OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 131 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  144 HD_C  1.0513e-05 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0
MISSION  13 HEADING  -1 PITCH_ADJ_GAIN  0.039999999 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  131 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  160 ALTIM_TOP_MIN_OBSTACLE  1
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3940 ALTIM_PING_DEPTH  0
D_TGT  990 TGT_DEFAULT_LAT  4736 ROLL_DEG  40 ALTIM_PING_DELTA  10
D_ABORT  1090 TGT_DEFAULT_LON  -12218 C_ROLL_DIVE  1900 ALTIM_FREQUENCY  13
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2100 ALTIM_PULSE  3
D_FINISH  0 SM_CC  400 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
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  33 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  33 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  400 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  1 DEVICE1  2
T_DIVE  412.5 N_NOSURFACE  0 ROLL_ADJ_GAIN  0 DEVICE2  20
T_MISSION  450 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0 DEVICE3  53
T_ABORT  1440 CALL_TRIES  5 VBD_MIN  480 DEVICE4  35
T_TURN  225 CALL_WAIT  60 VBD_MAX  3950 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  2931 DEVICE6  -1
T_NO_W  120 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  -1 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  10 VBD_TIMEOUT  720 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.0012300001 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  5 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -38569.168 VBD_PUMP_AD_RATE_APOGEE  4 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  2 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  45 PITCH_MIN  500 AH0_24V  91.800003 SEABIRD_T_G  0.0043142079
SPEED_FACTOR  1 PITCH_MAX  3812 AH0_10V  61.200001 SEABIRD_T_H  0.00062953553
RHO  1.023 C_PITCH  2728 PRESSURE_YINT  -2.1256177 SEABIRD_T_I  2.3274781e-05
MASS  51458 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.00011159377 SEABIRD_T_J  2.4096155e-06
NAV_MODE  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -10.012566
FERRY_MAX  45 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1222577
KALMAN_USE  1 PITCH_GAIN  15 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0011971687
HD_A  0.0044757999 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_J  0.000188736
HD_B  0.0099689998 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  001231,5020.351,-14512.205,117,1.8,117,18.5 TGT_NAME  SW
_CALLS  1 TGT_LATLONG  4954.011,-14511.944
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.004,-0.249
_SM_DEPTHo  1.73 KALMAN_X  6355.3,-9.3,29.8,-23041.5,115.8
_SM_ANGLEo  -58.8 KALMAN_Y  98473.8,-151.4,-224.9,-61314.6,1486.0
GPS2  001814,5020.372,-14512.142,71,1.7,78,18.5 MHEAD_RNG_PITCHd_Wd  162.4,48821,-14.9,-8.000
SPEED_LIMITS  0.080,0.243 D_GRID  1001

Post-dive calculations and measurements:
FINISH  1.0,1.023661 XPDR_PINGS  99
SM_CCo  23498,72.78,0.664,0,0,1299,400.08 _24V_AH  23.4,27.848
SM_GC  1.82,0.00,0.00,72.78,0.000,0.000,0.664,494,1893,1299,-10.28,-0.20,400.08 _10V_AH  10.2,14.045
IRIDIUM_FIX  4959.75,-14510.41,061097,171741 DATA_FILE_SIZE  37964,619
TT8_MAMPS  0.029146 CAP_FILE_SIZE  151539,0
HUMID  1764 CFSIZE  260165632,249823232
INTERNAL_PRESSURE  7.65654 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  13.90 GPS  130708,065357,5017.845,-14511.849,62,2.9,81,18.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2516698.83 SBE_CT43924246.73
Roll_motor212131652.10 SBE_O250319223.76
VBD_pump_during_apogee400135912742.07 Optode64133495.51
VBD_pump_during_surface726641131.13 WL_BB2F376105926.23
VBD_valve000.00 nil000.00
Iridium_during_init2910372.13 nil000.00
Iridium_during_connect2416093.19 nil000.00
Iridium_during_xfer130223681.48
Transponder_ping24420243.24
Mmodem_TX000.00
Mmodem_RX000.00
GPS785040.01
TT8139819282.51
LPSleep196372438.66
TT8_Active63319127.86
TT8_Sampling184339748.57
TT8_CF840345188.58
TT8_Kalman338127.85
Analog_circuits163612200.34
GPS_charging000.00
Compass17588143.45
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
18 end surface: CONTROL_FINISHED_OK
state 18 begin dive
20 -1.18 -146.6 0.0 0.0 0 94 0.00 0.00 -72.40 0.000 2 0.000 0.000 492 1893 2788
97 -1.18 -146.6 3.2 -3.8 7 134 10.55 2.40 -21.23 0.000 4 0.166 0.061 2466 3309 3530
314 -1.18 -146.6 29.2 -11.3 26 318 0.00 2.35 0.00 0.000 6 0.000 0.041 2466 1898 3532
640 -1.09 -146.6 67.5 -11.5 56 644 0.12 2.40 0.00 0.000 4 0.115 0.056 2490 499 3533
690 -1.09 -146.6 73.3 -11.4 60 694 0.00 2.33 0.00 0.000 6 0.000 0.035 2490 1904 3534
1006 -1.09 -146.6 106.0 -10.2 78 1010 0.00 2.38 0.00 0.000 4 0.000 0.045 2490 3303 3534
1032 -1.14 -146.6 108.8 -10.3 79 1036 0.00 2.35 0.00 0.000 6 0.000 0.038 2490 1891 3534
1354 -1.22 -146.6 138.3 -8.3 95 1359 0.12 2.40 0.00 0.000 4 0.072 0.055 2456 497 3534
1402 -1.22 -146.6 143.3 -10.3 97 1407 0.00 2.35 0.00 0.000 6 0.000 0.038 2456 1891 3534
1742 -1.22 -146.6 173.8 -9.0 110 1746 0.00 2.40 0.00 0.000 4 0.000 0.061 2456 498 3534
1781 -1.22 -146.6 177.6 -9.9 111 1785 0.00 2.33 0.00 0.000 6 0.000 0.036 2456 1901 3534
2109 -1.22 -146.6 207.6 -9.2 122 2110 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 1904 3534
2415 -1.22 -146.6 236.9 -9.5 132 2419 0.00 2.42 0.00 0.000 4 0.000 0.054 2456 499 3533
2464 -1.22 -146.6 241.9 -10.4 133 2468 0.00 2.35 0.00 0.000 6 0.000 0.037 2456 1896 3533
2781 -1.22 -146.6 271.8 -9.2 144 2786 0.00 2.42 0.00 0.000 4 0.000 0.058 2456 496 3533
2830 -1.22 -146.6 276.6 -10.0 145 2835 0.00 2.38 0.00 0.000 6 0.000 0.038 2456 1903 3533
3179 -1.22 -146.6 307.7 -8.8 156 3180 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 1906 3532
3481 -1.22 -146.6 333.3 -8.5 161 3485 0.00 2.42 0.00 0.000 4 0.000 0.061 2456 498 3532
3525 -1.22 -146.6 337.6 -9.6 161 3529 0.00 2.35 0.00 0.000 6 0.000 0.043 2456 1895 3531
3851 -1.22 -146.6 366.8 -9.1 167 3855 0.00 2.42 0.00 0.000 4 0.000 0.058 2456 497 3531
3918 -1.22 -146.6 373.6 -10.5 168 3922 0.00 2.33 0.00 0.000 6 0.000 0.038 2456 1901 3531
4276 -1.22 -146.6 406.6 -9.1 174 4281 0.00 2.42 0.00 0.000 4 0.000 0.061 2456 499 3531
4303 -1.22 -146.6 409.2 -9.6 174 4307 0.00 2.35 0.00 0.000 6 0.000 0.043 2456 1898 3531
4641 -1.22 -146.6 438.2 -8.5 180 4645 0.00 2.42 0.00 0.000 4 0.000 0.061 2456 497 3530
4689 -1.22 -146.6 442.9 -9.6 180 4694 0.00 2.35 0.00 0.000 6 0.000 0.039 2456 1894 3530
5004 -1.22 -146.6 469.5 -8.4 186 5005 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 1897 3530
5307 -1.22 -146.6 494.6 -8.3 191 5309 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 1897 3529
5611 -1.22 -146.6 519.5 -8.2 196 5614 0.00 2.40 0.00 0.000 4 0.000 0.055 2456 498 3529
5678 -1.22 -146.6 525.4 -8.8 197 5682 0.00 2.33 0.00 0.000 6 0.000 0.044 2456 1900 3529
6042 -1.22 -146.6 554.5 -8.0 203 6046 0.00 2.42 0.00 0.000 4 0.000 0.058 2456 496 3529
6091 -1.22 -146.6 558.8 -8.7 203 6096 0.00 2.35 0.00 0.000 6 0.000 0.037 2456 1894 3529
6407 -1.22 -146.6 582.8 -7.6 209 6411 0.00 2.42 0.00 0.000 4 0.000 0.058 2456 492 3528
6433 -1.22 -146.6 585.2 -9.3 209 6438 0.00 2.38 0.00 0.000 6 0.000 0.039 2456 1900 3529
6771 -1.22 -146.6 609.7 -7.3 215 6775 0.00 2.42 0.00 0.000 4 0.000 0.054 2456 495 3528
6814 -1.22 -146.6 613.2 -8.9 215 6818 0.00 2.35 0.00 0.000 6 0.000 0.038 2456 1906 3528
7135 -1.26 -146.6 636.8 -7.4 221 7136 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 1909 3528
7438 -1.30 -146.6 659.5 -7.5 226 7442 0.00 2.45 0.00 0.000 4 0.000 0.061 2456 492 3528
7499 -1.30 -146.6 664.7 -8.7 227 7503 0.00 2.35 0.00 0.000 6 0.000 0.038 2456 1904 3528
7864 -1.34 -146.6 693.3 -7.9 233 7867 0.00 2.42 0.00 0.000 4 0.000 0.063 2456 499 3527
7924 -1.34 -146.6 698.5 -8.7 233 7930 0.00 2.35 0.00 0.000 6 0.000 0.044 2456 1909 3527
8234 -1.39 -146.6 722.1 -7.6 239 8239 0.15 2.45 0.00 0.000 4 0.071 0.055 2413 494 3527
8277 -1.29 -146.6 726.4 -10.3 239 8282 0.15 2.35 0.00 0.000 6 0.116 0.043 2443 1913 3527
8597 -1.29 -146.6 753.1 -8.3 245 8601 0.00 2.45 0.00 0.000 4 0.000 0.058 2443 498 3527
8673 -1.29 -146.6 760.2 -9.4 246 8678 0.00 2.35 0.00 0.000 6 0.000 0.039 2443 1897 3527
9028 -1.29 -146.6 788.7 -8.0 252 9032 0.00 2.42 0.00 0.000 4 0.000 0.064 2443 501 3527
9065 -1.29 -146.6 792.2 -9.3 252 9070 0.00 2.35 0.00 0.000 6 0.000 0.042 2443 1892 3527
9391 -1.29 -146.6 818.8 -8.2 258 9392 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1895 3526
9694 -1.29 -146.6 843.4 -8.1 263 9698 0.00 2.40 0.00 0.000 4 0.000 0.066 2442 501 3526
9732 -1.29 -146.6 846.7 -9.3 263 9737 0.00 2.35 0.00 0.000 6 0.000 0.038 2443 1892 3526
10064 -1.29 -146.6 871.7 -7.5 269 10065 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1892 3526
10367 -1.29 -146.6 894.1 -7.3 274 10368 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1892 3525
10670 -1.29 -146.6 916.9 -7.4 279 10675 0.00 2.45 0.00 0.000 4 0.000 0.072 2442 503 3525
10696 -1.29 -146.6 919.0 -8.7 279 10701 0.00 2.35 0.00 0.000 6 0.000 0.046 2443 1887 3525
11034 -1.29 -146.6 943.5 -7.3 285 11035 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1887 3525
11337 -1.29 -146.6 964.8 -7.0 290 11341 0.00 2.50 0.00 0.000 4 0.000 0.080 2443 500 3525
11374 -1.29 -146.6 967.7 -8.0 290 11379 0.00 2.40 0.00 0.000 6 0.000 0.055 2443 1895 3525
11706 -1.29 -146.6 988.8 -6.3 296 11707 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1895 3524
11765 end dive: TARGET_DEPTH_EXCEEDED
state 11765 begin apogee
11770 -0.33 0.0 992.5 6.2 297 11900 0.98 0.00 126.85 1.359 6 0.099 0.000 2650 2096 2931
11901 end apogee: CONTROL_FINISHED_OK
state 11901 begin climb
11903 1.18 146.6 994.1 0.0 299 12037 1.48 2.67 125.07 1.328 4 0.071 0.085 2982 3515 2332
12109 0.98 146.6 977.5 11.1 302 12114 0.20 2.50 0.00 0.000 6 0.117 0.064 2944 2109 2327
12458 0.92 146.6 945.2 9.2 308 12462 0.00 2.55 0.00 0.000 4 0.000 0.074 2944 683 2325
12473 0.84 146.6 943.8 9.0 308 12478 0.17 2.45 0.00 0.000 6 0.114 0.046 2910 2114 2325
12821 0.84 149.5 916.0 7.9 314 12825 0.00 2.53 0.00 0.000 4 0.000 0.065 2910 685 2325
12842 0.84 149.5 914.2 8.2 314 12847 0.00 2.42 0.00 0.000 6 0.000 0.042 2910 2101 2325
13186 0.86 159.1 887.8 7.7 320 13198 0.00 0.00 11.07 1.156 6 0.000 0.000 2910 2101 2282
13488 0.89 184.2 866.1 7.1 325 13518 0.00 2.53 23.67 1.221 4 0.000 0.058 2910 3501 2180
13529 0.92 213.9 863.0 7.0 325 13564 0.00 2.42 27.88 1.213 6 0.000 0.040 2910 2083 2059
13920 1.02 237.5 834.8 7.2 332 13944 0.17 0.00 21.70 1.192 6 0.068 0.000 2954 2083 1962
14221 1.02 237.5 807.4 9.2 337 14222 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2083 1957
14524 1.02 237.5 780.1 9.0 342 14525 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 2083 1956
14827 1.02 237.5 752.6 9.1 347 14832 0.00 2.40 0.00 0.000 4 0.000 0.056 2954 695 1955
14843 0.98 237.5 751.1 9.2 347 14847 0.00 2.38 0.00 0.000 6 0.000 0.042 2954 2104 1955
15193 0.98 237.5 719.1 9.3 353 15197 0.00 2.45 0.00 0.000 4 0.000 0.058 2954 695 1954
15208 0.93 237.5 717.3 9.6 353 15213 0.12 2.38 0.00 0.000 6 0.118 0.041 2931 2105 1954
15556 0.93 237.5 688.5 8.2 359 15560 0.00 2.45 0.00 0.000 4 0.000 0.060 2931 693 1954
15577 0.93 237.5 686.4 9.4 359 15582 0.00 2.40 0.00 0.000 6 0.000 0.045 2930 2104 1953
15927 0.93 237.5 657.8 8.2 365 15928 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 2106 1953
16230 0.97 237.5 632.9 8.2 370 16234 0.00 2.45 0.00 0.000 4 0.000 0.054 2931 694 1954
16250 0.97 237.5 631.0 8.4 370 16254 0.00 2.40 0.00 0.000 6 0.000 0.040 2931 2104 1954
16593 1.01 237.5 601.8 8.6 376 16594 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 2106 1953
16896 1.06 237.5 576.4 8.4 381 16898 0.12 0.00 0.00 0.000 6 0.076 0.000 2963 2107 1953
17200 1.02 237.5 547.6 9.6 386 17204 0.00 2.45 0.00 0.000 4 0.000 0.058 2964 691 1953
17237 0.95 237.5 543.8 9.5 386 17242 0.12 2.38 0.00 0.000 6 0.117 0.039 2938 2105 1953
17562 0.95 237.5 516.7 8.4 392 17564 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 2107 1953
17866 0.95 237.5 491.4 8.3 397 17870 0.00 2.42 0.00 0.000 4 0.000 0.057 2938 694 1953
17892 0.95 237.5 488.9 9.6 397 17897 0.00 2.38 0.00 0.000 6 0.000 0.039 2938 2097 1953
18235 0.95 237.5 460.0 8.5 403 18239 0.00 2.42 0.00 0.000 4 0.000 0.057 2938 694 1952
18250 0.95 237.5 458.7 8.8 403 18254 0.00 2.40 0.00 0.000 6 0.000 0.041 2938 2111 1952
18599 0.95 237.5 428.9 8.5 409 18603 0.00 2.45 0.00 0.000 4 0.000 0.056 2938 691 1953
18619 0.95 237.5 426.9 8.3 409 18624 0.00 2.35 0.00 0.000 6 0.000 0.044 2938 2099 1952
18962 0.95 237.5 397.4 8.5 415 18963 0.00 0.00 0.00 0.000 6 0.000 0.000 2938 2102 1953
19266 1.00 238.6 373.0 8.0 420 19270 0.00 2.42 0.00 0.000 4 0.000 0.058 2938 693 1952
19297 1.00 238.6 370.2 8.4 420 19302 0.00 2.38 0.00 0.000 6 0.000 0.039 2938 2110 1952
19630 1.07 255.9 345.7 7.4 426 19651 0.00 2.50 15.90 0.883 4 0.000 0.054 2938 686 1886
19667 1.13 273.8 342.8 7.4 426 19690 0.15 2.40 16.85 0.866 6 0.073 0.037 2975 2106 1815
19991 1.13 273.8 312.1 9.6 432 19995 0.00 2.45 0.00 0.000 4 0.000 0.059 2975 688 1810
20011 1.09 273.8 309.9 9.3 432 20016 0.00 2.38 0.00 0.000 6 0.000 0.043 2975 2102 1809
20326 1.09 273.8 278.1 10.3 441 20331 0.00 2.42 0.00 0.000 4 0.000 0.052 2975 694 1810
20354 1.09 273.8 274.9 11.0 442 20358 0.00 2.38 0.00 0.000 6 0.000 0.043 2975 2107 1809
20687 1.09 273.8 241.4 9.9 453 20688 0.00 0.00 0.00 0.000 6 0.000 0.000 2975 2107 1809
20994 1.09 273.8 212.6 9.2 463 20998 0.00 2.45 0.00 0.000 4 0.000 0.057 2975 686 1808
21026 1.09 273.8 209.3 10.5 464 21030 0.00 2.38 0.00 0.000 6 0.000 0.044 2975 2107 1809
21360 1.09 273.8 177.9 9.6 475 21362 0.00 0.00 0.00 0.000 6 0.000 0.000 2975 2108 1808
21667 1.09 273.8 148.9 9.4 485 21671 0.00 2.38 0.00 0.000 4 0.000 0.054 2975 3501 1808
21687 1.09 273.8 146.7 10.0 486 21692 0.00 2.35 0.00 0.000 6 0.000 0.034 2975 2097 1808
22014 1.09 273.8 114.2 9.5 502 22019 0.00 2.38 0.00 0.000 4 0.000 0.056 2975 699 1808
22036 1.09 273.8 112.0 9.4 503 22040 0.00 2.38 0.00 0.000 6 0.000 0.042 2975 2120 1808
22363 1.14 273.8 85.7 8.2 519 22367 0.00 2.45 0.00 0.000 4 0.000 0.059 2975 697 1807
22418 1.14 273.8 81.0 8.5 521 22422 0.00 2.38 0.00 0.000 6 0.000 0.038 2975 2100 1808
22749 1.25 308.2 57.7 6.8 551 22786 0.10 2.53 29.60 0.716 4 0.079 0.052 3003 696 1673
22803 1.25 308.2 53.3 9.6 556 22807 0.00 2.38 0.00 0.000 6 0.000 0.042 3003 2098 1671
23128 1.25 309.9 26.2 7.9 586 23129 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2101 1667
23448 1.32 329.2 2.2 7.3 616 23452 0.00 0.00 2.05 0.161 2 0.000 0.000 3003 2101 1659
23452 end climb: SURFACE_DEPTH_REACHED
state 23452 begin surface coast
23480 end surface coast: CONTROL_FINISHED_OK
state 23480 begin surface