OKMC Nov11 * SG165 * Dive index * Mission links * Dive 200 * 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  200 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  52 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  56 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  280 UPLOAD_DIVES_MAX  -1 C_VBD  2786 DEVICE3  35
T_MISSION  320 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  -7 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -271662.59 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  225 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  010112,012301,2105.934,11953.347,36,1.2,36,-2.5 TGT_NAME  W2A
_CALLS  1 TGT_LATLONG  2145.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.084,-0.266
_SM_DEPTHo  8.33 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -63.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  010112,012856,2105.728,11953.331,12,1.1,12,-2.5 MHEAD_RNG_PITCHd_Wd  11.5,73631,-17.0,-11.786
SPEED_LIMITS  0.204,0.330 D_GRID  3417

Post-dive calculations and measurements:
FINISH  6.9,0.998557 _10V_AH  10.1,39.864
SM_CCo  15184,0.00,0.000,0,0,484,564.68 FG_AHR_24Vo  0.000
SM_GC  7.55,7.85,0.00,0.00,0.031,0.000,0.000,150,2009,484,-8.63,1.53,564.68,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2057.14,11951.28,311211,202005 MEM  325072
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  76911,1340
HUMID  42.28 CAP_FILE_SIZE  173103,0
INTERNAL_PRESSURE  9.38548 CFSIZE  260165632,181489664
TCM_TEMP  25.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  12 GPS  010112,054337,2106.473,11953.462,38,1.2,38,-2.5
_24V_AH  22.8,46.701

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22237120.15 SBE_CT90624495.91
Roll_motor15657205.31 AA3830117733885.68
VBD_pump_during_apogee684131320510.58 WL_BB2F7131051708.26
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710365.49 nil000.00
Iridium_during_connect1616060.24 nil000.00
Iridium_during_xfer177223901.60 nil000.00
Transponder_ping342028.73 nil000.00
GUMSTIX_24V000.00
GPS14507.37
TT8313119626.26
LPSleep82012181.40
TT8_Active78419156.81
TT8_Sampling3043391223.62
TT8_CF836045166.94
TT8_Kalman000.00
Analog_circuits222312269.44
GPS_charging000.00
Compass279815423.90
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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.84 -219.0 0.0 0.0 0 120 0.00 0.00 -100.95 0.000 2 0.000 0.000 137 2004 3059 0 0 0 0 0 0 28.83 28.83 28.83
124 -0.84 -219.0 11.5 -10.6 16 152 10.20 2.08 -10.88 0.000 4 0.238 0.051 2667 3348 3681 0 0 0 0 0 0 25.32 26.09 26.52
182 -0.73 -219.0 33.3 -29.4 25 189 0.17 2.10 0.00 0.000 6 0.164 0.033 2713 1946 3681 0 0 0 0 0 0 25.78 26.16 28.83
511 -0.64 -219.0 126.8 -33.1 86 519 0.00 2.17 0.00 0.000 4 0.000 0.047 2714 550 3681 0 0 0 0 0 0 28.83 26.20 28.83
555 -0.56 -219.0 139.6 -30.2 93 562 0.22 2.12 0.00 0.000 6 0.166 0.034 2766 1949 3682 0 0 0 0 0 0 25.80 26.25 28.83
887 -0.55 -219.0 205.2 -14.6 152 897 0.00 2.17 0.00 0.000 4 0.000 0.050 2766 3356 3682 0 0 0 0 0 0 28.83 26.19 28.83
903 -0.53 -219.0 206.4 -14.5 153 910 0.00 2.10 0.00 0.000 6 0.000 0.031 2766 1956 3682 0 0 0 0 0 0 28.83 26.34 28.83
1209 -0.53 -219.0 239.0 -13.0 184 1220 0.00 2.12 0.00 0.000 4 0.000 0.047 2766 560 3682 0 0 0 0 0 0 28.83 26.26 28.83
1245 -0.53 -219.0 243.7 -14.0 187 1252 0.00 2.10 0.00 0.000 6 0.000 0.036 2766 1953 3682 0 0 0 0 0 0 28.83 26.30 28.83
1554 -0.55 -219.0 285.9 -11.6 218 1565 0.00 2.15 0.00 0.000 4 0.000 0.052 2766 3351 3683 0 0 0 0 0 0 28.83 26.23 28.83
1620 -0.59 -219.0 292.4 -9.1 224 1630 0.00 2.08 0.00 0.000 6 0.000 0.033 2766 1951 3683 0 0 0 0 0 0 28.83 26.37 28.83
1930 -0.61 -219.0 321.3 -9.5 255 1939 0.00 2.17 0.00 0.000 4 0.000 0.050 2766 3353 3683 0 0 0 0 0 0 28.83 26.24 28.83
1974 -0.64 -219.0 324.8 -8.5 259 1981 0.00 2.10 0.00 0.000 6 0.000 0.033 2766 1953 3682 0 0 0 0 0 0 28.83 26.37 28.83
2282 -0.67 -219.0 350.0 -8.1 290 2290 0.00 2.20 0.00 0.000 4 0.000 0.050 2766 3360 3682 0 0 0 0 0 0 28.83 26.23 28.83
2337 -0.72 -219.0 354.3 -8.1 295 2344 0.15 2.10 0.00 0.000 6 0.077 0.033 2674 1949 3683 0 0 0 0 0 0 26.35 26.38 28.83
2643 -0.69 -219.0 403.3 -15.4 326 2653 0.15 2.15 0.00 0.000 4 0.154 0.048 2721 561 3682 0 0 0 0 0 0 26.19 26.27 28.83
2695 -0.69 -219.0 410.0 -12.2 331 2704 0.00 2.10 0.00 0.000 6 0.000 0.036 2715 1955 3681 0 0 0 0 0 0 28.83 26.32 28.83
3006 -0.69 -219.0 441.9 -11.1 362 3015 0.00 2.20 0.00 0.000 4 0.000 0.053 2711 3366 3679 0 0 0 0 0 0 28.83 26.21 28.83
3078 -0.71 -219.0 449.6 -10.5 369 3087 0.00 2.10 0.00 0.000 6 0.000 0.034 2711 1961 3679 0 0 0 0 0 0 28.83 26.37 28.83
3389 -0.71 -219.0 490.5 -14.3 400 3397 0.00 2.17 0.00 0.000 4 0.000 0.050 2711 551 3677 0 0 0 0 0 0 28.83 26.26 28.83
3495 -0.73 -219.0 505.8 -14.8 410 3501 0.00 2.15 0.00 0.000 6 0.000 0.037 2711 1952 3677 0 0 0 0 0 0 28.83 26.31 28.83
3800 -0.74 -219.0 548.2 -12.2 441 3809 0.00 2.22 0.00 0.000 4 0.000 0.054 2711 3362 3674 0 0 0 0 0 0 28.83 26.19 28.83
3866 -0.77 -219.0 554.8 -10.0 447 3873 0.00 2.12 0.00 0.000 6 0.000 0.034 2711 1947 3674 0 0 0 0 0 0 28.83 26.36 28.83
4172 -0.78 -219.0 583.3 -8.3 478 4173 0.00 0.00 0.00 0.000 6 0.000 0.000 2711 1947 3673 0 0 0 0 0 0 28.83 28.83 28.83
4485 -0.79 -219.0 609.6 -8.9 504 4486 0.00 0.00 0.00 0.000 6 0.000 0.000 2711 1947 3670 0 0 0 0 0 0 28.83 28.83 28.83
4782 -0.81 -219.0 638.9 -9.8 519 4788 0.00 2.25 0.00 0.000 4 0.000 0.055 2711 3356 3667 0 0 0 0 0 0 28.83 26.15 28.83
4823 -0.83 -219.0 643.1 -10.2 521 4829 0.00 2.15 0.00 0.000 6 0.000 0.036 2711 1953 3667 0 0 0 0 0 0 28.83 26.33 28.83
5144 -0.85 -219.0 677.9 -10.9 537 5150 0.00 2.17 0.00 0.000 4 0.000 0.053 2711 560 3665 0 0 0 0 0 0 28.83 26.20 28.83
5231 -0.87 -219.0 686.8 -11.2 541 5236 0.12 2.15 0.00 0.000 6 0.090 0.039 2646 1962 3664 0 0 0 0 0 0 26.26 26.26 28.83
5539 -0.84 -219.0 734.7 -16.0 556 5545 0.12 2.20 0.00 0.000 4 0.164 0.055 2684 3361 3662 0 0 0 0 0 0 26.22 26.10 28.83
5611 -0.84 -219.0 743.2 -14.6 559 5617 0.00 2.15 0.00 0.000 6 0.000 0.036 2684 1945 3661 0 0 0 0 0 0 28.83 26.30 28.83
5919 -0.84 -219.0 783.2 -12.1 575 5925 0.00 2.28 0.00 0.000 4 0.000 0.055 2684 3364 3659 0 0 0 0 0 0 28.83 26.10 28.83
5982 -0.85 -219.0 789.9 -11.1 578 5986 0.00 2.15 0.00 0.000 6 0.000 0.036 2684 1947 3658 0 0 0 0 0 0 28.83 26.31 28.83
6294 -0.85 -219.0 827.0 -13.0 594 6300 0.00 2.28 0.00 0.000 4 0.000 0.055 2683 3371 3657 0 0 0 0 0 0 28.83 26.08 28.83
6341 -0.85 -219.0 832.0 -12.9 596 6345 0.00 2.15 0.00 0.000 6 0.000 0.036 2683 1956 3656 0 0 0 0 0 0 28.83 26.29 28.83
6648 -0.85 -219.0 872.6 -13.3 611 6654 0.00 2.20 0.00 0.000 4 0.000 0.054 2683 544 3655 0 0 0 0 0 0 28.83 26.14 28.83
6677 -0.85 -219.0 875.2 -13.4 612 6681 0.00 2.17 0.00 0.000 6 0.000 0.040 2683 1954 3654 0 0 0 0 0 0 28.83 26.22 28.83
6984 -0.86 -219.0 914.0 -11.0 627 6990 0.00 2.22 0.00 0.000 4 0.000 0.057 2683 3364 3653 0 0 0 0 0 0 28.83 26.06 28.83
7044 -0.88 -219.0 919.9 -10.0 630 7049 0.00 2.15 0.00 0.000 6 0.000 0.036 2683 1951 3652 0 0 0 0 0 0 28.83 26.27 28.83
7365 -0.89 -219.0 949.4 -8.5 646 7371 0.00 2.20 0.00 0.000 4 0.000 0.054 2683 544 3650 0 0 0 0 0 0 28.83 26.11 28.83
7444 -0.90 -219.0 956.3 -8.7 650 7450 0.00 2.20 0.00 0.000 6 0.000 0.041 2683 1956 3650 0 0 0 0 0 0 28.83 26.19 28.83
7765 -0.91 -219.0 979.1 -6.8 666 7766 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 1956 3649 0 0 0 0 0 0 28.83 28.83 28.83
7941 end dive: TARGET_DEPTH_EXCEEDED
state 7941 begin apogee
7946 -0.17 0.0 991.0 -6.5 675 8132 0.62 0.00 176.20 1.314 6 0.122 0.000 2890 1956 2785 0 0 0 0 0 0 25.68 28.83 23.44
8133 end apogee: CONTROL_FINISHED_OK
state 8133 begin climb
8135 0.84 219.0 991.4 0.0 684 8338 0.90 2.53 194.88 1.265 4 0.053 0.053 3226 3393 1892 0 0 0 0 0 0 24.74 23.84 22.75
8377 0.74 219.0 950.2 24.3 695 8384 0.20 2.35 0.00 0.000 6 0.174 0.041 3188 1990 1888 0 0 0 0 0 0 24.31 24.53 28.83
8683 0.67 219.0 882.0 20.4 711 8688 0.00 2.25 0.00 0.000 4 0.000 0.054 3196 581 1884 0 0 0 0 0 0 28.83 25.84 28.83
8724 0.61 219.0 874.0 20.2 713 8730 0.15 2.17 0.00 0.000 6 0.142 0.037 3150 1994 1883 0 0 0 0 0 0 25.66 25.94 28.83
9046 0.57 219.0 826.3 14.1 729 9051 0.00 2.20 0.00 0.000 4 0.000 0.050 3149 3392 1881 0 0 0 0 0 0 28.83 26.06 28.83
9124 0.53 219.0 814.3 14.9 733 9131 0.15 2.17 0.00 0.000 6 0.168 0.037 3118 1970 1881 0 0 0 0 0 0 25.87 26.15 28.83
9447 0.53 234.1 778.2 11.2 749 9467 0.00 2.35 12.73 1.091 4 0.000 0.048 3118 3410 1830 0 0 0 0 0 0 28.83 26.03 24.70
9546 0.52 240.2 766.8 11.6 754 9558 0.00 2.17 7.28 0.962 6 0.000 0.036 3126 1997 1806 0 0 0 0 0 0 28.83 26.08 24.56
9862 0.51 240.2 725.5 13.2 769 9868 0.00 2.22 0.00 0.000 4 0.000 0.047 3126 3400 1803 0 0 0 0 0 0 28.83 26.08 28.83
9924 0.49 240.2 717.0 13.5 772 9928 0.00 2.17 0.00 0.000 6 0.000 0.036 3135 1973 1802 0 0 0 0 0 0 28.83 26.18 28.83
10237 0.46 240.2 672.2 14.9 788 10243 0.12 2.15 0.00 0.000 4 0.173 0.048 3106 592 1802 0 0 0 0 0 0 26.10 26.17 28.83
10256 0.44 240.2 669.3 15.0 789 10262 0.00 2.15 0.00 0.000 6 0.000 0.034 3105 2005 1801 0 0 0 0 0 0 28.83 26.25 28.83
10576 0.44 240.2 626.5 13.4 805 10582 0.00 2.17 0.00 0.000 4 0.000 0.047 3105 3393 1801 0 0 0 0 0 0 28.83 26.15 28.83
10677 0.44 240.2 612.2 14.2 810 10682 0.00 2.10 0.00 0.000 6 0.000 0.034 3115 2013 1801 0 0 0 0 0 0 28.83 26.32 28.83
10987 0.44 240.2 570.3 13.4 836 10996 0.00 2.20 0.00 0.000 4 0.000 0.048 3126 582 1801 0 0 0 0 0 0 28.83 26.20 28.83
11058 0.44 240.2 560.5 13.7 843 11068 0.12 2.15 0.00 0.000 6 0.145 0.034 3092 1998 1800 0 0 0 0 0 0 26.06 26.27 28.83
11369 0.50 277.9 526.5 10.4 874 11409 0.00 2.20 32.78 1.010 4 0.000 0.046 3091 3386 1654 0 0 0 0 0 0 28.83 25.77 24.63
11483 0.53 281.4 513.7 11.7 885 11495 0.00 2.17 5.32 0.746 6 0.000 0.034 3098 1988 1637 0 0 0 0 0 0 28.83 25.95 24.41
11803 0.55 281.4 473.8 13.4 917 11811 0.00 2.20 0.00 0.000 4 0.000 0.049 3109 576 1636 0 0 0 0 0 0 28.83 26.03 28.83
11874 0.58 281.4 464.8 12.3 924 11883 0.00 2.15 0.00 0.000 6 0.000 0.032 3109 1989 1634 0 0 0 0 0 0 28.83 26.16 28.83
12185 0.68 355.0 430.6 9.1 955 12255 0.15 2.33 63.60 0.944 4 0.083 0.046 3190 3390 1337 0 0 0 0 0 0 26.35 25.37 24.37
12293 0.65 355.0 414.3 17.9 965 12300 0.15 2.22 0.00 0.000 6 0.161 0.036 3163 1969 1336 0 0 0 0 0 0 25.39 25.63 28.83
12599 0.65 355.0 376.1 12.2 996 12608 0.00 2.17 0.00 0.000 4 0.000 0.049 3171 592 1334 0 0 0 0 0 0 28.83 25.98 28.83
12711 0.65 355.0 360.6 15.2 1007 12720 0.00 2.15 0.00 0.000 6 0.000 0.032 3170 1994 1333 0 0 0 0 0 0 28.83 26.13 28.83
13020 0.65 355.0 302.0 18.1 1038 13029 0.00 2.17 0.00 0.000 4 0.000 0.045 3171 3399 1333 0 0 0 0 0 0 28.83 26.09 28.83
13043 0.65 355.0 298.1 18.1 1040 13053 0.00 2.15 0.00 0.000 6 0.000 0.034 3179 1986 1333 0 0 0 0 0 0 28.83 26.20 28.83
13353 0.67 376.1 249.1 11.0 1071 13381 0.00 2.17 18.30 0.772 4 0.000 0.047 3189 590 1251 0 0 0 0 0 0 28.83 26.04 24.95
13438 0.82 482.8 241.6 7.9 1079 13536 0.00 2.15 86.45 0.777 6 0.000 0.031 3190 2002 815 0 0 0 0 0 0 28.83 26.10 24.43
13838 0.87 496.4 203.3 11.3 1119 13860 0.12 2.28 14.98 0.687 4 0.087 0.047 3277 601 759 0 0 0 0 0 0 26.15 25.87 24.84
14000 0.87 496.4 167.0 23.6 1147 14009 0.17 2.12 0.00 0.000 6 0.138 0.030 3227 2001 754 0 0 0 0 0 0 25.78 26.06 28.83
14333 0.92 512.5 124.6 11.2 1208 14366 0.00 2.28 19.40 0.583 4 0.000 0.047 3234 586 692 0 0 0 0 1 0 28.83 26.01 24.98
14403 1.03 563.8 117.5 9.9 1219 14468 0.12 2.10 52.97 0.623 6 0.083 0.029 3306 1994 486 0 0 0 0 1 0 26.05 26.09 24.73
14803 1.02 563.8 44.6 18.1 1289 14809 0.00 2.22 0.00 0.000 4 0.000 0.046 3317 583 485 0 0 0 0 0 0 28.83 26.04 28.83
14904 1.01 563.8 24.8 20.7 1305 14912 0.15 2.10 0.00 0.000 6 0.139 0.029 3274 1997 485 0 0 0 0 0 0 25.94 26.20 28.83
14992 end climb: SURFACE_DEPTH_REACHED
state 14993 begin surface coast
15106 end surface coast: CONTROL_FINISHED_OK
state 15106 begin surface