Glider dive log

DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 302 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 217 HD_C 9.9999997e-06 ROLL_MAX 3790 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 3 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 302 ESCAPE_HEADING 0 C_ROLL_DIVE 2450 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2375 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 1 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_PULSE 2

D_ABORT 1020 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 56 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 350 R_STBD_OVSHOOT 38 XPDR_VALID 1

D_BOOST 25 N_FILEKB 8 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.1

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 500 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE1 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 163 C_VBD 2709 DEVICE2 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE4 -1

T_DIVE 360 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 390 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0022 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 5 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 25 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 97

USE_BATHY -2 T_RSLEEP 3 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE 32

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 350 XPDR_DEVICE 24

RELAUNCH 1 PITCH_MIN 200 AH0_10V 0 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3880 MINV_24V 12 SIM_PITCH 0

MAX_BUOY 140 C_PITCH 3095 MINV_10V 12 SEABIRD_T_G 0.0043902649

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00063436845

GLIDE_SLOPE 40 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_T_I 2.5093383e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_T_J 2.9521423e-06

RHO 1.0275 P_OVSHOOT_WITHG 0.079999998 PRESSURE_YINT -51.110779 SEABIRD_C_G -9.69524

MASS 52199 PITCH_GAIN 28 PRESSURE_SLOPE 0.0001155691 SEABIRD_C_H 1.1253856

MASS_COMP 0 PITCH_TIMEOUT 17 AD7714Ch0Gain 128 SEABIRD_C_I -0.0011212705

NAV_MODE 10 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00015718494

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SC_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_PROFILE 3.0

HD_A 0.0038000001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 SC_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MIN 240 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_T_J 2.9521423e-06

AH0_10V 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SIM_PITCH 0

AH0_24V 350 D_SURF 2 PITCH_AD_RATE 160 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PITCH_CNV 0.003125763 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 28 STROBE 0

ALTIM_PING_DELTA 5 FERRY_MAX 45 PITCH_MAX 3880 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 2 FG_AHR_24V 0 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 1 PITCH_VBD_SHIFT 0.0022 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 40 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 HD_A 0.0038000001 PRESSURE_SLOPE 0.0001155691 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_B 0.0099999998 PRESSURE_YINT -51.110779 T_ABORT 1440

CALL_TRIES 5 HD_C 9.9999997e-06 PROTOCOL 1 T_BOOST 2

CALL_WAIT 60 HEADING -1 P_OVSHOOT 0.039999999 T_DIVE 360

CAPMAXSIZE 100000 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0.079999998 T_EPIRB 0

CAPUPLOAD 0 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_GPS 5

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE 32 T_GPS_ALMANAC 0

COMM_SEQ 0 ID 217 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_PEAK_OFFSET 1.5 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_YINT -0.1 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 2 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE1 53 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 3095 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2375 LOGGERDEVICE3 -1 ROLL_AD_RATE 350 T_WATCHDOG 10

C_ROLL_DIVE 2450 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 60

C_VBD 2709 LOGGERS 1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DBDW 0 MASS 52199 ROLL_MAX 3790 USE_BATHY -2

DEEPGLIDER 0 MASS_COMP 0 ROLL_MAXERRORS 2 USE_ICE 0

DEVICE1 -1 MAX_BUOY 140 ROLL_MIN 240 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 12 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 12 R_PORT_OVSHOOT 56 VBD_DBAND 2

DEVICE4 -1 MISSION 3 R_STBD_OVSHOOT 38 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 10 SC_RECORDABOVE 2000.0 VBD_MIN 500

DIVE 302 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 N_DIVES 0 SEABIRD_C_G -9.69524 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 25 N_FILEKB 8 SEABIRD_C_H 1.1253856 VBD_TIMEOUT 720

D_CALL 0 N_GPS 25 SEABIRD_C_I -0.0011212705 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SEABIRD_C_J 0.00015718494 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_G 0.0043902649 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_T_H 0.00063436845 XPDR_VALID 1

D_OFFGRID 100 PHONE_SUPPLY -2 SEABIRD_T_I 2.5093383e-05

Pre-dive calculations and measurements:

GPS1 081114,050122,6642.119,-6012.851,37,0.8,37,-32.9 SPEED_LIMITS 0.109,0.246

_CALLS 1 TGT_NAME TARGET_E

_XMS_NAKs 0 TGT_LATLONG 6703.000,-5648.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.61 MHEAD_RNG_PITCHd_Wd 117.7,153001,-17.5,-9.167,-20.44,2275

_SM_ANGLEo -69.4 D_GRID 554

GPS2 081114,050725,6642.108,-6012.983,5,0.8,5,-32.9

Post-dive calculations and measurements:

FINISH 1.6,1.025349 _10V_AH 12.81,0.000

SM_CCo 10060,50.92,0.093,0,0,1281,350.04 FG_AHR_24Vo 0.000

SM_GC 2.82,9.62,0.10,50.92,0.092,0.154,0.093,210,2466,1281,-8.97,-0.96,350.04,0,0,0,0,0,0,14.56,14.57,14.52 FG_AHR_10Vo 0.000

RAFOS_CLK -121 MEM 143152

RAFOS_FIX 6639.425781,-6011.206055,081114,040433,3,96,0.87 DATA_FILE_SIZE 26657,724

IRIDIUM_FIX 6609.62,-6026.10,081114,021019 CAP_FILE_SIZE 114895,0

TT8_MAMPS 0.03745,0.03745 CFSIZE 1024409600,982548480

HUMID 44.44 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.45502 INTR 0,10430.95,0x23769e,7,5

TCM_TEMP 12.00 SOUNDSPEED 1451.4

XPDR_PINGS 0 EKF 10200,4002.155029,-3609.474609,1.633379,0.008752,0.080294,-0.003065,0.000146,0.000936,0.000099,0.001025,0.001025,0.000050

SC_FREEKB 3923392 CURRENT 0.333,185.57,1

_24V_AH 13.12,73.996 GPS 081114,075758,6640.322,-6009.909,33,0.8,33,-32.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 419 134.34 nil 0 0 0.00

Roll_motor 90 210 249.10 nil 0 0 0.00

VBD_pump_during_apogee 309 1545 6279.98 nil 0 0 0.00

VBD_pump_during_surface 50 93 62.36 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 10052 3 433.37

Iridium_during_xfer 212 152 423.93 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 20 1.86

TT8 2225 24 704.06

LPSleep 6146 2 181.87

TT8_Active 564 23 173.14

TT8_Sampling 1363 42 745.34

TT8_CF8 193 56 139.49

TT8_Kalman 0 0 0.00

Analog_circuits 1382 15 265.72

GPS_charging 0 0 0.00

Compass 1084 5 69.45

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -0.92 -136.3 171 2464 1299 1228 0.0 0.0 0 64 0.00 0.00 -43.10 0.000 16386 0.000 0.000 168 2464 2338 2360 2317 0 0 0 0 0 0 28.83 28.83 28.83

67 -0.92 -136.3 167 2464 2360 2318 3.0 -1.3 4 116 12.62 2.50 -29.58 0.000 18948 0.419 0.091 2789 1064 3266 3297 3235 0 0 0 0 0 0 14.11 14.45 14.71

270 -0.92 -136.3 2789 1065 3301 3235 36.3 -20.3 41 277 0.00 2.38 0.00 0.000 1030 0.000 0.064 2786 2437 3268 3301 3235 0 0 0 0 0 0 28.83 14.46 28.83

602 -0.92 -136.3 2786 2437 3301 3235 94.5 -16.2 56 608 0.00 2.42 0.00 0.000 260 0.000 0.096 2786 3787 3268 3301 3235 0 0 0 0 0 0 28.83 14.45 28.83

653 -0.92 -136.3 2786 3787 3301 3234 103.3 -16.1 65 660 0.00 2.22 0.00 0.000 1030 0.000 0.052 2786 2447 3268 3301 3235 0 0 0 0 0 0 28.83 14.60 28.83

964 -0.92 -136.3 2786 2446 3301 3235 153.3 -16.2 81 965 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2446 3268 3301 3235 0 0 0 0 0 0 28.83 28.83 28.83

1264 -0.92 -136.3 2786 2446 3301 3235 199.4 -15.1 96 1265 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2446 3267 3301 3234 0 0 0 0 0 0 28.83 28.83 28.83

1566 -0.92 -136.3 2785 2448 3301 3234 245.7 -15.6 111 1573 0.00 2.42 0.00 0.000 260 0.000 0.097 2785 3786 3267 3301 3234 0 0 0 0 0 0 28.83 14.50 28.83

1623 -0.92 -136.3 2786 3786 3302 3234 255.1 -15.2 121 1630 0.00 2.22 0.00 0.000 1030 0.000 0.054 2785 2444 3267 3301 3234 0 0 0 0 0 0 28.83 14.64 28.83

1938 -0.92 -136.3 2786 2443 3300 3234 300.2 -14.4 138 1947 0.00 2.35 0.00 0.000 516 0.000 0.066 2786 1069 3266 3299 3234 0 0 0 0 0 0 28.83 14.57 28.83

1979 -0.92 -136.3 2786 1069 3301 3234 305.9 -13.5 145 1987 0.00 2.38 0.00 0.000 1030 0.000 0.063 2785 2451 3267 3301 3234 0 0 0 0 0 0 28.83 14.57 28.83

2285 -0.92 -136.3 2785 2452 3304 3234 347.0 -13.5 161 2292 0.00 2.38 0.00 0.000 260 0.000 0.097 2786 3781 3265 3298 3233 0 0 0 0 0 0 28.83 14.51 28.83

2335 -0.92 -136.3 2786 3781 3301 3233 353.9 -13.7 170 2344 0.00 2.20 0.00 0.000 1030 0.000 0.054 2785 2450 3267 3301 3234 0 0 0 0 0 0 28.83 14.65 28.83

2657 -0.92 -136.3 2785 2450 3301 3233 393.6 -11.5 188 2658 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2450 3267 3301 3233 0 0 0 0 0 0 28.83 28.83 28.83

2959 -0.92 -136.3 2786 2450 3300 3232 427.9 -11.6 203 2966 0.00 2.42 0.00 0.000 260 0.000 0.097 2785 3788 3267 3301 3233 0 0 0 0 0 0 28.83 14.50 28.83

3080 -0.92 -136.3 2786 3789 3301 3232 442.9 -12.4 225 3087 0.00 2.22 0.00 0.000 1030 0.000 0.053 2786 2446 3266 3301 3232 0 0 0 0 0 0 28.83 14.66 28.83

3395 -0.92 -136.3 2785 2446 3302 3232 479.4 -12.0 242 3396 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 2446 3266 3301 3232 0 0 0 0 0 0 28.83 28.83 28.83

3696 -0.92 -136.3 2785 2446 3302 3232 515.1 -12.0 257 3703 0.00 2.42 0.00 0.000 260 0.000 0.096 2785 3787 3266 3301 3232 0 0 0 0 0 0 28.83 14.51 28.83

3838 -0.92 -136.3 2785 3787 3301 3231 533.0 -13.6 284 3846 0.00 2.22 0.00 0.000 1030 0.000 0.053 2785 2446 3266 3301 3232 0 0 0 0 0 0 28.83 14.65 28.83

4044 end dive: TARGET_DEPTH_EXCEEDED

state 4044 begin apogee

4050 -0.18 0.0 2786 2390 3301 3232 555.8 -11.0 295 4166 0.90 0.00 111.78 1.545 10246 0.252 0.000 3027 2390 2709 2771 2647 0 0 0 0 0 0 14.26 28.83 13.47

4167 end apogee: CONTROL_FINISHED_OK

state 4167 begin climb

4170 0.92 136.3 3027 2390 2769 2645 560.9 0.0 301 4289 1.15 0.00 113.40 1.512 10502 0.175 0.000 3369 2389 2149 2220 2079 0 0 0 0 0 0 14.04 28.83 13.12

4599 0.92 136.3 3365 2389 2210 2078 525.3 9.7 331 4605 0.00 2.50 0.00 0.000 516 0.000 0.069 3380 978 2143 2209 2078 0 0 0 0 0 0 28.83 14.16 28.83

4677 0.94 145.2 3379 979 2209 2078 518.0 8.8 345 4693 0.00 2.42 7.62 1.230 9222 0.000 0.055 3380 2381 2115 2182 2048 0 0 0 0 0 0 28.83 14.26 13.54

4987 0.94 145.2 3380 2381 2180 2047 488.5 9.5 362 4995 0.00 2.42 0.00 0.000 516 0.000 0.067 3390 971 2113 2180 2047 0 0 0 0 0 0 28.83 14.40 28.83

5018 0.94 145.2 3389 971 2180 2047 485.5 9.8 367 5025 0.00 2.40 0.00 0.000 1030 0.000 0.054 3389 2378 2113 2180 2047 0 0 0 0 0 0 28.83 14.42 28.83

5338 0.94 145.2 3390 2377 2180 2047 451.8 10.4 385 5345 0.00 2.42 0.00 0.000 516 0.000 0.065 3400 977 2113 2180 2047 0 0 0 0 0 0 28.83 14.49 28.83

5384 0.94 145.2 3400 977 2180 2047 447.0 10.7 393 5390 0.00 2.38 0.00 0.000 1030 0.000 0.056 3400 2377 2113 2180 2047 0 0 0 0 0 0 28.83 14.51 28.83

5709 0.94 145.2 3400 2376 2180 2047 413.9 10.3 412 5716 0.00 2.42 0.00 0.000 516 0.000 0.065 3411 968 2113 2180 2047 0 0 0 0 0 0 28.83 14.54 28.83

5738 0.94 145.2 3412 968 2180 2047 410.9 10.1 417 5744 0.00 2.38 0.00 0.000 1030 0.000 0.054 3411 2376 2113 2180 2047 0 0 0 0 0 0 28.83 14.56 28.83

6059 0.94 145.2 3411 2375 2180 2047 376.9 11.2 435 6065 0.00 2.47 0.00 0.000 260 0.000 0.088 3411 3776 2113 2180 2047 0 0 0 0 0 0 28.83 14.52 28.83

6130 0.94 145.2 3411 3775 2179 2047 367.7 12.8 448 6137 0.00 2.35 0.00 0.000 1030 0.000 0.049 3422 2353 2113 2179 2047 0 0 0 0 0 0 28.83 14.64 28.83

6450 0.94 145.2 3422 2351 2180 2047 333.6 10.0 466 6459 0.00 2.33 0.00 0.000 516 0.000 0.065 3433 990 2113 2180 2047 0 0 0 0 0 0 28.83 14.57 28.83

6491 0.94 145.2 3433 991 2180 2047 329.4 10.1 473 6500 0.12 2.33 0.00 0.000 5126 0.253 0.054 3404 2377 2113 2180 2047 0 0 0 0 0 0 14.38 14.59 28.83

6797 0.97 155.6 3404 2377 2180 2047 302.6 8.7 489 6812 0.00 2.53 9.98 1.131 8452 0.000 0.088 3404 3783 2072 2137 2007 0 0 0 0 0 0 28.83 14.64 13.97

6912 0.97 155.6 3404 3783 2134 2007 290.9 10.7 510 6921 0.00 2.33 0.00 0.000 1030 0.000 0.049 3414 2369 2070 2134 2007 0 0 0 0 0 0 28.83 14.65 28.83

7234 1.00 168.7 3415 2369 2141 2002 262.0 8.6 528 7254 0.00 0.00 12.20 1.118 8198 0.000 0.000 3414 2369 2017 2081 1953 0 0 0 0 0 0 28.83 28.83 13.97

7554 1.03 183.5 3414 2370 2079 1953 234.3 8.5 544 7575 0.00 2.40 12.57 1.093 8708 0.000 0.067 3423 994 1960 2024 1896 0 0 0 0 0 0 28.83 14.62 13.98

7655 1.03 183.5 3423 994 2023 1896 225.0 10.0 562 7663 0.00 2.33 0.00 0.000 1030 0.000 0.056 3423 2374 1959 2023 1896 0 0 0 0 0 0 28.83 14.57 28.83

7972 1.03 183.5 3423 2374 2022 1896 193.7 10.1 579 7979 0.00 2.38 0.00 0.000 516 0.000 0.066 3435 994 1959 2022 1896 0 0 0 0 0 0 28.83 14.57 28.83

8002 1.03 183.5 3434 993 2022 1896 190.3 10.9 584 8008 0.00 2.33 0.00 0.000 1030 0.000 0.055 3434 2374 1958 2021 1895 0 0 0 0 0 0 28.83 14.55 28.83

8322 1.03 183.5 3434 2374 2028 1895 157.8 9.7 602 8323 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2374 1957 2020 1895 0 0 0 0 0 0 28.83 28.83 28.83

8623 1.03 183.5 3434 2374 2021 1895 128.7 9.8 617 8630 0.00 2.50 0.00 0.000 260 0.000 0.092 3434 3778 1957 2020 1895 0 0 0 0 0 0 28.83 14.54 28.83

8673 1.03 183.5 3434 3778 2020 1895 123.0 11.5 626 8682 0.00 2.33 0.00 0.000 1030 0.000 0.050 3443 2371 1957 2020 1895 0 0 0 0 0 0 28.83 14.66 28.83

8988 1.04 189.2 3443 2370 2020 1894 93.4 8.9 639 9001 0.00 2.33 6.45 0.891 8708 0.000 0.065 3453 990 1934 1997 1871 0 0 0 0 0 0 28.83 14.68 14.01

9070 1.06 197.4 3453 991 1997 1871 86.0 8.8 654 9085 0.00 2.35 7.88 0.913 9222 0.000 0.057 3453 2382 1902 1965 1839 0 0 0 0 0 0 28.83 14.61 14.02

9396 1.07 203.6 3453 2382 1964 1838 57.3 8.9 667 9409 0.00 2.38 6.72 0.873 8708 0.000 0.064 3464 989 1877 1941 1814 0 0 0 0 0 0 28.83 14.64 14.03

9496 1.07 203.6 3462 989 1939 1814 47.6 9.4 685 9503 0.00 2.35 0.00 0.000 1030 0.000 0.057 3463 2382 1876 1939 1814 0 0 0 0 0 0 28.83 14.54 28.83

9812 1.16 243.1 3462 2380 1939 1813 21.9 7.4 701 9841 0.00 0.00 21.15 0.161 8198 0.000 0.000 3463 2380 1721 1791 1652 0 0 0 0 0 0 28.83 28.83 14.39

10019 end climb: SURFACE_DEPTH_REACHED

state 10019 begin surface coast

10040 end surface coast: CONTROL_FINISHED_OK

state 10040 begin surface

ID	217	HD_C	9.9999997e-06	ROLL_MAX	3790	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	3	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	302	ESCAPE_HEADING	0	C_ROLL_DIVE	2450	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2375	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	1	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_PULSE	2
D_ABORT	1020	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	56	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	350	R_STBD_OVSHOOT	38	XPDR_VALID	1
D_BOOST	25	N_FILEKB	8	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.1
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	500	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE1	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	163	C_VBD	2709	DEVICE2	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE4	-1
T_DIVE	360	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	390	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0022	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	5	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	25	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	97
USE_BATHY	-2	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	32
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	350	XPDR_DEVICE	24
RELAUNCH	1	PITCH_MIN	200	AH0_10V	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3880	MINV_24V	12	SIM_PITCH	0
MAX_BUOY	140	C_PITCH	3095	MINV_10V	12	SEABIRD_T_G	0.0043902649
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00063436845
GLIDE_SLOPE	40	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_T_I	2.5093383e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_T_J	2.9521423e-06
RHO	1.0275	P_OVSHOOT_WITHG	0.079999998	PRESSURE_YINT	-51.110779	SEABIRD_C_G	-9.69524
MASS	52199	PITCH_GAIN	28	PRESSURE_SLOPE	0.0001155691	SEABIRD_C_H	1.1253856
MASS_COMP	0	PITCH_TIMEOUT	17	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0011212705
NAV_MODE	10	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00015718494
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SC_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_PROFILE	3.0
HD_A	0.0038000001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	SC_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MIN	240	ALTIM_TOP_PING_RANGE	0

GPS1	081114,050122,6642.119,-6012.851,37,0.8,37,-32.9	SPEED_LIMITS	0.109,0.246
_CALLS	1	TGT_NAME	TARGET_E
_XMS_NAKs	0	TGT_LATLONG	6703.000,-5648.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.61	MHEAD_RNG_PITCHd_Wd	117.7,153001,-17.5,-9.167,-20.44,2275
_SM_ANGLEo	-69.4	D_GRID	554
GPS2	081114,050725,6642.108,-6012.983,5,0.8,5,-32.9

FINISH	1.6,1.025349	_10V_AH	12.81,0.000
SM_CCo	10060,50.92,0.093,0,0,1281,350.04	FG_AHR_24Vo	0.000
SM_GC	2.82,9.62,0.10,50.92,0.092,0.154,0.093,210,2466,1281,-8.97,-0.96,350.04,0,0,0,0,0,0,14.56,14.57,14.52	FG_AHR_10Vo	0.000
RAFOS_CLK	-121	MEM	143152
RAFOS_FIX	6639.425781,-6011.206055,081114,040433,3,96,0.87	DATA_FILE_SIZE	26657,724
IRIDIUM_FIX	6609.62,-6026.10,081114,021019	CAP_FILE_SIZE	114895,0
TT8_MAMPS	0.03745,0.03745	CFSIZE	1024409600,982548480
HUMID	44.44	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.45502	INTR	0,10430.95,0x23769e,7,5
TCM_TEMP	12.00	SOUNDSPEED	1451.4
XPDR_PINGS	0	EKF	10200,4002.155029,-3609.474609,1.633379,0.008752,0.080294,-0.003065,0.000146,0.000936,0.000099,0.001025,0.001025,0.000050
SC_FREEKB	3923392	CURRENT	0.333,185.57,1
_24V_AH	13.12,73.996	GPS	081114,075758,6640.322,-6009.909,33,0.8,33,-32.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	419	134.34	nil	0	0	0.00
Roll_motor	90	210	249.10	nil	0	0	0.00
VBD_pump_during_apogee	309	1545	6279.98	nil	0	0	0.00
VBD_pump_during_surface	50	93	62.36	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	10052	3	433.37
Iridium_during_xfer	212	152	423.93	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	20	1.86
TT8	2225	24	704.06
LPSleep	6146	2	181.87
TT8_Active	564	23	173.14
TT8_Sampling	1363	42	745.34
TT8_CF8	193	56	139.49
TT8_Kalman	0	0	0.00
Analog_circuits	1382	15	265.72
GPS_charging	0	0	0.00
Compass	1084	5	69.45
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-0.92	-136.3	171	2464	1299	1228	0.0	0.0	0	64	0.00	0.00	-43.10	0.000	16386	0.000	0.000	168	2464	2338	2360	2317	0	0	0	0	0	0	28.83	28.83	28.83
67	-0.92	-136.3	167	2464	2360	2318	3.0	-1.3	4	116	12.62	2.50	-29.58	0.000	18948	0.419	0.091	2789	1064	3266	3297	3235	0	0	0	0	0	0	14.11	14.45	14.71
270	-0.92	-136.3	2789	1065	3301	3235	36.3	-20.3	41	277	0.00	2.38	0.00	0.000	1030	0.000	0.064	2786	2437	3268	3301	3235	0	0	0	0	0	0	28.83	14.46	28.83
602	-0.92	-136.3	2786	2437	3301	3235	94.5	-16.2	56	608	0.00	2.42	0.00	0.000	260	0.000	0.096	2786	3787	3268	3301	3235	0	0	0	0	0	0	28.83	14.45	28.83
653	-0.92	-136.3	2786	3787	3301	3234	103.3	-16.1	65	660	0.00	2.22	0.00	0.000	1030	0.000	0.052	2786	2447	3268	3301	3235	0	0	0	0	0	0	28.83	14.60	28.83
964	-0.92	-136.3	2786	2446	3301	3235	153.3	-16.2	81	965	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2446	3268	3301	3235	0	0	0	0	0	0	28.83	28.83	28.83
1264	-0.92	-136.3	2786	2446	3301	3235	199.4	-15.1	96	1265	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2446	3267	3301	3234	0	0	0	0	0	0	28.83	28.83	28.83
1566	-0.92	-136.3	2785	2448	3301	3234	245.7	-15.6	111	1573	0.00	2.42	0.00	0.000	260	0.000	0.097	2785	3786	3267	3301	3234	0	0	0	0	0	0	28.83	14.50	28.83
1623	-0.92	-136.3	2786	3786	3302	3234	255.1	-15.2	121	1630	0.00	2.22	0.00	0.000	1030	0.000	0.054	2785	2444	3267	3301	3234	0	0	0	0	0	0	28.83	14.64	28.83
1938	-0.92	-136.3	2786	2443	3300	3234	300.2	-14.4	138	1947	0.00	2.35	0.00	0.000	516	0.000	0.066	2786	1069	3266	3299	3234	0	0	0	0	0	0	28.83	14.57	28.83
1979	-0.92	-136.3	2786	1069	3301	3234	305.9	-13.5	145	1987	0.00	2.38	0.00	0.000	1030	0.000	0.063	2785	2451	3267	3301	3234	0	0	0	0	0	0	28.83	14.57	28.83
2285	-0.92	-136.3	2785	2452	3304	3234	347.0	-13.5	161	2292	0.00	2.38	0.00	0.000	260	0.000	0.097	2786	3781	3265	3298	3233	0	0	0	0	0	0	28.83	14.51	28.83
2335	-0.92	-136.3	2786	3781	3301	3233	353.9	-13.7	170	2344	0.00	2.20	0.00	0.000	1030	0.000	0.054	2785	2450	3267	3301	3234	0	0	0	0	0	0	28.83	14.65	28.83
2657	-0.92	-136.3	2785	2450	3301	3233	393.6	-11.5	188	2658	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2450	3267	3301	3233	0	0	0	0	0	0	28.83	28.83	28.83
2959	-0.92	-136.3	2786	2450	3300	3232	427.9	-11.6	203	2966	0.00	2.42	0.00	0.000	260	0.000	0.097	2785	3788	3267	3301	3233	0	0	0	0	0	0	28.83	14.50	28.83
3080	-0.92	-136.3	2786	3789	3301	3232	442.9	-12.4	225	3087	0.00	2.22	0.00	0.000	1030	0.000	0.053	2786	2446	3266	3301	3232	0	0	0	0	0	0	28.83	14.66	28.83
3395	-0.92	-136.3	2785	2446	3302	3232	479.4	-12.0	242	3396	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	2446	3266	3301	3232	0	0	0	0	0	0	28.83	28.83	28.83
3696	-0.92	-136.3	2785	2446	3302	3232	515.1	-12.0	257	3703	0.00	2.42	0.00	0.000	260	0.000	0.096	2785	3787	3266	3301	3232	0	0	0	0	0	0	28.83	14.51	28.83
3838	-0.92	-136.3	2785	3787	3301	3231	533.0	-13.6	284	3846	0.00	2.22	0.00	0.000	1030	0.000	0.053	2785	2446	3266	3301	3232	0	0	0	0	0	0	28.83	14.65	28.83
4044	end dive: TARGET_DEPTH_EXCEEDED
state	4044	begin apogee
4050	-0.18	0.0	2786	2390	3301	3232	555.8	-11.0	295	4166	0.90	0.00	111.78	1.545	10246	0.252	0.000	3027	2390	2709	2771	2647	0	0	0	0	0	0	14.26	28.83	13.47
4167	end apogee: CONTROL_FINISHED_OK
state	4167	begin climb
4170	0.92	136.3	3027	2390	2769	2645	560.9	0.0	301	4289	1.15	0.00	113.40	1.512	10502	0.175	0.000	3369	2389	2149	2220	2079	0	0	0	0	0	0	14.04	28.83	13.12
4599	0.92	136.3	3365	2389	2210	2078	525.3	9.7	331	4605	0.00	2.50	0.00	0.000	516	0.000	0.069	3380	978	2143	2209	2078	0	0	0	0	0	0	28.83	14.16	28.83
4677	0.94	145.2	3379	979	2209	2078	518.0	8.8	345	4693	0.00	2.42	7.62	1.230	9222	0.000	0.055	3380	2381	2115	2182	2048	0	0	0	0	0	0	28.83	14.26	13.54
4987	0.94	145.2	3380	2381	2180	2047	488.5	9.5	362	4995	0.00	2.42	0.00	0.000	516	0.000	0.067	3390	971	2113	2180	2047	0	0	0	0	0	0	28.83	14.40	28.83
5018	0.94	145.2	3389	971	2180	2047	485.5	9.8	367	5025	0.00	2.40	0.00	0.000	1030	0.000	0.054	3389	2378	2113	2180	2047	0	0	0	0	0	0	28.83	14.42	28.83
5338	0.94	145.2	3390	2377	2180	2047	451.8	10.4	385	5345	0.00	2.42	0.00	0.000	516	0.000	0.065	3400	977	2113	2180	2047	0	0	0	0	0	0	28.83	14.49	28.83
5384	0.94	145.2	3400	977	2180	2047	447.0	10.7	393	5390	0.00	2.38	0.00	0.000	1030	0.000	0.056	3400	2377	2113	2180	2047	0	0	0	0	0	0	28.83	14.51	28.83
5709	0.94	145.2	3400	2376	2180	2047	413.9	10.3	412	5716	0.00	2.42	0.00	0.000	516	0.000	0.065	3411	968	2113	2180	2047	0	0	0	0	0	0	28.83	14.54	28.83
5738	0.94	145.2	3412	968	2180	2047	410.9	10.1	417	5744	0.00	2.38	0.00	0.000	1030	0.000	0.054	3411	2376	2113	2180	2047	0	0	0	0	0	0	28.83	14.56	28.83
6059	0.94	145.2	3411	2375	2180	2047	376.9	11.2	435	6065	0.00	2.47	0.00	0.000	260	0.000	0.088	3411	3776	2113	2180	2047	0	0	0	0	0	0	28.83	14.52	28.83
6130	0.94	145.2	3411	3775	2179	2047	367.7	12.8	448	6137	0.00	2.35	0.00	0.000	1030	0.000	0.049	3422	2353	2113	2179	2047	0	0	0	0	0	0	28.83	14.64	28.83
6450	0.94	145.2	3422	2351	2180	2047	333.6	10.0	466	6459	0.00	2.33	0.00	0.000	516	0.000	0.065	3433	990	2113	2180	2047	0	0	0	0	0	0	28.83	14.57	28.83
6491	0.94	145.2	3433	991	2180	2047	329.4	10.1	473	6500	0.12	2.33	0.00	0.000	5126	0.253	0.054	3404	2377	2113	2180	2047	0	0	0	0	0	0	14.38	14.59	28.83
6797	0.97	155.6	3404	2377	2180	2047	302.6	8.7	489	6812	0.00	2.53	9.98	1.131	8452	0.000	0.088	3404	3783	2072	2137	2007	0	0	0	0	0	0	28.83	14.64	13.97
6912	0.97	155.6	3404	3783	2134	2007	290.9	10.7	510	6921	0.00	2.33	0.00	0.000	1030	0.000	0.049	3414	2369	2070	2134	2007	0	0	0	0	0	0	28.83	14.65	28.83
7234	1.00	168.7	3415	2369	2141	2002	262.0	8.6	528	7254	0.00	0.00	12.20	1.118	8198	0.000	0.000	3414	2369	2017	2081	1953	0	0	0	0	0	0	28.83	28.83	13.97
7554	1.03	183.5	3414	2370	2079	1953	234.3	8.5	544	7575	0.00	2.40	12.57	1.093	8708	0.000	0.067	3423	994	1960	2024	1896	0	0	0	0	0	0	28.83	14.62	13.98
7655	1.03	183.5	3423	994	2023	1896	225.0	10.0	562	7663	0.00	2.33	0.00	0.000	1030	0.000	0.056	3423	2374	1959	2023	1896	0	0	0	0	0	0	28.83	14.57	28.83
7972	1.03	183.5	3423	2374	2022	1896	193.7	10.1	579	7979	0.00	2.38	0.00	0.000	516	0.000	0.066	3435	994	1959	2022	1896	0	0	0	0	0	0	28.83	14.57	28.83
8002	1.03	183.5	3434	993	2022	1896	190.3	10.9	584	8008	0.00	2.33	0.00	0.000	1030	0.000	0.055	3434	2374	1958	2021	1895	0	0	0	0	0	0	28.83	14.55	28.83
8322	1.03	183.5	3434	2374	2028	1895	157.8	9.7	602	8323	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2374	1957	2020	1895	0	0	0	0	0	0	28.83	28.83	28.83
8623	1.03	183.5	3434	2374	2021	1895	128.7	9.8	617	8630	0.00	2.50	0.00	0.000	260	0.000	0.092	3434	3778	1957	2020	1895	0	0	0	0	0	0	28.83	14.54	28.83
8673	1.03	183.5	3434	3778	2020	1895	123.0	11.5	626	8682	0.00	2.33	0.00	0.000	1030	0.000	0.050	3443	2371	1957	2020	1895	0	0	0	0	0	0	28.83	14.66	28.83
8988	1.04	189.2	3443	2370	2020	1894	93.4	8.9	639	9001	0.00	2.33	6.45	0.891	8708	0.000	0.065	3453	990	1934	1997	1871	0	0	0	0	0	0	28.83	14.68	14.01
9070	1.06	197.4	3453	991	1997	1871	86.0	8.8	654	9085	0.00	2.35	7.88	0.913	9222	0.000	0.057	3453	2382	1902	1965	1839	0	0	0	0	0	0	28.83	14.61	14.02
9396	1.07	203.6	3453	2382	1964	1838	57.3	8.9	667	9409	0.00	2.38	6.72	0.873	8708	0.000	0.064	3464	989	1877	1941	1814	0	0	0	0	0	0	28.83	14.64	14.03
9496	1.07	203.6	3462	989	1939	1814	47.6	9.4	685	9503	0.00	2.35	0.00	0.000	1030	0.000	0.057	3463	2382	1876	1939	1814	0	0	0	0	0	0	28.83	14.54	28.83
9812	1.16	243.1	3462	2380	1939	1813	21.9	7.4	701	9841	0.00	0.00	21.15	0.161	8198	0.000	0.000	3463	2380	1721	1791	1652	0	0	0	0	0	0	28.83	28.83	14.39
10019	end climb: SURFACE_DEPTH_REACHED
state	10019	begin surface coast
10040	end surface coast: CONTROL_FINISHED_OK
state	10040	begin surface