WA coast Apr08 * SG101 * Dive index * Mission links * Dive 77 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  101 HD_C  3.1312e-05 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0
MISSION  5 HEADING  -1 PITCH_ADJ_GAIN  0.039999999 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  77 ESCAPE_HEADING  60 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  180 ALTIM_TOP_MIN_OBSTACLE  1
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3635 ALTIM_PING_DEPTH  125
D_TGT  990 TGT_DEFAULT_LAT  48.150002 ROLL_DEG  40 ALTIM_PING_DELTA  25
D_ABORT  1090 TGT_DEFAULT_LON  -125.67 C_ROLL_DIVE  2550 ALTIM_FREQUENCY  13
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2000 ALTIM_PULSE  5
D_FINISH  0 SM_CC  350 HEAD_ERRBAND  15 ALTIM_SENSITIVITY  4
D_PITCH  0 N_FILEKB  4 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 FILEMGR  0 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  0
D_CALL  0 CALL_NDIVES  1 R_PORT_OVSHOOT  27 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  21 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  350 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  1 DEVICE1  2
T_DIVE  440 N_NOSURFACE  0 ROLL_ADJ_GAIN  0 DEVICE2  20
T_MISSION  480 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0 DEVICE3  35
T_ABORT  1440 CALL_TRIES  5 VBD_MIN  294 DEVICE4  -1
T_TURN  225 CALL_WAIT  60 VBD_MAX  3583 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  2473 DEVICE6  -1
T_NO_W  120 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  -1 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  15 VBD_TIMEOUT  720 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.0012300001 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  5 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -692228.62 VBD_PUMP_AD_RATE_APOGEE  2 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  57 VBD_BLEED_AD_RATE  10 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_PEAK_OFFSET  1.5 UNCOM_BLEED  20 XPDR_DEVICE  24
MAX_BUOY  120 RAFOS_CORR_THRESH  60 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  2 SIM_PITCH  0
GLIDE_SLOPE  30 PITCH_MIN  29 AH0_24V  91.800003 SEABIRD_T_G  0.0043762224
SPEED_FACTOR  0.94999993 PITCH_MAX  3302 AH0_10V  61.200001 SEABIRD_T_H  0.0006433985
RHO  1.023 C_PITCH  2500 PRESSURE_YINT  -14.435382 SEABIRD_T_I  2.5567888e-05
MASS  50300 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.000115925 SEABIRD_T_J  2.722762e-06
NAV_MODE  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -10.209094
FERRY_MAX  45 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  -1.3 SEABIRD_C_H  1.1488034
KALMAN_USE  1 PITCH_GAIN  11 TCM_ROLL_OFFSET  -0.2 SEABIRD_C_I  -0.0015548224
HD_A  0.0034169999 PITCH_TIMEOUT  17 COMPASS_USE  0 SEABIRD_C_J  0.00021813136
HD_B  0.0095870001 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  234401,4701.349,-12710.963,41,2.0,46,18.6 TGT_NAME  GRAYS_HARBOR
_CALLS  2 TGT_LATLONG  4700.000,-12458.000
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.207,-0.045
_SM_DEPTHo  1.79 KALMAN_X  19176.1,-200.6,-84.4,-133536.1,469.2
_SM_ANGLEo  -61.7 KALMAN_Y  31362.9,153.9,-58.9,-154549.0,1037.5
GPS2  235526,4701.321,-12710.941,14,1.8,31,18.6 MHEAD_RNG_PITCHd_Wd  83.6,167931,-15.6,-7.500
SPEED_LIMITS  0.123,0.201 D_GRID  1001

Post-dive calculations and measurements:
FINISH  1.1,1.024211 XPDR_PINGS  0
SM_CCo  23834,73.72,0.696,6,0,1045,350.04 _24V_AH  23.2,16.151
SM_GC  1.99,0.00,0.00,73.72,0.000,0.000,0.696,30,2559,1045,-11.36,0.25,350.04 _10V_AH  10.1,8.222
IRIDIUM_FIX  4644.93,-12709.87,110797,232301 DATA_FILE_SIZE  41076,793
TT8_MAMPS  0.026078 CAP_FILE_SIZE  184936,0
HUMID  1798 CFSIZE  260165632,253583360
INTERNAL_PRESSURE  8.88706 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,4,6,0
TCM_TEMP  17.20 GPS  170408,063638,4701.524,-12707.380,33,1.6,33,18.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2814899.94 SBE_CT56524314.87
Roll_motor273102646.57 SBE_O263019277.74
VBD_pump_during_apogee350147411990.21 WL_BB2F8801052144.23
VBD_pump_during_surface736951189.89 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init53103127.31 nil000.00
Iridium_during_connect70160261.97 nil000.00
Iridium_during_xfer3302231709.69
Transponder_ping842085.26
Mmodem_TX000.00
Mmodem_RX000.00
GPS315015.78
TT8177919355.77
LPSleep184722408.58
TT8_Active64619129.23
TT8_Sampling2775391115.53
TT8_CF895045439.76
TT8_Kalman338127.56
Analog_circuits202012244.83
GPS_charging000.00
Compass26848216.87
RAFOS000.00

Guidance and control:
st_secs pitch_ctl vbd_ctl 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
23 end surface: CONTROL_FINISHED_OK
state 23 begin dive
27 -1.57 -117.3 0.0 0.0 0 79 0.00 0.00 -50.67 0.000 2 0.000 0.000 26 2565 2078
84 -1.57 -117.3 3.1 -3.7 5 138 10.95 2.62 -32.70 0.000 4 0.122 0.065 2154 1148 2953
375 -1.45 -117.3 42.5 -15.0 32 382 0.15 2.50 0.00 0.000 6 0.149 0.044 2178 2555 2952
718 -1.38 -117.3 91.2 -14.3 86 720 0.10 0.00 0.00 0.000 6 0.117 0.000 2195 2555 2953
1040 -1.38 -117.3 126.3 -9.6 116 1045 0.00 2.55 0.00 0.000 4 0.000 0.051 2195 1142 2953
1142 -1.38 -117.3 136.5 -9.4 124 1148 0.00 2.50 0.00 0.000 6 0.000 0.044 2195 2553 2953
1464 -1.38 -117.3 164.8 -8.3 147 1468 0.00 2.53 0.00 0.000 4 0.000 0.051 2195 1147 2952
1514 -1.42 -117.3 169.2 -8.3 149 1519 0.00 2.50 0.00 0.000 6 0.000 0.043 2195 2556 2952
1831 -1.42 -117.3 194.9 -8.0 164 1836 0.00 2.53 0.00 0.000 4 0.000 0.051 2195 1147 2952
1910 -1.47 -117.3 201.4 -8.0 167 1917 0.00 2.50 0.00 0.000 6 0.000 0.045 2195 2558 2953
2229 -1.47 -117.3 226.5 -8.3 183 2234 0.00 2.53 0.00 0.000 4 0.000 0.051 2195 1147 2952
2298 -1.52 -117.3 232.7 -8.4 186 2302 0.12 2.50 0.00 0.000 6 0.109 0.046 2173 2553 2952
2621 -1.52 -117.3 263.1 -9.4 202 2625 0.00 2.53 0.00 0.000 4 0.000 0.054 2173 1148 2952
2688 -1.52 -117.3 269.6 -9.4 205 2692 0.00 2.50 0.00 0.000 6 0.000 0.047 2173 2550 2952
3011 -1.52 -117.3 299.9 -9.4 221 3016 0.00 2.53 0.00 0.000 4 0.000 0.054 2173 1148 2952
3055 -1.52 -117.3 304.5 -9.7 222 3060 0.00 2.53 0.00 0.000 6 0.000 0.050 2173 2558 2952
3377 -1.52 -117.3 333.7 -9.1 228 3381 0.00 2.58 0.00 0.000 4 0.000 0.058 2173 1141 2952
3450 -1.52 -117.3 340.3 -9.0 229 3454 0.00 2.53 0.00 0.000 6 0.000 0.051 2173 2548 2951
3804 -1.52 -117.3 370.7 -8.5 235 3808 0.00 2.58 0.00 0.000 4 0.000 0.062 2173 1141 2952
3868 -1.52 -117.3 375.7 -8.0 236 3872 0.00 2.55 0.00 0.000 6 0.000 0.054 2173 2550 2951
4233 -1.52 -117.3 406.0 -8.2 242 4238 0.00 2.60 0.00 0.000 4 0.000 0.067 2173 1146 2951
4284 -1.52 -117.3 410.4 -8.8 242 4289 0.00 2.58 0.00 0.000 6 0.000 0.061 2172 2551 2951
4594 -1.52 -117.3 437.1 -8.7 247 4598 0.00 2.62 0.00 0.000 4 0.000 0.072 2173 1148 2951
4678 -1.52 -117.3 444.8 -9.1 248 4682 0.00 2.60 0.00 0.000 6 0.000 0.067 2173 2555 2950
5022 -1.52 -117.3 475.8 -9.2 254 5026 0.00 2.67 0.00 0.000 4 0.000 0.083 2173 1150 2950
5094 -1.52 -117.3 482.5 -8.9 255 5099 0.00 2.65 0.00 0.000 6 0.000 0.077 2173 2556 2949
5449 -1.52 -117.3 511.8 -8.2 261 5453 0.00 2.72 0.00 0.000 4 0.000 0.090 2173 1146 2949
5538 -1.52 -117.3 519.3 -8.3 262 5543 0.00 2.67 0.00 0.000 6 0.000 0.084 2173 2549 2949
5876 -1.52 -117.3 547.0 -8.2 268 5880 0.00 2.70 0.00 0.000 4 0.000 0.091 2173 1153 2948
5965 -1.52 -117.3 554.6 -8.1 269 5970 0.00 2.70 0.00 0.000 6 0.000 0.085 2173 2556 2948
6302 -1.52 -117.3 581.1 -7.9 275 6307 0.00 2.72 0.00 0.000 4 0.000 0.090 2173 1147 2948
6392 -1.56 -117.3 588.5 -8.3 276 6397 0.00 2.70 0.00 0.000 6 0.000 0.084 2173 2555 2948
6730 -1.56 -117.3 613.7 -7.5 282 6735 0.00 2.70 0.00 0.000 4 0.000 0.088 2173 1152 2947
6793 -1.56 -117.3 618.7 -8.1 283 6797 0.00 2.67 0.00 0.000 6 0.000 0.083 2172 2556 2947
7158 -1.56 -117.3 646.7 -7.7 289 7163 0.00 2.70 0.00 0.000 4 0.000 0.087 2172 1152 2947
7248 -1.60 -117.3 654.4 -8.6 290 7253 0.00 2.67 0.00 0.000 6 0.000 0.082 2173 2552 2947
7586 -1.60 -117.3 683.2 -8.6 296 7591 0.00 2.67 0.00 0.000 4 0.000 0.085 2173 1154 2946
7649 -1.64 -117.3 688.7 -9.4 297 7654 0.15 2.65 0.00 0.000 6 0.119 0.081 2146 2550 2946
8015 -1.64 -117.3 723.9 -9.6 303 8019 0.00 2.67 0.00 0.000 4 0.000 0.087 2146 1153 2946
8082 -1.64 -117.3 730.6 -10.2 304 8087 0.00 2.67 0.00 0.000 6 0.000 0.080 2146 2558 2946
8443 -1.64 -117.3 764.7 -9.5 310 8447 0.00 2.70 0.00 0.000 4 0.000 0.087 2146 1151 2945
8505 -1.64 -117.3 770.6 -9.7 311 8510 0.00 2.65 0.00 0.000 6 0.000 0.080 2146 2551 2945
8872 -1.64 -117.3 801.9 -8.4 317 8877 0.00 2.67 0.00 0.000 4 0.000 0.086 2146 1154 2945
8951 -1.64 -117.3 808.5 -7.7 318 8955 0.00 2.65 0.00 0.000 6 0.000 0.080 2146 2550 2945
9300 -1.64 -117.3 834.7 -7.4 324 9304 0.00 2.67 0.00 0.000 4 0.000 0.086 2146 1154 2944
9363 -1.64 -117.3 839.3 -7.2 325 9367 0.00 2.67 0.00 0.000 6 0.000 0.081 2146 2556 2944
9729 -1.64 -117.3 866.7 -7.6 331 9733 0.00 2.70 0.00 0.000 4 0.000 0.085 2146 1146 2944
9791 -1.64 -117.3 871.7 -7.7 332 9795 0.00 2.67 0.00 0.000 6 0.000 0.081 2146 2556 2944
10157 -1.64 -117.3 900.2 -7.9 338 10162 0.00 2.70 0.00 0.000 4 0.000 0.087 2146 1148 2944
10224 -1.64 -117.3 906.0 -9.1 339 10229 0.00 2.65 0.00 0.000 6 0.000 0.081 2146 2551 2944
10585 -1.64 -117.3 934.5 -7.9 345 10586 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2551 2943
10890 -1.64 -117.3 957.3 -7.4 350 10894 0.00 2.67 0.00 0.000 4 0.000 0.086 2146 1153 2943
10968 -1.64 -117.3 963.6 -8.2 351 10972 0.00 2.65 0.00 0.000 6 0.000 0.080 2146 2551 2943
11318 -1.64 -117.3 989.7 -7.5 357 11322 0.00 2.15 0.00 0.000 3 0.000 0.081 2146 1414 2943
11323 end dive: TARGET_DEPTH_EXCEEDED
state 11323 begin apogee
11332 -0.45 0.0 990.2 7.5 357 11437 1.15 0.00 100.72 1.475 6 0.072 0.000 2394 2004 2473
11437 end apogee: CONTROL_FINISHED_OK
state 11437 begin climb
11441 1.57 117.3 992.4 0.0 358 11549 1.98 0.00 103.32 1.419 6 0.050 0.000 2843 2003 1994
11807 1.37 117.3 968.1 8.7 364 11812 0.20 2.80 0.00 0.000 4 0.108 0.102 2803 3407 1993
11875 1.19 117.3 961.9 8.8 365 11880 0.22 2.60 0.00 0.000 6 0.118 0.061 2762 2009 1993
12236 1.12 120.7 935.1 7.4 371 12245 0.00 2.80 4.22 0.907 4 0.000 0.097 2762 3407 1981
12368 1.03 120.7 924.6 8.2 373 12374 0.20 2.62 0.00 0.000 6 0.127 0.061 2727 1995 1981
12735 1.04 133.8 898.8 6.9 379 12754 0.00 2.88 13.50 1.292 4 0.000 0.096 2727 3398 1927
12862 1.05 136.2 889.2 7.4 380 12871 0.00 2.60 4.12 0.889 6 0.000 0.061 2727 1999 1917
13239 1.05 138.4 861.4 7.4 387 13244 0.00 2.80 0.00 0.000 4 0.000 0.096 2727 3412 1917
13330 1.05 138.4 854.1 8.3 388 13334 0.00 2.62 0.00 0.000 6 0.000 0.059 2727 1992 1917
13667 1.06 145.2 829.9 7.2 394 13682 0.00 2.85 9.23 1.206 4 0.000 0.096 2727 3412 1881
13801 1.06 145.2 819.7 7.5 396 13805 0.00 2.60 0.00 0.000 6 0.000 0.060 2727 1998 1880
14161 1.08 162.2 795.2 6.7 402 14185 0.00 2.85 16.77 1.273 4 0.000 0.094 2727 3409 1811
14259 1.11 183.0 788.0 6.6 403 14284 0.00 2.62 19.58 1.266 6 0.000 0.059 2727 1996 1726
14596 1.16 188.9 763.6 7.2 409 14610 0.12 2.85 7.03 1.086 4 0.064 0.093 2758 3402 1702
14695 1.16 188.9 755.0 8.8 410 14700 0.00 2.60 0.00 0.000 6 0.000 0.058 2758 1998 1701
15028 1.16 188.9 726.7 8.5 416 15032 0.00 2.78 0.00 0.000 4 0.000 0.094 2758 3408 1701
15100 1.16 188.9 720.0 9.3 417 15105 0.00 2.60 0.00 0.000 6 0.000 0.058 2758 1995 1701
15455 1.16 188.9 688.7 8.9 423 15460 0.00 2.78 0.00 0.000 4 0.000 0.093 2758 3408 1701
15523 1.16 188.9 682.4 9.4 424 15527 0.00 2.60 0.00 0.000 6 0.000 0.058 2758 1992 1701
15883 1.16 188.9 650.3 9.0 430 15884 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 1993 1701
16186 1.16 188.9 624.1 8.6 435 16190 0.00 2.78 0.00 0.000 4 0.000 0.093 2758 3408 1701
16275 1.16 188.9 616.1 7.9 436 16280 0.00 2.60 0.00 0.000 6 0.000 0.058 2758 1992 1701
16613 1.16 188.9 587.9 8.4 442 16618 0.00 2.78 0.00 0.000 4 0.000 0.091 2758 3411 1701
16658 1.16 188.9 583.9 8.4 442 16662 0.00 2.60 0.00 0.000 6 0.000 0.057 2758 1992 1701
16973 1.16 188.9 556.9 8.6 448 16974 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 1993 1701
17276 1.16 188.9 529.1 9.3 453 17281 0.00 2.75 0.00 0.000 4 0.000 0.090 2758 3407 1701
17371 1.16 188.9 520.0 9.5 454 17375 0.00 2.58 0.00 0.000 6 0.000 0.054 2758 1992 1701
17703 1.16 188.9 492.5 8.3 460 17707 0.00 2.72 0.00 0.000 4 0.000 0.086 2758 3408 1701
17747 1.16 188.9 488.7 8.1 460 17752 0.00 2.55 0.00 0.000 6 0.000 0.052 2758 1999 1701
18063 1.16 188.9 463.2 8.1 466 18067 0.00 2.70 0.00 0.000 4 0.000 0.083 2758 3408 1701
18102 1.16 188.9 460.1 7.8 466 18106 0.00 2.55 0.00 0.000 6 0.000 0.050 2758 1995 1701
18423 1.17 197.4 436.9 7.1 472 18437 0.00 2.75 8.68 0.992 4 0.000 0.079 2758 3409 1668
18483 1.17 197.4 432.3 7.7 472 18490 0.00 2.55 0.00 0.000 6 0.000 0.050 2758 1998 1668
18794 1.18 204.7 410.1 7.2 478 18808 0.00 2.75 8.05 0.960 4 0.000 0.075 2758 3407 1638
18871 1.18 204.7 403.9 7.9 479 18875 0.00 2.53 0.00 0.000 6 0.000 0.048 2758 1998 1638
19226 1.18 204.7 375.9 8.0 485 19230 0.00 2.67 0.00 0.000 4 0.000 0.074 2758 3416 1638
19293 1.18 204.7 370.1 8.0 486 19297 0.00 2.55 0.00 0.000 6 0.000 0.046 2758 1987 1638
19652 1.18 204.7 342.1 7.7 492 19657 0.00 2.65 0.00 0.000 4 0.000 0.072 2758 3410 1638
19748 1.18 204.7 334.6 8.5 493 19752 0.00 2.53 0.00 0.000 6 0.000 0.045 2758 1989 1638
20080 1.20 218.4 311.5 6.9 499 20099 0.00 2.75 13.12 0.966 4 0.000 0.071 2758 3408 1582
20156 1.20 218.4 305.9 7.8 500 20161 0.00 2.53 0.00 0.000 6 0.000 0.044 2758 1994 1581
20475 1.26 227.5 283.1 7.1 512 20490 0.00 2.70 9.18 0.902 4 0.000 0.070 2758 3412 1545
20531 1.26 227.5 278.8 8.1 514 20535 0.00 2.53 0.00 0.000 6 0.000 0.044 2758 2000 1545
20848 1.32 227.5 253.4 8.4 529 20853 0.12 2.65 0.00 0.000 4 0.064 0.068 2789 3415 1545
20943 1.32 227.5 244.0 9.1 533 20948 0.00 2.53 0.00 0.000 6 0.000 0.044 2789 1995 1545
21260 1.32 227.5 213.0 10.2 548 21264 0.00 2.65 0.00 0.000 4 0.000 0.068 2789 3415 1545
21327 1.32 227.5 206.0 10.7 551 21331 0.00 2.53 0.00 0.000 6 0.000 0.043 2789 1990 1545
21648 1.32 227.5 174.5 10.0 567 21653 0.00 2.65 0.00 0.000 4 0.000 0.067 2789 3416 1545
21727 1.32 227.5 166.2 11.0 570 21733 0.00 2.50 0.00 0.000 6 0.000 0.043 2789 1989 1545
22048 1.32 227.5 137.8 8.9 592 22052 0.00 2.62 0.00 0.000 4 0.000 0.066 2789 3410 1545
22225 1.32 227.5 123.1 7.9 607 22230 0.00 2.50 0.00 0.000 6 0.000 0.041 2789 1995 1545
22555 1.37 235.7 99.5 7.1 637 22569 0.00 2.67 8.23 0.779 4 0.000 0.073 2789 598 1512
22612 1.37 235.7 94.8 7.8 642 22616 0.00 2.50 0.00 0.000 6 0.000 0.041 2789 2012 1512
22946 1.46 263.4 71.5 6.3 683 22981 0.12 2.72 24.65 0.823 4 0.059 0.067 2823 602 1399
23088 1.46 263.4 59.6 9.1 707 23095 0.00 2.47 0.00 0.000 6 0.000 0.040 2823 2002 1399
23427 1.46 263.4 30.2 8.4 757 23428 0.00 0.00 0.00 0.000 6 0.000 0.000 2823 2002 1399
23749 1.54 263.4 5.1 8.0 787 23755 0.00 0.00 0.00 0.000 6 0.000 0.000 2823 2002 1399
23785 end climb: SURFACE_DEPTH_REACHED
state 23785 begin surface coast
23807 end surface coast: CONTROL_FINISHED_OK
state 23807 begin surface