Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 397 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 397 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 243 ALTIM_PING_DEPTH 0

D_TGT 40 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 602.45679 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 40 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 10 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 20 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3202 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY -1 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -26429.393 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 602.45679

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 5 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 40 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 -7.1405377 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 10

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 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -26429.393

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 20

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2150 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2200 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 40 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 35 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 397 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 182108,4745.026,-12249.963,10,1.4,27,18.3 TGT_NAME FIVE_A

_CALLS 5 TGT_LATLONG 4745.086,-12249.815

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.212,0.190

_SM_DEPTHo 0.16 KALMAN_X 36017.2,-177.0,-40.7,-32451.9,-3.1

_SM_ANGLEo -58.4 KALMAN_Y 28517.9,-131.4,-30.2,-18738.3,-17.6

GPS2 183610,4744.981,-12250.014,12,2.0,19,18.3 MHEAD_RNG_PITCHd_Wd 29.8,314,-23.0,-13.333

SPEED_LIMITS 0.231,0.284 D_GRID 174

Post-dive calculations and measurements:

FINISH -0.5,1.022696 XPDR_PINGS 1

SM_CCo 1069,188.50,0.554,0,0,746,602.46 ALTIM_BOTTOM_PING 24.3,999.0

SM_GC 0.13,0.00,0.00,188.50,0.000,0.000,0.554,401,2203,746,-11.49,0.08,602.46 _24V_AH 23.0,52.887

IRIDIUM_FIX 4726.11,-12259.69,081007,222235 _10V_AH 10.0,35.618

TT8_MAMPS 0.072865 DATA_FILE_SIZE 3324,109

HUMID 2112 CFSIZE 260231168,245174272

INTERNAL_PRESSURE 7.91046 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.20 GPS 081007,185911,4745.057,-12249.928,8,2.1,27,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 200 140.62 SBE_CT 76 24 42.41

Roll_motor 10 93 21.90 nil 0 0 0.00

VBD_pump_during_apogee 281 622 4029.84 nil 0 0 0.00

VBD_pump_during_surface 188 553 2400.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 182 103 432.65 nil 0 0 0.00

Iridium_during_connect 300 160 1106.48 ARS 0 23 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 4.83

Mmodem_TX 0 1000 0.00

Mmodem_RX 2222 6 327.08

GPS 19 50 9.68

TT8 196 19 38.94

LPSleep 557 2 12.21

TT8_Active 558 19 110.53

TT8_Sampling 202 39 80.75

TT8_CF8 662 45 303.60

TT8_Kalman 33 81 27.27

Analog_circuits 715 12 85.83

GPS_charging 0 0 0.00

Compass 185 8 14.86

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

27 end surface: CONTROL_FINISHED_OK

state 27 begin dive

31 -1.95 -146.6 0.0 0.0 0 130 0.00 0.00 -95.88 0.000 2 0.000 0.000 412 2208 3194

136 -1.95 -146.6 2.2 -5.7 16 167 13.07 0.00 -14.10 0.000 6 0.201 0.000 2467 2208 3803

234 -1.95 -146.6 18.1 -15.0 31 239 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2208 3804

304 -1.95 -146.6 27.8 -14.1 38 308 0.00 2.60 0.00 0.000 4 0.000 0.064 2467 814 3804

342 -1.95 -146.6 33.6 -15.1 40 349 0.00 2.42 0.00 0.000 6 0.000 0.037 2467 2196 3804

397 end dive: TARGET_DEPTH_EXCEEDED

state 397 begin apogee

404 -0.38 0.0 41.3 13.9 45 524 1.75 0.00 114.55 0.623 6 0.107 0.000 2808 2195 3202

525 end apogee: CONTROL_FINISHED_OK

state 525 begin climb

528 1.95 146.6 46.0 0.0 55 647 2.38 0.00 112.78 0.604 6 0.058 0.000 3328 2195 2604

833 1.99 178.8 21.9 11.4 80 864 0.00 2.53 24.58 0.608 4 0.000 0.060 3329 3553 2471

878 2.01 195.0 16.6 12.3 85 897 0.00 2.58 12.12 0.610 6 0.000 0.035 3329 2154 2406

967 2.07 244.9 7.1 10.3 98 986 0.00 0.00 17.30 0.610 2 0.000 0.000 3329 2153 2311

987 end climb: SURFACE_DEPTH_REACHED

state 987 begin surface coast

1038 end surface coast: CONTROL_FINISHED_OK

state 1040 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	397	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	243	ALTIM_PING_DEPTH	0
D_TGT	40	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	602.45679	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	40	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	10	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	20	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3202	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-1	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-26429.393	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	182108,4745.026,-12249.963,10,1.4,27,18.3	TGT_NAME	FIVE_A
_CALLS	5	TGT_LATLONG	4745.086,-12249.815
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.212,0.190
_SM_DEPTHo	0.16	KALMAN_X	36017.2,-177.0,-40.7,-32451.9,-3.1
_SM_ANGLEo	-58.4	KALMAN_Y	28517.9,-131.4,-30.2,-18738.3,-17.6
GPS2	183610,4744.981,-12250.014,12,2.0,19,18.3	MHEAD_RNG_PITCHd_Wd	29.8,314,-23.0,-13.333
SPEED_LIMITS	0.231,0.284	D_GRID	174

FINISH	-0.5,1.022696	XPDR_PINGS	1
SM_CCo	1069,188.50,0.554,0,0,746,602.46	ALTIM_BOTTOM_PING	24.3,999.0
SM_GC	0.13,0.00,0.00,188.50,0.000,0.000,0.554,401,2203,746,-11.49,0.08,602.46	_24V_AH	23.0,52.887
IRIDIUM_FIX	4726.11,-12259.69,081007,222235	_10V_AH	10.0,35.618
TT8_MAMPS	0.072865	DATA_FILE_SIZE	3324,109
HUMID	2112	CFSIZE	260231168,245174272
INTERNAL_PRESSURE	7.91046	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.20	GPS	081007,185911,4745.057,-12249.928,8,2.1,27,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	200	140.62	SBE_CT	76	24	42.41
Roll_motor	10	93	21.90	nil	0	0	0.00
VBD_pump_during_apogee	281	622	4029.84	nil	0	0	0.00
VBD_pump_during_surface	188	553	2400.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	182	103	432.65	nil	0	0	0.00
Iridium_during_connect	300	160	1106.48	ARS	0	23	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	4.83
Mmodem_TX	0	1000	0.00
Mmodem_RX	2222	6	327.08
GPS	19	50	9.68
TT8	196	19	38.94
LPSleep	557	2	12.21
TT8_Active	558	19	110.53
TT8_Sampling	202	39	80.75
TT8_CF8	662	45	303.60
TT8_Kalman	33	81	27.27
Analog_circuits	715	12	85.83
GPS_charging	0	0	0.00
Compass	185	8	14.86
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
27	end surface: CONTROL_FINISHED_OK
state	27	begin dive
31	-1.95	-146.6	0.0	0.0	0	130	0.00	0.00	-95.88	0.000	2	0.000	0.000	412	2208	3194
136	-1.95	-146.6	2.2	-5.7	16	167	13.07	0.00	-14.10	0.000	6	0.201	0.000	2467	2208	3803
234	-1.95	-146.6	18.1	-15.0	31	239	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2208	3804
304	-1.95	-146.6	27.8	-14.1	38	308	0.00	2.60	0.00	0.000	4	0.000	0.064	2467	814	3804
342	-1.95	-146.6	33.6	-15.1	40	349	0.00	2.42	0.00	0.000	6	0.000	0.037	2467	2196	3804
397	end dive: TARGET_DEPTH_EXCEEDED
state	397	begin apogee
404	-0.38	0.0	41.3	13.9	45	524	1.75	0.00	114.55	0.623	6	0.107	0.000	2808	2195	3202
525	end apogee: CONTROL_FINISHED_OK
state	525	begin climb
528	1.95	146.6	46.0	0.0	55	647	2.38	0.00	112.78	0.604	6	0.058	0.000	3328	2195	2604
833	1.99	178.8	21.9	11.4	80	864	0.00	2.53	24.58	0.608	4	0.000	0.060	3329	3553	2471
878	2.01	195.0	16.6	12.3	85	897	0.00	2.58	12.12	0.610	6	0.000	0.035	3329	2154	2406
967	2.07	244.9	7.1	10.3	98	986	0.00	0.00	17.30	0.610	2	0.000	0.000	3329	2153	2311
987	end climb: SURFACE_DEPTH_REACHED
state	987	begin surface coast
1038	end surface coast: CONTROL_FINISHED_OK
state	1040	begin surface