NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 668 * 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  668 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  60.578148 SEABIRD_T_G  0.0043000001
RELAUNCH  1 PITCH_DBAND  0.1 FG_AHR_24V  165.46056 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  220221,164632,4738.156,-12534.516,3,0.9,29,15.7 TGT_LATLONG  4742.620,-12530.490
_CALLS  1 TGT_RADIUS  7000.000
_SM_DEPTHo  0.25 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -63.1 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  220221,165314,4738.157,-12534.545,2,0.9,3,15.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.170,0.192 MHEAD_RNG_PITCHd_Wd  15.7,9688,-24.0,-9.804,-27.02
TGT_NAME  IN8 D_GRID  1000

Post-dive calculations and measurements:
SM_CCo  10239.97,0.00,0.015,0,767.4,764.8,770.1,425.01 _10V_AH  14.67,0.000
SM_GC  0.88,0.00,18.11,0.09,0.015,0.096,0.129,767.4,764.8,770.1,172.8,2133.1,0,0,0,30.36,15.43,15.68 FG_AHR_24Vo  165.645
SUPER  19,71,254,1,0,0 FG_AHR_10Vo  60.616
IRIDIUM_FIX  4738.43,-12534.86,220221,140449 MEM  1099940,51,75788,114
TCM_TEMP  190.99 DATA_FILE_SIZE  51351,1346
XPDR_PINGS  5,14.0,11.5 CAP_FILE_SIZE  509157,0
SC_FREEKB  3603616 SDSIZE  3918848,3735168
HUMID  57.29 SDFILEDIR  3366,1
TEMP  8.23 ERRORS  0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  7.79827 GPS  220221,194439,4738.000,-12532.835,19,0.8,19,15.7
_24V_AH  14.49,195.673

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump525163512444.17 legato000.00
Pitch_motor38248139.25 nil000.00
Roll_motor157236537.55 nil000.00
Iridium220201644.45 nil000.00
Transponder_ping14207.61 nil000.00
GPS12152.83 nil000.00
Core400011692.58 SciCon100876956.37
LPSleep63982262.84 nil000.00
Compass22315163.71 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
7.59 16386 -77.86 -1.43 0.00 763.0 765.2 760.8 172.8 2081.1 0.00 0.00 0 87.73 79.51 0.00 0.00 0.005 0.000 0.000 2525.31 2505.44 2545.19 172.75 2081.56 0 0 0 14.94 30.00 30.00
88.00 18983 -77.86 -1.43 -80.00 2524.9 2504.1 2545.7 172.7 2081.2 3.44 -4.58 15 119.89 7.31 14.19 4.15 0.008 0.249 0.154 2816.41 2810.62 2822.19 1791.75 663.06 0 0 0 15.10 15.20 14.92
307.76 1028 -77.86 -1.43 0.00 2816.4 2810.8 2822.1 1791.1 662.9 52.55 -21.67 59 313.46 0.00 0.00 3.60 0.000 0.000 0.055 2816.66 2810.75 2822.56 1791.38 2117.88 0 0 0 30.00 30.00 15.62
492.83 260 -77.86 -1.43 80.00 2815.7 2809.9 2821.4 1791.2 2117.9 86.39 -13.72 96 498.54 0.00 0.00 3.69 0.000 0.000 0.110 2815.91 2810.06 2821.75 1790.94 3474.94 0 0 0 30.00 30.00 15.51
592.81 1028 -77.86 -1.43 0.00 2816.1 2810.1 2822.2 1791.4 3474.8 100.69 -14.34 116 597.38 0.00 0.00 3.44 0.000 0.000 0.057 2815.69 2809.94 2821.44 1791.56 2081.81 0 0 0 30.00 30.00 15.63
902.88 260 -77.86 -1.43 80.00 2815.7 2809.8 2821.6 1791.5 2082.1 140.17 -13.03 148 908.62 0.00 0.00 3.78 0.000 0.000 0.107 2816.41 2810.75 2822.06 1789.88 3474.56 0 0 0 30.00 30.00 15.55
1131.79 1028 -77.86 -1.43 0.00 2816.5 2810.7 2822.2 1791.4 3473.7 171.25 -13.15 194 1138.72 0.00 0.00 3.42 0.000 0.000 0.058 2817.25 2811.50 2823.00 1791.38 2083.38 0 0 0 30.00 30.00 15.64
1438.04 260 -77.86 -1.43 80.00 2816.7 2810.7 2822.7 1791.6 2082.7 205.29 -10.54 225 1443.66 0.00 0.00 3.82 0.000 0.000 0.108 2814.50 2809.25 2819.75 1791.50 3475.44 0 0 0 30.00 30.00 15.55
1506.96 1028 -77.86 -1.43 0.00 2816.5 2810.2 2822.8 1791.1 3474.9 212.78 -11.28 239 1513.83 0.00 0.00 3.43 0.000 0.000 0.057 2816.50 2810.94 2822.06 1791.19 2081.81 0 0 0 30.00 30.00 15.65
1813.13 0 -77.86 -1.43 0.00 2816.6 2810.5 2822.6 1791.1 2082.9 247.40 -12.33 270 1814.46 0.00 0.00 0.00 0.000 0.000 0.000 2816.41 2810.44 2822.38 1791.56 2082.19 0 0 0 30.00 30.00 30.00
2113.18 0 -77.86 -1.43 0.00 2816.4 2811.0 2821.8 1791.2 2081.9 282.95 -12.28 300 2114.50 0.00 0.00 0.00 0.000 0.000 0.000 2816.78 2810.44 2823.12 1790.69 2082.06 0 0 0 30.00 30.00 30.00
2413.22 0 -77.86 -1.43 0.00 2816.5 2810.6 2822.4 1791.1 2082.3 317.61 -12.35 330 2414.54 0.00 0.00 0.00 0.000 0.000 0.000 2815.91 2809.69 2822.12 1792.19 2082.75 0 0 0 30.00 30.00 30.00
2713.25 516 -77.86 -1.43 -80.00 2816.7 2810.8 2822.5 1791.8 2082.0 352.28 -11.38 360 2719.08 0.00 0.00 4.19 0.000 0.000 0.156 2815.31 2809.75 2820.88 1791.81 664.12 0 0 0 30.00 30.00 15.39
2738.26 1028 -77.86 -1.43 0.00 2816.4 2810.2 2822.6 1791.3 664.4 355.51 -11.66 365 2743.92 0.00 0.00 3.55 0.000 0.000 0.054 2817.16 2811.19 2823.12 1790.81 2119.06 0 0 0 30.00 30.00 15.71
3043.31 260 -77.86 -1.43 80.00 2816.2 2810.3 2822.1 1791.6 2118.9 387.56 -9.62 396 3048.89 0.00 0.00 3.70 0.000 0.000 0.113 2819.03 2813.00 2825.06 1790.62 3474.62 0 0 0 30.00 30.00 15.51
3088.31 1028 -77.86 -1.43 0.00 2816.5 2810.4 2822.6 1791.6 3474.9 392.61 -10.59 405 3092.87 0.00 0.00 3.44 0.000 0.000 0.060 2816.78 2811.00 2822.56 1791.00 2082.12 0 0 0 30.00 30.00 15.62
3398.36 260 -77.86 -1.43 80.00 2815.9 2810.1 2821.8 1791.9 2082.4 423.62 -9.46 437 3403.97 0.00 0.00 3.88 0.000 0.000 0.113 2816.84 2809.81 2823.88 1790.12 3474.38 0 0 0 30.00 30.00 15.51
3437.18 1028 -77.86 -1.43 0.00 2816.8 2811.0 2822.6 1791.8 3474.6 428.03 -11.02 445 3444.11 0.00 0.00 3.47 0.000 0.000 0.061 2816.16 2810.44 2821.88 1792.31 2083.69 0 0 0 30.00 30.00 15.61
3743.39 516 -77.86 -1.43 -80.00 2816.2 2810.3 2822.1 1791.7 2084.3 456.19 -9.90 476 3749.23 0.00 0.00 4.22 0.000 0.000 0.158 2816.12 2810.44 2821.81 1791.25 663.75 0 0 0 30.00 30.00 15.34
3788.40 1028 -77.86 -1.43 0.00 2815.9 2810.2 2821.6 1792.1 664.1 461.23 -12.33 485 3793.97 0.00 0.00 3.56 0.000 0.000 0.054 2816.41 2809.88 2822.94 1791.94 2119.19 0 0 0 30.00 30.00 15.69
4093.43 260 -77.86 -1.43 80.00 2816.0 2810.6 2821.4 1791.5 2119.9 489.52 -9.44 516 4099.05 0.00 0.00 3.76 0.000 0.000 0.116 2815.19 2809.88 2820.50 1791.69 3475.50 0 0 0 30.00 30.00 15.48
4122.25 1028 -77.86 -1.43 0.00 2815.7 2810.0 2821.4 1791.9 3475.7 492.70 -10.19 522 4129.17 0.00 0.00 3.48 0.000 0.000 0.060 2816.53 2811.44 2821.62 1791.56 2082.50 0 0 0 30.00 30.00 15.60
4199 end dive: TARGET_DEPTH_EXCEEDED
state 4199 begin apogee
4199.67 10243 0.00 -0.25 0.00 2815.9 2809.9 2821.9 1791.5 2119.3 500.31 -10.27 530 4270.31 65.00 2.22 0.09 1.635 0.147 0.236 2499.19 2506.00 2492.38 2079.75 2084.19 0 0 0 10.99 15.48 15.19
4273 end apogee: CONTROL_FINISHED_OK
state 4273 begin climb
4272.74 10243 77.86 1.43 0.00 2498.0 2505.3 2490.6 2080.1 2084.3 502.13 0.00 537 4350.09 69.90 2.93 0.00 1.590 0.083 0.000 2180.62 2193.75 2167.50 2492.50 2084.38 0 0 0 12.13 15.31 30.00
4648.49 16710 77.86 1.49 80.00 2171.9 2190.5 2153.4 2491.6 2084.1 475.26 8.01 575 4654.09 0.00 0.00 3.87 0.000 0.000 0.113 2174.09 2192.12 2156.06 2490.06 3473.38 0 0 0 30.00 30.00 15.44
4737.32 17478 77.86 1.52 0.00 2171.6 2190.0 2153.2 2492.0 3473.8 467.89 8.52 593 4744.25 0.00 0.00 3.49 0.000 0.000 0.059 2171.12 2189.69 2152.56 2492.06 2081.62 0 0 0 30.00 30.00 15.56
5043.53 10791 108.95 1.62 -80.00 2168.7 2188.2 2149.1 2491.8 2081.9 445.43 7.20 624 5078.50 27.72 0.26 4.01 1.514 0.080 0.141 2054.34 2073.19 2035.50 2542.56 661.81 0 0 0 11.54 15.64 15.38
5143.53 1028 108.95 1.62 0.00 2051.5 2069.6 2033.4 2543.1 662.0 435.96 12.00 644 5149.16 0.00 0.00 3.60 0.000 0.000 0.050 2051.75 2069.88 2033.62 2541.94 2123.31 0 0 0 30.00 30.00 15.52
5448.58 580 108.95 1.67 -80.00 2048.0 2069.2 2026.8 2542.6 2123.9 409.45 8.21 675 5454.31 0.00 0.00 4.20 0.000 0.000 0.138 2049.47 2069.75 2029.19 2541.12 661.94 0 0 0 30.00 30.00 15.43
5493.56 17414 108.95 1.67 0.00 2047.6 2068.4 2026.9 2542.6 662.0 404.90 10.40 684 5499.20 0.00 0.00 3.54 0.000 0.000 0.050 2048.00 2068.88 2027.12 2542.56 2124.81 0 0 0 30.00 30.00 15.64
5798.60 16966 108.95 1.72 -80.00 2046.2 2068.1 2024.4 2542.4 2125.3 380.56 8.08 715 5804.33 0.00 0.00 4.12 0.000 0.000 0.136 2045.41 2067.12 2023.69 2542.44 662.56 0 0 0 30.00 30.00 15.44
5883.59 17414 108.95 1.72 0.00 2045.7 2066.9 2024.5 2542.2 662.9 372.60 9.78 732 5889.24 0.00 0.00 3.54 0.000 0.000 0.050 2044.62 2066.06 2023.19 2542.69 2124.88 0 0 0 30.00 30.00 15.70
6188.64 18499 108.95 1.78 0.00 2045.3 2067.1 2023.5 2542.4 2124.6 349.91 7.85 763 6190.11 0.00 0.17 0.00 0.000 0.092 0.000 2045.97 2067.75 2024.19 2581.62 2124.56 0 0 0 30.00 15.72 30.00
6488.66 16966 108.95 1.82 -80.00 2045.0 2066.9 2023.1 2581.1 2124.8 324.12 8.44 793 6494.47 0.00 0.00 4.14 0.000 0.000 0.134 2044.50 2066.38 2022.62 2581.00 662.69 0 0 0 30.00 30.00 15.44
6523.64 17414 108.95 1.82 0.00 2045.3 2067.3 2023.2 2581.5 663.1 320.44 10.51 800 6528.29 0.00 0.00 3.52 0.000 0.000 0.049 2045.94 2067.75 2024.12 2581.25 2121.56 0 0 0 30.00 30.00 15.73
6833.69 16902 108.95 1.82 -80.00 2044.8 2067.1 2022.5 2581.5 2128.1 293.30 9.43 832 6839.49 0.00 0.00 4.14 0.000 0.000 0.133 2042.94 2064.81 2021.06 2582.00 662.88 0 0 0 30.00 30.00 15.42
6872.58 17414 108.95 1.82 0.00 2044.2 2065.8 2022.6 2581.4 662.9 289.16 10.59 840 6879.44 0.00 0.00 3.53 0.000 0.000 0.050 2045.59 2066.88 2024.31 2580.25 2126.69 0 0 0 30.00 30.00 15.71
7178.75 16966 108.95 1.87 -80.00 2044.0 2065.8 2022.1 2581.6 2126.8 262.76 8.16 871 7184.48 0.00 0.00 4.12 0.000 0.000 0.134 2043.44 2065.19 2021.69 2582.25 662.31 0 0 0 30.00 30.00 15.42
7357.68 17414 108.95 1.87 0.00 2043.7 2065.2 2022.1 2582.0 662.1 244.60 10.94 907 7364.56 0.00 0.00 3.54 0.000 0.000 0.052 2045.12 2065.81 2024.44 2581.25 2125.88 0 0 0 30.00 30.00 15.71
7663.87 10791 145.74 1.98 -80.00 2043.1 2064.9 2021.2 2581.0 2126.0 219.55 6.72 938 7704.86 32.17 0.24 4.09 1.334 0.073 0.133 1904.31 1926.44 1882.19 2629.00 662.94 0 0 0 11.25 15.73 15.47
7763.91 1028 145.74 1.98 0.00 1901.8 1922.8 1880.8 2628.9 663.2 208.94 13.18 958 7769.53 0.00 0.00 3.56 0.000 0.000 0.048 1900.41 1921.56 1879.25 2629.75 2126.50 0 0 0 30.00 30.00 15.57
8068.95 260 145.74 1.98 80.00 1898.3 1922.8 1873.9 2629.3 2126.1 172.71 10.30 989 8074.53 0.00 0.00 3.70 0.000 0.000 0.110 1899.75 1923.69 1875.81 2628.19 3473.50 0 0 0 30.00 30.00 15.46
8297.86 1092 145.74 1.99 0.00 1897.7 1922.2 1873.2 2628.9 3474.8 148.54 9.21 1035 8304.77 0.00 0.00 3.45 0.000 0.000 0.056 1899.66 1923.31 1876.00 2628.94 2079.44 0 0 0 30.00 30.00 15.61
8604.14 16966 145.74 2.03 -80.00 1897.1 1922.2 1872.0 2629.4 2079.8 124.18 8.67 1066 8610.21 0.00 0.00 4.03 0.000 0.000 0.132 1895.81 1921.50 1870.12 2629.06 663.12 0 0 0 30.00 30.00 15.40
8779.16 17478 145.74 2.05 0.00 1896.8 1921.4 1872.1 2629.4 663.1 106.71 9.23 1101 8783.85 0.00 0.00 3.52 0.000 0.000 0.049 1898.00 1922.56 1873.44 2629.25 2129.94 0 0 0 30.00 30.00 15.70
9084.28 10275 191.96 2.18 0.00 1896.3 1922.0 1870.6 2629.5 2129.9 84.66 5.93 1153 9125.17 39.19 0.26 0.00 1.177 0.070 0.000 1716.84 1743.94 1689.75 2678.88 2129.62 0 0 0 11.39 15.71 30.00
9304.27 324 191.96 2.23 80.00 1711.4 1740.9 1682.0 2678.9 2129.6 66.72 8.18 1197 9310.02 0.00 0.00 3.68 0.000 0.000 0.107 1711.69 1740.94 1682.44 2679.62 3474.75 0 0 0 30.00 30.00 15.44
9534.30 11303 239.01 2.37 0.00 1710.2 1738.6 1681.7 2679.1 3474.1 47.76 5.86 1243 9581.01 41.65 0.25 3.43 1.109 0.080 0.053 1525.34 1555.50 1495.19 2724.50 2078.88 0 0 0 11.76 15.41 15.62
9759.34 260 239.01 2.37 80.00 1520.7 1552.8 1488.6 2724.6 2079.6 31.08 10.51 1288 9765.14 0.00 0.00 3.84 0.000 0.000 0.103 1520.81 1552.69 1488.94 2724.62 3475.12 0 0 0 30.00 30.00 15.44
9829.41 1028 239.01 2.37 0.00 1519.7 1550.8 1488.6 2724.4 3475.0 23.42 10.83 1302 9835.09 0.00 0.00 3.46 0.000 0.000 0.053 1519.75 1551.19 1488.31 2724.69 2076.38 0 0 0 30.00 30.00 15.57
10014.47 0 239.01 2.37 0.00 1518.9 1551.2 1486.6 2724.6 2077.2 3.50 11.18 1339 10015.80 0.00 0.00 0.00 0.000 0.000 0.000 1519.19 1551.56 1486.81 2724.31 2076.62 0 0 0 30.00 30.00 30.00
10030 end climb: SURFACE_DEPTH_REACHED
state 10030 begin surface coast
10050 end surface coast: CONTROL_FINISHED_OK
state 10050 begin surface