Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 175 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 217 HD_C 9.9999997e-06 ROLL_MAX 3790 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 3 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 175 ESCAPE_HEADING 0 C_ROLL_DIVE 2450 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2375 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 1 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 2

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 60 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 38 XPDR_VALID 1

D_BOOST 25 N_FILEKB 8 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.1

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 500 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE1 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2709 DEVICE2 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE4 -1

T_DIVE 360 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 390 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0022 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 25 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 97

USE_BATHY -2 T_RSLEEP 3 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE 32

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 350 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 200 AH0_10V 0 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3880 MINV_24V 12 SIM_PITCH 0

MAX_BUOY 140 C_PITCH 3095 MINV_10V 12 SEABIRD_T_G 0.0043902649

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00063436845

GLIDE_SLOPE 40 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_T_I 2.5093383e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_T_J 2.9521423e-06

RHO 1.0275 P_OVSHOOT_WITHG 0.079999998 PRESSURE_YINT -51.110779 SEABIRD_C_G -9.69524

MASS 52199 PITCH_GAIN 28 PRESSURE_SLOPE 0.0001155691 SEABIRD_C_H 1.1253856

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_I -0.0011212705

NAV_MODE 10 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00015718494

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_PROFILE 3.0

HD_A 0.0038000001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 240 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_T_J 2.9521423e-06

AH0_10V 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SIM_PITCH 0

AH0_24V 350 D_SURF 2 PITCH_AD_RATE 160 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_CNV 0.003125763 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 28 STROBE 0

ALTIM_PING_DELTA 5 FERRY_MAX 45 PITCH_MAX 3880 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 2 FG_AHR_24V 0 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 1 PITCH_VBD_SHIFT 0.0022 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 40 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001155691 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -51.110779 T_ABORT 1440

CALL_TRIES 5 HD_C 9.9999997e-06 PROTOCOL 1 T_BOOST 2

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 360

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_GPS 5

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE 32 T_GPS_ALMANAC 0

COMM_SEQ 0 ID 217 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_YINT -0.1 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 3095 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2375 LOGGERDEVICE3 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2450 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 60

C_VBD 2709 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DBDW 0 MASS 52199 ROLL_MAX 3790 USE_BATHY -2

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 0

DEVICE1 -1 MAX_BUOY 140 ROLL_MIN 240 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_PORT_OVSHOOT 60 VBD_DBAND 2

DEVICE4 -1 MISSION 3 R_STBD_OVSHOOT 38 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 10 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 175 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 N_DIVES 0 SEABIRD_C_G -9.69524 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 25 N_FILEKB 8 SEABIRD_C_H 1.1253856 VBD_TIMEOUT 720

D_CALL 0 N_GPS 25 SEABIRD_C_I -0.0011212705 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_C_J 0.00015718494 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_G 0.0043902649 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_T_H 0.00063436845 XPDR_VALID 1

D_OFFGRID 100 PHONE_SUPPLY -2 SEABIRD_T_I 2.5093383e-05

Pre-dive calculations and measurements:

GPS1 171014,130252,6642.851,-6013.488,40,0.7,40,-32.9 SPEED_LIMITS 0.109,0.246

_CALLS 1 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.50 MHEAD_RNG_PITCHd_Wd 68.5,153009,-17.5,-9.167,-20.44,2275

_SM_ANGLEo -73.8 D_GRID 554

GPS2 171014,130826,6642.865,-6013.493,6,0.8,6,-32.9

Post-dive calculations and measurements:

FINISH 1.7,1.025138 _10V_AH 12.96,0.000

SM_CCo 10140,37.22,0.095,0,0,1281,350.04 FG_AHR_24Vo 0.000

SM_GC 2.43,9.73,0.15,37.22,0.093,0.138,0.095,197,2461,1281,-9.01,-0.85,350.04,0,0,0,0,0,0,14.59,14.61,14.57 FG_AHR_10Vo 0.000

RAFOS_CLK -90 MEM 143136

RAFOS_FIX 6641.297852,-6010.329102,171014,121236,4,112,0.46 DATA_FILE_SIZE 23418,698

IRIDIUM_FIX 6614.97,-6008.55,171014,100649 CAP_FILE_SIZE 113630,0

TT8_MAMPS 0.038199,0.038199 CFSIZE 1024409600,997277696

HUMID 44.05 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.46478 INTR 0,10678.87,0x23769e,7,5

TCM_TEMP 12.20 SOUNDSPEED 1452.5

XPDR_PINGS 0 EKF 10255,4003.998047,-3611.234375,1.664584,0.096328,0.288813,-0.005685,0.000159,0.001020,0.000099,0.003025,0.003025,0.000050

SC_FREEKB 3964064 CURRENT 0.120,187.90,1

_24V_AH 13.29,44.932 GPS 171014,155953,6643.342,-6011.412,23,0.7,23,-32.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 420 136.44 nil 0 0 0.00

Roll_motor 85 137 156.70 nil 0 0 0.00

VBD_pump_during_apogee 331 1549 6836.49 nil 0 0 0.00

VBD_pump_during_surface 37 94 46.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 10130 3 444.68

Iridium_during_xfer 211 147 414.12 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 20 1.77

TT8 2127 24 680.88

LPSleep 6404 2 191.73

TT8_Active 548 23 170.35

TT8_Sampling 1329 42 735.02

TT8_CF8 127 56 92.96

TT8_Kalman 0 0 0.00

Analog_circuits 1355 15 263.43

GPS_charging 0 0 0.00

Compass 1045 5 67.72

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.92 -136.3 189 2469 1301 1229 0.0 0.0 0 63 0.00 0.00 -43.10 0.000 16386 0.000 0.000 186 2469 2351 2370 2333 0 0 0 0 0 0 28.83 28.83 28.83

65 -0.92 -136.3 186 2469 2371 2333 3.1 -2.1 4 115 12.38 2.42 -28.25 0.000 18948 0.421 0.088 2783 1059 3262 3294 3231 0 0 0 0 0 0 14.25 14.49 14.72

183 -0.92 -136.3 2788 1060 3297 3230 21.1 -22.1 24 190 0.00 2.40 0.00 0.000 1030 0.000 0.070 2786 2438 3263 3297 3230 0 0 0 0 0 0 28.83 14.52 28.83

508 -0.92 -136.3 2786 2438 3299 3230 77.6 -16.3 37 515 0.00 2.40 0.00 0.000 260 0.000 0.103 2786 3781 3264 3298 3230 0 0 0 0 0 0 28.83 14.57 28.83

610 -0.92 -136.3 2785 3781 3298 3230 94.6 -16.7 56 617 0.00 2.20 0.00 0.000 1030 0.000 0.057 2786 2454 3264 3298 3230 0 0 0 0 0 0 28.83 14.66 28.83

931 -0.92 -136.3 2786 2455 3299 3230 145.1 -15.8 73 932 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2455 3265 3300 3231 0 0 0 0 0 0 28.83 28.83 28.83

1231 -0.92 -136.3 2786 2455 3299 3230 192.1 -16.1 88 1237 0.00 2.40 0.00 0.000 260 0.000 0.103 2785 3789 3264 3299 3230 0 0 0 0 0 0 28.83 14.63 28.83

1290 -0.92 -136.3 2785 3787 3299 3230 201.7 -15.7 99 1298 0.00 2.22 0.00 0.000 1030 0.000 0.057 2785 2444 3264 3299 3230 0 0 0 0 0 0 28.83 14.72 28.83

1596 -0.92 -136.3 2786 2443 3299 3230 245.1 -13.8 115 1603 0.00 2.35 0.00 0.000 516 0.000 0.070 2785 1057 3264 3299 3230 0 0 0 0 0 0 28.83 14.69 28.83

1667 -0.92 -136.3 2786 1057 3299 3230 255.1 -13.8 128 1674 0.00 2.38 0.00 0.000 1030 0.000 0.067 2785 2448 3264 3300 3229 0 0 0 0 0 0 28.83 14.69 28.83

1987 -0.92 -136.3 2785 2450 3299 3229 296.3 -12.6 146 1988 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2450 3264 3299 3229 0 0 0 0 0 0 28.83 28.83 28.83

2288 -0.92 -136.3 2785 2449 3300 3228 335.0 -13.1 161 2289 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2450 3263 3299 3228 0 0 0 0 0 0 28.83 28.83 28.83

2588 -0.92 -136.3 2785 2450 3299 3228 372.8 -12.6 176 2589 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2450 3263 3299 3227 0 0 0 0 0 0 28.83 28.83 28.83

2889 -0.92 -136.3 2785 2450 3299 3226 408.3 -11.4 191 2895 0.00 2.35 0.00 0.000 516 0.000 0.070 2785 1065 3263 3299 3227 0 0 0 0 0 0 28.83 14.72 28.83

2935 -0.92 -136.3 2785 1064 3300 3227 413.6 -11.4 199 2941 0.00 2.35 0.00 0.000 1030 0.000 0.068 2785 2452 3263 3299 3227 0 0 0 0 0 0 28.83 14.72 28.83

3259 -0.92 -136.3 2785 2452 3299 3227 449.2 -11.1 218 3267 0.00 2.38 0.00 0.000 260 0.000 0.102 2785 3793 3263 3299 3227 0 0 0 0 0 0 28.83 14.68 28.83

3320 -0.92 -136.3 2785 3793 3299 3227 456.4 -11.9 229 3327 0.00 2.22 0.00 0.000 1030 0.000 0.056 2792 2440 3263 3299 3227 0 0 0 0 0 0 28.83 14.78 28.83

3625 -0.92 -136.3 2785 2439 3299 3227 489.7 -10.6 245 3626 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2439 3263 3299 3227 0 0 0 0 0 0 28.83 28.83 28.83

3926 -0.92 -136.3 2785 2439 3300 3227 521.8 -10.8 260 3933 0.00 2.33 0.00 0.000 516 0.000 0.069 2785 1062 3263 3300 3227 0 0 0 0 0 0 28.83 14.73 28.83

3960 -0.92 -136.3 2785 1062 3300 3227 525.8 -11.6 266 3968 0.00 2.38 0.00 0.000 1030 0.000 0.067 2785 2462 3263 3300 3227 0 0 0 0 0 0 28.83 14.73 28.83

4235 end dive: TARGET_DEPTH_EXCEEDED

state 4235 begin apogee

4240 -0.18 0.0 2785 2387 3300 3227 555.7 -10.9 281 4358 0.90 0.00 109.40 1.550 10246 0.260 0.000 3028 2387 2706 2768 2644 0 0 0 0 0 0 14.52 28.83 13.54

4360 end apogee: CONTROL_FINISHED_OK

state 4360 begin climb

4362 0.92 136.3 3028 2387 2768 2645 559.2 0.0 287 4485 1.15 2.58 111.00 1.509 11012 0.181 0.071 3379 987 2152 2221 2084 0 0 0 0 0 0 14.09 13.85 13.29

4536 0.92 136.3 3378 987 2214 2083 547.6 10.0 315 4543 0.00 2.45 0.00 0.000 1030 0.000 0.059 3378 2377 2148 2214 2082 0 0 0 0 0 0 28.83 14.02 28.83

4860 0.92 136.3 3378 2377 2212 2081 513.8 10.4 334 4861 0.00 0.00 0.00 0.000 6 0.000 0.000 3378 2376 2146 2212 2081 0 0 0 0 0 0 28.83 28.83 28.83

5161 0.92 136.3 3378 2377 2211 2081 482.3 10.7 349 5168 0.00 2.42 0.00 0.000 516 0.000 0.069 3388 977 2146 2211 2081 0 0 0 0 0 0 28.83 14.49 28.83

5226 0.92 136.3 3388 977 2211 2081 475.2 10.7 361 5233 0.00 2.38 0.00 0.000 1030 0.000 0.060 3389 2377 2146 2212 2080 0 0 0 0 0 0 28.83 14.51 28.83

5551 0.92 136.3 3389 2377 2216 2081 440.0 11.1 380 5558 0.00 2.42 0.00 0.000 516 0.000 0.069 3399 971 2146 2211 2081 0 0 0 0 0 0 28.83 14.59 28.83

5591 0.92 136.3 3399 970 2211 2081 435.5 11.0 387 5599 0.00 2.38 0.00 0.000 1030 0.000 0.060 3399 2375 2146 2211 2081 0 0 0 0 0 0 28.83 14.59 28.83

5897 0.92 136.3 3399 2375 2210 2080 401.1 11.1 403 5903 0.00 2.38 0.00 0.000 516 0.000 0.069 3410 977 2146 2211 2081 0 0 0 0 0 0 28.83 14.64 28.83

5957 0.92 136.3 3410 976 2210 2081 394.1 11.1 414 5967 0.00 2.35 0.00 0.000 1030 0.000 0.057 3410 2376 2146 2211 2081 0 0 0 0 0 0 28.83 14.64 28.83

6263 0.92 136.3 3410 2376 2211 2081 359.2 11.2 430 6271 0.00 2.38 0.00 0.000 516 0.000 0.066 3421 974 2146 2211 2081 0 0 0 0 0 0 28.83 14.67 28.83

6309 0.92 136.3 3421 977 2211 2081 353.9 11.8 438 6317 0.00 2.35 0.00 0.000 1030 0.000 0.060 3421 2379 2146 2211 2081 0 0 0 0 0 0 28.83 14.67 28.83

6635 0.92 136.3 3421 2379 2211 2081 317.0 11.5 457 6642 0.00 2.42 0.00 0.000 260 0.000 0.096 3421 3780 2146 2211 2081 0 0 0 0 0 0 28.83 14.65 28.83

6664 0.92 136.3 3421 3783 2211 2081 313.4 12.5 462 6673 0.15 2.33 0.00 0.000 5126 0.271 0.052 3396 2360 2146 2211 2081 0 0 0 0 0 0 14.54 14.73 28.83

6986 0.92 136.3 3397 2360 2210 2081 281.9 9.2 480 6987 0.00 0.00 0.00 0.000 6 0.000 0.000 3397 2360 2146 2211 2081 0 0 0 0 0 0 28.83 28.83 28.83

7287 0.92 136.3 3397 2360 2211 2081 253.4 9.3 495 7289 0.00 0.00 0.00 0.000 6 0.000 0.000 3397 2360 2145 2211 2080 0 0 0 0 0 0 28.83 28.83 28.83

7587 0.98 162.1 3397 2360 2211 2081 228.2 8.0 510 7610 0.00 0.00 21.25 1.113 8198 0.000 0.000 3397 2361 2047 2112 1983 0 0 0 0 0 0 28.83 28.83 14.12

7906 1.00 172.4 3397 2360 2107 1980 200.5 8.7 526 7921 0.00 2.40 9.20 1.017 8708 0.000 0.071 3406 984 2004 2068 1940 0 0 0 0 0 0 28.83 14.64 14.08

8063 1.03 182.5 3408 984 2066 1939 187.0 8.7 556 8078 0.00 2.35 9.85 1.014 9222 0.000 0.063 3407 2376 1965 2029 1901 0 0 0 0 0 0 28.83 14.65 14.06

8375 1.04 188.9 3407 2376 2024 1897 159.2 8.9 573 8389 0.00 2.38 6.40 0.929 8708 0.000 0.068 3417 985 1936 1999 1873 0 0 0 0 0 0 28.83 14.64 14.07

8454 1.07 201.0 3418 985 1999 1873 152.1 8.6 587 8473 0.00 2.35 11.43 1.006 9222 0.000 0.059 3418 2380 1886 1950 1822 0 0 0 0 0 0 28.83 14.61 14.04

8791 1.07 201.0 3418 2380 1947 1821 120.2 9.2 608 8798 0.00 2.38 0.00 0.000 516 0.000 0.070 3427 992 1883 1947 1820 0 0 0 0 0 0 28.83 14.64 28.83

8860 1.07 201.0 3428 992 1947 1820 113.7 10.2 621 8867 0.00 2.33 0.00 0.000 1030 0.000 0.061 3427 2373 1883 1947 1820 0 0 0 0 0 0 28.83 14.65 28.83

9191 1.08 208.7 3428 2373 1946 1820 84.1 8.8 636 9204 0.00 2.42 7.28 0.906 8708 0.000 0.070 3437 990 1855 1919 1791 0 0 0 0 0 0 28.83 14.66 14.12

9248 1.09 212.3 3436 990 1918 1792 79.0 9.0 646 9257 0.00 2.33 4.65 0.800 9222 0.000 0.059 3437 2376 1842 1906 1778 0 0 0 0 0 0 28.83 14.66 14.10

9566 1.09 212.3 3437 2376 1904 1774 49.6 9.3 658 9567 0.00 0.00 0.00 0.000 6 0.000 0.000 3437 2376 1839 1904 1775 0 0 0 0 0 0 28.83 28.83 28.83

9865 1.16 244.2 3437 2376 1902 1774 25.7 7.7 668 9903 0.00 2.53 26.80 0.926 8452 0.000 0.098 3437 3770 1711 1778 1644 0 0 0 0 0 0 28.83 14.56 14.12

9920 1.22 271.8 3437 3770 1778 1644 21.2 7.9 677 9943 0.10 2.33 14.65 0.159 11270 0.198 0.053 3480 2366 1603 1675 1532 0 0 0 0 0 0 14.56 14.63 14.51

10100 end climb: SURFACE_DEPTH_REACHED

state 10100 begin surface coast

10121 end surface coast: CONTROL_FINISHED_OK

state 10121 begin surface

ID	217	HD_C	9.9999997e-06	ROLL_MAX	3790	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	3	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	175	ESCAPE_HEADING	0	C_ROLL_DIVE	2450	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2375	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	1	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	2
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	60	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	38	XPDR_VALID	1
D_BOOST	25	N_FILEKB	8	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.1
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	500	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE1	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2709	DEVICE2	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE4	-1
T_DIVE	360	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	390	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0022	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	25	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	97
USE_BATHY	-2	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	32
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	350	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	200	AH0_10V	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3880	MINV_24V	12	SIM_PITCH	0
MAX_BUOY	140	C_PITCH	3095	MINV_10V	12	SEABIRD_T_G	0.0043902649
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00063436845
GLIDE_SLOPE	40	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_T_I	2.5093383e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_T_J	2.9521423e-06
RHO	1.0275	P_OVSHOOT_WITHG	0.079999998	PRESSURE_YINT	-51.110779	SEABIRD_C_G	-9.69524
MASS	52199	PITCH_GAIN	28	PRESSURE_SLOPE	0.0001155691	SEABIRD_C_H	1.1253856
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0011212705
NAV_MODE	10	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00015718494
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_PROFILE	3.0
HD_A	0.0038000001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	240	ALTIM_TOP_PING_RANGE	0

GPS1	171014,130252,6642.851,-6013.488,40,0.7,40,-32.9	SPEED_LIMITS	0.109,0.246
_CALLS	1	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.50	MHEAD_RNG_PITCHd_Wd	68.5,153009,-17.5,-9.167,-20.44,2275
_SM_ANGLEo	-73.8	D_GRID	554
GPS2	171014,130826,6642.865,-6013.493,6,0.8,6,-32.9

FINISH	1.7,1.025138	_10V_AH	12.96,0.000
SM_CCo	10140,37.22,0.095,0,0,1281,350.04	FG_AHR_24Vo	0.000
SM_GC	2.43,9.73,0.15,37.22,0.093,0.138,0.095,197,2461,1281,-9.01,-0.85,350.04,0,0,0,0,0,0,14.59,14.61,14.57	FG_AHR_10Vo	0.000
RAFOS_CLK	-90	MEM	143136
RAFOS_FIX	6641.297852,-6010.329102,171014,121236,4,112,0.46	DATA_FILE_SIZE	23418,698
IRIDIUM_FIX	6614.97,-6008.55,171014,100649	CAP_FILE_SIZE	113630,0
TT8_MAMPS	0.038199,0.038199	CFSIZE	1024409600,997277696
HUMID	44.05	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.46478	INTR	0,10678.87,0x23769e,7,5
TCM_TEMP	12.20	SOUNDSPEED	1452.5
XPDR_PINGS	0	EKF	10255,4003.998047,-3611.234375,1.664584,0.096328,0.288813,-0.005685,0.000159,0.001020,0.000099,0.003025,0.003025,0.000050
SC_FREEKB	3964064	CURRENT	0.120,187.90,1
_24V_AH	13.29,44.932	GPS	171014,155953,6643.342,-6011.412,23,0.7,23,-32.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	420	136.44	nil	0	0	0.00
Roll_motor	85	137	156.70	nil	0	0	0.00
VBD_pump_during_apogee	331	1549	6836.49	nil	0	0	0.00
VBD_pump_during_surface	37	94	46.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	10130	3	444.68
Iridium_during_xfer	211	147	414.12	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	20	1.77
TT8	2127	24	680.88
LPSleep	6404	2	191.73
TT8_Active	548	23	170.35
TT8_Sampling	1329	42	735.02
TT8_CF8	127	56	92.96
TT8_Kalman	0	0	0.00
Analog_circuits	1355	15	263.43
GPS_charging	0	0	0.00
Compass	1045	5	67.72
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.92	-136.3	189	2469	1301	1229	0.0	0.0	0	63	0.00	0.00	-43.10	0.000	16386	0.000	0.000	186	2469	2351	2370	2333	0	0	0	0	0	0	28.83	28.83	28.83
65	-0.92	-136.3	186	2469	2371	2333	3.1	-2.1	4	115	12.38	2.42	-28.25	0.000	18948	0.421	0.088	2783	1059	3262	3294	3231	0	0	0	0	0	0	14.25	14.49	14.72
183	-0.92	-136.3	2788	1060	3297	3230	21.1	-22.1	24	190	0.00	2.40	0.00	0.000	1030	0.000	0.070	2786	2438	3263	3297	3230	0	0	0	0	0	0	28.83	14.52	28.83
508	-0.92	-136.3	2786	2438	3299	3230	77.6	-16.3	37	515	0.00	2.40	0.00	0.000	260	0.000	0.103	2786	3781	3264	3298	3230	0	0	0	0	0	0	28.83	14.57	28.83
610	-0.92	-136.3	2785	3781	3298	3230	94.6	-16.7	56	617	0.00	2.20	0.00	0.000	1030	0.000	0.057	2786	2454	3264	3298	3230	0	0	0	0	0	0	28.83	14.66	28.83
931	-0.92	-136.3	2786	2455	3299	3230	145.1	-15.8	73	932	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2455	3265	3300	3231	0	0	0	0	0	0	28.83	28.83	28.83
1231	-0.92	-136.3	2786	2455	3299	3230	192.1	-16.1	88	1237	0.00	2.40	0.00	0.000	260	0.000	0.103	2785	3789	3264	3299	3230	0	0	0	0	0	0	28.83	14.63	28.83
1290	-0.92	-136.3	2785	3787	3299	3230	201.7	-15.7	99	1298	0.00	2.22	0.00	0.000	1030	0.000	0.057	2785	2444	3264	3299	3230	0	0	0	0	0	0	28.83	14.72	28.83
1596	-0.92	-136.3	2786	2443	3299	3230	245.1	-13.8	115	1603	0.00	2.35	0.00	0.000	516	0.000	0.070	2785	1057	3264	3299	3230	0	0	0	0	0	0	28.83	14.69	28.83
1667	-0.92	-136.3	2786	1057	3299	3230	255.1	-13.8	128	1674	0.00	2.38	0.00	0.000	1030	0.000	0.067	2785	2448	3264	3300	3229	0	0	0	0	0	0	28.83	14.69	28.83
1987	-0.92	-136.3	2785	2450	3299	3229	296.3	-12.6	146	1988	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2450	3264	3299	3229	0	0	0	0	0	0	28.83	28.83	28.83
2288	-0.92	-136.3	2785	2449	3300	3228	335.0	-13.1	161	2289	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2450	3263	3299	3228	0	0	0	0	0	0	28.83	28.83	28.83
2588	-0.92	-136.3	2785	2450	3299	3228	372.8	-12.6	176	2589	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2450	3263	3299	3227	0	0	0	0	0	0	28.83	28.83	28.83
2889	-0.92	-136.3	2785	2450	3299	3226	408.3	-11.4	191	2895	0.00	2.35	0.00	0.000	516	0.000	0.070	2785	1065	3263	3299	3227	0	0	0	0	0	0	28.83	14.72	28.83
2935	-0.92	-136.3	2785	1064	3300	3227	413.6	-11.4	199	2941	0.00	2.35	0.00	0.000	1030	0.000	0.068	2785	2452	3263	3299	3227	0	0	0	0	0	0	28.83	14.72	28.83
3259	-0.92	-136.3	2785	2452	3299	3227	449.2	-11.1	218	3267	0.00	2.38	0.00	0.000	260	0.000	0.102	2785	3793	3263	3299	3227	0	0	0	0	0	0	28.83	14.68	28.83
3320	-0.92	-136.3	2785	3793	3299	3227	456.4	-11.9	229	3327	0.00	2.22	0.00	0.000	1030	0.000	0.056	2792	2440	3263	3299	3227	0	0	0	0	0	0	28.83	14.78	28.83
3625	-0.92	-136.3	2785	2439	3299	3227	489.7	-10.6	245	3626	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2439	3263	3299	3227	0	0	0	0	0	0	28.83	28.83	28.83
3926	-0.92	-136.3	2785	2439	3300	3227	521.8	-10.8	260	3933	0.00	2.33	0.00	0.000	516	0.000	0.069	2785	1062	3263	3300	3227	0	0	0	0	0	0	28.83	14.73	28.83
3960	-0.92	-136.3	2785	1062	3300	3227	525.8	-11.6	266	3968	0.00	2.38	0.00	0.000	1030	0.000	0.067	2785	2462	3263	3300	3227	0	0	0	0	0	0	28.83	14.73	28.83
4235	end dive: TARGET_DEPTH_EXCEEDED
state	4235	begin apogee
4240	-0.18	0.0	2785	2387	3300	3227	555.7	-10.9	281	4358	0.90	0.00	109.40	1.550	10246	0.260	0.000	3028	2387	2706	2768	2644	0	0	0	0	0	0	14.52	28.83	13.54
4360	end apogee: CONTROL_FINISHED_OK
state	4360	begin climb
4362	0.92	136.3	3028	2387	2768	2645	559.2	0.0	287	4485	1.15	2.58	111.00	1.509	11012	0.181	0.071	3379	987	2152	2221	2084	0	0	0	0	0	0	14.09	13.85	13.29
4536	0.92	136.3	3378	987	2214	2083	547.6	10.0	315	4543	0.00	2.45	0.00	0.000	1030	0.000	0.059	3378	2377	2148	2214	2082	0	0	0	0	0	0	28.83	14.02	28.83
4860	0.92	136.3	3378	2377	2212	2081	513.8	10.4	334	4861	0.00	0.00	0.00	0.000	6	0.000	0.000	3378	2376	2146	2212	2081	0	0	0	0	0	0	28.83	28.83	28.83
5161	0.92	136.3	3378	2377	2211	2081	482.3	10.7	349	5168	0.00	2.42	0.00	0.000	516	0.000	0.069	3388	977	2146	2211	2081	0	0	0	0	0	0	28.83	14.49	28.83
5226	0.92	136.3	3388	977	2211	2081	475.2	10.7	361	5233	0.00	2.38	0.00	0.000	1030	0.000	0.060	3389	2377	2146	2212	2080	0	0	0	0	0	0	28.83	14.51	28.83
5551	0.92	136.3	3389	2377	2216	2081	440.0	11.1	380	5558	0.00	2.42	0.00	0.000	516	0.000	0.069	3399	971	2146	2211	2081	0	0	0	0	0	0	28.83	14.59	28.83
5591	0.92	136.3	3399	970	2211	2081	435.5	11.0	387	5599	0.00	2.38	0.00	0.000	1030	0.000	0.060	3399	2375	2146	2211	2081	0	0	0	0	0	0	28.83	14.59	28.83
5897	0.92	136.3	3399	2375	2210	2080	401.1	11.1	403	5903	0.00	2.38	0.00	0.000	516	0.000	0.069	3410	977	2146	2211	2081	0	0	0	0	0	0	28.83	14.64	28.83
5957	0.92	136.3	3410	976	2210	2081	394.1	11.1	414	5967	0.00	2.35	0.00	0.000	1030	0.000	0.057	3410	2376	2146	2211	2081	0	0	0	0	0	0	28.83	14.64	28.83
6263	0.92	136.3	3410	2376	2211	2081	359.2	11.2	430	6271	0.00	2.38	0.00	0.000	516	0.000	0.066	3421	974	2146	2211	2081	0	0	0	0	0	0	28.83	14.67	28.83
6309	0.92	136.3	3421	977	2211	2081	353.9	11.8	438	6317	0.00	2.35	0.00	0.000	1030	0.000	0.060	3421	2379	2146	2211	2081	0	0	0	0	0	0	28.83	14.67	28.83
6635	0.92	136.3	3421	2379	2211	2081	317.0	11.5	457	6642	0.00	2.42	0.00	0.000	260	0.000	0.096	3421	3780	2146	2211	2081	0	0	0	0	0	0	28.83	14.65	28.83
6664	0.92	136.3	3421	3783	2211	2081	313.4	12.5	462	6673	0.15	2.33	0.00	0.000	5126	0.271	0.052	3396	2360	2146	2211	2081	0	0	0	0	0	0	14.54	14.73	28.83
6986	0.92	136.3	3397	2360	2210	2081	281.9	9.2	480	6987	0.00	0.00	0.00	0.000	6	0.000	0.000	3397	2360	2146	2211	2081	0	0	0	0	0	0	28.83	28.83	28.83
7287	0.92	136.3	3397	2360	2211	2081	253.4	9.3	495	7289	0.00	0.00	0.00	0.000	6	0.000	0.000	3397	2360	2145	2211	2080	0	0	0	0	0	0	28.83	28.83	28.83
7587	0.98	162.1	3397	2360	2211	2081	228.2	8.0	510	7610	0.00	0.00	21.25	1.113	8198	0.000	0.000	3397	2361	2047	2112	1983	0	0	0	0	0	0	28.83	28.83	14.12
7906	1.00	172.4	3397	2360	2107	1980	200.5	8.7	526	7921	0.00	2.40	9.20	1.017	8708	0.000	0.071	3406	984	2004	2068	1940	0	0	0	0	0	0	28.83	14.64	14.08
8063	1.03	182.5	3408	984	2066	1939	187.0	8.7	556	8078	0.00	2.35	9.85	1.014	9222	0.000	0.063	3407	2376	1965	2029	1901	0	0	0	0	0	0	28.83	14.65	14.06
8375	1.04	188.9	3407	2376	2024	1897	159.2	8.9	573	8389	0.00	2.38	6.40	0.929	8708	0.000	0.068	3417	985	1936	1999	1873	0	0	0	0	0	0	28.83	14.64	14.07
8454	1.07	201.0	3418	985	1999	1873	152.1	8.6	587	8473	0.00	2.35	11.43	1.006	9222	0.000	0.059	3418	2380	1886	1950	1822	0	0	0	0	0	0	28.83	14.61	14.04
8791	1.07	201.0	3418	2380	1947	1821	120.2	9.2	608	8798	0.00	2.38	0.00	0.000	516	0.000	0.070	3427	992	1883	1947	1820	0	0	0	0	0	0	28.83	14.64	28.83
8860	1.07	201.0	3428	992	1947	1820	113.7	10.2	621	8867	0.00	2.33	0.00	0.000	1030	0.000	0.061	3427	2373	1883	1947	1820	0	0	0	0	0	0	28.83	14.65	28.83
9191	1.08	208.7	3428	2373	1946	1820	84.1	8.8	636	9204	0.00	2.42	7.28	0.906	8708	0.000	0.070	3437	990	1855	1919	1791	0	0	0	0	0	0	28.83	14.66	14.12
9248	1.09	212.3	3436	990	1918	1792	79.0	9.0	646	9257	0.00	2.33	4.65	0.800	9222	0.000	0.059	3437	2376	1842	1906	1778	0	0	0	0	0	0	28.83	14.66	14.10
9566	1.09	212.3	3437	2376	1904	1774	49.6	9.3	658	9567	0.00	0.00	0.00	0.000	6	0.000	0.000	3437	2376	1839	1904	1775	0	0	0	0	0	0	28.83	28.83	28.83
9865	1.16	244.2	3437	2376	1902	1774	25.7	7.7	668	9903	0.00	2.53	26.80	0.926	8452	0.000	0.098	3437	3770	1711	1778	1644	0	0	0	0	0	0	28.83	14.56	14.12
9920	1.22	271.8	3437	3770	1778	1644	21.2	7.9	677	9943	0.10	2.33	14.65	0.159	11270	0.198	0.053	3480	2366	1603	1675	1532	0	0	0	0	0	0	14.56	14.63	14.51
10100	end climb: SURFACE_DEPTH_REACHED
state	10100	begin surface coast
10121	end surface coast: CONTROL_FINISHED_OK
state	10121	begin surface