Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 212 * 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 212 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 30 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 24 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 220 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 212 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 30 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 24 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 220 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 230218,121600,-7418.9355,-11247.9678,0,4109.3,0,53.7,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 2 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7424.000,-11300.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 272.66 MHEAD_RNG_PITCHd_Wd 158.9,11131,-16.5,-9.429,-19.22,2384

_SM_ANGLEo 0.3 D_GRID 990

GPS2 230218,121600,-7418.9355,-11247.9678,0,4109.3,0,53.7,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 276.0,1.027374,6 _24V_AH 12.34,84.713

FINISH2 275.0 _10V_AH 12.30,0.000

RAFOS_CLK 259 FG_AHR_24Vo 0.000

RAFOS 0,1519398060,15.032778,15.016666,159,60,57,56,54,53,629,130,148,213,169,189 FG_AHR_10Vo 0.000

RAFOS_FIX -7419.895508,-11252.706055,230218,151512,3,159,0.28 MEM 280000

IRIDIUM_FIX -7413.09,-11243.88,220218,093243 DATA_FILE_SIZE 26783,797

TT8_MAMPS 0.040446,0.772968 CAP_FILE_SIZE 95224,0

HUMID 49.33 CFSIZE 1024409600,995246080

INTERNAL_PRESSURE 8.23859 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.30 INTR 0,3266.83,0x214570,2,24

XPDR_PINGS 0 SOUNDSPEED 1454.3

ALTIM_TOP_PING 276.0,6.5 GPS 230218,151512,-7419.896,-11252.706,0,4159.3,0,53.7,0.0,0.0,0,0.0

ALTIM_BOTTOM_PING 677.6,12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 246 13.53 nil 0 0 0.00

Roll_motor 76 110 104.26 nil 0 0 0.00

VBD_pump_during_apogee 335 3013 12491.22 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 7018 11 1017.75

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 31 420 163.26 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 4914 2 139.64

TT8_Active 407 13 69.20

TT8_Sampling 1668 34 713.97

TT8_CF8 96 52 62.63

TT8_Kalman 0 0 0.00

Analog_circuits 1022 10 137.06

GPS_charging 0 0 0.00

Compass 1144 7 105.45

RAFOS 720 1 13.28

Transponder 219 30 81.03

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

280.2 13.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

286.3 19.20 9000.00 0.0 0.00 0.00 19.20 0.0 0.97 1.00

292.7 26.70 26.50 0.0 1.07 1.00 26.70 0.0 1.17 1.00

299.2 32.30 32.60 0.0 1.01 0.99 32.30 0.0 0.86 1.00

305.9 39.30 39.10 0.0 0.95 1.00 39.30 0.0 1.04 1.00

624.7 111.60 9000.00 0.0 0.24 1.00 111.60 0.0 0.23 1.00

658.6 32.00 9000.00 0.0 0.08 0.12 32.00 690.6 -2.35 1.00

664.9 25.60 9000.00 0.0 -2.21 0.99 25.60 690.5 -1.02 1.00

671.5 19.00 19.00 690.5 -1.01 1.00 19.00 690.5 -1.00 1.00

677.6 12.40 12.50 690.1 -1.04 1.00 12.40 690.0 -1.08 1.00

676.1 14.40 14.20 0.0 -1.06 1.00 0.00 0.0 0.00 0.00

669.8 16.20 9000.00 0.0 -0.43 0.86 16.20 0.0 -0.29 1.00

663.2 21.40 9000.00 0.0 -0.54 0.93 21.40 0.0 -0.79 1.00

376.2 116.30 9000.00 0.0 -0.34 1.00 116.30 0.0 -0.33 1.00

323.2 60.10 9000.00 0.0 -0.19 0.51 60.10 263.1 1.06 1.00

316.2 52.00 52.30 263.9 1.07 1.00 52.00 264.2 1.16 1.00

309.1 41.30 9000.00 0.0 1.34 0.99 41.30 267.8 1.51 1.00

302.3 34.00 9000.00 0.0 1.30 0.99 34.00 268.3 1.07 1.00

295.6 27.40 27.30 268.3 1.03 1.00 27.40 268.2 0.99 1.00

289.1 20.40 20.50 268.6 1.02 1.00 20.40 268.7 1.08 1.00

282.5 13.10 13.20 269.3 1.09 1.00 13.10 269.4 1.11 1.00

276.0 6.70 6.50 269.5 1.04 1.00 6.70 269.3 0.98 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 2807 2316 2805 2735 0.0 0.0 0 13 0.00 0.00 -2.50 0.037 16390 0.000 0.000 2805 2315 3392 3412 3372 0 0 0 0 0 0 15.06 13.46 15.05

14 -0.93 -146.0 2807 2316 3414 3374 0.0 0.0 0 23 0.95 0.00 0.00 0.000 4102 0.122 0.000 2497 2315 3392 3412 3373 0 0 0 0 0 0 14.73 14.91 14.88

320 -0.93 -146.0 2497 2316 3412 3371 309.9 -13.3 31 326 0.00 2.55 0.00 0.000 516 0.000 0.080 2498 886 3390 3411 3370 0 0 0 0 0 0 15.09 14.76 15.11

365 -0.93 -146.0 2498 886 3414 3371 315.7 -12.5 40 372 0.00 2.55 0.00 0.000 1030 0.000 0.073 2489 2299 3391 3412 3371 0 0 0 0 0 0 14.83 14.76 14.88

670 -0.93 -146.0 2490 2300 3414 3371 355.5 -12.9 71 671 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2299 3391 3412 3370 0 0 0 0 0 0 15.07 15.11 15.10

970 -0.93 -146.0 2489 2300 3412 3370 395.2 -13.5 101 977 0.00 2.62 0.00 0.000 260 0.000 0.109 2479 3719 3390 3411 3369 0 0 0 0 0 0 15.09 14.72 15.11

1016 -0.93 -146.0 2478 3720 3411 3369 401.5 -13.6 110 1023 0.00 2.45 0.00 0.000 1030 0.000 0.047 2479 2293 3387 3406 3369 0 0 0 0 0 0 14.91 14.83 14.90

1321 -0.93 -146.0 2478 2293 3410 3369 439.6 -12.4 141 1328 0.00 2.47 0.00 0.000 516 0.000 0.077 2479 890 3390 3412 3368 0 0 0 0 0 0 15.09 14.76 15.12

1362 -0.93 -146.0 2477 893 3411 3369 445.1 -13.3 149 1369 0.00 2.53 0.00 0.000 1030 0.000 0.071 2475 2328 3390 3412 3368 0 0 0 0 0 0 14.90 14.77 14.95

1673 -0.93 -146.0 2474 2329 3413 3369 485.8 -13.4 181 1680 0.00 2.55 0.00 0.000 260 0.000 0.107 2464 3713 3389 3411 3368 0 0 0 0 0 0 15.09 14.70 15.12

1734 -0.93 -146.0 2465 3714 3413 3369 494.5 -14.7 193 1741 0.10 2.45 0.00 0.000 3078 0.236 0.047 2500 2284 3389 3411 3367 0 0 0 0 0 0 14.60 14.82 14.86

2045 -0.93 -146.0 2501 2285 3413 3368 532.1 -12.0 225 2052 0.00 2.47 0.00 0.000 516 0.000 0.079 2500 905 3389 3412 3367 0 0 0 0 0 0 15.08 14.71 15.10

2096 -0.93 -146.0 2501 906 3414 3368 538.4 -12.3 235 2102 0.00 2.50 0.00 0.000 1030 0.000 0.070 2491 2300 3389 3412 3367 0 0 0 0 0 0 14.92 14.75 14.95

2406 -0.93 -146.0 2490 2302 3411 3368 576.5 -12.1 267 2412 0.00 2.47 0.00 0.000 516 0.000 0.076 2491 901 3389 3411 3367 0 0 0 0 0 0 15.09 14.75 15.12

2446 -0.93 -146.0 2492 900 3414 3369 581.4 -12.2 275 2452 0.00 2.50 0.00 0.000 1030 0.000 0.075 2488 2311 3390 3412 3368 0 0 0 0 0 0 14.90 14.76 14.92

2757 -0.93 -146.0 2487 2312 3411 3368 618.6 -11.8 307 2762 0.00 2.55 0.00 0.000 260 0.000 0.108 2479 3721 3387 3412 3363 0 0 0 0 0 0 15.04 14.73 15.07

2816 -0.93 -146.0 2478 3721 3411 3367 626.1 -12.9 319 2822 0.00 2.42 0.00 0.000 1030 0.000 0.046 2478 2302 3390 3412 3369 0 0 0 0 0 0 14.86 14.82 14.88

3127 -0.93 -146.0 2478 2302 3411 3368 663.6 -12.5 351 3132 0.00 2.47 0.00 0.000 516 0.000 0.076 2478 892 3389 3412 3367 0 0 0 0 0 0 15.11 14.75 15.14

3171 -0.93 -146.0 2478 893 3411 3367 669.6 -13.3 360 3178 0.00 2.55 0.00 0.000 1030 0.000 0.073 2476 2310 3390 3412 3368 0 0 0 0 0 0 14.81 14.74 14.87

3265 end dive: BOTTOM_OBSTACLE_DETECTED

state 3265 begin apogee

3269 -0.23 0.0 2477 2061 3414 3368 681.2 -12.0 370 3439 0.90 0.08 161.15 3.013 10246 0.220 0.110 2726 2119 2778 2818 2739 0 0 0 0 0 0 14.58 13.41 12.47

3441 end apogee: CONTROL_FINISHED_OK

state 3441 begin climb

3443 0.93 146.0 2725 2120 2817 2743 686.4 0.0 387 3627 1.27 2.78 174.77 2.913 10756 0.133 0.089 3108 727 2185 2239 2132 0 0 0 0 0 0 13.48 13.26 12.34

3656 0.93 146.0 3110 726 2235 2130 669.8 12.2 425 3663 0.00 2.60 0.00 0.000 1030 0.000 0.060 3104 2100 2180 2233 2128 0 0 0 0 0 0 13.66 13.59 13.69

3968 0.93 146.0 3109 2102 2227 2123 631.1 12.2 457 3974 0.00 2.65 0.00 0.000 260 0.000 0.098 3109 3519 2174 2228 2120 0 0 0 0 0 0 14.50 14.27 14.54

4028 0.93 146.0 3108 3518 2224 2122 622.5 14.2 469 4035 0.00 2.47 0.00 0.000 1030 0.000 0.049 3119 2133 2173 2224 2122 0 0 0 0 0 0 14.50 14.38 14.52

4339 0.93 146.0 3118 2129 2220 2121 580.9 14.0 501 4346 0.00 2.67 0.00 0.000 516 0.000 0.097 3126 667 2170 2220 2120 0 0 0 0 0 0 14.86 14.58 14.89

4370 0.93 146.0 3126 667 2219 2121 576.5 13.9 507 4376 0.00 2.58 0.00 0.000 1030 0.000 0.063 3126 2109 2169 2219 2120 0 0 0 0 0 0 14.68 14.62 14.72

4681 0.93 146.0 3128 2106 2220 2121 534.7 12.9 539 4686 0.00 2.53 0.00 0.000 260 0.000 0.097 3127 3510 2169 2218 2121 0 0 0 0 0 0 14.97 14.67 15.00

4755 0.93 146.0 3126 3510 2217 2121 524.3 13.8 554 4763 0.10 2.45 0.00 0.000 5126 0.246 0.049 3096 2099 2169 2218 2120 0 0 0 0 0 0 14.57 14.75 14.79

5061 0.93 146.0 3096 2100 2218 2120 490.1 10.2 585 5061 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2099 2168 2216 2120 0 0 0 0 0 0 15.04 15.07 15.06

5360 0.93 146.0 3097 2102 2217 2119 458.0 10.5 615 5366 0.00 2.55 0.00 0.000 260 0.000 0.097 3095 3511 2167 2215 2120 0 0 0 0 0 0 15.06 14.74 15.09

5430 0.93 146.0 3096 3511 2217 2121 449.6 12.1 629 5437 0.00 2.45 0.00 0.000 1030 0.000 0.049 3105 2093 2169 2215 2124 0 0 0 0 0 0 14.83 14.78 14.85

5742 0.93 146.0 3105 2094 2216 2121 415.1 11.3 661 5743 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2093 2167 2214 2120 0 0 0 0 0 0 15.06 15.06 15.06

6043 0.93 146.0 3104 2093 2214 2120 382.8 11.0 691 6048 0.00 2.55 0.00 0.000 260 0.000 0.096 3105 3510 2168 2214 2122 0 0 0 0 0 0 15.04 14.78 15.07

6107 0.93 146.0 3106 3511 2216 2121 374.3 12.1 704 6114 0.00 2.40 0.00 0.000 1030 0.000 0.047 3115 2088 2166 2213 2120 0 0 0 0 0 0 14.92 14.83 14.95

6412 0.93 146.0 3115 2088 2213 2121 340.9 11.2 735 6418 0.00 2.58 0.00 0.000 260 0.000 0.097 3115 3516 2167 2214 2120 0 0 0 0 0 0 15.08 14.77 15.10

6442 0.93 146.0 3116 3516 2216 2121 337.5 12.6 741 6451 0.00 2.45 0.00 0.000 1030 0.000 0.050 3125 2101 2166 2213 2120 0 0 0 0 0 0 14.86 14.79 14.88

6755 0.93 146.0 3126 2102 2215 2120 301.2 11.3 773 6756 0.00 0.00 0.00 0.000 6 0.000 0.000 3126 2101 2166 2213 2120 0 0 0 0 0 0 15.09 15.12 15.11

6985 end climb: SURFACE_OBSTACLE_DETECTED

state 6985 begin subsurface finish

6989 0.01 6.4 3125 2101 2214 2121 276.0 10.8 796 6998 1.12 0.00 -2.55 0.037 20486 0.210 0.000 2804 2101 2766 2801 2731 0 0 0 0 0 0 14.66 13.96 14.90

6998 end subsurface finish: CONTROL_FINISHED_OK

state 6998 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	212	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	30	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	24	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	220	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	230218,121600,-7418.9355,-11247.9678,0,4109.3,0,53.7,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	2	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7424.000,-11300.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	272.66	MHEAD_RNG_PITCHd_Wd	158.9,11131,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	0.3	D_GRID	990
GPS2	230218,121600,-7418.9355,-11247.9678,0,4109.3,0,53.7,0.0,0.0,0,0.0

FINISH1	276.0,1.027374,6	_24V_AH	12.34,84.713
FINISH2	275.0	_10V_AH	12.30,0.000
RAFOS_CLK	259	FG_AHR_24Vo	0.000
RAFOS	0,1519398060,15.032778,15.016666,159,60,57,56,54,53,629,130,148,213,169,189	FG_AHR_10Vo	0.000
RAFOS_FIX	-7419.895508,-11252.706055,230218,151512,3,159,0.28	MEM	280000
IRIDIUM_FIX	-7413.09,-11243.88,220218,093243	DATA_FILE_SIZE	26783,797
TT8_MAMPS	0.040446,0.772968	CAP_FILE_SIZE	95224,0
HUMID	49.33	CFSIZE	1024409600,995246080
INTERNAL_PRESSURE	8.23859	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.30	INTR	0,3266.83,0x214570,2,24
XPDR_PINGS	0	SOUNDSPEED	1454.3
ALTIM_TOP_PING	276.0,6.5	GPS	230218,151512,-7419.896,-11252.706,0,4159.3,0,53.7,0.0,0.0,0,0.0
ALTIM_BOTTOM_PING	677.6,12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	246	13.53	nil	0	0	0.00
Roll_motor	76	110	104.26	nil	0	0	0.00
VBD_pump_during_apogee	335	3013	12491.22	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	7018	11	1017.75
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	31	420	163.26	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	4914	2	139.64
TT8_Active	407	13	69.20
TT8_Sampling	1668	34	713.97
TT8_CF8	96	52	62.63
TT8_Kalman	0	0	0.00
Analog_circuits	1022	10	137.06
GPS_charging	0	0	0.00
Compass	1144	7	105.45
RAFOS	720	1	13.28
Transponder	219	30	81.03

		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
280.2	13.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
286.3	19.20	9000.00	0.0	0.00	0.00	19.20	0.0	0.97	1.00
292.7	26.70	26.50	0.0	1.07	1.00	26.70	0.0	1.17	1.00
299.2	32.30	32.60	0.0	1.01	0.99	32.30	0.0	0.86	1.00
305.9	39.30	39.10	0.0	0.95	1.00	39.30	0.0	1.04	1.00
624.7	111.60	9000.00	0.0	0.24	1.00	111.60	0.0	0.23	1.00
658.6	32.00	9000.00	0.0	0.08	0.12	32.00	690.6	-2.35	1.00
664.9	25.60	9000.00	0.0	-2.21	0.99	25.60	690.5	-1.02	1.00
671.5	19.00	19.00	690.5	-1.01	1.00	19.00	690.5	-1.00	1.00
677.6	12.40	12.50	690.1	-1.04	1.00	12.40	690.0	-1.08	1.00

676.1	14.40	14.20	0.0	-1.06	1.00	0.00	0.0	0.00	0.00
669.8	16.20	9000.00	0.0	-0.43	0.86	16.20	0.0	-0.29	1.00
663.2	21.40	9000.00	0.0	-0.54	0.93	21.40	0.0	-0.79	1.00
376.2	116.30	9000.00	0.0	-0.34	1.00	116.30	0.0	-0.33	1.00
323.2	60.10	9000.00	0.0	-0.19	0.51	60.10	263.1	1.06	1.00
316.2	52.00	52.30	263.9	1.07	1.00	52.00	264.2	1.16	1.00
309.1	41.30	9000.00	0.0	1.34	0.99	41.30	267.8	1.51	1.00
302.3	34.00	9000.00	0.0	1.30	0.99	34.00	268.3	1.07	1.00
295.6	27.40	27.30	268.3	1.03	1.00	27.40	268.2	0.99	1.00
289.1	20.40	20.50	268.6	1.02	1.00	20.40	268.7	1.08	1.00
282.5	13.10	13.20	269.3	1.09	1.00	13.10	269.4	1.11	1.00
276.0	6.70	6.50	269.5	1.04	1.00	6.70	269.3	0.98	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	2807	2316	2805	2735	0.0	0.0	0	13	0.00	0.00	-2.50	0.037	16390	0.000	0.000	2805	2315	3392	3412	3372	0	0	0	0	0	0	15.06	13.46	15.05
14	-0.93	-146.0	2807	2316	3414	3374	0.0	0.0	0	23	0.95	0.00	0.00	0.000	4102	0.122	0.000	2497	2315	3392	3412	3373	0	0	0	0	0	0	14.73	14.91	14.88
320	-0.93	-146.0	2497	2316	3412	3371	309.9	-13.3	31	326	0.00	2.55	0.00	0.000	516	0.000	0.080	2498	886	3390	3411	3370	0	0	0	0	0	0	15.09	14.76	15.11
365	-0.93	-146.0	2498	886	3414	3371	315.7	-12.5	40	372	0.00	2.55	0.00	0.000	1030	0.000	0.073	2489	2299	3391	3412	3371	0	0	0	0	0	0	14.83	14.76	14.88
670	-0.93	-146.0	2490	2300	3414	3371	355.5	-12.9	71	671	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2299	3391	3412	3370	0	0	0	0	0	0	15.07	15.11	15.10
970	-0.93	-146.0	2489	2300	3412	3370	395.2	-13.5	101	977	0.00	2.62	0.00	0.000	260	0.000	0.109	2479	3719	3390	3411	3369	0	0	0	0	0	0	15.09	14.72	15.11
1016	-0.93	-146.0	2478	3720	3411	3369	401.5	-13.6	110	1023	0.00	2.45	0.00	0.000	1030	0.000	0.047	2479	2293	3387	3406	3369	0	0	0	0	0	0	14.91	14.83	14.90
1321	-0.93	-146.0	2478	2293	3410	3369	439.6	-12.4	141	1328	0.00	2.47	0.00	0.000	516	0.000	0.077	2479	890	3390	3412	3368	0	0	0	0	0	0	15.09	14.76	15.12
1362	-0.93	-146.0	2477	893	3411	3369	445.1	-13.3	149	1369	0.00	2.53	0.00	0.000	1030	0.000	0.071	2475	2328	3390	3412	3368	0	0	0	0	0	0	14.90	14.77	14.95
1673	-0.93	-146.0	2474	2329	3413	3369	485.8	-13.4	181	1680	0.00	2.55	0.00	0.000	260	0.000	0.107	2464	3713	3389	3411	3368	0	0	0	0	0	0	15.09	14.70	15.12
1734	-0.93	-146.0	2465	3714	3413	3369	494.5	-14.7	193	1741	0.10	2.45	0.00	0.000	3078	0.236	0.047	2500	2284	3389	3411	3367	0	0	0	0	0	0	14.60	14.82	14.86
2045	-0.93	-146.0	2501	2285	3413	3368	532.1	-12.0	225	2052	0.00	2.47	0.00	0.000	516	0.000	0.079	2500	905	3389	3412	3367	0	0	0	0	0	0	15.08	14.71	15.10
2096	-0.93	-146.0	2501	906	3414	3368	538.4	-12.3	235	2102	0.00	2.50	0.00	0.000	1030	0.000	0.070	2491	2300	3389	3412	3367	0	0	0	0	0	0	14.92	14.75	14.95
2406	-0.93	-146.0	2490	2302	3411	3368	576.5	-12.1	267	2412	0.00	2.47	0.00	0.000	516	0.000	0.076	2491	901	3389	3411	3367	0	0	0	0	0	0	15.09	14.75	15.12
2446	-0.93	-146.0	2492	900	3414	3369	581.4	-12.2	275	2452	0.00	2.50	0.00	0.000	1030	0.000	0.075	2488	2311	3390	3412	3368	0	0	0	0	0	0	14.90	14.76	14.92
2757	-0.93	-146.0	2487	2312	3411	3368	618.6	-11.8	307	2762	0.00	2.55	0.00	0.000	260	0.000	0.108	2479	3721	3387	3412	3363	0	0	0	0	0	0	15.04	14.73	15.07
2816	-0.93	-146.0	2478	3721	3411	3367	626.1	-12.9	319	2822	0.00	2.42	0.00	0.000	1030	0.000	0.046	2478	2302	3390	3412	3369	0	0	0	0	0	0	14.86	14.82	14.88
3127	-0.93	-146.0	2478	2302	3411	3368	663.6	-12.5	351	3132	0.00	2.47	0.00	0.000	516	0.000	0.076	2478	892	3389	3412	3367	0	0	0	0	0	0	15.11	14.75	15.14
3171	-0.93	-146.0	2478	893	3411	3367	669.6	-13.3	360	3178	0.00	2.55	0.00	0.000	1030	0.000	0.073	2476	2310	3390	3412	3368	0	0	0	0	0	0	14.81	14.74	14.87
3265	end dive: BOTTOM_OBSTACLE_DETECTED
state	3265	begin apogee
3269	-0.23	0.0	2477	2061	3414	3368	681.2	-12.0	370	3439	0.90	0.08	161.15	3.013	10246	0.220	0.110	2726	2119	2778	2818	2739	0	0	0	0	0	0	14.58	13.41	12.47
3441	end apogee: CONTROL_FINISHED_OK
state	3441	begin climb
3443	0.93	146.0	2725	2120	2817	2743	686.4	0.0	387	3627	1.27	2.78	174.77	2.913	10756	0.133	0.089	3108	727	2185	2239	2132	0	0	0	0	0	0	13.48	13.26	12.34
3656	0.93	146.0	3110	726	2235	2130	669.8	12.2	425	3663	0.00	2.60	0.00	0.000	1030	0.000	0.060	3104	2100	2180	2233	2128	0	0	0	0	0	0	13.66	13.59	13.69
3968	0.93	146.0	3109	2102	2227	2123	631.1	12.2	457	3974	0.00	2.65	0.00	0.000	260	0.000	0.098	3109	3519	2174	2228	2120	0	0	0	0	0	0	14.50	14.27	14.54
4028	0.93	146.0	3108	3518	2224	2122	622.5	14.2	469	4035	0.00	2.47	0.00	0.000	1030	0.000	0.049	3119	2133	2173	2224	2122	0	0	0	0	0	0	14.50	14.38	14.52
4339	0.93	146.0	3118	2129	2220	2121	580.9	14.0	501	4346	0.00	2.67	0.00	0.000	516	0.000	0.097	3126	667	2170	2220	2120	0	0	0	0	0	0	14.86	14.58	14.89
4370	0.93	146.0	3126	667	2219	2121	576.5	13.9	507	4376	0.00	2.58	0.00	0.000	1030	0.000	0.063	3126	2109	2169	2219	2120	0	0	0	0	0	0	14.68	14.62	14.72
4681	0.93	146.0	3128	2106	2220	2121	534.7	12.9	539	4686	0.00	2.53	0.00	0.000	260	0.000	0.097	3127	3510	2169	2218	2121	0	0	0	0	0	0	14.97	14.67	15.00
4755	0.93	146.0	3126	3510	2217	2121	524.3	13.8	554	4763	0.10	2.45	0.00	0.000	5126	0.246	0.049	3096	2099	2169	2218	2120	0	0	0	0	0	0	14.57	14.75	14.79
5061	0.93	146.0	3096	2100	2218	2120	490.1	10.2	585	5061	0.00	0.00	0.00	0.000	6	0.000	0.000	3096	2099	2168	2216	2120	0	0	0	0	0	0	15.04	15.07	15.06
5360	0.93	146.0	3097	2102	2217	2119	458.0	10.5	615	5366	0.00	2.55	0.00	0.000	260	0.000	0.097	3095	3511	2167	2215	2120	0	0	0	0	0	0	15.06	14.74	15.09
5430	0.93	146.0	3096	3511	2217	2121	449.6	12.1	629	5437	0.00	2.45	0.00	0.000	1030	0.000	0.049	3105	2093	2169	2215	2124	0	0	0	0	0	0	14.83	14.78	14.85
5742	0.93	146.0	3105	2094	2216	2121	415.1	11.3	661	5743	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	2093	2167	2214	2120	0	0	0	0	0	0	15.06	15.06	15.06
6043	0.93	146.0	3104	2093	2214	2120	382.8	11.0	691	6048	0.00	2.55	0.00	0.000	260	0.000	0.096	3105	3510	2168	2214	2122	0	0	0	0	0	0	15.04	14.78	15.07
6107	0.93	146.0	3106	3511	2216	2121	374.3	12.1	704	6114	0.00	2.40	0.00	0.000	1030	0.000	0.047	3115	2088	2166	2213	2120	0	0	0	0	0	0	14.92	14.83	14.95
6412	0.93	146.0	3115	2088	2213	2121	340.9	11.2	735	6418	0.00	2.58	0.00	0.000	260	0.000	0.097	3115	3516	2167	2214	2120	0	0	0	0	0	0	15.08	14.77	15.10
6442	0.93	146.0	3116	3516	2216	2121	337.5	12.6	741	6451	0.00	2.45	0.00	0.000	1030	0.000	0.050	3125	2101	2166	2213	2120	0	0	0	0	0	0	14.86	14.79	14.88
6755	0.93	146.0	3126	2102	2215	2120	301.2	11.3	773	6756	0.00	0.00	0.00	0.000	6	0.000	0.000	3126	2101	2166	2213	2120	0	0	0	0	0	0	15.09	15.12	15.11
6985	end climb: SURFACE_OBSTACLE_DETECTED
state	6985	begin subsurface finish
6989	0.01	6.4	3125	2101	2214	2121	276.0	10.8	796	6998	1.12	0.00	-2.55	0.037	20486	0.210	0.000	2804	2101	2766	2801	2731	0	0	0	0	0	0	14.66	13.96	14.90
6998	end subsurface finish: CONTROL_FINISHED_OK
state	6998	begin surface