NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 630 * 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  630 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  59.133675 SEABIRD_T_G  0.0043000001
RELAUNCH  1 PITCH_DBAND  0.1 FG_AHR_24V  158.09975 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  180221,042839,4731.683,-12609.834,14,1.2,14,15.8 TGT_LATLONG  4728.540,-12600.590
_CALLS  2 TGT_RADIUS  7000.000
_SM_DEPTHo  0.85 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -61.2 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  180221,043704,4731.722,-12609.858,4,1.2,7,15.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.170,0.192 MHEAD_RNG_PITCHd_Wd  101.1,13013,-24.0,-9.804,-27.02
TGT_NAME  IN5 D_GRID  990

Post-dive calculations and measurements:
SM_CCo  9767.72,0.89,0.137,0,768.5,771.5,765.4,424.74 _10V_AH  14.72,0.000
SM_GC  0.76,0.89,17.33,0.10,0.137,0.080,0.139,768.5,771.5,765.4,174.0,2076.2,0,0,0,15.14,15.42,15.63 FG_AHR_24Vo  158.279
SUPER  19,71,254,1,0,0 FG_AHR_10Vo  59.171
IRIDIUM_FIX  4732.28,-12605.63,180221,043151 MEM  1099908,51,75820,114
TCM_TEMP  189.02 DATA_FILE_SIZE  48194,1304
XPDR_PINGS  3,14.0,11.5 CAP_FILE_SIZE  516148,0
SC_FREEKB  3618208 SDSIZE  3918848,3746080
HUMID  57.41 SDFILEDIR  3176,1
TEMP  7.84 ERRORS  0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  7.78173 GPS  180221,072056,4731.949,-12609.484,30,1.1,31,15.8
_24V_AH  14.06,187.505

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump521266019507.84 legato000.00
Pitch_motor37252133.93 nil000.00
Roll_motor177250624.82 nil000.00
Iridium263203753.08 nil000.00
Transponder_ping04204.43 nil000.00
GPS16153.53 nil000.00
Core395211686.55 SciCon96396940.00
LPSleep61022251.54 nil000.00
Compass21515158.37 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
5 end surface: CONTROL_FINISHED_OK
state 5 begin dive
7.49 16386 -77.86 -1.43 0.00 762.7 765.3 760.1 172.7 2085.4 0.00 0.00 0 87.40 79.28 0.00 0.00 0.005 0.000 0.000 2495.97 2474.94 2517.00 172.75 2085.25 0 0 0 14.98 30.00 30.00
87.68 18727 -77.86 -1.43 80.00 2495.1 2474.1 2516.1 172.9 2085.3 3.37 -4.15 15 119.56 8.23 14.19 3.91 0.007 0.253 0.113 2818.19 2811.94 2824.44 1791.81 3473.12 0 0 0 15.12 15.21 14.99
297.38 1028 -77.86 -1.43 0.00 2815.8 2809.8 2821.9 1792.7 3473.2 48.81 -20.82 57 303.11 0.00 0.00 3.47 0.000 0.000 0.058 2818.59 2812.44 2824.75 1791.88 2081.12 0 0 0 30.00 30.00 15.58
482.48 260 -77.86 -1.43 80.00 2815.8 2809.4 2822.2 1792.8 2081.9 83.45 -15.83 94 488.22 0.00 0.00 3.86 0.000 0.000 0.105 2815.62 2809.31 2821.94 1792.75 3474.25 0 0 0 30.00 30.00 15.52
596.40 1028 -77.86 -1.43 0.00 2816.2 2809.9 2822.5 1792.2 3474.1 102.68 -16.64 117 603.17 0.00 0.00 3.43 0.000 0.000 0.056 2818.34 2812.06 2824.62 1791.38 2081.19 0 0 0 30.00 30.00 15.62
902.47 516 -77.86 -1.43 -80.00 2816.1 2809.4 2822.8 1792.6 2081.5 137.24 -10.73 148 908.14 0.00 0.00 4.11 0.000 0.000 0.150 2816.47 2809.94 2823.00 1791.69 662.00 0 0 0 30.00 30.00 15.43
981.37 1028 -77.86 -1.43 0.00 2816.4 2809.8 2823.1 1792.2 662.2 147.34 -12.47 164 988.32 0.00 0.00 3.55 0.000 0.000 0.048 2818.66 2812.31 2825.00 1791.81 2122.06 0 0 0 30.00 30.00 15.70
1287.51 260 -77.86 -1.43 80.00 2816.4 2810.0 2822.8 1792.3 2122.9 180.67 -10.68 195 1293.20 0.00 0.00 3.73 0.000 0.000 0.108 2815.28 2808.50 2822.06 1791.81 3474.06 0 0 0 30.00 30.00 15.55
1502.57 1028 -77.86 -1.43 0.00 2816.5 2810.4 2822.6 1792.5 3474.1 207.40 -12.30 238 1507.24 0.00 0.00 3.41 0.000 0.000 0.056 2816.56 2810.00 2823.12 1792.62 2082.19 0 0 0 30.00 30.00 15.66
1812.59 516 -77.86 -1.43 -80.00 2816.1 2809.4 2822.8 1792.6 2082.6 244.97 -12.83 270 1818.38 0.00 0.00 4.09 0.000 0.000 0.150 2817.69 2811.69 2823.69 1792.00 663.19 0 0 0 30.00 30.00 15.43
1837.57 1028 -77.86 -1.43 0.00 2816.8 2810.1 2823.4 1792.1 663.5 248.22 -13.06 275 1843.16 0.00 0.00 3.52 0.000 0.000 0.048 2819.00 2812.50 2825.50 1792.06 2118.44 0 0 0 30.00 30.00 15.72
2142.62 260 -77.86 -1.43 80.00 2816.5 2810.4 2822.6 1792.4 2119.8 287.19 -12.33 306 2148.36 0.00 0.00 3.73 0.000 0.000 0.110 2819.06 2812.19 2825.94 1791.62 3473.56 0 0 0 30.00 30.00 15.55
2217.70 1028 -77.86 -1.43 0.00 2816.7 2810.1 2823.3 1792.5 3473.3 296.94 -13.35 321 2222.34 0.00 0.00 3.41 0.000 0.000 0.056 2819.16 2812.50 2825.81 1791.50 2081.12 0 0 0 30.00 30.00 15.66
2527.68 260 -77.86 -1.43 80.00 2816.5 2809.7 2823.3 1792.5 2081.2 333.30 -10.84 353 2533.45 0.00 0.00 3.85 0.000 0.000 0.109 2817.88 2810.38 2825.38 1792.50 3476.75 0 0 0 30.00 30.00 15.54
2566.64 1028 -77.86 -1.43 0.00 2816.4 2809.5 2823.3 1792.8 3475.1 338.24 -13.06 361 2573.42 0.00 0.00 3.43 0.000 0.000 0.056 2817.03 2810.69 2823.38 1792.62 2082.44 0 0 0 30.00 30.00 15.64
2872.75 260 -77.86 -1.43 80.00 2816.4 2809.6 2823.2 1792.8 2081.7 369.32 -9.51 392 2878.52 0.00 0.00 3.86 0.000 0.000 0.109 2816.12 2809.94 2822.31 1792.00 3475.38 0 0 0 30.00 30.00 15.53
2961.74 1028 -77.86 -1.43 0.00 2816.8 2809.9 2823.6 1792.6 3474.1 379.46 -11.28 410 2968.52 0.00 0.00 3.44 0.000 0.000 0.058 2817.91 2811.31 2824.50 1792.38 2083.00 0 0 0 30.00 30.00 15.63
3267.84 516 -77.86 -1.43 -80.00 2816.4 2810.0 2822.8 1792.9 2083.3 409.10 -9.68 441 3273.52 0.00 0.00 4.09 0.000 0.000 0.154 2816.25 2810.31 2822.19 1792.06 662.88 0 0 0 30.00 30.00 15.38
3326.77 1028 -77.86 -1.43 0.00 2815.9 2809.9 2821.9 1792.4 663.1 416.11 -12.15 453 3333.62 0.00 0.00 3.55 0.000 0.000 0.050 2817.03 2810.19 2823.88 1792.12 2119.94 0 0 0 30.00 30.00 15.69
3632.93 260 -77.86 -1.43 80.00 2816.2 2809.9 2822.5 1792.1 2120.5 446.72 -10.17 484 3638.68 0.00 0.00 3.73 0.000 0.000 0.112 2816.50 2810.44 2822.56 1791.75 3475.31 0 0 0 30.00 30.00 15.50
3758.04 1028 -77.86 -1.43 0.00 2815.5 2809.8 2821.1 1793.1 3474.6 460.55 -9.81 509 3762.69 0.00 0.00 3.44 0.000 0.000 0.059 2815.91 2810.38 2821.44 1792.56 2081.75 0 0 0 30.00 30.00 15.61
4068.05 516 -77.86 -1.43 -80.00 2815.2 2809.5 2821.0 1792.6 2081.4 491.13 -8.74 541 4073.84 0.00 0.00 4.09 0.000 0.000 0.156 2818.25 2812.06 2824.44 1791.38 663.00 0 0 0 30.00 30.00 15.35
4123.06 1028 -77.86 -1.43 0.00 2815.5 2809.8 2821.2 1791.9 663.0 497.72 -11.71 552 4128.71 0.00 0.00 3.54 0.000 0.000 0.050 2816.28 2810.88 2821.69 1792.75 2117.75 0 0 0 30.00 30.00 15.68
4147 end dive: TARGET_DEPTH_EXCEEDED
state 4147 begin apogee
4149.28 10243 0.00 -0.25 0.00 2815.7 2810.2 2821.2 1792.3 2083.2 500.40 -10.94 555 4219.90 64.86 2.20 0.07 1.640 0.150 0.250 2498.59 2505.44 2491.75 2080.25 2118.38 0 0 0 11.17 15.48 15.22
4222 end apogee: CONTROL_FINISHED_OK
state 4222 begin climb
4222.26 10759 77.86 1.43 -80.00 2498.0 2504.4 2491.7 2079.9 2119.2 502.70 0.00 562 4301.53 69.38 2.92 4.20 1.608 0.085 0.137 2177.84 2189.31 2166.38 2491.50 663.19 0 0 0 12.16 15.31 14.96
4339.41 9254 109.06 1.53 0.00 2176.0 2187.8 2164.3 2491.8 663.0 495.73 7.19 585 4374.60 29.81 0.00 3.63 1.519 0.000 0.045 2054.91 2073.00 2036.81 2492.19 2125.69 0 0 0 12.08 30.00 15.24
4679.35 16902 109.06 1.53 -80.00 2045.1 2067.9 2022.4 2492.0 2124.8 464.03 10.00 623 4685.14 0.00 0.00 4.09 0.000 0.000 0.136 2046.22 2067.00 2025.44 2490.12 661.94 0 0 0 30.00 30.00 15.41
4818.21 17414 109.06 1.53 0.00 2042.8 2063.6 2022.1 2492.2 662.0 447.98 10.19 651 4825.12 0.00 0.00 3.56 0.000 0.000 0.047 2042.91 2064.00 2021.81 2491.56 2125.25 0 0 0 30.00 30.00 15.63
5124.41 16710 109.06 1.55 80.00 2041.4 2063.3 2019.4 2492.0 2124.8 420.66 9.00 682 5129.97 0.00 0.00 3.70 0.000 0.000 0.112 2041.72 2063.62 2019.81 2491.44 3475.00 0 0 0 30.00 30.00 15.55
5163.22 19527 109.06 1.57 0.00 2041.6 2063.6 2019.6 2491.8 3474.2 417.01 9.11 690 5170.19 0.00 0.19 3.42 0.000 0.092 0.055 2041.91 2063.56 2020.25 2532.00 2079.56 0 0 0 30.00 15.47 15.66
5469.42 16902 109.06 1.57 -80.00 2040.1 2062.9 2017.2 2531.6 2080.4 387.58 10.13 721 5475.06 0.00 0.00 3.93 0.000 0.000 0.137 2039.44 2062.31 2016.56 2532.06 662.25 0 0 0 30.00 30.00 15.47
5564.45 17414 109.06 1.57 0.00 2039.4 2062.0 2016.8 2531.5 661.9 376.64 12.68 740 5570.01 0.00 0.00 3.52 0.000 0.000 0.048 2037.91 2060.62 2015.19 2532.06 2126.00 0 0 0 30.00 30.00 15.72
5869.47 16450 109.06 1.59 0.00 2039.0 2061.9 2016.1 2531.9 2126.3 347.76 9.24 771 5870.80 0.00 0.00 0.00 0.000 0.000 0.000 2038.81 2061.06 2016.56 2531.62 2126.06 0 0 0 30.00 30.00 30.00
6169.49 16710 109.06 1.63 80.00 2038.9 2061.9 2015.8 2531.8 2126.5 320.95 8.54 801 6175.06 0.00 0.00 3.70 0.000 0.000 0.112 2038.25 2061.75 2014.75 2531.50 3474.38 0 0 0 30.00 30.00 15.54
6204.48 17478 109.06 1.64 0.00 2038.7 2061.7 2015.6 2532.0 3474.2 317.62 9.20 808 6209.03 0.00 0.00 3.41 0.000 0.000 0.055 2038.34 2061.69 2015.00 2532.00 2077.19 0 0 0 30.00 30.00 15.69
6514.54 16710 109.06 1.67 80.00 2038.6 2062.0 2015.1 2531.9 2077.4 289.84 8.93 840 6520.13 0.00 0.00 3.84 0.000 0.000 0.109 2039.28 2061.31 2017.25 2530.12 3472.69 0 0 0 30.00 30.00 15.55
6629.53 17414 109.06 1.67 0.00 2038.5 2061.9 2015.1 2531.5 3472.4 277.75 10.74 863 6634.05 0.00 0.00 3.39 0.000 0.000 0.055 2038.47 2062.06 2014.88 2532.50 2078.88 0 0 0 30.00 30.00 15.68
6939.56 10791 135.39 1.75 -80.00 2037.8 2062.1 2013.5 2532.1 2078.6 250.57 7.60 895 6970.44 22.22 0.20 3.86 1.335 0.100 0.136 1947.06 1968.56 1925.56 2571.12 661.81 0 0 0 11.32 15.73 15.54
6989.53 1028 135.39 1.75 0.00 1945.2 1966.1 1924.4 2571.1 662.0 245.19 10.04 903 6995.12 0.00 0.00 3.52 0.000 0.000 0.045 1943.62 1964.94 1922.31 2572.12 2128.31 0 0 0 30.00 30.00 15.62
7294.58 516 135.39 1.75 -80.00 1941.6 1965.6 1917.6 2571.3 2128.2 215.04 9.99 934 7300.24 0.00 0.00 4.03 0.000 0.000 0.130 1940.59 1964.81 1916.38 2571.38 662.88 0 0 0 30.00 30.00 15.43
7433.41 1028 135.39 1.75 0.00 1941.2 1964.6 1917.8 2571.4 663.0 197.61 13.00 962 7440.34 0.00 0.00 3.53 0.000 0.000 0.047 1942.94 1965.69 1920.19 2571.56 2126.69 0 0 0 30.00 30.00 15.68
7739.61 260 135.39 1.75 80.00 1940.1 1964.6 1915.6 2571.4 2127.5 166.22 9.95 993 7745.19 0.00 0.00 3.68 0.000 0.000 0.108 1941.44 1964.88 1918.00 2570.56 3473.12 0 0 0 30.00 30.00 15.51
7794.61 1028 135.39 1.75 0.00 1940.4 1964.9 1915.9 2572.1 3473.6 160.03 10.90 1004 7799.16 0.00 0.00 3.40 0.000 0.000 0.052 1938.66 1963.00 1914.31 2571.56 2077.50 0 0 0 30.00 30.00 15.66
8104.65 16710 135.39 1.78 80.00 1939.7 1964.6 1914.9 2571.8 2076.3 130.82 8.81 1036 8110.27 0.00 0.00 3.81 0.000 0.000 0.106 1938.81 1963.69 1913.94 2572.19 3473.81 0 0 0 30.00 30.00 15.51
8139.63 17414 135.39 1.78 0.00 1939.5 1964.4 1914.6 2571.6 3474.7 127.14 10.50 1043 8144.18 0.00 0.00 3.39 0.000 0.000 0.052 1939.53 1964.25 1914.81 2571.50 2076.88 0 0 0 30.00 30.00 15.66
8449.68 10535 174.59 1.90 80.00 1939.2 1964.4 1914.0 2571.5 2077.3 100.26 6.52 1075 8491.41 33.40 0.19 3.80 1.198 0.095 0.107 1787.06 1814.69 1759.44 2607.81 3473.50 0 0 0 11.52 15.70 15.50
8564.67 1092 174.59 1.92 0.00 1784.2 1810.5 1757.9 2608.2 3473.8 91.60 8.87 1098 8570.43 0.00 0.00 3.42 0.000 0.000 0.052 1784.56 1809.81 1759.31 2607.38 2076.88 0 0 0 30.00 30.00 15.56
8749.83 580 174.59 1.95 -80.00 1781.9 1810.6 1753.1 2608.8 2077.2 76.66 8.94 1135 8755.56 0.00 0.00 3.90 0.000 0.000 0.130 1782.59 1810.00 1755.19 2607.25 662.00 0 0 0 30.00 30.00 15.39
8979.83 11303 259.45 2.20 0.00 1781.7 1810.1 1753.2 2608.5 661.9 64.40 2.69 1181 9057.19 70.57 0.44 3.52 1.157 0.062 0.044 1441.22 1472.94 1409.50 2683.75 2132.12 0 0 0 11.73 15.46 15.66
9235.02 516 259.45 2.20 -80.00 1435.9 1470.9 1400.8 2684.2 2132.6 47.54 10.48 1232 9240.88 0.00 0.00 4.11 0.000 0.000 0.127 1435.88 1471.12 1400.62 2684.81 662.94 0 0 0 30.00 30.00 15.35
9465.10 1028 259.45 2.20 0.00 1434.8 1469.2 1400.3 2684.8 662.8 15.68 13.89 1278 9470.86 0.00 0.00 3.56 0.000 0.000 0.049 1434.66 1469.44 1399.88 2684.19 2128.06 0 0 0 30.00 30.00 15.58
9580 end climb: SURFACE_DEPTH_REACHED
state 9580 begin surface coast
9595 end surface coast: CONTROL_FINISHED_OK
state 9595 begin surface