OKMC Nov11 * SG165 * Dive index * Mission links * Dive 153 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  165 HD_B  0.010078 PITCH_ADJ_GAIN  0.0070000002 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  153 HEADING  -1 ROLL_MIN  200 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3692 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  11 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  11 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1955 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1990 ALTIM_FREQUENCY  13
D_ABORT  1020 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  3 SM_CC  450 ROLL_TIMEOUT  15 XPDR_VALID  6
T_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  48 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  46 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0.85000002
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  485 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE2  53
T_DIVE  300 UPLOAD_DIVES_MAX  -1 C_VBD  2786 DEVICE3  35
T_MISSION  330 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  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -4 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -271603.75 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  1001 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
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  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  9.5 XPDR_DEVICE  24
MAX_BUOY  250 PITCH_MIN  180 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3922 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2950 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043567759
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -57.316994 SEABIRD_T_H  0.00062679156
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000116182 SEABIRD_T_I  2.4204959e-05
MASS  51872 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.6176024e-06
NAV_MODE  0 PITCH_GAIN  30 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.134539
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1435308
KALMAN_USE  2 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.0010041125
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00016055659

Pre-dive calculations and measurements:
GPS1  221211,230606,2037.147,11944.403,35,1.3,40,-2.3 TGT_NAME  W2A
_CALLS  4 TGT_LATLONG  2145.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.084,-0.266
_SM_DEPTHo  8.79 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -54.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  221211,231824,2036.952,11943.857,40,1.1,40,-2.3 MHEAD_RNG_PITCHd_Wd  14.7,129047,-15.2,-11.000
SPEED_LIMITS  0.191,0.337 D_GRID  3118

Post-dive calculations and measurements:
FINISH  7.4,1.022149 _10V_AH  10.1,33.820
SM_CCo  16104,0.00,0.000,0,0,481,565.42 FG_AHR_24Vo  0.000
SM_GC  8.11,7.97,0.00,0.00,0.035,0.000,0.000,161,1992,481,-8.61,1.07,565.42,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2027.17,11942.41,221211,181815 MEM  324572
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  80199,1414
HUMID  40.39 CAP_FILE_SIZE  175492,0
INTERNAL_PRESSURE  9.39525 CFSIZE  260165632,185544704
TCM_TEMP  25.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  10 GPS  231211,034831,2039.072,11943.390,41,1.0,41,-2.3
_24V_AH  22.8,35.901

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22239120.24 SBE_CT95724523.99
Roll_motor13558179.82 AA3830123333928.17
VBD_pump_during_apogee699131420965.26 WL_BB2F7511051798.30
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init114103268.49 nil000.00
Iridium_during_connect78160287.77 nil000.00
Iridium_during_xfer191223972.61 nil000.00
Transponder_ping242023.94 nil000.00
GUMSTIX_24V000.00
GPS425021.63
TT8327719655.38
LPSleep91382202.14
TT8_Active75519151.18
TT8_Sampling3292391323.41
TT8_CF836345168.06
TT8_Kalman000.00
Analog_circuits219912266.60
GPS_charging000.00
Compass284215430.69
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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
17 -0.80 -243.3 0.0 0.0 0 118 0.00 0.00 -98.93 0.000 2 0.000 0.000 135 2005 2982 0 0 0 0 0 0 28.83 28.83 28.83
121 -0.80 -243.3 11.8 -8.3 16 150 10.20 0.00 -14.10 0.000 6 0.239 0.000 2682 2002 3781 0 0 0 0 0 0 25.42 28.83 26.44
505 -0.69 -243.3 152.8 -30.5 80 515 0.12 2.12 0.00 0.000 4 0.192 0.045 2711 3345 3781 0 0 0 0 0 0 25.99 26.15 28.83
580 -0.65 -243.3 169.4 -20.4 91 587 0.12 2.10 0.00 0.000 6 0.165 0.032 2743 1943 3781 0 0 0 0 0 0 26.00 26.27 28.83
911 -0.62 -243.3 225.5 -14.4 138 921 0.00 2.20 0.00 0.000 4 0.000 0.049 2740 3348 3782 0 0 0 0 0 0 28.83 26.22 28.83
967 -0.62 -243.3 231.9 -11.3 143 974 0.00 2.10 0.00 0.000 6 0.000 0.032 2740 1954 3782 0 0 0 0 0 0 28.83 26.34 28.83
1277 -0.61 -243.3 274.5 -12.8 174 1286 0.00 2.10 0.00 0.000 4 0.000 0.049 2740 563 3782 0 0 0 0 0 0 28.83 26.28 28.83
1331 -0.60 -243.3 281.6 -13.2 179 1339 0.00 2.08 0.00 0.000 6 0.000 0.035 2740 1951 3782 0 0 0 0 0 0 28.83 26.34 28.83
1641 -0.60 -243.3 320.2 -10.9 210 1649 0.00 2.15 0.00 0.000 4 0.000 0.051 2740 3354 3782 0 0 0 0 0 0 28.83 26.27 28.83
1686 -0.61 -243.3 324.7 -10.8 214 1692 0.00 2.10 0.00 0.000 6 0.000 0.032 2739 1951 3782 0 0 0 0 0 0 28.83 26.40 28.83
1993 -0.61 -243.3 357.7 -10.3 245 2002 0.00 2.20 0.00 0.000 4 0.000 0.050 2740 3356 3781 0 0 0 0 0 0 28.83 26.27 28.83
2078 -0.63 -243.3 365.4 -9.2 253 2085 0.00 2.10 0.00 0.000 6 0.000 0.033 2740 1957 3781 0 0 0 0 0 0 28.83 26.41 28.83
2386 -0.64 -243.3 396.4 -10.1 284 2394 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 1957 3779 0 0 0 0 0 0 28.83 28.83 28.83
2697 -0.66 -243.3 426.1 -9.3 315 2705 0.00 2.22 0.00 0.000 4 0.000 0.054 2739 3366 3777 0 0 0 0 0 0 28.83 26.26 28.83
2763 -0.69 -243.3 431.9 -8.5 321 2770 0.00 2.12 0.00 0.000 6 0.000 0.034 2740 1946 3776 0 0 0 0 0 0 28.83 26.41 28.83
3069 -0.70 -243.3 462.7 -10.4 352 3077 0.00 2.15 0.00 0.000 4 0.000 0.050 2740 555 3775 0 0 0 0 0 0 28.83 26.29 28.83
3123 -0.72 -243.3 468.3 -11.4 357 3131 0.00 2.12 0.00 0.000 6 0.000 0.037 2739 1953 3774 0 0 0 0 0 0 28.83 26.36 28.83
3431 -0.74 -243.3 500.7 -9.6 388 3439 0.00 2.20 0.00 0.000 4 0.000 0.053 2739 3362 3772 0 0 0 0 0 0 28.83 26.25 28.83
3494 -0.78 -243.3 506.0 -7.9 394 3503 0.08 2.10 0.00 0.000 6 0.060 0.032 2676 1944 3771 0 0 0 0 0 0 26.33 26.41 28.83
3802 -0.75 -243.3 547.7 -14.1 425 3804 0.12 0.00 0.00 0.000 6 0.164 0.000 2708 1944 3769 0 0 0 0 0 0 26.30 28.83 28.83
4102 -0.75 -243.3 581.5 -10.9 455 4111 0.00 2.25 0.00 0.000 4 0.000 0.054 2701 3360 3766 0 0 0 0 0 0 28.83 26.25 28.83
4194 -0.76 -243.3 591.2 -9.9 464 4203 0.00 2.15 0.00 0.000 6 0.000 0.035 2700 1956 3766 0 0 0 0 0 0 28.83 26.39 28.83
4505 -0.76 -243.3 622.3 -9.6 484 4511 0.00 2.22 0.00 0.000 4 0.000 0.054 2700 3354 3764 0 0 0 0 0 0 28.83 26.22 28.83
4572 -0.76 -243.3 627.6 -9.0 487 4576 0.00 2.12 0.00 0.000 6 0.000 0.035 2700 1946 3763 0 0 0 0 0 0 28.83 26.38 28.83
4880 -0.76 -243.3 658.9 -10.5 502 4881 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 1946 3762 0 0 0 0 0 0 28.83 28.83 28.83
5178 -0.76 -243.3 692.8 -11.6 517 5184 0.00 2.28 0.00 0.000 4 0.000 0.056 2700 3359 3760 0 0 0 0 0 0 28.83 26.20 28.83
5206 -0.76 -243.3 695.1 -11.7 518 5210 0.00 2.12 0.00 0.000 6 0.000 0.036 2700 1956 3759 0 0 0 0 0 0 28.83 26.36 28.83
5516 -0.76 -243.3 734.2 -12.4 533 5517 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 1956 3758 0 0 0 0 0 0 28.83 28.83 28.83
5813 -0.76 -243.3 770.4 -11.8 548 5815 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 1956 3756 0 0 0 0 0 0 28.83 28.83 28.83
6114 -0.76 -243.3 803.9 -10.6 563 6115 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 1956 3754 0 0 0 0 0 0 28.83 28.83 28.83
6415 -0.76 -243.3 832.2 -8.5 578 6420 0.00 2.22 0.00 0.000 4 0.000 0.058 2700 3356 3752 0 0 0 0 0 0 28.83 26.15 28.83
6462 -0.77 -243.3 835.7 -8.7 580 6466 0.00 2.15 0.00 0.000 6 0.000 0.037 2700 1955 3751 0 0 0 0 0 0 28.83 26.34 28.83
6775 -0.77 -243.3 861.2 -7.9 596 6776 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 1955 3750 0 0 0 0 0 0 28.83 28.83 28.83
7074 -0.77 -243.3 884.4 -7.9 611 7080 0.00 2.28 0.00 0.000 4 0.000 0.057 2700 3360 3749 0 0 0 0 0 0 28.83 26.13 28.83
7102 -0.77 -243.3 886.1 -7.9 612 7106 0.00 2.15 0.00 0.000 6 0.000 0.036 2699 1945 3747 0 0 0 0 0 0 28.83 26.32 28.83
7410 -0.77 -243.3 910.7 -8.0 627 7411 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 1945 3747 0 0 0 0 0 0 28.83 28.83 28.83
7709 -0.78 -243.3 936.3 -9.0 642 7715 0.00 2.28 0.00 0.000 4 0.000 0.057 2699 3356 3746 0 0 0 0 0 0 28.83 26.10 28.83
7742 -0.79 -243.3 938.2 -9.1 643 7749 0.00 2.15 0.00 0.000 6 0.000 0.037 2699 1957 3746 0 0 0 0 0 0 28.83 26.31 28.83
8051 -0.80 -243.3 969.1 -9.8 659 8052 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 1957 3744 0 0 0 0 0 0 28.83 28.83 28.83
8266 end dive: TARGET_DEPTH_EXCEEDED
state 8266 begin apogee
8272 -0.17 0.0 990.7 -9.7 670 8474 0.57 0.00 193.98 1.314 6 0.118 0.000 2891 1957 2786 0 0 0 0 0 0 25.80 28.83 23.47
8475 end apogee: CONTROL_FINISHED_OK
state 8475 begin climb
8477 0.80 243.3 999.2 0.0 680 8701 0.88 2.42 215.55 1.268 4 0.047 0.056 3236 585 1793 0 0 0 0 0 0 24.62 23.80 22.84
8805 0.71 243.3 945.1 23.7 696 8812 0.22 2.30 0.00 0.000 6 0.166 0.037 3179 1994 1786 0 0 0 0 0 0 24.70 24.94 28.83
9110 0.64 243.3 880.5 19.9 712 9116 0.00 2.25 0.00 0.000 4 0.000 0.050 3179 3399 1784 0 0 0 0 0 0 28.83 25.79 28.83
9222 0.57 243.3 860.6 20.0 717 9230 0.20 2.20 0.00 0.000 6 0.173 0.036 3136 1972 1784 0 0 0 0 0 0 25.63 25.94 28.83
9530 0.53 243.3 813.1 13.9 733 9531 0.00 0.00 0.00 0.000 6 0.000 0.000 3135 1972 1783 0 0 0 0 0 0 28.83 28.83 28.83
9829 0.49 243.3 770.5 14.7 748 9835 0.00 2.28 0.00 0.000 4 0.000 0.047 3136 3408 1782 0 0 0 0 0 0 28.83 26.12 28.83
9857 0.45 243.3 767.6 14.9 749 9862 0.17 2.20 0.00 0.000 6 0.155 0.035 3095 1975 1782 0 0 0 0 0 0 25.90 26.19 28.83
10165 0.44 243.3 729.5 12.1 764 10166 0.00 0.00 0.00 0.000 6 0.000 0.000 3095 1974 1782 0 0 0 0 0 0 28.83 28.83 28.83
10464 0.43 243.3 693.8 11.8 779 10465 0.00 0.00 0.00 0.000 6 0.000 0.000 3095 1975 1782 0 0 0 0 0 0 28.83 28.83 28.83
10764 0.44 259.0 661.0 10.5 794 10784 0.00 2.22 13.45 1.040 4 0.000 0.050 3103 598 1729 0 0 0 0 0 0 28.83 26.10 24.98
10797 0.46 280.3 659.1 10.4 795 10827 0.00 2.15 20.08 1.053 6 0.000 0.032 3103 2000 1643 0 0 0 0 0 0 28.83 26.13 24.75
11130 0.48 293.1 621.5 10.6 812 11148 0.00 2.28 12.70 0.994 4 0.000 0.046 3103 3396 1590 0 0 0 0 0 0 28.83 25.86 24.81
11194 0.48 293.1 614.4 11.1 815 11198 0.00 2.17 0.00 0.000 6 0.000 0.034 3113 1989 1589 0 0 0 0 0 0 28.83 25.91 28.83
11507 0.47 293.1 577.8 11.2 840 11516 0.00 2.22 0.00 0.000 4 0.000 0.044 3113 3399 1588 0 0 0 0 0 0 28.83 26.05 28.83
11570 0.45 293.1 570.0 12.8 846 11579 0.00 2.12 0.00 0.000 6 0.000 0.034 3123 1992 1588 0 0 0 0 0 0 28.83 26.15 28.83
11879 0.44 293.1 531.4 12.7 877 11888 0.12 2.20 0.00 0.000 4 0.162 0.047 3092 591 1588 0 0 0 0 0 0 26.08 26.13 28.83
11936 0.48 317.4 525.8 10.3 882 11964 0.00 2.15 22.30 0.985 6 0.000 0.033 3092 2000 1491 0 0 0 0 0 0 28.83 26.25 24.89
12273 0.52 332.3 490.2 10.5 916 12292 0.00 2.33 14.10 0.921 4 0.000 0.047 3101 586 1430 0 0 0 0 0 0 28.83 25.89 24.89
12318 0.54 334.4 485.5 10.9 920 12325 0.00 2.20 0.00 0.000 6 0.000 0.032 3101 2004 1429 0 0 0 0 0 0 28.83 25.95 28.83
12625 0.57 343.6 452.0 10.7 951 12645 0.00 2.30 11.12 0.870 4 0.000 0.048 3111 591 1384 0 0 0 0 0 0 28.83 25.96 24.93
12689 0.61 357.8 445.6 10.6 957 12710 0.08 2.12 13.80 0.882 6 0.059 0.032 3171 1994 1326 0 0 0 0 0 0 25.96 26.02 24.79
13018 0.57 357.8 392.4 15.7 990 13028 0.12 2.20 0.00 0.000 4 0.159 0.042 3133 3396 1324 0 0 0 0 0 0 25.94 26.01 28.83
13090 0.57 357.8 383.2 12.1 997 13099 0.00 2.15 0.00 0.000 6 0.000 0.034 3141 1983 1324 0 0 0 0 0 0 28.83 26.12 28.83
13401 0.56 357.8 343.2 14.1 1028 13410 0.00 2.20 0.00 0.000 4 0.000 0.048 3151 582 1325 0 0 0 0 0 0 28.83 26.13 28.83
13423 0.56 357.8 340.0 14.3 1030 13432 0.00 2.15 0.00 0.000 6 0.000 0.031 3152 1997 1324 0 0 0 0 0 0 28.83 26.23 28.83
13734 0.55 357.8 294.7 13.9 1061 13742 0.00 2.12 0.00 0.000 4 0.000 0.044 3152 3395 1324 0 0 0 0 0 0 28.83 26.18 28.83
13768 0.55 357.8 290.0 14.2 1064 13777 0.10 2.17 0.00 0.000 6 0.126 0.034 3126 1988 1324 0 0 0 0 0 0 26.01 26.27 28.83
14077 0.60 383.1 255.6 10.2 1095 14106 0.00 2.20 22.00 0.777 4 0.000 0.046 3134 587 1223 0 0 0 0 0 0 28.83 26.02 25.14
14194 0.77 487.0 245.1 7.8 1106 14286 0.15 2.12 83.75 0.771 6 0.044 0.031 3224 2007 798 0 0 0 0 0 0 26.06 26.09 24.51
14600 0.75 487.0 172.6 19.0 1159 14607 0.12 2.28 0.00 0.000 4 0.148 0.046 3193 583 793 0 0 0 0 0 0 25.86 25.91 28.83
14617 0.74 487.0 169.7 17.1 1161 14623 0.00 2.15 0.00 0.000 6 0.000 0.030 3194 1994 793 0 0 0 0 0 0 28.83 26.01 28.83
14949 0.88 578.9 133.1 8.2 1222 15032 0.12 2.35 76.82 0.663 4 0.086 0.047 3284 586 484 0 0 0 0 0 0 26.27 25.41 24.74
15073 0.87 578.9 113.9 16.6 1242 15081 0.15 2.20 0.00 0.000 6 0.118 0.029 3233 1998 482 0 0 0 0 0 0 25.47 25.66 28.83
15407 0.93 602.8 77.2 10.3 1303 15414 0.00 2.22 0.00 0.000 4 0.000 0.045 3240 586 482 0 0 0 0 0 0 28.83 26.00 28.83
15437 0.96 602.8 73.2 11.3 1308 15444 0.00 2.15 0.00 0.000 6 0.000 0.029 3240 1995 481 0 0 0 0 0 0 28.83 26.11 28.83
15771 1.16 738.9 38.8 6.9 1369 15779 0.20 2.20 0.00 0.000 4 0.063 0.043 3359 587 481 0 0 0 0 0 0 26.32 26.15 28.83
15819 1.11 738.9 32.3 17.4 1377 15826 0.17 2.10 0.00 0.000 6 0.154 0.029 3310 1983 481 0 0 0 0 0 0 25.93 26.26 28.83
15940 end climb: SURFACE_DEPTH_REACHED
state 15940 begin surface coast
16026 end surface coast: CONTROL_FINISHED_OK
state 16027 begin surface