SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 468 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  573 HD_B  0.010078 ROLL_MIN  150 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 HD_C  9.8500004e-06 ROLL_MAX  3785 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  468 HEADING  -1 ROLL_DEG  40 ALTIM_PING_DEPTH  1050
D_SURF  3 ESCAPE_HEADING  0 C_ROLL_DIVE  1910 ALTIM_PING_DELTA  5
D_FLARE  3 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1585 ALTIM_FREQUENCY  13
D_TGT  1000 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  15 ALTIM_PULSE  3
D_ABORT  1100 TGT_DEFAULT_LAT  -4235 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_NO_BLEED  200 TGT_DEFAULT_LON  -200 ROLL_TIMEOUT  15 XPDR_VALID  5
D_BOOST  0 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  27 XPDR_INHIBIT  90
T_BOOST  0 SM_CC  200 R_STBD_OVSHOOT  29 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST_BLACKOUT  0 N_FILEKB  4 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.55000001
D_FINISH  0 FILEMGR  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  0 KERMIT  0 ROLL_GAIN_P  0.5 DEVICE1  2
SURFACE_URGENCY  0 N_NOCOMM  1 VBD_MIN  409 DEVICE2  115
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE3  20
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 C_VBD  2862 DEVICE4  134
T_DIVE  340 CALL_TRIES  5 VBD_DBAND  2 DEVICE5  -1
T_MISSION  355 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE6  -1
T_ABORT  720 CAPUPLOAD  0 VBD_TIMEOUT  720 LOGGERS  1
T_TURN  225 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  4.9999999e-05 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_LOITER  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_ALMANAC  0 UNCOM_BLEED  60 COMPASS_DEVICE  33
USE_ICE  0 T_GPS_CHARGE  -5793.7378 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 PHONE_DEVICE  48
D_OFFGRID  100 STROBE  0 AH0_24V  150 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 RAFOS_DEVICE  -1
RELAUNCH  0 RAFOS_CORR_THRESH  60 MINV_24V  20 XPDR_DEVICE  24
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 SIM_W  0
MAX_BUOY  170 PITCH_MIN  100 FG_AHR_10V  0 SIM_PITCH  0
COURSE_BIAS  0 PITCH_MAX  3858 FG_AHR_24V  0 SEABIRD_T_G  0.0042828661
GLIDE_SLOPE  30 C_PITCH  3049 PHONE_SUPPLY  2 SEABIRD_T_H  0.00061930995
SPEED_FACTOR  1 PITCH_DBAND  0.0099999998 PRESSURE_YINT  -87.947678 SEABIRD_T_I  2.1971719e-05
RHO  1.0278 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011693723 SEABIRD_T_J  2.301111e-06
MASS  52752 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_C_G  -9.9469662
LENGTH  1.8 PITCH_GAIN  17 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.155618
NAV_MODE  1 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0016006827
DIRECT_CONTROL  0 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_J  0.00019558761
FERRY_MAX  45 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 EBE_ENABLE  0
KALMAN_USE  0 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  0 GC_WINDOW  20
HD_A  0.0038360001 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  20 GC_LAST_COLLECTION  447

Pre-dive calculations and measurements:
GPS1  140113,050406,-4235.141,-407.287,34,1.2,34,-22.1 TGT_NAME  ACC_WP1
_CALLS  1 TGT_LATLONG  -4330.000,-230.000
_XMS_NAKs  0 TGT_RADIUS  6000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.260,-0.084
_SM_DEPTHo  3.06 KALMAN_X  -198293.0,-294.3,-306.8,355709.4,-2363.7
_SM_ANGLEo  -64.1 KALMAN_Y  -146437.0,109.1,-499.5,72730.0,-514.7
GPS2  140113,051135,-4235.191,-407.274,34,0.9,34,-22.1 MHEAD_RNG_PITCHd_Wd  130.0,165470,-16.8,-9.804
SPEED_LIMITS  0.170,0.273 D_GRID  1000

Post-dive calculations and measurements:
FINISH  2.3,1.022321 _10V_AH  9.9,62.449
SM_CCo  19869,0.00,0.000,0,0,933,472.93 FG_AHR_24Vo  0.000
SM_GC  3.17,8.88,0.00,0.00,0.043,0.000,0.000,77,1912,933,-9.20,0.06,472.93 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4221.55,-444.12,130113,232305 MEM  354600
TT8_MAMPS  0.026964 DATA_FILE_SIZE  57094,942
HUMID  48.58 CAP_FILE_SIZE  166546,0
INTERNAL_PRESSURE  9.06951 CFSIZE  2097086464,2032533504
TCM_TEMP  15.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS  2 GPS  140113,104454,-4236.200,-405.297,41,1.4,41,-22.1
_24V_AH  22.2,79.517

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22208103.39 SBE_CT63124336.48
Roll_motor6671106.32 WL_BB2FLVMT9081052117.68
VBD_pump_during_apogee584126116379.41 SBE_O263819269.14
VBD_pump_during_surface000.00 QSP21507647.39
VBD_valve000.00 nil000.00
Iridium_during_init2910366.81 nil000.00
Iridium_during_connect38160137.98 nil000.00
Iridium_during_xfer2212231094.41 nil000.00
Transponder_ping04204.66 nil000.00
GUMSTIX_24V000.00
GPS37269.91
TT8240814356.75
LPSleep140432304.47
TT8_Active6091485.76
TT8_Sampling3003371113.15
TT8_CF824647115.08
TT8_Kalman335919.54
Analog_circuits186612221.68
GPS_charging000.00
Compass265115412.97
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
23 end surface: CONTROL_FINISHED_OK
state 23 begin dive
26 -1.00 -165.4 0.0 0.0 0 35 0.00 0.00 -7.22 0.000 2 0.000 0.000 82 1923 748 0 0 0 0 0 0
37 -1.00 -165.4 3.1 -0.0 1 189 10.35 2.40 -127.90 0.000 4 0.209 0.072 2727 500 3539 0 0 0 0 0 0
320 -0.96 -165.4 21.4 -11.1 48 328 0.05 2.28 0.00 0.000 6 0.145 0.047 2736 1907 3540 0 0 0 0 0 0
402 -0.99 -165.4 29.3 -9.2 61 409 0.00 0.95 0.00 0.000 4 0.000 0.057 2732 2507 3540 0 0 0 0 0 0
524 -1.02 -165.4 42.4 -10.2 82 531 0.00 0.95 0.00 0.000 6 0.000 0.053 2732 1910 3540 0 0 0 0 0 0
763 -1.05 -165.4 67.2 -10.9 118 765 0.05 0.00 0.00 0.000 6 0.164 0.000 2696 1910 3540 0 0 0 0 0 0
1087 -1.02 -165.4 102.0 -10.2 148 1091 0.08 0.62 0.00 0.000 4 0.175 0.060 2713 2306 3540 0 0 0 0 0 0
1142 -1.02 -165.4 107.5 -9.3 151 1146 0.00 0.62 0.00 0.000 6 0.000 0.053 2713 1897 3541 0 0 0 0 0 0
1468 -1.02 -165.4 138.7 -9.7 172 1470 0.00 0.00 0.00 0.000 6 0.000 0.000 2714 1897 3541 0 0 0 0 0 0
1779 -1.02 -165.4 169.5 -10.2 192 1780 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1897 3541 0 0 0 0 0 0
2096 -1.02 -165.4 203.2 -10.9 212 2100 0.00 0.45 0.00 0.000 4 0.000 0.060 2713 1595 3541 0 0 0 0 0 0
2174 -1.02 -165.4 211.7 -11.0 215 2178 0.00 0.50 0.00 0.000 6 0.000 0.055 2711 1913 3541 0 0 0 0 0 0
2496 -1.02 -165.4 245.2 -10.5 231 2497 0.00 0.00 0.00 0.000 6 0.000 0.000 2711 1913 3541 0 0 0 0 0 0
2805 -1.02 -165.4 277.3 -10.6 246 2806 0.00 0.00 0.00 0.000 6 0.000 0.000 2711 1913 3541 0 0 0 0 0 0
3124 -1.04 -165.4 311.5 -10.8 260 3128 0.00 1.12 0.00 0.000 4 0.000 0.053 2711 1206 3541 0 0 0 0 0 0
3179 -1.04 -165.4 317.9 -11.4 261 3183 0.00 1.10 0.00 0.000 6 0.000 0.047 2706 1908 3541 0 0 0 0 0 0
3498 -1.04 -165.4 354.5 -11.9 272 3499 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 1908 3541 0 0 0 0 0 0
3804 -1.04 -165.4 391.2 -12.0 282 3808 0.00 1.00 0.00 0.000 4 0.000 0.053 2706 1276 3541 0 0 0 0 0 0
3915 -1.04 -165.4 404.6 -11.5 285 3919 0.00 1.00 0.00 0.000 6 0.000 0.048 2701 1914 3541 0 0 0 0 0 0
4245 -1.04 -165.4 442.7 -11.6 296 4246 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 1914 3541 0 0 0 0 0 0
4551 -1.04 -165.4 477.7 -11.3 306 4555 0.00 0.70 0.00 0.000 4 0.000 0.055 2701 1465 3540 0 0 0 0 0 0
4623 -1.04 -165.4 485.9 -11.3 308 4628 0.00 0.73 0.00 0.000 6 0.000 0.051 2699 1924 3540 0 0 0 0 0 0
4959 -1.04 -165.4 521.3 -10.4 319 4960 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 1924 3540 0 0 0 0 0 0
5265 -1.04 -165.4 550.9 -9.4 329 5269 0.00 1.60 0.00 0.000 4 0.000 0.056 2698 946 3539 0 0 0 0 0 0
5338 -1.04 -165.4 558.0 -9.6 331 5342 0.05 1.55 0.00 0.000 6 0.150 0.047 2711 1910 3539 0 0 0 0 0 0
5673 -1.08 -165.4 588.2 -9.1 342 5677 0.00 0.65 0.00 0.000 4 0.000 0.056 2710 1487 3538 0 0 0 0 0 0
5802 -1.10 -165.4 600.4 -9.4 345 5807 0.00 0.65 0.00 0.000 6 0.000 0.053 2707 1908 3538 0 0 0 0 0 0
6115 -1.14 -165.4 630.9 -10.0 356 6119 0.08 1.27 0.00 0.000 4 0.117 0.055 2657 1130 3537 0 0 0 0 0 0
6204 -1.07 -165.4 640.9 -11.5 358 6209 0.15 1.25 0.00 0.000 6 0.132 0.047 2700 1914 3538 0 0 0 0 0 0
6522 -1.07 -165.4 674.2 -10.7 369 6526 0.00 0.62 0.00 0.000 4 0.000 0.057 2701 1512 3537 0 0 0 0 0 0
6697 -1.07 -165.4 693.4 -11.1 374 6700 0.00 0.62 0.00 0.000 6 0.000 0.053 2698 1917 3536 0 0 0 0 0 0
7032 -1.07 -165.4 730.2 -11.0 385 7033 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 1917 3536 0 0 0 0 0 0
7338 -1.09 -165.4 763.1 -10.8 395 7342 0.00 1.23 0.00 0.000 4 0.000 0.055 2698 1153 3535 0 0 0 0 0 0
7416 -1.09 -165.4 771.6 -10.7 397 7420 0.00 1.20 0.00 0.000 6 0.000 0.049 2693 1908 3535 0 0 0 0 0 0
7746 -1.09 -165.4 806.1 -10.3 408 7749 0.00 0.50 0.00 0.000 4 0.000 0.057 2692 1582 3534 0 0 0 0 0 0
7823 -1.09 -165.4 814.2 -10.2 410 7827 0.00 0.52 0.00 0.000 6 0.000 0.056 2690 1912 3534 0 0 0 0 0 0
8153 -1.09 -165.4 846.6 -9.7 421 8157 0.00 0.85 0.00 0.000 4 0.000 0.057 2690 1378 3533 0 0 0 0 0 0
8236 -1.09 -165.4 855.1 -9.9 423 8241 0.00 0.85 0.00 0.000 6 0.000 0.051 2686 1912 3532 0 0 0 0 0 0
8561 -1.09 -165.4 887.1 -10.2 434 8562 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 1911 3532 0 0 0 0 0 0
8867 -1.09 -165.4 919.0 -10.4 444 8868 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 1911 3531 0 0 0 0 0 0
9173 -1.09 -165.4 950.5 -10.5 454 9177 0.00 1.62 0.00 0.000 4 0.000 0.060 2679 2911 3531 0 0 0 0 0 0
9241 -1.09 -165.4 957.6 -10.1 456 9246 0.03 1.60 0.00 0.000 6 0.165 0.048 2690 1911 3531 0 0 0 0 0 0
9582 -1.09 -165.4 992.6 -10.1 467 9583 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 1911 3530 0 0 0 0 0 0
9672 end dive: TARGET_DEPTH_EXCEEDED
state 9672 begin apogee
9677 -0.29 0.0 1001.9 10.1 470 9825 0.82 0.00 144.68 1.261 6 0.115 0.000 2955 1579 2862 0 0 0 0 0 0
9826 end apogee: CONTROL_FINISHED_OK
state 9826 begin climb
9828 1.00 165.4 1013.9 0.0 475 9989 1.17 2.50 150.77 1.225 4 0.059 0.060 3379 228 2187 0 0 0 0 0 0
10085 0.80 252.5 1014.1 6.3 483 10173 0.25 2.28 79.72 1.210 6 0.161 0.043 3313 1593 1832 0 0 0 0 0 0
10478 0.78 323.6 987.9 7.0 496 10548 0.00 1.00 64.25 1.211 4 0.000 0.060 3317 1024 1541 0 0 0 0 0 0
10616 0.81 351.6 976.9 8.7 500 10646 0.00 0.93 26.52 1.164 6 0.000 0.048 3317 1585 1428 0 0 0 0 0 0
10972 0.86 389.6 947.1 8.3 512 11012 0.00 1.35 34.97 1.183 4 0.000 0.063 3323 780 1274 0 0 0 0 0 0
11114 0.95 404.9 934.6 9.2 516 11135 0.05 1.33 15.35 1.115 6 0.068 0.049 3365 1585 1211 0 0 0 0 0 0
11443 0.95 408.5 903.1 9.7 527 11452 0.00 1.33 3.88 0.676 4 0.000 0.063 3370 807 1196 0 0 0 0 0 0
11510 0.95 415.3 896.7 9.5 529 11525 0.03 1.27 8.75 1.000 6 0.167 0.048 3361 1594 1167 0 0 0 0 0 0
11851 0.99 429.2 864.9 9.3 540 11870 0.00 1.15 14.35 1.085 4 0.000 0.064 3365 921 1112 0 0 0 0 0 0
11944 1.03 457.8 856.0 8.7 542 11980 0.00 1.08 28.88 1.132 6 0.000 0.049 3365 1579 995 0 0 0 0 0 0
12289 1.09 457.8 822.4 9.8 554 12293 0.10 1.48 0.00 0.000 4 0.099 0.067 3424 718 988 0 0 0 0 0 0
12349 1.06 457.8 815.7 10.6 555 12355 0.08 1.42 0.00 0.000 6 0.133 0.048 3398 1595 987 0 0 0 0 0 0
12662 1.06 457.8 783.3 10.4 566 12663 0.00 0.00 0.00 0.000 6 0.000 0.000 3397 1596 986 0 0 0 0 0 0
12968 1.06 457.8 751.0 10.5 576 12972 0.00 0.45 0.00 0.000 4 0.000 0.068 3399 1310 986 0 0 0 0 0 0
13073 1.06 457.8 739.4 11.4 579 13078 0.00 0.45 0.00 0.000 6 0.000 0.057 3399 1590 986 0 0 0 0 0 0
13409 1.06 457.8 702.5 11.2 590 13412 0.00 0.93 0.00 0.000 4 0.000 0.063 3403 1027 986 0 0 0 0 0 0
13481 1.06 457.8 694.2 10.7 592 13485 0.00 0.93 0.00 0.000 6 0.000 0.050 3403 1594 985 0 0 0 0 0 0
13816 1.06 457.8 655.6 11.6 603 13817 0.00 0.00 0.00 0.000 6 0.000 0.000 3403 1594 984 0 0 0 0 0 0
14122 1.06 457.8 619.4 11.9 613 14126 0.00 1.58 0.00 0.000 4 0.000 0.066 3410 652 985 0 0 0 0 0 0
14177 1.06 457.8 612.8 11.3 614 14182 0.05 1.50 0.00 0.000 6 0.145 0.047 3392 1586 984 0 0 0 0 0 0
14496 1.06 457.8 575.1 11.9 625 14497 0.00 0.00 0.00 0.000 6 0.000 0.000 3393 1586 984 0 0 0 0 0 0
14802 1.06 457.8 538.2 11.9 635 14805 0.00 0.45 0.00 0.000 4 0.000 0.055 3393 1896 984 0 0 0 0 0 0
14857 1.06 457.8 531.5 11.5 636 14861 0.00 0.52 0.00 0.000 6 0.000 0.061 3395 1577 984 0 0 0 0 0 0
15176 1.09 457.8 493.8 11.9 647 15177 0.00 0.00 0.00 0.000 6 0.000 0.000 3395 1577 984 0 0 0 0 0 0
15482 1.11 457.8 458.7 11.2 657 15486 0.00 0.60 0.00 0.000 4 0.000 0.066 3398 1197 984 0 0 0 0 0 0
15537 1.11 457.8 452.4 10.6 658 15541 0.00 0.62 0.00 0.000 6 0.000 0.053 3398 1585 984 0 0 0 0 0 0
15856 1.13 457.8 418.2 10.7 669 15860 0.00 0.47 0.00 0.000 4 0.000 0.067 3400 1287 983 0 0 0 0 0 0
15939 1.13 457.8 409.3 10.2 671 15943 0.00 0.47 0.00 0.000 6 0.000 0.055 3399 1585 984 0 0 0 0 0 0
16263 1.13 457.8 375.7 10.4 682 16267 0.00 0.43 0.00 0.000 4 0.000 0.060 3399 1874 984 0 0 0 0 0 0
16365 1.13 457.8 365.1 10.7 685 16369 0.00 0.45 0.00 0.000 6 0.000 0.065 3401 1589 984 0 0 0 0 0 0
16706 1.13 457.8 328.0 11.1 696 16709 0.00 0.73 0.00 0.000 4 0.000 0.057 3401 2056 984 0 0 0 0 0 0
16788 1.13 457.8 318.6 11.0 698 16793 0.00 0.77 0.00 0.000 6 0.000 0.057 3404 1577 984 0 0 0 0 0 0
17104 1.13 457.8 282.7 11.5 711 17105 0.00 0.00 0.00 0.000 6 0.000 0.000 3405 1577 984 0 0 0 0 0 0
17413 1.13 457.8 247.3 11.1 726 17415 0.00 0.00 0.00 0.000 6 0.000 0.000 3405 1577 984 0 0 0 0 0 0
17723 1.13 457.8 213.2 10.9 741 17726 0.00 0.47 0.00 0.000 4 0.000 0.065 3407 1269 984 0 0 0 0 0 0
17801 1.13 457.8 204.4 10.2 744 17805 0.00 0.52 0.00 0.000 6 0.000 0.055 3407 1596 984 0 0 0 0 0 0
18120 1.13 457.8 169.8 11.0 764 18124 0.00 1.20 0.00 0.000 4 0.000 0.063 3412 879 984 0 0 0 0 0 0
18207 1.13 457.8 160.9 10.8 769 18211 0.00 1.12 0.00 0.000 6 0.000 0.048 3412 1579 984 0 0 0 0 0 0
18539 1.13 457.8 126.5 9.9 790 18540 0.00 0.00 0.00 0.000 6 0.000 0.000 3412 1580 984 0 0 0 0 0 0
18852 1.13 457.8 95.6 9.9 811 18856 0.00 0.70 0.00 0.000 4 0.000 0.063 3415 1147 984 0 0 0 0 0 0
18958 1.13 471.8 84.5 9.2 820 18974 0.00 0.68 12.75 0.619 6 0.000 0.051 3415 1580 937 0 0 0 0 0 0
19303 1.13 471.8 48.7 10.8 861 19307 0.00 0.00 0.00 0.000 6 0.000 0.000 3415 1580 936 0 0 0 0 0 0
19542 1.13 471.9 24.1 9.8 902 19549 0.00 0.00 0.00 0.000 6 0.000 0.000 3415 1580 936 0 0 0 0 0 0
19622 1.13 471.9 15.5 11.1 915 19629 0.00 0.70 0.00 0.000 4 0.000 0.062 3418 1145 936 0 0 0 0 0 0
19668 1.09 471.9 10.1 12.1 922 19676 0.05 0.70 0.00 0.000 6 0.158 0.050 3402 1591 936 0 0 0 0 0 0
19741 end climb: SURFACE_DEPTH_REACHED
state 19741 begin surface coast
19791 end surface coast: CONTROL_FINISHED_OK
state 19791 begin surface