OceanStationM Jul08 * SG017 * Dive index * Mission links * Dive 177 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  17 HD_C  2.6800001e-06 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0
MISSION  6 HEADING  -1 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_TURN_MARGIN  20
DIVE  177 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  0 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  153 ALTIM_TOP_MIN_OBSTACLE  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3868 ALTIM_PING_DEPTH  0
D_TGT  990 TGT_DEFAULT_LAT  66 ROLL_DEG  32 ALTIM_PING_DELTA  0
D_ABORT  1090 TGT_DEFAULT_LON  6 C_ROLL_DIVE  2130 ALTIM_FREQUENCY  13
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2010 ALTIM_PULSE  3
D_FINISH  0 SM_CC  250 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_PITCH  0 N_FILEKB  4 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 FILEMGR  0 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  0
D_CALL  0 CALL_NDIVES  1 R_PORT_OVSHOOT  21 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  38 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  320 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  0 DEVICE1  2
T_DIVE  480 N_NOSURFACE  0 ROLL_ADJ_GAIN  1.75 DEVICE2  20
T_MISSION  570 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0.029999999 DEVICE3  37
T_ABORT  1440 CALL_TRIES  5 VBD_MIN  452 DEVICE4  -1
T_TURN  225 CALL_WAIT  60 VBD_MAX  3835 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  2792 DEVICE6  -1
T_NO_W  120 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  0 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  15 VBD_TIMEOUT  720 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.00109 COMPASS_DEVICE  1
D_OFFGRID  1001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  5 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -90028.227 VBD_PUMP_AD_RATE_APOGEE  4 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  3 VBD_BLEED_AD_RATE  6 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_PEAK_OFFSET  1.5 UNCOM_BLEED  20 XPDR_DEVICE  24
MAX_BUOY  120 RAFOS_CORR_THRESH  60 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  0 SIM_PITCH  0
GLIDE_SLOPE  30 PITCH_MIN  62 AH0_24V  91.800003 SEABIRD_T_G  0.0043458045
SPEED_FACTOR  1 PITCH_MAX  3362 AH0_10V  61.200001 SEABIRD_T_H  0.00063927198
RHO  1.028 C_PITCH  1965 PRESSURE_YINT  -4.9708929 SEABIRD_T_I  2.5059786e-05
MASS  52301 PITCH_DBAND  0.1 PRESSURE_SLOPE  9.1642258e-05 SEABIRD_T_J  2.8926322e-06
NAV_MODE  2 PITCH_CNV  0.0046000001 AD7714Ch0Gain  64 SEABIRD_C_G  -8.9986515
FERRY_MAX  60 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.011379
KALMAN_USE  2 PITCH_GAIN  12 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0019357111
HD_A  0.00251 PITCH_TIMEOUT  16 COMPASS_USE  0 SEABIRD_C_J  0.00022611961
HD_B  0.0080399998 PITCH_AD_RATE  150 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  190107,6603.134,141.748,39,1.6,44,-4.5 TGT_NAME  OWSM
_CALLS  1 TGT_LATLONG  6600.000,200.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.93 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -47.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  190747,6603.149,141.659,11,5.2,30,-4.5 MHEAD_RNG_PITCHd_Wd  150.2,14997,-11.9,-6.875
SPEED_LIMITS  0.119,0.230 D_GRID  990

Post-dive calculations and measurements:
FINISH  1.2,1.026325 _24V_AH  22.8,26.607
SM_CCo  26910,44.08,0.755,0,0,1772,250.21 _10V_AH  10.1,20.086
SM_GC  0.86,0.00,0.00,44.08,0.000,0.000,0.755,56,2118,1772,-8.78,-0.34,250.21 DATA_FILE_SIZE  94549,1935
IRIDIUM_FIX  6537.93,135.47,061197,111120 CAP_FILE_SIZE  195275,0
TT8_MAMPS  0.021476 CFSIZE  256368640,238125056
HUMID  2066 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  8.23274 CURRENT  0.168,343.9,1
TCM_TEMP  4.50 GPS  130808,023852,6602.863,144.643,37,5.9,56,-4.4
XPDR_PINGS  -1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2218694.44 SBE_CT1841241007.46
Roll_motor13272217.36 SBE_O2141419612.96
VBD_pump_during_apogee27615469759.47 WL_BB2F6641051590.70
VBD_pump_during_surface44754758.43 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010371.99 nil000.00
Iridium_during_connect33160124.00 nil000.00
Iridium_during_xfer187223951.10
Transponder_ping04200.00
Mmodem_TX000.00
Mmodem_RX000.00
GPS315016.00
TT8405919811.80
LPSleep197272436.34
TT8_Active53919107.90
TT8_Sampling246739992.06
TT8_CF854745253.21
TT8_Kalman000.00
Analog_circuits207112251.01
GPS_charging000.00
Compass185226486.40
RAFOS000.00

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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
19 -1.12 -116.7 0.0 0.0 0 66 0.00 0.00 -45.17 0.000 2 0.000 0.000 51 2147 2970
69 -1.12 -116.7 3.1 -5.9 7 91 10.00 2.15 -7.15 0.000 4 0.186 0.059 1714 998 3270
288 -1.12 -116.7 28.5 -9.1 45 295 0.00 1.98 0.00 0.000 6 0.000 0.032 1714 2121 3273
632 -1.12 -116.7 52.2 -6.2 106 638 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2121 3276
976 -1.12 -116.7 73.6 -6.5 167 982 0.00 2.10 0.00 0.000 4 0.000 0.051 1714 3254 3277
1011 -1.12 -116.7 76.0 -6.8 173 1018 0.00 1.98 0.00 0.000 6 0.000 0.034 1714 2121 3277
1354 -1.12 -116.7 101.2 -7.6 234 1360 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2121 3278
1697 -1.12 -116.7 126.9 -7.1 295 1703 0.00 2.10 0.00 0.000 4 0.000 0.052 1714 3248 3278
1733 -1.12 -116.7 129.5 -7.2 301 1739 0.00 1.98 0.00 0.000 6 0.000 0.036 1714 2121 3278
2081 -1.12 -116.7 151.4 -6.0 361 2082 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2121 3278
2400 -1.12 -116.7 170.1 -5.8 391 2404 0.00 2.08 0.00 0.000 4 0.000 0.053 1713 3249 3278
2443 -1.12 -116.7 172.9 -6.3 394 2450 0.00 1.95 0.00 0.000 6 0.000 0.037 1714 2132 3278
2770 -1.12 -116.7 192.8 -6.3 425 2771 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2132 3278
3088 -1.12 -116.7 213.3 -6.7 455 3092 0.00 2.08 0.00 0.000 4 0.000 0.055 1713 3248 3278
3165 -1.12 -116.7 219.0 -7.0 461 3173 0.00 2.00 0.00 0.000 6 0.000 0.037 1714 2133 3278
3492 -1.12 -116.7 240.9 -7.1 492 3493 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2133 3278
3809 -1.12 -116.7 264.0 -7.4 522 3813 0.00 2.08 0.00 0.000 4 0.000 0.055 1714 3252 3278
3848 -1.12 -116.7 267.1 -8.0 525 3851 0.00 1.95 0.00 0.000 6 0.000 0.038 1714 2140 3278
4174 -1.12 -116.7 291.5 -7.5 555 4176 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2140 3278
4491 -1.12 -116.7 315.7 -7.6 579 4495 0.00 2.05 0.00 0.000 4 0.000 0.056 1714 3249 3278
4524 -1.12 -116.7 318.4 -8.0 581 4527 0.00 1.95 0.00 0.000 6 0.000 0.038 1714 2135 3277
4848 -1.12 -116.7 342.9 -7.6 602 4849 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2136 3277
5162 -1.12 -116.7 366.1 -7.2 622 5163 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2135 3277
5473 -1.12 -116.7 387.2 -6.5 642 5477 0.00 2.08 0.00 0.000 4 0.000 0.058 1714 3247 3277
5522 -1.12 -116.7 390.6 -6.6 645 5526 0.00 1.98 0.00 0.000 6 0.000 0.041 1714 2150 3277
5847 -1.12 -116.7 409.8 -5.7 666 5849 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2150 3276
6161 -1.12 -116.7 426.4 -5.1 686 6162 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2150 3275
6471 -1.12 -116.7 442.4 -5.2 706 6475 0.00 2.08 0.00 0.000 4 0.000 0.061 1714 3253 3275
6534 -1.12 -116.7 445.9 -5.9 710 6538 0.00 1.98 0.00 0.000 6 0.000 0.043 1714 2152 3275
6858 -1.12 -116.7 464.5 -6.1 731 6859 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2152 3274
7170 -1.12 -116.7 484.9 -6.9 751 7171 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2152 3274
7483 -1.12 -116.7 506.8 -7.2 771 7484 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2152 3272
7794 -1.12 -116.7 529.7 -7.3 791 7795 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2152 3271
8107 -1.12 -116.7 551.7 -6.9 811 8108 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2152 3270
8419 -1.12 -116.7 572.0 -6.3 831 8420 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2152 3269
8732 -1.12 -116.7 592.0 -6.4 851 8733 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2152 3268
9056 -1.12 -116.7 611.7 -6.0 866 9057 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2152 3267
9362 -1.12 -116.7 629.6 -5.8 876 9366 0.00 2.10 0.00 0.000 4 0.000 0.067 1714 3253 3267
9405 -1.12 -116.7 632.3 -5.9 877 9409 0.00 2.03 0.00 0.000 6 0.000 0.049 1714 2154 3267
9730 -1.12 -116.7 650.2 -5.4 888 9731 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2154 3266
10036 -1.12 -116.7 666.3 -5.1 898 10037 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2154 3265
10342 -1.12 -116.7 681.8 -5.1 908 10343 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2153 3264
10648 -1.12 -116.7 697.9 -5.3 918 10650 0.00 0.00 0.00 0.000 6 0.000 0.000 1713 2153 3264
10954 -1.12 -116.7 714.6 -5.5 928 10955 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2154 3263
11260 -1.12 -116.7 731.6 -5.5 938 11261 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2153 3263
11566 -1.12 -116.7 748.8 -5.7 948 11567 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2154 3262
11873 -1.12 -116.7 766.6 -5.8 958 11877 0.00 2.12 0.00 0.000 4 0.000 0.066 1714 1005 3262
11904 -1.12 -116.7 768.6 -6.3 959 11909 0.00 2.10 0.00 0.000 6 0.000 0.047 1714 2168 3261
12240 -1.12 -116.7 788.2 -6.0 970 12244 0.00 2.15 0.00 0.000 4 0.000 0.064 1714 997 3261
12273 -1.12 -116.7 790.3 -6.8 971 12276 0.00 2.08 0.00 0.000 6 0.000 0.047 1714 2158 3261
12602 -1.12 -116.7 811.2 -6.4 982 12606 0.00 2.12 0.00 0.000 4 0.000 0.064 1714 994 3260
12629 -1.12 -116.7 813.0 -6.7 983 12633 0.00 2.08 0.00 0.000 6 0.000 0.048 1714 2156 3260
12965 -1.12 -116.7 834.6 -6.4 994 12966 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2156 3260
13270 -1.12 -116.7 853.5 -6.1 1004 13271 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2156 3259
13576 -1.12 -116.7 872.8 -6.4 1014 13580 0.00 2.12 0.00 0.000 4 0.000 0.064 1714 1001 3259
13608 -1.12 -116.7 875.0 -7.0 1015 13612 0.00 2.10 0.00 0.000 6 0.000 0.048 1714 2151 3259
13944 -1.12 -116.7 896.8 -6.6 1026 13945 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2151 3259
14250 -1.12 -116.7 916.7 -6.4 1036 14254 0.00 2.12 0.00 0.000 4 0.000 0.064 1714 1004 3259
14278 -1.12 -116.7 918.6 -6.6 1037 14282 0.00 2.08 0.00 0.000 6 0.000 0.049 1714 2152 3258
14613 -1.12 -116.7 939.8 -6.2 1048 14614 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2152 3258
14918 -1.12 -116.7 958.7 -6.1 1058 14919 0.00 0.00 0.00 0.000 6 0.000 0.000 1714 2152 3258
15224 -1.12 -116.7 977.4 -6.1 1068 15228 0.00 2.12 0.00 0.000 4 0.000 0.065 1714 1000 3257
15262 -1.12 -116.7 979.9 -6.6 1069 15266 0.00 2.08 0.00 0.000 6 0.000 0.049 1714 2158 3257
15432 end dive: TARGET_DEPTH_EXCEEDED
state 15432 begin apogee
15437 -0.42 0.0 990.0 5.9 1075 15545 0.80 0.00 104.95 1.546 6 0.101 0.000 1872 1996 2792
15546 end apogee: CONTROL_FINISHED_OK
state 15546 begin climb
15548 1.12 116.7 992.8 0.0 1078 15662 1.60 2.20 105.12 1.498 4 0.077 0.067 2206 892 2316
15751 1.12 116.7 981.6 10.0 1084 15755 0.00 2.05 0.00 0.000 6 0.000 0.047 2206 2005 2315
16081 1.12 116.7 949.4 9.8 1095 16085 0.00 2.10 0.00 0.000 4 0.000 0.068 2206 3135 2313
16143 1.12 116.7 943.1 10.4 1097 16147 0.00 2.03 0.00 0.000 6 0.000 0.052 2206 2019 2313
16477 1.12 116.7 909.4 10.1 1108 16478 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2019 2312
16783 1.12 116.7 878.7 9.9 1118 16784 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2019 2312
17090 1.12 116.7 848.3 9.9 1128 17091 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2019 2312
17395 1.12 116.7 817.9 9.9 1138 17396 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2020 2312
17702 1.12 116.7 788.6 9.4 1148 17703 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2019 2312
18008 1.12 116.7 760.6 8.9 1158 18009 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2019 2312
18314 1.12 116.7 733.3 9.0 1168 18315 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2019 2312
18620 1.12 116.7 706.4 8.7 1178 18624 0.00 2.12 0.00 0.000 4 0.000 0.064 2206 3136 2312
18685 1.12 116.7 700.4 9.0 1180 18690 0.00 2.10 0.00 0.000 6 0.000 0.051 2206 2010 2311
19023 1.12 116.7 671.8 8.4 1191 19024 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2010 2311
19327 1.12 116.7 646.1 8.3 1201 19328 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2010 2311
19633 1.12 116.7 620.3 8.6 1211 19634 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2010 2311
19941 1.12 116.7 593.8 8.7 1223 19945 0.00 2.12 0.00 0.000 4 0.000 0.066 2206 3135 2311
20023 1.12 116.7 586.5 10.0 1228 20027 0.00 2.10 0.00 0.000 6 0.000 0.052 2206 2009 2311
20348 1.12 116.7 558.6 8.7 1249 20351 0.00 2.10 0.00 0.000 4 0.000 0.072 2206 885 2311
20410 1.12 116.7 552.9 8.9 1253 20413 0.00 2.05 0.00 0.000 6 0.000 0.050 2206 2014 2311
20733 1.12 116.7 523.1 9.2 1274 20737 0.00 2.10 0.00 0.000 4 0.000 0.067 2206 3137 2311
20862 1.12 116.7 510.7 9.4 1282 20866 0.00 2.03 0.00 0.000 6 0.000 0.051 2206 2015 2311
21186 1.12 116.7 480.9 8.9 1303 21190 0.00 2.10 0.00 0.000 4 0.000 0.064 2206 3145 2311
21257 1.12 116.7 474.4 8.7 1307 21264 0.00 2.05 0.00 0.000 6 0.000 0.051 2206 2029 2311
21578 1.12 116.7 447.2 8.4 1328 21579 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2029 2311
21888 1.12 116.7 421.8 8.2 1348 21889 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2029 2311
22201 1.12 116.7 396.7 8.0 1368 22205 0.00 2.10 0.00 0.000 4 0.000 0.061 2206 3140 2311
22255 1.12 116.7 391.8 9.2 1371 22263 0.00 2.05 0.00 0.000 6 0.000 0.048 2206 2033 2311
22576 1.12 116.7 365.5 8.4 1392 22577 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2033 2311
22887 1.12 116.7 339.5 8.3 1412 22891 0.00 2.12 0.00 0.000 4 0.000 0.065 2206 883 2311
22958 1.12 116.7 332.8 9.2 1416 22966 0.00 2.08 0.00 0.000 6 0.000 0.042 2206 2027 2311
23277 1.12 116.7 304.8 8.8 1437 23281 0.00 2.05 0.00 0.000 4 0.000 0.062 2206 3144 2312
23377 1.12 116.7 295.3 9.8 1444 23384 0.00 2.00 0.00 0.000 6 0.000 0.043 2206 2017 2312
23704 1.12 116.7 264.0 9.2 1475 23708 0.00 2.08 0.00 0.000 4 0.000 0.058 2206 3142 2312
23778 1.12 116.7 256.5 9.0 1481 23781 0.00 2.00 0.00 0.000 6 0.000 0.044 2206 2020 2312
24101 1.12 116.7 225.0 9.2 1511 24103 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2020 2312
24423 1.12 116.7 194.3 9.4 1541 24426 0.00 2.10 0.00 0.000 4 0.000 0.054 2206 3142 2313
24495 1.12 116.7 187.2 9.8 1547 24499 0.00 1.98 0.00 0.000 6 0.000 0.042 2206 2030 2313
24820 1.12 116.7 157.3 9.3 1577 24821 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2030 2314
25152 1.12 116.7 128.7 8.5 1629 25157 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2030 2315
25493 1.12 116.7 101.4 7.6 1690 25500 0.00 2.05 0.00 0.000 4 0.000 0.053 2206 3136 2316
25597 1.12 116.7 93.3 8.0 1708 25604 0.00 1.98 0.00 0.000 6 0.000 0.041 2206 2029 2316
25942 1.12 116.7 65.8 8.0 1769 25948 0.00 2.05 0.00 0.000 4 0.000 0.052 2206 3138 2317
26004 1.12 116.7 60.5 8.1 1780 26011 0.00 1.98 0.00 0.000 6 0.000 0.040 2206 2029 2318
26350 1.13 125.0 34.8 6.5 1841 26364 0.00 2.17 8.93 0.736 4 0.000 0.055 2206 879 2282
26399 1.15 138.0 31.6 6.4 1849 26418 0.00 2.05 12.05 0.753 6 0.000 0.035 2206 2045 2229
26755 1.21 193.6 13.3 4.7 1912 26807 0.00 2.12 45.78 0.777 4 0.000 0.052 2206 3137 2002
26884 end climb: SURFACE_DEPTH_REACHED
state 26884 begin surface coast
26891 end surface coast: CONTROL_FINISHED_OK
state 26891 begin surface