RossSea Nov10 * SG502 * Dive index * Mission links * Dive 233 * 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  233 ESCAPE_HEADING  70 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  8 C_ROLL_CLIMB  2500 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LAT  -7715 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_TGT  750 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  300 R_PORT_OVSHOOT  37 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  1.5 DEEPGLIDERMB  0
D_SAFE  400 PROTOCOL  0 ROLL_ADJ_DBAND  0.029999999 MOTHERBOARD  4
D_CALL  3 N_NOCOMM  1 VBD_MIN  420 DEVICE1  2
SURFACE_URGENCY  5 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
SURFACE_URGENCY_TRY  4 UPLOAD_DIVES_MAX  5 C_VBD  2961 DEVICE3  86
SURFACE_URGENCY_FORCE  8 CALL_TRIES  3 VBD_DBAND  2 DEVICE4  -1
T_DIVE  250 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE5  -1
T_MISSION  320 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  5 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  -2 T_GPS_CHARGE  -30431.58 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  2 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 ALTIM_TOP_PING_RANGE  20
HD_B  0.0099999998 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  15

Pre-dive calculations and measurements:
GPS1  151210,045537,-7642.759,17000.506,55,1.1,55,133.6 TGT_NAME  POLYNYA
_CALLS  1 TGT_LATLONG  -7640.000,18000.000
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.32 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -69.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  151210,050144,-7642.750,17000.326,11,1.7,11,133.7 MHEAD_RNG_PITCHd_Wd  301.6,256172,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  775

Post-dive calculations and measurements:
FREEZE  1.54,-1.382,-1.138,2,1,0 _24V_AH  20.4,46.117
FINISH  1.5,1.016803 _10V_AH  9.9,28.783
SM_CCo  10689,79.95,0.733,1,0,1736,300.24 FG_AHR_24Vo  0.000
SM_GC  2.42,0.00,0.00,79.95,0.000,0.000,0.733,424,2672,1736,-8.25,0.62,300.24 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -7603.11,17007.65,151210,010112 MEM  258300
TT8_MAMPS  0.028462 DATA_FILE_SIZE  60353,882
HUMID  52.24 CAP_FILE_SIZE  144241,0
INTERNAL_PRESSURE  8.77963 CFSIZE  260165632,239042560
TCM_TEMP  14.10 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  3 CURRENT  0.089,224.5,1
ALTIM_TOP_PING  20.0,18.3 GPS  151210,080325,-7642.751,17005.004,63,1.7,63,133.5
ALTIM_BOTTOM_PING  701.2,50.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1820076.97 SBE_CT62324305.06
Roll_motor128108283.88 AA4330109633738.04
VBD_pump_during_apogee29312597553.49 WL_BBFL2VMT8971051921.40
VBD_pump_during_surface797321195.30 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3110365.44 nil000.00
Iridium_during_connect35160117.31 nil000.00
Iridium_during_xfer195223889.61 nil000.00
Transponder_ping442034.27 nil000.00
GUMSTIX_24V000.00
GPS11505.90
TT8237119464.93
LPSleep56222121.91
TT8_Active55819109.43
TT8_Sampling238139938.54
TT8_CF82084594.73
TT8_Kalman000.00
Analog_circuits154112183.18
GPS_charging000.00
Compass158515235.45
RAFOS000.00
Transponder25307.60

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 73 0.00 0.00 -56.17 0.000 2 0.000 0.000 413 2634 2705 0 0 0 0 0 0
75 -0.76 -146.0 3.0 -2.2 8 135 8.93 1.95 -44.35 0.000 4 0.200 0.079 2803 3769 3559 0 0 0 0 0 0
215 -0.76 -146.0 15.2 -14.6 30 224 0.00 1.80 0.00 0.000 6 0.000 0.044 2804 2647 3561 0 0 0 0 0 0
359 -0.76 -146.0 39.5 -17.0 55 366 0.00 1.85 0.00 0.000 4 0.000 0.064 2795 3775 3562 0 0 0 0 0 0
390 -0.76 -146.0 45.1 -17.3 60 398 0.00 1.77 0.00 0.000 6 0.000 0.044 2795 2667 3562 0 0 0 0 0 0
533 -0.76 -146.0 69.1 -16.8 85 539 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 2666 3562 0 0 0 0 0 0
674 -0.76 -146.0 92.6 -15.2 110 683 0.00 1.83 0.00 0.000 4 0.000 0.064 2786 3763 3562 0 0 0 0 0 0
700 -0.76 -146.0 97.2 -17.1 114 710 0.08 1.75 0.00 0.000 6 0.146 0.044 2812 2664 3563 0 0 0 0 0 0
840 -0.76 -146.0 118.1 -15.1 128 844 0.00 1.77 0.00 0.000 4 0.000 0.063 2804 3766 3563 0 0 0 0 0 0
877 -0.76 -146.0 123.6 -16.2 131 880 0.00 1.70 0.00 0.000 6 0.000 0.043 2804 2673 3563 0 0 0 0 0 0
1019 -0.76 -146.0 145.8 -15.8 144 1027 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 2670 3563 0 0 0 0 0 0
1154 -0.76 -146.0 167.1 -15.3 157 1158 0.00 1.77 0.00 0.000 4 0.000 0.064 2797 3768 3563 0 0 0 0 0 0
1202 -0.76 -146.0 175.5 -16.8 161 1211 0.00 1.73 0.00 0.000 6 0.000 0.044 2797 2683 3563 0 0 0 0 0 0
1340 -0.76 -146.0 196.6 -16.1 174 1348 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2683 3563 0 0 0 0 0 0
1475 -0.76 -146.0 218.5 -15.8 187 1479 0.00 1.75 0.00 0.000 4 0.000 0.065 2789 3764 3563 0 0 0 0 0 0
1521 -0.76 -146.0 226.2 -17.0 191 1525 0.00 1.67 0.00 0.000 6 0.000 0.044 2789 2683 3563 0 0 0 0 0 0
1664 -0.76 -146.0 249.5 -16.2 204 1672 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2681 3563 0 0 0 0 0 0
1799 -0.76 -146.0 271.7 -16.4 217 1803 0.10 1.80 0.00 0.000 4 0.181 0.065 2807 3773 3563 0 0 0 0 0 0
1843 -0.76 -146.0 278.9 -15.2 221 1847 0.00 1.65 0.00 0.000 6 0.000 0.044 2807 2700 3563 0 0 0 0 0 0
2046 -0.76 -146.0 308.1 -14.2 240 2050 0.00 1.77 0.00 0.000 4 0.000 0.064 2799 3763 3563 0 0 0 0 0 0
2083 -0.76 -146.0 314.2 -15.1 243 2091 0.00 1.67 0.00 0.000 6 0.000 0.044 2799 2707 3563 0 0 0 0 0 0
2281 -0.76 -146.0 343.0 -14.6 262 2285 0.00 1.73 0.00 0.000 4 0.000 0.064 2790 3769 3563 0 0 0 0 0 0
2304 -0.76 -146.0 346.4 -15.3 264 2307 0.00 1.65 0.00 0.000 6 0.000 0.044 2790 2700 3563 0 0 0 0 0 0
2509 -0.76 -146.0 377.8 -15.3 283 2510 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2699 3563 0 0 0 0 0 0
2698 -0.76 -146.0 407.4 -15.4 301 2702 0.00 1.75 0.00 0.000 4 0.000 0.066 2783 3773 3563 0 0 0 0 0 0
2743 -0.76 -146.0 414.9 -16.9 305 2747 0.12 1.65 0.00 0.000 6 0.164 0.044 2817 2706 3563 0 0 0 0 0 0
2945 -0.76 -146.0 442.0 -12.7 324 2949 0.00 1.73 0.00 0.000 4 0.000 0.066 2810 3766 3562 0 0 0 0 0 0
2973 -0.76 -146.0 445.9 -13.7 326 2981 0.00 1.65 0.00 0.000 6 0.000 0.043 2810 2731 3563 0 0 0 0 0 0
3171 -0.76 -146.0 472.0 -13.3 345 3172 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 2730 3563 0 0 0 0 0 0
3363 -0.76 -146.0 497.1 -13.0 363 3366 0.00 1.73 0.00 0.000 4 0.000 0.065 2802 3763 3563 0 0 0 0 0 0
3416 -0.76 -146.0 505.3 -14.3 366 3420 0.00 1.62 0.00 0.000 6 0.000 0.043 2802 2741 3562 0 0 0 0 0 0
3612 -0.76 -146.0 532.5 -14.0 373 3614 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2740 3562 0 0 0 0 0 0
3797 -0.76 -146.0 558.4 -14.1 379 3798 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2740 3562 0 0 0 0 0 0
3980 -0.76 -146.0 584.2 -14.0 385 3983 0.00 1.67 0.00 0.000 4 0.000 0.064 2796 3772 3562 0 0 0 0 0 0
4014 -0.76 -146.0 589.3 -14.8 386 4017 0.00 1.62 0.00 0.000 6 0.000 0.044 2796 2753 3562 0 0 0 0 0 0
4232 -0.76 -146.0 621.4 -14.8 393 4233 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2752 3562 0 0 0 0 0 0
4416 -0.76 -146.0 648.0 -14.4 399 4417 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2751 3562 0 0 0 0 0 0
4599 -0.76 -146.0 673.7 -13.8 405 4602 0.00 1.65 0.00 0.000 4 0.000 0.065 2789 3768 3562 0 0 0 0 0 0
4620 -0.76 -146.0 677.0 -14.4 405 4624 0.00 1.62 0.00 0.000 6 0.000 0.044 2789 2748 3562 0 0 0 0 0 0
4817 -0.76 -146.0 705.5 -14.5 412 4821 0.10 1.67 0.00 0.000 4 0.179 0.066 2807 3764 3562 0 0 0 0 0 0
4843 -0.76 -146.0 709.6 -14.3 412 4850 0.00 1.60 0.00 0.000 6 0.000 0.043 2807 2756 3562 0 0 0 0 0 0
5034 -0.76 -146.0 733.9 -12.7 419 5035 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2755 3562 0 0 0 0 0 0
5064 end dive: BOTTOM_OBSTACLE_DETECTED
state 5064 begin apogee
5069 -0.17 0.0 738.0 12.7 420 5212 0.60 0.00 138.73 1.260 4 0.126 0.000 3003 2497 2961 0 0 0 0 0 0
5213 end apogee: CONTROL_FINISHED_OK
state 5214 begin climb
5215 0.76 146.0 743.0 0.0 424 5386 0.98 2.58 155.15 1.165 4 0.070 0.049 3309 1099 2364 0 0 0 0 1 0
5480 0.76 146.0 718.5 12.1 432 5489 0.00 2.50 0.00 0.000 6 0.000 0.051 3309 2495 2354 0 0 0 0 0 0
5672 0.76 146.0 692.5 13.8 439 5676 0.00 2.28 0.00 0.000 4 0.000 0.050 3319 1100 2350 0 0 0 0 0 0
5788 0.76 146.0 676.5 13.1 442 5793 0.00 2.38 0.00 0.000 6 0.000 0.054 3319 2522 2348 0 0 0 0 0 0
5984 0.76 146.0 649.0 14.2 449 5988 0.00 2.00 0.00 0.000 4 0.000 0.060 3319 3773 2346 0 0 0 0 0 0
6053 0.76 146.0 638.0 16.6 451 6057 0.00 1.95 0.00 0.000 6 0.000 0.044 3329 2525 2346 0 0 0 0 0 0
6271 0.76 146.0 605.4 14.8 458 6274 0.00 2.03 0.00 0.000 4 0.000 0.062 3329 3775 2346 0 0 0 0 0 0
6308 0.76 146.0 599.0 16.6 459 6313 0.00 1.98 0.00 0.000 6 0.000 0.044 3338 2538 2345 0 0 0 0 0 0
6522 0.76 146.0 566.7 15.2 466 6526 0.00 2.03 0.00 0.000 4 0.000 0.060 3338 3768 2344 0 0 0 0 0 0
6570 0.76 146.0 558.1 17.7 467 6575 0.10 1.95 0.00 0.000 6 0.149 0.044 3315 2546 2344 0 0 0 0 0 0
6771 0.76 146.0 530.6 13.4 474 6775 0.00 2.00 0.00 0.000 4 0.000 0.062 3315 3782 2344 0 0 0 0 0 0
6809 0.76 146.0 524.8 16.3 475 6813 0.00 1.98 0.00 0.000 6 0.000 0.044 3323 2547 2344 0 0 0 0 0 0
7002 0.76 146.0 497.6 14.0 482 7005 0.00 2.00 0.00 0.000 4 0.000 0.063 3323 3779 2343 0 0 0 0 0 0
7047 0.76 146.0 490.6 16.0 486 7050 0.00 1.90 0.00 0.000 6 0.000 0.044 3333 2559 2343 0 0 0 0 0 0
7250 0.76 146.0 460.2 14.9 505 7254 0.00 1.98 0.00 0.000 4 0.000 0.060 3333 3782 2343 0 0 0 0 0 0
7276 0.76 146.0 455.7 15.7 507 7284 0.08 1.92 0.00 0.000 6 0.151 0.043 3317 2567 2343 0 0 0 0 0 0
7474 0.76 146.0 428.7 13.4 526 7478 0.00 1.95 0.00 0.000 4 0.000 0.063 3317 3770 2343 0 0 0 0 0 0
7512 0.76 146.0 422.6 15.9 529 7519 0.00 1.90 0.00 0.000 6 0.000 0.044 3325 2573 2343 0 0 0 0 0 0
7710 0.76 146.0 394.8 13.8 548 7714 0.00 1.95 0.00 0.000 4 0.000 0.062 3325 3778 2343 0 0 0 0 0 0
7754 0.76 146.0 387.8 15.9 552 7758 0.00 1.85 0.00 0.000 6 0.000 0.044 3334 2586 2342 0 0 0 0 0 0
7958 0.76 146.0 358.3 14.6 571 7962 0.00 1.95 0.00 0.000 4 0.000 0.061 3334 3766 2342 0 0 0 0 0 0
7985 0.76 146.0 353.6 16.8 573 7993 0.08 1.88 0.00 0.000 6 0.154 0.042 3318 2586 2342 0 0 0 0 0 0
8185 0.76 146.0 327.5 12.9 592 8188 0.00 1.92 0.00 0.000 4 0.000 0.062 3318 3778 2342 0 0 0 0 0 0
8207 0.76 146.0 324.1 13.7 594 8211 0.00 1.85 0.00 0.000 6 0.000 0.043 3326 2585 2342 0 0 0 0 0 0
8410 0.76 146.0 297.7 12.9 613 8414 0.00 1.92 0.00 0.000 4 0.000 0.063 3325 3773 2342 0 0 0 0 0 0
8434 0.76 146.0 294.3 14.5 615 8438 0.00 1.88 0.00 0.000 6 0.000 0.044 3334 2595 2342 0 0 0 0 0 0
8637 0.76 146.0 265.6 13.9 634 8638 0.00 0.00 0.00 0.000 6 0.000 0.000 3335 2593 2342 0 0 0 0 0 0
8831 0.76 146.0 239.7 13.4 652 8834 0.00 1.90 0.00 0.000 4 0.000 0.062 3335 3770 2342 0 0 0 0 0 0
8868 0.76 146.0 233.4 16.4 655 8877 0.08 1.85 0.00 0.000 6 0.154 0.044 3318 2608 2342 0 0 0 0 0 0
9005 0.76 146.0 217.2 11.5 668 9006 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2607 2342 0 0 0 0 0 0
9131 0.76 146.0 202.4 11.6 680 9132 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2607 2341 0 0 0 0 0 0
9258 0.76 146.0 187.7 11.7 692 9260 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2607 2342 0 0 0 0 0 0
9385 0.76 146.0 172.7 11.8 704 9389 0.00 1.88 0.00 0.000 4 0.000 0.063 3318 3771 2341 0 0 0 0 0 0
9411 0.76 146.0 169.0 13.7 706 9421 0.00 1.85 0.00 0.000 6 0.000 0.044 3326 2605 2341 0 0 0 0 0 0
9547 0.76 146.0 151.9 12.8 719 9551 0.00 1.90 0.00 0.000 4 0.000 0.062 3326 3781 2341 0 0 0 0 0 0
9573 0.76 146.0 147.7 14.8 721 9582 0.00 1.85 0.00 0.000 6 0.000 0.042 3335 2619 2341 0 0 0 0 0 0
9709 0.76 146.0 129.5 13.4 734 9710 0.00 0.00 0.00 0.000 6 0.000 0.000 3335 2617 2341 0 0 0 0 0 0
9837 0.76 146.0 112.3 14.2 746 9838 0.00 0.00 0.00 0.000 6 0.000 0.000 3335 2617 2341 0 0 0 0 0 0
9965 0.76 146.0 94.7 13.8 761 9971 0.00 0.00 0.00 0.000 6 0.000 0.000 3335 2617 2341 0 0 0 0 0 0
10106 0.76 146.0 75.1 13.3 786 10115 0.00 1.90 0.00 0.000 4 0.000 0.062 3335 3764 2341 0 0 0 0 0 0
10144 0.76 146.0 69.5 14.7 792 10153 0.10 1.85 0.00 0.000 6 0.146 0.043 3311 2604 2341 0 0 0 0 0 0
10290 0.76 146.0 51.6 11.9 817 10297 0.00 2.38 0.00 0.000 4 0.000 0.052 3321 1085 2341 0 0 0 0 0 0
10316 0.76 146.0 48.4 11.7 821 10323 0.00 2.50 0.00 0.000 6 0.000 0.054 3321 2633 2340 0 0 0 0 0 0
10458 0.76 146.0 31.3 12.1 846 10466 0.00 1.85 0.00 0.000 4 0.000 0.061 3321 3769 2340 0 0 0 0 0 0
10491 0.76 146.0 26.5 14.9 851 10498 0.00 1.83 0.00 0.000 6 0.000 0.044 3330 2598 2340 0 0 0 0 0 0
10636 0.76 146.0 6.0 13.4 876 10643 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 2597 2340 0 0 0 0 0 0
10661 end climb: SURFACE_DEPTH_REACHED
state 10661 begin surface coast
10674 end surface coast: FINISH_DEPTH_REACHED
state 10674 begin surface