DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 409 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  192 HD_C  3.62024e-06 ROLL_MAX  3873 ALTIM_BOTTOM_TURN_MARGIN  15
MISSION  2 HEADING  -1 ROLL_DEG  24 ALTIM_TOP_TURN_MARGIN  5
DIVE  409 ESCAPE_HEADING  100 C_ROLL_DIVE  2500 ALTIM_TOP_MIN_OBSTACLE  2.8
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2510 ALTIM_PING_DEPTH  300
D_SURF  3 FIX_MISSING_TIMEOUT  5 HEAD_ERRBAND  10 ALTIM_PING_DELTA  50
D_FLARE  3 TGT_DEFAULT_LAT  6000 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -5500 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1090 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  22 ALTIM_SENSITIVITY  5
D_NO_BLEED  200 SM_CC  549.71729 R_STBD_OVSHOOT  13 XPDR_VALID  6
D_BOOST  110 N_FILEKB  4 ROLL_AD_RATE  300 XPDR_INHIBIT  90
T_BOOST  0 FILEMGR  2 ROLL_MAXERRORS  2 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  9 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  0.5
D_PITCH  1.75 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  500 PROTOCOL  1 VBD_MIN  500 DEEPGLIDERMB  0
D_CALL  3 N_NOCOMM  6 VBD_MAX  3960 MOTHERBOARD  4
SURFACE_URGENCY  10 NOCOMM_ACTION  161 C_VBD  2741 DEVICE1  2
SURFACE_URGENCY_TRY  5 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  20
SURFACE_URGENCY_FORCE  10 UPLOAD_DIVES_MAX  3 VBD_CNV  -0.24529999 DEVICE3  -1
T_DIVE  400 CALL_TRIES  3 VBD_TIMEOUT  720 DEVICE4  -1
T_MISSION  430 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0015 DEVICE5  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERS  0
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  -1
T_NO_W  120 T_GPS  3 UNCOM_BLEED  20 LOGGERDEVICE2  -1
T_LOITER  0 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
USE_BATHY  -2 T_GPS_CHARGE  -6443.0913 DBDW  0 COMPASS_DEVICE  97
USE_ICE  2 T_RSLEEP  3 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.1 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  49
D_OFFGRID  250 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 AH0_24V  350 RAFOS_DEVICE  32
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 AH0_10V  0 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  145 MINV_24V  10 SIM_W  0
MAX_BUOY  150 PITCH_MAX  3924 MINV_10V  9.5 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2510 FG_AHR_10V  0 SEABIRD_T_G  0.0042877649
GLIDE_SLOPE  30 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00062881736
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PHONE_SUPPLY  -2 SEABIRD_T_I  2.2009486e-05
RHO  1.0275 P_OVSHOOT  0.039999999 PRESSURE_YINT  -62.7798 SEABIRD_T_J  2.217299e-06
MASS  52018 PITCH_GAIN  23 PRESSURE_SLOPE  0.0001164018 SEABIRD_C_G  -9.8550158
MASS_COMP  0 PITCH_TIMEOUT  18 AD7714Ch0Gain  128 SEABIRD_C_H  1.1245382
NAV_MODE  2 PITCH_AD_RATE  175 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0013153109
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00017883891
KALMAN_USE  2 PITCH_ADJ_GAIN  0.0099999998 COMPASS_USE  4
HD_A  0.0041718199 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_PING_RANGE  0
HD_B  0.0099987797 ROLL_MIN  318 ALTIM_TOP_PING_RANGE  20

Pre-dive calculations and measurements:
GPS1  031213,083013,6639.442,-6001.483,0,6130.8,0,-33.8 TGT_NAME  TARGET_W
_CALLS  3 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.98 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -19.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  031213,083013,6639.442,-6001.483,181,99.0,181,-33.8 MHEAD_RNG_PITCHd_Wd  14.0,19822,-15.5,-8.250,-18.49,2720
SPEED_LIMITS  0.143,0.247 D_GRID  600

Post-dive calculations and measurements:
FREEZE  1.31,-1.558,-0.892,2,4,0 ALTIM_TOP_PING  19.9,999.0
FINISH  1.3,1.013132 _24V_AH  11.8,182.635
SM_CCo  12170,112.97,0.170,0,0,497,549.72 _10V_AH  11.8,0.000
SM_GC  2.24,8.05,0.00,112.97,0.093,0.000,0.170,139,2494,497,-7.36,-0.17,549.72,0,0,0,0,0,0,14.42,28.83,14.14 FG_AHR_24Vo  0.000
RAFOS_CLK  680 FG_AHR_10Vo  0.000
RAFOS  0,1386072064,12.033333,12.017777,113,67,60,60,60,57,645,213,180,237,204,165 MEM  150692
RAFOS_FIX  6641.256836,-6001.225098,031213,121252,6,125,0.23 DATA_FILE_SIZE  56692,1298
IRIDIUM_FIX  6609.62,-5959.84,021213,232308 CAP_FILE_SIZE  146558,0
TT8_MAMPS  0.024717,0.024717 CFSIZE  259252224,219062272
HUMID  43.34 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  8.57648 SOUNDSPEED  1454.4
TCM_TEMP  12.00 CURRENT  0.301, 4.0,1
XPDR_PINGS  66 GPS  031213,145428,6643.122,-6002.597,36,1.1,42,-33.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21427107.86 SBE_CT91523250.76
Roll_motor77230210.92 SBE_O2000.00
VBD_pump_during_apogee514249715153.62 nil000.00
VBD_pump_during_surface112169226.40 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer1205072.02 nil000.00
Transponder_ping1842091.69 nil000.00
GUMSTIX_24V000.00
GPS1811840.06
TT8327414578.04
LPSleep57412156.50
TT8_Active71914120.72
TT8_Sampling244033970.17
TT8_CF896839453.68
TT8_Kalman000.00
Analog_circuits202812287.20
GPS_charging000.00
Compass21096167.76
RAFOS2520144.60
Transponder15305.38

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
13 end surface: CONTROL_FINISHED_OK
state 14 begin dive
21 -0.89 -146.0 133 2512 524 440 0.0 0.0 0 130 0.00 0.00 -106.40 0.000 16386 0.000 0.000 132 2513 2550 2641 2460 0 0 0 0 0 0 28.83 28.83 28.83
138 -0.89 -146.0 132 2513 2640 2461 3.0 -3.4 18 175 10.52 0.00 -21.73 0.000 18694 0.428 0.000 2213 2512 3338 3510 3167 0 0 0 0 0 0 13.82 28.83 14.78
488 -0.78 -146.0 2213 2513 3514 3166 83.8 -24.3 84 495 0.15 1.50 0.00 0.000 2564 0.316 0.098 2250 1657 3339 3514 3165 0 0 0 0 0 0 13.98 14.33 28.83
568 -0.71 -146.0 2250 1657 3514 3166 100.0 -18.9 98 575 0.15 1.55 0.00 0.000 3078 0.288 0.126 2278 2503 3340 3514 3166 0 0 0 0 0 0 14.08 14.27 28.83
877 -0.66 -146.0 2278 2503 3514 3166 148.5 -14.3 129 881 0.00 1.55 0.00 0.000 260 0.000 0.138 2273 3347 3340 3514 3166 0 0 0 0 0 0 28.83 14.25 28.83
974 -0.60 -146.0 2274 3347 3514 3165 162.9 -15.1 138 978 0.15 1.50 0.00 0.000 3078 0.270 0.091 2307 2479 3339 3514 3165 0 0 0 0 0 0 14.12 14.38 28.83
1290 -0.58 -146.0 2307 2478 3514 3165 206.2 -13.3 169 1294 0.00 1.48 0.00 0.000 516 0.000 0.105 2307 1659 3339 3514 3165 0 0 0 0 0 0 28.83 14.28 28.83
1330 -0.56 -146.0 2307 1659 3514 3165 211.0 -13.6 172 1336 0.00 1.55 0.00 0.000 1030 0.000 0.127 2303 2504 3339 3514 3165 0 0 0 0 0 0 28.83 14.28 28.83
1638 -0.54 -146.0 2303 2504 3514 3164 250.0 -13.2 203 1644 0.12 0.00 0.00 0.000 2054 0.291 0.000 2334 2503 3339 3514 3164 0 0 0 0 0 0 14.14 28.83 28.83
1949 -0.54 -146.0 2334 2503 3514 3164 285.7 -11.2 234 1952 0.00 1.50 0.00 0.000 516 0.000 0.105 2335 1655 3339 3514 3164 0 0 0 0 0 0 28.83 14.31 28.83
1987 -0.56 -146.0 2335 1655 3514 3165 289.7 -10.8 237 1995 0.00 1.55 0.00 0.000 1030 0.000 0.125 2330 2499 3339 3514 3164 0 0 0 0 0 0 28.83 14.28 28.83
2296 -0.56 -146.0 2330 2499 3514 3164 323.0 -10.4 268 2302 0.00 0.00 0.00 0.000 6 0.000 0.000 2330 2499 3339 3514 3164 0 0 0 0 0 0 28.83 28.83 28.83
2607 -0.57 -146.0 2330 2499 3515 3165 355.6 -10.9 299 2610 0.00 1.58 0.00 0.000 260 0.000 0.141 2324 3350 3339 3514 3164 0 0 0 0 0 0 28.83 14.22 28.83
2652 -0.57 -146.0 2324 3350 3514 3164 360.3 -10.4 303 2656 0.00 1.50 0.00 0.000 1030 0.000 0.091 2324 2485 3339 3514 3164 0 0 0 0 0 0 28.83 14.35 28.83
2970 -0.57 -146.0 2324 2485 3515 3164 391.6 -9.5 334 2976 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2485 3339 3515 3164 0 0 0 0 0 0 28.83 28.83 28.83
3283 -0.57 -146.0 2324 2485 3516 3164 421.1 -10.0 365 3287 0.00 1.60 0.00 0.000 260 0.000 0.141 2318 3347 3340 3516 3165 0 0 0 0 0 0 28.83 14.21 28.83
3311 -0.57 -146.0 2318 3347 3516 3164 424.1 -9.8 367 3318 0.00 1.50 0.00 0.000 1030 0.000 0.090 2318 2483 3341 3517 3165 0 0 0 0 0 0 28.83 14.35 28.83
3621 -0.57 -146.0 2318 2483 3517 3164 455.6 -10.2 398 3624 0.00 1.48 0.00 0.000 516 0.000 0.103 2318 1663 3341 3518 3165 0 0 0 0 0 0 28.83 14.24 28.83
3658 -0.57 -146.0 1456 1662 3510 3162 459.0 -9.6 401 3666 0.00 1.55 0.00 0.000 1030 0.000 0.127 2312 2501 3341 3518 3165 0 0 0 0 0 0 28.83 14.24 28.83
3969 -0.57 -146.0 2313 2500 3518 3165 489.3 -9.4 432 3974 0.00 0.00 0.00 0.000 6 0.000 0.000 2313 2501 3341 3518 3165 0 0 0 0 0 0 28.83 28.83 28.83
4284 -0.57 -146.0 2313 2501 3519 3165 517.2 -8.8 463 4288 0.00 1.60 0.00 0.000 260 0.000 0.138 2306 3345 3341 3519 3164 0 0 0 0 0 0 28.83 14.16 28.83
4310 -0.57 -146.0 2306 3345 3519 3164 519.8 -8.9 465 4313 0.00 1.50 0.00 0.000 1030 0.000 0.088 2306 2470 3342 3519 3165 0 0 0 0 0 0 28.83 14.37 28.83
4624 -0.57 -146.0 2306 2470 3520 3165 549.9 -9.7 496 4631 0.00 0.00 0.00 0.000 6 0.000 0.000 2306 2470 3342 3520 3165 0 0 0 0 0 0 28.83 28.83 28.83
4936 -0.57 -146.0 2306 2470 3520 3165 579.7 -9.3 527 4939 0.00 1.65 0.00 0.000 260 0.000 0.139 2300 3355 3342 3520 3165 0 0 0 0 0 0 28.83 14.21 28.83
4971 -0.57 -146.0 2300 3354 3520 3165 583.3 -9.6 530 4974 0.00 1.50 0.00 0.000 1030 0.000 0.089 2300 2486 3342 3520 3165 0 0 0 0 0 0 28.83 14.35 28.83
5142 end dive: TARGET_DEPTH_EXCEEDED
state 5142 begin apogee
5156 -0.22 0.0 2300 2513 3521 3165 600.9 -10.6 547 5328 0.47 0.00 159.40 2.498 10246 0.220 0.000 2431 2513 2741 2864 2618 0 0 0 0 0 0 14.05 28.83 12.19
5328 end apogee: CONTROL_FINISHED_OK
state 5329 begin climb
5335 0.89 146.0 2432 2513 2863 2618 610.7 0.0 553 5525 1.25 1.83 174.40 2.395 10500 0.168 0.135 2785 3359 2146 2242 2050 0 0 0 0 0 0 13.31 12.88 11.79
5591 0.88 175.9 2785 3359 2239 2048 601.2 7.1 561 5632 0.00 1.62 36.25 2.289 9222 0.000 0.092 2791 2518 2023 2120 1926 0 0 0 0 0 0 28.83 13.39 12.03
5939 0.84 175.9 2791 2518 2120 1915 565.1 10.4 595 5943 0.00 1.58 0.00 0.000 516 0.000 0.106 2797 1667 2018 2121 1915 0 0 0 0 0 0 28.83 13.99 28.83
5968 0.81 175.9 2797 1668 2120 1914 562.6 9.9 597 5975 0.00 1.58 0.00 0.000 1030 0.000 0.125 2797 2508 2017 2120 1914 0 0 0 0 0 0 28.83 14.04 28.83
6277 0.76 175.9 2797 2509 2119 1914 530.5 10.4 628 6281 0.12 1.60 0.00 0.000 4356 0.267 0.136 2764 3359 2017 2120 1914 0 0 0 0 0 0 14.23 14.26 28.83
6315 0.73 175.9 1808 3358 2077 1909 526.9 10.3 631 6322 0.00 1.50 0.00 0.000 1030 0.000 0.092 2769 2495 2017 2120 1914 0 0 0 0 0 0 28.83 14.39 28.83
6625 0.72 175.9 2769 2495 2120 1913 501.3 8.4 662 6628 0.00 1.48 0.00 0.000 516 0.000 0.106 2775 1673 2016 2120 1913 0 0 0 0 0 0 28.83 14.37 28.83
6702 0.72 184.2 2775 1673 2120 1912 495.2 7.9 669 6720 0.12 1.52 8.62 2.060 13318 0.249 0.125 2747 2514 1990 2094 1887 0 0 0 0 0 0 14.28 14.38 13.15
7023 0.81 244.5 2747 2514 2094 1884 473.5 6.0 701 7099 0.00 1.60 66.70 2.331 8708 0.000 0.106 2751 1662 1743 1839 1648 0 0 0 0 0 0 28.83 14.00 12.90
7120 0.87 271.4 2751 1662 1839 1647 467.3 7.2 710 7162 0.12 1.58 31.38 2.248 11270 0.155 0.123 2794 2509 1634 1724 1544 0 0 0 0 0 0 14.12 14.06 12.80
7466 0.85 271.4 2795 2509 1718 1540 429.9 11.3 745 7470 0.00 1.60 0.00 0.000 260 0.000 0.138 2795 3359 1629 1718 1540 0 0 0 0 0 0 28.83 14.24 28.83
7485 0.84 271.4 2795 3359 1717 1540 428.2 11.4 746 7493 0.00 1.50 0.00 0.000 1030 0.000 0.093 2801 2497 1628 1717 1540 0 0 0 0 0 0 28.83 14.37 28.83
7794 0.82 271.4 1808 2495 1685 1536 391.6 11.5 777 7800 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 2497 1627 1716 1538 0 0 0 0 0 0 28.83 28.83 28.83
8112 0.81 271.4 2801 2496 1716 1538 357.6 10.4 808 8119 0.12 0.00 0.00 0.000 4102 0.259 0.000 2768 2496 1625 1714 1537 0 0 0 0 0 0 14.31 28.83 28.83
8421 0.82 271.4 2768 2496 1716 1537 330.9 8.4 839 8425 0.00 1.60 0.00 0.000 260 0.000 0.139 2767 3363 1626 1716 1537 0 0 0 0 0 0 28.83 14.39 28.83
8469 0.82 271.4 1808 3362 1684 1534 326.9 8.8 843 8476 0.00 1.50 0.00 0.000 1030 0.000 0.093 2772 2495 1625 1714 1537 0 0 0 0 0 0 28.83 14.48 28.83
8778 0.83 271.4 2772 2495 1714 1536 298.7 9.5 874 8781 0.00 1.65 0.00 0.000 260 0.000 0.141 2772 3360 1625 1714 1536 0 0 0 0 0 0 28.83 14.33 28.83
8814 0.83 271.4 2772 3360 1714 1537 295.2 9.7 877 8817 0.00 1.50 0.00 0.000 1030 0.000 0.093 2778 2513 1625 1714 1537 0 0 0 0 0 0 28.83 14.45 28.83
9130 0.83 271.4 2778 2513 1714 1536 266.3 8.7 908 9133 0.00 1.52 0.00 0.000 516 0.000 0.106 2785 1644 1625 1714 1536 0 0 0 0 0 0 28.83 14.42 28.83
9239 0.85 271.4 2785 1644 1714 1535 257.2 8.7 918 9246 0.00 1.58 0.00 0.000 1030 0.000 0.125 2784 2510 1625 1714 1536 0 0 0 0 0 0 28.83 14.40 28.83
9548 0.85 271.4 2785 2510 1714 1535 228.7 9.5 949 9552 0.00 1.60 0.00 0.000 260 0.000 0.139 2785 3363 1624 1714 1535 0 0 0 0 0 0 28.83 14.31 28.83
9606 0.85 271.4 1808 3362 1683 1532 223.2 10.2 954 9614 0.00 1.50 0.00 0.000 1030 0.000 0.093 2791 2496 1624 1713 1535 0 0 0 0 0 0 28.83 14.47 28.83
9914 0.85 271.4 1800 2494 1682 1532 193.5 8.9 985 9918 0.00 1.50 0.00 0.000 516 0.000 0.107 2797 1667 1624 1713 1535 0 0 0 0 0 0 28.83 14.37 28.83
9971 0.86 271.4 2797 1667 1713 1534 188.6 8.9 990 9974 0.00 1.52 0.00 0.000 1030 0.000 0.125 2797 2509 1623 1713 1534 0 0 0 0 0 0 28.83 14.37 28.83
10286 0.86 271.4 2797 2509 1713 1535 160.7 8.8 1021 10289 0.00 1.58 0.00 0.000 260 0.000 0.139 2797 3366 1623 1713 1534 0 0 0 0 0 0 28.83 14.34 28.83
10354 0.86 271.4 2797 3366 1713 1535 154.5 9.4 1027 10357 0.00 1.50 0.00 0.000 1030 0.000 0.093 2804 2496 1623 1713 1534 0 0 0 0 0 0 28.83 14.45 28.83
10669 0.86 271.4 2804 2496 1713 1534 126.2 8.3 1058 10672 0.00 1.50 0.00 0.000 516 0.000 0.109 2810 1668 1623 1713 1534 0 0 0 0 0 0 28.83 14.35 28.83
10725 0.87 271.4 2810 1666 1713 1534 121.7 8.4 1063 10729 0.00 1.58 0.00 0.000 1030 0.000 0.125 2810 2506 1623 1713 1534 0 0 0 0 0 0 28.83 14.32 28.83
11037 0.88 277.2 2810 2508 1711 1534 96.5 8.0 1097 11044 0.00 1.58 2.10 0.500 8708 0.000 0.109 2815 1661 1609 1697 1521 0 0 0 0 0 0 28.83 14.38 13.69
11082 0.91 290.2 1824 1660 1666 1519 93.0 7.8 1104 11095 0.00 1.58 8.07 0.467 9222 0.000 0.125 2816 2523 1556 1645 1468 0 0 0 0 0 0 28.83 14.34 13.72
11415 0.93 290.2 2816 2523 1646 1466 64.4 9.5 1166 11422 0.00 1.52 0.00 0.000 516 0.000 0.107 2822 1665 1555 1645 1466 0 0 0 0 0 0 28.83 14.34 28.83
11489 0.93 290.2 2822 1665 1645 1465 57.3 8.9 1179 11496 0.00 1.55 0.00 0.000 1030 0.000 0.125 2821 2510 1555 1645 1465 0 0 0 0 0 0 28.83 14.32 28.83
11813 0.96 311.1 1800 2508 1614 1462 29.3 7.5 1240 11833 0.00 1.58 11.55 0.259 8452 0.000 0.139 2822 3364 1471 1562 1381 0 0 0 0 0 0 28.83 14.26 13.95
11930 1.00 339.1 1792 3363 1533 1379 19.0 7.2 1260 11950 0.00 1.52 15.68 0.233 9222 0.000 0.094 2828 2494 1356 1444 1268 0 0 0 0 0 0 28.83 14.38 14.03
12107 end climb: SURFACE_DEPTH_REACHED
state 12108 begin surface coast
12141 end surface coast: FINISH_DEPTH_REACHED
state 12141 begin surface