Glider dive log

PortSusan 23Jul07 * SG001 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 1 HD_B 0.0099999998 PITCH_AD_RATE 180 ALTIM_TOP_PING_RANGE 0

MISSION 1 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 4 HEADING -1 PITCH_ADJ_GAIN 0.029999999 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 180 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 0

D_TGT 100 FIX_MISSING_TIMEOUT 3 ROLL_MAX 3791 ALTIM_PING_DELTA 0

D_ABORT 250 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1978 ALTIM_FREQUENCY 15

D_NO_BLEED 500 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1978 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 8 ALTIM_SENSITIVITY 1

D_PITCH 1.5 SM_CC 500 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 100 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 10

D_CALL 2 FILEMGR 2 R_PORT_OVSHOOT 12 DEEPGLIDER 0

SURFACE_URGENCY 5 CALL_NDIVES 1 R_STBD_OVSHOOT 9 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 20 COMM_SEQ 0 ROLL_AD_RATE 500 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 20 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 33 N_NOSURFACE 0 ROLL_ADJ_GAIN 2 DEVICE2 53

T_MISSION 45 UPLOAD_DIVES_MAX 5 ROLL_ADJ_DBAND 0.029999999 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 421 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3792 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 2257 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 200000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 1 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE -1 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN -2 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 1

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 32

T_WATCHDOG 10 T_GPS_CHARGE -482574.66 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 20 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 91.800003 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 0.94999993 PITCH_MAX 3252 AH0_10V 61.200001 SEABIRD_T_H 0.0006414231

RHO 1.02765 C_PITCH 2263 PRESSURE_YINT -0.22280908 SEABIRD_T_I 2.3931538e-05

MASS 51747 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 1 SEABIRD_C_G -10.258962

FERRY_MAX 0 P_OVSHOOT 0.045000002 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 1 PITCH_GAIN 20 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00031207138

AD7714Ch0Gain 1 D_FINISH 0 PITCH_AD_RATE 180 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 500 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 20 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 1.5 PITCH_MAX 3252 SPEED_FACTOR 0.94999993

ALTIM_FREQUENCY 15 D_SAFE 100 PITCH_MAXERRORS 1 SURFACE_URGENCY 5

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 20

ALTIM_PING_DEPTH 0 D_TGT 100 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 20

ALTIM_PULSE 5 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -0.22280908 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 P_OVSHOOT 0.045000002 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 3 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 16 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 33

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 200000 HD_C 9.9999997e-06 RHO 1.02765 T_GPS_CHARGE -482574.66

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 45

CF8_MAXERRORS 20 HEAD_ERRBAND 8 ROLL_ADJ_GAIN 2 T_NO_W 120

COMM_SEQ 0 HEAPDBG 1 ROLL_AD_RATE 500 T_RSLEEP 3

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN -2 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 1 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1978 INT_PRESSURE_YINT 10 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 1978 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 5

C_VBD 2257 MASS 51747 R_PORT_OVSHOOT 12 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 9 USE_ICE -1

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.258962 VBD_BLEED_AD_RATE 10

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_CNV -0.24529999

DEVICE2 53 NAV_MODE 1 SEABIRD_C_I -0.0037964056 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAX 3792

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MAXERRORS 20

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_MIN 421

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 4 PHONE_DEVICE 32 SEABIRD_T_J 2.340664e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 250 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 2 PITCH_ADJ_GAIN 0.029999999 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 021920,4806.289,-12222.172,33,1.1,34,18.0 TGT_NAME SEVEN_nb

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.170,0.197

_SM_DEPTHo -0.00 KALMAN_X 174.2,100.9,89.9,57.1,135.8

_SM_ANGLEo -50.0 KALMAN_Y -170.1,-88.6,-76.6,14.7,-125.5

GPS2 022408,4806.267,-12222.178,22,1.1,22,18.0 MHEAD_RNG_PITCHd_Wd 301.3,1696,-17.7,-10.101

SPEED_LIMITS 0.166,0.247 D_GRID 1001

Post-dive calculations and measurements:

FINISH 2.1,1.016874 XPDR_PINGS -1

SM_CCo 1679,0.00,0.000,0,0,404,454.30 _24V_AH 23.7,0.250

SM_GC 0.10,0.00,0.00,0.00,0.000,0.000,0.000,646,2204,404,-7.49,6.02,454.30 _10V_AH 9.7,0.096

RAFOS_CLK 0 DATA_FILE_SIZE 9628,236

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,244830208

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,23,165,0,0

TT8_MAMPS 0.02301 SOUNDSPEED 1465.0

HUMID 2233 GPS 040807,025443,4806.145,-12221.986,30,1.1,30,18.0

INTERNAL_PRESSURE 26.0846 ESCAPE_REASON NO_RECOVERY_REASON

TCM_TEMP 15.00 ESCAPE_STARTED_DIVE 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 119 52.18 SBE_CT 190 24 108.46

Roll_motor 23 60 34.06 Optode 240 33 188.40

VBD_pump_during_apogee 26 0 0.48 nil 0 0 0.00

VBD_pump_during_surface 19 0 0.35 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 85 223 449.66

Transponder_ping 0 0 0.00

GPS 23 50 11.26

TT8 471 19 91.18

LPSleep 794 2 17.81

TT8_Active 100 19 19.38

TT8_Sampling 293 39 113.54

TT8_CF8 330 45 147.19

TT8_Kalman 31 81 24.96

Analog_circuits 303 12 35.38

GPS_charging 0 0 0.00

Compass 205 26 51.84

RAFOS 0 1 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

34 end surface: CONTROL_FINISHED_OK

state 35 begin dive

41 -1.13 -146.0 0.0 0.0 0 51 0.00 0.00 -8.48 0.000 6 0.000 0.000 637 1748 2978

57 -1.13 -146.0 -0.0 0.0 2 73 6.97 2.70 0.00 0.000 4 0.000 0.000 2076 3572 2974

172 -0.32 -146.0 9.0 -17.2 22 179 0.82 3.30 0.00 0.000 6 0.000 0.000 2260 1764 2971

521 -0.04 -146.0 70.9 -18.1 83 528 0.00 2.88 0.00 0.000 4 0.000 0.000 2232 506 2972

688 0.03 -146.0 97.5 -12.5 112 695 0.03 3.42 0.00 0.000 6 0.000 0.000 2267 2173 2978

704 end dive: TARGET_DEPTH_EXCEEDED

state 704 begin apogee

717 -0.25 0.0 100.3 13.3 115 734 0.17 0.00 14.55 0.001 6 0.000 0.000 2223 1794 2243

734 end apogee: CONTROL_FINISHED_OK

state 734 begin climb

740 1.13 146.0 102.4 0.0 116 762 1.40 2.62 11.80 0.001 4 0.000 0.000 2516 383 1651

1020 0.74 146.0 86.1 18.0 138 1027 0.77 3.00 0.00 0.000 6 0.000 0.000 2345 2157 1659

1369 0.37 146.0 26.1 16.6 199 1375 0.00 2.70 0.00 0.000 4 0.000 0.000 2351 381 1651

1536 end climb: SURFACE_DEPTH_REACHED

state 1541 begin surface coast

1579 end surface coast: CONTROL_FINISHED_OK

state 1579 begin surface

ID	1	HD_B	0.0099999998	PITCH_AD_RATE	180	ALTIM_TOP_PING_RANGE	0
MISSION	1	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	4	HEADING	-1	PITCH_ADJ_GAIN	0.029999999	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	180	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	0
D_TGT	100	FIX_MISSING_TIMEOUT	3	ROLL_MAX	3791	ALTIM_PING_DELTA	0
D_ABORT	250	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1978	ALTIM_FREQUENCY	15
D_NO_BLEED	500	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1978	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	8	ALTIM_SENSITIVITY	1
D_PITCH	1.5	SM_CC	500	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	100	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	10
D_CALL	2	FILEMGR	2	R_PORT_OVSHOOT	12	DEEPGLIDER	0
SURFACE_URGENCY	5	CALL_NDIVES	1	R_STBD_OVSHOOT	9	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	20	COMM_SEQ	0	ROLL_AD_RATE	500	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	20	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	33	N_NOSURFACE	0	ROLL_ADJ_GAIN	2	DEVICE2	53
T_MISSION	45	UPLOAD_DIVES_MAX	5	ROLL_ADJ_DBAND	0.029999999	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	421	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3792	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	2257	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	200000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	1	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	-1	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	-2	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	1
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	32
T_WATCHDOG	10	T_GPS_CHARGE	-482574.66	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	20	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	91.800003	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	0.94999993	PITCH_MAX	3252	AH0_10V	61.200001	SEABIRD_T_H	0.0006414231
RHO	1.02765	C_PITCH	2263	PRESSURE_YINT	-0.22280908	SEABIRD_T_I	2.3931538e-05
MASS	51747	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	1	SEABIRD_C_G	-10.258962
FERRY_MAX	0	P_OVSHOOT	0.045000002	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	1	PITCH_GAIN	20	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00031207138

GPS1	021920,4806.289,-12222.172,33,1.1,34,18.0	TGT_NAME	SEVEN_nb
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.170,0.197
_SM_DEPTHo	-0.00	KALMAN_X	174.2,100.9,89.9,57.1,135.8
_SM_ANGLEo	-50.0	KALMAN_Y	-170.1,-88.6,-76.6,14.7,-125.5
GPS2	022408,4806.267,-12222.178,22,1.1,22,18.0	MHEAD_RNG_PITCHd_Wd	301.3,1696,-17.7,-10.101
SPEED_LIMITS	0.166,0.247	D_GRID	1001

FINISH	2.1,1.016874	XPDR_PINGS	-1
SM_CCo	1679,0.00,0.000,0,0,404,454.30	_24V_AH	23.7,0.250
SM_GC	0.10,0.00,0.00,0.00,0.000,0.000,0.000,646,2204,404,-7.49,6.02,454.30	_10V_AH	9.7,0.096
RAFOS_CLK	0	DATA_FILE_SIZE	9628,236
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,244830208
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,23,165,0,0
TT8_MAMPS	0.02301	SOUNDSPEED	1465.0
HUMID	2233	GPS	040807,025443,4806.145,-12221.986,30,1.1,30,18.0
INTERNAL_PRESSURE	26.0846	ESCAPE_REASON	NO_RECOVERY_REASON
TCM_TEMP	15.00	ESCAPE_STARTED_DIVE	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	119	52.18	SBE_CT	190	24	108.46
Roll_motor	23	60	34.06	Optode	240	33	188.40
VBD_pump_during_apogee	26	0	0.48	nil	0	0	0.00
VBD_pump_during_surface	19	0	0.35	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	85	223	449.66
Transponder_ping	0	0	0.00
GPS	23	50	11.26
TT8	471	19	91.18
LPSleep	794	2	17.81
TT8_Active	100	19	19.38
TT8_Sampling	293	39	113.54
TT8_CF8	330	45	147.19
TT8_Kalman	31	81	24.96
Analog_circuits	303	12	35.38
GPS_charging	0	0	0.00
Compass	205	26	51.84
RAFOS	0	1	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
34	end surface: CONTROL_FINISHED_OK
state	35	begin dive
41	-1.13	-146.0	0.0	0.0	0	51	0.00	0.00	-8.48	0.000	6	0.000	0.000	637	1748	2978
57	-1.13	-146.0	-0.0	0.0	2	73	6.97	2.70	0.00	0.000	4	0.000	0.000	2076	3572	2974
172	-0.32	-146.0	9.0	-17.2	22	179	0.82	3.30	0.00	0.000	6	0.000	0.000	2260	1764	2971
521	-0.04	-146.0	70.9	-18.1	83	528	0.00	2.88	0.00	0.000	4	0.000	0.000	2232	506	2972
688	0.03	-146.0	97.5	-12.5	112	695	0.03	3.42	0.00	0.000	6	0.000	0.000	2267	2173	2978
704	end dive: TARGET_DEPTH_EXCEEDED
state	704	begin apogee
717	-0.25	0.0	100.3	13.3	115	734	0.17	0.00	14.55	0.001	6	0.000	0.000	2223	1794	2243
734	end apogee: CONTROL_FINISHED_OK
state	734	begin climb
740	1.13	146.0	102.4	0.0	116	762	1.40	2.62	11.80	0.001	4	0.000	0.000	2516	383	1651
1020	0.74	146.0	86.1	18.0	138	1027	0.77	3.00	0.00	0.000	6	0.000	0.000	2345	2157	1659
1369	0.37	146.0	26.1	16.6	199	1375	0.00	2.70	0.00	0.000	4	0.000	0.000	2351	381	1651
1536	end climb: SURFACE_DEPTH_REACHED
state	1541	begin surface coast
1579	end surface coast: CONTROL_FINISHED_OK
state	1579	begin surface