Abaco Apr17 * SG038 * Dive index * Mission links * Dive 20 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  38 HD_B  0.013 ROLL_DEG  45 ALTIM_TOP_PING_RANGE  20
MISSION  9 HD_C  2.4999999e-05 C_ROLL_DIVE  1767 ALTIM_BOTTOM_TURN_MARGIN  50
DIVE  20 HEADING  30 C_ROLL_CLIMB  1712 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 HEAD_ERRBAND  15 ALTIM_TOP_MIN_OBSTACLE  0
STOP_T  0 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 ALTIM_PING_DEPTH  800
D_SURF  5 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 ALTIM_PING_DELTA  10
D_FLARE  3 TGT_DEFAULT_LAT  2630 R_PORT_OVSHOOT  47 ALTIM_FREQUENCY  12
D_TGT  1080 TGT_DEFAULT_LON  -7630 R_STBD_OVSHOOT  74 ALTIM_PULSE  1
D_ABORT  6000 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  300 ALTIM_SENSITIVITY  3
D_NO_BLEED  50 SM_CC  400 ROLL_MAXERRORS  2 XPDR_VALID  2
D_BOOST  0 N_FILEKB  4 ROLL_ADJ_GAIN  0 XPDR_INHIBIT  90
T_BOOST  0 FILEMGR  0 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 VBD_MIN  200 INT_PRESSURE_YINT  1.2
D_PITCH  0 COMM_SEQ  0 VBD_MAX  3900 DEEPGLIDER  1
D_SAFE  0 PROTOCOL  9 C_VBD  2348 MOTHERBOARD  4
D_CALL  0 N_NOCOMM  1 VBD_DBAND  2 DEVICE1  2
SURFACE_URGENCY  0 NOCOMM_ACTION  384 VBD_CNV  -0.29049 DEVICE2  101
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_LP_IGNORE  0 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  240 CALL_TRIES  10 PITCH_VBD_SHIFT  0.00030000001 DEVICE5  -1
T_MISSION  390 CALL_WAIT  60 VBD_PUMP_AD_RATE_SURFACE  3 DEVICE6  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERS  0
T_TURN  540 CAPMAXSIZE  200000 VBD_BLEED_AD_RATE  2 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 HEAPDBG  0 UNCOM_BLEED  50 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  -15 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_LOITER  0 N_GPS  50840 W_ADJ_DBAND  2 LOGGERDEVICE4  -1
T_SLOITER  0 T_RSLEEP  13 DBDW  0 COMPASS_DEVICE  33
T_EPIRB  0 STROBE  0 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
USE_BATHY  0 RAFOS_PEAK_OFFSET  1.5 PITCH_W_DBAND  0 PHONE_DEVICE  49
USE_ICE  0 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  2 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0 RAFOS_HIT_WINDOW  3600 AH0_24V  150 RAFOS_DEVICE  -1
D_OFFGRID  100 PITCH_MIN  150 AH0_10V  100 XPDR_DEVICE  24
T_WATCHDOG  10 PITCH_MAX  3880 MINV_24V  17 SIM_W  0
RELAUNCH  0 C_PITCH  3037 MINV_10V  8 SIM_PITCH  0
APOGEE_PITCH  -5 PITCH_DBAND  0.1 MAXI_24V  0.80000001 SEABIRD_T_G  0.004410191
MAX_BUOY  450 PITCH_CNV  0.003125763 MAXI_10V  0.60000002 SEABIRD_T_H  0.00064652628
COURSE_BIAS  0 P_OVSHOOT  0.026000001 FG_AHR_10V  0 SEABIRD_T_I  2.6235177e-05
GLIDE_SLOPE  45 P_OVSHOOT_WITHG  0.1286 FG_AHR_24V  0 SEABIRD_T_J  3.227025e-06
SPEED_FACTOR  1 PITCH_GAIN  17 PHONE_SUPPLY  2 SEABIRD_C_G  -9.5423679
RHO  1.0275 PITCH_TIMEOUT  20 PRESSURE_YINT  -20.293694 SEABIRD_C_H  1.1030561
MASS  80833 PITCH_AD_RATE  160 PRESSURE_SLOPE  0 SEABIRD_C_I  -0.0018197452
MASS_COMP  11240.1 PITCH_MAXERRORS  1 AD7714Ch0Gain  32 SEABIRD_C_J  0.00021177332
NAV_MODE  2 PITCH_ADJ_GAIN  0.02 TCM_PITCH_OFFSET  0 SEABIRD_C_Z  2945.9399
FERRY_MAX  45 PITCH_ADJ_DBAND  2.5 TCM_ROLL_OFFSET  0
KALMAN_USE  2 ROLL_MIN  150 COMPASS_USE  4
HD_A  0.0049999999 ROLL_MAX  3925 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  100417,221732,2753.9636,-7808.4868,13,0.8,41,-7.9,0.5,313.5,10,5.0 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2850.146,-7731.625
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000000,0.000000
_SM_DEPTHo  0.24 KALMAN_X  0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo  -41.4 KALMAN_Y  0.000000,0.000000,0.000000,0.000000,0.000000
GPS2  100417,222251,2754.0325,-7808.6089,16,0.8,22,-7.9,0.0,0.0,11,4.7 MHEAD_RNG_PITCHd_Wd  82.9,120000,-16.8,-15.000,-19.18,4444
SPEED_LIMITS  0.150,0.431 D_GRID  1080

Post-dive calculations and measurements:
FINISH  2.2,1.024976 _24V_AH  23.90,9.624
SM_CCo  12440,0.00,0.000,0,0,196,625.42 _10V_AH  10.65,1.881
SM_GC  0.49,8.02,2.17,0.00,0.067,0.062,0.000,163,1773,196,-8.91,1.70,625.42,0,0,0,0,0,0,26.84,26.88,26.91 FG_AHR_24Vo  0.000
IRIDIUM_FIX  2737.23,-7810.82,100417,184920 FG_AHR_10Vo  0.000
TT8_MAMPS  0.021721,0.227696 MEM  284252
HUMID  8.53 DATA_FILE_SIZE  38297,549
INTERNAL_PRESSURE  8.76865 CAP_FILE_SIZE  108841,0
TCM_TEMP  20.40 CFSIZE  2047311872,2038890496
XPDR_PINGS  0 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
ALTIM_TOP_PING  19.6,19.1 CURRENT  0.404,315.28,1
ALTIM_BOTTOM_PING  832.0,226.5 GPS  110417,015207,2756.699,-7807.618,14,1.1,54,-7.9,1.0,297.6,7,3.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20265131.28 SBE_CT36623203.23
Roll_motor10384209.23 AA433072913235.03
VBD_pump_during_apogee900144231050.65 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve3271531205.80 nil000.00
Iridium_during_init2212669.61 nil000.00
Iridium_during_connect56160214.17 nil000.00
Iridium_during_xfer131223699.18 nil000.00
Transponder_ping142017.57 nil000.00
GUMSTIX_24V000.00
GPS23266.72
TT8165415272.59
LPSleep83232194.14
TT8_Active112015184.62
TT8_Sampling159441707.84
TT8_CF8796454.31
TT8_Kalman000.00
Analog_circuits198310211.23
GPS_charging000.00
Compass13108114.99
RAFOS000.00
Transponder20306.62

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 int_press humidity
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
15 -1.12 -438.0 166 1721 192 197 0.0 0.0 0 292 0.00 0.00 -273.45 0.146 16386 0.000 0.000 165 1721 2688 2717 2659 0 0 0 0 0 0 26.84 28.83 26.86 8.82 8.33
295 -1.12 -438.0 164 1721 2717 2659 3.1 -3.5 27 365 9.45 2.38 -54.28 0.154 18692 0.266 0.074 2660 3329 3857 3897 3818 0 0 0 0 0 0 26.06 26.19 26.11 9.09 7.86
440 -1.12 -438.0 2659 3329 3895 3817 23.5 -14.4 41 447 0.00 2.25 0.00 0.000 1030 0.000 0.062 2661 1755 3856 3895 3817 0 0 0 0 0 0 26.40 26.34 26.41 9.22 7.82
747 -1.12 -438.0 2659 1755 3891 3814 69.3 -14.8 72 756 0.00 2.33 0.00 0.000 516 0.000 0.079 2660 190 3852 3891 3814 0 0 0 0 0 0 26.82 26.54 26.82 9.23 7.78
838 -1.12 -438.0 2660 190 3890 3814 83.4 -15.6 81 843 0.00 2.20 0.00 0.000 1030 0.000 0.060 2649 1772 3851 3890 3813 0 0 0 0 0 0 26.68 26.64 26.69 9.24 8.10
1150 -1.12 -438.0 2648 1773 3889 3812 131.7 -15.7 112 1154 0.00 2.25 0.00 0.000 260 0.000 0.077 2638 3327 3851 3890 3813 0 0 0 0 0 0 26.95 26.67 26.96 9.24 7.86
1203 -1.12 -438.0 2637 3327 3890 3812 140.1 -15.9 117 1213 0.10 2.20 0.00 0.000 3078 0.179 0.062 2673 1747 3851 3890 3812 0 0 0 0 0 0 26.60 26.72 26.68 9.24 8.02
1512 -1.12 -438.0 2673 1747 3889 3812 185.1 -15.2 136 1518 0.00 2.28 0.00 0.000 516 0.000 0.079 2673 204 3851 3890 3812 0 0 0 0 0 0 27.02 26.74 27.03 9.24 8.65
1579 -1.12 -438.0 2673 203 3889 3812 194.7 -15.8 139 1585 0.00 2.17 0.00 0.000 1030 0.000 0.060 2663 1772 3850 3889 3812 0 0 0 0 0 0 26.86 26.81 26.86 9.24 7.74
1892 -1.12 -438.0 2662 1773 3889 3812 244.6 -15.7 155 1893 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 1773 3850 3889 3812 0 0 0 0 0 0 27.05 27.07 27.07 9.22 7.94
2192 -1.12 -438.0 2663 1773 3889 3812 292.2 -15.8 170 2193 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 1772 3850 3888 3812 0 0 0 0 0 0 27.08 27.10 27.09 9.22 8.37
2492 -1.12 -438.0 2663 1772 3889 3811 341.5 -17.3 181 2493 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 1773 3850 3889 3812 0 0 0 0 0 0 27.10 27.12 27.11 9.21 7.98
2792 -1.12 -438.0 2663 1773 3889 3811 392.8 -17.3 191 2798 0.00 2.22 0.00 0.000 260 0.000 0.074 2652 3315 3850 3889 3811 0 0 0 0 0 0 27.11 26.84 27.13 9.20 7.98
2824 -1.12 -438.0 2651 3314 3889 3811 397.8 -17.1 192 2829 0.00 2.17 0.00 0.000 1030 0.000 0.060 2652 1780 3849 3889 3810 0 0 0 0 0 0 26.91 26.89 26.94 9.19 8.61
3152 -1.12 -438.0 2651 1779 3889 3811 456.0 -17.5 203 3158 0.00 2.33 0.00 0.000 516 0.000 0.079 2653 198 3850 3889 3811 0 0 0 0 0 0 27.13 26.85 27.14 9.19 8.18
3184 -1.12 -438.0 2651 197 3889 3810 461.8 -18.0 204 3189 0.10 2.20 0.00 0.000 3078 0.191 0.060 2676 1766 3850 3889 3811 0 0 0 0 0 0 26.76 26.91 26.84 9.19 7.66
3512 -1.12 -438.0 2675 1767 3889 3811 515.5 -16.2 215 3513 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 1767 3850 3889 3811 0 0 0 0 0 0 27.13 27.15 27.15 9.19 7.90
3812 -1.12 -438.0 2675 1767 3888 3810 564.4 -16.4 225 3816 0.00 2.22 0.00 0.000 260 0.000 0.074 2665 3312 3849 3888 3810 0 0 0 0 0 0 27.14 26.87 27.15 9.18 7.94
3876 -1.12 -438.0 2664 3312 3888 3810 573.2 -15.9 227 3881 0.00 2.17 0.00 0.000 1030 0.000 0.060 2665 1755 3849 3888 3810 0 0 0 0 0 0 26.96 26.91 26.98 9.19 8.45
4198 -1.12 -438.0 2664 1755 3887 3809 629.7 -17.2 238 4204 0.00 2.30 0.00 0.000 516 0.000 0.079 2665 195 3848 3887 3810 0 0 0 0 0 0 27.15 26.86 27.15 9.17 8.10
4228 -1.12 -438.0 2664 195 3888 3810 635.0 -17.5 239 4232 0.00 2.20 0.00 0.000 1030 0.000 0.060 2654 1771 3849 3888 3810 0 0 0 0 0 0 26.98 26.94 26.98 9.16 8.26
4559 -1.12 -438.0 2653 1772 3887 3809 696.5 -18.6 250 4564 0.00 2.22 0.00 0.000 260 0.000 0.077 2642 3322 3848 3887 3809 0 0 0 0 0 0 27.15 26.88 27.15 9.15 8.18
4609 -1.12 -438.0 2642 3322 3887 3809 702.4 -18.6 251 4614 0.12 2.17 0.00 0.000 3078 0.196 0.060 2683 1763 3848 3887 3809 0 0 0 0 0 0 26.78 26.91 26.91 9.14 8.10
4921 -1.12 -438.0 2683 1763 3886 3808 758.5 -17.2 262 4927 0.00 2.30 0.00 0.000 516 0.000 0.079 2683 209 3847 3886 3808 0 0 0 0 0 0 27.15 26.87 27.16 9.13 8.14
4959 -1.12 -438.0 2682 208 3886 3808 764.1 -17.6 263 4963 0.00 2.17 0.00 0.000 1030 0.000 0.060 2673 1770 3847 3886 3808 0 0 0 0 0 0 26.98 26.94 26.99 9.14 8.53
5281 -1.12 -438.0 2673 1771 3885 3807 826.2 -18.8 274 5286 0.00 2.25 0.00 0.000 260 0.000 0.077 2662 3324 3846 3885 3807 0 0 0 0 0 0 27.15 26.88 27.16 9.11 8.37
5339 -1.12 -438.0 2661 3324 3885 3807 832.0 -18.7 275 5346 0.00 2.17 0.00 0.000 1030 0.000 0.060 2662 1773 3846 3886 3807 0 0 0 0 0 0 26.97 26.92 26.99 9.11 8.49
5646 -1.12 -438.0 2661 1772 3884 3806 897.6 -20.3 286 5647 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 1773 3845 3884 3806 0 0 0 0 0 0 27.15 27.17 27.17 9.09 7.86
5946 -1.06 -438.0 2661 1772 3883 3806 963.0 -22.5 296 5948 0.10 0.00 0.00 0.000 2054 0.214 0.000 2694 1771 3845 3884 3806 0 0 0 0 0 0 26.79 26.95 26.92 9.06 8.14
6185 end dive: BOTTOM_OBSTACLE_DETECTED
state 6185 begin apogee
6188 -0.29 0.0 2693 1772 3882 3805 1012.5 -20.3 303 6521 0.73 0.00 328.67 1.443 10246 0.159 0.000 2944 1771 2348 2384 2313 0 0 0 0 0 0 26.80 24.81 24.08 9.03 8.41
6522 end apogee: CONTROL_FINISHED_OK
state 6522 begin climb
6523 1.12 438.0 2943 1771 2383 2312 1037.4 0.0 308 6969 1.17 2.65 402.88 1.398 11012 0.124 0.084 3359 182 836 817 856 0 0 0 0 5 0 24.95 24.63 23.90 8.89 7.66
7020 1.39 853.4 3359 181 810 850 1035.5 5.4 316 7197 0.25 2.30 169.02 1.398 11270 0.094 0.060 3470 1717 200 197 204 0 0 0 0 0 0 25.43 25.46 23.91 8.70 7.51
7510 1.52 988.6 3470 1716 193 200 974.9 11.9 328 7515 0.08 2.33 0.00 0.000 2308 0.144 0.074 3532 3265 196 193 200 0 0 0 0 0 0 26.17 26.13 26.21 8.61 7.94
7557 1.63 1100.5 3532 3264 193 200 970.1 12.4 329 7561 0.00 2.28 0.00 0.000 1030 0.000 0.062 3542 1717 196 193 200 0 0 0 0 0 0 26.27 26.22 26.29 8.61 8.06
7868 1.63 1100.5 3542 1717 194 200 914.9 17.4 340 7874 0.00 2.38 0.00 0.000 516 0.000 0.082 3552 163 197 194 200 0 0 0 0 0 0 26.72 26.45 26.73 8.61 7.94
7900 1.63 1100.5 3552 163 194 200 909.6 17.4 341 7906 0.00 2.25 0.00 0.000 1030 0.000 0.060 3552 1708 196 193 200 0 0 0 0 0 0 26.54 26.52 26.56 8.61 8.06
8228 1.63 1100.5 3552 1709 193 200 847.9 19.5 352 8235 0.00 2.33 0.00 0.000 260 0.000 0.077 3552 3277 196 193 200 0 0 0 0 0 0 26.86 26.60 26.88 8.61 8.89
8288 1.63 1100.5 3552 3277 193 200 835.9 19.8 354 8292 0.00 2.28 0.00 0.000 1030 0.000 0.062 3563 1702 196 193 200 0 0 0 0 0 0 26.70 26.64 26.72 8.61 8.33
8615 1.56 1100.5 3562 1703 193 200 767.0 21.4 365 8621 0.00 2.33 0.00 0.000 516 0.000 0.082 3575 165 196 193 200 0 0 0 0 0 0 26.95 26.67 26.96 8.62 8.45
8652 1.49 1100.5 3574 165 193 200 760.0 21.9 366 8658 0.17 2.22 0.00 0.000 5126 0.186 0.060 3518 1738 196 193 200 0 0 0 0 0 0 26.59 26.74 26.73 8.63 8.45
8970 1.49 1100.5 3517 1738 193 200 694.6 20.3 377 8974 0.00 2.22 0.00 0.000 260 0.000 0.077 3518 3257 196 193 200 0 0 0 0 0 0 27.00 26.72 27.01 8.64 8.77
9009 1.49 1100.5 3517 3257 193 200 688.2 20.2 378 9013 0.00 2.25 0.00 0.000 1030 0.000 0.062 3528 1708 196 193 200 0 0 0 0 0 0 26.79 26.76 26.82 8.65 8.77
9332 1.43 1100.5 3527 1707 193 199 616.6 22.3 389 9338 0.10 2.33 0.00 0.000 4612 0.223 0.079 3506 150 196 193 199 0 0 0 0 0 0 26.66 26.76 26.74 8.67 8.57
9370 1.37 1100.5 3506 150 192 200 609.9 22.3 390 9374 0.00 2.22 0.00 0.000 1030 0.000 0.060 3507 1712 196 193 199 0 0 0 0 0 0 26.86 26.82 26.88 8.67 9.24
9686 1.31 1100.5 3505 1713 193 199 538.4 22.3 401 9693 0.15 2.28 0.00 0.000 4356 0.204 0.074 3455 3268 196 193 200 0 0 0 0 0 0 26.70 26.79 26.79 8.69 8.85
9720 1.26 1100.5 3455 3268 193 199 532.0 22.3 402 9724 0.00 2.22 0.00 0.000 1030 0.000 0.062 3465 1710 196 193 199 0 0 0 0 0 0 26.88 26.82 26.90 8.68 9.12
10041 1.26 1100.5 3464 1710 193 199 465.9 20.4 413 10042 0.00 0.00 0.00 0.000 6 0.000 0.000 3465 1710 196 193 200 0 0 0 0 0 0 27.08 27.09 27.09 8.70 9.28
10342 1.26 1100.5 3464 1710 192 200 405.1 20.1 423 10343 0.00 0.00 0.00 0.000 6 0.000 0.000 3465 1710 196 193 199 0 0 0 0 0 0 27.08 27.10 27.10 8.72 8.49
10641 1.26 1100.5 3464 1710 193 200 343.6 20.9 433 10642 0.00 0.00 0.00 0.000 6 0.000 0.000 3466 1710 196 193 199 0 0 0 0 0 0 27.10 27.11 27.11 8.72 8.61
10953 1.26 1100.5 3464 1710 193 199 278.9 20.9 445 10959 0.00 2.25 0.00 0.000 516 0.000 0.082 3477 166 196 193 199 0 0 0 0 0 0 27.10 26.84 27.12 8.74 8.73
11004 1.26 1100.5 3476 166 193 199 270.3 21.4 447 11012 0.12 2.17 0.00 0.000 5126 0.189 0.060 3435 1742 196 192 200 0 0 0 0 0 0 26.74 26.89 26.89 8.74 9.24
11311 1.26 1100.5 3434 1742 193 199 212.6 17.9 463 11312 0.00 0.00 0.00 0.000 6 0.000 0.000 3435 1742 196 193 200 0 0 0 0 0 0 27.11 27.13 27.13 8.76 8.57
11612 1.26 1100.5 3434 1742 193 199 159.6 18.1 478 11617 0.00 2.17 0.00 0.000 260 0.000 0.077 3435 3253 196 193 200 0 0 0 0 0 0 27.12 26.85 27.13 8.78 9.40
11654 1.26 1100.5 3434 3253 193 199 152.5 18.0 480 11658 0.00 2.20 0.00 0.000 1030 0.000 0.062 3445 1714 196 193 199 0 0 0 0 0 0 26.91 26.88 26.93 8.78 8.61
11961 1.26 1100.5 3444 1715 192 199 90.5 21.7 510 11970 0.00 2.30 0.00 0.000 516 0.000 0.082 3455 165 196 193 200 0 0 0 0 0 0 27.13 26.84 27.13 8.79 8.37
12005 1.26 1100.5 3454 165 193 199 81.4 21.4 514 12013 0.00 2.15 0.00 0.000 1030 0.000 0.057 3455 1705 196 193 199 0 0 0 0 0 0 26.94 26.91 26.95 8.79 8.96
12313 1.26 1100.5 3454 1706 193 200 12.8 22.7 545 12317 0.00 2.25 0.00 0.000 260 0.000 0.074 3455 3266 196 193 199 0 0 0 0 0 0 27.13 26.86 27.14 8.81 8.53
12348 end climb: SURFACE_DEPTH_REACHED
state 12348 begin surface coast
12363 end surface coast: CONTROL_FINISHED_OK
state 12363 begin surface