DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 115 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  143 HEADING  -1 ROLL_MIN  290 ALTIM_BOTTOM_TURN_MARGIN  8
MISSION  10 ESCAPE_HEADING  0 ROLL_MAX  3915 ALTIM_TOP_TURN_MARGIN  0
DIVE  115 ESCAPE_HEADING_DELTA  10 ROLL_DEG  45 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  2 FIX_MISSING_TIMEOUT  0.5 C_ROLL_DIVE  2460 ALTIM_PING_DEPTH  0
D_FLARE  3 TGT_DEFAULT_LAT  -2030 C_ROLL_CLIMB  1950 ALTIM_PING_DELTA  50
D_TGT  990 TGT_DEFAULT_LON  5900 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1070 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  4
D_NO_BLEED  50 SM_CC  578.41736 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  16 XPDR_VALID  0
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  17 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  0 INT_PRESSURE_YINT  0
D_CALL  0 KERMIT  0 ROLL_ADJ_GAIN  1.75 DEEPGLIDER  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0.025 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MIN  442 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3793 DEVICE1  2
T_DIVE  360 CALL_TRIES  5 C_VBD  2800 DEVICE2  20
T_MISSION  420 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  720 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_TIMEOUT  720 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  0
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  -1
USE_BATHY  -2 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -28122.58 UNCOM_BLEED  20 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 CF8_MAXERRORS  20 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  150 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 AH0_10V  100 RAFOS_DEVICE  16
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  127 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  4070 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2390 FG_AHR_24V  0 SEABIRD_T_G  0.0043131942
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00062854384
RHO  1.0275 PITCH_CNV  0.0031256729 PRESSURE_YINT  -24.446302 SEABIRD_T_I  2.3348166e-05
MASS  51204 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.0001163694 SEABIRD_T_J  2.4454023e-06
NAV_MODE  2 PITCH_GAIN  31 AD7714Ch0Gain  128 SEABIRD_C_G  -10.029707
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1484355
KALMAN_USE  2 PITCH_AD_RATE  150 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0010294267
HD_A  0.0038360001 PITCH_MAXERRORS  1 COMPASS_USE  1 SEABIRD_C_J  0.00016845814
HD_B  0.010078 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_PING_RANGE  0
HD_C  9.8541004e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  20

Pre-dive calculations and measurements:
GPS1  193836,6648.969,-5923.387,37,1.3,37,-38.0 TGT_NAME  TARGET_ADD2_EB
_CALLS  5 TGT_LATLONG  6651.000,-5910.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.08 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -52.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  200851,6648.938,-5923.187,49,99.0,68,-38.0 MHEAD_RNG_PITCHd_Wd  121.8,10332,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  955

Post-dive calculations and measurements:
FINISH  0.5,1.026124 _24V_AH  22.5,30.736
SM_CCo  20026,288.45,0.769,0,0,441,578.42 _10V_AH  10.1,16.022
SM_GC  1.14,0.00,0.00,288.45,0.000,0.000,0.769,129,2461,441,-7.06,0.06,578.42 FG_AHR_24Vo  0.000
RAFOS_CLK  1452 FG_AHR_10Vo  0.000
RAFOS  1,1257883769,20.166666,20.158056,88,62,60,0,0,0,501,118,216,0,0,0 MEM  188340
RAFOS_FIX  6648.069336,-5920.975098,111109,000034,5,95,0.14 DATA_FILE_SIZE  59850,1517
IRIDIUM_FIX  6620.33,-5921.83,040299,202031 CAP_FILE_SIZE  201348,0
TT8_MAMPS  0.026845 CFSIZE  260165632,240717824
HUMID  46.14 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  8.72104 SOUNDSPEED  1455.1
TCM_TEMP  16.20 CURRENT  0.186,171.9,1
XPDR_PINGS  6 GPS  111109,015025,6647.089,-5915.882,38,1.9,38,-37.9
ALTIM_TOP_PING  19.9,19.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19323145.11 SBE_CT111524602.50
Roll_motor162106390.10 SBE_O2106519455.60
VBD_pump_during_apogee31313979859.79 nil000.00
VBD_pump_during_surface2887684987.88 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init141103327.90 nil000.00
Iridium_during_connect221160798.63 nil000.00
Iridium_during_xfer9882234962.03
Transponder_ping142016.54
GUMSTIX_24V000.00
GPS705035.54
TT8283119569.74
LPSleep143152333.99
TT8_Active83019167.08
TT8_Sampling2583391041.47
TT8_CF8163245757.23
TT8_Kalman000.00
Analog_circuits215812261.66
GPS_charging000.00
Compass24858200.85
RAFOS4680170.90
Transponder2300.79

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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.73 -146.0 0.0 0.0 0 196 0.00 0.00 -175.60 0.000 2 0.000 0.000 125 2473 3189 0 0 0 0 0 0
198 -0.73 -146.0 3.7 -6.2 33 221 10.35 2.75 -5.88 0.000 4 0.324 0.106 2146 866 3398 0 0 0 0 0 0
424 -0.73 -146.0 47.0 -17.3 73 430 0.00 2.67 0.00 0.000 6 0.000 0.087 2146 2459 3402 0 0 0 0 0 0
768 -0.73 -146.0 98.9 -15.6 134 774 0.00 2.53 0.00 0.000 4 0.000 0.107 2146 3910 3402 0 0 0 0 0 0
997 -0.73 -146.0 130.6 -12.9 155 1003 0.00 2.42 0.00 0.000 6 0.000 0.077 2146 2452 3402 0 0 0 0 0 0
1322 -0.73 -146.0 168.2 -11.5 186 1326 0.00 2.50 0.00 0.000 4 0.000 0.104 2146 3914 3402 0 0 0 0 0 0
1359 -0.73 -146.0 172.7 -11.4 189 1365 0.00 2.42 0.00 0.000 6 0.000 0.077 2146 2452 3402 0 0 0 0 0 0
1684 -0.73 -146.0 208.2 -10.9 220 1685 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2453 3402 0 0 0 0 0 0
2002 -0.73 -146.0 241.6 -10.2 250 2007 0.00 2.62 0.00 0.000 4 0.000 0.097 2146 867 3402 0 0 0 0 0 0
2034 -0.73 -146.0 245.1 -11.2 252 2041 0.00 2.62 0.00 0.000 6 0.000 0.087 2146 2459 3402 0 0 0 0 0 0
2359 -0.73 -146.0 276.2 -9.3 283 2360 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2458 3402 0 0 0 0 0 0
2679 -0.73 -146.0 304.1 -8.4 313 2684 0.00 2.50 0.00 0.000 4 0.000 0.106 2146 3918 3402 0 0 0 0 0 0
2757 -0.73 -146.0 311.1 -8.5 319 2763 0.00 2.42 0.00 0.000 6 0.000 0.078 2146 2451 3401 0 0 0 0 0 0
3082 -0.73 -146.0 339.5 -9.1 350 3083 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2451 3401 0 0 0 0 0 0
3401 -0.73 -146.0 369.3 -9.3 380 3406 0.00 2.60 0.00 0.000 4 0.000 0.096 2146 871 3402 0 0 0 0 0 0
3429 -0.73 -146.0 372.0 -10.2 382 3433 0.00 2.60 0.00 0.000 6 0.000 0.086 2146 2454 3402 0 0 0 0 0 0
3753 -0.73 -146.0 401.4 -9.1 412 3754 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2454 3402 0 0 0 0 0 0
4073 -0.73 -146.0 429.3 -8.2 442 4074 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2454 3402 0 0 0 0 0 0
4393 -0.73 -146.0 453.8 -8.2 472 4398 0.00 2.62 0.00 0.000 4 0.000 0.094 2146 868 3403 0 0 0 0 0 0
4444 -0.73 -146.0 458.3 -8.2 476 4448 0.00 2.60 0.00 0.000 6 0.000 0.084 2146 2456 3403 0 0 0 0 0 0
4768 -0.73 -146.0 482.8 -7.8 506 4772 0.00 2.47 0.00 0.000 4 0.000 0.101 2146 3916 3403 0 0 0 0 0 0
4800 -0.73 -146.0 485.6 -8.6 508 4807 0.00 2.40 0.00 0.000 6 0.000 0.074 2146 2449 3403 0 0 0 0 0 0
5125 -0.73 -146.0 511.9 -8.3 539 5126 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2449 3404 0 0 0 0 0 0
5445 -0.73 -146.0 538.6 -8.3 569 5446 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2449 3404 0 0 0 0 0 0
5763 -0.73 -146.0 562.8 -7.9 599 5768 0.00 2.58 0.00 0.000 4 0.000 0.092 2146 870 3405 0 0 0 0 0 0
5792 -0.73 -146.0 565.3 -9.0 601 5796 0.00 2.60 0.00 0.000 6 0.000 0.083 2147 2462 3405 0 0 0 0 0 0
6116 -0.73 -146.0 591.2 -8.0 631 6117 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2462 3405 0 0 0 0 0 0
6448 -0.73 -146.0 617.5 -7.6 649 6452 0.00 2.62 0.00 0.000 4 0.000 0.092 2146 866 3406 0 0 0 0 0 0
6475 -0.73 -146.0 619.9 -8.7 650 6480 0.00 2.62 0.00 0.000 6 0.000 0.083 2146 2470 3406 0 0 0 0 0 0
6810 -0.73 -146.0 646.0 -7.7 661 6812 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2470 3406 0 0 0 0 0 0
7116 -0.73 -146.0 669.8 -7.6 671 7120 0.00 2.62 0.00 0.000 4 0.000 0.091 2146 870 3406 0 0 0 0 0 0
7178 -0.73 -146.0 674.6 -8.0 673 7182 0.00 2.58 0.00 0.000 6 0.000 0.082 2146 2455 3407 0 0 0 0 0 0
7512 -0.73 -146.0 699.3 -7.4 684 7516 0.00 2.60 0.00 0.000 4 0.000 0.091 2146 872 3406 0 0 0 0 0 0
7549 -0.73 -146.0 702.4 -8.0 685 7554 0.00 2.58 0.00 0.000 6 0.000 0.081 2146 2455 3407 0 0 0 0 0 0
7879 -0.73 -146.0 726.3 -7.3 696 7880 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2455 3407 0 0 0 0 0 0
8185 -0.73 -146.0 749.5 -7.7 706 8189 0.00 2.45 0.00 0.000 4 0.000 0.098 2146 3912 3407 0 0 0 0 0 0
8228 -0.73 -146.0 753.0 -8.5 707 8232 0.00 2.38 0.00 0.000 6 0.000 0.071 2146 2448 3407 0 0 0 0 0 0
8552 -0.73 -146.0 775.6 -6.6 718 8554 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2449 3407 0 0 0 0 0 0
8858 -0.73 -146.0 796.3 -6.6 728 8863 0.00 2.58 0.00 0.000 4 0.000 0.091 2146 866 3407 0 0 0 0 0 0
8896 -0.73 -146.0 799.2 -7.3 729 8901 0.00 2.58 0.00 0.000 6 0.000 0.082 2146 2451 3407 0 0 0 0 0 0
9226 -0.73 -146.0 821.3 -6.4 740 9231 0.00 2.45 0.00 0.000 4 0.000 0.099 2146 3910 3407 0 0 0 0 0 0
9293 -0.73 -146.0 826.3 -7.4 742 9297 0.00 2.38 0.00 0.000 6 0.000 0.071 2146 2446 3407 0 0 0 0 0 0
9628 -0.73 -146.0 850.2 -7.2 753 9630 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2446 3407 0 0 0 0 0 0
9934 -0.73 -146.0 871.7 -7.0 763 9935 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2446 3407 0 0 0 0 0 0
10241 -0.73 -146.0 892.9 -6.7 773 10242 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2446 3408 0 0 0 0 0 0
10547 -0.73 -146.0 912.5 -6.4 783 10548 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2446 3407 0 0 0 0 0 0
10853 -0.73 -146.0 933.2 -6.9 793 10857 0.00 2.55 0.00 0.000 4 0.000 0.091 2146 874 3407 0 0 0 0 0 0
10890 -0.73 -146.0 936.0 -7.9 794 10895 0.00 2.55 0.00 0.000 6 0.000 0.081 2146 2448 3407 0 0 0 0 0 0
11187 end dive: TARGET_DEPTH_EXCEEDED
state 11187 begin apogee
11193 -0.16 0.0 956.3 7.0 804 11322 0.68 0.00 126.53 1.397 6 0.193 0.000 2334 1943 2799 0 0 0 0 0 0
11323 end apogee: CONTROL_FINISHED_OK
state 11323 begin climb
11325 0.73 146.0 958.6 0.0 808 11466 0.95 3.05 131.65 1.337 4 0.136 0.096 2622 362 2203 0 0 0 0 0 0
11504 0.73 146.0 943.3 12.1 813 11511 0.00 2.83 0.00 0.000 6 0.000 0.071 2622 1955 2198 0 0 0 0 0 0
11817 0.73 146.0 905.0 12.1 824 11818 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 1955 2192 0 0 0 0 0 0
12123 0.73 146.0 867.9 12.2 834 12125 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 1955 2191 0 0 0 0 0 0
12429 0.73 146.0 830.3 12.2 844 12430 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 1955 2190 0 0 0 0 0 0
12736 0.73 146.0 794.5 11.4 854 12740 0.00 2.67 0.00 0.000 4 0.000 0.091 2622 3547 2189 0 0 0 0 0 0
12763 0.73 146.0 791.2 11.4 855 12767 0.00 2.67 0.00 0.000 6 0.000 0.078 2634 1940 2188 0 0 0 0 0 0
13096 0.73 146.0 751.2 11.6 866 13097 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 1941 2189 0 0 0 0 0 0
13403 0.73 146.0 716.2 11.2 876 13407 0.00 2.70 0.00 0.000 4 0.000 0.092 2635 3546 2188 0 0 0 0 0 0
13434 0.73 146.0 712.2 11.9 877 13439 0.00 2.62 0.00 0.000 6 0.000 0.077 2647 1952 2188 0 0 0 0 0 0
13769 0.73 146.0 671.8 12.3 888 13770 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 1952 2188 0 0 0 0 0 0
14075 0.73 146.0 632.3 13.0 898 14079 0.00 2.65 0.00 0.000 4 0.000 0.091 2647 3540 2187 0 0 0 0 0 0
14117 0.73 146.0 626.3 15.0 899 14123 0.15 2.60 0.00 0.000 6 0.215 0.078 2626 1960 2187 0 0 0 0 0 0
14435 0.73 146.0 587.7 11.9 915 14440 0.00 2.62 0.00 0.000 4 0.000 0.097 2636 362 2187 0 0 0 0 0 0
14467 0.73 146.0 583.5 13.0 917 14473 0.00 2.60 0.00 0.000 6 0.000 0.074 2636 1985 2187 0 0 0 0 0 0
14792 0.73 146.0 542.8 12.4 948 14793 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 1985 2186 0 0 0 0 0 0
15112 0.73 146.0 503.2 12.0 978 15113 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 1985 2187 0 0 0 0 0 0
15431 0.73 146.0 463.5 12.5 1008 15435 0.00 2.58 0.00 0.000 4 0.000 0.091 2636 3545 2187 0 0 0 0 0 0
15458 0.73 146.0 459.8 13.0 1010 15462 0.00 2.60 0.00 0.000 6 0.000 0.077 2648 1962 2187 0 0 0 0 0 0
15782 0.73 146.0 419.8 11.6 1040 15786 0.00 2.62 0.00 0.000 4 0.000 0.091 2648 3538 2187 0 0 0 0 0 0
15809 0.73 146.0 416.6 12.0 1042 15814 0.15 2.58 0.00 0.000 6 0.210 0.077 2626 1964 2187 0 0 0 0 0 0
16133 0.73 146.0 383.9 9.8 1072 16137 0.00 2.62 0.00 0.000 4 0.000 0.091 2626 3541 2187 0 0 0 0 0 0
16182 0.73 146.0 378.5 10.8 1076 16187 0.00 2.58 0.00 0.000 6 0.000 0.077 2636 1967 2187 0 0 0 0 0 0
16506 0.73 146.0 343.9 10.6 1106 16511 0.00 2.62 0.00 0.000 4 0.000 0.097 2648 361 2187 0 0 0 0 0 0
16557 0.73 146.0 338.1 11.7 1110 16561 0.00 2.58 0.00 0.000 6 0.000 0.074 2648 1976 2187 0 0 0 0 0 0
16881 0.73 146.0 301.3 10.2 1140 16885 0.00 2.58 0.00 0.000 4 0.000 0.090 2648 3539 2187 0 0 0 0 0 0
16919 0.73 146.0 296.8 11.0 1143 16924 0.15 2.58 0.00 0.000 6 0.207 0.077 2626 1964 2187 0 0 0 0 0 0
17243 0.73 146.0 265.7 9.2 1173 17248 0.00 2.62 0.00 0.000 4 0.000 0.091 2625 3544 2187 0 0 0 0 0 0
17271 0.73 146.0 262.9 10.7 1175 17275 0.00 2.58 0.00 0.000 6 0.000 0.078 2635 1973 2187 0 0 0 0 0 0
17596 0.73 146.0 230.4 10.1 1205 17600 0.00 2.65 0.00 0.000 4 0.000 0.098 2647 354 2187 0 0 0 0 0 0
17646 0.73 146.0 225.1 11.0 1209 17650 0.00 2.60 0.00 0.000 6 0.000 0.074 2647 1986 2187 0 0 0 0 0 0
17970 0.73 146.0 191.5 10.1 1239 17971 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 1986 2187 0 0 0 0 0 0
18290 0.75 162.2 162.6 8.5 1269 18311 0.00 2.67 11.65 0.864 4 0.000 0.092 2647 3548 2137 0 0 0 0 0 0
18380 0.75 162.2 153.4 10.6 1277 18384 0.00 2.60 0.00 0.000 6 0.000 0.080 2659 1975 2135 0 0 0 0 0 0
18704 0.79 195.1 122.1 7.8 1307 18739 0.00 2.78 27.75 0.876 4 0.000 0.100 2671 364 2003 0 0 0 0 0 0
18793 0.80 207.1 114.9 8.7 1315 18809 0.00 2.65 11.00 0.826 6 0.000 0.077 2671 1979 1955 0 0 0 0 0 0
19137 0.80 207.1 78.3 10.8 1362 19141 0.00 0.00 0.00 0.000 6 0.000 0.000 2671 1980 1948 0 0 0 0 0 0
19479 0.81 212.7 45.7 8.9 1423 19491 0.00 2.75 5.00 0.702 4 0.000 0.102 2683 361 1932 0 0 0 0 0 0
19587 0.81 212.7 35.1 10.6 1442 19593 0.12 2.65 0.00 0.000 6 0.204 0.079 2656 1985 1931 0 0 0 0 0 0
19932 0.81 212.7 6.0 10.5 1503 19937 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 1985 1929 0 0 0 0 0 0
19980 end climb: SURFACE_DEPTH_REACHED
state 19980 begin surface coast
20010 end surface coast: CONTROL_FINISHED_OK
state 20010 begin surface