OKMC Nov11 * SG165 * Dive index * Mission links * Dive 126 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  165 HD_B  0.010078 PITCH_ADJ_GAIN  0.0070000002 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  126 HEADING  60 ROLL_MIN  200 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3692 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  11 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  11 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1955 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1990 ALTIM_FREQUENCY  13
D_ABORT  1020 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  3 SM_CC  450 ROLL_TIMEOUT  15 XPDR_VALID  6
T_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  46 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  46 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0.85000002
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  9 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  3 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  163 VBD_MIN  485 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE2  53
T_DIVE  300 UPLOAD_DIVES_MAX  -1 C_VBD  2786 DEVICE3  35
T_MISSION  320 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  4 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -4 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -271570 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  1001 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  9.5 XPDR_DEVICE  24
MAX_BUOY  250 PITCH_MIN  180 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3922 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2950 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043567759
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -57.316994 SEABIRD_T_H  0.00062679156
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000116182 SEABIRD_T_I  2.4204959e-05
MASS  51872 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.6176024e-06
NAV_MODE  0 PITCH_GAIN  30 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.134539
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1435308
KALMAN_USE  2 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.0010041125
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00016055659

Pre-dive calculations and measurements:
GPS1  171211,131031,2004.386,11945.579,38,1.6,38,-2.2 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2009.760,11955.226
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.084,-0.266
_SM_DEPTHo  8.60 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -56.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  171211,131707,2004.360,11945.263,25,1.4,25,-2.2 MHEAD_RNG_PITCHd_Wd  62.2,20000,-15.2,-11.000
SPEED_LIMITS  0.191,0.337 D_GRID  3372

Post-dive calculations and measurements:
FINISH  7.3,1.023098 _10V_AH  10.2,30.109
SM_CCo  15808,0.00,0.000,0,0,475,566.89 FG_AHR_24Vo  0.000
SM_GC  7.79,8.10,0.08,0.00,0.036,0.109,0.000,163,1938,475,-8.64,1.19,566.89,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1957.29,11946.97,171211,080847 MEM  324772
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  83625,1456
HUMID  40.94 CAP_FILE_SIZE  176409,0
INTERNAL_PRESSURE  9.35619 CFSIZE  260165632,187920384
TCM_TEMP  24.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  7 GPS  171211,174207,2004.743,11945.929,29,1.2,29,-2.2
_24V_AH  22.9,29.941

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22238123.53 SBE_CT98724542.55
Roll_motor144109361.37 AA3830124233939.08
VBD_pump_during_apogee690131220756.88 WL_BB2F7951051912.44
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910369.68 nil000.00
Iridium_during_connect2316086.47 nil000.00
Iridium_during_xfer1962231004.31 nil000.00
Transponder_ping142016.83 nil000.00
GUMSTIX_24V000.00
GPS285014.50
TT8338219683.08
LPSleep84032187.72
TT8_Active79019159.61
TT8_Sampling3254391321.26
TT8_CF835945168.04
TT8_Kalman000.00
Analog_circuits228612279.84
GPS_charging000.00
Compass296715454.01
RAFOS000.00
Transponder050.03

Guidance and control:
st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.80 -243.3 0.0 0.0 0 117 0.00 0.00 -98.85 0.000 2 0.000 0.000 142 1990 3112 0 0 0 0 0 0 28.83 28.83 28.83
122 -0.80 -243.3 12.1 -8.6 16 150 10.10 2.17 -11.48 0.000 4 0.239 0.054 2676 3360 3781 0 0 0 0 0 0 25.43 25.98 26.34
172 -0.65 -243.3 33.3 -36.5 24 181 0.20 2.17 0.00 0.000 6 0.161 0.033 2737 1947 3782 0 0 0 0 0 0 25.64 26.03 28.83
505 -0.59 -243.3 110.3 -20.5 85 511 0.00 2.12 0.00 0.000 4 0.000 0.046 2737 560 3783 0 0 0 0 0 0 28.83 26.10 28.83
577 -0.54 -243.3 124.7 -20.4 98 585 0.12 2.15 0.00 0.000 6 0.148 0.036 2769 1949 3783 0 0 0 0 0 0 25.89 26.18 28.83
908 -0.54 -243.3 172.7 -14.0 159 915 0.00 2.20 0.00 0.000 4 0.000 0.049 2766 3359 3784 0 0 0 0 0 0 28.83 26.17 28.83
994 -0.57 -243.3 182.7 -10.0 174 1001 0.00 2.12 0.00 0.000 6 0.000 0.031 2766 1956 3784 0 0 0 0 0 0 28.83 26.31 28.83
1315 -0.57 -243.3 217.3 -10.9 219 1323 0.00 2.15 0.00 0.000 4 0.000 0.050 2766 561 3784 0 0 0 0 0 0 28.83 26.25 28.83
1361 -0.57 -243.3 222.2 -11.1 223 1367 0.00 2.12 0.00 0.000 6 0.000 0.037 2766 1956 3785 0 0 0 0 0 0 28.83 26.32 28.83
1668 -0.59 -243.3 255.5 -9.4 254 1677 0.00 2.15 0.00 0.000 4 0.000 0.050 2766 3362 3784 0 0 0 0 0 0 28.83 26.27 28.83
1744 -0.62 -243.3 262.0 -8.2 261 1748 0.00 2.10 0.00 0.000 6 0.000 0.031 2766 1946 3784 0 0 0 0 0 0 28.83 26.39 28.83
2058 -0.64 -243.3 292.5 -10.4 292 2065 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 1946 3784 0 0 0 0 0 0 28.83 28.83 28.83
2368 -0.67 -243.3 323.2 -8.9 323 2377 0.00 2.22 0.00 0.000 4 0.000 0.051 2766 3356 3783 0 0 0 0 0 0 28.83 26.29 28.83
2420 -0.70 -243.3 327.4 -8.1 328 2429 0.12 2.10 0.00 0.000 6 0.088 0.033 2690 1954 3783 0 0 0 0 0 0 26.37 26.41 28.83
2730 -0.67 -243.3 371.6 -15.3 359 2732 0.15 0.00 0.00 0.000 6 0.158 0.000 2730 1954 3782 0 0 0 0 0 0 26.22 28.83 28.83
3030 -0.67 -243.3 403.6 -10.4 389 3038 0.00 2.22 0.00 0.000 4 0.000 0.054 2727 3369 3780 0 0 0 0 0 0 28.83 26.28 28.83
3126 -0.69 -243.3 413.7 -10.9 398 3132 0.00 2.15 0.00 0.000 6 0.000 0.034 2727 1948 3780 0 0 0 0 0 0 28.83 26.41 28.83
3432 -0.69 -243.3 448.2 -10.4 429 3433 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1947 3778 0 0 0 0 0 0 28.83 28.83 28.83
3735 -0.70 -243.3 477.8 -9.3 459 3744 0.00 2.15 0.00 0.000 4 0.000 0.054 2727 561 3777 0 0 0 0 0 0 28.83 26.30 28.83
3768 -0.71 -243.3 481.4 -9.9 462 3777 0.00 2.12 0.00 0.000 6 0.000 0.039 2727 1952 3776 0 0 0 0 0 0 28.83 26.38 28.83
4077 -0.72 -243.3 511.3 -9.8 493 4086 0.00 2.22 0.00 0.000 4 0.000 0.054 2727 3366 3775 0 0 0 0 0 0 28.83 26.27 28.83
4140 -0.75 -243.3 517.3 -8.7 499 4148 0.00 2.12 0.00 0.000 6 0.000 0.033 2727 1949 3774 0 0 0 0 0 0 28.83 26.42 28.83
4449 -0.76 -243.3 549.4 -10.1 530 4458 0.00 2.22 0.00 0.000 4 0.000 0.053 2726 3354 3772 0 0 0 0 0 0 28.83 26.27 28.83
4492 -0.78 -243.3 553.5 -10.0 534 4500 0.00 2.12 0.00 0.000 6 0.000 0.033 2726 1947 3771 0 0 0 0 0 0 28.83 26.41 28.83
4801 -0.79 -243.3 583.0 -8.7 565 4810 0.00 2.22 0.00 0.000 4 0.000 0.053 2727 3363 3769 0 0 0 0 0 0 28.83 26.26 28.83
4846 -0.82 -243.3 586.5 -8.7 569 4854 0.12 2.15 0.00 0.000 6 0.091 0.034 2661 1945 3769 0 0 0 0 0 0 26.36 26.41 28.83
5154 -0.78 -243.3 627.2 -13.5 590 5160 0.12 2.15 0.00 0.000 4 0.170 0.051 2697 566 3767 0 0 0 0 0 0 26.25 26.27 28.83
5202 -0.76 -243.3 632.2 -13.3 592 5206 0.00 2.12 0.00 0.000 6 0.000 0.040 2697 1955 3767 0 0 0 0 0 0 28.83 26.35 28.83
5508 -0.76 -243.3 664.0 -10.0 607 5511 0.00 2.20 0.00 0.000 4 0.000 0.053 2689 3366 3765 0 0 0 0 0 0 28.83 26.25 28.83
5604 -0.76 -243.3 672.3 -10.1 611 5610 0.00 2.15 0.00 0.000 6 0.000 0.034 2689 1953 3765 0 0 0 0 0 0 28.83 26.40 28.83
5910 -0.75 -243.3 707.0 -10.8 627 5915 0.00 2.17 0.00 0.000 4 0.000 0.053 2689 560 3764 0 0 0 0 0 0 28.83 26.26 28.83
5977 -0.74 -243.3 714.2 -11.8 630 5981 0.00 2.17 0.00 0.000 6 0.000 0.040 2687 1966 3763 0 0 0 0 0 0 28.83 26.34 28.83
6286 -0.73 -243.3 749.8 -11.4 645 6291 0.00 2.17 0.00 0.000 4 0.000 0.055 2686 3363 3760 0 0 0 0 0 0 28.83 26.22 28.83
6328 -0.73 -243.3 754.3 -11.5 647 6332 0.00 2.15 0.00 0.000 6 0.000 0.034 2686 1953 3761 0 0 0 0 0 0 28.83 26.39 28.83
6641 -0.72 -243.3 791.2 -12.0 663 6643 0.12 0.00 0.00 0.000 6 0.163 0.000 2719 1953 3759 0 0 0 0 0 0 26.30 28.83 28.83
6940 -0.73 -243.3 820.3 -9.7 678 6946 0.00 2.20 0.00 0.000 4 0.000 0.054 2714 3351 3758 0 0 0 0 0 0 28.83 26.20 28.83
6980 -0.75 -243.3 824.3 -9.8 680 6984 0.00 2.12 0.00 0.000 6 0.000 0.034 2714 1952 3758 0 0 0 0 0 0 28.83 26.38 28.83
7304 -0.77 -243.3 854.9 -9.4 696 7309 0.00 2.22 0.00 0.000 4 0.000 0.055 2713 3360 3756 0 0 0 0 0 0 28.83 26.18 28.83
7365 -0.79 -243.3 860.3 -9.1 699 7370 0.00 2.15 0.00 0.000 6 0.000 0.035 2714 1956 3756 0 0 0 0 0 0 28.83 26.36 28.83
7679 -0.81 -243.3 890.1 -9.4 715 7680 0.00 0.00 0.00 0.000 6 0.000 0.000 2714 1956 3755 0 0 0 0 0 0 28.83 28.83 28.83
7978 -0.82 -243.3 920.5 -10.4 730 7984 0.00 2.25 0.00 0.000 4 0.000 0.057 2713 3360 3754 0 0 0 0 0 0 28.83 26.15 28.83
8047 -0.84 -243.3 926.6 -10.2 733 8057 0.12 2.17 0.00 0.000 6 0.093 0.036 2652 1944 3753 0 0 0 0 0 0 26.29 26.34 28.83
8358 -0.82 -243.3 970.4 -13.7 749 8359 0.12 0.00 0.00 0.000 6 0.171 0.000 2682 1944 3753 0 0 0 0 0 0 26.27 28.83 28.83
8535 end dive: TARGET_DEPTH_EXCEEDED
state 8535 begin apogee
8542 -0.17 0.0 990.8 -10.9 758 8746 0.62 0.00 194.68 1.313 6 0.129 0.000 2889 1987 2785 0 0 0 0 0 0 25.81 28.83 23.52
8747 end apogee: CONTROL_FINISHED_OK
state 8747 begin climb
8749 0.80 243.3 999.6 0.0 768 8978 0.88 2.58 214.75 1.267 4 0.050 0.054 3219 3403 1793 0 0 0 0 0 0 24.62 23.78 22.89
9134 0.71 243.3 928.5 25.3 787 9141 0.20 2.30 0.00 0.000 6 0.190 0.040 3182 1994 1789 0 0 0 0 0 0 24.87 25.14 28.83
9442 0.63 243.3 859.5 21.4 803 9443 0.00 0.00 0.00 0.000 6 0.000 0.000 3182 1993 1786 0 0 0 0 0 0 28.83 28.83 28.83
9741 0.56 243.3 797.4 20.2 818 9747 0.15 2.28 0.00 0.000 4 0.182 0.046 3137 3411 1785 0 0 0 0 0 0 25.77 25.97 28.83
9842 0.51 243.3 779.4 17.2 823 9848 0.00 2.17 0.00 0.000 6 0.000 0.036 3145 1989 1784 0 0 0 0 0 0 28.83 26.07 28.83
10161 0.47 243.3 727.0 16.1 839 10163 0.15 0.00 0.00 0.000 6 0.165 0.000 3105 1990 1783 0 0 0 0 0 0 25.98 28.83 28.83
10462 0.45 243.3 690.6 11.8 854 10468 0.00 2.20 0.00 0.000 4 0.000 0.051 3113 583 1784 0 0 0 0 0 0 28.83 26.14 28.83
10484 0.43 243.3 688.4 11.7 855 10488 0.00 2.17 0.00 0.000 6 0.000 0.034 3113 2008 1782 0 0 0 0 0 0 28.83 26.21 28.83
10796 0.41 243.3 652.0 11.3 871 10802 0.00 2.15 0.00 0.000 4 0.000 0.047 3113 3393 1782 0 0 0 0 0 0 28.83 26.18 28.83
10931 0.39 243.3 637.5 12.2 877 10939 0.17 2.15 0.00 0.000 6 0.154 0.034 3075 1975 1782 0 0 0 0 0 0 25.98 26.26 28.83
11238 0.53 359.0 611.9 7.5 893 11347 0.12 2.30 98.90 1.065 4 0.091 0.052 3158 607 1321 0 0 0 0 0 0 26.41 24.98 24.15
11372 0.50 359.0 593.0 15.7 901 11382 0.17 2.17 0.00 0.000 6 0.145 0.033 3110 1985 1318 0 0 0 0 0 0 25.17 25.31 28.83
11681 0.50 359.0 556.5 12.4 932 11690 0.00 2.22 0.00 0.000 4 0.000 0.045 3110 3397 1315 0 0 0 0 0 0 28.83 25.84 28.83
11706 0.50 359.0 553.9 12.3 934 11714 0.00 2.17 0.00 0.000 6 0.000 0.034 3118 1990 1315 0 0 0 0 0 0 28.83 25.93 28.83
12013 0.50 359.0 512.1 13.0 965 12021 0.00 2.20 0.00 0.000 4 0.000 0.050 3129 592 1315 0 0 0 0 0 0 28.83 26.01 28.83
12064 0.50 359.0 505.5 13.2 970 12073 0.00 2.15 0.00 0.000 6 0.000 0.032 3129 1997 1314 0 0 0 0 0 0 28.83 26.12 28.83
12375 0.49 359.0 463.2 12.7 1001 12384 0.00 2.15 0.00 0.000 4 0.000 0.045 3129 3396 1314 0 0 0 0 0 0 28.83 26.12 28.83
12406 0.49 359.0 458.9 13.3 1004 12415 0.00 2.12 0.00 0.000 6 0.000 0.034 3138 1990 1314 0 0 0 0 0 0 28.83 26.20 28.83
12718 0.48 359.0 416.8 13.8 1035 12727 0.12 2.15 0.00 0.000 4 0.165 0.048 3107 589 1314 0 0 0 0 0 0 26.10 26.16 28.83
12804 0.59 424.4 408.0 9.0 1043 12863 0.00 2.15 53.83 0.924 6 0.000 0.032 3107 2000 1054 0 0 0 0 0 0 28.83 26.27 24.65
13166 0.72 509.9 376.4 8.4 1079 13248 0.22 2.38 75.28 0.881 4 0.063 0.050 3220 599 705 0 0 0 0 0 0 26.01 25.08 24.34
13281 0.68 509.9 353.6 23.2 1090 13288 0.20 2.20 0.00 0.000 6 0.146 0.031 3167 1999 697 0 0 0 0 0 0 25.22 25.39 28.83
13586 0.68 509.9 304.5 15.6 1121 13595 0.00 2.25 0.00 0.000 4 0.000 0.050 3175 583 693 0 0 0 0 0 0 28.83 25.85 28.83
13659 0.68 509.9 293.6 14.7 1128 13669 0.00 2.17 0.00 0.000 6 0.000 0.031 3175 1997 691 0 0 0 0 0 0 28.83 25.98 28.83
13970 0.67 509.9 241.9 16.9 1159 13979 0.00 2.20 0.00 0.000 4 0.000 0.049 3184 597 691 0 0 0 0 0 0 28.83 26.05 28.83
14057 0.68 509.9 229.4 13.5 1167 14066 0.00 2.08 0.00 0.000 6 0.000 0.031 3184 1989 690 0 0 0 0 0 0 28.83 26.17 28.83
14372 0.68 509.9 177.0 16.9 1210 14380 0.00 2.25 0.00 0.000 4 0.000 0.050 3194 585 690 0 0 0 0 0 0 28.83 26.14 28.83
14481 0.69 509.9 161.1 13.5 1229 14488 0.00 2.12 0.00 0.000 6 0.000 0.030 3194 1995 690 0 0 0 0 0 0 28.83 26.27 28.83
14808 0.69 509.9 114.0 13.0 1290 14816 0.00 2.22 0.00 0.000 4 0.000 0.047 3203 592 690 0 0 0 0 0 0 28.83 26.21 28.83
14895 0.70 509.9 102.5 13.7 1305 14901 0.00 2.10 0.00 0.000 6 0.000 0.030 3203 1994 689 0 0 0 0 0 0 28.83 26.32 28.83
15223 0.73 509.9 62.1 11.2 1366 15230 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2000 689 0 0 0 0 0 0 28.83 28.83 28.83
15554 0.78 527.3 31.1 10.5 1427 15583 0.00 2.25 15.57 0.571 4 0.000 0.045 3211 588 628 0 0 0 0 0 0 28.83 26.20 25.48
15609 0.97 642.9 27.4 7.5 1435 15661 0.15 2.12 37.47 0.555 6 0.074 0.031 3302 2007 482 0 0 0 0 1 0 26.23 26.23 25.23
15687 end climb: SURFACE_DEPTH_REACHED
state 15687 begin surface coast
15730 end surface coast: CONTROL_FINISHED_OK
state 15730 begin surface