NAB Apr08 * SG142 * Dive index * Mission links * Dive 16 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  142 HD_C  9.9999997e-06 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0
MISSION  5 HEADING  135 PITCH_ADJ_GAIN  0.02 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  16 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  2 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  220 ALTIM_TOP_MIN_OBSTACLE  1
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3900 ALTIM_PING_DEPTH  0
D_TGT  990 TGT_DEFAULT_LAT  5900 ROLL_DEG  40 ALTIM_PING_DELTA  0
D_ABORT  1040 TGT_DEFAULT_LON  -2030 C_ROLL_DIVE  1975 ALTIM_FREQUENCY  13
D_NO_BLEED  350 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2600 ALTIM_PULSE  3
D_FINISH  0 SM_CC  200 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_PITCH  0 N_FILEKB  4 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 FILEMGR  0 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  -1.65
D_CALL  0 CALL_NDIVES  1 R_PORT_OVSHOOT  25 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  21 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  250 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  1 DEVICE1  2
T_DIVE  330 N_NOSURFACE  0 ROLL_ADJ_GAIN  3 DEVICE2  20
T_MISSION  360 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0.029999999 DEVICE3  53
T_ABORT  720 CALL_TRIES  5 VBD_MIN  475 DEVICE4  35
T_TURN  225 CALL_WAIT  60 VBD_MAX  3964 DEVICE5  87
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  3071 DEVICE6  -1
T_NO_W  240 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  0 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  15 VBD_TIMEOUT  720 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.0012300001 COMPASS_DEVICE  33
D_OFFGRID  100 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  4 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -12828.33 VBD_PUMP_AD_RATE_APOGEE  3 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  3 VBD_BLEED_AD_RATE  8 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_PEAK_OFFSET  1.5 UNCOM_BLEED  20 XPDR_DEVICE  24
MAX_BUOY  200 RAFOS_CORR_THRESH  60 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  20 SIM_PITCH  0
GLIDE_SLOPE  30 PITCH_MIN  1435 AH0_24V  150 SEABIRD_T_G  0.0043273787
SPEED_FACTOR  1 PITCH_MAX  3965 AH0_10V  100 SEABIRD_T_H  0.0006414231
RHO  1.0273 C_PITCH  2920 PRESSURE_YINT  -2.876246 SEABIRD_T_I  2.3931538e-05
MASS  51804 PITCH_DBAND  0.1 PRESSURE_SLOPE  9.1518581e-05 SEABIRD_T_J  2.340664e-06
NAV_MODE  0 PITCH_CNV  0.0046000001 AD7714Ch0Gain  64 SEABIRD_C_G  -10.258962
FERRY_MAX  0 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1819305
KALMAN_USE  2 PITCH_GAIN  24 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0037964056
HD_A  0.003 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_J  0.00031207138
HD_B  0.0099999998 PITCH_AD_RATE  100 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  174525,5933.366,-1954.848,24,1.9,41,-14.2 TGT_NAME  HEADING
_CALLS  3 TGT_LATLONG  5925.709,-1950.843
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.90 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -45.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  180139,5933.346,-1954.727,13,1.5,13,-14.2 MHEAD_RNG_PITCHd_Wd  149.2,20000,-14.9,-10.000
SPEED_LIMITS  0.173,0.295 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.3,1.015208 XPDR_PINGS  823
SM_CCo  18958,0.00,0.000,0,0,1409,407.69 _24V_AH  20.1,9.879
SM_GC  0.88,8.35,0.00,0.00,0.056,0.000,0.000,1429,1981,1409,-6.80,0.17,407.69 _10V_AH  9.8,6.431
IRIDIUM_FIX  5911.23,-1950.65,010797,181843 DATA_FILE_SIZE  190183,2594
TT8_MAMPS  0.026845 CAP_FILE_SIZE  241608,0
HUMID  1760 CFSIZE  260165632,256634880
INTERNAL_PRESSURE  8.92658 ERRORS  0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  12.60 GPS  060408,231908,5931.407,-1944.525,38,1.0,38,-14.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23234109.21 SBE_CT179924867.93
Roll_motor274124685.88 SBE_O2186719713.38
VBD_pump_during_apogee622152019006.53 Optode117633780.49
VBD_pump_during_surface000.00 WL_BB2F16391053460.84
VBD_valve000.00 WL_BBFL2VMT32121056780.74
Iridium_during_init93103194.17 nil000.00
Iridium_during_connect159160513.97 nil000.00
Iridium_during_xfer4422231981.33
Transponder_ping2054201736.94
Mmodem_TX000.00
Mmodem_RX000.00
GPS14507.31
TT8403519782.97
LPSleep78532168.56
TT8_Active85819166.65
TT8_Sampling6043392357.09
TT8_CF8110845497.72
TT8_Kalman000.00
Analog_circuits303812357.27
GPS_charging000.00
Compass60598475.05
RAFOS000.00

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
24 end surface: CONTROL_FINISHED_OK
state 24 begin dive
26 -0.86 -194.7 0.0 0.0 0 151 0.00 0.00 -122.35 0.000 2 0.000 0.000 1429 1963 3482
154 -0.86 -194.7 3.0 -5.0 17 185 10.70 2.88 -11.48 0.000 4 0.235 0.061 2725 571 3865
354 -0.80 -194.7 34.0 -14.5 53 362 0.08 2.75 0.00 0.000 6 0.123 0.027 2738 1985 3866
490 -0.74 -194.7 50.8 -11.7 78 498 0.00 2.75 0.00 0.000 4 0.000 0.038 2738 3378 3866
508 -0.68 -194.7 52.9 -11.9 80 516 0.15 2.78 0.00 0.000 6 0.128 0.035 2764 1984 3866
642 -0.68 -194.7 67.4 -10.5 105 650 0.00 2.78 0.00 0.000 4 0.000 0.039 2764 3374 3866
658 -0.68 -194.7 69.1 -10.8 107 666 0.00 2.75 0.00 0.000 6 0.000 0.035 2764 1988 3866
792 -0.68 -194.7 82.6 -9.5 132 801 0.00 2.78 0.00 0.000 4 0.000 0.039 2764 3382 3866
819 -0.68 -194.7 85.1 -9.5 136 828 0.00 2.72 0.00 0.000 6 0.000 0.035 2764 2003 3866
954 -0.68 -194.7 97.9 -10.0 161 962 0.00 2.72 0.00 0.000 4 0.000 0.038 2764 3376 3866
980 -0.68 -194.7 100.5 -9.5 165 988 0.00 2.67 0.00 0.000 6 0.000 0.034 2764 2020 3866
1115 -0.68 -194.7 113.5 -10.3 190 1123 0.00 2.67 0.00 0.000 4 0.000 0.038 2764 3373 3866
1141 -0.68 -194.7 116.1 -9.6 194 1149 0.00 2.62 0.00 0.000 6 0.000 0.033 2764 2038 3866
1276 -0.68 -194.7 130.2 -10.9 219 1284 0.00 2.65 0.00 0.000 4 0.000 0.038 2764 3376 3866
1307 -0.68 -194.7 133.5 -10.6 224 1315 0.00 2.60 0.00 0.000 6 0.000 0.033 2764 2052 3866
1441 -0.68 -194.7 147.7 -10.5 249 1449 0.00 2.62 0.00 0.000 4 0.000 0.039 2764 3377 3866
1470 -0.68 -194.7 151.1 -11.3 254 1478 0.00 2.58 0.00 0.000 6 0.000 0.033 2764 2064 3866
1804 -0.68 -194.7 185.4 -10.3 315 1810 0.00 2.58 0.00 0.000 4 0.000 0.038 2764 3383 3866
1882 -0.68 -194.7 193.4 -10.0 329 1888 0.00 2.53 0.00 0.000 6 0.000 0.032 2764 2075 3866
2212 -0.68 -194.7 224.9 -9.1 390 2220 0.00 2.55 0.00 0.000 4 0.000 0.038 2764 3373 3866
2277 -0.68 -194.7 230.8 -9.0 401 2283 0.00 2.47 0.00 0.000 6 0.000 0.032 2764 2087 3866
2608 -0.68 -194.7 264.2 -9.5 462 2615 0.00 2.53 0.00 0.000 4 0.000 0.040 2764 3373 3866
2672 -0.68 -194.7 270.2 -9.3 473 2678 0.00 2.45 0.00 0.000 6 0.000 0.033 2764 2100 3866
3001 -0.68 -194.7 303.7 -10.4 534 3010 0.00 2.50 0.00 0.000 4 0.000 0.038 2764 3378 3866
3066 -0.68 -194.7 310.4 -10.5 545 3072 0.00 2.45 0.00 0.000 6 0.000 0.033 2764 2101 3866
3396 -0.68 -194.7 344.0 -10.4 606 3403 0.00 2.50 0.00 0.000 4 0.000 0.039 2764 3373 3866
3469 -0.68 -194.7 351.3 -9.9 619 3475 0.00 2.40 0.00 0.000 6 0.000 0.033 2764 2121 3866
3811 -0.68 -194.7 386.2 -10.1 680 3819 0.00 2.47 0.00 0.000 4 0.000 0.040 2764 3379 3866
3875 -0.68 -194.7 392.8 -10.5 691 3881 0.00 2.40 0.00 0.000 6 0.000 0.034 2764 2130 3866
4212 -0.68 -194.7 428.1 -10.7 752 4221 0.00 2.45 0.00 0.000 4 0.000 0.040 2764 3378 3866
4276 -0.68 -194.7 435.0 -10.7 763 4282 0.00 2.38 0.00 0.000 6 0.000 0.034 2764 2142 3866
4614 -0.68 -194.7 470.6 -10.2 824 4622 0.00 2.42 0.00 0.000 4 0.000 0.041 2764 3376 3866
4669 -0.68 -194.7 476.3 -10.9 833 4676 0.00 2.35 0.00 0.000 6 0.000 0.034 2764 2151 3866
5007 -0.68 -194.7 510.9 -10.2 894 5013 0.00 2.40 0.00 0.000 4 0.000 0.041 2764 3386 3866
5048 -0.68 -194.7 514.8 -10.2 901 5054 0.00 2.35 0.00 0.000 6 0.000 0.035 2764 2163 3866
5387 -0.68 -194.7 549.4 -10.1 962 5393 0.00 2.38 0.00 0.000 4 0.000 0.043 2764 3378 3866
5437 -0.68 -194.7 554.5 -10.1 967 5444 0.00 2.33 0.00 0.000 6 0.000 0.034 2764 2186 3866
5764 -0.68 -194.7 586.2 -9.6 998 5768 0.00 2.35 0.00 0.000 4 0.000 0.044 2764 3382 3866
5819 -0.68 -194.7 591.7 -9.5 1002 5825 0.00 2.30 0.00 0.000 6 0.000 0.035 2764 2186 3866
6145 -0.68 -194.7 622.2 -9.5 1033 6149 0.00 2.35 0.00 0.000 4 0.000 0.047 2764 3374 3866
6195 -0.68 -194.7 627.1 -9.3 1037 6199 0.00 2.28 0.00 0.000 6 0.000 0.035 2764 2197 3866
6521 -0.68 -194.7 658.9 -9.7 1067 6525 0.00 2.35 0.00 0.000 4 0.000 0.050 2764 3376 3866
6571 -0.68 -194.7 664.0 -10.0 1071 6575 0.00 2.25 0.00 0.000 6 0.000 0.039 2764 2219 3866
6897 -0.68 -194.7 694.4 -9.2 1101 6901 0.00 2.33 0.00 0.000 4 0.000 0.055 2764 3376 3866
6941 -0.68 -194.7 698.8 -9.6 1104 6947 0.00 2.28 0.00 0.000 6 0.000 0.044 2764 2222 3866
7268 -0.68 -194.7 727.8 -8.7 1135 7272 0.00 2.35 0.00 0.000 4 0.000 0.061 2764 3374 3866
7312 -0.68 -194.7 732.0 -8.4 1138 7318 0.00 2.28 0.00 0.000 6 0.000 0.051 2764 2239 3866
7639 -0.68 -194.7 758.7 -8.1 1169 7643 0.00 2.38 0.00 0.000 4 0.000 0.071 2764 3375 3866
7679 -0.68 -194.7 762.2 -8.4 1172 7683 0.00 2.30 0.00 0.000 6 0.000 0.061 2764 2255 3866
8004 -0.68 -194.7 788.6 -7.9 1202 8008 0.00 2.40 0.00 0.000 4 0.000 0.088 2764 3376 3865
8038 -0.68 -194.7 791.5 -8.4 1205 8042 0.00 2.35 0.00 0.000 6 0.000 0.074 2764 2264 3865
8369 -0.68 -194.7 817.7 -8.3 1236 8373 0.00 2.45 0.00 0.000 4 0.000 0.096 2764 3370 3865
8412 -0.68 -194.7 821.4 -8.1 1239 8418 0.00 2.40 0.00 0.000 6 0.000 0.090 2764 2271 3865
8738 -0.68 -194.7 847.3 -7.9 1270 8743 0.00 2.50 0.00 0.000 4 0.000 0.110 2764 3365 3865
8767 -0.68 -194.7 849.6 -8.2 1272 8771 0.00 2.45 0.00 0.000 6 0.000 0.104 2764 2281 3865
9092 -0.68 -194.7 875.0 -7.9 1302 9096 0.00 2.55 0.00 0.000 4 0.000 0.124 2764 3364 3865
9120 -0.68 -194.7 877.3 -8.5 1304 9124 0.00 2.22 0.00 0.000 6 0.000 0.063 2764 2272 3865
9446 -0.68 -194.7 903.8 -8.4 1334 9450 0.00 2.20 0.00 0.000 4 0.000 0.050 2764 3377 3865
9475 -0.68 -194.7 906.3 -9.3 1336 9478 0.00 2.15 0.00 0.000 6 0.000 0.039 2764 2275 3865
9806 -0.72 -194.7 935.7 -9.1 1367 9810 0.00 2.20 0.00 0.000 4 0.000 0.051 2764 3374 3864
9838 -0.76 -194.7 938.8 -10.1 1369 9844 0.00 2.12 0.00 0.000 6 0.000 0.039 2764 2287 3864
10165 -0.81 -194.7 965.6 -8.0 1400 10169 0.00 2.20 0.00 0.000 4 0.000 0.052 2764 3382 3864
10204 -0.86 -194.7 968.9 -8.2 1403 10209 0.17 2.15 0.00 0.000 6 0.065 0.040 2730 2287 3864
10410 end dive: TARGET_DEPTH_EXCEEDED
state 10410 begin apogee
10415 -0.21 0.0 990.5 10.6 1422 10623 0.80 0.00 200.10 1.520 6 0.116 0.000 2867 2596 3071
10624 end apogee: CONTROL_FINISHED_OK
state 10624 begin climb
10626 0.86 194.7 996.4 0.0 1443 10841 1.35 2.88 202.57 1.472 4 0.081 0.055 3099 3888 2277
11021 0.68 194.7 948.3 14.3 1480 11026 0.20 2.65 0.00 0.000 6 0.130 0.035 3072 2592 2274
11345 0.57 194.7 908.8 12.4 1510 11351 0.15 2.70 0.00 0.000 4 0.122 0.051 3047 3896 2274
11469 0.52 194.7 895.0 10.9 1520 11476 0.00 2.50 0.00 0.000 6 0.000 0.033 3047 2630 2273
11795 0.46 194.7 861.3 10.5 1551 11800 0.15 2.58 0.00 0.000 4 0.115 0.051 3025 3890 2273
11857 0.48 211.9 855.1 9.4 1556 11881 0.00 2.45 17.62 1.328 6 0.000 0.032 3025 2644 2206
12207 0.54 259.1 825.8 8.4 1589 12261 0.00 2.67 49.30 1.397 4 0.000 0.050 3024 3890 2013
12289 0.64 304.8 818.8 8.4 1596 12347 0.20 2.53 48.42 1.369 6 0.056 0.031 3062 2651 1828
12665 0.59 304.8 773.6 11.8 1632 12669 0.00 2.58 0.00 0.000 4 0.000 0.050 3062 3897 1822
12730 0.59 304.8 765.5 11.8 1637 12737 0.00 2.42 0.00 0.000 6 0.000 0.031 3062 2672 1821
13057 0.54 304.8 728.6 11.2 1668 13062 0.15 2.50 0.00 0.000 4 0.107 0.049 3036 3893 1820
13112 0.62 335.3 723.2 8.9 1672 13149 0.00 2.35 31.05 1.312 6 0.000 0.031 3036 2687 1703
13467 0.76 404.1 695.6 7.6 1706 13547 0.25 0.00 72.95 1.314 6 0.049 0.000 3086 2686 1422
13865 0.66 404.1 629.2 18.1 1744 13870 0.15 2.47 0.00 0.000 4 0.114 0.048 3064 3888 1415
13960 0.66 404.1 615.3 12.3 1752 13964 0.00 2.35 0.00 0.000 6 0.000 0.031 3065 2693 1413
14284 0.66 404.1 572.5 13.4 1782 14289 0.00 3.03 0.00 0.000 4 0.000 0.048 3064 1190 1413
14316 0.66 404.1 568.2 12.5 1784 14323 0.00 2.97 0.00 0.000 6 0.000 0.028 3064 2717 1412
14649 0.66 404.1 525.8 12.8 1831 14655 0.00 2.35 0.00 0.000 4 0.000 0.048 3064 3899 1411
14699 0.66 404.1 519.5 11.9 1840 14707 0.00 2.35 0.00 0.000 6 0.000 0.031 3064 2700 1411
15043 0.66 404.1 476.3 12.2 1901 15049 0.00 3.03 0.00 0.000 4 0.000 0.048 3064 1184 1411
15082 0.66 404.1 471.0 12.0 1908 15089 0.00 2.97 0.00 0.000 6 0.000 0.029 3064 2709 1410
15425 0.66 404.1 429.3 12.3 1969 15431 0.00 2.35 0.00 0.000 4 0.000 0.047 3065 3899 1410
15472 0.66 404.1 423.4 12.2 1977 15478 0.00 2.30 0.00 0.000 6 0.000 0.030 3065 2698 1410
15813 0.66 404.1 381.8 12.5 2038 15819 0.00 3.00 0.00 0.000 4 0.000 0.048 3064 1188 1410
15854 0.66 404.1 377.2 11.9 2045 15860 0.00 2.95 0.00 0.000 6 0.000 0.029 3064 2721 1410
16191 0.66 404.1 337.3 11.6 2106 16199 0.00 2.33 0.00 0.000 4 0.000 0.047 3064 3887 1410
16234 0.66 404.1 332.5 11.0 2113 16240 0.00 2.28 0.00 0.000 6 0.000 0.030 3064 2698 1410
16564 0.66 404.1 295.0 12.4 2174 16572 0.00 3.00 0.00 0.000 4 0.000 0.048 3064 1194 1409
16607 0.71 404.1 290.4 10.8 2181 16613 0.00 2.90 0.00 0.000 6 0.000 0.028 3065 2709 1410
16938 0.71 404.1 253.2 10.6 2242 16946 0.00 2.33 0.00 0.000 4 0.000 0.046 3064 3885 1410
16981 0.75 404.1 248.4 12.0 2249 16987 0.00 2.28 0.00 0.000 6 0.000 0.030 3064 2692 1410
17312 0.75 404.1 211.1 10.2 2310 17320 0.00 2.97 0.00 0.000 4 0.000 0.048 3064 1192 1410
17355 0.79 404.1 206.5 11.8 2317 17362 0.15 2.90 0.00 0.000 6 0.053 0.028 3096 2709 1410
17688 0.69 404.1 149.6 16.4 2378 17697 0.15 2.33 0.00 0.000 4 0.117 0.045 3074 3887 1410
17778 0.69 404.1 137.0 12.2 2394 17786 0.00 2.25 0.00 0.000 6 0.000 0.031 3074 2725 1409
17912 0.69 404.1 121.2 10.7 2419 17920 0.00 3.05 0.00 0.000 4 0.000 0.048 3074 1188 1410
17954 0.69 404.1 116.4 11.1 2426 17962 0.00 2.97 0.00 0.000 6 0.000 0.029 3073 2726 1410
18088 0.69 404.1 100.8 11.7 2451 18096 0.00 2.30 0.00 0.000 4 0.000 0.047 3074 3888 1409
18135 0.69 404.1 94.6 12.6 2459 18143 0.00 2.28 0.00 0.000 6 0.000 0.032 3074 2718 1409
18269 0.69 404.1 77.5 10.2 2484 18277 0.00 3.05 0.00 0.000 4 0.000 0.050 3074 1189 1409
18306 0.69 404.1 73.3 13.9 2490 18314 0.00 2.95 0.00 0.000 6 0.000 0.028 3073 2720 1410
18441 0.69 404.1 56.8 14.5 2515 18449 0.00 2.30 0.00 0.000 4 0.000 0.046 3074 3887 1409
18498 0.69 404.1 50.4 11.4 2525 18505 0.00 2.25 0.00 0.000 6 0.000 0.033 3074 2726 1409
18632 0.69 404.1 33.5 13.0 2550 18640 0.00 3.03 0.00 0.000 4 0.000 0.048 3074 1193 1409
18663 0.69 404.1 29.1 14.4 2555 18671 0.00 2.95 0.00 0.000 6 0.000 0.028 3073 2724 1410
18798 0.69 404.1 10.9 13.8 2580 18806 0.00 2.30 0.00 0.000 4 0.000 0.046 3073 3889 1409
18829 0.69 404.1 6.4 15.8 2585 18835 0.00 2.25 0.00 0.000 6 0.000 0.031 3074 2725 1409
18862 end climb: SURFACE_DEPTH_REACHED
state 18862 begin surface coast
18879 end surface coast: CONTROL_FINISHED_OK
state 18880 begin surface