OKMC Jun11 * SG181 * Dive index * Mission links * Dive 622 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  181 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 INT_PRESSURE_YINT  0
MISSION  6 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 DEEPGLIDER  0
DIVE  622 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  73 DEEPGLIDERMB  0
N_DIVES  0 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  41 MOTHERBOARD  4
D_SURF  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 DEVICE1  2
D_FLARE  3 SM_CC  475 ROLL_MAXERRORS  1 DEVICE2  102
D_TGT  990 N_FILEKB  8 ROLL_ADJ_GAIN  0 DEVICE3  39
D_ABORT  1030 FILEMGR  0 ROLL_ADJ_DBAND  0 DEVICE4  -1
D_NO_BLEED  200 CALL_NDIVES  1 VBD_MIN  440 DEVICE5  -1
D_BOOST  3 COMM_SEQ  0 VBD_MAX  3960 DEVICE6  -1
T_BOOST  0 PROTOCOL  9 C_VBD  2869 LOGGERS  0
D_FINISH  0 N_NOCOMM  1 VBD_DBAND  2 LOGGERDEVICE1  99
D_PITCH  0 NOCOMM_ACTION  0 VBD_CNV  -0.24529999 LOGGERDEVICE2  117
D_SAFE  0 N_NOSURFACE  0 VBD_TIMEOUT  720 LOGGERDEVICE3  -1
D_CALL  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.0012300001 LOGGERDEVICE4  -1
SURFACE_URGENCY  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_SURFACE  5 COMPASS_DEVICE  33
SURFACE_URGENCY_TRY  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS2_DEVICE  -1
SURFACE_URGENCY_FORCE  0 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 PHONE_DEVICE  49
T_DIVE  320 CAPMAXSIZE  100000 UNCOM_BLEED  50 GPS_DEVICE  32
T_MISSION  350 HEAPDBG  0 VBD_MAXERRORS  1 RAFOS_DEVICE  -1
T_ABORT  1440 T_GPS  15 CF8_MAXERRORS  20 XPDR_DEVICE  24
T_TURN  225 N_GPS  20 AH0_24V  150 SIM_W  0
T_TURN_SAMPINT  5 T_GPS_ALMANAC  0 AH0_10V  110 SIM_PITCH  0
T_NO_W  120 T_GPS_CHARGE  -41373.613 MINV_24V  19 SEABIRD_T_G  0.0043841996
T_LOITER  0 T_RSLEEP  2 MINV_10V  8 SEABIRD_T_H  0.00063541438
T_EPIRB  0 STROBE  0 FG_AHR_10V  0 SEABIRD_T_I  2.4687597e-05
USE_BATHY  -7 RAFOS_PEAK_OFFSET  1.5 FG_AHR_24V  0 SEABIRD_T_J  2.6519353e-06
USE_ICE  0 RAFOS_CORR_THRESH  60 PHONE_SUPPLY  2 SEABIRD_C_G  -9.9512653
ICE_FREEZE_MARGIN  0.30000001 RAFOS_HIT_WINDOW  3600 PRESSURE_YINT  -61.82621 SEABIRD_C_H  1.1266108
D_OFFGRID  1000 PITCH_MIN  225 PRESSURE_SLOPE  0.000116609 SEABIRD_C_I  -0.0016982662
T_WATCHDOG  10 PITCH_MAX  3941 AD7714Ch0Gain  128 SEABIRD_C_J  0.00020129427
RELAUNCH  1 C_PITCH  2300 TCM_PITCH_OFFSET  0 TM_RECORDABOVE  200.0
APOGEE_PITCH  -8 PITCH_DBAND  0.1 TCM_ROLL_OFFSET  0 TM_PROFILE  1.0
MAX_BUOY  175 PITCH_CNV  0.003125763 COMPASS_USE  0 TM_XMITPROFILE  1.0
COURSE_BIAS  0 P_OVSHOOT  0.039999999 ALTIM_BOTTOM_PING_RANGE  0 TM_UPLOADMAX  0.0
GLIDE_SLOPE  30 PITCH_GAIN  60 ALTIM_TOP_PING_RANGE  0 TM_STARTS  41.0
SPEED_FACTOR  1 PITCH_TIMEOUT  15 ALTIM_BOTTOM_TURN_MARGIN  0 TM_NFFT  256.0
RHO  1.0275 PITCH_AD_RATE  145 ALTIM_TOP_TURN_MARGIN  0 TM_NAVG  1.0
MASS  51861 PITCH_MAXERRORS  1 ALTIM_TOP_MIN_OBSTACLE  1 TM_PSD  0.0
NAV_MODE  2 PITCH_ADJ_GAIN  0 ALTIM_PING_DEPTH  0 LA_RECORDABOVE  200.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 ALTIM_PING_DELTA  10 LA_PROFILE  1.0
KALMAN_USE  2 ROLL_MIN  209 ALTIM_FREQUENCY  13 LA_XMITPROFILE  1.0
HD_A  0.003 ROLL_MAX  3785 ALTIM_PULSE  3 LA_UPLOADMAX  10000.0
HD_B  0.0099999998 ROLL_DEG  20 ALTIM_SENSITIVITY  2 LA_STARTS  23.0
HD_C  9.9999997e-06 C_ROLL_DIVE  2590 XPDR_VALID  2
HEADING  -1 C_ROLL_CLIMB  2165 XPDR_INHIBIT  90
ESCAPE_HEADING  0 HEAD_ERRBAND  10 INT_PRESSURE_SLOPE  0.0097660003

Pre-dive calculations and measurements:
GPS1  091011,001937,2148.044,12003.411,38,1.2,38,-2.6 TGT_NAME  W1
_CALLS  1 TGT_LATLONG  2207.170,12035.130
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.206,0.235
_SM_DEPTHo  1.34 KALMAN_X  28223.1,-227.3,-456.5,-48601.6,-2485.5
_SM_ANGLEo  -63.3 KALMAN_Y  68902.1,-606.5,-201.3,102840.5,390.9
GPS2  091011,002519,2148.007,12003.348,8,1.4,13,-2.6 MHEAD_RNG_PITCHd_Wd  51.3,65060,-16.5,-10.312
SPEED_LIMITS  0.179,0.281 D_GRID  1608

Post-dive calculations and measurements:
FINISH  0.5,1.008798 _10V_AH  9.8,78.238
SM_CCo  16906,0.00,0.000,0,0,440,595.83 FG_AHR_24Vo  0.000
SM_GC  1.36,6.25,0.00,0.00,0.032,0.000,0.000,215,2564,440,-6.45,-0.74,595.83,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2141.13,12001.68,081011,191914 MEM  322764
TT8_MAMPS  0.025466,0.025466 DATA_FILE_SIZE  77009,1359
HUMID  48.30 CAP_FILE_SIZE  176448,0
INTERNAL_PRESSURE  9.37536 CFSIZE  260165632,194674688
TCM_TEMP  24.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.148,191.1,1
_24V_AH  23.5,103.775 GPS  091011,050837,2148.877,12004.671,28,1.3,28,-2.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622786.63 SBE_CT94024530.72
Roll_motor834282.86 AA4330000.00
VBD_pump_during_apogee634106015814.08 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2410360.09 nil000.00
Iridium_during_connect1816069.91 TMicro000.00
Iridium_during_xfer145223764.66 LAB000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS16507.95
TT8346119671.60
LPSleep100052214.73
TT8_Active70819137.45
TT8_Sampling2658391037.02
TT8_CF840345181.17
TT8_Kalman000.00
Analog_circuits209212246.09
GPS_charging000.00
Compass244115358.93
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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -0.49 -170.3 0.0 0.0 0 85 0.00 0.00 -66.50 0.000 2 0.000 0.000 126 2618 2327 0 0 0 0 0 0
89 -0.49 -170.3 3.5 -3.6 11 132 8.60 0.00 -26.90 0.000 6 0.227 0.000 2136 2614 3564 0 0 0 0 0 0
269 -0.49 -170.3 63.5 -38.9 42 276 0.00 1.02 0.00 0.000 4 0.000 0.039 2131 3288 3562 0 0 0 0 0 0
388 -0.49 -170.3 104.2 -27.0 63 395 0.00 1.00 0.00 0.000 6 0.000 0.023 2131 2584 3561 0 0 0 0 0 0
531 -0.49 -170.3 133.5 -18.4 88 538 0.00 0.93 0.00 0.000 4 0.000 0.024 2131 1880 3559 0 0 0 0 0 0
550 -0.49 -170.3 137.1 -18.1 91 557 0.00 1.08 0.00 0.000 6 0.000 0.034 2125 2588 3559 0 0 0 0 0 0
692 -0.49 -170.3 164.4 -20.6 116 699 0.00 1.05 0.00 0.000 4 0.000 0.038 2120 3289 3559 0 0 0 0 0 0
750 -0.49 -170.3 175.7 -18.5 126 757 0.00 1.00 0.00 0.000 6 0.000 0.023 2120 2585 3559 0 0 0 0 0 0
893 -0.49 -170.3 202.8 -19.8 150 897 0.00 0.95 0.00 0.000 4 0.000 0.024 2120 1869 3559 0 0 0 0 0 0
929 -0.49 -170.3 209.1 -18.1 153 932 0.00 1.10 0.00 0.000 6 0.000 0.034 2115 2595 3558 0 0 0 0 0 0
1260 -0.49 -170.3 261.5 -14.5 184 1261 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 2596 3558 0 0 0 0 0 0
1583 -0.49 -170.3 306.0 -14.5 214 1587 0.00 0.98 0.00 0.000 4 0.000 0.024 2115 1889 3558 0 0 0 0 0 0
1622 -0.49 -170.3 312.8 -14.9 217 1630 0.08 1.08 0.00 0.000 6 0.140 0.035 2136 2594 3558 0 0 0 0 0 0
1947 -0.49 -170.3 355.2 -13.5 248 1951 0.00 1.05 0.00 0.000 4 0.000 0.039 2132 3293 3555 0 0 0 0 0 0
1974 -0.49 -170.3 359.2 -13.9 250 1981 0.00 1.00 0.00 0.000 6 0.000 0.024 2132 2584 3555 0 0 0 0 0 0
2299 -0.49 -170.3 402.2 -13.5 281 2303 0.00 0.95 0.00 0.000 4 0.000 0.024 2132 1885 3551 0 0 0 0 0 0
2324 -0.49 -170.3 405.2 -13.2 283 2327 0.00 1.08 0.00 0.000 6 0.000 0.035 2127 2593 3551 0 0 0 0 0 0
2655 -0.49 -170.3 444.7 -11.7 314 2658 0.00 1.05 0.00 0.000 4 0.000 0.041 2122 3285 3548 0 0 0 0 0 0
2758 -0.49 -170.3 457.5 -13.0 323 2762 0.00 1.00 0.00 0.000 6 0.000 0.024 2122 2590 3547 0 0 0 0 0 0
3089 -0.49 -170.3 499.7 -12.1 354 3093 0.00 0.98 0.00 0.000 4 0.000 0.025 2122 1879 3543 0 0 0 0 0 0
3140 -0.49 -170.3 505.8 -12.0 357 3144 0.00 1.08 0.00 0.000 6 0.000 0.036 2117 2581 3543 0 0 0 0 0 0
3467 -0.49 -170.3 547.6 -12.7 373 3468 0.00 0.00 0.00 0.000 6 0.000 0.000 2117 2581 3539 0 0 0 0 0 0
3776 -0.49 -170.3 584.7 -11.8 388 3780 0.00 1.10 0.00 0.000 4 0.000 0.042 2112 3298 3536 0 0 0 0 0 0
3801 -0.49 -170.3 587.5 -11.6 389 3804 0.00 1.02 0.00 0.000 6 0.000 0.025 2112 2591 3535 0 0 0 0 0 0
4135 -0.49 -170.3 629.8 -13.0 405 4139 0.12 1.00 0.00 0.000 4 0.158 0.027 2145 1876 3532 0 0 0 0 0 0
4162 -0.49 -170.3 633.6 -13.4 406 4166 0.00 1.10 0.00 0.000 6 0.000 0.037 2142 2586 3532 0 0 0 0 0 0
4491 -0.49 -170.3 670.9 -11.4 422 4494 0.00 1.00 0.00 0.000 4 0.000 0.027 2141 1880 3529 0 0 0 0 0 0
4514 -0.49 -170.3 673.9 -11.5 423 4518 0.00 1.10 0.00 0.000 6 0.000 0.037 2138 2593 3529 0 0 0 0 0 0
4847 -0.49 -170.3 711.2 -10.9 439 4850 0.00 1.00 0.00 0.000 4 0.000 0.026 2139 1886 3526 0 0 0 0 0 0
4920 -0.49 -170.3 718.8 -10.2 442 4924 0.00 1.10 0.00 0.000 6 0.000 0.037 2135 2594 3525 0 0 0 0 0 0
5248 -0.49 -170.3 751.0 -9.8 458 5250 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2594 3523 0 0 0 0 0 0
5558 -0.49 -170.3 779.5 -9.0 473 5562 0.00 1.00 0.00 0.000 4 0.000 0.027 2135 1889 3521 0 0 0 0 0 0
5619 -0.49 -170.3 785.5 -9.4 475 5626 0.00 1.10 0.00 0.000 6 0.000 0.039 2130 2591 3520 0 0 0 0 0 0
5935 -0.49 -170.3 817.2 -10.4 491 5938 0.00 1.00 0.00 0.000 4 0.000 0.027 2130 1887 3518 0 0 0 0 0 0
5986 -0.49 -170.3 822.4 -10.5 493 5989 0.00 1.10 0.00 0.000 6 0.000 0.038 2125 2588 3518 0 0 0 0 0 0
6313 -0.49 -170.3 859.1 -11.9 509 6314 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2589 3517 0 0 0 0 0 0
6624 -0.49 -170.3 896.5 -12.1 524 6627 0.00 1.00 0.00 0.000 4 0.000 0.027 2125 1893 3514 0 0 0 0 0 0
6663 -0.49 -170.3 901.8 -12.9 525 6671 0.00 1.10 0.00 0.000 6 0.000 0.039 2120 2594 3514 0 0 0 0 0 0
6979 -0.49 -170.3 942.1 -12.7 541 6983 0.00 1.00 0.00 0.000 4 0.000 0.027 2120 1900 3512 0 0 0 0 0 0
7034 -0.49 -170.3 949.3 -12.8 543 7039 0.00 1.08 0.00 0.000 6 0.000 0.037 2116 2591 3511 0 0 0 0 0 0
7354 end dive: TARGET_DEPTH_EXCEEDED
state 7354 begin apogee
7362 -0.13 0.0 990.0 12.4 559 7497 0.43 0.00 128.52 1.060 6 0.129 0.000 2251 2163 2869 0 0 0 0 0 0
7499 end apogee: CONTROL_FINISHED_OK
state 7499 begin climb
7502 0.49 170.3 996.8 0.0 565 7648 0.57 1.12 138.38 1.043 4 0.083 0.034 2458 1462 2173 0 0 0 0 0 0
7700 0.61 270.7 990.0 6.2 574 7788 0.08 1.12 81.07 1.027 6 0.059 0.031 2506 2185 1765 0 0 0 0 0 0
8106 0.64 299.9 953.5 9.1 594 8136 0.00 1.10 24.48 0.980 4 0.000 0.038 2507 2864 1646 0 0 0 0 0 0
8288 0.66 309.8 935.6 9.9 602 8306 0.00 1.05 9.95 0.865 6 0.000 0.026 2511 2161 1605 0 0 0 0 0 0
8617 0.69 338.8 905.6 9.1 618 8647 0.00 1.08 24.30 0.962 4 0.000 0.034 2516 1477 1487 0 0 0 0 0 0
8693 0.70 347.1 897.8 10.0 621 8707 0.00 1.08 8.25 0.809 6 0.000 0.031 2516 2170 1454 0 0 0 0 0 0
9015 0.71 349.9 866.0 10.2 637 9025 0.00 1.10 3.97 0.608 4 0.000 0.038 2516 2863 1441 0 0 0 0 0 0
9144 0.71 349.9 851.6 11.3 642 9150 0.00 1.05 0.00 0.000 6 0.000 0.026 2520 2159 1441 0 0 0 0 0 0
9461 0.71 349.9 817.5 10.6 658 9465 0.00 1.02 0.00 0.000 4 0.000 0.034 2525 1467 1440 0 0 0 0 0 0
9500 0.71 349.9 813.0 10.3 659 9507 0.00 1.05 0.00 0.000 6 0.000 0.031 2525 2161 1440 0 0 0 0 0 0
9816 0.71 355.4 780.2 10.1 675 9826 0.00 1.05 6.05 0.740 4 0.000 0.034 2525 2866 1419 0 0 0 0 0 0
9948 0.74 374.5 767.5 9.5 681 9972 0.00 1.05 16.35 0.859 6 0.000 0.028 2529 2163 1341 0 0 0 0 0 0
10281 0.83 448.6 740.9 7.3 697 10348 0.10 1.10 59.62 0.900 4 0.105 0.032 2582 1467 1040 0 0 0 0 0 0
10387 0.89 497.9 731.3 8.3 701 10437 0.00 1.08 41.83 0.875 6 0.000 0.031 2582 2159 838 0 0 0 0 0 0
10746 0.92 525.5 699.0 9.2 719 10776 0.00 1.10 24.52 0.845 4 0.000 0.038 2582 2853 725 0 0 0 0 0 0
10883 0.92 525.5 684.6 11.0 725 10887 0.00 1.02 0.00 0.000 6 0.000 0.027 2585 2170 729 0 0 0 0 0 0
11212 0.92 525.5 649.4 11.6 741 11216 0.00 1.02 0.00 0.000 4 0.000 0.034 2590 1478 731 0 0 0 0 0 0
11272 0.92 525.5 640.9 14.3 743 11281 0.00 1.05 0.00 0.000 6 0.000 0.030 2590 2173 731 0 0 0 0 0 0
11589 0.92 525.5 598.6 13.3 759 11592 0.00 1.05 0.00 0.000 4 0.000 0.037 2590 2866 730 0 0 0 0 0 0
11681 0.92 525.5 585.4 15.0 763 11685 0.00 1.05 0.00 0.000 6 0.000 0.027 2595 2159 730 0 0 0 0 0 0
12013 0.92 525.5 543.0 11.8 779 12017 0.00 1.00 0.00 0.000 4 0.000 0.034 2600 1480 730 0 0 0 0 0 0
12092 0.92 525.5 533.9 11.3 782 12096 0.00 1.05 0.00 0.000 6 0.000 0.030 2600 2170 730 0 0 0 0 0 0
12414 0.93 532.2 501.5 10.0 798 12428 0.00 1.10 7.97 0.675 4 0.000 0.037 2600 2864 699 0 0 0 0 0 0
12518 0.93 532.2 489.9 11.4 806 12524 0.00 1.05 0.00 0.000 6 0.000 0.027 2605 2161 699 0 0 0 0 0 0
12843 0.93 532.2 448.1 14.3 837 12846 0.00 1.02 0.00 0.000 4 0.000 0.034 2610 1470 698 0 0 0 0 0 0
12911 0.93 532.2 438.0 15.7 843 12915 0.00 1.05 0.00 0.000 6 0.000 0.028 2610 2171 698 0 0 0 0 0 0
13242 0.93 532.2 393.0 13.2 874 13246 0.00 1.05 0.00 0.000 4 0.000 0.034 2610 1476 699 0 0 0 0 0 0
13277 0.93 532.2 388.6 12.4 877 13280 0.00 1.02 0.00 0.000 6 0.000 0.028 2610 2163 698 0 0 0 0 0 0
13609 0.93 532.2 350.6 10.7 908 13612 0.00 1.05 0.00 0.000 4 0.000 0.036 2610 2861 699 0 0 0 0 0 0
13678 0.93 532.2 343.0 11.4 914 13682 0.00 1.02 0.00 0.000 6 0.000 0.028 2613 2169 699 0 0 0 0 0 0
14009 0.93 532.2 308.3 11.1 945 14012 0.00 1.02 0.00 0.000 4 0.000 0.035 2617 1478 699 0 0 0 0 0 0
14058 0.93 532.2 302.0 12.9 949 14066 0.00 1.02 0.00 0.000 6 0.000 0.028 2617 2165 699 0 0 0 0 0 0
14384 0.93 532.2 260.6 10.9 980 14387 0.00 1.08 0.00 0.000 4 0.000 0.037 2617 2866 700 0 0 0 0 0 0
14422 0.93 532.2 256.2 11.0 983 14429 0.00 1.02 0.00 0.000 6 0.000 0.027 2622 2171 700 0 0 0 0 0 0
14749 0.93 532.2 223.3 11.4 1014 14752 0.00 1.05 0.00 0.000 4 0.000 0.034 2621 2859 701 0 0 0 0 0 0
14783 0.93 532.2 219.2 11.8 1017 14786 0.00 1.02 0.00 0.000 6 0.000 0.028 2624 2174 701 0 0 0 0 0 0
15115 0.99 581.9 184.6 8.3 1063 15158 0.00 1.12 39.42 0.551 4 0.000 0.035 2628 1461 495 0 0 0 0 0 0
15242 1.00 592.1 173.1 9.9 1085 15256 0.00 1.08 9.82 0.472 6 0.000 0.028 2627 2165 455 0 0 0 0 0 0
15394 1.00 592.1 155.3 11.9 1111 15401 0.00 1.08 0.00 0.000 4 0.000 0.036 2628 2863 455 0 0 0 0 0 0
15656 1.00 592.1 128.1 11.6 1157 15664 0.00 1.05 0.00 0.000 6 0.000 0.028 2628 2157 456 0 0 0 0 0 0
15802 1.00 592.1 111.5 10.8 1182 15809 0.00 1.08 0.00 0.000 4 0.000 0.033 2626 2865 457 0 0 0 0 0 0
16064 1.00 592.1 81.3 12.9 1228 16071 0.00 1.02 0.00 0.000 6 0.000 0.026 2626 2163 459 0 0 0 0 0 0
16209 1.03 615.7 67.1 9.3 1253 16223 0.00 1.10 5.82 0.400 4 0.000 0.031 2626 2868 439 0 0 0 0 0 0
16292 1.04 623.4 58.9 10.0 1267 16299 0.00 1.02 0.00 0.000 6 0.000 0.027 2626 2170 440 0 0 0 0 0 0
16439 1.04 623.4 44.2 10.9 1292 16446 0.00 0.00 0.15 0.138 6 0.000 0.000 2626 2170 441 0 0 0 0 0 0
16583 1.04 623.4 28.0 10.9 1317 16590 0.00 0.00 1.42 0.076 6 0.000 0.000 2626 2170 442 0 0 0 0 0 0
16729 1.04 623.4 12.1 12.1 1342 16737 0.00 1.10 2.75 0.223 4 0.000 0.031 2626 2871 439 0 0 0 0 0 0
16804 end climb: SURFACE_DEPTH_REACHED
state 16804 begin surface coast
16829 end surface coast: CONTROL_FINISHED_OK
state 16829 begin surface