DavisStrait Sep10 * SG183 * Dive index * Mission links * Dive 415 * 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  415 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  4
D_ABORT  1050 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  3
D_NO_BLEED  50 SM_CC  609.0799 R_PORT_OVSHOOT  35 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  4 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  -2 T_GPS_CHARGE  -8276.2773 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  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  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  271110,141538,6648.656,-5914.910,28,1.0,28,-37.9 TGT_NAME  TARGET_E
_CALLS  1 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.63 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -64.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  271110,142649,6648.668,-5914.835,14,1.5,19,-37.9 MHEAD_RNG_PITCHd_Wd  113.8,109308,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  977

Post-dive calculations and measurements:
FREEZE  1.14,-1.398,-1.460,2,1,0 ALTIM_TOP_PING  19.8,19.1
FINISH  1.1,1.021522 _24V_AH  21.6,50.183
SM_CCo  18965,187.12,0.090,0,0,440,609.08 _10V_AH  9.9,37.482
SM_GC  1.79,0.00,0.00,187.12,0.000,0.000,0.090,296,2781,440,-6.80,0.03,609.08 FG_AHR_24Vo  0.000
RAFOS_CLK  1046 FG_AHR_10Vo  0.000
RAFOS  0,1290873686,16.033333,16.023890,49,47,45,43,43,42,671,1837,680,1254,1279,1180 MEM  151608
RAFOS_FIX  6650.151855,-5918.625488,271110,121238,5,84,0.25 DATA_FILE_SIZE  46634,1298
IRIDIUM_FIX  6620.33,-5909.66,261110,232313 CAP_FILE_SIZE  189234,0
TT8_MAMPS  0.029211 CFSIZE  260165632,220471296
HUMID  46.29 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  8.41676 SOUNDSPEED  1454.8
TCM_TEMP  14.30 GPS  271110,194824,6650.682,-5908.530,62,1.1,62,-37.9
XPDR_PINGS  0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20258112.26 SBE_CT90524469.42
Roll_motor14488276.59 SBE_O2000.00
VBD_pump_during_apogee417121910991.37 nil000.00
VBD_pump_during_surface18789361.77 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3210372.64 nil000.00
Iridium_during_connect45160157.53 nil000.00
Iridium_during_xfer3502231686.63 nil000.00
Transponder_ping342034.02 nil000.00
GUMSTIX_24V000.00
GPS215010.89
TT8326819644.56
LPSleep127102290.67
TT8_Active75519148.99
TT8_Sampling2676391057.81
TT8_CF841445188.53
TT8_Kalman000.00
Analog_circuits198812236.27
GPS_charging000.00
Compass222515330.54
RAFOS2520374.84
Transponder29308.66

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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
17 -0.57 -146.0 0.0 0.0 0 149 0.00 0.00 -129.50 0.000 2 0.000 0.000 289 2786 3088 0 0 0 0 0 0
153 -0.57 -146.0 5.6 -13.2 23 178 8.55 1.98 -8.75 0.000 4 0.259 0.088 2277 3926 3523 0 0 0 0 0 0
248 -0.49 -146.0 31.7 -18.5 39 256 0.15 1.85 0.00 0.000 6 0.176 0.050 2315 2781 3525 0 0 0 0 0 0
595 -0.52 -146.0 67.4 -9.4 100 601 0.00 2.25 0.00 0.000 4 0.000 0.054 2315 1373 3524 0 0 0 0 0 0
672 -0.61 -146.0 74.2 -8.5 113 679 0.10 2.33 0.00 0.000 6 0.118 0.064 2266 2760 3525 0 0 0 0 0 0
1010 -0.57 -146.0 117.1 -12.5 162 1014 0.00 2.22 0.00 0.000 4 0.000 0.052 2266 1370 3525 0 0 0 0 0 0
1056 -0.57 -146.0 122.7 -11.8 166 1060 0.00 2.28 0.00 0.000 6 0.000 0.064 2266 2746 3524 0 0 0 0 0 0
1381 -0.55 -146.0 162.5 -11.6 196 1386 0.12 2.03 0.00 0.000 4 0.189 0.075 2298 3928 3524 0 0 0 0 0 0
1477 -0.63 -146.0 171.3 -8.5 204 1484 0.00 1.90 0.00 0.000 6 0.000 0.050 2298 2745 3524 0 0 0 0 0 0
1803 -0.69 -146.0 198.3 -8.1 235 1807 0.15 2.20 0.00 0.000 4 0.096 0.053 2237 1368 3523 0 0 0 0 0 0
1843 -0.65 -146.0 202.9 -12.2 238 1848 0.12 2.30 0.00 0.000 6 0.189 0.064 2266 2759 3524 0 0 0 0 0 0
2170 -0.65 -146.0 235.2 -9.1 268 2171 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2760 3523 0 0 0 0 0 0
2488 -0.65 -146.0 261.7 -7.7 298 2490 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2760 3523 0 0 0 0 0 0
2810 -0.67 -146.0 287.9 -8.5 328 2814 0.00 2.22 0.00 0.000 4 0.000 0.052 2266 1371 3523 0 0 0 0 0 0
2839 -0.70 -146.0 290.9 -9.1 330 2843 0.00 2.28 0.00 0.000 6 0.000 0.063 2266 2745 3523 0 0 0 0 0 0
3170 -0.73 -146.0 319.4 -8.7 361 3174 0.00 1.98 0.00 0.000 4 0.000 0.074 2263 3928 3523 0 0 0 0 0 0
3209 -0.75 -146.0 323.1 -9.5 364 3215 0.00 1.90 0.00 0.000 6 0.000 0.049 2263 2739 3523 0 0 0 0 0 0
3534 -0.78 -146.0 352.1 -9.0 395 3536 0.12 0.00 0.00 0.000 6 0.107 0.000 2208 2740 3524 0 0 0 0 0 0
3853 -0.69 -146.0 391.7 -12.5 425 3858 0.15 2.05 0.00 0.000 4 0.185 0.073 2240 3935 3524 0 0 0 0 0 0
3910 -0.69 -146.0 398.2 -10.6 430 3913 0.00 1.88 0.00 0.000 6 0.000 0.047 2240 2758 3524 0 0 0 0 0 0
4240 -0.69 -146.0 433.7 -10.8 461 4244 0.00 2.20 0.00 0.000 4 0.000 0.050 2240 1360 3524 0 0 0 0 0 0
4273 -0.69 -146.0 437.2 -11.0 463 4279 0.00 2.30 0.00 0.000 6 0.000 0.062 2238 2762 3524 0 0 0 0 0 0
4598 -0.69 -146.0 473.1 -11.1 494 4601 0.00 1.95 0.00 0.000 4 0.000 0.072 2235 3931 3525 0 0 0 0 0 0
4625 -0.67 -146.0 476.3 -11.1 496 4632 0.00 1.90 0.00 0.000 6 0.000 0.047 2235 2761 3525 0 0 0 0 0 0
4949 -0.65 -146.0 510.8 -10.8 521 4953 0.12 2.22 0.00 0.000 4 0.184 0.050 2268 1362 3525 0 0 0 0 0 0
4981 -0.70 -146.0 514.3 -9.0 522 4985 0.00 2.30 0.00 0.000 6 0.000 0.061 2266 2761 3525 0 0 0 0 0 0
5312 -0.74 -146.0 541.2 -8.2 533 5313 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2761 3525 0 0 0 0 0 0
5618 -0.78 -146.0 565.8 -8.1 543 5619 0.12 0.00 0.00 0.000 6 0.109 0.000 2212 2762 3526 0 0 0 0 0 0
5925 -0.72 -146.0 600.5 -11.5 553 5927 0.12 0.00 0.00 0.000 6 0.185 0.000 2243 2762 3526 0 0 0 0 0 0
6230 -0.72 -146.0 629.3 -9.2 563 6231 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2762 3526 0 0 0 0 0 0
6536 -0.72 -146.0 657.1 -9.1 573 6540 0.00 2.22 0.00 0.000 4 0.000 0.050 2243 1363 3526 0 0 0 0 0 0
6557 -0.72 -146.0 659.3 -9.5 573 6561 0.00 2.30 0.00 0.000 6 0.000 0.061 2243 2762 3526 0 0 0 0 0 0
6870 -0.72 -146.0 686.4 -8.8 583 6874 0.00 1.95 0.00 0.000 4 0.000 0.071 2238 3931 3526 0 0 0 0 0 0
6909 -0.72 -146.0 690.3 -9.9 584 6913 0.00 1.90 0.00 0.000 6 0.000 0.047 2238 2766 3527 0 0 0 0 0 0
7246 -0.72 -146.0 719.8 -8.7 595 7247 0.00 0.00 0.00 0.000 6 0.000 0.000 2238 2766 3526 0 0 0 0 0 0
7554 -0.72 -146.0 746.1 -8.6 605 7555 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 2766 3527 0 0 0 0 0 0
7857 -0.72 -146.0 772.3 -8.5 615 7861 0.00 2.20 0.00 0.000 4 0.000 0.050 2237 1368 3527 0 0 0 0 0 0
7886 -0.72 -146.0 775.0 -8.9 616 7891 0.00 2.30 0.00 0.000 6 0.000 0.061 2237 2768 3527 0 0 0 0 0 0
8223 -0.72 -146.0 803.7 -8.6 627 8224 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 2768 3527 0 0 0 0 0 0
8532 -0.72 -146.0 831.2 -9.0 637 8533 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 2768 3527 0 0 0 0 0 0
8834 -0.72 -146.0 858.8 -8.9 647 8838 0.00 2.25 0.00 0.000 4 0.000 0.050 2237 1362 3527 0 0 0 0 0 0
8866 -0.72 -146.0 862.0 -9.0 648 8870 0.00 2.30 0.00 0.000 6 0.000 0.061 2237 2766 3527 0 0 0 0 0 0
9202 -0.72 -146.0 891.7 -8.9 659 9206 0.00 2.00 0.00 0.000 4 0.000 0.072 2235 3949 3527 0 0 0 0 0 0
9229 -0.72 -146.0 894.4 -9.6 659 9236 0.00 1.95 0.00 0.000 6 0.000 0.047 2235 2757 3528 0 0 0 0 0 0
9543 -0.72 -146.0 923.6 -9.6 670 9544 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2757 3527 0 0 0 0 0 0
9850 -0.72 -146.0 952.3 -9.1 680 9851 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2757 3528 0 0 0 0 0 0
10122 end dive: TARGET_DEPTH_EXCEEDED
state 10122 begin apogee
10127 -0.14 0.0 978.3 9.6 689 10260 0.60 0.00 128.43 1.219 4 0.143 0.000 2426 2594 2923 0 0 0 0 0 0
10261 end apogee: CONTROL_FINISHED_OK
state 10261 begin climb
10263 0.57 146.0 982.9 0.0 693 10407 0.70 2.47 135.90 1.194 4 0.067 0.050 2666 1185 2328 0 0 0 0 0 0
10525 0.53 146.0 961.6 11.5 701 10529 0.00 2.50 0.00 0.000 6 0.000 0.056 2666 2600 2321 0 0 0 0 0 0
10839 0.46 146.0 922.5 12.7 711 10844 0.17 2.35 0.00 0.000 4 0.197 0.055 2625 1188 2316 0 0 0 0 0 0
11070 0.50 150.4 900.0 9.8 718 11074 0.00 2.35 0.00 0.000 6 0.000 0.057 2625 2601 2316 0 0 0 0 0 0
11405 0.50 150.4 865.4 10.5 729 11409 0.00 2.22 0.00 0.000 4 0.000 0.067 2625 3932 2314 0 0 0 0 0 0
11432 0.45 150.4 862.0 12.2 729 11439 0.00 2.15 0.00 0.000 6 0.000 0.044 2625 2588 2313 0 0 0 0 0 0
11744 0.45 150.4 829.6 10.2 740 11746 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2588 2313 0 0 0 0 0 0
12051 0.45 150.4 798.0 10.2 750 12052 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2588 2313 0 0 0 0 0 0
12357 0.45 150.4 766.7 10.2 760 12361 0.00 2.25 0.00 0.000 4 0.000 0.068 2625 3929 2313 0 0 0 0 0 0
12400 0.40 150.4 761.4 11.4 761 12405 0.00 2.15 0.00 0.000 6 0.000 0.044 2628 2606 2312 0 0 0 0 0 0
12731 0.40 150.4 726.3 10.9 772 12732 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 2606 2312 0 0 0 0 0 0
13036 0.40 150.4 693.6 10.6 782 13041 0.00 2.22 0.00 0.000 4 0.000 0.068 2628 3937 2312 0 0 0 0 0 0
13058 0.36 150.4 690.9 11.7 782 13066 0.15 2.15 0.00 0.000 6 0.202 0.044 2593 2596 2311 0 0 0 0 0 0
13372 0.44 187.1 664.3 8.3 793 13409 0.00 0.00 34.47 1.014 6 0.000 0.000 2593 2595 2160 0 0 0 0 0 0
13708 0.55 221.4 635.8 8.4 804 13741 0.17 0.00 30.85 0.992 6 0.089 0.000 2665 2596 2020 0 0 0 0 0 0
14044 0.52 221.4 591.0 13.6 815 14048 0.00 2.25 0.00 0.000 4 0.000 0.053 2666 1194 2013 0 0 0 0 0 0
14060 0.50 221.4 588.4 13.6 815 14064 0.00 2.33 0.00 0.000 6 0.000 0.054 2666 2613 2013 0 0 0 0 0 0
14385 0.47 221.4 543.4 14.0 826 14389 0.15 2.20 0.00 0.000 4 0.193 0.067 2627 3929 2011 0 0 0 0 0 0
14406 0.47 221.4 540.4 13.5 826 14410 0.00 2.12 0.00 0.000 6 0.000 0.044 2627 2604 2010 0 0 0 0 0 0
14724 0.52 221.4 506.2 10.4 837 14729 0.00 2.25 0.00 0.000 4 0.000 0.052 2627 1187 2010 0 0 0 0 0 0
14752 0.61 230.2 503.3 9.6 837 14767 0.12 2.33 7.68 0.838 6 0.101 0.054 2679 2620 1984 0 0 0 0 0 0
15089 0.56 230.2 457.6 14.0 867 15093 0.00 2.17 0.00 0.000 4 0.000 0.065 2679 3925 1982 0 0 0 0 0 0
15118 0.49 230.2 453.3 15.2 869 15122 0.17 2.12 0.00 0.000 6 0.196 0.044 2636 2600 1981 0 0 0 0 0 0
15443 0.54 230.2 417.9 11.0 899 15447 0.00 2.25 0.00 0.000 4 0.000 0.052 2636 1185 1981 0 0 0 0 0 0
15460 0.59 230.2 416.2 10.5 900 15464 0.00 2.30 0.00 0.000 6 0.000 0.053 2636 2612 1981 0 0 0 0 0 0
15790 0.64 230.2 380.0 10.8 931 15792 0.12 0.00 0.00 0.000 6 0.104 0.000 2687 2612 1981 0 0 0 0 0 0
16109 0.59 230.2 332.0 15.0 961 16113 0.00 2.17 0.00 0.000 4 0.000 0.065 2688 3934 1981 0 0 0 0 0 0
16142 0.51 230.2 326.2 17.4 963 16150 0.20 2.10 0.00 0.000 6 0.190 0.043 2640 2616 1979 0 0 0 0 0 0
16468 0.55 230.2 288.9 11.1 994 16472 0.00 2.25 0.00 0.000 4 0.000 0.052 2640 1185 1979 0 0 0 0 0 0
16502 0.64 234.8 285.4 9.8 996 16512 0.12 2.33 5.20 0.679 6 0.103 0.054 2690 2621 1965 0 0 0 0 0 0
16838 0.60 234.8 241.0 12.7 1028 16842 0.00 2.15 0.00 0.000 4 0.000 0.065 2690 3927 1964 0 0 0 0 0 0
16894 0.53 234.8 232.6 15.5 1032 16902 0.17 2.05 0.00 0.000 6 0.192 0.043 2648 2627 1963 0 0 0 0 0 0
17220 0.58 234.9 199.4 10.0 1063 17225 0.00 2.25 0.00 0.000 4 0.000 0.051 2648 1192 1963 0 0 0 0 0 0
17255 0.70 265.8 196.1 8.6 1065 17289 0.15 2.33 27.65 0.747 6 0.096 0.054 2708 2624 1839 0 0 0 0 0 0
17608 0.67 265.8 146.9 13.3 1098 17612 0.00 2.17 0.00 0.000 4 0.000 0.066 2708 3935 1833 0 0 0 0 0 0
17681 0.60 265.8 135.8 15.5 1104 17686 0.15 2.10 0.00 0.000 6 0.195 0.044 2673 2630 1832 0 0 0 0 0 0
18008 0.66 265.8 100.0 10.5 1134 18015 0.00 2.30 0.00 0.000 4 0.000 0.053 2673 1192 1832 0 0 0 0 0 0
18084 0.78 285.8 92.3 9.1 1147 18110 0.15 2.35 17.55 0.692 6 0.099 0.054 2734 2645 1756 0 0 0 0 0 0
18448 0.76 285.8 43.0 12.4 1211 18455 0.00 2.15 0.00 0.000 4 0.000 0.067 2734 3928 1750 0 0 0 0 0 0
18540 0.71 285.8 30.2 12.8 1227 18548 0.12 2.08 0.00 0.000 6 0.206 0.045 2707 2640 1749 0 0 0 0 0 0
18884 0.83 345.2 4.8 7.3 1288 18916 0.12 0.00 29.58 0.656 2 0.106 0.000 2756 2639 1612 0 0 0 0 0 0
18917 end climb: SURFACE_DEPTH_REACHED
state 18917 begin surface coast
18950 end surface coast: FINISH_DEPTH_REACHED
state 18950 begin surface