SOSCEx 29Jul15 * SG573 * Dive index * Mission links * Dive 69 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  573 HD_B  0.010078 ROLL_MIN  150 ALTIM_TOP_TURN_MARGIN  0
MISSION  12 HD_C  9.8500004e-06 ROLL_MAX  3785 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  69 HEADING  -1 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_SURF  3 ESCAPE_HEADING  0 C_ROLL_DIVE  2060 ALTIM_PING_DELTA  10
D_FLARE  3 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1730 ALTIM_FREQUENCY  13
D_TGT  1000 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_ABORT  1020 TGT_DEFAULT_LAT  -4300 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_NO_BLEED  200 TGT_DEFAULT_LON  800 ROLL_TIMEOUT  15 XPDR_VALID  5
D_BOOST  5 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  38 XPDR_INHIBIT  90
T_BOOST  0 SM_CC  200 R_STBD_OVSHOOT  34 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 DEVICE1  2
SURFACE_URGENCY  0 N_NOCOMM  1 VBD_MIN  409 DEVICE2  101
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE3  163
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 C_VBD  1950 DEVICE4  135
T_DIVE  335 CALL_TRIES  5 VBD_DBAND  2 DEVICE5  -1
T_MISSION  350 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE6  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_TIMEOUT  720 LOGGERS  1
T_TURN  225 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.00060000003 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  -21232.426 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  1 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  130 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  3184 PHONE_SUPPLY  2 SEABIRD_T_H  0.00061930995
SPEED_FACTOR  1 PITCH_DBAND  0.0099999998 PRESSURE_YINT  -87.994217 SEABIRD_T_I  2.1971719e-05
RHO  1.0278 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011693723 SEABIRD_T_J  2.301111e-06
MASS  53040 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_C_G  -9.9469662
LENGTH  1.8 PITCH_GAIN  26 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  160 COMPASS_USE  0 SEABIRD_C_J  0.00019558761
FERRY_MAX  45 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 EBE_ENABLE  0
KALMAN_USE  2 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  0 GC_WINDOW  0
HD_A  0.0038360001 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  15 GC_LAST_COLLECTION  68

Pre-dive calculations and measurements:
GPS1  100815,033034,-4458.901,636.985,31,1.5,31,-24.4 TGT_NAME  SAF_BUT4
_CALLS  1 TGT_LATLONG  -4504.000,636.000
_XMS_NAKs  0 TGT_RADIUS  1000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.61 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  100815,033847,-4458.897,636.990,18,1.0,18,-24.4 MHEAD_RNG_PITCHd_Wd  212.2,9538,-19.6,-9.950
SPEED_LIMITS  0.172,0.243 D_GRID  1000

Post-dive calculations and measurements:
FINISH  1.6,1.022860 _10V_AH  10.2,10.686
SM_CCo  19692,12.05,0.059,0,0,1133,200.16 FG_AHR_24Vo  0.000
SM_GC  4.00,0.00,0.00,12.05,0.000,0.000,0.059,76,2071,1133,-9.71,0.31,200.16 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4438.33,633.52,050608,111139 MEM  353268
TT8_MAMPS  0.026964 DATA_FILE_SIZE  97047,1408
HUMID  62.28 CAP_FILE_SIZE  183959,0
INTERNAL_PRESSURE  9.29413 CFSIZE  2097086464,2083061760
TCM_TEMP  12.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 GPS  100815,090836,-4501.420,638.745,30,0.9,30,-24.5
_24V_AH  23.3,13.399

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23285157.24 SBE_CT98123530.99
Roll_motor14168224.79 AA43302562171028.79
VBD_pump_during_apogee28212988552.67 WL_BB2FL9801052398.04
VBD_pump_during_surface125816.54 QSP215052717211.82
VBD_valve000.00 nil000.00
Iridium_during_init249151.08 nil000.00
Iridium_during_connect41160153.19 nil000.00
Iridium_during_xfer3052231589.62 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS20275.86
TT8349613495.39
LPSleep125002279.23
TT8_Active4341361.60
TT8_Sampling3612401505.11
TT8_CF81435073.96
TT8_Kalman000.00
Analog_circuits172215269.11
GPS_charging000.00
Compass303515487.00
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
21 end surface: CONTROL_FINISHED_OK
state 21 begin dive
23 -0.83 -126.5 0.0 0.0 0 51 0.00 0.00 -26.33 0.000 2 0.000 0.000 62 2062 1679 0 0 0 0 0 0
53 -0.83 -126.5 3.2 -3.4 4 105 11.90 2.28 -32.42 0.000 4 0.258 0.068 2902 3472 2465 0 0 0 0 0 0
356 -0.78 -126.5 40.6 -15.3 53 362 0.12 2.20 0.00 0.000 6 0.184 0.040 2933 2060 2468 0 0 0 0 0 0
704 -0.74 -126.5 85.7 -12.6 114 710 0.00 0.00 0.00 0.000 6 0.000 0.000 2933 2060 2468 0 0 0 0 0 0
1037 -0.71 -126.5 127.8 -12.8 155 1042 0.08 2.20 0.00 0.000 4 0.211 0.051 2951 651 2469 0 0 0 0 0 0
1069 -0.69 -126.5 132.1 -12.3 157 1075 0.00 2.22 0.00 0.000 6 0.000 0.038 2942 2064 2468 0 0 0 0 0 0
1394 -0.69 -126.5 171.2 -12.3 188 1396 0.08 0.00 0.00 0.000 6 0.211 0.000 2958 2064 2469 0 0 0 0 0 0
1713 -0.71 -126.5 206.4 -10.6 218 1714 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2064 2469 0 0 0 0 0 0
2033 -0.73 -126.5 238.5 -9.5 248 2034 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2064 2469 0 0 0 0 0 0
2351 -0.75 -126.5 267.2 -8.6 278 2355 0.00 2.22 0.00 0.000 4 0.000 0.060 2948 3466 2470 0 0 0 0 0 0
2414 -0.78 -126.5 272.9 -8.9 283 2418 0.00 2.15 0.00 0.000 6 0.000 0.037 2948 2054 2470 0 0 0 0 0 0
2741 -0.78 -126.5 300.7 -8.4 313 2745 0.00 2.15 0.00 0.000 4 0.000 0.051 2948 662 2470 0 0 0 0 0 0
2793 -0.78 -126.5 305.5 -9.0 317 2797 0.00 2.15 0.00 0.000 6 0.000 0.038 2939 2062 2470 0 0 0 0 0 0
3124 -0.78 -126.5 337.1 -9.9 348 3128 0.00 2.22 0.00 0.000 4 0.000 0.061 2929 3467 2470 0 0 0 0 0 0
3163 -0.78 -126.5 341.2 -11.1 351 3167 0.00 2.15 0.00 0.000 6 0.000 0.037 2928 2055 2470 0 0 0 0 0 0
3489 -0.78 -126.5 374.7 -10.2 381 3493 0.00 2.17 0.00 0.000 4 0.000 0.051 2929 649 2470 0 0 0 0 0 0
3566 -0.75 -126.5 383.7 -11.3 387 3573 0.05 2.22 0.00 0.000 6 0.179 0.041 2936 2065 2470 0 0 0 0 0 0
3898 -0.75 -126.5 417.6 -10.3 411 3902 0.00 2.22 0.00 0.000 4 0.000 0.062 2925 3468 2470 0 0 0 0 0 0
3946 -0.75 -126.5 423.2 -12.1 413 3952 0.03 2.17 0.00 0.000 6 0.190 0.038 2935 2059 2470 0 0 0 0 0 0
4268 -0.75 -126.5 455.5 -10.3 429 4272 0.00 2.20 0.00 0.000 4 0.000 0.053 2935 649 2471 0 0 0 0 0 0
4299 -0.72 -126.5 459.3 -12.2 430 4306 0.05 2.20 0.00 0.000 6 0.180 0.040 2943 2056 2470 0 0 0 0 0 0
4615 -0.72 -126.5 492.2 -10.6 446 4619 0.00 2.22 0.00 0.000 4 0.000 0.060 2932 3465 2470 0 0 0 0 0 0
4777 -0.72 -126.5 510.1 -11.0 453 4782 0.05 2.17 0.00 0.000 6 0.171 0.038 2949 2056 2470 0 0 0 0 0 0
5098 -0.72 -126.5 542.7 -10.0 469 5102 0.00 2.25 0.00 0.000 4 0.000 0.060 2940 3465 2469 0 0 0 0 0 0
5230 -0.72 -126.5 556.5 -10.4 475 5235 0.00 2.17 0.00 0.000 6 0.000 0.038 2940 2051 2469 0 0 0 0 0 0
5558 -0.72 -126.5 589.4 -10.2 491 5562 0.00 2.25 0.00 0.000 4 0.000 0.059 2930 3467 2469 0 0 0 0 0 0
5735 -0.72 -126.5 607.6 -9.9 499 5741 0.05 2.17 0.00 0.000 6 0.174 0.039 2947 2053 2469 0 0 0 0 0 0
6064 -0.74 -126.5 636.2 -8.5 515 6068 0.00 2.25 0.00 0.000 4 0.000 0.060 2938 3474 2469 0 0 0 0 0 0
6321 -0.77 -126.5 660.2 -9.6 526 6326 0.00 2.17 0.00 0.000 6 0.000 0.040 2938 2068 2469 0 0 0 0 0 0
6637 -0.77 -126.5 689.1 -9.0 542 6641 0.00 2.20 0.00 0.000 4 0.000 0.057 2929 3465 2469 0 0 0 0 0 0
6699 -0.77 -126.5 695.2 -9.8 545 6703 0.00 2.15 0.00 0.000 6 0.000 0.038 2929 2051 2468 0 0 0 0 0 0
7026 -0.77 -126.5 727.4 -9.9 561 7027 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2050 2468 0 0 0 0 0 0
7336 -0.77 -126.5 756.3 -9.0 576 7337 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 2050 2468 0 0 0 0 0 0
7645 -0.77 -126.5 783.4 -8.6 591 7649 0.00 2.15 0.00 0.000 4 0.000 0.052 2929 656 2467 0 0 0 0 0 0
7688 -0.77 -126.5 787.6 -9.3 593 7692 0.00 2.20 0.00 0.000 6 0.000 0.039 2920 2067 2468 0 0 0 0 0 0
8015 -0.77 -126.5 816.6 -9.1 609 8020 0.05 2.22 0.00 0.000 4 0.236 0.060 2921 3471 2467 0 0 0 0 0 0
8069 -0.77 -126.5 821.7 -9.1 611 8075 0.00 2.17 0.00 0.000 6 0.000 0.039 2921 2061 2467 0 0 0 0 0 0
8386 -0.77 -126.5 851.8 -9.8 627 8390 0.05 2.20 0.00 0.000 4 0.236 0.052 2931 655 2467 0 0 0 0 0 0
8428 -0.77 -126.5 856.5 -10.2 629 8433 0.00 2.20 0.00 0.000 6 0.000 0.040 2923 2061 2467 0 0 0 0 0 0
8756 -0.77 -126.5 888.6 -9.9 645 8757 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2061 2467 0 0 0 0 0 0
9065 -0.77 -126.5 919.6 -9.9 660 9067 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 2061 2466 0 0 0 0 0 0
9375 -0.77 -126.5 950.0 -9.8 675 9379 0.00 2.22 0.00 0.000 4 0.000 0.061 2913 3468 2466 0 0 0 0 0 0
9423 -0.77 -126.5 955.1 -10.0 677 9429 0.05 2.17 0.00 0.000 6 0.164 0.038 2930 2052 2465 0 0 0 0 0 0
9745 -0.77 -126.5 984.1 -9.1 693 9746 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2052 2465 0 0 0 0 0 0
9929 end dive: TARGET_DEPTH_EXCEEDED
state 9929 begin apogee
9933 -0.19 0.0 1001.1 9.1 702 10051 0.60 0.00 114.78 1.298 6 0.149 0.000 3117 1725 1949 0 0 0 0 0 0
10052 end apogee: CONTROL_FINISHED_OK
state 10052 begin climb
10053 0.83 126.5 1004.6 0.0 708 10177 1.02 0.00 120.20 1.255 6 0.092 0.000 3448 1725 1434 0 0 0 0 0 0
10479 0.83 126.5 965.2 10.8 729 10483 0.00 2.30 0.00 0.000 4 0.000 0.047 3459 322 1425 0 0 0 0 0 0
10511 0.80 126.5 961.4 12.4 730 10518 0.03 2.30 0.00 0.000 6 0.164 0.033 3449 1744 1424 0 0 0 0 0 0
10827 0.80 126.5 927.4 10.8 746 10829 0.00 0.00 0.00 0.000 6 0.000 0.000 3449 1745 1423 0 0 0 0 0 0
11137 0.80 126.5 893.9 10.9 761 11141 0.00 2.30 0.00 0.000 4 0.000 0.045 3458 319 1422 0 0 0 0 0 0
11176 0.78 126.5 889.5 11.6 763 11181 0.08 2.22 0.00 0.000 6 0.181 0.032 3440 1746 1421 0 0 0 0 0 0
11502 0.78 126.5 854.6 10.8 779 11506 0.00 2.28 0.00 0.000 4 0.000 0.046 3449 328 1421 0 0 0 0 0 0
11533 0.78 126.5 850.9 11.7 780 11540 0.03 2.20 0.00 0.000 6 0.164 0.031 3439 1734 1420 0 0 0 0 0 0
11850 0.78 126.5 815.6 11.1 796 11851 0.00 0.00 0.00 0.000 6 0.000 0.000 3439 1735 1420 0 0 0 0 0 0
12159 0.78 126.5 781.6 10.8 811 12163 0.00 2.25 0.00 0.000 4 0.000 0.046 3448 321 1420 0 0 0 0 0 0
12190 0.78 126.5 778.0 10.4 812 12197 0.00 2.20 0.00 0.000 6 0.000 0.031 3448 1728 1419 0 0 0 0 0 0
12507 0.78 126.5 744.2 10.7 828 12508 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 1729 1419 0 0 0 0 0 0
12816 0.78 126.5 711.9 10.4 843 12820 0.00 2.22 0.00 0.000 4 0.000 0.045 3458 325 1419 0 0 0 0 0 0
12856 0.78 126.5 707.7 10.1 845 12860 0.08 2.17 0.00 0.000 6 0.183 0.032 3439 1743 1419 0 0 0 0 0 0
13182 0.79 136.9 676.4 9.4 861 13196 0.00 2.30 8.43 0.949 4 0.000 0.047 3448 324 1390 0 0 0 0 0 0
13229 0.79 136.9 671.5 10.1 863 13234 0.00 2.17 0.00 0.000 6 0.000 0.031 3448 1719 1389 0 0 0 0 0 0
13557 0.79 143.6 640.3 9.6 879 13567 0.00 0.00 7.93 0.912 6 0.000 0.000 3448 1719 1364 0 0 0 0 0 0
13866 0.79 143.6 609.0 10.3 894 13867 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 1720 1362 0 0 0 0 0 0
14175 0.80 147.7 578.3 9.7 909 14183 0.00 0.00 5.32 0.764 6 0.000 0.000 3448 1719 1347 0 0 0 0 0 0
14485 0.82 147.7 547.6 10.3 924 14486 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 1719 1346 0 0 0 0 0 0
14794 0.82 147.7 515.3 10.7 939 14795 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 1719 1346 0 0 0 0 0 0
15104 0.84 147.7 481.9 10.6 954 15105 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 1719 1346 0 0 0 0 0 0
15413 0.89 164.6 451.8 9.1 969 15438 0.08 2.30 17.23 0.926 4 0.125 0.052 3490 3131 1278 0 0 0 0 0 0
15515 0.83 164.6 440.3 11.1 973 15522 0.12 2.17 0.00 0.000 6 0.155 0.031 3458 1727 1277 0 0 0 0 0 0
15832 0.89 170.9 409.6 9.6 989 15841 0.00 0.00 6.95 0.768 6 0.000 0.000 3458 1727 1253 0 0 0 0 0 0
16159 0.94 170.9 377.7 10.0 1015 16164 0.08 2.20 0.00 0.000 4 0.125 0.049 3506 326 1251 0 0 0 0 0 0
16315 0.89 170.9 358.6 12.8 1028 16322 0.08 2.20 0.00 0.000 6 0.150 0.033 3480 1731 1250 0 0 0 0 0 0
16640 0.89 170.9 322.9 10.4 1059 16644 0.00 2.17 0.00 0.000 4 0.000 0.054 3480 3121 1250 0 0 0 0 0 0
16684 0.86 170.9 317.7 12.0 1062 16691 0.08 2.15 0.00 0.000 6 0.166 0.031 3463 1724 1250 0 0 0 0 0 0
17012 0.88 170.9 283.0 10.8 1093 17016 0.00 2.20 0.00 0.000 4 0.000 0.048 3474 320 1250 0 0 0 0 0 0
17028 0.88 170.9 280.9 11.2 1094 17032 0.00 2.17 0.00 0.000 6 0.000 0.033 3474 1732 1250 0 0 0 0 0 0
17353 0.88 170.9 245.8 10.6 1124 17357 0.00 2.15 0.00 0.000 4 0.000 0.051 3474 3125 1250 0 0 0 0 0 0
17418 0.88 170.9 238.7 11.3 1129 17422 0.03 2.12 0.00 0.000 6 0.285 0.030 3474 1717 1250 0 0 0 0 0 0
17742 0.88 170.9 203.5 10.1 1159 17743 0.00 0.00 0.00 0.000 6 0.000 0.000 3474 1716 1250 0 0 0 0 0 0
18063 0.88 170.9 169.7 10.3 1189 18067 0.00 2.17 0.00 0.000 4 0.000 0.047 3484 325 1249 0 0 0 0 0 0
18093 0.88 170.9 166.5 11.2 1191 18098 0.05 2.15 0.00 0.000 6 0.223 0.031 3473 1736 1249 0 0 0 0 0 0
18420 0.88 172.9 133.6 9.8 1221 18421 0.00 0.00 0.00 0.000 6 0.000 0.000 3472 1736 1249 0 0 0 0 0 0
18736 0.88 172.9 100.9 10.7 1251 18737 0.00 0.00 0.00 0.000 6 0.000 0.000 3472 1736 1249 0 0 0 0 0 0
19077 0.90 172.9 63.1 11.2 1310 19082 0.00 2.15 0.00 0.000 4 0.000 0.052 3472 3126 1249 0 0 0 0 0 0
19099 0.90 172.9 60.8 10.1 1314 19106 0.00 2.12 0.00 0.000 6 0.000 0.031 3481 1731 1249 0 0 0 0 0 0
19459 0.90 172.9 23.4 13.0 1375 19467 0.00 2.20 0.00 0.000 4 0.000 0.047 3492 328 1249 0 0 0 0 0 0
19517 0.90 172.9 16.3 13.0 1384 19526 0.03 2.15 0.45 0.106 6 0.179 0.032 3482 1731 1246 0 0 0 0 0 0
19577 0.90 175.6 10.2 9.8 1393 19585 0.00 2.17 1.48 0.080 4 0.000 0.052 3482 3110 1236 0 0 0 0 0 0
19605 0.90 175.6 7.4 10.0 1397 19613 0.03 2.10 0.00 0.000 6 0.194 0.030 3481 1725 1236 0 0 0 0 0 0
19644 end climb: SURFACE_DEPTH_REACHED
state 19644 begin surface coast
19676 end surface coast: CONTROL_FINISHED_OK
state 19677 begin surface