Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 534 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 192 HD_C 3.62024e-06 ROLL_MAX 3873 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 2 HEADING -1 ROLL_DEG 24 ALTIM_TOP_TURN_MARGIN 5

DIVE 534 ESCAPE_HEADING 100 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2510 ALTIM_PING_DEPTH 300

D_SURF 3 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 50

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 22 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 400 R_STBD_OVSHOOT 15 XPDR_VALID 6

D_BOOST 110 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2741 DEVICE1 2

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 400 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 430 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0015 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 3 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -12203.111 DBDW 0 COMPASS_DEVICE 97

USE_ICE 2 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.1 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 350 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 145 MINV_24V 10 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3924 MINV_10V 9.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2510 FG_AHR_10V 0 SEABIRD_T_G 0.0042877649

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062281737

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.2009486e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -62.7798 SEABIRD_T_J 2.217299e-06

MASS 52018 PITCH_GAIN 23 PRESSURE_SLOPE 0.0001164018 SEABIRD_C_G -9.8550158

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1245382

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0013153109

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017883891

KALMAN_USE 2 PITCH_ADJ_GAIN 0.0099999998 COMPASS_USE 4

HD_A 0.0041718199 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099987797 ROLL_MIN 318 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 250 PHONE_SUPPLY -2 SM_CC 400

AH0_10V 0 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 500 PITCH_ADJ_GAIN 0.0099999998 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_FREQUENCY 13 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 23 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 300 FERRY_MAX 45 PITCH_MAX 3924 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 5 FG_AHR_24V 0 PITCH_MIN 145 TGT_DEFAULT_LAT 6000

ALTIM_TOP_MIN_OBSTACLE 2.8 FILEMGR 2 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -5500

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0015 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 5 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 400

CALL_NDIVES 1 HD_A 0.0041718199 PRESSURE_SLOPE 0.0001164018 T_EPIRB 0

CALL_TRIES 3 HD_B 0.0099987797 PRESSURE_YINT -62.7798 T_GPS 3

CALL_WAIT 60 HD_C 3.62024e-06 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -12203.111

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 192 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT 0.5 RHO 1.0275 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2510 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2510 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX 3

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -2

C_VBD 2741 LOGGERDEVICE4 -1 ROLL_DEG 24 USE_ICE 2

DBDW 0 LOGGERS 0 ROLL_MAX 3873 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 52018 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 318 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 20 MINV_10V 9.5 R_PORT_OVSHOOT 22 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 10 R_STBD_OVSHOOT 15 VBD_MIN 500

DEVICE4 -1 MISSION 2 SEABIRD_C_G -9.8550158 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1245382 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.0013153109 VBD_TIMEOUT 720

DIVE 534 NOCOMM_ACTION 161 SEABIRD_C_J 0.00017883891 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0042877649 XPDR_DEVICE 24

D_BOOST 110 N_FILEKB 4 SEABIRD_T_H 0.00062281737 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.2009486e-05 XPDR_VALID 6

D_FINISH 9 N_NOCOMM 6 SEABIRD_T_J 2.217299e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 261213,042640,6640.829,-5852.195,0,3093.3,0,-33.8 TGT_NAME TARGET_W

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -22.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 261213,042640,6640.829,-5852.195,0,3093.3,0,-33.8 MHEAD_RNG_PITCHd_Wd 301.7,68875,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 821

Post-dive calculations and measurements:

FREEZE 1.19,-1.778,-1.799,2,10,0 _24V_AH 13.3,232.209

FINISH1 1.2,1.026413,0 _10V_AH 13.0,0.000

FINISH2 1.1 FG_AHR_24Vo 0.000

RAFOS_CLK 707 FG_AHR_10Vo 0.000

RAFOS 4,1388046783,8.566667,8.550834,99,56,56,56,53,52,613,198,213,185,113,157 MEM 150688

RAFOS_FIX 6642.425781,-5846.648926,261213,080804,4,88,0.34 DATA_FILE_SIZE 93055,2419

IRIDIUM_FIX 6625.71,-5911.55,241213,232356 CAP_FILE_SIZE 177646,0

TT8_MAMPS 0.027713,0.027713 CFSIZE 259252224,209383424

HUMID 45.19 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.7425 SOUNDSPEED 1437.9

TCM_TEMP 11.90 CURRENT 22.039,235.0,1

XPDR_PINGS 23 GPS 261213,083304,6642.426,-5846.649,0,4087.5,0,-33.8

ALTIM_TOP_PING 1.2,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 322 29.56 SBE_CT 1723 23 532.37

Roll_motor 75 139 139.07 SBE_O2 0 0 0.00

VBD_pump_during_apogee 73 170 165.63 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 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 6 420 33.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 5992 14 1165.51

LPSleep 2672 2 80.25

TT8_Active 279 14 51.61

TT8_Sampling 3435 33 1504.57

TT8_CF8 725 39 374.44

TT8_Kalman 0 0 0.00

Analog_circuits 1882 12 293.62

GPS_charging 0 0 0.00

Compass 3425 6 300.16

RAFOS 1440 1 28.08

Transponder 2 30 1.10

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

20 -0.89 -146.0 2496 2497 2839 2624 0.0 0.0 0 66 0.00 0.00 -40.90 0.000 16390 0.000 0.000 2497 2497 3337 3503 3171 0 0 0 0 0 0 28.83 28.83 14.54

74 -0.89 -146.0 2496 2497 3504 3171 1.2 -0.1 8 81 0.82 1.65 0.00 0.000 4356 0.096 0.130 2217 3354 3338 3505 3171 0 0 0 0 0 0 13.95 13.85 28.83

321 -0.89 -146.0 2217 3354 3506 3172 1.1 0.0 54 328 0.00 1.55 0.00 0.000 1030 0.000 0.090 2217 2497 3338 3506 3171 0 0 0 0 0 0 28.83 13.93 28.83

643 -0.89 -146.0 2217 2497 3506 3171 1.1 -0.7 115 649 0.00 1.65 0.00 0.000 260 0.000 0.138 2210 3346 3338 3506 3171 0 0 0 0 0 0 28.83 13.71 28.83

888 -0.82 -146.0 2211 3346 3506 3171 1.0 0.5 161 895 0.15 1.52 0.00 0.000 3078 0.291 0.092 2240 2498 3338 3506 3171 0 0 0 0 0 0 13.47 13.90 28.83

1214 -0.75 -146.0 1352 2496 3498 3168 1.0 -0.2 222 1222 0.00 1.65 0.00 0.000 260 0.000 0.137 2236 3349 3339 3506 3172 0 0 0 0 0 0 28.83 13.67 28.83

1462 -0.67 -146.0 2236 3349 3506 3171 1.1 -0.4 268 1469 0.22 1.52 0.00 0.000 3078 0.269 0.092 2286 2499 3338 3506 3171 0 0 0 0 0 0 13.44 13.89 28.83

1789 -0.60 -146.0 2286 2499 3506 3171 1.1 -0.5 329 1795 0.00 1.65 0.00 0.000 260 0.000 0.137 2281 3346 3338 3506 3171 0 0 0 0 0 0 28.83 13.66 28.83

2034 -0.53 -146.0 2281 3346 3506 3171 1.0 0.6 375 2041 0.22 1.52 0.00 0.000 3078 0.265 0.093 2332 2498 3337 3504 3171 0 0 0 0 0 0 13.42 13.88 28.83

2361 -0.45 -146.0 1416 2496 3498 3168 1.1 -0.3 436 2370 0.12 1.67 0.00 0.000 2308 0.314 0.135 2357 3352 3338 3506 3171 0 0 0 0 0 0 13.68 13.65 28.83

2611 -0.38 -146.0 1456 3351 3498 3168 1.1 0.1 482 2618 0.00 1.55 0.00 0.000 1030 0.000 0.093 2357 2494 3339 3507 3171 0 0 0 0 0 0 28.83 13.88 28.83

2935 -0.31 -146.0 2357 2494 3506 3171 1.0 -0.4 543 2942 0.17 1.67 0.00 0.000 2308 0.286 0.136 2395 3348 3338 3506 3171 0 0 0 0 0 0 13.50 13.64 28.83

3182 -0.23 -146.0 2396 3348 3506 3172 1.0 -0.2 589 3189 0.15 1.52 0.00 0.000 3078 0.285 0.093 2426 2499 3338 3506 3171 0 0 0 0 0 0 13.46 13.86 28.83

3509 -0.16 -146.0 1480 2498 3498 3168 1.0 0.3 650 3516 0.12 1.67 0.00 0.000 2308 0.311 0.134 2451 3353 3338 3506 3171 0 0 0 0 0 0 13.66 13.64 28.83

3756 -0.09 -146.0 1536 3352 3498 3168 1.1 0.2 696 3764 0.00 1.55 0.00 0.000 1030 0.000 0.093 2451 2496 3338 3506 3171 0 0 0 0 0 0 28.83 13.88 28.83

4078 -0.09 -146.0 2451 2496 3506 3171 1.1 0.4 757 4085 0.00 1.67 0.00 0.000 260 0.000 0.138 2445 3352 3338 3506 3171 0 0 0 0 0 0 28.83 13.64 28.83

4324 -0.01 -146.0 1536 3350 3498 3168 1.1 0.2 803 4331 0.25 1.55 0.00 0.000 3078 0.265 0.092 2500 2492 3338 3506 3171 0 0 0 0 0 0 13.39 13.88 28.83

4651 0.06 -146.0 2500 2492 3506 3171 1.1 -0.0 864 4658 0.00 1.67 0.00 0.000 260 0.000 0.138 2496 3349 3338 3506 3171 0 0 0 0 0 0 28.83 13.63 28.83

4897 0.13 -146.0 2496 3349 3506 3171 1.0 0.3 910 4904 0.22 1.55 0.00 0.000 3078 0.272 0.093 2544 2490 3338 3506 3171 0 0 0 0 0 0 13.38 13.87 28.83

5223 0.21 -146.0 2544 2490 3506 3171 1.0 -0.2 971 5232 0.12 1.67 0.00 0.000 2308 0.314 0.137 2570 3345 3338 3506 3171 0 0 0 0 0 0 13.69 13.63 28.83

5471 0.28 -146.0 2570 3345 3507 3171 1.1 -0.4 1017 5478 0.00 1.52 0.00 0.000 1030 0.000 0.093 2570 2500 3339 3506 3172 0 0 0 0 0 0 28.83 13.85 28.83

5792 0.35 -146.0 2570 2500 3506 3171 1.0 0.0 1078 5799 0.17 1.67 0.00 0.000 2308 0.291 0.135 2607 3352 3338 3506 3171 0 0 0 0 0 0 13.45 13.64 28.83

6040 0.43 -146.0 2607 3352 3506 3171 1.0 0.1 1124 6048 0.15 1.55 0.00 0.000 3078 0.285 0.093 2637 2492 3338 3506 3171 0 0 0 0 0 0 13.45 13.88 28.83

6369 0.50 -146.0 2637 2492 3506 3171 1.1 -0.0 1185 6377 0.12 1.67 0.00 0.000 2308 0.318 0.136 2664 3346 3338 3506 3171 0 0 0 0 0 0 13.65 13.63 28.83

6616 0.57 -146.0 1696 3345 3498 3168 1.0 0.5 1231 6622 0.00 1.52 0.00 0.000 1030 0.000 0.092 2664 2499 3338 3506 3171 0 0 0 0 0 0 28.83 13.85 28.83

6938 0.57 -146.0 2664 2499 3507 3171 1.1 0.2 1292 6945 0.00 1.65 0.00 0.000 260 0.000 0.137 2658 3346 3338 3506 3171 0 0 0 0 0 0 28.83 13.62 28.83

7184 0.65 -146.0 1696 3345 3498 3168 1.0 -0.1 1338 7191 0.22 1.52 0.00 0.000 3078 0.272 0.092 2707 2498 3339 3507 3171 0 0 0 0 0 0 13.36 13.85 28.83

7504 0.65 -146.0 1728 2496 3498 3168 1.1 -0.3 1399 7510 0.00 1.65 0.00 0.000 260 0.000 0.139 2703 3346 3339 3507 3171 0 0 0 0 0 0 28.83 13.62 28.83

7751 0.72 -146.0 2703 3346 3506 3171 1.0 0.2 1445 7759 0.15 1.52 0.00 0.000 3078 0.286 0.092 2732 2499 3339 3506 3172 0 0 0 0 0 0 13.43 13.85 28.83

8079 0.79 -146.0 1728 2497 3498 3168 1.1 -0.3 1506 8087 0.12 1.67 0.00 0.000 2308 0.322 0.134 2757 3353 3338 3506 3171 0 0 0 0 0 0 13.62 13.63 28.83

8326 0.79 -146.0 2757 3353 3506 3171 1.1 0.0 1552 8333 0.00 1.55 0.00 0.000 1030 0.000 0.091 2757 2491 3338 3506 3171 0 0 0 0 0 0 28.83 13.88 28.83

8646 0.79 -146.0 2757 2491 3506 3171 1.1 -0.5 1613 8653 0.00 1.67 0.00 0.000 260 0.000 0.138 2750 3349 3338 3506 3171 0 0 0 0 0 0 28.83 13.62 28.83

8891 0.87 -146.0 2750 3349 3506 3171 1.0 -0.2 1659 8900 0.15 1.52 0.00 0.000 3078 0.283 0.092 2780 2501 3338 3506 3171 0 0 0 0 0 0 13.45 13.85 28.83

9220 0.94 -146.0 2780 2500 3506 3171 1.0 -0.0 1720 9226 0.00 1.65 0.00 0.000 260 0.000 0.137 2775 3347 3338 3506 3171 0 0 0 0 0 0 28.83 13.62 28.83

9465 1.01 -146.0 2775 3346 3506 3171 1.1 -0.1 1766 9473 0.22 1.52 0.00 0.000 3078 0.275 0.092 2824 2499 3338 3506 3171 0 0 0 0 0 0 13.36 13.85 28.83

9792 1.09 -146.0 1808 2497 3498 3168 1.1 -0.5 1827 9801 0.12 1.67 0.00 0.000 2308 0.320 0.132 2850 3352 3338 3506 3171 0 0 0 0 0 0 13.64 13.63 28.83

10041 1.16 -146.0 2850 3352 3506 3171 1.0 0.1 1873 10048 0.12 1.55 0.00 0.000 3078 0.297 0.091 2874 2492 3338 3506 3171 0 0 0 0 0 0 13.47 13.88 28.83

10368 1.23 -146.0 2873 2493 3506 3170 1.2 -0.3 1934 10375 0.00 1.67 0.00 0.000 260 0.000 0.138 2868 3348 3338 3506 3171 0 0 0 0 0 0 28.83 13.61 28.83

10618 1.31 -146.0 2869 3347 3506 3171 1.1 -0.1 1980 10625 0.22 1.52 0.00 0.000 3078 0.278 0.091 2918 2500 3338 3506 3171 0 0 0 0 0 0 13.34 13.85 28.83

10946 1.38 -146.0 2918 2500 3506 3171 1.0 0.5 2041 10954 0.12 1.67 0.00 0.000 2308 0.317 0.133 2943 3354 3339 3506 3172 0 0 0 0 0 0 13.64 13.62 28.83

11194 1.46 -146.0 2943 3353 3506 3171 1.0 0.5 2087 11201 0.12 1.52 0.00 0.000 3078 0.298 0.090 2966 2499 3338 3506 3171 0 0 0 0 0 0 13.47 13.86 28.83

11523 1.53 -146.0 2966 2499 3506 3171 1.0 0.3 2148 11531 0.12 1.65 0.00 0.000 2308 0.316 0.135 2991 3344 3338 3506 3171 0 0 0 0 0 0 13.66 13.62 28.83

11771 1.60 -146.0 2991 3345 3506 3171 1.0 0.4 2194 11777 0.00 1.52 0.00 0.000 1030 0.000 0.090 2991 2494 3338 3506 3171 0 0 0 0 0 0 28.83 13.86 28.83

12098 1.60 -146.0 2991 2492 3506 3171 0.9 0.6 2255 12107 0.00 1.67 0.00 0.000 260 0.000 0.138 2985 3351 3338 3506 3171 0 0 0 0 0 0 28.83 13.62 28.83

12347 1.60 -146.0 2985 3352 3507 3171 1.0 -0.1 2301 12354 0.15 1.52 0.00 0.000 3078 0.296 0.092 3013 2499 3338 3506 3171 0 0 0 0 0 0 13.39 13.84 28.83

12676 1.60 -146.0 1984 2497 3498 3168 1.1 -0.2 2362 12683 0.00 1.65 0.00 0.000 260 0.000 0.136 3009 3346 3338 3506 3171 0 0 0 0 0 0 28.83 13.62 28.83

12906 end dive: HALF_MISSION_TIME_EXCEEDED

state 12906 begin apogee

12921 -0.22 0.0 3009 2499 3506 3171 1.0 0.0 2406 12935 1.73 0.00 9.62 0.171 12290 0.093 0.000 2437 2499 3258 3429 3088 0 0 0 0 0 0 13.88 28.83 28.83

12936 end apogee: FINISH_DEPTH_REACHED

state 12936 begin subsurface finish

12950 0.00 0.0 2437 2499 3429 3087 1.2 -0.9 2407 13022 0.25 1.48 63.38 0.154 10756 0.266 0.096 2498 1666 2737 2852 2623 0 0 0 0 0 0 13.49 14.09 13.89

13023 end subsurface finish: CONTROL_FINISHED_OK

state 13023 begin surface

ID	192	HD_C	3.62024e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	2	HEADING	-1	ROLL_DEG	24	ALTIM_TOP_TURN_MARGIN	5
DIVE	534	ESCAPE_HEADING	100	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2510	ALTIM_PING_DEPTH	300
D_SURF	3	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	50
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	22	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	400	R_STBD_OVSHOOT	15	XPDR_VALID	6
D_BOOST	110	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2741	DEVICE1	2
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	400	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	430	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0015	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	3	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-12203.111	DBDW	0	COMPASS_DEVICE	97
USE_ICE	2	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.1	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	350	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	145	MINV_24V	10	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3924	MINV_10V	9.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2510	FG_AHR_10V	0	SEABIRD_T_G	0.0042877649
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062281737
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.2009486e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-62.7798	SEABIRD_T_J	2.217299e-06
MASS	52018	PITCH_GAIN	23	PRESSURE_SLOPE	0.0001164018	SEABIRD_C_G	-9.8550158
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1245382
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0013153109
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017883891
KALMAN_USE	2	PITCH_ADJ_GAIN	0.0099999998	COMPASS_USE	4
HD_A	0.0041718199	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099987797	ROLL_MIN	318	ALTIM_TOP_PING_RANGE	20

GPS1	261213,042640,6640.829,-5852.195,0,3093.3,0,-33.8	TGT_NAME	TARGET_W
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-22.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	261213,042640,6640.829,-5852.195,0,3093.3,0,-33.8	MHEAD_RNG_PITCHd_Wd	301.7,68875,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	821

FREEZE	1.19,-1.778,-1.799,2,10,0	_24V_AH	13.3,232.209
FINISH1	1.2,1.026413,0	_10V_AH	13.0,0.000
FINISH2	1.1	FG_AHR_24Vo	0.000
RAFOS_CLK	707	FG_AHR_10Vo	0.000
RAFOS	4,1388046783,8.566667,8.550834,99,56,56,56,53,52,613,198,213,185,113,157	MEM	150688
RAFOS_FIX	6642.425781,-5846.648926,261213,080804,4,88,0.34	DATA_FILE_SIZE	93055,2419
IRIDIUM_FIX	6625.71,-5911.55,241213,232356	CAP_FILE_SIZE	177646,0
TT8_MAMPS	0.027713,0.027713	CFSIZE	259252224,209383424
HUMID	45.19	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.7425	SOUNDSPEED	1437.9
TCM_TEMP	11.90	CURRENT	22.039,235.0,1
XPDR_PINGS	23	GPS	261213,083304,6642.426,-5846.649,0,4087.5,0,-33.8
ALTIM_TOP_PING	1.2,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	322	29.56	SBE_CT	1723	23	532.37
Roll_motor	75	139	139.07	SBE_O2	0	0	0.00
VBD_pump_during_apogee	73	170	165.63	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	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	6	420	33.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	5992	14	1165.51
LPSleep	2672	2	80.25
TT8_Active	279	14	51.61
TT8_Sampling	3435	33	1504.57
TT8_CF8	725	39	374.44
TT8_Kalman	0	0	0.00
Analog_circuits	1882	12	293.62
GPS_charging	0	0	0.00
Compass	3425	6	300.16
RAFOS	1440	1	28.08
Transponder	2	30	1.10

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
20	-0.89	-146.0	2496	2497	2839	2624	0.0	0.0	0	66	0.00	0.00	-40.90	0.000	16390	0.000	0.000	2497	2497	3337	3503	3171	0	0	0	0	0	0	28.83	28.83	14.54
74	-0.89	-146.0	2496	2497	3504	3171	1.2	-0.1	8	81	0.82	1.65	0.00	0.000	4356	0.096	0.130	2217	3354	3338	3505	3171	0	0	0	0	0	0	13.95	13.85	28.83
321	-0.89	-146.0	2217	3354	3506	3172	1.1	0.0	54	328	0.00	1.55	0.00	0.000	1030	0.000	0.090	2217	2497	3338	3506	3171	0	0	0	0	0	0	28.83	13.93	28.83
643	-0.89	-146.0	2217	2497	3506	3171	1.1	-0.7	115	649	0.00	1.65	0.00	0.000	260	0.000	0.138	2210	3346	3338	3506	3171	0	0	0	0	0	0	28.83	13.71	28.83
888	-0.82	-146.0	2211	3346	3506	3171	1.0	0.5	161	895	0.15	1.52	0.00	0.000	3078	0.291	0.092	2240	2498	3338	3506	3171	0	0	0	0	0	0	13.47	13.90	28.83
1214	-0.75	-146.0	1352	2496	3498	3168	1.0	-0.2	222	1222	0.00	1.65	0.00	0.000	260	0.000	0.137	2236	3349	3339	3506	3172	0	0	0	0	0	0	28.83	13.67	28.83
1462	-0.67	-146.0	2236	3349	3506	3171	1.1	-0.4	268	1469	0.22	1.52	0.00	0.000	3078	0.269	0.092	2286	2499	3338	3506	3171	0	0	0	0	0	0	13.44	13.89	28.83
1789	-0.60	-146.0	2286	2499	3506	3171	1.1	-0.5	329	1795	0.00	1.65	0.00	0.000	260	0.000	0.137	2281	3346	3338	3506	3171	0	0	0	0	0	0	28.83	13.66	28.83
2034	-0.53	-146.0	2281	3346	3506	3171	1.0	0.6	375	2041	0.22	1.52	0.00	0.000	3078	0.265	0.093	2332	2498	3337	3504	3171	0	0	0	0	0	0	13.42	13.88	28.83
2361	-0.45	-146.0	1416	2496	3498	3168	1.1	-0.3	436	2370	0.12	1.67	0.00	0.000	2308	0.314	0.135	2357	3352	3338	3506	3171	0	0	0	0	0	0	13.68	13.65	28.83
2611	-0.38	-146.0	1456	3351	3498	3168	1.1	0.1	482	2618	0.00	1.55	0.00	0.000	1030	0.000	0.093	2357	2494	3339	3507	3171	0	0	0	0	0	0	28.83	13.88	28.83
2935	-0.31	-146.0	2357	2494	3506	3171	1.0	-0.4	543	2942	0.17	1.67	0.00	0.000	2308	0.286	0.136	2395	3348	3338	3506	3171	0	0	0	0	0	0	13.50	13.64	28.83
3182	-0.23	-146.0	2396	3348	3506	3172	1.0	-0.2	589	3189	0.15	1.52	0.00	0.000	3078	0.285	0.093	2426	2499	3338	3506	3171	0	0	0	0	0	0	13.46	13.86	28.83
3509	-0.16	-146.0	1480	2498	3498	3168	1.0	0.3	650	3516	0.12	1.67	0.00	0.000	2308	0.311	0.134	2451	3353	3338	3506	3171	0	0	0	0	0	0	13.66	13.64	28.83
3756	-0.09	-146.0	1536	3352	3498	3168	1.1	0.2	696	3764	0.00	1.55	0.00	0.000	1030	0.000	0.093	2451	2496	3338	3506	3171	0	0	0	0	0	0	28.83	13.88	28.83
4078	-0.09	-146.0	2451	2496	3506	3171	1.1	0.4	757	4085	0.00	1.67	0.00	0.000	260	0.000	0.138	2445	3352	3338	3506	3171	0	0	0	0	0	0	28.83	13.64	28.83
4324	-0.01	-146.0	1536	3350	3498	3168	1.1	0.2	803	4331	0.25	1.55	0.00	0.000	3078	0.265	0.092	2500	2492	3338	3506	3171	0	0	0	0	0	0	13.39	13.88	28.83
4651	0.06	-146.0	2500	2492	3506	3171	1.1	-0.0	864	4658	0.00	1.67	0.00	0.000	260	0.000	0.138	2496	3349	3338	3506	3171	0	0	0	0	0	0	28.83	13.63	28.83
4897	0.13	-146.0	2496	3349	3506	3171	1.0	0.3	910	4904	0.22	1.55	0.00	0.000	3078	0.272	0.093	2544	2490	3338	3506	3171	0	0	0	0	0	0	13.38	13.87	28.83
5223	0.21	-146.0	2544	2490	3506	3171	1.0	-0.2	971	5232	0.12	1.67	0.00	0.000	2308	0.314	0.137	2570	3345	3338	3506	3171	0	0	0	0	0	0	13.69	13.63	28.83
5471	0.28	-146.0	2570	3345	3507	3171	1.1	-0.4	1017	5478	0.00	1.52	0.00	0.000	1030	0.000	0.093	2570	2500	3339	3506	3172	0	0	0	0	0	0	28.83	13.85	28.83
5792	0.35	-146.0	2570	2500	3506	3171	1.0	0.0	1078	5799	0.17	1.67	0.00	0.000	2308	0.291	0.135	2607	3352	3338	3506	3171	0	0	0	0	0	0	13.45	13.64	28.83
6040	0.43	-146.0	2607	3352	3506	3171	1.0	0.1	1124	6048	0.15	1.55	0.00	0.000	3078	0.285	0.093	2637	2492	3338	3506	3171	0	0	0	0	0	0	13.45	13.88	28.83
6369	0.50	-146.0	2637	2492	3506	3171	1.1	-0.0	1185	6377	0.12	1.67	0.00	0.000	2308	0.318	0.136	2664	3346	3338	3506	3171	0	0	0	0	0	0	13.65	13.63	28.83
6616	0.57	-146.0	1696	3345	3498	3168	1.0	0.5	1231	6622	0.00	1.52	0.00	0.000	1030	0.000	0.092	2664	2499	3338	3506	3171	0	0	0	0	0	0	28.83	13.85	28.83
6938	0.57	-146.0	2664	2499	3507	3171	1.1	0.2	1292	6945	0.00	1.65	0.00	0.000	260	0.000	0.137	2658	3346	3338	3506	3171	0	0	0	0	0	0	28.83	13.62	28.83
7184	0.65	-146.0	1696	3345	3498	3168	1.0	-0.1	1338	7191	0.22	1.52	0.00	0.000	3078	0.272	0.092	2707	2498	3339	3507	3171	0	0	0	0	0	0	13.36	13.85	28.83
7504	0.65	-146.0	1728	2496	3498	3168	1.1	-0.3	1399	7510	0.00	1.65	0.00	0.000	260	0.000	0.139	2703	3346	3339	3507	3171	0	0	0	0	0	0	28.83	13.62	28.83
7751	0.72	-146.0	2703	3346	3506	3171	1.0	0.2	1445	7759	0.15	1.52	0.00	0.000	3078	0.286	0.092	2732	2499	3339	3506	3172	0	0	0	0	0	0	13.43	13.85	28.83
8079	0.79	-146.0	1728	2497	3498	3168	1.1	-0.3	1506	8087	0.12	1.67	0.00	0.000	2308	0.322	0.134	2757	3353	3338	3506	3171	0	0	0	0	0	0	13.62	13.63	28.83
8326	0.79	-146.0	2757	3353	3506	3171	1.1	0.0	1552	8333	0.00	1.55	0.00	0.000	1030	0.000	0.091	2757	2491	3338	3506	3171	0	0	0	0	0	0	28.83	13.88	28.83
8646	0.79	-146.0	2757	2491	3506	3171	1.1	-0.5	1613	8653	0.00	1.67	0.00	0.000	260	0.000	0.138	2750	3349	3338	3506	3171	0	0	0	0	0	0	28.83	13.62	28.83
8891	0.87	-146.0	2750	3349	3506	3171	1.0	-0.2	1659	8900	0.15	1.52	0.00	0.000	3078	0.283	0.092	2780	2501	3338	3506	3171	0	0	0	0	0	0	13.45	13.85	28.83
9220	0.94	-146.0	2780	2500	3506	3171	1.0	-0.0	1720	9226	0.00	1.65	0.00	0.000	260	0.000	0.137	2775	3347	3338	3506	3171	0	0	0	0	0	0	28.83	13.62	28.83
9465	1.01	-146.0	2775	3346	3506	3171	1.1	-0.1	1766	9473	0.22	1.52	0.00	0.000	3078	0.275	0.092	2824	2499	3338	3506	3171	0	0	0	0	0	0	13.36	13.85	28.83
9792	1.09	-146.0	1808	2497	3498	3168	1.1	-0.5	1827	9801	0.12	1.67	0.00	0.000	2308	0.320	0.132	2850	3352	3338	3506	3171	0	0	0	0	0	0	13.64	13.63	28.83
10041	1.16	-146.0	2850	3352	3506	3171	1.0	0.1	1873	10048	0.12	1.55	0.00	0.000	3078	0.297	0.091	2874	2492	3338	3506	3171	0	0	0	0	0	0	13.47	13.88	28.83
10368	1.23	-146.0	2873	2493	3506	3170	1.2	-0.3	1934	10375	0.00	1.67	0.00	0.000	260	0.000	0.138	2868	3348	3338	3506	3171	0	0	0	0	0	0	28.83	13.61	28.83
10618	1.31	-146.0	2869	3347	3506	3171	1.1	-0.1	1980	10625	0.22	1.52	0.00	0.000	3078	0.278	0.091	2918	2500	3338	3506	3171	0	0	0	0	0	0	13.34	13.85	28.83
10946	1.38	-146.0	2918	2500	3506	3171	1.0	0.5	2041	10954	0.12	1.67	0.00	0.000	2308	0.317	0.133	2943	3354	3339	3506	3172	0	0	0	0	0	0	13.64	13.62	28.83
11194	1.46	-146.0	2943	3353	3506	3171	1.0	0.5	2087	11201	0.12	1.52	0.00	0.000	3078	0.298	0.090	2966	2499	3338	3506	3171	0	0	0	0	0	0	13.47	13.86	28.83
11523	1.53	-146.0	2966	2499	3506	3171	1.0	0.3	2148	11531	0.12	1.65	0.00	0.000	2308	0.316	0.135	2991	3344	3338	3506	3171	0	0	0	0	0	0	13.66	13.62	28.83
11771	1.60	-146.0	2991	3345	3506	3171	1.0	0.4	2194	11777	0.00	1.52	0.00	0.000	1030	0.000	0.090	2991	2494	3338	3506	3171	0	0	0	0	0	0	28.83	13.86	28.83
12098	1.60	-146.0	2991	2492	3506	3171	0.9	0.6	2255	12107	0.00	1.67	0.00	0.000	260	0.000	0.138	2985	3351	3338	3506	3171	0	0	0	0	0	0	28.83	13.62	28.83
12347	1.60	-146.0	2985	3352	3507	3171	1.0	-0.1	2301	12354	0.15	1.52	0.00	0.000	3078	0.296	0.092	3013	2499	3338	3506	3171	0	0	0	0	0	0	13.39	13.84	28.83
12676	1.60	-146.0	1984	2497	3498	3168	1.1	-0.2	2362	12683	0.00	1.65	0.00	0.000	260	0.000	0.136	3009	3346	3338	3506	3171	0	0	0	0	0	0	28.83	13.62	28.83
12906	end dive: HALF_MISSION_TIME_EXCEEDED
state	12906	begin apogee
12921	-0.22	0.0	3009	2499	3506	3171	1.0	0.0	2406	12935	1.73	0.00	9.62	0.171	12290	0.093	0.000	2437	2499	3258	3429	3088	0	0	0	0	0	0	13.88	28.83	28.83
12936	end apogee: FINISH_DEPTH_REACHED
state	12936	begin subsurface finish
12950	0.00	0.0	2437	2499	3429	3087	1.2	-0.9	2407	13022	0.25	1.48	63.38	0.154	10756	0.266	0.096	2498	1666	2737	2852	2623	0	0	0	0	0	0	13.49	14.09	13.89
13023	end subsurface finish: CONTROL_FINISHED_OK
state	13023	begin surface