SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 371 * 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  371 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  38 XPDR_INHIBIT  90
D_BOOST  0 N_FILEKB  4 R_STBD_OVSHOOT  22 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  -8914.8359 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  180213,153052,-4221.041,853.105,46,0.8,46,-25.1 TGT_NAME  GH4
_CALLS  1 TGT_LATLONG  -4230.000,900.000
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.014,-0.243
_SM_DEPTHo  1.93 KALMAN_X  23508.3,-246.4,-299.5,47360.4,736.0
_SM_ANGLEo  -55.7 KALMAN_Y  293005.1,-26.6,-144.3,-276250.5,3964.0
GPS2  180213,154308,-4221.086,853.157,15,0.9,16,-25.1 MHEAD_RNG_PITCHd_Wd  201.9,18970,-14.7,-8.333
SPEED_LIMITS  0.144,0.244 D_GRID  1000

Post-dive calculations and measurements:
FINISH  1.2,1.025762 _10V_AH  9.8,43.964
SM_CCo  20474,40.83,0.698,1,0,1535,230.09 FG_AHR_24Vo  0.000
SM_GC  2.06,0.00,0.00,40.83,0.000,0.000,0.698,47,3401,1535,-4.94,0.03,230.09 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4204.08,855.18,180213,090920 MEM  354024
TT8_MAMPS  0.025466 DATA_FILE_SIZE  76963,1044
HUMID  55.94 CAP_FILE_SIZE  161849,0
INTERNAL_PRESSURE  9.02495 CFSIZE  259252224,233201664
TCM_TEMP  15.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
XPDR_PINGS  0 GPS  180213,212728,-4222.507,853.072,36,1.0,36,-25.1
_24V_AH  21.4,62.107

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1224163.37 SBE_CT68024349.52
Roll_motor9159116.39 AA43302267331601.29
VBD_pump_during_apogee304179311678.24 WL_BB2FLVMT10581052378.34
VBD_pump_during_surface40697609.53 QSP2150477444.80
VBD_valve000.00 nil000.00
Iridium_during_init2610358.74 nil000.00
Iridium_during_connect2016070.72 nil000.00
Iridium_during_xfer4922232350.94 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS19265.11
TT8263214386.01
LPSleep137822295.80
TT8_Active4391461.21
TT8_Sampling3221371181.67
TT8_CF8117447542.80
TT8_Kalman335919.36
Analog_circuits162912191.59
GPS_charging000.00
Compass296815457.54
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
17 end surface: CONTROL_FINISHED_OK
state 17 begin dive
20 -0.47 -146.1 0.0 0.0 0 64 0.00 0.00 -41.90 0.000 2 0.000 0.000 51 3413 2522 0 0 0 0 0 0
68 -0.47 -146.1 3.2 -4.8 5 94 6.12 0.00 -16.05 0.000 6 0.242 0.000 1470 3414 3071 0 0 0 0 0 0
175 -0.47 -146.1 14.7 -11.3 20 183 0.00 0.00 0.00 0.000 6 0.000 0.000 1470 3413 3074 0 0 0 0 0 0
264 -0.47 -146.1 24.5 -12.6 33 271 0.00 0.00 0.00 0.000 6 0.000 0.000 1470 3414 3074 0 0 0 0 0 0
351 -0.47 -146.1 34.0 -10.8 46 359 0.00 0.00 0.00 0.000 6 0.000 0.000 1470 3414 3075 0 0 0 0 0 0
603 -0.47 -146.1 59.6 -8.7 87 611 0.00 2.20 0.00 0.000 4 0.000 0.030 1470 1968 3075 0 0 0 0 0 0
651 -0.47 -146.1 63.7 -8.9 94 658 0.00 2.33 0.00 0.000 6 0.000 0.054 1460 3405 3075 0 0 0 0 0 0
1015 -0.47 -146.1 97.3 -8.9 155 1018 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3405 3076 0 0 0 0 0 0
1346 -0.47 -146.1 125.7 -8.5 179 1347 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3405 3077 0 0 0 0 0 0
1659 -0.47 -146.1 153.1 -8.9 199 1660 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3405 3077 0 0 0 0 0 0
1971 -0.47 -146.1 180.0 -8.4 219 1972 0.00 0.00 0.00 0.000 6 0.000 0.000 1461 3405 3077 0 0 0 0 0 0
2284 -0.47 -146.1 205.8 -8.1 239 2285 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3405 3077 0 0 0 0 0 0
2596 -0.47 -146.1 232.3 -8.3 259 2597 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3405 3077 0 0 0 0 0 0
2914 -0.47 -146.1 258.7 -8.0 278 2918 0.00 2.15 0.00 0.000 4 0.000 0.028 1460 1970 3077 0 0 0 0 0 0
2964 -0.47 -146.1 262.7 -7.4 280 2968 0.00 2.33 0.00 0.000 6 0.000 0.054 1450 3402 3077 0 0 0 0 0 0
3282 -0.47 -146.1 290.4 -9.0 295 3283 0.00 0.00 0.00 0.000 6 0.000 0.000 1450 3402 3077 0 0 0 0 0 0
3591 -0.47 -146.1 319.3 -9.7 310 3593 0.00 0.00 0.00 0.000 6 0.000 0.000 1449 3402 3077 0 0 0 0 0 0
3901 -0.47 -146.1 348.7 -9.5 325 3902 0.00 0.00 0.00 0.000 6 0.000 0.000 1450 3402 3077 0 0 0 0 0 0
4210 -0.47 -146.1 376.0 -8.7 340 4213 0.00 0.88 0.00 0.000 4 0.000 0.058 1446 3952 3077 0 0 0 0 0 0
4312 -0.47 -146.1 385.3 -8.6 344 4316 0.08 0.85 0.00 0.000 6 0.129 0.034 1471 3396 3077 0 0 0 0 0 0
4646 -0.47 -146.1 407.0 -6.4 359 4650 0.00 2.12 0.00 0.000 4 0.000 0.028 1470 1973 3077 0 0 0 0 0 0
4691 -0.47 -146.1 410.2 -6.9 360 4695 0.00 2.33 0.00 0.000 6 0.000 0.052 1461 3409 3077 0 0 0 0 0 0
5012 -0.47 -146.1 432.7 -7.2 371 5013 0.00 0.00 0.00 0.000 6 0.000 0.000 1461 3409 3076 0 0 0 0 0 0
5316 -0.47 -146.1 455.4 -7.5 381 5322 0.00 2.17 0.00 0.000 4 0.000 0.028 1461 1968 3075 0 0 0 0 0 0
5356 -0.47 -146.1 458.6 -7.1 382 5362 0.00 2.35 0.00 0.000 6 0.000 0.054 1451 3402 3075 0 0 0 0 0 0
5694 -0.47 -146.1 486.8 -8.4 393 5695 0.00 0.00 0.00 0.000 6 0.000 0.000 1451 3402 3075 0 0 0 0 0 0
6003 -0.47 -146.1 512.2 -8.4 403 6004 0.00 0.00 0.00 0.000 6 0.000 0.000 1451 3402 3074 0 0 0 0 0 0
6305 -0.47 -146.1 538.4 -8.6 413 6306 0.00 0.00 0.00 0.000 6 0.000 0.000 1451 3402 3074 0 0 0 0 0 0
6612 -0.47 -146.1 564.1 -8.2 423 6613 0.00 0.00 0.00 0.000 6 0.000 0.000 1451 3402 3074 0 0 0 0 0 0
6919 -0.47 -146.1 588.3 -7.7 433 6920 0.00 0.00 0.00 0.000 6 0.000 0.000 1451 3402 3073 0 0 0 0 0 0
7224 -0.47 -146.1 612.1 -7.7 443 7229 0.00 2.17 0.00 0.000 4 0.000 0.029 1451 1974 3072 0 0 0 0 0 0
7273 -0.47 -146.1 615.8 -7.7 444 7278 0.12 2.33 0.00 0.000 6 0.145 0.053 1473 3405 3071 0 0 0 0 0 0
7598 -0.47 -146.1 636.1 -6.3 455 7599 0.00 0.00 0.00 0.000 6 0.000 0.000 1473 3405 3071 0 0 0 0 0 0
7906 -0.47 -146.1 656.5 -6.8 465 7907 0.00 0.00 0.00 0.000 6 0.000 0.000 1473 3405 3071 0 0 0 0 0 0
8211 -0.47 -146.1 678.1 -7.1 475 8212 0.00 0.00 0.00 0.000 6 0.000 0.000 1473 3405 3070 0 0 0 0 0 0
8517 -0.47 -146.1 699.7 -7.2 485 8518 0.00 0.00 0.00 0.000 6 0.000 0.000 1473 3405 3070 0 0 0 0 0 0
8824 -0.47 -146.1 721.5 -7.2 495 8828 0.00 2.17 0.00 0.000 4 0.000 0.030 1473 1970 3069 0 0 0 0 0 0
8857 -0.47 -146.1 724.2 -7.1 496 8862 0.00 2.33 0.00 0.000 6 0.000 0.053 1464 3401 3069 0 0 0 0 0 0
9187 -0.47 -146.1 749.1 -7.5 507 9191 0.00 0.88 0.00 0.000 4 0.000 0.060 1460 3945 3069 0 0 0 0 0 0
9266 -0.47 -146.1 755.4 -7.7 509 9269 0.00 0.82 0.00 0.000 6 0.000 0.036 1460 3405 3068 0 0 0 0 0 0
9596 -0.47 -146.1 780.4 -7.6 520 9600 0.00 2.12 0.00 0.000 4 0.000 0.030 1460 1974 3068 0 0 0 0 0 0
9646 -0.47 -146.1 784.2 -7.2 521 9650 0.00 2.33 0.00 0.000 6 0.000 0.053 1449 3403 3068 0 0 0 0 0 0
9960 -0.47 -146.1 807.5 -7.6 531 9961 0.00 0.00 0.00 0.000 6 0.000 0.000 1449 3403 3068 0 0 0 0 0 0
10267 -0.47 -146.1 830.0 -7.3 541 10271 0.00 2.12 0.00 0.000 4 0.000 0.030 1449 1974 3067 0 0 0 0 0 0
10301 -0.47 -146.1 832.6 -7.1 542 10306 0.12 2.33 0.00 0.000 6 0.145 0.053 1471 3403 3067 0 0 0 0 0 0
10632 -0.47 -146.1 852.5 -6.1 553 10633 0.00 0.00 0.00 0.000 6 0.000 0.000 1471 3403 3067 0 0 0 0 0 0
10939 -0.47 -146.1 871.4 -6.1 563 10940 0.00 0.00 0.00 0.000 6 0.000 0.000 1471 3403 3067 0 0 0 0 0 0
11244 -0.47 -146.1 890.6 -6.2 573 11250 0.00 2.17 0.00 0.000 4 0.000 0.030 1471 1973 3066 0 0 0 0 0 0
11284 -0.47 -146.1 893.4 -6.4 574 11290 0.00 2.35 0.00 0.000 6 0.000 0.054 1463 3400 3066 0 0 0 0 0 0
11622 -0.47 -146.1 915.0 -6.2 585 11623 0.00 0.00 0.00 0.000 6 0.000 0.000 1463 3400 3066 0 0 0 0 0 0
11927 -0.47 -146.1 932.9 -5.8 595 11928 0.00 0.00 0.00 0.000 6 0.000 0.000 1463 3400 3065 0 0 0 0 0 0
12234 -0.47 -146.1 950.8 -5.8 605 12238 0.00 2.17 0.00 0.000 4 0.000 0.031 1462 1971 3065 0 0 0 0 0 0
12278 -0.47 -146.1 953.7 -6.1 606 12282 0.00 2.35 0.00 0.000 6 0.000 0.054 1452 3410 3064 0 0 0 0 0 0
12597 -0.47 -146.1 973.5 -6.3 617 12598 0.00 0.00 0.00 0.000 6 0.000 0.000 1452 3410 3064 0 0 0 0 0 0
12626 end dive: HALF_MISSION_TIME_EXCEEDED
state 12626 begin apogee
12633 -0.13 0.0 975.5 6.4 618 12789 0.43 0.00 146.93 1.794 6 0.129 0.000 1580 3279 2473 0 0 0 0 1 0
12790 end apogee: CONTROL_FINISHED_OK
state 12790 begin climb
12793 0.47 146.1 978.3 0.0 623 12970 0.60 2.50 157.27 1.728 4 0.080 0.030 1783 1867 1877 0 0 0 0 2 0
13006 0.47 146.1 957.0 11.8 629 13010 0.00 2.50 0.00 0.000 6 0.000 0.050 1783 3277 1874 0 0 0 0 0 0
13319 0.47 146.1 915.0 13.2 639 13323 0.00 1.10 0.00 0.000 4 0.000 0.057 1783 3947 1867 0 0 0 0 0 0
13431 0.47 146.1 898.8 13.9 642 13437 0.00 1.02 0.00 0.000 6 0.000 0.032 1788 3272 1866 0 0 0 0 0 0
13763 0.47 146.1 855.1 13.0 653 13767 0.00 1.10 0.00 0.000 4 0.000 0.057 1788 3951 1865 0 0 0 0 0 0
13832 0.47 146.1 845.4 15.1 655 13838 0.00 1.00 0.00 0.000 6 0.000 0.033 1793 3286 1864 0 0 0 0 0 0
14176 0.47 146.1 799.6 13.4 666 14179 0.00 1.08 0.00 0.000 4 0.000 0.058 1793 3952 1864 0 0 0 0 0 0
14287 0.47 146.1 782.5 14.1 669 14291 0.00 1.02 0.00 0.000 6 0.000 0.032 1798 3268 1863 0 0 0 0 0 0
14617 0.47 146.1 736.7 13.9 680 14623 0.00 1.10 0.00 0.000 4 0.000 0.057 1798 3950 1862 0 0 0 0 0 0
14707 0.47 146.1 722.7 15.7 682 14713 0.00 1.00 0.00 0.000 6 0.000 0.032 1803 3279 1862 0 0 0 0 0 0
15027 0.47 146.1 677.6 14.2 693 15033 0.00 1.08 0.00 0.000 4 0.000 0.056 1803 3946 1861 0 0 0 0 0 0
15140 0.47 146.1 659.8 16.3 696 15144 0.00 1.00 0.00 0.000 6 0.000 0.032 1808 3278 1861 0 0 0 0 0 0
15470 0.47 146.1 611.8 14.7 707 15473 0.00 1.08 0.00 0.000 4 0.000 0.057 1808 3947 1861 0 0 0 0 0 0
15599 0.47 146.1 590.2 16.5 710 15606 0.10 1.00 0.00 0.000 6 0.170 0.032 1785 3273 1861 0 0 0 0 0 0
15912 0.47 146.1 551.1 12.1 721 15916 0.00 1.10 0.00 0.000 4 0.000 0.057 1784 3957 1860 0 0 0 0 0 0
15981 0.47 146.1 541.9 13.5 723 15986 0.00 1.00 0.00 0.000 6 0.000 0.032 1788 3282 1860 0 0 0 0 0 0
16325 0.47 146.1 500.1 12.3 734 16329 0.00 1.08 0.00 0.000 4 0.000 0.057 1788 3952 1860 0 0 0 0 0 0
16443 0.47 146.1 483.1 13.6 737 16448 0.00 1.00 0.00 0.000 6 0.000 0.031 1793 3281 1860 0 0 0 0 0 0
16768 0.47 146.1 442.0 12.6 748 16773 0.00 1.08 0.00 0.000 4 0.000 0.055 1793 3951 1860 0 0 0 0 0 0
16880 0.47 146.1 425.9 14.2 751 16884 0.00 1.00 0.00 0.000 6 0.000 0.031 1798 3276 1860 0 0 0 0 0 0
17212 0.47 146.1 382.2 13.3 764 17216 0.00 1.10 0.00 0.000 4 0.000 0.055 1798 3960 1859 0 0 0 0 0 0
17385 0.47 146.1 356.2 15.6 771 17389 0.00 1.00 0.00 0.000 6 0.000 0.031 1803 3287 1859 0 0 0 0 0 0
17710 0.47 146.1 312.6 13.5 787 17715 0.00 1.08 0.00 0.000 4 0.000 0.055 1803 3958 1859 0 0 0 0 0 0
17820 0.47 146.1 295.8 15.5 791 17827 0.00 1.00 0.00 0.000 6 0.000 0.031 1808 3282 1859 0 0 0 0 0 0
18139 0.47 146.1 252.7 13.3 807 18144 0.00 1.08 0.00 0.000 4 0.000 0.055 1808 3953 1859 0 0 0 0 0 0
18287 0.47 146.1 230.7 15.7 815 18291 0.10 1.00 0.00 0.000 6 0.166 0.031 1784 3276 1859 0 0 0 0 0 0
18614 0.47 146.1 197.7 9.7 836 18618 0.00 1.10 0.00 0.000 4 0.000 0.055 1784 3957 1858 0 0 0 0 0 0
18741 0.47 146.1 183.1 11.4 843 18745 0.00 1.00 0.00 0.000 6 0.000 0.031 1787 3283 1858 0 0 0 0 0 0
19066 0.47 146.1 150.1 10.8 864 19070 0.00 1.08 0.00 0.000 4 0.000 0.055 1787 3958 1858 0 0 0 0 0 0
19172 0.47 146.1 136.1 12.9 870 19176 0.00 1.00 0.00 0.000 6 0.000 0.031 1792 3282 1858 0 0 0 0 0 0
19501 0.47 146.1 99.1 11.9 891 19507 0.00 1.08 0.00 0.000 4 0.000 0.054 1792 3955 1858 0 0 0 0 0 0
19655 0.47 146.1 79.8 12.8 917 19660 0.00 1.00 0.00 0.000 6 0.000 0.030 1797 3275 1858 0 0 0 0 0 0
20014 0.47 146.1 45.7 8.6 978 20025 0.00 2.12 0.00 0.000 4 0.000 0.028 1808 1869 1858 0 0 0 0 0 0
20067 0.47 146.1 41.0 8.9 985 20075 0.00 2.28 0.00 0.000 6 0.000 0.049 1808 3276 1859 0 0 0 0 0 0
20335 0.47 146.1 14.7 13.5 1026 20343 0.00 1.08 0.00 0.000 4 0.000 0.054 1809 3952 1858 0 0 0 0 0 0
20428 end climb: SURFACE_DEPTH_REACHED
state 20428 begin surface coast
20455 end surface coast: CONTROL_FINISHED_OK
state 20458 begin surface