Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 186 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 186 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2230 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2240 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

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 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2781 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 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 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2096926.6 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

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 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 2 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

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 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 557.32159

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 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 2.576e-06 RHO 1.023 T_GPS_CHARGE -2096926.6

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2240 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 186 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 003322,6304.594,-1316.735,42,7.3,62,-12.2 TGT_NAME IW

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.08 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -53.4 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 003937,6304.535,-1316.653,34,1.8,39,-12.2 MHEAD_RNG_PITCHd_Wd 16.3,19430,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027112 ALTIM_BOTTOM_PING 726.4,97.4

SM_CCo 22484,126.65,0.595,0,0,508,557.32 _24V_AH 23.5,32.739

SM_GC 1.10,0.00,0.00,126.65,0.000,0.000,0.595,69,2236,508,-10.26,0.14,557.32 _10V_AH 10.1,16.489

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53568,1086

TT8_MAMPS 0.02301 CAP_FILE_SIZE 144043,0

HUMID 1845 CFSIZE 260165632,247107584

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 26 GPS 150708,065808,6307.650,-1319.019,39,1.9,40,-12.2

ALTIM_TOP_PING 19.7,19.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 168 99.83 SBE_CT 799 24 450.77

Roll_motor 130 82 254.38 SBE_O2 746 19 333.24

VBD_pump_during_apogee 400 1167 10991.83 WL_BB2F 616 105 1521.31

VBD_pump_during_surface 126 595 1771.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.72 nil 0 0 0.00

Iridium_during_connect 27 160 104.46 nil 0 0 0.00

Iridium_during_xfer 175 223 921.18

Transponder_ping 13 420 128.31

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 39 50 19.70

TT8 1898 19 379.58

LPSleep 17655 2 390.52

TT8_Active 697 19 139.56

TT8_Sampling 2174 39 874.22

TT8_CF8 559 45 258.68

TT8_Kalman 0 81 0.00

Analog_circuits 1767 12 214.17

GPS_charging 0 0 0.00

Compass 2113 8 170.76

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -0.85 -146.6 0.0 0.0 0 149 0.00 0.00 -121.40 0.000 2 0.000 0.000 74 2249 2939

152 -0.85 -146.6 3.7 -3.1 6 182 11.43 2.70 -10.43 0.000 4 0.169 0.070 2107 816 3380

356 -0.67 -146.6 30.7 -12.8 15 361 0.22 2.58 0.00 0.000 6 0.094 0.050 2152 2228 3380

678 -0.61 -146.6 59.7 -9.7 31 683 0.00 2.60 0.00 0.000 4 0.000 0.057 2152 814 3380

751 -0.61 -146.6 68.0 -11.2 34 755 0.00 2.58 0.00 0.000 6 0.000 0.050 2152 2230 3380

1067 -0.56 -146.6 106.3 -10.5 49 1069 0.12 0.00 0.00 0.000 6 0.097 0.000 2176 2230 3380

1377 -0.56 -146.6 124.8 -4.6 64 1381 0.00 2.65 0.00 0.000 4 0.000 0.072 2176 3644 3381

1410 -0.56 -146.6 126.5 -5.2 65 1416 0.00 2.55 0.00 0.000 6 0.000 0.049 2176 2228 3380

1728 -0.56 -146.6 138.7 -4.6 81 1729 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2228 3380

2036 -0.56 -146.6 156.7 -6.2 96 2040 0.00 2.67 0.00 0.000 4 0.000 0.074 2176 3642 3380

2068 -0.56 -146.6 159.2 -7.4 97 2074 0.00 2.55 0.00 0.000 6 0.000 0.048 2175 2224 3380

2384 -0.56 -146.6 181.6 -7.4 113 2385 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2224 3381

2693 -0.56 -146.6 203.7 -6.8 128 2698 0.00 2.70 0.00 0.000 4 0.000 0.074 2176 3649 3380

2726 -0.56 -146.6 206.3 -8.1 129 2732 0.00 2.55 0.00 0.000 6 0.000 0.047 2176 2225 3380

3042 -0.56 -146.6 226.4 -6.0 145 3043 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2225 3380

3351 -0.56 -146.6 246.9 -6.8 160 3352 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2225 3380

3661 -0.56 -146.6 267.9 -6.9 175 3662 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2225 3380

3970 -0.60 -146.6 289.6 -7.0 190 3974 0.00 2.67 0.00 0.000 4 0.000 0.076 2176 3641 3380

4014 -0.65 -146.6 293.0 -7.7 192 4018 0.00 2.53 0.00 0.000 6 0.000 0.047 2176 2231 3380

4335 -0.65 -146.6 313.8 -6.2 208 4336 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2231 3380

4644 -0.69 -146.6 333.3 -6.3 223 4646 0.12 0.00 0.00 0.000 6 0.051 0.000 2140 2231 3380

4954 -0.62 -146.6 358.7 -8.4 238 4956 0.12 0.00 0.00 0.000 6 0.087 0.000 2165 2231 3380

5262 -0.62 -146.6 382.2 -7.8 253 5267 0.00 2.67 0.00 0.000 4 0.000 0.076 2165 3644 3379

5302 -0.62 -146.6 385.5 -8.8 255 5307 0.00 2.55 0.00 0.000 6 0.000 0.049 2164 2226 3379

5629 -0.62 -146.6 411.1 -7.9 271 5631 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2226 3379

5938 -0.62 -146.6 434.7 -7.5 286 5939 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2226 3380

6247 -0.62 -146.6 456.1 -6.6 301 6248 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2226 3379

6557 -0.62 -146.6 477.0 -6.8 316 6558 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2226 3379

6866 -0.62 -146.6 497.5 -6.6 331 6867 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2226 3379

7175 -0.62 -146.6 518.5 -6.7 346 7176 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2226 3379

7485 -0.62 -146.6 539.2 -7.1 361 7486 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2226 3379

7794 -0.62 -146.6 561.9 -7.5 376 7795 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2226 3379

8103 -0.62 -146.6 587.0 -8.4 391 8104 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2226 3378

8413 -0.62 -146.6 613.6 -8.6 406 8417 0.00 2.67 0.00 0.000 4 0.000 0.075 2165 3643 3378

8468 -0.62 -146.6 618.7 -9.3 408 8474 0.00 2.53 0.00 0.000 6 0.000 0.048 2164 2229 3378

8783 -0.62 -146.6 644.1 -8.0 424 8787 0.00 2.58 0.00 0.000 4 0.000 0.059 2165 812 3378

8828 -0.68 -146.6 647.6 -7.7 426 8832 0.00 2.58 0.00 0.000 6 0.000 0.051 2164 2235 3378

9148 -0.68 -146.6 669.7 -6.5 442 9150 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2235 3378

9458 -0.68 -146.6 687.8 -5.8 457 9459 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2236 3377

9768 -0.68 -146.6 705.6 -5.7 472 9769 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2236 3377

10077 -0.68 -146.6 722.5 -5.8 487 10078 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2235 3377

10386 -0.68 -146.6 742.9 -7.0 502 10387 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2236 3377

10695 -0.68 -146.6 763.2 -6.6 517 10696 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2236 3377

11005 -0.73 -146.6 777.5 -5.9 532 11006 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2236 3377

11314 -0.81 -146.6 797.4 -7.5 547 11316 0.20 0.00 0.00 0.000 6 0.046 0.000 2113 2236 3376

11517 end dive: BOTTOM_OBSTACLE_DETECTED

state 11517 begin apogee

11524 -0.31 0.0 815.2 9.2 557 11661 0.57 0.00 133.85 1.167 6 0.086 0.000 2230 2235 2781

11662 end apogee: CONTROL_FINISHED_OK

state 11662 begin climb

11665 0.85 146.6 822.1 0.0 564 11809 1.17 2.72 132.05 1.146 4 0.072 0.065 2481 839 2182

11902 0.95 242.8 814.3 3.4 575 11998 0.12 2.62 86.75 1.126 6 0.054 0.058 2513 2243 1791

12314 0.95 242.8 781.5 7.6 595 12318 0.00 2.70 0.00 0.000 4 0.000 0.082 2513 3647 1790

12347 0.91 242.8 778.7 8.5 596 12353 0.00 2.62 0.00 0.000 6 0.000 0.060 2513 2238 1790

12662 0.91 242.8 754.9 8.2 612 12663 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2238 1789

12972 0.91 242.8 730.7 8.0 627 12976 0.00 2.72 0.00 0.000 4 0.000 0.083 2513 3648 1788

13057 0.91 242.8 723.1 8.9 631 13061 0.00 2.62 0.00 0.000 6 0.000 0.058 2513 2231 1788

13383 0.91 242.8 694.9 8.8 647 13387 0.00 2.62 0.00 0.000 4 0.000 0.068 2513 829 1787

13433 0.91 242.8 690.2 9.3 649 13437 0.00 2.60 0.00 0.000 6 0.000 0.055 2513 2242 1786

13748 0.91 242.8 665.4 6.8 664 13753 0.00 2.65 0.00 0.000 4 0.000 0.080 2513 3647 1786

13820 0.91 242.8 660.3 7.6 667 13824 0.00 2.58 0.00 0.000 6 0.000 0.054 2513 2238 1786

14136 0.94 278.1 643.0 5.0 682 14169 0.00 0.00 31.40 1.032 6 0.000 0.000 2513 2238 1647

14465 0.96 295.3 625.1 5.5 698 14487 0.00 2.72 16.62 0.976 4 0.000 0.064 2513 831 1576

14521 1.01 295.3 621.6 6.5 700 14525 0.00 2.60 0.00 0.000 6 0.000 0.052 2513 2238 1576

14837 1.01 295.3 601.9 6.2 715 14838 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2238 1577

15146 1.01 295.3 582.0 6.8 730 15147 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2238 1577

15455 1.01 295.3 559.1 8.0 745 15460 0.00 2.62 0.00 0.000 4 0.000 0.063 2513 825 1577

15500 1.01 295.3 555.2 8.8 747 15504 0.00 2.60 0.00 0.000 6 0.000 0.051 2513 2245 1577

15820 1.01 295.3 528.8 8.7 763 15821 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2245 1577

16129 1.01 295.3 502.7 8.5 778 16131 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2245 1577

16439 1.01 295.3 477.4 8.1 793 16440 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2245 1577

16748 1.01 295.3 454.3 7.1 808 16752 0.00 2.62 0.00 0.000 4 0.000 0.064 2513 827 1577

16788 1.06 295.3 451.4 8.2 810 16792 0.00 2.58 0.00 0.000 6 0.000 0.051 2513 2242 1577

17115 1.06 295.3 427.5 7.3 826 17116 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2242 1578

17423 1.06 295.3 404.3 7.7 841 17428 0.00 2.62 0.00 0.000 4 0.000 0.064 2513 826 1578

17464 1.10 295.3 401.0 8.9 843 17469 0.12 2.58 0.00 0.000 6 0.063 0.051 2542 2239 1578

17791 1.05 295.3 371.4 9.4 859 17792 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2238 1578

18100 1.01 295.3 343.7 8.6 874 18102 0.12 0.00 0.00 0.000 6 0.084 0.000 2518 2238 1578

18409 1.01 295.3 320.1 7.8 889 18410 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2238 1579

18718 1.01 295.3 295.4 8.0 904 18719 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2238 1579

19027 1.01 295.3 270.2 8.2 919 19031 0.00 2.62 0.00 0.000 4 0.000 0.063 2518 820 1579

19077 1.01 295.3 265.9 8.8 921 19081 0.00 2.58 0.00 0.000 6 0.000 0.051 2518 2243 1579

19393 1.01 295.3 240.5 7.9 936 19394 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2243 1579

19702 1.01 295.3 218.3 7.0 951 19703 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2243 1579

20012 1.01 295.3 197.4 6.6 966 20016 0.00 2.62 0.00 0.000 4 0.000 0.063 2518 826 1579

20056 1.05 295.3 194.2 8.9 968 20060 0.00 2.58 0.00 0.000 6 0.000 0.051 2518 2242 1579

20377 1.05 295.3 171.8 6.8 984 20381 0.00 2.65 0.00 0.000 4 0.000 0.074 2518 3653 1579

20410 1.10 295.3 169.6 7.0 985 20416 0.00 2.58 0.00 0.000 6 0.000 0.054 2518 2235 1580

20726 1.10 295.3 149.1 6.7 1001 20730 0.00 2.58 0.00 0.000 4 0.000 0.063 2518 825 1580

20766 1.14 295.3 146.3 6.3 1003 20771 0.12 2.58 0.00 0.000 6 0.049 0.051 2548 2242 1580

21096 1.08 295.3 118.3 9.5 1019 21097 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2242 1580

21403 1.03 295.3 89.0 9.5 1034 21408 0.12 2.65 0.00 0.000 4 0.086 0.074 2522 3654 1580

21447 1.03 295.3 84.3 9.8 1036 21451 0.00 2.58 0.00 0.000 6 0.000 0.054 2522 2238 1580

21769 1.03 295.3 54.9 8.8 1052 21773 0.00 2.60 0.00 0.000 4 0.000 0.062 2522 820 1580

21835 1.03 295.3 49.0 7.7 1055 21840 0.00 2.58 0.00 0.000 6 0.000 0.051 2522 2241 1580

22158 1.03 295.3 23.8 7.9 1071 22163 0.00 2.62 0.00 0.000 4 0.000 0.072 2522 3650 1580

22226 1.03 295.3 17.9 7.2 1074 22230 0.00 2.55 0.00 0.000 6 0.000 0.052 2522 2238 1581

22441 end climb: SURFACE_DEPTH_REACHED

state 22441 begin surface coast

22463 end surface coast: CONTROL_FINISHED_OK

state 22463 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	186	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2230	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2240	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
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	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2781	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	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	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2096926.6	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
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	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	2	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	003322,6304.594,-1316.735,42,7.3,62,-12.2	TGT_NAME	IW
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.08	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-53.4	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	003937,6304.535,-1316.653,34,1.8,39,-12.2	MHEAD_RNG_PITCHd_Wd	16.3,19430,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027112	ALTIM_BOTTOM_PING	726.4,97.4
SM_CCo	22484,126.65,0.595,0,0,508,557.32	_24V_AH	23.5,32.739
SM_GC	1.10,0.00,0.00,126.65,0.000,0.000,0.595,69,2236,508,-10.26,0.14,557.32	_10V_AH	10.1,16.489
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53568,1086
TT8_MAMPS	0.02301	CAP_FILE_SIZE	144043,0
HUMID	1845	CFSIZE	260165632,247107584
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	26	GPS	150708,065808,6307.650,-1319.019,39,1.9,40,-12.2
ALTIM_TOP_PING	19.7,19.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	168	99.83	SBE_CT	799	24	450.77
Roll_motor	130	82	254.38	SBE_O2	746	19	333.24
VBD_pump_during_apogee	400	1167	10991.83	WL_BB2F	616	105	1521.31
VBD_pump_during_surface	126	595	1771.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.72	nil	0	0	0.00
Iridium_during_connect	27	160	104.46	nil	0	0	0.00
Iridium_during_xfer	175	223	921.18
Transponder_ping	13	420	128.31
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	39	50	19.70
TT8	1898	19	379.58
LPSleep	17655	2	390.52
TT8_Active	697	19	139.56
TT8_Sampling	2174	39	874.22
TT8_CF8	559	45	258.68
TT8_Kalman	0	81	0.00
Analog_circuits	1767	12	214.17
GPS_charging	0	0	0.00
Compass	2113	8	170.76
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-0.85	-146.6	0.0	0.0	0	149	0.00	0.00	-121.40	0.000	2	0.000	0.000	74	2249	2939
152	-0.85	-146.6	3.7	-3.1	6	182	11.43	2.70	-10.43	0.000	4	0.169	0.070	2107	816	3380
356	-0.67	-146.6	30.7	-12.8	15	361	0.22	2.58	0.00	0.000	6	0.094	0.050	2152	2228	3380
678	-0.61	-146.6	59.7	-9.7	31	683	0.00	2.60	0.00	0.000	4	0.000	0.057	2152	814	3380
751	-0.61	-146.6	68.0	-11.2	34	755	0.00	2.58	0.00	0.000	6	0.000	0.050	2152	2230	3380
1067	-0.56	-146.6	106.3	-10.5	49	1069	0.12	0.00	0.00	0.000	6	0.097	0.000	2176	2230	3380
1377	-0.56	-146.6	124.8	-4.6	64	1381	0.00	2.65	0.00	0.000	4	0.000	0.072	2176	3644	3381
1410	-0.56	-146.6	126.5	-5.2	65	1416	0.00	2.55	0.00	0.000	6	0.000	0.049	2176	2228	3380
1728	-0.56	-146.6	138.7	-4.6	81	1729	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2228	3380
2036	-0.56	-146.6	156.7	-6.2	96	2040	0.00	2.67	0.00	0.000	4	0.000	0.074	2176	3642	3380
2068	-0.56	-146.6	159.2	-7.4	97	2074	0.00	2.55	0.00	0.000	6	0.000	0.048	2175	2224	3380
2384	-0.56	-146.6	181.6	-7.4	113	2385	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2224	3381
2693	-0.56	-146.6	203.7	-6.8	128	2698	0.00	2.70	0.00	0.000	4	0.000	0.074	2176	3649	3380
2726	-0.56	-146.6	206.3	-8.1	129	2732	0.00	2.55	0.00	0.000	6	0.000	0.047	2176	2225	3380
3042	-0.56	-146.6	226.4	-6.0	145	3043	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2225	3380
3351	-0.56	-146.6	246.9	-6.8	160	3352	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2225	3380
3661	-0.56	-146.6	267.9	-6.9	175	3662	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2225	3380
3970	-0.60	-146.6	289.6	-7.0	190	3974	0.00	2.67	0.00	0.000	4	0.000	0.076	2176	3641	3380
4014	-0.65	-146.6	293.0	-7.7	192	4018	0.00	2.53	0.00	0.000	6	0.000	0.047	2176	2231	3380
4335	-0.65	-146.6	313.8	-6.2	208	4336	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2231	3380
4644	-0.69	-146.6	333.3	-6.3	223	4646	0.12	0.00	0.00	0.000	6	0.051	0.000	2140	2231	3380
4954	-0.62	-146.6	358.7	-8.4	238	4956	0.12	0.00	0.00	0.000	6	0.087	0.000	2165	2231	3380
5262	-0.62	-146.6	382.2	-7.8	253	5267	0.00	2.67	0.00	0.000	4	0.000	0.076	2165	3644	3379
5302	-0.62	-146.6	385.5	-8.8	255	5307	0.00	2.55	0.00	0.000	6	0.000	0.049	2164	2226	3379
5629	-0.62	-146.6	411.1	-7.9	271	5631	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2226	3379
5938	-0.62	-146.6	434.7	-7.5	286	5939	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2226	3380
6247	-0.62	-146.6	456.1	-6.6	301	6248	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2226	3379
6557	-0.62	-146.6	477.0	-6.8	316	6558	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2226	3379
6866	-0.62	-146.6	497.5	-6.6	331	6867	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2226	3379
7175	-0.62	-146.6	518.5	-6.7	346	7176	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2226	3379
7485	-0.62	-146.6	539.2	-7.1	361	7486	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2226	3379
7794	-0.62	-146.6	561.9	-7.5	376	7795	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2226	3379
8103	-0.62	-146.6	587.0	-8.4	391	8104	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2226	3378
8413	-0.62	-146.6	613.6	-8.6	406	8417	0.00	2.67	0.00	0.000	4	0.000	0.075	2165	3643	3378
8468	-0.62	-146.6	618.7	-9.3	408	8474	0.00	2.53	0.00	0.000	6	0.000	0.048	2164	2229	3378
8783	-0.62	-146.6	644.1	-8.0	424	8787	0.00	2.58	0.00	0.000	4	0.000	0.059	2165	812	3378
8828	-0.68	-146.6	647.6	-7.7	426	8832	0.00	2.58	0.00	0.000	6	0.000	0.051	2164	2235	3378
9148	-0.68	-146.6	669.7	-6.5	442	9150	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2235	3378
9458	-0.68	-146.6	687.8	-5.8	457	9459	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2236	3377
9768	-0.68	-146.6	705.6	-5.7	472	9769	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2236	3377
10077	-0.68	-146.6	722.5	-5.8	487	10078	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2235	3377
10386	-0.68	-146.6	742.9	-7.0	502	10387	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2236	3377
10695	-0.68	-146.6	763.2	-6.6	517	10696	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2236	3377
11005	-0.73	-146.6	777.5	-5.9	532	11006	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2236	3377
11314	-0.81	-146.6	797.4	-7.5	547	11316	0.20	0.00	0.00	0.000	6	0.046	0.000	2113	2236	3376
11517	end dive: BOTTOM_OBSTACLE_DETECTED
state	11517	begin apogee
11524	-0.31	0.0	815.2	9.2	557	11661	0.57	0.00	133.85	1.167	6	0.086	0.000	2230	2235	2781
11662	end apogee: CONTROL_FINISHED_OK
state	11662	begin climb
11665	0.85	146.6	822.1	0.0	564	11809	1.17	2.72	132.05	1.146	4	0.072	0.065	2481	839	2182
11902	0.95	242.8	814.3	3.4	575	11998	0.12	2.62	86.75	1.126	6	0.054	0.058	2513	2243	1791
12314	0.95	242.8	781.5	7.6	595	12318	0.00	2.70	0.00	0.000	4	0.000	0.082	2513	3647	1790
12347	0.91	242.8	778.7	8.5	596	12353	0.00	2.62	0.00	0.000	6	0.000	0.060	2513	2238	1790
12662	0.91	242.8	754.9	8.2	612	12663	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2238	1789
12972	0.91	242.8	730.7	8.0	627	12976	0.00	2.72	0.00	0.000	4	0.000	0.083	2513	3648	1788
13057	0.91	242.8	723.1	8.9	631	13061	0.00	2.62	0.00	0.000	6	0.000	0.058	2513	2231	1788
13383	0.91	242.8	694.9	8.8	647	13387	0.00	2.62	0.00	0.000	4	0.000	0.068	2513	829	1787
13433	0.91	242.8	690.2	9.3	649	13437	0.00	2.60	0.00	0.000	6	0.000	0.055	2513	2242	1786
13748	0.91	242.8	665.4	6.8	664	13753	0.00	2.65	0.00	0.000	4	0.000	0.080	2513	3647	1786
13820	0.91	242.8	660.3	7.6	667	13824	0.00	2.58	0.00	0.000	6	0.000	0.054	2513	2238	1786
14136	0.94	278.1	643.0	5.0	682	14169	0.00	0.00	31.40	1.032	6	0.000	0.000	2513	2238	1647
14465	0.96	295.3	625.1	5.5	698	14487	0.00	2.72	16.62	0.976	4	0.000	0.064	2513	831	1576
14521	1.01	295.3	621.6	6.5	700	14525	0.00	2.60	0.00	0.000	6	0.000	0.052	2513	2238	1576
14837	1.01	295.3	601.9	6.2	715	14838	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2238	1577
15146	1.01	295.3	582.0	6.8	730	15147	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2238	1577
15455	1.01	295.3	559.1	8.0	745	15460	0.00	2.62	0.00	0.000	4	0.000	0.063	2513	825	1577
15500	1.01	295.3	555.2	8.8	747	15504	0.00	2.60	0.00	0.000	6	0.000	0.051	2513	2245	1577
15820	1.01	295.3	528.8	8.7	763	15821	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2245	1577
16129	1.01	295.3	502.7	8.5	778	16131	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2245	1577
16439	1.01	295.3	477.4	8.1	793	16440	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2245	1577
16748	1.01	295.3	454.3	7.1	808	16752	0.00	2.62	0.00	0.000	4	0.000	0.064	2513	827	1577
16788	1.06	295.3	451.4	8.2	810	16792	0.00	2.58	0.00	0.000	6	0.000	0.051	2513	2242	1577
17115	1.06	295.3	427.5	7.3	826	17116	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2242	1578
17423	1.06	295.3	404.3	7.7	841	17428	0.00	2.62	0.00	0.000	4	0.000	0.064	2513	826	1578
17464	1.10	295.3	401.0	8.9	843	17469	0.12	2.58	0.00	0.000	6	0.063	0.051	2542	2239	1578
17791	1.05	295.3	371.4	9.4	859	17792	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2238	1578
18100	1.01	295.3	343.7	8.6	874	18102	0.12	0.00	0.00	0.000	6	0.084	0.000	2518	2238	1578
18409	1.01	295.3	320.1	7.8	889	18410	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2238	1579
18718	1.01	295.3	295.4	8.0	904	18719	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2238	1579
19027	1.01	295.3	270.2	8.2	919	19031	0.00	2.62	0.00	0.000	4	0.000	0.063	2518	820	1579
19077	1.01	295.3	265.9	8.8	921	19081	0.00	2.58	0.00	0.000	6	0.000	0.051	2518	2243	1579
19393	1.01	295.3	240.5	7.9	936	19394	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2243	1579
19702	1.01	295.3	218.3	7.0	951	19703	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2243	1579
20012	1.01	295.3	197.4	6.6	966	20016	0.00	2.62	0.00	0.000	4	0.000	0.063	2518	826	1579
20056	1.05	295.3	194.2	8.9	968	20060	0.00	2.58	0.00	0.000	6	0.000	0.051	2518	2242	1579
20377	1.05	295.3	171.8	6.8	984	20381	0.00	2.65	0.00	0.000	4	0.000	0.074	2518	3653	1579
20410	1.10	295.3	169.6	7.0	985	20416	0.00	2.58	0.00	0.000	6	0.000	0.054	2518	2235	1580
20726	1.10	295.3	149.1	6.7	1001	20730	0.00	2.58	0.00	0.000	4	0.000	0.063	2518	825	1580
20766	1.14	295.3	146.3	6.3	1003	20771	0.12	2.58	0.00	0.000	6	0.049	0.051	2548	2242	1580
21096	1.08	295.3	118.3	9.5	1019	21097	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2242	1580
21403	1.03	295.3	89.0	9.5	1034	21408	0.12	2.65	0.00	0.000	4	0.086	0.074	2522	3654	1580
21447	1.03	295.3	84.3	9.8	1036	21451	0.00	2.58	0.00	0.000	6	0.000	0.054	2522	2238	1580
21769	1.03	295.3	54.9	8.8	1052	21773	0.00	2.60	0.00	0.000	4	0.000	0.062	2522	820	1580
21835	1.03	295.3	49.0	7.7	1055	21840	0.00	2.58	0.00	0.000	6	0.000	0.051	2522	2241	1580
22158	1.03	295.3	23.8	7.9	1071	22163	0.00	2.62	0.00	0.000	4	0.000	0.072	2522	3650	1580
22226	1.03	295.3	17.9	7.2	1074	22230	0.00	2.55	0.00	0.000	6	0.000	0.052	2522	2238	1581
22441	end climb: SURFACE_DEPTH_REACHED
state	22441	begin surface coast
22463	end surface coast: CONTROL_FINISHED_OK
state	22463	begin surface