DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 116 * 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  116 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  33 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  8 R_STBD_OVSHOOT  21 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  -7840.5596 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  300910,182006,6650.650,-5935.934,36,1.6,47,-38.1 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  1.50 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -73.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  300910,182326,6650.647,-5935.913,12,0.9,12,-38.1 MHEAD_RNG_PITCHd_Wd  259.6,38655,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  910

Post-dive calculations and measurements:
FINISH  2.9,1.024748 ALTIM_BOTTOM_PING  16755.0,16789.0
SM_CCo  20602,244.95,0.603,0,0,439,609.08 _24V_AH  22.5,17.028
SM_GC  1.28,6.68,0.00,0.00,0.063,0.000,0.000,306,2785,433,-6.71,0.11,610.80 _10V_AH  10.2,12.962
RAFOS_CLK  1134 FG_AHR_24Vo  0.000
RAFOS  0,1285891264,0.033333,0.017778,120,45,42,41,40,39,738,1296,1027,781,350,1540 FG_AHR_10Vo  0.000
RAFOS_FIX  1686200.000000,1686800.000000,280607,121232,18051,16873,-2310804830311940096.00 MEM  151720
IRIDIUM_FIX  6620.33,-5921.83,300910,131343 DATA_FILE_SIZE  66453,1903
TT8_MAMPS  0.028462 CAP_FILE_SIZE  195933,0
HUMID  48.38 CFSIZE  260165632,242327552
INTERNAL_PRESSURE  8.48513 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  15.50 SOUNDSPEED  1456.7
XPDR_PINGS  0 CURRENT  0.171,153.3,1
ALTIM_TOP_PING  16800.0,16806.0 GPS  011010,001637,6647.944,-5935.737,34,1.0,34,-38.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor16270101.32 SBE_CT132924717.92
Roll_motor13284250.97 SBE_O2000.00
VBD_pump_during_apogee25311716694.57 nil000.00
VBD_pump_during_surface2446023322.37 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710363.45 nil000.00
Iridium_during_connect1416051.36 nil000.00
Iridium_during_xfer42223215.36 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS15507.75
TT8478419972.03
LPSleep124782294.01
TT8_Active66219134.67
TT8_Sampling3176391293.48
TT8_CF81834586.14
TT8_Kalman000.00
Analog_circuits221312270.90
GPS_charging000.00
Compass304715466.27
RAFOS2880388.13
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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -0.57 -146.0 0.0 0.0 0 100 0.00 0.00 -81.75 0.000 2 0.000 0.000 301 2778 3228 0 0 0 0 0 0
102 -0.57 -146.0 5.4 -13.4 14 123 8.45 2.00 -6.12 0.000 4 0.270 0.084 2276 3929 3522 0 0 0 0 0 0
194 -0.57 -146.0 33.6 -19.5 30 201 0.00 1.85 0.00 0.000 6 0.000 0.048 2276 2779 3524 0 0 0 0 0 0
538 -0.57 -146.0 84.3 -11.9 91 545 0.00 2.25 0.00 0.000 4 0.000 0.051 2276 1370 3525 0 0 0 0 0 0
612 -0.57 -146.0 92.3 -10.5 104 620 0.00 2.30 0.00 0.000 6 0.000 0.063 2275 2761 3526 0 0 0 0 0 0
943 -0.57 -146.0 128.9 -11.1 141 947 0.00 1.92 0.00 0.000 4 0.000 0.073 2268 3928 3526 0 0 0 0 0 0
966 -0.57 -146.0 131.5 -11.3 143 970 0.00 1.92 0.00 0.000 6 0.000 0.047 2267 2747 3525 0 0 0 0 0 0
1295 -0.57 -146.0 172.0 -13.1 174 1296 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2747 3525 0 0 0 0 0 0
1615 -0.57 -146.0 210.5 -11.1 204 1616 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2747 3524 0 0 0 0 0 0
1933 -0.57 -146.0 244.4 -10.6 234 1937 0.00 2.00 0.00 0.000 4 0.000 0.076 2262 3932 3523 0 0 0 0 0 0
2000 -0.57 -146.0 252.1 -11.2 240 2004 0.00 1.88 0.00 0.000 6 0.000 0.049 2262 2760 3523 0 0 0 0 0 0
2329 -0.57 -146.0 286.5 -10.4 271 2333 0.00 2.20 0.00 0.000 4 0.000 0.051 2262 1365 3523 0 0 0 0 0 0
2391 -0.57 -146.0 293.0 -9.9 276 2396 0.10 2.30 0.00 0.000 6 0.200 0.064 2285 2768 3523 0 0 0 0 0 0
2721 -0.57 -146.0 321.4 -8.8 307 2722 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 2768 3523 0 0 0 0 0 0
3041 -0.57 -146.0 348.3 -8.4 337 3045 0.00 2.22 0.00 0.000 4 0.000 0.051 2286 1360 3523 0 0 0 0 0 0
3080 -0.57 -146.0 351.8 -8.1 340 3084 0.00 2.28 0.00 0.000 6 0.000 0.063 2285 2765 3523 0 0 0 0 0 0
3405 -0.57 -146.0 379.8 -9.5 370 3408 0.00 1.92 0.00 0.000 4 0.000 0.073 2281 3928 3523 0 0 0 0 0 0
3432 -0.57 -146.0 382.6 -9.7 372 3440 0.00 1.90 0.00 0.000 6 0.000 0.047 2280 2749 3523 0 0 0 0 0 0
3757 -0.57 -146.0 415.2 -9.9 403 3758 0.00 0.00 0.00 0.000 6 0.000 0.000 2280 2749 3523 0 0 0 0 0 0
4076 -0.57 -146.0 445.2 -9.0 433 4080 0.00 2.17 0.00 0.000 4 0.000 0.051 2281 1360 3523 0 0 0 0 0 0
4128 -0.57 -146.0 449.7 -8.6 437 4132 0.00 2.25 0.00 0.000 6 0.000 0.063 2280 2754 3524 0 0 0 0 0 0
4453 -0.57 -146.0 476.1 -8.3 467 4456 0.00 1.92 0.00 0.000 4 0.000 0.073 2274 3932 3524 0 0 0 0 0 0
4487 -0.57 -146.0 478.9 -8.9 470 4491 0.00 1.88 0.00 0.000 6 0.000 0.047 2274 2733 3524 0 0 0 0 0 0
4817 -0.57 -146.0 504.7 -7.5 501 4819 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2733 3524 0 0 0 0 0 0
5137 -0.57 -146.0 529.8 -7.9 531 5140 0.00 2.00 0.00 0.000 4 0.000 0.074 2272 3930 3524 0 0 0 0 0 0
5171 -0.57 -146.0 532.6 -8.3 534 5174 0.00 1.88 0.00 0.000 6 0.000 0.047 2272 2746 3524 0 0 0 0 0 0
5501 -0.57 -146.0 558.8 -8.0 565 5503 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2746 3524 0 0 0 0 0 0
5822 -0.57 -146.0 585.9 -8.7 595 5823 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2746 3524 0 0 0 0 0 0
6143 -0.57 -146.0 614.4 -9.0 616 6147 0.00 2.12 0.00 0.000 4 0.000 0.051 2272 1369 3524 0 0 0 0 0 0
6180 -0.57 -146.0 617.9 -9.1 617 6185 0.00 2.28 0.00 0.000 6 0.000 0.062 2272 2752 3524 0 0 0 0 0 0
6510 -0.57 -146.0 645.9 -8.5 628 6514 0.00 1.92 0.00 0.000 4 0.000 0.073 2272 3931 3524 0 0 0 0 0 0
6537 -0.57 -146.0 648.4 -8.2 628 6545 0.00 1.90 0.00 0.000 6 0.000 0.047 2272 2745 3524 0 0 0 0 0 0
6850 -0.57 -146.0 674.1 -7.9 639 6851 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2744 3524 0 0 0 0 0 0
7158 -0.57 -146.0 698.6 -8.0 649 7159 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2744 3525 0 0 0 0 0 0
7463 -0.57 -146.0 722.4 -7.9 659 7464 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2744 3524 0 0 0 0 0 0
7772 -0.57 -146.0 745.4 -7.2 669 7776 0.00 2.12 0.00 0.000 4 0.000 0.051 2272 1368 3524 0 0 0 0 0 0
7800 -0.57 -146.0 747.7 -7.4 670 7804 0.00 2.22 0.00 0.000 6 0.000 0.063 2272 2752 3525 0 0 0 0 0 0
8135 -0.57 -146.0 771.4 -7.2 681 8136 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2752 3524 0 0 0 0 0 0
8440 -0.57 -146.0 793.7 -7.1 691 8444 0.00 1.92 0.00 0.000 4 0.000 0.074 2268 3931 3524 0 0 0 0 0 0
8474 -0.57 -146.0 796.5 -7.8 692 8478 0.00 1.88 0.00 0.000 6 0.000 0.047 2268 2743 3524 0 0 0 0 0 0
8815 -0.57 -146.0 820.8 -6.9 703 8816 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2743 3524 0 0 0 0 0 0
9121 -0.57 -146.0 842.7 -7.1 713 9122 0.00 0.00 0.00 0.000 6 0.000 0.000 2268 2743 3524 0 0 0 0 0 0
9427 -0.57 -146.0 866.1 -7.7 723 9431 0.00 1.95 0.00 0.000 4 0.000 0.074 2262 3926 3524 0 0 0 0 0 0
9454 -0.57 -146.0 868.4 -8.5 723 9461 0.00 1.88 0.00 0.000 6 0.000 0.047 2262 2756 3524 0 0 0 0 0 0
9767 -0.57 -146.0 892.4 -7.7 734 9768 0.00 0.00 0.00 0.000 6 0.000 0.000 2262 2756 3524 0 0 0 0 0 0
10010 end dive: TARGET_DEPTH_EXCEEDED
state 10010 begin apogee
10015 -0.14 0.0 911.6 8.0 742 10144 0.50 0.00 124.10 1.172 4 0.145 0.000 2425 2601 2923 0 0 0 0 0 0
10145 end apogee: CONTROL_FINISHED_OK
state 10145 begin climb
10146 0.57 146.0 914.6 0.0 746 10285 0.70 2.40 129.77 1.151 4 0.081 0.051 2663 1192 2326 0 0 0 0 0 0
10436 0.57 146.0 886.3 37858.6 755 10441 0.00 2.47 0.00 0.000 6 0.000 0.057 2663 2598 2317 0 0 0 0 0 0
10772 0.57 146.0 841.7 37858.6 766 10776 0.00 2.33 0.00 0.000 4 0.000 0.055 2666 1192 2314 0 0 0 0 0 0
10978 0.57 146.0 815.3 37858.6 772 10983 0.00 2.38 0.00 0.000 6 0.000 0.058 2666 2597 2313 0 0 0 0 0 0
11308 0.57 146.0 771.3 37858.6 783 11312 0.00 2.25 0.00 0.000 4 0.000 0.069 2666 3936 2312 0 0 0 0 0 0
11345 0.57 146.0 765.8 37858.6 784 11350 0.00 2.17 0.00 0.000 6 0.000 0.046 2673 2611 2310 0 0 0 0 0 0
11680 0.57 146.0 719.2 37858.6 795 11681 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2610 2311 0 0 0 0 0 0
11986 0.57 146.0 677.2 37858.6 805 11987 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2610 2310 0 0 0 0 0 0
12292 0.57 146.0 634.8 37858.6 815 12293 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2609 2310 0 0 0 0 0 0
12600 0.57 146.0 592.7 37858.6 827 12604 0.00 2.22 0.00 0.000 4 0.000 0.070 2673 3936 2310 0 0 0 0 0 0
12631 0.57 146.0 587.5 37858.6 829 12639 0.00 2.15 0.00 0.000 6 0.000 0.046 2682 2602 2309 0 0 0 0 0 0
12957 0.57 146.0 540.8 37858.6 860 12958 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2602 2309 0 0 0 0 0 0
13276 0.57 146.0 496.4 37858.6 890 13280 0.00 2.22 0.00 0.000 4 0.000 0.070 2682 3938 2309 0 0 0 0 0 0
13337 0.57 146.0 486.8 37858.6 895 13342 0.12 2.12 0.00 0.000 6 0.220 0.046 2662 2599 2308 0 0 0 0 0 0
13661 0.57 146.0 446.4 37858.6 925 13662 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2598 2309 0 0 0 0 0 0
13981 0.57 146.0 406.7 37858.6 955 13985 0.00 2.25 0.00 0.000 4 0.000 0.070 2662 3944 2308 0 0 0 0 0 0
14020 0.57 146.0 401.0 37858.6 958 14024 0.00 2.15 0.00 0.000 6 0.000 0.047 2666 2592 2308 0 0 0 0 0 0
14345 0.57 146.0 359.6 37858.6 988 14346 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2592 2308 0 0 0 0 0 0
14663 0.57 146.0 319.6 37858.6 1018 14667 0.00 2.25 0.00 0.000 4 0.000 0.070 2666 3943 2308 0 0 0 0 0 0
14759 0.57 146.0 305.9 37858.6 1026 14763 0.00 2.10 0.00 0.000 6 0.000 0.046 2671 2601 2308 0 0 0 0 0 0
15084 0.57 146.0 265.5 37858.6 1056 15085 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2600 2308 0 0 0 0 0 0
15403 0.57 146.0 228.6 37858.6 1086 15407 0.00 2.20 0.00 0.000 4 0.000 0.070 2670 3940 2309 0 0 0 0 0 0
15468 0.57 146.0 219.6 37858.6 1091 15476 0.00 2.15 0.00 0.000 6 0.000 0.045 2678 2598 2309 0 0 0 0 0 0
15794 0.57 146.0 182.7 37858.6 1122 15795 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2597 2309 0 0 0 0 0 0
16113 0.57 146.0 150.9 37858.6 1152 16114 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2597 2309 0 0 0 0 0 0
16433 0.57 146.0 119.0 37858.6 1182 16437 0.00 2.22 0.00 0.000 4 0.000 0.070 2678 3939 2310 0 0 0 0 0 0
16624 0.57 146.0 97.5 37858.6 1200 16631 0.00 2.08 0.00 0.000 6 0.000 0.047 2683 2612 2309 0 0 0 0 0 0
16969 0.57 146.0 67.9 37858.6 1261 16975 0.00 2.17 0.00 0.000 4 0.000 0.071 2683 3937 2309 0 0 0 0 0 0
17178 0.57 146.0 49.3 37858.6 1298 17185 0.12 2.08 0.00 0.000 6 0.212 0.047 2660 2620 2309 0 0 0 0 0 0
17523 0.57 146.0 30.2 37858.6 1359 17530 0.00 2.17 0.00 0.000 4 0.000 0.073 2660 3941 2309 0 0 0 0 0 0
17547 0.57 146.0 28.8 37858.6 1363 17554 0.00 2.08 0.00 0.000 6 0.000 0.047 2664 2631 2308 0 0 0 0 0 0
17891 0.57 146.0 17.2 37858.6 1424 17898 0.00 2.28 0.00 0.000 4 0.000 0.056 2664 1187 2309 0 0 0 0 0 0
18055 0.57 146.0 19.5 37858.6 1453 18062 0.00 2.30 0.00 0.000 6 0.000 0.060 2663 2631 2308 0 0 0 0 0 0
18400 0.57 146.0 19.3 37858.6 1514 18406 0.00 2.12 0.00 0.000 4 0.000 0.073 2664 3932 2307 0 0 0 0 0 0
18660 0.57 146.0 18.1 37858.6 1560 18667 0.00 2.08 0.00 0.000 6 0.000 0.047 2664 2620 2307 0 0 0 0 0 0
19005 0.57 146.0 17.1 37858.6 1621 19012 0.00 2.17 0.00 0.000 4 0.000 0.073 2664 3929 2307 0 0 0 0 0 0
19154 0.57 146.0 16.4 37858.6 1647 19160 0.00 2.05 0.00 0.000 6 0.000 0.047 2664 2618 2307 0 0 0 0 0 0
19498 0.57 146.0 12.9 37858.6 1708 19504 0.00 2.22 0.00 0.000 4 0.000 0.054 2664 1182 2307 0 0 0 0 0 0
19757 0.57 146.0 10.1 37858.6 1754 19764 0.00 2.35 0.00 0.000 6 0.000 0.058 2664 2646 2307 0 0 0 0 0 0
20101 0.57 146.0 6.8 37858.6 1815 20108 0.00 2.30 0.00 0.000 4 0.000 0.053 2664 1186 2308 0 0 0 0 0 0
20355 0.57 146.0 4.7 37858.6 1860 20362 0.00 2.35 0.00 0.000 6 0.000 0.058 2664 2650 2308 0 0 0 0 0 0
20591 end climb: SURFACE_DEPTH_REACHED
state 20591 begin surface coast
20599 end surface coast: CONTROL_FINISHED_OK
state 20599 begin surface