Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 782 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING 180 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 782 ESCAPE_HEADING 0 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_TGT 45 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2350 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2200 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 530 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 8 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 42 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 MOTHERBOARD 4

SURFACE_URGENCY 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE2 20

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE3 35

T_DIVE 15 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 28 CALL_TRIES 5 VBD_MIN 204 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_MAX 3580 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 C_VBD 2400 SMARTS 0

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTDEVICE1 -1

T_NO_W 120 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS 15 VBD_TIMEOUT 360 COMPASS_DEVICE 33

USE_ICE 0 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 GPS_DEVICE 32

D_OFFGRID 100 T_GPS_CHARGE -83866.828 VBD_PUMP_AD_RATE_APOGEE 3 RAFOS_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 XPDR_DEVICE 24

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 SIM_W 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_PITCH 0

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MIN 25 AH0_24V 150 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 PITCH_MAX 4070 AH0_10V 100 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 C_PITCH 2740 PRESSURE_YINT -10.508845 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162386 SEABIRD_C_G -10.331019

MASS 51503 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_H 1.1763502

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017379176

KALMAN_USE 2 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25

HD_A 0.0038360001 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_DBAND 0.1 SMARTS 0

AH0_10V 100 D_NO_BLEED 200 PITCH_GAIN 18 SM_CC 530

AH0_24V 150 D_OFFGRID 100 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 25 D_PITCH 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 D_TGT 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 0.0001162386 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_DIVE 15

APOGEE_PITCH -5 GPS_DEVICE 32 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_NDIVES 1 HD_A 0.0038360001 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_B 0.010078 RHO 1.023 T_GPS_CHARGE -83866.828

CALL_WAIT 60 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_MISSION 28

CAPMAXSIZE 100000 HEADING 180 ROLL_ADJ_GAIN 0 T_NO_W 120

CAPUPLOAD 0 HEAD_ERRBAND 10 ROLL_AD_RATE 350 T_RSLEEP 3

CF8_MAXERRORS 1 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN 270

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 40 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 128 ROLL_MAX 4014 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_PITCH 2740 INT_PRESSURE_YINT 0 ROLL_MIN 145 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2350 MASS 51503 R_PORT_OVSHOOT 42 USE_ICE 0

C_VBD 2400 MAX_BUOY 150 R_STBD_OVSHOOT 34 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_DBAND 2

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_MAX 3580

DEVICE2 20 N_FILEKB 8 SEABIRD_C_J 0.00017379176 VBD_MAXERRORS 1

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MIN 204

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_TIMEOUT 360

DIVE 782 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_ABORT 1090 PITCH_ADJ_GAIN 0 SIM_W 0

D_CALL 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

D_FINISH 0 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 060601,4809.831,-12225.933,31,0.9,41,18.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 4759.084,-12225.977

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.182,-0.186

_SM_DEPTHo 2.50 KALMAN_X -80.8,-80.8,-80.8,31.2,-149.4

_SM_ANGLEo -67.4 KALMAN_Y 77.3,77.3,77.3,-128.7,142.9

GPS2 061032,4809.884,-12225.977,13,1.4,13,18.4 MHEAD_RNG_PITCHd_Wd 161.6,20000,-18.2,-10.000

SPEED_LIMITS 0.100,0.261 D_GRID 57

Post-dive calculations and measurements:

FINISH 1.5,1.010149 XPDR_PINGS 1

SM_CCo 1429,34.95,0.613,0,0,238,530.09 ALTIM_BOTTOM_PING 27.2,6.3

SM_GC 2.98,0.00,0.00,34.95,0.000,0.000,0.613,18,2360,238,-8.51,0.28,530.09 _24V_AH 24.2,71.581

IRIDIUM_FIX 4751.72,-12228.02,071007,090930 _10V_AH 10.7,35.902

TT8_MAMPS 0.026078 DATA_FILE_SIZE 9695,231

HUMID 1826 CFSIZE 260165632,236126208

INTERNAL_PRESSURE 9.09215 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 071007,063614,4809.830,-12226.024,11,1.1,11,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 204 107.88 SBE_CT 168 24 97.72

Roll_motor 19 53 24.98 SBE_O2 161 19 74.14

VBD_pump_during_apogee 468 696 7898.93 WL_BB2F 390 105 992.13

VBD_pump_during_surface 34 612 518.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 75.67 nil 0 0 0.00

Iridium_during_connect 14 160 56.27 nil 0 0 0.00

Iridium_during_xfer 104 223 564.29

Transponder_ping 0 420 5.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 8.02

TT8 295 19 62.67

LPSleep 257 2 6.03

TT8_Active 437 19 92.59

TT8_Sampling 446 39 190.10

TT8_CF8 315 45 154.67

TT8_Kalman 0 81 0.00

Analog_circuits 765 12 98.24

GPS_charging 0 0 0.00

Compass 459 8 39.31

RAFOS 0 0 0.00

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

34 end surface: CONTROL_FINISHED_OK

state 34 begin dive

39 -1.19 -146.6 0.0 0.0 0 78 0.00 0.00 -37.12 0.000 2 0.000 0.000 21 2368 1285

83 -1.19 -146.6 3.2 -3.2 7 146 9.40 2.38 -43.00 0.000 4 0.204 0.048 2349 947 3000

319 -1.19 -146.6 34.3 -13.0 48 325 0.00 2.30 0.00 0.000 6 0.000 0.037 2341 2351 3002

397 end dive: TARGET_DEPTH_EXCEEDED

state 397 begin apogee

407 -0.28 0.0 45.1 13.9 62 523 1.00 0.00 111.95 0.696 6 0.123 0.000 2644 2177 2400

524 end apogee: CONTROL_FINISHED_OK

state 524 begin climb

528 1.19 146.6 50.6 0.0 81 647 1.45 2.33 110.62 0.642 4 0.081 0.041 3125 807 1801

667 1.19 146.6 42.5 10.1 103 674 0.00 2.35 0.00 0.000 6 0.000 0.035 3125 2202 1800

880 1.19 146.6 19.3 10.4 140 887 0.00 2.40 0.00 0.000 4 0.000 0.051 3125 3609 1799

935 1.19 146.6 12.9 11.4 149 941 0.00 2.25 0.00 0.000 6 0.000 0.028 3136 2210 1799

1012 1.47 371.1 12.0 -0.3 162 1193 0.17 2.40 168.32 0.644 4 0.056 0.041 3227 801 885

1314 1.74 590.6 4.2 -0.0 215 1398 0.20 2.33 77.78 0.641 2 0.050 0.036 3317 2207 452

1399 end climb: SURFACE_DEPTH_REACHED

state 1399 begin surface coast

1404 end surface coast: CONTROL_FINISHED_OK

state 1404 begin surface

ID	128	HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	180	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	782	ESCAPE_HEADING	0	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_TGT	45	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2350	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2200	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	530	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	8	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	42	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	MOTHERBOARD	4
SURFACE_URGENCY	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE2	20
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE3	35
T_DIVE	15	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	28	CALL_TRIES	5	VBD_MIN	204	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_MAX	3580	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	C_VBD	2400	SMARTS	0
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTDEVICE1	-1
T_NO_W	120	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS	15	VBD_TIMEOUT	360	COMPASS_DEVICE	33
USE_ICE	0	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	GPS_DEVICE	32
D_OFFGRID	100	T_GPS_CHARGE	-83866.828	VBD_PUMP_AD_RATE_APOGEE	3	RAFOS_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	XPDR_DEVICE	24
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	SIM_W	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_PITCH	0
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MIN	25	AH0_24V	150	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	PITCH_MAX	4070	AH0_10V	100	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	C_PITCH	2740	PRESSURE_YINT	-10.508845	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162386	SEABIRD_C_G	-10.331019
MASS	51503	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_H	1.1763502
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017379176
KALMAN_USE	2	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25
HD_A	0.0038360001	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	060601,4809.831,-12225.933,31,0.9,41,18.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	4759.084,-12225.977
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.182,-0.186
_SM_DEPTHo	2.50	KALMAN_X	-80.8,-80.8,-80.8,31.2,-149.4
_SM_ANGLEo	-67.4	KALMAN_Y	77.3,77.3,77.3,-128.7,142.9
GPS2	061032,4809.884,-12225.977,13,1.4,13,18.4	MHEAD_RNG_PITCHd_Wd	161.6,20000,-18.2,-10.000
SPEED_LIMITS	0.100,0.261	D_GRID	57

FINISH	1.5,1.010149	XPDR_PINGS	1
SM_CCo	1429,34.95,0.613,0,0,238,530.09	ALTIM_BOTTOM_PING	27.2,6.3
SM_GC	2.98,0.00,0.00,34.95,0.000,0.000,0.613,18,2360,238,-8.51,0.28,530.09	_24V_AH	24.2,71.581
IRIDIUM_FIX	4751.72,-12228.02,071007,090930	_10V_AH	10.7,35.902
TT8_MAMPS	0.026078	DATA_FILE_SIZE	9695,231
HUMID	1826	CFSIZE	260165632,236126208
INTERNAL_PRESSURE	9.09215	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	071007,063614,4809.830,-12226.024,11,1.1,11,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	204	107.88	SBE_CT	168	24	97.72
Roll_motor	19	53	24.98	SBE_O2	161	19	74.14
VBD_pump_during_apogee	468	696	7898.93	WL_BB2F	390	105	992.13
VBD_pump_during_surface	34	612	518.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	75.67	nil	0	0	0.00
Iridium_during_connect	14	160	56.27	nil	0	0	0.00
Iridium_during_xfer	104	223	564.29
Transponder_ping	0	420	5.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	8.02
TT8	295	19	62.67
LPSleep	257	2	6.03
TT8_Active	437	19	92.59
TT8_Sampling	446	39	190.10
TT8_CF8	315	45	154.67
TT8_Kalman	0	81	0.00
Analog_circuits	765	12	98.24
GPS_charging	0	0	0.00
Compass	459	8	39.31
RAFOS	0	0	0.00

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
34	end surface: CONTROL_FINISHED_OK
state	34	begin dive
39	-1.19	-146.6	0.0	0.0	0	78	0.00	0.00	-37.12	0.000	2	0.000	0.000	21	2368	1285
83	-1.19	-146.6	3.2	-3.2	7	146	9.40	2.38	-43.00	0.000	4	0.204	0.048	2349	947	3000
319	-1.19	-146.6	34.3	-13.0	48	325	0.00	2.30	0.00	0.000	6	0.000	0.037	2341	2351	3002
397	end dive: TARGET_DEPTH_EXCEEDED
state	397	begin apogee
407	-0.28	0.0	45.1	13.9	62	523	1.00	0.00	111.95	0.696	6	0.123	0.000	2644	2177	2400
524	end apogee: CONTROL_FINISHED_OK
state	524	begin climb
528	1.19	146.6	50.6	0.0	81	647	1.45	2.33	110.62	0.642	4	0.081	0.041	3125	807	1801
667	1.19	146.6	42.5	10.1	103	674	0.00	2.35	0.00	0.000	6	0.000	0.035	3125	2202	1800
880	1.19	146.6	19.3	10.4	140	887	0.00	2.40	0.00	0.000	4	0.000	0.051	3125	3609	1799
935	1.19	146.6	12.9	11.4	149	941	0.00	2.25	0.00	0.000	6	0.000	0.028	3136	2210	1799
1012	1.47	371.1	12.0	-0.3	162	1193	0.17	2.40	168.32	0.644	4	0.056	0.041	3227	801	885
1314	1.74	590.6	4.2	-0.0	215	1398	0.20	2.33	77.78	0.641	2	0.050	0.036	3317	2207	452
1399	end climb: SURFACE_DEPTH_REACHED
state	1399	begin surface coast
1404	end surface coast: CONTROL_FINISHED_OK
state	1404	begin surface