NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 670 * 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  670 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  60.654182 SEABIRD_T_G  0.0043000001
RELAUNCH  1 PITCH_DBAND  0.1 FG_AHR_24V  165.85719 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  220221,223058,4737.792,-12531.396,32,1.2,32,15.7 TGT_LATLONG  4742.620,-12530.490
_CALLS  1 TGT_RADIUS  7000.000
_SM_DEPTHo  0.71 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -59.3 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  220221,223757,4737.697,-12531.300,3,0.7,5,15.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.170,0.192 MHEAD_RNG_PITCHd_Wd  350.6,9173,-24.0,-9.804,-27.02
TGT_NAME  IN8 D_GRID  1000

Post-dive calculations and measurements:
SM_CCo  9387.41,137.04,1.050,0,767.4,764.9,769.8,425.01 _10V_AH  14.69,0.000
SM_GC  0.44,137.04,16.73,3.53,1.050,0.051,0.051,767.4,764.9,769.8,171.8,2121.3,0,0,0,11.88,15.56,15.58 FG_AHR_24Vo  166.040
SUPER  27,71,254,1,0,0 FG_AHR_10Vo  60.689
IRIDIUM_FIX  4739.35,-12532.26,220221,194815 MEM  1099936,50,75812,114
TCM_TEMP  193.25 DATA_FILE_SIZE  45015,1223
XPDR_PINGS  2,14.0,11.5 CAP_FILE_SIZE  491579,0
SC_FREEKB  3602848 SDSIZE  3918848,3734592
HUMID  57.17 SDFILEDIR  3376,1
TEMP  8.45 ERRORS  0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  7.79927 GPS  230221,011536,4737.749,-12530.558,7,1.1,46,15.7
_24V_AH  14.41,196.109

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump526164612493.19 legato000.00
Pitch_motor36251133.87 nil000.00
Roll_motor171243602.41 nil000.00
Iridium234209705.90 nil000.00
Transponder_ping04203.03 nil000.00
GPS14153.25 nil000.00
Core376711653.06 SciCon92636888.29
LPSleep58202239.43 nil000.00
Compass20645151.61 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
7.58 16386 -77.86 -1.43 0.00 762.4 764.6 760.2 172.8 2083.3 0.00 0.00 0 87.74 79.50 0.00 0.00 0.005 0.000 0.000 2523.97 2502.44 2545.50 171.62 2082.44 0 0 0 14.90 30.00 30.00
88.02 18983 -77.86 -1.43 -80.00 2522.5 2501.7 2543.4 171.6 2082.8 3.68 -4.25 15 119.96 7.14 14.23 4.20 0.008 0.252 0.155 2816.69 2810.62 2822.75 1792.44 663.75 0 0 0 15.08 15.23 14.89
197.77 1028 -77.86 -1.43 0.00 2816.1 2810.4 2821.8 1792.1 663.6 27.79 -22.75 37 203.51 0.00 0.00 3.59 0.000 0.000 0.054 2818.44 2812.50 2824.38 1791.44 2119.56 0 0 0 30.00 30.00 15.58
382.90 0 -77.86 -1.43 0.00 2816.0 2810.1 2822.0 1791.6 2119.1 62.04 -15.55 74 384.23 0.00 0.00 0.00 0.000 0.000 0.000 2816.22 2810.00 2822.44 1792.38 2119.19 0 0 0 30.00 30.00 30.00
562.92 516 -77.86 -1.43 -80.00 2816.2 2810.4 2821.9 1792.0 2118.8 87.72 -13.03 110 568.78 0.00 0.00 4.22 0.000 0.000 0.147 2816.75 2810.25 2823.25 1791.19 662.69 0 0 0 30.00 30.00 15.43
622.96 1028 -77.86 -1.43 0.00 2815.6 2809.8 2821.4 1791.7 663.1 97.84 -18.53 122 628.69 0.00 0.00 3.56 0.000 0.000 0.052 2817.91 2811.44 2824.38 1792.06 2120.00 0 0 0 30.00 30.00 15.67
807.98 260 -77.86 -1.43 80.00 2816.1 2810.1 2822.0 1792.2 2120.2 122.85 -12.38 142 813.58 0.00 0.00 3.66 0.000 0.000 0.109 2818.44 2812.50 2824.38 1790.50 3475.62 0 0 0 30.00 30.00 15.55
826.82 1028 -77.86 -1.43 0.00 2815.7 2809.4 2821.9 1792.0 3475.1 125.23 -12.11 146 833.72 0.00 0.00 3.42 0.000 0.000 0.057 2817.84 2811.75 2823.94 1791.62 2081.25 0 0 0 30.00 30.00 15.64
1133.05 260 -77.86 -1.43 80.00 2815.8 2810.1 2821.5 1791.9 2081.4 163.28 -13.28 177 1138.68 0.00 0.00 3.82 0.000 0.000 0.108 2814.19 2807.69 2820.69 1791.44 3475.81 0 0 0 30.00 30.00 15.56
1158.13 1028 -77.86 -1.43 0.00 2816.2 2809.8 2822.5 1791.7 3475.5 166.55 -13.82 182 1163.62 0.00 0.00 3.41 0.000 0.000 0.056 2817.19 2811.12 2823.25 1791.44 2080.38 0 0 0 30.00 30.00 15.66
1463.12 516 -77.86 -1.43 -80.00 2815.9 2809.7 2822.2 1791.6 2080.8 201.05 -11.83 213 1468.94 0.00 0.00 4.07 0.000 0.000 0.151 2815.00 2808.94 2821.06 1791.56 663.06 0 0 0 30.00 30.00 15.44
1522.04 1028 -77.86 -1.43 0.00 2816.1 2810.0 2822.1 1791.8 663.2 208.95 -13.63 225 1528.89 0.00 0.00 3.51 0.000 0.000 0.051 2816.78 2810.75 2822.81 1791.69 2120.06 0 0 0 30.00 30.00 15.71
1828.19 0 -77.86 -1.43 0.00 2816.2 2810.4 2822.1 1791.9 2119.9 242.32 -10.83 256 1829.52 0.00 0.00 0.00 0.000 0.000 0.000 2816.16 2810.12 2822.19 1791.12 2119.94 0 0 0 30.00 30.00 30.00
2128.21 260 -77.86 -1.43 80.00 2816.6 2810.8 2822.3 1791.9 2120.2 276.47 -11.47 286 2133.82 0.00 0.00 3.67 0.000 0.000 0.112 2818.44 2813.31 2823.56 1791.62 3474.12 0 0 0 30.00 30.00 15.55
2247.09 1028 -77.86 -1.43 0.00 2817.0 2810.9 2823.1 1791.8 3474.4 292.37 -13.09 310 2254.00 0.00 0.00 3.43 0.000 0.000 0.059 2817.28 2811.56 2823.00 1791.81 2082.44 0 0 0 30.00 30.00 15.65
2553.29 516 -77.86 -1.43 -80.00 2816.6 2810.4 2822.7 1791.9 2081.9 327.33 -11.66 341 2559.10 0.00 0.00 4.13 0.000 0.000 0.152 2818.50 2812.25 2824.75 1791.06 663.19 0 0 0 30.00 30.00 15.41
2578.28 1028 -77.86 -1.43 0.00 2816.8 2810.8 2822.8 1792.0 663.0 330.58 -12.83 346 2583.00 0.00 0.00 3.52 0.000 0.000 0.051 2817.62 2811.50 2823.75 1792.06 2120.94 0 0 0 30.00 30.00 15.72
2888.33 0 -77.86 -1.43 0.00 2816.8 2810.1 2823.5 1792.0 2121.9 365.39 -11.35 378 2889.66 0.00 0.00 0.00 0.000 0.000 0.000 2816.41 2810.75 2822.06 1791.50 2121.00 0 0 0 30.00 30.00 30.00
3188.36 516 -77.86 -1.43 -80.00 2816.2 2810.0 2822.3 1791.8 2121.4 397.93 -10.80 408 3194.21 0.00 0.00 4.22 0.000 0.000 0.152 2815.12 2809.81 2820.44 1791.75 663.25 0 0 0 30.00 30.00 15.39
3223.37 1028 -77.86 -1.43 0.00 2816.6 2810.4 2822.8 1792.1 663.1 401.97 -11.63 415 3228.08 0.00 0.00 3.50 0.000 0.000 0.053 2817.81 2811.62 2824.00 1791.81 2119.50 0 0 0 30.00 30.00 15.70
3533.41 516 -77.86 -1.43 -80.00 2816.0 2809.9 2822.1 1791.8 2119.6 435.91 -11.25 447 3539.24 0.00 0.00 4.22 0.000 0.000 0.154 2818.66 2812.75 2824.56 1791.19 663.62 0 0 0 30.00 30.00 15.37
3548.47 1028 -77.86 -1.43 0.00 2816.1 2809.7 2822.5 1791.1 664.3 437.67 -11.53 450 3554.06 0.00 0.00 3.51 0.000 0.000 0.054 2818.78 2812.81 2824.75 1790.56 2120.25 0 0 0 30.00 30.00 15.69
3853.45 260 -77.86 -1.43 80.00 2815.8 2810.4 2821.3 1791.6 2120.8 470.63 -10.80 481 3859.04 0.00 0.00 3.69 0.000 0.000 0.117 2815.19 2808.75 2821.62 1792.19 3475.06 0 0 0 30.00 30.00 15.50
3942.28 1028 -77.86 -1.43 0.00 2816.1 2810.1 2822.0 1791.8 3474.8 481.58 -13.17 499 3949.20 0.00 0.00 3.44 0.000 0.000 0.061 2817.03 2811.00 2823.06 1792.06 2082.75 0 0 0 30.00 30.00 15.61
4118 end dive: TARGET_DEPTH_EXCEEDED
state 4118 begin apogee
4119.68 10243 0.00 -0.25 0.00 2815.5 2809.6 2821.4 1792.2 2120.8 500.20 -10.50 517 4190.35 64.82 2.21 0.09 1.647 0.146 0.243 2498.38 2505.75 2491.00 2080.06 2085.50 0 0 0 10.96 15.50 15.19
4192 end apogee: CONTROL_FINISHED_OK
state 4192 begin climb
4192.79 10503 77.86 1.43 80.00 2497.7 2505.1 2490.3 2079.5 2085.4 502.39 0.00 524 4271.79 69.51 2.95 3.94 1.595 0.083 0.113 2181.16 2193.56 2168.75 2490.50 3473.69 0 0 0 12.10 15.31 14.96
4289.58 11303 150.86 1.65 0.00 2178.7 2191.4 2166.0 2492.2 3474.2 498.35 3.69 543 4361.85 66.65 0.32 3.52 1.569 0.065 0.056 1883.50 1908.44 1858.56 2550.19 2081.25 0 0 0 11.99 15.12 15.19
4659.60 16646 150.86 1.65 80.00 1874.5 1904.7 1844.4 2550.6 2081.4 456.11 13.02 587 4665.22 0.00 0.00 3.82 0.000 0.000 0.113 1874.03 1903.31 1844.75 2550.00 3474.12 0 0 0 30.00 30.00 15.47
4714.60 17414 150.86 1.65 0.00 1873.2 1902.2 1844.3 2550.4 3473.4 448.89 12.65 598 4720.16 0.00 0.00 3.47 0.000 0.000 0.059 1872.94 1901.88 1844.00 2551.06 2079.69 0 0 0 30.00 30.00 15.57
5019.63 16646 150.86 1.65 80.00 1871.2 1902.2 1840.1 2550.4 2079.9 408.66 13.73 629 5025.25 0.00 0.00 3.82 0.000 0.000 0.112 1870.53 1901.94 1839.12 2551.25 3473.19 0 0 0 30.00 30.00 15.54
5054.62 17414 150.86 1.65 0.00 1870.7 1901.2 1840.1 2551.2 3472.8 403.62 15.43 636 5059.19 0.00 0.00 3.44 0.000 0.000 0.059 1872.41 1902.69 1842.12 2550.19 2078.38 0 0 0 30.00 30.00 15.64
5364.66 16902 150.86 1.65 -80.00 1869.8 1900.8 1838.8 2550.9 2080.2 362.99 12.63 668 5370.43 0.00 0.00 3.98 0.000 0.000 0.139 1870.94 1901.19 1840.69 2550.44 663.06 0 0 0 30.00 30.00 15.47
5409.67 17414 150.86 1.65 0.00 1869.3 1900.1 1838.6 2551.0 662.9 356.61 14.76 677 5414.28 0.00 0.00 3.48 0.000 0.000 0.048 1870.28 1900.50 1840.06 2552.06 2125.75 0 0 0 30.00 30.00 15.71
5719.70 16386 150.86 1.65 0.00 1868.9 1899.8 1837.9 2551.4 2127.2 319.85 11.00 709 5721.03 0.00 0.00 0.00 0.000 0.000 0.000 1868.16 1899.19 1837.12 2551.38 2127.69 0 0 0 30.00 30.00 30.00
6019.75 16902 150.86 1.65 -80.00 1868.2 1899.7 1836.7 2550.7 2127.8 286.32 11.44 739 6025.58 0.00 0.00 4.11 0.000 0.000 0.135 1866.91 1898.38 1835.44 2551.00 663.19 0 0 0 30.00 30.00 15.47
6048.65 17414 150.86 1.65 0.00 1868.1 1899.3 1836.8 2551.4 663.1 282.70 12.02 745 6055.51 0.00 0.00 3.48 0.000 0.000 0.050 1868.97 1899.31 1838.62 2550.00 2126.00 0 0 0 30.00 30.00 15.74
6354.83 16902 150.86 1.65 -80.00 1867.1 1899.4 1834.8 2551.3 2126.2 251.67 9.36 776 6360.62 0.00 0.00 4.09 0.000 0.000 0.134 1866.84 1897.56 1836.12 2550.44 662.88 0 0 0 30.00 30.00 15.46
6419.91 17414 150.86 1.65 0.00 1866.8 1898.5 1835.2 2551.2 662.9 244.16 11.90 789 6424.55 0.00 0.00 3.47 0.000 0.000 0.051 1867.75 1899.44 1836.06 2550.69 2125.94 0 0 0 30.00 30.00 15.74
6729.92 16646 150.86 1.65 80.00 1866.5 1898.4 1834.6 2551.4 2126.6 214.51 9.82 821 6735.52 0.00 0.00 3.63 0.000 0.000 0.113 1864.84 1896.94 1832.75 2551.38 3475.25 0 0 0 30.00 30.00 15.52
6744.92 17414 150.86 1.65 0.00 1866.2 1897.9 1834.6 2551.4 3474.2 212.98 10.51 824 6749.45 0.00 0.00 3.39 0.000 0.000 0.054 1864.53 1895.00 1834.06 2550.94 2078.75 0 0 0 30.00 30.00 15.67
7055.00 16966 150.86 1.67 -80.00 1865.8 1897.7 1834.0 2551.2 2076.8 184.92 9.05 856 7060.76 0.00 0.00 3.98 0.000 0.000 0.135 1867.50 1898.88 1836.12 2551.69 662.81 0 0 0 30.00 30.00 15.43
7093.89 17414 150.86 1.67 0.00 1865.7 1897.8 1833.7 2551.5 663.0 180.82 10.28 864 7100.74 0.00 0.00 3.47 0.000 0.000 0.047 1865.84 1897.88 1833.81 2551.25 2129.62 0 0 0 30.00 30.00 15.73
7400.08 16966 150.86 1.69 -80.00 1865.4 1897.6 1833.2 2551.7 2129.8 153.73 9.15 895 7405.88 0.00 0.00 4.11 0.000 0.000 0.132 1865.28 1896.56 1834.00 2550.31 662.88 0 0 0 30.00 30.00 15.42
7525.10 17414 150.86 1.69 0.00 1865.8 1897.8 1833.8 2551.7 663.2 139.16 12.27 920 7529.80 0.00 0.00 3.50 0.000 0.000 0.051 1865.59 1896.44 1834.75 2550.56 2127.06 0 0 0 30.00 30.00 15.73
7835.18 8486 185.50 1.80 80.00 1865.4 1897.5 1833.4 2551.1 2127.6 115.00 6.90 952 7869.96 27.89 0.00 3.65 1.203 0.000 0.114 1742.53 1775.12 1709.94 2551.19 3474.88 0 0 0 11.19 30.00 15.48
7975.20 3141 185.50 1.84 0.00 1740.0 1771.9 1708.2 2551.5 3475.4 104.28 8.45 980 7981.06 0.00 0.22 3.45 0.000 0.081 0.055 1738.41 1770.38 1706.44 2596.19 2078.00 0 0 0 30.00 15.41 15.60
8280.26 580 185.50 1.88 -80.00 1738.1 1771.6 1704.6 2597.2 2077.8 79.32 8.31 1035 8286.07 0.00 0.00 3.99 0.000 0.000 0.135 1739.41 1772.75 1706.06 2596.00 663.00 0 0 0 30.00 30.00 15.40
8510.29 11303 240.57 2.05 0.00 1738.1 1771.0 1705.2 2596.2 663.0 64.81 5.19 1081 8563.11 47.46 0.26 3.54 1.143 0.068 0.048 1517.88 1551.19 1484.56 2647.94 2131.00 0 0 0 11.62 15.49 15.71
8741.01 516 240.57 2.05 -80.00 1514.1 1549.8 1478.4 2647.8 2131.4 41.87 9.75 1127 8746.80 0.00 0.00 4.16 0.000 0.000 0.129 1514.31 1550.06 1478.56 2648.00 662.12 0 0 0 30.00 30.00 15.37
8956.11 1092 240.57 2.08 0.00 1512.7 1547.4 1478.1 2648.0 662.0 20.56 8.76 1170 8961.79 0.00 0.00 3.54 0.000 0.000 0.046 1513.22 1548.19 1478.25 2648.12 2129.06 0 0 0 30.00 30.00 15.62
9141.11 8742 268.21 2.16 -80.00 1511.1 1547.1 1475.1 2647.9 2129.5 5.68 7.49 1207 9173.75 26.40 0.00 4.07 1.032 0.000 0.126 1405.38 1440.88 1369.88 2648.19 661.12 0 0 0 11.52 30.00 15.45
9196 end climb: SURFACE_DEPTH_REACHED
state 9196 begin surface coast
9221 end surface coast: CONTROL_FINISHED_OK
state 9221 begin surface