SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 478 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  160 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  3 ESCAPE_HEADING  0 ROLL_MIN  220 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  478 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3792 ALTIM_PING_DEPTH  0
D_SURF  4 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  50
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_DIVE  2180 ALTIM_FREQUENCY  12
D_TGT  990 TGT_DEFAULT_LON  -12218 C_ROLL_CLIMB  2270 ALTIM_PULSE  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
D_NO_BLEED  200 SM_CC  225 ROLL_CNV  0.028270001 XPDR_VALID  4
D_FINISH  0 N_FILEKB  8 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  42 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  38 INT_PRESSURE_YINT  1
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  300 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  2 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0.029999999 DEVICE1  2
T_DIVE  480 UPLOAD_DIVES_MAX  -1 VBD_MIN  490 DEVICE2  20
T_MISSION  540 CALL_TRIES  5 VBD_MAX  3961 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  3046 DEVICE4  -1
T_TURN  225 CAPUPLOAD  0 VBD_DBAND  2 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 VBD_CNV  -0.24529999 DEVICE6  -1
T_NO_W  120 HEAPDBG  0 VBD_TIMEOUT  720 SMARTS  0
USE_BATHY  -3 T_GPS  15 PITCH_VBD_SHIFT  0.0012300001 SMARTDEVICE1  -1
USE_ICE  0 N_GPS  20 VBD_PUMP_AD_RATE_SURFACE  4 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS_DEVICE  33
D_OFFGRID  1000 T_GPS_CHARGE  -17382.623 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  3 UNCOM_BLEED  20 PHONE_DEVICE  48
RELAUNCH  1 RAFOS_PEAK_OFFSET  1.5 VBD_MAXERRORS  1 GPS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  0 RAFOS_DEVICE  -1
MAX_BUOY  120 RAFOS_HIT_WINDOW  3600 AH0_24V  146 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  155 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3934 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2613 PRESSURE_YINT  -22.900637 SEABIRD_T_G  0.0043896637
RHO  1.028 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.000115925 SEABIRD_T_H  0.00063842954
MASS  51810 PITCH_CNV  0.003125763 AD7714Ch0Gain  128 SEABIRD_T_I  2.5580319e-05
NAV_MODE  2 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.7701631e-06
FERRY_MAX  45 PITCH_GAIN  22 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -10.180033
KALMAN_USE  2 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_H  1.1381946
HD_A  0.003 PITCH_AD_RATE  140 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.00092952099
HD_B  0.0099999998 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.0001655513
HD_C  9.9999997e-06 PITCH_ADJ_GAIN  0.059999999 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  190806,6404.668,132.915,34,0.9,40,-4.2 TGT_NAME  INSHORE
_CALLS  1 TGT_LATLONG  6300.600,352.100
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  3.57 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -69.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  191358,6404.739,132.960,9,1.7,11,-4.2 MHEAD_RNG_PITCHd_Wd  173.8,166694,-13.7,-6.875
SPEED_LIMITS  0.119,0.206 D_GRID  2172

Post-dive calculations and measurements:
FINISH  2.7,1.026747 _24V_AH  20.9,75.095
SM_CCo  26222,0.00,0.000,0,0,2078,237.45 _10V_AH  10.3,54.590
SM_GC  3.89,7.18,0.00,0.00,0.038,0.000,0.000,141,2173,2078,-7.64,-0.20,237.45 DATA_FILE_SIZE  47305,941
IRIDIUM_FIX  6337.14,133.42,130998,111121 CAP_FILE_SIZE  187524,0
TT8_MAMPS  0.026845 CFSIZE  260165632,214425600
HUMID  1743 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  9.18391 CURRENT  0.153,359.8,1
TCM_TEMP  16.70 GPS  200609,023236,6403.749,134.098,33,1.8,33,-4.2
XPDR_PINGS  0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor34187132.99 SBE_CT66024331.13
Roll_motor16379270.49 SBE_O268119270.71
VBD_pump_during_apogee32213959397.98 WL_BB2F386105847.59
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2510355.97 nil000.00
Iridium_during_connect35160118.37 nil000.00
Iridium_during_xfer156223730.60
Transponder_ping04200.00
Mmodem_TX000.00
Mmodem_RX000.00
GPS13507.07
TT8207619423.51
LPSleep211582477.28
TT8_Active4711996.22
TT8_Sampling219839901.24
TT8_CF865845310.74
TT8_Kalman000.00
Analog_circuits163612202.29
GPS_charging000.00
Compass21628178.16
RAFOS000.00
Transponder050.03

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -0.77 -116.7 0.0 0.0 0 23 0.00 0.00 -6.12 0.000 2 0.000 0.000 142 2166 2106
27 -0.77 -116.7 3.6 -0.0 1 121 8.00 2.33 -75.97 0.000 4 0.187 0.062 2354 3579 3521
313 -0.48 -116.7 27.0 -11.9 49 320 0.32 2.20 0.00 0.000 6 0.120 0.032 2456 2181 3522
661 -0.62 -116.7 50.4 -6.3 110 668 0.12 0.00 0.00 0.000 6 0.067 0.000 2401 2180 3523
990 -0.53 -116.7 76.2 -7.7 141 992 0.12 0.00 0.00 0.000 6 0.123 0.000 2439 2180 3524
1297 -0.61 -116.7 95.7 -6.3 156 1299 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2180 3525
1607 -0.68 -116.7 116.2 -6.7 171 1612 0.15 2.30 0.00 0.000 4 0.061 0.048 2367 3591 3525
1635 -0.51 -116.7 118.8 -9.1 172 1640 0.25 2.22 0.00 0.000 6 0.118 0.035 2445 2185 3525
1954 -0.61 -116.7 139.4 -6.3 187 1955 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2185 3525
2261 -0.72 -116.7 159.3 -6.4 202 2266 0.20 2.28 0.00 0.000 4 0.055 0.048 2350 3586 3525
2302 -0.44 -116.7 163.0 -10.4 204 2307 0.38 2.22 0.00 0.000 6 0.118 0.035 2467 2183 3525
2630 -0.65 -116.7 180.8 -5.2 220 2632 0.20 0.00 0.00 0.000 6 0.055 0.000 2381 2183 3525
2939 -0.51 -116.7 207.0 -8.5 235 2941 0.22 0.00 0.00 0.000 6 0.117 0.000 2453 2181 3525
3249 -0.66 -116.7 226.2 -6.4 250 3251 0.15 0.00 0.00 0.000 6 0.061 0.000 2386 2181 3525
3557 -0.54 -116.7 253.7 -9.1 265 3559 0.17 0.00 0.00 0.000 6 0.117 0.000 2442 2181 3525
3867 -0.66 -116.7 272.9 -5.9 280 3869 0.12 0.00 0.00 0.000 6 0.067 0.000 2385 2182 3525
4176 -0.53 -116.7 297.5 -8.1 295 4181 0.17 2.30 0.00 0.000 4 0.120 0.050 2436 3578 3525
4204 -0.61 -116.7 299.6 -7.3 296 4208 0.00 2.22 0.00 0.000 6 0.000 0.034 2436 2170 3525
4524 -0.72 -116.7 319.3 -6.2 307 4526 0.15 0.00 0.00 0.000 6 0.062 0.000 2366 2170 3525
4829 -0.53 -116.7 345.7 -8.6 317 4831 0.25 0.00 0.00 0.000 6 0.117 0.000 2445 2168 3525
5136 -0.69 -116.7 361.7 -5.0 327 5138 0.17 0.00 0.00 0.000 6 0.058 0.000 2368 2167 3525
5442 -0.52 -116.7 385.9 -8.1 337 5447 0.20 2.33 0.00 0.000 4 0.120 0.048 2436 3584 3525
5481 -0.68 -116.7 388.5 -5.9 338 5486 0.12 2.22 0.00 0.000 6 0.069 0.035 2380 2184 3525
5813 -0.56 -116.7 414.9 -8.4 349 5818 0.17 2.30 0.00 0.000 4 0.122 0.048 2435 758 3524
5848 -0.64 -116.7 417.8 -7.6 350 5852 0.00 2.22 0.00 0.000 6 0.000 0.037 2434 2177 3525
6184 -0.75 -116.7 441.0 -6.9 361 6186 0.17 0.00 0.00 0.000 6 0.058 0.000 2356 2178 3523
6491 -0.53 -116.7 471.9 -10.2 371 6496 0.25 2.30 0.00 0.000 4 0.123 0.046 2439 762 3522
6524 -0.64 -116.7 475.0 -8.1 372 6528 0.00 2.22 0.00 0.000 6 0.000 0.037 2437 2176 3522
6862 -0.76 -116.7 497.8 -6.7 383 6864 0.20 0.00 0.00 0.000 6 0.060 0.000 2351 2176 3521
7194 -0.52 -116.7 529.9 -9.8 389 7196 0.30 0.00 0.00 0.000 6 0.118 0.000 2446 2176 3519
7497 -0.69 -116.7 547.4 -5.6 394 7499 0.17 0.00 0.00 0.000 6 0.061 0.000 2372 2176 3519
7800 -0.55 -116.7 572.5 -8.4 399 7802 0.20 0.00 0.00 0.000 6 0.120 0.000 2435 2176 3518
8103 -0.68 -116.7 591.3 -6.1 404 8105 0.12 0.00 0.00 0.000 6 0.074 0.000 2378 2176 3517
8407 -0.57 -116.7 616.0 -8.3 409 8408 0.17 0.00 0.00 0.000 6 0.121 0.000 2432 2176 3516
8709 -0.68 -116.7 634.7 -6.1 414 8714 0.12 2.30 0.00 0.000 4 0.073 0.051 2377 3585 3515
8743 -0.58 -116.7 637.2 -7.8 414 8747 0.17 2.28 0.00 0.000 6 0.124 0.038 2429 2168 3515
9076 -0.69 -116.7 657.1 -5.9 420 9078 0.12 0.00 0.00 0.000 6 0.071 0.000 2375 2168 3514
9379 -0.57 -116.7 681.1 -8.1 425 9381 0.17 0.00 0.00 0.000 6 0.124 0.000 2430 2167 3513
9681 -0.69 -116.7 700.0 -6.2 430 9683 0.12 0.00 0.00 0.000 6 0.071 0.000 2375 2167 3512
9986 -0.57 -116.7 724.9 -8.4 435 9987 0.17 0.00 0.00 0.000 6 0.124 0.000 2430 2166 3512
10287 -0.69 -116.7 745.0 -6.5 440 10289 0.12 0.00 0.00 0.000 6 0.071 0.000 2376 2166 3511
10590 -0.58 -116.7 770.6 -8.5 445 10595 0.17 2.40 0.00 0.000 4 0.123 0.053 2430 3594 3510
10630 -0.76 -116.7 773.3 -6.9 445 10635 0.20 2.30 0.00 0.000 6 0.058 0.038 2349 2171 3510
10952 -0.54 -116.7 802.8 -9.3 451 10957 0.25 2.28 0.00 0.000 4 0.126 0.049 2433 772 3510
11009 -0.65 -116.7 807.2 -7.5 451 11013 0.00 2.25 0.00 0.000 6 0.000 0.042 2433 2182 3509
11326 -0.78 -116.7 826.1 -5.9 457 11328 0.20 0.00 0.00 0.000 6 0.061 0.000 2349 2182 3509
11628 -0.56 -116.7 852.7 -9.0 462 11630 0.28 0.00 0.00 0.000 6 0.121 0.000 2435 2182 3509
11932 -0.72 -116.7 870.5 -5.7 467 11934 0.15 0.00 0.00 0.000 6 0.070 0.000 2374 2182 3508
12234 -0.62 -116.7 893.4 -7.5 472 12236 0.12 0.00 0.00 0.000 6 0.129 0.000 2411 2183 3508
12538 -0.68 -116.7 912.6 -6.4 477 12540 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2183 3507
12840 -0.68 -116.7 932.5 -6.6 482 12844 0.00 2.35 0.00 0.000 4 0.000 0.058 2410 3594 3507
12868 -0.75 -116.7 934.3 -6.1 482 12873 0.12 2.33 0.00 0.000 6 0.074 0.041 2359 2161 3507
13207 -0.59 -116.7 961.4 -8.1 488 13212 0.20 2.30 0.00 0.000 4 0.127 0.054 2426 764 3506
13252 -0.70 -116.7 964.4 -6.2 488 13257 0.12 2.28 0.00 0.000 6 0.073 0.043 2375 2184 3507
13567 -0.61 -116.7 986.9 -7.3 494 13569 0.15 0.00 0.00 0.000 6 0.124 0.000 2420 2185 3506
13625 end dive: TARGET_DEPTH_EXCEEDED
state 13625 begin apogee
13634 -0.23 0.0 990.5 7.0 495 13737 0.38 0.00 100.32 1.395 6 0.113 0.000 2542 2281 3046
13737 end apogee: CONTROL_FINISHED_OK
state 13737 begin climb
13741 0.77 116.7 992.2 0.0 496 13872 0.93 2.67 112.57 1.346 4 0.074 0.051 2854 3673 2570
13909 0.41 117.3 989.9 6.9 499 13915 0.40 2.47 0.00 0.000 6 0.132 0.036 2747 2260 2567
14242 0.72 185.5 975.7 4.2 505 14309 0.25 2.40 60.88 1.364 4 0.058 0.048 2855 854 2288
14422 0.61 185.5 960.9 8.8 507 14427 0.15 2.25 0.00 0.000 6 0.128 0.037 2812 2261 2283
14732 0.69 185.5 936.5 7.9 512 14735 0.00 2.30 0.00 0.000 4 0.000 0.051 2812 3677 2280
14776 0.69 185.5 932.5 8.6 512 14780 0.00 2.25 0.00 0.000 6 0.000 0.037 2812 2257 2280
15099 0.76 185.5 907.9 7.7 518 15103 0.12 2.22 0.00 0.000 4 0.068 0.048 2869 857 2279
15177 0.60 185.5 900.4 9.2 519 15182 0.20 2.20 0.00 0.000 6 0.127 0.038 2808 2260 2279
15532 0.70 185.5 873.7 7.4 525 15533 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2259 2279
15834 0.79 185.5 851.6 7.3 530 15839 0.17 2.33 0.00 0.000 4 0.067 0.054 2881 3682 2278
15885 0.48 185.5 846.3 11.3 530 15890 0.38 2.28 0.00 0.000 6 0.127 0.038 2767 2242 2278
16197 0.77 204.2 826.6 6.1 535 16218 0.22 2.25 15.93 1.246 4 0.058 0.051 2868 854 2212
16305 0.64 204.2 816.1 10.1 536 16310 0.17 2.22 0.00 0.000 6 0.124 0.038 2815 2257 2210
16626 0.74 204.2 790.2 7.8 542 16631 0.10 2.33 0.00 0.000 4 0.082 0.054 2859 3683 2210
16677 0.56 204.2 785.3 9.8 542 16682 0.25 2.28 0.00 0.000 6 0.126 0.038 2789 2240 2210
16989 0.78 216.1 764.7 6.4 547 17008 0.20 2.28 11.80 1.180 4 0.059 0.049 2881 863 2163
17071 0.63 216.1 757.0 9.4 548 17076 0.22 2.17 0.00 0.000 6 0.119 0.038 2812 2246 2161
17426 0.77 216.1 731.4 7.2 554 17430 0.15 2.35 0.00 0.000 4 0.069 0.051 2878 3685 2160
17498 0.54 216.1 723.7 10.7 555 17503 0.30 2.28 0.00 0.000 6 0.123 0.035 2787 2246 2160
17854 0.80 229.6 700.7 6.3 561 17874 0.20 2.28 12.95 1.155 4 0.056 0.051 2879 870 2109
17953 0.67 229.6 691.0 9.2 562 17958 0.17 2.17 0.00 0.000 6 0.120 0.037 2827 2250 2107
18286 0.76 229.6 664.7 7.9 568 18290 0.00 2.33 0.00 0.000 4 0.000 0.053 2827 3679 2106
18370 0.76 229.6 657.3 8.1 569 18374 0.00 2.30 0.00 0.000 6 0.000 0.038 2827 2245 2106
18715 0.86 229.6 631.2 7.6 575 18720 0.17 2.25 0.00 0.000 4 0.061 0.050 2905 852 2106
18766 0.64 229.6 626.1 11.1 575 18770 0.30 2.20 0.00 0.000 6 0.124 0.036 2813 2250 2105
19076 0.79 230.2 604.3 6.8 580 19081 0.17 2.35 0.00 0.000 4 0.063 0.052 2886 3686 2105
19172 0.57 230.2 593.7 11.1 581 19177 0.32 2.25 0.00 0.000 6 0.123 0.034 2791 2252 2105
19511 0.82 237.6 570.9 6.6 587 19525 0.22 2.25 7.85 1.016 4 0.057 0.048 2892 868 2077
19578 0.68 237.6 564.2 12.3 588 19583 0.20 2.17 0.00 0.000 6 0.122 0.037 2831 2264 2076
19950 0.77 237.6 533.3 8.1 594 19954 0.00 2.30 0.00 0.000 4 0.000 0.051 2831 3674 2075
20028 0.77 237.6 526.3 8.3 595 20032 0.00 2.28 0.00 0.000 6 0.000 0.037 2831 2246 2075
20390 0.86 237.6 497.5 8.0 601 20394 0.17 2.22 0.00 0.000 4 0.061 0.049 2906 863 2075
20440 0.67 237.6 492.1 10.6 602 20445 0.25 2.20 0.00 0.000 6 0.127 0.038 2831 2260 2074
20753 0.78 237.6 467.2 7.9 612 20757 0.00 2.33 0.00 0.000 4 0.000 0.052 2831 3684 2074
20832 0.78 237.6 460.3 8.1 614 20837 0.10 2.28 0.00 0.000 6 0.074 0.036 2876 2251 2074
21150 0.70 237.6 429.1 9.9 625 21155 0.12 2.22 0.00 0.000 4 0.135 0.047 2842 857 2074
21218 0.77 237.6 423.3 7.9 627 21222 0.00 2.22 0.00 0.000 6 0.000 0.038 2842 2263 2074
21553 0.85 237.6 396.3 8.1 638 21555 0.12 0.00 0.00 0.000 6 0.067 0.000 2898 2263 2074
21859 0.70 237.6 363.9 11.0 648 21864 0.20 2.28 0.00 0.000 4 0.122 0.044 2831 855 2074
21911 0.86 237.6 359.4 7.8 649 21916 0.17 2.20 0.00 0.000 6 0.058 0.035 2908 2259 2074
22225 0.67 237.6 325.2 10.8 659 22227 0.25 0.00 0.00 0.000 6 0.118 0.000 2828 2259 2074
22531 0.81 237.6 302.0 7.6 669 22536 0.12 2.33 0.00 0.000 4 0.068 0.051 2884 3681 2073
22588 0.62 237.6 296.1 10.4 671 22593 0.25 2.28 0.00 0.000 6 0.121 0.035 2809 2239 2074
22904 0.84 237.6 273.3 7.2 686 22908 0.20 2.20 0.00 0.000 4 0.057 0.045 2905 856 2074
23028 0.70 237.6 260.1 11.3 691 23033 0.22 2.20 0.00 0.000 6 0.118 0.035 2836 2263 2073
23344 0.80 237.6 235.8 7.6 706 23346 0.10 0.00 0.00 0.000 6 0.079 0.000 2882 2264 2073
23654 0.73 237.6 206.6 9.4 721 23656 0.12 0.00 0.00 0.000 6 0.123 0.000 2844 2264 2074
23963 0.81 237.6 182.7 7.6 736 23964 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 2264 2074
24274 0.90 237.6 158.8 7.8 751 24276 0.17 0.00 0.00 0.000 6 0.059 0.000 2921 2264 2075
24581 0.67 237.6 123.4 11.5 766 24583 0.30 0.00 0.00 0.000 6 0.117 0.000 2826 2264 2076
24891 0.85 237.6 100.4 7.2 781 24896 0.17 2.25 0.00 0.000 4 0.058 0.041 2906 853 2077
24942 0.70 237.6 95.1 11.0 783 24947 0.22 2.15 0.00 0.000 6 0.118 0.031 2837 2243 2076
25258 0.84 237.6 69.0 7.9 798 25263 0.15 2.33 0.00 0.000 4 0.063 0.044 2903 3683 2077
25303 0.61 237.6 64.0 9.2 800 25308 0.32 2.25 0.00 0.000 6 0.118 0.030 2804 2231 2078
25642 0.88 238.0 41.5 6.9 853 25649 0.22 2.17 0.00 0.000 4 0.052 0.041 2908 856 2078
25758 0.75 238.0 29.8 9.4 873 25765 0.17 2.15 0.00 0.000 6 0.118 0.032 2854 2244 2078
26076 end climb: SURFACE_DEPTH_REACHED
state 26077 begin surface coast
26143 end surface coast: CONTROL_FINISHED_OK
state 26143 begin surface