Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 189 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 515 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 189 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3575 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 25 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 2841 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8830 C_ROLL_CLIMB 2250 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 575 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 36 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 250 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 404 DEVICE2 20

T_MISSION 500 CALL_TRIES 8 VBD_MAX 3959 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 2840 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -16896.674 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -7 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 200 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 205 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3967 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2747 PRESSURE_YINT -42.932224 SEABIRD_T_G 0.0043524536

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011628702 SEABIRD_T_H 0.00062548812

MASS 51931 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3784551e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.5490917e-06

FERRY_MAX 45 PITCH_GAIN 28 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.141768

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1640214

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00094225706

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0001682234

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 20

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 575

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 28 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 20 D_PITCH 0 PITCH_MAX 3967 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 205 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011628702 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -42.932224 TGT_DEFAULT_LAT 2841

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8830

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -7 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 8 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -16896.674

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 515 ROLL_DEG 25 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3575 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2747 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY -4

C_ROLL_CLIMB 2250 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2400 MASS 51931 R_PORT_OVSHOOT 36 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 32 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.141768 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1640214 VBD_MAX 3959

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.00094225706 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.0001682234 VBD_MIN 404

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043524536 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062548812 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3784551e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5490917e-06 XPDR_DEVICE 24

DIVE 189 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 143237,2835.879,-8835.834,40,1.1,40,-0.3 TGT_NAME NEW0607F

_CALLS 1 TGT_LATLONG 2837.000,-8845.000

_XMS_NAKs 14 TGT_RADIUS 1000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.146,0.220

_SM_DEPTHo 1.50 KALMAN_X -19490.2,682.6,1191.7,40731.4,-3919.3

_SM_ANGLEo -62.5 KALMAN_Y -108917.9,1094.1,669.7,121258.1,-14497.4

GPS2 144037,2835.984,-8835.876,14,1.8,19,-0.3 MHEAD_RNG_PITCHd_Wd 281.6,14953,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1421

Post-dive calculations and measurements:

FINISH 2.1,1.022979 _24V_AH 23.0,33.901

SM_CCo 18592,85.10,0.491,0,0,494,575.22 _10V_AH 10.6,47.193

SM_GC 1.35,0.00,0.00,85.10,0.000,0.000,0.491,201,2408,494,-7.96,0.23,575.22 DATA_FILE_SIZE 94674,1783

IRIDIUM_FIX 2828.55,-8802.18,240999,090938 CAP_FILE_SIZE 173189,0

TT8_MAMPS 0.050622 CFSIZE 260165632,238088192

HUMID 1320 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.2191 CURRENT 0.109,221.3,1

TCM_TEMP 23.20 GPS 300610,195337,2835.475,-8839.727,41,1.9,41,-0.2

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 258 122.17 SBE_CT 1220 24 673.79

Roll_motor 93 57 123.34 SBE_O2 1302 19 569.34

VBD_pump_during_apogee 474 1250 13648.48 WL_BBFL2VMT 4007 105 9677.74

VBD_pump_during_surface 85 490 960.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 58.43 nil 0 0 0.00

Iridium_during_connect 39 160 146.51 nil 0 0 0.00

Iridium_during_xfer 282 223 1450.09

Transponder_ping 0 420 2.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 21 50 11.64

TT8 0 19 0.00

LPSleep 12473 2 289.57

TT8_Active 634 19 133.10

TT8_Sampling 5346 39 2255.51

TT8_CF8 675 45 327.78

TT8_Kalman 33 81 28.90

Analog_circuits 2166 12 275.58

GPS_charging 0 0 0.00

Compass 4784 8 405.76

RAFOS 0 0 0.00

Transponder 0 30 0.27

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

13 -0.63 -194.6 0.0 0.0 0 95 0.00 0.00 -80.57 0.000 2 0.000 0.000 201 2403 2710

97 -0.63 -194.6 3.1 -3.7 8 135 10.65 1.33 -22.55 0.000 4 0.258 0.058 2537 1490 3634

296 -0.63 -194.6 43.2 -17.6 26 303 0.00 1.35 0.00 0.000 6 0.000 0.036 2533 2407 3636

488 -0.63 -194.6 72.4 -13.5 45 491 0.00 1.30 0.00 0.000 4 0.000 0.035 2533 1503 3637

599 -0.63 -194.6 86.7 -12.2 55 609 0.00 1.30 0.00 0.000 6 0.000 0.036 2527 2396 3638

791 -0.63 -194.6 110.9 -13.2 74 795 0.00 1.27 0.00 0.000 4 0.000 0.035 2527 1503 3638

877 -0.63 -194.6 121.7 -13.2 82 880 0.00 1.30 0.00 0.000 6 0.000 0.037 2521 2401 3638

1199 -0.63 -194.6 162.6 -12.8 113 1202 0.00 1.48 0.00 0.000 4 0.000 0.047 2514 3279 3638

1234 -0.63 -194.6 167.6 -12.8 116 1242 0.12 1.45 0.00 0.000 6 0.143 0.027 2545 2370 3638

1551 -0.63 -194.6 200.6 -10.7 147 1552 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2370 3637

1861 -0.63 -194.6 232.2 -10.1 177 1865 0.00 1.20 0.00 0.000 4 0.000 0.038 2545 1522 3635

1926 -0.63 -194.6 238.3 -9.0 183 1928 0.00 1.27 0.00 0.000 6 0.000 0.038 2542 2399 3635

2247 -0.63 -194.6 269.7 -10.1 214 2250 0.00 1.27 0.00 0.000 4 0.000 0.040 2542 1517 3633

2304 -0.63 -194.6 276.2 -10.3 219 2313 0.00 1.30 0.00 0.000 6 0.000 0.038 2536 2399 3633

2622 -0.63 -194.6 309.7 -10.7 250 2625 0.00 1.27 0.00 0.000 4 0.000 0.040 2536 1521 3631

2675 -0.63 -194.6 315.7 -10.8 255 2678 0.00 1.27 0.00 0.000 6 0.000 0.040 2530 2396 3630

2998 -0.63 -194.6 350.7 -10.9 286 2998 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2397 3628

3306 -0.63 -194.6 385.0 -11.1 316 3307 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2397 3626

3617 -0.63 -194.6 417.9 -10.5 346 3620 0.00 1.25 0.00 0.000 4 0.000 0.041 2530 1536 3624

3692 -0.63 -194.6 425.8 -10.6 353 3695 0.00 1.27 0.00 0.000 6 0.000 0.042 2525 2399 3623

4014 -0.63 -194.6 460.3 -10.8 384 4014 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2399 3621

4323 -0.63 -194.6 493.6 -10.8 414 4324 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2399 3618

4633 -0.63 -194.6 526.2 -10.3 444 4636 0.00 1.27 0.00 0.000 4 0.000 0.043 2525 1533 3617

4697 -0.63 -194.6 533.0 -10.4 450 4700 0.00 1.27 0.00 0.000 6 0.000 0.045 2519 2389 3616

5019 -0.63 -194.6 569.3 -11.8 481 5020 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2391 3615

5329 -0.63 -194.6 605.5 -10.8 511 5331 0.00 1.25 0.00 0.000 4 0.000 0.043 2519 1541 3612

5360 -0.63 -194.6 609.1 -11.5 514 5363 0.08 1.30 0.00 0.000 6 0.148 0.045 2538 2405 3612

5681 -0.63 -194.6 639.2 -9.4 545 5684 0.00 1.27 0.00 0.000 4 0.000 0.044 2538 1541 3609

5824 -0.63 -194.6 652.5 -9.2 558 5831 0.00 1.30 0.00 0.000 6 0.000 0.046 2534 2400 3609

6142 -0.63 -194.6 681.2 -9.0 589 6145 0.00 1.27 0.00 0.000 4 0.000 0.045 2534 1541 3607

6220 -0.63 -194.6 688.6 -9.0 596 6227 0.00 1.33 0.00 0.000 6 0.000 0.046 2529 2408 3606

6537 -0.63 -194.6 718.0 -9.3 627 6541 0.00 1.30 0.00 0.000 4 0.000 0.044 2529 1535 3604

6634 -0.63 -194.6 727.1 -9.8 636 6636 0.00 1.30 0.00 0.000 6 0.000 0.048 2523 2401 3604

6955 -0.63 -194.6 759.0 -10.0 667 6958 0.00 1.27 0.00 0.000 4 0.000 0.044 2523 1540 3603

6991 -0.63 -194.6 762.9 -10.6 670 6998 0.00 1.33 0.00 0.000 6 0.000 0.047 2518 2407 3602

7308 -0.63 -194.6 794.2 -10.1 701 7309 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2407 3601

7618 -0.63 -194.6 824.9 -9.9 731 7621 0.00 1.30 0.00 0.000 4 0.000 0.045 2518 1535 3599

7660 -0.63 -194.6 829.1 -10.2 735 7664 0.08 1.30 0.00 0.000 6 0.153 0.048 2536 2397 3599

7981 -0.63 -194.6 857.6 -8.8 766 7984 0.00 1.27 0.00 0.000 4 0.000 0.045 2537 1537 3597

8024 -0.63 -194.6 861.3 -8.4 770 8027 0.00 1.30 0.00 0.000 6 0.000 0.048 2532 2400 3597

8346 -0.63 -194.6 889.4 -8.8 801 8346 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2400 3596

8656 -0.63 -194.6 916.7 -8.8 831 8659 0.00 1.27 0.00 0.000 4 0.000 0.048 2532 1544 3595

8698 -0.63 -194.6 920.4 -8.7 835 8701 0.00 1.30 0.00 0.000 6 0.000 0.048 2528 2400 3595

9020 -0.63 -194.6 948.9 -9.3 866 9021 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2400 3594

9329 -0.63 -194.6 977.2 -8.9 896 9332 0.00 1.27 0.00 0.000 4 0.000 0.046 2528 1544 3592

9382 -0.63 -194.6 982.1 -8.6 901 9385 0.00 1.30 0.00 0.000 6 0.000 0.049 2523 2400 3592

9474 end dive: TARGET_DEPTH_EXCEEDED

state 9474 begin apogee

9478 -0.25 0.0 990.3 8.7 910 9637 0.47 0.00 151.20 1.250 6 0.137 0.000 2663 2281 2839

9638 end apogee: CONTROL_FINISHED_OK

state 9638 begin climb

9639 0.63 194.6 994.7 0.0 926 9813 0.88 1.40 167.45 1.216 4 0.103 0.051 2945 1353 2046

9834 0.63 194.6 978.4 11.8 942 9838 0.00 1.27 0.00 0.000 6 0.000 0.043 2944 2249 2042

10156 0.63 194.6 940.3 11.9 973 10157 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2249 2035

10466 0.63 194.6 904.9 11.5 1003 10467 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2249 2033

10776 0.63 194.6 869.2 11.4 1033 10777 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2249 2032

11087 0.63 194.6 833.7 11.3 1063 11088 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2249 2031

11397 0.63 194.6 798.5 11.3 1093 11398 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2249 2031

11708 0.63 194.6 762.8 11.8 1123 11709 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2250 2030

12018 0.63 194.6 727.6 11.3 1153 12018 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2249 2030

12328 0.63 194.6 693.2 10.9 1183 12332 0.00 1.65 0.00 0.000 4 0.000 0.054 2944 3128 2029

12364 0.63 194.6 688.9 11.4 1186 12372 0.00 1.62 0.00 0.000 6 0.000 0.038 2953 2245 2028

12682 0.63 194.6 652.6 11.3 1217 12685 0.00 1.12 0.00 0.000 4 0.000 0.046 2957 1354 2027

12729 0.63 194.6 646.8 11.2 1221 12736 0.00 1.20 0.00 0.000 6 0.000 0.044 2957 2256 2028

13046 0.63 194.6 609.2 12.1 1252 13047 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2256 2028

13356 0.63 194.6 573.5 11.7 1282 13359 0.00 1.17 0.00 0.000 4 0.000 0.044 2963 1348 2027

13388 0.63 194.6 569.8 12.0 1285 13391 0.00 1.20 0.00 0.000 6 0.000 0.044 2963 2258 2027

13708 0.63 194.6 532.0 11.8 1316 13709 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2258 2028

14019 0.63 194.6 494.7 12.0 1346 14022 0.00 1.65 0.00 0.000 4 0.000 0.054 2963 3137 2027

14044 0.63 194.6 491.4 13.4 1348 14052 0.00 1.62 0.00 0.000 6 0.000 0.037 2970 2249 2027

14362 0.63 194.6 451.7 12.3 1379 14365 0.00 1.65 0.00 0.000 4 0.000 0.053 2970 3136 2027

14387 0.63 194.6 448.2 13.6 1381 14396 0.00 1.62 0.00 0.000 6 0.000 0.037 2978 2248 2026

14705 0.63 194.6 406.8 12.9 1412 14706 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2249 2027

15014 0.63 194.6 366.7 12.2 1442 15015 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2249 2026

15325 0.63 194.6 327.6 12.8 1472 15328 0.00 1.65 0.00 0.000 4 0.000 0.052 2978 3139 2026

15350 0.63 194.6 324.0 12.8 1474 15358 0.12 1.62 0.00 0.000 6 0.156 0.035 2951 2250 2026

15667 0.63 194.6 289.2 11.1 1505 15670 0.00 1.15 0.00 0.000 4 0.000 0.043 2955 1341 2026

15720 0.63 194.6 283.5 10.5 1510 15723 0.00 1.17 0.00 0.000 6 0.000 0.041 2955 2252 2027

16040 0.63 194.6 248.2 11.0 1541 16044 0.00 1.65 0.00 0.000 4 0.000 0.051 2955 3135 2026

16062 0.63 194.6 245.8 11.7 1543 16065 0.00 1.60 0.00 0.000 6 0.000 0.036 2963 2221 2026

16382 0.63 194.6 207.8 11.9 1574 16386 0.00 1.70 0.00 0.000 4 0.000 0.049 2963 3127 2027

16425 0.63 194.6 202.5 12.6 1578 16429 0.00 1.55 0.00 0.000 6 0.000 0.035 2970 2261 2027

16746 0.63 194.6 162.1 12.3 1609 16749 0.00 1.15 0.00 0.000 4 0.000 0.040 2976 1345 2028

16782 0.63 194.6 157.5 11.2 1612 16789 0.00 1.20 0.00 0.000 6 0.000 0.038 2976 2262 2028

17100 0.63 194.6 119.7 12.0 1643 17103 0.00 1.60 0.00 0.000 4 0.000 0.048 2976 3153 2028

17142 0.63 194.6 114.2 14.5 1647 17146 0.10 1.62 0.00 0.000 6 0.139 0.033 2952 2241 2028

17463 0.63 194.6 83.4 8.5 1678 17466 0.00 1.67 0.00 0.000 4 0.000 0.047 2952 3136 2029

17505 0.63 194.6 79.6 9.0 1682 17508 0.00 1.58 0.00 0.000 6 0.000 0.031 2958 2250 2029

17702 0.63 199.5 62.9 7.4 1701 17705 0.00 1.12 0.00 0.000 4 0.000 0.038 2964 1336 2030

17734 0.65 217.1 60.6 7.0 1704 17757 0.00 1.17 16.58 0.544 6 0.000 0.037 2963 2259 1953

17942 0.66 224.6 43.7 7.3 1724 17953 0.00 0.00 7.18 0.471 6 0.000 0.000 2963 2259 1923

18139 0.78 320.3 33.0 5.0 1743 18216 0.10 1.60 72.40 0.536 4 0.077 0.044 3013 3135 1534

18260 0.78 320.3 23.5 8.6 1753 18263 0.00 1.60 0.00 0.000 6 0.000 0.030 3020 2233 1528

18457 0.86 384.2 9.3 5.8 1772 18508 0.00 1.12 47.60 0.505 4 0.000 0.037 3026 1350 1272

18558 0.94 451.9 3.9 5.7 1781 18573 0.00 1.17 12.25 0.459 2 0.000 0.033 3026 2259 1211

18574 end climb: SURFACE_DEPTH_REACHED

state 18574 begin surface coast

18578 end surface coast: CONTROL_FINISHED_OK

state 18578 begin surface

ID	515	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	189	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3575	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	25	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	2841	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8830	C_ROLL_CLIMB	2250	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	575	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	36	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	250	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	404	DEVICE2	20
T_MISSION	500	CALL_TRIES	8	VBD_MAX	3959	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	2840	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-16896.674	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-7	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	200	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	205	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3967	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2747	PRESSURE_YINT	-42.932224	SEABIRD_T_G	0.0043524536
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011628702	SEABIRD_T_H	0.00062548812
MASS	51931	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3784551e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.5490917e-06
FERRY_MAX	45	PITCH_GAIN	28	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.141768
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1640214
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00094225706
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0001682234
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	20

GPS1	143237,2835.879,-8835.834,40,1.1,40,-0.3	TGT_NAME	NEW0607F
_CALLS	1	TGT_LATLONG	2837.000,-8845.000
_XMS_NAKs	14	TGT_RADIUS	1000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.146,0.220
_SM_DEPTHo	1.50	KALMAN_X	-19490.2,682.6,1191.7,40731.4,-3919.3
_SM_ANGLEo	-62.5	KALMAN_Y	-108917.9,1094.1,669.7,121258.1,-14497.4
GPS2	144037,2835.984,-8835.876,14,1.8,19,-0.3	MHEAD_RNG_PITCHd_Wd	281.6,14953,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1421

FINISH	2.1,1.022979	_24V_AH	23.0,33.901
SM_CCo	18592,85.10,0.491,0,0,494,575.22	_10V_AH	10.6,47.193
SM_GC	1.35,0.00,0.00,85.10,0.000,0.000,0.491,201,2408,494,-7.96,0.23,575.22	DATA_FILE_SIZE	94674,1783
IRIDIUM_FIX	2828.55,-8802.18,240999,090938	CAP_FILE_SIZE	173189,0
TT8_MAMPS	0.050622	CFSIZE	260165632,238088192
HUMID	1320	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.2191	CURRENT	0.109,221.3,1
TCM_TEMP	23.20	GPS	300610,195337,2835.475,-8839.727,41,1.9,41,-0.2
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	258	122.17	SBE_CT	1220	24	673.79
Roll_motor	93	57	123.34	SBE_O2	1302	19	569.34
VBD_pump_during_apogee	474	1250	13648.48	WL_BBFL2VMT	4007	105	9677.74
VBD_pump_during_surface	85	490	960.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	58.43	nil	0	0	0.00
Iridium_during_connect	39	160	146.51	nil	0	0	0.00
Iridium_during_xfer	282	223	1450.09
Transponder_ping	0	420	2.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	21	50	11.64
TT8	0	19	0.00
LPSleep	12473	2	289.57
TT8_Active	634	19	133.10
TT8_Sampling	5346	39	2255.51
TT8_CF8	675	45	327.78
TT8_Kalman	33	81	28.90
Analog_circuits	2166	12	275.58
GPS_charging	0	0	0.00
Compass	4784	8	405.76
RAFOS	0	0	0.00
Transponder	0	30	0.27

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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
13	-0.63	-194.6	0.0	0.0	0	95	0.00	0.00	-80.57	0.000	2	0.000	0.000	201	2403	2710
97	-0.63	-194.6	3.1	-3.7	8	135	10.65	1.33	-22.55	0.000	4	0.258	0.058	2537	1490	3634
296	-0.63	-194.6	43.2	-17.6	26	303	0.00	1.35	0.00	0.000	6	0.000	0.036	2533	2407	3636
488	-0.63	-194.6	72.4	-13.5	45	491	0.00	1.30	0.00	0.000	4	0.000	0.035	2533	1503	3637
599	-0.63	-194.6	86.7	-12.2	55	609	0.00	1.30	0.00	0.000	6	0.000	0.036	2527	2396	3638
791	-0.63	-194.6	110.9	-13.2	74	795	0.00	1.27	0.00	0.000	4	0.000	0.035	2527	1503	3638
877	-0.63	-194.6	121.7	-13.2	82	880	0.00	1.30	0.00	0.000	6	0.000	0.037	2521	2401	3638
1199	-0.63	-194.6	162.6	-12.8	113	1202	0.00	1.48	0.00	0.000	4	0.000	0.047	2514	3279	3638
1234	-0.63	-194.6	167.6	-12.8	116	1242	0.12	1.45	0.00	0.000	6	0.143	0.027	2545	2370	3638
1551	-0.63	-194.6	200.6	-10.7	147	1552	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2370	3637
1861	-0.63	-194.6	232.2	-10.1	177	1865	0.00	1.20	0.00	0.000	4	0.000	0.038	2545	1522	3635
1926	-0.63	-194.6	238.3	-9.0	183	1928	0.00	1.27	0.00	0.000	6	0.000	0.038	2542	2399	3635
2247	-0.63	-194.6	269.7	-10.1	214	2250	0.00	1.27	0.00	0.000	4	0.000	0.040	2542	1517	3633
2304	-0.63	-194.6	276.2	-10.3	219	2313	0.00	1.30	0.00	0.000	6	0.000	0.038	2536	2399	3633
2622	-0.63	-194.6	309.7	-10.7	250	2625	0.00	1.27	0.00	0.000	4	0.000	0.040	2536	1521	3631
2675	-0.63	-194.6	315.7	-10.8	255	2678	0.00	1.27	0.00	0.000	6	0.000	0.040	2530	2396	3630
2998	-0.63	-194.6	350.7	-10.9	286	2998	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2397	3628
3306	-0.63	-194.6	385.0	-11.1	316	3307	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2397	3626
3617	-0.63	-194.6	417.9	-10.5	346	3620	0.00	1.25	0.00	0.000	4	0.000	0.041	2530	1536	3624
3692	-0.63	-194.6	425.8	-10.6	353	3695	0.00	1.27	0.00	0.000	6	0.000	0.042	2525	2399	3623
4014	-0.63	-194.6	460.3	-10.8	384	4014	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2399	3621
4323	-0.63	-194.6	493.6	-10.8	414	4324	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2399	3618
4633	-0.63	-194.6	526.2	-10.3	444	4636	0.00	1.27	0.00	0.000	4	0.000	0.043	2525	1533	3617
4697	-0.63	-194.6	533.0	-10.4	450	4700	0.00	1.27	0.00	0.000	6	0.000	0.045	2519	2389	3616
5019	-0.63	-194.6	569.3	-11.8	481	5020	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2391	3615
5329	-0.63	-194.6	605.5	-10.8	511	5331	0.00	1.25	0.00	0.000	4	0.000	0.043	2519	1541	3612
5360	-0.63	-194.6	609.1	-11.5	514	5363	0.08	1.30	0.00	0.000	6	0.148	0.045	2538	2405	3612
5681	-0.63	-194.6	639.2	-9.4	545	5684	0.00	1.27	0.00	0.000	4	0.000	0.044	2538	1541	3609
5824	-0.63	-194.6	652.5	-9.2	558	5831	0.00	1.30	0.00	0.000	6	0.000	0.046	2534	2400	3609
6142	-0.63	-194.6	681.2	-9.0	589	6145	0.00	1.27	0.00	0.000	4	0.000	0.045	2534	1541	3607
6220	-0.63	-194.6	688.6	-9.0	596	6227	0.00	1.33	0.00	0.000	6	0.000	0.046	2529	2408	3606
6537	-0.63	-194.6	718.0	-9.3	627	6541	0.00	1.30	0.00	0.000	4	0.000	0.044	2529	1535	3604
6634	-0.63	-194.6	727.1	-9.8	636	6636	0.00	1.30	0.00	0.000	6	0.000	0.048	2523	2401	3604
6955	-0.63	-194.6	759.0	-10.0	667	6958	0.00	1.27	0.00	0.000	4	0.000	0.044	2523	1540	3603
6991	-0.63	-194.6	762.9	-10.6	670	6998	0.00	1.33	0.00	0.000	6	0.000	0.047	2518	2407	3602
7308	-0.63	-194.6	794.2	-10.1	701	7309	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2407	3601
7618	-0.63	-194.6	824.9	-9.9	731	7621	0.00	1.30	0.00	0.000	4	0.000	0.045	2518	1535	3599
7660	-0.63	-194.6	829.1	-10.2	735	7664	0.08	1.30	0.00	0.000	6	0.153	0.048	2536	2397	3599
7981	-0.63	-194.6	857.6	-8.8	766	7984	0.00	1.27	0.00	0.000	4	0.000	0.045	2537	1537	3597
8024	-0.63	-194.6	861.3	-8.4	770	8027	0.00	1.30	0.00	0.000	6	0.000	0.048	2532	2400	3597
8346	-0.63	-194.6	889.4	-8.8	801	8346	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2400	3596
8656	-0.63	-194.6	916.7	-8.8	831	8659	0.00	1.27	0.00	0.000	4	0.000	0.048	2532	1544	3595
8698	-0.63	-194.6	920.4	-8.7	835	8701	0.00	1.30	0.00	0.000	6	0.000	0.048	2528	2400	3595
9020	-0.63	-194.6	948.9	-9.3	866	9021	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2400	3594
9329	-0.63	-194.6	977.2	-8.9	896	9332	0.00	1.27	0.00	0.000	4	0.000	0.046	2528	1544	3592
9382	-0.63	-194.6	982.1	-8.6	901	9385	0.00	1.30	0.00	0.000	6	0.000	0.049	2523	2400	3592
9474	end dive: TARGET_DEPTH_EXCEEDED
state	9474	begin apogee
9478	-0.25	0.0	990.3	8.7	910	9637	0.47	0.00	151.20	1.250	6	0.137	0.000	2663	2281	2839
9638	end apogee: CONTROL_FINISHED_OK
state	9638	begin climb
9639	0.63	194.6	994.7	0.0	926	9813	0.88	1.40	167.45	1.216	4	0.103	0.051	2945	1353	2046
9834	0.63	194.6	978.4	11.8	942	9838	0.00	1.27	0.00	0.000	6	0.000	0.043	2944	2249	2042
10156	0.63	194.6	940.3	11.9	973	10157	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2249	2035
10466	0.63	194.6	904.9	11.5	1003	10467	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2249	2033
10776	0.63	194.6	869.2	11.4	1033	10777	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2249	2032
11087	0.63	194.6	833.7	11.3	1063	11088	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2249	2031
11397	0.63	194.6	798.5	11.3	1093	11398	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2249	2031
11708	0.63	194.6	762.8	11.8	1123	11709	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2250	2030
12018	0.63	194.6	727.6	11.3	1153	12018	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2249	2030
12328	0.63	194.6	693.2	10.9	1183	12332	0.00	1.65	0.00	0.000	4	0.000	0.054	2944	3128	2029
12364	0.63	194.6	688.9	11.4	1186	12372	0.00	1.62	0.00	0.000	6	0.000	0.038	2953	2245	2028
12682	0.63	194.6	652.6	11.3	1217	12685	0.00	1.12	0.00	0.000	4	0.000	0.046	2957	1354	2027
12729	0.63	194.6	646.8	11.2	1221	12736	0.00	1.20	0.00	0.000	6	0.000	0.044	2957	2256	2028
13046	0.63	194.6	609.2	12.1	1252	13047	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2256	2028
13356	0.63	194.6	573.5	11.7	1282	13359	0.00	1.17	0.00	0.000	4	0.000	0.044	2963	1348	2027
13388	0.63	194.6	569.8	12.0	1285	13391	0.00	1.20	0.00	0.000	6	0.000	0.044	2963	2258	2027
13708	0.63	194.6	532.0	11.8	1316	13709	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2258	2028
14019	0.63	194.6	494.7	12.0	1346	14022	0.00	1.65	0.00	0.000	4	0.000	0.054	2963	3137	2027
14044	0.63	194.6	491.4	13.4	1348	14052	0.00	1.62	0.00	0.000	6	0.000	0.037	2970	2249	2027
14362	0.63	194.6	451.7	12.3	1379	14365	0.00	1.65	0.00	0.000	4	0.000	0.053	2970	3136	2027
14387	0.63	194.6	448.2	13.6	1381	14396	0.00	1.62	0.00	0.000	6	0.000	0.037	2978	2248	2026
14705	0.63	194.6	406.8	12.9	1412	14706	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2249	2027
15014	0.63	194.6	366.7	12.2	1442	15015	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2249	2026
15325	0.63	194.6	327.6	12.8	1472	15328	0.00	1.65	0.00	0.000	4	0.000	0.052	2978	3139	2026
15350	0.63	194.6	324.0	12.8	1474	15358	0.12	1.62	0.00	0.000	6	0.156	0.035	2951	2250	2026
15667	0.63	194.6	289.2	11.1	1505	15670	0.00	1.15	0.00	0.000	4	0.000	0.043	2955	1341	2026
15720	0.63	194.6	283.5	10.5	1510	15723	0.00	1.17	0.00	0.000	6	0.000	0.041	2955	2252	2027
16040	0.63	194.6	248.2	11.0	1541	16044	0.00	1.65	0.00	0.000	4	0.000	0.051	2955	3135	2026
16062	0.63	194.6	245.8	11.7	1543	16065	0.00	1.60	0.00	0.000	6	0.000	0.036	2963	2221	2026
16382	0.63	194.6	207.8	11.9	1574	16386	0.00	1.70	0.00	0.000	4	0.000	0.049	2963	3127	2027
16425	0.63	194.6	202.5	12.6	1578	16429	0.00	1.55	0.00	0.000	6	0.000	0.035	2970	2261	2027
16746	0.63	194.6	162.1	12.3	1609	16749	0.00	1.15	0.00	0.000	4	0.000	0.040	2976	1345	2028
16782	0.63	194.6	157.5	11.2	1612	16789	0.00	1.20	0.00	0.000	6	0.000	0.038	2976	2262	2028
17100	0.63	194.6	119.7	12.0	1643	17103	0.00	1.60	0.00	0.000	4	0.000	0.048	2976	3153	2028
17142	0.63	194.6	114.2	14.5	1647	17146	0.10	1.62	0.00	0.000	6	0.139	0.033	2952	2241	2028
17463	0.63	194.6	83.4	8.5	1678	17466	0.00	1.67	0.00	0.000	4	0.000	0.047	2952	3136	2029
17505	0.63	194.6	79.6	9.0	1682	17508	0.00	1.58	0.00	0.000	6	0.000	0.031	2958	2250	2029
17702	0.63	199.5	62.9	7.4	1701	17705	0.00	1.12	0.00	0.000	4	0.000	0.038	2964	1336	2030
17734	0.65	217.1	60.6	7.0	1704	17757	0.00	1.17	16.58	0.544	6	0.000	0.037	2963	2259	1953
17942	0.66	224.6	43.7	7.3	1724	17953	0.00	0.00	7.18	0.471	6	0.000	0.000	2963	2259	1923
18139	0.78	320.3	33.0	5.0	1743	18216	0.10	1.60	72.40	0.536	4	0.077	0.044	3013	3135	1534
18260	0.78	320.3	23.5	8.6	1753	18263	0.00	1.60	0.00	0.000	6	0.000	0.030	3020	2233	1528
18457	0.86	384.2	9.3	5.8	1772	18508	0.00	1.12	47.60	0.505	4	0.000	0.037	3026	1350	1272
18558	0.94	451.9	3.9	5.7	1781	18573	0.00	1.17	12.25	0.459	2	0.000	0.033	3026	2259	1211
18574	end climb: SURFACE_DEPTH_REACHED
state	18574	begin surface coast
18578	end surface coast: CONTROL_FINISHED_OK
state	18578	begin surface