Glider dive log

ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 220 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 640 HD_C 9.8500004e-06 C_ROLL_DIVE 2100 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 HEADING -1 C_ROLL_CLIMB 2150 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 220 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

N_DIVES 300 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 5

STOP_T 1101912 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 3 TGT_DEFAULT_LAT -5400 R_PORT_OVSHOOT 34 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON 0 R_STBD_OVSHOOT 31 ALTIM_SENSITIVITY 2

D_TGT 350 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 2

D_ABORT 420 SM_CC 220 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097655999

D_BOOST 20 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.60000002

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 602 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3962 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2720 DEVICE1 -1

D_SAFE 0 N_NOCOMM 2 VBD_DBAND 2 DEVICE2 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE3 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE4 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_DIVE 140 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 1

T_MISSION 220 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_ABORT 250 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 COMPASS_DEVICE 33

T_LOITER 3600 T_RSLEEP 3 DBDW 0 COMPASS2_DEVICE -1

T_SLOITER 0 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

USE_BATHY 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_HIT_WINDOW 3600 AH0_24V 310 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 AH0_10V 0 SIM_W 0

D_OFFGRID 100 PITCH_MIN 312 MINV_24V 11.5 SIM_PITCH 0

T_WATCHDOG 10 PITCH_MAX 3939 MINV_10V 10 SEABIRD_T_G 0.0044042631

RELAUNCH 0 C_PITCH 2400 MAXI_24V 3 SEABIRD_T_H 0.0006412621

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_10V 2 SEABIRD_T_I 2.6024412e-05

MAX_BUOY 150 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_J 3.2462635e-06

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_G -10.007382

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_C_H 1.1528281

SPEED_FACTOR 1 PITCH_GAIN 34 PRESSURE_YINT -153.19165 SEABIRD_C_I -0.0017483447

RHO 1.0275 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.000109596 SEABIRD_C_J 0.0001971516

MASS 54260 PITCH_AD_RATE 175 AD7714Ch0Gain 1 SEABIRD_C_Z 2950.7202

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 0 SC_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MIN 217 ALTIM_BOTTOM_PING_RANGE 0 SC_NDIVE 1.0

HD_A 0.0038360001 ROLL_MAX 3851 ALTIM_TOP_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 1 D_SURF 3 PITCH_AD_RATE 175 SIM_PITCH 0

AH0_10V 0 D_TGT 350 PITCH_CNV 0.003125763 SIM_W 0

AH0_24V 310 ESCAPE_HEADING 0 PITCH_DBAND 0.0099999998 SM_CC 220

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 34 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3939 STOP_T 1101912

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_MIN 312 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_TIMEOUT 17 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_W_GAIN 0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0038360001 PRESSURE_SLOPE 0.000109596 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0101 PRESSURE_YINT -153.19165 TGT_DEFAULT_LAT -5400

APOGEE_PITCH -5 HD_C 9.8500004e-06 PROTOCOL 9 TGT_DEFAULT_LON 0

CALL_NDIVES 1 HEADING -1 P_OVSHOOT 0.039999999 T_ABORT 250

CALL_TRIES 5 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0.079999998 T_BOOST 0

CALL_WAIT 60 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_DIVE 140

CAPMAXSIZE 400000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE -1 T_EPIRB 0

CAPUPLOAD 0 ID 640 RAFOS_HIT_WINDOW 3600 T_GPS 15

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_MMODEM 0 T_LOITER 3600

COMM_SEQ 0 INT_PRESSURE_YINT -0.60000002 RAFOS_PEAK_OFFSET 1.5 T_MISSION 220

COMPASS2_DEVICE -1 KALMAN_USE 2 RELAUNCH 0 T_NO_W 120

COMPASS_DEVICE 33 LOGGERDEVICE1 53 RHO 1.0275 T_RSLEEP 3

COMPASS_USE 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_SLOITER 0

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_TURN 500

C_PITCH 2400 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2150 LOGGERS 1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 2100 MASS 54260 ROLL_DEG 40 UNCOM_BLEED 60

C_VBD 2720 MASS_COMP 0 ROLL_MAX 3851 UPLOAD_DIVES_MAX -1

DBDW 0 MAXI_10V 2 ROLL_MAXERRORS 1 USE_BATHY 0

DEEPGLIDER 0 MAXI_24V 3 ROLL_MIN 217 USE_ICE 0

DEVICE1 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 10 R_PORT_OVSHOOT 34 VBD_CNV -0.245296

DEVICE3 -1 MINV_24V 11.5 R_STBD_OVSHOOT 31 VBD_DBAND 2

DEVICE4 -1 MISSION 5 SC_NDIVE 1.0 VBD_LP_IGNORE 0

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAX 3962

DEVICE6 -1 NAV_MODE 2 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DIVE 220 NOCOMM_ACTION 259 SC_XMITPROFILE 3.0 VBD_MIN 602

D_ABORT 420 N_DIVES 300 SEABIRD_C_G -10.007382 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 N_FILEKB 4 SEABIRD_C_H 1.1528281 VBD_PUMP_AD_RATE_SURFACE 4

D_CALL 0 N_GPS 100840 SEABIRD_C_I -0.0017483447 VBD_TIMEOUT 720

D_FINISH 0 N_NOCOMM 2 SEABIRD_C_J 0.0001971516 W_ADJ_DBAND 0

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_Z 2950.7202 XPDR_DEVICE 24

D_NO_BLEED 29 PHONE_DEVICE 49 SEABIRD_T_G 0.0044042631 XPDR_INHIBIT 90

D_OFFGRID 100 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006412621 XPDR_VALID 2

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.6024412e-05

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.2462635e-06

Pre-dive calculations and measurements:

GPS1 070119,162535,-6011.7222,-1.6475,14,0.8,30,-19.7,0.5,163.4,9,9.5 SPEED_LIMITS 0.144,0.244

_CALLS 1 TGT_NAME NORTH

_XMS_NAKs 0 TGT_LATLONG -5940.000,0.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.21 MHEAD_RNG_PITCHd_Wd 31.4,58836,-15.5,-8.333,-18.82,2677

_SM_ANGLEo -65.5 D_GRID 350

GPS2 070119,163034,-6011.7583,-1.6350,9,0.7,16,-19.7,0.4,292.3,10,9.9

Post-dive calculations and measurements:

SM_CCo 8669,66.47,0.245,0,0,1820,220.03 _10V_AH 13.65,0.000

SM_GC 1.43,5.50,2.50,66.47,0.079,0.050,0.245,281,2092,1820,-6.45,1.02,220.03,0,0,0,0,0,0,14.64,14.59,14.35 FG_AHR_24Vo 0.000

IRIDIUM_FIX -6010.01,0.00,070119,135750 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038948,0.363265 MEM 344084

HUMID 49.84 DATA_FILE_SIZE 17338,688

INTERNAL_PRESSURE 6.1285 CAP_FILE_SIZE 86792,0

TCM_TEMP 0.00 CFSIZE 1023623168,997851136

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

SC_FREEKB 3808224 CURRENT 0.071,220.21,1

_24V_AH 13.27,45.831 GPS 070119,185731,-6011.474,-1.911,16,0.7,40,-19.7,0.5,146.2,11,4.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 435 74.51 nil 0 0 0.00

Roll_motor 63 2244 1903.98 nil 0 0 0.00

VBD_pump_during_apogee 258 1557 5338.17 nil 0 0 0.00

VBD_pump_during_surface 66 244 215.94 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 29 9.63 nil 0 0 0.00

Iridium_during_connect 20 160 43.02 SciCon 5067 12 856.36

Iridium_during_xfer 125 223 371.08 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.74

TT8 0 0 0.00

LPSleep 6964 2 208.20

TT8_Active 412 11 66.12

TT8_Sampling 1540 32 687.82

TT8_CF8 118 49 80.93

TT8_Kalman 0 0 0.00

Analog_circuits 1016 11 159.50

GPS_charging 0 0 0.00

Compass 1109 19 294.82

RAFOS 0 0 0.00

Transponder 0 5 0.04

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 int_press humidity

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

10 -0.64 -146.0 233 2111 1797 1825 0.0 0.0 0 101 0.00 0.00 -88.68 0.000 16386 0.000 0.000 233 2116 3222 3305 3140 0 0 0 0 0 0 14.62 28.83 14.62 6.17 50.47

103 -0.64 -146.0 234 2111 3307 3147 3.6 -7.6 18 117 6.03 2.70 -3.28 0.000 18948 0.359 2.245 2190 694 3317 3407 3228 0 0 0 0 0 0 14.18 13.27 14.45 6.29 49.68

156 -0.64 -146.0 2190 695 3410 3225 14.3 -16.0 29 160 0.00 2.45 0.00 0.000 3078 0.000 0.058 2179 2095 3317 3409 3226 0 0 0 0 0 0 14.42 14.37 14.45 6.30 48.58

281 -0.64 -146.0 2179 2095 3410 3226 36.7 -17.8 54 285 0.00 2.42 0.00 0.000 2564 0.000 0.063 2179 693 3318 3410 3226 0 0 0 0 0 0 14.65 14.42 14.65 6.30 49.60

306 -0.64 -146.0 2179 694 3410 3226 40.7 -16.1 59 311 0.05 2.45 0.00 0.000 3078 0.354 0.056 2186 2100 3318 3410 3226 0 0 0 0 0 0 14.22 14.40 14.38 6.30 49.92

432 -0.64 -146.0 2186 2100 3411 3225 58.0 -14.7 84 436 0.00 2.45 0.00 0.000 2308 0.000 0.083 2176 3506 3318 3410 3226 0 0 0 0 0 0 14.68 14.42 14.68 6.30 49.64

491 -0.64 -146.0 2176 3507 3410 3227 66.3 -12.8 96 495 0.05 2.38 0.00 0.000 3078 0.361 0.042 2193 2099 3317 3410 3225 0 0 0 0 0 0 14.25 14.46 14.40 6.30 49.25

617 -0.64 -146.0 2193 2099 3409 3226 82.8 -13.8 121 621 0.00 2.42 0.00 0.000 2564 0.000 0.065 2193 693 3317 3410 3225 0 0 0 0 0 0 14.71 14.47 14.71 6.30 49.44

651 -0.64 -146.0 2194 694 3410 3226 87.8 -14.0 128 655 0.00 2.42 0.00 0.000 3078 0.000 0.056 2184 2096 3317 3410 3224 0 0 0 0 0 0 14.52 14.46 14.53 6.30 48.89

776 -0.64 -146.0 2184 2097 3411 3225 105.9 -14.6 147 781 0.00 2.50 0.00 0.000 2308 0.000 0.081 2173 3503 3318 3410 3226 0 0 0 0 0 0 14.73 14.44 14.73 6.29 48.58

796 -0.64 -146.0 2173 3504 3410 3227 108.9 -14.7 148 801 0.05 2.38 0.00 0.000 3078 0.355 0.044 2189 2103 3318 3410 3226 0 0 0 0 0 0 14.28 14.49 14.45 6.30 48.97

1116 -0.64 -146.0 2190 2102 3411 3225 154.2 -14.2 164 1120 0.00 2.47 0.00 0.000 2564 0.000 0.064 2190 687 3317 3410 3225 0 0 0 0 0 0 14.78 14.50 14.78 6.30 50.07

1267 -0.64 -146.0 2189 688 3410 3226 173.2 -13.0 171 1271 0.00 2.38 0.00 0.000 3078 0.000 0.056 2181 2102 3317 3410 3225 0 0 0 0 0 0 14.69 14.54 14.66 6.31 50.07

1571 -0.64 -146.0 2181 2102 3411 3225 215.9 -13.8 186 1572 0.00 0.00 0.00 0.000 2054 0.000 0.000 2181 2101 3317 3410 3224 0 0 0 0 0 0 14.81 14.81 14.81 6.32 50.86

1871 -0.64 -146.0 2189 2102 3411 3225 255.9 -13.0 201 1872 0.00 0.00 0.00 0.000 2054 0.000 0.000 2181 2102 3317 3410 3225 0 0 0 0 0 0 14.83 14.83 14.83 6.32 51.10

2171 -0.64 -146.0 2181 2103 3411 3226 294.5 -12.9 216 2172 0.00 0.00 0.00 0.000 2054 0.000 0.000 2181 2102 3317 3410 3225 0 0 0 0 0 0 14.83 14.84 14.84 6.33 51.29

2471 -0.64 -146.0 2181 2103 3411 3226 333.3 -12.9 231 2472 0.00 0.00 0.00 0.000 2054 0.000 0.000 2181 2102 3317 3410 3225 0 0 0 0 0 0 14.85 14.85 14.85 6.34 51.89

2610 end dive: TARGET_DEPTH_EXCEEDED

state 2610 begin apogee

2614 -0.15 0.0 2181 2168 3411 3225 351.7 -13.2 238 2745 0.47 0.00 127.75 1.558 10246 0.270 0.000 2348 2168 2715 2775 2656 0 0 0 0 0 0 14.42 13.95 13.34 6.33 51.92

2746 end apogee: CONTROL_FINISHED_OK

state 2746 begin loiter

3031 -0.15 0.0 2349 2168 2772 2642 349.3 2.9 259 3032 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2168 2706 2770 2643 0 0 0 0 0 0 14.57 14.57 14.57 6.29 50.47

3331 -0.15 0.0 2349 2169 2771 2641 341.2 2.7 274 3332 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2168 2705 2770 2640 0 0 0 0 0 0 14.71 14.71 14.71 6.29 51.10

3631 -0.15 0.0 2349 2169 2770 2640 333.2 2.8 289 3632 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2168 2704 2770 2639 0 0 0 0 0 0 14.81 14.80 14.81 6.29 51.14

3931 -0.15 0.0 2349 2168 2772 2638 325.0 2.8 304 3932 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2168 2703 2770 2637 0 0 0 0 0 0 14.85 14.86 14.86 6.28 51.14

4231 -0.15 0.0 2349 2169 2772 2637 317.1 2.6 319 4232 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2168 2704 2770 2638 0 0 0 0 0 0 14.90 14.90 14.90 6.28 51.61

4531 -0.15 0.0 2349 2168 2772 2637 309.1 2.7 334 4532 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2168 2703 2770 2637 0 0 0 0 0 0 14.94 14.94 14.94 6.29 51.02

4831 -0.15 0.0 2349 2169 2772 2638 300.8 2.8 349 4832 0.00 0.00 0.00 0.000 2054 0.000 0.000 2348 2168 2704 2771 2637 0 0 0 0 0 0 14.97 14.97 14.97 6.28 51.69

5131 -0.15 0.0 2349 2169 2770 2638 291.5 3.3 364 5132 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2168 2704 2771 2638 0 0 0 0 0 0 14.99 14.99 14.99 6.29 51.57

5431 -0.15 0.0 2349 2168 2772 2637 281.5 3.4 379 5432 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2168 2704 2771 2637 0 0 0 0 0 0 15.00 15.00 15.00 6.28 51.02

5731 -0.15 0.0 2349 2169 2771 2639 270.9 3.6 394 5732 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2168 2703 2770 2637 0 0 0 0 0 0 15.02 15.02 15.02 6.28 51.65

6031 -0.15 0.0 2349 2168 2772 2637 260.1 3.5 409 6032 0.00 0.00 0.00 0.000 2054 0.000 0.000 2349 2168 2703 2770 2637 0 0 0 0 0 0 15.03 15.03 15.03 6.28 51.41

6330 end loiter: LOITER_COMPLETE

state 6330 begin climb

6331 0.64 146.0 2349 2168 2772 2637 250.0 0.0 424 6472 0.62 2.62 130.52 1.421 10756 0.176 0.066 2610 744 2116 2141 2092 0 0 0 0 0 0 14.66 14.00 13.47 6.28 51.53

6531 0.64 146.0 2610 744 2136 2087 235.5 9.6 434 6535 0.00 2.45 0.00 0.000 5126 0.000 0.052 2610 2153 2110 2135 2086 0 0 0 0 0 0 14.23 14.14 14.26 6.24 49.01

6851 0.64 146.0 2610 2154 2130 2078 197.0 12.4 450 6856 0.00 2.53 0.00 0.000 4356 0.000 0.083 2610 3552 2104 2131 2077 0 0 0 0 0 0 14.61 14.31 14.61 6.24 50.31

6941 0.64 146.0 2611 3553 2132 2078 186.8 12.6 454 6945 0.03 2.38 0.00 0.000 5126 0.435 0.042 2610 2154 2104 2131 2077 0 0 0 0 0 0 14.18 14.38 14.33 6.24 50.19

7251 0.64 146.0 2611 2154 2130 2075 145.4 13.0 470 7255 0.00 2.47 0.00 0.000 4612 0.000 0.065 2620 749 2105 2128 2082 0 0 0 0 0 0 14.72 14.42 14.73 6.20 50.82

7271 0.64 146.0 2621 749 2128 2075 142.9 12.8 471 7275 0.05 2.42 0.00 0.000 5126 0.308 0.054 2602 2154 2100 2127 2074 0 0 0 0 0 0 14.28 14.43 14.42 6.24 50.82

7591 0.64 146.0 2602 2155 2127 2073 107.0 10.4 487 7595 0.00 2.50 0.00 0.000 516 0.000 0.066 2610 741 2100 2127 2073 0 0 0 0 0 0 14.77 14.46 14.78 6.22 50.27

7611 0.64 146.0 2611 742 2125 2073 105.0 10.3 488 7615 0.00 2.42 0.00 0.000 5126 0.000 0.054 2610 2150 2099 2125 2073 0 0 0 0 0 0 14.54 14.48 14.57 6.22 50.15

7916 0.64 146.0 2611 2151 2127 2072 71.8 10.8 540 7920 0.00 2.50 0.00 0.000 4356 0.000 0.084 2610 3557 2103 2125 2082 0 0 0 0 0 0 14.80 14.50 14.80 6.21 49.21

8006 0.64 146.0 2611 3557 2127 2072 62.1 10.5 558 8010 0.05 2.35 0.00 0.000 5126 0.330 0.042 2602 2154 2099 2126 2072 0 0 0 0 0 0 14.35 14.56 14.52 6.21 48.97

8132 0.64 146.0 2603 2154 2126 2073 50.1 9.1 583 8136 0.00 2.42 0.00 0.000 516 0.000 0.067 2612 747 2098 2126 2071 0 0 0 0 0 0 14.80 14.54 14.80 6.20 49.52

8236 0.64 146.0 2612 748 2125 2072 41.0 8.8 604 8240 0.00 2.40 0.00 0.000 5126 0.000 0.054 2612 2149 2098 2125 2071 0 0 0 0 0 0 14.60 14.54 14.62 6.20 49.29

8361 0.64 146.0 2621 2149 2126 2072 28.5 10.4 629 8364 0.00 0.00 0.00 0.000 4102 0.000 0.000 2612 2149 2098 2125 2071 0 0 0 0 0 0 14.81 14.81 14.81 6.20 49.56

8486 0.64 146.0 2611 2149 2125 2070 16.0 8.8 654 8487 0.00 0.00 0.00 0.000 4102 0.000 0.000 2612 2149 2097 2125 2070 0 0 0 0 0 0 14.82 14.82 14.82 6.15 49.72

8606 0.64 146.0 2613 2149 2126 2070 4.6 9.6 678 8610 0.00 2.45 0.00 0.000 4356 0.000 0.083 2612 3555 2097 2125 2070 0 0 0 0 0 0 14.81 14.52 14.82 6.20 50.19

8625 end climb: SURFACE_DEPTH_REACHED

state 8625 begin surface coast

8655 end surface coast: CONTROL_FINISHED_OK

state 8655 begin surface

ID	640	HD_C	9.8500004e-06	C_ROLL_DIVE	2100	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	HEADING	-1	C_ROLL_CLIMB	2150	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	220	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
N_DIVES	300	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	5
STOP_T	1101912	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	3	TGT_DEFAULT_LAT	-5400	R_PORT_OVSHOOT	34	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	0	R_STBD_OVSHOOT	31	ALTIM_SENSITIVITY	2
D_TGT	350	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	420	SM_CC	220	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097655999
D_BOOST	20	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.60000002
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	602	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3962	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2720	DEVICE1	-1
D_SAFE	0	N_NOCOMM	2	VBD_DBAND	2	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_DIVE	140	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	1
T_MISSION	220	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_ABORT	250	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	COMPASS_DEVICE	33
T_LOITER	3600	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	-1
T_SLOITER	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
USE_BATHY	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_HIT_WINDOW	3600	AH0_24V	310	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	AH0_10V	0	SIM_W	0
D_OFFGRID	100	PITCH_MIN	312	MINV_24V	11.5	SIM_PITCH	0
T_WATCHDOG	10	PITCH_MAX	3939	MINV_10V	10	SEABIRD_T_G	0.0044042631
RELAUNCH	0	C_PITCH	2400	MAXI_24V	3	SEABIRD_T_H	0.0006412621
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_10V	2	SEABIRD_T_I	2.6024412e-05
MAX_BUOY	150	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_J	3.2462635e-06
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_G	-10.007382
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_C_H	1.1528281
SPEED_FACTOR	1	PITCH_GAIN	34	PRESSURE_YINT	-153.19165	SEABIRD_C_I	-0.0017483447
RHO	1.0275	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.000109596	SEABIRD_C_J	0.0001971516
MASS	54260	PITCH_AD_RATE	175	AD7714Ch0Gain	1	SEABIRD_C_Z	2950.7202
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	0	SC_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MIN	217	ALTIM_BOTTOM_PING_RANGE	0	SC_NDIVE	1.0
HD_A	0.0038360001	ROLL_MAX	3851	ALTIM_TOP_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	070119,162535,-6011.7222,-1.6475,14,0.8,30,-19.7,0.5,163.4,9,9.5	SPEED_LIMITS	0.144,0.244
_CALLS	1	TGT_NAME	NORTH
_XMS_NAKs	0	TGT_LATLONG	-5940.000,0.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.21	MHEAD_RNG_PITCHd_Wd	31.4,58836,-15.5,-8.333,-18.82,2677
_SM_ANGLEo	-65.5	D_GRID	350
GPS2	070119,163034,-6011.7583,-1.6350,9,0.7,16,-19.7,0.4,292.3,10,9.9

SM_CCo	8669,66.47,0.245,0,0,1820,220.03	_10V_AH	13.65,0.000
SM_GC	1.43,5.50,2.50,66.47,0.079,0.050,0.245,281,2092,1820,-6.45,1.02,220.03,0,0,0,0,0,0,14.64,14.59,14.35	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-6010.01,0.00,070119,135750	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038948,0.363265	MEM	344084
HUMID	49.84	DATA_FILE_SIZE	17338,688
INTERNAL_PRESSURE	6.1285	CAP_FILE_SIZE	86792,0
TCM_TEMP	0.00	CFSIZE	1023623168,997851136
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3808224	CURRENT	0.071,220.21,1
_24V_AH	13.27,45.831	GPS	070119,185731,-6011.474,-1.911,16,0.7,40,-19.7,0.5,146.2,11,4.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	435	74.51	nil	0	0	0.00
Roll_motor	63	2244	1903.98	nil	0	0	0.00
VBD_pump_during_apogee	258	1557	5338.17	nil	0	0	0.00
VBD_pump_during_surface	66	244	215.94	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	29	9.63	nil	0	0	0.00
Iridium_during_connect	20	160	43.02	SciCon	5067	12	856.36
Iridium_during_xfer	125	223	371.08	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.74
TT8	0	0	0.00
LPSleep	6964	2	208.20
TT8_Active	412	11	66.12
TT8_Sampling	1540	32	687.82
TT8_CF8	118	49	80.93
TT8_Kalman	0	0	0.00
Analog_circuits	1016	11	159.50
GPS_charging	0	0	0.00
Compass	1109	19	294.82
RAFOS	0	0	0.00
Transponder	0	5	0.04

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	int_press	humidity
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
10	-0.64	-146.0	233	2111	1797	1825	0.0	0.0	0	101	0.00	0.00	-88.68	0.000	16386	0.000	0.000	233	2116	3222	3305	3140	0	0	0	0	0	0	14.62	28.83	14.62	6.17	50.47
103	-0.64	-146.0	234	2111	3307	3147	3.6	-7.6	18	117	6.03	2.70	-3.28	0.000	18948	0.359	2.245	2190	694	3317	3407	3228	0	0	0	0	0	0	14.18	13.27	14.45	6.29	49.68
156	-0.64	-146.0	2190	695	3410	3225	14.3	-16.0	29	160	0.00	2.45	0.00	0.000	3078	0.000	0.058	2179	2095	3317	3409	3226	0	0	0	0	0	0	14.42	14.37	14.45	6.30	48.58
281	-0.64	-146.0	2179	2095	3410	3226	36.7	-17.8	54	285	0.00	2.42	0.00	0.000	2564	0.000	0.063	2179	693	3318	3410	3226	0	0	0	0	0	0	14.65	14.42	14.65	6.30	49.60
306	-0.64	-146.0	2179	694	3410	3226	40.7	-16.1	59	311	0.05	2.45	0.00	0.000	3078	0.354	0.056	2186	2100	3318	3410	3226	0	0	0	0	0	0	14.22	14.40	14.38	6.30	49.92
432	-0.64	-146.0	2186	2100	3411	3225	58.0	-14.7	84	436	0.00	2.45	0.00	0.000	2308	0.000	0.083	2176	3506	3318	3410	3226	0	0	0	0	0	0	14.68	14.42	14.68	6.30	49.64
491	-0.64	-146.0	2176	3507	3410	3227	66.3	-12.8	96	495	0.05	2.38	0.00	0.000	3078	0.361	0.042	2193	2099	3317	3410	3225	0	0	0	0	0	0	14.25	14.46	14.40	6.30	49.25
617	-0.64	-146.0	2193	2099	3409	3226	82.8	-13.8	121	621	0.00	2.42	0.00	0.000	2564	0.000	0.065	2193	693	3317	3410	3225	0	0	0	0	0	0	14.71	14.47	14.71	6.30	49.44
651	-0.64	-146.0	2194	694	3410	3226	87.8	-14.0	128	655	0.00	2.42	0.00	0.000	3078	0.000	0.056	2184	2096	3317	3410	3224	0	0	0	0	0	0	14.52	14.46	14.53	6.30	48.89
776	-0.64	-146.0	2184	2097	3411	3225	105.9	-14.6	147	781	0.00	2.50	0.00	0.000	2308	0.000	0.081	2173	3503	3318	3410	3226	0	0	0	0	0	0	14.73	14.44	14.73	6.29	48.58
796	-0.64	-146.0	2173	3504	3410	3227	108.9	-14.7	148	801	0.05	2.38	0.00	0.000	3078	0.355	0.044	2189	2103	3318	3410	3226	0	0	0	0	0	0	14.28	14.49	14.45	6.30	48.97
1116	-0.64	-146.0	2190	2102	3411	3225	154.2	-14.2	164	1120	0.00	2.47	0.00	0.000	2564	0.000	0.064	2190	687	3317	3410	3225	0	0	0	0	0	0	14.78	14.50	14.78	6.30	50.07
1267	-0.64	-146.0	2189	688	3410	3226	173.2	-13.0	171	1271	0.00	2.38	0.00	0.000	3078	0.000	0.056	2181	2102	3317	3410	3225	0	0	0	0	0	0	14.69	14.54	14.66	6.31	50.07
1571	-0.64	-146.0	2181	2102	3411	3225	215.9	-13.8	186	1572	0.00	0.00	0.00	0.000	2054	0.000	0.000	2181	2101	3317	3410	3224	0	0	0	0	0	0	14.81	14.81	14.81	6.32	50.86
1871	-0.64	-146.0	2189	2102	3411	3225	255.9	-13.0	201	1872	0.00	0.00	0.00	0.000	2054	0.000	0.000	2181	2102	3317	3410	3225	0	0	0	0	0	0	14.83	14.83	14.83	6.32	51.10
2171	-0.64	-146.0	2181	2103	3411	3226	294.5	-12.9	216	2172	0.00	0.00	0.00	0.000	2054	0.000	0.000	2181	2102	3317	3410	3225	0	0	0	0	0	0	14.83	14.84	14.84	6.33	51.29
2471	-0.64	-146.0	2181	2103	3411	3226	333.3	-12.9	231	2472	0.00	0.00	0.00	0.000	2054	0.000	0.000	2181	2102	3317	3410	3225	0	0	0	0	0	0	14.85	14.85	14.85	6.34	51.89
2610	end dive: TARGET_DEPTH_EXCEEDED
state	2610	begin apogee
2614	-0.15	0.0	2181	2168	3411	3225	351.7	-13.2	238	2745	0.47	0.00	127.75	1.558	10246	0.270	0.000	2348	2168	2715	2775	2656	0	0	0	0	0	0	14.42	13.95	13.34	6.33	51.92
2746	end apogee: CONTROL_FINISHED_OK
state	2746	begin loiter
3031	-0.15	0.0	2349	2168	2772	2642	349.3	2.9	259	3032	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2168	2706	2770	2643	0	0	0	0	0	0	14.57	14.57	14.57	6.29	50.47
3331	-0.15	0.0	2349	2169	2771	2641	341.2	2.7	274	3332	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2168	2705	2770	2640	0	0	0	0	0	0	14.71	14.71	14.71	6.29	51.10
3631	-0.15	0.0	2349	2169	2770	2640	333.2	2.8	289	3632	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2168	2704	2770	2639	0	0	0	0	0	0	14.81	14.80	14.81	6.29	51.14
3931	-0.15	0.0	2349	2168	2772	2638	325.0	2.8	304	3932	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2168	2703	2770	2637	0	0	0	0	0	0	14.85	14.86	14.86	6.28	51.14
4231	-0.15	0.0	2349	2169	2772	2637	317.1	2.6	319	4232	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2168	2704	2770	2638	0	0	0	0	0	0	14.90	14.90	14.90	6.28	51.61
4531	-0.15	0.0	2349	2168	2772	2637	309.1	2.7	334	4532	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2168	2703	2770	2637	0	0	0	0	0	0	14.94	14.94	14.94	6.29	51.02
4831	-0.15	0.0	2349	2169	2772	2638	300.8	2.8	349	4832	0.00	0.00	0.00	0.000	2054	0.000	0.000	2348	2168	2704	2771	2637	0	0	0	0	0	0	14.97	14.97	14.97	6.28	51.69
5131	-0.15	0.0	2349	2169	2770	2638	291.5	3.3	364	5132	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2168	2704	2771	2638	0	0	0	0	0	0	14.99	14.99	14.99	6.29	51.57
5431	-0.15	0.0	2349	2168	2772	2637	281.5	3.4	379	5432	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2168	2704	2771	2637	0	0	0	0	0	0	15.00	15.00	15.00	6.28	51.02
5731	-0.15	0.0	2349	2169	2771	2639	270.9	3.6	394	5732	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2168	2703	2770	2637	0	0	0	0	0	0	15.02	15.02	15.02	6.28	51.65
6031	-0.15	0.0	2349	2168	2772	2637	260.1	3.5	409	6032	0.00	0.00	0.00	0.000	2054	0.000	0.000	2349	2168	2703	2770	2637	0	0	0	0	0	0	15.03	15.03	15.03	6.28	51.41
6330	end loiter: LOITER_COMPLETE
state	6330	begin climb
6331	0.64	146.0	2349	2168	2772	2637	250.0	0.0	424	6472	0.62	2.62	130.52	1.421	10756	0.176	0.066	2610	744	2116	2141	2092	0	0	0	0	0	0	14.66	14.00	13.47	6.28	51.53
6531	0.64	146.0	2610	744	2136	2087	235.5	9.6	434	6535	0.00	2.45	0.00	0.000	5126	0.000	0.052	2610	2153	2110	2135	2086	0	0	0	0	0	0	14.23	14.14	14.26	6.24	49.01
6851	0.64	146.0	2610	2154	2130	2078	197.0	12.4	450	6856	0.00	2.53	0.00	0.000	4356	0.000	0.083	2610	3552	2104	2131	2077	0	0	0	0	0	0	14.61	14.31	14.61	6.24	50.31
6941	0.64	146.0	2611	3553	2132	2078	186.8	12.6	454	6945	0.03	2.38	0.00	0.000	5126	0.435	0.042	2610	2154	2104	2131	2077	0	0	0	0	0	0	14.18	14.38	14.33	6.24	50.19
7251	0.64	146.0	2611	2154	2130	2075	145.4	13.0	470	7255	0.00	2.47	0.00	0.000	4612	0.000	0.065	2620	749	2105	2128	2082	0	0	0	0	0	0	14.72	14.42	14.73	6.20	50.82
7271	0.64	146.0	2621	749	2128	2075	142.9	12.8	471	7275	0.05	2.42	0.00	0.000	5126	0.308	0.054	2602	2154	2100	2127	2074	0	0	0	0	0	0	14.28	14.43	14.42	6.24	50.82
7591	0.64	146.0	2602	2155	2127	2073	107.0	10.4	487	7595	0.00	2.50	0.00	0.000	516	0.000	0.066	2610	741	2100	2127	2073	0	0	0	0	0	0	14.77	14.46	14.78	6.22	50.27
7611	0.64	146.0	2611	742	2125	2073	105.0	10.3	488	7615	0.00	2.42	0.00	0.000	5126	0.000	0.054	2610	2150	2099	2125	2073	0	0	0	0	0	0	14.54	14.48	14.57	6.22	50.15
7916	0.64	146.0	2611	2151	2127	2072	71.8	10.8	540	7920	0.00	2.50	0.00	0.000	4356	0.000	0.084	2610	3557	2103	2125	2082	0	0	0	0	0	0	14.80	14.50	14.80	6.21	49.21
8006	0.64	146.0	2611	3557	2127	2072	62.1	10.5	558	8010	0.05	2.35	0.00	0.000	5126	0.330	0.042	2602	2154	2099	2126	2072	0	0	0	0	0	0	14.35	14.56	14.52	6.21	48.97
8132	0.64	146.0	2603	2154	2126	2073	50.1	9.1	583	8136	0.00	2.42	0.00	0.000	516	0.000	0.067	2612	747	2098	2126	2071	0	0	0	0	0	0	14.80	14.54	14.80	6.20	49.52
8236	0.64	146.0	2612	748	2125	2072	41.0	8.8	604	8240	0.00	2.40	0.00	0.000	5126	0.000	0.054	2612	2149	2098	2125	2071	0	0	0	0	0	0	14.60	14.54	14.62	6.20	49.29
8361	0.64	146.0	2621	2149	2126	2072	28.5	10.4	629	8364	0.00	0.00	0.00	0.000	4102	0.000	0.000	2612	2149	2098	2125	2071	0	0	0	0	0	0	14.81	14.81	14.81	6.20	49.56
8486	0.64	146.0	2611	2149	2125	2070	16.0	8.8	654	8487	0.00	0.00	0.00	0.000	4102	0.000	0.000	2612	2149	2097	2125	2070	0	0	0	0	0	0	14.82	14.82	14.82	6.15	49.72
8606	0.64	146.0	2613	2149	2126	2070	4.6	9.6	678	8610	0.00	2.45	0.00	0.000	4356	0.000	0.083	2612	3555	2097	2125	2070	0	0	0	0	0	0	14.81	14.52	14.82	6.20	50.19
8625	end climb: SURFACE_DEPTH_REACHED
state	8625	begin surface coast
8655	end surface coast: CONTROL_FINISHED_OK
state	8655	begin surface