Philippines Feb08 * SG122 * Dive index * Mission links * Dive 333 * 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  333 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  54 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  -33937.273 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  071256,1248.383,12017.031,41,1.3,41,-0.8 TGT_NAME  EAST
_CALLS  2 TGT_LATLONG  1250.710,12042.750
_XMS_NAKs  0 TGT_RADIUS  1000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.78 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -73.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  072209,1248.526,12016.949,13,1.3,13,-0.8 MHEAD_RNG_PITCHd_Wd  92.5,46763,-18.6,-9.016
SPEED_LIMITS  0.156,0.206 D_GRID  1048

Post-dive calculations and measurements:
FINISH  -0.0,1.021078 _24V_AH  22.9,61.777
SM_CCo  22824,0.00,0.000,0,0,784,481.77 _10V_AH  10.1,31.734
SM_GC  0.69,13.60,0.00,0.00,0.038,0.000,0.000,248,2171,784,-12.18,0.57,481.77 DATA_FILE_SIZE  62959,1992
IRIDIUM_FIX  1243.25,12016.50,230797,070756 CAP_FILE_SIZE  222876,0
TT8_MAMPS  0.02301 CFSIZE  260165632,229412864
HUMID  2005 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  9.66834 CURRENT  0.084,333.7,1
TCM_TEMP  25.00 GPS  280408,134426,1249.165,12018.407,42,1.2,42,-0.8
XPDR_PINGS  445

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor33167127.12 SBE_CT133924735.95
Roll_motor23780438.29 nil000.00
VBD_pump_during_apogee540138917213.37 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init51103122.44 nil000.00
Iridium_during_connect69160255.25 nil000.00
Iridium_during_xfer2232231141.35
Transponder_ping1234201190.23
Mmodem_TX000.00
Mmodem_RX000.00
GPS13506.79
TT8419619839.15
LPSleep142052314.21
TT8_Active81919163.89
TT8_Sampling3332391339.42
TT8_CF882045379.56
TT8_Kalman000.00
Analog_circuits250612303.85
GPS_charging000.00
Compass32588263.32
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
20 end surface: CONTROL_FINISHED_OK
state 20 begin dive
23 -1.56 -146.0 0.0 0.0 0 84 0.00 0.00 -58.45 0.000 2 0.000 0.000 251 2125 2430
87 -1.56 -146.0 3.3 -7.3 9 126 13.32 2.35 -17.92 0.000 4 0.167 0.051 2561 768 3344
189 -1.35 -146.0 23.6 -17.2 26 196 0.25 2.33 0.00 0.000 6 0.114 0.026 2607 2166 3345
535 -1.21 -146.0 79.8 -14.3 87 542 0.15 2.38 0.00 0.000 4 0.112 0.043 2638 3555 3346
612 -1.14 -146.0 89.6 -12.7 100 619 0.00 2.30 0.00 0.000 6 0.000 0.025 2638 2151 3347
958 -1.14 -146.0 126.3 -9.6 161 964 0.00 2.40 0.00 0.000 4 0.000 0.042 2638 3553 3349
1066 -1.14 -146.0 137.2 -10.0 180 1073 0.00 2.20 0.00 0.000 6 0.000 0.026 2638 2211 3350
1413 -1.25 -146.0 166.9 -8.1 241 1420 0.00 2.53 0.00 0.000 4 0.000 0.044 2638 753 3351
1440 -1.36 -146.0 169.3 -8.6 245 1448 0.12 2.75 0.00 0.000 6 0.054 0.030 2594 2385 3351
1786 -1.36 -146.0 200.8 -9.2 306 1793 0.00 2.00 0.00 0.000 4 0.000 0.047 2594 3553 3350
1828 -1.31 -146.0 204.8 -9.6 313 1836 0.12 1.92 0.00 0.000 6 0.102 0.028 2617 2376 3350
2175 -1.35 -146.0 235.1 -9.3 374 2181 0.00 2.83 0.00 0.000 4 0.000 0.047 2617 762 3349
2240 -1.39 -146.0 241.5 -9.7 385 2247 0.00 2.78 0.00 0.000 6 0.000 0.032 2617 2393 3349
2577 -1.44 -146.0 271.8 -8.5 424 2582 0.12 2.85 0.00 0.000 4 0.054 0.047 2578 757 3347
2611 -1.40 -146.0 275.1 -9.6 426 2619 0.10 2.70 0.00 0.000 6 0.110 0.032 2595 2347 3347
2936 -1.40 -146.0 303.3 -8.6 457 2940 0.00 2.08 0.00 0.000 4 0.000 0.050 2595 3547 3345
2982 -1.40 -146.0 307.8 -10.1 461 2986 0.00 1.98 0.00 0.000 6 0.000 0.031 2595 2354 3345
3316 -1.40 -146.0 336.8 -8.9 492 3320 0.00 2.80 0.00 0.000 4 0.000 0.049 2596 764 3342
3378 -1.40 -146.0 342.5 -8.4 497 3383 0.00 2.67 0.00 0.000 6 0.000 0.033 2596 2330 3342
3706 -1.40 -146.0 369.7 -8.3 527 3709 0.00 2.10 0.00 0.000 4 0.000 0.049 2596 3545 3340
3767 -1.40 -146.0 375.3 -8.2 532 3774 0.00 2.00 0.00 0.000 6 0.000 0.031 2596 2337 3339
4095 -1.40 -146.0 402.9 -8.3 563 4099 0.00 2.80 0.00 0.000 4 0.000 0.051 2595 758 3337
4124 -1.40 -146.0 405.8 -9.5 565 4129 0.00 2.72 0.00 0.000 6 0.000 0.034 2596 2341 3337
4452 -1.40 -146.0 433.6 -8.0 595 4456 0.00 2.10 0.00 0.000 4 0.000 0.051 2596 3544 3335
4513 -1.40 -146.0 439.7 -9.2 600 4520 0.00 2.00 0.00 0.000 6 0.000 0.032 2595 2346 3333
4841 -1.40 -146.0 465.1 -7.5 631 4845 0.00 2.83 0.00 0.000 4 0.000 0.051 2596 760 3332
4863 -1.40 -146.0 467.2 -8.2 632 4870 0.00 2.72 0.00 0.000 6 0.000 0.034 2595 2342 3332
5191 -1.40 -146.0 493.2 -8.6 663 5196 0.00 2.83 0.00 0.000 4 0.000 0.051 2596 756 3329
5214 -1.43 -146.0 495.6 -8.9 664 5221 0.00 2.70 0.00 0.000 6 0.000 0.035 2595 2322 3329
5542 -1.43 -146.0 521.9 -7.8 683 5546 0.00 2.15 0.00 0.000 4 0.000 0.053 2596 3550 3327
5587 -1.43 -146.0 525.8 -8.7 685 5590 0.00 2.05 0.00 0.000 6 0.000 0.033 2596 2330 3327
5915 -1.43 -146.0 549.7 -7.2 701 5916 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2327 3326
6223 -1.43 -146.0 573.0 -7.7 716 6228 0.00 2.80 0.00 0.000 4 0.000 0.054 2595 762 3325
6251 -1.47 -146.0 575.5 -8.4 717 6256 0.00 2.70 0.00 0.000 6 0.000 0.036 2595 2325 3324
6568 -1.47 -146.0 599.5 -7.7 732 6573 0.00 2.15 0.00 0.000 4 0.000 0.055 2596 3545 3322
6614 -1.47 -146.0 603.4 -8.9 734 6617 0.00 2.08 0.00 0.000 6 0.000 0.035 2595 2321 3322
6948 -1.51 -146.0 627.4 -7.3 750 6949 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2318 3321
7258 -1.54 -146.0 650.1 -7.4 765 7259 0.12 0.00 0.00 0.000 6 0.064 0.000 2562 2318 3319
7566 -1.50 -146.0 676.8 -8.6 780 7570 0.00 2.17 0.00 0.000 4 0.000 0.055 2562 3544 3318
7623 -1.45 -146.0 682.5 -10.6 782 7631 0.12 2.05 0.00 0.000 6 0.114 0.035 2583 2332 3317
7940 -1.45 -146.0 708.2 -8.4 798 7944 0.00 2.83 0.00 0.000 4 0.000 0.056 2584 758 3317
7990 -1.49 -146.0 712.8 -9.1 800 7994 0.00 2.67 0.00 0.000 6 0.000 0.037 2584 2298 3316
8306 -1.49 -146.0 737.9 -8.0 815 8310 0.00 2.20 0.00 0.000 4 0.000 0.058 2584 3540 3314
8384 -1.49 -146.0 745.1 -9.7 818 8391 0.00 2.08 0.00 0.000 6 0.000 0.036 2584 2319 3314
8700 -1.49 -146.0 771.9 -8.4 834 8701 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2317 3313
9010 -1.49 -146.0 797.9 -8.4 849 9011 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2318 3312
9319 -1.49 -146.0 823.2 -8.0 864 9323 0.00 2.17 0.00 0.000 4 0.000 0.058 2584 3540 3311
9359 -1.49 -146.0 826.6 -8.0 866 9363 0.00 2.05 0.00 0.000 6 0.000 0.037 2584 2336 3310
9693 -1.49 -146.0 853.0 -8.0 882 9697 0.00 2.83 0.00 0.000 4 0.000 0.060 2584 767 3309
9737 -1.53 -146.0 856.9 -8.8 884 9742 0.00 2.67 0.00 0.000 6 0.000 0.039 2584 2302 3309
10060 -1.53 -146.0 881.6 -7.4 900 10064 0.00 2.20 0.00 0.000 4 0.000 0.059 2584 3542 3308
10123 -1.53 -146.0 886.6 -7.8 903 10127 0.00 2.05 0.00 0.000 6 0.000 0.037 2584 2333 3308
10458 -1.53 -146.0 910.7 -7.4 919 10463 0.00 2.83 0.00 0.000 4 0.000 0.060 2584 767 3307
10503 -1.57 -146.0 914.5 -7.5 921 10507 0.00 2.67 0.00 0.000 6 0.000 0.039 2584 2302 3307
10828 -1.57 -146.0 940.5 -8.2 937 10832 0.00 2.20 0.00 0.000 4 0.000 0.061 2584 3540 3306
10892 -1.57 -146.0 946.1 -8.5 940 10896 0.00 2.05 0.00 0.000 6 0.000 0.038 2584 2340 3306
11229 -1.57 -146.0 970.4 -7.0 956 11234 0.00 2.85 0.00 0.000 4 0.000 0.061 2584 765 3305
11274 -1.63 -146.0 974.0 -7.7 958 11280 0.15 2.70 0.00 0.000 6 0.059 0.039 2546 2309 3305
11491 end dive: TARGET_DEPTH_EXCEEDED
state 11491 begin apogee
11498 -0.35 0.0 991.1 8.4 969 11625 1.42 0.00 122.62 1.390 6 0.110 0.000 2825 2374 2748
11626 end apogee: CONTROL_FINISHED_OK
state 11626 begin climb
11628 1.56 146.0 995.1 0.0 975 11763 1.90 0.00 130.30 1.345 6 0.054 0.000 3247 2375 2152
12067 1.30 146.0 960.4 9.9 997 12072 0.30 2.55 0.00 0.000 4 0.121 0.059 3190 985 2150
12100 1.13 146.0 956.9 9.9 998 12108 0.22 2.42 0.00 0.000 6 0.120 0.041 3151 2354 2150
12417 1.09 158.4 932.0 8.5 1014 12433 0.00 2.55 10.82 1.356 4 0.000 0.059 3150 993 2101
12496 1.01 158.4 924.0 10.9 1016 12504 0.12 2.42 0.00 0.000 6 0.125 0.041 3130 2361 2101
12813 1.06 188.1 896.1 7.7 1032 12841 0.00 0.00 26.25 1.332 6 0.000 0.000 3130 2361 1981
13142 1.07 194.3 867.8 8.7 1048 13152 0.00 2.55 5.62 1.325 4 0.000 0.060 3130 992 1956
13242 1.07 194.3 858.7 9.0 1052 13249 0.00 2.40 0.00 0.000 6 0.000 0.041 3129 2343 1955
13559 1.10 210.1 831.7 8.3 1068 13578 0.00 0.00 14.55 1.312 6 0.000 0.000 3129 2343 1891
13887 1.12 223.6 804.5 8.4 1084 13910 0.00 2.60 12.00 1.298 4 0.000 0.059 3129 987 1836
13973 1.12 223.6 796.2 10.4 1087 13980 0.00 2.38 0.00 0.000 6 0.000 0.040 3130 2326 1836
14289 1.13 229.5 767.9 8.8 1103 14300 0.00 2.47 5.57 1.282 4 0.000 0.059 3130 985 1811
14322 1.13 229.5 765.0 9.0 1104 14329 0.00 2.35 0.00 0.000 6 0.000 0.040 3130 2310 1811
14641 1.20 247.5 738.3 8.2 1120 14660 0.17 0.00 16.40 1.256 6 0.067 0.000 3169 2310 1738
14967 1.17 247.5 706.3 9.7 1136 14971 0.00 2.42 0.00 0.000 4 0.000 0.060 3169 987 1737
15018 1.13 247.5 701.0 10.6 1138 15022 0.00 2.30 0.00 0.000 6 0.000 0.040 3168 2299 1736
15336 1.10 247.5 670.3 9.6 1153 15341 0.12 2.38 0.00 0.000 4 0.117 0.058 3147 992 1736
15402 1.13 262.1 663.9 8.4 1156 15421 0.00 2.25 12.93 1.211 6 0.000 0.039 3147 2281 1679
15729 1.13 267.0 636.1 8.8 1172 15739 0.00 2.65 4.70 1.197 4 0.000 0.059 3148 3730 1659
15768 1.13 267.0 632.4 9.8 1174 15773 0.00 2.53 0.00 0.000 6 0.000 0.039 3147 2290 1659
16095 1.14 272.5 603.5 8.8 1190 16106 0.00 2.40 5.53 1.178 4 0.000 0.058 3147 983 1635
16152 1.18 273.0 598.3 9.0 1192 16158 0.00 2.28 0.00 0.000 6 0.000 0.038 3147 2280 1634
16468 1.22 273.0 569.7 9.2 1208 16470 0.10 0.00 0.00 0.000 6 0.076 0.000 3172 2280 1634
16777 1.22 273.0 539.0 9.7 1223 16778 0.00 0.00 0.00 0.000 6 0.000 0.000 3172 2281 1634
17088 1.22 278.2 511.0 8.8 1238 17098 0.00 2.38 5.25 1.118 4 0.000 0.056 3172 985 1613
17153 1.22 278.2 504.5 9.3 1241 17157 0.00 2.25 0.00 0.000 6 0.000 0.037 3172 2281 1612
17481 1.24 288.3 476.3 8.6 1269 17496 0.00 2.40 9.00 1.079 4 0.000 0.054 3173 995 1572
17530 1.24 288.3 471.5 9.5 1273 17537 0.00 2.17 0.00 0.000 6 0.000 0.036 3172 2246 1571
17858 1.27 304.6 442.0 8.3 1304 17882 0.00 2.75 14.27 1.035 4 0.000 0.057 3172 3727 1505
17929 1.30 321.7 435.4 8.3 1310 17953 0.00 2.55 15.27 1.009 6 0.000 0.037 3172 2260 1435
18271 1.33 323.0 405.5 9.0 1342 18275 0.10 2.28 0.00 0.000 4 0.072 0.055 3197 990 1432
18333 1.33 323.0 399.3 9.2 1347 18337 0.00 2.15 0.00 0.000 6 0.000 0.035 3197 2235 1431
18660 1.33 323.0 366.3 9.8 1377 18665 0.00 2.65 0.00 0.000 4 0.000 0.054 3197 3727 1431
18700 1.33 323.0 361.5 12.2 1380 18705 0.00 2.55 0.00 0.000 6 0.000 0.036 3198 2247 1431
19025 1.33 323.0 327.4 10.5 1410 19029 0.00 2.22 0.00 0.000 4 0.000 0.055 3197 990 1431
19049 1.33 323.0 324.9 10.5 1412 19053 0.00 2.17 0.00 0.000 6 0.000 0.035 3198 2250 1431
19377 1.33 323.0 290.8 10.3 1442 19383 0.00 0.00 0.00 0.000 6 0.000 0.000 3197 2250 1431
19703 1.33 323.0 258.6 9.7 1473 19707 0.00 2.25 0.00 0.000 4 0.000 0.053 3198 989 1431
19735 1.33 323.0 255.4 9.0 1475 19742 0.00 2.12 0.00 0.000 6 0.000 0.035 3197 2232 1431
20077 1.35 332.0 224.7 8.6 1531 20091 0.00 2.75 8.38 0.869 4 0.000 0.053 3198 3734 1394
20115 1.35 332.0 221.4 9.6 1537 20122 0.00 2.60 0.00 0.000 6 0.000 0.035 3197 2228 1394
20460 1.35 332.0 192.0 9.1 1598 20467 0.00 2.65 0.00 0.000 4 0.000 0.051 3197 3728 1394
20491 1.35 332.0 189.0 10.0 1603 20498 0.00 2.53 0.00 0.000 6 0.000 0.034 3198 2249 1394
20837 1.35 332.0 157.6 9.0 1664 20844 0.00 2.25 0.00 0.000 4 0.000 0.053 3198 980 1394
20874 1.38 332.0 154.4 9.6 1670 20881 0.00 2.17 0.00 0.000 6 0.000 0.033 3198 2251 1393
21220 1.50 360.0 127.4 7.8 1731 21249 0.15 2.70 23.55 0.734 4 0.060 0.048 3239 3730 1279
21285 1.50 360.0 122.0 9.7 1741 21292 0.00 2.47 0.00 0.000 6 0.000 0.032 3239 2285 1279
21631 1.60 394.3 96.7 7.5 1802 21665 0.00 2.65 28.12 0.686 4 0.000 0.048 3240 3730 1139
21770 1.71 424.7 86.2 7.7 1825 21804 0.17 2.38 25.27 0.669 6 0.053 0.031 3286 2324 1015
22146 1.84 468.4 57.2 7.1 1890 22187 0.00 2.45 35.47 0.618 4 0.000 0.048 3286 989 837
22223 1.95 480.0 50.9 8.5 1902 22238 0.20 2.05 8.95 0.628 6 0.044 0.029 3342 2205 791
22577 1.95 480.0 16.9 10.8 1964 22584 0.00 2.65 0.00 0.000 4 0.000 0.044 3342 3737 788
22607 1.95 480.0 13.8 10.1 1969 22614 0.00 2.62 0.00 0.000 6 0.000 0.028 3342 2176 788
22720 end climb: SURFACE_DEPTH_REACHED
state 22720 begin surface coast
22741 end surface coast: CONTROL_FINISHED_OK
state 22741 begin surface