OKMC Jun11 * SG181 * Dive index * Mission links * Dive 551 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  181 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 INT_PRESSURE_YINT  0
MISSION  6 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 DEEPGLIDER  0
DIVE  551 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  90 DEEPGLIDERMB  0
N_DIVES  0 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  39 MOTHERBOARD  4
D_SURF  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 DEVICE1  2
D_FLARE  3 SM_CC  475 ROLL_MAXERRORS  1 DEVICE2  102
D_TGT  990 N_FILEKB  8 ROLL_ADJ_GAIN  0 DEVICE3  39
D_ABORT  1030 FILEMGR  0 ROLL_ADJ_DBAND  0 DEVICE4  -1
D_NO_BLEED  200 CALL_NDIVES  1 VBD_MIN  440 DEVICE5  -1
D_BOOST  3 COMM_SEQ  0 VBD_MAX  3960 DEVICE6  -1
T_BOOST  0 PROTOCOL  9 C_VBD  2869 LOGGERS  0
D_FINISH  0 N_NOCOMM  1 VBD_DBAND  2 LOGGERDEVICE1  99
D_PITCH  0 NOCOMM_ACTION  0 VBD_CNV  -0.24529999 LOGGERDEVICE2  117
D_SAFE  0 N_NOSURFACE  0 VBD_TIMEOUT  720 LOGGERDEVICE3  -1
D_CALL  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.0012300001 LOGGERDEVICE4  -1
SURFACE_URGENCY  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_SURFACE  5 COMPASS_DEVICE  33
SURFACE_URGENCY_TRY  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS2_DEVICE  -1
SURFACE_URGENCY_FORCE  0 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 PHONE_DEVICE  49
T_DIVE  280 CAPMAXSIZE  100000 UNCOM_BLEED  50 GPS_DEVICE  32
T_MISSION  320 HEAPDBG  0 VBD_MAXERRORS  1 RAFOS_DEVICE  -1
T_ABORT  1440 T_GPS  15 CF8_MAXERRORS  20 XPDR_DEVICE  24
T_TURN  225 N_GPS  20 AH0_24V  150 SIM_W  0
T_TURN_SAMPINT  5 T_GPS_ALMANAC  0 AH0_10V  110 SIM_PITCH  0
T_NO_W  120 T_GPS_CHARGE  -41279.504 MINV_24V  19 SEABIRD_T_G  0.0043841996
T_LOITER  0 T_RSLEEP  2 MINV_10V  8 SEABIRD_T_H  0.00063541438
T_EPIRB  0 STROBE  0 FG_AHR_10V  0 SEABIRD_T_I  2.4687597e-05
USE_BATHY  -4 RAFOS_PEAK_OFFSET  1.5 FG_AHR_24V  0 SEABIRD_T_J  2.6519353e-06
USE_ICE  0 RAFOS_CORR_THRESH  60 PHONE_SUPPLY  2 SEABIRD_C_G  -9.9512653
ICE_FREEZE_MARGIN  0.30000001 RAFOS_HIT_WINDOW  3600 PRESSURE_YINT  -61.82621 SEABIRD_C_H  1.1266108
D_OFFGRID  1000 PITCH_MIN  225 PRESSURE_SLOPE  0.000116609 SEABIRD_C_I  -0.0016982662
T_WATCHDOG  10 PITCH_MAX  3941 AD7714Ch0Gain  128 SEABIRD_C_J  0.00020129427
RELAUNCH  1 C_PITCH  2300 TCM_PITCH_OFFSET  0 TM_RECORDABOVE  200.0
APOGEE_PITCH  -8 PITCH_DBAND  0.1 TCM_ROLL_OFFSET  0 TM_PROFILE  1.0
MAX_BUOY  200 PITCH_CNV  0.003125763 COMPASS_USE  0 TM_XMITPROFILE  1.0
COURSE_BIAS  0 P_OVSHOOT  0.039999999 ALTIM_BOTTOM_PING_RANGE  0 TM_UPLOADMAX  0.0
GLIDE_SLOPE  30 PITCH_GAIN  60 ALTIM_TOP_PING_RANGE  0 TM_STARTS  41.0
SPEED_FACTOR  1 PITCH_TIMEOUT  15 ALTIM_BOTTOM_TURN_MARGIN  0 TM_NFFT  256.0
RHO  1.0275 PITCH_AD_RATE  145 ALTIM_TOP_TURN_MARGIN  0 TM_NAVG  1.0
MASS  51861 PITCH_MAXERRORS  1 ALTIM_TOP_MIN_OBSTACLE  1 TM_PSD  0.0
NAV_MODE  2 PITCH_ADJ_GAIN  0 ALTIM_PING_DEPTH  0 LA_RECORDABOVE  200.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 ALTIM_PING_DELTA  10 LA_PROFILE  1.0
KALMAN_USE  1 ROLL_MIN  209 ALTIM_FREQUENCY  13 LA_XMITPROFILE  1.0
HD_A  0.003 ROLL_MAX  3785 ALTIM_PULSE  3 LA_UPLOADMAX  10000.0
HD_B  0.0099999998 ROLL_DEG  10 ALTIM_SENSITIVITY  2 LA_STARTS  23.0
HD_C  9.9999997e-06 C_ROLL_DIVE  2590 XPDR_VALID  2
HEADING  -1 C_ROLL_CLIMB  2165 XPDR_INHIBIT  90
ESCAPE_HEADING  0 HEAD_ERRBAND  15 INT_PRESSURE_SLOPE  0.0097660003

Pre-dive calculations and measurements:
GPS1  250911,200937,1947.686,11956.938,25,1.6,25,-2.2 TGT_NAME  W2A
_CALLS  1 TGT_LATLONG  2145.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.018,0.312
_SM_DEPTHo  1.23 KALMAN_X  82435.8,-1117.5,1713.8,-85682.1,-6456.0
_SM_ANGLEo  -64.5 KALMAN_Y  69280.0,-623.3,-554.4,-6700.4,2327.5
GPS2  250911,201520,1947.728,11956.772,12,1.6,12,-2.2 MHEAD_RNG_PITCHd_Wd  7.5,217258,-17.4,-11.786
SPEED_LIMITS  0.204,0.312 D_GRID  3703

Post-dive calculations and measurements:
FINISH  0.4,1.018959 _10V_AH  9.8,72.293
SM_CCo  17657,0.00,0.000,0,0,440,595.83 FG_AHR_24Vo  0.000
SM_GC  1.23,6.57,0.00,0.00,0.032,0.000,0.000,201,2569,440,-6.46,-0.59,595.83,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1936.66,11950.66,250911,151521 MEM  322212
TT8_MAMPS  0.025466,0.025466 DATA_FILE_SIZE  83427,1446
HUMID  46.96 CAP_FILE_SIZE  185254,0
INTERNAL_PRESSURE  9.32653 CFSIZE  260165632,200314880
TCM_TEMP  24.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.150,267.5,1
_24V_AH  23.4,90.550 GPS  260911,011155,1949.833,11955.120,42,1.1,42,-2.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622487.50 SBE_CT100424564.35
Roll_motor374237.52 AA4330000.00
VBD_pump_during_apogee637106715923.50 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010372.33 nil000.00
Iridium_during_connect1616060.17 TMicro000.00
Iridium_during_xfer146223762.07 LAB000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS15507.57
TT8366519711.22
LPSleep103282221.68
TT8_Active72219140.15
TT8_Sampling2890391127.59
TT8_CF837945170.27
TT8_Kalman338126.74
Analog_circuits216912255.13
GPS_charging000.00
Compass266315391.59
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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.53 -194.6 0.0 0.0 0 83 0.00 0.00 -64.47 0.000 2 0.000 0.000 129 2593 2288 0 0 0 0 0 0
86 -0.53 -194.6 3.2 -3.1 10 129 8.40 0.00 -29.35 0.000 6 0.225 0.000 2120 2593 3665 0 0 0 0 0 0
265 -0.53 -194.6 56.1 -25.7 41 273 0.00 0.50 0.00 0.000 4 0.000 0.042 2119 2939 3665 0 0 0 0 0 0
302 -0.53 -194.6 66.4 -28.2 47 308 0.00 0.45 0.00 0.000 6 0.000 0.029 2119 2592 3665 0 0 0 0 0 0
443 -0.53 -194.6 96.9 -20.5 72 450 0.00 0.43 0.00 0.000 4 0.000 0.027 2119 2228 3664 0 0 0 0 0 0
681 -0.53 -194.6 136.6 -14.5 114 689 0.00 0.55 0.00 0.000 6 0.000 0.037 2116 2604 3664 0 0 0 0 0 0
826 -0.53 -194.6 157.6 -12.7 139 832 0.00 0.00 0.00 0.000 6 0.000 0.000 2116 2604 3664 0 0 0 0 0 0
967 -0.53 -194.6 175.1 -12.2 164 974 0.00 0.45 0.00 0.000 4 0.000 0.027 2116 2237 3665 0 0 0 0 0 0
1004 -0.53 -194.6 178.8 -10.4 170 1011 0.00 0.50 0.00 0.000 6 0.000 0.039 2114 2582 3665 0 0 0 0 0 0
1147 -0.53 -194.6 194.1 -10.9 195 1154 0.00 0.50 0.00 0.000 4 0.000 0.041 2112 2943 3664 0 0 0 0 0 0
1284 -0.53 -194.6 211.2 -12.3 212 1288 0.00 0.45 0.00 0.000 6 0.000 0.030 2112 2586 3664 0 0 0 0 0 0
1615 -0.53 -194.6 250.5 -11.3 243 1619 0.00 0.40 0.00 0.000 4 0.000 0.028 2111 2243 3663 0 0 0 0 0 0
1735 -0.53 -194.6 263.7 -11.1 253 1743 0.00 0.50 0.00 0.000 6 0.000 0.040 2112 2581 3662 0 0 0 0 0 0
2061 -0.53 -194.6 298.9 -10.3 284 2065 0.00 0.50 0.00 0.000 4 0.000 0.041 2110 2940 3659 0 0 0 0 0 0
2119 -0.53 -194.6 304.6 -10.1 289 2123 0.00 0.45 0.00 0.000 6 0.000 0.030 2109 2588 3658 0 0 0 0 0 0
2450 -0.53 -194.6 337.2 -9.6 320 2453 0.00 0.40 0.00 0.000 4 0.000 0.029 2109 2244 3656 0 0 0 0 0 0
2508 -0.53 -194.6 343.0 -9.9 325 2512 0.00 0.50 0.00 0.000 6 0.000 0.040 2107 2585 3655 0 0 0 0 0 0
2839 -0.53 -194.6 378.8 -11.1 356 2840 0.00 0.00 0.00 0.000 6 0.000 0.000 2107 2586 3652 0 0 0 0 0 0
3161 -0.53 -194.6 415.6 -11.4 386 3165 0.00 0.43 0.00 0.000 4 0.000 0.029 2107 2244 3649 0 0 0 0 0 0
3313 -0.53 -194.6 433.6 -10.9 399 3319 0.00 0.52 0.00 0.000 6 0.000 0.040 2104 2593 3647 0 0 0 0 0 0
3639 -0.53 -194.6 466.6 -9.0 430 3640 0.00 0.00 0.00 0.000 6 0.000 0.000 2104 2593 3644 0 0 0 0 0 0
3958 -0.53 -194.6 497.6 -10.2 460 3962 0.00 0.45 0.00 0.000 4 0.000 0.028 2104 2234 3642 0 0 0 0 0 0
4031 -0.53 -194.6 505.3 -10.0 464 4035 0.00 0.52 0.00 0.000 6 0.000 0.041 2101 2584 3641 0 0 0 0 0 0
4359 -0.53 -194.6 541.4 -11.7 480 4360 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2584 3638 0 0 0 0 0 0
4668 -0.53 -194.6 578.6 -12.1 495 4672 0.00 0.43 0.00 0.000 4 0.000 0.028 2102 2253 3637 0 0 0 0 0 0
4724 -0.53 -194.6 585.6 -12.5 497 4728 0.00 0.50 0.00 0.000 6 0.000 0.041 2099 2584 3636 0 0 0 0 0 0
5045 -0.53 -194.6 625.9 -12.7 513 5047 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2584 3634 0 0 0 0 0 0
5355 -0.53 -194.6 663.1 -11.5 528 5359 0.00 0.52 0.00 0.000 4 0.000 0.043 2097 2950 3631 0 0 0 0 0 0
5383 -0.53 -194.6 666.4 -11.2 529 5387 0.08 0.47 0.00 0.000 6 0.129 0.029 2123 2587 3631 0 0 0 0 0 0
5710 -0.53 -194.6 693.0 -7.4 545 5713 0.00 0.43 0.00 0.000 4 0.000 0.029 2123 2239 3629 0 0 0 0 0 0
5811 -0.53 -194.6 700.3 -6.9 549 5815 0.00 0.55 0.00 0.000 6 0.000 0.042 2123 2596 3629 0 0 0 0 0 0
6133 -0.53 -194.6 722.7 -7.1 565 6137 0.00 0.45 0.00 0.000 4 0.000 0.027 2123 2244 3627 0 0 0 0 0 0
6195 -0.53 -194.6 727.3 -7.4 567 6201 0.00 0.52 0.00 0.000 6 0.000 0.041 2123 2589 3626 0 0 0 0 0 0
6511 -0.53 -194.6 753.1 -8.7 583 6512 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2589 3625 0 0 0 0 0 0
6821 -0.53 -194.6 782.8 -9.9 598 6824 0.00 0.43 0.00 0.000 4 0.000 0.029 2123 2257 3623 0 0 0 0 0 0
6938 -0.53 -194.6 794.2 -9.2 603 6942 0.00 0.50 0.00 0.000 6 0.000 0.041 2121 2586 3622 0 0 0 0 0 0
7266 -0.53 -194.6 823.6 -9.0 619 7269 0.00 0.45 0.00 0.000 4 0.000 0.028 2121 2236 3620 0 0 0 0 0 0
7345 -0.53 -194.6 830.7 -8.8 622 7349 0.00 0.55 0.00 0.000 6 0.000 0.041 2118 2595 3621 0 0 0 0 0 0
7667 -0.53 -194.6 859.5 -9.0 638 7671 0.00 0.45 0.00 0.000 4 0.000 0.028 2118 2234 3619 0 0 0 0 0 0
7763 -0.53 -194.6 868.0 -8.8 642 7767 0.00 0.55 0.00 0.000 6 0.000 0.041 2116 2593 3619 0 0 0 0 0 0
8091 -0.53 -194.6 897.3 -9.1 658 8095 0.00 0.45 0.00 0.000 4 0.000 0.028 2116 2236 3618 0 0 0 0 0 0
8196 -0.53 -194.6 907.2 -9.2 662 8203 0.00 0.52 0.00 0.000 6 0.000 0.042 2114 2583 3617 0 0 0 0 0 0
8514 -0.53 -194.6 935.1 -8.8 678 8518 0.00 0.43 0.00 0.000 4 0.000 0.029 2114 2241 3616 0 0 0 0 0 0
8614 -0.53 -194.6 943.8 -8.4 682 8618 0.00 0.52 0.00 0.000 6 0.000 0.041 2112 2586 3615 0 0 0 0 0 0
8938 -0.53 -194.6 970.6 -8.3 698 8942 0.00 0.45 0.00 0.000 4 0.000 0.029 2112 2230 3614 0 0 0 0 0 0
9061 -0.53 -194.6 981.0 -8.0 703 9065 0.00 0.55 0.00 0.000 6 0.000 0.042 2112 2591 3614 0 0 0 0 0 0
9174 end dive: TARGET_DEPTH_EXCEEDED
state 9174 begin apogee
9181 -0.13 0.0 990.1 8.1 709 9335 0.43 0.00 149.52 1.068 6 0.109 0.000 2254 2155 2869 0 0 0 0 0 0
9336 end apogee: CONTROL_FINISHED_OK
state 9336 begin climb
9339 0.53 194.6 997.8 0.0 716 9502 0.57 0.00 159.38 1.049 6 0.055 0.000 2478 2155 2075 0 0 0 0 0 0
9801 0.59 248.0 964.7 9.6 739 9849 0.00 0.60 43.65 1.016 4 0.000 0.038 2478 2530 1857 0 0 0 0 0 0
9922 0.66 299.3 952.2 9.7 744 9972 0.00 0.52 42.15 0.998 6 0.000 0.028 2481 2148 1647 0 0 0 0 0 0
10281 0.67 313.1 913.9 11.2 762 10298 0.10 0.60 12.85 0.916 4 0.103 0.035 2530 2531 1592 0 0 0 0 0 0
10411 0.67 313.1 893.8 15.9 767 10415 0.00 0.50 0.00 0.000 6 0.000 0.028 2532 2154 1590 0 0 0 0 0 0
10745 0.67 313.1 844.3 14.5 783 10748 0.00 0.40 0.00 0.000 4 0.000 0.032 2534 1823 1590 0 0 0 0 0 0
10800 0.67 313.1 836.1 14.3 785 10804 0.00 0.52 0.00 0.000 6 0.000 0.032 2535 2186 1589 0 0 0 0 0 0
11122 0.67 313.1 794.3 12.6 801 11126 0.00 0.43 0.00 0.000 4 0.000 0.041 2535 2502 1589 0 0 0 0 0 0
11208 0.67 313.1 783.8 12.0 804 11214 0.00 0.45 0.00 0.000 6 0.000 0.030 2537 2152 1589 0 0 0 0 0 0
11523 0.67 313.1 745.8 12.5 820 11527 0.00 0.50 0.00 0.000 4 0.000 0.037 2537 2505 1589 0 0 0 0 0 0
11647 0.67 313.1 729.6 13.6 825 11651 0.00 0.43 0.00 0.000 6 0.000 0.031 2539 2171 1588 0 0 0 0 0 0
11968 0.67 313.1 684.1 14.7 841 11972 0.00 0.43 0.00 0.000 4 0.000 0.034 2541 1828 1588 0 0 0 0 0 0
12198 0.67 313.1 648.5 15.5 851 12202 0.00 0.47 0.00 0.000 6 0.000 0.035 2541 2165 1588 0 0 0 0 0 0
12525 0.67 313.1 598.0 15.1 867 12528 0.00 0.50 0.00 0.000 4 0.000 0.041 2541 2513 1587 0 0 0 0 0 0
12633 0.67 313.1 582.0 14.5 871 12639 0.00 0.45 0.00 0.000 6 0.000 0.030 2543 2165 1588 0 0 0 0 0 0
12949 0.67 313.1 539.8 12.8 887 12950 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 2165 1587 0 0 0 0 0 0
13258 0.67 313.1 499.8 13.0 902 13262 0.00 0.43 0.00 0.000 4 0.000 0.037 2546 1832 1587 0 0 0 0 0 0
13339 0.67 313.1 489.7 12.5 909 13342 0.00 0.47 0.00 0.000 6 0.000 0.034 2545 2170 1587 0 0 0 0 0 0
13670 0.67 313.1 450.1 12.1 940 13673 0.00 0.47 0.00 0.000 4 0.000 0.039 2545 2516 1587 0 0 0 0 0 0
13863 0.67 313.1 425.5 13.4 957 13867 0.08 0.45 0.00 0.000 6 0.150 0.031 2523 2170 1587 0 0 0 0 0 0
14194 0.69 325.1 387.4 11.3 988 14209 0.00 0.45 10.32 0.656 4 0.000 0.035 2523 1826 1542 0 0 0 0 0 0
14254 0.70 330.7 380.1 11.6 993 14263 0.00 0.47 5.93 0.525 6 0.000 0.033 2524 2164 1521 0 0 0 0 0 0
14580 0.73 355.7 343.8 10.8 1024 14606 0.00 0.50 21.80 0.643 4 0.000 0.040 2524 2508 1418 0 0 0 0 0 0
14815 0.78 396.2 319.2 10.1 1045 14853 0.00 0.45 32.62 0.629 6 0.000 0.030 2525 2162 1252 0 0 0 0 0 0
15179 0.85 456.7 284.2 9.3 1079 15231 0.15 0.55 46.25 0.610 4 0.083 0.034 2590 2514 1006 0 0 0 0 0 0
15322 0.85 456.7 266.5 13.2 1092 15326 0.00 0.45 0.00 0.000 6 0.000 0.030 2592 2167 1010 0 0 0 0 0 0
15653 0.85 456.7 218.4 15.5 1123 15657 0.00 0.43 0.00 0.000 4 0.000 0.035 2594 1826 1011 0 0 0 0 0 0
15767 0.85 456.7 200.9 14.8 1133 15771 0.00 0.47 0.00 0.000 6 0.000 0.032 2595 2166 1011 0 0 0 0 0 0
16109 0.85 456.7 156.5 11.8 1193 16117 0.00 0.47 0.00 0.000 4 0.000 0.040 2594 2513 1011 0 0 0 0 0 0
16231 0.85 456.7 141.9 12.5 1214 16237 0.00 0.45 0.00 0.000 6 0.000 0.031 2596 2167 1012 0 0 0 0 0 0
16375 0.85 456.7 124.0 12.1 1239 16382 0.00 0.43 0.00 0.000 4 0.000 0.034 2598 1823 1011 0 0 0 0 0 0
16489 0.86 461.7 110.8 11.6 1259 16502 0.00 0.47 6.80 0.490 6 0.000 0.034 2599 2165 985 0 0 0 0 0 0
16638 0.92 514.5 96.2 9.6 1285 16682 0.00 0.52 39.92 0.493 4 0.000 0.037 2598 2521 770 0 0 0 0 0 0
16737 0.96 541.0 86.4 10.7 1301 16763 0.00 0.47 21.45 0.453 6 0.000 0.031 2600 2166 662 0 0 0 0 0 0
16896 1.09 650.2 73.9 7.3 1329 16947 0.15 0.50 42.28 0.462 4 0.080 0.028 2675 2509 439 0 0 0 0 0 0
17111 1.16 706.8 53.5 9.5 1366 17118 0.00 0.45 0.00 0.000 6 0.000 0.031 2677 2163 440 0 0 0 0 0 0
17257 1.25 777.1 39.9 8.9 1391 17264 0.00 0.40 0.00 0.000 4 0.000 0.035 2679 1831 440 0 0 0 0 0 0
17310 1.32 837.5 34.7 9.3 1400 17318 0.10 0.45 0.08 0.122 6 0.050 0.031 2743 2172 441 0 0 0 0 0 0
17455 1.32 837.5 17.3 12.5 1425 17463 0.00 0.50 2.17 0.154 4 0.000 0.036 2743 2514 440 0 0 0 0 0 0
17509 1.32 837.5 10.0 13.6 1434 17517 0.00 0.45 0.03 0.200 6 0.000 0.031 2745 2160 440 0 0 0 0 0 0
17555 end climb: SURFACE_DEPTH_REACHED
state 17556 begin surface coast
17579 end surface coast: CONTROL_FINISHED_OK
state 17579 begin surface