Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 81 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 104 HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 2.5700001e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 81 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 176 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3929 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 100 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_PITCH 0 SM_CC 250 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -1.784981

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 12 DEVICE1 2

T_DIVE 440 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 480 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 607 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3934 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3045 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 360 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -36744.078 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 57 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 45 AH0_24V 91.800003 SEABIRD_T_G 0.0043062796

SPEED_FACTOR 1 PITCH_MAX 3331 AH0_10V 61.200001 SEABIRD_T_H 0.0006289829

RHO 1.023 C_PITCH 2450 PRESSURE_YINT -16.564281 SEABIRD_T_I 2.2033064e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.057111e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.442612

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1821688

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015124022

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022414648

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 100 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SM_CC 250

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3331 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 45 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -16.564281 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -8.75

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 440

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_GPS_CHARGE -36744.078

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 480

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 57

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 104 ROLL_MAX 3929 T_TURN_SAMPINT 5

C_PITCH 2450 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 12 T_WATCHDOG 10

C_ROLL_CLIMB 2000 INT_PRESSURE_YINT -1.784981 ROLL_MIN 176 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3045 MASS 52000 R_PORT_OVSHOOT 28 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 31 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.442612 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1821688 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0015124022 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00022414648 VBD_MAX 3934

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043062796 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006289829 VBD_MIN 607

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2033064e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 81 PHONE_DEVICE 48 SEABIRD_T_J 2.057111e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 085909,6011.906,-530.161,71,1.7,71,-6.9 TGT_NAME WTB_1

_CALLS 1 TGT_LATLONG 6010.000,-545.000

_XMS_NAKs 7 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.171,-0.020

_SM_DEPTHo 1.06 KALMAN_X 199694.6,1194.1,2382.0,-327420.0,-8677.7

_SM_ANGLEo -57.3 KALMAN_Y -62509.2,193.5,470.5,-90158.2,-3000.8

GPS2 090617,6011.915,-529.967,16,2.3,35,-6.9 MHEAD_RNG_PITCHd_Wd 270.1,14297,-20.6,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.004144 XPDR_PINGS 0

SM_CCo 19411,82.05,0.636,10,0,2024,250.21 ALTIM_BOTTOM_PING 950.2,88.1

SM_GC 0.92,0.00,0.00,82.05,0.000,0.000,0.636,42,1875,2024,-11.08,-0.68,250.21 _24V_AH 23.0,15.523

IRIDIUM_FIX 5949.48,-525.39,300597,010157 _10V_AH 10.1,9.782

TT8_MAMPS 0.026845 DATA_FILE_SIZE 47518,929

HUMID 1667 CFSIZE 260165632,251277312

INTERNAL_PRESSURE 8.37166 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,33,14,0

TCM_TEMP 16.50 GPS 050308,143438,6010.334,-533.326,68,0.9,68,-7.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 153 95.17 SBE_CT 699 24 386.38

Roll_motor 209 72 347.32 SBE_O2 629 19 274.98

VBD_pump_during_apogee 273 1424 8961.32 WL_BB2F 535 105 1292.78

VBD_pump_during_surface 82 635 1199.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 93.17 nil 0 0 0.00

Iridium_during_connect 34 160 127.41 nil 0 0 0.00

Iridium_during_xfer 199 223 1021.94

Transponder_ping 8 420 82.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 37 50 18.88

TT8 1796 19 359.25

LPSleep 14604 2 323.03

TT8_Active 596 19 119.32

TT8_Sampling 2369 39 952.65

TT8_CF8 593 45 274.40

TT8_Kalman 33 81 27.57

Analog_circuits 1747 12 211.84

GPS_charging 0 0 0.00

Compass 2302 8 186.03

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

19 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.46 -71.0 0.0 0.0 0 95 0.00 0.00 -70.82 0.000 6 0.000 0.000 44 1894 3335

98 -1.53 -123.7 2.8 -3.8 3 121 11.52 2.50 -4.93 0.000 4 0.153 0.060 2111 3299 3552

132 -1.53 -123.7 14.1 -26.8 4 136 0.00 2.42 0.00 0.000 6 0.000 0.037 2111 1897 3553

448 -1.53 -123.7 70.3 -15.6 19 452 0.00 2.50 0.00 0.000 4 0.000 0.050 2111 3301 3553

549 -1.53 -123.7 82.3 -12.4 23 555 0.00 2.42 0.00 0.000 6 0.000 0.039 2111 1899 3553

865 -1.53 -123.7 125.6 -14.3 39 866 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 1899 3554

1173 -1.53 -123.7 167.6 -12.9 54 1177 0.00 2.50 0.00 0.000 4 0.000 0.051 2112 3305 3554

1262 -1.53 -123.7 179.0 -12.5 58 1267 0.00 2.42 0.00 0.000 6 0.000 0.039 2111 1901 3554

1583 -1.53 -123.7 221.4 -13.5 74 1587 0.00 2.50 0.00 0.000 4 0.000 0.051 2111 3307 3554

1654 -1.53 -123.7 231.0 -13.1 77 1659 0.00 2.42 0.00 0.000 6 0.000 0.039 2111 1900 3554

1970 -1.53 -123.7 271.6 -12.7 92 1971 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 1900 3554

2279 -1.53 -123.7 310.3 -12.5 107 2280 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 1900 3555

2588 -1.53 -123.7 344.6 -10.5 122 2593 0.00 2.47 0.00 0.000 4 0.000 0.051 2111 3301 3554

2655 -1.53 -123.7 351.7 -10.9 125 2659 0.00 2.42 0.00 0.000 6 0.000 0.040 2111 1897 3555

2977 -1.53 -123.7 387.3 -11.0 141 2981 0.00 2.50 0.00 0.000 4 0.000 0.051 2112 3306 3554

2998 -1.53 -123.7 389.8 -10.9 142 3002 0.00 2.42 0.00 0.000 6 0.000 0.040 2111 1901 3555

3319 -1.53 -123.7 424.8 -11.0 158 3324 0.00 2.47 0.00 0.000 4 0.000 0.051 2111 3299 3554

3436 -1.53 -123.7 439.1 -12.1 163 3440 0.00 2.40 0.00 0.000 6 0.000 0.041 2111 1901 3554

3763 -1.53 -123.7 478.9 -11.8 179 3767 0.00 2.50 0.00 0.000 4 0.000 0.052 2111 3305 3554

3824 -1.53 -123.7 486.1 -10.9 182 3829 0.00 2.45 0.00 0.000 6 0.000 0.042 2111 1894 3553

4151 -1.53 -123.7 522.5 -10.7 198 4155 0.00 2.50 0.00 0.000 4 0.000 0.053 2111 3298 3553

4229 -1.53 -123.7 530.5 -10.3 201 4233 0.00 2.42 0.00 0.000 6 0.000 0.044 2111 1897 3552

4550 -1.53 -123.7 563.6 -10.0 217 4554 0.00 2.50 0.00 0.000 4 0.000 0.054 2111 3298 3552

4599 -1.53 -123.7 568.9 -11.3 219 4603 0.00 2.45 0.00 0.000 6 0.000 0.044 2111 1895 3552

4915 -1.53 -123.7 603.5 -11.4 234 4919 0.00 2.53 0.00 0.000 4 0.000 0.055 2111 3303 3550

4958 -1.53 -123.7 608.7 -11.4 236 4962 0.00 2.45 0.00 0.000 6 0.000 0.045 2111 1901 3550

5279 -1.53 -123.7 645.5 -11.3 252 5284 0.00 2.53 0.00 0.000 4 0.000 0.056 2111 3304 3549

5353 -1.53 -123.7 653.9 -11.3 255 5357 0.00 2.47 0.00 0.000 6 0.000 0.046 2111 1899 3548

5668 -1.53 -123.7 689.1 -10.8 270 5673 0.00 2.53 0.00 0.000 4 0.000 0.058 2111 3297 3547

5718 -1.53 -123.7 694.6 -10.7 272 5722 0.00 2.42 0.00 0.000 6 0.000 0.047 2111 1902 3546

6039 -1.53 -123.7 728.5 -10.1 288 6043 0.00 2.53 0.00 0.000 4 0.000 0.058 2111 3302 3546

6095 -1.53 -123.7 734.4 -10.7 290 6101 0.00 2.47 0.00 0.000 6 0.000 0.048 2111 1893 3546

6411 -1.53 -123.7 765.6 -9.7 306 6415 0.00 2.55 0.00 0.000 4 0.000 0.060 2111 3303 3544

6460 -1.53 -123.7 770.7 -10.2 308 6464 0.00 2.47 0.00 0.000 6 0.000 0.048 2111 1892 3544

6776 -1.53 -123.7 802.7 -10.0 323 6780 0.00 2.55 0.00 0.000 4 0.000 0.059 2111 3303 3543

6838 -1.53 -123.7 808.8 -10.4 326 6842 0.00 2.45 0.00 0.000 6 0.000 0.048 2111 1901 3543

7164 -1.53 -123.7 840.7 -9.7 342 7168 0.00 2.53 0.00 0.000 4 0.000 0.060 2111 3298 3542

7230 -1.53 -123.7 847.2 -9.4 345 7234 0.00 2.47 0.00 0.000 6 0.000 0.049 2111 1901 3542

7552 -1.53 -123.7 877.3 -9.4 361 7556 0.00 2.53 0.00 0.000 4 0.000 0.060 2111 3297 3541

7606 -1.53 -123.7 882.9 -10.2 363 7612 0.00 2.45 0.00 0.000 6 0.000 0.049 2111 1901 3541

7923 -1.53 -123.7 912.1 -9.3 379 7928 0.00 2.53 0.00 0.000 4 0.000 0.059 2111 3297 3540

7986 -1.53 -123.7 918.2 -9.0 382 7990 0.00 2.47 0.00 0.000 6 0.000 0.049 2110 1898 3540

8314 -1.53 -123.7 950.2 -10.0 398 8318 0.00 2.53 0.00 0.000 4 0.000 0.060 2110 3298 3539

8370 -1.53 -123.7 956.1 -10.1 400 8375 0.00 2.47 0.00 0.000 6 0.000 0.049 2111 1901 3538

8686 -1.53 -123.7 987.2 -9.9 415 8690 0.00 2.53 0.00 0.000 4 0.000 0.060 2110 3297 3538

8716 end dive: TARGET_DEPTH_EXCEEDED

state 8716 begin apogee

8724 -0.33 0.0 990.5 10.6 416 8859 1.30 0.00 121.47 1.362 6 0.104 0.000 2371 1998 3045

8860 end apogee: CONTROL_FINISHED_OK

state 8860 begin climb

8863 1.53 123.7 995.6 0.0 423 8981 1.92 2.62 109.50 1.424 4 0.062 0.062 2781 3394 2540

9094 1.53 123.7 984.8 10.2 433 9098 0.00 2.50 0.00 0.000 6 0.000 0.049 2781 1999 2539

9420 1.53 123.7 950.8 10.4 449 9424 0.00 2.58 0.00 0.000 4 0.000 0.061 2781 3399 2539

9481 1.53 123.7 944.2 10.8 452 9486 0.00 2.53 0.00 0.000 6 0.000 0.048 2781 1994 2539

9808 1.53 123.7 910.9 10.2 468 9809 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 1994 2538

10119 1.53 123.7 880.0 10.1 483 10123 0.00 2.58 0.00 0.000 4 0.000 0.061 2781 3397 2538

10230 1.53 123.7 867.9 11.4 488 10234 0.00 2.50 0.00 0.000 6 0.000 0.048 2781 1991 2538

10551 1.53 123.7 835.4 10.1 504 10555 0.00 2.58 0.00 0.000 4 0.000 0.061 2781 3401 2538

10657 1.53 123.7 823.9 10.1 509 10661 0.00 2.50 0.00 0.000 6 0.000 0.048 2781 1995 2537

10983 1.53 123.7 790.6 10.1 525 10984 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 1995 2537

11292 1.53 123.7 760.8 9.7 540 11297 0.00 2.55 0.00 0.000 4 0.000 0.060 2781 3394 2537

11399 1.53 123.7 750.3 9.9 545 11404 0.00 2.47 0.00 0.000 6 0.000 0.048 2781 1997 2537

11727 1.53 123.7 720.1 9.3 561 11731 0.00 2.55 0.00 0.000 4 0.000 0.061 2781 3395 2536

11788 1.53 123.7 714.2 9.3 564 11792 0.00 2.45 0.00 0.000 6 0.000 0.048 2781 2002 2536

12120 1.53 123.7 683.7 9.0 580 12121 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2002 2536

12430 1.53 123.7 655.5 8.8 595 12434 0.00 2.55 0.00 0.000 4 0.000 0.061 2781 3400 2536

12541 1.53 123.7 645.3 9.3 600 12545 0.00 2.50 0.00 0.000 6 0.000 0.048 2781 1992 2536

12862 1.53 123.7 616.4 9.1 616 12866 0.00 2.55 0.00 0.000 4 0.000 0.060 2781 3394 2536

12906 1.53 123.7 612.1 9.4 618 12910 0.00 2.45 0.00 0.000 6 0.000 0.047 2781 1999 2536

13226 1.53 123.7 583.4 8.7 634 13231 0.00 2.60 0.00 0.000 4 0.000 0.072 2781 593 2535

13288 1.53 123.7 577.4 9.5 637 13293 0.00 2.45 0.00 0.000 6 0.000 0.044 2781 1997 2536

13615 1.53 123.7 547.6 9.2 653 13619 0.00 2.55 0.00 0.000 4 0.000 0.061 2781 3406 2535

13677 1.53 123.7 541.8 9.3 656 13681 0.00 2.47 0.00 0.000 6 0.000 0.047 2780 1998 2536

14009 1.53 124.7 514.9 7.4 672 14013 0.00 2.55 0.00 0.000 4 0.000 0.058 2781 3404 2536

14053 1.53 124.7 511.5 7.8 674 14057 0.00 2.47 0.00 0.000 6 0.000 0.046 2781 1997 2536

14373 1.54 131.9 489.0 7.0 690 14399 0.00 0.00 18.65 0.795 6 0.000 0.000 2781 1997 2507

14705 1.54 131.9 461.0 8.5 706 14709 0.00 2.55 0.00 0.000 4 0.000 0.058 2781 3400 2503

14812 1.54 131.9 451.0 8.9 711 14816 0.00 2.47 0.00 0.000 6 0.000 0.045 2781 2002 2503

15138 1.54 131.9 419.8 9.7 727 15142 0.00 2.60 0.00 0.000 4 0.000 0.070 2781 592 2503

15289 1.54 131.9 404.1 9.3 734 15294 0.00 2.45 0.00 0.000 6 0.000 0.041 2781 2003 2503

15616 1.54 131.9 376.6 7.8 750 15620 0.00 2.53 0.00 0.000 4 0.000 0.060 2781 3402 2503

15824 1.56 151.3 363.3 6.1 759 15859 0.00 2.47 23.92 0.891 6 0.000 0.043 2781 1994 2428

16188 1.56 151.3 334.5 9.0 777 16192 0.00 2.55 0.00 0.000 4 0.000 0.056 2781 3402 2427

16328 1.56 151.3 319.5 10.9 783 16332 0.00 2.47 0.00 0.000 6 0.000 0.042 2781 1996 2427

16643 1.56 151.3 286.3 11.1 798 16648 0.00 2.53 0.00 0.000 4 0.000 0.054 2781 3400 2428

16800 1.56 151.3 269.9 9.8 805 16804 0.00 2.45 0.00 0.000 6 0.000 0.041 2781 1999 2428

17121 1.56 151.3 238.9 9.9 821 17122 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2000 2429

17430 1.56 151.3 206.7 10.7 836 17434 0.00 2.50 0.00 0.000 4 0.000 0.052 2781 3396 2430

17503 1.56 151.3 198.9 9.5 839 17507 0.00 2.45 0.00 0.000 6 0.000 0.040 2781 1992 2430

17818 1.56 151.3 168.3 8.6 854 17823 0.00 2.50 0.00 0.000 4 0.000 0.051 2781 3396 2431

17874 1.56 151.3 163.0 9.7 856 17880 0.00 2.42 0.00 0.000 6 0.000 0.039 2781 1997 2432

18190 1.56 151.3 128.4 11.6 872 18191 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 1997 2433

18499 1.56 151.3 96.9 9.8 887 18503 0.00 2.53 0.00 0.000 4 0.000 0.064 2781 596 2433

18559 1.56 151.3 90.6 9.4 889 18566 0.00 2.42 0.00 0.000 6 0.000 0.035 2781 2004 2433

18876 1.56 151.3 59.8 10.2 905 18880 0.00 2.55 0.00 0.000 4 0.000 0.061 2781 595 2434

18953 1.56 151.3 49.1 11.9 908 18960 0.00 2.42 0.00 0.000 6 0.000 0.036 2781 2021 2435

19269 1.56 151.3 11.7 11.4 924 19274 0.00 2.45 0.00 0.000 4 0.000 0.056 2781 3396 2436

19342 1.56 151.3 3.1 11.5 927 19346 0.00 2.40 0.00 0.000 6 0.000 0.037 2781 1999 2435

19367 end climb: SURFACE_DEPTH_REACHED

state 19367 begin surface coast

19389 end surface coast: CONTROL_FINISHED_OK

state 19389 begin surface

ID	104	HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	2.5700001e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	81	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	176	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3929	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	100	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	2000	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_PITCH	0	SM_CC	250	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-1.784981
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	12	DEVICE1	2
T_DIVE	440	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	480	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	607	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3934	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3045	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	360	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-36744.078	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	57	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	45	AH0_24V	91.800003	SEABIRD_T_G	0.0043062796
SPEED_FACTOR	1	PITCH_MAX	3331	AH0_10V	61.200001	SEABIRD_T_H	0.0006289829
RHO	1.023	C_PITCH	2450	PRESSURE_YINT	-16.564281	SEABIRD_T_I	2.2033064e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.057111e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.442612
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1821688
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015124022
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022414648

GPS1	085909,6011.906,-530.161,71,1.7,71,-6.9	TGT_NAME	WTB_1
_CALLS	1	TGT_LATLONG	6010.000,-545.000
_XMS_NAKs	7	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.171,-0.020
_SM_DEPTHo	1.06	KALMAN_X	199694.6,1194.1,2382.0,-327420.0,-8677.7
_SM_ANGLEo	-57.3	KALMAN_Y	-62509.2,193.5,470.5,-90158.2,-3000.8
GPS2	090617,6011.915,-529.967,16,2.3,35,-6.9	MHEAD_RNG_PITCHd_Wd	270.1,14297,-20.6,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.0,1.004144	XPDR_PINGS	0
SM_CCo	19411,82.05,0.636,10,0,2024,250.21	ALTIM_BOTTOM_PING	950.2,88.1
SM_GC	0.92,0.00,0.00,82.05,0.000,0.000,0.636,42,1875,2024,-11.08,-0.68,250.21	_24V_AH	23.0,15.523
IRIDIUM_FIX	5949.48,-525.39,300597,010157	_10V_AH	10.1,9.782
TT8_MAMPS	0.026845	DATA_FILE_SIZE	47518,929
HUMID	1667	CFSIZE	260165632,251277312
INTERNAL_PRESSURE	8.37166	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,33,14,0
TCM_TEMP	16.50	GPS	050308,143438,6010.334,-533.326,68,0.9,68,-7.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	153	95.17	SBE_CT	699	24	386.38
Roll_motor	209	72	347.32	SBE_O2	629	19	274.98
VBD_pump_during_apogee	273	1424	8961.32	WL_BB2F	535	105	1292.78
VBD_pump_during_surface	82	635	1199.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	93.17	nil	0	0	0.00
Iridium_during_connect	34	160	127.41	nil	0	0	0.00
Iridium_during_xfer	199	223	1021.94
Transponder_ping	8	420	82.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	37	50	18.88
TT8	1796	19	359.25
LPSleep	14604	2	323.03
TT8_Active	596	19	119.32
TT8_Sampling	2369	39	952.65
TT8_CF8	593	45	274.40
TT8_Kalman	33	81	27.57
Analog_circuits	1747	12	211.84
GPS_charging	0	0	0.00
Compass	2302	8	186.03
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
19	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.46	-71.0	0.0	0.0	0	95	0.00	0.00	-70.82	0.000	6	0.000	0.000	44	1894	3335
98	-1.53	-123.7	2.8	-3.8	3	121	11.52	2.50	-4.93	0.000	4	0.153	0.060	2111	3299	3552
132	-1.53	-123.7	14.1	-26.8	4	136	0.00	2.42	0.00	0.000	6	0.000	0.037	2111	1897	3553
448	-1.53	-123.7	70.3	-15.6	19	452	0.00	2.50	0.00	0.000	4	0.000	0.050	2111	3301	3553
549	-1.53	-123.7	82.3	-12.4	23	555	0.00	2.42	0.00	0.000	6	0.000	0.039	2111	1899	3553
865	-1.53	-123.7	125.6	-14.3	39	866	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	1899	3554
1173	-1.53	-123.7	167.6	-12.9	54	1177	0.00	2.50	0.00	0.000	4	0.000	0.051	2112	3305	3554
1262	-1.53	-123.7	179.0	-12.5	58	1267	0.00	2.42	0.00	0.000	6	0.000	0.039	2111	1901	3554
1583	-1.53	-123.7	221.4	-13.5	74	1587	0.00	2.50	0.00	0.000	4	0.000	0.051	2111	3307	3554
1654	-1.53	-123.7	231.0	-13.1	77	1659	0.00	2.42	0.00	0.000	6	0.000	0.039	2111	1900	3554
1970	-1.53	-123.7	271.6	-12.7	92	1971	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	1900	3554
2279	-1.53	-123.7	310.3	-12.5	107	2280	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	1900	3555
2588	-1.53	-123.7	344.6	-10.5	122	2593	0.00	2.47	0.00	0.000	4	0.000	0.051	2111	3301	3554
2655	-1.53	-123.7	351.7	-10.9	125	2659	0.00	2.42	0.00	0.000	6	0.000	0.040	2111	1897	3555
2977	-1.53	-123.7	387.3	-11.0	141	2981	0.00	2.50	0.00	0.000	4	0.000	0.051	2112	3306	3554
2998	-1.53	-123.7	389.8	-10.9	142	3002	0.00	2.42	0.00	0.000	6	0.000	0.040	2111	1901	3555
3319	-1.53	-123.7	424.8	-11.0	158	3324	0.00	2.47	0.00	0.000	4	0.000	0.051	2111	3299	3554
3436	-1.53	-123.7	439.1	-12.1	163	3440	0.00	2.40	0.00	0.000	6	0.000	0.041	2111	1901	3554
3763	-1.53	-123.7	478.9	-11.8	179	3767	0.00	2.50	0.00	0.000	4	0.000	0.052	2111	3305	3554
3824	-1.53	-123.7	486.1	-10.9	182	3829	0.00	2.45	0.00	0.000	6	0.000	0.042	2111	1894	3553
4151	-1.53	-123.7	522.5	-10.7	198	4155	0.00	2.50	0.00	0.000	4	0.000	0.053	2111	3298	3553
4229	-1.53	-123.7	530.5	-10.3	201	4233	0.00	2.42	0.00	0.000	6	0.000	0.044	2111	1897	3552
4550	-1.53	-123.7	563.6	-10.0	217	4554	0.00	2.50	0.00	0.000	4	0.000	0.054	2111	3298	3552
4599	-1.53	-123.7	568.9	-11.3	219	4603	0.00	2.45	0.00	0.000	6	0.000	0.044	2111	1895	3552
4915	-1.53	-123.7	603.5	-11.4	234	4919	0.00	2.53	0.00	0.000	4	0.000	0.055	2111	3303	3550
4958	-1.53	-123.7	608.7	-11.4	236	4962	0.00	2.45	0.00	0.000	6	0.000	0.045	2111	1901	3550
5279	-1.53	-123.7	645.5	-11.3	252	5284	0.00	2.53	0.00	0.000	4	0.000	0.056	2111	3304	3549
5353	-1.53	-123.7	653.9	-11.3	255	5357	0.00	2.47	0.00	0.000	6	0.000	0.046	2111	1899	3548
5668	-1.53	-123.7	689.1	-10.8	270	5673	0.00	2.53	0.00	0.000	4	0.000	0.058	2111	3297	3547
5718	-1.53	-123.7	694.6	-10.7	272	5722	0.00	2.42	0.00	0.000	6	0.000	0.047	2111	1902	3546
6039	-1.53	-123.7	728.5	-10.1	288	6043	0.00	2.53	0.00	0.000	4	0.000	0.058	2111	3302	3546
6095	-1.53	-123.7	734.4	-10.7	290	6101	0.00	2.47	0.00	0.000	6	0.000	0.048	2111	1893	3546
6411	-1.53	-123.7	765.6	-9.7	306	6415	0.00	2.55	0.00	0.000	4	0.000	0.060	2111	3303	3544
6460	-1.53	-123.7	770.7	-10.2	308	6464	0.00	2.47	0.00	0.000	6	0.000	0.048	2111	1892	3544
6776	-1.53	-123.7	802.7	-10.0	323	6780	0.00	2.55	0.00	0.000	4	0.000	0.059	2111	3303	3543
6838	-1.53	-123.7	808.8	-10.4	326	6842	0.00	2.45	0.00	0.000	6	0.000	0.048	2111	1901	3543
7164	-1.53	-123.7	840.7	-9.7	342	7168	0.00	2.53	0.00	0.000	4	0.000	0.060	2111	3298	3542
7230	-1.53	-123.7	847.2	-9.4	345	7234	0.00	2.47	0.00	0.000	6	0.000	0.049	2111	1901	3542
7552	-1.53	-123.7	877.3	-9.4	361	7556	0.00	2.53	0.00	0.000	4	0.000	0.060	2111	3297	3541
7606	-1.53	-123.7	882.9	-10.2	363	7612	0.00	2.45	0.00	0.000	6	0.000	0.049	2111	1901	3541
7923	-1.53	-123.7	912.1	-9.3	379	7928	0.00	2.53	0.00	0.000	4	0.000	0.059	2111	3297	3540
7986	-1.53	-123.7	918.2	-9.0	382	7990	0.00	2.47	0.00	0.000	6	0.000	0.049	2110	1898	3540
8314	-1.53	-123.7	950.2	-10.0	398	8318	0.00	2.53	0.00	0.000	4	0.000	0.060	2110	3298	3539
8370	-1.53	-123.7	956.1	-10.1	400	8375	0.00	2.47	0.00	0.000	6	0.000	0.049	2111	1901	3538
8686	-1.53	-123.7	987.2	-9.9	415	8690	0.00	2.53	0.00	0.000	4	0.000	0.060	2110	3297	3538
8716	end dive: TARGET_DEPTH_EXCEEDED
state	8716	begin apogee
8724	-0.33	0.0	990.5	10.6	416	8859	1.30	0.00	121.47	1.362	6	0.104	0.000	2371	1998	3045
8860	end apogee: CONTROL_FINISHED_OK
state	8860	begin climb
8863	1.53	123.7	995.6	0.0	423	8981	1.92	2.62	109.50	1.424	4	0.062	0.062	2781	3394	2540
9094	1.53	123.7	984.8	10.2	433	9098	0.00	2.50	0.00	0.000	6	0.000	0.049	2781	1999	2539
9420	1.53	123.7	950.8	10.4	449	9424	0.00	2.58	0.00	0.000	4	0.000	0.061	2781	3399	2539
9481	1.53	123.7	944.2	10.8	452	9486	0.00	2.53	0.00	0.000	6	0.000	0.048	2781	1994	2539
9808	1.53	123.7	910.9	10.2	468	9809	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	1994	2538
10119	1.53	123.7	880.0	10.1	483	10123	0.00	2.58	0.00	0.000	4	0.000	0.061	2781	3397	2538
10230	1.53	123.7	867.9	11.4	488	10234	0.00	2.50	0.00	0.000	6	0.000	0.048	2781	1991	2538
10551	1.53	123.7	835.4	10.1	504	10555	0.00	2.58	0.00	0.000	4	0.000	0.061	2781	3401	2538
10657	1.53	123.7	823.9	10.1	509	10661	0.00	2.50	0.00	0.000	6	0.000	0.048	2781	1995	2537
10983	1.53	123.7	790.6	10.1	525	10984	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	1995	2537
11292	1.53	123.7	760.8	9.7	540	11297	0.00	2.55	0.00	0.000	4	0.000	0.060	2781	3394	2537
11399	1.53	123.7	750.3	9.9	545	11404	0.00	2.47	0.00	0.000	6	0.000	0.048	2781	1997	2537
11727	1.53	123.7	720.1	9.3	561	11731	0.00	2.55	0.00	0.000	4	0.000	0.061	2781	3395	2536
11788	1.53	123.7	714.2	9.3	564	11792	0.00	2.45	0.00	0.000	6	0.000	0.048	2781	2002	2536
12120	1.53	123.7	683.7	9.0	580	12121	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2002	2536
12430	1.53	123.7	655.5	8.8	595	12434	0.00	2.55	0.00	0.000	4	0.000	0.061	2781	3400	2536
12541	1.53	123.7	645.3	9.3	600	12545	0.00	2.50	0.00	0.000	6	0.000	0.048	2781	1992	2536
12862	1.53	123.7	616.4	9.1	616	12866	0.00	2.55	0.00	0.000	4	0.000	0.060	2781	3394	2536
12906	1.53	123.7	612.1	9.4	618	12910	0.00	2.45	0.00	0.000	6	0.000	0.047	2781	1999	2536
13226	1.53	123.7	583.4	8.7	634	13231	0.00	2.60	0.00	0.000	4	0.000	0.072	2781	593	2535
13288	1.53	123.7	577.4	9.5	637	13293	0.00	2.45	0.00	0.000	6	0.000	0.044	2781	1997	2536
13615	1.53	123.7	547.6	9.2	653	13619	0.00	2.55	0.00	0.000	4	0.000	0.061	2781	3406	2535
13677	1.53	123.7	541.8	9.3	656	13681	0.00	2.47	0.00	0.000	6	0.000	0.047	2780	1998	2536
14009	1.53	124.7	514.9	7.4	672	14013	0.00	2.55	0.00	0.000	4	0.000	0.058	2781	3404	2536
14053	1.53	124.7	511.5	7.8	674	14057	0.00	2.47	0.00	0.000	6	0.000	0.046	2781	1997	2536
14373	1.54	131.9	489.0	7.0	690	14399	0.00	0.00	18.65	0.795	6	0.000	0.000	2781	1997	2507
14705	1.54	131.9	461.0	8.5	706	14709	0.00	2.55	0.00	0.000	4	0.000	0.058	2781	3400	2503
14812	1.54	131.9	451.0	8.9	711	14816	0.00	2.47	0.00	0.000	6	0.000	0.045	2781	2002	2503
15138	1.54	131.9	419.8	9.7	727	15142	0.00	2.60	0.00	0.000	4	0.000	0.070	2781	592	2503
15289	1.54	131.9	404.1	9.3	734	15294	0.00	2.45	0.00	0.000	6	0.000	0.041	2781	2003	2503
15616	1.54	131.9	376.6	7.8	750	15620	0.00	2.53	0.00	0.000	4	0.000	0.060	2781	3402	2503
15824	1.56	151.3	363.3	6.1	759	15859	0.00	2.47	23.92	0.891	6	0.000	0.043	2781	1994	2428
16188	1.56	151.3	334.5	9.0	777	16192	0.00	2.55	0.00	0.000	4	0.000	0.056	2781	3402	2427
16328	1.56	151.3	319.5	10.9	783	16332	0.00	2.47	0.00	0.000	6	0.000	0.042	2781	1996	2427
16643	1.56	151.3	286.3	11.1	798	16648	0.00	2.53	0.00	0.000	4	0.000	0.054	2781	3400	2428
16800	1.56	151.3	269.9	9.8	805	16804	0.00	2.45	0.00	0.000	6	0.000	0.041	2781	1999	2428
17121	1.56	151.3	238.9	9.9	821	17122	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2000	2429
17430	1.56	151.3	206.7	10.7	836	17434	0.00	2.50	0.00	0.000	4	0.000	0.052	2781	3396	2430
17503	1.56	151.3	198.9	9.5	839	17507	0.00	2.45	0.00	0.000	6	0.000	0.040	2781	1992	2430
17818	1.56	151.3	168.3	8.6	854	17823	0.00	2.50	0.00	0.000	4	0.000	0.051	2781	3396	2431
17874	1.56	151.3	163.0	9.7	856	17880	0.00	2.42	0.00	0.000	6	0.000	0.039	2781	1997	2432
18190	1.56	151.3	128.4	11.6	872	18191	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	1997	2433
18499	1.56	151.3	96.9	9.8	887	18503	0.00	2.53	0.00	0.000	4	0.000	0.064	2781	596	2433
18559	1.56	151.3	90.6	9.4	889	18566	0.00	2.42	0.00	0.000	6	0.000	0.035	2781	2004	2433
18876	1.56	151.3	59.8	10.2	905	18880	0.00	2.55	0.00	0.000	4	0.000	0.061	2781	595	2434
18953	1.56	151.3	49.1	11.9	908	18960	0.00	2.42	0.00	0.000	6	0.000	0.036	2781	2021	2435
19269	1.56	151.3	11.7	11.4	924	19274	0.00	2.45	0.00	0.000	4	0.000	0.056	2781	3396	2436
19342	1.56	151.3	3.1	11.5	927	19346	0.00	2.40	0.00	0.000	6	0.000	0.037	2781	1999	2435
19367	end climb: SURFACE_DEPTH_REACHED
state	19367	begin surface coast
19389	end surface coast: CONTROL_FINISHED_OK
state	19389	begin surface