Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 411 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 ESCAPE_HEADING 180 C_ROLL_CLIMB 3050 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 411 FIX_MISSING_TIMEOUT 3 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 7100 ROLL_TIMEOUT 15 XPDR_VALID 2

D_SURF 2 TGT_DEFAULT_LON -14430 R_PORT_OVSHOOT 40 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 15 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 990 SM_CC 658.87579 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.44999999

D_ABORT 1010 N_FILEKB 8 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 2 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 9 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 1.75 N_NOCOMM 6 C_VBD 3186 DEVICE4 -1

D_SAFE 500 NOCOMM_ACTION 161 VBD_DBAND 2 DEVICE5 -1

D_CALL 3 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 5 UPLOAD_DIVES_MAX 5 VBD_TIMEOUT 720 LOGGERS 1

SURFACE_URGENCY_TRY 10 CALL_TRIES 3 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 20 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 300 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 330 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -6579.7065 PITCH_W_GAIN 0 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 1 RAFOS_PEAK_OFFSET 1 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.1 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0043931045

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00063259818

T_WATCHDOG 10 PITCH_MIN 212 MINV_10V 11 SEABIRD_T_I 2.5708419e-05

RELAUNCH 1 PITCH_MAX 3894 FG_AHR_10V 0 SEABIRD_T_J 3.1590957e-06

APOGEE_PITCH -5 C_PITCH 2590 FG_AHR_24V 0 SEABIRD_C_G -9.8238754

MAX_BUOY 180 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1280942

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -84.212708 SEABIRD_C_I -0.0016420757

GLIDE_SLOPE 35 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001160319 SEABIRD_C_J 0.00020143802

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 36 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54305 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 160 COMPASS_USE 4 TM_RECORDABOVE 2000.0

NAV_MODE 0 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.0099999998 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HD_A 0.0023000001 ROLL_MIN 200 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.014 ROLL_MAX 3790 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 1e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2680 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 990 PITCH_GAIN 36 SURFACE_URGENCY_FORCE 20

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3894 SURFACE_URGENCY_TRY 10

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 212 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 TGT_DEFAULT_LAT 7100

ALTIM_PING_DEPTH 0 FILEMGR 2 PITCH_W_DBAND 0 TGT_DEFAULT_LON -14430

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 3 PITCH_W_GAIN 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 35 PRESSURE_SLOPE 0.0001160319 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -84.212708 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0023000001 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.014 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 1e-06 P_OVSHOOT_WITHG 0 T_ABORT 1440

CALL_NDIVES 1 HEADING -1 RAFOS_CORR_THRESH 60 T_BOOST 4

CALL_TRIES 3 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 300

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1 T_GPS 3

CAPUPLOAD 0 ID 198 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -6579.7065

COMM_SEQ 0 INT_PRESSURE_YINT -0.44999999 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_MISSION 330

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 360

COMPASS_USE 4 LOGGERDEVICE2 71 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_DEG 40 T_TURN 225

C_PITCH 2590 LOGGERDEVICE4 -1 ROLL_MAX 3790 T_TURN_SAMPINT -5

C_ROLL_CLIMB 3050 LOGGERS 1 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2680 MASS 54305 ROLL_MIN 200 UNCOM_BLEED 60

C_VBD 3186 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 5

DBDW 0 MAX_BUOY 180 R_PORT_OVSHOOT 40 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 15 USE_ICE 1

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 5 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 0 SEABIRD_C_G -9.8238754 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1280942 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0016420757 VBD_MIN 500

DIVE 411 N_FILEKB 8 SEABIRD_C_J 0.00020143802 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1010 N_GPS -20 SEABIRD_T_G 0.0043931045 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00063259818 VBD_TIMEOUT 720

D_CALL 3 N_NOSURFACE 0 SEABIRD_T_I 2.5708419e-05 W_ADJ_DBAND 0

D_FINISH 9 PHONE_DEVICE 49 SEABIRD_T_J 3.1590957e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 2 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.0099999998 SM_CC 658.87579

D_PITCH 1.75 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 500 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 011014,002924,7200.149,-14729.480,23,0.8,43,21.5 SPEED_LIMITS 0.157,0.252

_CALLS 2 TGT_NAME a

_XMS_NAKs 0 TGT_LATLONG 7200.000,-14730.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 2.40 MHEAD_RNG_PITCHd_Wd 179.3,616,-30.8,-11.000,-35.00,997

_SM_ANGLEo -70.6 D_GRID 1000

GPS2 011014,005522,7200.311,-14729.617,5,0.8,25,21.5

Post-dive calculations and measurements:

FREEZE 1.61,1.436,-1.496,2,1,0 _24V_AH 12.47,135.969

FINISH 1.6,1.021959 _10V_AH 12.41,0.000

SM_CCo 12216,130.77,0.188,0,0,498,658.88 FG_AHR_24Vo 0.000

SM_GC 2.62,8.75,1.98,130.77,0.102,0.123,0.188,202,2685,498,-7.39,-0.40,658.88,0,0,0,0,0,0,14.31,14.16,14.09 FG_AHR_10Vo 0.000

RAFOS_CLK 89 MEM 146848

RAFOS_FIX 7256.729004,-14417.802734,230914,161619,2,255,3.09 DATA_FILE_SIZE 39962,1113

IRIDIUM_FIX 7125.74,-14730.12,011014,003559 CAP_FILE_SIZE 163160,0

TT8_MAMPS 0.078645,0.078645 CFSIZE 2097872896,2007007232

HUMID 48.18 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.55425 INTR 0,14057.32,0x2378b6,7,5

TCM_TEMP 12.40 SOUNDSPEED 1453.5

XPDR_PINGS 1 GPS 011014,042255,7159.263,-14730.966,31,0.9,51,21.4

SC_FREEKB 3837696

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 438 126.68 nil 0 0 0.00

Roll_motor 56 135 95.53 nil 0 0 0.00

VBD_pump_during_apogee 524 1982 12962.20 nil 0 0 0.00

VBD_pump_during_surface 130 188 306.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 12252 17 2676.44

Iridium_during_xfer 1088 198 2689.65 TMICL 0 0 0.00

Transponder_ping 0 420 1.31 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 28 0 0.27

TT8 0 0 0.00

LPSleep 9422 2 270.12

TT8_Active 756 8 81.96

TT8_Sampling 3176 28 1111.78

TT8_CF8 540 35 239.26

TT8_Kalman 0 0 0.00

Analog_circuits 2699 10 334.99

GPS_charging 0 0 0.00

Compass 1646 0 15.33

RAFOS 1490 48 887.56

Transponder 0 5 0.03

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.91 -71.2 197 2678 458 523 0.0 0.0 0 82 0.00 0.00 -61.42 0.000 16386 0.000 0.000 196 2677 1898 1909 1888 0 0 0 0 0 0 28.83 28.83 28.83

85 -0.97 -162.5 197 2677 1912 1888 3.0 -1.6 6 166 10.75 2.08 -63.12 0.000 18692 0.438 0.135 2258 3792 3851 3903 3800 0 0 0 0 0 0 13.88 14.20 14.54

393 -0.97 -162.5 2258 3792 3904 3804 84.8 -24.9 68 398 0.00 1.90 0.00 0.000 1030 0.000 0.064 2258 2674 3853 3902 3804 0 0 0 0 0 0 28.83 14.32 28.83

703 -1.00 -162.5 2259 2674 3903 3805 155.7 -21.5 100 708 0.00 2.03 0.00 0.000 260 0.000 0.111 2251 3790 3853 3902 3804 0 0 0 0 0 0 28.83 14.28 28.83

828 -1.00 -162.5 2252 3791 3903 3805 183.4 -20.8 125 834 0.00 1.90 0.00 0.000 1030 0.000 0.064 2251 2655 3855 3903 3807 0 0 0 0 0 0 28.83 14.35 28.83

1134 -1.04 -162.5 2252 2658 3903 3805 238.5 -17.2 156 1134 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2657 3851 3903 3800 0 0 0 0 0 0 28.83 28.83 28.83

1445 -1.09 -162.5 2251 2658 3904 3803 289.6 -16.2 171 1446 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2658 3853 3903 3803 0 0 0 0 0 0 28.83 28.83 28.83

1743 -1.14 -162.5 2251 2658 3904 3803 337.5 -15.9 181 1744 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2657 3852 3903 3802 0 0 0 0 0 0 28.83 28.83 28.83

2043 -1.20 -162.5 2252 2659 3903 3803 384.2 -15.6 191 2045 0.15 0.00 0.00 0.000 4102 0.146 0.000 2197 2658 3852 3903 3802 0 0 0 0 0 0 14.51 28.83 28.83

2343 -1.20 -162.5 2197 2658 3904 3802 438.5 -18.1 201 2344 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2658 3852 3903 3802 0 0 0 0 0 0 28.83 28.83 28.83

2643 -1.20 -162.5 2198 2659 3904 3803 492.3 -18.0 211 2644 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2658 3852 3903 3802 0 0 0 0 0 0 28.83 28.83 28.83

2943 -1.20 -162.5 2197 2657 3904 3802 545.8 -17.8 221 2944 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2658 3853 3903 3803 0 0 0 0 0 0 28.83 28.83 28.83

3244 -1.20 -162.5 2197 2657 3904 3802 599.0 -17.7 231 3248 0.00 2.35 0.00 0.000 516 0.000 0.078 2196 1281 3852 3903 3801 0 0 0 0 0 0 28.83 14.41 28.83

3293 -1.23 -162.5 2197 1280 3904 3801 607.6 -16.9 241 3298 0.00 2.53 0.00 0.000 1030 0.000 0.099 2195 2689 3852 3903 3801 0 0 0 0 0 0 28.83 14.35 28.83

3604 -1.23 -162.5 2192 2689 3904 3801 662.7 -17.7 253 3604 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2689 3852 3903 3801 0 0 0 0 0 0 28.83 28.83 28.83

3904 -1.25 -162.5 2196 2689 3904 3802 715.7 -17.5 263 3905 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2689 3852 3903 3801 0 0 0 0 0 0 28.83 28.83 28.83

4204 -1.27 -162.5 2196 2690 3904 3802 768.3 -17.5 273 4209 0.00 2.40 0.00 0.000 516 0.000 0.077 2195 1289 3852 3903 3801 0 0 0 0 0 0 28.83 14.45 28.83

4264 -1.31 -162.5 2195 1289 3904 3801 778.3 -16.1 285 4269 0.00 2.47 0.00 0.000 1030 0.000 0.099 2195 2679 3852 3903 3801 0 0 0 0 0 0 28.83 14.34 28.83

4596 -1.33 -162.5 2196 2678 3904 3801 835.5 -17.3 301 4597 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2679 3851 3903 3800 0 0 0 0 0 0 28.83 28.83 28.83

4894 -1.36 -162.5 2195 2679 3904 3800 886.8 -17.0 311 4895 0.15 0.00 0.00 0.000 4102 0.153 0.000 2143 2679 3851 3903 3800 0 0 0 0 0 0 14.49 28.83 28.83

5194 -1.36 -162.5 2144 2680 3904 3801 944.8 -19.4 321 5195 0.00 0.00 0.00 0.000 6 0.000 0.000 2143 2679 3851 3903 3800 0 0 0 0 0 0 28.83 28.83 28.83

5431 end dive: TARGET_DEPTH_EXCEEDED

state 5432 begin apogee

5437 -0.14 0.0 2142 3055 3903 3801 991.1 -19.3 329 5654 1.67 0.00 213.05 1.616 10246 0.316 0.000 2535 3055 3187 3278 3096 0 0 0 0 0 0 13.98 28.83 13.00

5655 end apogee: CONTROL_FINISHED_OK

state 5655 begin climb

5658 0.97 162.5 2537 3055 3275 3095 997.8 0.0 336 5815 1.25 1.50 150.12 1.982 10500 0.164 0.109 2894 3787 2519 2589 2449 0 0 0 0 0 0 13.62 13.24 12.47

6040 0.97 162.5 2895 3788 2579 2443 937.2 20.1 415 6045 0.00 1.27 0.00 0.000 1030 0.000 0.067 2899 3065 2509 2577 2442 0 0 0 0 0 0 28.83 13.99 28.83

6367 0.97 162.5 2900 3064 2579 2442 876.9 18.4 430 6371 0.00 1.35 0.00 0.000 260 0.000 0.112 2900 3787 2509 2578 2441 0 0 0 0 0 0 28.83 14.24 28.83

6596 0.97 162.5 2900 3787 2579 2442 830.4 19.6 476 6601 0.00 1.27 0.00 0.000 1030 0.000 0.068 2905 3044 2509 2578 2441 0 0 0 0 0 0 28.83 14.43 28.83

6906 0.97 162.5 2906 3044 2579 2441 773.1 18.4 488 6911 0.00 1.38 0.00 0.000 260 0.000 0.113 2905 3784 2509 2578 2441 0 0 0 0 0 0 28.83 14.33 28.83

7136 0.97 162.5 2906 3785 2578 2442 726.1 20.8 534 7141 0.00 1.25 0.00 0.000 1030 0.000 0.069 2911 3051 2509 2577 2441 0 0 0 0 0 0 28.83 14.47 28.83

7447 0.97 162.5 2912 3051 2579 2441 668.2 18.4 546 7451 0.00 1.35 0.00 0.000 260 0.000 0.113 2911 3781 2509 2577 2441 0 0 0 0 0 0 28.83 14.35 28.83

7676 0.95 162.5 2918 3782 2578 2442 621.4 20.0 592 7681 0.00 1.25 0.00 0.000 1030 0.000 0.070 2917 3048 2509 2577 2441 0 0 0 0 0 0 28.83 14.50 28.83

7987 0.95 162.5 2918 3049 2578 2442 563.3 18.7 604 7991 0.00 1.38 0.00 0.000 260 0.000 0.112 2913 3790 2509 2577 2441 0 0 0 0 0 0 28.83 14.35 28.83

8217 0.92 162.5 2917 3791 2578 2442 516.2 20.4 650 8221 0.10 1.27 0.00 0.000 5126 0.309 0.070 2898 3046 2509 2577 2441 0 0 0 0 0 0 14.02 14.48 28.83

8528 0.92 162.5 2899 3047 2578 2442 462.2 17.3 662 8533 0.00 1.38 0.00 0.000 260 0.000 0.113 2898 3786 2509 2577 2441 0 0 0 0 0 0 28.83 14.33 28.83

8758 0.92 162.5 2898 3786 2578 2441 418.1 19.7 708 8762 0.00 1.25 0.00 0.000 1030 0.000 0.070 2903 3055 2509 2577 2441 0 0 0 0 0 0 28.83 14.48 28.83

9068 0.92 162.5 2904 3056 2578 2442 363.6 17.5 720 9072 0.00 1.35 0.00 0.000 260 0.000 0.113 2903 3783 2509 2577 2441 0 0 0 0 0 0 28.83 14.31 28.83

9298 0.92 162.5 2905 3784 2578 2442 319.7 19.4 766 9302 0.00 1.27 0.00 0.000 1030 0.000 0.069 2909 3041 2509 2577 2441 0 0 0 0 0 0 28.83 14.47 28.83

9608 0.92 162.5 2910 3042 2578 2442 265.7 17.1 778 9612 0.00 1.38 0.00 0.000 260 0.000 0.114 2908 3780 2509 2577 2441 0 0 0 0 0 0 28.83 14.28 28.83

9763 0.92 162.5 2909 3781 2578 2442 237.2 17.9 809 9769 0.00 1.27 0.00 0.000 1030 0.000 0.069 2915 3043 2509 2577 2441 0 0 0 0 0 0 28.83 14.45 28.83

10068 0.92 162.5 2915 3044 2578 2442 190.0 14.2 840 10073 0.00 1.40 0.00 0.000 260 0.000 0.116 2915 3789 2509 2577 2441 0 0 0 0 0 0 28.83 14.25 28.83

10150 0.92 162.5 2915 3789 2578 2441 177.8 14.6 856 10154 0.10 1.27 0.00 0.000 5126 0.323 0.068 2895 3044 2509 2577 2441 0 0 0 0 0 0 13.92 14.44 28.83

10462 0.97 177.6 2896 3045 2579 2441 143.9 9.4 888 10476 0.00 0.00 12.65 1.131 8710 0.000 0.000 2895 3044 2459 2531 2388 0 0 0 0 0 0 28.83 28.83 13.91

10783 1.03 202.8 2896 3045 2522 2380 114.6 8.4 922 10812 0.00 2.42 21.58 1.063 8708 0.000 0.077 2906 1651 2353 2423 2283 0 0 0 0 0 0 28.83 14.42 13.88

10839 1.11 221.8 2906 1652 2420 2282 109.6 9.0 932 10865 0.12 2.53 17.27 1.054 11270 0.144 0.104 2953 3050 2273 2341 2206 0 0 0 0 0 0 14.27 14.21 13.78

11166 1.11 221.8 2953 3051 2333 2199 69.8 11.4 967 11167 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 3050 2266 2333 2199 0 0 0 0 0 0 28.83 28.83 28.83

11466 1.18 286.5 2954 3051 2332 2199 44.8 4.3 997 11507 0.00 2.45 33.72 0.314 8708 0.000 0.078 2964 1648 2021 2089 1953 0 0 0 0 0 0 28.83 14.19 14.00

11652 1.27 321.7 2964 1648 2100 1953 32.4 7.4 1034 11679 0.12 2.58 20.88 0.275 11270 0.145 0.107 3016 3053 1873 1934 1813 0 0 0 0 0 0 14.19 14.12 13.99

11977 1.37 420.8 3017 3053 1948 1813 15.3 0.8 1069 12038 0.00 2.45 55.15 0.227 8708 0.000 0.076 3027 1651 1470 1520 1420 0 0 0 0 0 0 28.83 14.19 14.02

12192 end climb: SURFACE_DEPTH_REACHED

state 12192 begin surface coast

12197 end surface coast: CONTROL_FINISHED_OK

state 12197 begin surface

ID	198	ESCAPE_HEADING	180	C_ROLL_CLIMB	3050	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	411	FIX_MISSING_TIMEOUT	3	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	7100	ROLL_TIMEOUT	15	XPDR_VALID	2
D_SURF	2	TGT_DEFAULT_LON	-14430	R_PORT_OVSHOOT	40	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	15	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	990	SM_CC	658.87579	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.44999999
D_ABORT	1010	N_FILEKB	8	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	2	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	9	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	1.75	N_NOCOMM	6	C_VBD	3186	DEVICE4	-1
D_SAFE	500	NOCOMM_ACTION	161	VBD_DBAND	2	DEVICE5	-1
D_CALL	3	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	5	UPLOAD_DIVES_MAX	5	VBD_TIMEOUT	720	LOGGERS	1
SURFACE_URGENCY_TRY	10	CALL_TRIES	3	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	20	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	300	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	330	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-6579.7065	PITCH_W_GAIN	0	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	1	RAFOS_PEAK_OFFSET	1	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.1	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0043931045
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00063259818
T_WATCHDOG	10	PITCH_MIN	212	MINV_10V	11	SEABIRD_T_I	2.5708419e-05
RELAUNCH	1	PITCH_MAX	3894	FG_AHR_10V	0	SEABIRD_T_J	3.1590957e-06
APOGEE_PITCH	-5	C_PITCH	2590	FG_AHR_24V	0	SEABIRD_C_G	-9.8238754
MAX_BUOY	180	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1280942
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-84.212708	SEABIRD_C_I	-0.0016420757
GLIDE_SLOPE	35	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001160319	SEABIRD_C_J	0.00020143802
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	36	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54305	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	160	COMPASS_USE	4	TM_RECORDABOVE	2000.0
NAV_MODE	0	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.0099999998	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HD_A	0.0023000001	ROLL_MIN	200	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.014	ROLL_MAX	3790	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	1e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2680	ALTIM_PING_DELTA	5

GPS1	011014,002924,7200.149,-14729.480,23,0.8,43,21.5	SPEED_LIMITS	0.157,0.252
_CALLS	2	TGT_NAME	a
_XMS_NAKs	0	TGT_LATLONG	7200.000,-14730.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	2.40	MHEAD_RNG_PITCHd_Wd	179.3,616,-30.8,-11.000,-35.00,997
_SM_ANGLEo	-70.6	D_GRID	1000
GPS2	011014,005522,7200.311,-14729.617,5,0.8,25,21.5

FREEZE	1.61,1.436,-1.496,2,1,0	_24V_AH	12.47,135.969
FINISH	1.6,1.021959	_10V_AH	12.41,0.000
SM_CCo	12216,130.77,0.188,0,0,498,658.88	FG_AHR_24Vo	0.000
SM_GC	2.62,8.75,1.98,130.77,0.102,0.123,0.188,202,2685,498,-7.39,-0.40,658.88,0,0,0,0,0,0,14.31,14.16,14.09	FG_AHR_10Vo	0.000
RAFOS_CLK	89	MEM	146848
RAFOS_FIX	7256.729004,-14417.802734,230914,161619,2,255,3.09	DATA_FILE_SIZE	39962,1113
IRIDIUM_FIX	7125.74,-14730.12,011014,003559	CAP_FILE_SIZE	163160,0
TT8_MAMPS	0.078645,0.078645	CFSIZE	2097872896,2007007232
HUMID	48.18	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.55425	INTR	0,14057.32,0x2378b6,7,5
TCM_TEMP	12.40	SOUNDSPEED	1453.5
XPDR_PINGS	1	GPS	011014,042255,7159.263,-14730.966,31,0.9,51,21.4
SC_FREEKB	3837696

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	438	126.68	nil	0	0	0.00
Roll_motor	56	135	95.53	nil	0	0	0.00
VBD_pump_during_apogee	524	1982	12962.20	nil	0	0	0.00
VBD_pump_during_surface	130	188	306.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	12252	17	2676.44
Iridium_during_xfer	1088	198	2689.65	TMICL	0	0	0.00
Transponder_ping	0	420	1.31	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	28	0	0.27
TT8	0	0	0.00
LPSleep	9422	2	270.12
TT8_Active	756	8	81.96
TT8_Sampling	3176	28	1111.78
TT8_CF8	540	35	239.26
TT8_Kalman	0	0	0.00
Analog_circuits	2699	10	334.99
GPS_charging	0	0	0.00
Compass	1646	0	15.33
RAFOS	1490	48	887.56
Transponder	0	5	0.03

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.91	-71.2	197	2678	458	523	0.0	0.0	0	82	0.00	0.00	-61.42	0.000	16386	0.000	0.000	196	2677	1898	1909	1888	0	0	0	0	0	0	28.83	28.83	28.83
85	-0.97	-162.5	197	2677	1912	1888	3.0	-1.6	6	166	10.75	2.08	-63.12	0.000	18692	0.438	0.135	2258	3792	3851	3903	3800	0	0	0	0	0	0	13.88	14.20	14.54
393	-0.97	-162.5	2258	3792	3904	3804	84.8	-24.9	68	398	0.00	1.90	0.00	0.000	1030	0.000	0.064	2258	2674	3853	3902	3804	0	0	0	0	0	0	28.83	14.32	28.83
703	-1.00	-162.5	2259	2674	3903	3805	155.7	-21.5	100	708	0.00	2.03	0.00	0.000	260	0.000	0.111	2251	3790	3853	3902	3804	0	0	0	0	0	0	28.83	14.28	28.83
828	-1.00	-162.5	2252	3791	3903	3805	183.4	-20.8	125	834	0.00	1.90	0.00	0.000	1030	0.000	0.064	2251	2655	3855	3903	3807	0	0	0	0	0	0	28.83	14.35	28.83
1134	-1.04	-162.5	2252	2658	3903	3805	238.5	-17.2	156	1134	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2657	3851	3903	3800	0	0	0	0	0	0	28.83	28.83	28.83
1445	-1.09	-162.5	2251	2658	3904	3803	289.6	-16.2	171	1446	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2658	3853	3903	3803	0	0	0	0	0	0	28.83	28.83	28.83
1743	-1.14	-162.5	2251	2658	3904	3803	337.5	-15.9	181	1744	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2657	3852	3903	3802	0	0	0	0	0	0	28.83	28.83	28.83
2043	-1.20	-162.5	2252	2659	3903	3803	384.2	-15.6	191	2045	0.15	0.00	0.00	0.000	4102	0.146	0.000	2197	2658	3852	3903	3802	0	0	0	0	0	0	14.51	28.83	28.83
2343	-1.20	-162.5	2197	2658	3904	3802	438.5	-18.1	201	2344	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2658	3852	3903	3802	0	0	0	0	0	0	28.83	28.83	28.83
2643	-1.20	-162.5	2198	2659	3904	3803	492.3	-18.0	211	2644	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2658	3852	3903	3802	0	0	0	0	0	0	28.83	28.83	28.83
2943	-1.20	-162.5	2197	2657	3904	3802	545.8	-17.8	221	2944	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2658	3853	3903	3803	0	0	0	0	0	0	28.83	28.83	28.83
3244	-1.20	-162.5	2197	2657	3904	3802	599.0	-17.7	231	3248	0.00	2.35	0.00	0.000	516	0.000	0.078	2196	1281	3852	3903	3801	0	0	0	0	0	0	28.83	14.41	28.83
3293	-1.23	-162.5	2197	1280	3904	3801	607.6	-16.9	241	3298	0.00	2.53	0.00	0.000	1030	0.000	0.099	2195	2689	3852	3903	3801	0	0	0	0	0	0	28.83	14.35	28.83
3604	-1.23	-162.5	2192	2689	3904	3801	662.7	-17.7	253	3604	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2689	3852	3903	3801	0	0	0	0	0	0	28.83	28.83	28.83
3904	-1.25	-162.5	2196	2689	3904	3802	715.7	-17.5	263	3905	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2689	3852	3903	3801	0	0	0	0	0	0	28.83	28.83	28.83
4204	-1.27	-162.5	2196	2690	3904	3802	768.3	-17.5	273	4209	0.00	2.40	0.00	0.000	516	0.000	0.077	2195	1289	3852	3903	3801	0	0	0	0	0	0	28.83	14.45	28.83
4264	-1.31	-162.5	2195	1289	3904	3801	778.3	-16.1	285	4269	0.00	2.47	0.00	0.000	1030	0.000	0.099	2195	2679	3852	3903	3801	0	0	0	0	0	0	28.83	14.34	28.83
4596	-1.33	-162.5	2196	2678	3904	3801	835.5	-17.3	301	4597	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2679	3851	3903	3800	0	0	0	0	0	0	28.83	28.83	28.83
4894	-1.36	-162.5	2195	2679	3904	3800	886.8	-17.0	311	4895	0.15	0.00	0.00	0.000	4102	0.153	0.000	2143	2679	3851	3903	3800	0	0	0	0	0	0	14.49	28.83	28.83
5194	-1.36	-162.5	2144	2680	3904	3801	944.8	-19.4	321	5195	0.00	0.00	0.00	0.000	6	0.000	0.000	2143	2679	3851	3903	3800	0	0	0	0	0	0	28.83	28.83	28.83
5431	end dive: TARGET_DEPTH_EXCEEDED
state	5432	begin apogee
5437	-0.14	0.0	2142	3055	3903	3801	991.1	-19.3	329	5654	1.67	0.00	213.05	1.616	10246	0.316	0.000	2535	3055	3187	3278	3096	0	0	0	0	0	0	13.98	28.83	13.00
5655	end apogee: CONTROL_FINISHED_OK
state	5655	begin climb
5658	0.97	162.5	2537	3055	3275	3095	997.8	0.0	336	5815	1.25	1.50	150.12	1.982	10500	0.164	0.109	2894	3787	2519	2589	2449	0	0	0	0	0	0	13.62	13.24	12.47
6040	0.97	162.5	2895	3788	2579	2443	937.2	20.1	415	6045	0.00	1.27	0.00	0.000	1030	0.000	0.067	2899	3065	2509	2577	2442	0	0	0	0	0	0	28.83	13.99	28.83
6367	0.97	162.5	2900	3064	2579	2442	876.9	18.4	430	6371	0.00	1.35	0.00	0.000	260	0.000	0.112	2900	3787	2509	2578	2441	0	0	0	0	0	0	28.83	14.24	28.83
6596	0.97	162.5	2900	3787	2579	2442	830.4	19.6	476	6601	0.00	1.27	0.00	0.000	1030	0.000	0.068	2905	3044	2509	2578	2441	0	0	0	0	0	0	28.83	14.43	28.83
6906	0.97	162.5	2906	3044	2579	2441	773.1	18.4	488	6911	0.00	1.38	0.00	0.000	260	0.000	0.113	2905	3784	2509	2578	2441	0	0	0	0	0	0	28.83	14.33	28.83
7136	0.97	162.5	2906	3785	2578	2442	726.1	20.8	534	7141	0.00	1.25	0.00	0.000	1030	0.000	0.069	2911	3051	2509	2577	2441	0	0	0	0	0	0	28.83	14.47	28.83
7447	0.97	162.5	2912	3051	2579	2441	668.2	18.4	546	7451	0.00	1.35	0.00	0.000	260	0.000	0.113	2911	3781	2509	2577	2441	0	0	0	0	0	0	28.83	14.35	28.83
7676	0.95	162.5	2918	3782	2578	2442	621.4	20.0	592	7681	0.00	1.25	0.00	0.000	1030	0.000	0.070	2917	3048	2509	2577	2441	0	0	0	0	0	0	28.83	14.50	28.83
7987	0.95	162.5	2918	3049	2578	2442	563.3	18.7	604	7991	0.00	1.38	0.00	0.000	260	0.000	0.112	2913	3790	2509	2577	2441	0	0	0	0	0	0	28.83	14.35	28.83
8217	0.92	162.5	2917	3791	2578	2442	516.2	20.4	650	8221	0.10	1.27	0.00	0.000	5126	0.309	0.070	2898	3046	2509	2577	2441	0	0	0	0	0	0	14.02	14.48	28.83
8528	0.92	162.5	2899	3047	2578	2442	462.2	17.3	662	8533	0.00	1.38	0.00	0.000	260	0.000	0.113	2898	3786	2509	2577	2441	0	0	0	0	0	0	28.83	14.33	28.83
8758	0.92	162.5	2898	3786	2578	2441	418.1	19.7	708	8762	0.00	1.25	0.00	0.000	1030	0.000	0.070	2903	3055	2509	2577	2441	0	0	0	0	0	0	28.83	14.48	28.83
9068	0.92	162.5	2904	3056	2578	2442	363.6	17.5	720	9072	0.00	1.35	0.00	0.000	260	0.000	0.113	2903	3783	2509	2577	2441	0	0	0	0	0	0	28.83	14.31	28.83
9298	0.92	162.5	2905	3784	2578	2442	319.7	19.4	766	9302	0.00	1.27	0.00	0.000	1030	0.000	0.069	2909	3041	2509	2577	2441	0	0	0	0	0	0	28.83	14.47	28.83
9608	0.92	162.5	2910	3042	2578	2442	265.7	17.1	778	9612	0.00	1.38	0.00	0.000	260	0.000	0.114	2908	3780	2509	2577	2441	0	0	0	0	0	0	28.83	14.28	28.83
9763	0.92	162.5	2909	3781	2578	2442	237.2	17.9	809	9769	0.00	1.27	0.00	0.000	1030	0.000	0.069	2915	3043	2509	2577	2441	0	0	0	0	0	0	28.83	14.45	28.83
10068	0.92	162.5	2915	3044	2578	2442	190.0	14.2	840	10073	0.00	1.40	0.00	0.000	260	0.000	0.116	2915	3789	2509	2577	2441	0	0	0	0	0	0	28.83	14.25	28.83
10150	0.92	162.5	2915	3789	2578	2441	177.8	14.6	856	10154	0.10	1.27	0.00	0.000	5126	0.323	0.068	2895	3044	2509	2577	2441	0	0	0	0	0	0	13.92	14.44	28.83
10462	0.97	177.6	2896	3045	2579	2441	143.9	9.4	888	10476	0.00	0.00	12.65	1.131	8710	0.000	0.000	2895	3044	2459	2531	2388	0	0	0	0	0	0	28.83	28.83	13.91
10783	1.03	202.8	2896	3045	2522	2380	114.6	8.4	922	10812	0.00	2.42	21.58	1.063	8708	0.000	0.077	2906	1651	2353	2423	2283	0	0	0	0	0	0	28.83	14.42	13.88
10839	1.11	221.8	2906	1652	2420	2282	109.6	9.0	932	10865	0.12	2.53	17.27	1.054	11270	0.144	0.104	2953	3050	2273	2341	2206	0	0	0	0	0	0	14.27	14.21	13.78
11166	1.11	221.8	2953	3051	2333	2199	69.8	11.4	967	11167	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	3050	2266	2333	2199	0	0	0	0	0	0	28.83	28.83	28.83
11466	1.18	286.5	2954	3051	2332	2199	44.8	4.3	997	11507	0.00	2.45	33.72	0.314	8708	0.000	0.078	2964	1648	2021	2089	1953	0	0	0	0	0	0	28.83	14.19	14.00
11652	1.27	321.7	2964	1648	2100	1953	32.4	7.4	1034	11679	0.12	2.58	20.88	0.275	11270	0.145	0.107	3016	3053	1873	1934	1813	0	0	0	0	0	0	14.19	14.12	13.99
11977	1.37	420.8	3017	3053	1948	1813	15.3	0.8	1069	12038	0.00	2.45	55.15	0.227	8708	0.000	0.076	3027	1651	1470	1520	1420	0	0	0	0	0	0	28.83	14.19	14.02
12192	end climb: SURFACE_DEPTH_REACHED
state	12192	begin surface coast
12197	end surface coast: CONTROL_FINISHED_OK
state	12197	begin surface