Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 225 * 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 225 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 -2097871.5 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 0 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 -2097871.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 0 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 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 225 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 044108,6401.268,-1312.385,31,1.5,31,-12.6 TGT_NAME BT2

_CALLS 2 TGT_LATLONG 6345.000,-1300.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.22 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -57.0 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 044809,6401.232,-1311.975,11,1.4,11,-12.6 MHEAD_RNG_PITCHd_Wd 174.5,31621,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.013312 ALTIM_BOTTOM_PING 601.8,91.3

SM_CCo 18404,101.90,0.606,0,0,509,557.32 _24V_AH 23.5,39.230

SM_GC 1.46,0.00,0.00,101.90,0.000,0.000,0.606,71,2250,509,-10.25,0.57,557.32 _10V_AH 10.1,19.954

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44314,887

TT8_MAMPS 0.023777 CAP_FILE_SIZE 147094,0

HUMID 1890 CFSIZE 260165632,244604928

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 63 GPS 240708,095808,6357.301,-1311.503,34,2.0,34,-12.5

ALTIM_TOP_PING 18.0,17.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 169 105.56 SBE_CT 656 24 370.06

Roll_motor 209 86 426.70 SBE_O2 602 19 269.13

VBD_pump_during_apogee 445 1134 11887.57 WL_BB2F 625 105 1543.76

VBD_pump_during_surface 101 605 1450.99 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 87.28 nil 0 0 0.00

Iridium_during_connect 62 160 236.06 nil 0 0 0.00

Iridium_during_xfer 158 223 832.19

Transponder_ping 21 420 207.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.63

TT8 1665 19 332.99

LPSleep 13984 2 309.32

TT8_Active 735 19 147.14

TT8_Sampling 1972 39 792.71

TT8_CF8 584 45 270.16

TT8_Kalman 0 81 0.00

Analog_circuits 1774 12 215.02

GPS_charging 0 0 0.00

Compass 1927 8 155.75

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -0.85 -146.6 0.0 0.0 0 149 0.00 0.00 -120.90 0.000 2 0.000 0.000 68 2244 3028

153 -0.85 -146.6 4.2 -3.5 6 178 11.48 2.62 -7.57 0.000 4 0.170 0.077 2114 3632 3382

221 -0.67 -146.6 18.0 -11.5 9 226 0.20 2.55 0.00 0.000 6 0.095 0.051 2153 2229 3382

550 -0.58 -146.6 43.7 -6.5 25 554 0.00 2.60 0.00 0.000 4 0.000 0.062 2153 813 3382

594 -0.58 -146.6 46.9 -6.7 27 598 0.00 2.58 0.00 0.000 6 0.000 0.048 2153 2230 3382

916 -0.51 -146.6 63.9 -4.0 43 921 0.15 2.62 0.00 0.000 4 0.097 0.067 2186 3644 3382

961 -0.57 -146.6 65.5 -3.0 45 966 0.00 2.55 0.00 0.000 6 0.000 0.049 2186 2227 3382

1284 -0.61 -146.6 71.7 -2.1 61 1285 0.00 0.00 0.00 0.000 6 0.000 0.000 2186 2227 3382

1592 -0.65 -146.6 78.8 -2.8 76 1597 0.12 2.65 0.00 0.000 4 0.043 0.068 2141 3646 3382

1626 -0.55 -146.6 80.6 -6.3 77 1633 0.20 2.55 0.00 0.000 6 0.082 0.049 2182 2224 3382

1944 -0.55 -146.6 90.7 -3.1 93 1948 0.00 2.58 0.00 0.000 4 0.000 0.061 2182 814 3382

1977 -0.62 -146.6 92.0 -3.4 94 1984 0.00 2.55 0.00 0.000 6 0.000 0.048 2182 2231 3382

2294 -0.62 -146.6 101.5 -3.0 110 2298 0.00 2.60 0.00 0.000 4 0.000 0.068 2182 3640 3382

2344 -0.66 -146.6 103.1 -3.2 112 2349 0.12 2.53 0.00 0.000 6 0.050 0.050 2151 2230 3383

2661 -0.61 -146.6 118.1 -4.7 127 2662 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2230 3383

2971 -0.55 -146.6 136.4 -5.8 142 2976 0.15 2.65 0.00 0.000 4 0.086 0.071 2185 3644 3383

3005 -0.59 -146.6 138.2 -4.4 143 3011 0.00 2.55 0.00 0.000 6 0.000 0.049 2185 2223 3383

3321 -0.65 -146.6 152.8 -5.2 159 3323 0.12 0.00 0.00 0.000 6 0.045 0.000 2147 2223 3383

3633 -0.57 -146.6 175.1 -7.5 174 3634 0.15 0.00 0.00 0.000 6 0.085 0.000 2175 2222 3382

3939 -0.57 -146.6 195.7 -6.9 189 3943 0.00 2.65 0.00 0.000 4 0.000 0.071 2175 3639 3382

3971 -0.57 -146.6 198.3 -7.9 190 3977 0.00 2.53 0.00 0.000 6 0.000 0.050 2175 2229 3382

4290 -0.57 -146.6 226.0 -9.5 206 4294 0.00 2.58 0.00 0.000 4 0.000 0.061 2175 817 3382

4324 -0.65 -146.6 229.6 -9.8 207 4330 0.00 2.55 0.00 0.000 6 0.000 0.049 2175 2232 3382

4640 -0.65 -146.6 258.7 -9.1 223 4641 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2231 3382

4949 -0.65 -146.6 285.6 -8.6 238 4954 0.00 2.60 0.00 0.000 4 0.000 0.072 2175 3639 3382

4996 -0.69 -146.6 289.6 -8.8 240 5001 0.12 2.53 0.00 0.000 6 0.056 0.050 2145 2229 3382

5318 -0.64 -146.6 317.3 -8.1 256 5319 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2230 3382

5627 -0.56 -146.6 341.5 -7.8 271 5632 0.15 2.65 0.00 0.000 4 0.088 0.072 2179 3644 3381

5689 -0.64 -146.6 345.9 -6.5 274 5694 0.00 2.55 0.00 0.000 6 0.000 0.049 2179 2225 3381

6017 -0.70 -146.6 369.4 -7.2 290 6022 0.15 2.65 0.00 0.000 4 0.045 0.071 2136 3638 3381

6124 -0.60 -146.6 380.3 -10.9 295 6129 0.15 2.55 0.00 0.000 6 0.087 0.052 2166 2227 3381

6452 -0.60 -146.6 410.4 -8.8 311 6456 0.00 2.65 0.00 0.000 4 0.000 0.074 2166 3638 3381

6507 -0.60 -146.6 415.4 -8.7 313 6513 0.00 2.55 0.00 0.000 6 0.000 0.052 2166 2224 3381

6822 -0.60 -146.6 439.5 -7.0 329 6827 0.00 2.67 0.00 0.000 4 0.000 0.076 2166 3641 3381

6850 -0.60 -146.6 441.6 -8.0 330 6855 0.00 2.55 0.00 0.000 6 0.000 0.054 2166 2231 3381

7166 -0.60 -146.6 465.6 -7.9 345 7170 0.00 2.67 0.00 0.000 4 0.000 0.078 2166 3638 3381

7198 -0.60 -146.6 468.3 -8.6 346 7204 0.00 2.55 0.00 0.000 6 0.000 0.055 2166 2231 3381

7514 -0.60 -146.6 491.9 -7.3 362 7519 0.00 2.67 0.00 0.000 4 0.000 0.079 2166 3639 3380

7554 -0.60 -146.6 494.8 -7.5 364 7559 0.00 2.58 0.00 0.000 6 0.000 0.055 2166 2229 3379

7880 -0.60 -146.6 518.5 -7.2 380 7885 0.00 2.67 0.00 0.000 4 0.000 0.081 2166 3642 3379

7921 -0.64 -146.6 521.6 -8.0 382 7925 0.00 2.58 0.00 0.000 6 0.000 0.056 2166 2230 3378

8247 -0.64 -146.6 545.4 -6.6 398 8248 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2230 3378

8557 -0.64 -146.6 565.9 -6.2 413 8561 0.00 2.70 0.00 0.000 4 0.000 0.084 2166 3640 3376

8585 -0.64 -146.6 567.7 -6.7 414 8590 0.00 2.58 0.00 0.000 6 0.000 0.058 2166 2231 3376

8901 -0.64 -146.6 585.7 -5.0 429 8906 0.00 2.65 0.00 0.000 4 0.000 0.074 2166 814 3374

8942 -0.73 -146.6 588.1 -6.3 431 8947 0.12 2.62 0.00 0.000 6 0.054 0.059 2130 2236 3374

9271 -0.67 -146.6 615.8 -9.0 447 9277 0.12 2.70 0.00 0.000 4 0.097 0.087 2154 3643 3373

9304 -0.67 -146.6 619.0 -8.6 448 9310 0.00 2.60 0.00 0.000 6 0.000 0.063 2154 2231 3373

9620 -0.67 -146.6 641.7 -8.7 464 9621 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2231 3373

9930 -0.71 -146.6 661.5 -7.4 479 9934 0.00 2.62 0.00 0.000 4 0.000 0.076 2154 822 3372

10002 -0.77 -146.6 667.8 -11.1 482 10007 0.00 2.60 0.00 0.000 6 0.000 0.062 2154 2227 3371

10171 end dive: BOTTOM_OBSTACLE_DETECTED

state 10171 begin apogee

10178 -0.31 0.0 684.3 9.3 490 10314 0.38 0.00 130.45 1.134 6 0.098 0.000 2228 2229 2781

10315 end apogee: CONTROL_FINISHED_OK

state 10315 begin climb

10318 0.85 146.6 691.4 0.0 497 10461 1.20 2.80 130.50 1.111 4 0.080 0.084 2479 3649 2183

10492 1.00 252.7 686.5 3.1 505 10593 0.17 2.67 94.22 1.095 6 0.063 0.069 2519 2242 1750

10920 1.00 252.7 663.1 6.7 526 10925 0.00 2.70 0.00 0.000 4 0.000 0.077 2519 828 1749

10993 1.00 252.7 656.5 6.2 529 10997 0.00 2.62 0.00 0.000 6 0.000 0.058 2519 2243 1748

11309 1.02 267.8 640.8 5.6 544 11330 0.00 2.75 14.23 1.011 4 0.000 0.075 2519 826 1689

11382 1.02 267.8 636.6 6.8 547 11387 0.00 2.65 0.00 0.000 6 0.000 0.059 2519 2245 1688

11704 1.02 267.8 611.3 10.9 563 11708 0.00 2.70 0.00 0.000 4 0.000 0.084 2519 3647 1688

11731 1.02 267.8 608.1 11.0 564 11735 0.00 2.62 0.00 0.000 6 0.000 0.064 2519 2238 1688

12047 1.07 312.9 583.6 4.8 579 12093 0.00 2.75 40.58 1.067 4 0.000 0.077 2519 830 1504

12138 1.08 322.3 578.6 5.7 583 12153 0.00 2.65 9.57 0.941 6 0.000 0.060 2520 2245 1467

12475 1.09 330.3 557.6 5.8 600 12489 0.00 2.75 8.82 0.926 4 0.000 0.085 2519 3645 1434

12508 1.11 348.7 555.8 5.5 601 12533 0.00 2.65 17.55 1.003 6 0.000 0.064 2519 2239 1359

12850 1.11 348.7 541.9 6.7 618 12854 0.00 2.70 0.00 0.000 4 0.000 0.080 2519 3645 1357

12879 1.15 348.7 539.6 7.5 619 12884 0.15 2.62 0.00 0.000 6 0.064 0.062 2555 2238 1358

13195 1.15 348.7 515.0 6.9 634 13199 0.00 2.70 0.00 0.000 4 0.000 0.080 2555 3647 1357

13257 1.08 348.7 508.7 10.3 637 13261 0.00 2.62 0.00 0.000 6 0.000 0.063 2555 2239 1357

13584 1.00 348.7 470.8 10.5 653 13589 0.17 2.70 0.00 0.000 4 0.095 0.078 2518 3648 1356

13629 1.07 348.7 465.9 8.9 655 13633 0.00 2.60 0.00 0.000 6 0.000 0.058 2518 2238 1356

13950 1.07 348.7 436.8 9.6 671 13954 0.00 2.65 0.00 0.000 4 0.000 0.069 2518 823 1356

14006 1.11 348.7 432.3 8.9 673 14012 0.12 2.60 0.00 0.000 6 0.055 0.052 2551 2245 1356

14322 1.04 348.7 397.3 11.6 689 14327 0.12 2.62 0.00 0.000 4 0.098 0.074 2528 3648 1357

14349 1.04 348.7 394.3 10.0 690 14353 0.00 2.60 0.00 0.000 6 0.000 0.058 2528 2238 1357

14665 1.04 348.7 361.0 9.9 705 14669 0.00 2.62 0.00 0.000 4 0.000 0.068 2527 823 1357

14704 1.04 348.7 357.4 9.5 707 14709 0.00 2.60 0.00 0.000 6 0.000 0.051 2527 2249 1357

15032 1.04 348.7 325.6 9.2 723 15033 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2249 1359

15340 1.04 348.7 299.3 8.3 738 15345 0.00 2.65 0.00 0.000 4 0.000 0.066 2527 824 1359

15362 1.04 348.7 297.3 8.5 739 15366 0.00 2.58 0.00 0.000 6 0.000 0.048 2527 2242 1359

15683 1.04 348.7 269.3 9.1 755 15684 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2242 1360

15993 1.04 348.7 238.1 10.3 770 15997 0.00 2.62 0.00 0.000 4 0.000 0.065 2527 829 1361

16037 1.04 348.7 233.1 10.2 772 16041 0.00 2.55 0.00 0.000 6 0.000 0.049 2527 2240 1361

16357 1.04 348.7 199.4 10.3 788 16362 0.00 2.62 0.00 0.000 4 0.000 0.065 2527 828 1361

16380 1.04 348.7 197.1 10.2 789 16384 0.00 2.55 0.00 0.000 6 0.000 0.048 2527 2246 1361

16700 1.04 348.7 164.6 10.3 805 16702 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2246 1362

17010 1.04 348.7 131.6 10.6 820 17014 0.00 2.65 0.00 0.000 4 0.000 0.064 2527 820 1362

17043 1.04 348.7 128.0 10.7 821 17050 0.00 2.55 0.00 0.000 6 0.000 0.048 2527 2240 1363

17359 1.04 348.7 96.5 9.4 837 17363 0.00 2.62 0.00 0.000 4 0.000 0.064 2527 826 1362

17392 1.04 348.7 93.1 9.8 838 17398 0.00 2.55 0.00 0.000 6 0.000 0.049 2527 2241 1363

17710 1.04 348.7 64.9 8.3 854 17714 0.00 2.62 0.00 0.000 4 0.000 0.064 2527 825 1363

17742 1.04 348.7 62.0 7.1 855 17748 0.00 2.55 0.00 0.000 6 0.000 0.048 2527 2242 1363

18058 1.04 348.7 30.0 11.5 871 18062 0.00 2.62 0.00 0.000 4 0.000 0.064 2527 825 1363

18098 1.04 348.7 25.6 10.8 873 18102 0.00 2.55 0.00 0.000 6 0.000 0.048 2527 2247 1364

18360 end climb: SURFACE_DEPTH_REACHED

state 18360 begin surface coast

18382 end surface coast: CONTROL_FINISHED_OK

state 18382 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	225	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	-2097871.5	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	0	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	044108,6401.268,-1312.385,31,1.5,31,-12.6	TGT_NAME	BT2
_CALLS	2	TGT_LATLONG	6345.000,-1300.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.22	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-57.0	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	044809,6401.232,-1311.975,11,1.4,11,-12.6	MHEAD_RNG_PITCHd_Wd	174.5,31621,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.013312	ALTIM_BOTTOM_PING	601.8,91.3
SM_CCo	18404,101.90,0.606,0,0,509,557.32	_24V_AH	23.5,39.230
SM_GC	1.46,0.00,0.00,101.90,0.000,0.000,0.606,71,2250,509,-10.25,0.57,557.32	_10V_AH	10.1,19.954
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44314,887
TT8_MAMPS	0.023777	CAP_FILE_SIZE	147094,0
HUMID	1890	CFSIZE	260165632,244604928
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	63	GPS	240708,095808,6357.301,-1311.503,34,2.0,34,-12.5
ALTIM_TOP_PING	18.0,17.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	169	105.56	SBE_CT	656	24	370.06
Roll_motor	209	86	426.70	SBE_O2	602	19	269.13
VBD_pump_during_apogee	445	1134	11887.57	WL_BB2F	625	105	1543.76
VBD_pump_during_surface	101	605	1450.99	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	87.28	nil	0	0	0.00
Iridium_during_connect	62	160	236.06	nil	0	0	0.00
Iridium_during_xfer	158	223	832.19
Transponder_ping	21	420	207.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.63
TT8	1665	19	332.99
LPSleep	13984	2	309.32
TT8_Active	735	19	147.14
TT8_Sampling	1972	39	792.71
TT8_CF8	584	45	270.16
TT8_Kalman	0	81	0.00
Analog_circuits	1774	12	215.02
GPS_charging	0	0	0.00
Compass	1927	8	155.75
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-0.85	-146.6	0.0	0.0	0	149	0.00	0.00	-120.90	0.000	2	0.000	0.000	68	2244	3028
153	-0.85	-146.6	4.2	-3.5	6	178	11.48	2.62	-7.57	0.000	4	0.170	0.077	2114	3632	3382
221	-0.67	-146.6	18.0	-11.5	9	226	0.20	2.55	0.00	0.000	6	0.095	0.051	2153	2229	3382
550	-0.58	-146.6	43.7	-6.5	25	554	0.00	2.60	0.00	0.000	4	0.000	0.062	2153	813	3382
594	-0.58	-146.6	46.9	-6.7	27	598	0.00	2.58	0.00	0.000	6	0.000	0.048	2153	2230	3382
916	-0.51	-146.6	63.9	-4.0	43	921	0.15	2.62	0.00	0.000	4	0.097	0.067	2186	3644	3382
961	-0.57	-146.6	65.5	-3.0	45	966	0.00	2.55	0.00	0.000	6	0.000	0.049	2186	2227	3382
1284	-0.61	-146.6	71.7	-2.1	61	1285	0.00	0.00	0.00	0.000	6	0.000	0.000	2186	2227	3382
1592	-0.65	-146.6	78.8	-2.8	76	1597	0.12	2.65	0.00	0.000	4	0.043	0.068	2141	3646	3382
1626	-0.55	-146.6	80.6	-6.3	77	1633	0.20	2.55	0.00	0.000	6	0.082	0.049	2182	2224	3382
1944	-0.55	-146.6	90.7	-3.1	93	1948	0.00	2.58	0.00	0.000	4	0.000	0.061	2182	814	3382
1977	-0.62	-146.6	92.0	-3.4	94	1984	0.00	2.55	0.00	0.000	6	0.000	0.048	2182	2231	3382
2294	-0.62	-146.6	101.5	-3.0	110	2298	0.00	2.60	0.00	0.000	4	0.000	0.068	2182	3640	3382
2344	-0.66	-146.6	103.1	-3.2	112	2349	0.12	2.53	0.00	0.000	6	0.050	0.050	2151	2230	3383
2661	-0.61	-146.6	118.1	-4.7	127	2662	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2230	3383
2971	-0.55	-146.6	136.4	-5.8	142	2976	0.15	2.65	0.00	0.000	4	0.086	0.071	2185	3644	3383
3005	-0.59	-146.6	138.2	-4.4	143	3011	0.00	2.55	0.00	0.000	6	0.000	0.049	2185	2223	3383
3321	-0.65	-146.6	152.8	-5.2	159	3323	0.12	0.00	0.00	0.000	6	0.045	0.000	2147	2223	3383
3633	-0.57	-146.6	175.1	-7.5	174	3634	0.15	0.00	0.00	0.000	6	0.085	0.000	2175	2222	3382
3939	-0.57	-146.6	195.7	-6.9	189	3943	0.00	2.65	0.00	0.000	4	0.000	0.071	2175	3639	3382
3971	-0.57	-146.6	198.3	-7.9	190	3977	0.00	2.53	0.00	0.000	6	0.000	0.050	2175	2229	3382
4290	-0.57	-146.6	226.0	-9.5	206	4294	0.00	2.58	0.00	0.000	4	0.000	0.061	2175	817	3382
4324	-0.65	-146.6	229.6	-9.8	207	4330	0.00	2.55	0.00	0.000	6	0.000	0.049	2175	2232	3382
4640	-0.65	-146.6	258.7	-9.1	223	4641	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2231	3382
4949	-0.65	-146.6	285.6	-8.6	238	4954	0.00	2.60	0.00	0.000	4	0.000	0.072	2175	3639	3382
4996	-0.69	-146.6	289.6	-8.8	240	5001	0.12	2.53	0.00	0.000	6	0.056	0.050	2145	2229	3382
5318	-0.64	-146.6	317.3	-8.1	256	5319	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2230	3382
5627	-0.56	-146.6	341.5	-7.8	271	5632	0.15	2.65	0.00	0.000	4	0.088	0.072	2179	3644	3381
5689	-0.64	-146.6	345.9	-6.5	274	5694	0.00	2.55	0.00	0.000	6	0.000	0.049	2179	2225	3381
6017	-0.70	-146.6	369.4	-7.2	290	6022	0.15	2.65	0.00	0.000	4	0.045	0.071	2136	3638	3381
6124	-0.60	-146.6	380.3	-10.9	295	6129	0.15	2.55	0.00	0.000	6	0.087	0.052	2166	2227	3381
6452	-0.60	-146.6	410.4	-8.8	311	6456	0.00	2.65	0.00	0.000	4	0.000	0.074	2166	3638	3381
6507	-0.60	-146.6	415.4	-8.7	313	6513	0.00	2.55	0.00	0.000	6	0.000	0.052	2166	2224	3381
6822	-0.60	-146.6	439.5	-7.0	329	6827	0.00	2.67	0.00	0.000	4	0.000	0.076	2166	3641	3381
6850	-0.60	-146.6	441.6	-8.0	330	6855	0.00	2.55	0.00	0.000	6	0.000	0.054	2166	2231	3381
7166	-0.60	-146.6	465.6	-7.9	345	7170	0.00	2.67	0.00	0.000	4	0.000	0.078	2166	3638	3381
7198	-0.60	-146.6	468.3	-8.6	346	7204	0.00	2.55	0.00	0.000	6	0.000	0.055	2166	2231	3381
7514	-0.60	-146.6	491.9	-7.3	362	7519	0.00	2.67	0.00	0.000	4	0.000	0.079	2166	3639	3380
7554	-0.60	-146.6	494.8	-7.5	364	7559	0.00	2.58	0.00	0.000	6	0.000	0.055	2166	2229	3379
7880	-0.60	-146.6	518.5	-7.2	380	7885	0.00	2.67	0.00	0.000	4	0.000	0.081	2166	3642	3379
7921	-0.64	-146.6	521.6	-8.0	382	7925	0.00	2.58	0.00	0.000	6	0.000	0.056	2166	2230	3378
8247	-0.64	-146.6	545.4	-6.6	398	8248	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2230	3378
8557	-0.64	-146.6	565.9	-6.2	413	8561	0.00	2.70	0.00	0.000	4	0.000	0.084	2166	3640	3376
8585	-0.64	-146.6	567.7	-6.7	414	8590	0.00	2.58	0.00	0.000	6	0.000	0.058	2166	2231	3376
8901	-0.64	-146.6	585.7	-5.0	429	8906	0.00	2.65	0.00	0.000	4	0.000	0.074	2166	814	3374
8942	-0.73	-146.6	588.1	-6.3	431	8947	0.12	2.62	0.00	0.000	6	0.054	0.059	2130	2236	3374
9271	-0.67	-146.6	615.8	-9.0	447	9277	0.12	2.70	0.00	0.000	4	0.097	0.087	2154	3643	3373
9304	-0.67	-146.6	619.0	-8.6	448	9310	0.00	2.60	0.00	0.000	6	0.000	0.063	2154	2231	3373
9620	-0.67	-146.6	641.7	-8.7	464	9621	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2231	3373
9930	-0.71	-146.6	661.5	-7.4	479	9934	0.00	2.62	0.00	0.000	4	0.000	0.076	2154	822	3372
10002	-0.77	-146.6	667.8	-11.1	482	10007	0.00	2.60	0.00	0.000	6	0.000	0.062	2154	2227	3371
10171	end dive: BOTTOM_OBSTACLE_DETECTED
state	10171	begin apogee
10178	-0.31	0.0	684.3	9.3	490	10314	0.38	0.00	130.45	1.134	6	0.098	0.000	2228	2229	2781
10315	end apogee: CONTROL_FINISHED_OK
state	10315	begin climb
10318	0.85	146.6	691.4	0.0	497	10461	1.20	2.80	130.50	1.111	4	0.080	0.084	2479	3649	2183
10492	1.00	252.7	686.5	3.1	505	10593	0.17	2.67	94.22	1.095	6	0.063	0.069	2519	2242	1750
10920	1.00	252.7	663.1	6.7	526	10925	0.00	2.70	0.00	0.000	4	0.000	0.077	2519	828	1749
10993	1.00	252.7	656.5	6.2	529	10997	0.00	2.62	0.00	0.000	6	0.000	0.058	2519	2243	1748
11309	1.02	267.8	640.8	5.6	544	11330	0.00	2.75	14.23	1.011	4	0.000	0.075	2519	826	1689
11382	1.02	267.8	636.6	6.8	547	11387	0.00	2.65	0.00	0.000	6	0.000	0.059	2519	2245	1688
11704	1.02	267.8	611.3	10.9	563	11708	0.00	2.70	0.00	0.000	4	0.000	0.084	2519	3647	1688
11731	1.02	267.8	608.1	11.0	564	11735	0.00	2.62	0.00	0.000	6	0.000	0.064	2519	2238	1688
12047	1.07	312.9	583.6	4.8	579	12093	0.00	2.75	40.58	1.067	4	0.000	0.077	2519	830	1504
12138	1.08	322.3	578.6	5.7	583	12153	0.00	2.65	9.57	0.941	6	0.000	0.060	2520	2245	1467
12475	1.09	330.3	557.6	5.8	600	12489	0.00	2.75	8.82	0.926	4	0.000	0.085	2519	3645	1434
12508	1.11	348.7	555.8	5.5	601	12533	0.00	2.65	17.55	1.003	6	0.000	0.064	2519	2239	1359
12850	1.11	348.7	541.9	6.7	618	12854	0.00	2.70	0.00	0.000	4	0.000	0.080	2519	3645	1357
12879	1.15	348.7	539.6	7.5	619	12884	0.15	2.62	0.00	0.000	6	0.064	0.062	2555	2238	1358
13195	1.15	348.7	515.0	6.9	634	13199	0.00	2.70	0.00	0.000	4	0.000	0.080	2555	3647	1357
13257	1.08	348.7	508.7	10.3	637	13261	0.00	2.62	0.00	0.000	6	0.000	0.063	2555	2239	1357
13584	1.00	348.7	470.8	10.5	653	13589	0.17	2.70	0.00	0.000	4	0.095	0.078	2518	3648	1356
13629	1.07	348.7	465.9	8.9	655	13633	0.00	2.60	0.00	0.000	6	0.000	0.058	2518	2238	1356
13950	1.07	348.7	436.8	9.6	671	13954	0.00	2.65	0.00	0.000	4	0.000	0.069	2518	823	1356
14006	1.11	348.7	432.3	8.9	673	14012	0.12	2.60	0.00	0.000	6	0.055	0.052	2551	2245	1356
14322	1.04	348.7	397.3	11.6	689	14327	0.12	2.62	0.00	0.000	4	0.098	0.074	2528	3648	1357
14349	1.04	348.7	394.3	10.0	690	14353	0.00	2.60	0.00	0.000	6	0.000	0.058	2528	2238	1357
14665	1.04	348.7	361.0	9.9	705	14669	0.00	2.62	0.00	0.000	4	0.000	0.068	2527	823	1357
14704	1.04	348.7	357.4	9.5	707	14709	0.00	2.60	0.00	0.000	6	0.000	0.051	2527	2249	1357
15032	1.04	348.7	325.6	9.2	723	15033	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2249	1359
15340	1.04	348.7	299.3	8.3	738	15345	0.00	2.65	0.00	0.000	4	0.000	0.066	2527	824	1359
15362	1.04	348.7	297.3	8.5	739	15366	0.00	2.58	0.00	0.000	6	0.000	0.048	2527	2242	1359
15683	1.04	348.7	269.3	9.1	755	15684	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2242	1360
15993	1.04	348.7	238.1	10.3	770	15997	0.00	2.62	0.00	0.000	4	0.000	0.065	2527	829	1361
16037	1.04	348.7	233.1	10.2	772	16041	0.00	2.55	0.00	0.000	6	0.000	0.049	2527	2240	1361
16357	1.04	348.7	199.4	10.3	788	16362	0.00	2.62	0.00	0.000	4	0.000	0.065	2527	828	1361
16380	1.04	348.7	197.1	10.2	789	16384	0.00	2.55	0.00	0.000	6	0.000	0.048	2527	2246	1361
16700	1.04	348.7	164.6	10.3	805	16702	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2246	1362
17010	1.04	348.7	131.6	10.6	820	17014	0.00	2.65	0.00	0.000	4	0.000	0.064	2527	820	1362
17043	1.04	348.7	128.0	10.7	821	17050	0.00	2.55	0.00	0.000	6	0.000	0.048	2527	2240	1363
17359	1.04	348.7	96.5	9.4	837	17363	0.00	2.62	0.00	0.000	4	0.000	0.064	2527	826	1362
17392	1.04	348.7	93.1	9.8	838	17398	0.00	2.55	0.00	0.000	6	0.000	0.049	2527	2241	1363
17710	1.04	348.7	64.9	8.3	854	17714	0.00	2.62	0.00	0.000	4	0.000	0.064	2527	825	1363
17742	1.04	348.7	62.0	7.1	855	17748	0.00	2.55	0.00	0.000	6	0.000	0.048	2527	2242	1363
18058	1.04	348.7	30.0	11.5	871	18062	0.00	2.62	0.00	0.000	4	0.000	0.064	2527	825	1363
18098	1.04	348.7	25.6	10.8	873	18102	0.00	2.55	0.00	0.000	6	0.000	0.048	2527	2247	1364
18360	end climb: SURFACE_DEPTH_REACHED
state	18360	begin surface coast
18382	end surface coast: CONTROL_FINISHED_OK
state	18382	begin surface