Glider dive log

ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 256 * 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 256 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

N_DIVES 500 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 5

STOP_T 1171912 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 3 TGT_DEFAULT_LAT -5400 R_PORT_OVSHOOT 39 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON 0 R_STBD_OVSHOOT 30 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 2720 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 1171912

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 2720 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 39 VBD_CNV -0.245296

DEVICE3 -1 MINV_24V 11.5 R_STBD_OVSHOOT 30 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 256 NOCOMM_ACTION 259 SC_XMITPROFILE 3.0 VBD_MIN 602

D_ABORT 420 N_DIVES 500 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 110119,120604,-5955.3882,-1.4584,24,0.8,28,-19.7,0.4,13.7,10,10.0 SPEED_LIMITS 0.144,0.244

_CALLS 2 TGT_NAME NORTH

_XMS_NAKs 0 TGT_LATLONG -5940.000,0.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.16 MHEAD_RNG_PITCHd_Wd 13.7,28528,-15.5,-8.333,-18.82,2677

_SM_ANGLEo -68.2 D_GRID 350

GPS2 110119,121333,-5955.3877,-1.3925,9,0.9,18,-19.7,0.0,166.9,9,10.0

Post-dive calculations and measurements:

SM_CCo 8533,48.58,0.245,0,0,1823,220.03 _10V_AH 13.54,0.000

SM_GC 1.24,5.47,0.08,48.58,0.047,0.164,0.245,258,2077,1823,-6.49,0.90,220.03,0,0,0,0,0,0,14.59,14.52,14.29 FG_AHR_24Vo 0.000

IRIDIUM_FIX -5928.47,913.11,110119,120800 FG_AHR_10Vo 0.000

TT8_MAMPS 0.03745,0.349034 MEM 344084

HUMID 50.11 DATA_FILE_SIZE 17321,679

INTERNAL_PRESSURE 6.13826 CAP_FILE_SIZE 87025,0

TCM_TEMP 0.00 CFSIZE 1023623168,994312192

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

SC_FREEKB 3789792 CURRENT 0.057,108.35,1

_24V_AH 13.34,52.167 GPS 110119,143757,-5954.944,-0.982,38,0.8,41,-19.7,0.7,77.7,10,8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 371 63.86 nil 0 0 0.00

Roll_motor 63 2236 1903.12 nil 0 0 0.00

VBD_pump_during_apogee 275 1561 5740.36 nil 0 0 0.00

VBD_pump_during_surface 48 244 158.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 48 29 19.49 nil 0 0 0.00

Iridium_during_connect 76 160 162.73 SciCon 4934 12 841.90

Iridium_during_xfer 123 223 367.02 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 11 2.93

TT8 0 0 0.00

LPSleep 6888 2 204.26

TT8_Active 404 11 64.21

TT8_Sampling 1602 32 709.59

TT8_CF8 137 49 92.69

TT8_Kalman 0 0 0.00

Analog_circuits 1006 11 156.56

GPS_charging 0 0 0.00

Compass 1088 19 287.00

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

10 -0.64 -146.0 234 2093 1793 1825 0.0 0.0 0 101 0.00 0.00 -88.12 0.000 16386 0.000 0.000 233 2094 3185 3265 3105 0 0 0 0 0 0 14.60 28.83 14.60 6.18 50.63

103 -0.64 -146.0 234 2093 3264 3107 3.2 -6.9 18 121 6.03 2.67 -4.97 0.000 18948 0.355 2.236 2190 699 3316 3410 3223 0 0 0 0 0 0 14.14 13.39 14.43 6.29 50.39

212 -0.64 -146.0 2191 702 3412 3223 21.8 -16.1 40 216 0.00 2.40 0.00 0.000 3078 0.000 0.056 2181 2102 3317 3411 3224 0 0 0 0 0 0 14.48 14.37 14.49 6.30 48.66

336 -0.64 -146.0 2181 2103 3412 3225 42.9 -18.3 65 340 0.00 2.47 0.00 0.000 2564 0.000 0.063 2180 703 3317 3411 3224 0 0 0 0 0 0 14.65 14.37 14.64 6.31 49.92

391 -0.64 -146.0 2180 704 3412 3225 53.5 -17.3 76 396 0.08 2.40 0.00 0.000 3078 0.372 0.057 2194 2104 3317 3411 3224 0 0 0 0 0 0 14.21 14.42 14.46 6.31 49.48

517 -0.64 -146.0 2194 2104 3413 3225 73.3 -15.6 101 520 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2104 3318 3411 3225 0 0 0 0 0 0 14.67 14.68 14.68 6.31 49.01

641 -0.64 -146.0 2195 2105 3412 3224 92.8 -16.3 126 645 0.00 2.47 0.00 0.000 516 0.000 0.062 2194 696 3318 3412 3225 0 0 0 0 0 0 14.70 14.42 14.71 6.31 49.21

656 -0.64 -146.0 2194 701 3412 3226 95.3 -16.3 129 660 0.00 2.42 0.00 0.000 3078 0.000 0.056 2185 2099 3317 3411 3224 0 0 0 0 0 0 14.50 14.43 14.52 6.30 49.05

791 -0.64 -146.0 2180 2099 3412 3224 116.8 -15.9 141 795 0.00 2.47 0.00 0.000 2308 0.000 0.081 2174 3512 3317 3411 3224 0 0 0 0 0 0 14.73 14.45 14.73 6.30 48.46

831 -0.64 -146.0 2175 3514 3412 3224 123.4 -16.0 143 835 0.05 2.40 0.00 0.000 3078 0.362 0.042 2191 2097 3318 3411 3225 0 0 0 0 0 0 14.24 14.48 14.42 6.30 48.62

1151 -0.64 -146.0 2191 2095 3412 3225 169.4 -13.8 159 1152 0.00 0.00 0.00 0.000 2054 0.000 0.000 2191 2095 3318 3411 3225 0 0 0 0 0 0 14.78 14.78 14.78 6.31 50.27

1451 -0.64 -146.0 2192 2095 3412 3224 208.8 -12.9 174 1456 0.00 2.45 0.00 0.000 2564 0.000 0.062 2190 671 3317 3411 3224 0 0 0 0 0 0 14.80 14.53 14.81 6.32 50.98

1521 -0.64 -146.0 2191 672 3412 3226 216.6 -13.0 177 1525 0.00 2.42 0.00 0.000 3078 0.000 0.055 2181 2103 3317 3411 3224 0 0 0 0 0 0 14.66 14.56 14.67 6.32 51.29

1831 -0.64 -146.0 2181 2103 3412 3224 257.1 -12.5 193 1832 0.00 0.00 0.00 0.000 2054 0.000 0.000 2181 2103 3317 3411 3224 0 0 0 0 0 0 14.82 14.83 14.82 6.33 51.14

2131 -0.64 -146.0 2181 2104 3412 3225 294.7 -12.6 208 2132 0.00 0.00 0.00 0.000 2054 0.000 0.000 2181 2103 3317 3411 3224 0 0 0 0 0 0 14.83 14.83 14.83 6.33 51.10

2431 -0.64 -146.0 2181 2104 3412 3225 332.6 -12.7 223 2432 0.00 0.00 0.00 0.000 2054 0.000 0.000 2180 2103 3317 3411 3224 0 0 0 0 0 0 14.85 14.84 14.85 6.34 51.96

2570 end dive: TARGET_DEPTH_EXCEEDED

state 2570 begin apogee

2574 -0.15 0.0 2181 2171 3412 3225 350.3 -12.6 230 2705 0.47 0.00 127.38 1.561 10246 0.266 0.000 2349 2170 2715 2776 2655 0 0 0 0 0 0 14.39 13.95 13.34 6.33 51.65

2706 end apogee: CONTROL_FINISHED_OK

state 2706 begin loiter

2991 -0.15 0.0 2349 2171 2772 2643 346.1 3.4 251 2992 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2170 2706 2771 2641 0 0 0 0 0 0 14.57 14.58 14.57 6.30 50.86

3291 -0.15 0.0 2349 2171 2772 2639 335.5 3.6 266 3292 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2170 2705 2771 2639 0 0 0 0 0 0 14.72 14.72 14.72 6.29 50.86

3591 -0.15 0.0 2349 2171 2772 2639 324.9 3.5 281 3592 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2169 2704 2771 2637 0 0 0 0 0 0 14.81 14.81 14.81 6.29 51.10

3891 -0.15 0.0 2349 2171 2772 2636 314.7 3.4 296 3892 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2170 2704 2771 2637 0 0 0 0 0 0 14.85 14.86 14.86 6.29 51.22

4191 -0.15 0.0 2349 2171 2772 2636 304.7 3.3 311 4192 0.00 0.00 0.00 0.000 2054 0.000 0.000 2348 2170 2703 2770 2636 0 0 0 0 0 0 14.91 14.91 14.91 6.29 52.00

4491 -0.15 0.0 2349 2171 2772 2637 295.1 3.2 326 4492 0.00 0.00 0.00 0.000 2054 0.000 0.000 2348 2170 2703 2771 2636 0 0 0 0 0 0 14.94 14.94 14.94 6.29 51.26

4791 -0.15 0.0 2349 2171 2772 2635 284.9 3.4 341 4792 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2170 2703 2771 2635 0 0 0 0 0 0 14.96 14.97 14.96 6.29 51.53

5091 -0.15 0.0 2349 2171 2773 2635 273.9 3.8 356 5092 0.00 0.00 0.00 0.000 2054 0.000 0.000 2348 2170 2703 2771 2635 0 0 0 0 0 0 14.99 14.99 14.99 6.28 51.33

5392 -0.15 0.0 2349 2171 2773 2637 261.9 4.2 371 5392 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2170 2703 2771 2636 0 0 0 0 0 0 15.00 15.00 15.00 6.28 51.29

5691 -0.15 0.0 2349 2171 2771 2636 249.5 4.2 386 5692 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2170 2703 2771 2635 0 0 0 0 0 0 15.02 15.02 15.02 6.28 51.85

5991 -0.15 0.0 2349 2171 2772 2636 238.2 3.4 401 5992 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2170 2703 2771 2635 0 0 0 0 0 0 15.03 15.03 15.03 6.28 51.92

6290 end loiter: LOITER_COMPLETE

state 6290 begin climb

6291 0.64 146.0 2349 2171 2772 2636 229.3 0.0 416 6432 0.62 2.53 130.55 1.395 11012 0.172 0.081 2599 3537 2118 2143 2093 0 0 0 0 0 0 14.64 14.00 13.49 6.28 51.33

6516 0.64 146.0 2599 3537 2141 2086 213.4 10.0 427 6520 0.00 2.38 0.00 0.000 5126 0.000 0.041 2609 2160 2112 2139 2085 0 0 0 0 0 0 14.24 14.20 14.26 6.24 49.17

6831 0.64 146.0 2610 2161 2134 2077 178.5 11.2 443 6836 0.00 2.47 0.00 0.000 4612 0.000 0.065 2620 745 2104 2132 2077 0 0 0 0 0 0 14.62 14.33 14.62 6.24 50.43

6881 0.64 146.0 2620 746 2130 2078 174.0 11.2 445 6885 0.05 2.40 0.00 0.000 5126 0.303 0.052 2602 2123 2103 2129 2077 0 0 0 0 0 0 14.18 14.35 14.33 6.24 50.55

7191 0.64 146.0 2603 2124 2130 2074 137.6 11.6 461 7195 0.00 2.53 0.00 0.000 260 0.000 0.081 2602 3564 2101 2128 2075 0 0 0 0 0 0 14.72 14.42 14.72 6.23 50.59

7301 0.64 146.0 2603 3562 2129 2075 125.9 11.5 466 7305 0.00 2.40 0.00 0.000 5126 0.000 0.041 2611 2145 2101 2128 2075 0 0 0 0 0 0 14.49 14.45 14.52 6.24 50.98

7606 0.64 146.0 2613 2145 2129 2073 87.0 11.9 496 7611 0.00 2.47 0.00 0.000 4612 0.000 0.066 2622 742 2100 2127 2073 0 0 0 0 0 0 14.78 14.48 14.78 6.22 50.07

7651 0.64 146.0 2622 743 2126 2074 82.0 10.5 505 7656 0.05 2.42 0.00 0.000 5126 0.297 0.053 2602 2157 2099 2125 2073 0 0 0 0 0 0 14.31 14.46 14.45 6.22 50.00

7776 0.64 146.0 2603 2157 2127 2073 69.5 9.7 530 7780 0.00 2.50 0.00 0.000 260 0.000 0.083 2606 3556 2099 2126 2073 0 0 0 0 0 0 14.78 14.47 14.78 6.22 49.92

7811 0.64 146.0 2603 3558 2126 2074 65.9 9.8 537 7815 0.00 2.38 0.00 0.000 5126 0.000 0.042 2611 2151 2099 2126 2073 0 0 0 0 0 0 14.54 14.50 14.57 6.21 49.88

7937 0.64 146.0 2612 2151 2126 2074 54.5 9.0 562 7941 0.00 2.42 0.00 0.000 4612 0.000 0.066 2622 745 2099 2126 2073 0 0 0 0 0 0 14.78 14.52 14.79 6.21 49.13

7996 0.64 146.0 2623 746 2126 2072 49.1 9.1 574 8001 0.05 2.42 0.00 0.000 5126 0.295 0.054 2603 2157 2098 2125 2072 0 0 0 0 0 0 14.35 14.52 14.50 6.20 49.29

8122 0.66 168.3 2603 2158 2126 2073 38.7 7.5 599 8146 0.00 2.47 17.67 1.278 10500 0.000 0.083 2603 3547 2028 2050 2006 0 0 0 0 0 0 14.79 14.42 13.89 6.20 49.56

8196 0.66 168.3 2603 3548 2051 2005 31.9 9.6 614 8200 0.00 2.38 0.00 0.000 1030 0.000 0.042 2612 2149 2027 2050 2005 0 0 0 0 0 0 14.50 14.47 14.52 6.20 49.80

8322 0.66 168.3 2612 2149 2051 2003 20.0 9.2 639 8326 0.00 2.45 0.00 0.000 516 0.000 0.066 2623 740 2027 2052 2002 0 0 0 0 0 0 14.71 14.46 14.71 6.19 49.48

8381 0.66 168.3 2623 740 2049 2002 14.4 9.4 651 8385 0.00 2.42 0.00 0.000 5126 0.000 0.052 2623 2147 2024 2046 2003 0 0 0 0 0 0 14.49 14.43 14.50 6.19 49.88

8495 end climb: SURFACE_DEPTH_REACHED

state 8495 begin surface coast

8520 end surface coast: CONTROL_FINISHED_OK

state 8520 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	256	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
N_DIVES	500	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	5
STOP_T	1171912	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	3	TGT_DEFAULT_LAT	-5400	R_PORT_OVSHOOT	39	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	0	R_STBD_OVSHOOT	30	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	2720	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	110119,120604,-5955.3882,-1.4584,24,0.8,28,-19.7,0.4,13.7,10,10.0	SPEED_LIMITS	0.144,0.244
_CALLS	2	TGT_NAME	NORTH
_XMS_NAKs	0	TGT_LATLONG	-5940.000,0.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.16	MHEAD_RNG_PITCHd_Wd	13.7,28528,-15.5,-8.333,-18.82,2677
_SM_ANGLEo	-68.2	D_GRID	350
GPS2	110119,121333,-5955.3877,-1.3925,9,0.9,18,-19.7,0.0,166.9,9,10.0

SM_CCo	8533,48.58,0.245,0,0,1823,220.03	_10V_AH	13.54,0.000
SM_GC	1.24,5.47,0.08,48.58,0.047,0.164,0.245,258,2077,1823,-6.49,0.90,220.03,0,0,0,0,0,0,14.59,14.52,14.29	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-5928.47,913.11,110119,120800	FG_AHR_10Vo	0.000
TT8_MAMPS	0.03745,0.349034	MEM	344084
HUMID	50.11	DATA_FILE_SIZE	17321,679
INTERNAL_PRESSURE	6.13826	CAP_FILE_SIZE	87025,0
TCM_TEMP	0.00	CFSIZE	1023623168,994312192
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3789792	CURRENT	0.057,108.35,1
_24V_AH	13.34,52.167	GPS	110119,143757,-5954.944,-0.982,38,0.8,41,-19.7,0.7,77.7,10,8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	371	63.86	nil	0	0	0.00
Roll_motor	63	2236	1903.12	nil	0	0	0.00
VBD_pump_during_apogee	275	1561	5740.36	nil	0	0	0.00
VBD_pump_during_surface	48	244	158.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	48	29	19.49	nil	0	0	0.00
Iridium_during_connect	76	160	162.73	SciCon	4934	12	841.90
Iridium_during_xfer	123	223	367.02	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	11	2.93
TT8	0	0	0.00
LPSleep	6888	2	204.26
TT8_Active	404	11	64.21
TT8_Sampling	1602	32	709.59
TT8_CF8	137	49	92.69
TT8_Kalman	0	0	0.00
Analog_circuits	1006	11	156.56
GPS_charging	0	0	0.00
Compass	1088	19	287.00
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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
10	-0.64	-146.0	234	2093	1793	1825	0.0	0.0	0	101	0.00	0.00	-88.12	0.000	16386	0.000	0.000	233	2094	3185	3265	3105	0	0	0	0	0	0	14.60	28.83	14.60	6.18	50.63
103	-0.64	-146.0	234	2093	3264	3107	3.2	-6.9	18	121	6.03	2.67	-4.97	0.000	18948	0.355	2.236	2190	699	3316	3410	3223	0	0	0	0	0	0	14.14	13.39	14.43	6.29	50.39
212	-0.64	-146.0	2191	702	3412	3223	21.8	-16.1	40	216	0.00	2.40	0.00	0.000	3078	0.000	0.056	2181	2102	3317	3411	3224	0	0	0	0	0	0	14.48	14.37	14.49	6.30	48.66
336	-0.64	-146.0	2181	2103	3412	3225	42.9	-18.3	65	340	0.00	2.47	0.00	0.000	2564	0.000	0.063	2180	703	3317	3411	3224	0	0	0	0	0	0	14.65	14.37	14.64	6.31	49.92
391	-0.64	-146.0	2180	704	3412	3225	53.5	-17.3	76	396	0.08	2.40	0.00	0.000	3078	0.372	0.057	2194	2104	3317	3411	3224	0	0	0	0	0	0	14.21	14.42	14.46	6.31	49.48
517	-0.64	-146.0	2194	2104	3413	3225	73.3	-15.6	101	520	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2104	3318	3411	3225	0	0	0	0	0	0	14.67	14.68	14.68	6.31	49.01
641	-0.64	-146.0	2195	2105	3412	3224	92.8	-16.3	126	645	0.00	2.47	0.00	0.000	516	0.000	0.062	2194	696	3318	3412	3225	0	0	0	0	0	0	14.70	14.42	14.71	6.31	49.21
656	-0.64	-146.0	2194	701	3412	3226	95.3	-16.3	129	660	0.00	2.42	0.00	0.000	3078	0.000	0.056	2185	2099	3317	3411	3224	0	0	0	0	0	0	14.50	14.43	14.52	6.30	49.05
791	-0.64	-146.0	2180	2099	3412	3224	116.8	-15.9	141	795	0.00	2.47	0.00	0.000	2308	0.000	0.081	2174	3512	3317	3411	3224	0	0	0	0	0	0	14.73	14.45	14.73	6.30	48.46
831	-0.64	-146.0	2175	3514	3412	3224	123.4	-16.0	143	835	0.05	2.40	0.00	0.000	3078	0.362	0.042	2191	2097	3318	3411	3225	0	0	0	0	0	0	14.24	14.48	14.42	6.30	48.62
1151	-0.64	-146.0	2191	2095	3412	3225	169.4	-13.8	159	1152	0.00	0.00	0.00	0.000	2054	0.000	0.000	2191	2095	3318	3411	3225	0	0	0	0	0	0	14.78	14.78	14.78	6.31	50.27
1451	-0.64	-146.0	2192	2095	3412	3224	208.8	-12.9	174	1456	0.00	2.45	0.00	0.000	2564	0.000	0.062	2190	671	3317	3411	3224	0	0	0	0	0	0	14.80	14.53	14.81	6.32	50.98
1521	-0.64	-146.0	2191	672	3412	3226	216.6	-13.0	177	1525	0.00	2.42	0.00	0.000	3078	0.000	0.055	2181	2103	3317	3411	3224	0	0	0	0	0	0	14.66	14.56	14.67	6.32	51.29
1831	-0.64	-146.0	2181	2103	3412	3224	257.1	-12.5	193	1832	0.00	0.00	0.00	0.000	2054	0.000	0.000	2181	2103	3317	3411	3224	0	0	0	0	0	0	14.82	14.83	14.82	6.33	51.14
2131	-0.64	-146.0	2181	2104	3412	3225	294.7	-12.6	208	2132	0.00	0.00	0.00	0.000	2054	0.000	0.000	2181	2103	3317	3411	3224	0	0	0	0	0	0	14.83	14.83	14.83	6.33	51.10
2431	-0.64	-146.0	2181	2104	3412	3225	332.6	-12.7	223	2432	0.00	0.00	0.00	0.000	2054	0.000	0.000	2180	2103	3317	3411	3224	0	0	0	0	0	0	14.85	14.84	14.85	6.34	51.96
2570	end dive: TARGET_DEPTH_EXCEEDED
state	2570	begin apogee
2574	-0.15	0.0	2181	2171	3412	3225	350.3	-12.6	230	2705	0.47	0.00	127.38	1.561	10246	0.266	0.000	2349	2170	2715	2776	2655	0	0	0	0	0	0	14.39	13.95	13.34	6.33	51.65
2706	end apogee: CONTROL_FINISHED_OK
state	2706	begin loiter
2991	-0.15	0.0	2349	2171	2772	2643	346.1	3.4	251	2992	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2170	2706	2771	2641	0	0	0	0	0	0	14.57	14.58	14.57	6.30	50.86
3291	-0.15	0.0	2349	2171	2772	2639	335.5	3.6	266	3292	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2170	2705	2771	2639	0	0	0	0	0	0	14.72	14.72	14.72	6.29	50.86
3591	-0.15	0.0	2349	2171	2772	2639	324.9	3.5	281	3592	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2169	2704	2771	2637	0	0	0	0	0	0	14.81	14.81	14.81	6.29	51.10
3891	-0.15	0.0	2349	2171	2772	2636	314.7	3.4	296	3892	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2170	2704	2771	2637	0	0	0	0	0	0	14.85	14.86	14.86	6.29	51.22
4191	-0.15	0.0	2349	2171	2772	2636	304.7	3.3	311	4192	0.00	0.00	0.00	0.000	2054	0.000	0.000	2348	2170	2703	2770	2636	0	0	0	0	0	0	14.91	14.91	14.91	6.29	52.00
4491	-0.15	0.0	2349	2171	2772	2637	295.1	3.2	326	4492	0.00	0.00	0.00	0.000	2054	0.000	0.000	2348	2170	2703	2771	2636	0	0	0	0	0	0	14.94	14.94	14.94	6.29	51.26
4791	-0.15	0.0	2349	2171	2772	2635	284.9	3.4	341	4792	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2170	2703	2771	2635	0	0	0	0	0	0	14.96	14.97	14.96	6.29	51.53
5091	-0.15	0.0	2349	2171	2773	2635	273.9	3.8	356	5092	0.00	0.00	0.00	0.000	2054	0.000	0.000	2348	2170	2703	2771	2635	0	0	0	0	0	0	14.99	14.99	14.99	6.28	51.33
5392	-0.15	0.0	2349	2171	2773	2637	261.9	4.2	371	5392	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2170	2703	2771	2636	0	0	0	0	0	0	15.00	15.00	15.00	6.28	51.29
5691	-0.15	0.0	2349	2171	2771	2636	249.5	4.2	386	5692	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2170	2703	2771	2635	0	0	0	0	0	0	15.02	15.02	15.02	6.28	51.85
5991	-0.15	0.0	2349	2171	2772	2636	238.2	3.4	401	5992	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2170	2703	2771	2635	0	0	0	0	0	0	15.03	15.03	15.03	6.28	51.92
6290	end loiter: LOITER_COMPLETE
state	6290	begin climb
6291	0.64	146.0	2349	2171	2772	2636	229.3	0.0	416	6432	0.62	2.53	130.55	1.395	11012	0.172	0.081	2599	3537	2118	2143	2093	0	0	0	0	0	0	14.64	14.00	13.49	6.28	51.33
6516	0.64	146.0	2599	3537	2141	2086	213.4	10.0	427	6520	0.00	2.38	0.00	0.000	5126	0.000	0.041	2609	2160	2112	2139	2085	0	0	0	0	0	0	14.24	14.20	14.26	6.24	49.17
6831	0.64	146.0	2610	2161	2134	2077	178.5	11.2	443	6836	0.00	2.47	0.00	0.000	4612	0.000	0.065	2620	745	2104	2132	2077	0	0	0	0	0	0	14.62	14.33	14.62	6.24	50.43
6881	0.64	146.0	2620	746	2130	2078	174.0	11.2	445	6885	0.05	2.40	0.00	0.000	5126	0.303	0.052	2602	2123	2103	2129	2077	0	0	0	0	0	0	14.18	14.35	14.33	6.24	50.55
7191	0.64	146.0	2603	2124	2130	2074	137.6	11.6	461	7195	0.00	2.53	0.00	0.000	260	0.000	0.081	2602	3564	2101	2128	2075	0	0	0	0	0	0	14.72	14.42	14.72	6.23	50.59
7301	0.64	146.0	2603	3562	2129	2075	125.9	11.5	466	7305	0.00	2.40	0.00	0.000	5126	0.000	0.041	2611	2145	2101	2128	2075	0	0	0	0	0	0	14.49	14.45	14.52	6.24	50.98
7606	0.64	146.0	2613	2145	2129	2073	87.0	11.9	496	7611	0.00	2.47	0.00	0.000	4612	0.000	0.066	2622	742	2100	2127	2073	0	0	0	0	0	0	14.78	14.48	14.78	6.22	50.07
7651	0.64	146.0	2622	743	2126	2074	82.0	10.5	505	7656	0.05	2.42	0.00	0.000	5126	0.297	0.053	2602	2157	2099	2125	2073	0	0	0	0	0	0	14.31	14.46	14.45	6.22	50.00
7776	0.64	146.0	2603	2157	2127	2073	69.5	9.7	530	7780	0.00	2.50	0.00	0.000	260	0.000	0.083	2606	3556	2099	2126	2073	0	0	0	0	0	0	14.78	14.47	14.78	6.22	49.92
7811	0.64	146.0	2603	3558	2126	2074	65.9	9.8	537	7815	0.00	2.38	0.00	0.000	5126	0.000	0.042	2611	2151	2099	2126	2073	0	0	0	0	0	0	14.54	14.50	14.57	6.21	49.88
7937	0.64	146.0	2612	2151	2126	2074	54.5	9.0	562	7941	0.00	2.42	0.00	0.000	4612	0.000	0.066	2622	745	2099	2126	2073	0	0	0	0	0	0	14.78	14.52	14.79	6.21	49.13
7996	0.64	146.0	2623	746	2126	2072	49.1	9.1	574	8001	0.05	2.42	0.00	0.000	5126	0.295	0.054	2603	2157	2098	2125	2072	0	0	0	0	0	0	14.35	14.52	14.50	6.20	49.29
8122	0.66	168.3	2603	2158	2126	2073	38.7	7.5	599	8146	0.00	2.47	17.67	1.278	10500	0.000	0.083	2603	3547	2028	2050	2006	0	0	0	0	0	0	14.79	14.42	13.89	6.20	49.56
8196	0.66	168.3	2603	3548	2051	2005	31.9	9.6	614	8200	0.00	2.38	0.00	0.000	1030	0.000	0.042	2612	2149	2027	2050	2005	0	0	0	0	0	0	14.50	14.47	14.52	6.20	49.80
8322	0.66	168.3	2612	2149	2051	2003	20.0	9.2	639	8326	0.00	2.45	0.00	0.000	516	0.000	0.066	2623	740	2027	2052	2002	0	0	0	0	0	0	14.71	14.46	14.71	6.19	49.48
8381	0.66	168.3	2623	740	2049	2002	14.4	9.4	651	8385	0.00	2.42	0.00	0.000	5126	0.000	0.052	2623	2147	2024	2046	2003	0	0	0	0	0	0	14.49	14.43	14.50	6.19	49.88
8495	end climb: SURFACE_DEPTH_REACHED
state	8495	begin surface coast
8520	end surface coast: CONTROL_FINISHED_OK
state	8520	begin surface