SPURS Sep12 * SG189 * Dive index * Mission links * Dive 56 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  189 HEADING  -1 ROLL_DEG  45 ALTIM_FREQUENCY  13
MISSION  7 ESCAPE_HEADING  90 C_ROLL_DIVE  1850 ALTIM_PULSE  3
DIVE  56 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1850 ALTIM_SENSITIVITY  4
N_DIVES  0 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  20 XPDR_VALID  4
D_SURF  3 TGT_DEFAULT_LAT  2434 ROLL_CNV  0.028270001 XPDR_INHIBIT  90
D_FLARE  2 TGT_DEFAULT_LON  -3802 ROLL_TIMEOUT  15 INT_PRESSURE_SLOPE  0.0097660003
D_TGT  990 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  -20 INT_PRESSURE_YINT  2.2
D_ABORT  1090 SM_CC  300 R_STBD_OVSHOOT  -20 DEEPGLIDER  0
D_NO_BLEED  200 N_FILEKB  4 ROLL_AD_RATE  350 DEEPGLIDERMB  0
D_BOOST  100 FILEMGR  0 ROLL_MAXERRORS  2 MOTHERBOARD  4
T_BOOST  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 DEVICE1  -1
D_FINISH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEVICE2  -1
D_PITCH  0 PROTOCOL  1 VBD_MIN  500 DEVICE3  -1
D_SAFE  0 N_NOCOMM  5 VBD_MAX  3960 DEVICE4  -1
D_CALL  0 NOCOMM_ACTION  163 C_VBD  2320 DEVICE5  -1
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE6  -1
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 LOGGERS  3
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_TIMEOUT  720 LOGGERDEVICE1  53
T_DIVE  540 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0012300001 LOGGERDEVICE2  67
T_MISSION  570 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  6 LOGGERDEVICE3  -1
T_ABORT  1440 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE4  -1
T_TURN  225 HEAPDBG  0 VBD_BLEED_AD_RATE  8 COMPASS_DEVICE  33
T_TURN_SAMPINT  10 T_GPS  15 UNCOM_BLEED  50 COMPASS2_DEVICE  -1
T_NO_W  720 N_GPS  30 VBD_MAXERRORS  1 PHONE_DEVICE  49
T_LOITER  0 T_GPS_ALMANAC  0 CF8_MAXERRORS  20 GPS_DEVICE  32
T_EPIRB  0 T_GPS_CHARGE  -46944.293 AH0_24V  150 RAFOS_DEVICE  -1
USE_BATHY  0 T_RSLEEP  2 AH0_10V  97 XPDR_DEVICE  24
USE_ICE  0 STROBE  0 MINV_24V  19 SIM_W  0
ICE_FREEZE_MARGIN  0.30000001 RAFOS_PEAK_OFFSET  1.5 MINV_10V  8 SIM_PITCH  0
D_OFFGRID  1001 RAFOS_CORR_THRESH  60 FG_AHR_10V  0 SEABIRD_T_G  0.0042969952
T_WATCHDOG  10 RAFOS_HIT_WINDOW  3600 FG_AHR_24V  0 SEABIRD_T_H  0.00061766658
RELAUNCH  1 PITCH_MIN  165 PHONE_SUPPLY  2 SEABIRD_T_I  2.0722548e-05
APOGEE_PITCH  -5 PITCH_MAX  3928 PRESSURE_YINT  -80.603096 SEABIRD_T_J  1.9705003e-06
MAX_BUOY  150 C_PITCH  3000 PRESSURE_SLOPE  0.0001182519 SEABIRD_C_G  -9.7093372
COURSE_BIAS  0 PITCH_DBAND  0.1 AD7714Ch0Gain  128 SEABIRD_C_H  1.1118598
GLIDE_SLOPE  30 PITCH_CNV  0.003125763 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0010979992
SPEED_FACTOR  1 P_OVSHOOT  0.039999999 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00015928292
RHO  1.0233001 PITCH_GAIN  17.5 COMPASS_USE  0 SC_RECORDABOVE  2000.0
MASS  54634 PITCH_TIMEOUT  18 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
NAV_MODE  1 PITCH_AD_RATE  165 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0
FERRY_MAX  45 PITCH_MAXERRORS  1 ALTIM_BOTTOM_TURN_MARGIN  10 TM_RECORDABOVE  200.0
KALMAN_USE  1 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_TURN_MARGIN  0 TM_PROFILE  3.0
HD_A  0.0038360001 PITCH_ADJ_DBAND  1 ALTIM_TOP_MIN_OBSTACLE  1 TM_XMITPROFILE  3.0
HD_B  0.01103 ROLL_MIN  359 ALTIM_PING_DEPTH  0 TM_LOGSAMPLE  0.0
HD_C  2.7848e-05 ROLL_MAX  3924 ALTIM_PING_DELTA  5 TM_XMITRAW  0.0

Pre-dive calculations and measurements:
GPS1  290912,115406,2434.102,-3800.904,28,1.4,28,-14.0 TGT_NAME  C
_CALLS  1 TGT_LATLONG  2433.000,-3802.000
_XMS_NAKs  0 TGT_RADIUS  100.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.057,-0.113
_SM_DEPTHo  1.84 KALMAN_X  8583.2,188.8,-193.7,-6905.8,14.1
_SM_ANGLEo  -63.6 KALMAN_Y  61410.5,149.2,-150.0,-64205.6,1609.5
GPS2  290912,120236,2434.103,-3800.909,20,0.9,20,-14.0 MHEAD_RNG_PITCHd_Wd  220.9,2748,-22.2,-6.111,-25.75
SPEED_LIMITS  0.106,0.203 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.7,1.023589 _24V_AH  23.9,12.574
SM_CCo  20724,73.60,0.135,0,0,1094,300.00 _10V_AH  10.5,11.683
SM_GC  1.91,8.68,0.08,73.60,0.050,0.109,0.135,161,1837,1094,-8.83,0.65,300.00,0,0,0,0,0,0,26.70,26.84,26.22 FG_AHR_24Vo  0.000
IRIDIUM_FIX  2432.32,-3752.92,290912,040405 FG_AHR_10Vo  0.000
TT8_MAMPS  0.026964,0.026964 MEM  344704
HUMID  51.29 DATA_FILE_SIZE  10104,428
INTERNAL_PRESSURE  9.12409 CAP_FILE_SIZE  141984,0
TCM_TEMP  24.80 CFSIZE  260034560,248311808
XPDR_PINGS  2 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB  7748384 GPS  290912,175123,2432.395,-3801.552,38,0.8,38,-14.0
TM_FREEKB  7378336

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22214117.27 nil000.00
Roll_motor101138334.99 nil000.00
VBD_pump_during_apogee17317247169.69 nil000.00
VBD_pump_during_surface73134236.84 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810370.53 nil000.00
Iridium_during_connect37160143.99 SciCon2069273786.68
Iridium_during_xfer2452231307.50 TMICL4602131487.58
Transponder_ping04205.02 nil000.00
GUMSTIX_24V000.00
GPS205010.94
TT8164419341.90
LPSleep174092400.32
TT8_Active48619101.15
TT8_Sampling160239669.79
TT8_CF81594576.70
TT8_Kalman338128.56
Analog_circuits112912142.29
GPS_charging000.00
Compass116515183.57
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
20 end surface: CONTROL_FINISHED_OK
state 20 begin dive
22 -1.33 -49.1 0.0 0.0 0 55 0.00 0.00 -31.65 0.000 2 0.000 0.000 160 1838 1839 0 0 0 0 0 0 28.83 28.83 28.83
58 -1.39 -96.6 2.1 -2.1 3 106 9.20 2.30 -30.42 0.000 4 0.215 0.057 2549 350 2714 0 0 0 0 0 0 25.92 26.32 26.69
335 -1.21 -96.6 36.5 -17.1 31 344 0.28 2.33 0.00 0.000 6 0.175 0.024 2611 1894 2716 0 0 0 0 0 0 26.06 26.50 28.83
645 -1.14 -96.6 74.0 -8.2 62 654 0.00 2.42 0.00 0.000 4 0.000 0.041 2612 345 2717 0 0 0 0 0 0 28.83 26.50 28.83
885 -1.04 -96.6 90.3 -6.8 72 893 0.22 2.30 0.00 0.000 6 0.163 0.024 2663 1890 2718 0 0 0 0 0 0 26.25 26.63 28.83
1215 -1.05 -101.0 110.0 -5.7 83 1224 0.00 2.42 -0.10 0.000 4 0.000 0.051 2653 3452 2737 0 0 0 0 0 0 28.83 26.60 26.15
1293 -1.05 -101.0 114.3 -6.7 85 1298 0.00 2.45 0.00 0.000 6 0.000 0.023 2653 1816 2737 0 0 0 0 0 0 28.83 26.66 28.83
1594 -1.05 -101.0 139.2 -8.1 95 1596 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 1815 2737 0 0 0 0 0 0 28.83 28.83 28.83
1924 -1.05 -101.0 163.1 -7.0 103 1926 0.00 0.00 0.00 0.000 6 0.000 0.000 2653 1815 2737 0 0 0 0 0 0 28.83 28.83 28.83
2224 -1.05 -101.0 185.0 -7.6 108 2228 0.00 2.28 0.00 0.000 4 0.000 0.042 2653 351 2739 0 0 0 0 0 0 28.83 26.65 28.83
2460 -1.03 -101.0 204.3 -8.4 112 2465 0.00 2.22 0.00 0.000 6 0.000 0.024 2642 1893 2737 0 0 0 0 0 0 28.83 26.74 28.83
2815 -1.03 -101.0 234.5 -8.2 118 2823 0.00 2.40 0.00 0.000 4 0.000 0.038 2630 3455 2737 0 0 0 0 0 0 28.83 26.67 28.83
3056 -1.03 -101.0 250.7 -6.7 122 3064 0.15 2.45 0.00 0.000 6 0.155 0.023 2669 1818 2736 0 0 0 0 0 0 26.44 26.73 28.83
3416 -1.07 -101.0 272.6 -6.3 128 3417 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 1817 2733 0 0 0 0 0 0 28.83 28.83 28.83
3716 -1.11 -101.0 295.6 -7.8 133 3717 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 1818 2734 0 0 0 0 0 0 28.83 28.83 28.83
4016 -1.16 -101.0 317.8 -7.3 138 4018 0.12 0.00 0.00 0.000 6 0.090 0.000 2615 1818 2733 0 0 0 0 0 0 26.79 28.83 28.83
4316 -1.16 -101.0 345.7 -9.4 143 4320 0.00 2.30 0.00 0.000 4 0.000 0.043 2615 345 2732 0 0 0 0 0 0 28.83 26.65 28.83
4436 -1.14 -101.0 357.3 -10.0 145 4441 0.12 2.30 0.00 0.000 6 0.174 0.024 2633 1887 2731 0 0 0 0 0 0 26.45 26.75 28.83
4777 -1.14 -101.0 389.7 -9.1 151 4779 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 1887 2730 0 0 0 0 0 0 28.83 28.83 28.83
5078 -1.16 -101.0 416.3 -8.8 156 5086 0.00 2.42 0.00 0.000 4 0.000 0.043 2634 342 2728 0 0 0 0 0 0 28.83 26.65 28.83
5318 -1.16 -101.0 440.0 -9.9 160 5326 0.00 2.33 0.00 0.000 6 0.000 0.024 2624 1897 2728 0 0 0 0 0 0 28.83 26.73 28.83
5678 -1.16 -101.0 469.8 -8.1 166 5685 0.00 2.42 0.00 0.000 4 0.000 0.043 2620 352 2726 0 0 0 0 0 0 28.83 26.65 28.83
5887 -1.16 -101.0 488.6 -10.0 169 5891 0.00 2.30 0.00 0.000 6 0.000 0.024 2613 1886 2726 0 0 0 0 0 0 28.83 26.74 28.83
6208 -1.16 -101.0 528.4 -11.4 173 6209 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 1886 2724 0 0 0 0 0 0 28.83 28.83 28.83
6568 -1.16 -101.0 565.6 -10.7 176 6569 0.00 0.00 0.00 0.000 6 0.000 0.000 2612 1886 2723 0 0 0 0 0 0 28.83 28.83 28.83
6928 -1.16 -101.0 592.4 -7.8 179 6935 0.00 2.42 0.00 0.000 4 0.000 0.044 2612 350 2722 0 0 0 0 0 0 28.83 26.63 28.83
7086 -1.16 -101.0 602.1 -7.5 180 7091 0.00 2.33 0.00 0.000 6 0.000 0.025 2601 1896 2722 0 0 0 0 0 0 28.83 26.73 28.83
7398 -1.16 -101.0 633.7 -8.8 183 7399 0.00 0.00 0.00 0.000 6 0.000 0.000 2601 1896 2721 0 0 0 0 0 0 28.83 28.83 28.83
7758 -1.16 -101.0 671.9 -10.4 186 7765 0.00 2.42 0.00 0.000 4 0.000 0.044 2601 354 2720 0 0 0 0 0 0 28.83 26.62 28.83
7886 -1.16 -101.0 685.8 -10.8 187 7891 0.12 2.33 0.00 0.000 6 0.177 0.026 2620 1892 2719 0 0 0 0 0 0 26.40 26.72 28.83
8229 -1.18 -101.0 724.0 -11.0 190 8230 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 1892 2718 0 0 0 0 0 0 28.83 28.83 28.83
8589 -1.22 -101.0 760.5 -10.3 193 8597 0.00 2.45 0.00 0.000 4 0.000 0.045 2621 350 2716 0 0 0 0 0 0 28.83 26.60 28.83
8768 -1.26 -101.0 772.5 -10.1 194 8772 0.00 2.33 0.00 0.000 6 0.000 0.026 2611 1886 2715 0 0 0 0 0 0 28.83 26.72 28.83
9179 -1.29 -101.0 812.7 -8.5 198 9181 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 1886 2714 0 0 0 0 0 0 28.83 28.83 28.83
9539 -1.33 -101.0 844.2 -8.7 201 9541 0.12 0.00 0.00 0.000 6 0.090 0.000 2557 1887 2713 0 0 0 0 0 0 26.78 28.83 28.83
9899 -1.33 -101.0 884.9 -10.8 204 9900 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 1887 2711 0 0 0 0 0 0 28.83 28.83 28.83
10259 -1.33 -101.0 926.4 -11.6 207 10260 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 1887 2707 0 0 0 0 0 0 28.83 28.83 28.83
10619 -1.33 -101.0 965.4 -11.0 210 10626 0.00 2.45 0.00 0.000 4 0.000 0.047 2558 349 2708 0 0 0 0 0 0 28.83 26.56 28.83
10827 -1.33 -101.0 979.3 -10.9 211 10831 0.00 2.33 0.00 0.000 6 0.000 0.027 2546 1883 2708 0 0 0 0 0 0 28.83 26.69 28.83
10847 end dive: TARGET_DEPTH_EXCEEDED
state 10847 begin apogee
10851 -0.29 0.0 992.0 -11.1 212 10938 1.15 0.00 82.65 1.724 6 0.145 0.000 2902 1837 2319 0 0 0 0 0 0 26.13 28.83 24.01
10940 end apogee: CONTROL_FINISHED_OK
state 10940 begin climb
10942 1.39 101.0 992.0 0.0 212 11037 1.55 0.00 91.32 1.702 6 0.070 0.000 3444 1836 1907 0 0 0 0 0 0 25.14 28.83 23.87
11329 1.28 101.0 945.7 14.4 216 11331 0.12 0.00 0.00 0.000 6 0.197 0.000 3417 1836 1898 0 0 0 0 0 0 25.89 28.83 28.83
11689 1.18 101.0 896.3 13.9 219 11691 0.15 0.00 0.00 0.000 6 0.185 0.000 3380 1837 1895 0 0 0 0 0 0 26.11 28.83 28.83
12049 1.12 101.0 853.2 12.3 222 12050 0.00 0.00 0.00 0.000 6 0.000 0.000 3380 1836 1893 0 0 0 0 0 0 28.83 28.83 28.83
12409 1.06 101.0 813.6 11.1 225 12418 0.15 2.55 0.00 0.000 4 0.178 0.041 3336 3450 1892 0 0 0 0 0 0 26.29 26.48 28.83
12650 1.02 101.0 788.9 10.5 227 12657 0.00 2.47 0.00 0.000 6 0.000 0.028 3346 1833 1892 0 0 0 0 0 0 28.83 26.55 28.83
13008 1.02 101.0 754.4 9.8 230 13013 0.00 2.38 0.00 0.000 4 0.000 0.047 3358 353 1890 0 0 0 0 0 0 28.83 26.51 28.83
13129 1.00 101.0 743.8 9.6 231 13134 0.12 2.33 0.00 0.000 6 0.175 0.026 3322 1885 1889 0 0 0 0 0 0 26.33 26.62 28.83
13471 1.00 101.0 713.9 8.7 234 13475 0.00 2.45 0.00 0.000 4 0.000 0.041 3316 3450 1889 0 0 0 0 0 0 28.83 26.55 28.83
13582 1.00 101.0 703.9 8.6 235 13590 0.00 2.47 0.00 0.000 6 0.000 0.027 3327 1829 1888 0 0 0 0 0 0 28.83 26.61 28.83
13942 1.00 101.0 666.9 10.0 238 13943 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 1829 1888 0 0 0 0 0 0 28.83 28.83 28.83
14302 1.00 101.0 630.5 10.3 241 14303 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 1829 1888 0 0 0 0 0 0 28.83 28.83 28.83
14662 1.00 101.0 595.7 9.7 244 14663 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 1830 1888 0 0 0 0 0 0 28.83 28.83 28.83
15022 1.00 101.0 556.0 10.8 247 15023 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 1829 1888 0 0 0 0 0 0 28.83 28.83 28.83
15382 1.02 101.0 518.3 10.7 250 15383 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 1829 1888 0 0 0 0 0 0 28.83 28.83 28.83
15682 1.05 101.0 489.7 9.6 253 15684 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 1829 1888 0 0 0 0 0 0 28.83 28.83 28.83
15982 1.08 101.0 461.2 9.5 258 15990 0.00 2.55 0.00 0.000 4 0.000 0.039 3327 3453 1888 0 0 0 0 0 0 28.83 26.60 28.83
16092 1.11 101.0 455.9 9.2 259 16096 0.00 2.47 0.00 0.000 6 0.000 0.027 3338 1828 1888 0 0 0 0 0 0 28.83 26.65 28.83
16392 1.13 101.0 428.8 7.3 264 16393 0.00 0.00 0.00 0.000 6 0.000 0.000 3338 1828 1888 0 0 0 0 0 0 28.83 28.83 28.83
16693 1.16 101.0 402.3 9.1 269 16695 0.10 0.00 0.00 0.000 6 0.100 0.000 3386 1826 1888 0 0 0 0 0 0 26.77 28.83 28.83
16993 1.14 101.0 365.0 12.6 274 16994 0.00 0.00 0.00 0.000 6 0.000 0.000 3386 1826 1888 0 0 0 0 0 0 28.83 28.83 28.83
17292 1.12 101.0 329.0 12.0 279 17300 0.00 2.55 0.00 0.000 4 0.000 0.039 3386 3453 1888 0 0 0 0 0 0 28.83 26.60 28.83
17413 1.09 101.0 314.6 12.0 281 17421 0.17 2.47 0.00 0.000 6 0.164 0.026 3353 1825 1888 0 0 0 0 0 0 26.29 26.66 28.83
17772 1.11 101.0 285.7 7.2 287 17780 0.00 2.55 0.00 0.000 4 0.000 0.039 3353 3454 1889 0 0 0 0 0 0 28.83 26.59 28.83
17931 1.11 101.0 275.2 7.8 289 17935 0.00 2.47 0.00 0.000 6 0.000 0.025 3363 1825 1888 0 0 0 0 0 0 28.83 26.65 28.83
18243 1.11 101.0 239.0 10.8 295 18244 0.00 0.00 0.00 0.000 6 0.000 0.000 3363 1825 1889 0 0 0 0 0 0 28.83 28.83 28.83
18542 1.11 101.0 205.3 11.4 300 18547 0.00 2.55 0.00 0.000 4 0.000 0.039 3365 3458 1890 0 0 0 0 0 0 28.83 26.59 28.83
18683 1.11 101.0 191.8 12.0 302 18687 0.00 2.47 0.00 0.000 6 0.000 0.025 3376 1823 1890 0 0 0 0 0 0 28.83 26.66 28.83
19004 1.11 101.0 147.8 13.0 308 19006 0.00 0.00 0.00 0.000 6 0.000 0.000 3375 1822 1893 0 0 0 0 0 0 28.83 28.83 28.83
19304 1.11 101.0 120.2 6.7 318 19312 0.00 2.55 0.00 0.000 4 0.000 0.039 3375 3453 1891 0 0 0 0 0 0 28.83 26.60 28.83
19424 1.11 101.0 110.2 8.3 322 19432 0.00 2.47 0.00 0.000 6 0.000 0.025 3390 1819 1891 0 0 0 0 0 0 28.83 26.67 28.83
19755 1.14 101.0 73.8 11.3 333 19764 0.00 2.33 0.00 0.000 4 0.000 0.045 3398 346 1892 0 0 0 0 0 0 28.83 26.58 28.83
19994 1.14 101.0 54.0 6.3 357 19999 0.12 2.30 0.00 0.000 6 0.158 0.024 3366 1889 1892 0 0 0 0 0 0 26.42 26.71 28.83
20297 1.20 101.0 33.9 7.4 387 20298 0.00 0.00 0.00 0.000 6 0.000 0.000 3366 1889 1893 0 0 0 0 0 0 28.83 28.83 28.83
20596 1.27 101.0 10.0 8.0 417 20598 0.15 0.00 0.00 0.000 6 0.075 0.000 3436 1889 1894 0 0 0 0 0 0 26.78 28.83 28.83
20674 end climb: SURFACE_DEPTH_REACHED
state 20674 begin surface coast
20707 end surface coast: CONTROL_FINISHED_OK
state 20707 begin surface