DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 410 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  108 HD_B  0.0103 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  20
MISSION  21 HD_C  3.68e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  15
DIVE  410 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  63 XPDR_INHIBIT  90
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  46 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  1.5 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  3279 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  -2 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  2 T_GPS_CHARGE  -191609.06 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  0.0038399999 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00017831143

Pre-dive calculations and measurements:
GPS1  020912,191235,6644.707,-5856.401,40,0.9,40,-33.6 TGT_NAME  TARGET_E
_CALLS  1 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.31 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -75.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  020912,192129,6644.765,-5856.324,19,0.9,20,-33.6 MHEAD_RNG_PITCHd_Wd  109.9,98631,-16.9,-9.167
SPEED_LIMITS  0.159,0.252 D_GRID  892

Post-dive calculations and measurements:
FREEZE  1.36,4.497,-0.882,0,1,0 ALTIM_BOTTOM_PING  850.1,38.2
FINISH  1.4,1.012900 _24V_AH  22.4,46.752
SM_CCo  14993,64.60,0.070,0,0,1646,400.08 _10V_AH  9.8,52.376
SM_GC  2.64,8.43,0.35,64.60,0.058,0.060,0.070,338,2103,1646,-8.66,-1.44,400.08,0,0,0,0,0,0,26.09,26.39,25.89 FG_AHR_24Vo  0.000
RAFOS_CLK  772 FG_AHR_10Vo  0.000
RAFOS  0,1346616071,20.033333,20.019722,48,47,44,43,42,39,237,1802,968,1185,1057,330 MEM  151596
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE  60023,1329
IRIDIUM_FIX  6614.97,-5903.11,020912,131332 CAP_FILE_SIZE  168639,0
TT8_MAMPS  0.026215,0.026215 CFSIZE  260165632,211951616
HUMID  44.01 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  9.03355 SOUNDSPEED  1458.0
TCM_TEMP  15.70 CURRENT  0.160,157.4,1
XPDR_PINGS  19 GPS  020912,233434,6643.474,-5849.528,40,0.9,40,-33.6
ALTIM_TOP_PING  19.8,17.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21250120.75 SBE_CT95223511.43
Roll_motor13464193.75 SBE_O29435126.57
VBD_pump_during_apogee352131510402.08 nil000.00
VBD_pump_during_surface6469100.74 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer3782862432.15 nil000.00
Transponder_ping842077.62 nil000.00
GUMSTIX_24V000.00
GPS21265.44
TT8347017610.77
LPSleep83212188.38
TT8_Active59317104.53
TT8_Sampling2777401100.49
TT8_CF841748199.25
TT8_Kalman000.00
Analog_circuits228012268.17
GPS_charging000.00
Compass23807174.72
RAFOS2520374.09
Transponder26307.82

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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
19 -0.75 -146.6 0.0 0.0 0 78 0.00 0.00 -56.53 0.000 2 0.000 0.000 338 2108 2918 0 0 0 0 0 0 28.83 28.83 28.83
82 -0.75 -146.6 3.1 -1.8 10 126 10.52 2.17 -24.60 0.000 4 0.250 0.064 2875 3501 3882 0 0 0 0 0 0 25.39 26.08 26.72
357 -0.75 -146.6 44.5 -13.6 62 364 0.00 2.10 0.00 0.000 6 0.000 0.031 2880 2092 3887 0 0 0 0 0 0 28.83 26.31 28.83
669 -0.75 -146.6 81.5 -10.9 123 676 0.00 2.22 0.00 0.000 4 0.000 0.050 2872 3511 3889 0 0 0 0 0 0 28.83 26.08 28.83
810 -0.75 -146.6 97.9 -11.9 150 817 0.00 2.10 0.00 0.000 6 0.000 0.031 2872 2104 3889 0 0 0 0 0 0 28.83 26.36 28.83
1120 -0.75 -146.6 134.4 -12.0 182 1129 0.00 2.20 0.00 0.000 4 0.000 0.050 2861 3518 3889 0 0 0 0 0 0 28.83 26.08 28.83
1318 -0.75 -146.6 159.3 -12.1 201 1325 0.00 2.05 0.00 0.000 6 0.000 0.031 2861 2130 3889 0 0 0 0 0 0 28.83 26.38 28.83
1625 -0.75 -146.6 194.5 -11.2 232 1635 0.00 2.15 0.00 0.000 4 0.000 0.051 2850 3513 3888 0 0 0 0 0 0 28.83 26.08 28.83
1773 -0.75 -146.6 211.1 -11.7 246 1781 0.15 2.03 0.00 0.000 6 0.160 0.032 2890 2138 3888 0 0 0 0 0 0 25.89 26.39 28.83
2080 -0.75 -146.6 243.2 -10.5 277 2089 0.00 2.10 0.00 0.000 4 0.000 0.050 2882 3503 3887 0 0 0 0 0 0 28.83 26.09 28.83
2195 -0.75 -146.6 255.6 -10.8 288 2203 0.00 2.00 0.00 0.000 6 0.000 0.031 2882 2146 3887 0 0 0 0 0 0 28.83 26.40 28.83
2503 -0.75 -146.6 283.0 -8.5 319 2511 0.00 2.08 0.00 0.000 4 0.000 0.050 2872 3500 3887 0 0 0 0 0 0 28.83 26.09 28.83
2615 -0.75 -146.6 293.3 -9.0 330 2619 0.00 1.95 0.00 0.000 6 0.000 0.031 2872 2172 3886 0 0 0 0 0 0 28.83 26.41 28.83
2927 -0.75 -146.6 324.2 -10.6 361 2936 0.00 2.05 0.00 0.000 4 0.000 0.050 2862 3504 3886 0 0 0 0 0 0 28.83 26.08 28.83
3029 -0.75 -146.6 335.9 -11.3 371 3033 0.00 1.98 0.00 0.000 6 0.000 0.031 2862 2164 3886 0 0 0 0 0 0 28.83 26.41 28.83
3341 -0.75 -146.6 370.6 -10.6 402 3349 0.00 2.08 0.00 0.000 4 0.000 0.049 2851 3503 3886 0 0 0 0 0 0 28.83 26.09 28.83
3435 -0.75 -146.6 380.9 -11.1 411 3443 0.15 1.95 0.00 0.000 6 0.149 0.031 2890 2176 3886 0 0 0 0 0 0 25.94 26.41 28.83
3743 -0.75 -146.6 404.0 -6.8 442 3751 0.00 2.08 0.00 0.000 4 0.000 0.050 2883 3509 3886 0 0 0 0 0 0 28.83 26.08 28.83
3827 -0.75 -146.6 410.1 -7.6 450 3830 0.00 1.98 0.00 0.000 6 0.000 0.031 2883 2173 3886 0 0 0 0 0 0 28.83 26.41 28.83
4139 -0.75 -146.6 433.6 -7.4 481 4148 0.00 2.05 0.00 0.000 4 0.000 0.049 2873 3507 3886 0 0 0 0 0 0 28.83 26.08 28.83
4225 -0.75 -146.6 440.2 -8.2 489 4231 0.00 1.90 0.00 0.000 6 0.000 0.030 2873 2208 3886 0 0 0 0 0 0 28.83 26.42 28.83
4532 -0.75 -146.6 464.8 -7.9 520 4535 0.00 2.00 0.00 0.000 4 0.000 0.050 2864 3503 3886 0 0 0 0 0 0 28.83 26.08 28.83
4604 -0.75 -146.6 471.0 -8.5 527 4613 0.00 1.90 0.00 0.000 6 0.000 0.031 2864 2212 3886 0 0 0 0 0 0 28.83 26.41 28.83
4914 -0.75 -146.6 498.0 -9.0 558 4922 0.00 2.00 0.00 0.000 4 0.000 0.049 2854 3504 3886 0 0 0 0 0 0 28.83 26.08 28.83
4979 -0.75 -146.6 503.9 -9.6 564 4987 0.12 1.88 0.00 0.000 6 0.149 0.030 2886 2219 3886 0 0 0 0 0 0 26.03 26.41 28.83
5286 -0.75 -146.6 527.6 -7.7 595 5290 0.00 2.00 0.00 0.000 4 0.000 0.050 2878 3507 3886 0 0 0 0 0 0 28.83 26.07 28.83
5333 -0.75 -146.6 531.0 -8.2 599 5339 0.00 1.85 0.00 0.000 6 0.000 0.031 2878 2226 3886 0 0 0 0 0 0 28.83 26.41 28.83
5639 -0.75 -146.6 556.1 -8.3 630 5647 0.00 1.98 0.00 0.000 4 0.000 0.049 2869 3506 3886 0 0 0 0 0 0 28.83 26.07 28.83
5704 -0.75 -146.6 561.5 -8.9 636 5712 0.00 1.88 0.00 0.000 6 0.000 0.030 2869 2222 3886 0 0 0 0 0 0 28.83 26.41 28.83
6011 -0.75 -146.6 589.2 -9.0 667 6019 0.00 2.00 0.00 0.000 4 0.000 0.050 2859 3502 3886 0 0 0 0 0 0 28.83 26.06 28.83
6093 -0.75 -146.6 597.3 -9.8 675 6102 0.12 1.83 0.00 0.000 6 0.149 0.031 2892 2244 3886 0 0 0 0 0 0 26.03 26.40 28.83
6403 -0.75 -146.6 621.7 -7.7 688 6408 0.00 1.98 0.00 0.000 4 0.000 0.050 2885 3511 3886 0 0 0 0 0 0 28.83 26.07 28.83
6427 -0.75 -146.6 621.7 -7.7 688 6434 0.00 1.85 0.00 0.000 6 0.000 0.030 2885 2241 3886 0 0 0 0 0 0 28.83 26.41 28.83
6735 -0.75 -146.6 649.8 -8.6 699 6740 0.00 1.98 0.00 0.000 4 0.000 0.050 2875 3504 3886 0 0 0 0 0 0 28.83 26.05 28.83
6766 -0.75 -146.6 652.6 -8.8 700 6770 0.00 1.85 0.00 0.000 6 0.000 0.031 2875 2252 3886 0 0 0 0 0 0 28.83 26.40 28.83
7099 -0.75 -146.6 682.7 -8.9 711 7104 0.00 1.98 0.00 0.000 4 0.000 0.049 2867 3512 3886 0 0 0 0 0 0 28.83 26.06 28.83
7137 -0.75 -146.6 685.5 -9.0 712 7140 0.00 1.83 0.00 0.000 6 0.000 0.031 2867 2258 3886 0 0 0 0 0 0 28.83 26.40 28.83
7459 -0.75 -146.6 715.3 -8.9 723 7464 0.00 1.98 0.00 0.000 4 0.000 0.049 2857 3514 3886 0 0 0 0 0 0 28.83 26.05 28.83
7497 -0.75 -146.6 718.1 -8.9 724 7504 0.12 1.85 0.00 0.000 6 0.145 0.030 2889 2249 3886 0 0 0 0 0 0 26.04 26.40 28.83
7819 -0.75 -146.6 744.5 -8.1 735 7824 0.00 1.98 0.00 0.000 4 0.000 0.049 2882 3515 3886 0 0 0 0 0 0 28.83 26.06 28.83
7849 -0.75 -146.6 747.0 -8.0 736 7852 0.00 1.85 0.00 0.000 6 0.000 0.030 2882 2260 3886 0 0 0 0 0 0 28.83 26.41 28.83
8183 -0.75 -146.6 774.3 -8.4 747 8189 0.00 1.95 0.00 0.000 4 0.000 0.049 2873 3502 3886 0 0 0 0 0 0 28.83 26.04 28.83
8212 -0.75 -146.6 777.2 -8.5 748 8216 0.00 1.85 0.00 0.000 6 0.000 0.031 2873 2267 3886 0 0 0 0 0 0 28.83 26.40 28.83
8545 -0.75 -146.6 805.5 -8.4 759 8551 0.00 1.95 0.00 0.000 4 0.000 0.050 2864 3508 3886 0 0 0 0 0 0 28.83 26.03 28.83
8587 -0.75 -146.6 808.2 -8.5 760 8591 0.00 1.83 0.00 0.000 6 0.000 0.030 2863 2265 3886 0 0 0 0 0 0 28.83 26.39 28.83
8904 -0.75 -146.6 838.3 -9.0 771 8908 0.00 1.92 0.00 0.000 4 0.000 0.049 2854 3505 3886 0 0 0 0 0 0 28.83 26.03 28.83
8931 -0.75 -146.6 838.3 -9.0 771 8938 0.12 1.77 0.00 0.000 6 0.146 0.030 2886 2275 3886 0 0 0 0 0 0 26.03 26.40 28.83
9237 -0.75 -146.6 864.7 -8.6 782 9238 0.00 0.00 0.00 0.000 6 0.000 0.000 2886 2274 3886 0 0 0 0 0 0 28.83 28.83 28.83
9384 end dive: BOTTOM_OBSTACLE_DETECTED
state 9384 begin apogee
9391 -0.17 0.0 875.3 -7.1 787 9520 0.57 0.00 124.90 1.316 4 0.129 0.000 3074 1893 3279 0 0 0 0 0 0 25.44 28.83 23.20
9524 end apogee: CONTROL_FINISHED_OK
state 9524 begin climb
9527 0.75 146.6 879.4 0.0 791 9667 0.85 2.30 129.20 1.226 4 0.070 0.038 3371 522 2681 0 0 0 0 0 0 24.49 24.53 22.39
9673 0.88 256.2 875.7 4.6 796 9779 0.15 2.38 98.82 1.207 6 0.092 0.034 3418 1893 2234 0 0 0 0 0 0 23.81 23.87 22.39
10101 0.88 256.2 794.2 19.8 811 10106 0.00 2.20 0.00 0.000 4 0.000 0.040 3428 522 2225 0 0 0 0 0 0 28.83 25.44 28.83
10183 0.88 256.2 782.6 19.7 813 10190 0.00 2.22 0.00 0.000 6 0.000 0.035 3428 1906 2225 0 0 0 0 0 0 28.83 25.65 28.83
10489 0.88 256.2 717.4 19.9 824 10495 0.00 2.17 0.00 0.000 4 0.000 0.040 3437 525 2223 0 0 0 0 0 0 28.83 25.95 28.83
10543 0.88 256.2 711.4 19.8 825 10550 0.00 2.15 0.00 0.000 6 0.000 0.035 3437 1888 2223 0 0 0 0 0 0 28.83 26.02 28.83
10849 0.88 256.2 644.1 20.7 836 10855 0.00 2.12 0.00 0.000 4 0.000 0.041 3447 526 2222 0 0 0 0 0 0 28.83 26.08 28.83
10932 0.88 256.2 632.0 20.4 838 10940 0.12 2.12 0.00 0.000 6 0.192 0.036 3418 1880 2222 0 0 0 0 0 0 25.75 26.15 28.83
11242 0.88 256.2 571.3 18.3 859 11251 0.00 2.12 0.00 0.000 4 0.000 0.040 3424 523 2222 0 0 0 0 0 0 28.83 26.15 28.83
11274 0.88 256.2 565.1 17.8 862 11282 0.00 2.10 0.00 0.000 6 0.000 0.036 3422 1873 2222 0 0 0 0 0 0 28.83 26.21 28.83
11584 0.88 256.2 507.1 19.4 893 11593 0.00 2.12 0.00 0.000 4 0.000 0.041 3429 516 2222 0 0 0 0 0 0 28.83 26.18 28.83
11609 0.88 256.2 502.8 19.5 895 11616 0.00 2.08 0.00 0.000 6 0.000 0.036 3429 1858 2222 0 0 0 0 0 0 28.83 26.25 28.83
11916 0.88 256.2 443.8 18.7 926 11917 0.00 0.00 0.00 0.000 6 0.000 0.000 3429 1858 2222 0 0 0 0 0 0 28.83 28.83 28.83
12218 0.88 256.2 389.1 17.3 956 12227 0.00 2.10 0.00 0.000 4 0.000 0.041 3437 516 2221 0 0 0 0 0 0 28.83 26.22 28.83
12284 0.88 256.2 377.6 17.9 962 12291 0.00 2.10 0.00 0.000 6 0.000 0.036 3435 1861 2221 0 0 0 0 0 0 28.83 26.29 28.83
12591 0.88 256.2 320.9 18.8 993 12592 0.00 0.00 0.00 0.000 6 0.000 0.000 3435 1861 2221 0 0 0 0 0 0 28.83 28.83 28.83
12893 0.88 256.2 263.9 19.1 1023 12902 0.00 2.10 0.00 0.000 4 0.000 0.041 3442 515 2221 0 0 0 0 0 0 28.83 26.24 28.83
12948 0.88 256.2 253.6 18.8 1028 12956 0.00 2.10 0.00 0.000 6 0.000 0.036 3442 1860 2221 0 0 0 0 0 0 28.83 26.31 28.83
13255 0.88 256.2 194.0 17.9 1059 13256 0.00 0.00 0.00 0.000 6 0.000 0.000 3442 1861 2221 0 0 0 0 0 0 28.83 28.83 28.83
13558 0.88 256.2 144.9 14.9 1089 13566 0.00 2.10 0.00 0.000 4 0.000 0.041 3451 523 2221 0 0 0 0 0 0 28.83 26.24 28.83
13642 0.88 256.2 132.1 15.3 1097 13651 0.10 2.05 0.00 0.000 6 0.165 0.035 3420 1859 2221 0 0 0 0 0 0 25.84 26.32 28.83
13950 0.88 256.2 94.6 11.0 1132 13957 0.00 0.00 0.00 0.000 6 0.000 0.000 3420 1859 2221 0 0 0 0 0 0 28.83 28.83 28.83
14263 0.88 256.2 59.1 11.6 1193 14270 0.00 2.12 0.00 0.000 4 0.000 0.041 3427 509 2221 0 0 0 0 0 0 28.83 26.22 28.83
14313 0.88 256.2 53.1 12.7 1202 14320 0.00 2.10 0.00 0.000 6 0.000 0.036 3427 1850 2221 0 0 0 0 0 0 28.83 26.32 28.83
14627 0.88 256.2 15.5 9.3 1263 14633 0.00 0.00 0.00 0.000 6 0.000 0.000 3426 1850 2221 0 0 0 0 0 0 28.83 28.83 28.83
14865 end climb: SURFACE_DEPTH_REACHED
state 14865 begin surface coast
14973 end surface coast: CONTROL_FINISHED_OK
state 14973 begin surface