Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 414 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 217 HD_C 9.9999997e-06 ROLL_MAX 3790 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 3 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 5

DIVE 414 ESCAPE_HEADING 120 C_ROLL_DIVE 2450 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2375 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 2

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 56 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 52 XPDR_VALID 1

D_BOOST 25 N_FILEKB 4 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.1

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 1 VBD_MIN 500 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 DEVICE1 -1

SURFACE_URGENCY 20 NOCOMM_ACTION 161 C_VBD 2709 DEVICE2 -1

SURFACE_URGENCY_TRY 10 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 20 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE4 -1

T_DIVE 360 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 390 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0022 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 3 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 25 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 97

USE_BATHY -3 T_RSLEEP 3 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 2 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE 32

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 350 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 200 AH0_10V 0 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3880 MINV_24V 12 SIM_PITCH 0

MAX_BUOY 140 C_PITCH 3095 MINV_10V 12 SEABIRD_T_G 0.0043902649

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00063436845

GLIDE_SLOPE 40 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_T_I 2.5093383e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_T_J 2.9521423e-06

RHO 1.0275 P_OVSHOOT_WITHG 0.079999998 PRESSURE_YINT -51.110779 SEABIRD_C_G -9.69524

MASS 52199 PITCH_GAIN 28 PRESSURE_SLOPE 0.0001155691 SEABIRD_C_H 1.1253856

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_I -0.0011212705

NAV_MODE 2 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00015718494

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_PROFILE 3.0

HD_A 0.0038000001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 240 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_PITCH 1.75 PITCH_ADJ_DBAND 0 SEABIRD_T_J 2.9521423e-06

AH0_10V 0 D_SAFE 500 PITCH_ADJ_GAIN 0 SIM_PITCH 0

AH0_24V 350 D_SURF 2 PITCH_AD_RATE 160 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_CNV 0.003125763 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 28 STROBE 0

ALTIM_PING_DELTA 5 FERRY_MAX 45 PITCH_MAX 3880 SURFACE_URGENCY 20

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 20

ALTIM_PULSE 2 FG_AHR_24V 0 PITCH_MIN 200 SURFACE_URGENCY_TRY 10

ALTIM_SENSITIVITY 3 FILEMGR 2 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2.8 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0022 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 20 GLIDE_SLOPE 40 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 5 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 6000

APOGEE_PITCH -5 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001155691 TGT_DEFAULT_LON -5500

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -51.110779 T_ABORT 1440

CALL_TRIES 3 HD_C 9.9999997e-06 PROTOCOL 1 T_BOOST 2

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 360

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_GPS 3

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.1 RAFOS_DEVICE 32 T_GPS_ALMANAC 0

COMM_SEQ 0 ID 217 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_YINT -0.1 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 3095 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2375 LOGGERDEVICE3 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2450 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 60

C_VBD 2709 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX 3

DBDW 0 MASS 52199 ROLL_MAX 3790 USE_BATHY -3

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 2

DEVICE1 -1 MAX_BUOY 140 ROLL_MIN 240 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_PORT_OVSHOOT 56 VBD_DBAND 2

DEVICE4 -1 MISSION 3 R_STBD_OVSHOOT 52 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 414 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 N_DIVES 0 SEABIRD_C_G -9.69524 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 25 N_FILEKB 4 SEABIRD_C_H 1.1253856 VBD_TIMEOUT 720

D_CALL 3 N_GPS 25 SEABIRD_C_I -0.0011212705 W_ADJ_DBAND 0

D_FINISH 9 N_NOCOMM 6 SEABIRD_C_J 0.00015718494 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_G 0.0043902649 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_T_H 0.00063436845 XPDR_VALID 1

D_OFFGRID 100 PHONE_SUPPLY -2 SEABIRD_T_I 2.5093383e-05

Pre-dive calculations and measurements:

GPS1 251114,011259,6704.065,-5656.537,55,1.3,55,-32.6 SPEED_LIMITS 0.109,0.246

_CALLS 1 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.20 MHEAD_RNG_PITCHd_Wd 185.7,6611,-17.5,-9.167,-20.44,2275

_SM_ANGLEo -70.2 D_GRID 539

GPS2 251114,011921,6704.107,-5656.704,3,1.4,3,-32.6

Post-dive calculations and measurements:

FREEZE 1.42,0.927,-1.346,0,1,0 _24V_AH 13.35,97.447

FINISH 1.4,1.019822 _10V_AH 12.90,0.000

SM_CCo 9876,63.97,0.083,0,0,1282,350.04 FG_AHR_24Vo 0.000

SM_GC 2.40,9.35,0.10,63.97,0.079,0.151,0.083,207,2457,1282,-8.98,-1.22,350.04,0,0,0,0,0,0,14.50,14.59,14.54 FG_AHR_10Vo 0.000

RAFOS_CLK 1109 MEM 143148

RAFOS_FIX 6704.776855,-5701.207031,231114,000024,3,72,2.22 DATA_FILE_SIZE 23475,689

IRIDIUM_FIX 6631.12,-5658.34,241114,220157 CAP_FILE_SIZE 114133,1

TT8_MAMPS 0.039697,0.039697 CFSIZE 1024409600,970031104

HUMID 42.00 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.61127 INTR 1,4576.06,0x23769e,2,5

TCM_TEMP 14.50 SOUNDSPEED 1473.6

XPDR_PINGS 0 CURRENT 0.362,324.76,1

ALTIM_TOP_PING 19.5,17.9 GPS 251114,040704,6704.417,-5658.478,34,0.8,34,-32.6

SC_FREEKB 3887552

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 403 128.36 nil 0 0 0.00

Roll_motor 83 150 168.65 nil 0 0 0.00

VBD_pump_during_apogee 270 1491 5395.43 nil 0 0 0.00

VBD_pump_during_surface 63 82 70.56 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 9870 3 422.57

Iridium_during_xfer 212 149 425.51 nil 0 0 0.00

Transponder_ping 0 420 1.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 10 20 2.91

TT8 1578 24 503.05

LPSleep 6736 2 200.73

TT8_Active 471 23 145.63

TT8_Sampling 1301 42 716.54

TT8_CF8 253 56 183.82

TT8_Kalman 0 0 0.00

Analog_circuits 1276 15 247.09

GPS_charging 0 0 0.00

Compass 1031 5 66.54

RAFOS 360 1 6.97

Transponder 2 30 1.02

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 -0.92 -136.3 144 2468 1303 1233 0.0 0.0 0 82 0.00 0.00 -61.28 0.000 16386 0.000 0.000 140 2468 2818 2821 2816 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.92 -136.3 140 2468 2824 2815 3.2 -2.2 6 119 12.38 2.33 -10.48 0.000 18692 0.403 0.111 2786 3752 3265 3296 3234 0 0 0 0 0 0 14.19 14.46 14.79

283 -0.92 -136.3 2786 3752 3299 3234 38.6 -17.2 44 290 0.00 2.17 0.00 0.000 1030 0.000 0.048 2786 2437 3266 3299 3234 0 0 0 0 0 0 28.83 14.59 28.83

608 -0.92 -136.3 2786 2436 3300 3232 89.4 -14.6 58 613 0.00 2.35 0.00 0.000 516 0.000 0.060 2785 1064 3265 3299 3232 0 0 0 0 0 0 28.83 14.53 28.83

680 -0.92 -136.3 2786 1064 3300 3232 100.3 -14.9 72 687 0.00 2.33 0.00 0.000 1030 0.000 0.059 2786 2429 3266 3300 3232 0 0 0 0 0 0 28.83 14.54 28.83

996 -0.92 -136.3 2786 2428 3300 3230 141.3 -12.9 88 1003 0.00 2.40 0.00 0.000 260 0.000 0.087 2785 3780 3265 3300 3230 0 0 0 0 0 0 28.83 14.47 28.83

1035 -0.92 -136.3 2786 3780 3300 3230 146.9 -14.3 95 1041 0.00 2.20 0.00 0.000 1030 0.000 0.048 2785 2439 3265 3300 3230 0 0 0 0 0 0 28.83 14.65 28.83

1341 -0.92 -136.3 2786 2439 3300 3229 186.2 -12.8 111 1346 0.00 2.40 0.00 0.000 260 0.000 0.086 2785 3782 3264 3299 3229 0 0 0 0 0 0 28.83 14.48 28.83

1418 -0.92 -136.3 2785 3781 3300 3229 196.4 -12.6 126 1425 0.00 2.17 0.00 0.000 1030 0.000 0.048 2785 2450 3264 3300 3229 0 0 0 0 0 0 28.83 14.67 28.83

1724 -0.92 -136.3 2786 2451 3300 3229 231.4 -11.3 142 1725 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2451 3264 3300 3229 0 0 0 0 0 0 28.83 28.83 28.83

2026 -0.92 -136.3 2785 2451 3300 3229 265.9 -11.3 157 2027 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2451 3264 3300 3229 0 0 0 0 0 0 28.83 28.83 28.83

2326 -0.92 -136.3 2785 2450 3301 3229 299.8 -11.7 172 2327 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2450 3265 3301 3230 0 0 0 0 0 0 28.83 28.83 28.83

2626 -0.92 -136.3 2785 2451 3301 3230 333.6 -11.1 187 2627 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2449 3265 3301 3230 0 0 0 0 0 0 28.83 28.83 28.83

2926 -0.92 -136.3 2785 2450 3302 3229 366.6 -11.1 202 2931 0.00 2.35 0.00 0.000 260 0.000 0.085 2785 3779 3265 3302 3229 0 0 0 0 0 0 28.83 14.49 28.83

2938 -0.92 -136.3 2785 3779 3302 3229 368.4 -11.3 204 2944 0.00 2.17 0.00 0.000 1030 0.000 0.048 2785 2451 3265 3302 3229 0 0 0 0 0 0 28.83 14.68 28.83

3253 -0.92 -136.3 2785 2451 3302 3229 403.5 -11.0 221 3254 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2451 3266 3303 3230 0 0 0 0 0 0 28.83 28.83 28.83

3554 -0.92 -136.3 2785 2451 3306 3230 435.5 -10.6 236 3560 0.00 2.38 0.00 0.000 260 0.000 0.084 2783 3784 3266 3303 3230 0 0 0 0 0 0 28.83 14.48 28.83

3583 -0.92 -136.3 2785 3784 3303 3229 438.9 -11.2 241 3588 0.00 2.17 0.00 0.000 1030 0.000 0.047 2785 2452 3266 3303 3230 0 0 0 0 0 0 28.83 14.68 28.83

3901 -0.92 -136.3 2785 2451 3304 3230 471.5 -10.2 259 3907 0.00 2.35 0.00 0.000 260 0.000 0.084 2785 3778 3266 3303 3230 0 0 0 0 0 0 28.83 14.49 28.83

3934 -0.92 -136.3 2785 3779 3303 3230 475.1 -11.0 265 3940 0.00 2.17 0.00 0.000 1030 0.000 0.047 2785 2446 3266 3303 3230 0 0 0 0 0 0 28.83 14.68 28.83

4248 -0.92 -136.3 2785 2446 3304 3229 506.9 -9.9 282 4253 0.00 2.38 0.00 0.000 260 0.000 0.085 2785 3780 3267 3305 3229 0 0 0 0 0 0 28.83 14.48 28.83

4335 -0.92 -136.3 2785 3780 3304 3230 516.0 -9.9 299 4340 0.00 2.17 0.00 0.000 1030 0.000 0.047 2785 2447 3267 3304 3230 0 0 0 0 0 0 28.83 14.67 28.83

4573 end dive: TARGET_DEPTH_EXCEEDED

state 4573 begin apogee

4579 -0.18 0.0 2785 2447 3305 3230 539.2 -9.7 313 4693 0.88 0.00 107.40 1.492 10246 0.226 0.000 3027 2447 2707 2775 2639 0 0 0 0 0 0 14.23 28.83 13.57

4695 end apogee: CONTROL_FINISHED_OK

state 4695 begin climb

4697 0.92 136.3 3028 2446 2774 2638 543.7 0.0 319 4819 1.10 2.58 108.88 1.459 10756 0.153 0.060 3382 990 2149 2220 2079 0 0 0 0 0 0 14.21 14.02 13.35

4856 0.92 136.3 3382 990 2215 2078 531.5 12.6 350 4863 0.00 2.42 0.00 0.000 1030 0.000 0.052 3382 2377 2146 2215 2078 0 0 0 0 0 0 28.83 14.12 28.83

5162 0.92 136.3 3382 2378 2212 2078 497.3 11.2 366 5163 0.00 0.00 0.00 0.000 6 0.000 0.000 3382 2377 2145 2212 2078 0 0 0 0 0 0 28.83 28.83 28.83

5464 0.92 136.3 3382 2377 2212 2078 463.5 11.2 381 5466 0.00 0.00 0.00 0.000 6 0.000 0.000 3382 2378 2145 2212 2078 0 0 0 0 0 0 28.83 28.83 28.83

5764 0.92 136.3 3382 2378 2211 2078 429.7 11.4 396 5770 0.00 2.35 0.00 0.000 516 0.000 0.061 3392 999 2144 2211 2078 0 0 0 0 0 0 28.83 14.57 28.83

5822 0.92 136.3 3392 998 2211 2078 422.8 11.9 407 5829 0.00 2.35 0.00 0.000 1030 0.000 0.052 3392 2387 2144 2210 2078 0 0 0 0 0 0 28.83 14.61 28.83

6128 0.92 136.3 3391 2388 2210 2078 388.6 11.1 423 6134 0.00 2.38 0.00 0.000 516 0.000 0.060 3402 994 2144 2211 2078 0 0 0 0 0 0 28.83 14.58 28.83

6162 0.92 136.3 3402 995 2211 2081 384.8 11.1 429 6167 0.00 2.33 0.00 0.000 1030 0.000 0.051 3402 2374 2144 2211 2078 0 0 0 0 0 0 28.83 14.62 28.83

6477 0.92 136.3 3402 2373 2211 2078 349.7 11.2 446 6482 0.00 2.35 0.00 0.000 516 0.000 0.060 3411 990 2144 2211 2077 0 0 0 0 0 0 28.83 14.59 28.83

6524 0.92 136.3 3411 990 2210 2078 344.0 11.2 455 6530 0.00 2.33 0.00 0.000 1030 0.000 0.050 3410 2381 2144 2210 2078 0 0 0 0 0 0 28.83 14.62 28.83

6843 0.92 136.3 3407 2380 2210 2078 305.8 12.3 473 6849 0.00 2.35 0.00 0.000 516 0.000 0.060 3422 995 2144 2210 2078 0 0 0 0 0 0 28.83 14.59 28.83

6901 0.92 136.3 3422 995 2209 2078 298.3 12.7 484 6908 0.00 2.33 0.00 0.000 1030 0.000 0.051 3421 2384 2144 2210 2078 0 0 0 0 0 0 28.83 14.62 28.83

7207 0.92 136.3 3422 2384 2210 2077 260.1 12.3 500 7213 0.00 2.35 0.00 0.000 516 0.000 0.060 3432 996 2144 2211 2078 0 0 0 0 0 0 28.83 14.60 28.83

7260 0.92 136.3 3433 996 2210 2078 253.4 12.4 510 7266 0.15 2.33 0.00 0.000 5126 0.233 0.051 3395 2386 2144 2210 2078 0 0 0 0 0 0 14.37 14.62 28.83

7574 0.92 136.3 3395 2386 2210 2078 220.4 10.1 527 7579 0.00 2.35 0.00 0.000 516 0.000 0.059 3406 998 2144 2210 2078 0 0 0 0 0 0 28.83 14.58 28.83

7632 0.92 136.3 3406 999 2210 2078 214.3 10.5 538 7638 0.00 2.30 0.00 0.000 1030 0.000 0.051 3406 2376 2144 2211 2078 0 0 0 0 0 0 28.83 14.62 28.83

7938 0.92 136.3 3406 2376 2211 2078 180.9 11.3 554 7943 0.00 2.35 0.00 0.000 516 0.000 0.059 3415 990 2144 2210 2078 0 0 0 0 0 0 28.83 14.57 28.83

7990 0.92 136.3 3415 990 2210 2078 174.7 11.5 564 7996 0.00 2.33 0.00 0.000 1030 0.000 0.051 3416 2377 2144 2211 2078 0 0 0 0 0 0 28.83 14.62 28.83

8305 0.92 136.3 3416 2377 2210 2078 140.9 10.2 581 8306 0.00 0.00 0.00 0.000 6 0.000 0.000 3416 2377 2144 2210 2078 0 0 0 0 0 0 28.83 28.83 28.83

8616 0.92 136.3 3421 2377 2210 2078 109.4 9.7 595 8617 0.00 0.00 0.00 0.000 6 0.000 0.000 3416 2377 2147 2216 2078 0 0 0 0 0 0 28.83 28.83 28.83

8915 0.95 147.0 3415 2377 2210 2078 82.6 8.7 605 8926 0.00 0.00 8.73 0.846 8198 0.000 0.000 3415 2377 2108 2174 2042 0 0 0 0 0 0 28.83 28.83 14.09

9215 1.02 180.4 3415 2377 2171 2040 58.6 7.7 615 9246 0.00 2.40 26.00 0.889 8708 0.000 0.060 3424 999 1969 2035 1903 0 0 0 0 0 0 28.83 14.71 14.14

9370 1.05 191.6 3424 999 2033 1902 45.7 8.7 645 9385 0.00 2.33 9.62 0.820 9222 0.000 0.053 3424 2377 1925 1991 1860 0 0 0 0 0 0 28.83 14.59 14.05

9693 1.09 212.9 3425 2377 1989 1859 17.0 8.2 666 9709 0.00 2.45 10.30 0.132 8452 0.000 0.079 3425 3781 1843 1912 1775 0 0 0 0 0 0 28.83 14.52 14.46

9769 1.09 212.9 3425 3781 1911 1775 9.4 11.1 680 9775 0.00 2.30 0.00 0.000 1030 0.000 0.046 3434 2385 1843 1912 1775 0 0 0 0 0 0 28.83 14.58 28.83

9842 end climb: SURFACE_DEPTH_REACHED

state 9842 begin surface coast

9855 end surface coast: CONTROL_FINISHED_OK

state 9855 begin surface

ID	217	HD_C	9.9999997e-06	ROLL_MAX	3790	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	3	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	5
DIVE	414	ESCAPE_HEADING	120	C_ROLL_DIVE	2450	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2375	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	2
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	56	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	52	XPDR_VALID	1
D_BOOST	25	N_FILEKB	4	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.1
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	1	VBD_MIN	500	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	DEVICE1	-1
SURFACE_URGENCY	20	NOCOMM_ACTION	161	C_VBD	2709	DEVICE2	-1
SURFACE_URGENCY_TRY	10	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	20	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE4	-1
T_DIVE	360	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	390	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0022	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	3	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	25	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	97
USE_BATHY	-3	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	2	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	32
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	350	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	200	AH0_10V	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3880	MINV_24V	12	SIM_PITCH	0
MAX_BUOY	140	C_PITCH	3095	MINV_10V	12	SEABIRD_T_G	0.0043902649
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00063436845
GLIDE_SLOPE	40	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_T_I	2.5093383e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_T_J	2.9521423e-06
RHO	1.0275	P_OVSHOOT_WITHG	0.079999998	PRESSURE_YINT	-51.110779	SEABIRD_C_G	-9.69524
MASS	52199	PITCH_GAIN	28	PRESSURE_SLOPE	0.0001155691	SEABIRD_C_H	1.1253856
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0011212705
NAV_MODE	2	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00015718494
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_PROFILE	3.0
HD_A	0.0038000001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	240	ALTIM_TOP_PING_RANGE	20

GPS1	251114,011259,6704.065,-5656.537,55,1.3,55,-32.6	SPEED_LIMITS	0.109,0.246
_CALLS	1	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.20	MHEAD_RNG_PITCHd_Wd	185.7,6611,-17.5,-9.167,-20.44,2275
_SM_ANGLEo	-70.2	D_GRID	539
GPS2	251114,011921,6704.107,-5656.704,3,1.4,3,-32.6

FREEZE	1.42,0.927,-1.346,0,1,0	_24V_AH	13.35,97.447
FINISH	1.4,1.019822	_10V_AH	12.90,0.000
SM_CCo	9876,63.97,0.083,0,0,1282,350.04	FG_AHR_24Vo	0.000
SM_GC	2.40,9.35,0.10,63.97,0.079,0.151,0.083,207,2457,1282,-8.98,-1.22,350.04,0,0,0,0,0,0,14.50,14.59,14.54	FG_AHR_10Vo	0.000
RAFOS_CLK	1109	MEM	143148
RAFOS_FIX	6704.776855,-5701.207031,231114,000024,3,72,2.22	DATA_FILE_SIZE	23475,689
IRIDIUM_FIX	6631.12,-5658.34,241114,220157	CAP_FILE_SIZE	114133,1
TT8_MAMPS	0.039697,0.039697	CFSIZE	1024409600,970031104
HUMID	42.00	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.61127	INTR	1,4576.06,0x23769e,2,5
TCM_TEMP	14.50	SOUNDSPEED	1473.6
XPDR_PINGS	0	CURRENT	0.362,324.76,1
ALTIM_TOP_PING	19.5,17.9	GPS	251114,040704,6704.417,-5658.478,34,0.8,34,-32.6
SC_FREEKB	3887552

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	403	128.36	nil	0	0	0.00
Roll_motor	83	150	168.65	nil	0	0	0.00
VBD_pump_during_apogee	270	1491	5395.43	nil	0	0	0.00
VBD_pump_during_surface	63	82	70.56	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	9870	3	422.57
Iridium_during_xfer	212	149	425.51	nil	0	0	0.00
Transponder_ping	0	420	1.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	10	20	2.91
TT8	1578	24	503.05
LPSleep	6736	2	200.73
TT8_Active	471	23	145.63
TT8_Sampling	1301	42	716.54
TT8_CF8	253	56	183.82
TT8_Kalman	0	0	0.00
Analog_circuits	1276	15	247.09
GPS_charging	0	0	0.00
Compass	1031	5	66.54
RAFOS	360	1	6.97
Transponder	2	30	1.02

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	-0.92	-136.3	144	2468	1303	1233	0.0	0.0	0	82	0.00	0.00	-61.28	0.000	16386	0.000	0.000	140	2468	2818	2821	2816	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.92	-136.3	140	2468	2824	2815	3.2	-2.2	6	119	12.38	2.33	-10.48	0.000	18692	0.403	0.111	2786	3752	3265	3296	3234	0	0	0	0	0	0	14.19	14.46	14.79
283	-0.92	-136.3	2786	3752	3299	3234	38.6	-17.2	44	290	0.00	2.17	0.00	0.000	1030	0.000	0.048	2786	2437	3266	3299	3234	0	0	0	0	0	0	28.83	14.59	28.83
608	-0.92	-136.3	2786	2436	3300	3232	89.4	-14.6	58	613	0.00	2.35	0.00	0.000	516	0.000	0.060	2785	1064	3265	3299	3232	0	0	0	0	0	0	28.83	14.53	28.83
680	-0.92	-136.3	2786	1064	3300	3232	100.3	-14.9	72	687	0.00	2.33	0.00	0.000	1030	0.000	0.059	2786	2429	3266	3300	3232	0	0	0	0	0	0	28.83	14.54	28.83
996	-0.92	-136.3	2786	2428	3300	3230	141.3	-12.9	88	1003	0.00	2.40	0.00	0.000	260	0.000	0.087	2785	3780	3265	3300	3230	0	0	0	0	0	0	28.83	14.47	28.83
1035	-0.92	-136.3	2786	3780	3300	3230	146.9	-14.3	95	1041	0.00	2.20	0.00	0.000	1030	0.000	0.048	2785	2439	3265	3300	3230	0	0	0	0	0	0	28.83	14.65	28.83
1341	-0.92	-136.3	2786	2439	3300	3229	186.2	-12.8	111	1346	0.00	2.40	0.00	0.000	260	0.000	0.086	2785	3782	3264	3299	3229	0	0	0	0	0	0	28.83	14.48	28.83
1418	-0.92	-136.3	2785	3781	3300	3229	196.4	-12.6	126	1425	0.00	2.17	0.00	0.000	1030	0.000	0.048	2785	2450	3264	3300	3229	0	0	0	0	0	0	28.83	14.67	28.83
1724	-0.92	-136.3	2786	2451	3300	3229	231.4	-11.3	142	1725	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2451	3264	3300	3229	0	0	0	0	0	0	28.83	28.83	28.83
2026	-0.92	-136.3	2785	2451	3300	3229	265.9	-11.3	157	2027	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2451	3264	3300	3229	0	0	0	0	0	0	28.83	28.83	28.83
2326	-0.92	-136.3	2785	2450	3301	3229	299.8	-11.7	172	2327	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2450	3265	3301	3230	0	0	0	0	0	0	28.83	28.83	28.83
2626	-0.92	-136.3	2785	2451	3301	3230	333.6	-11.1	187	2627	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2449	3265	3301	3230	0	0	0	0	0	0	28.83	28.83	28.83
2926	-0.92	-136.3	2785	2450	3302	3229	366.6	-11.1	202	2931	0.00	2.35	0.00	0.000	260	0.000	0.085	2785	3779	3265	3302	3229	0	0	0	0	0	0	28.83	14.49	28.83
2938	-0.92	-136.3	2785	3779	3302	3229	368.4	-11.3	204	2944	0.00	2.17	0.00	0.000	1030	0.000	0.048	2785	2451	3265	3302	3229	0	0	0	0	0	0	28.83	14.68	28.83
3253	-0.92	-136.3	2785	2451	3302	3229	403.5	-11.0	221	3254	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2451	3266	3303	3230	0	0	0	0	0	0	28.83	28.83	28.83
3554	-0.92	-136.3	2785	2451	3306	3230	435.5	-10.6	236	3560	0.00	2.38	0.00	0.000	260	0.000	0.084	2783	3784	3266	3303	3230	0	0	0	0	0	0	28.83	14.48	28.83
3583	-0.92	-136.3	2785	3784	3303	3229	438.9	-11.2	241	3588	0.00	2.17	0.00	0.000	1030	0.000	0.047	2785	2452	3266	3303	3230	0	0	0	0	0	0	28.83	14.68	28.83
3901	-0.92	-136.3	2785	2451	3304	3230	471.5	-10.2	259	3907	0.00	2.35	0.00	0.000	260	0.000	0.084	2785	3778	3266	3303	3230	0	0	0	0	0	0	28.83	14.49	28.83
3934	-0.92	-136.3	2785	3779	3303	3230	475.1	-11.0	265	3940	0.00	2.17	0.00	0.000	1030	0.000	0.047	2785	2446	3266	3303	3230	0	0	0	0	0	0	28.83	14.68	28.83
4248	-0.92	-136.3	2785	2446	3304	3229	506.9	-9.9	282	4253	0.00	2.38	0.00	0.000	260	0.000	0.085	2785	3780	3267	3305	3229	0	0	0	0	0	0	28.83	14.48	28.83
4335	-0.92	-136.3	2785	3780	3304	3230	516.0	-9.9	299	4340	0.00	2.17	0.00	0.000	1030	0.000	0.047	2785	2447	3267	3304	3230	0	0	0	0	0	0	28.83	14.67	28.83
4573	end dive: TARGET_DEPTH_EXCEEDED
state	4573	begin apogee
4579	-0.18	0.0	2785	2447	3305	3230	539.2	-9.7	313	4693	0.88	0.00	107.40	1.492	10246	0.226	0.000	3027	2447	2707	2775	2639	0	0	0	0	0	0	14.23	28.83	13.57
4695	end apogee: CONTROL_FINISHED_OK
state	4695	begin climb
4697	0.92	136.3	3028	2446	2774	2638	543.7	0.0	319	4819	1.10	2.58	108.88	1.459	10756	0.153	0.060	3382	990	2149	2220	2079	0	0	0	0	0	0	14.21	14.02	13.35
4856	0.92	136.3	3382	990	2215	2078	531.5	12.6	350	4863	0.00	2.42	0.00	0.000	1030	0.000	0.052	3382	2377	2146	2215	2078	0	0	0	0	0	0	28.83	14.12	28.83
5162	0.92	136.3	3382	2378	2212	2078	497.3	11.2	366	5163	0.00	0.00	0.00	0.000	6	0.000	0.000	3382	2377	2145	2212	2078	0	0	0	0	0	0	28.83	28.83	28.83
5464	0.92	136.3	3382	2377	2212	2078	463.5	11.2	381	5466	0.00	0.00	0.00	0.000	6	0.000	0.000	3382	2378	2145	2212	2078	0	0	0	0	0	0	28.83	28.83	28.83
5764	0.92	136.3	3382	2378	2211	2078	429.7	11.4	396	5770	0.00	2.35	0.00	0.000	516	0.000	0.061	3392	999	2144	2211	2078	0	0	0	0	0	0	28.83	14.57	28.83
5822	0.92	136.3	3392	998	2211	2078	422.8	11.9	407	5829	0.00	2.35	0.00	0.000	1030	0.000	0.052	3392	2387	2144	2210	2078	0	0	0	0	0	0	28.83	14.61	28.83
6128	0.92	136.3	3391	2388	2210	2078	388.6	11.1	423	6134	0.00	2.38	0.00	0.000	516	0.000	0.060	3402	994	2144	2211	2078	0	0	0	0	0	0	28.83	14.58	28.83
6162	0.92	136.3	3402	995	2211	2081	384.8	11.1	429	6167	0.00	2.33	0.00	0.000	1030	0.000	0.051	3402	2374	2144	2211	2078	0	0	0	0	0	0	28.83	14.62	28.83
6477	0.92	136.3	3402	2373	2211	2078	349.7	11.2	446	6482	0.00	2.35	0.00	0.000	516	0.000	0.060	3411	990	2144	2211	2077	0	0	0	0	0	0	28.83	14.59	28.83
6524	0.92	136.3	3411	990	2210	2078	344.0	11.2	455	6530	0.00	2.33	0.00	0.000	1030	0.000	0.050	3410	2381	2144	2210	2078	0	0	0	0	0	0	28.83	14.62	28.83
6843	0.92	136.3	3407	2380	2210	2078	305.8	12.3	473	6849	0.00	2.35	0.00	0.000	516	0.000	0.060	3422	995	2144	2210	2078	0	0	0	0	0	0	28.83	14.59	28.83
6901	0.92	136.3	3422	995	2209	2078	298.3	12.7	484	6908	0.00	2.33	0.00	0.000	1030	0.000	0.051	3421	2384	2144	2210	2078	0	0	0	0	0	0	28.83	14.62	28.83
7207	0.92	136.3	3422	2384	2210	2077	260.1	12.3	500	7213	0.00	2.35	0.00	0.000	516	0.000	0.060	3432	996	2144	2211	2078	0	0	0	0	0	0	28.83	14.60	28.83
7260	0.92	136.3	3433	996	2210	2078	253.4	12.4	510	7266	0.15	2.33	0.00	0.000	5126	0.233	0.051	3395	2386	2144	2210	2078	0	0	0	0	0	0	14.37	14.62	28.83
7574	0.92	136.3	3395	2386	2210	2078	220.4	10.1	527	7579	0.00	2.35	0.00	0.000	516	0.000	0.059	3406	998	2144	2210	2078	0	0	0	0	0	0	28.83	14.58	28.83
7632	0.92	136.3	3406	999	2210	2078	214.3	10.5	538	7638	0.00	2.30	0.00	0.000	1030	0.000	0.051	3406	2376	2144	2211	2078	0	0	0	0	0	0	28.83	14.62	28.83
7938	0.92	136.3	3406	2376	2211	2078	180.9	11.3	554	7943	0.00	2.35	0.00	0.000	516	0.000	0.059	3415	990	2144	2210	2078	0	0	0	0	0	0	28.83	14.57	28.83
7990	0.92	136.3	3415	990	2210	2078	174.7	11.5	564	7996	0.00	2.33	0.00	0.000	1030	0.000	0.051	3416	2377	2144	2211	2078	0	0	0	0	0	0	28.83	14.62	28.83
8305	0.92	136.3	3416	2377	2210	2078	140.9	10.2	581	8306	0.00	0.00	0.00	0.000	6	0.000	0.000	3416	2377	2144	2210	2078	0	0	0	0	0	0	28.83	28.83	28.83
8616	0.92	136.3	3421	2377	2210	2078	109.4	9.7	595	8617	0.00	0.00	0.00	0.000	6	0.000	0.000	3416	2377	2147	2216	2078	0	0	0	0	0	0	28.83	28.83	28.83
8915	0.95	147.0	3415	2377	2210	2078	82.6	8.7	605	8926	0.00	0.00	8.73	0.846	8198	0.000	0.000	3415	2377	2108	2174	2042	0	0	0	0	0	0	28.83	28.83	14.09
9215	1.02	180.4	3415	2377	2171	2040	58.6	7.7	615	9246	0.00	2.40	26.00	0.889	8708	0.000	0.060	3424	999	1969	2035	1903	0	0	0	0	0	0	28.83	14.71	14.14
9370	1.05	191.6	3424	999	2033	1902	45.7	8.7	645	9385	0.00	2.33	9.62	0.820	9222	0.000	0.053	3424	2377	1925	1991	1860	0	0	0	0	0	0	28.83	14.59	14.05
9693	1.09	212.9	3425	2377	1989	1859	17.0	8.2	666	9709	0.00	2.45	10.30	0.132	8452	0.000	0.079	3425	3781	1843	1912	1775	0	0	0	0	0	0	28.83	14.52	14.46
9769	1.09	212.9	3425	3781	1911	1775	9.4	11.1	680	9775	0.00	2.30	0.00	0.000	1030	0.000	0.046	3434	2385	1843	1912	1775	0	0	0	0	0	0	28.83	14.58	28.83
9842	end climb: SURFACE_DEPTH_REACHED
state	9842	begin surface coast
9855	end surface coast: CONTROL_FINISHED_OK
state	9855	begin surface