Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 123 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 123 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 156 ALTIM_PING_DEPTH 50

D_TGT 60 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 350 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 10 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 40 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -50750.828 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 110 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 35 PITCH_MIN 460 AH0_24V 71.400002 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -8.3042984 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 71.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 60 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -8.3042984 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 35 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 10

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -50750.828

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 40

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 27 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 110 R_STBD_OVSHOOT 23 USE_ICE 0

DEEPGLIDERMB 0 MISSION 8 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 123 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 033847,4744.195,-12249.975,14,3.5,33,18.3 TGT_NAME WP1

_CALLS 1 TGT_LATLONG 4743.050,-12250.817

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.093,-0.281

_SM_DEPTHo 0.37 KALMAN_X 5668.5,507.9,174.5,-2632.3,-26.4

_SM_ANGLEo -56.9 KALMAN_Y 4477.5,794.9,383.3,3195.6,-6.0

GPS2 034507,4744.267,-12249.967,37,1.0,41,18.3 MHEAD_RNG_PITCHd_Wd 180.0,2491,-32.7,-20.000

SPEED_LIMITS 0.286,0.296 D_GRID 173

Post-dive calculations and measurements:

FINISH -0.3,1.022374 XPDR_PINGS 0

SM_CCo 1169,103.15,0.564,0,0,1791,350.04 ALTIM_BOTTOM_PING 35.6,37.1

SM_GC 0.20,0.00,0.00,103.15,0.000,0.000,0.564,463,1812,1791,-12.13,0.34,350.04 _24V_AH 23.9,11.035

IRIDIUM_FIX 4726.11,-12313.90,071007,070738 _10V_AH 10.1,9.549

TT8_MAMPS 0.069797 DATA_FILE_SIZE 3333,112

HUMID 2075 CFSIZE 260034560,253120512

INTERNAL_PRESSURE 8.47689 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.50 GPS 071007,040844,4744.234,-12250.039,10,1.3,27,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 211 169.11 SBE_CT 73 24 42.24

Roll_motor 20 76 37.81 nil 0 0 0.00

VBD_pump_during_apogee 167 645 2588.84 nil 0 0 0.00

VBD_pump_during_surface 103 563 1389.79 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 98.02 nil 0 0 0.00

Iridium_during_connect 34 160 133.29 ARS 0 0 0.00

Iridium_during_xfer 162 223 863.84

Transponder_ping 0 420 2.51

Mmodem_TX 0 1000 0.00

Mmodem_RX 1794 6 274.41

GPS 42 50 21.69

TT8 245 19 49.12

LPSleep 507 2 11.22

TT8_Active 374 19 74.98

TT8_Sampling 238 39 95.79

TT8_CF8 334 45 154.51

TT8_Kalman 33 81 27.53

Analog_circuits 518 12 62.80

GPS_charging 0 0 0.00

Compass 189 8 15.34

RAFOS 0 0 0.00

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -2.65 -107.5 0.0 0.0 0 112 0.00 0.00 -83.78 0.000 6 0.000 0.000 461 1797 3657

115 -2.65 -107.5 2.5 -5.8 14 134 13.25 2.65 0.00 0.000 4 0.212 0.067 2514 396 3662

220 -2.65 -107.5 17.9 -12.4 30 226 0.00 2.47 0.00 0.000 6 0.000 0.032 2514 1814 3663

296 -2.65 -107.5 24.5 -8.2 38 300 0.00 2.67 0.00 0.000 4 0.000 0.067 2514 398 3664

321 -2.65 -107.5 26.8 -9.0 39 328 0.00 2.47 0.00 0.000 6 0.000 0.032 2514 1803 3664

517 -2.65 -107.5 44.5 -8.7 55 521 0.00 2.50 0.00 0.000 4 0.000 0.048 2514 3198 3664

551 -2.65 -107.5 47.5 -9.5 57 556 0.00 2.47 0.00 0.000 6 0.000 0.036 2515 1796 3663

681 end dive: TARGET_DEPTH_EXCEEDED

state 681 begin apogee

687 -0.38 0.0 60.1 9.2 67 780 2.65 0.00 85.50 0.645 6 0.133 0.000 3009 1720 3217

781 end apogee: CONTROL_FINISHED_OK

state 781 begin climb

783 2.65 107.5 60.7 0.0 75 876 3.00 0.00 82.43 0.621 6 0.050 0.000 3689 1720 2777

1067 2.65 107.5 11.5 20.9 101 1073 0.00 2.65 0.00 0.000 4 0.000 0.075 3689 333 2777

1104 end climb: SURFACE_DEPTH_REACHED

state 1104 begin surface coast

1139 end surface coast: CONTROL_FINISHED_OK

state 1139 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	123	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	156	ALTIM_PING_DEPTH	50
D_TGT	60	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	350	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	10	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	40	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-50750.828	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	110	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	35	PITCH_MIN	460	AH0_24V	71.400002	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-8.3042984	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	033847,4744.195,-12249.975,14,3.5,33,18.3	TGT_NAME	WP1
_CALLS	1	TGT_LATLONG	4743.050,-12250.817
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.093,-0.281
_SM_DEPTHo	0.37	KALMAN_X	5668.5,507.9,174.5,-2632.3,-26.4
_SM_ANGLEo	-56.9	KALMAN_Y	4477.5,794.9,383.3,3195.6,-6.0
GPS2	034507,4744.267,-12249.967,37,1.0,41,18.3	MHEAD_RNG_PITCHd_Wd	180.0,2491,-32.7,-20.000
SPEED_LIMITS	0.286,0.296	D_GRID	173

FINISH	-0.3,1.022374	XPDR_PINGS	0
SM_CCo	1169,103.15,0.564,0,0,1791,350.04	ALTIM_BOTTOM_PING	35.6,37.1
SM_GC	0.20,0.00,0.00,103.15,0.000,0.000,0.564,463,1812,1791,-12.13,0.34,350.04	_24V_AH	23.9,11.035
IRIDIUM_FIX	4726.11,-12313.90,071007,070738	_10V_AH	10.1,9.549
TT8_MAMPS	0.069797	DATA_FILE_SIZE	3333,112
HUMID	2075	CFSIZE	260034560,253120512
INTERNAL_PRESSURE	8.47689	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.50	GPS	071007,040844,4744.234,-12250.039,10,1.3,27,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	211	169.11	SBE_CT	73	24	42.24
Roll_motor	20	76	37.81	nil	0	0	0.00
VBD_pump_during_apogee	167	645	2588.84	nil	0	0	0.00
VBD_pump_during_surface	103	563	1389.79	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	98.02	nil	0	0	0.00
Iridium_during_connect	34	160	133.29	ARS	0	0	0.00
Iridium_during_xfer	162	223	863.84
Transponder_ping	0	420	2.51
Mmodem_TX	0	1000	0.00
Mmodem_RX	1794	6	274.41
GPS	42	50	21.69
TT8	245	19	49.12
LPSleep	507	2	11.22
TT8_Active	374	19	74.98
TT8_Sampling	238	39	95.79
TT8_CF8	334	45	154.51
TT8_Kalman	33	81	27.53
Analog_circuits	518	12	62.80
GPS_charging	0	0	0.00
Compass	189	8	15.34
RAFOS	0	0	0.00

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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-2.65	-107.5	0.0	0.0	0	112	0.00	0.00	-83.78	0.000	6	0.000	0.000	461	1797	3657
115	-2.65	-107.5	2.5	-5.8	14	134	13.25	2.65	0.00	0.000	4	0.212	0.067	2514	396	3662
220	-2.65	-107.5	17.9	-12.4	30	226	0.00	2.47	0.00	0.000	6	0.000	0.032	2514	1814	3663
296	-2.65	-107.5	24.5	-8.2	38	300	0.00	2.67	0.00	0.000	4	0.000	0.067	2514	398	3664
321	-2.65	-107.5	26.8	-9.0	39	328	0.00	2.47	0.00	0.000	6	0.000	0.032	2514	1803	3664
517	-2.65	-107.5	44.5	-8.7	55	521	0.00	2.50	0.00	0.000	4	0.000	0.048	2514	3198	3664
551	-2.65	-107.5	47.5	-9.5	57	556	0.00	2.47	0.00	0.000	6	0.000	0.036	2515	1796	3663
681	end dive: TARGET_DEPTH_EXCEEDED
state	681	begin apogee
687	-0.38	0.0	60.1	9.2	67	780	2.65	0.00	85.50	0.645	6	0.133	0.000	3009	1720	3217
781	end apogee: CONTROL_FINISHED_OK
state	781	begin climb
783	2.65	107.5	60.7	0.0	75	876	3.00	0.00	82.43	0.621	6	0.050	0.000	3689	1720	2777
1067	2.65	107.5	11.5	20.9	101	1073	0.00	2.65	0.00	0.000	4	0.000	0.075	3689	333	2777
1104	end climb: SURFACE_DEPTH_REACHED
state	1104	begin surface coast
1139	end surface coast: CONTROL_FINISHED_OK
state	1139	begin surface