Glider dive log

PN07 DabobBay Sep07 * SG022 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 22 HD_B 0.010364 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 2 HD_C 5.4717998e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 6 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 208 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3567 ALTIM_PING_DELTA 20

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 0

D_PITCH 0 SM_CC 450 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 11 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 100 MOTHERBOARD 3

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 2 DEVICE1 2

T_DIVE 30 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 65 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 658 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3994 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3484 DEVICE6 -1

T_NO_W 600 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 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 0

T_WATCHDOG 10 T_GPS_CHARGE -108210.87 VBD_PUMP_AD_RATE_APOGEE 1 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 19

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 16 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0044140997

SPEED_FACTOR 1 PITCH_MAX 3347 AH0_10V 61.200001 SEABIRD_T_H 0.00064927549

RHO 1.023 C_PITCH 2530 PRESSURE_YINT -21.951805 SEABIRD_T_I 2.7523491e-05

MASS 51950 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011632 SEABIRD_T_J 3.1132354e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.525962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 1.7 SEABIRD_C_H 1.1896306

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET -0.89999998 SEABIRD_C_I -0.0026426413

HD_A 0.0040048002 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 15 SEABIRD_C_J 0.00031414768

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 15 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3347 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 1.7

ALTIM_SENSITIVITY 0 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011632 TCM_ROLL_OFFSET -0.89999998

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -21.951805 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 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 30

CALL_TRIES 5 HD_A 0.0040048002 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010364 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 5.4717998e-06 RHO 1.023 T_GPS_CHARGE -108210.87

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 65

CF8_MAXERRORS 16 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 600

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 100 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 22 ROLL_MAX 3567 T_TURN_SAMPINT 6

C_PITCH 2530 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2100 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51950 R_PORT_OVSHOOT 11 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.525962 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 3 SEABIRD_C_H 1.1896306 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0026426413 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00031414768 VBD_MAX 3994

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044140997 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064927549 VBD_MIN 658

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.7523491e-05 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 6 PHONE_DEVICE 0 SEABIRD_T_J 3.1132354e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 19

Pre-dive calculations and measurements:

GPS1 200201,4739.606,-12252.236,37,1.9,37,18.3 TGT_NAME T4

_CALLS 1 TGT_LATLONG 4740.500,-12249.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.261,0.058

_SM_DEPTHo 1.25 KALMAN_X -152.5,-89.0,-49.1,1251.6,-27.0

_SM_ANGLEo -70.5 KALMAN_Y 539.3,185.5,114.9,-961.3,74.3

GPS2 200533,4739.626,-12252.218,14,1.9,14,18.3 MHEAD_RNG_PITCHd_Wd 59.2,4326,-20.1,-11.111

SPEED_LIMITS 0.192,0.267 D_GRID 124

Post-dive calculations and measurements:

FINISH 0.5,1.000473 ALTIM_TOP_PING 9.1,7.1

SM_CCo 1944,99.53,0.659,0,0,1648,450.13 ALTIM_BOTTOM_PING 50.1,8.4

SM_GC 1.34,0.00,0.00,99.53,0.000,0.000,0.659,36,2071,1648,-11.47,-0.82,450.13 _24V_AH 23.9,9.013

IRIDIUM_FIX 0.00,0.00,010170,000000 _10V_AH 10.2,2.578

TT8_MAMPS 0.028379 DATA_FILE_SIZE 6426,190

HUMID 2104 CFSIZE 260034560,256835584

TCM_TEMP 19.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 200907,204151,4739.658,-12251.877,34,1.7,34,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 201 140.66 SBE_CT 123 24 70.61

Roll_motor 16 132 52.64 nil 0 0 0.00

VBD_pump_during_apogee 267 745 4763.20 nil 0 0 0.00

VBD_pump_during_surface 99 658 1567.18 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 80.20 nil 0 0 0.00

Iridium_during_connect 36 160 139.73 ARS 0 0 0.00

Iridium_during_xfer 74 223 397.72

Transponder_ping 0 420 7.53

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.42

TT8 334 19 67.56

LPSleep 946 2 21.13

TT8_Active 444 19 89.76

TT8_Sampling 344 39 139.97

TT8_CF8 220 45 103.21

TT8_Kalman 33 81 27.80

Analog_circuits 675 12 82.69

GPS_charging 0 0 0.00

Compass 345 8 28.20

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

21 end surface: CONTROL_FINISHED_OK

state 22 begin dive

24 -1.42 -146.6 0.0 0.0 0 81 0.00 0.00 -55.47 0.000 2 0.000 0.000 39 2083 2820

84 -1.42 -146.6 2.1 -3.4 9 151 12.88 2.83 -47.90 0.000 4 0.202 0.133 2214 686 3995

374 -1.42 -146.6 37.6 -14.0 44 382 0.00 2.65 0.00 0.000 6 0.000 0.074 2214 2102 3997

571 -1.42 -146.6 64.3 -14.4 60 572 0.00 0.00 0.00 0.000 6 0.000 0.000 2214 2102 3998

821 end dive: TARGET_DEPTH_EXCEEDED

state 822 begin apogee

826 -0.31 0.0 100.2 13.0 80 927 1.27 0.00 97.07 0.746 6 0.134 0.000 2460 2214 3484

928 end apogee: CONTROL_FINISHED_OK

state 928 begin climb

930 1.42 146.6 103.4 0.0 88 1053 1.80 2.83 111.55 0.732 4 0.094 0.096 2833 779 2886

1136 1.42 146.6 85.4 14.3 104 1145 0.00 2.58 0.00 0.000 6 0.000 0.058 2834 2200 2885

1459 1.42 146.6 39.3 14.2 130 1463 0.00 2.75 0.00 0.000 4 0.000 0.096 2835 776 2886

1584 1.42 146.6 21.9 14.3 139 1591 0.00 2.58 0.00 0.000 6 0.000 0.059 2834 2201 2885

1789 1.64 351.3 2.7 0.7 169 1851 0.20 0.00 58.70 0.685 2 0.067 0.000 2885 2202 2543

1852 end climb: SURFACE_DEPTH_REACHED

state 1852 begin surface coast

1923 end surface coast: CONTROL_FINISHED_OK

state 1923 begin surface

ID	22	HD_B	0.010364	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	2	HD_C	5.4717998e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	6	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	208	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3567	ALTIM_PING_DELTA	20
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	0
D_PITCH	0	SM_CC	450	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	11	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	100	MOTHERBOARD	3
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	2	DEVICE1	2
T_DIVE	30	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	65	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	658	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3994	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3484	DEVICE6	-1
T_NO_W	600	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	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	0
T_WATCHDOG	10	T_GPS_CHARGE	-108210.87	VBD_PUMP_AD_RATE_APOGEE	1	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	19
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	16	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0044140997
SPEED_FACTOR	1	PITCH_MAX	3347	AH0_10V	61.200001	SEABIRD_T_H	0.00064927549
RHO	1.023	C_PITCH	2530	PRESSURE_YINT	-21.951805	SEABIRD_T_I	2.7523491e-05
MASS	51950	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011632	SEABIRD_T_J	3.1132354e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.525962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	1.7	SEABIRD_C_H	1.1896306
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	-0.89999998	SEABIRD_C_I	-0.0026426413
HD_A	0.0040048002	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	15	SEABIRD_C_J	0.00031414768

GPS1	200201,4739.606,-12252.236,37,1.9,37,18.3	TGT_NAME	T4
_CALLS	1	TGT_LATLONG	4740.500,-12249.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.261,0.058
_SM_DEPTHo	1.25	KALMAN_X	-152.5,-89.0,-49.1,1251.6,-27.0
_SM_ANGLEo	-70.5	KALMAN_Y	539.3,185.5,114.9,-961.3,74.3
GPS2	200533,4739.626,-12252.218,14,1.9,14,18.3	MHEAD_RNG_PITCHd_Wd	59.2,4326,-20.1,-11.111
SPEED_LIMITS	0.192,0.267	D_GRID	124

FINISH	0.5,1.000473	ALTIM_TOP_PING	9.1,7.1
SM_CCo	1944,99.53,0.659,0,0,1648,450.13	ALTIM_BOTTOM_PING	50.1,8.4
SM_GC	1.34,0.00,0.00,99.53,0.000,0.000,0.659,36,2071,1648,-11.47,-0.82,450.13	_24V_AH	23.9,9.013
IRIDIUM_FIX	0.00,0.00,010170,000000	_10V_AH	10.2,2.578
TT8_MAMPS	0.028379	DATA_FILE_SIZE	6426,190
HUMID	2104	CFSIZE	260034560,256835584
TCM_TEMP	19.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	200907,204151,4739.658,-12251.877,34,1.7,34,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	201	140.66	SBE_CT	123	24	70.61
Roll_motor	16	132	52.64	nil	0	0	0.00
VBD_pump_during_apogee	267	745	4763.20	nil	0	0	0.00
VBD_pump_during_surface	99	658	1567.18	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	80.20	nil	0	0	0.00
Iridium_during_connect	36	160	139.73	ARS	0	0	0.00
Iridium_during_xfer	74	223	397.72
Transponder_ping	0	420	7.53
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.42
TT8	334	19	67.56
LPSleep	946	2	21.13
TT8_Active	444	19	89.76
TT8_Sampling	344	39	139.97
TT8_CF8	220	45	103.21
TT8_Kalman	33	81	27.80
Analog_circuits	675	12	82.69
GPS_charging	0	0	0.00
Compass	345	8	28.20
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
21	end surface: CONTROL_FINISHED_OK
state	22	begin dive
24	-1.42	-146.6	0.0	0.0	0	81	0.00	0.00	-55.47	0.000	2	0.000	0.000	39	2083	2820
84	-1.42	-146.6	2.1	-3.4	9	151	12.88	2.83	-47.90	0.000	4	0.202	0.133	2214	686	3995
374	-1.42	-146.6	37.6	-14.0	44	382	0.00	2.65	0.00	0.000	6	0.000	0.074	2214	2102	3997
571	-1.42	-146.6	64.3	-14.4	60	572	0.00	0.00	0.00	0.000	6	0.000	0.000	2214	2102	3998
821	end dive: TARGET_DEPTH_EXCEEDED
state	822	begin apogee
826	-0.31	0.0	100.2	13.0	80	927	1.27	0.00	97.07	0.746	6	0.134	0.000	2460	2214	3484
928	end apogee: CONTROL_FINISHED_OK
state	928	begin climb
930	1.42	146.6	103.4	0.0	88	1053	1.80	2.83	111.55	0.732	4	0.094	0.096	2833	779	2886
1136	1.42	146.6	85.4	14.3	104	1145	0.00	2.58	0.00	0.000	6	0.000	0.058	2834	2200	2885
1459	1.42	146.6	39.3	14.2	130	1463	0.00	2.75	0.00	0.000	4	0.000	0.096	2835	776	2886
1584	1.42	146.6	21.9	14.3	139	1591	0.00	2.58	0.00	0.000	6	0.000	0.059	2834	2201	2885
1789	1.64	351.3	2.7	0.7	169	1851	0.20	0.00	58.70	0.685	2	0.067	0.000	2885	2202	2543
1852	end climb: SURFACE_DEPTH_REACHED
state	1852	begin surface coast
1923	end surface coast: CONTROL_FINISHED_OK
state	1923	begin surface