Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 161 HD_C 9.0100002e-06 ROLL_MAX 3769 ALTIM_BOTTOM_TURN_MARGIN 20

MISSION 11 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 19 ESCAPE_HEADING 0 C_ROLL_DIVE 2675 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2300 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 27.983 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 660 TGT_DEFAULT_LON -87.467003 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 80 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 50 XPDR_VALID 5

D_BOOST 20 N_FILEKB 8 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.63999999

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 73 VBD_MIN 550 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE1 2

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2839 DEVICE2 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.245296 DEVICE4 -1

T_DIVE 185 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 200 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_ABORT 720 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_TURN 540 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 115

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 33

USE_BATHY 0 T_RSLEEP 5 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE -1

RELAUNCH 1 PITCH_MIN 151 AH0_10V 100 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3948 MINV_24V 19 SIM_PITCH 0

MAX_BUOY 175 C_PITCH 2930 MINV_10V 8 SEABIRD_T_G 0.0043775463

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00063860236

GLIDE_SLOPE 45 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_T_I 2.5706517e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY 2 SEABIRD_T_J 2.822896e-06

RHO 1.0275 P_OVSHOOT_WITHG 0.079999998 PRESSURE_YINT -20.182438 SEABIRD_C_G -9.9098063

MASS 51942 PITCH_GAIN 21 PRESSURE_SLOPE 0.00011628441 SEABIRD_C_H 1.1132913

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_I -0.00039731048

NAV_MODE 1 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00011278767

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 MI_OFFLOAD 1.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 0 MI_POWERSOURCE 0.0

HD_A 0.00154 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 MI_RESTARTMONITOR 0.0

HD_B 0.0145 ROLL_MIN 192 ALTIM_TOP_PING_RANGE 0 MI_NOTIFYMOTORS 0.0

AD7714Ch0Gain 128 D_PITCH 0 N_NOCOMM 1 SEABIRD_T_I 2.5706517e-05

AH0_10V 100 D_SAFE 0 N_NOSURFACE 0 SEABIRD_T_J 2.822896e-06

AH0_24V 150 D_SURF 3 PHONE_DEVICE 49 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 660 PHONE_SUPPLY 2 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 20 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 SM_CC 500

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

ALTIM_PING_DELTA 5 FERRY_MAX 45 PITCH_AD_RATE 175 STROBE 0

ALTIM_PING_DEPTH 80 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 21 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3948 TCM_PITCH_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_MIN 151 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.00154 PITCH_TIMEOUT 16 TGT_DEFAULT_LAT 27.983

CALL_NDIVES 1 HD_B 0.0145 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -87.467003

CALL_TRIES 5 HD_C 9.0100002e-06 PITCH_W_DBAND 0 T_ABORT 720

CALL_WAIT 60 HEADING -1 PITCH_W_GAIN 0 T_BOOST 2

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00011628441 T_DIVE 185

CAPUPLOAD 0 HEAPDBG 0 PRESSURE_YINT -20.182438 T_EPIRB 0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 73 T_GPS 15

COMM_SEQ 0 ID 161 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0.079999998 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_YINT -0.63999999 RAFOS_CORR_THRESH 60 T_MISSION 200

COMPASS_USE 0 KALMAN_USE 2 RAFOS_DEVICE -1 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE1 115 RAFOS_HIT_WINDOW 3600 T_RSLEEP 5

C_PITCH 2930 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 540

C_ROLL_CLIMB 2300 LOGGERDEVICE3 -1 RELAUNCH 1 T_TURN_SAMPINT 5

C_ROLL_DIVE 2675 LOGGERDEVICE4 -1 RHO 1.0275 T_WATCHDOG 10

C_VBD 2839 LOGGERS 1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DBDW 0 MASS 51942 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS_COMP 0 ROLL_AD_RATE 300 USE_BATHY 0

DEVICE1 2 MAX_BUOY 175 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_10V 8 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MAX 3769 VBD_CNV -0.245296

DEVICE4 -1 MISSION 11 ROLL_MAXERRORS 2 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 ROLL_MIN 192 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 19 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 80 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 50 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 MOTHERBOARD 4 SEABIRD_C_G -9.9098063 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 NAV_MODE 1 SEABIRD_C_H 1.1132913 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_C_I -0.00039731048 W_ADJ_DBAND 0

D_FLARE 3 N_DIVES 0 SEABIRD_C_J 0.00011278767 XPDR_DEVICE -1

D_NO_BLEED 500 N_FILEKB 8 SEABIRD_T_G 0.0043775463 XPDR_INHIBIT 90

D_OFFGRID 100 N_GPS 20 SEABIRD_T_H 0.00063860236 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 200715,170043,2759.916,-8729.489,31,0.9,41,-1.9 SPEED_LIMITS 0.119,0.237

_CALLS 1 TGT_NAME T315_6

_XMS_NAKs 0 TGT_LATLONG 2801.049,-8729.938

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 1.46 MHEAD_RNG_PITCHd_Wd 334.5,2505,-19.6,-11.892,-27.79,1906

_SM_ANGLEo -66.7 D_GRID 660

GPS2 200715,170931,2759.848,-8729.233,5,0.9,15,-1.9

Post-dive calculations and measurements:

FINISH 0.9,1.008601 MI_HOME 2.9/436550/423982

SM_CCo 9136,88.85,0.369,1,0,799,500.16 _24V_AH 23.91,47.000

SM_GC 1.76,8.52,2.72,88.85,0.033,0.025,0.369,151,2686,799,-8.61,-1.22,500.16,0,0,0,0,1,0,25.51,25.58,24.64 _10V_AH 10.10,14.317

IRIDIUM_FIX 2722.64,-8719.43,160508,063145 FG_AHR_24Vo 0.000

TT8_MAMPS 0.09737,0.09737 FG_AHR_10Vo 0.000

HUMID 40.11 MEM 296120

INTERNAL_PRESSURE 9.14553 DATA_FILE_SIZE 23468,704

TCM_TEMP 24.20 CAP_FILE_SIZE 102611,0

MI_MIVER 0.4 CFSIZE 260034560,256172032

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0

MI_BOOTCOUNT 104 INTR 0,10552.28,0x236bc6,7,5

MI_LOG 3.5/516052/497977 GPS 200715,194414,2800.078,-8729.636,15,0.9,25,-1.9

MI_ROOT 70.6/190403/56003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 232 117.19 SBE_CT 472 23 262.23

Roll_motor 73 34 60.27 nil 0 0 0.00

VBD_pump_during_apogee 399 854 8162.78 nil 0 0 0.00

VBD_pump_during_surface 88 368 783.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 61 43.80 nil 0 0 0.00

Iridium_during_connect 37 160 145.12 MIB 9802 42 10049.24

Iridium_during_xfer 160 223 855.63 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 9802 35 8268.04

GPS 16 31 5.26

TT8 0 0 0.00

LPSleep 6904 0 27.20

TT8_Active 579 13 77.28

TT8_Sampling 2013 40 832.14

TT8_CF8 89 48 43.67

TT8_Kalman 0 0 0.00

Analog_circuits 1292 16 208.79

GPS_charging 0 0 0.00

Compass 1290 15 204.99

RAFOS 0 0 0.00

Transponder 0 0 0.00

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -1.12 -152.7 154 2691 898 693 0.0 0.0 0 75 0.00 0.00 -57.55 0.000 16386 0.000 0.000 154 2691 2543 2521 2566 0 0 0 0 0 0 28.83 28.83 28.83

77 -1.14 -170.3 155 2691 2523 2567 3.3 -6.2 9 114 9.95 2.05 -20.27 0.000 18948 0.233 0.034 2554 1263 3536 3565 3508 0 0 0 0 0 0 25.01 25.56 25.66

263 -1.14 -170.3 2555 1263 3566 3508 57.5 -31.2 43 267 0.00 2.17 0.00 0.000 1030 0.000 0.030 2546 2675 3536 3566 3507 0 0 0 0 0 0 28.83 25.59 28.83

393 -1.14 -170.3 2547 2676 3568 3508 90.5 -22.6 56 394 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2676 3537 3568 3507 0 0 0 0 0 0 28.83 28.83 28.83

518 -1.14 -170.3 2547 2675 3570 3508 115.8 -19.8 66 522 0.00 2.08 0.00 0.000 516 0.000 0.022 2546 1265 3538 3570 3507 0 0 0 0 0 0 28.83 25.71 28.83

598 -1.14 -170.3 2547 1265 3571 3508 129.9 -18.7 71 602 0.00 2.15 0.00 0.000 1030 0.000 0.030 2536 2672 3539 3571 3508 0 0 0 0 0 0 28.83 25.70 28.83

908 -1.14 -170.3 2537 2673 3574 3509 188.1 -17.8 92 912 0.00 2.10 0.00 0.000 516 0.000 0.022 2536 1266 3541 3573 3509 0 0 0 0 0 0 28.83 25.49 28.83

973 -1.14 -170.3 2536 1266 3576 3510 198.4 -17.2 96 977 0.10 2.17 0.00 0.000 3078 0.145 0.030 2557 2674 3541 3574 3509 0 0 0 0 0 0 25.13 25.45 28.83

1284 -1.14 -170.3 2556 2675 3575 3510 248.5 -16.0 117 1287 0.00 2.08 0.00 0.000 516 0.000 0.022 2556 1266 3541 3574 3508 0 0 0 0 0 0 28.83 25.72 28.83

1328 -1.14 -170.3 2556 1271 3576 3509 255.7 -16.2 120 1332 0.00 2.17 0.00 0.000 1030 0.000 0.030 2549 2682 3541 3574 3509 0 0 0 0 0 0 28.83 25.67 28.83

1643 -1.14 -170.3 2550 2683 3574 3507 309.5 -17.1 141 1647 0.00 2.10 0.00 0.000 516 0.000 0.024 2549 1271 3540 3573 3507 0 0 0 0 0 0 28.83 25.75 28.83

1698 -1.14 -170.3 2550 1271 3573 3507 317.1 -17.0 144 1706 0.00 2.15 0.00 0.000 1030 0.000 0.031 2541 2670 3540 3574 3506 0 0 0 0 0 0 28.83 25.71 28.83

2003 -1.14 -170.3 2541 2671 3574 3505 371.1 -16.6 165 2007 0.00 2.08 0.00 0.000 516 0.000 0.024 2540 1274 3540 3578 3503 0 0 0 0 0 0 28.83 25.75 28.83

2038 -1.14 -170.3 2541 1275 3574 3504 376.1 -16.8 167 2042 0.00 2.15 0.00 0.000 1030 0.000 0.031 2532 2676 3538 3574 3503 0 0 0 0 0 0 28.83 25.74 28.83

2348 -1.14 -170.3 2533 2676 3571 3502 430.2 -17.3 188 2352 0.10 2.08 0.00 0.000 2564 0.166 0.024 2560 1269 3536 3571 3501 0 0 0 0 0 0 25.22 25.78 28.83

2388 -1.14 -170.3 2560 1270 3572 3502 434.9 -16.3 190 2396 0.00 2.15 0.00 0.000 1030 0.000 0.031 2553 2673 3536 3571 3501 0 0 0 0 0 0 28.83 25.75 28.83

2693 -1.14 -170.3 2552 2674 3569 3499 482.7 -15.3 211 2697 0.00 2.10 0.00 0.000 516 0.000 0.024 2553 1261 3533 3568 3498 0 0 0 0 0 0 28.83 25.77 28.83

2728 -1.14 -170.3 2553 1262 3569 3499 487.5 -15.6 213 2732 0.00 2.17 0.00 0.000 1030 0.000 0.031 2545 2676 3533 3568 3498 0 0 0 0 0 0 28.83 25.75 28.83

3038 -1.14 -170.3 2546 2676 3565 3496 538.2 -16.2 234 3039 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2681 3530 3565 3495 0 0 0 0 0 0 28.83 28.83 28.83

3338 -1.14 -170.3 2546 2676 3563 3493 586.2 -15.7 254 3342 0.00 2.10 0.00 0.000 516 0.000 0.025 2545 1278 3527 3562 3493 0 0 0 0 0 0 28.83 25.72 28.83

3408 -1.14 -170.3 2546 1278 3562 3493 595.4 -15.3 258 3416 0.00 2.15 0.00 0.000 1030 0.000 0.031 2537 2675 3527 3562 3492 0 0 0 0 0 0 28.83 25.70 28.83

3713 -1.14 -170.3 2535 2675 3561 3489 647.0 -16.4 279 3714 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2674 3524 3560 3489 0 0 0 0 0 0 28.83 28.83 28.83

3802 end dive: TARGET_DEPTH_EXCEEDED

state 3802 begin apogee

3805 -0.24 0.0 2537 2305 3559 3488 661.6 -16.0 285 3942 1.00 0.00 132.77 0.855 10246 0.115 0.000 2852 2305 2838 2940 2736 0 0 0 0 0 0 25.31 28.83 24.00

3942 end apogee: CONTROL_FINISHED_OK

state 3942 begin climb

3943 1.14 170.3 2851 2305 2942 2736 666.9 0.0 294 4092 1.25 2.15 136.90 0.842 10756 0.063 0.030 3302 910 2143 2233 2053 0 0 0 0 0 0 24.75 24.67 23.91

4220 1.14 170.3 3302 910 2227 2050 645.4 13.8 312 4228 0.00 2.15 0.00 0.000 1030 0.000 0.027 3302 2306 2138 2227 2049 0 0 0 0 0 0 28.83 25.37 28.83

4526 1.14 170.3 3301 2307 2225 2047 601.9 13.8 333 4527 0.00 0.00 0.00 0.000 6 0.000 0.000 3301 2306 2135 2223 2047 0 0 0 0 0 0 28.83 28.83 28.83

4826 1.14 170.3 3301 2306 2221 2047 561.3 13.7 353 4830 0.00 2.12 0.00 0.000 516 0.000 0.031 3310 913 2133 2220 2046 0 0 0 0 0 0 28.83 25.70 28.83

4886 1.14 170.3 3311 914 2219 2046 553.0 13.9 357 4890 0.00 2.12 0.00 0.000 1030 0.000 0.027 3311 2292 2132 2219 2046 0 0 0 0 0 0 28.83 25.44 28.83

5201 1.14 170.3 3307 2292 2218 2045 509.9 13.5 378 5202 0.00 0.00 0.00 0.000 6 0.000 0.000 3311 2291 2130 2217 2044 0 0 0 0 0 0 28.83 28.83 28.83

5501 1.14 170.3 3310 2292 2216 2044 470.1 13.8 398 5502 0.00 0.00 0.00 0.000 6 0.000 0.000 3311 2292 2128 2214 2043 0 0 0 0 0 0 28.83 28.83 28.83

5801 1.14 170.3 3309 2292 2214 2043 428.7 13.8 418 5805 0.00 2.10 0.00 0.000 516 0.000 0.030 3320 907 2127 2212 2042 0 0 0 0 0 0 28.83 25.70 28.83

5855 1.14 170.3 3320 906 2213 2043 422.8 13.4 421 5863 0.00 2.12 0.00 0.000 1030 0.000 0.027 3320 2301 2127 2212 2042 0 0 0 0 0 0 28.83 25.68 28.83

6161 1.14 170.3 3321 2301 2211 2041 378.1 14.3 442 6162 0.00 0.00 0.00 0.000 6 0.000 0.000 3320 2300 2125 2211 2040 0 0 0 0 0 0 28.83 28.83 28.83

6461 1.14 170.3 3321 2301 2209 2041 334.5 14.4 462 6462 0.00 0.00 0.00 0.000 6 0.000 0.000 3320 2301 2125 2210 2040 0 0 0 0 0 0 28.83 28.83 28.83

6761 1.14 170.3 3321 2301 2208 2040 291.9 14.1 482 6765 0.00 2.10 0.00 0.000 516 0.000 0.030 3330 917 2124 2208 2040 0 0 0 0 0 0 28.83 25.65 28.83

6870 1.14 170.3 3329 917 2209 2041 276.9 14.4 489 6875 0.10 2.10 0.00 0.000 5126 0.144 0.026 3300 2299 2123 2207 2040 0 0 0 0 0 0 25.08 25.63 28.83

7181 1.14 170.3 3300 2300 2209 2041 233.9 13.8 510 7182 0.00 0.00 0.00 0.000 6 0.000 0.000 3300 2299 2123 2207 2040 0 0 0 0 0 0 28.83 28.83 28.83

7481 1.14 170.3 3300 2300 2208 2040 192.7 13.3 530 7482 0.00 0.00 0.00 0.000 6 0.000 0.000 3300 2299 2123 2207 2039 0 0 0 0 0 0 28.83 28.83 28.83

7781 1.14 170.3 3302 2300 2207 2039 154.6 12.5 550 7785 0.00 2.12 0.00 0.000 516 0.000 0.030 3308 905 2123 2207 2039 0 0 0 0 0 0 28.83 25.58 28.83

7931 1.14 170.3 3309 905 2206 2039 135.9 12.9 560 7935 0.00 2.12 0.00 0.000 1030 0.000 0.027 3308 2298 2122 2206 2039 0 0 0 0 0 0 28.83 25.58 28.83

8246 1.18 196.8 3309 2298 2206 2035 99.9 10.5 581 8269 0.00 2.08 18.58 0.451 8708 0.000 0.029 3316 910 2033 2118 1949 0 0 0 0 0 0 28.83 25.65 24.91

8443 1.23 237.8 3316 910 2113 1949 80.1 9.7 600 8481 0.00 2.12 31.95 0.455 9222 0.000 0.025 3315 2311 1869 1956 1782 0 0 0 0 0 0 28.83 25.56 24.81

8599 1.24 250.0 3316 2311 1949 1780 62.7 11.2 616 8614 0.00 2.15 10.60 0.409 8708 0.000 0.028 3323 912 1817 1905 1729 0 0 0 0 0 0 28.83 25.51 24.77

8679 1.35 337.5 3324 912 1899 1732 56.0 7.2 624 8758 0.05 2.12 68.72 0.433 11270 0.080 0.024 3361 2296 1460 1553 1367 0 0 0 0 0 0 25.22 25.24 24.60

8816 1.35 337.5 3360 2297 1550 1365 40.3 12.5 644 8817 0.00 0.00 0.00 0.000 6 0.000 0.000 3361 2296 1456 1548 1365 0 0 0 0 0 0 28.83 28.83 28.83

8877 1.35 337.5 3362 2296 1546 1365 32.7 13.3 656 8877 0.00 0.00 0.00 0.000 6 0.000 0.000 3361 2296 1456 1548 1365 0 0 0 0 0 0 28.83 28.83 28.83

8936 1.35 337.5 3361 2297 1547 1364 24.6 13.2 668 8937 0.00 0.00 0.00 0.000 6 0.000 0.000 3361 2296 1455 1546 1364 0 0 0 0 0 0 28.83 28.83 28.83

8996 1.35 337.5 3360 2297 1554 1364 16.2 14.3 680 9004 0.00 2.10 0.00 0.000 516 0.000 0.027 3365 907 1454 1545 1364 0 0 0 0 0 0 28.83 25.50 28.83

9097 end climb: SURFACE_DEPTH_REACHED

state 9097 begin surface coast

9117 end surface coast: CONTROL_FINISHED_OK

state 9118 begin surface

ID	161	HD_C	9.0100002e-06	ROLL_MAX	3769	ALTIM_BOTTOM_TURN_MARGIN	20
MISSION	11	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	19	ESCAPE_HEADING	0	C_ROLL_DIVE	2675	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2300	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	27.983	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	660	TGT_DEFAULT_LON	-87.467003	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	80	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	50	XPDR_VALID	5
D_BOOST	20	N_FILEKB	8	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.63999999
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	73	VBD_MIN	550	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE1	2
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2839	DEVICE2	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.245296	DEVICE4	-1
T_DIVE	185	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	200	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_ABORT	720	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_TURN	540	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	115
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	33
USE_BATHY	0	T_RSLEEP	5	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_MIN	151	AH0_10V	100	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3948	MINV_24V	19	SIM_PITCH	0
MAX_BUOY	175	C_PITCH	2930	MINV_10V	8	SEABIRD_T_G	0.0043775463
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00063860236
GLIDE_SLOPE	45	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_T_I	2.5706517e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	2	SEABIRD_T_J	2.822896e-06
RHO	1.0275	P_OVSHOOT_WITHG	0.079999998	PRESSURE_YINT	-20.182438	SEABIRD_C_G	-9.9098063
MASS	51942	PITCH_GAIN	21	PRESSURE_SLOPE	0.00011628441	SEABIRD_C_H	1.1132913
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_I	-0.00039731048
NAV_MODE	1	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00011278767
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	MI_OFFLOAD	1.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	0	MI_POWERSOURCE	0.0
HD_A	0.00154	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	MI_RESTARTMONITOR	0.0
HD_B	0.0145	ROLL_MIN	192	ALTIM_TOP_PING_RANGE	0	MI_NOTIFYMOTORS	0.0

GPS1	200715,170043,2759.916,-8729.489,31,0.9,41,-1.9	SPEED_LIMITS	0.119,0.237
_CALLS	1	TGT_NAME	T315_6
_XMS_NAKs	0	TGT_LATLONG	2801.049,-8729.938
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	1.46	MHEAD_RNG_PITCHd_Wd	334.5,2505,-19.6,-11.892,-27.79,1906
_SM_ANGLEo	-66.7	D_GRID	660
GPS2	200715,170931,2759.848,-8729.233,5,0.9,15,-1.9

FINISH	0.9,1.008601	MI_HOME	2.9/436550/423982
SM_CCo	9136,88.85,0.369,1,0,799,500.16	_24V_AH	23.91,47.000
SM_GC	1.76,8.52,2.72,88.85,0.033,0.025,0.369,151,2686,799,-8.61,-1.22,500.16,0,0,0,0,1,0,25.51,25.58,24.64	_10V_AH	10.10,14.317
IRIDIUM_FIX	2722.64,-8719.43,160508,063145	FG_AHR_24Vo	0.000
TT8_MAMPS	0.09737,0.09737	FG_AHR_10Vo	0.000
HUMID	40.11	MEM	296120
INTERNAL_PRESSURE	9.14553	DATA_FILE_SIZE	23468,704
TCM_TEMP	24.20	CAP_FILE_SIZE	102611,0
MI_MIVER	0.4	CFSIZE	260034560,256172032
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
MI_BOOTCOUNT	104	INTR	0,10552.28,0x236bc6,7,5
MI_LOG	3.5/516052/497977	GPS	200715,194414,2800.078,-8729.636,15,0.9,25,-1.9
MI_ROOT	70.6/190403/56003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	232	117.19	SBE_CT	472	23	262.23
Roll_motor	73	34	60.27	nil	0	0	0.00
VBD_pump_during_apogee	399	854	8162.78	nil	0	0	0.00
VBD_pump_during_surface	88	368	783.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	61	43.80	nil	0	0	0.00
Iridium_during_connect	37	160	145.12	MIB	9802	42	10049.24
Iridium_during_xfer	160	223	855.63	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	9802	35	8268.04
GPS	16	31	5.26
TT8	0	0	0.00
LPSleep	6904	0	27.20
TT8_Active	579	13	77.28
TT8_Sampling	2013	40	832.14
TT8_CF8	89	48	43.67
TT8_Kalman	0	0	0.00
Analog_circuits	1292	16	208.79
GPS_charging	0	0	0.00
Compass	1290	15	204.99
RAFOS	0	0	0.00
Transponder	0	0	0.00

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-1.12	-152.7	154	2691	898	693	0.0	0.0	0	75	0.00	0.00	-57.55	0.000	16386	0.000	0.000	154	2691	2543	2521	2566	0	0	0	0	0	0	28.83	28.83	28.83
77	-1.14	-170.3	155	2691	2523	2567	3.3	-6.2	9	114	9.95	2.05	-20.27	0.000	18948	0.233	0.034	2554	1263	3536	3565	3508	0	0	0	0	0	0	25.01	25.56	25.66
263	-1.14	-170.3	2555	1263	3566	3508	57.5	-31.2	43	267	0.00	2.17	0.00	0.000	1030	0.000	0.030	2546	2675	3536	3566	3507	0	0	0	0	0	0	28.83	25.59	28.83
393	-1.14	-170.3	2547	2676	3568	3508	90.5	-22.6	56	394	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2676	3537	3568	3507	0	0	0	0	0	0	28.83	28.83	28.83
518	-1.14	-170.3	2547	2675	3570	3508	115.8	-19.8	66	522	0.00	2.08	0.00	0.000	516	0.000	0.022	2546	1265	3538	3570	3507	0	0	0	0	0	0	28.83	25.71	28.83
598	-1.14	-170.3	2547	1265	3571	3508	129.9	-18.7	71	602	0.00	2.15	0.00	0.000	1030	0.000	0.030	2536	2672	3539	3571	3508	0	0	0	0	0	0	28.83	25.70	28.83
908	-1.14	-170.3	2537	2673	3574	3509	188.1	-17.8	92	912	0.00	2.10	0.00	0.000	516	0.000	0.022	2536	1266	3541	3573	3509	0	0	0	0	0	0	28.83	25.49	28.83
973	-1.14	-170.3	2536	1266	3576	3510	198.4	-17.2	96	977	0.10	2.17	0.00	0.000	3078	0.145	0.030	2557	2674	3541	3574	3509	0	0	0	0	0	0	25.13	25.45	28.83
1284	-1.14	-170.3	2556	2675	3575	3510	248.5	-16.0	117	1287	0.00	2.08	0.00	0.000	516	0.000	0.022	2556	1266	3541	3574	3508	0	0	0	0	0	0	28.83	25.72	28.83
1328	-1.14	-170.3	2556	1271	3576	3509	255.7	-16.2	120	1332	0.00	2.17	0.00	0.000	1030	0.000	0.030	2549	2682	3541	3574	3509	0	0	0	0	0	0	28.83	25.67	28.83
1643	-1.14	-170.3	2550	2683	3574	3507	309.5	-17.1	141	1647	0.00	2.10	0.00	0.000	516	0.000	0.024	2549	1271	3540	3573	3507	0	0	0	0	0	0	28.83	25.75	28.83
1698	-1.14	-170.3	2550	1271	3573	3507	317.1	-17.0	144	1706	0.00	2.15	0.00	0.000	1030	0.000	0.031	2541	2670	3540	3574	3506	0	0	0	0	0	0	28.83	25.71	28.83
2003	-1.14	-170.3	2541	2671	3574	3505	371.1	-16.6	165	2007	0.00	2.08	0.00	0.000	516	0.000	0.024	2540	1274	3540	3578	3503	0	0	0	0	0	0	28.83	25.75	28.83
2038	-1.14	-170.3	2541	1275	3574	3504	376.1	-16.8	167	2042	0.00	2.15	0.00	0.000	1030	0.000	0.031	2532	2676	3538	3574	3503	0	0	0	0	0	0	28.83	25.74	28.83
2348	-1.14	-170.3	2533	2676	3571	3502	430.2	-17.3	188	2352	0.10	2.08	0.00	0.000	2564	0.166	0.024	2560	1269	3536	3571	3501	0	0	0	0	0	0	25.22	25.78	28.83
2388	-1.14	-170.3	2560	1270	3572	3502	434.9	-16.3	190	2396	0.00	2.15	0.00	0.000	1030	0.000	0.031	2553	2673	3536	3571	3501	0	0	0	0	0	0	28.83	25.75	28.83
2693	-1.14	-170.3	2552	2674	3569	3499	482.7	-15.3	211	2697	0.00	2.10	0.00	0.000	516	0.000	0.024	2553	1261	3533	3568	3498	0	0	0	0	0	0	28.83	25.77	28.83
2728	-1.14	-170.3	2553	1262	3569	3499	487.5	-15.6	213	2732	0.00	2.17	0.00	0.000	1030	0.000	0.031	2545	2676	3533	3568	3498	0	0	0	0	0	0	28.83	25.75	28.83
3038	-1.14	-170.3	2546	2676	3565	3496	538.2	-16.2	234	3039	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2681	3530	3565	3495	0	0	0	0	0	0	28.83	28.83	28.83
3338	-1.14	-170.3	2546	2676	3563	3493	586.2	-15.7	254	3342	0.00	2.10	0.00	0.000	516	0.000	0.025	2545	1278	3527	3562	3493	0	0	0	0	0	0	28.83	25.72	28.83
3408	-1.14	-170.3	2546	1278	3562	3493	595.4	-15.3	258	3416	0.00	2.15	0.00	0.000	1030	0.000	0.031	2537	2675	3527	3562	3492	0	0	0	0	0	0	28.83	25.70	28.83
3713	-1.14	-170.3	2535	2675	3561	3489	647.0	-16.4	279	3714	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2674	3524	3560	3489	0	0	0	0	0	0	28.83	28.83	28.83
3802	end dive: TARGET_DEPTH_EXCEEDED
state	3802	begin apogee
3805	-0.24	0.0	2537	2305	3559	3488	661.6	-16.0	285	3942	1.00	0.00	132.77	0.855	10246	0.115	0.000	2852	2305	2838	2940	2736	0	0	0	0	0	0	25.31	28.83	24.00
3942	end apogee: CONTROL_FINISHED_OK
state	3942	begin climb
3943	1.14	170.3	2851	2305	2942	2736	666.9	0.0	294	4092	1.25	2.15	136.90	0.842	10756	0.063	0.030	3302	910	2143	2233	2053	0	0	0	0	0	0	24.75	24.67	23.91
4220	1.14	170.3	3302	910	2227	2050	645.4	13.8	312	4228	0.00	2.15	0.00	0.000	1030	0.000	0.027	3302	2306	2138	2227	2049	0	0	0	0	0	0	28.83	25.37	28.83
4526	1.14	170.3	3301	2307	2225	2047	601.9	13.8	333	4527	0.00	0.00	0.00	0.000	6	0.000	0.000	3301	2306	2135	2223	2047	0	0	0	0	0	0	28.83	28.83	28.83
4826	1.14	170.3	3301	2306	2221	2047	561.3	13.7	353	4830	0.00	2.12	0.00	0.000	516	0.000	0.031	3310	913	2133	2220	2046	0	0	0	0	0	0	28.83	25.70	28.83
4886	1.14	170.3	3311	914	2219	2046	553.0	13.9	357	4890	0.00	2.12	0.00	0.000	1030	0.000	0.027	3311	2292	2132	2219	2046	0	0	0	0	0	0	28.83	25.44	28.83
5201	1.14	170.3	3307	2292	2218	2045	509.9	13.5	378	5202	0.00	0.00	0.00	0.000	6	0.000	0.000	3311	2291	2130	2217	2044	0	0	0	0	0	0	28.83	28.83	28.83
5501	1.14	170.3	3310	2292	2216	2044	470.1	13.8	398	5502	0.00	0.00	0.00	0.000	6	0.000	0.000	3311	2292	2128	2214	2043	0	0	0	0	0	0	28.83	28.83	28.83
5801	1.14	170.3	3309	2292	2214	2043	428.7	13.8	418	5805	0.00	2.10	0.00	0.000	516	0.000	0.030	3320	907	2127	2212	2042	0	0	0	0	0	0	28.83	25.70	28.83
5855	1.14	170.3	3320	906	2213	2043	422.8	13.4	421	5863	0.00	2.12	0.00	0.000	1030	0.000	0.027	3320	2301	2127	2212	2042	0	0	0	0	0	0	28.83	25.68	28.83
6161	1.14	170.3	3321	2301	2211	2041	378.1	14.3	442	6162	0.00	0.00	0.00	0.000	6	0.000	0.000	3320	2300	2125	2211	2040	0	0	0	0	0	0	28.83	28.83	28.83
6461	1.14	170.3	3321	2301	2209	2041	334.5	14.4	462	6462	0.00	0.00	0.00	0.000	6	0.000	0.000	3320	2301	2125	2210	2040	0	0	0	0	0	0	28.83	28.83	28.83
6761	1.14	170.3	3321	2301	2208	2040	291.9	14.1	482	6765	0.00	2.10	0.00	0.000	516	0.000	0.030	3330	917	2124	2208	2040	0	0	0	0	0	0	28.83	25.65	28.83
6870	1.14	170.3	3329	917	2209	2041	276.9	14.4	489	6875	0.10	2.10	0.00	0.000	5126	0.144	0.026	3300	2299	2123	2207	2040	0	0	0	0	0	0	25.08	25.63	28.83
7181	1.14	170.3	3300	2300	2209	2041	233.9	13.8	510	7182	0.00	0.00	0.00	0.000	6	0.000	0.000	3300	2299	2123	2207	2040	0	0	0	0	0	0	28.83	28.83	28.83
7481	1.14	170.3	3300	2300	2208	2040	192.7	13.3	530	7482	0.00	0.00	0.00	0.000	6	0.000	0.000	3300	2299	2123	2207	2039	0	0	0	0	0	0	28.83	28.83	28.83
7781	1.14	170.3	3302	2300	2207	2039	154.6	12.5	550	7785	0.00	2.12	0.00	0.000	516	0.000	0.030	3308	905	2123	2207	2039	0	0	0	0	0	0	28.83	25.58	28.83
7931	1.14	170.3	3309	905	2206	2039	135.9	12.9	560	7935	0.00	2.12	0.00	0.000	1030	0.000	0.027	3308	2298	2122	2206	2039	0	0	0	0	0	0	28.83	25.58	28.83
8246	1.18	196.8	3309	2298	2206	2035	99.9	10.5	581	8269	0.00	2.08	18.58	0.451	8708	0.000	0.029	3316	910	2033	2118	1949	0	0	0	0	0	0	28.83	25.65	24.91
8443	1.23	237.8	3316	910	2113	1949	80.1	9.7	600	8481	0.00	2.12	31.95	0.455	9222	0.000	0.025	3315	2311	1869	1956	1782	0	0	0	0	0	0	28.83	25.56	24.81
8599	1.24	250.0	3316	2311	1949	1780	62.7	11.2	616	8614	0.00	2.15	10.60	0.409	8708	0.000	0.028	3323	912	1817	1905	1729	0	0	0	0	0	0	28.83	25.51	24.77
8679	1.35	337.5	3324	912	1899	1732	56.0	7.2	624	8758	0.05	2.12	68.72	0.433	11270	0.080	0.024	3361	2296	1460	1553	1367	0	0	0	0	0	0	25.22	25.24	24.60
8816	1.35	337.5	3360	2297	1550	1365	40.3	12.5	644	8817	0.00	0.00	0.00	0.000	6	0.000	0.000	3361	2296	1456	1548	1365	0	0	0	0	0	0	28.83	28.83	28.83
8877	1.35	337.5	3362	2296	1546	1365	32.7	13.3	656	8877	0.00	0.00	0.00	0.000	6	0.000	0.000	3361	2296	1456	1548	1365	0	0	0	0	0	0	28.83	28.83	28.83
8936	1.35	337.5	3361	2297	1547	1364	24.6	13.2	668	8937	0.00	0.00	0.00	0.000	6	0.000	0.000	3361	2296	1455	1546	1364	0	0	0	0	0	0	28.83	28.83	28.83
8996	1.35	337.5	3360	2297	1554	1364	16.2	14.3	680	9004	0.00	2.10	0.00	0.000	516	0.000	0.027	3365	907	1454	1545	1364	0	0	0	0	0	0	28.83	25.50	28.83
9097	end climb: SURFACE_DEPTH_REACHED
state	9097	begin surface coast
9117	end surface coast: CONTROL_FINISHED_OK
state	9118	begin surface