GoA Jul15 * SG203 * Dive index * Mission links * Dive 177 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  203 HEADING  -1 C_ROLL_CLIMB  2800 ALTIM_TOP_MIN_OBSTACLE  0
MISSION  8 ESCAPE_HEADING  0 HEAD_ERRBAND  10 ALTIM_PING_DEPTH  0
DIVE  177 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 ALTIM_PING_DELTA  0
N_DIVES  0 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 ALTIM_FREQUENCY  13
D_SURF  2 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  100 ALTIM_PULSE  2
D_FLARE  3 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  45 ALTIM_SENSITIVITY  4
D_TGT  800 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 XPDR_VALID  2
D_ABORT  1020 SM_CC  400 ROLL_MAXERRORS  1 XPDR_INHIBIT  90
D_NO_BLEED  200 N_FILEKB  8 ROLL_ADJ_GAIN  0 INT_PRESSURE_SLOPE  0.0093
D_BOOST  50 FILEMGR  0 ROLL_ADJ_DBAND  0 INT_PRESSURE_YINT  -1
T_BOOST  4 CALL_NDIVES  1 VBD_MIN  500 DEEPGLIDER  0
D_FINISH  0 COMM_SEQ  0 VBD_MAX  3960 MOTHERBOARD  4
D_PITCH  0 PROTOCOL  9 C_VBD  2839 DEVICE1  2
D_SAFE  0 N_NOCOMM  1 VBD_DBAND  4 DEVICE2  -1
D_CALL  0 NOCOMM_ACTION  163 VBD_CNV  -0.24529999 DEVICE3  -1
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE4  -1
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  9.9999997e-05 DEVICE5  -1
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_DIVE  250 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERS  0
T_MISSION  280 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  99
T_ABORT  1440 CAPMAXSIZE  100000 UNCOM_BLEED  60 LOGGERDEVICE2  -1
T_TURN  225 HEAPDBG  0 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_TURN_SAMPINT  5 T_GPS  15 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
T_NO_W  120 N_GPS  100740 DBDW  0 COMPASS_DEVICE  33
T_LOITER  0 T_RSLEEP  1 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
T_EPIRB  0 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  49
USE_BATHY  -5 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
USE_ICE  0 RAFOS_CORR_THRESH  60 AH0_24V  150 RAFOS_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 RAFOS_HIT_WINDOW  3600 AH0_10V  100 XPDR_DEVICE  24
D_OFFGRID  1000 PITCH_MIN  202 MINV_24V  21 SIM_W  0
T_WATCHDOG  10 PITCH_MAX  3901 MINV_10V  9.5 SIM_PITCH  0
RELAUNCH  1 C_PITCH  2650 MAXI_24V  0.60000002 SEABIRD_T_G  0.0043923887
APOGEE_PITCH  -5 PITCH_DBAND  0.1 MAXI_10V  0.80000001 SEABIRD_T_H  0.00063351821
MAX_BUOY  200 PITCH_CNV  0.003125763 FG_AHR_10V  0 SEABIRD_T_I  2.5271875e-05
COURSE_BIAS  0 P_OVSHOOT  0.079999998 FG_AHR_24V  0 SEABIRD_T_J  3.0515032e-06
GLIDE_SLOPE  45 P_OVSHOOT_WITHG  0 PHONE_SUPPLY  -2 SEABIRD_C_G  -9.7838888
SPEED_FACTOR  1 PITCH_GAIN  20 PRESSURE_YINT  -62.66111 SEABIRD_C_H  1.1409903
RHO  1.0275 PITCH_TIMEOUT  17 PRESSURE_SLOPE  0.0001160131 SEABIRD_C_I  -0.00071586663
MASS  52079 PITCH_AD_RATE  160 AD7714Ch0Gain  128 SEABIRD_C_J  0.00012479167
MASS_COMP  0 PITCH_MAXERRORS  1 TCM_PITCH_OFFSET  0 PA_OFFLOAD  1.0
NAV_MODE  2 PITCH_ADJ_GAIN  0.015 TCM_ROLL_OFFSET  0 PA_MAXUPLOADSIZE  20480.0
FERRY_MAX  45 PITCH_ADJ_DBAND  1 COMPASS_USE  4 PA_MAXOPTIONALUPLOADSIZE  0.0
KALMAN_USE  2 ROLL_MIN  302 ALTIM_BOTTOM_PING_RANGE  0 PA_POWERSOURCE  1.0
HD_A  0.0065996498 ROLL_MAX  3859 ALTIM_TOP_PING_RANGE  0 PA_RESTARTMONITOR  0.0
HD_B  0.0098683201 ROLL_DEG  40 ALTIM_BOTTOM_TURN_MARGIN  0 PA_CYCLEPAAM  1.0
HD_C  1.5339499e-05 C_ROLL_DIVE  2700 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  110815,145611,5705.8843,-15048.8633,56,1.0,68,16.6,0.4,178.9,9,9.9 SPEED_LIMITS  0.107,0.307
_CALLS  1 TGT_NAME  WP11
_XMS_NAKs  0 TGT_LATLONG  5711.000,-15102.000
_XMS_TOUTs  0 TGT_RADIUS  5000.000
_SM_DEPTHo  2.13 MHEAD_RNG_PITCHd_Wd  313.8,16283,-17.6,-10.667,-19.18,2802
_SM_ANGLEo  -68.6 D_GRID  1314
GPS2  110815,150139,5705.7983,-15048.9209,10,0.9,26,16.6,0.0,202.5,10,10.0

Post-dive calculations and measurements:
FINISH  0.6,1.023561 FG_AHR_24Vo  0.000
SM_CCo  13572,0.00,0.000,0,0,648,537.45 FG_AHR_10Vo  0.000
SM_GC  1.48,7.40,1.67,0.00,0.044,0.020,0.000,203,2685,648,-7.57,2.74,537.45,0,0,0,0,0,0,26.50,26.68,26.56 MEM  142724
IRIDIUM_FIX  5640.91,-15053.64,070608,011858 DATA_FILE_SIZE  33408,789
TT8_MAMPS  0.057673,0.057673 CAP_FILE_SIZE  126715,0
HUMID  44.52 CFSIZE  1024393216,979222528
INTERNAL_PRESSURE  8.7557 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP  17.70 INTR  0,11146.14,0x236db2,7,5
XPDR_PINGS  0 CURRENT  0.069,217.82,1
_24V_AH  23.58,63.585 GPS  110815,184857,5707.221,-15052.182,39,0.7,39,16.6,0.0,0.0,10,8.8
_10V_AH  10.21,38.194

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1822897.62 SBE_CT53823304.64
Roll_motor8789183.62 nil000.00
VBD_pump_during_apogee64797414872.93 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 PAAM37903.35
Iridium_during_xfer21090448.54 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V37949438.43
GPS27267.64
TT8000.00
LPSleep107102239.48
TT8_Active70718133.18
TT8_Sampling2350431035.90
TT8_CF81236076.39
TT8_Kalman000.00
Analog_circuits182516298.20
GPS_charging000.00
Compass16538139.09
RAFOS000.00
Transponder050.03

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
11 end surface: CONTROL_FINISHED_OK
state 11 begin dive
13 -0.90 -194.6 196 2669 1239 1176 0.0 0.0 0 46 0.00 0.00 -31.77 0.000 16386 0.000 0.000 196 2668 2046 2084 2008 0 0 0 0 0 0 26.50 28.83 26.56
48 -0.90 -194.6 196 2668 2086 2009 3.1 -4.5 5 101 8.62 1.98 -37.72 0.000 18948 0.229 0.036 2339 1335 3634 3713 3555 0 0 0 0 0 0 25.56 25.62 25.93
236 -0.88 -194.6 2339 1336 3714 3560 41.0 -18.6 41 243 0.05 2.10 0.00 0.000 3078 0.150 0.026 2350 2704 3635 3713 3558 0 0 0 0 0 0 26.20 26.44 26.26
542 -0.88 -194.6 2349 2706 3713 3563 92.0 -15.7 77 543 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 2705 3637 3713 3562 0 0 0 0 0 0 26.90 26.97 26.96
843 -0.88 -194.6 2350 2706 3714 3565 138.3 -15.4 107 846 0.00 2.00 0.00 0.000 516 0.000 0.023 2349 1336 3638 3713 3563 0 0 0 0 0 0 26.99 26.68 27.05
902 -0.88 -194.6 2350 1337 3714 3565 147.3 -14.8 113 906 0.00 2.08 0.00 0.000 1030 0.000 0.026 2347 2700 3639 3714 3564 0 0 0 0 0 0 26.72 26.69 26.74
1212 -0.88 -194.6 2348 2702 3714 3565 196.0 -14.8 144 1213 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2701 3638 3713 3564 0 0 0 0 0 0 27.05 27.13 27.12
1513 -0.88 -194.6 2348 2702 3714 3565 237.9 -14.2 174 1514 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2701 3638 3713 3564 0 0 0 0 0 0 27.10 27.17 27.16
1812 -0.90 -194.6 2348 2701 3714 3563 281.5 -14.5 190 1813 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2701 3638 3713 3563 0 0 0 0 0 0 27.12 27.20 27.19
2113 -0.92 -194.6 2348 2701 3714 3563 323.9 -14.1 200 2116 0.00 1.75 0.00 0.000 260 0.000 0.039 2339 3846 3638 3713 3563 0 0 0 0 0 0 27.15 26.73 27.20
2152 -0.94 -194.6 2339 3846 3712 3563 328.1 -14.0 201 2156 0.00 1.62 0.00 0.000 1030 0.000 0.021 2339 2710 3638 3712 3564 0 0 0 0 0 0 26.94 26.94 26.96
2472 -0.94 -194.6 2339 2709 3713 3563 372.6 -12.9 212 2473 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2709 3637 3711 3564 0 0 0 0 0 0 27.16 27.23 27.22
2772 -0.95 -194.6 2339 2711 3711 3565 408.5 -11.7 222 2776 0.00 2.05 0.00 0.000 516 0.000 0.024 2339 1323 3636 3710 3563 0 0 0 0 0 0 27.17 26.85 27.24
2827 -0.97 -194.6 2339 1325 3711 3565 412.0 -11.7 223 2834 0.00 2.08 0.00 0.000 1030 0.000 0.027 2333 2696 3637 3710 3564 0 0 0 0 0 0 26.85 26.84 26.89
3132 -0.97 -194.6 2333 2696 3710 3563 453.8 -13.0 234 3133 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2696 3636 3709 3563 0 0 0 0 0 0 27.18 27.26 27.24
3433 -0.98 -194.6 2334 2696 3708 3563 494.0 -13.5 244 3436 0.00 1.77 0.00 0.000 260 0.000 0.040 2324 3852 3635 3707 3563 0 0 0 0 0 0 27.19 26.74 27.25
3477 -1.00 -194.6 2324 3853 3707 3566 498.2 -13.6 245 3481 0.00 1.65 0.00 0.000 1030 0.000 0.021 2324 2695 3634 3706 3563 0 0 0 0 0 0 26.98 26.96 27.01
3792 -1.00 -194.6 2324 2694 3707 3563 545.8 -14.5 256 3793 0.00 0.00 0.00 0.000 6 0.000 0.000 2323 2695 3634 3706 3563 0 0 0 0 0 0 27.20 27.27 27.27
4092 -1.00 -194.6 2324 2695 3705 3564 590.2 -14.9 266 4096 0.00 2.03 0.00 0.000 516 0.000 0.024 2324 1331 3633 3704 3563 0 0 0 0 0 0 27.20 26.86 27.27
4132 -1.00 -194.6 2324 1332 3706 3565 594.9 -15.0 267 4136 0.00 2.08 0.00 0.000 1030 0.000 0.028 2322 2695 3633 3704 3563 0 0 0 0 0 0 26.87 26.84 26.90
4452 -1.00 -194.6 2322 2698 3704 3565 644.7 -14.9 278 4457 0.00 1.77 0.00 0.000 260 0.000 0.041 2319 3844 3633 3703 3563 0 0 0 0 0 0 27.20 26.73 27.27
4487 -1.00 -194.6 2320 3844 3703 3563 649.4 -15.1 279 4491 0.00 1.65 0.00 0.000 1030 0.000 0.022 2320 2699 3633 3703 3563 0 0 0 0 0 0 26.98 26.97 27.00
4812 -1.00 -194.6 2320 2699 3702 3563 698.4 -14.4 290 4813 0.00 0.00 0.00 0.000 6 0.000 0.000 2319 2699 3632 3702 3563 0 0 0 0 0 0 27.21 27.28 27.27
5112 -1.00 -194.6 2320 2699 3702 3563 741.1 -14.0 300 5117 0.00 2.05 0.00 0.000 516 0.000 0.024 2320 1318 3631 3700 3563 0 0 0 0 0 0 27.20 26.85 27.27
5172 -1.00 -194.6 2320 1318 3702 3563 749.4 -13.8 302 5177 0.00 2.10 0.00 0.000 1030 0.000 0.027 2320 2706 3631 3700 3563 0 0 0 0 0 0 26.88 26.84 26.90
5502 -1.00 -194.6 2320 2706 3700 3563 793.4 -13.6 313 5503 0.00 0.00 0.00 0.000 6 0.000 0.000 2320 2706 3630 3699 3562 0 0 0 0 0 0 27.21 27.29 27.27
5561 end dive: TARGET_DEPTH_EXCEEDED
state 5561 begin apogee
5565 -0.25 0.0 2320 2821 3700 3563 801.5 -13.4 315 5795 0.73 0.00 227.23 0.822 10246 0.116 0.000 2552 2821 2838 2874 2802 0 0 0 0 0 0 26.29 24.93 24.28
5795 end apogee: CONTROL_FINISHED_OK
state 5795 begin climb
5797 0.90 194.6 2552 2820 2872 2798 812.5 0.0 322 5963 1.05 2.25 158.93 0.975 11012 0.064 0.021 2931 1421 2038 2074 2003 0 0 0 0 0 0 25.06 24.09 23.58
6137 0.89 250.3 2931 1420 2065 1991 801.5 8.6 334 6190 0.00 2.15 46.22 0.971 9222 0.000 0.026 2931 2788 1812 1850 1774 0 0 0 0 0 0 25.92 25.89 24.42
6488 0.89 250.3 2932 2789 1841 1760 763.1 10.9 346 6491 0.00 1.67 0.00 0.000 260 0.000 0.041 2931 3849 1799 1839 1759 0 0 0 0 0 0 26.60 26.29 26.67
6522 0.87 250.3 2931 3848 1840 1758 759.7 10.9 347 6527 0.00 1.55 0.00 0.000 1030 0.000 0.022 2931 2778 1799 1839 1759 0 0 0 0 0 0 26.48 26.46 26.49
6848 0.85 267.1 2932 2780 1839 1759 726.2 10.0 358 6863 0.00 0.00 13.88 0.959 8198 0.000 0.000 2932 2779 1748 1788 1709 0 0 0 0 0 0 26.85 26.14 25.34
7147 0.85 267.1 2932 2778 1776 1695 694.6 10.8 368 7151 0.00 1.67 0.00 0.000 260 0.000 0.038 2931 3845 1735 1775 1695 0 0 0 0 0 0 26.82 26.48 26.88
7202 0.85 267.1 2932 3845 1776 1694 691.2 10.9 369 7210 0.00 1.50 0.00 0.000 1030 0.000 0.022 2932 2802 1734 1775 1694 0 0 0 0 0 0 26.67 26.65 26.69
7507 0.85 267.1 2931 2804 1776 1695 654.7 11.1 380 7508 0.00 0.00 0.00 0.000 6 0.000 0.000 2932 2803 1734 1774 1694 0 0 0 0 0 0 26.95 27.03 27.01
7808 0.85 267.1 2932 2802 1775 1693 621.3 11.2 390 7811 0.00 2.05 0.00 0.000 516 0.000 0.025 2932 1425 1733 1774 1693 0 0 0 0 0 0 27.02 26.72 27.08
7838 0.85 267.1 2932 1426 1775 1695 618.0 11.1 391 7841 0.00 2.10 0.00 0.000 1030 0.000 0.028 2931 2795 1734 1775 1694 0 0 0 0 0 0 26.74 26.71 26.77
8168 0.85 267.1 2932 2795 1773 1693 582.9 10.7 402 8168 0.00 0.00 0.00 0.000 6 0.000 0.000 2932 2795 1734 1774 1694 0 0 0 0 0 0 27.07 27.14 27.14
8468 0.85 278.1 2932 2796 1774 1695 551.1 10.3 412 8476 0.00 2.08 3.90 0.876 8708 0.000 0.024 2931 1421 1710 1755 1666 0 0 0 0 0 0 27.10 26.48 25.18
8522 0.86 290.3 2932 1422 1767 1671 548.3 10.2 413 8544 0.00 2.12 17.80 0.861 9222 0.000 0.028 2931 2803 1655 1695 1615 0 0 0 0 0 0 26.76 26.73 25.51
8853 0.86 297.7 2932 2806 1684 1602 511.4 10.4 425 8857 0.00 1.62 0.00 0.000 260 0.000 0.041 2932 3850 1641 1682 1601 0 0 0 0 0 0 26.90 26.53 26.96
8903 0.86 307.2 2932 3850 1683 1602 508.2 10.3 426 8922 0.00 1.50 15.40 0.846 9222 0.000 0.022 2932 2800 1582 1623 1541 0 0 0 0 0 0 26.74 26.72 25.44
9243 0.86 307.2 2932 2800 1615 1530 469.7 10.7 438 9247 0.00 2.05 0.00 0.000 516 0.000 0.025 2931 1430 1572 1614 1530 0 0 0 0 0 0 26.87 26.58 26.94
9283 0.86 307.2 2932 1432 1615 1532 466.5 10.7 439 9287 0.00 2.10 0.00 0.000 1030 0.000 0.027 2932 2794 1572 1614 1530 0 0 0 0 0 0 26.60 26.58 26.63
9603 0.86 307.2 2932 2793 1615 1528 430.4 11.2 450 9607 0.00 1.65 0.00 0.000 260 0.000 0.041 2932 3857 1570 1613 1528 0 0 0 0 0 0 26.98 26.60 27.05
9734 0.86 307.2 2932 3857 1615 1528 415.5 12.4 454 9737 0.00 1.50 0.00 0.000 1030 0.000 0.023 2938 2802 1570 1613 1528 0 0 0 0 0 0 26.82 26.79 26.84
10053 0.86 307.2 2938 2804 1615 1529 377.8 11.3 465 10057 0.00 1.65 0.00 0.000 260 0.000 0.041 2938 3851 1570 1613 1528 0 0 0 0 0 0 27.07 26.65 27.13
10108 0.86 307.2 2938 3852 1614 1529 374.0 11.7 466 10115 0.00 1.50 0.00 0.000 1030 0.000 0.023 2945 2793 1570 1613 1528 0 0 0 0 0 0 26.88 26.86 26.89
10413 0.78 307.2 2946 2794 1614 1529 330.2 13.3 477 10418 0.12 1.65 0.00 0.000 4356 0.171 0.041 2915 3848 1570 1613 1528 0 0 0 0 0 0 26.61 26.68 26.72
10613 0.80 313.4 2915 3848 1611 1527 309.4 10.4 483 10617 0.00 1.50 0.00 0.000 1030 0.000 0.023 2919 2793 1569 1610 1528 0 0 0 0 0 0 26.92 26.89 26.93
10923 0.77 313.4 2918 2794 1611 1529 274.6 10.9 494 10927 0.00 1.65 0.00 0.000 260 0.000 0.041 2919 3854 1569 1610 1528 0 0 0 0 0 0 27.14 26.70 27.21
11153 0.77 313.4 2919 3855 1608 1528 244.6 11.1 505 11157 0.00 1.50 0.00 0.000 1030 0.000 0.023 2927 2799 1567 1608 1527 0 0 0 0 0 0 26.94 26.93 26.96
11463 0.81 351.3 2927 2799 1608 1527 210.9 9.3 536 11505 0.00 1.70 38.95 0.640 8452 0.000 0.040 2927 3855 1401 1443 1360 0 0 0 0 0 0 27.16 26.23 25.58
11730 0.77 351.3 2928 3855 1436 1348 180.6 11.7 562 11737 0.05 1.52 0.00 0.000 5126 0.167 0.022 2918 2796 1391 1435 1348 0 0 0 0 0 0 26.31 26.62 26.36
12035 0.79 375.3 2918 2797 1435 1347 148.9 9.8 593 12061 0.00 1.70 22.38 0.618 8452 0.000 0.040 2918 3854 1302 1345 1260 0 0 0 0 0 0 26.96 26.25 25.60
12080 0.79 381.6 2918 3854 1342 1252 144.2 10.4 597 12084 0.00 1.52 0.00 0.000 1030 0.000 0.022 2919 2793 1296 1341 1252 0 0 0 0 0 0 26.52 26.50 26.53
12390 0.81 421.6 2919 2792 1340 1249 112.3 9.2 628 12443 0.00 2.03 44.85 0.556 8708 0.000 0.024 2929 1424 1112 1162 1063 0 0 0 0 0 0 26.89 26.01 25.41
12562 0.86 445.4 2929 1424 1157 1056 94.9 9.8 645 12587 0.00 2.12 21.73 0.555 9222 0.000 0.026 2929 2793 1022 1077 968 0 0 0 0 0 0 26.34 26.33 25.36
12887 0.89 445.4 2929 2793 1065 950 60.5 11.1 677 12891 0.00 1.65 0.00 0.000 260 0.000 0.039 2929 3848 1007 1065 950 0 0 0 0 0 0 26.77 26.39 26.83
13092 0.90 445.4 2929 3849 1065 950 37.5 10.8 709 13098 0.00 1.50 0.00 0.000 1030 0.000 0.022 2932 2799 1006 1063 949 0 0 0 0 0 0 26.69 26.67 26.70
13399 0.99 536.3 2932 2799 1064 946 10.9 7.3 770 13440 0.08 1.67 35.92 0.165 10500 0.127 0.038 2985 3851 647 714 581 0 0 0 0 0 0 26.81 26.27 25.95
13484 end climb: SURFACE_DEPTH_REACHED
state 13484 begin surface coast
13498 end surface coast: CONTROL_FINISHED_OK
state 13498 begin surface