SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 463 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  573 HD_B  0.010078 ROLL_MIN  150 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 HD_C  9.8500004e-06 ROLL_MAX  3785 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  463 HEADING  -1 ROLL_DEG  40 ALTIM_PING_DEPTH  1050
D_SURF  3 ESCAPE_HEADING  0 C_ROLL_DIVE  1910 ALTIM_PING_DELTA  5
D_FLARE  3 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1585 ALTIM_FREQUENCY  13
D_TGT  1000 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  15 ALTIM_PULSE  3
D_ABORT  1100 TGT_DEFAULT_LAT  -4235 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_NO_BLEED  200 TGT_DEFAULT_LON  -200 ROLL_TIMEOUT  15 XPDR_VALID  5
D_BOOST  0 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  27 XPDR_INHIBIT  90
T_BOOST  0 SM_CC  200 R_STBD_OVSHOOT  33 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST_BLACKOUT  0 N_FILEKB  4 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.55000001
D_FINISH  0 FILEMGR  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  0 KERMIT  0 ROLL_GAIN_P  0.5 DEVICE1  2
SURFACE_URGENCY  0 N_NOCOMM  1 VBD_MIN  409 DEVICE2  115
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE3  20
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 C_VBD  2862 DEVICE4  134
T_DIVE  340 CALL_TRIES  5 VBD_DBAND  2 DEVICE5  -1
T_MISSION  355 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE6  -1
T_ABORT  720 CAPUPLOAD  0 VBD_TIMEOUT  720 LOGGERS  1
T_TURN  225 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  4.9999999e-05 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_LOITER  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_ALMANAC  0 UNCOM_BLEED  60 COMPASS_DEVICE  33
USE_ICE  0 T_GPS_CHARGE  -5781.5093 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 PHONE_DEVICE  48
D_OFFGRID  100 STROBE  0 AH0_24V  150 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 RAFOS_DEVICE  -1
RELAUNCH  0 RAFOS_CORR_THRESH  60 MINV_24V  20 XPDR_DEVICE  24
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 SIM_W  0
MAX_BUOY  170 PITCH_MIN  100 FG_AHR_10V  0 SIM_PITCH  0
COURSE_BIAS  0 PITCH_MAX  3858 FG_AHR_24V  0 SEABIRD_T_G  0.0042828661
GLIDE_SLOPE  30 C_PITCH  3049 PHONE_SUPPLY  2 SEABIRD_T_H  0.00061930995
SPEED_FACTOR  1 PITCH_DBAND  0.0099999998 PRESSURE_YINT  -87.947678 SEABIRD_T_I  2.1971719e-05
RHO  1.0278 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011693723 SEABIRD_T_J  2.301111e-06
MASS  52752 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_C_G  -9.9469662
LENGTH  1.8 PITCH_GAIN  17 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.155618
NAV_MODE  1 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0016006827
DIRECT_CONTROL  0 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_J  0.00019558761
FERRY_MAX  45 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 EBE_ENABLE  0
KALMAN_USE  0 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  0 GC_WINDOW  20
HD_A  0.0038360001 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  20 GC_LAST_COLLECTION  442

Pre-dive calculations and measurements:
GPS1  120113,235706,-4231.403,-411.453,37,1.2,37,-22.1 TGT_NAME  ACC_WP1
_CALLS  1 TGT_LATLONG  -4330.000,-230.000
_XMS_NAKs  0 TGT_RADIUS  6000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.236,0.139
_SM_DEPTHo  2.98 KALMAN_X  -181617.3,-10.2,357.8,332265.4,-4292.4
_SM_ANGLEo  -63.0 KALMAN_Y  -140781.3,-56.8,1379.2,72430.0,-3230.7
GPS2  130113,000455,-4231.374,-411.495,42,1.7,43,-22.1 MHEAD_RNG_PITCHd_Wd  81.6,174296,-16.8,-9.804
SPEED_LIMITS  0.170,0.273 D_GRID  1000

Post-dive calculations and measurements:
FINISH  2.4,1.016074 _10V_AH  9.9,61.902
SM_CCo  20477,0.00,0.000,0,0,1136,423.14 FG_AHR_24Vo  0.000
SM_GC  3.22,8.57,0.00,0.00,0.031,0.000,0.000,81,1915,1136,-9.19,0.14,423.14 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4215.72,-414.29,120113,181833 MEM  354564
TT8_MAMPS  0.026964 DATA_FILE_SIZE  56910,958
HUMID  49.01 CAP_FILE_SIZE  161946,0
INTERNAL_PRESSURE  9.06951 CFSIZE  2097086464,2033221632
TCM_TEMP  14.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS  1 GPS  130113,054824,-4231.756,-411.492,43,1.1,43,-22.1
_24V_AH  22.3,78.453

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22211105.82 SBE_CT64324344.46
Roll_motor576887.98 WL_BB2FLVMT8881052080.60
VBD_pump_during_apogee527125614796.38 SBE_O264919275.22
VBD_pump_during_surface000.00 QSP21507547.33
VBD_valve000.00 nil000.00
Iridium_during_init2810364.38 nil000.00
Iridium_during_connect36160131.54 nil000.00
Iridium_during_xfer2362231178.30 nil000.00
Transponder_ping04202.34 nil000.00
GUMSTIX_24V000.00
GPS452612.17
TT8243114360.07
LPSleep147732320.31
TT8_Active5781481.33
TT8_Sampling2923371083.36
TT8_CF823447109.29
TT8_Kalman335919.54
Analog_circuits175412208.46
GPS_charging000.00
Compass255315397.58
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
23 end surface: CONTROL_FINISHED_OK
state 23 begin dive
25 -1.00 -165.4 0.0 0.0 0 41 0.00 0.00 -13.50 0.000 2 0.000 0.000 82 1914 1144 0 0 0 0 0 0
43 -1.00 -165.4 3.1 -2.0 2 165 10.43 2.33 -104.10 0.000 4 0.211 0.069 2725 500 3537 0 0 0 0 0 0
180 -1.00 -165.4 6.4 -9.2 24 187 0.00 2.28 0.00 0.000 6 0.000 0.047 2714 1905 3538 0 0 0 0 0 0
261 -0.96 -165.4 16.3 -11.6 37 269 0.08 2.35 0.00 0.000 4 0.188 0.060 2734 498 3539 0 0 0 0 0 0
348 -0.96 -165.4 27.7 -11.5 51 356 0.03 2.28 0.00 0.000 6 0.174 0.047 2733 1909 3539 0 0 0 0 0 0
426 -0.99 -165.4 35.5 -10.7 64 433 0.00 0.40 0.00 0.000 4 0.000 0.060 2732 2189 3539 0 0 0 0 0 0
572 -0.99 -165.4 50.3 -10.7 89 577 0.00 0.45 0.00 0.000 6 0.000 0.058 2732 1891 3539 0 0 0 0 0 0
804 -1.01 -165.4 75.1 -10.6 118 805 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 1891 3540 0 0 0 0 0 0
1120 -1.01 -165.4 107.4 -10.8 146 1121 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 1891 3540 0 0 0 0 0 0
1432 -1.05 -165.4 140.0 -9.8 166 1436 0.05 0.52 0.00 0.000 4 0.166 0.058 2694 1549 3540 0 0 0 0 0 0
1526 -1.02 -165.4 150.1 -10.1 171 1532 0.08 0.55 0.00 0.000 6 0.135 0.054 2719 1907 3540 0 0 0 0 0 0
1847 -1.02 -165.4 180.5 -9.0 192 1850 0.00 0.98 0.00 0.000 4 0.000 0.054 2719 1289 3540 0 0 0 0 0 0
1902 -1.02 -165.4 186.1 -9.7 195 1906 0.00 0.98 0.00 0.000 6 0.000 0.048 2715 1911 3540 0 0 0 0 0 0
2238 -1.02 -165.4 216.4 -9.1 214 2239 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 1911 3540 0 0 0 0 0 0
2548 -1.04 -165.4 245.6 -9.6 229 2549 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 1911 3541 0 0 0 0 0 0
2857 -1.07 -165.4 275.4 -9.7 244 2858 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 1911 3541 0 0 0 0 0 0
3184 -1.09 -165.4 307.5 -9.6 259 3186 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 1911 3541 0 0 0 0 0 0
3490 -1.09 -165.4 336.4 -9.4 269 3491 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 1911 3541 0 0 0 0 0 0
3797 -1.11 -165.4 364.9 -9.2 279 3801 0.08 1.17 0.00 0.000 4 0.119 0.054 2667 1182 3541 0 0 0 0 0 0
3852 -1.04 -165.4 370.5 -9.8 280 3856 0.12 1.15 0.00 0.000 6 0.139 0.048 2704 1913 3541 0 0 0 0 0 0
4170 -1.04 -165.4 400.6 -9.6 291 4171 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1913 3541 0 0 0 0 0 0
4476 -1.04 -165.4 430.4 -10.0 301 4477 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 1913 3540 0 0 0 0 0 0
4782 -1.04 -165.4 461.1 -10.2 311 4785 0.00 1.27 0.00 0.000 4 0.000 0.055 2704 1121 3540 0 0 0 0 0 0
4859 -1.04 -165.4 469.5 -10.3 313 4864 0.00 1.25 0.00 0.000 6 0.000 0.048 2699 1908 3540 0 0 0 0 0 0
5189 -1.04 -165.4 503.6 -10.3 324 5193 0.00 1.12 0.00 0.000 4 0.000 0.054 2699 1202 3539 0 0 0 0 0 0
5250 -1.04 -165.4 510.3 -10.3 325 5256 0.05 1.12 0.00 0.000 6 0.152 0.047 2713 1913 3539 0 0 0 0 0 0
5563 -1.08 -165.4 542.6 -10.5 336 5567 0.00 1.33 0.00 0.000 4 0.000 0.055 2713 1093 3539 0 0 0 0 0 0
5646 -1.08 -165.4 551.9 -11.1 338 5650 0.00 1.30 0.00 0.000 6 0.000 0.047 2706 1910 3539 0 0 0 0 0 0
5971 -1.08 -165.4 586.3 -10.7 349 5974 0.00 0.80 0.00 0.000 4 0.000 0.055 2707 1392 3538 0 0 0 0 0 0
6054 -1.08 -165.4 595.5 -10.9 351 6058 0.00 0.82 0.00 0.000 6 0.000 0.051 2703 1913 3538 0 0 0 0 0 0
6378 -1.08 -165.4 629.4 -10.5 362 6379 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 1913 3537 0 0 0 0 0 0
6685 -1.10 -165.4 660.6 -10.0 372 6688 0.00 0.57 0.00 0.000 4 0.000 0.057 2703 1538 3537 0 0 0 0 0 0
6757 -1.12 -165.4 667.8 -9.9 374 6761 0.00 0.57 0.00 0.000 6 0.000 0.054 2701 1908 3536 0 0 0 0 0 0
7093 -1.15 -165.4 698.4 -8.9 385 7095 0.05 0.00 0.00 0.000 6 0.163 0.000 2660 1908 3535 0 0 0 0 0 0
7399 -1.10 -165.4 725.6 -8.8 395 7401 0.12 0.00 0.00 0.000 6 0.161 0.000 2695 1908 3535 0 0 0 0 0 0
7705 -1.10 -165.4 751.4 -8.4 405 7706 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 1908 3534 0 0 0 0 0 0
8011 -1.10 -165.4 779.0 -9.1 415 8015 0.00 0.60 0.00 0.000 4 0.000 0.057 2695 1513 3534 0 0 0 0 0 0
8072 -1.10 -165.4 785.0 -9.6 416 8077 0.00 0.62 0.00 0.000 6 0.000 0.054 2692 1918 3534 0 0 0 0 0 0
8385 -1.10 -165.4 816.4 -10.5 427 8386 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 1919 3533 0 0 0 0 0 0
8691 -1.10 -165.4 850.6 -11.4 437 8692 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 1919 3532 0 0 0 0 0 0
8997 -1.10 -165.4 886.1 -11.5 447 9001 0.00 0.60 0.00 0.000 4 0.000 0.058 2692 1533 3531 0 0 0 0 0 0
9137 -1.10 -165.4 901.9 -11.5 451 9141 0.00 0.60 0.00 0.000 6 0.000 0.056 2690 1910 3531 0 0 0 0 0 0
9472 -1.10 -165.4 936.3 -10.0 462 9476 0.00 0.47 0.00 0.000 4 0.000 0.062 2687 2231 3530 0 0 0 0 0 0
9556 -1.10 -165.4 944.1 -9.5 464 9560 0.00 0.50 0.00 0.000 6 0.000 0.057 2687 1912 3530 0 0 0 0 0 0
9880 -1.10 -165.4 973.9 -9.1 475 9881 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 1912 3529 0 0 0 0 0 0
10184 end dive: TARGET_DEPTH_EXCEEDED
state 10184 begin apogee
10190 -0.29 0.0 1000.8 8.6 485 10337 0.82 0.00 143.68 1.257 6 0.118 0.000 2950 1581 2862 0 0 0 0 0 0
10338 end apogee: CONTROL_FINISHED_OK
state 10338 begin climb
10340 1.00 165.4 1010.3 0.0 490 10496 1.20 0.62 149.38 1.221 4 0.063 0.053 3371 1206 2188 0 0 0 0 0 0
10561 0.83 225.6 1008.0 7.4 497 10622 0.17 0.62 55.80 1.193 6 0.149 0.049 3320 1582 1942 0 0 0 0 0 0
10929 0.78 287.9 980.3 7.3 509 10991 0.08 1.30 55.97 1.204 4 0.197 0.053 3303 2387 1687 0 0 0 0 0 0
11074 0.78 339.0 969.1 7.8 513 11126 0.00 1.33 47.25 1.189 6 0.000 0.054 3307 1588 1480 0 0 0 0 0 0
11456 0.84 387.9 938.4 7.9 526 11504 0.00 0.00 45.30 1.186 6 0.000 0.000 3307 1588 1280 0 0 0 0 0 0
11793 0.95 419.7 909.8 8.5 537 11826 0.12 0.00 30.52 1.164 6 0.086 0.000 3378 1588 1150 0 0 0 0 0 0
12128 0.95 419.7 876.1 9.9 548 12133 0.10 0.75 0.00 0.000 4 0.159 0.063 3354 1121 1142 0 0 0 0 0 0
12234 1.01 419.7 865.6 10.2 551 12238 0.00 0.75 0.00 0.000 6 0.000 0.050 3354 1589 1142 0 0 0 0 0 0
12569 1.06 419.7 832.2 9.9 562 12571 0.10 0.00 0.00 0.000 6 0.097 0.000 3405 1589 1140 0 0 0 0 0 0
12875 1.03 419.7 798.9 11.0 572 12879 0.10 0.75 0.00 0.000 4 0.166 0.054 3380 2086 1140 0 0 0 0 0 0
12976 1.03 419.7 787.7 11.1 575 12979 0.00 0.80 0.00 0.000 6 0.000 0.060 3383 1584 1140 0 0 0 0 0 0
13316 1.03 419.7 749.7 11.4 586 13320 0.00 0.45 0.00 0.000 4 0.000 0.059 3384 1877 1139 0 0 0 0 0 0
13377 1.03 419.7 742.5 11.6 587 13383 0.00 0.50 0.00 0.000 6 0.000 0.064 3385 1574 1139 0 0 0 0 0 0
13690 1.03 419.7 707.2 11.1 598 13694 0.00 1.17 0.00 0.000 4 0.000 0.055 3385 2310 1138 0 0 0 0 0 0
13773 1.03 419.7 697.7 11.3 600 13777 0.00 1.17 0.00 0.000 6 0.000 0.057 3390 1584 1138 0 0 0 0 0 0
14098 1.03 419.7 662.4 10.7 611 14099 0.00 0.00 0.00 0.000 6 0.000 0.000 3390 1584 1137 0 0 0 0 0 0
14404 1.03 419.7 630.9 10.1 621 14407 0.00 1.33 0.00 0.000 4 0.000 0.057 3390 2407 1138 0 0 0 0 0 0
14481 1.03 419.7 622.6 10.3 623 14486 0.03 1.33 0.00 0.000 6 0.191 0.055 3387 1590 1138 0 0 0 0 0 0
14811 1.03 419.7 587.8 10.5 634 14812 0.00 0.00 0.00 0.000 6 0.000 0.000 3386 1590 1137 0 0 0 0 0 0
15117 1.03 419.7 556.3 10.2 644 15118 0.00 0.00 0.00 0.000 6 0.000 0.000 3386 1590 1137 0 0 0 0 0 0
15423 1.03 419.7 523.2 11.0 654 15425 0.00 0.00 0.00 0.000 6 0.000 0.000 3386 1590 1137 0 0 0 0 0 0
15730 1.03 419.7 489.1 11.2 664 15733 0.00 0.62 0.00 0.000 4 0.000 0.057 3386 1991 1137 0 0 0 0 0 0
15831 1.03 419.7 477.7 11.1 667 15835 0.00 0.65 0.00 0.000 6 0.000 0.063 3388 1584 1137 0 0 0 0 0 0
16172 1.03 419.7 441.5 10.4 678 16175 0.00 0.70 0.00 0.000 4 0.000 0.057 3388 2031 1137 0 0 0 0 0 0
16221 1.03 419.9 436.5 9.8 679 16225 0.00 0.73 0.00 0.000 6 0.000 0.059 3391 1574 1137 0 0 0 0 0 0
16545 1.03 419.9 403.3 10.5 690 16549 0.00 0.68 0.00 0.000 4 0.000 0.056 3392 2009 1137 0 0 0 0 0 0
16634 1.03 419.9 393.6 9.9 692 16638 0.00 0.70 0.00 0.000 6 0.000 0.059 3395 1580 1137 0 0 0 0 0 0
16953 1.03 419.9 360.1 10.2 703 16956 0.00 0.43 0.00 0.000 4 0.000 0.059 3394 1858 1137 0 0 0 0 0 0
17055 1.03 419.9 350.4 10.4 706 17059 0.03 0.43 0.00 0.000 6 0.192 0.064 3387 1588 1137 0 0 0 0 0 0
17395 1.03 419.9 317.3 10.0 717 17399 0.00 0.62 0.00 0.000 4 0.000 0.057 3387 1995 1137 0 0 0 0 0 0
17478 1.03 419.9 308.4 11.4 719 17482 0.00 0.68 0.00 0.000 6 0.000 0.060 3389 1582 1138 0 0 0 0 0 0
17796 1.03 419.9 275.8 10.6 733 17800 0.00 0.68 0.00 0.000 4 0.000 0.055 3389 2021 1137 0 0 0 0 0 0
17851 1.03 419.9 269.8 10.1 735 17856 0.00 0.73 0.00 0.000 6 0.000 0.058 3392 1575 1137 0 0 0 0 0 0
18175 1.03 419.9 236.6 10.4 751 18176 0.00 0.00 0.00 0.000 6 0.000 0.000 3392 1575 1138 0 0 0 0 0 0
18484 1.03 419.9 203.7 10.7 766 18488 0.00 1.23 0.00 0.000 4 0.000 0.055 3392 2342 1137 0 0 0 0 0 0
18552 1.03 419.9 196.2 11.3 770 18556 0.03 1.20 0.00 0.000 6 0.189 0.054 3388 1593 1137 0 0 0 0 0 0
18884 1.03 419.9 161.8 10.6 791 18888 0.00 0.43 0.00 0.000 4 0.000 0.058 3388 1875 1137 0 0 0 0 0 0
19024 1.03 419.9 147.1 10.2 799 19028 0.00 0.47 0.00 0.000 6 0.000 0.062 3390 1582 1137 0 0 0 0 0 0
19351 1.03 419.9 112.8 10.5 820 19354 0.00 0.80 0.00 0.000 4 0.000 0.054 3390 2097 1137 0 0 0 0 0 0
19411 1.03 419.9 106.0 10.7 823 19417 0.00 0.82 0.00 0.000 6 0.000 0.056 3393 1582 1137 0 0 0 0 0 0
19734 1.03 419.9 69.6 10.7 852 19735 0.00 0.00 0.00 0.000 6 0.000 0.000 3393 1582 1137 0 0 0 0 0 0
20072 1.03 419.9 36.3 10.5 903 20077 0.00 0.90 0.00 0.000 4 0.000 0.054 3393 2155 1137 0 0 0 0 0 0
20124 1.03 419.9 30.5 11.4 912 20131 0.05 0.90 0.00 0.000 6 0.159 0.056 3380 1589 1137 0 0 0 0 0 0
20362 end climb: SURFACE_DEPTH_REACHED
state 20362 begin surface coast
20399 end surface coast: CONTROL_FINISHED_OK
state 20399 begin surface