Glider dive log

GulfOfMexico May10 * SG515 * Dive index * Mission links * Dive 288 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 515 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 288 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3575 ALTIM_PING_DEPTH 850

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 25 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 2841 C_ROLL_DIVE 2325 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8830 C_ROLL_CLIMB 2275 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 597.54108 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 30 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 250 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 404 DEVICE2 20

T_MISSION 500 CALL_TRIES 8 VBD_MAX 3959 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 2840 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 200000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -14 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -23947.258 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -7 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 200 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 205 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3967 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2747 PRESSURE_YINT -42.932224 SEABIRD_T_G 0.0043524536

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011628702 SEABIRD_T_H 0.00062548812

MASS 51931 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3784551e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.5490917e-06

FERRY_MAX 45 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.141768

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1640214

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00094225706

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0001682234

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 20

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 597.54108

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 27 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 20 D_PITCH 0 PITCH_MAX 3967 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 205 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 850 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011628702 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -42.932224 TGT_DEFAULT_LAT 2841

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8830

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -7 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 8 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -23947.258

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 500

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 515 ROLL_DEG 25 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3575 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2747 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY -14

C_ROLL_CLIMB 2275 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2325 MASS 51931 R_PORT_OVSHOOT 30 VBD_BLEED_AD_RATE 8

C_VBD 2840 MAX_BUOY 200 R_STBD_OVSHOOT 32 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.141768 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1640214 VBD_MAX 3959

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.00094225706 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.0001682234 VBD_MIN 404

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043524536 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062548812 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3784551e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5490917e-06 XPDR_DEVICE 24

DIVE 288 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 064707,2843.486,-8832.292,25,1.6,25,-0.4 TGT_NAME NEW0528A

_CALLS 1 TGT_LATLONG 2843.600,-8826.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.113,0.239

_SM_DEPTHo 1.76 KALMAN_X 24408.9,-878.4,-572.6,6017.7,5556.2

_SM_ANGLEo -68.0 KALMAN_Y -430018.9,633.2,943.1,456800.9,-10083.0

GPS2 065332,2843.674,-8832.304,10,1.6,10,-0.4 MHEAD_RNG_PITCHd_Wd 80.8,10239,-10.8,-7.500

SPEED_LIMITS 0.130,0.265 D_GRID 1199

Post-dive calculations and measurements:

FINISH 0.8,1.013366 _24V_AH 22.6,50.574

SM_CCo 18458,64.97,0.477,0,0,404,597.54 _10V_AH 10.6,69.577

SM_GC 2.01,0.00,0.00,64.97,0.000,0.000,0.477,197,2332,404,-7.97,0.17,597.54 DATA_FILE_SIZE 91503,1765

IRIDIUM_FIX 2831.00,-8841.38,161099,010139 CAP_FILE_SIZE 171310,0

TT8_MAMPS 0.052156 CFSIZE 260165632,229384192

HUMID 1371 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.25817 CURRENT 0.137,132.4,1

TCM_TEMP 24.60 GPS 220710,120400,2843.535,-8828.139,37,1.6,43,-0.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 256 120.13 SBE_CT 1206 24 654.18

Roll_motor 101 90 208.53 SBE_O2 1290 19 554.26

VBD_pump_during_apogee 544 1237 15231.60 WL_BBFL2VMT 3967 105 9413.82

VBD_pump_during_surface 64 477 700.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 68.04 nil 0 0 0.00

Iridium_during_connect 29 160 106.93 nil 0 0 0.00

Iridium_during_xfer 196 223 991.95

Transponder_ping 3 420 35.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.70

TT8 0 19 0.00

LPSleep 12218 2 283.64

TT8_Active 656 19 137.77

TT8_Sampling 5340 39 2253.25

TT8_CF8 660 45 320.61

TT8_Kalman 33 81 28.91

Analog_circuits 2226 12 283.15

GPS_charging 0 0 0.00

Compass 4777 8 405.11

RAFOS 0 0 0.00

Transponder 28 30 8.92

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

13 -0.64 -194.6 0.0 0.0 0 67 0.00 0.00 -52.78 0.000 2 0.000 0.000 194 2341 1927

70 -0.64 -194.6 3.1 -3.3 5 129 10.70 1.50 -42.67 0.000 4 0.256 0.061 2529 3223 3634

251 -0.64 -194.6 40.8 -25.7 21 258 0.00 1.48 0.00 0.000 6 0.000 0.027 2534 2327 3635

444 -0.64 -194.6 70.0 -13.5 40 445 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2327 3636

630 -0.64 -194.6 93.6 -12.5 58 633 0.00 1.23 0.00 0.000 4 0.000 0.036 2537 1410 3637

673 -0.64 -194.6 98.9 -12.5 62 676 0.00 1.25 0.00 0.000 6 0.000 0.035 2534 2320 3637

870 -0.64 -194.6 124.1 -12.5 81 871 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2321 3637

1180 -0.64 -194.6 161.4 -11.8 111 1183 0.00 1.25 0.00 0.000 4 0.000 0.036 2533 1402 3637

1280 -0.64 -194.6 173.3 -12.1 120 1287 0.00 1.30 0.00 0.000 6 0.000 0.035 2527 2329 3637

1599 -0.64 -194.6 210.5 -12.3 151 1602 0.00 1.25 0.00 0.000 4 0.000 0.036 2527 1415 3636

1667 -0.64 -194.6 219.3 -11.9 157 1674 0.00 1.27 0.00 0.000 6 0.000 0.035 2521 2332 3636

1985 -0.64 -194.6 258.1 -12.4 188 1989 0.00 1.27 0.00 0.000 4 0.000 0.038 2522 1406 3634

2038 -0.64 -194.6 264.7 -12.2 193 2041 0.00 1.27 0.00 0.000 6 0.000 0.037 2516 2327 3634

2361 -0.64 -194.6 303.4 -12.1 224 2362 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2327 3632

2670 -0.64 -194.6 340.8 -11.5 254 2673 0.00 1.25 0.00 0.000 4 0.000 0.038 2516 1420 3630

2744 -0.64 -194.6 349.7 -11.6 261 2747 0.00 1.25 0.00 0.000 6 0.000 0.038 2510 2320 3629

3067 -0.64 -194.6 388.3 -11.6 292 3070 0.12 1.25 0.00 0.000 4 0.144 0.038 2544 1415 3628

3153 -0.64 -194.6 397.3 -9.3 300 3156 0.00 1.27 0.00 0.000 6 0.000 0.039 2540 2328 3626

3475 -0.64 -194.6 430.4 -10.3 331 3479 0.00 1.27 0.00 0.000 4 0.000 0.038 2540 1406 3625

3550 -0.64 -194.6 438.6 -10.9 338 3553 0.00 1.27 0.00 0.000 6 0.000 0.040 2534 2320 3625

3873 -0.64 -194.6 472.4 -10.3 369 3876 0.00 1.25 0.00 0.000 4 0.000 0.040 2534 1415 3621

3915 -0.64 -194.6 477.1 -10.8 373 3919 0.00 1.30 0.00 0.000 6 0.000 0.041 2529 2333 3621

4238 -0.64 -194.6 511.3 -10.5 404 4241 0.00 1.27 0.00 0.000 4 0.000 0.040 2529 1418 3619

4334 -0.64 -194.6 521.1 -10.0 413 4337 0.00 1.27 0.00 0.000 6 0.000 0.041 2523 2326 3618

4656 -0.64 -194.6 554.4 -10.2 444 4660 0.00 1.27 0.00 0.000 4 0.000 0.041 2523 1409 3616

4725 -0.64 -194.6 561.7 -10.0 450 4733 0.00 1.30 0.00 0.000 6 0.000 0.041 2518 2328 3615

5042 -0.64 -194.6 595.2 -10.9 481 5046 0.00 1.27 0.00 0.000 4 0.000 0.041 2518 1417 3614

5074 -0.64 -194.6 598.8 -11.3 484 5077 0.00 1.30 0.00 0.000 6 0.000 0.043 2512 2329 3614

5397 -0.64 -194.6 633.3 -10.3 515 5400 0.00 1.27 0.00 0.000 4 0.000 0.041 2512 1421 3611

5487 -0.64 -194.6 643.8 -11.7 523 5494 0.10 1.30 0.00 0.000 6 0.139 0.042 2538 2324 3610

5805 -0.64 -194.6 671.7 -8.5 554 5808 0.00 1.27 0.00 0.000 4 0.000 0.042 2538 1415 3608

5841 -0.64 -194.6 675.2 -9.1 557 5848 0.00 1.33 0.00 0.000 6 0.000 0.043 2534 2337 3608

6160 -0.64 -194.6 703.0 -8.8 588 6161 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2337 3606

6468 -0.64 -194.6 731.3 -10.0 618 6471 0.00 1.30 0.00 0.000 4 0.000 0.043 2534 1423 3604

6568 -0.64 -194.6 741.1 -8.7 627 6576 0.00 1.33 0.00 0.000 6 0.000 0.044 2529 2331 3603

6887 -0.64 -194.6 771.3 -9.9 658 6890 0.00 1.30 0.00 0.000 4 0.000 0.043 2529 1412 3602

6929 -0.64 -194.6 775.6 -9.9 662 6932 0.00 1.30 0.00 0.000 6 0.000 0.046 2524 2322 3601

7253 -0.64 -194.6 805.4 -9.3 693 7255 0.00 1.27 0.00 0.000 4 0.000 0.044 2524 1414 3599

7295 -0.64 -194.6 809.8 -10.1 697 7298 0.00 1.30 0.00 0.000 6 0.000 0.046 2518 2324 3599

7617 -0.64 -194.6 840.6 -9.3 728 7618 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2324 3597

7929 -0.64 -194.6 869.5 -9.1 758 7933 0.00 1.27 0.00 0.000 4 0.000 0.044 2518 1419 3596

7986 -0.64 -194.6 875.2 -9.4 763 7993 0.00 1.30 0.00 0.000 6 0.000 0.045 2513 2324 3596

8303 -0.64 -194.6 905.8 -9.8 794 8304 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2324 3594

8613 -0.64 -194.6 936.3 -9.8 824 8616 0.00 1.27 0.00 0.000 4 0.000 0.044 2513 1424 3593

8646 -0.64 -194.6 939.2 -9.9 827 8649 0.08 1.30 0.00 0.000 6 0.145 0.047 2533 2325 3593

8966 -0.64 -194.6 966.2 -8.2 858 8967 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2325 3592

9247 end dive: TARGET_DEPTH_EXCEEDED

state 9247 begin apogee

9252 -0.26 0.0 990.2 8.7 885 9409 0.40 0.00 154.52 1.238 6 0.130 0.000 2658 2268 2840

9410 end apogee: CONTROL_FINISHED_OK

state 9410 begin climb

9412 0.64 194.6 995.3 0.0 901 9590 0.90 1.83 171.30 1.211 4 0.100 0.058 2944 3153 2045

9623 0.64 194.6 978.8 12.4 919 9630 0.00 1.62 0.00 0.000 6 0.000 0.035 2951 2279 2040

9942 0.64 194.6 941.6 11.8 950 9945 0.00 1.25 0.00 0.000 4 0.000 0.044 2957 1366 2034

9967 0.64 194.6 938.3 12.6 952 9974 0.00 1.25 0.00 0.000 6 0.000 0.044 2957 2263 2034

10285 0.64 194.6 899.4 12.4 983 10288 0.00 1.65 0.00 0.000 4 0.000 0.055 2957 3170 2032

10332 0.64 194.6 893.1 12.9 987 10339 0.00 1.55 0.00 0.000 6 0.000 0.036 2964 2274 2031

10649 0.64 194.6 854.0 12.0 1018 10650 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2275 2031

10959 0.64 194.6 815.9 12.4 1048 10960 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2274 2030

11269 0.64 194.6 777.6 12.5 1078 11270 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2274 2029

11580 0.64 194.6 739.3 12.5 1108 11580 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2274 2029

11890 0.64 194.6 701.2 12.5 1138 11893 0.00 1.62 0.00 0.000 4 0.000 0.055 2964 3185 2028

11932 0.64 194.6 695.7 13.2 1142 11935 0.00 1.58 0.00 0.000 6 0.000 0.037 2971 2273 2027

12255 0.64 194.6 654.9 12.5 1173 12258 0.00 1.62 0.00 0.000 4 0.000 0.054 2972 3164 2027

12291 0.64 194.6 649.8 13.5 1176 12298 0.00 1.55 0.00 0.000 6 0.000 0.035 2979 2272 2027

12610 0.64 194.6 610.4 12.2 1207 12613 0.00 1.62 0.00 0.000 4 0.000 0.054 2979 3182 2026

12635 0.64 194.6 606.6 13.9 1209 12642 0.08 1.58 0.00 0.000 6 0.143 0.035 2962 2276 2027

12952 0.64 194.6 571.8 10.9 1240 12952 0.00 0.00 0.00 0.000 6 0.000 0.000 2962 2277 2026

13262 0.64 194.6 537.1 11.3 1270 13265 0.00 1.62 0.00 0.000 4 0.000 0.053 2962 3165 2026

13298 0.64 194.6 532.7 13.2 1273 13305 0.00 1.55 0.00 0.000 6 0.000 0.035 2967 2271 2025

13617 0.64 194.6 495.7 11.8 1304 13620 0.00 1.62 0.00 0.000 4 0.000 0.053 2967 3163 2026

13653 0.64 194.6 490.9 13.3 1307 13660 0.00 1.52 0.00 0.000 6 0.000 0.035 2975 2277 2025

13971 0.64 194.6 452.6 11.8 1338 13972 0.00 0.00 0.00 0.000 6 0.000 0.000 2975 2278 2026

14280 0.64 194.6 415.5 12.3 1368 14283 0.00 1.62 0.00 0.000 4 0.000 0.052 2975 3171 2026

14337 0.64 194.6 408.0 12.5 1373 14344 0.00 1.55 0.00 0.000 6 0.000 0.035 2983 2275 2026

14656 0.64 194.6 367.1 13.4 1404 14656 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2275 2025

14964 0.64 194.6 326.2 12.6 1434 14967 0.00 1.60 0.00 0.000 4 0.000 0.051 2982 3174 2026

15001 0.64 194.6 321.4 12.6 1437 15008 0.10 1.55 0.00 0.000 6 0.143 0.033 2958 2275 2025

15317 0.64 194.6 287.8 11.0 1468 15320 0.00 1.62 0.00 0.000 4 0.000 0.051 2957 3170 2026

15349 0.64 194.6 284.2 10.6 1471 15352 0.00 1.55 0.00 0.000 6 0.000 0.033 2962 2268 2026

15670 0.64 194.6 248.6 11.1 1502 15671 0.00 0.00 0.00 0.000 6 0.000 0.000 2963 2269 2026

15981 0.64 194.6 213.3 11.1 1532 15984 0.00 1.60 0.00 0.000 4 0.000 0.049 2962 3170 2026

16056 0.64 194.6 204.3 12.3 1539 16059 0.00 1.52 0.00 0.000 6 0.000 0.032 2970 2276 2026

16378 0.64 194.6 167.1 11.2 1570 16381 0.00 1.60 0.00 0.000 4 0.000 0.048 2970 3188 2027

16447 0.64 194.6 159.0 10.0 1576 16454 0.00 1.55 0.00 0.000 6 0.000 0.031 2977 2275 2027

16765 0.64 194.6 121.6 11.6 1607 16768 0.00 1.60 0.00 0.000 4 0.000 0.048 2977 3165 2028

16822 0.64 194.6 114.7 12.5 1612 16829 0.08 1.52 0.00 0.000 6 0.140 0.030 2961 2270 2028

17139 0.64 194.6 84.3 9.2 1643 17142 0.00 1.60 0.00 0.000 4 0.000 0.048 2960 3183 2029

17181 0.64 194.6 80.3 10.1 1647 17184 0.00 1.52 0.00 0.000 6 0.000 0.030 2965 2274 2030

17379 0.64 194.6 63.3 8.2 1666 17379 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 2276 2030

17565 0.66 212.6 48.9 7.0 1684 17581 0.00 1.65 13.40 0.506 4 0.000 0.045 2965 3184 1973

17716 0.74 272.1 41.3 5.9 1697 17770 0.00 1.52 46.65 0.532 6 0.000 0.028 2973 2276 1729

17957 0.90 405.0 31.8 4.0 1720 18064 0.17 1.23 99.22 0.518 4 0.058 0.034 3074 1370 1188

18106 0.90 405.0 18.1 9.7 1733 18110 0.10 1.25 0.00 0.000 6 0.114 0.034 3040 2281 1185

18303 1.11 576.1 5.5 3.0 1752 18365 0.17 0.00 59.33 0.488 2 0.078 0.000 3107 2281 860

18365 end climb: SURFACE_DEPTH_REACHED

state 18365 begin surface coast

18442 end surface coast: CONTROL_FINISHED_OK

state 18442 begin surface

ID	515	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	288	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3575	ALTIM_PING_DEPTH	850
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	25	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	2841	C_ROLL_DIVE	2325	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8830	C_ROLL_CLIMB	2275	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	597.54108	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	30	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	250	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	404	DEVICE2	20
T_MISSION	500	CALL_TRIES	8	VBD_MAX	3959	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	2840	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	200000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-14	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-23947.258	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-7	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	200	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	205	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3967	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2747	PRESSURE_YINT	-42.932224	SEABIRD_T_G	0.0043524536
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011628702	SEABIRD_T_H	0.00062548812
MASS	51931	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3784551e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.5490917e-06
FERRY_MAX	45	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.141768
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1640214
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00094225706
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0001682234
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	20

GPS1	064707,2843.486,-8832.292,25,1.6,25,-0.4	TGT_NAME	NEW0528A
_CALLS	1	TGT_LATLONG	2843.600,-8826.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.113,0.239
_SM_DEPTHo	1.76	KALMAN_X	24408.9,-878.4,-572.6,6017.7,5556.2
_SM_ANGLEo	-68.0	KALMAN_Y	-430018.9,633.2,943.1,456800.9,-10083.0
GPS2	065332,2843.674,-8832.304,10,1.6,10,-0.4	MHEAD_RNG_PITCHd_Wd	80.8,10239,-10.8,-7.500
SPEED_LIMITS	0.130,0.265	D_GRID	1199

FINISH	0.8,1.013366	_24V_AH	22.6,50.574
SM_CCo	18458,64.97,0.477,0,0,404,597.54	_10V_AH	10.6,69.577
SM_GC	2.01,0.00,0.00,64.97,0.000,0.000,0.477,197,2332,404,-7.97,0.17,597.54	DATA_FILE_SIZE	91503,1765
IRIDIUM_FIX	2831.00,-8841.38,161099,010139	CAP_FILE_SIZE	171310,0
TT8_MAMPS	0.052156	CFSIZE	260165632,229384192
HUMID	1371	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.25817	CURRENT	0.137,132.4,1
TCM_TEMP	24.60	GPS	220710,120400,2843.535,-8828.139,37,1.6,43,-0.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	256	120.13	SBE_CT	1206	24	654.18
Roll_motor	101	90	208.53	SBE_O2	1290	19	554.26
VBD_pump_during_apogee	544	1237	15231.60	WL_BBFL2VMT	3967	105	9413.82
VBD_pump_during_surface	64	477	700.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	68.04	nil	0	0	0.00
Iridium_during_connect	29	160	106.93	nil	0	0	0.00
Iridium_during_xfer	196	223	991.95
Transponder_ping	3	420	35.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.70
TT8	0	19	0.00
LPSleep	12218	2	283.64
TT8_Active	656	19	137.77
TT8_Sampling	5340	39	2253.25
TT8_CF8	660	45	320.61
TT8_Kalman	33	81	28.91
Analog_circuits	2226	12	283.15
GPS_charging	0	0	0.00
Compass	4777	8	405.11
RAFOS	0	0	0.00
Transponder	28	30	8.92

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
13	-0.64	-194.6	0.0	0.0	0	67	0.00	0.00	-52.78	0.000	2	0.000	0.000	194	2341	1927
70	-0.64	-194.6	3.1	-3.3	5	129	10.70	1.50	-42.67	0.000	4	0.256	0.061	2529	3223	3634
251	-0.64	-194.6	40.8	-25.7	21	258	0.00	1.48	0.00	0.000	6	0.000	0.027	2534	2327	3635
444	-0.64	-194.6	70.0	-13.5	40	445	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2327	3636
630	-0.64	-194.6	93.6	-12.5	58	633	0.00	1.23	0.00	0.000	4	0.000	0.036	2537	1410	3637
673	-0.64	-194.6	98.9	-12.5	62	676	0.00	1.25	0.00	0.000	6	0.000	0.035	2534	2320	3637
870	-0.64	-194.6	124.1	-12.5	81	871	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2321	3637
1180	-0.64	-194.6	161.4	-11.8	111	1183	0.00	1.25	0.00	0.000	4	0.000	0.036	2533	1402	3637
1280	-0.64	-194.6	173.3	-12.1	120	1287	0.00	1.30	0.00	0.000	6	0.000	0.035	2527	2329	3637
1599	-0.64	-194.6	210.5	-12.3	151	1602	0.00	1.25	0.00	0.000	4	0.000	0.036	2527	1415	3636
1667	-0.64	-194.6	219.3	-11.9	157	1674	0.00	1.27	0.00	0.000	6	0.000	0.035	2521	2332	3636
1985	-0.64	-194.6	258.1	-12.4	188	1989	0.00	1.27	0.00	0.000	4	0.000	0.038	2522	1406	3634
2038	-0.64	-194.6	264.7	-12.2	193	2041	0.00	1.27	0.00	0.000	6	0.000	0.037	2516	2327	3634
2361	-0.64	-194.6	303.4	-12.1	224	2362	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2327	3632
2670	-0.64	-194.6	340.8	-11.5	254	2673	0.00	1.25	0.00	0.000	4	0.000	0.038	2516	1420	3630
2744	-0.64	-194.6	349.7	-11.6	261	2747	0.00	1.25	0.00	0.000	6	0.000	0.038	2510	2320	3629
3067	-0.64	-194.6	388.3	-11.6	292	3070	0.12	1.25	0.00	0.000	4	0.144	0.038	2544	1415	3628
3153	-0.64	-194.6	397.3	-9.3	300	3156	0.00	1.27	0.00	0.000	6	0.000	0.039	2540	2328	3626
3475	-0.64	-194.6	430.4	-10.3	331	3479	0.00	1.27	0.00	0.000	4	0.000	0.038	2540	1406	3625
3550	-0.64	-194.6	438.6	-10.9	338	3553	0.00	1.27	0.00	0.000	6	0.000	0.040	2534	2320	3625
3873	-0.64	-194.6	472.4	-10.3	369	3876	0.00	1.25	0.00	0.000	4	0.000	0.040	2534	1415	3621
3915	-0.64	-194.6	477.1	-10.8	373	3919	0.00	1.30	0.00	0.000	6	0.000	0.041	2529	2333	3621
4238	-0.64	-194.6	511.3	-10.5	404	4241	0.00	1.27	0.00	0.000	4	0.000	0.040	2529	1418	3619
4334	-0.64	-194.6	521.1	-10.0	413	4337	0.00	1.27	0.00	0.000	6	0.000	0.041	2523	2326	3618
4656	-0.64	-194.6	554.4	-10.2	444	4660	0.00	1.27	0.00	0.000	4	0.000	0.041	2523	1409	3616
4725	-0.64	-194.6	561.7	-10.0	450	4733	0.00	1.30	0.00	0.000	6	0.000	0.041	2518	2328	3615
5042	-0.64	-194.6	595.2	-10.9	481	5046	0.00	1.27	0.00	0.000	4	0.000	0.041	2518	1417	3614
5074	-0.64	-194.6	598.8	-11.3	484	5077	0.00	1.30	0.00	0.000	6	0.000	0.043	2512	2329	3614
5397	-0.64	-194.6	633.3	-10.3	515	5400	0.00	1.27	0.00	0.000	4	0.000	0.041	2512	1421	3611
5487	-0.64	-194.6	643.8	-11.7	523	5494	0.10	1.30	0.00	0.000	6	0.139	0.042	2538	2324	3610
5805	-0.64	-194.6	671.7	-8.5	554	5808	0.00	1.27	0.00	0.000	4	0.000	0.042	2538	1415	3608
5841	-0.64	-194.6	675.2	-9.1	557	5848	0.00	1.33	0.00	0.000	6	0.000	0.043	2534	2337	3608
6160	-0.64	-194.6	703.0	-8.8	588	6161	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2337	3606
6468	-0.64	-194.6	731.3	-10.0	618	6471	0.00	1.30	0.00	0.000	4	0.000	0.043	2534	1423	3604
6568	-0.64	-194.6	741.1	-8.7	627	6576	0.00	1.33	0.00	0.000	6	0.000	0.044	2529	2331	3603
6887	-0.64	-194.6	771.3	-9.9	658	6890	0.00	1.30	0.00	0.000	4	0.000	0.043	2529	1412	3602
6929	-0.64	-194.6	775.6	-9.9	662	6932	0.00	1.30	0.00	0.000	6	0.000	0.046	2524	2322	3601
7253	-0.64	-194.6	805.4	-9.3	693	7255	0.00	1.27	0.00	0.000	4	0.000	0.044	2524	1414	3599
7295	-0.64	-194.6	809.8	-10.1	697	7298	0.00	1.30	0.00	0.000	6	0.000	0.046	2518	2324	3599
7617	-0.64	-194.6	840.6	-9.3	728	7618	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2324	3597
7929	-0.64	-194.6	869.5	-9.1	758	7933	0.00	1.27	0.00	0.000	4	0.000	0.044	2518	1419	3596
7986	-0.64	-194.6	875.2	-9.4	763	7993	0.00	1.30	0.00	0.000	6	0.000	0.045	2513	2324	3596
8303	-0.64	-194.6	905.8	-9.8	794	8304	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2324	3594
8613	-0.64	-194.6	936.3	-9.8	824	8616	0.00	1.27	0.00	0.000	4	0.000	0.044	2513	1424	3593
8646	-0.64	-194.6	939.2	-9.9	827	8649	0.08	1.30	0.00	0.000	6	0.145	0.047	2533	2325	3593
8966	-0.64	-194.6	966.2	-8.2	858	8967	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2325	3592
9247	end dive: TARGET_DEPTH_EXCEEDED
state	9247	begin apogee
9252	-0.26	0.0	990.2	8.7	885	9409	0.40	0.00	154.52	1.238	6	0.130	0.000	2658	2268	2840
9410	end apogee: CONTROL_FINISHED_OK
state	9410	begin climb
9412	0.64	194.6	995.3	0.0	901	9590	0.90	1.83	171.30	1.211	4	0.100	0.058	2944	3153	2045
9623	0.64	194.6	978.8	12.4	919	9630	0.00	1.62	0.00	0.000	6	0.000	0.035	2951	2279	2040
9942	0.64	194.6	941.6	11.8	950	9945	0.00	1.25	0.00	0.000	4	0.000	0.044	2957	1366	2034
9967	0.64	194.6	938.3	12.6	952	9974	0.00	1.25	0.00	0.000	6	0.000	0.044	2957	2263	2034
10285	0.64	194.6	899.4	12.4	983	10288	0.00	1.65	0.00	0.000	4	0.000	0.055	2957	3170	2032
10332	0.64	194.6	893.1	12.9	987	10339	0.00	1.55	0.00	0.000	6	0.000	0.036	2964	2274	2031
10649	0.64	194.6	854.0	12.0	1018	10650	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2275	2031
10959	0.64	194.6	815.9	12.4	1048	10960	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2274	2030
11269	0.64	194.6	777.6	12.5	1078	11270	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2274	2029
11580	0.64	194.6	739.3	12.5	1108	11580	0.00	0.00	0.00	0.000	6	0.000	0.000	2964	2274	2029
11890	0.64	194.6	701.2	12.5	1138	11893	0.00	1.62	0.00	0.000	4	0.000	0.055	2964	3185	2028
11932	0.64	194.6	695.7	13.2	1142	11935	0.00	1.58	0.00	0.000	6	0.000	0.037	2971	2273	2027
12255	0.64	194.6	654.9	12.5	1173	12258	0.00	1.62	0.00	0.000	4	0.000	0.054	2972	3164	2027
12291	0.64	194.6	649.8	13.5	1176	12298	0.00	1.55	0.00	0.000	6	0.000	0.035	2979	2272	2027
12610	0.64	194.6	610.4	12.2	1207	12613	0.00	1.62	0.00	0.000	4	0.000	0.054	2979	3182	2026
12635	0.64	194.6	606.6	13.9	1209	12642	0.08	1.58	0.00	0.000	6	0.143	0.035	2962	2276	2027
12952	0.64	194.6	571.8	10.9	1240	12952	0.00	0.00	0.00	0.000	6	0.000	0.000	2962	2277	2026
13262	0.64	194.6	537.1	11.3	1270	13265	0.00	1.62	0.00	0.000	4	0.000	0.053	2962	3165	2026
13298	0.64	194.6	532.7	13.2	1273	13305	0.00	1.55	0.00	0.000	6	0.000	0.035	2967	2271	2025
13617	0.64	194.6	495.7	11.8	1304	13620	0.00	1.62	0.00	0.000	4	0.000	0.053	2967	3163	2026
13653	0.64	194.6	490.9	13.3	1307	13660	0.00	1.52	0.00	0.000	6	0.000	0.035	2975	2277	2025
13971	0.64	194.6	452.6	11.8	1338	13972	0.00	0.00	0.00	0.000	6	0.000	0.000	2975	2278	2026
14280	0.64	194.6	415.5	12.3	1368	14283	0.00	1.62	0.00	0.000	4	0.000	0.052	2975	3171	2026
14337	0.64	194.6	408.0	12.5	1373	14344	0.00	1.55	0.00	0.000	6	0.000	0.035	2983	2275	2026
14656	0.64	194.6	367.1	13.4	1404	14656	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2275	2025
14964	0.64	194.6	326.2	12.6	1434	14967	0.00	1.60	0.00	0.000	4	0.000	0.051	2982	3174	2026
15001	0.64	194.6	321.4	12.6	1437	15008	0.10	1.55	0.00	0.000	6	0.143	0.033	2958	2275	2025
15317	0.64	194.6	287.8	11.0	1468	15320	0.00	1.62	0.00	0.000	4	0.000	0.051	2957	3170	2026
15349	0.64	194.6	284.2	10.6	1471	15352	0.00	1.55	0.00	0.000	6	0.000	0.033	2962	2268	2026
15670	0.64	194.6	248.6	11.1	1502	15671	0.00	0.00	0.00	0.000	6	0.000	0.000	2963	2269	2026
15981	0.64	194.6	213.3	11.1	1532	15984	0.00	1.60	0.00	0.000	4	0.000	0.049	2962	3170	2026
16056	0.64	194.6	204.3	12.3	1539	16059	0.00	1.52	0.00	0.000	6	0.000	0.032	2970	2276	2026
16378	0.64	194.6	167.1	11.2	1570	16381	0.00	1.60	0.00	0.000	4	0.000	0.048	2970	3188	2027
16447	0.64	194.6	159.0	10.0	1576	16454	0.00	1.55	0.00	0.000	6	0.000	0.031	2977	2275	2027
16765	0.64	194.6	121.6	11.6	1607	16768	0.00	1.60	0.00	0.000	4	0.000	0.048	2977	3165	2028
16822	0.64	194.6	114.7	12.5	1612	16829	0.08	1.52	0.00	0.000	6	0.140	0.030	2961	2270	2028
17139	0.64	194.6	84.3	9.2	1643	17142	0.00	1.60	0.00	0.000	4	0.000	0.048	2960	3183	2029
17181	0.64	194.6	80.3	10.1	1647	17184	0.00	1.52	0.00	0.000	6	0.000	0.030	2965	2274	2030
17379	0.64	194.6	63.3	8.2	1666	17379	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	2276	2030
17565	0.66	212.6	48.9	7.0	1684	17581	0.00	1.65	13.40	0.506	4	0.000	0.045	2965	3184	1973
17716	0.74	272.1	41.3	5.9	1697	17770	0.00	1.52	46.65	0.532	6	0.000	0.028	2973	2276	1729
17957	0.90	405.0	31.8	4.0	1720	18064	0.17	1.23	99.22	0.518	4	0.058	0.034	3074	1370	1188
18106	0.90	405.0	18.1	9.7	1733	18110	0.10	1.25	0.00	0.000	6	0.114	0.034	3040	2281	1185
18303	1.11	576.1	5.5	3.0	1752	18365	0.17	0.00	59.33	0.488	2	0.078	0.000	3107	2281	860
18365	end climb: SURFACE_DEPTH_REACHED
state	18365	begin surface coast
18442	end surface coast: CONTROL_FINISHED_OK
state	18442	begin surface