Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 238 * 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 238 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 50 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 30 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 42 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 15 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 -53203.973 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 130 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 30 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 50 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 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 15

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 -53203.973

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 30 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 130 R_STBD_OVSHOOT 42 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 238 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 044803,4743.062,-12250.783,14,1.8,14,18.3 TGT_NAME WP1

_CALLS 1 TGT_LATLONG 4743.050,-12250.817

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.118,-0.152

_SM_DEPTHo 0.32 KALMAN_X 3248.7,131.9,70.0,-797.4,22.9

_SM_ANGLEo -58.0 KALMAN_Y 6351.5,162.0,104.3,-5.0,13.4

GPS2 045403,4743.056,-12250.820,16,1.8,16,18.3 MHEAD_RNG_PITCHd_Wd 199.4,12,-28.0,-11.111

SPEED_LIMITS 0.192,0.252 D_GRID 164

Post-dive calculations and measurements:

FINISH -0.2,1.022095 XPDR_PINGS 0

SM_CCo 1090,94.65,0.549,0,0,1790,350.04 ALTIM_BOTTOM_PING 25.1,26.5

SM_GC 0.27,0.00,0.00,94.65,0.000,0.000,0.549,463,1806,1790,-12.13,0.17,350.04 _24V_AH 23.9,19.441

IRIDIUM_FIX 4726.11,-12248.15,101007,080802 _10V_AH 10.1,15.397

TT8_MAMPS 0.06903 DATA_FILE_SIZE 3306,109

HUMID 2079 CFSIZE 260034560,249991168

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 101007,051539,4742.995,-12250.900,9,1.8,9,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 217 171.59 SBE_CT 71 24 40.88

Roll_motor 15 77 28.65 nil 0 0 0.00

VBD_pump_during_apogee 198 620 2950.43 nil 0 0 0.00

VBD_pump_during_surface 94 549 1242.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 101.81 nil 0 0 0.00

Iridium_during_connect 41 160 157.40 ARS 0 0 0.00

Iridium_during_xfer 148 223 789.52

Transponder_ping 0 420 2.51

Mmodem_TX 0 1000 0.00

Mmodem_RX 1658 6 253.61

GPS 16 50 8.41

TT8 215 19 43.12

LPSleep 423 2 9.37

TT8_Active 386 19 77.31

TT8_Sampling 204 39 82.26

TT8_CF8 345 45 159.89

TT8_Kalman 33 81 27.53

Analog_circuits 527 12 63.88

GPS_charging 0 0 0.00

Compass 182 8 14.74

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 -2.24 -73.9 0.0 0.0 0 107 0.00 0.00 -78.75 0.000 2 0.000 0.000 460 1819 3498

110 -2.30 -119.5 2.1 -6.5 13 135 13.95 2.67 -5.30 0.000 4 0.217 0.077 2592 400 3707

142 -2.30 -119.5 6.9 -13.5 18 148 0.00 2.45 0.00 0.000 6 0.000 0.033 2592 1802 3708

214 -2.31 -127.1 14.8 -9.6 29 220 0.00 0.00 -0.47 0.000 6 0.000 0.000 2591 1802 3739

286 -2.31 -127.1 21.5 -9.2 39 287 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 1803 3739

477 -2.31 -127.1 39.8 -9.8 54 481 0.00 2.50 0.00 0.000 4 0.000 0.048 2592 3201 3739

528 -2.31 -127.1 45.4 -10.0 57 535 0.00 2.47 0.00 0.000 6 0.000 0.034 2592 1810 3740

583 end dive: TARGET_DEPTH_EXCEEDED

state 583 begin apogee

590 -0.38 0.0 51.0 10.3 62 695 2.17 0.00 100.62 0.621 6 0.123 0.000 3010 1720 3218

696 end apogee: CONTROL_FINISHED_OK

state 696 begin climb

699 2.31 127.1 52.8 0.0 71 803 2.70 0.00 98.32 0.594 6 0.054 0.000 3613 1720 2698

994 2.31 127.1 9.8 17.9 99 1000 0.00 2.62 0.00 0.000 4 0.000 0.074 3613 341 2696

1024 end climb: SURFACE_DEPTH_REACHED

state 1024 begin surface coast

1058 end surface coast: CONTROL_FINISHED_OK

state 1060 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	238	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	50	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	30	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	42	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	15	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	-53203.973	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	130	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	30	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	044803,4743.062,-12250.783,14,1.8,14,18.3	TGT_NAME	WP1
_CALLS	1	TGT_LATLONG	4743.050,-12250.817
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.118,-0.152
_SM_DEPTHo	0.32	KALMAN_X	3248.7,131.9,70.0,-797.4,22.9
_SM_ANGLEo	-58.0	KALMAN_Y	6351.5,162.0,104.3,-5.0,13.4
GPS2	045403,4743.056,-12250.820,16,1.8,16,18.3	MHEAD_RNG_PITCHd_Wd	199.4,12,-28.0,-11.111
SPEED_LIMITS	0.192,0.252	D_GRID	164

FINISH	-0.2,1.022095	XPDR_PINGS	0
SM_CCo	1090,94.65,0.549,0,0,1790,350.04	ALTIM_BOTTOM_PING	25.1,26.5
SM_GC	0.27,0.00,0.00,94.65,0.000,0.000,0.549,463,1806,1790,-12.13,0.17,350.04	_24V_AH	23.9,19.441
IRIDIUM_FIX	4726.11,-12248.15,101007,080802	_10V_AH	10.1,15.397
TT8_MAMPS	0.06903	DATA_FILE_SIZE	3306,109
HUMID	2079	CFSIZE	260034560,249991168
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	101007,051539,4742.995,-12250.900,9,1.8,9,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	217	171.59	SBE_CT	71	24	40.88
Roll_motor	15	77	28.65	nil	0	0	0.00
VBD_pump_during_apogee	198	620	2950.43	nil	0	0	0.00
VBD_pump_during_surface	94	549	1242.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	101.81	nil	0	0	0.00
Iridium_during_connect	41	160	157.40	ARS	0	0	0.00
Iridium_during_xfer	148	223	789.52
Transponder_ping	0	420	2.51
Mmodem_TX	0	1000	0.00
Mmodem_RX	1658	6	253.61
GPS	16	50	8.41
TT8	215	19	43.12
LPSleep	423	2	9.37
TT8_Active	386	19	77.31
TT8_Sampling	204	39	82.26
TT8_CF8	345	45	159.89
TT8_Kalman	33	81	27.53
Analog_circuits	527	12	63.88
GPS_charging	0	0	0.00
Compass	182	8	14.74
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	-2.24	-73.9	0.0	0.0	0	107	0.00	0.00	-78.75	0.000	2	0.000	0.000	460	1819	3498
110	-2.30	-119.5	2.1	-6.5	13	135	13.95	2.67	-5.30	0.000	4	0.217	0.077	2592	400	3707
142	-2.30	-119.5	6.9	-13.5	18	148	0.00	2.45	0.00	0.000	6	0.000	0.033	2592	1802	3708
214	-2.31	-127.1	14.8	-9.6	29	220	0.00	0.00	-0.47	0.000	6	0.000	0.000	2591	1802	3739
286	-2.31	-127.1	21.5	-9.2	39	287	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	1803	3739
477	-2.31	-127.1	39.8	-9.8	54	481	0.00	2.50	0.00	0.000	4	0.000	0.048	2592	3201	3739
528	-2.31	-127.1	45.4	-10.0	57	535	0.00	2.47	0.00	0.000	6	0.000	0.034	2592	1810	3740
583	end dive: TARGET_DEPTH_EXCEEDED
state	583	begin apogee
590	-0.38	0.0	51.0	10.3	62	695	2.17	0.00	100.62	0.621	6	0.123	0.000	3010	1720	3218
696	end apogee: CONTROL_FINISHED_OK
state	696	begin climb
699	2.31	127.1	52.8	0.0	71	803	2.70	0.00	98.32	0.594	6	0.054	0.000	3613	1720	2698
994	2.31	127.1	9.8	17.9	99	1000	0.00	2.62	0.00	0.000	4	0.000	0.074	3613	341	2696
1024	end climb: SURFACE_DEPTH_REACHED
state	1024	begin surface coast
1058	end surface coast: CONTROL_FINISHED_OK
state	1060	begin surface