Glider dive log

PortSusan 14Dec09 * SG506 * Dive index * Mission links * Dive 57 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 506 HEADING -1 ROLL_MIN 180 ALTIM_BOTTOM_TURN_MARGIN 12

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3875 ALTIM_TOP_TURN_MARGIN 0

DIVE 57 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 0 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2230 ALTIM_PING_DEPTH 80

D_FLARE 2 TGT_DEFAULT_LAT 4808 C_ROLL_CLIMB 2190 ALTIM_PING_DELTA 5

D_TGT 10 TGT_DEFAULT_LON -12223 HEAD_ERRBAND 5 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 500 SM_CC 480 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT 36 XPDR_VALID 2

D_FINISH 1 FILEMGR 0 R_STBD_OVSHOOT 19 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -0.54000002

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1.5 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.027000001 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE -5 VBD_MIN 430 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3959 DEVICE1 2

T_DIVE 5 CALL_TRIES 5 C_VBD 3020 DEVICE2 -1

T_MISSION 15 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_CNV -0.245296 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 4 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -4 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -8175.7549 UNCOM_BLEED 50 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 220 PITCH_MIN 160 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3940 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3180 FG_AHR_24V 0 SEABIRD_T_G 0.004302992

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062119117

RHO 1.0233001 PITCH_CNV 0.003125763 PRESSURE_YINT -43.606201 SEABIRD_T_I 2.2739867e-05

MASS 51509 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.00011645618 SEABIRD_T_J 2.4046374e-06

NAV_MODE 1 PITCH_GAIN 26 AD7714Ch0Gain 128 SEABIRD_C_G -9.8404341

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.104722

KALMAN_USE 2 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022409149

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00025927747

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 2 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 500 PHONE_SUPPLY 2 SM_CC 480

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 12 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_TGT 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PITCH_GAIN 26 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3940 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 160 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.00011645618 T_DIVE 5

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -43.606201 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.003 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -8175.7549

CAPMAXSIZE 200000 HD_B 0.0099999998 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 1 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 15

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 5 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0233001 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.027000001 T_TURN_SAMPINT 4

COMPASS_USE 0 ID 506 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_PITCH 3180 INT_PRESSURE_YINT -0.54000002 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2190 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -4

C_ROLL_DIVE 2230 KERMIT 0 ROLL_MAX 3875 USE_ICE 0

C_VBD 3020 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 180 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51509 R_PORT_OVSHOOT 36 VBD_MAX 3959

DEVICE2 -1 MAX_BUOY 220 R_STBD_OVSHOOT 19 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -9.8404341 VBD_MIN 430

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.104722 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 2 SEABIRD_C_I -0.0022409149 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00025927747 VBD_TIMEOUT 720

DIVE 57 NAV_MODE 1 SEABIRD_T_G 0.004302992 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 4 SEABIRD_T_H 0.00062119117 XPDR_INHIBIT 90

D_BOOST 4 N_GPS 20 SEABIRD_T_I 2.2739867e-05 XPDR_VALID 2

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.4046374e-06

D_FINISH 1 N_NOSURFACE -5 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 074336,4804.801,-12220.637,8,1.2,24,18.3 TGT_NAME FIVE

_CALLS 2 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 7 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -0.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -0.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 074336,4804.801,-12220.637,8,1.2,24,18.3 MHEAD_RNG_PITCHd_Wd 291.0,581,-8.5,-6.667

SPEED_LIMITS 0.115,0.263 D_GRID 108

Post-dive calculations and measurements:

FINISH1 0.9,1.019154,205 _10V_AH 10.4,3.296

FINISH2 0.0 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12217.40,120399,070712 FG_AHR_10Vo 0.000

TT8_MAMPS 0.052923 MEM 324988

HUMID 21.56 DATA_FILE_SIZE 3320,167

INTERNAL_PRESSURE 9.42132 CAP_FILE_SIZE 18252,0

TCM_TEMP 18.70 CFSIZE 260165632,256966656

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

_24V_AH 23.9,10.178 GPS 161209,074336,4804.801,-12220.637,8,1.2,24,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 2 144 9.79 SBE_CT 101 24 58.21

Roll_motor 15 75 28.49 nil 0 0 0.00

VBD_pump_during_apogee 425 570 5799.08 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 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 50 0.00

TT8 0 19 0.00

LPSleep 96 2 2.20

TT8_Active 355 19 73.29

TT8_Sampling 296 39 122.89

TT8_CF8 10 45 5.04

TT8_Kalman 0 0 0.00

Analog_circuits 588 12 73.45

GPS_charging 0 0 0.00

Compass 248 8 20.64

RAFOS 0 0 0.00

Transponder 0 30 0.31

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11 -0.59 -215.0 0.0 0.0 0 72 0.00 0.00 -59.03 0.000 2 0.000 0.000 3263 3790 3589 0 0 0 0 0 0

74 -0.59 -215.0 2.3 -5.9 14 92 0.80 5.07 -9.27 0.000 4 0.101 0.051 2991 643 3899 0 0 0 0 0 0

124 end dive: TARGET_DEPTH_EXCEEDED

state 125 begin apogee

129 -0.19 0.0 10.2 15.4 26 302 0.43 0.00 167.18 0.571 6 0.145 0.000 3110 2197 3019 0 0 0 0 0 0

303 end apogee: CONTROL_FINISHED_OK

state 303 begin climb

304 0.59 215.0 16.3 0.0 67 481 0.77 2.78 169.05 0.551 4 0.099 0.066 3365 3774 2142 0 0 0 0 0 0

611 0.80 385.2 5.4 3.0 139 706 0.20 2.55 88.97 0.546 2 0.069 0.040 3461 2187 1641 0 0 0 0 0 0

706 end climb: FINISH_DEPTH_REACHED

state 706 begin subsurface finish

709 0.25 204.8 0.9 -6.2 161 735 0.62 2.75 -21.27 0.000 4 0.114 0.076 3266 3781 2185 0 0 0 0 0 0

736 end subsurface finish: CONTROL_FINISHED_OK

state 736 begin surface

ID	506	HEADING	-1	ROLL_MIN	180	ALTIM_BOTTOM_TURN_MARGIN	12
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3875	ALTIM_TOP_TURN_MARGIN	0
DIVE	57	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	0	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2230	ALTIM_PING_DEPTH	80
D_FLARE	2	TGT_DEFAULT_LAT	4808	C_ROLL_CLIMB	2190	ALTIM_PING_DELTA	5
D_TGT	10	TGT_DEFAULT_LON	-12223	HEAD_ERRBAND	5	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	500	SM_CC	480	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	36	XPDR_VALID	2
D_FINISH	1	FILEMGR	0	R_STBD_OVSHOOT	19	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-0.54000002
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1.5	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.027000001	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	-5	VBD_MIN	430	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3959	DEVICE1	2
T_DIVE	5	CALL_TRIES	5	C_VBD	3020	DEVICE2	-1
T_MISSION	15	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_CNV	-0.245296	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	4	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-4	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-8175.7549	UNCOM_BLEED	50	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	220	PITCH_MIN	160	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3940	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3180	FG_AHR_24V	0	SEABIRD_T_G	0.004302992
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062119117
RHO	1.0233001	PITCH_CNV	0.003125763	PRESSURE_YINT	-43.606201	SEABIRD_T_I	2.2739867e-05
MASS	51509	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.00011645618	SEABIRD_T_J	2.4046374e-06
NAV_MODE	1	PITCH_GAIN	26	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8404341
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.104722
KALMAN_USE	2	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022409149
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00025927747
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0

GPS1	074336,4804.801,-12220.637,8,1.2,24,18.3	TGT_NAME	FIVE
_CALLS	2	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	7	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-0.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	074336,4804.801,-12220.637,8,1.2,24,18.3	MHEAD_RNG_PITCHd_Wd	291.0,581,-8.5,-6.667
SPEED_LIMITS	0.115,0.263	D_GRID	108

FINISH1	0.9,1.019154,205	_10V_AH	10.4,3.296
FINISH2	0.0	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12217.40,120399,070712	FG_AHR_10Vo	0.000
TT8_MAMPS	0.052923	MEM	324988
HUMID	21.56	DATA_FILE_SIZE	3320,167
INTERNAL_PRESSURE	9.42132	CAP_FILE_SIZE	18252,0
TCM_TEMP	18.70	CFSIZE	260165632,256966656
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	23.9,10.178	GPS	161209,074336,4804.801,-12220.637,8,1.2,24,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	2	144	9.79	SBE_CT	101	24	58.21
Roll_motor	15	75	28.49	nil	0	0	0.00
VBD_pump_during_apogee	425	570	5799.08	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	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	50	0.00
TT8	0	19	0.00
LPSleep	96	2	2.20
TT8_Active	355	19	73.29
TT8_Sampling	296	39	122.89
TT8_CF8	10	45	5.04
TT8_Kalman	0	0	0.00
Analog_circuits	588	12	73.45
GPS_charging	0	0	0.00
Compass	248	8	20.64
RAFOS	0	0	0.00
Transponder	0	30	0.31

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11	-0.59	-215.0	0.0	0.0	0	72	0.00	0.00	-59.03	0.000	2	0.000	0.000	3263	3790	3589	0	0	0	0	0	0
74	-0.59	-215.0	2.3	-5.9	14	92	0.80	5.07	-9.27	0.000	4	0.101	0.051	2991	643	3899	0	0	0	0	0	0
124	end dive: TARGET_DEPTH_EXCEEDED
state	125	begin apogee
129	-0.19	0.0	10.2	15.4	26	302	0.43	0.00	167.18	0.571	6	0.145	0.000	3110	2197	3019	0	0	0	0	0	0
303	end apogee: CONTROL_FINISHED_OK
state	303	begin climb
304	0.59	215.0	16.3	0.0	67	481	0.77	2.78	169.05	0.551	4	0.099	0.066	3365	3774	2142	0	0	0	0	0	0
611	0.80	385.2	5.4	3.0	139	706	0.20	2.55	88.97	0.546	2	0.069	0.040	3461	2187	1641	0	0	0	0	0	0
706	end climb: FINISH_DEPTH_REACHED
state	706	begin subsurface finish
709	0.25	204.8	0.9	-6.2	161	735	0.62	2.75	-21.27	0.000	4	0.114	0.076	3266	3781	2185	0	0	0	0	0	0
736	end subsurface finish: CONTROL_FINISHED_OK
state	736	begin surface