DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 109 * 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  0
MISSION  3 HEADING  -1 ROLL_MAX  3931 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  109 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DEPTH  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2780 ALTIM_PING_DELTA  20
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  2600 ALTIM_FREQUENCY  13
D_FLARE  5 TGT_DEFAULT_LAT  4736 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_TGT  990 TGT_DEFAULT_LON  -12218 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  3
D_NO_BLEED  50 SM_CC  350 R_PORT_OVSHOOT  38 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  8 R_STBD_OVSHOOT  25 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  0 FILEMGR  0 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.89999998
D_FINISH  0 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_GAIN  2.5 DEEPGLIDERMB  0
D_SAFE  0 PROTOCOL  9 ROLL_ADJ_DBAND  0.029999999 MOTHERBOARD  4
D_CALL  0 N_NOCOMM  1 VBD_MIN  440 DEVICE1  2
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  20
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 C_VBD  2923 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 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  8 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  -2 T_GPS_CHARGE  -7831.3774 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  0 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  117
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_24V  150 PHONE_DEVICE  49
D_OFFGRID  100 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  2 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 ALTIM_TOP_PING_RANGE  0
HD_B  0.0099999998 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  10

Pre-dive calculations and measurements:
GPS1  290910,025037,6652.307,-5909.962,30,1.0,30,-38.0 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  1.34 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  290910,025507,6652.279,-5910.037,8,1.2,13,-38.0 MHEAD_RNG_PITCHd_Wd  309.1,57648,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1031

Post-dive calculations and measurements:
FINISH  2.8,1.025214 ALTIM_BOTTOM_PING  18314.0,18347.0
SM_CCo  19702,113.57,0.572,1,0,1495,350.04 _24V_AH  22.5,16.267
SM_GC  1.43,0.00,0.00,113.57,0.000,0.000,0.572,303,2786,1495,-6.78,0.17,350.04 _10V_AH  10.2,12.275
RAFOS_CLK  1070 FG_AHR_24Vo  0.000
RAFOS  0,1285732869,4.033333,4.019166,114,49,45,45,44,42,775,908,735,267,281,1621 FG_AHR_10Vo  0.000
RAFOS_FIX  17626.984375,-48146.203125,280806,131311,7,123,0.01 MEM  151716
IRIDIUM_FIX  6625.71,-5910.64,280910,212104 DATA_FILE_SIZE  53326,1528
TT8_MAMPS  0.028462 CAP_FILE_SIZE  176739,0
HUMID  49.64 CFSIZE  260165632,242958336
INTERNAL_PRESSURE  8.58279 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP  15.40 SOUNDSPEED  1460.3
XPDR_PINGS  0 CURRENT  0.067,329.7,1
ALTIM_TOP_PING  18358.0,18364.0 GPS  290910,082924,6652.949,-5914.515,36,1.9,36,-38.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor16271101.74 SBE_CT106624576.16
Roll_motor12980234.72 SBE_O2000.00
VBD_pump_during_apogee25512177001.29 nil000.00
VBD_pump_during_surface1135721462.27 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2310354.85 nil000.00
Iridium_during_connect1516054.94 nil000.00
Iridium_during_xfer114223574.08 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS16508.58
TT8400919814.61
LPSleep127872301.31
TT8_Active54219110.17
TT8_Sampling2707391102.52
TT8_CF81714580.40
TT8_Kalman000.00
Analog_circuits186312228.06
GPS_charging000.00
Compass251415384.66
RAFOS36003110.16
Transponder050.03

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
15 -0.57 -146.0 0.0 0.0 0 110 0.00 0.00 -92.72 0.000 2 0.000 0.000 290 2782 3475 0 0 0 0 0 0
112 -0.57 -146.0 6.3 -16.7 15 127 8.45 1.95 -0.88 0.000 4 0.272 0.080 2276 3930 3521 0 0 0 0 0 0
254 -0.57 -146.0 49.0 -13.4 40 262 0.00 1.83 0.00 0.000 6 0.000 0.047 2276 2778 3524 0 0 0 0 0 0
599 -0.57 -146.0 88.7 -11.7 101 605 0.00 1.95 0.00 0.000 4 0.000 0.073 2271 3933 3525 0 0 0 0 0 0
640 -0.57 -146.0 93.7 -11.8 108 647 0.00 1.80 0.00 0.000 6 0.000 0.047 2271 2793 3525 0 0 0 0 0 0
969 -0.57 -146.0 133.4 -11.6 143 973 0.00 1.92 0.00 0.000 4 0.000 0.075 2264 3921 3526 0 0 0 0 0 0
1006 -0.57 -146.0 138.6 -13.3 146 1014 0.00 1.83 0.00 0.000 6 0.000 0.047 2264 2795 3526 0 0 0 0 0 0
1332 -0.57 -146.0 176.9 -11.5 177 1336 0.00 2.22 0.00 0.000 4 0.000 0.051 2264 1369 3525 0 0 0 0 0 0
1384 -0.57 -146.0 182.7 -10.1 181 1388 0.00 2.30 0.00 0.000 6 0.000 0.064 2261 2781 3525 0 0 0 0 0 0
1713 -0.57 -146.0 219.7 -11.1 212 1715 0.10 0.00 0.00 0.000 6 0.210 0.000 2286 2781 3524 0 0 0 0 0 0
2032 -0.57 -146.0 248.7 -8.7 242 2033 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2781 3524 0 0 0 0 0 0
2352 -0.57 -146.0 276.0 -8.2 272 2356 0.00 2.22 0.00 0.000 4 0.000 0.051 2286 1358 3523 0 0 0 0 0 0
2380 -0.57 -146.0 278.2 -7.6 274 2384 0.00 2.35 0.00 0.000 6 0.000 0.063 2286 2793 3523 0 0 0 0 0 0
2705 -0.57 -146.0 304.6 -8.4 304 2706 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2792 3523 0 0 0 0 0 0
3024 -0.57 -146.0 329.6 -7.7 334 3028 0.00 1.90 0.00 0.000 4 0.000 0.074 2280 3924 3523 0 0 0 0 0 0
3061 -0.57 -146.0 332.9 -8.6 337 3069 0.00 1.83 0.00 0.000 6 0.000 0.048 2280 2787 3522 0 0 0 0 0 0
3387 -0.57 -146.0 361.3 -9.4 368 3391 0.00 2.22 0.00 0.000 4 0.000 0.050 2280 1358 3523 0 0 0 0 0 0
3424 -0.57 -146.0 364.9 -9.2 371 3431 0.00 2.35 0.00 0.000 6 0.000 0.063 2279 2785 3523 0 0 0 0 0 0
3749 -0.57 -146.0 394.4 -9.0 402 3750 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2785 3522 0 0 0 0 0 0
4068 -0.57 -146.0 421.7 -8.3 432 4069 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2785 3523 0 0 0 0 0 0
4386 -0.57 -146.0 447.6 -8.2 462 4390 0.00 2.22 0.00 0.000 4 0.000 0.050 2279 1369 3523 0 0 0 0 0 0
4435 -0.57 -146.0 452.0 -8.6 466 4443 0.00 2.33 0.00 0.000 6 0.000 0.063 2279 2778 3523 0 0 0 0 0 0
4762 -0.57 -146.0 479.1 -8.7 497 4763 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2778 3523 0 0 0 0 0 0
5080 -0.57 -146.0 505.5 -8.3 527 5081 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2778 3522 0 0 0 0 0 0
5399 -0.57 -146.0 532.4 -8.7 557 5403 0.00 2.20 0.00 0.000 4 0.000 0.050 2279 1363 3523 0 0 0 0 0 0
5431 -0.57 -146.0 535.3 -8.6 559 5438 0.00 2.33 0.00 0.000 6 0.000 0.063 2279 2790 3522 0 0 0 0 0 0
5757 -0.57 -146.0 562.1 -7.8 590 5758 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2790 3523 0 0 0 0 0 0
6078 -0.57 -146.0 587.3 -7.6 620 6082 0.00 2.22 0.00 0.000 4 0.000 0.050 2279 1357 3522 0 0 0 0 0 0
6106 -0.57 -146.0 589.8 -8.3 622 6110 0.00 2.30 0.00 0.000 6 0.000 0.063 2279 2771 3523 0 0 0 0 0 0
6435 -0.57 -146.0 614.4 -7.6 641 6437 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2771 3522 0 0 0 0 0 0
6740 -0.57 -146.0 637.2 -7.4 651 6741 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2771 3523 0 0 0 0 0 0
7047 -0.57 -146.0 659.9 -7.4 661 7048 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 2771 3522 0 0 0 0 0 0
7353 -0.57 -146.0 684.0 -8.1 671 7356 0.00 2.20 0.00 0.000 4 0.000 0.050 2279 1370 3522 0 0 0 0 0 0
7387 -0.57 -146.0 686.9 -8.9 672 7391 0.00 2.28 0.00 0.000 6 0.000 0.064 2279 2767 3522 0 0 0 0 0 0
7721 -0.57 -146.0 712.8 -7.7 683 7725 0.00 1.95 0.00 0.000 4 0.000 0.074 2273 3929 3522 0 0 0 0 0 0
7742 -0.57 -146.0 714.4 -7.0 683 7747 0.00 1.85 0.00 0.000 6 0.000 0.047 2273 2769 3522 0 0 0 0 0 0
8061 -0.57 -146.0 739.1 -7.8 694 8065 0.00 2.17 0.00 0.000 4 0.000 0.051 2273 1361 3522 0 0 0 0 0 0
8081 -0.57 -146.0 740.9 -8.5 694 8086 0.00 2.30 0.00 0.000 6 0.000 0.063 2272 2764 3522 0 0 0 0 0 0
8401 -0.57 -146.0 766.7 -8.2 705 8402 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2764 3522 0 0 0 0 0 0
8706 -0.57 -146.0 791.6 -8.1 715 8708 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2764 3522 0 0 0 0 0 0
9013 -0.57 -146.0 815.6 -7.7 725 9014 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2764 3522 0 0 0 0 0 0
9319 -0.57 -146.0 839.8 -7.9 735 9323 0.00 2.17 0.00 0.000 4 0.000 0.050 2272 1364 3522 0 0 0 0 0 0
9362 -0.57 -146.0 843.4 -8.1 736 9367 0.00 2.30 0.00 0.000 6 0.000 0.064 2272 2764 3522 0 0 0 0 0 0
9691 -0.57 -146.0 869.2 -8.0 747 9692 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2764 3522 0 0 0 0 0 0
9998 -0.57 -146.0 893.5 -7.8 757 10002 0.00 1.92 0.00 0.000 4 0.000 0.075 2270 3929 3522 0 0 0 0 0 0
10019 -0.57 -146.0 895.4 -7.7 757 10024 0.00 1.88 0.00 0.000 6 0.000 0.048 2270 2760 3522 0 0 0 0 0 0
10338 -0.57 -146.0 920.1 -8.0 768 10339 0.00 0.00 0.00 0.000 6 0.000 0.000 2270 2760 3522 0 0 0 0 0 0
10645 -0.57 -146.0 943.6 -7.6 778 10646 0.00 0.00 0.00 0.000 6 0.000 0.000 2270 2760 3522 0 0 0 0 0 0
10951 -0.57 -146.0 966.9 -7.7 788 10954 0.00 2.15 0.00 0.000 4 0.000 0.052 2270 1368 3522 0 0 0 0 0 0
10977 -0.57 -146.0 969.3 -8.3 788 10986 0.00 2.30 0.00 0.000 6 0.000 0.064 2266 2765 3522 0 0 0 0 0 0
11258 end dive: TARGET_DEPTH_EXCEEDED
state 11258 begin apogee
11263 -0.14 0.0 991.1 7.8 798 11392 0.47 0.00 124.62 1.218 4 0.146 0.000 2421 2603 2923 0 0 0 0 0 0
11393 end apogee: CONTROL_FINISHED_OK
state 11393 begin climb
11394 0.57 146.0 993.8 0.0 802 11535 0.70 2.42 130.88 1.196 4 0.083 0.051 2658 1184 2327 0 0 0 0 0 0
11725 0.57 146.0 960.5 42581.5 812 11730 0.00 2.50 0.00 0.000 6 0.000 0.060 2658 2603 2318 0 0 0 0 0 0
12055 0.57 146.0 917.6 42581.5 823 12059 0.00 2.35 0.00 0.000 4 0.000 0.056 2663 1192 2314 0 0 0 0 0 0
12261 0.57 146.0 891.8 42581.5 829 12266 0.00 2.38 0.00 0.000 6 0.000 0.060 2663 2595 2314 0 0 0 0 0 0
12591 0.57 146.0 845.5 42581.5 840 12596 0.00 2.25 0.00 0.000 4 0.000 0.071 2663 3934 2313 0 0 0 0 0 0
12646 0.57 146.0 836.4 42581.5 841 12654 0.00 2.17 0.00 0.000 6 0.000 0.047 2667 2613 2311 0 0 0 0 0 0
12959 0.57 146.0 791.6 42581.5 852 12960 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2613 2311 0 0 0 0 0 0
13265 0.57 146.0 748.3 42581.5 862 13266 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2613 2311 0 0 0 0 0 0
13571 0.57 146.0 704.5 42581.5 872 13575 0.00 2.22 0.00 0.000 4 0.000 0.072 2667 3932 2310 0 0 0 0 0 0
13609 0.57 146.0 698.2 42581.5 873 13614 0.00 2.15 0.00 0.000 6 0.000 0.047 2675 2605 2310 0 0 0 0 0 0
13938 0.57 146.0 649.3 42581.5 884 13942 0.00 2.22 0.00 0.000 4 0.000 0.072 2676 3933 2310 0 0 0 0 0 0
13972 0.57 146.0 644.1 42581.5 885 13976 0.00 2.10 0.00 0.000 6 0.000 0.047 2684 2616 2309 0 0 0 0 0 0
14292 0.57 146.0 597.0 42581.5 896 14293 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2615 2309 0 0 0 0 0 0
14613 0.57 146.0 551.7 42581.5 926 14616 0.00 2.20 0.00 0.000 4 0.000 0.071 2684 3929 2310 0 0 0 0 0 0
14662 0.57 146.0 543.1 42581.5 930 14670 0.10 2.10 0.00 0.000 6 0.199 0.047 2664 2624 2309 0 0 0 0 0 0
14987 0.57 146.0 501.0 42581.5 961 14988 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2624 2309 0 0 0 0 0 0
15307 0.57 146.0 459.6 42581.5 991 15308 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2624 2309 0 0 0 0 0 0
15625 0.57 146.0 418.8 42581.5 1021 15626 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2624 2308 0 0 0 0 0 0
15944 0.57 146.0 378.1 42581.5 1051 15948 0.00 2.20 0.00 0.000 4 0.000 0.071 2665 3936 2309 0 0 0 0 0 0
15989 0.57 146.0 371.4 42581.5 1055 15993 0.00 2.10 0.00 0.000 6 0.000 0.047 2666 2614 2308 0 0 0 0 0 0
16319 0.57 146.0 327.7 42581.5 1086 16321 0.00 0.00 0.00 0.000 6 0.000 0.000 2667 2614 2308 0 0 0 0 0 0
16639 0.57 146.0 286.9 42581.5 1116 16643 0.00 2.20 0.00 0.000 4 0.000 0.072 2667 3930 2309 0 0 0 0 0 0
16677 0.57 146.0 280.9 42581.5 1119 16685 0.00 2.10 0.00 0.000 6 0.000 0.046 2673 2615 2308 0 0 0 0 0 0
17002 0.57 146.0 238.5 42581.5 1150 17004 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2615 2309 0 0 0 0 0 0
17322 0.57 146.0 198.2 42581.5 1180 17326 0.00 2.17 0.00 0.000 4 0.000 0.071 2673 3932 2309 0 0 0 0 0 0
17356 0.57 146.0 193.7 42581.5 1183 17359 0.00 2.05 0.00 0.000 6 0.000 0.046 2681 2620 2308 0 0 0 0 0 0
17686 0.57 146.0 152.9 42581.5 1214 17689 0.00 2.17 0.00 0.000 4 0.000 0.071 2680 3936 2309 0 0 0 0 0 0
17734 0.57 146.0 146.3 42581.5 1218 17742 0.00 2.08 0.00 0.000 6 0.000 0.046 2688 2637 2309 0 0 0 0 0 0
18060 0.57 146.0 110.9 42581.5 1249 18064 0.00 2.15 0.00 0.000 4 0.000 0.070 2688 3930 2309 0 0 0 0 0 0
18086 0.57 146.0 107.4 42581.5 1251 18095 0.10 2.05 0.00 0.000 6 0.197 0.045 2666 2644 2309 0 0 0 0 0 0
18426 0.57 146.0 75.1 42581.5 1305 18432 0.00 2.30 0.00 0.000 4 0.000 0.055 2666 1183 2309 0 0 0 0 0 0
18528 0.57 146.0 66.0 42581.5 1323 18535 0.00 2.35 0.00 0.000 6 0.000 0.058 2666 2643 2310 0 0 0 0 0 0
18872 0.57 146.0 38.7 42581.5 1384 18879 0.00 2.12 0.00 0.000 4 0.000 0.073 2666 3930 2309 0 0 0 0 0 0
18935 0.57 146.0 33.5 42581.5 1395 18942 0.00 2.03 0.00 0.000 6 0.000 0.047 2666 2647 2309 0 0 0 0 0 0
19281 0.57 146.0 18.0 42581.5 1456 19289 0.00 2.10 0.00 0.000 4 0.000 0.073 2667 3926 2309 0 0 0 0 0 0
19413 0.57 146.0 13.7 42581.5 1479 19420 0.00 2.20 0.00 0.000 6 0.000 0.046 2667 2531 2308 0 0 0 0 0 0
19682 end climb: SURFACE_DEPTH_REACHED
state 19682 begin surface coast
19689 end surface coast: CONTROL_FINISHED_OK
state 19689 begin surface