NANOOS Jun14 * SG187 * Dive index * Mission links * Dive 189 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  187 ESCAPE_HEADING  0 C_ROLL_CLIMB  2330 ALTIM_FREQUENCY  13
MISSION  4 ESCAPE_HEADING_DELTA  10 HEAD_ERRBAND  10 ALTIM_PULSE  4
DIVE  189 FIX_MISSING_TIMEOUT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
N_DIVES  0 TGT_DEFAULT_LAT  4736 ROLL_TIMEOUT  15 XPDR_VALID  1
D_SURF  4 TGT_DEFAULT_LON  -12218 R_PORT_OVSHOOT  28 XPDR_INHIBIT  90
D_FLARE  3 TGT_AUTO_DEFAULT  0 R_STBD_OVSHOOT  20 INT_PRESSURE_SLOPE  0.0097660003
D_TGT  990 SM_CC  375 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0.69999999
D_ABORT  1010 N_FILEKB  4 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_NO_BLEED  200 FILEMGR  0 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
D_BOOST  20 CALL_NDIVES  1 ROLL_ADJ_DBAND  0 DEVICE1  -1
T_BOOST  5 COMM_SEQ  0 VBD_MIN  470 DEVICE2  -1
D_FINISH  0 PROTOCOL  9 VBD_MAX  3900 DEVICE3  -1
D_PITCH  0 N_NOCOMM  1 C_VBD  2858 DEVICE4  -1
D_SAFE  0 NOCOMM_ACTION  163 VBD_DBAND  2 DEVICE5  -1
D_CALL  0 N_NOSURFACE  0 VBD_CNV  -0.24529999 DEVICE6  -1
SURFACE_URGENCY  0 UPLOAD_DIVES_MAX  -1 VBD_TIMEOUT  720 LOGGERS  3
SURFACE_URGENCY_TRY  0 CALL_TRIES  5 PITCH_VBD_SHIFT  0.00069999998 LOGGERDEVICE1  53
SURFACE_URGENCY_FORCE  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  83
T_DIVE  450 CAPUPLOAD  0 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_MISSION  510 CAPMAXSIZE  100000 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
T_ABORT  1440 HEAPDBG  0 UNCOM_BLEED  50 COMPASS_DEVICE  97
T_TURN  225 T_GPS  15 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
T_TURN_SAMPINT  -10 N_GPS  20 W_ADJ_DBAND  2 PHONE_DEVICE  48
T_NO_W  120 T_GPS_ALMANAC  0 DBDW  0 GPS_DEVICE  32
T_LOITER  0 T_GPS_CHARGE  -1593656.8 PITCH_W_GAIN  2 RAFOS_DEVICE  -1
T_EPIRB  0 T_RSLEEP  2 PITCH_W_DBAND  0.5 XPDR_DEVICE  24
USE_BATHY  -1 STROBE  0 CF8_MAXERRORS  20 SIM_W  0
USE_ICE  0 RAFOS_PEAK_OFFSET  1.5 AH0_24V  350 SIM_PITCH  0
ICE_FREEZE_MARGIN  0.30000001 RAFOS_CORR_THRESH  60 AH0_10V  0 SEABIRD_T_G  0.0043206038
D_OFFGRID  1000 RAFOS_HIT_WINDOW  3600 MINV_24V  11 SEABIRD_T_H  0.00062367303
T_WATCHDOG  10 PITCH_MIN  400 MINV_10V  11 SEABIRD_T_I  2.3110064e-05
RELAUNCH  1 PITCH_MAX  3700 FG_AHR_10V  0 SEABIRD_T_J  2.4313138e-06
APOGEE_PITCH  -7 C_PITCH  3325 FG_AHR_24V  0 SEABIRD_C_G  -10.199382
MAX_BUOY  120 PITCH_DBAND  0.1 PHONE_SUPPLY  -2 SEABIRD_C_H  1.1587334
COURSE_BIAS  0 PITCH_CNV  0.003125763 PRESSURE_YINT  -63.106686 SEABIRD_C_I  -0.0027609179
GLIDE_SLOPE  30 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.0001138132 SEABIRD_C_J  0.00029025986
SPEED_FACTOR  1 P_OVSHOOT_WITHG  0 AD7714Ch0Gain  128 SC_RECORDABOVE  2000.0
RHO  1.0275 PITCH_GAIN  27.5 TCM_PITCH_OFFSET  0 SC_PROFILE  3.0
MASS  53474 PITCH_TIMEOUT  17 TCM_ROLL_OFFSET  0 SC_XMITPROFILE  3.0
MASS_COMP  0 PITCH_AD_RATE  165 COMPASS_USE  4 PM_RECORDABOVE  2000.0
NAV_MODE  2 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 PM_PROFILE  1.0
FERRY_MAX  45 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0 PM_XMITPROFILE  3.0
KALMAN_USE  2 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  0 PM_XMITRAW  0.0
HD_A  0.0027000001 ROLL_MIN  440 ALTIM_TOP_TURN_MARGIN  0 PM_NDIVE  2.0
HD_B  0.0098999999 ROLL_MAX  4000 ALTIM_TOP_MIN_OBSTACLE  0 PM_MOTORS  1.0
HD_C  2.1999999e-06 ROLL_DEG  40 ALTIM_PING_DEPTH  0
HEADING  -1 C_ROLL_DIVE  2400 ALTIM_PING_DELTA  0

Pre-dive calculations and measurements:
GPS1  020814,204754,4749.521,-12517.411,53,1.2,53,18.7 SPEED_LIMITS  0.127,0.215
_CALLS  1 TGT_NAME  SHELF
_XMS_NAKs  0 TGT_LATLONG  4751.930,-12510.270
_XMS_TOUTs  0 TGT_RADIUS  5000.000
_SM_DEPTHo  2.09 MHEAD_RNG_PITCHd_Wd  61.3,9948,-14.0,-7.333,-18.81,2445
_SM_ANGLEo  -72.7 D_GRID  469
GPS2  020814,205618,4749.444,-12517.367,12,1.3,17,18.7

Post-dive calculations and measurements:
FINISH  1.0,1.023698 _10V_AH  13.2,0.000
SM_CCo  11694,66.05,0.111,0,0,1328,375.06 FG_AHR_24Vo  0.000
SM_GC  2.39,9.27,0.12,66.05,0.080,0.194,0.111,392,2401,1328,-9.11,-0.85,375.06,0,0,0,0,0,0,14.47,14.47,14.44 FG_AHR_10Vo  0.000
IRIDIUM_FIX  4732.49,-12523.69,020814,161656 MEM  290832
TT8_MAMPS  0.024717,0.024717 DATA_FILE_SIZE  30098,839
HUMID  48.11 CAP_FILE_SIZE  167641,0
INTERNAL_PRESSURE  8.95227 CFSIZE  260034560,239382528
TCM_TEMP  12.20 ERRORS  0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 INTR  1,5723.23,0x213678,1,24
SC_FREEKB  3877536 CURRENT  0.110,356.1,1
PM_FREEKB  57187296 GPS  030814,001424,4750.387,-12515.741,45,1.9,46,18.7
_24V_AH  13.5,45.286

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23394124.96 nil000.00
Roll_motor127194335.18 nil000.00
VBD_pump_during_apogee26612734588.99 nil000.00
VBD_pump_during_surface6611098.91 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1168761059.77
Iridium_during_xfer261159564.76 PMAR183513.43
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS17225.29
TT8199810269.56
LPSleep73002211.05
TT8_Active5631075.99
TT8_Sampling186328712.11
TT8_CF853135250.38
TT8_Kalman000.00
Analog_circuits180810238.69
GPS_charging000.00
Compass1298012.86
RAFOS000.00
Transponder050.04

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
21 end surface: CONTROL_FINISHED_OK
state 22 begin dive
26 -0.59 -116.8 396 2400 1461 1199 0.0 0.0 0 90 0.00 0.00 -57.85 0.000 16386 0.000 0.000 397 2399 2864 2919 2810 0 0 0 0 0 0 28.83 28.83 28.83
95 -0.59 -116.8 397 2399 2918 2810 3.9 -4.3 6 130 12.52 2.50 -8.35 0.000 18948 0.395 0.107 3125 1002 3340 3386 3295 0 0 0 0 0 0 14.07 14.32 14.56
360 -0.59 -116.8 3125 1001 3387 3305 55.1 -16.7 33 371 0.00 2.42 0.00 0.000 1030 0.000 0.076 3125 2404 3342 3387 3298 0 0 0 0 0 0 28.83 14.38 28.83
611 -0.59 -116.8 3125 2404 3396 3299 88.0 -11.3 58 621 0.00 2.45 0.00 0.000 516 0.000 0.080 3125 986 3344 3389 3299 0 0 0 0 0 0 28.83 14.43 28.83
701 -0.59 -116.8 3126 986 3389 3298 97.9 -11.0 67 712 0.00 2.45 0.00 0.000 1030 0.000 0.077 3125 2408 3344 3389 3299 0 0 0 0 0 0 28.83 14.46 28.83
952 -0.59 -116.8 3125 2409 3389 3304 125.1 -11.8 92 963 0.00 2.45 0.00 0.000 516 0.000 0.081 3125 993 3343 3390 3296 0 0 0 0 0 0 28.83 14.47 28.83
1033 -0.59 -116.8 3125 993 3389 3299 134.6 -11.5 100 1044 0.00 2.42 0.00 0.000 1030 0.000 0.078 3125 2399 3345 3391 3299 0 0 0 0 0 0 28.83 14.48 28.83
1285 -0.59 -116.8 3125 2399 3389 3299 161.6 -10.4 125 1296 0.00 2.47 0.00 0.000 260 0.000 0.099 3125 3812 3345 3389 3301 0 0 0 0 0 0 28.83 14.50 28.83
1336 -0.59 -116.8 3125 3812 3389 3299 167.4 -11.1 130 1346 0.00 2.40 0.00 0.000 1030 0.000 0.069 3125 2393 3344 3389 3299 0 0 0 0 0 0 28.83 14.48 28.83
1586 -0.59 -116.8 3125 2390 3389 3299 193.7 -10.2 155 1596 0.00 2.42 0.00 0.000 516 0.000 0.083 3125 986 3344 3390 3299 0 0 0 0 0 0 28.83 14.47 28.83
1636 -0.59 -116.8 3125 983 3390 3299 199.0 -10.5 160 1648 0.00 2.45 0.00 0.000 1030 0.000 0.077 3131 2407 3342 3385 3299 0 0 0 0 0 0 28.83 14.50 28.83
1888 -0.59 -116.8 3125 2409 3389 3299 223.7 -9.5 185 1899 0.00 2.45 0.00 0.000 260 0.000 0.096 3125 3821 3344 3389 3299 0 0 0 0 0 0 28.83 14.50 28.83
1949 -0.59 -116.8 3125 3821 3389 3299 229.8 -9.8 191 1959 0.00 2.40 0.00 0.000 1030 0.000 0.071 3125 2402 3344 3389 3299 0 0 0 0 0 0 28.83 14.52 28.83
2209 -0.59 -116.8 3125 2401 3389 3298 253.2 -8.8 215 2219 0.00 2.42 0.00 0.000 516 0.000 0.082 3125 989 3343 3389 3298 0 0 0 0 0 0 28.83 14.52 28.83
2270 -0.59 -116.8 3125 989 3389 3298 258.5 -9.0 221 2280 0.00 2.42 0.00 0.000 1030 0.000 0.078 3125 2402 3343 3389 3298 0 0 0 0 0 0 28.83 14.52 28.83
2599 -0.59 -116.8 3125 2402 3389 3296 285.8 -8.4 234 2609 0.00 2.45 0.00 0.000 260 0.000 0.097 3125 3809 3342 3389 3296 0 0 0 0 0 0 28.83 14.52 28.83
2669 -0.59 -116.8 3125 3808 3389 3295 292.0 -8.9 241 2679 0.00 2.42 0.00 0.000 1030 0.000 0.076 3125 2402 3342 3389 3296 0 0 0 0 0 0 28.83 14.52 28.83
2990 -0.59 -116.8 3125 2400 3388 3295 320.1 -8.8 253 3000 0.00 2.42 0.00 0.000 516 0.000 0.083 3124 983 3341 3389 3294 0 0 0 0 0 0 28.83 14.53 28.83
3049 -0.59 -116.8 3125 982 3391 3294 325.4 -9.4 259 3059 0.00 2.45 0.00 0.000 1030 0.000 0.077 3125 2410 3341 3389 3294 0 0 0 0 0 0 28.83 14.54 28.83
3379 -0.59 -116.8 3125 2410 3389 3291 353.9 -8.3 272 3390 0.00 2.45 0.00 0.000 260 0.000 0.097 3125 3818 3341 3389 3293 0 0 0 0 0 0 28.83 14.53 28.83
3439 -0.59 -116.8 3125 3820 3388 3293 359.0 -8.5 278 3449 0.00 2.42 0.00 0.000 1030 0.000 0.074 3125 2390 3341 3388 3294 0 0 0 0 0 0 28.83 14.54 28.83
3769 -0.59 -116.8 3125 2386 3388 3293 384.1 -7.2 291 3779 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2383 3344 3395 3293 0 0 0 0 0 0 28.83 28.83 28.83
4070 -0.59 -116.8 3125 2386 3388 3292 405.1 -7.1 301 4080 0.00 2.50 0.00 0.000 260 0.000 0.099 3125 3813 3340 3388 3292 0 0 0 0 0 0 28.83 14.54 28.83
4150 -0.59 -116.8 3125 3813 3387 3292 411.2 -7.6 309 4161 0.00 2.42 0.00 0.000 1030 0.000 0.076 3125 2399 3342 3388 3297 0 0 0 0 0 0 28.83 14.54 28.83
4462 -0.59 -116.8 3125 2397 3386 3291 436.5 -7.6 320 4473 0.00 2.42 0.00 0.000 516 0.000 0.087 3125 989 3339 3387 3291 0 0 0 0 0 0 28.83 14.54 28.83
4493 -0.59 -116.8 3125 987 3387 3291 439.1 -8.0 323 4503 0.00 2.42 0.00 0.000 1030 0.000 0.080 3125 2398 3339 3387 3291 0 0 0 0 0 0 28.83 14.54 28.83
4822 -0.59 -116.8 3125 2398 3387 3290 468.8 -9.3 336 4833 0.00 2.47 0.00 0.000 260 0.000 0.099 3125 3821 3338 3387 3290 0 0 0 0 0 0 28.83 14.52 28.83
4838 end dive: TARGET_DEPTH_EXCEEDED
state 4838 begin apogee
4849 -0.25 0.0 3125 2319 3386 3290 470.6 -9.5 338 4948 0.40 0.00 91.68 1.274 10246 0.199 0.000 3241 2317 2854 2930 2779 0 0 0 0 0 0 14.43 28.83 13.65
4950 end apogee: CONTROL_FINISHED_OK
state 4950 begin climb
4954 0.59 116.8 3241 2317 2932 2778 474.9 0.0 341 5063 0.85 2.67 95.00 1.249 10756 0.150 0.115 3509 934 2379 2522 2237 0 0 0 0 0 0 14.09 13.88 13.47
5106 0.62 116.8 3509 935 2520 2237 469.8 6.0 358 5116 0.00 2.50 0.00 0.000 1030 0.000 0.077 3509 2342 2378 2520 2236 0 0 0 0 0 0 28.83 14.08 28.83
5419 0.62 116.8 3509 2342 2519 2232 447.4 7.5 369 5429 0.00 0.00 0.00 0.000 6 0.000 0.000 3509 2341 2376 2519 2234 0 0 0 0 0 0 28.83 28.83 28.83
5717 0.62 116.8 3509 2342 2518 2231 424.7 7.7 379 5727 0.00 2.47 0.00 0.000 260 0.000 0.097 3509 3737 2374 2517 2231 0 0 0 0 0 0 28.83 14.41 28.83
5777 0.62 116.8 3509 3737 2516 2230 419.4 8.7 385 5787 0.00 2.45 0.00 0.000 1030 0.000 0.080 3509 2333 2373 2516 2231 0 0 0 0 0 0 28.83 14.42 28.83
6107 0.62 116.8 3509 2333 2515 2229 393.8 7.6 398 6116 0.00 0.00 0.00 0.000 6 0.000 0.000 3511 2332 2372 2515 2229 0 0 0 0 0 0 28.83 28.83 28.83
6407 0.62 116.8 3509 2333 2515 2228 371.9 7.6 408 6417 0.00 2.50 0.00 0.000 260 0.000 0.096 3514 3747 2371 2514 2228 0 0 0 0 0 0 28.83 14.50 28.83
6560 0.62 116.8 3513 3751 2512 2228 358.9 8.7 423 6570 0.00 2.45 0.00 0.000 1030 0.000 0.076 3509 2319 2372 2512 2232 0 0 0 0 0 0 28.83 14.52 28.83
6890 0.62 116.8 3509 2319 2512 2227 333.1 7.7 436 6899 0.00 0.00 0.00 0.000 6 0.000 0.000 3508 2319 2370 2512 2229 0 0 0 0 0 0 28.83 28.83 28.83
7190 0.62 116.8 3509 2322 2510 2227 310.2 7.6 446 7200 0.00 2.42 0.00 0.000 516 0.000 0.093 3509 928 2369 2512 2227 0 0 0 0 0 0 28.83 14.52 28.83
7250 0.63 116.8 3509 928 2511 2227 306.0 6.8 452 7261 0.00 2.42 0.00 0.000 1030 0.000 0.079 3509 2336 2369 2511 2227 0 0 0 0 0 0 28.83 14.53 28.83
7581 0.63 116.8 3509 2331 2511 2226 282.0 7.6 465 7591 0.00 0.00 0.00 0.000 6 0.000 0.000 3509 2329 2367 2511 2223 0 0 0 0 0 0 28.83 28.83 28.83
7881 0.63 116.8 3509 2331 2511 2226 260.5 6.9 475 7890 0.00 0.00 0.00 0.000 6 0.000 0.000 3509 2331 2366 2507 2226 0 0 0 0 0 0 28.83 28.83 28.83
8182 0.66 116.8 3509 2331 2511 2225 241.9 5.7 493 8192 0.00 2.45 0.00 0.000 260 0.000 0.096 3509 3731 2368 2511 2226 0 0 0 0 0 0 28.83 14.52 28.83
8233 0.67 116.8 3511 3734 2510 2221 238.6 6.8 498 8243 0.00 2.40 0.00 0.000 1030 0.000 0.074 3509 2326 2368 2510 2226 0 0 0 0 0 0 28.83 14.54 28.83
8484 0.70 116.8 3509 2326 2510 2226 223.8 5.8 523 8494 0.12 0.00 0.00 0.000 2054 0.144 0.000 3567 2322 2366 2510 2222 0 0 0 0 0 0 14.56 28.83 28.83
8734 0.70 116.8 3564 2322 2510 2226 204.2 8.4 548 8745 0.00 2.50 0.00 0.000 260 0.000 0.096 3564 3744 2367 2509 2226 0 0 0 0 0 0 28.83 14.52 28.83
8776 0.70 116.8 3564 3741 2508 2225 200.5 9.0 552 8787 0.00 2.42 0.00 0.000 1030 0.000 0.074 3574 2326 2367 2509 2226 0 0 0 0 0 0 28.83 14.52 28.83
9028 0.70 116.8 3574 2326 2510 2226 178.0 9.3 577 9039 0.00 2.45 0.00 0.000 516 0.000 0.091 3584 919 2367 2509 2226 0 0 0 0 0 0 28.83 14.51 28.83
9141 0.70 116.8 3584 919 2504 2226 167.7 8.9 588 9153 0.15 2.42 0.00 0.000 5126 0.271 0.079 3551 2330 2367 2509 2226 0 0 0 0 0 0 14.37 14.53 28.83
9394 0.70 116.8 3551 2329 2509 2226 147.4 8.2 613 9404 0.00 0.00 0.00 0.000 6 0.000 0.000 3551 2330 2367 2509 2225 0 0 0 0 0 0 28.83 28.83 28.83
9643 0.70 116.8 3553 2330 2509 2226 127.4 8.2 638 9654 0.00 2.47 0.00 0.000 260 0.000 0.095 3551 3748 2366 2508 2225 0 0 0 0 0 0 28.83 14.52 28.83
9693 0.70 116.8 3551 3753 2513 2226 123.0 8.7 643 9704 0.00 2.42 0.00 0.000 1030 0.000 0.072 3550 2324 2367 2508 2226 0 0 0 0 0 0 28.83 14.54 28.83
9944 0.70 116.8 3551 2324 2508 2226 103.7 7.5 668 9955 0.00 2.42 0.00 0.000 516 0.000 0.091 3551 930 2367 2508 2226 0 0 0 0 0 0 28.83 14.49 28.83
9965 0.70 116.8 3551 929 2509 2225 102.2 7.3 670 9976 0.00 2.42 0.00 0.000 1030 0.000 0.079 3550 2332 2367 2509 2225 0 0 0 0 0 0 28.83 14.52 28.83
10216 0.74 165.7 3551 2331 2508 2226 86.2 5.3 695 10266 0.00 2.53 36.92 0.821 8452 0.000 0.094 3551 3733 2179 2335 2024 0 0 0 0 0 0 28.83 14.40 14.04
10336 0.74 165.7 3551 3733 2335 2023 78.3 7.4 707 10347 0.00 2.42 0.00 0.000 1030 0.000 0.077 3551 2336 2179 2335 2023 0 0 0 0 0 0 28.83 14.42 28.83
10586 0.74 165.7 3551 2335 2339 2018 59.5 7.7 732 10598 0.00 2.47 0.00 0.000 516 0.000 0.093 3551 915 2179 2335 2023 0 0 0 0 0 0 28.83 14.42 28.83
10668 0.74 165.7 3551 916 2334 2022 52.7 8.5 740 10679 0.00 2.45 0.00 0.000 1030 0.000 0.076 3551 2340 2178 2334 2022 0 0 0 0 0 0 28.83 14.46 28.83
10921 0.76 165.7 3551 2340 2334 2022 35.1 6.0 765 10931 0.00 2.50 0.00 0.000 516 0.000 0.099 3551 925 2178 2334 2022 0 0 0 0 0 0 28.83 14.43 28.83
11014 0.80 222.0 3551 925 2334 2022 30.3 5.0 774 11071 0.00 2.42 43.28 0.742 9222 0.000 0.079 3551 2332 1949 2099 1800 0 0 0 0 0 0 28.83 14.48 14.02
11314 0.83 222.0 3551 2332 2097 1800 13.6 5.8 804 11326 0.12 2.47 0.00 0.000 2308 0.146 0.092 3606 3743 1948 2096 1800 0 0 0 0 0 0 14.44 14.41 28.83
11367 0.83 222.0 3605 3741 2095 1800 9.5 7.9 809 11378 0.00 2.45 0.00 0.000 1030 0.000 0.079 3614 2332 1947 2095 1800 0 0 0 0 0 0 28.83 14.41 28.83
11524 end climb: SURFACE_DEPTH_REACHED
state 11524 begin surface coast
11668 end surface coast: CONTROL_FINISHED_OK
state 11668 begin surface