OKMC Nov11 * SG165 * Dive index * Mission links * Dive 197 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  165 HD_B  0.010078 PITCH_ADJ_GAIN  0.0070000002 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  197 HEADING  -1 ROLL_MIN  200 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3692 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  11 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  11 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1955 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1990 ALTIM_FREQUENCY  13
D_ABORT  1020 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  3 SM_CC  450 ROLL_TIMEOUT  15 XPDR_VALID  6
T_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  49 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  61 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0.85000002
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  485 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE2  53
T_DIVE  280 UPLOAD_DIVES_MAX  -1 C_VBD  2786 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  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -7 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -271658.84 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  1001 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
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  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  9.5 XPDR_DEVICE  24
MAX_BUOY  200 PITCH_MIN  180 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3922 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2950 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043567759
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -57.316994 SEABIRD_T_H  0.00062679156
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000116182 SEABIRD_T_I  2.4204959e-05
MASS  51872 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.6176024e-06
NAV_MODE  0 PITCH_GAIN  30 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.134539
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1435308
KALMAN_USE  2 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.0010041125
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00016055659

Pre-dive calculations and measurements:
GPS1  311211,120324,2106.191,11953.206,22,1.0,39,-2.5 TGT_NAME  W2A
_CALLS  1 TGT_LATLONG  2145.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.084,-0.266
_SM_DEPTHo  8.43 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -69.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  311211,121016,2105.904,11953.191,10,3.6,29,-2.5 MHEAD_RNG_PITCHd_Wd  11.7,73347,-18.1,-11.786
SPEED_LIMITS  0.204,0.313 D_GRID  3417

Post-dive calculations and measurements:
FINISH  7.0,1.010828 _10V_AH  10.1,39.483
SM_CCo  15493,0.00,0.000,0,0,481,565.42 FG_AHR_24Vo  0.000
SM_GC  7.65,7.95,0.00,0.00,0.031,0.000,0.000,152,1991,481,-8.64,1.02,565.42,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2057.14,11951.28,311211,070734 MEM  325096
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  76915,1362
HUMID  42.43 CAP_FILE_SIZE  173710,0
INTERNAL_PRESSURE  9.38548 CFSIZE  260165632,181743616
TCM_TEMP  25.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
XPDR_PINGS  12 GPS  311211,163007,2105.666,11953.850,37,1.0,37,-2.5
_24V_AH  22.8,46.062

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22239121.47 SBE_CT92024503.66
Roll_motor148195659.60 AA3830119333897.68
VBD_pump_during_apogee660131519814.13 WL_BB2F7411051775.31
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910370.36 nil000.00
Iridium_during_connect52160190.17 nil000.00
Iridium_during_xfer178223908.66 nil000.00
Transponder_ping342028.73 nil000.00
GUMSTIX_24V000.00
GPS325016.48
TT8317819635.58
LPSleep84732187.43
TT8_Active74819149.67
TT8_Sampling3131391258.84
TT8_CF835845165.74
TT8_Kalman000.00
Analog_circuits219312265.83
GPS_charging000.00
Compass282215427.67
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 -0.84 -194.6 0.0 0.0 0 108 0.00 0.00 -89.30 0.000 2 0.000 0.000 149 1989 3130 0 0 0 0 0 0 28.83 28.83 28.83
112 -0.84 -194.6 11.3 -9.1 13 142 10.15 2.15 -7.80 0.000 4 0.239 0.056 2664 3343 3583 0 0 0 0 0 0 25.35 26.07 26.49
149 -0.57 -194.6 29.0 -44.6 18 159 0.30 2.12 0.00 0.000 6 0.159 0.031 2757 1947 3583 0 0 0 0 0 0 25.60 26.14 28.83
483 -0.52 -194.6 110.4 -21.6 79 490 0.00 2.10 0.00 0.000 4 0.000 0.045 2758 563 3583 0 0 0 0 0 0 28.83 26.18 28.83
523 -0.48 -194.6 119.5 -22.1 86 532 0.12 2.10 0.00 0.000 6 0.147 0.036 2790 1922 3583 0 0 0 0 0 0 25.88 26.22 28.83
858 -0.48 -194.6 176.3 -16.7 147 863 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 1923 3584 0 0 0 0 0 0 28.83 28.83 28.83
1179 -0.50 -194.6 218.4 -5.2 190 1189 0.00 2.25 0.00 0.000 4 0.000 0.049 2782 3375 3584 0 0 0 0 0 0 28.83 26.22 28.83
1234 -0.54 -194.6 220.6 -3.6 195 1243 0.00 2.08 0.00 0.000 6 0.000 0.031 2782 1952 3585 0 0 0 0 0 0 28.83 26.37 28.83
1543 -0.56 -194.6 244.8 -9.4 226 1553 0.00 2.12 0.00 0.000 4 0.000 0.047 2783 561 3585 0 0 0 0 0 0 28.83 26.27 28.83
1580 -0.60 -194.6 248.3 -10.4 229 1586 0.00 2.12 0.00 0.000 6 0.000 0.035 2782 1964 3585 0 0 0 0 0 0 28.83 26.33 28.83
1887 -0.63 -194.6 289.7 -15.2 260 1898 0.12 2.17 0.00 0.000 4 0.089 0.048 2700 3362 3585 0 0 0 0 0 0 26.53 26.23 28.83
2006 -0.62 -194.6 308.0 -14.8 271 2014 0.17 2.10 0.00 0.000 6 0.144 0.034 2750 1952 3585 0 0 0 0 0 0 26.05 26.37 28.83
2312 -0.64 -194.6 330.2 -5.2 302 2321 0.00 2.15 0.00 0.000 4 0.000 0.048 2750 546 3585 0 0 0 0 0 0 28.83 26.28 28.83
2385 -0.67 -194.6 334.6 -6.3 309 2394 0.00 2.12 0.00 0.000 6 0.000 0.036 2750 1951 3585 0 0 0 0 0 0 28.83 26.34 28.83
2694 -0.70 -194.6 361.9 -12.4 340 2703 0.00 2.20 0.00 0.000 4 0.000 0.051 2750 3372 3585 0 0 0 0 0 0 28.83 26.22 28.83
2831 -0.74 -194.6 378.8 -13.0 353 2839 0.12 2.15 0.00 0.000 6 0.088 0.033 2677 1945 3585 0 0 0 0 0 0 26.34 26.39 28.83
3137 -0.72 -194.6 427.7 -13.4 384 3146 0.12 2.12 0.00 0.000 4 0.167 0.047 2715 560 3584 0 0 0 0 0 0 26.24 26.27 28.83
3201 -0.73 -194.6 434.0 -9.2 390 3209 0.00 2.12 0.00 0.000 6 0.000 0.036 2713 1959 3584 0 0 0 0 0 0 28.83 26.32 28.83
3510 -0.74 -194.6 463.0 -10.3 421 3518 0.00 2.17 0.00 0.000 4 0.000 0.052 2703 3359 3582 0 0 0 0 0 0 28.83 26.22 28.83
3606 -0.76 -194.6 473.4 -11.4 430 3613 0.00 2.12 0.00 0.000 6 0.000 0.034 2704 1957 3581 0 0 0 0 0 0 28.83 26.36 28.83
3911 -0.76 -194.6 512.8 -13.0 461 3920 0.00 2.17 0.00 0.000 4 0.000 0.050 2704 558 3580 0 0 0 0 0 0 28.83 26.25 28.83
3942 -0.76 -194.6 517.2 -13.4 464 3951 0.00 2.15 0.00 0.000 6 0.000 0.037 2700 1967 3580 0 0 0 0 0 0 28.83 26.30 28.83
4252 -0.76 -194.6 556.7 -12.5 495 4261 0.00 2.17 0.00 0.000 4 0.000 0.053 2690 3363 3576 0 0 0 0 0 0 28.83 26.20 28.83
4309 -0.77 -194.6 562.7 -11.7 500 4315 0.00 2.15 0.00 0.000 6 0.000 0.034 2690 1950 3576 0 0 0 0 0 0 28.83 26.35 28.83
4613 -0.77 -194.6 600.3 -12.8 531 4614 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 1950 3575 0 0 0 0 0 0 28.83 28.83 28.83
4914 -0.77 -194.6 638.7 -13.3 546 4920 0.00 2.25 0.00 0.000 4 0.000 0.054 2686 3357 3573 0 0 0 0 0 0 28.83 26.15 28.83
5017 -0.79 -194.6 651.6 -12.8 551 5021 0.00 2.12 0.00 0.000 6 0.000 0.035 2686 1956 3572 0 0 0 0 0 0 28.83 26.34 28.83
5330 -0.79 -194.6 692.6 -13.1 567 5331 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 1955 3570 0 0 0 0 0 0 28.83 28.83 28.83
5630 -0.79 -194.6 729.8 -11.6 582 5631 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 1955 3568 0 0 0 0 0 0 28.83 28.83 28.83
5929 -0.79 -194.6 763.1 -10.6 597 5934 0.00 2.25 0.00 0.000 4 0.000 0.057 2686 3361 3566 0 0 0 0 0 0 28.83 26.11 28.83
5983 -0.80 -194.6 767.2 -10.5 599 5990 0.00 2.15 0.00 0.000 6 0.000 0.036 2686 1946 3566 0 0 0 0 0 0 28.83 26.31 28.83
6289 -0.80 -194.6 795.0 -7.9 615 6295 0.00 2.17 0.00 0.000 4 0.000 0.054 2686 554 3564 0 0 0 0 0 0 28.83 26.17 28.83
6370 -0.81 -194.6 801.4 -8.0 619 6376 0.00 2.17 0.00 0.000 6 0.000 0.040 2686 1960 3564 0 0 0 0 0 0 28.83 26.24 28.83
6689 -0.82 -194.6 824.6 -7.6 635 6690 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 1960 3561 0 0 0 0 0 0 28.83 28.83 28.83
6989 -0.83 -194.6 846.7 -7.5 650 6995 0.00 2.22 0.00 0.000 4 0.000 0.057 2685 3357 3560 0 0 0 0 0 0 28.83 26.07 28.83
7073 -0.85 -194.6 853.1 -8.0 654 7079 0.00 2.15 0.00 0.000 6 0.000 0.036 2686 1950 3559 0 0 0 0 0 0 28.83 26.29 28.83
7389 -0.86 -194.6 881.1 -8.8 670 7390 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 1951 3558 0 0 0 0 0 0 28.83 28.83 28.83
7690 -0.87 -194.6 908.1 -9.3 685 7696 0.00 2.17 0.00 0.000 4 0.000 0.054 2686 558 3556 0 0 0 0 0 0 28.83 26.12 28.83
7749 -0.88 -194.6 914.2 -10.1 688 7755 0.00 2.15 0.00 0.000 6 0.000 0.041 2686 1952 3556 0 0 0 0 0 0 28.83 26.20 28.83
8071 -0.89 -194.6 945.2 -9.3 704 8076 0.00 2.25 0.00 0.000 4 0.000 0.057 2679 3363 3554 0 0 0 0 0 0 28.83 26.03 28.83
8132 -0.91 -194.6 950.9 -9.3 707 8136 0.00 2.15 0.00 0.000 6 0.000 0.036 2678 1953 3554 0 0 0 0 0 0 28.83 26.26 28.83
8446 -0.92 -194.6 980.4 -9.1 723 8447 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 1953 3553 0 0 0 0 0 0 28.83 28.83 28.83
8562 end dive: TARGET_DEPTH_EXCEEDED
state 8562 begin apogee
8567 -0.17 0.0 990.5 -8.3 729 8733 0.65 0.03 157.27 1.315 6 0.123 0.195 2892 1994 2785 0 0 0 0 0 0 25.64 24.56 23.56
8734 end apogee: CONTROL_FINISHED_OK
state 8734 begin climb
8738 0.84 194.6 992.3 0.0 737 8919 0.90 2.47 171.52 1.268 4 0.047 0.054 3240 3389 1991 0 0 0 0 0 0 24.89 23.89 22.78
8985 0.75 194.6 947.5 24.4 749 8990 0.22 2.30 0.00 0.000 6 0.177 0.040 3193 2000 1987 0 0 0 0 0 0 24.56 24.84 28.83
9302 0.68 194.6 879.4 21.1 765 9308 0.00 2.22 0.00 0.000 4 0.000 0.050 3193 3393 1983 0 0 0 0 0 0 28.83 25.88 28.83
9325 0.62 194.6 874.6 21.3 766 9332 0.20 2.20 0.00 0.000 6 0.171 0.038 3150 1988 1983 0 0 0 0 0 0 25.62 25.97 28.83
9642 0.58 194.6 819.7 16.6 782 9648 0.00 2.20 0.00 0.000 4 0.000 0.051 3159 576 1982 0 0 0 0 0 0 28.83 26.07 28.83
9664 0.55 194.6 816.5 16.5 783 9669 0.12 2.17 0.00 0.000 6 0.162 0.035 3127 1997 1981 0 0 0 0 0 0 25.91 26.15 28.83
9979 0.53 194.6 769.4 14.4 799 9985 0.00 2.17 0.00 0.000 4 0.000 0.050 3127 3387 1980 0 0 0 0 0 0 28.83 26.11 28.83
10051 0.51 194.6 760.3 14.8 802 10057 0.00 2.15 0.00 0.000 6 0.000 0.034 3134 1979 1980 0 0 0 0 0 0 28.83 26.25 28.83
10358 0.49 194.6 717.9 12.2 818 10363 0.00 2.25 0.00 0.000 4 0.000 0.047 3135 3390 1979 0 0 0 0 0 0 28.83 26.14 28.83
10392 0.47 194.6 715.4 12.3 819 10399 0.15 2.15 0.00 0.000 6 0.166 0.034 3105 1972 1979 0 0 0 0 0 0 25.92 26.25 28.83
10697 0.56 265.9 685.1 8.9 835 10764 0.00 2.38 60.55 1.124 4 0.000 0.047 3104 3386 1701 0 0 0 0 0 0 28.83 25.32 24.23
10800 0.62 311.1 675.4 10.0 840 10849 0.08 2.15 41.08 1.082 6 0.065 0.034 3165 2009 1517 0 0 0 0 0 0 25.55 25.59 24.08
11158 0.60 311.1 617.8 17.1 858 11163 0.00 2.28 0.00 0.000 4 0.000 0.050 3176 574 1513 0 0 0 0 0 0 28.83 25.95 28.83
11183 0.57 311.1 614.4 16.9 859 11189 0.15 2.17 0.00 0.000 6 0.151 0.033 3135 2003 1511 0 0 0 0 0 0 25.79 26.03 28.83
11497 0.57 311.1 570.0 13.7 885 11506 0.00 2.17 0.00 0.000 4 0.000 0.046 3135 3387 1510 0 0 0 0 0 0 28.83 26.08 28.83
11543 0.57 311.1 563.9 15.0 889 11549 0.00 2.17 0.00 0.000 6 0.000 0.035 3144 1983 1510 0 0 0 0 0 0 28.83 26.19 28.83
11848 0.57 311.1 518.5 14.4 920 11857 0.00 2.20 0.00 0.000 4 0.000 0.050 3154 583 1510 0 0 0 0 0 0 28.83 26.15 28.83
11904 0.57 311.1 510.7 15.3 925 11911 0.00 2.12 0.00 0.000 6 0.000 0.032 3154 1991 1509 0 0 0 0 0 0 28.83 26.25 28.83
12210 0.56 311.1 463.9 14.6 956 12219 0.00 2.17 0.00 0.000 4 0.000 0.046 3154 3391 1509 0 0 0 0 0 0 28.83 26.15 28.83
12286 0.56 311.1 453.1 14.8 963 12293 0.12 2.15 0.00 0.000 6 0.164 0.035 3131 1978 1509 0 0 0 0 0 0 26.00 26.28 28.83
12592 0.60 328.9 415.2 11.1 994 12614 0.00 2.22 15.62 0.884 4 0.000 0.050 3140 589 1444 0 0 0 0 0 0 28.83 26.09 24.86
12667 0.65 352.8 407.6 10.8 1001 12694 0.00 2.12 21.90 0.890 6 0.000 0.032 3140 1980 1345 0 0 0 0 0 0 28.83 26.14 24.72
13003 0.67 352.8 368.5 12.2 1035 13012 0.00 2.20 0.00 0.000 4 0.000 0.045 3140 3402 1343 0 0 0 0 0 0 28.83 26.01 28.83
13028 0.69 352.8 365.6 12.2 1037 13035 0.00 2.17 0.00 0.000 6 0.000 0.034 3149 1980 1343 0 0 0 0 0 0 28.83 26.12 28.83
13335 0.71 352.8 319.4 15.9 1068 13344 0.00 2.17 0.00 0.000 4 0.000 0.048 3159 587 1343 0 0 0 0 0 0 28.83 26.11 28.83
13420 0.74 352.8 308.4 12.0 1076 13427 0.00 2.12 0.00 0.000 6 0.000 0.031 3159 1999 1342 0 0 0 0 0 0 28.83 26.25 28.83
13729 0.84 416.0 273.1 9.2 1107 13789 0.15 2.28 52.40 0.806 4 0.083 0.044 3236 3390 1088 0 0 0 0 0 0 26.39 25.60 24.67
13837 0.82 416.0 255.8 16.7 1117 13844 0.12 2.17 0.00 0.000 6 0.170 0.035 3215 1987 1086 0 0 0 0 0 0 25.53 25.78 28.83
14144 0.82 416.0 210.0 17.0 1148 14154 0.00 2.20 0.00 0.000 4 0.000 0.047 3223 585 1084 0 0 0 0 0 0 28.83 26.01 28.83
14291 0.84 416.0 187.3 12.5 1169 14297 0.00 2.15 0.00 0.000 6 0.000 0.030 3223 2005 1084 0 0 0 0 0 0 28.83 26.19 28.83
14621 0.95 489.1 148.1 8.8 1230 14691 0.00 2.30 59.83 0.687 4 0.000 0.046 3233 593 787 0 0 0 0 0 0 28.83 25.62 24.77
14756 1.12 586.5 136.3 7.8 1252 14864 0.17 2.15 80.68 0.620 6 0.041 0.029 3332 1996 483 0 0 0 0 3 0 25.84 25.87 24.56
15212 1.10 586.5 39.1 22.1 1329 15219 0.00 2.22 0.00 0.000 4 0.000 0.047 3343 580 481 0 0 0 0 0 0 28.83 26.01 28.83
15303 1.08 586.5 18.0 20.9 1344 15313 0.12 2.12 0.00 0.000 6 0.128 0.030 3300 1979 482 0 0 0 0 0 0 25.86 26.17 28.83
15341 end climb: SURFACE_DEPTH_REACHED
state 15341 begin surface coast
15416 end surface coast: CONTROL_FINISHED_OK
state 15416 begin surface