DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 368 * 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  368 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  32 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  8 R_STBD_OVSHOOT  25 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  -8251.0732 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  201110,181355,6657.374,-5838.297,37,1.6,37,-37.9 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  1.85 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  201110,181844,6657.377,-5838.217,10,2.0,10,-37.9 MHEAD_RNG_PITCHd_Wd  290.5,82650,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1014

Post-dive calculations and measurements:
FREEZE  1.07,-0.218,-1.108,2,1,0 ALTIM_TOP_PING  19.9,18.1
FINISH  1.1,1.016361 _24V_AH  21.9,44.540
SM_CCo  19275,0.00,0.000,0,0,1390,375.80 _10V_AH  10.0,34.550
SM_GC  1.90,6.57,0.00,0.00,0.057,0.000,0.000,305,2790,1390,-6.72,0.25,375.80 FG_AHR_24Vo  0.000
RAFOS_CLK  1046 FG_AHR_10Vo  0.000
RAFOS  0,1290283277,20.033333,20.021389,46,46,46,46,44,40,983,802,815,1147,1457,1294 MEM  151764
RAFOS_FIX  6659.775879,-5840.459961,201110,202028,2,70,0.56 DATA_FILE_SIZE  46656,1325
IRIDIUM_FIX  6647.44,-6336.04,201110,121233 CAP_FILE_SIZE  186921,0
TT8_MAMPS  0.029211 CFSIZE  260165632,223318016
HUMID  48.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  8.52419 SOUNDSPEED  1457.5
TCM_TEMP  14.80 GPS  201110,234224,6656.581,-5842.938,23,1.0,40,-37.9
XPDR_PINGS  0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19257111.74 SBE_CT92324485.32
Roll_motor14375238.55 SBE_O2000.00
VBD_pump_during_apogee459121712250.25 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910366.85 nil000.00
Iridium_during_connect1916067.96 nil000.00
Iridium_during_xfer114223560.80 nil000.00
Transponder_ping342034.49 nil000.00
GUMSTIX_24V000.00
GPS13506.65
TT8334019665.35
LPSleep129342298.79
TT8_Active56019111.62
TT8_Sampling248039990.12
TT8_CF827645127.06
TT8_Kalman000.00
Analog_circuits181912218.35
GPS_charging000.00
Compass227615341.46
RAFOS2520375.60
Transponder27308.22

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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
15 -0.57 -146.0 0.0 0.0 0 104 0.00 0.00 -86.18 0.000 2 0.000 0.000 287 2789 3291 0 0 0 0 0 0
106 -0.57 -146.0 6.0 -14.2 15 126 8.48 2.33 -4.65 0.000 4 0.257 0.063 2282 1363 3520 0 0 0 0 0 0
247 -0.52 -146.0 37.9 -14.6 39 254 0.00 2.35 0.00 0.000 6 0.000 0.063 2276 2776 3522 0 0 0 0 0 0
592 -0.49 -146.0 79.8 -11.8 100 599 0.12 2.30 0.00 0.000 4 0.181 0.051 2309 1367 3523 0 0 0 0 0 0
629 -0.56 -146.0 83.4 -9.2 106 636 0.00 2.33 0.00 0.000 6 0.000 0.062 2307 2776 3523 0 0 0 0 0 0
972 -0.61 -146.0 112.6 -8.3 154 976 0.00 2.28 0.00 0.000 4 0.000 0.050 2307 1365 3522 0 0 0 0 0 0
1012 -0.69 -146.0 116.0 -8.5 157 1017 0.15 2.33 0.00 0.000 6 0.090 0.062 2243 2772 3523 0 0 0 0 0 0
1337 -0.63 -146.0 157.0 -12.5 187 1339 0.10 0.00 0.00 0.000 6 0.186 0.000 2268 2772 3522 0 0 0 0 0 0
1656 -0.63 -146.0 189.6 -9.6 217 1660 0.00 2.25 0.00 0.000 4 0.000 0.052 2268 1366 3521 0 0 0 0 0 0
1694 -0.65 -146.0 193.7 -10.5 220 1701 0.00 2.33 0.00 0.000 6 0.000 0.063 2265 2763 3521 0 0 0 0 0 0
2019 -0.65 -146.0 227.2 -10.4 251 2020 0.00 0.00 0.00 0.000 6 0.000 0.000 2265 2764 3521 0 0 0 0 0 0
2339 -0.65 -146.0 259.8 -9.7 281 2343 0.00 2.22 0.00 0.000 4 0.000 0.051 2264 1366 3521 0 0 0 0 0 0
2373 -0.65 -146.0 263.4 -9.9 283 2379 0.00 2.33 0.00 0.000 6 0.000 0.063 2262 2760 3520 0 0 0 0 0 0
2698 -0.65 -146.0 294.0 -9.0 314 2699 0.00 0.00 0.00 0.000 6 0.000 0.000 2262 2759 3520 0 0 0 0 0 0
3019 -0.65 -146.0 322.9 -8.8 344 3025 0.00 0.00 0.00 0.000 6 0.000 0.000 2262 2759 3520 0 0 0 0 0 0
3346 -0.65 -146.0 352.2 -8.9 375 3350 0.00 2.20 0.00 0.000 4 0.000 0.050 2262 1370 3520 0 0 0 0 0 0
3380 -0.65 -146.0 355.5 -9.8 377 3387 0.00 2.28 0.00 0.000 6 0.000 0.061 2261 2751 3520 0 0 0 0 0 0
3705 -0.65 -146.0 384.2 -8.7 408 3706 0.00 0.00 0.00 0.000 6 0.000 0.000 2260 2751 3521 0 0 0 0 0 0
4025 -0.65 -146.0 413.1 -9.4 438 4029 0.00 2.20 0.00 0.000 4 0.000 0.050 2261 1363 3521 0 0 0 0 0 0
4066 -0.68 -146.0 417.0 -9.1 441 4070 0.00 2.28 0.00 0.000 6 0.000 0.061 2261 2747 3521 0 0 0 0 0 0
4391 -0.68 -146.0 446.5 -8.9 471 4392 0.00 0.00 0.00 0.000 6 0.000 0.000 2261 2747 3521 0 0 0 0 0 0
4711 -0.68 -146.0 474.7 -9.1 501 4712 0.00 0.00 0.00 0.000 6 0.000 0.000 2261 2747 3521 0 0 0 0 0 0
5029 -0.70 -146.0 503.2 -9.0 529 5033 0.00 2.17 0.00 0.000 4 0.000 0.049 2261 1370 3521 0 0 0 0 0 0
5058 -0.73 -146.0 505.9 -9.0 530 5062 0.00 2.28 0.00 0.000 6 0.000 0.060 2261 2754 3521 0 0 0 0 0 0
5393 -0.73 -146.0 534.4 -8.3 541 5394 0.00 0.00 0.00 0.000 6 0.000 0.000 2261 2754 3522 0 0 0 0 0 0
5699 -0.75 -146.0 559.1 -8.2 551 5700 0.00 0.00 0.00 0.000 6 0.000 0.000 2261 2754 3522 0 0 0 0 0 0
6005 -0.78 -146.0 584.2 -8.3 561 6010 0.10 2.25 0.00 0.000 4 0.120 0.050 2213 1363 3522 0 0 0 0 0 0
6034 -0.74 -146.0 587.0 -10.5 562 6039 0.12 2.28 0.00 0.000 6 0.181 0.060 2234 2748 3522 0 0 0 0 0 0
6371 -0.71 -146.0 619.4 -9.7 573 6374 0.00 2.00 0.00 0.000 4 0.000 0.071 2228 3931 3522 0 0 0 0 0 0
6398 -0.68 -146.0 622.5 -10.8 573 6405 0.00 1.92 0.00 0.000 6 0.000 0.047 2228 2733 3522 0 0 0 0 0 0
6711 -0.64 -146.0 654.1 -10.1 584 6713 0.15 0.00 0.00 0.000 6 0.171 0.000 2269 2733 3522 0 0 0 0 0 0
7018 -0.69 -146.0 676.8 -7.3 594 7022 0.00 2.15 0.00 0.000 4 0.000 0.050 2269 1370 3522 0 0 0 0 0 0
7053 -0.75 -146.0 679.6 -7.8 595 7058 0.12 2.28 0.00 0.000 6 0.101 0.062 2215 2740 3522 0 0 0 0 0 0
7389 -0.69 -146.0 714.6 -10.6 606 7391 0.12 0.00 0.00 0.000 6 0.181 0.000 2248 2740 3522 0 0 0 0 0 0
7695 -0.69 -146.0 741.1 -8.5 616 7696 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2740 3522 0 0 0 0 0 0
8001 -0.69 -146.0 767.4 -8.7 626 8002 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2740 3522 0 0 0 0 0 0
8307 -0.69 -146.0 793.8 -8.5 636 8311 0.00 2.17 0.00 0.000 4 0.000 0.050 2248 1368 3522 0 0 0 0 0 0
8356 -0.73 -146.0 798.2 -9.1 637 8360 0.00 2.28 0.00 0.000 6 0.000 0.061 2247 2734 3522 0 0 0 0 0 0
8668 -0.73 -146.0 825.5 -8.8 647 8672 0.00 2.17 0.00 0.000 4 0.000 0.050 2247 1366 3523 0 0 0 0 0 0
8708 -0.76 -146.0 829.3 -9.4 648 8712 0.00 2.25 0.00 0.000 6 0.000 0.061 2247 2731 3522 0 0 0 0 0 0
9037 -0.76 -146.0 857.2 -8.3 659 9041 0.00 2.17 0.00 0.000 4 0.000 0.050 2246 1374 3522 0 0 0 0 0 0
9059 -0.76 -146.0 859.3 -8.9 659 9066 0.00 2.22 0.00 0.000 6 0.000 0.060 2244 2720 3523 0 0 0 0 0 0
9373 -0.76 -146.0 885.4 -8.2 670 9374 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2720 3522 0 0 0 0 0 0
9678 -0.76 -146.0 911.0 -8.4 680 9682 0.00 2.15 0.00 0.000 4 0.000 0.050 2243 1374 3523 0 0 0 0 0 0
9723 -0.79 -146.0 915.0 -8.7 681 9727 0.00 2.22 0.00 0.000 6 0.000 0.061 2244 2720 3523 0 0 0 0 0 0
10041 -0.79 -146.0 942.4 -8.6 692 10042 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2720 3523 0 0 0 0 0 0
10347 -0.79 -146.0 969.3 -9.1 702 10351 0.00 2.15 0.00 0.000 4 0.000 0.050 2243 1372 3522 0 0 0 0 0 0
10375 -0.79 -146.0 972.0 -9.7 702 10382 0.00 2.22 0.00 0.000 6 0.000 0.061 2243 2709 3523 0 0 0 0 0 0
10594 end dive: TARGET_DEPTH_EXCEEDED
state 10594 begin apogee
10599 -0.14 0.0 991.8 9.2 710 10732 0.55 0.00 127.18 1.218 4 0.138 0.000 2422 2600 2922 0 0 0 0 0 0
10732 end apogee: CONTROL_FINISHED_OK
state 10732 begin climb
10735 0.57 146.0 995.8 0.0 714 10881 0.70 2.47 135.73 1.190 4 0.073 0.050 2659 1185 2327 0 0 0 0 0 0
11038 0.54 146.0 969.0 10.9 723 11043 0.00 2.47 0.00 0.000 6 0.000 0.057 2659 2600 2319 0 0 0 0 0 0
11357 0.47 146.0 928.5 12.8 734 11362 0.12 2.33 0.00 0.000 4 0.207 0.054 2637 1181 2315 0 0 0 0 0 0
11535 0.47 152.0 909.7 9.7 739 11545 0.00 2.35 4.32 0.790 6 0.000 0.057 2637 2601 2304 0 0 0 0 0 0
11859 0.44 152.0 872.9 11.7 750 11863 0.00 2.22 0.00 0.000 4 0.000 0.067 2637 3932 2302 0 0 0 0 0 0
11888 0.38 152.0 869.2 13.1 751 11893 0.17 2.17 0.00 0.000 6 0.212 0.045 2600 2591 2301 0 0 0 0 0 0
12230 0.43 169.8 837.0 9.2 762 12249 0.00 0.00 17.50 1.078 6 0.000 0.000 2600 2590 2230 0 0 0 0 0 0
12536 0.50 188.2 809.2 9.2 772 12561 0.10 2.38 17.48 1.062 4 0.119 0.069 2638 3936 2155 0 0 0 0 0 0
12594 0.44 188.2 801.9 13.5 773 12601 0.00 2.17 0.00 0.000 6 0.000 0.045 2642 2603 2152 0 0 0 0 0 0
12907 0.44 188.2 765.0 11.9 784 12908 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2602 2150 0 0 0 0 0 0
13213 0.44 188.2 729.2 11.6 794 13214 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2602 2150 0 0 0 0 0 0
13519 0.44 188.2 692.9 12.0 804 13523 0.00 2.25 0.00 0.000 4 0.000 0.069 2642 3934 2149 0 0 0 0 0 0
13553 0.39 188.2 688.4 13.4 805 13558 0.17 2.15 0.00 0.000 6 0.200 0.045 2606 2598 2147 0 0 0 0 0 0
13890 0.46 198.5 655.7 9.5 816 13904 0.00 2.28 9.35 0.938 4 0.000 0.054 2605 1186 2113 0 0 0 0 0 0
13923 0.56 226.6 652.4 8.7 817 13956 0.15 2.30 26.20 0.991 6 0.093 0.056 2669 2609 1999 0 0 0 0 0 0
14264 0.52 226.6 604.2 14.6 828 14268 0.00 2.22 0.00 0.000 4 0.000 0.067 2669 3929 1992 0 0 0 0 0 0
14302 0.45 226.6 597.4 16.7 829 14307 0.20 2.12 0.00 0.000 6 0.191 0.045 2621 2610 1991 0 0 0 0 0 0
14626 0.51 226.6 561.5 11.0 840 14630 0.00 2.28 0.00 0.000 4 0.000 0.054 2621 1188 1991 0 0 0 0 0 0
14654 0.59 226.6 558.5 11.1 841 14659 0.12 2.33 0.00 0.000 6 0.099 0.056 2677 2609 1991 0 0 0 0 0 0
14990 0.54 226.6 509.3 14.8 852 14994 0.00 2.20 0.00 0.000 4 0.000 0.067 2678 3933 1990 0 0 0 0 0 0
15023 0.46 226.6 503.6 16.5 853 15027 0.20 2.12 0.00 0.000 6 0.192 0.045 2628 2609 1989 0 0 0 0 0 0
15353 0.50 226.6 467.8 10.5 881 15357 0.00 2.25 0.00 0.000 4 0.000 0.054 2628 1192 1989 0 0 0 0 0 0
15402 0.60 242.5 462.7 9.3 885 15422 0.12 2.28 13.60 0.873 6 0.101 0.056 2682 2603 1934 0 0 0 0 0 0
15739 0.56 242.5 413.6 15.6 917 15743 0.00 2.20 0.00 0.000 4 0.000 0.067 2682 3932 1931 0 0 0 0 0 0
15767 0.49 242.5 408.9 17.1 919 15772 0.17 2.15 0.00 0.000 6 0.192 0.045 2639 2600 1930 0 0 0 0 0 0
16093 0.53 242.5 370.7 11.1 949 16097 0.00 2.25 0.00 0.000 4 0.000 0.054 2639 1190 1930 0 0 0 0 0 0
16114 0.59 242.5 368.1 11.3 950 16121 0.00 2.30 0.00 0.000 6 0.000 0.056 2639 2612 1930 0 0 0 0 0 0
16439 0.64 242.5 332.5 11.0 981 16441 0.12 0.00 0.00 0.000 6 0.106 0.000 2689 2612 1930 0 0 0 0 0 0
16758 0.59 242.5 285.5 15.3 1011 16762 0.00 2.17 0.00 0.000 4 0.000 0.067 2689 3926 1930 0 0 0 0 0 0
16792 0.51 242.5 279.8 18.5 1014 16797 0.20 2.12 0.00 0.000 6 0.188 0.045 2640 2596 1928 0 0 0 0 0 0
17123 0.56 242.5 242.9 10.9 1045 17127 0.00 2.25 0.00 0.000 4 0.000 0.054 2640 1182 1929 0 0 0 0 0 0
17152 0.65 242.5 239.8 10.7 1047 17157 0.12 2.30 0.00 0.000 6 0.100 0.055 2691 2609 1929 0 0 0 0 0 0
17477 0.61 242.5 191.5 15.4 1077 17478 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2609 1929 0 0 0 0 0 0
17798 0.59 242.5 146.8 13.7 1107 17799 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2608 1929 0 0 0 0 0 0
18115 0.59 242.5 104.1 13.1 1137 18119 0.00 2.17 0.00 0.000 4 0.000 0.067 2690 3926 1928 0 0 0 0 0 0
18150 0.54 242.5 99.1 13.4 1140 18157 0.15 2.15 0.00 0.000 6 0.190 0.045 2655 2585 1928 0 0 0 0 0 0
18498 0.63 277.8 66.5 8.4 1201 18533 0.00 0.00 30.12 0.672 6 0.000 0.000 2655 2585 1789 0 0 0 0 0 0
18871 0.82 372.2 38.9 5.6 1267 18959 0.25 2.38 77.82 0.644 4 0.078 0.067 2762 3925 1403 0 0 0 0 0 0
18984 0.79 372.2 23.5 16.8 1286 18992 0.15 2.20 0.00 0.000 6 0.199 0.046 2729 2602 1400 0 0 0 0 0 0
19170 end climb: SURFACE_DEPTH_REACHED
state 19170 begin surface coast
19200 end surface coast: CONTROL_FINISHED_OK
state 19200 begin surface