Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 161 HD_C 9.0100002e-06 ROLL_MAX 3769 ALTIM_BOTTOM_TURN_MARGIN 20

MISSION 11 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 11 ESCAPE_HEADING 0 C_ROLL_DIVE 2675 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2300 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 25.6 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON 126.45 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 92 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 48 XPDR_VALID 5

D_BOOST 20 N_FILEKB 8 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.63999999

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 73 VBD_MIN 550 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE1 2

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2839 DEVICE2 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.245296 DEVICE4 -1

T_DIVE 270 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 300 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_ABORT 720 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_TURN 540 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 115

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 33

USE_BATHY 0 T_RSLEEP 5 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE -1

RELAUNCH 1 PITCH_MIN 151 AH0_10V 100 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3948 MINV_24V 19 SIM_PITCH 0

MAX_BUOY 225 C_PITCH 2930 MINV_10V 8 SEABIRD_T_G 0.0043775463

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00063860236

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_T_I 2.5706517e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY 2 SEABIRD_T_J 2.822896e-06

RHO 1.0275 P_OVSHOOT_WITHG 0.079999998 PRESSURE_YINT -20.182438 SEABIRD_C_G -9.9098063

MASS 51942 PITCH_GAIN 21 PRESSURE_SLOPE 0.00011628441 SEABIRD_C_H 1.1132913

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_I -0.00039731048

NAV_MODE 1 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00011278767

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 MI_OFFLOAD 1.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 0 MI_POWERSOURCE 0.0

HD_A 0.00154 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 MI_RESTARTMONITOR 0.0

HD_B 0.0145 ROLL_MIN 192 ALTIM_TOP_PING_RANGE 0 MI_NOTIFYMOTORS 0.0

AD7714Ch0Gain 128 D_PITCH 0 N_NOCOMM 1 SEABIRD_T_I 2.5706517e-05

AH0_10V 100 D_SAFE 0 N_NOSURFACE 0 SEABIRD_T_J 2.822896e-06

AH0_24V 150 D_SURF 3 PHONE_DEVICE 49 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PHONE_SUPPLY 2 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 20 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 SM_CC 500

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

ALTIM_PING_DELTA 5 FERRY_MAX 45 PITCH_AD_RATE 175 STROBE 0

ALTIM_PING_DEPTH 80 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 21 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3948 TCM_PITCH_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_MIN 151 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.00154 PITCH_TIMEOUT 16 TGT_DEFAULT_LAT 25.6

CALL_NDIVES 1 HD_B 0.0145 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON 126.45

CALL_TRIES 5 HD_C 9.0100002e-06 PITCH_W_DBAND 0 T_ABORT 720

CALL_WAIT 60 HEADING -1 PITCH_W_GAIN 0 T_BOOST 2

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00011628441 T_DIVE 270

CAPUPLOAD 0 HEAPDBG 0 PRESSURE_YINT -20.182438 T_EPIRB 0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 73 T_GPS 15

COMM_SEQ 0 ID 161 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0.079999998 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_YINT -0.63999999 RAFOS_CORR_THRESH 60 T_MISSION 300

COMPASS_USE 0 KALMAN_USE 2 RAFOS_DEVICE -1 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE1 115 RAFOS_HIT_WINDOW 3600 T_RSLEEP 5

C_PITCH 2930 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 540

C_ROLL_CLIMB 2300 LOGGERDEVICE3 -1 RELAUNCH 1 T_TURN_SAMPINT 5

C_ROLL_DIVE 2675 LOGGERDEVICE4 -1 RHO 1.0275 T_WATCHDOG 10

C_VBD 2839 LOGGERS 1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DBDW 0 MASS 51942 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS_COMP 0 ROLL_AD_RATE 300 USE_BATHY 0

DEVICE1 2 MAX_BUOY 225 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_10V 8 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MAX 3769 VBD_CNV -0.245296

DEVICE4 -1 MISSION 11 ROLL_MAXERRORS 2 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 ROLL_MIN 192 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 11 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 92 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 48 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 MOTHERBOARD 4 SEABIRD_C_G -9.9098063 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 NAV_MODE 1 SEABIRD_C_H 1.1132913 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_C_I -0.00039731048 W_ADJ_DBAND 0

D_FLARE 3 N_DIVES 0 SEABIRD_C_J 0.00011278767 XPDR_DEVICE -1

D_NO_BLEED 500 N_FILEKB 8 SEABIRD_T_G 0.0043775463 XPDR_INHIBIT 90

D_OFFGRID 100 N_GPS 20 SEABIRD_T_H 0.00063860236 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 200715,031356,2800.590,-8729.791,15,0.9,25,-1.9 SPEED_LIMITS 0.212,0.268

_CALLS 1 TGT_NAME T315_6

_XMS_NAKs 0 TGT_LATLONG 2801.049,-8729.938

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 1.26 MHEAD_RNG_PITCHd_Wd 357.2,1002,-22.5,-12.222,-30.00,1608

_SM_ANGLEo -70.0 D_GRID 990

GPS2 200715,032445,2800.510,-8729.889,5,0.9,15,-1.9

Post-dive calculations and measurements:

FINISH 0.6,1.006888 MI_HOME 2.8/436550/424314

SM_CCo 10722,42.35,0.350,1,0,799,500.16 _24V_AH 23.33,45.831

SM_GC 2.26,8.95,1.58,42.35,0.036,0.023,0.350,157,2654,799,-8.61,1.89,500.16,0,0,0,0,1,0,25.13,25.23,24.43 _10V_AH 10.04,13.488

IRIDIUM_FIX 2722.64,-8719.43,150508,164559 FG_AHR_24Vo 0.000

TT8_MAMPS 0.098119,0.098119 FG_AHR_10Vo 0.000

HUMID 39.09 MEM 296136

INTERNAL_PRESSURE 9.1553 DATA_FILE_SIZE 30065,839

TCM_TEMP 25.00 CAP_FILE_SIZE 117229,0

MI_MIVER 0.4 CFSIZE 260034560,256495616

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0

MI_BOOTCOUNT 104 INTR 0,11486.32,0x236bc6,7,5

MI_LOG 3.5/516052/497982 GPS 200715,062531,2801.557,-8729.625,39,0.8,49,-1.9

MI_ROOT 70.6/190403/56003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 231 118.17 SBE_CT 563 23 305.04

Roll_motor 80 52 97.85 nil 0 0 0.00

VBD_pump_during_apogee 557 1067 13889.52 nil 0 0 0.00

VBD_pump_during_surface 42 349 345.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 61 45.06 nil 0 0 0.00

Iridium_during_connect 33 160 126.18 MIB 11525 43 11580.42

Iridium_during_xfer 223 223 1164.87 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 11525 37 9964.45

GPS 17 31 5.53

TT8 0 0 0.00

LPSleep 7982 0 31.26

TT8_Active 672 13 89.22

TT8_Sampling 2469 40 1014.76

TT8_CF8 107 48 52.07

TT8_Kalman 0 0 0.00

Analog_circuits 1539 16 247.36

GPS_charging 0 0 0.00

Compass 1591 15 251.27

RAFOS 0 0 0.00

Transponder 0 0 0.00

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -1.23 -131.4 148 2660 905 692 0.0 0.0 0 62 0.00 0.00 -45.58 0.000 16386 0.000 0.000 148 2660 2239 2201 2277 0 0 0 0 0 0 28.83 28.83 28.83

64 -1.34 -219.0 147 2661 2203 2278 3.3 -6.3 7 108 9.77 1.67 -27.85 0.000 18692 0.231 0.052 2486 3759 3732 3751 3714 0 0 0 0 0 0 24.82 25.34 25.49

262 -1.34 -219.0 2488 3759 3751 3716 74.0 -36.6 39 266 0.00 1.58 0.00 0.000 1030 0.000 0.024 2487 2689 3734 3752 3716 0 0 0 0 0 0 28.83 25.56 28.83

397 -1.34 -219.0 2486 2690 3756 3715 113.3 -26.1 51 401 0.00 2.10 0.00 0.000 516 0.000 0.024 2487 1264 3734 3754 3715 0 0 0 0 0 0 28.83 25.60 28.83

487 -1.34 -219.0 2489 1264 3757 3716 136.3 -25.2 57 491 0.00 2.15 0.00 0.000 1030 0.000 0.031 2479 2666 3735 3755 3716 0 0 0 0 0 0 28.83 25.60 28.83

802 -1.34 -219.0 2478 2668 3759 3716 210.9 -22.9 78 806 0.00 2.08 0.00 0.000 516 0.000 0.024 2479 1267 3736 3757 3716 0 0 0 0 0 0 28.83 25.70 28.83

907 -1.34 -219.0 2478 1268 3759 3717 234.4 -21.9 85 911 0.08 2.15 0.00 0.000 3078 0.161 0.031 2492 2670 3736 3757 3716 0 0 0 0 0 0 25.21 25.68 28.83

1223 -1.34 -219.0 2491 2670 3758 3717 303.8 -22.1 106 1226 0.00 2.05 0.00 0.000 516 0.000 0.024 2492 1262 3736 3757 3716 0 0 0 0 0 0 28.83 25.73 28.83

1262 -1.34 -219.0 2493 1263 3757 3716 310.3 -22.0 108 1269 0.00 2.17 0.00 0.000 1030 0.000 0.031 2484 2674 3735 3756 3715 0 0 0 0 0 0 28.83 25.70 28.83

1567 -1.34 -219.0 2485 2675 3754 3715 379.9 -22.5 129 1571 0.00 2.10 0.00 0.000 516 0.000 0.024 2483 1266 3734 3754 3714 0 0 0 0 0 0 28.83 25.72 28.83

1606 -1.34 -219.0 2485 1267 3754 3715 386.6 -22.5 131 1615 0.00 2.17 0.00 0.000 1030 0.000 0.033 2474 2678 3734 3754 3714 0 0 0 0 0 0 28.83 25.68 28.83

1912 -1.34 -219.0 2474 2678 3753 3712 459.2 -23.2 152 1913 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2678 3731 3751 3711 0 0 0 0 0 0 28.83 28.83 28.83

2212 -1.34 -219.0 2474 2678 3750 3708 526.6 -22.4 172 2216 0.00 2.10 0.00 0.000 516 0.000 0.025 2474 1279 3728 3749 3707 0 0 0 0 0 0 28.83 25.69 28.83

2291 -1.34 -219.0 2474 1279 3749 3707 542.7 -21.3 177 2296 0.10 2.17 0.00 0.000 3078 0.150 0.033 2495 2679 3727 3749 3705 0 0 0 0 0 0 25.13 25.65 28.83

2602 -1.34 -219.0 2495 2679 3747 3702 606.3 -19.8 198 2603 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2679 3723 3745 3701 0 0 0 0 0 0 28.83 28.83 28.83

2902 -1.34 -219.0 2496 2680 3743 3698 667.8 -20.5 218 2903 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2680 3721 3744 3699 0 0 0 0 0 0 28.83 28.83 28.83

3202 -1.34 -219.0 2496 2680 3740 3694 730.2 -20.8 238 3203 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2680 3716 3741 3692 0 0 0 0 0 0 28.83 28.83 28.83

3502 -1.34 -219.0 2495 2680 3739 3691 791.0 -20.0 258 3506 0.00 2.12 0.00 0.000 516 0.000 0.028 2495 1286 3713 3737 3690 0 0 0 0 0 0 28.83 25.58 28.83

3611 -1.34 -219.0 2495 1286 3738 3690 811.1 -18.9 265 3616 0.00 2.20 0.00 0.000 1030 0.000 0.037 2487 2676 3712 3736 3689 0 0 0 0 0 0 28.83 25.54 28.83

3922 -1.34 -219.0 2488 2676 3734 3685 873.9 -19.7 286 3923 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2676 3709 3734 3685 0 0 0 0 0 0 28.83 28.83 28.83

4222 -1.34 -219.0 2488 2677 3731 3683 933.7 -19.8 306 4223 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2676 3707 3731 3684 0 0 0 0 0 0 28.83 28.83 28.83

4506 end dive: TARGET_DEPTH_EXCEEDED

state 4506 begin apogee

4509 -0.24 0.0 2487 2307 3731 3679 990.2 -19.6 325 4690 1.15 0.00 176.90 1.067 10246 0.121 0.000 2846 2306 2839 2949 2730 0 0 0 0 0 0 25.22 28.83 23.49

4691 end apogee: CONTROL_FINISHED_OK

state 4691 begin climb

4692 1.34 219.0 2847 2306 2947 2730 999.2 0.0 337 4888 1.50 2.22 187.07 1.053 10756 0.060 0.032 3367 911 1943 2033 1853 0 0 0 0 0 0 24.40 24.22 23.33

4972 1.34 219.0 3368 911 2026 1852 969.1 19.1 356 4976 0.00 2.22 0.00 0.000 1030 0.000 0.030 3367 2308 1938 2026 1851 0 0 0 0 0 0 28.83 24.96 28.83

5287 1.34 219.0 3367 2309 2021 1848 908.4 19.4 377 5291 0.00 2.17 0.00 0.000 516 0.000 0.033 3376 906 1934 2021 1848 0 0 0 0 0 0 28.83 25.53 28.83

5397 1.34 219.0 3378 907 2020 1848 887.9 19.3 384 5401 0.00 2.15 0.00 0.000 1030 0.000 0.031 3376 2298 1934 2020 1848 0 0 0 0 0 0 28.83 25.58 28.83

5707 1.34 219.0 3376 2298 2019 1847 825.4 20.1 405 5708 0.00 0.00 0.00 0.000 6 0.000 0.000 3376 2298 1931 2017 1846 0 0 0 0 0 0 28.83 28.83 28.83

6007 1.34 219.0 3376 2298 2017 1846 765.4 19.9 425 6011 0.00 2.12 0.00 0.000 516 0.000 0.034 3386 914 1930 2015 1845 0 0 0 0 0 0 28.83 25.64 28.83

6182 1.34 219.0 3390 914 2016 1846 732.6 19.9 436 6189 0.00 2.15 0.00 0.000 1030 0.000 0.030 3386 2306 1929 2014 1845 0 0 0 0 0 0 28.83 25.63 28.83

6487 1.34 219.0 3381 2307 2014 1845 669.5 19.7 457 6491 0.00 2.17 0.00 0.000 516 0.000 0.034 3395 901 1928 2012 1844 0 0 0 0 0 0 28.83 25.61 28.83

6496 1.34 219.0 3394 901 2014 1845 669.5 19.7 457 6505 0.10 2.15 0.00 0.000 5126 0.139 0.031 3365 2300 1928 2012 1844 0 0 0 0 0 0 25.40 25.71 28.83

6802 1.34 219.0 3364 2301 2013 1844 611.3 18.4 478 6806 0.00 2.15 0.00 0.000 516 0.000 0.035 3372 883 1927 2012 1843 0 0 0 0 0 0 28.83 25.56 28.83

6897 1.34 219.0 3373 883 2011 1844 594.8 18.3 484 6901 0.00 2.20 0.00 0.000 1030 0.000 0.031 3372 2298 1927 2011 1843 0 0 0 0 0 0 28.83 25.53 28.83

7207 1.34 219.0 3372 2298 2010 1843 536.9 18.4 505 7208 0.00 0.00 0.00 0.000 6 0.000 0.000 3371 2299 1926 2010 1842 0 0 0 0 0 0 28.83 28.83 28.83

7507 1.34 219.0 3372 2295 2009 1842 481.9 18.2 525 7511 0.00 2.15 0.00 0.000 516 0.000 0.034 3381 913 1926 2010 1842 0 0 0 0 0 0 28.83 25.53 28.83

7652 1.34 219.0 3380 914 2011 1842 457.1 18.2 534 7659 0.00 2.15 0.00 0.000 1030 0.000 0.030 3381 2304 1925 2009 1842 0 0 0 0 0 0 28.83 25.52 28.83

7957 1.34 219.0 3381 2304 2004 1842 399.3 18.7 555 7958 0.00 0.00 0.00 0.000 6 0.000 0.000 3381 2304 1925 2008 1842 0 0 0 0 0 0 28.83 28.83 28.83

8257 1.34 219.0 3381 2304 2010 1842 343.1 19.0 575 8261 0.00 2.15 0.00 0.000 516 0.000 0.034 3390 915 1924 2008 1841 0 0 0 0 0 0 28.83 25.52 28.83

8402 1.34 219.0 3391 915 2008 1842 317.5 19.1 584 8409 0.00 2.15 0.00 0.000 1030 0.000 0.029 3390 2302 1924 2008 1841 0 0 0 0 0 0 28.83 25.53 28.83

8707 1.34 219.0 3391 2302 2008 1841 255.6 20.0 605 8711 0.00 2.15 0.00 0.000 516 0.000 0.033 3399 909 1924 2008 1841 0 0 0 0 0 0 28.83 25.51 28.83

8852 1.34 219.0 3398 910 2009 1842 229.3 19.6 614 8860 0.12 2.15 0.00 0.000 5126 0.136 0.030 3362 2302 1924 2008 1841 0 0 0 0 0 0 25.01 25.50 28.83

9157 1.34 219.0 3363 2302 2008 1841 170.5 18.5 635 9161 0.00 2.12 0.00 0.000 516 0.000 0.032 3370 891 1924 2008 1841 0 0 0 0 0 0 28.83 25.50 28.83

9347 1.34 219.0 3369 892 2009 1842 137.9 17.8 647 9354 0.00 2.17 0.00 0.000 1030 0.000 0.028 3370 2302 1924 2008 1841 0 0 0 0 0 0 28.83 25.49 28.83

9657 1.34 219.0 3370 2303 2008 1841 87.6 14.1 671 9661 0.00 2.17 0.00 0.000 516 0.000 0.031 3379 891 1924 2007 1841 0 0 0 0 0 0 28.83 25.49 28.83

9797 1.34 219.0 3380 896 2007 1842 70.0 12.5 685 9801 0.00 2.15 0.00 0.000 1030 0.000 0.027 3379 2296 1926 2007 1846 0 0 0 0 0 0 28.83 25.51 28.83

9927 1.38 250.3 3379 2297 2009 1841 56.2 10.2 698 9953 0.00 2.10 22.17 0.432 8708 0.000 0.029 3387 897 1816 1906 1727 0 0 0 0 0 0 28.83 25.61 24.94

10372 1.48 330.0 3387 897 1899 1728 17.8 7.1 780 10459 0.00 2.17 73.57 0.406 9222 0.000 0.025 3388 2310 1492 1589 1396 0 0 0 0 1 0 28.83 25.22 24.59

10518 1.61 438.8 3388 2310 1585 1393 8.2 5.3 806 10630 0.15 2.17 98.15 0.405 10500 0.083 0.035 3456 3704 1049 1166 932 0 0 0 0 1 0 25.27 24.94 24.36

10648 end climb: SURFACE_DEPTH_REACHED

state 10648 begin surface coast

10703 end surface coast: CONTROL_FINISHED_OK

state 10703 begin surface

ID	161	HD_C	9.0100002e-06	ROLL_MAX	3769	ALTIM_BOTTOM_TURN_MARGIN	20
MISSION	11	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	11	ESCAPE_HEADING	0	C_ROLL_DIVE	2675	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2300	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	25.6	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	126.45	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	92	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	48	XPDR_VALID	5
D_BOOST	20	N_FILEKB	8	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.63999999
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	73	VBD_MIN	550	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE1	2
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2839	DEVICE2	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.245296	DEVICE4	-1
T_DIVE	270	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	300	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_ABORT	720	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_TURN	540	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	115
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	33
USE_BATHY	0	T_RSLEEP	5	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_MIN	151	AH0_10V	100	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3948	MINV_24V	19	SIM_PITCH	0
MAX_BUOY	225	C_PITCH	2930	MINV_10V	8	SEABIRD_T_G	0.0043775463
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00063860236
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_T_I	2.5706517e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	2	SEABIRD_T_J	2.822896e-06
RHO	1.0275	P_OVSHOOT_WITHG	0.079999998	PRESSURE_YINT	-20.182438	SEABIRD_C_G	-9.9098063
MASS	51942	PITCH_GAIN	21	PRESSURE_SLOPE	0.00011628441	SEABIRD_C_H	1.1132913
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_I	-0.00039731048
NAV_MODE	1	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00011278767
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	MI_OFFLOAD	1.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	0	MI_POWERSOURCE	0.0
HD_A	0.00154	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	MI_RESTARTMONITOR	0.0
HD_B	0.0145	ROLL_MIN	192	ALTIM_TOP_PING_RANGE	0	MI_NOTIFYMOTORS	0.0

GPS1	200715,031356,2800.590,-8729.791,15,0.9,25,-1.9	SPEED_LIMITS	0.212,0.268
_CALLS	1	TGT_NAME	T315_6
_XMS_NAKs	0	TGT_LATLONG	2801.049,-8729.938
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	1.26	MHEAD_RNG_PITCHd_Wd	357.2,1002,-22.5,-12.222,-30.00,1608
_SM_ANGLEo	-70.0	D_GRID	990
GPS2	200715,032445,2800.510,-8729.889,5,0.9,15,-1.9

FINISH	0.6,1.006888	MI_HOME	2.8/436550/424314
SM_CCo	10722,42.35,0.350,1,0,799,500.16	_24V_AH	23.33,45.831
SM_GC	2.26,8.95,1.58,42.35,0.036,0.023,0.350,157,2654,799,-8.61,1.89,500.16,0,0,0,0,1,0,25.13,25.23,24.43	_10V_AH	10.04,13.488
IRIDIUM_FIX	2722.64,-8719.43,150508,164559	FG_AHR_24Vo	0.000
TT8_MAMPS	0.098119,0.098119	FG_AHR_10Vo	0.000
HUMID	39.09	MEM	296136
INTERNAL_PRESSURE	9.1553	DATA_FILE_SIZE	30065,839
TCM_TEMP	25.00	CAP_FILE_SIZE	117229,0
MI_MIVER	0.4	CFSIZE	260034560,256495616
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0
MI_BOOTCOUNT	104	INTR	0,11486.32,0x236bc6,7,5
MI_LOG	3.5/516052/497982	GPS	200715,062531,2801.557,-8729.625,39,0.8,49,-1.9
MI_ROOT	70.6/190403/56003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	231	118.17	SBE_CT	563	23	305.04
Roll_motor	80	52	97.85	nil	0	0	0.00
VBD_pump_during_apogee	557	1067	13889.52	nil	0	0	0.00
VBD_pump_during_surface	42	349	345.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	61	45.06	nil	0	0	0.00
Iridium_during_connect	33	160	126.18	MIB	11525	43	11580.42
Iridium_during_xfer	223	223	1164.87	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	11525	37	9964.45
GPS	17	31	5.53
TT8	0	0	0.00
LPSleep	7982	0	31.26
TT8_Active	672	13	89.22
TT8_Sampling	2469	40	1014.76
TT8_CF8	107	48	52.07
TT8_Kalman	0	0	0.00
Analog_circuits	1539	16	247.36
GPS_charging	0	0	0.00
Compass	1591	15	251.27
RAFOS	0	0	0.00
Transponder	0	0	0.00

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-1.23	-131.4	148	2660	905	692	0.0	0.0	0	62	0.00	0.00	-45.58	0.000	16386	0.000	0.000	148	2660	2239	2201	2277	0	0	0	0	0	0	28.83	28.83	28.83
64	-1.34	-219.0	147	2661	2203	2278	3.3	-6.3	7	108	9.77	1.67	-27.85	0.000	18692	0.231	0.052	2486	3759	3732	3751	3714	0	0	0	0	0	0	24.82	25.34	25.49
262	-1.34	-219.0	2488	3759	3751	3716	74.0	-36.6	39	266	0.00	1.58	0.00	0.000	1030	0.000	0.024	2487	2689	3734	3752	3716	0	0	0	0	0	0	28.83	25.56	28.83
397	-1.34	-219.0	2486	2690	3756	3715	113.3	-26.1	51	401	0.00	2.10	0.00	0.000	516	0.000	0.024	2487	1264	3734	3754	3715	0	0	0	0	0	0	28.83	25.60	28.83
487	-1.34	-219.0	2489	1264	3757	3716	136.3	-25.2	57	491	0.00	2.15	0.00	0.000	1030	0.000	0.031	2479	2666	3735	3755	3716	0	0	0	0	0	0	28.83	25.60	28.83
802	-1.34	-219.0	2478	2668	3759	3716	210.9	-22.9	78	806	0.00	2.08	0.00	0.000	516	0.000	0.024	2479	1267	3736	3757	3716	0	0	0	0	0	0	28.83	25.70	28.83
907	-1.34	-219.0	2478	1268	3759	3717	234.4	-21.9	85	911	0.08	2.15	0.00	0.000	3078	0.161	0.031	2492	2670	3736	3757	3716	0	0	0	0	0	0	25.21	25.68	28.83
1223	-1.34	-219.0	2491	2670	3758	3717	303.8	-22.1	106	1226	0.00	2.05	0.00	0.000	516	0.000	0.024	2492	1262	3736	3757	3716	0	0	0	0	0	0	28.83	25.73	28.83
1262	-1.34	-219.0	2493	1263	3757	3716	310.3	-22.0	108	1269	0.00	2.17	0.00	0.000	1030	0.000	0.031	2484	2674	3735	3756	3715	0	0	0	0	0	0	28.83	25.70	28.83
1567	-1.34	-219.0	2485	2675	3754	3715	379.9	-22.5	129	1571	0.00	2.10	0.00	0.000	516	0.000	0.024	2483	1266	3734	3754	3714	0	0	0	0	0	0	28.83	25.72	28.83
1606	-1.34	-219.0	2485	1267	3754	3715	386.6	-22.5	131	1615	0.00	2.17	0.00	0.000	1030	0.000	0.033	2474	2678	3734	3754	3714	0	0	0	0	0	0	28.83	25.68	28.83
1912	-1.34	-219.0	2474	2678	3753	3712	459.2	-23.2	152	1913	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2678	3731	3751	3711	0	0	0	0	0	0	28.83	28.83	28.83
2212	-1.34	-219.0	2474	2678	3750	3708	526.6	-22.4	172	2216	0.00	2.10	0.00	0.000	516	0.000	0.025	2474	1279	3728	3749	3707	0	0	0	0	0	0	28.83	25.69	28.83
2291	-1.34	-219.0	2474	1279	3749	3707	542.7	-21.3	177	2296	0.10	2.17	0.00	0.000	3078	0.150	0.033	2495	2679	3727	3749	3705	0	0	0	0	0	0	25.13	25.65	28.83
2602	-1.34	-219.0	2495	2679	3747	3702	606.3	-19.8	198	2603	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2679	3723	3745	3701	0	0	0	0	0	0	28.83	28.83	28.83
2902	-1.34	-219.0	2496	2680	3743	3698	667.8	-20.5	218	2903	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2680	3721	3744	3699	0	0	0	0	0	0	28.83	28.83	28.83
3202	-1.34	-219.0	2496	2680	3740	3694	730.2	-20.8	238	3203	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2680	3716	3741	3692	0	0	0	0	0	0	28.83	28.83	28.83
3502	-1.34	-219.0	2495	2680	3739	3691	791.0	-20.0	258	3506	0.00	2.12	0.00	0.000	516	0.000	0.028	2495	1286	3713	3737	3690	0	0	0	0	0	0	28.83	25.58	28.83
3611	-1.34	-219.0	2495	1286	3738	3690	811.1	-18.9	265	3616	0.00	2.20	0.00	0.000	1030	0.000	0.037	2487	2676	3712	3736	3689	0	0	0	0	0	0	28.83	25.54	28.83
3922	-1.34	-219.0	2488	2676	3734	3685	873.9	-19.7	286	3923	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2676	3709	3734	3685	0	0	0	0	0	0	28.83	28.83	28.83
4222	-1.34	-219.0	2488	2677	3731	3683	933.7	-19.8	306	4223	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2676	3707	3731	3684	0	0	0	0	0	0	28.83	28.83	28.83
4506	end dive: TARGET_DEPTH_EXCEEDED
state	4506	begin apogee
4509	-0.24	0.0	2487	2307	3731	3679	990.2	-19.6	325	4690	1.15	0.00	176.90	1.067	10246	0.121	0.000	2846	2306	2839	2949	2730	0	0	0	0	0	0	25.22	28.83	23.49
4691	end apogee: CONTROL_FINISHED_OK
state	4691	begin climb
4692	1.34	219.0	2847	2306	2947	2730	999.2	0.0	337	4888	1.50	2.22	187.07	1.053	10756	0.060	0.032	3367	911	1943	2033	1853	0	0	0	0	0	0	24.40	24.22	23.33
4972	1.34	219.0	3368	911	2026	1852	969.1	19.1	356	4976	0.00	2.22	0.00	0.000	1030	0.000	0.030	3367	2308	1938	2026	1851	0	0	0	0	0	0	28.83	24.96	28.83
5287	1.34	219.0	3367	2309	2021	1848	908.4	19.4	377	5291	0.00	2.17	0.00	0.000	516	0.000	0.033	3376	906	1934	2021	1848	0	0	0	0	0	0	28.83	25.53	28.83
5397	1.34	219.0	3378	907	2020	1848	887.9	19.3	384	5401	0.00	2.15	0.00	0.000	1030	0.000	0.031	3376	2298	1934	2020	1848	0	0	0	0	0	0	28.83	25.58	28.83
5707	1.34	219.0	3376	2298	2019	1847	825.4	20.1	405	5708	0.00	0.00	0.00	0.000	6	0.000	0.000	3376	2298	1931	2017	1846	0	0	0	0	0	0	28.83	28.83	28.83
6007	1.34	219.0	3376	2298	2017	1846	765.4	19.9	425	6011	0.00	2.12	0.00	0.000	516	0.000	0.034	3386	914	1930	2015	1845	0	0	0	0	0	0	28.83	25.64	28.83
6182	1.34	219.0	3390	914	2016	1846	732.6	19.9	436	6189	0.00	2.15	0.00	0.000	1030	0.000	0.030	3386	2306	1929	2014	1845	0	0	0	0	0	0	28.83	25.63	28.83
6487	1.34	219.0	3381	2307	2014	1845	669.5	19.7	457	6491	0.00	2.17	0.00	0.000	516	0.000	0.034	3395	901	1928	2012	1844	0	0	0	0	0	0	28.83	25.61	28.83
6496	1.34	219.0	3394	901	2014	1845	669.5	19.7	457	6505	0.10	2.15	0.00	0.000	5126	0.139	0.031	3365	2300	1928	2012	1844	0	0	0	0	0	0	25.40	25.71	28.83
6802	1.34	219.0	3364	2301	2013	1844	611.3	18.4	478	6806	0.00	2.15	0.00	0.000	516	0.000	0.035	3372	883	1927	2012	1843	0	0	0	0	0	0	28.83	25.56	28.83
6897	1.34	219.0	3373	883	2011	1844	594.8	18.3	484	6901	0.00	2.20	0.00	0.000	1030	0.000	0.031	3372	2298	1927	2011	1843	0	0	0	0	0	0	28.83	25.53	28.83
7207	1.34	219.0	3372	2298	2010	1843	536.9	18.4	505	7208	0.00	0.00	0.00	0.000	6	0.000	0.000	3371	2299	1926	2010	1842	0	0	0	0	0	0	28.83	28.83	28.83
7507	1.34	219.0	3372	2295	2009	1842	481.9	18.2	525	7511	0.00	2.15	0.00	0.000	516	0.000	0.034	3381	913	1926	2010	1842	0	0	0	0	0	0	28.83	25.53	28.83
7652	1.34	219.0	3380	914	2011	1842	457.1	18.2	534	7659	0.00	2.15	0.00	0.000	1030	0.000	0.030	3381	2304	1925	2009	1842	0	0	0	0	0	0	28.83	25.52	28.83
7957	1.34	219.0	3381	2304	2004	1842	399.3	18.7	555	7958	0.00	0.00	0.00	0.000	6	0.000	0.000	3381	2304	1925	2008	1842	0	0	0	0	0	0	28.83	28.83	28.83
8257	1.34	219.0	3381	2304	2010	1842	343.1	19.0	575	8261	0.00	2.15	0.00	0.000	516	0.000	0.034	3390	915	1924	2008	1841	0	0	0	0	0	0	28.83	25.52	28.83
8402	1.34	219.0	3391	915	2008	1842	317.5	19.1	584	8409	0.00	2.15	0.00	0.000	1030	0.000	0.029	3390	2302	1924	2008	1841	0	0	0	0	0	0	28.83	25.53	28.83
8707	1.34	219.0	3391	2302	2008	1841	255.6	20.0	605	8711	0.00	2.15	0.00	0.000	516	0.000	0.033	3399	909	1924	2008	1841	0	0	0	0	0	0	28.83	25.51	28.83
8852	1.34	219.0	3398	910	2009	1842	229.3	19.6	614	8860	0.12	2.15	0.00	0.000	5126	0.136	0.030	3362	2302	1924	2008	1841	0	0	0	0	0	0	25.01	25.50	28.83
9157	1.34	219.0	3363	2302	2008	1841	170.5	18.5	635	9161	0.00	2.12	0.00	0.000	516	0.000	0.032	3370	891	1924	2008	1841	0	0	0	0	0	0	28.83	25.50	28.83
9347	1.34	219.0	3369	892	2009	1842	137.9	17.8	647	9354	0.00	2.17	0.00	0.000	1030	0.000	0.028	3370	2302	1924	2008	1841	0	0	0	0	0	0	28.83	25.49	28.83
9657	1.34	219.0	3370	2303	2008	1841	87.6	14.1	671	9661	0.00	2.17	0.00	0.000	516	0.000	0.031	3379	891	1924	2007	1841	0	0	0	0	0	0	28.83	25.49	28.83
9797	1.34	219.0	3380	896	2007	1842	70.0	12.5	685	9801	0.00	2.15	0.00	0.000	1030	0.000	0.027	3379	2296	1926	2007	1846	0	0	0	0	0	0	28.83	25.51	28.83
9927	1.38	250.3	3379	2297	2009	1841	56.2	10.2	698	9953	0.00	2.10	22.17	0.432	8708	0.000	0.029	3387	897	1816	1906	1727	0	0	0	0	0	0	28.83	25.61	24.94
10372	1.48	330.0	3387	897	1899	1728	17.8	7.1	780	10459	0.00	2.17	73.57	0.406	9222	0.000	0.025	3388	2310	1492	1589	1396	0	0	0	0	1	0	28.83	25.22	24.59
10518	1.61	438.8	3388	2310	1585	1393	8.2	5.3	806	10630	0.15	2.17	98.15	0.405	10500	0.083	0.035	3456	3704	1049	1166	932	0	0	0	0	1	0	25.27	24.94	24.36
10648	end climb: SURFACE_DEPTH_REACHED
state	10648	begin surface coast
10703	end surface coast: CONTROL_FINISHED_OK
state	10703	begin surface