Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 205 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 205 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 31 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 22 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 110 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 400 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2782 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1.5 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 20 PITCH_MIN 225 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2800 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 P_OVSHOOT_WITHG 0 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.25 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2782 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 500 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 5

DIVE 205 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 31 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 22 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 400 MISSION 5 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 220218,211544,-7411.4170,-11304.0547,0,3123.0,0,53.7,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 2 TGT_NAME ip2

_XMS_NAKs 0 TGT_LATLONG -7414.000,-11248.200

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 392.72 MHEAD_RNG_PITCHd_Wd 67.2,9302,-16.5,-9.429,-19.22,2384

_SM_ANGLEo 1.5 D_GRID 990

GPS2 220218,211544,-7411.4170,-11304.0547,0,3123.0,0,53.7,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 399.06,-0.760,-2.177,2,5,0 _24V_AH 12.26,82.275

FINISH1 399.1,1.027500,0 _10V_AH 12.27,0.000

FINISH2 398.0 FG_AHR_24Vo 0.000

RAFOS_CLK 344 FG_AHR_10Vo 0.000

RAFOS_FIX -7411.872559,-11305.336914,220218,232339,0,1,0.11 MEM 280040

IRIDIUM_FIX -7413.09,-11243.88,220218,093243 DATA_FILE_SIZE 30020,862

TT8_MAMPS 0.040446,0.372253 CAP_FILE_SIZE 100320,0

HUMID 49.60 CFSIZE 1024409600,996065280

INTERNAL_PRESSURE 8.25812 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.70 SOUNDSPEED 1458.4

XPDR_PINGS 0 GPS 220218,235939,-7411.873,-11305.337,0,1001.0,0,53.7,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 275 14.86 nil 0 0 0.00

Roll_motor 67 112 93.41 nil 0 0 0.00

VBD_pump_during_apogee 350 3103 13334.69 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 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 9404 9 1147.86

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 35 420 181.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7183 2 203.60

TT8_Active 400 13 67.97

TT8_Sampling 1786 34 762.74

TT8_CF8 102 52 66.17

TT8_Kalman 0 0 0.00

Analog_circuits 1042 10 139.42

GPS_charging 0 0 0.00

Compass 1235 7 113.50

RAFOS 0 0 0.00

Transponder 250 30 92.16

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

392.5 154.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

828.0 53.20 9000.00 0.0 0.00 0.00 53.20 881.2 -0.23 1.00

834.4 43.70 9000.00 0.0 -0.24 1.00 43.70 878.1 -1.48 1.00

841.0 25.90 9000.00 0.0 -2.08 0.97 25.90 866.9 -2.70 1.00

847.7 8.50 9000.00 0.0 -2.63 1.00 8.50 856.2 -2.60 1.00

854.2 49.80 9000.00 0.0 1.79 0.32 49.80 0.0 6.35 1.00

871.8 18.20 9000.00 0.0 -0.06 0.00 18.20 890.0 -1.80 1.00

865.6 14.80 9000.00 0.0 -1.96 0.82 14.80 850.8 0.55 1.00

859.3 18.70 9000.00 0.0 -0.04 0.02 18.70 0.0 -0.62 1.00

853.0 25.40 24.90 0.0 -0.84 0.98 25.40 0.0 -1.06 1.00

840.0 31.30 9000.00 0.0 -0.62 0.95 31.30 0.0 -0.45 1.00

833.8 38.40 9000.00 0.0 -0.65 0.94 38.40 0.0 -1.15 1.00

825.4 35.80 9000.00 0.0 -0.27 0.30 35.80 789.6 0.31 1.00

817.9 30.50 9000.00 0.0 0.49 0.95 30.50 787.4 0.71 1.00

810.4 28.10 9000.00 0.0 0.52 0.96 28.10 782.3 0.32 1.00

803.2 30.10 9000.00 0.0 0.03 0.02 30.10 0.0 -0.28 1.00

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.93 -146.0 2811 2308 2820 2771 0.0 0.0 0 12 0.00 0.00 -2.00 0.046 16390 0.000 0.000 2812 2308 3395 3418 3372 0 0 0 0 0 0 14.95 13.43 14.95

14 -0.93 -146.0 2813 2309 3419 3373 0.0 0.0 0 20 0.98 2.53 0.00 0.000 4356 0.125 0.106 2496 3719 3394 3417 3372 0 0 0 0 0 0 14.62 14.66 14.69

169 -0.93 -146.0 2495 3717 3416 3373 407.9 -11.4 31 176 0.00 2.47 0.00 0.000 1030 0.000 0.047 2496 2284 3394 3416 3372 0 0 0 0 0 0 14.78 14.74 14.82

475 -0.93 -146.0 2495 2285 3415 3373 440.3 -10.8 62 475 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2284 3394 3416 3372 0 0 0 0 0 0 15.03 15.06 15.06

775 -0.93 -146.0 2497 2285 3418 3372 473.2 -11.0 92 775 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2284 3393 3416 3371 0 0 0 0 0 0 15.04 15.07 15.07

1075 -0.93 -146.0 2497 2285 3418 3371 504.8 -10.3 122 1075 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2284 3394 3418 3371 0 0 0 0 0 0 15.05 15.08 15.08

1375 -0.93 -146.0 2497 2285 3418 3371 537.2 -11.2 152 1380 0.00 2.50 0.00 0.000 516 0.000 0.081 2496 901 3393 3416 3370 0 0 0 0 0 0 15.07 14.71 15.09

1405 -0.93 -146.0 2496 901 3416 3371 540.7 -12.1 158 1411 0.00 2.53 0.00 0.000 1030 0.000 0.074 2488 2297 3393 3416 3370 0 0 0 0 0 0 14.81 14.73 14.85

1715 -0.93 -146.0 2488 2298 3416 3370 577.2 -11.7 190 1716 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2298 3393 3416 3370 0 0 0 0 0 0 15.08 15.11 15.10

2015 -0.93 -146.0 2489 2296 3417 3370 611.5 -11.5 220 2016 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2298 3392 3416 3369 0 0 0 0 0 0 15.09 15.11 15.11

2315 -0.93 -146.0 2491 2298 3418 3369 645.6 -11.2 250 2321 0.00 2.47 0.00 0.000 516 0.000 0.079 2488 899 3394 3420 3368 0 0 0 0 0 0 15.09 14.75 15.11

2335 -0.93 -146.0 2489 900 3418 3369 647.9 -11.8 254 2341 0.00 2.50 0.00 0.000 1030 0.000 0.073 2478 2311 3392 3416 3368 0 0 0 0 0 0 14.90 14.78 14.93

2645 -0.93 -146.0 2478 2312 3416 3369 683.1 -10.9 286 2646 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2311 3392 3416 3368 0 0 0 0 0 0 15.09 15.12 15.11

2956 -0.93 -146.0 2478 2312 3415 3369 718.5 -11.5 307 2956 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2311 3392 3416 3368 0 0 0 0 0 0 15.05 15.08 15.08

3317 -0.93 -146.0 2478 2312 3416 3369 759.3 -11.4 319 3322 0.00 2.55 0.00 0.000 260 0.000 0.112 2474 3715 3392 3416 3368 0 0 0 0 0 0 15.07 14.72 15.09

3351 -0.93 -146.0 2475 3716 3418 3369 763.6 -12.4 326 3356 0.00 2.42 0.00 0.000 1030 0.000 0.048 2470 2295 3390 3416 3364 0 0 0 0 0 0 14.88 14.83 14.91

3737 -0.93 -146.0 2474 2294 3416 3368 808.3 -11.7 343 3737 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2293 3392 3416 3368 0 0 0 0 0 0 15.07 15.09 15.09

4097 -0.93 -146.0 2472 2294 3408 3369 847.7 -11.2 355 4102 0.00 2.60 0.00 0.000 260 0.000 0.107 2462 3727 3392 3416 3368 0 0 0 0 0 0 15.08 14.75 15.10

4132 -0.93 -146.0 2461 3732 3415 3368 851.3 -9.0 362 4138 0.10 2.45 0.00 0.000 3078 0.240 0.047 2503 2268 3391 3415 3368 0 0 0 0 0 0 14.60 14.85 14.85

4518 -0.93 -146.0 2502 2267 3415 3368 858.9 -1.8 379 4523 0.00 2.35 0.00 0.000 548 0.000 0.068 2503 912 3391 3416 3367 0 0 0 0 0 0 15.11 14.77 15.14

4748 -0.93 -146.0 2504 913 3418 3371 864.5 -2.4 425 4753 0.00 2.45 0.00 0.000 1062 0.000 0.069 2503 2317 3391 3416 3367 0 0 0 0 0 0 14.92 14.80 14.95

5118 -0.93 -146.0 2502 2318 3416 3368 870.3 -1.3 439 5123 0.00 2.42 0.00 0.000 548 0.000 0.067 2503 910 3391 3416 3367 0 0 0 0 0 0 15.11 14.76 15.14

5301 end dive: NO_VERTICAL_VELOCITY

state 5301 begin apogee

5306 -0.23 0.0 2504 2116 3418 3368 871.5 0.0 476 5477 0.77 0.00 168.25 3.104 10246 0.208 0.000 2723 2115 2781 2819 2744 0 0 0 0 0 0 14.62 13.39 12.36

5478 end apogee: CONTROL_FINISHED_OK

state 5478 begin climb

5480 0.93 146.0 2724 2115 2821 2743 871.6 0.0 481 5673 1.27 2.83 182.20 3.088 10500 0.129 0.096 3093 3510 2185 2232 2138 0 0 0 0 0 0 13.39 13.23 12.26

5837 0.93 146.0 3099 3511 2221 2131 834.7 13.1 550 5844 0.00 2.47 0.00 0.000 1030 0.000 0.046 3103 2119 2176 2222 2130 0 0 0 0 0 0 14.12 14.04 14.14

6214 0.93 146.0 3103 2119 2215 2126 788.0 12.7 565 6219 0.00 2.58 0.00 0.000 260 0.000 0.099 3103 3518 2170 2215 2125 0 0 0 0 0 0 14.73 14.49 14.76

6238 0.93 146.0 3102 3518 2215 2132 784.4 14.2 570 6246 0.00 2.50 0.00 0.000 1030 0.000 0.050 3112 2095 2170 2215 2125 0 0 0 0 0 0 14.66 14.54 14.68

6604 0.93 146.0 3108 2096 2211 2125 736.7 12.9 583 6605 0.00 0.00 0.00 0.000 6 0.000 0.000 3112 2095 2168 2212 2124 0 0 0 0 0 0 14.95 14.97 14.97

6963 0.93 146.0 3112 2095 2209 2125 689.4 13.3 599 6969 0.00 2.58 0.00 0.000 260 0.000 0.099 3112 3520 2166 2209 2123 0 0 0 0 0 0 15.02 14.71 15.04

6993 0.93 146.0 3113 3520 2210 2124 685.1 13.3 605 6999 0.00 2.45 0.00 0.000 1030 0.000 0.050 3123 2098 2166 2209 2124 0 0 0 0 0 0 14.80 14.74 14.83

7303 0.93 146.0 3124 2099 2211 2124 644.2 13.0 637 7309 0.00 2.60 0.00 0.000 260 0.000 0.099 3123 3516 2166 2208 2124 0 0 0 0 0 0 15.06 14.71 15.09

7343 0.93 146.0 3122 3516 2207 2124 638.6 14.3 645 7349 0.15 2.40 0.00 0.000 5126 0.275 0.050 3099 2096 2165 2208 2123 0 0 0 0 0 0 14.55 14.73 14.78

7654 0.93 146.0 3100 2096 2210 2124 603.3 11.4 677 7654 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2095 2165 2207 2123 0 0 0 0 0 0 15.07 15.10 15.10

7954 0.93 146.0 3099 2097 2209 2124 568.3 11.6 707 7959 0.00 2.55 0.00 0.000 260 0.000 0.097 3099 3513 2165 2207 2123 0 0 0 0 0 0 15.09 14.78 15.11

7984 0.93 146.0 3100 3514 2209 2124 564.5 12.4 713 7989 0.00 2.45 0.00 0.000 1030 0.000 0.050 3108 2087 2165 2207 2123 0 0 0 0 0 0 14.88 14.81 14.90

8294 0.93 146.0 3108 2089 2207 2124 526.4 12.4 745 8294 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2087 2162 2201 2123 0 0 0 0 0 0 15.10 15.13 15.13

8594 0.93 146.0 3109 2088 2207 2123 490.6 11.7 775 8594 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2087 2163 2205 2122 0 0 0 0 0 0 15.11 15.14 15.14

8894 0.93 146.0 3108 2088 2205 2123 455.5 11.6 805 8899 0.00 2.62 0.00 0.000 260 0.000 0.099 3108 3515 2163 2205 2122 0 0 0 0 0 0 15.11 14.68 15.14

8964 0.93 146.0 3109 3515 2207 2123 446.7 12.1 819 8969 0.00 2.45 0.00 0.000 1030 0.000 0.048 3119 2086 2163 2205 2122 0 0 0 0 0 0 14.96 14.83 14.98

9274 0.93 146.0 3119 2086 2207 2123 410.4 11.7 851 9275 0.00 0.00 0.00 0.000 6 0.000 0.000 3119 2086 2163 2205 2122 0 0 0 0 0 0 15.11 15.14 15.13

9372 end climb: FINISH_DEPTH_REACHED

state 9373 begin subsurface finish

9376 0.00 0.0 3119 2086 2204 2122 399.1 11.3 861 9386 1.12 0.00 -2.25 0.041 20486 0.209 0.000 2798 2086 2802 2834 2770 0 0 0 0 0 0 14.66 13.43 14.90

9386 end subsurface finish: CONTROL_FINISHED_OK

state 9386 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	205	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	31	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	22	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	110	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	400	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2782	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1.5	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	20	PITCH_MIN	225	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2800	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	220218,211544,-7411.4170,-11304.0547,0,3123.0,0,53.7,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	2	TGT_NAME	ip2
_XMS_NAKs	0	TGT_LATLONG	-7414.000,-11248.200
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	392.72	MHEAD_RNG_PITCHd_Wd	67.2,9302,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	1.5	D_GRID	990
GPS2	220218,211544,-7411.4170,-11304.0547,0,3123.0,0,53.7,0.0,0.0,0,0.0

FREEZE	399.06,-0.760,-2.177,2,5,0	_24V_AH	12.26,82.275
FINISH1	399.1,1.027500,0	_10V_AH	12.27,0.000
FINISH2	398.0	FG_AHR_24Vo	0.000
RAFOS_CLK	344	FG_AHR_10Vo	0.000
RAFOS_FIX	-7411.872559,-11305.336914,220218,232339,0,1,0.11	MEM	280040
IRIDIUM_FIX	-7413.09,-11243.88,220218,093243	DATA_FILE_SIZE	30020,862
TT8_MAMPS	0.040446,0.372253	CAP_FILE_SIZE	100320,0
HUMID	49.60	CFSIZE	1024409600,996065280
INTERNAL_PRESSURE	8.25812	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.70	SOUNDSPEED	1458.4
XPDR_PINGS	0	GPS	220218,235939,-7411.873,-11305.337,0,1001.0,0,53.7,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	275	14.86	nil	0	0	0.00
Roll_motor	67	112	93.41	nil	0	0	0.00
VBD_pump_during_apogee	350	3103	13334.69	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	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	9404	9	1147.86
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	35	420	181.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7183	2	203.60
TT8_Active	400	13	67.97
TT8_Sampling	1786	34	762.74
TT8_CF8	102	52	66.17
TT8_Kalman	0	0	0.00
Analog_circuits	1042	10	139.42
GPS_charging	0	0	0.00
Compass	1235	7	113.50
RAFOS	0	0	0.00
Transponder	250	30	92.16

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R
392.5	154.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
828.0	53.20	9000.00	0.0	0.00	0.00	53.20	881.2	-0.23	1.00
834.4	43.70	9000.00	0.0	-0.24	1.00	43.70	878.1	-1.48	1.00
841.0	25.90	9000.00	0.0	-2.08	0.97	25.90	866.9	-2.70	1.00
847.7	8.50	9000.00	0.0	-2.63	1.00	8.50	856.2	-2.60	1.00
854.2	49.80	9000.00	0.0	1.79	0.32	49.80	0.0	6.35	1.00
871.8	18.20	9000.00	0.0	-0.06	0.00	18.20	890.0	-1.80	1.00

865.6	14.80	9000.00	0.0	-1.96	0.82	14.80	850.8	0.55	1.00
859.3	18.70	9000.00	0.0	-0.04	0.02	18.70	0.0	-0.62	1.00
853.0	25.40	24.90	0.0	-0.84	0.98	25.40	0.0	-1.06	1.00
840.0	31.30	9000.00	0.0	-0.62	0.95	31.30	0.0	-0.45	1.00
833.8	38.40	9000.00	0.0	-0.65	0.94	38.40	0.0	-1.15	1.00
825.4	35.80	9000.00	0.0	-0.27	0.30	35.80	789.6	0.31	1.00
817.9	30.50	9000.00	0.0	0.49	0.95	30.50	787.4	0.71	1.00
810.4	28.10	9000.00	0.0	0.52	0.96	28.10	782.3	0.32	1.00
803.2	30.10	9000.00	0.0	0.03	0.02	30.10	0.0	-0.28	1.00

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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.93	-146.0	2811	2308	2820	2771	0.0	0.0	0	12	0.00	0.00	-2.00	0.046	16390	0.000	0.000	2812	2308	3395	3418	3372	0	0	0	0	0	0	14.95	13.43	14.95
14	-0.93	-146.0	2813	2309	3419	3373	0.0	0.0	0	20	0.98	2.53	0.00	0.000	4356	0.125	0.106	2496	3719	3394	3417	3372	0	0	0	0	0	0	14.62	14.66	14.69
169	-0.93	-146.0	2495	3717	3416	3373	407.9	-11.4	31	176	0.00	2.47	0.00	0.000	1030	0.000	0.047	2496	2284	3394	3416	3372	0	0	0	0	0	0	14.78	14.74	14.82
475	-0.93	-146.0	2495	2285	3415	3373	440.3	-10.8	62	475	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2284	3394	3416	3372	0	0	0	0	0	0	15.03	15.06	15.06
775	-0.93	-146.0	2497	2285	3418	3372	473.2	-11.0	92	775	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2284	3393	3416	3371	0	0	0	0	0	0	15.04	15.07	15.07
1075	-0.93	-146.0	2497	2285	3418	3371	504.8	-10.3	122	1075	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2284	3394	3418	3371	0	0	0	0	0	0	15.05	15.08	15.08
1375	-0.93	-146.0	2497	2285	3418	3371	537.2	-11.2	152	1380	0.00	2.50	0.00	0.000	516	0.000	0.081	2496	901	3393	3416	3370	0	0	0	0	0	0	15.07	14.71	15.09
1405	-0.93	-146.0	2496	901	3416	3371	540.7	-12.1	158	1411	0.00	2.53	0.00	0.000	1030	0.000	0.074	2488	2297	3393	3416	3370	0	0	0	0	0	0	14.81	14.73	14.85
1715	-0.93	-146.0	2488	2298	3416	3370	577.2	-11.7	190	1716	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2298	3393	3416	3370	0	0	0	0	0	0	15.08	15.11	15.10
2015	-0.93	-146.0	2489	2296	3417	3370	611.5	-11.5	220	2016	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2298	3392	3416	3369	0	0	0	0	0	0	15.09	15.11	15.11
2315	-0.93	-146.0	2491	2298	3418	3369	645.6	-11.2	250	2321	0.00	2.47	0.00	0.000	516	0.000	0.079	2488	899	3394	3420	3368	0	0	0	0	0	0	15.09	14.75	15.11
2335	-0.93	-146.0	2489	900	3418	3369	647.9	-11.8	254	2341	0.00	2.50	0.00	0.000	1030	0.000	0.073	2478	2311	3392	3416	3368	0	0	0	0	0	0	14.90	14.78	14.93
2645	-0.93	-146.0	2478	2312	3416	3369	683.1	-10.9	286	2646	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2311	3392	3416	3368	0	0	0	0	0	0	15.09	15.12	15.11
2956	-0.93	-146.0	2478	2312	3415	3369	718.5	-11.5	307	2956	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2311	3392	3416	3368	0	0	0	0	0	0	15.05	15.08	15.08
3317	-0.93	-146.0	2478	2312	3416	3369	759.3	-11.4	319	3322	0.00	2.55	0.00	0.000	260	0.000	0.112	2474	3715	3392	3416	3368	0	0	0	0	0	0	15.07	14.72	15.09
3351	-0.93	-146.0	2475	3716	3418	3369	763.6	-12.4	326	3356	0.00	2.42	0.00	0.000	1030	0.000	0.048	2470	2295	3390	3416	3364	0	0	0	0	0	0	14.88	14.83	14.91
3737	-0.93	-146.0	2474	2294	3416	3368	808.3	-11.7	343	3737	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2293	3392	3416	3368	0	0	0	0	0	0	15.07	15.09	15.09
4097	-0.93	-146.0	2472	2294	3408	3369	847.7	-11.2	355	4102	0.00	2.60	0.00	0.000	260	0.000	0.107	2462	3727	3392	3416	3368	0	0	0	0	0	0	15.08	14.75	15.10
4132	-0.93	-146.0	2461	3732	3415	3368	851.3	-9.0	362	4138	0.10	2.45	0.00	0.000	3078	0.240	0.047	2503	2268	3391	3415	3368	0	0	0	0	0	0	14.60	14.85	14.85
4518	-0.93	-146.0	2502	2267	3415	3368	858.9	-1.8	379	4523	0.00	2.35	0.00	0.000	548	0.000	0.068	2503	912	3391	3416	3367	0	0	0	0	0	0	15.11	14.77	15.14
4748	-0.93	-146.0	2504	913	3418	3371	864.5	-2.4	425	4753	0.00	2.45	0.00	0.000	1062	0.000	0.069	2503	2317	3391	3416	3367	0	0	0	0	0	0	14.92	14.80	14.95
5118	-0.93	-146.0	2502	2318	3416	3368	870.3	-1.3	439	5123	0.00	2.42	0.00	0.000	548	0.000	0.067	2503	910	3391	3416	3367	0	0	0	0	0	0	15.11	14.76	15.14
5301	end dive: NO_VERTICAL_VELOCITY
state	5301	begin apogee
5306	-0.23	0.0	2504	2116	3418	3368	871.5	0.0	476	5477	0.77	0.00	168.25	3.104	10246	0.208	0.000	2723	2115	2781	2819	2744	0	0	0	0	0	0	14.62	13.39	12.36
5478	end apogee: CONTROL_FINISHED_OK
state	5478	begin climb
5480	0.93	146.0	2724	2115	2821	2743	871.6	0.0	481	5673	1.27	2.83	182.20	3.088	10500	0.129	0.096	3093	3510	2185	2232	2138	0	0	0	0	0	0	13.39	13.23	12.26
5837	0.93	146.0	3099	3511	2221	2131	834.7	13.1	550	5844	0.00	2.47	0.00	0.000	1030	0.000	0.046	3103	2119	2176	2222	2130	0	0	0	0	0	0	14.12	14.04	14.14
6214	0.93	146.0	3103	2119	2215	2126	788.0	12.7	565	6219	0.00	2.58	0.00	0.000	260	0.000	0.099	3103	3518	2170	2215	2125	0	0	0	0	0	0	14.73	14.49	14.76
6238	0.93	146.0	3102	3518	2215	2132	784.4	14.2	570	6246	0.00	2.50	0.00	0.000	1030	0.000	0.050	3112	2095	2170	2215	2125	0	0	0	0	0	0	14.66	14.54	14.68
6604	0.93	146.0	3108	2096	2211	2125	736.7	12.9	583	6605	0.00	0.00	0.00	0.000	6	0.000	0.000	3112	2095	2168	2212	2124	0	0	0	0	0	0	14.95	14.97	14.97
6963	0.93	146.0	3112	2095	2209	2125	689.4	13.3	599	6969	0.00	2.58	0.00	0.000	260	0.000	0.099	3112	3520	2166	2209	2123	0	0	0	0	0	0	15.02	14.71	15.04
6993	0.93	146.0	3113	3520	2210	2124	685.1	13.3	605	6999	0.00	2.45	0.00	0.000	1030	0.000	0.050	3123	2098	2166	2209	2124	0	0	0	0	0	0	14.80	14.74	14.83
7303	0.93	146.0	3124	2099	2211	2124	644.2	13.0	637	7309	0.00	2.60	0.00	0.000	260	0.000	0.099	3123	3516	2166	2208	2124	0	0	0	0	0	0	15.06	14.71	15.09
7343	0.93	146.0	3122	3516	2207	2124	638.6	14.3	645	7349	0.15	2.40	0.00	0.000	5126	0.275	0.050	3099	2096	2165	2208	2123	0	0	0	0	0	0	14.55	14.73	14.78
7654	0.93	146.0	3100	2096	2210	2124	603.3	11.4	677	7654	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2095	2165	2207	2123	0	0	0	0	0	0	15.07	15.10	15.10
7954	0.93	146.0	3099	2097	2209	2124	568.3	11.6	707	7959	0.00	2.55	0.00	0.000	260	0.000	0.097	3099	3513	2165	2207	2123	0	0	0	0	0	0	15.09	14.78	15.11
7984	0.93	146.0	3100	3514	2209	2124	564.5	12.4	713	7989	0.00	2.45	0.00	0.000	1030	0.000	0.050	3108	2087	2165	2207	2123	0	0	0	0	0	0	14.88	14.81	14.90
8294	0.93	146.0	3108	2089	2207	2124	526.4	12.4	745	8294	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2087	2162	2201	2123	0	0	0	0	0	0	15.10	15.13	15.13
8594	0.93	146.0	3109	2088	2207	2123	490.6	11.7	775	8594	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2087	2163	2205	2122	0	0	0	0	0	0	15.11	15.14	15.14
8894	0.93	146.0	3108	2088	2205	2123	455.5	11.6	805	8899	0.00	2.62	0.00	0.000	260	0.000	0.099	3108	3515	2163	2205	2122	0	0	0	0	0	0	15.11	14.68	15.14
8964	0.93	146.0	3109	3515	2207	2123	446.7	12.1	819	8969	0.00	2.45	0.00	0.000	1030	0.000	0.048	3119	2086	2163	2205	2122	0	0	0	0	0	0	14.96	14.83	14.98
9274	0.93	146.0	3119	2086	2207	2123	410.4	11.7	851	9275	0.00	0.00	0.00	0.000	6	0.000	0.000	3119	2086	2163	2205	2122	0	0	0	0	0	0	15.11	15.14	15.13
9372	end climb: FINISH_DEPTH_REACHED
state	9373	begin subsurface finish
9376	0.00	0.0	3119	2086	2204	2122	399.1	11.3	861	9386	1.12	0.00	-2.25	0.041	20486	0.209	0.000	2798	2086	2802	2834	2770	0	0	0	0	0	0	14.66	13.43	14.90
9386	end subsurface finish: CONTROL_FINISHED_OK
state	9386	begin surface