NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 856 * 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  856 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  68.076111 SEABIRD_T_G  0.0043000001
RELAUNCH  1 PITCH_DBAND  0.1 FG_AHR_24V  207.69061 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  180321,010500,4749.440,-12522.777,7,0.8,32,15.8 TGT_LATLONG  4742.620,-12530.490
_CALLS  1 TGT_RADIUS  7000.000
_SM_DEPTHo  -3.29 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -61.4 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  180321,011205,4749.468,-12522.723,2,0.6,3,15.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.160,0.227 MHEAD_RNG_PITCHd_Wd  201.6,15955,-18.6,-9.259,-22.19
TGT_NAME  OUT8 D_GRID  628

Post-dive calculations and measurements:
SM_CCo  9730.93,1.42,0.132,0,768.6,772.0,765.2,424.71 _10V_AH  14.79,0.000
SM_GC  -1.06,1.42,16.72,0.10,0.132,0.079,0.137,768.6,772.0,765.2,179.2,2073.1,0,0,0,15.19,15.46,15.65 FG_AHR_24Vo  207.904
SUPER  27,71,254,1,0,0 FG_AHR_10Vo  68.113
IRIDIUM_FIX  4751.10,-12521.07,170321,221203 MEM  1100152,45,75696,114
TCM_TEMP  175.33 DATA_FILE_SIZE  44996,1235
XPDR_PINGS  3,14.0,11.5 CAP_FILE_SIZE  480296,0
SC_FREEKB  3531392 SDSIZE  3918848,3682240
HUMID  57.91 SDFILEDIR  4306,1
TEMP  7.94 ERRORS  0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  7.78513 GPS  180321,035452,4748.866,-12524.340,8,1.5,10,15.8
_24V_AH  13.80,242.451

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump599261121588.31 legato000.00
Pitch_motor36252127.96 nil000.00
Roll_motor141230451.18 nil000.00
Iridium220201614.18 nil000.00
Transponder_ping04204.35 nil000.00
GPS12152.83 nil000.00
Core449711784.95 SciCon96406942.85
LPSleep54692226.50 nil000.00
Compass27815205.69 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
7.90 16386 -116.79 -1.28 0.00 763.1 764.4 761.7 169.2 2078.7 0.00 0.00 0 98.95 90.53 0.00 0.00 0.005 0.000 0.000 2851.41 2829.25 2873.56 169.06 2079.38 0 0 0 14.59 30.00 30.00
99.25 18951 -116.79 -1.28 -80.00 2850.9 2828.9 2872.9 168.9 2079.2 3.50 -17.93 17 127.03 2.36 14.74 4.13 0.013 0.252 0.151 2974.81 2963.88 2985.75 1829.56 664.12 0 0 0 14.89 15.14 14.72
130.72 1028 -116.79 -1.28 0.00 2975.1 2964.4 2985.8 1829.7 663.9 15.39 -34.62 23 136.47 0.00 0.00 3.58 0.000 0.000 0.055 2975.31 2964.38 2986.25 1829.81 2118.38 0 0 0 30.00 30.00 15.56
315.43 260 -116.79 -1.28 80.00 2975.4 2965.5 2985.2 1829.5 2118.2 49.53 -15.55 60 321.57 0.00 0.00 3.68 0.000 0.000 0.110 2975.69 2966.00 2985.38 1829.69 3474.19 0 0 0 30.00 30.00 15.46
365.82 1028 -116.79 -1.28 0.00 2975.8 2966.1 2985.4 1830.0 3474.6 57.91 -17.23 70 371.54 0.00 0.00 3.45 0.000 0.000 0.060 2977.09 2967.31 2986.88 1828.94 2082.19 0 0 0 30.00 30.00 15.57
550.54 0 -116.79 -1.28 0.00 2975.8 2965.9 2985.7 1829.8 2082.2 85.42 -13.94 107 554.88 0.00 0.00 0.00 0.000 0.000 0.000 2976.56 2967.12 2986.00 1829.38 2082.62 0 0 0 30.00 30.00 30.00
740.53 0 -116.79 -1.28 0.00 2975.9 2966.4 2985.3 1830.0 2082.9 108.28 -11.37 138 741.86 0.00 0.00 0.00 0.000 0.000 0.000 2974.31 2964.62 2984.00 1829.56 2082.25 0 0 0 30.00 30.00 30.00
1040.65 260 -116.79 -1.28 80.00 2975.5 2966.1 2984.9 1829.6 2083.4 140.12 -10.06 168 1046.29 0.00 0.00 3.81 0.000 0.000 0.111 2973.88 2963.81 2983.94 1829.56 3475.75 0 0 0 30.00 30.00 15.53
1119.49 1028 -116.79 -1.28 0.00 2975.9 2966.2 2985.7 1829.8 3475.3 149.71 -11.67 184 1126.77 0.00 0.00 3.44 0.000 0.000 0.058 2977.50 2967.62 2987.38 1829.62 2082.25 0 0 0 30.00 30.00 15.62
1425.67 0 -116.79 -1.28 0.00 2976.1 2966.7 2985.5 1829.4 2082.6 181.03 -10.91 215 1427.00 0.00 0.00 0.00 0.000 0.000 0.000 2976.09 2966.38 2985.81 1829.44 2082.62 0 0 0 30.00 30.00 30.00
1725.72 260 -116.79 -1.28 80.00 2975.8 2966.5 2985.1 1829.8 2082.6 213.33 -10.58 245 1731.42 0.00 0.00 3.82 0.000 0.000 0.111 2975.69 2966.19 2985.19 1829.50 3475.19 0 0 0 30.00 30.00 15.52
1791.17 1028 -116.79 -1.28 0.00 2976.2 2966.7 2985.6 1829.4 3474.8 220.36 -11.26 258 1796.37 0.00 0.00 3.44 0.000 0.000 0.060 2974.47 2965.31 2983.62 1829.44 2081.00 0 0 0 30.00 30.00 15.64
2095.80 0 -116.79 -1.28 0.00 2975.5 2966.4 2984.7 1830.1 2081.4 250.85 -10.71 289 2097.13 0.00 0.00 0.00 0.000 0.000 0.000 2976.44 2967.00 2985.88 1830.06 2081.56 0 0 0 30.00 30.00 30.00
2395.86 260 -116.79 -1.28 80.00 2975.9 2966.6 2985.2 1829.9 2081.0 277.67 -9.98 319 2401.56 0.00 0.00 3.84 0.000 0.000 0.114 2975.38 2966.06 2984.69 1829.25 3476.00 0 0 0 30.00 30.00 15.50
2431.28 1028 -116.79 -1.28 0.00 2976.0 2966.6 2985.3 1829.8 3475.7 281.23 -11.33 326 2436.49 0.00 0.00 3.46 0.000 0.000 0.062 2977.50 2967.88 2987.12 1829.88 2083.38 0 0 0 30.00 30.00 15.62
2735.93 0 -116.79 -1.28 0.00 2976.1 2967.1 2985.1 1829.7 2083.5 310.46 -8.00 357 2737.25 0.00 0.00 0.00 0.000 0.000 0.000 2976.41 2967.38 2985.44 1829.50 2083.56 0 0 0 30.00 30.00 30.00
3035.98 0 -116.79 -1.28 0.00 2975.9 2966.7 2985.2 1829.1 2083.6 339.14 -9.53 387 3037.31 0.00 0.00 0.00 0.000 0.000 0.000 2974.72 2965.75 2983.69 1829.44 2083.94 0 0 0 30.00 30.00 30.00
3336.04 0 -116.79 -1.28 0.00 2975.7 2965.8 2985.5 1829.9 2083.6 366.39 -8.44 417 3337.37 0.00 0.00 0.00 0.000 0.000 0.000 2976.56 2967.69 2985.44 1829.69 2084.50 0 0 0 30.00 30.00 30.00
3636.10 260 -116.79 -1.28 80.00 2976.0 2966.8 2985.2 1829.7 2083.6 403.52 -8.58 447 3641.80 0.00 0.00 3.87 0.000 0.000 0.117 2974.25 2965.00 2983.50 1829.62 3475.50 0 0 0 30.00 30.00 15.47
3691.54 1028 -116.79 -1.28 0.00 2975.9 2966.3 2985.4 1829.4 3475.5 409.37 -11.00 458 3696.76 0.00 0.00 3.46 0.000 0.000 0.063 2974.94 2965.38 2984.50 1829.56 2083.00 0 0 0 30.00 30.00 15.60
3996.17 260 -116.79 -1.28 80.00 2975.4 2966.4 2984.4 1829.4 2082.9 438.59 -8.69 489 4001.86 0.00 0.00 3.85 0.000 0.000 0.115 2976.25 2967.25 2985.25 1829.38 3472.50 0 0 0 30.00 30.00 15.46
4035.07 1028 -116.79 -1.28 0.00 2975.4 2966.1 2984.6 1829.8 3473.8 443.79 -14.21 497 4042.34 0.00 0.00 3.46 0.000 0.000 0.063 2977.00 2968.00 2986.00 1829.88 2083.38 0 0 0 30.00 30.00 15.58
4341.24 0 -116.79 -1.28 0.00 2975.4 2966.5 2984.3 1829.9 2083.9 477.27 -12.33 528 4342.57 0.00 0.00 0.00 0.000 0.000 0.000 2974.91 2966.50 2983.31 1829.31 2084.12 0 0 0 30.00 30.00 30.00
4551 end dive: TARGET_DEPTH_EXCEEDED
state 4551 begin apogee
4552.48 10243 0.00 -0.25 0.00 2975.3 2966.6 2983.9 1829.8 2120.3 500.13 -16.08 549 4655.79 99.51 1.90 0.09 1.641 0.139 0.230 2499.44 2506.75 2492.12 2081.50 2086.81 0 0 0 10.50 15.50 14.86
4658 end apogee: CONTROL_FINISHED_OK
state 4658 begin climb
4658.50 10243 116.79 1.28 0.00 2497.7 2506.2 2489.2 2080.7 2085.9 503.89 0.00 559 4769.72 106.92 2.69 0.00 1.582 0.082 0.000 2021.47 2046.94 1996.00 2454.38 2085.56 0 0 0 11.65 15.14 30.00
5063.04 16902 116.79 1.28 -80.00 2012.4 2043.4 1981.4 2454.8 2085.8 477.99 8.83 600 5068.79 0.00 0.00 4.19 0.000 0.000 0.147 2014.53 2045.75 1983.31 2454.62 664.12 0 0 0 30.00 30.00 15.35
5128.56 17414 116.79 1.28 0.00 2010.8 2040.6 1981.1 2454.6 663.9 471.73 8.82 613 5133.69 0.00 0.00 3.60 0.000 0.000 0.055 2010.88 2040.38 1981.38 2453.06 2122.56 0 0 0 30.00 30.00 15.61
5433.13 16710 116.79 1.33 80.00 2008.7 2040.4 1977.0 2454.4 2123.1 446.09 7.56 644 5438.78 0.00 0.00 3.75 0.000 0.000 0.118 2009.25 2040.56 1977.94 2455.12 3473.62 0 0 0 30.00 30.00 15.48
5498.57 17478 116.79 1.36 0.00 2008.4 2040.4 1976.5 2454.1 3473.1 440.32 8.24 657 5503.75 0.00 0.00 3.45 0.000 0.000 0.060 2007.59 2039.44 1975.75 2454.62 2080.38 0 0 0 30.00 30.00 15.62
5803.20 10791 166.38 1.51 -80.00 2007.8 2040.5 1975.2 2455.0 2080.1 418.82 6.59 688 5855.51 44.22 0.32 4.14 1.516 0.074 0.146 1819.78 1852.94 1786.62 2517.50 662.81 0 0 0 10.87 15.72 15.12
5897.68 1028 166.38 1.51 0.00 1818.3 1851.8 1784.9 2517.6 662.7 407.72 16.53 707 5904.53 0.00 0.00 3.60 0.000 0.000 0.054 1819.84 1853.50 1786.19 2517.62 2123.94 0 0 0 30.00 30.00 15.49
6203.85 16646 166.38 1.51 80.00 1813.4 1851.2 1775.6 2517.9 2124.5 377.25 9.71 738 6209.52 0.00 0.00 3.72 0.000 0.000 0.119 1815.59 1853.50 1777.69 2517.62 3474.12 0 0 0 30.00 30.00 15.44
6289.29 17414 166.38 1.51 0.00 1812.7 1849.6 1775.8 2517.9 3474.7 367.84 10.58 755 6294.56 0.00 0.00 3.46 0.000 0.000 0.061 1812.38 1849.69 1775.06 2515.44 2079.69 0 0 0 30.00 30.00 15.59
6593.96 10791 222.59 1.68 -80.00 1811.6 1849.4 1773.8 2518.1 2079.6 336.35 6.24 786 6650.79 50.82 0.18 4.11 1.444 0.095 0.145 1590.66 1626.62 1554.69 2555.94 662.69 0 0 0 11.06 15.71 15.10
6742.96 1028 222.59 1.68 0.00 1588.7 1622.6 1554.7 2556.0 662.9 316.31 15.70 816 6749.81 0.00 0.00 3.58 0.000 0.000 0.054 1588.59 1623.56 1553.62 2555.25 2124.00 0 0 0 30.00 30.00 15.51
7049.11 0 222.59 1.68 0.00 1585.4 1622.6 1548.2 2556.4 2124.7 275.83 14.79 847 7050.44 0.00 0.00 0.00 0.000 0.000 0.000 1585.97 1623.06 1548.88 2556.81 2124.75 0 0 0 30.00 30.00 30.00
7349.16 16902 222.59 1.68 -80.00 1584.4 1622.4 1546.4 2556.4 2124.6 234.94 11.76 877 7354.93 0.00 0.00 4.19 0.000 0.000 0.138 1583.38 1621.31 1545.44 2556.94 662.88 0 0 0 30.00 30.00 15.39
7448.09 17414 222.59 1.68 0.00 1584.4 1622.1 1546.8 2556.3 663.1 218.79 15.53 897 7454.95 0.00 0.00 3.54 0.000 0.000 0.053 1584.44 1622.06 1546.81 2556.69 2123.56 0 0 0 30.00 30.00 15.67
7754.26 16902 222.59 1.68 -80.00 1583.4 1621.3 1545.4 2555.6 2123.8 180.61 13.21 928 7760.00 0.00 0.00 4.18 0.000 0.000 0.138 1584.75 1622.62 1546.88 2556.56 662.88 0 0 0 30.00 30.00 15.39
7819.76 17414 222.59 1.68 0.00 1583.6 1621.6 1545.6 2556.8 663.0 171.37 14.93 941 7824.92 0.00 0.00 3.54 0.000 0.000 0.053 1584.72 1622.19 1547.25 2556.62 2126.44 0 0 0 30.00 30.00 15.72
8124.34 16386 222.59 1.68 0.00 1582.9 1621.3 1544.4 2555.9 2126.6 135.31 11.56 972 8125.67 0.00 0.00 0.00 0.000 0.000 0.000 1583.12 1621.69 1544.56 2556.31 2126.12 0 0 0 30.00 30.00 30.00
8424.39 16646 222.59 1.68 80.00 1582.7 1621.6 1543.8 2555.9 2126.9 101.57 11.85 1002 8430.05 0.00 0.00 3.69 0.000 0.000 0.117 1583.03 1622.00 1544.06 2555.38 3472.56 0 0 0 30.00 30.00 15.48
8450.08 17414 222.59 1.68 0.00 1582.1 1620.2 1544.0 2555.8 3472.9 98.67 11.28 1007 8455.14 0.00 0.00 3.41 0.000 0.000 0.057 1582.56 1620.75 1544.38 2554.94 2077.81 0 0 0 30.00 30.00 15.65
8634.47 16902 222.59 1.68 -80.00 1581.7 1619.9 1543.5 2556.4 2077.5 79.66 9.22 1044 8640.74 0.00 0.00 4.03 0.000 0.000 0.139 1582.31 1620.38 1544.25 2555.69 663.88 0 0 0 30.00 30.00 15.37
8679.92 17414 222.59 1.68 0.00 1582.0 1620.0 1544.1 2556.0 664.0 74.88 10.66 1053 8685.25 0.00 0.00 3.53 0.000 0.000 0.052 1582.28 1620.38 1544.19 2556.31 2127.88 0 0 0 30.00 30.00 15.73
8864.58 8742 268.30 1.81 -80.00 1581.9 1620.3 1543.5 2556.4 2128.3 59.81 6.80 1090 8921.87 48.90 0.00 4.18 1.117 0.000 0.136 1405.91 1445.31 1366.50 2556.19 662.88 0 0 0 10.72 30.00 15.20
8965.60 3141 268.30 1.84 0.00 1405.0 1443.2 1366.8 2556.7 663.1 52.40 8.46 1110 8970.96 0.00 0.19 3.57 0.000 0.081 0.050 1405.16 1443.62 1366.69 2597.38 2128.06 0 0 0 30.00 15.38 15.53
9150.25 8486 307.68 1.96 80.00 1403.1 1442.6 1363.7 2597.2 2127.7 38.87 7.14 1147 9202.03 43.15 0.00 3.73 1.066 0.000 0.115 1245.69 1282.38 1209.00 2597.62 3473.06 0 0 0 11.32 30.00 15.15
9265.39 1028 307.68 1.96 0.00 1243.5 1279.6 1207.4 2597.8 3473.2 29.50 8.97 1170 9271.12 0.00 0.00 3.48 0.000 0.000 0.056 1244.28 1280.56 1208.00 2597.69 2080.00 0 0 0 30.00 30.00 15.50
9450.54 516 307.68 1.96 -80.00 1242.5 1280.1 1204.9 2598.5 2079.8 13.52 8.83 1207 9456.72 0.00 0.00 4.07 0.000 0.000 0.137 1243.19 1280.75 1205.62 2597.81 662.88 0 0 0 30.00 30.00 15.34
9510.93 1028 307.68 1.96 0.00 1242.5 1279.9 1205.0 2598.2 663.1 7.66 10.77 1219 9516.24 0.00 0.00 3.55 0.000 0.000 0.049 1242.75 1280.69 1204.81 2596.81 2128.25 0 0 0 30.00 30.00 15.64
9570 end climb: SURFACE_DEPTH_REACHED
state 9570 begin surface coast
9590 end surface coast: CONTROL_FINISHED_OK
state 9590 begin surface