Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_B 0.010078 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 19 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_TGT 90 FIX_MISSING_TIMEOUT 0 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2079 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2079 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 350 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 40 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 30 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 45 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 204 DEVICE4 -1

T_TURN 270 CALL_WAIT 60 VBD_MAX 3580 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2800 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 360 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -59507.648 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 25 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 4070 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2820 PRESSURE_YINT -10.508845 SEABIRD_T_I 2.5554549e-05

MASS 51503 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 17 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038360001 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 17 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 90 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 30

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -59507.648

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 45

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COURSE_BIAS 0 ID 128 ROLL_MAX 4014 T_TURN_SAMPINT 5

C_PITCH 2820 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2079 INT_PRESSURE_YINT 0 ROLL_MIN 145 UNCOM_BLEED 50

C_ROLL_DIVE 2079 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2800 MASS 51503 R_PORT_OVSHOOT 40 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 34 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3580

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 204

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 19 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 082721,4806.328,-12222.062,11,1.6,11,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.019,-0.260

_SM_DEPTHo 1.13 KALMAN_X -160.5,-85.5,-50.1,2572.4,102.0

_SM_ANGLEo -67.7 KALMAN_Y 1803.0,197.8,-11.5,-6012.2,-71.5

GPS2 083115,4806.294,-12222.053,13,1.8,13,18.3 MHEAD_RNG_PITCHd_Wd 166.0,549,-18.2,-10.000

SPEED_LIMITS 0.173,0.261 D_GRID 108

Post-dive calculations and measurements:

FINISH 1.7,1.023495 XPDR_PINGS 1

SM_CCo 1836,87.20,0.711,0,0,1373,350.04 ALTIM_BOTTOM_PING 65.4,10.1

SM_GC 0.99,0.00,0.00,87.20,0.000,0.000,0.711,5,2069,1373,-8.80,-0.28,350.04 _24V_AH 24.4,9.924

IRIDIUM_FIX 4745.30,-12215.68,060907,111107 _10V_AH 10.8,3.446

TT8_MAMPS 0.026078 DATA_FILE_SIZE 9718,199

HUMID 1846 CFSIZE 260165632,257060864

INTERNAL_PRESSURE 9.18981 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 GPS 060907,090502,4806.120,-12222.155,8,1.7,13,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 225 121.87 SBE_CT 142 24 83.48

Roll_motor 18 60 27.39 SBE_O2 149 19 69.41

VBD_pump_during_apogee 232 809 4596.83 WL_BB2F 335 105 860.25

VBD_pump_during_surface 87 711 1512.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 95.47 nil 0 0 0.00

Iridium_during_connect 44 160 175.39 nil 0 0 0.00

Iridium_during_xfer 83 223 456.67

Transponder_ping 0 420 5.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.80

TT8 344 19 73.76

LPSleep 808 2 19.12

TT8_Active 342 19 73.19

TT8_Sampling 462 39 198.90

TT8_CF8 224 45 110.84

TT8_Kalman 33 81 29.44

Analog_circuits 607 12 78.73

GPS_charging 0 0 0.00

Compass 468 8 40.50

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 17 begin dive

19 -1.25 -146.6 0.0 0.0 0 93 0.00 0.00 -71.60 0.000 2 0.000 0.000 19 2067 3198

95 -1.25 -146.6 3.7 -9.9 13 119 10.02 2.45 -4.07 0.000 4 0.225 0.061 2399 3484 3401

422 -1.25 -146.6 51.2 -13.4 51 427 0.00 2.25 0.00 0.000 6 0.000 0.029 2399 2069 3403

736 end dive: TARGET_DEPTH_EXCEEDED

state 737 begin apogee

740 -0.29 0.0 90.3 12.1 80 858 1.05 0.00 112.78 0.810 6 0.137 0.000 2715 2065 2800

858 end apogee: CONTROL_FINISHED_OK

state 858 begin climb

860 1.25 146.6 94.4 0.0 92 979 1.55 2.40 111.10 0.683 4 0.084 0.044 3223 683 2202

1142 1.25 146.6 69.5 11.3 118 1146 0.00 2.30 0.00 0.000 6 0.000 0.034 3223 2082 2201

1472 1.25 146.6 33.2 10.8 149 1476 0.00 2.30 0.00 0.000 4 0.000 0.047 3223 3482 2200

1510 1.25 146.6 28.8 11.2 152 1515 0.00 2.25 0.00 0.000 6 0.000 0.031 3233 2085 2200

1716 1.25 146.6 6.9 10.2 181 1722 0.00 2.33 0.00 0.000 4 0.000 0.048 3233 3488 2200

1773 1.41 276.8 2.1 4.0 191 1786 0.00 2.25 8.73 0.774 2 0.000 0.031 3241 2075 2154

1787 end climb: SURFACE_DEPTH_REACHED

state 1787 begin surface coast

1820 end surface coast: CONTROL_FINISHED_OK

state 1820 begin surface

ID	128	HD_B	0.010078	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	19	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_TGT	90	FIX_MISSING_TIMEOUT	0	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2079	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2079	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	350	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	40	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	30	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	45	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	204	DEVICE4	-1
T_TURN	270	CALL_WAIT	60	VBD_MAX	3580	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2800	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	360	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-59507.648	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	25	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	4070	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2820	PRESSURE_YINT	-10.508845	SEABIRD_T_I	2.5554549e-05
MASS	51503	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	17	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038360001	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	082721,4806.328,-12222.062,11,1.6,11,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.019,-0.260
_SM_DEPTHo	1.13	KALMAN_X	-160.5,-85.5,-50.1,2572.4,102.0
_SM_ANGLEo	-67.7	KALMAN_Y	1803.0,197.8,-11.5,-6012.2,-71.5
GPS2	083115,4806.294,-12222.053,13,1.8,13,18.3	MHEAD_RNG_PITCHd_Wd	166.0,549,-18.2,-10.000
SPEED_LIMITS	0.173,0.261	D_GRID	108

FINISH	1.7,1.023495	XPDR_PINGS	1
SM_CCo	1836,87.20,0.711,0,0,1373,350.04	ALTIM_BOTTOM_PING	65.4,10.1
SM_GC	0.99,0.00,0.00,87.20,0.000,0.000,0.711,5,2069,1373,-8.80,-0.28,350.04	_24V_AH	24.4,9.924
IRIDIUM_FIX	4745.30,-12215.68,060907,111107	_10V_AH	10.8,3.446
TT8_MAMPS	0.026078	DATA_FILE_SIZE	9718,199
HUMID	1846	CFSIZE	260165632,257060864
INTERNAL_PRESSURE	9.18981	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	060907,090502,4806.120,-12222.155,8,1.7,13,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	225	121.87	SBE_CT	142	24	83.48
Roll_motor	18	60	27.39	SBE_O2	149	19	69.41
VBD_pump_during_apogee	232	809	4596.83	WL_BB2F	335	105	860.25
VBD_pump_during_surface	87	711	1512.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	95.47	nil	0	0	0.00
Iridium_during_connect	44	160	175.39	nil	0	0	0.00
Iridium_during_xfer	83	223	456.67
Transponder_ping	0	420	5.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.80
TT8	344	19	73.76
LPSleep	808	2	19.12
TT8_Active	342	19	73.19
TT8_Sampling	462	39	198.90
TT8_CF8	224	45	110.84
TT8_Kalman	33	81	29.44
Analog_circuits	607	12	78.73
GPS_charging	0	0	0.00
Compass	468	8	40.50
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	17	begin dive
19	-1.25	-146.6	0.0	0.0	0	93	0.00	0.00	-71.60	0.000	2	0.000	0.000	19	2067	3198
95	-1.25	-146.6	3.7	-9.9	13	119	10.02	2.45	-4.07	0.000	4	0.225	0.061	2399	3484	3401
422	-1.25	-146.6	51.2	-13.4	51	427	0.00	2.25	0.00	0.000	6	0.000	0.029	2399	2069	3403
736	end dive: TARGET_DEPTH_EXCEEDED
state	737	begin apogee
740	-0.29	0.0	90.3	12.1	80	858	1.05	0.00	112.78	0.810	6	0.137	0.000	2715	2065	2800
858	end apogee: CONTROL_FINISHED_OK
state	858	begin climb
860	1.25	146.6	94.4	0.0	92	979	1.55	2.40	111.10	0.683	4	0.084	0.044	3223	683	2202
1142	1.25	146.6	69.5	11.3	118	1146	0.00	2.30	0.00	0.000	6	0.000	0.034	3223	2082	2201
1472	1.25	146.6	33.2	10.8	149	1476	0.00	2.30	0.00	0.000	4	0.000	0.047	3223	3482	2200
1510	1.25	146.6	28.8	11.2	152	1515	0.00	2.25	0.00	0.000	6	0.000	0.031	3233	2085	2200
1716	1.25	146.6	6.9	10.2	181	1722	0.00	2.33	0.00	0.000	4	0.000	0.048	3233	3488	2200
1773	1.41	276.8	2.1	4.0	191	1786	0.00	2.25	8.73	0.774	2	0.000	0.031	3241	2075	2154
1787	end climb: SURFACE_DEPTH_REACHED
state	1787	begin surface coast
1820	end surface coast: CONTROL_FINISHED_OK
state	1820	begin surface