OKMC Nov11 * SG168 * Dive index * Mission links * Dive 14 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  168 HD_B  0.0099999998 PITCH_ADJ_GAIN  0.0080000004 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.9999997e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  14 HEADING  -1 ROLL_MIN  160 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3729 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2000 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1875 ALTIM_FREQUENCY  13
D_ABORT  1020 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  100 SM_CC  375 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  4 N_FILEKB  8 R_PORT_OVSHOOT  25 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  42 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  400 INT_PRESSURE_YINT  0
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  415 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
T_DIVE  300 UPLOAD_DIVES_MAX  -1 C_VBD  2954 DEVICE3  35
T_MISSION  330 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  3 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -8 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -5590.377 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 AH0_24V  150 PHONE_DEVICE  49
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  -8 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
MAX_BUOY  225 PITCH_MIN  143 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3945 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2260 PHONE_SUPPLY  2 SEABIRD_T_G  0.0042821765
SPEED_FACTOR  1 PITCH_DBAND  0.050000001 PRESSURE_YINT  -64.650215 SEABIRD_T_H  0.00061988086
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000115925 SEABIRD_T_I  2.2270933e-05
MASS  51744 P_OVSHOOT  0.029999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.2936731e-06
NAV_MODE  1 PITCH_GAIN  35 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8276911
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1035888
KALMAN_USE  2 PITCH_AD_RATE  160 COMPASS_USE  0 SEABIRD_C_I  -0.0012978988
HD_A  0.003 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.0001838774

Pre-dive calculations and measurements:
GPS1  141111,005737,2108.770,12253.533,31,1.6,31,-2.7 TGT_NAME  S2
_CALLS  1 TGT_LATLONG  2015.000,12420.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.52 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  141111,010338,2108.837,12253.507,8,2.0,8,-2.7 MHEAD_RNG_PITCHd_Wd  126.3,180352,-15.3,-11.000
SPEED_LIMITS  0.191,0.321 D_GRID  2882

Post-dive calculations and measurements:
FINISH  0.7,1.008932 _10V_AH  10.3,3.988
SM_CCo  15560,0.00,0.000,0,0,638,567.87 FG_AHR_24Vo  0.000
SM_GC  1.47,6.00,0.15,0.00,0.019,0.074,0.000,100,1994,638,-6.58,-1.41,567.87,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2059.45,12317.70,131111,202042 MEM  324600
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  93894,1450
HUMID  39.21 CAP_FILE_SIZE  177142,0
INTERNAL_PRESSURE  9.48279 CFSIZE  260165632,220389376
TCM_TEMP  25.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,1,5,0
XPDR_PINGS  5 GPS  141111,052437,2107.927,12256.224,36,1.0,36,-2.7
_24V_AH  23.8,5.131

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1820591.22 SBE_CT99124566.07
Roll_motor13975251.85 AA43302912332287.20
VBD_pump_during_apogee838107221393.52 WL_BB2F14901053723.73
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010374.04 nil000.00
Iridium_during_connect40160154.65 nil000.00
Iridium_during_xfer170223903.66 nil000.00
Transponder_ping142012.49 nil000.00
GUMSTIX_24V000.00
GPS11505.86
TT8341119695.79
LPSleep77152174.03
TT8_Active83619170.53
TT8_Sampling3584391469.43
TT8_CF836045170.00
TT8_Kalman000.00
Analog_circuits235712291.43
GPS_charging000.00
Compass325415502.79
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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
17 -0.71 -219.0 0.0 0.0 0 96 0.00 0.00 -76.62 0.000 2 0.000 0.000 100 2011 3046 0 0 0 0 0 0 28.83 28.83 28.83
99 -0.71 -219.0 3.6 -5.1 11 129 6.95 2.28 -12.73 0.000 4 0.206 0.063 2028 577 3850 0 0 0 0 0 0 25.78 26.01 26.31
209 -0.56 -219.0 57.2 -42.0 30 218 0.17 2.17 0.00 0.000 6 0.139 0.038 2076 1985 3851 0 0 0 0 0 0 25.96 26.10 28.83
524 -0.49 -219.0 140.4 -21.0 91 533 0.10 2.22 0.00 0.000 4 0.167 0.043 2095 3418 3851 0 0 0 0 0 0 26.20 26.25 28.83
547 -0.44 -219.0 145.0 -20.5 94 555 0.05 2.20 0.00 0.000 6 0.113 0.040 2118 1996 3851 0 0 0 0 0 0 26.18 26.26 28.83
867 -0.44 -219.0 189.6 -13.0 155 875 0.00 2.20 0.00 0.000 4 0.000 0.051 2119 585 3852 0 0 0 0 0 0 28.83 26.34 28.83
893 -0.45 -219.0 192.9 -12.7 159 901 0.00 2.15 0.00 0.000 6 0.000 0.037 2112 2005 3852 0 0 0 0 0 0 28.83 26.36 28.83
1216 -0.45 -219.0 233.5 -12.7 220 1223 0.00 0.00 0.00 0.000 6 0.000 0.000 2112 2005 3852 0 0 0 0 0 0 28.83 28.83 28.83
1533 -0.47 -219.0 267.5 -9.6 265 1541 0.00 2.12 0.00 0.000 4 0.000 0.047 2102 3400 3852 0 0 0 0 0 0 28.83 26.46 28.83
1556 -0.49 -219.0 269.6 -9.2 267 1565 0.00 2.10 0.00 0.000 6 0.000 0.038 2102 1998 3852 0 0 0 0 0 0 28.83 26.46 28.83
1864 -0.50 -219.0 301.8 -11.2 298 1865 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 1998 3851 0 0 0 0 0 0 28.83 28.83 28.83
2168 -0.52 -219.0 331.9 -9.3 328 2176 0.00 2.12 0.00 0.000 4 0.000 0.046 2096 3401 3850 0 0 0 0 0 0 28.83 26.51 28.83
2192 -0.54 -219.0 334.2 -9.2 330 2199 0.00 2.12 0.00 0.000 6 0.000 0.038 2096 1993 3850 0 0 0 0 0 0 28.83 26.52 28.83
2500 -0.56 -219.0 362.4 -9.4 361 2502 0.08 0.00 0.00 0.000 6 0.124 0.000 2001 1992 3849 0 0 0 0 0 0 26.61 28.83 28.83
2800 -0.49 -219.0 424.7 -19.8 391 2802 0.32 0.00 0.00 0.000 6 0.125 0.000 2109 1993 3848 0 0 0 0 0 0 26.46 28.83 28.83
3102 -0.54 -219.0 445.5 -5.5 421 3109 0.10 0.00 0.00 0.000 6 0.097 0.000 2011 1993 3847 0 0 0 0 0 0 26.63 28.83 28.83
3410 -0.49 -219.0 492.3 -15.7 452 3412 0.28 0.00 0.00 0.000 6 0.119 0.000 2105 1993 3846 0 0 0 0 0 0 26.48 28.83 28.83
3710 -0.55 -219.0 514.3 -8.0 482 3720 0.08 2.17 0.00 0.000 4 0.122 0.045 2025 3406 3844 0 0 0 0 0 0 26.65 26.56 28.83
3753 -0.56 -219.0 519.3 -11.8 486 3762 0.17 2.12 0.00 0.000 6 0.113 0.041 2085 2002 3843 0 0 0 0 0 0 26.51 26.57 28.83
4063 -0.60 -219.0 551.0 -9.5 517 4067 0.08 2.17 0.00 0.000 4 0.122 0.045 1996 3412 3841 0 0 0 0 0 0 26.65 26.57 28.83
4105 -0.60 -219.0 556.7 -13.9 521 4115 0.22 2.15 0.00 0.000 6 0.117 0.043 2072 2002 3841 0 0 0 0 0 0 26.50 26.57 28.83
4416 -0.63 -219.0 583.0 -6.8 552 4419 0.00 2.17 0.00 0.000 4 0.000 0.054 2072 584 3840 0 0 0 0 0 0 28.83 26.55 28.83
4447 -0.66 -219.0 585.1 -6.8 555 4452 0.08 2.10 0.00 0.000 6 0.125 0.038 2001 1999 3839 0 0 0 0 0 0 26.55 26.59 28.83
4772 -0.61 -219.0 632.6 -16.0 577 4777 0.22 2.15 0.00 0.000 4 0.125 0.047 2054 3404 3837 0 0 0 0 0 0 26.50 26.57 28.83
4818 -0.59 -219.0 637.3 -14.2 579 4822 0.00 2.12 0.00 0.000 6 0.000 0.040 2054 1997 3836 0 0 0 0 0 0 28.83 26.58 28.83
5131 -0.61 -219.0 671.6 -11.5 595 5136 0.00 2.15 0.00 0.000 4 0.000 0.047 2048 3396 3834 0 0 0 0 0 0 28.83 26.57 28.83
5150 -0.63 -219.0 673.9 -11.6 596 5156 0.00 2.12 0.00 0.000 6 0.000 0.040 2049 1996 3833 0 0 0 0 0 0 28.83 26.58 28.83
5473 -0.64 -219.0 708.2 -9.9 612 5474 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 1995 3831 0 0 0 0 0 0 28.83 28.83 28.83
5771 -0.66 -219.0 733.9 -7.8 627 5772 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 1995 3829 0 0 0 0 0 0 28.83 28.83 28.83
6071 -0.67 -219.0 757.2 -7.8 642 6076 0.00 2.17 0.00 0.000 4 0.000 0.049 2042 3403 3826 0 0 0 0 0 0 28.83 26.57 28.83
6099 -0.69 -219.0 758.6 -7.6 643 6103 0.00 2.15 0.00 0.000 6 0.000 0.041 2042 1997 3826 0 0 0 0 0 0 28.83 26.57 28.83
6406 -0.71 -219.0 784.0 -8.3 658 6412 0.00 2.17 0.00 0.000 4 0.000 0.057 2042 584 3823 0 0 0 0 0 0 28.83 26.55 28.83
6449 -0.72 -219.0 787.4 -8.4 660 6453 0.00 2.12 0.00 0.000 6 0.000 0.041 2037 1996 3822 0 0 0 0 0 0 28.83 26.58 28.83
6761 -0.72 -219.0 815.9 -9.3 676 6766 0.00 2.15 0.00 0.000 4 0.000 0.051 2028 3406 3820 0 0 0 0 0 0 28.83 26.56 28.83
6809 -0.74 -219.0 819.6 -9.4 678 6813 0.00 2.15 0.00 0.000 6 0.000 0.043 2027 1993 3820 0 0 0 0 0 0 28.83 26.56 28.83
7121 -0.74 -219.0 850.4 -9.9 694 7127 0.00 2.15 0.00 0.000 4 0.000 0.058 2027 598 3818 0 0 0 0 0 0 28.83 26.54 28.83
7154 -0.74 -219.0 852.5 -10.1 695 7160 0.00 2.12 0.00 0.000 6 0.000 0.043 2019 2000 3818 0 0 0 0 0 0 28.83 26.58 28.83
7463 -0.74 -219.0 889.0 -12.1 711 7468 0.00 2.15 0.00 0.000 4 0.000 0.052 2011 3410 3816 0 0 0 0 0 0 28.83 26.55 28.83
7520 -0.74 -219.0 896.0 -11.9 714 7526 0.00 2.17 0.00 0.000 6 0.000 0.044 2010 1989 3816 0 0 0 0 0 0 28.83 26.55 28.83
7841 -0.72 -219.0 937.9 -13.1 730 7847 0.08 2.20 0.00 0.000 4 0.181 0.059 2032 586 3813 0 0 0 0 0 0 26.58 26.53 28.83
7864 -0.71 -219.0 940.5 -13.1 731 7868 0.00 2.15 0.00 0.000 6 0.000 0.044 2023 2001 3813 0 0 0 0 0 0 28.83 26.57 28.83
8176 -0.71 -219.0 978.6 -11.7 747 8182 0.00 2.15 0.00 0.000 4 0.000 0.053 2015 3406 3812 0 0 0 0 0 0 28.83 26.54 28.83
8224 -0.71 -219.0 982.8 -11.2 749 8228 0.08 2.17 0.00 0.000 6 0.161 0.044 2038 1991 3812 0 0 0 0 0 0 26.48 26.55 28.83
8309 end dive: TARGET_DEPTH_EXCEEDED
state 8309 begin apogee
8315 -0.23 0.0 991.4 -9.0 753 8583 0.40 0.00 260.70 0.892 6 0.098 0.000 2186 1857 2950 0 0 0 0 0 0 26.51 28.83 24.10
8583 end apogee: CONTROL_FINISHED_OK
state 8584 begin climb
8586 0.71 219.0 1002.2 0.0 766 8793 0.80 2.38 193.30 1.073 4 0.047 0.057 2511 488 2045 0 0 0 0 0 0 24.88 24.54 23.82
8976 0.59 219.0 928.7 26.5 786 8982 0.22 2.15 0.00 0.000 6 0.151 0.028 2448 1902 2029 0 0 0 0 0 0 25.44 25.58 28.83
9299 0.50 219.0 858.9 21.5 802 9305 0.10 2.08 0.00 0.000 4 0.187 0.036 2422 3271 2023 0 0 0 0 0 0 25.85 25.94 28.83
9407 0.45 219.0 839.1 18.8 807 9412 0.12 2.17 0.00 0.000 6 0.167 0.047 2399 1889 2021 0 0 0 0 0 0 25.89 25.99 28.83
9713 0.41 219.0 791.5 13.9 822 9719 0.00 2.25 0.00 0.000 4 0.000 0.059 2410 472 2019 0 0 0 0 0 0 28.83 26.09 28.83
9736 0.37 219.0 788.8 13.7 823 9741 0.12 2.10 0.00 0.000 6 0.151 0.029 2373 1877 2019 0 0 0 0 0 0 26.04 26.17 28.83
10051 0.46 302.1 758.9 8.2 839 10129 0.12 2.28 62.85 1.069 4 0.081 0.038 2457 3277 1727 0 0 0 0 1 0 26.30 25.08 24.21
10185 0.40 302.1 739.9 16.8 845 10194 0.28 2.28 2.67 0.491 6 0.139 0.048 2386 1880 1720 0 0 0 0 0 0 25.34 25.43 24.49
10495 0.41 312.7 705.1 10.6 861 10521 0.00 0.00 19.10 0.734 6 0.000 0.000 2385 1879 1677 0 0 0 0 1 0 28.83 28.83 24.78
10812 0.44 338.1 671.6 10.1 877 10852 0.00 2.33 26.62 0.838 4 0.000 0.061 2396 467 1580 0 0 0 0 1 0 28.83 25.51 24.69
10868 0.46 354.1 667.4 10.5 879 10901 0.00 2.15 21.98 0.774 6 0.000 0.032 2396 1870 1509 0 0 0 0 1 0 28.83 25.64 24.53
11215 0.48 367.9 627.8 10.5 897 11255 0.05 0.00 31.35 0.715 6 0.161 0.000 2456 1870 1449 0 0 0 0 1 0 25.98 28.83 24.41
11555 0.43 367.9 567.0 18.1 923 11565 0.17 2.25 0.00 0.000 4 0.146 0.062 2410 465 1443 0 0 0 0 0 0 25.83 25.89 28.83
11620 0.44 367.9 557.8 12.4 929 11627 0.00 2.15 0.00 0.000 6 0.000 0.033 2410 1880 1442 0 0 0 0 0 0 28.83 26.00 28.83
11927 0.44 367.9 515.8 14.4 960 11936 0.00 2.17 0.00 0.000 4 0.000 0.043 2410 3289 1441 0 0 0 0 0 0 28.83 26.11 28.83
11951 0.44 367.9 512.6 14.7 962 11959 0.08 2.22 0.00 0.000 6 0.177 0.051 2397 1874 1440 0 0 1 0 0 0 26.03 26.10 28.83
12259 0.46 367.9 471.6 13.6 993 12268 0.00 2.22 0.00 0.000 4 0.000 0.061 2406 472 1440 0 0 0 0 0 0 28.83 26.17 28.83
12311 0.49 367.9 465.1 12.4 998 12320 0.00 2.12 0.00 0.000 6 0.000 0.033 2407 1886 1440 0 0 0 0 0 0 28.83 26.25 28.83
12621 0.50 367.9 423.6 12.6 1029 12625 0.00 2.12 0.00 0.000 4 0.000 0.043 2407 3281 1440 0 0 0 0 0 0 28.83 26.28 28.83
12643 0.52 367.9 420.6 12.9 1031 12652 0.00 2.22 0.00 0.000 6 0.000 0.047 2415 1872 1439 0 0 0 0 0 0 28.83 26.27 28.83
12954 0.57 411.0 383.9 9.5 1062 13014 0.10 2.35 50.12 0.679 4 0.097 0.063 2505 470 1269 0 0 0 0 0 0 26.41 25.63 25.09
13107 0.52 411.0 356.0 18.2 1077 13117 0.25 2.12 0.00 0.000 6 0.123 0.030 2427 1882 1259 0 0 0 0 0 0 25.75 25.88 28.83
13419 0.52 411.0 314.7 15.1 1108 13427 0.00 2.22 0.00 0.000 4 0.000 0.059 2437 473 1257 0 0 0 0 0 0 28.83 26.03 28.83
13470 0.55 411.0 306.8 15.0 1113 13479 0.00 2.10 0.00 0.000 6 0.000 0.032 2437 1868 1256 0 0 0 0 0 0 28.83 26.13 28.83
13780 0.56 411.0 259.5 13.9 1144 13784 0.00 2.15 0.00 0.000 4 0.000 0.041 2437 3280 1256 0 0 0 0 0 0 28.83 26.22 28.83
13804 0.57 411.0 256.5 13.4 1146 13814 0.00 2.17 0.00 0.000 6 0.000 0.047 2446 1882 1256 0 0 0 0 0 0 28.83 26.21 28.83
14120 0.57 411.0 216.5 12.2 1202 14128 0.00 2.28 0.00 0.000 4 0.000 0.058 2457 462 1256 0 0 0 0 0 0 28.83 26.26 28.83
14182 0.68 468.6 210.2 9.0 1213 14255 0.05 2.12 63.20 0.558 6 0.067 0.033 2533 1870 1035 0 0 0 0 0 0 26.27 26.33 25.13
14564 0.62 468.6 123.2 23.2 1283 14572 0.22 2.17 0.00 0.000 4 0.142 0.033 2459 3283 1023 0 0 0 0 0 0 25.94 26.05 28.83
14601 0.64 468.6 116.1 15.3 1289 14609 0.00 2.25 0.00 0.000 6 0.000 0.050 2460 1884 1022 0 0 0 0 0 0 28.83 26.03 28.83
14926 0.80 553.0 86.6 8.1 1350 15020 0.15 2.30 84.50 0.295 4 0.069 0.055 2580 455 710 0 0 0 0 0 0 26.29 25.73 25.46
15065 0.75 553.0 57.0 23.9 1371 15075 0.22 2.15 3.83 0.155 6 0.096 0.028 2500 1880 698 0 0 0 0 0 0 25.79 25.90 25.63
15382 0.82 573.3 22.1 10.3 1432 15405 0.10 0.00 17.88 0.163 6 0.093 0.000 2587 1880 619 0 0 0 0 0 0 26.20 28.83 25.89
15471 end climb: SURFACE_DEPTH_REACHED
state 15471 begin surface coast
15484 end surface coast: CONTROL_FINISHED_OK
state 15484 begin surface