NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 293 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  249 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
MISSION  8 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.054949999 XPDR_VALID  6
DIVE  293 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  25 XPDR_INHIBIT  90
N_DIVES  0 TGT_AUTO_DEFAULT  0 ROLL_MAXERRORS  1 XPDR_INT  -1
STOP_T  0 SM_CC  430 ROLL_ADJ_GAIN  0 XPDR_REP  0
D_SURF  4 N_FILEKB  4 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  1.9639999e-06
D_FLARE  3 FILEMGR  0 VBD_MIN  500 INT_PRESSURE_YINT  -3
D_TGT  990 CALL_NDIVES  1 VBD_MAX  3960 DEEPGLIDER  0
D_ABORT  1010 COMM_SEQ  7 C_VBD  2890 DEEPGLIDERMB  0
D_NO_BLEED  200 PROTOCOL  9 VBD_DBAND  2 MOTHERBOARD  6
D_BOOST  0 N_NOCOMM  2 VBD_CNV  -0.24529999 DEVICE1  -1
T_BOOST  0 NOCOMM_ACTION  131 VBD_LP_IGNORE  0 DEVICE2  -1
D_FINISH  0 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE3  -1
D_PITCH  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.0020000001 DEVICE4  -1
D_SAFE  0 CALL_TRIES  5 UNCOM_BLEED  20 DEVICE5  -1
D_CALL  0 CALL_WAIT  60 VBD_MAXERRORS  1 DEVICE6  -1
SURFACE_URGENCY  0 CAPUPLOAD  0 C_VBD_AUTO_DELTA  0 LOGGERS  1
SURFACE_URGENCY_TRY  0 CAPMAXSIZE  20000 C_VBD_AUTO_MAX  0 LOGGERDEVICE1  7
SURFACE_URGENCY_FORCE  0 T_GPS  5 W_ADJ_DBAND  3 LOGGERDEVICE2  -1
T_DIVE  410 N_GPS  100440 DBDW  0 LOGGERDEVICE3  -1
T_MISSION  520 T_RSLEEP  2 LOITER_W_DBAND  0 LOGGERDEVICE4  -1
T_ABORT  1440 STROBE  0 LOITER_DBDW  0 COMPASS_DEVICE  66
T_TURN  225 RAFOS_PEAK_OFFSET  0 LOITER_D_TOP  0 COMPASS2_DEVICE  -1
T_TURN_SAMPINT  -5 RAFOS_CORR_THRESH  60 LOITER_D_BOTTOM  0 PHONE_DEVICE  33
T_NO_W  120 RAFOS_HIT_WINDOW  3600 LOITER_N_DIVE  0 GPS_DEVICE  48
T_LOITER  0 RAFOS_MMODEM  0 CF8_MAXERRORS  20 RAFOS_DEVICE  -1
T_EPIRB  0 PITCH_MIN  200 AH0_24V  506 NAV_DEVICE  -1
USE_BATHY  -1 PITCH_MAX  3000 AH0_10V  0 NAV2_DEVICE  -1
USE_ICE  0 C_PITCH  2515 MINV_24V  11 NETWORK_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 PITCH_DBAND  0.1 MINV_10V  11 PRESSURE_DEVICE  34
D_OFFGRID  1000 PITCH_CNV  0.0041299998 MAXI_24V  5 XPDR_DEVICE  21
RELAUNCH  1 PITCH_GAIN  16 MAXI_10V  1.5 SIM_W  0
APOGEE_PITCH  -5 PITCH_TIMEOUT  30 FG_AHR_10V  48.310436 SEABIRD_T_G  0.0043000001
MAX_BUOY  80 PITCH_MAXERRORS  1 FG_AHR_24V  91.316238 SEABIRD_T_H  0.00063999998
GLIDE_SLOPE  30 PITCH_ADJ_GAIN  0 PHONE_SUPPLY  2 SEABIRD_T_I  2.4999999e-05
SPEED_FACTOR  1 PITCH_ADJ_DBAND  0 PRESSURE_YINT  -179.54233 SEABIRD_T_J  4.3e-06
RHO  1.0275 C_PITCH_AUTO_DELTA  0 PRESSURE_SLOPE  0.00021665409 SEABIRD_C_G  -10
MASS  72955 C_PITCH_AUTO_MAX  0 COMPASS_USE  16388 SEABIRD_C_H  1
NAV_MODE  2 PITCH_GAIN_AUTO_DELTA  0 ALTIM_PING_FIT  0 SEABIRD_C_I  -0.0020000001
FERRY_MAX  45 PITCH_GAIN_AUTO_MAX  0 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00019999999
KALMAN_USE  2 PITCH_W_GAIN  6 ALTIM_BOTTOM_TURN_MARGIN  0 OPTIONS  0
HD_A  0.00177828 PITCH_W_DBAND  0.5 ALTIM_TOP_TURN_MARGIN  0 SC_RECORDABOVE  2000.0
HD_B  0.020747701 ROLL_MIN  215 ALTIM_TOP_MIN_OBSTACLE  0 SC_PROFILE  7.0
HD_C  5.7000002e-06 ROLL_MAX  3825 ALTIM_PING_DEPTH  0 SC_XMITPROFILE  3.0
HEADING  -1 ROLL_DEG  60 ALTIM_PING_DELTA  0 SC_NDIVE  1.0
ESCAPE_HEADING  0 C_ROLL_DIVE  2250 ALTIM_FREQUENCY  13
ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2250 ALTIM_PULSE  1

Pre-dive calculations and measurements:
GPS1  061022,224843,4716.753,-12625.020,22,1.3,26,15.9 TGT_RADIUS  2500.000
_CALLS  2 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.20 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -65.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  061022,230103,4716.684,-12624.951,4,1.2,11,15.9 MHEAD_RNG_PITCHd_Wd  213.8,53986,-16.4,-8.049,-28.31,2124,0.227
SPEED_LIMITS  0.139,0.149 D_GRID  1000
TGT_NAME  OFFSHORE IRON  1.000000,0.044580,0.034000,-0.033773,1.037950,-0.052709,-0.054190,-0.002890,1.086935,445.672791,-166.618210,-48.209198
TGT_LATLONG  4700.000,-12700.000

Post-dive calculations and measurements:
WARN  HSCICON missed fuel gauge read FG_AHR_24Vo  91.561
FINISH  -0.1,1.023271 FG_AHR_10Vo  48.462
SM_CCo  28707.62,0.00,0.000,0,1042.6,1069.2,1016.0,453.16 MEM0  60108,1,0,0
SM_GC  1.17,0.00,19.58,0.12,0.000,0.054,0.086,1042.6,1069.2,1016.0,182.0,2176.9,0,0,0,30.00,15.66,15.72 MEM1  65508,1,0,0
SUPER  27,71,254,1,0,0 MEM2  968172,61,78036,57
IRIDIUM_FIX  4715.08,-12527.84,061022,225153 DATA_FILE_SIZE  92842,3233
TCM_TEMP  267.52 CAP_FILE_SIZE  559615,0
XPDR_PINGS  0,13.0,10.5 SDSIZE  4028416,3928736
SC_FREEKB  3766272 SDFILEDIR  1789,1
HUMID  52.33 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP  84.33 CURRENT  0.022,100.4,1
INTERNAL_PRESSURE  8.55175 MAGCAL  1.000000,0.088457,-0.041490,-0.009127,0.820300,-0.281290,-0.288481,-0.151874,1.216502,508.0,315.5,47.7,24,0.0483,0
_24V_AH  14.54,103.344 IMPLIED_C_PITCH  2520,13.32,2692,0.0,0.00
_10V_AH  15.00,0.000 GPS  071022,070039,4715.619,-12626.485,24,1.0,24,15.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump481244917143.13 nil000.00
Pitch_motor41217132.18 nil000.00
Roll_motor267164638.68 nil000.00
Iridium4942451764.90 nil000.00
Transponder_ping04200.00 nil000.00
GPS22154.98 nil000.00
Core1309361335.58 SciCon28578114746.66
Fast4300.00 nil000.00
Slow000.00 nil000.00
LPSleep161862485.59
Compass63785478.37
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
11 end surface: CONTROL_FINISHED_OK
state 11 begin dive
18.82 16386 -77.86 -1.18 0.00 1131.8 1137.1 1126.6 180.6 2192.3 0.00 0.00 0 97.19 54.90 0.00 0.00 0.005 0.000 0.000 2584.19 2748.62 2419.75 180.69 2192.00 0 0 0 15.24 30.00 30.00
99.41 18727 -77.86 -1.18 60.00 2585.5 2747.2 2423.8 180.6 2192.2 3.45 -4.87 11 220.39 9.61 17.08 3.35 0.007 0.218 0.082 3210.94 3431.06 2990.81 2227.44 3353.56 0 0 0 15.36 15.46 15.24
321.52 1028 -77.86 -1.18 0.00 3213.0 3425.5 3000.5 2227.6 3352.8 46.42 -13.36 38 339.40 0.00 0.00 2.79 0.000 0.000 0.019 3213.22 3425.44 3001.00 2228.00 2192.81 0 0 0 30.00 30.00 15.79
525.30 516 -77.86 -1.18 -60.00 3213.8 3425.6 3002.1 2227.8 2190.8 66.10 -8.25 76 543.56 0.00 0.00 2.88 0.000 0.000 0.065 3214.59 3425.62 3003.56 2226.00 1144.38 0 0 0 30.00 30.00 15.72
614.73 1028 -77.86 -1.18 0.00 3214.3 3425.0 3003.6 2227.6 1144.6 74.43 -9.71 91 632.60 0.00 0.00 2.72 0.000 0.000 0.024 3215.03 3426.00 3004.06 2227.81 2279.88 0 0 0 30.00 30.00 15.75
818.39 0 -77.86 -1.18 0.00 3214.9 3425.4 3004.4 2227.8 2279.9 92.18 -8.22 129 824.95 0.00 0.00 0.00 0.000 0.000 0.000 3214.94 3425.19 3004.69 2227.88 2279.94 0 0 0 30.00 30.00 30.00
1010.75 260 -77.86 -1.18 60.00 3215.3 3425.6 3005.1 2228.1 2279.9 107.84 -8.02 158 1029.10 0.00 0.00 3.06 0.000 0.000 0.081 3216.38 3426.38 3006.38 2226.06 3351.88 0 0 0 30.00 30.00 15.76
1039.52 9222 -77.86 -1.18 0.00 3215.8 3422.9 3008.6 2227.4 3352.7 110.13 -7.63 161 1057.39 0.00 0.00 2.74 0.000 0.000 0.019 3216.78 3423.81 3009.75 2227.50 2185.00 0 0 0 30.00 30.00 15.77
1363.21 8710 -77.86 -1.18 -60.00 3215.8 3423.1 3008.6 2227.8 2182.6 132.52 -7.64 193 1380.75 0.00 0.00 2.88 0.000 0.000 0.066 3216.62 3423.81 3009.44 2226.12 1143.31 0 0 0 30.00 30.00 15.87
1411.18 9222 -77.86 -1.18 0.00 3215.8 3422.8 3008.9 2227.8 1143.1 136.45 -8.21 200 1429.05 0.00 0.00 2.73 0.000 0.000 0.024 3217.03 3423.75 3010.31 2227.69 2281.19 0 0 0 30.00 30.00 15.91
1734.87 0 -77.86 -1.18 0.00 3215.3 3422.2 3008.4 2227.8 2281.4 159.82 -7.21 232 1738.89 0.00 0.00 0.00 0.000 0.000 0.000 3215.00 3421.38 3008.62 2227.12 2281.12 0 0 0 30.00 30.00 30.00
2044.95 8194 -77.86 -1.18 0.00 3215.9 3423.2 3008.6 2227.8 2281.4 183.74 -8.13 263 2049.02 0.00 0.00 0.00 0.000 0.000 0.000 3215.59 3423.12 3008.06 2227.19 2280.88 0 0 0 30.00 30.00 30.00
2355.00 0 -77.86 -1.18 0.00 3215.5 3421.9 3009.1 2227.9 2281.2 207.39 -7.43 294 2359.05 0.00 0.00 0.00 0.000 0.000 0.000 3215.06 3422.00 3008.12 2227.19 2281.62 0 0 0 30.00 30.00 30.00
2665.05 260 -77.86 -1.18 60.00 3214.8 3420.8 3008.9 2227.4 2281.4 230.20 -7.14 325 2683.63 0.00 0.00 3.06 0.000 0.000 0.084 3213.75 3419.06 3008.44 2227.12 3353.44 0 0 0 30.00 30.00 15.79
2709.83 1028 -77.86 -1.18 0.00 3214.5 3420.2 3008.8 2227.6 3353.2 233.87 -8.34 331 2727.18 0.00 0.00 2.74 0.000 0.000 0.020 3215.81 3421.38 3010.25 2227.88 2189.19 0 0 0 30.00 30.00 15.82
3033.03 516 -77.86 -1.18 -60.00 3214.5 3419.4 3009.6 2227.8 2187.7 258.19 -7.65 363 3050.81 0.00 0.00 2.90 0.000 0.000 0.068 3213.00 3419.50 3006.50 2227.69 1143.25 0 0 0 30.00 30.00 15.89
3087.01 1028 -77.86 -1.18 0.00 3213.9 3418.9 3008.9 2227.3 1143.0 262.48 -7.89 371 3104.37 0.00 0.00 2.73 0.000 0.000 0.025 3215.22 3420.12 3010.31 2227.19 2282.00 0 0 0 30.00 30.00 15.96
3410.22 0 -77.86 -1.18 0.00 3213.2 3417.1 3009.3 2227.6 2281.9 288.32 -7.80 403 3414.28 0.00 0.00 0.00 0.000 0.000 0.000 3212.28 3418.19 3006.38 2228.12 2282.12 0 0 0 30.00 30.00 30.00
3720.27 0 -77.86 -1.18 0.00 3212.7 3416.5 3008.8 2227.1 2281.8 312.36 -7.77 434 3724.33 0.00 0.00 0.00 0.000 0.000 0.000 3212.09 3416.06 3008.12 2227.50 2281.69 0 0 0 30.00 30.00 30.00
4030.29 0 -77.86 -1.18 0.00 3212.4 3415.4 3009.5 2227.4 2281.8 335.63 -7.68 465 4034.35 0.00 0.00 0.00 0.000 0.000 0.000 3211.69 3414.25 3009.12 2227.44 2281.88 0 0 0 30.00 30.00 30.00
4340.31 516 -77.86 -1.18 -60.00 3211.6 3414.3 3008.9 2227.8 2282.0 358.28 -7.41 496 4359.30 0.00 0.00 3.15 0.000 0.000 0.065 3211.03 3412.88 3009.19 2227.12 1143.62 0 0 0 30.00 30.00 15.80
4399.94 1028 -77.86 -1.18 0.00 3211.6 3414.2 3009.0 2227.9 1143.1 362.73 -7.40 505 4418.04 0.00 0.00 2.76 0.000 0.000 0.026 3212.66 3415.12 3010.19 2227.44 2278.75 0 0 0 30.00 30.00 15.99
4724.01 516 -77.86 -1.18 -60.00 3210.9 3412.9 3008.9 2227.4 2278.5 384.48 -6.36 537 4742.99 0.00 0.00 3.13 0.000 0.000 0.065 3211.97 3413.62 3010.31 2224.94 1144.75 0 0 0 30.00 30.00 15.85
4769.19 1028 -77.86 -1.18 0.00 3210.9 3412.9 3008.9 2227.9 1144.9 387.41 -6.61 543 4786.54 0.00 0.00 2.73 0.000 0.000 0.026 3210.81 3412.69 3008.94 2227.44 2280.25 0 0 0 30.00 30.00 15.97
5092.36 0 -77.86 -1.18 0.00 3210.1 3411.4 3008.7 2227.7 2279.6 407.69 -6.18 575 5096.43 0.00 0.00 0.00 0.000 0.000 0.000 3210.19 3411.62 3008.75 2227.50 2279.75 0 0 0 30.00 30.00 30.00
5402.38 516 -77.86 -1.18 -60.00 3209.5 3410.1 3008.9 2227.7 2279.7 428.19 -6.89 606 5421.37 0.00 0.00 3.14 0.000 0.000 0.065 3211.28 3410.94 3011.62 2227.06 1143.94 0 0 0 30.00 30.00 15.86
5431.83 1028 -77.86 -1.18 0.00 3209.2 3409.4 3009.1 2227.8 1143.7 430.35 -6.85 609 5449.92 0.00 0.00 2.74 0.000 0.000 0.026 3209.34 3410.00 3008.69 2227.56 2278.81 0 0 0 30.00 30.00 15.96
5755.77 0 -77.86 -1.18 0.00 3208.4 3408.2 3008.5 2227.8 2278.4 452.54 -6.88 641 5759.83 0.00 0.00 0.00 0.000 0.000 0.000 3208.09 3407.38 3008.81 2227.25 2277.94 0 0 0 30.00 30.00 30.00
6065.82 0 -77.86 -1.18 0.00 3208.3 3407.4 3009.1 2227.4 2278.3 474.22 -7.01 672 6069.88 0.00 0.00 0.00 0.000 0.000 0.000 3207.53 3406.69 3008.38 2226.88 2278.56 0 0 0 30.00 30.00 30.00
6375.88 516 -77.86 -1.18 -60.00 3207.6 3406.8 3008.5 2227.2 2278.3 495.39 -6.62 703 6394.88 0.00 0.00 3.12 0.000 0.000 0.066 3206.69 3405.31 3008.06 2227.94 1144.75 0 0 0 30.00 30.00 15.87
6435.35 1028 -77.86 -1.18 0.00 3207.7 3406.6 3008.8 2227.8 1144.4 499.65 -6.86 712 6453.67 0.00 0.00 2.75 0.000 0.000 0.026 3208.78 3407.69 3009.88 2227.62 2278.25 0 0 0 30.00 30.00 15.99
6759.63 260 -77.86 -1.18 60.00 3206.9 3405.2 3008.6 2227.1 2278.4 521.92 -6.97 744 6778.20 0.00 0.00 3.08 0.000 0.000 0.088 3206.66 3404.94 3008.38 2227.31 3353.19 0 0 0 30.00 30.00 15.84
6824.41 1028 -77.86 -1.18 0.00 3206.9 3404.7 3009.1 2227.4 3353.1 527.18 -8.30 754 6841.78 0.00 0.00 2.76 0.000 0.000 0.020 3207.12 3405.06 3009.19 2227.19 2192.25 0 0 0 30.00 30.00 15.98
7147.61 0 -77.86 -1.18 0.00 3206.7 3404.7 3008.6 2227.3 2190.4 549.84 -7.17 786 7151.68 0.00 0.00 0.00 0.000 0.000 0.000 3206.12 3405.25 3007.00 2227.38 2189.69 0 0 0 30.00 30.00 30.00
7457.65 0 -77.86 -1.18 0.00 3205.9 3403.2 3008.6 2227.5 2190.0 571.00 -6.78 817 7461.71 0.00 0.00 0.00 0.000 0.000 0.000 3205.66 3402.44 3008.88 2226.62 2190.31 0 0 0 30.00 30.00 30.00
7767.69 260 -77.86 -1.18 60.00 3205.1 3401.9 3008.2 2228.0 2189.9 592.16 -6.88 848 7788.88 0.00 0.00 3.34 0.000 0.000 0.084 3204.31 3400.00 3008.62 2228.12 3354.00 0 0 0 30.00 30.00 15.81
7810.07 1028 -77.86 -1.18 0.00 3205.2 3401.8 3008.6 2227.9 3353.2 595.34 -7.32 853 7827.43 0.00 0.00 2.76 0.000 0.000 0.021 3204.97 3401.69 3008.25 2227.38 2191.75 0 0 0 30.00 30.00 15.98
8133.49 0 -77.86 -1.18 0.00 3205.0 3400.8 3009.2 2227.7 2190.9 616.33 -6.62 885 8137.56 0.00 0.00 0.00 0.000 0.000 0.000 3204.22 3400.00 3008.44 2227.50 2190.69 0 0 0 30.00 30.00 30.00
8443.37 260 -77.86 -1.18 60.00 3204.2 3399.8 3008.7 2227.2 2190.9 637.10 -6.57 916 8464.56 0.00 0.00 3.33 0.000 0.000 0.084 3203.12 3399.00 3007.25 2227.06 3353.19 0 0 0 30.00 30.00 15.81
8500.02 1028 -77.86 -1.18 0.00 3204.0 3399.9 3008.0 2227.5 3353.1 641.45 -7.21 924 8518.43 0.00 0.00 2.78 0.000 0.000 0.020 3204.75 3399.88 3009.62 2226.75 2193.19 0 0 0 30.00 30.00 16.00
8824.36 0 -77.86 -1.18 0.00 3203.8 3398.8 3008.7 2227.9 2191.9 662.98 -6.60 956 8828.44 0.00 0.00 0.00 0.000 0.000 0.000 3202.84 3399.31 3006.38 2227.50 2191.75 0 0 0 30.00 30.00 30.00
9134.37 260 -77.86 -1.18 60.00 3203.5 3398.8 3008.2 2227.9 2192.0 683.12 -6.09 987 9155.57 0.00 0.00 3.33 0.000 0.000 0.085 3204.56 3398.19 3010.94 2227.50 3351.19 0 0 0 30.00 30.00 15.80
9216.77 1028 -77.86 -1.18 0.00 3203.3 3398.1 3008.6 2227.1 3350.9 689.22 -7.21 1000 9234.52 0.00 0.00 2.79 0.000 0.000 0.021 3204.38 3398.88 3009.88 2226.38 2192.69 0 0 0 30.00 30.00 16.00
9540.33 0 -77.86 -1.18 0.00 3203.2 3397.8 3008.5 2227.8 2192.1 708.06 -5.57 1032 9544.39 0.00 0.00 0.00 0.000 0.000 0.000 3203.16 3399.62 3006.69 2227.06 2191.69 0 0 0 30.00 30.00 30.00
9850.35 0 -77.86 -1.18 0.00 3202.9 3397.4 3008.4 2227.3 2191.8 726.47 -6.26 1063 9854.41 0.00 0.00 0.00 0.000 0.000 0.000 3202.38 3395.81 3008.94 2227.75 2192.00 0 0 0 30.00 30.00 30.00
10160.34 260 -77.86 -1.18 60.00 3202.7 3396.9 3008.5 2227.6 2191.7 745.87 -6.32 1094 10181.54 0.00 0.00 3.36 0.000 0.000 0.084 3201.84 3394.25 3009.44 2227.69 3349.12 0 0 0 30.00 30.00 15.69
10227.02 1028 -77.86 -1.18 0.00 3202.1 3396.4 3007.8 2228.2 3350.1 750.97 -6.84 1104 10245.50 0.00 0.00 2.78 0.000 0.000 0.021 3202.59 3396.50 3008.69 2227.75 2194.75 0 0 0 30.00 30.00 15.97
10551.31 0 -77.86 -1.18 0.00 3201.7 3395.6 3007.8 2227.3 2193.1 773.15 -6.67 1136 10555.37 0.00 0.00 0.00 0.000 0.000 0.000 3202.00 3396.00 3008.00 2227.44 2193.50 0 0 0 30.00 30.00 30.00
10861.33 260 -77.86 -1.18 60.00 3202.0 3395.4 3008.6 2227.7 2193.0 794.19 -6.87 1167 10882.52 0.00 0.00 3.36 0.000 0.000 0.085 3201.31 3396.44 3006.19 2227.19 3351.44 0 0 0 30.00 30.00 15.77
10978.01 1028 -77.86 -1.18 0.00 3201.4 3394.2 3008.7 2227.3 3352.6 802.60 -7.30 1187 10996.50 0.00 0.00 2.80 0.000 0.000 0.021 3202.75 3395.38 3010.12 2227.69 2194.56 0 0 0 30.00 30.00 15.87
11303.10 0 -77.86 -1.18 0.00 3201.3 3394.4 3008.1 2227.4 2192.8 821.69 -5.57 1219 11307.16 0.00 0.00 0.00 0.000 0.000 0.000 3200.72 3394.75 3006.69 2227.38 2192.75 0 0 0 30.00 30.00 30.00
11613.52 548 -77.86 -1.18 -60.00 3200.9 3393.6 3008.3 2227.6 2193.0 837.18 -4.79 1250 11631.70 0.00 0.00 2.96 0.000 0.000 0.073 3200.03 3392.88 3007.19 2227.94 1146.06 0 0 0 30.00 30.00 15.80
11648.30 1060 -77.86 -1.18 0.00 3200.9 3393.5 3008.4 2227.6 1145.4 838.90 -4.77 1254 11665.67 0.00 0.00 2.74 0.000 0.000 0.027 3201.31 3393.94 3008.69 2227.62 2278.62 0 0 0 30.00 30.00 15.96
11971.92 548 -77.86 -1.18 -60.00 3200.6 3392.5 3008.8 2227.6 2278.6 854.66 -4.82 1286 11990.91 0.00 0.00 3.17 0.000 0.000 0.068 3200.53 3392.81 3008.25 2227.19 1146.06 0 0 0 30.00 30.00 15.80
12057.12 1028 -77.86 -1.18 0.00 3200.5 3392.7 3008.4 2227.1 1145.4 859.36 -5.57 1300 12074.49 0.00 0.00 2.78 0.000 0.000 0.027 3200.94 3392.69 3009.19 2227.25 2278.25 0 0 0 30.00 30.00 15.85
12380.30 0 -77.86 -1.18 0.00 3200.1 3392.0 3008.2 2227.7 2278.8 876.65 -5.47 1332 12384.36 0.00 0.00 0.00 0.000 0.000 0.000 3200.28 3391.44 3009.12 2227.00 2278.62 0 0 0 30.00 30.00 30.00
12690.32 516 -77.86 -1.18 -60.00 3199.5 3391.1 3007.9 2227.0 2278.5 894.83 -6.20 1363 12709.30 0.00 0.00 3.19 0.000 0.000 0.069 3198.94 3390.75 3007.12 2227.62 1145.56 0 0 0 30.00 30.00 15.78
12729.77 1028 -77.86 -1.18 0.00 3199.6 3391.1 3008.1 2227.6 1145.4 897.57 -6.88 1368 12748.10 0.00 0.00 2.77 0.000 0.000 0.027 3200.16 3391.94 3008.38 2227.56 2276.75 0 0 0 30.00 30.00 15.95
13054.06 260 -77.86 -1.18 60.00 3199.4 3390.5 3008.4 2227.1 2277.2 917.53 -6.24 1400 13073.05 0.00 0.00 3.11 0.000 0.000 0.089 3199.75 3391.56 3007.94 2227.00 3350.88 0 0 0 30.00 30.00 15.75
13109.25 1028 -77.86 -1.18 0.00 3199.4 3390.1 3008.8 2227.1 3350.0 920.87 -6.38 1408 13126.61 0.00 0.00 2.76 0.000 0.000 0.021 3199.22 3389.62 3008.81 2227.81 2194.12 0 0 0 30.00 30.00 15.96
13432.46 260 -77.86 -1.18 60.00 3198.7 3389.3 3008.1 2227.3 2192.4 940.44 -6.18 1440 13452.47 0.00 0.00 3.34 0.000 0.000 0.085 3198.75 3389.44 3008.06 2227.69 3350.69 0 0 0 30.00 30.00 15.74
13482.94 1028 -77.86 -1.18 0.00 3198.8 3388.8 3008.9 2227.3 3350.1 943.38 -6.67 1447 13501.04 0.00 0.00 2.77 0.000 0.000 0.021 3199.84 3389.81 3009.88 2227.00 2194.94 0 0 0 30.00 30.00 15.96
13806.89 0 -77.86 -1.18 0.00 3198.8 3389.0 3008.5 2227.2 2193.9 961.37 -5.40 1479 13810.95 0.00 0.00 0.00 0.000 0.000 0.000 3198.19 3388.06 3008.31 2227.06 2193.69 0 0 0 30.00 30.00 30.00
14117.35 292 -77.86 -1.18 60.00 3198.7 3388.9 3008.4 2227.6 2193.6 977.04 -5.05 1510 14138.55 0.00 0.00 3.34 0.000 0.000 0.086 3197.66 3387.25 3008.06 2227.12 3350.12 0 0 0 30.00 30.00 15.74
14170.15 1060 -77.86 -1.18 0.00 3198.5 3388.8 3008.3 2227.2 3351.0 979.77 -4.94 1517 14187.52 0.00 0.00 2.79 0.000 0.000 0.021 3199.00 3388.75 3009.25 2227.12 2197.56 0 0 0 30.00 30.00 15.95
14372 end dive: TARGET_DEPTH_EXCEEDED
state 14373 begin apogee
14378.35 10243 0.00 -0.31 0.00 3198.3 3388.2 3008.5 2227.8 2289.5 990.26 -4.67 1537 14479.49 63.00 1.61 0.14 2.450 0.136 0.164 2888.16 3022.81 2753.50 2440.69 2183.06 0 0 0 10.46 15.66 15.48
14492 end apogee: CONTROL_FINISHED_OK
state 14493 begin climb
14495.80 10243 77.86 1.18 0.00 2887.0 3023.2 2750.8 2440.6 2183.2 991.57 0.00 1544 14604.71 66.00 2.57 0.00 2.420 0.092 0.000 2572.47 2662.56 2482.38 2805.25 2181.50 0 0 0 11.96 15.58 30.00
14911.09 16450 77.86 1.25 0.00 2564.2 2661.2 2467.2 2806.0 2181.1 966.14 6.99 1582 14915.15 0.00 0.00 0.00 0.000 0.000 0.000 2564.06 2659.88 2468.25 2806.06 2180.88 0 0 0 30.00 30.00 30.00
15221.52 18499 77.86 1.34 0.00 2562.8 2661.2 2464.4 2805.5 2181.3 945.47 6.54 1613 15226.91 0.00 0.22 0.00 0.000 0.083 0.000 2564.12 2662.31 2465.94 2851.62 2181.94 0 0 0 30.00 15.80 30.00
15533.16 16450 77.86 1.38 0.00 2561.8 2661.0 2462.7 2851.9 2181.8 923.23 7.34 1644 15537.23 0.00 0.00 0.00 0.000 0.000 0.000 2561.28 2659.38 2463.19 2851.62 2181.88 0 0 0 30.00 30.00 30.00
15843.48 16450 77.86 1.44 0.00 2561.0 2660.5 2461.4 2852.1 2181.6 901.81 7.11 1675 15847.54 0.00 0.00 0.00 0.000 0.000 0.000 2560.28 2659.62 2460.94 2851.94 2181.56 0 0 0 30.00 30.00 30.00
16153.77 18759 77.86 1.54 60.00 2561.1 2661.3 2460.8 2851.6 2182.1 881.79 6.30 1706 16177.03 0.00 0.23 3.42 0.000 0.077 0.091 2560.94 2659.81 2462.06 2900.31 3351.50 0 0 0 30.00 15.87 15.80
16278.24 17414 77.86 1.54 0.00 2560.2 2660.1 2460.4 2902.6 3351.4 871.26 8.76 1727 16295.85 0.00 0.00 2.80 0.000 0.000 0.023 2561.41 2660.50 2462.31 2901.81 2205.06 0 0 0 30.00 30.00 15.95
16601.81 16386 77.86 1.54 0.00 2560.1 2660.2 2460.1 2901.9 2203.0 844.83 8.97 1759 16605.87 0.00 0.00 0.00 0.000 0.000 0.000 2559.53 2658.88 2460.19 2902.31 2202.50 0 0 0 30.00 30.00 30.00
16911.86 16902 77.86 1.54 -60.00 2559.5 2659.8 2459.3 2902.4 2202.7 818.95 8.46 1790 16930.46 0.00 0.00 3.03 0.000 0.000 0.077 2560.56 2660.94 2460.19 2901.12 1144.69 0 0 0 30.00 30.00 15.83
17086.71 17414 77.86 1.54 0.00 2559.1 2658.5 2459.6 2902.1 1144.8 803.45 8.72 1822 17104.87 0.00 0.00 2.81 0.000 0.000 0.031 2559.75 2659.06 2460.44 2901.81 2274.56 0 0 0 30.00 30.00 15.89
17410.72 16386 77.86 1.54 0.00 2559.0 2658.3 2459.7 2901.8 2274.3 777.39 7.67 1854 17414.79 0.00 0.00 0.00 0.000 0.000 0.000 2558.66 2658.56 2458.75 2902.38 2274.06 0 0 0 30.00 30.00 30.00
17721.18 16966 77.86 1.61 -60.00 2558.7 2659.1 2458.3 2902.3 2274.4 754.50 6.88 1885 17740.17 0.00 0.00 3.20 0.000 0.000 0.073 2559.41 2658.00 2460.81 2902.19 1145.19 0 0 0 30.00 30.00 15.83
17866.78 17478 77.86 1.66 0.00 2558.2 2658.0 2458.5 2901.8 1144.8 743.98 7.15 1911 17884.95 0.00 0.00 2.81 0.000 0.000 0.031 2559.59 2659.25 2459.94 2901.75 2275.62 0 0 0 30.00 30.00 15.92
18191.22 18499 77.86 1.77 0.00 2558.4 2658.8 2458.0 2902.1 2275.9 722.56 6.27 1943 18196.60 0.00 0.27 0.00 0.000 0.073 0.000 2558.88 2658.06 2459.69 2956.62 2275.19 0 0 0 30.00 15.89 30.00
18502.42 16386 77.86 1.77 0.00 2558.1 2658.4 2457.9 2957.8 2275.6 698.91 7.81 1974 18506.49 0.00 0.00 0.00 0.000 0.000 0.000 2557.69 2657.38 2458.00 2958.00 2275.88 0 0 0 30.00 30.00 30.00
18812.87 16966 77.86 1.83 -60.00 2558.1 2658.6 2457.6 2957.5 2275.5 675.64 7.13 2005 18832.52 0.00 0.00 3.20 0.000 0.000 0.073 2558.78 2658.88 2458.69 2957.31 1145.50 0 0 0 30.00 30.00 15.82
19028.90 17414 77.86 1.83 0.00 2557.6 2657.2 2458.0 2958.5 1145.4 659.06 7.77 2045 19047.07 0.00 0.00 2.81 0.000 0.000 0.031 2558.25 2658.38 2458.12 2959.00 2274.81 0 0 0 30.00 30.00 15.96
19353.31 16710 77.86 1.90 60.00 2557.7 2657.7 2457.8 2958.7 2274.9 636.54 6.79 2077 19372.30 0.00 0.00 3.17 0.000 0.000 0.094 2558.19 2658.19 2458.19 2958.19 3351.06 0 0 0 30.00 30.00 15.77
19478.52 17414 77.86 1.90 0.00 2557.6 2657.6 2457.7 2958.4 3351.5 627.26 7.83 2099 19495.90 0.00 0.00 2.75 0.000 0.000 0.022 2557.75 2657.81 2457.69 2958.88 2202.50 0 0 0 30.00 30.00 15.98
19802.15 19015 77.86 1.94 -60.00 2557.7 2657.8 2457.6 2958.2 2201.4 604.38 7.36 2131 19821.97 0.00 0.17 3.03 0.000 0.086 0.076 2556.78 2657.06 2456.50 3002.06 1146.12 0 0 0 30.00 15.91 15.80
19902.46 17414 77.86 1.94 0.00 2557.4 2657.6 2457.2 3001.8 1145.8 595.95 8.29 2148 19920.96 0.00 0.00 2.79 0.000 0.000 0.031 2558.06 2657.56 2458.56 3002.31 2274.81 0 0 0 30.00 30.00 15.75
20227.21 16966 77.86 1.97 -60.00 2557.6 2657.8 2457.4 3001.5 2274.9 571.25 7.53 2180 20246.21 0.00 0.00 3.19 0.000 0.000 0.072 2555.84 2656.44 2455.25 3001.25 1145.56 0 0 0 30.00 30.00 15.79
20372.49 17414 77.86 1.97 0.00 2556.8 2656.3 2457.4 3001.6 1145.5 559.33 8.23 2206 20389.87 0.00 0.00 2.79 0.000 0.000 0.031 2558.25 2657.38 2459.12 3001.00 2274.50 0 0 0 30.00 30.00 15.95
20696.23 16450 77.86 2.04 0.00 2556.6 2656.1 2457.1 3002.1 2275.5 535.58 6.95 2238 20700.29 0.00 0.00 0.00 0.000 0.000 0.000 2556.19 2655.12 2457.25 3002.25 2275.31 0 0 0 30.00 30.00 30.00
21006.54 19015 77.86 2.12 -60.00 2556.9 2656.6 2457.1 3002.1 2275.3 513.80 6.67 2269 21025.56 0.00 0.00 3.19 0.000 0.000 0.071 2557.38 2656.38 2458.38 3001.31 1145.81 0 0 0 30.00 30.00 15.79
21092.18 19527 77.86 2.16 0.00 2556.6 2656.3 2456.9 3002.0 1145.8 507.69 7.38 2283 21109.57 0.00 0.00 2.79 0.000 0.000 0.030 2556.88 2656.50 2457.25 3001.81 2275.56 0 0 0 30.00 30.00 15.96
21415.79 18499 77.86 2.23 0.00 2556.8 2656.1 2457.5 3002.2 2275.5 485.93 6.89 2315 21419.87 0.00 0.00 0.00 0.000 0.000 0.000 2556.50 2656.62 2456.38 3001.44 2275.81 0 0 0 30.00 30.00 30.00
21726.24 19015 77.86 2.28 -60.00 2556.9 2656.0 2457.9 3002.4 2275.8 464.10 7.29 2346 21745.64 0.00 0.00 3.20 0.000 0.000 0.071 2557.62 2657.25 2458.00 3001.75 1145.69 0 0 0 30.00 30.00 15.78
21852.28 19527 77.86 2.32 0.00 2556.9 2656.8 2457.1 3001.6 1145.6 454.63 7.35 2368 21869.67 0.00 0.00 2.80 0.000 0.000 0.030 2557.50 2656.56 2458.44 3000.88 2276.19 0 0 0 30.00 30.00 15.85
22175.92 18759 77.86 2.40 60.00 2556.8 2656.4 2457.3 3001.6 2276.4 431.68 6.72 2400 22194.93 0.00 0.00 3.15 0.000 0.000 0.092 2556.06 2655.00 2457.12 3002.06 3351.94 0 0 0 30.00 30.00 15.75
22235.80 19527 77.86 2.44 0.00 2556.3 2655.6 2457.0 3001.8 3350.8 427.38 7.47 2409 22254.54 0.00 0.00 2.77 0.000 0.000 0.022 2556.94 2656.50 2457.38 3002.19 2199.50 0 0 0 30.00 30.00 15.91
22560.92 19015 77.86 2.59 -60.00 2556.8 2656.6 2457.1 3002.6 2197.6 408.05 5.53 2441 22579.53 0.00 0.00 3.01 0.000 0.000 0.074 2555.91 2655.81 2456.00 3002.56 1144.94 0 0 0 30.00 30.00 15.79
22646.15 19527 77.86 2.72 0.00 2556.8 2656.2 2457.3 3002.1 1144.8 402.98 5.81 2455 22663.53 0.00 0.00 2.79 0.000 0.000 0.029 2557.03 2656.19 2457.88 3001.94 2276.38 0 0 0 30.00 30.00 15.94
22969.76 18759 77.86 2.86 60.00 2556.9 2656.5 2457.4 3002.0 2276.3 385.05 5.68 2487 22988.77 0.00 0.00 3.14 0.000 0.000 0.091 2556.12 2655.62 2456.62 3001.81 3351.50 0 0 0 30.00 30.00 15.72
23039.65 19527 77.86 2.96 0.00 2556.9 2656.4 2457.4 3002.9 3350.6 380.76 6.42 2498 23057.77 0.00 0.00 2.75 0.000 0.000 0.022 2557.47 2657.00 2457.94 3002.62 2199.00 0 0 0 30.00 30.00 15.96
23364.02 19015 77.86 3.08 -60.00 2556.8 2656.1 2457.4 3002.7 2197.7 361.37 6.02 2530 23382.30 0.00 0.00 2.99 0.000 0.000 0.074 2555.75 2653.94 2457.56 3001.94 1144.31 0 0 0 30.00 30.00 15.74
23508.94 19527 77.86 3.19 0.00 2557.2 2656.6 2457.7 3001.4 1144.5 352.26 6.33 2556 23526.73 0.00 0.00 2.80 0.000 0.000 0.029 2557.47 2657.56 2457.38 3002.19 2275.75 0 0 0 30.00 30.00 15.94
23832.98 18759 77.86 3.32 60.00 2557.2 2656.6 2457.7 3002.5 2276.8 332.78 5.80 2588 23852.23 0.00 0.00 3.13 0.000 0.000 0.091 2556.94 2655.19 2458.69 3001.00 3352.38 0 0 0 30.00 30.00 15.63
23903.23 19527 77.86 3.43 0.00 2557.0 2656.4 2457.5 3001.8 3352.5 328.47 6.20 2599 23921.34 0.00 0.00 2.78 0.000 0.000 0.021 2557.34 2656.31 2458.38 3002.31 2199.38 0 0 0 30.00 30.00 15.91
24227.60 10791 145.32 3.57 -60.00 2557.3 2656.9 2457.8 3002.6 2197.8 311.41 4.79 2631 24323.92 53.49 0.00 3.03 1.615 0.000 0.077 2295.78 2367.94 2223.62 3002.12 1144.88 0 0 0 10.98 30.00 15.70
24379.40 3077 145.32 3.57 0.00 2290.9 2368.0 2213.9 3002.6 1144.8 300.14 9.39 2654 24397.91 0.00 0.00 2.82 0.000 0.000 0.030 2291.22 2368.56 2213.88 3003.00 2274.81 0 0 0 30.00 30.00 15.78
24703.89 18435 145.32 3.57 0.00 2288.0 2367.8 2208.2 3002.8 2274.4 271.38 8.73 2686 24707.96 0.00 0.00 0.00 0.000 0.000 0.000 2287.84 2367.81 2207.88 3002.19 2275.00 0 0 0 30.00 30.00 30.00
25013.92 18951 145.32 3.57 -60.00 2286.8 2367.8 2205.8 3003.2 2274.9 244.91 8.86 2717 25033.33 0.00 0.00 3.24 0.000 0.000 0.071 2287.28 2367.75 2206.81 3002.12 1145.69 0 0 0 30.00 30.00 15.66
25093.82 19463 145.32 3.57 0.00 2286.5 2367.7 2205.4 3002.6 1145.7 237.56 8.97 2730 25112.35 0.00 0.00 2.82 0.000 0.000 0.029 2286.59 2367.12 2206.06 3001.44 2274.44 0 0 0 30.00 30.00 15.77
25418.19 18951 145.32 3.57 -60.00 2286.7 2368.8 2204.6 3002.4 2274.6 211.25 8.29 2762 25437.43 0.00 0.00 3.18 0.000 0.000 0.070 2286.69 2368.06 2205.31 3002.25 1146.12 0 0 0 30.00 30.00 15.78
25503.78 19463 145.32 3.57 0.00 2285.8 2368.1 2203.6 3002.4 1146.2 203.87 8.71 2776 25521.96 0.00 0.00 2.82 0.000 0.000 0.029 2286.72 2368.94 2204.50 3002.50 2275.12 0 0 0 30.00 30.00 15.77
25827.81 18951 145.32 3.57 -60.00 2285.6 2368.1 2203.1 3002.8 2275.8 176.32 8.60 2808 25846.81 0.00 0.00 3.19 0.000 0.000 0.070 2285.44 2368.06 2202.81 3001.94 1144.69 0 0 0 30.00 30.00 15.69
25983.05 19463 145.32 3.57 0.00 2285.2 2368.1 2202.4 3002.4 1144.7 161.90 9.36 2836 26001.22 0.00 0.00 2.82 0.000 0.000 0.029 2286.06 2367.69 2204.44 3001.75 2275.75 0 0 0 30.00 30.00 15.71
26307.07 18695 145.32 3.57 60.00 2285.3 2368.1 2202.6 3002.3 2275.8 132.14 8.40 2868 26326.08 0.00 0.00 3.14 0.000 0.000 0.090 2286.09 2369.62 2202.56 3003.38 3350.38 0 0 0 30.00 30.00 15.65
26352.28 19463 145.32 3.57 0.00 2285.0 2367.9 2202.1 3002.6 3351.2 128.11 9.02 2874 26369.66 0.00 0.00 2.74 0.000 0.000 0.021 2285.25 2367.19 2203.31 3002.25 2199.44 0 0 0 30.00 30.00 15.78
26675.91 19015 145.32 3.64 -60.00 2284.9 2367.8 2202.0 3003.1 2198.8 103.37 6.79 2906 26694.10 0.00 0.00 2.97 0.000 0.000 0.073 2286.47 2368.94 2204.00 3002.50 1145.69 0 0 0 30.00 30.00 15.73
26755.31 19463 145.32 3.64 0.00 2285.2 2368.3 2202.1 3002.3 1145.7 97.53 7.56 2919 26773.80 0.00 0.00 2.78 0.000 0.000 0.028 2284.94 2368.38 2201.50 3003.00 2277.88 0 0 0 30.00 30.00 15.66
26960.06 19015 145.32 3.79 -60.00 2285.2 2368.2 2202.2 3002.3 2277.1 85.02 5.58 2957 26979.78 0.00 0.00 3.17 0.000 0.000 0.067 2286.62 2369.31 2203.94 3002.94 1145.62 0 0 0 30.00 30.00 15.65
27161.56 19463 145.32 3.79 0.00 2284.7 2367.9 2201.5 3002.4 1145.8 72.16 5.75 2994 27180.06 0.00 0.00 2.77 0.000 0.000 0.028 2285.38 2368.50 2202.25 3002.38 2276.81 0 0 0 30.00 30.00 15.75
27366.32 10535 299.31 4.10 60.00 2285.0 2368.6 2201.4 3002.9 2277.5 69.46 0.60 3032 27548.62 115.85 0.00 3.16 1.273 0.000 0.092 1668.06 1706.50 1629.62 3002.81 3351.50 0 0 0 11.45 30.00 15.45
27555.43 3077 299.31 4.10 0.00 1663.3 1706.5 1620.1 3003.1 3352.1 58.04 10.08 3057 27573.94 0.00 0.00 2.82 0.000 0.000 0.021 1663.03 1706.31 1619.75 3002.06 2202.62 0 0 0 30.00 30.00 15.51
27760.32 18951 299.31 4.10 -60.00 1657.3 1706.2 1608.4 3002.9 2201.7 40.31 7.17 3095 27780.03 0.00 0.00 3.01 0.000 0.000 0.073 1658.41 1707.50 1609.31 3003.25 1144.75 0 0 0 30.00 30.00 15.57
27891.95 19463 299.31 4.10 0.00 1655.9 1706.1 1605.8 3003.1 1144.8 31.03 6.43 3118 27910.06 0.00 0.00 2.78 0.000 0.000 0.027 1656.69 1707.38 1606.00 3002.56 2277.12 0 0 0 30.00 30.00 15.70
28096.67 10275 363.12 4.23 0.00 1654.1 1706.4 1601.7 3003.1 2277.1 19.35 4.96 3156 28168.32 49.46 0.00 0.00 1.160 0.000 0.000 1409.06 1445.12 1373.00 3002.56 2277.31 0 0 0 11.75 30.00 30.00
28354.59 10275 451.20 4.40 -60.00 1402.7 1445.7 1359.6 3003.5 2277.7 9.48 3.79 3203 28454.37 68.96 0.00 0.00 1.139 0.000 0.000 1051.34 1071.69 1031.00 3003.25 2277.50 0 0 0 11.78 30.00 30.00
28460 end climb: SURFACE_DEPTH_REACHED
state 28460 begin surface coast
28536 end surface coast: CONTROL_FINISHED_OK
state 28537 begin surface