SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 487 * 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  487 HEADING  -1 ROLL_DEG  40 ALTIM_PING_DEPTH  1050
D_SURF  3 ESCAPE_HEADING  0 C_ROLL_DIVE  1910 ALTIM_PING_DELTA  5
D_FLARE  3 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1585 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  26 XPDR_INHIBIT  90
T_BOOST  0 SM_CC  200 R_STBD_OVSHOOT  28 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  -5846.8486 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  3049 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  17 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  466

Pre-dive calculations and measurements:
GPS1  180113,194259,-4242.458,-342.836,97,1.0,97,-22.2 TGT_NAME  ACC_WP1
_CALLS  2 TGT_LATLONG  -4330.000,-230.000
_XMS_NAKs  0 TGT_RADIUS  6000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.193,-0.193
_SM_DEPTHo  2.82 KALMAN_X  -252426.2,122.3,322.6,442648.5,-2641.1
_SM_ANGLEo  -62.9 KALMAN_Y  -113504.9,-147.7,487.2,25470.9,2798.6
GPS2  180113,195424,-4242.530,-342.706,17,1.0,17,-22.2 MHEAD_RNG_PITCHd_Wd  157.2,131411,-16.8,-9.804
SPEED_LIMITS  0.170,0.273 D_GRID  1000

Post-dive calculations and measurements:
FINISH  2.3,1.026031 _10V_AH  9.9,64.536
SM_CCo  20337,0.00,0.000,0,0,603,554.12 FG_AHR_24Vo  0.000
SM_GC  3.10,8.88,0.00,0.00,0.033,0.000,0.000,77,1908,603,-9.19,-0.08,554.12 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4227.40,-345.73,180113,191959 MEM  354648
TT8_MAMPS  0.026964 DATA_FILE_SIZE  56982,948
HUMID  48.30 CAP_FILE_SIZE  169497,0
INTERNAL_PRESSURE  9.04998 CFSIZE  2097086464,2030043136
TCM_TEMP  15.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS  2 GPS  190113,013529,-4242.990,-342.457,37,1.3,37,-22.2
_24V_AH  22.2,83.711

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22261131.12 SBE_CT63724339.53
Roll_motor567089.02 WL_BB2FLVMT8851052064.02
VBD_pump_during_apogee631124417447.81 SBE_O264519272.45
VBD_pump_during_surface000.00 QSP21507146.99
VBD_valve000.00 nil000.00
Iridium_during_init53103123.35 nil000.00
Iridium_during_connect77160274.95 nil000.00
Iridium_during_xfer3262231616.16 nil000.00
Transponder_ping04204.66 nil000.00
GUMSTIX_24V000.00
GPS21265.62
TT8239214354.35
LPSleep146462317.56
TT8_Active6321489.00
TT8_Sampling3088371144.45
TT8_CF825547119.21
TT8_Kalman335919.54
Analog_circuits187412222.72
GPS_charging000.00
Compass257315400.72
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 23 begin dive
26 -1.00 -165.4 0.0 0.0 0 76 0.00 0.00 -47.67 0.000 2 0.000 0.000 81 1917 1546 0 0 0 0 0 0
79 -1.00 -165.4 3.0 -0.6 8 188 10.35 2.38 -87.93 0.000 4 0.210 0.070 2721 503 3538 0 0 0 0 0 0
291 -0.96 -165.4 16.2 -15.7 43 299 0.08 2.28 0.00 0.000 6 0.148 0.046 2735 1913 3540 0 0 0 0 0 0
372 -1.02 -165.4 26.8 -11.5 56 379 0.00 0.52 0.00 0.000 4 0.000 0.057 2734 2264 3540 0 0 0 0 0 0
452 -1.05 -165.4 35.6 -11.1 69 457 0.03 0.55 0.00 0.000 6 0.096 0.055 2697 1910 3540 0 0 0 0 0 0
693 -1.02 -165.4 63.0 -11.6 109 697 0.08 1.70 0.00 0.000 4 0.182 0.057 2716 856 3540 0 0 0 0 0 0
795 -1.02 -165.4 74.3 -10.7 118 799 0.00 1.65 0.00 0.000 6 0.000 0.046 2708 1915 3540 0 0 0 0 0 0
1122 -1.02 -165.4 107.6 -9.6 146 1125 0.00 1.15 0.00 0.000 4 0.000 0.055 2708 1194 3540 0 0 0 0 0 0
1190 -1.02 -165.4 114.2 -9.0 150 1194 0.03 1.12 0.00 0.000 6 0.181 0.047 2712 1909 3540 0 0 0 0 0 0
1523 -1.02 -165.4 144.9 -9.8 171 1527 0.00 0.65 0.00 0.000 4 0.000 0.054 2713 1482 3540 0 0 0 0 0 0
1635 -1.02 -165.4 157.1 -10.5 177 1641 0.00 0.68 0.00 0.000 6 0.000 0.050 2710 1912 3540 0 0 0 0 0 0
1956 -1.02 -165.4 190.7 -10.5 198 1957 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 1912 3540 0 0 0 0 0 0
2275 -1.02 -165.4 224.8 -10.7 215 2276 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 1912 3540 0 0 0 0 0 0
2584 -1.02 -165.4 258.5 -10.9 230 2588 0.00 0.98 0.00 0.000 4 0.000 0.053 2710 1291 3541 0 0 0 0 0 0
2675 -1.02 -165.4 268.3 -10.7 234 2679 0.00 0.98 0.00 0.000 6 0.000 0.049 2706 1914 3540 0 0 0 0 0 0
3017 -1.02 -165.4 304.3 -10.3 250 3018 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 1914 3541 0 0 0 0 0 0
3323 -1.02 -165.4 334.2 -9.5 260 3325 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 1914 3540 0 0 0 0 0 0
3630 -1.02 -165.4 361.5 -9.0 270 3633 0.00 0.62 0.00 0.000 4 0.000 0.056 2706 1508 3540 0 0 0 0 0 0
3747 -1.02 -165.4 371.6 -8.3 273 3751 0.03 0.62 0.00 0.000 6 0.176 0.052 2713 1917 3540 0 0 0 0 0 0
4071 -1.05 -165.4 396.4 -7.6 284 4072 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1917 3540 0 0 0 0 0 0
4377 -1.07 -165.4 420.9 -8.4 294 4381 0.00 0.75 0.00 0.000 4 0.000 0.056 2714 1437 3539 0 0 0 0 0 0
4467 -1.10 -165.4 429.2 -9.3 296 4470 0.00 0.75 0.00 0.000 6 0.000 0.052 2710 1919 3539 0 0 0 0 0 0
4785 -1.13 -165.4 461.6 -10.6 307 4789 0.08 0.60 0.00 0.000 4 0.119 0.057 2658 1541 3539 0 0 0 0 0 0
4840 -1.07 -165.4 468.3 -11.3 308 4845 0.12 0.57 0.00 0.000 6 0.138 0.054 2697 1913 3538 0 0 0 0 0 0
5158 -1.07 -165.4 504.0 -11.4 319 5159 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 1914 3538 0 0 0 0 0 0
5464 -1.07 -165.4 538.9 -11.6 329 5468 0.00 0.90 0.00 0.000 4 0.000 0.058 2694 2491 3537 0 0 0 0 0 0
5553 -1.07 -165.4 549.0 -11.6 331 5557 0.00 0.95 0.00 0.000 6 0.000 0.051 2693 1887 3537 0 0 0 0 0 0
5872 -1.07 -165.4 583.4 -10.6 342 5876 0.00 0.47 0.00 0.000 4 0.000 0.060 2692 2202 3536 0 0 0 0 0 0
5932 -1.07 -165.4 590.0 -10.4 343 5938 0.00 0.47 0.00 0.000 6 0.000 0.056 2691 1900 3536 0 0 0 0 0 0
6245 -1.07 -165.4 621.8 -10.2 354 6249 0.00 0.57 0.00 0.000 4 0.000 0.059 2689 2276 3536 0 0 0 0 0 0
6351 -1.07 -165.4 632.8 -9.8 357 6355 0.00 0.57 0.00 0.000 6 0.000 0.054 2689 1910 3536 0 0 0 0 0 0
6687 -1.07 -165.4 665.2 -9.5 368 6691 0.05 0.57 0.00 0.000 4 0.218 0.062 2698 2275 3535 0 0 0 0 0 0
6789 -1.07 -165.4 674.6 -9.5 371 6793 0.00 0.55 0.00 0.000 6 0.000 0.057 2698 1916 3534 0 0 0 0 0 0
7130 -1.09 -165.4 705.5 -9.4 382 7134 0.00 1.50 0.00 0.000 4 0.000 0.056 2698 994 3533 0 0 0 0 0 0
7219 -1.09 -165.4 714.1 -9.5 384 7223 0.00 1.48 0.00 0.000 6 0.000 0.048 2691 1911 3533 0 0 0 0 0 0
7538 -1.09 -165.4 744.2 -9.6 395 7542 0.00 1.48 0.00 0.000 4 0.000 0.056 2692 1011 3532 0 0 0 0 0 0
7621 -1.09 -165.4 752.3 -9.2 397 7625 0.00 1.45 0.00 0.000 6 0.000 0.048 2685 1914 3532 0 0 0 0 0 0
7946 -1.09 -165.4 782.8 -9.7 408 7947 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 1914 3532 0 0 0 0 0 0
8252 -1.09 -165.4 813.2 -10.1 418 8253 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 1915 3531 0 0 0 0 0 0
8558 -1.09 -165.4 843.6 -10.0 428 8559 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 1915 3531 0 0 0 0 0 0
8864 -1.09 -165.4 875.5 -10.4 438 8868 0.00 0.60 0.00 0.000 4 0.000 0.060 2685 1530 3531 0 0 0 0 0 0
8936 -1.09 -165.4 883.4 -11.0 440 8941 0.05 0.62 0.00 0.000 6 0.223 0.055 2695 1920 3531 0 0 0 0 0 0
9272 -1.09 -165.4 918.9 -11.0 451 9273 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 1920 3529 0 0 0 0 0 0
9578 -1.12 -165.4 952.0 -10.6 461 9582 0.00 0.73 0.00 0.000 4 0.000 0.060 2695 1462 3528 0 0 0 0 0 0
9684 -1.15 -165.4 963.6 -10.1 464 9688 0.00 0.70 0.00 0.000 6 0.000 0.055 2692 1910 3528 0 0 0 0 0 0
10020 -1.18 -165.4 998.0 -10.2 475 10024 0.08 0.52 0.00 0.000 4 0.122 0.061 2641 2254 3527 0 0 0 0 0 0
10039 end dive: TARGET_DEPTH_EXCEEDED
state 10039 begin apogee
10045 -0.29 0.0 1000.5 10.5 475 10193 0.98 0.00 144.25 1.245 6 0.129 0.000 2950 1587 2862 0 0 0 0 0 0
10194 end apogee: CONTROL_FINISHED_OK
state 10194 begin climb
10196 1.00 165.4 1010.7 0.0 480 10356 1.20 2.10 150.48 1.214 4 0.058 0.054 3374 2736 2186 0 0 0 0 0 0
10468 0.81 235.4 1008.3 7.0 488 10540 0.20 1.92 63.40 1.197 6 0.155 0.050 3315 1589 1901 0 0 0 0 0 0
10847 0.76 276.0 978.3 8.2 501 10887 0.08 0.00 37.22 1.183 6 0.197 0.000 3297 1589 1736 0 0 0 0 0 0
11183 0.76 331.5 951.7 7.6 512 11237 0.00 1.23 50.15 1.188 4 0.000 0.053 3297 2349 1510 0 0 0 0 0 0
11312 0.80 356.0 941.3 8.8 516 11343 0.00 1.25 23.50 1.141 6 0.000 0.055 3302 1591 1410 0 0 0 0 0 0
11651 0.87 400.7 913.2 8.0 527 11697 0.08 0.70 41.70 1.168 4 0.120 0.066 3351 1185 1227 0 0 0 0 0 0
11778 0.91 430.5 901.7 8.6 531 11812 0.00 0.65 28.62 1.138 6 0.000 0.052 3351 1589 1105 0 0 0 0 0 0
12149 0.95 432.5 866.1 9.7 543 12150 0.00 0.00 0.00 0.000 6 0.000 0.000 3351 1589 1097 0 0 0 0 0 0
12455 1.00 433.2 836.2 9.8 553 12457 0.05 0.00 0.00 0.000 6 0.162 0.000 3387 1589 1096 0 0 0 0 0 0
12760 1.00 433.2 804.0 10.4 563 12762 0.03 0.00 0.00 0.000 6 0.262 0.000 3376 1589 1095 0 0 0 0 0 0
13067 1.00 433.2 772.7 10.3 573 13068 0.00 0.00 0.00 0.000 6 0.000 0.000 3376 1589 1094 0 0 0 0 0 0
13373 1.00 433.2 741.1 10.3 583 13374 0.00 0.00 0.00 0.000 6 0.000 0.000 3376 1589 1093 0 0 0 0 0 0
13679 1.00 433.2 708.8 10.7 593 13683 0.00 0.45 0.00 0.000 4 0.000 0.066 3378 1303 1093 0 0 0 0 0 0
13751 1.00 433.2 700.8 11.3 595 13755 0.00 0.47 0.00 0.000 6 0.000 0.056 3378 1600 1093 0 0 0 0 0 0
14086 1.00 433.2 665.5 10.7 606 14090 0.00 0.60 0.00 0.000 4 0.000 0.066 3381 1227 1092 0 0 0 0 0 0
14164 1.00 433.2 657.1 11.0 608 14168 0.00 0.57 0.00 0.000 6 0.000 0.054 3380 1583 1092 0 0 0 0 0 0
14494 1.00 433.2 621.1 10.9 619 14495 0.00 0.00 0.00 0.000 6 0.000 0.000 3381 1583 1092 0 0 0 0 0 0
14800 1.00 433.2 587.1 11.2 629 14801 0.00 0.00 0.00 0.000 6 0.000 0.000 3381 1583 1092 0 0 0 0 0 0
15106 1.00 433.2 552.8 11.3 639 15110 0.00 0.82 0.00 0.000 4 0.000 0.066 3384 1082 1092 0 0 0 0 0 0
15167 1.00 433.2 545.6 11.3 640 15172 0.00 0.82 0.00 0.000 6 0.000 0.051 3384 1589 1091 0 0 0 0 0 0
15480 1.00 433.2 508.5 11.8 651 15484 0.00 0.60 0.00 0.000 4 0.000 0.064 3387 1216 1091 0 0 0 0 0 0
15540 1.00 433.2 501.3 11.6 652 15546 0.03 0.60 0.00 0.000 6 0.175 0.052 3377 1589 1091 0 0 0 0 0 0
15853 1.00 433.2 466.2 11.1 663 15854 0.00 0.00 0.00 0.000 6 0.000 0.000 3377 1589 1091 0 0 0 0 0 0
16159 1.00 433.2 433.6 10.3 673 16160 0.00 0.00 0.00 0.000 6 0.000 0.000 3377 1589 1091 0 0 0 0 0 0
16465 1.00 433.2 402.3 10.2 683 16469 0.00 0.50 0.00 0.000 4 0.000 0.057 3377 1927 1091 0 0 0 0 0 0
16567 1.00 435.1 392.0 9.7 686 16571 0.00 0.55 0.00 0.000 6 0.000 0.061 3379 1581 1091 0 0 0 0 0 0
16908 1.00 440.8 359.0 9.6 697 16918 0.00 0.00 8.07 0.744 6 0.000 0.000 3379 1581 1065 0 0 0 0 0 0
17214 1.00 440.8 328.4 10.0 707 17218 0.00 0.60 0.00 0.000 4 0.000 0.055 3379 1972 1064 0 0 0 0 0 0
17303 1.00 440.8 319.1 10.5 709 17307 0.00 0.62 0.00 0.000 6 0.000 0.060 3382 1587 1064 0 0 0 0 0 0
17624 1.00 440.8 284.8 11.0 722 17628 0.00 0.62 0.00 0.000 4 0.000 0.056 3381 1991 1064 0 0 0 0 0 0
17674 1.00 440.8 278.8 11.3 724 17679 0.00 0.68 0.00 0.000 6 0.000 0.059 3385 1579 1064 0 0 0 0 0 0
18002 1.00 440.8 242.8 10.9 740 18003 0.00 0.00 0.00 0.000 6 0.000 0.000 3385 1579 1064 0 0 0 0 0 0
18311 1.00 440.8 209.7 10.4 755 18315 0.00 0.75 0.00 0.000 4 0.000 0.054 3384 2064 1064 0 0 0 0 0 0
18372 1.00 444.2 203.2 9.7 757 18382 0.03 0.75 5.05 0.552 6 0.184 0.057 3378 1590 1050 0 0 0 0 0 0
18703 1.03 444.2 168.0 11.1 778 18704 0.00 0.00 0.00 0.000 6 0.000 0.000 3378 1590 1051 0 0 0 0 0 0
19015 1.03 444.2 134.5 10.1 798 19018 0.00 0.82 0.00 0.000 4 0.000 0.054 3378 2126 1051 0 0 0 0 0 0
19075 1.03 444.2 128.6 10.1 801 19081 0.00 0.90 0.00 0.000 6 0.000 0.057 3381 1574 1050 0 0 0 0 0 0
19398 1.03 444.2 95.2 13.1 823 19401 0.00 0.60 0.00 0.000 4 0.000 0.063 3384 1184 1051 0 0 0 0 0 0
19469 1.03 444.2 84.8 14.7 829 19474 0.00 0.65 0.00 0.000 6 0.000 0.051 3384 1590 1051 0 0 0 0 0 0
19804 1.03 505.4 46.3 7.4 872 19866 0.00 0.00 56.38 0.630 6 0.000 0.000 3385 1590 799 0 0 0 0 0 0
20100 1.07 536.8 15.9 8.6 923 20119 0.00 0.00 15.68 0.542 6 0.000 0.000 3384 1590 670 0 0 0 0 0 0
20193 1.15 552.0 7.4 9.2 938 20208 0.10 1.42 6.95 0.456 4 0.097 0.051 3445 2473 609 0 0 0 0 0 0
20244 end climb: SURFACE_DEPTH_REACHED
state 20244 begin surface coast
20257 end surface coast: CONTROL_FINISHED_OK
state 20259 begin surface