SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 362 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  543 HEADING  -1 ROLL_MAX  3944 ALTIM_TOP_MIN_OBSTACLE  1
MISSION  6 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DEPTH  1050
DIVE  362 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  3400 ALTIM_PING_DELTA  15
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  3280 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LAT  -4230 HEAD_ERRBAND  15 ALTIM_PULSE  4
D_TGT  1000 TGT_DEFAULT_LON  -200 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  3
D_NO_BLEED  200 SM_CC  230 R_PORT_OVSHOOT  45 XPDR_INHIBIT  90
D_BOOST  0 N_FILEKB  4 R_STBD_OVSHOOT  23 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  5 FILEMGR  0 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0.050000001
D_FINISH  0 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  0 KERMIT  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  0 N_NOCOMM  1 VBD_MIN  507 DEVICE1  2
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 C_VBD  2474 DEVICE3  131
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  118
T_DIVE  400 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE5  -1
T_MISSION  420 CAPUPLOAD  0 VBD_TIMEOUT  800 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.00061500003 LOGGERS  0
T_TURN  225 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 UNCOM_BLEED  60 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_CHARGE  -8886.0312 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  0 T_RSLEEP  1 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
D_OFFGRID  250 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  86 FG_AHR_10V  0 SIM_W  0
MAX_BUOY  150 PITCH_MAX  3908 FG_AHR_24V  0 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  1628 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043127281
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_YINT  -55.913475 SEABIRD_T_H  0.00062185986
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011638312 SEABIRD_T_I  2.2048062e-05
RHO  1.027 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.2117231e-06
MASS  52459 PITCH_GAIN  39 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.303595
NAV_MODE  1 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1762303
FERRY_MAX  45 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.001936322
KALMAN_USE  1 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00024357962
HD_A  0.003 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
HD_B  0.0099999998 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  20
HD_C  9.9999997e-06 ROLL_MIN  394 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  160213,102834,-4204.790,858.389,34,0.8,34,-25.1 TGT_NAME  GH4
_CALLS  1 TGT_LATLONG  -4230.000,900.000
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.089,-0.227
_SM_DEPTHo  2.05 KALMAN_X  14831.0,214.8,-190.0,62688.8,2290.2
_SM_ANGLEo  -56.2 KALMAN_Y  273898.7,-83.7,70.1,-227088.7,1811.4
GPS2  160213,104048,-4204.772,858.461,19,1.1,19,-25.1 MHEAD_RNG_PITCHd_Wd  226.4,46770,-14.6,-8.333
SPEED_LIMITS  0.144,0.244 D_GRID  1000

Post-dive calculations and measurements:
FINISH  1.2,1.025947 _10V_AH  9.9,42.625
SM_CCo  20403,33.05,0.667,1,0,1533,230.09 FG_AHR_24Vo  0.000
SM_GC  2.03,0.00,0.00,33.05,0.000,0.000,0.667,58,3406,1533,-4.90,0.17,230.09 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4146.69,931.08,160213,040430 MEM  354024
TT8_MAMPS  0.025466 DATA_FILE_SIZE  80442,1075
HUMID  55.98 CAP_FILE_SIZE  161013,0
INTERNAL_PRESSURE  9.04449 CFSIZE  259252224,233930752
TCM_TEMP  16.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
XPDR_PINGS  0 GPS  160213,162352,-4207.117,858.209,39,0.8,39,-25.1
_24V_AH  21.6,60.664

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1223563.11 SBE_CT69924362.43
Roll_motor8591170.28 AA43302412331719.65
VBD_pump_during_apogee310176511855.96 WL_BB2FLVMT11651052644.32
VBD_pump_during_surface33667476.22 QSP2150500447.31
VBD_valve000.00 nil000.00
Iridium_during_init2710361.00 nil000.00
Iridium_during_connect42160146.65 nil000.00
Iridium_during_xfer4672232249.67 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS21265.83
TT8267314395.89
LPSleep136122295.14
TT8_Active4761467.04
TT8_Sampling3195371184.02
TT8_CF8121147565.84
TT8_Kalman335919.56
Analog_circuits163012193.72
GPS_charging000.00
Compass302815471.65
RAFOS000.00
Transponder150.05

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
17 end surface: CONTROL_FINISHED_OK
state 17 begin dive
20 -0.47 -146.1 0.0 0.0 0 57 0.00 0.00 -34.80 0.000 2 0.000 0.000 41 3404 2361 0 0 0 0 0 0
61 -0.47 -146.1 3.1 -3.7 4 97 6.07 0.88 -23.67 0.000 4 0.236 0.092 1465 3952 3070 0 0 0 0 0 0
250 -0.47 -146.1 21.3 -11.6 31 260 0.00 0.82 0.00 0.000 6 0.000 0.035 1466 3412 3073 0 0 0 0 0 0
339 -0.47 -146.1 31.5 -10.9 44 347 0.00 0.00 0.00 0.000 6 0.000 0.000 1466 3412 3073 0 0 0 0 0 0
592 -0.47 -146.1 55.9 -9.3 85 600 0.00 2.17 0.00 0.000 4 0.000 0.030 1465 1984 3074 0 0 0 0 0 0
704 -0.47 -146.1 65.2 -7.7 104 712 0.00 2.30 0.00 0.000 6 0.000 0.055 1456 3389 3074 0 0 0 0 0 0
1062 -0.47 -146.1 96.8 -8.7 165 1068 0.00 2.12 0.00 0.000 4 0.000 0.028 1456 1977 3075 0 0 0 0 0 0
1108 -0.47 -146.1 101.0 -8.2 171 1116 0.12 2.33 0.00 0.000 6 0.147 0.057 1478 3408 3075 0 0 0 0 0 0
1430 -0.47 -146.1 123.4 -6.7 192 1431 0.00 0.00 0.00 0.000 6 0.000 0.000 1478 3408 3075 0 0 0 0 0 0
1740 -0.47 -146.1 145.3 -7.3 212 1742 0.00 0.00 0.00 0.000 6 0.000 0.000 1478 3408 3076 0 0 0 0 0 0
2053 -0.47 -146.1 167.8 -7.2 232 2054 0.00 0.00 0.00 0.000 6 0.000 0.000 1478 3408 3076 0 0 0 0 0 0
2365 -0.47 -146.1 189.4 -6.7 252 2369 0.00 2.12 0.00 0.000 4 0.000 0.028 1478 1978 3076 0 0 0 0 0 0
2406 -0.47 -146.1 192.5 -6.9 254 2414 0.00 2.33 0.00 0.000 6 0.000 0.054 1470 3397 3076 0 0 0 0 0 0
2730 -0.47 -146.1 214.5 -6.9 275 2731 0.00 0.00 0.00 0.000 6 0.000 0.000 1470 3398 3076 0 0 0 0 0 0
3042 -0.47 -146.1 236.7 -7.5 295 3043 0.00 0.00 0.00 0.000 6 0.000 0.000 1470 3397 3076 0 0 0 0 0 0
3351 -0.47 -146.1 259.8 -7.5 313 3353 0.00 0.00 0.00 0.000 6 0.000 0.000 1470 3397 3076 0 0 0 0 0 0
3660 -0.47 -146.1 282.4 -7.2 328 3664 0.00 2.12 0.00 0.000 4 0.000 0.028 1470 1968 3076 0 0 0 0 0 0
3694 -0.47 -146.1 285.0 -7.0 329 3701 0.00 2.33 0.00 0.000 6 0.000 0.054 1459 3407 3076 0 0 0 0 0 0
4013 -0.47 -146.1 307.8 -7.0 345 4019 0.00 0.85 0.00 0.000 4 0.000 0.057 1455 3947 3076 0 0 0 0 0 0
4110 -0.47 -146.1 315.2 -8.2 349 4113 0.00 0.82 0.00 0.000 6 0.000 0.034 1455 3394 3076 0 0 0 0 0 0
4446 -0.47 -146.1 339.2 -6.9 365 4447 0.00 0.00 0.00 0.000 6 0.000 0.000 1455 3394 3076 0 0 0 0 0 0
4754 -0.47 -146.1 360.9 -6.9 380 4758 0.00 2.12 0.00 0.000 4 0.000 0.028 1455 1970 3075 0 0 0 0 0 0
4821 -0.47 -146.1 365.4 -6.3 383 4825 0.12 2.33 0.00 0.000 6 0.145 0.053 1477 3407 3075 0 0 0 0 0 0
5151 -0.47 -146.1 385.1 -6.2 399 5156 0.00 0.85 0.00 0.000 4 0.000 0.059 1474 3944 3075 0 0 0 0 0 0
5202 -0.47 -146.1 388.6 -7.3 401 5205 0.00 0.82 0.00 0.000 6 0.000 0.034 1475 3394 3075 0 0 0 0 0 0
5523 -0.47 -146.1 411.7 -7.3 414 5527 0.00 2.10 0.00 0.000 4 0.000 0.028 1474 1970 3075 0 0 0 0 0 0
5573 -0.47 -146.1 415.5 -7.4 415 5577 0.00 2.33 0.00 0.000 6 0.000 0.053 1464 3405 3075 0 0 0 0 0 0
5886 -0.47 -146.1 440.1 -7.8 425 5890 0.00 0.85 0.00 0.000 4 0.000 0.058 1460 3943 3074 0 0 0 0 0 0
5942 -0.47 -146.1 444.8 -8.4 426 5946 0.00 0.82 0.00 0.000 6 0.000 0.034 1460 3394 3074 0 0 0 0 0 0
6262 -0.47 -146.1 470.1 -7.8 437 6263 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3393 3074 0 0 0 0 0 0
6568 -0.47 -146.1 493.0 -7.4 447 6569 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3393 3073 0 0 0 0 0 0
6876 -0.47 -146.1 515.7 -7.1 457 6877 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3394 3073 0 0 0 0 0 0
7180 -0.47 -146.1 538.4 -7.5 467 7182 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3393 3072 0 0 0 0 0 0
7487 -0.47 -146.1 561.9 -7.6 477 7488 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3393 3072 0 0 0 0 0 0
7794 -0.47 -146.1 586.5 -8.1 487 7796 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3393 3071 0 0 0 0 0 0
8099 -0.47 -146.1 612.5 -8.6 497 8100 0.00 0.00 0.00 0.000 6 0.000 0.000 1460 3393 3071 0 0 0 0 0 0
8405 -0.47 -146.1 638.7 -8.3 507 8409 0.00 2.12 0.00 0.000 4 0.000 0.029 1460 1972 3070 0 0 0 0 0 0
8451 -0.47 -146.1 642.7 -7.9 508 8455 0.00 2.33 0.00 0.000 6 0.000 0.053 1449 3406 3071 0 0 0 0 0 0
8769 -0.47 -146.1 670.0 -8.6 519 8770 0.00 0.00 0.00 0.000 6 0.000 0.000 1449 3406 3070 0 0 0 0 0 0
9076 -0.47 -146.1 694.5 -7.7 529 9079 0.00 0.85 0.00 0.000 4 0.000 0.059 1445 3939 3069 0 0 0 0 0 0
9151 -0.47 -146.1 700.9 -8.1 531 9155 0.08 0.82 0.00 0.000 6 0.134 0.035 1470 3394 3068 0 0 0 0 0 0
9486 -0.47 -146.1 721.9 -6.0 542 9488 0.00 0.00 0.00 0.000 6 0.000 0.000 1470 3394 3068 0 0 0 0 0 0
9794 -0.47 -146.1 740.7 -6.3 552 9798 0.00 2.12 0.00 0.000 4 0.000 0.029 1470 1975 3068 0 0 0 0 0 0
9833 -0.47 -146.1 743.6 -6.6 553 9837 0.00 2.33 0.00 0.000 6 0.000 0.053 1461 3407 3068 0 0 0 0 0 0
10157 -0.47 -146.1 766.5 -7.2 564 10161 0.00 0.85 0.00 0.000 4 0.000 0.058 1457 3942 3067 0 0 0 0 0 0
10213 -0.47 -146.1 771.0 -7.7 565 10217 0.00 0.82 0.00 0.000 6 0.000 0.035 1457 3396 3067 0 0 0 0 0 0
10533 -0.47 -146.1 795.1 -7.7 576 10534 0.00 0.00 0.00 0.000 6 0.000 0.000 1457 3394 3067 0 0 0 0 0 0
10839 -0.47 -146.1 818.7 -7.8 586 10840 0.00 0.00 0.00 0.000 6 0.000 0.000 1457 3394 3066 0 0 0 0 0 0
11147 -0.47 -146.1 842.0 -7.3 596 11148 0.00 0.00 0.00 0.000 6 0.000 0.000 1457 3394 3065 0 0 0 0 0 0
11451 -0.47 -146.1 864.6 -7.4 606 11453 0.00 0.00 0.00 0.000 6 0.000 0.000 1457 3394 3065 0 0 0 0 0 0
11758 -0.47 -146.1 886.3 -6.9 616 11762 0.00 2.12 0.00 0.000 4 0.000 0.030 1457 1979 3065 0 0 0 0 0 0
11796 -0.47 -146.1 889.0 -6.7 617 11801 0.10 2.33 0.00 0.000 6 0.153 0.054 1472 3409 3064 0 0 0 0 0 0
12122 -0.47 -146.1 908.5 -6.0 628 12123 0.00 0.00 0.00 0.000 6 0.000 0.000 1472 3408 3064 0 0 0 0 0 0
12427 -0.47 -146.1 927.7 -6.3 638 12429 0.00 0.00 0.00 0.000 6 0.000 0.000 1472 3408 3063 0 0 0 0 0 0
12609 end dive: HALF_MISSION_TIME_EXCEEDED
state 12609 begin apogee
12617 -0.13 0.0 939.3 6.4 644 12770 0.35 0.00 145.15 1.766 6 0.125 0.000 1580 3283 2473 0 0 0 0 1 0
12771 end apogee: CONTROL_FINISHED_OK
state 12771 begin climb
12774 0.47 146.1 944.3 0.0 649 12944 0.62 0.00 155.05 1.715 6 0.080 0.000 1776 3282 1878 0 0 0 0 1 0
13249 0.47 146.1 891.4 12.8 665 13253 0.00 1.10 0.00 0.000 4 0.000 0.057 1776 3938 1868 0 0 0 0 0 0
13352 0.47 146.1 876.8 14.9 668 13357 0.00 1.02 0.00 0.000 6 0.000 0.033 1781 3272 1867 0 0 0 0 0 0
13695 0.47 146.1 831.0 13.3 679 13699 0.00 1.10 0.00 0.000 4 0.000 0.057 1781 3946 1865 0 0 0 0 0 0
13774 0.47 146.1 819.3 15.1 681 13778 0.00 1.00 0.00 0.000 6 0.000 0.033 1786 3284 1864 0 0 0 0 0 0
14106 0.47 146.1 774.1 13.4 692 14109 0.00 1.08 0.00 0.000 4 0.000 0.057 1786 3949 1863 0 0 0 0 0 0
14189 0.47 146.1 761.4 15.5 694 14192 0.00 1.00 0.00 0.000 6 0.000 0.032 1791 3280 1863 0 0 0 0 0 0
14514 0.47 146.1 716.4 13.8 705 14515 0.00 0.00 0.00 0.000 6 0.000 0.000 1791 3280 1862 0 0 0 0 0 0
14819 0.47 146.1 673.8 14.2 715 14824 0.00 1.08 0.00 0.000 4 0.000 0.057 1791 3946 1862 0 0 0 0 0 0
14910 0.47 146.1 659.1 15.4 717 14915 0.00 1.00 0.00 0.000 6 0.000 0.031 1796 3273 1861 0 0 0 0 0 0
15229 0.47 146.1 613.6 14.1 728 15231 0.00 0.00 0.00 0.000 6 0.000 0.000 1797 3274 1861 0 0 0 0 0 0
15536 0.47 146.1 570.5 13.9 738 15539 0.00 1.08 0.00 0.000 4 0.000 0.057 1796 3943 1860 0 0 0 0 0 0
15653 0.47 146.1 552.1 15.4 741 15659 0.00 0.98 0.00 0.000 6 0.000 0.031 1801 3286 1860 0 0 0 0 0 0
15979 0.47 146.1 505.4 14.6 752 15984 0.00 1.08 0.00 0.000 4 0.000 0.056 1801 3955 1859 0 0 0 0 0 0
16057 0.47 146.1 492.8 16.2 754 16062 0.08 1.00 0.00 0.000 6 0.171 0.031 1785 3280 1859 0 0 0 0 0 0
16388 0.47 146.1 453.6 11.5 765 16393 0.00 1.08 0.00 0.000 4 0.000 0.057 1785 3954 1859 0 0 0 0 0 0
16467 0.47 146.1 443.1 14.2 767 16470 0.00 1.00 0.00 0.000 6 0.000 0.031 1788 3280 1859 0 0 0 0 0 0
16797 0.47 146.1 404.6 11.9 778 16803 0.00 1.05 0.00 0.000 4 0.000 0.055 1788 3939 1859 0 0 0 0 0 0
16916 0.47 146.1 389.4 12.0 783 16919 0.00 0.98 0.00 0.000 6 0.000 0.031 1793 3283 1859 0 0 0 0 0 0
17251 0.47 146.1 350.3 11.6 799 17257 0.00 1.08 0.00 0.000 4 0.000 0.055 1793 3952 1859 0 0 0 0 0 0
17339 0.47 146.1 338.5 14.3 802 17348 0.00 1.00 0.00 0.000 6 0.000 0.031 1798 3276 1859 0 0 0 0 0 0
17657 0.47 146.1 301.7 11.3 818 17661 0.00 1.08 0.00 0.000 4 0.000 0.054 1798 3947 1859 0 0 0 0 0 0
17764 0.47 146.1 287.7 14.8 822 17775 0.00 0.98 0.00 0.000 6 0.000 0.031 1803 3291 1859 0 0 0 0 0 0
18082 0.47 146.1 249.7 12.0 838 18086 0.00 1.05 0.00 0.000 4 0.000 0.054 1803 3951 1858 0 0 0 0 0 0
18159 0.47 146.1 238.9 13.4 842 18165 0.00 1.00 0.00 0.000 6 0.000 0.031 1808 3274 1859 0 0 0 0 0 0
18487 0.47 146.1 198.8 12.1 863 18492 0.00 1.08 0.00 0.000 4 0.000 0.054 1808 3949 1858 0 0 0 0 0 0
18623 0.47 146.1 179.7 14.2 870 18632 0.10 0.98 0.00 0.000 6 0.164 0.030 1784 3288 1859 0 0 0 0 0 0
18947 0.47 146.1 147.9 9.7 891 18952 0.00 1.05 0.00 0.000 4 0.000 0.055 1784 3943 1858 0 0 0 0 0 0
19037 0.47 146.1 137.1 11.8 896 19041 0.00 0.98 0.00 0.000 6 0.000 0.031 1787 3285 1859 0 0 0 0 0 0
19370 0.47 146.1 102.1 10.9 917 19375 0.00 1.08 0.00 0.000 4 0.000 0.055 1787 3954 1859 0 0 0 0 0 0
19448 0.47 146.1 92.2 12.7 928 19456 0.00 1.00 0.00 0.000 6 0.000 0.031 1792 3274 1859 0 0 0 0 0 0
19816 0.47 146.1 54.8 8.5 989 19823 0.00 1.08 0.00 0.000 4 0.000 0.055 1792 3943 1859 0 0 0 0 0 0
19895 0.47 146.1 46.7 10.6 1001 19902 0.00 0.98 0.00 0.000 6 0.000 0.030 1797 3279 1859 0 0 0 0 0 0
20156 0.47 146.1 22.4 9.3 1042 20165 0.00 2.12 0.00 0.000 4 0.000 0.028 1808 1872 1859 0 0 0 0 0 0
20269 0.48 167.7 12.6 7.5 1059 20290 0.00 2.28 10.68 0.662 6 0.000 0.048 1808 3278 1789 0 0 0 0 0 0
20358 end climb: SURFACE_DEPTH_REACHED
state 20358 begin surface coast
20387 end surface coast: CONTROL_FINISHED_OK
state 20387 begin surface