Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 229 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 229 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 156 ALTIM_PING_DEPTH 50

D_TGT 50 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 350 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 34 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 15 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 40 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

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 -53021.574 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 130 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 460 AH0_24V 71.400002 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -8.3042984 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 71.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 50 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -8.3042984 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -53021.574

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 40

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 34 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 130 R_STBD_OVSHOOT 35 USE_ICE 0

DEEPGLIDERMB 0 MISSION 8 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 229 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 234907,4743.074,-12250.858,14,1.9,24,18.3 TGT_NAME WP1

_CALLS 4 TGT_LATLONG 4743.050,-12250.817

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.122,-0.200

_SM_DEPTHo 0.30 KALMAN_X 3064.9,55.8,32.6,-416.4,30.8

_SM_ANGLEo -59.5 KALMAN_Y 6090.5,39.9,54.0,563.7,35.1

GPS2 000603,4743.129,-12250.752,12,1.4,12,18.3 MHEAD_RNG_PITCHd_Wd 193.0,169,-23.0,-11.111

SPEED_LIMITS 0.192,0.252 D_GRID 165

Post-dive calculations and measurements:

FINISH -0.0,1.022204 XPDR_PINGS 0

SM_CCo 1240,94.93,0.549,0,0,1790,350.04 ALTIM_BOTTOM_PING 25.5,26.8

SM_GC 0.23,0.00,0.00,94.93,0.000,0.000,0.549,462,1808,1790,-12.13,0.25,350.04 _24V_AH 23.9,18.799

IRIDIUM_FIX 4726.11,-12248.15,101007,030325 _10V_AH 10.1,15.003

TT8_MAMPS 0.075166 DATA_FILE_SIZE 3297,123

HUMID 2081 CFSIZE 260034560,250208256

INTERNAL_PRESSURE 8.48665 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 101007,003029,4743.047,-12250.846,9,3.8,28,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 215 165.48 SBE_CT 80 24 46.38

Roll_motor 15 82 30.16 nil 0 0 0.00

VBD_pump_during_apogee 199 625 2980.45 nil 0 0 0.00

VBD_pump_during_surface 94 549 1245.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 159 103 393.82 nil 0 0 0.00

Iridium_during_connect 240 160 919.28 ARS 0 0 0.00

Iridium_during_xfer 300 223 1601.55

Transponder_ping 0 420 2.51

Mmodem_TX 0 1000 0.00

Mmodem_RX 2479 6 379.19

GPS 12 50 6.31

TT8 240 19 48.14

LPSleep 696 2 15.41

TT8_Active 377 19 75.50

TT8_Sampling 238 39 95.97

TT8_CF8 828 45 383.23

TT8_Kalman 33 81 27.53

Analog_circuits 543 12 65.91

GPS_charging 0 0 0.00

Compass 218 8 17.69

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.91 -109.2 0.0 0.0 0 113 0.00 0.00 -84.57 0.000 2 0.000 0.000 460 1811 3645

116 -1.93 -127.1 2.3 -5.8 14 135 14.40 0.00 -2.15 0.000 6 0.216 0.000 2673 1811 3739

203 -1.93 -127.1 13.7 -10.2 27 209 0.00 2.50 0.00 0.000 4 0.000 0.048 2673 3195 3741

275 -1.93 -127.1 20.3 -8.4 38 281 0.00 2.45 0.00 0.000 6 0.000 0.035 2673 1802 3742

471 -1.93 -127.1 34.7 -7.2 54 472 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 1803 3742

662 -1.93 -127.1 49.1 -7.5 69 666 0.00 2.50 0.00 0.000 4 0.000 0.047 2673 3195 3742

672 end dive: TARGET_DEPTH_EXCEEDED

state 672 begin apogee

681 -0.38 0.0 50.3 7.6 69 787 1.73 0.00 101.35 0.626 6 0.118 0.000 3014 1733 3219

788 end apogee: CONTROL_FINISHED_OK

state 788 begin climb

791 1.93 127.1 52.0 0.0 78 900 2.28 2.75 97.90 0.595 4 0.055 0.077 3523 341 2698

947 1.93 127.1 35.1 15.4 90 954 0.00 2.47 0.00 0.000 6 0.000 0.031 3522 1739 2697

1148 1.93 127.1 7.7 11.8 113 1154 0.00 0.00 0.00 0.000 6 0.000 0.000 3523 1740 2697

1171 end climb: SURFACE_DEPTH_REACHED

state 1171 begin surface coast

1212 end surface coast: CONTROL_FINISHED_OK

state 1212 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	229	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	156	ALTIM_PING_DEPTH	50
D_TGT	50	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	350	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	34	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	15	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	40	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
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	-53021.574	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	130	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	460	AH0_24V	71.400002	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-8.3042984	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	234907,4743.074,-12250.858,14,1.9,24,18.3	TGT_NAME	WP1
_CALLS	4	TGT_LATLONG	4743.050,-12250.817
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.122,-0.200
_SM_DEPTHo	0.30	KALMAN_X	3064.9,55.8,32.6,-416.4,30.8
_SM_ANGLEo	-59.5	KALMAN_Y	6090.5,39.9,54.0,563.7,35.1
GPS2	000603,4743.129,-12250.752,12,1.4,12,18.3	MHEAD_RNG_PITCHd_Wd	193.0,169,-23.0,-11.111
SPEED_LIMITS	0.192,0.252	D_GRID	165

FINISH	-0.0,1.022204	XPDR_PINGS	0
SM_CCo	1240,94.93,0.549,0,0,1790,350.04	ALTIM_BOTTOM_PING	25.5,26.8
SM_GC	0.23,0.00,0.00,94.93,0.000,0.000,0.549,462,1808,1790,-12.13,0.25,350.04	_24V_AH	23.9,18.799
IRIDIUM_FIX	4726.11,-12248.15,101007,030325	_10V_AH	10.1,15.003
TT8_MAMPS	0.075166	DATA_FILE_SIZE	3297,123
HUMID	2081	CFSIZE	260034560,250208256
INTERNAL_PRESSURE	8.48665	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	101007,003029,4743.047,-12250.846,9,3.8,28,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	215	165.48	SBE_CT	80	24	46.38
Roll_motor	15	82	30.16	nil	0	0	0.00
VBD_pump_during_apogee	199	625	2980.45	nil	0	0	0.00
VBD_pump_during_surface	94	549	1245.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	159	103	393.82	nil	0	0	0.00
Iridium_during_connect	240	160	919.28	ARS	0	0	0.00
Iridium_during_xfer	300	223	1601.55
Transponder_ping	0	420	2.51
Mmodem_TX	0	1000	0.00
Mmodem_RX	2479	6	379.19
GPS	12	50	6.31
TT8	240	19	48.14
LPSleep	696	2	15.41
TT8_Active	377	19	75.50
TT8_Sampling	238	39	95.97
TT8_CF8	828	45	383.23
TT8_Kalman	33	81	27.53
Analog_circuits	543	12	65.91
GPS_charging	0	0	0.00
Compass	218	8	17.69
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.91	-109.2	0.0	0.0	0	113	0.00	0.00	-84.57	0.000	2	0.000	0.000	460	1811	3645
116	-1.93	-127.1	2.3	-5.8	14	135	14.40	0.00	-2.15	0.000	6	0.216	0.000	2673	1811	3739
203	-1.93	-127.1	13.7	-10.2	27	209	0.00	2.50	0.00	0.000	4	0.000	0.048	2673	3195	3741
275	-1.93	-127.1	20.3	-8.4	38	281	0.00	2.45	0.00	0.000	6	0.000	0.035	2673	1802	3742
471	-1.93	-127.1	34.7	-7.2	54	472	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	1803	3742
662	-1.93	-127.1	49.1	-7.5	69	666	0.00	2.50	0.00	0.000	4	0.000	0.047	2673	3195	3742
672	end dive: TARGET_DEPTH_EXCEEDED
state	672	begin apogee
681	-0.38	0.0	50.3	7.6	69	787	1.73	0.00	101.35	0.626	6	0.118	0.000	3014	1733	3219
788	end apogee: CONTROL_FINISHED_OK
state	788	begin climb
791	1.93	127.1	52.0	0.0	78	900	2.28	2.75	97.90	0.595	4	0.055	0.077	3523	341	2698
947	1.93	127.1	35.1	15.4	90	954	0.00	2.47	0.00	0.000	6	0.000	0.031	3522	1739	2697
1148	1.93	127.1	7.7	11.8	113	1154	0.00	0.00	0.00	0.000	6	0.000	0.000	3523	1740	2697
1171	end climb: SURFACE_DEPTH_REACHED
state	1171	begin surface coast
1212	end surface coast: CONTROL_FINISHED_OK
state	1212	begin surface