WA coast Jul17 * SG203 * Dive index * Mission links * Dive 107 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  203 ESCAPE_HEADING_DELTA  10 R_PORT_OVSHOOT  36 ALTIM_PULSE  2
MISSION  13 FIX_MISSING_TIMEOUT  0 R_STBD_OVSHOOT  34 ALTIM_SENSITIVITY  4
DIVE  107 TGT_DEFAULT_LAT  57.182999 ROLL_AD_RATE  350 XPDR_VALID  4
N_DIVES  0 TGT_DEFAULT_LON  -151 ROLL_MAXERRORS  1 XPDR_INHIBIT  90
STOP_T  0 TGT_AUTO_DEFAULT  0 ROLL_ADJ_GAIN  0 INT_PRESSURE_SLOPE  0.0093
D_SURF  2 SM_CC  500 ROLL_ADJ_DBAND  0 INT_PRESSURE_YINT  -1
D_FLARE  3 N_FILEKB  8 VBD_MIN  500 DEEPGLIDER  0
D_TGT  600 FILEMGR  0 VBD_MAX  3960 MOTHERBOARD  4
D_ABORT  1020 CALL_NDIVES  1 C_VBD  2941 DEVICE1  -1
D_NO_BLEED  50 COMM_SEQ  2 VBD_DBAND  4 DEVICE2  -1
D_BOOST  50 PROTOCOL  9 VBD_CNV  -0.24529999 DEVICE3  -1
T_BOOST  4 N_NOCOMM  3 VBD_LP_IGNORE  0 DEVICE4  -1
D_FINISH  0 NOCOMM_ACTION  163 VBD_TIMEOUT  720 DEVICE5  -1
D_PITCH  0 N_NOSURFACE  0 PITCH_VBD_SHIFT  0.00113 DEVICE6  -1
D_SAFE  0 UPLOAD_DIVES_MAX  1 VBD_PUMP_AD_RATE_SURFACE  4 LOGGERS  0
D_CALL  0 CALL_TRIES  15 VBD_PUMP_AD_RATE_APOGEE  2 LOGGERDEVICE1  51
SURFACE_URGENCY  0 CALL_WAIT  120 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  85
SURFACE_URGENCY_TRY  0 CAPUPLOAD  0 UNCOM_BLEED  60 LOGGERDEVICE3  -1
SURFACE_URGENCY_FORCE  0 CAPMAXSIZE  100000 VBD_MAXERRORS  1 LOGGERDEVICE4  -1
T_DIVE  180 HEAPDBG  0 W_ADJ_DBAND  0.5 COMPASS_DEVICE  33
T_MISSION  270 T_GPS  15 DBDW  0 COMPASS2_DEVICE  -1
T_ABORT  1440 N_GPS  100740 LOITER_W_DBAND  0 PHONE_DEVICE  48
T_TURN  225 T_RSLEEP  3 LOITER_DBDW  0 GPS_DEVICE  64
T_TURN_SAMPINT  -5 STROBE  0 PITCH_W_GAIN  7 RAFOS_DEVICE  -1
T_NO_W  120 RAFOS_PEAK_OFFSET  1.5 PITCH_W_DBAND  0.5 XPDR_DEVICE  24
T_LOITER  0 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  20 SIM_W  0
T_EPIRB  0 RAFOS_HIT_WINDOW  3600 AH0_24V  150 SIM_PITCH  0
USE_BATHY  -1 RAFOS_MMODEM  0 AH0_10V  100 SEABIRD_T_G  0.0043963501
USE_ICE  0 PITCH_MIN  202 MINV_24V  21 SEABIRD_T_H  0.00063669891
ICE_FREEZE_MARGIN  0.30000001 PITCH_MAX  3901 MINV_10V  9.5 SEABIRD_T_I  2.4874016e-05
D_OFFGRID  1010 C_PITCH  2350 MAXI_24V  0.60000002 SEABIRD_T_J  2.9344606e-06
T_WATCHDOG  10 PITCH_DBAND  0.1 MAXI_10V  0.80000001 SEABIRD_C_G  -10.04379
RELAUNCH  1 PITCH_CNV  0.003125763 FG_AHR_10V  0 SEABIRD_C_H  1.1655113
APOGEE_PITCH  -5 P_OVSHOOT  0.079999998 FG_AHR_24V  0 SEABIRD_C_I  -0.0016799819
MAX_BUOY  200 P_OVSHOOT_WITHG  0 PHONE_SUPPLY  -2 SEABIRD_C_J  0.00021581368
COURSE_BIAS  0 PITCH_GAIN  20 PRESSURE_YINT  -167.37723 SC_RECORDABOVE  2000.0
GLIDE_SLOPE  30 PITCH_TIMEOUT  17 PRESSURE_SLOPE  0.00010878081 SC_PROFILE  3.0
SPEED_FACTOR  1 PITCH_AD_RATE  160 AD7714Ch0Gain  1 SC_XMITPROFILE  0.0
RHO  1.0275 PITCH_MAXERRORS  1 TCM_PITCH_OFFSET  0 SC_NDIVE  1.0
MASS  52418 PITCH_ADJ_GAIN  0 TCM_ROLL_OFFSET  0 PM_RECORDABOVE  2000.0
MASS_COMP  0 PITCH_ADJ_DBAND  0 COMPASS_USE  4 PM_PROFILE  3.0
NAV_MODE  2 ROLL_MIN  302 ALTIM_BOTTOM_PING_RANGE  0 PM_XMITPROFILE  0.0
FERRY_MAX  45 ROLL_MAX  3859 ALTIM_TOP_PING_RANGE  0 PM_NDIVE  1.0
KALMAN_USE  2 ROLL_DEG  40 ALTIM_BOTTOM_TURN_MARGIN  0 PM_XMITRAW  0.0
HD_A  0.003 C_ROLL_DIVE  2600 ALTIM_TOP_TURN_MARGIN  0 PM_MOTORS  0.0
HD_B  0.0099999998 C_ROLL_CLIMB  2600 ALTIM_TOP_MIN_OBSTACLE  0 PM_SENDDEPTH  0.0
HD_C  9.9999997e-06 HEAD_ERRBAND  10 ALTIM_PING_DEPTH  0
HEADING  -1 ROLL_CNV  0.028270001 ALTIM_PING_DELTA  0
ESCAPE_HEADING  0 ROLL_TIMEOUT  15 ALTIM_FREQUENCY  13

Pre-dive calculations and measurements:
GPS1  230717,175809,4656.1738,-12517.1191,13,1.2,29,16.0,0.3,0.0,7,10.0 SPEED_LIMITS  0.192,0.306
_CALLS  1 TGT_NAME  SHELF4
_XMS_NAKs  0 TGT_LATLONG  4654.000,-12503.000
_XMS_TOUTs  0 TGT_RADIUS  2500.000
_SM_DEPTHo  0.69 MHEAD_RNG_PITCHd_Wd  69.6,18362,-16.5,-11.111,-19.96,2670
_SM_ANGLEo  -40.7 D_GRID  1000
GPS2  230717,180234,4656.1724,-12517.1582,5,1.2,13,16.0,0.2,0.0,7,10.0

Post-dive calculations and measurements:
SM_CCo  12250,0.85,0.242,0,0,901,500.17 FG_AHR_24Vo  0.000
SM_GC  1.47,6.70,2.28,0.85,0.026,0.034,0.242,208,2612,901,-6.62,-0.79,500.17,0,0,0,0,0,0,26.38,26.37,25.97 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4653.93,-12520.17,230717,175433 MEM  277960
TT8_MAMPS  0.026964,0.08988 DATA_FILE_SIZE  26776,780
HUMID  55.39 CAP_FILE_SIZE  138109,0
INTERNAL_PRESSURE  8.6627 CFSIZE  1024393216,983891968
TCM_TEMP  19.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS  4 CURRENT  0.189,284.22,1
_24V_AH  23.68,21.543 GPS  230717,212845,4656.403,-12516.680,31,1.4,46,16.0,0.7,331.5,7,10.0
_10V_AH  10.38,19.297

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1621583.27 nil000.00
Roll_motor11012243217.82 nil000.00
VBD_pump_during_apogee646132820341.26 nil000.00
VBD_pump_during_surface02414.87 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon000.00
Iridium_during_xfer000.00 PMAR000.00
Transponder_ping14209.95 nil000.00
GUMSTIX_24V000.00
GPS14121.97
TT864019132.31
LPSleep97592221.85
TT8_Active68519141.58
TT8_Sampling116649603.73
TT8_CF8856760.18
TT8_Kalman000.00
Analog_circuits141311169.55
GPS_charging000.00
Compass1116895.51
RAFOS000.00
Transponder050.03

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
4 end surface: CONTROL_FINISHED_OK
state 4 begin dive
7 -1.04 -194.6 183 2594 510 496 0.0 0.0 0 97 0.00 0.00 -87.93 0.000 16386 0.000 0.000 183 2594 2857 2898 2817 0 0 0 0 0 0 26.87 28.83 26.94
100 -1.04 -194.6 183 2594 2898 2817 3.9 -6.6 9 132 6.95 2.33 -17.73 0.000 18980 0.216 1.225 1998 1185 3737 3800 3675 0 0 0 0 0 0 25.89 24.64 26.25
223 -1.04 -194.6 1997 1185 3801 3675 27.2 -17.5 34 228 0.00 2.15 0.00 0.000 1030 0.000 0.035 1991 2607 3737 3800 3675 0 0 0 0 0 0 26.57 26.50 26.60
534 -1.04 -194.6 1990 2607 3801 3678 71.3 -14.4 56 537 0.00 1.92 0.00 0.000 260 0.000 0.056 1981 3849 3739 3801 3677 0 0 0 0 0 0 27.01 26.51 27.07
583 -1.04 -194.6 1980 3849 3801 3678 79.3 -16.4 66 588 0.10 1.85 0.00 0.000 3078 0.169 0.028 2003 2583 3739 3800 3678 0 0 0 0 0 0 26.44 26.73 26.56
894 -1.04 -194.6 2003 2583 3801 3678 118.4 -10.9 78 895 0.00 0.00 0.00 0.000 6 0.000 0.000 2003 2583 3739 3801 3678 0 0 0 0 0 0 27.09 27.17 27.16
1194 -1.04 -194.6 2002 2583 3801 3678 146.4 -8.8 88 1198 0.00 2.05 0.00 0.000 548 0.000 0.033 2004 1195 3739 3801 3678 0 0 0 0 0 0 27.15 26.75 27.22
1218 -1.04 -194.6 2003 1194 3800 3678 148.6 -8.7 93 1224 0.00 2.12 0.00 0.000 1062 0.000 0.037 1998 2601 3739 3800 3678 0 0 0 0 0 0 26.79 26.71 26.83
1524 -1.04 -194.6 1997 2601 3797 3678 174.2 -8.2 104 1527 0.00 1.95 0.00 0.000 292 0.000 0.058 1989 3855 3737 3797 3678 0 0 0 0 0 0 27.20 26.65 27.26
1583 -1.04 -194.6 1988 3855 3796 3678 179.5 -9.3 116 1588 0.00 1.85 0.00 0.000 1062 0.000 0.031 1989 2595 3737 3797 3678 0 0 0 0 0 0 26.93 26.87 26.95
1914 -1.04 -194.6 1988 2595 3794 3678 209.7 -9.3 132 1915 0.00 0.00 0.00 0.000 38 0.000 0.000 1988 2595 3736 3794 3678 0 0 0 0 0 0 27.23 27.31 27.29
2214 -1.04 -194.6 1988 2595 3791 3678 239.1 -9.8 142 2215 0.00 0.00 0.00 0.000 38 0.000 0.000 1989 2595 3734 3790 3678 0 0 0 0 0 0 27.25 27.33 27.32
2515 -1.04 -194.6 1988 2595 3788 3678 266.3 -9.0 149 2519 0.00 2.08 0.00 0.000 548 0.000 0.033 1989 1187 3732 3787 3678 0 0 0 0 0 0 27.27 26.84 27.34
2551 -1.04 -194.6 1988 1187 3787 3678 269.7 -9.4 156 2556 0.10 2.15 0.00 0.000 3110 0.164 0.037 2004 2613 3732 3787 3678 0 0 0 0 0 0 26.60 26.80 26.72
2872 -1.04 -194.6 2004 2612 3783 3678 297.4 -8.6 165 2873 0.00 0.00 0.00 0.000 38 0.000 0.000 2004 2612 3730 3783 3678 0 0 0 0 0 0 27.28 27.36 27.35
3172 -1.04 -194.6 2003 2613 3780 3678 324.1 -9.0 170 3176 0.00 2.15 0.00 0.000 548 0.000 0.036 2004 1189 3728 3780 3677 0 0 0 0 0 0 27.29 26.81 27.36
3237 -1.04 -194.6 2004 1188 3778 3678 330.1 -9.3 183 3241 0.00 2.12 0.00 0.000 1062 0.000 0.037 1999 2598 3728 3778 3678 0 0 0 0 0 0 26.89 26.81 26.93
3587 -1.04 -194.6 1999 2598 3775 3678 363.9 -9.8 198 3589 0.00 0.00 0.00 0.000 38 0.000 0.000 1999 2599 3726 3774 3678 0 0 0 0 0 0 27.31 27.39 27.37
3886 -1.04 -194.6 1999 2599 3772 3678 395.8 -10.7 203 3890 0.00 2.10 0.00 0.000 516 0.000 0.036 1999 1196 3725 3773 3678 0 0 0 0 0 0 27.32 26.82 27.38
3911 -1.04 -194.6 1998 1196 3772 3678 398.6 -11.4 208 3915 0.00 2.15 0.00 0.000 1030 0.000 0.039 1991 2609 3725 3772 3678 0 0 0 0 0 0 26.88 26.79 26.92
4247 -1.04 -194.6 1990 2610 3770 3677 434.8 -10.8 220 4251 0.00 1.92 0.00 0.000 260 0.000 0.060 1983 3845 3723 3769 3677 0 0 0 0 0 0 27.32 26.64 27.39
4291 -1.04 -194.6 1982 3845 3769 3677 439.7 -10.8 229 4297 0.08 1.85 0.00 0.000 3078 0.174 0.035 1998 2606 3723 3769 3677 0 0 0 0 0 0 26.72 26.89 26.80
4608 -1.04 -194.6 1997 2607 3765 3677 469.9 -9.4 237 4612 0.00 2.12 0.00 0.000 548 0.000 0.039 1999 1192 3721 3765 3677 0 0 0 0 0 0 27.33 26.77 27.39
4643 -1.04 -194.6 1998 1192 3765 3677 473.2 -9.4 244 4647 0.00 2.15 0.00 0.000 1062 0.000 0.041 1993 2603 3721 3765 3677 0 0 0 0 0 0 26.86 26.77 26.90
4963 -1.04 -194.6 1992 2603 3764 3677 500.7 -8.5 253 4968 0.00 1.95 0.00 0.000 292 0.000 0.061 1985 3845 3719 3762 3677 0 0 0 0 0 0 27.33 26.61 27.39
5004 -1.04 -194.6 1984 3845 3763 3677 504.1 -8.5 261 5008 0.00 1.88 0.00 0.000 1062 0.000 0.037 1985 2595 3720 3763 3677 0 0 0 0 0 0 26.94 26.87 26.98
5325 -1.04 -194.6 1984 2595 3760 3677 530.1 -8.1 270 5329 0.00 2.10 0.00 0.000 548 0.000 0.038 1985 1189 3719 3761 3677 0 0 0 0 0 0 27.33 26.77 27.39
5365 -1.04 -194.6 1984 1189 3759 3677 533.7 -8.9 278 5370 0.10 2.15 0.00 0.000 3110 0.167 0.040 2000 2602 3718 3759 3677 0 0 0 0 0 0 26.57 26.76 26.69
5676 -1.04 -194.6 2000 2602 3758 3677 560.7 -8.8 285 5680 0.00 1.95 0.00 0.000 292 0.000 0.062 1995 3843 3717 3758 3676 0 0 0 0 0 0 27.34 26.59 27.39
5716 -1.04 -194.6 1994 3843 3757 3676 564.5 -9.4 293 5720 0.00 1.88 0.00 0.000 1062 0.000 0.038 1994 2596 3717 3757 3677 0 0 0 0 0 0 26.93 26.86 26.96
6037 -1.04 -194.6 1994 2597 3755 3677 594.3 -9.3 302 6041 0.00 2.12 0.00 0.000 548 0.000 0.039 1994 1184 3715 3755 3676 0 0 0 0 0 0 27.33 26.76 27.40
6071 -1.04 -194.6 1994 1184 3754 3677 597.7 -9.9 309 6076 0.00 2.17 0.00 0.000 1062 0.000 0.041 1986 2607 3716 3755 3677 0 0 0 0 0 0 26.84 26.73 26.87
6150 end dive: TARGET_DEPTH_EXCEEDED
state 6150 begin apogee
6155 -0.25 0.0 1985 2607 3754 3676 605.5 -9.7 314 6342 0.80 0.00 179.20 1.329 10246 0.103 0.000 2253 2607 2942 2983 2901 0 0 0 0 1 0 26.35 24.61 23.68
6343 end apogee: CONTROL_FINISHED_OK
state 6343 begin climb
6345 1.04 194.6 2253 2607 2994 2902 618.3 0.0 317 6544 1.17 2.22 189.23 0.814 10500 0.047 0.058 2682 3850 2140 2180 2101 0 0 0 0 0 0 24.86 24.46 23.84
6589 1.06 212.5 2682 3850 2170 2091 609.1 10.4 368 6613 0.00 2.05 16.65 0.871 9254 0.000 0.039 2693 2599 2069 2109 2029 0 0 0 0 0 0 25.10 25.04 24.16
6929 1.08 225.7 2692 2599 2096 2017 573.4 10.6 381 6949 0.00 2.33 12.35 0.911 8740 0.000 0.043 2703 1187 2013 2052 1974 0 0 0 0 0 0 26.30 25.75 25.03
7059 1.08 225.7 2702 1187 2045 1970 559.0 11.2 407 7063 0.00 2.22 0.00 0.000 1030 0.000 0.037 2702 2605 2007 2044 1970 0 0 0 0 0 0 26.13 26.05 26.16
7404 1.08 225.7 2702 2605 2043 1967 520.1 11.2 421 7408 0.00 2.22 0.00 0.000 516 0.000 0.044 2713 1186 2005 2043 1967 0 0 0 0 0 0 26.72 26.32 26.78
7484 1.08 225.7 2712 1186 2042 1967 511.1 11.3 437 7488 0.00 2.20 0.00 0.000 1030 0.000 0.039 2713 2606 2004 2042 1967 0 0 0 0 0 0 26.47 26.39 26.52
7814 1.08 225.7 2712 2606 2040 1966 472.4 11.8 448 7815 0.00 0.00 0.00 0.000 6 0.000 0.000 2712 2605 2003 2041 1966 0 0 0 0 0 0 26.90 26.98 26.98
8114 1.08 225.7 2712 2605 2039 1965 438.6 11.2 453 8118 0.00 2.22 0.00 0.000 516 0.000 0.043 2722 1183 2002 2040 1965 0 0 0 0 0 0 26.98 26.54 27.05
8184 1.08 225.7 2721 1183 2039 1965 430.8 11.1 467 8188 0.00 2.17 0.00 0.000 1030 0.000 0.039 2722 2601 2002 2039 1965 0 0 0 0 0 0 26.66 26.57 26.70
8529 1.08 225.7 2721 2602 2038 1965 392.8 10.9 481 8533 0.00 2.22 0.00 0.000 516 0.000 0.044 2732 1180 2001 2038 1965 0 0 0 0 0 0 27.06 26.58 27.13
8574 1.08 225.7 2731 1179 2038 1965 388.0 11.0 490 8579 0.10 2.20 0.00 0.000 5126 0.174 0.039 2711 2603 2001 2038 1965 0 0 0 0 0 0 26.39 26.60 26.55
8890 1.11 249.1 2710 2604 2037 1965 355.4 10.2 498 8919 0.00 2.28 22.70 0.791 8740 0.000 0.044 2718 1192 1920 1960 1880 0 0 0 0 0 0 27.11 26.38 25.72
8965 1.11 249.1 2718 1191 1954 1878 347.6 10.7 513 8969 0.00 2.20 0.00 0.000 1030 0.000 0.039 2718 2605 1916 1954 1878 0 0 0 0 0 0 26.53 26.44 26.55
9310 1.12 266.1 2717 2605 1953 1874 311.2 10.5 527 9334 0.00 2.28 17.85 0.793 8740 0.000 0.044 2727 1193 1850 1891 1810 0 0 0 0 0 0 26.94 26.28 25.64
9385 1.12 266.1 2726 1193 1886 1807 303.3 10.8 542 9389 0.00 2.20 0.00 0.000 1030 0.000 0.040 2727 2601 1847 1886 1808 0 0 0 0 0 0 26.45 26.36 26.48
9730 1.12 266.1 2726 2601 1884 1804 265.4 11.0 556 9734 0.00 2.20 0.00 0.000 516 0.000 0.044 2735 1188 1844 1885 1804 0 0 0 0 0 0 26.89 26.46 26.95
9835 1.12 266.1 2734 1188 1884 1804 253.7 11.3 577 9838 0.00 2.17 0.00 0.000 1030 0.000 0.038 2735 2600 1844 1884 1804 0 0 0 0 0 0 26.61 26.52 26.65
10150 1.12 266.1 2735 2600 1884 1803 217.6 11.5 589 10154 0.00 2.20 0.00 0.000 516 0.000 0.044 2744 1180 1842 1882 1803 0 0 0 0 0 0 27.01 26.55 27.08
10205 1.12 266.1 2744 1180 1883 1803 211.2 11.5 600 10209 0.10 2.20 0.00 0.000 5126 0.177 0.040 2723 2607 1843 1883 1803 0 0 0 0 0 0 26.36 26.58 26.51
10530 1.15 286.0 2723 2608 1882 1803 175.9 10.3 615 10558 0.00 2.30 20.98 0.709 8740 0.000 0.043 2731 1187 1769 1810 1728 0 0 0 0 0 0 27.08 26.41 25.80
10636 1.15 286.0 2731 1187 1804 1724 164.7 11.0 636 10640 0.00 2.17 0.00 0.000 1030 0.000 0.038 2731 2599 1764 1804 1725 0 0 0 0 0 0 26.55 26.46 26.58
10945 1.15 286.0 2730 2599 1804 1721 129.4 11.6 648 10949 0.00 2.20 0.00 0.000 516 0.000 0.043 2739 1188 1762 1804 1721 0 0 0 0 0 0 26.94 26.51 27.01
10980 1.15 286.0 2739 1188 1803 1721 125.1 12.3 655 10985 0.00 2.17 0.00 0.000 1030 0.000 0.039 2740 2598 1762 1804 1721 0 0 0 0 0 0 26.63 26.53 26.66
11295 1.19 325.2 2739 2598 1803 1721 91.3 9.6 668 11355 0.00 2.25 54.08 0.565 8740 0.000 0.044 2747 1189 1611 1657 1566 0 0 0 0 0 0 27.03 26.09 25.57
11392 1.25 378.5 2745 1189 1651 1562 82.7 9.1 687 11480 0.00 2.22 81.60 0.522 9254 0.000 0.038 2746 2610 1399 1447 1352 0 0 0 0 0 0 26.28 26.20 25.13
11780 1.30 424.9 2746 2610 1435 1338 45.9 9.3 721 11802 0.00 0.00 19.95 0.258 8230 0.000 0.000 2746 2610 1206 1259 1154 0 0 0 0 0 0 26.58 26.01 25.65
12100 1.39 497.2 2746 2610 1257 1156 15.2 8.3 753 12140 0.10 2.33 31.88 0.184 10788 0.102 0.041 2810 1180 909 966 853 0 0 0 0 0 0 26.56 26.20 25.89
12224 end climb: SURFACE_DEPTH_REACHED
state 12224 begin surface coast
12234 end surface coast: CONTROL_FINISHED_OK
state 12234 begin surface