Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 480 * 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 480 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 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 25 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 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 10 FILEMGR 2 VBD_MIN 900 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 330 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 4320 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 -7 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 0.059999999 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 110 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 10 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 4320

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 330

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 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 P_OVSHOOT_WITHG 0 T_MISSION 420

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 -7

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 480 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 25 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 23 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 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 060918,181008,-7408.9326,-11259.7832,0,3105.0,0,53.2,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.239

_CALLS 3 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7407.000,-11308.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 15.85 MHEAD_RNG_PITCHd_Wd 257.5,5492,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -7.8 D_GRID 990

GPS2 060918,181008,-7408.9326,-11259.7832,0,3105.0,0,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 7.55,-1.837,-1.873,2,77,0 ALTIM_BOTTOM_PING 660.6,10.4

FINISH1 7.5,1.027408,5 _24V_AH 11.62,171.470

FINISH2 7.9 _10V_AH 11.79,0.000

RAFOS_CLK 406 FG_AHR_24Vo 0.000

RAFOS 1,1536268068,21.133333,21.129999,162,55,54,51,50,50,335,135,200,158,215,118 FG_AHR_10Vo 0.000

RAFOS_FIX -7406.657227,-11300.811523,060918,212144,2,143,0.38 MEM 280816

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 DATA_FILE_SIZE 13501,407

TT8_MAMPS 0.039697,0.23968 CAP_FILE_SIZE 79754,0

HUMID 51.06 CFSIZE 1024409600,962838528

INTERNAL_PRESSURE 8.21906 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 11.90 SOUNDSPEED 1446.3

XPDR_PINGS 0 GPS 060918,211544,-7406.657,-11300.812,0,3143.0,0,53.2,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 268 17.16 nil 0 0 0.00

Roll_motor 82 173 166.42 nil 0 0 0.00

VBD_pump_during_apogee 390 3034 13758.19 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 10477 2 326.51

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 26 420 128.11 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8947 2 243.68

TT8_Active 504 13 82.24

TT8_Sampling 957 34 392.56

TT8_CF8 151 52 94.06

TT8_Kalman 0 0 0.00

Analog_circuits 881 10 113.32

GPS_charging 0 0 0.00

Compass 588 7 51.93

RAFOS 480 1 8.49

Transponder 187 30 66.28

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

17.6 20.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

622.1 51.50 9000.00 0.0 0.00 0.00 51.50 0.0 0.05 1.00

635.4 40.30 9000.00 0.0 0.04 0.86 40.30 675.7 -0.84 1.00

648.3 25.20 25.90 674.2 -1.01 0.99 25.20 673.5 -1.17 1.00

660.6 10.30 10.40 671.0 -1.19 1.00 10.30 670.9 -1.21 1.00

661.2 13.90 11.80 0.0 -1.02 0.93 0.00 0.0 0.00 0.00

22.4 23.50 9000.00 0.0 -0.02 0.93 23.50 0.0 -0.02 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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -1.06 -107.1 2800 2304 2794 2726 0.0 0.0 0 21 0.00 0.00 -8.85 0.011 16390 0.000 0.000 2800 2303 3222 3249 3195 0 0 0 0 0 0 15.08 12.74 15.07

24 -1.06 -107.1 2801 2304 3250 3197 0.0 0.0 0 26 1.00 0.00 0.00 0.000 4102 0.068 0.000 2446 2305 3222 3248 3196 0 0 0 0 0 0 14.75 14.81 14.81

351 -1.06 -107.1 2445 2305 3248 3195 75.4 -19.8 12 356 0.00 2.58 0.00 0.000 260 0.000 0.100 2434 3711 3221 3248 3195 0 0 0 0 0 0 15.07 14.52 15.09

530 -1.06 -107.1 2434 3711 3248 3195 111.3 -21.0 38 537 0.00 2.47 0.00 0.000 1030 0.000 0.043 2434 2273 3221 3248 3194 0 0 0 0 0 0 14.74 14.71 14.77

882 -1.06 -107.1 2435 2274 3251 3195 179.8 -20.5 52 887 0.00 2.45 0.00 0.000 516 0.000 0.073 2434 896 3221 3248 3194 0 0 0 0 0 0 15.15 14.54 15.18

957 -1.06 -107.1 2434 898 3248 3194 196.2 -21.1 63 966 0.12 2.55 0.00 0.000 3078 0.265 0.067 2455 2302 3221 3249 3193 0 0 0 0 0 0 14.16 14.53 14.36

1345 -1.06 -107.1 2456 2303 3246 3195 267.9 -18.3 70 1350 0.00 2.62 0.00 0.000 260 0.000 0.103 2446 3722 3221 3248 3194 0 0 0 0 0 0 15.07 14.50 15.09

1461 -1.06 -107.1 2447 3723 3250 3194 292.0 -21.0 87 1468 0.00 2.47 0.00 0.000 1030 0.000 0.043 2445 2292 3220 3248 3193 0 0 0 0 0 0 14.74 14.70 14.77

1833 -1.06 -107.1 2445 2291 3248 3194 363.6 -19.1 95 1839 0.00 2.47 0.00 0.000 516 0.000 0.068 2446 895 3220 3248 3193 0 0 0 0 0 0 15.07 14.52 15.09

1853 -1.06 -107.1 2447 896 3251 3194 367.6 -18.9 98 1860 0.00 2.55 0.00 0.000 1030 0.000 0.067 2435 2305 3220 3248 3193 0 0 0 0 0 0 14.59 14.50 14.66

2255 -1.06 -107.1 2436 2306 3250 3193 444.1 -19.4 110 2256 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 2305 3221 3249 3193 0 0 0 0 0 0 15.07 15.09 15.09

2603 -1.06 -107.1 2434 2306 3248 3194 510.8 -18.9 115 2609 0.00 2.58 0.00 0.000 516 0.000 0.070 2435 902 3220 3248 3193 0 0 0 0 0 0 15.06 14.43 15.08

2637 -1.06 -107.1 2435 903 3250 3194 517.4 -19.0 120 2644 0.12 2.55 0.00 0.000 3078 0.269 0.067 2455 2309 3220 3248 3193 0 0 0 0 0 0 14.12 14.52 14.32

3025 -1.06 -107.1 2456 2310 3249 3194 584.1 -17.2 130 3030 0.00 2.53 0.00 0.000 516 0.000 0.069 2455 900 3221 3249 3193 0 0 0 0 0 0 15.04 14.50 15.07

3057 -1.06 -107.1 2456 901 3250 3195 590.3 -17.8 135 3064 0.00 2.55 0.00 0.000 1030 0.000 0.067 2447 2305 3220 3248 3193 0 0 0 0 0 0 14.57 14.49 14.63

3445 -1.06 -107.1 2447 2306 3249 3194 660.6 -18.4 145 3446 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2305 3220 3248 3193 0 0 0 0 0 0 15.05 15.08 15.07

3511 end dive: BOTTOM_OBSTACLE_DETECTED

state 3511 begin apogee

3517 -0.23 0.0 2447 2071 3248 3193 671.4 -17.7 146 3639 0.95 0.08 119.80 3.035 10246 0.147 0.174 2731 2113 2780 2815 2746 0 0 0 0 0 0 14.41 13.61 12.26

3640 end apogee: CONTROL_FINISHED_OK

state 3640 begin climb

3643 1.06 107.1 2733 2113 2817 2747 671.3 0.0 147 3786 1.35 2.97 132.68 2.947 10500 0.120 0.093 3135 3506 2344 2390 2298 0 0 0 0 0 0 13.65 12.97 11.63

3834 1.15 184.1 3136 3506 2385 2294 666.8 5.2 181 3939 0.00 2.62 96.97 2.883 9254 0.000 0.042 3142 2125 2027 2090 1965 0 0 0 0 0 0 13.52 13.47 11.62

4296 1.20 220.6 3141 2125 2081 1953 633.0 7.7 202 4338 0.15 0.00 40.70 2.850 10278 0.119 0.000 3203 2124 1882 1947 1817 0 0 0 0 0 0 14.47 14.02 12.70

4646 1.20 220.6 3204 2125 1942 1810 596.1 10.8 207 4647 0.00 0.00 0.00 0.000 6 0.000 0.000 3198 2124 1875 1940 1810 0 0 0 0 0 0 14.91 14.93 14.93

4996 1.20 220.6 3204 2125 1940 1809 557.1 11.1 212 4997 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2124 1873 1938 1808 0 0 0 0 0 0 15.10 15.13 15.13

5347 1.20 220.6 3203 2125 1937 1808 519.5 10.7 217 5347 0.00 0.00 0.00 0.000 6 0.000 0.000 3202 2124 1872 1937 1807 0 0 0 0 0 0 15.07 15.11 15.10

5696 1.20 220.6 3202 2124 1935 1807 482.7 10.5 222 5696 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2124 1871 1937 1806 0 0 0 0 0 0 15.18 15.20 15.20

6047 1.20 220.6 3204 2125 1938 1806 445.4 10.7 227 6052 0.00 2.60 0.00 0.000 516 0.000 0.086 3211 693 1871 1936 1806 0 0 0 0 0 0 15.10 14.58 15.13

6073 1.20 220.6 3213 694 1938 1806 442.4 10.8 231 6081 0.00 2.47 0.00 0.000 1030 0.000 0.057 3211 2104 1870 1936 1805 0 0 0 0 0 0 14.76 14.70 14.82

6467 1.20 220.6 3212 2104 1937 1806 397.2 11.8 242 6472 0.00 2.58 0.00 0.000 260 0.000 0.096 3211 3514 1871 1936 1806 0 0 0 0 0 0 15.10 14.63 15.13

6515 1.20 220.6 3211 3515 1936 1806 391.1 12.6 249 6523 0.12 2.45 0.00 0.000 5126 0.228 0.045 3187 2095 1870 1936 1805 0 0 0 0 0 0 14.40 14.73 14.57

6887 1.20 220.6 3188 2096 1938 1805 351.9 10.3 257 6893 0.00 2.58 0.00 0.000 516 0.000 0.090 3187 704 1870 1936 1804 0 0 0 0 0 0 15.10 14.49 15.13

6913 1.20 220.6 3186 705 1937 1805 349.1 10.3 261 6921 0.00 2.45 0.00 0.000 1030 0.000 0.056 3186 2099 1870 1936 1804 0 0 0 0 0 0 14.75 14.68 14.81

7307 1.21 220.6 3186 2101 1936 1804 311.3 9.4 272 7312 0.00 2.58 0.00 0.000 324 0.000 0.096 3186 3509 1868 1936 1801 0 0 0 0 0 0 15.10 14.54 15.10

7354 1.21 220.6 3186 3510 1935 1804 306.2 10.5 279 7361 0.00 2.45 0.00 0.000 1030 0.000 0.045 3186 2095 1870 1936 1804 0 0 0 0 0 0 14.76 14.70 14.81

7726 1.21 220.6 3186 2095 1935 1804 270.6 9.6 287 7727 0.00 0.00 0.00 0.000 6 0.000 0.000 3186 2094 1869 1935 1804 0 0 0 0 0 0 15.12 15.11 15.11

8077 1.21 220.6 3186 2095 1935 1804 235.9 9.9 292 8082 0.00 2.60 0.00 0.000 260 0.000 0.099 3186 3506 1869 1935 1803 0 0 0 0 0 0 15.19 14.57 15.21

8131 1.21 220.6 3188 3506 1937 1804 229.4 11.2 300 8138 0.00 2.45 0.00 0.000 1030 0.000 0.044 3186 2091 1869 1935 1804 0 0 0 0 0 0 14.74 14.69 14.78

8510 1.21 220.6 3186 2091 1934 1803 191.3 10.4 309 8510 0.00 0.00 0.00 0.000 6 0.000 0.000 3186 2091 1869 1935 1803 0 0 0 0 0 0 15.16 15.19 15.19

8846 1.25 220.6 3186 2092 1934 1799 160.5 8.1 321 8853 0.00 2.65 0.00 0.000 324 0.000 0.097 3187 3506 1868 1934 1802 0 0 0 0 0 0 15.17 14.48 15.19

8902 1.25 220.6 3186 3505 1934 1801 155.2 10.0 329 8909 0.00 2.45 0.00 0.000 1030 0.000 0.044 3186 2095 1869 1935 1803 0 0 0 0 0 0 14.70 14.64 14.74

9269 1.26 220.6 3188 2096 1936 1803 121.0 9.4 345 9269 0.00 0.00 0.00 0.000 70 0.000 0.000 3186 2096 1868 1934 1802 0 0 0 0 0 0 15.08 15.11 15.11

9602 1.29 220.6 3187 2096 1935 1803 91.4 8.6 357 9609 0.00 2.65 0.00 0.000 324 0.000 0.098 3185 3504 1868 1934 1802 0 0 0 0 0 0 15.17 14.47 15.21

9643 1.29 220.6 3188 3505 1936 1803 87.3 9.9 363 9650 0.00 2.45 0.00 0.000 1030 0.000 0.044 3187 2097 1868 1934 1802 0 0 0 0 0 0 14.69 14.65 14.76

9994 1.31 220.6 3186 2097 1934 1802 55.4 8.7 377 10003 0.12 2.65 0.00 0.000 2372 0.145 0.096 3233 3506 1868 1934 1802 0 0 0 0 0 0 14.77 14.44 14.85

10050 1.31 220.6 3233 3502 1935 1803 49.6 10.6 385 10057 0.00 2.45 0.00 0.000 1030 0.000 0.044 3243 2097 1868 1934 1802 0 0 0 0 0 0 14.69 14.63 14.73

10414 end climb: FINISH_DEPTH_REACHED

state 10414 begin subsurface finish

10419 0.01 4.6 3244 2098 1936 1802 7.5 10.6 401 10456 1.55 2.67 -28.50 0.005 20740 0.211 0.123 2795 3523 2766 2802 2731 0 0 0 0 0 0 14.23 12.40 14.59

10457 end subsurface finish: CONTROL_FINISHED_OK

state 10457 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	480	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	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	25	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	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	10	FILEMGR	2	VBD_MIN	900	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	330	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	4320	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	-7	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	0.059999999	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	110	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	060918,181008,-7408.9326,-11259.7832,0,3105.0,0,53.2,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.239
_CALLS	3	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7407.000,-11308.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	15.85	MHEAD_RNG_PITCHd_Wd	257.5,5492,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-7.8	D_GRID	990
GPS2	060918,181008,-7408.9326,-11259.7832,0,3105.0,0,53.2,0.0,0.0,0,0.0

FREEZE	7.55,-1.837,-1.873,2,77,0	ALTIM_BOTTOM_PING	660.6,10.4
FINISH1	7.5,1.027408,5	_24V_AH	11.62,171.470
FINISH2	7.9	_10V_AH	11.79,0.000
RAFOS_CLK	406	FG_AHR_24Vo	0.000
RAFOS	1,1536268068,21.133333,21.129999,162,55,54,51,50,50,335,135,200,158,215,118	FG_AHR_10Vo	0.000
RAFOS_FIX	-7406.657227,-11300.811523,060918,212144,2,143,0.38	MEM	280816
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	DATA_FILE_SIZE	13501,407
TT8_MAMPS	0.039697,0.23968	CAP_FILE_SIZE	79754,0
HUMID	51.06	CFSIZE	1024409600,962838528
INTERNAL_PRESSURE	8.21906	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	11.90	SOUNDSPEED	1446.3
XPDR_PINGS	0	GPS	060918,211544,-7406.657,-11300.812,0,3143.0,0,53.2,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	268	17.16	nil	0	0	0.00
Roll_motor	82	173	166.42	nil	0	0	0.00
VBD_pump_during_apogee	390	3034	13758.19	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	10477	2	326.51
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	26	420	128.11	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8947	2	243.68
TT8_Active	504	13	82.24
TT8_Sampling	957	34	392.56
TT8_CF8	151	52	94.06
TT8_Kalman	0	0	0.00
Analog_circuits	881	10	113.32
GPS_charging	0	0	0.00
Compass	588	7	51.93
RAFOS	480	1	8.49
Transponder	187	30	66.28

		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
17.6	20.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
622.1	51.50	9000.00	0.0	0.00	0.00	51.50	0.0	0.05	1.00
635.4	40.30	9000.00	0.0	0.04	0.86	40.30	675.7	-0.84	1.00
648.3	25.20	25.90	674.2	-1.01	0.99	25.20	673.5	-1.17	1.00
660.6	10.30	10.40	671.0	-1.19	1.00	10.30	670.9	-1.21	1.00

661.2	13.90	11.80	0.0	-1.02	0.93	0.00	0.0	0.00	0.00
22.4	23.50	9000.00	0.0	-0.02	0.93	23.50	0.0	-0.02	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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-1.06	-107.1	2800	2304	2794	2726	0.0	0.0	0	21	0.00	0.00	-8.85	0.011	16390	0.000	0.000	2800	2303	3222	3249	3195	0	0	0	0	0	0	15.08	12.74	15.07
24	-1.06	-107.1	2801	2304	3250	3197	0.0	0.0	0	26	1.00	0.00	0.00	0.000	4102	0.068	0.000	2446	2305	3222	3248	3196	0	0	0	0	0	0	14.75	14.81	14.81
351	-1.06	-107.1	2445	2305	3248	3195	75.4	-19.8	12	356	0.00	2.58	0.00	0.000	260	0.000	0.100	2434	3711	3221	3248	3195	0	0	0	0	0	0	15.07	14.52	15.09
530	-1.06	-107.1	2434	3711	3248	3195	111.3	-21.0	38	537	0.00	2.47	0.00	0.000	1030	0.000	0.043	2434	2273	3221	3248	3194	0	0	0	0	0	0	14.74	14.71	14.77
882	-1.06	-107.1	2435	2274	3251	3195	179.8	-20.5	52	887	0.00	2.45	0.00	0.000	516	0.000	0.073	2434	896	3221	3248	3194	0	0	0	0	0	0	15.15	14.54	15.18
957	-1.06	-107.1	2434	898	3248	3194	196.2	-21.1	63	966	0.12	2.55	0.00	0.000	3078	0.265	0.067	2455	2302	3221	3249	3193	0	0	0	0	0	0	14.16	14.53	14.36
1345	-1.06	-107.1	2456	2303	3246	3195	267.9	-18.3	70	1350	0.00	2.62	0.00	0.000	260	0.000	0.103	2446	3722	3221	3248	3194	0	0	0	0	0	0	15.07	14.50	15.09
1461	-1.06	-107.1	2447	3723	3250	3194	292.0	-21.0	87	1468	0.00	2.47	0.00	0.000	1030	0.000	0.043	2445	2292	3220	3248	3193	0	0	0	0	0	0	14.74	14.70	14.77
1833	-1.06	-107.1	2445	2291	3248	3194	363.6	-19.1	95	1839	0.00	2.47	0.00	0.000	516	0.000	0.068	2446	895	3220	3248	3193	0	0	0	0	0	0	15.07	14.52	15.09
1853	-1.06	-107.1	2447	896	3251	3194	367.6	-18.9	98	1860	0.00	2.55	0.00	0.000	1030	0.000	0.067	2435	2305	3220	3248	3193	0	0	0	0	0	0	14.59	14.50	14.66
2255	-1.06	-107.1	2436	2306	3250	3193	444.1	-19.4	110	2256	0.00	0.00	0.00	0.000	6	0.000	0.000	2435	2305	3221	3249	3193	0	0	0	0	0	0	15.07	15.09	15.09
2603	-1.06	-107.1	2434	2306	3248	3194	510.8	-18.9	115	2609	0.00	2.58	0.00	0.000	516	0.000	0.070	2435	902	3220	3248	3193	0	0	0	0	0	0	15.06	14.43	15.08
2637	-1.06	-107.1	2435	903	3250	3194	517.4	-19.0	120	2644	0.12	2.55	0.00	0.000	3078	0.269	0.067	2455	2309	3220	3248	3193	0	0	0	0	0	0	14.12	14.52	14.32
3025	-1.06	-107.1	2456	2310	3249	3194	584.1	-17.2	130	3030	0.00	2.53	0.00	0.000	516	0.000	0.069	2455	900	3221	3249	3193	0	0	0	0	0	0	15.04	14.50	15.07
3057	-1.06	-107.1	2456	901	3250	3195	590.3	-17.8	135	3064	0.00	2.55	0.00	0.000	1030	0.000	0.067	2447	2305	3220	3248	3193	0	0	0	0	0	0	14.57	14.49	14.63
3445	-1.06	-107.1	2447	2306	3249	3194	660.6	-18.4	145	3446	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	2305	3220	3248	3193	0	0	0	0	0	0	15.05	15.08	15.07
3511	end dive: BOTTOM_OBSTACLE_DETECTED
state	3511	begin apogee
3517	-0.23	0.0	2447	2071	3248	3193	671.4	-17.7	146	3639	0.95	0.08	119.80	3.035	10246	0.147	0.174	2731	2113	2780	2815	2746	0	0	0	0	0	0	14.41	13.61	12.26
3640	end apogee: CONTROL_FINISHED_OK
state	3640	begin climb
3643	1.06	107.1	2733	2113	2817	2747	671.3	0.0	147	3786	1.35	2.97	132.68	2.947	10500	0.120	0.093	3135	3506	2344	2390	2298	0	0	0	0	0	0	13.65	12.97	11.63
3834	1.15	184.1	3136	3506	2385	2294	666.8	5.2	181	3939	0.00	2.62	96.97	2.883	9254	0.000	0.042	3142	2125	2027	2090	1965	0	0	0	0	0	0	13.52	13.47	11.62
4296	1.20	220.6	3141	2125	2081	1953	633.0	7.7	202	4338	0.15	0.00	40.70	2.850	10278	0.119	0.000	3203	2124	1882	1947	1817	0	0	0	0	0	0	14.47	14.02	12.70
4646	1.20	220.6	3204	2125	1942	1810	596.1	10.8	207	4647	0.00	0.00	0.00	0.000	6	0.000	0.000	3198	2124	1875	1940	1810	0	0	0	0	0	0	14.91	14.93	14.93
4996	1.20	220.6	3204	2125	1940	1809	557.1	11.1	212	4997	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2124	1873	1938	1808	0	0	0	0	0	0	15.10	15.13	15.13
5347	1.20	220.6	3203	2125	1937	1808	519.5	10.7	217	5347	0.00	0.00	0.00	0.000	6	0.000	0.000	3202	2124	1872	1937	1807	0	0	0	0	0	0	15.07	15.11	15.10
5696	1.20	220.6	3202	2124	1935	1807	482.7	10.5	222	5696	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2124	1871	1937	1806	0	0	0	0	0	0	15.18	15.20	15.20
6047	1.20	220.6	3204	2125	1938	1806	445.4	10.7	227	6052	0.00	2.60	0.00	0.000	516	0.000	0.086	3211	693	1871	1936	1806	0	0	0	0	0	0	15.10	14.58	15.13
6073	1.20	220.6	3213	694	1938	1806	442.4	10.8	231	6081	0.00	2.47	0.00	0.000	1030	0.000	0.057	3211	2104	1870	1936	1805	0	0	0	0	0	0	14.76	14.70	14.82
6467	1.20	220.6	3212	2104	1937	1806	397.2	11.8	242	6472	0.00	2.58	0.00	0.000	260	0.000	0.096	3211	3514	1871	1936	1806	0	0	0	0	0	0	15.10	14.63	15.13
6515	1.20	220.6	3211	3515	1936	1806	391.1	12.6	249	6523	0.12	2.45	0.00	0.000	5126	0.228	0.045	3187	2095	1870	1936	1805	0	0	0	0	0	0	14.40	14.73	14.57
6887	1.20	220.6	3188	2096	1938	1805	351.9	10.3	257	6893	0.00	2.58	0.00	0.000	516	0.000	0.090	3187	704	1870	1936	1804	0	0	0	0	0	0	15.10	14.49	15.13
6913	1.20	220.6	3186	705	1937	1805	349.1	10.3	261	6921	0.00	2.45	0.00	0.000	1030	0.000	0.056	3186	2099	1870	1936	1804	0	0	0	0	0	0	14.75	14.68	14.81
7307	1.21	220.6	3186	2101	1936	1804	311.3	9.4	272	7312	0.00	2.58	0.00	0.000	324	0.000	0.096	3186	3509	1868	1936	1801	0	0	0	0	0	0	15.10	14.54	15.10
7354	1.21	220.6	3186	3510	1935	1804	306.2	10.5	279	7361	0.00	2.45	0.00	0.000	1030	0.000	0.045	3186	2095	1870	1936	1804	0	0	0	0	0	0	14.76	14.70	14.81
7726	1.21	220.6	3186	2095	1935	1804	270.6	9.6	287	7727	0.00	0.00	0.00	0.000	6	0.000	0.000	3186	2094	1869	1935	1804	0	0	0	0	0	0	15.12	15.11	15.11
8077	1.21	220.6	3186	2095	1935	1804	235.9	9.9	292	8082	0.00	2.60	0.00	0.000	260	0.000	0.099	3186	3506	1869	1935	1803	0	0	0	0	0	0	15.19	14.57	15.21
8131	1.21	220.6	3188	3506	1937	1804	229.4	11.2	300	8138	0.00	2.45	0.00	0.000	1030	0.000	0.044	3186	2091	1869	1935	1804	0	0	0	0	0	0	14.74	14.69	14.78
8510	1.21	220.6	3186	2091	1934	1803	191.3	10.4	309	8510	0.00	0.00	0.00	0.000	6	0.000	0.000	3186	2091	1869	1935	1803	0	0	0	0	0	0	15.16	15.19	15.19
8846	1.25	220.6	3186	2092	1934	1799	160.5	8.1	321	8853	0.00	2.65	0.00	0.000	324	0.000	0.097	3187	3506	1868	1934	1802	0	0	0	0	0	0	15.17	14.48	15.19
8902	1.25	220.6	3186	3505	1934	1801	155.2	10.0	329	8909	0.00	2.45	0.00	0.000	1030	0.000	0.044	3186	2095	1869	1935	1803	0	0	0	0	0	0	14.70	14.64	14.74
9269	1.26	220.6	3188	2096	1936	1803	121.0	9.4	345	9269	0.00	0.00	0.00	0.000	70	0.000	0.000	3186	2096	1868	1934	1802	0	0	0	0	0	0	15.08	15.11	15.11
9602	1.29	220.6	3187	2096	1935	1803	91.4	8.6	357	9609	0.00	2.65	0.00	0.000	324	0.000	0.098	3185	3504	1868	1934	1802	0	0	0	0	0	0	15.17	14.47	15.21
9643	1.29	220.6	3188	3505	1936	1803	87.3	9.9	363	9650	0.00	2.45	0.00	0.000	1030	0.000	0.044	3187	2097	1868	1934	1802	0	0	0	0	0	0	14.69	14.65	14.76
9994	1.31	220.6	3186	2097	1934	1802	55.4	8.7	377	10003	0.12	2.65	0.00	0.000	2372	0.145	0.096	3233	3506	1868	1934	1802	0	0	0	0	0	0	14.77	14.44	14.85
10050	1.31	220.6	3233	3502	1935	1803	49.6	10.6	385	10057	0.00	2.45	0.00	0.000	1030	0.000	0.044	3243	2097	1868	1934	1802	0	0	0	0	0	0	14.69	14.63	14.73
10414	end climb: FINISH_DEPTH_REACHED
state	10414	begin subsurface finish
10419	0.01	4.6	3244	2098	1936	1802	7.5	10.6	401	10456	1.55	2.67	-28.50	0.005	20740	0.211	0.123	2795	3523	2766	2802	2731	0	0	0	0	0	0	14.23	12.40	14.59
10457	end subsurface finish: CONTROL_FINISHED_OK
state	10457	begin surface