Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 111 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  104 HD_B  0.0099684997 PITCH_AD_RATE  175 ALTIM_TOP_PING_RANGE  0
MISSION  4 HD_C  2.5700001e-06 PITCH_MAXERRORS  1 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  111 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  3 ESCAPE_HEADING_DELTA  10 ROLL_MIN  176 ALTIM_PING_DEPTH  150
D_TGT  990 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3929 ALTIM_PING_DELTA  25
D_ABORT  1090 TGT_DEFAULT_LAT  61.599998 C_ROLL_DIVE  1900 ALTIM_FREQUENCY  13
D_NO_BLEED  100 TGT_DEFAULT_LON  -8.75 C_ROLL_CLIMB  2000 ALTIM_PULSE  3
D_FINISH  0 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  4
D_PITCH  0 SM_CC  250 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 N_FILEKB  4 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  -1.784981
D_CALL  0 FILEMGR  0 R_PORT_OVSHOOT  28 DEEPGLIDER  0
SURFACE_URGENCY  0 CALL_NDIVES  1 R_STBD_OVSHOOT  32 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 COMM_SEQ  0 ROLL_AD_RATE  400 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  12 DEVICE1  2
T_DIVE  440 N_NOSURFACE  0 ROLL_ADJ_GAIN  0 DEVICE2  20
T_MISSION  480 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0 DEVICE3  35
T_ABORT  1440 CALL_TRIES  5 VBD_MIN  607 DEVICE4  -1
T_TURN  225 CALL_WAIT  60 VBD_MAX  3934 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  3045 DEVICE6  -1
T_NO_W  300 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  0 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  5 VBD_TIMEOUT  360 SMARTDEVICE2  -1
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  6 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -37296.91 VBD_PUMP_AD_RATE_APOGEE  4 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  57 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  2 SIM_PITCH  0
GLIDE_SLOPE  30 PITCH_MIN  45 AH0_24V  91.800003 SEABIRD_T_G  0.0043062796
SPEED_FACTOR  1 PITCH_MAX  3331 AH0_10V  61.200001 SEABIRD_T_H  0.0006289829
RHO  1.023 C_PITCH  2450 PRESSURE_YINT  -16.564281 SEABIRD_T_I  2.2033064e-05
MASS  52000 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.000115925 SEABIRD_T_J  2.057111e-06
NAV_MODE  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -10.442612
FERRY_MAX  12 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1821688
KALMAN_USE  1 PITCH_GAIN  15 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0015124022
HD_A  0.0038945 PITCH_TIMEOUT  15 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00022414648

Pre-dive calculations and measurements:
GPS1  222938,6018.358,-656.221,34,1.6,34,-7.7 TGT_NAME  WTB_3
_CALLS  1 TGT_LATLONG  6030.000,-715.000
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.105,0.215
_SM_DEPTHo  0.93 KALMAN_X  238038.0,504.4,229.7,-438887.3,-478.5
_SM_ANGLEo  -62.5 KALMAN_Y  -151385.7,622.2,1211.8,9466.4,-8679.1
GPS2  223545,6018.350,-656.169,14,1.6,14,-7.7 MHEAD_RNG_PITCHd_Wd  33.8,27576,-13.9,-7.500
SPEED_LIMITS  0.130,0.240 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.0,1.018461 XPDR_PINGS  0
SM_CCo  24779,23.67,0.618,3,0,2026,250.21 _24V_AH  23.0,20.327
SM_GC  1.25,0.00,0.00,23.67,0.000,0.000,0.618,41,1895,2026,-11.08,-0.14,250.21 _10V_AH  10.1,13.160
IRIDIUM_FIX  5949.48,-656.76,070697,151535 DATA_FILE_SIZE  59958,1189
TT8_MAMPS  0.026845 CFSIZE  260165632,248832000
HUMID  1699 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,29,26,0
INTERNAL_PRESSURE  8.37166 GPS  140308,053137,6020.363,-654.458,37,1.1,42,-7.7
TCM_TEMP  15.40

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2615392.97 SBE_CT89024491.30
Roll_motor23574403.20 SBE_O280319351.06
VBD_pump_during_apogee484141915813.27 WL_BB2F6961051681.11
VBD_pump_during_surface23618336.63 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3810391.43 nil000.00
Iridium_during_connect28160105.22 nil000.00
Iridium_during_xfer166223854.17
Transponder_ping842082.11
Mmodem_TX000.00
Mmodem_RX000.00
GPS16508.14
TT8221819443.59
LPSleep186462412.44
TT8_Active80619161.32
TT8_Sampling2908391169.17
TT8_CF859545275.47
TT8_Kalman338127.57
Analog_circuits223612271.06
GPS_charging000.00
Compass28548230.63
RAFOS000.00

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
20 end surface: CONTROL_FINISHED_OK
state 20 begin dive
23 -1.11 -146.6 0.0 0.0 0 107 0.00 0.00 -81.75 0.000 2 0.000 0.000 43 1890 3417
110 -1.11 -146.6 3.6 -4.0 4 133 12.00 2.55 -4.95 0.000 4 0.153 0.074 2204 500 3643
385 -1.11 -146.6 39.8 -8.3 16 390 0.00 2.40 0.00 0.000 6 0.000 0.035 2204 1903 3644
707 -1.11 -146.6 67.0 -8.2 32 712 0.00 2.55 0.00 0.000 4 0.000 0.061 2204 502 3645
740 -1.11 -146.6 70.2 -9.4 33 747 0.00 2.40 0.00 0.000 6 0.000 0.036 2204 1895 3645
1057 -1.11 -146.6 97.9 -8.4 49 1058 0.00 0.00 0.00 0.000 6 0.000 0.000 2204 1896 3646
1366 -1.11 -146.6 123.1 -8.6 64 1367 0.00 0.00 0.00 0.000 6 0.000 0.000 2204 1895 3645
1677 -1.11 -146.6 150.9 -8.9 79 1679 0.00 0.00 0.00 0.000 6 0.000 0.000 2204 1895 3645
1984 -1.11 -146.6 174.3 -6.8 94 1988 0.00 2.53 0.00 0.000 4 0.000 0.061 2204 503 3646
2084 -1.11 -146.6 181.5 -7.3 98 2090 0.00 2.40 0.00 0.000 6 0.000 0.037 2204 1900 3646
2399 -1.11 -146.6 204.6 -8.0 114 2404 0.00 2.55 0.00 0.000 4 0.000 0.061 2204 498 3646
2427 -1.11 -146.6 207.1 -9.3 115 2431 0.00 2.42 0.00 0.000 6 0.000 0.036 2204 1906 3646
2748 -1.11 -146.6 233.7 -9.2 131 2753 0.00 2.55 0.00 0.000 4 0.000 0.061 2204 503 3646
2781 -1.11 -146.6 236.7 -8.0 132 2787 0.00 2.40 0.00 0.000 6 0.000 0.037 2204 1906 3646
3097 -1.11 -146.6 262.0 -8.1 148 3098 0.00 0.00 0.00 0.000 6 0.000 0.000 2205 1906 3646
3406 -1.11 -146.6 283.9 -6.5 163 3408 0.00 0.00 0.00 0.000 6 0.000 0.000 2204 1906 3646
3716 -1.11 -146.6 306.0 -7.5 178 3720 0.00 2.55 0.00 0.000 4 0.000 0.062 2204 503 3646
3742 -1.11 -146.6 308.4 -8.3 179 3747 0.00 2.40 0.00 0.000 6 0.000 0.037 2204 1905 3646
4058 -1.11 -146.6 331.3 -6.9 194 4063 0.00 2.55 0.00 0.000 4 0.000 0.062 2204 503 3646
4086 -1.11 -146.6 333.3 -7.2 195 4090 0.00 2.40 0.00 0.000 6 0.000 0.036 2204 1900 3646
4402 -1.11 -146.6 351.5 -5.1 210 4406 0.00 2.53 0.00 0.000 4 0.000 0.062 2204 504 3646
4434 -1.11 -146.6 353.3 -5.6 211 4440 0.00 2.40 0.00 0.000 6 0.000 0.037 2204 1901 3646
4750 -1.11 -146.6 372.0 -5.8 227 4754 0.00 2.50 0.00 0.000 4 0.000 0.054 2204 3306 3646
4850 -1.11 -146.6 378.2 -6.5 231 4856 0.00 2.42 0.00 0.000 6 0.000 0.040 2204 1906 3646
5166 -1.11 -146.6 399.6 -7.2 247 5171 0.00 2.50 0.00 0.000 4 0.000 0.051 2204 3308 3646
5278 -1.11 -146.6 410.0 -9.8 252 5283 0.00 2.45 0.00 0.000 6 0.000 0.041 2204 1896 3646
5605 -1.11 -146.6 442.9 -10.8 268 5609 0.00 2.50 0.00 0.000 4 0.000 0.051 2204 3301 3646
5667 -1.11 -146.6 449.1 -9.6 271 5672 0.00 2.42 0.00 0.000 6 0.000 0.041 2204 1893 3646
5994 -1.11 -146.6 472.7 -6.3 287 5998 0.00 2.53 0.00 0.000 4 0.000 0.052 2204 3307 3644
6021 -1.11 -146.6 474.3 -5.4 288 6026 0.00 2.45 0.00 0.000 6 0.000 0.041 2204 1902 3644
6338 -1.11 -146.6 497.8 -8.1 303 6342 0.00 2.47 0.00 0.000 4 0.000 0.052 2204 3301 3643
6370 -1.11 -146.6 500.6 -8.1 304 6376 0.00 2.42 0.00 0.000 6 0.000 0.042 2204 1900 3643
6686 -1.11 -146.6 522.9 -6.8 320 6690 0.00 2.50 0.00 0.000 4 0.000 0.053 2204 3302 3642
6763 -1.11 -146.6 528.7 -7.7 323 6769 0.00 2.45 0.00 0.000 6 0.000 0.044 2204 1894 3642
7081 -1.11 -146.6 550.0 -7.0 339 7085 0.00 2.53 0.00 0.000 4 0.000 0.054 2204 3301 3641
7176 -1.11 -146.6 557.5 -8.3 343 7180 0.00 2.45 0.00 0.000 6 0.000 0.044 2204 1900 3641
7492 -1.11 -146.6 580.7 -7.3 358 7496 0.00 2.50 0.00 0.000 4 0.000 0.055 2204 3300 3640
7580 -1.11 -146.6 588.1 -7.9 362 7585 0.00 2.45 0.00 0.000 6 0.000 0.045 2204 1899 3640
7902 -1.11 -146.6 615.2 -8.6 378 7906 0.00 2.53 0.00 0.000 4 0.000 0.056 2204 3302 3639
8013 -1.11 -146.6 625.9 -9.7 383 8017 0.00 2.45 0.00 0.000 6 0.000 0.047 2204 1893 3638
8340 -1.11 -146.6 656.8 -9.3 399 8344 0.00 2.53 0.00 0.000 4 0.000 0.057 2204 3299 3637
8456 -1.11 -146.6 666.9 -8.0 404 8460 0.00 2.45 0.00 0.000 6 0.000 0.047 2204 1901 3637
8772 -1.11 -146.6 692.5 -8.2 419 8776 0.00 2.53 0.00 0.000 4 0.000 0.058 2204 3303 3636
8838 -1.11 -146.6 698.0 -8.3 422 8842 0.00 2.47 0.00 0.000 6 0.000 0.048 2204 1895 3636
9159 -1.11 -146.6 721.9 -7.4 438 9163 0.00 2.53 0.00 0.000 4 0.000 0.058 2204 3305 3634
9247 -1.11 -146.6 728.8 -7.7 442 9252 0.00 2.50 0.00 0.000 6 0.000 0.048 2204 1897 3634
9570 -1.11 -146.6 751.1 -6.8 458 9574 0.00 2.53 0.00 0.000 4 0.000 0.058 2204 3299 3633
9670 -1.11 -146.6 757.8 -6.9 462 9676 0.00 2.47 0.00 0.000 6 0.000 0.048 2204 1901 3633
9986 -1.11 -146.6 778.6 -6.4 478 9990 0.00 2.53 0.00 0.000 4 0.000 0.058 2204 3299 3632
10086 -1.11 -146.6 784.8 -6.2 482 10092 0.00 2.47 0.00 0.000 6 0.000 0.048 2204 1901 3632
10404 -1.11 -146.6 800.9 -4.9 498 10408 0.00 2.53 0.00 0.000 4 0.000 0.058 2204 3300 3630
10504 -1.11 -146.6 806.8 -5.7 502 10510 0.00 2.47 0.00 0.000 6 0.000 0.049 2204 1901 3630
10820 -1.11 -146.6 822.5 -4.8 518 10824 0.00 2.53 0.00 0.000 4 0.000 0.058 2204 3301 3630
10898 -1.11 -146.6 827.2 -6.0 521 10904 0.00 2.47 0.00 0.000 6 0.000 0.049 2204 1902 3629
11213 -1.11 -146.6 844.2 -5.5 537 11217 0.00 2.50 0.00 0.000 4 0.000 0.058 2204 3298 3629
11311 -1.11 -146.6 850.1 -6.5 541 11315 0.00 2.50 0.00 0.000 6 0.000 0.049 2204 1891 3629
11632 -1.11 -146.6 869.7 -6.7 557 11636 0.00 2.55 0.00 0.000 4 0.000 0.058 2204 3305 3628
11720 -1.11 -146.6 875.6 -6.3 561 11725 0.00 2.50 0.00 0.000 6 0.000 0.049 2204 1895 3628
12042 -1.11 -146.6 898.8 -7.1 577 12046 0.00 2.55 0.00 0.000 4 0.000 0.058 2204 3307 3628
12113 -1.11 -146.6 904.2 -7.3 580 12118 0.00 2.47 0.00 0.000 6 0.000 0.049 2204 1900 3627
12430 -1.11 -146.6 925.4 -6.6 595 12434 0.00 2.53 0.00 0.000 4 0.000 0.059 2204 3305 3628
12537 -1.11 -146.6 933.2 -7.3 600 12541 0.00 2.47 0.00 0.000 6 0.000 0.050 2204 1900 3627
12871 -1.11 -146.6 955.4 -6.6 616 12876 0.00 2.53 0.00 0.000 4 0.000 0.058 2204 3298 3627
12963 -1.11 -146.6 962.0 -7.3 620 12967 0.00 2.50 0.00 0.000 6 0.000 0.050 2204 1893 3627
13286 -1.11 -146.6 985.2 -7.1 636 13290 0.00 2.55 0.00 0.000 4 0.000 0.059 2204 3304 3627
13350 end dive: TARGET_DEPTH_EXCEEDED
state 13350 begin apogee
13358 -0.33 0.0 990.4 6.8 639 13649 0.82 0.00 216.60 1.047 6 0.094 0.000 2374 1997 3045
13650 end apogee: CONTROL_FINISHED_OK
state 13650 begin climb
13653 1.11 146.6 1005.3 0.0 653 13790 1.48 2.70 129.70 1.420 4 0.061 0.072 2690 592 2447
13848 1.11 146.6 998.9 8.1 663 13853 0.00 2.50 0.00 0.000 6 0.000 0.045 2690 2002 2447
14169 1.11 146.6 974.0 7.7 679 14171 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2003 2447
14479 1.11 146.6 948.2 8.9 694 14483 0.00 2.62 0.00 0.000 4 0.000 0.070 2690 595 2446
14540 1.11 146.6 942.4 9.1 697 14545 0.00 2.47 0.00 0.000 6 0.000 0.045 2690 1999 2447
14867 1.11 146.6 914.3 8.5 713 14868 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2000 2446
15176 1.11 146.6 887.8 8.6 728 15177 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2001 2446
15485 1.11 146.6 861.2 8.8 743 15486 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2001 2446
15794 1.11 146.6 832.5 9.4 758 15799 0.00 2.60 0.00 0.000 4 0.000 0.068 2690 595 2446
15879 1.11 146.6 824.3 9.3 762 15884 0.00 2.47 0.00 0.000 6 0.000 0.045 2690 2004 2446
16206 1.11 146.6 795.5 8.6 778 16210 0.00 2.60 0.00 0.000 4 0.000 0.069 2690 592 2446
16268 1.11 146.6 790.2 8.8 781 16272 0.00 2.47 0.00 0.000 6 0.000 0.045 2690 1999 2446
16594 1.11 146.6 762.3 8.7 797 16595 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2000 2446
16903 1.11 146.6 736.3 8.4 812 16904 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2000 2445
17213 1.11 146.6 710.1 8.7 827 17217 0.00 2.60 0.00 0.000 4 0.000 0.069 2690 589 2445
17262 1.11 146.6 705.6 8.7 829 17266 0.00 2.50 0.00 0.000 6 0.000 0.044 2690 2005 2445
17577 1.11 146.6 679.7 8.2 844 17579 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2006 2445
17887 1.11 146.6 654.6 8.1 859 17888 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2006 2445
18196 1.11 146.6 629.2 8.3 874 18200 0.00 2.60 0.00 0.000 4 0.000 0.067 2690 594 2445
18268 1.11 146.6 622.9 8.9 877 18272 0.00 2.47 0.00 0.000 6 0.000 0.044 2690 2007 2445
18584 1.11 150.2 597.3 7.4 892 18598 0.00 2.65 9.68 0.857 4 0.000 0.068 2690 591 2431
18671 1.11 150.2 590.1 9.0 895 18675 0.00 2.47 0.00 0.000 6 0.000 0.044 2690 2000 2426
18993 1.13 161.3 566.1 7.1 911 19031 0.00 0.00 22.45 0.814 6 0.000 0.000 2690 2001 2387
19341 1.13 161.3 538.8 7.6 928 19342 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2001 2387
19651 1.15 177.8 516.8 6.9 943 19713 0.00 2.67 36.58 0.773 4 0.000 0.067 2690 591 2318
19786 1.15 177.8 505.9 8.2 949 19790 0.00 2.50 0.00 0.000 6 0.000 0.044 2690 2005 2317
20106 1.15 177.8 476.7 9.4 965 20111 0.00 2.60 0.00 0.000 4 0.000 0.067 2690 596 2317
20269 1.15 177.8 459.7 10.3 972 20273 0.00 2.47 0.00 0.000 6 0.000 0.044 2690 2008 2317
20584 1.15 177.8 427.5 10.0 987 20589 0.00 2.60 0.00 0.000 4 0.000 0.066 2690 595 2317
20714 1.15 177.8 415.2 9.7 993 20718 0.00 2.47 0.00 0.000 6 0.000 0.043 2690 2006 2317
21040 1.19 212.1 391.2 6.3 1009 21111 0.00 2.67 50.20 0.838 4 0.000 0.065 2690 596 2179
21168 1.20 224.4 382.1 7.1 1015 21199 0.10 2.50 19.08 0.805 6 0.068 0.042 2717 2007 2129
21517 1.20 224.4 355.2 8.0 1032 21521 0.00 2.60 0.00 0.000 4 0.000 0.065 2717 596 2129
21646 1.20 224.4 343.4 9.8 1038 21650 0.00 2.45 0.00 0.000 6 0.000 0.041 2717 1999 2130
21972 1.20 224.4 310.0 10.9 1054 21973 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2001 2130
22281 1.20 224.4 273.0 12.7 1069 22286 0.00 2.58 0.00 0.000 4 0.000 0.063 2717 595 2130
22337 1.20 224.4 265.1 12.8 1071 22343 0.00 2.45 0.00 0.000 6 0.000 0.040 2717 2001 2130
22652 1.20 224.4 222.9 13.1 1087 22657 0.00 2.58 0.00 0.000 4 0.000 0.061 2717 592 2130
22721 1.20 224.4 214.0 14.0 1090 22725 0.00 2.45 0.00 0.000 6 0.000 0.038 2717 2001 2130
23042 1.20 224.4 174.7 11.7 1106 23043 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2001 2132
23351 1.20 224.4 140.1 10.9 1121 23356 0.00 2.58 0.00 0.000 4 0.000 0.061 2717 587 2132
23452 1.20 224.4 129.5 10.5 1125 23458 0.00 2.45 0.00 0.000 6 0.000 0.037 2717 2003 2132
23768 1.20 224.4 101.5 8.8 1141 23769 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2003 2133
24077 1.20 224.4 72.2 9.9 1156 24081 0.00 2.55 0.00 0.000 4 0.000 0.060 2717 595 2134
24132 1.20 224.4 66.1 10.7 1158 24138 0.00 2.42 0.00 0.000 6 0.000 0.037 2717 2006 2134
24448 1.20 224.4 32.7 11.7 1174 24452 0.00 2.55 0.00 0.000 4 0.000 0.060 2717 595 2136
24503 1.20 224.4 25.9 11.7 1176 24509 0.00 2.42 0.00 0.000 6 0.000 0.037 2717 2016 2136
24734 end climb: SURFACE_DEPTH_REACHED
state 24734 begin surface coast
24756 end surface coast: CONTROL_FINISHED_OK
state 24756 begin surface