NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 987 * 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  987 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  475 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  150 CAPMAXSIZE  100000 LOITER_DBDW  0 LOGGERDEVICE3  -1
T_MISSION  195 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  71.819717 SEABIRD_T_G  0.0043000001
RELAUNCH  1 PITCH_DBAND  0.1 FG_AHR_24V  236.99124 SEABIRD_T_H  0.00063999998
APOGEE_PITCH  -5 PITCH_CNV  0.0041299998 PHONE_SUPPLY  2 SEABIRD_T_I  2.4999999e-05
MAX_BUOY  160 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  80 SC_NDIVE  1.0
HD_B  0.0099900002 ROLL_DEG  80 ALTIM_PING_DELTA  5
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  290321,175301,4706.531,-12500.683,23,0.8,24,15.6 TGT_LATLONG  4708.000,-12454.000
_CALLS  1 TGT_RADIUS  3000.000
_SM_DEPTHo  -1.53 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -56.1 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  290321,175938,4706.454,-12500.737,3,0.5,5,15.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.192,0.275 MHEAD_RNG_PITCHd_Wd  55.8,8958,-18.7,-11.111,-22.02
TGT_NAME  ONSHELF D_GRID  227

Post-dive calculations and measurements:
SM_CCo  4289.14,0.03,0.356,0,564.9,564.4,565.4,474.69 _24V_AH  13.72,274.102
SM_GC  -0.81,0.03,17.27,0.08,0.356,0.080,0.137,564.9,564.4,565.4,169.1,2137.3,0,0,0,15.19,15.43,15.70 _10V_AH  14.81,0.000
SUPER  27,71,254,1,0,0 FG_AHR_24Vo  237.184
IRIDIUM_FIX  4707.48,-12503.93,290321,163743 FG_AHR_10Vo  71.837
TCM_TEMP  175.60 MEM  1103712,38,73436,56
XPDR_PINGS  4,14.0,11.5 DATA_FILE_SIZE  25848,703
ALTIM_BOTTOM_PING  80.1,6.1 CAP_FILE_SIZE  381757,0
SC_FREEKB  3481088 SDSIZE  3918848,3649536
HUMID  58.05 SDFILEDIR  4961,1
TEMP  8.41 ERRORS  0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  7.79052 GPS  290321,191139,4706.248,-12500.189,3,1.5,5,15.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump661258123419.58 legato000.00
Pitch_motor37246127.44 nil000.00
Roll_motor157208451.08 nil000.00
Iridium194205546.63 nil000.00
Transponder_ping14208.64 nil000.00
GPS13153.08 nil000.00
Core290111507.11 SciCon41927455.01
LPSleep1597266.24 nil000.00
Compass16015118.63 nil000.00
RAFOS000.00
Transponder2300.89

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
7.62 16386 -155.72 -1.40 0.00 558.8 564.3 553.4 166.5 2117.1 0.00 0.00 0 98.32 90.25 0.00 0.00 0.005 0.000 0.000 2669.19 2651.88 2686.50 165.88 2119.44 0 0 0 14.54 30.00 30.00
98.58 18695 -155.72 -1.40 80.00 2668.2 2650.4 2685.9 165.8 2119.2 3.93 -12.43 17 130.91 9.56 14.39 3.65 0.007 0.246 0.110 3134.00 3128.31 3139.69 1799.12 3474.94 0 0 0 14.85 15.10 14.61
179.12 1028 -155.72 -1.40 0.00 3134.1 3127.2 3140.9 1799.4 3475.2 26.45 -21.83 33 184.84 0.00 0.00 3.42 0.000 0.000 0.057 3134.72 3128.31 3141.12 1799.44 2082.31 0 0 0 30.00 30.00 15.53
244.14 516 -155.72 -1.40 -80.00 3134.5 3128.1 3140.9 1799.2 2082.4 36.94 -16.07 46 249.95 0.00 0.00 4.03 0.000 0.000 0.150 3136.16 3129.44 3142.88 1798.69 661.75 0 0 0 30.00 30.00 15.27
269.59 1028 -155.72 -1.40 0.00 3135.0 3128.9 3141.1 1799.1 662.1 41.68 -18.90 51 275.29 0.00 0.00 3.49 0.000 0.000 0.049 3134.59 3127.62 3141.56 1799.12 2121.19 0 0 0 30.00 30.00 15.58
334.16 260 -155.72 -1.40 80.00 3134.5 3127.6 3141.4 1799.7 2121.3 53.18 -17.11 64 339.88 0.00 0.00 3.57 0.000 0.000 0.106 3135.06 3128.75 3141.38 1799.12 3475.75 0 0 0 30.00 30.00 15.44
359.16 1028 -155.72 -1.40 0.00 3134.4 3127.8 3141.0 1799.4 3475.4 57.27 -16.33 69 364.85 0.00 0.00 3.36 0.000 0.000 0.052 3135.50 3128.69 3142.31 1799.12 2081.06 0 0 0 30.00 30.00 15.58
424.17 260 -155.72 -1.40 80.00 3134.6 3128.0 3141.2 1799.5 2081.0 67.17 -14.39 82 429.91 0.00 0.00 3.69 0.000 0.000 0.102 3134.41 3127.69 3141.12 1799.00 3476.50 0 0 0 30.00 30.00 15.46
444.65 1028 -155.72 -1.40 0.00 3134.4 3128.0 3140.9 1799.2 3476.4 70.30 -15.66 86 449.87 0.00 0.00 3.36 0.000 0.000 0.052 3135.25 3128.56 3141.94 1799.25 2081.50 0 0 0 30.00 30.00 15.57
509.19 260 -155.72 -1.40 80.00 3135.0 3128.6 3141.3 1799.4 2081.4 79.35 -13.08 99 517.65 0.00 0.00 3.67 0.000 0.000 0.102 3135.69 3129.19 3142.19 1799.38 3476.44 0 0 0 30.00 30.00 15.47
550.88 1028 -155.72 -1.40 0.00 3134.6 3127.7 3141.4 1799.6 3476.1 85.27 -14.01 107 556.57 0.00 0.00 3.34 0.000 0.000 0.053 3136.53 3129.50 3143.56 1798.44 2080.62 0 0 0 30.00 30.00 15.59
615.90 516 -155.72 -1.40 -80.00 3134.1 3127.5 3140.6 1799.6 2080.9 93.89 -12.89 120 622.11 0.00 0.00 3.94 0.000 0.000 0.148 3135.31 3128.75 3141.88 1799.50 662.75 0 0 0 30.00 30.00 15.31
666.35 1028 -155.72 -1.40 0.00 3134.5 3128.2 3140.9 1799.4 662.9 100.69 -12.84 130 671.62 0.00 0.00 3.43 0.000 0.000 0.045 3135.25 3128.69 3141.81 1799.19 2123.50 0 0 0 30.00 30.00 15.66
730.92 260 -155.72 -1.40 80.00 3134.5 3128.1 3140.9 1799.4 2123.4 108.60 -11.70 143 736.63 0.00 0.00 3.53 0.000 0.000 0.104 3135.19 3128.81 3141.56 1799.62 3475.94 0 0 0 30.00 30.00 15.47
750.95 1028 -155.72 -1.40 0.00 3134.5 3128.0 3140.9 1799.4 3476.4 111.15 -12.67 147 756.61 0.00 0.00 3.33 0.000 0.000 0.051 3134.84 3128.81 3140.88 1799.38 2080.19 0 0 0 30.00 30.00 15.61
815.93 0 -155.72 -1.40 0.00 3134.2 3127.6 3140.9 1799.1 2080.3 119.32 -11.53 160 820.25 0.00 0.00 0.00 0.000 0.000 0.000 3135.06 3128.44 3141.69 1799.06 2080.50 0 0 0 30.00 30.00 30.00
880.94 260 -155.72 -1.40 80.00 3134.3 3127.4 3141.1 1799.5 2080.6 127.13 -12.59 173 887.11 0.00 0.00 3.67 0.000 0.000 0.103 3134.22 3127.62 3140.81 1799.19 3476.06 0 0 0 30.00 30.00 15.48
935.95 1028 -155.72 -1.40 0.00 3134.2 3127.8 3140.7 1799.5 3476.2 135.08 -14.62 184 941.64 0.00 0.00 3.34 0.000 0.000 0.053 3135.53 3129.19 3141.88 1798.88 2081.06 0 0 0 30.00 30.00 15.61
1000.97 0 -155.72 -1.40 0.00 3134.7 3128.2 3141.2 1799.3 2081.6 143.23 -11.76 197 1005.29 0.00 0.00 0.00 0.000 0.000 0.000 3135.56 3129.25 3141.88 1799.50 2081.69 0 0 0 30.00 30.00 30.00
1070.97 0 -155.72 -1.40 0.00 3134.6 3128.1 3141.1 1799.5 2081.6 151.44 -11.20 210 1072.30 0.00 0.00 0.00 0.000 0.000 0.000 3134.75 3128.25 3141.25 1799.38 2081.12 0 0 0 30.00 30.00 30.00
1370.99 260 -155.72 -1.40 80.00 3134.0 3127.4 3140.5 1799.4 2081.7 183.87 -9.93 240 1376.66 0.00 0.00 3.68 0.000 0.000 0.107 3133.81 3127.38 3140.25 1798.56 3476.12 0 0 0 30.00 30.00 15.47
1566.04 1028 -155.72 -1.40 0.00 3134.4 3128.1 3140.7 1799.7 3475.4 208.39 -14.03 279 1570.63 0.00 0.00 3.36 0.000 0.000 0.055 3135.25 3128.56 3141.94 1799.19 2080.12 0 0 0 30.00 30.00 15.61
1726 end dive: TARGET_DEPTH_EXCEEDED
state 1726 begin apogee
1727.25 10243 0.00 -0.25 0.00 3134.3 3127.9 3140.8 1799.8 2125.5 227.97 -12.11 296 1858.01 124.75 2.11 0.09 1.277 0.139 0.209 2498.69 2507.50 2489.88 2080.25 2083.38 0 0 0 10.64 15.48 14.90
1861 end apogee: CONTROL_FINISHED_OK
state 1861 begin climb
1860.92 10759 155.72 1.40 -80.00 2496.8 2506.4 2487.2 2080.4 2083.4 234.19 0.00 309 2001.58 131.74 2.77 4.05 1.229 0.086 0.136 1864.59 1890.44 1838.75 2484.62 662.12 0 0 0 11.57 15.22 14.84
2040.33 11303 216.03 1.58 0.00 1859.0 1884.2 1833.9 2484.8 662.1 226.70 8.20 344 2097.65 52.24 0.25 3.54 1.199 0.067 0.043 1618.41 1648.00 1588.81 2538.88 2126.94 0 0 0 11.50 15.24 15.33
2394.91 16902 216.03 1.58 -80.00 1610.9 1643.1 1578.8 2538.4 2126.9 187.39 11.35 385 2400.61 0.00 0.00 4.05 0.000 0.000 0.131 1611.94 1643.62 1580.25 2538.56 662.75 0 0 0 30.00 30.00 15.36
2430.34 17414 216.03 1.58 0.00 1610.9 1642.9 1578.9 2539.7 663.1 182.90 12.66 392 2435.52 0.00 0.00 3.47 0.000 0.000 0.044 1610.78 1642.88 1578.69 2538.25 2126.50 0 0 0 30.00 30.00 15.62
2734.96 16710 216.03 1.63 80.00 1610.1 1642.4 1577.7 2539.1 2126.4 152.18 9.47 423 2740.57 0.00 0.00 3.60 0.000 0.000 0.108 1611.47 1643.62 1579.31 2537.50 3475.00 0 0 0 30.00 30.00 15.48
2764.95 17478 216.03 1.65 0.00 1609.2 1641.4 1577.0 2538.8 3475.9 149.19 10.44 429 2770.64 0.00 0.00 3.36 0.000 0.000 0.050 1609.31 1641.31 1577.31 2539.31 2078.00 0 0 0 30.00 30.00 15.65
2829.96 16902 216.03 1.65 -80.00 1609.2 1641.3 1577.1 2538.6 2077.8 142.28 11.11 442 2836.17 0.00 0.00 3.89 0.000 0.000 0.133 1609.12 1641.50 1576.75 2539.50 662.50 0 0 0 30.00 30.00 15.38
2875.42 17414 216.03 1.65 0.00 1609.2 1641.6 1576.9 2539.1 662.6 136.59 13.12 451 2881.11 0.00 0.00 3.44 0.000 0.000 0.043 1609.69 1642.12 1577.25 2539.12 2128.88 0 0 0 30.00 30.00 15.70
2939.99 16646 216.03 1.65 80.00 1608.9 1641.0 1576.8 2538.9 2128.8 128.97 10.77 464 2945.70 0.00 0.00 3.59 0.000 0.000 0.109 1609.91 1642.06 1577.75 2539.12 3474.19 0 0 0 30.00 30.00 15.48
2974.99 17478 216.03 1.67 0.00 1608.8 1641.1 1576.6 2538.9 3474.6 125.29 10.51 471 2980.68 0.00 0.00 3.36 0.000 0.000 0.052 1609.16 1641.75 1576.56 2538.56 2077.94 0 0 0 30.00 30.00 15.64
3040.00 16646 216.03 1.67 80.00 1608.5 1640.7 1576.3 2539.4 2077.9 118.06 11.28 484 3045.75 0.00 0.00 3.72 0.000 0.000 0.108 1609.12 1641.19 1577.06 2539.06 3475.19 0 0 0 30.00 30.00 15.47
3090.01 17414 216.03 1.67 0.00 1608.5 1640.7 1576.2 2539.2 3475.2 112.26 10.98 494 3095.70 0.00 0.00 3.35 0.000 0.000 0.053 1608.25 1640.50 1576.00 2539.25 2078.81 0 0 0 30.00 30.00 15.64
3155.03 10791 263.44 1.81 -80.00 1608.6 1640.8 1576.3 2539.0 2079.1 106.36 8.82 507 3207.21 42.51 0.26 3.89 1.119 0.083 0.135 1425.69 1457.69 1393.69 2591.31 662.44 0 0 0 10.79 15.69 15.13
3305.89 1028 263.44 1.81 0.00 1423.1 1454.2 1392.1 2591.4 662.9 88.80 12.40 537 3311.59 0.00 0.00 3.50 0.000 0.000 0.048 1423.12 1454.50 1391.75 2591.38 2127.25 0 0 0 30.00 30.00 15.58
3370.46 260 263.44 1.81 80.00 1421.8 1454.4 1389.2 2591.8 2126.9 80.94 12.22 550 3376.18 0.00 0.00 3.58 0.000 0.000 0.109 1422.03 1454.62 1389.44 2592.12 3473.50 0 0 0 30.00 30.00 15.41
3425.46 1028 263.44 1.81 0.00 1421.2 1453.9 1388.6 2590.9 3474.1 74.35 13.01 561 3431.16 0.00 0.00 3.36 0.000 0.000 0.052 1421.59 1454.56 1388.62 2591.19 2075.50 0 0 0 30.00 30.00 15.59
3490.49 580 263.44 1.86 -80.00 1420.9 1453.8 1388.0 2591.8 2075.8 67.95 9.57 574 3496.68 0.00 0.00 3.88 0.000 0.000 0.133 1420.94 1453.94 1387.94 2592.06 662.62 0 0 0 30.00 30.00 15.35
3525.95 1092 263.44 1.89 0.00 1421.0 1453.8 1388.2 2591.2 662.9 64.45 10.00 581 3531.61 0.00 0.00 3.44 0.000 0.000 0.045 1421.38 1454.25 1388.50 2591.00 2128.88 0 0 0 30.00 30.00 15.65
3590.50 10535 340.70 2.12 80.00 1420.8 1453.9 1387.6 2591.9 2128.4 59.30 7.38 594 3679.05 82.65 0.41 3.62 1.055 0.060 0.110 1111.16 1143.62 1078.69 2667.69 3474.38 0 0 0 11.31 15.65 15.02
3727.26 1028 340.70 2.12 0.00 1109.2 1141.2 1077.2 2668.6 3474.9 45.93 11.65 621 3732.98 0.00 0.00 3.40 0.000 0.000 0.053 1109.22 1141.56 1076.88 2667.81 2077.94 0 0 0 30.00 30.00 15.44
3792.29 0 340.70 2.12 0.00 1108.2 1141.3 1075.0 2667.8 2078.2 38.80 11.18 634 3796.61 0.00 0.00 0.00 0.000 0.000 0.000 1108.31 1141.69 1074.94 2666.94 2078.31 0 0 0 30.00 30.00 30.00
3857.29 260 340.70 2.12 80.00 1107.4 1141.2 1073.6 2667.7 2078.4 31.00 12.33 647 3863.07 0.00 0.00 3.73 0.000 0.000 0.107 1107.31 1141.31 1073.31 2667.62 3473.50 0 0 0 30.00 30.00 15.39
3867.30 1028 340.70 2.12 0.00 1107.3 1141.3 1073.2 2667.6 3474.2 29.95 11.62 649 3872.98 0.00 0.00 3.37 0.000 0.000 0.052 1108.03 1141.88 1074.19 2667.12 2078.25 0 0 0 30.00 30.00 15.55
3932.31 260 340.70 2.12 80.00 1107.0 1141.1 1072.9 2667.7 2078.2 22.66 10.96 662 3938.07 0.00 0.00 3.73 0.000 0.000 0.107 1107.09 1141.38 1072.81 2667.69 3473.25 0 0 0 30.00 30.00 15.41
3952.32 1028 340.70 2.12 0.00 1106.7 1140.7 1072.7 2667.6 3473.6 19.89 12.99 666 3958.00 0.00 0.00 3.34 0.000 0.000 0.050 1106.91 1141.12 1072.69 2668.12 2077.31 0 0 0 30.00 30.00 15.58
4017.33 260 340.70 2.12 80.00 1106.6 1140.9 1072.3 2667.4 2076.4 11.51 11.89 679 4023.08 0.00 0.00 3.73 0.000 0.000 0.105 1106.56 1140.94 1072.19 2667.75 3474.88 0 0 0 30.00 30.00 15.42
4042.38 1028 340.70 2.12 0.00 1106.2 1140.3 1072.0 2668.2 3474.2 8.45 12.37 684 4048.01 0.00 0.00 3.35 0.000 0.000 0.051 1106.94 1140.88 1073.00 2667.25 2078.00 0 0 0 30.00 30.00 15.60
4107.35 10791 408.62 2.33 -80.00 1106.3 1141.0 1071.6 2668.1 2078.1 2.33 7.83 697 4112.55 4.41 0.24 0.00 0.530 0.081 0.000 1101.22 1136.19 1066.25 2713.75 2078.06 0 0 0 11.12 15.63 30.00
4113 end climb: SURFACE_DEPTH_REACHED
state 4113 begin surface coast
4137 end surface coast: CONTROL_FINISHED_OK
state 4137 begin surface