DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 195 * 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  195 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  34 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  8 R_STBD_OVSHOOT  22 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  -7976.4033 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  171010,065838,6649.391,-5930.951,29,1.4,30,-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  1.69 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  171010,070402,6649.351,-5930.939,11,1.3,11,-38.0 MHEAD_RNG_PITCHd_Wd  313.9,41481,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  921

Post-dive calculations and measurements:
FINISH  2.7,1.025390 ALTIM_BOTTOM_PING  17340.0,17384.0
SM_CCo  19142,103.55,0.087,0,0,1495,350.04 _24V_AH  22.5,25.429
SM_GC  1.95,0.00,0.00,103.55,0.000,0.000,0.087,305,2782,1495,-6.79,0.06,350.04 _10V_AH  10.2,19.908
RAFOS_CLK  1046 FG_AHR_24Vo  0.000
RAFOS  2,1287317826,12.300000,12.285000,103,42,40,40,40,39,663,796,330,901,1417,1295 FG_AHR_10Vo  0.000
RAFOS_FIX  1745700.000000,1746200.000000,020707,010152,18056,17468,-0.00 MEM  189568
IRIDIUM_FIX  6625.71,-5920.96,171010,010147 DATA_FILE_SIZE  56592,1534
TT8_MAMPS  0.028462 CAP_FILE_SIZE  179751,0
HUMID  48.93 CFSIZE  260165632,236314624
INTERNAL_PRESSURE  8.53396 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  14.50 SOUNDSPEED  1456.7
XPDR_PINGS  0 CURRENT  0.109,347.5,1
ALTIM_TOP_PING  17395.0,17401.0 GPS  171010,122844,6650.579,-5934.975,33,2.8,52,-38.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1626599.15 SBE_CT107224579.05
Roll_motor14587285.11 SBE_O2000.00
VBD_pump_during_apogee25411816774.25 nil000.00
VBD_pump_during_surface10387203.19 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010369.77 nil000.00
Iridium_during_connect54160196.12 nil000.00
Iridium_during_xfer118223593.49 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS14507.35
TT8398619809.94
LPSleep121432286.12
TT8_Active54819111.42
TT8_Sampling2792391137.15
TT8_CF82084597.55
TT8_Kalman000.00
Analog_circuits188912231.30
GPS_charging000.00
Compass255315390.73
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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
14 -0.57 -146.0 0.0 0.0 0 107 0.00 0.00 -90.53 0.000 2 0.000 0.000 301 2780 3217 0 0 0 0 0 0
109 -0.57 -146.0 5.5 -13.0 15 131 8.45 2.03 -6.35 0.000 4 0.265 0.087 2278 3936 3522 0 0 0 0 0 0
159 -0.57 -146.0 24.7 -30.3 23 166 0.00 1.90 0.00 0.000 6 0.000 0.049 2278 2777 3523 0 0 0 0 0 0
500 -0.57 -146.0 80.3 -15.1 84 506 0.00 2.25 0.00 0.000 4 0.000 0.054 2278 1365 3524 0 0 0 0 0 0
541 -0.57 -146.0 86.4 -13.9 91 548 0.00 2.38 0.00 0.000 6 0.000 0.066 2275 2780 3524 0 0 0 0 0 0
873 -0.57 -146.0 132.2 -13.5 130 874 0.00 0.00 0.00 0.000 6 0.000 0.000 2275 2781 3524 0 0 0 0 0 0
1193 -0.57 -146.0 169.8 -10.5 160 1196 0.00 1.92 0.00 0.000 4 0.000 0.077 2272 3929 3524 0 0 0 0 0 0
1253 -0.57 -146.0 177.2 -11.6 165 1262 0.00 1.88 0.00 0.000 6 0.000 0.050 2272 2786 3524 0 0 0 0 0 0
1578 -0.57 -146.0 212.3 -10.8 196 1582 0.00 2.25 0.00 0.000 4 0.000 0.054 2272 1362 3523 0 0 0 0 0 0
1610 -0.57 -146.0 215.7 -10.3 198 1618 0.00 2.40 0.00 0.000 6 0.000 0.067 2272 2788 3522 0 0 0 0 0 0
1935 -0.57 -146.0 248.0 -10.2 229 1936 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2788 3522 0 0 0 0 0 0
2255 -0.57 -146.0 279.4 -10.1 259 2256 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2788 3521 0 0 0 0 0 0
2574 -0.57 -146.0 311.0 -9.6 289 2575 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2788 3521 0 0 0 0 0 0
2892 -0.57 -146.0 341.3 -9.6 319 2896 0.00 2.25 0.00 0.000 4 0.000 0.053 2272 1365 3521 0 0 0 0 0 0
2910 -0.57 -146.0 343.2 -10.1 320 2914 0.00 2.35 0.00 0.000 6 0.000 0.065 2272 2787 3521 0 0 0 0 0 0
3235 -0.57 -146.0 373.7 -9.6 350 3239 0.00 1.95 0.00 0.000 4 0.000 0.076 2269 3932 3522 0 0 0 0 0 0
3281 -0.57 -146.0 378.1 -10.1 354 3285 0.00 1.83 0.00 0.000 6 0.000 0.050 2269 2779 3522 0 0 0 0 0 0
3611 -0.57 -146.0 410.1 -9.8 385 3613 0.00 0.00 0.00 0.000 6 0.000 0.000 2269 2778 3522 0 0 0 0 0 0
3930 -0.57 -146.0 439.3 -8.9 415 3934 0.00 2.20 0.00 0.000 4 0.000 0.052 2269 1370 3522 0 0 0 0 0 0
3951 -0.57 -146.0 441.5 -9.6 416 3958 0.00 2.35 0.00 0.000 6 0.000 0.065 2266 2781 3522 0 0 0 0 0 0
4276 -0.57 -146.0 470.0 -8.5 447 4280 0.00 1.92 0.00 0.000 4 0.000 0.075 2261 3930 3522 0 0 0 0 0 0
4311 -0.57 -146.0 473.0 -8.9 450 4315 0.12 1.85 0.00 0.000 6 0.168 0.049 2294 2775 3523 0 0 0 0 0 0
4642 -0.57 -146.0 495.1 -6.7 481 4646 0.00 2.20 0.00 0.000 4 0.000 0.052 2294 1366 3523 0 0 0 0 0 0
4686 -0.57 -146.0 498.4 -7.2 484 4693 0.00 2.35 0.00 0.000 6 0.000 0.064 2293 2781 3523 0 0 0 0 0 0
5012 -0.57 -146.0 520.4 -6.5 515 5015 0.00 1.92 0.00 0.000 4 0.000 0.075 2287 3931 3523 0 0 0 0 0 0
5038 -0.57 -146.0 522.5 -6.9 517 5047 0.00 1.85 0.00 0.000 6 0.000 0.048 2288 2786 3523 0 0 0 0 0 0
5364 -0.57 -146.0 546.3 -7.4 548 5368 0.00 2.25 0.00 0.000 4 0.000 0.051 2287 1358 3524 0 0 0 0 0 0
5403 -0.57 -146.0 549.5 -8.1 551 5407 0.00 2.35 0.00 0.000 6 0.000 0.064 2287 2785 3524 0 0 0 0 0 0
5728 -0.57 -146.0 574.9 -7.7 581 5729 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 2785 3524 0 0 0 0 0 0
6047 -0.57 -146.0 599.6 -7.5 611 6051 0.00 2.22 0.00 0.000 4 0.000 0.051 2286 1368 3524 0 0 0 0 0 0
6085 -0.57 -146.0 602.8 -7.9 612 6089 0.00 2.33 0.00 0.000 6 0.000 0.064 2287 2785 3524 0 0 0 0 0 0
6414 -0.57 -146.0 627.8 -7.5 623 6416 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2785 3524 0 0 0 0 0 0
6721 -0.57 -146.0 649.8 -7.1 633 6725 0.00 2.22 0.00 0.000 4 0.000 0.051 2286 1368 3524 0 0 0 0 0 0
6742 -0.57 -146.0 651.5 -7.8 633 6750 0.00 2.30 0.00 0.000 6 0.000 0.063 2286 2769 3524 0 0 0 0 0 0
7055 -0.57 -146.0 673.4 -6.8 644 7056 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2769 3524 0 0 0 0 0 0
7361 -0.57 -146.0 694.4 -6.9 654 7363 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2769 3524 0 0 0 0 0 0
7668 -0.57 -146.0 715.4 -6.8 664 7672 0.00 2.20 0.00 0.000 4 0.000 0.052 2286 1368 3524 0 0 0 0 0 0
7696 -0.57 -146.0 717.5 -7.3 665 7700 0.00 2.30 0.00 0.000 6 0.000 0.064 2287 2766 3524 0 0 0 0 0 0
8030 -0.57 -146.0 740.5 -7.0 676 8032 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2766 3524 0 0 0 0 0 0
8337 -0.57 -146.0 761.0 -6.6 686 8339 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 2766 3524 0 0 0 0 0 0
8643 -0.57 -146.0 781.7 -6.7 696 8644 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2766 3524 0 0 0 0 0 0
8950 -0.57 -146.0 802.8 -6.9 706 8951 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 2766 3524 0 0 0 0 0 0
9256 -0.57 -146.0 823.5 -6.7 716 9260 0.00 2.20 0.00 0.000 4 0.000 0.052 2286 1364 3524 0 0 0 0 0 0
9299 -0.57 -146.0 826.5 -6.4 717 9303 0.00 2.33 0.00 0.000 6 0.000 0.064 2286 2764 3524 0 0 0 0 0 0
9623 -0.57 -146.0 845.9 -6.0 728 9624 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2763 3524 0 0 0 0 0 0
9930 -0.57 -146.0 866.0 -6.5 738 9934 0.00 2.20 0.00 0.000 4 0.000 0.052 2286 1364 3524 0 0 0 0 0 0
9951 -0.57 -146.0 867.5 -6.3 738 9958 0.00 2.30 0.00 0.000 6 0.000 0.064 2286 2750 3524 0 0 0 0 0 0
10264 -0.57 -146.0 887.5 -6.6 749 10265 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2750 3524 0 0 0 0 0 0
10570 -0.57 -146.0 907.4 -6.5 759 10572 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2750 3524 0 0 0 0 0 0
10783 end dive: TARGET_DEPTH_EXCEEDED
state 10783 begin apogee
10787 -0.14 0.0 921.5 6.5 766 10917 0.43 0.00 124.28 1.181 4 0.133 0.000 2428 2594 2922 0 0 0 0 0 0
10918 end apogee: CONTROL_FINISHED_OK
state 10918 begin climb
10920 0.57 146.0 925.2 0.0 770 11060 0.68 2.42 130.62 1.155 4 0.066 0.053 2668 1181 2327 0 0 0 0 0 0
11216 0.57 146.0 896.6 41612.0 779 11221 0.00 2.50 0.00 0.000 6 0.000 0.059 2668 2594 2318 0 0 0 0 0 0
11546 0.57 146.0 850.7 41612.0 790 11550 0.00 2.33 0.00 0.000 4 0.000 0.057 2675 1189 2314 0 0 0 0 0 0
11747 0.57 146.0 824.0 41612.0 796 11752 0.00 2.40 0.00 0.000 6 0.000 0.060 2675 2607 2314 0 0 0 0 0 0
12083 0.57 146.0 777.8 41612.0 807 12084 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2607 2313 0 0 0 0 0 0
12389 0.57 146.0 734.2 41612.0 817 12393 0.00 2.22 0.00 0.000 4 0.000 0.071 2675 3932 2313 0 0 0 0 0 0
12443 0.57 146.0 725.4 41612.0 818 12447 0.00 2.20 0.00 0.000 6 0.000 0.048 2684 2595 2311 0 0 0 0 0 0
12762 0.57 146.0 679.0 41612.0 829 12763 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2594 2311 0 0 0 0 0 0
13068 0.57 146.0 634.2 41612.0 839 13072 0.00 2.28 0.00 0.000 4 0.000 0.072 2684 3935 2310 0 0 0 0 0 0
13173 0.57 146.0 616.2 41612.0 842 13178 0.10 2.17 0.00 0.000 6 0.197 0.047 2665 2601 2310 0 0 0 0 0 0
13500 0.57 146.0 572.2 41612.0 864 13504 0.00 2.25 0.00 0.000 4 0.000 0.071 2665 3929 2310 0 0 0 0 0 0
13543 0.57 146.0 565.3 41612.0 867 13551 0.00 2.15 0.00 0.000 6 0.000 0.047 2667 2608 2310 0 0 0 0 0 0
13868 0.57 146.0 519.8 41612.0 898 13872 0.00 2.22 0.00 0.000 4 0.000 0.071 2667 3929 2310 0 0 0 0 0 0
13918 0.57 146.0 511.7 41612.0 902 13922 0.00 2.08 0.00 0.000 6 0.000 0.047 2673 2615 2309 0 0 0 0 0 0
14249 0.57 146.0 464.9 41612.0 933 14253 0.00 2.22 0.00 0.000 4 0.000 0.071 2673 3937 2310 0 0 0 0 0 0
14281 0.57 146.0 459.8 41612.0 935 14288 0.00 2.12 0.00 0.000 6 0.000 0.047 2680 2622 2309 0 0 0 0 0 0
14607 0.57 146.0 415.5 41612.0 966 14608 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2622 2309 0 0 0 0 0 0
14926 0.57 146.0 372.9 41612.0 996 14930 0.00 2.20 0.00 0.000 4 0.000 0.070 2680 3939 2309 0 0 0 0 0 0
14970 0.57 146.0 366.1 41612.0 1000 14974 0.00 2.10 0.00 0.000 6 0.000 0.047 2687 2623 2309 0 0 0 0 0 0
15300 0.57 146.0 321.4 41612.0 1031 15305 0.00 2.25 0.00 0.000 4 0.000 0.056 2693 1192 2309 0 0 0 0 0 0
15327 0.57 146.0 317.9 41612.0 1033 15335 0.10 2.35 0.00 0.000 6 0.174 0.058 2662 2626 2310 0 0 0 0 0 0
15653 0.57 146.0 278.1 41612.0 1064 15656 0.00 2.15 0.00 0.000 4 0.000 0.070 2662 3929 2309 0 0 0 0 0 0
15735 0.57 146.0 265.5 41612.0 1071 15743 0.00 2.08 0.00 0.000 6 0.000 0.047 2666 2640 2309 0 0 0 0 0 0
16061 0.57 146.0 223.6 41612.0 1102 16062 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2640 2309 0 0 0 0 0 0
16381 0.57 146.0 186.7 41612.0 1132 16384 0.00 2.15 0.00 0.000 4 0.000 0.071 2665 3932 2309 0 0 0 0 0 0
16497 0.57 146.0 171.1 41612.0 1142 16505 0.00 2.05 0.00 0.000 6 0.000 0.047 2666 2659 2309 0 0 0 0 0 0
16823 0.57 146.0 140.8 41612.0 1173 16827 0.00 2.12 0.00 0.000 4 0.000 0.071 2666 3926 2309 0 0 0 0 0 0
16860 0.57 146.0 137.3 41612.0 1176 16868 0.00 2.03 0.00 0.000 6 0.000 0.047 2666 2668 2309 0 0 0 0 0 0
17187 0.57 146.0 113.7 41612.0 1207 17191 0.00 2.35 0.00 0.000 4 0.000 0.056 2666 1180 2310 0 0 0 0 0 0
17265 0.57 146.0 107.8 41612.0 1213 17272 0.00 2.40 0.00 0.000 6 0.000 0.059 2666 2655 2310 0 0 0 0 0 0
17602 0.57 146.0 77.8 41612.0 1265 17609 0.00 2.10 0.00 0.000 4 0.000 0.072 2666 3931 2310 0 0 0 0 0 0
17699 0.57 146.0 68.1 41612.0 1282 17706 0.00 2.05 0.00 0.000 6 0.000 0.048 2666 2647 2310 0 0 0 0 0 0
18043 0.57 146.0 45.2 41612.0 1343 18049 0.00 2.33 0.00 0.000 4 0.000 0.057 2666 1182 2310 0 0 0 0 0 0
18140 0.57 146.0 40.4 41612.0 1360 18147 0.00 2.35 0.00 0.000 6 0.000 0.060 2666 2626 2310 0 0 0 0 0 0
18485 0.57 146.0 27.9 41612.0 1421 18491 0.00 2.17 0.00 0.000 4 0.000 0.074 2666 3926 2309 0 0 0 0 0 0
18728 0.57 146.0 16.3 41612.0 1464 18734 0.00 2.03 0.00 0.000 6 0.000 0.049 2666 2655 2309 0 0 0 0 0 0
19071 0.57 146.0 4.3 41612.0 1525 19078 0.00 2.35 0.00 0.000 4 0.000 0.057 2666 1184 2308 0 0 0 0 0 0
19117 end climb: SURFACE_DEPTH_REACHED
state 19117 begin surface coast
19125 end surface coast: CONTROL_FINISHED_OK
state 19125 begin surface