RossSea Nov10 * SG502 * Dive index * Mission links * Dive 94 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  502 HD_C  9.9999997e-06 ROLL_MIN  187 ALTIM_TOP_TURN_MARGIN  5
MISSION  3 HEADING  -1 ROLL_MAX  3764 ALTIM_TOP_MIN_OBSTACLE  3
DIVE  94 ESCAPE_HEADING  45 ROLL_DEG  40 ALTIM_PING_DEPTH  250
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2650 ALTIM_PING_DELTA  50
D_SURF  3 FIX_MISSING_TIMEOUT  10 C_ROLL_CLIMB  2500 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LAT  -7715 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_TGT  600 TGT_DEFAULT_LON  16530 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_ABORT  1070 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  4
D_NO_BLEED  200 SM_CC  623.29712 R_PORT_OVSHOOT  29 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  8 R_STBD_OVSHOOT  21 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  0 FILEMGR  2 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0
D_FINISH  9 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  1.75 COMM_SEQ  0 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  400 PROTOCOL  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  3 N_NOCOMM  1 VBD_MIN  420 DEVICE1  2
SURFACE_URGENCY  2 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
SURFACE_URGENCY_TRY  2 UPLOAD_DIVES_MAX  5 C_VBD  2961 DEVICE3  86
SURFACE_URGENCY_FORCE  2 CALL_TRIES  3 VBD_DBAND  2 DEVICE4  -1
T_DIVE  200 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE5  -1
T_MISSION  250 CAPUPLOAD  0 VBD_TIMEOUT  360 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_TURN  225 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  6 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 T_GPS  2 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_BATHY  -1 T_GPS_CHARGE  -25488.928 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  1 T_RSLEEP  2 CF8_MAXERRORS  20 COMPASS2_DEVICE  131
ICE_FREEZE_MARGIN  0.025 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
D_OFFGRID  250 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  450 FG_AHR_10V  0 SIM_W  0
MAX_BUOY  150 PITCH_MAX  3944 FG_AHR_24V  0 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  3065 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043373196
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_YINT  -70.546913 SEABIRD_T_H  0.00062598457
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011650941 SEABIRD_T_I  2.5066851e-05
RHO  1.0275 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.8555498e-06
MASS  51763 PITCH_GAIN  30 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.7998753
NAV_MODE  0 PITCH_TIMEOUT  17 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1362277
FERRY_MAX  45 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.00070417771
KALMAN_USE  2 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00014171835
HD_A  0.003 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  20
HD_B  0.0099999998 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  15

Pre-dive calculations and measurements:
GPS1  301110,141936,-7724.898,16510.631,46,0.8,47,144.1 TGT_NAME  SOUND1
_CALLS  3 TGT_LATLONG  -7728.000,16520.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.66 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -65.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  301110,142731,-7724.863,16510.602,14,1.0,14,144.1 MHEAD_RNG_PITCHd_Wd  2.9,6929,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  544

Post-dive calculations and measurements:
FREEZE  1.00,-1.854,-0.922,2,2,0 _24V_AH  21.4,27.560
FINISH  1.0,1.013576 _10V_AH  10.0,15.622
SM_CCo  10613,229.85,0.769,2,0,418,623.54 FG_AHR_24Vo  0.000
SM_GC  1.69,0.00,0.00,229.85,0.000,0.000,0.769,423,2661,418,-8.26,0.34,623.54 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -7639.69,16502.85,301110,141442 MEM  276056
TT8_MAMPS  0.028462 DATA_FILE_SIZE  73708,1063
HUMID  49.80 CAP_FILE_SIZE  161891,0
INTERNAL_PRESSURE  8.66244 CFSIZE  260165632,247775232
TCM_TEMP  14.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  3 GPS  301110,173030,-7726.189,16514.965,60,1.8,66,144.1
ALTIM_TOP_PING  19.8,19.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2021897.75 SBE_CT74924384.91
Roll_motor13877229.42 AA4330127533900.70
VBD_pump_during_apogee36911649217.30 WL_BBFL2VMT11641052615.87
VBD_pump_during_surface2297683781.69 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init84103185.31 nil000.00
Iridium_during_connect166160570.12 nil000.00
Iridium_during_xfer000.00 nil000.00
Transponder_ping242022.47 nil000.00
GUMSTIX_24V000.00
GPS15507.52
TT8264019522.81
LPSleep49532108.48
TT8_Active82219162.88
TT8_Sampling2734391088.26
TT8_CF81774581.15
TT8_Kalman000.00
Analog_circuits193612232.38
GPS_charging000.00
Compass180315270.46
RAFOS000.00
Transponder12303.88

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
14 -0.76 -146.0 0.0 0.0 0 181 0.00 0.00 -163.02 0.000 2 0.000 0.000 424 2669 3494 0 0 0 0 0 0
183 -0.76 -146.0 3.5 -2.5 25 199 9.12 1.88 -1.70 0.000 4 0.218 0.077 2803 3777 3560 0 0 0 0 0 0
270 -0.65 -146.0 22.4 -16.1 40 279 0.15 1.85 0.00 0.000 6 0.138 0.047 2852 2637 3563 0 0 0 0 0 0
412 -0.62 -146.0 39.3 -11.3 65 418 0.00 0.00 0.00 0.000 6 0.000 0.000 2851 2637 3564 0 0 0 0 0 0
548 -0.60 -146.0 54.6 -10.9 90 556 0.00 1.90 0.00 0.000 4 0.000 0.069 2845 3762 3564 0 0 0 0 0 0
581 -0.56 -146.0 58.4 -12.2 95 588 0.12 1.77 0.00 0.000 6 0.158 0.046 2881 2638 3564 0 0 0 0 0 0
720 -0.60 -146.0 72.1 -9.9 120 727 0.00 0.00 0.00 0.000 6 0.000 0.000 2880 2636 3564 0 0 0 0 0 0
860 -0.63 -146.0 85.6 -9.5 145 867 0.00 1.88 0.00 0.000 4 0.000 0.069 2874 3771 3564 0 0 0 0 0 0
911 -0.67 -146.0 91.1 -10.9 154 919 0.00 1.80 0.00 0.000 6 0.000 0.047 2874 2648 3564 0 0 0 0 0 0
1054 -0.67 -146.0 105.8 -10.2 175 1058 0.00 1.83 0.00 0.000 4 0.000 0.068 2867 3763 3564 0 0 0 0 0 0
1091 -0.69 -146.0 110.0 -11.1 178 1100 0.00 1.77 0.00 0.000 6 0.000 0.045 2867 2652 3564 0 0 0 0 0 0
1227 -0.69 -146.0 123.6 -10.1 191 1228 0.00 0.00 0.00 0.000 6 0.000 0.000 2867 2652 3564 0 0 0 0 0 0
1354 -0.69 -146.0 136.6 -10.3 203 1357 0.00 1.83 0.00 0.000 4 0.000 0.070 2860 3767 3564 0 0 0 0 0 0
1390 -0.69 -146.0 141.0 -11.0 206 1399 0.00 1.80 0.00 0.000 6 0.000 0.047 2860 2641 3564 0 0 0 0 0 0
1526 -0.69 -146.0 155.3 -10.9 219 1527 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 2641 3564 0 0 0 0 0 0
1653 -0.69 -146.0 168.6 -10.2 231 1656 0.00 1.83 0.00 0.000 4 0.000 0.067 2855 3763 3564 0 0 0 0 0 0
1710 -0.69 -146.0 175.2 -11.4 236 1720 0.00 1.77 0.00 0.000 6 0.000 0.045 2855 2651 3564 0 0 0 0 0 0
1847 -0.69 -146.0 189.3 -10.4 249 1848 0.00 0.00 0.00 0.000 6 0.000 0.000 2854 2650 3564 0 0 0 0 0 0
1974 -0.69 -146.0 202.5 -10.3 261 1978 0.00 1.83 0.00 0.000 4 0.000 0.070 2846 3763 3564 0 0 0 0 0 0
2011 -0.67 -146.0 206.9 -11.1 264 2019 0.00 1.77 0.00 0.000 6 0.000 0.046 2846 2650 3564 0 0 0 0 0 0
2146 -0.64 -146.0 220.9 -10.7 277 2147 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 2649 3564 0 0 0 0 0 0
2274 -0.62 -146.0 234.6 -10.7 289 2277 0.00 1.83 0.00 0.000 4 0.000 0.070 2842 3766 3564 0 0 0 0 0 0
2299 -0.58 -146.0 238.1 -11.9 291 2309 0.08 1.80 0.00 0.000 6 0.138 0.046 2869 2637 3564 0 0 0 0 0 0
2438 -0.61 -146.0 250.6 -9.1 304 2444 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2637 3564 0 0 0 0 0 0
2636 -0.64 -146.0 269.4 -9.4 323 2639 0.00 1.85 0.00 0.000 4 0.000 0.070 2867 3767 3564 0 0 0 0 0 0
2681 -0.67 -146.0 273.8 -9.6 327 2685 0.00 1.75 0.00 0.000 6 0.000 0.046 2867 2640 3563 0 0 0 0 0 0
2885 -0.70 -146.0 292.4 -9.2 346 2886 0.00 0.00 0.00 0.000 6 0.000 0.000 2867 2638 3563 0 0 0 0 0 0
3076 -0.72 -146.0 309.8 -9.2 364 3079 0.00 1.85 0.00 0.000 4 0.000 0.070 2867 3770 3564 0 0 0 0 0 0
3114 -0.75 -146.0 313.6 -9.8 367 3122 0.10 1.77 0.00 0.000 6 0.055 0.046 2797 2658 3563 0 0 0 0 0 0
3314 -0.64 -146.0 340.0 -14.0 386 3316 0.20 0.00 0.00 0.000 6 0.154 0.000 2857 2657 3563 0 0 0 0 0 0
3503 -0.64 -146.0 359.7 -10.1 404 3506 0.00 1.83 0.00 0.000 4 0.000 0.071 2854 3770 3563 0 0 0 0 0 0
3559 -0.64 -146.0 365.6 -10.3 409 3563 0.00 1.75 0.00 0.000 6 0.000 0.047 2854 2645 3564 0 0 0 0 0 0
3761 -0.64 -146.0 386.4 -10.3 428 3765 0.00 1.83 0.00 0.000 4 0.000 0.067 2845 3764 3563 0 0 0 0 0 0
3788 -0.64 -146.0 389.3 -10.9 430 3795 0.00 1.77 0.00 0.000 6 0.000 0.045 2846 2651 3563 0 0 0 0 0 0
3986 -0.64 -146.0 409.7 -10.2 449 3987 0.00 0.00 0.00 0.000 6 0.000 0.000 2845 2650 3563 0 0 0 0 0 0
4177 -0.64 -146.0 428.9 -10.2 467 4181 0.00 1.83 0.00 0.000 4 0.000 0.070 2842 3764 3563 0 0 0 0 0 0
4221 -0.64 -146.0 433.6 -10.9 471 4225 0.00 1.73 0.00 0.000 6 0.000 0.046 2842 2651 3563 0 0 0 0 0 0
4424 -0.62 -146.0 454.1 -10.2 490 4425 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2650 3563 0 0 0 0 0 0
4615 -0.62 -146.0 473.6 -10.1 508 4619 0.00 1.83 0.00 0.000 4 0.000 0.069 2833 3769 3563 0 0 0 0 0 0
4660 -0.59 -146.0 478.6 -11.4 512 4665 0.12 1.75 0.00 0.000 6 0.155 0.047 2870 2645 3563 0 0 0 0 0 0
4865 -0.64 -146.0 495.9 -8.4 531 4866 0.00 0.00 0.00 0.000 6 0.000 0.000 2870 2643 3563 0 0 0 0 0 0
5070 -0.68 -146.0 512.9 -8.3 541 5074 0.00 1.83 0.00 0.000 4 0.000 0.070 2867 3761 3563 0 0 0 0 0 0
5119 -0.73 -146.0 517.4 -9.0 542 5124 0.08 1.77 0.00 0.000 6 0.059 0.046 2809 2649 3563 0 0 0 0 0 0
5321 -0.65 -146.0 541.7 -12.5 549 5323 0.15 0.00 0.00 0.000 6 0.158 0.000 2853 2647 3562 0 0 0 0 0 0
5351 end dive: TARGET_DEPTH_EXCEEDED
state 5351 begin apogee
5355 -0.17 0.0 545.1 12.1 550 5494 0.45 0.00 134.23 1.164 6 0.122 0.000 3006 2487 2960 0 0 0 0 0 0
5495 end apogee: CONTROL_FINISHED_OK
state 5495 begin climb
5496 0.76 146.0 549.7 0.0 554 5651 0.93 2.60 144.57 1.095 4 0.077 0.052 3314 1102 2361 0 0 0 0 0 0
5678 0.67 146.0 533.5 13.2 560 5683 0.12 2.50 0.00 0.000 6 0.152 0.054 3286 2499 2355 0 0 0 0 0 0
5885 0.58 146.0 507.7 12.4 567 5889 0.12 2.15 0.00 0.000 4 0.174 0.063 3253 3761 2346 0 0 0 0 0 0
5973 0.50 146.0 496.5 12.6 569 5981 0.10 2.08 0.00 0.000 6 0.140 0.047 3229 2507 2345 0 0 0 0 0 0
6172 0.53 168.8 478.5 8.9 588 6196 0.00 2.20 18.10 1.055 4 0.000 0.063 3229 3762 2271 0 0 0 0 0 0
6222 0.53 168.8 473.1 11.0 592 6230 0.00 2.10 0.00 0.000 6 0.000 0.045 3236 2496 2269 0 0 0 0 0 0
6423 0.53 174.8 454.0 9.7 611 6435 0.00 2.12 6.30 0.897 4 0.000 0.066 3236 3763 2247 0 0 0 0 0 0
6481 0.50 174.8 447.5 11.4 616 6485 0.00 2.03 0.00 0.000 6 0.000 0.047 3244 2498 2245 0 0 0 0 0 0
6683 0.50 174.9 426.7 10.0 635 6687 0.00 2.08 0.00 0.000 4 0.000 0.066 3243 3763 2244 0 0 0 0 0 0
6727 0.46 174.9 421.3 12.3 638 6735 0.10 2.05 0.00 0.000 6 0.131 0.047 3213 2499 2243 0 0 0 0 0 0
6928 0.57 214.5 404.6 8.2 657 6973 0.10 2.25 38.90 1.052 4 0.101 0.066 3267 3762 2085 0 0 0 0 0 0
6997 0.52 214.5 396.4 13.1 663 7002 0.15 2.08 0.00 0.000 6 0.152 0.047 3235 2496 2082 0 0 0 0 0 0
7195 0.58 220.7 376.6 9.7 681 7208 0.00 2.15 6.03 0.856 4 0.000 0.066 3235 3763 2060 0 0 0 0 0 0
7231 0.60 220.7 372.8 10.9 684 7235 0.00 2.03 0.00 0.000 6 0.000 0.047 3241 2498 2059 0 0 0 0 0 0
7436 0.64 225.8 352.7 9.8 703 7449 0.00 2.12 6.07 0.860 4 0.000 0.066 3241 3767 2039 0 0 0 0 0 0
7471 0.64 225.8 348.7 10.5 706 7475 0.00 2.03 0.00 0.000 6 0.000 0.047 3247 2496 2039 0 0 0 0 0 0
7668 0.67 225.8 328.7 10.2 724 7672 0.00 2.10 0.00 0.000 4 0.000 0.068 3247 3768 2037 0 0 0 0 0 0
7700 0.67 225.8 324.8 11.8 726 7708 0.00 2.05 0.00 0.000 6 0.000 0.047 3247 2500 2037 0 0 0 0 0 0
7900 0.69 225.8 304.9 10.3 745 7905 0.12 2.10 0.00 0.000 4 0.083 0.067 3311 3768 2035 0 0 0 0 0 0
7939 0.56 225.8 299.0 17.1 748 7944 0.25 2.00 0.00 0.000 6 0.148 0.047 3248 2499 2035 0 0 0 0 0 0
8137 0.59 225.8 277.5 10.6 766 8141 0.00 2.08 0.00 0.000 4 0.000 0.067 3248 3765 2034 0 0 0 0 0 0
8165 0.59 225.8 274.0 12.4 768 8169 0.00 2.00 0.00 0.000 6 0.000 0.047 3248 2494 2034 0 0 0 0 0 0
8370 0.61 225.8 252.7 10.5 787 8374 0.00 2.08 0.00 0.000 4 0.000 0.067 3248 3763 2034 0 0 0 0 0 0
8402 0.61 225.8 248.6 11.8 789 8411 0.00 2.03 0.00 0.000 6 0.000 0.047 3248 2496 2034 0 0 0 0 0 0
8538 0.64 225.8 234.8 10.5 802 8539 0.00 0.00 0.00 0.000 6 0.000 0.000 3248 2496 2033 0 0 0 0 0 0
8665 0.67 225.8 222.0 10.2 814 8670 0.10 2.10 0.00 0.000 4 0.097 0.067 3305 3772 2033 0 0 0 0 0 0
8707 0.56 225.8 215.7 16.2 817 8717 0.20 2.05 0.00 0.000 6 0.137 0.047 3249 2496 2033 0 0 0 0 0 0
8843 0.59 228.8 201.5 9.9 830 8847 0.00 2.08 0.00 0.000 4 0.000 0.067 3249 3771 2033 0 0 0 0 0 0
8871 0.59 228.8 198.4 11.0 832 8875 0.00 2.00 0.00 0.000 6 0.000 0.047 3249 2496 2033 0 0 0 0 0 0
9012 0.62 231.0 184.2 9.9 845 9022 0.00 0.00 5.05 0.760 6 0.000 0.000 3249 2493 2018 0 0 0 0 0 0
9151 0.65 231.0 170.3 10.3 858 9155 0.00 2.08 0.00 0.000 4 0.000 0.066 3249 3765 2018 0 0 0 0 0 0
9192 0.65 231.0 165.1 11.1 861 9202 0.00 2.05 0.00 0.000 6 0.000 0.047 3249 2492 2018 0 0 0 0 0 0
9330 0.68 231.0 151.0 10.3 874 9338 0.10 0.00 0.00 0.000 6 0.095 0.000 3307 2490 2017 0 0 0 0 0 0
9466 0.61 231.0 131.1 15.0 887 9470 0.15 2.10 0.00 0.000 4 0.153 0.066 3265 3770 2017 0 0 0 0 0 0
9529 0.59 231.0 122.1 12.7 892 9538 0.00 2.03 0.00 0.000 6 0.000 0.047 3273 2500 2017 0 0 0 0 0 0
9665 0.59 231.0 106.9 11.5 905 9669 0.00 2.10 0.00 0.000 4 0.000 0.068 3273 3771 2016 0 0 0 0 0 0
9689 0.56 231.0 103.9 12.6 907 9693 0.12 2.00 0.00 0.000 6 0.161 0.047 3248 2494 2017 0 0 0 0 0 0
9824 0.61 240.7 90.3 9.6 928 9840 0.00 2.17 10.68 0.848 4 0.000 0.067 3248 3762 1978 0 0 0 0 0 0
9859 0.65 240.7 86.7 10.5 933 9866 0.00 2.03 0.00 0.000 6 0.000 0.047 3248 2494 1977 0 0 0 0 0 0
9996 0.70 242.3 72.7 9.9 958 10005 0.12 2.15 0.00 0.000 4 0.083 0.067 3313 3760 1975 0 0 0 0 0 0
10020 0.70 242.3 70.1 11.3 961 10027 0.12 2.00 0.00 0.000 6 0.158 0.047 3289 2500 1975 0 0 0 0 0 0
10158 0.68 242.3 51.9 11.7 986 10165 0.00 0.00 0.00 0.000 6 0.000 0.000 3289 2498 1974 0 0 0 0 0 0
10298 0.65 242.3 34.8 12.9 1011 10305 0.00 2.08 0.00 0.000 4 0.000 0.066 3289 3762 1974 0 0 0 0 0 0
10339 0.60 242.3 28.7 14.6 1018 10348 0.10 2.03 0.00 0.000 6 0.136 0.047 3263 2501 1974 0 0 0 0 0 0
10481 0.63 242.3 13.1 11.2 1043 10487 0.00 0.00 0.00 0.000 6 0.000 0.000 3263 2499 1974 0 0 0 0 0 0
10578 end climb: SURFACE_DEPTH_REACHED
state 10578 begin surface coast
10598 end surface coast: FINISH_DEPTH_REACHED
state 10598 begin surface