AMOS Sep19 * SG226 * Dive index * Mission links * Dive 28 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  226 HEADING  -1 C_ROLL_DIVE  2110 ALTIM_PING_DELTA  0
MISSION  7 ESCAPE_HEADING  0 C_ROLL_CLIMB  2150 ALTIM_FREQUENCY  13
DIVE  28 ESCAPE_HEADING_DELTA  10 HEAD_ERRBAND  10 ALTIM_PULSE  3
N_DIVES  0 FIX_MISSING_TIMEOUT  0 ROLL_CNV  0.047120001 ALTIM_SENSITIVITY  3
STOP_T  0 TGT_DEFAULT_LAT  4736 ROLL_TIMEOUT  15 XPDR_VALID  6
D_SURF  2 TGT_DEFAULT_LON  -12218 ROLL_MAXERRORS  1 XPDR_INHIBIT  90
D_FLARE  3 TGT_AUTO_DEFAULT  0 ROLL_ADJ_GAIN  0 INT_PRESSURE_SLOPE  1.9639999e-06
D_TGT  300 SM_CC  556.34039 ROLL_ADJ_DBAND  0 INT_PRESSURE_YINT  -4
D_ABORT  1010 N_FILEKB  8 VBD_MIN  500 DEEPGLIDER  0
D_NO_BLEED  200 FILEMGR  0 VBD_MAX  3860 DEEPGLIDERMB  0
D_BOOST  2 CALL_NDIVES  1 C_VBD  2300 MOTHERBOARD  6
T_BOOST  0 COMM_SEQ  0 VBD_DBAND  2 DEVICE1  -1
D_FINISH  0 PROTOCOL  9 VBD_CNV  -0.24529999 DEVICE2  -1
D_PITCH  0 N_NOCOMM  2 VBD_LP_IGNORE  0 DEVICE3  -1
D_SAFE  0 NOCOMM_ACTION  163 VBD_TIMEOUT  720 DEVICE4  -1
D_CALL  0 N_NOSURFACE  0 PITCH_VBD_SHIFT  0.003 DEVICE5  -1
SURFACE_URGENCY  0 UPLOAD_DIVES_MAX  -1 UNCOM_BLEED  20 DEVICE6  -1
SURFACE_URGENCY_TRY  0 CALL_TRIES  5 VBD_MAXERRORS  1 LOGGERS  1
SURFACE_URGENCY_FORCE  0 CALL_WAIT  60 W_ADJ_DBAND  2 LOGGERDEVICE1  7
T_DIVE  120 CAPUPLOAD  0 DBDW  0 LOGGERDEVICE2  -1
T_MISSION  150 CAPMAXSIZE  100000 LOITER_W_DBAND  2 LOGGERDEVICE3  -1
T_ABORT  1440 T_GPS  5 LOITER_DBDW  400 LOGGERDEVICE4  -1
T_TURN  225 N_GPS  100440 LOITER_D_TOP  100 COMPASS_DEVICE  66
T_TURN_SAMPINT  -5 T_RSLEEP  2 LOITER_D_BOTTOM  250 COMPASS2_DEVICE  55
T_NO_W  120 STROBE  0 LOITER_N_DIVE  0 PHONE_DEVICE  33
T_LOITER  0 RAFOS_PEAK_OFFSET  0 CF8_MAXERRORS  20 GPS_DEVICE  48
T_EPIRB  0 RAFOS_CORR_THRESH  60 AH0_24V  575 RAFOS_DEVICE  104
USE_BATHY  0 RAFOS_HIT_WINDOW  3600 AH0_10V  0 XPDR_DEVICE  0
USE_ICE  0 RAFOS_MMODEM  0 MINV_24V  11 SIM_W  0
ICE_FREEZE_MARGIN  0.30000001 PITCH_MIN  135 MINV_10V  11 SEABIRD_T_G  0.0044421619
D_OFFGRID  1020 PITCH_MAX  3735 MAXI_24V  5 SEABIRD_T_H  0.0006586102
RELAUNCH  1 C_PITCH  2080 MAXI_10V  1.4 SEABIRD_T_I  2.6926198e-05
APOGEE_PITCH  -5 PITCH_DBAND  0.1 FG_AHR_10V  8.5186548 SEABIRD_T_J  3.3427477e-06
MAX_BUOY  100 PITCH_CNV  0.0041975998 FG_AHR_24V  31.488768 SEABIRD_C_G  -9.9959793
GLIDE_SLOPE  30 PITCH_GAIN  32 PHONE_SUPPLY  2 SEABIRD_C_H  1.1392462
SPEED_FACTOR  1 PITCH_TIMEOUT  20 PRESSURE_YINT  -138.85953 SEABIRD_C_I  -0.0021947562
RHO  1.0275 PITCH_MAXERRORS  1 PRESSURE_SLOPE  0.00010769104 SEABIRD_C_J  0.00024419418
MASS  72317 PITCH_ADJ_GAIN  0 COMPASS_USE  4 SC_RECORDABOVE  2000.0
NAV_MODE  2 PITCH_ADJ_DBAND  0 ALTIM_PING_FIT  0 SC_PROFILE  3.0
FERRY_MAX  45 PITCH_W_GAIN  2 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0
KALMAN_USE  2 PITCH_W_DBAND  0.5 ALTIM_BOTTOM_TURN_MARGIN  0 SC_NDIVE  1.0
HD_A  0.0026799999 ROLL_MIN  270 ALTIM_TOP_TURN_MARGIN  0
HD_B  0.0139 ROLL_MAX  3950 ALTIM_TOP_MIN_OBSTACLE  0
HD_C  5.7000002e-06 ROLL_DEG  80 ALTIM_PING_DEPTH  0

Pre-dive calculations and measurements:
GPS1  290919,105352,7404.420,-14643.851,44,1.1,48,17.6 TGT_LATLONG  7434.900,-14533.500
_CALLS  2 TGT_RADIUS  2000.000
_SM_DEPTHo  2.16 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -77.4 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  290919,110236,7404.443,-14644.079,3,1.1,4,17.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.144,0.174 MHEAD_RNG_PITCHd_Wd  25.1,66251,-20.2,-8.333,-25.53
TGT_NAME  AMOSA D_GRID  300

Post-dive calculations and measurements:
MODEM_MSG  CACST,6,1,20190929121705.280501,18,5352,37,0098,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-3.7,0.47,-100,2.53,-01,0.33,71,925,0025*09 _24V_AH  14.63,61.780
FINISH  0.2,1.018046 _10V_AH  14.97,0.000
SM_CCo  7573.97,0.00,0.000,0,498.1,419.7,576.4,442.02 FG_AHR_24Vo  31.650
SM_GC  1.33,0.00,8.07,0.26,0.000,0.066,0.056,498.1,419.7,576.4,112.4,2081.8,0,0,0,30.00,15.60,15.66 FG_AHR_10Vo  8.570
SUPER  59,71,254,1,0,0 MEM  1153356,35,25588,59
IRIDIUM_FIX  7403.08,-14625.11,290919,083715 DATA_FILE_SIZE  25714,858
TCM_TEMP  178.71 CAP_FILE_SIZE  299583,0
XPDR_PINGS  146 SDSIZE  3918848,3901216
SC_FREEKB  3860416 SDFILEDIR  182,1
RAFOS_CLK  -5 ERRORS  0,0,0,0,0,0,0,3,0,0,0,0,0,0,0,0,0,0
MODEM  0,1569758766,74.83892,-145.28152,66.976,98120.3 SOUNDSPEED  1465.0
RAFOS_FIX  7402.274414,-14646.549805,290919,121205,3,255,0.94 WARN  PPS timeout
HUMID  54.61 CURRENT  0.057,290.1,1
TEMP  0.44 GPS  290919,131133,7405.047,-14643.347,116,0.9,118,17.6
INTERNAL_PRESSURE  8.08152

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump722174618458.37 nil000.00
Pitch_motor19378108.10 nil000.00
Roll_motor203120358.04 nil000.00
Iridium3581981040.56 nil000.00
Transponder_ping36420224.28 nil000.00
GPS1451.17 nil000.00
Core279411495.66 SciCon7578212456.03
LPSleep52792230.77 nil000.00
Compass93301.12 nil000.00
RAFOS2218401328.14
Transponder000.00

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R

Guidance and control:
st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts
4 end surface: CONTROL_FINISHED_OK
state 4 begin dive
4.42 2 -97.32 -0.92 0.00 498.1 419.8 576.4 122.5 2151.6 0.00 0.00 0 46.40 41.40 0.00 0.00 0.005 0.000 0.000 1169.16 1266.75 1071.56 121.75 2137.88 0 0 0 15.36 30.00 30.00
46.66 551 -97.32 -0.92 -80.00 1169.6 1266.4 1072.8 121.9 2137.6 3.13 -3.34 4 116.20 52.58 7.92 5.22 0.005 0.379 0.077 2695.66 2947.88 2443.44 1880.38 405.06 0 0 0 15.38 15.37 15.37
133.23 1028 -97.32 -0.92 0.00 2696.7 2949.2 2444.2 1880.4 405.1 29.70 -47.25 21 140.12 0.00 0.00 4.97 0.000 0.000 0.042 2698.22 2950.88 2445.56 1858.69 2128.31 0 0 0 30.00 30.00 15.63
318.22 0 -97.32 -0.92 0.00 2698.5 2952.8 2444.2 1861.4 2133.0 84.34 -22.21 40 319.55 0.00 0.00 0.00 0.000 0.000 0.000 2699.16 2953.69 2444.62 1858.25 2132.44 0 0 0 30.00 30.00 30.00
498.24 516 -97.32 -0.92 -80.00 2698.2 2952.0 2444.5 1861.0 2132.5 111.50 -13.22 58 505.22 0.00 0.00 5.17 0.000 0.000 0.074 2698.53 2951.62 2445.44 1878.81 405.12 0 0 0 30.00 30.00 15.70
538.12 1028 -97.32 -0.92 0.00 2696.9 2949.6 2444.2 1881.0 405.1 117.83 -16.22 66 545.32 0.00 0.00 4.95 0.000 0.000 0.040 2698.22 2951.06 2445.38 1858.44 2128.81 0 0 0 30.00 30.00 15.70
728.37 516 -97.32 -0.92 -80.00 2697.1 2949.8 2444.4 1861.2 2130.2 143.09 -13.00 86 735.27 0.00 0.00 5.17 0.000 0.000 0.076 2698.06 2951.12 2445.00 1880.06 405.25 0 0 0 30.00 30.00 15.73
738.23 1028 -97.32 -0.92 0.00 2696.5 2948.8 2444.2 1881.1 405.2 144.51 -13.22 88 745.52 0.00 0.00 4.91 0.000 0.000 0.039 2697.59 2949.81 2445.38 1860.12 2129.25 0 0 0 30.00 30.00 15.71
928.42 516 -97.32 -0.92 -80.00 2696.5 2948.6 2444.3 1861.3 2131.7 168.31 -12.06 108 935.30 0.00 0.00 5.14 0.000 0.000 0.075 2694.62 2946.94 2442.31 1880.62 405.12 0 0 0 30.00 30.00 15.75
948.21 1028 -97.32 -0.92 0.00 2696.0 2947.8 2444.1 1880.8 405.2 171.03 -12.51 112 954.57 0.00 0.00 4.93 0.000 0.000 0.040 2694.38 2946.50 2442.25 1861.38 2127.62 0 0 0 30.00 30.00 15.75
1133.34 0 -97.32 -0.92 0.00 2696.0 2947.9 2444.1 1860.9 2132.2 193.30 -11.32 131 1134.67 0.00 0.00 0.00 0.000 0.000 0.000 2696.88 2948.69 2445.06 1858.44 2131.75 0 0 0 30.00 30.00 30.00
1313.46 516 -97.32 -0.92 -80.00 2695.9 2947.8 2444.0 1861.4 2132.0 213.75 -11.24 149 1320.36 0.00 0.00 5.16 0.000 0.000 0.077 2694.34 2946.38 2442.31 1880.69 405.25 0 0 0 30.00 30.00 15.79
1323.35 1028 -97.32 -0.92 0.00 2695.5 2947.3 2443.6 1880.8 405.2 214.93 -11.35 151 1330.58 0.00 0.00 4.92 0.000 0.000 0.041 2695.31 2945.69 2444.94 1859.31 2130.88 0 0 0 30.00 30.00 15.78
1513.51 516 -97.32 -0.92 -80.00 2695.5 2947.1 2443.9 1860.8 2131.4 233.89 -9.19 171 1520.40 0.00 0.00 5.16 0.000 0.000 0.076 2694.38 2946.00 2442.75 1880.94 405.62 0 0 0 30.00 30.00 15.80
1523.36 1028 -97.32 -0.92 0.00 2695.0 2945.8 2444.2 1880.6 405.5 234.88 -9.28 173 1530.67 0.00 0.00 4.91 0.000 0.000 0.040 2694.78 2945.69 2443.88 1860.81 2127.19 0 0 0 30.00 30.00 15.79
1733.52 516 -97.32 -0.92 -80.00 2694.9 2945.8 2444.0 1861.2 2129.1 252.32 -7.36 193 1740.43 0.00 0.00 5.14 0.000 0.000 0.077 2696.56 2947.31 2445.81 1879.62 406.50 0 0 0 30.00 30.00 15.80
1743.45 1028 -97.32 -0.92 0.00 2695.0 2945.8 2444.2 1880.6 406.4 253.12 -7.37 195 1750.38 0.00 0.00 4.90 0.000 0.000 0.039 2693.72 2944.44 2443.00 1860.44 2129.12 0 0 0 30.00 30.00 15.81
2053.77 32 -97.32 -0.92 0.00 2695.1 2946.0 2444.1 1860.3 2130.2 272.46 -5.62 207 2055.10 0.00 0.00 0.00 0.000 0.000 0.000 2695.72 2946.50 2444.94 1857.38 2130.00 0 0 0 30.00 30.00 30.00
2353.65 548 -97.32 -0.92 -80.00 2695.1 2945.9 2444.3 1860.4 2130.4 285.60 -4.03 217 2360.48 0.00 0.00 5.13 0.000 0.000 0.076 2693.09 2943.75 2442.44 1880.62 405.44 0 0 0 30.00 30.00 15.84
2498.77 1060 -97.32 -0.92 0.00 2693.6 2943.1 2444.1 1880.7 405.3 293.56 -5.33 246 2505.51 0.00 0.00 4.89 0.000 0.000 0.040 2694.59 2943.88 2445.31 1860.44 2131.50 0 0 0 30.00 30.00 15.84
2674 end dive: TARGET_DEPTH_EXCEEDED
state 2674 begin apogee
2674.87 3 0.00 -0.16 0.00 2693.7 2943.4 2444.1 1860.1 2173.9 300.46 -3.91 256 2765.70 88.96 0.64 0.16 1.747 0.226 0.118 2300.94 2412.25 2189.62 2043.94 2121.25 0 0 0 12.15 15.73 15.30
2767 end apogee: CONTROL_FINISHED_OK
state 2767 begin climb
2766.72 519 97.32 0.92 -80.00 2297.7 2409.2 2186.2 2043.8 2121.8 300.17 0.00 259 2860.77 86.10 0.86 5.26 1.658 0.166 0.085 1898.75 1926.44 1871.06 2323.19 445.69 0 0 0 12.33 15.34 15.02
2942.95 1094 97.32 0.95 0.00 1893.9 1915.2 1872.6 2323.8 445.5 289.09 6.80 294 2949.75 0.00 0.00 5.11 0.000 0.000 0.042 1892.81 1914.38 1871.25 2323.69 2166.88 0 0 0 30.00 30.00 15.30
3267.83 326 97.32 0.98 80.00 1892.4 1912.3 1872.5 2323.4 2166.7 266.45 6.86 309 3274.76 0.00 0.00 5.06 0.000 0.000 0.084 1891.16 1911.31 1871.00 2322.50 3857.38 0 0 0 30.00 30.00 15.49
3307.71 1094 97.32 1.02 0.00 1891.9 1911.4 1872.4 2323.2 3857.4 263.56 6.60 317 3314.76 0.00 0.00 4.97 0.000 0.000 0.043 1890.75 1910.06 1871.44 2342.38 2131.81 0 0 0 30.00 30.00 15.53
3617.85 550 140.25 1.15 -80.00 1892.0 1911.3 1872.8 2342.5 2131.5 244.46 5.86 335 3673.48 37.78 0.00 5.13 1.631 0.000 0.085 1726.34 1732.75 1719.94 2364.06 446.69 0 0 0 12.13 30.00 15.31
3705.52 1062 178.13 1.26 0.00 1722.6 1726.6 1718.7 2364.8 446.6 239.20 6.15 351 3747.42 33.92 0.00 5.06 1.586 0.000 0.044 1574.59 1565.88 1583.31 2364.44 2167.31 0 0 0 12.25 30.00 15.42
3925.68 35 227.53 1.41 0.00 1568.1 1555.6 1580.6 2364.9 2167.3 226.72 5.49 377 3969.63 42.82 0.16 0.00 1.590 0.084 0.000 1371.25 1350.19 1392.31 2444.69 2167.31 0 0 0 12.21 15.41 30.00
4145.70 1 227.53 1.41 0.00 1367.5 1342.2 1392.9 2445.0 2167.2 208.75 8.01 399 4147.15 0.00 0.14 0.00 0.000 0.195 0.000 1367.91 1342.56 1393.25 2406.62 2168.38 0 0 0 30.00 15.35 30.00
4327.77 551 269.13 1.53 -80.00 1366.6 1340.3 1392.9 2406.4 2167.4 197.38 5.94 417 4372.46 35.97 0.12 5.41 1.565 0.081 0.086 1201.81 1171.88 1231.75 2493.62 445.25 0 0 0 12.17 15.44 15.24
4410.44 1029 269.13 1.53 0.00 1199.2 1167.5 1230.9 2494.2 445.4 190.69 8.39 434 4417.86 0.00 0.19 5.10 0.000 0.188 0.045 1198.41 1166.56 1230.25 2436.06 2166.62 0 0 0 30.00 15.29 15.25
4600.66 324 269.13 1.56 80.00 1197.5 1164.2 1230.8 2436.4 2167.4 177.21 6.92 454 4607.53 0.00 0.00 5.09 0.000 0.000 0.085 1197.84 1164.06 1231.62 2418.94 3856.12 0 0 0 30.00 30.00 15.38
4655.64 1093 269.13 1.59 0.00 1197.2 1163.4 1231.0 2418.4 3855.8 173.43 6.84 465 4662.58 0.00 0.07 5.01 0.000 0.120 0.045 1196.59 1162.88 1230.31 2478.38 2131.56 0 0 0 30.00 15.44 15.45
4840.77 516 269.13 1.59 -80.00 1197.2 1163.6 1230.9 2478.1 2132.0 158.89 8.03 484 4847.58 0.00 0.00 5.12 0.000 0.000 0.087 1198.00 1164.25 1231.75 2497.25 446.81 0 0 0 30.00 30.00 15.45
4917.39 1029 269.13 1.59 0.00 1196.0 1161.1 1230.9 2500.5 446.6 152.70 8.36 499 4926.40 0.00 0.16 5.01 0.000 0.190 0.044 1196.28 1161.19 1231.38 2450.31 2166.38 0 0 0 30.00 15.44 15.50
5105.79 295 305.00 1.70 80.00 1195.8 1160.6 1231.1 2450.1 2166.6 140.46 6.27 519 5147.21 32.40 0.11 5.11 1.532 0.102 0.086 1055.53 1015.81 1095.25 2508.50 3854.88 0 0 0 12.08 15.51 15.31
5175.84 1028 305.00 1.70 0.00 1055.2 1015.3 1095.0 2507.8 3854.8 134.46 9.18 532 5182.62 0.00 0.00 5.05 0.000 0.000 0.047 1056.09 1016.19 1096.00 2525.75 2132.00 0 0 0 30.00 30.00 15.42
5360.78 517 305.00 1.70 -80.00 1053.5 1012.1 1094.9 2530.1 2131.6 117.83 8.94 551 5367.79 0.00 0.18 5.14 0.000 0.200 0.087 1053.44 1011.75 1095.12 2496.88 446.75 0 0 0 30.00 15.39 15.43
5425.89 1092 305.00 1.73 0.00 1052.7 1010.2 1095.2 2497.4 446.8 113.23 6.68 564 5432.65 0.00 0.00 5.03 0.000 0.000 0.042 1051.81 1009.12 1094.50 2497.62 2165.38 0 0 0 30.00 30.00 15.49
5610.77 294 339.94 1.84 80.00 1052.1 1009.1 1095.2 2497.3 2167.1 101.38 6.32 583 5669.85 51.69 0.00 5.14 1.435 0.000 0.086 914.22 863.38 965.06 2494.94 3855.88 0 0 0 12.02 30.00 15.23
5696.96 1063 383.23 1.97 0.00 913.9 863.1 964.8 2497.9 3856.3 96.23 5.84 600 5791.05 87.33 0.10 5.07 1.368 0.117 0.046 738.78 673.19 804.38 2565.00 2132.12 0 0 0 12.22 15.30 15.35
5973.07 550 418.75 2.07 -80.00 735.4 667.7 803.2 2568.4 2132.6 77.13 6.29 637 6060.79 80.33 0.00 5.29 1.338 0.000 0.088 593.75 521.44 666.06 2589.69 445.88 0 0 0 12.20 30.00 15.03
6113.19 1062 467.43 2.22 0.00 593.3 520.8 665.8 2589.4 445.8 69.18 5.53 665 6171.13 51.03 0.00 5.12 1.305 0.000 0.041 501.12 424.69 577.56 2586.44 2167.88 0 0 0 12.16 30.00 15.21
6348.28 327 467.43 2.25 80.00 499.2 422.2 576.1 2588.4 2167.9 54.55 6.67 694 6355.08 0.00 0.09 5.11 0.000 0.144 0.083 499.00 421.69 576.31 2604.31 3856.12 0 0 0 30.00 15.30 15.30
6533.20 1063 533.97 2.45 0.00 498.8 421.4 576.2 2604.0 3856.4 44.90 4.50 731 6540.13 0.00 0.21 4.97 0.000 0.165 0.036 498.97 421.38 576.56 2665.81 2123.44 0 0 0 30.00 15.37 15.41
6718.23 551 596.10 2.64 -80.00 498.9 421.6 576.2 2667.6 2123.9 36.85 4.76 750 6725.15 0.00 0.12 5.07 0.000 0.122 0.082 498.72 421.19 576.25 2728.50 445.69 0 0 0 30.00 15.43 15.45
6948.09 1063 660.07 2.83 0.00 498.1 419.9 576.3 2728.4 445.4 26.28 4.65 796 6955.41 0.00 0.08 4.99 0.000 0.113 0.039 498.41 420.12 576.69 2775.75 2168.06 0 0 0 30.00 15.52 15.54
7138.22 35 771.29 3.16 0.00 498.0 420.0 576.1 2775.8 2168.6 22.36 1.93 816 7139.68 0.00 0.17 0.00 0.000 0.086 0.000 498.38 420.19 576.56 2848.06 2168.31 0 0 0 30.00 15.56 30.00
7318.43 35 840.95 3.37 0.00 498.0 419.9 576.1 2851.4 2168.8 15.84 4.32 834 7319.87 0.00 0.10 0.00 0.000 0.123 0.000 498.34 420.12 576.56 2895.62 2168.88 0 0 0 30.00 15.58 30.00
7498.46 66 840.95 3.40 0.00 498.2 420.1 576.2 2896.4 2168.8 4.35 7.10 852 7499.81 0.00 0.00 0.00 0.000 0.000 0.000 498.16 419.94 576.38 2894.38 2168.56 0 0 0 30.00 30.00 30.00
7538 end climb: SURFACE_DEPTH_REACHED
state 7539 begin surface coast
7559 end surface coast: CONTROL_FINISHED_OK
state 7559 begin surface