Glider dive log

PortSusan 24Mar10.01 * SG518 * Dive index * Mission links * Dive 25 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 518 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 ROLL_MIN 191 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 25 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3829 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_DIVE 2570 ALTIM_FREQUENCY 13

D_TGT 45 TGT_DEFAULT_LON -12223 C_ROLL_CLIMB 2570 ALTIM_PULSE 4

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 425 ROLL_CNV 0.028270001 XPDR_VALID 2

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 50 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 15 UPLOAD_DIVES_MAX -1 VBD_MIN 490 DEVICE2 83

T_MISSION 25 CALL_TRIES 5 VBD_MAX 3961 DEVICE3 101

T_ABORT 1440 CALL_WAIT 60 C_VBD 3264 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -2202.9761 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -7 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 100 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 156 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3930 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2713 PRESSURE_YINT -78.120049 SEABIRD_T_G 0.0043315957

RHO 1.0223 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011608547 SEABIRD_T_H 0.00062693458

MASS 51484 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3960321e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6058406e-06

FERRY_MAX 45 PITCH_GAIN 30 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.015712

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1551708

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0019853432

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00024211408

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 30 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3930 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 3 PITCH_MIN 156 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 45 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011608547 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -78.120049 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -7 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 15

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -2202.9761

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0223 T_MISSION 25

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 518 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3829 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2713 KALMAN_USE 1 ROLL_MIN 191 USE_BATHY -4

C_ROLL_CLIMB 2570 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2570 MASS 51484 R_PORT_OVSHOOT 50 VBD_BLEED_AD_RATE 8

C_VBD 3264 MAX_BUOY 100 R_STBD_OVSHOOT 24 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 4 SEABIRD_C_G -10.015712 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1551708 VBD_MAX 3961

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0019853432 VBD_MAXERRORS 1

DEVICE2 83 N_FILEKB 4 SEABIRD_C_J 0.00024211408 VBD_MIN 490

DEVICE3 101 N_GPS 20 SEABIRD_T_G 0.0043315957 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062693458 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3960321e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6058406e-06 XPDR_DEVICE 24

DIVE 25 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 2

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 175031,4807.566,-12223.298,10,1.3,11,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.148,0.157

_SM_DEPTHo 0.97 KALMAN_X -714.6,69.5,-142.3,385.5,10.5

_SM_ANGLEo -67.2 KALMAN_Y -1263.0,-227.6,272.5,1770.0,-34.9

GPS2 175355,4807.598,-12223.304,13,1.3,14,18.3 MHEAD_RNG_PITCHd_Wd 298.5,1138,-21.7,-10.000

SPEED_LIMITS 0.173,0.216 D_GRID 107

Post-dive calculations and measurements:

FINISH 2.9,1.020904 XPDR_PINGS 0

SM_CCo 1040,256.20,0.685,2,0,1530,425.10 _24V_AH 24.3,6.733

SM_GC 0.93,0.00,0.00,256.20,0.000,0.000,0.685,149,2570,1530,-8.01,0.00,425.10 _10V_AH 10.6,2.721

IRIDIUM_FIX 4748.51,-12221.84,190699,171729 DATA_FILE_SIZE 12955,183

TT8_MAMPS 0.052156 CAP_FILE_SIZE 31479,0

HUMID 1107 CFSIZE 260165632,258490368

INTERNAL_PRESSURE 9.03355 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,2,1

TCM_TEMP 15.00 GPS 250310,181648,4807.665,-12223.420,11,1.9,11,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 244 115.49 SBE_CT 121 24 70.92

Roll_motor 8 65 13.78 WL_BBFL2VMT 303 105 775.55

VBD_pump_during_apogee 153 738 2754.20 AA4330 311 33 249.84

VBD_pump_during_surface 256 684 4264.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.83

TT8 0 19 0.00

LPSleep 371 2 8.62

TT8_Active 464 19 97.45

TT8_Sampling 494 39 208.73

TT8_CF8 19 45 9.29

TT8_Kalman 33 81 28.87

Analog_circuits 673 12 85.73

GPS_charging 0 0 0.00

Compass 414 8 35.11

RAFOS 0 0 0.00

Transponder 0 30 0.32

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11 -0.84 -97.8 0.0 0.0 0 97 0.00 0.00 -84.40 0.000 2 0.000 0.000 151 2569 3369

99 -0.84 -97.8 3.5 -7.6 13 125 9.35 2.22 -8.18 0.000 4 0.245 0.062 2434 1171 3664

363 -0.84 -97.8 39.6 -12.3 62 372 0.00 2.28 0.00 0.000 6 0.000 0.058 2424 2570 3665

406 end dive: TARGET_DEPTH_EXCEEDED

state 406 begin apogee

409 -0.23 0.0 45.5 13.6 70 491 0.70 0.00 76.32 0.739 6 0.172 0.000 2626 2571 3262

491 end apogee: CONTROL_FINISHED_OK

state 491 begin climb

492 0.84 97.8 49.5 0.0 84 576 1.10 2.20 77.12 0.717 4 0.114 0.065 2974 3826 2863

665 0.84 97.8 29.8 15.1 115 672 0.00 2.00 0.00 0.000 6 0.000 0.042 2984 2574 2862

799 0.84 97.8 12.2 11.4 140 805 0.00 0.00 0.00 0.000 6 0.000 0.000 2984 2571 2861

868 0.84 97.8 4.2 11.1 153 869 0.00 0.00 0.00 0.000 6 0.000 0.000 2984 2571 2861

899 end climb: SURFACE_DEPTH_REACHED

state 899 begin surface coast

1028 end surface coast: CONTROL_FINISHED_OK

state 1028 begin surface

ID	518	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	ROLL_MIN	191	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	25	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3829	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_DIVE	2570	ALTIM_FREQUENCY	13
D_TGT	45	TGT_DEFAULT_LON	-12223	C_ROLL_CLIMB	2570	ALTIM_PULSE	4
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	425	ROLL_CNV	0.028270001	XPDR_VALID	2
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	50	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	15	UPLOAD_DIVES_MAX	-1	VBD_MIN	490	DEVICE2	83
T_MISSION	25	CALL_TRIES	5	VBD_MAX	3961	DEVICE3	101
T_ABORT	1440	CALL_WAIT	60	C_VBD	3264	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-2202.9761	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-7	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	100	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	156	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3930	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2713	PRESSURE_YINT	-78.120049	SEABIRD_T_G	0.0043315957
RHO	1.0223	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011608547	SEABIRD_T_H	0.00062693458
MASS	51484	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3960321e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6058406e-06
FERRY_MAX	45	PITCH_GAIN	30	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.015712
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1551708
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0019853432
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00024211408
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	175031,4807.566,-12223.298,10,1.3,11,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.148,0.157
_SM_DEPTHo	0.97	KALMAN_X	-714.6,69.5,-142.3,385.5,10.5
_SM_ANGLEo	-67.2	KALMAN_Y	-1263.0,-227.6,272.5,1770.0,-34.9
GPS2	175355,4807.598,-12223.304,13,1.3,14,18.3	MHEAD_RNG_PITCHd_Wd	298.5,1138,-21.7,-10.000
SPEED_LIMITS	0.173,0.216	D_GRID	107

FINISH	2.9,1.020904	XPDR_PINGS	0
SM_CCo	1040,256.20,0.685,2,0,1530,425.10	_24V_AH	24.3,6.733
SM_GC	0.93,0.00,0.00,256.20,0.000,0.000,0.685,149,2570,1530,-8.01,0.00,425.10	_10V_AH	10.6,2.721
IRIDIUM_FIX	4748.51,-12221.84,190699,171729	DATA_FILE_SIZE	12955,183
TT8_MAMPS	0.052156	CAP_FILE_SIZE	31479,0
HUMID	1107	CFSIZE	260165632,258490368
INTERNAL_PRESSURE	9.03355	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,2,1
TCM_TEMP	15.00	GPS	250310,181648,4807.665,-12223.420,11,1.9,11,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	244	115.49	SBE_CT	121	24	70.92
Roll_motor	8	65	13.78	WL_BBFL2VMT	303	105	775.55
VBD_pump_during_apogee	153	738	2754.20	AA4330	311	33	249.84
VBD_pump_during_surface	256	684	4264.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.83
TT8	0	19	0.00
LPSleep	371	2	8.62
TT8_Active	464	19	97.45
TT8_Sampling	494	39	208.73
TT8_CF8	19	45	9.29
TT8_Kalman	33	81	28.87
Analog_circuits	673	12	85.73
GPS_charging	0	0	0.00
Compass	414	8	35.11
RAFOS	0	0	0.00
Transponder	0	30	0.32

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11	-0.84	-97.8	0.0	0.0	0	97	0.00	0.00	-84.40	0.000	2	0.000	0.000	151	2569	3369
99	-0.84	-97.8	3.5	-7.6	13	125	9.35	2.22	-8.18	0.000	4	0.245	0.062	2434	1171	3664
363	-0.84	-97.8	39.6	-12.3	62	372	0.00	2.28	0.00	0.000	6	0.000	0.058	2424	2570	3665
406	end dive: TARGET_DEPTH_EXCEEDED
state	406	begin apogee
409	-0.23	0.0	45.5	13.6	70	491	0.70	0.00	76.32	0.739	6	0.172	0.000	2626	2571	3262
491	end apogee: CONTROL_FINISHED_OK
state	491	begin climb
492	0.84	97.8	49.5	0.0	84	576	1.10	2.20	77.12	0.717	4	0.114	0.065	2974	3826	2863
665	0.84	97.8	29.8	15.1	115	672	0.00	2.00	0.00	0.000	6	0.000	0.042	2984	2574	2862
799	0.84	97.8	12.2	11.4	140	805	0.00	0.00	0.00	0.000	6	0.000	0.000	2984	2571	2861
868	0.84	97.8	4.2	11.1	153	869	0.00	0.00	0.00	0.000	6	0.000	0.000	2984	2571	2861
899	end climb: SURFACE_DEPTH_REACHED
state	899	begin surface coast
1028	end surface coast: CONTROL_FINISHED_OK
state	1028	begin surface