Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 184 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 184 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 566.1524 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 13 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2817 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2079582.2 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 566.1524

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2079582.2

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 13 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 184 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 220202,6338.677,-835.734,39,1.5,40,-9.8 TGT_NAME IFRN1K

_CALLS 1 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.003,0.221

_SM_DEPTHo 1.37 KALMAN_X -118459.6,-452.6,-75.9,145430.4,4561.4

_SM_ANGLEo -47.8 KALMAN_Y 90695.5,261.1,295.1,132048.6,-5655.8

GPS2 220739,6338.786,-835.600,16,1.9,16,-9.8 MHEAD_RNG_PITCHd_Wd 9.1,31349,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.027439 ALTIM_BOTTOM_PING 750.1,11.8

SM_CCo 21032,189.38,0.682,3,0,509,566.15 _24V_AH 23.4,31.744

SM_GC 1.72,0.00,0.00,189.38,0.000,0.000,0.682,70,2411,509,-10.75,0.31,566.15 _10V_AH 10.1,15.285

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50486,1019

TT8_MAMPS 0.023777 CFSIZE 260165632,248950784

HUMID 2055 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,21,3,0

TCM_TEMP 16.40 GPS 151207,040338,6343.282,-831.435,33,1.7,33,-9.7

XPDR_PINGS 96

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 172 103.18 SBE_CT 747 24 420.06

Roll_motor 184 97 420.60 SBE_O2 701 19 311.88

VBD_pump_during_apogee 338 1217 9643.35 WL_BB2F 597 105 1467.51

VBD_pump_during_surface 189 681 3021.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.61 nil 0 0 0.00

Iridium_during_connect 36 160 136.10 nil 0 0 0.00

Iridium_during_xfer 162 223 847.36

Transponder_ping 31 420 304.67

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.38

TT8 1847 19 369.39

LPSleep 16370 2 362.09

TT8_Active 745 19 149.05

TT8_Sampling 2181 39 877.08

TT8_CF8 432 45 199.94

TT8_Kalman 33 81 27.57

Analog_circuits 1819 12 220.58

GPS_charging 0 0 0.00

Compass 2127 8 171.87

RAFOS 0 0 0.00

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

17 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.85 -146.6 0.0 0.0 0 124 0.00 0.00 -101.12 0.000 2 0.000 0.000 72 2404 3096

126 -0.85 -146.6 4.0 -3.1 5 152 12.20 2.72 -7.55 0.000 4 0.173 0.083 2222 977 3416

404 -0.85 -146.6 33.5 -5.1 17 408 0.00 2.62 0.00 0.000 6 0.000 0.059 2222 2395 3417

725 -0.85 -146.6 56.5 -8.6 33 729 0.00 2.67 0.00 0.000 4 0.000 0.071 2222 981 3417

796 -0.85 -146.6 63.0 -9.3 36 801 0.00 2.62 0.00 0.000 6 0.000 0.059 2222 2400 3417

1113 -0.85 -146.6 85.9 -6.4 51 1114 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3417

1421 -0.85 -146.6 108.2 -8.5 66 1422 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3417

1731 -0.85 -146.6 133.4 -8.0 81 1735 0.00 2.67 0.00 0.000 4 0.000 0.071 2222 980 3417

1779 -0.85 -146.6 137.8 -8.8 83 1784 0.00 2.62 0.00 0.000 6 0.000 0.061 2222 2399 3417

2100 -0.85 -146.6 163.8 -7.8 99 2102 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2399 3417

2410 -0.85 -146.6 186.9 -7.2 114 2414 0.00 2.70 0.00 0.000 4 0.000 0.072 2222 973 3417

2449 -0.85 -146.6 189.6 -7.1 116 2453 0.00 2.65 0.00 0.000 6 0.000 0.062 2222 2400 3417

2774 -0.85 -146.6 212.1 -6.9 132 2775 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3417

3083 -0.85 -146.6 232.7 -6.5 147 3088 0.00 2.67 0.00 0.000 4 0.000 0.072 2220 980 3417

3145 -0.85 -146.6 236.8 -6.5 150 3149 0.00 2.62 0.00 0.000 6 0.000 0.061 2222 2401 3417

3470 -0.85 -146.6 257.8 -6.5 166 3471 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2401 3418

3780 -0.85 -146.6 279.5 -7.3 181 3785 0.00 2.70 0.00 0.000 4 0.000 0.073 2222 974 3418

3920 -0.85 -146.6 289.9 -7.2 187 3924 0.00 2.65 0.00 0.000 6 0.000 0.062 2222 2398 3418

4235 -0.85 -146.6 310.5 -6.1 202 4236 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2398 3418

4544 -0.85 -146.6 329.1 -6.1 217 4545 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2398 3418

4855 -0.85 -146.6 350.8 -7.8 232 4856 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2398 3419

5163 -0.85 -146.6 376.0 -7.6 247 5168 0.00 2.70 0.00 0.000 4 0.000 0.077 2222 980 3419

5190 -0.85 -146.6 378.3 -8.3 248 5194 0.00 2.65 0.00 0.000 6 0.000 0.066 2222 2400 3418

5512 -0.85 -146.6 401.1 -7.1 264 5516 0.00 2.72 0.00 0.000 4 0.000 0.079 2222 978 3418

5550 -0.85 -146.6 404.0 -7.6 266 5555 0.00 2.70 0.00 0.000 6 0.000 0.068 2222 2400 3419

5877 -0.85 -146.6 425.2 -6.3 282 5882 0.00 2.72 0.00 0.000 4 0.000 0.081 2222 982 3418

5899 -0.85 -146.6 426.7 -6.5 283 5903 0.00 2.67 0.00 0.000 6 0.000 0.070 2222 2404 3419

6225 -0.85 -146.6 448.9 -7.0 299 6229 0.00 2.75 0.00 0.000 4 0.000 0.082 2222 981 3418

6291 -0.85 -146.6 453.6 -7.1 302 6295 0.00 2.67 0.00 0.000 6 0.000 0.071 2222 2400 3418

6614 -0.85 -146.6 476.0 -7.0 318 6618 0.00 2.75 0.00 0.000 4 0.000 0.083 2222 976 3416

6640 -0.85 -146.6 478.0 -7.3 319 6644 0.00 2.70 0.00 0.000 6 0.000 0.072 2222 2390 3416

6962 -0.85 -146.6 500.0 -6.9 335 6966 0.00 2.72 0.00 0.000 4 0.000 0.083 2222 982 3415

6993 -0.85 -146.6 502.3 -7.1 336 7000 0.00 2.70 0.00 0.000 6 0.000 0.072 2222 2404 3415

7311 -0.85 -146.6 525.1 -7.5 352 7316 0.00 2.75 0.00 0.000 4 0.000 0.083 2222 982 3415

7355 -0.85 -146.6 528.9 -8.0 354 7360 0.00 2.70 0.00 0.000 6 0.000 0.074 2222 2405 3414

7677 -0.85 -146.6 550.1 -6.1 370 7681 0.00 2.75 0.00 0.000 4 0.000 0.084 2222 983 3412

7719 -0.85 -146.6 553.1 -6.7 372 7724 0.00 2.70 0.00 0.000 6 0.000 0.074 2222 2401 3412

8046 -0.85 -146.6 574.3 -6.7 388 8051 0.00 2.75 0.00 0.000 4 0.000 0.084 2222 984 3411

8078 -0.85 -146.6 576.5 -6.6 389 8085 0.00 2.70 0.00 0.000 6 0.000 0.074 2222 2403 3410

8393 -0.85 -146.6 597.2 -6.4 405 8395 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2403 3409

8703 -0.85 -146.6 618.2 -7.0 420 8708 0.00 2.75 0.00 0.000 4 0.000 0.084 2220 983 3408

8741 -0.85 -146.6 620.9 -7.3 422 8746 0.00 2.70 0.00 0.000 6 0.000 0.074 2222 2401 3408

9067 -0.85 -146.6 642.8 -6.7 438 9072 0.00 2.75 0.00 0.000 4 0.000 0.084 2222 980 3408

9093 -0.85 -146.6 644.7 -7.6 439 9098 0.00 2.67 0.00 0.000 6 0.000 0.073 2222 2400 3408

9414 -0.85 -146.6 666.3 -6.4 455 9415 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3407

9723 -0.85 -146.6 686.9 -6.3 470 9728 0.00 2.75 0.00 0.000 4 0.000 0.084 2222 982 3406

9756 -0.85 -146.6 689.0 -6.8 471 9762 0.00 2.70 0.00 0.000 6 0.000 0.073 2222 2404 3405

10071 -0.85 -146.6 710.8 -7.4 487 10075 0.00 2.75 0.00 0.000 4 0.000 0.084 2222 983 3404

10097 -0.85 -146.6 712.5 -6.5 488 10101 0.00 2.70 0.00 0.000 6 0.000 0.074 2222 2405 3404

10418 -0.85 -146.6 733.9 -6.2 504 10420 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2405 3404

10705 end dive: BOTTOM_OBSTACLE_DETECTED

state 10705 begin apogee

10710 -0.31 0.0 752.8 6.6 518 10833 0.60 0.00 119.30 1.218 6 0.123 0.000 2337 2197 2817

10833 end apogee: CONTROL_FINISHED_OK

state 10833 begin climb

10835 0.85 146.6 757.4 0.0 524 10963 1.23 2.83 119.97 1.175 4 0.087 0.082 2588 785 2219

11048 0.85 146.6 749.7 6.6 534 11052 0.00 2.70 0.00 0.000 6 0.000 0.066 2588 2203 2218

11375 0.88 177.7 731.0 5.1 550 11407 0.00 2.88 26.52 1.200 4 0.000 0.097 2588 3612 2092

11435 0.88 177.7 727.5 6.4 553 11440 0.00 2.75 0.00 0.000 6 0.000 0.074 2588 2197 2091

11761 0.89 185.2 707.5 5.8 569 11771 0.00 0.00 7.62 1.025 6 0.000 0.000 2588 2197 2061

12071 0.91 201.7 689.3 5.5 584 12091 0.00 0.00 15.20 1.154 6 0.000 0.000 2588 2197 1995

12400 0.92 214.6 669.4 5.6 600 12414 0.10 0.00 11.85 1.113 6 0.076 0.000 2613 2197 1942

12709 0.92 214.6 647.8 6.4 615 12713 0.00 2.75 0.00 0.000 4 0.000 0.090 2613 786 1942

12757 0.92 214.6 644.4 7.0 617 12762 0.00 2.67 0.00 0.000 6 0.000 0.065 2613 2200 1942

13078 0.92 214.6 621.3 7.5 633 13079 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2200 1941

13388 0.92 214.6 598.3 7.4 648 13392 0.00 2.75 0.00 0.000 4 0.000 0.084 2613 786 1940

13442 0.92 214.6 593.8 7.9 650 13449 0.00 2.67 0.00 0.000 6 0.000 0.066 2613 2194 1940

13758 0.92 214.6 569.0 7.8 666 13759 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2194 1940

14067 0.92 214.6 544.5 8.0 681 14072 0.00 2.72 0.00 0.000 4 0.000 0.084 2613 787 1940

14116 0.92 214.6 540.3 8.6 683 14120 0.00 2.67 0.00 0.000 6 0.000 0.065 2613 2199 1939

14437 0.92 214.6 514.8 7.9 699 14438 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2199 1939

14746 0.92 214.6 489.1 8.1 714 14751 0.00 2.75 0.00 0.000 4 0.000 0.083 2613 787 1939

14802 0.92 214.6 484.3 9.2 716 14808 0.00 2.67 0.00 0.000 6 0.000 0.066 2613 2201 1939

15117 0.92 214.6 457.4 8.6 732 15118 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2201 1939

15426 0.92 214.6 430.6 8.5 747 15427 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2201 1939

15735 0.92 214.6 407.2 7.1 762 15737 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2201 1939

16044 0.92 214.6 386.3 6.6 777 16049 0.00 2.75 0.00 0.000 4 0.000 0.083 2613 786 1939

16106 0.92 214.6 382.1 6.9 780 16110 0.00 2.67 0.00 0.000 6 0.000 0.065 2613 2200 1939

16432 0.92 214.6 359.2 7.4 796 16433 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2199 1939

16741 0.92 214.6 334.5 8.3 811 16745 0.00 2.72 0.00 0.000 4 0.000 0.081 2613 785 1938

16847 0.92 214.6 325.8 7.8 816 16851 0.00 2.67 0.00 0.000 6 0.000 0.063 2613 2206 1938

17172 0.92 214.6 301.7 7.4 832 17177 0.00 2.75 0.00 0.000 4 0.000 0.077 2613 778 1938

17221 0.92 214.6 297.6 7.6 834 17226 0.00 2.67 0.00 0.000 6 0.000 0.061 2613 2206 1938

17543 0.92 214.6 270.6 8.5 850 17547 0.00 2.72 0.00 0.000 4 0.000 0.075 2613 781 1938

17586 0.92 214.6 266.4 10.2 852 17590 0.00 2.65 0.00 0.000 6 0.000 0.058 2613 2202 1938

17912 0.92 214.6 240.5 7.2 868 17917 0.00 2.72 0.00 0.000 4 0.000 0.088 2613 3612 1938

17974 0.92 214.6 235.5 8.3 871 17979 0.00 2.67 0.00 0.000 6 0.000 0.070 2613 2201 1938

18300 0.92 214.6 212.4 6.9 887 18305 0.00 2.70 0.00 0.000 4 0.000 0.074 2613 777 1939

18333 0.92 214.6 210.1 6.9 888 18339 0.00 2.65 0.00 0.000 6 0.000 0.057 2613 2207 1939

18648 0.92 214.6 187.9 7.3 904 18649 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2207 1940

18957 0.92 214.6 166.0 7.2 919 18958 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2207 1941

19267 0.92 214.6 144.7 8.2 934 19271 0.00 2.70 0.00 0.000 4 0.000 0.071 2613 782 1942

19338 0.92 214.6 137.9 9.1 937 19342 0.00 2.62 0.00 0.000 6 0.000 0.055 2613 2203 1942

19660 0.92 214.6 111.7 7.7 953 19664 0.00 2.70 0.00 0.000 4 0.000 0.081 2613 3615 1943

19703 0.92 214.6 107.6 9.3 955 19707 0.00 2.65 0.00 0.000 6 0.000 0.061 2613 2196 1944

20030 0.92 214.6 80.0 8.7 971 20031 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2195 1944

20341 0.97 260.8 58.2 4.7 986 20380 0.00 0.00 37.88 0.736 6 0.000 0.000 2613 2195 1754

20690 0.97 260.8 27.4 9.5 1003 20694 0.00 2.67 0.00 0.000 4 0.000 0.074 2613 785 1753

20729 0.97 260.8 24.0 9.0 1005 20733 0.00 2.62 0.00 0.000 6 0.000 0.055 2613 2201 1752

20991 end climb: SURFACE_DEPTH_REACHED

state 20991 begin surface coast

21013 end surface coast: CONTROL_FINISHED_OK

state 21013 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	184	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	566.1524	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	13	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2817	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2079582.2	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	220202,6338.677,-835.734,39,1.5,40,-9.8	TGT_NAME	IFRN1K
_CALLS	1	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.003,0.221
_SM_DEPTHo	1.37	KALMAN_X	-118459.6,-452.6,-75.9,145430.4,4561.4
_SM_ANGLEo	-47.8	KALMAN_Y	90695.5,261.1,295.1,132048.6,-5655.8
GPS2	220739,6338.786,-835.600,16,1.9,16,-9.8	MHEAD_RNG_PITCHd_Wd	9.1,31349,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.9,1.027439	ALTIM_BOTTOM_PING	750.1,11.8
SM_CCo	21032,189.38,0.682,3,0,509,566.15	_24V_AH	23.4,31.744
SM_GC	1.72,0.00,0.00,189.38,0.000,0.000,0.682,70,2411,509,-10.75,0.31,566.15	_10V_AH	10.1,15.285
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50486,1019
TT8_MAMPS	0.023777	CFSIZE	260165632,248950784
HUMID	2055	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,21,3,0
TCM_TEMP	16.40	GPS	151207,040338,6343.282,-831.435,33,1.7,33,-9.7
XPDR_PINGS	96

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	172	103.18	SBE_CT	747	24	420.06
Roll_motor	184	97	420.60	SBE_O2	701	19	311.88
VBD_pump_during_apogee	338	1217	9643.35	WL_BB2F	597	105	1467.51
VBD_pump_during_surface	189	681	3021.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.61	nil	0	0	0.00
Iridium_during_connect	36	160	136.10	nil	0	0	0.00
Iridium_during_xfer	162	223	847.36
Transponder_ping	31	420	304.67
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.38
TT8	1847	19	369.39
LPSleep	16370	2	362.09
TT8_Active	745	19	149.05
TT8_Sampling	2181	39	877.08
TT8_CF8	432	45	199.94
TT8_Kalman	33	81	27.57
Analog_circuits	1819	12	220.58
GPS_charging	0	0	0.00
Compass	2127	8	171.87
RAFOS	0	0	0.00

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
17	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.85	-146.6	0.0	0.0	0	124	0.00	0.00	-101.12	0.000	2	0.000	0.000	72	2404	3096
126	-0.85	-146.6	4.0	-3.1	5	152	12.20	2.72	-7.55	0.000	4	0.173	0.083	2222	977	3416
404	-0.85	-146.6	33.5	-5.1	17	408	0.00	2.62	0.00	0.000	6	0.000	0.059	2222	2395	3417
725	-0.85	-146.6	56.5	-8.6	33	729	0.00	2.67	0.00	0.000	4	0.000	0.071	2222	981	3417
796	-0.85	-146.6	63.0	-9.3	36	801	0.00	2.62	0.00	0.000	6	0.000	0.059	2222	2400	3417
1113	-0.85	-146.6	85.9	-6.4	51	1114	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3417
1421	-0.85	-146.6	108.2	-8.5	66	1422	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3417
1731	-0.85	-146.6	133.4	-8.0	81	1735	0.00	2.67	0.00	0.000	4	0.000	0.071	2222	980	3417
1779	-0.85	-146.6	137.8	-8.8	83	1784	0.00	2.62	0.00	0.000	6	0.000	0.061	2222	2399	3417
2100	-0.85	-146.6	163.8	-7.8	99	2102	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2399	3417
2410	-0.85	-146.6	186.9	-7.2	114	2414	0.00	2.70	0.00	0.000	4	0.000	0.072	2222	973	3417
2449	-0.85	-146.6	189.6	-7.1	116	2453	0.00	2.65	0.00	0.000	6	0.000	0.062	2222	2400	3417
2774	-0.85	-146.6	212.1	-6.9	132	2775	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3417
3083	-0.85	-146.6	232.7	-6.5	147	3088	0.00	2.67	0.00	0.000	4	0.000	0.072	2220	980	3417
3145	-0.85	-146.6	236.8	-6.5	150	3149	0.00	2.62	0.00	0.000	6	0.000	0.061	2222	2401	3417
3470	-0.85	-146.6	257.8	-6.5	166	3471	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2401	3418
3780	-0.85	-146.6	279.5	-7.3	181	3785	0.00	2.70	0.00	0.000	4	0.000	0.073	2222	974	3418
3920	-0.85	-146.6	289.9	-7.2	187	3924	0.00	2.65	0.00	0.000	6	0.000	0.062	2222	2398	3418
4235	-0.85	-146.6	310.5	-6.1	202	4236	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2398	3418
4544	-0.85	-146.6	329.1	-6.1	217	4545	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2398	3418
4855	-0.85	-146.6	350.8	-7.8	232	4856	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2398	3419
5163	-0.85	-146.6	376.0	-7.6	247	5168	0.00	2.70	0.00	0.000	4	0.000	0.077	2222	980	3419
5190	-0.85	-146.6	378.3	-8.3	248	5194	0.00	2.65	0.00	0.000	6	0.000	0.066	2222	2400	3418
5512	-0.85	-146.6	401.1	-7.1	264	5516	0.00	2.72	0.00	0.000	4	0.000	0.079	2222	978	3418
5550	-0.85	-146.6	404.0	-7.6	266	5555	0.00	2.70	0.00	0.000	6	0.000	0.068	2222	2400	3419
5877	-0.85	-146.6	425.2	-6.3	282	5882	0.00	2.72	0.00	0.000	4	0.000	0.081	2222	982	3418
5899	-0.85	-146.6	426.7	-6.5	283	5903	0.00	2.67	0.00	0.000	6	0.000	0.070	2222	2404	3419
6225	-0.85	-146.6	448.9	-7.0	299	6229	0.00	2.75	0.00	0.000	4	0.000	0.082	2222	981	3418
6291	-0.85	-146.6	453.6	-7.1	302	6295	0.00	2.67	0.00	0.000	6	0.000	0.071	2222	2400	3418
6614	-0.85	-146.6	476.0	-7.0	318	6618	0.00	2.75	0.00	0.000	4	0.000	0.083	2222	976	3416
6640	-0.85	-146.6	478.0	-7.3	319	6644	0.00	2.70	0.00	0.000	6	0.000	0.072	2222	2390	3416
6962	-0.85	-146.6	500.0	-6.9	335	6966	0.00	2.72	0.00	0.000	4	0.000	0.083	2222	982	3415
6993	-0.85	-146.6	502.3	-7.1	336	7000	0.00	2.70	0.00	0.000	6	0.000	0.072	2222	2404	3415
7311	-0.85	-146.6	525.1	-7.5	352	7316	0.00	2.75	0.00	0.000	4	0.000	0.083	2222	982	3415
7355	-0.85	-146.6	528.9	-8.0	354	7360	0.00	2.70	0.00	0.000	6	0.000	0.074	2222	2405	3414
7677	-0.85	-146.6	550.1	-6.1	370	7681	0.00	2.75	0.00	0.000	4	0.000	0.084	2222	983	3412
7719	-0.85	-146.6	553.1	-6.7	372	7724	0.00	2.70	0.00	0.000	6	0.000	0.074	2222	2401	3412
8046	-0.85	-146.6	574.3	-6.7	388	8051	0.00	2.75	0.00	0.000	4	0.000	0.084	2222	984	3411
8078	-0.85	-146.6	576.5	-6.6	389	8085	0.00	2.70	0.00	0.000	6	0.000	0.074	2222	2403	3410
8393	-0.85	-146.6	597.2	-6.4	405	8395	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2403	3409
8703	-0.85	-146.6	618.2	-7.0	420	8708	0.00	2.75	0.00	0.000	4	0.000	0.084	2220	983	3408
8741	-0.85	-146.6	620.9	-7.3	422	8746	0.00	2.70	0.00	0.000	6	0.000	0.074	2222	2401	3408
9067	-0.85	-146.6	642.8	-6.7	438	9072	0.00	2.75	0.00	0.000	4	0.000	0.084	2222	980	3408
9093	-0.85	-146.6	644.7	-7.6	439	9098	0.00	2.67	0.00	0.000	6	0.000	0.073	2222	2400	3408
9414	-0.85	-146.6	666.3	-6.4	455	9415	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3407
9723	-0.85	-146.6	686.9	-6.3	470	9728	0.00	2.75	0.00	0.000	4	0.000	0.084	2222	982	3406
9756	-0.85	-146.6	689.0	-6.8	471	9762	0.00	2.70	0.00	0.000	6	0.000	0.073	2222	2404	3405
10071	-0.85	-146.6	710.8	-7.4	487	10075	0.00	2.75	0.00	0.000	4	0.000	0.084	2222	983	3404
10097	-0.85	-146.6	712.5	-6.5	488	10101	0.00	2.70	0.00	0.000	6	0.000	0.074	2222	2405	3404
10418	-0.85	-146.6	733.9	-6.2	504	10420	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2405	3404
10705	end dive: BOTTOM_OBSTACLE_DETECTED
state	10705	begin apogee
10710	-0.31	0.0	752.8	6.6	518	10833	0.60	0.00	119.30	1.218	6	0.123	0.000	2337	2197	2817
10833	end apogee: CONTROL_FINISHED_OK
state	10833	begin climb
10835	0.85	146.6	757.4	0.0	524	10963	1.23	2.83	119.97	1.175	4	0.087	0.082	2588	785	2219
11048	0.85	146.6	749.7	6.6	534	11052	0.00	2.70	0.00	0.000	6	0.000	0.066	2588	2203	2218
11375	0.88	177.7	731.0	5.1	550	11407	0.00	2.88	26.52	1.200	4	0.000	0.097	2588	3612	2092
11435	0.88	177.7	727.5	6.4	553	11440	0.00	2.75	0.00	0.000	6	0.000	0.074	2588	2197	2091
11761	0.89	185.2	707.5	5.8	569	11771	0.00	0.00	7.62	1.025	6	0.000	0.000	2588	2197	2061
12071	0.91	201.7	689.3	5.5	584	12091	0.00	0.00	15.20	1.154	6	0.000	0.000	2588	2197	1995
12400	0.92	214.6	669.4	5.6	600	12414	0.10	0.00	11.85	1.113	6	0.076	0.000	2613	2197	1942
12709	0.92	214.6	647.8	6.4	615	12713	0.00	2.75	0.00	0.000	4	0.000	0.090	2613	786	1942
12757	0.92	214.6	644.4	7.0	617	12762	0.00	2.67	0.00	0.000	6	0.000	0.065	2613	2200	1942
13078	0.92	214.6	621.3	7.5	633	13079	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2200	1941
13388	0.92	214.6	598.3	7.4	648	13392	0.00	2.75	0.00	0.000	4	0.000	0.084	2613	786	1940
13442	0.92	214.6	593.8	7.9	650	13449	0.00	2.67	0.00	0.000	6	0.000	0.066	2613	2194	1940
13758	0.92	214.6	569.0	7.8	666	13759	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2194	1940
14067	0.92	214.6	544.5	8.0	681	14072	0.00	2.72	0.00	0.000	4	0.000	0.084	2613	787	1940
14116	0.92	214.6	540.3	8.6	683	14120	0.00	2.67	0.00	0.000	6	0.000	0.065	2613	2199	1939
14437	0.92	214.6	514.8	7.9	699	14438	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2199	1939
14746	0.92	214.6	489.1	8.1	714	14751	0.00	2.75	0.00	0.000	4	0.000	0.083	2613	787	1939
14802	0.92	214.6	484.3	9.2	716	14808	0.00	2.67	0.00	0.000	6	0.000	0.066	2613	2201	1939
15117	0.92	214.6	457.4	8.6	732	15118	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2201	1939
15426	0.92	214.6	430.6	8.5	747	15427	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2201	1939
15735	0.92	214.6	407.2	7.1	762	15737	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2201	1939
16044	0.92	214.6	386.3	6.6	777	16049	0.00	2.75	0.00	0.000	4	0.000	0.083	2613	786	1939
16106	0.92	214.6	382.1	6.9	780	16110	0.00	2.67	0.00	0.000	6	0.000	0.065	2613	2200	1939
16432	0.92	214.6	359.2	7.4	796	16433	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2199	1939
16741	0.92	214.6	334.5	8.3	811	16745	0.00	2.72	0.00	0.000	4	0.000	0.081	2613	785	1938
16847	0.92	214.6	325.8	7.8	816	16851	0.00	2.67	0.00	0.000	6	0.000	0.063	2613	2206	1938
17172	0.92	214.6	301.7	7.4	832	17177	0.00	2.75	0.00	0.000	4	0.000	0.077	2613	778	1938
17221	0.92	214.6	297.6	7.6	834	17226	0.00	2.67	0.00	0.000	6	0.000	0.061	2613	2206	1938
17543	0.92	214.6	270.6	8.5	850	17547	0.00	2.72	0.00	0.000	4	0.000	0.075	2613	781	1938
17586	0.92	214.6	266.4	10.2	852	17590	0.00	2.65	0.00	0.000	6	0.000	0.058	2613	2202	1938
17912	0.92	214.6	240.5	7.2	868	17917	0.00	2.72	0.00	0.000	4	0.000	0.088	2613	3612	1938
17974	0.92	214.6	235.5	8.3	871	17979	0.00	2.67	0.00	0.000	6	0.000	0.070	2613	2201	1938
18300	0.92	214.6	212.4	6.9	887	18305	0.00	2.70	0.00	0.000	4	0.000	0.074	2613	777	1939
18333	0.92	214.6	210.1	6.9	888	18339	0.00	2.65	0.00	0.000	6	0.000	0.057	2613	2207	1939
18648	0.92	214.6	187.9	7.3	904	18649	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2207	1940
18957	0.92	214.6	166.0	7.2	919	18958	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2207	1941
19267	0.92	214.6	144.7	8.2	934	19271	0.00	2.70	0.00	0.000	4	0.000	0.071	2613	782	1942
19338	0.92	214.6	137.9	9.1	937	19342	0.00	2.62	0.00	0.000	6	0.000	0.055	2613	2203	1942
19660	0.92	214.6	111.7	7.7	953	19664	0.00	2.70	0.00	0.000	4	0.000	0.081	2613	3615	1943
19703	0.92	214.6	107.6	9.3	955	19707	0.00	2.65	0.00	0.000	6	0.000	0.061	2613	2196	1944
20030	0.92	214.6	80.0	8.7	971	20031	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2195	1944
20341	0.97	260.8	58.2	4.7	986	20380	0.00	0.00	37.88	0.736	6	0.000	0.000	2613	2195	1754
20690	0.97	260.8	27.4	9.5	1003	20694	0.00	2.67	0.00	0.000	4	0.000	0.074	2613	785	1753
20729	0.97	260.8	24.0	9.0	1005	20733	0.00	2.62	0.00	0.000	6	0.000	0.055	2613	2201	1752
20991	end climb: SURFACE_DEPTH_REACHED
state	20991	begin surface coast
21013	end surface coast: CONTROL_FINISHED_OK
state	21013	begin surface