	466	7807	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2599	2496	2565	2427	0	0	0	0	0	0	28.83	28.83	28.83
8104	0.72	175.1	2667	2600	2565	2427	436.0	13.1	476	8110	0.00	2.42	0.00	0.000	516	0.000	0.088	2676	1187	2496	2566	2427	0	0	0	0	0	0	28.83	14.45	28.83
8124	0.72	175.1	2677	1185	2565	2427	433.4	12.1	480	8131	0.00	2.50	0.00	0.000	1030	0.000	0.100	2673	2599	2495	2565	2426	0	0	0	0	0	0	28.83	14.44	28.83
8436	0.72	175.1	2677	2600	2567	2427	391.7	13.3	492	8439	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2599	2496	2565	2427	0	0	0	0	0	0	28.83	28.83	28.83
8735	0.72	175.1	2678	2600	2565	2427	351.5	13.3	502	8738	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2600	2496	2566	2426	0	0	0	0	0	0	28.83	28.83	28.83
9035	0.72	175.1	2677	2599	2565	2427	311.9	13.0	512	9038	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2599	2496	2566	2426	0	0	0	0	0	0	28.83	28.83	28.83
9335	0.72	175.1	2677	2600	2565	2427	273.7	12.8	522	9338	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2599	2495	2565	2426	0	0	0	0	0	0	28.83	28.83	28.83
9635	0.72	175.1	2674	2602	2567	2427	237.3	11.9	538	9639	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2599	2495	2565	2426	0	0	0	0	0	0	28.83	28.83	28.83
9935	0.78	175.1	2676	2600	2567	2427	203.8	10.3	568	9942	0.00	2.45	0.00	0.000	516	0.000	0.088	2686	1187	2496	2566	2426	0	0	0	0	0	0	28.83	14.46	28.83
9971	0.82	222.1	2687	1188	2565	2427	200.4	9.5	575	10019	0.00	2.53	39.60	1.431	9222	0.000	0.100	2686	2603	2315	2386	2244	0	0	0	0	0	0	28.83	14.36	13.57
10316	0.87	222.1	2686	2604	2379	2232	163.0	10.4	614	10322	0.00	2.47	0.00	0.000	516	0.000	0.087	2696	1188	2304	2378	2231	0	0	0	0	0	0	28.83	14.33	28.83
10372	0.92	272.3	2696	1188	2379	2231	157.6	9.4	625	10424	0.12	2.53	42.33	1.392	11270	0.154	0.101	2741	2599	2113	2192	2034	0	0	0	0	0	0	14.33	14.30	13.52
10729	0.92	272.3	2741	2600	2187	2015	112.6	12.9	666	10732	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2599	2100	2185	2015	0	0	0	0	0	0	28.83	28.83	28.83
11029	0.94	272.3	2741	2600	2187	2014	76.7	11.1	696	11031	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2599	2098	2185	2012	0	0	0	0	0	0	28.83	28.83	28.83
11329	1.09	421.3	2741	2600	2187	2013	52.9	5.0	726	11407	0.15	2.55	70.93	0.324	10756	0.142	0.090	2809	1194	1511	1603	1419	0	0	0	0	0	0	14.39	14.21	14.11
11452	1.09	421.3	2809	1196	1613	1426	41.0	12.5	750	11458	0.00	2.55	0.00	0.000	1030	0.000	0.102	2809	2609	1518	1611	1425	0	0	0	0	0	0	28.83	14.25	28.83
11764	1.34	670.6	2811	2604	1610	1429	13.8	0.6	782	11897	0.15	2.50	122.90	0.218	10756	0.142	0.087	2876	1192	498	518	479	0	0	0	0	0	0	14.33	14.23	14.12
11943	1.42	744.7	2875	1193	529	480	6.9	8.3	817	11951	0.00	2.55	0.47	0.353	9222	0.000	0.103	2876	2600	498	518	479	0	0	0	0	0	0	28.83	14.24	14.19
12006	end climb: SURFACE_DEPTH_REACHED
state	12006	begin surface coast
12025	end surface coast: CONTROL_FINISHED_OK
state	12026	begin surface