SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 439 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  573 HD_B  0.010078 ROLL_MIN  150 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 HD_C  9.8500004e-06 ROLL_MAX  3785 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  439 HEADING  -1 ROLL_DEG  40 ALTIM_PING_DEPTH  1050
D_SURF  3 ESCAPE_HEADING  0 C_ROLL_DIVE  1890 ALTIM_PING_DELTA  5
D_FLARE  3 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1572 ALTIM_FREQUENCY  13
D_TGT  1000 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  15 ALTIM_PULSE  3
D_ABORT  1100 TGT_DEFAULT_LAT  -4235 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_NO_BLEED  200 TGT_DEFAULT_LON  -200 ROLL_TIMEOUT  15 XPDR_VALID  5
D_BOOST  0 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  23 XPDR_INHIBIT  90
T_BOOST  0 SM_CC  200 R_STBD_OVSHOOT  29 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST_BLACKOUT  0 N_FILEKB  4 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.55000001
D_FINISH  0 FILEMGR  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  0 KERMIT  0 ROLL_GAIN_P  0.5 DEVICE1  2
SURFACE_URGENCY  0 N_NOCOMM  1 VBD_MIN  409 DEVICE2  115
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE3  20
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 C_VBD  2862 DEVICE4  134
T_DIVE  340 CALL_TRIES  5 VBD_DBAND  2 DEVICE5  -1
T_MISSION  355 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE6  -1
T_ABORT  720 CAPUPLOAD  0 VBD_TIMEOUT  720 LOGGERS  1
T_TURN  225 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  4.9999999e-05 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_LOITER  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_ALMANAC  0 UNCOM_BLEED  60 COMPASS_DEVICE  33
USE_ICE  0 T_GPS_CHARGE  -5713.4604 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 PHONE_DEVICE  48
D_OFFGRID  100 STROBE  0 AH0_24V  150 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 RAFOS_DEVICE  -1
RELAUNCH  0 RAFOS_CORR_THRESH  60 MINV_24V  20 XPDR_DEVICE  24
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 SIM_W  0
MAX_BUOY  170 PITCH_MIN  100 FG_AHR_10V  0 SIM_PITCH  0
COURSE_BIAS  0 PITCH_MAX  3858 FG_AHR_24V  0 SEABIRD_T_G  0.0042828661
GLIDE_SLOPE  30 C_PITCH  3052 PHONE_SUPPLY  2 SEABIRD_T_H  0.00061930995
SPEED_FACTOR  1 PITCH_DBAND  0.0099999998 PRESSURE_YINT  -87.947678 SEABIRD_T_I  2.1971719e-05
RHO  1.0278 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011693723 SEABIRD_T_J  2.301111e-06
MASS  52752 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_C_G  -9.9469662
LENGTH  1.8 PITCH_GAIN  18 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.155618
NAV_MODE  1 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0016006827
DIRECT_CONTROL  0 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_J  0.00019558761
FERRY_MAX  45 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 EBE_ENABLE  0
KALMAN_USE  0 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  0 GC_WINDOW  20
HD_A  0.0038360001 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  20 GC_LAST_COLLECTION  418

Pre-dive calculations and measurements:
GPS1  070113,054553,-4221.555,-428.350,43,1.5,43,-22.2 TGT_NAME  ACC_WP1
_CALLS  1 TGT_LATLONG  -4220.000,-430.000
_XMS_NAKs  0 TGT_RADIUS  6000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.071,0.154
_SM_DEPTHo  2.98 KALMAN_X  -107029.5,384.8,175.8,234363.8,-3327.0
_SM_ANGLEo  -69.4 KALMAN_Y  -95619.1,-303.8,-1287.6,48455.8,769.5
GPS2  070113,055301,-4221.514,-428.249,21,1.5,21,-22.2 MHEAD_RNG_PITCHd_Wd  46.8,3689,-27.8,-9.804
SPEED_LIMITS  0.170,0.273 D_GRID  1000

Post-dive calculations and measurements:
FINISH  2.2,1.014008 _10V_AH  9.9,59.301
SM_CCo  19013,0.00,0.000,0,0,1458,344.40 FG_AHR_24Vo  0.000
SM_GC  2.98,9.07,0.00,0.00,0.038,0.000,0.000,84,1896,1458,-9.19,0.17,344.40 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4206.99,-431.30,070113,000048 MEM  354608
TT8_MAMPS  0.026964 DATA_FILE_SIZE  53793,892
HUMID  48.11 CAP_FILE_SIZE  154866,0
INTERNAL_PRESSURE  9.09881 CFSIZE  2097086464,2036367360
TCM_TEMP  15.10 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS  3 GPS  070113,111207,-4221.392,-428.051,44,1.2,44,-22.2
_24V_AH  22.3,73.442

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23224117.74 SBE_CT59924320.62
Roll_motor7574126.60 WL_BB2FLVMT8221051926.56
VBD_pump_during_apogee444125512432.42 SBE_O260419256.18
VBD_pump_during_surface000.00 QSP21507046.90
VBD_valve000.00 nil000.00
Iridium_during_init2610360.44 nil000.00
Iridium_during_connect37160134.35 nil000.00
Iridium_during_xfer2212231101.91 nil000.00
Transponder_ping04207.02 nil000.00
GUMSTIX_24V000.00
GPS22266.11
TT8226714335.87
LPSleep138122299.46
TT8_Active5011470.54
TT8_Sampling263037974.63
TT8_CF822347104.42
TT8_Kalman335919.54
Analog_circuits159712189.84
GPS_charging000.00
Compass230515358.97
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
23 end surface: CONTROL_FINISHED_OK
state 24 begin dive
26 -1.55 -61.2 0.0 0.0 0 46 0.00 0.00 -18.12 0.000 2 0.000 0.000 76 1896 1454 0 0 0 0 0 0
49 -1.55 -144.3 3.1 -0.9 3 159 10.12 2.03 -88.72 0.000 4 0.225 0.075 2551 703 3452 0 0 0 0 0 0
190 -1.47 -144.3 10.1 -15.3 26 198 0.10 1.95 0.00 0.000 6 0.187 0.048 2571 1896 3453 0 0 0 0 0 0
271 -1.47 -144.3 20.4 -12.9 39 277 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 1896 3454 0 0 0 0 0 0
350 -1.47 -144.3 30.1 -11.8 52 357 0.00 0.43 0.00 0.000 4 0.000 0.064 2573 1622 3454 0 0 0 0 0 0
406 -1.47 -144.3 36.9 -11.9 61 411 0.00 0.43 0.00 0.000 6 0.000 0.062 2571 1893 3454 0 0 0 0 0 0
636 -1.47 -144.3 66.1 -12.6 98 640 0.00 2.33 0.00 0.000 4 0.000 0.059 2577 472 3454 0 0 0 0 0 0
710 -1.42 -144.3 75.3 -13.3 104 715 0.10 2.28 0.00 0.000 6 0.208 0.047 2589 1896 3454 0 0 0 0 0 0
1034 -1.45 -144.3 116.9 -13.2 130 1035 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 1896 3454 0 0 0 0 0 0
1345 -1.48 -144.3 157.2 -12.5 150 1349 0.00 1.08 0.00 0.000 4 0.000 0.057 2584 2577 3455 0 0 0 0 0 0
1389 -1.48 -144.3 162.9 -11.9 152 1398 0.00 1.10 0.00 0.000 6 0.000 0.050 2588 1882 3455 0 0 0 0 0 0
1711 -1.52 -144.3 200.1 -11.5 173 1716 0.08 0.62 0.00 0.000 4 0.129 0.059 2546 2274 3455 0 0 0 0 0 0
1761 -1.49 -144.3 206.4 -12.0 175 1765 0.05 0.62 0.00 0.000 6 0.177 0.054 2562 1874 3455 0 0 0 0 0 0
2090 -1.49 -144.3 244.3 -11.5 191 2093 0.00 1.33 0.00 0.000 4 0.000 0.058 2556 2697 3455 0 0 0 0 0 0
2137 -1.47 -144.3 249.6 -11.4 193 2142 0.03 1.27 0.00 0.000 6 0.214 0.050 2569 1895 3455 0 0 0 0 0 0
2470 -1.47 -144.3 286.5 -11.1 209 2471 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 1895 3455 0 0 0 0 0 0
2777 -1.47 -144.3 320.8 -11.2 221 2781 0.00 1.10 0.00 0.000 4 0.000 0.057 2564 2580 3455 0 0 0 0 0 0
2826 -1.47 -144.3 326.5 -10.9 222 2830 0.00 1.10 0.00 0.000 6 0.000 0.050 2569 1884 3455 0 0 0 0 0 0
3150 -1.47 -144.3 363.2 -11.4 233 3151 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 1883 3455 0 0 0 0 0 0
3456 -1.47 -144.3 398.3 -11.4 243 3460 0.00 2.12 0.00 0.000 4 0.000 0.061 2559 3197 3455 0 0 0 0 0 0
3506 -1.47 -144.3 404.2 -11.3 244 3510 0.00 2.08 0.00 0.000 6 0.000 0.048 2564 1896 3455 0 0 0 0 0 0
3824 -1.47 -144.3 440.6 -11.8 255 3828 0.00 0.98 0.00 0.000 4 0.000 0.057 2560 2504 3455 0 0 0 0 0 0
3881 -1.47 -144.3 447.4 -11.9 256 3885 0.05 0.98 0.00 0.000 6 0.181 0.052 2576 1886 3455 0 0 0 0 0 0
4199 -1.50 -144.3 483.9 -11.4 267 4200 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 1887 3455 0 0 0 0 0 0
4505 -1.53 -144.3 518.7 -11.5 277 4509 0.00 2.30 0.00 0.000 4 0.000 0.062 2565 3302 3455 0 0 0 0 0 0
4566 -1.53 -144.3 526.3 -11.9 279 4571 0.00 2.20 0.00 0.000 6 0.000 0.047 2565 1888 3455 0 0 0 0 0 0
4901 -1.53 -144.3 567.2 -12.0 290 4903 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 1887 3454 0 0 0 0 0 0
5208 -1.53 -144.3 604.5 -12.3 300 5211 0.00 0.90 0.00 0.000 4 0.000 0.057 2561 2462 3453 0 0 0 0 0 0
5257 -1.53 -144.3 610.9 -13.1 301 5261 0.00 0.93 0.00 0.000 6 0.000 0.051 2561 1881 3453 0 0 0 0 0 0
5581 -1.53 -144.3 650.5 -12.2 312 5585 0.00 1.77 0.00 0.000 4 0.000 0.060 2553 2971 3453 0 0 0 0 0 0
5636 -1.53 -144.3 657.4 -12.2 313 5640 0.00 1.73 0.00 0.000 6 0.000 0.050 2553 1895 3452 0 0 0 0 0 0
5954 -1.53 -144.3 695.6 -12.0 324 5955 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 1895 3452 0 0 0 0 0 0
6260 -1.53 -144.3 732.7 -12.3 334 6264 0.00 1.95 0.00 0.000 4 0.000 0.061 2545 3097 3451 0 0 0 0 0 0
6310 -1.50 -144.3 739.1 -12.8 335 6315 0.05 1.92 0.00 0.000 6 0.184 0.050 2561 1891 3451 0 0 0 0 0 0
6634 -1.50 -144.3 778.4 -12.3 346 6635 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 1891 3451 0 0 0 0 0 0
6940 -1.50 -144.3 815.0 -12.0 356 6944 0.00 0.85 0.00 0.000 4 0.000 0.059 2556 2427 3450 0 0 0 0 0 0
6980 -1.50 -144.3 819.7 -11.8 357 6983 0.00 0.85 0.00 0.000 6 0.000 0.054 2559 1890 3450 0 0 0 0 0 0
7315 -1.52 -144.3 858.3 -11.5 368 7318 0.00 1.05 0.00 0.000 4 0.000 0.060 2564 1232 3449 0 0 0 0 0 0
7358 -1.52 -144.3 863.8 -11.5 369 7363 0.00 1.05 0.00 0.000 6 0.000 0.052 2559 1887 3449 0 0 0 0 0 0
7689 -1.54 -144.3 902.1 -11.9 380 7693 0.00 2.28 0.00 0.000 4 0.000 0.062 2549 3300 3448 0 0 0 0 0 0
7760 -1.54 -144.3 910.9 -11.3 382 7764 0.00 2.25 0.00 0.000 6 0.000 0.050 2551 1896 3448 0 0 0 0 0 0
8090 -1.54 -144.3 950.3 -12.3 393 8094 0.00 1.12 0.00 0.000 4 0.000 0.060 2550 1195 3447 0 0 0 0 0 0
8128 -1.54 -144.3 955.3 -12.9 394 8132 0.00 1.12 0.00 0.000 6 0.000 0.050 2546 1899 3446 0 0 0 0 0 0
8464 -1.54 -144.3 998.1 -12.9 405 8467 0.00 1.02 0.00 0.000 4 0.000 0.059 2546 1265 3446 0 0 0 0 0 0
8478 end dive: TARGET_DEPTH_EXCEEDED
state 8478 begin apogee
8483 -0.28 0.0 1000.4 12.9 405 8613 1.40 0.00 125.90 1.255 6 0.156 0.000 2954 1576 2862 0 0 0 0 0 0
8614 end apogee: CONTROL_FINISHED_OK
state 8614 begin climb
8616 1.55 144.3 1009.0 0.0 409 8752 1.73 0.00 129.55 1.225 6 0.061 0.000 3551 1576 2273 0 0 0 0 0 0
9045 1.38 184.7 1001.1 5.5 423 9086 0.20 2.35 35.92 1.202 4 0.206 0.057 3492 2975 2107 0 0 0 0 0 0
9154 1.28 211.7 994.1 6.9 426 9184 0.15 2.30 24.98 1.175 6 0.207 0.048 3467 1562 1997 0 0 0 0 0 0
9505 1.25 233.5 968.8 7.5 438 9529 0.00 0.88 20.25 1.167 4 0.000 0.060 3470 1037 1909 0 0 0 0 0 0
9587 1.22 253.7 962.1 7.6 440 9612 0.08 0.88 19.40 1.154 6 0.168 0.050 3447 1571 1826 0 0 0 0 0 0
9943 1.22 266.7 932.1 8.4 452 9958 0.00 0.00 12.82 1.111 6 0.000 0.000 3447 1571 1774 0 0 0 0 0 0
10248 1.25 279.1 906.1 8.5 462 10265 0.00 1.20 12.38 1.080 4 0.000 0.055 3447 2305 1723 0 0 0 0 0 0
10326 1.28 284.4 899.0 9.2 464 10337 0.00 1.17 6.35 0.910 6 0.000 0.055 3452 1583 1702 0 0 0 0 0 0
10644 1.31 284.4 869.1 9.8 474 10646 0.05 0.00 0.00 0.000 6 0.171 0.000 3479 1583 1699 0 0 0 0 0 0
10950 1.31 284.4 837.2 10.6 484 10951 0.00 0.00 0.00 0.000 6 0.000 0.000 3479 1583 1699 0 0 0 0 0 0
11256 1.31 284.4 803.8 10.9 494 11257 0.00 0.00 0.00 0.000 6 0.000 0.000 3479 1583 1698 0 0 0 0 0 0
11562 1.31 284.4 770.8 10.7 504 11564 0.00 0.00 0.00 0.000 6 0.000 0.000 3479 1583 1698 0 0 0 0 0 0
11869 1.31 284.4 738.6 10.5 514 11870 0.00 0.00 0.00 0.000 6 0.000 0.000 3479 1583 1697 0 0 0 0 0 0
12175 1.31 286.9 708.6 9.5 524 12176 0.00 0.00 0.00 0.000 6 0.000 0.000 3479 1583 1697 0 0 0 0 0 0
12481 1.31 295.4 680.6 8.9 534 12495 0.00 0.80 10.48 0.968 4 0.000 0.053 3475 2083 1658 0 0 0 0 0 0
12604 1.31 303.9 669.2 8.9 537 12618 0.00 0.82 9.75 0.944 6 0.000 0.058 3479 1568 1622 0 0 0 0 0 0
12954 1.31 303.9 634.7 10.0 549 12955 0.00 0.00 0.00 0.000 6 0.000 0.000 3479 1568 1619 0 0 0 0 0 0
13260 1.31 303.9 603.0 10.7 559 13263 0.00 1.08 0.00 0.000 4 0.000 0.058 3477 2236 1619 0 0 0 0 0 0
13320 1.31 303.9 596.3 11.1 560 13326 0.00 1.08 0.00 0.000 6 0.000 0.057 3482 1569 1619 0 0 0 0 0 0
13633 1.31 303.9 561.7 11.2 571 13635 0.00 0.00 0.00 0.000 6 0.000 0.000 3483 1569 1619 0 0 0 0 0 0
13940 1.31 303.9 525.7 11.8 581 13944 0.00 0.65 0.00 0.000 4 0.000 0.059 3482 1985 1618 0 0 0 0 0 0
14034 1.31 303.9 514.5 10.9 583 14040 0.00 0.68 0.00 0.000 6 0.000 0.061 3486 1568 1618 0 0 0 0 0 0
14347 1.31 303.9 478.5 11.6 594 14351 0.00 0.43 0.00 0.000 4 0.000 0.068 3488 1289 1618 0 0 0 0 0 0
14441 1.31 303.9 467.4 11.5 596 14446 0.00 0.47 0.00 0.000 6 0.000 0.058 3487 1582 1618 0 0 0 0 0 0
14753 1.31 303.9 431.1 11.5 607 14755 0.00 0.00 0.00 0.000 6 0.000 0.000 3487 1582 1618 0 0 0 0 0 0
15060 1.31 303.9 398.0 10.5 617 15061 0.00 0.00 0.00 0.000 6 0.000 0.000 3487 1582 1618 0 0 0 0 0 0
15366 1.31 305.6 368.0 9.6 627 15367 0.00 0.00 0.00 0.000 6 0.000 0.000 3487 1582 1618 0 0 0 0 0 0
15672 1.31 305.7 338.2 9.8 637 15676 0.00 0.45 0.00 0.000 4 0.000 0.060 3487 1885 1618 0 0 0 0 0 0
15729 1.31 308.3 332.4 9.5 638 15740 0.03 0.50 4.70 0.607 6 0.218 0.061 3481 1571 1605 0 0 0 0 0 0
16046 1.31 308.3 299.6 10.4 649 16050 0.00 0.57 0.00 0.000 4 0.000 0.063 3484 1202 1605 0 0 0 0 0 0
16184 1.31 308.3 285.9 10.1 655 16188 0.00 0.57 0.00 0.000 6 0.000 0.056 3482 1570 1605 0 0 0 0 0 0
16517 1.31 311.9 254.4 9.4 671 16524 0.00 0.00 5.22 0.649 6 0.000 0.000 3482 1570 1590 0 0 0 0 0 0
16826 1.33 311.9 222.7 10.6 686 16827 0.00 0.00 0.00 0.000 6 0.000 0.000 3482 1569 1590 0 0 0 0 0 0
17144 1.36 311.9 187.4 11.5 703 17148 0.00 0.50 0.00 0.000 4 0.000 0.063 3484 1250 1590 0 0 0 0 0 0
17205 1.36 311.9 180.0 11.2 706 17212 0.00 0.52 0.00 0.000 6 0.000 0.055 3482 1575 1590 0 0 0 0 0 0
17527 1.38 311.9 143.9 11.2 727 17531 0.00 0.45 0.00 0.000 4 0.000 0.059 3482 1883 1590 0 0 0 0 0 0
17635 1.40 311.9 131.4 11.2 733 17639 0.00 0.50 0.00 0.000 6 0.000 0.063 3484 1568 1590 0 0 0 0 0 0
17961 1.43 311.9 96.6 10.8 755 17966 0.08 0.60 0.00 0.000 4 0.130 0.056 3518 1946 1590 0 0 0 0 0 0
18022 1.43 311.9 89.8 11.2 760 18028 0.00 0.62 0.00 0.000 6 0.000 0.060 3520 1560 1590 0 0 0 0 0 0
18351 1.43 311.9 56.2 10.1 794 18358 0.00 2.33 0.00 0.000 4 0.000 0.060 3520 2967 1591 0 0 0 0 0 0
18407 1.39 314.1 51.3 9.6 803 18413 0.12 2.22 0.00 0.000 6 0.199 0.052 3500 1573 1590 0 0 0 0 0 0
18644 1.39 341.5 33.6 6.9 844 18673 0.00 0.50 26.40 0.629 4 0.000 0.058 3499 1874 1469 0 0 0 0 0 0
18752 1.39 341.5 24.3 9.9 862 18759 0.00 0.47 0.00 0.000 6 0.000 0.063 3501 1576 1464 0 0 0 0 0 0
18832 1.41 341.5 13.2 14.1 875 18839 0.00 0.00 0.00 0.000 6 0.000 0.000 3501 1576 1462 0 0 0 0 0 0
18910 end climb: SURFACE_DEPTH_REACHED
state 18910 begin surface coast
18935 end surface coast: CONTROL_FINISHED_OK
state 18935 begin surface