ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 611 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  221 HD_A  0.0042300001 ROLL_DEG  40 ALTIM_TOP_PING_RANGE  0
MISSION  7 HD_B  0.0085000005 C_ROLL_DIVE  2800 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  611 HD_C  1.6100001e-05 C_ROLL_CLIMB  2550 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 HEADING  -1 HEAD_ERRBAND  10 ALTIM_TOP_MIN_OBSTACLE  1
STOP_T  0 ESCAPE_HEADING  0 ROLL_CNV  0.028270001 ALTIM_PING_DEPTH  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_TIMEOUT  15 ALTIM_PING_DELTA  10
D_FLARE  3 FIX_MISSING_TIMEOUT  3 R_PORT_OVSHOOT  52 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LAT  4736 R_STBD_OVSHOOT  26 ALTIM_PULSE  1
D_ABORT  1020 TGT_DEFAULT_LON  -12218 ROLL_AD_RATE  50 ALTIM_SENSITIVITY  4
D_NO_BLEED  400 TGT_AUTO_DEFAULT  0 ROLL_MAXERRORS  0 XPDR_VALID  3
D_BOOST  110 SM_CC  300 ROLL_ADJ_GAIN  0 XPDR_INHIBIT  90
T_BOOST  0 N_FILEKB  8 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  10 FILEMGR  2 VBD_MIN  1900 INT_PRESSURE_YINT  0.80000001
D_PITCH  3 CALL_NDIVES  1 VBD_MAX  3960 DEEPGLIDER  0
D_SAFE  150 COMM_SEQ  0 C_VBD  3492 MOTHERBOARD  4
D_CALL  2 PROTOCOL  9 VBD_DBAND  2 DEVICE1  -1
SURFACE_URGENCY  0 N_NOCOMM  0 VBD_CNV  -0.25119999 DEVICE2  -1
SURFACE_URGENCY_TRY  100 NOCOMM_ACTION  163 VBD_LP_IGNORE  0 DEVICE3  -1
SURFACE_URGENCY_FORCE  100 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  330 UPLOAD_DIVES_MAX  4 PITCH_VBD_SHIFT  0.0012300001 DEVICE5  -1
T_MISSION  420 CALL_TRIES  3 VBD_PUMP_AD_RATE_SURFACE  1 DEVICE6  -1
T_ABORT  4320 CALL_WAIT  45 VBD_PUMP_AD_RATE_APOGEE  1 LOGGERS  1
T_TURN  225 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN_SAMPINT  -7 CAPMAXSIZE  10000 UNCOM_BLEED  200 LOGGERDEVICE2  -1
T_NO_W  120 HEAPDBG  0 VBD_MAXERRORS  5 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS  3 W_ADJ_DBAND  2 LOGGERDEVICE4  -1
T_EPIRB  0 N_GPS  100440 DBDW  0 COMPASS_DEVICE  97
EXEC_P  0 T_RSLEEP  120 LOITER_W_DBAND  1 COMPASS2_DEVICE  149
EXEC_DT  0 STROBE  0 LOITER_DBDW  200 PHONE_DEVICE  49
EXEC_T  0 RAFOS_PEAK_OFFSET  -1 LOITER_D_NO_PUMP  500 GPS_DEVICE  64
EXEC_N  0 RAFOS_CORR_THRESH  60 LOITER_N_DIVE  0 RAFOS_DEVICE  32
USE_BATHY  0 RAFOS_HIT_WINDOW  3600 PITCH_W_GAIN  2 XPDR_DEVICE  24
USE_ICE  1 RAFOS_MMODEM  0 PITCH_W_DBAND  0.5 SIM_W  0
ICE_FREEZE_MARGIN  0.079999998 PITCH_MIN  200 CF8_MAXERRORS  20 SEABIRD_T_G  0.0044198656
D_OFFGRID  990 PITCH_MAX  3910 AH0_24V  350 SEABIRD_T_H  0.00064431952
T_WATCHDOG  10 C_PITCH  2775 AH0_10V  0 SEABIRD_T_I  2.6320724e-05
RELAUNCH  1 PITCH_DBAND  0.1 MINV_24V  0 SEABIRD_T_J  3.2746798e-06
APOGEE_PITCH  -5 PITCH_CNV  0.0031300001 MINV_10V  0 SEABIRD_C_G  -9.9022408
MAX_BUOY  110 P_OVSHOOT  0.039999999 MAXI_24V  2 SEABIRD_C_H  1.1403944
COURSE_BIAS  0 P_OVSHOOT_WITHG  0 MAXI_10V  2 SEABIRD_C_I  -0.0013212307
GLIDE_SLOPE  45 PITCH_GAIN  22 FG_AHR_10V  0 SEABIRD_C_J  0.00017705678
SPEED_FACTOR  1 PITCH_TIMEOUT  40 FG_AHR_24V  0 SC_RECORDABOVE  2000.0
RHO  1.0275 PITCH_AD_RATE  20 PHONE_SUPPLY  -2 SC_PROFILE  3.0
MASS  53510 PITCH_MAXERRORS  1 PRESSURE_YINT  -160.68855 SC_XMITPROFILE  3.0
MASS_COMP  0 PITCH_ADJ_GAIN  0 PRESSURE_SLOPE  0.000108275 SC_NDIVE  1.0
NAV_MODE  2 PITCH_ADJ_DBAND  0 AD7714Ch0Gain  1
FERRY_MAX  45 ROLL_MIN  230 COMPASS_USE  4
KALMAN_USE  2 ROLL_MAX  3910 ALTIM_PING_FIT  883

Pre-dive calculations and measurements:
GPS1  031218,140709,-7404.1050,-11225.2227,15,1.5,16,53.2,0.2,0.0,6,5.7 SPEED_LIMITS  0.100,0.244
_CALLS  1 TGT_NAME  hold
_XMS_NAKs  0 TGT_LATLONG  -7404.000,-11225.000
_XMS_TOUTs  0 TGT_RADIUS  3000.000
_SM_DEPTHo  0.56 MHEAD_RNG_PITCHd_Wd  356.1,206,-43.9,-10.000,-45.00,342
_SM_ANGLEo  -66.6 D_GRID  990
GPS2  031218,141417,-7404.0859,-11225.2578,3,1.4,5,53.2,0.2,0.0,6,8.8

Post-dive calculations and measurements:
FREEZE  -0.31,-1.415,-1.162,2,1,0 ALTIM_TOP_PING  12.8,12.9
FINISH  -0.3,1.017181 _24V_AH  11.55,194.221
SM_CCo  12809,144.73,0.219,0,0,2297,300.18 _10V_AH  11.92,0.000
SM_GC  0.59,9.68,0.50,144.73,0.071,0.093,0.219,179,2813,2297,-8.03,-0.34,300.18,0,0,0,0,0,0,14.44,14.40,14.10 FG_AHR_24Vo  0.000
RAFOS_CLK  531 FG_AHR_10Vo  0.000
RAFOS  0,1543849299,15.032778,15.027500,143,61,60,57,57,56,379,201,163,152,595,126 MEM  279824
RAFOS_FIX  -7404.850586,-11226.410156,031218,151548,2,132,0.47 DATA_FILE_SIZE  20125,619
IRIDIUM_FIX  -7403.74,-11221.53,031218,102659 CAP_FILE_SIZE  109163,0
TT8_MAMPS  0.038948,0.258405 CFSIZE  1024409600,948633600
HUMID  47.99 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  7.78269 SOUNDSPEED  1450.5
TCM_TEMP  12.90 CURRENT  0.070,31.41,1
XPDR_PINGS  2 GPS  031218,175155,-7403.199,-11221.667,34,0.7,34,53.2,0.2,12.9,12,3.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor25436129.18 nil000.00
Roll_motor10598120.36 nil000.00
VBD_pump_during_apogee16930655993.16 nil000.00
VBD_pump_during_surface144218365.72 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon128174616.28
Iridium_during_xfer248194557.59 nil000.00
Transponder_ping29420140.68 nil000.00
GUMSTIX_24V000.00
GPS780.77
TT8000.00
LPSleep109152300.56
TT8_Active5601072.66
TT8_Sampling161030582.55
TT8_CF830551186.83
TT8_Kalman000.00
Analog_circuits133210160.43
GPS_charging000.00
Compass889671.43
RAFOS720112.87
Transponder2113075.64

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R
21.2 23.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
45.6 48.60 9000.00 0.0 0.00 0.00 48.60 0.0 1.05 1.00
75.2 78.10 78.30 -3.1 1.02 1.00 78.10 -2.9 1.00 1.00
61.3 64.30 64.20 -2.9 1.00 1.00 64.30 -3.0 0.99 1.00
40.1 41.80 42.00 -1.9 1.04 1.00 41.80 -1.7 1.06 1.00
26.6 27.40 27.40 -0.8 1.06 1.00 27.40 -0.8 1.07 1.00
12.8 12.90 12.90 -0.1 1.06 1.00 12.90 -0.1 1.05 1.00

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
8 end surface: CONTROL_FINISHED_OK
state 8 begin dive
12 -2.02 -22.2 187 2814 2327 2207 0.0 0.0 0 98 0.00 0.00 -85.25 0.003 16390 0.000 0.000 186 2813 3580 3600 3561 0 0 0 0 0 0 14.74 12.50 14.71
102 -2.02 -22.2 187 2814 3605 3565 1.2 -1.0 3 119 10.10 2.45 0.00 0.000 2564 0.436 0.042 2120 1394 3591 3606 3577 0 0 0 0 0 0 13.82 14.42 14.33
246 -2.02 -22.2 2120 1394 3608 3586 12.9 -10.1 24 251 0.00 2.50 0.00 0.000 1030 0.000 0.055 2113 2809 3596 3607 3585 0 0 0 0 0 0 14.50 14.37 14.54
601 -2.02 -22.2 2113 2810 3609 3589 51.9 -11.1 39 607 0.00 2.47 0.00 0.000 516 0.000 0.043 2113 1407 3598 3609 3588 0 0 0 0 0 0 14.89 14.33 14.89
657 -2.02 -22.2 2114 1407 3611 3588 58.2 -11.4 47 663 0.00 2.50 0.00 0.000 1030 0.000 0.055 2105 2804 3598 3609 3588 0 0 0 0 0 0 14.38 14.31 14.42
1021 -2.02 -22.2 2106 2806 3611 3589 98.5 -11.2 63 1021 0.00 0.00 0.00 0.000 6 0.000 0.000 2105 2805 3597 3605 3589 0 0 0 0 0 0 14.90 14.91 14.90
1357 -2.02 -22.2 2106 2805 3611 3590 135.2 -10.7 75 1363 0.00 2.00 0.00 0.000 260 0.000 0.076 2097 3903 3599 3610 3589 0 0 0 0 0 0 14.92 14.22 14.92
1399 -2.02 -22.2 2097 3904 3607 3590 140.0 -11.7 81 1406 0.00 1.90 0.00 0.000 1030 0.000 0.038 2097 2782 3599 3610 3589 0 0 0 0 0 0 14.52 14.50 14.54
1749 -2.02 -22.2 2098 2783 3612 3589 178.7 -11.0 95 1755 0.00 2.42 0.00 0.000 516 0.000 0.044 2097 1398 3599 3610 3589 0 0 0 0 0 0 14.92 14.29 14.92
1819 -2.02 -22.2 2098 1400 3612 3590 186.0 -10.2 105 1826 0.20 2.47 0.00 0.000 3078 0.370 0.054 2122 2803 3600 3611 3589 0 0 0 0 0 0 13.58 14.33 14.16
2200 -2.02 -22.2 2124 2803 3611 3589 222.5 -9.6 116 2205 0.00 2.00 0.00 0.000 260 0.000 0.075 2116 3910 3600 3611 3589 0 0 0 0 0 0 14.81 14.28 14.80
2302 -2.02 -22.2 2115 3910 3612 3592 233.0 -10.1 131 2309 0.00 1.90 0.00 0.000 1030 0.000 0.039 2115 2797 3599 3610 3589 0 0 0 0 0 0 14.45 14.41 14.47
2645 -2.02 -22.2 2116 2797 3612 3589 261.9 -8.0 138 2651 0.00 2.05 0.00 0.000 260 0.000 0.075 2107 3910 3599 3610 3589 0 0 0 0 0 0 14.92 14.20 14.92
2722 -2.02 -22.2 2107 3911 3611 3590 268.7 -8.9 149 2729 0.00 1.90 0.00 0.000 1030 0.000 0.040 2107 2797 3600 3611 3589 0 0 0 0 0 0 14.48 14.45 14.50
3093 -2.03 -29.5 2107 2798 3620 3590 297.6 -7.8 160 3099 0.00 2.05 -0.12 0.747 16676 0.000 0.099 2098 3910 3625 3634 3617 0 0 0 0 0 0 14.89 12.41 14.00
3121 -2.03 -29.5 2099 3910 3637 3617 300.1 -8.9 164 3127 0.00 1.92 0.00 0.000 1030 0.000 0.039 2098 2785 3627 3636 3618 0 0 0 0 0 0 14.48 14.45 14.50
3485 -2.03 -29.5 2099 2785 3638 3621 335.0 -9.6 174 3491 0.00 2.42 0.00 0.000 516 0.000 0.044 2099 1406 3628 3637 3619 0 0 0 0 0 0 14.90 14.26 14.91
3541 -2.03 -29.5 2099 1406 3639 3619 340.4 -9.7 182 3547 0.12 2.50 0.00 0.000 3078 0.353 0.054 2115 2798 3628 3637 3619 0 0 0 0 0 0 13.52 14.23 13.86
3935 -2.03 -29.5 2115 2798 3641 3620 377.0 -9.3 196 3936 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 2798 3628 3637 3620 0 0 0 0 0 0 14.88 14.88 14.88
4269 -2.03 -29.5 2116 2798 3639 3620 407.9 -9.2 202 4275 0.00 2.03 0.00 0.000 260 0.000 0.077 2113 3909 3628 3637 3620 0 0 0 0 0 0 14.91 14.16 14.91
4297 -2.03 -29.5 2113 3909 3638 3621 410.5 -9.3 206 4303 0.00 1.90 0.00 0.000 1030 0.000 0.041 2113 2799 3629 3638 3620 0 0 0 0 0 0 14.45 14.42 14.47
4661 -2.03 -29.5 2112 2799 3639 3620 442.5 -8.6 216 4661 0.00 0.00 0.00 0.000 6 0.000 0.000 2113 2799 3629 3638 3620 0 0 0 0 0 0 14.91 14.91 14.91
4997 -2.03 -29.5 2114 2799 3639 3620 471.3 -8.5 222 5003 0.00 2.47 0.00 0.000 516 0.000 0.044 2113 1396 3629 3638 3620 0 0 0 0 0 0 14.90 14.23 14.91
5025 -2.03 -29.5 2114 1396 3640 3620 473.6 -8.4 226 5031 0.00 2.58 0.00 0.000 1030 0.000 0.058 2111 2814 3628 3637 3620 0 0 0 0 0 0 14.28 14.21 14.33
5389 -2.04 -36.2 2112 2815 3639 3620 502.8 -8.0 236 5395 0.00 2.00 0.00 0.000 292 0.000 0.076 2103 3910 3628 3637 3620 0 0 0 0 0 0 14.91 14.15 14.91
5445 -2.04 -36.2 2103 3911 3638 3621 507.6 -8.8 244 5451 0.00 1.92 0.00 0.000 1030 0.000 0.040 2103 2791 3628 3637 3620 0 0 0 0 0 0 14.44 14.40 14.46
5837 -2.04 -36.2 2103 2792 3637 3621 539.6 -8.1 258 5843 0.00 2.45 0.00 0.000 516 0.000 0.044 2103 1398 3628 3637 3620 0 0 0 0 0 0 14.90 14.14 14.91
5858 -2.04 -36.2 2104 1398 3638 3620 541.3 -8.1 261 5865 0.00 2.55 0.00 0.000 1030 0.000 0.055 2093 2805 3628 3638 3619 0 0 0 0 0 0 14.27 14.20 14.31
6229 -2.05 -44.4 2093 2805 3638 3620 569.9 -7.5 272 6230 0.00 0.00 0.00 0.000 38 0.000 0.000 2092 2805 3628 3637 3620 0 0 0 0 0 0 14.91 14.91 14.91
6565 -2.06 -52.9 2092 2805 3637 3620 594.9 -7.4 278 6566 0.00 0.00 0.00 0.000 38 0.000 0.000 2093 2805 3628 3637 3619 0 0 0 0 0 0 14.90 14.90 14.90
6901 -2.07 -65.1 2093 2806 3638 3621 616.5 -6.3 284 6907 0.00 2.47 0.00 0.000 548 0.000 0.043 2093 1403 3628 3637 3619 0 0 0 0 0 0 14.91 14.23 14.91
6978 -2.09 -80.0 2093 1403 3638 3619 620.9 -5.5 295 6984 0.00 2.55 0.00 0.000 1062 0.000 0.056 2085 2806 3628 3637 3619 0 0 0 0 0 0 14.25 14.16 14.30
7349 -2.11 -93.5 2084 2804 3638 3619 642.8 -5.9 306 7355 0.00 2.03 0.00 0.000 292 0.000 0.074 2076 3913 3627 3637 3618 0 0 0 0 0 0 14.91 14.12 14.90
7475 -2.13 -107.1 2076 3913 3638 3618 650.0 -5.6 324 7481 0.00 1.92 0.00 0.000 1062 0.000 0.040 2076 2797 3627 3637 3617 0 0 0 0 0 0 14.40 14.37 14.43
7854 -2.13 -107.1 2077 2797 3639 3618 668.4 -4.6 336 7859 0.00 2.05 0.00 0.000 292 0.000 0.073 2067 3932 3627 3637 3618 0 0 0 0 0 0 14.77 14.15 14.78
8091 -2.13 -107.1 2068 3932 3639 3616 679.2 -4.6 370 8097 0.00 1.95 0.00 0.000 1062 0.000 0.040 2067 2796 3627 3637 3617 0 0 0 0 0 0 14.40 14.37 14.42
8469 -2.13 -107.1 2067 2796 3639 3617 694.9 -4.1 382 8475 0.00 2.05 0.00 0.000 292 0.000 0.075 2060 3907 3627 3637 3617 0 0 0 0 0 0 14.90 14.10 14.90
8707 -2.13 -107.1 2060 3908 3637 3618 705.1 -4.0 416 8713 0.12 1.90 0.00 0.000 3110 0.360 0.040 2087 2803 3624 3635 3613 0 0 0 0 0 0 13.43 14.37 13.76
9085 -2.13 -107.1 2087 2803 3638 3619 716.9 -3.0 428 9086 0.00 0.00 0.00 0.000 38 0.000 0.000 2087 2802 3627 3637 3617 0 0 0 0 0 0 14.89 14.88 14.88
9421 -2.13 -107.1 2087 2803 3639 3618 724.3 -2.0 434 9427 0.00 2.05 0.00 0.000 292 0.000 0.074 2078 3917 3624 3637 3611 0 0 0 0 0 0 14.90 14.12 14.90
9659 -2.13 -107.1 2079 3917 3639 3618 727.7 -1.2 468 9665 0.00 1.95 0.00 0.000 1062 0.000 0.039 2082 2791 3627 3637 3618 0 0 0 0 0 0 14.38 14.35 14.41
9922 end dive: NO_VERTICAL_VELOCITY
state 9922 begin apogee
9929 -0.23 0.0 2083 2535 3639 3618 729.8 0.0 478 9975 2.75 0.00 41.85 3.017 10246 0.334 0.000 2695 2534 3493 3501 3485 0 0 0 0 0 0 13.66 14.00 12.53
9976 end apogee: CONTROL_FINISHED_OK
state 9976 begin climb
9979 2.13 107.1 2697 2534 3502 3485 729.8 0.0 478 10118 2.40 2.67 127.43 3.065 10756 0.111 0.069 3468 1162 3062 3084 3040 0 0 0 0 0 0 14.07 12.83 11.55
10257 2.13 107.1 3468 1163 3077 3033 666.0 28.7 524 10263 0.00 2.62 0.00 0.000 1030 0.000 0.070 3468 2556 3054 3077 3032 0 0 0 0 0 0 13.93 13.82 13.97
10610 2.13 107.1 3468 2556 3074 3030 565.1 28.4 532 10615 0.00 2.53 0.00 0.000 516 0.000 0.063 3478 1156 3051 3073 3030 0 0 0 0 0 0 14.76 14.35 14.76
10634 2.13 107.1 3475 1157 3074 3031 557.2 28.4 536 10641 0.00 2.55 0.00 0.000 1030 0.000 0.067 3478 2556 3051 3073 3030 0 0 0 0 0 0 14.42 14.33 14.47
11002 2.13 107.1 3478 2557 3073 3032 454.6 27.9 546 11007 0.00 2.50 0.00 0.000 516 0.000 0.063 3489 1157 3051 3073 3030 0 0 0 0 0 0 14.83 14.33 14.83
11019 2.13 107.1 3488 1157 3074 3032 448.8 27.7 549 11027 0.12 2.55 0.00 0.000 5126 0.354 0.067 3461 2558 3051 3073 3030 0 0 0 0 0 0 13.82 14.35 14.16
11391 2.13 107.1 3461 2557 3072 3031 348.2 26.9 560 11397 0.00 2.50 0.00 0.000 516 0.000 0.063 3471 1153 3051 3072 3030 0 0 0 0 0 0 14.83 14.38 14.83
11419 2.13 107.1 3471 1154 3073 3031 341.0 25.6 564 11425 0.00 2.58 0.00 0.000 1030 0.000 0.072 3471 2561 3051 3072 3030 0 0 0 0 0 0 14.43 14.33 14.47
11786 2.13 107.1 3471 2561 3072 3030 245.6 26.2 574 11791 0.00 2.50 0.00 0.000 516 0.000 0.063 3481 1163 3050 3071 3030 0 0 0 0 0 0 14.84 14.37 14.84
11826 2.13 107.1 3482 1163 3073 3030 235.0 25.5 580 11831 0.00 2.50 0.00 0.000 1030 0.000 0.068 3481 2554 3050 3071 3030 0 0 0 0 0 0 14.53 14.38 14.58
12178 2.13 107.1 3482 2555 3073 3030 145.1 25.5 591 12179 0.00 0.00 0.00 0.000 6 0.000 0.000 3481 2555 3050 3071 3030 0 0 0 0 0 0 14.83 14.84 14.84
12514 2.13 107.1 3481 2554 3072 3030 61.3 25.0 603 12519 0.00 2.50 0.00 0.000 260 0.000 0.092 3481 3907 3050 3071 3030 0 0 0 0 0 0 14.84 14.29 14.84
12539 2.13 107.1 3481 3908 3073 3029 54.0 26.1 607 12545 0.15 2.40 0.00 0.000 5126 0.396 0.051 3460 2551 3050 3071 3030 0 0 0 0 0 0 13.62 14.42 14.00
12761 end climb: SURFACE_DEPTH_REACHED
state 12761 begin surface coast
12788 end surface coast: FINISH_DEPTH_REACHED
state 12788 begin surface