OKMC Nov11 * SG168 * Dive index * Mission links * Dive 107 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  168 HD_B  0.0099999998 PITCH_ADJ_GAIN  0.0049999999 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.9999997e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  107 HEADING  -1 ROLL_MIN  160 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3729 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  5 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2025 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1975 ALTIM_FREQUENCY  13
D_ABORT  1020 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  100 SM_CC  400 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  4 N_FILEKB  8 R_PORT_OVSHOOT  34 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  54 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  400 INT_PRESSURE_YINT  0
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  9 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  3 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  163 VBD_MIN  415 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
T_DIVE  300 UPLOAD_DIVES_MAX  -1 C_VBD  2954 DEVICE3  35
T_MISSION  320 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  4 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -6 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -5709.8589 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 AH0_24V  150 PHONE_DEVICE  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -8 RAFOS_HIT_WINDOW  3600 MINV_10V  9.5 XPDR_DEVICE  24
MAX_BUOY  210 PITCH_MIN  143 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3945 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2250 PHONE_SUPPLY  2 SEABIRD_T_G  0.0042821765
SPEED_FACTOR  1 PITCH_DBAND  0.050000001 PRESSURE_YINT  -64.650215 SEABIRD_T_H  0.00061988086
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000115925 SEABIRD_T_I  2.2270933e-05
MASS  51744 P_OVSHOOT  0.029999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.2936731e-06
NAV_MODE  0 PITCH_GAIN  37 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8276911
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1035888
KALMAN_USE  2 PITCH_AD_RATE  160 COMPASS_USE  0 SEABIRD_C_I  -0.0012978988
HD_A  0.003 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.0001838774

Pre-dive calculations and measurements:
GPS1  021211,114336,1941.936,12416.681,82,1.5,82,-2.4 TGT_NAME  S3
_CALLS  1 TGT_LATLONG  1750.000,12435.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.030,-0.310
_SM_DEPTHo  4.63 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  021211,114932,1941.931,12416.588,11,1.6,11,-2.4 MHEAD_RNG_PITCHd_Wd  173.5,209822,-15.9,-11.000
SPEED_LIMITS  0.191,0.311 D_GRID  5650

Post-dive calculations and measurements:
FINISH  3.7,1.021973 _10V_AH  10.3,18.581
SM_CCo  16094,0.00,0.000,0,0,676,558.79 FG_AHR_24Vo  0.000
SM_GC  4.66,6.25,0.00,0.00,0.031,0.000,0.000,101,1986,676,-6.56,-1.13,558.79,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1938.95,12418.25,021211,070716 MEM  329832
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  90511,1372
HUMID  41.65 CAP_FILE_SIZE  166905,0
INTERNAL_PRESSURE  9.46325 CFSIZE  260165632,211496960
TCM_TEMP  24.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  8 GPS  021211,161927,1939.860,12416.886,40,2.0,40,-2.4
_24V_AH  23.6,22.704

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1720684.45 SBE_CT93824531.73
Roll_motor126147439.39 AA433095733745.36
VBD_pump_during_apogee643128919577.63 WL_BB2F5071051256.87
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910370.52 nil000.00
Iridium_during_connect38160143.97 nil000.00
Iridium_during_xfer164223864.04 nil000.00
Transponder_ping242019.82 nil000.00
GUMSTIX_24V000.00
GPS14507.37
TT8322419657.67
LPSleep93632211.21
TT8_Active70119143.12
TT8_Sampling2818391155.55
TT8_CF833045155.69
TT8_Kalman000.00
Analog_circuits202512250.39
GPS_charging000.00
Compass253615391.82
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 pitch_volts roll_volts vbd_volts
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.68 -204.4 0.0 0.0 0 26 0.00 0.00 -8.50 0.000 2 0.000 0.000 112 1988 1233 0 0 0 0 0 0 28.83 28.83 28.83
29 -0.68 -204.4 4.8 0.0 1 136 6.75 2.12 -91.57 0.000 4 0.193 0.058 2023 611 3789 0 0 0 0 0 0 25.62 25.98 26.35
247 -0.60 -204.4 58.0 -38.0 38 255 0.12 2.15 0.00 0.000 6 0.141 0.033 2055 2010 3789 0 0 0 0 0 0 25.86 26.09 28.83
583 -0.54 -204.4 161.0 -25.3 99 590 0.08 2.15 0.00 0.000 4 0.197 0.041 2074 612 3790 0 0 0 0 0 0 26.24 26.20 28.83
645 -0.52 -204.4 176.2 -21.1 110 654 0.05 2.15 0.00 0.000 6 0.134 0.033 2087 2026 3791 0 0 0 0 0 0 26.09 26.26 28.83
970 -0.50 -204.4 226.4 -13.5 153 974 0.00 2.17 0.00 0.000 4 0.000 0.041 2076 3444 3791 0 0 0 0 0 0 28.83 26.29 28.83
1015 -0.50 -204.4 231.4 -11.6 157 1022 0.00 2.17 0.00 0.000 6 0.000 0.032 2076 2023 3791 0 0 0 0 0 0 28.83 26.33 28.83
1323 -0.48 -204.4 271.8 -13.9 188 1325 0.08 0.00 0.00 0.000 6 0.176 0.000 2099 2022 3791 0 0 0 0 0 0 26.40 28.83 28.83
1624 -0.49 -204.4 302.9 -8.9 218 1628 0.00 2.17 0.00 0.000 4 0.000 0.040 2090 3438 3791 0 0 0 0 0 0 28.83 26.36 28.83
1666 -0.51 -204.4 306.3 -8.0 222 1675 0.00 2.08 0.00 0.000 6 0.000 0.030 2090 2023 3791 0 0 0 0 0 0 28.83 26.41 28.83
1977 -0.52 -204.4 333.7 -9.4 253 1985 0.00 2.12 0.00 0.000 4 0.000 0.042 2090 624 3789 0 0 0 0 0 0 28.83 26.36 28.83
2021 -0.54 -204.4 337.6 -9.4 257 2028 0.00 2.10 0.00 0.000 6 0.000 0.032 2087 2031 3789 0 0 0 0 0 0 28.83 26.41 28.83
2329 -0.55 -204.4 369.6 -10.2 288 2330 0.00 0.00 0.00 0.000 6 0.000 0.000 2087 2031 3788 0 0 0 0 0 0 28.83 28.83 28.83
2631 -0.57 -204.4 397.1 -8.5 318 2640 0.08 2.12 0.00 0.000 4 0.124 0.040 1988 3432 3787 0 0 0 0 0 0 26.55 26.40 28.83
2665 -0.57 -204.4 401.5 -11.5 321 2673 0.17 2.15 0.00 0.000 6 0.106 0.035 2073 2036 3786 0 0 0 0 0 0 26.23 26.42 28.83
2974 -0.57 -204.4 434.1 -10.3 352 2982 0.00 2.15 0.00 0.000 4 0.000 0.045 2073 616 3784 0 0 0 0 0 0 28.83 26.38 28.83
2995 -0.58 -204.4 436.4 -10.4 354 3004 0.00 2.10 0.00 0.000 6 0.000 0.034 2068 2032 3784 0 0 0 0 0 0 28.83 26.42 28.83
3305 -0.59 -204.4 471.0 -11.1 385 3306 0.00 0.00 0.00 0.000 6 0.000 0.000 2068 2032 3782 0 0 0 0 0 0 28.83 28.83 28.83
3608 -0.60 -204.4 502.6 -9.5 415 3611 0.00 2.15 0.00 0.000 4 0.000 0.042 2059 3434 3781 0 0 0 0 0 0 28.83 26.41 28.83
3642 -0.62 -204.4 505.8 -9.4 418 3649 0.00 2.12 0.00 0.000 6 0.000 0.033 2059 2010 3781 0 0 0 0 0 0 28.83 26.44 28.83
3950 -0.62 -204.4 534.7 -9.3 449 3951 0.00 0.00 0.00 0.000 6 0.000 0.000 2059 2010 3779 0 0 0 0 0 0 28.83 28.83 28.83
4251 -0.63 -204.4 564.3 -10.3 479 4252 0.00 0.00 0.00 0.000 6 0.000 0.000 2059 2010 3775 0 0 0 0 0 0 28.83 28.83 28.83
4552 -0.64 -204.4 596.1 -10.5 509 4561 0.00 2.17 0.00 0.000 4 0.000 0.045 2052 3425 3773 0 0 0 0 0 0 28.83 26.39 28.83
4574 -0.65 -204.4 598.6 -10.1 511 4583 0.00 2.10 0.00 0.000 6 0.000 0.036 2052 2030 3773 0 0 0 0 0 0 28.83 26.41 28.83
4895 -0.66 -204.4 632.0 -10.3 528 4896 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2029 3772 0 0 0 0 0 0 28.83 28.83 28.83
5195 -0.67 -204.4 661.2 -9.4 543 5196 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2029 3769 0 0 0 0 0 0 28.83 28.83 28.83
5495 -0.68 -204.4 687.2 -8.7 558 5501 0.08 2.20 0.00 0.000 4 0.121 0.047 1970 617 3767 0 0 0 0 0 0 26.57 26.34 28.83
5517 -0.68 -204.4 689.2 -9.0 559 5522 0.22 2.12 0.00 0.000 6 0.126 0.038 2032 2027 3766 0 0 0 0 0 0 26.19 26.40 28.83
5830 -0.68 -204.4 722.1 -10.0 575 5831 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2027 3764 0 0 0 0 0 0 28.83 28.83 28.83
6131 -0.68 -204.4 753.2 -10.5 590 6132 0.00 0.00 0.00 0.000 6 0.000 0.000 2032 2027 3762 0 0 0 0 0 0 28.83 28.83 28.83
6431 -0.68 -204.4 784.9 -10.5 605 6436 0.00 2.15 0.00 0.000 4 0.000 0.047 2022 3435 3760 0 0 0 0 0 0 28.83 26.36 28.83
6453 -0.68 -204.4 787.0 -10.5 606 6457 0.00 2.15 0.00 0.000 6 0.000 0.036 2022 2028 3760 0 0 0 0 0 0 28.83 26.38 28.83
6771 -0.68 -204.4 821.6 -10.8 622 6772 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 2026 3757 0 0 0 0 0 0 28.83 28.83 28.83
7070 -0.68 -204.4 851.6 -9.7 637 7074 0.00 2.20 0.00 0.000 4 0.000 0.050 2022 615 3755 0 0 0 0 0 0 28.83 26.30 28.83
7095 -0.68 -204.4 853.8 -9.7 638 7100 0.08 2.12 0.00 0.000 6 0.171 0.037 2036 2022 3755 0 0 0 0 0 0 26.26 26.38 28.83
7408 -0.68 -204.4 879.5 -7.8 654 7412 0.00 2.20 0.00 0.000 4 0.000 0.047 2026 3437 3754 0 0 0 0 0 0 28.83 26.33 28.83
7454 -0.69 -204.4 882.6 -7.5 656 7458 0.00 2.15 0.00 0.000 6 0.000 0.035 2026 2019 3753 0 0 0 0 0 0 28.83 26.36 28.83
7767 -0.69 -204.4 908.4 -8.6 672 7772 0.00 2.17 0.00 0.000 4 0.000 0.050 2026 615 3752 0 0 0 0 0 0 28.83 26.29 28.83
7799 -0.69 -204.4 910.3 -8.8 673 7806 0.00 2.15 0.00 0.000 6 0.000 0.037 2017 2028 3751 0 0 0 0 0 0 28.83 26.36 28.83
8106 -0.69 -204.4 942.2 -10.4 689 8112 0.00 2.17 0.00 0.000 4 0.000 0.047 2008 3439 3750 0 0 0 0 0 0 28.83 26.31 28.83
8150 -0.69 -204.4 946.3 -10.3 691 8154 0.10 2.15 0.00 0.000 6 0.142 0.036 2040 2025 3749 0 0 0 0 0 0 26.22 26.34 28.83
8464 -0.70 -204.4 973.8 -8.9 707 8465 0.00 0.00 0.00 0.000 6 0.000 0.000 2040 2024 3749 0 0 0 0 0 0 28.83 28.83 28.83
8660 end dive: TARGET_DEPTH_EXCEEDED
state 8660 begin apogee
8666 -0.22 0.0 991.6 -9.0 717 8851 0.38 0.00 173.20 1.290 6 0.093 0.000 2179 1971 2954 0 0 0 0 1 0 26.20 28.83 23.75
8852 end apogee: CONTROL_FINISHED_OK
state 8852 begin climb
8854 0.68 204.4 1002.6 0.0 726 9051 0.77 2.40 186.27 1.084 4 0.044 0.031 2485 3394 2110 0 0 0 0 0 0 24.75 24.32 23.57
9188 0.62 204.4 961.4 21.0 743 9193 0.17 2.28 0.00 0.000 6 0.161 0.034 2451 1973 2091 0 0 0 0 0 0 25.04 25.22 28.83
9501 0.57 204.4 906.7 17.1 759 9507 0.08 2.20 0.00 0.000 4 0.207 0.031 2434 3396 2088 0 0 0 0 0 0 25.74 25.77 28.83
9544 0.52 204.4 899.9 17.0 761 9549 0.10 2.25 0.00 0.000 6 0.174 0.037 2420 1968 2086 0 0 0 0 0 0 25.62 25.78 28.83
9859 0.49 204.4 854.3 14.4 777 9864 0.00 2.17 0.00 0.000 4 0.000 0.034 2420 3396 2085 0 0 0 0 0 0 28.83 25.98 28.83
9880 0.46 204.4 851.2 14.5 778 9885 0.12 2.20 0.00 0.000 6 0.164 0.037 2396 1975 2085 0 0 0 0 0 0 25.78 25.97 28.83
10193 0.44 204.4 809.8 13.0 794 10194 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 1975 2083 0 0 0 0 0 0 28.83 28.83 28.83
10493 0.43 204.4 770.2 13.2 809 10498 0.00 2.20 0.00 0.000 4 0.000 0.035 2396 3396 2083 0 0 0 0 0 0 28.83 26.13 28.83
10535 0.41 204.4 764.6 13.6 811 10540 0.10 2.20 0.00 0.000 6 0.165 0.036 2378 1966 2083 0 0 0 0 0 0 25.97 26.13 28.83
10849 0.43 217.8 729.5 10.5 827 10859 0.00 0.00 8.02 0.888 6 0.000 0.000 2378 1966 2066 0 0 0 0 0 0 28.83 28.83 25.27
11147 0.49 270.4 700.7 9.1 842 11208 0.10 2.28 52.05 0.913 4 0.096 0.050 2461 573 1839 0 0 0 0 0 0 26.27 25.34 24.68
11246 0.46 270.4 688.7 14.5 846 11254 0.22 2.15 0.00 0.000 6 0.132 0.025 2394 1980 1829 0 0 0 0 0 0 25.40 25.56 28.83
11551 0.46 270.4 650.8 11.7 862 11557 0.00 2.17 0.00 0.000 4 0.000 0.037 2394 3388 1824 0 0 0 0 0 0 28.83 25.89 28.83
11574 0.46 270.4 648.3 11.9 863 11578 0.00 2.22 0.00 0.000 6 0.000 0.040 2403 1975 1822 0 0 0 0 0 0 28.83 25.89 28.83
11886 0.46 270.4 606.3 13.6 879 11892 0.00 2.22 0.00 0.000 4 0.000 0.050 2413 566 1821 0 0 0 0 0 0 28.83 26.01 28.83
11928 0.46 270.4 600.9 13.6 881 11933 0.00 2.15 0.00 0.000 6 0.000 0.028 2413 1978 1821 0 0 0 0 0 0 28.83 26.12 28.83
12236 0.46 270.4 560.0 12.5 911 12241 0.08 2.22 0.00 0.000 4 0.193 0.047 2405 562 1820 0 0 0 0 0 0 26.16 26.10 28.83
12259 0.45 270.4 557.3 12.2 913 12267 0.00 2.10 0.00 0.000 6 0.000 0.028 2405 1978 1820 0 0 0 0 0 0 28.83 26.19 28.83
12568 0.45 270.4 523.5 11.1 944 12569 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 1979 1819 0 0 0 0 0 0 28.83 28.83 28.83
12871 0.45 270.4 489.9 11.4 974 12877 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 1979 1819 0 0 0 0 0 0 28.83 28.83 28.83
13180 0.45 270.4 452.8 11.5 1005 13181 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 1979 1818 0 0 0 0 0 0 28.83 28.83 28.83
13480 0.46 280.4 419.1 10.6 1035 13481 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 1979 1818 0 0 0 0 0 0 28.83 28.83 28.83
13780 0.53 336.3 390.2 9.0 1065 13848 0.00 2.33 58.12 0.709 4 0.000 0.048 2415 566 1569 0 0 0 0 0 0 28.83 25.60 25.01
13864 0.63 408.0 383.2 8.4 1073 13934 0.12 2.15 62.70 0.698 6 0.078 0.027 2506 1984 1284 0 0 0 0 0 0 25.69 25.70 24.57
14243 0.59 408.0 301.3 25.3 1111 14252 0.20 2.25 0.00 0.000 4 0.150 0.049 2453 570 1258 0 0 0 0 0 0 25.64 25.78 28.83
14327 0.60 408.0 285.7 14.8 1119 14336 0.00 2.12 0.00 0.000 6 0.000 0.026 2453 1966 1257 0 0 0 0 0 0 28.83 25.93 28.83
14636 0.60 408.0 236.5 15.8 1150 14645 0.00 2.22 0.00 0.000 4 0.000 0.049 2461 557 1255 0 0 0 0 0 0 28.83 26.01 28.83
14688 0.61 408.0 228.9 14.6 1155 14698 0.08 2.12 0.00 0.000 6 0.160 0.025 2439 1998 1255 0 0 0 0 0 0 25.97 26.11 28.83
15003 0.62 408.3 192.2 11.0 1192 15011 0.00 2.28 0.00 0.000 4 0.000 0.049 2448 565 1255 0 0 0 0 0 0 28.83 26.13 28.83
15068 0.72 455.8 185.3 9.3 1203 15113 0.10 2.10 37.00 0.564 6 0.094 0.027 2538 1974 1084 0 0 0 0 0 0 26.17 26.22 25.25
15438 0.68 455.8 93.7 22.4 1270 15446 0.22 2.22 0.00 0.000 4 0.138 0.045 2474 571 1068 0 0 0 0 0 0 25.89 26.03 28.83
15525 0.76 484.6 81.0 10.0 1285 15554 0.05 2.10 22.42 0.269 6 0.162 0.026 2551 1982 978 0 0 0 0 0 0 26.06 26.14 25.50
15878 0.75 484.6 17.3 16.0 1349 15894 0.17 2.25 3.42 0.150 4 0.126 0.046 2499 566 988 0 0 0 0 0 0 26.03 26.12 25.82
15951 0.99 634.8 10.9 5.5 1361 15997 0.20 2.05 39.95 0.132 2 0.054 0.024 2628 1985 665 0 0 0 0 0 0 26.22 26.22 28.83
15998 end climb: SURFACE_DEPTH_REACHED
state 15998 begin surface coast
16019 end surface coast: CONTROL_FINISHED_OK
state 16020 begin surface