Glider dive log

PortSusan 15Jan08 * SG140 * Dive index * Mission links * Dive 120 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 140 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 120 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 157 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DEPTH 0

D_TGT 150 TGT_DEFAULT_LAT 4736 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 200 TGT_DEFAULT_LON -12218 C_ROLL_DIVE 2048 ALTIM_FREQUENCY 13

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2048 ALTIM_PULSE 3

D_FINISH 0 SM_CC 500 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 16 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 520 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3978 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3457 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 1

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 32

T_WATCHDOG 10 T_GPS_CHARGE -5056.8223 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 145 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 20 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 592 AH0_24V 91.800003 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3894 AH0_10V 61.200001 SEABIRD_T_H 0.0006414231

RHO 1.023 C_PITCH 2990 PRESSURE_YINT -0.40656364 SEABIRD_T_I 2.3931538e-05

MASS 51445 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 1 SEABIRD_C_G -10.258962

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 1 PITCH_GAIN 14.2 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00031207138

HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 1 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 500 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14.2 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3894 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 592 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 150 PITCH_TIMEOUT 15 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 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -0.40656364 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -5056.8223

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 140 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2990 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2048 KALMAN_USE 1 ROLL_MIN 157 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2048 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -4

C_VBD 3457 MASS 51445 R_PORT_OVSHOOT 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 145 R_STBD_OVSHOOT 16 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.258962 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_DBAND 2

DEVICE2 -1 NAV_MODE 2 SEABIRD_C_I -0.0037964056 VBD_MAX 3978

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 20

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 520

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 120 PHONE_DEVICE 32 SEABIRD_T_J 2.340664e-06 VBD_TIMEOUT 720

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 140138,4806.529,-12222.544,26,1.1,26,18.0 TGT_NAME SEVEN_nb

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 50.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.168,0.193

_SM_DEPTHo 0.00 KALMAN_X 25664.5,-3758.9,-322.4,-21477.4,155.5

_SM_ANGLEo -51.3 KALMAN_Y -36094.9,974.4,96.6,35280.2,-101.5

GPS2 140402,4806.553,-12222.568,36,1.1,36,18.0 MHEAD_RNG_PITCHd_Wd 332.0,985,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 105

Post-dive calculations and measurements:

FINISH 0.0,0.998359 _24V_AH 23.5,13.877

SM_CCo 1856,0.00,0.000,0,0,1206,551.92 _10V_AH 9.8,3.776

SM_GC 0.00,12.88,0.00,0.00,0.043,0.000,0.000,590,2041,1206,-10.98,-0.20,551.92 DATA_FILE_SIZE 9584,327

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 31601,0

TT8_MAMPS 0.027612 CFSIZE 260165632,256442368

HUMID 1738 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,114,0

INTERNAL_PRESSURE 14.1802 CURRENT 0.196,308.7,1

TCM_TEMP 15.00 GPS 170108,143650,4806.678,-12222.803,29,1.1,29,18.0

XPDR_PINGS 52

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 54 32.44 SBE_CT 234 24 131.99

Roll_motor 10 74 19.10 nil 0 0 0.00

VBD_pump_during_apogee 109 651 1681.40 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 43 223 229.42

Transponder_ping 13 420 128.31

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.00

TT8 326 19 63.38

LPSleep 579 2 12.43

TT8_Active 702 19 136.22

TT8_Sampling 309 39 120.85

TT8_CF8 99 45 44.46

TT8_Kalman 33 81 26.70

Analog_circuits 979 12 115.23

GPS_charging 0 0 0.00

Compass 264 26 67.30

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -1.43 -141.7 0.0 0.0 0 118 0.00 0.00 -95.40 0.000 2 0.000 0.000 586 2048 2028

120 -1.43 -141.7 3.5 -9.2 19 716 9.32 0.00 -574.38 0.000 2 0.040 0.000 2684 2048 2234

716 end dive: TARGET_DEPTH_EXCEEDED

state 716 begin apogee

720 -0.35 0.0 105.6 17.2 137 725 1.00 0.00 0.00 0.000 6 0.041 0.000 2919 2051 2233

726 end apogee: CONTROL_FINISHED_OK

state 726 begin climb

728 1.43 141.7 107.5 0.0 138 734 1.65 2.80 0.00 0.000 4 0.041 0.074 3303 3460 2233

986 1.43 141.7 93.9 19.1 184 992 0.00 2.67 0.00 0.000 6 0.000 0.058 3303 2043 2233

1126 1.43 141.7 65.2 19.4 209 1130 0.00 0.00 0.00 0.000 6 0.000 0.000 3303 2043 2234

1265 1.43 141.7 40.0 18.4 234 1270 0.00 2.78 0.00 0.000 4 0.000 0.072 3303 3466 2233

1522 1.71 373.2 2.9 -1.0 280 1560 0.28 2.67 31.15 0.650 6 0.052 0.057 3368 2041 1934

1627 1.95 570.1 3.6 0.6 299 1709 0.22 0.00 78.72 0.651 2 0.054 0.000 3422 2042 1213

1710 end climb: SURFACE_DEPTH_REACHED

state 1710 begin surface coast

1776 end surface coast: CONTROL_FINISHED_OK

state 1777 begin surface

ID	140	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	120	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	157	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DEPTH	0
D_TGT	150	TGT_DEFAULT_LAT	4736	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	200	TGT_DEFAULT_LON	-12218	C_ROLL_DIVE	2048	ALTIM_FREQUENCY	13
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2048	ALTIM_PULSE	3
D_FINISH	0	SM_CC	500	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	16	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	520	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3978	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3457	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	1
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	32
T_WATCHDOG	10	T_GPS_CHARGE	-5056.8223	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	145	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	20	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	592	AH0_24V	91.800003	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3894	AH0_10V	61.200001	SEABIRD_T_H	0.0006414231
RHO	1.023	C_PITCH	2990	PRESSURE_YINT	-0.40656364	SEABIRD_T_I	2.3931538e-05
MASS	51445	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	1	SEABIRD_C_G	-10.258962
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	1	PITCH_GAIN	14.2	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00031207138
HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	140138,4806.529,-12222.544,26,1.1,26,18.0	TGT_NAME	SEVEN_nb
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	50.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.168,0.193
_SM_DEPTHo	0.00	KALMAN_X	25664.5,-3758.9,-322.4,-21477.4,155.5
_SM_ANGLEo	-51.3	KALMAN_Y	-36094.9,974.4,96.6,35280.2,-101.5
GPS2	140402,4806.553,-12222.568,36,1.1,36,18.0	MHEAD_RNG_PITCHd_Wd	332.0,985,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	105

FINISH	0.0,0.998359	_24V_AH	23.5,13.877
SM_CCo	1856,0.00,0.000,0,0,1206,551.92	_10V_AH	9.8,3.776
SM_GC	0.00,12.88,0.00,0.00,0.043,0.000,0.000,590,2041,1206,-10.98,-0.20,551.92	DATA_FILE_SIZE	9584,327
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	31601,0
TT8_MAMPS	0.027612	CFSIZE	260165632,256442368
HUMID	1738	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,114,0
INTERNAL_PRESSURE	14.1802	CURRENT	0.196,308.7,1
TCM_TEMP	15.00	GPS	170108,143650,4806.678,-12222.803,29,1.1,29,18.0
XPDR_PINGS	52

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	54	32.44	SBE_CT	234	24	131.99
Roll_motor	10	74	19.10	nil	0	0	0.00
VBD_pump_during_apogee	109	651	1681.40	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	43	223	229.42
Transponder_ping	13	420	128.31
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.00
TT8	326	19	63.38
LPSleep	579	2	12.43
TT8_Active	702	19	136.22
TT8_Sampling	309	39	120.85
TT8_CF8	99	45	44.46
TT8_Kalman	33	81	26.70
Analog_circuits	979	12	115.23
GPS_charging	0	0	0.00
Compass	264	26	67.30
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-1.43	-141.7	0.0	0.0	0	118	0.00	0.00	-95.40	0.000	2	0.000	0.000	586	2048	2028
120	-1.43	-141.7	3.5	-9.2	19	716	9.32	0.00	-574.38	0.000	2	0.040	0.000	2684	2048	2234
716	end dive: TARGET_DEPTH_EXCEEDED
state	716	begin apogee
720	-0.35	0.0	105.6	17.2	137	725	1.00	0.00	0.00	0.000	6	0.041	0.000	2919	2051	2233
726	end apogee: CONTROL_FINISHED_OK
state	726	begin climb
728	1.43	141.7	107.5	0.0	138	734	1.65	2.80	0.00	0.000	4	0.041	0.074	3303	3460	2233
986	1.43	141.7	93.9	19.1	184	992	0.00	2.67	0.00	0.000	6	0.000	0.058	3303	2043	2233
1126	1.43	141.7	65.2	19.4	209	1130	0.00	0.00	0.00	0.000	6	0.000	0.000	3303	2043	2234
1265	1.43	141.7	40.0	18.4	234	1270	0.00	2.78	0.00	0.000	4	0.000	0.072	3303	3466	2233
1522	1.71	373.2	2.9	-1.0	280	1560	0.28	2.67	31.15	0.650	6	0.052	0.057	3368	2041	1934
1627	1.95	570.1	3.6	0.6	299	1709	0.22	0.00	78.72	0.651	2	0.054	0.000	3422	2042	1213
1710	end climb: SURFACE_DEPTH_REACHED
state	1710	begin surface coast
1776	end surface coast: CONTROL_FINISHED_OK
state	1777	begin surface