Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 921 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 921 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 23 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 11 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 110 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 900 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2575 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 4320 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1.5 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -7 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 10029665 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 0.059999999 PITCH_MIN 225 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2870 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 10029665 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 4320

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 P_OVSHOOT_WITHG 0 T_MISSION 420

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.25 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2870 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2575 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 500 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 5

DIVE 921 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 23 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 11 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 5 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 110219,073901,-7406.2837,-11312.9365,26,0.6,43,53.8,0.5,216.3,12,2.1 SPEED_LIMITS 0.100,0.239

_CALLS 3 TGT_NAME hold0

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.79 MHEAD_RNG_PITCHd_Wd 51.3,24751,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -64.3 D_GRID 990

GPS2 110219,075134,-7406.2114,-11313.0127,4,0.6,5,53.8,0.5,296.8,12,4.9

Post-dive calculations and measurements:

FREEZE -0.14,-0.751,-1.757,2,1,0 ALTIM_BOTTOM_PING 482.5,14.3

FINISH -0.1,1.025794 _24V_AH 10.34,303.550

SM_CCo 9049,167.90,0.204,0,0,1144,350.04 _10V_AH 10.46,0.000

SM_GC 0.77,11.82,0.55,167.90,0.058,0.087,0.204,216,2306,1144,-8.24,-0.25,350.04,0,0,0,0,0,0,11.36,11.34,11.21 FG_AHR_24Vo 0.000

RAFOS_CLK 349 FG_AHR_10Vo 0.000

RAFOS 0,1549875676,9.032778,9.021111,66,61,61,56,54,49,192,171,162,138,216,119 MEM 279972

RAFOS_FIX -7405.600098,-11256.875977,110219,090940,2,88,1.66 DATA_FILE_SIZE 13450,406

IRIDIUM_FIX -7409.86,-11312.95,110219,074448 CAP_FILE_SIZE 81820,0

TT8_MAMPS 0.047187,0.290612 CFSIZE 1024409600,915505152

HUMID 50.31 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.08233 SOUNDSPEED 1447.1

TCM_TEMP 12.10 CURRENT 0.097,9.56,1

XPDR_PINGS 2 GPS 110219,102700,-7405.875,-11308.869,32,1.1,32,53.7,1.0,326.2,8,5.3

ALTIM_TOP_PING 12.7,13.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 404 138.51 nil 0 0 0.00

Roll_motor 101 135 142.67 nil 0 0 0.00

VBD_pump_during_apogee 347 2740 9837.56 nil 0 0 0.00

VBD_pump_during_surface 167 204 354.60 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 9003 6 565.16

Iridium_during_xfer 426 225 996.16 nil 0 0 0.00

Transponder_ping 20 420 90.11 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 10 0.74

TT8 0 0 0.00

LPSleep 7546 2 182.34

TT8_Active 712 13 103.06

TT8_Sampling 1326 34 482.79

TT8_CF8 393 52 216.95

TT8_Kalman 0 0 0.00

Analog_circuits 1504 10 171.56

GPS_charging 0 0 0.00

Compass 587 7 46.07

RAFOS 720 1 11.30

Transponder 148 30 46.48

Altimeter Analysis:

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

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

21.9 23.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

32.3 33.70 9000.00 0.0 0.00 0.00 33.70 0.0 0.95 1.00

56.7 61.50 61.20 0.0 1.09 1.00 61.50 0.0 1.14 1.00

438.7 50.80 9000.00 0.0 0.01 0.03 50.80 489.5 -0.03 1.00

468.2 27.70 9000.00 0.0 -0.06 0.62 27.70 495.9 -0.78 1.00

482.5 13.40 14.30 496.8 -0.84 1.00 13.40 495.9 -1.00 1.00

492.4 13.90 9000.00 0.0 -0.60 0.81 13.90 478.5 0.05 1.00

482.2 31.00 9000.00 0.0 -0.87 0.26 31.00 0.0 -1.68 1.00

78.5 82.90 9000.00 0.0 -0.15 0.95 82.90 0.0 -0.13 1.00

67.1 69.00 9000.00 0.0 -0.11 0.92 69.00 -1.9 1.22 1.00

55.6 56.80 56.50 -0.9 1.14 1.00 56.80 -1.2 1.06 1.00

45.3 47.10 46.90 -1.6 1.00 1.00 47.10 -1.8 0.94 1.00

34.4 35.70 35.90 -1.5 1.00 1.00 35.70 -1.3 1.05 1.00

22.7 24.30 24.20 -1.5 1.01 1.00 24.30 -1.6 0.97 1.00

12.7 13.40 13.60 -0.9 1.03 1.00 13.40 -0.7 1.09 1.00

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

11 -1.06 -107.1 221 2298 1172 1088 0.0 0.0 0 113 0.00 0.00 -100.53 0.002 16390 0.000 0.000 219 2298 3012 3016 3009 0 0 0 0 0 0 11.48 10.77 11.49

117 -1.06 -107.1 221 2298 3018 3011 1.8 -1.8 3 141 17.40 3.53 0.00 0.000 2308 0.405 0.091 2516 3715 3014 3019 3009 0 0 0 0 0 0 11.14 11.26 11.33

252 -1.06 -107.1 2517 3716 3025 3005 33.6 -18.3 23 258 0.00 3.28 0.00 0.000 1030 0.000 0.037 2516 2284 3013 3024 3003 0 0 0 0 0 0 11.40 11.35 11.41

620 -1.06 -107.1 2517 2284 3028 3002 90.4 -14.6 39 625 0.00 3.30 0.00 0.000 516 0.000 0.063 2516 901 3013 3025 3001 0 0 0 0 0 0 11.50 11.31 11.52

782 -1.06 -107.1 2515 901 3025 3001 114.7 -14.8 62 788 0.00 3.38 0.00 0.000 1030 0.000 0.058 2505 2310 3013 3026 3001 0 0 0 0 0 0 11.37 11.29 11.38

1122 -1.06 -107.1 2505 2311 3027 3000 166.9 -14.5 75 1127 0.00 3.38 0.00 0.000 516 0.000 0.062 2505 894 3013 3027 3000 0 0 0 0 0 0 11.51 11.29 11.53

1164 -1.06 -107.1 2506 894 3029 3001 173.7 -16.2 81 1170 0.20 3.30 0.00 0.000 3078 0.266 0.058 2525 2303 3011 3027 2996 0 0 0 0 0 0 11.22 11.33 11.38

1518 -1.06 -107.1 2528 2304 3030 2999 224.4 -14.2 92 1523 0.00 3.50 0.00 0.000 260 0.000 0.099 2515 3715 3016 3027 3006 0 0 0 0 0 0 11.50 11.31 11.52

1558 -1.06 -107.1 2514 3715 3028 2998 230.9 -15.2 98 1563 0.00 3.22 0.00 0.000 1030 0.000 0.038 2515 2292 3014 3029 2999 0 0 0 0 0 0 11.42 11.37 11.43

1908 -1.06 -107.1 2515 2291 3029 2999 278.9 -13.7 106 1913 0.00 3.30 0.00 0.000 516 0.000 0.062 2514 892 3013 3029 2998 0 0 0 0 0 0 11.52 11.32 11.53

1971 -1.06 -107.1 2515 892 3028 2998 288.2 -14.8 115 1977 0.00 3.38 0.00 0.000 1030 0.000 0.058 2504 2309 3013 3029 2998 0 0 0 0 0 0 11.41 11.33 11.43

2356 -1.06 -107.1 2505 2310 3031 2999 343.5 -14.5 128 2357 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2309 3013 3029 2998 0 0 0 0 0 0 11.50 11.53 11.53

2692 -1.06 -107.1 2504 2310 3029 2998 393.5 -14.8 134 2697 0.00 3.35 0.00 0.000 516 0.000 0.061 2504 895 3013 3029 2997 0 0 0 0 0 0 11.52 11.32 11.53

2734 -1.06 -107.1 2504 895 3029 2998 399.6 -14.9 140 2740 0.20 3.30 0.00 0.000 3078 0.264 0.057 2524 2303 3013 3030 2997 0 0 0 0 0 0 11.24 11.33 11.39

3084 -1.06 -107.1 2525 2304 3031 2998 446.1 -13.1 148 3085 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2303 3013 3029 2997 0 0 0 0 0 0 11.52 11.55 11.54

3416 end dive: BOTTOM_OBSTACLE_DETECTED

state 3416 begin apogee

3425 -0.23 0.0 2524 2078 3029 2997 490.1 -13.0 154 3589 1.35 0.10 159.62 2.740 10246 0.220 0.135 2791 2122 2574 2604 2544 0 0 0 0 0 0 11.26 11.18 10.34

3590 end apogee: CONTROL_FINISHED_OK

state 3590 begin climb

3594 1.06 107.1 2791 2123 2605 2544 498.0 0.0 157 3767 1.80 3.53 162.20 2.649 10500 0.132 0.090 3204 3504 2137 2175 2100 0 0 0 0 0 0 11.21 11.19 10.36

3795 1.09 107.1 3204 3504 2173 2097 489.1 8.4 179 3801 0.00 3.17 0.00 0.000 1094 0.000 0.037 3214 2120 2134 2173 2095 0 0 0 0 0 0 11.34 11.28 11.36

4153 1.09 107.1 3213 2120 2165 2087 454.1 10.1 188 4159 0.00 3.47 0.00 0.000 516 0.000 0.077 3224 699 2125 2164 2087 0 0 0 0 0 0 11.48 11.27 11.50

4201 1.09 107.1 3224 699 2162 2087 448.6 11.3 195 4208 0.00 3.22 0.00 0.000 1030 0.000 0.050 3224 2096 2125 2164 2086 0 0 0 0 0 0 11.37 11.30 11.39

4546 1.09 107.1 3224 2097 2161 2084 411.0 10.7 202 4552 0.00 3.55 0.00 0.000 260 0.000 0.093 3224 3519 2123 2161 2085 0 0 0 0 0 0 11.48 11.29 11.50

4601 1.09 107.1 3223 3519 2161 2085 404.9 10.8 210 4608 0.00 3.25 0.00 0.000 1030 0.000 0.040 3235 2100 2122 2161 2084 0 0 0 0 0 0 11.38 11.33 11.40

4997 1.09 107.1 3236 2101 2161 2085 365.2 10.4 224 4998 0.00 0.00 0.00 0.000 6 0.000 0.000 3235 2100 2121 2159 2084 0 0 0 0 0 0 11.48 11.50 11.50

5329 1.11 107.1 3234 2100 2158 2084 332.0 9.1 230 5336 0.00 3.45 0.00 0.000 324 0.000 0.093 3230 3512 2120 2158 2083 0 0 0 0 0 0 11.50 11.29 11.52

5392 1.12 107.1 3236 3512 2159 2084 326.2 9.2 239 5398 0.00 3.25 0.00 0.000 1094 0.000 0.040 3248 2091 2121 2158 2084 0 0 0 0 0 0 11.40 11.34 11.42

5777 1.12 107.1 3245 2091 2157 2084 290.0 9.6 252 5783 0.00 3.40 0.00 0.000 516 0.000 0.079 3256 690 2120 2158 2083 0 0 0 0 0 0 11.51 11.31 11.52

5827 1.12 107.1 3257 691 2158 2084 285.1 10.2 259 5833 0.00 3.28 0.00 0.000 1030 0.000 0.050 3256 2111 2119 2157 2082 0 0 0 0 0 0 11.40 11.33 11.43

6170 1.12 107.1 3257 2111 2158 2084 250.1 10.0 266 6176 0.00 3.45 0.00 0.000 260 0.000 0.094 3256 3511 2119 2156 2083 0 0 0 0 0 0 11.50 11.29 11.52

6225 1.12 107.1 3256 3511 2156 2083 243.9 11.2 274 6232 0.20 3.25 0.00 0.000 5126 0.252 0.040 3232 2091 2117 2156 2079 0 0 0 0 0 0 11.24 11.35 11.40

6621 1.15 107.1 3235 2092 2156 2083 209.2 8.8 288 6626 0.00 3.53 0.00 0.000 324 0.000 0.091 3235 3512 2119 2156 2082 0 0 0 0 0 0 11.50 11.30 11.52

6668 1.15 107.1 3231 3512 2155 2083 204.3 10.2 295 6674 0.00 3.25 0.00 0.000 1030 0.000 0.040 3244 2090 2119 2156 2082 0 0 0 0 0 0 11.41 11.36 11.43

7010 1.15 107.1 3245 2091 2157 2083 172.8 9.9 307 7011 0.00 0.00 0.00 0.000 6 0.000 0.000 3245 2090 2118 2155 2081 0 0 0 0 0 0 11.52 11.53 11.55

7347 1.17 107.1 3245 2091 2157 2083 143.3 8.7 319 7348 0.00 0.00 0.00 0.000 70 0.000 0.000 3244 2090 2118 2155 2082 0 0 0 0 0 0 11.52 11.54 11.53

7683 1.21 107.1 3242 2091 2157 2083 115.6 8.1 331 7688 0.00 3.53 0.00 0.000 324 0.000 0.092 3244 3514 2118 2154 2082 0 0 0 0 0 0 11.52 11.31 11.54

7739 1.23 107.1 3243 3515 2154 2081 110.5 9.2 339 7744 0.00 3.25 0.00 0.000 1094 0.000 0.038 3254 2090 2118 2154 2082 0 0 0 0 0 0 11.42 11.36 11.43

8103 1.26 107.1 3254 2091 2154 2082 80.8 8.1 355 8103 0.00 0.00 0.00 0.000 70 0.000 0.000 3254 2090 2117 2153 2082 0 0 0 0 0 0 11.52 11.54 11.54

8439 1.30 107.1 3254 2091 2153 2082 53.3 8.2 367 8444 0.12 3.53 0.00 0.000 2372 0.110 0.092 3292 3510 2118 2154 2082 0 0 0 0 0 0 11.36 11.31 11.43

8550 1.30 107.1 3290 3511 2153 2082 42.4 10.1 383 8556 0.00 3.22 0.00 0.000 1030 0.000 0.036 3302 2094 2117 2153 2081 0 0 0 0 0 0 11.41 11.36 11.43

8915 1.34 142.1 3302 2094 2153 2082 10.0 7.8 399 8943 0.00 0.00 25.38 0.233 8742 0.000 0.000 3302 2093 1993 2029 1958 0 0 0 0 0 0 11.52 11.37 11.23

8995 end climb: SURFACE_DEPTH_REACHED

state 8995 begin surface coast

9023 end surface coast: CONTROL_FINISHED_OK

state 9023 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	921	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	23	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	11	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	110	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	900	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2575	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	4320	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1.5	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-7	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	10029665	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	0.059999999	PITCH_MIN	225	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2870	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	110219,073901,-7406.2837,-11312.9365,26,0.6,43,53.8,0.5,216.3,12,2.1	SPEED_LIMITS	0.100,0.239
_CALLS	3	TGT_NAME	hold0
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.79	MHEAD_RNG_PITCHd_Wd	51.3,24751,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-64.3	D_GRID	990
GPS2	110219,075134,-7406.2114,-11313.0127,4,0.6,5,53.8,0.5,296.8,12,4.9

FREEZE	-0.14,-0.751,-1.757,2,1,0	ALTIM_BOTTOM_PING	482.5,14.3
FINISH	-0.1,1.025794	_24V_AH	10.34,303.550
SM_CCo	9049,167.90,0.204,0,0,1144,350.04	_10V_AH	10.46,0.000
SM_GC	0.77,11.82,0.55,167.90,0.058,0.087,0.204,216,2306,1144,-8.24,-0.25,350.04,0,0,0,0,0,0,11.36,11.34,11.21	FG_AHR_24Vo	0.000
RAFOS_CLK	349	FG_AHR_10Vo	0.000
RAFOS	0,1549875676,9.032778,9.021111,66,61,61,56,54,49,192,171,162,138,216,119	MEM	279972
RAFOS_FIX	-7405.600098,-11256.875977,110219,090940,2,88,1.66	DATA_FILE_SIZE	13450,406
IRIDIUM_FIX	-7409.86,-11312.95,110219,074448	CAP_FILE_SIZE	81820,0
TT8_MAMPS	0.047187,0.290612	CFSIZE	1024409600,915505152
HUMID	50.31	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.08233	SOUNDSPEED	1447.1
TCM_TEMP	12.10	CURRENT	0.097,9.56,1
XPDR_PINGS	2	GPS	110219,102700,-7405.875,-11308.869,32,1.1,32,53.7,1.0,326.2,8,5.3
ALTIM_TOP_PING	12.7,13.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	404	138.51	nil	0	0	0.00
Roll_motor	101	135	142.67	nil	0	0	0.00
VBD_pump_during_apogee	347	2740	9837.56	nil	0	0	0.00
VBD_pump_during_surface	167	204	354.60	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	9003	6	565.16
Iridium_during_xfer	426	225	996.16	nil	0	0	0.00
Transponder_ping	20	420	90.11	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	10	0.74
TT8	0	0	0.00
LPSleep	7546	2	182.34
TT8_Active	712	13	103.06
TT8_Sampling	1326	34	482.79
TT8_CF8	393	52	216.95
TT8_Kalman	0	0	0.00
Analog_circuits	1504	10	171.56
GPS_charging	0	0	0.00
Compass	587	7	46.07
RAFOS	720	1	11.30
Transponder	148	30	46.48

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R
21.9	23.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
32.3	33.70	9000.00	0.0	0.00	0.00	33.70	0.0	0.95	1.00
56.7	61.50	61.20	0.0	1.09	1.00	61.50	0.0	1.14	1.00
438.7	50.80	9000.00	0.0	0.01	0.03	50.80	489.5	-0.03	1.00
468.2	27.70	9000.00	0.0	-0.06	0.62	27.70	495.9	-0.78	1.00
482.5	13.40	14.30	496.8	-0.84	1.00	13.40	495.9	-1.00	1.00

492.4	13.90	9000.00	0.0	-0.60	0.81	13.90	478.5	0.05	1.00
482.2	31.00	9000.00	0.0	-0.87	0.26	31.00	0.0	-1.68	1.00
78.5	82.90	9000.00	0.0	-0.15	0.95	82.90	0.0	-0.13	1.00
67.1	69.00	9000.00	0.0	-0.11	0.92	69.00	-1.9	1.22	1.00
55.6	56.80	56.50	-0.9	1.14	1.00	56.80	-1.2	1.06	1.00
45.3	47.10	46.90	-1.6	1.00	1.00	47.10	-1.8	0.94	1.00
34.4	35.70	35.90	-1.5	1.00	1.00	35.70	-1.3	1.05	1.00
22.7	24.30	24.20	-1.5	1.01	1.00	24.30	-1.6	0.97	1.00
12.7	13.40	13.60	-0.9	1.03	1.00	13.40	-0.7	1.09	1.00

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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
11	-1.06	-107.1	221	2298	1172	1088	0.0	0.0	0	113	0.00	0.00	-100.53	0.002	16390	0.000	0.000	219	2298	3012	3016	3009	0	0	0	0	0	0	11.48	10.77	11.49
117	-1.06	-107.1	221	2298	3018	3011	1.8	-1.8	3	141	17.40	3.53	0.00	0.000	2308	0.405	0.091	2516	3715	3014	3019	3009	0	0	0	0	0	0	11.14	11.26	11.33
252	-1.06	-107.1	2517	3716	3025	3005	33.6	-18.3	23	258	0.00	3.28	0.00	0.000	1030	0.000	0.037	2516	2284	3013	3024	3003	0	0	0	0	0	0	11.40	11.35	11.41
620	-1.06	-107.1	2517	2284	3028	3002	90.4	-14.6	39	625	0.00	3.30	0.00	0.000	516	0.000	0.063	2516	901	3013	3025	3001	0	0	0	0	0	0	11.50	11.31	11.52
782	-1.06	-107.1	2515	901	3025	3001	114.7	-14.8	62	788	0.00	3.38	0.00	0.000	1030	0.000	0.058	2505	2310	3013	3026	3001	0	0	0	0	0	0	11.37	11.29	11.38
1122	-1.06	-107.1	2505	2311	3027	3000	166.9	-14.5	75	1127	0.00	3.38	0.00	0.000	516	0.000	0.062	2505	894	3013	3027	3000	0	0	0	0	0	0	11.51	11.29	11.53
1164	-1.06	-107.1	2506	894	3029	3001	173.7	-16.2	81	1170	0.20	3.30	0.00	0.000	3078	0.266	0.058	2525	2303	3011	3027	2996	0	0	0	0	0	0	11.22	11.33	11.38
1518	-1.06	-107.1	2528	2304	3030	2999	224.4	-14.2	92	1523	0.00	3.50	0.00	0.000	260	0.000	0.099	2515	3715	3016	3027	3006	0	0	0	0	0	0	11.50	11.31	11.52
1558	-1.06	-107.1	2514	3715	3028	2998	230.9	-15.2	98	1563	0.00	3.22	0.00	0.000	1030	0.000	0.038	2515	2292	3014	3029	2999	0	0	0	0	0	0	11.42	11.37	11.43
1908	-1.06	-107.1	2515	2291	3029	2999	278.9	-13.7	106	1913	0.00	3.30	0.00	0.000	516	0.000	0.062	2514	892	3013	3029	2998	0	0	0	0	0	0	11.52	11.32	11.53
1971	-1.06	-107.1	2515	892	3028	2998	288.2	-14.8	115	1977	0.00	3.38	0.00	0.000	1030	0.000	0.058	2504	2309	3013	3029	2998	0	0	0	0	0	0	11.41	11.33	11.43
2356	-1.06	-107.1	2505	2310	3031	2999	343.5	-14.5	128	2357	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2309	3013	3029	2998	0	0	0	0	0	0	11.50	11.53	11.53
2692	-1.06	-107.1	2504	2310	3029	2998	393.5	-14.8	134	2697	0.00	3.35	0.00	0.000	516	0.000	0.061	2504	895	3013	3029	2997	0	0	0	0	0	0	11.52	11.32	11.53
2734	-1.06	-107.1	2504	895	3029	2998	399.6	-14.9	140	2740	0.20	3.30	0.00	0.000	3078	0.264	0.057	2524	2303	3013	3030	2997	0	0	0	0	0	0	11.24	11.33	11.39
3084	-1.06	-107.1	2525	2304	3031	2998	446.1	-13.1	148	3085	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2303	3013	3029	2997	0	0	0	0	0	0	11.52	11.55	11.54
3416	end dive: BOTTOM_OBSTACLE_DETECTED
state	3416	begin apogee
3425	-0.23	0.0	2524	2078	3029	2997	490.1	-13.0	154	3589	1.35	0.10	159.62	2.740	10246	0.220	0.135	2791	2122	2574	2604	2544	0	0	0	0	0	0	11.26	11.18	10.34
3590	end apogee: CONTROL_FINISHED_OK
state	3590	begin climb
3594	1.06	107.1	2791	2123	2605	2544	498.0	0.0	157	3767	1.80	3.53	162.20	2.649	10500	0.132	0.090	3204	3504	2137	2175	2100	0	0	0	0	0	0	11.21	11.19	10.36
3795	1.09	107.1	3204	3504	2173	2097	489.1	8.4	179	3801	0.00	3.17	0.00	0.000	1094	0.000	0.037	3214	2120	2134	2173	2095	0	0	0	0	0	0	11.34	11.28	11.36
4153	1.09	107.1	3213	2120	2165	2087	454.1	10.1	188	4159	0.00	3.47	0.00	0.000	516	0.000	0.077	3224	699	2125	2164	2087	0	0	0	0	0	0	11.48	11.27	11.50
4201	1.09	107.1	3224	699	2162	2087	448.6	11.3	195	4208	0.00	3.22	0.00	0.000	1030	0.000	0.050	3224	2096	2125	2164	2086	0	0	0	0	0	0	11.37	11.30	11.39
4546	1.09	107.1	3224	2097	2161	2084	411.0	10.7	202	4552	0.00	3.55	0.00	0.000	260	0.000	0.093	3224	3519	2123	2161	2085	0	0	0	0	0	0	11.48	11.29	11.50
4601	1.09	107.1	3223	3519	2161	2085	404.9	10.8	210	4608	0.00	3.25	0.00	0.000	1030	0.000	0.040	3235	2100	2122	2161	2084	0	0	0	0	0	0	11.38	11.33	11.40
4997	1.09	107.1	3236	2101	2161	2085	365.2	10.4	224	4998	0.00	0.00	0.00	0.000	6	0.000	0.000	3235	2100	2121	2159	2084	0	0	0	0	0	0	11.48	11.50	11.50
5329	1.11	107.1	3234	2100	2158	2084	332.0	9.1	230	5336	0.00	3.45	0.00	0.000	324	0.000	0.093	3230	3512	2120	2158	2083	0	0	0	0	0	0	11.50	11.29	11.52
5392	1.12	107.1	3236	3512	2159	2084	326.2	9.2	239	5398	0.00	3.25	0.00	0.000	1094	0.000	0.040	3248	2091	2121	2158	2084	0	0	0	0	0	0	11.40	11.34	11.42
5777	1.12	107.1	3245	2091	2157	2084	290.0	9.6	252	5783	0.00	3.40	0.00	0.000	516	0.000	0.079	3256	690	2120	2158	2083	0	0	0	0	0	0	11.51	11.31	11.52
5827	1.12	107.1	3257	691	2158	2084	285.1	10.2	259	5833	0.00	3.28	0.00	0.000	1030	0.000	0.050	3256	2111	2119	2157	2082	0	0	0	0	0	0	11.40	11.33	11.43
6170	1.12	107.1	3257	2111	2158	2084	250.1	10.0	266	6176	0.00	3.45	0.00	0.000	260	0.000	0.094	3256	3511	2119	2156	2083	0	0	0	0	0	0	11.50	11.29	11.52
6225	1.12	107.1	3256	3511	2156	2083	243.9	11.2	274	6232	0.20	3.25	0.00	0.000	5126	0.252	0.040	3232	2091	2117	2156	2079	0	0	0	0	0	0	11.24	11.35	11.40
6621	1.15	107.1	3235	2092	2156	2083	209.2	8.8	288	6626	0.00	3.53	0.00	0.000	324	0.000	0.091	3235	3512	2119	2156	2082	0	0	0	0	0	0	11.50	11.30	11.52
6668	1.15	107.1	3231	3512	2155	2083	204.3	10.2	295	6674	0.00	3.25	0.00	0.000	1030	0.000	0.040	3244	2090	2119	2156	2082	0	0	0	0	0	0	11.41	11.36	11.43
7010	1.15	107.1	3245	2091	2157	2083	172.8	9.9	307	7011	0.00	0.00	0.00	0.000	6	0.000	0.000	3245	2090	2118	2155	2081	0	0	0	0	0	0	11.52	11.53	11.55
7347	1.17	107.1	3245	2091	2157	2083	143.3	8.7	319	7348	0.00	0.00	0.00	0.000	70	0.000	0.000	3244	2090	2118	2155	2082	0	0	0	0	0	0	11.52	11.54	11.53
7683	1.21	107.1	3242	2091	2157	2083	115.6	8.1	331	7688	0.00	3.53	0.00	0.000	324	0.000	0.092	3244	3514	2118	2154	2082	0	0	0	0	0	0	11.52	11.31	11.54
7739	1.23	107.1	3243	3515	2154	2081	110.5	9.2	339	7744	0.00	3.25	0.00	0.000	1094	0.000	0.038	3254	2090	2118	2154	2082	0	0	0	0	0	0	11.42	11.36	11.43
8103	1.26	107.1	3254	2091	2154	2082	80.8	8.1	355	8103	0.00	0.00	0.00	0.000	70	0.000	0.000	3254	2090	2117	2153	2082	0	0	0	0	0	0	11.52	11.54	11.54
8439	1.30	107.1	3254	2091	2153	2082	53.3	8.2	367	8444	0.12	3.53	0.00	0.000	2372	0.110	0.092	3292	3510	2118	2154	2082	0	0	0	0	0	0	11.36	11.31	11.43
8550	1.30	107.1	3290	3511	2153	2082	42.4	10.1	383	8556	0.00	3.22	0.00	0.000	1030	0.000	0.036	3302	2094	2117	2153	2081	0	0	0	0	0	0	11.41	11.36	11.43
8915	1.34	142.1	3302	2094	2153	2082	10.0	7.8	399	8943	0.00	0.00	25.38	0.233	8742	0.000	0.000	3302	2093	1993	2029	1958	0	0	0	0	0	0	11.52	11.37	11.23
8995	end climb: SURFACE_DEPTH_REACHED
state	8995	begin surface coast
9023	end surface coast: CONTROL_FINISHED_OK
state	9023	begin surface