Glider dive log

ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 97 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 640 HD_C 9.8500004e-06 C_ROLL_DIVE 2100 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 HEADING -1 C_ROLL_CLIMB 2150 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 97 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

N_DIVES 160 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 5

STOP_T 12311812 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 3 TGT_DEFAULT_LAT -5400 R_PORT_OVSHOOT 47 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON 0 R_STBD_OVSHOOT 25 ALTIM_SENSITIVITY 2

D_TGT 350 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 2

D_ABORT 420 SM_CC 220 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097655999

D_BOOST 20 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.60000002

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 602 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3962 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2690 DEVICE1 -1

D_SAFE 0 N_NOCOMM 2 VBD_DBAND 2 DEVICE2 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE3 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE4 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_DIVE 140 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 1

T_MISSION 220 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_ABORT 250 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 COMPASS_DEVICE 33

T_LOITER 3600 T_RSLEEP 3 DBDW 0 COMPASS2_DEVICE -1

T_SLOITER 0 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

USE_BATHY 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_HIT_WINDOW 3600 AH0_24V 310 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 AH0_10V 0 SIM_W 0

D_OFFGRID 100 PITCH_MIN 312 MINV_24V 11.5 SIM_PITCH 0

T_WATCHDOG 10 PITCH_MAX 3939 MINV_10V 10 SEABIRD_T_G 0.0044042631

RELAUNCH 0 C_PITCH 2400 MAXI_24V 3 SEABIRD_T_H 0.0006412621

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_10V 2 SEABIRD_T_I 2.6024412e-05

MAX_BUOY 150 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_J 3.2462635e-06

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_G -10.007382

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_C_H 1.1528281

SPEED_FACTOR 1 PITCH_GAIN 34 PRESSURE_YINT -153.19165 SEABIRD_C_I -0.0017483447

RHO 1.0275 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.000109596 SEABIRD_C_J 0.0001971516

MASS 54260 PITCH_AD_RATE 175 AD7714Ch0Gain 1 SEABIRD_C_Z 2950.7202

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 0 SC_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MIN 217 ALTIM_BOTTOM_PING_RANGE 0 SC_NDIVE 1.0

HD_A 0.0038360001 ROLL_MAX 3851 ALTIM_TOP_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 1 D_SURF 3 PITCH_AD_RATE 175 SIM_PITCH 0

AH0_10V 0 D_TGT 350 PITCH_CNV 0.003125763 SIM_W 0

AH0_24V 310 ESCAPE_HEADING 0 PITCH_DBAND 0.0099999998 SM_CC 220

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 34 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3939 STOP_T 12311812

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_MIN 312 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_TIMEOUT 17 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_W_GAIN 0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0038360001 PRESSURE_SLOPE 0.000109596 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0101 PRESSURE_YINT -153.19165 TGT_DEFAULT_LAT -5400

APOGEE_PITCH -5 HD_C 9.8500004e-06 PROTOCOL 9 TGT_DEFAULT_LON 0

CALL_NDIVES 1 HEADING -1 P_OVSHOOT 0.039999999 T_ABORT 250

CALL_TRIES 5 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0.079999998 T_BOOST 0

CALL_WAIT 60 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_DIVE 140

CAPMAXSIZE 400000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE -1 T_EPIRB 0

CAPUPLOAD 0 ID 640 RAFOS_HIT_WINDOW 3600 T_GPS 15

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_MMODEM 0 T_LOITER 3600

COMM_SEQ 0 INT_PRESSURE_YINT -0.60000002 RAFOS_PEAK_OFFSET 1.5 T_MISSION 220

COMPASS2_DEVICE -1 KALMAN_USE 2 RELAUNCH 0 T_NO_W 120

COMPASS_DEVICE 33 LOGGERDEVICE1 53 RHO 1.0275 T_RSLEEP 3

COMPASS_USE 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_SLOITER 0

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_TURN 500

C_PITCH 2400 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2150 LOGGERS 1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 2100 MASS 54260 ROLL_DEG 40 UNCOM_BLEED 60

C_VBD 2690 MASS_COMP 0 ROLL_MAX 3851 UPLOAD_DIVES_MAX -1

DBDW 0 MAXI_10V 2 ROLL_MAXERRORS 1 USE_BATHY 0

DEEPGLIDER 0 MAXI_24V 3 ROLL_MIN 217 USE_ICE 0

DEVICE1 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 10 R_PORT_OVSHOOT 47 VBD_CNV -0.245296

DEVICE3 -1 MINV_24V 11.5 R_STBD_OVSHOOT 25 VBD_DBAND 2

DEVICE4 -1 MISSION 5 SC_NDIVE 1.0 VBD_LP_IGNORE 0

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAX 3962

DEVICE6 -1 NAV_MODE 2 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DIVE 97 NOCOMM_ACTION 259 SC_XMITPROFILE 3.0 VBD_MIN 602

D_ABORT 420 N_DIVES 160 SEABIRD_C_G -10.007382 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 N_FILEKB 4 SEABIRD_C_H 1.1528281 VBD_PUMP_AD_RATE_SURFACE 4

D_CALL 0 N_GPS 100840 SEABIRD_C_I -0.0017483447 VBD_TIMEOUT 720

D_FINISH 0 N_NOCOMM 2 SEABIRD_C_J 0.0001971516 W_ADJ_DBAND 0

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_Z 2950.7202 XPDR_DEVICE 24

D_NO_BLEED 29 PHONE_DEVICE 49 SEABIRD_T_G 0.0044042631 XPDR_INHIBIT 90

D_OFFGRID 100 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006412621 XPDR_VALID 2

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.6024412e-05

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.2462635e-06

Pre-dive calculations and measurements:

GPS1 251218,174801,-5952.2012,-8.4686,13,0.8,31,-19.6,1.1,19.9,9,6.4 SPEED_LIMITS 0.144,0.244

_CALLS 1 TGT_NAME NORTH

_XMS_NAKs 0 TGT_LATLONG -5900.000,0.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.19 MHEAD_RNG_PITCHd_Wd 15.2,96967,-15.5,-8.333,-18.82,2677

_SM_ANGLEo -65.8 D_GRID 350

GPS2 251218,175231,-5952.1782,-8.4156,9,0.8,16,-19.6,0.6,79.7,9,9.1

Post-dive calculations and measurements:

SM_CCo 8520,65.28,0.252,0,0,1792,220.03 _10V_AH 13.44,0.000

SM_GC 1.27,5.50,0.08,65.28,0.080,0.168,0.252,277,2076,1792,-6.45,0.76,220.03,0,0,0,0,0,0,14.65,14.60,14.38 FG_AHR_24Vo 0.000

IRIDIUM_FIX -5952.63,-8.57,251218,151905 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038948,0.11984 MEM 344108

HUMID 48.74 DATA_FILE_SIZE 17333,677

INTERNAL_PRESSURE 6.1285 CAP_FILE_SIZE 87735,0

TCM_TEMP 0.00 CFSIZE 1023623168,1009942528

XPDR_PINGS 3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

SC_FREEKB 3871200 CURRENT 0.036,196.91,1

_24V_AH 13.30,23.999 GPS 251218,201701,-5951.836,-8.618,15,0.8,44,-19.6,0.8,286.3,10,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 439 75.34 nil 0 0 0.00

Roll_motor 68 2277 2085.43 nil 0 0 0.00

VBD_pump_during_apogee 261 1612 5600.57 nil 0 0 0.00

VBD_pump_during_surface 65 251 218.50 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 29 9.89 nil 0 0 0.00

Iridium_during_connect 38 160 81.57 SciCon 4919 6 453.71

Iridium_during_xfer 102 223 303.96 nil 0 0 0.00

Transponder_ping 0 420 4.19 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.63

TT8 0 0 0.00

LPSleep 6842 2 201.40

TT8_Active 431 11 67.99

TT8_Sampling 1515 32 665.98

TT8_CF8 71 49 47.87

TT8_Kalman 0 0 0.00

Analog_circuits 1027 11 158.73

GPS_charging 0 0 0.00

Compass 1085 19 284.06

RAFOS 0 0 0.00

Transponder 0 5 0.04

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts int_press humidity

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.64 -146.0 236 2084 1769 1795 0.0 0.0 0 100 0.00 0.00 -88.93 0.000 16386 0.000 0.000 234 2084 3175 3256 3094 0 0 0 0 0 0 14.61 28.83 14.62 6.17 49.37

101 -0.64 -146.0 235 2084 3257 3094 3.1 -6.0 18 119 6.00 2.72 -4.28 0.000 18692 0.368 2.277 2170 3508 3283 3374 3192 0 0 0 0 0 0 14.21 13.48 14.39 6.28 48.34

300 -0.64 -146.0 2172 3508 3377 3192 34.9 -15.1 58 304 0.05 2.38 0.00 0.000 3078 0.354 0.044 2188 2107 3284 3376 3192 0 0 0 0 0 0 14.26 14.42 14.41 6.29 48.03

425 -0.64 -146.0 2189 2106 3377 3192 52.6 -13.6 83 430 0.00 2.47 0.00 0.000 2564 0.000 0.070 2189 705 3284 3376 3192 0 0 0 0 0 0 14.67 14.43 14.67 6.29 49.25

505 -0.64 -146.0 2189 705 3378 3192 63.7 -13.6 99 510 0.00 2.42 0.00 0.000 3078 0.000 0.060 2180 2099 3284 3376 3192 0 0 0 0 0 0 14.50 14.45 14.53 6.29 48.38

630 -0.64 -146.0 2180 2100 3377 3192 82.5 -16.0 124 631 0.00 0.00 0.00 0.000 2054 0.000 0.000 2180 2099 3287 3382 3192 0 0 0 0 0 0 14.71 14.71 14.71 6.29 48.26

760 -0.64 -146.0 2180 2100 3377 3192 103.1 -15.3 147 760 0.00 0.00 0.00 0.000 2054 0.000 0.000 2180 2099 3284 3376 3192 0 0 0 0 0 0 14.73 14.73 14.73 6.29 48.50

1060 -0.64 -146.0 2180 2100 3376 3192 146.4 -13.6 162 1064 0.00 2.45 0.00 0.000 2564 0.000 0.068 2180 700 3284 3376 3192 0 0 0 0 0 0 14.78 14.54 14.78 6.30 49.60

1115 -0.64 -146.0 2180 701 3376 3193 151.7 -13.4 164 1119 0.08 2.42 0.00 0.000 3078 0.337 0.059 2195 2108 3284 3375 3193 0 0 0 0 0 0 14.42 14.54 14.54 6.30 50.31

1420 -0.64 -146.0 2196 2108 3377 3192 191.4 -12.4 180 1420 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2108 3284 3376 3192 0 0 0 0 0 0 14.81 14.81 14.81 6.31 50.98

1720 -0.64 -146.0 2195 2109 3376 3193 228.7 -12.4 195 1724 0.00 2.47 0.00 0.000 260 0.000 0.086 2185 3515 3284 3376 3193 0 0 0 0 0 0 14.83 14.58 14.83 6.32 51.45

1735 -0.64 -146.0 2186 3515 3377 3191 228.7 -12.4 195 1740 0.00 2.35 0.00 0.000 3078 0.000 0.045 2185 2110 3283 3374 3192 0 0 0 0 0 0 14.66 14.62 14.67 6.32 51.06

2040 -0.64 -146.0 2185 2109 3377 3191 270.2 -12.8 211 2045 0.00 2.47 0.00 0.000 2564 0.000 0.067 2185 689 3284 3376 3192 0 0 0 0 0 0 14.84 14.59 14.84 6.32 50.86

2105 -0.64 -146.0 2185 690 3376 3193 278.0 -13.0 214 2109 0.05 2.42 0.00 0.000 3078 0.363 0.059 2192 2101 3283 3375 3192 0 0 0 0 0 0 14.46 14.62 14.59 6.32 51.02

2420 -0.64 -146.0 2192 2101 3369 3192 316.4 -11.9 230 2424 0.00 2.45 0.00 0.000 2308 0.000 0.086 2182 3499 3283 3375 3192 0 0 0 0 0 0 14.86 14.60 14.85 6.33 50.98

2435 -0.64 -146.0 2183 3499 3377 3192 316.4 -11.9 230 2439 0.00 2.35 0.00 0.000 3078 0.000 0.045 2182 2093 3283 3375 3192 0 0 0 0 0 0 14.67 14.64 14.70 6.33 51.18

2699 end dive: TARGET_DEPTH_EXCEEDED

state 2699 begin apogee

2702 -0.15 0.0 2183 2163 3377 3192 350.3 -12.1 244 2833 0.47 0.00 127.95 1.613 10246 0.268 0.000 2353 2162 2688 2748 2629 0 0 0 0 0 0 14.52 13.92 13.30 6.33 51.45

2834 end apogee: CONTROL_FINISHED_OK

state 2834 begin loiter

3120 -0.15 0.0 2354 2163 2740 2616 344.6 3.6 265 3120 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2162 2677 2739 2615 0 0 0 0 0 0 14.55 14.55 14.56 6.28 50.15

3420 -0.15 0.0 2353 2163 2740 2613 333.4 3.8 280 3420 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2162 2675 2739 2612 0 0 0 0 0 0 14.69 14.70 14.70 6.28 50.98

3720 -0.15 0.0 2354 2163 2741 2610 322.1 3.8 295 3720 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2162 2675 2739 2611 0 0 0 0 0 0 14.78 14.78 14.78 6.29 50.82

4020 -0.15 0.0 2353 2163 2740 2611 311.1 3.6 310 4021 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2162 2674 2739 2610 0 0 0 0 0 0 14.84 14.84 14.84 6.29 51.02

4320 -0.15 0.0 2354 2163 2741 2609 300.1 3.6 325 4321 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2162 2674 2739 2609 0 0 0 0 0 0 14.88 14.89 14.89 6.29 50.74

4620 -0.15 0.0 2353 2163 2739 2609 289.2 3.7 340 4621 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2163 2674 2739 2609 0 0 0 0 0 0 14.92 14.92 14.92 6.28 51.45

4920 -0.15 0.0 2353 2163 2740 2610 278.3 3.6 355 4920 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2162 2674 2739 2609 0 0 0 0 0 0 14.95 14.95 14.95 6.28 50.90

5220 -0.15 0.0 2353 2163 2740 2609 267.2 3.7 370 5220 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2162 2673 2739 2608 0 0 0 0 0 0 14.97 14.97 14.97 6.28 50.86

5520 -0.15 0.0 2353 2163 2741 2608 255.6 3.9 385 5521 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2162 2673 2739 2608 0 0 0 0 0 0 14.99 14.99 14.99 6.28 51.69

5820 -0.15 0.0 2354 2163 2740 2609 243.9 3.8 400 5820 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2162 2673 2739 2608 0 0 0 0 0 0 15.00 15.01 15.01 6.28 51.18

6120 -0.15 0.0 2354 2163 2741 2608 232.6 3.8 415 6121 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2162 2673 2739 2608 0 0 0 0 0 0 15.02 15.02 15.02 6.28 50.82

6419 end loiter: LOITER_COMPLETE

state 6419 begin climb

6420 0.64 146.0 2353 2163 2740 2609 222.4 0.0 430 6561 0.60 2.60 131.60 1.399 10756 0.171 0.071 2608 747 2087 2112 2063 0 0 0 0 0 0 14.72 13.97 13.46 6.28 51.26

6615 0.64 146.0 2607 747 2109 2056 209.5 9.3 439 6620 0.00 2.45 0.00 0.000 5126 0.000 0.057 2609 2127 2081 2109 2054 0 0 0 0 0 0 14.17 14.12 14.19 6.23 48.93

6920 0.64 146.0 2609 2128 2105 2048 171.9 12.1 455 6925 0.00 2.58 0.00 0.000 4356 0.000 0.086 2608 3555 2075 2104 2047 0 0 0 0 0 0 14.59 14.34 14.59 6.24 50.31

7025 0.64 146.0 2606 3556 2104 2047 160.1 11.5 460 7029 0.03 2.38 0.00 0.000 5126 0.439 0.044 2610 2156 2074 2102 2046 0 0 0 0 0 0 14.25 14.40 14.39 6.23 50.11

7340 0.64 146.0 2610 2156 2103 2048 122.9 11.8 476 7344 0.00 2.50 0.00 0.000 4612 0.000 0.070 2620 741 2071 2102 2041 0 0 0 0 0 0 14.72 14.47 14.73 6.23 50.39

7395 0.64 146.0 2620 742 2102 2041 118.4 11.6 478 7399 0.03 2.42 0.00 0.000 5126 0.424 0.057 2609 2147 2071 2101 2041 0 0 0 0 0 0 14.33 14.49 14.48 6.23 50.55

7700 0.64 146.0 2609 2148 2101 2041 83.5 10.9 515 7704 0.00 2.50 0.00 0.000 4356 0.000 0.086 2609 3557 2070 2101 2040 0 0 0 0 0 0 14.77 14.52 14.77 6.22 49.56

7770 0.64 146.0 2609 3557 2101 2041 75.8 10.8 529 7774 0.00 2.38 0.00 0.000 5126 0.000 0.044 2618 2145 2067 2101 2033 0 0 0 0 0 0 14.61 14.56 14.62 6.21 49.64

7895 0.64 146.0 2619 2145 2102 2039 61.8 11.4 554 7899 0.00 2.47 0.00 0.000 4612 0.000 0.071 2629 742 2070 2101 2039 0 0 0 0 0 0 14.79 14.54 14.78 6.21 48.85

7920 0.64 146.0 2630 742 2101 2040 58.9 11.3 559 7924 0.05 2.42 0.00 0.000 5126 0.319 0.058 2610 2154 2069 2100 2039 0 0 0 0 0 0 14.42 14.54 14.56 6.21 49.48

8045 0.64 146.0 2610 2155 2101 2038 45.6 10.5 584 8050 0.00 2.45 0.00 0.000 4356 0.000 0.086 2609 3560 2069 2100 2039 0 0 0 0 0 0 14.80 14.55 14.79 6.20 48.42

8085 0.64 146.0 2610 3560 2101 2039 41.3 10.6 592 8090 0.00 2.38 0.00 0.000 5126 0.000 0.045 2618 2149 2069 2100 2039 0 0 0 0 0 0 14.62 14.58 14.64 6.20 48.58

8210 0.64 146.0 2619 2149 2101 2040 28.9 10.7 617 8214 0.00 2.47 0.00 0.000 4612 0.000 0.071 2629 743 2069 2100 2038 0 0 0 0 0 0 14.81 14.55 14.81 6.20 48.81

8240 0.64 146.0 2629 744 2100 2039 25.7 10.5 623 8244 0.05 2.40 0.00 0.000 5126 0.314 0.056 2608 2146 2069 2100 2038 0 0 0 0 0 0 14.45 14.57 14.57 6.20 48.74

8365 0.64 146.0 2609 2147 2100 2039 13.2 10.6 648 8370 0.00 2.50 0.00 0.000 4356 0.000 0.086 2609 3558 2068 2099 2038 0 0 0 0 0 0 14.81 14.55 14.81 6.20 49.01

8415 0.65 154.2 2609 3558 2101 2037 8.6 8.0 658 8420 0.00 2.38 1.58 0.312 13318 0.000 0.044 2618 2147 2061 2090 2032 0 0 0 0 0 0 14.64 14.59 14.44 6.20 49.40

8479 end climb: SURFACE_DEPTH_REACHED

state 8479 begin surface coast

8509 end surface coast: CONTROL_FINISHED_OK

state 8509 begin surface

ID	640	HD_C	9.8500004e-06	C_ROLL_DIVE	2100	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	HEADING	-1	C_ROLL_CLIMB	2150	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	97	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
N_DIVES	160	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	5
STOP_T	12311812	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	3	TGT_DEFAULT_LAT	-5400	R_PORT_OVSHOOT	47	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	0	R_STBD_OVSHOOT	25	ALTIM_SENSITIVITY	2
D_TGT	350	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	420	SM_CC	220	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097655999
D_BOOST	20	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.60000002
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	602	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3962	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2690	DEVICE1	-1
D_SAFE	0	N_NOCOMM	2	VBD_DBAND	2	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_DIVE	140	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	1
T_MISSION	220	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_ABORT	250	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	COMPASS_DEVICE	33
T_LOITER	3600	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	-1
T_SLOITER	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
USE_BATHY	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_HIT_WINDOW	3600	AH0_24V	310	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	AH0_10V	0	SIM_W	0
D_OFFGRID	100	PITCH_MIN	312	MINV_24V	11.5	SIM_PITCH	0
T_WATCHDOG	10	PITCH_MAX	3939	MINV_10V	10	SEABIRD_T_G	0.0044042631
RELAUNCH	0	C_PITCH	2400	MAXI_24V	3	SEABIRD_T_H	0.0006412621
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_10V	2	SEABIRD_T_I	2.6024412e-05
MAX_BUOY	150	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_J	3.2462635e-06
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_G	-10.007382
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_C_H	1.1528281
SPEED_FACTOR	1	PITCH_GAIN	34	PRESSURE_YINT	-153.19165	SEABIRD_C_I	-0.0017483447
RHO	1.0275	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.000109596	SEABIRD_C_J	0.0001971516
MASS	54260	PITCH_AD_RATE	175	AD7714Ch0Gain	1	SEABIRD_C_Z	2950.7202
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	0	SC_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MIN	217	ALTIM_BOTTOM_PING_RANGE	0	SC_NDIVE	1.0
HD_A	0.0038360001	ROLL_MAX	3851	ALTIM_TOP_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	251218,174801,-5952.2012,-8.4686,13,0.8,31,-19.6,1.1,19.9,9,6.4	SPEED_LIMITS	0.144,0.244
_CALLS	1	TGT_NAME	NORTH
_XMS_NAKs	0	TGT_LATLONG	-5900.000,0.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.19	MHEAD_RNG_PITCHd_Wd	15.2,96967,-15.5,-8.333,-18.82,2677
_SM_ANGLEo	-65.8	D_GRID	350
GPS2	251218,175231,-5952.1782,-8.4156,9,0.8,16,-19.6,0.6,79.7,9,9.1

SM_CCo	8520,65.28,0.252,0,0,1792,220.03	_10V_AH	13.44,0.000
SM_GC	1.27,5.50,0.08,65.28,0.080,0.168,0.252,277,2076,1792,-6.45,0.76,220.03,0,0,0,0,0,0,14.65,14.60,14.38	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-5952.63,-8.57,251218,151905	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038948,0.11984	MEM	344108
HUMID	48.74	DATA_FILE_SIZE	17333,677
INTERNAL_PRESSURE	6.1285	CAP_FILE_SIZE	87735,0
TCM_TEMP	0.00	CFSIZE	1023623168,1009942528
XPDR_PINGS	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3871200	CURRENT	0.036,196.91,1
_24V_AH	13.30,23.999	GPS	251218,201701,-5951.836,-8.618,15,0.8,44,-19.6,0.8,286.3,10,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	439	75.34	nil	0	0	0.00
Roll_motor	68	2277	2085.43	nil	0	0	0.00
VBD_pump_during_apogee	261	1612	5600.57	nil	0	0	0.00
VBD_pump_during_surface	65	251	218.50	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	29	9.89	nil	0	0	0.00
Iridium_during_connect	38	160	81.57	SciCon	4919	6	453.71
Iridium_during_xfer	102	223	303.96	nil	0	0	0.00
Transponder_ping	0	420	4.19	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.63
TT8	0	0	0.00
LPSleep	6842	2	201.40
TT8_Active	431	11	67.99
TT8_Sampling	1515	32	665.98
TT8_CF8	71	49	47.87
TT8_Kalman	0	0	0.00
Analog_circuits	1027	11	158.73
GPS_charging	0	0	0.00
Compass	1085	19	284.06
RAFOS	0	0	0.00
Transponder	0	5	0.04

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts	int_press	humidity
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.64	-146.0	236	2084	1769	1795	0.0	0.0	0	100	0.00	0.00	-88.93	0.000	16386	0.000	0.000	234	2084	3175	3256	3094	0	0	0	0	0	0	14.61	28.83	14.62	6.17	49.37
101	-0.64	-146.0	235	2084	3257	3094	3.1	-6.0	18	119	6.00	2.72	-4.28	0.000	18692	0.368	2.277	2170	3508	3283	3374	3192	0	0	0	0	0	0	14.21	13.48	14.39	6.28	48.34
300	-0.64	-146.0	2172	3508	3377	3192	34.9	-15.1	58	304	0.05	2.38	0.00	0.000	3078	0.354	0.044	2188	2107	3284	3376	3192	0	0	0	0	0	0	14.26	14.42	14.41	6.29	48.03
425	-0.64	-146.0	2189	2106	3377	3192	52.6	-13.6	83	430	0.00	2.47	0.00	0.000	2564	0.000	0.070	2189	705	3284	3376	3192	0	0	0	0	0	0	14.67	14.43	14.67	6.29	49.25
505	-0.64	-146.0	2189	705	3378	3192	63.7	-13.6	99	510	0.00	2.42	0.00	0.000	3078	0.000	0.060	2180	2099	3284	3376	3192	0	0	0	0	0	0	14.50	14.45	14.53	6.29	48.38
630	-0.64	-146.0	2180	2100	3377	3192	82.5	-16.0	124	631	0.00	0.00	0.00	0.000	2054	0.000	0.000	2180	2099	3287	3382	3192	0	0	0	0	0	0	14.71	14.71	14.71	6.29	48.26
760	-0.64	-146.0	2180	2100	3377	3192	103.1	-15.3	147	760	0.00	0.00	0.00	0.000	2054	0.000	0.000	2180	2099	3284	3376	3192	0	0	0	0	0	0	14.73	14.73	14.73	6.29	48.50
1060	-0.64	-146.0	2180	2100	3376	3192	146.4	-13.6	162	1064	0.00	2.45	0.00	0.000	2564	0.000	0.068	2180	700	3284	3376	3192	0	0	0	0	0	0	14.78	14.54	14.78	6.30	49.60
1115	-0.64	-146.0	2180	701	3376	3193	151.7	-13.4	164	1119	0.08	2.42	0.00	0.000	3078	0.337	0.059	2195	2108	3284	3375	3193	0	0	0	0	0	0	14.42	14.54	14.54	6.30	50.31
1420	-0.64	-146.0	2196	2108	3377	3192	191.4	-12.4	180	1420	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2108	3284	3376	3192	0	0	0	0	0	0	14.81	14.81	14.81	6.31	50.98
1720	-0.64	-146.0	2195	2109	3376	3193	228.7	-12.4	195	1724	0.00	2.47	0.00	0.000	260	0.000	0.086	2185	3515	3284	3376	3193	0	0	0	0	0	0	14.83	14.58	14.83	6.32	51.45
1735	-0.64	-146.0	2186	3515	3377	3191	228.7	-12.4	195	1740	0.00	2.35	0.00	0.000	3078	0.000	0.045	2185	2110	3283	3374	3192	0	0	0	0	0	0	14.66	14.62	14.67	6.32	51.06
2040	-0.64	-146.0	2185	2109	3377	3191	270.2	-12.8	211	2045	0.00	2.47	0.00	0.000	2564	0.000	0.067	2185	689	3284	3376	3192	0	0	0	0	0	0	14.84	14.59	14.84	6.32	50.86
2105	-0.64	-146.0	2185	690	3376	3193	278.0	-13.0	214	2109	0.05	2.42	0.00	0.000	3078	0.363	0.059	2192	2101	3283	3375	3192	0	0	0	0	0	0	14.46	14.62	14.59	6.32	51.02
2420	-0.64	-146.0	2192	2101	3369	3192	316.4	-11.9	230	2424	0.00	2.45	0.00	0.000	2308	0.000	0.086	2182	3499	3283	3375	3192	0	0	0	0	0	0	14.86	14.60	14.85	6.33	50.98
2435	-0.64	-146.0	2183	3499	3377	3192	316.4	-11.9	230	2439	0.00	2.35	0.00	0.000	3078	0.000	0.045	2182	2093	3283	3375	3192	0	0	0	0	0	0	14.67	14.64	14.70	6.33	51.18
2699	end dive: TARGET_DEPTH_EXCEEDED
state	2699	begin apogee
2702	-0.15	0.0	2183	2163	3377	3192	350.3	-12.1	244	2833	0.47	0.00	127.95	1.613	10246	0.268	0.000	2353	2162	2688	2748	2629	0	0	0	0	0	0	14.52	13.92	13.30	6.33	51.45
2834	end apogee: CONTROL_FINISHED_OK
state	2834	begin loiter
3120	-0.15	0.0	2354	2163	2740	2616	344.6	3.6	265	3120	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2162	2677	2739	2615	0	0	0	0	0	0	14.55	14.55	14.56	6.28	50.15
3420	-0.15	0.0	2353	2163	2740	2613	333.4	3.8	280	3420	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2162	2675	2739	2612	0	0	0	0	0	0	14.69	14.70	14.70	6.28	50.98
3720	-0.15	0.0	2354	2163	2741	2610	322.1	3.8	295	3720	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2162	2675	2739	2611	0	0	0	0	0	0	14.78	14.78	14.78	6.29	50.82
4020	-0.15	0.0	2353	2163	2740	2611	311.1	3.6	310	4021	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2162	2674	2739	2610	0	0	0	0	0	0	14.84	14.84	14.84	6.29	51.02
4320	-0.15	0.0	2354	2163	2741	2609	300.1	3.6	325	4321	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2162	2674	2739	2609	0	0	0	0	0	0	14.88	14.89	14.89	6.29	50.74
4620	-0.15	0.0	2353	2163	2739	2609	289.2	3.7	340	4621	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2163	2674	2739	2609	0	0	0	0	0	0	14.92	14.92	14.92	6.28	51.45
4920	-0.15	0.0	2353	2163	2740	2610	278.3	3.6	355	4920	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2162	2674	2739	2609	0	0	0	0	0	0	14.95	14.95	14.95	6.28	50.90
5220	-0.15	0.0	2353	2163	2740	2609	267.2	3.7	370	5220	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2162	2673	2739	2608	0	0	0	0	0	0	14.97	14.97	14.97	6.28	50.86
5520	-0.15	0.0	2353	2163	2741	2608	255.6	3.9	385	5521	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2162	2673	2739	2608	0	0	0	0	0	0	14.99	14.99	14.99	6.28	51.69
5820	-0.15	0.0	2354	2163	2740	2609	243.9	3.8	400	5820	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2162	2673	2739	2608	0	0	0	0	0	0	15.00	15.01	15.01	6.28	51.18
6120	-0.15	0.0	2354	2163	2741	2608	232.6	3.8	415	6121	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2162	2673	2739	2608	0	0	0	0	0	0	15.02	15.02	15.02	6.28	50.82
6419	end loiter: LOITER_COMPLETE
state	6419	begin climb
6420	0.64	146.0	2353	2163	2740	2609	222.4	0.0	430	6561	0.60	2.60	131.60	1.399	10756	0.171	0.071	2608	747	2087	2112	2063	0	0	0	0	0	0	14.72	13.97	13.46	6.28	51.26
6615	0.64	146.0	2607	747	2109	2056	209.5	9.3	439	6620	0.00	2.45	0.00	0.000	5126	0.000	0.057	2609	2127	2081	2109	2054	0	0	0	0	0	0	14.17	14.12	14.19	6.23	48.93
6920	0.64	146.0	2609	2128	2105	2048	171.9	12.1	455	6925	0.00	2.58	0.00	0.000	4356	0.000	0.086	2608	3555	2075	2104	2047	0	0	0	0	0	0	14.59	14.34	14.59	6.24	50.31
7025	0.64	146.0	2606	3556	2104	2047	160.1	11.5	460	7029	0.03	2.38	0.00	0.000	5126	0.439	0.044	2610	2156	2074	2102	2046	0	0	0	0	0	0	14.25	14.40	14.39	6.23	50.11
7340	0.64	146.0	2610	2156	2103	2048	122.9	11.8	476	7344	0.00	2.50	0.00	0.000	4612	0.000	0.070	2620	741	2071	2102	2041	0	0	0	0	0	0	14.72	14.47	14.73	6.23	50.39
7395	0.64	146.0	2620	742	2102	2041	118.4	11.6	478	7399	0.03	2.42	0.00	0.000	5126	0.424	0.057	2609	2147	2071	2101	2041	0	0	0	0	0	0	14.33	14.49	14.48	6.23	50.55
7700	0.64	146.0	2609	2148	2101	2041	83.5	10.9	515	7704	0.00	2.50	0.00	0.000	4356	0.000	0.086	2609	3557	2070	2101	2040	0	0	0	0	0	0	14.77	14.52	14.77	6.22	49.56
7770	0.64	146.0	2609	3557	2101	2041	75.8	10.8	529	7774	0.00	2.38	0.00	0.000	5126	0.000	0.044	2618	2145	2067	2101	2033	0	0	0	0	0	0	14.61	14.56	14.62	6.21	49.64
7895	0.64	146.0	2619	2145	2102	2039	61.8	11.4	554	7899	0.00	2.47	0.00	0.000	4612	0.000	0.071	2629	742	2070	2101	2039	0	0	0	0	0	0	14.79	14.54	14.78	6.21	48.85
7920	0.64	146.0	2630	742	2101	2040	58.9	11.3	559	7924	0.05	2.42	0.00	0.000	5126	0.319	0.058	2610	2154	2069	2100	2039	0	0	0	0	0	0	14.42	14.54	14.56	6.21	49.48
8045	0.64	146.0	2610	2155	2101	2038	45.6	10.5	584	8050	0.00	2.45	0.00	0.000	4356	0.000	0.086	2609	3560	2069	2100	2039	0	0	0	0	0	0	14.80	14.55	14.79	6.20	48.42
8085	0.64	146.0	2610	3560	2101	2039	41.3	10.6	592	8090	0.00	2.38	0.00	0.000	5126	0.000	0.045	2618	2149	2069	2100	2039	0	0	0	0	0	0	14.62	14.58	14.64	6.20	48.58
8210	0.64	146.0	2619	2149	2101	2040	28.9	10.7	617	8214	0.00	2.47	0.00	0.000	4612	0.000	0.071	2629	743	2069	2100	2038	0	0	0	0	0	0	14.81	14.55	14.81	6.20	48.81
8240	0.64	146.0	2629	744	2100	2039	25.7	10.5	623	8244	0.05	2.40	0.00	0.000	5126	0.314	0.056	2608	2146	2069	2100	2038	0	0	0	0	0	0	14.45	14.57	14.57	6.20	48.74
8365	0.64	146.0	2609	2147	2100	2039	13.2	10.6	648	8370	0.00	2.50	0.00	0.000	4356	0.000	0.086	2609	3558	2068	2099	2038	0	0	0	0	0	0	14.81	14.55	14.81	6.20	49.01
8415	0.65	154.2	2609	3558	2101	2037	8.6	8.0	658	8420	0.00	2.38	1.58	0.312	13318	0.000	0.044	2618	2147	2061	2090	2032	0	0	0	0	0	0	14.64	14.59	14.44	6.20	49.40
8479	end climb: SURFACE_DEPTH_REACHED
state	8479	begin surface coast
8509	end surface coast: CONTROL_FINISHED_OK
state	8509	begin surface