Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 175 * 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 175 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 11 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 -2 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 -65560.688 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 -65560.688

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 20 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 11 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 175 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 222716,6246.718,-1210.456,39,5.2,58,-11.5 TGT_NAME FW

_CALLS 1 TGT_LATLONG 6252.000,-1230.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,0.174

_SM_DEPTHo 0.06 KALMAN_X -211253.7,-204.8,-794.5,21861.7,4142.7

_SM_ANGLEo -58.8 KALMAN_Y -79448.2,-248.8,37.8,214336.1,-4587.5

GPS2 223307,6246.711,-1210.336,14,1.2,30,-11.5 MHEAD_RNG_PITCHd_Wd 334.3,19282,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 679

Post-dive calculations and measurements:

FINISH 0.7,1.027285 XPDR_PINGS 2

SM_CCo 19631,77.93,0.732,1,0,1678,300.00 ALTIM_BOTTOM_PING 575.3,106.1

SM_GC -0.06,0.00,0.00,77.93,0.000,0.000,0.732,52,2897,1678,-10.85,-0.06,300.00 _24V_AH 23.4,31.836

IRIDIUM_FIX 6221.17,-1209.30,141207,212100 _10V_AH 10.1,15.477

TT8_MAMPS 0.029146 DATA_FILE_SIZE 47430,950

HUMID 2047 CFSIZE 260165632,248303616

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,46,1,0

TCM_TEMP 17.30 GPS 151207,040401,6247.194,-1212.049,40,1.6,40,-11.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 156 94.65 SBE_CT 695 24 390.62

Roll_motor 205 78 375.56 SBE_O2 665 19 296.02

VBD_pump_during_apogee 297 1231 8563.37 WL_BB2F 603 105 1482.69

VBD_pump_during_surface 77 731 1334.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 97.50 nil 0 0 0.00

Iridium_during_connect 36 160 136.32 nil 0 0 0.00

Iridium_during_xfer 153 223 799.67

Transponder_ping 5 420 51.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.43

TT8 1785 19 357.05

LPSleep 15011 2 332.04

TT8_Active 549 19 109.98

TT8_Sampling 2246 39 903.16

TT8_CF8 483 45 223.53

TT8_Kalman 33 81 27.57

Analog_circuits 1667 12 202.06

GPS_charging 0 0 0.00

Compass 2205 8 178.22

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

22 -1.10 -146.6 0.0 0.0 0 84 0.00 0.00 -60.58 0.000 2 0.000 0.000 48 2908 3364

86 -1.10 -146.6 3.2 -7.8 3 109 11.90 2.60 -2.60 0.000 4 0.156 0.078 2165 1490 3502

327 -1.10 -146.6 27.1 -8.6 13 334 0.00 2.70 0.00 0.000 6 0.000 0.077 2165 2899 3502

643 -1.10 -146.6 47.7 -7.7 29 647 0.00 2.62 0.00 0.000 4 0.000 0.068 2165 1489 3502

681 -1.10 -146.6 50.7 -8.3 31 686 0.00 2.65 0.00 0.000 6 0.000 0.072 2165 2901 3502

1008 -1.10 -146.6 75.2 -6.8 47 1009 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3503

1317 -1.10 -146.6 98.1 -7.7 62 1318 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2901 3503

1628 -1.10 -146.6 119.5 -7.0 77 1629 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2901 3503

1936 -1.10 -146.6 142.7 -7.6 92 1937 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2901 3503

2244 -1.10 -146.6 166.1 -7.4 107 2248 0.00 2.60 0.00 0.000 4 0.000 0.068 2165 1489 3503

2298 -1.10 -146.6 170.1 -7.9 109 2305 0.00 2.62 0.00 0.000 6 0.000 0.071 2165 2901 3503

2614 -1.10 -146.6 192.3 -6.5 125 2615 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2901 3503

2923 -1.10 -146.6 211.4 -5.7 140 2927 0.00 2.62 0.00 0.000 4 0.000 0.069 2165 1484 3503

2994 -1.10 -146.6 215.8 -6.1 143 2998 0.00 2.62 0.00 0.000 6 0.000 0.070 2165 2900 3503

3315 -1.10 -146.6 237.0 -7.7 159 3320 0.00 2.60 0.00 0.000 4 0.000 0.067 2165 1490 3503

3377 -1.10 -146.6 241.1 -6.3 162 3381 0.00 2.62 0.00 0.000 6 0.000 0.070 2165 2901 3503

3702 -1.10 -146.6 263.2 -6.9 178 3707 0.00 2.60 0.00 0.000 4 0.000 0.068 2165 1490 3503

3734 -1.10 -146.6 265.5 -6.5 179 3741 0.00 2.62 0.00 0.000 6 0.000 0.070 2165 2902 3503

4050 -1.10 -146.6 287.7 -7.0 195 4054 0.00 2.60 0.00 0.000 4 0.000 0.065 2165 1485 3504

4133 -1.10 -146.6 294.1 -7.8 199 4138 0.00 2.62 0.00 0.000 6 0.000 0.070 2165 2900 3504

4459 -1.10 -146.6 317.9 -7.2 215 4463 0.00 2.60 0.00 0.000 4 0.000 0.067 2166 1485 3503

4497 -1.10 -146.6 320.9 -8.0 217 4501 0.00 2.62 0.00 0.000 6 0.000 0.070 2165 2900 3504

4822 -1.10 -146.6 347.6 -8.3 233 4827 0.00 2.60 0.00 0.000 4 0.000 0.064 2165 1481 3503

4877 -1.10 -146.6 352.1 -8.0 235 4885 0.00 2.65 0.00 0.000 6 0.000 0.069 2165 2896 3503

5193 -1.10 -146.6 377.7 -8.4 251 5194 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2896 3503

5503 -1.10 -146.6 403.4 -8.2 266 5507 0.00 2.58 0.00 0.000 4 0.000 0.064 2165 1488 3503

5557 -1.10 -146.6 408.2 -8.8 268 5564 0.00 2.62 0.00 0.000 6 0.000 0.069 2165 2891 3503

5872 -1.10 -146.6 433.8 -8.0 284 5877 0.00 2.55 0.00 0.000 4 0.000 0.062 2165 1487 3503

5899 -1.10 -146.6 435.8 -8.0 285 5903 0.00 2.60 0.00 0.000 6 0.000 0.067 2165 2899 3503

6221 -1.10 -146.6 459.9 -7.1 301 6222 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2899 3503

6530 -1.10 -146.6 482.3 -7.5 316 6534 0.00 2.55 0.00 0.000 4 0.000 0.058 2165 1484 3503

6578 -1.10 -146.6 486.3 -7.8 318 6583 0.00 2.60 0.00 0.000 6 0.000 0.064 2165 2901 3503

6899 -1.10 -146.6 511.6 -8.2 334 6903 0.00 2.53 0.00 0.000 4 0.000 0.055 2165 1483 3503

6964 -1.10 -146.6 517.0 -8.1 337 6969 0.00 2.60 0.00 0.000 6 0.000 0.062 2165 2909 3503

7291 -1.10 -146.6 540.7 -6.7 353 7296 0.00 2.55 0.00 0.000 4 0.000 0.052 2165 1477 3503

7340 -1.10 -146.6 544.0 -6.7 355 7345 0.00 2.60 0.00 0.000 6 0.000 0.061 2165 2901 3503

7662 -1.10 -146.6 563.9 -6.0 371 7667 0.00 2.53 0.00 0.000 4 0.000 0.050 2165 1479 3503

7706 -1.10 -146.6 566.8 -6.2 373 7710 0.00 2.58 0.00 0.000 6 0.000 0.060 2165 2901 3503

8032 -1.10 -146.6 587.4 -6.8 389 8037 0.00 2.53 0.00 0.000 4 0.000 0.049 2165 1474 3503

8110 -1.10 -146.6 593.2 -7.5 392 8116 0.00 2.60 0.00 0.000 6 0.000 0.059 2165 2908 3503

8425 -1.10 -146.6 616.4 -7.4 408 8430 0.00 2.53 0.00 0.000 4 0.000 0.046 2165 1472 3502

8469 -1.10 -146.6 619.8 -7.7 410 8473 0.00 2.58 0.00 0.000 6 0.000 0.058 2165 2899 3503

8796 -1.10 -146.6 642.9 -6.6 426 8800 0.00 2.47 0.00 0.000 4 0.000 0.046 2165 1480 3502

8835 -1.10 -146.6 645.3 -6.7 428 8839 0.00 2.58 0.00 0.000 6 0.000 0.058 2165 2901 3502

9160 -1.10 -146.6 666.0 -6.0 444 9164 0.00 2.50 0.00 0.000 4 0.000 0.044 2165 1477 3502

9252 end dive: BOTTOM_OBSTACLE_DETECTED

state 9252 begin apogee

9258 -0.42 0.0 671.4 5.8 448 9386 0.70 0.00 125.07 1.231 6 0.074 0.000 2315 2113 2901

9387 end apogee: CONTROL_FINISHED_OK

state 9387 begin climb

9389 1.10 146.6 674.9 0.0 454 9520 1.55 2.67 122.30 1.188 4 0.052 0.057 2651 699 2303

9772 1.10 146.6 658.4 6.1 471 9779 0.00 2.45 0.00 0.000 6 0.000 0.036 2651 2109 2302

10088 1.14 178.0 642.2 5.1 487 10122 0.00 2.67 27.30 1.167 4 0.000 0.056 2650 694 2175

10263 1.14 178.0 631.7 6.2 495 10267 0.00 2.47 0.00 0.000 6 0.000 0.038 2651 2105 2174

10589 1.14 178.0 611.0 6.9 511 10593 0.00 2.58 0.00 0.000 4 0.000 0.065 2651 3499 2173

10627 1.14 178.0 608.1 7.7 513 10632 0.00 2.47 0.00 0.000 6 0.000 0.037 2650 2083 2173

10953 1.14 178.0 583.4 7.8 529 10957 0.00 2.50 0.00 0.000 4 0.000 0.055 2650 695 2172

11041 1.14 178.0 576.9 7.1 533 11045 0.00 2.42 0.00 0.000 6 0.000 0.035 2651 2099 2172

11368 1.14 178.0 556.4 6.0 549 11372 0.00 2.60 0.00 0.000 4 0.000 0.067 2651 3508 2171

11502 1.14 178.1 548.3 6.0 555 11507 0.00 2.47 0.00 0.000 6 0.000 0.038 2651 2096 2171

11823 1.17 203.9 532.1 5.3 571 11848 0.00 0.00 22.60 1.127 6 0.000 0.000 2651 2096 2069

12152 1.17 203.9 511.5 6.5 587 12156 0.00 2.60 0.00 0.000 4 0.000 0.067 2651 3501 2068

12190 1.17 203.9 508.7 7.6 589 12194 0.00 2.45 0.00 0.000 6 0.000 0.039 2651 2095 2068

12522 1.17 203.9 483.7 8.0 605 12526 0.00 2.60 0.00 0.000 4 0.000 0.067 2651 3499 2068

12583 1.17 203.9 478.5 8.6 608 12587 0.00 2.45 0.00 0.000 6 0.000 0.040 2651 2102 2068

12908 1.17 203.9 451.8 8.1 624 12912 0.00 2.60 0.00 0.000 4 0.000 0.068 2650 3502 2068

12957 1.17 203.9 447.5 8.1 626 12961 0.00 2.47 0.00 0.000 6 0.000 0.041 2651 2107 2068

13278 1.17 203.9 423.7 7.0 642 13279 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2107 2069

13587 1.17 203.9 403.3 6.3 657 13591 0.00 2.60 0.00 0.000 4 0.000 0.070 2650 3499 2069

13652 1.17 203.9 398.7 6.4 660 13657 0.00 2.45 0.00 0.000 6 0.000 0.040 2650 2099 2069

13979 1.17 203.9 377.3 6.7 676 13984 0.00 2.62 0.00 0.000 4 0.000 0.069 2651 3505 2069

14023 1.17 203.9 374.3 6.5 678 14027 0.00 2.45 0.00 0.000 6 0.000 0.041 2651 2101 2069

14350 1.17 203.9 352.1 6.9 694 14354 0.00 2.58 0.00 0.000 4 0.000 0.071 2651 3501 2070

14393 1.17 203.9 348.9 7.4 696 14397 0.00 2.45 0.00 0.000 6 0.000 0.041 2651 2099 2070

14719 1.17 203.9 326.2 6.9 712 14724 0.00 2.62 0.00 0.000 4 0.000 0.070 2651 3505 2070

14786 1.17 203.9 321.3 7.4 715 14790 0.00 2.45 0.00 0.000 6 0.000 0.042 2650 2100 2070

15107 1.17 203.9 300.1 6.8 731 15111 0.00 2.62 0.00 0.000 4 0.000 0.070 2650 3504 2070

15145 1.17 203.9 297.4 7.8 733 15150 0.00 2.47 0.00 0.000 6 0.000 0.042 2651 2096 2070

15471 1.17 203.9 276.4 6.5 749 15472 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2096 2071

15780 1.17 203.9 257.0 6.3 764 15784 0.00 2.55 0.00 0.000 4 0.000 0.062 2651 686 2071

15812 1.17 203.9 254.8 6.5 765 15819 0.00 2.47 0.00 0.000 6 0.000 0.044 2651 2083 2071

16128 1.17 203.9 234.9 6.6 781 16132 0.00 2.65 0.00 0.000 4 0.000 0.071 2651 3515 2071

16221 1.17 203.9 228.5 6.7 785 16226 0.00 2.50 0.00 0.000 6 0.000 0.041 2650 2088 2072

16543 1.17 203.9 207.4 6.8 801 16548 0.00 2.65 0.00 0.000 4 0.000 0.070 2651 3509 2072

16587 1.17 203.9 204.1 7.8 803 16591 0.00 2.50 0.00 0.000 6 0.000 0.042 2651 2100 2072

16914 1.17 203.9 181.9 6.7 819 16915 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2100 2072

17223 1.17 203.9 161.6 6.5 834 17227 0.00 2.62 0.00 0.000 4 0.000 0.070 2651 3514 2072

17269 1.17 203.9 158.6 6.1 836 17273 0.00 2.47 0.00 0.000 6 0.000 0.043 2651 2098 2073

17596 1.17 203.9 136.0 7.0 852 17600 0.00 2.62 0.00 0.000 4 0.000 0.071 2651 3509 2073

17659 1.17 203.9 131.5 7.6 855 17663 0.00 2.47 0.00 0.000 6 0.000 0.044 2650 2101 2073

17985 1.17 203.9 110.3 6.5 871 17989 0.00 2.62 0.00 0.000 4 0.000 0.071 2651 3509 2073

18033 1.17 203.9 106.9 6.4 873 18037 0.00 2.47 0.00 0.000 6 0.000 0.042 2651 2095 2072

18355 1.17 203.9 85.8 6.8 889 18356 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2095 2073

18665 1.17 203.9 64.1 7.3 904 18670 0.00 2.62 0.00 0.000 4 0.000 0.069 2650 3510 2073

18749 1.17 203.9 58.3 6.9 908 18753 0.00 2.50 0.00 0.000 6 0.000 0.046 2651 2096 2073

19075 1.17 203.9 36.1 6.7 924 19076 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2096 2073

19384 1.17 203.9 14.0 6.6 939 19388 0.00 2.60 0.00 0.000 4 0.000 0.062 2651 3515 2073

19410 1.17 203.9 12.2 6.5 940 19414 0.00 2.50 0.00 0.000 6 0.000 0.041 2651 2100 2073

19585 end climb: SURFACE_DEPTH_REACHED

state 19585 begin surface coast

19609 end surface coast: CONTROL_FINISHED_OK

state 19609 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	175	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	11	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	-2	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	-65560.688	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	222716,6246.718,-1210.456,39,5.2,58,-11.5	TGT_NAME	FW
_CALLS	1	TGT_LATLONG	6252.000,-1230.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,0.174
_SM_DEPTHo	0.06	KALMAN_X	-211253.7,-204.8,-794.5,21861.7,4142.7
_SM_ANGLEo	-58.8	KALMAN_Y	-79448.2,-248.8,37.8,214336.1,-4587.5
GPS2	223307,6246.711,-1210.336,14,1.2,30,-11.5	MHEAD_RNG_PITCHd_Wd	334.3,19282,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	679

FINISH	0.7,1.027285	XPDR_PINGS	2
SM_CCo	19631,77.93,0.732,1,0,1678,300.00	ALTIM_BOTTOM_PING	575.3,106.1
SM_GC	-0.06,0.00,0.00,77.93,0.000,0.000,0.732,52,2897,1678,-10.85,-0.06,300.00	_24V_AH	23.4,31.836
IRIDIUM_FIX	6221.17,-1209.30,141207,212100	_10V_AH	10.1,15.477
TT8_MAMPS	0.029146	DATA_FILE_SIZE	47430,950
HUMID	2047	CFSIZE	260165632,248303616
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,46,1,0
TCM_TEMP	17.30	GPS	151207,040401,6247.194,-1212.049,40,1.6,40,-11.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	156	94.65	SBE_CT	695	24	390.62
Roll_motor	205	78	375.56	SBE_O2	665	19	296.02
VBD_pump_during_apogee	297	1231	8563.37	WL_BB2F	603	105	1482.69
VBD_pump_during_surface	77	731	1334.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	97.50	nil	0	0	0.00
Iridium_during_connect	36	160	136.32	nil	0	0	0.00
Iridium_during_xfer	153	223	799.67
Transponder_ping	5	420	51.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.43
TT8	1785	19	357.05
LPSleep	15011	2	332.04
TT8_Active	549	19	109.98
TT8_Sampling	2246	39	903.16
TT8_CF8	483	45	223.53
TT8_Kalman	33	81	27.57
Analog_circuits	1667	12	202.06
GPS_charging	0	0	0.00
Compass	2205	8	178.22
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
22	-1.10	-146.6	0.0	0.0	0	84	0.00	0.00	-60.58	0.000	2	0.000	0.000	48	2908	3364
86	-1.10	-146.6	3.2	-7.8	3	109	11.90	2.60	-2.60	0.000	4	0.156	0.078	2165	1490	3502
327	-1.10	-146.6	27.1	-8.6	13	334	0.00	2.70	0.00	0.000	6	0.000	0.077	2165	2899	3502
643	-1.10	-146.6	47.7	-7.7	29	647	0.00	2.62	0.00	0.000	4	0.000	0.068	2165	1489	3502
681	-1.10	-146.6	50.7	-8.3	31	686	0.00	2.65	0.00	0.000	6	0.000	0.072	2165	2901	3502
1008	-1.10	-146.6	75.2	-6.8	47	1009	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3503
1317	-1.10	-146.6	98.1	-7.7	62	1318	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2901	3503
1628	-1.10	-146.6	119.5	-7.0	77	1629	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2901	3503
1936	-1.10	-146.6	142.7	-7.6	92	1937	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2901	3503
2244	-1.10	-146.6	166.1	-7.4	107	2248	0.00	2.60	0.00	0.000	4	0.000	0.068	2165	1489	3503
2298	-1.10	-146.6	170.1	-7.9	109	2305	0.00	2.62	0.00	0.000	6	0.000	0.071	2165	2901	3503
2614	-1.10	-146.6	192.3	-6.5	125	2615	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2901	3503
2923	-1.10	-146.6	211.4	-5.7	140	2927	0.00	2.62	0.00	0.000	4	0.000	0.069	2165	1484	3503
2994	-1.10	-146.6	215.8	-6.1	143	2998	0.00	2.62	0.00	0.000	6	0.000	0.070	2165	2900	3503
3315	-1.10	-146.6	237.0	-7.7	159	3320	0.00	2.60	0.00	0.000	4	0.000	0.067	2165	1490	3503
3377	-1.10	-146.6	241.1	-6.3	162	3381	0.00	2.62	0.00	0.000	6	0.000	0.070	2165	2901	3503
3702	-1.10	-146.6	263.2	-6.9	178	3707	0.00	2.60	0.00	0.000	4	0.000	0.068	2165	1490	3503
3734	-1.10	-146.6	265.5	-6.5	179	3741	0.00	2.62	0.00	0.000	6	0.000	0.070	2165	2902	3503
4050	-1.10	-146.6	287.7	-7.0	195	4054	0.00	2.60	0.00	0.000	4	0.000	0.065	2165	1485	3504
4133	-1.10	-146.6	294.1	-7.8	199	4138	0.00	2.62	0.00	0.000	6	0.000	0.070	2165	2900	3504
4459	-1.10	-146.6	317.9	-7.2	215	4463	0.00	2.60	0.00	0.000	4	0.000	0.067	2166	1485	3503
4497	-1.10	-146.6	320.9	-8.0	217	4501	0.00	2.62	0.00	0.000	6	0.000	0.070	2165	2900	3504
4822	-1.10	-146.6	347.6	-8.3	233	4827	0.00	2.60	0.00	0.000	4	0.000	0.064	2165	1481	3503
4877	-1.10	-146.6	352.1	-8.0	235	4885	0.00	2.65	0.00	0.000	6	0.000	0.069	2165	2896	3503
5193	-1.10	-146.6	377.7	-8.4	251	5194	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2896	3503
5503	-1.10	-146.6	403.4	-8.2	266	5507	0.00	2.58	0.00	0.000	4	0.000	0.064	2165	1488	3503
5557	-1.10	-146.6	408.2	-8.8	268	5564	0.00	2.62	0.00	0.000	6	0.000	0.069	2165	2891	3503
5872	-1.10	-146.6	433.8	-8.0	284	5877	0.00	2.55	0.00	0.000	4	0.000	0.062	2165	1487	3503
5899	-1.10	-146.6	435.8	-8.0	285	5903	0.00	2.60	0.00	0.000	6	0.000	0.067	2165	2899	3503
6221	-1.10	-146.6	459.9	-7.1	301	6222	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2899	3503
6530	-1.10	-146.6	482.3	-7.5	316	6534	0.00	2.55	0.00	0.000	4	0.000	0.058	2165	1484	3503
6578	-1.10	-146.6	486.3	-7.8	318	6583	0.00	2.60	0.00	0.000	6	0.000	0.064	2165	2901	3503
6899	-1.10	-146.6	511.6	-8.2	334	6903	0.00	2.53	0.00	0.000	4	0.000	0.055	2165	1483	3503
6964	-1.10	-146.6	517.0	-8.1	337	6969	0.00	2.60	0.00	0.000	6	0.000	0.062	2165	2909	3503
7291	-1.10	-146.6	540.7	-6.7	353	7296	0.00	2.55	0.00	0.000	4	0.000	0.052	2165	1477	3503
7340	-1.10	-146.6	544.0	-6.7	355	7345	0.00	2.60	0.00	0.000	6	0.000	0.061	2165	2901	3503
7662	-1.10	-146.6	563.9	-6.0	371	7667	0.00	2.53	0.00	0.000	4	0.000	0.050	2165	1479	3503
7706	-1.10	-146.6	566.8	-6.2	373	7710	0.00	2.58	0.00	0.000	6	0.000	0.060	2165	2901	3503
8032	-1.10	-146.6	587.4	-6.8	389	8037	0.00	2.53	0.00	0.000	4	0.000	0.049	2165	1474	3503
8110	-1.10	-146.6	593.2	-7.5	392	8116	0.00	2.60	0.00	0.000	6	0.000	0.059	2165	2908	3503
8425	-1.10	-146.6	616.4	-7.4	408	8430	0.00	2.53	0.00	0.000	4	0.000	0.046	2165	1472	3502
8469	-1.10	-146.6	619.8	-7.7	410	8473	0.00	2.58	0.00	0.000	6	0.000	0.058	2165	2899	3503
8796	-1.10	-146.6	642.9	-6.6	426	8800	0.00	2.47	0.00	0.000	4	0.000	0.046	2165	1480	3502
8835	-1.10	-146.6	645.3	-6.7	428	8839	0.00	2.58	0.00	0.000	6	0.000	0.058	2165	2901	3502
9160	-1.10	-146.6	666.0	-6.0	444	9164	0.00	2.50	0.00	0.000	4	0.000	0.044	2165	1477	3502
9252	end dive: BOTTOM_OBSTACLE_DETECTED
state	9252	begin apogee
9258	-0.42	0.0	671.4	5.8	448	9386	0.70	0.00	125.07	1.231	6	0.074	0.000	2315	2113	2901
9387	end apogee: CONTROL_FINISHED_OK
state	9387	begin climb
9389	1.10	146.6	674.9	0.0	454	9520	1.55	2.67	122.30	1.188	4	0.052	0.057	2651	699	2303
9772	1.10	146.6	658.4	6.1	471	9779	0.00	2.45	0.00	0.000	6	0.000	0.036	2651	2109	2302
10088	1.14	178.0	642.2	5.1	487	10122	0.00	2.67	27.30	1.167	4	0.000	0.056	2650	694	2175
10263	1.14	178.0	631.7	6.2	495	10267	0.00	2.47	0.00	0.000	6	0.000	0.038	2651	2105	2174
10589	1.14	178.0	611.0	6.9	511	10593	0.00	2.58	0.00	0.000	4	0.000	0.065	2651	3499	2173
10627	1.14	178.0	608.1	7.7	513	10632	0.00	2.47	0.00	0.000	6	0.000	0.037	2650	2083	2173
10953	1.14	178.0	583.4	7.8	529	10957	0.00	2.50	0.00	0.000	4	0.000	0.055	2650	695	2172
11041	1.14	178.0	576.9	7.1	533	11045	0.00	2.42	0.00	0.000	6	0.000	0.035	2651	2099	2172
11368	1.14	178.0	556.4	6.0	549	11372	0.00	2.60	0.00	0.000	4	0.000	0.067	2651	3508	2171
11502	1.14	178.1	548.3	6.0	555	11507	0.00	2.47	0.00	0.000	6	0.000	0.038	2651	2096	2171
11823	1.17	203.9	532.1	5.3	571	11848	0.00	0.00	22.60	1.127	6	0.000	0.000	2651	2096	2069
12152	1.17	203.9	511.5	6.5	587	12156	0.00	2.60	0.00	0.000	4	0.000	0.067	2651	3501	2068
12190	1.17	203.9	508.7	7.6	589	12194	0.00	2.45	0.00	0.000	6	0.000	0.039	2651	2095	2068
12522	1.17	203.9	483.7	8.0	605	12526	0.00	2.60	0.00	0.000	4	0.000	0.067	2651	3499	2068
12583	1.17	203.9	478.5	8.6	608	12587	0.00	2.45	0.00	0.000	6	0.000	0.040	2651	2102	2068
12908	1.17	203.9	451.8	8.1	624	12912	0.00	2.60	0.00	0.000	4	0.000	0.068	2650	3502	2068
12957	1.17	203.9	447.5	8.1	626	12961	0.00	2.47	0.00	0.000	6	0.000	0.041	2651	2107	2068
13278	1.17	203.9	423.7	7.0	642	13279	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2107	2069
13587	1.17	203.9	403.3	6.3	657	13591	0.00	2.60	0.00	0.000	4	0.000	0.070	2650	3499	2069
13652	1.17	203.9	398.7	6.4	660	13657	0.00	2.45	0.00	0.000	6	0.000	0.040	2650	2099	2069
13979	1.17	203.9	377.3	6.7	676	13984	0.00	2.62	0.00	0.000	4	0.000	0.069	2651	3505	2069
14023	1.17	203.9	374.3	6.5	678	14027	0.00	2.45	0.00	0.000	6	0.000	0.041	2651	2101	2069
14350	1.17	203.9	352.1	6.9	694	14354	0.00	2.58	0.00	0.000	4	0.000	0.071	2651	3501	2070
14393	1.17	203.9	348.9	7.4	696	14397	0.00	2.45	0.00	0.000	6	0.000	0.041	2651	2099	2070
14719	1.17	203.9	326.2	6.9	712	14724	0.00	2.62	0.00	0.000	4	0.000	0.070	2651	3505	2070
14786	1.17	203.9	321.3	7.4	715	14790	0.00	2.45	0.00	0.000	6	0.000	0.042	2650	2100	2070
15107	1.17	203.9	300.1	6.8	731	15111	0.00	2.62	0.00	0.000	4	0.000	0.070	2650	3504	2070
15145	1.17	203.9	297.4	7.8	733	15150	0.00	2.47	0.00	0.000	6	0.000	0.042	2651	2096	2070
15471	1.17	203.9	276.4	6.5	749	15472	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2096	2071
15780	1.17	203.9	257.0	6.3	764	15784	0.00	2.55	0.00	0.000	4	0.000	0.062	2651	686	2071
15812	1.17	203.9	254.8	6.5	765	15819	0.00	2.47	0.00	0.000	6	0.000	0.044	2651	2083	2071
16128	1.17	203.9	234.9	6.6	781	16132	0.00	2.65	0.00	0.000	4	0.000	0.071	2651	3515	2071
16221	1.17	203.9	228.5	6.7	785	16226	0.00	2.50	0.00	0.000	6	0.000	0.041	2650	2088	2072
16543	1.17	203.9	207.4	6.8	801	16548	0.00	2.65	0.00	0.000	4	0.000	0.070	2651	3509	2072
16587	1.17	203.9	204.1	7.8	803	16591	0.00	2.50	0.00	0.000	6	0.000	0.042	2651	2100	2072
16914	1.17	203.9	181.9	6.7	819	16915	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2100	2072
17223	1.17	203.9	161.6	6.5	834	17227	0.00	2.62	0.00	0.000	4	0.000	0.070	2651	3514	2072
17269	1.17	203.9	158.6	6.1	836	17273	0.00	2.47	0.00	0.000	6	0.000	0.043	2651	2098	2073
17596	1.17	203.9	136.0	7.0	852	17600	0.00	2.62	0.00	0.000	4	0.000	0.071	2651	3509	2073
17659	1.17	203.9	131.5	7.6	855	17663	0.00	2.47	0.00	0.000	6	0.000	0.044	2650	2101	2073
17985	1.17	203.9	110.3	6.5	871	17989	0.00	2.62	0.00	0.000	4	0.000	0.071	2651	3509	2073
18033	1.17	203.9	106.9	6.4	873	18037	0.00	2.47	0.00	0.000	6	0.000	0.042	2651	2095	2072
18355	1.17	203.9	85.8	6.8	889	18356	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2095	2073
18665	1.17	203.9	64.1	7.3	904	18670	0.00	2.62	0.00	0.000	4	0.000	0.069	2650	3510	2073
18749	1.17	203.9	58.3	6.9	908	18753	0.00	2.50	0.00	0.000	6	0.000	0.046	2651	2096	2073
19075	1.17	203.9	36.1	6.7	924	19076	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2096	2073
19384	1.17	203.9	14.0	6.6	939	19388	0.00	2.60	0.00	0.000	4	0.000	0.062	2651	3515	2073
19410	1.17	203.9	12.2	6.5	940	19414	0.00	2.50	0.00	0.000	6	0.000	0.041	2651	2100	2073
19585	end climb: SURFACE_DEPTH_REACHED
state	19585	begin surface coast
19609	end surface coast: CONTROL_FINISHED_OK
state	19609	begin surface