Glider dive log

Bermuda Sep18 * SG040 * Dive index * Mission links * Dive 24 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 40 HD_B 0.013 ROLL_MAX 3795 ALTIM_BOTTOM_PING_RANGE 0

MISSION 18 HD_C 2.4999999e-05 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

DIVE 24 HEADING -1 C_ROLL_DIVE 2216 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2044 ALTIM_TOP_TURN_MARGIN 0

STOP_T 9111806 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 5 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 2000

D_FLARE 5 TGT_DEFAULT_LAT 3210 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 20

D_TGT 540 TGT_DEFAULT_LON -6430 R_PORT_OVSHOOT 145 ALTIM_FREQUENCY 13

D_ABORT 6050 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 111 ALTIM_PULSE 2

D_NO_BLEED 50 SM_CC 500 ROLL_AD_RATE 250 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 0

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 350 INT_PRESSURE_YINT 1

D_SAFE 0 PROTOCOL 9 VBD_MAX 3960 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 C_VBD 2510 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 384 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.29049 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 -1

T_DIVE 180 CALL_TRIES 10 VBD_TIMEOUT 900 DEVICE4 -1

T_MISSION 1860 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1920 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE6 -1

T_TURN 720 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 6 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS -15 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 50840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 60 T_RSLEEP 2 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 48

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 205 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 0 PITCH_MAX 3845 MINV_24V 17 SIM_W 0

APOGEE_PITCH -5 C_PITCH 2748 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 150 PITCH_DBAND 0.1 MAXI_24V 4 SEABIRD_T_G 0.0043949927

COURSE_BIAS 0 PITCH_CNV 0.0031300001 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063390372

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.58046e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.1945401e-06

RHO 1.023 PITCH_GAIN 16.200001 PHONE_SUPPLY 2 SEABIRD_C_G -9.7571077

MASS 80783.898 PITCH_TIMEOUT 20 PRESSURE_YINT -17.149458 SEABIRD_C_H 1.1413336

MASS_COMP 11448 PITCH_AD_RATE 160 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0015994913

NAV_MODE 2 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00020119222

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2927.6299

KALMAN_USE 2 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

HD_A 0.0049999999 ROLL_MIN 225 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SIM_W 0

AH0_10V 100 D_SURF 5 PITCH_ADJ_GAIN 0.02 SM_CC 500

AH0_24V 150 D_TGT 540 PITCH_AD_RATE 160 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.0031300001 STOP_T 9111806

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 16.200001 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 FG_AHR_10V 0 PITCH_MAX 3845 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 2000 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 2 FILEMGR 0 PITCH_MIN 205 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 48 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 3210

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0049999999 PITCH_W_GAIN 0 TGT_DEFAULT_LON -6430

APOGEE_PITCH -5 HD_B 0.013 PRESSURE_SLOPE 0 T_ABORT 1920

CALL_NDIVES 1 HD_C 2.4999999e-05 PRESSURE_YINT -17.149458 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 180

CALL_WAIT 60 HEAD_ERRBAND 15 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS -15

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 40 RAFOS_DEVICE -1 T_MISSION 1860

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 1 RAFOS_MMODEM 0 T_RSLEEP 2

COMPASS_DEVICE 33 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 60

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 0 T_TURN 720

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 2748 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2044 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_DIVE 2216 LOGGERS 0 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_VBD 2510 MASS 80783.898 ROLL_CNV 0.028270001 USE_BATHY 0

DBDW 0 MASS_COMP 11448 ROLL_DEG 45 USE_ICE 0

DEEPGLIDER 1 MAXI_10V 0.80000001 ROLL_MAX 3795 VBD_BLEED_AD_RATE 6

DEVICE1 2 MAXI_24V 4 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE2 101 MAX_BUOY 150 ROLL_MIN 225 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 17 R_PORT_OVSHOOT 145 VBD_MAX 3960

DEVICE5 -1 MISSION 18 R_STBD_OVSHOOT 111 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.7571077 VBD_MIN 350

DIVE 24 NAV_MODE 2 SEABIRD_C_H 1.1413336 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 6050 NOCOMM_ACTION 384 SEABIRD_C_I -0.0015994913 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 0 N_DIVES 0 SEABIRD_C_J 0.00020119222 VBD_TIMEOUT 900

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2927.6299 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 50840 SEABIRD_T_G 0.0043949927 XPDR_DEVICE 24

D_FLARE 5 N_NOCOMM 1 SEABIRD_T_H 0.00063390372 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.58046e-05 XPDR_VALID 0

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.1945401e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 100918,204405,3141.9578,-6405.1001,41,0.8,44,-14.9,0.5,41.4,9,5.0 TGT_NAME BATS

_CALLS 1 TGT_LATLONG 3140.000,-6410.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 2.68 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -53.1 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 100918,204914,3141.9985,-6405.0952,5,0.8,15,-14.9,0.0,329.3,9,4.9 MHEAD_RNG_PITCHd_Wd 233.7,8571,-20.9,-10.000,-23.48,2226

SPEED_LIMITS 0.173,0.230 D_GRID 540

Post-dive calculations and measurements:

FINISH 1.8,1.010701 _10V_AH 10.52,8.711

SM_CCo 10891,170.40,0.551,0,0,788,500.22 FG_AHR_24Vo 0.000

SM_GC 2.41,7.47,0.20,170.40,0.074,0.104,0.551,183,2300,788,-7.92,-1.98,500.22,0,0,0,0,0,0,26.34,26.36,24.74 FG_AHR_10Vo 0.000

IRIDIUM_FIX 3140.67,-6405.74,100918,173557 MEM 342376

TT8_MAMPS 0.02247,0.244174 DATA_FILE_SIZE 45185,643

HUMID 21.05 CAP_FILE_SIZE 98787,0

INTERNAL_PRESSURE 9.16438 CFSIZE 2047311872,2034565120

TCM_TEMP 25.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.127,15.79,1

ALTIM_TOP_PING 19.7,16.9 GPS 100918,235534,3141.821,-6405.840,38,1.0,41,-14.9,0.0,0.0,9,4.8

_24V_AH 24.22,16.690

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 275 129.00 SBE_CT 435 24 253.33

Roll_motor 56 121 165.98 AA4330 850 33 679.91

VBD_pump_during_apogee 306 916 6802.10 nil 0 0 0.00

VBD_pump_during_surface 170 551 2274.96 nil 0 0 0.00

VBD_valve 138 161 539.83 nil 0 0 0.00

Iridium_during_init 20 103 52.33 nil 0 0 0.00

Iridium_during_connect 20 160 78.87 nil 0 0 0.00

Iridium_during_xfer 177 223 958.36 nil 0 0 0.00

Transponder_ping 0 420 2.54 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 9.12

TT8 1958 19 408.01

LPSleep 7137 2 164.43

TT8_Active 652 19 135.96

TT8_Sampling 1574 39 659.30

TT8_CF8 71 45 34.36

TT8_Kalman 0 0 0.00

Analog_circuits 1344 12 169.73

GPS_charging 0 0 0.00

Compass 1302 15 205.55

RAFOS 0 0 0.00

Transponder 6 30 1.93

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 int_press humidity

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

70 -1.47 -146.6 169 2265 756 821 0.7 3.8 6 212 0.00 0.00 -138.10 0.161 16390 0.000 0.000 169 2265 3016 2977 3056 0 0 0 0 0 0 26.51 25.89 25.71 9.23 20.90

214 -1.47 -146.6 169 2265 2977 3057 4.2 -2.5 20 229 8.48 2.30 0.00 0.000 2564 0.276 0.072 2270 723 3017 2978 3057 0 0 0 0 0 0 25.51 25.90 25.79 9.46 20.42

853 -1.32 -146.6 2269 723 2981 3056 59.9 -3.9 83 862 0.17 2.05 0.00 0.000 3078 0.211 0.067 2316 2199 3019 2981 3057 0 0 0 0 0 0 26.04 26.53 26.16 9.45 19.16

1163 -1.23 -146.6 2316 2199 2982 3056 73.6 -3.4 114 1167 0.10 2.15 0.00 0.000 2564 0.219 0.074 2352 730 3019 2982 3056 0 0 0 0 0 0 26.37 26.48 26.43 9.43 19.44

1397 -1.16 -146.6 2351 710 2982 3056 87.7 -7.1 137 1408 0.10 2.10 0.00 0.000 3078 0.206 0.067 2373 2231 3019 2982 3056 0 0 0 0 0 0 26.33 26.64 26.47 9.41 19.36

1707 -1.16 -146.6 2373 2231 2982 3056 111.2 -8.5 168 1711 0.00 2.20 0.00 0.000 260 0.000 0.084 2364 3743 3019 2982 3056 0 0 0 0 0 0 26.98 26.55 26.98 9.39 19.04

1801 -1.11 -146.6 2363 3743 2982 3056 120.0 -9.8 177 1809 0.00 2.00 0.00 0.000 1030 0.000 0.067 2364 2204 3019 2982 3056 0 0 0 0 0 0 26.80 26.77 26.81 9.39 18.69

2111 -1.11 -146.6 2363 2204 2983 3056 149.5 -9.5 208 2112 0.00 0.00 0.00 0.000 6 0.000 0.000 2364 2204 3019 2982 3056 0 0 0 0 0 0 27.01 27.02 27.02 9.37 19.08

2419 -1.11 -146.6 2363 2204 2982 3056 179.5 -10.3 224 2425 0.00 2.12 0.00 0.000 516 0.000 0.074 2364 720 3019 2982 3056 0 0 0 0 0 0 27.03 26.65 27.04 9.35 19.83

2502 -1.05 -146.6 2363 720 2982 3055 187.9 -10.5 228 2507 0.15 2.08 0.00 0.000 3078 0.189 0.065 2411 2198 3019 2982 3056 0 0 0 0 0 0 26.25 26.73 26.43 9.35 19.56

2820 -1.05 -146.6 2410 2198 2982 3055 218.9 -9.9 244 2821 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2199 3018 2982 3055 0 0 0 0 0 0 27.04 27.06 27.05 9.34 19.95

3119 -1.05 -146.6 2410 2198 2982 3054 249.2 -10.2 259 3120 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2199 3018 2982 3054 0 0 0 0 0 0 27.05 27.07 27.07 9.33 21.09

3419 -1.05 -146.6 2410 2198 2982 3053 280.2 -10.5 274 3420 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2198 3017 2982 3053 0 0 0 0 0 0 27.06 27.08 27.07 9.33 21.17

3739 -1.05 -146.6 2410 2198 2982 3052 313.9 -10.6 288 3740 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2198 3016 2982 3051 0 0 0 0 0 0 27.07 27.08 27.08 9.32 21.05

4039 -1.05 -146.6 2410 2198 2982 3050 346.7 -11.1 298 4040 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2199 3016 2982 3050 0 0 0 0 0 0 27.07 27.08 27.08 9.32 21.64

4339 -1.05 -146.6 2410 2198 2982 3049 380.7 -11.3 308 4340 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2198 3015 2981 3049 0 0 0 0 0 0 27.08 27.09 27.08 9.31 21.60

4639 -1.05 -146.6 2410 2198 2982 3048 413.6 -10.8 318 4640 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2198 3015 2982 3048 0 0 0 0 0 0 27.08 27.09 27.09 9.30 21.21

4939 -1.05 -146.6 2410 2198 2982 3047 446.1 -10.9 328 4944 0.00 2.28 0.00 0.000 260 0.000 0.084 2402 3753 3014 2982 3047 0 0 0 0 0 0 27.08 26.58 27.09 9.29 21.33

4994 -1.05 -146.6 2401 3753 2982 3048 449.8 -11.0 329 5001 0.00 2.03 0.00 0.000 1030 0.000 0.065 2402 2231 3014 2982 3047 0 0 0 0 0 0 26.86 26.85 26.86 9.29 21.37

5301 -1.05 -146.6 2401 2231 2982 3046 487.9 -11.5 340 5305 0.00 2.25 0.00 0.000 260 0.000 0.084 2390 3758 3014 2982 3046 0 0 0 0 0 0 27.08 26.58 27.09 9.28 21.41

5345 -1.05 -146.6 2389 3758 2982 3046 491.2 -11.5 341 5349 0.00 2.08 0.00 0.000 1030 0.000 0.065 2390 2211 3014 2983 3045 0 0 0 0 0 0 26.89 26.84 26.86 9.28 21.37

5657 -1.05 -146.6 2390 2210 2982 3044 531.7 -12.4 352 5658 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2210 3013 2982 3044 0 0 0 0 0 0 27.08 27.09 27.09 9.26 21.88

5746 end dive: TARGET_DEPTH_EXCEEDED

state 5746 begin apogee

5750 -0.31 0.0 2390 2031 2982 3044 542.6 -12.2 355 5868 0.77 0.00 110.20 0.916 10246 0.161 0.000 2647 2029 2509 2499 2520 0 0 0 0 0 0 26.13 24.79 24.30 9.27 21.53

5869 end apogee: CONTROL_FINISHED_OK

state 5869 begin climb

5871 1.47 146.6 2647 2029 2499 2521 547.6 0.0 359 5988 1.60 0.00 111.72 0.904 10246 0.114 0.000 3210 2029 2005 2002 2008 0 0 0 0 0 0 25.24 24.84 24.22 9.21 21.01

6288 1.38 146.6 3210 2029 2002 2006 508.6 11.4 373 6292 0.00 2.22 0.00 0.000 516 0.000 0.077 3221 538 2004 2002 2006 0 0 0 0 0 0 26.52 26.18 26.53 9.16 21.37

6470 1.26 146.6 3221 538 2002 2005 487.5 11.4 379 6475 0.22 2.15 0.00 0.000 5126 0.206 0.065 3156 2067 2003 2002 2005 0 0 0 0 0 0 25.94 26.41 26.16 9.15 21.05

6802 1.31 185.5 3156 2066 2002 2004 458.7 8.2 390 6834 0.00 0.00 29.48 0.832 8198 0.000 0.000 3156 2066 1871 1868 1874 0 0 0 0 0 0 26.82 25.71 25.07 9.16 21.45

7132 1.31 185.5 3156 2066 1868 1873 425.8 10.2 401 7133 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2066 1871 1868 1874 0 0 0 0 0 0 26.65 26.66 26.66 9.14 21.56

7432 1.31 185.5 3156 2066 1868 1873 392.8 11.1 411 7434 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2067 1870 1868 1873 0 0 0 0 0 0 26.80 26.82 26.82 9.14 21.60

7732 1.31 185.5 3156 2066 1868 1873 359.4 11.3 421 7736 0.00 2.25 0.00 0.000 516 0.000 0.079 3167 548 1870 1868 1872 0 0 0 0 0 0 26.89 26.50 26.89 9.14 21.92

7836 1.25 185.5 3165 548 1868 1872 349.2 11.7 424 7841 0.00 2.10 0.00 0.000 1030 0.000 0.065 3166 2049 1870 1868 1872 0 0 0 0 0 0 26.67 26.62 26.68 9.14 21.96

8149 1.20 185.5 3166 2049 1868 1871 309.3 12.2 435 8154 0.10 2.22 0.00 0.000 4612 0.223 0.077 3145 544 1870 1868 1872 0 0 0 0 0 0 26.36 26.48 26.42 9.15 21.64

8211 1.20 185.5 3144 545 1868 1872 301.8 12.1 437 8216 0.00 2.10 0.00 0.000 1030 0.000 0.065 3144 2048 1870 1868 1872 0 0 0 0 0 0 26.72 26.66 26.73 9.15 21.92

8523 1.20 185.5 3144 2048 1868 1872 263.1 13.0 452 8527 0.00 2.22 0.00 0.000 516 0.000 0.079 3156 542 1870 1868 1872 0 0 0 0 0 0 26.98 26.57 27.00 9.16 21.84

8584 1.20 185.5 3156 542 1868 1872 254.9 13.4 455 8589 0.00 2.10 0.00 0.000 1030 0.000 0.065 3156 2044 1870 1868 1872 0 0 0 0 0 0 26.74 26.69 26.76 9.15 21.92

8907 1.20 185.5 3155 2044 1868 1872 211.7 13.3 471 8909 0.00 0.00 0.00 0.000 6 0.000 0.000 3156 2044 1869 1867 1872 0 0 0 0 0 0 27.01 27.03 27.02 9.16 21.53

9206 1.20 185.5 3155 2044 1868 1872 170.9 13.5 486 9210 0.00 2.20 0.00 0.000 516 0.000 0.079 3167 545 1869 1867 1871 0 0 0 0 0 0 27.02 26.58 27.04 9.16 21.68

9306 1.14 185.5 3167 545 1868 1871 158.0 13.9 491 9311 0.15 2.12 0.00 0.000 5126 0.194 0.065 3109 2061 1870 1868 1872 0 0 0 0 0 0 26.16 26.72 26.36 9.16 21.41

9613 1.14 185.5 3109 2062 1868 1871 121.7 11.7 518 9614 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2061 1870 1868 1872 0 0 0 0 0 0 27.04 27.05 27.05 9.16 21.72

9914 1.14 185.5 3109 2062 1868 1872 87.5 10.7 548 9923 0.00 2.25 0.00 0.000 516 0.000 0.077 3119 534 1869 1868 1871 0 0 0 0 0 0 27.05 26.59 27.06 9.17 21.49

9986 1.14 185.5 3118 534 1868 1872 80.0 10.5 555 9990 0.00 2.10 0.00 0.000 1030 0.000 0.065 3119 2038 1870 1868 1872 0 0 0 0 0 0 26.78 26.73 26.80 9.17 22.23

10291 1.18 222.2 3118 2038 1868 1872 51.8 8.3 585 10325 0.00 2.22 26.60 0.591 8708 0.000 0.079 3129 546 1744 1741 1748 0 0 0 0 0 0 27.06 26.20 25.63 9.19 21.72

10364 1.18 222.2 3129 546 1741 1748 44.7 10.0 592 10368 0.00 2.12 0.00 0.000 1030 0.000 0.065 3129 2045 1744 1741 1748 0 0 0 0 0 0 26.44 26.39 26.45 9.18 21.49

10676 1.23 261.2 3129 2045 1741 1748 20.3 8.2 623 10706 0.00 0.00 28.52 0.566 8198 0.000 0.000 3129 2045 1609 1604 1615 0 0 0 0 0 0 26.83 25.96 25.46 9.23 22.04

10834 end climb: SURFACE_DEPTH_REACHED

state 10834 begin surface coast

10876 end surface coast: CONTROL_FINISHED_OK

state 10876 begin surface

ID	40	HD_B	0.013	ROLL_MAX	3795	ALTIM_BOTTOM_PING_RANGE	0
MISSION	18	HD_C	2.4999999e-05	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
DIVE	24	HEADING	-1	C_ROLL_DIVE	2216	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2044	ALTIM_TOP_TURN_MARGIN	0
STOP_T	9111806	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	5	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	2000
D_FLARE	5	TGT_DEFAULT_LAT	3210	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	20
D_TGT	540	TGT_DEFAULT_LON	-6430	R_PORT_OVSHOOT	145	ALTIM_FREQUENCY	13
D_ABORT	6050	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	111	ALTIM_PULSE	2
D_NO_BLEED	50	SM_CC	500	ROLL_AD_RATE	250	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	0
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	350	INT_PRESSURE_YINT	1
D_SAFE	0	PROTOCOL	9	VBD_MAX	3960	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	C_VBD	2510	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	384	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.29049	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	-1
T_DIVE	180	CALL_TRIES	10	VBD_TIMEOUT	900	DEVICE4	-1
T_MISSION	1860	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1920	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE6	-1
T_TURN	720	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	6	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	-15	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	50840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	60	T_RSLEEP	2	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	48
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	205	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	0	PITCH_MAX	3845	MINV_24V	17	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	2748	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	150	PITCH_DBAND	0.1	MAXI_24V	4	SEABIRD_T_G	0.0043949927
COURSE_BIAS	0	PITCH_CNV	0.0031300001	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063390372
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.58046e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.1945401e-06
RHO	1.023	PITCH_GAIN	16.200001	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7571077
MASS	80783.898	PITCH_TIMEOUT	20	PRESSURE_YINT	-17.149458	SEABIRD_C_H	1.1413336
MASS_COMP	11448	PITCH_AD_RATE	160	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0015994913
NAV_MODE	2	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00020119222
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2927.6299
KALMAN_USE	2	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
HD_A	0.0049999999	ROLL_MIN	225	COMPASS_USE	4

GPS1	100918,204405,3141.9578,-6405.1001,41,0.8,44,-14.9,0.5,41.4,9,5.0	TGT_NAME	BATS
_CALLS	1	TGT_LATLONG	3140.000,-6410.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	2.68	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-53.1	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	100918,204914,3141.9985,-6405.0952,5,0.8,15,-14.9,0.0,329.3,9,4.9	MHEAD_RNG_PITCHd_Wd	233.7,8571,-20.9,-10.000,-23.48,2226
SPEED_LIMITS	0.173,0.230	D_GRID	540

FINISH	1.8,1.010701	_10V_AH	10.52,8.711
SM_CCo	10891,170.40,0.551,0,0,788,500.22	FG_AHR_24Vo	0.000
SM_GC	2.41,7.47,0.20,170.40,0.074,0.104,0.551,183,2300,788,-7.92,-1.98,500.22,0,0,0,0,0,0,26.34,26.36,24.74	FG_AHR_10Vo	0.000
IRIDIUM_FIX	3140.67,-6405.74,100918,173557	MEM	342376
TT8_MAMPS	0.02247,0.244174	DATA_FILE_SIZE	45185,643
HUMID	21.05	CAP_FILE_SIZE	98787,0
INTERNAL_PRESSURE	9.16438	CFSIZE	2047311872,2034565120
TCM_TEMP	25.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.127,15.79,1
ALTIM_TOP_PING	19.7,16.9	GPS	100918,235534,3141.821,-6405.840,38,1.0,41,-14.9,0.0,0.0,9,4.8
_24V_AH	24.22,16.690

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	275	129.00	SBE_CT	435	24	253.33
Roll_motor	56	121	165.98	AA4330	850	33	679.91
VBD_pump_during_apogee	306	916	6802.10	nil	0	0	0.00
VBD_pump_during_surface	170	551	2274.96	nil	0	0	0.00
VBD_valve	138	161	539.83	nil	0	0	0.00
Iridium_during_init	20	103	52.33	nil	0	0	0.00
Iridium_during_connect	20	160	78.87	nil	0	0	0.00
Iridium_during_xfer	177	223	958.36	nil	0	0	0.00
Transponder_ping	0	420	2.54	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	9.12
TT8	1958	19	408.01
LPSleep	7137	2	164.43
TT8_Active	652	19	135.96
TT8_Sampling	1574	39	659.30
TT8_CF8	71	45	34.36
TT8_Kalman	0	0	0.00
Analog_circuits	1344	12	169.73
GPS_charging	0	0	0.00
Compass	1302	15	205.55
RAFOS	0	0	0.00
Transponder	6	30	1.93

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	int_press	humidity
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
70	-1.47	-146.6	169	2265	756	821	0.7	3.8	6	212	0.00	0.00	-138.10	0.161	16390	0.000	0.000	169	2265	3016	2977	3056	0	0	0	0	0	0	26.51	25.89	25.71	9.23	20.90
214	-1.47	-146.6	169	2265	2977	3057	4.2	-2.5	20	229	8.48	2.30	0.00	0.000	2564	0.276	0.072	2270	723	3017	2978	3057	0	0	0	0	0	0	25.51	25.90	25.79	9.46	20.42
853	-1.32	-146.6	2269	723	2981	3056	59.9	-3.9	83	862	0.17	2.05	0.00	0.000	3078	0.211	0.067	2316	2199	3019	2981	3057	0	0	0	0	0	0	26.04	26.53	26.16	9.45	19.16
1163	-1.23	-146.6	2316	2199	2982	3056	73.6	-3.4	114	1167	0.10	2.15	0.00	0.000	2564	0.219	0.074	2352	730	3019	2982	3056	0	0	0	0	0	0	26.37	26.48	26.43	9.43	19.44
1397	-1.16	-146.6	2351	710	2982	3056	87.7	-7.1	137	1408	0.10	2.10	0.00	0.000	3078	0.206	0.067	2373	2231	3019	2982	3056	0	0	0	0	0	0	26.33	26.64	26.47	9.41	19.36
1707	-1.16	-146.6	2373	2231	2982	3056	111.2	-8.5	168	1711	0.00	2.20	0.00	0.000	260	0.000	0.084	2364	3743	3019	2982	3056	0	0	0	0	0	0	26.98	26.55	26.98	9.39	19.04
1801	-1.11	-146.6	2363	3743	2982	3056	120.0	-9.8	177	1809	0.00	2.00	0.00	0.000	1030	0.000	0.067	2364	2204	3019	2982	3056	0	0	0	0	0	0	26.80	26.77	26.81	9.39	18.69
2111	-1.11	-146.6	2363	2204	2983	3056	149.5	-9.5	208	2112	0.00	0.00	0.00	0.000	6	0.000	0.000	2364	2204	3019	2982	3056	0	0	0	0	0	0	27.01	27.02	27.02	9.37	19.08
2419	-1.11	-146.6	2363	2204	2982	3056	179.5	-10.3	224	2425	0.00	2.12	0.00	0.000	516	0.000	0.074	2364	720	3019	2982	3056	0	0	0	0	0	0	27.03	26.65	27.04	9.35	19.83
2502	-1.05	-146.6	2363	720	2982	3055	187.9	-10.5	228	2507	0.15	2.08	0.00	0.000	3078	0.189	0.065	2411	2198	3019	2982	3056	0	0	0	0	0	0	26.25	26.73	26.43	9.35	19.56
2820	-1.05	-146.6	2410	2198	2982	3055	218.9	-9.9	244	2821	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2199	3018	2982	3055	0	0	0	0	0	0	27.04	27.06	27.05	9.34	19.95
3119	-1.05	-146.6	2410	2198	2982	3054	249.2	-10.2	259	3120	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2199	3018	2982	3054	0	0	0	0	0	0	27.05	27.07	27.07	9.33	21.09
3419	-1.05	-146.6	2410	2198	2982	3053	280.2	-10.5	274	3420	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2198	3017	2982	3053	0	0	0	0	0	0	27.06	27.08	27.07	9.33	21.17
3739	-1.05	-146.6	2410	2198	2982	3052	313.9	-10.6	288	3740	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2198	3016	2982	3051	0	0	0	0	0	0	27.07	27.08	27.08	9.32	21.05
4039	-1.05	-146.6	2410	2198	2982	3050	346.7	-11.1	298	4040	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2199	3016	2982	3050	0	0	0	0	0	0	27.07	27.08	27.08	9.32	21.64
4339	-1.05	-146.6	2410	2198	2982	3049	380.7	-11.3	308	4340	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2198	3015	2981	3049	0	0	0	0	0	0	27.08	27.09	27.08	9.31	21.60
4639	-1.05	-146.6	2410	2198	2982	3048	413.6	-10.8	318	4640	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2198	3015	2982	3048	0	0	0	0	0	0	27.08	27.09	27.09	9.30	21.21
4939	-1.05	-146.6	2410	2198	2982	3047	446.1	-10.9	328	4944	0.00	2.28	0.00	0.000	260	0.000	0.084	2402	3753	3014	2982	3047	0	0	0	0	0	0	27.08	26.58	27.09	9.29	21.33
4994	-1.05	-146.6	2401	3753	2982	3048	449.8	-11.0	329	5001	0.00	2.03	0.00	0.000	1030	0.000	0.065	2402	2231	3014	2982	3047	0	0	0	0	0	0	26.86	26.85	26.86	9.29	21.37
5301	-1.05	-146.6	2401	2231	2982	3046	487.9	-11.5	340	5305	0.00	2.25	0.00	0.000	260	0.000	0.084	2390	3758	3014	2982	3046	0	0	0	0	0	0	27.08	26.58	27.09	9.28	21.41
5345	-1.05	-146.6	2389	3758	2982	3046	491.2	-11.5	341	5349	0.00	2.08	0.00	0.000	1030	0.000	0.065	2390	2211	3014	2983	3045	0	0	0	0	0	0	26.89	26.84	26.86	9.28	21.37
5657	-1.05	-146.6	2390	2210	2982	3044	531.7	-12.4	352	5658	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2210	3013	2982	3044	0	0	0	0	0	0	27.08	27.09	27.09	9.26	21.88
5746	end dive: TARGET_DEPTH_EXCEEDED
state	5746	begin apogee
5750	-0.31	0.0	2390	2031	2982	3044	542.6	-12.2	355	5868	0.77	0.00	110.20	0.916	10246	0.161	0.000	2647	2029	2509	2499	2520	0	0	0	0	0	0	26.13	24.79	24.30	9.27	21.53
5869	end apogee: CONTROL_FINISHED_OK
state	5869	begin climb
5871	1.47	146.6	2647	2029	2499	2521	547.6	0.0	359	5988	1.60	0.00	111.72	0.904	10246	0.114	0.000	3210	2029	2005	2002	2008	0	0	0	0	0	0	25.24	24.84	24.22	9.21	21.01
6288	1.38	146.6	3210	2029	2002	2006	508.6	11.4	373	6292	0.00	2.22	0.00	0.000	516	0.000	0.077	3221	538	2004	2002	2006	0	0	0	0	0	0	26.52	26.18	26.53	9.16	21.37
6470	1.26	146.6	3221	538	2002	2005	487.5	11.4	379	6475	0.22	2.15	0.00	0.000	5126	0.206	0.065	3156	2067	2003	2002	2005	0	0	0	0	0	0	25.94	26.41	26.16	9.15	21.05
6802	1.31	185.5	3156	2066	2002	2004	458.7	8.2	390	6834	0.00	0.00	29.48	0.832	8198	0.000	0.000	3156	2066	1871	1868	1874	0	0	0	0	0	0	26.82	25.71	25.07	9.16	21.45
7132	1.31	185.5	3156	2066	1868	1873	425.8	10.2	401	7133	0.00	0.00	0.00	0.000	6	0.000	0.000	3156	2066	1871	1868	1874	0	0	0	0	0	0	26.65	26.66	26.66	9.14	21.56
7432	1.31	185.5	3156	2066	1868	1873	392.8	11.1	411	7434	0.00	0.00	0.00	0.000	6	0.000	0.000	3156	2067	1870	1868	1873	0	0	0	0	0	0	26.80	26.82	26.82	9.14	21.60
7732	1.31	185.5	3156	2066	1868	1873	359.4	11.3	421	7736	0.00	2.25	0.00	0.000	516	0.000	0.079	3167	548	1870	1868	1872	0	0	0	0	0	0	26.89	26.50	26.89	9.14	21.92
7836	1.25	185.5	3165	548	1868	1872	349.2	11.7	424	7841	0.00	2.10	0.00	0.000	1030	0.000	0.065	3166	2049	1870	1868	1872	0	0	0	0	0	0	26.67	26.62	26.68	9.14	21.96
8149	1.20	185.5	3166	2049	1868	1871	309.3	12.2	435	8154	0.10	2.22	0.00	0.000	4612	0.223	0.077	3145	544	1870	1868	1872	0	0	0	0	0	0	26.36	26.48	26.42	9.15	21.64
8211	1.20	185.5	3144	545	1868	1872	301.8	12.1	437	8216	0.00	2.10	0.00	0.000	1030	0.000	0.065	3144	2048	1870	1868	1872	0	0	0	0	0	0	26.72	26.66	26.73	9.15	21.92
8523	1.20	185.5	3144	2048	1868	1872	263.1	13.0	452	8527	0.00	2.22	0.00	0.000	516	0.000	0.079	3156	542	1870	1868	1872	0	0	0	0	0	0	26.98	26.57	27.00	9.16	21.84
8584	1.20	185.5	3156	542	1868	1872	254.9	13.4	455	8589	0.00	2.10	0.00	0.000	1030	0.000	0.065	3156	2044	1870	1868	1872	0	0	0	0	0	0	26.74	26.69	26.76	9.15	21.92
8907	1.20	185.5	3155	2044	1868	1872	211.7	13.3	471	8909	0.00	0.00	0.00	0.000	6	0.000	0.000	3156	2044	1869	1867	1872	0	0	0	0	0	0	27.01	27.03	27.02	9.16	21.53
9206	1.20	185.5	3155	2044	1868	1872	170.9	13.5	486	9210	0.00	2.20	0.00	0.000	516	0.000	0.079	3167	545	1869	1867	1871	0	0	0	0	0	0	27.02	26.58	27.04	9.16	21.68
9306	1.14	185.5	3167	545	1868	1871	158.0	13.9	491	9311	0.15	2.12	0.00	0.000	5126	0.194	0.065	3109	2061	1870	1868	1872	0	0	0	0	0	0	26.16	26.72	26.36	9.16	21.41
9613	1.14	185.5	3109	2062	1868	1871	121.7	11.7	518	9614	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2061	1870	1868	1872	0	0	0	0	0	0	27.04	27.05	27.05	9.16	21.72
9914	1.14	185.5	3109	2062	1868	1872	87.5	10.7	548	9923	0.00	2.25	0.00	0.000	516	0.000	0.077	3119	534	1869	1868	1871	0	0	0	0	0	0	27.05	26.59	27.06	9.17	21.49
9986	1.14	185.5	3118	534	1868	1872	80.0	10.5	555	9990	0.00	2.10	0.00	0.000	1030	0.000	0.065	3119	2038	1870	1868	1872	0	0	0	0	0	0	26.78	26.73	26.80	9.17	22.23
10291	1.18	222.2	3118	2038	1868	1872	51.8	8.3	585	10325	0.00	2.22	26.60	0.591	8708	0.000	0.079	3129	546	1744	1741	1748	0	0	0	0	0	0	27.06	26.20	25.63	9.19	21.72
10364	1.18	222.2	3129	546	1741	1748	44.7	10.0	592	10368	0.00	2.12	0.00	0.000	1030	0.000	0.065	3129	2045	1744	1741	1748	0	0	0	0	0	0	26.44	26.39	26.45	9.18	21.49
10676	1.23	261.2	3129	2045	1741	1748	20.3	8.2	623	10706	0.00	0.00	28.52	0.566	8198	0.000	0.000	3129	2045	1609	1604	1615	0	0	0	0	0	0	26.83	25.96	25.46	9.23	22.04
10834	end climb: SURFACE_DEPTH_REACHED
state	10834	begin surface coast
10876	end surface coast: CONTROL_FINISHED_OK
state	10876	begin surface