DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 24 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  108 HD_B  0.0115 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  20
MISSION  21 HD_C  1.7999999e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  15
DIVE  24 HEADING  -1 ROLL_MIN  294 ALTIM_TOP_TURN_MARGIN  5
N_DIVES  0 ESCAPE_HEADING  100 ROLL_MAX  3598 ALTIM_TOP_MIN_OBSTACLE  2.8
D_SURF  4 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  300
D_FLARE  3 FIX_MISSING_TIMEOUT  5 C_ROLL_DIVE  2100 ALTIM_PING_DELTA  50
D_TGT  990 TGT_DEFAULT_LAT  6000 C_ROLL_CLIMB  1900 ALTIM_FREQUENCY  13
D_ABORT  1030 TGT_DEFAULT_LON  -5500 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_BOOST  20 SM_CC  400 ROLL_TIMEOUT  15 XPDR_VALID  5
T_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  48 XPDR_INHIBIT  90
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  40 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  1.75 CALL_NDIVES  1 ROLL_AD_RATE  300 INT_PRESSURE_YINT  0
D_SAFE  500 COMM_SEQ  0 ROLL_MAXERRORS  0 DEEPGLIDER  0
D_CALL  3 PROTOCOL  0 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  10 N_NOCOMM  6 ROLL_ADJ_DBAND  0.029999999 MOTHERBOARD  4
SURFACE_URGENCY_TRY  5 NOCOMM_ACTION  161 VBD_MIN  448 DEVICE1  2
SURFACE_URGENCY_FORCE  10 N_NOSURFACE  0 VBD_MAX  4001 DEVICE2  20
T_DIVE  360 UPLOAD_DIVES_MAX  5 C_VBD  3029 DEVICE3  -1
T_MISSION  440 CALL_TRIES  3 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  5 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  3 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -3 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  2 T_GPS_CHARGE  -191122.91 VBD_MAXERRORS  1 COMPASS_DEVICE  97
ICE_FREEZE_MARGIN  0.1 T_RSLEEP  10 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  250 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  64
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  350 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3700 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  3130 PHONE_SUPPLY  -1 SEABIRD_T_G  0.0044220644
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -22.860044 SEABIRD_T_H  0.00065538363
RHO  1.023 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.0001161151 SEABIRD_T_I  2.8550956e-05
MASS  51396 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  3.214675e-06
NAV_MODE  2 PITCH_GAIN  30 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.084064
FERRY_MAX  45 PITCH_TIMEOUT  20 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1288997
KALMAN_USE  2 PITCH_AD_RATE  150 COMPASS_USE  4 SEABIRD_C_I  -0.0014441535
HD_A  0.00275 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00017831143

Pre-dive calculations and measurements:
GPS1  230612,022405,6701.944,-5715.625,25,1.2,25,-33.6 TGT_NAME  TARGET_W
_CALLS  2 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.89 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -73.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  230612,023412,6702.077,-5715.887,18,0.7,19,-33.6 MHEAD_RNG_PITCHd_Wd  288.1,143052,-16.3,-9.167
SPEED_LIMITS  0.159,0.240 D_GRID  778

Post-dive calculations and measurements:
FREEZE  1.06,-0.897,-0.614,1,1,0 ALTIM_BOTTOM_PING  750.0,46.3
FINISH  1.1,1.008992 _24V_AH  23.4,6.339
SM_CCo  14891,60.62,0.070,0,0,1397,400.08 _10V_AH  10.2,7.569
SM_GC  2.04,8.30,1.88,60.62,0.064,0.043,0.070,344,2104,1397,-8.66,1.55,400.08,0,0,0,0,0,0,26.56,26.63,26.48 FG_AHR_24Vo  0.000
RAFOS_CLK  756 FG_AHR_10Vo  0.000
RAFOS  0,1340424062,4.033333,4.017222,46,42,41,41,40,40,142,559,973,1414,1,154 MEM  151560
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE  66703,1409
IRIDIUM_FIX  6636.54,-5710.59,230612,020214 CAP_FILE_SIZE  170467,0
TT8_MAMPS  0.026215,0.026215 CFSIZE  260165632,243838976
HUMID  38.14 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  8.98472 SOUNDSPEED  1462.5
TCM_TEMP  15.80 CURRENT  0.093,339.6,1
XPDR_PINGS  2 GPS  230612,064530,6702.625,-5721.210,41,0.7,41,-33.6
ALTIM_TOP_PING  20.0,19.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21260129.72 SBE_CT100423563.49
Roll_motor14778270.14 SBE_O210125141.91
VBD_pump_during_apogee29613409302.92 nil000.00
VBD_pump_during_surface607099.84 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer4082752632.15 nil000.00
Transponder_ping342034.40 nil000.00
GUMSTIX_24V000.00
GPS19265.25
TT8365317669.35
LPSleep80222189.03
TT8_Active61417112.62
TT8_Sampling2901401196.71
TT8_CF836548181.24
TT8_Kalman000.00
Analog_circuits236412289.43
GPS_charging000.00
Compass24597187.90
RAFOS2520377.11
Transponder23307.06

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 -0.72 -146.6 0.0 0.0 0 132 0.00 0.00 -113.55 0.000 2 0.000 0.000 344 2114 3088 0 0 0 0 0 0 28.83 28.83 28.83
136 -0.72 -146.6 3.2 -2.7 20 169 10.20 2.22 -12.07 0.000 4 0.261 0.078 2881 3504 3631 0 0 0 0 0 0 26.03 26.25 26.55
398 -0.72 -146.6 43.9 -12.0 70 406 0.00 2.15 0.00 0.000 6 0.000 0.045 2882 2102 3639 0 0 0 0 0 0 28.83 26.36 28.83
712 -0.72 -146.6 80.0 -10.7 131 719 0.00 2.22 0.00 0.000 4 0.000 0.063 2873 3501 3639 0 0 0 0 0 0 28.83 26.39 28.83
781 -0.72 -146.6 87.9 -11.3 144 788 0.00 2.15 0.00 0.000 6 0.000 0.045 2873 2096 3638 0 0 0 0 0 0 28.83 26.44 28.83
1091 -0.72 -146.6 123.5 -11.8 185 1100 0.00 2.20 0.00 0.000 4 0.000 0.062 2862 3498 3639 0 0 0 0 0 0 28.83 26.44 28.83
1123 -0.72 -146.6 127.5 -12.7 188 1133 0.12 2.15 0.00 0.000 6 0.179 0.045 2893 2091 3638 0 0 0 0 0 0 26.34 26.48 28.83
1433 -0.72 -146.6 160.9 -10.7 219 1437 0.00 2.22 0.00 0.000 4 0.000 0.061 2884 3516 3638 0 0 0 0 0 0 28.83 26.48 28.83
1486 -0.72 -146.6 166.9 -12.0 224 1495 0.00 2.15 0.00 0.000 6 0.000 0.045 2884 2090 3638 0 0 0 0 0 0 28.83 26.53 28.83
1796 -0.72 -146.6 199.5 -10.2 255 1805 0.00 2.20 0.00 0.000 4 0.000 0.060 2874 3501 3638 0 0 0 0 0 0 28.83 26.51 28.83
1891 -0.72 -146.6 209.7 -11.0 264 1898 0.00 2.15 0.00 0.000 6 0.000 0.044 2874 2088 3638 0 0 0 0 0 0 28.83 26.56 28.83
2198 -0.72 -146.6 241.2 -9.9 295 2207 0.00 2.20 0.00 0.000 4 0.000 0.060 2863 3502 3638 0 0 0 0 0 0 28.83 26.54 28.83
2271 -0.72 -146.6 248.8 -10.7 302 2281 0.10 2.12 0.00 0.000 6 0.152 0.044 2896 2087 3638 0 0 0 0 0 0 26.45 26.59 28.83
2581 -0.72 -146.6 277.2 -9.0 333 2589 0.00 2.20 0.00 0.000 4 0.000 0.060 2887 3504 3638 0 0 0 0 0 0 28.83 26.57 28.83
2643 -0.72 -146.6 283.4 -10.0 339 2647 0.00 2.12 0.00 0.000 6 0.000 0.043 2887 2088 3638 0 0 0 0 0 0 28.83 26.62 28.83
2955 -0.72 -146.6 313.7 -9.8 370 2966 0.00 2.20 0.00 0.000 4 0.000 0.059 2877 3513 3640 0 0 0 0 0 0 28.83 26.59 28.83
3052 -0.72 -146.6 323.6 -10.5 379 3058 0.00 2.12 0.00 0.000 6 0.000 0.042 2877 2099 3640 0 0 0 0 0 0 28.83 26.64 28.83
3359 -0.72 -146.6 354.9 -9.8 410 3369 0.00 2.20 0.00 0.000 4 0.000 0.059 2866 3509 3641 0 0 0 0 0 0 28.83 26.61 28.83
3422 -0.72 -146.6 361.4 -10.2 416 3427 0.12 2.12 0.00 0.000 6 0.168 0.042 2898 2090 3641 0 0 0 0 0 0 26.51 26.65 28.83
3736 -0.72 -146.6 387.9 -8.0 447 3740 0.00 2.20 0.00 0.000 4 0.000 0.058 2890 3515 3642 0 0 0 0 0 0 28.83 26.63 28.83
3822 -0.72 -146.6 394.8 -8.4 455 3829 0.00 2.12 0.00 0.000 6 0.000 0.041 2890 2093 3642 0 0 0 0 0 0 28.83 26.67 28.83
4128 -0.72 -146.6 419.9 -8.1 486 4138 0.00 2.15 0.00 0.000 4 0.000 0.058 2879 3504 3643 0 0 0 0 0 0 28.83 26.64 28.83
4195 -0.72 -146.6 425.4 -8.8 492 4202 0.00 2.10 0.00 0.000 6 0.000 0.041 2879 2097 3643 0 0 0 0 0 0 28.83 26.69 28.83
4502 -0.72 -146.6 451.7 -8.3 523 4511 0.00 2.17 0.00 0.000 4 0.000 0.058 2869 3510 3644 0 0 0 0 0 0 28.83 26.65 28.83
4585 -0.72 -146.6 459.3 -9.3 531 4594 0.00 2.10 0.00 0.000 6 0.000 0.041 2869 2102 3644 0 0 0 0 0 0 28.83 26.70 28.83
4895 -0.72 -146.6 487.0 -8.8 562 4905 0.00 2.17 0.00 0.000 4 0.000 0.058 2858 3514 3645 0 0 0 0 0 0 28.83 26.66 28.83
4981 -0.72 -146.6 495.0 -9.7 570 4990 0.15 2.12 0.00 0.000 6 0.164 0.041 2898 2090 3645 0 0 0 0 0 0 26.56 26.71 28.83
5289 -0.72 -146.6 517.1 -7.1 601 5297 0.00 2.15 0.00 0.000 4 0.000 0.057 2890 3503 3645 0 0 0 0 0 0 28.83 26.67 28.83
5361 -0.72 -146.6 522.6 -7.5 608 5369 0.00 2.10 0.00 0.000 6 0.000 0.041 2890 2078 3646 0 0 0 0 0 0 28.83 26.72 28.83
5672 -0.72 -146.6 545.6 -7.6 639 5680 0.00 2.20 0.00 0.000 4 0.000 0.058 2880 3507 3646 0 0 0 0 0 0 28.83 26.68 28.83
5754 -0.72 -146.6 552.7 -8.8 647 5763 0.00 2.08 0.00 0.000 6 0.000 0.041 2879 2105 3646 0 0 0 0 0 0 28.83 26.72 28.83
6064 -0.72 -146.6 578.7 -8.3 678 6073 0.00 2.15 0.00 0.000 4 0.000 0.059 2869 3501 3646 0 0 0 0 0 0 28.83 26.68 28.83
6147 -0.72 -146.6 586.2 -9.1 686 6156 0.00 2.10 0.00 0.000 6 0.000 0.041 2869 2081 3646 0 0 0 0 0 0 28.83 26.73 28.83
6461 -0.72 -146.6 614.0 -9.1 707 6467 0.00 2.20 0.00 0.000 4 0.000 0.059 2858 3512 3647 0 0 0 0 0 0 28.83 26.70 28.83
6563 -0.72 -146.6 623.1 -9.6 710 6568 0.15 2.12 0.00 0.000 6 0.164 0.041 2898 2088 3647 0 0 0 0 0 0 26.59 26.74 28.83
6876 -0.72 -146.6 648.9 -7.8 721 6882 0.00 2.17 0.00 0.000 4 0.000 0.059 2890 3514 3647 0 0 0 0 0 0 28.83 26.70 28.83
6954 -0.72 -146.6 653.8 -7.9 723 6958 0.00 2.12 0.00 0.000 6 0.000 0.041 2890 2091 3647 0 0 0 0 0 0 28.83 26.74 28.83
7261 -0.72 -146.6 680.0 -7.9 733 7265 0.00 2.17 0.00 0.000 4 0.000 0.059 2880 3504 3647 0 0 0 0 0 0 28.83 26.70 28.83
7297 -0.72 -146.6 682.8 -8.0 734 7301 0.00 2.10 0.00 0.000 6 0.000 0.041 2879 2098 3647 0 0 0 0 0 0 28.83 26.75 28.83
7619 -0.72 -146.6 710.1 -8.2 745 7624 0.00 2.17 0.00 0.000 4 0.000 0.059 2869 3504 3647 0 0 0 0 0 0 28.83 26.71 28.83
7702 -0.72 -146.6 715.5 -8.5 747 7709 0.00 2.10 0.00 0.000 6 0.000 0.042 2869 2098 3647 0 0 0 0 0 0 28.83 26.75 28.83
8009 -0.72 -146.6 744.2 -8.6 758 8015 0.00 2.17 0.00 0.000 4 0.000 0.060 2858 3503 3647 0 0 0 0 0 0 28.83 26.71 28.83
8079 -0.72 -146.6 750.0 -9.1 760 8084 0.15 2.10 0.00 0.000 6 0.165 0.043 2898 2099 3647 0 0 0 0 0 0 26.60 26.76 28.83
8398 -0.72 -146.6 774.8 -7.5 771 8404 0.00 2.17 0.00 0.000 4 0.000 0.060 2890 3504 3647 0 0 0 0 0 0 28.83 26.72 28.83
8455 end dive: TARGET_DEPTH_EXCEEDED
state 8455 begin apogee
8464 -0.17 0.0 779.6 -7.7 773 8590 0.57 0.00 120.78 1.340 6 0.141 0.000 3076 1887 3029 0 0 0 0 0 0 26.61 28.83 23.67
8593 end apogee: CONTROL_FINISHED_OK
state 8593 begin climb
8596 0.72 146.6 783.4 0.0 777 8733 0.85 2.38 127.70 1.314 4 0.086 0.047 3372 506 2430 0 0 0 0 0 0 24.70 24.26 23.42
8855 0.72 146.6 758.6 13.9 786 8859 0.00 2.33 0.00 0.000 6 0.000 0.045 3372 1896 2426 0 0 0 0 0 0 28.83 25.18 28.83
9172 0.72 146.6 713.6 13.4 797 9174 0.00 0.00 0.00 0.000 6 0.000 0.000 3372 1895 2422 0 0 0 0 0 0 28.83 28.83 28.83
9473 0.72 146.6 673.0 13.5 807 9479 0.00 2.25 0.00 0.000 4 0.000 0.051 3381 508 2421 0 0 0 0 0 0 28.83 25.98 28.83
9502 0.72 146.6 668.8 13.6 808 9508 0.00 2.25 0.00 0.000 6 0.000 0.047 3382 1902 2420 0 0 0 0 0 0 28.83 26.00 28.83
9833 0.72 146.6 621.4 15.1 819 9834 0.00 0.00 0.00 0.000 6 0.000 0.000 3381 1901 2419 0 0 0 0 0 0 28.83 28.83 28.83
10134 0.72 146.6 575.6 15.3 839 10143 0.00 2.25 0.00 0.000 4 0.000 0.051 3390 496 2418 0 0 0 0 0 0 28.83 26.25 28.83
10166 0.72 146.6 570.4 15.4 842 10176 0.00 2.25 0.00 0.000 6 0.000 0.046 3390 1911 2418 0 0 0 0 0 0 28.83 26.27 28.83
10476 0.72 146.6 522.2 15.4 873 10485 0.00 2.25 0.00 0.000 4 0.000 0.051 3400 497 2418 0 0 0 0 0 0 28.83 26.34 28.83
10500 0.72 146.6 518.8 15.6 875 10508 0.15 2.25 0.00 0.000 6 0.181 0.045 3361 1907 2418 0 0 0 0 0 0 26.21 26.35 28.83
10808 0.72 146.6 478.6 12.7 906 10809 0.00 0.00 0.00 0.000 6 0.000 0.000 3360 1907 2418 0 0 0 0 0 0 28.83 28.83 28.83
11110 0.72 146.6 439.4 13.0 936 11116 0.00 0.00 0.00 0.000 6 0.000 0.000 3361 1907 2417 0 0 0 0 0 0 28.83 28.83 28.83
11421 0.72 146.6 400.2 13.0 967 11430 0.00 2.22 0.00 0.000 4 0.000 0.050 3368 505 2418 0 0 0 0 0 0 28.83 26.48 28.83
11465 0.72 146.6 394.3 13.6 971 11472 0.00 2.20 0.00 0.000 6 0.000 0.045 3368 1899 2417 0 0 0 0 0 0 28.83 26.50 28.83
11773 0.72 146.6 352.3 13.5 1002 11774 0.00 0.00 0.00 0.000 6 0.000 0.000 3368 1899 2417 0 0 0 0 0 0 28.83 28.83 28.83
12075 0.72 146.6 313.4 13.1 1032 12079 0.00 2.22 0.00 0.000 4 0.000 0.050 3377 492 2417 0 0 0 0 0 0 28.83 26.55 28.83
12127 0.72 146.6 306.2 13.2 1037 12136 0.00 2.22 0.00 0.000 6 0.000 0.045 3377 1908 2417 0 0 0 0 0 0 28.83 26.56 28.83
12437 0.72 146.6 263.9 13.4 1068 12438 0.00 0.00 0.00 0.000 6 0.000 0.000 3377 1907 2417 0 0 0 0 0 0 28.83 28.83 28.83
12739 0.72 146.6 223.9 13.3 1098 12749 0.00 2.20 0.00 0.000 4 0.000 0.050 3386 507 2418 0 0 0 0 0 0 28.83 26.59 28.83
12805 0.72 146.6 215.2 13.6 1104 12812 0.00 2.20 0.00 0.000 6 0.000 0.044 3387 1911 2417 0 0 0 0 0 0 28.83 26.60 28.83
13113 0.72 146.6 173.3 13.0 1135 13121 0.00 2.15 0.00 0.000 4 0.000 0.055 3386 3315 2418 0 0 0 0 0 0 28.83 26.60 28.83
13127 0.72 146.6 172.0 13.2 1136 13135 0.12 2.15 0.00 0.000 6 0.192 0.042 3367 1889 2418 0 0 0 0 0 0 26.48 26.63 28.83
13435 0.72 146.6 135.8 11.0 1167 13444 0.00 2.12 0.00 0.000 4 0.000 0.050 3375 500 2417 0 0 0 0 0 0 28.83 26.62 28.83
13601 0.72 146.6 117.0 11.9 1183 13608 0.00 2.20 0.00 0.000 6 0.000 0.044 3375 1900 2417 0 0 0 0 0 0 28.83 26.65 28.83
13911 0.72 146.6 83.4 10.4 1229 13918 0.00 2.15 0.00 0.000 4 0.000 0.056 3375 3306 2418 0 0 0 0 0 0 28.83 26.63 28.83
14006 0.72 146.6 72.6 11.7 1247 14013 0.00 2.12 0.00 0.000 6 0.000 0.042 3384 1898 2418 0 0 0 0 0 0 28.83 26.67 28.83
14317 0.72 146.6 41.5 9.4 1308 14324 0.00 2.15 0.00 0.000 4 0.000 0.050 3395 498 2417 0 0 0 0 0 0 28.83 26.66 28.83
14460 0.72 146.6 28.1 9.4 1335 14468 0.12 2.20 0.00 0.000 6 0.175 0.045 3364 1898 2418 0 0 0 0 0 0 26.55 26.67 28.83
14777 0.86 255.4 7.2 4.6 1396 14833 0.12 2.22 48.15 0.076 4 0.112 0.057 3413 3308 1984 0 0 0 0 0 0 26.67 26.58 26.57
14841 end climb: SURFACE_DEPTH_REACHED
state 14842 begin surface coast
14870 end surface coast: FINISH_DEPTH_REACHED
state 14870 begin surface