NORSE Jun23 * SG248 * Dive index * Mission links * Dive 119 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  248 TGT_DEFAULT_LON  -12218 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  1.9639999e-06
MISSION  7 TGT_AUTO_DEFAULT  0 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  -1
DIVE  119 SM_CC  605 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
N_DIVES  0 N_FILEKB  8 VBD_MIN  500 DEEPGLIDERMB  0
STOP_T  0 FILEMGR  0 VBD_MAX  3960 MOTHERBOARD  6
D_SURF  5 CALL_NDIVES  1 C_VBD  3000 DEVICE1  10
D_FLARE  3 COMM_SEQ  7 VBD_DBAND  2 DEVICE2  -1
D_TGT  500 PROTOCOL  9 VBD_CNV  -0.24529999 DEVICE3  -1
D_ABORT  600 N_NOCOMM  2 VBD_LP_IGNORE  0 DEVICE4  -1
D_NO_BLEED  200 NOCOMM_ACTION  131 VBD_TIMEOUT  720 DEVICE5  -1
D_BOOST  0 N_NOSURFACE  0 PITCH_VBD_SHIFT  0.0015 DEVICE6  -1
T_BOOST  0 UPLOAD_DIVES_MAX  -1 UNCOM_BLEED  20 LOGGERS  2
D_FINISH  0 NETBOX  1 VBD_MAXERRORS  1 LOGGERDEVICE1  7
D_PITCH  0 CALL_TRIES  15 C_VBD_AUTO_DELTA  0 LOGGERDEVICE2  72
D_SAFE  0 CALL_WAIT  60 C_VBD_AUTO_MAX  0 LOGGERDEVICE3  -1
D_CALL  0 CAPUPLOAD  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
SURFACE_URGENCY  0 CAPMAXSIZE  100000 DBDW  0 COMPASS_DEVICE  66
SURFACE_URGENCY_TRY  0 T_GPS  30 LOITER_W_DBAND  0 COMPASS2_DEVICE  -1
SURFACE_URGENCY_FORCE  0 N_GPS  100440 LOITER_DBDW  0 PHONE_DEVICE  33
T_DIVE  166 T_RSLEEP  2 LOITER_D_TOP  0 GPS_DEVICE  48
T_MISSION  185 STROBE  0 LOITER_D_BOTTOM  0 RAFOS_DEVICE  -1
T_ABORT  1440 RAFOS_PEAK_OFFSET  0 LOITER_N_DIVE  0 NAV_DEVICE  -1
T_TURN  225 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  20 NAV2_DEVICE  -1
T_TURN_SAMPINT  -5 RAFOS_HIT_WINDOW  3600 AH0_24V  575 NETWORK_DEVICE  -1
T_NO_W  120 RAFOS_MMODEM  0 AH0_10V  0 PRESSURE_DEVICE  34
T_LOITER  0 PITCH_MIN  205 MINV_24V  11 XPDR_DEVICE  21
T_EPIRB  0 PITCH_MAX  3600 MINV_10V  11 SIM_W  0.1
USE_BATHY  -6 C_PITCH  2050 MAXI_24V  5 SEABIRD_T_G  0.0044090361
USE_ICE  0 PITCH_DBAND  0.1 MAXI_10V  1.5 SEABIRD_T_H  0.00064173015
ICE_FREEZE_MARGIN  0.30000001 PITCH_CNV  0.0041299998 FG_AHR_10V  62.541779 SEABIRD_T_I  2.932871e-05
D_OFFGRID  1000 PITCH_GAIN  14 FG_AHR_24V  130.64685 SEABIRD_T_J  3.827171e-06
RELAUNCH  1 PITCH_TIMEOUT  30 PHONE_SUPPLY  2 SEABIRD_C_G  -9.9958668
APOGEE_PITCH  -5 PITCH_MAXERRORS  1 PRESSURE_YINT  0 SEABIRD_C_H  1.1120801
MAX_BUOY  150 PITCH_ADJ_GAIN  0 PRESSURE_SLOPE  6.9999999e-07 SEABIRD_C_I  -0.0034223681
GLIDE_SLOPE  30 PITCH_ADJ_DBAND  0 COMPASS_USE  16388 SEABIRD_C_J  0.00032313328
SPEED_FACTOR  1 C_PITCH_AUTO_DELTA  0 ALTIM_PING_FIT  0 OPTIONS  0
RHO  1.0275 C_PITCH_AUTO_MAX  0 ALTIM_TOP_PING_RANGE  0 SC_RECORDABOVE  2000.0
MASS  74553 PITCH_GAIN_AUTO_DELTA  0 ALTIM_BOTTOM_TURN_MARGIN  0 SC_PROFILE  3.0
NAV_MODE  0 PITCH_GAIN_AUTO_MAX  0 ALTIM_TOP_TURN_MARGIN  0 SC_XMITPROFILE  3.0
FERRY_MAX  45 PITCH_W_GAIN  0 ALTIM_TOP_MIN_OBSTACLE  1 SC_NDIVE  1.0
KALMAN_USE  2 PITCH_W_DBAND  0 ALTIM_PING_DEPTH  0 CP_RECORDABOVE  1000.0
HD_A  0.0025118899 ROLL_MIN  265 ALTIM_PING_DELTA  0 CP_PROFILE  3.0
HD_B  0.0146701 ROLL_MAX  3870 ALTIM_FREQUENCY  13 CP_XMITPROFILE  0.0
HD_C  5.7000002e-06 ROLL_DEG  80 ALTIM_PULSE  3 CP_UPLOADMAX  100000.0
HEADING  -1 C_ROLL_DIVE  2360 ALTIM_SENSITIVITY  2 CP_STARTS  91.0
ESCAPE_HEADING  0 C_ROLL_CLIMB  2025 XPDR_VALID  4 CP_NDIVE  1.0
ESCAPE_HEADING_DELTA  10 HEAD_ERRBAND  10 XPDR_INHIBIT  90
FIX_MISSING_TIMEOUT  0 ROLL_CNV  0.054945 XPDR_INT  -1
TGT_DEFAULT_LAT  4736 ROLL_TIMEOUT  15 XPDR_REP  -1

Pre-dive calculations and measurements:
GPS1  060723,194915,6306.670,-1653.345,11,1.9,12,-9.0 TGT_RADIUS  2000.000
_CALLS  1 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.38 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -35.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  060723,195309,6306.657,-1653.435,6,1.3,10,-9.0 MHEAD_RNG_PITCHd_Wd  15.4,266,-25.2,-10.040,-30.00,1422,0.131
SPEED_LIMITS  0.174,0.217 D_GRID  1000
TGT_NAME  PICKUP IRON  1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,789.000000,-1157.000000,312.000000
TGT_LATLONG  6306.800,-1653.400 OSC  8000266

Post-dive calculations and measurements:
FINISH  4.3,1.027207 _10V_AH  14.88,0.000
SURF  forcing FG_AHR_24Vo  130.829
SM_CCo  10390.93,299.55,0.873,0,534.5,682.6,386.4,604.78 FG_AHR_10Vo  62.636
SM_GC  0.39,299.55,14.73,4.22,0.873,0.071,0.032,534.5,682.6,386.4,189.3,2387.5,0,0,0,12.06,15.79,15.89 MEM0  60108,1,0,0
SUPER  19,71,254,1,0,0 MEM1  65508,1,0,0
IRIDIUM_FIX  6306.67,-1648.33,060723,165236 MEM2  989064,40,55264,172
TCM_TEMP  10.93 DATA_FILE_SIZE  48202,1385
XPDR_PINGS  0,10.3,13.6 CAP_FILE_SIZE  295378,0
CP_FREE  15869968384.000000 SDSIZE  3887104,3841088
CP_POWER  293.030000 SDFILEDIR  637,121
CP_POWER1  0.000000 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID  51.62 IMPLIED_C_PITCH  2059,10.15,1056,0.0,0.00
TEMP  8.63 IMPLIED_C_VBD  2943,11.379988,1056,0
INTERNAL_PRESSURE  8.06143 GPS  060723,224709,6307.172,-1650.692,14,1.0,15,-9.0
_24V_AH  14.83,135.723

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump672163216273.94 SBE_CT173024615.76
Pitch_motor3118185.19 nil000.00
Roll_motor136181368.00 nil000.00
Iridium143174371.46 nil000.00
Transponder_ping04200.00 nil000.00
GPS19154.26 nil000.00
Core38146385.95 SciCon000.00
Fast100.00 NCP10073253747.39
Slow000.00 nil000.00
LPSleep64512191.99
Compass18485137.57
RAFOS000.00
Transponder000.00
Compass2000.00

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R

Guidance and control:
st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
16.43 16386 -93.25 -1.94 0.00 526.8 666.9 386.7 182.5 2309.4 0.00 0.00 0 32.93 15.22 0.00 0.00 0.006 0.000 0.000 950.34 1060.69 840.00 182.25 2308.69 0 0 0 15.32 30.00 30.00
33.23 18727 -96.08 -1.94 80.00 950.2 1060.6 839.8 182.2 2309.6 3.05 -9.84 3 171.24 111.06 10.43 4.03 0.005 0.181 0.100 3390.31 3446.56 3334.06 1582.00 3825.88 0 0 0 15.39 15.52 15.32
178.72 1060 -96.86 -1.94 0.00 3391.5 3447.9 3335.0 1581.8 3826.0 17.81 -9.98 31 185.75 0.00 0.00 3.54 0.000 0.000 0.027 3393.19 3448.19 3338.19 1581.62 2309.06 0 0 0 30.00 30.00 15.40
368.85 16678 -99.09 -1.95 80.00 3391.6 3447.7 3335.5 1581.7 2306.8 37.03 -9.88 69 376.07 0.08 0.00 4.04 0.285 0.000 0.101 3404.66 3459.88 3349.44 1581.94 3823.12 0 0 0 15.31 30.00 15.41
433.87 1060 -100.28 -1.95 0.00 3403.6 3459.2 3347.9 1582.1 3823.2 43.57 -9.95 82 440.68 0.00 0.00 3.52 0.000 0.000 0.026 3405.56 3461.12 3350.00 1582.06 2314.81 0 0 0 30.00 30.00 15.43
623.86 260 -100.28 -1.95 80.00 3403.8 3459.6 3347.9 1581.7 2313.8 62.70 -10.06 120 630.94 0.00 0.00 4.00 0.000 0.000 0.099 3404.19 3460.12 3348.25 1582.06 3825.56 0 0 0 30.00 30.00 15.73
823.88 1028 -100.28 -1.95 0.00 3403.9 3459.8 3348.1 1581.9 3826.0 82.66 -10.06 160 830.74 0.00 0.00 3.52 0.000 0.000 0.026 3403.94 3459.69 3348.19 1581.94 2314.75 0 0 0 30.00 30.00 15.45
1013.93 16418 -102.02 -1.95 0.00 3403.6 3459.2 3348.1 1582.1 2315.1 101.60 -9.91 198 1015.75 0.03 0.00 0.00 0.691 0.000 0.000 3417.56 3472.12 3363.00 1581.69 2315.56 0 0 0 15.30 30.00 30.00
1318.95 292 -102.97 -1.95 80.00 3419.6 3474.0 3365.2 1581.9 2314.0 132.22 -9.97 259 1326.04 0.00 0.00 4.03 0.000 0.000 0.100 3419.72 3474.81 3364.62 1582.25 3825.94 0 0 0 30.00 30.00 15.37
1383.95 1028 -102.97 -1.95 0.00 3419.4 3474.1 3364.7 1582.1 3825.8 138.76 -10.10 272 1390.95 0.00 0.00 3.50 0.000 0.000 0.027 3420.88 3474.69 3367.06 1581.69 2316.25 0 0 0 30.00 30.00 15.86
1694.03 292 -103.43 -1.95 80.00 3419.4 3473.6 3365.2 1581.7 2314.9 169.66 -10.01 334 1701.32 0.00 0.00 4.03 0.000 0.000 0.100 3419.75 3474.44 3365.06 1582.19 3823.44 0 0 0 30.00 30.00 15.37
1738.98 1028 -103.43 -1.95 0.00 3419.2 3473.2 3365.2 1582.2 3823.3 174.18 -10.05 343 1746.05 0.00 0.00 3.51 0.000 0.000 0.026 3419.78 3474.75 3364.81 1581.69 2316.31 0 0 0 30.00 30.00 15.45
2049.05 32 -105.79 -1.96 0.00 3419.5 3473.9 3365.0 1581.9 2315.4 205.25 -9.87 405 2050.66 0.00 0.00 0.00 0.000 0.000 0.000 3418.12 3472.56 3363.69 1582.00 2314.38 0 0 0 30.00 30.00 30.00
2354.07 292 -108.17 -1.96 80.00 3419.5 3473.8 3365.1 1581.8 2314.8 235.64 -9.87 466 2361.36 0.00 0.00 4.05 0.000 0.000 0.101 3419.62 3473.56 3365.69 1582.12 3825.50 0 0 0 30.00 30.00 15.36
2414.08 1060 -108.58 -1.96 0.00 3419.2 3473.9 3364.4 1582.5 3826.0 241.63 -10.01 478 2421.24 0.00 0.00 3.53 0.000 0.000 0.027 3419.47 3474.06 3364.88 1582.06 2316.38 0 0 0 30.00 30.00 15.44
2739.06 0 -108.58 -1.96 0.00 3419.2 3473.9 3364.5 1581.9 2316.4 274.34 -10.37 507 2740.67 0.00 0.00 0.00 0.000 0.000 0.000 3418.53 3472.56 3364.50 1581.81 2316.12 0 0 0 30.00 30.00 30.00
3059.10 0 -108.58 -1.96 0.00 3419.2 3473.8 3364.6 1582.0 2315.1 306.39 -10.04 523 3060.70 0.00 0.00 0.00 0.000 0.000 0.000 3418.34 3472.31 3364.38 1581.88 2314.69 0 0 0 30.00 30.00 30.00
3379.16 32 -113.45 -1.97 0.00 3419.3 3474.1 3364.4 1581.8 2314.4 338.19 -9.69 539 3380.77 0.00 0.00 0.00 0.000 0.000 0.000 3418.16 3472.25 3364.06 1581.94 2314.75 0 0 0 30.00 30.00 30.00
3699.17 292 -114.02 -1.97 80.00 3419.1 3473.7 3364.6 1581.8 2315.3 370.63 -10.00 555 3706.39 0.00 0.00 4.03 0.000 0.000 0.102 3419.16 3474.00 3364.31 1582.19 3826.00 0 0 0 30.00 30.00 15.82
3769.06 1028 -114.02 -1.97 0.00 3418.9 3473.2 3364.5 1582.2 3826.4 377.64 -10.23 569 3776.15 0.00 0.00 3.52 0.000 0.000 0.027 3419.09 3474.06 3364.12 1581.81 2316.12 0 0 0 30.00 30.00 15.92
4079.21 292 -116.96 -1.97 80.00 3418.7 3473.8 3363.6 1581.9 2316.6 408.31 -9.83 586 4086.43 0.00 0.00 4.06 0.000 0.000 0.102 3418.69 3473.62 3363.75 1581.94 3825.44 0 0 0 30.00 30.00 15.32
4139.19 1028 -116.96 -1.97 0.00 3418.7 3473.5 3363.9 1582.4 3825.5 414.36 -10.06 598 4146.17 0.00 0.00 3.54 0.000 0.000 0.027 3418.50 3473.19 3363.81 1581.56 2320.00 0 0 0 30.00 30.00 15.40
4459.26 32 -121.79 -1.98 0.00 3418.2 3473.1 3363.3 1581.8 2319.0 445.97 -9.69 617 4460.88 0.00 0.00 0.00 0.000 0.000 0.000 3417.66 3473.56 3361.75 1581.75 2319.25 0 0 0 30.00 30.00 30.00
4779.23 0 -121.79 -1.98 0.00 3418.3 3473.8 3362.9 1581.7 2317.9 478.21 -10.07 633 4780.84 0.00 0.00 0.00 0.000 0.000 0.000 3417.41 3472.81 3362.00 1581.62 2317.94 0 0 0 30.00 30.00 30.00
4999 end dive: TARGET_DEPTH_EXCEEDED
state 4999 begin apogee
5001.62 10243 0.00 -0.36 0.00 3418.0 3473.6 3362.4 1581.8 1993.5 500.39 -10.32 644 5094.79 83.26 2.69 0.10 1.633 0.140 0.181 2998.66 3105.56 2891.75 1964.69 2087.62 0 0 0 11.61 15.82 15.56
5144 end apogee: CONTROL_FINISHED_OK
state 5144 begin climb
5144.87 10243 121.79 1.98 0.00 2996.4 3100.2 2892.6 1964.7 2087.6 492.43 0.00 648 5258.32 99.27 3.80 0.00 1.602 0.068 0.000 2502.16 2618.19 2386.12 2536.00 2087.62 0 0 0 12.24 15.59 30.00
5571.48 548 125.80 1.99 -80.00 2493.6 2606.2 2381.0 2536.1 2087.1 443.19 9.75 685 5578.77 0.00 0.00 4.20 0.000 0.000 0.108 2492.12 2604.81 2379.44 2536.06 557.44 0 0 0 30.00 30.00 15.27
5806.46 9254 131.60 2.00 0.00 2491.8 2603.4 2380.2 2536.1 557.6 419.88 9.62 732 5824.14 8.64 0.00 3.45 1.130 0.000 0.025 2465.66 2582.69 2348.62 2536.00 2070.12 0 0 0 11.97 30.00 15.77
6131.70 516 131.60 2.00 -80.00 2462.0 2577.8 2346.2 2535.8 2070.9 387.70 10.24 752 6138.96 0.00 0.00 4.05 0.000 0.000 0.104 2461.56 2576.94 2346.19 2535.62 559.12 0 0 0 30.00 30.00 15.68
6236.65 1028 131.60 2.00 0.00 2461.2 2576.5 2345.9 2536.0 559.0 377.17 10.14 773 6243.68 0.00 0.00 3.44 0.000 0.000 0.025 2462.12 2577.44 2346.81 2536.06 2067.75 0 0 0 30.00 30.00 15.74
6551.81 8742 134.28 2.00 -80.00 2461.2 2576.6 2345.9 2536.0 2068.9 346.37 9.85 791 6564.36 4.76 0.00 4.01 0.722 0.000 0.104 2453.03 2569.50 2336.56 2535.31 558.88 0 0 0 11.95 30.00 15.75
6621.93 1060 134.52 2.00 0.00 2451.6 2567.8 2335.4 2535.9 558.9 339.40 10.02 805 6628.88 0.00 0.00 3.42 0.000 0.000 0.025 2453.09 2569.06 2337.12 2535.06 2067.12 0 0 0 30.00 30.00 15.49
6932.03 8742 137.77 2.00 -80.00 2450.9 2567.5 2334.3 2535.7 2068.1 308.74 9.81 822 6945.60 5.56 0.00 4.00 0.818 0.000 0.105 2440.03 2557.56 2322.50 2535.94 558.00 0 0 0 12.10 30.00 15.64
7043.13 1028 137.77 2.00 0.00 2436.9 2553.5 2320.4 2536.1 557.9 297.52 10.26 844 7050.21 0.00 0.00 3.43 0.000 0.000 0.025 2437.97 2553.81 2322.12 2535.69 2067.38 0 0 0 30.00 30.00 15.52
7368.28 8742 144.59 2.01 -80.00 2436.5 2553.1 2319.8 2535.6 2069.4 265.64 9.55 861 7386.02 8.54 0.00 3.99 1.022 0.000 0.104 2410.00 2529.06 2290.94 2536.25 557.94 0 0 0 11.98 30.00 15.82
7533.71 9254 150.71 2.02 0.00 2407.3 2525.6 2289.0 2536.4 557.8 249.38 9.60 894 7550.34 7.30 0.00 3.42 0.936 0.000 0.025 2385.53 2506.06 2265.00 2536.50 2067.69 0 0 0 12.16 30.00 15.87
7853.80 548 152.74 2.03 -80.00 2382.9 2502.9 2262.9 2536.6 2067.8 217.46 9.89 958 7861.10 0.00 0.00 4.01 0.000 0.000 0.102 2383.09 2503.06 2263.12 2536.44 558.69 0 0 0 30.00 30.00 15.43
8008.80 1028 152.74 2.03 0.00 2382.6 2502.4 2262.8 2536.1 558.9 202.09 10.09 989 8015.80 0.00 0.00 3.43 0.000 0.000 0.025 2382.62 2502.50 2262.75 2536.62 2066.00 0 0 0 30.00 30.00 15.87
8318.93 8226 154.69 2.03 0.00 2382.6 2502.5 2262.6 2536.5 2068.4 171.10 9.90 1051 8328.42 5.59 0.00 0.00 0.739 0.000 0.000 2371.28 2491.94 2250.62 2536.12 2067.62 0 0 0 12.03 30.00 30.00
8628.93 516 154.69 2.03 -80.00 2367.0 2487.6 2246.4 2536.3 2067.9 139.79 10.23 1113 8636.19 0.00 0.00 3.96 0.000 0.000 0.102 2369.28 2489.56 2249.00 2536.62 557.81 0 0 0 30.00 30.00 15.81
8833.97 9254 158.86 2.04 0.00 2366.7 2486.9 2246.6 2536.3 558.0 119.52 9.74 1154 8847.43 6.05 0.00 3.42 0.738 0.000 0.025 2349.34 2470.88 2227.81 2536.50 2068.81 0 0 0 11.97 30.00 15.89
9149.99 516 158.86 2.04 -80.00 2349.4 2470.2 2228.6 2535.7 2069.7 87.89 10.05 1217 9157.36 0.00 0.00 4.01 0.000 0.000 0.102 2349.47 2471.00 2227.94 2536.69 558.00 0 0 0 30.00 30.00 15.82
9285.05 9254 162.80 2.04 0.00 2348.9 2470.1 2227.8 2536.4 558.3 74.49 9.76 1244 9297.41 5.74 0.00 3.43 0.681 0.000 0.025 2336.16 2458.75 2213.56 2536.31 2067.31 0 0 0 12.07 30.00 15.89
9480.08 32 163.83 2.04 0.00 2333.1 2453.9 2212.2 2536.6 2068.4 54.95 9.97 1283 9481.68 0.00 0.00 0.00 0.000 0.000 0.000 2332.72 2454.00 2211.44 2536.69 2068.50 0 0 0 30.00 30.00 30.00
9665.12 8742 166.77 2.05 -80.00 2332.9 2453.9 2212.0 2536.3 2068.9 36.57 9.83 1320 9678.81 5.59 0.00 3.98 0.638 0.000 0.103 2317.69 2439.38 2196.00 2536.25 557.62 0 0 0 12.10 30.00 15.78
9746.46 9254 170.62 2.05 0.00 2318.2 2439.5 2196.9 2535.9 557.7 28.67 9.76 1336 9758.82 5.79 0.00 3.43 0.647 0.000 0.025 2303.50 2426.06 2180.94 2536.31 2068.62 0 0 0 12.32 30.00 15.85
9941.46 516 170.62 2.05 -80.00 2301.4 2423.1 2179.6 2536.2 2069.8 9.20 10.38 1375 9948.77 0.00 0.00 4.00 0.000 0.000 0.101 2301.09 2422.75 2179.44 2536.25 557.69 0 0 0 30.00 30.00 15.75
9986 end climb: SURFACE_DEPTH_REACHED
state 9986 begin surface coast
9991 end surface coast: CONTROL_FINISHED_OK
state 9991 begin surface