Glider dive log

MIZ Jul14 * SG196 * Dive index * Mission links * Dive 271 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 180 C_ROLL_CLIMB 2740 ALTIM_FREQUENCY 13

MISSION 7 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 271 FIX_MISSING_TIMEOUT 4 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 7100 ROLL_TIMEOUT 15 XPDR_VALID 2

D_SURF 2 TGT_DEFAULT_LON -14430 R_PORT_OVSHOOT 58 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 676.53741 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.75

D_ABORT 800 N_FILEKB 8 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 2 ROLL_ADJ_GAIN 1.5 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0.050000001 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 9 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 1.75 N_NOCOMM 6 C_VBD 3258 DEVICE4 -1

D_SAFE 500 NOCOMM_ACTION 161 VBD_DBAND 2 DEVICE5 -1

D_CALL 3 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 5 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 1

SURFACE_URGENCY_TRY 5 CALL_TRIES 3 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 10 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 215 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 250 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 20 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -5891.3413 PITCH_W_GAIN 0 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 1 RAFOS_PEAK_OFFSET 0 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.050000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044209026

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00065043929

T_WATCHDOG 10 PITCH_MIN 208 MINV_10V 11 SEABIRD_T_I 2.5803243e-05

RELAUNCH 1 PITCH_MAX 3896 FG_AHR_10V 0 SEABIRD_T_J 3.1106315e-06

APOGEE_PITCH -5 C_PITCH 2895 FG_AHR_24V 0 SEABIRD_C_G -9.7475271

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1204907

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -73.350418 SEABIRD_C_I -0.00083350006

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001164176 SEABIRD_C_J 0.00013962483

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 38 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54281 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 160 COMPASS_USE 4 TM_RECORDABOVE 2000.0

NAV_MODE 0 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 10 TM_LOGSAMPLE 0.0

HD_A 0.0043000001 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3787 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 4.3e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2760 ALTIM_PING_DELTA 20

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 750 PITCH_GAIN 38 SURFACE_URGENCY_FORCE 10

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3896 SURFACE_URGENCY_TRY 5

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 10 FERRY_MAX 45 PITCH_MIN 208 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 20 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 TGT_DEFAULT_LAT 7100

ALTIM_PING_DEPTH 0 FILEMGR 2 PITCH_W_DBAND 0 TGT_DEFAULT_LON -14430

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 4 PITCH_W_GAIN 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001164176 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -73.350418 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0043000001 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 4.3e-06 P_OVSHOOT_WITHG 0 T_ABORT 1440

CALL_NDIVES 1 HEADING -1 RAFOS_CORR_THRESH 60 T_BOOST 4

CALL_TRIES 3 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 215

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.050000001 RAFOS_PEAK_OFFSET 0 T_GPS 3

CAPUPLOAD 0 ID 196 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -5891.3413

COMM_SEQ 0 INT_PRESSURE_YINT 0.75 ROLL_ADJ_DBAND 0.050000001 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 1.5 T_MISSION 250

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 360

COMPASS_USE 4 LOGGERDEVICE2 71 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_DEG 40 T_TURN 225

C_PITCH 2895 LOGGERDEVICE4 -1 ROLL_MAX 3787 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2740 LOGGERS 1 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2760 MASS 54281 ROLL_MIN 218 UNCOM_BLEED 20

C_VBD 3258 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 58 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 21 USE_ICE 1

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 7 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 0 SEABIRD_C_G -9.7475271 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1204907 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.00083350006 VBD_MIN 500

DIVE 271 N_FILEKB 8 SEABIRD_C_J 0.00013962483 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 800 N_GPS -20 SEABIRD_T_G 0.0044209026 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00065043929 VBD_TIMEOUT 720

D_CALL 3 N_NOSURFACE 0 SEABIRD_T_I 2.5803243e-05 W_ADJ_DBAND 0

D_FINISH 9 PHONE_DEVICE 49 SEABIRD_T_J 3.1106315e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 2 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0 SM_CC 676.53741

D_PITCH 1.75 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 500 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 030914,053554,7356.731,-14412.652,28,0.9,48,23.2 SPEED_LIMITS 0.201,0.252

_CALLS 1 TGT_NAME 6

_XMS_NAKs 0 TGT_LATLONG 7435.000,-14230.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.59 MHEAD_RNG_PITCHd_Wd 12.3,86974,-22.3,-11.628,-24.76,1933

_SM_ANGLEo -78.2 D_GRID 1000

GPS2 030914,054329,7356.773,-14412.613,6,1.0,26,23.2

Post-dive calculations and measurements:

FREEZE 0.71,-1.166,-0.703,2,1,0 _24V_AH 12.65,82.970

FINISH 0.7,1.010319 _10V_AH 12.78,0.000

SM_CCo 12221,0.00,0.000,0,0,494,678.01 FG_AHR_24Vo 0.000

SM_GC 1.83,9.40,0.00,0.00,0.083,0.000,0.000,205,2731,494,-8.35,-0.82,678.01,0,0,0,0,0,0,14.32,28.83,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 200 MEM 207748

RAFOS_FIX 7324.021484,-14457.928711,260814,121206,2,255,0.38 DATA_FILE_SIZE 26683,825

IRIDIUM_FIX 7312.24,-14424.12,030914,020655 CAP_FILE_SIZE 129295,0

TT8_MAMPS 0.044191,0.044191 CFSIZE 2097872896,2039513088

HUMID 44.92 ERRORS 0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.54327 INTR 2,12148.51,0x2378b6,7,5

TCM_TEMP 12.50 SOUNDSPEED 1448.5

XPDR_PINGS 19 GPS 030914,090854,7357.933,-14409.415,39,0.8,59,23.3

SC_FREEKB 3817216

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 394 116.85 nil 0 0 0.00

Roll_motor 38 119 58.08 nil 0 0 0.00

VBD_pump_during_apogee 576 2002 14603.87 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 12193 17 2659.28

Iridium_during_xfer 265 159 536.13 TMICL 0 0 0.00

Transponder_ping 4 420 25.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.28

TT8 0 0 0.00

LPSleep 9917 2 292.79

TT8_Active 617 9 74.79

TT8_Sampling 1948 28 720.84

TT8_CF8 182 35 83.46

TT8_Kalman 0 0 0.00

Analog_circuits 1562 10 199.73

GPS_charging 0 0 0.00

Compass 1234 0 11.83

RAFOS 1495 48 917.09

Transponder 0 5 0.03

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

16 -0.69 -145.9 206 2733 430 550 0.0 0.0 0 90 0.00 0.00 -72.15 0.000 16386 0.000 0.000 205 2732 2231 2237 2226 0 0 0 0 0 0 28.83 28.83 28.83

92 -0.69 -145.9 205 2732 2237 2227 3.3 -2.9 7 141 12.05 1.88 -30.42 0.000 18692 0.395 0.119 2657 3790 3855 3915 3796 0 0 0 0 0 0 13.97 14.20 14.47

365 -0.69 -145.9 2658 3791 3916 3799 89.7 -25.0 62 372 0.00 1.73 0.00 0.000 1030 0.000 0.052 2657 2753 3857 3915 3799 0 0 0 0 0 0 28.83 14.30 28.83

671 -0.69 -145.9 2656 2754 3916 3800 154.7 -19.9 93 676 0.00 1.85 0.00 0.000 260 0.000 0.099 2649 3783 3856 3914 3799 0 0 0 0 0 0 28.83 14.27 28.83

901 -0.69 -145.9 2650 3783 3916 3799 200.8 -18.8 139 906 0.00 1.70 0.00 0.000 1030 0.000 0.054 2649 2761 3857 3915 3799 0 0 0 0 0 0 28.83 14.39 28.83

1221 -0.69 -145.9 2650 2762 3916 3800 255.4 -15.6 170 1226 0.00 1.85 0.00 0.000 260 0.000 0.101 2641 3786 3856 3914 3799 0 0 0 0 0 0 28.83 14.32 28.83

1360 -0.69 -145.9 2641 3786 3915 3799 279.3 -16.8 198 1366 0.10 1.70 0.00 0.000 3078 0.231 0.054 2667 2761 3857 3915 3799 0 0 0 0 0 0 14.23 14.47 28.83

1672 -0.69 -145.9 2668 2762 3916 3799 321.1 -13.2 210 1673 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2762 3857 3915 3799 0 0 0 0 0 0 28.83 28.83 28.83

1971 -0.69 -145.9 2668 2761 3916 3799 359.2 -12.5 220 1972 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2762 3856 3915 3798 0 0 0 0 0 0 28.83 28.83 28.83

2271 -0.69 -145.9 2667 2758 3916 3799 395.8 -12.2 230 2272 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2761 3856 3914 3799 0 0 0 0 0 0 28.83 28.83 28.83

2571 -0.69 -145.9 2667 2762 3916 3799 431.9 -12.0 240 2576 0.00 2.33 0.00 0.000 516 0.000 0.066 2667 1368 3857 3915 3799 0 0 0 0 0 0 28.83 14.52 28.83

2616 -0.69 -145.9 2667 1369 3915 3798 437.2 -12.0 249 2621 0.00 2.45 0.00 0.000 1030 0.000 0.099 2662 2761 3857 3915 3799 0 0 0 0 0 0 28.83 14.49 28.83

2932 -0.69 -145.9 2663 2762 3916 3799 475.6 -12.2 262 2933 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2762 3857 3915 3799 0 0 0 0 0 0 28.83 28.83 28.83

3231 -0.69 -145.9 2663 2762 3915 3800 511.8 -12.0 272 3236 0.00 1.83 0.00 0.000 260 0.000 0.101 2654 3788 3857 3915 3799 0 0 0 0 0 0 28.83 14.46 28.83

3281 -0.69 -145.9 2655 3789 3915 3800 518.4 -13.4 282 3286 0.00 1.70 0.00 0.000 1030 0.000 0.054 2654 2755 3856 3914 3799 0 0 0 0 0 0 28.83 14.55 28.83

3591 -0.69 -145.9 2654 2755 3916 3799 557.0 -12.3 294 3592 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2754 3857 3915 3799 0 0 0 0 0 0 28.83 28.83 28.83

3891 -0.69 -145.9 2654 2755 3915 3800 593.7 -12.1 304 3892 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2754 3857 3915 3799 0 0 0 0 0 0 28.83 28.83 28.83

4191 -0.69 -145.9 2654 2755 3915 3800 630.2 -12.2 314 4192 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2754 3857 3915 3799 0 0 0 0 0 0 28.83 28.83 28.83

4491 -0.69 -145.9 2655 2754 3916 3797 666.8 -12.1 324 4492 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2754 3856 3914 3799 0 0 0 0 0 0 28.83 28.83 28.83

4791 -0.69 -145.9 2655 2754 3916 3799 702.9 -11.9 334 4792 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2754 3856 3914 3799 0 0 0 0 0 0 28.83 28.83 28.83

5091 -0.69 -145.9 2655 2754 3916 3799 739.2 -12.1 344 5092 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2754 3856 3914 3799 0 0 0 0 0 0 28.83 28.83 28.83

5209 end dive: TARGET_DEPTH_EXCEEDED

state 5209 begin apogee

5213 -0.13 0.0 2655 2754 3916 3799 753.6 -11.9 348 5342 0.70 0.00 126.22 2.002 10244 0.219 0.000 2843 2754 3258 3275 3241 0 0 0 0 0 0 14.37 28.83 13.10

5343 end apogee: CONTROL_FINISHED_OK

state 5343 begin climb

5345 0.69 145.9 2844 2755 3272 3237 757.3 0.0 352 5478 0.88 0.00 125.40 1.847 11270 0.123 0.000 3110 2754 2658 2664 2652 0 0 0 0 0 0 13.78 28.83 12.65

5782 0.69 145.9 3111 2755 2664 2646 712.8 12.9 392 5783 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2754 2654 2664 2645 0 0 0 0 0 0 28.83 28.83 28.83

6082 0.69 145.9 3110 2754 2665 2645 673.8 13.1 402 6083 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2754 2654 2664 2644 0 0 0 0 0 0 28.83 28.83 28.83

6382 0.69 145.9 3110 2754 2665 2645 634.9 12.9 412 6383 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2754 2657 2671 2644 0 0 0 0 0 0 28.83 28.83 28.83

6683 0.69 145.9 3110 2754 2665 2645 596.7 12.7 422 6683 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2754 2654 2664 2644 0 0 0 0 0 0 28.83 28.83 28.83

6982 0.69 145.9 3110 2754 2665 2644 559.3 12.5 432 6983 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2754 2654 2664 2644 0 0 0 0 0 0 28.83 28.83 28.83

7282 0.69 145.9 3111 2754 2665 2644 521.8 12.4 442 7283 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2754 2653 2663 2644 0 0 0 0 0 0 28.83 28.83 28.83

7582 0.69 145.9 3111 2755 2664 2644 485.0 12.3 452 7583 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2754 2654 2664 2644 0 0 0 0 0 0 28.83 28.83 28.83

7883 0.69 145.9 3110 2754 2665 2645 448.5 12.1 462 7883 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2754 2654 2664 2644 0 0 0 0 0 0 28.83 28.83 28.83

8183 0.69 145.9 3111 2755 2664 2645 412.2 12.0 472 8184 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2754 2654 2664 2644 0 0 0 0 0 0 28.83 28.83 28.83

8482 0.69 145.9 3110 2752 2665 2644 376.8 11.8 482 8483 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2754 2654 2664 2644 0 0 0 0 0 0 28.83 28.83 28.83

8782 0.69 145.9 3110 2754 2665 2644 341.6 11.6 492 8783 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2754 2654 2664 2644 0 0 0 0 0 0 28.83 28.83 28.83

9083 0.70 154.8 3110 2754 2666 2644 307.9 11.2 502 9092 0.00 0.00 8.30 1.398 8198 0.000 0.000 3110 2754 2625 2635 2615 0 0 0 0 0 0 28.83 28.83 13.79

9382 0.70 166.9 3110 2754 2633 2610 274.1 11.0 512 9398 0.00 2.38 11.48 1.349 8708 0.000 0.062 3121 1344 2570 2578 2563 0 0 0 0 0 0 28.83 14.40 13.78

9432 0.72 195.7 3123 1344 2578 2563 268.9 10.1 522 9463 0.00 2.47 24.42 1.303 9222 0.000 0.090 3121 2749 2454 2459 2450 0 0 0 0 0 0 28.83 14.33 13.64

9763 0.73 208.4 3122 2749 2460 2446 231.0 11.0 551 9775 0.00 0.00 11.30 1.317 8198 0.000 0.000 3121 2749 2408 2414 2403 0 0 0 0 0 0 28.83 28.83 13.71

10073 0.77 254.8 3121 2749 2412 2395 201.3 9.2 582 10119 0.00 2.45 39.40 1.287 8708 0.000 0.066 3125 1356 2213 2214 2212 0 0 0 0 0 0 28.83 14.21 13.60

10155 0.80 303.3 3125 1357 2213 2210 194.0 9.0 598 10205 0.00 2.45 41.47 1.372 9222 0.000 0.090 3125 2738 2015 2018 2012 0 0 0 0 0 0 28.83 14.23 13.47

10503 0.82 324.9 3126 2738 2020 2000 156.3 10.5 638 10525 0.00 0.00 18.05 1.226 8198 0.000 0.000 3125 2738 1930 1934 1926 0 0 0 0 0 0 28.83 28.83 13.67

10825 0.84 357.4 3125 2738 1934 1919 123.1 9.9 670 10860 0.12 2.42 27.55 1.176 10756 0.128 0.067 3192 1355 1794 1795 1794 0 0 0 0 0 0 14.38 14.24 13.68

10891 0.84 357.4 3193 1354 1794 1791 114.6 13.2 683 10896 0.00 2.45 0.00 0.000 1030 0.000 0.091 3193 2730 1791 1793 1790 0 0 0 0 0 0 28.83 14.21 28.83

11195 0.84 363.4 3193 2730 1795 1785 74.4 11.3 714 11197 0.00 0.00 1.45 0.351 8198 0.000 0.000 3192 2730 1776 1781 1771 0 0 0 0 0 0 28.83 28.83 13.97

11495 0.92 477.6 3193 2727 1795 1772 45.9 5.6 744 11550 0.00 0.00 51.55 0.325 8454 0.000 0.000 3193 2730 1309 1323 1296 0 0 0 0 0 0 28.83 28.83 14.02

11855 1.00 589.9 3193 2731 1326 1282 21.5 5.7 786 11911 0.00 2.38 50.40 0.262 8708 0.000 0.064 3199 1348 852 850 855 0 0 0 0 0 0 28.83 14.23 14.06

11920 1.09 714.6 3200 1349 853 856 18.1 5.0 798 11967 0.15 2.47 39.65 0.251 11270 0.135 0.092 3252 2730 498 445 552 0 0 0 0 0 0 14.22 14.20 14.02

12124 end climb: SURFACE_DEPTH_REACHED

state 12125 begin surface coast

12144 end surface coast: FINISH_DEPTH_REACHED

state 12144 begin surface

ID	196	ESCAPE_HEADING	180	C_ROLL_CLIMB	2740	ALTIM_FREQUENCY	13
MISSION	7	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	271	FIX_MISSING_TIMEOUT	4	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	7100	ROLL_TIMEOUT	15	XPDR_VALID	2
D_SURF	2	TGT_DEFAULT_LON	-14430	R_PORT_OVSHOOT	58	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	676.53741	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.75
D_ABORT	800	N_FILEKB	8	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	2	ROLL_ADJ_GAIN	1.5	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0.050000001	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	9	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	1.75	N_NOCOMM	6	C_VBD	3258	DEVICE4	-1
D_SAFE	500	NOCOMM_ACTION	161	VBD_DBAND	2	DEVICE5	-1
D_CALL	3	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	5	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	1
SURFACE_URGENCY_TRY	5	CALL_TRIES	3	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	10	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	215	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	250	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	20	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-5891.3413	PITCH_W_GAIN	0	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	1	RAFOS_PEAK_OFFSET	0	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.050000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044209026
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00065043929
T_WATCHDOG	10	PITCH_MIN	208	MINV_10V	11	SEABIRD_T_I	2.5803243e-05
RELAUNCH	1	PITCH_MAX	3896	FG_AHR_10V	0	SEABIRD_T_J	3.1106315e-06
APOGEE_PITCH	-5	C_PITCH	2895	FG_AHR_24V	0	SEABIRD_C_G	-9.7475271
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1204907
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-73.350418	SEABIRD_C_I	-0.00083350006
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001164176	SEABIRD_C_J	0.00013962483
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	38	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54281	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	160	COMPASS_USE	4	TM_RECORDABOVE	2000.0
NAV_MODE	0	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	10	TM_LOGSAMPLE	0.0
HD_A	0.0043000001	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3787	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	4.3e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2760	ALTIM_PING_DELTA	20

GPS1	030914,053554,7356.731,-14412.652,28,0.9,48,23.2	SPEED_LIMITS	0.201,0.252
_CALLS	1	TGT_NAME	6
_XMS_NAKs	0	TGT_LATLONG	7435.000,-14230.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.59	MHEAD_RNG_PITCHd_Wd	12.3,86974,-22.3,-11.628,-24.76,1933
_SM_ANGLEo	-78.2	D_GRID	1000
GPS2	030914,054329,7356.773,-14412.613,6,1.0,26,23.2

FREEZE	0.71,-1.166,-0.703,2,1,0	_24V_AH	12.65,82.970
FINISH	0.7,1.010319	_10V_AH	12.78,0.000
SM_CCo	12221,0.00,0.000,0,0,494,678.01	FG_AHR_24Vo	0.000
SM_GC	1.83,9.40,0.00,0.00,0.083,0.000,0.000,205,2731,494,-8.35,-0.82,678.01,0,0,0,0,0,0,14.32,28.83,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	200	MEM	207748
RAFOS_FIX	7324.021484,-14457.928711,260814,121206,2,255,0.38	DATA_FILE_SIZE	26683,825
IRIDIUM_FIX	7312.24,-14424.12,030914,020655	CAP_FILE_SIZE	129295,0
TT8_MAMPS	0.044191,0.044191	CFSIZE	2097872896,2039513088
HUMID	44.92	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.54327	INTR	2,12148.51,0x2378b6,7,5
TCM_TEMP	12.50	SOUNDSPEED	1448.5
XPDR_PINGS	19	GPS	030914,090854,7357.933,-14409.415,39,0.8,59,23.3
SC_FREEKB	3817216

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	394	116.85	nil	0	0	0.00
Roll_motor	38	119	58.08	nil	0	0	0.00
VBD_pump_during_apogee	576	2002	14603.87	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	12193	17	2659.28
Iridium_during_xfer	265	159	536.13	TMICL	0	0	0.00
Transponder_ping	4	420	25.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.28
TT8	0	0	0.00
LPSleep	9917	2	292.79
TT8_Active	617	9	74.79
TT8_Sampling	1948	28	720.84
TT8_CF8	182	35	83.46
TT8_Kalman	0	0	0.00
Analog_circuits	1562	10	199.73
GPS_charging	0	0	0.00
Compass	1234	0	11.83
RAFOS	1495	48	917.09
Transponder	0	5	0.03

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
16	-0.69	-145.9	206	2733	430	550	0.0	0.0	0	90	0.00	0.00	-72.15	0.000	16386	0.000	0.000	205	2732	2231	2237	2226	0	0	0	0	0	0	28.83	28.83	28.83
92	-0.69	-145.9	205	2732	2237	2227	3.3	-2.9	7	141	12.05	1.88	-30.42	0.000	18692	0.395	0.119	2657	3790	3855	3915	3796	0	0	0	0	0	0	13.97	14.20	14.47
365	-0.69	-145.9	2658	3791	3916	3799	89.7	-25.0	62	372	0.00	1.73	0.00	0.000	1030	0.000	0.052	2657	2753	3857	3915	3799	0	0	0	0	0	0	28.83	14.30	28.83
671	-0.69	-145.9	2656	2754	3916	3800	154.7	-19.9	93	676	0.00	1.85	0.00	0.000	260	0.000	0.099	2649	3783	3856	3914	3799	0	0	0	0	0	0	28.83	14.27	28.83
901	-0.69	-145.9	2650	3783	3916	3799	200.8	-18.8	139	906	0.00	1.70	0.00	0.000	1030	0.000	0.054	2649	2761	3857	3915	3799	0	0	0	0	0	0	28.83	14.39	28.83
1221	-0.69	-145.9	2650	2762	3916	3800	255.4	-15.6	170	1226	0.00	1.85	0.00	0.000	260	0.000	0.101	2641	3786	3856	3914	3799	0	0	0	0	0	0	28.83	14.32	28.83
1360	-0.69	-145.9	2641	3786	3915	3799	279.3	-16.8	198	1366	0.10	1.70	0.00	0.000	3078	0.231	0.054	2667	2761	3857	3915	3799	0	0	0	0	0	0	14.23	14.47	28.83
1672	-0.69	-145.9	2668	2762	3916	3799	321.1	-13.2	210	1673	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2762	3857	3915	3799	0	0	0	0	0	0	28.83	28.83	28.83
1971	-0.69	-145.9	2668	2761	3916	3799	359.2	-12.5	220	1972	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2762	3856	3915	3798	0	0	0	0	0	0	28.83	28.83	28.83
2271	-0.69	-145.9	2667	2758	3916	3799	395.8	-12.2	230	2272	0.00	0.00	0.00	0.000	6	0.000	0.000	2667	2761	3856	3914	3799	0	0	0	0	0	0	28.83	28.83	28.83
2571	-0.69	-145.9	2667	2762	3916	3799	431.9	-12.0	240	2576	0.00	2.33	0.00	0.000	516	0.000	0.066	2667	1368	3857	3915	3799	0	0	0	0	0	0	28.83	14.52	28.83
2616	-0.69	-145.9	2667	1369	3915	3798	437.2	-12.0	249	2621	0.00	2.45	0.00	0.000	1030	0.000	0.099	2662	2761	3857	3915	3799	0	0	0	0	0	0	28.83	14.49	28.83
2932	-0.69	-145.9	2663	2762	3916	3799	475.6	-12.2	262	2933	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2762	3857	3915	3799	0	0	0	0	0	0	28.83	28.83	28.83
3231	-0.69	-145.9	2663	2762	3915	3800	511.8	-12.0	272	3236	0.00	1.83	0.00	0.000	260	0.000	0.101	2654	3788	3857	3915	3799	0	0	0	0	0	0	28.83	14.46	28.83
3281	-0.69	-145.9	2655	3789	3915	3800	518.4	-13.4	282	3286	0.00	1.70	0.00	0.000	1030	0.000	0.054	2654	2755	3856	3914	3799	0	0	0	0	0	0	28.83	14.55	28.83
3591	-0.69	-145.9	2654	2755	3916	3799	557.0	-12.3	294	3592	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2754	3857	3915	3799	0	0	0	0	0	0	28.83	28.83	28.83
3891	-0.69	-145.9	2654	2755	3915	3800	593.7	-12.1	304	3892	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2754	3857	3915	3799	0	0	0	0	0	0	28.83	28.83	28.83
4191	-0.69	-145.9	2654	2755	3915	3800	630.2	-12.2	314	4192	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2754	3857	3915	3799	0	0	0	0	0	0	28.83	28.83	28.83
4491	-0.69	-145.9	2655	2754	3916	3797	666.8	-12.1	324	4492	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2754	3856	3914	3799	0	0	0	0	0	0	28.83	28.83	28.83
4791	-0.69	-145.9	2655	2754	3916	3799	702.9	-11.9	334	4792	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2754	3856	3914	3799	0	0	0	0	0	0	28.83	28.83	28.83
5091	-0.69	-145.9	2655	2754	3916	3799	739.2	-12.1	344	5092	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2754	3856	3914	3799	0	0	0	0	0	0	28.83	28.83	28.83
5209	end dive: TARGET_DEPTH_EXCEEDED
state	5209	begin apogee
5213	-0.13	0.0	2655	2754	3916	3799	753.6	-11.9	348	5342	0.70	0.00	126.22	2.002	10244	0.219	0.000	2843	2754	3258	3275	3241	0	0	0	0	0	0	14.37	28.83	13.10
5343	end apogee: CONTROL_FINISHED_OK
state	5343	begin climb
5345	0.69	145.9	2844	2755	3272	3237	757.3	0.0	352	5478	0.88	0.00	125.40	1.847	11270	0.123	0.000	3110	2754	2658	2664	2652	0	0	0	0	0	0	13.78	28.83	12.65
5782	0.69	145.9	3111	2755	2664	2646	712.8	12.9	392	5783	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2754	2654	2664	2645	0	0	0	0	0	0	28.83	28.83	28.83
6082	0.69	145.9	3110	2754	2665	2645	673.8	13.1	402	6083	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2754	2654	2664	2644	0	0	0	0	0	0	28.83	28.83	28.83
6382	0.69	145.9	3110	2754	2665	2645	634.9	12.9	412	6383	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2754	2657	2671	2644	0	0	0	0	0	0	28.83	28.83	28.83
6683	0.69	145.9	3110	2754	2665	2645	596.7	12.7	422	6683	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2754	2654	2664	2644	0	0	0	0	0	0	28.83	28.83	28.83
6982	0.69	145.9	3110	2754	2665	2644	559.3	12.5	432	6983	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2754	2654	2664	2644	0	0	0	0	0	0	28.83	28.83	28.83
7282	0.69	145.9	3111	2754	2665	2644	521.8	12.4	442	7283	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2754	2653	2663	2644	0	0	0	0	0	0	28.83	28.83	28.83
7582	0.69	145.9	3111	2755	2664	2644	485.0	12.3	452	7583	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2754	2654	2664	2644	0	0	0	0	0	0	28.83	28.83	28.83
7883	0.69	145.9	3110	2754	2665	2645	448.5	12.1	462	7883	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2754	2654	2664	2644	0	0	0	0	0	0	28.83	28.83	28.83
8183	0.69	145.9	3111	2755	2664	2645	412.2	12.0	472	8184	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2754	2654	2664	2644	0	0	0	0	0	0	28.83	28.83	28.83
8482	0.69	145.9	3110	2752	2665	2644	376.8	11.8	482	8483	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2754	2654	2664	2644	0	0	0	0	0	0	28.83	28.83	28.83
8782	0.69	145.9	3110	2754	2665	2644	341.6	11.6	492	8783	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2754	2654	2664	2644	0	0	0	0	0	0	28.83	28.83	28.83
9083	0.70	154.8	3110	2754	2666	2644	307.9	11.2	502	9092	0.00	0.00	8.30	1.398	8198	0.000	0.000	3110	2754	2625	2635	2615	0	0	0	0	0	0	28.83	28.83	13.79
9382	0.70	166.9	3110	2754	2633	2610	274.1	11.0	512	9398	0.00	2.38	11.48	1.349	8708	0.000	0.062	3121	1344	2570	2578	2563	0	0	0	0	0	0	28.83	14.40	13.78
9432	0.72	195.7	3123	1344	2578	2563	268.9	10.1	522	9463	0.00	2.47	24.42	1.303	9222	0.000	0.090	3121	2749	2454	2459	2450	0	0	0	0	0	0	28.83	14.33	13.64
9763	0.73	208.4	3122	2749	2460	2446	231.0	11.0	551	9775	0.00	0.00	11.30	1.317	8198	0.000	0.000	3121	2749	2408	2414	2403	0	0	0	0	0	0	28.83	28.83	13.71
10073	0.77	254.8	3121	2749	2412	2395	201.3	9.2	582	10119	0.00	2.45	39.40	1.287	8708	0.000	0.066	3125	1356	2213	2214	2212	0	0	0	0	0	0	28.83	14.21	13.60
10155	0.80	303.3	3125	1357	2213	2210	194.0	9.0	598	10205	0.00	2.45	41.47	1.372	9222	0.000	0.090	3125	2738	2015	2018	2012	0	0	0	0	0	0	28.83	14.23	13.47
10503	0.82	324.9	3126	2738	2020	2000	156.3	10.5	638	10525	0.00	0.00	18.05	1.226	8198	0.000	0.000	3125	2738	1930	1934	1926	0	0	0	0	0	0	28.83	28.83	13.67
10825	0.84	357.4	3125	2738	1934	1919	123.1	9.9	670	10860	0.12	2.42	27.55	1.176	10756	0.128	0.067	3192	1355	1794	1795	1794	0	0	0	0	0	0	14.38	14.24	13.68
10891	0.84	357.4	3193	1354	1794	1791	114.6	13.2	683	10896	0.00	2.45	0.00	0.000	1030	0.000	0.091	3193	2730	1791	1793	1790	0	0	0	0	0	0	28.83	14.21	28.83
11195	0.84	363.4	3193	2730	1795	1785	74.4	11.3	714	11197	0.00	0.00	1.45	0.351	8198	0.000	0.000	3192	2730	1776	1781	1771	0	0	0	0	0	0	28.83	28.83	13.97
11495	0.92	477.6	3193	2727	1795	1772	45.9	5.6	744	11550	0.00	0.00	51.55	0.325	8454	0.000	0.000	3193	2730	1309	1323	1296	0	0	0	0	0	0	28.83	28.83	14.02
11855	1.00	589.9	3193	2731	1326	1282	21.5	5.7	786	11911	0.00	2.38	50.40	0.262	8708	0.000	0.064	3199	1348	852	850	855	0	0	0	0	0	0	28.83	14.23	14.06
11920	1.09	714.6	3200	1349	853	856	18.1	5.0	798	11967	0.15	2.47	39.65	0.251	11270	0.135	0.092	3252	2730	498	445	552	0	0	0	0	0	0	14.22	14.20	14.02
12124	end climb: SURFACE_DEPTH_REACHED
state	12125	begin surface coast
12144	end surface coast: FINISH_DEPTH_REACHED
state	12144	begin surface