NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 773 * 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  773 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  180 CAPMAXSIZE  100000 LOITER_DBDW  0 LOGGERDEVICE3  -1
T_MISSION  200 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  0 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  65.023026 SEABIRD_T_G  0.0043000001
RELAUNCH  1 PITCH_DBAND  0.1 FG_AHR_24V  189.69238 SEABIRD_T_H  0.00063999998
APOGEE_PITCH  -5 PITCH_CNV  0.0041299998 PHONE_SUPPLY  2 SEABIRD_T_I  2.4999999e-05
MAX_BUOY  120 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  080321,143225,4705.742,-12646.286,31,0.9,32,15.7 TGT_LATLONG  4709.570,-12640.320
_CALLS  1 TGT_RADIUS  7000.000
_SM_DEPTHo  0.03 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -64.7 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  080321,143935,4705.751,-12646.352,2,0.9,5,15.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.160,0.227 MHEAD_RNG_PITCHd_Wd  31.3,10378,-18.6,-9.259,-22.19
TGT_NAME  IN1 D_GRID  990

Post-dive calculations and measurements:
SM_CCo  9870.70,1.40,0.135,0,768.5,769.2,767.8,424.74 _10V_AH  14.79,0.000
SM_GC  -1.13,1.40,16.93,0.09,0.135,0.071,0.147,768.5,769.2,767.8,167.8,2078.1,0,0,0,15.20,15.50,15.62 FG_AHR_24Vo  189.904
SUPER  19,71,254,1,0,0 FG_AHR_10Vo  65.060
IRIDIUM_FIX  4704.02,-12646.50,080321,113436 MEM  1100000,51,75728,114
TCM_TEMP  188.30 DATA_FILE_SIZE  48149,1298
XPDR_PINGS  5,14.0,11.5 CAP_FILE_SIZE  506594,0
SC_FREEKB  3563264 SDSIZE  3918848,3705344
HUMID  57.68 SDFILEDIR  3891,1
TEMP  7.54 ERRORS  0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  7.76794 GPS  080321,172501,4706.713,-12645.336,29,0.9,29,15.7
_24V_AH  13.90,222.535

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump592263321674.00 legato000.00
Pitch_motor37245127.09 nil000.00
Roll_motor163237541.69 nil000.00
Iridium229206657.50 nil000.00
Transponder_ping14207.30 nil000.00
GPS13153.10 nil000.00
Core412611720.22 SciCon97996961.59
LPSleep61162253.30 nil000.00
Compass21795161.15 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
7.74 16386 -116.79 -1.28 0.00 764.2 772.1 756.2 169.0 2083.9 0.00 0.00 0 97.94 89.67 0.00 0.00 0.005 0.000 0.000 2722.72 2701.69 2743.75 169.12 2083.50 0 0 0 14.70 30.00 30.00
98.25 18695 -116.79 -1.28 80.00 2721.9 2701.2 2742.5 169.0 2082.9 3.86 -10.24 17 129.63 5.66 14.68 3.90 0.008 0.246 0.117 2975.47 2966.88 2984.06 1829.69 3474.38 0 0 0 14.93 15.18 14.79
352.44 1028 -116.79 -1.28 0.00 2975.5 2966.6 2984.3 1829.2 3474.1 55.48 -19.17 68 358.17 0.00 0.00 3.47 0.000 0.000 0.064 2978.00 2968.94 2987.06 1829.25 2084.50 0 0 0 30.00 30.00 15.56
537.55 260 -116.79 -1.28 80.00 2975.5 2966.8 2984.3 1829.6 2084.1 80.84 -11.98 105 543.28 0.00 0.00 3.85 0.000 0.000 0.112 2978.09 2969.44 2986.75 1829.12 3472.88 0 0 0 30.00 30.00 15.49
617.49 1028 -116.79 -1.28 0.00 2975.7 2966.9 2984.6 1829.6 3473.4 90.88 -12.69 121 623.25 0.00 0.00 3.44 0.000 0.000 0.061 2975.91 2967.31 2984.50 1829.31 2081.75 0 0 0 30.00 30.00 15.60
802.52 516 -116.79 -1.28 -80.00 2975.4 2966.7 2984.1 1829.6 2082.1 110.98 -10.39 148 808.35 0.00 0.00 4.11 0.000 0.000 0.156 2974.41 2965.94 2982.88 1829.06 663.00 0 0 0 30.00 30.00 15.38
897.54 1028 -116.79 -1.28 0.00 2975.8 2967.4 2984.3 1829.6 662.9 122.47 -12.20 167 902.25 0.00 0.00 3.57 0.000 0.000 0.053 2978.12 2969.56 2986.69 1827.88 2119.38 0 0 0 30.00 30.00 15.68
1207.58 260 -116.79 -1.28 80.00 2976.0 2967.3 2984.6 1829.8 2121.9 154.78 -10.43 199 1213.32 0.00 0.00 3.70 0.000 0.000 0.115 2975.31 2966.88 2983.75 1829.56 3475.12 0 0 0 30.00 30.00 15.52
1272.60 1028 -116.79 -1.28 0.00 2975.9 2967.1 2984.8 1829.4 3474.5 162.27 -11.07 212 1277.15 0.00 0.00 3.41 0.000 0.000 0.060 2976.00 2966.81 2985.19 1829.88 2082.50 0 0 0 30.00 30.00 15.63
1582.63 260 -116.79 -1.28 80.00 2975.8 2967.4 2984.2 1829.8 2081.8 195.31 -10.52 244 1588.40 0.00 0.00 3.82 0.000 0.000 0.113 2974.53 2965.81 2983.25 1829.56 3474.06 0 0 0 30.00 30.00 15.51
1647.64 1028 -116.79 -1.28 0.00 2976.0 2967.9 2984.0 1829.9 3473.6 202.89 -11.64 257 1652.19 0.00 0.00 3.43 0.000 0.000 0.061 2978.62 2970.00 2987.25 1829.06 2080.88 0 0 0 30.00 30.00 15.64
1957.71 0 -116.79 -1.28 0.00 2976.0 2967.3 2984.8 1829.8 2081.4 235.84 -10.52 289 1959.04 0.00 0.00 0.00 0.000 0.000 0.000 2976.00 2967.44 2984.56 1829.19 2081.00 0 0 0 30.00 30.00 30.00
2257.75 0 -116.79 -1.28 0.00 2976.2 2967.9 2984.5 1829.8 2081.0 266.13 -9.61 319 2259.08 0.00 0.00 0.00 0.000 0.000 0.000 2976.12 2967.12 2985.12 1829.56 2081.38 0 0 0 30.00 30.00 30.00
2557.82 260 -116.79 -1.28 80.00 2976.4 2968.1 2984.7 1829.6 2080.9 296.14 -9.94 349 2563.59 0.00 0.00 3.86 0.000 0.000 0.118 2976.72 2968.00 2985.44 1829.31 3473.38 0 0 0 30.00 30.00 15.49
2622.85 1028 -116.79 -1.28 0.00 2975.6 2967.1 2984.1 1830.6 3474.4 303.53 -11.42 362 2628.42 0.00 0.00 3.43 0.000 0.000 0.064 2978.31 2969.94 2986.69 1829.25 2083.06 0 0 0 30.00 30.00 15.62
2927.91 260 -116.79 -1.28 80.00 2976.0 2967.6 2984.4 1829.9 2082.8 335.16 -10.30 393 2933.68 0.00 0.00 3.85 0.000 0.000 0.117 2978.53 2970.38 2986.69 1829.88 3472.81 0 0 0 30.00 30.00 15.49
2976.78 1060 -116.79 -1.28 0.00 2975.7 2967.2 2984.2 1829.2 3473.6 337.34 -7.07 403 2983.68 0.00 0.00 3.42 0.000 0.000 0.063 2975.78 2967.25 2984.31 1830.19 2080.94 0 0 0 30.00 30.00 15.60
3283.03 0 -116.79 -1.28 0.00 2976.0 2967.9 2984.1 1830.4 2080.5 369.66 -10.85 434 3284.36 0.00 0.00 0.00 0.000 0.000 0.000 2975.16 2967.12 2983.19 1829.75 2081.25 0 0 0 30.00 30.00 30.00
3583.05 260 -116.79 -1.28 80.00 2975.7 2967.4 2984.1 1829.9 2080.8 398.70 -9.83 464 3588.71 0.00 0.00 3.91 0.000 0.000 0.120 2976.38 2967.25 2985.50 1829.50 3473.25 0 0 0 30.00 30.00 15.47
3621.89 1028 -116.79 -1.28 0.00 2975.6 2966.9 2984.2 1830.1 3474.2 403.23 -11.02 472 3628.81 0.00 0.00 3.45 0.000 0.000 0.065 2976.84 2968.56 2985.12 1830.19 2081.94 0 0 0 30.00 30.00 15.59
3928.13 260 -116.79 -1.28 80.00 2975.0 2966.9 2983.1 1829.8 2081.4 434.86 -10.05 503 3933.77 0.00 0.00 3.89 0.000 0.000 0.119 2975.03 2967.19 2982.88 1830.00 3473.75 0 0 0 30.00 30.00 15.45
3956.96 1028 -116.79 -1.28 0.00 2975.1 2967.2 2982.9 1830.4 3474.3 437.70 -10.98 509 3963.88 0.00 0.00 3.44 0.000 0.000 0.064 2975.06 2966.69 2983.44 1829.94 2082.19 0 0 0 30.00 30.00 15.59
4263.17 0 -116.79 -1.28 0.00 2974.8 2967.2 2982.4 1830.1 2082.2 468.34 -10.31 540 4264.50 0.00 0.00 0.00 0.000 0.000 0.000 2974.94 2967.56 2982.31 1829.94 2081.75 0 0 0 30.00 30.00 30.00
4563.20 260 -116.79 -1.28 80.00 2974.8 2967.8 2981.8 1830.2 2082.2 498.63 -9.67 570 4568.99 0.00 0.00 3.93 0.000 0.000 0.122 2974.22 2966.75 2981.69 1830.00 3473.69 0 0 0 30.00 30.00 15.42
4578 end dive: TARGET_DEPTH_EXCEEDED
state 4578 begin apogee
4583.15 10243 0.00 -0.25 0.00 2974.1 2967.1 2981.1 1829.8 2080.9 500.67 -10.42 573 4684.44 98.50 1.91 0.08 1.695 0.139 0.238 2498.38 2506.31 2490.44 2079.88 2119.50 0 0 0 10.75 15.49 14.91
4686 end apogee: CONTROL_FINISHED_OK
state 4686 begin climb
4687.00 10759 116.79 1.28 -80.00 2498.0 2505.2 2490.7 2080.4 2119.4 504.11 0.00 583 4802.83 106.19 2.72 4.31 1.635 0.082 0.148 2021.97 2045.50 1998.44 2453.38 664.19 0 0 0 11.78 15.12 14.71
4815.61 11303 181.31 1.47 0.00 2019.8 2045.4 1994.3 2454.4 664.2 502.79 5.79 608 4881.48 59.42 0.28 3.69 1.580 0.066 0.052 1759.94 1796.38 1723.50 2509.00 2122.69 0 0 0 11.60 14.98 15.04
5185.62 16646 181.31 1.47 80.00 1751.0 1792.1 1709.9 2509.2 2123.1 463.41 11.53 652 5191.25 0.00 0.00 3.78 0.000 0.000 0.123 1752.03 1792.56 1711.50 2508.69 3474.19 0 0 0 30.00 30.00 15.44
5210.69 17414 181.31 1.47 0.00 1749.9 1789.6 1710.2 2508.8 3473.9 460.66 11.86 657 5216.19 0.00 0.00 3.45 0.000 0.000 0.062 1748.44 1787.88 1709.00 2509.25 2081.00 0 0 0 30.00 30.00 15.57
5515.67 16902 181.31 1.47 -80.00 1749.0 1789.6 1708.4 2509.4 2081.1 425.99 10.64 688 5521.47 0.00 0.00 4.01 0.000 0.000 0.147 1748.00 1788.19 1707.81 2509.00 663.88 0 0 0 30.00 30.00 15.44
5570.69 17414 181.31 1.47 0.00 1748.7 1788.6 1708.8 2509.6 664.1 418.61 13.21 699 5575.39 0.00 0.00 3.54 0.000 0.000 0.056 1749.50 1789.69 1709.31 2509.00 2122.81 0 0 0 30.00 30.00 15.68
5880.75 16386 181.31 1.47 0.00 1747.6 1788.1 1707.0 2508.9 2124.0 383.59 10.54 731 5882.08 0.00 0.00 0.00 0.000 0.000 0.000 1747.62 1788.06 1707.19 2508.94 2124.12 0 0 0 30.00 30.00 30.00
6180.80 16902 181.31 1.47 -80.00 1747.0 1788.2 1705.8 2509.1 2124.0 350.47 11.03 761 6186.62 0.00 0.00 4.11 0.000 0.000 0.143 1746.47 1787.69 1705.25 2509.12 662.81 0 0 0 30.00 30.00 15.44
6239.72 17414 181.31 1.47 0.00 1746.7 1787.7 1705.8 2509.2 663.0 342.96 13.44 773 6246.57 0.00 0.00 3.54 0.000 0.000 0.056 1747.72 1788.88 1706.56 2508.50 2123.56 0 0 0 30.00 30.00 15.73
6545.87 16646 181.31 1.47 80.00 1746.3 1787.5 1705.1 2509.2 2123.2 311.12 10.20 804 6551.47 0.00 0.00 3.75 0.000 0.000 0.122 1745.78 1786.88 1704.69 2509.56 3473.25 0 0 0 30.00 30.00 15.50
6570.94 17414 181.31 1.47 0.00 1746.1 1787.1 1705.0 2509.6 3473.6 308.40 10.19 809 6576.44 0.00 0.00 3.40 0.000 0.000 0.060 1744.84 1786.06 1703.62 2508.81 2078.56 0 0 0 30.00 30.00 15.69
6875.95 16646 181.31 1.47 80.00 1745.8 1786.9 1704.8 2508.6 2078.7 278.62 9.82 840 6881.55 0.00 0.00 3.87 0.000 0.000 0.120 1744.53 1785.25 1703.81 2508.62 3473.06 0 0 0 30.00 30.00 15.49
6890.94 17414 181.31 1.47 0.00 1745.7 1786.6 1704.7 2509.2 3473.0 277.13 10.00 843 6895.47 0.00 0.00 3.40 0.000 0.000 0.060 1746.16 1786.94 1705.38 2508.81 2080.19 0 0 0 30.00 30.00 15.68
7200.99 16902 181.31 1.47 -80.00 1745.4 1786.2 1704.6 2509.4 2078.6 247.42 9.91 875 7206.77 0.00 0.00 3.97 0.000 0.000 0.144 1745.22 1786.06 1704.38 2508.69 663.19 0 0 0 30.00 30.00 15.38
7270.04 17414 181.31 1.47 0.00 1745.3 1786.2 1704.4 2509.2 662.8 239.45 12.10 889 7276.77 0.00 0.00 3.54 0.000 0.000 0.055 1745.97 1786.75 1705.19 2508.81 2125.75 0 0 0 30.00 30.00 15.71
7576.08 16902 181.31 1.47 -80.00 1745.6 1786.7 1704.4 2509.2 2125.8 208.18 10.56 920 7581.89 0.00 0.00 4.10 0.000 0.000 0.141 1745.19 1786.31 1704.06 2509.12 663.94 0 0 0 30.00 30.00 15.38
7805.02 17414 181.31 1.47 0.00 1745.6 1786.8 1704.4 2509.8 663.8 180.07 11.79 966 7811.90 0.00 0.00 3.56 0.000 0.000 0.057 1746.44 1787.69 1705.19 2509.25 2125.31 0 0 0 30.00 30.00 15.70
8111.16 16902 181.31 1.47 -80.00 1745.2 1786.4 1704.0 2508.9 2125.2 149.21 9.68 997 8116.96 0.00 0.00 4.09 0.000 0.000 0.139 1744.16 1785.25 1703.06 2509.31 662.19 0 0 0 30.00 30.00 15.36
8340.16 17414 181.31 1.47 0.00 1745.2 1786.1 1704.3 2508.8 662.1 124.17 10.77 1043 8347.09 0.00 0.00 3.57 0.000 0.000 0.056 1746.91 1787.50 1706.31 2508.69 2126.06 0 0 0 30.00 30.00 15.70
8646.31 16966 181.31 1.53 -80.00 1745.0 1786.1 1703.9 2509.6 2127.1 97.62 7.45 1077 8652.09 0.00 0.00 4.11 0.000 0.000 0.137 1746.91 1788.00 1705.81 2508.25 661.81 0 0 0 30.00 30.00 15.35
8876.28 17478 181.31 1.55 0.00 1745.0 1786.1 1703.9 2508.8 661.9 77.14 8.42 1123 8882.02 0.00 0.00 3.56 0.000 0.000 0.055 1745.03 1785.06 1705.00 2509.31 2125.88 0 0 0 30.00 30.00 15.71
9061.30 10275 243.84 1.74 0.00 1744.8 1785.8 1703.8 2509.4 2126.4 66.11 5.90 1160 9122.11 57.40 0.34 0.00 1.163 0.067 0.000 1506.12 1544.75 1467.50 2570.94 2125.62 0 0 0 10.65 15.74 30.00
9301.33 10535 328.83 1.99 80.00 1500.9 1541.6 1460.2 2571.8 2126.2 52.23 4.69 1208 9394.18 84.72 0.34 3.84 1.121 0.066 0.116 1159.03 1192.81 1125.25 2631.50 3472.38 0 0 0 11.48 15.55 15.04
9412.02 1028 328.83 1.99 0.00 1157.8 1190.9 1124.8 2632.0 3472.3 42.63 11.24 1230 9417.71 0.00 0.00 3.51 0.000 0.000 0.057 1157.50 1190.88 1124.12 2631.38 2078.19 0 0 0 30.00 30.00 15.33
9597.02 516 328.83 1.99 -80.00 1155.1 1191.1 1119.1 2631.8 2077.8 20.23 11.99 1267 9602.85 0.00 0.00 4.00 0.000 0.000 0.138 1155.41 1191.50 1119.31 2632.25 662.12 0 0 0 30.00 30.00 15.32
9637.04 1028 328.83 1.99 0.00 1155.1 1191.0 1119.2 2631.6 662.1 14.24 15.04 1275 9642.80 0.00 0.00 3.56 0.000 0.000 0.052 1155.31 1191.06 1119.56 2631.44 2125.88 0 0 0 30.00 30.00 15.56
9736 end climb: SURFACE_DEPTH_REACHED
state 9737 begin surface coast
9751 end surface coast: CONTROL_FINISHED_OK
state 9752 begin surface