OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 279 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  144 HD_C  1.0513e-05 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0
MISSION  13 HEADING  -1 PITCH_ADJ_GAIN  0.039999999 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  279 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  160 ALTIM_TOP_MIN_OBSTACLE  1
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3940 ALTIM_PING_DEPTH  0
D_TGT  990 TGT_DEFAULT_LAT  4736 ROLL_DEG  40 ALTIM_PING_DELTA  10
D_ABORT  1090 TGT_DEFAULT_LON  -12218 C_ROLL_DIVE  1900 ALTIM_FREQUENCY  13
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2100 ALTIM_PULSE  3
D_FINISH  0 SM_CC  400 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  0
D_CALL  0 CALL_NDIVES  1 R_PORT_OVSHOOT  48 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  47 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  400 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  1 DEVICE1  2
T_DIVE  412.5 N_NOSURFACE  0 ROLL_ADJ_GAIN  0 DEVICE2  20
T_MISSION  450 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0 DEVICE3  53
T_ABORT  1440 CALL_TRIES  5 VBD_MIN  480 DEVICE4  35
T_TURN  225 CALL_WAIT  60 VBD_MAX  3950 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  2931 DEVICE6  -1
T_NO_W  300 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  -1 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  10 VBD_TIMEOUT  720 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.0012300001 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  5 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -51018.543 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  150 RAFOS_CORR_THRESH  60 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  0 SIM_PITCH  0
GLIDE_SLOPE  45 PITCH_MIN  500 AH0_24V  91.800003 SEABIRD_T_G  0.0043142079
SPEED_FACTOR  1 PITCH_MAX  3812 AH0_10V  61.200001 SEABIRD_T_H  0.00062953553
RHO  1.023 C_PITCH  2728 PRESSURE_YINT  -2.1256177 SEABIRD_T_I  2.3274781e-05
MASS  51458 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.00011159377 SEABIRD_T_J  2.4096155e-06
NAV_MODE  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -10.012566
FERRY_MAX  45 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1222577
KALMAN_USE  1 PITCH_GAIN  15 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0011971687
HD_A  0.0044757999 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_J  0.000188736
HD_B  0.0099689998 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  133427,5015.499,-14438.325,47,3.3,66,18.6 TGT_NAME  NE
_CALLS  1 TGT_LATLONG  5021.009,-14429.833
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.186,0.157
_SM_DEPTHo  1.46 KALMAN_X  11186.8,-19.9,29.8,12393.7,154.5
_SM_ANGLEo  -60.9 KALMAN_Y  206713.7,-34.8,114.4,-179062.5,941.1
GPS2  134001,5015.487,-14438.322,39,1.9,39,18.6 MHEAD_RNG_PITCHd_Wd  31.3,14325,-15.3,-8.000
SPEED_LIMITS  0.080,0.243 D_GRID  1001

Post-dive calculations and measurements:
FINISH  0.9,1.024570 XPDR_PINGS  103
SM_CCo  23564,77.28,0.657,2,0,1300,400.08 _24V_AH  23.2,52.586
SM_GC  1.36,0.00,0.00,77.28,0.000,0.000,0.657,493,1893,1300,-10.28,-0.14,400.08 _10V_AH  10.1,26.734
IRIDIUM_FIX  4956.40,-14446.14,161197,070714 DATA_FILE_SIZE  38156,621
TT8_MAMPS  0.029146 CAP_FILE_SIZE  159106,0
HUMID  1818 CFSIZE  260165632,240254976
INTERNAL_PRESSURE  7.68584 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
TCM_TEMP  14.40 GPS  220808,201637,5017.735,-14434.080,45,1.2,52,18.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor26164100.24 SBE_CT43924244.98
Roll_motor215100501.47 SBE_O249719219.24
VBD_pump_during_apogee401138412888.51 Optode63833489.16
VBD_pump_during_surface776561177.05 WL_BB2F382105931.76
VBD_valve000.00 nil000.00
Iridium_during_init2710366.19 nil000.00
Iridium_during_connect2516095.42 nil000.00
Iridium_during_xfer128223662.70
Transponder_ping25420250.91
Mmodem_TX000.00
Mmodem_RX000.00
GPS395019.84
TT8142419284.85
LPSleep194982431.29
TT8_Active64319128.78
TT8_Sampling191539769.88
TT8_CF850345233.06
TT8_Kalman338127.57
Analog_circuits170712206.98
GPS_charging000.00
Compass18598150.23
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
20 end surface: CONTROL_FINISHED_OK
state 20 begin dive
23 -1.20 -146.6 0.0 0.0 0 97 0.00 0.00 -71.78 0.000 2 0.000 0.000 498 1888 2750
99 -1.20 -146.6 3.0 -3.7 7 137 10.48 2.33 -21.60 0.000 4 0.165 0.060 2459 513 3530
254 -1.02 -146.6 25.8 -15.7 20 261 0.22 2.22 0.00 0.000 6 0.107 0.022 2504 1904 3532
581 -1.08 -146.6 58.2 -8.7 51 583 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 1907 3534
894 -1.14 -146.6 89.9 -9.0 76 898 0.12 2.35 0.00 0.000 4 0.069 0.044 2470 515 3535
915 -1.14 -146.6 92.2 -10.3 77 919 0.00 2.22 0.00 0.000 6 0.000 0.027 2470 1907 3535
1242 -1.14 -146.6 125.5 -8.7 93 1243 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 1910 3535
1571 -1.14 -146.6 157.2 -9.2 108 1574 0.00 2.38 0.00 0.000 4 0.000 0.044 2470 506 3535
1659 -1.14 -146.6 166.1 -9.9 110 1663 0.00 2.22 0.00 0.000 6 0.000 0.026 2470 1900 3535
1978 -1.14 -146.6 194.2 -9.2 121 1982 0.00 2.35 0.00 0.000 4 0.000 0.044 2470 513 3535
2039 -1.14 -146.6 200.2 -10.0 123 2043 0.00 2.22 0.00 0.000 6 0.000 0.025 2470 1900 3535
2380 -1.18 -146.6 230.4 -8.7 134 2384 0.00 2.35 0.00 0.000 4 0.000 0.044 2470 515 3535
2407 -1.18 -146.6 233.1 -9.6 135 2411 0.00 2.22 0.00 0.000 6 0.000 0.027 2470 1907 3535
2749 -1.23 -146.6 262.6 -8.4 146 2750 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 1910 3534
3054 -1.29 -146.6 287.1 -8.1 156 3058 0.00 2.35 0.00 0.000 4 0.000 0.051 2470 515 3534
3099 -1.33 -146.6 291.3 -9.2 157 3103 0.15 2.20 0.00 0.000 6 0.070 0.025 2430 1901 3534
3456 -1.28 -146.6 330.5 -11.3 165 3460 0.00 2.35 0.00 0.000 4 0.000 0.046 2430 515 3533
3556 -1.21 -146.6 342.8 -12.6 166 3561 0.15 2.22 0.00 0.000 6 0.115 0.023 2460 1900 3533
3881 -1.21 -146.6 373.6 -9.3 172 3885 0.00 2.35 0.00 0.000 4 0.000 0.044 2460 515 3532
3903 -1.21 -146.6 375.6 -9.0 172 3907 0.00 2.22 0.00 0.000 6 0.000 0.028 2460 1901 3532
4246 -1.21 -146.6 403.1 -7.9 178 4250 0.00 2.35 0.00 0.000 4 0.000 0.050 2460 515 3532
4284 -1.21 -146.6 406.3 -8.6 178 4288 0.00 2.22 0.00 0.000 6 0.000 0.026 2460 1903 3532
4617 -1.25 -146.6 430.7 -7.3 184 4621 0.00 2.35 0.00 0.000 4 0.000 0.051 2460 515 3531
4660 -1.25 -146.6 434.3 -8.3 184 4664 0.00 2.22 0.00 0.000 6 0.000 0.030 2460 1900 3531
4982 -1.30 -146.6 457.3 -7.2 190 4983 0.00 0.00 0.00 0.000 6 0.000 0.000 2460 1903 3531
5285 -1.35 -146.6 480.5 -7.7 195 5290 0.12 2.35 0.00 0.000 4 0.074 0.050 2427 509 3531
5347 -1.29 -146.6 486.5 -10.1 196 5351 0.00 2.22 0.00 0.000 6 0.000 0.027 2427 1898 3530
5711 -1.29 -146.6 522.4 -10.1 202 5716 0.00 2.35 0.00 0.000 4 0.000 0.048 2427 515 3530
5790 -1.23 -146.6 531.2 -11.1 203 5795 0.15 2.22 0.00 0.000 6 0.115 0.031 2456 1900 3530
6138 -1.28 -146.6 562.8 -9.0 209 6139 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 1903 3530
6441 -1.33 -146.6 589.5 -8.8 214 6445 0.00 2.35 0.00 0.000 4 0.000 0.049 2457 516 3529
6503 -1.33 -146.6 595.1 -8.9 215 6507 0.00 2.22 0.00 0.000 6 0.000 0.028 2455 1901 3529
6868 -1.38 -146.6 624.9 -8.0 221 6873 0.12 2.35 0.00 0.000 4 0.077 0.049 2423 516 3529
6991 -1.32 -146.6 637.2 -10.2 222 6995 0.00 2.22 0.00 0.000 6 0.000 0.024 2423 1899 3529
7300 -1.32 -146.6 664.6 -8.8 227 7302 0.00 0.00 0.00 0.000 6 0.000 0.000 2423 1901 3529
7603 -1.32 -146.6 689.2 -8.1 232 7607 0.00 2.35 0.00 0.000 4 0.000 0.046 2423 516 3528
7680 -1.27 -146.6 696.2 -9.1 233 7685 0.12 2.25 0.00 0.000 6 0.120 0.025 2448 1908 3528
8029 -1.27 -146.6 722.2 -7.5 239 8033 0.00 2.38 0.00 0.000 4 0.000 0.048 2447 508 3528
8090 -1.27 -146.6 727.3 -8.3 239 8096 0.00 2.25 0.00 0.000 6 0.000 0.025 2448 1903 3528
8400 -1.31 -146.6 750.5 -7.5 245 8404 0.00 2.38 0.00 0.000 4 0.000 0.047 2448 509 3527
8432 -1.31 -146.6 753.1 -8.3 245 8436 0.00 2.25 0.00 0.000 6 0.000 0.027 2448 1903 3527
8765 -1.35 -146.6 777.4 -7.3 251 8766 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1906 3527
9068 -1.40 -146.6 799.8 -7.4 256 9073 0.10 2.38 0.00 0.000 4 0.082 0.047 2420 510 3527
9125 -1.34 -146.6 804.8 -9.6 256 9131 0.00 2.25 0.00 0.000 6 0.000 0.028 2420 1906 3527
9434 -1.34 -146.6 831.0 -8.4 262 9438 0.00 2.38 0.00 0.000 4 0.000 0.051 2420 512 3527
9502 -1.29 -146.6 837.4 -9.8 263 9506 0.12 2.25 0.00 0.000 6 0.120 0.031 2445 1901 3526
9866 -1.29 -146.6 865.3 -7.7 269 9870 0.00 2.38 0.00 0.000 4 0.000 0.056 2445 516 3526
9905 -1.29 -146.6 868.6 -8.7 269 9909 0.00 2.25 0.00 0.000 6 0.000 0.026 2445 1903 3526
10226 -1.33 -146.6 893.7 -7.8 275 10230 0.00 2.40 0.00 0.000 4 0.000 0.053 2445 513 3526
10252 -1.33 -146.6 896.0 -8.5 275 10257 0.00 2.25 0.00 0.000 6 0.000 0.025 2445 1898 3526
10591 -1.38 -146.6 921.0 -7.4 281 10595 0.00 2.40 0.00 0.000 4 0.000 0.056 2445 519 3526
10629 -1.38 -146.6 924.3 -8.4 281 10633 0.00 2.25 0.00 0.000 6 0.000 0.028 2445 1894 3526
10956 -1.42 -146.6 947.9 -7.3 287 10961 0.12 2.42 0.00 0.000 4 0.077 0.062 2412 512 3525
11012 -1.36 -146.6 953.0 -9.0 287 11018 0.10 2.30 0.00 0.000 6 0.127 0.039 2430 1898 3525
11321 -1.36 -146.6 977.2 -7.8 293 11325 0.00 2.47 0.00 0.000 4 0.000 0.077 2430 514 3525
11381 -1.36 -146.6 982.5 -9.1 293 11388 0.00 2.35 0.00 0.000 6 0.000 0.044 2430 1901 3525
11507 end dive: TARGET_DEPTH_EXCEEDED
state 11507 begin apogee
11513 -0.33 0.0 992.3 7.7 296 11643 1.05 0.00 126.22 1.384 6 0.103 0.000 2651 2101 2931
11643 end apogee: CONTROL_FINISHED_OK
state 11643 begin climb
11646 1.20 146.6 995.4 0.0 298 11780 1.48 2.58 124.65 1.354 4 0.069 0.070 2985 3505 2331
11864 1.02 146.6 980.5 9.8 301 11869 0.17 2.40 0.00 0.000 6 0.116 0.048 2952 2124 2327
12196 0.94 146.6 951.8 8.6 307 12200 0.00 2.53 0.00 0.000 4 0.000 0.064 2952 689 2325
12245 0.82 146.6 947.0 9.3 307 12251 0.22 2.38 0.00 0.000 6 0.110 0.033 2908 2107 2325
12556 0.90 174.7 925.2 7.0 312 12586 0.00 2.53 24.70 1.274 4 0.000 0.056 2908 686 2218
12619 0.91 185.1 920.5 7.6 313 12634 0.00 2.38 10.57 1.154 6 0.000 0.032 2907 2108 2176
12978 1.01 215.1 895.8 6.9 319 13013 0.15 2.53 27.90 1.262 4 0.070 0.050 2950 692 2052
13036 0.97 215.1 890.6 9.2 319 13042 0.00 2.35 0.00 0.000 6 0.000 0.033 2950 2110 2050
13345 0.97 215.1 863.9 8.7 325 13346 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2110 2047
13648 0.97 215.1 838.6 8.4 330 13652 0.00 2.45 0.00 0.000 4 0.000 0.044 2950 682 2046
13675 0.92 215.1 836.1 9.3 330 13679 0.00 2.33 0.00 0.000 6 0.000 0.032 2949 2107 2045
14011 0.92 215.1 806.0 9.1 336 14012 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2108 2045
14314 0.92 215.1 776.9 9.6 341 14315 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2108 2044
14617 0.92 215.1 747.9 9.5 346 14621 0.00 2.45 0.00 0.000 4 0.000 0.048 2950 676 2044
14639 0.92 215.1 745.6 10.1 346 14643 0.00 2.33 0.00 0.000 6 0.000 0.025 2950 2105 2044
14975 0.92 215.1 715.8 8.8 352 14979 0.00 2.33 0.00 0.000 4 0.000 0.041 2949 3492 2044
15003 0.92 215.1 713.3 8.7 352 15007 0.00 2.33 0.00 0.000 6 0.000 0.030 2949 2075 2043
15334 0.92 215.1 686.0 8.3 358 15338 0.00 2.33 0.00 0.000 4 0.000 0.049 2950 702 2043
15360 0.92 215.1 683.5 9.0 358 15365 0.00 2.30 0.00 0.000 6 0.000 0.028 2950 2100 2043
15698 0.92 215.1 654.2 8.8 364 15699 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2102 2043
16001 0.92 215.1 626.5 9.2 369 16005 0.00 2.38 0.00 0.000 4 0.000 0.048 2950 704 2043
16027 0.92 215.1 623.8 9.5 369 16032 0.00 2.28 0.00 0.000 6 0.000 0.029 2950 2107 2043
16365 0.92 215.1 594.1 8.7 375 16369 0.00 2.38 0.00 0.000 4 0.000 0.047 2950 704 2043
16397 0.92 215.1 591.1 8.8 375 16401 0.00 2.28 0.00 0.000 6 0.000 0.029 2949 2103 2043
16735 0.93 216.8 564.1 7.9 381 16736 0.00 0.00 0.00 0.000 6 0.000 0.000 2949 2106 2043
17038 0.93 216.8 539.5 8.1 386 17042 0.00 2.38 0.00 0.000 4 0.000 0.044 2950 702 2043
17077 0.93 216.8 536.2 8.1 386 17081 0.00 2.28 0.00 0.000 6 0.000 0.030 2950 2103 2043
17397 0.93 216.8 509.6 8.2 392 17399 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2106 2043
17700 0.93 216.8 484.5 8.4 397 17704 0.00 2.38 0.00 0.000 4 0.000 0.043 2950 704 2043
17750 0.93 216.8 479.9 9.7 397 17754 0.00 2.28 0.00 0.000 6 0.000 0.029 2950 2102 2043
18059 0.93 219.3 455.2 7.9 402 18064 0.00 2.33 0.00 0.000 4 0.000 0.040 2949 3498 2043
18092 0.93 219.3 452.4 8.6 402 18096 0.00 2.28 0.00 0.000 6 0.000 0.031 2950 2094 2042
18424 0.95 234.8 427.7 7.4 408 18448 0.00 2.45 16.80 0.956 4 0.000 0.044 2950 704 1972
18477 0.95 234.8 423.4 8.9 408 18481 0.00 2.30 0.00 0.000 6 0.000 0.031 2950 2104 1970
18786 0.96 244.4 399.8 7.6 413 18800 0.00 2.42 9.25 0.877 4 0.000 0.049 2950 699 1933
18817 0.96 247.2 397.1 7.9 413 18826 0.00 2.30 4.32 0.668 6 0.000 0.031 2950 2106 1923
19154 0.96 247.5 370.4 8.0 419 19155 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2106 1920
19457 1.00 247.5 345.1 8.4 424 19458 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2106 1919
19760 1.05 247.5 318.7 8.7 429 19764 0.00 2.38 0.00 0.000 4 0.000 0.050 2949 701 1919
19803 1.05 247.5 314.7 9.6 429 19808 0.00 2.28 0.00 0.000 6 0.000 0.030 2950 2101 1919
20126 1.10 253.3 288.7 7.8 437 20134 0.00 0.00 6.30 0.755 6 0.000 0.000 2950 2104 1898
20432 1.16 257.9 264.7 7.8 447 20443 0.12 2.40 5.78 0.720 4 0.076 0.041 2982 698 1878
20472 1.10 257.9 260.9 10.3 448 20476 0.00 2.30 0.00 0.000 6 0.000 0.025 2982 2106 1878
20795 1.10 257.9 230.5 9.4 459 20796 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2110 1877
21101 1.10 257.9 201.4 9.4 469 21102 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2110 1877
21407 1.10 257.9 173.9 8.8 479 21408 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2109 1877
21714 1.10 257.9 148.0 8.8 489 21718 0.00 2.38 0.00 0.000 4 0.000 0.046 2982 704 1877
21769 1.10 257.9 142.0 10.7 491 21775 0.00 2.28 0.00 0.000 6 0.000 0.029 2982 2101 1876
22085 1.13 281.9 115.4 7.1 507 22114 0.00 2.42 21.83 0.765 4 0.000 0.037 2982 3495 1780
22199 1.13 281.9 105.9 9.3 512 22203 0.00 2.28 0.00 0.000 6 0.000 0.031 2983 2092 1778
22525 1.21 291.6 80.5 7.6 528 22539 0.00 2.40 9.05 0.696 4 0.000 0.048 2982 694 1741
22593 1.25 291.6 75.2 8.6 533 22597 0.00 2.30 0.00 0.000 6 0.000 0.032 2982 2110 1740
22925 1.34 306.4 51.8 7.5 564 22948 0.15 2.45 13.90 0.705 4 0.070 0.049 3025 711 1680
22975 1.28 306.4 46.7 9.9 568 22982 0.00 2.28 0.00 0.000 6 0.000 0.025 3025 2107 1678
23302 1.28 306.4 19.0 8.5 599 23306 0.00 2.33 0.00 0.000 4 0.000 0.038 3026 3501 1677
23368 1.28 306.8 13.2 8.0 604 23375 0.00 2.28 0.00 0.000 6 0.000 0.028 3026 2095 1676
23521 end climb: SURFACE_DEPTH_REACHED
state 23521 begin surface coast
23544 end surface coast: CONTROL_FINISHED_OK
state 23544 begin surface