Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 325 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 80 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 325 ESCAPE_HEADING_DELTA 5 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 3 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2230 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1740 ALTIM_PULSE 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 7 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 1.75 FILEMGR 2 R_PORT_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 22 INT_PRESSURE_YINT 0

D_CALL 3 COMM_SEQ 0 ROLL_AD_RATE 275 DEEPGLIDER 0

SURFACE_URGENCY 10 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOCOMM 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX 5 VBD_MIN 588 DEVICE2 20

T_MISSION 550 CALL_TRIES 3 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2650 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -3 T_GPS 3 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 2 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -118268.59 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 60 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 70 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 350 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3700 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2680 PRESSURE_YINT -22.639299 SEABIRD_T_G 0.0043498399

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_H 0.0006493734

MASS 51779 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.8112627e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.1957888e-06

FERRY_MAX 45 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1366181

HD_A 0.0038000001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00038917549

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 7.9540005e-05

HD_C 2.7999999e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 7 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 1.75 PITCH_MAX 3700 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SAFE 500 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 80 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 5 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 3 RAFOS_CORR_THRESH 70 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 470

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 3

CALL_TRIES 3 HD_A 0.0038000001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -118268.59

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX 5

C_PITCH 2680 KALMAN_USE 1 ROLL_MIN 294 USE_BATHY -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 2

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 22 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.106751 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1366181 VBD_MAX 3951

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.00038917549 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 7.9540005e-05 VBD_MIN 588

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043498399 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 0 SEABIRD_T_H 0.0006493734 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8112627e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 3.1957888e-06 XPDR_DEVICE 24

DIVE 325 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1070 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 3 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 121456,6610.557,-5801.161,0,2081.0,0,-37.9 TGT_NAME TARGET_ADD1_WB

_CALLS 3 TGT_LATLONG 6647.000,-5956.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.111,-0.206

_SM_DEPTHo 4.46 KALMAN_X 198942.4,23929.0,-24877.1,-215855.8,-1363954.5

_SM_ANGLEo -5.5 KALMAN_Y -297317.8,-19055.8,20812.6,214846.6,1105310.4

GPS2 121456,6610.557,-5801.161,0,2081.0,0,-37.9 MHEAD_RNG_PITCHd_Wd 189.7,107632,-12.9,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 596

Post-dive calculations and measurements:

FREEZE 6.60,-1.755,-1.774 TCM_TEMP 15.00

FINISH1 6.6,1.025998,81 XPDR_PINGS 38

FINISH2 4.8 _24V_AH 22.1,57.078

RAFOS_CLK 757 _10V_AH 10.5,26.158

RAFOS 0,1227053061,0.083333,0.072500,99,67,58,56,55,53,450,236,203,145,166,191 DATA_FILE_SIZE 31551,960

RAFOS_FIX 6645.410156,-5952.080566,191108,000040,4,85,2.36 CAP_FILE_SIZE 147521,0

IRIDIUM_FIX 6614.97,-5912.45,100298,030321 CFSIZE 260165632,229576704

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1800 SOUNDSPEED 1447.7

INTERNAL_PRESSURE 9.89296 GPS 191108,002640,6645.410,-5952.081,0,4085.0,0,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 10 156 37.95 SBE_CT 671 24 356.39

Roll_motor 203 90 407.89 SBE_O2 0 0 0.00

VBD_pump_during_apogee 389 1234 10620.37 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 9 420 88.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1853 19 387.72

LPSleep 12280 2 297.86

TT8_Active 538 19 112.56

TT8_Sampling 1910 39 800.91

TT8_CF8 252 45 121.70

TT8_Kalman 33 81 28.72

Analog_circuits 1610 12 202.92

GPS_charging 0 0 0.00

Compass 1889 8 158.73

RAFOS 1800 1 28.35

Transponder 0 5 0.03

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.99 -146.0 0.0 0.0 0 23 0.00 0.00 -5.47 0.000 2 0.000 0.000 2700 326 2462

27 -0.99 -146.0 3.7 -0.0 1 78 0.65 5.40 -38.72 0.000 4 0.067 0.077 2427 3592 3247

158 -0.56 -146.0 15.0 -16.1 24 165 0.43 2.17 0.00 0.000 6 0.156 0.054 2559 2213 3251

504 -0.70 -146.0 38.7 -6.8 85 510 0.12 2.22 0.00 0.000 4 0.080 0.064 2507 816 3252

764 -0.64 -146.0 62.6 -8.8 131 770 0.15 2.35 0.00 0.000 6 0.143 0.069 2538 2244 3251

1109 -0.75 -146.0 84.9 -6.7 192 1115 0.00 2.33 0.00 0.000 4 0.000 0.067 2538 816 3251

1162 -0.84 -146.0 88.3 -6.6 201 1169 0.12 2.35 0.00 0.000 6 0.081 0.068 2479 2244 3252

1505 -0.75 -146.0 119.4 -9.1 235 1510 0.15 2.22 0.00 0.000 4 0.156 0.081 2511 3596 3251

1532 -0.75 -146.0 121.8 -8.2 236 1536 0.00 2.17 0.00 0.000 6 0.000 0.054 2511 2217 3251

1855 -0.75 -146.0 144.7 -6.7 252 1859 0.00 2.30 0.00 0.000 4 0.000 0.081 2501 3593 3251

1866 -0.75 -146.0 145.8 -6.5 252 1870 0.00 2.17 0.00 0.000 6 0.000 0.052 2501 2211 3251

2187 -0.75 -146.0 166.1 -6.2 268 2191 0.00 2.33 0.00 0.000 4 0.000 0.080 2493 3603 3251

2198 -0.75 -146.0 166.8 -6.3 268 2203 0.10 2.17 0.00 0.000 6 0.153 0.054 2519 2225 3251

2520 -0.85 -146.0 186.5 -6.4 284 2524 0.10 2.25 0.00 0.000 4 0.099 0.066 2478 823 3250

2530 -0.91 -146.0 187.4 -6.5 284 2538 0.00 2.33 0.00 0.000 6 0.000 0.067 2468 2232 3250

2847 -0.82 -146.0 213.5 -8.1 300 2851 0.12 2.33 0.00 0.000 4 0.156 0.066 2501 814 3250

2902 -0.82 -146.0 217.6 -6.8 302 2908 0.00 2.35 0.00 0.000 6 0.000 0.068 2493 2239 3250

3217 -0.82 -146.0 239.4 -7.1 318 3221 0.00 2.33 0.00 0.000 4 0.000 0.067 2493 816 3250

3240 -0.82 -146.0 241.1 -7.4 319 3244 0.00 2.35 0.00 0.000 6 0.000 0.069 2483 2239 3250

3572 -0.82 -146.0 267.2 -7.4 335 3575 0.00 2.33 0.00 0.000 4 0.000 0.067 2483 819 3249

3582 -0.82 -146.0 268.1 -7.6 335 3587 0.12 2.35 0.00 0.000 6 0.143 0.068 2506 2257 3249

3904 -0.91 -146.0 285.5 -4.8 351 3909 0.10 2.35 0.00 0.000 4 0.095 0.065 2464 820 3249

3915 -0.91 -146.0 286.1 -4.6 351 3920 0.12 2.35 0.00 0.000 6 0.150 0.069 2487 2240 3249

4231 -0.91 -146.0 302.5 -5.3 366 4235 0.00 2.25 0.00 0.000 4 0.000 0.083 2479 3608 3249

4264 -0.91 -146.0 304.5 -6.2 367 4268 0.00 2.20 0.00 0.000 6 0.000 0.054 2479 2219 3249

4585 -0.91 -146.0 322.9 -5.9 383 4589 0.00 2.33 0.00 0.000 4 0.000 0.081 2468 3606 3249

4646 -0.91 -146.0 326.8 -6.5 385 4652 0.00 2.20 0.00 0.000 6 0.000 0.054 2468 2216 3249

4963 -0.87 -146.0 347.7 -6.4 401 4967 0.10 2.22 0.00 0.000 4 0.156 0.065 2497 819 3249

4973 -0.87 -146.0 348.5 -6.2 401 4977 0.00 2.35 0.00 0.000 6 0.000 0.067 2489 2244 3249

5296 -0.87 -146.0 367.2 -6.0 417 5297 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2244 3249

5604 -0.92 -146.0 386.7 -6.0 432 5608 0.00 2.22 0.00 0.000 4 0.000 0.087 2479 3596 3250

5617 -0.97 -146.0 387.5 -6.1 432 5621 0.00 2.17 0.00 0.000 6 0.000 0.052 2480 2212 3250

5957 -0.97 -146.0 408.3 -6.0 446 5960 0.00 2.22 0.00 0.000 4 0.000 0.064 2480 816 3250

5968 -0.97 -146.0 409.1 -5.9 446 5972 0.00 2.35 0.00 0.000 6 0.000 0.066 2469 2245 3250

6280 -0.97 -146.0 428.5 -6.1 454 6284 0.00 2.33 0.00 0.000 4 0.000 0.063 2469 815 3250

6291 -0.97 -146.0 429.2 -6.0 454 6295 0.00 2.35 0.00 0.000 6 0.000 0.065 2459 2246 3251

6611 -0.92 -146.0 448.0 -5.8 462 6616 0.10 2.20 0.00 0.000 4 0.153 0.077 2476 3597 3251

6644 -0.92 -146.0 449.9 -5.3 462 6648 0.00 2.15 0.00 0.000 6 0.000 0.050 2476 2223 3250

6981 -0.92 -146.0 466.3 -4.8 471 6985 0.00 2.30 0.00 0.000 4 0.000 0.077 2466 3599 3251

7014 -0.92 -146.0 468.2 -6.1 471 7018 0.00 2.15 0.00 0.000 6 0.000 0.050 2466 2227 3251

7351 -0.92 -146.0 487.1 -5.7 480 7355 0.00 2.25 0.00 0.000 4 0.000 0.063 2466 814 3252

7362 -0.92 -146.0 487.8 -5.8 480 7367 0.10 2.35 0.00 0.000 6 0.143 0.064 2482 2244 3251

7682 -0.97 -146.0 504.8 -5.3 488 7685 0.00 2.33 0.00 0.000 4 0.000 0.063 2482 810 3252

7693 -0.97 -146.0 505.5 -5.4 488 7697 0.00 2.35 0.00 0.000 6 0.000 0.064 2474 2238 3252

8012 -0.97 -146.0 523.1 -5.4 496 8016 0.00 2.30 0.00 0.000 4 0.000 0.062 2474 820 3253

8022 -0.97 -146.0 523.7 -5.2 496 8026 0.00 2.33 0.00 0.000 6 0.000 0.064 2464 2242 3253

8341 -0.97 -146.0 540.0 -5.2 504 8345 0.00 2.30 0.00 0.000 4 0.000 0.062 2465 823 3252

8357 -0.97 -146.0 540.9 -5.3 504 8361 0.00 2.33 0.00 0.000 6 0.000 0.064 2455 2243 3253

8671 -0.91 -146.0 559.7 -6.2 512 8676 0.12 2.33 0.00 0.000 4 0.150 0.062 2488 816 3253

8682 -0.87 -146.0 560.5 -6.0 512 8686 0.00 2.33 0.00 0.000 6 0.000 0.064 2481 2236 3253

8995 -0.87 -146.0 576.1 -4.8 520 8999 0.00 2.30 0.00 0.000 4 0.000 0.061 2480 814 3253

9006 -0.87 -146.0 576.6 -5.1 520 9010 0.00 2.33 0.00 0.000 6 0.000 0.063 2470 2235 3253

9325 -0.87 -146.0 592.1 -5.6 528 9329 0.00 2.30 0.00 0.000 4 0.000 0.061 2470 812 3253

9376 -0.87 -146.0 595.7 -7.4 529 9380 0.12 2.33 0.00 0.000 6 0.139 0.063 2494 2233 3253

9383 end dive: TARGET_DEPTH_EXCEEDED

state 9383 begin apogee

9390 -0.31 0.0 596.4 7.0 529 9519 0.35 0.00 126.30 1.234 6 0.117 0.000 2613 1730 2650

9520 end apogee: CONTROL_FINISHED_OK

state 9520 begin climb

9522 0.99 146.0 599.3 0.0 532 9663 0.90 2.67 132.05 1.158 4 0.091 0.067 2899 3148 2053

9693 0.60 146.0 585.0 12.9 536 9699 0.38 2.47 0.00 0.000 6 0.137 0.051 2809 1732 2050

10025 0.69 154.8 561.2 6.7 544 10040 0.00 2.42 7.60 0.966 4 0.000 0.067 2817 324 2019

10074 0.80 154.8 557.8 7.3 545 10079 0.12 2.40 0.00 0.000 6 0.074 0.056 2872 1747 2020

10392 0.62 154.8 525.5 10.5 553 10397 0.20 2.30 0.00 0.000 4 0.131 0.070 2814 3155 2019

10487 0.56 154.8 517.4 8.0 555 10491 0.00 2.28 0.00 0.000 6 0.000 0.052 2821 1733 2018

10811 0.61 154.8 493.3 7.5 563 10815 0.00 2.28 0.00 0.000 4 0.000 0.067 2831 332 2018

10844 0.67 154.8 490.6 8.2 563 10849 0.00 2.30 0.00 0.000 6 0.000 0.054 2832 1751 2018

11181 0.67 154.8 464.8 7.7 572 11185 0.00 2.25 0.00 0.000 4 0.000 0.070 2832 3151 2018

11265 0.53 154.8 457.5 8.6 573 11272 0.17 2.25 0.00 0.000 6 0.130 0.052 2792 1728 2017

11597 0.91 163.3 436.4 6.7 582 11612 0.22 2.38 8.57 1.005 4 0.068 0.068 2889 3155 1984

11797 0.57 163.3 413.1 12.5 586 11802 0.32 2.25 0.00 0.000 6 0.137 0.054 2804 1738 1984

12121 0.74 183.4 392.1 6.4 597 12147 0.12 2.33 18.83 1.078 4 0.074 0.067 2872 336 1902

12181 0.69 183.4 386.6 10.0 599 12188 0.17 2.30 0.00 0.000 6 0.120 0.055 2820 1744 1902

12497 0.80 183.4 363.6 7.1 615 12501 0.12 2.28 0.00 0.000 4 0.074 0.068 2876 3155 1900

12580 0.56 183.4 354.2 12.5 618 12587 0.30 2.25 0.00 0.000 6 0.131 0.053 2797 1738 1899

12897 1.01 183.4 331.9 7.3 634 12901 0.28 2.35 0.00 0.000 4 0.074 0.069 2905 3161 1898

13065 0.68 183.4 313.2 11.4 641 13072 0.32 2.28 0.00 0.000 6 0.137 0.054 2819 1727 1898

13382 0.87 237.6 295.8 5.3 657 13432 0.17 0.00 47.20 1.049 6 0.067 0.000 2894 1727 1681

13733 0.75 237.6 260.8 10.5 674 13738 0.20 2.38 0.00 0.000 4 0.123 0.068 2830 3160 1673

13767 0.75 237.6 257.8 8.5 675 13773 0.00 2.28 0.00 0.000 6 0.000 0.052 2837 1732 1672

14083 0.92 249.9 237.1 6.6 691 14099 0.15 2.28 10.38 0.933 4 0.072 0.067 2913 332 1631

14133 0.83 249.9 232.1 11.5 692 14138 0.20 2.30 0.00 0.000 6 0.132 0.055 2855 1744 1631

14449 0.95 249.9 208.8 7.1 707 14453 0.12 2.28 0.00 0.000 4 0.076 0.069 2908 3155 1629

14509 0.69 249.9 202.1 11.8 709 14516 0.30 2.28 0.00 0.000 6 0.132 0.054 2828 1728 1627

14826 1.36 249.9 176.7 9.3 725 14831 0.43 2.28 0.00 0.000 4 0.104 0.067 2973 327 1626

14859 1.41 249.9 173.2 9.4 726 14865 0.00 2.30 0.00 0.000 6 0.000 0.058 2973 1745 1626

15175 1.08 249.9 132.8 12.6 742 15180 0.20 2.28 0.00 0.000 4 0.147 0.071 2912 3158 1626

15220 0.90 249.9 127.5 11.2 744 15225 0.17 2.28 0.00 0.000 6 0.136 0.055 2870 1728 1625

15552 1.04 273.9 105.9 6.3 760 15579 0.12 2.30 21.65 0.960 4 0.077 0.069 2937 323 1533

15631 0.95 273.9 98.4 10.6 763 15638 0.20 2.35 0.00 0.000 6 0.131 0.060 2879 1750 1532

15976 1.13 292.1 74.9 6.4 824 16001 0.15 2.30 16.83 0.930 4 0.072 0.074 2943 3153 1459

16064 0.89 292.1 65.3 12.4 839 16071 0.30 2.30 0.00 0.000 6 0.133 0.058 2865 1731 1457

16409 1.52 292.1 38.2 8.2 900 16416 0.43 2.30 0.00 0.000 4 0.095 0.070 3013 328 1453

16524 1.23 292.1 25.6 12.3 920 16531 0.25 2.35 0.00 0.000 6 0.149 0.064 2943 1753 1453

16715 end climb: FINISH_DEPTH_REACHED

state 16715 begin subsurface finish

16723 0.10 81.1 6.6 -9.3 954 16759 0.73 2.38 -29.42 0.000 4 0.112 0.091 2689 3158 2321

16760 end subsurface finish: CONTROL_FINISHED_OK

state 16760 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	80	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	325	ESCAPE_HEADING_DELTA	5	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	3	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2230	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1740	ALTIM_PULSE	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	7	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	1.75	FILEMGR	2	R_PORT_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	22	INT_PRESSURE_YINT	0
D_CALL	3	COMM_SEQ	0	ROLL_AD_RATE	275	DEEPGLIDER	0
SURFACE_URGENCY	10	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOCOMM	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	5	VBD_MIN	588	DEVICE2	20
T_MISSION	550	CALL_TRIES	3	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2650	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-3	T_GPS	3	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	2	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-118268.59	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	60	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	70	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	350	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3700	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2680	PRESSURE_YINT	-22.639299	SEABIRD_T_G	0.0043498399
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_H	0.0006493734
MASS	51779	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.8112627e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.1957888e-06
FERRY_MAX	45	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1366181
HD_A	0.0038000001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00038917549
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	7.9540005e-05
HD_C	2.7999999e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	121456,6610.557,-5801.161,0,2081.0,0,-37.9	TGT_NAME	TARGET_ADD1_WB
_CALLS	3	TGT_LATLONG	6647.000,-5956.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.111,-0.206
_SM_DEPTHo	4.46	KALMAN_X	198942.4,23929.0,-24877.1,-215855.8,-1363954.5
_SM_ANGLEo	-5.5	KALMAN_Y	-297317.8,-19055.8,20812.6,214846.6,1105310.4
GPS2	121456,6610.557,-5801.161,0,2081.0,0,-37.9	MHEAD_RNG_PITCHd_Wd	189.7,107632,-12.9,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	596

FREEZE	6.60,-1.755,-1.774	TCM_TEMP	15.00
FINISH1	6.6,1.025998,81	XPDR_PINGS	38
FINISH2	4.8	_24V_AH	22.1,57.078
RAFOS_CLK	757	_10V_AH	10.5,26.158
RAFOS	0,1227053061,0.083333,0.072500,99,67,58,56,55,53,450,236,203,145,166,191	DATA_FILE_SIZE	31551,960
RAFOS_FIX	6645.410156,-5952.080566,191108,000040,4,85,2.36	CAP_FILE_SIZE	147521,0
IRIDIUM_FIX	6614.97,-5912.45,100298,030321	CFSIZE	260165632,229576704
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1800	SOUNDSPEED	1447.7
INTERNAL_PRESSURE	9.89296	GPS	191108,002640,6645.410,-5952.081,0,4085.0,0,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	10	156	37.95	SBE_CT	671	24	356.39
Roll_motor	203	90	407.89	SBE_O2	0	0	0.00
VBD_pump_during_apogee	389	1234	10620.37	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	9	420	88.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1853	19	387.72
LPSleep	12280	2	297.86
TT8_Active	538	19	112.56
TT8_Sampling	1910	39	800.91
TT8_CF8	252	45	121.70
TT8_Kalman	33	81	28.72
Analog_circuits	1610	12	202.92
GPS_charging	0	0	0.00
Compass	1889	8	158.73
RAFOS	1800	1	28.35
Transponder	0	5	0.03

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.99	-146.0	0.0	0.0	0	23	0.00	0.00	-5.47	0.000	2	0.000	0.000	2700	326	2462
27	-0.99	-146.0	3.7	-0.0	1	78	0.65	5.40	-38.72	0.000	4	0.067	0.077	2427	3592	3247
158	-0.56	-146.0	15.0	-16.1	24	165	0.43	2.17	0.00	0.000	6	0.156	0.054	2559	2213	3251
504	-0.70	-146.0	38.7	-6.8	85	510	0.12	2.22	0.00	0.000	4	0.080	0.064	2507	816	3252
764	-0.64	-146.0	62.6	-8.8	131	770	0.15	2.35	0.00	0.000	6	0.143	0.069	2538	2244	3251
1109	-0.75	-146.0	84.9	-6.7	192	1115	0.00	2.33	0.00	0.000	4	0.000	0.067	2538	816	3251
1162	-0.84	-146.0	88.3	-6.6	201	1169	0.12	2.35	0.00	0.000	6	0.081	0.068	2479	2244	3252
1505	-0.75	-146.0	119.4	-9.1	235	1510	0.15	2.22	0.00	0.000	4	0.156	0.081	2511	3596	3251
1532	-0.75	-146.0	121.8	-8.2	236	1536	0.00	2.17	0.00	0.000	6	0.000	0.054	2511	2217	3251
1855	-0.75	-146.0	144.7	-6.7	252	1859	0.00	2.30	0.00	0.000	4	0.000	0.081	2501	3593	3251
1866	-0.75	-146.0	145.8	-6.5	252	1870	0.00	2.17	0.00	0.000	6	0.000	0.052	2501	2211	3251
2187	-0.75	-146.0	166.1	-6.2	268	2191	0.00	2.33	0.00	0.000	4	0.000	0.080	2493	3603	3251
2198	-0.75	-146.0	166.8	-6.3	268	2203	0.10	2.17	0.00	0.000	6	0.153	0.054	2519	2225	3251
2520	-0.85	-146.0	186.5	-6.4	284	2524	0.10	2.25	0.00	0.000	4	0.099	0.066	2478	823	3250
2530	-0.91	-146.0	187.4	-6.5	284	2538	0.00	2.33	0.00	0.000	6	0.000	0.067	2468	2232	3250
2847	-0.82	-146.0	213.5	-8.1	300	2851	0.12	2.33	0.00	0.000	4	0.156	0.066	2501	814	3250
2902	-0.82	-146.0	217.6	-6.8	302	2908	0.00	2.35	0.00	0.000	6	0.000	0.068	2493	2239	3250
3217	-0.82	-146.0	239.4	-7.1	318	3221	0.00	2.33	0.00	0.000	4	0.000	0.067	2493	816	3250
3240	-0.82	-146.0	241.1	-7.4	319	3244	0.00	2.35	0.00	0.000	6	0.000	0.069	2483	2239	3250
3572	-0.82	-146.0	267.2	-7.4	335	3575	0.00	2.33	0.00	0.000	4	0.000	0.067	2483	819	3249
3582	-0.82	-146.0	268.1	-7.6	335	3587	0.12	2.35	0.00	0.000	6	0.143	0.068	2506	2257	3249
3904	-0.91	-146.0	285.5	-4.8	351	3909	0.10	2.35	0.00	0.000	4	0.095	0.065	2464	820	3249
3915	-0.91	-146.0	286.1	-4.6	351	3920	0.12	2.35	0.00	0.000	6	0.150	0.069	2487	2240	3249
4231	-0.91	-146.0	302.5	-5.3	366	4235	0.00	2.25	0.00	0.000	4	0.000	0.083	2479	3608	3249
4264	-0.91	-146.0	304.5	-6.2	367	4268	0.00	2.20	0.00	0.000	6	0.000	0.054	2479	2219	3249
4585	-0.91	-146.0	322.9	-5.9	383	4589	0.00	2.33	0.00	0.000	4	0.000	0.081	2468	3606	3249
4646	-0.91	-146.0	326.8	-6.5	385	4652	0.00	2.20	0.00	0.000	6	0.000	0.054	2468	2216	3249
4963	-0.87	-146.0	347.7	-6.4	401	4967	0.10	2.22	0.00	0.000	4	0.156	0.065	2497	819	3249
4973	-0.87	-146.0	348.5	-6.2	401	4977	0.00	2.35	0.00	0.000	6	0.000	0.067	2489	2244	3249
5296	-0.87	-146.0	367.2	-6.0	417	5297	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2244	3249
5604	-0.92	-146.0	386.7	-6.0	432	5608	0.00	2.22	0.00	0.000	4	0.000	0.087	2479	3596	3250
5617	-0.97	-146.0	387.5	-6.1	432	5621	0.00	2.17	0.00	0.000	6	0.000	0.052	2480	2212	3250
5957	-0.97	-146.0	408.3	-6.0	446	5960	0.00	2.22	0.00	0.000	4	0.000	0.064	2480	816	3250
5968	-0.97	-146.0	409.1	-5.9	446	5972	0.00	2.35	0.00	0.000	6	0.000	0.066	2469	2245	3250
6280	-0.97	-146.0	428.5	-6.1	454	6284	0.00	2.33	0.00	0.000	4	0.000	0.063	2469	815	3250
6291	-0.97	-146.0	429.2	-6.0	454	6295	0.00	2.35	0.00	0.000	6	0.000	0.065	2459	2246	3251
6611	-0.92	-146.0	448.0	-5.8	462	6616	0.10	2.20	0.00	0.000	4	0.153	0.077	2476	3597	3251
6644	-0.92	-146.0	449.9	-5.3	462	6648	0.00	2.15	0.00	0.000	6	0.000	0.050	2476	2223	3250
6981	-0.92	-146.0	466.3	-4.8	471	6985	0.00	2.30	0.00	0.000	4	0.000	0.077	2466	3599	3251
7014	-0.92	-146.0	468.2	-6.1	471	7018	0.00	2.15	0.00	0.000	6	0.000	0.050	2466	2227	3251
7351	-0.92	-146.0	487.1	-5.7	480	7355	0.00	2.25	0.00	0.000	4	0.000	0.063	2466	814	3252
7362	-0.92	-146.0	487.8	-5.8	480	7367	0.10	2.35	0.00	0.000	6	0.143	0.064	2482	2244	3251
7682	-0.97	-146.0	504.8	-5.3	488	7685	0.00	2.33	0.00	0.000	4	0.000	0.063	2482	810	3252
7693	-0.97	-146.0	505.5	-5.4	488	7697	0.00	2.35	0.00	0.000	6	0.000	0.064	2474	2238	3252
8012	-0.97	-146.0	523.1	-5.4	496	8016	0.00	2.30	0.00	0.000	4	0.000	0.062	2474	820	3253
8022	-0.97	-146.0	523.7	-5.2	496	8026	0.00	2.33	0.00	0.000	6	0.000	0.064	2464	2242	3253
8341	-0.97	-146.0	540.0	-5.2	504	8345	0.00	2.30	0.00	0.000	4	0.000	0.062	2465	823	3252
8357	-0.97	-146.0	540.9	-5.3	504	8361	0.00	2.33	0.00	0.000	6	0.000	0.064	2455	2243	3253
8671	-0.91	-146.0	559.7	-6.2	512	8676	0.12	2.33	0.00	0.000	4	0.150	0.062	2488	816	3253
8682	-0.87	-146.0	560.5	-6.0	512	8686	0.00	2.33	0.00	0.000	6	0.000	0.064	2481	2236	3253
8995	-0.87	-146.0	576.1	-4.8	520	8999	0.00	2.30	0.00	0.000	4	0.000	0.061	2480	814	3253
9006	-0.87	-146.0	576.6	-5.1	520	9010	0.00	2.33	0.00	0.000	6	0.000	0.063	2470	2235	3253
9325	-0.87	-146.0	592.1	-5.6	528	9329	0.00	2.30	0.00	0.000	4	0.000	0.061	2470	812	3253
9376	-0.87	-146.0	595.7	-7.4	529	9380	0.12	2.33	0.00	0.000	6	0.139	0.063	2494	2233	3253
9383	end dive: TARGET_DEPTH_EXCEEDED
state	9383	begin apogee
9390	-0.31	0.0	596.4	7.0	529	9519	0.35	0.00	126.30	1.234	6	0.117	0.000	2613	1730	2650
9520	end apogee: CONTROL_FINISHED_OK
state	9520	begin climb
9522	0.99	146.0	599.3	0.0	532	9663	0.90	2.67	132.05	1.158	4	0.091	0.067	2899	3148	2053
9693	0.60	146.0	585.0	12.9	536	9699	0.38	2.47	0.00	0.000	6	0.137	0.051	2809	1732	2050
10025	0.69	154.8	561.2	6.7	544	10040	0.00	2.42	7.60	0.966	4	0.000	0.067	2817	324	2019
10074	0.80	154.8	557.8	7.3	545	10079	0.12	2.40	0.00	0.000	6	0.074	0.056	2872	1747	2020
10392	0.62	154.8	525.5	10.5	553	10397	0.20	2.30	0.00	0.000	4	0.131	0.070	2814	3155	2019
10487	0.56	154.8	517.4	8.0	555	10491	0.00	2.28	0.00	0.000	6	0.000	0.052	2821	1733	2018
10811	0.61	154.8	493.3	7.5	563	10815	0.00	2.28	0.00	0.000	4	0.000	0.067	2831	332	2018
10844	0.67	154.8	490.6	8.2	563	10849	0.00	2.30	0.00	0.000	6	0.000	0.054	2832	1751	2018
11181	0.67	154.8	464.8	7.7	572	11185	0.00	2.25	0.00	0.000	4	0.000	0.070	2832	3151	2018
11265	0.53	154.8	457.5	8.6	573	11272	0.17	2.25	0.00	0.000	6	0.130	0.052	2792	1728	2017
11597	0.91	163.3	436.4	6.7	582	11612	0.22	2.38	8.57	1.005	4	0.068	0.068	2889	3155	1984
11797	0.57	163.3	413.1	12.5	586	11802	0.32	2.25	0.00	0.000	6	0.137	0.054	2804	1738	1984
12121	0.74	183.4	392.1	6.4	597	12147	0.12	2.33	18.83	1.078	4	0.074	0.067	2872	336	1902
12181	0.69	183.4	386.6	10.0	599	12188	0.17	2.30	0.00	0.000	6	0.120	0.055	2820	1744	1902
12497	0.80	183.4	363.6	7.1	615	12501	0.12	2.28	0.00	0.000	4	0.074	0.068	2876	3155	1900
12580	0.56	183.4	354.2	12.5	618	12587	0.30	2.25	0.00	0.000	6	0.131	0.053	2797	1738	1899
12897	1.01	183.4	331.9	7.3	634	12901	0.28	2.35	0.00	0.000	4	0.074	0.069	2905	3161	1898
13065	0.68	183.4	313.2	11.4	641	13072	0.32	2.28	0.00	0.000	6	0.137	0.054	2819	1727	1898
13382	0.87	237.6	295.8	5.3	657	13432	0.17	0.00	47.20	1.049	6	0.067	0.000	2894	1727	1681
13733	0.75	237.6	260.8	10.5	674	13738	0.20	2.38	0.00	0.000	4	0.123	0.068	2830	3160	1673
13767	0.75	237.6	257.8	8.5	675	13773	0.00	2.28	0.00	0.000	6	0.000	0.052	2837	1732	1672
14083	0.92	249.9	237.1	6.6	691	14099	0.15	2.28	10.38	0.933	4	0.072	0.067	2913	332	1631
14133	0.83	249.9	232.1	11.5	692	14138	0.20	2.30	0.00	0.000	6	0.132	0.055	2855	1744	1631
14449	0.95	249.9	208.8	7.1	707	14453	0.12	2.28	0.00	0.000	4	0.076	0.069	2908	3155	1629
14509	0.69	249.9	202.1	11.8	709	14516	0.30	2.28	0.00	0.000	6	0.132	0.054	2828	1728	1627
14826	1.36	249.9	176.7	9.3	725	14831	0.43	2.28	0.00	0.000	4	0.104	0.067	2973	327	1626
14859	1.41	249.9	173.2	9.4	726	14865	0.00	2.30	0.00	0.000	6	0.000	0.058	2973	1745	1626
15175	1.08	249.9	132.8	12.6	742	15180	0.20	2.28	0.00	0.000	4	0.147	0.071	2912	3158	1626
15220	0.90	249.9	127.5	11.2	744	15225	0.17	2.28	0.00	0.000	6	0.136	0.055	2870	1728	1625
15552	1.04	273.9	105.9	6.3	760	15579	0.12	2.30	21.65	0.960	4	0.077	0.069	2937	323	1533
15631	0.95	273.9	98.4	10.6	763	15638	0.20	2.35	0.00	0.000	6	0.131	0.060	2879	1750	1532
15976	1.13	292.1	74.9	6.4	824	16001	0.15	2.30	16.83	0.930	4	0.072	0.074	2943	3153	1459
16064	0.89	292.1	65.3	12.4	839	16071	0.30	2.30	0.00	0.000	6	0.133	0.058	2865	1731	1457
16409	1.52	292.1	38.2	8.2	900	16416	0.43	2.30	0.00	0.000	4	0.095	0.070	3013	328	1453
16524	1.23	292.1	25.6	12.3	920	16531	0.25	2.35	0.00	0.000	6	0.149	0.064	2943	1753	1453
16715	end climb: FINISH_DEPTH_REACHED
state	16715	begin subsurface finish
16723	0.10	81.1	6.6	-9.3	954	16759	0.73	2.38	-29.42	0.000	4	0.112	0.091	2689	3158	2321
16760	end subsurface finish: CONTROL_FINISHED_OK
state	16760	begin surface