NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 847 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  249 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
MISSION  8 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.054949999 XPDR_VALID  6
DIVE  847 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  25 XPDR_INHIBIT  90
N_DIVES  0 TGT_AUTO_DEFAULT  0 ROLL_MAXERRORS  1 XPDR_INT  -1
STOP_T  0 SM_CC  400 ROLL_ADJ_GAIN  0 XPDR_REP  0
D_SURF  4 N_FILEKB  4 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  1.9639999e-06
D_FLARE  3 FILEMGR  0 VBD_MIN  500 INT_PRESSURE_YINT  -3
D_TGT  990 CALL_NDIVES  1 VBD_MAX  3960 DEEPGLIDER  0
D_ABORT  1010 COMM_SEQ  7 C_VBD  2890 DEEPGLIDERMB  0
D_NO_BLEED  200 PROTOCOL  9 VBD_DBAND  2 MOTHERBOARD  6
D_BOOST  0 N_NOCOMM  2 VBD_CNV  -0.24529999 DEVICE1  -1
T_BOOST  0 NOCOMM_ACTION  131 VBD_LP_IGNORE  0 DEVICE2  -1
D_FINISH  0 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE3  -1
D_PITCH  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.0020000001 DEVICE4  -1
D_SAFE  0 CALL_TRIES  5 UNCOM_BLEED  20 DEVICE5  -1
D_CALL  0 CALL_WAIT  60 VBD_MAXERRORS  1 DEVICE6  -1
SURFACE_URGENCY  0 CAPUPLOAD  0 C_VBD_AUTO_DELTA  0 LOGGERS  1
SURFACE_URGENCY_TRY  0 CAPMAXSIZE  20000 C_VBD_AUTO_MAX  0 LOGGERDEVICE1  7
SURFACE_URGENCY_FORCE  0 T_GPS  5 W_ADJ_DBAND  3 LOGGERDEVICE2  -1
T_DIVE  390 N_GPS  100440 DBDW  0 LOGGERDEVICE3  -1
T_MISSION  450 T_RSLEEP  2 LOITER_W_DBAND  0 LOGGERDEVICE4  -1
T_ABORT  1440 STROBE  0 LOITER_DBDW  0 COMPASS_DEVICE  66
T_TURN  225 RAFOS_PEAK_OFFSET  0 LOITER_D_TOP  0 COMPASS2_DEVICE  -1
T_TURN_SAMPINT  -5 RAFOS_CORR_THRESH  60 LOITER_D_BOTTOM  0 PHONE_DEVICE  33
T_NO_W  120 RAFOS_HIT_WINDOW  3600 LOITER_N_DIVE  0 GPS_DEVICE  48
T_LOITER  0 RAFOS_MMODEM  0 CF8_MAXERRORS  20 RAFOS_DEVICE  -1
T_EPIRB  0 PITCH_MIN  200 AH0_24V  506 NAV_DEVICE  -1
USE_BATHY  -1 PITCH_MAX  3000 AH0_10V  0 NAV2_DEVICE  -1
USE_ICE  0 C_PITCH  2515 MINV_24V  11 NETWORK_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 PITCH_DBAND  0.1 MINV_10V  11 PRESSURE_DEVICE  34
D_OFFGRID  1000 PITCH_CNV  0.0041299998 MAXI_24V  5 XPDR_DEVICE  21
RELAUNCH  1 PITCH_GAIN  16 MAXI_10V  1.5 SIM_W  0
APOGEE_PITCH  -5 PITCH_TIMEOUT  30 FG_AHR_10V  123.59417 SEABIRD_T_G  0.0043000001
MAX_BUOY  120 PITCH_MAXERRORS  1 FG_AHR_24V  236.57605 SEABIRD_T_H  0.00063999998
GLIDE_SLOPE  30 PITCH_ADJ_GAIN  0 PHONE_SUPPLY  2 SEABIRD_T_I  2.4999999e-05
SPEED_FACTOR  1 PITCH_ADJ_DBAND  0 PRESSURE_YINT  -179.54233 SEABIRD_T_J  4.3e-06
RHO  1.0275 C_PITCH_AUTO_DELTA  0 PRESSURE_SLOPE  0.00021665409 SEABIRD_C_G  -10
MASS  72955 C_PITCH_AUTO_MAX  0 COMPASS_USE  16388 SEABIRD_C_H  1
NAV_MODE  2 PITCH_GAIN_AUTO_DELTA  0 ALTIM_PING_FIT  0 SEABIRD_C_I  -0.0020000001
FERRY_MAX  45 PITCH_GAIN_AUTO_MAX  0 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00019999999
KALMAN_USE  2 PITCH_W_GAIN  6 ALTIM_BOTTOM_TURN_MARGIN  0 OPTIONS  0
HD_A  0.00177828 PITCH_W_DBAND  0.5 ALTIM_TOP_TURN_MARGIN  0 SC_RECORDABOVE  2000.0
HD_B  0.020747701 ROLL_MIN  215 ALTIM_TOP_MIN_OBSTACLE  0 SC_PROFILE  7.0
HD_C  5.7000002e-06 ROLL_MAX  3825 ALTIM_PING_DEPTH  0 SC_XMITPROFILE  3.0
HEADING  -1 ROLL_DEG  60 ALTIM_PING_DELTA  0 SC_NDIVE  1.0
ESCAPE_HEADING  0 C_ROLL_DIVE  2250 ALTIM_FREQUENCY  13
ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2000 ALTIM_PULSE  1

Pre-dive calculations and measurements:
GPS1  170323,112901,4739.270,-12559.540,25,0.8,26,15.9 TGT_RADIUS  2500.000
_CALLS  1 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.04 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -64.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  170323,114203,4739.276,-12559.634,2,0.6,5,15.9 MHEAD_RNG_PITCHd_Wd  66.4,65658,-17.5,-8.462,-28.88,2074,0.209
SPEED_LIMITS  0.147,0.153 D_GRID  1000
TGT_NAME  SHELF IRON  1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000
TGT_LATLONG  4751.930,-12510.270

Post-dive calculations and measurements:
FINISH  -0.4,1.024983 FG_AHR_10Vo  123.738
SM_CCo  26736.48,60.76,1.053,0,1259.2,1273.8,1244.7,400.02 MEM0  60108,1,0,0
SM_GC  1.11,60.76,20.25,0.75,1.053,0.046,0.046,1259.2,1273.8,1244.7,179.4,2281.6,0,0,0,10.92,15.75,15.83 MEM1  65508,1,0,0
SUPER  19,71,254,1,0,0 MEM2  956164,642,78224,67
IRIDIUM_FIX  4738.01,-12557.88,170323,040020 DATA_FILE_SIZE  86430,2919
TCM_TEMP  265.55 CAP_FILE_SIZE  572618,0
XPDR_PINGS  0,13.0,10.5 SDSIZE  4028416,3759296
SC_FREEKB  3553472 SDFILEDIR  5113,1
HUMID  53.99 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP  84.37 CURRENT  0.033,335.1,1
INTERNAL_PRESSURE  8.55054 IMPLIED_C_PITCH  2510,12.61,2460,0.0,0.00
_24V_AH  14.04,289.495 IMPLIED_C_VBD  3046,41.967388,1542,0
_10V_AH  15.00,0.000 GPS  170323,190858,4740.058,-12557.562,30,1.2,31,15.9
FG_AHR_24Vo  236.828

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump501231516311.26 nil000.00
Pitch_motor43202123.15 nil000.00
Roll_motor306162701.51 nil000.00
Iridium4622451596.01 nil000.00
Transponder_ping04200.00 nil000.00
GPS16153.67 nil000.00
Core1311361337.54 SciCon26604114668.60
Fast15600.00 nil000.00
Slow000.00 nil000.00
LPSleep140322420.97
Compass64615484.58
RAFOS000.00
Transponder000.00
Compass2000.00

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
19.59 16386 -116.79 -1.33 0.00 1248.5 1268.8 1228.1 178.6 2186.7 0.00 0.00 0 121.02 71.32 0.00 0.00 0.005 0.000 0.000 2963.38 3136.88 2789.88 178.38 2186.50 0 0 0 14.58 30.00 30.00
123.24 18727 -116.79 -1.33 60.00 2964.6 3135.2 2794.0 178.5 2186.1 3.39 -3.60 14 242.14 6.24 17.51 3.46 0.008 0.203 0.083 3369.62 3585.81 3153.44 2192.31 3353.50 0 0 0 14.96 15.10 14.81
253.70 1028 -116.79 -1.33 0.00 3370.6 3585.4 3155.7 2193.6 3353.6 35.15 -15.16 22 272.57 0.00 0.00 2.82 0.000 0.000 0.019 3370.50 3585.56 3155.44 2193.81 2198.94 0 0 0 30.00 30.00 15.60
458.67 260 -116.79 -1.33 60.00 3370.6 3585.1 3156.1 2193.2 2195.9 61.68 -11.95 60 479.94 0.00 0.00 3.45 0.000 0.000 0.080 3370.91 3585.69 3156.12 2193.75 3352.75 0 0 0 30.00 30.00 15.39
511.38 1028 -116.79 -1.33 0.00 3371.1 3584.8 3157.4 2193.4 3352.8 67.76 -11.65 67 530.64 0.00 0.00 2.83 0.000 0.000 0.019 3371.66 3585.56 3157.75 2193.44 2193.81 0 0 0 30.00 30.00 15.50
716.75 516 -116.79 -1.33 -60.00 3371.4 3585.1 3157.7 2193.6 2191.9 87.75 -9.82 105 736.03 0.00 0.00 2.99 0.000 0.000 0.067 3371.72 3585.75 3157.69 2193.69 1145.12 0 0 0 30.00 30.00 15.62
787.49 1028 -116.79 -1.33 0.00 3371.2 3585.2 3157.2 2193.1 1145.1 94.80 -10.19 116 805.96 0.00 0.00 2.80 0.000 0.000 0.025 3372.62 3586.31 3158.94 2192.31 2278.88 0 0 0 30.00 30.00 15.69
997.23 260 -116.79 -1.33 60.00 3371.2 3584.6 3157.7 2193.0 2279.4 114.13 -9.04 140 1016.56 0.00 0.00 3.16 0.000 0.000 0.083 3371.56 3584.31 3158.81 2193.19 3353.56 0 0 0 30.00 30.00 15.58
1037.27 1028 -116.79 -1.33 0.00 3371.2 3584.7 3157.8 2193.4 3352.8 118.27 -10.27 145 1055.75 0.00 0.00 2.78 0.000 0.000 0.019 3372.09 3585.94 3158.25 2193.62 2190.25 0 0 0 30.00 30.00 15.65
1361.82 260 -116.79 -1.33 60.00 3371.3 3584.9 3157.8 2193.5 2187.4 146.15 -8.57 177 1381.95 0.00 0.00 3.39 0.000 0.000 0.078 3371.31 3585.31 3157.31 2193.56 3353.81 0 0 0 30.00 30.00 15.63
1402.68 1028 -116.79 -1.33 0.00 3371.6 3585.1 3158.2 2193.6 3352.9 150.09 -9.34 182 1421.38 0.00 0.00 2.78 0.000 0.000 0.018 3371.28 3585.19 3157.38 2193.38 2191.44 0 0 0 30.00 30.00 15.81
1727.63 0 -116.79 -1.33 0.00 3371.5 3585.2 3157.8 2193.6 2189.2 178.24 -8.38 214 1731.69 0.00 0.00 0.00 0.000 0.000 0.000 3370.28 3584.25 3156.31 2193.12 2189.44 0 0 0 30.00 30.00 30.00
2037.82 0 -116.79 -1.33 0.00 3371.2 3585.1 3157.2 2193.2 2188.9 202.77 -7.54 245 2041.87 0.00 0.00 0.00 0.000 0.000 0.000 3370.09 3585.00 3155.19 2193.50 2188.44 0 0 0 30.00 30.00 30.00
2348.00 0 -116.79 -1.33 0.00 3372.1 3585.1 3159.1 2193.5 2188.9 226.28 -7.72 276 2352.06 0.00 0.00 0.00 0.000 0.000 0.000 3371.47 3586.44 3156.50 2194.12 2188.62 0 0 0 30.00 30.00 30.00
2658.16 0 -116.79 -1.33 0.00 3372.2 3585.0 3159.4 2193.4 2188.8 249.81 -7.25 307 2662.22 0.00 0.00 0.00 0.000 0.000 0.000 3371.56 3584.12 3159.00 2193.50 2189.50 0 0 0 30.00 30.00 30.00
2968.29 260 -116.79 -1.33 60.00 3372.3 3585.4 3159.2 2193.6 2189.5 273.64 -8.21 338 2989.07 0.00 0.00 3.41 0.000 0.000 0.079 3371.88 3583.44 3160.31 2193.06 3353.19 0 0 0 30.00 30.00 15.65
3065.59 1028 -116.79 -1.33 0.00 3372.8 3585.4 3160.2 2193.6 3352.9 282.11 -8.68 354 3083.55 0.00 0.00 2.78 0.000 0.000 0.018 3373.78 3586.62 3160.94 2192.12 2192.31 0 0 0 30.00 30.00 15.79
3389.68 516 -116.79 -1.33 -60.00 3372.6 3585.2 3159.9 2193.2 2190.2 306.78 -7.30 386 3408.46 0.00 0.00 2.96 0.000 0.000 0.068 3373.94 3586.62 3161.25 2193.44 1145.12 0 0 0 30.00 30.00 15.70
3429.22 1028 -116.79 -1.33 0.00 3372.7 3585.6 3159.8 2193.5 1144.8 310.06 -7.60 391 3447.91 0.00 0.00 2.77 0.000 0.000 0.025 3372.97 3585.44 3160.50 2193.25 2278.56 0 0 0 30.00 30.00 15.89
3754.03 516 -116.79 -1.33 -60.00 3372.4 3584.9 3159.9 2193.1 2278.8 334.48 -7.39 423 3773.86 0.00 0.00 3.19 0.000 0.000 0.063 3372.72 3585.12 3160.31 2193.38 1145.25 0 0 0 30.00 30.00 15.64
3790.46 1028 -116.79 -1.33 0.00 3372.1 3584.6 3159.6 2193.2 1145.1 337.19 -7.30 427 3808.83 0.00 0.00 2.79 0.000 0.000 0.024 3373.69 3586.25 3161.12 2193.25 2278.56 0 0 0 30.00 30.00 15.90
4114.96 0 -116.79 -1.33 0.00 3372.5 3585.3 3159.7 2192.9 2278.6 361.94 -7.81 459 4119.02 0.00 0.00 0.00 0.000 0.000 0.000 3371.41 3583.94 3158.88 2193.31 2278.31 0 0 0 30.00 30.00 30.00
4425.14 516 -116.79 -1.33 -60.00 3372.2 3584.9 3159.5 2193.2 2279.4 385.71 -7.81 490 4445.12 0.00 0.00 3.21 0.000 0.000 0.063 3373.00 3585.62 3160.38 2191.88 1145.06 0 0 0 30.00 30.00 15.70
4471.62 1028 -116.79 -1.33 0.00 3372.3 3584.9 3159.7 2193.7 1145.1 389.54 -8.26 496 4489.58 0.00 0.00 2.78 0.000 0.000 0.025 3373.00 3585.56 3160.44 2193.25 2278.69 0 0 0 30.00 30.00 15.90
4795.71 0 -116.79 -1.33 0.00 3372.3 3584.9 3159.7 2193.3 2278.6 415.11 -8.05 528 4799.77 0.00 0.00 0.00 0.000 0.000 0.000 3372.25 3583.38 3161.12 2193.06 2278.19 0 0 0 30.00 30.00 30.00
5105.91 0 -116.79 -1.33 0.00 3371.8 3584.3 3159.2 2192.9 2279.2 442.27 -8.92 559 5109.97 0.00 0.00 0.00 0.000 0.000 0.000 3371.62 3584.31 3158.94 2193.56 2278.38 0 0 0 30.00 30.00 30.00
5416.08 516 -116.79 -1.33 -60.00 3371.6 3583.3 3159.9 2193.3 2278.6 469.84 -8.92 590 5436.08 0.00 0.00 3.21 0.000 0.000 0.064 3370.56 3582.94 3158.19 2193.19 1144.75 0 0 0 30.00 30.00 15.70
5492.58 1028 -116.79 -1.33 0.00 3371.3 3583.2 3159.4 2193.2 1144.8 477.03 -9.51 602 5510.54 0.00 0.00 2.80 0.000 0.000 0.025 3371.78 3583.88 3159.69 2193.44 2276.75 0 0 0 30.00 30.00 15.87
5816.68 0 -116.79 -1.33 0.00 3371.3 3583.1 3159.4 2193.4 2277.2 505.91 -8.86 634 5820.74 0.00 0.00 0.00 0.000 0.000 0.000 3371.28 3584.25 3158.31 2193.88 2277.75 0 0 0 30.00 30.00 30.00
6126.88 516 -116.79 -1.33 -60.00 3370.8 3581.9 3159.7 2193.8 2276.2 532.20 -8.22 665 6147.10 0.00 0.00 3.21 0.000 0.000 0.064 3371.81 3583.25 3160.38 2192.56 1146.50 0 0 0 30.00 30.00 15.69
6193.72 1028 -116.79 -1.33 0.00 3370.7 3581.9 3159.5 2193.4 1146.1 538.02 -8.66 675 6211.67 0.00 0.00 2.79 0.000 0.000 0.026 3370.66 3581.75 3159.56 2193.75 2277.81 0 0 0 30.00 30.00 15.88
6517.81 0 -116.79 -1.33 0.00 3370.3 3581.1 3159.6 2193.8 2278.0 562.19 -6.78 707 6521.87 0.00 0.00 0.00 0.000 0.000 0.000 3369.69 3580.06 3159.31 2193.31 2277.75 0 0 0 30.00 30.00 30.00
6828.00 0 -116.79 -1.33 0.00 3369.8 3580.2 3159.4 2193.6 2277.8 583.13 -6.51 738 6832.06 0.00 0.00 0.00 0.000 0.000 0.000 3369.31 3579.19 3159.44 2193.25 2278.12 0 0 0 30.00 30.00 30.00
7138.18 516 -116.79 -1.33 -60.00 3369.5 3579.6 3159.4 2193.8 2278.2 602.48 -6.13 769 7158.19 0.00 0.00 3.21 0.000 0.000 0.065 3369.41 3580.31 3158.50 2193.06 1145.25 0 0 0 30.00 30.00 15.69
7218.95 1028 -116.79 -1.33 0.00 3369.3 3579.1 3159.4 2193.1 1144.2 607.72 -6.43 782 7238.05 0.00 0.00 2.81 0.000 0.000 0.026 3369.75 3579.88 3159.62 2192.75 2276.69 0 0 0 30.00 30.00 15.91
7544.16 260 -116.79 -1.33 60.00 3368.9 3578.2 3159.6 2193.7 2276.9 627.31 -6.11 814 7564.16 0.00 0.00 3.20 0.000 0.000 0.087 3369.25 3577.75 3160.75 2193.00 3351.31 0 0 0 30.00 30.00 15.61
7574.91 1028 -116.79 -1.33 0.00 3368.1 3576.8 3159.5 2192.7 3352.2 629.61 -6.79 817 7593.61 0.00 0.00 2.77 0.000 0.000 0.020 3369.12 3577.69 3160.56 2193.69 2190.50 0 0 0 30.00 30.00 15.92
7899.72 260 -116.79 -1.33 60.00 3368.6 3577.4 3159.8 2193.4 2188.5 649.83 -6.14 849 7920.52 0.00 0.00 3.44 0.000 0.000 0.083 3367.59 3576.12 3159.06 2193.31 3351.75 0 0 0 30.00 30.00 15.62
7941.27 1028 -116.79 -1.33 0.00 3367.9 3575.8 3160.0 2192.7 3351.1 653.38 -7.62 854 7960.21 0.00 0.00 2.77 0.000 0.000 0.019 3367.94 3576.31 3159.56 2193.81 2191.38 0 0 0 30.00 30.00 15.91
8266.44 260 -116.79 -1.33 60.00 3368.1 3576.3 3159.8 2193.4 2190.2 676.19 -7.01 886 8287.23 0.00 0.00 3.44 0.000 0.000 0.083 3366.72 3577.25 3156.19 2193.44 3352.19 0 0 0 30.00 30.00 15.60
8297.98 1028 -116.79 -1.33 0.00 3367.8 3576.1 3159.6 2193.2 3352.5 679.14 -7.81 889 8316.69 0.00 0.00 2.77 0.000 0.000 0.019 3368.09 3576.31 3159.88 2193.75 2192.62 0 0 0 30.00 30.00 15.92
8622.83 516 -116.79 -1.33 -60.00 3367.7 3576.1 3159.2 2193.4 2191.2 702.88 -7.83 921 8641.60 0.00 0.00 2.97 0.000 0.000 0.070 3368.78 3576.50 3161.06 2192.38 1146.25 0 0 0 30.00 30.00 15.66
8662.35 1028 -116.79 -1.33 0.00 3367.5 3575.6 3159.4 2192.8 1146.6 706.09 -8.01 926 8681.07 0.00 0.00 2.78 0.000 0.000 0.026 3368.06 3576.31 3159.81 2193.31 2277.88 0 0 0 30.00 30.00 15.90
8987.17 0 -116.79 -1.33 0.00 3367.5 3575.2 3159.8 2193.1 2277.7 731.97 -8.57 958 8991.24 0.00 0.00 0.00 0.000 0.000 0.000 3366.25 3573.88 3158.62 2192.81 2278.19 0 0 0 30.00 30.00 30.00
9297.34 516 -116.79 -1.33 -60.00 3367.5 3575.1 3159.9 2193.4 2278.0 758.03 -8.27 989 9316.94 0.00 0.00 3.18 0.000 0.000 0.066 3366.84 3574.00 3159.69 2193.69 1145.12 0 0 0 30.00 30.00 15.67
9347.70 1028 -116.79 -1.33 0.00 3367.2 3574.1 3160.2 2192.4 1145.1 762.72 -8.93 996 9366.39 0.00 0.00 2.79 0.000 0.000 0.026 3367.41 3575.06 3159.75 2193.19 2277.44 0 0 0 30.00 30.00 15.87
9672.51 260 -116.79 -1.33 60.00 3366.6 3573.9 3159.3 2193.6 2277.1 787.27 -7.14 1028 9692.21 0.00 0.00 3.17 0.000 0.000 0.087 3365.28 3571.81 3158.75 2193.25 3351.38 0 0 0 30.00 30.00 15.60
9719.17 1028 -116.79 -1.33 0.00 3366.1 3572.6 3159.6 2193.2 3351.6 791.28 -8.36 1034 9737.13 0.00 0.00 2.74 0.000 0.000 0.019 3366.91 3573.62 3160.19 2193.75 2191.75 0 0 0 30.00 30.00 15.92
10043.24 516 -116.79 -1.33 -60.00 3366.3 3572.8 3159.8 2193.4 2190.4 814.16 -6.84 1066 10062.42 0.00 0.00 2.98 0.000 0.000 0.070 3366.72 3573.94 3159.50 2193.94 1145.94 0 0 0 30.00 30.00 15.50
10088.90 1028 -116.79 -1.33 0.00 3366.3 3572.7 3160.0 2193.3 1145.9 817.48 -7.32 1072 10106.86 0.00 0.00 2.78 0.000 0.000 0.026 3367.03 3573.75 3160.31 2193.00 2278.06 0 0 0 30.00 30.00 15.87
10412.99 516 -116.79 -1.33 -60.00 3365.7 3571.8 3159.7 2193.6 2278.1 838.80 -6.80 1104 10432.60 0.00 0.00 3.18 0.000 0.000 0.065 3366.59 3572.88 3160.31 2193.12 1146.06 0 0 0 30.00 30.00 15.66
10473.35 1028 -116.79 -1.33 0.00 3365.6 3572.4 3158.8 2192.8 1146.1 843.21 -7.16 1113 10492.04 0.00 0.00 2.79 0.000 0.000 0.026 3366.81 3572.94 3160.69 2193.44 2278.00 0 0 0 30.00 30.00 15.87
10798.15 0 -116.79 -1.33 0.00 3365.5 3571.2 3159.7 2193.2 2277.9 864.50 -6.58 1145 10802.22 0.00 0.00 0.00 0.000 0.000 0.000 3364.97 3571.25 3158.69 2192.88 2278.19 0 0 0 30.00 30.00 30.00
11108.33 516 -116.79 -1.33 -60.00 3365.2 3571.1 3159.4 2193.3 2277.8 885.96 -7.02 1176 11127.92 0.00 0.00 3.19 0.000 0.000 0.066 3364.66 3572.06 3157.25 2193.12 1146.12 0 0 0 30.00 30.00 15.63
11154.41 1028 -116.79 -1.33 0.00 3365.2 3571.0 3159.5 2193.1 1146.1 889.42 -7.81 1182 11172.78 0.00 0.00 2.81 0.000 0.000 0.026 3366.03 3571.38 3160.69 2193.75 2276.38 0 0 0 30.00 30.00 15.79
11478.93 516 -116.79 -1.33 -60.00 3365.2 3570.9 3159.4 2193.2 2277.2 911.47 -6.69 1214 11498.54 0.00 0.00 3.20 0.000 0.000 0.066 3363.72 3567.19 3160.25 2193.50 1144.56 0 0 0 30.00 30.00 15.64
11519.41 1028 -116.79 -1.33 0.00 3364.9 3570.8 3159.0 2193.2 1144.7 914.38 -6.79 1219 11538.10 0.00 0.00 2.78 0.000 0.000 0.026 3365.00 3570.19 3159.81 2193.38 2276.88 0 0 0 30.00 30.00 15.88
11844.17 260 -116.79 -1.33 60.00 3364.5 3569.8 3159.1 2193.5 2276.8 935.06 -6.57 1251 11864.17 0.00 0.00 3.20 0.000 0.000 0.089 3363.84 3569.56 3158.12 2193.44 3351.62 0 0 0 30.00 30.00 15.38
11894.93 1028 -116.79 -1.33 0.00 3363.9 3568.6 3159.1 2193.4 3352.6 938.56 -6.97 1258 11913.62 0.00 0.00 2.74 0.000 0.000 0.020 3364.72 3569.44 3160.00 2193.56 2190.06 0 0 0 30.00 30.00 15.90
12219.77 516 -116.79 -1.33 -60.00 3364.2 3568.9 3159.5 2193.1 2188.3 957.85 -5.76 1290 12238.56 0.00 0.00 2.95 0.000 0.000 0.071 3363.91 3568.94 3158.88 2193.38 1145.88 0 0 0 30.00 30.00 15.62
12265.04 1028 -116.79 -1.33 0.00 3364.1 3568.3 3159.9 2192.8 1145.9 960.97 -6.40 1296 12283.42 0.00 0.00 2.81 0.000 0.000 0.026 3364.84 3569.44 3160.25 2192.75 2278.69 0 0 0 30.00 30.00 15.70
12589.96 32 -116.79 -1.33 0.00 3363.6 3567.8 3159.4 2193.7 2279.4 979.87 -5.43 1328 12594.02 0.00 0.00 0.00 0.000 0.000 0.000 3363.75 3569.00 3158.50 2192.75 2278.81 0 0 0 30.00 30.00 30.00
12769 end dive: TARGET_DEPTH_EXCEEDED
state 12770 begin apogee
12777.44 10243 0.00 -0.31 0.00 3363.3 3567.6 3158.9 2192.7 1962.0 990.04 -5.56 1346 12930.40 98.17 1.91 0.14 2.316 0.124 0.163 2888.53 3005.12 2771.94 2439.69 2058.50 0 0 0 9.83 15.50 14.98
12937 end apogee: CONTROL_FINISHED_OK
state 12938 begin climb
12940.82 10243 116.79 1.33 0.00 2886.3 3005.2 2767.4 2440.4 2058.8 991.68 0.00 1356 13102.76 102.58 2.84 0.00 2.264 0.087 0.000 2413.50 2480.19 2346.81 2841.69 2058.88 0 0 0 11.31 15.49 30.00
13409.40 16710 116.79 1.41 60.00 2402.6 2479.2 2325.9 2841.1 2058.9 960.62 7.10 1399 13428.58 0.00 0.00 3.05 0.000 0.000 0.079 2402.78 2478.88 2326.69 2840.25 3101.12 0 0 0 30.00 30.00 15.61
13505.57 19527 116.79 1.46 0.00 2402.3 2479.4 2325.2 2840.8 3101.9 953.25 7.59 1415 13525.39 0.00 0.18 2.82 0.000 0.082 0.026 2402.59 2479.94 2325.25 2882.06 1968.00 0 0 0 30.00 15.57 15.77
13831.90 16966 116.79 1.51 -60.00 2399.6 2479.4 2319.8 2883.6 1967.2 926.85 7.62 1447 13851.48 0.00 0.00 3.13 0.000 0.000 0.090 2398.97 2478.38 2319.56 2882.62 899.50 0 0 0 30.00 30.00 15.62
13867.95 17414 116.79 1.51 0.00 2399.2 2479.4 2319.0 2882.6 899.8 923.63 8.64 1451 13885.93 0.00 0.00 2.72 0.000 0.000 0.022 2399.09 2479.69 2318.50 2883.12 2040.81 0 0 0 30.00 30.00 15.84
14192.04 16646 116.79 1.51 60.00 2398.4 2479.4 2317.3 2882.6 2040.8 897.56 8.15 1483 14211.22 0.00 0.00 3.06 0.000 0.000 0.079 2399.91 2480.88 2318.94 2882.69 3102.38 0 0 0 30.00 30.00 15.67
14242.09 17414 116.79 1.51 0.00 2398.2 2479.2 2317.2 2882.4 3102.6 892.98 8.46 1490 14261.16 0.00 0.00 2.79 0.000 0.000 0.026 2399.66 2480.44 2318.88 2883.00 1969.19 0 0 0 30.00 30.00 15.87
14567.66 16710 116.79 1.58 60.00 2397.8 2479.8 2315.9 2883.5 1969.2 868.05 7.27 1522 14587.67 0.00 0.00 3.24 0.000 0.000 0.075 2397.47 2479.06 2315.88 2882.31 3101.62 0 0 0 30.00 30.00 15.68
14624.14 17414 116.79 1.58 0.00 2398.2 2479.4 2317.0 2882.8 3102.4 863.26 8.95 1530 14642.91 0.00 0.00 2.81 0.000 0.000 0.026 2397.88 2479.25 2316.50 2883.62 1967.56 0 0 0 30.00 30.00 15.89
14949.40 18499 116.79 1.71 0.00 2397.1 2479.3 2314.9 2883.5 1967.9 840.54 6.39 1562 14955.11 0.00 0.29 0.00 0.000 0.067 0.000 2398.66 2480.69 2316.62 2943.06 1967.69 0 0 0 30.00 15.84 30.00
15261.59 16966 116.79 1.77 -60.00 2396.7 2479.2 2314.1 2943.2 1967.9 817.11 7.49 1593 15281.17 0.00 0.00 3.13 0.000 0.000 0.090 2396.41 2480.06 2312.75 2942.88 899.50 0 0 0 30.00 30.00 15.62
15302.33 17478 116.79 1.83 0.00 2396.9 2479.4 2314.4 2943.1 899.3 813.91 7.40 1598 15321.41 0.00 0.00 2.73 0.000 0.000 0.022 2398.12 2480.69 2315.56 2943.06 2039.44 0 0 0 30.00 30.00 15.90
15627.54 16902 116.79 1.83 -60.00 2396.3 2479.1 2313.5 2943.5 2039.7 787.61 8.16 1630 15647.94 0.00 0.00 3.33 0.000 0.000 0.086 2394.97 2477.25 2312.69 2942.75 899.56 0 0 0 30.00 30.00 15.61
15665.00 17478 116.79 1.87 0.00 2395.7 2479.0 2312.4 2943.5 899.6 784.49 7.83 1634 15682.97 0.00 0.00 2.73 0.000 0.000 0.022 2397.16 2480.56 2313.75 2943.50 2038.69 0 0 0 30.00 30.00 15.91
15989.19 16646 116.79 1.87 60.00 2395.8 2479.4 2312.2 2943.6 2038.9 758.53 8.01 1666 16008.39 0.00 0.00 3.06 0.000 0.000 0.079 2396.84 2480.81 2312.88 2942.56 3102.38 0 0 0 30.00 30.00 15.65
16024.86 19463 116.79 1.87 0.00 2396.0 2479.3 2312.6 2942.9 3102.4 755.10 9.38 1670 16044.05 0.00 0.16 2.77 0.000 0.091 0.026 2396.88 2480.12 2313.62 2980.75 1967.19 0 0 0 30.00 15.64 15.90
16350.16 16386 116.79 1.87 0.00 2395.3 2479.2 2311.5 2981.9 1967.0 727.25 8.53 1702 16354.22 0.00 0.00 0.00 0.000 0.000 0.000 2394.66 2478.94 2310.38 2981.94 1967.44 0 0 0 30.00 30.00 30.00
16660.32 16386 116.79 1.87 0.00 2395.3 2479.2 2311.4 2981.4 1967.1 699.81 8.51 1733 16664.39 0.00 0.00 0.00 0.000 0.000 0.000 2394.62 2478.38 2310.88 2981.69 1967.44 0 0 0 30.00 30.00 30.00
16970.53 16646 116.79 1.87 60.00 2395.2 2479.5 2310.8 2981.6 1967.5 673.62 8.80 1764 16990.53 0.00 0.00 3.28 0.000 0.000 0.075 2395.97 2479.81 2312.12 2982.44 3100.75 0 0 0 30.00 30.00 15.41
17021.28 17414 116.79 1.87 0.00 2395.1 2478.9 2311.2 2981.8 3100.9 668.59 10.27 1771 17040.37 0.00 0.00 2.78 0.000 0.000 0.027 2395.34 2479.69 2311.00 2982.19 1967.94 0 0 0 30.00 30.00 15.89
17346.50 16646 116.79 1.87 60.00 2394.6 2479.1 2310.1 2982.0 1968.2 640.38 9.01 1803 17366.51 0.00 0.00 3.23 0.000 0.000 0.075 2394.75 2479.25 2310.25 2981.25 3100.62 0 0 0 30.00 30.00 15.64
17427.26 17414 116.79 1.87 0.00 2394.8 2479.4 2310.2 2981.9 3100.7 632.65 9.20 1816 17446.21 0.00 0.00 2.78 0.000 0.000 0.027 2395.12 2479.38 2310.88 2981.50 1968.69 0 0 0 30.00 30.00 15.89
17752.41 16386 116.79 1.87 0.00 2394.8 2479.5 2310.1 2982.3 1968.2 603.78 9.19 1848 17756.47 0.00 0.00 0.00 0.000 0.000 0.000 2393.88 2479.12 2308.62 2982.25 1968.25 0 0 0 30.00 30.00 30.00
18062.98 16966 116.79 1.91 -60.00 2394.7 2479.2 2310.2 2982.4 1968.2 577.90 7.73 1879 18082.57 0.00 0.00 3.11 0.000 0.000 0.090 2394.41 2479.38 2309.44 2981.50 899.44 0 0 0 30.00 30.00 15.57
18153.33 17414 116.79 1.91 0.00 2394.8 2479.6 2309.9 2982.2 899.4 569.95 8.71 1894 18172.03 0.00 0.00 2.73 0.000 0.000 0.023 2394.53 2479.44 2309.62 2982.06 2039.69 0 0 0 30.00 30.00 15.88
18478.57 16710 116.79 1.99 60.00 2394.6 2479.1 2310.0 2982.6 2039.9 546.17 7.10 1926 18497.76 0.00 0.00 3.04 0.000 0.000 0.078 2395.00 2479.56 2310.44 2981.81 3101.31 0 0 0 30.00 30.00 15.62
18638.51 17414 116.79 1.99 0.00 2394.7 2479.4 2310.0 2982.1 3100.5 533.00 8.51 1955 18657.26 0.00 0.00 2.78 0.000 0.000 0.026 2394.94 2480.19 2309.69 2982.81 1967.88 0 0 0 30.00 30.00 15.88
18963.77 16710 116.79 2.03 60.00 2394.3 2479.4 2309.3 2982.2 1967.9 507.88 7.92 1987 18983.78 0.00 0.00 3.23 0.000 0.000 0.074 2395.22 2480.25 2310.19 2981.12 3100.19 0 0 0 30.00 30.00 15.62
19060.24 17414 116.79 2.03 0.00 2394.7 2479.4 2309.9 2982.2 3101.0 499.63 8.09 2003 19078.20 0.00 0.00 2.80 0.000 0.000 0.026 2394.94 2480.38 2309.50 2982.31 1966.81 0 0 0 30.00 30.00 15.86
19384.30 16386 116.79 2.03 0.00 2394.2 2479.3 2309.1 2981.8 1967.1 473.98 8.08 2035 19388.36 0.00 0.00 0.00 0.000 0.000 0.000 2393.47 2478.19 2308.75 2982.81 1967.06 0 0 0 30.00 30.00 30.00
19694.88 19015 116.79 2.08 -60.00 2394.2 2479.4 2309.0 2982.4 1967.1 449.57 7.57 2066 19715.70 0.00 0.12 3.12 0.000 0.107 0.090 2394.66 2478.75 2310.56 3013.31 899.88 0 0 0 30.00 15.81 15.52
19722.29 17414 116.79 2.08 0.00 2394.1 2479.1 2309.1 3014.8 900.8 447.14 8.07 2068 19740.38 0.00 0.00 2.74 0.000 0.000 0.022 2395.31 2480.12 2310.50 3014.94 2039.69 0 0 0 30.00 30.00 15.77
20046.90 16966 116.79 2.15 -60.00 2394.3 2479.4 2309.2 3015.4 2040.1 422.43 7.26 2100 20067.30 0.00 0.00 3.33 0.000 0.000 0.084 2395.31 2480.75 2309.88 3015.25 899.62 0 0 0 30.00 30.00 15.54
20174.20 19527 116.79 2.22 0.00 2392.9 2477.8 2308.0 3015.1 899.8 412.82 7.40 2122 20192.18 0.00 0.00 2.74 0.000 0.000 0.022 2394.28 2479.56 2309.00 3015.44 2039.25 0 0 0 30.00 30.00 15.87
20498.68 19015 116.79 2.34 -60.00 2394.2 2479.4 2308.9 3015.4 2039.2 391.73 6.42 2154 20519.09 0.00 0.00 3.32 0.000 0.000 0.083 2395.09 2480.56 2309.62 3015.75 898.56 0 0 0 30.00 30.00 15.49
20566.00 19527 116.79 2.43 0.00 2394.4 2480.0 2308.8 3015.1 898.4 386.97 6.92 2164 20584.07 0.00 0.00 2.74 0.000 0.000 0.022 2395.22 2480.38 2310.06 3015.00 2039.50 0 0 0 30.00 30.00 15.89
20890.58 18499 116.79 2.57 0.00 2394.4 2479.8 2309.0 3015.4 2040.1 367.15 6.19 2196 20894.65 0.00 0.00 0.00 0.000 0.000 0.000 2393.97 2480.31 2307.62 3014.69 2039.81 0 0 0 30.00 30.00 30.00
21201.17 19015 116.79 2.70 -60.00 2394.4 2479.8 2309.0 3014.9 2039.7 347.93 6.27 2227 21221.83 0.00 0.00 3.34 0.000 0.000 0.082 2395.97 2480.88 2311.06 3015.00 899.44 0 0 0 30.00 30.00 15.52
21258.81 19527 116.79 2.80 0.00 2394.3 2479.9 2308.6 3015.1 899.5 343.95 6.75 2235 21277.19 0.00 0.00 2.73 0.000 0.000 0.022 2395.22 2481.38 2309.06 3015.31 2039.88 0 0 0 30.00 30.00 15.87
21583.69 19015 116.79 2.95 -60.00 2394.5 2480.2 2308.8 3014.9 2040.4 324.26 5.92 2267 21604.10 0.00 0.00 3.32 0.000 0.000 0.082 2393.22 2479.75 2306.69 3015.12 898.06 0 0 0 30.00 30.00 15.53
21681.12 19527 116.79 3.04 0.00 2393.9 2479.4 2308.4 3014.9 898.4 317.61 6.97 2283 21699.09 0.00 0.00 2.76 0.000 0.000 0.021 2393.97 2478.44 2309.50 3015.38 2039.75 0 0 0 30.00 30.00 15.82
22005.59 18499 116.79 3.15 0.00 2394.3 2479.3 2309.3 3015.4 2040.2 297.39 6.62 2315 22009.67 0.00 0.00 0.00 0.000 0.000 0.000 2393.66 2479.88 2307.44 3015.69 2039.88 0 0 0 30.00 30.00 30.00
22316.19 19015 116.79 3.24 -60.00 2394.4 2479.8 2309.1 3015.1 2040.1 276.43 7.08 2346 22336.61 0.00 0.00 3.33 0.000 0.000 0.082 2392.94 2478.00 2307.88 3015.06 899.50 0 0 0 30.00 30.00 15.51
22367.75 19527 116.79 3.31 0.00 2394.1 2479.5 2308.7 3015.0 899.3 272.65 7.25 2353 22386.46 0.00 0.00 2.74 0.000 0.000 0.021 2394.47 2479.94 2309.00 3015.31 2039.44 0 0 0 30.00 30.00 15.89
22693.01 18759 116.79 3.46 60.00 2394.3 2479.8 2308.9 3015.6 2040.0 252.32 5.90 2385 22712.21 0.00 0.00 3.07 0.000 0.000 0.076 2394.56 2479.44 2309.69 3015.31 3102.44 0 0 0 30.00 30.00 15.58
22770.54 19527 116.79 3.56 0.00 2394.4 2479.5 2309.4 3015.7 3102.6 247.19 6.87 2397 22788.76 0.00 0.00 2.80 0.000 0.000 0.024 2394.66 2478.75 2310.56 3015.06 1968.50 0 0 0 30.00 30.00 15.54
23095.40 18499 116.79 3.66 0.00 2394.2 2479.6 2308.8 3015.4 1968.7 225.41 6.74 2429 23099.47 0.00 0.00 0.00 0.000 0.000 0.000 2393.69 2478.50 2308.88 3014.69 1968.81 0 0 0 30.00 30.00 30.00
23406.02 18759 116.79 3.75 60.00 2394.3 2479.7 2309.0 3015.2 1969.3 203.91 6.91 2460 23426.03 0.00 0.00 3.27 0.000 0.000 0.072 2395.03 2480.50 2309.56 3015.88 3102.44 0 0 0 30.00 30.00 15.58
23567.23 19463 116.79 3.75 0.00 2394.5 2479.9 2309.1 3015.4 3102.1 192.92 6.63 2489 23586.34 0.00 0.00 2.83 0.000 0.000 0.024 2395.66 2480.75 2310.56 3015.75 1968.56 0 0 0 30.00 30.00 15.76
23892.89 18695 116.79 3.75 60.00 2394.2 2479.6 2308.8 3016.2 1969.1 174.05 5.68 2521 23913.30 0.00 0.00 3.32 0.000 0.000 0.070 2394.44 2480.94 2307.94 3015.44 3102.19 0 0 0 30.00 30.00 15.50
23990.19 19463 116.79 3.75 0.00 2394.7 2479.9 2309.5 3016.2 3102.5 168.15 6.15 2537 24008.58 0.00 0.00 2.84 0.000 0.000 0.024 2396.34 2481.06 2311.62 3015.12 1968.75 0 0 0 30.00 30.00 15.51
24315.09 10791 189.46 3.90 -60.00 2394.2 2479.6 2308.8 3016.1 1968.2 151.66 4.86 2569 24413.60 56.49 0.00 3.16 1.274 0.000 0.088 2115.84 2178.94 2052.75 3015.94 898.62 0 0 0 10.36 30.00 15.24
24455.08 3077 189.46 3.90 0.00 2111.8 2177.0 2046.7 3015.9 898.8 141.68 8.32 2589 24473.49 0.00 0.00 2.77 0.000 0.000 0.021 2111.97 2177.56 2046.38 3015.12 2039.50 0 0 0 30.00 30.00 15.69
24780.13 19015 189.46 3.94 -60.00 2108.0 2177.0 2039.0 3015.7 2039.9 116.48 7.71 2621 24800.54 0.00 0.00 3.36 0.000 0.000 0.082 2106.72 2175.38 2038.06 3015.62 898.44 0 0 0 30.00 30.00 15.35
24851.29 19463 189.46 3.94 0.00 2107.5 2177.2 2037.8 3015.9 898.8 109.98 9.40 2632 24870.40 0.00 0.00 2.79 0.000 0.000 0.020 2108.03 2177.94 2038.12 3016.12 2039.62 0 0 0 30.00 30.00 15.65
25176.98 18695 189.46 3.94 60.00 2106.2 2177.1 2035.4 3016.0 2039.7 85.51 6.65 2684 25197.31 0.00 0.00 3.09 0.000 0.000 0.074 2107.69 2178.69 2036.69 3015.50 3102.06 0 0 0 30.00 30.00 15.48
25204.18 19463 189.46 3.94 0.00 2106.3 2177.2 2035.5 3015.9 3102.4 83.60 6.97 2686 25222.89 0.00 0.00 2.78 0.000 0.000 0.024 2108.25 2179.25 2037.25 3015.69 1966.25 0 0 0 30.00 30.00 15.71
25409.40 18951 189.46 3.94 -60.00 2105.5 2177.4 2033.7 3015.6 1966.1 71.42 5.49 2724 25429.72 0.00 0.00 3.11 0.000 0.000 0.085 2105.69 2177.50 2033.88 3016.44 899.69 0 0 0 30.00 30.00 15.33
25436.60 11303 251.85 4.07 0.00 2105.3 2176.8 2033.8 3016.4 899.8 69.98 5.37 2726 25526.04 49.33 0.00 2.76 1.143 0.000 0.020 1862.44 1923.25 1801.62 3016.19 2044.88 0 0 0 11.43 30.00 15.65
25712.55 10791 323.61 4.21 -60.00 1854.2 1923.1 1785.4 3015.5 2045.1 56.37 4.91 2774 25816.33 56.80 0.00 3.37 1.105 0.000 0.083 1569.56 1619.19 1519.94 3015.56 898.69 0 0 0 11.38 30.00 15.21
25828.39 3077 323.61 4.21 0.00 1565.6 1617.1 1514.1 3015.8 898.2 49.22 7.29 2789 25847.48 0.00 0.00 2.79 0.000 0.000 0.020 1565.88 1617.75 1514.00 3015.94 2041.38 0 0 0 30.00 30.00 15.52
26034.16 18695 323.61 4.21 60.00 1561.2 1617.1 1505.4 3015.9 2041.5 34.76 7.07 2827 26054.47 0.00 0.00 3.07 0.000 0.000 0.074 1561.19 1617.25 1505.12 3015.88 3101.62 0 0 0 30.00 30.00 15.47
26071.34 19463 323.61 4.21 0.00 1560.7 1617.1 1504.4 3016.5 3102.2 32.03 7.37 2831 26090.45 0.00 0.00 2.81 0.000 0.000 0.023 1561.00 1617.50 1504.50 3015.94 1966.19 0 0 0 30.00 30.00 15.62
26276.98 18435 323.61 4.21 0.00 1559.7 1617.0 1502.4 3016.8 1966.2 17.65 7.11 2869 26283.88 0.00 0.00 0.00 0.000 0.000 0.000 1560.00 1617.69 1502.31 3015.56 1966.50 0 0 0 30.00 30.00 30.00
26470 end climb: SURFACE_DEPTH_REACHED
state 26470 begin surface coast
26531 end surface coast: CONTROL_FINISHED_OK
state 26532 begin surface