Glider dive log

PortSusan 15Jan08 * SG140 * Dive index * Mission links * Dive 77 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 140 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 77 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 157 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DEPTH 0

D_TGT 100 TGT_DEFAULT_LAT 4736 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 250 TGT_DEFAULT_LON -12218 C_ROLL_DIVE 2048 ALTIM_FREQUENCY 13

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2048 ALTIM_PULSE 3

D_FINISH 0 SM_CC 500 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 14 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 33 N_NOSURFACE 0 ROLL_ADJ_GAIN 2 DEVICE2 -1

T_MISSION 45 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 520 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3978 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3457 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE -1 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 1

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 32

T_WATCHDOG 10 T_GPS_CHARGE -4239.0142 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 3 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 20 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 592 AH0_24V 91.800003 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3894 AH0_10V 61.200001 SEABIRD_T_H 0.0006414231

RHO 1.023 C_PITCH 2990 PRESSURE_YINT -0.40656364 SEABIRD_T_I 2.3931538e-05

MASS 51445 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 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 1 PITCH_GAIN 14.2 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00031207138

HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 1 D_FINISH 0 PITCH_AD_RATE 175 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 14.2 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3894 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 592 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 100 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -0.40656364 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 33

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -4239.0142

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 45

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 140 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2990 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2048 KALMAN_USE 1 ROLL_MIN 157 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2048 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -4

C_VBD 3457 MASS 51445 R_PORT_OVSHOOT 15 USE_ICE -1

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 14 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.258962 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_DBAND 2

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0037964056 VBD_MAX 3978

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 20

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 520

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 77 PHONE_DEVICE 32 SEABIRD_T_J 2.340664e-06 VBD_TIMEOUT 720

D_ABORT 250 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 164001,4806.383,-12222.402,24,1.1,24,18.0 TGT_NAME SEVEN_nb

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.142,0.219

_SM_DEPTHo -0.00 KALMAN_X 13180.7,756.2,-2289.3,-11339.4,143.2

_SM_ANGLEo -51.3 KALMAN_Y -18566.1,-814.9,-427.2,19736.8,-219.4

GPS2 164213,4806.372,-12222.398,23,1.1,23,18.0 MHEAD_RNG_PITCHd_Wd 309.1,1380,-17.6,-10.101

SPEED_LIMITS 0.175,0.261 D_GRID 105

Post-dive calculations and measurements:

FINISH -0.0,0.998433 XPDR_PINGS 53

SM_CCo 1747,79.47,0.642,0,0,1417,500.17 _24V_AH 23.7,10.833

SM_GC -0.00,0.00,0.00,79.47,0.000,0.000,0.642,588,2038,1417,-11.05,-0.28,500.17 _10V_AH 9.8,3.068

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 9585,317

TT8_MAMPS 0.028379 CAP_FILE_SIZE 33998,0

HUMID 1768 CFSIZE 260165632,257273856

INTERNAL_PRESSURE 14.2388 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,103,0

TCM_TEMP 15.00 GPS 160108,171429,4806.289,-12222.172,17,1.1,18,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 55 32.59 SBE_CT 229 24 130.26

Roll_motor 17 105 42.59 nil 0 0 0.00

VBD_pump_during_apogee 0 0 0.00 nil 0 0 0.00

VBD_pump_during_surface 79 641 1209.20 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 49 223 264.19

Transponder_ping 13 420 131.89

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 24 50 12.15

TT8 348 19 67.71

LPSleep 552 2 11.86

TT8_Active 694 19 134.74

TT8_Sampling 288 39 112.71

TT8_CF8 99 45 44.50

TT8_Kalman 33 81 26.73

Analog_circuits 960 12 112.93

GPS_charging 0 0 0.00

Compass 255 26 65.00

RAFOS 0 0 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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.42 -146.6 0.0 0.0 0 116 0.00 0.00 -95.15 0.000 2 0.000 0.000 586 2045 1496

118 -1.42 -146.6 3.1 -6.9 19 713 9.35 0.00 -574.00 0.000 2 0.041 0.000 2687 2045 2153

714 end dive: TARGET_DEPTH_EXCEEDED

state 714 begin apogee

718 -0.35 0.0 100.1 8.9 137 722 0.98 0.00 0.00 0.000 6 0.043 0.000 2916 2045 2153

723 end apogee: CONTROL_FINISHED_OK

state 723 begin climb

725 1.42 146.6 101.1 0.0 138 735 1.67 2.97 0.00 0.000 4 0.041 0.100 3302 639 2153

987 1.05 146.6 92.7 17.9 185 993 0.40 2.72 0.00 0.000 6 0.046 0.065 3210 2054 2153

1128 0.69 146.6 66.2 19.9 210 1134 0.30 2.95 0.00 0.000 4 0.054 0.100 3138 638 2153

1386 0.34 146.6 22.8 17.2 256 1393 0.35 2.70 0.00 0.000 6 0.050 0.066 3058 2041 2153

1460 -0.02 146.6 11.0 15.5 269 1466 0.35 2.90 0.00 0.000 4 0.055 0.100 2977 643 2153

1656 0.24 282.6 2.2 3.8 304 1663 0.30 2.78 0.00 0.000 6 0.048 0.066 3047 2082 2153

1666 end climb: SURFACE_DEPTH_REACHED

state 1666 begin surface coast

1729 end surface coast: CONTROL_FINISHED_OK

state 1729 begin surface

ID	140	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	77	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	157	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DEPTH	0
D_TGT	100	TGT_DEFAULT_LAT	4736	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	250	TGT_DEFAULT_LON	-12218	C_ROLL_DIVE	2048	ALTIM_FREQUENCY	13
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2048	ALTIM_PULSE	3
D_FINISH	0	SM_CC	500	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	14	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	33	N_NOSURFACE	0	ROLL_ADJ_GAIN	2	DEVICE2	-1
T_MISSION	45	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	520	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3978	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3457	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	-1	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	1
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	32
T_WATCHDOG	10	T_GPS_CHARGE	-4239.0142	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	3	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	20	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	592	AH0_24V	91.800003	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3894	AH0_10V	61.200001	SEABIRD_T_H	0.0006414231
RHO	1.023	C_PITCH	2990	PRESSURE_YINT	-0.40656364	SEABIRD_T_I	2.3931538e-05
MASS	51445	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	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	1	PITCH_GAIN	14.2	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00031207138
HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	164001,4806.383,-12222.402,24,1.1,24,18.0	TGT_NAME	SEVEN_nb
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.142,0.219
_SM_DEPTHo	-0.00	KALMAN_X	13180.7,756.2,-2289.3,-11339.4,143.2
_SM_ANGLEo	-51.3	KALMAN_Y	-18566.1,-814.9,-427.2,19736.8,-219.4
GPS2	164213,4806.372,-12222.398,23,1.1,23,18.0	MHEAD_RNG_PITCHd_Wd	309.1,1380,-17.6,-10.101
SPEED_LIMITS	0.175,0.261	D_GRID	105

FINISH	-0.0,0.998433	XPDR_PINGS	53
SM_CCo	1747,79.47,0.642,0,0,1417,500.17	_24V_AH	23.7,10.833
SM_GC	-0.00,0.00,0.00,79.47,0.000,0.000,0.642,588,2038,1417,-11.05,-0.28,500.17	_10V_AH	9.8,3.068
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	9585,317
TT8_MAMPS	0.028379	CAP_FILE_SIZE	33998,0
HUMID	1768	CFSIZE	260165632,257273856
INTERNAL_PRESSURE	14.2388	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,103,0
TCM_TEMP	15.00	GPS	160108,171429,4806.289,-12222.172,17,1.1,18,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	55	32.59	SBE_CT	229	24	130.26
Roll_motor	17	105	42.59	nil	0	0	0.00
VBD_pump_during_apogee	0	0	0.00	nil	0	0	0.00
VBD_pump_during_surface	79	641	1209.20	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	49	223	264.19
Transponder_ping	13	420	131.89
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	24	50	12.15
TT8	348	19	67.71
LPSleep	552	2	11.86
TT8_Active	694	19	134.74
TT8_Sampling	288	39	112.71
TT8_CF8	99	45	44.50
TT8_Kalman	33	81	26.73
Analog_circuits	960	12	112.93
GPS_charging	0	0	0.00
Compass	255	26	65.00
RAFOS	0	0	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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.42	-146.6	0.0	0.0	0	116	0.00	0.00	-95.15	0.000	2	0.000	0.000	586	2045	1496
118	-1.42	-146.6	3.1	-6.9	19	713	9.35	0.00	-574.00	0.000	2	0.041	0.000	2687	2045	2153
714	end dive: TARGET_DEPTH_EXCEEDED
state	714	begin apogee
718	-0.35	0.0	100.1	8.9	137	722	0.98	0.00	0.00	0.000	6	0.043	0.000	2916	2045	2153
723	end apogee: CONTROL_FINISHED_OK
state	723	begin climb
725	1.42	146.6	101.1	0.0	138	735	1.67	2.97	0.00	0.000	4	0.041	0.100	3302	639	2153
987	1.05	146.6	92.7	17.9	185	993	0.40	2.72	0.00	0.000	6	0.046	0.065	3210	2054	2153
1128	0.69	146.6	66.2	19.9	210	1134	0.30	2.95	0.00	0.000	4	0.054	0.100	3138	638	2153
1386	0.34	146.6	22.8	17.2	256	1393	0.35	2.70	0.00	0.000	6	0.050	0.066	3058	2041	2153
1460	-0.02	146.6	11.0	15.5	269	1466	0.35	2.90	0.00	0.000	4	0.055	0.100	2977	643	2153
1656	0.24	282.6	2.2	3.8	304	1663	0.30	2.78	0.00	0.000	6	0.048	0.066	3047	2082	2153
1666	end climb: SURFACE_DEPTH_REACHED
state	1666	begin surface coast
1729	end surface coast: CONTROL_FINISHED_OK
state	1729	begin surface