SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 458 * 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  458 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  33 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  36 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  -3 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  -17000.656 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  151507,6428.870,27.340,30,1.3,30,-4.9 TGT_NAME  INSHORE
_CALLS  1 TGT_LATLONG  6300.600,352.100
_XMS_NAKs  26 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  4.03 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -65.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  152304,6428.871,27.285,8,2.8,27,-4.9 MHEAD_RNG_PITCHd_Wd  153.0,237402,-13.7,-6.875
SPEED_LIMITS  0.119,0.206 D_GRID  2535

Post-dive calculations and measurements:
FINISH  3.4,1.013956 _24V_AH  20.8,72.178
SM_CCo  25538,0.00,0.000,0,0,1911,278.42 _10V_AH  10.3,52.804
SM_GC  4.41,7.62,0.00,0.00,0.053,0.000,0.000,142,2168,1911,-7.65,-0.34,278.42 DATA_FILE_SIZE  41063,822
IRIDIUM_FIX  6401.59,19.96,070998,070744 CAP_FILE_SIZE  172023,0
TT8_MAMPS  0.026845 CFSIZE  260165632,215990272
HUMID  1831 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
INTERNAL_PRESSURE  9.09601 CURRENT  0.045,318.4,1
TCM_TEMP  17.50 GPS  130609,223006,6426.693,29.909,24,1.5,24,-4.8
XPDR_PINGS  0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor29198121.17 SBE_CT60224300.73
Roll_motor17390327.42 SBE_O257619227.99
VBD_pump_during_apogee368139710724.44 WL_BB2F278105609.19
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2310351.02 nil000.00
Iridium_during_connect32160108.03 nil000.00
Iridium_during_xfer2742231274.89
Transponder_ping04200.00
Mmodem_TX000.00
Mmodem_RX000.00
GPS295015.40
TT8182119371.41
LPSleep208822471.05
TT8_Active52319106.85
TT8_Sampling202839831.65
TT8_CF874845352.95
TT8_Kalman000.00
Analog_circuits163912202.61
GPS_charging000.00
Compass19748162.70
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
16 -0.77 -116.7 0.0 0.0 0 24 0.00 0.00 -6.65 0.000 2 0.000 0.000 123 2166 2047
28 -0.77 -116.7 4.1 -0.0 1 128 8.32 2.42 -85.15 0.000 4 0.199 0.061 2366 3584 3522
148 -1.46 -116.7 3.1 0.1 19 155 0.62 2.25 0.00 0.000 6 0.050 0.035 2128 2168 3523
502 -0.27 -116.7 85.3 -24.2 68 508 1.35 2.33 0.00 0.000 4 0.168 0.046 2506 3582 3525
668 -0.81 -116.7 96.9 -6.3 75 673 0.43 2.25 0.00 0.000 6 0.054 0.035 2340 2168 3526
985 -0.46 -116.7 130.4 -10.9 90 990 0.35 2.25 0.00 0.000 4 0.126 0.043 2454 760 3527
1133 -0.57 -116.7 141.0 -7.0 96 1139 0.00 2.17 0.00 0.000 6 0.000 0.035 2455 2169 3527
1450 -0.73 -116.7 158.5 -5.0 112 1455 0.20 2.35 0.00 0.000 4 0.060 0.049 2364 3582 3527
1473 -0.65 -116.7 160.2 -6.9 113 1478 0.15 2.30 0.00 0.000 6 0.130 0.035 2408 2145 3527
1795 -0.65 -116.7 181.6 -6.6 129 1797 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2145 3527
2103 -0.65 -116.7 204.0 -7.3 144 2104 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2145 3527
2413 -0.65 -116.7 227.0 -7.9 159 2414 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2145 3527
2723 -0.65 -116.7 253.1 -8.7 174 2724 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2145 3526
3031 -0.65 -116.7 280.8 -8.9 189 3032 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2145 3526
3350 -0.65 -116.7 309.3 -8.9 203 3351 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2145 3525
3656 -0.65 -116.7 335.2 -8.3 213 3657 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2145 3524
3963 -0.65 -116.7 360.0 -8.0 223 3964 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2145 3525
4268 -0.65 -116.7 383.9 -7.8 233 4269 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2145 3524
4575 -0.65 -116.7 407.3 -7.3 243 4579 0.00 2.22 0.00 0.000 4 0.000 0.048 2408 770 3522
4603 -0.65 -116.7 409.7 -8.4 243 4609 0.00 2.17 0.00 0.000 6 0.000 0.039 2408 2150 3522
4916 -0.65 -116.7 432.4 -7.3 254 4917 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2150 3522
5221 -0.65 -116.7 453.9 -6.9 264 5223 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2150 3521
5528 -0.65 -116.7 476.0 -7.4 274 5532 0.00 2.38 0.00 0.000 4 0.000 0.052 2408 3581 3521
5561 -0.65 -116.7 478.7 -7.7 275 5565 0.00 2.30 0.00 0.000 6 0.000 0.038 2408 2158 3520
5921 -0.65 -116.7 505.4 -7.6 286 5922 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2158 3520
6223 -0.65 -116.7 528.6 -7.6 291 6227 0.00 2.28 0.00 0.000 4 0.000 0.053 2407 761 3519
6251 -0.65 -116.7 531.0 -8.7 291 6255 0.00 2.20 0.00 0.000 6 0.000 0.040 2408 2156 3519
6595 -0.65 -116.7 556.7 -7.5 297 6596 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2157 3518
6897 -0.65 -116.7 579.9 -7.6 302 6898 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2157 3518
7200 -0.65 -116.7 602.9 -7.6 307 7205 0.00 2.40 0.00 0.000 4 0.000 0.055 2408 3595 3518
7234 -0.65 -116.7 605.5 -7.8 307 7238 0.00 2.35 0.00 0.000 6 0.000 0.038 2408 2146 3517
7560 -0.65 -116.7 628.7 -7.1 313 7564 0.00 2.22 0.00 0.000 4 0.000 0.049 2408 767 3517
7600 -0.65 -116.7 631.7 -7.6 313 7604 0.00 2.20 0.00 0.000 6 0.000 0.041 2408 2150 3517
7932 -0.65 -116.7 654.9 -6.9 319 7933 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2150 3517
8235 -0.65 -116.7 675.1 -6.7 324 8236 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2150 3516
8539 -0.65 -116.7 695.4 -6.7 329 8540 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2150 3516
8841 -0.65 -116.7 715.3 -6.5 334 8843 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2150 3516
9145 -0.65 -116.7 735.1 -6.5 339 9146 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2150 3515
9448 -0.65 -116.7 754.6 -6.5 344 9449 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2150 3515
9751 -0.65 -116.7 774.3 -6.5 349 9755 0.00 2.42 0.00 0.000 4 0.000 0.055 2408 3586 3515
9785 -0.65 -116.7 776.5 -6.0 349 9789 0.00 2.38 0.00 0.000 6 0.000 0.040 2408 2141 3514
10112 -0.65 -116.7 797.1 -6.3 355 10113 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2141 3514
10414 -0.65 -116.7 816.1 -6.3 360 10418 0.00 2.25 0.00 0.000 4 0.000 0.053 2408 767 3514
10459 -0.65 -116.7 819.2 -7.4 360 10463 0.00 2.22 0.00 0.000 6 0.000 0.043 2408 2153 3514
10786 -0.65 -116.7 840.0 -6.4 366 10787 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2154 3513
11090 -0.65 -116.7 859.2 -6.4 371 11094 0.00 2.42 0.00 0.000 4 0.000 0.054 2408 3597 3513
11139 -0.65 -116.7 862.7 -7.4 371 11143 0.00 2.38 0.00 0.000 6 0.000 0.038 2408 2127 3513
11461 -0.65 -116.7 882.4 -6.1 377 11463 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2127 3513
11764 -0.65 -116.7 901.5 -6.3 382 11765 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2127 3513
12067 -0.65 -116.7 920.6 -6.3 387 12068 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2127 3513
12370 -0.65 -116.7 938.9 -6.0 392 12371 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2127 3512
12674 -0.65 -116.7 956.8 -5.9 397 12675 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2126 3512
12976 -0.65 -116.7 973.7 -5.6 402 12977 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2126 3512
13276 end dive: TARGET_DEPTH_EXCEEDED
state 13277 begin apogee
13284 -0.23 0.0 990.7 5.6 407 13389 0.43 0.00 102.12 1.397 6 0.119 0.000 2542 2289 3046
13390 end apogee: CONTROL_FINISHED_OK
state 13390 begin climb
13393 0.77 116.7 992.2 0.0 408 13535 0.95 2.72 117.28 1.312 4 0.077 0.049 2853 3676 2570
13639 0.45 116.7 984.1 8.1 411 13645 0.35 2.45 0.00 0.000 6 0.133 0.035 2759 2258 2567
13951 0.68 159.5 967.7 5.2 416 13995 0.20 2.40 37.90 1.350 4 0.063 0.046 2851 862 2394
14077 0.55 159.5 957.6 9.4 417 14084 0.20 2.25 0.00 0.000 6 0.124 0.038 2792 2269 2391
14388 0.67 164.1 936.4 6.7 423 14396 0.12 0.00 4.97 0.996 6 0.074 0.000 2843 2269 2376
14691 0.57 164.1 911.6 8.3 428 14693 0.15 0.00 0.00 0.000 6 0.127 0.000 2799 2269 2374
14993 0.68 177.0 891.8 6.4 433 15012 0.00 2.42 12.50 1.252 4 0.000 0.052 2799 3689 2324
15053 0.68 177.0 887.5 7.3 433 15059 0.00 2.30 0.00 0.000 6 0.000 0.035 2799 2256 2323
15365 0.80 190.1 867.7 6.4 439 15385 0.20 2.30 13.00 1.244 4 0.059 0.045 2891 866 2270
15464 0.56 190.1 858.1 9.3 440 15469 0.32 2.20 0.00 0.000 6 0.126 0.036 2792 2268 2268
15797 0.75 209.2 837.3 6.1 446 15822 0.17 2.38 18.30 1.267 4 0.065 0.051 2866 3672 2193
15856 0.53 209.2 832.0 9.1 446 15865 0.28 2.30 0.00 0.000 6 0.129 0.036 2786 2247 2190
16167 0.79 235.5 813.4 5.8 452 16197 0.20 2.30 24.42 1.268 4 0.060 0.051 2878 860 2085
16266 0.67 235.5 804.0 10.6 453 16270 0.17 2.22 0.00 0.000 6 0.123 0.039 2826 2260 2081
16598 0.74 235.5 777.7 7.8 459 16602 0.00 2.33 0.00 0.000 4 0.000 0.053 2826 3686 2080
16632 0.74 235.5 774.7 8.2 459 16636 0.00 2.28 0.00 0.000 6 0.000 0.035 2826 2239 2080
16970 0.83 235.5 747.0 8.2 465 16974 0.15 2.20 0.00 0.000 4 0.068 0.048 2892 866 2078
17048 0.65 235.5 738.5 12.6 466 17053 0.22 2.15 0.00 0.000 6 0.121 0.036 2823 2249 2078
17403 0.75 235.5 709.5 8.0 472 17407 0.00 2.35 0.00 0.000 4 0.000 0.053 2823 3684 2077
17453 0.75 235.5 705.0 9.0 472 17457 0.00 2.28 0.00 0.000 6 0.000 0.035 2822 2249 2078
17763 0.86 235.5 680.3 7.9 477 17767 0.20 2.25 0.00 0.000 4 0.059 0.049 2912 859 2078
17813 0.61 235.5 674.8 12.6 477 17818 0.35 2.17 0.00 0.000 6 0.124 0.038 2803 2261 2077
18123 0.80 235.5 652.8 6.9 482 18128 0.20 2.33 0.00 0.000 4 0.061 0.054 2893 3670 2076
18181 0.52 235.5 646.8 11.9 482 18186 0.38 2.28 0.00 0.000 6 0.124 0.036 2779 2237 2076
18493 0.87 263.0 628.1 5.8 487 18523 0.28 2.25 24.35 1.158 4 0.055 0.047 2896 867 1972
18579 0.72 263.0 619.3 12.4 488 18584 0.17 2.15 0.00 0.000 6 0.124 0.035 2843 2247 1968
18929 0.79 263.0 589.7 8.4 494 18930 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 2247 1966
19232 0.85 263.0 564.7 8.2 499 19236 0.12 2.33 0.00 0.000 4 0.072 0.050 2895 3678 1966
19265 0.63 263.0 561.0 10.5 499 19270 0.28 2.28 0.00 0.000 6 0.131 0.034 2817 2237 1966
19592 0.82 263.0 536.4 7.5 505 19597 0.17 2.22 0.00 0.000 4 0.061 0.047 2892 858 1965
19665 0.70 263.0 528.7 10.8 506 19670 0.20 2.17 0.00 0.000 6 0.119 0.035 2831 2257 1964
20025 0.82 263.0 499.8 7.9 512 20030 0.15 2.38 0.00 0.000 4 0.065 0.052 2895 3683 1965
20065 0.58 263.0 495.5 12.9 513 20070 0.32 2.30 0.00 0.000 6 0.127 0.035 2800 2240 1965
20389 0.86 267.9 473.4 6.7 524 20399 0.20 2.22 4.80 0.842 4 0.055 0.048 2894 860 1953
20445 0.73 267.9 467.9 11.2 525 20450 0.17 2.17 0.00 0.000 6 0.123 0.036 2841 2252 1952
20759 0.81 267.9 439.9 8.9 535 20763 0.00 2.35 0.00 0.000 4 0.000 0.053 2841 3682 1951
20803 0.81 267.9 435.5 9.4 536 20808 0.10 2.30 0.00 0.000 6 0.076 0.037 2886 2250 1951
21134 0.72 267.9 400.5 10.6 547 21138 0.15 2.28 0.00 0.000 4 0.133 0.048 2842 851 1951
21206 0.82 267.9 393.9 8.2 549 21211 0.10 2.17 0.00 0.000 6 0.077 0.035 2890 2248 1950
21536 0.71 267.9 357.3 11.4 560 21541 0.17 2.38 0.00 0.000 4 0.126 0.051 2837 3683 1951
21575 0.71 267.9 353.1 9.6 561 21579 0.00 2.33 0.00 0.000 6 0.000 0.036 2838 2234 1950
21899 0.82 267.9 324.4 8.8 572 21903 0.12 2.22 0.00 0.000 4 0.071 0.046 2897 850 1950
21983 0.71 267.9 314.9 12.2 574 21988 0.20 2.17 0.00 0.000 6 0.120 0.034 2837 2253 1950
22303 0.83 267.9 287.7 8.2 587 22308 0.12 2.35 0.00 0.000 4 0.073 0.052 2892 3676 1950
22354 0.63 267.9 282.1 11.0 589 22359 0.28 2.33 0.00 0.000 6 0.127 0.037 2810 2216 1950
22671 0.90 276.9 260.5 6.5 604 22686 0.22 2.22 9.30 0.881 4 0.058 0.046 2912 857 1916
22786 0.75 276.9 248.9 11.3 609 22791 0.20 2.15 0.00 0.000 6 0.126 0.036 2852 2241 1914
23113 0.84 276.9 222.3 8.0 625 23117 0.00 2.35 0.00 0.000 4 0.000 0.051 2851 3674 1914
23153 0.84 276.9 218.8 9.9 627 23157 0.00 2.33 0.00 0.000 6 0.000 0.037 2851 2217 1914
23482 0.92 276.9 192.1 8.3 643 23486 0.17 2.17 0.00 0.000 4 0.062 0.045 2925 857 1914
23577 0.73 276.9 180.5 12.1 647 23582 0.25 2.12 0.00 0.000 6 0.124 0.035 2848 2226 1913
23900 0.84 276.9 151.2 8.8 663 23902 0.10 0.00 0.00 0.000 6 0.081 0.000 2892 2227 1913
24208 0.77 276.9 116.0 12.0 678 24210 0.12 0.00 0.00 0.000 6 0.130 0.000 2855 2228 1913
24517 0.86 276.9 87.2 8.7 693 24521 0.00 2.35 0.00 0.000 4 0.000 0.049 2855 3675 1913
24562 0.86 276.9 82.6 12.8 695 24566 0.00 2.35 0.00 0.000 6 0.000 0.035 2855 2194 1913
24888 0.94 276.9 52.1 8.7 722 24896 0.17 2.15 0.00 0.000 4 0.063 0.045 2932 853 1913
24993 0.74 276.9 39.5 12.0 740 25000 0.28 2.10 0.00 0.000 6 0.127 0.032 2848 2223 1913
25341 0.92 276.9 12.5 7.8 801 25347 0.17 0.00 0.00 0.000 6 0.062 0.000 2922 2223 1913
25419 end climb: SURFACE_DEPTH_REACHED
state 25419 begin surface coast
25458 end surface coast: CONTROL_FINISHED_OK
state 25458 begin surface