WA coast Oct09 * SG033 * Dive index * Mission links * Dive 8 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  33 HEADING  -1 PITCH_ADJ_DBAND  0 ALTIM_TOP_TURN_MARGIN  0
MISSION  7 ESCAPE_HEADING  0 ROLL_MIN  60 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  8 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3837 ALTIM_PING_DEPTH  125
D_SURF  2 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  25
D_FLARE  3 TGT_DEFAULT_LAT  47 C_ROLL_DIVE  2100 ALTIM_FREQUENCY  13
D_TGT  2400 TGT_DEFAULT_LON  -125 C_ROLL_CLIMB  2100 ALTIM_PULSE  3
D_ABORT  4005 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
D_NO_BLEED  200 SM_CC  450 ROLL_CNV  0.028270001 XPDR_VALID  0
D_FINISH  0 N_FILEKB  4 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  19 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  16 INT_PRESSURE_YINT  0
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  400 DEEPGLIDER  1
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  1 DEEPGLIDERMB  1
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0 DEVICE1  2
T_DIVE  800 UPLOAD_DIVES_MAX  -1 VBD_MIN  186 DEVICE2  99
T_MISSION  830 CALL_TRIES  5 VBD_MAX  3785 DEVICE3  -1
T_ABORT  1440 CALL_WAIT  60 C_VBD  1836 DEVICE4  -1
T_TURN  225 CAPUPLOAD  0 VBD_DBAND  2 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 VBD_CNV  -0.36790001 DEVICE6  -1
T_NO_W  300 HEAPDBG  0 VBD_TIMEOUT  720 SMARTS  0
USE_BATHY  0 T_GPS  15 PITCH_VBD_SHIFT  0.0012300001 SMARTDEVICE1  -1
USE_ICE  0 N_GPS  20 VBD_PUMP_AD_RATE_SURFACE  2 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_APOGEE  2 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_CHARGE  -169524.77 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  2 UNCOM_BLEED  20 PHONE_DEVICE  48
RELAUNCH  1 RAFOS_PEAK_OFFSET  1.5 VBD_MAXERRORS  1 GPS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  2 RAFOS_DEVICE  -1
MAX_BUOY  150 RAFOS_HIT_WINDOW  3600 AH0_24V  151 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  27 AH0_10V  122.2 SIM_W  0
GLIDE_SLOPE  45 PITCH_MAX  2563 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  1947 PRESSURE_YINT  -19.421526 SEABIRD_T_G  0.0043575475
RHO  1.023 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.00046800601 SEABIRD_T_H  0.00062940316
MASS  52000 PITCH_CNV  0.0046000001 AD7714Ch0Gain  64 SEABIRD_T_I  2.4306677e-05
NAV_MODE  1 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.6223986e-06
FERRY_MAX  2 PITCH_GAIN  15 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -10.332057
KALMAN_USE  1 PITCH_TIMEOUT  20 COMPASS_USE  0 SEABIRD_C_H  1.2094743
HD_A  0.0038945 PITCH_AD_RATE  160 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.0016192879
HD_B  0.0099684997 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  20 SEABIRD_C_J  0.00021825745
HD_C  2.5700001e-06 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_TURN_MARGIN  20

Pre-dive calculations and measurements:
GPS1  011336,4655.802,-12522.727,36,1.0,36,18.4 TGT_NAME  W_47N_128W
_CALLS  1 TGT_LATLONG  4700.000,-12800.000
_XMS_NAKs  3 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.179,0.194
_SM_DEPTHo  1.09 KALMAN_X  23713.8,-901.5,-917.6,-50598.3,21890.3
_SM_ANGLEo  -58.4 KALMAN_Y  -11696.4,343.6,441.7,2592.7,-9837.8
GPS2  011902,4655.713,-12522.779,16,1.8,16,18.4 MHEAD_RNG_PITCHd_Wd  298.9,198738,-18.1,-10.000
SPEED_LIMITS  0.100,0.264 D_GRID  2400

Post-dive calculations and measurements:
FINISH  0.4,1.000918 ALTIM_TOP_PING  19.7,19.2
SM_CCo  29036,0.00,0.000,0,0,445,511.75 ALTIM_BOTTOM_PING  1775.5,82.2
SM_GC  0.89,9.82,0.00,0.00,0.077,0.000,0.000,27,2102,445,-8.79,0.06,511.75 _24V_AH  22.0,3.168
IRIDIUM_FIX  4638.64,-12515.78,010199,171744 _10V_AH  10.7,0.792
TT8_MAMPS  0.021476 DATA_FILE_SIZE  59879,1165
HUMID  2130 CAP_FILE_SIZE  205572,0
INTERNAL_PRESSURE  7.41239 CFSIZE  260280320,257904640
TCM_TEMP  18.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
XPDR_PINGS  8 GPS  081009,092506,4654.664,-12526.866,40,1.8,46,18.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22230114.56 SBE_CT80124423.26
Roll_motor203176788.78 AA43301772331286.50
VBD_pump_during_apogee547213725732.92 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010369.36 nil000.00
Iridium_during_connect2616091.66 nil000.00
Iridium_during_xfer170223835.83
Transponder_ping19420177.87
Mmodem_TX000.00
Mmodem_RX000.00
GPS16508.83
TT8233919495.73
LPSleep224092525.12
TT8_Active71219150.99
TT8_Sampling3504391492.42
TT8_CF838045186.36
TT8_Kalman338129.20
Analog_circuits242712311.67
GPS_charging000.00
Compass32788280.67
RAFOS000.00
Transponder1123036.02

Guidance and control:
st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
14 -1.39 -146.6 0.0 0.0 0 93 0.00 0.00 -77.18 0.000 2 0.000 0.000 23 2084 1468
95 -1.39 -146.6 3.7 -5.1 8 140 9.43 2.60 -28.62 0.000 4 0.231 0.112 1640 3507 2237
155 -1.39 -146.6 16.1 -17.8 13 162 0.00 2.40 0.00 0.000 6 0.000 0.077 1640 2098 2237
491 -1.39 -146.6 76.3 -17.2 62 497 0.00 2.50 0.00 0.000 4 0.000 0.114 1640 3508 2238
536 -1.39 -146.6 83.7 -15.8 68 540 0.00 2.35 0.00 0.000 6 0.000 0.079 1640 2089 2239
866 -1.39 -146.6 133.0 -15.0 99 870 0.00 2.53 0.00 0.000 4 0.000 0.119 1640 3510 2238
881 -1.39 -146.6 135.7 -15.6 100 886 0.00 2.33 0.00 0.000 6 0.000 0.082 1640 2102 2239
1204 -1.39 -146.6 189.0 -17.3 120 1205 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2102 2239
1513 -1.39 -146.6 242.6 -16.9 135 1514 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2103 2239
1823 -1.39 -146.6 294.4 -17.2 150 1827 0.00 2.45 0.00 0.000 4 0.000 0.117 1640 688 2239
1838 -1.39 -146.6 297.0 -16.3 151 1842 0.00 2.38 0.00 0.000 6 0.000 0.089 1640 2111 2239
2167 -1.39 -146.6 352.4 -17.4 162 2168 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2111 2239
2473 -1.39 -146.6 406.8 -17.9 172 2477 0.00 2.47 0.00 0.000 4 0.000 0.117 1640 692 2239
2482 -1.39 -146.6 408.5 -17.6 172 2487 0.00 2.38 0.00 0.000 6 0.000 0.092 1640 2095 2239
2806 -1.39 -146.6 463.0 -16.8 183 2810 0.00 2.42 0.00 0.000 4 0.000 0.117 1640 697 2239
2815 -1.39 -146.6 464.7 -17.0 183 2820 0.00 2.38 0.00 0.000 6 0.000 0.092 1640 2098 2239
3144 -1.39 -146.6 519.4 -16.4 194 3146 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2098 2239
3451 -1.39 -146.6 569.3 -16.4 204 3452 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2099 2239
3757 -1.39 -146.6 619.3 -16.3 214 3758 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2099 2239
4063 -1.39 -146.6 669.7 -16.1 224 4064 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2099 2239
4369 -1.39 -146.6 718.5 -15.7 234 4371 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2099 2239
4675 -1.39 -146.6 767.7 -16.6 244 4676 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2099 2239
4982 -1.39 -146.6 820.6 -17.3 254 4983 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2099 2239
5288 -1.39 -146.6 871.7 -16.9 264 5292 0.00 2.47 0.00 0.000 4 0.000 0.124 1640 698 2239
5296 -1.39 -146.6 873.1 -16.3 264 5302 0.00 2.40 0.00 0.000 6 0.000 0.099 1640 2094 2239
5622 -1.39 -146.6 925.5 -16.2 275 5627 0.00 2.47 0.00 0.000 4 0.000 0.127 1640 697 2239
5637 -1.39 -146.6 928.3 -15.4 275 5642 0.00 2.40 0.00 0.000 6 0.000 0.102 1640 2101 2239
5956 -1.39 -146.6 978.4 -16.1 286 5960 0.00 2.47 0.00 0.000 4 0.000 0.127 1640 698 2239
5976 -1.39 -146.6 981.8 -16.0 286 5983 0.00 2.40 0.00 0.000 6 0.000 0.102 1640 2098 2239
6288 -1.39 -146.6 1029.9 -15.0 297 6289 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2098 2239
6594 -1.39 -146.6 1072.8 -13.9 307 6596 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2098 2238
6901 -1.39 -146.6 1119.2 -15.7 317 6902 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2098 2238
7207 -1.39 -146.6 1168.6 -16.5 327 7211 0.00 2.50 0.00 0.000 4 0.000 0.129 1640 695 2238
7222 -1.39 -146.6 1171.3 -16.3 327 7227 0.00 2.40 0.00 0.000 6 0.000 0.104 1640 2094 2237
7540 -1.39 -146.6 1221.2 -15.3 338 7541 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2094 2237
7846 -1.39 -146.6 1266.0 -14.5 348 7847 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2094 2237
8152 -1.39 -146.6 1311.4 -14.7 358 8154 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2095 2237
8459 -1.39 -146.6 1354.5 -13.8 368 8460 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2094 2237
8765 -1.39 -146.6 1394.6 -13.1 378 8766 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2094 2236
9071 -1.39 -146.6 1436.5 -13.8 388 9072 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2094 2236
9377 -1.39 -146.6 1483.0 -15.2 398 9378 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2095 2236
9683 -1.39 -146.6 1531.6 -16.2 408 9684 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2095 2235
9990 -1.39 -146.6 1577.0 -14.6 418 9991 0.00 0.00 0.00 0.000 6 0.000 0.000 1639 2094 2235
10296 -1.39 -146.6 1620.0 -13.9 428 10297 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2094 2235
10602 -1.39 -146.6 1665.2 -14.7 438 10603 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2095 2234
10908 -1.39 -146.6 1710.7 -14.7 448 10909 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2094 2234
11215 -1.39 -146.6 1754.2 -14.1 458 11216 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2095 2234
11522 -1.39 -146.6 1795.2 -12.9 468 11523 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2094 2234
11827 -1.39 -146.6 1834.3 -12.8 478 11828 0.00 0.00 0.00 0.000 6 0.000 0.000 1640 2094 2234
11856 end dive: BOTTOM_OBSTACLE_DETECTED
state 11856 begin apogee
11860 -0.33 0.0 1838.4 12.8 479 11982 1.10 0.00 118.75 2.138 6 0.154 0.000 1869 2095 1836
11983 end apogee: CONTROL_FINISHED_OK
state 11983 begin climb
11984 1.39 146.6 1843.5 0.0 483 12132 1.83 3.22 137.45 2.073 4 0.122 0.169 2246 3498 1437
12383 1.44 188.7 1821.1 8.1 495 12426 0.00 2.60 36.72 1.994 6 0.000 0.112 2246 2114 1323
12737 1.44 188.7 1787.5 10.1 507 12741 0.00 2.75 0.00 0.000 4 0.000 0.142 2246 686 1323
12932 1.44 188.7 1767.7 11.0 513 12937 0.00 2.58 0.00 0.000 6 0.000 0.119 2246 2098 1323
13266 1.47 213.2 1737.1 8.9 524 13297 0.00 2.88 21.17 1.929 4 0.000 0.176 2246 3512 1255
13548 1.47 213.2 1708.8 10.6 532 13553 0.00 2.60 0.00 0.000 6 0.000 0.112 2246 2098 1255
13872 1.47 213.2 1674.8 10.6 543 13876 0.00 2.72 0.00 0.000 4 0.000 0.156 2246 3509 1255
14128 1.47 213.2 1647.0 11.5 550 14136 0.00 2.53 0.00 0.000 6 0.000 0.114 2246 2100 1255
14441 1.47 213.2 1615.1 10.3 561 14445 0.00 2.70 0.00 0.000 4 0.000 0.154 2246 3509 1255
14698 1.47 213.2 1585.2 12.2 568 14705 0.00 2.53 0.00 0.000 6 0.000 0.112 2246 2104 1256
15011 1.47 213.2 1550.1 10.9 579 15016 0.00 2.62 0.00 0.000 4 0.000 0.144 2246 682 1255
15200 1.47 213.2 1528.9 11.3 584 15208 0.00 2.53 0.00 0.000 6 0.000 0.117 2246 2099 1255
15513 1.47 213.2 1495.3 11.0 595 15517 0.00 2.70 0.00 0.000 4 0.000 0.159 2246 3518 1255
15769 1.47 213.2 1467.4 10.8 602 15776 0.00 2.53 0.00 0.000 6 0.000 0.112 2246 2099 1255
16083 1.52 253.9 1440.3 8.1 613 16123 0.12 2.85 33.05 1.862 4 0.099 0.159 2278 3510 1145
16375 1.52 258.1 1410.9 9.8 621 16385 0.00 2.58 5.20 1.316 6 0.000 0.109 2278 2099 1133
16720 1.52 258.1 1375.4 10.2 633 16725 0.00 2.70 0.00 0.000 4 0.000 0.151 2278 3512 1133
16976 1.52 258.1 1348.2 10.1 640 16984 0.00 2.55 0.00 0.000 6 0.000 0.109 2278 2097 1133
17290 1.52 258.1 1314.8 11.1 651 17295 0.00 2.70 0.00 0.000 4 0.000 0.151 2277 3518 1133
17548 1.52 258.1 1284.1 10.4 658 17554 0.00 2.50 0.00 0.000 6 0.000 0.112 2278 2100 1133
17859 1.52 258.1 1248.6 11.4 669 17863 0.00 2.67 0.00 0.000 4 0.000 0.149 2278 3518 1133
18116 1.52 258.1 1217.8 11.3 676 18123 0.00 2.53 0.00 0.000 6 0.000 0.109 2278 2096 1133
18430 1.52 258.1 1182.6 11.2 687 18434 0.00 2.58 0.00 0.000 4 0.000 0.142 2278 682 1133
18668 1.52 258.1 1155.9 11.3 694 18674 0.00 2.50 0.00 0.000 6 0.000 0.112 2278 2105 1133
18998 1.52 258.1 1118.5 11.4 705 19002 0.00 2.55 0.00 0.000 4 0.000 0.137 2278 690 1133
19040 1.52 258.1 1113.4 12.6 706 19045 0.00 2.45 0.00 0.000 6 0.000 0.109 2278 2092 1133
19364 1.52 258.1 1079.5 10.2 717 19368 0.00 2.55 0.00 0.000 4 0.000 0.137 2278 681 1133
19402 1.52 258.1 1075.7 10.8 718 19407 0.00 2.47 0.00 0.000 6 0.000 0.109 2278 2098 1133
19731 1.54 268.2 1044.2 9.5 729 19745 0.00 2.70 9.38 1.445 4 0.000 0.159 2278 3512 1106
19999 1.57 293.3 1015.9 8.9 737 20024 0.00 2.47 20.27 1.559 6 0.000 0.107 2278 2096 1038
20332 1.57 293.3 980.6 10.4 747 20336 0.00 2.70 0.00 0.000 4 0.000 0.149 2278 3509 1038
20589 1.57 293.3 951.5 11.7 754 20595 0.00 2.47 0.00 0.000 6 0.000 0.107 2278 2099 1038
20900 1.57 293.3 915.7 11.4 765 20904 0.00 2.67 0.00 0.000 4 0.000 0.146 2278 3516 1038
21157 1.57 293.3 885.2 12.0 772 21164 0.00 2.50 0.00 0.000 6 0.000 0.104 2278 2104 1038
21470 1.57 293.3 851.5 10.7 783 21475 0.00 2.62 0.00 0.000 4 0.000 0.144 2278 3511 1038
21728 1.57 293.3 823.7 10.4 790 21734 0.00 2.45 0.00 0.000 6 0.000 0.107 2278 2098 1038
22039 1.59 310.7 794.5 9.2 801 22059 0.00 2.67 14.45 1.386 4 0.000 0.149 2278 3512 990
22310 1.59 310.7 767.4 12.0 809 22315 0.00 2.50 0.00 0.000 6 0.000 0.104 2278 2104 990
22639 1.60 323.2 737.0 9.4 820 22656 0.00 2.67 11.07 1.301 4 0.000 0.146 2278 3509 956
22907 1.60 323.2 707.1 10.9 828 22912 0.00 2.50 0.00 0.000 6 0.000 0.102 2277 2099 955
23242 1.60 323.2 667.5 12.2 839 23246 0.00 2.65 0.00 0.000 4 0.000 0.142 2278 3514 955
23498 1.60 323.2 635.4 11.6 846 23505 0.00 2.50 0.00 0.000 6 0.000 0.104 2278 2096 955
23812 1.60 323.2 598.7 11.7 857 23816 0.00 2.62 0.00 0.000 4 0.000 0.142 2278 3514 955
24069 1.63 341.4 567.4 9.2 864 24089 0.10 2.45 14.57 1.246 6 0.129 0.104 2299 2095 908
24412 1.63 341.4 526.8 11.8 876 24416 0.00 2.62 0.00 0.000 4 0.000 0.139 2299 3509 908
24668 1.63 346.3 496.1 9.8 883 24679 0.00 2.47 5.70 0.988 6 0.000 0.102 2299 2101 893
25014 1.63 346.3 455.1 11.8 895 25018 0.00 2.53 0.00 0.000 4 0.000 0.132 2299 691 894
25258 1.63 346.3 425.3 11.3 902 25264 0.00 2.45 0.00 0.000 6 0.000 0.104 2299 2102 893
25584 1.63 346.3 388.7 11.5 913 25585 0.00 0.00 0.00 0.000 6 0.000 0.000 2299 2102 894
25889 1.63 346.3 351.9 12.2 923 25893 0.00 2.50 0.00 0.000 4 0.000 0.124 2299 686 894
25976 1.63 346.3 340.5 11.3 925 25983 0.00 2.42 0.00 0.000 6 0.000 0.099 2299 2099 894
26288 1.63 346.3 302.6 12.1 936 26293 0.00 2.47 0.00 0.000 4 0.000 0.122 2299 689 894
26360 1.63 346.3 293.1 14.6 939 26365 0.00 2.40 0.00 0.000 6 0.000 0.099 2299 2096 894
26681 1.63 346.3 254.3 11.8 955 26685 0.00 2.58 0.00 0.000 4 0.000 0.139 2299 3512 894
26937 1.63 346.3 221.1 12.2 966 26944 0.00 2.42 0.00 0.000 6 0.000 0.094 2299 2095 894
27252 1.63 346.3 182.1 12.6 982 27257 0.00 2.55 0.00 0.000 4 0.000 0.132 2299 3506 894
27510 1.63 346.3 148.5 13.2 994 27514 0.00 2.38 0.00 0.000 6 0.000 0.104 2299 2101 894
27840 1.63 346.3 109.5 10.9 1025 27844 0.00 2.53 0.00 0.000 4 0.000 0.129 2299 3508 894
28096 1.72 415.3 84.7 6.9 1047 28150 0.00 2.40 49.30 0.981 6 0.000 0.092 2299 2099 707
28486 1.79 477.6 53.2 7.2 1110 28537 0.15 2.67 45.20 0.931 4 0.094 0.124 2338 689 537
28632 1.84 511.6 38.0 8.5 1134 28665 0.00 2.45 24.83 0.884 6 0.000 0.094 2338 2102 447
28948 end climb: SURFACE_DEPTH_REACHED
state 28949 begin surface coast
28960 end surface coast: CONTROL_FINISHED_OK
state 28961 begin surface