Glider dive log

NISKINE Oct20 * SG527 * Dive index * Mission links * Dive 23 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 527 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 10 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

DIVE 23 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 17 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 4212 R_STBD_OVSHOOT 19 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -7043 ROLL_AD_RATE 200 ALTIM_PULSE 3

D_SURF 3 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_FLARE 3 SM_CC 450 ROLL_ADJ_GAIN 0 XPDR_VALID 2

D_TGT 600 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 750 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_SLOPE 0.0097660003

D_NO_BLEED 200 CALL_NDIVES 1 VBD_MAX 3960 INT_PRESSURE_YINT 0.38999999

D_BOOST 2 COMM_SEQ 0 C_VBD 2980 DEEPGLIDER 0

T_BOOST 0 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 4

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.245296 DEVICE1 -1

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE2 -1

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 540 DEVICE3 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.001 DEVICE4 -1

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE5 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE6 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERS 1

T_DIVE 200 CAPMAXSIZE 100000 UNCOM_BLEED 50 LOGGERDEVICE1 53

T_MISSION 250 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE2 67

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

T_TURN 225 N_GPS 100440 DBDW 0 LOGGERDEVICE4 -1

T_TURN_SAMPINT -5 T_RSLEEP 2 LOITER_W_DBAND 0 COMPASS_DEVICE 97

T_NO_W 120 STROBE 0 LOITER_DBDW 0 COMPASS2_DEVICE 149

T_LOITER 0 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 0 PHONE_DEVICE 49

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 GPS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_GAIN 0 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 180 PITCH_W_DBAND 0 SIM_W 0

D_OFFGRID 990 PITCH_MAX 3650 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044153966

T_WATCHDOG 10 C_PITCH 2220 AH0_24V 0 SEABIRD_T_H 0.00064440304

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 310 SEABIRD_T_I 2.7248538e-05

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 11 SEABIRD_T_J 3.4282193e-06

MAX_BUOY 150 P_OVSHOOT 0.039999999 MINV_10V 11 SEABIRD_C_G -10.077963

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_H 1.1533748

GLIDE_SLOPE 30 PITCH_GAIN 30 MAXI_10V 1.4 SEABIRD_C_I -0.0022050336

SPEED_FACTOR 1 PITCH_TIMEOUT 16 FG_AHR_10V 0 SEABIRD_C_J 0.00023474717

RHO 1.0275 PITCH_AD_RATE 150 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

MASS 56352 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_YINT -173.88152 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_ADJ_DBAND 2 PRESSURE_SLOPE 0.00010843292 SC_NDIVE 1.0

FERRY_MAX 45 ROLL_MIN 270 AD7714Ch0Gain 1 TM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3850 COMPASS_USE 4 TM_PROFILE 3.0

HD_A 0.0038360001 ROLL_DEG 40 ALTIM_PING_FIT 0 TM_XMITPROFILE 3.0

HD_B 0.010078 C_ROLL_DIVE 2600 ALTIM_TOP_PING_RANGE 0 TM_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1790 ALTIM_BOTTOM_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

AD7714Ch0Gain 1 D_TGT 600 PHONE_SUPPLY -2 SEABIRD_T_J 3.4282193e-06

AH0_10V 310 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 SIM_W 0

AH0_24V 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_AD_RATE 150 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_CNV 0.003125763 STOP_T 0

ALTIM_PING_DELTA 0 FG_AHR_24V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_GAIN 30 SURFACE_URGENCY 0

ALTIM_PING_FIT 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3650 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 GPS_DEVICE 32 PITCH_MIN 180 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_A 0.0038360001 PITCH_TIMEOUT 16 TGT_DEFAULT_LAT 4212

ALTIM_TOP_PING_RANGE 0 HD_B 0.010078 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LON -7043

ALTIM_TOP_TURN_MARGIN 0 HD_C 5.7000002e-06 PITCH_W_DBAND 0 TM_LOGSAMPLE 0.0

APOGEE_PITCH -5 HEADING -1 PITCH_W_GAIN 0 TM_NDIVE 1.0

CALL_NDIVES 1 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00010843292 TM_PROFILE 3.0

CALL_TRIES 5 HEAPDBG 0 PRESSURE_YINT -173.88152 TM_RECORDABOVE 2000.0

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 TM_XMITPROFILE 3.0

CAPMAXSIZE 100000 ID 527 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

CAPUPLOAD 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_ABORT 1440

CF8_MAXERRORS 20 INT_PRESSURE_YINT 0.38999999 RAFOS_CORR_THRESH 60 T_BOOST 0

COMM_SEQ 0 KALMAN_USE 2 RAFOS_DEVICE -1 T_DIVE 200

COMPASS2_DEVICE 149 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

COMPASS_DEVICE 97 LOGGERDEVICE2 67 RAFOS_MMODEM 0 T_GPS 5

COMPASS_USE 4 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COURSE_BIAS 0 LOGGERDEVICE4 -1 RELAUNCH 1 T_MISSION 250

C_PITCH 2220 LOGGERS 1 RHO 1.0275 T_NO_W 120

C_ROLL_CLIMB 1790 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 T_RSLEEP 2

C_ROLL_DIVE 2600 LOITER_D_BOTTOM 0 ROLL_ADJ_GAIN 0 T_TURN 225

C_VBD 2980 LOITER_D_TOP 0 ROLL_AD_RATE 200 T_TURN_SAMPINT -5

DBDW 0 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 T_WATCHDOG 10

DEEPGLIDER 0 LOITER_W_DBAND 0 ROLL_DEG 40 UNCOM_BLEED 50

DEVICE1 -1 MASS 56352 ROLL_MAX 3850 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MASS_COMP 0 ROLL_MAXERRORS 1 USE_BATHY 0

DEVICE3 -1 MAXI_10V 1.4 ROLL_MIN 270 USE_ICE 0

DEVICE4 -1 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE5 -1 MAX_BUOY 150 R_PORT_OVSHOOT 17 VBD_CNV -0.245296

DEVICE6 -1 MINV_10V 11 R_STBD_OVSHOOT 19 VBD_DBAND 2

DIVE 23 MINV_24V 11 SC_NDIVE 1.0 VBD_LP_IGNORE 0

D_ABORT 750 MISSION 10 SC_PROFILE 3.0 VBD_MAX 3960

D_BOOST 2 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

D_CALL 0 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 500

D_FINISH 0 NOCOMM_ACTION 163 SEABIRD_C_G -10.077963 VBD_PUMP_AD_RATE_APOGEE 2

D_FLARE 3 N_DIVES 0 SEABIRD_C_H 1.1533748 VBD_PUMP_AD_RATE_SURFACE 2

D_NO_BLEED 200 N_FILEKB 8 SEABIRD_C_I -0.0022050336 VBD_TIMEOUT 540

D_OFFGRID 990 N_GPS 100440 SEABIRD_C_J 0.00023474717 W_ADJ_DBAND 0

D_PITCH 0 N_NOCOMM 2 SEABIRD_T_G 0.0044153966 XPDR_DEVICE 24

D_SAFE 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064440304 XPDR_INHIBIT 90

D_SURF 3 PHONE_DEVICE 49 SEABIRD_T_I 2.7248538e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 061020,090920,5824.7998,-2123.6108,14,1.0,39,-12.2,0.4,261.5,9,8.8 SPEED_LIMITS 0.173,0.261

_CALLS 1 TGT_NAME SG527_TGT

_XMS_NAKs 0 TGT_LATLONG 5823.064,-2123.209

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.64 MHEAD_RNG_PITCHd_Wd 209.5,3249,-18.3,-10.000,-21.05,2216

_SM_ANGLEo -61.5 D_GRID 600

GPS2 061020,091733,5824.8042,-2123.6340,9,0.9,17,-12.2,0.5,164.6,11,10.0

Post-dive calculations and measurements:

FINISH 0.7,1.026835 _10V_AH 13.16,37.685

SM_CCo 8281,254.40,0.962,1,0,1144,450.12 FG_AHR_24Vo 0.000

SM_GC 0.68,6.60,1.48,254.40,0.052,0.078,0.962,173,2596,1144,-6.34,-0.88,450.12,0,0,0,0,1,0,14.58,14.54,13.52 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5824.40,-2117.58,061020,064024 MEM 324084

TT8_MAMPS 0.02247,0.629909 DATA_FILE_SIZE 36642,1018

HUMID 44.95 CAP_FILE_SIZE 105837,0

INTERNAL_PRESSURE 7.85122 CFSIZE 2097872896,2090008576

TCM_TEMP 18.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

XPDR_PINGS 1 CURRENT 0.127,117.51,1

SC_FREEKB 3895040 GPS 061020,114202,5823.446,-2123.441,13,0.8,31,-12.2,0.4,238.0,11,8.8

_24V_AH 13.03,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 408 99.67 nil 0 0 0.00

Roll_motor 97 102 130.77 nil 0 0 0.00

VBD_pump_during_apogee 277 1789 6464.09 nil 0 0 0.00

VBD_pump_during_surface 254 961 3187.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 8289 27 2968.75

Iridium_during_xfer 348 198 902.35 TMICL 0 0 0.00

Transponder_ping 0 420 1.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 28 10 3.95

TT8 2476 12 406.34

LPSleep 3711 2 106.96

TT8_Active 708 12 116.23

TT8_Sampling 2038 31 836.60

TT8_CF8 130 36 62.75

TT8_Kalman 0 0 0.00

Analog_circuits 1860 10 244.87

GPS_charging 0 0 0.00

Compass 1607 7 158.43

RAFOS 0 0 0.00

Transponder 0 5 0.04

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

10 -0.75 -144.3 0 2612 1110 1167 0.0 0.0 0 125 0.00 0.00 -108.30 0.008 16390 0.000 0.000 0 2615 3570 3503 3637 0 0 0 0 0 0 14.64 13.52 14.62

128 -0.75 -144.3 0 2615 3503 3638 4.1 -11.5 19 142 9.77 2.22 0.00 0.000 2308 0.409 0.073 1962 3858 3573 3508 3638 0 0 0 0 0 0 14.07 14.43 14.39

321 -0.75 -144.3 1962 3859 3514 3635 43.2 -15.9 56 327 0.00 2.22 0.00 0.000 1030 0.000 0.063 1962 2583 3574 3515 3634 0 0 0 0 0 0 14.43 14.35 14.45

511 -0.75 -144.3 1962 2573 3516 3634 75.5 -15.1 93 518 0.00 2.40 0.00 0.000 516 0.000 0.075 1962 1195 3574 3515 3634 0 0 0 0 0 0 14.75 14.40 14.77

621 -0.75 -144.3 1962 1194 3517 3634 92.0 -15.2 114 628 0.00 2.50 0.00 0.000 1030 0.000 0.070 1954 2607 3575 3517 3634 0 0 0 0 0 0 14.47 14.26 14.51

816 -0.75 -144.3 1953 2607 3517 3634 123.2 -16.4 138 822 0.00 2.50 0.00 0.000 516 0.000 0.072 1954 1184 3575 3517 3634 0 0 0 0 0 0 14.80 14.47 14.81

843 -0.75 -144.3 1953 1184 3518 3634 128.3 -17.8 143 850 0.15 2.50 0.00 0.000 3078 0.301 0.068 1974 2605 3575 3517 3634 0 0 0 0 0 0 14.28 14.54 14.54

1150 -0.75 -144.3 1975 2607 3519 3634 176.2 -15.4 174 1155 0.00 2.50 0.00 0.000 516 0.000 0.074 1974 1185 3576 3518 3634 0 0 0 0 0 0 14.83 14.45 14.84

1176 -0.75 -144.3 1974 1185 3519 3634 180.3 -15.4 179 1183 0.00 2.50 0.00 0.000 1030 0.000 0.068 1968 2603 3576 3519 3634 0 0 0 0 0 0 14.24 14.16 14.42

1483 -0.75 -144.3 1967 2603 3519 3633 229.2 -15.8 210 1489 0.00 2.50 0.00 0.000 516 0.000 0.075 1968 1181 3576 3519 3634 0 0 0 0 0 0 14.85 14.54 14.87

1509 -0.75 -144.3 1968 1181 3519 3634 233.7 -14.8 215 1516 0.00 2.50 0.00 0.000 1030 0.000 0.068 1958 2605 3576 3519 3634 0 0 0 0 0 0 14.66 14.57 14.69

1817 -0.75 -144.3 1958 2605 3519 3633 285.1 -16.9 246 1819 0.00 0.00 0.00 0.000 6 0.000 0.000 1958 2605 3576 3519 3633 0 0 0 0 0 0 14.88 14.90 14.90

2117 -0.75 -144.3 1958 2605 3519 3633 336.0 -17.2 276 2122 0.00 2.47 0.00 0.000 516 0.000 0.073 1958 1190 3576 3519 3633 0 0 0 0 0 0 14.90 14.57 14.91

2139 -0.75 -144.3 1958 1190 3519 3633 340.0 -17.4 280 2145 0.00 2.47 0.00 0.000 1030 0.000 0.070 1949 2602 3576 3519 3633 0 0 0 0 0 0 14.70 14.61 14.72

2452 -0.75 -144.3 1949 2602 3519 3632 395.5 -17.9 312 2458 0.00 2.50 0.00 0.000 516 0.000 0.072 1949 1183 3576 3519 3633 0 0 0 0 0 0 14.92 14.54 14.94

2479 -0.75 -144.3 1949 1181 3519 3632 400.6 -18.0 317 2487 0.15 2.47 0.00 0.000 3078 0.304 0.068 1969 2600 3575 3519 3632 0 0 0 0 0 0 14.32 14.62 14.59

2785 -0.75 -144.3 1969 2600 3519 3632 451.3 -16.3 348 2790 0.00 2.47 0.00 0.000 516 0.000 0.074 1970 1188 3575 3519 3631 0 0 0 0 0 0 14.90 14.58 14.92

2807 -0.75 -144.3 1971 1188 3519 3631 455.1 -17.0 352 2813 0.00 2.47 0.00 0.000 1030 0.000 0.069 1963 2600 3574 3518 3631 0 0 0 0 0 0 14.71 14.62 14.73

3120 -0.75 -144.3 1963 2600 3519 3629 509.0 -17.4 384 3122 0.00 0.00 0.00 0.000 6 0.000 0.000 1963 2601 3574 3519 3629 0 0 0 0 0 0 14.90 14.92 14.92

3421 -0.75 -144.3 1963 2601 3519 3629 560.5 -17.3 414 3427 0.00 2.47 0.00 0.000 516 0.000 0.074 1963 1189 3574 3519 3629 0 0 0 0 0 0 14.90 14.57 14.92

3454 -0.75 -144.3 1963 1188 3519 3629 566.2 -17.3 420 3460 0.00 2.47 0.00 0.000 1030 0.000 0.070 1954 2601 3574 3519 3629 0 0 0 0 0 0 14.70 14.60 14.73

3655 end dive: TARGET_DEPTH_EXCEEDED

state 3655 begin apogee

3661 -0.17 0.0 1955 1782 3519 3628 601.7 -17.6 441 3799 0.75 0.00 133.50 1.789 10246 0.230 0.000 2160 1783 2980 2976 2984 0 0 0 0 0 0 14.35 13.96 13.13

3801 end apogee: CONTROL_FINISHED_OK

state 3801 begin climb

3803 0.75 144.3 2160 1782 2975 2982 610.1 0.0 455 3948 0.98 2.67 134.50 1.756 10756 0.133 0.099 2472 382 2390 2378 2402 0 0 0 0 0 0 13.99 13.68 13.03

4004 0.75 144.3 2472 383 2367 2398 592.2 13.9 492 4011 0.00 2.60 0.00 0.000 1030 0.000 0.073 2472 1793 2382 2367 2397 0 0 0 0 0 0 14.18 14.09 14.19

4310 0.75 144.3 2474 1793 2367 2391 549.8 13.8 523 4312 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1793 2378 2366 2390 0 0 0 0 0 0 14.67 14.69 14.69

4611 0.75 144.3 2472 1796 2367 2389 506.8 14.1 553 4613 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1796 2377 2366 2389 0 0 0 0 0 0 14.78 14.81 14.81

4911 0.75 144.3 2472 1796 2366 2389 464.4 13.8 583 4916 0.00 2.55 0.00 0.000 516 0.000 0.094 2481 386 2377 2366 2389 0 0 0 0 0 0 14.83 14.52 14.85

4937 0.75 144.3 2481 386 2365 2389 460.3 14.0 588 4944 0.00 2.50 0.00 0.000 1030 0.000 0.073 2480 1803 2377 2365 2389 0 0 0 0 0 0 14.62 14.53 14.65

5244 0.75 144.3 2481 1804 2365 2388 416.4 14.4 619 5249 0.00 2.58 0.00 0.000 516 0.000 0.096 2492 386 2376 2365 2388 0 0 0 0 0 0 14.88 14.53 14.90

5266 0.75 144.3 2490 385 2364 2388 413.0 15.2 623 5272 0.00 2.50 0.00 0.000 1030 0.000 0.075 2489 1801 2376 2364 2388 0 0 0 0 0 0 14.64 14.54 14.66

5579 0.75 144.3 2489 1806 2364 2388 366.1 14.9 655 5581 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 1806 2376 2364 2388 0 0 0 0 0 0 14.90 14.92 14.92

5880 0.75 144.3 2489 1806 2365 2387 321.9 14.6 685 5886 0.00 2.58 0.00 0.000 516 0.000 0.096 2500 384 2375 2364 2387 0 0 0 0 0 0 14.92 14.55 14.95

5937 0.75 144.3 2499 384 2364 2388 312.7 15.9 696 5945 0.17 2.50 0.00 0.000 5126 0.264 0.074 2463 1802 2375 2363 2387 0 0 0 0 0 0 14.16 14.52 14.59

6243 0.75 144.3 2462 1806 2364 2386 272.4 13.2 727 6249 0.00 2.45 0.00 0.000 260 0.000 0.083 2463 3212 2374 2363 2386 0 0 0 0 0 0 14.90 14.59 14.92

6260 0.75 144.3 2462 3211 2364 2386 270.1 12.6 730 6267 0.00 2.47 0.00 0.000 1030 0.000 0.077 2469 1802 2375 2364 2386 0 0 0 0 0 0 14.71 14.58 14.74

6566 0.75 144.3 2468 1802 2364 2386 228.3 13.7 761 6572 0.00 2.58 0.00 0.000 516 0.000 0.103 2480 377 2374 2363 2386 0 0 0 0 0 0 14.90 14.53 14.92

6714 0.75 144.3 2480 377 2363 2386 206.7 14.6 790 6720 0.00 2.50 0.00 0.000 1030 0.000 0.076 2480 1794 2374 2363 2386 0 0 0 0 0 0 14.70 14.60 14.73

7020 0.75 144.3 2480 1798 2363 2386 165.6 13.3 821 7022 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 1798 2374 2363 2386 0 0 0 0 0 0 14.90 14.94 14.94

7321 0.75 144.3 2480 1799 2363 2385 126.1 13.6 851 7326 0.00 2.58 0.00 0.000 516 0.000 0.096 2489 376 2374 2364 2385 0 0 0 0 0 0 14.89 14.52 14.91

7343 0.75 144.3 2489 376 2363 2386 122.4 16.4 855 7349 0.00 2.50 0.00 0.000 1030 0.000 0.076 2489 1790 2374 2363 2386 0 0 0 0 0 0 14.69 14.59 14.72

7651 0.75 144.3 2489 1793 2362 2385 77.9 14.0 901 7659 0.00 2.60 0.00 0.000 516 0.000 0.096 2498 365 2374 2363 2385 0 0 0 0 0 0 14.84 14.40 14.86

7705 0.75 144.3 2498 365 2363 2387 70.0 14.6 911 7713 0.15 2.53 0.00 0.000 5126 0.269 0.075 2467 1795 2374 2363 2386 0 0 0 0 0 0 14.31 14.56 14.59

7895 0.75 144.3 2467 1799 2363 2385 47.0 11.9 948 7902 0.00 2.60 0.00 0.000 516 0.000 0.096 2474 371 2373 2363 2384 0 0 0 0 0 0 14.83 14.48 14.85

8000 0.77 156.2 2474 371 2363 2386 34.6 9.4 968 8014 0.00 2.53 9.25 0.972 9254 0.000 0.076 2474 1791 2342 2334 2350 0 0 0 0 0 0 14.64 14.54 13.87

8198 0.77 156.2 2474 1796 2333 2345 10.0 12.4 1006 8204 0.00 2.47 0.00 0.000 260 0.000 0.083 2474 3205 2339 2334 2345 0 0 0 0 0 0 14.79 14.46 14.81

8226 0.77 156.2 2473 3206 2333 2346 6.4 12.3 1011 8233 0.00 2.53 0.00 0.000 1030 0.000 0.080 2483 1784 2338 2332 2345 0 0 0 0 0 0 14.60 14.48 14.64

8248 end climb: SURFACE_DEPTH_REACHED

state 8248 begin surface coast

8264 end surface coast: CONTROL_FINISHED_OK

state 8265 begin surface

ID	527	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	10	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
DIVE	23	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	17	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	4212	R_STBD_OVSHOOT	19	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-7043	ROLL_AD_RATE	200	ALTIM_PULSE	3
D_SURF	3	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_FLARE	3	SM_CC	450	ROLL_ADJ_GAIN	0	XPDR_VALID	2
D_TGT	600	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	750	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_SLOPE	0.0097660003
D_NO_BLEED	200	CALL_NDIVES	1	VBD_MAX	3960	INT_PRESSURE_YINT	0.38999999
D_BOOST	2	COMM_SEQ	0	C_VBD	2980	DEEPGLIDER	0
T_BOOST	0	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	4
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.245296	DEVICE1	-1
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE2	-1
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	540	DEVICE3	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.001	DEVICE4	-1
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE5	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE6	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERS	1
T_DIVE	200	CAPMAXSIZE	100000	UNCOM_BLEED	50	LOGGERDEVICE1	53
T_MISSION	250	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE2	67
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
T_TURN	225	N_GPS	100440	DBDW	0	LOGGERDEVICE4	-1
T_TURN_SAMPINT	-5	T_RSLEEP	2	LOITER_W_DBAND	0	COMPASS_DEVICE	97
T_NO_W	120	STROBE	0	LOITER_DBDW	0	COMPASS2_DEVICE	149
T_LOITER	0	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	0	PHONE_DEVICE	49
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	GPS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_GAIN	0	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	180	PITCH_W_DBAND	0	SIM_W	0
D_OFFGRID	990	PITCH_MAX	3650	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044153966
T_WATCHDOG	10	C_PITCH	2220	AH0_24V	0	SEABIRD_T_H	0.00064440304
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	310	SEABIRD_T_I	2.7248538e-05
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	11	SEABIRD_T_J	3.4282193e-06
MAX_BUOY	150	P_OVSHOOT	0.039999999	MINV_10V	11	SEABIRD_C_G	-10.077963
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_H	1.1533748
GLIDE_SLOPE	30	PITCH_GAIN	30	MAXI_10V	1.4	SEABIRD_C_I	-0.0022050336
SPEED_FACTOR	1	PITCH_TIMEOUT	16	FG_AHR_10V	0	SEABIRD_C_J	0.00023474717
RHO	1.0275	PITCH_AD_RATE	150	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
MASS	56352	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-173.88152	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_ADJ_DBAND	2	PRESSURE_SLOPE	0.00010843292	SC_NDIVE	1.0
FERRY_MAX	45	ROLL_MIN	270	AD7714Ch0Gain	1	TM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3850	COMPASS_USE	4	TM_PROFILE	3.0
HD_A	0.0038360001	ROLL_DEG	40	ALTIM_PING_FIT	0	TM_XMITPROFILE	3.0
HD_B	0.010078	C_ROLL_DIVE	2600	ALTIM_TOP_PING_RANGE	0	TM_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	1790	ALTIM_BOTTOM_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0

GPS1	061020,090920,5824.7998,-2123.6108,14,1.0,39,-12.2,0.4,261.5,9,8.8	SPEED_LIMITS	0.173,0.261
_CALLS	1	TGT_NAME	SG527_TGT
_XMS_NAKs	0	TGT_LATLONG	5823.064,-2123.209
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.64	MHEAD_RNG_PITCHd_Wd	209.5,3249,-18.3,-10.000,-21.05,2216
_SM_ANGLEo	-61.5	D_GRID	600
GPS2	061020,091733,5824.8042,-2123.6340,9,0.9,17,-12.2,0.5,164.6,11,10.0

FINISH	0.7,1.026835	_10V_AH	13.16,37.685
SM_CCo	8281,254.40,0.962,1,0,1144,450.12	FG_AHR_24Vo	0.000
SM_GC	0.68,6.60,1.48,254.40,0.052,0.078,0.962,173,2596,1144,-6.34,-0.88,450.12,0,0,0,0,1,0,14.58,14.54,13.52	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5824.40,-2117.58,061020,064024	MEM	324084
TT8_MAMPS	0.02247,0.629909	DATA_FILE_SIZE	36642,1018
HUMID	44.95	CAP_FILE_SIZE	105837,0
INTERNAL_PRESSURE	7.85122	CFSIZE	2097872896,2090008576
TCM_TEMP	18.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS	1	CURRENT	0.127,117.51,1
SC_FREEKB	3895040	GPS	061020,114202,5823.446,-2123.441,13,0.8,31,-12.2,0.4,238.0,11,8.8
_24V_AH	13.03,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	408	99.67	nil	0	0	0.00
Roll_motor	97	102	130.77	nil	0	0	0.00
VBD_pump_during_apogee	277	1789	6464.09	nil	0	0	0.00
VBD_pump_during_surface	254	961	3187.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	8289	27	2968.75
Iridium_during_xfer	348	198	902.35	TMICL	0	0	0.00
Transponder_ping	0	420	1.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	28	10	3.95
TT8	2476	12	406.34
LPSleep	3711	2	106.96
TT8_Active	708	12	116.23
TT8_Sampling	2038	31	836.60
TT8_CF8	130	36	62.75
TT8_Kalman	0	0	0.00
Analog_circuits	1860	10	244.87
GPS_charging	0	0	0.00
Compass	1607	7	158.43
RAFOS	0	0	0.00
Transponder	0	5	0.04

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
10	-0.75	-144.3	0	2612	1110	1167	0.0	0.0	0	125	0.00	0.00	-108.30	0.008	16390	0.000	0.000	0	2615	3570	3503	3637	0	0	0	0	0	0	14.64	13.52	14.62
128	-0.75	-144.3	0	2615	3503	3638	4.1	-11.5	19	142	9.77	2.22	0.00	0.000	2308	0.409	0.073	1962	3858	3573	3508	3638	0	0	0	0	0	0	14.07	14.43	14.39
321	-0.75	-144.3	1962	3859	3514	3635	43.2	-15.9	56	327	0.00	2.22	0.00	0.000	1030	0.000	0.063	1962	2583	3574	3515	3634	0	0	0	0	0	0	14.43	14.35	14.45
511	-0.75	-144.3	1962	2573	3516	3634	75.5	-15.1	93	518	0.00	2.40	0.00	0.000	516	0.000	0.075	1962	1195	3574	3515	3634	0	0	0	0	0	0	14.75	14.40	14.77
621	-0.75	-144.3	1962	1194	3517	3634	92.0	-15.2	114	628	0.00	2.50	0.00	0.000	1030	0.000	0.070	1954	2607	3575	3517	3634	0	0	0	0	0	0	14.47	14.26	14.51
816	-0.75	-144.3	1953	2607	3517	3634	123.2	-16.4	138	822	0.00	2.50	0.00	0.000	516	0.000	0.072	1954	1184	3575	3517	3634	0	0	0	0	0	0	14.80	14.47	14.81
843	-0.75	-144.3	1953	1184	3518	3634	128.3	-17.8	143	850	0.15	2.50	0.00	0.000	3078	0.301	0.068	1974	2605	3575	3517	3634	0	0	0	0	0	0	14.28	14.54	14.54
1150	-0.75	-144.3	1975	2607	3519	3634	176.2	-15.4	174	1155	0.00	2.50	0.00	0.000	516	0.000	0.074	1974	1185	3576	3518	3634	0	0	0	0	0	0	14.83	14.45	14.84
1176	-0.75	-144.3	1974	1185	3519	3634	180.3	-15.4	179	1183	0.00	2.50	0.00	0.000	1030	0.000	0.068	1968	2603	3576	3519	3634	0	0	0	0	0	0	14.24	14.16	14.42
1483	-0.75	-144.3	1967	2603	3519	3633	229.2	-15.8	210	1489	0.00	2.50	0.00	0.000	516	0.000	0.075	1968	1181	3576	3519	3634	0	0	0	0	0	0	14.85	14.54	14.87
1509	-0.75	-144.3	1968	1181	3519	3634	233.7	-14.8	215	1516	0.00	2.50	0.00	0.000	1030	0.000	0.068	1958	2605	3576	3519	3634	0	0	0	0	0	0	14.66	14.57	14.69
1817	-0.75	-144.3	1958	2605	3519	3633	285.1	-16.9	246	1819	0.00	0.00	0.00	0.000	6	0.000	0.000	1958	2605	3576	3519	3633	0	0	0	0	0	0	14.88	14.90	14.90
2117	-0.75	-144.3	1958	2605	3519	3633	336.0	-17.2	276	2122	0.00	2.47	0.00	0.000	516	0.000	0.073	1958	1190	3576	3519	3633	0	0	0	0	0	0	14.90	14.57	14.91
2139	-0.75	-144.3	1958	1190	3519	3633	340.0	-17.4	280	2145	0.00	2.47	0.00	0.000	1030	0.000	0.070	1949	2602	3576	3519	3633	0	0	0	0	0	0	14.70	14.61	14.72
2452	-0.75	-144.3	1949	2602	3519	3632	395.5	-17.9	312	2458	0.00	2.50	0.00	0.000	516	0.000	0.072	1949	1183	3576	3519	3633	0	0	0	0	0	0	14.92	14.54	14.94
2479	-0.75	-144.3	1949	1181	3519	3632	400.6	-18.0	317	2487	0.15	2.47	0.00	0.000	3078	0.304	0.068	1969	2600	3575	3519	3632	0	0	0	0	0	0	14.32	14.62	14.59
2785	-0.75	-144.3	1969	2600	3519	3632	451.3	-16.3	348	2790	0.00	2.47	0.00	0.000	516	0.000	0.074	1970	1188	3575	3519	3631	0	0	0	0	0	0	14.90	14.58	14.92
2807	-0.75	-144.3	1971	1188	3519	3631	455.1	-17.0	352	2813	0.00	2.47	0.00	0.000	1030	0.000	0.069	1963	2600	3574	3518	3631	0	0	0	0	0	0	14.71	14.62	14.73
3120	-0.75	-144.3	1963	2600	3519	3629	509.0	-17.4	384	3122	0.00	0.00	0.00	0.000	6	0.000	0.000	1963	2601	3574	3519	3629	0	0	0	0	0	0	14.90	14.92	14.92
3421	-0.75	-144.3	1963	2601	3519	3629	560.5	-17.3	414	3427	0.00	2.47	0.00	0.000	516	0.000	0.074	1963	1189	3574	3519	3629	0	0	0	0	0	0	14.90	14.57	14.92
3454	-0.75	-144.3	1963	1188	3519	3629	566.2	-17.3	420	3460	0.00	2.47	0.00	0.000	1030	0.000	0.070	1954	2601	3574	3519	3629	0	0	0	0	0	0	14.70	14.60	14.73
3655	end dive: TARGET_DEPTH_EXCEEDED
state	3655	begin apogee
3661	-0.17	0.0	1955	1782	3519	3628	601.7	-17.6	441	3799	0.75	0.00	133.50	1.789	10246	0.230	0.000	2160	1783	2980	2976	2984	0	0	0	0	0	0	14.35	13.96	13.13
3801	end apogee: CONTROL_FINISHED_OK
state	3801	begin climb
3803	0.75	144.3	2160	1782	2975	2982	610.1	0.0	455	3948	0.98	2.67	134.50	1.756	10756	0.133	0.099	2472	382	2390	2378	2402	0	0	0	0	0	0	13.99	13.68	13.03
4004	0.75	144.3	2472	383	2367	2398	592.2	13.9	492	4011	0.00	2.60	0.00	0.000	1030	0.000	0.073	2472	1793	2382	2367	2397	0	0	0	0	0	0	14.18	14.09	14.19
4310	0.75	144.3	2474	1793	2367	2391	549.8	13.8	523	4312	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	1793	2378	2366	2390	0	0	0	0	0	0	14.67	14.69	14.69
4611	0.75	144.3	2472	1796	2367	2389	506.8	14.1	553	4613	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	1796	2377	2366	2389	0	0	0	0	0	0	14.78	14.81	14.81
4911	0.75	144.3	2472	1796	2366	2389	464.4	13.8	583	4916	0.00	2.55	0.00	0.000	516	0.000	0.094	2481	386	2377	2366	2389	0	0	0	0	0	0	14.83	14.52	14.85
4937	0.75	144.3	2481	386	2365	2389	460.3	14.0	588	4944	0.00	2.50	0.00	0.000	1030	0.000	0.073	2480	1803	2377	2365	2389	0	0	0	0	0	0	14.62	14.53	14.65
5244	0.75	144.3	2481	1804	2365	2388	416.4	14.4	619	5249	0.00	2.58	0.00	0.000	516	0.000	0.096	2492	386	2376	2365	2388	0	0	0	0	0	0	14.88	14.53	14.90
5266	0.75	144.3	2490	385	2364	2388	413.0	15.2	623	5272	0.00	2.50	0.00	0.000	1030	0.000	0.075	2489	1801	2376	2364	2388	0	0	0	0	0	0	14.64	14.54	14.66
5579	0.75	144.3	2489	1806	2364	2388	366.1	14.9	655	5581	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	1806	2376	2364	2388	0	0	0	0	0	0	14.90	14.92	14.92
5880	0.75	144.3	2489	1806	2365	2387	321.9	14.6	685	5886	0.00	2.58	0.00	0.000	516	0.000	0.096	2500	384	2375	2364	2387	0	0	0	0	0	0	14.92	14.55	14.95
5937	0.75	144.3	2499	384	2364	2388	312.7	15.9	696	5945	0.17	2.50	0.00	0.000	5126	0.264	0.074	2463	1802	2375	2363	2387	0	0	0	0	0	0	14.16	14.52	14.59
6243	0.75	144.3	2462	1806	2364	2386	272.4	13.2	727	6249	0.00	2.45	0.00	0.000	260	0.000	0.083	2463	3212	2374	2363	2386	0	0	0	0	0	0	14.90	14.59	14.92
6260	0.75	144.3	2462	3211	2364	2386	270.1	12.6	730	6267	0.00	2.47	0.00	0.000	1030	0.000	0.077	2469	1802	2375	2364	2386	0	0	0	0	0	0	14.71	14.58	14.74
6566	0.75	144.3	2468	1802	2364	2386	228.3	13.7	761	6572	0.00	2.58	0.00	0.000	516	0.000	0.103	2480	377	2374	2363	2386	0	0	0	0	0	0	14.90	14.53	14.92
6714	0.75	144.3	2480	377	2363	2386	206.7	14.6	790	6720	0.00	2.50	0.00	0.000	1030	0.000	0.076	2480	1794	2374	2363	2386	0	0	0	0	0	0	14.70	14.60	14.73
7020	0.75	144.3	2480	1798	2363	2386	165.6	13.3	821	7022	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	1798	2374	2363	2386	0	0	0	0	0	0	14.90	14.94	14.94
7321	0.75	144.3	2480	1799	2363	2385	126.1	13.6	851	7326	0.00	2.58	0.00	0.000	516	0.000	0.096	2489	376	2374	2364	2385	0	0	0	0	0	0	14.89	14.52	14.91
7343	0.75	144.3	2489	376	2363	2386	122.4	16.4	855	7349	0.00	2.50	0.00	0.000	1030	0.000	0.076	2489	1790	2374	2363	2386	0	0	0	0	0	0	14.69	14.59	14.72
7651	0.75	144.3	2489	1793	2362	2385	77.9	14.0	901	7659	0.00	2.60	0.00	0.000	516	0.000	0.096	2498	365	2374	2363	2385	0	0	0	0	0	0	14.84	14.40	14.86
7705	0.75	144.3	2498	365	2363	2387	70.0	14.6	911	7713	0.15	2.53	0.00	0.000	5126	0.269	0.075	2467	1795	2374	2363	2386	0	0	0	0	0	0	14.31	14.56	14.59
7895	0.75	144.3	2467	1799	2363	2385	47.0	11.9	948	7902	0.00	2.60	0.00	0.000	516	0.000	0.096	2474	371	2373	2363	2384	0	0	0	0	0	0	14.83	14.48	14.85
8000	0.77	156.2	2474	371	2363	2386	34.6	9.4	968	8014	0.00	2.53	9.25	0.972	9254	0.000	0.076	2474	1791	2342	2334	2350	0	0	0	0	0	0	14.64	14.54	13.87
8198	0.77	156.2	2474	1796	2333	2345	10.0	12.4	1006	8204	0.00	2.47	0.00	0.000	260	0.000	0.083	2474	3205	2339	2334	2345	0	0	0	0	0	0	14.79	14.46	14.81
8226	0.77	156.2	2473	3206	2333	2346	6.4	12.3	1011	8233	0.00	2.53	0.00	0.000	1030	0.000	0.080	2483	1784	2338	2332	2345	0	0	0	0	0	0	14.60	14.48	14.64
8248	end climb: SURFACE_DEPTH_REACHED
state	8248	begin surface coast
8264	end surface coast: CONTROL_FINISHED_OK
state	8265	begin surface