NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 441 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  187 ESCAPE_HEADING  0 C_ROLL_CLIMB  2330 ALTIM_FREQUENCY  13
MISSION  4 ESCAPE_HEADING_DELTA  10 HEAD_ERRBAND  10 ALTIM_PULSE  4
DIVE  441 FIX_MISSING_TIMEOUT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
N_DIVES  0 TGT_DEFAULT_LAT  4736 ROLL_TIMEOUT  15 XPDR_VALID  1
D_SURF  4 TGT_DEFAULT_LON  -12218 R_PORT_OVSHOOT  26 XPDR_INHIBIT  90
D_FLARE  3 TGT_AUTO_DEFAULT  0 R_STBD_OVSHOOT  31 INT_PRESSURE_SLOPE  0.0097660003
D_TGT  990 SM_CC  375 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0.69999999
D_ABORT  1010 N_FILEKB  4 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_NO_BLEED  200 FILEMGR  0 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
D_BOOST  20 CALL_NDIVES  1 ROLL_ADJ_DBAND  0 DEVICE1  -1
T_BOOST  5 COMM_SEQ  0 VBD_MIN  470 DEVICE2  -1
D_FINISH  0 PROTOCOL  9 VBD_MAX  3900 DEVICE3  -1
D_PITCH  0 N_NOCOMM  1 C_VBD  2858 DEVICE4  -1
D_SAFE  0 NOCOMM_ACTION  163 VBD_DBAND  2 DEVICE5  -1
D_CALL  0 N_NOSURFACE  0 VBD_CNV  -0.24529999 DEVICE6  -1
SURFACE_URGENCY  0 UPLOAD_DIVES_MAX  -1 VBD_TIMEOUT  720 LOGGERS  3
SURFACE_URGENCY_TRY  0 CALL_TRIES  5 PITCH_VBD_SHIFT  0.00069999998 LOGGERDEVICE1  53
SURFACE_URGENCY_FORCE  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  83
T_DIVE  450 CAPUPLOAD  0 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_MISSION  510 CAPMAXSIZE  100000 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
T_ABORT  1440 HEAPDBG  0 UNCOM_BLEED  50 COMPASS_DEVICE  97
T_TURN  225 T_GPS  15 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
T_TURN_SAMPINT  -10 N_GPS  20 W_ADJ_DBAND  2 PHONE_DEVICE  48
T_NO_W  120 T_GPS_ALMANAC  0 DBDW  0 GPS_DEVICE  32
T_LOITER  0 T_GPS_CHARGE  -1593996.9 PITCH_W_GAIN  2 RAFOS_DEVICE  -1
T_EPIRB  0 T_RSLEEP  2 PITCH_W_DBAND  0.5 XPDR_DEVICE  24
USE_BATHY  -1 STROBE  0 CF8_MAXERRORS  20 SIM_W  0
USE_ICE  0 RAFOS_PEAK_OFFSET  1.5 AH0_24V  350 SIM_PITCH  0
ICE_FREEZE_MARGIN  0.30000001 RAFOS_CORR_THRESH  60 AH0_10V  0 SEABIRD_T_G  0.0043206038
D_OFFGRID  1000 RAFOS_HIT_WINDOW  3600 MINV_24V  11 SEABIRD_T_H  0.00062367303
T_WATCHDOG  10 PITCH_MIN  400 MINV_10V  11 SEABIRD_T_I  2.3110064e-05
RELAUNCH  1 PITCH_MAX  3700 FG_AHR_10V  0 SEABIRD_T_J  2.4313138e-06
APOGEE_PITCH  -7 C_PITCH  3325 FG_AHR_24V  0 SEABIRD_C_G  -10.199382
MAX_BUOY  120 PITCH_DBAND  0.1 PHONE_SUPPLY  -2 SEABIRD_C_H  1.1587334
COURSE_BIAS  0 PITCH_CNV  0.003125763 PRESSURE_YINT  -63.106686 SEABIRD_C_I  -0.0027609179
GLIDE_SLOPE  30 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.0001138132 SEABIRD_C_J  0.00029025986
SPEED_FACTOR  1 P_OVSHOOT_WITHG  0 AD7714Ch0Gain  128 SC_RECORDABOVE  2000.0
RHO  1.0275 PITCH_GAIN  27.5 TCM_PITCH_OFFSET  0 SC_PROFILE  3.0
MASS  53474 PITCH_TIMEOUT  17 TCM_ROLL_OFFSET  0 SC_XMITPROFILE  3.0
MASS_COMP  0 PITCH_AD_RATE  165 COMPASS_USE  4 PM_RECORDABOVE  2000.0
NAV_MODE  2 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 PM_PROFILE  1.0
FERRY_MAX  45 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0 PM_XMITPROFILE  3.0
KALMAN_USE  2 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  0 PM_XMITRAW  0.0
HD_A  0.0027000001 ROLL_MIN  440 ALTIM_TOP_TURN_MARGIN  0 PM_NDIVE  2.0
HD_B  0.0098999999 ROLL_MAX  4000 ALTIM_TOP_MIN_OBSTACLE  0 PM_MOTORS  1.0
HD_C  2.1999999e-06 ROLL_DEG  40 ALTIM_PING_DEPTH  0
HEADING  -1 C_ROLL_DIVE  2400 ALTIM_PING_DELTA  0

Pre-dive calculations and measurements:
GPS1  031014,040335,4749.973,-12521.073,25,2.0,25,18.7 SPEED_LIMITS  0.127,0.215
_CALLS  1 TGT_NAME  OFFSHORE
_XMS_NAKs  0 TGT_LATLONG  4700.000,-12700.000
_XMS_TOUTs  0 TGT_RADIUS  5000.000
_SM_DEPTHo  2.30 MHEAD_RNG_PITCHd_Wd  202.5,155573,-14.0,-7.333,-18.81,2445
_SM_ANGLEo  -73.9 D_GRID  555
GPS2  031014,041213,4749.995,-12521.019,11,1.8,11,18.7

Post-dive calculations and measurements:
FINISH  1.3,1.023550 _10V_AH  13.4,0.000
SM_CCo  14181,12.45,0.099,0,0,1328,375.06 FG_AHR_24Vo  0.000
SM_GC  3.65,9.43,2.40,12.45,0.072,0.065,0.099,387,2402,1328,-9.12,0.85,375.06,1,0,0,0,0,0,14.23,14.26,14.19 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4732.49,-12404.55,031014,000028 MEM  290836
TT8_MAMPS  0.024717,0.024717 DATA_FILE_SIZE  29986,918
HUMID  51.26 CAP_FILE_SIZE  173582,0
INTERNAL_PRESSURE  8.9718 CFSIZE  260034560,214290432
TCM_TEMP  18.80 ERRORS  0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0
XPDR_PINGS  0 INTR  0,14156.01,0x2378ba,7,5
SC_FREEKB  3796896 CURRENT  0.096, 50.0,1
PM_FREEKB  50385568 GPS  031014,081126,4749.353,-12521.645,59,2.7,79,18.7
_24V_AH  13.2,104.750

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23382119.28 nil000.00
Roll_motor80167177.53 nil000.00
VBD_pump_during_apogee34013766177.00 nil000.00
VBD_pump_during_surface129916.34 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1417461221.37
Iridium_during_xfer255163551.48 PMAR233516.56
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS12223.63
TT8220710302.28
LPSleep93412274.13
TT8_Active5461074.91
TT8_Sampling201828782.91
TT8_CF859035282.24
TT8_Kalman000.00
Analog_circuits186310249.77
GPS_charging000.00
Compass1407014.15
RAFOS000.00
Transponder050.04

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
22 end surface: CONTROL_FINISHED_OK
state 22 begin dive
26 -0.59 -116.8 396 2412 1463 1196 0.0 0.0 0 80 0.00 0.00 -47.72 0.000 16386 0.000 0.000 396 2413 2562 2650 2475 0 0 0 0 0 0 28.83 28.83 28.83
86 -0.59 -116.8 396 2413 2650 2475 3.0 -1.6 5 130 12.73 2.58 -15.98 0.000 18948 0.383 0.096 3125 990 3337 3382 3293 0 0 0 0 0 0 13.83 14.21 14.51
340 -0.59 -116.8 3125 990 3384 3295 45.3 -12.4 31 351 0.00 2.50 0.00 0.000 1030 0.000 0.073 3131 2400 3339 3384 3295 0 0 0 0 0 0 28.83 14.20 28.83
591 -0.59 -116.8 3125 2400 3386 3291 72.6 -9.9 56 601 0.00 2.50 0.00 0.000 260 0.000 0.088 3128 3811 3341 3386 3296 0 0 0 0 0 0 28.83 14.12 28.83
672 -0.59 -116.8 3125 3811 3386 3296 80.7 -10.2 64 682 0.00 2.45 0.00 0.000 1030 0.000 0.062 3126 2387 3341 3386 3296 0 0 0 0 0 0 28.83 14.26 28.83
923 -0.59 -116.8 3125 2382 3388 3296 105.2 -9.9 89 934 0.00 2.42 0.00 0.000 516 0.000 0.075 3125 992 3341 3387 3296 0 0 0 0 0 0 28.83 14.23 28.83
1074 -0.59 -116.8 3125 991 3387 3297 120.6 -9.5 104 1084 0.00 2.47 0.00 0.000 1030 0.000 0.072 3125 2404 3342 3387 3297 0 0 0 0 0 0 28.83 14.23 28.83
1324 -0.59 -116.8 3121 2404 3387 3297 143.8 -9.8 129 1334 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2404 3341 3387 3296 0 0 0 0 0 0 28.83 28.83 28.83
1575 -0.59 -116.8 3126 2404 3387 3297 168.3 -9.5 154 1585 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2404 3341 3387 3296 0 0 0 0 0 0 28.83 28.83 28.83
1826 -0.59 -116.8 3125 2403 3382 3297 191.6 -9.0 179 1836 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2403 3342 3387 3297 0 0 0 0 0 0 28.83 28.83 28.83
2076 -0.59 -116.8 3125 2403 3387 3297 214.2 -9.0 204 2085 0.00 0.00 0.00 0.000 6 0.000 0.000 3122 2403 3341 3387 3296 0 0 0 0 0 0 28.83 28.83 28.83
2326 -0.59 -116.8 3125 2403 3387 3295 236.2 -8.6 229 2336 0.00 2.53 0.00 0.000 260 0.000 0.090 3124 3821 3340 3386 3295 0 0 0 0 0 0 28.83 14.20 28.83
2377 -0.59 -116.8 3127 3821 3386 3294 240.8 -9.0 234 2389 0.00 2.47 0.00 0.000 1030 0.000 0.061 3121 2391 3341 3387 3295 0 0 0 0 0 0 28.83 14.28 28.83
2638 -0.59 -116.8 3125 2387 3386 3294 262.6 -8.2 250 2648 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2387 3340 3386 3294 0 0 0 0 0 0 28.83 28.83 28.83
2939 -0.59 -116.8 3125 2386 3387 3293 287.4 -8.2 260 2949 0.00 2.42 0.00 0.000 516 0.000 0.078 3125 1001 3340 3387 3293 0 0 0 0 0 0 28.83 14.22 28.83
2999 -0.59 -116.8 3125 1001 3387 3293 292.8 -8.9 266 3009 0.00 2.45 0.00 0.000 1030 0.000 0.071 3125 2399 3340 3387 3293 0 0 0 0 0 0 28.83 14.24 28.83
3329 -0.59 -116.8 3125 2395 3387 3292 319.3 -8.2 279 3339 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2398 3339 3386 3292 0 0 0 0 0 0 28.83 28.83 28.83
3629 -0.59 -116.8 3125 2403 3386 3291 346.2 -9.4 289 3639 0.00 0.00 0.00 0.000 6 0.000 0.000 3123 2398 3337 3383 3291 0 0 0 0 0 0 28.83 28.83 28.83
3930 -0.59 -116.8 3125 2399 3387 3290 373.4 -9.0 299 3940 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2395 3339 3388 3290 0 0 0 0 0 0 28.83 28.83 28.83
4229 -0.59 -116.8 3125 2403 3386 3288 399.0 -8.3 309 4239 0.00 2.53 0.00 0.000 260 0.000 0.093 3126 3819 3337 3386 3289 0 0 0 0 0 0 28.83 14.19 28.83
4279 -0.59 -116.8 3125 3818 3386 3288 403.4 -9.0 314 4291 0.00 2.45 0.00 0.000 1030 0.000 0.066 3125 2403 3335 3386 3285 0 0 0 0 0 0 28.83 14.27 28.83
4592 -0.59 -116.8 3125 2402 3385 3288 427.5 -7.7 325 4602 0.00 0.00 0.00 0.000 6 0.000 0.000 3121 2402 3337 3386 3288 0 0 0 0 0 0 28.83 28.83 28.83
4890 -0.59 -116.8 3125 2402 3385 3287 449.7 -7.2 335 4900 0.00 0.00 0.00 0.000 6 0.000 0.000 3121 2402 3339 3392 3286 0 0 0 0 0 0 28.83 28.83 28.83
5189 -0.59 -116.8 3125 2401 3385 3286 473.5 -8.2 345 5199 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2402 3335 3385 3286 0 0 0 0 0 0 28.83 28.83 28.83
5490 -0.59 -116.8 3125 2402 3385 3285 498.5 -8.4 355 5500 0.00 0.00 0.00 0.000 6 0.000 0.000 3123 2402 3335 3385 3286 0 0 0 0 0 0 28.83 28.83 28.83
5789 -0.59 -116.8 3125 2402 3381 3285 524.2 -8.5 365 5799 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2402 3335 3384 3286 0 0 0 0 0 0 28.83 28.83 28.83
6094 -0.59 -116.8 3125 2402 3384 3285 549.4 -8.4 375 6103 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2402 3334 3383 3285 0 0 0 0 0 0 28.83 28.83 28.83
6175 end dive: TARGET_DEPTH_EXCEEDED
state 6175 begin apogee
6184 -0.25 0.0 3125 2315 3382 3285 557.2 -8.6 378 6288 0.40 0.00 96.82 1.376 10246 0.183 0.000 3240 2315 2858 2933 2784 0 0 0 0 0 0 14.01 28.83 13.33
6291 end apogee: CONTROL_FINISHED_OK
state 6291 begin climb
6295 0.59 116.8 3241 2315 2932 2781 561.5 0.0 381 6410 0.85 2.70 100.07 1.355 10500 0.132 0.090 3513 3739 2378 2509 2247 0 0 0 0 0 0 13.97 13.82 13.17
6451 0.61 116.8 3513 3742 2507 2247 557.5 6.3 391 6461 0.00 2.50 0.00 0.000 1030 0.000 0.069 3519 2344 2378 2509 2247 0 0 0 0 0 0 28.83 13.95 28.83
6781 0.61 116.8 3519 2341 2508 2247 533.5 7.8 404 6791 0.00 2.53 0.00 0.000 516 0.000 0.085 3519 915 2377 2509 2246 0 0 0 0 0 0 28.83 14.16 28.83
6851 0.61 116.8 3520 920 2504 2247 527.7 8.4 411 6861 0.00 2.50 0.00 0.000 1030 0.000 0.072 3519 2338 2377 2508 2246 0 0 0 0 0 0 28.83 14.23 28.83
7171 0.61 116.8 3520 2338 2508 2245 499.7 8.7 423 7182 0.00 2.50 0.00 0.000 260 0.000 0.092 3519 3744 2379 2508 2250 0 0 0 0 0 0 28.83 14.21 28.83
7240 0.61 116.8 3519 3745 2508 2244 492.9 9.9 430 7251 0.00 2.47 0.00 0.000 1030 0.000 0.073 3519 2329 2376 2508 2244 0 0 0 0 0 0 28.83 14.24 28.83
7565 0.61 116.8 3519 2328 2508 2243 465.2 8.7 442 7574 0.00 0.00 0.00 0.000 6 0.000 0.000 3519 2328 2375 2508 2243 0 0 0 0 0 0 28.83 28.83 28.83
7862 0.61 116.8 3521 2328 2508 2242 440.2 8.2 452 7872 0.00 0.00 0.00 0.000 6 0.000 0.000 3516 2328 2375 2509 2242 0 0 0 0 0 0 28.83 28.83 28.83
8165 0.61 116.8 3520 2328 2508 2241 417.0 7.2 462 8174 0.00 0.00 0.00 0.000 6 0.000 0.000 3519 2328 2375 2506 2245 0 0 0 0 0 0 28.83 28.83 28.83
8465 0.63 116.8 3520 2328 2508 2240 396.7 6.5 472 8475 0.00 2.55 0.00 0.000 260 0.000 0.091 3519 3738 2374 2508 2240 0 0 0 0 0 0 28.83 14.21 28.83
8525 0.63 116.8 3519 3737 2508 2240 392.0 7.5 478 8536 0.00 2.47 0.00 0.000 1030 0.000 0.071 3516 2326 2371 2503 2240 0 0 0 0 0 0 28.83 14.27 28.83
8857 0.65 116.8 3520 2326 2507 2240 371.3 6.2 491 8867 0.00 0.00 0.00 0.000 6 0.000 0.000 3519 2326 2371 2503 2240 0 0 0 0 0 0 28.83 28.83 28.83
9156 0.65 116.8 3519 2326 2514 2240 351.9 6.9 501 9166 0.00 2.58 0.00 0.000 260 0.000 0.090 3519 3750 2373 2507 2239 0 0 0 0 0 0 28.83 14.21 28.83
9205 0.65 116.8 3519 3750 2507 2238 348.0 8.1 506 9217 0.00 2.50 0.00 0.000 1030 0.000 0.069 3519 2321 2372 2506 2239 0 0 0 0 0 0 28.83 14.26 28.83
9520 0.65 116.8 3520 2320 2507 2238 326.0 7.0 517 9529 0.00 0.00 0.00 0.000 6 0.000 0.000 3520 2320 2372 2507 2238 0 0 0 0 0 0 28.83 28.83 28.83
9821 0.67 116.8 3519 2320 2507 2238 306.0 6.5 527 9831 0.00 2.50 0.00 0.000 516 0.000 0.085 3522 920 2372 2507 2238 0 0 0 0 0 0 28.83 14.19 28.83
9990 0.69 116.8 3522 920 2507 2238 295.1 6.1 544 10001 0.00 2.50 0.00 0.000 1030 0.000 0.073 3522 2331 2373 2509 2238 0 0 0 0 0 0 28.83 14.23 28.83
10305 0.72 116.8 3527 2330 2506 2238 276.5 6.0 555 10315 0.10 0.00 0.00 0.000 2054 0.164 0.000 3575 2330 2372 2506 2238 0 0 0 0 0 0 14.37 28.83 28.83
10603 0.72 116.8 3570 2330 2506 2238 253.7 8.1 565 10613 0.00 2.53 0.00 0.000 516 0.000 0.083 3575 915 2371 2506 2237 0 0 0 0 0 0 28.83 14.19 28.83
10717 0.72 116.8 3576 915 2505 2238 243.5 9.1 576 10728 0.00 2.50 0.00 0.000 1030 0.000 0.072 3576 2328 2375 2506 2244 0 0 0 0 0 0 28.83 14.23 28.83
10968 0.72 116.8 3576 2330 2506 2233 221.6 8.5 601 10978 0.00 0.00 0.00 0.000 6 0.000 0.000 3576 2330 2372 2506 2238 0 0 0 0 0 0 28.83 28.83 28.83
11218 0.72 116.8 3575 2330 2506 2238 200.6 8.1 626 11229 0.00 0.00 0.00 0.000 6 0.000 0.000 3576 2329 2372 2506 2238 0 0 0 0 0 0 28.83 28.83 28.83
11470 0.73 116.8 3576 2330 2506 2237 182.3 6.7 651 11480 0.00 0.00 0.00 0.000 6 0.000 0.000 3581 2331 2372 2506 2238 0 0 0 0 0 0 28.83 28.83 28.83
11719 0.73 116.8 3576 2329 2506 2237 164.8 7.1 676 11729 0.00 0.00 0.00 0.000 6 0.000 0.000 3572 2330 2371 2506 2237 0 0 0 0 0 0 28.83 28.83 28.83
11969 0.73 116.8 3576 2329 2506 2238 146.0 7.5 701 11980 0.00 2.50 0.00 0.000 516 0.000 0.079 3585 918 2371 2506 2237 0 0 0 0 0 0 28.83 14.16 28.83
12140 0.73 116.8 3585 918 2506 2235 133.0 7.2 718 12151 0.00 2.50 0.00 0.000 1030 0.000 0.071 3585 2339 2372 2506 2238 0 0 0 0 0 0 28.83 14.19 28.83
12393 0.73 116.8 3585 2340 2506 2238 114.3 7.1 743 12403 0.00 0.00 0.00 0.000 6 0.000 0.000 3585 2339 2371 2506 2237 0 0 0 0 0 0 28.83 28.83 28.83
12643 0.73 116.8 3585 2339 2505 2238 96.1 7.2 768 12653 0.00 0.00 0.00 0.000 6 0.000 0.000 3585 2339 2371 2505 2238 0 0 0 0 0 0 28.83 28.83 28.83
12894 0.75 116.8 3581 2339 2501 2238 78.5 6.2 793 12905 0.00 2.55 0.00 0.000 516 0.000 0.080 3587 913 2372 2506 2238 0 0 0 0 0 0 28.83 14.13 28.83
13115 0.79 116.8 3586 913 2506 2238 66.2 5.8 815 13126 0.00 2.50 0.00 0.000 1030 0.000 0.070 3588 2331 2372 2506 2238 0 0 0 0 0 0 28.83 14.19 28.83
13367 0.87 236.0 3588 2331 2506 2237 57.7 2.3 840 13466 0.00 0.00 90.15 0.750 8454 0.000 0.000 3588 2331 1893 2029 1757 0 0 0 0 0 0 28.83 28.83 13.72
13706 0.87 236.0 3588 2331 2028 1754 32.8 8.8 874 13717 0.00 0.00 0.00 0.000 6 0.000 0.000 3588 2330 1891 2028 1754 0 0 0 0 0 0 28.83 28.83 28.83
13958 0.95 346.9 3589 2331 2031 1754 15.9 2.7 899 14021 0.12 2.60 52.97 0.155 10500 0.141 0.087 3645 3748 1443 1586 1300 0 0 0 0 0 0 14.26 14.21 14.09
14121 end climb: SURFACE_DEPTH_REACHED
state 14122 begin surface coast
14152 end surface coast: CONTROL_FINISHED_OK
state 14152 begin surface