SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 334 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  543 HEADING  -1 ROLL_MAX  3944 ALTIM_TOP_MIN_OBSTACLE  1
MISSION  6 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DEPTH  1050
DIVE  334 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  3400 ALTIM_PING_DELTA  15
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  3280 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LAT  -4230 HEAD_ERRBAND  15 ALTIM_PULSE  4
D_TGT  1000 TGT_DEFAULT_LON  -200 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  3
D_NO_BLEED  200 SM_CC  230 R_PORT_OVSHOOT  44 XPDR_INHIBIT  90
D_BOOST  0 N_FILEKB  4 R_STBD_OVSHOOT  19 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  5 FILEMGR  0 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0.050000001
D_FINISH  0 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  0 KERMIT  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  0 N_NOCOMM  1 VBD_MIN  507 DEVICE1  2
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 C_VBD  2474 DEVICE3  131
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  118
T_DIVE  400 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE5  -1
T_MISSION  420 CAPUPLOAD  0 VBD_TIMEOUT  800 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.00061500003 LOGGERS  0
T_TURN  225 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 T_GPS  15 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  60 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_CHARGE  -8793.9219 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  0 T_RSLEEP  1 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
D_OFFGRID  250 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  86 FG_AHR_10V  0 SIM_W  0
MAX_BUOY  150 PITCH_MAX  3908 FG_AHR_24V  0 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  1628 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043127281
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_YINT  -55.913475 SEABIRD_T_H  0.00062185986
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011638312 SEABIRD_T_I  2.2048062e-05
RHO  1.027 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.2117231e-06
MASS  52459 PITCH_GAIN  39 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.303595
NAV_MODE  1 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1762303
FERRY_MAX  45 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.001936322
KALMAN_USE  1 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00024357962
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  20
HD_C  9.9999997e-06 ROLL_MIN  394 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  090213,145057,-4231.981,837.603,38,1.4,41,-25.0 TGT_NAME  GH1
_CALLS  1 TGT_LATLONG  -4230.000,820.000
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.200,-0.139
_SM_DEPTHo  2.11 KALMAN_X  34614.0,-118.0,-52.5,14703.7,994.1
_SM_ANGLEo  -66.0 KALMAN_Y  242666.8,-146.1,55.8,-246184.6,3926.6
GPS2  090213,150135,-4231.991,837.651,32,1.1,32,-25.0 MHEAD_RNG_PITCHd_Wd  260.1,24381,-14.7,-8.333
SPEED_LIMITS  0.144,0.244 D_GRID  1000

Post-dive calculations and measurements:
FINISH  1.3,1.013916 _10V_AH  9.9,38.550
SM_CCo  20366,40.72,0.708,1,0,1533,230.09 FG_AHR_24Vo  0.000
SM_GC  2.41,0.00,0.00,40.72,0.000,0.000,0.708,51,3386,1533,-4.93,-0.40,230.09 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4215.72,838.78,090213,080803 MEM  353916
TT8_MAMPS  0.025466 DATA_FILE_SIZE  73851,1038
HUMID  56.49 CAP_FILE_SIZE  155893,0
INTERNAL_PRESSURE  9.01519 CFSIZE  259252224,236195840
TCM_TEMP  15.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS  0 GPS  090213,204404,-4232.102,834.618,36,0.9,36,-25.0
_24V_AH  21.6,56.187

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1123059.44 SBE_CT67724351.44
Roll_motor7561100.17 AA43302318331652.92
VBD_pump_during_apogee298179411560.78 WL_BB2FLVMT10791052447.78
VBD_pump_during_surface40708623.14 QSP2150464443.93
VBD_valve000.00 nil000.00
Iridium_during_init2610359.90 nil000.00
Iridium_during_connect2216077.61 nil000.00
Iridium_during_xfer3782231824.24 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS34269.27
TT8258414382.70
LPSleep138442300.16
TT8_Active4361461.39
TT8_Sampling3045371128.36
TT8_CF8113347529.23
TT8_Kalman335919.54
Analog_circuits158812188.67
GPS_charging000.00
Compass292615455.66
RAFOS000.00
Transponder150.05

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
19 end surface: CONTROL_FINISHED_OK
state 19 begin dive
22 -0.47 -146.1 0.0 0.0 0 59 0.00 0.00 -34.50 0.000 2 0.000 0.000 56 3411 2341 0 0 0 0 0 0
63 -0.47 -146.1 3.1 -4.1 4 106 5.90 2.22 -27.23 0.000 4 0.230 0.044 1470 1979 3072 0 0 0 0 0 0
308 -0.47 -146.1 22.8 -8.8 40 319 0.00 2.33 0.00 0.000 6 0.000 0.054 1461 3397 3074 0 0 0 0 0 0
400 -0.47 -146.1 32.8 -11.5 53 407 0.00 0.90 0.00 0.000 4 0.000 0.058 1457 3959 3074 0 0 0 0 0 0
483 -0.47 -146.1 43.6 -12.6 66 493 0.00 0.85 0.00 0.000 6 0.000 0.036 1457 3402 3075 0 0 0 0 0 0
736 -0.47 -146.1 72.1 -11.5 107 741 0.00 2.15 0.00 0.000 4 0.000 0.030 1457 1969 3075 0 0 0 0 0 0
767 -0.47 -146.1 75.1 -10.3 112 775 0.10 2.35 0.00 0.000 6 0.155 0.057 1471 3410 3075 0 0 0 0 0 0
1120 -0.47 -146.1 105.0 -7.8 166 1124 0.00 0.85 0.00 0.000 4 0.000 0.059 1468 3947 3076 0 0 0 0 0 0
1202 -0.47 -146.1 112.0 -8.6 170 1210 0.00 0.82 0.00 0.000 6 0.000 0.036 1468 3401 3076 0 0 0 0 0 0
1526 -0.47 -146.1 138.5 -8.5 191 1527 0.00 0.00 0.00 0.000 6 0.000 0.000 1468 3401 3076 0 0 0 0 0 0
1838 -0.47 -146.1 163.1 -7.2 211 1842 0.00 0.88 0.00 0.000 4 0.000 0.059 1464 3950 3077 0 0 0 0 0 0
1912 -0.47 -146.1 168.8 -8.8 215 1915 0.00 0.85 0.00 0.000 6 0.000 0.035 1464 3384 3077 0 0 0 0 0 0
2245 -0.47 -146.1 192.6 -7.0 236 2249 0.00 2.10 0.00 0.000 4 0.000 0.028 1464 1971 3077 0 0 0 0 0 0
2286 -0.47 -146.1 195.9 -6.8 238 2294 0.00 2.35 0.00 0.000 6 0.000 0.055 1453 3404 3077 0 0 0 0 0 0
2610 -0.47 -146.1 222.2 -8.8 259 2613 0.00 0.85 0.00 0.000 4 0.000 0.058 1449 3945 3077 0 0 0 0 0 0
2736 -0.47 -146.1 235.7 -10.5 266 2742 0.00 0.82 0.00 0.000 6 0.000 0.035 1449 3397 3077 0 0 0 0 0 0
3057 -0.47 -146.1 268.4 -10.8 284 3060 0.00 0.88 0.00 0.000 4 0.000 0.058 1445 3948 3077 0 0 0 0 0 0
3129 -0.47 -146.1 276.4 -11.2 287 3133 0.08 0.82 0.00 0.000 6 0.135 0.035 1469 3401 3077 0 0 0 0 0 0
3464 -0.47 -146.1 306.1 -8.6 303 3465 0.00 0.00 0.00 0.000 6 0.000 0.000 1469 3401 3077 0 0 0 0 0 0
3772 -0.47 -146.1 331.4 -8.1 318 3774 0.00 0.00 0.00 0.000 6 0.000 0.000 1470 3401 3077 0 0 0 0 0 0
4082 -0.47 -146.1 354.2 -7.0 333 4084 0.00 0.00 0.00 0.000 6 0.000 0.000 1469 3401 3077 0 0 0 0 0 0
4392 -0.47 -146.1 373.8 -6.2 348 4393 0.00 0.00 0.00 0.000 6 0.000 0.000 1469 3401 3077 0 0 0 0 0 0
4701 -0.47 -146.1 391.4 -5.8 363 4707 0.00 2.15 0.00 0.000 4 0.000 0.028 1469 1970 3077 0 0 0 0 0 0
4741 -0.47 -146.1 393.9 -5.7 364 4749 0.00 2.33 0.00 0.000 6 0.000 0.052 1461 3398 3076 0 0 0 0 0 0
5067 -0.47 -146.1 415.5 -7.0 377 5071 0.00 0.88 0.00 0.000 4 0.000 0.058 1456 3951 3076 0 0 0 0 0 0
5156 -0.47 -146.1 422.9 -8.5 379 5160 0.00 0.85 0.00 0.000 6 0.000 0.035 1456 3386 3076 0 0 0 0 0 0
5477 -0.47 -146.1 449.2 -8.7 390 5478 0.00 0.00 0.00 0.000 6 0.000 0.000 1456 3387 3075 0 0 0 0 0 0
5781 -0.47 -146.1 477.7 -9.5 400 5783 0.00 0.00 0.00 0.000 6 0.000 0.000 1456 3386 3075 0 0 0 0 0 0
6088 -0.47 -146.1 508.5 -10.1 410 6089 0.00 0.00 0.00 0.000 6 0.000 0.000 1456 3386 3074 0 0 0 0 0 0
6395 -0.47 -146.1 538.6 -9.6 420 6396 0.00 0.00 0.00 0.000 6 0.000 0.000 1456 3386 3074 0 0 0 0 0 0
6700 -0.47 -146.1 566.3 -8.8 430 6702 0.00 0.00 0.00 0.000 6 0.000 0.000 1456 3386 3073 0 0 0 0 0 0
7007 -0.47 -146.1 591.2 -7.9 440 7008 0.00 0.00 0.00 0.000 6 0.000 0.000 1456 3386 3073 0 0 0 0 0 0
7314 -0.47 -146.1 614.6 -7.7 450 7315 0.00 0.00 0.00 0.000 6 0.000 0.000 1456 3386 3072 0 0 0 0 0 0
7620 -0.47 -146.1 638.0 -7.6 460 7625 0.00 0.90 0.00 0.000 4 0.000 0.060 1452 3944 3071 0 0 0 0 0 0
7732 -0.47 -146.1 647.6 -8.4 463 7736 0.00 0.82 0.00 0.000 6 0.000 0.037 1452 3406 3071 0 0 0 0 0 0
8062 -0.47 -146.1 673.3 -7.8 474 8066 0.00 0.88 0.00 0.000 4 0.000 0.060 1448 3949 3071 0 0 0 0 0 0
8124 -0.47 -146.1 678.6 -8.1 475 8131 0.00 0.85 0.00 0.000 6 0.000 0.037 1448 3394 3071 0 0 0 0 0 0
8437 -0.47 -146.1 704.1 -8.2 486 8443 0.00 0.90 0.00 0.000 4 0.000 0.060 1444 3953 3070 0 0 0 0 0 0
8522 -0.47 -146.1 712.0 -9.2 488 8526 0.08 0.85 0.00 0.000 6 0.132 0.036 1468 3396 3070 0 0 0 0 0 0
8846 -0.47 -146.1 734.6 -7.0 499 8848 0.00 0.00 0.00 0.000 6 0.000 0.000 1468 3396 3070 0 0 0 0 0 0
9153 -0.47 -146.1 755.9 -7.0 509 9154 0.00 0.00 0.00 0.000 6 0.000 0.000 1468 3396 3069 0 0 0 0 0 0
9461 -0.47 -146.1 776.4 -6.6 519 9464 0.00 0.90 0.00 0.000 4 0.000 0.060 1466 3953 3069 0 0 0 0 0 0
9505 -0.47 -146.1 779.9 -7.3 520 9508 0.00 0.85 0.00 0.000 6 0.000 0.037 1466 3398 3069 0 0 0 0 0 0
9835 -0.47 -146.1 802.6 -7.0 531 9836 0.00 0.00 0.00 0.000 6 0.000 0.000 1466 3397 3068 0 0 0 0 0 0
10141 -0.47 -146.1 823.8 -6.9 541 10143 0.00 0.00 0.00 0.000 6 0.000 0.000 1465 3397 3068 0 0 0 0 0 0
10448 -0.47 -146.1 844.2 -6.7 551 10449 0.00 0.00 0.00 0.000 6 0.000 0.000 1466 3397 3067 0 0 0 0 0 0
10753 -0.47 -146.1 863.6 -6.3 561 10755 0.00 0.00 0.00 0.000 6 0.000 0.000 1465 3397 3067 0 0 0 0 0 0
11060 -0.47 -146.1 882.1 -6.0 571 11061 0.00 0.00 0.00 0.000 6 0.000 0.000 1465 3397 3067 0 0 0 0 0 0
11367 -0.47 -146.1 899.9 -5.8 581 11368 0.00 0.00 0.00 0.000 6 0.000 0.000 1465 3397 3066 0 0 0 0 0 0
11672 -0.47 -146.1 917.1 -5.5 591 11673 0.00 0.00 0.00 0.000 6 0.000 0.000 1465 3396 3066 0 0 0 0 0 0
11978 -0.47 -146.1 935.0 -5.9 601 11979 0.00 0.00 0.00 0.000 6 0.000 0.000 1465 3397 3065 0 0 0 0 0 0
12286 -0.47 -146.1 953.8 -6.2 611 12287 0.00 0.00 0.00 0.000 6 0.000 0.000 1465 3397 3065 0 0 0 0 0 0
12591 -0.47 -146.1 973.8 -6.7 621 12596 0.00 0.90 0.00 0.000 4 0.000 0.061 1462 3950 3065 0 0 0 0 0 0
12605 end dive: HALF_MISSION_TIME_EXCEEDED
state 12605 begin apogee
12613 -0.13 0.0 975.3 6.7 621 12766 0.38 0.00 144.73 1.795 6 0.125 0.000 1580 3276 2473 0 0 0 0 1 0
12767 end apogee: CONTROL_FINISHED_OK
state 12768 begin climb
12770 0.47 146.1 979.0 0.0 626 12937 0.60 2.47 153.50 1.740 4 0.080 0.031 1785 1866 1877 0 0 0 0 1 0
12990 0.47 146.1 959.2 10.0 632 12998 0.00 2.53 0.00 0.000 6 0.000 0.050 1785 3279 1873 0 0 0 0 0 0
13304 0.47 146.1 918.2 13.3 643 13309 0.00 1.10 0.00 0.000 4 0.000 0.058 1785 3946 1867 0 0 0 0 0 0
13388 0.47 146.1 905.3 15.2 645 13392 0.00 1.05 0.00 0.000 6 0.000 0.033 1790 3261 1866 0 0 0 0 0 0
13713 0.47 146.1 861.5 13.5 656 13714 0.00 0.00 0.00 0.000 6 0.000 0.000 1790 3262 1864 0 0 0 0 0 0
14019 0.47 146.1 820.1 13.7 666 14023 0.00 1.12 0.00 0.000 4 0.000 0.058 1790 3952 1863 0 0 0 0 0 0
14103 0.47 146.1 807.2 14.9 668 14107 0.00 1.00 0.00 0.000 6 0.000 0.033 1795 3290 1863 0 0 0 0 0 0
14428 0.47 146.1 761.5 14.2 679 14432 0.00 1.08 0.00 0.000 4 0.000 0.059 1795 3956 1862 0 0 0 0 0 0
14483 0.47 146.1 752.7 16.2 680 14487 0.00 1.02 0.00 0.000 6 0.000 0.033 1800 3274 1862 0 0 0 0 0 0
14802 0.47 146.1 706.5 14.4 691 14803 0.00 0.00 0.00 0.000 6 0.000 0.000 1800 3274 1861 0 0 0 0 0 0
15108 0.47 146.1 662.3 14.3 701 15111 0.00 1.10 0.00 0.000 4 0.000 0.058 1800 3953 1861 0 0 0 0 0 0
15211 0.47 146.1 646.0 15.8 704 15214 0.00 1.00 0.00 0.000 6 0.000 0.032 1805 3278 1860 0 0 0 0 0 0
15552 0.47 146.1 597.4 13.9 715 15553 0.00 0.00 0.00 0.000 6 0.000 0.000 1805 3279 1860 0 0 0 0 0 0
15858 0.47 146.1 554.5 14.0 725 15859 0.00 0.00 0.00 0.000 6 0.000 0.000 1805 3279 1860 0 0 0 0 0 0
16166 0.47 146.1 511.2 13.8 735 16170 0.00 1.10 0.00 0.000 4 0.000 0.056 1805 3959 1859 0 0 0 0 0 0
16226 0.47 146.1 501.6 15.8 736 16234 0.10 1.00 0.00 0.000 6 0.168 0.032 1782 3287 1860 0 0 0 0 0 0
16540 0.47 146.1 463.9 11.7 747 16541 0.00 0.00 0.00 0.000 6 0.000 0.000 1781 3287 1859 0 0 0 0 0 0
16847 0.47 146.1 427.6 11.8 757 16851 0.00 1.08 0.00 0.000 4 0.000 0.056 1782 3954 1859 0 0 0 0 0 0
16915 0.47 146.1 418.3 14.6 759 16921 0.00 1.00 0.00 0.000 6 0.000 0.033 1785 3279 1858 0 0 0 0 0 0
17240 0.47 146.1 377.9 12.6 772 17244 0.00 1.08 0.00 0.000 4 0.000 0.057 1785 3955 1858 0 0 0 0 0 0
17334 0.47 146.1 364.4 15.0 776 17338 0.00 1.00 0.00 0.000 6 0.000 0.032 1790 3281 1858 0 0 0 0 0 0
17669 0.47 146.1 319.5 13.1 792 17673 0.00 2.12 0.00 0.000 4 0.000 0.028 1801 1857 1858 0 0 0 0 0 0
17692 0.47 146.1 316.3 11.9 793 17696 0.00 2.30 0.00 0.000 6 0.000 0.048 1801 3289 1857 0 0 0 0 0 0
18016 0.47 146.1 273.8 13.2 809 18021 0.00 1.05 0.00 0.000 4 0.000 0.055 1801 3950 1857 0 0 0 0 0 0
18210 0.47 146.1 245.6 12.8 818 18214 0.00 0.98 0.00 0.000 6 0.000 0.031 1806 3286 1857 0 0 0 0 0 0
18540 0.47 146.1 206.0 12.4 839 18543 0.00 1.08 0.00 0.000 4 0.000 0.054 1806 3958 1856 0 0 0 0 0 0
18612 0.47 146.1 195.9 14.3 843 18616 0.08 1.00 0.00 0.000 6 0.169 0.031 1789 3276 1856 0 0 0 0 0 0
18946 0.47 146.1 159.2 10.5 864 18950 0.00 1.08 0.00 0.000 4 0.000 0.054 1788 3947 1857 0 0 0 0 0 0
19041 0.47 146.1 147.6 13.0 869 19044 0.00 0.98 0.00 0.000 6 0.000 0.031 1792 3288 1857 0 0 0 0 0 0
19372 0.47 146.1 108.2 11.5 890 19376 0.00 1.05 0.00 0.000 4 0.000 0.054 1792 3946 1857 0 0 0 0 0 0
19468 0.47 146.1 95.9 13.0 899 19474 0.00 1.00 0.00 0.000 6 0.000 0.031 1797 3273 1857 0 0 0 0 0 0
19819 0.47 146.1 55.5 11.0 960 19830 0.00 2.12 0.00 0.000 4 0.000 0.028 1807 1865 1857 0 0 0 0 0 0
19848 0.47 146.1 53.0 10.4 963 19854 0.00 2.25 0.00 0.000 6 0.000 0.047 1808 3281 1857 0 0 0 0 0 0
20107 0.47 146.1 23.1 11.4 1004 20117 0.00 0.00 0.00 0.000 6 0.000 0.000 1807 3281 1857 0 0 0 0 0 0
20198 0.47 146.1 12.9 11.0 1017 20208 0.00 0.00 0.00 0.000 6 0.000 0.000 1807 3281 1857 0 0 0 0 0 0
20289 0.47 146.1 3.1 9.8 1030 20299 0.00 1.08 0.00 0.000 4 0.000 0.055 1807 3954 1856 0 0 0 0 0 0
20310 end climb: SURFACE_DEPTH_REACHED
state 20310 begin surface coast
20349 end surface coast: CONTROL_FINISHED_OK
state 20349 begin surface