OKMC Nov11 * SG168 * Dive index * Mission links * Dive 93 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  168 HD_B  0.0099999998 PITCH_ADJ_GAIN  0.0049999999 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.9999997e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  93 HEADING  -1 ROLL_MIN  160 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3729 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  5 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2025 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1975 ALTIM_FREQUENCY  13
D_ABORT  1020 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  100 SM_CC  400 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  4 N_FILEKB  8 R_PORT_OVSHOOT  41 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  63 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  400 INT_PRESSURE_YINT  0
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  9 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  3 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  163 VBD_MIN  415 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
T_DIVE  300 UPLOAD_DIVES_MAX  -1 C_VBD  2954 DEVICE3  35
T_MISSION  320 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  4 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -6 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -5691.0801 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 AH0_24V  150 PHONE_DEVICE  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -8 RAFOS_HIT_WINDOW  3600 MINV_10V  9.5 XPDR_DEVICE  24
MAX_BUOY  210 PITCH_MIN  143 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3945 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2250 PHONE_SUPPLY  2 SEABIRD_T_G  0.0042821765
SPEED_FACTOR  1 PITCH_DBAND  0.050000001 PRESSURE_YINT  -64.650215 SEABIRD_T_H  0.00061988086
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000115925 SEABIRD_T_I  2.2270933e-05
MASS  51744 P_OVSHOOT  0.029999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.2936731e-06
NAV_MODE  0 PITCH_GAIN  37 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8276911
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1035888
KALMAN_USE  2 PITCH_AD_RATE  160 COMPASS_USE  0 SEABIRD_C_I  -0.0012978988
HD_A  0.003 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.0001838774

Pre-dive calculations and measurements:
GPS1  291111,165731,2008.460,12423.788,39,1.1,39,-2.5 TGT_NAME  S3
_CALLS  2 TGT_LATLONG  1750.000,12435.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.030,-0.310
_SM_DEPTHo  4.13 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -75.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  291111,170550,2008.509,12423.670,11,1.0,11,-2.5 MHEAD_RNG_PITCHd_Wd  178.0,257295,-15.9,-11.000
SPEED_LIMITS  0.191,0.311 D_GRID  5467

Post-dive calculations and measurements:
FINISH  3.3,0.999063 _10V_AH  10.3,16.879
SM_CCo  17298,0.00,0.000,0,0,439,616.93 FG_AHR_24Vo  0.000
SM_GC  3.93,6.15,0.00,0.00,0.023,0.000,0.000,101,1971,439,-6.55,-1.53,616.93,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1959.59,12431.69,291111,161626 MEM  329796
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  100422,1527
HUMID  40.62 CAP_FILE_SIZE  175271,0
INTERNAL_PRESSURE  9.45349 CFSIZE  260165632,212758528
TCM_TEMP  24.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 GPS  291111,215537,2006.058,12422.104,29,1.5,29,-2.5
_24V_AH  23.7,20.174

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1720787.21 SBE_CT104124592.31
Roll_motor108147378.79 AA4330114233893.66
VBD_pump_during_apogee828107921187.12 WL_BB2F6691051665.98
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init57103139.26 nil000.00
Iridium_during_connect87160332.00 nil000.00
Iridium_during_xfer167223884.77 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS14507.41
TT8348919711.67
LPSleep98872223.03
TT8_Active82819168.94
TT8_Sampling3223391321.42
TT8_CF835445167.11
TT8_Kalman000.00
Analog_circuits231112285.73
GPS_charging000.00
Compass286015442.02
RAFOS000.00
Transponder050.03

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
18 -0.68 -204.4 0.0 0.0 0 28 0.00 0.00 -8.20 0.000 2 0.000 0.000 100 1978 1093 0 0 0 0 0 0 28.83 28.83 28.83
31 -0.68 -204.4 4.1 0.0 1 151 6.70 2.12 -105.47 0.000 4 0.186 0.055 2026 613 3789 0 0 0 0 0 0 25.63 25.99 26.36
193 -0.60 -204.4 21.3 -33.1 27 200 0.15 2.10 0.00 0.000 6 0.159 0.033 2058 2000 3789 0 0 0 0 0 0 25.86 26.07 28.83
523 -0.55 -204.4 118.6 -21.8 88 532 0.00 2.17 0.00 0.000 4 0.000 0.045 2058 613 3789 0 0 0 0 0 0 28.83 26.20 28.83
568 -0.51 -204.4 127.7 -19.5 95 576 0.12 2.12 0.00 0.000 6 0.146 0.034 2086 2024 3789 0 0 0 0 0 0 26.10 26.25 28.83
903 -0.50 -204.4 178.0 -14.5 156 911 0.00 2.17 0.00 0.000 4 0.000 0.044 2087 628 3789 0 0 0 0 0 0 28.83 26.29 28.83
939 -0.50 -204.4 183.2 -13.6 162 946 0.00 2.12 0.00 0.000 6 0.000 0.033 2083 2023 3789 0 0 0 0 0 0 28.83 26.34 28.83
1264 -0.49 -204.4 227.5 -14.4 205 1270 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2024 3790 0 0 0 0 0 0 28.83 28.83 28.83
1573 -0.48 -204.4 273.1 -15.6 236 1574 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2024 3789 0 0 0 0 0 0 28.83 28.83 28.83
1872 -0.48 -204.4 319.4 -14.0 266 1873 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2024 3788 0 0 0 0 0 0 28.83 28.83 28.83
2173 -0.48 -204.4 354.8 -10.3 296 2180 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2024 3787 0 0 0 0 0 0 28.83 28.83 28.83
2483 -0.49 -204.4 382.4 -9.0 327 2484 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2024 3785 0 0 0 0 0 0 28.83 28.83 28.83
2784 -0.50 -204.4 411.4 -9.8 357 2793 0.00 2.15 0.00 0.000 4 0.000 0.043 2073 3433 3783 0 0 0 0 0 0 28.83 26.45 28.83
2806 -0.52 -204.4 413.7 -9.8 359 2814 0.00 2.10 0.00 0.000 6 0.000 0.032 2073 2021 3783 0 0 0 0 0 0 28.83 26.47 28.83
3116 -0.53 -204.4 444.4 -9.4 390 3117 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2020 3783 0 0 0 0 0 0 28.83 28.83 28.83
3418 -0.54 -204.4 469.7 -7.1 420 3424 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2021 3780 0 0 0 0 0 0 28.83 28.83 28.83
3728 -0.56 -204.4 489.9 -7.3 451 3734 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2021 3778 0 0 0 0 0 0 28.83 28.83 28.83
4038 -0.57 -204.4 519.0 -10.7 482 4044 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2021 3776 0 0 0 0 0 0 28.83 28.83 28.83
4347 -0.59 -204.4 554.2 -10.4 513 4353 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2021 3774 0 0 0 0 0 0 28.83 28.83 28.83
4658 -0.61 -204.4 579.0 -6.1 544 4665 0.08 0.00 0.00 0.000 6 0.121 0.000 1984 2021 3771 0 0 0 0 0 0 26.60 28.83 28.83
4977 -0.58 -204.4 622.3 -13.9 568 4979 0.25 0.00 0.00 0.000 6 0.121 0.000 2066 2020 3768 0 0 0 0 0 0 26.29 28.83 28.83
5276 -0.59 -204.4 646.4 -8.5 583 5278 0.00 0.00 0.00 0.000 6 0.000 0.000 2067 2020 3767 0 0 0 0 0 0 28.83 28.83 28.83
5576 -0.61 -204.4 671.4 -7.9 598 5577 0.00 0.00 0.00 0.000 6 0.000 0.000 2067 2020 3764 0 0 0 0 0 0 28.83 28.83 28.83
5877 -0.63 -204.4 692.9 -6.9 613 5879 0.08 0.00 0.00 0.000 6 0.122 0.000 1985 2020 3762 0 0 0 0 0 0 26.60 28.83 28.83
6175 -0.61 -204.4 733.1 -14.1 628 6182 0.20 2.17 0.00 0.000 4 0.128 0.042 2046 3432 3759 0 0 0 0 0 0 26.29 26.41 28.83
6203 -0.59 -204.4 735.6 -13.8 629 6207 0.00 2.12 0.00 0.000 6 0.000 0.036 2046 2029 3760 0 0 0 0 0 0 28.83 26.43 28.83
6511 -0.60 -204.4 764.8 -9.3 644 6517 0.00 2.17 0.00 0.000 4 0.000 0.049 2045 620 3758 0 0 0 0 0 0 28.83 26.36 28.83
6564 -0.61 -204.4 768.5 -9.4 646 6571 0.05 2.15 0.00 0.000 6 0.207 0.038 2058 2034 3757 0 0 0 0 0 0 26.33 26.43 28.83
6872 -0.63 -204.4 792.2 -6.8 662 6873 0.00 0.00 0.00 0.000 6 0.000 0.000 2057 2035 3755 0 0 0 0 0 0 28.83 28.83 28.83
7172 -0.64 -204.4 812.0 -6.8 677 7174 0.00 0.00 0.00 0.000 6 0.000 0.000 2058 2035 3753 0 0 0 0 0 0 28.83 28.83 28.83
7471 -0.66 -204.4 833.2 -7.1 692 7473 0.08 0.00 0.00 0.000 6 0.122 0.000 1974 2035 3751 0 0 0 0 0 0 26.58 28.83 28.83
7770 -0.64 -204.4 873.1 -13.5 707 7772 0.22 0.00 0.00 0.000 6 0.121 0.000 2048 2036 3750 0 0 0 0 0 0 26.25 28.83 28.83
8071 -0.65 -204.4 895.6 -7.2 722 8073 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2035 3749 0 0 0 0 0 0 28.83 28.83 28.83
8371 -0.66 -204.4 917.4 -7.4 737 8372 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2036 3747 0 0 0 0 0 0 28.83 28.83 28.83
8671 -0.68 -204.4 939.1 -7.2 752 8676 0.00 2.15 0.00 0.000 4 0.000 0.047 2039 3435 3745 0 0 0 0 0 0 28.83 26.34 28.83
8700 -0.69 -204.4 940.5 -7.1 753 8709 0.00 2.15 0.00 0.000 6 0.000 0.034 2039 2023 3745 0 0 0 0 0 0 28.83 26.39 28.83
9011 -0.70 -204.4 963.6 -7.2 769 9016 0.00 2.20 0.00 0.000 4 0.000 0.050 2039 611 3744 0 0 0 0 0 0 28.83 26.30 28.83
9044 -0.72 -204.4 965.1 -7.2 770 9050 0.00 2.15 0.00 0.000 6 0.000 0.036 2031 2027 3743 0 0 0 0 0 0 28.83 26.39 28.83
9352 -0.72 -204.4 988.5 -6.9 786 9357 0.00 2.15 0.00 0.000 4 0.000 0.047 2022 3429 3742 0 0 0 0 0 0 28.83 26.32 28.83
9384 -0.73 -204.4 989.9 -6.9 787 9391 0.00 2.12 0.00 0.000 6 0.000 0.036 2022 2026 3742 0 0 0 0 0 0 28.83 26.36 28.83
9408 end dive: TARGET_DEPTH_EXCEEDED
state 9409 begin apogee
9415 -0.22 0.0 992.5 -6.8 789 9662 0.43 0.00 240.95 0.900 6 0.097 0.000 2177 1974 2951 0 0 0 0 0 0 26.18 28.83 24.18
9663 end apogee: CONTROL_FINISHED_OK
state 9663 begin climb
9665 0.68 204.4 999.9 0.0 801 9856 0.77 2.38 180.12 1.079 4 0.044 0.031 2482 3391 2111 0 0 0 0 0 0 24.90 24.47 23.74
9984 0.61 204.4 949.8 25.1 817 9993 0.17 2.28 0.00 0.000 6 0.161 0.035 2448 1968 2088 0 0 0 0 0 0 25.12 25.27 28.83
10294 0.57 204.4 883.5 19.7 833 10300 0.08 2.20 0.00 0.000 4 0.207 0.030 2431 3398 2084 0 0 0 0 0 0 25.75 25.79 28.83
10327 0.52 204.4 879.3 19.9 834 10334 0.10 2.22 0.00 0.000 6 0.174 0.035 2417 1976 2083 0 0 0 0 0 0 25.64 25.79 28.83
10634 0.49 204.4 827.9 15.1 850 10635 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 1976 2082 0 0 0 0 0 0 28.83 28.83 28.83
10934 0.46 204.4 785.3 14.1 865 10940 0.08 2.15 0.00 0.000 4 0.199 0.031 2398 3394 2080 0 0 0 0 0 0 26.08 26.10 28.83
10957 0.43 204.4 782.5 14.1 866 10962 0.10 2.20 0.00 0.000 6 0.168 0.035 2381 1971 2080 0 0 0 0 0 0 25.93 26.08 28.83
11271 0.42 204.4 747.4 11.3 882 11276 0.00 2.17 0.00 0.000 4 0.000 0.048 2391 570 2079 0 0 0 0 0 0 28.83 26.11 28.83
11330 0.42 204.4 740.5 11.7 885 11336 0.00 2.12 0.00 0.000 6 0.000 0.025 2391 1993 2079 0 0 0 0 0 0 28.83 26.21 28.83
11650 0.40 204.4 700.7 12.1 901 11656 0.00 2.20 0.00 0.000 4 0.000 0.048 2401 577 2078 0 0 0 0 0 0 28.83 26.16 28.83
11673 0.39 204.4 698.3 12.2 902 11678 0.10 2.05 0.00 0.000 6 0.162 0.025 2374 1980 2079 0 0 0 0 0 0 26.06 26.26 28.83
11987 0.44 243.7 666.4 9.6 918 12027 0.05 2.20 33.65 0.883 4 0.167 0.034 2435 3371 1952 0 0 0 0 0 0 26.39 25.75 25.03
12130 0.41 243.7 644.9 16.2 925 12136 0.22 2.17 0.00 0.000 6 0.134 0.036 2377 1976 1934 0 0 0 0 0 0 25.71 25.86 28.83
12450 0.42 248.0 609.9 10.8 941 12456 0.00 2.17 0.00 0.000 4 0.000 0.049 2387 570 1931 0 0 0 0 0 0 28.83 26.01 28.83
12478 0.42 248.6 607.6 11.0 942 12482 0.00 2.08 0.00 0.000 6 0.000 0.025 2387 1972 1931 0 0 0 0 0 0 28.83 26.10 28.83
12785 0.42 248.6 570.3 12.6 969 12786 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 1973 1930 0 0 0 0 0 0 28.83 28.83 28.83
13086 0.42 248.6 530.7 13.6 999 13094 0.00 2.10 0.00 0.000 4 0.000 0.036 2387 3371 1929 0 0 0 0 0 0 28.83 26.20 28.83
13117 0.42 248.6 526.3 13.8 1002 13126 0.00 2.15 0.00 0.000 6 0.000 0.037 2396 1976 1928 0 0 0 0 0 0 28.83 26.20 28.83
13426 0.42 248.6 486.6 11.4 1033 13430 0.00 2.17 0.00 0.000 4 0.000 0.048 2406 572 1928 0 0 0 0 0 0 28.83 26.20 28.83
13451 0.42 248.9 484.3 11.0 1035 13458 0.10 2.08 0.00 0.000 6 0.152 0.025 2377 1977 1928 0 0 0 0 0 0 26.11 26.29 28.83
13759 0.55 349.0 459.1 7.4 1066 13901 0.12 2.20 132.10 0.664 4 0.077 0.031 2466 3371 1524 0 0 0 0 0 0 26.41 25.11 24.58
13917 0.53 349.0 434.9 17.2 1081 13924 0.20 2.25 0.00 0.000 6 0.133 0.037 2418 1979 1513 0 0 0 0 0 0 25.18 25.27 28.83
14224 0.53 349.0 389.4 15.3 1112 14233 0.00 2.22 0.00 0.000 4 0.000 0.049 2429 570 1507 0 0 0 0 0 0 28.83 25.79 28.83
14340 0.55 349.0 373.8 13.1 1123 14347 0.00 2.12 0.00 0.000 6 0.000 0.026 2429 1980 1506 0 0 0 0 0 0 28.83 25.95 28.83
14645 0.55 349.0 330.9 13.2 1154 14654 0.00 2.25 0.00 0.000 4 0.000 0.049 2438 563 1504 0 0 0 0 0 0 28.83 26.01 28.83
14707 0.56 349.0 323.9 11.1 1160 14716 0.00 2.08 0.00 0.000 6 0.000 0.026 2438 1977 1504 0 0 0 0 0 0 28.83 26.12 28.83
15017 0.56 349.0 283.3 14.0 1191 15025 0.00 2.22 0.00 0.000 4 0.000 0.049 2447 562 1503 0 0 0 0 0 0 28.83 26.12 28.83
15071 0.56 349.0 276.4 13.2 1196 15080 0.05 2.12 0.00 0.000 6 0.117 0.026 2425 1978 1503 0 0 0 0 0 0 26.06 26.22 28.83
15379 0.57 349.0 239.7 12.0 1227 15380 0.00 0.00 0.00 0.000 6 0.000 0.000 2425 1979 1503 0 0 0 0 0 0 28.83 28.83 28.83
15682 0.58 349.0 204.2 12.1 1257 15690 0.00 2.17 0.00 0.000 4 0.000 0.047 2433 569 1503 0 0 0 0 0 0 28.83 26.24 28.83
15750 0.62 358.9 196.0 10.6 1266 15764 0.00 2.10 4.82 0.510 6 0.000 0.026 2434 1974 1490 0 0 0 0 0 0 28.83 26.33 25.56
16090 0.70 416.5 156.9 8.9 1328 16167 0.12 2.28 67.95 0.509 4 0.080 0.047 2555 574 1247 0 0 0 0 0 0 26.41 25.70 25.22
16199 0.65 416.5 134.6 23.9 1345 16206 0.32 2.08 0.00 0.000 6 0.123 0.022 2453 1991 1238 0 0 0 0 0 0 25.65 25.83 28.83
16532 0.71 444.1 100.6 10.0 1406 16567 0.10 2.30 27.67 0.480 4 0.096 0.044 2558 567 1136 0 0 0 0 0 0 26.15 25.82 25.29
16613 0.68 444.1 85.2 21.6 1419 16621 0.30 2.08 0.00 0.000 6 0.108 0.023 2460 1969 1126 0 0 0 0 0 0 25.77 25.94 28.83
16947 0.97 633.5 62.8 4.1 1480 17093 0.25 0.00 140.93 0.232 6 0.054 0.000 2597 1970 417 0 0 0 0 0 0 26.19 28.83 25.36
17204 end climb: SURFACE_DEPTH_REACHED
state 17204 begin surface coast
17223 end surface coast: CONTROL_FINISHED_OK
state 17223 begin surface