DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 363 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  183 HD_C  9.9999997e-06 ROLL_MIN  330 ALTIM_TOP_TURN_MARGIN  5
MISSION  3 HEADING  -1 ROLL_MAX  3931 ALTIM_TOP_MIN_OBSTACLE  1.8
DIVE  363 ESCAPE_HEADING  100 ROLL_DEG  40 ALTIM_PING_DEPTH  300
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2780 ALTIM_PING_DELTA  50
D_SURF  3 FIX_MISSING_TIMEOUT  5 C_ROLL_CLIMB  2600 ALTIM_FREQUENCY  13
D_FLARE  5 TGT_DEFAULT_LAT  6000 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_TGT  990 TGT_DEFAULT_LON  -5500 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  3
D_NO_BLEED  50 SM_CC  350 R_PORT_OVSHOOT  38 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  8 R_STBD_OVSHOOT  23 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  0 FILEMGR  2 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.89999998
D_FINISH  9 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  3 COMM_SEQ  0 ROLL_ADJ_GAIN  2.5 DEEPGLIDERMB  0
D_SAFE  500 PROTOCOL  9 ROLL_ADJ_DBAND  0.029999999 MOTHERBOARD  4
D_CALL  4 N_NOCOMM  1 VBD_MIN  440 DEVICE1  2
SURFACE_URGENCY  10 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  20
SURFACE_URGENCY_TRY  5 UPLOAD_DIVES_MAX  5 C_VBD  2923 DEVICE3  -1
SURFACE_URGENCY_FORCE  10 CALL_TRIES  3 VBD_DBAND  2 DEVICE4  -1
T_DIVE  330 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_MISSION  400 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.00065 LOGGERS  0
T_TURN  225 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 T_GPS  3 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_BATHY  -3 T_GPS_CHARGE  -8244.7891 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  2 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  117
ICE_FREEZE_MARGIN  0.1 STROBE  0 AH0_24V  150 PHONE_DEVICE  49
D_OFFGRID  250 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  64
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  311 FG_AHR_10V  0 SIM_W  0
MAX_BUOY  150 PITCH_MAX  3850 FG_AHR_24V  0 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2475 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043469137
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_YINT  -62.615704 SEABIRD_T_H  0.00062159239
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00012025224 SEABIRD_T_I  2.0014088e-05
RHO  1.0275 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  1.6690842e-06
MASS  51717 PITCH_GAIN  37 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.9685602
NAV_MODE  0 PITCH_TIMEOUT  17 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1354375
FERRY_MAX  45 PITCH_AD_RATE  160 COMPASS_USE  1 SEABIRD_C_I  -0.0013495153
KALMAN_USE  2 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00019269099
HD_A  0.003 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  20
HD_B  0.0099999998 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  15

Pre-dive calculations and measurements:
GPS1  191110,143925,6659.115,-5810.449,38,1.2,38,-37.8 TGT_NAME  TARGET_W
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.83 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  191110,144626,6659.158,-5810.422,13,1.1,13,-37.8 MHEAD_RNG_PITCHd_Wd  292.0,103080,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  981

Post-dive calculations and measurements:
FREEZE  1.09,-0.853,-0.938,2,1,0 ALTIM_TOP_PING  19.6,18.2
FINISH  1.1,1.013847 _24V_AH  21.9,43.860
SM_CCo  18917,42.85,0.526,1,0,1496,350.04 _10V_AH  10.0,34.117
SM_GC  2.08,0.00,0.00,42.85,0.000,0.000,0.526,300,2781,1496,-6.80,0.00,350.04 FG_AHR_24Vo  0.000
RAFOS_CLK  1025 FG_AHR_10Vo  0.000
RAFOS  0,1290182464,16.033333,16.017778,46,45,44,42,42,42,763,1270,992,290,1112,1873 MEM  151664
RAFOS_FIX  6659.972168,-5814.646484,191110,161617,6,98,0.54 DATA_FILE_SIZE  46653,1290
IRIDIUM_FIX  6631.12,-5751.53,191110,040434 CAP_FILE_SIZE  186530,0
TT8_MAMPS  0.031458 CFSIZE  260165632,223723520
HUMID  48.07 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  8.52419 SOUNDSPEED  1457.5
TCM_TEMP  14.60 GPS  191110,200447,6657.878,-5814.794,25,1.9,35,-37.8
XPDR_PINGS  0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19253109.11 SBE_CT90024473.14
Roll_motor15179264.58 SBE_O2000.00
VBD_pump_during_apogee377121410040.56 nil000.00
VBD_pump_during_surface42525493.19 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810363.27 nil000.00
Iridium_during_connect37160131.93 nil000.00
Iridium_during_xfer198223967.93 nil000.00
Transponder_ping342034.49 nil000.00
GUMSTIX_24V000.00
GPS15507.85
TT8329819657.15
LPSleep126862293.05
TT8_Active56319112.18
TT8_Sampling2566391024.46
TT8_CF829245134.53
TT8_Kalman000.00
Analog_circuits180412216.60
GPS_charging000.00
Compass225615338.50
RAFOS2880386.40
Transponder27308.21

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
14 -0.57 -146.0 0.0 0.0 0 103 0.00 0.00 -86.28 0.000 2 0.000 0.000 299 2780 3250 0 0 0 0 0 0
106 -0.57 -146.0 5.0 -11.3 15 126 8.38 2.35 -5.78 0.000 4 0.253 0.065 2282 1376 3522 0 0 0 0 0 0
262 -0.53 -146.0 38.9 -14.3 42 269 0.00 2.35 0.00 0.000 6 0.000 0.062 2275 2785 3524 0 0 0 0 0 0
607 -0.51 -146.0 82.9 -11.7 103 614 0.12 2.28 0.00 0.000 4 0.182 0.051 2308 1378 3524 0 0 0 0 0 0
667 -0.58 -146.0 88.7 -8.4 113 674 0.00 2.33 0.00 0.000 6 0.000 0.063 2307 2780 3524 0 0 0 0 0 0
1007 -0.64 -146.0 117.8 -8.7 156 1011 0.10 2.28 0.00 0.000 4 0.116 0.051 2258 1371 3524 0 0 0 0 0 0
1063 -0.64 -146.0 123.9 -10.8 160 1070 0.00 2.33 0.00 0.000 6 0.000 0.063 2251 2775 3523 0 0 0 0 0 0
1390 -0.59 -146.0 164.6 -12.3 191 1395 0.12 2.28 0.00 0.000 4 0.187 0.052 2283 1370 3522 0 0 0 0 0 0
1457 -0.64 -146.0 172.0 -9.9 196 1464 0.00 2.30 0.00 0.000 6 0.000 0.063 2283 2759 3523 0 0 0 0 0 0
1783 -0.68 -146.0 201.0 -8.4 227 1784 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2758 3522 0 0 0 0 0 0
2103 -0.74 -146.0 228.0 -8.5 257 2108 0.15 2.22 0.00 0.000 4 0.095 0.051 2220 1374 3521 0 0 0 0 0 0
2124 -0.74 -146.0 230.6 -10.3 258 2131 0.00 2.33 0.00 0.000 6 0.000 0.062 2216 2757 3521 0 0 0 0 0 0
2450 -0.65 -146.0 272.2 -12.6 289 2452 0.17 0.00 0.00 0.000 6 0.177 0.000 2265 2756 3521 0 0 0 0 0 0
2770 -0.68 -146.0 300.8 -8.6 319 2774 0.00 2.20 0.00 0.000 4 0.000 0.050 2265 1375 3521 0 0 0 0 0 0
2809 -0.71 -146.0 304.3 -8.4 322 2816 0.00 2.30 0.00 0.000 6 0.000 0.062 2264 2757 3521 0 0 0 0 0 0
3135 -0.73 -146.0 331.5 -7.8 353 3139 0.00 2.22 0.00 0.000 4 0.000 0.050 2264 1370 3522 0 0 0 0 0 0
3157 -0.75 -146.0 333.6 -8.6 354 3164 0.00 2.25 0.00 0.000 6 0.000 0.061 2261 2741 3521 0 0 0 0 0 0
3483 -0.75 -146.0 361.0 -8.4 385 3484 0.00 0.00 0.00 0.000 6 0.000 0.000 2262 2741 3522 0 0 0 0 0 0
3802 -0.75 -146.0 389.7 -9.1 415 3803 0.00 0.00 0.00 0.000 6 0.000 0.000 2261 2741 3522 0 0 0 0 0 0
4121 -0.75 -146.0 418.8 -8.9 445 4125 0.00 2.17 0.00 0.000 4 0.000 0.050 2261 1370 3522 0 0 0 0 0 0
4143 -0.77 -146.0 421.1 -9.3 446 4150 0.10 2.28 0.00 0.000 6 0.113 0.061 2214 2740 3523 0 0 0 0 0 0
4468 -0.71 -146.0 457.2 -11.4 477 4470 0.12 0.00 0.00 0.000 6 0.184 0.000 2246 2740 3523 0 0 0 0 0 0
4787 -0.71 -146.0 486.9 -9.4 507 4791 0.00 2.17 0.00 0.000 4 0.000 0.049 2246 1367 3523 0 0 0 0 0 0
4809 -0.71 -146.0 489.1 -8.8 508 4816 0.00 2.25 0.00 0.000 6 0.000 0.060 2247 2735 3523 0 0 0 0 0 0
5127 -0.71 -146.0 517.3 -9.0 527 5129 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2735 3523 0 0 0 0 0 0
5436 -0.71 -146.0 545.0 -9.2 537 5438 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2734 3523 0 0 0 0 0 0
5739 -0.71 -146.0 572.9 -9.1 547 5743 0.00 2.17 0.00 0.000 4 0.000 0.049 2246 1375 3524 0 0 0 0 0 0
5771 -0.71 -146.0 576.1 -9.0 548 5775 0.00 2.22 0.00 0.000 6 0.000 0.060 2246 2727 3524 0 0 0 0 0 0
6108 -0.71 -146.0 607.4 -9.5 559 6109 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2727 3525 0 0 0 0 0 0
6413 -0.71 -146.0 636.2 -9.3 569 6415 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2727 3523 0 0 0 0 0 0
6719 -0.71 -146.0 663.4 -9.0 579 6721 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2727 3524 0 0 0 0 0 0
7026 -0.71 -146.0 690.5 -8.8 589 7030 0.00 2.05 0.00 0.000 4 0.000 0.071 2246 3936 3524 0 0 0 0 0 0
7061 -0.71 -146.0 693.7 -9.1 590 7064 0.00 1.92 0.00 0.000 6 0.000 0.047 2246 2727 3524 0 0 0 0 0 0
7402 -0.71 -146.0 723.8 -8.6 601 7403 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2728 3524 0 0 0 0 0 0
7710 -0.71 -146.0 750.6 -8.8 611 7711 0.00 0.00 0.00 0.000 6 0.000 0.000 2246 2728 3524 0 0 0 0 0 0
8014 -0.71 -146.0 776.9 -8.7 621 8018 0.00 2.15 0.00 0.000 4 0.000 0.049 2245 1374 3524 0 0 0 0 0 0
8041 -0.71 -146.0 779.5 -9.1 621 8048 0.00 2.28 0.00 0.000 6 0.000 0.060 2238 2740 3523 0 0 0 0 0 0
8355 -0.71 -146.0 808.7 -9.5 632 8356 0.00 0.00 0.00 0.000 6 0.000 0.000 2238 2740 3524 0 0 0 0 0 0
8660 -0.71 -146.0 837.0 -9.3 642 8664 0.00 2.17 0.00 0.000 4 0.000 0.050 2238 1376 3524 0 0 0 0 0 0
8695 -0.71 -146.0 840.4 -10.1 643 8699 0.00 2.25 0.00 0.000 6 0.000 0.060 2235 2728 3524 0 0 0 0 0 0
9030 -0.71 -146.0 870.8 -8.9 654 9031 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2728 3524 0 0 0 0 0 0
9336 -0.71 -146.0 897.2 -8.5 664 9340 0.00 2.03 0.00 0.000 4 0.000 0.071 2228 3931 3524 0 0 0 0 0 0
9357 -0.71 -146.0 899.3 -9.1 664 9361 0.00 1.98 0.00 0.000 6 0.000 0.047 2227 2722 3524 0 0 0 0 0 0
9676 -0.71 -146.0 927.8 -9.0 675 9677 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 2721 3524 0 0 0 0 0 0
9982 -0.71 -146.0 954.7 -9.0 685 9986 0.00 2.05 0.00 0.000 4 0.000 0.073 2219 3925 3524 0 0 0 0 0 0
10016 -0.67 -146.0 958.0 -10.1 686 10021 0.15 1.92 0.00 0.000 6 0.170 0.047 2259 2718 3524 0 0 0 0 0 0
10355 end dive: TARGET_DEPTH_EXCEEDED
state 10355 begin apogee
10361 -0.14 0.0 982.3 7.0 697 10494 0.50 0.00 127.18 1.215 4 0.135 0.000 2424 2601 2922 0 0 0 0 0 0
10494 end apogee: CONTROL_FINISHED_OK
state 10495 begin climb
10496 0.57 146.0 985.7 0.0 701 10643 0.70 2.47 135.02 1.186 4 0.067 0.049 2667 1185 2327 0 0 0 0 0 0
10794 0.53 146.0 957.5 12.1 710 10798 0.00 2.45 0.00 0.000 6 0.000 0.057 2667 2597 2319 0 0 0 0 0 0
11118 0.45 146.0 914.5 13.5 721 11123 0.17 2.35 0.00 0.000 4 0.200 0.054 2629 1187 2316 0 0 0 0 0 0
11316 0.48 146.0 893.9 10.5 727 11320 0.00 2.38 0.00 0.000 6 0.000 0.058 2629 2610 2315 0 0 0 0 0 0
11650 0.48 146.0 857.6 10.8 738 11654 0.00 2.22 0.00 0.000 4 0.000 0.069 2630 3927 2314 0 0 0 0 0 0
11689 0.41 146.0 852.6 12.3 739 11693 0.00 2.17 0.00 0.000 6 0.000 0.046 2637 2602 2312 0 0 0 0 0 0
12024 0.38 146.0 814.7 11.3 750 12026 0.15 0.00 0.00 0.000 6 0.206 0.000 2600 2600 2312 0 0 0 0 0 0
12332 0.44 168.8 786.9 8.9 760 12352 0.00 0.00 18.65 1.063 6 0.000 0.000 2600 2601 2234 0 0 0 0 0 0
12637 0.51 187.2 758.9 9.2 770 12662 0.12 2.35 17.27 1.042 4 0.105 0.069 2652 3935 2159 0 0 0 0 0 0
12696 0.43 187.2 751.1 14.3 771 12704 0.17 2.20 0.00 0.000 6 0.206 0.045 2616 2593 2157 0 0 0 0 0 0
13009 0.47 187.2 717.7 10.5 782 13013 0.00 2.25 0.00 0.000 4 0.000 0.054 2615 1192 2156 0 0 0 0 0 0
13036 0.54 187.2 714.6 10.2 782 13043 0.10 2.33 0.00 0.000 6 0.119 0.056 2659 2604 2155 0 0 0 0 0 0
13350 0.50 187.2 673.1 13.5 793 13354 0.00 2.20 0.00 0.000 4 0.000 0.068 2659 3926 2154 0 0 0 0 0 0
13388 0.41 187.2 667.2 15.1 794 13393 0.17 2.15 0.00 0.000 6 0.187 0.045 2613 2611 2153 0 0 0 0 0 0
13724 0.45 189.2 632.8 9.9 805 13728 0.00 2.28 0.00 0.000 4 0.000 0.053 2612 1189 2154 0 0 0 0 0 0
13762 0.56 211.1 629.0 9.0 806 13789 0.12 2.33 21.52 0.985 6 0.104 0.056 2667 2611 2061 0 0 0 0 0 0
14120 0.52 211.1 580.7 13.8 818 14124 0.00 2.22 0.00 0.000 4 0.000 0.067 2666 3932 2056 0 0 0 0 0 0
14148 0.45 211.1 576.4 15.2 819 14153 0.17 2.15 0.00 0.000 6 0.200 0.045 2626 2600 2055 0 0 0 0 0 0
14483 0.49 211.1 539.5 10.9 830 14487 0.00 2.25 0.00 0.000 4 0.000 0.054 2626 1184 2055 0 0 0 0 0 0
14521 0.57 211.1 535.2 10.6 831 14526 0.10 2.33 0.00 0.000 6 0.114 0.056 2672 2609 2055 0 0 0 0 0 0
14837 0.53 211.1 490.9 14.0 844 14841 0.00 2.20 0.00 0.000 4 0.000 0.067 2672 3931 2055 0 0 0 0 0 0
14895 0.45 211.1 482.0 15.9 849 14900 0.20 2.10 0.00 0.000 6 0.194 0.044 2624 2606 2054 0 0 0 0 0 0
15220 0.49 211.1 447.3 10.3 879 15224 0.00 2.25 0.00 0.000 4 0.000 0.053 2624 1193 2054 0 0 0 0 0 0
15260 0.59 216.7 443.3 9.7 882 15273 0.12 2.30 5.22 0.733 6 0.099 0.056 2678 2614 2039 0 0 0 0 0 0
15591 0.54 216.7 396.7 14.2 913 15595 0.00 2.17 0.00 0.000 4 0.000 0.067 2678 3928 2037 0 0 0 0 0 0
15620 0.46 216.7 392.1 15.7 915 15625 0.20 2.12 0.00 0.000 6 0.193 0.045 2628 2605 2036 0 0 0 0 0 0
15945 0.51 216.7 357.5 10.4 945 15949 0.00 2.22 0.00 0.000 4 0.000 0.053 2628 1192 2036 0 0 0 0 0 0
15979 0.61 238.4 354.1 9.0 947 16008 0.12 2.33 20.02 0.829 6 0.103 0.055 2682 2617 1950 0 0 0 0 0 0
16327 0.58 238.4 306.1 13.8 980 16330 0.00 2.17 0.00 0.000 4 0.000 0.067 2682 3925 1946 0 0 0 0 0 0
16370 0.51 238.4 299.0 15.5 983 16378 0.15 2.12 0.00 0.000 6 0.194 0.044 2647 2606 1945 0 0 0 0 0 0
16697 0.55 238.4 261.3 11.9 1014 16701 0.00 2.25 0.00 0.000 4 0.000 0.054 2647 1188 1945 0 0 0 0 0 0
16740 0.63 238.4 256.5 10.5 1017 16747 0.00 2.30 0.00 0.000 6 0.000 0.054 2646 2614 1945 0 0 0 0 0 0
17066 0.67 238.4 219.9 10.6 1048 17068 0.12 0.00 0.00 0.000 6 0.105 0.000 2697 2614 1945 0 0 0 0 0 0
17385 0.64 238.4 175.6 13.5 1078 17389 0.00 2.17 0.00 0.000 4 0.000 0.067 2697 3928 1945 0 0 0 0 0 0
17452 0.56 238.4 165.4 15.1 1083 17459 0.17 2.12 0.00 0.000 6 0.190 0.044 2659 2602 1944 0 0 0 0 0 0
17777 0.60 240.1 131.5 9.9 1114 17781 0.00 2.22 0.00 0.000 4 0.000 0.054 2659 1191 1944 0 0 0 0 0 0
17841 0.71 261.5 125.6 9.0 1119 17867 0.12 2.25 19.75 0.702 6 0.106 0.056 2709 2580 1857 0 0 0 0 0 0
18196 0.71 261.5 79.4 14.3 1165 18203 0.00 2.25 0.00 0.000 4 0.000 0.067 2709 3928 1852 0 0 0 0 0 0
18249 0.66 261.5 71.4 17.4 1174 18256 0.00 2.17 0.00 0.000 6 0.000 0.045 2715 2582 1852 0 0 0 0 0 0
18594 0.67 276.1 31.2 9.3 1235 18613 0.00 2.28 12.75 0.656 4 0.000 0.069 2715 3933 1798 0 0 0 0 0 0
18664 0.67 276.1 23.3 13.5 1247 18671 0.00 2.17 0.00 0.000 6 0.000 0.045 2715 2590 1797 0 0 0 0 0 0
18873 end climb: SURFACE_DEPTH_REACHED
state 18873 begin surface coast
18902 end surface coast: FINISH_DEPTH_REACHED
state 18902 begin surface