Faroes Jun09 * SG105 * Dive index * Mission links * Dive 331 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  105 HEADING  -1 PITCH_ADJ_DBAND  0 ALTIM_TOP_TURN_MARGIN  0
MISSION  6 ESCAPE_HEADING  0 ROLL_MIN  253 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  331 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3840 ALTIM_PING_DEPTH  150
D_SURF  3 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  25
D_FLARE  4 TGT_DEFAULT_LAT  61.599998 C_ROLL_DIVE  2250 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -8.75 C_ROLL_CLIMB  1454 ALTIM_PULSE  3
D_ABORT  1090 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_NO_BLEED  200 SM_CC  300 ROLL_CNV  0.028270001 XPDR_VALID  0
D_FINISH  0 N_FILEKB  4 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  24 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  26 INT_PRESSURE_YINT  -1.8522969
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  400 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  1 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0 DEVICE1  2
T_DIVE  550 UPLOAD_DIVES_MAX  -1 VBD_MIN  475 DEVICE2  20
T_MISSION  580 CALL_TRIES  5 VBD_MAX  3851 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  2832 DEVICE4  -1
T_TURN  300 CAPUPLOAD  0 VBD_DBAND  2 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 VBD_CNV  -0.24529999 DEVICE6  -1
T_NO_W  320 HEAPDBG  0 VBD_TIMEOUT  720 SMARTS  0
USE_BATHY  0 T_GPS  15 PITCH_VBD_SHIFT  0.0012300001 SMARTDEVICE1  -1
USE_ICE  0 N_GPS  20 VBD_PUMP_AD_RATE_SURFACE  4 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_APOGEE  3 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_CHARGE  -1634017.6 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  27 UNCOM_BLEED  20 PHONE_DEVICE  48
RELAUNCH  1 RAFOS_PEAK_OFFSET  1.5 VBD_MAXERRORS  1 GPS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  2 RAFOS_DEVICE  -1
MAX_BUOY  150 RAFOS_HIT_WINDOW  3600 AH0_24V  91.800003 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  401 AH0_10V  61.200001 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3705 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2800 PRESSURE_YINT  -18.439545 SEABIRD_T_G  0.0043067979
RHO  1.023 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001163108 SEABIRD_T_H  0.0006302988
MASS  52000 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_T_I  2.3035876e-05
NAV_MODE  1 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.3016955e-06
FERRY_MAX  11 PITCH_GAIN  14 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -10.448573
KALMAN_USE  2 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_H  1.1833477
HD_A  0.0038945 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.0016540284
HD_B  0.0099684997 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00022965467
HD_C  2.576e-06 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_TURN_MARGIN  10

Pre-dive calculations and measurements:
GPS1  143637,6144.561,-852.594,35,1.2,35,-9.2 TGT_NAME  FBC_SIL
_CALLS  2 TGT_LATLONG  6130.000,-825.000
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.025,-0.238
_SM_DEPTHo  0.77 KALMAN_X  -160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo  -59.2 KALMAN_Y  127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2  144408,6144.627,-852.595,10,2.0,10,-9.2 MHEAD_RNG_PITCHd_Wd  147.2,36449,-11.0,-6.000
SPEED_LIMITS  0.104,0.221 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.1,1.026706 ALTIM_BOTTOM_PING  725.1,105.6
SM_CCo  23777,0.00,0.000,0,0,1298,376.29 _24V_AH  22.9,67.149
SM_GC  0.84,11.60,0.00,0.00,0.022,0.000,0.000,387,2242,1298,-10.98,-0.25,376.29 _10V_AH  10.0,40.348
IRIDIUM_FIX  6121.73,-854.10,201198,080832 DATA_FILE_SIZE  60038,1136
TT8_MAMPS  0.026845 CAP_FILE_SIZE  180594,0
HUMID  1932 CFSIZE  260165632,234311680
INTERNAL_PRESSURE  8.12856 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
TCM_TEMP  17.90 GPS  260809,212200,6141.695,-854.412,38,1.3,38,-9.2
XPDR_PINGS  0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2513278.62 SBE_CT97124533.98
Roll_motor23769375.40 SBE_O283219362.39
VBD_pump_during_apogee466139814939.60 WL_BB2F6641051598.14
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init57103135.84 nil000.00
Iridium_during_connect54160200.40 nil000.00
Iridium_during_xfer150223768.18
Transponder_ping642060.11
Mmodem_TX000.00
Mmodem_RX000.00
GPS10505.35
TT8216219428.14
LPSleep177282388.25
TT8_Active60019118.90
TT8_Sampling2730391086.92
TT8_CF8100045458.16
TT8_Kalman0810.00
Analog_circuits203712244.48
GPS_charging000.00
Compass29188233.46
RAFOS000.00
Transponder423012.86

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -0.96 -146.6 0.0 0.0 0 89 0.00 0.00 -71.65 0.000 6 0.000 0.000 390 2241 3432
92 -0.96 -146.6 2.9 -5.3 3 113 11.70 2.60 0.00 0.000 4 0.133 0.051 2583 3652 3434
175 -0.96 -146.6 21.9 -10.8 6 182 0.00 2.42 0.00 0.000 6 0.000 0.028 2583 2229 3434
492 -0.96 -146.6 46.6 -6.9 22 493 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2228 3435
801 -0.96 -146.6 72.4 -10.3 37 805 0.00 2.58 0.00 0.000 4 0.000 0.052 2583 3652 3435
863 -0.96 -146.6 79.5 -11.2 40 867 0.00 2.40 0.00 0.000 6 0.000 0.029 2584 2245 3436
1191 -0.96 -146.6 103.1 -4.5 56 1196 0.00 2.55 0.00 0.000 4 0.000 0.053 2583 3654 3436
1343 -0.96 -146.6 106.7 -1.5 63 1348 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2249 3436
1671 -0.96 -146.6 121.4 -7.0 79 1675 0.00 2.55 0.00 0.000 4 0.000 0.051 2583 3661 3436
1794 -0.96 -146.6 131.4 -8.0 84 1801 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3436
2109 -0.96 -146.6 152.6 -6.4 100 2113 0.00 2.53 0.00 0.000 4 0.000 0.051 2584 3652 3436
2227 -0.96 -146.6 161.1 -7.9 105 2231 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2249 3436
2542 -0.96 -146.6 185.8 -8.2 120 2547 0.00 2.55 0.00 0.000 4 0.000 0.052 2583 3661 3436
2587 -0.96 -146.6 190.0 -9.5 122 2592 0.00 2.45 0.00 0.000 6 0.000 0.031 2583 2248 3436
2913 -0.96 -146.6 216.6 -8.0 138 2917 0.00 2.55 0.00 0.000 4 0.000 0.052 2584 3660 3436
2997 -0.96 -146.6 224.1 -9.2 142 3001 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2243 3435
3323 -0.96 -146.6 252.2 -8.5 158 3327 0.00 2.55 0.00 0.000 4 0.000 0.052 2583 3652 3435
3417 -0.96 -146.6 260.6 -8.6 162 3422 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3435
3733 -0.96 -146.6 285.3 -7.9 177 3734 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2250 3435
4042 -0.96 -146.6 309.3 -7.9 192 4047 0.00 2.55 0.00 0.000 4 0.000 0.052 2583 3645 3434
4159 -0.96 -146.6 319.7 -8.8 197 4164 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2246 3434
4481 -0.96 -146.6 345.7 -7.8 213 4485 0.00 2.55 0.00 0.000 4 0.000 0.053 2584 3653 3434
4520 -0.96 -146.6 348.9 -8.2 215 4525 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2238 3434
4849 -0.96 -146.6 371.9 -6.9 231 4853 0.00 2.58 0.00 0.000 4 0.000 0.054 2583 3656 3434
4915 -0.96 -146.6 377.0 -7.3 234 4920 0.00 2.45 0.00 0.000 6 0.000 0.031 2583 2250 3434
5242 -0.96 -146.6 399.3 -6.9 250 5246 0.00 2.55 0.00 0.000 4 0.000 0.053 2583 3658 3433
5330 -0.96 -146.6 406.3 -8.0 254 5335 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2248 3433
5651 -0.96 -146.6 429.2 -6.8 270 5656 0.00 2.55 0.00 0.000 4 0.000 0.054 2583 3657 3433
5702 -0.96 -146.6 432.7 -6.5 272 5707 0.00 2.45 0.00 0.000 6 0.000 0.031 2583 2249 3433
6022 -0.96 -146.6 452.6 -6.4 288 6026 0.00 2.53 0.00 0.000 4 0.000 0.054 2583 3652 3433
6110 -0.96 -146.6 458.9 -6.9 292 6115 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2235 3433
6432 -0.96 -146.6 483.7 -7.7 308 6436 0.00 2.58 0.00 0.000 4 0.000 0.054 2583 3653 3432
6520 -0.96 -146.6 490.8 -7.8 312 6525 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2254 3432
6843 -0.96 -146.6 513.8 -7.4 328 6847 0.00 2.55 0.00 0.000 4 0.000 0.054 2583 3661 3432
6974 -0.96 -146.6 523.3 -7.3 334 6979 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2250 3432
7301 -0.96 -146.6 542.5 -5.6 350 7306 0.00 2.55 0.00 0.000 4 0.000 0.053 2583 3661 3432
7595 -0.96 -146.6 563.5 -8.4 363 7599 0.00 2.42 0.00 0.000 6 0.000 0.032 2583 2252 3431
7916 -0.96 -146.6 584.7 -5.6 379 7921 0.00 2.58 0.00 0.000 4 0.000 0.054 2583 3652 3431
8055 -0.96 -146.6 590.3 -4.4 385 8059 0.00 2.42 0.00 0.000 6 0.000 0.033 2583 2247 3431
8377 -0.96 -146.6 607.3 -5.9 401 8381 0.00 2.58 0.00 0.000 4 0.000 0.055 2583 3661 3430
8420 -0.96 -146.6 610.0 -6.5 403 8425 0.00 2.45 0.00 0.000 6 0.000 0.033 2583 2236 3430
8742 -0.96 -146.6 626.6 -4.9 419 8746 0.00 2.45 0.00 0.000 4 0.000 0.047 2583 848 3430
8798 -0.96 -146.6 629.0 -3.8 421 8804 0.00 2.45 0.00 0.000 6 0.000 0.037 2584 2253 3430
9116 -0.96 -146.6 648.9 -7.5 437 9117 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2253 3430
9422 -0.96 -146.6 668.9 -6.4 452 9423 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2253 3429
9732 -0.96 -146.6 692.3 -7.3 467 9733 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2256 3428
10042 -0.96 -146.6 712.3 -6.5 482 10046 0.00 2.55 0.00 0.000 4 0.000 0.061 2583 3649 3427
10086 -0.96 -146.6 715.1 -6.0 484 10090 0.00 2.42 0.00 0.000 6 0.000 0.037 2583 2258 3427
10407 -0.96 -146.6 732.3 -6.1 500 10408 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2258 3425
10715 -0.96 -146.6 752.9 -6.7 515 10720 0.00 2.58 0.00 0.000 4 0.000 0.063 2584 3650 3424
10846 -0.96 -146.6 762.0 -8.0 521 10850 0.00 2.45 0.00 0.000 6 0.000 0.038 2583 2248 3424
11172 -0.96 -146.6 784.9 -8.1 537 11176 0.00 2.53 0.00 0.000 4 0.000 0.055 2583 845 3422
11227 -0.96 -146.6 789.0 -7.0 539 11233 0.00 2.47 0.00 0.000 6 0.000 0.041 2583 2245 3422
11546 -0.96 -146.6 806.5 -6.8 555 11547 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2245 3421
11811 end dive: BOTTOM_OBSTACLE_DETECTED
state 11811 begin apogee
11819 -0.36 0.0 822.0 6.2 568 11952 0.65 0.00 129.80 1.398 6 0.061 0.000 2723 1460 2832
11953 end apogee: CONTROL_FINISHED_OK
state 11953 begin climb
11955 0.96 146.6 825.7 0.0 575 12097 1.35 2.30 132.30 1.343 4 0.054 0.069 3011 262 2233
12438 0.96 146.6 803.3 9.6 597 12442 0.00 2.10 0.00 0.000 6 0.000 0.039 3011 1472 2222
12770 0.96 146.6 777.7 8.0 613 12774 0.00 2.25 0.00 0.000 4 0.000 0.067 3011 264 2218
12928 0.96 146.6 767.0 7.5 620 12932 0.00 2.05 0.00 0.000 6 0.000 0.038 3011 1454 2218
13261 0.96 146.6 745.3 6.0 636 13265 0.00 2.53 0.00 0.000 4 0.000 0.051 3011 2857 2216
13368 1.01 185.1 739.7 4.9 641 13410 0.00 2.55 33.60 1.340 6 0.000 0.045 3011 1451 2076
13722 1.01 185.1 718.0 8.2 658 13727 0.00 2.55 0.00 0.000 4 0.000 0.052 3011 2855 2070
13830 1.01 185.1 708.8 8.5 663 13834 0.00 2.53 0.00 0.000 6 0.000 0.045 3011 1451 2069
14157 1.01 185.1 685.9 6.3 679 14161 0.00 2.53 0.00 0.000 4 0.000 0.051 3011 2852 2069
14327 1.01 185.1 672.8 7.9 686 14333 0.00 2.50 0.00 0.000 6 0.000 0.046 3011 1449 2068
14643 1.01 185.1 650.1 6.7 702 14646 0.00 2.20 0.00 0.000 4 0.000 0.067 3011 261 2067
14734 1.01 185.1 643.8 7.9 706 14737 0.00 2.08 0.00 0.000 6 0.000 0.037 3011 1463 2067
15066 1.08 242.5 626.5 4.4 722 15129 0.10 2.62 52.55 1.292 4 0.045 0.051 3063 2852 1842
15200 1.08 242.5 617.3 8.3 728 15205 0.15 2.53 0.00 0.000 6 0.079 0.044 3034 1449 1838
15527 1.08 242.5 596.8 6.1 744 15531 0.00 2.53 0.00 0.000 4 0.000 0.047 3034 2859 1834
15576 1.08 242.5 593.3 6.8 746 15580 0.00 2.50 0.00 0.000 6 0.000 0.041 3034 1452 1833
15895 1.08 242.5 571.4 7.2 761 15896 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 1452 1833
16201 1.08 242.5 549.7 6.8 776 16206 0.00 2.47 0.00 0.000 4 0.000 0.044 3034 2853 1833
16229 1.08 242.5 547.4 7.4 777 16233 0.00 2.47 0.00 0.000 6 0.000 0.039 3034 1453 1832
16545 1.08 242.5 524.4 7.6 792 16549 0.00 2.47 0.00 0.000 4 0.000 0.042 3034 2862 1832
16600 1.08 242.5 520.3 8.0 794 16607 0.00 2.50 0.00 0.000 6 0.000 0.038 3034 1460 1832
16915 1.08 242.5 498.7 7.0 810 16919 0.00 2.47 0.00 0.000 4 0.000 0.042 3034 2858 1832
16965 1.08 242.5 495.2 6.7 812 16969 0.00 2.47 0.00 0.000 6 0.000 0.037 3034 1446 1833
17283 1.08 242.5 472.9 7.0 827 17284 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 1446 1833
17590 1.08 242.5 452.3 6.5 842 17594 0.00 2.50 0.00 0.000 4 0.000 0.041 3034 2862 1833
17639 1.08 242.5 448.9 7.5 844 17644 0.00 2.47 0.00 0.000 6 0.000 0.037 3034 1449 1833
17955 1.08 242.5 426.6 7.1 859 17960 0.00 2.50 0.00 0.000 4 0.000 0.042 3034 2850 1834
17982 1.08 242.5 424.6 7.1 860 17986 0.00 2.45 0.00 0.000 6 0.000 0.037 3034 1451 1834
18304 1.08 242.5 401.1 7.4 876 18308 0.00 2.47 0.00 0.000 4 0.000 0.041 3034 2858 1834
18337 1.08 242.5 398.6 7.1 877 18343 0.00 2.45 0.00 0.000 6 0.000 0.037 3034 1454 1834
18652 1.08 242.5 375.7 7.5 893 18656 0.00 2.47 0.00 0.000 4 0.000 0.041 3034 2863 1835
18679 1.08 242.5 373.6 6.7 894 18683 0.00 2.47 0.00 0.000 6 0.000 0.037 3034 1445 1835
18994 1.08 242.5 349.8 7.5 909 18999 0.00 2.50 0.00 0.000 4 0.000 0.041 3034 2854 1835
19022 1.08 242.5 347.7 8.1 910 19026 0.00 2.45 0.00 0.000 6 0.000 0.036 3033 1455 1835
19343 1.08 242.5 323.1 7.7 926 19344 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 1455 1836
19652 1.08 242.5 300.2 7.1 941 19656 0.00 2.45 0.00 0.000 4 0.000 0.041 3034 2856 1836
19696 1.08 242.5 296.9 7.5 943 19700 0.00 2.45 0.00 0.000 6 0.000 0.037 3034 1455 1836
20018 1.08 242.5 273.9 7.3 959 20022 0.00 2.45 0.00 0.000 4 0.000 0.041 3034 2855 1836
20045 1.08 242.5 271.9 7.4 960 20050 0.00 2.47 0.00 0.000 6 0.000 0.038 3034 1459 1836
20366 1.08 242.5 248.6 7.4 976 20368 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 1459 1836
20676 1.08 242.5 226.4 6.8 991 20681 0.00 2.47 0.00 0.000 4 0.000 0.041 3034 2855 1837
20727 1.08 242.5 223.0 6.2 993 20731 0.00 2.45 0.00 0.000 6 0.000 0.037 3034 1451 1837
21048 1.09 251.8 203.7 5.7 1009 21058 0.00 0.00 8.85 0.815 6 0.000 0.000 3034 1451 1805
21358 1.09 251.8 184.3 6.2 1024 21362 0.00 2.50 0.00 0.000 4 0.000 0.043 3034 2857 1804
21397 1.09 251.8 181.9 6.1 1026 21402 0.00 2.45 0.00 0.000 6 0.000 0.037 3034 1456 1804
21727 1.09 251.8 159.0 8.3 1042 21728 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 1456 1804
22034 1.09 251.8 131.7 8.4 1057 22039 0.00 2.47 0.00 0.000 4 0.000 0.041 3034 2852 1804
22084 1.09 251.8 127.5 7.7 1059 22088 0.00 2.45 0.00 0.000 6 0.000 0.036 3034 1450 1804
22406 1.11 262.6 106.7 5.7 1075 22423 0.00 2.53 11.15 0.792 4 0.000 0.040 3034 2856 1760
22451 1.15 301.1 104.5 4.9 1076 22492 0.00 2.47 35.20 0.842 6 0.000 0.035 3034 1448 1603
22822 1.24 372.6 89.3 4.0 1094 22891 0.17 2.17 63.12 0.830 4 0.035 0.054 3102 266 1311
22908 1.24 372.6 82.7 8.8 1098 22912 0.15 2.03 0.00 0.000 6 0.077 0.030 3071 1458 1308
23230 1.24 372.6 50.3 11.5 1114 23234 0.00 2.17 0.00 0.000 4 0.000 0.054 3071 261 1302
23286 1.24 372.6 43.3 10.9 1116 23289 0.00 2.05 0.00 0.000 6 0.000 0.031 3071 1456 1301
23608 1.24 372.6 8.2 9.6 1132 23611 0.00 2.15 0.00 0.000 4 0.000 0.053 3071 264 1300
23641 1.24 372.6 4.7 12.8 1133 23644 0.00 2.03 0.00 0.000 6 0.000 0.031 3071 1455 1300
23671 end climb: SURFACE_DEPTH_REACHED
state 23671 begin surface coast
23693 end surface coast: CONTROL_FINISHED_OK
state 23693 begin surface