NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 799 * 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  799 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  66.055252 SEABIRD_T_G  0.0043000001
RELAUNCH  1 PITCH_DBAND  0.1 FG_AHR_24V  195.52968 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  110321,190631,4727.554,-12615.750,4,0.9,28,15.8 TGT_LATLONG  4723.820,-12610.570
_CALLS  1 TGT_RADIUS  7000.000
_SM_DEPTHo  0.67 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -64.2 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  110321,191342,4727.636,-12615.752,3,0.6,4,15.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.160,0.227 MHEAD_RNG_PITCHd_Wd  121.6,9599,-18.6,-9.259,-22.19
TGT_NAME  IN4 D_GRID  990

Post-dive calculations and measurements:
SM_CCo  10452.59,2.06,0.253,0,768.2,764.2,772.2,424.81 _10V_AH  14.76,0.000
SM_GC  0.42,2.06,17.13,0.08,0.253,0.072,0.141,768.2,764.2,772.2,171.6,2130.2,0,0,0,11.86,15.46,15.69 FG_AHR_24Vo  195.737
SUPER  19,71,254,1,0,0 FG_AHR_10Vo  66.095
IRIDIUM_FIX  4728.69,-12622.25,110321,161021 MEM  1100012,50,75736,114
TCM_TEMP  189.55 DATA_FILE_SIZE  48121,1322
XPDR_PINGS  3,14.0,11.5 CAP_FILE_SIZE  501566,0
SC_FREEKB  3553280 SDSIZE  3918848,3697920
HUMID  57.66 SDFILEDIR  4021,1
TEMP  7.83 ERRORS  0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  7.78131 GPS  110321,220840,4728.007,-12614.913,17,1.5,19,15.8
_24V_AH  13.84,229.000

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump582261921104.63 legato000.00
Pitch_motor37247127.97 nil000.00
Roll_motor146237482.27 nil000.00
Iridium226203637.56 nil000.00
Transponder_ping04204.36 nil000.00
GPS12152.87 nil000.00
Core422211735.45 SciCon1035261004.94
LPSleep66012272.83 nil000.00
Compass22415165.42 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
7.81 16386 -116.79 -1.28 0.00 762.7 764.6 760.8 171.6 2116.3 0.00 0.00 0 87.78 79.40 0.00 0.00 0.005 0.000 0.000 2511.75 2492.31 2531.19 171.50 2119.00 0 0 0 14.66 30.00 30.00
88.05 18727 -116.79 -1.28 80.00 2510.7 2491.2 2530.1 171.6 2118.6 3.46 -4.77 15 124.60 11.18 14.62 3.73 0.007 0.247 0.116 2975.53 2970.38 2980.69 1829.50 3473.75 0 0 0 14.90 15.17 14.69
347.47 1028 -116.79 -1.28 0.00 2975.0 2969.5 2980.5 1829.7 3474.1 54.54 -19.10 67 353.14 0.00 0.00 3.44 0.000 0.000 0.062 2976.34 2970.62 2982.06 1829.50 2081.81 0 0 0 30.00 30.00 15.57
532.79 260 -116.79 -1.28 80.00 2975.1 2969.6 2980.6 1829.8 2082.2 82.95 -14.03 104 538.25 0.00 0.00 3.82 0.000 0.000 0.111 2976.78 2971.31 2982.25 1829.44 3472.69 0 0 0 30.00 30.00 15.49
662.46 1028 -116.79 -1.28 0.00 2975.2 2969.4 2981.1 1829.7 3473.0 101.26 -13.79 130 667.16 0.00 0.00 3.41 0.000 0.000 0.060 2977.19 2971.44 2982.94 1829.31 2082.00 0 0 0 30.00 30.00 15.61
972.51 260 -116.79 -1.28 80.00 2975.6 2969.4 2981.8 1829.1 2082.4 135.93 -10.19 162 978.26 0.00 0.00 3.79 0.000 0.000 0.110 2977.81 2971.75 2983.88 1829.25 3473.75 0 0 0 30.00 30.00 15.51
1107.52 1028 -116.79 -1.28 0.00 2975.5 2969.9 2981.2 1830.1 3474.4 152.16 -11.41 189 1112.21 0.00 0.00 3.41 0.000 0.000 0.059 2978.12 2972.38 2983.88 1829.62 2081.50 0 0 0 30.00 30.00 15.64
1417.56 260 -116.79 -1.28 80.00 2975.7 2969.7 2981.6 1829.5 2080.9 185.48 -11.13 221 1423.32 0.00 0.00 3.81 0.000 0.000 0.111 2978.41 2972.50 2984.31 1828.88 3474.19 0 0 0 30.00 30.00 15.53
1476.54 1028 -116.79 -1.28 0.00 2975.8 2969.9 2981.7 1829.4 3473.9 192.18 -11.59 233 1483.31 0.00 0.00 3.41 0.000 0.000 0.059 2977.78 2971.50 2984.06 1829.56 2081.31 0 0 0 30.00 30.00 15.63
1782.60 0 -116.79 -1.28 0.00 2976.0 2970.0 2982.1 1829.5 2080.6 225.15 -10.84 264 1783.93 0.00 0.00 0.00 0.000 0.000 0.000 2976.34 2970.62 2982.06 1829.88 2080.62 0 0 0 30.00 30.00 30.00
2082.62 516 -116.79 -1.28 -80.00 2975.6 2969.8 2981.4 1829.6 2080.6 256.51 -9.97 294 2088.44 0.00 0.00 4.05 0.000 0.000 0.155 2974.44 2967.88 2981.00 1829.50 664.00 0 0 0 30.00 30.00 15.38
2151.52 1028 -116.79 -1.28 0.00 2975.7 2969.7 2981.6 1829.8 664.4 264.45 -12.11 308 2158.39 0.00 0.00 3.54 0.000 0.000 0.054 2977.09 2971.19 2983.00 1829.75 2122.25 0 0 0 30.00 30.00 15.70
2457.70 260 -116.79 -1.28 80.00 2975.5 2969.6 2981.3 1829.9 2122.3 295.10 -10.12 339 2463.44 0.00 0.00 3.69 0.000 0.000 0.116 2978.25 2972.19 2984.31 1828.62 3473.88 0 0 0 30.00 30.00 15.51
2572.74 1028 -116.79 -1.28 0.00 2975.8 2969.7 2981.8 1829.4 3473.9 307.93 -11.32 362 2577.41 0.00 0.00 3.39 0.000 0.000 0.061 2977.44 2971.69 2983.19 1829.75 2080.94 0 0 0 30.00 30.00 15.63
2882.80 0 -116.79 -1.28 0.00 2976.1 2970.0 2982.1 1829.9 2081.4 340.04 -10.34 394 2884.13 0.00 0.00 0.00 0.000 0.000 0.000 2976.28 2971.00 2981.56 1829.81 2081.44 0 0 0 30.00 30.00 30.00
3182.86 0 -116.79 -1.28 0.00 2975.6 2969.6 2981.6 1830.0 2080.9 370.86 -10.34 424 3184.18 0.00 0.00 0.00 0.000 0.000 0.000 2976.28 2970.50 2982.06 1829.44 2081.12 0 0 0 30.00 30.00 30.00
3482.92 260 -116.79 -1.28 80.00 2975.6 2969.8 2981.5 1829.6 2081.1 402.11 -10.09 454 3488.71 0.00 0.00 3.85 0.000 0.000 0.118 2974.00 2968.25 2979.75 1829.69 3475.19 0 0 0 30.00 30.00 15.48
3581.93 1028 -116.79 -1.28 0.00 2975.5 2969.9 2981.0 1829.6 3475.6 413.62 -11.30 474 3588.70 0.00 0.00 3.43 0.000 0.000 0.064 2975.25 2969.38 2981.12 1829.94 2081.62 0 0 0 30.00 30.00 15.59
3888.03 0 -116.79 -1.28 0.00 2975.1 2969.6 2980.7 1829.4 2081.9 445.43 -9.90 505 3889.36 0.00 0.00 0.00 0.000 0.000 0.000 2974.78 2969.31 2980.25 1829.56 2082.06 0 0 0 30.00 30.00 30.00
4188.08 260 -116.79 -1.28 80.00 2974.8 2970.1 2979.6 1829.2 2082.3 475.06 -9.24 535 4193.85 0.00 0.00 3.86 0.000 0.000 0.118 2973.97 2968.75 2979.19 1829.44 3474.56 0 0 0 30.00 30.00 15.45
4223.09 1028 -116.79 -1.28 0.00 2974.7 2969.9 2979.4 1829.7 3474.3 478.58 -10.06 542 4227.78 0.00 0.00 3.43 0.000 0.000 0.063 2976.22 2970.81 2981.62 1829.56 2080.81 0 0 0 30.00 30.00 15.59
4453 end dive: TARGET_DEPTH_EXCEEDED
state 4453 begin apogee
4454.35 10243 0.00 -0.25 0.00 2974.6 2969.6 2979.5 1830.1 2120.4 500.24 -9.66 566 4556.62 99.10 1.90 0.09 1.658 0.138 0.238 2500.06 2506.38 2493.75 2078.38 2086.31 0 0 0 10.54 15.52 14.90
4558 end apogee: CONTROL_FINISHED_OK
state 4559 begin climb
4559.22 10243 116.79 1.28 0.00 2497.8 2505.7 2489.8 2079.9 2086.6 502.41 0.00 576 4669.86 106.36 2.71 0.00 1.599 0.084 0.000 2021.09 2045.69 1996.50 2454.06 2086.75 0 0 0 11.71 15.15 30.00
4963.16 16450 116.79 1.32 0.00 2012.3 2043.2 1981.4 2453.9 2086.9 474.93 7.88 617 4964.49 0.00 0.00 0.00 0.000 0.000 0.000 2012.62 2043.31 1981.94 2453.81 2086.88 0 0 0 30.00 30.00 30.00
5263.18 16386 116.79 1.32 0.00 2009.3 2041.4 1977.1 2454.1 2086.3 451.49 8.77 647 5264.51 0.00 0.00 0.00 0.000 0.000 0.000 2009.94 2042.25 1977.62 2454.12 2087.25 0 0 0 30.00 30.00 30.00
5563.21 16966 116.79 1.35 -80.00 2008.3 2041.6 1975.1 2454.2 2087.1 428.57 8.28 677 5569.00 0.00 0.00 4.03 0.000 0.000 0.146 2008.00 2040.81 1975.19 2454.00 663.62 0 0 0 30.00 30.00 15.42
5608.20 17414 116.79 1.35 0.00 2007.3 2039.1 1975.5 2454.2 663.8 424.31 10.37 686 5612.91 0.00 0.00 3.55 0.000 0.000 0.054 2007.75 2039.75 1975.75 2454.44 2124.38 0 0 0 30.00 30.00 15.72
5918.25 10275 155.58 1.47 0.00 2006.9 2039.1 1974.7 2454.1 2125.3 402.38 7.17 718 5954.07 34.33 0.26 0.00 1.501 0.076 0.000 1864.19 1896.62 1831.75 2507.56 2125.38 0 0 0 10.90 15.72 30.00
6248.32 516 155.58 1.47 -80.00 1859.7 1897.0 1822.4 2507.9 2125.8 370.12 10.03 751 6253.93 0.00 0.00 4.16 0.000 0.000 0.142 1858.25 1895.94 1820.56 2507.31 663.12 0 0 0 30.00 30.00 15.39
6273.25 1028 155.58 1.47 0.00 1858.8 1895.5 1822.2 2507.6 663.1 367.13 11.08 756 6277.97 0.00 0.00 3.56 0.000 0.000 0.053 1858.53 1895.25 1821.81 2508.00 2120.44 0 0 0 30.00 30.00 15.63
6583.29 260 155.58 1.47 80.00 1858.0 1895.7 1820.4 2507.4 2124.5 336.26 9.28 788 6588.89 0.00 0.00 3.70 0.000 0.000 0.119 1857.25 1894.75 1819.75 2507.31 3474.19 0 0 0 30.00 30.00 15.50
6612.10 17414 155.58 1.47 0.00 1857.6 1894.9 1820.2 2508.1 3474.1 332.91 9.74 794 6619.01 0.00 0.00 3.39 0.000 0.000 0.059 1858.06 1895.38 1820.75 2508.25 2080.25 0 0 0 30.00 30.00 15.64
6918.31 16902 155.58 1.47 -80.00 1857.5 1895.0 1820.1 2507.7 2079.9 303.96 9.04 825 6924.09 0.00 0.00 3.97 0.000 0.000 0.142 1859.25 1896.19 1822.31 2506.31 662.75 0 0 0 30.00 30.00 15.41
7003.31 17414 155.58 1.47 0.00 1857.4 1894.6 1820.2 2507.9 662.8 294.36 11.15 842 7008.02 0.00 0.00 3.53 0.000 0.000 0.054 1857.41 1894.38 1820.44 2508.38 2125.12 0 0 0 30.00 30.00 15.72
7313.35 16646 155.58 1.47 80.00 1856.6 1894.2 1819.1 2508.1 2125.7 265.71 8.84 874 7318.93 0.00 0.00 3.69 0.000 0.000 0.119 1858.59 1896.00 1821.19 2507.81 3472.75 0 0 0 30.00 30.00 15.50
7382.18 17414 155.58 1.47 0.00 1856.3 1893.4 1819.2 2508.0 3472.8 258.35 10.89 888 7389.07 0.00 0.00 3.38 0.000 0.000 0.060 1858.31 1895.69 1820.94 2507.50 2079.31 0 0 0 30.00 30.00 15.67
7688.38 16902 155.58 1.47 -80.00 1855.6 1893.8 1817.5 2507.9 2079.0 229.73 9.42 919 7694.02 0.00 0.00 3.97 0.000 0.000 0.142 1854.59 1892.19 1817.00 2507.38 663.12 0 0 0 30.00 30.00 15.38
7757.41 17414 155.58 1.47 0.00 1855.5 1892.8 1818.1 2507.8 663.1 222.02 11.15 933 7764.14 0.00 0.00 3.53 0.000 0.000 0.053 1857.47 1894.88 1820.06 2507.88 2126.06 0 0 0 30.00 30.00 15.72
8063.42 16710 155.58 1.49 80.00 1855.1 1892.9 1817.2 2508.0 2126.2 194.83 8.57 964 8068.99 0.00 0.00 3.68 0.000 0.000 0.117 1857.25 1895.25 1819.25 2507.88 3473.00 0 0 0 30.00 30.00 15.49
8098.40 17414 155.58 1.49 0.00 1854.8 1892.5 1817.0 2508.0 3472.8 191.83 8.80 971 8102.94 0.00 0.00 3.38 0.000 0.000 0.057 1855.94 1893.62 1818.25 2507.50 2075.56 0 0 0 30.00 30.00 15.66
8408.45 16710 155.58 1.54 80.00 1854.4 1892.1 1816.6 2507.8 2076.2 167.72 7.54 1003 8414.05 0.00 0.00 3.84 0.000 0.000 0.115 1853.88 1891.50 1816.25 2507.81 3475.06 0 0 0 30.00 30.00 15.46
8467.28 17478 155.58 1.59 0.00 1854.8 1892.5 1817.0 2507.8 3475.4 163.30 7.60 1015 8474.16 0.00 0.00 3.38 0.000 0.000 0.058 1855.81 1893.50 1818.12 2507.94 2077.75 0 0 0 30.00 30.00 15.64
8773.48 19015 155.58 1.63 -80.00 1854.4 1892.3 1816.5 2507.9 2077.9 141.27 7.88 1046 8779.31 0.00 0.17 3.97 0.000 0.101 0.139 1853.47 1891.88 1815.06 2545.12 663.00 0 0 0 30.00 15.74 15.37
8908.49 17414 155.58 1.63 0.00 1854.5 1892.1 1816.9 2545.6 663.2 128.09 9.63 1073 8914.05 0.00 0.00 3.53 0.000 0.000 0.053 1853.44 1891.12 1815.75 2545.25 2128.31 0 0 0 30.00 30.00 15.73
9213.52 10535 237.20 1.87 80.00 1854.5 1892.1 1816.9 2545.8 2128.9 109.34 4.87 1104 9289.79 69.54 0.31 3.74 1.214 0.074 0.117 1533.06 1567.94 1498.19 2602.62 3473.38 0 0 0 10.64 15.74 15.11
9363.51 1028 237.20 1.87 0.00 1527.3 1560.9 1493.7 2604.1 3473.1 94.19 14.00 1134 9369.26 0.00 0.00 3.45 0.000 0.000 0.058 1528.22 1561.81 1494.62 2603.56 2078.81 0 0 0 30.00 30.00 15.47
9548.67 580 237.20 1.93 -80.00 1525.6 1561.1 1490.1 2603.8 2078.8 75.35 7.33 1171 9554.53 0.00 0.00 3.97 0.000 0.000 0.136 1526.47 1561.75 1491.19 2604.19 662.25 0 0 0 30.00 30.00 15.33
9593.57 1028 237.20 1.93 0.00 1526.0 1561.4 1490.6 2603.8 661.9 71.37 9.23 1180 9599.32 0.00 0.00 3.52 0.000 0.000 0.049 1525.50 1561.50 1489.50 2604.88 2127.88 0 0 0 30.00 30.00 15.61
9778.60 10535 298.02 2.11 80.00 1524.6 1561.2 1487.9 2604.3 2127.3 59.09 5.99 1217 9845.80 61.54 0.32 3.71 1.111 0.074 0.113 1284.47 1318.56 1250.38 2660.94 3472.12 0 0 0 11.27 15.64 15.13
9953.64 1028 298.02 2.11 0.00 1281.4 1314.4 1248.5 2661.3 3472.7 40.35 12.19 1252 9959.48 0.00 0.00 3.42 0.000 0.000 0.056 1281.94 1314.69 1249.19 2660.94 2078.50 0 0 0 30.00 30.00 15.49
10138.64 0 298.02 2.11 0.00 1280.4 1314.2 1246.7 2661.7 2077.8 18.63 10.72 1289 10139.97 0.00 0.00 0.00 0.000 0.000 0.000 1280.78 1314.69 1246.88 2661.12 2077.56 0 0 0 30.00 30.00 30.00
10288 end climb: SURFACE_DEPTH_REACHED
state 10288 begin surface coast
10303 end surface coast: CONTROL_FINISHED_OK
state 10303 begin surface