DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 784 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  183 HD_C  9.9999997e-06 ROLL_MIN  330 ALTIM_TOP_TURN_MARGIN  5
MISSION  3 HEADING  -1 ROLL_MAX  3931 ALTIM_TOP_MIN_OBSTACLE  2.4000001
DIVE  784 ESCAPE_HEADING  100 ROLL_DEG  40 ALTIM_PING_DEPTH  300
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2780 ALTIM_PING_DELTA  50
D_SURF  3 FIX_MISSING_TIMEOUT  5 C_ROLL_CLIMB  2600 ALTIM_FREQUENCY  13
D_FLARE  5 TGT_DEFAULT_LAT  6000 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_TGT  990 TGT_DEFAULT_LON  -5500 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  5
D_ABORT  1050 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  3
D_NO_BLEED  50 SM_CC  609.0799 R_PORT_OVSHOOT  32 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  4 R_STBD_OVSHOOT  22 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  0 FILEMGR  2 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.89999998
D_FINISH  9 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  3 COMM_SEQ  0 ROLL_ADJ_GAIN  2.5 DEEPGLIDERMB  0
D_SAFE  500 PROTOCOL  9 ROLL_ADJ_DBAND  0.029999999 MOTHERBOARD  4
D_CALL  4 N_NOCOMM  1 VBD_MIN  440 DEVICE1  2
SURFACE_URGENCY  10 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  20
SURFACE_URGENCY_TRY  5 UPLOAD_DIVES_MAX  5 C_VBD  2923 DEVICE3  -1
SURFACE_URGENCY_FORCE  10 CALL_TRIES  3 VBD_DBAND  2 DEVICE4  -1
T_DIVE  330 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_MISSION  400 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.00065 LOGGERS  0
T_TURN  225 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 T_GPS  3 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_BATHY  -3 T_GPS_CHARGE  -12213.804 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  2 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  117
ICE_FREEZE_MARGIN  0.1 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
D_OFFGRID  250 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  64
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  311 FG_AHR_10V  0 SIM_W  0
MAX_BUOY  150 PITCH_MAX  3850 FG_AHR_24V  0 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2475 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043469137
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_YINT  -62.615704 SEABIRD_T_H  0.00062159239
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00012025224 SEABIRD_T_I  2.0014088e-05
RHO  1.0275 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  1.6690842e-06
MASS  51717 PITCH_GAIN  37 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.9685602
NAV_MODE  0 PITCH_TIMEOUT  17 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1354375
FERRY_MAX  45 PITCH_AD_RATE  160 COMPASS_USE  1 SEABIRD_C_I  -0.0013495153
KALMAN_USE  2 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00019269099
HD_A  0.003 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  20
HD_B  0.0099999998 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  15

Pre-dive calculations and measurements:
GPS1  180111,003856,6707.536,-5845.315,0,4121.2,0,-38.2 TGT_NAME  TARGET_W
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  8.28 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  4.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  180111,003856,6707.536,-5845.315,0,4121.2,0,-38.2 MHEAD_RNG_PITCHd_Wd  277.6,85588,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1279

Post-dive calculations and measurements:
FREEZE  8.60,-1.737,-1.806,2,2,0 ALTIM_TOP_PING  19.9,18.4
FINISH1  8.6,1.026433,52 _24V_AH  20.4,88.593
FINISH2  6.6 _10V_AH  9.7,60.712
RAFOS_CLK  1153 FG_AHR_24Vo  0.000
RAFOS  0,1295337684,8.033334,8.023334,48,47,42,39,37,37,775,1338,1383,700,417,1001 FG_AHR_10Vo  0.000
RAFOS_FIX  6705.676270,-5850.084961,180111,080822,3,123,0.17 MEM  151732
IRIDIUM_FIX  6641.98,-5833.70,170111,181821 DATA_FILE_SIZE  46705,1263
TT8_MAMPS  0.028462 CAP_FILE_SIZE  165121,0
HUMID  49.09 CFSIZE  260165632,198336512
INTERNAL_PRESSURE  8.64138 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  14.70 SOUNDSPEED  1457.1
XPDR_PINGS  0 GPS  180111,084322,6705.676,-5850.085,0,3123.0,0,-38.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor419916.39 SBE_CT88024431.10
Roll_motor12583213.35 SBE_O2000.00
VBD_pump_during_apogee38012129415.57 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer000.00 nil000.00
Transponder_ping342032.13 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8316319611.24
LPSleep142392319.06
TT8_Active4841993.52
TT8_Sampling207739804.39
TT8_CF833345148.34
TT8_Kalman000.00
Analog_circuits162412189.09
GPS_charging000.00
Compass205915299.65
RAFOS2520373.33
Transponder27307.97

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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
17 -0.57 -146.0 0.0 0.0 0 25 0.00 0.00 -5.72 0.000 2 0.000 0.000 2490 3927 2928 0 0 0 0 0 0
28 -0.57 -146.0 8.8 -0.0 1 53 0.55 4.28 -15.30 0.000 4 0.107 0.055 2298 1362 3522 0 0 0 0 0 0
115 -0.61 -146.0 14.4 -7.9 15 121 0.00 2.38 0.00 0.000 6 0.000 0.060 2293 2788 3524 0 0 0 0 0 0
461 -0.65 -146.0 50.6 -10.1 76 468 0.00 1.95 0.00 0.000 4 0.000 0.072 2287 3925 3524 0 0 0 0 0 0
534 -0.71 -146.0 58.3 -10.5 88 541 0.12 1.85 0.00 0.000 6 0.101 0.049 2231 2795 3523 0 0 0 0 0 0
886 -0.66 -146.0 102.8 -11.5 148 890 0.10 2.35 0.00 0.000 4 0.187 0.050 2256 1363 3523 0 0 0 0 0 0
921 -0.66 -146.0 106.6 -9.9 151 925 0.00 2.42 0.00 0.000 6 0.000 0.062 2249 2805 3523 0 0 0 0 0 0
1252 -0.66 -146.0 139.9 -10.2 182 1256 0.00 2.33 0.00 0.000 4 0.000 0.050 2249 1373 3523 0 0 0 0 0 0
1323 -0.66 -146.0 147.3 -9.7 188 1330 0.00 2.40 0.00 0.000 6 0.000 0.062 2248 2787 3523 0 0 0 0 0 0
1649 -0.66 -146.0 180.4 -10.6 219 1653 0.00 2.30 0.00 0.000 4 0.000 0.051 2248 1365 3522 0 0 0 0 0 0
1705 -0.69 -146.0 186.3 -10.4 223 1711 0.00 2.38 0.00 0.000 6 0.000 0.062 2248 2778 3522 0 0 0 0 0 0
2031 -0.69 -146.0 218.2 -9.9 254 2034 0.00 1.98 0.00 0.000 4 0.000 0.073 2248 3931 3522 0 0 0 0 0 0
2092 -0.72 -146.0 224.4 -10.1 259 2099 0.00 1.90 0.00 0.000 6 0.000 0.049 2247 2776 3522 0 0 0 0 0 0
2418 -0.72 -146.0 254.7 -9.2 290 2422 0.00 2.28 0.00 0.000 4 0.000 0.050 2247 1363 3522 0 0 0 0 0 0
2469 -0.75 -146.0 259.5 -9.3 294 2476 0.00 2.40 0.00 0.000 6 0.000 0.062 2248 2778 3522 0 0 0 0 0 0
2796 -0.75 -146.0 288.2 -8.7 325 2800 0.00 2.30 0.00 0.000 4 0.000 0.050 2248 1369 3522 0 0 0 0 0 0
2830 -0.77 -146.0 291.6 -9.0 327 2836 0.00 2.38 0.00 0.000 6 0.000 0.062 2248 2769 3522 0 0 0 0 0 0
3157 -0.77 -146.0 320.2 -9.0 358 3158 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2769 3522 0 0 0 0 0 0
3478 -0.77 -146.0 348.6 -9.1 388 3482 0.00 2.25 0.00 0.000 4 0.000 0.049 2248 1372 3522 0 0 0 0 0 0
3519 -0.81 -146.0 352.5 -9.0 391 3524 0.00 2.38 0.00 0.000 6 0.000 0.062 2248 2773 3523 0 0 0 0 0 0
3846 -0.83 -146.0 381.0 -8.8 421 3848 0.12 0.00 0.00 0.000 6 0.104 0.000 2189 2773 3522 0 0 0 0 0 0
4160 -0.74 -146.0 419.6 -12.5 441 4165 0.17 2.33 0.00 0.000 4 0.168 0.050 2237 1364 3523 0 0 0 0 0 0
4187 -0.74 -146.0 423.3 -10.2 441 4194 0.00 2.38 0.00 0.000 6 0.000 0.061 2235 2768 3523 0 0 0 0 0 0
4503 -0.74 -146.0 451.7 -9.3 452 4505 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2769 3522 0 0 0 0 0 0
4808 -0.74 -146.0 479.8 -9.0 462 4809 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2769 3523 0 0 0 0 0 0
5113 -0.74 -146.0 507.5 -9.2 472 5117 0.00 2.28 0.00 0.000 4 0.000 0.050 2235 1370 3523 0 0 0 0 0 0
5146 -0.74 -146.0 510.7 -9.3 473 5150 0.00 2.33 0.00 0.000 6 0.000 0.062 2235 2757 3523 0 0 0 0 0 0
5477 -0.74 -146.0 540.5 -9.0 484 5478 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2757 3523 0 0 0 0 0 0
5782 -0.74 -146.0 567.6 -8.8 494 5783 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2757 3523 0 0 0 0 0 0
6088 -0.74 -146.0 593.9 -8.4 504 6089 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2758 3523 0 0 0 0 0 0
6395 -0.74 -146.0 619.3 -8.3 514 6396 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2757 3523 0 0 0 0 0 0
6700 -0.74 -146.0 643.8 -8.0 524 6702 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2757 3523 0 0 0 0 0 0
7007 -0.74 -146.0 668.2 -8.0 534 7008 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2757 3523 0 0 0 0 0 0
7314 -0.74 -146.0 693.1 -8.1 544 7318 0.00 2.25 0.00 0.000 4 0.000 0.050 2235 1363 3523 0 0 0 0 0 0
7335 -0.74 -146.0 695.2 -8.5 544 7342 0.00 2.35 0.00 0.000 6 0.000 0.060 2235 2764 3523 0 0 0 0 0 0
7649 -0.74 -146.0 720.0 -8.0 555 7650 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2765 3523 0 0 0 0 0 0
7956 -0.74 -146.0 743.9 -7.7 565 7957 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2764 3523 0 0 0 0 0 0
8262 -0.74 -146.0 768.0 -7.9 575 8266 0.00 2.25 0.00 0.000 4 0.000 0.050 2235 1370 3523 0 0 0 0 0 0
8289 -0.74 -146.0 770.4 -8.1 575 8296 0.00 2.33 0.00 0.000 6 0.000 0.062 2235 2755 3523 0 0 0 0 0 0
8604 -0.74 -146.0 794.2 -7.7 586 8608 0.00 2.05 0.00 0.000 4 0.000 0.071 2228 3943 3523 0 0 0 0 0 0
8631 -0.74 -146.0 796.5 -8.1 586 8638 0.00 1.98 0.00 0.000 6 0.000 0.047 2228 2740 3523 0 0 0 0 0 0
8945 -0.74 -146.0 822.3 -8.3 597 8949 0.00 2.22 0.00 0.000 4 0.000 0.049 2228 1365 3523 0 0 0 0 0 0
8968 -0.74 -146.0 824.6 -9.3 597 8975 0.00 2.35 0.00 0.000 6 0.000 0.060 2222 2751 3523 0 0 0 0 0 0
9283 -0.74 -146.0 852.2 -9.0 608 9284 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2751 3523 0 0 0 0 0 0
9588 -0.74 -146.0 879.8 -9.0 618 9591 0.00 2.03 0.00 0.000 4 0.000 0.072 2219 3930 3523 0 0 0 0 0 0
9611 -0.74 -146.0 882.1 -9.6 618 9615 0.00 1.92 0.00 0.000 6 0.000 0.047 2219 2756 3523 0 0 0 0 0 0
9933 -0.74 -146.0 911.0 -8.9 629 9934 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2755 3523 0 0 0 0 0 0
10236 -0.74 -146.0 938.5 -9.1 639 10240 0.00 2.25 0.00 0.000 4 0.000 0.050 2218 1367 3523 0 0 0 0 0 0
10267 -0.74 -146.0 941.4 -9.5 640 10271 0.00 2.35 0.00 0.000 6 0.000 0.062 2216 2758 3523 0 0 0 0 0 0
10608 -0.74 -146.0 974.1 -9.6 651 10612 0.00 2.03 0.00 0.000 4 0.000 0.071 2207 3929 3523 0 0 0 0 0 0
10643 -0.71 -146.0 977.6 -10.8 652 10648 0.12 1.95 0.00 0.000 6 0.169 0.047 2239 2741 3523 0 0 0 0 0 0
10800 end dive: TARGET_DEPTH_EXCEEDED
state 10800 begin apogee
10808 -0.14 0.0 990.8 8.1 657 10945 0.55 0.00 131.32 1.213 4 0.127 0.000 2422 2597 2922 0 0 0 0 0 0
10946 end apogee: CONTROL_FINISHED_OK
state 10946 begin climb
10949 0.57 146.0 995.6 0.0 661 11097 0.65 0.00 142.77 1.186 6 0.063 0.000 2658 2597 2329 0 0 0 0 0 0
11431 0.52 146.0 949.5 11.3 677 11436 0.00 2.33 0.00 0.000 4 0.000 0.070 2658 3933 2319 0 0 0 0 0 0
11471 0.42 146.0 944.0 13.4 678 11476 0.20 2.22 0.00 0.000 6 0.200 0.047 2614 2592 2317 0 0 0 0 0 0
11798 0.46 165.8 914.1 9.1 689 11818 0.00 0.00 17.60 1.104 6 0.000 0.000 2614 2591 2247 0 0 0 0 0 0
12101 0.50 174.1 885.1 9.6 699 12112 0.00 0.00 8.80 1.017 6 0.000 0.000 2614 2591 2213 0 0 0 0 0 0
12408 0.56 190.4 855.9 9.2 709 12427 0.12 0.00 16.27 1.076 6 0.099 0.000 2668 2591 2146 0 0 0 0 0 0
12715 0.52 190.4 816.8 13.0 719 12716 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2591 2142 0 0 0 0 0 0
13019 0.49 190.4 777.1 12.8 729 13021 0.12 0.00 0.00 0.000 6 0.186 0.000 2637 2591 2141 0 0 0 0 0 0
13327 0.51 190.4 743.6 10.9 739 13328 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2591 2140 0 0 0 0 0 0
13632 0.53 190.4 711.5 10.4 749 13633 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2591 2140 0 0 0 0 0 0
13938 0.55 190.4 680.4 10.1 759 13939 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2591 2140 0 0 0 0 0 0
14245 0.57 190.4 649.1 10.1 769 14246 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2591 2139 0 0 0 0 0 0
14550 0.59 190.4 618.1 10.2 779 14552 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2591 2139 0 0 0 0 0 0
14857 0.62 190.4 585.9 10.7 789 14861 0.12 2.33 0.00 0.000 4 0.101 0.069 2690 3928 2139 0 0 0 0 0 0
14885 0.54 190.4 581.8 16.1 789 14893 0.17 2.15 0.00 0.000 6 0.184 0.046 2648 2597 2138 0 0 0 0 0 0
15198 0.54 190.4 545.7 11.4 800 15202 0.00 2.28 0.00 0.000 4 0.000 0.054 2648 1192 2138 0 0 0 0 0 0
15226 0.57 190.4 542.5 11.1 800 15233 0.00 2.33 0.00 0.000 6 0.000 0.057 2648 2610 2138 0 0 0 0 0 0
15539 0.57 190.4 508.0 10.7 811 15543 0.00 2.25 0.00 0.000 4 0.000 0.068 2648 3933 2138 0 0 0 0 0 0
15567 0.54 190.4 504.4 12.1 811 15574 0.00 2.17 0.00 0.000 6 0.000 0.045 2653 2600 2138 0 0 0 0 0 0
15880 0.54 190.4 468.3 11.7 822 15884 0.00 2.28 0.00 0.000 4 0.000 0.053 2653 1187 2138 0 0 0 0 0 0
15909 0.57 190.4 464.9 11.8 822 15916 0.00 2.35 0.00 0.000 6 0.000 0.056 2653 2609 2138 0 0 0 0 0 0
16222 0.57 190.4 427.5 11.8 833 16223 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2609 2138 0 0 0 0 0 0
16531 0.57 190.4 392.6 11.2 847 16532 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2609 2138 0 0 0 0 0 0
16854 0.57 190.4 359.0 10.4 877 16860 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2609 2138 0 0 0 0 0 0
17184 0.57 190.4 323.0 11.3 908 17188 0.00 2.28 0.00 0.000 4 0.000 0.068 2653 3933 2138 0 0 0 0 0 0
17217 0.54 190.4 318.2 12.1 910 17224 0.00 2.17 0.00 0.000 6 0.000 0.045 2653 2599 2137 0 0 0 0 0 0
17543 0.54 190.4 283.0 10.4 941 17544 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2600 2138 0 0 0 0 0 0
17864 0.54 190.4 249.3 10.7 971 17870 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2599 2137 0 0 0 0 0 0
18194 0.54 190.4 214.0 10.4 1002 18200 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2600 2138 0 0 0 0 0 0
18522 0.54 192.2 181.3 9.9 1033 18528 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2600 2138 0 0 0 0 0 0
18850 0.54 192.2 148.3 10.1 1064 18857 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 2599 2138 0 0 0 0 0 0
19179 0.57 200.7 115.3 9.6 1095 19194 0.00 2.33 9.35 0.669 4 0.000 0.069 2653 3918 2104 0 0 0 0 0 0
19248 0.57 200.7 107.9 10.2 1101 19252 0.00 2.12 0.00 0.000 6 0.000 0.046 2653 2610 2102 0 0 0 0 0 0
19589 0.61 200.7 76.2 10.3 1154 19596 0.00 2.30 0.00 0.000 4 0.000 0.054 2653 1190 2102 0 0 0 0 0 0
19650 0.73 243.9 71.0 8.0 1164 19698 0.15 2.33 38.38 0.657 6 0.094 0.057 2717 2594 1926 0 0 0 0 0 0
20038 0.73 243.9 24.2 10.3 1232 20045 0.00 2.30 0.00 0.000 4 0.000 0.054 2717 1188 1919 0 0 0 0 0 0
20116 0.78 262.9 16.4 9.1 1245 20141 0.00 2.33 16.15 0.631 6 0.000 0.057 2718 2590 1849 0 0 0 0 0 0
20186 end climb: FINISH_DEPTH_REACHED
state 20186 begin subsurface finish
20193 0.03 52.3 8.6 -10.9 1257 20230 0.73 2.30 -27.10 0.000 4 0.147 0.083 2492 3929 2710 0 0 0 0 0 0
20230 end subsurface finish: CONTROL_FINISHED_OK
state 20231 begin surface