SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 406 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  542 HEADING  -1 ROLL_MAX  3901 ALTIM_TOP_MIN_OBSTACLE  1
MISSION  6 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DEPTH  1050
DIVE  406 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2860 ALTIM_PING_DELTA  5
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  2670 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LAT  -4230 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_TGT  1000 TGT_DEFAULT_LON  -200 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  2
D_NO_BLEED  200 SM_CC  230 R_PORT_OVSHOOT  37 XPDR_INHIBIT  90
D_BOOST  0 N_FILEKB  4 R_STBD_OVSHOOT  40 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  5 FILEMGR  0 ROLL_AD_RATE  350 INT_PRESSURE_YINT  2.49
D_FINISH  0 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  0 KERMIT  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  0 N_NOCOMM  1 VBD_MIN  480 DEVICE1  2
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_MAX  3961 DEVICE2  101
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 C_VBD  2820 DEVICE3  115
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  134
T_DIVE  353 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE5  -1
T_MISSION  368 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_TURN  225 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 T_GPS  15 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  60 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_CHARGE  -11736.07 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  0 T_RSLEEP  1 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
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  -1
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
APOGEE_PITCH  -7 PITCH_MIN  73 FG_AHR_10V  0 SIM_W  0
MAX_BUOY  150 PITCH_MAX  3888 FG_AHR_24V  0 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  1830 PHONE_SUPPLY  2 SEABIRD_T_G  0.0042910837
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_YINT  -48.034508 SEABIRD_T_H  0.00061853422
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011816985 SEABIRD_T_I  2.1182957e-05
RHO  1.027 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.0754619e-06
MASS  52816 PITCH_GAIN  39 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.7625904
NAV_MODE  1 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1369455
FERRY_MAX  45 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.0017508121
KALMAN_USE  1 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00021125977
HD_A  0.003 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
HD_B  0.0099999998 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  10
HD_C  9.9999997e-06 ROLL_MIN  335 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  170213,013304,-4632.179,406.104,21,1.0,22,-23.3 TGT_NAME  GH2
_CALLS  1 TGT_LATLONG  -4630.000,410.000
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.057,0.242
_SM_DEPTHo  1.89 KALMAN_X  -236104.8,-520.0,-13.0,222965.9,6048.0
_SM_ANGLEo  -67.0 KALMAN_Y  301124.4,-50.3,52.1,-265847.2,-999.0
GPS2  170213,014605,-4632.225,406.175,24,0.8,24,-23.3 MHEAD_RNG_PITCHd_Wd  10.0,6384,-17.1,-9.443
SPEED_LIMITS  0.164,0.256 D_GRID  1000

Post-dive calculations and measurements:
FINISH  0.8,1.013761 _10V_AH  9.9,40.142
SM_CCo  16445,42.60,0.783,1,0,1880,230.09 FG_AHR_24Vo  0.000
SM_GC  2.33,0.00,0.00,42.60,0.000,0.000,0.783,55,2883,1880,-5.55,0.65,230.09 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4619.84,407.59,160213,151518 MEM  354064
TT8_MAMPS  0.025466 DATA_FILE_SIZE  60298,820
HUMID  58.74 CAP_FILE_SIZE  149988,0
INTERNAL_PRESSURE  9.3555 CFSIZE  259252224,203423744
TCM_TEMP  11.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
XPDR_PINGS  0 GPS  170213,062322,-4629.886,406.898,39,0.9,39,-23.4
_24V_AH  21.1,74.887

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1425378.78 SBE_CT54024273.94
Roll_motor16565227.17 AA43301626331132.62
VBD_pump_during_apogee308176811518.56 WL_BB2FLVMT8801051951.72
VBD_pump_during_surface42782703.44 QSP2150338431.29
VBD_valve000.00 nil000.00
Iridium_during_init3310372.29 nil000.00
Iridium_during_connect2116072.79 nil000.00
Iridium_during_xfer4672232197.67 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS27267.23
TT8211414313.22
LPSleep110482239.55
TT8_Active4931469.45
TT8_Sampling2727371010.62
TT8_CF887447408.39
TT8_Kalman335919.55
Analog_circuits149912178.20
GPS_charging000.00
Compass218415340.11
RAFOS000.00
Transponder150.05

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
21 end surface: CONTROL_FINISHED_OK
state 21 begin dive
26 -0.61 -138.2 0.0 0.0 0 91 0.00 0.00 -62.92 0.000 2 0.000 0.000 52 2885 3114 0 0 0 0 0 0
98 -0.62 -146.1 3.1 -2.4 8 124 6.85 2.28 -8.15 0.000 4 0.254 0.049 1633 1446 3418 0 0 0 0 0 0
260 -0.62 -146.1 25.9 -10.8 32 270 0.00 2.28 0.00 0.000 6 0.000 0.050 1624 2847 3419 0 0 0 0 0 0
347 -0.62 -146.1 36.4 -12.7 45 355 0.00 1.65 0.00 0.000 4 0.000 0.057 1616 3896 3419 0 0 0 0 0 0
395 -0.62 -146.1 43.2 -13.6 52 404 0.00 1.60 0.00 0.000 6 0.000 0.030 1616 2832 3420 0 0 0 0 0 0
641 -0.62 -146.1 75.4 -11.4 93 648 0.00 1.73 0.00 0.000 4 0.000 0.058 1608 3893 3420 0 0 0 0 0 0
715 -0.62 -146.1 84.7 -12.6 105 721 0.00 1.55 0.00 0.000 6 0.000 0.031 1607 2852 3421 0 0 0 0 0 0
1048 -0.62 -146.1 127.5 -13.5 140 1052 0.00 1.67 0.00 0.000 4 0.000 0.058 1600 3901 3421 0 0 0 0 0 0
1138 -0.62 -146.1 139.3 -13.1 145 1142 0.08 1.55 0.00 0.000 6 0.161 0.030 1638 2860 3421 0 0 0 0 0 0
1477 -0.62 -146.1 167.9 -8.1 166 1481 0.00 1.65 0.00 0.000 4 0.000 0.060 1632 3902 3423 0 0 0 0 0 0
1518 -0.62 -146.1 172.4 -9.7 168 1521 0.00 1.55 0.00 0.000 6 0.000 0.030 1632 2865 3423 0 0 0 0 0 0
1847 -0.62 -146.1 202.3 -9.4 189 1850 0.00 1.70 0.00 0.000 4 0.000 0.060 1623 3906 3423 0 0 0 0 0 0
1870 -0.62 -146.1 205.3 -10.6 190 1874 0.00 1.58 0.00 0.000 6 0.000 0.031 1623 2854 3423 0 0 0 0 0 0
2199 -0.62 -146.1 237.3 -9.6 211 2203 0.00 1.67 0.00 0.000 4 0.000 0.060 1615 3894 3423 0 0 0 0 0 0
2228 -0.62 -146.1 240.7 -10.6 212 2237 0.00 1.55 0.00 0.000 6 0.000 0.031 1615 2855 3423 0 0 0 0 0 0
2558 -0.62 -146.1 272.4 -9.3 230 2562 0.00 1.67 0.00 0.000 4 0.000 0.059 1607 3887 3423 0 0 0 0 0 0
2610 -0.62 -146.1 278.1 -10.6 232 2614 0.00 1.52 0.00 0.000 6 0.000 0.031 1607 2866 3423 0 0 0 0 0 0
2940 -0.62 -146.1 311.2 -10.3 248 2941 0.00 0.00 0.00 0.000 6 0.000 0.000 1607 2862 3423 0 0 0 0 0 0
3251 -0.62 -146.1 344.8 -10.9 263 3254 0.00 1.65 0.00 0.000 4 0.000 0.060 1599 3893 3423 0 0 0 0 0 0
3280 -0.62 -146.1 348.5 -10.9 264 3284 0.08 1.55 0.00 0.000 6 0.158 0.031 1638 2862 3423 0 0 0 0 0 0
3610 -0.62 -146.1 376.3 -8.4 280 3611 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2859 3423 0 0 0 0 0 0
3929 -0.62 -146.1 402.6 -8.3 295 3930 0.00 0.00 0.00 0.000 6 0.000 0.000 1638 2858 3423 0 0 0 0 0 0
4237 -0.62 -146.1 428.6 -8.8 305 4240 0.00 1.67 0.00 0.000 4 0.000 0.061 1631 3896 3422 0 0 0 0 0 0
4260 -0.62 -146.1 431.3 -9.8 305 4264 0.00 1.58 0.00 0.000 6 0.000 0.031 1631 2854 3422 0 0 0 0 0 0
4581 -0.62 -146.1 461.3 -9.4 316 4585 0.00 2.10 0.00 0.000 4 0.000 0.037 1631 1478 3422 0 0 0 0 0 0
4605 -0.62 -146.1 463.9 -10.0 316 4609 0.00 2.22 0.00 0.000 6 0.000 0.050 1621 2866 3422 0 0 0 0 0 0
4921 -0.62 -146.1 496.7 -10.8 326 4924 0.00 1.65 0.00 0.000 4 0.000 0.060 1612 3910 3422 0 0 0 0 0 0
4991 -0.62 -146.1 504.6 -10.8 328 4995 0.00 1.58 0.00 0.000 6 0.000 0.031 1612 2860 3422 0 0 0 0 0 0
5336 -0.62 -146.1 542.3 -10.8 339 5340 0.00 2.08 0.00 0.000 4 0.000 0.036 1612 1484 3422 0 0 0 0 0 0
5354 -0.62 -146.1 544.8 -10.8 339 5358 0.00 2.22 0.00 0.000 6 0.000 0.051 1602 2870 3421 0 0 0 0 0 0
5669 -0.62 -146.1 579.0 -10.6 349 5673 0.00 1.65 0.00 0.000 4 0.000 0.060 1593 3912 3421 0 0 0 0 0 0
5760 -0.62 -146.1 589.7 -11.7 351 5764 0.08 1.60 0.00 0.000 6 0.165 0.031 1625 2854 3421 0 0 0 0 0 0
6082 -0.62 -146.1 617.4 -8.4 362 6086 0.00 1.70 0.00 0.000 4 0.000 0.061 1619 3903 3421 0 0 0 0 0 0
6119 -0.62 -146.1 620.9 -9.4 363 6122 0.00 1.58 0.00 0.000 6 0.000 0.031 1619 2860 3421 0 0 0 0 0 0
6462 -0.62 -146.1 653.6 -9.4 374 6466 0.00 1.67 0.00 0.000 4 0.000 0.061 1610 3893 3421 0 0 0 0 0 0
6525 -0.62 -146.1 660.1 -10.3 375 6532 0.00 1.55 0.00 0.000 6 0.000 0.031 1610 2859 3421 0 0 0 0 0 0
6841 -0.62 -146.1 688.9 -8.8 386 6844 0.00 1.67 0.00 0.000 4 0.000 0.062 1603 3894 3421 0 0 0 0 0 0
6864 -0.62 -146.1 691.3 -9.2 386 6868 0.00 1.55 0.00 0.000 6 0.000 0.031 1603 2865 3420 0 0 0 0 0 0
7186 -0.62 -146.1 719.4 -8.7 397 7190 0.00 2.10 0.00 0.000 4 0.000 0.037 1602 1479 3420 0 0 0 0 0 0
7210 -0.62 -146.1 721.8 -8.6 397 7217 0.12 2.22 0.00 0.000 6 0.182 0.052 1622 2864 3420 0 0 0 0 0 0
7525 -0.62 -146.1 740.6 -5.6 408 7529 0.00 1.65 0.00 0.000 4 0.000 0.062 1617 3890 3420 0 0 0 0 0 0
7645 -0.62 -146.1 748.2 -6.4 411 7649 0.00 1.58 0.00 0.000 6 0.000 0.031 1617 2845 3420 0 0 0 0 0 0
7972 -0.62 -146.1 767.9 -6.3 422 7975 0.00 2.08 0.00 0.000 4 0.000 0.036 1616 1488 3419 0 0 0 0 0 0
8043 -0.62 -146.1 772.4 -6.1 424 8047 0.00 2.20 0.00 0.000 6 0.000 0.053 1606 2862 3419 0 0 0 0 0 0
8388 -0.62 -146.1 798.0 -7.6 435 8392 0.00 2.12 0.00 0.000 4 0.000 0.035 1606 1484 3419 0 0 0 0 0 0
8424 -0.62 -146.1 801.2 -8.3 436 8428 0.12 2.22 0.00 0.000 6 0.180 0.053 1627 2862 3419 0 0 0 0 0 0
8757 -0.62 -146.1 826.4 -8.1 447 8761 0.00 2.12 0.00 0.000 4 0.000 0.035 1627 1485 3419 0 0 0 0 0 0
8798 -0.62 -146.1 830.1 -7.8 448 8802 0.00 2.22 0.00 0.000 6 0.000 0.053 1618 2866 3419 0 0 0 0 0 0
9125 -0.62 -146.1 859.0 -9.2 459 9129 0.00 2.10 0.00 0.000 4 0.000 0.035 1618 1485 3419 0 0 0 0 0 0
9149 -0.62 -146.1 861.5 -9.2 459 9156 0.00 2.20 0.00 0.000 6 0.000 0.051 1607 2859 3418 0 0 0 0 0 0
9466 -0.62 -146.1 891.8 -9.9 470 9469 0.00 1.62 0.00 0.000 4 0.000 0.060 1599 3900 3418 0 0 0 0 0 0
9536 -0.62 -146.1 899.3 -11.2 472 9540 0.08 1.58 0.00 0.000 6 0.158 0.032 1632 2856 3418 0 0 0 0 0 0
9880 -0.62 -146.1 928.8 -8.4 483 9884 0.00 2.10 0.00 0.000 4 0.000 0.037 1632 1482 3418 0 0 0 0 0 0
9893 -0.62 -146.1 930.1 -8.4 483 9897 0.00 2.22 0.00 0.000 6 0.000 0.052 1623 2863 3418 0 0 0 0 0 0
10220 -0.62 -146.1 958.0 -8.4 494 10224 0.00 1.65 0.00 0.000 4 0.000 0.062 1615 3902 3418 0 0 0 0 0 0
10266 -0.62 -146.1 962.5 -9.3 495 10270 0.00 1.58 0.00 0.000 6 0.000 0.032 1615 2862 3417 0 0 0 0 0 0
10598 -0.62 -146.1 990.4 -8.4 506 10602 0.00 2.10 0.00 0.000 4 0.000 0.037 1615 1482 3417 0 0 0 0 0 0
10639 -0.62 -146.1 994.0 -7.4 507 10643 0.00 2.22 0.00 0.000 6 0.000 0.053 1605 2859 3417 0 0 0 0 0 0
10716 end dive: TARGET_DEPTH_EXCEEDED
state 10716 begin apogee
10727 -0.18 0.0 1000.4 8.3 510 10876 0.55 0.00 145.95 1.248 6 0.158 0.000 1765 2668 2819 0 0 0 0 0 0
10878 end apogee: CONTROL_FINISHED_OK
state 10878 begin climb
10883 0.62 146.1 1003.7 0.0 515 11072 0.80 2.53 162.70 1.769 4 0.092 0.044 2036 1283 2226 0 0 0 0 3 0
11132 0.62 146.1 967.5 18.4 522 11136 0.00 2.40 0.00 0.000 6 0.000 0.050 2036 2662 2224 0 0 0 0 0 0
11447 0.62 146.1 902.4 20.8 532 11451 0.00 2.22 0.00 0.000 4 0.000 0.043 2045 1273 2220 0 0 0 0 0 0
11471 0.62 146.1 897.1 20.3 532 11475 0.00 2.28 0.00 0.000 6 0.000 0.050 2045 2672 2219 0 0 0 0 0 0
11786 0.62 146.1 830.3 21.7 542 11790 0.00 2.22 0.00 0.000 4 0.000 0.044 2056 1271 2219 0 0 0 0 0 0
11838 0.62 146.1 819.4 19.6 543 11842 0.00 2.28 0.00 0.000 6 0.000 0.051 2056 2673 2217 0 0 0 0 0 0
12153 0.62 146.1 751.8 21.6 553 12157 0.00 2.20 0.00 0.000 4 0.000 0.043 2066 1276 2217 0 0 0 0 0 0
12177 0.62 146.1 746.4 20.2 553 12185 0.15 2.25 0.00 0.000 6 0.210 0.050 2032 2674 2217 0 0 0 0 0 0
12494 0.62 146.1 685.3 19.1 564 12498 0.00 2.20 0.00 0.000 4 0.000 0.043 2041 1270 2216 0 0 0 0 0 0
12518 0.62 146.1 680.4 17.8 564 12525 0.00 2.25 0.00 0.000 6 0.000 0.050 2041 2672 2216 0 0 0 0 0 0
12833 0.62 146.1 620.5 19.5 575 12837 0.00 2.20 0.00 0.000 4 0.000 0.043 2051 1271 2216 0 0 0 0 0 0
12852 0.62 146.1 616.6 19.5 575 12856 0.00 2.25 0.00 0.000 6 0.000 0.050 2052 2670 2216 0 0 0 0 0 0
13172 0.62 146.1 552.7 20.4 586 13176 0.00 2.17 0.00 0.000 4 0.000 0.044 2062 1274 2216 0 0 0 0 0 0
13204 0.62 146.1 546.5 18.9 587 13208 0.12 2.25 0.00 0.000 6 0.211 0.051 2034 2670 2215 0 0 0 0 0 0
13542 0.62 146.1 482.1 19.0 598 13546 0.00 2.20 0.00 0.000 4 0.000 0.043 2043 1271 2215 0 0 0 0 0 0
13577 0.62 146.1 475.3 17.3 599 13581 0.00 2.22 0.00 0.000 6 0.000 0.050 2043 2669 2214 0 0 0 0 0 0
13909 0.62 146.1 411.3 19.4 610 13913 0.00 2.20 0.00 0.000 4 0.000 0.043 2053 1273 2214 0 0 0 0 0 0
13928 0.62 146.1 407.5 18.9 610 13932 0.00 2.22 0.00 0.000 6 0.000 0.050 2053 2670 2214 0 0 0 0 0 0
14246 0.62 146.1 347.7 18.5 624 14250 0.00 2.20 0.00 0.000 4 0.000 0.042 2063 1270 2214 0 0 0 0 0 0
14289 0.62 146.1 340.3 16.1 626 14293 0.12 2.25 0.00 0.000 6 0.209 0.051 2035 2669 2213 0 0 0 0 0 0
14619 0.62 146.1 283.5 17.3 642 14621 0.00 0.00 0.00 0.000 6 0.000 0.000 2035 2670 2213 0 0 0 0 0 0
14937 0.62 146.1 228.7 17.2 659 14941 0.00 2.17 0.00 0.000 4 0.000 0.042 2044 1277 2213 0 0 0 0 0 0
14973 0.62 146.1 222.2 15.5 661 14977 0.00 2.22 0.00 0.000 6 0.000 0.050 2044 2670 2213 0 0 0 0 0 0
15300 0.62 146.1 166.9 16.3 682 15304 0.00 2.17 0.00 0.000 4 0.000 0.042 2054 1273 2213 0 0 0 0 0 0
15385 0.62 146.1 153.9 15.6 687 15389 0.00 2.22 0.00 0.000 6 0.000 0.051 2054 2669 2212 0 0 0 0 0 0
15714 0.62 146.1 99.6 15.8 708 15723 0.00 2.22 0.00 0.000 4 0.000 0.043 2064 1272 2213 0 0 0 0 0 0
15764 0.62 146.1 92.5 13.4 715 15769 0.12 2.25 0.00 0.000 6 0.202 0.051 2036 2669 2212 0 0 0 0 0 0
16122 0.62 146.1 41.9 13.1 776 16131 0.00 2.20 0.00 0.000 4 0.000 0.041 2045 1281 2212 0 0 0 0 0 0
16232 0.62 146.1 28.2 11.2 793 16241 0.00 2.25 0.00 0.000 6 0.000 0.050 2045 2666 2211 0 0 0 0 0 0
16320 0.62 146.1 16.2 13.8 806 16330 0.00 1.98 0.00 0.000 4 0.000 0.058 2045 3893 2212 0 0 0 0 0 0
16343 0.62 146.1 12.6 14.6 808 16352 0.00 1.90 0.00 0.000 6 0.000 0.039 2054 2677 2213 0 0 0 0 0 0
16402 end climb: SURFACE_DEPTH_REACHED
state 16402 begin surface coast
16422 end surface coast: CONTROL_FINISHED_OK
state 16422 begin surface