SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 363 * 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  363 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3792 ALTIM_PING_DEPTH  0
D_SURF  4 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  40 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  35 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  -15005.349 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  062637,6345.376,236.735,27,1.7,27,-3.5 TGT_NAME  INSHORE
_CALLS  1 TGT_LATLONG  6300.600,352.100
_XMS_NAKs  1 TGT_RADIUS  4000.000
_XMS_TOUTs  1 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  3.36 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -64.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  063246,6345.418,236.798,14,2.2,33,-3.5 MHEAD_RNG_PITCHd_Wd  191.2,104380,-13.7,-6.875
SPEED_LIMITS  0.119,0.206 D_GRID  1367

Post-dive calculations and measurements:
FINISH  2.7,1.025920 _24V_AH  21.5,58.290
SM_CCo  25470,0.00,0.000,0,0,1968,264.43 _10V_AH  10.4,44.199
SM_GC  3.71,7.22,0.00,0.00,0.045,0.000,0.000,133,2171,1968,-7.66,-0.25,264.43 DATA_FILE_SIZE  44185,893
IRIDIUM_FIX  6322.64,235.71,080898,232315 CAP_FILE_SIZE  188296,0
TT8_MAMPS  0.026845 CFSIZE  260165632,223477760
HUMID  1695 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  9.16438 CURRENT  0.189, 70.2,1
TCM_TEMP  16.50 GPS  150509,133855,6343.215,241.804,40,1.1,40,-3.5
XPDR_PINGS  1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor32197136.68 SBE_CT63324326.74
Roll_motor18762253.81 SBE_O264619264.06
VBD_pump_during_apogee343140710379.96 WL_BB2F351105794.17
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010366.58 nil000.00
Iridium_during_connect35160121.87 nil000.00
Iridium_during_xfer158223759.11
Transponder_ping04202.26
Mmodem_TX000.00
Mmodem_RX000.00
GPS365019.09
TT8201719415.41
LPSleep203942464.50
TT8_Active50819104.71
TT8_Sampling231739959.35
TT8_CF859245282.45
TT8_Kalman000.00
Analog_circuits172712215.54
GPS_charging000.00
Compass22568187.77
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 25 0.00 0.00 -8.52 0.000 2 0.000 0.000 130 2181 2055
29 -0.77 -116.7 3.3 -0.0 1 122 8.18 2.33 -80.18 0.000 4 0.197 0.054 2362 772 3523
370 -0.50 -116.7 29.3 -10.6 59 377 0.28 2.20 0.00 0.000 6 0.120 0.037 2449 2188 3524
714 -0.64 -116.7 51.4 -6.0 120 722 0.12 0.00 0.00 0.000 6 0.070 0.000 2392 2189 3525
1053 -0.54 -116.7 80.1 -8.5 150 1055 0.15 0.00 0.00 0.000 6 0.121 0.000 2438 2189 3525
1362 -0.64 -116.7 100.2 -6.3 165 1363 0.00 0.00 0.00 0.000 6 0.000 0.000 2438 2189 3525
1670 -0.74 -116.7 118.7 -5.8 180 1672 0.20 0.00 0.00 0.000 6 0.058 0.000 2351 2189 3526
1980 -0.48 -116.7 148.5 -9.7 195 1985 0.30 2.25 0.00 0.000 4 0.118 0.043 2451 777 3525
2070 -0.62 -116.7 154.6 -6.3 199 2074 0.12 2.17 0.00 0.000 6 0.071 0.035 2392 2192 3526
2391 -0.53 -116.7 179.4 -7.9 215 2393 0.17 0.00 0.00 0.000 6 0.116 0.000 2447 2192 3526
2701 -0.68 -116.7 197.5 -5.9 230 2705 0.17 2.22 0.00 0.000 4 0.058 0.042 2370 780 3526
2734 -0.45 -116.7 200.5 -9.6 231 2741 0.32 2.17 0.00 0.000 6 0.119 0.035 2471 2193 3526
3050 -0.71 -116.7 215.9 -4.4 247 3052 0.25 0.00 0.00 0.000 6 0.051 0.000 2364 2195 3526
3359 -0.52 -116.7 242.1 -8.6 262 3364 0.22 2.22 0.00 0.000 4 0.117 0.040 2441 780 3526
3426 -0.62 -116.7 246.5 -6.5 265 3430 0.00 2.15 0.00 0.000 6 0.000 0.034 2441 2179 3526
3754 -0.76 -116.7 263.9 -5.2 281 3756 0.20 0.00 0.00 0.000 6 0.056 0.000 2353 2180 3526
4063 -0.52 -116.7 291.9 -9.4 296 4067 0.25 2.22 0.00 0.000 4 0.116 0.043 2438 778 3526
4103 -0.63 -116.7 295.0 -7.2 298 4107 0.00 2.17 0.00 0.000 6 0.000 0.035 2437 2191 3526
4433 -0.75 -116.7 316.4 -6.6 310 4435 0.20 0.00 0.00 0.000 6 0.058 0.000 2351 2190 3526
4739 -0.52 -116.7 346.7 -9.7 320 4744 0.28 2.25 0.00 0.000 4 0.117 0.044 2443 773 3526
4829 -0.63 -116.7 352.6 -6.3 322 4835 0.00 2.17 0.00 0.000 6 0.000 0.038 2443 2175 3526
5143 -0.80 -116.7 370.6 -5.9 333 5145 0.25 0.00 0.00 0.000 6 0.052 0.000 2337 2176 3526
5448 -0.52 -116.7 401.7 -10.2 343 5453 0.30 2.28 0.00 0.000 4 0.119 0.048 2436 3597 3526
5493 -0.71 -116.7 404.8 -5.7 344 5498 0.15 2.20 0.00 0.000 6 0.064 0.032 2372 2174 3526
5813 -0.58 -116.7 431.5 -8.6 355 5817 0.17 2.22 0.00 0.000 4 0.118 0.046 2428 760 3526
5869 -0.66 -116.7 435.8 -6.9 356 5877 0.00 2.17 0.00 0.000 6 0.000 0.035 2427 2172 3526
6182 -0.77 -116.7 454.5 -5.9 367 6184 0.17 0.00 0.00 0.000 6 0.061 0.000 2351 2172 3526
6488 -0.56 -116.7 482.3 -9.4 377 6493 0.22 2.22 0.00 0.000 4 0.117 0.042 2428 775 3525
6544 -0.63 -116.7 486.6 -7.2 378 6550 0.00 2.17 0.00 0.000 6 0.000 0.038 2428 2182 3526
6886 -0.76 -116.7 508.4 -6.3 388 6888 0.17 0.00 0.00 0.000 6 0.061 0.000 2351 2184 3525
7190 -0.55 -116.7 535.7 -9.1 393 7195 0.22 2.28 0.00 0.000 4 0.120 0.048 2428 774 3524
7253 -0.64 -116.7 540.6 -7.5 394 7257 0.00 2.17 0.00 0.000 6 0.000 0.039 2428 2172 3525
7625 -0.77 -116.7 564.2 -6.4 400 7627 0.17 0.00 0.00 0.000 6 0.062 0.000 2352 2172 3523
7929 -0.58 -116.7 592.0 -9.3 405 7933 0.22 2.25 0.00 0.000 4 0.120 0.046 2428 771 3522
8001 -0.66 -116.7 597.5 -7.1 406 8005 0.00 2.20 0.00 0.000 6 0.000 0.040 2428 2173 3521
8362 -0.80 -116.7 618.1 -5.6 412 8363 0.22 0.00 0.00 0.000 6 0.058 0.000 2336 2174 3520
8666 -0.54 -116.7 645.0 -9.0 417 8671 0.30 2.25 0.00 0.000 4 0.125 0.045 2434 771 3519
8767 -0.66 -116.7 651.5 -6.1 418 8771 0.00 2.20 0.00 0.000 6 0.000 0.041 2435 2174 3519
9099 -0.82 -116.7 668.2 -5.0 424 9101 0.25 0.00 0.00 0.000 6 0.058 0.000 2336 2174 3518
9403 -0.57 -116.7 694.1 -8.6 429 9408 0.28 2.25 0.00 0.000 4 0.126 0.047 2428 776 3517
9442 -0.69 -116.7 696.7 -5.9 429 9447 0.12 2.17 0.00 0.000 6 0.072 0.041 2376 2164 3517
9763 -0.61 -116.7 717.9 -6.7 435 9765 0.15 0.00 0.00 0.000 6 0.125 0.000 2422 2165 3516
10066 -0.72 -116.7 734.0 -5.2 440 10068 0.12 0.00 0.00 0.000 6 0.077 0.000 2367 2165 3515
10369 -0.60 -116.7 756.0 -7.4 445 10371 0.17 0.00 0.00 0.000 6 0.121 0.000 2421 2165 3514
10672 -0.71 -116.7 773.9 -5.8 450 10674 0.12 0.00 0.00 0.000 6 0.074 0.000 2365 2165 3513
10975 -0.59 -116.7 797.2 -7.7 455 10977 0.20 0.00 0.00 0.000 6 0.121 0.000 2428 2165 3513
11278 -0.74 -116.7 813.5 -5.3 460 11280 0.15 0.00 0.00 0.000 6 0.069 0.000 2365 2165 3512
11582 -0.62 -116.7 836.1 -7.5 465 11586 0.17 2.30 0.00 0.000 4 0.121 0.052 2419 778 3511
11617 -0.69 -116.7 838.4 -6.4 465 11621 0.00 2.20 0.00 0.000 6 0.000 0.041 2418 2167 3511
11950 -0.80 -116.7 857.8 -5.8 471 11952 0.20 0.00 0.00 0.000 6 0.062 0.000 2337 2168 3511
12252 -0.57 -116.7 884.3 -8.9 476 12257 0.28 2.30 0.00 0.000 4 0.125 0.052 2428 775 3510
12292 -0.70 -116.7 887.0 -5.7 476 12297 0.12 2.20 0.00 0.000 6 0.074 0.043 2377 2155 3510
12613 -0.70 -116.7 910.0 -7.1 482 12614 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2155 3510
12916 -0.70 -116.7 931.7 -7.1 487 12920 0.00 2.25 0.00 0.000 4 0.000 0.049 2378 767 3509
12944 -0.61 -116.7 934.0 -7.7 487 12949 0.15 2.20 0.00 0.000 6 0.133 0.042 2421 2151 3509
13283 -0.74 -116.7 953.7 -5.8 493 13285 0.15 0.00 0.00 0.000 6 0.068 0.000 2357 2152 3508
13584 -0.61 -116.7 977.9 -8.1 498 13586 0.20 0.00 0.00 0.000 6 0.123 0.000 2419 2152 3508
13824 end dive: TARGET_DEPTH_EXCEEDED
state 13824 begin apogee
13831 -0.23 0.0 992.8 6.2 502 13934 0.38 0.00 100.28 1.407 6 0.110 0.000 2542 2283 3046
13935 end apogee: CONTROL_FINISHED_OK
state 13935 begin climb
13938 0.77 116.7 994.9 0.0 503 14061 0.98 2.58 110.85 1.362 4 0.073 0.049 2862 3667 2570
14174 0.37 116.7 988.0 8.1 507 14179 0.47 2.33 0.00 0.000 6 0.138 0.032 2734 2255 2566
14507 0.71 195.3 975.1 3.7 513 14583 0.28 2.40 68.82 1.375 4 0.058 0.046 2852 866 2248
14673 0.59 195.3 961.5 8.9 515 14678 0.17 2.25 0.00 0.000 6 0.129 0.035 2801 2264 2242
15000 0.66 195.3 937.7 7.2 521 15004 0.00 2.30 0.00 0.000 4 0.000 0.050 2802 3683 2240
15095 0.66 195.3 929.8 7.8 522 15099 0.00 2.25 0.00 0.000 6 0.000 0.035 2802 2266 2240
15439 0.74 195.3 904.8 7.3 528 15444 0.15 2.25 0.00 0.000 4 0.066 0.050 2868 869 2238
15489 0.56 195.3 900.1 10.1 528 15494 0.25 2.20 0.00 0.000 6 0.127 0.036 2791 2284 2238
15799 0.69 195.3 878.0 7.0 533 15804 0.12 2.25 0.00 0.000 4 0.073 0.051 2844 3673 2237
15868 0.50 195.3 871.4 10.4 534 15873 0.25 2.22 0.00 0.000 6 0.131 0.036 2775 2258 2238
16234 0.71 200.7 846.3 6.7 540 16243 0.20 2.22 4.38 0.928 4 0.059 0.047 2868 867 2227
16283 0.54 200.7 841.5 10.6 540 16288 0.28 2.17 0.00 0.000 6 0.126 0.036 2784 2264 2226
16599 0.72 208.3 820.4 6.6 546 16613 0.17 2.33 8.55 1.161 4 0.062 0.050 2858 3681 2195
16693 0.51 208.3 811.2 11.2 547 16698 0.28 2.22 0.00 0.000 6 0.130 0.036 2781 2273 2194
17031 0.71 223.8 789.5 6.3 553 17049 0.17 0.00 15.07 1.229 6 0.063 0.000 2854 2271 2133
17333 0.63 223.8 761.8 9.3 558 17335 0.15 0.00 0.00 0.000 6 0.130 0.000 2810 2271 2129
17637 0.73 223.8 740.4 7.0 563 17642 0.12 2.30 0.00 0.000 4 0.071 0.051 2865 3684 2129
17704 0.52 223.8 733.7 10.3 564 17709 0.30 2.22 0.00 0.000 6 0.129 0.036 2777 2274 2128
18064 0.80 262.7 714.0 5.3 570 18105 0.22 2.33 35.08 1.227 4 0.056 0.046 2878 854 1974
18134 0.70 262.7 707.9 8.9 571 18138 0.15 2.30 0.00 0.000 6 0.127 0.038 2836 2298 1970
18488 0.70 262.7 680.6 7.6 577 18492 0.00 2.22 0.00 0.000 4 0.000 0.053 2836 3676 1966
18527 0.70 262.7 677.2 7.8 577 18530 0.00 2.22 0.00 0.000 6 0.000 0.037 2836 2267 1966
18858 0.70 262.7 649.0 8.6 583 18862 0.00 2.25 0.00 0.000 4 0.000 0.049 2837 856 1965
18970 0.77 262.7 639.1 9.0 584 18974 0.00 2.20 0.00 0.000 6 0.000 0.038 2837 2264 1965
19297 0.77 262.7 608.3 9.6 590 19298 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 2264 1965
19599 0.77 262.7 577.7 10.1 595 19603 0.00 2.28 0.00 0.000 4 0.000 0.050 2837 3688 1964
19661 0.77 262.7 570.9 11.7 595 19667 0.00 2.22 0.00 0.000 6 0.000 0.034 2837 2254 1963
19971 0.77 262.7 542.3 9.1 601 19974 0.00 2.17 0.00 0.000 4 0.000 0.045 2837 869 1963
20055 0.86 262.7 535.0 9.1 602 20060 0.15 2.15 0.00 0.000 6 0.064 0.035 2903 2262 1963
20409 0.69 262.7 496.2 11.1 608 20414 0.22 2.28 0.00 0.000 4 0.130 0.048 2829 3685 1963
20448 0.69 262.7 492.6 8.1 609 20452 0.00 2.25 0.00 0.000 6 0.000 0.033 2829 2237 1963
20778 0.78 262.7 466.0 8.4 620 20783 0.10 2.17 0.00 0.000 4 0.079 0.046 2877 867 1962
20895 0.78 262.7 453.4 11.7 623 20899 0.00 2.12 0.00 0.000 6 0.000 0.035 2877 2246 1963
21214 0.71 262.7 418.3 11.4 634 21219 0.12 2.33 0.00 0.000 4 0.140 0.050 2841 3687 1963
21269 0.71 262.7 412.0 9.8 635 21273 0.00 2.25 0.00 0.000 6 0.000 0.033 2841 2237 1963
21588 0.77 262.7 382.9 9.1 646 21592 0.00 2.15 0.00 0.000 4 0.000 0.045 2841 872 1963
21661 0.88 262.7 375.8 10.0 648 21666 0.15 2.12 0.00 0.000 6 0.061 0.033 2908 2256 1963
21997 0.69 262.7 334.3 12.6 659 22001 0.22 2.28 0.00 0.000 4 0.124 0.048 2832 3676 1963
22093 0.69 262.7 324.4 10.6 662 22097 0.00 2.25 0.00 0.000 6 0.000 0.035 2835 2237 1963
22414 0.79 262.7 295.1 9.0 673 22418 0.00 2.17 0.00 0.000 4 0.000 0.044 2836 854 1963
22486 0.91 262.7 288.6 9.5 676 22491 0.20 2.12 0.00 0.000 6 0.057 0.034 2921 2236 1962
22808 0.68 262.7 247.8 13.0 692 22813 0.28 2.30 0.00 0.000 4 0.127 0.046 2831 3674 1963
22915 0.68 262.7 237.1 10.0 697 22919 0.00 2.22 0.00 0.000 6 0.000 0.032 2835 2247 1963
23249 0.78 262.7 208.2 8.5 713 23253 0.00 2.20 0.00 0.000 4 0.000 0.045 2835 850 1963
23349 0.90 262.7 199.6 8.3 717 23354 0.20 2.15 0.00 0.000 6 0.055 0.031 2922 2252 1963
23665 0.66 262.7 160.2 12.7 732 23670 0.28 2.30 0.00 0.000 4 0.126 0.046 2830 3680 1965
23738 0.73 262.7 152.9 7.9 735 23742 0.00 2.25 0.00 0.000 6 0.000 0.032 2830 2234 1965
24060 0.87 262.7 126.4 8.5 751 24064 0.17 2.15 0.00 0.000 4 0.058 0.041 2906 866 1966
24151 0.74 262.7 115.9 11.6 755 24156 0.20 2.10 0.00 0.000 6 0.122 0.031 2845 2244 1965
24484 0.83 262.7 84.9 9.1 771 24488 0.10 2.30 0.00 0.000 4 0.074 0.045 2892 3684 1966
24557 0.65 262.7 76.2 11.6 774 24562 0.25 2.25 0.00 0.000 6 0.120 0.028 2814 2228 1967
24881 0.86 262.7 50.8 7.9 804 24889 0.20 2.15 0.00 0.000 4 0.054 0.041 2908 856 1967
24975 0.72 262.7 40.3 11.9 820 24983 0.20 2.12 0.00 0.000 6 0.121 0.031 2846 2258 1967
25322 0.82 262.7 8.9 8.5 881 25328 0.00 2.25 0.00 0.000 4 0.000 0.045 2846 3668 1968
25371 end climb: SURFACE_DEPTH_REACHED
state 25371 begin surface coast
25390 end surface coast: CONTROL_FINISHED_OK
state 25391 begin surface