Philippines Feb08 * SG122 * Dive index * Mission links * Dive 304 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  122 HD_C  4.5199999e-05 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0
MISSION  6 HEADING  -1 PITCH_ADJ_GAIN  0.029999999 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  304 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  168 ALTIM_TOP_MIN_OBSTACLE  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3733 ALTIM_PING_DEPTH  500
D_TGT  990 TGT_DEFAULT_LAT  47.599998 ROLL_DEG  40 ALTIM_PING_DELTA  10
D_ABORT  1040 TGT_DEFAULT_LON  -122.3 C_ROLL_DIVE  2150 ALTIM_FREQUENCY  13
D_NO_BLEED  100 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2375 ALTIM_PULSE  8
D_FINISH  0 SM_CC  475 HEAD_ERRBAND  15 ALTIM_SENSITIVITY  2
D_PITCH  0 N_FILEKB  4 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 FILEMGR  0 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  0
D_CALL  0 CALL_NDIVES  1 R_PORT_OVSHOOT  27 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  31 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  350 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  1 DEVICE1  2
T_DIVE  366 N_NOSURFACE  0 ROLL_ADJ_GAIN  3 DEVICE2  -1
T_MISSION  439 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0.029999999 DEVICE3  -1
T_ABORT  1440 CALL_TRIES  5 VBD_MIN  417 DEVICE4  -1
T_TURN  225 CALL_WAIT  60 VBD_MAX  3757 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  2748 DEVICE6  -1
T_NO_W  120 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  -2 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  15 VBD_TIMEOUT  720 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.00167 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  5 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -33510.387 VBD_PUMP_AD_RATE_APOGEE  4 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  3 VBD_BLEED_AD_RATE  8 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_PEAK_OFFSET  1.5 UNCOM_BLEED  20 XPDR_DEVICE  24
MAX_BUOY  150 RAFOS_CORR_THRESH  70 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  0 SIM_PITCH  0
GLIDE_SLOPE  30 PITCH_MIN  250 AH0_24V  91.800003 SEABIRD_T_G  0.0044208211
SPEED_FACTOR  1 PITCH_MAX  3579 AH0_10V  61.200001 SEABIRD_T_H  0.00065343338
RHO  1.0274 C_PITCH  2905 PRESSURE_YINT  -4.1162887 SEABIRD_T_I  2.7514026e-05
MASS  51598 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.00025722419 SEABIRD_T_J  3.0288847e-06
NAV_MODE  2 PITCH_CNV  0.0046000001 AD7714Ch0Gain  64 SEABIRD_C_G  -10.084093
FERRY_MAX  45 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1290534
KALMAN_USE  2 PITCH_GAIN  14.2 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0015321091
HD_A  0.0031900001 PITCH_TIMEOUT  20 COMPASS_USE  0 SEABIRD_C_J  0.00018406138
HD_B  0.0133 PITCH_AD_RATE  150 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  135938,1251.465,12034.046,25,1.4,25,-0.8 TGT_NAME  WEST
_CALLS  2 TGT_LATLONG  1245.620,12015.500
_XMS_NAKs  2 TGT_RADIUS  1000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.80 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -73.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  140951,1251.620,12033.998,33,1.4,33,-0.8 MHEAD_RNG_PITCHd_Wd  238.7,35212,-18.6,-9.016
SPEED_LIMITS  0.156,0.206 D_GRID  1556

Post-dive calculations and measurements:
FINISH  -0.2,1.021159 _24V_AH  23.0,56.238
SM_CCo  22867,0.00,0.000,0,0,578,532.06 _10V_AH  10.1,28.829
SM_GC  0.75,13.70,0.00,0.00,0.038,0.000,0.000,250,2181,578,-12.18,0.88,532.06 DATA_FILE_SIZE  62819,1994
IRIDIUM_FIX  1247.67,12024.46,160797,141439 CAP_FILE_SIZE  229000,0
TT8_MAMPS  0.023777 CFSIZE  260165632,232046592
HUMID  2040 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  9.58045 CURRENT  0.029,354.9,1
TCM_TEMP  23.60 GPS  210408,203238,1251.159,12032.438,31,1.6,31,-0.8
XPDR_PINGS  391

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor34168134.09 SBE_CT134024739.86
Roll_motor24191507.50 nil000.00
VBD_pump_during_apogee579137718364.40 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init47103112.99 nil000.00
Iridium_during_connect91160336.81 nil000.00
Iridium_during_xfer2442231253.14
Transponder_ping1104201065.02
Mmodem_TX000.00
Mmodem_RX000.00
GPS335016.95
TT8426919853.84
LPSleep141102312.10
TT8_Active81419162.96
TT8_Sampling3425391376.79
TT8_CF885445395.21
TT8_Kalman000.00
Analog_circuits256912311.44
GPS_charging000.00
Compass33288268.93
RAFOS000.00

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
19 end surface: CONTROL_FINISHED_OK
state 19 begin dive
22 -1.56 -146.0 0.0 0.0 0 83 0.00 0.00 -59.17 0.000 2 0.000 0.000 249 2178 2337
86 -1.56 -146.0 3.0 -7.0 10 126 13.38 2.42 -20.17 0.000 4 0.169 0.053 2562 3555 3345
184 -1.24 -146.0 22.8 -19.9 26 191 0.38 2.35 0.00 0.000 6 0.117 0.027 2631 2138 3346
530 -1.15 -146.0 76.6 -13.0 87 537 0.12 2.45 0.00 0.000 4 0.119 0.041 2653 3559 3348
589 -1.09 -146.0 84.0 -11.9 97 597 0.00 2.30 0.00 0.000 6 0.000 0.026 2653 2168 3348
935 -1.09 -146.0 121.9 -9.8 158 942 0.00 2.38 0.00 0.000 4 0.000 0.043 2653 3555 3350
1010 -1.09 -146.0 129.7 -10.2 171 1017 0.00 2.17 0.00 0.000 6 0.000 0.026 2653 2226 3350
1358 -1.24 -146.0 157.1 -7.3 232 1365 0.00 2.30 0.00 0.000 4 0.000 0.044 2653 3565 3352
1463 -1.38 -146.0 165.2 -7.4 250 1471 0.22 2.00 0.00 0.000 6 0.042 0.027 2587 2333 3352
1809 -1.38 -146.0 193.8 -7.9 311 1816 0.00 2.10 0.00 0.000 4 0.000 0.045 2588 3558 3352
1948 -1.32 -146.0 206.1 -8.9 335 1955 0.15 2.10 0.00 0.000 6 0.097 0.028 2616 2283 3352
2295 -1.44 -146.0 234.8 -8.9 396 2302 0.12 2.20 0.00 0.000 4 0.054 0.043 2576 3565 3351
2343 -1.35 -146.0 239.5 -9.8 404 2351 0.17 2.05 0.00 0.000 6 0.097 0.028 2610 2317 3351
2683 -1.44 -146.0 269.7 -8.2 445 2687 0.00 2.12 0.00 0.000 4 0.000 0.044 2610 3555 3349
2745 -1.48 -146.0 275.2 -8.7 450 2752 0.12 2.20 0.00 0.000 6 0.056 0.029 2573 2227 3349
3071 -1.43 -146.0 303.3 -8.3 481 3075 0.00 2.30 0.00 0.000 4 0.000 0.047 2573 3556 3347
3115 -1.35 -146.0 307.7 -8.9 484 3123 0.20 2.15 0.00 0.000 6 0.098 0.030 2611 2261 3346
3441 -1.47 -146.0 332.9 -8.1 515 3446 0.12 2.25 0.00 0.000 4 0.054 0.046 2571 3559 3345
3487 -1.39 -146.0 337.3 -9.9 519 3492 0.15 2.10 0.00 0.000 6 0.105 0.031 2598 2297 3345
3818 -1.39 -146.0 365.4 -8.0 550 3823 0.00 2.72 0.00 0.000 4 0.000 0.051 2598 758 3343
3859 -1.39 -146.0 368.8 -8.4 553 3863 0.00 2.62 0.00 0.000 6 0.000 0.032 2598 2297 3342
4186 -1.49 -146.0 391.7 -6.9 583 4191 0.00 2.72 0.00 0.000 4 0.000 0.049 2598 760 3341
4198 -1.58 -146.0 392.7 -7.2 583 4206 0.17 2.45 0.00 0.000 6 0.049 0.031 2547 2205 3341
4524 -1.48 -146.0 420.5 -8.5 614 4529 0.15 2.58 0.00 0.000 4 0.109 0.050 2578 760 3338
4603 -1.45 -146.0 427.2 -8.5 620 4609 0.00 2.50 0.00 0.000 6 0.000 0.032 2578 2223 3337
4931 -1.45 -146.0 455.6 -8.8 651 4935 0.00 2.33 0.00 0.000 4 0.000 0.050 2578 3555 3335
4986 -1.39 -146.0 460.8 -9.5 655 4994 0.12 2.28 0.00 0.000 6 0.114 0.033 2600 2207 3334
5312 -1.49 -146.0 485.4 -7.5 686 5316 0.00 2.38 0.00 0.000 4 0.000 0.051 2600 3553 3332
5402 -1.49 -146.0 492.5 -7.3 693 5409 0.00 2.17 0.00 0.000 6 0.000 0.033 2600 2262 3332
5733 -1.59 -146.0 517.9 -7.9 714 5737 0.17 2.28 0.00 0.000 4 0.049 0.050 2547 3559 3330
5794 -1.48 -146.0 524.1 -10.2 716 5802 0.17 2.05 0.00 0.000 6 0.108 0.033 2579 2335 3329
6113 -1.48 -146.0 551.0 -8.2 732 6114 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2334 3327
6420 -1.48 -146.0 575.3 -7.7 747 6421 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2334 3326
6729 -1.48 -146.0 599.1 -7.8 762 6733 0.00 2.83 0.00 0.000 4 0.000 0.054 2579 759 3325
6778 -1.48 -146.0 603.3 -7.9 764 6783 0.00 2.75 0.00 0.000 6 0.000 0.035 2579 2352 3324
7095 -1.48 -146.0 628.5 -8.1 779 7099 0.00 2.88 0.00 0.000 4 0.000 0.054 2579 753 3323
7151 -1.48 -146.0 633.2 -8.8 781 7158 0.00 2.70 0.00 0.000 6 0.000 0.035 2579 2316 3323
7468 -1.48 -146.0 658.1 -7.9 797 7469 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2316 3320
7776 -1.48 -146.0 683.4 -8.3 812 7781 0.00 2.80 0.00 0.000 4 0.000 0.054 2579 759 3319
7798 -1.48 -146.0 685.4 -8.9 813 7803 0.00 2.70 0.00 0.000 6 0.000 0.037 2579 2318 3319
8122 -1.48 -146.0 709.7 -7.5 829 8127 0.00 2.78 0.00 0.000 4 0.000 0.055 2579 765 3318
8150 -1.48 -146.0 712.1 -7.7 830 8154 0.00 2.67 0.00 0.000 6 0.000 0.036 2579 2306 3318
8471 -1.48 -146.0 735.9 -7.5 846 8475 0.00 2.20 0.00 0.000 4 0.000 0.057 2579 3552 3317
8499 -1.48 -146.0 738.4 -9.2 847 8503 0.00 2.12 0.00 0.000 6 0.000 0.035 2579 2296 3317
8815 -1.48 -146.0 762.9 -7.8 862 8819 0.00 2.75 0.00 0.000 4 0.000 0.057 2579 763 3316
8842 -1.48 -146.0 765.4 -8.4 863 8846 0.00 2.65 0.00 0.000 6 0.000 0.037 2579 2292 3315
9159 -1.48 -146.0 789.2 -7.4 878 9162 0.00 2.22 0.00 0.000 4 0.000 0.057 2579 3552 3315
9199 -1.48 -146.0 792.5 -8.2 880 9203 0.00 2.15 0.00 0.000 6 0.000 0.035 2579 2290 3314
9527 -1.48 -146.0 817.5 -7.8 896 9528 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2288 3313
9835 -1.48 -146.0 843.4 -8.7 911 9840 0.00 2.75 0.00 0.000 4 0.000 0.058 2579 762 3312
9862 -1.48 -146.0 846.2 -10.1 912 9867 0.00 2.67 0.00 0.000 6 0.000 0.038 2579 2301 3311
10179 -1.48 -146.0 873.6 -8.5 927 10183 0.00 2.22 0.00 0.000 4 0.000 0.058 2579 3555 3310
10219 -1.48 -146.0 877.4 -9.1 929 10223 0.00 2.12 0.00 0.000 6 0.000 0.036 2579 2311 3310
10548 -1.48 -146.0 903.1 -7.3 945 10553 0.00 2.80 0.00 0.000 4 0.000 0.058 2579 756 3309
10589 -1.48 -146.0 906.3 -7.7 947 10593 0.00 2.70 0.00 0.000 6 0.000 0.038 2579 2308 3309
10920 -1.48 -146.0 931.0 -8.1 963 10924 0.00 2.22 0.00 0.000 4 0.000 0.059 2579 3559 3308
10983 -1.48 -146.0 936.4 -7.7 966 10987 0.00 2.12 0.00 0.000 6 0.000 0.037 2579 2314 3308
11314 -1.48 -146.0 961.2 -7.5 982 11319 0.00 2.80 0.00 0.000 4 0.000 0.059 2579 760 3307
11336 -1.48 -146.0 963.4 -8.1 983 11340 0.00 2.70 0.00 0.000 6 0.000 0.038 2579 2319 3307
11657 -1.48 -146.0 988.7 -8.1 999 11658 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2318 3307
11676 end dive: TARGET_DEPTH_EXCEEDED
state 11676 begin apogee
11682 -0.35 0.0 990.5 8.2 1000 11808 1.23 0.00 121.82 1.378 6 0.100 0.000 2824 2379 2748
11808 end apogee: CONTROL_FINISHED_OK
state 11809 begin climb
11811 1.56 146.0 995.9 0.0 1006 11948 1.92 2.50 128.48 1.334 4 0.054 0.061 3245 3723 2151
11989 1.27 146.0 988.2 11.0 1014 11994 0.35 2.33 0.00 0.000 6 0.135 0.039 3185 2392 2150
12313 1.16 162.0 961.3 8.3 1030 12336 0.15 2.67 13.80 1.344 4 0.133 0.061 3156 968 2086
12460 1.10 176.9 948.6 8.3 1036 12480 0.00 2.40 13.27 1.339 6 0.000 0.039 3156 2332 2026
12806 1.08 192.0 919.8 8.3 1053 12829 0.00 2.60 13.15 1.340 4 0.000 0.060 3156 972 1964
12868 1.02 192.0 913.7 9.8 1055 12876 0.15 2.40 0.00 0.000 6 0.124 0.039 3131 2329 1964
13185 1.02 192.0 885.5 9.1 1071 13189 0.00 2.50 0.00 0.000 4 0.000 0.060 3131 962 1964
13262 1.02 192.0 878.3 9.4 1074 13269 0.00 2.33 0.00 0.000 6 0.000 0.039 3130 2286 1963
13579 1.07 219.2 852.5 7.8 1090 13610 0.00 2.53 24.12 1.308 4 0.000 0.060 3131 971 1853
13660 1.07 219.2 845.5 9.1 1093 13667 0.00 2.30 0.00 0.000 6 0.000 0.039 3130 2272 1853
13977 1.14 243.5 820.1 7.9 1109 14003 0.00 2.47 21.10 1.288 4 0.000 0.061 3131 965 1755
14049 1.14 246.1 813.8 8.9 1112 14058 0.10 2.25 2.78 1.236 6 0.075 0.039 3156 2240 1744
14375 1.14 246.1 782.4 10.0 1128 14379 0.00 2.33 0.00 0.000 4 0.000 0.061 3156 969 1742
14402 1.14 246.1 779.6 10.3 1129 14406 0.00 2.22 0.00 0.000 6 0.000 0.039 3156 2234 1742
14724 1.14 246.3 749.3 9.0 1145 14728 0.00 2.33 0.00 0.000 4 0.000 0.061 3156 963 1742
14762 1.14 246.3 745.6 9.1 1146 14770 0.00 2.20 0.00 0.000 6 0.000 0.039 3157 2218 1741
15080 1.17 262.1 718.7 8.3 1162 15099 0.00 0.00 14.25 1.246 6 0.000 0.000 3156 2218 1679
15408 1.20 280.3 691.1 8.2 1178 15431 0.00 2.35 16.35 1.215 4 0.000 0.061 3156 970 1604
15515 1.20 280.3 681.3 9.1 1182 15523 0.00 2.17 0.00 0.000 6 0.000 0.038 3156 2204 1603
15832 1.24 281.5 653.6 9.0 1198 15836 0.00 2.25 0.00 0.000 4 0.000 0.061 3156 971 1603
15867 1.27 281.5 650.3 9.6 1199 15874 0.12 2.15 0.00 0.000 6 0.069 0.038 3189 2202 1602
16183 1.27 281.5 618.8 10.0 1215 16184 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 2202 1602
16492 1.27 281.5 588.0 10.2 1230 16493 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 2202 1602
16801 1.27 281.5 556.8 9.8 1245 16805 0.00 2.25 0.00 0.000 4 0.000 0.060 3188 966 1602
16845 1.22 281.5 552.2 10.3 1247 16849 0.00 2.12 0.00 0.000 6 0.000 0.038 3188 2190 1602
17166 1.22 281.5 521.7 9.3 1263 17171 0.00 2.75 0.00 0.000 4 0.000 0.057 3188 3726 1602
17201 1.18 281.5 518.2 9.3 1264 17208 0.15 2.70 0.00 0.000 6 0.125 0.040 3164 2173 1602
17520 1.21 294.7 491.5 8.4 1284 17537 0.00 2.22 12.68 1.088 4 0.000 0.059 3163 971 1545
17596 1.27 313.5 485.1 8.2 1290 17620 0.00 2.10 16.55 1.061 6 0.000 0.037 3164 2173 1468
17938 1.37 343.4 457.3 7.7 1322 17975 0.15 2.90 26.08 1.025 4 0.066 0.055 3205 3727 1347
18057 1.34 343.4 445.5 10.5 1332 18062 0.00 2.67 0.00 0.000 6 0.000 0.039 3205 2203 1346
18382 1.34 343.4 413.9 9.8 1362 18386 0.00 2.22 0.00 0.000 4 0.000 0.059 3205 970 1343
18421 1.34 343.4 410.1 10.0 1365 18425 0.00 2.15 0.00 0.000 6 0.000 0.037 3205 2205 1342
18746 1.34 343.4 377.7 9.8 1395 18750 0.00 2.25 0.00 0.000 4 0.000 0.058 3205 964 1342
18785 1.34 343.4 373.5 10.2 1398 18789 0.00 2.08 0.00 0.000 6 0.000 0.036 3205 2162 1341
19118 1.34 343.4 339.7 10.0 1429 19123 0.00 2.80 0.00 0.000 4 0.000 0.054 3205 3735 1341
19173 1.34 343.4 333.3 10.6 1433 19180 0.00 2.72 0.00 0.000 6 0.000 0.038 3205 2163 1341
19500 1.34 343.4 298.7 11.4 1464 19504 0.00 2.15 0.00 0.000 4 0.000 0.058 3205 963 1341
19563 1.34 343.4 291.6 10.0 1469 19567 0.00 2.08 0.00 0.000 6 0.000 0.035 3205 2165 1341
19896 1.34 346.7 258.8 8.9 1500 19897 0.00 0.00 0.00 0.000 6 0.000 0.000 3205 2166 1341
20226 1.39 356.5 230.0 8.6 1550 20239 0.00 0.00 10.48 0.881 6 0.000 0.000 3205 2166 1294
20578 1.45 361.3 197.8 8.8 1612 20592 0.00 2.83 4.15 0.871 4 0.000 0.052 3205 3723 1275
20673 1.45 363.3 189.0 8.9 1628 20679 0.00 2.78 0.00 0.000 6 0.000 0.037 3205 2123 1275
21018 1.60 385.4 160.9 8.0 1689 21046 0.17 2.17 20.85 0.783 4 0.054 0.056 3255 965 1175
21088 1.57 385.4 153.9 10.8 1700 21095 0.00 2.30 0.00 0.000 6 0.000 0.035 3255 2289 1174
21433 1.60 399.9 120.9 8.4 1761 21453 0.00 2.42 11.82 0.759 4 0.000 0.051 3255 958 1117
21595 1.71 442.5 107.1 7.1 1789 21641 0.00 2.25 36.35 0.702 6 0.000 0.034 3255 2263 942
21981 1.93 512.5 78.3 5.9 1856 22048 0.28 2.65 57.30 0.647 4 0.048 0.049 3330 3731 657
22145 1.96 530.5 62.1 8.2 1883 22166 0.00 2.72 14.25 0.652 6 0.000 0.034 3330 2145 584
22505 2.02 530.5 28.2 10.7 1946 22512 0.00 2.78 0.00 0.000 4 0.000 0.044 3330 3732 581
22605 2.08 530.5 18.2 10.4 1963 22613 0.12 2.83 0.00 0.000 6 0.058 0.031 3365 2070 581
22767 end climb: SURFACE_DEPTH_REACHED
state 22767 begin surface coast
22783 end surface coast: CONTROL_FINISHED_OK
state 22784 begin surface