NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 761 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  249 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
MISSION  8 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.054949999 XPDR_VALID  6
DIVE  761 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  25 XPDR_INHIBIT  90
N_DIVES  0 TGT_AUTO_DEFAULT  0 ROLL_MAXERRORS  1 XPDR_INT  -1
STOP_T  0 SM_CC  430 ROLL_ADJ_GAIN  0 XPDR_REP  0
D_SURF  4 N_FILEKB  4 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  1.9639999e-06
D_FLARE  3 FILEMGR  0 VBD_MIN  500 INT_PRESSURE_YINT  -3
D_TGT  990 CALL_NDIVES  1 VBD_MAX  3960 DEEPGLIDER  0
D_ABORT  1010 COMM_SEQ  7 C_VBD  2890 DEEPGLIDERMB  0
D_NO_BLEED  200 PROTOCOL  9 VBD_DBAND  2 MOTHERBOARD  6
D_BOOST  0 N_NOCOMM  2 VBD_CNV  -0.24529999 DEVICE1  -1
T_BOOST  0 NOCOMM_ACTION  131 VBD_LP_IGNORE  0 DEVICE2  -1
D_FINISH  0 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE3  -1
D_PITCH  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.0020000001 DEVICE4  -1
D_SAFE  0 CALL_TRIES  5 UNCOM_BLEED  20 DEVICE5  -1
D_CALL  0 CALL_WAIT  60 VBD_MAXERRORS  1 DEVICE6  -1
SURFACE_URGENCY  0 CAPUPLOAD  0 C_VBD_AUTO_DELTA  0 LOGGERS  1
SURFACE_URGENCY_TRY  0 CAPMAXSIZE  20000 C_VBD_AUTO_MAX  0 LOGGERDEVICE1  7
SURFACE_URGENCY_FORCE  0 T_GPS  5 W_ADJ_DBAND  3 LOGGERDEVICE2  -1
T_DIVE  410 N_GPS  100440 DBDW  0 LOGGERDEVICE3  -1
T_MISSION  520 T_RSLEEP  2 LOITER_W_DBAND  0 LOGGERDEVICE4  -1
T_ABORT  1440 STROBE  0 LOITER_DBDW  0 COMPASS_DEVICE  66
T_TURN  225 RAFOS_PEAK_OFFSET  0 LOITER_D_TOP  0 COMPASS2_DEVICE  -1
T_TURN_SAMPINT  -5 RAFOS_CORR_THRESH  60 LOITER_D_BOTTOM  0 PHONE_DEVICE  33
T_NO_W  120 RAFOS_HIT_WINDOW  3600 LOITER_N_DIVE  0 GPS_DEVICE  48
T_LOITER  0 RAFOS_MMODEM  0 CF8_MAXERRORS  20 RAFOS_DEVICE  -1
T_EPIRB  0 PITCH_MIN  200 AH0_24V  506 NAV_DEVICE  -1
USE_BATHY  -1 PITCH_MAX  3000 AH0_10V  0 NAV2_DEVICE  -1
USE_ICE  0 C_PITCH  2515 MINV_24V  11 NETWORK_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 PITCH_DBAND  0.1 MINV_10V  11 PRESSURE_DEVICE  34
D_OFFGRID  1000 PITCH_CNV  0.0041299998 MAXI_24V  5 XPDR_DEVICE  21
RELAUNCH  1 PITCH_GAIN  16 MAXI_10V  1.5 SIM_W  0
APOGEE_PITCH  -5 PITCH_TIMEOUT  30 FG_AHR_10V  111.44581 SEABIRD_T_G  0.0043000001
MAX_BUOY  80 PITCH_MAXERRORS  1 FG_AHR_24V  212.54295 SEABIRD_T_H  0.00063999998
GLIDE_SLOPE  30 PITCH_ADJ_GAIN  0 PHONE_SUPPLY  2 SEABIRD_T_I  2.4999999e-05
SPEED_FACTOR  1 PITCH_ADJ_DBAND  0 PRESSURE_YINT  -179.54233 SEABIRD_T_J  4.3e-06
RHO  1.0275 C_PITCH_AUTO_DELTA  0 PRESSURE_SLOPE  0.00021665409 SEABIRD_C_G  -10
MASS  72955 C_PITCH_AUTO_MAX  0 COMPASS_USE  16388 SEABIRD_C_H  1
NAV_MODE  2 PITCH_GAIN_AUTO_DELTA  0 ALTIM_PING_FIT  0 SEABIRD_C_I  -0.0020000001
FERRY_MAX  45 PITCH_GAIN_AUTO_MAX  0 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00019999999
KALMAN_USE  2 PITCH_W_GAIN  6 ALTIM_BOTTOM_TURN_MARGIN  0 OPTIONS  0
HD_A  0.00177828 PITCH_W_DBAND  0.5 ALTIM_TOP_TURN_MARGIN  0 SC_RECORDABOVE  2000.0
HD_B  0.020747701 ROLL_MIN  215 ALTIM_TOP_MIN_OBSTACLE  0 SC_PROFILE  7.0
HD_C  5.7000002e-06 ROLL_MAX  3825 ALTIM_PING_DEPTH  0 SC_XMITPROFILE  3.0
HEADING  -1 ROLL_DEG  60 ALTIM_PING_DELTA  0 SC_NDIVE  1.0
ESCAPE_HEADING  0 C_ROLL_DIVE  2250 ALTIM_FREQUENCY  13
ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2250 ALTIM_PULSE  1

Pre-dive calculations and measurements:
GPS1  190223,104609,4749.927,-12511.884,22,0.8,22,15.8 TGT_RADIUS  2500.000
_CALLS  1 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.11 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -61.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  190223,105531,4749.863,-12511.745,2,0.6,4,15.8 MHEAD_RNG_PITCHd_Wd  242.5,164995,-16.4,-8.049,-28.31,2124,0.223
SPEED_LIMITS  0.139,0.149 D_GRID  338
TGT_NAME  OFFSHORE IRON  1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000
TGT_LATLONG  4700.000,-12700.000

Post-dive calculations and measurements:
WARN  HSCICON missed fuel gauge read FG_AHR_10Vo  111.522
FINISH  -0.3,1.024880 MEM0  60108,1,0,0
SM_CCo  9653.57,79.72,1.039,0,1137.2,1142.6,1131.8,429.96 MEM1  65508,1,0,0
SM_GC  0.99,79.72,19.37,0.12,1.039,0.037,0.084,1137.2,1142.6,1131.8,177.4,2185.6,0,0,0,11.08,15.83,15.90 MEM2  957652,568,78216,67
SUPER  19,71,254,1,0,0 DATA_FILE_SIZE  35274,1180
IRIDIUM_FIX  4751.29,-12537.11,190223,080630 CAP_FILE_SIZE  265373,0
TCM_TEMP  267.45 SDSIZE  4028416,3786464
XPDR_PINGS  0,13.0,10.5 SDFILEDIR  4597,1
SC_FREEKB  3586528 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID  54.77 CURRENT  0.056,144.5,1
TEMP  84.30 MAGCAL  1.000000,0.014777,0.035745,-0.025880,1.054672,-0.047878,-0.006013,-0.074923,0.987200,470.6,-229.2,20.0,31,0.0251,0
INTERNAL_PRESSURE  8.55946 IMPLIED_C_PITCH  2562,12.29,871,0.0,0.00
_24V_AH  14.64,258.643 IMPLIED_C_VBD  2939,57.326416,742,0
_10V_AH  15.00,0.000 GPS  190223,133732,4749.578,-12512.282,20,0.8,21,15.8
FG_AHR_24Vo  212.699

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump47914029837.41 nil000.00
Pitch_motor41201123.36 nil000.00
Roll_motor118115200.20 nil000.00
Iridium2942341011.19 nil000.00
Transponder_ping04200.00 nil000.00
GPS15153.57 nil000.00
Core56736578.67 SciCon9489162290.45
Fast11600.00 nil000.00
Slow000.00 nil000.00
LPSleep42002126.01
Compass26185196.39
RAFOS000.00
Transponder000.00
Compass2000.00

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
11 end surface: CONTROL_FINISHED_OK
state 12 begin dive
19.43 16386 -77.86 -1.18 0.00 1124.6 1135.2 1113.9 175.5 2284.2 0.00 0.00 0 126.54 75.56 0.00 0.00 0.005 0.000 0.000 2977.62 3149.38 2805.88 175.81 2284.06 0 0 0 14.69 30.00 30.00
128.76 18983 -77.86 -1.18 -60.00 2978.6 3147.6 2809.5 175.8 2284.8 3.18 -2.85 15 238.72 3.44 17.35 3.16 0.011 0.201 0.064 3209.78 3401.88 3017.69 2227.69 1143.25 0 0 0 15.00 15.29 14.89
245.06 1028 -77.86 -1.18 0.00 3210.9 3401.6 3020.1 2227.8 1142.8 31.91 -13.38 21 264.70 0.00 0.00 2.82 0.000 0.000 0.023 3212.06 3402.69 3021.44 2227.69 2279.56 0 0 0 30.00 30.00 15.69
450.92 260 -77.86 -1.18 60.00 3211.2 3401.6 3020.9 2227.8 2280.2 56.41 -12.31 59 470.95 0.00 0.00 3.13 0.000 0.000 0.079 3210.84 3401.56 3020.12 2227.75 3352.94 0 0 0 30.00 30.00 15.63
502.37 1028 -77.86 -1.18 0.00 3211.6 3401.6 3021.6 2227.8 3352.2 63.35 -13.72 66 520.80 0.00 0.00 2.75 0.000 0.000 0.018 3212.44 3402.25 3022.62 2227.69 2195.31 0 0 0 30.00 30.00 15.82
706.91 260 -77.86 -1.18 60.00 3211.1 3401.2 3021.0 2227.9 2192.2 87.16 -10.73 104 727.96 0.00 0.00 3.35 0.000 0.000 0.076 3211.28 3401.12 3021.44 2227.75 3353.06 0 0 0 30.00 30.00 15.65
734.39 1028 -77.86 -1.18 0.00 3211.8 3401.8 3021.8 2227.6 3353.8 90.21 -11.20 106 753.22 0.00 0.00 2.77 0.000 0.000 0.018 3213.38 3403.25 3023.50 2227.88 2194.56 0 0 0 30.00 30.00 15.80
944.27 260 -77.86 -1.18 60.00 3211.4 3401.3 3021.5 2227.8 2192.0 108.40 -8.07 135 964.37 0.00 0.00 3.34 0.000 0.000 0.076 3211.03 3402.00 3020.06 2227.69 3354.12 0 0 0 30.00 30.00 15.73
1025.09 1028 -77.86 -1.18 0.00 3211.2 3400.9 3021.4 2227.4 3353.9 116.59 -10.67 148 1043.53 0.00 0.00 2.75 0.000 0.000 0.018 3212.25 3402.12 3022.38 2228.19 2191.31 0 0 0 30.00 30.00 15.84
1349.59 0 -77.86 -1.18 0.00 3211.6 3401.8 3021.4 2227.6 2188.5 141.70 -7.02 180 1353.60 0.00 0.00 0.00 0.000 0.000 0.000 3210.56 3402.06 3019.06 2227.88 2188.56 0 0 0 30.00 30.00 30.00
1659.68 516 -77.86 -1.18 -60.00 3212.0 3401.1 3022.9 2228.4 2188.9 162.37 -6.68 211 1678.40 0.00 0.00 2.91 0.000 0.000 0.066 3212.75 3401.94 3023.56 2227.31 1144.25 0 0 0 30.00 30.00 15.69
1754.88 1028 -77.86 -1.18 0.00 3212.2 3401.5 3022.8 2227.8 1143.8 168.92 -7.08 227 1772.81 0.00 0.00 2.75 0.000 0.000 0.023 3212.16 3401.38 3022.94 2227.81 2281.50 0 0 0 30.00 30.00 15.90
2079.05 516 -77.86 -1.18 -60.00 3212.1 3401.4 3022.8 2227.9 2281.8 188.79 -6.33 259 2098.60 0.00 0.00 3.13 0.000 0.000 0.061 3211.19 3400.81 3021.56 2228.00 1144.06 0 0 0 30.00 30.00 15.68
2129.36 1028 -77.86 -1.18 0.00 3211.8 3401.5 3022.0 2227.9 1144.1 192.36 -7.00 266 2148.00 0.00 0.00 2.76 0.000 0.000 0.023 3212.75 3401.88 3023.62 2227.75 2281.12 0 0 0 30.00 30.00 15.82
2454.14 0 -77.86 -1.18 0.00 3212.3 3401.6 3023.1 2228.1 2281.9 213.60 -6.97 298 2458.21 0.00 0.00 0.00 0.000 0.000 0.000 3211.62 3402.62 3020.62 2227.19 2282.25 0 0 0 30.00 30.00 30.00
2764.32 516 -77.86 -1.18 -60.00 3212.0 3401.2 3022.8 2228.0 2281.9 235.31 -7.00 329 2783.85 0.00 0.00 3.10 0.000 0.000 0.062 3212.03 3401.50 3022.56 2228.69 1143.88 0 0 0 30.00 30.00 15.84
2820.33 1028 -77.86 -1.18 0.00 3212.2 3401.2 3023.2 2228.2 1143.9 239.25 -7.05 337 2838.26 0.00 0.00 2.76 0.000 0.000 0.023 3212.47 3401.38 3023.56 2227.56 2282.31 0 0 0 30.00 30.00 15.73
3144.37 516 -77.86 -1.18 -60.00 3212.2 3401.7 3022.6 2227.8 2282.0 260.89 -6.64 369 3163.51 0.00 0.00 3.10 0.000 0.000 0.062 3212.81 3402.25 3023.38 2227.44 1143.00 0 0 0 30.00 30.00 15.85
3184.26 1028 -77.86 -1.18 0.00 3211.9 3401.2 3022.7 2227.9 1142.9 263.74 -6.90 374 3202.91 0.00 0.00 2.74 0.000 0.000 0.023 3214.06 3403.00 3025.12 2228.31 2282.81 0 0 0 30.00 30.00 15.95
3509.05 516 -77.86 -1.18 -60.00 3211.8 3400.9 3022.8 2228.0 2282.6 286.59 -7.45 406 3528.83 0.00 0.00 3.11 0.000 0.000 0.062 3212.47 3401.62 3023.31 2227.56 1144.31 0 0 0 30.00 30.00 15.80
3579.70 1028 -77.86 -1.18 0.00 3212.0 3400.9 3023.1 2227.4 1144.0 292.54 -8.14 417 3598.35 0.00 0.00 2.77 0.000 0.000 0.023 3212.66 3402.12 3023.19 2227.81 2282.25 0 0 0 30.00 30.00 15.86
3904.57 260 -77.86 -1.18 60.00 3212.0 3401.3 3022.8 2227.9 2282.4 314.51 -6.58 449 3923.71 0.00 0.00 3.08 0.000 0.000 0.080 3212.12 3401.31 3022.94 2227.81 3352.31 0 0 0 30.00 30.00 15.82
4014.48 1028 -77.86 -1.18 0.00 3212.1 3400.9 3023.3 2227.8 3352.1 323.17 -8.04 468 4033.11 0.00 0.00 2.71 0.000 0.000 0.018 3212.62 3402.12 3023.12 2227.38 2187.62 0 0 0 30.00 30.00 15.95
4218 end dive: TARGET_DEPTH_EXCEEDED
state 4219 begin apogee
4224.06 10243 0.00 -0.31 0.00 3212.2 3401.5 3022.9 2227.9 2295.1 338.22 -7.37 488 4325.47 62.07 1.61 0.16 1.403 0.128 0.115 2891.38 3024.94 2757.81 2440.06 2164.81 0 0 0 10.57 15.74 15.34
4338 end apogee: CONTROL_FINISHED_OK
state 4339 begin climb
4341.86 10759 77.86 1.18 -60.00 2887.3 3023.2 2751.4 2441.1 2164.3 341.13 0.00 495 4463.20 61.74 2.57 2.88 1.388 0.087 0.071 2570.84 2669.44 2472.25 2806.00 1144.81 0 0 0 11.47 15.69 15.25
4505.20 11303 181.40 1.39 0.00 2567.1 2667.9 2466.2 2806.4 1144.2 338.98 3.04 515 4644.75 82.96 0.31 2.78 1.378 0.061 0.024 2149.16 2221.19 2077.12 2868.56 2282.06 0 0 0 11.36 15.56 15.69
4951.29 16966 181.40 1.46 -60.00 2139.1 2221.0 2057.2 2868.6 2281.4 310.94 6.86 564 4970.81 0.00 0.00 3.17 0.000 0.000 0.065 2137.41 2220.19 2054.62 2869.50 1144.06 0 0 0 30.00 30.00 15.61
4991.97 17478 181.40 1.50 0.00 2137.7 2220.5 2054.9 2868.9 1144.2 307.83 7.38 569 5011.00 0.00 0.00 2.79 0.000 0.000 0.025 2139.78 2222.62 2056.94 2869.38 2278.50 0 0 0 30.00 30.00 15.83
5317.54 16450 181.40 1.53 0.00 2137.4 2220.9 2053.9 2869.1 2277.9 285.44 7.53 601 5321.60 0.00 0.00 0.00 0.000 0.000 0.000 2136.47 2221.44 2051.50 2868.56 2277.75 0 0 0 30.00 30.00 30.00
5628.13 19015 181.40 1.58 -60.00 2136.1 2220.9 2051.4 2868.0 2277.8 262.96 7.24 632 5648.94 0.00 0.19 3.12 0.000 0.077 0.066 2134.72 2218.69 2050.75 2913.50 1145.81 0 0 0 30.00 15.87 15.82
5735.42 17414 181.40 1.58 0.00 2134.8 2221.1 2048.4 2913.5 1145.4 253.67 8.64 650 5753.34 0.00 0.00 2.78 0.000 0.000 0.026 2135.62 2221.56 2049.69 2913.00 2277.38 0 0 0 30.00 30.00 15.90
6059.85 16450 181.40 1.68 0.00 2134.7 2221.4 2048.0 2913.2 2277.9 230.54 6.46 682 6063.91 0.00 0.00 0.00 0.000 0.000 0.000 2133.62 2219.62 2047.62 2913.06 2277.75 0 0 0 30.00 30.00 30.00
6370.56 19015 181.40 1.77 -60.00 2134.0 2221.2 2046.8 2913.0 2277.5 211.20 6.55 713 6391.34 0.00 0.19 3.14 0.000 0.071 0.066 2134.47 2221.12 2047.81 2960.25 1144.69 0 0 0 30.00 15.89 15.64
6497.84 17414 181.40 1.77 0.00 2134.0 2221.4 2046.5 2960.1 1144.4 200.11 8.98 735 6515.77 0.00 0.00 2.78 0.000 0.000 0.026 2133.88 2221.31 2046.44 2960.50 2277.38 0 0 0 30.00 30.00 15.92
6821.91 16902 181.40 1.77 -60.00 2133.6 2221.2 2045.9 2960.3 2277.9 173.26 8.35 767 6841.45 0.00 0.00 3.16 0.000 0.000 0.066 2133.38 2221.69 2045.06 2960.69 1143.12 0 0 0 30.00 30.00 15.69
7022.24 17414 181.40 1.77 0.00 2133.4 2221.2 2045.5 2960.1 1143.1 156.00 8.33 804 7041.69 0.00 0.00 2.81 0.000 0.000 0.026 2134.19 2221.81 2046.56 2960.25 2276.88 0 0 0 30.00 30.00 15.83
7348.22 16966 181.40 1.84 -60.00 2133.2 2221.2 2045.1 2960.5 2276.4 133.45 6.82 836 7367.77 0.00 0.00 3.14 0.000 0.000 0.065 2133.50 2222.19 2044.81 2960.81 1143.00 0 0 0 30.00 30.00 15.80
7504.66 17478 181.40 1.90 0.00 2132.8 2221.3 2044.4 2960.4 1142.6 122.41 6.99 864 7522.59 0.00 0.00 2.79 0.000 0.000 0.026 2134.75 2223.19 2046.31 2959.88 2276.88 0 0 0 30.00 30.00 15.78
7829.12 19015 181.40 2.07 -60.00 2132.7 2221.4 2044.0 2961.0 2277.4 104.24 5.22 896 7850.55 0.00 0.25 3.12 0.000 0.063 0.065 2133.25 2221.94 2044.56 3018.38 1143.06 0 0 0 30.00 15.85 15.80
7921.82 11303 248.34 2.21 0.00 2132.5 2220.8 2044.2 3018.3 1142.4 100.06 4.81 911 8016.87 52.47 0.00 2.81 1.146 0.000 0.025 1878.00 1944.19 1811.81 3019.00 2279.50 0 0 0 10.73 30.00 15.79
8203.42 2373 248.34 2.31 60.00 1869.6 1943.1 1796.0 3018.9 2279.6 85.19 6.33 960 8223.70 0.00 0.00 3.18 0.000 0.000 0.084 1871.22 1944.69 1797.75 3019.12 3352.44 0 0 0 30.00 30.00 15.61
8455.64 19527 248.34 2.35 0.00 1868.6 1943.4 1793.8 3019.1 3352.4 67.43 7.40 1007 8474.29 0.00 0.00 2.75 0.000 0.000 0.018 1869.69 1944.25 1795.12 3019.56 2195.12 0 0 0 30.00 30.00 15.78
8660.81 10275 325.94 2.50 0.00 1866.5 1942.9 1790.0 3018.6 2193.0 57.42 4.29 1045 8752.69 61.11 0.00 0.00 1.087 0.000 0.000 1561.38 1610.56 1512.19 3018.56 2193.00 0 0 0 11.17 30.00 30.00
8939.24 2373 325.94 2.57 60.00 1553.3 1610.0 1496.6 3018.9 2192.7 38.99 6.89 1095 8960.95 0.00 0.00 3.38 0.000 0.000 0.079 1554.44 1610.88 1498.00 3019.06 3353.19 0 0 0 30.00 30.00 15.66
9007.53 19463 325.94 2.57 0.00 1552.8 1610.2 1495.4 3018.9 3354.2 33.20 8.56 1105 9026.20 0.00 0.00 2.78 0.000 0.000 0.018 1553.44 1610.88 1496.00 3019.00 2197.75 0 0 0 30.00 30.00 15.73
9212.30 18951 325.94 2.57 -60.00 1551.9 1610.6 1493.2 3018.9 2195.1 16.01 9.04 1143 9231.76 0.00 0.00 2.94 0.000 0.000 0.070 1552.47 1611.12 1493.81 3018.75 1145.50 0 0 0 30.00 30.00 15.63
9298.24 19463 325.94 2.57 0.00 1550.8 1610.2 1491.4 3019.5 1145.1 8.63 8.34 1157 9316.90 0.00 0.00 2.80 0.000 0.000 0.025 1552.19 1611.81 1492.56 3018.44 2278.38 0 0 0 30.00 30.00 15.65
9367 end climb: SURFACE_DEPTH_REACHED
state 9368 begin surface coast
9429 end surface coast: CONTROL_FINISHED_OK
state 9429 begin surface