Glider dive log

PN07 DabobBay Sep07 * SG023 * Dive index * Mission links * Dive 151 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 23 HD_B 0.0123087 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 3.5261501e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 151 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 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 1825 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1600 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 1

D_PITCH 0 SM_CC 350 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 43 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 3

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 30 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 580 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 120 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 720 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -28763.338 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 19

MAX_BUOY 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 370 AH0_24V 91.800003 SEABIRD_T_G 0.0043036696

SPEED_FACTOR 1 PITCH_MAX 3518 AH0_10V 61.200001 SEABIRD_T_H 0.00062677584

RHO 1.023 C_PITCH 2610 PRESSURE_YINT -24.5345 SEABIRD_T_I 2.2664151e-05

MASS 51702 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.2667414e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.310682

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1615626

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0017275931

HD_A 0.0030006149 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 15 SEABIRD_C_J 0.00021877716

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 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3518 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 D_SURF 5 PITCH_MIN 370 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -24.5345 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 16 RAFOS_HIT_WINDOW 3600 T_DIVE 30

CALL_TRIES 5 HD_A 0.0030006149 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0123087 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 3.5261501e-06 RHO 1.023 T_GPS_CHARGE -28763.338

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 23 ROLL_MAX 3567 T_TURN_SAMPINT 6

C_PITCH 2610 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1600 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 1825 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51702 R_PORT_OVSHOOT 17 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 43 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.310682 VBD_BLEED_AD_RATE 10

DEVICE1 2 MOTHERBOARD 3 SEABIRD_C_H 1.1615626 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0017275931 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00021877716 VBD_MAX 3994

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043036696 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062677584 VBD_MIN 580

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2664151e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 151 PHONE_DEVICE 48 SEABIRD_T_J 2.2667414e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 19

Pre-dive calculations and measurements:

GPS1 223727,4739.472,-12252.608,8,1.9,8,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.198,0.034

_SM_DEPTHo 1.12 KALMAN_X 9300.1,126.4,-39.8,-8977.4,-66.0

_SM_ANGLEo -73.4 KALMAN_Y 8307.1,212.1,71.6,-9204.9,-44.1

GPS2 224126,4739.449,-12252.617,13,1.3,13,18.3 MHEAD_RNG_PITCHd_Wd 261.6,731,-25.7,-11.111

SPEED_LIMITS 0.192,0.201 D_GRID 124

Post-dive calculations and measurements:

FINISH 1.0,1.021124 ALTIM_BOTTOM_PING 85.6,32.7

SM_CCo 1945,124.60,0.640,1,0,2056,350.04 _24V_AH 24.0,13.438

SM_GC 1.13,0.00,0.00,124.60,0.000,0.000,0.640,368,1824,2056,-10.31,-0.06,350.04 _10V_AH 10.2,5.475

IRIDIUM_FIX 4722.92,-12256.21,260907,010116 DATA_FILE_SIZE 3298,180

TT8_MAMPS 0.026845 CFSIZE 260034560,253841408

HUMID 2149 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.80 GPS 250907,231825,4739.360,-12252.678,37,1.3,37,18.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 148 92.94 SBE_CT 120 24 69.38

Roll_motor 25 55 34.33 nil 0 0 0.00

VBD_pump_during_apogee 150 733 2640.59 nil 0 0 0.00

VBD_pump_during_surface 124 640 1915.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 98.93 nil 0 0 0.00

Iridium_during_connect 31 160 120.82 ARS 0 0 0.00

Iridium_during_xfer 92 223 496.08

Transponder_ping 1 420 10.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 93 14.15

TT8 352 19 71.25

LPSleep 1009 2 22.55

TT8_Active 369 19 74.61

TT8_Sampling 377 39 153.29

TT8_CF8 235 45 110.14

TT8_Kalman 33 81 27.81

Analog_circuits 595 12 72.89

GPS_charging 0 0 0.00

Compass 371 8 30.34

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

20 -1.71 -97.8 0.0 0.0 0 71 0.00 0.00 -49.47 0.000 2 0.000 0.000 370 1841 3113

74 -1.71 -97.8 2.0 -4.1 8 129 10.48 2.58 -34.60 0.000 4 0.149 0.056 2234 3218 3884

379 -1.71 -97.8 24.5 -8.9 51 386 0.00 2.55 0.00 0.000 6 0.000 0.035 2234 1829 3886

575 -1.71 -97.8 40.5 -8.4 67 579 0.00 2.55 0.00 0.000 4 0.000 0.044 2234 3217 3887

832 -1.71 -97.8 64.9 -9.6 86 836 0.00 2.53 0.00 0.000 6 0.000 0.038 2234 1826 3888

1034 -1.71 -97.8 84.9 -10.1 102 1039 0.00 2.75 0.00 0.000 4 0.000 0.055 2234 406 3888

1183 end dive: TARGET_DEPTH_EXCEEDED

state 1183 begin apogee

1189 -0.31 0.0 100.4 10.0 113 1270 1.55 0.00 76.20 0.733 6 0.111 0.000 2537 1599 3483

1271 end apogee: CONTROL_FINISHED_OK

state 1271 begin climb

1273 1.71 97.8 102.4 0.0 120 1358 2.05 2.75 73.85 0.723 4 0.066 0.039 2979 3004 3084

1609 1.71 97.8 50.4 16.4 146 1613 0.00 2.72 0.00 0.000 6 0.000 0.047 2979 1591 3083

1805 1.71 97.8 17.2 17.1 162 1812 0.00 2.67 0.00 0.000 4 0.000 0.039 2979 3007 3083

1889 end climb: SURFACE_DEPTH_REACHED

state 1889 begin surface coast

1923 end surface coast: CONTROL_FINISHED_OK

state 1923 begin surface

ID	23	HD_B	0.0123087	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	3.5261501e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	151	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	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	1825	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1600	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	1
D_PITCH	0	SM_CC	350	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	43	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	3
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	30	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	580	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	120	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	720	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-28763.338	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	19
MAX_BUOY	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	370	AH0_24V	91.800003	SEABIRD_T_G	0.0043036696
SPEED_FACTOR	1	PITCH_MAX	3518	AH0_10V	61.200001	SEABIRD_T_H	0.00062677584
RHO	1.023	C_PITCH	2610	PRESSURE_YINT	-24.5345	SEABIRD_T_I	2.2664151e-05
MASS	51702	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.2667414e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.310682
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1615626
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0017275931
HD_A	0.0030006149	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	15	SEABIRD_C_J	0.00021877716

GPS1	223727,4739.472,-12252.608,8,1.9,8,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.198,0.034
_SM_DEPTHo	1.12	KALMAN_X	9300.1,126.4,-39.8,-8977.4,-66.0
_SM_ANGLEo	-73.4	KALMAN_Y	8307.1,212.1,71.6,-9204.9,-44.1
GPS2	224126,4739.449,-12252.617,13,1.3,13,18.3	MHEAD_RNG_PITCHd_Wd	261.6,731,-25.7,-11.111
SPEED_LIMITS	0.192,0.201	D_GRID	124

FINISH	1.0,1.021124	ALTIM_BOTTOM_PING	85.6,32.7
SM_CCo	1945,124.60,0.640,1,0,2056,350.04	_24V_AH	24.0,13.438
SM_GC	1.13,0.00,0.00,124.60,0.000,0.000,0.640,368,1824,2056,-10.31,-0.06,350.04	_10V_AH	10.2,5.475
IRIDIUM_FIX	4722.92,-12256.21,260907,010116	DATA_FILE_SIZE	3298,180
TT8_MAMPS	0.026845	CFSIZE	260034560,253841408
HUMID	2149	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.80	GPS	250907,231825,4739.360,-12252.678,37,1.3,37,18.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	148	92.94	SBE_CT	120	24	69.38
Roll_motor	25	55	34.33	nil	0	0	0.00
VBD_pump_during_apogee	150	733	2640.59	nil	0	0	0.00
VBD_pump_during_surface	124	640	1915.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	98.93	nil	0	0	0.00
Iridium_during_connect	31	160	120.82	ARS	0	0	0.00
Iridium_during_xfer	92	223	496.08
Transponder_ping	1	420	10.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	93	14.15
TT8	352	19	71.25
LPSleep	1009	2	22.55
TT8_Active	369	19	74.61
TT8_Sampling	377	39	153.29
TT8_CF8	235	45	110.14
TT8_Kalman	33	81	27.81
Analog_circuits	595	12	72.89
GPS_charging	0	0	0.00
Compass	371	8	30.34
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
20	-1.71	-97.8	0.0	0.0	0	71	0.00	0.00	-49.47	0.000	2	0.000	0.000	370	1841	3113
74	-1.71	-97.8	2.0	-4.1	8	129	10.48	2.58	-34.60	0.000	4	0.149	0.056	2234	3218	3884
379	-1.71	-97.8	24.5	-8.9	51	386	0.00	2.55	0.00	0.000	6	0.000	0.035	2234	1829	3886
575	-1.71	-97.8	40.5	-8.4	67	579	0.00	2.55	0.00	0.000	4	0.000	0.044	2234	3217	3887
832	-1.71	-97.8	64.9	-9.6	86	836	0.00	2.53	0.00	0.000	6	0.000	0.038	2234	1826	3888
1034	-1.71	-97.8	84.9	-10.1	102	1039	0.00	2.75	0.00	0.000	4	0.000	0.055	2234	406	3888
1183	end dive: TARGET_DEPTH_EXCEEDED
state	1183	begin apogee
1189	-0.31	0.0	100.4	10.0	113	1270	1.55	0.00	76.20	0.733	6	0.111	0.000	2537	1599	3483
1271	end apogee: CONTROL_FINISHED_OK
state	1271	begin climb
1273	1.71	97.8	102.4	0.0	120	1358	2.05	2.75	73.85	0.723	4	0.066	0.039	2979	3004	3084
1609	1.71	97.8	50.4	16.4	146	1613	0.00	2.72	0.00	0.000	6	0.000	0.047	2979	1591	3083
1805	1.71	97.8	17.2	17.1	162	1812	0.00	2.67	0.00	0.000	4	0.000	0.039	2979	3007	3083
1889	end climb: SURFACE_DEPTH_REACHED
state	1889	begin surface coast
1923	end surface coast: CONTROL_FINISHED_OK
state	1923	begin surface