Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 304 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 515 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 304 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3575 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 25 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 2841 C_ROLL_DIVE 2325 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8830 C_ROLL_CLIMB 2275 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 597.54108 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 250 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 404 DEVICE2 20

T_MISSION 500 CALL_TRIES 5 VBD_MAX 3959 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 2840 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -25088.896 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -7 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 200 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 205 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3967 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2747 PRESSURE_YINT -42.932224 SEABIRD_T_G 0.0043524536

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011628702 SEABIRD_T_H 0.00062548812

MASS 51931 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3784551e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.5490917e-06

FERRY_MAX 45 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.141768

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1640214

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00094225706

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0001682234

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 30

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 597.54108

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 27 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 30 D_PITCH 0 PITCH_MAX 3967 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 205 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011628702 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -42.932224 TGT_DEFAULT_LAT 2841

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8830

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -7 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -25088.896

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 515 ROLL_DEG 25 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3575 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2747 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY -4

C_ROLL_CLIMB 2275 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2325 MASS 51931 R_PORT_OVSHOOT 32 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 35 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.141768 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1640214 VBD_MAX 3959

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.00094225706 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.0001682234 VBD_MIN 404

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043524536 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062548812 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3784551e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5490917e-06 XPDR_DEVICE 24

DIVE 304 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 192231,2834.790,-8838.706,39,1.8,39,-0.3 TGT_NAME NEW0528A

_CALLS 1 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.145,0.221

_SM_DEPTHo 1.73 KALMAN_X 75320.0,-1928.7,-336.3,-54411.9,8058.1

_SM_ANGLEo -67.6 KALMAN_Y -459190.4,402.5,-174.2,470968.4,-2788.1

GPS2 192932,2834.833,-8838.673,12,1.6,12,-0.3 MHEAD_RNG_PITCHd_Wd 37.3,26215,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1382

Post-dive calculations and measurements:

FINISH 0.9,1.022365 _24V_AH 22.5,53.211

SM_CCo 18509,55.67,0.482,0,0,404,597.54 _10V_AH 10.5,73.252

SM_GC 1.50,0.00,0.00,55.67,0.000,0.000,0.482,197,2340,404,-7.97,0.42,597.54 DATA_FILE_SIZE 94530,1771

IRIDIUM_FIX 2823.64,-8839.04,191099,141435 CAP_FILE_SIZE 173587,0

TT8_MAMPS 0.051389 CFSIZE 260165632,227930112

HUMID 1403 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.23864 CURRENT 0.110, 96.2,1

TCM_TEMP 23.30 GPS 260710,004037,2837.112,-8835.906,38,1.1,38,-0.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 250 116.39 SBE_CT 1210 24 653.47

Roll_motor 112 72 183.82 SBE_O2 1297 19 554.67

VBD_pump_during_apogee 548 1239 15282.69 WL_BBFL2VMT 3980 105 9404.02

VBD_pump_during_surface 55 481 603.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 66.11 nil 0 0 0.00

Iridium_during_connect 30 160 109.02 nil 0 0 0.00

Iridium_during_xfer 227 223 1141.85

Transponder_ping 0 420 2.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.60

TT8 0 19 0.00

LPSleep 12126 2 278.85

TT8_Active 653 19 135.96

TT8_Sampling 5461 39 2282.35

TT8_CF8 710 45 341.89

TT8_Kalman 33 81 28.64

Analog_circuits 2265 12 285.43

GPS_charging 0 0 0.00

Compass 4906 8 412.15

RAFOS 0 0 0.00

Transponder 0 30 0.17

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.64 -194.6 0.0 0.0 0 86 0.00 0.00 -70.22 0.000 2 0.000 0.000 192 2342 2339

88 -0.64 -194.6 3.2 -3.3 7 140 10.52 1.50 -36.72 0.000 4 0.251 0.073 2526 3216 3635

301 -0.64 -194.6 44.4 -18.2 26 308 0.00 1.45 0.00 0.000 6 0.000 0.027 2530 2331 3637

494 -0.64 -194.6 71.9 -13.2 45 497 0.00 1.25 0.00 0.000 4 0.000 0.034 2536 1406 3638

541 -0.64 -194.6 78.2 -12.0 49 548 0.00 1.27 0.00 0.000 6 0.000 0.034 2532 2325 3639

733 -0.64 -194.6 102.1 -12.1 68 734 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2326 3639

1044 -0.64 -194.6 141.1 -12.3 98 1047 0.00 1.25 0.00 0.000 4 0.000 0.034 2532 1403 3639

1108 -0.64 -194.6 149.1 -12.7 104 1111 0.00 1.27 0.00 0.000 6 0.000 0.035 2526 2327 3639

1431 -0.64 -194.6 188.6 -11.9 135 1434 0.00 1.25 0.00 0.000 4 0.000 0.033 2526 1406 3639

1553 -0.64 -194.6 202.8 -11.0 146 1560 0.00 1.27 0.00 0.000 6 0.000 0.035 2520 2328 3639

1872 -0.64 -194.6 241.4 -12.6 177 1875 0.00 1.25 0.00 0.000 4 0.000 0.034 2520 1410 3637

1989 -0.64 -194.6 256.4 -12.7 188 1992 0.00 1.27 0.00 0.000 6 0.000 0.036 2515 2328 3637

2312 -0.64 -194.6 295.7 -12.1 219 2315 0.00 1.25 0.00 0.000 4 0.000 0.035 2515 1416 3635

2440 -0.64 -194.6 311.3 -11.6 231 2443 0.08 1.27 0.00 0.000 6 0.139 0.037 2534 2329 3635

2761 -0.64 -194.6 345.0 -10.4 262 2764 0.00 1.27 0.00 0.000 4 0.000 0.037 2534 1401 3633

2879 -0.64 -194.6 357.1 -10.4 273 2882 0.00 1.27 0.00 0.000 6 0.000 0.038 2530 2322 3632

3201 -0.64 -194.6 390.2 -10.2 304 3204 0.00 1.25 0.00 0.000 4 0.000 0.038 2530 1412 3630

3375 -0.64 -194.6 408.6 -11.0 320 3377 0.00 1.27 0.00 0.000 6 0.000 0.039 2525 2325 3629

3697 -0.64 -194.6 443.9 -11.2 351 3700 0.00 1.25 0.00 0.000 4 0.000 0.038 2525 1419 3626

3825 -0.64 -194.6 458.3 -10.0 363 3828 0.00 1.27 0.00 0.000 6 0.000 0.040 2519 2326 3626

4148 -0.64 -194.6 493.7 -11.2 394 4151 0.00 1.27 0.00 0.000 4 0.000 0.038 2519 1408 3624

4201 -0.64 -194.6 499.8 -11.3 399 4204 0.00 1.30 0.00 0.000 6 0.000 0.041 2513 2329 3623

4524 -0.64 -194.6 536.5 -11.6 430 4527 0.00 1.27 0.00 0.000 4 0.000 0.040 2513 1417 3621

4657 -0.64 -194.6 551.6 -11.7 442 4664 0.08 1.30 0.00 0.000 6 0.144 0.041 2532 2329 3620

4975 -0.64 -194.6 581.2 -9.5 473 4978 0.00 1.27 0.00 0.000 4 0.000 0.041 2532 1415 3617

5075 -0.64 -194.6 591.1 -9.6 482 5082 0.00 1.30 0.00 0.000 6 0.000 0.042 2529 2329 3617

5393 -0.64 -194.6 621.8 -9.6 513 5396 0.00 1.27 0.00 0.000 4 0.000 0.041 2529 1422 3616

5478 -0.64 -194.6 630.7 -10.0 521 5481 0.00 1.30 0.00 0.000 6 0.000 0.043 2523 2332 3615

5801 -0.64 -194.6 663.8 -9.8 552 5804 0.00 1.30 0.00 0.000 4 0.000 0.041 2523 1411 3613

5854 -0.64 -194.6 669.2 -10.0 557 5857 0.00 1.30 0.00 0.000 6 0.000 0.043 2518 2325 3613

6178 -0.64 -194.6 701.9 -10.1 588 6178 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2325 3611

6486 -0.64 -194.6 733.3 -9.9 618 6488 0.00 1.27 0.00 0.000 4 0.000 0.042 2517 1414 3609

6593 -0.64 -194.6 744.1 -10.5 628 6596 0.00 1.30 0.00 0.000 6 0.000 0.044 2512 2326 3608

6915 -0.64 -194.6 777.9 -10.9 659 6916 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2326 3606

7225 -0.64 -194.6 810.7 -10.5 689 7228 0.00 1.27 0.00 0.000 4 0.000 0.042 2512 1423 3604

7289 -0.64 -194.6 817.5 -10.7 695 7293 0.10 1.30 0.00 0.000 6 0.138 0.045 2538 2326 3604

7611 -0.64 -194.6 844.7 -8.0 726 7614 0.00 1.27 0.00 0.000 4 0.000 0.042 2538 1425 3602

7674 -0.64 -194.6 850.1 -8.2 732 7677 0.00 1.30 0.00 0.000 6 0.000 0.046 2535 2328 3602

7997 -0.64 -194.6 877.9 -8.6 763 8000 0.00 1.27 0.00 0.000 4 0.000 0.043 2535 1425 3601

8072 -0.64 -194.6 884.9 -8.8 770 8075 0.00 1.30 0.00 0.000 6 0.000 0.046 2529 2329 3601

8394 -0.64 -194.6 913.5 -8.7 801 8395 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2328 3600

8704 -0.64 -194.6 940.8 -8.7 831 8707 0.00 1.30 0.00 0.000 4 0.000 0.044 2529 1412 3598

8826 -0.64 -194.6 951.9 -9.0 842 8832 0.00 1.33 0.00 0.000 6 0.000 0.046 2524 2329 3597

9144 -0.64 -194.6 980.4 -8.3 873 9147 0.00 1.30 0.00 0.000 4 0.000 0.043 2524 1413 3596

9197 -0.64 -194.6 985.2 -8.9 878 9200 0.00 1.33 0.00 0.000 6 0.000 0.047 2519 2328 3596

9247 end dive: TARGET_DEPTH_EXCEEDED

state 9247 begin apogee

9252 -0.26 0.0 990.1 9.7 883 9411 0.47 0.00 155.62 1.239 6 0.129 0.000 2662 2265 2840

9412 end apogee: CONTROL_FINISHED_OK

state 9412 begin climb

9414 0.64 194.6 995.1 0.0 899 9593 0.88 0.00 172.12 1.210 6 0.097 0.000 2942 2265 2046

9900 0.64 194.6 948.3 11.2 947 9903 0.00 1.67 0.00 0.000 4 0.000 0.058 2941 3185 2036

9944 0.64 194.6 943.2 12.6 951 9947 0.00 1.58 0.00 0.000 6 0.000 0.036 2949 2272 2034

10266 0.64 194.6 906.7 11.4 982 10267 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2273 2033

10575 0.64 194.6 871.9 11.3 1012 10578 0.00 1.62 0.00 0.000 4 0.000 0.056 2950 3187 2033

10628 0.64 194.6 865.1 12.2 1017 10632 0.00 1.58 0.00 0.000 6 0.000 0.036 2957 2271 2031

10951 0.64 194.6 827.4 11.4 1048 10954 0.00 1.60 0.00 0.000 4 0.000 0.056 2957 3169 2031

10994 0.64 194.6 821.8 12.9 1052 10997 0.00 1.55 0.00 0.000 6 0.000 0.036 2965 2268 2030

11314 0.64 194.6 782.2 12.0 1083 11317 0.00 1.62 0.00 0.000 4 0.000 0.055 2965 3160 2030

11358 0.64 194.6 776.5 14.2 1087 11360 0.00 1.52 0.00 0.000 6 0.000 0.037 2972 2272 2030

11679 0.64 194.6 735.1 13.2 1118 11682 0.00 1.60 0.00 0.000 4 0.000 0.055 2972 3172 2029

11753 0.64 194.6 724.9 14.5 1125 11756 0.00 1.55 0.00 0.000 6 0.000 0.036 2979 2269 2029

12076 0.64 194.6 682.4 12.9 1156 12077 0.00 0.00 0.00 0.000 6 0.000 0.000 2980 2270 2028

12385 0.64 194.6 642.3 12.9 1186 12388 0.00 1.62 0.00 0.000 4 0.000 0.054 2979 3187 2028

12449 0.64 194.6 633.3 14.7 1192 12452 0.10 1.58 0.00 0.000 6 0.150 0.036 2957 2271 2028

12770 0.64 194.6 596.9 11.0 1223 12773 0.00 1.62 0.00 0.000 4 0.000 0.054 2956 3187 2027

12807 0.64 194.6 592.4 11.9 1226 12813 0.00 1.58 0.00 0.000 6 0.000 0.035 2962 2272 2027

13124 0.64 194.6 557.1 11.1 1257 13125 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2273 2027

13434 0.64 194.6 521.4 11.5 1287 13437 0.00 1.62 0.00 0.000 4 0.000 0.053 2962 3165 2027

13487 0.64 194.6 515.0 12.6 1292 13490 0.00 1.55 0.00 0.000 6 0.000 0.035 2970 2269 2027

13808 0.64 194.6 475.7 12.3 1323 13810 0.00 1.62 0.00 0.000 4 0.000 0.053 2970 3159 2027

13861 0.64 194.6 468.8 11.8 1328 13864 0.00 1.55 0.00 0.000 6 0.000 0.035 2977 2264 2027

14182 0.64 194.6 428.0 12.7 1359 14185 0.00 1.65 0.00 0.000 4 0.000 0.053 2977 3168 2027

14251 0.64 194.6 418.7 14.2 1365 14257 0.10 1.55 0.00 0.000 6 0.144 0.034 2954 2268 2026

14566 0.64 194.6 384.7 10.6 1396 14569 0.00 1.62 0.00 0.000 4 0.000 0.051 2953 3160 2026

14599 0.64 194.6 381.3 11.4 1399 14602 0.00 1.52 0.00 0.000 6 0.000 0.034 2959 2271 2027

14920 0.64 194.6 346.0 11.0 1430 14920 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2272 2027

15231 0.64 194.6 312.3 10.6 1460 15234 0.00 1.60 0.00 0.000 4 0.000 0.051 2959 3158 2027

15288 0.64 194.6 305.6 11.8 1465 15295 0.00 1.52 0.00 0.000 6 0.000 0.033 2966 2269 2027

15606 0.64 194.6 270.6 11.1 1496 15609 0.00 1.60 0.00 0.000 4 0.000 0.050 2966 3176 2027

15660 0.64 194.6 263.8 12.3 1501 15663 0.00 1.55 0.00 0.000 6 0.000 0.033 2974 2268 2027

15983 0.64 194.6 224.2 12.6 1532 15986 0.00 1.62 0.00 0.000 4 0.000 0.050 2974 3191 2027

16040 0.64 194.6 216.8 13.2 1537 16047 0.00 1.58 0.00 0.000 6 0.000 0.031 2982 2268 2027

16358 0.64 194.6 177.2 12.2 1568 16361 0.00 1.62 0.00 0.000 4 0.000 0.049 2982 3188 2028

16401 0.64 194.6 171.5 13.7 1572 16404 0.08 1.55 0.00 0.000 6 0.123 0.032 2954 2272 2027

16722 0.64 194.6 138.8 9.9 1603 16723 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2272 2028

17032 0.64 194.6 111.2 9.0 1633 17035 0.00 1.60 0.00 0.000 4 0.000 0.048 2954 3188 2029

17080 0.64 194.6 106.8 10.1 1637 17086 0.00 1.55 0.00 0.000 6 0.000 0.030 2960 2269 2029

17397 0.64 194.6 78.8 8.7 1668 17400 0.00 1.60 0.00 0.000 4 0.000 0.047 2960 3161 2030

17434 0.64 194.6 75.2 9.3 1671 17441 0.00 1.50 0.00 0.000 6 0.000 0.030 2967 2270 2030

17626 0.64 194.6 57.8 7.9 1690 17629 0.00 1.60 0.00 0.000 4 0.000 0.047 2968 3168 2030

17822 0.72 257.3 43.0 5.9 1708 17878 0.00 1.50 47.58 0.535 6 0.000 0.028 2975 2272 1790

18063 0.86 371.1 30.4 4.5 1731 18159 0.15 1.67 86.00 0.523 4 0.059 0.044 3049 3176 1325

18185 0.86 371.1 21.3 8.8 1741 18192 0.10 1.55 0.00 0.000 6 0.119 0.028 3023 2273 1322

18377 1.04 516.5 10.7 3.7 1760 18466 0.17 0.00 86.68 0.498 2 0.051 0.000 3106 2274 846

18466 end climb: SURFACE_DEPTH_REACHED

state 18466 begin surface coast

18493 end surface coast: CONTROL_FINISHED_OK

state 18493 begin surface

ID	515	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	304	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3575	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	25	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	2841	C_ROLL_DIVE	2325	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8830	C_ROLL_CLIMB	2275	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	597.54108	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	250	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	404	DEVICE2	20
T_MISSION	500	CALL_TRIES	5	VBD_MAX	3959	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	2840	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-25088.896	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-7	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	200	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	205	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3967	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2747	PRESSURE_YINT	-42.932224	SEABIRD_T_G	0.0043524536
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011628702	SEABIRD_T_H	0.00062548812
MASS	51931	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3784551e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.5490917e-06
FERRY_MAX	45	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.141768
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1640214
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00094225706
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0001682234
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	30

GPS1	192231,2834.790,-8838.706,39,1.8,39,-0.3	TGT_NAME	NEW0528A
_CALLS	1	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.145,0.221
_SM_DEPTHo	1.73	KALMAN_X	75320.0,-1928.7,-336.3,-54411.9,8058.1
_SM_ANGLEo	-67.6	KALMAN_Y	-459190.4,402.5,-174.2,470968.4,-2788.1
GPS2	192932,2834.833,-8838.673,12,1.6,12,-0.3	MHEAD_RNG_PITCHd_Wd	37.3,26215,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1382

FINISH	0.9,1.022365	_24V_AH	22.5,53.211
SM_CCo	18509,55.67,0.482,0,0,404,597.54	_10V_AH	10.5,73.252
SM_GC	1.50,0.00,0.00,55.67,0.000,0.000,0.482,197,2340,404,-7.97,0.42,597.54	DATA_FILE_SIZE	94530,1771
IRIDIUM_FIX	2823.64,-8839.04,191099,141435	CAP_FILE_SIZE	173587,0
TT8_MAMPS	0.051389	CFSIZE	260165632,227930112
HUMID	1403	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.23864	CURRENT	0.110, 96.2,1
TCM_TEMP	23.30	GPS	260710,004037,2837.112,-8835.906,38,1.1,38,-0.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	250	116.39	SBE_CT	1210	24	653.47
Roll_motor	112	72	183.82	SBE_O2	1297	19	554.67
VBD_pump_during_apogee	548	1239	15282.69	WL_BBFL2VMT	3980	105	9404.02
VBD_pump_during_surface	55	481	603.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	66.11	nil	0	0	0.00
Iridium_during_connect	30	160	109.02	nil	0	0	0.00
Iridium_during_xfer	227	223	1141.85
Transponder_ping	0	420	2.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.60
TT8	0	19	0.00
LPSleep	12126	2	278.85
TT8_Active	653	19	135.96
TT8_Sampling	5461	39	2282.35
TT8_CF8	710	45	341.89
TT8_Kalman	33	81	28.64
Analog_circuits	2265	12	285.43
GPS_charging	0	0	0.00
Compass	4906	8	412.15
RAFOS	0	0	0.00
Transponder	0	30	0.17

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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.64	-194.6	0.0	0.0	0	86	0.00	0.00	-70.22	0.000	2	0.000	0.000	192	2342	2339
88	-0.64	-194.6	3.2	-3.3	7	140	10.52	1.50	-36.72	0.000	4	0.251	0.073	2526	3216	3635
301	-0.64	-194.6	44.4	-18.2	26	308	0.00	1.45	0.00	0.000	6	0.000	0.027	2530	2331	3637
494	-0.64	-194.6	71.9	-13.2	45	497	0.00	1.25	0.00	0.000	4	0.000	0.034	2536	1406	3638
541	-0.64	-194.6	78.2	-12.0	49	548	0.00	1.27	0.00	0.000	6	0.000	0.034	2532	2325	3639
733	-0.64	-194.6	102.1	-12.1	68	734	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2326	3639
1044	-0.64	-194.6	141.1	-12.3	98	1047	0.00	1.25	0.00	0.000	4	0.000	0.034	2532	1403	3639
1108	-0.64	-194.6	149.1	-12.7	104	1111	0.00	1.27	0.00	0.000	6	0.000	0.035	2526	2327	3639
1431	-0.64	-194.6	188.6	-11.9	135	1434	0.00	1.25	0.00	0.000	4	0.000	0.033	2526	1406	3639
1553	-0.64	-194.6	202.8	-11.0	146	1560	0.00	1.27	0.00	0.000	6	0.000	0.035	2520	2328	3639
1872	-0.64	-194.6	241.4	-12.6	177	1875	0.00	1.25	0.00	0.000	4	0.000	0.034	2520	1410	3637
1989	-0.64	-194.6	256.4	-12.7	188	1992	0.00	1.27	0.00	0.000	6	0.000	0.036	2515	2328	3637
2312	-0.64	-194.6	295.7	-12.1	219	2315	0.00	1.25	0.00	0.000	4	0.000	0.035	2515	1416	3635
2440	-0.64	-194.6	311.3	-11.6	231	2443	0.08	1.27	0.00	0.000	6	0.139	0.037	2534	2329	3635
2761	-0.64	-194.6	345.0	-10.4	262	2764	0.00	1.27	0.00	0.000	4	0.000	0.037	2534	1401	3633
2879	-0.64	-194.6	357.1	-10.4	273	2882	0.00	1.27	0.00	0.000	6	0.000	0.038	2530	2322	3632
3201	-0.64	-194.6	390.2	-10.2	304	3204	0.00	1.25	0.00	0.000	4	0.000	0.038	2530	1412	3630
3375	-0.64	-194.6	408.6	-11.0	320	3377	0.00	1.27	0.00	0.000	6	0.000	0.039	2525	2325	3629
3697	-0.64	-194.6	443.9	-11.2	351	3700	0.00	1.25	0.00	0.000	4	0.000	0.038	2525	1419	3626
3825	-0.64	-194.6	458.3	-10.0	363	3828	0.00	1.27	0.00	0.000	6	0.000	0.040	2519	2326	3626
4148	-0.64	-194.6	493.7	-11.2	394	4151	0.00	1.27	0.00	0.000	4	0.000	0.038	2519	1408	3624
4201	-0.64	-194.6	499.8	-11.3	399	4204	0.00	1.30	0.00	0.000	6	0.000	0.041	2513	2329	3623
4524	-0.64	-194.6	536.5	-11.6	430	4527	0.00	1.27	0.00	0.000	4	0.000	0.040	2513	1417	3621
4657	-0.64	-194.6	551.6	-11.7	442	4664	0.08	1.30	0.00	0.000	6	0.144	0.041	2532	2329	3620
4975	-0.64	-194.6	581.2	-9.5	473	4978	0.00	1.27	0.00	0.000	4	0.000	0.041	2532	1415	3617
5075	-0.64	-194.6	591.1	-9.6	482	5082	0.00	1.30	0.00	0.000	6	0.000	0.042	2529	2329	3617
5393	-0.64	-194.6	621.8	-9.6	513	5396	0.00	1.27	0.00	0.000	4	0.000	0.041	2529	1422	3616
5478	-0.64	-194.6	630.7	-10.0	521	5481	0.00	1.30	0.00	0.000	6	0.000	0.043	2523	2332	3615
5801	-0.64	-194.6	663.8	-9.8	552	5804	0.00	1.30	0.00	0.000	4	0.000	0.041	2523	1411	3613
5854	-0.64	-194.6	669.2	-10.0	557	5857	0.00	1.30	0.00	0.000	6	0.000	0.043	2518	2325	3613
6178	-0.64	-194.6	701.9	-10.1	588	6178	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2325	3611
6486	-0.64	-194.6	733.3	-9.9	618	6488	0.00	1.27	0.00	0.000	4	0.000	0.042	2517	1414	3609
6593	-0.64	-194.6	744.1	-10.5	628	6596	0.00	1.30	0.00	0.000	6	0.000	0.044	2512	2326	3608
6915	-0.64	-194.6	777.9	-10.9	659	6916	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2326	3606
7225	-0.64	-194.6	810.7	-10.5	689	7228	0.00	1.27	0.00	0.000	4	0.000	0.042	2512	1423	3604
7289	-0.64	-194.6	817.5	-10.7	695	7293	0.10	1.30	0.00	0.000	6	0.138	0.045	2538	2326	3604
7611	-0.64	-194.6	844.7	-8.0	726	7614	0.00	1.27	0.00	0.000	4	0.000	0.042	2538	1425	3602
7674	-0.64	-194.6	850.1	-8.2	732	7677	0.00	1.30	0.00	0.000	6	0.000	0.046	2535	2328	3602
7997	-0.64	-194.6	877.9	-8.6	763	8000	0.00	1.27	0.00	0.000	4	0.000	0.043	2535	1425	3601
8072	-0.64	-194.6	884.9	-8.8	770	8075	0.00	1.30	0.00	0.000	6	0.000	0.046	2529	2329	3601
8394	-0.64	-194.6	913.5	-8.7	801	8395	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2328	3600
8704	-0.64	-194.6	940.8	-8.7	831	8707	0.00	1.30	0.00	0.000	4	0.000	0.044	2529	1412	3598
8826	-0.64	-194.6	951.9	-9.0	842	8832	0.00	1.33	0.00	0.000	6	0.000	0.046	2524	2329	3597
9144	-0.64	-194.6	980.4	-8.3	873	9147	0.00	1.30	0.00	0.000	4	0.000	0.043	2524	1413	3596
9197	-0.64	-194.6	985.2	-8.9	878	9200	0.00	1.33	0.00	0.000	6	0.000	0.047	2519	2328	3596
9247	end dive: TARGET_DEPTH_EXCEEDED
state	9247	begin apogee
9252	-0.26	0.0	990.1	9.7	883	9411	0.47	0.00	155.62	1.239	6	0.129	0.000	2662	2265	2840
9412	end apogee: CONTROL_FINISHED_OK
state	9412	begin climb
9414	0.64	194.6	995.1	0.0	899	9593	0.88	0.00	172.12	1.210	6	0.097	0.000	2942	2265	2046
9900	0.64	194.6	948.3	11.2	947	9903	0.00	1.67	0.00	0.000	4	0.000	0.058	2941	3185	2036
9944	0.64	194.6	943.2	12.6	951	9947	0.00	1.58	0.00	0.000	6	0.000	0.036	2949	2272	2034
10266	0.64	194.6	906.7	11.4	982	10267	0.00	0.00	0.00	0.000	6	0.000	0.000	2949	2273	2033
10575	0.64	194.6	871.9	11.3	1012	10578	0.00	1.62	0.00	0.000	4	0.000	0.056	2950	3187	2033
10628	0.64	194.6	865.1	12.2	1017	10632	0.00	1.58	0.00	0.000	6	0.000	0.036	2957	2271	2031
10951	0.64	194.6	827.4	11.4	1048	10954	0.00	1.60	0.00	0.000	4	0.000	0.056	2957	3169	2031
10994	0.64	194.6	821.8	12.9	1052	10997	0.00	1.55	0.00	0.000	6	0.000	0.036	2965	2268	2030
11314	0.64	194.6	782.2	12.0	1083	11317	0.00	1.62	0.00	0.000	4	0.000	0.055	2965	3160	2030
11358	0.64	194.6	776.5	14.2	1087	11360	0.00	1.52	0.00	0.000	6	0.000	0.037	2972	2272	2030
11679	0.64	194.6	735.1	13.2	1118	11682	0.00	1.60	0.00	0.000	4	0.000	0.055	2972	3172	2029
11753	0.64	194.6	724.9	14.5	1125	11756	0.00	1.55	0.00	0.000	6	0.000	0.036	2979	2269	2029
12076	0.64	194.6	682.4	12.9	1156	12077	0.00	0.00	0.00	0.000	6	0.000	0.000	2980	2270	2028
12385	0.64	194.6	642.3	12.9	1186	12388	0.00	1.62	0.00	0.000	4	0.000	0.054	2979	3187	2028
12449	0.64	194.6	633.3	14.7	1192	12452	0.10	1.58	0.00	0.000	6	0.150	0.036	2957	2271	2028
12770	0.64	194.6	596.9	11.0	1223	12773	0.00	1.62	0.00	0.000	4	0.000	0.054	2956	3187	2027
12807	0.64	194.6	592.4	11.9	1226	12813	0.00	1.58	0.00	0.000	6	0.000	0.035	2962	2272	2027
13124	0.64	194.6	557.1	11.1	1257	13125	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2273	2027
13434	0.64	194.6	521.4	11.5	1287	13437	0.00	1.62	0.00	0.000	4	0.000	0.053	2962	3165	2027
13487	0.64	194.6	515.0	12.6	1292	13490	0.00	1.55	0.00	0.000	6	0.000	0.035	2970	2269	2027
13808	0.64	194.6	475.7	12.3	1323	13810	0.00	1.62	0.00	0.000	4	0.000	0.053	2970	3159	2027
13861	0.64	194.6	468.8	11.8	1328	13864	0.00	1.55	0.00	0.000	6	0.000	0.035	2977	2264	2027
14182	0.64	194.6	428.0	12.7	1359	14185	0.00	1.65	0.00	0.000	4	0.000	0.053	2977	3168	2027
14251	0.64	194.6	418.7	14.2	1365	14257	0.10	1.55	0.00	0.000	6	0.144	0.034	2954	2268	2026
14566	0.64	194.6	384.7	10.6	1396	14569	0.00	1.62	0.00	0.000	4	0.000	0.051	2953	3160	2026
14599	0.64	194.6	381.3	11.4	1399	14602	0.00	1.52	0.00	0.000	6	0.000	0.034	2959	2271	2027
14920	0.64	194.6	346.0	11.0	1430	14920	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2272	2027
15231	0.64	194.6	312.3	10.6	1460	15234	0.00	1.60	0.00	0.000	4	0.000	0.051	2959	3158	2027
15288	0.64	194.6	305.6	11.8	1465	15295	0.00	1.52	0.00	0.000	6	0.000	0.033	2966	2269	2027
15606	0.64	194.6	270.6	11.1	1496	15609	0.00	1.60	0.00	0.000	4	0.000	0.050	2966	3176	2027
15660	0.64	194.6	263.8	12.3	1501	15663	0.00	1.55	0.00	0.000	6	0.000	0.033	2974	2268	2027
15983	0.64	194.6	224.2	12.6	1532	15986	0.00	1.62	0.00	0.000	4	0.000	0.050	2974	3191	2027
16040	0.64	194.6	216.8	13.2	1537	16047	0.00	1.58	0.00	0.000	6	0.000	0.031	2982	2268	2027
16358	0.64	194.6	177.2	12.2	1568	16361	0.00	1.62	0.00	0.000	4	0.000	0.049	2982	3188	2028
16401	0.64	194.6	171.5	13.7	1572	16404	0.08	1.55	0.00	0.000	6	0.123	0.032	2954	2272	2027
16722	0.64	194.6	138.8	9.9	1603	16723	0.00	0.00	0.00	0.000	6	0.000	0.000	2954	2272	2028
17032	0.64	194.6	111.2	9.0	1633	17035	0.00	1.60	0.00	0.000	4	0.000	0.048	2954	3188	2029
17080	0.64	194.6	106.8	10.1	1637	17086	0.00	1.55	0.00	0.000	6	0.000	0.030	2960	2269	2029
17397	0.64	194.6	78.8	8.7	1668	17400	0.00	1.60	0.00	0.000	4	0.000	0.047	2960	3161	2030
17434	0.64	194.6	75.2	9.3	1671	17441	0.00	1.50	0.00	0.000	6	0.000	0.030	2967	2270	2030
17626	0.64	194.6	57.8	7.9	1690	17629	0.00	1.60	0.00	0.000	4	0.000	0.047	2968	3168	2030
17822	0.72	257.3	43.0	5.9	1708	17878	0.00	1.50	47.58	0.535	6	0.000	0.028	2975	2272	1790
18063	0.86	371.1	30.4	4.5	1731	18159	0.15	1.67	86.00	0.523	4	0.059	0.044	3049	3176	1325
18185	0.86	371.1	21.3	8.8	1741	18192	0.10	1.55	0.00	0.000	6	0.119	0.028	3023	2273	1322
18377	1.04	516.5	10.7	3.7	1760	18466	0.17	0.00	86.68	0.498	2	0.051	0.000	3106	2274	846
18466	end climb: SURFACE_DEPTH_REACHED
state	18466	begin surface coast
18493	end surface coast: CONTROL_FINISHED_OK
state	18493	begin surface