NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 648 * 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  648 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  59.82235 SEABIRD_T_G  0.0043000001
RELAUNCH  1 PITCH_DBAND  0.1 FG_AHR_24V  161.58632 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  200221,080100,4733.978,-12557.477,31,1.7,31,15.8 TGT_LATLONG  4733.250,-12550.590
_CALLS  1 TGT_RADIUS  7000.000
_SM_DEPTHo  0.87 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -61.7 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  200221,080748,4733.932,-12557.514,3,0.9,5,15.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.170,0.192 MHEAD_RNG_PITCHd_Wd  82.5,8746,-24.0,-9.804,-27.02
TGT_NAME  IN6 D_GRID  1000

Post-dive calculations and measurements:
SM_CCo  9261.42,0.00,0.010,0,767.5,764.2,770.9,424.97 _10V_AH  14.71,0.000
SM_GC  0.42,0.00,17.04,3.53,0.010,0.063,0.049,767.5,764.2,770.9,174.1,2126.0,0,0,0,30.36,15.60,15.67 FG_AHR_24Vo  161.771
SUPER  27,71,254,1,0,0 FG_AHR_10Vo  59.857
IRIDIUM_FIX  4732.87,-12558.59,200221,051454 MEM  1099868,53,75820,114
TCM_TEMP  192.80 DATA_FILE_SIZE  44904,1216
XPDR_PINGS  2,14.0,11.5 CAP_FILE_SIZE  492427,0
SC_FREEKB  3611296 SDSIZE  3918848,3740896
HUMID  57.61 SDFILEDIR  3266,1
TEMP  7.83 ERRORS  0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  7.79277 GPS  200221,104301,4734.451,-12556.710,9,0.9,26,15.8
_24V_AH  14.49,191.382

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump529165812720.39 legato000.00
Pitch_motor37251135.74 nil000.00
Roll_motor172272680.93 nil000.00
Iridium223209679.43 nil000.00
Transponder_ping04203.04 nil000.00
GPS14153.16 nil000.00
Core373111647.78 SciCon91376872.29
LPSleep57182235.52 nil000.00
Compass20395149.97 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
7.54 16386 -77.86 -1.43 0.00 762.5 764.4 760.7 175.2 2083.8 0.00 0.00 0 87.67 79.54 0.00 0.00 0.005 0.000 0.000 2477.06 2461.81 2492.31 175.31 2083.12 0 0 0 14.94 30.00 30.00
87.95 18983 -77.86 -1.43 -80.00 2476.4 2460.7 2492.2 175.2 2083.0 3.14 -2.98 15 119.89 8.93 14.17 4.16 0.007 0.252 0.154 2818.09 2812.12 2824.06 1791.25 663.12 0 0 0 15.11 15.20 14.92
277.68 1028 -77.86 -1.43 0.00 2815.8 2809.9 2821.7 1791.6 663.2 43.72 -21.32 53 283.60 0.00 0.00 3.62 0.000 0.000 0.054 2816.25 2810.50 2822.00 1791.69 2119.38 0 0 0 30.00 30.00 15.61
462.75 516 -77.86 -1.43 -80.00 2815.6 2809.9 2821.4 1791.6 2119.4 77.59 -14.87 90 468.62 0.00 0.00 4.18 0.000 0.000 0.146 2816.75 2811.25 2822.25 1791.69 662.81 0 0 0 30.00 30.00 15.41
487.75 1028 -77.86 -1.43 0.00 2816.2 2810.2 2822.2 1791.9 663.1 81.79 -16.80 95 493.53 0.00 0.00 3.58 0.000 0.000 0.049 2816.25 2810.44 2822.06 1791.75 2120.19 0 0 0 30.00 30.00 15.66
677.86 260 -77.86 -1.43 80.00 2815.8 2810.1 2821.4 1792.0 2119.9 108.31 -12.89 127 683.52 0.00 0.00 3.72 0.000 0.000 0.109 2817.56 2811.25 2823.88 1791.56 3475.75 0 0 0 30.00 30.00 15.53
852.96 1028 -77.86 -1.43 0.00 2815.7 2809.9 2821.6 1791.8 3475.8 132.81 -14.23 162 858.46 0.00 0.00 3.44 0.000 0.000 0.057 2816.47 2810.69 2822.25 1791.56 2081.94 0 0 0 30.00 30.00 15.65
1157.96 516 -77.86 -1.43 -80.00 2816.2 2809.9 2822.4 1791.8 2082.1 166.39 -11.41 193 1163.65 0.00 0.00 4.11 0.000 0.000 0.151 2818.66 2812.75 2824.56 1791.06 663.12 0 0 0 30.00 30.00 15.44
1212.99 1028 -77.86 -1.43 0.00 2816.4 2810.4 2822.4 1792.0 663.0 173.48 -12.66 204 1217.69 0.00 0.00 3.56 0.000 0.000 0.051 2818.81 2813.00 2824.62 1791.50 2117.19 0 0 0 30.00 30.00 15.71
1523.06 260 -77.86 -1.43 80.00 2816.5 2810.6 2822.3 1792.0 2118.4 207.29 -10.11 236 1528.77 0.00 0.00 3.68 0.000 0.000 0.110 2814.81 2808.19 2821.44 1791.81 3475.00 0 0 0 30.00 30.00 15.55
1568.05 1028 -77.86 -1.43 0.00 2815.9 2809.9 2822.0 1791.4 3474.1 212.66 -11.91 245 1572.62 0.00 0.00 3.43 0.000 0.000 0.058 2816.69 2811.06 2822.31 1792.06 2081.88 0 0 0 30.00 30.00 15.66
1878.13 260 -77.86 -1.43 80.00 2816.3 2810.6 2822.1 1792.1 2082.2 244.64 -10.08 277 1883.88 0.00 0.00 3.79 0.000 0.000 0.109 2815.25 2809.50 2821.00 1791.81 3475.56 0 0 0 30.00 30.00 15.55
1953.22 1028 -77.86 -1.43 0.00 2816.1 2810.0 2822.2 1791.6 3475.5 252.73 -10.55 292 1958.72 0.00 0.00 3.43 0.000 0.000 0.058 2816.47 2809.94 2823.00 1791.56 2082.62 0 0 0 30.00 30.00 15.66
2258.19 0 -77.86 -1.43 0.00 2816.6 2810.5 2822.6 1791.5 2083.2 282.35 -9.85 323 2259.52 0.00 0.00 0.00 0.000 0.000 0.000 2816.78 2810.75 2822.81 1791.56 2082.56 0 0 0 30.00 30.00 30.00
2558.22 0 -77.86 -1.43 0.00 2816.8 2810.7 2822.8 1791.8 2083.3 312.66 -9.67 353 2559.54 0.00 0.00 0.00 0.000 0.000 0.000 2816.62 2810.25 2823.00 1791.94 2082.94 0 0 0 30.00 30.00 30.00
2858.24 260 -77.86 -1.43 80.00 2816.5 2810.7 2822.3 1791.6 2083.6 345.67 -10.71 383 2864.02 0.00 0.00 3.87 0.000 0.000 0.112 2817.53 2811.88 2823.19 1791.31 3474.88 0 0 0 30.00 30.00 15.52
2893.24 1028 -77.86 -1.43 0.00 2816.6 2810.2 2822.9 1791.8 3473.9 349.85 -11.95 390 2897.82 0.00 0.00 3.46 0.000 0.000 0.060 2816.84 2810.75 2822.94 1790.69 2083.12 0 0 0 30.00 30.00 15.64
3203.29 260 -77.86 -1.43 80.00 2816.2 2810.2 2822.1 1791.7 2083.1 383.84 -11.79 422 3209.05 0.00 0.00 3.86 0.000 0.000 0.112 2815.28 2809.25 2821.31 1791.25 3475.19 0 0 0 30.00 30.00 15.51
3268.31 1028 -77.86 -1.43 0.00 2816.3 2810.6 2822.1 1791.5 3474.9 391.62 -13.82 435 3273.86 0.00 0.00 3.48 0.000 0.000 0.060 2818.84 2812.88 2824.81 1790.50 2081.62 0 0 0 30.00 30.00 15.63
3573.34 0 -77.86 -1.43 0.00 2816.0 2810.2 2821.8 1791.0 2082.1 423.97 -10.22 466 3574.67 0.00 0.00 0.00 0.000 0.000 0.000 2816.19 2810.38 2822.00 1791.75 2081.25 0 0 0 30.00 30.00 30.00
3873.36 260 -77.86 -1.43 80.00 2815.4 2810.1 2820.8 1791.4 2082.4 455.46 -10.00 496 3879.13 0.00 0.00 3.88 0.000 0.000 0.114 2814.47 2808.56 2820.38 1791.69 3475.44 0 0 0 30.00 30.00 15.49
3928.38 1028 -77.86 -1.43 0.00 2815.8 2810.2 2821.3 1792.2 3475.5 461.81 -13.41 507 3933.94 0.00 0.00 3.48 0.000 0.000 0.061 2813.94 2807.88 2820.00 1791.56 2081.75 0 0 0 30.00 30.00 15.61
4233.42 516 -77.86 -1.43 -80.00 2815.9 2810.7 2821.1 1791.2 2081.8 492.50 -9.45 538 4239.10 0.00 0.00 4.20 0.000 0.000 0.160 2813.88 2808.19 2819.56 1791.75 664.19 0 0 0 30.00 30.00 15.34
4252.23 1028 -77.86 -1.43 0.00 2815.2 2809.6 2820.9 1791.8 664.2 494.79 -9.88 542 4259.17 0.00 0.00 3.57 0.000 0.000 0.054 2818.22 2812.69 2823.75 1791.94 2117.69 0 0 0 30.00 30.00 15.66
4308 end dive: TARGET_DEPTH_EXCEEDED
state 4308 begin apogee
4309.69 10243 0.00 -0.25 0.00 2815.4 2810.1 2820.7 1791.8 2083.8 500.73 -10.23 548 4380.28 65.07 2.18 0.06 1.659 0.150 0.273 2500.12 2507.00 2493.25 2079.62 2116.69 0 0 0 11.22 15.48 15.20
4382 end apogee: CONTROL_FINISHED_OK
state 4382 begin climb
4382.67 10759 77.86 1.43 -80.00 2498.6 2505.9 2491.2 2080.4 2116.3 503.12 0.00 555 4461.93 70.03 2.89 4.34 1.615 0.086 0.142 2179.72 2190.56 2168.88 2491.06 663.00 0 0 0 12.12 15.30 14.95
4529.84 9254 107.28 1.52 0.00 2175.1 2187.4 2162.9 2491.6 663.2 495.09 7.34 584 4564.63 28.36 0.00 3.65 1.528 0.000 0.050 2063.22 2080.94 2045.50 2491.38 2124.06 0 0 0 11.82 30.00 15.31
4869.89 18759 107.28 1.56 80.00 2053.1 2076.2 2030.1 2491.9 2124.1 466.29 8.57 622 4875.54 0.00 0.16 3.76 0.000 0.091 0.114 2052.41 2075.19 2029.62 2528.94 3472.81 0 0 0 30.00 15.56 15.48
4884.96 17478 107.28 1.58 0.00 2052.8 2076.0 2029.7 2528.9 3473.4 464.70 9.14 625 4890.45 0.00 0.00 3.47 0.000 0.000 0.058 2051.38 2074.06 2028.69 2528.31 2079.12 0 0 0 30.00 30.00 15.57
5189.97 16966 107.28 1.60 -80.00 2050.2 2073.8 2026.7 2529.2 2078.6 436.17 8.88 656 5195.59 0.00 0.00 4.01 0.000 0.000 0.141 2049.22 2072.56 2025.88 2529.19 663.19 0 0 0 30.00 30.00 15.45
5234.95 17414 107.28 1.60 0.00 2049.3 2072.1 2026.6 2528.9 663.4 431.57 10.32 665 5240.52 0.00 0.00 3.56 0.000 0.000 0.050 2048.91 2071.31 2026.50 2529.44 2125.25 0 0 0 30.00 30.00 15.66
5540.02 8486 137.59 1.70 80.00 2048.8 2072.2 2025.4 2529.5 2125.1 407.45 7.26 696 5572.35 26.92 0.00 3.73 1.500 0.000 0.115 1939.75 1962.81 1916.69 2527.62 3475.31 0 0 0 11.47 30.00 15.44
5573.95 11303 166.21 1.78 0.00 1937.3 1959.5 1915.1 2528.6 3475.1 404.78 7.40 702 5607.44 27.72 0.27 3.44 1.463 0.078 0.056 1821.03 1847.19 1794.88 2581.69 2079.12 0 0 0 12.37 15.49 15.56
5905.16 516 166.21 1.78 -80.00 1814.7 1845.3 1784.1 2581.4 2078.8 361.33 12.61 738 5910.83 0.00 0.00 4.01 0.000 0.000 0.140 1816.50 1847.38 1785.62 2580.62 661.75 0 0 0 30.00 30.00 15.42
5980.18 17414 166.21 1.78 0.00 1813.8 1844.1 1783.4 2581.5 662.1 349.45 16.22 753 5985.85 0.00 0.00 3.57 0.000 0.000 0.052 1816.25 1846.50 1786.00 2581.19 2124.31 0 0 0 30.00 30.00 15.62
6285.22 16902 166.21 1.78 -80.00 1812.3 1843.9 1780.6 2581.5 2125.1 307.66 12.38 784 6291.03 0.00 0.00 4.11 0.000 0.000 0.136 1811.81 1843.31 1780.31 2581.88 661.94 0 0 0 30.00 30.00 15.47
6344.13 17414 166.21 1.78 0.00 1812.3 1843.8 1780.8 2581.3 662.0 298.65 14.35 796 6350.99 0.00 0.00 3.56 0.000 0.000 0.051 1813.72 1845.06 1782.38 2581.06 2125.94 0 0 0 30.00 30.00 15.68
6650.26 16902 166.21 1.78 -80.00 1811.4 1843.8 1779.0 2581.8 2126.6 258.49 13.22 827 6655.98 0.00 0.00 4.07 0.000 0.000 0.134 1813.31 1846.00 1780.62 2580.00 663.00 0 0 0 30.00 30.00 15.47
6685.26 17414 166.21 1.78 0.00 1811.0 1843.2 1778.8 2581.4 663.0 252.81 16.73 834 6690.91 0.00 0.00 3.54 0.000 0.000 0.050 1810.53 1842.50 1778.56 2581.50 2126.31 0 0 0 30.00 30.00 15.71
6990.29 16902 166.21 1.78 -80.00 1810.8 1843.6 1778.0 2581.6 2126.5 213.96 12.80 865 6996.09 0.00 0.00 4.07 0.000 0.000 0.132 1809.72 1842.25 1777.19 2582.00 663.25 0 0 0 30.00 30.00 15.46
7055.36 17414 166.21 1.78 0.00 1810.6 1843.3 1777.8 2581.8 663.1 204.47 15.02 878 7060.95 0.00 0.00 3.56 0.000 0.000 0.051 1809.59 1842.56 1776.62 2581.31 2127.00 0 0 0 30.00 30.00 15.72
7360.36 16646 166.21 1.78 80.00 1809.9 1843.2 1776.6 2582.1 2127.4 167.83 11.36 909 7366.06 0.00 0.00 3.70 0.000 0.000 0.112 1810.22 1843.31 1777.12 2581.56 3474.12 0 0 0 30.00 30.00 15.53
7405.31 17414 166.21 1.78 0.00 1809.7 1842.7 1776.6 2581.4 3474.2 162.22 12.97 918 7409.89 0.00 0.00 3.41 0.000 0.000 0.056 1809.91 1843.38 1776.44 2581.62 2078.81 0 0 0 30.00 30.00 15.68
7715.36 16902 166.21 1.78 -80.00 1809.5 1842.6 1776.4 2582.1 2079.0 126.29 11.37 950 7720.99 0.00 0.00 3.97 0.000 0.000 0.136 1810.66 1843.56 1777.75 2581.56 663.19 0 0 0 30.00 30.00 15.44
7850.36 17414 166.21 1.78 0.00 1809.2 1842.2 1776.1 2581.2 663.0 108.62 12.30 977 7855.95 0.00 0.00 3.54 0.000 0.000 0.052 1808.94 1841.56 1776.31 2582.38 2127.25 0 0 0 30.00 30.00 15.72
8155.42 16710 166.21 1.83 80.00 1809.0 1842.2 1775.8 2581.9 2126.5 83.00 8.25 1028 8161.18 0.00 0.00 3.67 0.000 0.000 0.110 1809.50 1842.88 1776.12 2582.25 3474.88 0 0 0 30.00 30.00 15.51
8300.43 11303 209.42 1.96 0.00 1808.8 1841.9 1775.6 2582.4 3474.2 73.69 6.18 1057 8342.03 35.84 0.21 3.41 1.161 0.082 0.055 1645.88 1676.88 1614.88 2621.69 2079.12 0 0 0 11.41 15.49 15.71
8520.46 10791 272.13 2.15 -80.00 1641.1 1674.8 1607.4 2621.8 2079.5 63.05 4.55 1101 8582.73 53.69 0.25 4.03 1.136 0.079 0.134 1390.25 1423.75 1356.75 2668.62 662.25 0 0 0 11.83 15.57 15.27
8600.52 1092 272.13 2.17 0.00 1388.8 1421.8 1355.8 2668.8 662.4 56.55 8.97 1117 8606.27 0.00 0.00 3.58 0.000 0.000 0.046 1388.69 1421.44 1355.94 2668.56 2128.00 0 0 0 30.00 30.00 15.39
8785.53 0 272.13 2.17 0.00 1384.7 1421.3 1348.0 2669.1 2127.5 37.61 11.60 1154 8786.86 0.00 0.00 0.00 0.000 0.000 0.000 1384.06 1420.62 1347.50 2669.25 2127.44 0 0 0 30.00 30.00 30.00
8965.59 516 272.13 2.17 -80.00 1383.5 1420.7 1346.2 2669.0 2128.1 16.68 12.39 1190 8971.44 0.00 0.00 4.11 0.000 0.000 0.129 1383.69 1420.25 1347.12 2669.00 662.44 0 0 0 30.00 30.00 15.40
9080 end climb: SURFACE_DEPTH_REACHED
state 9080 begin surface coast
9095 end surface coast: CONTROL_FINISHED_OK
state 9095 begin surface