NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 664 * 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  664 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  60.427425 SEABIRD_T_G  0.0043000001
RELAUNCH  1 PITCH_DBAND  0.1 FG_AHR_24V  164.6803 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  220221,052500,4738.639,-12540.645,33,0.9,33,15.8 TGT_LATLONG  4742.620,-12530.490
_CALLS  2 TGT_RADIUS  7000.000
_SM_DEPTHo  0.84 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -57.3 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  220221,053332,4738.648,-12540.509,2,0.8,4,15.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.170,0.192 MHEAD_RNG_PITCHd_Wd  43.7,14491,-24.0,-9.804,-27.02
TGT_NAME  IN8 D_GRID  1000

Post-dive calculations and measurements:
SM_CCo  9490.76,0.00,2.653,0,769.3,767.5,771.1,424.55 _10V_AH  14.71,0.000
SM_GC  0.72,0.00,16.83,0.09,2.653,0.056,0.145,769.3,767.5,771.1,174.0,2080.4,0,0,0,30.36,15.59,15.61 FG_AHR_24Vo  164.862
SUPER  27,71,254,1,0,0 FG_AHR_10Vo  60.463
IRIDIUM_FIX  4738.79,-12539.32,220221,052817 MEM  1099936,50,75812,114
TCM_TEMP  189.67 DATA_FILE_SIZE  44971,1215
XPDR_PINGS  3,14.0,11.5 CAP_FILE_SIZE  480646,0
SC_FREEKB  3605152 SDSIZE  3918848,3736352
HUMID  57.20 SDFILEDIR  3346,1
TEMP  8.26 ERRORS  0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  7.79927 GPS  220221,081230,4738.599,-12538.991,23,0.9,23,15.8
_24V_AH  14.04,194.808

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump522265219479.80 legato000.00
Pitch_motor37249130.10 nil000.00
Roll_motor157243539.73 nil000.00
Iridium268199752.32 nil000.00
Transponder_ping04204.42 nil000.00
GPS13152.89 nil000.00
Core378611657.20 SciCon93746904.02
LPSleep60032247.28 nil000.00
Compass20685152.12 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
6 end surface: CONTROL_FINISHED_OK
state 6 begin dive
7.58 16386 -77.86 -1.43 0.00 761.2 764.9 757.6 172.6 2114.1 0.00 0.00 0 87.70 79.51 0.00 0.00 0.005 0.000 0.000 2521.78 2503.88 2539.69 172.88 2118.12 0 0 0 14.95 30.00 30.00
87.98 18983 -77.86 -1.43 -80.00 2520.8 2502.9 2538.8 172.8 2118.4 3.58 -3.92 15 119.95 7.44 14.21 4.24 0.008 0.249 0.148 2815.53 2809.44 2821.62 1792.44 663.00 0 0 0 15.09 15.21 14.93
127.72 1028 -77.86 -1.43 0.00 2815.4 2809.1 2821.8 1792.8 663.3 12.51 -20.75 23 133.48 0.00 0.00 3.58 0.000 0.000 0.050 2816.56 2810.31 2822.81 1792.69 2119.88 0 0 0 30.00 30.00 15.55
312.87 516 -77.86 -1.43 -80.00 2815.8 2809.8 2821.8 1792.6 2120.2 50.45 -19.36 60 318.66 0.00 0.00 4.19 0.000 0.000 0.146 2815.72 2809.50 2821.94 1792.69 663.00 0 0 0 30.00 30.00 15.38
542.88 1028 -77.86 -1.43 0.00 2815.7 2809.0 2822.3 1792.3 663.1 91.15 -15.75 106 548.64 0.00 0.00 3.53 0.000 0.000 0.050 2816.53 2810.88 2822.19 1792.50 2120.69 0 0 0 30.00 30.00 15.66
727.97 516 -77.86 -1.43 -80.00 2815.7 2809.7 2821.7 1792.9 2120.7 116.53 -13.29 131 733.69 0.00 0.00 4.16 0.000 0.000 0.143 2814.16 2808.25 2820.06 1792.25 662.12 0 0 0 30.00 30.00 15.42
762.94 1028 -77.86 -1.43 0.00 2815.6 2809.4 2821.7 1792.4 662.3 121.00 -13.25 138 767.58 0.00 0.00 3.48 0.000 0.000 0.046 2817.50 2811.62 2823.38 1792.25 2122.50 0 0 0 30.00 30.00 15.69
1073.02 260 -77.86 -1.43 80.00 2815.7 2809.9 2821.5 1792.2 2124.4 159.87 -12.27 170 1078.61 0.00 0.00 3.66 0.000 0.000 0.108 2815.91 2809.00 2822.81 1792.19 3473.81 0 0 0 30.00 30.00 15.55
1118.03 1028 -77.86 -1.43 0.00 2815.8 2809.5 2822.2 1792.9 3473.8 165.70 -13.68 179 1122.58 0.00 0.00 3.39 0.000 0.000 0.054 2816.53 2810.06 2823.00 1793.12 2081.88 0 0 0 30.00 30.00 15.65
1428.09 260 -77.86 -1.43 80.00 2815.7 2809.6 2821.7 1792.9 2082.1 202.79 -11.80 211 1433.72 0.00 0.00 3.80 0.000 0.000 0.108 2818.19 2811.81 2824.56 1790.69 3475.38 0 0 0 30.00 30.00 15.54
1483.12 1028 -77.86 -1.43 0.00 2816.1 2809.5 2822.8 1792.8 3475.7 210.07 -13.18 222 1487.67 0.00 0.00 3.41 0.000 0.000 0.056 2816.28 2809.56 2823.00 1791.81 2082.19 0 0 0 30.00 30.00 15.65
1793.18 260 -77.86 -1.43 80.00 2816.0 2809.8 2822.2 1792.9 2081.8 247.71 -12.52 254 1798.81 0.00 0.00 3.81 0.000 0.000 0.107 2816.50 2810.19 2822.81 1791.50 3475.12 0 0 0 30.00 30.00 15.54
1838.19 1028 -77.86 -1.43 0.00 2815.9 2809.2 2822.7 1792.4 3473.8 253.25 -12.17 263 1842.75 0.00 0.00 3.41 0.000 0.000 0.056 2816.41 2809.81 2823.00 1792.44 2082.25 0 0 0 30.00 30.00 15.64
2148.23 260 -77.86 -1.43 80.00 2816.0 2809.3 2822.7 1792.2 2082.2 287.78 -10.35 295 2153.85 0.00 0.00 3.81 0.000 0.000 0.108 2818.72 2812.62 2824.81 1791.44 3475.44 0 0 0 30.00 30.00 15.54
2217.14 1028 -77.86 -1.43 0.00 2816.1 2809.4 2822.9 1791.6 3474.9 296.03 -11.92 309 2223.99 0.00 0.00 3.40 0.000 0.000 0.056 2817.72 2811.06 2824.38 1791.94 2081.00 0 0 0 30.00 30.00 15.64
2523.28 516 -77.86 -1.43 -80.00 2816.2 2809.9 2822.4 1792.6 2081.2 326.94 -10.82 340 2529.09 0.00 0.00 4.07 0.000 0.000 0.152 2818.38 2811.25 2825.50 1792.06 662.81 0 0 0 30.00 30.00 15.39
2568.30 1028 -77.86 -1.43 0.00 2816.5 2809.9 2823.1 1792.8 663.1 331.98 -11.87 349 2573.85 0.00 0.00 3.49 0.000 0.000 0.049 2815.38 2808.31 2822.44 1792.00 2123.44 0 0 0 30.00 30.00 15.71
2873.33 0 -77.86 -1.43 0.00 2816.3 2809.9 2822.6 1792.6 2123.4 362.70 -9.94 380 2874.66 0.00 0.00 0.00 0.000 0.000 0.000 2816.53 2809.88 2823.19 1792.19 2123.62 0 0 0 30.00 30.00 30.00
3173.36 516 -77.86 -1.43 -80.00 2816.3 2809.5 2823.1 1792.7 2123.4 390.81 -9.23 410 3179.20 0.00 0.00 4.22 0.000 0.000 0.151 2814.72 2809.19 2820.25 1792.44 663.12 0 0 0 30.00 30.00 15.37
3218.38 1028 -77.86 -1.43 0.00 2815.9 2809.4 2822.4 1792.2 663.1 395.65 -11.44 419 3223.02 0.00 0.00 3.51 0.000 0.000 0.052 2816.69 2809.81 2823.56 1792.31 2119.44 0 0 0 30.00 30.00 15.70
3528.41 0 -77.86 -1.43 0.00 2816.4 2809.8 2822.9 1792.4 2124.5 426.18 -10.08 451 3529.74 0.00 0.00 0.00 0.000 0.000 0.000 2815.19 2808.62 2821.75 1792.56 2123.88 0 0 0 30.00 30.00 30.00
3828.43 516 -77.86 -1.43 -80.00 2815.5 2809.6 2821.4 1792.8 2124.0 458.02 -9.63 481 3834.28 0.00 0.00 4.25 0.000 0.000 0.154 2816.00 2809.62 2822.38 1792.06 662.69 0 0 0 30.00 30.00 15.34
3893.52 1028 -77.86 -1.43 0.00 2815.8 2809.6 2821.9 1792.4 662.9 466.21 -12.10 494 3899.03 0.00 0.00 3.52 0.000 0.000 0.054 2814.81 2809.38 2820.25 1792.31 2121.56 0 0 0 30.00 30.00 15.69
4198.49 0 -77.86 -1.43 0.00 2815.4 2809.6 2821.2 1791.9 2121.2 499.05 -10.97 525 4199.82 0.00 0.00 0.00 0.000 0.000 0.000 2816.00 2809.94 2822.06 1791.31 2122.19 0 0 0 30.00 30.00 30.00
4209 end dive: TARGET_DEPTH_EXCEEDED
state 4209 begin apogee
4209.71 10243 0.00 -0.25 0.00 2815.3 2809.4 2821.2 1792.4 2083.8 500.24 -11.05 526 4280.50 65.21 2.21 0.08 1.647 0.148 0.244 2499.69 2506.62 2492.75 2079.19 2120.75 0 0 0 10.99 15.48 15.20
4283 end apogee: CONTROL_FINISHED_OK
state 4283 begin climb
4282.93 10759 77.86 1.43 -80.00 2498.0 2505.1 2490.8 2080.1 2120.6 502.76 0.00 533 4362.19 69.93 2.94 4.31 1.594 0.084 0.138 2181.25 2193.88 2168.62 2490.81 662.00 0 0 0 12.13 15.31 14.95
4383.98 11303 147.98 1.64 0.00 2177.5 2189.7 2165.3 2491.8 662.1 498.50 3.93 553 4455.65 64.36 0.30 3.65 1.567 0.068 0.046 1895.66 1920.44 1870.88 2547.19 2126.31 0 0 0 12.00 15.13 15.19
4760.12 16902 147.98 1.64 -80.00 1884.8 1914.4 1855.3 2547.5 2126.3 457.02 12.49 598 4765.94 0.00 0.00 4.15 0.000 0.000 0.138 1884.69 1914.44 1854.94 2547.44 663.06 0 0 0 30.00 30.00 15.41
4815.15 17414 147.98 1.64 0.00 1884.4 1913.2 1855.6 2548.0 663.2 448.98 15.66 609 4819.85 0.00 0.00 3.54 0.000 0.000 0.048 1882.50 1911.31 1853.69 2547.94 2120.62 0 0 0 30.00 30.00 15.58
5125.22 16646 147.98 1.64 80.00 1882.7 1913.2 1852.1 2547.8 2124.8 412.33 12.29 641 5130.78 0.00 0.00 3.69 0.000 0.000 0.112 1882.12 1912.38 1851.88 2547.12 3472.69 0 0 0 30.00 30.00 15.54
5160.20 17414 147.98 1.64 0.00 1882.4 1912.9 1851.8 2547.9 3472.8 408.16 12.55 648 5164.76 0.00 0.00 3.42 0.000 0.000 0.056 1883.53 1912.50 1854.56 2546.31 2080.88 0 0 0 30.00 30.00 15.64
5470.24 16902 147.98 1.64 -80.00 1881.2 1912.7 1849.8 2548.1 2080.9 373.11 10.90 680 5476.02 0.00 0.00 3.99 0.000 0.000 0.138 1879.81 1911.56 1848.06 2547.88 662.06 0 0 0 30.00 30.00 15.47
5529.15 17414 147.98 1.64 0.00 1880.8 1912.1 1849.6 2547.9 662.1 366.09 12.79 692 5535.98 0.00 0.00 3.49 0.000 0.000 0.048 1881.31 1912.69 1849.94 2547.88 2127.38 0 0 0 30.00 30.00 15.72
5835.27 16902 147.98 1.64 -80.00 1880.5 1912.2 1848.9 2547.6 2127.3 332.28 10.67 723 5841.08 0.00 0.00 4.09 0.000 0.000 0.134 1881.41 1913.06 1849.75 2546.62 662.38 0 0 0 30.00 30.00 15.48
5884.19 17414 147.98 1.64 0.00 1880.6 1912.1 1849.1 2547.6 662.0 325.42 13.65 733 5891.02 0.00 0.00 3.48 0.000 0.000 0.048 1880.19 1910.81 1849.56 2547.25 2126.38 0 0 0 30.00 30.00 15.73
6190.31 16646 147.98 1.64 80.00 1880.2 1912.4 1848.1 2547.9 2126.8 289.29 11.65 764 6195.89 0.00 0.00 3.64 0.000 0.000 0.112 1879.75 1911.62 1847.88 2547.81 3475.31 0 0 0 30.00 30.00 15.53
6239.15 17414 147.98 1.64 0.00 1880.2 1911.5 1848.8 2547.3 3475.6 282.54 13.36 774 6246.06 0.00 0.00 3.40 0.000 0.000 0.056 1880.50 1912.19 1848.81 2547.31 2078.25 0 0 0 30.00 30.00 15.67
6545.35 16386 147.98 1.64 0.00 1879.3 1911.1 1847.6 2547.8 2079.0 248.59 11.13 805 6546.68 0.00 0.00 0.00 0.000 0.000 0.000 1879.66 1911.25 1848.06 2547.00 2078.50 0 0 0 30.00 30.00 30.00
6845.37 16902 147.98 1.64 -80.00 1879.2 1911.2 1847.2 2547.7 2078.6 218.24 9.88 835 6851.15 0.00 0.00 3.98 0.000 0.000 0.137 1877.97 1910.00 1845.94 2547.62 663.44 0 0 0 30.00 30.00 15.44
6874.27 17414 147.98 1.64 0.00 1878.8 1910.5 1847.2 2547.1 663.4 214.75 10.57 841 6881.12 0.00 0.00 3.49 0.000 0.000 0.046 1879.78 1911.75 1847.81 2547.88 2127.25 0 0 0 30.00 30.00 15.73
7180.40 16386 147.98 1.64 0.00 1878.6 1910.7 1846.5 2547.8 2127.9 185.47 9.31 872 7181.73 0.00 0.00 0.00 0.000 0.000 0.000 1879.22 1911.12 1847.31 2547.75 2127.56 0 0 0 30.00 30.00 30.00
7480.41 16386 147.98 1.64 0.00 1879.0 1911.1 1846.9 2548.1 2127.4 158.10 9.36 902 7481.74 0.00 0.00 0.00 0.000 0.000 0.000 1878.69 1910.12 1847.25 2547.38 2127.19 0 0 0 30.00 30.00 30.00
7780.46 16966 147.98 1.69 -80.00 1878.4 1910.9 1845.9 2548.2 2127.6 132.20 8.34 932 7786.29 0.00 0.00 4.15 0.000 0.000 0.132 1877.94 1910.19 1845.69 2548.00 662.12 0 0 0 30.00 30.00 15.41
7885.47 17414 147.98 1.69 0.00 1878.4 1910.6 1846.3 2547.5 662.1 121.79 10.12 953 7891.10 0.00 0.00 3.52 0.000 0.000 0.048 1878.56 1910.31 1846.81 2547.25 2126.94 0 0 0 30.00 30.00 15.73
8190.58 16710 147.98 1.74 80.00 1878.3 1909.9 1846.8 2548.1 2127.1 97.44 7.89 987 8196.49 0.00 0.00 3.70 0.000 0.000 0.109 1880.12 1911.94 1848.31 2547.19 3473.94 0 0 0 30.00 30.00 15.49
8245.50 17414 147.98 1.74 0.00 1878.2 1909.9 1846.4 2548.6 3475.1 91.89 10.78 998 8251.24 0.00 0.00 3.41 0.000 0.000 0.052 1878.97 1910.62 1847.31 2547.62 2077.06 0 0 0 30.00 30.00 15.65
8430.65 10275 198.20 1.89 0.00 1878.1 1909.7 1846.4 2548.2 2077.9 79.05 5.60 1035 8472.67 40.53 0.34 0.00 1.167 0.071 0.000 1689.62 1720.31 1658.94 2607.81 2077.56 0 0 0 11.13 15.71 30.00
8650.58 580 198.20 1.91 -80.00 1685.6 1718.1 1653.1 2607.9 2078.1 61.04 9.22 1079 8656.41 0.00 0.00 4.05 0.000 0.000 0.133 1685.25 1716.94 1653.56 2607.56 663.12 0 0 0 30.00 30.00 15.38
8690.58 1028 198.20 1.91 0.00 1685.0 1717.2 1652.8 2607.8 663.1 57.28 9.42 1087 8696.34 0.00 0.00 3.54 0.000 0.000 0.046 1686.00 1717.75 1654.25 2608.06 2128.81 0 0 0 30.00 30.00 15.61
8875.62 10791 273.44 2.14 -80.00 1683.4 1716.6 1650.2 2608.4 2129.4 49.48 3.50 1124 8948.09 64.74 0.33 4.14 1.108 0.064 0.127 1384.06 1417.62 1350.50 2667.88 662.00 0 0 0 11.67 15.61 15.26
9170.94 1028 273.44 2.14 0.00 1380.0 1414.8 1345.3 2667.9 662.0 17.14 13.54 1183 9176.70 0.00 0.00 3.56 0.000 0.000 0.047 1379.78 1414.88 1344.69 2667.81 2126.88 0 0 0 30.00 30.00 15.53
9311 end climb: SURFACE_DEPTH_REACHED
state 9311 begin surface coast
9331 end surface coast: CONTROL_FINISHED_OK
state 9331 begin surface