OKMC Jun11 * SG167 * Dive index * Mission links * Dive 222 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  167 HD_B  0.010078 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
MISSION  8 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  222 HEADING  -1 ROLL_MIN  187 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3764 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  5 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1875 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2075 ALTIM_FREQUENCY  13
D_ABORT  1030 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  3 SM_CC  400 ROLL_TIMEOUT  15 XPDR_VALID  3
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  78 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  67 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  0 ROLL_ADJ_GAIN  6 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0.02 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  0 VBD_MIN  490 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  53
T_DIVE  280 UPLOAD_DIVES_MAX  -1 C_VBD  2839 DEVICE3  35
T_MISSION  340 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  -5 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -56666.355 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  1000 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  -8 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
MAX_BUOY  225 PITCH_MIN  134 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3944 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2800 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043379883
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -16.233358 SEABIRD_T_H  0.00063236553
RHO  1.0275 PITCH_CNV  0.0031256729 PRESSURE_SLOPE  0.0001158971 SEABIRD_T_I  2.4503992e-05
MASS  51876 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.6444222e-06
NAV_MODE  2 PITCH_GAIN  40 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8845854
FERRY_MAX  45 PITCH_TIMEOUT  19 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1045586
KALMAN_USE  2 PITCH_AD_RATE  165 COMPASS_USE  0 SEABIRD_C_I  -0.0015691385
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00020000842

Pre-dive calculations and measurements:
GPS1  280711,050038,1902.403,12227.945,35,2.0,37,-2.2 TGT_NAME  S2
_CALLS  1 TGT_LATLONG  2015.000,12420.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.013,-0.305
_SM_DEPTHo  1.72 KALMAN_X  -1531.9,-192.4,226.3,5724.7,67.3
_SM_ANGLEo  -64.8 KALMAN_Y  11735.9,46.7,-129.6,-54154.7,2747.8
GPS2  280711,050836,1902.608,12227.937,17,1.1,27,-2.2 MHEAD_RNG_PITCHd_Wd  77.0,236407,-17.0,-11.786
SPEED_LIMITS  0.204,0.330 D_GRID  1812

Post-dive calculations and measurements:
FINISH  0.8,1.013135 _10V_AH  10.1,36.432
SM_CCo  15001,0.00,0.000,0,0,487,576.95 FG_AHR_24Vo  0.000
SM_GC  1.59,7.85,0.00,0.00,0.035,0.000,0.000,119,1822,487,-8.29,-1.50,576.95,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1853.26,12226.17,280711,000000 MEM  324080
TT8_MAMPS  0.028462,0.028462 DATA_FILE_SIZE  70175,1201
HUMID  35.78 CAP_FILE_SIZE  168860,0
INTERNAL_PRESSURE  9.23864 CFSIZE  260165632,120938496
TCM_TEMP  28.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  23 CURRENT  0.145,325.7,1
_24V_AH  23.0,38.723 GPS  280711,092006,1904.056,12229.633,29,1.3,30,-2.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19237108.62 SBE_CT81324448.86
Roll_motor14458196.31 AA383095833727.47
VBD_pump_during_apogee651138620769.92 WL_BB2F12031052906.90
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2510361.25 nil000.00
Iridium_during_connect44160162.78 nil000.00
Iridium_during_xfer2302231180.10 nil000.00
Transponder_ping542055.55 nil000.00
GUMSTIX_24V000.00
GPS285014.43
TT8299419598.83
LPSleep80832178.80
TT8_Active71619143.33
TT8_Sampling2934391179.63
TT8_CF873045337.88
TT8_Kalman000.00
Analog_circuits208612252.94
GPS_charging000.00
Compass284615431.24
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
19 end surface: CONTROL_FINISHED_OK
state 19 begin dive
22 -0.69 -219.0 0.0 0.0 0 118 0.00 0.00 -93.97 0.000 2 0.000 0.000 109 1818 3147 0 0 0 0 0 0
121 -0.69 -219.0 6.3 -11.7 13 147 10.05 2.22 -9.27 0.000 4 0.238 0.041 2554 3280 3736 0 0 0 0 0 0
212 -0.69 -219.0 45.6 -35.7 28 220 0.00 2.05 0.00 0.000 6 0.000 0.022 2555 1878 3737 0 0 0 0 0 0
288 -0.69 -219.0 72.3 -28.3 41 298 0.00 2.05 0.00 0.000 4 0.000 0.026 2554 484 3738 0 0 0 0 0 0
314 -0.69 -219.0 79.1 -26.2 44 322 0.00 1.88 0.00 0.000 6 0.000 0.019 2548 1779 3738 0 0 0 0 0 0
389 -0.69 -219.0 98.8 -27.2 57 397 0.00 2.22 0.00 0.000 4 0.000 0.031 2537 3263 3738 0 0 0 0 0 0
448 -0.69 -219.0 114.5 -26.9 67 458 0.10 1.98 0.00 0.000 6 0.166 0.017 2566 1867 3738 0 0 0 0 0 0
525 -0.69 -219.0 134.5 -25.1 80 533 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 1866 3738 0 0 0 0 0 0
600 -0.69 -219.0 151.7 -22.0 93 608 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 1866 3739 0 0 0 0 0 0
677 -0.69 -219.0 167.6 -20.2 106 686 0.00 2.10 0.00 0.000 4 0.000 0.031 2561 3263 3739 0 0 0 0 0 0
716 -0.69 -219.0 175.3 -18.2 112 727 0.00 1.83 0.00 0.000 6 0.000 0.018 2560 1972 3740 0 0 0 0 0 0
794 -0.69 -219.0 190.5 -18.3 125 802 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 1970 3739 0 0 0 0 0 0
869 -0.69 -219.0 204.9 -18.9 136 870 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 1969 3739 0 0 0 0 0 0
1189 -0.69 -219.0 259.9 -16.6 166 1193 0.00 1.92 0.00 0.000 4 0.000 0.033 2554 3268 3740 0 0 0 0 0 0
1286 -0.69 -219.0 275.1 -13.4 174 1295 0.00 1.65 0.00 0.000 6 0.000 0.017 2554 2061 3740 0 0 0 0 0 0
1611 -0.69 -219.0 327.3 -16.4 205 1615 0.00 1.83 0.00 0.000 4 0.000 0.034 2548 3269 3739 0 0 0 0 0 0
1649 -0.69 -219.0 333.8 -16.3 208 1656 0.00 1.55 0.00 0.000 6 0.000 0.017 2548 2148 3739 0 0 0 0 0 0
1975 -0.69 -219.0 385.2 -15.8 239 1979 0.00 2.35 0.00 0.000 4 0.000 0.028 2548 513 3737 0 0 0 0 0 0
2082 -0.69 -219.0 400.5 -13.6 248 2086 0.00 2.28 0.00 0.000 6 0.000 0.022 2547 2076 3736 0 0 0 0 0 0
2410 -0.69 -219.0 448.9 -15.2 278 2416 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2076 3733 0 0 0 0 0 0
2738 -0.69 -219.0 493.3 -12.7 309 2742 0.00 1.77 0.00 0.000 4 0.000 0.037 2548 3262 3731 0 0 0 0 0 0
2822 -0.69 -219.0 503.3 -11.2 315 2828 0.00 1.70 0.00 0.000 6 0.000 0.019 2547 2042 3730 0 0 0 0 0 0
3138 -0.69 -219.0 542.4 -12.7 331 3142 0.00 1.88 0.00 0.000 4 0.000 0.037 2547 3256 3727 0 0 0 0 0 0
3171 -0.69 -219.0 546.8 -13.1 332 3175 0.00 1.65 0.00 0.000 6 0.000 0.021 2547 2063 3726 0 0 0 0 0 0
3494 -0.69 -219.0 584.3 -11.6 348 3495 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2059 3724 0 0 0 0 0 0
3803 -0.69 -219.0 621.5 -12.1 363 3807 0.00 2.28 0.00 0.000 4 0.000 0.029 2547 509 3721 0 0 0 0 0 0
3881 -0.69 -219.0 631.7 -12.5 366 3888 0.00 2.25 0.00 0.000 6 0.000 0.023 2547 2044 3720 0 0 0 0 0 0
4198 -0.69 -219.0 669.9 -11.9 382 4199 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2044 3717 0 0 0 0 0 0
4508 -0.69 -219.0 705.1 -10.9 397 4512 0.00 1.80 0.00 0.000 4 0.000 0.037 2547 3265 3715 0 0 0 0 0 0
4558 -0.69 -219.0 710.6 -10.4 399 4562 0.00 1.73 0.00 0.000 6 0.000 0.020 2547 2060 3715 0 0 0 0 0 0
4886 -0.69 -219.0 743.5 -10.1 415 4887 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2057 3711 0 0 0 0 0 0
5197 -0.69 -219.0 776.4 -10.8 430 5201 0.00 2.28 0.00 0.000 4 0.000 0.029 2548 510 3709 0 0 0 0 0 0
5230 -0.69 -219.0 780.3 -10.7 431 5236 0.00 2.20 0.00 0.000 6 0.000 0.023 2547 2008 3709 0 0 0 0 0 0
5546 -0.69 -219.0 813.4 -10.1 447 5550 0.00 1.85 0.00 0.000 4 0.000 0.040 2547 3256 3706 0 0 0 0 0 0
5597 -0.69 -219.0 818.5 -9.9 449 5601 0.00 1.70 0.00 0.000 6 0.000 0.020 2547 2040 3706 0 0 0 0 0 0
5926 -0.69 -219.0 851.0 -10.4 465 5930 0.00 2.22 0.00 0.000 4 0.000 0.028 2547 521 3703 0 0 0 0 0 0
5947 -0.69 -219.0 853.7 -10.5 466 5951 0.00 2.22 0.00 0.000 6 0.000 0.024 2547 2027 3703 0 0 0 0 0 0
6272 -0.69 -219.0 886.9 -10.4 482 6275 0.00 1.85 0.00 0.000 4 0.000 0.040 2547 3256 3701 0 0 0 0 0 0
6388 -0.69 -219.0 899.1 -9.3 487 6392 0.00 1.65 0.00 0.000 6 0.000 0.020 2547 2081 3700 0 0 0 0 0 0
6718 -0.69 -219.0 933.1 -10.5 503 6722 0.00 2.28 0.00 0.000 4 0.000 0.030 2547 521 3699 0 0 0 0 0 0
6768 -0.69 -219.0 938.8 -10.8 505 6772 0.00 2.28 0.00 0.000 6 0.000 0.025 2547 2050 3698 0 0 0 0 0 0
7086 -0.69 -219.0 970.8 -9.5 520 7090 0.00 1.83 0.00 0.000 4 0.000 0.041 2547 3258 3697 0 0 0 0 0 0
7181 -0.69 -219.0 979.8 -8.7 524 7185 0.00 1.65 0.00 0.000 6 0.000 0.020 2547 2108 3696 0 0 0 0 0 0
7301 end dive: TARGET_DEPTH_EXCEEDED
state 7301 begin apogee
7307 -0.20 0.0 990.0 8.5 530 7487 0.55 0.00 173.05 1.387 4 0.126 0.000 2727 2103 2839 0 0 0 0 0 0
7487 end apogee: CONTROL_FINISHED_OK
state 7488 begin climb
7490 0.69 219.0 994.7 0.0 538 7687 0.82 2.25 189.18 1.321 4 0.079 0.040 3024 3446 1946 0 0 0 0 0 0
7828 0.69 219.0 949.7 15.8 553 7832 0.00 2.05 0.00 0.000 6 0.000 0.021 3033 2115 1938 0 0 0 0 0 0
8150 0.69 219.0 898.5 15.8 569 8153 0.00 2.05 0.00 0.000 4 0.000 0.036 3033 3455 1936 0 0 0 0 0 0
8261 0.69 219.0 879.8 16.6 574 8265 0.00 2.15 0.00 0.000 6 0.000 0.021 3043 2004 1935 0 0 0 0 0 0
8591 0.69 219.0 829.8 15.2 590 8595 0.00 1.98 0.00 0.000 4 0.000 0.033 3053 681 1934 0 0 0 0 0 0
8663 0.69 219.0 817.6 15.7 593 8668 0.00 1.90 0.00 0.000 6 0.000 0.023 3053 1954 1934 0 0 0 0 0 0
8992 0.69 219.0 767.8 15.5 609 8996 0.00 2.25 0.00 0.000 4 0.000 0.037 3053 3454 1933 0 0 0 0 0 0
9046 0.69 219.0 757.9 17.6 611 9054 0.15 2.12 0.00 0.000 6 0.171 0.021 3023 2004 1933 0 0 0 0 0 0
9363 0.69 219.0 713.3 13.9 627 9368 0.00 1.98 0.00 0.000 4 0.000 0.033 3032 688 1932 0 0 0 0 0 0
9458 0.69 219.0 700.4 13.4 631 9463 0.00 1.88 0.00 0.000 6 0.000 0.023 3032 1943 1932 0 0 0 0 0 0
9786 0.69 219.0 654.6 14.1 647 9790 0.00 2.30 0.00 0.000 4 0.000 0.037 3031 3455 1932 0 0 0 0 0 0
9918 0.69 219.0 633.3 16.5 653 9921 0.00 2.08 0.00 0.000 6 0.000 0.021 3041 2021 1931 0 0 0 0 0 0
10245 0.69 219.0 582.6 15.5 669 10248 0.00 2.00 0.00 0.000 4 0.000 0.034 3051 673 1931 0 0 0 0 0 0
10368 0.69 219.0 563.6 15.1 674 10372 0.00 1.90 0.00 0.000 6 0.000 0.023 3051 1977 1931 0 0 0 0 0 0
10690 0.69 219.0 514.3 14.9 690 10694 0.00 2.25 0.00 0.000 4 0.000 0.037 3051 3466 1930 0 0 0 0 0 0
10711 0.69 219.0 510.6 15.5 691 10716 0.12 2.15 0.00 0.000 6 0.175 0.021 3029 1994 1930 0 0 0 0 0 0
11035 0.69 219.0 468.0 11.9 718 11037 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 1994 1930 0 0 0 0 0 0
11359 0.73 246.1 432.1 10.8 748 11386 0.00 2.00 21.85 0.994 4 0.000 0.032 3037 682 1834 0 0 0 0 0 0
11408 0.78 285.6 426.2 10.4 752 11449 0.00 2.00 34.12 0.986 6 0.000 0.022 3037 2033 1673 0 0 0 0 0 0
11768 0.78 285.6 384.0 12.5 786 11772 0.00 2.05 0.00 0.000 4 0.000 0.031 3046 681 1667 0 0 0 0 0 0
11837 0.78 285.6 375.2 12.5 792 11841 0.00 1.95 0.00 0.000 6 0.000 0.021 3046 1980 1666 0 0 0 0 0 0
12167 0.78 285.6 329.6 14.0 823 12168 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 1980 1665 0 0 0 0 0 0
12489 0.78 285.6 287.6 12.4 853 12493 0.00 1.92 0.00 0.000 4 0.000 0.031 3054 675 1664 0 0 0 0 0 0
12548 0.78 285.6 279.8 12.4 858 12552 0.00 1.95 0.00 0.000 6 0.000 0.021 3054 2012 1664 0 0 0 0 0 0
12883 0.84 333.8 241.6 10.0 889 12931 0.00 2.28 38.15 0.828 4 0.000 0.036 3055 3466 1477 0 0 0 0 0 0
13007 0.84 333.8 227.2 12.3 899 13014 0.00 2.10 0.00 0.000 6 0.000 0.019 3064 2057 1473 0 0 0 0 0 0
13338 0.84 333.8 184.1 13.6 940 13346 0.00 2.05 0.00 0.000 4 0.000 0.031 3074 689 1471 0 0 0 0 0 0
13519 0.84 333.8 160.5 12.4 972 13527 0.00 1.90 0.00 0.000 6 0.000 0.020 3075 1980 1471 0 0 0 0 0 0
13594 0.84 333.8 151.4 12.1 985 13602 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 1980 1471 0 0 0 0 0 0
13670 0.84 333.8 142.1 12.3 998 13678 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 1980 1471 0 0 0 0 0 0
13744 0.84 333.8 133.0 12.2 1011 13751 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 1980 1471 0 0 0 0 0 0
13816 0.84 333.8 124.2 12.0 1024 13824 0.00 1.92 0.00 0.000 4 0.000 0.029 3081 690 1471 0 0 0 0 0 0
13846 0.84 333.8 120.9 12.1 1028 13854 0.00 1.85 0.00 0.000 6 0.000 0.019 3081 1963 1471 0 0 0 0 0 0
13921 0.84 333.8 111.7 11.8 1041 13929 0.00 2.28 0.00 0.000 4 0.000 0.034 3082 3469 1471 0 0 0 0 0 0
13954 0.84 333.8 107.7 12.4 1046 13963 0.00 2.17 0.00 0.000 6 0.000 0.018 3090 1976 1471 0 0 0 0 0 0
14034 0.84 333.8 98.0 12.0 1059 14041 0.00 0.00 0.00 0.000 6 0.000 0.000 3090 1976 1471 0 0 0 0 0 0
14106 0.87 360.2 89.5 10.8 1072 14137 0.00 1.92 21.73 0.662 4 0.000 0.031 3100 692 1370 0 0 0 0 0 0
14186 0.90 384.6 80.4 10.9 1084 14212 0.00 1.98 20.45 0.643 6 0.000 0.019 3100 2038 1270 0 0 0 0 0 0
14282 0.92 400.5 69.8 11.2 1099 14306 0.00 2.20 14.05 0.613 4 0.000 0.033 3100 3461 1205 0 0 0 0 0 0
14320 0.97 439.3 65.6 10.4 1104 14357 0.00 2.12 32.15 0.632 6 0.000 0.018 3108 2017 1047 0 0 0 0 0 0
14428 1.09 537.6 56.0 8.2 1121 14510 0.12 2.08 76.97 0.622 4 0.087 0.029 3179 686 646 0 0 0 0 0 0
14562 1.11 556.0 41.2 11.1 1141 14585 0.00 1.95 14.00 0.562 6 0.000 0.019 3179 1991 573 0 0 0 0 0 0
14652 1.11 556.0 30.8 12.0 1156 14659 0.00 0.00 0.00 0.000 6 0.000 0.000 3179 1991 570 0 0 0 0 0 0
14728 1.11 556.0 20.7 14.0 1169 14736 0.00 1.98 0.00 0.000 4 0.000 0.028 3187 685 568 0 0 0 0 0 0
14756 1.11 556.0 16.7 13.9 1173 14765 0.08 1.90 0.00 0.000 6 0.108 0.017 3158 1998 569 0 0 0 0 0 0
14833 1.17 604.2 8.5 10.0 1186 14856 0.00 0.00 15.40 0.545 6 0.000 0.000 3158 1998 490 0 0 0 0 0 0
14888 end climb: SURFACE_DEPTH_REACHED
state 14888 begin surface coast
14921 end surface coast: CONTROL_FINISHED_OK
state 14921 begin surface