PortSusan 14Dec12 * SG001 * Dive index * Mission links * Dive 284 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  1 HD_A  0.0043390002 PITCH_ADJ_DBAND  0 ALTIM_PULSE  3
MISSION  0 HD_B  0.013382 ROLL_MIN  300 ALTIM_SENSITIVITY  2
DIVE  284 HD_C  5.8987e-05 ROLL_MAX  3750 XPDR_VALID  0
N_DIVES  0 HEADING  -1 ROLL_DEG  40 XPDR_INHIBIT  90
D_SURF  2 ESCAPE_HEADING  0 C_ROLL_DIVE  2025 INT_PRESSURE_SLOPE  1.9639999e-06
D_FLARE  3 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2025 INT_PRESSURE_YINT  0
D_TGT  95 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 DEEPGLIDER  0
D_ABORT  1090 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.028270001 DEEPGLIDERMB  0
D_NO_BLEED  200 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  60 MOTHERBOARD  6
D_BOOST  0 TGT_AUTO_DEFAULT  0 ROLL_MAXERRORS  1 DEVICE1  9
T_BOOST  0 SM_CC  300 ROLL_ADJ_GAIN  0 DEVICE2  38
D_FINISH  0 N_FILEKB  4 ROLL_ADJ_DBAND  0 DEVICE3  55
D_PITCH  0 FILEMGR  0 VBD_MIN  500 DEVICE4  -1
D_SAFE  0 CALL_NDIVES  1 VBD_MAX  3500 DEVICE5  -1
D_CALL  0 COMM_SEQ  0 C_VBD  2500 DEVICE6  -1
SURFACE_URGENCY  0 PROTOCOL  0 VBD_DBAND  2 LOGGERS  1
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 VBD_CNV  -0.24529999 LOGGERDEVICE1  0
SURFACE_URGENCY_FORCE  0 NOCOMM_ACTION  0 VBD_TIMEOUT  360 LOGGERDEVICE2  -1
T_DIVE  63 N_NOSURFACE  0 PITCH_VBD_SHIFT  0.0012300001 LOGGERDEVICE3  -1
T_MISSION  75 UPLOAD_DIVES_MAX  -1 UNCOM_BLEED  20 LOGGERDEVICE4  -1
T_ABORT  1440 CALL_TRIES  5 VBD_MAXERRORS  1 COMPASS_DEVICE  1
T_TURN  270 CALL_WAIT  60 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 AH0_24V  150 PHONE_DEVICE  16
T_NO_W  120 CAPMAXSIZE  100000 AH0_10V  100 GPS_DEVICE  32
T_LOITER  0 T_GPS  15 MINV_24V  19 RAFOS_DEVICE  -1
T_EPIRB  0 N_GPS  20 MINV_10V  8 XPDR_DEVICE  -1
USE_BATHY  -4 T_RSLEEP  3 FG_AHR_10V  10.563072 SIM_W  0
USE_ICE  0 STROBE  0 FG_AHR_24V  28.760418 SEABIRD_T_G  0.0043805656
ICE_FREEZE_MARGIN  0.30000001 RAFOS_PEAK_OFFSET  1.5 PHONE_SUPPLY  2 SEABIRD_T_H  0.00064742006
D_OFFGRID  100 RAFOS_CORR_THRESH  60 PRESSURE_YINT  -31.695999 SEABIRD_T_I  2.5554549e-05
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 PRESSURE_SLOPE  9.9999997e-05 SEABIRD_T_J  2.6681391e-06
APOGEE_PITCH  -5 PITCH_MIN  450 COMPASS_USE  0 SEABIRD_C_G  -10.331019
MAX_BUOY  150 PITCH_MAX  3300 ALTIM_BOTTOM_PING_RANGE  25 SEABIRD_C_H  1.1763502
GLIDE_SLOPE  45 C_PITCH  2500 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_I  -0.0012340198
SPEED_FACTOR  1 PITCH_DBAND  0.1 ALTIM_BOTTOM_TURN_MARGIN  0 SEABIRD_C_J  0.00017379176
RHO  1.023 PITCH_CNV  0.0031300001 ALTIM_TOP_TURN_MARGIN  0 SC_RECORDABOVE  2000.0
MASS  52000 PITCH_GAIN  25 ALTIM_TOP_MIN_OBSTACLE  1 SC_PROFILE  3.0
NAV_MODE  1 PITCH_TIMEOUT  15 ALTIM_PING_DEPTH  80 SC_XMITPROFILE  3.0
FERRY_MAX  45 PITCH_MAXERRORS  1 ALTIM_PING_DELTA  10
KALMAN_USE  1 PITCH_ADJ_GAIN  0 ALTIM_FREQUENCY  13

Pre-dive calculations and measurements:
GPS1  241113,202757,4805.436,-12221.704,11,1.1,18,18.0 TGT_LATLONG  4808.000,-12224.000
_CALLS  1 TGT_RADIUS  200.000
_SM_DEPTHo  -0.01 KALMAN_CONTROL  -0.085,0.132
_SM_ANGLEo  -50.0 KALMAN_X  62553.1,-905.5,511.6,-59516.6,-182.5
GPS2  241113,203115,4805.404,-12221.712,14,1.9,23,18.0 KALMAN_Y  18531.1,-776.5,-832.2,-21385.4,359.5
SPEED_LIMITS  0.050,0.157 MHEAD_RNG_PITCHd_Wd  309.1,5578,-10.6,-5.026,-17.75
TGT_NAME  EIGHT D_GRID  100

Post-dive calculations and measurements:
FINISH  1.0,0.998723 _24V_AH  24.0,0.697
SM_CCo  3120.52,1.06,0.000,0,0,0,299.28 _10V_AH  10.8,11.419
SM_GC  0.01,12.70,0.22,1.06,0.000,0.000,0.000,0,1081912064,0,1279.94,-6.39,0.54,1073741824,1081259136,0,0,0,0,0.00,24.65,25.07 FG_AHR_24Vo  28.770
SUPER  47,126,254,1,0,0 FG_AHR_10Vo  10.595
IRIDIUM_FIX  0.00,0.00,010170,000000 MEM  1159044,26,18036,293
TCM_TEMP  15.00 DATA_FILE_SIZE  12850,296
SC_FREEKB  3827840 CAP_FILE_SIZE  703317,0
HUMID  41.00 SDSIZE  7830528,7760996
TEMP  20.51 ERRORS  0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  13.6587 GPS  241113,212349,4805.701,-12221.926,8,1.5,18,18.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump416100010000.20 SBE_CT53324307.27
Pitch_motor2811980.13 WL_BB2F4151051048.09
Roll_motor42910.14 optode105433835.49
Iridium55913.16 nil000.00
Transponder_ping000.00 nil000.00
GPS245013.19 nil000.00
Core183418356.61 SciCon3025398.73
LPSleep143606.05 nil000.00
Compass42126118.42 nil000.00
RAFOS000.00
Transponder000.00

Guidance and control:
st_secs pitch_ctl vbd_ctl roll_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_errors roll_errors vbd_errors pitch_volts roll_volts vbd_volts
5 end surface: CONTROL_FINISHED_OK
state 6 begin dive
6.78 -0.60 -146.63 0.00 434.44 2038.44 1249.75 1305.0 0.0 0.0 0 67.44 59.31 0.00 0.11 0.000 0.000 0.000 434.88 2002.19 3063.41 2999.00 3127.81 0 0 0 24.64 16777215.00 24.85
68.13 -0.60 -146.63 40.00 434.56 2002.25 2997.19 3125.2 1.6 -2.4 6 86.93 0.16 10.23 3.14 0.000 0.000 0.000 2303.50 3469.62 3066.38 3001.56 3131.19 0 0 0 25.11 24.67 25.09
205.72 -0.60 -146.63 0.00 2303.38 3470.75 3004.12 3131.0 14.9 -7.6 20 210.62 0.17 0.00 3.18 0.000 0.000 0.000 2303.38 2016.00 3068.38 3003.50 3133.25 0 0 0 24.70 16777215.00 24.67
241.17 -0.60 -146.63 0.00 2303.38 2017.25 3004.38 3133.5 17.4 -7.0 23 242.44 0.00 0.00 0.00 0.000 0.000 0.000 2303.25 2016.38 3068.12 3003.38 3132.88 0 0 0 25.12 16777215.00 16777215.00
271.36 -0.60 -146.63 0.00 2303.25 2015.88 3003.88 3132.9 19.4 -6.7 26 272.63 0.00 0.00 0.00 0.000 0.000 0.000 2305.50 2017.38 3070.28 3005.44 3135.12 0 0 0 25.13 16777215.00 16777215.00
301.27 -0.60 -146.63 0.00 2303.50 2016.12 3003.12 3133.0 21.4 -6.6 29 302.53 0.00 0.00 0.00 0.000 0.000 0.000 2303.50 2016.25 3068.25 3003.50 3133.00 0 0 0 25.11 16777215.00 16777215.00
331.26 -0.60 -146.63 0.00 2305.50 2017.50 3004.12 3132.9 23.5 -6.8 32 332.53 0.00 0.00 0.00 0.000 0.000 0.000 2305.44 2016.00 3068.62 3004.00 3133.25 0 0 0 25.11 16777215.00 16777215.00
361.56 -0.60 -146.63 0.00 2303.25 2016.44 3004.38 3133.8 25.5 -6.8 35 362.83 0.00 0.00 0.00 0.000 0.000 0.000 2305.19 2016.00 3069.84 3005.31 3134.38 0 0 0 25.10 16777215.00 16777215.00
391.56 -0.60 -146.63 0.00 2303.69 2016.25 3005.38 3133.5 27.5 -6.7 38 392.83 0.00 0.00 0.00 0.000 0.000 0.000 2303.19 2016.88 3068.41 3003.56 3133.25 0 0 0 25.10 16777215.00 16777215.00
421.49 -0.60 -146.63 0.00 2303.69 2017.25 3003.88 3132.8 29.5 -6.7 41 422.76 0.00 0.00 0.00 0.000 0.000 0.000 2305.62 2016.50 3068.62 3004.00 3133.25 0 0 0 25.13 16777215.00 16777215.00
450.69 -0.60 -146.63 0.00 2303.44 2016.06 3004.19 3133.6 31.5 -6.9 44 451.95 0.00 0.00 0.00 0.000 0.000 0.000 2305.12 2016.62 3068.47 3003.44 3133.50 0 0 0 25.14 16777215.00 16777215.00
481.68 -0.60 -146.63 -40.00 2303.62 2015.75 3002.75 3133.1 33.5 -6.6 47 485.61 0.00 0.00 3.07 0.000 0.000 0.000 2305.12 550.00 3068.19 3003.12 3133.25 0 0 0 25.12 16777215.00 24.68
756.12 -0.60 -146.63 0.00 2303.12 549.88 3003.50 3132.3 51.2 -6.5 74 760.49 0.69 0.00 2.73 0.000 0.000 0.000 2303.06 1943.50 3089.94 3024.88 3155.00 0 0 0 25.10 16777215.00 24.72
791.82 -0.60 -146.63 0.00 2303.25 1944.00 3024.62 3154.9 53.5 -6.6 77 793.04 0.00 0.00 0.00 0.000 0.000 0.000 2303.62 1944.44 3089.62 3024.38 3154.88 0 0 0 16777215.00 16777215.00 16777215.00
820.76 -0.60 -146.63 0.00 2303.62 1944.12 3026.62 3154.6 55.3 -6.5 80 821.97 0.00 0.00 0.00 0.000 0.000 0.000 2303.88 1944.12 3089.75 3024.69 3154.81 0 0 0 16777215.00 16777215.00 16777215.00
851.22 -0.60 -146.63 0.00 2303.50 1944.56 3024.50 3155.4 57.2 -6.3 83 852.43 0.00 0.00 0.00 0.000 0.000 0.000 2304.25 1944.50 3089.84 3024.38 3155.31 0 0 0 16777215.00 16777215.00 16777215.00
881.48 -0.60 -146.63 0.00 2303.88 1944.62 3026.75 3155.4 59.2 -6.4 86 882.69 0.00 0.00 0.00 0.000 0.000 0.000 2303.88 1944.38 3089.91 3024.81 3155.00 0 0 0 16777215.00 16777215.00 16777215.00
911.06 -0.60 -146.63 0.00 2303.75 1944.44 3025.25 3155.3 61.0 -6.4 89 912.27 0.00 0.00 0.00 0.000 0.000 0.000 2303.75 1944.50 3090.06 3025.00 3155.12 0 0 0 16777215.00 16777215.00 16777215.00
941.00 -0.60 -146.63 0.00 2303.62 1944.88 3023.88 3155.1 63.0 -6.5 92 942.27 0.00 0.00 0.00 0.000 0.000 0.000 2305.12 1945.81 3090.88 3023.75 3158.00 0 0 0 25.11 16777215.00 16777215.00
971.31 -0.60 -146.63 0.00 2303.81 1944.62 3024.38 3154.8 64.9 -6.4 95 972.58 0.00 0.00 0.00 0.000 0.000 0.000 2303.69 1943.81 3089.91 3024.44 3155.38 0 0 0 25.12 16777215.00 16777215.00
1001.63 -0.60 -146.63 0.00 2303.75 1943.88 3024.62 3154.7 66.9 -6.4 98 1002.84 0.00 0.00 0.00 0.000 0.000 0.000 2303.62 1944.31 3090.41 3025.31 3155.50 0 0 0 16777215.00 16777215.00 16777215.00
1031.57 -0.60 -146.63 0.00 2303.50 1944.50 3024.81 3155.1 68.8 -6.5 101 1032.78 0.00 0.00 0.00 0.000 0.000 0.000 2304.75 1944.00 3090.56 3025.62 3155.50 0 0 0 16777215.00 16777215.00 16777215.00
1060.83 -0.60 -146.63 0.00 2304.88 1944.50 3025.12 3155.2 70.5 -6.2 104 1062.04 0.00 0.00 0.00 0.000 0.000 0.000 2303.50 1944.50 3089.56 3024.25 3154.88 0 0 0 16777215.00 16777215.00 16777215.00
1090.79 -0.60 -146.63 0.00 2303.25 1945.38 3025.00 3155.2 72.4 -6.1 107 1092.00 0.00 0.00 0.00 0.000 0.000 0.000 2303.56 1944.38 3090.28 3025.12 3155.44 0 0 0 16777215.00 16777215.00 16777215.00
1121.04 -0.60 -146.63 0.00 2304.88 1944.31 3026.62 3154.8 74.4 -6.3 110 1122.25 0.00 0.00 0.00 0.000 0.000 0.000 2303.56 1944.12 3089.88 3024.88 3154.88 0 0 0 16777215.00 16777215.00 16777215.00
1151.32 -0.60 -146.63 0.00 2303.88 1944.75 3027.69 3157.1 76.3 -6.4 113 1152.53 0.00 0.00 0.00 0.000 0.000 0.000 2303.38 1944.00 3089.56 3023.81 3155.31 0 0 0 16777215.00 16777215.00 16777215.00
1181.27 -0.60 -146.63 0.00 2304.50 1944.94 3025.94 3157.1 78.1 -6.2 116 1182.49 0.00 0.00 0.00 0.000 0.000 0.000 2303.12 1944.00 3089.94 3024.88 3155.00 0 0 0 16777215.00 16777215.00 16777215.00
1211.56 -0.60 -146.63 0.00 2303.62 1944.25 3025.06 3155.6 80.0 -6.2 119 1212.77 0.00 0.00 0.00 0.000 0.000 0.000 2305.00 1944.50 3089.47 3024.19 3154.75 0 0 0 16777215.00 16777215.00 16777215.00
1241.51 -0.60 -146.63 0.00 2303.81 1944.38 3026.00 3156.9 81.9 -6.4 122 1242.72 0.00 0.00 0.00 0.000 0.000 0.000 2303.38 1944.56 3089.66 3024.81 3154.50 0 0 0 16777215.00 16777215.00 16777215.00
1271.08 -0.60 -146.63 0.00 2303.75 1944.38 3025.12 3155.2 83.6 -6.2 125 1272.30 0.00 0.00 0.00 0.000 0.000 0.000 2303.44 1944.19 3089.81 3024.75 3154.88 0 0 0 16777215.00 16777215.00 16777215.00
1301.56 -0.60 -146.63 0.00 2305.25 1944.50 3024.50 3155.2 85.7 -6.3 128 1302.78 0.00 0.00 0.00 0.000 0.000 0.000 2303.50 1943.94 3089.88 3024.75 3155.00 0 0 0 16777215.00 16777215.00 16777215.00
1331.50 -0.60 -146.63 40.00 2303.06 1944.44 3024.81 3154.8 87.6 -6.5 131 1335.46 0.00 0.00 2.86 0.000 0.000 0.000 2303.44 3413.19 3089.88 3024.81 3154.94 0 0 0 16777215.00 16777215.00 24.94
1456 end dive: TARGET_DEPTH_EXCEEDED
state 1456 begin apogee
1459.94 -0.20 0.00 0.00 2303.06 1985.50 3024.44 3154.5 95.0 5.7 143 1581.39 116.29 1.26 0.00 0.000 0.000 0.010 2433.25 1984.94 2522.59 2469.06 2576.12 0 0 0 24.62 24.28 25.11
1582 end apogee: CONTROL_FINISHED_OK
state 1582 begin climb
1582.84 0.60 146.63 -40.00 2435.12 1985.38 2469.06 2577.2 96.3 0.0 155 1717.79 123.75 3.01 2.64 0.000 0.000 0.000 2657.81 604.31 1917.47 1876.50 1958.44 0 0 0 24.62 24.43 24.84
1986.83 0.60 146.63 0.00 2658.62 604.38 1876.75 1959.4 68.9 7.3 195 1998.01 3.49 0.14 3.66 0.000 0.002 0.000 2660.75 2020.12 1916.16 1875.25 1957.06 0 0 0 24.73 24.22 24.70
2027.86 0.60 146.63 40.00 2658.19 2019.88 1875.06 1957.2 65.8 8.8 199 2037.34 0.34 0.73 3.18 0.000 0.000 0.000 2689.56 3450.00 1915.62 1874.62 1956.62 0 0 0 24.93 25.03 24.70
2107.18 0.60 146.63 0.00 2688.75 3448.94 1874.44 1958.5 60.2 6.9 207 2111.78 0.12 0.00 2.87 0.000 0.000 0.000 2688.69 2017.88 1917.25 1876.25 1958.25 0 0 0 25.06 16777215.00 24.68
2142.56 0.60 146.63 0.00 2689.50 2017.06 1875.12 1956.9 56.8 7.8 210 2144.84 1.65 0.00 0.00 0.000 0.000 0.000 2688.75 2017.12 1916.06 1874.88 1957.25 0 0 0 24.67 16777215.00 16777215.00
2172.54 0.60 146.63 0.00 2689.25 2017.00 1874.88 1957.1 54.7 7.3 213 2173.81 0.05 0.00 0.00 0.000 0.000 0.000 2689.06 2017.44 1916.09 1876.00 1956.19 0 0 0 25.10 16777215.00 16777215.00
2202.86 0.60 146.63 -40.00 2689.62 2017.12 1874.69 1957.1 52.6 7.0 216 2212.06 1.65 0.00 2.62 0.000 0.000 0.000 2689.62 605.25 1921.59 1874.81 1968.38 0 0 0 24.99 16777215.00 24.71
2444.17 0.60 146.63 0.00 2691.75 606.12 1874.56 1956.8 35.6 6.9 240 2452.86 0.00 0.00 3.01 0.000 0.000 0.000 2689.38 2018.12 1918.12 1876.75 1959.50 0 0 0 25.12 16777215.00 24.77
2482.75 0.60 146.63 0.00 2691.62 2019.56 1877.75 1960.6 33.4 6.1 244 2484.01 0.05 0.00 0.00 0.000 0.000 0.000 2689.44 2018.12 1918.16 1877.06 1959.25 0 0 0 25.10 16777215.00 16777215.00
2511.75 0.60 146.63 0.00 2689.00 2018.38 1878.44 1960.8 31.4 6.6 247 2513.02 0.58 0.00 0.00 0.000 0.000 0.000 2689.50 2018.44 1918.06 1877.12 1959.00 0 0 0 24.67 16777215.00 16777215.00
2541.95 0.60 146.63 0.00 2689.88 2018.38 1878.00 1959.1 29.3 6.9 250 2543.22 0.52 0.00 0.00 0.000 0.000 0.000 2689.50 2018.12 1918.84 1877.06 1960.62 0 0 0 24.68 16777215.00 16777215.00
2572.26 0.60 146.63 0.00 2689.50 2018.12 1877.00 1959.1 27.2 6.8 253 2575.56 2.35 0.00 0.00 0.000 0.000 0.000 2690.00 2018.00 1917.97 1876.62 1959.31 0 0 0 25.03 16777215.00 16777215.00
2602.49 0.60 146.63 0.00 2689.69 2018.00 1877.25 1959.6 25.2 6.8 256 2603.75 0.05 0.00 0.00 0.000 0.000 0.000 2689.75 2017.75 1918.22 1876.81 1959.62 0 0 0 25.11 16777215.00 16777215.00
2632.50 0.60 146.63 0.00 2689.56 2018.56 1877.38 1959.8 23.1 6.8 259 2633.77 0.58 0.00 0.00 0.000 0.000 0.000 2689.38 2018.38 1918.38 1877.12 1959.62 0 0 0 24.67 16777215.00 16777215.00
2662.52 0.60 146.63 0.00 2689.81 2018.25 1876.62 1959.4 21.1 6.8 262 2663.79 0.50 0.00 0.00 0.000 0.000 0.000 2689.75 2017.88 1918.94 1878.38 1959.50 0 0 0 24.82 16777215.00 16777215.00
2691.85 0.60 146.63 0.00 2690.25 2018.19 1877.12 1959.4 19.2 6.7 265 2693.11 0.58 0.00 0.00 0.000 0.000 0.000 2689.75 2018.25 1918.62 1876.62 1960.62 0 0 0 24.68 16777215.00 16777215.00
2722.02 0.60 146.63 0.00 2690.00 2019.12 1877.25 1959.1 17.2 6.7 268 2724.30 1.93 0.00 0.00 0.000 0.000 0.000 2688.75 2017.81 1918.81 1878.62 1959.00 0 0 0 24.66 16777215.00 16777215.00
2752.58 0.60 146.63 0.00 2689.75 2017.94 1876.88 1959.1 15.1 6.6 271 2755.89 2.47 0.00 0.00 0.000 0.000 0.000 2689.75 2019.88 1918.22 1877.12 1959.31 0 0 0 24.68 16777215.00 16777215.00
2782.29 0.60 146.63 40.00 2689.94 2018.69 1877.38 1959.1 13.2 6.6 274 2787.35 1.06 0.00 2.68 0.000 0.000 0.000 2690.75 3371.31 1917.81 1876.50 1959.12 0 0 0 25.09 16777215.00 24.81
2889.61 0.60 146.63 0.00 2690.94 3371.38 1877.38 1959.6 5.8 6.8 284 2897.73 0.41 0.00 2.66 0.000 0.000 0.000 2689.38 2015.88 1915.62 1874.62 1956.62 0 0 0 24.65 16777215.00 24.66
2927.07 0.60 146.63 0.00 2689.38 2016.25 1874.62 1957.0 3.8 6.1 288 2928.33 0.58 0.00 0.00 0.000 0.000 0.000 2689.44 2016.00 1912.34 1871.44 1953.25 0 0 0 25.08 16777215.00 16777215.00
2957.09 0.60 146.63 0.00 2689.75 2017.12 1871.12 1953.7 2.4 5.2 291 2958.36 0.05 0.00 0.00 0.000 0.000 0.000 2689.50 2016.00 1911.56 1870.44 1952.69 0 0 0 25.10 16777215.00 16777215.00
2968 end climb: SURFACE_DEPTH_REACHED
state 2968 begin surface coast
3007 end surface coast: CONTROL_FINISHED_OK
state 3007 begin surface