OKMC Nov11 * SG165 * Dive index * Mission links * Dive 198 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  165 HD_B  0.010078 PITCH_ADJ_GAIN  0.0070000002 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  198 HEADING  -1 ROLL_MIN  200 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3692 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  11 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  11 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1955 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1990 ALTIM_FREQUENCY  13
D_ABORT  1020 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  3 SM_CC  450 ROLL_TIMEOUT  15 XPDR_VALID  6
T_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  45 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  51 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0.85000002
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  9 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  3 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  163 VBD_MIN  485 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE2  53
T_DIVE  280 UPLOAD_DIVES_MAX  -1 C_VBD  2786 DEVICE3  35
T_MISSION  320 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  4 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -7 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -271660.09 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  1001 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  9.5 XPDR_DEVICE  24
MAX_BUOY  200 PITCH_MIN  180 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3922 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2950 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043567759
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -57.316994 SEABIRD_T_H  0.00062679156
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000116182 SEABIRD_T_I  2.4204959e-05
MASS  51872 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.6176024e-06
NAV_MODE  0 PITCH_GAIN  30 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.134539
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1435308
KALMAN_USE  2 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.0010041125
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00016055659

Pre-dive calculations and measurements:
GPS1  311211,163007,2105.666,11953.850,37,1.0,37,-2.5 TGT_NAME  W2A
_CALLS  1 TGT_LATLONG  2145.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.084,-0.266
_SM_DEPTHo  8.12 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  311211,163614,2105.423,11953.843,13,1.4,13,-2.4 MHEAD_RNG_PITCHd_Wd  10.6,74057,-18.1,-11.786
SPEED_LIMITS  0.204,0.313 D_GRID  3423

Post-dive calculations and measurements:
FINISH  7.2,1.023229 _10V_AH  10.1,39.614
SM_CCo  15323,0.00,0.000,0,0,652,523.47 FG_AHR_24Vo  0.000
SM_GC  8.01,7.95,0.00,0.00,0.037,0.000,0.000,156,2000,652,-8.64,1.27,523.47,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2059.45,11949.28,311211,121235 MEM  325084
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  76881,1345
HUMID  40.74 CAP_FILE_SIZE  176833,0
INTERNAL_PRESSURE  9.41478 CFSIZE  260165632,181653504
TCM_TEMP  25.90 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  10 GPS  311211,205307,2105.265,11953.535,29,1.1,29,-2.4
_24V_AH  22.8,46.263

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22239120.65 SBE_CT90924497.66
Roll_motor152193670.97 AA3830117033880.32
VBD_pump_during_apogee612131618385.08 WL_BB2F9161052193.21
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710364.00 nil000.00
Iridium_during_connect29160106.88 nil000.00
Iridium_during_xfer176223896.05 nil000.00
Transponder_ping242023.94 nil000.00
GUMSTIX_24V000.00
GPS16508.30
TT8314619629.18
LPSleep82542182.59
TT8_Active73619147.36
TT8_Sampling3167391273.10
TT8_CF837045171.32
TT8_Kalman000.00
Analog_circuits213112258.29
GPS_charging000.00
Compass292315442.88
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 pitch_volts roll_volts vbd_volts
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.84 -194.6 0.0 0.0 0 127 0.00 0.00 -108.12 0.000 2 0.000 0.000 126 1990 3247 0 0 0 0 0 0 28.83 28.83 28.83
131 -0.84 -194.6 12.3 -12.4 16 155 10.25 2.12 -5.55 0.000 4 0.239 0.054 2665 3360 3581 0 0 0 0 0 0 25.32 26.06 26.40
194 -0.74 -194.6 40.3 -35.0 25 201 0.15 2.15 0.00 0.000 6 0.178 0.034 2705 1946 3583 0 0 0 0 0 0 25.77 26.13 28.83
562 -0.66 -194.6 148.3 -27.1 86 571 0.12 2.17 0.00 0.000 4 0.190 0.044 2746 551 3583 0 0 0 0 0 0 26.03 26.20 28.83
612 -0.62 -194.6 159.0 -18.3 93 618 0.00 2.12 0.00 0.000 6 0.000 0.037 2739 1939 3583 0 0 0 0 0 0 28.83 26.22 28.83
961 -0.61 -194.6 218.3 -16.2 143 969 0.00 2.20 0.00 0.000 4 0.000 0.052 2740 3354 3584 0 0 0 0 0 0 28.83 26.19 28.83
1008 -0.61 -194.6 226.6 -17.3 147 1015 0.00 2.10 0.00 0.000 6 0.000 0.034 2740 1950 3584 0 0 0 0 0 0 28.83 26.32 28.83
1315 -0.61 -194.6 267.0 -9.6 178 1327 0.00 2.15 0.00 0.000 4 0.000 0.050 2739 557 3585 0 0 0 0 0 0 28.83 26.25 28.83
1377 -0.62 -194.6 272.2 -8.9 183 1384 0.00 2.15 0.00 0.000 6 0.000 0.036 2739 1969 3585 0 0 0 0 0 0 28.83 26.31 28.83
1683 -0.63 -194.6 301.9 -10.8 214 1692 0.00 2.15 0.00 0.000 4 0.000 0.051 2739 3355 3585 0 0 0 0 0 0 28.83 26.22 28.83
1749 -0.66 -194.6 308.6 -10.8 220 1755 0.00 2.10 0.00 0.000 6 0.000 0.033 2740 1946 3585 0 0 0 0 0 0 28.83 26.37 28.83
2055 -0.68 -194.6 343.7 -11.9 251 2064 0.00 2.15 0.00 0.000 4 0.000 0.049 2739 550 3584 0 0 0 0 0 0 28.83 26.27 28.83
2172 -0.70 -194.6 357.0 -11.5 262 2179 0.00 2.12 0.00 0.000 6 0.000 0.037 2739 1954 3584 0 0 0 0 0 0 28.83 26.32 28.83
2479 -0.72 -194.6 391.9 -11.7 293 2487 0.00 2.17 0.00 0.000 4 0.000 0.053 2739 3352 3583 0 0 0 0 0 0 28.83 26.22 28.83
2545 -0.76 -194.6 398.4 -9.7 299 2552 0.12 2.10 0.00 0.000 6 0.087 0.034 2665 1946 3582 0 0 0 0 0 0 26.33 26.37 28.83
2850 -0.74 -194.6 444.3 -15.0 330 2860 0.15 2.22 0.00 0.000 4 0.163 0.050 2703 3362 3581 0 0 0 0 0 0 26.15 26.21 28.83
2877 -0.72 -194.6 447.2 -14.0 332 2884 0.00 2.12 0.00 0.000 6 0.000 0.034 2702 1961 3581 0 0 0 0 0 0 28.83 26.35 28.83
3183 -0.72 -194.6 481.0 -10.6 363 3184 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 1960 3580 0 0 0 0 0 0 28.83 28.83 28.83
3487 -0.72 -194.6 514.7 -11.8 393 3495 0.00 2.22 0.00 0.000 4 0.000 0.054 2698 3363 3577 0 0 0 0 0 0 28.83 26.17 28.83
3559 -0.73 -194.6 522.6 -10.0 400 3567 0.00 2.15 0.00 0.000 6 0.000 0.035 2698 1949 3577 0 0 0 0 0 0 28.83 26.34 28.83
3868 -0.73 -194.6 556.9 -10.9 431 3877 0.00 2.15 0.00 0.000 4 0.000 0.051 2698 558 3575 0 0 0 0 0 0 28.83 26.23 28.83
3893 -0.73 -194.6 559.4 -11.0 433 3900 0.00 2.15 0.00 0.000 6 0.000 0.039 2698 1966 3575 0 0 0 0 0 0 28.83 26.28 28.83
4200 -0.73 -194.6 592.2 -11.4 464 4209 0.00 2.20 0.00 0.000 4 0.000 0.055 2698 3359 3573 0 0 0 0 0 0 28.83 26.15 28.83
4272 -0.75 -194.6 599.9 -10.4 471 4280 0.00 2.12 0.00 0.000 6 0.000 0.035 2699 1955 3572 0 0 0 0 0 0 28.83 26.34 28.83
4583 -0.75 -194.6 634.4 -11.1 487 4588 0.00 2.20 0.00 0.000 4 0.000 0.051 2698 545 3571 0 0 0 0 0 0 28.83 26.20 28.83
4625 -0.76 -194.6 638.7 -11.0 489 4629 0.00 2.17 0.00 0.000 6 0.000 0.040 2698 1964 3571 0 0 0 0 0 0 28.83 26.26 28.83
4937 -0.77 -194.6 670.0 -9.7 505 4942 0.00 2.17 0.00 0.000 4 0.000 0.056 2698 3354 3569 0 0 0 0 0 0 28.83 26.13 28.83
5021 -0.79 -194.6 677.7 -9.6 509 5025 0.00 2.12 0.00 0.000 6 0.000 0.035 2698 1949 3568 0 0 0 0 0 0 28.83 26.32 28.83
5333 -0.80 -194.6 709.4 -10.9 525 5338 0.00 2.25 0.00 0.000 4 0.000 0.054 2698 3361 3566 0 0 0 0 0 0 28.83 26.12 28.83
5407 -0.82 -194.6 715.6 -10.4 528 5414 0.00 2.12 0.00 0.000 6 0.000 0.035 2698 1956 3565 0 0 0 0 0 0 28.83 26.31 28.83
5713 -0.84 -194.6 752.6 -12.2 544 5714 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 1956 3564 0 0 0 0 0 0 28.83 28.83 28.83
6014 -0.85 -194.6 788.1 -11.3 559 6020 0.00 2.17 0.00 0.000 4 0.000 0.054 2698 559 3563 0 0 0 0 0 0 28.83 26.15 28.83
6062 -0.87 -194.6 792.9 -11.7 561 6066 0.00 2.15 0.00 0.000 6 0.000 0.041 2698 1953 3562 0 0 0 0 0 0 28.83 26.22 28.83
6368 -0.88 -194.6 827.6 -10.4 576 6369 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 1953 3560 0 0 0 0 0 0 28.83 28.83 28.83
6669 -0.90 -194.6 857.7 -9.9 591 6675 0.12 2.22 0.00 0.000 4 0.093 0.057 2630 3365 3559 0 0 0 0 0 0 26.51 26.06 28.83
6728 -0.90 -194.6 865.4 -12.1 594 6734 0.00 2.15 0.00 0.000 6 0.000 0.037 2630 1954 3558 0 0 0 0 0 0 28.83 26.27 28.83
7050 -0.88 -194.6 911.2 -14.3 610 7056 0.12 2.22 0.00 0.000 4 0.171 0.053 2669 542 3557 0 0 0 0 0 0 26.18 26.11 28.83
7102 -0.86 -194.6 916.7 -14.2 612 7109 0.00 2.20 0.00 0.000 6 0.000 0.041 2667 1965 3557 0 0 0 0 0 0 28.83 26.18 28.83
7409 -0.86 -194.6 955.5 -11.6 628 7415 0.00 2.22 0.00 0.000 4 0.000 0.058 2668 3366 3555 0 0 0 0 0 0 28.83 26.02 28.83
7450 -0.86 -194.6 960.3 -11.8 630 7454 0.00 2.17 0.00 0.000 6 0.000 0.037 2668 1952 3555 0 0 0 0 0 0 28.83 26.26 28.83
7709 end dive: TARGET_DEPTH_EXCEEDED
state 7709 begin apogee
7715 -0.17 0.0 992.5 -12.6 643 7882 0.68 0.03 157.15 1.317 6 0.124 0.194 2891 1994 2785 0 0 0 0 0 0 25.62 24.54 23.53
7883 end apogee: CONTROL_FINISHED_OK
state 7883 begin climb
7885 0.84 194.6 1000.5 0.0 651 8067 0.90 2.47 171.82 1.275 4 0.047 0.054 3239 3390 1990 0 0 0 0 0 0 24.87 23.87 22.77
8139 0.75 194.6 967.3 20.2 663 8149 0.22 2.33 0.00 0.000 6 0.174 0.040 3193 1997 1986 0 0 0 0 0 0 24.60 24.89 28.83
8450 0.68 194.6 910.3 17.7 679 8456 0.00 2.25 0.00 0.000 4 0.000 0.050 3193 3394 1982 0 0 0 0 0 0 28.83 25.87 28.83
8484 0.62 194.6 906.6 17.8 680 8492 0.20 2.22 0.00 0.000 6 0.173 0.038 3150 1985 1983 0 0 0 0 0 0 25.62 25.97 28.83
8790 0.59 194.6 861.7 13.2 696 8796 0.00 2.22 0.00 0.000 4 0.000 0.052 3158 567 1981 0 0 0 0 0 0 28.83 26.06 28.83
8810 0.55 194.6 858.9 13.3 697 8816 0.00 2.22 0.00 0.000 6 0.000 0.035 3159 2001 1980 0 0 0 0 0 0 28.83 26.13 28.83
9131 0.51 194.6 809.9 15.9 713 9138 0.12 2.15 0.00 0.000 4 0.168 0.047 3119 3389 1980 0 0 0 0 0 0 26.08 26.12 28.83
9194 0.49 194.6 801.2 14.7 716 9198 0.00 2.15 0.00 0.000 6 0.000 0.035 3127 1987 1979 0 0 0 0 0 0 28.83 26.27 28.83
9507 0.47 194.6 759.4 13.5 732 9508 0.00 0.00 0.00 0.000 6 0.000 0.000 3127 1987 1979 0 0 0 0 0 0 28.83 28.83 28.83
9806 0.45 194.6 719.7 12.7 747 9812 0.12 2.22 0.00 0.000 4 0.167 0.044 3087 3396 1979 0 0 0 0 0 0 26.16 26.15 28.83
9895 0.48 216.7 710.9 10.9 751 9919 0.00 2.15 18.60 1.099 6 0.000 0.034 3095 1984 1902 0 0 0 0 0 0 28.83 26.29 24.67
10224 0.59 302.3 681.1 8.3 767 10303 0.12 0.00 75.57 1.112 6 0.090 0.000 3163 1983 1553 0 0 0 0 0 0 26.29 28.83 24.10
10603 0.57 302.3 625.0 15.4 786 10609 0.00 2.20 0.00 0.000 4 0.000 0.049 3174 584 1548 0 0 0 0 0 0 28.83 25.94 28.83
10630 0.55 302.3 621.7 15.3 787 10635 0.17 2.15 0.00 0.000 6 0.145 0.033 3125 1984 1547 0 0 0 0 0 0 25.75 26.04 28.83
10938 0.56 302.3 582.2 12.5 809 10947 0.00 2.20 0.00 0.000 4 0.000 0.046 3125 3396 1546 0 0 0 0 0 0 28.83 26.07 28.83
10980 0.57 302.3 576.4 13.6 813 10988 0.00 2.15 0.00 0.000 6 0.000 0.035 3133 1985 1546 0 0 0 0 0 0 28.83 26.18 28.83
11290 0.57 302.3 534.3 12.3 844 11299 0.00 2.17 0.00 0.000 4 0.000 0.049 3143 587 1545 0 0 0 0 0 0 28.83 26.15 28.83
11324 0.57 302.3 530.5 12.4 847 11331 0.00 2.15 0.00 0.000 6 0.000 0.033 3144 2016 1545 0 0 0 0 0 0 28.83 26.22 28.83
11631 0.57 302.3 490.7 13.6 878 11640 0.00 2.12 0.00 0.000 4 0.000 0.046 3144 3382 1545 0 0 0 0 0 0 28.83 26.15 28.83
11674 0.57 302.3 485.0 14.1 882 11682 0.00 2.10 0.00 0.000 6 0.000 0.035 3153 1988 1544 0 0 0 0 0 0 28.83 26.27 28.83
11983 0.57 302.3 440.0 15.1 913 11991 0.00 2.20 0.00 0.000 4 0.000 0.049 3164 580 1545 0 0 0 0 0 0 28.83 26.18 28.83
12035 0.57 302.3 432.5 15.0 918 12044 0.00 2.12 0.00 0.000 6 0.000 0.032 3163 1990 1544 0 0 0 0 0 0 28.83 26.28 28.83
12344 0.56 302.3 388.5 14.0 949 12354 0.12 2.17 0.00 0.000 4 0.158 0.044 3124 3385 1544 0 0 0 0 0 0 26.20 26.15 28.83
12409 0.61 323.8 381.2 10.9 955 12437 0.00 2.10 18.92 0.871 6 0.000 0.034 3131 1980 1464 0 0 0 0 0 0 28.83 26.27 24.87
12739 0.72 391.2 348.9 9.0 988 12807 0.12 2.30 57.08 0.864 4 0.089 0.049 3216 589 1189 0 0 0 0 0 0 26.32 25.46 24.50
12923 0.71 391.2 317.5 18.2 1006 12933 0.10 2.12 0.00 0.000 6 0.123 0.031 3182 1981 1186 0 0 0 0 0 0 25.63 25.88 28.83
13233 0.72 391.2 267.6 16.8 1037 13242 0.00 2.17 0.00 0.000 4 0.000 0.047 3189 599 1186 0 0 0 0 0 0 28.83 26.03 28.83
13256 0.73 391.2 263.7 16.9 1039 13260 0.00 2.12 0.00 0.000 6 0.000 0.031 3189 1995 1186 0 0 0 0 0 0 28.83 26.14 28.83
13569 0.75 391.2 216.1 12.3 1070 13579 0.00 2.17 0.00 0.000 4 0.000 0.044 3189 3394 1185 0 0 0 0 0 0 28.83 26.10 28.83
13592 0.77 395.0 213.4 11.6 1072 13603 0.00 2.15 3.85 0.475 6 0.000 0.034 3198 1986 1175 0 0 0 0 0 0 28.83 26.21 24.65
13916 0.81 400.8 179.1 11.6 1121 13930 0.00 2.17 6.65 0.587 4 0.000 0.041 3198 3391 1151 0 0 0 0 0 0 28.83 26.18 24.91
14052 0.91 455.4 164.3 9.6 1145 14104 0.10 2.15 45.30 0.691 6 0.099 0.032 3269 1965 928 0 0 0 0 0 0 26.17 26.22 24.85
14431 0.91 455.4 101.2 18.2 1213 14437 0.00 2.12 0.00 0.000 4 0.000 0.046 3279 601 924 0 0 0 0 0 0 28.83 26.04 28.83
14509 0.91 455.4 86.8 17.5 1226 14519 0.10 2.12 0.00 0.000 6 0.125 0.029 3244 2006 924 0 0 0 0 0 0 25.89 26.19 28.83
14881 0.93 455.4 42.5 13.7 1287 14887 0.00 2.20 0.00 0.000 4 0.000 0.044 3252 595 924 0 0 0 0 0 0 28.83 26.17 28.83
14945 1.04 518.6 35.3 9.2 1297 15014 0.00 2.05 57.53 0.571 6 0.000 0.028 3253 1994 665 0 0 0 0 0 0 28.83 26.31 24.97
15149 end climb: SURFACE_DEPTH_REACHED
state 15149 begin surface coast
15244 end surface coast: CONTROL_FINISHED_OK
state 15244 begin surface