Glider dive log

PortSusan 14Dec09 * SG506 * Dive index * Mission links * Dive 78 * 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 78 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 5 N_FILEKB 4 R_PORT_OVSHOOT 31 XPDR_VALID 2

D_FINISH 1 FILEMGR 0 R_STBD_OVSHOOT 21 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 0.025 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 3060 DEVICE2 -1

T_MISSION 90 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 -8531.2842 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 -8 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 180 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 -8 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 -8531.2842

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 90

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 0.025 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 3060 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 31 VBD_MAX 3959

DEVICE2 -1 MAX_BUOY 180 R_STBD_OVSHOOT 21 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 78 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 5 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 182057,4807.455,-12223.503,6,2.5,25,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.77 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 182504,4807.474,-12223.547,12,2.5,31,18.3 MHEAD_RNG_PITCHd_Wd 311.8,1124,-10.0,-6.667

SPEED_LIMITS 0.115,0.242 D_GRID 103

Post-dive calculations and measurements:

FINISH1 0.7,1.019513,187 _10V_AH 10.4,3.686

FINISH2 0.6 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12219.12,120399,181851 FG_AHR_10Vo 0.000

TT8_MAMPS 0.052156 MEM 324660

HUMID 21.68 DATA_FILE_SIZE 3313,158

INTERNAL_PRESSURE 9.43109 CAP_FILE_SIZE 23625,0

TCM_TEMP 18.70 CFSIZE 260165632,256380928

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

_24V_AH 23.8,11.863 GPS 161209,182504,4807.474,-12223.547,12,2.5,31,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 283 103.17 SBE_CT 95 24 54.49

Roll_motor 13 88 28.55 nil 0 0 0.00

VBD_pump_during_apogee 388 579 5357.15 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 29 103 72.88 nil 0 0 0.00

Iridium_during_connect 23 160 88.90 nil 0 0 0.00

Iridium_during_xfer 117 223 621.23

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 50 17.96

TT8 0 19 0.00

LPSleep 72 2 1.65

TT8_Active 352 19 72.51

TT8_Sampling 319 39 132.43

TT8_CF8 199 45 95.24

TT8_Kalman 0 0 0.00

Analog_circuits 580 12 72.41

GPS_charging 0 0 0.00

Compass 235 8 19.59

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

12 -0.60 -175.9 0.0 0.0 0 69 0.00 0.00 -55.12 0.000 2 0.000 0.000 156 2234 2579 0 0 0 0 0 0

70 -0.60 -175.9 2.3 -3.2 13 122 13.20 2.72 -30.85 0.000 4 0.284 0.088 2970 3802 3780 0 0 0 0 0 0

138 end dive: TARGET_DEPTH_EXCEEDED

state 138 begin apogee

143 -0.31 0.0 10.4 13.0 29 286 0.35 0.00 138.23 0.579 6 0.169 0.000 3071 2188 3060 0 0 0 0 0 0

286 end apogee: CONTROL_FINISHED_OK

state 286 begin climb

287 0.60 175.9 16.7 0.0 63 435 0.95 2.78 139.30 0.558 4 0.117 0.063 3378 605 2341 0 0 0 0 0 0

539 0.77 318.4 6.9 3.0 122 658 0.15 2.67 111.18 0.555 6 0.076 0.053 3448 2208 1761 0 0 0 0 0 0

665 end climb: FINISH_DEPTH_REACHED

state 665 begin subsurface finish

668 0.23 187.0 0.7 -6.1 152 694 0.62 2.75 -20.85 0.000 4 0.118 0.084 3248 3776 2298 0 0 0 0 0 0

695 end subsurface finish: CONTROL_FINISHED_OK

state 695 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	78	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	5	N_FILEKB	4	R_PORT_OVSHOOT	31	XPDR_VALID	2
D_FINISH	1	FILEMGR	0	R_STBD_OVSHOOT	21	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	0.025	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	3060	DEVICE2	-1
T_MISSION	90	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	-8531.2842	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	-8	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	180	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	182057,4807.455,-12223.503,6,2.5,25,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.77	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	182504,4807.474,-12223.547,12,2.5,31,18.3	MHEAD_RNG_PITCHd_Wd	311.8,1124,-10.0,-6.667
SPEED_LIMITS	0.115,0.242	D_GRID	103

FINISH1	0.7,1.019513,187	_10V_AH	10.4,3.686
FINISH2	0.6	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12219.12,120399,181851	FG_AHR_10Vo	0.000
TT8_MAMPS	0.052156	MEM	324660
HUMID	21.68	DATA_FILE_SIZE	3313,158
INTERNAL_PRESSURE	9.43109	CAP_FILE_SIZE	23625,0
TCM_TEMP	18.70	CFSIZE	260165632,256380928
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	23.8,11.863	GPS	161209,182504,4807.474,-12223.547,12,2.5,31,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	283	103.17	SBE_CT	95	24	54.49
Roll_motor	13	88	28.55	nil	0	0	0.00
VBD_pump_during_apogee	388	579	5357.15	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	29	103	72.88	nil	0	0	0.00
Iridium_during_connect	23	160	88.90	nil	0	0	0.00
Iridium_during_xfer	117	223	621.23
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	50	17.96
TT8	0	19	0.00
LPSleep	72	2	1.65
TT8_Active	352	19	72.51
TT8_Sampling	319	39	132.43
TT8_CF8	199	45	95.24
TT8_Kalman	0	0	0.00
Analog_circuits	580	12	72.41
GPS_charging	0	0	0.00
Compass	235	8	19.59
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
12	-0.60	-175.9	0.0	0.0	0	69	0.00	0.00	-55.12	0.000	2	0.000	0.000	156	2234	2579	0	0	0	0	0	0
70	-0.60	-175.9	2.3	-3.2	13	122	13.20	2.72	-30.85	0.000	4	0.284	0.088	2970	3802	3780	0	0	0	0	0	0
138	end dive: TARGET_DEPTH_EXCEEDED
state	138	begin apogee
143	-0.31	0.0	10.4	13.0	29	286	0.35	0.00	138.23	0.579	6	0.169	0.000	3071	2188	3060	0	0	0	0	0	0
286	end apogee: CONTROL_FINISHED_OK
state	286	begin climb
287	0.60	175.9	16.7	0.0	63	435	0.95	2.78	139.30	0.558	4	0.117	0.063	3378	605	2341	0	0	0	0	0	0
539	0.77	318.4	6.9	3.0	122	658	0.15	2.67	111.18	0.555	6	0.076	0.053	3448	2208	1761	0	0	0	0	0	0
665	end climb: FINISH_DEPTH_REACHED
state	665	begin subsurface finish
668	0.23	187.0	0.7	-6.1	152	694	0.62	2.75	-20.85	0.000	4	0.118	0.084	3248	3776	2298	0	0	0	0	0	0
695	end subsurface finish: CONTROL_FINISHED_OK
state	695	begin surface