SOSCEx Mar19 * SG574 * Dive index * Mission links * Dive 86 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  574 HD_C  9.8500004e-06 C_ROLL_DIVE  1812 ALTIM_BOTTOM_TURN_MARGIN  10
MISSION  3 HEADING  320 C_ROLL_CLIMB  1800 ALTIM_TOP_TURN_MARGIN  0
DIVE  86 ESCAPE_HEADING  0 HEAD_ERRBAND  10 ALTIM_TOP_MIN_OBSTACLE  1
N_DIVES  0 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 ALTIM_PING_DEPTH  50
STOP_T  0 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 ALTIM_PING_DELTA  5
D_SURF  3 TGT_DEFAULT_LAT  4743.3999 R_PORT_OVSHOOT  34 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LON  -12224.2 R_STBD_OVSHOOT  45 ALTIM_PULSE  3
D_TGT  500 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 ALTIM_SENSITIVITY  2
D_ABORT  1020 SM_CC  515.36688 ROLL_MAXERRORS  1 XPDR_VALID  2
D_NO_BLEED  29 N_FILEKB  4 ROLL_ADJ_GAIN  0 XPDR_INHIBIT  90
D_BOOST  0 FILEMGR  0 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  0.0097655999
T_BOOST  0 CALL_NDIVES  1 VBD_MIN  600 INT_PRESSURE_YINT  3.1600001
D_FINISH  20 COMM_SEQ  0 VBD_MAX  3960 DEEPGLIDER  0
D_PITCH  0 PROTOCOL  9 C_VBD  2701 MOTHERBOARD  4
D_SAFE  0 N_NOCOMM  2 VBD_DBAND  2 DEVICE1  -1
D_CALL  0 NOCOMM_ACTION  259 VBD_CNV  -0.245296 DEVICE2  -1
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_LP_IGNORE  0 DEVICE3  -1
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 VBD_TIMEOUT  720 DEVICE4  -1
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 PITCH_VBD_SHIFT  0.0012300001 DEVICE5  -1
T_DIVE  167 CALL_WAIT  60 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_MISSION  182 CAPUPLOAD  0 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERS  1
T_ABORT  197 CAPMAXSIZE  400000 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN  500 HEAPDBG  0 UNCOM_BLEED  60 LOGGERDEVICE2  -1
T_TURN_SAMPINT  5 T_GPS  15 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_NO_W  120 N_GPS  100840 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
T_LOITER  0 T_RSLEEP  2 DBDW  0 COMPASS_DEVICE  17
T_EPIRB  0 STROBE  0 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
USE_BATHY  0 RAFOS_PEAK_OFFSET  1.5 PITCH_W_DBAND  0 PHONE_DEVICE  49
USE_ICE  0 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  20 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0.30000001 RAFOS_HIT_WINDOW  3600 AH0_24V  310 RAFOS_DEVICE  -1
D_OFFGRID  100 PITCH_MIN  117 AH0_10V  0 XPDR_DEVICE  24
T_WATCHDOG  10 PITCH_MAX  3869 MINV_24V  11.5 SIM_W  0
RELAUNCH  0 C_PITCH  2759 MINV_10V  10 SIM_PITCH  0
APOGEE_PITCH  -5 PITCH_DBAND  0.0099999998 MAXI_24V  3 SEABIRD_T_G  0.0042907312
MAX_BUOY  95 PITCH_CNV  0.003125763 MAXI_10V  2 SEABIRD_T_H  0.00061813911
COURSE_BIAS  0 P_OVSHOOT  0.039999999 FG_AHR_10V  0 SEABIRD_T_I  2.1013675e-05
GLIDE_SLOPE  30 P_OVSHOOT_WITHG  0.079999998 FG_AHR_24V  0 SEABIRD_T_J  2.0586713e-06
SPEED_FACTOR  1 PITCH_GAIN  30 PHONE_SUPPLY  2 SEABIRD_C_G  -9.7689371
RHO  1.0275 PITCH_TIMEOUT  25 PRESSURE_YINT  -148.54955 SEABIRD_C_H  1.1415389
MASS  53998 PITCH_AD_RATE  125 PRESSURE_SLOPE  0.0001058 SEABIRD_C_I  -0.0022330475
MASS_COMP  0 PITCH_MAXERRORS  1 AD7714Ch0Gain  1 SEABIRD_C_J  0.00024789109
NAV_MODE  3 PITCH_ADJ_GAIN  0 TCM_PITCH_OFFSET  0 SC_RECORDABOVE  2000.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 TCM_ROLL_OFFSET  0 SC_PROFILE  3.0
KALMAN_USE  2 ROLL_MIN  301 COMPASS_USE  0 SC_XMITPROFILE  3.0
HD_A  0.0038360001 ROLL_MAX  3936 ALTIM_BOTTOM_PING_RANGE  0
HD_B  0.0101 ROLL_DEG  40 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  210319,055653,-2951.5852,3115.9448,7,0.8,15,-24.9,0.5,55.7,11,9.9 TGT_NAME  HEADING
_CALLS  5 TGT_LATLONG  -2946.154,3127.187
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000000,0.000000
_SM_DEPTHo  0.84 KALMAN_X  0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo  -68.0 KALMAN_Y  0.000000,0.000000,0.000000,0.000000,0.000000
GPS2  210319,061546,-2951.2932,3116.2446,7,1.0,15,-24.9,0.5,71.0,8,9.1 MHEAD_RNG_PITCHd_Wd  86.5,20000,-23.0,-9.980,-25.43,1422
SPEED_LIMITS  0.173,0.210 D_GRID  500

Post-dive calculations and measurements:
FINISH  0.3,1.024129 _24V_AH  14.02,51.356
SM_CCo  4778,159.65,0.807,0,0,599,515.37 _10V_AH  13.41,0.000
SM_GC  0.72,13.93,2.38,159.65,0.057,0.047,0.807,128,1802,599,-8.18,0.88,515.37,0,0,0,0,0,0,14.90,14.91,14.23 FG_AHR_24Vo  0.000
IRIDIUM_FIX  -2940.11,3116.58,210319,060958 FG_AHR_10Vo  0.000
TT8_MAMPS  0.021721,0.954975 MEM  340864
HUMID  42.55 DATA_FILE_SIZE  20077,789
INTERNAL_PRESSURE  9.48811 CAP_FILE_SIZE  157771,0
TCM_TEMP  21.30 CFSIZE  2097086464,2078834688
XPDR_PINGS  19 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
ALTIM_BOTTOM_PING  310.8,35.1 CURRENT  0.116,118.30,1
SC_FREEKB  3878368 GPS  210319,073931,-2951.239,3117.106,7,0.8,26,-24.9,0.9,36.3,10,8.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor30524226.98 nil000.00
Roll_motor977197.73 nil000.00
VBD_pump_during_apogee26311884384.70 nil000.00
VBD_pump_during_surface1598071806.47 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init1191627.57 nil000.00
Iridium_during_connect165160372.04 SciCon4807281940.08
Iridium_during_xfer3592231124.92 nil000.00
Transponder_ping18420107.46 nil000.00
GUMSTIX_24V000.00
GPS17112.57
TT819089245.90
LPSleep1255236.86
TT8_Active683988.10
TT8_Sampling209828797.49
TT8_CF81333665.29
TT8_Kalman000.00
Analog_circuits139612226.80
GPS_charging000.00
Compass123217297.20
RAFOS000.00
Transponder843034.07

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
18 end surface: CONTROL_FINISHED_OK
state 18 begin dive
20 -0.88 -92.5 54 1812 628 550 0.0 0.0 0 113 0.00 0.00 -90.75 0.000 16386 0.000 0.000 54 1812 3031 3005 3058 0 0 0 0 0 0 15.11 28.83 15.12
116 -0.88 -92.5 54 1812 3005 3058 3.6 -7.7 16 137 13.80 2.35 -0.82 0.000 18692 0.291 0.064 2457 3226 3078 3063 3094 0 0 0 0 0 0 14.77 14.02 14.98
581 -0.88 -92.5 2457 3226 3065 3088 90.1 -12.8 106 589 0.08 2.33 0.00 0.000 3078 0.269 0.044 2473 1808 3079 3072 3087 0 0 0 0 0 0 14.90 15.00 15.04
652 -0.88 -92.5 2472 1807 3072 3086 99.0 -11.4 119 659 0.00 2.33 0.00 0.000 2308 0.000 0.050 2465 3218 3079 3072 3086 0 0 0 0 0 0 15.22 15.02 15.23
711 -0.88 -92.5 2465 3218 3071 3085 104.4 -9.4 130 719 0.00 2.30 0.00 0.000 3078 0.000 0.044 2465 1811 3079 3073 3085 0 0 0 0 0 0 15.09 15.01 15.09
782 -0.88 -92.5 2464 1811 3073 3086 112.8 -13.2 143 789 0.00 2.33 0.00 0.000 2308 0.000 0.051 2457 3216 3079 3073 3085 0 0 0 0 0 0 15.23 15.02 15.23
806 -0.88 -92.5 2457 3217 3073 3086 115.8 -11.9 147 813 0.08 2.30 0.00 0.000 3078 0.272 0.046 2472 1812 3079 3073 3086 0 0 0 0 0 0 14.93 15.01 15.07
874 -0.88 -92.5 2472 1812 3072 3085 123.6 -11.7 160 881 0.00 2.33 0.00 0.000 2308 0.000 0.051 2466 3221 3079 3073 3085 0 0 0 0 0 0 15.22 14.97 15.22
940 -0.88 -92.5 2466 3221 3072 3085 130.7 -10.4 172 946 0.00 2.33 0.00 0.000 3078 0.000 0.045 2466 1803 3079 3073 3085 0 0 0 0 0 0 15.07 14.98 15.07
1010 -0.88 -92.5 2465 1803 3071 3084 139.9 -14.0 185 1019 0.00 0.00 0.00 0.000 2054 0.000 0.000 2466 1803 3078 3073 3083 0 0 0 0 0 0 15.23 15.23 15.23
1081 -0.88 -92.5 2465 1803 3073 3085 150.0 -14.1 198 1089 0.00 2.35 0.00 0.000 2564 0.000 0.064 2466 400 3078 3073 3084 0 0 0 0 0 0 15.23 15.02 15.24
1112 -0.88 -92.5 2466 399 3072 3084 154.6 -14.4 203 1119 0.00 2.28 0.00 0.000 3078 0.000 0.037 2463 1811 3082 3080 3085 0 0 0 0 0 0 15.13 15.04 15.14
1181 -0.88 -92.5 2463 1814 3073 3084 164.2 -13.7 216 1188 0.00 2.30 0.00 0.000 2308 0.000 0.054 2464 3214 3078 3073 3083 0 0 0 0 0 0 15.23 15.02 15.24
1244 -0.88 -92.5 2463 3214 3076 3084 172.3 -12.4 228 1251 0.00 2.33 0.00 0.000 3078 0.000 0.046 2464 1804 3077 3072 3083 0 0 0 0 0 0 15.07 14.99 15.07
1313 -0.88 -92.5 2463 1803 3072 3083 181.9 -14.9 241 1319 0.00 0.00 0.00 0.000 2054 0.000 0.000 2464 1803 3078 3073 3083 0 0 0 0 0 0 15.23 15.23 15.23
1381 -0.88 -92.5 2463 1803 3069 3082 191.6 -13.6 254 1389 0.00 2.35 0.00 0.000 2308 0.000 0.052 2455 3222 3077 3072 3082 0 0 0 0 0 0 15.23 15.04 15.24
1395 -0.88 -92.5 2454 3222 3073 3082 193.7 -14.3 256 1403 0.08 2.33 0.00 0.000 3078 0.274 0.047 2470 1812 3078 3073 3083 0 0 0 0 0 0 14.92 14.99 15.06
1464 -0.88 -92.5 2470 1812 3073 3082 203.7 -14.5 269 1470 0.00 0.00 0.00 0.000 2054 0.000 0.000 2470 1811 3077 3073 3082 0 0 0 0 0 0 15.23 15.24 15.24
1533 -0.88 -92.5 2470 1812 3073 3082 213.3 -13.9 282 1539 0.00 0.00 0.00 0.000 2054 0.000 0.000 2470 1811 3077 3073 3081 0 0 0 0 0 0 15.24 15.25 15.25
1602 -0.88 -92.5 2470 1812 3077 3081 223.0 -14.0 295 1608 0.00 0.00 0.00 0.000 2054 0.000 0.000 2470 1811 3076 3072 3081 0 0 0 0 0 0 15.25 15.26 15.26
1669 -0.88 -92.5 2470 1812 3073 3081 232.1 -13.4 308 1675 0.00 0.00 0.00 0.000 2054 0.000 0.000 2470 1811 3077 3073 3081 0 0 0 0 0 0 15.26 15.26 15.26
1738 -0.88 -92.5 2470 1812 3072 3081 241.6 -13.7 321 1745 0.00 2.30 0.00 0.000 2308 0.000 0.054 2464 3211 3076 3073 3080 0 0 0 0 0 0 15.26 15.05 15.26
1776 -0.88 -92.5 2464 3210 3072 3080 246.4 -13.1 328 1782 0.00 2.30 0.00 0.000 3078 0.000 0.047 2464 1812 3076 3072 3080 0 0 0 0 0 0 15.14 15.05 15.16
1845 -0.88 -92.5 2463 1812 3072 3080 255.6 -14.2 341 1851 0.00 0.00 0.00 0.000 2054 0.000 0.000 2464 1812 3076 3073 3080 0 0 0 0 0 0 15.26 15.26 15.26
1915 -0.88 -92.5 2463 1812 3073 3080 265.4 -14.2 354 1923 0.00 2.33 0.00 0.000 2308 0.000 0.054 2461 3217 3075 3072 3079 0 0 0 0 0 0 15.26 15.06 15.26
1951 -0.88 -92.5 2461 3217 3072 3080 270.5 -14.2 360 1958 0.00 2.33 0.00 0.000 3078 0.000 0.046 2461 1804 3076 3073 3080 0 0 0 0 0 0 15.14 15.04 15.15
2020 -0.88 -92.5 2460 1805 3072 3079 280.7 -14.5 373 2026 0.00 0.00 0.00 0.000 2054 0.000 0.000 2460 1805 3075 3072 3079 0 0 0 0 0 0 15.27 15.28 15.27
2088 -0.88 -92.5 2460 1805 3072 3078 290.9 -15.2 386 2094 0.00 0.00 0.00 0.000 2054 0.000 0.000 2461 1805 3075 3072 3078 0 0 0 0 0 0 15.27 15.27 15.27
2172 -0.88 -92.5 2460 1804 3072 3076 303.0 -14.4 399 2173 0.00 0.00 0.00 0.000 2054 0.000 0.000 2461 1805 3074 3072 3077 0 0 0 0 0 0 15.28 15.28 15.28
2291 -0.88 -92.5 2460 1805 3071 3076 319.1 -13.6 405 2293 0.03 0.00 0.00 0.000 2054 0.525 0.000 2467 1805 3072 3071 3073 0 0 0 0 0 0 15.00 15.16 15.12
2411 -0.88 -92.5 2465 1805 3070 3075 335.8 -13.9 411 2417 0.00 2.33 0.00 0.000 2308 0.000 0.054 2460 3213 3073 3071 3075 0 0 0 0 0 0 15.30 15.09 15.31
2433 end dive: BOTTOM_OBSTACLE_DETECTED
state 2433 begin apogee
2439 -0.17 0.0 2460 1795 3069 3075 338.9 -13.9 412 2516 1.23 0.00 69.47 1.189 10246 0.169 0.000 2700 1795 2699 2713 2686 0 0 0 0 0 0 15.00 14.73 14.25
2518 end apogee: CONTROL_FINISHED_OK
state 2518 begin climb
2520 0.88 92.5 2700 1795 2712 2686 342.4 0.0 416 2605 1.52 2.40 75.82 1.187 11012 0.073 0.048 3032 3203 2320 2340 2301 0 0 0 0 0 0 14.74 14.44 14.06
2646 0.98 174.5 3032 3203 2336 2300 338.6 4.1 422 2722 0.05 2.38 65.85 1.165 11270 0.265 0.049 3063 1798 1986 2014 1959 0 0 0 0 0 0 14.63 14.69 14.06
2860 0.98 174.5 3063 1798 2006 1951 302.4 18.7 433 2865 0.00 2.40 0.00 0.000 2564 0.000 0.070 3073 395 1978 2006 1951 0 0 0 0 0 0 15.02 14.79 15.02
2876 0.98 174.5 3073 395 2004 1951 302.4 18.7 433 2883 0.00 2.30 0.00 0.000 1030 0.000 0.037 3074 1808 1977 2003 1951 0 0 0 0 0 0 14.91 14.85 14.92
3005 0.98 174.5 3073 1811 2003 1950 274.1 16.0 458 3012 0.00 2.42 0.00 0.000 516 0.000 0.071 3074 392 1976 2002 1950 0 0 0 0 0 0 15.10 14.88 15.11
3033 0.98 174.5 3074 392 2000 1949 269.1 18.4 463 3040 0.00 2.30 0.00 0.000 1030 0.000 0.036 3074 1805 1974 2000 1949 0 0 0 0 0 0 14.98 14.92 15.00
3102 0.98 174.5 3073 1807 2000 1948 256.6 18.8 476 3108 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 1807 1974 2000 1948 0 0 0 0 0 0 15.14 15.15 15.14
3170 0.98 174.5 3073 1807 2000 1948 244.1 18.5 489 3177 0.00 2.28 0.00 0.000 260 0.000 0.052 3074 3197 1973 1999 1948 0 0 0 0 0 0 15.16 14.97 15.17
3209 0.98 174.5 3073 3197 1998 1947 236.3 19.1 496 3216 0.00 2.35 0.00 0.000 5126 0.000 0.053 3077 1799 1973 1999 1948 0 0 0 0 0 0 15.06 14.97 15.08
3278 0.98 174.5 3077 1798 1999 1947 222.1 21.7 509 3285 0.00 0.00 0.00 0.000 4102 0.000 0.000 3077 1798 1973 1999 1947 0 0 0 0 0 0 15.19 15.19 15.19
3347 0.98 174.5 3077 1798 1998 1950 209.5 16.6 522 3353 0.00 0.00 0.00 0.000 4102 0.000 0.000 3078 1798 1972 1998 1947 0 0 0 0 0 0 15.20 15.20 15.20
3414 0.98 174.5 3077 1798 1998 1946 196.0 19.6 535 3420 0.00 2.30 0.00 0.000 4356 0.000 0.051 3078 3195 1972 1997 1947 0 0 0 0 0 0 15.21 14.98 15.21
3487 0.98 174.5 3077 3196 1997 1946 181.8 18.9 549 3495 0.00 2.35 0.00 0.000 5126 0.000 0.054 3080 1790 1971 1997 1946 0 0 0 0 0 0 15.04 14.95 15.05
3557 0.98 174.5 3080 1789 1997 1945 168.7 19.5 562 3563 0.00 0.00 0.00 0.000 4102 0.000 0.000 3080 1789 1971 1997 1945 0 0 0 0 0 0 15.21 15.21 15.21
3624 0.98 174.5 3080 1789 1997 1945 155.4 19.4 575 3631 0.00 2.33 0.00 0.000 4356 0.000 0.050 3081 3198 1971 1997 1945 0 0 0 0 0 0 15.22 15.01 15.23
3637 0.98 174.5 3079 3198 1997 1945 152.8 20.7 577 3645 0.00 2.35 0.00 0.000 5126 0.000 0.053 3086 1798 1971 1997 1945 0 0 0 0 0 0 15.04 14.96 15.06
3708 0.98 174.5 3087 1798 1996 1944 139.9 18.2 590 3713 0.00 0.00 0.00 0.000 4102 0.000 0.000 3087 1798 1970 1997 1944 0 0 0 0 0 0 15.21 15.21 15.21
3774 0.98 174.5 3087 1798 1996 1944 128.0 16.6 603 3780 0.00 0.00 0.00 0.000 4102 0.000 0.000 3087 1798 1970 1996 1944 0 0 0 0 0 0 15.22 15.22 15.22
3842 0.98 174.5 3087 1798 1996 1944 117.1 15.8 616 3848 0.00 2.30 0.00 0.000 4356 0.000 0.050 3087 3198 1970 1996 1944 0 0 0 0 0 0 15.21 14.97 15.21
3855 0.98 174.5 3087 3198 1996 1944 115.2 15.9 618 3862 0.08 2.35 0.00 0.000 5126 0.346 0.056 3078 1796 1970 1996 1944 0 0 0 0 0 0 14.88 15.00 15.07
3924 0.98 174.5 3078 1795 1997 1944 103.6 15.5 631 3931 0.00 2.33 0.00 0.000 4356 0.000 0.052 3078 3202 1970 1996 1944 0 0 0 0 0 0 15.23 15.02 15.23
4258 0.98 174.5 3078 3202 1995 1944 56.1 12.7 697 4266 0.00 2.35 0.00 0.000 5126 0.000 0.050 3080 1788 1969 1995 1943 0 0 0 0 0 0 15.08 14.97 15.09
4329 0.98 174.5 3080 1788 1995 1943 47.2 13.2 710 4335 0.00 2.33 0.00 0.000 4356 0.000 0.050 3080 3197 1969 1995 1943 0 0 0 0 0 0 15.23 15.00 15.23
4373 0.98 174.5 3080 3198 1995 1943 40.5 15.3 718 4379 0.00 2.33 0.00 0.000 5126 0.000 0.052 3087 1800 1968 1994 1943 0 0 0 0 0 0 15.07 14.97 15.08
4441 0.98 174.5 3087 1800 1993 1942 31.9 13.0 731 4447 0.00 0.00 0.00 0.000 4102 0.000 0.000 3087 1801 1968 1994 1943 0 0 0 0 0 0 15.21 15.23 15.22
4509 1.04 222.1 3087 1800 1995 1943 25.5 6.5 744 4546 0.00 2.40 29.08 1.063 10756 0.000 0.070 3086 397 1794 1823 1765 0 0 0 0 0 0 15.23 14.78 14.41
4563 1.08 256.6 3087 396 1822 1763 22.0 7.5 753 4594 0.00 2.30 22.85 0.984 11270 0.000 0.037 3087 1807 1652 1685 1619 0 0 0 0 0 0 14.95 14.87 14.35
4657 1.08 256.6 3087 1807 1684 1617 12.4 12.3 770 4663 0.00 2.33 0.00 0.000 2308 0.000 0.052 3087 3205 1650 1684 1616 0 0 0 0 0 0 15.03 14.81 15.04
4734 end climb: SURFACE_DEPTH_REACHED
state 4734 begin surface coast
4754 end surface coast: CONTROL_FINISHED_OK
state 4754 begin surface