Glider dive log

Kona Mar10 * SG022 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 22 ESCAPE_HEADING 0 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 15

MISSION 17 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2000 ALTIM_PULSE 5

DIVE 11 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_SURF 3 TGT_DEFAULT_LAT 19.6 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FLARE 3 TGT_DEFAULT_LON -156.10001 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_TGT 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 29 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 400 R_STBD_OVSHOOT 39 INT_PRESSURE_YINT 0

D_NO_BLEED 100 N_FILEKB 8 ROLL_AD_RATE 100 DEEPGLIDER 0

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 2

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE1 2

D_PITCH 0 KERMIT 0 VBD_MIN 350 DEVICE2 -1

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3841 DEVICE3 -1

D_CALL 0 N_NOSURFACE 0 C_VBD 2944 DEVICE4 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_DIVE 280 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.00109 LOGGERDEVICE1 69

T_MISSION 320 CAPMAXSIZE 150000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_ABORT 1440 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERDEVICE3 -1

T_TURN 225 T_GPS 15 VBD_BLEED_AD_RATE 4 LOGGERDEVICE4 -1

T_TURN_SAMPINT 5 N_GPS 20 UNCOM_BLEED 20 COMPASS_DEVICE 33

T_NO_W 120 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_LOITER 0 T_GPS_CHARGE -255076.97 CF8_MAXERRORS 1 PHONE_DEVICE 48

USE_BATHY 0 T_RSLEEP 3 AH0_24V 91.800003 GPS_DEVICE 32

USE_ICE 0 STROBE 0 AH0_10V 61.200001 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 MINV_24V 19 XPDR_DEVICE 19

D_OFFGRID 101 RAFOS_CORR_THRESH 60 MINV_10V 8 SIM_W 0

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

RELAUNCH 1 PITCH_MIN 380 FG_AHR_24V 0 SEABIRD_T_G 0.0044149966

APOGEE_PITCH -5 PITCH_MAX 3641 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064680085

MAX_BUOY 240 C_PITCH 2600 PRESSURE_YINT -22.561892 SEABIRD_T_I 2.5778523e-05

COURSE_BIAS 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011632 SEABIRD_T_J 2.7323422e-06

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.507483

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 1.7 SEABIRD_C_H 1.1800622

RHO 1.0275 PITCH_GAIN 17 TCM_ROLL_OFFSET -0.89999998 SEABIRD_C_I -0.00046262925

MASS 52198 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_J 0.00014728548

NAV_MODE 1 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 PA_OFFLOAD 1.0

FERRY_MAX 0 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 PA_MAXUPLOADSIZE 20480.0

KALMAN_USE 0 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 PA_MAXOPTIONALUPLOADSIZE 10000.0

HD_A 0.0040048002 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 PA_POWERSOURCE 0.0

HD_B 0.010364 ROLL_MIN 150 ALTIM_TOP_MIN_OBSTACLE 1 PA_RESTARTMONITOR 0.0

HD_C 5.4717998e-06 ROLL_MAX 3954 ALTIM_PING_DEPTH 0 PA_SCALEFACTOR24V 1.3

HEADING -1 ROLL_DEG 40 ALTIM_PING_DELTA 10

AD7714Ch0Gain 128 D_OFFGRID 101 PA_OFFLOAD 1.0 SEABIRD_T_J 2.7323422e-06

AH0_10V 61.200001 D_PITCH 0 PA_POWERSOURCE 0.0 SIM_PITCH 0

AH0_24V 91.800003 D_SAFE 0 PA_RESTARTMONITOR 0.0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PA_SCALEFACTOR24V 1.3 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PHONE_DEVICE 48 SPEED_FACTOR 1

ALTIM_FREQUENCY 15 ESCAPE_HEADING 0 PHONE_SUPPLY 2 STROBE 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_AD_RATE 150 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_CNV 0.0046000001 TCM_PITCH_OFFSET 1.7

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 TCM_ROLL_OFFSET -0.89999998

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 17 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3641 TGT_DEFAULT_LAT 19.6

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -156.10001

CALL_NDIVES 1 HD_A 0.0040048002 PITCH_MIN 380 T_ABORT 1440

CALL_TRIES 5 HD_B 0.010364 PITCH_TIMEOUT 20 T_BOOST 0

CALL_WAIT 60 HD_C 5.4717998e-06 PITCH_VBD_SHIFT 0.00109 T_DIVE 280

CAPMAXSIZE 150000 HEADING -1 PRESSURE_SLOPE 0.00011632 T_GPS 15

CAPUPLOAD 1 HEAD_ERRBAND 10 PRESSURE_YINT -22.561892 T_GPS_ALMANAC 0

CF8_MAXERRORS 1 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_CHARGE -255076.97

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 22 RAFOS_DEVICE -1 T_MISSION 320

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_YINT 0 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 0 RELAUNCH 1 T_TURN 225

C_PITCH 2600 KERMIT 0 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2000 LOGGERDEVICE1 69 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2600 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_VBD 2944 LOGGERDEVICE3 -1 ROLL_AD_RATE 100 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 USE_BATHY 0

DEEPGLIDERMB 0 LOGGERS 1 ROLL_DEG 40 USE_ICE 0

DEVICE1 2 MASS 52198 ROLL_MAX 3954 VBD_BLEED_AD_RATE 4

DEVICE2 -1 MAX_BUOY 240 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 ROLL_MIN 150 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 ROLL_TIMEOUT 15 VBD_MAX 3841

DEVICE5 -1 MISSION 17 R_PORT_OVSHOOT 29 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 2 R_STBD_OVSHOOT 39 VBD_MIN 350

DIVE 11 NAV_MODE 1 SEABIRD_C_G -10.507483 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_H 1.1800622 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_GPS 20 SEABIRD_C_I -0.00046262925 VBD_TIMEOUT 720

D_CALL 0 N_NOCOMM 1 SEABIRD_C_J 0.00014728548 XPDR_DEVICE 19

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_G 0.0044149966 XPDR_INHIBIT 90

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 10000.0 SEABIRD_T_H 0.00064680085 XPDR_VALID 4

D_NO_BLEED 100 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_I 2.5778523e-05

Pre-dive calculations and measurements:

GPS1 180310,061337,1940.179,-15605.879,32,1.3,32,9.7 TGT_NAME HARP

_CALLS 1 TGT_LATLONG 1934.700,-15601.400

_XMS_NAKs 5 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.207,-0.266

_SM_DEPTHo 0.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180310,062356,1940.337,-15606.058,13,1.7,13,9.7 MHEAD_RNG_PITCHd_Wd 132.4,13231,-16.7,-11.786

SPEED_LIMITS 0.204,0.336 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.023636 PA_USBDRIVE /mnt/usba

SM_CCo 15072,20.40,0.502,0,0,1312,400.08 _24V_AH 23.4,5.808

SM_GC 0.46,0.00,0.00,20.40,0.000,0.000,0.502,378,2617,1312,-10.22,0.48,400.08 _10V_AH 9.8,5.473

IRIDIUM_FIX 1932.09,-15612.94,100911,202040 FG_AHR_24Vo 0.000

TT8_MAMPS 0.130326 FG_AHR_10Vo 0.000

HUMID 1077985152 MEM 345192

TCM_TEMP 23.70 DATA_FILE_SIZE 13462,417

XPDR_PINGS 0 CAP_FILE_SIZE 114940,0

PA_PMVER 0.2 CFSIZE 260034560,256450560

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Wed Mar 3 18:17:05 PST 2010 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_DFQS 0/0 GPS 180310,103801,1938.785,-15605.103,41,1.4,41,9.7

PA_CMQS 220/219

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 153 86.44 SBE_CT 279 24 156.80

Roll_motor 122 201 577.55 nil 0 0 0.00

VBD_pump_during_apogee 517 1295 15690.55 nil 0 0 0.00

VBD_pump_during_surface 20 501 239.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 0 0.00 nil 0 0 0.00

Iridium_during_connect 27 0 0.00 PAAM 15877 96 35968.01

Iridium_during_xfer 390 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 0 0.00

TT8 0 0 0.00

LPSleep 12695 2 272.46

TT8_Active 631 19 122.57

TT8_Sampling 2160 39 842.52

TT8_CF8 269 45 121.07

TT8_Kalman 29 0 0.00

Analog_circuits 1559 12 183.45

GPS_charging 0 0 0.00

Compass 1020 15 149.99

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.24 -233.6 0.0 0.0 0 83 0.00 0.00 -65.22 0.000 2 0.000 0.000 377 2577 2667 0 0 0 0 0 0

85 -1.24 -233.6 3.4 -8.1 13 131 10.38 2.45 -26.95 0.000 4 0.154 0.058 2324 1184 3845 0 0 0 0 0 0

263 -1.24 -233.6 48.0 -24.0 37 267 0.00 2.47 0.00 0.000 6 0.000 0.046 2324 2591 3846 0 0 0 0 0 0

480 -1.24 -233.6 108.3 -27.0 56 486 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2591 3847 0 0 0 0 0 0

783 -1.24 -233.6 180.7 -23.8 66 791 0.00 2.42 0.00 0.000 4 0.000 0.065 2323 3949 3849 0 0 0 0 0 0

870 -1.24 -233.6 200.0 -20.7 68 880 0.00 2.33 0.00 0.000 6 0.000 0.038 2323 2557 3850 0 0 0 0 0 0

1180 -1.24 -233.6 256.9 -17.9 79 1188 0.00 2.53 0.00 0.000 4 0.000 0.062 2324 3949 3851 0 0 0 0 0 0

1224 -1.24 -233.6 265.2 -18.3 80 1232 0.00 2.30 0.00 0.000 6 0.000 0.038 2322 2585 3850 0 0 0 0 0 0

1570 -1.24 -233.6 321.6 -16.5 90 1578 0.00 2.47 0.00 0.000 4 0.000 0.063 2323 3955 3851 0 0 0 0 0 0

1625 -1.24 -233.6 330.5 -14.9 90 1634 0.00 2.33 0.00 0.000 6 0.000 0.039 2323 2590 3851 0 0 0 0 0 0

1933 -1.24 -233.6 376.7 -15.0 96 1939 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2586 3851 0 0 0 0 0 0

2235 -1.24 -233.6 419.9 -14.2 101 2243 0.00 2.47 0.00 0.000 4 0.000 0.066 2323 3952 3850 0 0 0 0 0 0

2268 -1.24 -233.6 424.8 -14.4 101 2276 0.00 2.33 0.00 0.000 6 0.000 0.041 2323 2599 3850 0 0 0 0 0 0

2594 -1.24 -233.6 468.7 -13.7 107 2599 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2595 3849 0 0 0 0 0 0

2895 -1.24 -233.6 511.5 -14.2 112 2900 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2595 3847 0 0 0 0 0 0

3197 -1.24 -233.6 552.9 -13.7 117 3205 0.00 2.50 0.00 0.000 4 0.000 0.072 2323 3955 3844 0 0 0 0 0 0

3236 -1.24 -233.6 558.3 -13.5 117 3244 0.00 2.35 0.00 0.000 6 0.000 0.043 2323 2605 3844 0 0 0 0 0 0

3556 -1.24 -233.6 599.2 -12.8 123 3562 0.00 0.00 0.00 0.000 6 0.000 0.000 2323 2600 3842 0 0 0 0 0 0

3857 -1.24 -233.6 638.6 -13.1 128 3863 0.00 0.00 0.00 0.000 6 0.000 0.000 2323 2600 3838 0 0 0 0 0 0

4160 -1.24 -233.6 678.6 -13.3 133 4168 0.00 2.53 0.00 0.000 4 0.000 0.067 2324 1207 3836 0 0 0 0 0 0

4198 -1.24 -233.6 683.5 -11.9 133 4206 0.00 2.53 0.00 0.000 6 0.000 0.060 2324 2603 3836 0 0 0 0 0 0

4518 -1.24 -233.6 724.7 -13.2 139 4526 0.00 2.58 0.00 0.000 4 0.000 0.070 2324 1201 3832 0 0 0 0 0 0

4546 -1.24 -233.6 728.4 -13.1 139 4555 0.00 2.60 0.00 0.000 6 0.000 0.069 2324 2606 3832 0 0 0 0 0 0

4877 -1.24 -233.6 770.4 -12.8 145 4885 0.00 2.60 0.00 0.000 4 0.000 0.082 2323 1212 3830 0 0 0 0 0 0

4900 -1.24 -233.6 773.5 -13.5 145 4908 0.00 2.62 0.00 0.000 6 0.000 0.081 2324 2609 3830 0 0 0 0 0 0

5236 -1.24 -233.6 814.9 -12.4 151 5241 0.00 0.00 0.00 0.000 6 0.000 0.000 2323 2607 3827 0 0 0 0 0 0

5537 -1.24 -233.6 850.8 -11.9 156 5546 0.00 2.83 0.00 0.000 4 0.000 0.121 2323 1215 3825 0 0 0 0 0 0

5566 -1.24 -233.6 854.2 -12.4 156 5574 0.00 2.83 0.00 0.000 6 0.000 0.119 2323 2607 3825 0 0 0 0 0 0

5897 -1.24 -233.6 895.2 -12.6 162 5903 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2607 3823 0 0 0 0 0 0

6198 -1.24 -233.6 929.3 -11.1 167 6206 0.00 3.10 0.00 0.000 4 0.000 0.169 2323 1216 3821 0 0 0 0 0 0

6221 -1.24 -233.6 931.8 -10.8 167 6229 0.00 3.08 0.00 0.000 6 0.000 0.157 2323 2609 3821 0 0 0 0 0 0

6557 -1.24 -233.6 967.9 -10.8 173 6563 0.00 0.00 0.00 0.000 6 0.000 0.000 2323 2609 3818 0 0 0 0 0 0

6796 end dive: TARGET_DEPTH_EXCEEDED

state 6797 begin apogee

6802 -0.29 0.0 993.6 10.7 177 6995 1.02 0.00 185.40 1.286 6 0.099 0.000 2536 2034 2944 0 0 0 0 0 0

6995 end apogee: CONTROL_FINISHED_OK

state 6995 begin climb

6997 1.24 233.6 1004.2 0.0 180 7223 1.52 3.53 208.20 1.296 4 0.066 0.201 2869 3414 1987 0 0 0 0 0 0

7317 1.24 233.6 982.1 16.0 185 7327 0.00 3.38 0.00 0.000 6 0.000 0.181 2869 1994 1979 0 0 0 0 0 0

7670 1.24 233.6 928.5 15.1 191 7679 0.00 3.10 0.00 0.000 4 0.000 0.144 2869 3416 1975 0 0 0 0 0 0

7709 1.24 233.6 922.2 16.4 191 7718 0.00 3.10 0.00 0.000 6 0.000 0.135 2869 1986 1974 0 0 0 0 0 0

8029 1.24 233.6 876.5 14.0 197 8035 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 1987 1973 0 0 0 0 0 0

8331 1.24 233.6 834.7 13.9 202 8337 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 1986 1973 0 0 0 0 0 0

8633 1.24 233.6 792.3 14.1 207 8639 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 1985 1971 0 0 0 0 0 0

8935 1.24 233.6 750.6 13.8 212 8941 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 1985 1970 0 0 0 0 0 0

9237 1.24 233.6 711.1 12.9 217 9243 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 1985 1969 0 0 0 0 0 0

9538 1.24 233.6 674.6 12.1 222 9546 0.00 2.58 0.00 0.000 4 0.000 0.067 2869 573 1970 0 0 0 0 0 0

9566 1.24 233.6 671.1 12.6 222 9574 0.00 2.60 0.00 0.000 6 0.000 0.050 2869 2026 1970 0 0 0 0 0 0

9897 1.24 233.6 628.8 13.1 228 9905 0.00 2.65 0.00 0.000 4 0.000 0.063 2869 573 1969 0 0 0 0 0 0

9946 1.24 233.6 621.6 15.5 228 9954 0.00 2.55 0.00 0.000 6 0.000 0.048 2869 2006 1968 0 0 0 0 0 0

10255 1.24 233.6 580.1 13.4 233 10263 0.00 2.55 0.00 0.000 4 0.000 0.064 2869 3408 1968 0 0 0 0 0 0

10305 1.24 233.6 573.0 13.8 233 10313 0.00 2.55 0.00 0.000 6 0.000 0.045 2869 1966 1967 0 0 0 0 0 0

10613 1.24 241.9 536.6 11.5 238 10626 0.00 2.67 4.38 0.721 4 0.000 0.062 2869 3410 1957 0 0 0 0 0 0

10662 1.24 241.9 530.8 12.6 238 10670 0.00 2.50 0.00 0.000 6 0.000 0.045 2869 1989 1956 0 0 0 0 0 0

10971 1.26 259.4 496.5 11.2 243 10995 0.00 0.00 18.25 0.978 6 0.000 0.000 2869 1989 1884 0 0 0 0 0 0

11272 1.26 259.4 457.5 12.9 248 11278 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 1989 1883 0 0 0 0 0 0

11574 1.26 259.4 421.1 12.0 253 11582 0.00 2.60 0.00 0.000 4 0.000 0.060 2869 3409 1882 0 0 0 0 0 0

11618 1.26 259.4 415.6 12.7 253 11626 0.00 2.53 0.00 0.000 6 0.000 0.044 2869 1982 1880 0 0 0 0 0 0

11932 1.31 298.5 382.3 10.5 259 11974 0.00 0.00 35.97 0.928 6 0.000 0.000 2869 1982 1727 0 0 0 0 0 0

12234 1.31 299.2 347.6 11.8 264 12244 0.00 2.62 0.00 0.000 4 0.000 0.060 2869 3412 1720 0 0 0 0 0 0

12280 1.31 299.2 341.6 12.6 264 12288 0.00 2.50 0.00 0.000 6 0.000 0.044 2869 1991 1719 0 0 0 0 0 0

12594 1.32 309.7 305.5 11.4 270 12610 0.00 0.00 10.50 0.786 6 0.000 0.000 2868 1991 1681 0 0 0 0 0 0

12897 1.32 309.7 268.4 12.5 279 12906 0.00 2.58 0.00 0.000 4 0.000 0.058 2869 3406 1677 0 0 0 0 0 0

12931 1.32 309.7 263.8 12.8 280 12939 0.00 2.50 0.00 0.000 6 0.000 0.043 2869 1990 1675 0 0 0 0 0 0

13257 1.36 343.3 225.6 10.7 291 13297 0.12 2.53 29.88 0.783 4 0.092 0.055 2899 586 1543 0 0 0 0 0 0

13381 1.36 343.3 208.1 15.6 295 13389 0.00 2.50 0.00 0.000 6 0.000 0.043 2899 2012 1539 0 0 0 0 0 0

13713 1.36 343.3 162.5 13.3 306 13719 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2013 1538 0 0 0 0 0 0

14016 1.36 343.3 122.8 13.3 316 14024 0.00 2.50 0.00 0.000 4 0.000 0.050 2899 584 1538 0 0 0 0 0 0

14066 1.36 343.3 116.6 12.6 317 14074 0.00 2.45 0.00 0.000 6 0.000 0.040 2899 2010 1536 0 0 0 0 0 0

14380 1.39 372.0 78.0 10.8 337 14411 0.00 2.50 24.85 0.608 4 0.000 0.049 2899 584 1426 0 0 0 0 0 0

14570 1.39 372.0 56.0 12.3 355 14574 0.00 2.47 0.00 0.000 6 0.000 0.039 2899 2011 1423 0 0 0 0 0 0

14766 1.39 372.0 32.8 11.8 374 14767 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2012 1423 0 0 0 0 0 0

14955 1.39 372.0 11.1 11.9 398 14956 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2012 1424 0 0 0 0 0 0

15019 1.39 372.0 3.7 12.8 410 15024 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2012 1423 0 0 0 0 0 0

15026 end climb: SURFACE_DEPTH_REACHED

state 15026 begin surface coast

15053 end surface coast: CONTROL_FINISHED_OK

state 15053 begin surface

ID	22	ESCAPE_HEADING	0	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	15
MISSION	17	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2000	ALTIM_PULSE	5
DIVE	11	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_SURF	3	TGT_DEFAULT_LAT	19.6	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FLARE	3	TGT_DEFAULT_LON	-156.10001	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_TGT	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	29	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	400	R_STBD_OVSHOOT	39	INT_PRESSURE_YINT	0
D_NO_BLEED	100	N_FILEKB	8	ROLL_AD_RATE	100	DEEPGLIDER	0
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	2
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE1	2
D_PITCH	0	KERMIT	0	VBD_MIN	350	DEVICE2	-1
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3841	DEVICE3	-1
D_CALL	0	N_NOSURFACE	0	C_VBD	2944	DEVICE4	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_DIVE	280	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.00109	LOGGERDEVICE1	69
T_MISSION	320	CAPMAXSIZE	150000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_ABORT	1440	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERDEVICE3	-1
T_TURN	225	T_GPS	15	VBD_BLEED_AD_RATE	4	LOGGERDEVICE4	-1
T_TURN_SAMPINT	5	N_GPS	20	UNCOM_BLEED	20	COMPASS_DEVICE	33
T_NO_W	120	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_LOITER	0	T_GPS_CHARGE	-255076.97	CF8_MAXERRORS	1	PHONE_DEVICE	48
USE_BATHY	0	T_RSLEEP	3	AH0_24V	91.800003	GPS_DEVICE	32
USE_ICE	0	STROBE	0	AH0_10V	61.200001	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	MINV_24V	19	XPDR_DEVICE	19
D_OFFGRID	101	RAFOS_CORR_THRESH	60	MINV_10V	8	SIM_W	0
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
RELAUNCH	1	PITCH_MIN	380	FG_AHR_24V	0	SEABIRD_T_G	0.0044149966
APOGEE_PITCH	-5	PITCH_MAX	3641	PHONE_SUPPLY	2	SEABIRD_T_H	0.00064680085
MAX_BUOY	240	C_PITCH	2600	PRESSURE_YINT	-22.561892	SEABIRD_T_I	2.5778523e-05
COURSE_BIAS	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011632	SEABIRD_T_J	2.7323422e-06
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.507483
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	1.7	SEABIRD_C_H	1.1800622
RHO	1.0275	PITCH_GAIN	17	TCM_ROLL_OFFSET	-0.89999998	SEABIRD_C_I	-0.00046262925
MASS	52198	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_J	0.00014728548
NAV_MODE	1	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	PA_OFFLOAD	1.0
FERRY_MAX	0	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	PA_MAXUPLOADSIZE	20480.0
KALMAN_USE	0	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	PA_MAXOPTIONALUPLOADSIZE	10000.0
HD_A	0.0040048002	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	PA_POWERSOURCE	0.0
HD_B	0.010364	ROLL_MIN	150	ALTIM_TOP_MIN_OBSTACLE	1	PA_RESTARTMONITOR	0.0
HD_C	5.4717998e-06	ROLL_MAX	3954	ALTIM_PING_DEPTH	0	PA_SCALEFACTOR24V	1.3
HEADING	-1	ROLL_DEG	40	ALTIM_PING_DELTA	10

GPS1	180310,061337,1940.179,-15605.879,32,1.3,32,9.7	TGT_NAME	HARP
_CALLS	1	TGT_LATLONG	1934.700,-15601.400
_XMS_NAKs	5	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.207,-0.266
_SM_DEPTHo	0.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180310,062356,1940.337,-15606.058,13,1.7,13,9.7	MHEAD_RNG_PITCHd_Wd	132.4,13231,-16.7,-11.786
SPEED_LIMITS	0.204,0.336	D_GRID	990

FINISH	0.0,1.023636	PA_USBDRIVE	/mnt/usba
SM_CCo	15072,20.40,0.502,0,0,1312,400.08	_24V_AH	23.4,5.808
SM_GC	0.46,0.00,0.00,20.40,0.000,0.000,0.502,378,2617,1312,-10.22,0.48,400.08	_10V_AH	9.8,5.473
IRIDIUM_FIX	1932.09,-15612.94,100911,202040	FG_AHR_24Vo	0.000
TT8_MAMPS	0.130326	FG_AHR_10Vo	0.000
HUMID	1077985152	MEM	345192
TCM_TEMP	23.70	DATA_FILE_SIZE	13462,417
XPDR_PINGS	0	CAP_FILE_SIZE	114940,0
PA_PMVER	0.2	CFSIZE	260034560,256450560
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Wed Mar 3 18:17:05 PST 2010	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_DFQS	0/0	GPS	180310,103801,1938.785,-15605.103,41,1.4,41,9.7
PA_CMQS	220/219

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	153	86.44	SBE_CT	279	24	156.80
Roll_motor	122	201	577.55	nil	0	0	0.00
VBD_pump_during_apogee	517	1295	15690.55	nil	0	0	0.00
VBD_pump_during_surface	20	501	239.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	0	0.00	nil	0	0	0.00
Iridium_during_connect	27	0	0.00	PAAM	15877	96	35968.01
Iridium_during_xfer	390	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	0	0.00
TT8	0	0	0.00
LPSleep	12695	2	272.46
TT8_Active	631	19	122.57
TT8_Sampling	2160	39	842.52
TT8_CF8	269	45	121.07
TT8_Kalman	29	0	0.00
Analog_circuits	1559	12	183.45
GPS_charging	0	0	0.00
Compass	1020	15	149.99
RAFOS	0	0	0.00
Transponder	0	5	0.03

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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.24	-233.6	0.0	0.0	0	83	0.00	0.00	-65.22	0.000	2	0.000	0.000	377	2577	2667	0	0	0	0	0	0
85	-1.24	-233.6	3.4	-8.1	13	131	10.38	2.45	-26.95	0.000	4	0.154	0.058	2324	1184	3845	0	0	0	0	0	0
263	-1.24	-233.6	48.0	-24.0	37	267	0.00	2.47	0.00	0.000	6	0.000	0.046	2324	2591	3846	0	0	0	0	0	0
480	-1.24	-233.6	108.3	-27.0	56	486	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	2591	3847	0	0	0	0	0	0
783	-1.24	-233.6	180.7	-23.8	66	791	0.00	2.42	0.00	0.000	4	0.000	0.065	2323	3949	3849	0	0	0	0	0	0
870	-1.24	-233.6	200.0	-20.7	68	880	0.00	2.33	0.00	0.000	6	0.000	0.038	2323	2557	3850	0	0	0	0	0	0
1180	-1.24	-233.6	256.9	-17.9	79	1188	0.00	2.53	0.00	0.000	4	0.000	0.062	2324	3949	3851	0	0	0	0	0	0
1224	-1.24	-233.6	265.2	-18.3	80	1232	0.00	2.30	0.00	0.000	6	0.000	0.038	2322	2585	3850	0	0	0	0	0	0
1570	-1.24	-233.6	321.6	-16.5	90	1578	0.00	2.47	0.00	0.000	4	0.000	0.063	2323	3955	3851	0	0	0	0	0	0
1625	-1.24	-233.6	330.5	-14.9	90	1634	0.00	2.33	0.00	0.000	6	0.000	0.039	2323	2590	3851	0	0	0	0	0	0
1933	-1.24	-233.6	376.7	-15.0	96	1939	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	2586	3851	0	0	0	0	0	0
2235	-1.24	-233.6	419.9	-14.2	101	2243	0.00	2.47	0.00	0.000	4	0.000	0.066	2323	3952	3850	0	0	0	0	0	0
2268	-1.24	-233.6	424.8	-14.4	101	2276	0.00	2.33	0.00	0.000	6	0.000	0.041	2323	2599	3850	0	0	0	0	0	0
2594	-1.24	-233.6	468.7	-13.7	107	2599	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	2595	3849	0	0	0	0	0	0
2895	-1.24	-233.6	511.5	-14.2	112	2900	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	2595	3847	0	0	0	0	0	0
3197	-1.24	-233.6	552.9	-13.7	117	3205	0.00	2.50	0.00	0.000	4	0.000	0.072	2323	3955	3844	0	0	0	0	0	0
3236	-1.24	-233.6	558.3	-13.5	117	3244	0.00	2.35	0.00	0.000	6	0.000	0.043	2323	2605	3844	0	0	0	0	0	0
3556	-1.24	-233.6	599.2	-12.8	123	3562	0.00	0.00	0.00	0.000	6	0.000	0.000	2323	2600	3842	0	0	0	0	0	0
3857	-1.24	-233.6	638.6	-13.1	128	3863	0.00	0.00	0.00	0.000	6	0.000	0.000	2323	2600	3838	0	0	0	0	0	0
4160	-1.24	-233.6	678.6	-13.3	133	4168	0.00	2.53	0.00	0.000	4	0.000	0.067	2324	1207	3836	0	0	0	0	0	0
4198	-1.24	-233.6	683.5	-11.9	133	4206	0.00	2.53	0.00	0.000	6	0.000	0.060	2324	2603	3836	0	0	0	0	0	0
4518	-1.24	-233.6	724.7	-13.2	139	4526	0.00	2.58	0.00	0.000	4	0.000	0.070	2324	1201	3832	0	0	0	0	0	0
4546	-1.24	-233.6	728.4	-13.1	139	4555	0.00	2.60	0.00	0.000	6	0.000	0.069	2324	2606	3832	0	0	0	0	0	0
4877	-1.24	-233.6	770.4	-12.8	145	4885	0.00	2.60	0.00	0.000	4	0.000	0.082	2323	1212	3830	0	0	0	0	0	0
4900	-1.24	-233.6	773.5	-13.5	145	4908	0.00	2.62	0.00	0.000	6	0.000	0.081	2324	2609	3830	0	0	0	0	0	0
5236	-1.24	-233.6	814.9	-12.4	151	5241	0.00	0.00	0.00	0.000	6	0.000	0.000	2323	2607	3827	0	0	0	0	0	0
5537	-1.24	-233.6	850.8	-11.9	156	5546	0.00	2.83	0.00	0.000	4	0.000	0.121	2323	1215	3825	0	0	0	0	0	0
5566	-1.24	-233.6	854.2	-12.4	156	5574	0.00	2.83	0.00	0.000	6	0.000	0.119	2323	2607	3825	0	0	0	0	0	0
5897	-1.24	-233.6	895.2	-12.6	162	5903	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	2607	3823	0	0	0	0	0	0
6198	-1.24	-233.6	929.3	-11.1	167	6206	0.00	3.10	0.00	0.000	4	0.000	0.169	2323	1216	3821	0	0	0	0	0	0
6221	-1.24	-233.6	931.8	-10.8	167	6229	0.00	3.08	0.00	0.000	6	0.000	0.157	2323	2609	3821	0	0	0	0	0	0
6557	-1.24	-233.6	967.9	-10.8	173	6563	0.00	0.00	0.00	0.000	6	0.000	0.000	2323	2609	3818	0	0	0	0	0	0
6796	end dive: TARGET_DEPTH_EXCEEDED
state	6797	begin apogee
6802	-0.29	0.0	993.6	10.7	177	6995	1.02	0.00	185.40	1.286	6	0.099	0.000	2536	2034	2944	0	0	0	0	0	0
6995	end apogee: CONTROL_FINISHED_OK
state	6995	begin climb
6997	1.24	233.6	1004.2	0.0	180	7223	1.52	3.53	208.20	1.296	4	0.066	0.201	2869	3414	1987	0	0	0	0	0	0
7317	1.24	233.6	982.1	16.0	185	7327	0.00	3.38	0.00	0.000	6	0.000	0.181	2869	1994	1979	0	0	0	0	0	0
7670	1.24	233.6	928.5	15.1	191	7679	0.00	3.10	0.00	0.000	4	0.000	0.144	2869	3416	1975	0	0	0	0	0	0
7709	1.24	233.6	922.2	16.4	191	7718	0.00	3.10	0.00	0.000	6	0.000	0.135	2869	1986	1974	0	0	0	0	0	0
8029	1.24	233.6	876.5	14.0	197	8035	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	1987	1973	0	0	0	0	0	0
8331	1.24	233.6	834.7	13.9	202	8337	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	1986	1973	0	0	0	0	0	0
8633	1.24	233.6	792.3	14.1	207	8639	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	1985	1971	0	0	0	0	0	0
8935	1.24	233.6	750.6	13.8	212	8941	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	1985	1970	0	0	0	0	0	0
9237	1.24	233.6	711.1	12.9	217	9243	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	1985	1969	0	0	0	0	0	0
9538	1.24	233.6	674.6	12.1	222	9546	0.00	2.58	0.00	0.000	4	0.000	0.067	2869	573	1970	0	0	0	0	0	0
9566	1.24	233.6	671.1	12.6	222	9574	0.00	2.60	0.00	0.000	6	0.000	0.050	2869	2026	1970	0	0	0	0	0	0
9897	1.24	233.6	628.8	13.1	228	9905	0.00	2.65	0.00	0.000	4	0.000	0.063	2869	573	1969	0	0	0	0	0	0
9946	1.24	233.6	621.6	15.5	228	9954	0.00	2.55	0.00	0.000	6	0.000	0.048	2869	2006	1968	0	0	0	0	0	0
10255	1.24	233.6	580.1	13.4	233	10263	0.00	2.55	0.00	0.000	4	0.000	0.064	2869	3408	1968	0	0	0	0	0	0
10305	1.24	233.6	573.0	13.8	233	10313	0.00	2.55	0.00	0.000	6	0.000	0.045	2869	1966	1967	0	0	0	0	0	0
10613	1.24	241.9	536.6	11.5	238	10626	0.00	2.67	4.38	0.721	4	0.000	0.062	2869	3410	1957	0	0	0	0	0	0
10662	1.24	241.9	530.8	12.6	238	10670	0.00	2.50	0.00	0.000	6	0.000	0.045	2869	1989	1956	0	0	0	0	0	0
10971	1.26	259.4	496.5	11.2	243	10995	0.00	0.00	18.25	0.978	6	0.000	0.000	2869	1989	1884	0	0	0	0	0	0
11272	1.26	259.4	457.5	12.9	248	11278	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	1989	1883	0	0	0	0	0	0
11574	1.26	259.4	421.1	12.0	253	11582	0.00	2.60	0.00	0.000	4	0.000	0.060	2869	3409	1882	0	0	0	0	0	0
11618	1.26	259.4	415.6	12.7	253	11626	0.00	2.53	0.00	0.000	6	0.000	0.044	2869	1982	1880	0	0	0	0	0	0
11932	1.31	298.5	382.3	10.5	259	11974	0.00	0.00	35.97	0.928	6	0.000	0.000	2869	1982	1727	0	0	0	0	0	0
12234	1.31	299.2	347.6	11.8	264	12244	0.00	2.62	0.00	0.000	4	0.000	0.060	2869	3412	1720	0	0	0	0	0	0
12280	1.31	299.2	341.6	12.6	264	12288	0.00	2.50	0.00	0.000	6	0.000	0.044	2869	1991	1719	0	0	0	0	0	0
12594	1.32	309.7	305.5	11.4	270	12610	0.00	0.00	10.50	0.786	6	0.000	0.000	2868	1991	1681	0	0	0	0	0	0
12897	1.32	309.7	268.4	12.5	279	12906	0.00	2.58	0.00	0.000	4	0.000	0.058	2869	3406	1677	0	0	0	0	0	0
12931	1.32	309.7	263.8	12.8	280	12939	0.00	2.50	0.00	0.000	6	0.000	0.043	2869	1990	1675	0	0	0	0	0	0
13257	1.36	343.3	225.6	10.7	291	13297	0.12	2.53	29.88	0.783	4	0.092	0.055	2899	586	1543	0	0	0	0	0	0
13381	1.36	343.3	208.1	15.6	295	13389	0.00	2.50	0.00	0.000	6	0.000	0.043	2899	2012	1539	0	0	0	0	0	0
13713	1.36	343.3	162.5	13.3	306	13719	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2013	1538	0	0	0	0	0	0
14016	1.36	343.3	122.8	13.3	316	14024	0.00	2.50	0.00	0.000	4	0.000	0.050	2899	584	1538	0	0	0	0	0	0
14066	1.36	343.3	116.6	12.6	317	14074	0.00	2.45	0.00	0.000	6	0.000	0.040	2899	2010	1536	0	0	0	0	0	0
14380	1.39	372.0	78.0	10.8	337	14411	0.00	2.50	24.85	0.608	4	0.000	0.049	2899	584	1426	0	0	0	0	0	0
14570	1.39	372.0	56.0	12.3	355	14574	0.00	2.47	0.00	0.000	6	0.000	0.039	2899	2011	1423	0	0	0	0	0	0
14766	1.39	372.0	32.8	11.8	374	14767	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2012	1423	0	0	0	0	0	0
14955	1.39	372.0	11.1	11.9	398	14956	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2012	1424	0	0	0	0	0	0
15019	1.39	372.0	3.7	12.8	410	15024	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2012	1423	0	0	0	0	0	0
15026	end climb: SURFACE_DEPTH_REACHED
state	15026	begin surface coast
15053	end surface coast: CONTROL_FINISHED_OK
state	15053	begin surface