Glider dive log

SPURS Sep12 * SG189 * Dive index * Mission links * Dive 58 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 189 HEADING -1 ROLL_DEG 45 ALTIM_FREQUENCY 13

MISSION 7 ESCAPE_HEADING 90 C_ROLL_DIVE 1850 ALTIM_PULSE 3

DIVE 58 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1850 ALTIM_SENSITIVITY 4

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 20 XPDR_VALID 4

D_SURF 3 TGT_DEFAULT_LAT 2434 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_FLARE 2 TGT_DEFAULT_LON -3802 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT -20 INT_PRESSURE_YINT 2.2

D_ABORT 1090 SM_CC 300 R_STBD_OVSHOOT -20 DEEPGLIDER 0

D_NO_BLEED 200 N_FILEKB 4 ROLL_AD_RATE 350 DEEPGLIDERMB 0

D_BOOST 100 FILEMGR 0 ROLL_MAXERRORS 2 MOTHERBOARD 4

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEVICE1 -1

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE2 -1

D_PITCH 0 PROTOCOL 1 VBD_MIN 500 DEVICE3 -1

D_SAFE 0 N_NOCOMM 5 VBD_MAX 3960 DEVICE4 -1

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2320 DEVICE5 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE6 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 LOGGERS 3

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 LOGGERDEVICE1 53

T_DIVE 540 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE2 67

T_MISSION 570 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE3 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE4 -1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 COMPASS_DEVICE 33

T_TURN_SAMPINT 10 T_GPS 15 UNCOM_BLEED 50 COMPASS2_DEVICE -1

T_NO_W 720 N_GPS 30 VBD_MAXERRORS 1 PHONE_DEVICE 49

T_LOITER 0 T_GPS_ALMANAC 0 CF8_MAXERRORS 20 GPS_DEVICE 32

T_EPIRB 0 T_GPS_CHARGE -46946.809 AH0_24V 150 RAFOS_DEVICE -1

USE_BATHY 0 T_RSLEEP 2 AH0_10V 97 XPDR_DEVICE 24

USE_ICE 0 STROBE 0 MINV_24V 19 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 MINV_10V 8 SIM_PITCH 0

D_OFFGRID 1001 RAFOS_CORR_THRESH 60 FG_AHR_10V 0 SEABIRD_T_G 0.0042969952

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 FG_AHR_24V 0 SEABIRD_T_H 0.00061766658

RELAUNCH 1 PITCH_MIN 165 PHONE_SUPPLY 2 SEABIRD_T_I 2.0722548e-05

APOGEE_PITCH -5 PITCH_MAX 3928 PRESSURE_YINT -80.603096 SEABIRD_T_J 1.9705003e-06

MAX_BUOY 150 C_PITCH 3000 PRESSURE_SLOPE 0.0001182519 SEABIRD_C_G -9.7093372

COURSE_BIAS 0 PITCH_DBAND 0.1 AD7714Ch0Gain 128 SEABIRD_C_H 1.1118598

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0010979992

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00015928292

RHO 1.0233001 PITCH_GAIN 17.5 COMPASS_USE 0 SC_RECORDABOVE 2000.0

MASS 54634 PITCH_TIMEOUT 18 ALTIM_BOTTOM_PING_RANGE 0 SC_PROFILE 3.0

NAV_MODE 1 PITCH_AD_RATE 165 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10 TM_RECORDABOVE 200.0

KALMAN_USE 1 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_TURN_MARGIN 0 TM_PROFILE 3.0

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_TOP_MIN_OBSTACLE 1 TM_XMITPROFILE 3.0

HD_B 0.01103 ROLL_MIN 359 ALTIM_PING_DEPTH 0 TM_LOGSAMPLE 0.0

HD_C 2.7848e-05 ROLL_MAX 3924 ALTIM_PING_DELTA 5 TM_XMITRAW 0.0

AD7714Ch0Gain 128 D_PITCH 0 PITCH_ADJ_GAIN 0.02 SPEED_FACTOR 1

AH0_10V 97 D_SAFE 0 PITCH_AD_RATE 165 STROBE 0

AH0_24V 150 D_SURF 3 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_BOTTOM_TURN_MARGIN 10 ESCAPE_HEADING 90 PITCH_GAIN 17.5 SURFACE_URGENCY_TRY 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3928 TCM_PITCH_OFFSET 0

ALTIM_PING_DELTA 5 FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MIN 165 TGT_AUTO_DEFAULT 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_TIMEOUT 18 TGT_DEFAULT_LAT 2434

ALTIM_SENSITIVITY 4 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -3802

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001182519 TM_LOGSAMPLE 0.0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PRESSURE_YINT -80.603096 TM_PROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PROTOCOL 1 TM_RECORDABOVE 200.0

APOGEE_PITCH -5 HD_A 0.0038360001 P_OVSHOOT 0.039999999 TM_XMITPROFILE 3.0

CALL_NDIVES 1 HD_B 0.01103 RAFOS_CORR_THRESH 60 TM_XMITRAW 0.0

CALL_TRIES 5 HD_C 2.7848e-05 RAFOS_DEVICE -1 T_ABORT 1440

CALL_WAIT 60 HEADING -1 RAFOS_HIT_WINDOW 3600 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 20 RAFOS_PEAK_OFFSET 1.5 T_DIVE 540

CAPUPLOAD 0 HEAPDBG 0 RELAUNCH 1 T_EPIRB 0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0233001 T_GPS 15

COMM_SEQ 0 ID 189 ROLL_ADJ_DBAND 0 T_GPS_ALMANAC 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_GPS_CHARGE -46946.809

COMPASS_DEVICE 33 INT_PRESSURE_YINT 2.2 ROLL_AD_RATE 350 T_LOITER 0

COMPASS_USE 0 KALMAN_USE 1 ROLL_CNV 0.028270001 T_MISSION 570

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_DEG 45 T_NO_W 720

C_PITCH 3000 LOGGERDEVICE2 67 ROLL_MAX 3924 T_RSLEEP 2

C_ROLL_CLIMB 1850 LOGGERDEVICE3 -1 ROLL_MAXERRORS 2 T_TURN 225

C_ROLL_DIVE 1850 LOGGERDEVICE4 -1 ROLL_MIN 359 T_TURN_SAMPINT 10

C_VBD 2320 LOGGERS 3 ROLL_TIMEOUT 15 T_WATCHDOG 10

DEEPGLIDER 0 MASS 54634 R_PORT_OVSHOOT -20 UNCOM_BLEED 50

DEEPGLIDERMB 0 MAX_BUOY 150 R_STBD_OVSHOOT -20 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MINV_10V 8 SC_PROFILE 3.0 USE_BATHY 0

DEVICE2 -1 MINV_24V 19 SC_RECORDABOVE 2000.0 USE_ICE 0

DEVICE3 -1 MISSION 7 SC_XMITPROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE4 -1 MOTHERBOARD 4 SEABIRD_C_G -9.7093372 VBD_CNV -0.24529999

DEVICE5 -1 NAV_MODE 1 SEABIRD_C_H 1.1118598 VBD_DBAND 2

DEVICE6 -1 NOCOMM_ACTION 163 SEABIRD_C_I -0.0010979992 VBD_MAX 3960

DIVE 58 N_DIVES 0 SEABIRD_C_J 0.00015928292 VBD_MAXERRORS 1

D_ABORT 1090 N_FILEKB 4 SEABIRD_T_G 0.0042969952 VBD_MIN 500

D_BOOST 100 N_GPS 30 SEABIRD_T_H 0.00061766658 VBD_PUMP_AD_RATE_APOGEE 4

D_CALL 0 N_NOCOMM 5 SEABIRD_T_I 2.0722548e-05 VBD_PUMP_AD_RATE_SURFACE 6

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_J 1.9705003e-06 VBD_TIMEOUT 720

D_FLARE 2 PHONE_DEVICE 49 SIM_PITCH 0 XPDR_DEVICE 24

D_NO_BLEED 200 PHONE_SUPPLY 2 SIM_W 0 XPDR_INHIBIT 90

D_OFFGRID 1001 PITCH_ADJ_DBAND 1 SM_CC 300 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 290912,225235,2431.293,-3802.878,31,0.9,31,-14.0 TGT_NAME C

_CALLS 1 TGT_LATLONG 2433.000,-3802.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.063,-0.085

_SM_DEPTHo 1.83 KALMAN_X 9721.3,-196.2,123.0,-11311.6,1335.2

_SM_ANGLEo -63.6 KALMAN_Y 62736.2,-369.3,-335.0,-69969.9,3300.8

GPS2 290912,225954,2431.323,-3802.888,21,0.9,21,-14.0 MHEAD_RNG_PITCHd_Wd 157.3,3447,-26.9,-6.111,-30.00

SPEED_LIMITS 0.106,0.203 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.024424 _24V_AH 23.8,12.793

SM_CCo 16008,57.70,0.132,0,0,1094,300.00 _10V_AH 10.4,11.877

SM_GC 1.71,8.73,0.00,57.70,0.043,0.000,0.132,161,1825,1094,-8.83,-0.71,300.00,0,0,0,0,0,0,26.68,28.83,26.26 FG_AHR_24Vo 0.000

IRIDIUM_FIX 2432.32,-3749.59,290912,171706 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964,0.026964 MEM 344752

HUMID 56.69 DATA_FILE_SIZE 10096,364

INTERNAL_PRESSURE 9.10456 CAP_FILE_SIZE 120260,0

TCM_TEMP 23.80 CFSIZE 260034560,248180736

XPDR_PINGS 8 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

SC_FREEKB 7747616 GPS 300912,032954,2430.842,-3801.193,42,1.0,42,-14.0

TM_FREEKB 7365760

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 222 118.28 nil 0 0 0.00

Roll_motor 101 110 266.83 nil 0 0 0.00

VBD_pump_during_apogee 209 1715 8568.14 nil 0 0 0.00

VBD_pump_during_surface 57 132 181.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 65.51 nil 0 0 0.00

Iridium_during_connect 35 160 135.45 SciCon 15972 7 2865.07

Iridium_during_xfer 197 223 1050.28 TMICL 3945 13 1271.19

Transponder_ping 2 420 19.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 50 11.38

TT8 1431 19 294.78

LPSleep 13035 2 296.90

TT8_Active 467 19 96.36

TT8_Sampling 1423 39 589.30

TT8_CF8 146 45 69.93

TT8_Kalman 33 81 28.29

Analog_circuits 1051 12 131.22

GPS_charging 0 0 0.00

Compass 1053 15 164.29

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

20 end surface: CONTROL_FINISHED_OK

state 21 begin dive

23 -1.58 -34.0 0.0 0.0 0 56 0.00 0.00 -31.85 0.000 2 0.000 0.000 157 1836 2058 0 0 0 0 0 0 28.83 28.83 28.83

59 -1.59 -45.0 2.4 -4.8 3 87 9.10 2.38 -13.70 0.000 4 0.223 0.055 2481 344 2505 0 0 0 0 0 0 25.92 26.29 26.65

316 -1.42 -45.0 27.9 -12.9 29 325 0.28 2.33 0.00 0.000 6 0.190 0.024 2540 1887 2508 0 0 0 0 0 0 25.94 26.45 28.83

626 -1.36 -45.0 53.0 -6.7 60 627 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 1887 2509 0 0 0 0 0 0 28.83 28.83 28.83

926 -1.37 -95.2 58.7 -0.0 90 936 0.00 2.40 -1.65 0.000 4 0.000 0.054 2549 352 2714 0 0 0 0 0 0 28.83 26.53 26.86

1027 -1.30 -95.2 65.2 -9.5 100 1036 0.12 2.30 0.00 0.000 6 0.167 0.024 2575 1896 2715 0 0 0 0 0 0 26.22 26.63 28.83

1345 -1.30 -95.2 95.0 -9.1 118 1350 0.00 2.40 0.00 0.000 4 0.000 0.038 2565 3450 2717 0 0 0 0 0 0 28.83 26.57 28.83

1426 -1.30 -95.2 101.8 -8.6 121 1431 0.00 2.45 0.00 0.000 6 0.000 0.023 2566 1812 2718 0 0 0 0 0 0 28.83 26.65 28.83

1747 -1.30 -95.2 128.8 -9.2 132 1751 0.00 2.28 0.00 0.000 4 0.000 0.041 2565 353 2718 0 0 0 0 0 0 28.83 26.60 28.83

1978 -1.26 -95.2 152.1 -10.0 140 1987 0.15 2.30 0.00 0.000 6 0.177 0.024 2591 1900 2718 0 0 0 0 0 0 26.31 26.70 28.83

2339 -1.29 -95.2 178.9 -7.3 146 2347 0.00 2.42 0.00 0.000 4 0.000 0.041 2591 346 2719 0 0 0 0 0 0 28.83 26.62 28.83

2582 -1.29 -95.2 205.1 -11.0 150 2587 0.00 2.25 0.00 0.000 6 0.000 0.024 2581 1902 2719 0 0 0 0 0 0 28.83 26.72 28.83

2939 -1.33 -95.2 241.1 -9.8 156 2946 0.00 2.42 0.00 0.000 4 0.000 0.041 2581 344 2719 0 0 0 0 0 0 28.83 26.63 28.83

3059 -1.35 -95.2 253.8 -10.1 158 3067 0.00 2.30 0.00 0.000 6 0.000 0.024 2570 1890 2719 0 0 0 0 0 0 28.83 26.73 28.83

3419 -1.38 -95.2 292.5 -10.8 164 3420 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 1890 2719 0 0 0 0 0 0 28.83 28.83 28.83

3719 -1.41 -95.2 323.5 -10.4 169 3726 0.00 2.40 0.00 0.000 4 0.000 0.041 2570 351 2717 0 0 0 0 0 0 28.83 26.63 28.83

3959 -1.41 -95.2 348.2 -10.3 173 3966 0.00 2.30 0.00 0.000 6 0.000 0.024 2558 1892 2716 0 0 0 0 0 0 28.83 26.73 28.83

4319 -1.44 -95.2 382.1 -9.1 179 4327 0.00 2.42 0.00 0.000 4 0.000 0.041 2559 341 2715 0 0 0 0 0 0 28.83 26.63 28.83

4559 -1.44 -95.2 407.2 -10.5 183 4567 0.00 2.33 0.00 0.000 6 0.000 0.024 2547 1894 2715 0 0 0 0 0 0 28.83 26.73 28.83

4919 -1.47 -95.2 439.1 -8.8 189 4927 0.00 2.42 0.00 0.000 4 0.000 0.042 2547 347 2713 0 0 0 0 0 0 28.83 26.62 28.83

5159 -1.47 -95.2 467.7 -11.9 193 5166 0.00 2.33 0.00 0.000 6 0.000 0.025 2536 1896 2712 0 0 0 0 0 0 28.83 26.72 28.83

5579 -1.49 -95.2 518.8 -12.2 199 5586 0.00 2.42 0.00 0.000 4 0.000 0.042 2536 351 2711 0 0 0 0 0 0 28.83 26.62 28.83

5788 -1.49 -95.2 534.7 -12.6 200 5792 0.00 2.30 0.00 0.000 6 0.000 0.025 2525 1885 2710 0 0 0 0 0 0 28.83 26.72 28.83

6169 -1.49 -95.2 592.9 -12.3 204 6173 0.00 2.42 0.00 0.000 4 0.000 0.043 2525 344 2708 0 0 0 0 0 0 28.83 26.60 28.83

6319 -1.49 -95.2 607.8 -12.2 205 6323 0.00 2.33 0.00 0.000 6 0.000 0.025 2514 1889 2707 0 0 0 0 0 0 28.83 26.72 28.83

6630 -1.49 -95.2 651.3 -12.6 208 6631 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 1890 2706 0 0 0 0 0 0 28.83 28.83 28.83

6990 -1.49 -95.2 696.2 -12.5 211 6991 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 1890 2704 0 0 0 0 0 0 28.83 28.83 28.83

7350 -1.49 -95.2 736.4 -11.5 214 7351 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 1890 2704 0 0 0 0 0 0 28.83 28.83 28.83

7711 -1.51 -95.2 772.1 -10.0 217 7718 0.00 2.42 0.00 0.000 4 0.000 0.044 2513 354 2702 0 0 0 0 0 0 28.83 26.58 28.83

7869 -1.51 -95.2 784.6 -10.0 218 7873 0.00 2.33 0.00 0.000 6 0.000 0.025 2502 1894 2700 0 0 0 0 0 0 28.83 26.70 28.83

8180 -1.51 -95.2 822.9 -10.8 221 8187 0.00 2.45 0.00 0.000 4 0.000 0.044 2502 346 2699 0 0 0 0 0 0 28.83 26.57 28.83

8369 -1.51 -95.2 838.0 -11.3 222 8373 0.00 2.33 0.00 0.000 6 0.000 0.025 2491 1885 2699 0 0 0 0 0 0 28.83 26.70 28.83

8771 -1.51 -95.2 896.0 -12.3 226 8772 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 1885 2698 0 0 0 0 0 0 28.83 28.83 28.83

9130 -1.51 -95.2 942.3 -12.7 229 9131 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 1885 2696 0 0 0 0 0 0 28.83 28.83 28.83

9489 end dive: TARGET_DEPTH_EXCEEDED

state 9489 begin apogee

9493 -0.29 0.0 990.2 -13.2 232 9579 1.35 0.00 79.72 1.715 6 0.155 0.000 2900 1833 2318 0 0 0 0 0 0 26.04 28.83 24.01

9581 end apogee: CONTROL_FINISHED_OK

state 9581 begin climb

9582 1.65 95.2 990.2 0.0 232 9680 1.80 2.72 86.30 1.713 4 0.069 0.041 3532 3446 1930 0 0 0 0 0 0 25.18 24.85 23.84

9829 1.59 145.6 980.7 0.0 234 9880 0.15 2.58 43.88 1.668 6 0.207 0.028 3510 1826 1725 0 0 0 0 0 0 25.62 25.86 24.03

10211 1.50 145.6 900.9 16.6 238 10212 0.00 0.00 0.00 0.000 6 0.000 0.000 3510 1826 1719 0 0 0 0 0 0 28.83 28.83 28.83

10570 1.43 145.6 837.4 17.5 241 10579 0.17 2.58 0.00 0.000 4 0.192 0.041 3453 3450 1716 0 0 0 0 0 0 26.08 26.34 28.83

10650 1.36 145.6 837.4 17.5 241 10655 0.10 2.50 0.00 0.000 6 0.203 0.028 3443 1831 1715 0 0 0 0 0 0 26.16 26.40 28.83

11042 1.36 145.6 756.9 17.1 245 11043 0.00 0.00 0.00 0.000 6 0.000 0.000 3443 1831 1713 0 0 0 0 0 0 28.83 28.83 28.83

11401 1.36 145.6 702.0 15.5 248 11402 0.00 0.00 0.00 0.000 6 0.000 0.000 3443 1831 1712 0 0 0 0 0 0 28.83 28.83 28.83

11761 1.36 145.6 652.2 14.0 251 11762 0.00 0.00 0.00 0.000 6 0.000 0.000 3443 1831 1710 0 0 0 0 0 0 28.83 28.83 28.83

12121 1.36 145.6 600.3 14.2 254 12126 0.00 2.55 0.00 0.000 4 0.000 0.040 3437 3450 1711 0 0 0 0 0 0 28.83 26.55 28.83

12202 1.36 145.6 600.3 14.2 254 12206 0.00 2.50 0.00 0.000 6 0.000 0.027 3448 1819 1710 0 0 0 0 0 0 28.83 26.60 28.83

12583 1.36 145.6 527.2 15.9 258 12591 0.00 2.58 0.00 0.000 4 0.000 0.040 3453 3456 1710 0 0 0 0 0 0 28.83 26.56 28.83

12703 1.36 145.6 508.0 15.8 259 12707 0.00 2.50 0.00 0.000 6 0.000 0.027 3460 1821 1711 0 0 0 0 0 0 28.83 26.62 28.83

13054 1.36 145.6 457.7 14.0 264 13056 0.00 0.00 0.00 0.000 6 0.000 0.000 3460 1821 1710 0 0 0 0 0 0 28.83 28.83 28.83

13354 1.36 145.6 409.7 16.3 269 13358 0.00 2.58 0.00 0.000 4 0.000 0.040 3460 3461 1710 0 0 0 0 0 0 28.83 26.56 28.83

13494 1.36 145.6 390.1 17.3 271 13499 0.12 2.50 0.00 0.000 6 0.179 0.027 3442 1822 1710 0 0 0 0 0 0 26.34 26.64 28.83

13817 1.39 145.6 330.6 16.9 277 13824 0.00 2.35 0.00 0.000 4 0.000 0.046 3452 345 1710 0 0 0 0 0 0 28.83 26.55 28.83

13885 1.42 145.6 320.0 17.2 278 13889 0.00 2.33 0.00 0.000 6 0.000 0.025 3449 1882 1709 0 0 0 0 0 0 28.83 26.67 28.83

14227 1.45 145.6 264.6 15.2 284 14228 0.00 0.00 0.00 0.000 6 0.000 0.000 3449 1884 1709 0 0 0 0 0 0 28.83 28.83 28.83

14527 1.49 145.6 217.4 16.0 289 14528 0.00 0.00 0.00 0.000 6 0.000 0.000 3449 1884 1709 0 0 0 0 0 0 28.83 28.83 28.83

14827 1.53 145.6 168.8 16.0 294 14829 0.12 0.00 0.00 0.000 6 0.091 0.000 3501 1884 1709 0 0 0 0 0 0 26.74 28.83 28.83

15127 1.53 145.6 126.7 13.0 301 15134 0.00 2.45 0.00 0.000 4 0.000 0.039 3500 3459 1709 0 0 0 0 0 0 28.83 26.60 28.83

15366 1.53 145.6 89.8 14.5 309 15370 0.00 2.47 0.00 0.000 6 0.000 0.026 3510 1827 1710 0 0 0 0 0 0 28.83 26.66 28.83

15668 1.53 145.6 47.2 13.0 332 15677 0.00 2.55 0.00 0.000 4 0.000 0.038 3510 3462 1710 0 0 0 0 0 0 28.83 26.60 28.83

15907 1.53 145.6 11.5 15.6 356 15912 0.12 2.47 0.00 0.000 6 0.180 0.026 3492 1826 1710 0 0 0 0 0 0 26.35 26.67 28.83

15967 end climb: SURFACE_DEPTH_REACHED

state 15967 begin surface coast

15990 end surface coast: CONTROL_FINISHED_OK

state 15990 begin surface

ID	189	HEADING	-1	ROLL_DEG	45	ALTIM_FREQUENCY	13
MISSION	7	ESCAPE_HEADING	90	C_ROLL_DIVE	1850	ALTIM_PULSE	3
DIVE	58	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1850	ALTIM_SENSITIVITY	4
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	20	XPDR_VALID	4
D_SURF	3	TGT_DEFAULT_LAT	2434	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_FLARE	2	TGT_DEFAULT_LON	-3802	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	-20	INT_PRESSURE_YINT	2.2
D_ABORT	1090	SM_CC	300	R_STBD_OVSHOOT	-20	DEEPGLIDER	0
D_NO_BLEED	200	N_FILEKB	4	ROLL_AD_RATE	350	DEEPGLIDERMB	0
D_BOOST	100	FILEMGR	0	ROLL_MAXERRORS	2	MOTHERBOARD	4
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEVICE1	-1
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE2	-1
D_PITCH	0	PROTOCOL	1	VBD_MIN	500	DEVICE3	-1
D_SAFE	0	N_NOCOMM	5	VBD_MAX	3960	DEVICE4	-1
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2320	DEVICE5	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE6	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	LOGGERS	3
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	LOGGERDEVICE1	53
T_DIVE	540	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE2	67
T_MISSION	570	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE3	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE4	-1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	COMPASS_DEVICE	33
T_TURN_SAMPINT	10	T_GPS	15	UNCOM_BLEED	50	COMPASS2_DEVICE	-1
T_NO_W	720	N_GPS	30	VBD_MAXERRORS	1	PHONE_DEVICE	49
T_LOITER	0	T_GPS_ALMANAC	0	CF8_MAXERRORS	20	GPS_DEVICE	32
T_EPIRB	0	T_GPS_CHARGE	-46946.809	AH0_24V	150	RAFOS_DEVICE	-1
USE_BATHY	0	T_RSLEEP	2	AH0_10V	97	XPDR_DEVICE	24
USE_ICE	0	STROBE	0	MINV_24V	19	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	MINV_10V	8	SIM_PITCH	0
D_OFFGRID	1001	RAFOS_CORR_THRESH	60	FG_AHR_10V	0	SEABIRD_T_G	0.0042969952
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	FG_AHR_24V	0	SEABIRD_T_H	0.00061766658
RELAUNCH	1	PITCH_MIN	165	PHONE_SUPPLY	2	SEABIRD_T_I	2.0722548e-05
APOGEE_PITCH	-5	PITCH_MAX	3928	PRESSURE_YINT	-80.603096	SEABIRD_T_J	1.9705003e-06
MAX_BUOY	150	C_PITCH	3000	PRESSURE_SLOPE	0.0001182519	SEABIRD_C_G	-9.7093372
COURSE_BIAS	0	PITCH_DBAND	0.1	AD7714Ch0Gain	128	SEABIRD_C_H	1.1118598
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0010979992
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00015928292
RHO	1.0233001	PITCH_GAIN	17.5	COMPASS_USE	0	SC_RECORDABOVE	2000.0
MASS	54634	PITCH_TIMEOUT	18	ALTIM_BOTTOM_PING_RANGE	0	SC_PROFILE	3.0
NAV_MODE	1	PITCH_AD_RATE	165	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10	TM_RECORDABOVE	200.0
KALMAN_USE	1	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_TURN_MARGIN	0	TM_PROFILE	3.0
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_TOP_MIN_OBSTACLE	1	TM_XMITPROFILE	3.0
HD_B	0.01103	ROLL_MIN	359	ALTIM_PING_DEPTH	0	TM_LOGSAMPLE	0.0
HD_C	2.7848e-05	ROLL_MAX	3924	ALTIM_PING_DELTA	5	TM_XMITRAW	0.0

GPS1	290912,225235,2431.293,-3802.878,31,0.9,31,-14.0	TGT_NAME	C
_CALLS	1	TGT_LATLONG	2433.000,-3802.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.063,-0.085
_SM_DEPTHo	1.83	KALMAN_X	9721.3,-196.2,123.0,-11311.6,1335.2
_SM_ANGLEo	-63.6	KALMAN_Y	62736.2,-369.3,-335.0,-69969.9,3300.8
GPS2	290912,225954,2431.323,-3802.888,21,0.9,21,-14.0	MHEAD_RNG_PITCHd_Wd	157.3,3447,-26.9,-6.111,-30.00
SPEED_LIMITS	0.106,0.203	D_GRID	990

FINISH	0.6,1.024424	_24V_AH	23.8,12.793
SM_CCo	16008,57.70,0.132,0,0,1094,300.00	_10V_AH	10.4,11.877
SM_GC	1.71,8.73,0.00,57.70,0.043,0.000,0.132,161,1825,1094,-8.83,-0.71,300.00,0,0,0,0,0,0,26.68,28.83,26.26	FG_AHR_24Vo	0.000
IRIDIUM_FIX	2432.32,-3749.59,290912,171706	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964,0.026964	MEM	344752
HUMID	56.69	DATA_FILE_SIZE	10096,364
INTERNAL_PRESSURE	9.10456	CAP_FILE_SIZE	120260,0
TCM_TEMP	23.80	CFSIZE	260034560,248180736
XPDR_PINGS	8	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB	7747616	GPS	300912,032954,2430.842,-3801.193,42,1.0,42,-14.0
TM_FREEKB	7365760

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	222	118.28	nil	0	0	0.00
Roll_motor	101	110	266.83	nil	0	0	0.00
VBD_pump_during_apogee	209	1715	8568.14	nil	0	0	0.00
VBD_pump_during_surface	57	132	181.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	65.51	nil	0	0	0.00
Iridium_during_connect	35	160	135.45	SciCon	15972	7	2865.07
Iridium_during_xfer	197	223	1050.28	TMICL	3945	13	1271.19
Transponder_ping	2	420	19.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	50	11.38
TT8	1431	19	294.78
LPSleep	13035	2	296.90
TT8_Active	467	19	96.36
TT8_Sampling	1423	39	589.30
TT8_CF8	146	45	69.93
TT8_Kalman	33	81	28.29
Analog_circuits	1051	12	131.22
GPS_charging	0	0	0.00
Compass	1053	15	164.29
RAFOS	0	0	0.00
Transponder	0	5	0.03

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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
20	end surface: CONTROL_FINISHED_OK
state	21	begin dive
23	-1.58	-34.0	0.0	0.0	0	56	0.00	0.00	-31.85	0.000	2	0.000	0.000	157	1836	2058	0	0	0	0	0	0	28.83	28.83	28.83
59	-1.59	-45.0	2.4	-4.8	3	87	9.10	2.38	-13.70	0.000	4	0.223	0.055	2481	344	2505	0	0	0	0	0	0	25.92	26.29	26.65
316	-1.42	-45.0	27.9	-12.9	29	325	0.28	2.33	0.00	0.000	6	0.190	0.024	2540	1887	2508	0	0	0	0	0	0	25.94	26.45	28.83
626	-1.36	-45.0	53.0	-6.7	60	627	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	1887	2509	0	0	0	0	0	0	28.83	28.83	28.83
926	-1.37	-95.2	58.7	-0.0	90	936	0.00	2.40	-1.65	0.000	4	0.000	0.054	2549	352	2714	0	0	0	0	0	0	28.83	26.53	26.86
1027	-1.30	-95.2	65.2	-9.5	100	1036	0.12	2.30	0.00	0.000	6	0.167	0.024	2575	1896	2715	0	0	0	0	0	0	26.22	26.63	28.83
1345	-1.30	-95.2	95.0	-9.1	118	1350	0.00	2.40	0.00	0.000	4	0.000	0.038	2565	3450	2717	0	0	0	0	0	0	28.83	26.57	28.83
1426	-1.30	-95.2	101.8	-8.6	121	1431	0.00	2.45	0.00	0.000	6	0.000	0.023	2566	1812	2718	0	0	0	0	0	0	28.83	26.65	28.83
1747	-1.30	-95.2	128.8	-9.2	132	1751	0.00	2.28	0.00	0.000	4	0.000	0.041	2565	353	2718	0	0	0	0	0	0	28.83	26.60	28.83
1978	-1.26	-95.2	152.1	-10.0	140	1987	0.15	2.30	0.00	0.000	6	0.177	0.024	2591	1900	2718	0	0	0	0	0	0	26.31	26.70	28.83
2339	-1.29	-95.2	178.9	-7.3	146	2347	0.00	2.42	0.00	0.000	4	0.000	0.041	2591	346	2719	0	0	0	0	0	0	28.83	26.62	28.83
2582	-1.29	-95.2	205.1	-11.0	150	2587	0.00	2.25	0.00	0.000	6	0.000	0.024	2581	1902	2719	0	0	0	0	0	0	28.83	26.72	28.83
2939	-1.33	-95.2	241.1	-9.8	156	2946	0.00	2.42	0.00	0.000	4	0.000	0.041	2581	344	2719	0	0	0	0	0	0	28.83	26.63	28.83
3059	-1.35	-95.2	253.8	-10.1	158	3067	0.00	2.30	0.00	0.000	6	0.000	0.024	2570	1890	2719	0	0	0	0	0	0	28.83	26.73	28.83
3419	-1.38	-95.2	292.5	-10.8	164	3420	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	1890	2719	0	0	0	0	0	0	28.83	28.83	28.83
3719	-1.41	-95.2	323.5	-10.4	169	3726	0.00	2.40	0.00	0.000	4	0.000	0.041	2570	351	2717	0	0	0	0	0	0	28.83	26.63	28.83
3959	-1.41	-95.2	348.2	-10.3	173	3966	0.00	2.30	0.00	0.000	6	0.000	0.024	2558	1892	2716	0	0	0	0	0	0	28.83	26.73	28.83
4319	-1.44	-95.2	382.1	-9.1	179	4327	0.00	2.42	0.00	0.000	4	0.000	0.041	2559	341	2715	0	0	0	0	0	0	28.83	26.63	28.83
4559	-1.44	-95.2	407.2	-10.5	183	4567	0.00	2.33	0.00	0.000	6	0.000	0.024	2547	1894	2715	0	0	0	0	0	0	28.83	26.73	28.83
4919	-1.47	-95.2	439.1	-8.8	189	4927	0.00	2.42	0.00	0.000	4	0.000	0.042	2547	347	2713	0	0	0	0	0	0	28.83	26.62	28.83
5159	-1.47	-95.2	467.7	-11.9	193	5166	0.00	2.33	0.00	0.000	6	0.000	0.025	2536	1896	2712	0	0	0	0	0	0	28.83	26.72	28.83
5579	-1.49	-95.2	518.8	-12.2	199	5586	0.00	2.42	0.00	0.000	4	0.000	0.042	2536	351	2711	0	0	0	0	0	0	28.83	26.62	28.83
5788	-1.49	-95.2	534.7	-12.6	200	5792	0.00	2.30	0.00	0.000	6	0.000	0.025	2525	1885	2710	0	0	0	0	0	0	28.83	26.72	28.83
6169	-1.49	-95.2	592.9	-12.3	204	6173	0.00	2.42	0.00	0.000	4	0.000	0.043	2525	344	2708	0	0	0	0	0	0	28.83	26.60	28.83
6319	-1.49	-95.2	607.8	-12.2	205	6323	0.00	2.33	0.00	0.000	6	0.000	0.025	2514	1889	2707	0	0	0	0	0	0	28.83	26.72	28.83
6630	-1.49	-95.2	651.3	-12.6	208	6631	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	1890	2706	0	0	0	0	0	0	28.83	28.83	28.83
6990	-1.49	-95.2	696.2	-12.5	211	6991	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	1890	2704	0	0	0	0	0	0	28.83	28.83	28.83
7350	-1.49	-95.2	736.4	-11.5	214	7351	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	1890	2704	0	0	0	0	0	0	28.83	28.83	28.83
7711	-1.51	-95.2	772.1	-10.0	217	7718	0.00	2.42	0.00	0.000	4	0.000	0.044	2513	354	2702	0	0	0	0	0	0	28.83	26.58	28.83
7869	-1.51	-95.2	784.6	-10.0	218	7873	0.00	2.33	0.00	0.000	6	0.000	0.025	2502	1894	2700	0	0	0	0	0	0	28.83	26.70	28.83
8180	-1.51	-95.2	822.9	-10.8	221	8187	0.00	2.45	0.00	0.000	4	0.000	0.044	2502	346	2699	0	0	0	0	0	0	28.83	26.57	28.83
8369	-1.51	-95.2	838.0	-11.3	222	8373	0.00	2.33	0.00	0.000	6	0.000	0.025	2491	1885	2699	0	0	0	0	0	0	28.83	26.70	28.83
8771	-1.51	-95.2	896.0	-12.3	226	8772	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	1885	2698	0	0	0	0	0	0	28.83	28.83	28.83
9130	-1.51	-95.2	942.3	-12.7	229	9131	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	1885	2696	0	0	0	0	0	0	28.83	28.83	28.83
9489	end dive: TARGET_DEPTH_EXCEEDED
state	9489	begin apogee
9493	-0.29	0.0	990.2	-13.2	232	9579	1.35	0.00	79.72	1.715	6	0.155	0.000	2900	1833	2318	0	0	0	0	0	0	26.04	28.83	24.01
9581	end apogee: CONTROL_FINISHED_OK
state	9581	begin climb
9582	1.65	95.2	990.2	0.0	232	9680	1.80	2.72	86.30	1.713	4	0.069	0.041	3532	3446	1930	0	0	0	0	0	0	25.18	24.85	23.84
9829	1.59	145.6	980.7	0.0	234	9880	0.15	2.58	43.88	1.668	6	0.207	0.028	3510	1826	1725	0	0	0	0	0	0	25.62	25.86	24.03
10211	1.50	145.6	900.9	16.6	238	10212	0.00	0.00	0.00	0.000	6	0.000	0.000	3510	1826	1719	0	0	0	0	0	0	28.83	28.83	28.83
10570	1.43	145.6	837.4	17.5	241	10579	0.17	2.58	0.00	0.000	4	0.192	0.041	3453	3450	1716	0	0	0	0	0	0	26.08	26.34	28.83
10650	1.36	145.6	837.4	17.5	241	10655	0.10	2.50	0.00	0.000	6	0.203	0.028	3443	1831	1715	0	0	0	0	0	0	26.16	26.40	28.83
11042	1.36	145.6	756.9	17.1	245	11043	0.00	0.00	0.00	0.000	6	0.000	0.000	3443	1831	1713	0	0	0	0	0	0	28.83	28.83	28.83
11401	1.36	145.6	702.0	15.5	248	11402	0.00	0.00	0.00	0.000	6	0.000	0.000	3443	1831	1712	0	0	0	0	0	0	28.83	28.83	28.83
11761	1.36	145.6	652.2	14.0	251	11762	0.00	0.00	0.00	0.000	6	0.000	0.000	3443	1831	1710	0	0	0	0	0	0	28.83	28.83	28.83
12121	1.36	145.6	600.3	14.2	254	12126	0.00	2.55	0.00	0.000	4	0.000	0.040	3437	3450	1711	0	0	0	0	0	0	28.83	26.55	28.83
12202	1.36	145.6	600.3	14.2	254	12206	0.00	2.50	0.00	0.000	6	0.000	0.027	3448	1819	1710	0	0	0	0	0	0	28.83	26.60	28.83
12583	1.36	145.6	527.2	15.9	258	12591	0.00	2.58	0.00	0.000	4	0.000	0.040	3453	3456	1710	0	0	0	0	0	0	28.83	26.56	28.83
12703	1.36	145.6	508.0	15.8	259	12707	0.00	2.50	0.00	0.000	6	0.000	0.027	3460	1821	1711	0	0	0	0	0	0	28.83	26.62	28.83
13054	1.36	145.6	457.7	14.0	264	13056	0.00	0.00	0.00	0.000	6	0.000	0.000	3460	1821	1710	0	0	0	0	0	0	28.83	28.83	28.83
13354	1.36	145.6	409.7	16.3	269	13358	0.00	2.58	0.00	0.000	4	0.000	0.040	3460	3461	1710	0	0	0	0	0	0	28.83	26.56	28.83
13494	1.36	145.6	390.1	17.3	271	13499	0.12	2.50	0.00	0.000	6	0.179	0.027	3442	1822	1710	0	0	0	0	0	0	26.34	26.64	28.83
13817	1.39	145.6	330.6	16.9	277	13824	0.00	2.35	0.00	0.000	4	0.000	0.046	3452	345	1710	0	0	0	0	0	0	28.83	26.55	28.83
13885	1.42	145.6	320.0	17.2	278	13889	0.00	2.33	0.00	0.000	6	0.000	0.025	3449	1882	1709	0	0	0	0	0	0	28.83	26.67	28.83
14227	1.45	145.6	264.6	15.2	284	14228	0.00	0.00	0.00	0.000	6	0.000	0.000	3449	1884	1709	0	0	0	0	0	0	28.83	28.83	28.83
14527	1.49	145.6	217.4	16.0	289	14528	0.00	0.00	0.00	0.000	6	0.000	0.000	3449	1884	1709	0	0	0	0	0	0	28.83	28.83	28.83
14827	1.53	145.6	168.8	16.0	294	14829	0.12	0.00	0.00	0.000	6	0.091	0.000	3501	1884	1709	0	0	0	0	0	0	26.74	28.83	28.83
15127	1.53	145.6	126.7	13.0	301	15134	0.00	2.45	0.00	0.000	4	0.000	0.039	3500	3459	1709	0	0	0	0	0	0	28.83	26.60	28.83
15366	1.53	145.6	89.8	14.5	309	15370	0.00	2.47	0.00	0.000	6	0.000	0.026	3510	1827	1710	0	0	0	0	0	0	28.83	26.66	28.83
15668	1.53	145.6	47.2	13.0	332	15677	0.00	2.55	0.00	0.000	4	0.000	0.038	3510	3462	1710	0	0	0	0	0	0	28.83	26.60	28.83
15907	1.53	145.6	11.5	15.6	356	15912	0.12	2.47	0.00	0.000	6	0.180	0.026	3492	1826	1710	0	0	0	0	0	0	26.35	26.67	28.83
15967	end climb: SURFACE_DEPTH_REACHED
state	15967	begin surface coast
15990	end surface coast: CONTROL_FINISHED_OK
state	15990	begin surface