SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 248 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  160 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  3 ESCAPE_HEADING  0 ROLL_MIN  220 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  248 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3792 ALTIM_PING_DEPTH  0
D_SURF  3 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  50
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_DIVE  2180 ALTIM_FREQUENCY  12
D_TGT  990 TGT_DEFAULT_LON  -12218 C_ROLL_CLIMB  2270 ALTIM_PULSE  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
D_NO_BLEED  200 SM_CC  225 ROLL_CNV  0.028270001 XPDR_VALID  4
D_FINISH  0 N_FILEKB  8 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  30 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  31 INT_PRESSURE_YINT  1
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  300 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  2 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0.029999999 DEVICE1  2
T_DIVE  480 UPLOAD_DIVES_MAX  -1 VBD_MIN  490 DEVICE2  20
T_MISSION  540 CALL_TRIES  5 VBD_MAX  3961 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  3046 DEVICE4  -1
T_TURN  225 CAPUPLOAD  0 VBD_DBAND  2 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 VBD_CNV  -0.24529999 DEVICE6  -1
T_NO_W  120 HEAPDBG  0 VBD_TIMEOUT  720 SMARTS  0
USE_BATHY  -1 T_GPS  15 PITCH_VBD_SHIFT  0.0012300001 SMARTDEVICE1  -1
USE_ICE  0 N_GPS  20 VBD_PUMP_AD_RATE_SURFACE  4 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS_DEVICE  33
D_OFFGRID  1000 T_GPS_CHARGE  -12744.917 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  3 UNCOM_BLEED  20 PHONE_DEVICE  48
RELAUNCH  1 RAFOS_PEAK_OFFSET  1.5 VBD_MAXERRORS  1 GPS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  0 RAFOS_DEVICE  -1
MAX_BUOY  120 RAFOS_HIT_WINDOW  3600 AH0_24V  146 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  155 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3934 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2613 PRESSURE_YINT  -22.900637 SEABIRD_T_G  0.0043896637
RHO  1.028 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.000115925 SEABIRD_T_H  0.00063842954
MASS  51810 PITCH_CNV  0.003125763 AD7714Ch0Gain  128 SEABIRD_T_I  2.5580319e-05
NAV_MODE  2 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.7701631e-06
FERRY_MAX  45 PITCH_GAIN  22 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -10.180033
KALMAN_USE  2 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_H  1.1381946
HD_A  0.003 PITCH_AD_RATE  140 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.00092952099
HD_B  0.0099999998 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.0001655513
HD_C  9.9999997e-06 PITCH_ADJ_GAIN  0.059999999 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  005137,6340.651,228.717,32,1.3,32,-3.6 TGT_NAME  INSHORE
_CALLS  1 TGT_LATLONG  6300.600,352.100
_XMS_NAKs  10 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  3.35 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -61.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  005814,6340.733,228.575,14,1.7,14,-3.6 MHEAD_RNG_PITCHd_Wd  153.4,102239,-13.7,-6.875
SPEED_LIMITS  0.119,0.206 D_GRID  1361

Post-dive calculations and measurements:
FINISH  2.6,1.027547 _24V_AH  21.9,41.706
SM_CCo  26959,0.00,0.000,0,0,1959,266.64 _10V_AH  10.6,31.837
SM_GC  3.50,7.22,0.00,0.00,0.048,0.000,0.000,142,2182,1959,-7.65,0.06,266.64 DATA_FILE_SIZE  82083,1677
IRIDIUM_FIX  6317.84,225.58,040798,171701 CAP_FILE_SIZE  208102,0
TT8_MAMPS  0.026845 CFSIZE  260165632,233594880
HUMID  1651 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  9.11555 CURRENT  0.084, 82.3,1
TCM_TEMP  14.50 GPS  100409,082907,6338.083,234.914,33,1.2,33,-3.5
XPDR_PINGS  1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor30194131.62 SBE_CT118024620.37
Roll_motor13869212.35 SBE_O293219387.91
VBD_pump_during_apogee345142210752.97 WL_BB2F6041051389.34
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2210351.83 nil000.00
Iridium_during_connect29160101.75 nil000.00
Iridium_during_xfer2172231062.34
Transponder_ping04202.30
Mmodem_TX000.00
Mmodem_RX000.00
GPS16508.82
TT8314819660.76
LPSleep200082464.48
TT8_Active54419114.18
TT8_Sampling3027391277.14
TT8_CF861345297.65
TT8_Kalman000.00
Analog_circuits202012257.06
GPS_charging000.00
Compass30018254.50
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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -0.77 -116.7 0.0 0.0 0 24 0.00 0.00 -7.65 0.000 2 0.000 0.000 123 2182 2183
27 -0.77 -116.7 3.4 -0.0 1 126 8.23 2.33 -81.07 0.000 4 0.195 0.060 2366 3579 3522
195 -0.49 -116.7 9.9 -10.1 28 203 0.28 2.20 0.00 0.000 6 0.122 0.032 2451 2165 3523
543 -0.62 -116.7 32.8 -6.0 89 550 0.12 0.00 0.00 0.000 6 0.071 0.000 2396 2164 3524
889 -0.52 -116.7 62.6 -8.4 150 895 0.17 0.00 0.00 0.000 6 0.119 0.000 2450 2163 3525
1236 -0.65 -116.7 84.7 -6.3 211 1242 0.15 0.00 0.00 0.000 6 0.064 0.000 2386 2162 3525
1579 -0.51 -116.7 115.1 -8.9 272 1585 0.20 0.00 0.00 0.000 6 0.118 0.000 2448 2163 3526
1924 -0.64 -116.7 136.7 -6.0 333 1931 0.12 0.00 0.00 0.000 6 0.070 0.000 2392 2163 3526
2265 -0.54 -116.7 165.8 -8.6 378 2267 0.15 0.00 0.00 0.000 6 0.120 0.000 2438 2163 3527
2585 -0.64 -116.7 187.7 -7.0 408 2586 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2163 3526
2900 -0.74 -116.7 208.5 -6.3 434 2902 0.17 0.00 0.00 0.000 6 0.060 0.000 2363 2163 3526
3214 -0.51 -116.7 238.4 -9.9 454 3216 0.28 0.00 0.00 0.000 6 0.119 0.000 2450 2163 3527
3525 -0.67 -116.7 257.9 -6.0 474 3529 0.15 2.30 0.00 0.000 4 0.064 0.048 2383 3589 3527
3552 -0.60 -116.7 260.0 -7.8 476 3557 0.12 2.20 0.00 0.000 6 0.135 0.034 2418 2170 3527
3876 -0.60 -116.7 283.1 -7.0 497 3880 0.00 2.20 0.00 0.000 4 0.000 0.046 2419 770 3526
3920 -0.60 -116.7 286.6 -7.9 499 3927 0.00 2.20 0.00 0.000 6 0.000 0.038 2419 2175 3526
4238 -0.60 -116.7 309.3 -7.2 518 4240 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2175 3527
4547 -0.60 -116.7 331.4 -7.2 533 4548 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2176 3527
4856 -0.60 -116.7 352.6 -6.5 548 4857 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 2176 3526
5166 -0.60 -116.7 371.7 -6.1 563 5167 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2176 3527
5475 -0.60 -116.7 390.6 -6.2 578 5477 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2176 3527
5784 -0.60 -116.7 410.5 -6.6 593 5785 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2176 3526
6094 -0.60 -116.7 430.5 -6.4 608 6095 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2176 3526
6403 -0.60 -116.7 450.4 -6.3 623 6404 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2176 3525
6712 -0.60 -116.7 470.8 -6.8 638 6714 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 2176 3525
7022 -0.60 -116.7 491.4 -6.6 653 7023 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2176 3524
7330 -0.60 -116.7 511.3 -6.3 668 7332 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2176 3524
7640 -0.60 -116.7 530.6 -6.2 683 7641 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2176 3523
7950 -0.60 -116.7 550.3 -6.4 698 7954 0.00 2.30 0.00 0.000 4 0.000 0.056 2418 3590 3521
7988 -0.69 -116.7 552.9 -6.6 699 7995 0.00 2.25 0.00 0.000 6 0.000 0.038 2418 2165 3521
8304 -0.75 -116.7 573.0 -6.3 715 8306 0.15 0.00 0.00 0.000 6 0.067 0.000 2353 2164 3521
8614 -0.52 -116.7 601.2 -9.2 730 8616 0.30 0.00 0.00 0.000 6 0.123 0.000 2447 2162 3520
8919 -0.72 -116.7 618.7 -5.7 740 8921 0.20 0.00 0.00 0.000 6 0.058 0.000 2364 2163 3519
9226 -0.55 -116.7 644.6 -8.4 750 9228 0.25 0.00 0.00 0.000 6 0.121 0.000 2443 2162 3519
9532 -0.72 -116.7 662.1 -5.6 760 9537 0.17 2.35 0.00 0.000 4 0.062 0.052 2367 3595 3518
9576 -0.58 -116.7 665.7 -8.6 761 9581 0.20 2.25 0.00 0.000 6 0.127 0.036 2427 2162 3518
9894 -0.69 -116.7 685.1 -6.0 772 9896 0.12 0.00 0.00 0.000 6 0.072 0.000 2376 2162 3517
10200 -0.57 -116.7 709.1 -7.8 782 10202 0.17 0.00 0.00 0.000 6 0.125 0.000 2430 2162 3517
10506 -0.70 -116.7 726.7 -5.7 792 10508 0.12 0.00 0.00 0.000 6 0.072 0.000 2377 2162 3516
10813 -0.60 -116.7 750.0 -7.7 802 10815 0.15 0.00 0.00 0.000 6 0.127 0.000 2422 2162 3516
11120 -0.70 -116.7 768.1 -5.7 812 11124 0.00 2.35 0.00 0.000 4 0.000 0.054 2422 3590 3516
11161 -0.81 -116.7 770.5 -6.3 813 11166 0.20 2.28 0.00 0.000 6 0.062 0.040 2342 2156 3515
11490 -0.55 -116.7 799.6 -9.0 824 11495 0.28 2.25 0.00 0.000 4 0.130 0.052 2432 762 3515
11540 -0.67 -116.7 803.0 -6.2 825 11544 0.12 2.22 0.00 0.000 6 0.074 0.041 2380 2172 3515
11852 -0.59 -116.7 825.0 -7.1 835 11854 0.15 0.00 0.00 0.000 6 0.127 0.000 2426 2172 3514
12159 -0.71 -116.7 842.4 -5.6 845 12161 0.12 0.00 0.00 0.000 6 0.075 0.000 2373 2172 3514
12464 -0.59 -116.7 864.7 -7.5 855 12469 0.15 2.28 0.00 0.000 4 0.127 0.048 2419 771 3513
12542 -0.59 -116.7 870.0 -6.8 857 12546 0.00 2.22 0.00 0.000 6 0.000 0.042 2419 2168 3513
12866 -0.68 -116.7 889.1 -5.9 868 12867 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 2168 3513
13174 -0.77 -116.7 907.0 -5.9 878 13176 0.15 0.00 0.00 0.000 6 0.069 0.000 2354 2169 3513
13480 -0.57 -116.7 931.3 -8.0 888 13482 0.25 0.00 0.00 0.000 6 0.124 0.000 2431 2169 3513
13787 -0.72 -116.7 947.6 -5.3 898 13789 0.15 0.00 0.00 0.000 6 0.069 0.000 2367 2169 3513
14092 -0.58 -116.7 970.1 -7.4 908 14097 0.20 2.30 0.00 0.000 4 0.123 0.051 2434 769 3513
14126 -0.70 -116.7 972.3 -5.7 909 14130 0.15 2.22 0.00 0.000 6 0.070 0.042 2375 2162 3512
14398 end dive: TARGET_DEPTH_EXCEEDED
state 14398 begin apogee
14404 -0.23 0.0 990.7 6.8 918 14505 0.52 0.00 98.78 1.423 6 0.120 0.000 2541 2278 3046
14506 end apogee: CONTROL_FINISHED_OK
state 14506 begin climb
14509 0.77 116.7 993.0 0.0 921 14620 0.98 0.00 107.15 1.387 6 0.075 0.000 2859 2278 2570
14922 0.47 116.7 967.2 8.1 935 14924 0.32 0.00 0.00 0.000 6 0.133 0.000 2763 2278 2564
15227 0.61 159.1 950.9 5.2 945 15266 0.15 0.00 36.55 1.368 6 0.075 0.000 2823 2278 2397
15563 0.54 159.1 924.8 8.0 956 15565 0.12 0.00 0.00 0.000 6 0.129 0.000 2787 2278 2393
15870 0.61 166.1 904.6 6.6 966 15879 0.00 0.00 6.97 1.148 6 0.000 0.000 2788 2278 2368
16176 0.71 175.9 884.4 6.5 976 16192 0.15 2.33 10.18 1.236 4 0.064 0.048 2856 853 2327
16225 0.51 175.9 880.3 8.8 977 16230 0.25 2.25 0.00 0.000 6 0.132 0.036 2782 2271 2326
16538 0.65 188.4 860.0 6.4 987 16558 0.12 2.35 12.35 1.256 4 0.077 0.053 2833 3673 2277
16597 0.47 188.4 854.9 9.3 988 16604 0.25 2.25 0.00 0.000 6 0.133 0.035 2763 2254 2275
16910 0.72 208.3 835.5 6.1 999 16943 0.20 2.25 20.60 1.190 4 0.060 0.046 2855 860 2195
17012 0.59 208.3 826.2 9.5 1002 17017 0.17 2.25 0.00 0.000 6 0.125 0.036 2803 2278 2192
17347 0.67 208.3 799.7 7.9 1013 17350 0.00 2.25 0.00 0.000 4 0.000 0.054 2803 3676 2190
17407 0.67 208.3 794.3 9.0 1014 17414 0.00 2.22 0.00 0.000 6 0.000 0.037 2808 2257 2190
17722 0.67 208.3 768.7 8.2 1025 17723 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 2256 2189
18027 0.67 208.3 744.1 8.0 1035 18029 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2256 2189
18334 0.67 208.3 719.5 7.9 1045 18335 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2256 2189
18641 0.73 208.3 695.7 7.7 1055 18643 0.12 0.00 0.00 0.000 6 0.070 0.000 2865 2255 2189
18947 0.58 208.3 664.9 10.2 1065 18949 0.22 0.00 0.00 0.000 6 0.122 0.000 2796 2255 2188
19253 0.71 208.3 643.0 7.1 1075 19257 0.15 2.33 0.00 0.000 4 0.065 0.052 2862 3685 2188
19293 0.45 208.3 639.0 10.5 1076 19298 0.35 2.20 0.00 0.000 6 0.128 0.035 2761 2264 2188
19616 0.76 234.4 619.7 5.8 1087 19649 0.25 2.28 22.62 1.176 4 0.054 0.050 2868 873 2088
19705 0.64 234.4 611.2 11.2 1089 19710 0.17 2.20 0.00 0.000 6 0.122 0.035 2816 2262 2085
20034 0.72 234.4 585.6 7.4 1103 20038 0.00 2.28 0.00 0.000 4 0.000 0.050 2817 3682 2084
20107 0.72 234.4 579.7 8.1 1106 20110 0.00 2.20 0.00 0.000 6 0.000 0.034 2816 2269 2084
20435 0.80 234.4 555.6 7.4 1122 20439 0.15 2.22 0.00 0.000 4 0.064 0.048 2881 869 2083
20490 0.63 234.4 550.1 10.8 1124 20495 0.22 2.20 0.00 0.000 6 0.124 0.035 2813 2282 2082
20806 0.72 234.4 526.0 7.7 1139 20810 0.00 2.22 0.00 0.000 4 0.000 0.050 2813 3677 2083
20866 0.72 234.4 520.8 8.8 1141 20875 0.00 2.20 0.00 0.000 6 0.000 0.035 2813 2256 2083
21183 0.83 234.4 495.3 8.2 1157 21188 0.20 2.20 0.00 0.000 4 0.058 0.045 2905 860 2083
21227 0.57 234.4 490.3 11.6 1159 21232 0.35 2.20 0.00 0.000 6 0.128 0.036 2797 2271 2082
21548 0.74 234.4 466.1 7.3 1175 21553 0.17 2.28 0.00 0.000 4 0.061 0.054 2870 3680 2082
21643 0.55 234.4 455.7 10.7 1179 21648 0.30 2.20 0.00 0.000 6 0.123 0.035 2785 2268 2082
21959 0.80 244.3 434.6 6.5 1194 21974 0.20 2.28 8.82 0.982 4 0.057 0.048 2878 856 2050
22013 0.68 244.3 429.2 10.1 1196 22018 0.17 2.22 0.00 0.000 6 0.123 0.036 2827 2279 2048
22329 0.76 244.3 402.7 8.8 1211 22332 0.00 2.22 0.00 0.000 4 0.000 0.051 2826 3670 2047
22407 0.76 244.3 395.2 9.4 1214 22411 0.00 2.17 0.00 0.000 6 0.000 0.034 2826 2266 2047
22729 0.83 244.3 367.0 8.8 1230 22734 0.15 2.22 0.00 0.000 4 0.064 0.048 2891 870 2047
22846 0.67 244.3 353.4 11.8 1235 22851 0.22 2.17 0.00 0.000 6 0.123 0.032 2823 2278 2046
23167 0.77 244.3 327.6 7.3 1251 23172 0.12 2.25 0.00 0.000 4 0.071 0.051 2878 3676 2046
23234 0.56 244.3 320.4 12.0 1254 23239 0.30 2.20 0.00 0.000 6 0.121 0.035 2788 2256 2046
23556 0.81 248.6 299.2 6.7 1270 23566 0.22 2.17 5.12 0.762 4 0.053 0.044 2892 865 2032
23639 0.66 248.6 289.9 10.9 1274 23644 0.22 2.17 0.00 0.000 6 0.120 0.034 2823 2268 2031
23960 0.77 248.6 262.4 8.0 1294 23965 0.12 2.28 0.00 0.000 4 0.071 0.051 2878 3685 2031
24015 0.56 248.6 255.8 12.4 1297 24023 0.28 2.20 0.00 0.000 6 0.121 0.032 2796 2253 2031
24336 0.79 248.6 230.9 7.6 1318 24341 0.20 2.17 0.00 0.000 4 0.057 0.043 2881 863 2031
24431 0.67 248.6 220.5 9.6 1324 24436 0.17 2.17 0.00 0.000 6 0.120 0.035 2829 2268 2031
24753 0.77 248.6 192.8 8.6 1347 24754 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 2269 2031
25071 0.87 248.6 166.2 8.5 1377 25076 0.17 2.25 0.00 0.000 4 0.058 0.051 2903 3674 2031
25110 0.57 248.6 161.6 12.4 1380 25115 0.38 2.20 0.00 0.000 6 0.123 0.031 2790 2244 2032
25444 0.84 265.4 138.6 6.2 1425 25466 0.22 2.25 15.95 0.766 4 0.054 0.044 2891 853 1962
25548 0.71 265.4 127.6 12.0 1442 25555 0.17 2.17 0.00 0.000 6 0.120 0.033 2839 2248 1959
25894 0.80 265.4 95.3 9.2 1503 25900 0.00 2.30 0.00 0.000 4 0.000 0.050 2839 3684 1960
25945 0.80 265.4 90.0 10.7 1512 25952 0.00 2.25 0.00 0.000 6 0.000 0.031 2839 2242 1960
26290 0.89 265.4 57.5 8.7 1573 26298 0.17 2.15 0.00 0.000 4 0.057 0.043 2918 869 1960
26339 0.71 265.4 52.2 11.9 1581 26347 0.25 2.12 0.00 0.000 6 0.128 0.031 2842 2257 1959
26685 0.78 265.4 17.6 10.2 1642 26691 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2258 1960
26852 end climb: SURFACE_DEPTH_REACHED
state 26852 begin surface coast
26882 end surface coast: CONTROL_FINISHED_OK
state 26883 begin surface