NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 645 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  236 ESCAPE_HEADING  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
MISSION  2 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.054945 XPDR_VALID  4
DIVE  645 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
N_DIVES  0 TGT_DEFAULT_LAT  4736 ROLL_MAXERRORS  1 XPDR_INT  0
STOP_T  0 TGT_DEFAULT_LON  -12218 ROLL_ADJ_GAIN  0 XPDR_REP  0
D_SURF  2 TGT_AUTO_DEFAULT  0 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  1.9639999e-06
D_FLARE  3 SM_CC  425 VBD_MIN  500 INT_PRESSURE_YINT  0
D_TGT  500 N_FILEKB  8 VBD_MAX  3960 DEEPGLIDER  0
D_ABORT  1010 FILEMGR  0 C_VBD  2500 DEEPGLIDERMB  0
D_NO_BLEED  200 CALL_NDIVES  1 VBD_DBAND  2 MOTHERBOARD  6
D_BOOST  2 COMM_SEQ  0 VBD_CNV  -0.24529999 DEVICE1  120
T_BOOST  0 PROTOCOL  9 VBD_LP_IGNORE  0 DEVICE2  -1
D_FINISH  0 N_NOCOMM  2 VBD_TIMEOUT  720 DEVICE3  -1
D_PITCH  0 NOCOMM_ACTION  163 PITCH_VBD_SHIFT  0.003 DEVICE4  -1
D_SAFE  0 N_NOSURFACE  0 UNCOM_BLEED  20 DEVICE5  -1
D_CALL  0 UPLOAD_DIVES_MAX  -1 VBD_MAXERRORS  1 DEVICE6  -1
SURFACE_URGENCY  0 CALL_TRIES  5 W_ADJ_DBAND  2 LOGGERS  1
SURFACE_URGENCY_TRY  0 CALL_WAIT  60 DBDW  0 LOGGERDEVICE1  7
SURFACE_URGENCY_FORCE  0 CAPUPLOAD  0 LOITER_W_DBAND  0 LOGGERDEVICE2  -1
T_DIVE  170 CAPMAXSIZE  100000 LOITER_DBDW  0 LOGGERDEVICE3  -1
T_MISSION  190 T_GPS  5 LOITER_D_TOP  150 LOGGERDEVICE4  -1
T_ABORT  1440 N_GPS  100440 LOITER_D_BOTTOM  250 COMPASS_DEVICE  66
T_TURN  225 T_RSLEEP  1 LOITER_N_DIVE  0 COMPASS2_DEVICE  -1
T_TURN_SAMPINT  -5 STROBE  0 CF8_MAXERRORS  20 PHONE_DEVICE  33
T_NO_W  180 RAFOS_PEAK_OFFSET  0 AH0_24V  575 GPS_DEVICE  48
T_LOITER  7200 RAFOS_CORR_THRESH  60 AH0_10V  0 RAFOS_DEVICE  -1
T_EPIRB  0 RAFOS_HIT_WINDOW  3600 MINV_24V  11 NETWORK_DEVICE  -1
USE_BATHY  -1 RAFOS_MMODEM  0 MINV_10V  11 PRESSURE_DEVICE  34
USE_ICE  0 PITCH_MIN  190 MAXI_24V  5 XPDR_DEVICE  21
ICE_FREEZE_MARGIN  0.30000001 PITCH_MAX  3920 MAXI_10V  1.5 SIM_W  0
D_OFFGRID  990 C_PITCH  2140 FG_AHR_10V  59.709 SEABIRD_T_G  0.0043000001
RELAUNCH  1 PITCH_DBAND  0.1 FG_AHR_24V  161.00339 SEABIRD_T_H  0.00063999998
APOGEE_PITCH  -5 PITCH_CNV  0.0041299998 PHONE_SUPPLY  2 SEABIRD_T_I  2.4999999e-05
MAX_BUOY  80 PITCH_GAIN  20 PRESSURE_YINT  -170.66119 SEABIRD_T_J  4.3e-06
GLIDE_SLOPE  30 PITCH_TIMEOUT  30 PRESSURE_SLOPE  0.00022638284 SEABIRD_C_G  -10
SPEED_FACTOR  1 PITCH_MAXERRORS  1 COMPASS_USE  4 SEABIRD_C_H  1
RHO  1.0275 PITCH_ADJ_GAIN  0 ALTIM_PING_FIT  0 SEABIRD_C_I  -0.0020000001
MASS  72660 PITCH_ADJ_DBAND  0 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00019999999
NAV_MODE  0 PITCH_W_GAIN  3 ALTIM_BOTTOM_TURN_MARGIN  0 SC_RECORDABOVE  2000.0
FERRY_MAX  45 PITCH_W_DBAND  0.5 ALTIM_TOP_TURN_MARGIN  0 SC_PROFILE  7.0
KALMAN_USE  2 ROLL_MIN  670 ALTIM_TOP_MIN_OBSTACLE  1 SC_XMITPROFILE  7.0
HD_A  0.003 ROLL_MAX  3465 ALTIM_PING_DEPTH  0 SC_NDIVE  1.0
HD_B  0.0099900002 ROLL_DEG  80 ALTIM_PING_DELTA  0
HD_C  1.6e-05 C_ROLL_DIVE  2100 ALTIM_FREQUENCY  13
HEADING  -1 C_ROLL_CLIMB  2100 ALTIM_PULSE  3

Pre-dive calculations and measurements:
GPS1  190221,233307,4732.686,-12600.688,2,1.1,8,15.8 TGT_LATLONG  4733.250,-12550.590
_CALLS  1 TGT_RADIUS  7000.000
_SM_DEPTHo  0.90 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -63.5 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  190221,233940,4732.734,-12600.705,3,0.7,15,15.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.170,0.192 MHEAD_RNG_PITCHd_Wd  69.9,12679,-24.0,-9.804,-27.02
TGT_NAME  IN6 D_GRID  1000

Post-dive calculations and measurements:
SM_CCo  9894.76,0.01,0.349,0,768.4,768.9,768.0,424.75 _10V_AH  14.69,0.000
SM_GC  0.49,0.01,17.50,0.09,0.349,0.079,0.135,768.4,768.9,768.0,174.1,2068.2,0,0,0,30.36,15.41,15.64 FG_AHR_24Vo  161.185
SUPER  27,71,254,1,0,0 FG_AHR_10Vo  59.746
IRIDIUM_FIX  4733.22,-12603.05,190221,205144 MEM  1099880,54,75788,114
TCM_TEMP  190.72 DATA_FILE_SIZE  48194,1289
XPDR_PINGS  4,14.0,11.5 CAP_FILE_SIZE  496300,0
SC_FREEKB  3612448 SDSIZE  3918848,3741760
HUMID  57.42 SDFILEDIR  3251,1
TEMP  7.84 ERRORS  0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  7.78092 GPS  200221,022530,4733.327,-12559.466,31,1.2,31,15.8
_24V_AH  14.04,190.732

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump525266219661.41 legato000.00
Pitch_motor37257137.43 nil000.00
Roll_motor156257566.11 nil000.00
Iridium201208591.03 nil000.00
Transponder_ping14205.90 nil000.00
GPS24155.34 nil000.00
Core387911672.55 SciCon97626932.27
LPSleep61822254.29 nil000.00
Compass21625158.84 nil000.00
RAFOS000.00
Transponder000.00

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
5 end surface: CONTROL_FINISHED_OK
state 5 begin dive
7.53 16386 -77.86 -1.43 0.00 762.7 764.9 760.6 172.8 2082.9 0.00 0.00 0 87.63 79.54 0.00 0.00 0.005 0.000 0.000 2496.62 2473.69 2519.56 172.50 2083.00 0 0 0 13.71 30.00 30.00
87.91 18727 -77.86 -1.43 80.00 2495.7 2473.1 2518.2 172.8 2082.2 3.42 -3.79 15 119.85 8.26 14.29 3.96 0.007 0.258 0.111 2815.69 2810.38 2821.00 1792.69 3474.12 0 0 0 15.11 15.23 14.96
342.66 1028 -77.86 -1.43 0.00 2815.6 2808.9 2822.2 1792.5 3475.3 58.29 -20.61 66 348.41 0.00 0.00 3.58 0.000 0.000 0.059 2816.22 2810.56 2821.88 1792.62 2083.75 0 0 0 30.00 30.00 15.59
527.79 260 -77.86 -1.43 80.00 2815.5 2809.1 2821.8 1792.4 2083.2 88.67 -12.98 103 533.54 0.00 0.00 3.91 0.000 0.000 0.106 2816.00 2809.81 2822.19 1792.31 3474.12 0 0 0 30.00 30.00 15.53
697.84 1028 -77.86 -1.43 0.00 2815.9 2809.6 2822.2 1792.8 3474.1 114.37 -16.46 137 703.38 0.00 0.00 3.51 0.000 0.000 0.057 2815.16 2808.50 2821.81 1791.75 2084.06 0 0 0 30.00 30.00 15.63
1002.85 516 -77.86 -1.43 -80.00 2815.7 2809.3 2822.1 1792.7 2084.3 149.62 -10.68 168 1008.53 0.00 0.00 4.18 0.000 0.000 0.151 2818.22 2811.88 2824.56 1790.88 664.06 0 0 0 30.00 30.00 15.43
1061.77 1028 -77.86 -1.43 0.00 2816.0 2809.6 2822.3 1791.9 664.0 157.40 -13.15 180 1068.62 0.00 0.00 3.58 0.000 0.000 0.051 2815.97 2809.75 2822.19 1792.44 2119.94 0 0 0 30.00 30.00 15.69
1367.93 260 -77.86 -1.43 80.00 2815.8 2809.5 2822.0 1792.4 2120.2 190.07 -10.67 211 1373.61 0.00 0.00 3.73 0.000 0.000 0.110 2814.50 2808.12 2820.88 1792.12 3474.00 0 0 0 30.00 30.00 15.55
1553.06 1028 -77.86 -1.43 0.00 2816.2 2810.0 2822.4 1792.4 3473.8 213.24 -12.10 248 1558.56 0.00 0.00 3.48 0.000 0.000 0.058 2815.28 2808.50 2822.06 1792.31 2082.56 0 0 0 30.00 30.00 15.66
1858.07 0 -77.86 -1.43 0.00 2816.2 2810.2 2822.1 1792.6 2081.8 245.03 -10.29 279 1859.39 0.00 0.00 0.00 0.000 0.000 0.000 2816.25 2809.56 2822.94 1792.25 2081.69 0 0 0 30.00 30.00 30.00
2158.11 260 -77.86 -1.43 80.00 2816.2 2809.9 2822.6 1792.3 2081.9 275.52 -10.28 309 2163.90 0.00 0.00 3.92 0.000 0.000 0.111 2819.06 2812.81 2825.31 1791.50 3473.25 0 0 0 30.00 30.00 15.54
2246.97 1028 -77.86 -1.43 0.00 2816.5 2809.6 2823.4 1792.2 3474.0 286.83 -13.28 327 2253.89 0.00 0.00 3.46 0.000 0.000 0.060 2818.09 2811.31 2824.88 1792.00 2082.69 0 0 0 30.00 30.00 15.65
2553.19 0 -77.86 -1.43 0.00 2816.5 2810.0 2822.9 1792.1 2083.2 321.41 -11.79 358 2554.51 0.00 0.00 0.00 0.000 0.000 0.000 2816.66 2810.06 2823.25 1791.88 2082.94 0 0 0 30.00 30.00 30.00
2853.22 516 -77.86 -1.43 -80.00 2816.0 2809.8 2822.2 1792.2 2083.2 355.21 -10.98 388 2858.90 0.00 0.00 4.17 0.000 0.000 0.156 2818.38 2811.88 2824.88 1791.31 663.00 0 0 0 30.00 30.00 15.39
2888.23 1028 -77.86 -1.43 0.00 2816.4 2810.1 2822.8 1792.4 663.3 359.49 -13.15 395 2893.82 0.00 0.00 3.57 0.000 0.000 0.053 2815.47 2809.12 2821.81 1792.62 2118.94 0 0 0 30.00 30.00 15.71
3193.28 260 -77.86 -1.43 80.00 2816.3 2810.1 2822.5 1792.5 2119.6 391.14 -10.51 426 3199.01 0.00 0.00 3.75 0.000 0.000 0.116 2816.91 2810.44 2823.38 1791.88 3474.69 0 0 0 30.00 30.00 15.51
3232.10 1028 -77.86 -1.43 0.00 2816.6 2810.3 2822.9 1792.4 3474.0 395.77 -11.68 434 3239.03 0.00 0.00 3.46 0.000 0.000 0.061 2815.88 2809.75 2822.00 1792.44 2081.81 0 0 0 30.00 30.00 15.63
3538.31 260 -77.86 -1.43 80.00 2816.0 2809.6 2822.4 1792.8 2082.8 426.94 -10.17 465 3544.07 0.00 0.00 3.88 0.000 0.000 0.114 2816.56 2810.00 2823.12 1792.06 3473.19 0 0 0 30.00 30.00 15.50
3557.20 1028 -77.86 -1.43 0.00 2816.1 2809.6 2822.6 1793.2 3474.3 428.84 -10.09 469 3564.05 0.00 0.00 3.49 0.000 0.000 0.061 2817.06 2810.81 2823.31 1792.69 2082.25 0 0 0 30.00 30.00 15.62
3863.35 0 -77.86 -1.43 0.00 2815.4 2808.9 2821.9 1792.8 2082.0 459.16 -10.77 500 3864.68 0.00 0.00 0.00 0.000 0.000 0.000 2815.94 2809.81 2822.06 1792.25 2081.44 0 0 0 30.00 30.00 30.00
4163.37 0 -77.86 -1.43 0.00 2815.8 2809.4 2822.1 1792.3 2081.9 487.72 -9.07 530 4164.70 0.00 0.00 0.00 0.000 0.000 0.000 2815.91 2809.75 2822.06 1792.00 2082.06 0 0 0 30.00 30.00 30.00
4303 end dive: TARGET_DEPTH_EXCEEDED
state 4303 begin apogee
4304.61 10243 0.00 -0.25 0.00 2815.4 2809.6 2821.2 1792.6 2117.0 500.85 -9.65 544 4375.27 64.94 2.20 0.08 1.644 0.148 0.257 2498.75 2505.50 2492.00 2079.50 2087.25 0 0 0 10.98 15.49 15.21
4377 end apogee: CONTROL_FINISHED_OK
state 4377 begin climb
4377.65 10759 77.86 1.43 -80.00 2498.0 2504.6 2491.4 2079.9 2088.2 502.50 0.00 551 4456.91 70.08 2.91 4.26 1.609 0.086 0.143 2179.97 2192.56 2167.38 2490.94 663.62 0 0 0 12.24 15.31 14.94
4484.80 9254 116.60 1.55 0.00 2176.9 2188.9 2165.0 2491.9 663.5 496.52 6.56 572 4526.38 36.67 0.00 3.69 1.541 0.000 0.051 2024.19 2043.31 2005.06 2491.94 2122.75 0 0 0 12.01 30.00 15.21
4824.83 16646 116.60 1.55 80.00 2014.0 2038.6 1989.4 2492.2 2122.3 465.49 9.59 610 4830.45 0.00 0.00 3.81 0.000 0.000 0.116 2012.78 2037.44 1988.12 2491.44 3474.19 0 0 0 30.00 30.00 15.46
4859.83 17414 116.60 1.55 0.00 2013.5 2037.6 1989.4 2491.9 3473.6 461.77 10.63 617 4865.40 0.00 0.00 3.50 0.000 0.000 0.060 2014.31 2038.25 1990.38 2491.19 2081.19 0 0 0 30.00 30.00 15.56
5164.90 16386 116.60 1.55 0.00 2011.5 2037.7 1985.4 2491.5 2081.3 432.43 9.53 648 5166.23 0.00 0.00 0.00 0.000 0.000 0.000 2010.06 2036.19 1983.94 2491.50 2081.00 0 0 0 30.00 30.00 30.00
5464.96 18759 116.60 1.60 80.00 2010.3 2037.2 1983.5 2492.1 2081.6 405.66 8.02 678 5470.65 0.00 0.23 3.90 0.000 0.083 0.114 2010.06 2035.62 1984.50 2537.06 3474.19 0 0 0 30.00 15.69 15.53
5489.96 17478 116.60 1.63 0.00 2010.2 2037.1 1983.2 2538.8 3474.0 402.82 8.82 683 5495.54 0.00 0.00 3.47 0.000 0.000 0.059 2012.97 2039.94 1986.00 2538.25 2078.75 0 0 0 30.00 30.00 15.65
5795.02 16386 116.60 1.63 0.00 2009.2 2035.0 1983.4 2538.9 2078.7 373.30 9.67 714 5796.35 0.00 0.00 0.00 0.000 0.000 0.000 2009.59 2035.56 1983.62 2538.00 2078.94 0 0 0 30.00 30.00 30.00
6095.06 16646 116.60 1.63 80.00 2008.8 2035.1 1982.5 2538.8 2078.6 343.59 9.75 744 6100.69 0.00 0.00 3.87 0.000 0.000 0.112 2011.12 2037.19 1985.06 2537.38 3474.38 0 0 0 30.00 30.00 15.53
6123.88 17414 116.60 1.63 0.00 2009.0 2035.2 1982.7 2539.0 3473.9 340.93 10.30 750 6130.82 0.00 0.00 3.46 0.000 0.000 0.059 2009.31 2035.56 1983.06 2539.31 2077.81 0 0 0 30.00 30.00 15.65
6430.12 16646 116.60 1.63 80.00 2008.1 2034.9 1981.4 2538.8 2078.0 311.82 9.47 781 6435.74 0.00 0.00 3.88 0.000 0.000 0.111 2007.84 2033.19 1982.50 2537.81 3475.69 0 0 0 30.00 30.00 15.54
6458.94 17414 116.60 1.63 0.00 2008.5 2035.2 1981.8 2538.9 3475.1 308.64 9.62 787 6465.87 0.00 0.00 3.45 0.000 0.000 0.057 2008.59 2035.31 1981.88 2538.69 2077.69 0 0 0 30.00 30.00 15.66
6765.19 16966 116.60 1.69 -80.00 2007.5 2033.8 1981.2 2538.8 2077.5 281.59 8.00 818 6770.83 0.00 0.00 4.01 0.000 0.000 0.139 2007.78 2033.75 1981.81 2538.12 662.12 0 0 0 30.00 30.00 15.43
6894.09 17414 116.60 1.69 0.00 2006.5 2031.8 1981.2 2539.2 661.9 267.74 10.64 844 6900.98 0.00 0.00 3.57 0.000 0.000 0.052 2007.06 2032.75 1981.38 2539.31 2126.00 0 0 0 30.00 30.00 15.72
7200.25 10535 153.14 1.80 80.00 2006.9 2032.5 1981.4 2538.9 2126.3 244.22 6.74 875 7236.66 30.58 0.23 3.68 1.350 0.085 0.115 1873.62 1899.12 1848.12 2584.75 3474.31 0 0 0 11.33 15.73 15.48
7275.23 1028 153.14 1.80 0.00 1872.9 1897.5 1848.3 2585.0 3474.2 237.06 10.39 890 7280.80 0.00 0.00 3.47 0.000 0.000 0.057 1873.03 1897.81 1848.25 2585.38 2080.88 0 0 0 30.00 30.00 15.58
7580.27 516 153.14 1.80 -80.00 1869.5 1897.6 1841.5 2585.3 2080.9 204.20 10.35 921 7586.00 0.00 0.00 4.03 0.000 0.000 0.136 1868.16 1895.75 1840.56 2584.62 662.88 0 0 0 30.00 30.00 15.41
7659.16 1028 153.14 1.80 0.00 1869.6 1897.1 1842.1 2584.7 663.0 193.51 14.52 937 7666.04 0.00 0.00 3.59 0.000 0.000 0.050 1869.47 1897.25 1841.69 2584.94 2125.75 0 0 0 30.00 30.00 15.66
7965.31 260 153.14 1.80 80.00 1868.3 1897.2 1839.5 2584.4 2125.3 157.76 11.74 968 7970.90 0.00 0.00 3.78 0.000 0.000 0.111 1870.31 1899.06 1841.56 2584.31 3474.44 0 0 0 30.00 30.00 15.49
8094.15 1028 153.14 1.80 0.00 1868.5 1897.1 1839.9 2585.1 3474.1 141.20 11.71 994 8101.09 0.00 0.00 3.47 0.000 0.000 0.055 1868.34 1895.81 1840.88 2583.94 2078.06 0 0 0 30.00 30.00 15.63
8400.36 516 153.14 1.80 -80.00 1867.7 1896.8 1838.6 2585.2 2078.4 112.43 9.83 1025 8406.01 0.00 0.00 4.05 0.000 0.000 0.135 1868.56 1896.50 1840.62 2583.25 661.75 0 0 0 30.00 30.00 15.41
8630.39 17414 153.14 1.80 0.00 1867.4 1896.2 1838.5 2583.9 661.8 89.94 9.81 1071 8636.27 0.00 0.00 3.58 0.000 0.000 0.051 1868.75 1898.00 1839.50 2584.38 2125.81 0 0 0 30.00 30.00 15.70
8815.42 10535 225.86 2.01 80.00 1867.5 1896.7 1838.2 2584.8 2126.0 81.19 3.71 1108 8882.58 60.35 0.29 3.76 1.181 0.081 0.110 1579.34 1608.44 1550.25 2636.19 3473.88 0 0 0 11.50 15.69 15.33
8910.44 1092 225.86 2.05 0.00 1575.5 1604.1 1547.0 2636.9 3473.8 75.47 8.45 1127 8916.17 0.00 0.00 3.49 0.000 0.000 0.053 1575.62 1604.44 1546.81 2636.88 2076.56 0 0 0 30.00 30.00 15.43
9095.59 324 225.86 2.10 80.00 1572.8 1604.5 1541.1 2636.9 2077.2 59.84 8.22 1164 9101.42 0.00 0.00 3.90 0.000 0.000 0.107 1573.69 1605.00 1542.38 2636.69 3473.06 0 0 0 30.00 30.00 15.41
9220.56 1092 225.86 2.13 0.00 1571.3 1602.2 1540.4 2636.9 3473.7 46.51 8.84 1189 9226.22 0.00 0.00 3.47 0.000 0.000 0.054 1571.53 1602.12 1540.94 2636.81 2079.00 0 0 0 30.00 30.00 15.57
9405.59 10275 260.25 2.23 0.00 1570.8 1601.9 1539.6 2636.6 2078.8 34.92 6.92 1226 9440.85 30.91 0.30 0.00 1.077 0.081 0.000 1438.41 1470.94 1405.88 2690.56 2079.12 0 0 0 11.53 15.59 30.00
9620.57 516 260.25 2.23 -80.00 1434.6 1470.2 1399.0 2690.2 2079.6 11.92 11.27 1269 9626.38 0.00 0.00 4.04 0.000 0.000 0.137 1435.41 1471.06 1399.75 2690.31 663.38 0 0 0 30.00 30.00 15.38
9655.54 1028 260.25 2.23 0.00 1434.8 1470.3 1399.2 2690.2 663.0 7.56 12.91 1276 9661.32 0.00 0.00 3.58 0.000 0.000 0.049 1435.00 1470.50 1399.50 2690.19 2126.38 0 0 0 30.00 30.00 15.57
9705 end climb: SURFACE_DEPTH_REACHED
state 9705 begin surface coast
9720 end surface coast: CONTROL_FINISHED_OK
state 9720 begin surface