NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 628 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  236 ESCAPE_HEADING  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
MISSION  2 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.054945 XPDR_VALID  4
DIVE  628 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
N_DIVES  0 TGT_DEFAULT_LAT  4736 ROLL_MAXERRORS  1 XPDR_INT  0
STOP_T  0 TGT_DEFAULT_LON  -12218 ROLL_ADJ_GAIN  0 XPDR_REP  0
D_SURF  2 TGT_AUTO_DEFAULT  0 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  1.9639999e-06
D_FLARE  3 SM_CC  425 VBD_MIN  500 INT_PRESSURE_YINT  0
D_TGT  500 N_FILEKB  8 VBD_MAX  3960 DEEPGLIDER  0
D_ABORT  1010 FILEMGR  0 C_VBD  2500 DEEPGLIDERMB  0
D_NO_BLEED  200 CALL_NDIVES  1 VBD_DBAND  2 MOTHERBOARD  6
D_BOOST  2 COMM_SEQ  0 VBD_CNV  -0.24529999 DEVICE1  120
T_BOOST  0 PROTOCOL  9 VBD_LP_IGNORE  0 DEVICE2  -1
D_FINISH  0 N_NOCOMM  2 VBD_TIMEOUT  720 DEVICE3  -1
D_PITCH  0 NOCOMM_ACTION  163 PITCH_VBD_SHIFT  0.003 DEVICE4  -1
D_SAFE  0 N_NOSURFACE  0 UNCOM_BLEED  20 DEVICE5  -1
D_CALL  0 UPLOAD_DIVES_MAX  -1 VBD_MAXERRORS  1 DEVICE6  -1
SURFACE_URGENCY  0 CALL_TRIES  5 W_ADJ_DBAND  2 LOGGERS  1
SURFACE_URGENCY_TRY  0 CALL_WAIT  60 DBDW  0 LOGGERDEVICE1  7
SURFACE_URGENCY_FORCE  0 CAPUPLOAD  0 LOITER_W_DBAND  0 LOGGERDEVICE2  -1
T_DIVE  170 CAPMAXSIZE  100000 LOITER_DBDW  0 LOGGERDEVICE3  -1
T_MISSION  190 T_GPS  5 LOITER_D_TOP  150 LOGGERDEVICE4  -1
T_ABORT  1440 N_GPS  100440 LOITER_D_BOTTOM  250 COMPASS_DEVICE  66
T_TURN  225 T_RSLEEP  1 LOITER_N_DIVE  0 COMPASS2_DEVICE  -1
T_TURN_SAMPINT  -5 STROBE  0 CF8_MAXERRORS  20 PHONE_DEVICE  33
T_NO_W  180 RAFOS_PEAK_OFFSET  0 AH0_24V  575 GPS_DEVICE  48
T_LOITER  7200 RAFOS_CORR_THRESH  60 AH0_10V  0 RAFOS_DEVICE  -1
T_EPIRB  0 RAFOS_HIT_WINDOW  3600 MINV_24V  11 NETWORK_DEVICE  -1
USE_BATHY  -1 RAFOS_MMODEM  0 MINV_10V  11 PRESSURE_DEVICE  34
USE_ICE  0 PITCH_MIN  190 MAXI_24V  5 XPDR_DEVICE  21
ICE_FREEZE_MARGIN  0.30000001 PITCH_MAX  3920 MAXI_10V  1.5 SIM_W  0
D_OFFGRID  990 C_PITCH  2140 FG_AHR_10V  59.056011 SEABIRD_T_G  0.0043000001
RELAUNCH  1 PITCH_DBAND  0.1 FG_AHR_24V  157.71249 SEABIRD_T_H  0.00063999998
APOGEE_PITCH  -5 PITCH_CNV  0.0041299998 PHONE_SUPPLY  2 SEABIRD_T_I  2.4999999e-05
MAX_BUOY  80 PITCH_GAIN  20 PRESSURE_YINT  -170.66119 SEABIRD_T_J  4.3e-06
GLIDE_SLOPE  30 PITCH_TIMEOUT  30 PRESSURE_SLOPE  0.00022638284 SEABIRD_C_G  -10
SPEED_FACTOR  1 PITCH_MAXERRORS  1 COMPASS_USE  4 SEABIRD_C_H  1
RHO  1.0275 PITCH_ADJ_GAIN  0 ALTIM_PING_FIT  0 SEABIRD_C_I  -0.0020000001
MASS  72660 PITCH_ADJ_DBAND  0 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00019999999
NAV_MODE  0 PITCH_W_GAIN  3 ALTIM_BOTTOM_TURN_MARGIN  0 SC_RECORDABOVE  2000.0
FERRY_MAX  45 PITCH_W_DBAND  0.5 ALTIM_TOP_TURN_MARGIN  0 SC_PROFILE  7.0
KALMAN_USE  2 ROLL_MIN  670 ALTIM_TOP_MIN_OBSTACLE  1 SC_XMITPROFILE  7.0
HD_A  0.003 ROLL_MAX  3465 ALTIM_PING_DEPTH  0 SC_NDIVE  1.0
HD_B  0.0099900002 ROLL_DEG  80 ALTIM_PING_DELTA  0
HD_C  1.6e-05 C_ROLL_DIVE  2100 ALTIM_FREQUENCY  13
HEADING  -1 C_ROLL_CLIMB  2100 ALTIM_PULSE  3

Pre-dive calculations and measurements:
GPS1  170221,224130,4731.140,-12611.396,21,1.0,21,15.8 TGT_LATLONG  4728.540,-12600.590
_CALLS  2 TGT_RADIUS  7000.000
_SM_DEPTHo  0.44 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -62.8 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  170221,224952,4731.225,-12611.532,2,0.7,4,15.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.170,0.192 MHEAD_RNG_PITCHd_Wd  94.2,14572,-24.0,-9.804,-27.02
TGT_NAME  IN5 D_GRID  990

Post-dive calculations and measurements:
SM_CCo  9670.90,0.00,0.000,0,767.5,764.0,770.9,424.99 _10V_AH  14.70,0.000
SM_GC  0.79,0.00,16.70,0.09,0.000,0.052,0.141,767.5,764.0,770.9,173.8,2072.4,0,0,0,30.00,15.55,15.64 FG_AHR_24Vo  157.892
SUPER  27,71,254,1,0,0 FG_AHR_10Vo  59.092
IRIDIUM_FIX  4728.95,-12610.78,170221,224444 MEM  1099972,48,75816,114
TCM_TEMP  189.72 DATA_FILE_SIZE  48175,1281
XPDR_PINGS  2,14.0,11.5 CAP_FILE_SIZE  504712,0
SC_FREEKB  3618976 SDSIZE  3918848,3746656
HUMID  57.38 SDFILEDIR  3166,1
TEMP  7.90 ERRORS  0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  7.7847 GPS  180221,013159,4731.557,-12610.488,31,1.0,31,15.8
_24V_AH  14.52,187.076

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump520164312421.27 legato000.00
Pitch_motor36253136.22 nil000.00
Roll_motor170234579.10 nil000.00
Iridium262205784.30 nil000.00
Transponder_ping04203.05 nil000.00
GPS13153.02 nil000.00
Core389611675.90 SciCon95546927.21
LPSleep60652249.65 nil000.00
Compass21235156.09 nil000.00
RAFOS000.00
Transponder000.00

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R

Guidance and control:
st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts
6 end surface: CONTROL_FINISHED_OK
state 6 begin dive
7.51 16386 -77.86 -1.43 0.00 762.3 765.4 759.2 172.8 2121.1 0.00 0.00 0 87.43 79.29 0.00 0.00 0.005 0.000 0.000 2502.28 2480.38 2524.19 171.69 2119.44 0 0 0 14.99 30.00 30.00
87.71 18983 -77.86 -1.43 -80.00 2501.6 2480.0 2523.2 171.6 2119.6 3.44 -3.38 15 119.65 8.04 14.22 4.16 0.007 0.254 0.149 2815.41 2808.94 2821.88 1792.38 663.25 0 0 0 15.14 15.22 14.98
302.52 1028 -77.86 -1.43 0.00 2815.9 2809.4 2822.5 1792.4 663.4 51.70 -23.90 58 308.24 0.00 0.00 3.62 0.000 0.000 0.052 2817.91 2811.62 2824.19 1792.19 2120.50 0 0 0 30.00 30.00 15.61
487.49 516 -77.86 -1.43 -80.00 2815.6 2809.1 2822.1 1792.1 2120.3 82.26 -14.85 95 493.35 0.00 0.00 4.13 0.000 0.000 0.144 2816.12 2810.12 2822.12 1792.44 662.81 0 0 0 30.00 30.00 15.42
527.50 1028 -77.86 -1.43 0.00 2815.8 2809.6 2822.1 1792.2 663.2 88.52 -16.38 103 533.26 0.00 0.00 3.56 0.000 0.000 0.049 2817.69 2810.94 2824.44 1792.12 2121.12 0 0 0 30.00 30.00 15.66
712.53 260 -77.86 -1.43 80.00 2815.7 2809.3 2822.1 1792.4 2121.4 112.72 -12.21 130 718.13 0.00 0.00 3.68 0.000 0.000 0.107 2814.69 2808.38 2821.00 1792.69 3474.38 0 0 0 30.00 30.00 15.54
941.46 1028 -77.86 -1.43 0.00 2815.8 2809.8 2821.9 1792.7 3475.3 145.05 -13.99 176 948.31 0.00 0.00 3.41 0.000 0.000 0.056 2818.41 2811.81 2825.00 1792.12 2081.38 0 0 0 30.00 30.00 15.65
1247.61 260 -77.86 -1.43 80.00 2816.0 2809.6 2822.5 1792.8 2080.9 179.99 -11.03 207 1253.30 0.00 0.00 3.82 0.000 0.000 0.105 2814.94 2809.25 2820.62 1792.44 3473.69 0 0 0 30.00 30.00 15.57
1342.63 1028 -77.86 -1.43 0.00 2816.3 2809.3 2823.4 1792.5 3474.0 192.65 -14.31 226 1347.20 0.00 0.00 3.41 0.000 0.000 0.056 2816.19 2809.50 2822.88 1792.75 2080.38 0 0 0 30.00 30.00 15.66
1652.66 516 -77.86 -1.43 -80.00 2816.2 2809.9 2822.4 1792.7 2080.5 227.91 -10.32 258 1658.32 0.00 0.00 4.03 0.000 0.000 0.150 2815.56 2808.44 2822.69 1792.19 662.00 0 0 0 30.00 30.00 15.44
1691.55 1028 -77.86 -1.43 0.00 2815.9 2809.2 2822.5 1792.8 661.7 232.48 -11.73 266 1698.42 0.00 0.00 3.53 0.000 0.000 0.047 2816.56 2809.44 2823.69 1792.31 2121.50 0 0 0 30.00 30.00 15.71
1997.71 0 -77.86 -1.43 0.00 2815.7 2809.2 2822.2 1792.2 2120.9 263.90 -10.34 297 1999.04 0.00 0.00 0.00 0.000 0.000 0.000 2816.50 2809.12 2823.88 1792.38 2120.94 0 0 0 30.00 30.00 30.00
2297.77 260 -77.86 -1.43 80.00 2816.4 2809.4 2823.4 1792.3 2120.6 296.33 -11.33 327 2303.52 0.00 0.00 3.71 0.000 0.000 0.111 2814.47 2807.69 2821.25 1792.38 3475.12 0 0 0 30.00 30.00 15.55
2362.79 1028 -77.86 -1.43 0.00 2816.1 2809.5 2822.6 1792.4 3475.1 303.97 -12.05 340 2367.42 0.00 0.00 3.41 0.000 0.000 0.056 2816.41 2810.12 2822.69 1792.50 2082.12 0 0 0 30.00 30.00 15.66
2672.86 260 -77.86 -1.43 80.00 2816.0 2809.4 2822.7 1792.2 2081.6 336.84 -10.76 372 2678.63 0.00 0.00 3.84 0.000 0.000 0.109 2815.44 2808.88 2822.00 1792.31 3473.12 0 0 0 30.00 30.00 15.54
2717.87 1028 -77.86 -1.43 0.00 2816.1 2809.1 2823.0 1792.2 3473.9 341.65 -11.25 381 2722.56 0.00 0.00 3.41 0.000 0.000 0.057 2816.84 2810.56 2823.12 1792.50 2081.88 0 0 0 30.00 30.00 15.65
3027.95 516 -77.86 -1.43 -80.00 2816.1 2809.3 2822.8 1792.3 2081.5 373.24 -10.54 413 3033.60 0.00 0.00 4.04 0.000 0.000 0.153 2816.34 2809.38 2823.31 1792.25 662.31 0 0 0 30.00 30.00 15.40
3086.88 1028 -77.86 -1.43 0.00 2816.1 2809.3 2822.9 1792.7 661.9 381.37 -14.28 425 3093.71 0.00 0.00 3.55 0.000 0.000 0.051 2817.62 2810.38 2824.88 1792.31 2120.44 0 0 0 30.00 30.00 15.69
3393.03 260 -77.86 -1.43 80.00 2815.5 2808.8 2822.2 1792.6 2120.2 415.10 -11.23 456 3398.76 0.00 0.00 3.69 0.000 0.000 0.112 2818.84 2812.69 2825.00 1791.19 3475.56 0 0 0 30.00 30.00 15.52
3488.05 1028 -77.86 -1.43 0.00 2815.7 2809.2 2822.2 1792.2 3475.9 426.60 -12.16 475 3492.62 0.00 0.00 3.42 0.000 0.000 0.058 2816.19 2809.56 2822.81 1792.38 2081.50 0 0 0 30.00 30.00 15.63
3798.13 260 -77.86 -1.43 80.00 2815.3 2808.9 2821.7 1793.0 2081.1 459.22 -10.17 507 3803.89 0.00 0.00 3.83 0.000 0.000 0.111 2814.00 2807.94 2820.06 1792.00 3475.12 0 0 0 30.00 30.00 15.51
3863.17 1028 -77.86 -1.43 0.00 2815.4 2808.8 2822.1 1792.6 3475.1 466.86 -12.04 520 3867.77 0.00 0.00 3.42 0.000 0.000 0.059 2815.78 2810.06 2821.50 1792.50 2081.44 0 0 0 30.00 30.00 15.62
4173.20 260 -77.86 -1.43 80.00 2815.1 2808.8 2821.4 1792.4 2081.1 497.13 -9.98 552 4178.97 0.00 0.00 3.83 0.000 0.000 0.113 2814.84 2808.12 2821.56 1791.88 3473.44 0 0 0 30.00 30.00 15.48
4199 end dive: TARGET_DEPTH_EXCEEDED
state 4199 begin apogee
4203.14 10243 0.00 -0.25 0.00 2815.8 2809.6 2822.0 1792.6 2081.2 500.03 -10.88 557 4272.08 65.01 2.22 0.08 1.643 0.156 0.235 2498.53 2505.62 2491.44 2079.94 2122.94 0 0 0 11.25 15.47 15.22
4275 end apogee: CONTROL_FINISHED_OK
state 4275 begin climb
4274.44 10759 77.86 1.43 -80.00 2498.0 2504.7 2491.3 2079.8 2123.6 502.10 0.00 564 4353.72 69.81 2.93 4.21 1.602 0.086 0.136 2180.03 2191.88 2168.19 2491.94 663.00 0 0 0 12.20 15.30 14.97
4385.41 9254 109.34 1.53 0.00 2176.8 2188.2 2165.4 2492.4 663.1 495.41 7.17 586 4423.05 30.03 0.00 3.63 1.522 0.000 0.044 2053.19 2069.69 2036.69 2491.62 2126.19 0 0 0 12.07 30.00 15.22
4721.61 16646 109.34 1.53 80.00 2044.0 2067.2 2020.8 2491.6 2126.2 463.32 9.43 623 4727.21 0.00 0.00 3.73 0.000 0.000 0.114 2042.31 2065.12 2019.50 2492.62 3473.25 0 0 0 30.00 30.00 15.47
4796.68 17414 109.34 1.53 0.00 2043.3 2065.8 2020.8 2492.2 3472.7 455.36 10.75 638 4802.19 0.00 0.00 3.43 0.000 0.000 0.057 2041.59 2064.19 2019.00 2491.94 2079.06 0 0 0 30.00 30.00 15.58
5101.67 18759 109.34 1.58 80.00 2040.9 2065.4 2016.4 2492.1 2079.0 429.01 7.98 669 5107.32 0.00 0.19 3.84 0.000 0.089 0.110 2041.25 2065.88 2016.62 2532.06 3474.06 0 0 0 30.00 15.65 15.53
5150.48 17414 109.34 1.58 0.00 2040.6 2065.2 2016.1 2532.9 3474.1 423.60 10.71 679 5157.40 0.00 0.00 3.41 0.000 0.000 0.056 2041.06 2065.38 2016.75 2533.06 2078.94 0 0 0 30.00 30.00 15.63
5456.68 16386 109.34 1.58 0.00 2039.4 2063.6 2015.2 2533.2 2078.9 395.50 9.54 710 5458.01 0.00 0.00 0.00 0.000 0.000 0.000 2038.41 2062.69 2014.12 2532.62 2078.88 0 0 0 30.00 30.00 30.00
5756.71 16966 109.34 1.61 -80.00 2039.1 2063.6 2014.6 2533.6 2078.9 367.70 8.79 740 5762.43 0.00 0.00 3.97 0.000 0.000 0.137 2039.88 2064.62 2015.12 2531.19 661.75 0 0 0 30.00 30.00 15.48
5825.61 17414 109.34 1.61 0.00 2038.1 2061.5 2014.8 2533.1 662.1 359.85 11.50 754 5832.49 0.00 0.00 3.55 0.000 0.000 0.048 2038.38 2061.69 2015.06 2532.62 2126.88 0 0 0 30.00 30.00 15.73
6131.80 16710 109.34 1.64 80.00 2037.8 2061.5 2014.2 2532.6 2126.9 332.61 9.00 785 6137.39 0.00 0.00 3.71 0.000 0.000 0.112 2036.59 2060.06 2013.12 2532.88 3473.88 0 0 0 30.00 30.00 15.54
6150.69 17478 109.34 1.65 0.00 2037.7 2061.2 2014.2 2532.4 3474.1 330.46 9.22 789 6157.53 0.00 0.00 3.42 0.000 0.000 0.054 2037.91 2061.75 2014.06 2532.06 2078.06 0 0 0 30.00 30.00 15.67
6456.87 10275 142.34 1.75 0.00 2037.6 2062.0 2013.2 2532.0 2077.4 306.80 7.04 820 6487.55 28.26 0.21 0.00 1.408 0.099 0.000 1918.69 1940.50 1896.88 2573.81 2077.25 0 0 0 11.43 15.72 30.00
6786.92 516 142.34 1.75 -80.00 1912.6 1939.0 1886.1 2574.9 2078.4 270.19 12.15 853 6792.56 0.00 0.00 3.96 0.000 0.000 0.136 1914.56 1940.94 1888.19 2573.31 662.12 0 0 0 30.00 30.00 15.44
6825.81 1028 142.34 1.75 0.00 1912.6 1938.8 1886.4 2574.1 662.1 264.30 15.32 861 6832.68 0.00 0.00 3.55 0.000 0.000 0.047 1912.69 1938.38 1887.00 2574.56 2125.81 0 0 0 30.00 30.00 15.66
7131.99 260 142.34 1.75 80.00 1912.0 1938.9 1885.1 2573.9 2126.1 229.54 12.01 892 7137.60 0.00 0.00 3.73 0.000 0.000 0.110 1910.38 1937.25 1883.50 2574.19 3474.19 0 0 0 30.00 30.00 15.51
7230.85 1028 142.34 1.75 0.00 1911.6 1938.6 1884.7 2574.2 3473.5 217.21 12.11 912 7237.89 0.00 0.00 3.44 0.000 0.000 0.053 1912.31 1939.25 1885.38 2574.00 2078.69 0 0 0 30.00 30.00 15.65
7537.08 16902 142.34 1.75 -80.00 1910.8 1937.8 1883.9 2573.8 2078.4 184.21 11.31 943 7542.80 0.00 0.00 3.95 0.000 0.000 0.131 1909.62 1936.25 1883.00 2574.69 663.00 0 0 0 30.00 30.00 15.45
7685.96 17414 142.34 1.75 0.00 1910.3 1936.6 1884.1 2574.1 663.0 165.07 12.50 973 7692.89 0.00 0.00 3.54 0.000 0.000 0.047 1910.56 1935.62 1885.50 2573.31 2126.44 0 0 0 30.00 30.00 15.71
7992.19 16646 142.34 1.75 80.00 1909.5 1936.7 1882.2 2573.9 2127.0 135.21 9.39 1004 7997.94 0.00 0.00 3.74 0.000 0.000 0.110 1908.22 1935.31 1881.12 2574.00 3474.12 0 0 0 30.00 30.00 15.50
8157.23 17414 142.34 1.75 0.00 1909.1 1936.0 1882.2 2573.5 3473.3 117.59 9.40 1037 8161.91 0.00 0.00 3.42 0.000 0.000 0.053 1907.69 1934.69 1880.69 2574.25 2078.62 0 0 0 30.00 30.00 15.66
8462.34 10535 202.83 1.93 80.00 1908.9 1936.4 1881.4 2574.5 2077.4 98.60 4.73 1071 8519.17 50.28 0.22 3.88 1.204 0.087 0.108 1673.66 1703.38 1643.94 2617.19 3474.19 0 0 0 11.42 15.69 15.41
8582.33 1028 202.83 1.93 0.00 1667.8 1695.8 1639.8 2617.4 3474.4 89.45 9.91 1095 8588.00 0.00 0.00 3.47 0.000 0.000 0.052 1668.72 1696.81 1640.62 2617.25 2076.50 0 0 0 30.00 30.00 15.48
8767.30 516 202.83 1.93 -80.00 1665.7 1696.1 1635.2 2617.3 2076.7 71.86 10.08 1132 8773.14 0.00 0.00 3.98 0.000 0.000 0.130 1666.00 1696.31 1635.69 2618.12 663.31 0 0 0 30.00 30.00 15.38
8997.35 11303 274.63 2.15 0.00 1665.1 1694.9 1635.2 2617.6 663.3 59.85 3.79 1178 9064.37 59.83 0.28 3.57 1.138 0.071 0.044 1379.16 1412.69 1345.62 2672.75 2130.88 0 0 0 11.70 15.45 15.63
9242.39 516 274.63 2.15 -80.00 1374.9 1410.2 1339.6 2672.4 2130.8 36.37 12.94 1227 9248.23 0.00 0.00 4.11 0.000 0.000 0.128 1375.03 1410.38 1339.69 2672.56 661.88 0 0 0 30.00 30.00 15.36
9302.40 1028 274.63 2.15 0.00 1374.4 1409.1 1339.8 2672.4 661.9 27.12 15.88 1239 9308.38 0.00 0.00 3.58 0.000 0.000 0.048 1374.28 1409.19 1339.38 2672.06 2125.44 0 0 0 30.00 30.00 15.53
9487.44 0 274.63 2.15 0.00 1373.2 1409.1 1337.3 2672.6 2125.6 2.84 12.24 1276 9488.76 0.00 0.00 0.00 0.000 0.000 0.000 1373.31 1409.25 1337.38 2672.00 2125.56 0 0 0 30.00 30.00 30.00
9498 end climb: SURFACE_DEPTH_REACHED
state 9498 begin surface coast
9513 end surface coast: CONTROL_FINISHED_OK
state 9513 begin surface