Glider dive log

PortSusan 03Jul07 * SG001 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 1 HD_B 0.0099099996 PITCH_AD_RATE 180 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 2.4896e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 2 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 180 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 3.5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 125

D_TGT 990 FIX_MISSING_TIMEOUT 3 ROLL_MAX 3791 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1978 ALTIM_FREQUENCY 15

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1978 ALTIM_PULSE 5

D_FINISH 7.0000001e-06 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 1

D_PITCH 1.5 SM_CC 350 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 100 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 10

D_CALL 2 FILEMGR 2 R_PORT_OVSHOOT 13 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 10 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 20 COMM_SEQ 0 ROLL_AD_RATE 500 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 20 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 528 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 550 UPLOAD_DIVES_MAX 5 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 421 DEVICE4 -1

T_TURN 240 CALL_WAIT 60 VBD_MAX 3792 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2257 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 200000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 1 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE -1 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN -2 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 1

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 32

T_WATCHDOG 10 T_GPS_CHARGE -445268.47 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 57 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 20 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 91.800003 SEABIRD_T_G 0.0042857998

SPEED_FACTOR 0.94999993 PITCH_MAX 3252 AH0_10V 61.200001 SEABIRD_T_H 0.00062588596

RHO 1.02765 C_PITCH 2263 PRESSURE_YINT 0.27000001 SEABIRD_T_I 2.1643695e-05

MASS 51747 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.0181028e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 1 SEABIRD_C_G -10.005328

FERRY_MAX 0 P_OVSHOOT 0.045000002 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1235065

KALMAN_USE 1 PITCH_GAIN 20 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015880254

HD_A 0.00312 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0001984441

AD7714Ch0Gain 1 D_FINISH 7.0000001e-06 PITCH_AD_RATE 180 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 20 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 1.5 PITCH_MAX 3252 SPEED_FACTOR 0.94999993

ALTIM_FREQUENCY 15 D_SAFE 100 PITCH_MAXERRORS 1 SURFACE_URGENCY 5

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 20

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 20

ALTIM_PULSE 5 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 3.5 FERRY_MAX 0 PRESSURE_YINT 0.27000001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.045000002 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 3 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 16 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 528

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HD_C 2.4896e-05 RHO 1.02765 T_GPS_CHARGE -445268.47

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 550

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 1 ROLL_AD_RATE 500 T_RSLEEP 57

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN -2 ROLL_CNV 0.028270001 T_TURN 240

COURSE_BIAS 0 ID 1 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1978 INT_PRESSURE_YINT 10 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 1978 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 5

C_VBD 2257 MASS 51747 R_PORT_OVSHOOT 13 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 10 USE_ICE -1

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.005328 VBD_BLEED_AD_RATE 10

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1235065 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0015880254 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.0001984441 VBD_MAX 3792

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0042857998 VBD_MAXERRORS 20

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062588596 VBD_MIN 421

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.1643695e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 2 PHONE_DEVICE 32 SEABIRD_T_J 2.0181028e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 2 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 084051,4704.531,-12606.449,35,1.1,35,18.0 TGT_NAME default

_CALLS 1 TGT_LATLONG 47.600,-122.300

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.180,-0.070

_SM_DEPTHo 0.34 KALMAN_X -445.7,-445.7,-445.7,4651.4,1344.2

_SM_ANGLEo -50.0 KALMAN_Y 519.4,519.4,519.4,-2257.3,-1566.5

GPS2 084648,4704.514,-12606.504,15,1.1,15,18.0 MHEAD_RNG_PITCHd_Wd 93.3,14782832,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,0.999483 ALTIM_TOP_PING 19.6,19.5

SM_CCo 28484,96.30,0.000,0,0,837,350.04 ALTIM_BOTTOM_PING 925.3,64.7

SM_GC 0.35,0.00,0.00,96.30,0.000,0.000,0.000,618,1811,837,-7.49,-3.96,350.04 _24V_AH 23.7,17.699

RAFOS_CLK 0 _10V_AH 9.6,2.631

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 44170,1288

IRIDIUM_FIX 0.00,0.00,010170,000000 CFSIZE 255582208,243544064

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,71,712,4,0

HUMID 1718 SOUNDSPEED 1465.0

INTERNAL_PRESSURE 26.0944 CURRENT 0.083,299.6,1

TCM_TEMP 15.00 GPS 040707,164527,4704.390,-12603.564,11,1.1,11,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 36 119 101.53 SBE_CT 1205 24 685.91

Roll_motor 105 60 149.95 nil 0 0 0.00

VBD_pump_during_apogee 293 1300 9029.64 nil 0 0 0.00

VBD_pump_during_surface 96 600 1369.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 106 223 561.77

Transponder_ping 8 420 87.10

GPS 16 50 7.72

TT8 4055 19 775.63

LPSleep 20807 2 461.42

TT8_Active 668 19 127.91

TT8_Sampling 1681 39 644.30

TT8_CF8 1691 45 745.53

TT8_Kalman 30 81 23.75

Analog_circuits 1987 12 229.01

GPS_charging 0 0 0.00

Compass 1545 26 385.70

RAFOS 3600 1 51.84

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

32 end surface: CONTROL_FINISHED_OK

state 32 begin dive

38 -0.83 -116.8 0.0 0.0 0 108 0.00 0.00 -62.80 0.000 6 0.000 0.000 628 1765 2740

114 -0.83 -116.8 2.9 -4.5 9 133 7.53 2.62 0.00 0.000 4 0.000 0.000 2132 351 2742

425 -0.83 -116.8 38.8 -10.8 59 433 0.38 2.70 0.00 0.000 6 0.000 0.000 2046 2122 2742

795 -0.83 -116.8 79.7 -10.9 120 804 0.43 3.10 0.00 0.000 4 0.000 0.000 2137 354 2735

1088 -0.83 -116.8 108.8 -9.9 157 1094 0.40 2.83 0.00 0.000 6 0.000 0.000 2060 2200 2738

1413 -0.83 -116.8 139.0 -9.2 173 1415 0.40 0.00 0.00 0.000 6 0.000 0.000 2135 2207 2741

1722 -0.83 -116.8 165.6 -8.4 188 1725 0.43 0.00 0.00 0.000 6 0.000 0.000 2044 2191 2736

2032 -0.83 -116.8 192.3 -8.8 203 2034 0.40 0.00 0.00 0.000 6 0.000 0.000 2134 2206 2737

2341 -0.83 -116.8 219.3 -8.6 218 2348 0.38 3.03 0.00 0.000 4 0.000 0.000 2041 353 2738

2633 -0.83 -116.8 244.7 -8.2 230 2646 0.32 3.95 0.00 0.000 6 0.000 0.000 2108 2110 2746

2957 -0.83 -116.8 270.6 -8.0 246 2959 0.45 0.00 0.00 0.000 6 0.000 0.000 2027 2124 2741

3266 -0.83 -116.8 294.2 -7.7 261 3268 0.73 0.00 0.00 0.000 6 0.000 0.000 2131 2132 2739

3575 -0.83 -116.8 318.5 -7.7 276 3582 0.32 3.17 0.00 0.000 4 0.000 0.000 2028 602 2736

3865 -0.83 -116.8 340.6 -7.3 288 3870 0.35 2.40 0.00 0.000 6 0.000 0.000 2117 2090 2733

4184 -0.83 -116.8 364.2 -7.4 303 4191 0.28 3.35 0.00 0.000 4 0.000 0.000 2092 404 2739

4474 -0.83 -116.8 385.6 -6.9 315 4485 0.00 3.35 0.00 0.000 6 0.000 0.000 2077 2062 2737

4797 -0.83 -116.8 408.2 -6.7 331 4803 0.03 3.10 0.00 0.000 4 0.000 0.000 2131 412 2734

5083 -0.83 -116.8 428.6 -7.5 343 5089 0.35 2.50 0.00 0.000 6 0.000 0.000 2041 2083 2734

5402 -0.83 -116.8 453.6 -8.2 358 5404 0.47 0.00 0.00 0.000 6 0.000 0.000 2132 2088 2741

5712 -0.83 -116.8 477.8 -7.4 373 5714 0.52 0.00 0.00 0.000 6 0.000 0.000 2045 2063 2743

6020 -0.83 -116.8 499.5 -6.6 388 6022 0.35 0.00 0.00 0.000 6 0.000 0.000 2119 2071 2741

6326 -0.83 -116.8 517.3 -5.7 396 6328 0.50 0.00 0.00 0.000 6 0.000 0.000 2039 2062 2734

6650 -0.83 -116.8 536.5 -6.0 404 6656 0.45 2.70 0.00 0.000 4 0.000 0.000 2098 440 2740

6930 -0.83 -116.8 557.1 -8.6 410 6934 0.00 2.60 0.00 0.000 6 0.000 0.000 2116 2101 2743

7246 -0.83 -116.8 582.4 -7.9 418 7248 0.32 0.00 0.00 0.000 6 0.000 0.000 2031 2103 2743

7570 -0.83 -116.8 606.3 -7.2 426 7577 0.45 2.95 0.00 0.000 4 0.000 0.000 2127 559 2738

7813 -0.83 -116.8 622.5 -6.6 431 7821 0.38 3.22 0.00 0.000 6 0.000 0.000 2042 2088 2736

8169 -0.83 -116.8 644.5 -6.1 440 8171 0.30 0.00 0.00 0.000 6 0.000 0.000 2152 2101 2742

8494 -0.83 -116.8 665.0 -6.2 448 8496 0.47 0.00 0.00 0.000 6 0.000 0.000 2032 2104 2739

8819 -0.83 -116.8 685.0 -6.2 456 8826 0.30 3.15 0.00 0.000 4 0.000 0.000 2124 545 2745

9108 -0.83 -116.8 702.3 -6.1 462 9116 0.32 3.00 0.00 0.000 6 0.000 0.000 2042 1958 2746

9429 -0.83 -116.8 722.5 -6.2 470 9431 0.35 0.00 0.00 0.000 6 0.000 0.000 2127 1957 2736

9754 -0.83 -116.8 741.2 -5.7 478 9756 0.35 0.00 0.00 0.000 6 0.000 0.000 2035 1949 2742

10079 -0.83 -116.8 759.9 -5.8 486 10081 0.40 0.00 0.00 0.000 6 0.000 0.000 2114 1946 2738

10404 -0.83 -116.8 777.1 -5.4 494 10407 0.40 0.00 0.00 0.000 6 0.000 0.000 2046 1965 2736

10729 -0.83 -116.8 794.3 -5.3 502 10736 0.30 3.15 0.00 0.000 4 0.000 0.000 2130 420 2735

11019 -0.83 -116.8 810.3 -5.6 508 11026 0.38 3.42 0.00 0.000 6 0.000 0.000 2065 2061 2739

11340 -0.83 -116.8 829.3 -6.2 516 11342 0.30 0.00 0.00 0.000 6 0.000 0.000 2156 2053 2737

11665 -0.83 -116.8 848.7 -5.9 524 11672 0.43 2.92 0.00 0.000 4 0.000 0.000 2046 395 2740

11950 -0.83 -116.8 865.8 -5.6 530 11956 0.40 2.70 0.00 0.000 6 0.000 0.000 2108 2106 2741

12272 -0.83 -116.8 883.2 -5.5 538 12279 0.38 3.15 0.00 0.000 4 0.000 0.000 2048 441 2736

12558 -0.83 -116.8 899.3 -6.1 544 12564 0.35 2.53 0.00 0.000 6 0.000 0.000 2149 2102 2746

12880 -0.83 -116.8 917.8 -5.9 552 12886 0.40 2.90 0.00 0.000 4 0.000 0.000 2036 452 2737

13161 -0.83 -116.8 935.8 -6.3 558 13167 0.35 2.83 0.00 0.000 6 0.000 0.000 2152 2101 2741

13479 -0.83 -116.8 953.8 -5.5 566 13484 0.40 2.50 0.00 0.000 4 0.000 0.000 2039 398 2745

13760 -0.83 -116.8 970.4 -5.5 572 13766 0.05 2.62 0.00 0.000 6 0.000 0.000 2102 2110 2743

13955 end dive: BOTTOM_OBSTACLE_DETECTED

state 13955 begin apogee

13967 -0.25 0.0 981.6 5.8 577 14099 0.65 0.00 113.38 0.000 6 0.000 0.000 2211 1843 2266

14099 end apogee: CONTROL_FINISHED_OK

state 14099 begin climb

14105 0.83 116.8 988.2 0.0 580 14226 1.17 0.00 111.43 0.000 6 0.000 0.000 2496 1834 1790

14520 0.83 116.8 977.7 7.9 591 14522 0.05 0.00 0.00 0.000 6 0.000 0.000 2451 1836 1792

14845 0.83 116.8 951.0 8.1 599 14848 0.38 0.00 0.77 0.001 6 0.000 0.000 2389 1845 1787

15170 0.83 116.8 924.8 8.1 607 15172 0.38 0.00 0.00 0.000 6 0.000 0.000 2459 1820 1788

15495 0.83 116.8 898.6 8.3 615 15497 0.35 0.00 0.00 0.000 6 0.000 0.000 2428 1841 1782

15820 0.83 116.8 872.3 8.1 623 15821 0.03 0.00 0.00 0.000 6 0.000 0.000 2433 1829 1787

16145 0.83 116.8 845.8 7.9 631 16146 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 1833 1789

16469 0.83 116.8 821.8 7.3 639 16470 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 1837 1786

16794 0.83 116.8 798.7 7.0 647 16796 0.03 0.00 0.00 0.000 6 0.000 0.000 2431 1852 1787

17119 0.83 116.8 775.5 7.1 655 17121 0.00 0.00 0.32 0.000 6 0.000 0.000 2434 1840 1783

17444 0.83 116.8 750.7 7.9 663 17445 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1834 1788

17769 0.83 116.8 724.1 8.2 671 17770 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 1831 1785

18094 0.83 116.8 698.3 7.7 679 18096 0.00 0.00 0.05 0.000 6 0.000 0.000 2446 1833 1782

18419 0.83 116.8 673.8 7.6 687 18421 0.00 0.00 0.25 0.000 6 0.000 0.000 2433 1838 1788

18744 0.83 116.8 649.3 7.8 695 18745 0.00 0.00 0.00 0.000 6 0.000 0.000 2438 1829 1779

19069 0.83 116.8 623.1 7.9 703 19070 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 1849 1785

19394 0.83 116.8 597.2 7.8 711 19395 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 1840 1786

19719 0.83 116.8 571.8 7.7 719 19720 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 1833 1792

20044 0.83 116.8 547.9 7.1 727 20045 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 1850 1781

20369 0.83 116.8 525.7 6.8 735 20370 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 1828 1789

20694 0.83 116.8 503.2 7.1 743 20695 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 1845 1787

21002 0.83 116.8 481.9 6.6 756 21003 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 1831 1789

21316 0.83 116.8 461.6 6.4 771 21317 0.00 0.00 0.00 0.000 6 0.000 0.000 2423 1840 1785

21625 0.83 116.8 441.9 6.5 786 21627 0.00 0.00 0.20 0.000 6 0.000 0.000 2449 1840 1787

21929 0.83 116.8 421.5 6.4 801 21931 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 1830 1784

22244 0.83 116.8 400.9 6.7 816 22246 0.00 0.00 0.10 0.001 6 0.000 0.000 2430 1820 1781

22548 0.83 119.9 381.3 6.1 831 22553 0.03 0.00 2.38 0.000 6 0.000 0.000 2438 1842 1774

22858 0.84 125.7 362.8 6.0 846 22866 0.03 0.00 5.90 0.000 6 0.000 0.000 2413 1841 1743

23166 0.85 125.7 343.1 6.5 861 23168 0.05 0.00 0.00 0.000 6 0.000 0.000 2427 1837 1741

23476 0.85 126.2 323.1 6.2 876 23478 0.00 0.00 0.08 0.000 6 0.000 0.000 2451 1825 1746

23785 0.85 126.2 303.3 6.5 891 23790 0.00 2.85 0.00 0.000 4 0.000 0.000 2437 500 1747

23913 0.85 126.2 294.9 7.9 896 23922 0.00 3.17 0.12 0.000 6 0.000 0.000 2436 1924 1748

24232 0.85 126.2 273.1 7.2 912 24234 0.03 0.00 0.00 0.000 6 0.000 0.000 2442 1938 1746

24541 0.85 126.2 251.3 6.6 927 24542 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 1942 1748

24856 0.85 131.1 231.9 6.1 942 24866 0.00 2.92 4.65 0.000 4 0.000 0.000 2433 3481 1719

25142 0.85 138.8 214.2 6.0 954 25156 0.03 2.50 6.15 0.000 6 0.000 0.000 2431 1873 1692

25466 0.87 138.8 194.7 6.4 970 25468 0.00 0.00 0.68 0.000 6 0.000 0.000 2426 1856 1691

25776 0.87 143.6 175.2 6.1 985 25782 0.05 0.00 4.10 0.000 6 0.000 0.000 2417 1868 1677

26085 0.88 143.6 156.4 7.2 1000 26086 0.00 0.00 0.22 0.000 6 0.000 0.000 2424 1866 1680

26394 0.88 143.6 131.8 7.6 1015 26396 0.25 0.00 0.00 0.000 6 0.000 0.000 2484 1869 1670

26703 0.88 162.6 112.9 5.5 1030 26722 0.00 0.00 15.07 0.000 6 0.000 0.000 2485 1869 1596

27056 0.91 162.6 89.0 6.6 1064 27064 0.00 2.50 0.00 0.000 4 0.000 0.000 2490 3513 1604

27359 0.91 192.4 71.1 5.1 1113 27394 0.03 3.10 24.30 0.001 6 0.000 0.000 2487 1836 1477

27769 0.96 196.3 47.3 6.1 1177 27779 0.03 2.88 2.92 0.000 4 0.000 0.000 2474 547 1459

27830 0.96 196.3 42.9 7.0 1186 27838 0.00 2.40 0.00 0.000 6 0.000 0.000 2469 2098 1461

28207 0.96 196.3 17.6 6.6 1247 28214 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2092 1457

28427 end climb: SURFACE_DEPTH_REACHED

state 28427 begin surface coast

28455 end surface coast: CONTROL_FINISHED_OK

state 28455 begin surface

ID	1	HD_B	0.0099099996	PITCH_AD_RATE	180	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	2.4896e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	2	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	180	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	3.5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	125
D_TGT	990	FIX_MISSING_TIMEOUT	3	ROLL_MAX	3791	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1978	ALTIM_FREQUENCY	15
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1978	ALTIM_PULSE	5
D_FINISH	7.0000001e-06	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	1
D_PITCH	1.5	SM_CC	350	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	100	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	10
D_CALL	2	FILEMGR	2	R_PORT_OVSHOOT	13	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	10	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	20	COMM_SEQ	0	ROLL_AD_RATE	500	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	20	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	528	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	550	UPLOAD_DIVES_MAX	5	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	421	DEVICE4	-1
T_TURN	240	CALL_WAIT	60	VBD_MAX	3792	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2257	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	200000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	1	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	-1	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	-2	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	1
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	32
T_WATCHDOG	10	T_GPS_CHARGE	-445268.47	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	57	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	20	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	91.800003	SEABIRD_T_G	0.0042857998
SPEED_FACTOR	0.94999993	PITCH_MAX	3252	AH0_10V	61.200001	SEABIRD_T_H	0.00062588596
RHO	1.02765	C_PITCH	2263	PRESSURE_YINT	0.27000001	SEABIRD_T_I	2.1643695e-05
MASS	51747	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.0181028e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	1	SEABIRD_C_G	-10.005328
FERRY_MAX	0	P_OVSHOOT	0.045000002	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1235065
KALMAN_USE	1	PITCH_GAIN	20	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015880254
HD_A	0.00312	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0001984441

GPS1	084051,4704.531,-12606.449,35,1.1,35,18.0	TGT_NAME	default
_CALLS	1	TGT_LATLONG	47.600,-122.300
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.180,-0.070
_SM_DEPTHo	0.34	KALMAN_X	-445.7,-445.7,-445.7,4651.4,1344.2
_SM_ANGLEo	-50.0	KALMAN_Y	519.4,519.4,519.4,-2257.3,-1566.5
GPS2	084648,4704.514,-12606.504,15,1.1,15,18.0	MHEAD_RNG_PITCHd_Wd	93.3,14782832,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.5,0.999483	ALTIM_TOP_PING	19.6,19.5
SM_CCo	28484,96.30,0.000,0,0,837,350.04	ALTIM_BOTTOM_PING	925.3,64.7
SM_GC	0.35,0.00,0.00,96.30,0.000,0.000,0.000,618,1811,837,-7.49,-3.96,350.04	_24V_AH	23.7,17.699
RAFOS_CLK	0	_10V_AH	9.6,2.631
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	44170,1288
IRIDIUM_FIX	0.00,0.00,010170,000000	CFSIZE	255582208,243544064
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,71,712,4,0
HUMID	1718	SOUNDSPEED	1465.0
INTERNAL_PRESSURE	26.0944	CURRENT	0.083,299.6,1
TCM_TEMP	15.00	GPS	040707,164527,4704.390,-12603.564,11,1.1,11,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	36	119	101.53	SBE_CT	1205	24	685.91
Roll_motor	105	60	149.95	nil	0	0	0.00
VBD_pump_during_apogee	293	1300	9029.64	nil	0	0	0.00
VBD_pump_during_surface	96	600	1369.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	106	223	561.77
Transponder_ping	8	420	87.10
GPS	16	50	7.72
TT8	4055	19	775.63
LPSleep	20807	2	461.42
TT8_Active	668	19	127.91
TT8_Sampling	1681	39	644.30
TT8_CF8	1691	45	745.53
TT8_Kalman	30	81	23.75
Analog_circuits	1987	12	229.01
GPS_charging	0	0	0.00
Compass	1545	26	385.70
RAFOS	3600	1	51.84

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
32	end surface: CONTROL_FINISHED_OK
state	32	begin dive
38	-0.83	-116.8	0.0	0.0	0	108	0.00	0.00	-62.80	0.000	6	0.000	0.000	628	1765	2740
114	-0.83	-116.8	2.9	-4.5	9	133	7.53	2.62	0.00	0.000	4	0.000	0.000	2132	351	2742
425	-0.83	-116.8	38.8	-10.8	59	433	0.38	2.70	0.00	0.000	6	0.000	0.000	2046	2122	2742
795	-0.83	-116.8	79.7	-10.9	120	804	0.43	3.10	0.00	0.000	4	0.000	0.000	2137	354	2735
1088	-0.83	-116.8	108.8	-9.9	157	1094	0.40	2.83	0.00	0.000	6	0.000	0.000	2060	2200	2738
1413	-0.83	-116.8	139.0	-9.2	173	1415	0.40	0.00	0.00	0.000	6	0.000	0.000	2135	2207	2741
1722	-0.83	-116.8	165.6	-8.4	188	1725	0.43	0.00	0.00	0.000	6	0.000	0.000	2044	2191	2736
2032	-0.83	-116.8	192.3	-8.8	203	2034	0.40	0.00	0.00	0.000	6	0.000	0.000	2134	2206	2737
2341	-0.83	-116.8	219.3	-8.6	218	2348	0.38	3.03	0.00	0.000	4	0.000	0.000	2041	353	2738
2633	-0.83	-116.8	244.7	-8.2	230	2646	0.32	3.95	0.00	0.000	6	0.000	0.000	2108	2110	2746
2957	-0.83	-116.8	270.6	-8.0	246	2959	0.45	0.00	0.00	0.000	6	0.000	0.000	2027	2124	2741
3266	-0.83	-116.8	294.2	-7.7	261	3268	0.73	0.00	0.00	0.000	6	0.000	0.000	2131	2132	2739
3575	-0.83	-116.8	318.5	-7.7	276	3582	0.32	3.17	0.00	0.000	4	0.000	0.000	2028	602	2736
3865	-0.83	-116.8	340.6	-7.3	288	3870	0.35	2.40	0.00	0.000	6	0.000	0.000	2117	2090	2733
4184	-0.83	-116.8	364.2	-7.4	303	4191	0.28	3.35	0.00	0.000	4	0.000	0.000	2092	404	2739
4474	-0.83	-116.8	385.6	-6.9	315	4485	0.00	3.35	0.00	0.000	6	0.000	0.000	2077	2062	2737
4797	-0.83	-116.8	408.2	-6.7	331	4803	0.03	3.10	0.00	0.000	4	0.000	0.000	2131	412	2734
5083	-0.83	-116.8	428.6	-7.5	343	5089	0.35	2.50	0.00	0.000	6	0.000	0.000	2041	2083	2734
5402	-0.83	-116.8	453.6	-8.2	358	5404	0.47	0.00	0.00	0.000	6	0.000	0.000	2132	2088	2741
5712	-0.83	-116.8	477.8	-7.4	373	5714	0.52	0.00	0.00	0.000	6	0.000	0.000	2045	2063	2743
6020	-0.83	-116.8	499.5	-6.6	388	6022	0.35	0.00	0.00	0.000	6	0.000	0.000	2119	2071	2741
6326	-0.83	-116.8	517.3	-5.7	396	6328	0.50	0.00	0.00	0.000	6	0.000	0.000	2039	2062	2734
6650	-0.83	-116.8	536.5	-6.0	404	6656	0.45	2.70	0.00	0.000	4	0.000	0.000	2098	440	2740
6930	-0.83	-116.8	557.1	-8.6	410	6934	0.00	2.60	0.00	0.000	6	0.000	0.000	2116	2101	2743
7246	-0.83	-116.8	582.4	-7.9	418	7248	0.32	0.00	0.00	0.000	6	0.000	0.000	2031	2103	2743
7570	-0.83	-116.8	606.3	-7.2	426	7577	0.45	2.95	0.00	0.000	4	0.000	0.000	2127	559	2738
7813	-0.83	-116.8	622.5	-6.6	431	7821	0.38	3.22	0.00	0.000	6	0.000	0.000	2042	2088	2736
8169	-0.83	-116.8	644.5	-6.1	440	8171	0.30	0.00	0.00	0.000	6	0.000	0.000	2152	2101	2742
8494	-0.83	-116.8	665.0	-6.2	448	8496	0.47	0.00	0.00	0.000	6	0.000	0.000	2032	2104	2739
8819	-0.83	-116.8	685.0	-6.2	456	8826	0.30	3.15	0.00	0.000	4	0.000	0.000	2124	545	2745
9108	-0.83	-116.8	702.3	-6.1	462	9116	0.32	3.00	0.00	0.000	6	0.000	0.000	2042	1958	2746
9429	-0.83	-116.8	722.5	-6.2	470	9431	0.35	0.00	0.00	0.000	6	0.000	0.000	2127	1957	2736
9754	-0.83	-116.8	741.2	-5.7	478	9756	0.35	0.00	0.00	0.000	6	0.000	0.000	2035	1949	2742
10079	-0.83	-116.8	759.9	-5.8	486	10081	0.40	0.00	0.00	0.000	6	0.000	0.000	2114	1946	2738
10404	-0.83	-116.8	777.1	-5.4	494	10407	0.40	0.00	0.00	0.000	6	0.000	0.000	2046	1965	2736
10729	-0.83	-116.8	794.3	-5.3	502	10736	0.30	3.15	0.00	0.000	4	0.000	0.000	2130	420	2735
11019	-0.83	-116.8	810.3	-5.6	508	11026	0.38	3.42	0.00	0.000	6	0.000	0.000	2065	2061	2739
11340	-0.83	-116.8	829.3	-6.2	516	11342	0.30	0.00	0.00	0.000	6	0.000	0.000	2156	2053	2737
11665	-0.83	-116.8	848.7	-5.9	524	11672	0.43	2.92	0.00	0.000	4	0.000	0.000	2046	395	2740
11950	-0.83	-116.8	865.8	-5.6	530	11956	0.40	2.70	0.00	0.000	6	0.000	0.000	2108	2106	2741
12272	-0.83	-116.8	883.2	-5.5	538	12279	0.38	3.15	0.00	0.000	4	0.000	0.000	2048	441	2736
12558	-0.83	-116.8	899.3	-6.1	544	12564	0.35	2.53	0.00	0.000	6	0.000	0.000	2149	2102	2746
12880	-0.83	-116.8	917.8	-5.9	552	12886	0.40	2.90	0.00	0.000	4	0.000	0.000	2036	452	2737
13161	-0.83	-116.8	935.8	-6.3	558	13167	0.35	2.83	0.00	0.000	6	0.000	0.000	2152	2101	2741
13479	-0.83	-116.8	953.8	-5.5	566	13484	0.40	2.50	0.00	0.000	4	0.000	0.000	2039	398	2745
13760	-0.83	-116.8	970.4	-5.5	572	13766	0.05	2.62	0.00	0.000	6	0.000	0.000	2102	2110	2743
13955	end dive: BOTTOM_OBSTACLE_DETECTED
state	13955	begin apogee
13967	-0.25	0.0	981.6	5.8	577	14099	0.65	0.00	113.38	0.000	6	0.000	0.000	2211	1843	2266
14099	end apogee: CONTROL_FINISHED_OK
state	14099	begin climb
14105	0.83	116.8	988.2	0.0	580	14226	1.17	0.00	111.43	0.000	6	0.000	0.000	2496	1834	1790
14520	0.83	116.8	977.7	7.9	591	14522	0.05	0.00	0.00	0.000	6	0.000	0.000	2451	1836	1792
14845	0.83	116.8	951.0	8.1	599	14848	0.38	0.00	0.77	0.001	6	0.000	0.000	2389	1845	1787
15170	0.83	116.8	924.8	8.1	607	15172	0.38	0.00	0.00	0.000	6	0.000	0.000	2459	1820	1788
15495	0.83	116.8	898.6	8.3	615	15497	0.35	0.00	0.00	0.000	6	0.000	0.000	2428	1841	1782
15820	0.83	116.8	872.3	8.1	623	15821	0.03	0.00	0.00	0.000	6	0.000	0.000	2433	1829	1787
16145	0.83	116.8	845.8	7.9	631	16146	0.00	0.00	0.00	0.000	6	0.000	0.000	2429	1833	1789
16469	0.83	116.8	821.8	7.3	639	16470	0.00	0.00	0.00	0.000	6	0.000	0.000	2439	1837	1786
16794	0.83	116.8	798.7	7.0	647	16796	0.03	0.00	0.00	0.000	6	0.000	0.000	2431	1852	1787
17119	0.83	116.8	775.5	7.1	655	17121	0.00	0.00	0.32	0.000	6	0.000	0.000	2434	1840	1783
17444	0.83	116.8	750.7	7.9	663	17445	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	1834	1788
17769	0.83	116.8	724.1	8.2	671	17770	0.00	0.00	0.00	0.000	6	0.000	0.000	2429	1831	1785
18094	0.83	116.8	698.3	7.7	679	18096	0.00	0.00	0.05	0.000	6	0.000	0.000	2446	1833	1782
18419	0.83	116.8	673.8	7.6	687	18421	0.00	0.00	0.25	0.000	6	0.000	0.000	2433	1838	1788
18744	0.83	116.8	649.3	7.8	695	18745	0.00	0.00	0.00	0.000	6	0.000	0.000	2438	1829	1779
19069	0.83	116.8	623.1	7.9	703	19070	0.00	0.00	0.00	0.000	6	0.000	0.000	2429	1849	1785
19394	0.83	116.8	597.2	7.8	711	19395	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	1840	1786
19719	0.83	116.8	571.8	7.7	719	19720	0.00	0.00	0.00	0.000	6	0.000	0.000	2418	1833	1792
20044	0.83	116.8	547.9	7.1	727	20045	0.00	0.00	0.00	0.000	6	0.000	0.000	2429	1850	1781
20369	0.83	116.8	525.7	6.8	735	20370	0.00	0.00	0.00	0.000	6	0.000	0.000	2436	1828	1789
20694	0.83	116.8	503.2	7.1	743	20695	0.00	0.00	0.00	0.000	6	0.000	0.000	2429	1845	1787
21002	0.83	116.8	481.9	6.6	756	21003	0.00	0.00	0.00	0.000	6	0.000	0.000	2442	1831	1789
21316	0.83	116.8	461.6	6.4	771	21317	0.00	0.00	0.00	0.000	6	0.000	0.000	2423	1840	1785
21625	0.83	116.8	441.9	6.5	786	21627	0.00	0.00	0.20	0.000	6	0.000	0.000	2449	1840	1787
21929	0.83	116.8	421.5	6.4	801	21931	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	1830	1784
22244	0.83	116.8	400.9	6.7	816	22246	0.00	0.00	0.10	0.001	6	0.000	0.000	2430	1820	1781
22548	0.83	119.9	381.3	6.1	831	22553	0.03	0.00	2.38	0.000	6	0.000	0.000	2438	1842	1774
22858	0.84	125.7	362.8	6.0	846	22866	0.03	0.00	5.90	0.000	6	0.000	0.000	2413	1841	1743
23166	0.85	125.7	343.1	6.5	861	23168	0.05	0.00	0.00	0.000	6	0.000	0.000	2427	1837	1741
23476	0.85	126.2	323.1	6.2	876	23478	0.00	0.00	0.08	0.000	6	0.000	0.000	2451	1825	1746
23785	0.85	126.2	303.3	6.5	891	23790	0.00	2.85	0.00	0.000	4	0.000	0.000	2437	500	1747
23913	0.85	126.2	294.9	7.9	896	23922	0.00	3.17	0.12	0.000	6	0.000	0.000	2436	1924	1748
24232	0.85	126.2	273.1	7.2	912	24234	0.03	0.00	0.00	0.000	6	0.000	0.000	2442	1938	1746
24541	0.85	126.2	251.3	6.6	927	24542	0.00	0.00	0.00	0.000	6	0.000	0.000	2436	1942	1748
24856	0.85	131.1	231.9	6.1	942	24866	0.00	2.92	4.65	0.000	4	0.000	0.000	2433	3481	1719
25142	0.85	138.8	214.2	6.0	954	25156	0.03	2.50	6.15	0.000	6	0.000	0.000	2431	1873	1692
25466	0.87	138.8	194.7	6.4	970	25468	0.00	0.00	0.68	0.000	6	0.000	0.000	2426	1856	1691
25776	0.87	143.6	175.2	6.1	985	25782	0.05	0.00	4.10	0.000	6	0.000	0.000	2417	1868	1677
26085	0.88	143.6	156.4	7.2	1000	26086	0.00	0.00	0.22	0.000	6	0.000	0.000	2424	1866	1680
26394	0.88	143.6	131.8	7.6	1015	26396	0.25	0.00	0.00	0.000	6	0.000	0.000	2484	1869	1670
26703	0.88	162.6	112.9	5.5	1030	26722	0.00	0.00	15.07	0.000	6	0.000	0.000	2485	1869	1596
27056	0.91	162.6	89.0	6.6	1064	27064	0.00	2.50	0.00	0.000	4	0.000	0.000	2490	3513	1604
27359	0.91	192.4	71.1	5.1	1113	27394	0.03	3.10	24.30	0.001	6	0.000	0.000	2487	1836	1477
27769	0.96	196.3	47.3	6.1	1177	27779	0.03	2.88	2.92	0.000	4	0.000	0.000	2474	547	1459
27830	0.96	196.3	42.9	7.0	1186	27838	0.00	2.40	0.00	0.000	6	0.000	0.000	2469	2098	1461
28207	0.96	196.3	17.6	6.6	1247	28214	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2092	1457
28427	end climb: SURFACE_DEPTH_REACHED
state	28427	begin surface coast
28455	end surface coast: CONTROL_FINISHED_OK
state	28455	begin surface