Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 750 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 150 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 750 ESCAPE_HEADING_DELTA 5 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 3 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2230 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1740 ALTIM_PULSE 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 7 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 1.75 FILEMGR 2 R_PORT_OVSHOOT 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 29 INT_PRESSURE_YINT 0

D_CALL 3 COMM_SEQ 0 ROLL_AD_RATE 275 DEEPGLIDER 0

SURFACE_URGENCY 10 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOCOMM 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX 5 VBD_MIN 588 DEVICE2 20

T_MISSION 550 CALL_TRIES 3 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2650 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -3 T_GPS 3 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 1 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -139612.41 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 60 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 350 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3700 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2680 PRESSURE_YINT -22.639299 SEABIRD_T_G 0.0043498399

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_H 0.0006493734

MASS 51779 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.8112627e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.1957888e-06

FERRY_MAX 45 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 2 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1366181

HD_A 0.0038000001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00038917549

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 7.9540005e-05

HD_C 2.7999999e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 7 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 1.75 PITCH_MAX 3700 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SAFE 500 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 150 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 5 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 3 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 470

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 3

CALL_TRIES 3 HD_A 0.0038000001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -139612.41

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX 5

C_PITCH 2680 KALMAN_USE 2 ROLL_MIN 294 USE_BATHY -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 1

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 35 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 29 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.106751 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1366181 VBD_MAX 3951

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I 0.00038917549 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 7.9540005e-05 VBD_MIN 588

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043498399 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 0 SEABIRD_T_H 0.0006493734 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8112627e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 3.1957888e-06 XPDR_DEVICE 24

DIVE 750 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1070 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 3 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 003056,6616.704,-5646.163,0,2079.0,0,-36.6 TGT_NAME NUUK1

_CALLS 3 TGT_LATLONG 6600.000,-5700.000

_XMS_NAKs 0 TGT_RADIUS 20000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -32.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 003056,6616.704,-5646.163,0,2079.0,0,-36.6 MHEAD_RNG_PITCHd_Wd 235.2,32644,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 594

Post-dive calculations and measurements:

FREEZE 1.95,-1.594,-1.816 XPDR_PINGS 229

FINISH 2.0,1.026643 _24V_AH 22.1,112.346

RAFOS_CLK 757 _10V_AH 10.4,50.564

RAFOS 2,1233203041,4.416667,4.400278,62,58,58,50,50,49,219,145,836,810,1098,196 DATA_FILE_SIZE 31552,987

RAFOS_FIX 6619.045898,-5648.565430,290109,040452,2,72,0.33 CAP_FILE_SIZE 160356,0

IRIDIUM_FIX 6553.70,-5630.49,230498,232342 CFSIZE 260165632,205623296

TT8_MAMPS 0.026078 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1791 SOUNDSPEED 1462.9

INTERNAL_PRESSURE 9.92226 GPS 290109,042952,6619.046,-5648.565,0,2072.5,0,-36.6

TCM_TEMP 16.10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 238 100.56 SBE_CT 685 24 363.80

Roll_motor 189 81 339.95 SBE_O2 0 0 0.00

VBD_pump_during_apogee 363 1128 9072.41 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 99 103 225.46 nil 0 0 0.00

Iridium_during_connect 85 160 301.03 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 57 420 531.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 183 50 95.27

TT8 1946 19 403.22

LPSleep 13442 2 322.94

TT8_Active 512 19 106.24

TT8_Sampling 2204 39 915.17

TT8_CF8 1053 45 503.22

TT8_Kalman 0 0 0.00

Analog_circuits 1643 12 205.11

GPS_charging 0 0 0.00

Compass 2006 8 166.98

RAFOS 2880 1 44.93

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

21 -0.99 -146.0 0.0 0.0 0 90 0.00 0.00 -67.40 0.000 2 0.000 0.000 330 2246 2711

96 -0.99 -146.0 3.4 -1.7 12 127 8.82 2.25 -17.70 0.000 4 0.239 0.081 2452 3596 3247

284 -0.81 -146.0 23.7 -11.4 44 291 0.20 2.12 0.00 0.000 6 0.141 0.043 2509 2218 3251

632 -0.81 -146.0 49.5 -6.7 105 638 0.00 2.20 0.00 0.000 4 0.000 0.055 2509 818 3251

692 -0.76 -146.0 54.0 -7.4 115 698 0.00 2.30 0.00 0.000 6 0.000 0.056 2502 2240 3251

1039 -0.76 -146.0 77.3 -6.9 176 1045 0.00 2.28 0.00 0.000 4 0.000 0.056 2501 828 3251

1098 -0.76 -146.0 81.8 -7.6 186 1105 0.10 2.30 0.00 0.000 6 0.131 0.056 2519 2246 3251

1445 -0.83 -146.0 108.3 -7.7 233 1449 0.00 2.30 0.00 0.000 4 0.000 0.056 2519 818 3250

1549 -0.83 -146.0 116.4 -7.5 237 1553 0.00 2.30 0.00 0.000 6 0.000 0.057 2511 2232 3250

1867 -0.89 -146.0 136.6 -5.2 252 1872 0.10 2.28 0.00 0.000 4 0.080 0.054 2458 825 3249

1936 -0.74 -146.0 141.8 -7.7 255 1941 0.25 2.30 0.00 0.000 6 0.127 0.056 2520 2240 3249

2260 -0.87 -146.0 156.0 -3.8 271 2265 0.12 2.28 0.00 0.000 4 0.074 0.055 2463 828 3249

2285 -0.87 -146.0 157.3 -5.3 272 2289 0.15 2.30 0.00 0.000 6 0.132 0.055 2493 2245 3248

2614 -0.87 -146.0 173.7 -5.6 288 2618 0.00 2.30 0.00 0.000 4 0.000 0.055 2493 817 3248

2677 -0.87 -146.0 178.2 -7.7 290 2683 0.00 2.30 0.00 0.000 6 0.000 0.054 2486 2234 3248

2994 -0.87 -146.0 199.5 -6.7 306 2998 0.00 2.28 0.00 0.000 4 0.000 0.054 2486 815 3248

3019 -0.87 -146.0 201.2 -7.1 307 3023 0.00 2.30 0.00 0.000 6 0.000 0.053 2476 2240 3248

3354 -0.87 -146.0 221.0 -5.8 323 3358 0.00 2.28 0.00 0.000 4 0.000 0.054 2476 820 3249

3395 -0.80 -146.0 223.7 -6.7 324 3402 0.15 2.30 0.00 0.000 6 0.126 0.053 2507 2244 3249

3714 -0.91 -146.0 238.4 -4.3 340 3718 0.10 2.28 0.00 0.000 4 0.079 0.051 2458 816 3250

3749 -0.76 -146.0 240.4 -5.8 341 3754 0.25 2.30 0.00 0.000 6 0.126 0.051 2520 2245 3250

4067 -0.92 -146.0 252.6 -3.8 356 4071 0.15 2.28 0.00 0.000 4 0.068 0.051 2451 826 3251

4103 -0.74 -146.0 254.5 -5.9 357 4108 0.28 2.28 0.00 0.000 6 0.124 0.051 2521 2243 3251

4423 -0.91 -146.0 266.2 -3.5 372 4427 0.15 2.28 0.00 0.000 4 0.067 0.050 2451 820 3252

4460 -0.74 -146.0 268.1 -5.3 373 4465 0.28 2.28 0.00 0.000 6 0.123 0.050 2522 2241 3252

4778 -0.91 -146.0 282.8 -4.8 388 4783 0.15 2.25 0.00 0.000 4 0.067 0.050 2453 825 3253

4813 -0.75 -146.0 285.1 -7.2 389 4818 0.28 2.25 0.00 0.000 6 0.123 0.050 2523 2232 3253

5132 -0.93 -146.0 300.9 -4.9 404 5136 0.15 2.25 0.00 0.000 4 0.066 0.048 2452 818 3254

5167 -0.77 -146.0 303.5 -7.2 405 5172 0.25 2.28 0.00 0.000 6 0.122 0.048 2516 2244 3254

5486 -0.93 -146.0 318.3 -4.1 420 5490 0.15 2.25 0.00 0.000 4 0.067 0.048 2446 818 3254

5533 -0.76 -146.0 321.1 -6.2 422 5538 0.28 2.25 0.00 0.000 6 0.121 0.049 2517 2240 3255

5867 -0.92 -146.0 333.0 -3.3 438 5872 0.12 2.25 0.00 0.000 4 0.072 0.048 2456 825 3256

5882 -1.01 -146.0 333.5 -3.2 438 5886 0.00 2.25 0.00 0.000 6 0.000 0.048 2447 2239 3256

6206 -0.91 -146.0 351.4 -5.6 454 6207 0.12 0.00 0.00 0.000 6 0.134 0.000 2481 2239 3257

6515 -0.91 -146.0 366.0 -4.7 469 6519 0.00 2.25 0.00 0.000 4 0.000 0.048 2481 814 3257

6563 -0.91 -146.0 368.5 -5.5 471 6567 0.00 2.28 0.00 0.000 6 0.000 0.048 2474 2246 3257

6897 -0.91 -146.0 386.0 -5.3 487 6901 0.00 2.25 0.00 0.000 4 0.000 0.048 2474 823 3257

6915 -0.91 -146.0 386.9 -5.0 487 6921 0.00 2.25 0.00 0.000 6 0.000 0.048 2464 2241 3257

7253 -0.91 -146.0 405.5 -5.6 502 7257 0.00 2.25 0.00 0.000 4 0.000 0.048 2464 818 3258

7277 -0.85 -146.0 406.9 -6.0 502 7282 0.15 2.25 0.00 0.000 6 0.124 0.048 2496 2244 3258

7627 -0.94 -146.0 424.2 -4.9 511 7631 0.00 2.25 0.00 0.000 4 0.000 0.048 2496 821 3258

7664 -0.94 -146.0 426.1 -5.2 511 7668 0.00 2.25 0.00 0.000 6 0.000 0.048 2489 2239 3258

8003 -1.01 -146.0 443.0 -4.9 520 8008 0.10 2.25 0.00 0.000 4 0.076 0.048 2434 812 3259

8051 -0.81 -146.0 445.9 -6.6 521 8056 0.28 2.25 0.00 0.000 6 0.121 0.046 2506 2235 3259

8378 -0.95 -146.0 459.7 -4.1 529 8383 0.12 2.22 0.00 0.000 4 0.070 0.045 2446 825 3259

8413 -0.79 -146.0 461.8 -6.7 529 8418 0.25 2.25 0.00 0.000 6 0.120 0.048 2509 2244 3259

8748 -0.94 -146.0 476.4 -4.5 537 8752 0.12 2.25 0.00 0.000 4 0.071 0.048 2449 817 3260

8771 -0.94 -146.0 477.8 -5.3 537 8775 0.15 2.25 0.00 0.000 6 0.123 0.047 2481 2238 3260

9120 -0.94 -146.0 496.2 -5.3 546 9124 0.00 2.22 0.00 0.000 4 0.000 0.047 2481 826 3260

9173 -0.94 -146.0 499.1 -5.4 547 9177 0.00 2.22 0.00 0.000 6 0.000 0.047 2473 2232 3260

9500 -0.94 -146.0 517.4 -5.6 555 9504 0.00 2.22 0.00 0.000 4 0.000 0.047 2473 816 3260

9559 -0.94 -146.0 520.8 -6.0 556 9563 0.00 2.25 0.00 0.000 6 0.000 0.046 2463 2241 3260

9880 -0.94 -146.0 537.8 -5.2 564 9881 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2241 3261

10204 -0.94 -146.0 554.1 -5.0 572 10205 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2241 3261

10529 -0.94 -146.0 571.3 -5.4 580 10530 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2240 3261

10854 -0.94 -146.0 588.6 -5.4 588 10857 0.00 2.25 0.00 0.000 4 0.000 0.048 2463 815 3261

10935 -0.88 -146.0 593.4 -6.1 589 10940 0.10 2.25 0.00 0.000 6 0.100 0.047 2494 2234 3261

11106 end dive: NO_VERTICAL_VELOCITY

state 11106 begin apogee

11117 -0.31 0.0 593.9 0.0 594 11248 0.35 0.00 128.82 1.128 6 0.080 0.000 2621 1735 2650

11249 end apogee: CONTROL_FINISHED_OK

state 11249 begin climb

11254 0.99 146.0 593.3 0.0 597 11392 0.82 2.47 129.52 1.064 4 0.087 0.052 2908 345 2054

11590 0.80 146.0 558.7 11.3 604 11594 0.20 2.22 0.00 0.000 6 0.126 0.041 2850 1746 2049

11934 0.80 146.0 528.5 9.0 613 11938 0.00 2.20 0.00 0.000 4 0.000 0.054 2850 3163 2047

12072 0.67 146.0 514.8 9.9 616 12077 0.12 2.17 0.00 0.000 6 0.130 0.039 2823 1734 2046

12404 0.73 146.0 489.4 7.7 624 12408 0.00 2.20 0.00 0.000 4 0.000 0.053 2832 337 2046

12440 0.82 146.0 486.5 8.0 624 12444 0.10 2.20 0.00 0.000 6 0.073 0.040 2889 1754 2046

12778 0.67 146.0 452.4 9.8 633 12782 0.22 2.17 0.00 0.000 4 0.121 0.052 2820 3149 2045

12870 0.67 146.0 445.2 7.3 635 12874 0.00 2.17 0.00 0.000 6 0.000 0.039 2828 1725 2045

13202 0.67 146.0 421.7 7.3 643 13206 0.00 2.25 0.00 0.000 4 0.000 0.051 2828 3158 2045

13242 0.61 146.0 418.3 8.5 643 13249 0.10 2.17 0.00 0.000 6 0.133 0.038 2811 1732 2045

13578 0.77 168.7 397.6 6.3 652 13603 0.12 2.30 18.80 0.977 4 0.066 0.052 2879 3140 1962

13627 0.57 168.7 392.7 10.8 654 13632 0.30 2.17 0.00 0.000 6 0.122 0.039 2798 1727 1959

13952 0.84 212.3 373.3 5.6 669 13996 0.20 2.30 38.08 0.978 4 0.051 0.052 2916 333 1784

14037 0.73 212.3 363.3 12.3 672 14044 0.28 2.22 0.00 0.000 6 0.119 0.040 2832 1746 1782

14355 0.83 212.3 338.7 7.3 688 14359 0.10 2.17 0.00 0.000 4 0.073 0.051 2888 3145 1777

14463 0.65 212.3 326.8 12.2 692 14470 0.28 2.17 0.00 0.000 6 0.118 0.039 2814 1726 1775

14781 0.90 267.7 308.3 5.2 708 14832 0.20 0.00 48.62 0.950 6 0.051 0.000 2913 1726 1558

15131 0.76 267.7 269.3 11.6 725 15135 0.20 2.25 0.00 0.000 4 0.120 0.052 2847 3144 1549

15165 0.76 267.7 265.7 9.7 726 15169 0.00 2.17 0.00 0.000 6 0.000 0.039 2854 1726 1548

15489 0.83 267.7 239.7 8.0 742 15493 0.00 2.20 0.00 0.000 4 0.000 0.053 2864 326 1548

15530 0.94 267.7 236.3 7.7 743 15536 0.00 2.22 0.00 0.000 6 0.000 0.041 2864 1755 1548

15847 0.94 267.7 208.9 9.2 759 15851 0.00 2.17 0.00 0.000 4 0.000 0.054 2864 3160 1547

15922 0.88 267.7 201.5 10.4 762 15926 0.00 2.17 0.00 0.000 6 0.000 0.040 2874 1733 1545

16250 0.88 267.7 172.6 8.5 778 16253 0.00 2.20 0.00 0.000 4 0.000 0.053 2883 336 1545

16297 0.96 267.7 168.6 9.1 780 16301 0.00 2.20 0.00 0.000 6 0.000 0.041 2883 1751 1545

16632 0.96 267.7 138.7 9.0 796 16636 0.00 2.20 0.00 0.000 4 0.000 0.056 2883 3157 1545

16712 0.87 267.7 130.6 10.2 799 16717 0.10 2.17 0.00 0.000 6 0.133 0.041 2865 1740 1545

17036 1.00 267.7 108.8 7.4 815 17041 0.12 2.22 0.00 0.000 4 0.067 0.053 2941 329 1544

17099 0.91 267.7 101.0 14.2 817 17106 0.22 2.22 0.00 0.000 6 0.120 0.042 2874 1750 1545

17445 1.10 267.7 73.9 7.4 875 17451 0.15 2.20 0.00 0.000 4 0.059 0.054 2953 3153 1545

17550 0.88 267.7 61.2 12.5 893 17557 0.32 2.20 0.00 0.000 6 0.120 0.041 2864 1725 1545

17899 1.58 267.7 36.4 8.5 954 17906 0.45 2.22 0.00 0.000 4 0.084 0.054 3026 327 1544

17933 1.93 267.7 33.5 9.0 959 17940 0.22 2.22 0.00 0.000 6 0.064 0.043 3117 1747 1545

18081 end climb: SURFACE_DEPTH_REACHED

state 18081 begin surface coast

18093 end surface coast: CONTROL_FINISHED_OK

state 18094 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	150	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	750	ESCAPE_HEADING_DELTA	5	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	3	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2230	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1740	ALTIM_PULSE	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	7	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	1.75	FILEMGR	2	R_PORT_OVSHOOT	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	29	INT_PRESSURE_YINT	0
D_CALL	3	COMM_SEQ	0	ROLL_AD_RATE	275	DEEPGLIDER	0
SURFACE_URGENCY	10	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOCOMM	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	5	VBD_MIN	588	DEVICE2	20
T_MISSION	550	CALL_TRIES	3	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2650	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-3	T_GPS	3	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	1	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-139612.41	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	60	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	350	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3700	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2680	PRESSURE_YINT	-22.639299	SEABIRD_T_G	0.0043498399
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_H	0.0006493734
MASS	51779	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.8112627e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.1957888e-06
FERRY_MAX	45	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	2	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1366181
HD_A	0.0038000001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00038917549
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	7.9540005e-05
HD_C	2.7999999e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	003056,6616.704,-5646.163,0,2079.0,0,-36.6	TGT_NAME	NUUK1
_CALLS	3	TGT_LATLONG	6600.000,-5700.000
_XMS_NAKs	0	TGT_RADIUS	20000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-32.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	003056,6616.704,-5646.163,0,2079.0,0,-36.6	MHEAD_RNG_PITCHd_Wd	235.2,32644,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	594

FREEZE	1.95,-1.594,-1.816	XPDR_PINGS	229
FINISH	2.0,1.026643	_24V_AH	22.1,112.346
RAFOS_CLK	757	_10V_AH	10.4,50.564
RAFOS	2,1233203041,4.416667,4.400278,62,58,58,50,50,49,219,145,836,810,1098,196	DATA_FILE_SIZE	31552,987
RAFOS_FIX	6619.045898,-5648.565430,290109,040452,2,72,0.33	CAP_FILE_SIZE	160356,0
IRIDIUM_FIX	6553.70,-5630.49,230498,232342	CFSIZE	260165632,205623296
TT8_MAMPS	0.026078	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1791	SOUNDSPEED	1462.9
INTERNAL_PRESSURE	9.92226	GPS	290109,042952,6619.046,-5648.565,0,2072.5,0,-36.6
TCM_TEMP	16.10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	238	100.56	SBE_CT	685	24	363.80
Roll_motor	189	81	339.95	SBE_O2	0	0	0.00
VBD_pump_during_apogee	363	1128	9072.41	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	99	103	225.46	nil	0	0	0.00
Iridium_during_connect	85	160	301.03	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	57	420	531.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	183	50	95.27
TT8	1946	19	403.22
LPSleep	13442	2	322.94
TT8_Active	512	19	106.24
TT8_Sampling	2204	39	915.17
TT8_CF8	1053	45	503.22
TT8_Kalman	0	0	0.00
Analog_circuits	1643	12	205.11
GPS_charging	0	0	0.00
Compass	2006	8	166.98
RAFOS	2880	1	44.93
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
21	-0.99	-146.0	0.0	0.0	0	90	0.00	0.00	-67.40	0.000	2	0.000	0.000	330	2246	2711
96	-0.99	-146.0	3.4	-1.7	12	127	8.82	2.25	-17.70	0.000	4	0.239	0.081	2452	3596	3247
284	-0.81	-146.0	23.7	-11.4	44	291	0.20	2.12	0.00	0.000	6	0.141	0.043	2509	2218	3251
632	-0.81	-146.0	49.5	-6.7	105	638	0.00	2.20	0.00	0.000	4	0.000	0.055	2509	818	3251
692	-0.76	-146.0	54.0	-7.4	115	698	0.00	2.30	0.00	0.000	6	0.000	0.056	2502	2240	3251
1039	-0.76	-146.0	77.3	-6.9	176	1045	0.00	2.28	0.00	0.000	4	0.000	0.056	2501	828	3251
1098	-0.76	-146.0	81.8	-7.6	186	1105	0.10	2.30	0.00	0.000	6	0.131	0.056	2519	2246	3251
1445	-0.83	-146.0	108.3	-7.7	233	1449	0.00	2.30	0.00	0.000	4	0.000	0.056	2519	818	3250
1549	-0.83	-146.0	116.4	-7.5	237	1553	0.00	2.30	0.00	0.000	6	0.000	0.057	2511	2232	3250
1867	-0.89	-146.0	136.6	-5.2	252	1872	0.10	2.28	0.00	0.000	4	0.080	0.054	2458	825	3249
1936	-0.74	-146.0	141.8	-7.7	255	1941	0.25	2.30	0.00	0.000	6	0.127	0.056	2520	2240	3249
2260	-0.87	-146.0	156.0	-3.8	271	2265	0.12	2.28	0.00	0.000	4	0.074	0.055	2463	828	3249
2285	-0.87	-146.0	157.3	-5.3	272	2289	0.15	2.30	0.00	0.000	6	0.132	0.055	2493	2245	3248
2614	-0.87	-146.0	173.7	-5.6	288	2618	0.00	2.30	0.00	0.000	4	0.000	0.055	2493	817	3248
2677	-0.87	-146.0	178.2	-7.7	290	2683	0.00	2.30	0.00	0.000	6	0.000	0.054	2486	2234	3248
2994	-0.87	-146.0	199.5	-6.7	306	2998	0.00	2.28	0.00	0.000	4	0.000	0.054	2486	815	3248
3019	-0.87	-146.0	201.2	-7.1	307	3023	0.00	2.30	0.00	0.000	6	0.000	0.053	2476	2240	3248
3354	-0.87	-146.0	221.0	-5.8	323	3358	0.00	2.28	0.00	0.000	4	0.000	0.054	2476	820	3249
3395	-0.80	-146.0	223.7	-6.7	324	3402	0.15	2.30	0.00	0.000	6	0.126	0.053	2507	2244	3249
3714	-0.91	-146.0	238.4	-4.3	340	3718	0.10	2.28	0.00	0.000	4	0.079	0.051	2458	816	3250
3749	-0.76	-146.0	240.4	-5.8	341	3754	0.25	2.30	0.00	0.000	6	0.126	0.051	2520	2245	3250
4067	-0.92	-146.0	252.6	-3.8	356	4071	0.15	2.28	0.00	0.000	4	0.068	0.051	2451	826	3251
4103	-0.74	-146.0	254.5	-5.9	357	4108	0.28	2.28	0.00	0.000	6	0.124	0.051	2521	2243	3251
4423	-0.91	-146.0	266.2	-3.5	372	4427	0.15	2.28	0.00	0.000	4	0.067	0.050	2451	820	3252
4460	-0.74	-146.0	268.1	-5.3	373	4465	0.28	2.28	0.00	0.000	6	0.123	0.050	2522	2241	3252
4778	-0.91	-146.0	282.8	-4.8	388	4783	0.15	2.25	0.00	0.000	4	0.067	0.050	2453	825	3253
4813	-0.75	-146.0	285.1	-7.2	389	4818	0.28	2.25	0.00	0.000	6	0.123	0.050	2523	2232	3253
5132	-0.93	-146.0	300.9	-4.9	404	5136	0.15	2.25	0.00	0.000	4	0.066	0.048	2452	818	3254
5167	-0.77	-146.0	303.5	-7.2	405	5172	0.25	2.28	0.00	0.000	6	0.122	0.048	2516	2244	3254
5486	-0.93	-146.0	318.3	-4.1	420	5490	0.15	2.25	0.00	0.000	4	0.067	0.048	2446	818	3254
5533	-0.76	-146.0	321.1	-6.2	422	5538	0.28	2.25	0.00	0.000	6	0.121	0.049	2517	2240	3255
5867	-0.92	-146.0	333.0	-3.3	438	5872	0.12	2.25	0.00	0.000	4	0.072	0.048	2456	825	3256
5882	-1.01	-146.0	333.5	-3.2	438	5886	0.00	2.25	0.00	0.000	6	0.000	0.048	2447	2239	3256
6206	-0.91	-146.0	351.4	-5.6	454	6207	0.12	0.00	0.00	0.000	6	0.134	0.000	2481	2239	3257
6515	-0.91	-146.0	366.0	-4.7	469	6519	0.00	2.25	0.00	0.000	4	0.000	0.048	2481	814	3257
6563	-0.91	-146.0	368.5	-5.5	471	6567	0.00	2.28	0.00	0.000	6	0.000	0.048	2474	2246	3257
6897	-0.91	-146.0	386.0	-5.3	487	6901	0.00	2.25	0.00	0.000	4	0.000	0.048	2474	823	3257
6915	-0.91	-146.0	386.9	-5.0	487	6921	0.00	2.25	0.00	0.000	6	0.000	0.048	2464	2241	3257
7253	-0.91	-146.0	405.5	-5.6	502	7257	0.00	2.25	0.00	0.000	4	0.000	0.048	2464	818	3258
7277	-0.85	-146.0	406.9	-6.0	502	7282	0.15	2.25	0.00	0.000	6	0.124	0.048	2496	2244	3258
7627	-0.94	-146.0	424.2	-4.9	511	7631	0.00	2.25	0.00	0.000	4	0.000	0.048	2496	821	3258
7664	-0.94	-146.0	426.1	-5.2	511	7668	0.00	2.25	0.00	0.000	6	0.000	0.048	2489	2239	3258
8003	-1.01	-146.0	443.0	-4.9	520	8008	0.10	2.25	0.00	0.000	4	0.076	0.048	2434	812	3259
8051	-0.81	-146.0	445.9	-6.6	521	8056	0.28	2.25	0.00	0.000	6	0.121	0.046	2506	2235	3259
8378	-0.95	-146.0	459.7	-4.1	529	8383	0.12	2.22	0.00	0.000	4	0.070	0.045	2446	825	3259
8413	-0.79	-146.0	461.8	-6.7	529	8418	0.25	2.25	0.00	0.000	6	0.120	0.048	2509	2244	3259
8748	-0.94	-146.0	476.4	-4.5	537	8752	0.12	2.25	0.00	0.000	4	0.071	0.048	2449	817	3260
8771	-0.94	-146.0	477.8	-5.3	537	8775	0.15	2.25	0.00	0.000	6	0.123	0.047	2481	2238	3260
9120	-0.94	-146.0	496.2	-5.3	546	9124	0.00	2.22	0.00	0.000	4	0.000	0.047	2481	826	3260
9173	-0.94	-146.0	499.1	-5.4	547	9177	0.00	2.22	0.00	0.000	6	0.000	0.047	2473	2232	3260
9500	-0.94	-146.0	517.4	-5.6	555	9504	0.00	2.22	0.00	0.000	4	0.000	0.047	2473	816	3260
9559	-0.94	-146.0	520.8	-6.0	556	9563	0.00	2.25	0.00	0.000	6	0.000	0.046	2463	2241	3260
9880	-0.94	-146.0	537.8	-5.2	564	9881	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2241	3261
10204	-0.94	-146.0	554.1	-5.0	572	10205	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2241	3261
10529	-0.94	-146.0	571.3	-5.4	580	10530	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2240	3261
10854	-0.94	-146.0	588.6	-5.4	588	10857	0.00	2.25	0.00	0.000	4	0.000	0.048	2463	815	3261
10935	-0.88	-146.0	593.4	-6.1	589	10940	0.10	2.25	0.00	0.000	6	0.100	0.047	2494	2234	3261
11106	end dive: NO_VERTICAL_VELOCITY
state	11106	begin apogee
11117	-0.31	0.0	593.9	0.0	594	11248	0.35	0.00	128.82	1.128	6	0.080	0.000	2621	1735	2650
11249	end apogee: CONTROL_FINISHED_OK
state	11249	begin climb
11254	0.99	146.0	593.3	0.0	597	11392	0.82	2.47	129.52	1.064	4	0.087	0.052	2908	345	2054
11590	0.80	146.0	558.7	11.3	604	11594	0.20	2.22	0.00	0.000	6	0.126	0.041	2850	1746	2049
11934	0.80	146.0	528.5	9.0	613	11938	0.00	2.20	0.00	0.000	4	0.000	0.054	2850	3163	2047
12072	0.67	146.0	514.8	9.9	616	12077	0.12	2.17	0.00	0.000	6	0.130	0.039	2823	1734	2046
12404	0.73	146.0	489.4	7.7	624	12408	0.00	2.20	0.00	0.000	4	0.000	0.053	2832	337	2046
12440	0.82	146.0	486.5	8.0	624	12444	0.10	2.20	0.00	0.000	6	0.073	0.040	2889	1754	2046
12778	0.67	146.0	452.4	9.8	633	12782	0.22	2.17	0.00	0.000	4	0.121	0.052	2820	3149	2045
12870	0.67	146.0	445.2	7.3	635	12874	0.00	2.17	0.00	0.000	6	0.000	0.039	2828	1725	2045
13202	0.67	146.0	421.7	7.3	643	13206	0.00	2.25	0.00	0.000	4	0.000	0.051	2828	3158	2045
13242	0.61	146.0	418.3	8.5	643	13249	0.10	2.17	0.00	0.000	6	0.133	0.038	2811	1732	2045
13578	0.77	168.7	397.6	6.3	652	13603	0.12	2.30	18.80	0.977	4	0.066	0.052	2879	3140	1962
13627	0.57	168.7	392.7	10.8	654	13632	0.30	2.17	0.00	0.000	6	0.122	0.039	2798	1727	1959
13952	0.84	212.3	373.3	5.6	669	13996	0.20	2.30	38.08	0.978	4	0.051	0.052	2916	333	1784
14037	0.73	212.3	363.3	12.3	672	14044	0.28	2.22	0.00	0.000	6	0.119	0.040	2832	1746	1782
14355	0.83	212.3	338.7	7.3	688	14359	0.10	2.17	0.00	0.000	4	0.073	0.051	2888	3145	1777
14463	0.65	212.3	326.8	12.2	692	14470	0.28	2.17	0.00	0.000	6	0.118	0.039	2814	1726	1775
14781	0.90	267.7	308.3	5.2	708	14832	0.20	0.00	48.62	0.950	6	0.051	0.000	2913	1726	1558
15131	0.76	267.7	269.3	11.6	725	15135	0.20	2.25	0.00	0.000	4	0.120	0.052	2847	3144	1549
15165	0.76	267.7	265.7	9.7	726	15169	0.00	2.17	0.00	0.000	6	0.000	0.039	2854	1726	1548
15489	0.83	267.7	239.7	8.0	742	15493	0.00	2.20	0.00	0.000	4	0.000	0.053	2864	326	1548
15530	0.94	267.7	236.3	7.7	743	15536	0.00	2.22	0.00	0.000	6	0.000	0.041	2864	1755	1548
15847	0.94	267.7	208.9	9.2	759	15851	0.00	2.17	0.00	0.000	4	0.000	0.054	2864	3160	1547
15922	0.88	267.7	201.5	10.4	762	15926	0.00	2.17	0.00	0.000	6	0.000	0.040	2874	1733	1545
16250	0.88	267.7	172.6	8.5	778	16253	0.00	2.20	0.00	0.000	4	0.000	0.053	2883	336	1545
16297	0.96	267.7	168.6	9.1	780	16301	0.00	2.20	0.00	0.000	6	0.000	0.041	2883	1751	1545
16632	0.96	267.7	138.7	9.0	796	16636	0.00	2.20	0.00	0.000	4	0.000	0.056	2883	3157	1545
16712	0.87	267.7	130.6	10.2	799	16717	0.10	2.17	0.00	0.000	6	0.133	0.041	2865	1740	1545
17036	1.00	267.7	108.8	7.4	815	17041	0.12	2.22	0.00	0.000	4	0.067	0.053	2941	329	1544
17099	0.91	267.7	101.0	14.2	817	17106	0.22	2.22	0.00	0.000	6	0.120	0.042	2874	1750	1545
17445	1.10	267.7	73.9	7.4	875	17451	0.15	2.20	0.00	0.000	4	0.059	0.054	2953	3153	1545
17550	0.88	267.7	61.2	12.5	893	17557	0.32	2.20	0.00	0.000	6	0.120	0.041	2864	1725	1545
17899	1.58	267.7	36.4	8.5	954	17906	0.45	2.22	0.00	0.000	4	0.084	0.054	3026	327	1544
17933	1.93	267.7	33.5	9.0	959	17940	0.22	2.22	0.00	0.000	6	0.064	0.043	3117	1747	1545
18081	end climb: SURFACE_DEPTH_REACHED
state	18081	begin surface coast
18093	end surface coast: CONTROL_FINISHED_OK
state	18094	begin surface