SPURS Mar13 * SG160 * Dive index * Mission links * Dive 534 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  160 ESCAPE_HEADING  0 HEAD_ERRBAND  10 ALTIM_PULSE  3
MISSION  9 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
DIVE  534 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 XPDR_VALID  4
N_DIVES  0 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  26 XPDR_INHIBIT  90
D_SURF  3 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  23 INT_PRESSURE_SLOPE  0.0097660003
D_FLARE  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  250 INT_PRESSURE_YINT  1
D_TGT  540 SM_CC  517.58301 ROLL_MAXERRORS  0 DEEPGLIDER  0
D_ABORT  600 N_FILEKB  4 ROLL_ADJ_GAIN  1.5 DEEPGLIDERMB  0
D_NO_BLEED  200 FILEMGR  0 ROLL_ADJ_DBAND  0.029999999 MOTHERBOARD  4
D_BOOST  20 CALL_NDIVES  1 VBD_MIN  190 DEVICE1  -1
T_BOOST  5 COMM_SEQ  0 VBD_MAX  3660 DEVICE2  -1
D_FINISH  0 PROTOCOL  9 C_VBD  2300 DEVICE3  -1
D_PITCH  0 N_NOCOMM  1 VBD_DBAND  2 DEVICE4  -1
D_SAFE  0 NOCOMM_ACTION  161 VBD_CNV  -0.24529999 DEVICE5  -1
D_CALL  0 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE6  -1
SURFACE_URGENCY  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.001 LOGGERS  1
SURFACE_URGENCY_TRY  0 CALL_TRIES  4 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  53
SURFACE_URGENCY_FORCE  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERDEVICE2  67
T_DIVE  240 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
T_MISSION  270 CAPMAXSIZE  100000 UNCOM_BLEED  20 LOGGERDEVICE4  -1
T_ABORT  1440 HEAPDBG  0 VBD_MAXERRORS  1 COMPASS_DEVICE  97
T_TURN  225 T_GPS  4 W_ADJ_DBAND  0 COMPASS2_DEVICE  -1
T_TURN_SAMPINT  5 N_GPS  10 DBDW  0 PHONE_DEVICE  48
T_NO_W  120 T_GPS_ALMANAC  0 PITCH_W_GAIN  0 GPS_DEVICE  32
T_LOITER  0 T_GPS_CHARGE  -95136.391 PITCH_W_DBAND  0 RAFOS_DEVICE  -1
T_EPIRB  0 T_RSLEEP  3 CF8_MAXERRORS  0 XPDR_DEVICE  24
USE_BATHY  0 STROBE  0 AH0_24V  350 SIM_W  0
USE_ICE  0 RAFOS_PEAK_OFFSET  1.5 AH0_10V  0 SIM_PITCH  0
ICE_FREEZE_MARGIN  0.30000001 RAFOS_CORR_THRESH  60 MINV_24V  11 SEABIRD_T_G  0.0043567605
D_OFFGRID  1000 RAFOS_HIT_WINDOW  3600 MINV_10V  11 SEABIRD_T_H  0.00063562888
T_WATCHDOG  10 PITCH_MIN  155 FG_AHR_10V  0 SEABIRD_T_I  2.4601901e-05
RELAUNCH  1 PITCH_MAX  3900 FG_AHR_24V  0 SEABIRD_T_J  2.6145824e-06
APOGEE_PITCH  -5 C_PITCH  3295 PHONE_SUPPLY  -2 SEABIRD_C_G  -9.8833933
MAX_BUOY  100 PITCH_DBAND  0.1 PRESSURE_YINT  -21.182281 SEABIRD_C_H  1.1029875
COURSE_BIAS  0 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.0001158597 SEABIRD_C_I  -0.0011442616
GLIDE_SLOPE  30 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_C_J  0.00017903016
SPEED_FACTOR  1 PITCH_GAIN  20 TCM_PITCH_OFFSET  0 SC_RECORDABOVE  2000.0
RHO  1.0275 PITCH_TIMEOUT  20 TCM_ROLL_OFFSET  0 SC_PROFILE  3.0
MASS  55936 PITCH_AD_RATE  120 COMPASS_USE  4 SC_XMITPROFILE  3.0
MASS_COMP  0 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 TM_RECORDABOVE  250.0
NAV_MODE  2 PITCH_ADJ_GAIN  0.0099999998 ALTIM_TOP_PING_RANGE  0 TM_PROFILE  3.0
FERRY_MAX  45 PITCH_ADJ_DBAND  1.5 ALTIM_BOTTOM_TURN_MARGIN  10 TM_XMITPROFILE  3.0
KALMAN_USE  2 ROLL_MIN  335 ALTIM_TOP_TURN_MARGIN  0 TM_LOGSAMPLE  0.0
HD_A  0.003 ROLL_MAX  3200 ALTIM_TOP_MIN_OBSTACLE  1 TM_XMITRAW  0.0
HD_B  0.0099999998 ROLL_DEG  30 ALTIM_PING_DEPTH  0
HD_C  9.9999997e-06 C_ROLL_DIVE  1950 ALTIM_PING_DELTA  0
HEADING  -1 C_ROLL_CLIMB  1800 ALTIM_FREQUENCY  13

Pre-dive calculations and measurements:
GPS1  120813,123201,2448.935,-3746.870,0,10000.0,0,-14.9 TGT_NAME  CTR
_CALLS  4 TGT_LATLONG  2434.000,-3802.000
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.99 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  120813,123201,2448.935,-3746.870,241,99.0,241,-14.9 MHEAD_RNG_PITCHd_Wd  282.6,37609,-16.7,-7.500,-20.88,1976
SPEED_LIMITS  0.130,0.197 D_GRID  540

Post-dive calculations and measurements:
FREEZE  4.62,25.934,-1.497,0,57,0 _10V_AH  12.6,0.000
SM_CCo  13663,97.07,0.080,0,0,188,517.58 FG_AHR_24Vo  0.000
SM_GC  5.41,9.95,0.32,0.00,0.040,0.084,0.000,130,1949,190,-9.79,-0.71,517.58,0,0,0,0,0,0,14.54,14.38,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2448.93,-3743.54,120813,212117 MEM  344788
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  23356,643
HUMID  85.91 CAP_FILE_SIZE  173568,0
INTERNAL_PRESSURE  9.50619 CFSIZE  260034560,183246848
TCM_TEMP  22.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  9.723,263.8,1
SC_FREEKB  3815552 GPS  120813,211617,2448.935,-3743.535,0,10000.0,0,-14.9
_24V_AH  13.3,200.896

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor26318110.47 nil000.00
Roll_motor129143248.23 nil000.00
VBD_pump_during_apogee36515617589.51 nil000.00
VBD_pump_during_surface9779102.72 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1367061118.68
Iridium_during_xfer5242071445.65 TMICL000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS2432166.63
TT824599285.73
LPSleep89622247.31
TT8_Active590968.60
TT8_Sampling268127943.94
TT8_CF885032347.62
TT8_Kalman000.00
Analog_circuits214817460.19
GPS_charging000.00
Compass18715117.92
RAFOS000.00
Transponder050.03

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
18 end surface: CONTROL_FINISHED_OK
state 18 begin dive
22 -0.93 -97.3 140 1957 213 172 0.0 0.0 0 40 0.00 0.00 -15.60 0.000 16386 0.000 0.000 139 1957 548 539 558 0 0 0 0 0 0 28.83 28.83 28.83
45 -0.93 -97.3 140 1957 539 556 3.1 0.0 1 167 12.77 2.53 -98.97 0.000 19204 0.318 0.099 2987 3003 2697 2720 2675 0 0 0 0 0 0 14.21 14.31 14.82
369 -0.86 -97.3 1920 2999 2661 2666 25.5 -12.5 22 375 0.12 2.38 0.00 0.000 3078 0.255 0.043 3014 1952 2697 2720 2675 0 0 0 0 0 0 14.13 14.47 28.83
686 -0.80 -97.3 3014 1953 2725 2674 57.6 -9.9 43 692 0.00 2.50 0.00 0.000 260 0.000 0.073 3014 3001 2696 2720 2673 0 0 0 0 0 0 28.83 14.32 28.83
829 -0.76 -97.3 3014 3001 2720 2673 71.9 -10.2 52 835 0.15 2.47 0.00 0.000 3078 0.226 0.041 3049 1912 2696 2720 2673 0 0 0 0 0 0 14.15 14.48 28.83
1149 -0.76 -97.3 3050 1914 2720 2673 100.1 -8.0 73 1155 0.00 2.30 0.00 0.000 516 0.000 0.059 3050 894 2696 2720 2673 0 0 0 0 0 0 28.83 14.40 28.83
1387 -0.74 -97.3 3050 895 2720 2673 115.1 -6.1 88 1393 0.00 2.28 0.00 0.000 1030 0.000 0.044 3050 1910 2696 2720 2672 0 0 0 0 0 0 28.83 14.45 28.83
1702 -0.74 -97.3 3050 1909 2720 2672 137.4 -7.7 109 1708 0.00 2.33 0.00 0.000 516 0.000 0.058 3050 900 2696 2720 2672 0 0 0 0 0 0 28.83 14.37 28.83
1852 -0.74 -97.3 3050 900 2720 2672 148.9 -8.4 118 1859 0.00 2.25 0.00 0.000 1030 0.000 0.044 3050 1901 2695 2720 2671 0 0 0 0 0 0 28.83 14.45 28.83
2158 -0.74 -97.3 3050 1900 2720 2671 174.7 -7.8 139 2164 0.00 2.33 0.00 0.000 516 0.000 0.061 3050 902 2695 2720 2671 0 0 0 0 0 0 28.83 14.37 28.83
2310 -0.74 -97.3 3050 898 2720 2670 185.2 -7.3 148 2317 0.00 2.25 0.00 0.000 1030 0.000 0.047 3049 1892 2695 2720 2670 0 0 0 0 0 0 28.83 14.43 28.83
2618 -0.76 -97.3 3050 1891 2720 2669 205.9 -6.4 169 2623 0.00 2.30 0.00 0.000 516 0.000 0.063 3050 900 2694 2720 2669 0 0 0 0 0 0 28.83 14.38 28.83
2855 -0.76 -97.3 3050 900 2715 2668 222.0 -7.4 184 2861 0.00 2.17 0.00 0.000 1030 0.000 0.041 3049 1872 2693 2720 2667 0 0 0 0 0 0 28.83 14.45 28.83
3170 -0.78 -97.3 3050 1872 2720 2666 245.5 -7.7 205 3176 0.00 2.28 0.00 0.000 516 0.000 0.063 3050 892 2692 2719 2666 0 0 0 0 0 0 28.83 14.36 28.83
3255 -0.78 -97.3 3050 892 2720 2665 250.7 -8.0 209 3260 0.00 2.20 0.00 0.000 1030 0.000 0.043 3050 1863 2692 2720 2665 0 0 0 0 0 0 28.83 14.42 28.83
3573 -0.80 -97.3 3050 1863 2720 2664 276.1 -7.1 220 3578 0.00 2.25 0.00 0.000 516 0.000 0.061 3050 894 2692 2720 2664 0 0 0 0 0 0 28.83 14.32 28.83
3735 -0.80 -97.3 3050 891 2720 2662 286.9 -6.9 225 3740 0.00 2.17 0.00 0.000 1030 0.000 0.047 3050 1842 2690 2720 2661 0 0 0 0 0 0 28.83 14.38 28.83
4069 -0.82 -97.3 3050 1842 2720 2660 309.9 -7.1 236 4075 0.00 2.20 0.00 0.000 516 0.000 0.060 3050 893 2690 2720 2660 0 0 0 0 0 0 28.83 14.37 28.83
4149 -0.84 -97.3 3050 894 2720 2660 315.3 -7.3 238 4154 0.00 2.15 0.00 0.000 1030 0.000 0.049 3050 1835 2689 2719 2659 0 0 0 0 0 0 28.83 14.40 28.83
4473 -0.86 -97.3 3050 1834 2719 2658 345.3 -9.4 249 4479 0.00 2.17 0.00 0.000 516 0.000 0.058 3050 897 2689 2719 2659 0 0 0 0 0 0 28.83 14.34 28.83
4629 -0.86 -97.3 3050 897 2719 2658 360.2 -9.4 254 4635 0.00 2.10 0.00 0.000 1030 0.000 0.047 3046 1816 2688 2719 2658 0 0 0 0 0 0 28.83 14.41 28.83
4969 -0.89 -97.3 3050 1815 2718 2656 385.9 -7.0 265 4975 0.12 2.15 0.00 0.000 4612 0.129 0.057 2987 891 2686 2718 2655 0 0 0 0 0 0 14.50 14.37 28.83
5121 -0.85 -97.3 2986 891 2717 2656 396.0 -7.8 269 5129 0.15 2.08 0.00 0.000 3078 0.248 0.047 3015 1799 2685 2716 2655 0 0 0 0 0 0 14.04 14.40 28.83
5429 -0.85 -97.3 3019 1798 2717 2655 417.4 -6.2 280 5434 0.00 2.10 0.00 0.000 516 0.000 0.058 3019 893 2686 2717 2655 0 0 0 0 0 0 28.83 14.37 28.83
5576 -0.84 -97.3 3019 894 2716 2654 426.1 -6.8 284 5581 0.00 2.03 0.00 0.000 1030 0.000 0.047 3019 1782 2685 2716 2654 0 0 0 0 0 0 28.83 14.39 28.83
5890 -0.84 -97.3 3019 1781 2715 2653 453.1 -8.2 295 5895 0.00 2.05 0.00 0.000 516 0.000 0.057 3019 895 2684 2715 2653 0 0 0 0 0 0 28.83 14.38 28.83
5971 -0.84 -97.3 3019 895 2715 2653 458.4 -8.1 297 5977 0.00 2.00 0.00 0.000 1030 0.000 0.045 3019 1774 2684 2715 2653 0 0 0 0 0 0 28.83 14.40 28.83
6295 -0.84 -97.3 3019 1773 2714 2651 486.0 -7.9 308 6300 0.00 2.05 0.00 0.000 516 0.000 0.056 3019 892 2682 2714 2651 0 0 0 0 0 0 28.83 14.34 28.83
6376 -0.84 -97.3 3019 893 2713 2651 491.0 -7.5 310 6381 0.00 1.98 0.00 0.000 1030 0.000 0.044 3019 1765 2682 2714 2650 0 0 0 0 0 0 28.83 14.39 28.83
6698 -0.84 -97.3 3019 1763 2709 2650 514.3 -6.6 321 6704 0.00 2.00 0.00 0.000 516 0.000 0.056 3019 897 2681 2713 2649 0 0 0 0 0 0 28.83 14.33 28.83
6803 -0.84 -97.3 3019 897 2713 2650 521.3 -6.9 324 6809 0.00 1.95 0.00 0.000 1030 0.000 0.044 3018 1752 2681 2713 2649 0 0 0 0 0 0 28.83 14.36 28.83
7035 end dive: TARGET_DEPTH_EXCEEDED
state 7035 begin apogee
7044 -0.25 0.0 3019 1798 2712 2648 540.8 -8.2 332 7127 0.68 0.00 77.22 1.561 10244 0.178 0.000 3206 1798 2298 2356 2240 0 0 0 0 0 0 13.82 28.83 13.30
7128 end apogee: CONTROL_FINISHED_OK
state 7132 begin climb
7136 0.93 97.3 3206 1798 2353 2238 544.4 0.0 335 7230 1.23 2.53 81.97 1.561 10500 0.096 0.070 3596 2857 1900 1972 1828 0 0 0 0 0 0 14.31 14.33 13.33
7320 0.93 218.3 3596 2857 1958 1822 545.1 1.2 341 7422 0.00 2.42 96.15 1.548 9222 0.000 0.045 3602 1802 1409 1445 1374 0 0 0 0 0 0 28.83 14.47 13.38
7736 0.84 218.3 3603 1803 1424 1371 508.2 10.3 355 7742 0.15 2.47 0.00 0.000 4356 0.280 0.059 3567 2859 1397 1424 1370 0 0 0 0 0 0 14.12 14.50 28.83
7872 0.76 218.3 3568 2859 1419 1370 494.5 10.7 359 7879 0.00 2.40 0.00 0.000 1030 0.000 0.047 3567 1811 1394 1419 1370 0 0 0 0 0 0 28.83 14.54 28.83
8202 0.70 218.3 3567 1812 1419 1370 464.5 8.4 370 8204 0.17 0.00 0.00 0.000 4102 0.245 0.000 3526 1812 1394 1418 1370 0 0 0 0 0 0 14.16 28.83 28.83
8501 0.69 225.0 3527 1812 1419 1368 443.0 7.1 380 8512 0.00 2.47 3.62 0.946 8452 0.000 0.062 3527 2854 1381 1407 1356 0 0 0 0 0 0 28.83 14.55 13.46
8577 0.66 225.0 3526 2854 1407 1359 437.2 7.9 382 8583 0.00 2.40 0.00 0.000 1030 0.000 0.045 3535 1805 1383 1408 1359 0 0 0 0 0 0 28.83 14.58 28.83
8905 0.64 225.0 3527 1806 1408 1359 409.0 8.9 393 8906 0.00 0.00 0.00 0.000 6 0.000 0.000 3527 1805 1383 1408 1359 0 0 0 0 0 0 28.83 28.83 28.83
9203 0.64 225.0 3527 1806 1408 1359 381.4 9.2 403 9208 0.00 2.47 0.00 0.000 260 0.000 0.060 3527 2859 1383 1407 1359 0 0 0 0 0 0 28.83 14.40 28.83
9340 0.61 225.0 3526 2859 1407 1359 369.1 9.8 407 9346 0.15 2.38 0.00 0.000 5126 0.221 0.043 3490 1822 1382 1407 1358 0 0 0 0 0 0 14.16 14.46 28.83
9671 0.64 231.2 3490 1823 1407 1358 343.7 7.2 418 9685 0.00 2.45 8.30 1.180 8708 0.000 0.060 3490 744 1353 1380 1326 0 0 0 0 0 0 28.83 14.62 13.58
9772 0.69 243.2 3490 744 1380 1326 337.0 6.9 421 9791 0.00 2.42 11.90 1.192 9222 0.000 0.037 3490 1817 1306 1337 1276 0 0 0 0 0 0 28.83 14.56 13.71
10100 0.75 253.0 3490 1816 1333 1271 314.1 7.0 432 10116 0.12 2.50 10.23 1.163 10756 0.123 0.059 3548 737 1264 1296 1232 0 0 0 0 0 0 14.48 14.64 13.69
10156 0.78 253.0 2704 736 1274 1228 310.9 7.5 433 10161 0.00 2.40 0.00 0.000 1030 0.000 0.037 3548 1803 1263 1296 1230 0 0 0 0 0 0 28.83 14.57 28.83
10474 0.76 253.0 3548 1802 1294 1228 280.6 9.6 444 10479 0.00 2.45 0.00 0.000 260 0.000 0.064 3548 2857 1261 1294 1229 0 0 0 0 0 0 28.83 14.40 28.83
10707 0.72 253.0 3548 2856 1291 1228 255.0 11.6 451 10712 0.00 2.38 0.00 0.000 1030 0.000 0.045 3548 1820 1260 1292 1228 0 0 0 0 0 0 28.83 14.44 28.83
11028 0.70 253.0 3548 1821 1291 1228 223.1 8.6 471 11033 0.00 2.45 0.00 0.000 260 0.000 0.061 3548 2856 1259 1291 1228 0 0 0 0 0 0 28.83 14.34 28.83
11096 0.66 253.0 2720 2852 1269 1226 217.2 9.0 475 11102 0.17 2.40 0.00 0.000 5126 0.223 0.045 3507 1821 1259 1290 1228 0 0 0 0 0 0 14.07 14.42 28.83
11412 0.72 289.2 3507 1822 1286 1228 198.1 5.6 496 11450 0.00 2.47 32.20 1.101 8708 0.000 0.063 3508 744 1118 1169 1067 0 0 0 0 0 0 28.83 14.54 13.71
11533 0.81 333.3 3507 744 1169 1065 191.3 5.2 503 11585 0.15 2.42 39.95 1.102 11270 0.114 0.037 3571 1815 938 1013 864 0 0 0 0 0 0 14.44 14.47 13.64
11886 0.81 333.3 3571 1815 1012 856 157.6 10.9 527 11891 0.00 2.42 0.00 0.000 260 0.000 0.063 3571 2861 934 1012 856 0 0 0 0 0 0 28.83 14.36 28.83
12023 0.78 333.3 3571 2861 1012 855 140.8 13.0 535 12030 0.00 2.40 0.00 0.000 1030 0.000 0.045 3574 1825 933 1013 854 0 0 0 0 0 0 28.83 14.42 28.83
12329 0.78 333.3 3574 1826 1012 853 103.9 11.0 556 12331 0.00 0.00 0.00 0.000 6 0.000 0.000 3573 1826 933 1013 853 0 0 0 0 0 0 28.83 28.83 28.83
12629 0.78 333.3 3574 1826 1012 853 74.2 9.2 576 12635 0.00 2.55 0.00 0.000 516 0.000 0.066 3574 738 930 1008 852 0 0 0 0 0 0 28.83 14.28 28.83
12668 0.78 333.3 2784 738 1003 851 70.9 9.3 578 12673 0.00 2.47 0.00 0.000 1030 0.000 0.038 3574 1829 932 1012 853 0 0 0 0 0 0 28.83 14.41 28.83
12983 0.78 338.9 3573 1828 1013 852 47.2 7.2 599 12993 0.00 2.35 3.92 0.728 8452 0.000 0.062 3574 2858 917 999 836 0 0 0 0 0 0 28.83 14.57 13.58
13001 0.78 338.9 3574 2858 999 837 45.1 8.3 600 13007 0.00 2.38 0.00 0.000 1030 0.000 0.042 3574 1807 918 999 837 0 0 0 0 0 0 28.83 14.58 28.83
13322 0.78 338.9 3574 1807 999 837 17.1 10.6 621 13327 0.00 2.50 0.00 0.000 260 0.000 0.063 3574 2862 918 999 837 0 0 0 0 0 0 28.83 14.31 28.83
13345 0.78 338.9 3574 2861 995 837 15.1 10.4 622 13350 0.00 2.40 0.00 0.000 1030 0.000 0.045 3574 1819 918 999 837 0 0 0 0 0 0 28.83 14.40 28.83
13657 end climb: NO_VERTICAL_VELOCITY
state 13657 begin surface