Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 561 * 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 561 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 32 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 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 360 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 2 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 10029665 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 6 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 0

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 6 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 2 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 10029665 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 360

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 0 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 561 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 32 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 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 211018,181424,-7413.5298,-11215.7949,0,4131.0,0,53.2,0.0,0.0,0,0.0 SPEED_LIMITS 0.092,0.233

_CALLS 3 TGT_NAME hold5

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 353.82 MHEAD_RNG_PITCHd_Wd 292.0,18259,-18.9,-9.167,-21.50,1798

_SM_ANGLEo -6.7 D_GRID 990

GPS2 211018,181424,-7413.5298,-11215.7949,0,4131.0,0,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 341.7,1.027485,1 _24V_AH 11.26,195.213

FINISH2 340.9 _10V_AH 11.52,0.000

RAFOS_CLK 367 FG_AHR_24Vo 0.000

RAFOS 0,1540155692,21.032778,21.025555,105,61,58,54,52,50,360,189,202,174,150,127 FG_AHR_10Vo 0.000

RAFOS_FIX -7412.423828,-11213.535156,211018,212156,1,2,0.23 MEM 280760

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 DATA_FILE_SIZE 10119,441

TT8_MAMPS 0.038199,0.133322 CAP_FILE_SIZE 77409,0

HUMID 51.53 CFSIZE 1024409600,954515456

INTERNAL_PRESSURE 8.24835 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 12.10 INTR 0,9735.55,0x214568,5,24

XPDR_PINGS 0 SOUNDSPEED 1458.2

ALTIM_TOP_PING 347.2,12.3 GPS 211018,210256,-7412.424,-11213.535,0,2002.0,0,53.2,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 298 16.97 nil 0 0 0.00

Roll_motor 96 189 205.56 nil 0 0 0.00

VBD_pump_during_apogee 485 3102 16971.12 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 9769 1 210.43

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 22 420 105.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8129 2 216.35

TT8_Active 572 13 91.16

TT8_Sampling 991 34 397.47

TT8_CF8 156 52 95.18

TT8_Kalman 0 0 0.00

Analog_circuits 991 10 124.45

GPS_charging 0 0 0.00

Compass 635 7 54.85

RAFOS 240 1 4.15

Transponder 157 30 54.35

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

356.9 24.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

929.8 22.90 9000.00 0.0 0.00 0.00 22.90 952.7 -0.00 1.00

930.4 19.70 9000.00 0.0 -0.01 0.57 0.00 0.0 0.00 0.00

395.2 62.70 9000.00 0.0 -0.08 1.00 62.70 0.0 -0.08 1.00

383.1 50.10 9000.00 0.0 -0.07 0.91 50.10 333.0 1.04 1.00

359.0 24.40 24.50 334.5 1.06 1.00 24.40 334.6 1.07 1.00

347.2 12.40 12.30 334.9 1.05 1.00 12.40 334.8 1.02 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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

12 -0.99 -107.1 2802 2312 2827 2759 0.0 0.0 0 20 0.00 0.00 -7.03 0.030 16390 0.000 0.000 2802 2312 3233 3263 3203 0 0 0 0 1 0 15.07 12.86 15.01

23 -0.99 -107.1 2802 2312 3263 3203 0.0 0.0 0 25 0.95 0.00 0.00 0.000 4102 0.063 0.000 2459 2312 3232 3263 3202 0 0 0 0 0 0 14.73 14.85 14.82

378 -0.99 -107.1 2459 2312 3262 3199 414.5 -17.4 7 384 0.00 2.55 0.00 0.000 516 0.000 0.072 2460 892 3230 3262 3199 0 0 0 0 0 0 15.06 14.49 15.07

405 -0.99 -107.1 2459 893 3262 3199 419.3 -17.6 11 412 0.00 2.55 0.00 0.000 1030 0.000 0.067 2446 2302 3230 3262 3199 0 0 0 0 0 0 14.57 14.48 14.64

770 -0.99 -107.1 2448 2303 3262 3198 484.0 -17.9 21 772 0.15 0.00 0.00 0.000 2054 0.298 0.000 2479 2302 3230 3262 3198 0 0 0 0 0 0 14.25 14.68 14.62

1106 -0.99 -107.1 2480 2303 3262 3198 538.5 -16.1 27 1112 0.00 2.55 0.00 0.000 516 0.000 0.071 2480 888 3230 3262 3198 0 0 0 0 0 0 15.05 14.47 15.07

1175 -0.99 -107.1 2479 889 3262 3198 549.9 -16.1 37 1183 0.00 2.58 0.00 0.000 1030 0.000 0.067 2470 2301 3230 3263 3197 0 0 0 0 0 0 14.54 14.46 14.62

1554 -0.99 -107.1 2472 2303 3263 3198 614.6 -17.4 49 1561 0.00 2.53 0.00 0.000 516 0.000 0.068 2470 895 3229 3262 3197 0 0 0 0 0 0 15.06 14.46 15.06

1638 -0.99 -107.1 2470 895 3262 3198 629.2 -17.1 61 1645 0.00 2.58 0.00 0.000 1030 0.000 0.067 2458 2309 3229 3262 3197 0 0 0 0 0 0 14.52 14.44 14.58

2002 -0.99 -107.1 2458 2309 3262 3198 687.0 -15.6 71 2009 0.00 2.58 0.00 0.000 516 0.000 0.070 2460 898 3229 3262 3197 0 0 0 0 0 0 15.16 14.37 15.19

2099 -0.99 -107.1 2460 899 3262 3198 703.6 -16.5 85 2107 0.00 2.55 0.00 0.000 1030 0.000 0.067 2450 2301 3229 3263 3196 0 0 0 0 0 0 14.51 14.43 14.57

2450 -0.99 -107.1 2451 2302 3264 3198 759.5 -15.8 93 2457 0.15 2.58 0.00 0.000 2564 0.293 0.070 2481 893 3229 3262 3197 0 0 0 0 0 0 14.24 14.35 14.52

2547 -0.99 -107.1 2481 894 3264 3198 774.2 -15.3 107 2554 0.00 2.58 0.00 0.000 1030 0.000 0.067 2472 2310 3229 3262 3197 0 0 0 0 0 0 14.51 14.42 14.57

2898 -0.99 -107.1 2473 2311 3264 3198 825.6 -14.5 115 2898 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2310 3229 3262 3197 0 0 0 0 0 0 15.18 15.21 15.20

3234 -0.99 -107.1 2472 2311 3261 3198 872.6 -13.6 121 3241 0.00 2.60 0.00 0.000 516 0.000 0.069 2472 894 3229 3262 3196 0 0 0 0 0 0 15.14 14.34 15.19

3353 -0.99 -107.1 2473 895 3264 3196 890.3 -14.7 138 3359 0.00 2.58 0.00 0.000 1030 0.000 0.065 2461 2308 3229 3262 3197 0 0 0 0 0 0 14.50 14.41 14.56

3741 -0.99 -107.1 2463 2309 3264 3198 945.3 -14.0 151 3746 0.00 2.58 0.00 0.000 516 0.000 0.067 2462 891 3229 3262 3197 0 0 0 0 0 0 15.02 14.42 15.04

3807 -0.99 -107.1 2461 891 3262 3194 953.5 -8.1 161 3815 0.00 2.60 0.00 0.000 1030 0.000 0.080 2451 2295 3231 3262 3200 0 0 0 0 0 0 14.42 14.33 14.52

4015 end dive: NO_VERTICAL_VELOCITY

state 4015 begin apogee

4022 -0.23 0.0 2451 2072 3262 3197 953.5 0.0 170 4154 0.95 0.10 129.43 3.094 10246 0.158 0.190 2729 2114 2780 2814 2746 0 0 0 0 0 0 14.29 13.45 11.98

4155 end apogee: CONTROL_FINISHED_OK

state 4155 begin climb

4158 0.99 107.1 2729 2115 2813 2746 954.0 0.0 172 4317 1.30 3.10 146.57 3.097 11012 0.115 0.121 3116 3515 2344 2384 2305 0 0 0 0 0 0 13.50 12.39 11.26

4546 1.19 265.6 3116 3515 2374 2295 953.0 0.1 231 4767 0.17 2.58 209.75 3.103 11302 0.064 0.048 3191 2090 1698 1773 1623 0 0 0 0 0 0 14.12 14.13 11.29

5143 1.19 265.6 3192 2090 1773 1610 891.6 13.8 274 5149 0.00 2.58 0.00 0.000 516 0.000 0.089 3192 711 1688 1766 1611 0 0 0 0 0 0 14.87 14.44 14.90

5269 1.19 265.6 3191 712 1763 1609 875.5 13.8 292 5276 0.00 2.50 0.00 0.000 1030 0.000 0.060 3192 2117 1685 1763 1608 0 0 0 0 0 0 14.68 14.62 14.73

5647 1.19 265.6 3191 2118 1763 1608 826.9 12.5 304 5654 0.00 2.60 0.00 0.000 260 0.000 0.105 3191 3515 1684 1762 1607 0 0 0 0 0 0 15.14 14.58 15.16

5689 1.19 265.6 3191 3516 1762 1608 821.0 16.1 310 5696 0.00 2.42 0.00 0.000 1030 0.000 0.047 3191 2114 1684 1762 1607 0 0 0 0 0 0 14.78 14.71 14.82

6039 1.19 265.6 3191 2114 1760 1608 776.2 12.7 318 6046 0.00 2.60 0.00 0.000 516 0.000 0.090 3191 697 1684 1761 1607 0 0 0 0 0 0 15.16 14.58 15.19

6074 1.19 265.6 3191 698 1759 1608 772.0 11.5 323 6081 0.00 2.47 0.00 0.000 1030 0.000 0.060 3192 2100 1683 1759 1607 0 0 0 0 0 0 14.75 14.67 14.80

6431 1.19 265.6 3191 2101 1758 1607 729.9 11.3 332 6437 0.00 2.62 0.00 0.000 260 0.000 0.103 3192 3514 1682 1759 1605 0 0 0 0 0 0 15.18 14.54 15.20

6473 1.19 265.6 3193 3514 1761 1607 724.1 14.1 338 6479 0.00 2.47 0.00 0.000 1030 0.000 0.047 3192 2087 1683 1760 1606 0 0 0 0 0 0 14.76 14.73 14.81

6823 1.19 265.6 3192 2088 1759 1608 678.1 13.2 346 6830 0.00 2.67 0.00 0.000 260 0.000 0.103 3192 3514 1682 1758 1607 0 0 0 0 0 0 15.18 14.52 15.21

6865 1.19 265.6 3191 3514 1758 1607 671.8 15.3 352 6871 0.00 2.47 0.00 0.000 1030 0.000 0.047 3192 2089 1682 1758 1606 0 0 0 0 0 0 14.76 14.69 14.81

7215 1.19 265.6 3193 2090 1760 1607 626.4 12.7 360 7222 0.00 2.65 0.00 0.000 260 0.000 0.100 3192 3506 1682 1758 1606 0 0 0 0 0 0 15.19 14.52 15.21

7244 1.19 265.6 3191 3506 1758 1607 622.8 13.0 364 7250 0.00 2.45 0.00 0.000 1030 0.000 0.047 3192 2092 1681 1758 1605 0 0 0 0 0 0 14.74 14.68 14.79

7607 1.19 265.6 3193 2092 1761 1607 579.5 11.8 374 7613 0.00 2.65 0.00 0.000 260 0.000 0.102 3191 3503 1682 1758 1606 0 0 0 0 0 0 15.18 14.50 15.21

7635 1.19 265.6 3191 3504 1760 1607 576.1 12.2 378 7643 0.00 2.45 0.00 0.000 1030 0.000 0.047 3192 2092 1682 1758 1606 0 0 0 0 0 0 14.73 14.66 14.76

8000 1.19 265.6 3191 2092 1757 1606 534.4 11.4 388 8006 0.00 2.62 0.00 0.000 260 0.000 0.102 3192 3517 1681 1757 1606 0 0 0 0 0 0 15.09 14.52 15.11

8034 1.19 265.6 3193 3518 1759 1607 530.1 12.3 393 8041 0.00 2.47 0.00 0.000 1030 0.000 0.047 3192 2088 1683 1760 1606 0 0 0 0 0 0 14.71 14.65 14.76

8391 1.19 265.6 3193 2089 1759 1607 488.9 11.5 402 8392 0.00 0.00 0.00 0.000 6 0.000 0.000 3192 2088 1681 1757 1605 0 0 0 0 0 0 15.18 15.21 15.20

8727 1.19 265.6 3193 2089 1759 1606 451.1 11.3 408 8733 0.00 2.70 0.00 0.000 260 0.000 0.102 3191 3519 1680 1756 1605 0 0 0 0 0 0 15.18 14.45 15.20

8769 1.19 265.6 3192 3519 1758 1606 445.9 12.4 414 8776 0.00 2.47 0.00 0.000 1030 0.000 0.046 3192 2093 1681 1757 1605 0 0 0 0 0 0 14.69 14.64 14.74

9120 1.19 265.6 3191 2093 1755 1605 407.3 11.1 422 9121 0.00 0.00 0.00 0.000 6 0.000 0.000 3192 2093 1680 1756 1605 0 0 0 0 0 0 15.08 15.11 15.10

9457 1.19 265.6 3191 2093 1756 1605 371.0 10.8 428 9462 0.00 2.67 0.00 0.000 260 0.000 0.104 3191 3520 1680 1756 1605 0 0 0 0 0 0 15.08 14.46 15.11

9483 1.19 265.6 3193 3521 1758 1605 367.9 11.4 432 9490 0.00 2.50 0.00 0.000 1030 0.000 0.046 3192 2092 1680 1756 1605 0 0 0 0 0 0 14.66 14.61 14.71

9733 end climb: SURFACE_OBSTACLE_DETECTED

state 9733 begin subsurface finish

9739 0.00 0.8 3193 2093 1757 1606 341.7 10.3 440 9749 1.38 2.67 -4.15 0.028 20740 0.194 0.122 2800 3516 2791 2826 2756 0 0 0 0 0 0 14.23 13.59 14.40

9749 end subsurface finish: CONTROL_FINISHED_OK

state 9749 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	561	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	32	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	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	360	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	2	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	10029665	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	6	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	0
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	211018,181424,-7413.5298,-11215.7949,0,4131.0,0,53.2,0.0,0.0,0,0.0	SPEED_LIMITS	0.092,0.233
_CALLS	3	TGT_NAME	hold5
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	353.82	MHEAD_RNG_PITCHd_Wd	292.0,18259,-18.9,-9.167,-21.50,1798
_SM_ANGLEo	-6.7	D_GRID	990
GPS2	211018,181424,-7413.5298,-11215.7949,0,4131.0,0,53.2,0.0,0.0,0,0.0

FINISH1	341.7,1.027485,1	_24V_AH	11.26,195.213
FINISH2	340.9	_10V_AH	11.52,0.000
RAFOS_CLK	367	FG_AHR_24Vo	0.000
RAFOS	0,1540155692,21.032778,21.025555,105,61,58,54,52,50,360,189,202,174,150,127	FG_AHR_10Vo	0.000
RAFOS_FIX	-7412.423828,-11213.535156,211018,212156,1,2,0.23	MEM	280760
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	DATA_FILE_SIZE	10119,441
TT8_MAMPS	0.038199,0.133322	CAP_FILE_SIZE	77409,0
HUMID	51.53	CFSIZE	1024409600,954515456
INTERNAL_PRESSURE	8.24835	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	12.10	INTR	0,9735.55,0x214568,5,24
XPDR_PINGS	0	SOUNDSPEED	1458.2
ALTIM_TOP_PING	347.2,12.3	GPS	211018,210256,-7412.424,-11213.535,0,2002.0,0,53.2,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	298	16.97	nil	0	0	0.00
Roll_motor	96	189	205.56	nil	0	0	0.00
VBD_pump_during_apogee	485	3102	16971.12	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	9769	1	210.43
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	22	420	105.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8129	2	216.35
TT8_Active	572	13	91.16
TT8_Sampling	991	34	397.47
TT8_CF8	156	52	95.18
TT8_Kalman	0	0	0.00
Analog_circuits	991	10	124.45
GPS_charging	0	0	0.00
Compass	635	7	54.85
RAFOS	240	1	4.15
Transponder	157	30	54.35

		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
356.9	24.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
929.8	22.90	9000.00	0.0	0.00	0.00	22.90	952.7	-0.00	1.00

930.4	19.70	9000.00	0.0	-0.01	0.57	0.00	0.0	0.00	0.00
395.2	62.70	9000.00	0.0	-0.08	1.00	62.70	0.0	-0.08	1.00
383.1	50.10	9000.00	0.0	-0.07	0.91	50.10	333.0	1.04	1.00
359.0	24.40	24.50	334.5	1.06	1.00	24.40	334.6	1.07	1.00
347.2	12.40	12.30	334.9	1.05	1.00	12.40	334.8	1.02	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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
12	-0.99	-107.1	2802	2312	2827	2759	0.0	0.0	0	20	0.00	0.00	-7.03	0.030	16390	0.000	0.000	2802	2312	3233	3263	3203	0	0	0	0	1	0	15.07	12.86	15.01
23	-0.99	-107.1	2802	2312	3263	3203	0.0	0.0	0	25	0.95	0.00	0.00	0.000	4102	0.063	0.000	2459	2312	3232	3263	3202	0	0	0	0	0	0	14.73	14.85	14.82
378	-0.99	-107.1	2459	2312	3262	3199	414.5	-17.4	7	384	0.00	2.55	0.00	0.000	516	0.000	0.072	2460	892	3230	3262	3199	0	0	0	0	0	0	15.06	14.49	15.07
405	-0.99	-107.1	2459	893	3262	3199	419.3	-17.6	11	412	0.00	2.55	0.00	0.000	1030	0.000	0.067	2446	2302	3230	3262	3199	0	0	0	0	0	0	14.57	14.48	14.64
770	-0.99	-107.1	2448	2303	3262	3198	484.0	-17.9	21	772	0.15	0.00	0.00	0.000	2054	0.298	0.000	2479	2302	3230	3262	3198	0	0	0	0	0	0	14.25	14.68	14.62
1106	-0.99	-107.1	2480	2303	3262	3198	538.5	-16.1	27	1112	0.00	2.55	0.00	0.000	516	0.000	0.071	2480	888	3230	3262	3198	0	0	0	0	0	0	15.05	14.47	15.07
1175	-0.99	-107.1	2479	889	3262	3198	549.9	-16.1	37	1183	0.00	2.58	0.00	0.000	1030	0.000	0.067	2470	2301	3230	3263	3197	0	0	0	0	0	0	14.54	14.46	14.62
1554	-0.99	-107.1	2472	2303	3263	3198	614.6	-17.4	49	1561	0.00	2.53	0.00	0.000	516	0.000	0.068	2470	895	3229	3262	3197	0	0	0	0	0	0	15.06	14.46	15.06
1638	-0.99	-107.1	2470	895	3262	3198	629.2	-17.1	61	1645	0.00	2.58	0.00	0.000	1030	0.000	0.067	2458	2309	3229	3262	3197	0	0	0	0	0	0	14.52	14.44	14.58
2002	-0.99	-107.1	2458	2309	3262	3198	687.0	-15.6	71	2009	0.00	2.58	0.00	0.000	516	0.000	0.070	2460	898	3229	3262	3197	0	0	0	0	0	0	15.16	14.37	15.19
2099	-0.99	-107.1	2460	899	3262	3198	703.6	-16.5	85	2107	0.00	2.55	0.00	0.000	1030	0.000	0.067	2450	2301	3229	3263	3196	0	0	0	0	0	0	14.51	14.43	14.57
2450	-0.99	-107.1	2451	2302	3264	3198	759.5	-15.8	93	2457	0.15	2.58	0.00	0.000	2564	0.293	0.070	2481	893	3229	3262	3197	0	0	0	0	0	0	14.24	14.35	14.52
2547	-0.99	-107.1	2481	894	3264	3198	774.2	-15.3	107	2554	0.00	2.58	0.00	0.000	1030	0.000	0.067	2472	2310	3229	3262	3197	0	0	0	0	0	0	14.51	14.42	14.57
2898	-0.99	-107.1	2473	2311	3264	3198	825.6	-14.5	115	2898	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2310	3229	3262	3197	0	0	0	0	0	0	15.18	15.21	15.20
3234	-0.99	-107.1	2472	2311	3261	3198	872.6	-13.6	121	3241	0.00	2.60	0.00	0.000	516	0.000	0.069	2472	894	3229	3262	3196	0	0	0	0	0	0	15.14	14.34	15.19
3353	-0.99	-107.1	2473	895	3264	3196	890.3	-14.7	138	3359	0.00	2.58	0.00	0.000	1030	0.000	0.065	2461	2308	3229	3262	3197	0	0	0	0	0	0	14.50	14.41	14.56
3741	-0.99	-107.1	2463	2309	3264	3198	945.3	-14.0	151	3746	0.00	2.58	0.00	0.000	516	0.000	0.067	2462	891	3229	3262	3197	0	0	0	0	0	0	15.02	14.42	15.04
3807	-0.99	-107.1	2461	891	3262	3194	953.5	-8.1	161	3815	0.00	2.60	0.00	0.000	1030	0.000	0.080	2451	2295	3231	3262	3200	0	0	0	0	0	0	14.42	14.33	14.52
4015	end dive: NO_VERTICAL_VELOCITY
state	4015	begin apogee
4022	-0.23	0.0	2451	2072	3262	3197	953.5	0.0	170	4154	0.95	0.10	129.43	3.094	10246	0.158	0.190	2729	2114	2780	2814	2746	0	0	0	0	0	0	14.29	13.45	11.98
4155	end apogee: CONTROL_FINISHED_OK
state	4155	begin climb
4158	0.99	107.1	2729	2115	2813	2746	954.0	0.0	172	4317	1.30	3.10	146.57	3.097	11012	0.115	0.121	3116	3515	2344	2384	2305	0	0	0	0	0	0	13.50	12.39	11.26
4546	1.19	265.6	3116	3515	2374	2295	953.0	0.1	231	4767	0.17	2.58	209.75	3.103	11302	0.064	0.048	3191	2090	1698	1773	1623	0	0	0	0	0	0	14.12	14.13	11.29
5143	1.19	265.6	3192	2090	1773	1610	891.6	13.8	274	5149	0.00	2.58	0.00	0.000	516	0.000	0.089	3192	711	1688	1766	1611	0	0	0	0	0	0	14.87	14.44	14.90
5269	1.19	265.6	3191	712	1763	1609	875.5	13.8	292	5276	0.00	2.50	0.00	0.000	1030	0.000	0.060	3192	2117	1685	1763	1608	0	0	0	0	0	0	14.68	14.62	14.73
5647	1.19	265.6	3191	2118	1763	1608	826.9	12.5	304	5654	0.00	2.60	0.00	0.000	260	0.000	0.105	3191	3515	1684	1762	1607	0	0	0	0	0	0	15.14	14.58	15.16
5689	1.19	265.6	3191	3516	1762	1608	821.0	16.1	310	5696	0.00	2.42	0.00	0.000	1030	0.000	0.047	3191	2114	1684	1762	1607	0	0	0	0	0	0	14.78	14.71	14.82
6039	1.19	265.6	3191	2114	1760	1608	776.2	12.7	318	6046	0.00	2.60	0.00	0.000	516	0.000	0.090	3191	697	1684	1761	1607	0	0	0	0	0	0	15.16	14.58	15.19
6074	1.19	265.6	3191	698	1759	1608	772.0	11.5	323	6081	0.00	2.47	0.00	0.000	1030	0.000	0.060	3192	2100	1683	1759	1607	0	0	0	0	0	0	14.75	14.67	14.80
6431	1.19	265.6	3191	2101	1758	1607	729.9	11.3	332	6437	0.00	2.62	0.00	0.000	260	0.000	0.103	3192	3514	1682	1759	1605	0	0	0	0	0	0	15.18	14.54	15.20
6473	1.19	265.6	3193	3514	1761	1607	724.1	14.1	338	6479	0.00	2.47	0.00	0.000	1030	0.000	0.047	3192	2087	1683	1760	1606	0	0	0	0	0	0	14.76	14.73	14.81
6823	1.19	265.6	3192	2088	1759	1608	678.1	13.2	346	6830	0.00	2.67	0.00	0.000	260	0.000	0.103	3192	3514	1682	1758	1607	0	0	0	0	0	0	15.18	14.52	15.21
6865	1.19	265.6	3191	3514	1758	1607	671.8	15.3	352	6871	0.00	2.47	0.00	0.000	1030	0.000	0.047	3192	2089	1682	1758	1606	0	0	0	0	0	0	14.76	14.69	14.81
7215	1.19	265.6	3193	2090	1760	1607	626.4	12.7	360	7222	0.00	2.65	0.00	0.000	260	0.000	0.100	3192	3506	1682	1758	1606	0	0	0	0	0	0	15.19	14.52	15.21
7244	1.19	265.6	3191	3506	1758	1607	622.8	13.0	364	7250	0.00	2.45	0.00	0.000	1030	0.000	0.047	3192	2092	1681	1758	1605	0	0	0	0	0	0	14.74	14.68	14.79
7607	1.19	265.6	3193	2092	1761	1607	579.5	11.8	374	7613	0.00	2.65	0.00	0.000	260	0.000	0.102	3191	3503	1682	1758	1606	0	0	0	0	0	0	15.18	14.50	15.21
7635	1.19	265.6	3191	3504	1760	1607	576.1	12.2	378	7643	0.00	2.45	0.00	0.000	1030	0.000	0.047	3192	2092	1682	1758	1606	0	0	0	0	0	0	14.73	14.66	14.76
8000	1.19	265.6	3191	2092	1757	1606	534.4	11.4	388	8006	0.00	2.62	0.00	0.000	260	0.000	0.102	3192	3517	1681	1757	1606	0	0	0	0	0	0	15.09	14.52	15.11
8034	1.19	265.6	3193	3518	1759	1607	530.1	12.3	393	8041	0.00	2.47	0.00	0.000	1030	0.000	0.047	3192	2088	1683	1760	1606	0	0	0	0	0	0	14.71	14.65	14.76
8391	1.19	265.6	3193	2089	1759	1607	488.9	11.5	402	8392	0.00	0.00	0.00	0.000	6	0.000	0.000	3192	2088	1681	1757	1605	0	0	0	0	0	0	15.18	15.21	15.20
8727	1.19	265.6	3193	2089	1759	1606	451.1	11.3	408	8733	0.00	2.70	0.00	0.000	260	0.000	0.102	3191	3519	1680	1756	1605	0	0	0	0	0	0	15.18	14.45	15.20
8769	1.19	265.6	3192	3519	1758	1606	445.9	12.4	414	8776	0.00	2.47	0.00	0.000	1030	0.000	0.046	3192	2093	1681	1757	1605	0	0	0	0	0	0	14.69	14.64	14.74
9120	1.19	265.6	3191	2093	1755	1605	407.3	11.1	422	9121	0.00	0.00	0.00	0.000	6	0.000	0.000	3192	2093	1680	1756	1605	0	0	0	0	0	0	15.08	15.11	15.10
9457	1.19	265.6	3191	2093	1756	1605	371.0	10.8	428	9462	0.00	2.67	0.00	0.000	260	0.000	0.104	3191	3520	1680	1756	1605	0	0	0	0	0	0	15.08	14.46	15.11
9483	1.19	265.6	3193	3521	1758	1605	367.9	11.4	432	9490	0.00	2.50	0.00	0.000	1030	0.000	0.046	3192	2092	1680	1756	1605	0	0	0	0	0	0	14.66	14.61	14.71
9733	end climb: SURFACE_OBSTACLE_DETECTED
state	9733	begin subsurface finish
9739	0.00	0.8	3193	2093	1757	1606	341.7	10.3	440	9749	1.38	2.67	-4.15	0.028	20740	0.194	0.122	2800	3516	2791	2826	2756	0	0	0	0	0	0	14.23	13.59	14.40
9749	end subsurface finish: CONTROL_FINISHED_OK
state	9749	begin surface