Philippines Feb08 * SG122 * Dive index * Mission links * Dive 307 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  122 HD_C  4.5199999e-05 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0
MISSION  6 HEADING  -1 PITCH_ADJ_GAIN  0.029999999 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  307 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  168 ALTIM_TOP_MIN_OBSTACLE  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3733 ALTIM_PING_DEPTH  500
D_TGT  990 TGT_DEFAULT_LAT  47.599998 ROLL_DEG  40 ALTIM_PING_DELTA  10
D_ABORT  1040 TGT_DEFAULT_LON  -122.3 C_ROLL_DIVE  2150 ALTIM_FREQUENCY  13
D_NO_BLEED  100 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2375 ALTIM_PULSE  8
D_FINISH  0 SM_CC  475 HEAD_ERRBAND  15 ALTIM_SENSITIVITY  2
D_PITCH  0 N_FILEKB  4 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 FILEMGR  0 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  0
D_CALL  0 CALL_NDIVES  1 R_PORT_OVSHOOT  49 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  24 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  350 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  1 DEVICE1  2
T_DIVE  366 N_NOSURFACE  0 ROLL_ADJ_GAIN  3 DEVICE2  -1
T_MISSION  439 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0.029999999 DEVICE3  -1
T_ABORT  1440 CALL_TRIES  5 VBD_MIN  417 DEVICE4  -1
T_TURN  225 CALL_WAIT  60 VBD_MAX  3757 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  2748 DEVICE6  -1
T_NO_W  120 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  -2 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  15 VBD_TIMEOUT  720 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.00167 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  5 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -33554.176 VBD_PUMP_AD_RATE_APOGEE  4 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  3 VBD_BLEED_AD_RATE  8 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_PEAK_OFFSET  1.5 UNCOM_BLEED  20 XPDR_DEVICE  24
MAX_BUOY  150 RAFOS_CORR_THRESH  70 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  0 SIM_PITCH  0
GLIDE_SLOPE  30 PITCH_MIN  250 AH0_24V  91.800003 SEABIRD_T_G  0.0044208211
SPEED_FACTOR  1 PITCH_MAX  3579 AH0_10V  61.200001 SEABIRD_T_H  0.00065343338
RHO  1.0274 C_PITCH  2905 PRESSURE_YINT  -4.1162887 SEABIRD_T_I  2.7514026e-05
MASS  51598 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.00025722419 SEABIRD_T_J  3.0288847e-06
NAV_MODE  2 PITCH_CNV  0.0046000001 AD7714Ch0Gain  64 SEABIRD_C_G  -10.084093
FERRY_MAX  45 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1290534
KALMAN_USE  2 PITCH_GAIN  14.2 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0015321091
HD_A  0.0031900001 PITCH_TIMEOUT  20 COMPASS_USE  0 SEABIRD_C_J  0.00018406138
HD_B  0.0133 PITCH_AD_RATE  150 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  093708,1250.918,12029.179,30,1.1,30,-0.8 TGT_NAME  WEST
_CALLS  1 TGT_LATLONG  1245.620,12015.500
_XMS_NAKs  0 TGT_RADIUS  1000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.73 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -73.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  094333,1250.953,12029.192,13,1.3,13,-0.8 MHEAD_RNG_PITCHd_Wd  236.2,26632,-18.6,-9.016
SPEED_LIMITS  0.156,0.206 D_GRID  1441

Post-dive calculations and measurements:
FINISH  -0.1,1.008192 _24V_AH  23.0,56.859
SM_CCo  23186,1.12,0.693,0,0,810,475.15 _10V_AH  10.1,29.160
SM_GC  1.46,0.00,0.00,1.12,0.000,0.000,0.693,253,2119,810,-12.20,-0.88,475.15 DATA_FILE_SIZE  66026,2043
IRIDIUM_FIX  1247.67,12032.42,170797,030354 CAP_FILE_SIZE  231003,0
TT8_MAMPS  0.023777 CFSIZE  260165632,231747584
HUMID  2052 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  9.62928 CURRENT  0.049,125.2,1
TCM_TEMP  24.10 GPS  220408,161156,1249.847,12028.293,42,0.9,42,-0.8
XPDR_PINGS  411

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor34170135.01 SBE_CT137424758.63
Roll_motor23672396.31 nil000.00
VBD_pump_during_apogee533138116959.60 nil000.00
VBD_pump_during_surface169317.94 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2510360.61 nil000.00
Iridium_during_connect36160134.91 nil000.00
Iridium_during_xfer182223935.44
Transponder_ping1154201113.32
Mmodem_TX000.00
Mmodem_RX000.00
GPS13506.78
TT8439819879.65
LPSleep141712313.47
TT8_Active78719157.42
TT8_Sampling3482391399.77
TT8_CF873045338.06
TT8_Kalman000.00
Analog_circuits255112309.28
GPS_charging000.00
Compass34198276.29
RAFOS000.00

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
18 end surface: CONTROL_FINISHED_OK
state 18 begin dive
21 -1.56 -146.0 0.0 0.0 0 80 0.00 0.00 -56.38 0.000 2 0.000 0.000 250 2119 2281
83 -1.56 -146.0 3.0 -7.0 9 129 13.40 2.53 -21.60 0.000 4 0.170 0.054 2559 3555 3346
159 -1.22 -146.0 18.5 -21.8 21 166 0.43 2.33 0.00 0.000 6 0.116 0.028 2638 2161 3347
505 -1.10 -146.0 74.1 -12.2 82 511 0.12 0.00 0.00 0.000 6 0.117 0.000 2660 2161 3349
850 -1.18 -146.0 108.2 -9.3 143 857 0.00 2.42 0.00 0.000 4 0.000 0.043 2660 3571 3351
949 -1.23 -146.0 117.6 -9.2 160 956 0.12 2.35 0.00 0.000 6 0.056 0.027 2621 2144 3352
1296 -1.30 -146.0 148.6 -8.9 221 1303 0.00 2.40 0.00 0.000 4 0.000 0.044 2621 754 3353
1389 -1.33 -146.0 157.3 -9.2 237 1396 0.00 2.58 0.00 0.000 6 0.000 0.028 2621 2291 3353
1736 -1.43 -146.0 186.7 -8.3 298 1743 0.12 2.20 0.00 0.000 4 0.053 0.048 2578 3564 3353
1790 -1.35 -146.0 192.0 -10.0 307 1798 0.17 2.03 0.00 0.000 6 0.095 0.028 2612 2329 3353
2137 -1.44 -146.0 220.6 -8.1 368 2144 0.00 0.00 0.00 0.000 6 0.000 0.000 2612 2328 3353
2482 -1.54 -146.0 248.4 -8.3 429 2490 0.17 2.12 0.00 0.000 4 0.046 0.045 2553 3560 3353
2554 -1.42 -146.0 255.2 -9.9 437 2558 0.20 1.98 0.00 0.000 6 0.100 0.030 2591 2365 3352
2879 -1.42 -146.0 283.6 -8.4 467 2884 0.00 2.83 0.00 0.000 4 0.000 0.049 2591 760 3350
2932 -1.42 -146.0 288.2 -8.2 471 2936 0.00 2.72 0.00 0.000 6 0.000 0.032 2592 2362 3350
3259 -1.47 -146.0 314.2 -7.9 501 3264 0.00 2.83 0.00 0.000 4 0.000 0.049 2591 761 3348
3278 -1.51 -146.0 316.0 -8.2 502 3282 0.00 2.55 0.00 0.000 6 0.000 0.032 2592 2267 3348
3605 -1.57 -146.0 342.7 -8.2 532 3610 0.15 2.67 0.00 0.000 4 0.050 0.050 2541 756 3346
3684 -1.46 -146.0 351.1 -10.6 538 3691 0.22 2.62 0.00 0.000 6 0.104 0.033 2583 2295 3346
4010 -1.46 -146.0 381.5 -9.2 569 4014 0.00 2.20 0.00 0.000 4 0.000 0.051 2583 3560 3344
4051 -1.41 -146.0 385.5 -9.4 572 4055 0.00 2.15 0.00 0.000 6 0.000 0.031 2583 2279 3344
4378 -1.41 -146.0 412.9 -8.3 602 4382 0.00 2.25 0.00 0.000 4 0.000 0.049 2583 3565 3342
4434 -1.35 -146.0 417.7 -8.2 606 4441 0.12 2.12 0.00 0.000 6 0.110 0.032 2605 2298 3342
4759 -1.47 -146.0 443.0 -7.8 637 4763 0.00 2.22 0.00 0.000 4 0.000 0.051 2605 3563 3339
4857 -1.51 -146.0 450.8 -7.8 645 4861 0.12 1.98 0.00 0.000 6 0.061 0.032 2571 2385 3339
5188 -1.51 -146.0 478.5 -7.9 676 5192 0.00 2.08 0.00 0.000 4 0.000 0.051 2572 3567 3336
5295 -1.43 -146.0 487.9 -8.5 685 5303 0.10 2.10 0.00 0.000 6 0.117 0.033 2588 2318 3336
5628 -1.43 -146.0 512.7 -7.5 709 5633 0.00 2.78 0.00 0.000 4 0.000 0.053 2588 762 3334
5661 -1.43 -146.0 515.4 -7.8 710 5668 0.00 2.70 0.00 0.000 6 0.000 0.035 2588 2330 3334
5978 -1.47 -146.0 537.8 -7.1 726 5982 0.00 2.80 0.00 0.000 4 0.000 0.052 2588 762 3332
6022 -1.47 -146.0 541.3 -7.4 728 6026 0.00 2.62 0.00 0.000 6 0.000 0.034 2588 2293 3332
6344 -1.55 -146.0 563.9 -6.8 744 6348 0.00 2.75 0.00 0.000 4 0.000 0.053 2588 753 3330
6450 -1.55 -146.0 571.8 -7.4 749 6455 0.00 2.47 0.00 0.000 6 0.000 0.034 2588 2196 3330
6780 -1.62 -146.0 593.6 -6.7 765 6785 0.17 2.58 0.00 0.000 4 0.050 0.053 2537 754 3328
6824 -1.50 -146.0 597.5 -8.8 767 6830 0.22 2.67 0.00 0.000 6 0.108 0.035 2578 2302 3327
7151 -1.50 -146.0 621.5 -7.4 783 7155 0.00 2.20 0.00 0.000 4 0.000 0.054 2578 3557 3326
7184 -1.46 -146.0 624.6 -7.9 784 7192 0.00 2.12 0.00 0.000 6 0.000 0.035 2578 2298 3326
7500 -1.46 -146.0 648.7 -7.7 800 7504 0.00 2.22 0.00 0.000 4 0.000 0.054 2578 3556 3325
7535 -1.43 -146.0 651.8 -8.5 801 7542 0.00 2.08 0.00 0.000 6 0.000 0.035 2578 2326 3325
7852 -1.49 -146.0 676.1 -7.9 817 7856 0.00 2.80 0.00 0.000 4 0.000 0.055 2579 762 3324
7930 -1.49 -146.0 682.9 -8.7 820 7937 0.00 2.58 0.00 0.000 6 0.000 0.035 2578 2258 3323
8246 -1.56 -146.0 707.6 -7.8 836 8251 0.00 2.70 0.00 0.000 4 0.000 0.056 2578 757 3322
8308 -1.56 -146.0 712.5 -7.6 839 8313 0.00 2.50 0.00 0.000 6 0.000 0.035 2578 2205 3321
8636 -1.56 -146.0 736.7 -7.0 855 8641 0.00 2.38 0.00 0.000 4 0.000 0.056 2578 3552 3320
8726 -1.53 -146.0 743.2 -7.1 859 8730 0.00 2.25 0.00 0.000 6 0.000 0.036 2578 2229 3320
9048 -1.53 -146.0 765.1 -7.1 875 9052 0.00 2.35 0.00 0.000 4 0.000 0.054 2578 3553 3319
9089 -1.53 -146.0 768.2 -7.7 877 9093 0.00 2.22 0.00 0.000 6 0.000 0.035 2578 2248 3318
9418 -1.53 -146.0 792.9 -7.6 893 9423 0.00 2.33 0.00 0.000 4 0.000 0.054 2578 3557 3317
9463 -1.53 -146.0 796.8 -7.8 895 9467 0.00 2.17 0.00 0.000 6 0.000 0.036 2578 2278 3317
9786 -1.53 -146.0 821.4 -7.9 911 9790 0.00 2.28 0.00 0.000 4 0.000 0.055 2578 3555 3317
9814 -1.53 -146.0 823.9 -8.8 912 9818 0.00 2.15 0.00 0.000 6 0.000 0.036 2578 2291 3317
10130 -1.53 -146.0 848.3 -7.8 927 10131 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2289 3316
10440 -1.53 -146.0 873.8 -8.4 942 10444 0.00 2.22 0.00 0.000 4 0.000 0.056 2578 3547 3315
10472 -1.53 -146.0 876.8 -9.0 943 10476 0.00 2.10 0.00 0.000 6 0.000 0.036 2578 2311 3315
10789 -1.53 -146.0 902.5 -8.0 958 10790 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2309 3314
11098 -1.53 -146.0 926.3 -7.5 973 11099 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2310 3313
11408 -1.53 -146.0 950.3 -7.7 988 11412 0.00 2.20 0.00 0.000 4 0.000 0.057 2578 3546 3312
11448 -1.53 -146.0 953.7 -8.5 990 11451 0.00 2.10 0.00 0.000 6 0.000 0.037 2578 2317 3312
11781 -1.53 -146.0 977.2 -7.1 1006 11783 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2314 3310
11965 end dive: TARGET_DEPTH_EXCEEDED
state 11965 begin apogee
11971 -0.35 0.0 990.2 7.0 1015 12098 1.23 0.00 123.05 1.381 6 0.100 0.000 2823 2378 2748
12099 end apogee: CONTROL_FINISHED_OK
state 12099 begin climb
12102 1.56 146.0 994.7 0.0 1021 12236 1.92 0.00 129.60 1.335 6 0.055 0.000 3250 2379 2152
12540 1.30 146.0 958.5 11.1 1043 12545 0.30 2.55 0.00 0.000 4 0.120 0.059 3192 991 2150
12620 1.13 146.0 949.9 9.9 1046 12628 0.22 2.42 0.00 0.000 6 0.120 0.040 3152 2364 2150
12938 1.08 151.9 921.7 8.8 1062 12944 0.00 0.00 4.80 1.329 6 0.000 0.000 3152 2364 2128
13246 1.05 178.7 896.9 7.8 1077 13277 0.00 2.65 23.83 1.326 4 0.000 0.060 3152 989 2018
13386 1.00 186.0 884.6 8.7 1083 13404 0.15 2.38 6.60 1.328 6 0.120 0.040 3126 2339 1989
13714 1.05 213.9 858.8 7.8 1099 13744 0.00 2.58 24.62 1.302 4 0.000 0.061 3126 993 1875
13795 1.07 228.3 851.9 8.4 1102 13813 0.00 2.35 13.00 1.290 6 0.000 0.040 3126 2319 1817
14132 1.19 273.1 826.9 7.0 1119 14178 0.15 2.58 40.35 1.267 4 0.067 0.061 3164 990 1633
14271 1.19 273.1 814.8 9.4 1125 14275 0.00 2.30 0.00 0.000 6 0.000 0.040 3164 2285 1630
14598 1.19 273.1 784.3 10.1 1141 14602 0.00 2.38 0.00 0.000 4 0.000 0.061 3164 991 1628
14637 1.19 273.1 779.9 12.1 1143 14641 0.00 2.25 0.00 0.000 6 0.000 0.039 3164 2265 1628
14964 1.19 273.1 745.5 10.7 1159 14968 0.00 2.35 0.00 0.000 4 0.000 0.061 3164 983 1628
15027 1.19 273.1 738.5 11.3 1162 15031 0.00 2.22 0.00 0.000 6 0.000 0.040 3165 2246 1628
15354 1.19 273.1 706.4 9.4 1178 15358 0.00 2.30 0.00 0.000 4 0.000 0.061 3164 989 1628
15421 1.19 273.1 699.6 10.1 1181 15425 0.00 2.15 0.00 0.000 6 0.000 0.039 3164 2217 1627
15749 1.19 273.1 666.2 10.6 1197 15753 0.00 2.25 0.00 0.000 4 0.000 0.061 3164 985 1628
15789 1.19 273.1 661.8 11.1 1199 15793 0.00 2.12 0.00 0.000 6 0.000 0.039 3164 2197 1627
16116 1.21 279.6 631.5 8.7 1215 16122 0.00 0.00 4.70 1.200 6 0.000 0.000 3164 2197 1608
16426 1.22 285.5 604.3 8.8 1230 16434 0.00 0.00 6.00 1.188 6 0.000 0.000 3164 2197 1583
16758 1.26 309.4 576.7 7.9 1246 16784 0.00 2.28 20.98 1.131 4 0.000 0.060 3164 990 1486
16847 1.29 309.4 568.9 9.3 1250 16851 0.00 2.12 0.00 0.000 6 0.000 0.038 3164 2202 1484
17169 1.36 321.1 541.3 8.5 1266 17182 0.17 0.00 10.32 1.127 6 0.061 0.000 3205 2202 1439
17477 1.36 321.1 509.0 10.5 1281 17481 0.00 2.22 0.00 0.000 4 0.000 0.059 3205 982 1437
17522 1.31 321.1 504.1 11.0 1283 17526 0.00 2.08 0.00 0.000 6 0.000 0.038 3205 2174 1436
17848 1.31 321.1 473.6 10.0 1311 17853 0.00 2.78 0.00 0.000 4 0.000 0.057 3205 3728 1436
17889 1.28 321.1 469.1 10.8 1314 17894 0.12 2.67 0.00 0.000 6 0.131 0.039 3186 2186 1436
18214 1.28 321.1 437.4 9.6 1344 18218 0.00 2.15 0.00 0.000 4 0.000 0.059 3186 990 1436
18249 1.28 321.1 434.0 10.7 1347 18253 0.00 2.08 0.00 0.000 6 0.000 0.037 3186 2182 1435
18581 1.28 321.1 403.0 9.7 1378 18586 0.00 2.78 0.00 0.000 4 0.000 0.056 3186 3736 1435
18625 1.28 321.1 398.3 10.5 1381 18632 0.00 2.67 0.00 0.000 6 0.000 0.038 3186 2196 1435
18954 1.32 321.1 366.9 9.3 1412 18959 0.00 2.75 0.00 0.000 4 0.000 0.054 3186 3730 1435
18999 1.33 326.5 361.9 8.8 1415 19009 0.00 2.53 4.53 1.012 6 0.000 0.038 3186 2270 1417
19336 1.42 343.0 330.8 8.3 1447 19360 0.12 2.72 15.02 0.952 4 0.064 0.054 3216 3730 1349
19422 1.38 343.0 322.3 10.7 1454 19430 0.00 2.42 0.00 0.000 6 0.000 0.038 3216 2332 1348
19750 1.38 343.0 293.0 9.4 1485 19753 0.00 2.45 0.00 0.000 4 0.000 0.057 3216 964 1347
19765 1.38 343.0 291.2 9.7 1486 19773 0.00 2.28 0.00 0.000 6 0.000 0.036 3216 2275 1346
20093 1.38 343.0 259.4 9.5 1517 20097 0.00 2.60 0.00 0.000 4 0.000 0.055 3216 3733 1345
20114 1.38 343.0 257.0 10.3 1518 20122 0.00 2.70 0.00 0.000 6 0.000 0.038 3216 2177 1346
20454 1.41 358.9 226.4 8.3 1572 20474 0.00 2.20 13.50 0.869 4 0.000 0.057 3216 966 1283
20542 1.41 358.9 218.1 9.6 1587 20550 0.00 2.08 0.00 0.000 6 0.000 0.035 3217 2163 1282
20888 1.41 358.9 189.3 9.1 1648 20895 0.00 2.78 0.00 0.000 4 0.000 0.053 3216 3727 1282
20930 1.41 358.9 185.1 10.5 1655 20936 0.00 2.80 0.00 0.000 6 0.000 0.037 3216 2111 1282
21276 1.46 363.0 153.4 8.8 1716 21283 0.00 0.00 3.38 0.834 6 0.000 0.000 3217 2111 1268
21622 1.63 386.1 124.2 8.0 1777 21650 0.15 2.95 19.70 0.749 4 0.054 0.049 3263 3737 1174
21709 1.67 408.8 117.4 8.0 1791 21736 0.00 2.80 19.27 0.733 6 0.000 0.034 3263 2119 1081
22076 1.79 424.8 90.1 8.3 1855 22098 0.15 2.08 12.93 0.714 4 0.051 0.052 3309 970 1015
22122 1.79 424.8 85.7 10.1 1862 22129 0.00 2.22 0.00 0.000 6 0.000 0.032 3309 2260 1014
22468 1.90 450.4 59.9 7.9 1923 22494 0.00 2.70 20.67 0.656 4 0.000 0.048 3309 3737 910
22546 1.96 450.4 53.2 9.3 1936 22554 0.00 2.62 0.00 0.000 6 0.000 0.031 3308 2201 908
22893 2.08 471.6 25.3 8.1 1997 22916 0.17 2.78 16.95 0.604 4 0.049 0.044 3363 3734 824
22974 2.04 471.6 17.6 9.8 2010 22981 0.00 2.50 0.00 0.000 6 0.000 0.031 3363 2260 823
23137 end climb: SURFACE_DEPTH_REACHED
state 23139 begin surface coast
23161 end surface coast: CONTROL_FINISHED_OK
state 23161 begin surface