ASTRAL Jun23 * SG530 * Dive index * Mission links * Dive 183 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  530 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  2530 ALTIM_PULSE  3
MISSION  3 TGT_DEFAULT_LAT  4736 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
DIVE  183 TGT_DEFAULT_LON  -12218 ROLL_CNV  0.028270001 XPDR_VALID  4
N_DIVES  190 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
STOP_T  0 SM_CC  662.31 ROLL_MAXERRORS  1 XPDR_INT  -1
D_SURF  2 N_FILEKB  8 ROLL_ADJ_GAIN  0 XPDR_REP  -1
D_FLARE  3 FILEMGR  0 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  1.9639999e-06
D_TGT  990 CALL_NDIVES  1 VBD_MIN  500 INT_PRESSURE_YINT  -2
D_ABORT  1000 COMM_SEQ  7 VBD_MAX  3960 DEEPGLIDER  0
D_NO_BLEED  500 PROTOCOL  9 C_VBD  3200 DEEPGLIDERMB  0
D_BOOST  0 N_NOCOMM  30 VBD_DBAND  2 MOTHERBOARD  6
T_BOOST  0 NOCOMM_ACTION  131 VBD_CNV  -0.24529999 DEVICE1  -1
D_FINISH  0 N_NOSURFACE  0 VBD_LP_IGNORE  0 DEVICE2  -1
D_PITCH  0 UPLOAD_DIVES_MAX  1 VBD_TIMEOUT  720 DEVICE3  -1
D_SAFE  0 NETBOX  1 PITCH_VBD_SHIFT  0.0040000002 DEVICE4  -1
D_CALL  0 CALL_TRIES  5 UNCOM_BLEED  20 DEVICE5  -1
SURFACE_URGENCY  0 CALL_WAIT  60 VBD_MAXERRORS  1 DEVICE6  -1
SURFACE_URGENCY_TRY  0 CAPUPLOAD  0 C_VBD_AUTO_DELTA  0 LOGGERS  1
SURFACE_URGENCY_FORCE  0 CAPMAXSIZE  100000 C_VBD_AUTO_MAX  0 LOGGERDEVICE1  7
T_DIVE  420 T_GPS  5 W_ADJ_DBAND  3 LOGGERDEVICE2  -1
T_MISSION  460 N_GPS  100440 DBDW  0 LOGGERDEVICE3  -1
T_ABORT  1440 T_RSLEEP  5 LOITER_W_DBAND  0 LOGGERDEVICE4  -1
T_TURN  225 STROBE  0 LOITER_DBDW  0 COMPASS_DEVICE  34
T_TURN_SAMPINT  -5 RAFOS_PEAK_OFFSET  0 LOITER_D_TOP  0 COMPASS2_DEVICE  -1
T_NO_W  120 RAFOS_CORR_THRESH  60 LOITER_D_BOTTOM  0 PHONE_DEVICE  33
T_LOITER  0 RAFOS_HIT_WINDOW  3600 LOITER_N_DIVE  0 GPS_DEVICE  48
T_EPIRB  0 RAFOS_MMODEM  0 CF8_MAXERRORS  20 RAFOS_DEVICE  -1
USE_BATHY  -6 PITCH_MIN  150 AH0_24V  350 NAV_DEVICE  -1
USE_ICE  0 PITCH_MAX  3750 AH0_10V  0 NAV2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 C_PITCH  2460 MINV_24V  11 NETWORK_DEVICE  -1
D_OFFGRID  1000 PITCH_DBAND  0.050000001 MINV_10V  11 PRESSURE_DEVICE  41
RELAUNCH  1 PITCH_CNV  0.0041299998 MAXI_24V  3 XPDR_DEVICE  21
APOGEE_PITCH  -5 PITCH_GAIN  30 MAXI_10V  1.5 SIM_W  0
MAX_BUOY  100 PITCH_TIMEOUT  30 FG_AHR_10V  24.344095 SEABIRD_T_G  0.0043864162
GLIDE_SLOPE  30 PITCH_MAXERRORS  1 FG_AHR_24V  42.767281 SEABIRD_T_H  0.00063266949
SPEED_FACTOR  1 PITCH_ADJ_GAIN  0 PHONE_SUPPLY  2 SEABIRD_T_I  2.5325675e-05
RHO  1.0275 PITCH_ADJ_DBAND  0 PRESSURE_YINT  -167.17708 SEABIRD_T_J  3.073744e-06
MASS  52931 C_PITCH_AUTO_DELTA  0 PRESSURE_SLOPE  0.0002270641 SEABIRD_C_G  -10.161054
NAV_MODE  2 C_PITCH_AUTO_MAX  0 COMPASS_USE  32772 SEABIRD_C_H  1.1455134
FERRY_MAX  45 PITCH_GAIN_AUTO_DELTA  0 ALTIM_PING_FIT  0 SEABIRD_C_I  -0.0026252109
KALMAN_USE  2 PITCH_GAIN_AUTO_MAX  0 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.0002807455
HD_A  0.00125893 PITCH_W_GAIN  3 ALTIM_BOTTOM_TURN_MARGIN  0 OPTIONS  4
HD_B  0.0139236 PITCH_W_DBAND  0.5 ALTIM_TOP_TURN_MARGIN  0 SC_RECORDABOVE  2000.0
HD_C  5.7000002e-06 ROLL_MIN  380 ALTIM_TOP_MIN_OBSTACLE  1 SC_PROFILE  3.0
HEADING  -1 ROLL_MAX  3970 ALTIM_PING_DEPTH  0 SC_XMITPROFILE  3.0
ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DELTA  0 SC_NDIVE  1.0
ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2900 ALTIM_FREQUENCY  13

Pre-dive calculations and measurements:
GPS1  130823,031202,950.125,6941.369,49,0.8,50,-1.5 TGT_RADIUS  3000.000
_CALLS  5 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.15 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -64.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  130823,032204,950.062,6941.386,3,0.7,7,-1.5 MHEAD_RNG_PITCHd_Wd  161.1,196315,-12.8,-7.857,-25.69,1815,0.094
SPEED_LIMITS  0.136,0.163 D_GRID  1000
TGT_NAME  A1 IRON  1.000000,0.009165,-0.043997,0.011839,1.042889,0.024850,0.053582,-0.011762,1.049041,46.487850,23.374680,-70.462616
TGT_LATLONG  806.000,6921.000 OSC  8000348

Post-dive calculations and measurements:
FINISH  0.2,1.009279 FG_AHR_24Vo  42.949
SURF  forcing FG_AHR_10Vo  24.437
SM_CCo  24025.21,167.31,0.739,0,500.7,493.1,508.2,662.14 MEM0  59964,1,0,0
SM_GC  1.18,167.31,7.80,0.52,0.739,0.058,0.060,500.7,493.1,508.2,113.5,2945.9,0,0,0,12.32,15.87,15.93 MEM1  65508,1,0,0
SUPER  0,0,0,0,0,0 MEM2  990884,84,54744,63
IRIDIUM_FIX  949.26,6943.81,130823,031314 DATA_FILE_SIZE  60867,1975
TCM_TEMP  22.10 CAP_FILE_SIZE  474979,0
XPDR_PINGS  0,13.0,10.5 SDSIZE  3887104,3820640
SC_FREEKB  3809248 SDFILEDIR  1221,1
HUMID  50.16 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP  20.76 CURRENT  0.079,295.2,1
INTERNAL_PRESSURE  9.27146 IMPLIED_C_PITCH  2434,20.97,1348,0.0,0.00
_24V_AH  14.31,101.349 GPS  130823,100351,948.722,6941.278,44,1.3,54,-1.5
_10V_AH  14.88,0.000

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump613262923068.36 nil000.00
Pitch_motor21426133.12 nil000.00
Roll_motor254128467.13 nil000.00
Iridium293124524.18 nil000.00
Transponder_ping04200.00 nil000.00
GPS16153.63 nil000.00
Core32886332.70 SciCon2384683077.78
Fast500.00 nil000.00
Slow000.00 nil000.00
LPSleep187362557.61
Compass29705221.04
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
5 end surface: CONTROL_FINISHED_OK
state 5 begin dive
6.72 16386 -97.32 -0.82 0.00 495.2 496.8 493.6 93.6 2797.1 0.00 0.00 0 111.64 100.89 0.00 0.00 0.005 0.000 0.000 3074.84 3019.19 3130.50 91.12 2799.31 0 0 0 15.67 30.00 30.00
111.94 18983 -97.32 -0.82 -40.00 3075.3 3017.8 3132.9 91.0 2799.1 3.31 -2.38 10 144.55 10.49 10.53 2.13 0.007 0.426 0.039 3596.25 3579.00 3613.50 2267.94 1435.75 0 0 0 15.74 15.58 15.70
162.10 1028 -97.32 -0.82 0.00 3596.8 3578.9 3614.6 2267.8 1435.6 14.91 -18.56 20 167.99 0.00 0.00 2.41 0.000 0.000 0.051 3597.03 3579.12 3614.94 2261.56 2933.44 0 0 0 30.00 30.00 15.94
352.13 516 -97.32 -0.82 -40.00 3596.8 3578.7 3615.0 2261.1 2931.4 53.12 -20.16 40 358.27 0.00 0.00 2.37 0.000 0.000 0.033 3596.81 3579.00 3614.62 2265.38 1433.38 0 0 0 30.00 30.00 15.98
467.05 1028 -97.32 -0.82 0.00 3597.0 3578.9 3615.1 2265.7 1433.9 73.31 -15.97 63 473.48 0.00 0.00 2.43 0.000 0.000 0.049 3597.62 3579.50 3615.75 2258.31 2932.44 0 0 0 30.00 30.00 15.99
662.21 260 -97.32 -0.82 40.00 3596.9 3578.8 3615.1 2258.5 2931.0 101.09 -13.13 83 667.87 0.00 0.00 1.64 0.000 0.000 0.073 3596.78 3578.69 3614.88 2250.62 3997.19 0 0 0 30.00 30.00 16.00
777.07 1028 -97.32 -0.82 0.00 3596.9 3578.9 3614.9 2250.9 3997.2 114.88 -11.67 106 782.92 0.00 0.00 1.71 0.000 0.000 0.029 3597.09 3579.31 3614.88 2250.50 2789.75 0 0 0 30.00 30.00 16.02
972.23 260 -97.32 -0.82 40.00 3596.7 3578.6 3614.8 2250.8 2790.2 134.41 -9.55 126 978.02 0.00 0.00 1.92 0.000 0.000 0.070 3597.78 3579.88 3615.69 2241.06 4000.50 0 0 0 30.00 30.00 16.03
1042.24 3077 -97.32 -0.82 0.00 3596.5 3578.3 3614.6 2242.4 4000.0 141.39 -9.91 140 1048.05 0.00 0.08 1.71 0.000 0.221 0.028 3596.88 3578.75 3615.00 2266.56 2788.94 0 0 0 30.00 15.95 16.04
1232.24 0 -97.32 -0.82 0.00 3596.7 3578.8 3614.7 2266.6 2788.9 157.67 -8.92 160 1233.82 0.00 0.00 0.00 0.000 0.000 0.000 3596.34 3578.00 3614.69 2266.81 2788.94 0 0 0 30.00 30.00 30.00
1423.27 0 -97.32 -0.82 0.00 3597.2 3579.3 3615.0 2266.4 2788.8 174.16 -8.78 179 1424.84 0.00 0.00 0.00 0.000 0.000 0.000 3596.06 3578.06 3614.06 2267.12 2788.94 0 0 0 30.00 30.00 30.00
1613.26 260 -97.32 -0.82 40.00 3597.2 3579.3 3615.1 2266.6 2788.7 192.16 -9.46 198 1618.15 0.00 0.00 1.93 0.000 0.000 0.069 3597.88 3579.88 3615.88 2259.88 3998.69 0 0 0 30.00 30.00 15.98
1657.12 1028 -97.32 -0.82 0.00 3597.0 3579.1 3614.8 2260.1 3999.1 196.48 -9.67 207 1662.97 0.00 0.00 1.71 0.000 0.000 0.028 3596.88 3578.75 3615.00 2259.88 2787.88 0 0 0 30.00 30.00 16.07
1852.28 0 -97.32 -0.82 0.00 3597.0 3579.3 3614.8 2260.1 2786.4 213.68 -8.70 227 1853.85 0.00 0.00 0.00 0.000 0.000 0.000 3596.12 3578.25 3614.00 2260.38 2786.81 0 0 0 30.00 30.00 30.00
2042.28 260 -97.32 -0.82 40.00 3596.9 3579.0 3614.8 2260.5 2786.8 228.13 -7.02 246 2048.07 0.00 0.00 1.90 0.000 0.000 0.069 3598.19 3580.25 3616.12 2250.75 3998.06 0 0 0 30.00 30.00 16.07
2122.32 1028 -97.32 -0.82 0.00 3597.1 3579.1 3615.0 2250.8 3998.2 234.03 -7.38 262 2128.16 0.00 0.00 1.72 0.000 0.000 0.028 3597.16 3579.38 3614.94 2251.06 2786.38 0 0 0 30.00 30.00 16.08
2312.35 516 -97.32 -0.82 -40.00 3597.1 3578.9 3615.2 2251.4 2787.4 248.59 -8.08 282 2318.43 0.00 0.00 2.09 0.000 0.000 0.032 3597.62 3579.75 3615.50 2251.44 1425.12 0 0 0 30.00 30.00 16.08
2347.21 1028 -97.32 -0.82 0.00 3597.0 3578.9 3615.1 2251.4 1425.4 251.64 -8.51 289 2353.79 0.00 0.00 2.40 0.000 0.000 0.046 3597.44 3579.69 3615.19 2242.19 2936.12 0 0 0 30.00 30.00 16.09
2672.38 2565 -97.32 -0.82 -40.00 3596.1 3578.6 3613.6 2242.2 2934.2 281.61 -9.62 306 2678.71 0.00 0.08 2.33 0.000 0.253 0.032 3596.47 3579.00 3613.94 2266.25 1427.94 0 0 0 30.00 15.97 16.00
2707.24 1028 -97.32 -0.82 0.00 3596.2 3578.9 3613.6 2266.2 1428.4 284.75 -9.34 313 2713.79 0.00 0.00 2.41 0.000 0.000 0.046 3597.06 3579.38 3614.75 2259.50 2935.56 0 0 0 30.00 30.00 16.08
3032.41 516 -97.32 -0.82 -40.00 3595.0 3578.7 3611.2 2259.8 2934.9 313.20 -8.75 330 3038.63 0.00 0.00 2.34 0.000 0.000 0.032 3595.19 3579.12 3611.25 2259.62 1430.50 0 0 0 30.00 30.00 16.10
3047.27 1028 -97.32 -0.82 0.00 3595.2 3579.1 3611.4 2259.8 1430.6 314.52 -8.77 333 3053.78 0.00 0.00 2.40 0.000 0.000 0.048 3595.28 3578.94 3611.62 2251.31 2936.75 0 0 0 30.00 30.00 16.09
3372.44 0 -97.32 -0.82 0.00 3593.3 3578.5 3608.1 2250.9 2935.3 342.40 -8.43 350 3374.05 0.00 0.00 0.00 0.000 0.000 0.000 3592.66 3577.81 3607.50 2251.00 2934.88 0 0 0 30.00 30.00 30.00
3692.45 0 -97.32 -0.82 0.00 3591.0 3578.5 3603.5 2250.9 2935.1 368.97 -8.12 366 3694.07 0.00 0.00 0.00 0.000 0.000 0.000 3590.28 3577.62 3602.94 2250.88 2934.75 0 0 0 30.00 30.00 30.00
4012.49 516 -97.32 -0.82 -40.00 3589.6 3578.8 3600.4 2251.2 2934.9 394.97 -8.48 382 4018.71 0.00 0.00 2.35 0.000 0.000 0.034 3589.75 3578.94 3600.56 2250.75 1433.00 0 0 0 30.00 30.00 16.10
4062.35 1028 -97.32 -0.82 0.00 3589.5 3578.9 3600.1 2251.4 1433.1 399.31 -8.62 392 4068.76 0.00 0.00 2.41 0.000 0.000 0.050 3591.41 3580.31 3602.50 2241.25 2933.56 0 0 0 30.00 30.00 16.10
4372.54 18435 -97.32 -0.82 0.00 3587.3 3578.8 3595.8 2243.0 2932.5 429.22 -10.04 409 4374.51 0.00 0.09 0.00 2.630 0.253 0.000 3605.84 3596.75 3614.94 2266.44 2932.75 0 0 0 30.36 15.95 30.00
4692.55 516 -97.32 -0.82 -40.00 3604.3 3596.1 3612.6 2266.6 2932.4 456.42 -8.22 425 4698.78 0.00 0.00 2.37 0.000 0.000 0.036 3604.91 3597.44 3612.38 2266.81 1433.31 0 0 0 30.00 30.00 16.08
4747.42 1028 -97.32 -0.82 0.00 3604.6 3596.6 3612.6 2267.1 1433.6 460.86 -8.02 436 4754.00 0.00 0.00 2.42 0.000 0.000 0.050 3604.84 3597.06 3612.62 2261.06 2933.50 0 0 0 30.00 30.00 16.09
5072.59 516 -97.32 -0.82 -40.00 3602.7 3596.5 3608.9 2260.7 2931.8 486.92 -7.86 453 5078.81 0.00 0.00 2.37 0.000 0.000 0.037 3604.03 3597.69 3610.38 2260.50 1434.44 0 0 0 30.00 30.00 16.09
5107.45 1028 -97.32 -0.82 0.00 3602.4 3596.2 3608.7 2260.6 1434.9 489.65 -7.76 460 5114.01 0.00 0.00 2.43 0.000 0.000 0.051 3603.00 3596.75 3609.25 2252.00 2933.25 0 0 0 30.00 30.00 16.09
5432.62 516 -97.32 -0.82 -40.00 3600.2 3596.4 3604.1 2252.1 2932.2 514.89 -7.66 477 5438.84 0.00 0.00 2.37 0.000 0.000 0.036 3601.28 3597.19 3605.38 2251.69 1435.31 0 0 0 30.00 30.00 16.09
5487.50 1028 -97.32 -0.82 0.00 3600.2 3596.5 3604.0 2251.8 1435.3 518.98 -7.42 488 5494.05 0.00 0.00 2.43 0.000 0.000 0.051 3601.25 3596.94 3605.56 2243.25 2933.38 0 0 0 30.00 30.00 16.09
5812.66 2565 -97.32 -0.82 -40.00 3598.5 3596.5 3600.5 2244.0 2932.7 543.88 -7.70 505 5818.99 0.00 0.08 2.38 0.000 0.254 0.038 3600.84 3598.50 3603.19 2264.38 1432.31 0 0 0 30.00 15.95 15.94
5847.53 1028 -97.32 -0.82 0.00 3598.4 3596.0 3600.8 2265.9 1432.4 546.33 -7.56 512 5854.09 0.00 0.00 2.42 0.000 0.000 0.052 3599.09 3597.00 3601.19 2259.62 2931.69 0 0 0 30.00 30.00 16.08
6172.69 260 -97.32 -0.82 40.00 3596.8 3596.2 3597.4 2259.6 2930.1 569.75 -7.66 529 6178.52 0.00 0.00 1.71 0.000 0.000 0.083 3597.09 3596.56 3597.62 2251.94 3991.69 0 0 0 30.00 30.00 16.06
6217.56 1028 -97.32 -0.82 0.00 3596.3 3596.1 3596.5 2252.0 3991.7 573.50 -8.35 538 6223.42 0.00 0.00 1.75 0.000 0.000 0.034 3596.41 3596.56 3596.25 2251.88 2796.38 0 0 0 30.00 30.00 16.09
6532.73 516 -97.32 -0.82 -40.00 3595.6 3596.6 3594.6 2251.3 2796.6 599.83 -8.43 556 6538.85 0.00 0.00 2.14 0.000 0.000 0.038 3595.59 3596.44 3594.75 2252.00 1434.44 0 0 0 30.00 30.00 16.10
6577.67 1028 -97.32 -0.82 0.00 3595.5 3596.8 3594.2 2251.8 1434.3 603.73 -8.65 565 6584.01 0.00 0.00 2.45 0.000 0.000 0.054 3595.41 3596.19 3594.62 2243.44 2931.88 0 0 0 30.00 30.00 16.08
6892.77 2049 -97.32 -0.82 0.00 3593.4 3596.3 3590.5 2244.0 2931.1 631.89 -8.95 583 6894.56 0.00 0.08 0.00 0.000 0.251 0.000 3594.00 3596.25 3591.75 2263.50 2929.88 0 0 0 30.00 15.94 30.00
7212.79 516 -97.32 -0.82 -40.00 3592.4 3595.9 3588.9 2264.4 2930.1 655.83 -7.32 599 7219.01 0.00 0.00 2.38 0.000 0.000 0.038 3593.66 3596.44 3590.88 2264.31 1434.56 0 0 0 30.00 30.00 16.03
7262.66 1028 -97.32 -0.82 0.00 3592.7 3596.0 3589.4 2265.2 1434.8 659.41 -7.15 609 7269.08 0.00 0.00 2.44 0.000 0.000 0.052 3593.31 3596.81 3589.81 2259.00 2932.62 0 0 0 30.00 30.00 16.06
7572.82 0 -97.32 -0.82 0.00 3591.1 3595.8 3586.5 2259.5 2931.2 682.53 -7.56 626 7574.43 0.00 0.00 0.00 0.000 0.000 0.000 3590.53 3595.62 3585.44 2259.19 2931.19 0 0 0 30.00 30.00 30.00
7892.85 516 -97.32 -0.82 -40.00 3590.3 3595.8 3584.9 2259.4 2931.0 705.98 -7.24 642 7899.09 0.00 0.00 2.39 0.000 0.000 0.039 3590.56 3596.25 3584.88 2259.44 1436.75 0 0 0 30.00 30.00 16.01
7947.72 1028 -97.32 -0.82 0.00 3590.4 3596.0 3584.8 2259.2 1436.6 709.93 -7.17 653 7954.28 0.00 0.00 2.44 0.000 0.000 0.053 3590.47 3596.62 3584.31 2250.88 2933.00 0 0 0 30.00 30.00 16.09
8272.88 2049 -97.32 -0.82 0.00 3588.9 3596.2 3581.5 2250.2 2931.7 733.21 -7.20 670 8274.67 0.00 0.05 0.00 0.000 0.270 0.000 3589.84 3595.69 3584.00 2265.69 2931.44 0 0 0 30.00 15.93 30.00
8592.91 516 -97.32 -0.82 -40.00 3588.1 3596.1 3580.1 2266.2 2931.6 754.52 -6.72 686 8599.12 0.00 0.00 2.39 0.000 0.000 0.039 3589.28 3596.75 3581.81 2265.62 1434.62 0 0 0 30.00 30.00 16.00
8647.78 1028 -97.32 -0.82 0.00 3588.3 3596.4 3580.2 2266.3 1435.0 758.18 -6.65 697 8654.33 0.00 0.00 2.45 0.000 0.000 0.054 3588.97 3596.69 3581.25 2260.94 2930.88 0 0 0 30.00 30.00 16.08
8972.96 516 -97.32 -0.82 -40.00 3586.9 3596.4 3577.4 2260.6 2929.2 781.63 -7.40 714 8979.18 0.00 0.00 2.38 0.000 0.000 0.040 3586.81 3596.19 3577.44 2260.81 1434.88 0 0 0 30.00 30.00 16.00
8997.81 1028 -97.32 -0.82 0.00 3586.7 3595.9 3577.4 2260.5 1435.2 783.48 -7.46 719 9004.23 0.00 0.00 2.45 0.000 0.000 0.054 3588.03 3596.69 3579.38 2251.38 2930.38 0 0 0 30.00 30.00 16.07
9313.02 0 -97.32 -0.82 0.00 3585.8 3595.9 3575.6 2252.1 2929.2 807.42 -7.59 737 9314.63 0.00 0.00 0.00 0.000 0.000 0.000 3585.09 3595.31 3574.88 2251.75 2929.19 0 0 0 30.00 30.00 30.00
9633.00 516 -97.32 -0.82 -40.00 3584.8 3596.0 3573.5 2252.1 2929.1 832.63 -7.97 753 9639.22 0.00 0.00 2.39 0.000 0.000 0.041 3584.88 3596.19 3573.56 2252.00 1435.62 0 0 0 30.00 30.00 15.99
9677.87 1028 -97.32 -0.82 0.00 3584.8 3596.2 3573.3 2252.4 1436.0 836.34 -8.24 762 9684.29 0.00 0.00 2.46 0.000 0.000 0.054 3586.38 3596.81 3575.94 2243.88 2932.81 0 0 0 30.00 30.00 16.07
9993.03 2049 -97.32 -0.82 0.00 3583.6 3595.9 3571.3 2244.2 2931.2 863.66 -8.78 780 9994.83 0.00 0.08 0.00 0.000 0.250 0.000 3583.28 3595.25 3571.31 2264.00 2930.69 0 0 0 30.00 15.89 30.00
10313.07 516 -97.32 -0.82 -40.00 3583.1 3595.9 3570.4 2265.1 2931.1 888.16 -7.58 796 10319.27 0.00 0.00 2.40 0.000 0.000 0.041 3583.12 3595.88 3570.38 2266.50 1438.25 0 0 0 30.00 30.00 15.98
10377.93 1028 -97.32 -0.82 0.00 3583.4 3596.0 3570.8 2266.4 1438.4 893.20 -7.69 809 10384.35 0.00 0.00 2.47 0.000 0.000 0.055 3583.56 3596.00 3571.12 2261.00 2930.44 0 0 0 30.00 30.00 16.07
10693.08 516 -97.32 -0.82 -40.00 3582.0 3595.7 3568.2 2260.9 2928.9 917.88 -7.97 827 10699.29 0.00 0.00 2.40 0.000 0.000 0.041 3582.69 3596.38 3569.00 2260.50 1437.75 0 0 0 30.00 30.00 15.98
10733.09 1028 -97.32 -0.82 0.00 3582.2 3595.8 3568.6 2261.1 1438.2 921.10 -7.91 835 10739.37 0.00 0.00 2.46 0.000 0.000 0.055 3583.22 3596.75 3569.69 2251.56 2930.31 0 0 0 30.00 30.00 15.95
11053.10 0 -97.32 -0.82 0.00 3581.4 3596.2 3566.6 2252.1 2928.9 947.08 -8.05 854 11054.71 0.00 0.00 0.00 0.000 0.000 0.000 3580.19 3594.94 3565.44 2252.12 2928.69 0 0 0 30.00 30.00 30.00
11373.11 516 -97.32 -0.82 -40.00 3580.8 3596.4 3565.2 2252.1 2928.5 971.41 -7.20 870 11379.41 0.00 0.00 2.42 0.000 0.000 0.043 3582.78 3597.94 3567.62 2251.25 1437.62 0 0 0 30.00 30.00 15.98
11422.99 1028 -97.32 -0.82 0.00 3580.7 3596.2 3565.2 2252.0 1437.7 975.05 -7.27 880 11429.41 0.00 0.00 2.47 0.000 0.000 0.056 3580.53 3596.25 3564.81 2244.50 2929.38 0 0 0 30.00 30.00 16.02
11633 end dive: TARGET_DEPTH_EXCEEDED
state 11633 begin apogee
11635.34 10243 0.00 -0.17 0.00 3579.9 3595.9 3563.9 2244.2 2453.1 990.44 -7.34 892 11727.61 85.65 0.59 0.19 1.966 0.201 0.128 3199.91 3269.56 3130.25 2422.06 2569.88 0 0 0 11.78 15.74 15.35
11728 end apogee: CONTROL_FINISHED_OK
state 11728 begin climb
11729.33 10759 97.32 0.82 -40.00 3198.0 3268.9 3127.1 2421.6 2569.9 991.52 0.00 896 11834.40 92.50 0.72 2.56 1.995 0.099 0.049 2800.72 2888.06 2713.38 2679.12 1077.56 0 0 0 12.37 15.43 15.17
11876.98 5125 97.32 0.82 0.00 2797.6 2887.0 2708.2 2679.5 1077.8 983.73 7.84 925 11883.62 0.00 0.12 2.53 0.000 0.277 0.049 2797.44 2887.12 2707.75 2650.56 2567.19 0 0 0 30.00 15.42 15.52
12192.14 16646 97.32 0.82 40.00 2795.0 2886.8 2703.3 2650.6 2566.8 957.32 8.40 943 12198.37 0.00 0.00 2.34 0.000 0.000 0.082 2795.84 2887.50 2704.19 2650.12 3968.06 0 0 0 30.00 30.00 15.82
12277.02 17414 97.32 0.82 0.00 2794.6 2886.9 2702.2 2649.9 3968.3 949.48 9.04 960 12283.38 0.00 0.00 2.40 0.000 0.000 0.038 2796.84 2888.06 2705.62 2656.88 2466.31 0 0 0 30.00 30.00 15.86
12592.17 16646 97.32 0.82 40.00 2794.5 2886.9 2702.1 2659.4 2467.2 924.11 7.84 978 12598.50 0.00 0.00 2.57 0.000 0.000 0.081 2794.81 2887.75 2701.88 2659.19 3967.56 0 0 0 30.00 30.00 15.94
12647.05 17414 97.32 0.82 0.00 2793.9 2886.8 2701.1 2658.8 3968.0 919.38 8.44 989 12653.55 0.00 0.00 2.39 0.000 0.000 0.039 2794.94 2887.62 2702.25 2667.81 2466.62 0 0 0 30.00 30.00 15.95
12972.25 16966 97.32 0.84 -40.00 2794.1 2886.8 2701.3 2669.0 2467.2 895.51 6.92 1006 12978.37 0.00 0.00 2.22 0.000 0.000 0.050 2794.75 2887.44 2702.06 2678.38 1076.62 0 0 0 30.00 30.00 15.99
12997.12 17478 97.32 0.87 0.00 2793.8 2886.6 2701.1 2678.4 1076.7 893.75 6.90 1011 13003.48 0.00 0.00 2.47 0.000 0.000 0.050 2795.00 2888.00 2702.00 2676.44 2563.88 0 0 0 30.00 30.00 16.00
13312.27 16710 97.32 0.92 40.00 2793.3 2886.9 2699.7 2676.4 2563.3 873.41 6.32 1029 13318.43 0.00 0.00 2.32 0.000 0.000 0.085 2794.09 2888.06 2700.12 2676.12 3968.00 0 0 0 30.00 30.00 16.00
13347.13 19527 97.32 0.96 0.00 2792.4 2886.6 2698.2 2676.6 3967.6 870.91 6.42 1036 13353.71 0.00 0.04 2.39 0.000 0.220 0.039 2792.47 2886.88 2698.06 2703.00 2463.44 0 0 0 30.00 15.94 16.02
13672.28 16710 97.32 0.99 40.00 2792.5 2886.8 2698.3 2703.4 2464.6 848.91 6.84 1053 13678.55 0.00 0.00 2.57 0.000 0.000 0.082 2793.00 2885.56 2700.44 2702.44 3967.56 0 0 0 30.00 30.00 16.02
13692.29 17478 97.32 1.01 0.00 2792.0 2886.7 2697.2 2703.0 3967.4 847.25 7.26 1057 13698.44 0.00 0.00 2.37 0.000 0.000 0.040 2793.31 2887.25 2699.38 2709.56 2468.00 0 0 0 30.00 30.00 16.02
14012.24 16646 97.32 1.01 40.00 2792.2 2886.7 2697.7 2711.6 2468.7 822.45 7.82 1076 14018.57 0.00 0.00 2.57 0.000 0.000 0.082 2792.25 2887.00 2697.50 2711.06 3967.88 0 0 0 30.00 30.00 16.02
14052.24 17414 97.32 1.01 0.00 2791.5 2886.6 2696.4 2711.0 3967.2 818.92 8.84 1084 14058.46 0.00 0.00 2.38 0.000 0.000 0.041 2792.69 2887.88 2697.50 2718.19 2470.69 0 0 0 30.00 30.00 16.03
14372.26 20483 97.32 1.01 0.00 2791.7 2886.9 2696.4 2719.6 2471.9 791.56 8.76 1103 14374.04 0.00 0.09 0.00 0.000 0.332 0.000 2794.09 2887.00 2701.19 2697.06 2472.12 0 0 0 30.00 15.79 30.00
14692.26 16646 97.32 1.01 40.00 2791.5 2886.4 2696.6 2698.4 2472.5 763.35 9.16 1119 14698.59 0.00 0.00 2.55 0.000 0.000 0.084 2792.34 2885.44 2699.25 2696.00 3964.88 0 0 0 30.00 30.00 16.03
14762.12 17414 97.32 1.01 0.00 2791.2 2886.8 2695.8 2696.4 3964.6 756.39 9.96 1133 14768.50 0.00 0.00 2.37 0.000 0.000 0.042 2791.19 2886.56 2695.81 2703.44 2471.12 0 0 0 30.00 30.00 16.04
15072.35 16646 97.32 1.01 40.00 2791.3 2886.8 2695.8 2704.6 2472.1 727.07 9.61 1150 15078.60 0.00 0.00 2.54 0.000 0.000 0.081 2791.72 2887.44 2696.00 2703.50 3968.81 0 0 0 30.00 30.00 16.03
15122.15 17414 97.32 1.01 0.00 2791.1 2886.9 2695.2 2703.2 3968.7 721.94 10.30 1160 15128.50 0.00 0.00 2.37 0.000 0.000 0.040 2792.00 2887.69 2696.31 2710.44 2469.81 0 0 0 30.00 30.00 16.03
15432.29 16386 97.32 1.01 0.00 2791.1 2886.6 2695.5 2711.9 2471.4 692.92 9.40 1177 15433.91 0.00 0.00 0.00 0.000 0.000 0.000 2789.06 2885.19 2692.94 2711.88 2471.00 0 0 0 30.00 30.00 30.00
15752.31 16646 97.32 1.01 40.00 2791.2 2887.1 2695.4 2711.4 2471.2 664.58 8.62 1193 15758.63 0.00 0.00 2.56 0.000 0.000 0.083 2791.81 2887.44 2696.19 2709.75 3967.06 0 0 0 30.00 30.00 16.02
15807.16 17414 97.32 1.01 0.00 2790.7 2886.8 2694.6 2709.8 3966.8 659.49 9.32 1204 15813.67 0.00 0.00 2.38 0.000 0.000 0.042 2792.69 2888.56 2696.81 2717.12 2468.12 0 0 0 30.00 30.00 16.03
16132.33 20743 97.32 1.01 40.00 2791.0 2887.0 2694.9 2718.6 2469.5 633.01 7.76 1221 16138.76 0.00 0.09 2.56 0.000 0.344 0.081 2791.00 2886.94 2695.06 2695.19 3969.31 0 0 0 30.00 15.74 15.83
16182.21 17414 97.32 1.01 0.00 2790.4 2886.6 2694.2 2695.8 3968.8 628.87 8.27 1231 16188.56 0.00 0.00 2.38 0.000 0.000 0.039 2793.50 2888.75 2698.25 2703.00 2467.56 0 0 0 30.00 30.00 16.04
16492.42 16966 97.32 1.04 -40.00 2790.7 2886.8 2694.6 2704.4 2468.8 607.19 6.90 1248 16498.52 0.00 0.00 2.21 0.000 0.000 0.052 2791.50 2887.44 2695.56 2713.62 1076.94 0 0 0 30.00 30.00 16.04
16522.27 17478 97.32 1.07 0.00 2790.8 2886.9 2694.7 2713.6 1077.0 605.12 6.91 1254 16528.64 0.00 0.00 2.44 0.000 0.000 0.047 2791.47 2887.56 2695.38 2713.31 2564.06 0 0 0 30.00 30.00 16.05
16832.39 16646 97.32 1.07 40.00 2790.7 2886.9 2694.6 2713.5 2563.6 581.78 7.77 1271 16838.64 0.00 0.00 2.32 0.000 0.000 0.082 2790.72 2887.19 2694.25 2713.50 3969.25 0 0 0 30.00 30.00 16.02
16887.26 17414 97.32 1.07 0.00 2790.5 2886.8 2694.2 2713.6 3969.8 576.88 8.93 1282 16893.80 0.00 0.00 2.38 0.000 0.000 0.037 2790.69 2887.00 2694.38 2721.88 2462.88 0 0 0 30.00 30.00 16.05
17212.44 16646 97.32 1.07 40.00 2790.6 2887.1 2694.1 2722.8 2463.6 549.53 8.99 1299 17218.77 0.00 0.00 2.56 0.000 0.000 0.078 2793.25 2888.56 2697.94 2720.56 3969.12 0 0 0 30.00 30.00 16.01
17262.31 17414 97.32 1.07 0.00 2790.6 2886.9 2694.2 2720.6 3969.8 544.45 10.18 1309 17268.67 0.00 0.00 2.38 0.000 0.000 0.037 2791.03 2886.00 2696.06 2727.81 2463.56 0 0 0 30.00 30.00 16.04
17572.48 16646 97.32 1.07 40.00 2790.7 2887.0 2694.4 2729.4 2465.1 515.54 9.26 1326 17578.81 0.00 0.00 2.55 0.000 0.000 0.077 2790.69 2887.38 2694.00 2728.25 3967.75 0 0 0 30.00 30.00 16.01
17622.35 17414 97.32 1.07 0.00 2790.6 2886.8 2694.4 2728.6 3967.2 510.22 10.57 1336 17628.73 0.00 0.00 2.38 0.000 0.000 0.038 2791.44 2887.56 2695.31 2736.06 2467.12 0 0 0 30.00 30.00 16.04
17932.58 20999 97.32 1.07 -40.00 2790.7 2887.1 2694.2 2736.8 2468.3 482.59 8.49 1353 17938.85 0.00 0.12 2.20 0.000 0.365 0.050 2790.69 2887.06 2694.31 2720.44 1076.94 0 0 0 30.00 15.67 15.78
18027.41 17414 97.32 1.07 0.00 2790.4 2886.7 2694.2 2720.1 1076.9 475.04 7.81 1372 18033.97 0.00 0.00 2.44 0.000 0.000 0.045 2791.50 2886.56 2696.44 2719.00 2563.81 0 0 0 30.00 30.00 16.03
18352.58 16646 97.32 1.07 40.00 2790.5 2886.8 2694.2 2719.8 2564.0 448.50 8.46 1389 18358.74 0.00 0.00 2.30 0.000 0.000 0.080 2790.78 2887.19 2694.38 2720.19 3969.31 0 0 0 30.00 30.00 16.00
18392.58 17414 97.32 1.07 0.00 2790.6 2886.9 2694.2 2719.6 3969.0 444.77 9.31 1397 18398.79 0.00 0.00 2.37 0.000 0.000 0.035 2791.06 2886.12 2696.00 2728.25 2461.25 0 0 0 30.00 30.00 16.03
18712.62 16646 97.32 1.07 40.00 2790.5 2886.6 2694.4 2729.0 2462.6 417.37 8.58 1416 18718.94 0.00 0.00 2.55 0.000 0.000 0.076 2793.28 2888.94 2697.62 2728.25 3968.94 0 0 0 30.00 30.00 15.99
18757.48 17414 97.32 1.07 0.00 2790.5 2886.8 2694.2 2728.4 3969.0 413.14 9.49 1425 18763.84 0.00 0.00 2.37 0.000 0.000 0.036 2793.78 2888.88 2698.69 2735.88 2465.69 0 0 0 30.00 30.00 16.03
19072.66 20743 97.32 1.07 40.00 2790.6 2886.7 2694.5 2737.1 2467.2 387.23 8.28 1443 19079.16 0.00 0.12 2.55 0.000 0.372 0.075 2793.62 2888.81 2698.44 2710.88 3967.19 0 0 0 30.00 15.63 15.76
19117.52 17414 97.32 1.07 0.00 2790.7 2887.0 2694.4 2711.1 3967.2 383.32 8.65 1452 19123.88 0.00 0.00 2.38 0.000 0.000 0.036 2791.53 2887.69 2695.38 2718.38 2462.25 0 0 0 30.00 30.00 16.02
19432.74 16450 97.32 1.09 0.00 2790.6 2887.1 2694.1 2719.4 2463.9 359.63 7.25 1470 19434.35 0.00 0.00 0.00 0.000 0.000 0.000 2789.03 2885.69 2692.38 2719.69 2464.00 0 0 0 30.00 30.00 30.00
19752.77 18759 97.32 1.13 40.00 2790.4 2886.9 2693.9 2719.4 2464.2 337.68 6.43 1486 19759.16 0.00 0.05 2.56 0.000 0.201 0.075 2791.59 2887.88 2695.31 2740.56 3969.62 0 0 0 30.00 15.97 15.89
19807.58 17414 97.32 1.13 0.00 2790.8 2887.1 2694.6 2740.7 3969.9 333.32 7.91 1497 19814.09 0.00 0.00 2.37 0.000 0.000 0.035 2794.16 2889.62 2698.69 2750.25 2462.44 0 0 0 30.00 30.00 16.02
20132.75 20483 97.32 1.13 0.00 2790.8 2887.2 2694.4 2750.5 2464.3 309.98 7.60 1514 20134.60 0.00 0.11 0.00 0.000 0.364 0.000 2791.09 2886.31 2695.88 2727.31 2464.56 0 0 0 30.00 15.63 30.00
20452.83 16710 97.32 1.15 40.00 2791.0 2887.2 2694.7 2728.2 2464.1 286.97 7.14 1530 20459.10 0.00 0.00 2.55 0.000 0.000 0.075 2793.59 2889.00 2698.19 2726.06 3970.25 0 0 0 30.00 30.00 15.99
20517.65 17414 97.32 1.15 0.00 2790.5 2886.6 2694.3 2727.0 3970.3 281.65 8.28 1543 20524.04 0.00 0.00 2.37 0.000 0.000 0.034 2792.44 2888.75 2696.12 2733.25 2458.81 0 0 0 30.00 30.00 16.02
20832.87 16966 97.32 1.18 -40.00 2790.7 2887.1 2694.4 2735.0 2460.5 258.73 6.79 1561 20838.93 0.00 0.00 2.17 0.000 0.000 0.047 2792.62 2888.56 2696.69 2743.62 1076.38 0 0 0 30.00 30.00 16.01
20932.90 19527 97.32 1.24 0.00 2790.8 2887.0 2694.6 2744.2 1077.0 252.46 6.06 1581 20939.25 0.00 0.05 2.44 0.000 0.191 0.045 2791.25 2887.50 2695.00 2769.06 2566.31 0 0 0 30.00 15.77 16.02
21242.96 16966 97.32 1.29 -40.00 2790.6 2886.7 2694.5 2769.5 2566.2 234.47 6.12 1613 21249.17 0.00 0.00 2.43 0.000 0.000 0.043 2791.66 2887.62 2695.69 2779.19 1072.56 0 0 0 30.00 30.00 15.96
21457.90 17478 97.32 1.36 0.00 2790.7 2886.9 2694.4 2779.0 1072.8 221.99 5.37 1656 21464.40 0.00 0.00 2.44 0.000 0.000 0.045 2792.56 2888.50 2696.62 2777.94 2565.19 0 0 0 30.00 30.00 16.02
21653.05 10791 154.09 1.59 -40.00 2790.9 2887.1 2694.6 2779.3 2565.3 212.40 4.64 1676 21711.69 48.50 0.20 2.44 1.053 0.145 0.044 2571.66 2654.69 2488.62 2858.75 1073.56 0 0 0 11.93 15.93 15.75
21769.26 5125 154.09 1.59 0.00 2565.9 2652.3 2479.4 2859.6 1074.3 202.12 11.53 1699 21775.95 0.00 0.09 2.46 0.000 0.360 0.044 2565.78 2652.56 2479.00 2839.31 2570.75 0 0 0 30.00 15.66 15.87
21964.45 260 154.09 1.59 40.00 2565.3 2652.4 2478.2 2839.4 2570.8 180.19 10.77 1719 21970.61 0.00 0.00 2.29 0.000 0.000 0.074 2566.72 2653.44 2480.00 2839.12 3969.06 0 0 0 30.00 30.00 15.81
21979.29 1028 154.09 1.59 0.00 2565.3 2652.4 2478.1 2839.0 3968.8 178.47 10.81 1722 21985.81 0.00 0.00 2.37 0.000 0.000 0.033 2568.88 2655.69 2482.06 2844.69 2463.31 0 0 0 30.00 30.00 15.90
22174.47 0 154.09 1.59 0.00 2565.1 2652.2 2478.1 2847.2 2464.8 156.82 11.25 1742 22176.08 0.00 0.00 0.00 0.000 0.000 0.000 2563.09 2650.38 2475.81 2846.38 2464.50 0 0 0 30.00 30.00 30.00
22364.50 516 154.09 1.59 -40.00 2565.3 2652.5 2478.1 2846.4 2464.7 135.97 10.50 1761 22370.65 0.00 0.00 2.19 0.000 0.000 0.045 2568.34 2655.00 2481.69 2855.56 1072.62 0 0 0 30.00 30.00 15.95
22449.38 5125 154.09 1.59 0.00 2564.2 2652.5 2475.9 2857.0 1072.8 129.04 8.04 1778 22456.06 0.00 0.08 2.43 0.000 0.351 0.041 2564.19 2652.50 2475.88 2839.81 2578.12 0 0 0 30.00 15.67 15.97
22644.60 2629 154.09 1.68 -40.00 2564.0 2652.2 2475.8 2839.8 2577.8 118.56 4.92 1798 22650.95 0.00 0.09 2.43 0.000 0.154 0.038 2567.59 2655.25 2479.94 2881.50 1068.69 0 0 0 30.00 15.93 15.89
22879.53 11303 224.71 1.96 0.00 2563.8 2652.1 2475.4 2882.8 1068.9 110.60 3.86 1845 22945.51 57.79 0.17 2.43 0.947 0.160 0.039 2282.25 2380.00 2184.50 2940.19 2572.75 0 0 0 12.23 15.85 16.00
23129.66 16902 224.71 1.96 -40.00 2274.5 2376.6 2172.4 2941.1 2573.1 86.22 9.70 1876 23135.96 0.00 0.00 2.42 0.000 0.000 0.038 2275.16 2377.25 2173.06 2950.38 1069.69 0 0 0 30.00 30.00 15.86
23249.74 11303 288.27 2.21 0.00 2272.0 2376.5 2167.6 2950.4 1070.1 79.41 4.26 1900 23309.03 49.88 0.15 2.42 0.882 0.150 0.037 2021.84 2154.94 1888.75 3002.44 2579.00 0 0 0 12.43 15.78 15.90
23491.72 16646 288.27 2.21 40.00 2015.4 2153.8 1877.0 3002.1 2578.8 53.50 14.49 1930 23497.88 0.00 0.00 2.22 0.000 0.000 0.064 2018.41 2156.69 1880.12 3001.62 3975.12 0 0 0 30.00 30.00 15.83
23501.72 17414 288.27 2.21 0.00 2015.6 2154.1 1877.1 3001.9 3974.5 51.99 14.47 1932 23507.95 0.00 0.00 2.35 0.000 0.000 0.027 2016.47 2155.25 1877.69 3011.94 2459.19 0 0 0 30.00 30.00 15.84
23691.74 20999 288.27 2.21 -40.00 2014.4 2153.8 1875.0 3012.2 2460.4 20.87 17.50 1952 23697.99 0.00 0.10 2.15 0.000 0.362 0.043 2016.97 2156.06 1877.88 2998.56 1073.12 0 0 0 30.00 15.68 15.79
23776.62 17414 288.27 2.21 0.00 2013.3 2154.2 1872.5 2998.8 1073.3 6.15 16.86 1969 23783.14 0.00 0.00 2.39 0.000 0.000 0.038 2013.38 2154.25 1872.50 2998.75 2572.50 0 0 0 30.00 30.00 15.92
23811 end climb: SURFACE_DEPTH_REACHED
state 23811 begin surface coast
23831 end surface coast: CONTROL_FINISHED_OK
state 23831 begin surface